+ python -m lidar_slam --no-model /working/197d2497-ff6d-4d0f-ba1b-d7e88356d32c Lidar SLAM 0.0.14 ===================================================== The recording path: /working/197d2497-ff6d-4d0f-ba1b-d7e88356d32c 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 0.019072329 Adjusted end_distance from 9.223372036854776e+18 to 452.009072329 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.019072329 meters Centerline goodness : 0.594402 Centerline is valid? [0, False] SLAMing on 0.049072329 meters Centerline goodness : 0.582127 Centerline is valid? [False, False] Translation: X:0.01, Y:0.01, Z:-0.00 [[ 9.99997056e-01 -2.01228840e-03 -1.35592367e-03 5.31423107e-03] [ 2.00989474e-03 9.99996424e-01 -1.76438659e-03 8.32436612e-03] [ 1.35946927e-03 1.76165613e-03 9.99997524e-01 -5.79250828e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.079072329 meters Centerline goodness : 0.535467 Centerline is valid? [False, False] Translation: X:0.01, Y:0.02, Z:0.00 [[ 9.99993268e-01 -3.03854070e-03 -2.05708619e-03 5.23019434e-03] [ 3.02819863e-03 9.99982854e-01 -5.01212032e-03 1.70366001e-02] [ 2.07228045e-03 5.00585731e-03 9.99985323e-01 9.63949137e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.109072329 meters Centerline goodness : 0.506245 Centerline is valid? [False, False] Translation: X:0.04, Y:0.04, Z:-0.00 [[ 9.99934890e-01 -1.13330899e-02 -1.33321254e-03 3.52383655e-02] [ 1.13223239e-02 9.99905298e-01 -7.82310350e-03 4.17846424e-02] [ 1.42174621e-03 7.80749907e-03 9.99968510e-01 -9.72771264e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.139072329 meters Centerline goodness : 0.515013 Centerline is valid? [False, False] Translation: X:0.04, Y:0.05, Z:-0.00 [[ 0.99990525 -0.01339015 -0.00319205 0.04249749] [ 0.01335495 0.99985243 -0.01080572 0.05124441] [ 0.00333627 0.01076207 0.99993652 -0.00392595] [ 0. 0. 0. 1. ]] SLAMing on 0.169072329 meters Centerline goodness : 0.524129 Centerline is valid? [False, False] Translation: X:0.08, Y:0.08, Z:-0.01 [[ 0.99981576 -0.01860345 -0.00472821 0.07511211] [ 0.01854452 0.9997534 -0.01221601 0.07750803] [ 0.00495431 0.01212607 0.9999142 -0.01068754] [ 0. 0. 0. 1. ]] SLAMing on 0.199072329 meters Centerline goodness : 0.535786 Centerline is valid? [False, False] Translation: X:0.08, Y:0.09, Z:-0.01 [[ 0.99983196 -0.01679743 -0.00734138 0.08295543] [ 0.01670913 0.99978924 -0.01192774 0.08931934] [ 0.00754019 0.01180306 0.99990191 -0.01299383] [ 0. 0. 0. 1. ]] SLAMing on 0.229072329 meters Centerline goodness : 0.542990 Centerline is valid? [False, False] Translation: X:0.09, Y:0.10, Z:-0.01 [[ 0.99983772 -0.01492292 -0.010092 0.08967022] [ 0.0148064 0.99982397 -0.01152417 0.10198981] [ 0.01026219 0.01137288 0.99988267 -0.01325796] [ 0. 0. 0. 1. ]] SLAMing on 0.259072329 meters Centerline goodness : 0.555143 Centerline is valid? [False, False] Translation: X:0.10, Y:0.11, Z:-0.01 [[ 0.99982558 -0.01341458 -0.01299489 0.09590274] [ 0.01326741 0.9998476 -0.01134654 0.11466597] [ 0.01314512 0.01117215 0.99985118 -0.01239298] [ 0. 0. 0. 1. ]] SLAMing on 0.289072329 meters Centerline goodness : 0.574031 Centerline is valid? [False, False] Translation: X:0.11, Y:0.14, Z:-0.01 [[ 0.99962024 -0.02282697 -0.01543702 0.11314221] [ 0.02265857 0.99968278 -0.01099673 0.14342213] [ 0.01568315 0.01064277 0.99982037 -0.01446949] [ 0. 0. 0. 1. ]] SLAMing on 0.319072329 meters Centerline goodness : 0.578611 Centerline is valid? [False, False] Translation: X:0.12, Y:0.15, Z:-0.02 [[ 0.9995452 -0.02496493 -0.01691597 0.11853123] [ 0.02472009 0.9995888 -0.01453119 0.15438161] [ 0.01727179 0.01410642 0.99975132 -0.01638998] [ 0. 0. 0. 1. ]] SLAMing on 0.34907232899999996 meters Centerline goodness : 0.582301 Centerline is valid? [False, False] Translation: X:0.12, Y:0.17, Z:-0.02 [[ 0.99945763 -0.02722858 -0.01852169 0.12376423] [ 0.02689481 0.99947553 -0.018037 0.16526464] [ 0.0190031 0.01752908 0.99966575 -0.0179151 ] [ 0. 0. 0. 1. ]] SLAMing on 0.379072329 meters Centerline goodness : 0.587064 Centerline is valid? [False, False] Translation: X:0.14, Y:0.19, Z:-0.02 [[ 0.99929482 -0.03350227 -0.01695459 0.14203242] [ 0.03327512 0.99935496 -0.01350665 0.18929446] [ 0.01739615 0.01293296 0.99976503 -0.02474492] [ 0. 0. 0. 1. ]] SLAMing on 0.409072329 meters Centerline goodness : 0.588097 Centerline is valid? [False, False] Translation: X:0.15, Y:0.20, Z:-0.02 [[ 0.99924479 -0.03377052 -0.01921974 0.14695533] [ 0.03348939 0.99932999 -0.01476614 0.19994157] [ 0.01970553 0.01411133 0.99970624 -0.02457025] [ 0. 0. 0. 1. ]] SLAMing on 0.439072329 meters Centerline goodness : 0.586979 Centerline is valid? [False, False] Translation: X:0.15, Y:0.21, Z:-0.02 [[ 0.99920043 -0.03389386 -0.02120616 0.15162705] [ 0.03356095 0.99931079 -0.01586234 0.20986795] [ 0.02172918 0.01513796 0.99964928 -0.02471777] [ 0. 0. 0. 1. ]] SLAMing on 0.46907232899999995 meters Centerline goodness : 0.593172 Centerline is valid? [False, False] Translation: X:0.17, Y:0.23, Z:-0.03 [[ 0.99908981 -0.03702168 -0.02118813 0.17350628] [ 0.03679892 0.99926424 -0.01080864 0.23215379] [ 0.02157269 0.0100191 0.99971708 -0.0287184 ] [ 0. 0. 0. 1. ]] SLAMing on 0.499072329 meters Centerline goodness : 0.597654 Centerline is valid? [False, False] Translation: X:0.18, Y:0.24, Z:-0.03 [[ 0.99905324 -0.03674413 -0.02329136 0.17858244] [ 0.03648765 0.99926973 -0.01134291 0.24144013] [ 0.02369114 0.01048232 0.99966437 -0.02927494] [ 0. 0. 0. 1. ]] SLAMing on 0.529072329 meters Centerline goodness : 0.587400 Centerline is valid? [False, False] Translation: X:0.18, Y:0.25, Z:-0.03 [[ 0.99900507 -0.03695063 -0.02497043 0.18337082] [ 0.03664895 0.99925085 -0.01243343 0.25006765] [ 0.02541115 0.01150592 0.99961087 -0.03042091] [ 0. 0. 0. 1. ]] SLAMing on 0.559072329 meters Centerline goodness : 0.588634 Centerline is valid? [False, False] Translation: X:0.19, Y:0.27, Z:-0.03 [[ 0.99886397 -0.03858135 -0.02796875 0.19228036] [ 0.03814267 0.99914336 -0.01605224 0.26812029] [ 0.0285641 0.0149672 0.9994799 -0.03203427] [ 0. 0. 0. 1. ]] SLAMing on 0.589072329 meters Centerline goodness : 0.589666 Centerline is valid? [False, False] Translation: X:0.20, Y:0.28, Z:-0.03 [[ 0.998811 -0.03881451 -0.02949608 0.19574599] [ 0.03832306 0.99911996 -0.01704823 0.27552836] [ 0.03013185 0.01589758 0.9994195 -0.03175418] [ 0. 0. 0. 1. ]] SLAMing on 0.619072329 meters Centerline goodness : 0.602972 Centerline is valid? [False, False] Translation: X:0.20, Y:0.28, Z:-0.03 [[ 0.99874313 -0.03929096 -0.03111879 0.19854866] [ 0.03873568 0.99908281 -0.01825038 0.28251439] [ 0.03180732 0.01702204 0.99934906 -0.03018348] [ 0. 0. 0. 1. ]] SLAMing on 0.649072329 meters Centerline goodness : 0.602398 Centerline is valid? [False, False] Translation: X:0.21, Y:0.29, Z:-0.04 [[ 0.99880363 -0.04232919 -0.02448549 0.21119344] [ 0.04210299 0.99906637 -0.00968153 0.28909703] [ 0.02487244 0.00863903 0.9996533 -0.03807545] [ 0. 0. 0. 1. ]] SLAMing on 0.6790723289999999 meters Centerline goodness : 0.615170 Centerline is valid? [False, False] Translation: X:0.23, Y:0.30, Z:-0.04 [[ 0.9987546 -0.04539806 -0.02069461 0.23128669] [ 0.04532724 0.99896466 -0.00387835 0.30479046] [ 0.02084926 0.00293549 0.99977832 -0.04317347] [ 0. 0. 0. 1. ]] SLAMing on 0.709072329 meters Centerline goodness : 0.620759 Centerline is valid? [False, False] Translation: X:0.24, Y:0.31, Z:-0.04 [[ 0.99871426 -0.04545973 -0.02243308 0.23540742] [ 0.04536735 0.99895973 -0.00461019 0.31161751] [ 0.02261932 0.00358653 0.99973772 -0.04322208] [ 0. 0. 0. 1. ]] SLAMing on 0.739072329 meters Centerline goodness : 0.617735 Centerline is valid? [False, False] Translation: X:0.25, Y:0.33, Z:-0.04 [[ 0.99837835 -0.04923291 -0.02857967 0.24896087] [ 0.04891838 0.99873539 -0.01160254 0.32731838] [ 0.02911475 0.01018566 0.99952418 -0.03661427] [ 0. 0. 0. 1. ]] SLAMing on 0.769072329 meters Centerline goodness : 0.618763 Centerline is valid? [False, False] Translation: X:0.25, Y:0.33, Z:-0.04 [[ 0.99820788 -0.05169146 -0.03015009 0.25342922] [ 0.05127602 0.99858079 -0.01439373 0.33351857] [ 0.03085133 0.01282196 0.99944174 -0.03729839] [ 0. 0. 0. 1. ]] SLAMing on 0.799072329 meters Centerline goodness : 0.616838 Centerline is valid? [False, False] Translation: X:0.26, Y:0.34, Z:-0.04 [[ 0.99802632 -0.05415738 -0.03178744 0.25732146] [ 0.05363347 0.9984141 -0.01710966 0.33954706] [ 0.03266365 0.01537102 0.9993482 -0.03709842] [ 0. 0. 0. 1. ]] SLAMing on 0.8290723289999999 meters Centerline goodness : 0.622490 Centerline is valid? [False, False] Translation: X:0.26, Y:0.34, Z:-0.04 [[ 0.99787249 -0.05574754 -0.0338038 0.26087985] [ 0.05513274 0.99830099 -0.01885527 0.34427446] [ 0.0347975 0.01695145 0.99925061 -0.03543416] [ 0. 0. 0. 1. ]] SLAMing on 0.859072329 meters Centerline goodness : 0.630670 Centerline is valid? [False, False] Translation: X:0.28, Y:0.36, Z:-0.04 [[ 0.99755317 -0.06256138 -0.03120485 0.28045525] [ 0.06210569 0.99795129 -0.01536561 0.35631963] [ 0.03210221 0.01339002 0.99939489 -0.03603536] [ 0. 0. 0. 1. ]] SLAMing on 0.889072329 meters Centerline goodness : 0.636440 Centerline is valid? [False, False] Translation: X:0.29, Y:0.36, Z:-0.03 [[ 0.99726884 -0.06556229 -0.03400657 0.28516314] [ 0.06497291 0.99772182 -0.01815727 0.36214047] [ 0.03511953 0.01589817 0.99925666 -0.03394772] [ 0. 0. 0. 1. ]] SLAMing on 0.9190723289999999 meters Centerline goodness : 0.639029 Centerline is valid? [False, False] Translation: X:0.29, Y:0.37, Z:-0.03 [[ 0.99692568 -0.06956835 -0.03604754 0.2897202 ] [ 0.06880438 0.99738715 -0.02201892 0.36718348] [ 0.03748518 0.019471 0.99910747 -0.03312868] [ 0. 0. 0. 1. ]] SLAMing on 0.9490723289999999 meters Centerline goodness : 0.649189 Centerline is valid? [False, False] Translation: X:0.32, Y:0.38, Z:-0.04 [[ 0.99650763 -0.0778566 -0.03018094 0.31978003] [ 0.0771499 0.99673267 -0.02391399 0.37542073] [ 0.03194419 0.02150202 0.99925834 -0.0397168 ] [ 0. 0. 0. 1. ]] SLAMing on 0.979072329 meters Centerline goodness : 0.653867 Centerline is valid? [False, False] Translation: X:0.32, Y:0.38, Z:-0.04 [[ 0.99614079 -0.08186292 -0.03165405 0.32408129] [ 0.08098457 0.9963191 -0.02810256 0.3792194 ] [ 0.03383809 0.02543062 0.99910373 -0.03936519] [ 0. 0. 0. 1. ]] SLAMing on 1.0090723289999999 meters Centerline goodness : 0.661394 Centerline is valid? [False, False] Translation: X:0.35, Y:0.39, Z:-0.04 [[ 0.99592026 -0.08559906 -0.02855926 0.35455533] [ 0.08490812 0.99608532 -0.02458944 0.38939274] [ 0.03055229 0.0220642 0.99928961 -0.04312554] [ 0. 0. 0. 1. ]] SLAMing on 1.0390723290000001 meters Centerline goodness : 0.665718 Centerline is valid? [False, False] Translation: X:0.36, Y:0.39, Z:-0.04 [[ 0.99575189 -0.08689489 -0.03045404 0.35910099] [ 0.08611448 0.99594421 -0.02606572 0.39393985] [ 0.0325955 0.02333246 0.99919624 -0.04276099] [ 0. 0. 0. 1. ]] SLAMing on 1.069072329 meters Centerline goodness : 0.665701 Centerline is valid? [False, False] Translation: X:0.36, Y:0.40, Z:-0.04 [[ 0.99556419 -0.0884631 -0.03203487 0.36396345] [ 0.08758621 0.99576851 -0.0278159 0.39837199] [ 0.03435999 0.0248867 0.99909962 -0.04369644] [ 0. 0. 0. 1. ]] SLAMing on 1.0990723290000002 meters Centerline goodness : 0.665096 Centerline is valid? [False, False] Translation: X:0.37, Y:0.40, Z:-0.05 [[ 0.99541064 -0.08973468 -0.03324673 0.36887865] [ 0.08877697 0.99562211 -0.02924477 0.40223052] [ 0.03572545 0.02615901 0.99901922 -0.04567398] [ 0. 0. 0. 1. ]] SLAMing on 1.129072329 meters Centerline goodness : 0.671800 Centerline is valid? [False, False] Translation: X:0.39, Y:0.41, Z:-0.05 [[ 0.9948899 -0.09599796 -0.03128063 0.39122551] [ 0.09523584 0.99514054 -0.02500866 0.41048085] [ 0.0335294 0.02190183 0.99919772 -0.0519646 ] [ 0. 0. 0. 1. ]] SLAMing on 1.1590723289999998 meters Centerline goodness : 0.671800 Centerline is valid? [False, False] Translation: X:0.39, Y:0.41, Z:-0.05 [[ 0.9948899 -0.09599796 -0.03128063 0.39122551] [ 0.09523584 0.99514054 -0.02500866 0.41048085] [ 0.0335294 0.02190183 0.99919772 -0.0519646 ] [ 0. 0. 0. 1. ]] SLAMing on 1.189072329 meters Centerline goodness : 0.673745 Centerline is valid? [False, False] Translation: X:0.40, Y:0.41, Z:-0.05 [[ 0.99480392 -0.09633008 -0.03294948 0.39586067] [ 0.09551967 0.99510477 -0.02534718 0.41277111] [ 0.03522988 0.02206815 0.99913555 -0.05264679] [ 0. 0. 0. 1. ]] SLAMing on 1.2190723289999998 meters Centerline goodness : 0.678835 Centerline is valid? [False, False] Translation: X:0.40, Y:0.41, Z:-0.05 [[ 0.99470716 -0.09672559 -0.03466731 0.4010738 ] [ 0.095863 0.99506169 -0.02573951 0.41474162] [ 0.03698579 0.02227996 0.99906739 -0.05386801] [ 0. 0. 0. 1. ]] SLAMing on 1.249072329 meters Centerline goodness : 0.683706 Centerline is valid? [False, False] Translation: X:0.42, Y:0.42, Z:-0.05 [[ 0.99419277 -0.10021064 -0.03922459 0.41648786] [ 0.09897084 0.99456364 -0.03237174 0.42092626] [ 0.04225534 0.02830166 0.99870591 -0.04979981] [ 0. 0. 0. 1. ]] SLAMing on 1.279072329 meters Centerline goodness : 0.683936 Centerline is valid? [False, False] Translation: X:0.42, Y:0.42, Z:-0.05 [[ 0.99379925 -0.10382002 -0.0398053 0.41975877] [ 0.10238685 0.99407479 -0.03649996 0.42351918] [ 0.04335887 0.03219809 0.99854058 -0.04998567] [ 0. 0. 0. 1. ]] SLAMing on 1.3090723290000001 meters Centerline goodness : 0.687502 Centerline is valid? [False, False] Translation: X:0.42, Y:0.43, Z:-0.05 [[ 0.9933997 -0.10727097 -0.04061984 0.42316038] [ 0.10564578 0.99358907 -0.04024575 0.42613224] [ 0.04467663 0.0356888 0.99836382 -0.05001325] [ 0. 0. 0. 1. ]] SLAMing on 1.339072329 meters Centerline goodness : 0.690428 Centerline is valid? [False, False] Translation: X:0.43, Y:0.43, Z:-0.05 [[ 0.99328461 -0.10772048 -0.04221341 0.42749515] [ 0.10603004 0.99354068 -0.04042944 0.4264346 ] [ 0.04629582 0.03568205 0.99829028 -0.0506108 ] [ 0. 0. 0. 1. ]] SLAMing on 1.3690723289999998 meters Centerline goodness : 0.696434 Centerline is valid? [False, False] Translation: X:0.45, Y:0.43, Z:-0.05 [[ 0.99268105 -0.11422355 -0.03920868 0.44563072] [ 0.11288421 0.99299746 -0.03483094 0.43122897] [ 0.04291264 0.03014998 0.9986238 -0.05429265] [ 0. 0. 0. 1. ]] SLAMing on 1.399072329 meters Centerline goodness : 0.695690 Centerline is valid? [False, False] Translation: X:0.45, Y:0.43, Z:-0.05 [[ 0.99215161 -0.11832717 -0.04042099 0.44835863] [ 0.11677462 0.99239898 -0.03883231 0.43370321] [ 0.04470866 0.03380739 0.99842786 -0.05268123] [ 0. 0. 0. 1. ]] SLAMing on 1.4290723289999998 meters Centerline goodness : 0.700510 Centerline is valid? [False, False] Translation: X:0.45, Y:0.43, Z:-0.05 [[ 0.99160365 -0.12262384 -0.04105588 0.45113338] [ 0.12086768 0.991744 -0.04283495 0.43304889] [ 0.04596951 0.03751296 0.99823824 -0.0523886 ] [ 0. 0. 0. 1. ]] SLAMing on 1.459072329 meters Centerline goodness : 0.699970 Centerline is valid? [False, False] Translation: X:0.47, Y:0.43, Z:-0.06 [[ 0.98997762 -0.13661165 -0.03579895 0.46877492] [ 0.1349614 0.98982591 -0.04505651 0.43290051] [ 0.04158997 0.03977346 0.9983428 -0.05550351] [ 0. 0. 0. 1. ]] SLAMing on 1.4890723289999999 meters Centerline goodness : 0.703448 Centerline is valid? [False, False] Translation: X:0.48, Y:0.43, Z:-0.06 [[ 0.9892411 -0.14297721 -0.03097681 0.48325907] [ 0.14176341 0.98915656 -0.0383722 0.43282753] [ 0.03612726 0.03356798 0.99878327 -0.06129637] [ 0. 0. 0. 1. ]] SLAMing on 1.519072329 meters Centerline goodness : 0.703696 Centerline is valid? [False, False] Translation: X:0.50, Y:0.43, Z:-0.07 [[ 0.9885065 -0.14885326 -0.02641242 0.49789028] [ 0.14801333 0.98848882 -0.03133532 0.43337454] [ 0.03077275 0.02706577 0.99915989 -0.06680074] [ 0. 0. 0. 1. ]] SLAMing on 1.549072329 meters Centerline goodness : 0.707774 Centerline is valid? [False, False] Translation: X:0.50, Y:0.43, Z:-0.06 [[ 0.98754934 -0.15172763 -0.04153338 0.50337994] [ 0.15050928 0.98812068 -0.03105618 0.42619597] [ 0.04575207 0.02441835 0.99865434 -0.06338571] [ 0. 0. 0. 1. ]] SLAMing on 1.5790723290000002 meters Centerline goodness : 0.709514 Centerline is valid? [False, False] Translation: X:0.51, Y:0.42, Z:-0.07 [[ 0.98687104 -0.15591594 -0.04213996 0.50831599] [ 0.15451544 0.98738131 -0.03468618 0.42356188] [ 0.04701634 0.02771951 0.99850944 -0.06531787] [ 0. 0. 0. 1. ]] SLAMing on 1.609072329 meters Centerline goodness : 0.714928 Centerline is valid? [False, False] Translation: X:0.51, Y:0.42, Z:-0.07 [[ 0.9861867 -0.1599738 -0.0429439 0.51310532] [ 0.1583975 0.98664722 -0.03791435 0.42007596] [ 0.04843578 0.03058842 0.99835781 -0.06673252] [ 0. 0. 0. 1. ]] SLAMing on 1.6390723289999998 meters Centerline goodness : 0.718790 Centerline is valid? [False, False] Translation: X:0.52, Y:0.41, Z:-0.06 [[ 0.98471153 -0.16824565 -0.04512869 0.51849432] [ 0.16676597 0.9853826 -0.03478865 0.41244615] [ 0.05032207 0.02673085 0.99837526 -0.06389287] [ 0. 0. 0. 1. ]] SLAMing on 1.669072329 meters Centerline goodness : 0.718923 Centerline is valid? [False, False] Translation: X:0.52, Y:0.41, Z:-0.06 [[ 0.98391532 -0.17203718 -0.0481026 0.52389439] [ 0.17072134 0.9848542 -0.03027273 0.41034763] [ 0.05258209 0.02157366 0.99838354 -0.06111735] [ 0. 0. 0. 1. ]] SLAMing on 1.6990723289999998 meters Centerline goodness : 0.719699 Centerline is valid? [False, False] Translation: X:0.55, Y:0.41, Z:-0.07 [[ 0.98271548 -0.17935568 -0.04584559 0.54503566] [ 0.17837261 0.98365203 -0.02473649 0.40932056] [ 0.04953274 0.01613134 0.99864222 -0.06576779] [ 0. 0. 0. 1. ]] SLAMing on 1.729072329 meters Centerline goodness : 0.718212 Centerline is valid? [False, False] Translation: X:0.55, Y:0.40, Z:-0.06 [[ 0.98229969 -0.1772056 -0.06070832 0.54856464] [ 0.17583369 0.98404173 -0.02728338 0.40345997] [ 0.06457429 0.01612589 0.9977826 -0.06079842] [ 0. 0. 0. 1. ]] SLAMing on 1.7590723289999999 meters Centerline goodness : 0.718524 Centerline is valid? [False, False] Translation: X:0.55, Y:0.40, Z:-0.06 [[ 0.98164352 -0.18066484 -0.06112465 0.55340951] [ 0.1790815 0.98336121 -0.03050496 0.40127979] [ 0.06561878 0.0189987 0.99766388 -0.06260295] [ 0. 0. 0. 1. ]] SLAMing on 1.7890723290000001 meters Centerline goodness : 0.717913 Centerline is valid? [False, False] Translation: X:0.56, Y:0.40, Z:-0.06 [[ 0.98099366 -0.18407612 -0.06137928 0.55779165] [ 0.18227852 0.98266753 -0.03374996 0.39944997] [ 0.06652799 0.02192037 0.99754375 -0.06431791] [ 0. 0. 0. 1. ]] SLAMing on 1.819072329 meters Centerline goodness : 0.720709 Centerline is valid? [False, False] Translation: X:0.57, Y:0.40, Z:-0.06 [[ 0.98042202 -0.18612139 -0.06427661 0.57008621] [ 0.18399178 0.98220643 -0.03765029 0.39821023] [ 0.07014043 0.02508681 0.99722163 -0.06226718] [ 0. 0. 0. 1. ]] SLAMing on 1.8490723289999997 meters Centerline goodness : 0.720254 Centerline is valid? [False, False] Translation: X:0.57, Y:0.40, Z:-0.06 [[ 0.98036741 -0.18592606 -0.0656601 0.57347116] [ 0.18379219 0.98226019 -0.03722042 0.39745945] [ 0.07141555 0.02442187 0.99714763 -0.06224937] [ 0. 0. 0. 1. ]] SLAMing on 1.879072329 meters Centerline goodness : 0.720191 Centerline is valid? [False, False] Translation: X:0.58, Y:0.40, Z:-0.06 [[ 0.98028202 -0.18582785 -0.06719499 0.57738134] [ 0.18369331 0.98229773 -0.03671432 0.39605384] [ 0.07282803 0.02364712 0.99706414 -0.06236171] [ 0. 0. 0. 1. ]] SLAMing on 1.9090723289999998 meters Centerline goodness : 0.718029 Centerline is valid? [False, False] Translation: X:0.58, Y:0.39, Z:-0.06 [[ 0.98017389 -0.18577983 -0.06888404 0.58308675] [ 0.1836581 0.98233049 -0.03600709 0.39311839] [ 0.07435628 0.0226421 0.99697466 -0.06401466] [ 0. 0. 0. 1. ]] SLAMing on 1.939072329 meters Centerline goodness : 0.716861 Centerline is valid? [False, False] Translation: X:0.60, Y:0.39, Z:-0.06 [[ 0.97913029 -0.19032281 -0.07128186 0.6006906 ] [ 0.1874667 0.98124521 -0.04487842 0.38741135] [ 0.07848637 0.03057884 0.9964461 -0.05770228] [ 0. 0. 0. 1. ]] SLAMing on 1.9690723289999998 meters Centerline goodness : 0.719591 Centerline is valid? [False, False] Translation: X:0.60, Y:0.38, Z:-0.06 [[ 0.97834783 -0.19421893 -0.07151591 0.60328448] [ 0.19110047 0.98038646 -0.04819745 0.3848491 ] [ 0.07947409 0.03348715 0.9962743 -0.0572248 ] [ 0. 0. 0. 1. ]] SLAMing on 1.999072329 meters Centerline goodness : 0.720225 Centerline is valid? [False, False] Translation: X:0.62, Y:0.38, Z:-0.06 [[ 0.97779294 -0.19874264 -0.06650063 0.61826051] [ 0.19642362 0.97970994 -0.03982695 0.38142125] [ 0.07306664 0.02588022 0.99699121 -0.06308009] [ 0. 0. 0. 1. ]] SLAMing on 2.029072329 meters Centerline goodness : 0.718131 Centerline is valid? [False, False] Translation: X:0.64, Y:0.38, Z:-0.07 [[ 0.97654075 -0.20564096 -0.06387455 0.6384159 ] [ 0.20384872 0.97842969 -0.0334819 0.37785439] [ 0.069382 0.01967569 0.99739611 -0.06678756] [ 0. 0. 0. 1. ]] SLAMing on 2.059072329 meters Centerline goodness : 0.718398 Centerline is valid? [False, False] Translation: X:0.64, Y:0.37, Z:-0.07 [[ 0.97636204 -0.20587296 -0.06582922 0.64478822] [ 0.20410845 0.97840651 -0.03256454 0.37455544] [ 0.0711119 0.01835848 0.99729939 -0.06882975] [ 0. 0. 0. 1. ]] SLAMing on 2.089072329 meters Centerline goodness : 0.717248 Centerline is valid? [False, False] Translation: X:0.65, Y:0.37, Z:-0.07 [[ 0.97554912 -0.20957888 -0.06618619 0.64922553] [ 0.20759197 0.97756498 -0.03566916 0.37172928] [ 0.0721768 0.02105729 0.99716954 -0.0701122 ] [ 0. 0. 0. 1. ]] SLAMing on 2.119072329 meters Centerline goodness : 0.715884 Centerline is valid? [False, False] Translation: X:0.66, Y:0.37, Z:-0.07 [[ 0.9747487 -0.21309775 -0.06674072 0.65615861] [ 0.21090174 0.97675023 -0.03846352 0.36756577] [ 0.07338551 0.02341654 0.9970287 -0.07340694] [ 0. 0. 0. 1. ]] SLAMing on 2.149072329 meters Centerline goodness : 0.721069 Centerline is valid? [False, False] Translation: X:0.68, Y:0.36, Z:-0.07 [[ 0.97230831 -0.22269904 -0.07086392 0.68085016] [ 0.21946862 0.97430635 -0.05060305 0.36024719] [ 0.08031242 0.03364935 0.9962016 -0.06856262] [ 0. 0. 0. 1. ]] SLAMing on 2.1790723290000003 meters Centerline goodness : 0.720407 Centerline is valid? [False, False] Translation: X:0.70, Y:0.36, Z:-0.07 [[ 0.97094899 -0.23012363 -0.06558339 0.69626699] [ 0.22752471 0.97274259 -0.04477002 0.35654066] [ 0.07409839 0.02854756 0.99684225 -0.07462827] [ 0. 0. 0. 1. ]] SLAMing on 2.209072329 meters Centerline goodness : 0.723889 Centerline is valid? [False, False] Translation: X:0.73, Y:0.35, Z:-0.08 [[ 0.96831636 -0.24087943 -0.06588271 0.72814298] [ 0.23924368 0.97043864 -0.03180103 0.3526166 ] [ 0.07159534 0.01503144 0.99732049 -0.07607471] [ 0. 0. 0. 1. ]] SLAMing on 2.239072329 meters Centerline goodness : 0.730344 Centerline is valid? [False, False] Translation: X:0.74, Y:0.35, Z:-0.08 [[ 0.96754071 -0.24526576 -0.06090715 0.7431171 ] [ 0.24426961 0.96942472 -0.02341111 0.34921569] [ 0.06478684 0.00777344 0.99786885 -0.08077709] [ 0. 0. 0. 1. ]] SLAMing on 2.269072329 meters Centerline goodness : 0.731687 Centerline is valid? [False, False] Translation: X:0.75, Y:0.34, Z:-0.07 [[ 0.96680499 -0.24376254 -0.0766025 0.7464455 ] [ 0.24275533 0.9698303 -0.02233914 0.34171226] [ 0.07973687 0.00300193 0.99681143 -0.07365175] [ 0. 0. 0. 1. ]] SLAMing on 2.299072329 meters Centerline goodness : 0.739565 Centerline is valid? [False, False] Translation: X:0.73, Y:0.33, Z:-0.06 [[ 0.96534705 -0.24942735 -0.07675336 0.7304011 ] [ 0.24713095 0.96822716 -0.03824201 0.32949224] [ 0.08385329 0.01794868 0.99631645 -0.06331197] [ 0. 0. 0. 1. ]] SLAMing on 2.329072329 meters Centerline goodness : 0.738953 Centerline is valid? [False, False] Translation: X:0.74, Y:0.32, Z:-0.07 [[ 0.96451526 -0.25243662 -0.07736963 0.73823331] [ 0.24995372 0.96741413 -0.04041083 0.32393577] [ 0.08504964 0.01963804 0.99618317 -0.06684347] [ 0. 0. 0. 1. ]] SLAMing on 2.359072329 meters Centerline goodness : 0.749415 Centerline is valid? [False, False] Translation: X:0.74, Y:0.32, Z:-0.07 [[ 0.96360349 -0.25570728 -0.07798784 0.74444549] [ 0.25303481 0.96651961 -0.04258192 0.31878522] [ 0.08626528 0.02129845 0.99604452 -0.06901584] [ 0. 0. 0. 1. ]] SLAMing on 2.389072329 meters Centerline goodness : 0.742709 Centerline is valid? [False, False] Translation: X:0.76, Y:0.31, Z:-0.07 [[ 0.96129345 -0.26216263 -0.08476824 0.76155318] [ 0.26035729 0.9649855 -0.0318915 0.30768248] [ 0.09016089 0.00858706 0.99589019 -0.07238026] [ 0. 0. 0. 1. ]] SLAMing on 2.419072329 meters Centerline goodness : 0.744231 Centerline is valid? [False, False] Translation: X:0.77, Y:0.30, Z:-0.07 [[ 0.96015493 -0.26575247 -0.08647627 0.76778741] [ 0.26429583 0.96403252 -0.02808954 0.30261006] [ 0.0908308 0.004115 0.99585784 -0.0714716 ] [ 0. 0. 0. 1. ]] SLAMing on 2.449072329 meters Centerline goodness : 0.737147 Centerline is valid? [False, False] Translation: X:0.77, Y:0.30, Z:-0.07 [[ 0.95902821 -0.26965944 -0.08688317 0.7707612 ] [ 0.26825632 0.96295037 -0.02766099 0.29703236] [ 0.09112323 0.00322071 0.99583442 -0.06974865] [ 0. 0. 0. 1. ]] SLAMing on 2.479072329 meters Centerline goodness : 0.734728 Centerline is valid? [False, False] Translation: X:0.77, Y:0.29, Z:-0.07 [[ 0.95821197 -0.27262973 -0.08661903 0.77277926] [ 0.27121345 0.96211342 -0.02794709 0.2907012 ] [ 0.09095654 0.00328699 0.99584944 -0.06907687] [ 0. 0. 0. 1. ]] SLAMing on 2.509072329 meters Centerline goodness : 0.737987 Centerline is valid? [False, False] Translation: X:0.78, Y:0.28, Z:-0.08 [[ 0.95726771 -0.27559923 -0.08765615 0.78239507] [ 0.2746808 0.96126955 -0.02261202 0.27509254] [ 0.09049304 -0.0024317 0.99589412 -0.07600999] [ 0. 0. 0. 1. ]] SLAMing on 2.539072329 meters Centerline goodness : 0.734002 Centerline is valid? [False, False] Translation: X:0.78, Y:0.27, Z:-0.08 [[ 0.95673596 -0.27765975 -0.08695612 0.7836388 ] [ 0.2766581 0.96067836 -0.02360908 0.26926957] [ 0.09009216 -0.00146946 0.99593235 -0.07629908] [ 0. 0. 0. 1. ]] SLAMing on 2.569072329 meters Centerline goodness : 0.736434 Centerline is valid? [False, False] Translation: X:0.79, Y:0.26, Z:-0.08 [[ 0.95638994 -0.27836287 -0.08850082 0.78957071] [ 0.27763265 0.96046415 -0.02070581 0.26462343] [ 0.09076559 -0.00476788 0.99586087 -0.0773474 ] [ 0. 0. 0. 1. ]] SLAMing on 2.599072329 meters Centerline goodness : 0.729447 Centerline is valid? [False, False] Translation: X:0.80, Y:0.25, Z:-0.07 [[ 0.95589569 -0.27420253 -0.10524448 0.79780681] [ 0.27432709 0.96154061 -0.01357586 0.25352446] [ 0.10491938 -0.0158943 0.99435371 -0.07420612] [ 0. 0. 0. 1. ]] SLAMing on 2.629072329 meters Centerline goodness : 0.720596 Centerline is valid? [False, False] Translation: X:0.80, Y:0.25, Z:-0.08 [[ 0.95586758 -0.27396609 -0.10611194 0.80264446] [ 0.2742985 0.96157298 -0.01173612 0.24990585] [ 0.10524967 -0.01788817 0.99428493 -0.07654069] [ 0. 0. 0. 1. ]] SLAMing on 2.659072329 meters Centerline goodness : 0.719839 Centerline is valid? [False, False] Translation: X:0.81, Y:0.24, Z:-0.08 [[ 0.95579589 -0.27475918 -0.10469766 0.80627612] [ 0.2749886 0.96136593 -0.01252308 0.24053855] [ 0.1040936 -0.01682115 0.99442525 -0.08159785] [ 0. 0. 0. 1. ]] SLAMing on 2.689072329 meters Centerline goodness : 0.721641 Centerline is valid? [False, False] Translation: X:0.81, Y:0.23, Z:-0.08 [[ 0.95604564 -0.27369734 -0.10519746 0.81008875] [ 0.27416749 0.96162734 -0.01024948 0.23451224] [ 0.103966 -0.01904275 0.99439853 -0.08365793] [ 0. 0. 0. 1. ]] SLAMing on 2.719072329 meters Centerline goodness : 0.724529 Centerline is valid? [False, False] Translation: X:0.81, Y:0.23, Z:-0.08 [[ 0.95631544 -0.27254235 -0.10574239 0.81308414] [ 0.27328004 0.96190345 -0.00773105 0.2284892 ] [ 0.10382101 -0.02150396 0.9943635 -0.08472163] [ 0. 0. 0. 1. ]] SLAMing on 2.749072329 meters Centerline goodness : 0.725186 Centerline is valid? [False, False] Translation: X:0.82, Y:0.22, Z:-0.08 [[ 0.95698561 -0.26996068 -0.1063004 0.8152062 ] [ 0.27119825 0.96251911 -0.00291149 0.21758811] [ 0.10310215 -0.02604223 0.9943298 -0.08456395] [ 0. 0. 0. 1. ]] SLAMing on 2.779072329 meters Centerline goodness : 0.725091 Centerline is valid? [False, False] Translation: X:0.82, Y:0.21, Z:-0.09 [[ 0.95722659 -0.26891945 -0.10676883 0.81714507] [ 0.27035541 0.96276 -0.00106309 0.21366313] [ 0.10307864 -0.02784791 0.9942833 -0.08511649] [ 0. 0. 0. 1. ]] SLAMing on 2.809072329 meters Centerline goodness : 0.766427 Centerline is valid? [False, False] Translation: X:0.82, Y:0.21, Z:-0.09 [[ 9.57392230e-01 -2.68075070e-01 -1.07405192e-01 8.20849892e-01] [ 2.69677215e-01 9.62950691e-01 4.07764855e-04 2.10626998e-01] [ 1.03316592e-01 -2.93551238e-02 9.94215248e-01 -8.72225637e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.839072329 meters Centerline goodness : 0.721412 Centerline is valid? [False, False] Translation: X:0.83, Y:0.21, Z:-0.09 [[ 0.95752637 -0.26735656 -0.1079987 0.82530216] [ 0.26910815 0.96310844 0.00171102 0.20731052] [ 0.10355701 -0.03070168 0.99414956 -0.09012645] [ 0. 0. 0. 1. ]] SLAMing on 2.869072329 meters Centerline goodness : 0.720279 Centerline is valid? [False, False] Translation: X:0.83, Y:0.20, Z:-0.09 [[ 0.95782647 -0.26600229 -0.10867954 0.83177894] [ 0.26809626 0.96337986 0.00486249 0.19863522] [ 0.10340625 -0.033794 0.99406494 -0.09459687] [ 0. 0. 0. 1. ]] SLAMing on 2.899072329 meters Centerline goodness : 0.720997 Centerline is valid? [False, False] Translation: X:0.83, Y:0.19, Z:-0.09 [[ 0.95814615 -0.2646657 -0.10912389 0.83319733] [ 0.26699417 0.96367242 0.00704154 0.19396648] [ 0.10329603 -0.03588227 0.99400322 -0.09461459] [ 0. 0. 0. 1. ]] SLAMing on 2.929072329 meters Centerline goodness : 0.758337 Centerline is valid? [False, False] Translation: X:0.84, Y:0.19, Z:-0.10 [[ 0.95905183 -0.26064208 -0.11083907 0.83691533] [ 0.26366117 0.96452429 0.01325438 0.18822542] [ 0.10345233 -0.04193559 0.99374998 -0.0951583 ] [ 0. 0. 0. 1. ]] SLAMing on 2.959072329 meters Centerline goodness : 0.760693 Centerline is valid? [False, False] Translation: X:0.84, Y:0.18, Z:-0.10 [[ 0.9600352 -0.25620905 -0.11264693 0.84025185] [ 0.25996533 0.96541543 0.01977589 0.18254495] [ 0.10368432 -0.04826985 0.99343826 -0.09519253] [ 0. 0. 0. 1. ]] SLAMing on 2.989072329 meters Centerline goodness : 0.753738 Centerline is valid? [False, False] Translation: X:0.84, Y:0.18, Z:-0.09 [[ 0.96087514 -0.25299839 -0.11274205 0.83985481] [ 0.25706773 0.96612183 0.02290821 0.17539255] [ 0.10312682 -0.05099428 0.99336018 -0.09454197] [ 0. 0. 0. 1. ]] SLAMing on 3.019072329 meters Centerline goodness : 0.756667 Centerline is valid? [False, False] Translation: X:0.84, Y:0.17, Z:-0.10 [[ 0.96102728 -0.25219588 -0.1132422 0.84294239] [ 0.25644395 0.96625061 0.02441851 0.17216674] [ 0.1032621 -0.05250713 0.99326731 -0.09612451] [ 0. 0. 0. 1. ]] SLAMing on 3.049072329 meters Centerline goodness : 0.756667 Centerline is valid? [False, False] Translation: X:0.84, Y:0.17, Z:-0.10 [[ 0.96102728 -0.25219588 -0.1132422 0.84294239] [ 0.25644395 0.96625061 0.02441851 0.17216674] [ 0.1032621 -0.05250713 0.99326731 -0.09612451] [ 0. 0. 0. 1. ]] SLAMing on 3.079072329 meters Centerline goodness : 0.754887 Centerline is valid? [False, False] Translation: X:0.85, Y:0.17, Z:-0.10 [[ 0.96105811 -0.2518313 -0.1137906 0.84769261] [ 0.25622577 0.96627895 0.02556074 0.1687653 ] [ 0.10351647 -0.05372144 0.99317589 -0.0990942 ] [ 0. 0. 0. 1. ]] SLAMing on 3.109072329 meters Centerline goodness : 0.756439 Centerline is valid? [False, False] Translation: X:0.86, Y:0.16, Z:-0.11 [[ 0.96030531 -0.25302373 -0.11744231 0.86161168] [ 0.25814379 0.96562816 0.03039799 0.16088321] [ 0.10571419 -0.05950836 0.99261436 -0.10607362] [ 0. 0. 0. 1. ]] SLAMing on 3.139072329 meters Centerline goodness : 0.754730 Centerline is valid? [False, False] Translation: X:0.87, Y:0.16, Z:-0.11 [[ 0.96003938 -0.25343441 -0.11872399 0.86651083] [ 0.25882695 0.96538718 0.03219005 0.15827267] [ 0.10645656 -0.06163268 0.99240537 -0.10676597] [ 0. 0. 0. 1. ]] SLAMing on 3.169072329 meters Centerline goodness : 0.756449 Centerline is valid? [False, False] Translation: X:0.87, Y:0.15, Z:-0.10 [[ 0.95931328 -0.25513929 -0.12092136 0.87158081] [ 0.26106915 0.96465721 0.03576823 0.15400568] [ 0.10752178 -0.06588177 0.99201747 -0.10388843] [ 0. 0. 0. 1. ]] SLAMing on 3.199072329 meters Centerline goodness : 0.756993 Centerline is valid? [False, False] Translation: X:0.88, Y:0.15, Z:-0.10 [[ 0.95899196 -0.25577348 -0.12212429 0.87520185] [ 0.2620175 0.96431967 0.03787353 0.15027286] [ 0.10807981 -0.06831911 0.99179194 -0.1030034 ] [ 0. 0. 0. 1. ]] SLAMing on 3.229072329 meters Centerline goodness : 0.758096 Centerline is valid? [False, False] Translation: X:0.88, Y:0.14, Z:-0.10 [[ 0.95799155 -0.25959196 -0.12191886 0.87858866] [ 0.26579845 0.96330036 0.03746456 0.14212802] [ 0.10771899 -0.06829658 0.99183275 -0.10234234] [ 0. 0. 0. 1. ]] SLAMing on 3.259072329 meters Centerline goodness : 0.760135 Centerline is valid? [False, False] Translation: X:0.87, Y:0.13, Z:-0.10 [[ 0.95743662 -0.25619563 -0.13296207 0.87342779] [ 0.26376591 0.96364805 0.04254388 0.13128247] [ 0.11722908 -0.07580393 0.99020761 -0.09951046] [ 0. 0. 0. 1. ]] SLAMing on 3.289072329 meters Centerline goodness : 0.756232 Centerline is valid? [False, False] Translation: X:0.88, Y:0.13, Z:-0.10 [[ 0.95713442 -0.25671626 -0.13412855 0.87833169] [ 0.26462548 0.96331926 0.04460228 0.12684662] [ 0.11775848 -0.07818421 0.98995968 -0.09990642] [ 0. 0. 0. 1. ]] SLAMing on 3.319072329 meters Centerline goodness : 0.659242 Centerline is valid? [False, False] Translation: X:0.88, Y:0.12, Z:-0.10 [[ 0.95674706 -0.25743341 -0.13551054 0.8842665 ] [ 0.26567711 0.96294327 0.04643194 0.12316591] [ 0.11853583 -0.08042567 0.98968731 -0.10091158] [ 0. 0. 0. 1. ]] SLAMing on 3.349072329 meters Centerline goodness : 0.758831 Centerline is valid? [False, False] Translation: X:0.89, Y:0.11, Z:-0.10 [[ 0.95487331 -0.25691266 -0.14903973 0.88501488] [ 0.26649 0.96264339 0.04796652 0.11388855] [ 0.13114891 -0.08551955 0.98766714 -0.0962174 ] [ 0. 0. 0. 1. ]] SLAMing on 3.379072329 meters Centerline goodness : 0.654600 Centerline is valid? [False, False] Translation: X:0.89, Y:0.11, Z:-0.10 [[ 0.95454387 -0.25729579 -0.15048214 0.88914034] [ 0.26721486 0.96236214 0.04955125 0.11201759] [ 0.13206899 -0.0875099 0.98737014 -0.09576776] [ 0. 0. 0. 1. ]] SLAMing on 3.409072329 meters Centerline goodness : 0.754358 Centerline is valid? [False, False] Translation: X:0.89, Y:0.11, Z:-0.09 [[ 0.95475321 -0.25509714 -0.15287826 0.89384522] [ 0.26593179 0.96242985 0.05485494 0.10900152] [ 0.13314127 -0.09302812 0.98672143 -0.09478305] [ 0. 0. 0. 1. ]] SLAMing on 3.439072329 meters Centerline goodness : 0.651456 Centerline is valid? [False, False] Translation: X:0.90, Y:0.10, Z:-0.09 [[ 0.95438133 -0.25558808 -0.15437296 0.89937325] [ 0.26686659 0.96204397 0.05704056 0.10423651] [ 0.13393469 -0.09563543 0.98636472 -0.09481278] [ 0. 0. 0. 1. ]] SLAMing on 3.469072329 meters Centerline goodness : 0.646423 Centerline is valid? [False, False] Translation: X:0.90, Y:0.10, Z:-0.10 [[ 0.95424496 -0.25559741 -0.1551983 0.90428324] [ 0.26713714 0.96188957 0.05836268 0.10067641] [ 0.13436628 -0.09715153 0.98615784 -0.09658223] [ 0. 0. 0. 1. ]] SLAMing on 3.499072329 meters Centerline goodness : 0.647145 Centerline is valid? [False, False] Translation: X:0.90, Y:0.10, Z:-0.10 [[ 0.95345028 -0.25928691 -0.15395731 0.90496473] [ 0.27023901 0.96123753 0.05471095 0.09913575] [ 0.13380371 -0.09376945 0.98656163 -0.09781202] [ 0. 0. 0. 1. ]] SLAMing on 3.529072329 meters Centerline goodness : 0.643834 Centerline is valid? [False, False] Translation: X:0.91, Y:0.10, Z:-0.10 [[ 0.9533177 -0.25918533 -0.15494619 0.90963896] [ 0.27041646 0.9611095 0.0560667 0.09597631] [ 0.13438859 -0.09534938 0.98633068 -0.09910692] [ 0. 0. 0. 1. ]] SLAMing on 3.559072329 meters Centerline goodness : 0.756369 Centerline is valid? [False, False] Translation: X:0.91, Y:0.10, Z:-0.10 [[ 0.95204032 -0.26371607 -0.15515494 0.9148716 ] [ 0.2745751 0.96010841 0.0529184 0.09596941] [ 0.13501013 -0.09298214 0.98647179 -0.1009448 ] [ 0. 0. 0. 1. ]] SLAMing on 3.589072329 meters Centerline goodness : 0.754087 Centerline is valid? [False, False] Translation: X:0.91, Y:0.09, Z:-0.10 [[ 0.95094672 -0.25990992 -0.16777115 0.91077163] [ 0.27245648 0.96052049 0.05628377 0.08969336] [ 0.14651892 -0.0992332 0.98421795 -0.09771514] [ 0. 0. 0. 1. ]] SLAMing on 3.6190723289999998 meters Centerline goodness : 0.753431 Centerline is valid? [False, False] Translation: X:0.92, Y:0.09, Z:-0.10 [[ 0.94957627 -0.26458744 -0.16822125 0.91648092] [ 0.27677203 0.95945994 0.05323408 0.08964204] [ 0.14731648 -0.09710876 0.9843108 -0.09919844] [ 0. 0. 0. 1. ]] SLAMing on 3.649072329 meters Centerline goodness : 0.752353 Centerline is valid? [False, False] Translation: X:0.92, Y:0.09, Z:-0.10 [[ 0.94947401 -0.26449181 -0.16894731 0.9190441 ] [ 0.27690377 0.95936379 0.05427172 0.08716903] [ 0.1477275 -0.09831173 0.98412976 -0.09912989] [ 0. 0. 0. 1. ]] SLAMing on 3.679072329 meters Centerline goodness : 0.754095 Centerline is valid? [False, False] Translation: X:0.92, Y:0.08, Z:-0.10 [[ 0.94949763 -0.26409948 -0.16942759 0.92112358] [ 0.27673193 0.95934646 0.05544201 0.0841265 ] [ 0.14789755 -0.09952808 0.98398195 -0.09925048] [ 0. 0. 0. 1. ]] SLAMing on 3.709072329 meters Centerline goodness : 0.684934 Centerline is valid? [False, False] Translation: X:0.92, Y:0.08, Z:-0.10 [[ 0.94834868 -0.26839264 -0.16911583 0.92341697] [ 0.28068053 0.95833346 0.05306049 0.08083533] [ 0.14782831 -0.09778737 0.98416687 -0.0985147 ] [ 0. 0. 0. 1. ]] SLAMing on 3.739072329 meters Centerline goodness : 0.565521 Centerline is valid? [False, False] Translation: X:0.93, Y:0.08, Z:-0.10 [[ 0.94791613 -0.26909122 -0.17042569 0.92751811] [ 0.2817295 0.95794729 0.05445615 0.07824805] [ 0.14860516 -0.09963381 0.98386463 -0.09799042] [ 0. 0. 0. 1. ]] SLAMing on 3.769072329 meters Centerline goodness : 0.674721 Centerline is valid? [False, False] Translation: X:0.93, Y:0.08, Z:-0.10 [[ 0.9467779 -0.27360004 -0.1695719 0.92775645] [ 0.28570769 0.95694859 0.05119103 0.07730684] [ 0.14826572 -0.09691453 0.98418741 -0.09717074] [ 0. 0. 0. 1. ]] SLAMing on 3.799072329 meters Centerline goodness : 0.613175 Centerline is valid? [False, False] Translation: X:0.93, Y:0.07, Z:-0.10 [[ 0.94648698 -0.27407428 -0.17042794 0.93098431] [ 0.28653205 0.95660865 0.05290817 0.07299204] [ 0.14853207 -0.09890996 0.9839487 -0.09664472] [ 0. 0. 0. 1. ]] SLAMing on 3.829072329 meters Centerline goodness : 0.613479 Centerline is valid? [False, False] Translation: X:0.94, Y:0.07, Z:-0.10 [[ 0.94490454 -0.27901096 -0.17119663 0.93754946] [ 0.29136311 0.95523374 0.05134239 0.06823835] [ 0.14920771 -0.09839404 0.9838982 -0.09675667] [ 0. 0. 0. 1. ]] SLAMing on 3.859072329 meters Centerline goodness : 0.603658 Centerline is valid? [False, False] Translation: X:0.94, Y:0.07, Z:-0.10 [[ 0.94355122 -0.28385778 -0.17069229 0.93974742] [ 0.29568441 0.95408625 0.04785558 0.06789645] [ 0.14927098 -0.09562524 0.98416157 -0.09697245] [ 0. 0. 0. 1. ]] SLAMing on 3.8890723289999998 meters Centerline goodness : 0.599921 Centerline is valid? [False, False] Translation: X:0.94, Y:0.07, Z:-0.10 [[ 0.94214404 -0.28870426 -0.17033632 0.94278929] [ 0.30003356 0.95289269 0.04444537 0.06722622] [ 0.14948066 -0.09298055 0.98438313 -0.09754583] [ 0. 0. 0. 1. ]] SLAMing on 3.919072329 meters Centerline goodness : 0.604432 Centerline is valid? [False, False] Translation: X:0.95, Y:0.06, Z:-0.10 [[ 0.93942151 -0.29781081 -0.16969371 0.95062822] [ 0.3082344 0.95054376 0.03818534 0.06365499] [ 0.14992929 -0.08817757 0.98475678 -0.10009951] [ 0. 0. 0. 1. ]] SLAMing on 3.949072329 meters Centerline goodness : 0.592039 Centerline is valid? [False, False] Translation: X:0.95, Y:0.06, Z:-0.10 [[ 0.93811858 -0.30208117 -0.16935318 0.95469635] [ 0.3121009 0.94938922 0.03539969 0.06061782] [ 0.15008851 -0.08606439 0.98491947 -0.10118926] [ 0. 0. 0. 1. ]] SLAMing on 3.979072329 meters Centerline goodness : 0.712047 Centerline is valid? [False, False] Translation: X:0.96, Y:0.05, Z:-0.10 [[ 0.93552692 -0.31087785 -0.16776276 0.9619558 ] [ 0.31998329 0.94696106 0.02958797 0.05234997] [ 0.14966655 -0.08136162 0.98538328 -0.1035031 ] [ 0. 0. 0. 1. ]] SLAMing on 4.009072328999999 meters Centerline goodness : 0.699839 Centerline is valid? [False, False] Translation: X:0.96, Y:0.05, Z:-0.10 [[ 0.93421004 -0.31513268 -0.16716158 0.96416778] [ 0.32384199 0.94572693 0.0269618 0.04906427] [ 0.14959267 -0.07932192 0.98556079 -0.10320811] [ 0. 0. 0. 1. ]] SLAMing on 4.039072329 meters Centerline goodness : 0.713778 Centerline is valid? [False, False] Translation: X:0.96, Y:0.05, Z:-0.10 [[ 0.93283431 -0.31964956 -0.16626577 0.96450015] [ 0.32785702 0.94442858 0.02375774 0.04804062] [ 0.149432 -0.07667343 0.98579474 -0.10213965] [ 0. 0. 0. 1. ]] SLAMing on 4.069072329 meters Centerline goodness : 0.743908 Centerline is valid? [False, False] Translation: X:0.98, Y:0.05, Z:-0.10 [[ 0.9307876 -0.32740009 -0.16261493 0.97889441] [ 0.33627384 0.94129799 0.02963116 0.04537657] [ 0.14336786 -0.08226346 0.98624458 -0.10373611] [ 0. 0. 0. 1. ]] SLAMing on 4.099072329 meters Centerline goodness : 0.739673 Centerline is valid? [False, False] Translation: X:0.98, Y:0.04, Z:-0.10 [[ 0.92942818 -0.33156918 -0.16194177 0.98095561] [ 0.33999294 0.94005187 0.0265947 0.0429108 ] [ 0.14341568 -0.07977693 0.98644188 -0.10368335] [ 0. 0. 0. 1. ]] SLAMing on 4.1290723289999995 meters Centerline goodness : 0.743115 Centerline is valid? [False, False] Translation: X:0.98, Y:0.04, Z:-0.10 [[ 0.92683281 -0.33978134 -0.15977978 0.98371933] [ 0.34714943 0.93759987 0.01984323 0.03978358] [ 0.14306715 -0.07385882 0.98695322 -0.1043649 ] [ 0. 0. 0. 1. ]] SLAMing on 4.159072329 meters Centerline goodness : 0.743263 Centerline is valid? [False, False] Translation: X:0.99, Y:0.03, Z:-0.11 [[ 0.92422891 -0.34780595 -0.15758152 0.98763613] [ 0.35420918 0.93506682 0.0136346 0.03447197] [ 0.14260705 -0.06841832 0.98741185 -0.10576039] [ 0. 0. 0. 1. ]] SLAMing on 4.189072329 meters Centerline goodness : 0.745529 Centerline is valid? [False, False] Translation: X:0.99, Y:0.03, Z:-0.11 [[ 0.91974557 -0.36092136 -0.15428501 0.99337833] [ 0.36597226 0.93061397 0.00468551 0.02502859] [ 0.14188869 -0.06077351 0.98801527 -0.10752595] [ 0. 0. 0. 1. ]] SLAMing on 4.219072329 meters Centerline goodness : 0.747032 Centerline is valid? [False, False] Translation: X:0.99, Y:0.02, Z:-0.11 [[ 0.91808354 -0.36572812 -0.15285798 0.99434047] [ 0.37034043 0.92889429 0.00183628 0.0212221 ] [ 0.14131732 -0.05829535 0.98824646 -0.10759172] [ 0. 0. 0. 1. ]] SLAMing on 4.249072329 meters Centerline goodness : 0.747685 Centerline is valid? [False, False] Translation: X:0.99, Y:0.02, Z:-0.11 [[ 0.91620121 -0.37117136 -0.15102043 0.99403587] [ 0.37528209 0.92690962 -0.00137995 0.01739857] [ 0.14049449 -0.05541095 0.98852968 -0.10700814] [ 0. 0. 0. 1. ]] SLAMing on 4.279072329 meters Centerline goodness : 0.739031 Centerline is valid? [False, False] Translation: X:1.00, Y:0.01, Z:-0.11 [[ 0.90928506 -0.39154742 -0.14103655 1.00158888] [ 0.39513518 0.91861877 -0.00278148 0.00703688] [ 0.1306479 -0.05319935 0.99000048 -0.10728362] [ 0. 0. 0. 1. ]] SLAMing on 4.309072329 meters Centerline goodness : 0.743335 Centerline is valid? [False, False] Translation: X:1.00, Y:0.00, Z:-0.10 [[ 0.90435322 -0.40443413 -0.13630222 1.00108053] [ 0.40661296 0.91351197 -0.01271936 0.00131112] [ 0.12965785 -0.04391945 0.99058565 -0.10481339] [ 0. 0. 0. 1. ]] SLAMing on 4.339072329 meters Centerline goodness : 0.742901 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.01, Z:-0.10 [[ 0.89873479 -0.41845708 -0.13103223 1.00147244] [ 0.4191932 0.90759906 -0.02325951 -0.00649496] [ 0.12865784 -0.03402369 0.99110522 -0.10273058] [ 0. 0. 0. 1. ]] SLAMing on 4.369072329 meters Centerline goodness : 0.744745 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.01, Z:-0.10 [[ 0.89165849 -0.43522626 -0.12459229 1.0039351 ] [ 0.43427816 0.90005457 -0.03611438 -0.01419899] [ 0.12785779 -0.02190602 0.99155056 -0.10206407] [ 0. 0. 0. 1. ]] SLAMing on 4.399072329 meters Centerline goodness : 0.745826 Centerline is valid? [False, False] Translation: X:1.02, Y:-0.04, Z:-0.10 [[ 0.87223871 -0.47455732 -0.1183004 1.01655641] [ 0.47343912 0.87995408 -0.03919453 -0.03589328] [ 0.12269897 -0.02182105 0.99220401 -0.10202882] [ 0. 0. 0. 1. ]] SLAMing on 4.429072329 meters Centerline goodness : 0.750241 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.05, Z:-0.11 [[ 0.86179736 -0.49482662 -0.11158824 1.00669554] [ 0.49344801 0.86877948 -0.04160853 -0.05068353] [ 0.11753458 -0.01920487 0.99288307 -0.1105128 ] [ 0. 0. 0. 1. ]] SLAMing on 4.459072329 meters Centerline goodness : 0.750263 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.07, Z:-0.12 [[ 0.84924482 -0.51727616 -0.1058707 0.99430672] [ 0.51557071 0.85566261 -0.04503714 -0.06720199] [ 0.11388623 -0.01633627 0.99335948 -0.11742823] [ 0. 0. 0. 1. ]] SLAMing on 4.489072329 meters Centerline goodness : 0.756599 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.10, Z:-0.12 [[ 0.81729822 -0.56775608 -0.09836993 0.98744045] [ 0.56595623 0.82303352 -0.04805602 -0.10336184] [ 0.10824585 -0.01639697 0.99398892 -0.11959693] [ 0. 0. 0. 1. ]] SLAMing on 4.519072329 meters Centerline goodness : 0.759431 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.13, Z:-0.12 [[ 0.79862344 -0.5945448 -0.09336536 0.95624515] [ 0.59249766 0.80393492 -0.05133388 -0.12700523] [ 0.10557996 -0.01432231 0.99430767 -0.1230349 ] [ 0. 0. 0. 1. ]] SLAMing on 4.549072329 meters Centerline goodness : 0.762197 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.15, Z:-0.13 [[ 0.77827529 -0.62161777 -0.0887633 0.92487373] [ 0.61928553 0.78322785 -0.05513235 -0.15054143] [ 0.10379314 -0.01206169 0.99452577 -0.12655004] [ 0. 0. 0. 1. ]] SLAMing on 4.579072329 meters Centerline goodness : 0.766097 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.19, Z:-0.13 [[ 0.73340362 -0.67476844 -0.08250261 0.90833937] [ 0.67224742 0.73793438 -0.05946647 -0.19324204] [ 0.10100761 -0.01184924 0.99481509 -0.13045365] [ 0. 0. 0. 1. ]] SLAMing on 4.609072329 meters Centerline goodness : 0.769159 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.22, Z:-0.14 [[ 0.70843664 -0.7015164 -0.0774098 0.84910034] [ 0.69870518 0.71259435 -0.06340638 -0.22317752] [ 0.0996424 -0.00916722 0.99498108 -0.13800698] [ 0. 0. 0. 1. ]] SLAMing on 4.639072329 meters Centerline goodness : 0.772930 Centerline is valid? [False, False] Translation: X:0.78, Y:-0.26, Z:-0.15 [[ 0.68201006 -0.72798987 -0.06995014 0.77612685] [ 0.72467558 0.68557987 -0.06946611 -0.25555286] [ 0.09852703 -0.00331457 0.99512885 -0.14781694] [ 0. 0. 0. 1. ]] SLAMing on 4.669072329 meters Centerline goodness : 0.770427 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.31, Z:-0.16 [[ 0.62527341 -0.7784315 -0.05547574 0.73410272] [ 0.77466241 0.62770992 -0.07667079 -0.31112627] [ 0.09450563 0.00496524 0.99551195 -0.15713454] [ 0. 0. 0. 1. ]] SLAMing on 4.699072329 meters Centerline goodness : 0.758359 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.35, Z:-0.17 [[ 0.59669742 -0.80108826 -0.04700832 0.66678555] [ 0.79677429 0.59841237 -0.08398429 -0.34518557] [ 0.09540919 0.01265819 0.99535765 -0.16987069] [ 0. 0. 0. 1. ]] SLAMing on 4.729072329 meters Centerline goodness : 0.760801 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.38, Z:-0.18 [[ 0.56902347 -0.82132967 -0.0403715 0.58457247] [ 0.81638207 0.57012237 -0.09209123 -0.37919985] [ 0.09865396 0.0194435 0.99493183 -0.18428864] [ 0. 0. 0. 1. ]] SLAMing on 4.759072329 meters Centerline goodness : 0.765077 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.43, Z:-0.20 [[ 0.52275877 -0.85165647 -0.03747698 0.51738786] [ 0.84655526 0.52379765 -0.09476403 -0.43354419] [ 0.10033675 0.01781239 0.99479408 -0.20273071] [ 0. 0. 0. 1. ]] SLAMing on 4.789072329 meters Centerline goodness : 0.770676 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.47, Z:-0.22 [[ 0.50763173 -0.86087536 -0.03469347 0.40869537] [ 0.8552748 0.50837195 -0.10031443 -0.46808824] [ 0.10399541 0.02125034 0.99435073 -0.22211779] [ 0. 0. 0. 1. ]] SLAMing on 4.819072329 meters Centerline goodness : 0.765946 Centerline is valid? [False, False] Translation: X:0.30, Y:-0.50, Z:-0.24 [[ 0.49681998 -0.86729706 -0.031076 0.29516221] [ 0.86105197 0.49708442 -0.1072221 -0.50251207] [ 0.10844081 0.02651203 0.99374932 -0.24134092] [ 0. 0. 0. 1. ]] SLAMing on 4.849072329 meters Centerline goodness : 0.765043 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.55, Z:-0.26 [[ 0.4884226 -0.87216623 -0.02773851 0.1899292 ] [ 0.86511431 0.48814071 -0.11530773 -0.55436349] [ 0.1141078 0.03232192 0.99294245 -0.25949211] [ 0. 0. 0. 1. ]] SLAMing on 4.8790723289999995 meters Centerline goodness : 0.775486 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.59, Z:-0.28 [[ 0.49446167 -0.86891726 -0.022146 0.05807679] [ 0.86126074 0.49322221 -0.12231837 -0.58891777] [ 0.11720745 0.04140827 0.99224381 -0.27767282] [ 0. 0. 0. 1. ]] SLAMing on 4.909072329 meters Centerline goodness : 0.766926 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.62, Z:-0.30 [[ 0.50741025 -0.86154339 -0.01666782 -0.06855484] [ 0.85340494 0.50510719 -0.12871186 -0.62187567] [ 0.11930989 0.05108532 0.99154195 -0.29517013] [ 0. 0. 0. 1. ]] SLAMing on 4.939072329 meters Centerline goodness : 0.800986 Centerline is valid? [False, False] Translation: X:-0.21, Y:-0.67, Z:-0.31 [[ 0.54758845 -0.83664906 -0.01285439 -0.21161886] [ 0.82862186 0.54434241 -0.13067957 -0.67203265] [ 0.11633013 0.06090719 0.99134132 -0.31174954] [ 0. 0. 0. 1. ]] SLAMing on 4.969072329 meters Centerline goodness : 0.806903 Centerline is valid? [False, False] Translation: X:-0.37, Y:-0.70, Z:-0.32 [[ 0.57715024 -0.81658009 -0.00972384 -0.36900318] [ 0.80853685 0.57305736 -0.13369149 -0.70407072] [ 0.11474213 0.069298 0.99097529 -0.32374629] [ 0. 0. 0. 1. ]] SLAMing on 4.999072329 meters Centerline goodness : 0.806903 Centerline is valid? [False, False] Translation: X:-0.53, Y:-0.72, Z:-0.33 [[ 0.5796114 -0.81486897 -0.00625938 -0.52724246] [ 0.80655308 0.57475864 -0.13829182 -0.72261667] [ 0.11628735 0.075107 0.99037174 -0.33445743] [ 0. 0. 0. 1. ]] SLAMing on 5.029072329 meters Centerline goodness : 0.790675 Centerline is valid? [False, False] Translation: X:-0.70, Y:-0.75, Z:-0.34 [[ 0.61301156 -0.7900659 -0.00356244 -0.69874846] [ 0.78192162 0.60732615 -0.14054725 -0.7543382 ] [ 0.11320516 0.08337154 0.99006756 -0.34435462] [ 0. 0. 0. 1. ]] SLAMing on 5.059072329 meters Centerline goodness : 0.588829 Centerline is valid? [False, False] Translation: X:-0.86, Y:-0.78, Z:-0.35 [[ 0.64949761 -0.76035904 -0.00264443 -0.86058285] [ 0.75252082 0.64329267 -0.14102114 -0.78385685] [ 0.10892784 0.08960291 0.99000305 -0.35197822] [ 0. 0. 0. 1. ]] SLAMing on 5.0890723289999995 meters Centerline goodness : 0.827901 Centerline is valid? [False, False] Translation: X:-1.03, Y:-0.82, Z:-0.36 [[ 0.72656283 -0.68707687 -0.00564199 -1.03364636] [ 0.67963745 0.71985434 -0.14107679 -0.81949079] [ 0.10099201 0.09866664 0.98998258 -0.35621036] [ 0. 0. 0. 1. ]] SLAMing on 5.119072329 meters Centerline goodness : 0.828394 Centerline is valid? [False, False] Translation: X:-1.17, Y:-0.84, Z:-0.36 [[ 0.76688167 -0.64174652 -0.0073429 -1.17253619] [ 0.63461703 0.75996833 -0.14039003 -0.84243084] [ 0.09567518 0.10300261 0.99006905 -0.35655287] [ 0. 0. 0. 1. ]] SLAMing on 5.149072329 meters Centerline goodness : 0.826395 Centerline is valid? [False, False] Translation: X:-1.30, Y:-0.86, Z:-0.35 [[ 0.80611321 -0.59168049 -0.00978184 -1.29881653] [ 0.58493539 0.79920932 -0.1382572 -0.86403035] [ 0.08962182 0.10572921 0.99034805 -0.35457351] [ 0. 0. 0. 1. ]] SLAMing on 5.179072329 meters Centerline goodness : 0.823431 Centerline is valid? [False, False] Translation: X:-1.41, Y:-0.88, Z:-0.35 [[ 0.84306369 -0.53766199 -0.01277452 -1.40565879] [ 0.53123067 0.83621435 -0.13615997 -0.8818448 ] [ 0.08389027 0.10800531 0.9906045 -0.35283675] [ 0. 0. 0. 1. ]] SLAMing on 5.209072329 meters Centerline goodness : 0.822617 Centerline is valid? [False, False] Translation: X:-1.51, Y:-0.90, Z:-0.35 [[ 0.90688644 -0.42091117 -0.01976767 -1.50535745] [ 0.41526195 0.90070763 -0.12760591 -0.8970027 ] [ 0.07151564 0.10751531 0.99162794 -0.35203819] [ 0. 0. 0. 1. ]] SLAMing on 5.239072329 meters Centerline goodness : 0.824048 Centerline is valid? [False, False] Translation: X:-1.53, Y:-0.90, Z:-0.35 [[ 0.93309603 -0.35858767 -0.02732541 -1.53498532] [ 0.35336505 0.92831526 -0.11560238 -0.901119 ] [ 0.06682018 0.09821228 0.99291964 -0.34880013] [ 0. 0. 0. 1. ]] SLAMing on 5.269072329 meters Centerline goodness : 0.817742 Centerline is valid? [False, False] Translation: X:-1.55, Y:-0.90, Z:-0.34 [[ 0.96990482 -0.24026204 -0.03948152 -1.55245761] [ 0.23537749 0.96669685 -0.10047207 -0.89801414] [ 0.06230628 0.08815528 0.99415621 -0.34192402] [ 0. 0. 0. 1. ]] SLAMing on 5.2990723289999995 meters Centerline goodness : 0.816443 Centerline is valid? [False, False] Translation: X:-1.54, Y:-0.90, Z:-0.34 [[ 0.98201139 -0.18370847 -0.04364432 -1.5404969 ] [ 0.17914169 0.97949645 -0.09216814 -0.89616264] [ 0.05968153 0.08269164 0.99478651 -0.33961129] [ 0. 0. 0. 1. ]] SLAMing on 5.329072329 meters Centerline goodness : 0.815197 Centerline is valid? [False, False] Translation: X:-1.50, Y:-0.89, Z:-0.33 [[ 0.99021112 -0.13039141 -0.04979971 -1.5049069 ] [ 0.12575576 0.98823827 -0.08700923 -0.89105231] [ 0.06055924 0.07989491 0.994962 -0.33132289] [ 0. 0. 0. 1. ]] SLAMing on 5.359072329 meters Centerline goodness : 0.813711 Centerline is valid? [False, False] Translation: X:-1.45, Y:-0.89, Z:-0.32 [[ 0.99556988 -0.07629741 -0.05494826 -1.44640137] [ 0.07156941 0.99394247 -0.08340375 -0.88648156] [ 0.0609789 0.07910165 0.99499975 -0.32275834] [ 0. 0. 0. 1. ]] SLAMing on 5.389072329 meters Centerline goodness : 0.817705 Centerline is valid? [False, False] Translation: X:-1.46, Y:-0.88, Z:-0.32 [[ 0.99898778 0.00402679 -0.04480172 -1.45874384] [-0.0074155 0.9971007 -0.0757311 -0.87665419] [ 0.04436687 0.07598667 0.99612128 -0.31866047] [ 0. 0. 0. 1. ]] SLAMing on 5.419072329 meters Centerline goodness : 0.822076 Centerline is valid? [False, False] Translation: X:-1.45, Y:-0.87, Z:-0.32 [[ 0.99873894 0.03471208 -0.03627117 -1.4517471 ] [-0.0367377 0.99771175 -0.05675925 -0.87451474] [ 0.03421794 0.05802019 0.99772882 -0.31738611] [ 0. 0. 0. 1. ]] SLAMing on 5.449072329 meters Centerline goodness : 0.826505 Centerline is valid? [False, False] Translation: X:-1.44, Y:-0.87, Z:-0.32 [[ 0.99787112 0.05921897 -0.02731911 -1.44469392] [-0.06037582 0.99722011 -0.04366704 -0.87084952] [ 0.02465725 0.04522349 0.99867255 -0.31652482] [ 0. 0. 0. 1. ]] SLAMing on 5.479072329 meters Centerline goodness : 0.825648 Centerline is valid? [False, False] Translation: X:-1.41, Y:-0.86, Z:-0.31 [[ 0.99464376 0.09939735 -0.02835431 -1.40643586] [-0.1003389 0.99437296 -0.03397813 -0.86077908] [ 0.02481743 0.03664117 0.99902028 -0.31019639] [ 0. 0. 0. 1. ]] SLAMing on 5.509072329 meters Centerline goodness : 0.826635 Centerline is valid? [False, False] Translation: X:-1.40, Y:-0.86, Z:-0.31 [[ 0.99330602 0.11185942 -0.02882034 -1.40043062] [-0.11253673 0.99338003 -0.0230566 -0.85959396] [ 0.02605045 0.02614561 0.99931866 -0.31271992] [ 0. 0. 0. 1. ]] SLAMing on 5.539072329 meters Centerline goodness : 0.823601 Centerline is valid? [False, False] Translation: X:-1.39, Y:-0.86, Z:-0.32 [[ 0.99224171 0.12083136 -0.02926035 -1.39373277] [-0.12131868 0.99249276 -0.01548853 -0.85655833] [ 0.02716918 0.01891819 0.99945182 -0.31676949] [ 0. 0. 0. 1. ]] SLAMing on 5.569072329 meters Centerline goodness : 0.821555 Centerline is valid? [False, False] Translation: X:-1.39, Y:-0.85, Z:-0.32 [[ 0.99101397 0.13044915 -0.02956918 -1.38677686] [-0.130724 0.99139003 -0.00755236 -0.84921545] [ 0.02832939 0.01134989 0.9995342 -0.31995737] [ 0. 0. 0. 1. ]] SLAMing on 5.599072329 meters Centerline goodness : 0.821677 Centerline is valid? [False, False] Translation: X:-1.38, Y:-0.85, Z:-0.32 [[ 0.99061287 0.13337775 -0.02994196 -1.38330932] [-0.13358842 0.99102357 -0.00514032 -0.84699205] [ 0.02898758 0.00909197 0.99953842 -0.32161707] [ 0. 0. 0. 1. ]] SLAMing on 5.6290723289999995 meters Centerline goodness : 0.820246 Centerline is valid? [False, False] Translation: X:-1.38, Y:-0.84, Z:-0.32 [[ 0.99065354 0.13302642 -0.03015853 -1.38190678] [-0.13327344 0.99105912 -0.00632515 -0.84349874] [ 0.02904747 0.01028537 0.99952512 -0.3227294 ] [ 0. 0. 0. 1. ]] SLAMing on 5.659072329 meters Centerline goodness : 0.822833 Centerline is valid? [False, False] Translation: X:-1.38, Y:-0.84, Z:-0.33 [[ 0.99038424 0.13477527 -0.03121999 -1.37505241] [-0.13503012 0.99082213 -0.00619416 -0.83565546] [ 0.03009864 0.01035024 0.99949334 -0.32688432] [ 0. 0. 0. 1. ]] SLAMing on 5.689072329 meters Centerline goodness : 0.772471 Centerline is valid? [False, False] Translation: X:-1.37, Y:-0.83, Z:-0.33 [[ 0.99042098 0.13442066 -0.03158128 -1.37291226] [-0.13472809 0.99085185 -0.00780733 -0.83060672] [ 0.0302429 0.01198743 0.99947069 -0.32864636] [ 0. 0. 0. 1. ]] SLAMing on 5.719072329 meters Centerline goodness : 0.805781 Centerline is valid? [False, False] Translation: X:-1.37, Y:-0.83, Z:-0.33 [[ 0.99009309 0.13664349 -0.03231452 -1.36759832] [-0.13691213 0.99056353 -0.00624142 -0.82638284] [ 0.03115674 0.01060383 0.99945826 -0.33186175] [ 0. 0. 0. 1. ]] SLAMing on 5.749072329 meters Centerline goodness : 0.816179 Centerline is valid? [False, False] Translation: X:-1.36, Y:-0.81, Z:-0.34 [[ 0.98942413 0.14112951 -0.03350149 -1.35780739] [-0.14129604 0.98996386 -0.00264441 -0.81494289] [ 0.03279206 0.00735007 0.99943517 -0.33660454] [ 0. 0. 0. 1. ]] SLAMing on 5.779072329 meters Centerline goodness : 0.815843 Centerline is valid? [False, False] Translation: X:-1.35, Y:-0.81, Z:-0.34 [[ 9.88987756e-01 1.44117578e-01 -3.36651379e-02 -1.35475135e+00] [-1.44221751e-01 9.89545164e-01 -6.74097104e-04 -8.08867540e-01] [ 3.32160252e-02 5.52191892e-03 9.99432941e-01 -3.38249777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.809072329 meters Centerline goodness : 0.813464 Centerline is valid? [False, False] Translation: X:-1.35, Y:-0.80, Z:-0.34 [[ 9.88549844e-01 1.47044554e-01 -3.38689381e-02 -1.35146544e+00] [-1.47097267e-01 9.89121582e-01 9.43701421e-04 -8.02188542e-01] [ 3.36392638e-02 4.04913233e-03 9.99425837e-01 -3.40058845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.8390723289999995 meters Centerline goodness : 0.811673 Centerline is valid? [False, False] Translation: X:-1.35, Y:-0.80, Z:-0.34 [[ 0.98808739 0.15011213 -0.03390667 -1.34864942] [-0.1501078 0.98866598 0.002688 -0.79623856] [ 0.03392587 0.00243367 0.99942139 -0.34182748] [ 0. 0. 0. 1. ]] SLAMing on 5.869072329 meters Centerline goodness : 0.814143 Centerline is valid? [False, False] Translation: X:-1.34, Y:-0.78, Z:-0.35 [[ 9.87395380e-01 1.54365407e-01 -3.49525942e-02 -1.34058581e+00] [-1.54420168e-01 9.88004607e-01 1.14361341e-03 -7.82620157e-01] [ 3.47098585e-02 4.26818688e-03 9.99388317e-01 -3.50509518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.899072329 meters Centerline goodness : 0.815447 Centerline is valid? [False, False] Translation: X:-1.34, Y:-0.78, Z:-0.35 [[ 0.98697994 0.15696215 -0.03512083 -1.33669735] [-0.15697792 0.98759938 0.00232527 -0.77558759] [ 0.03505029 0.0032182 0.99938037 -0.35334641] [ 0. 0. 0. 1. ]] SLAMing on 5.929072329 meters Centerline goodness : 0.796467 Centerline is valid? [False, False] Translation: X:-1.33, Y:-0.77, Z:-0.36 [[ 0.98658903 0.15932907 -0.0354449 -1.33234943] [-0.15932265 0.98722194 0.0030239 -0.76640392] [ 0.03547377 0.00266383 0.99936706 -0.35620698] [ 0. 0. 0. 1. ]] SLAMing on 5.959072329 meters Centerline goodness : 0.805348 Centerline is valid? [False, False] Translation: X:-1.33, Y:-0.76, Z:-0.36 [[ 0.98619198 0.16171993 -0.03566557 -1.32842345] [-0.16169009 0.9868345 0.00373863 -0.7558874 ] [ 0.03580063 0.00207977 0.99935679 -0.35853735] [ 0. 0. 0. 1. ]] SLAMing on 5.989072329 meters Centerline goodness : 0.805442 Centerline is valid? [False, False] Translation: X:-1.32, Y:-0.73, Z:-0.36 [[ 0.98516658 0.16742373 -0.03763122 -1.31571378] [-0.16719364 0.98588113 0.00920277 -0.73370638] [ 0.03864067 -0.00277456 0.99924932 -0.36009006] [ 0. 0. 0. 1. ]] SLAMing on 6.019072329 meters Centerline goodness : 0.805928 Centerline is valid? [False, False] Translation: X:-1.31, Y:-0.72, Z:-0.36 [[ 0.98475339 0.16981101 -0.037749 -1.31346649] [-0.16954961 0.98547046 0.01004485 -0.72459438] [ 0.03890625 -0.00349138 0.99923677 -0.36060185] [ 0. 0. 0. 1. ]] SLAMing on 6.0490723289999995 meters Centerline goodness : 0.806767 Centerline is valid? [False, False] Translation: X:-1.31, Y:-0.72, Z:-0.36 [[ 9.84885386e-01 1.68959036e-01 -3.81263772e-02 -1.31229863e+00] [-1.68806633e-01 9.85622853e-01 7.20502681e-03 -7.15252188e-01] [ 3.87955831e-02 -6.60140239e-04 9.99246950e-01 -3.60841026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.079072329 meters Centerline goodness : 0.789426 Centerline is valid? [False, False] Translation: X:-1.30, Y:-0.69, Z:-0.36 [[ 0.98483743 0.17107851 -0.02876431 -1.30112478] [-0.1711076 0.98525126 0.00146543 -0.69302099] [ 0.02859078 0.00347858 0.99958515 -0.36417189] [ 0. 0. 0. 1. ]] SLAMing on 6.109072329 meters Centerline goodness : 0.789362 Centerline is valid? [False, False] Translation: X:-1.30, Y:-0.68, Z:-0.36 [[ 9.83798510e-01 1.77035821e-01 -2.82632346e-02 -1.30032823e+00] [-1.76937026e-01 9.84204014e-01 5.97892065e-03 -6.83350576e-01] [ 2.88752720e-02 -8.81240573e-04 9.99582634e-01 -3.62484640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.139072329 meters Centerline goodness : 0.817917 Centerline is valid? [False, False] Translation: X:-1.30, Y:-0.67, Z:-0.36 [[ 0.98274243 0.18288044 -0.0277861 -1.29927155] [-0.18267148 0.98312413 0.009903 -0.67040306] [ 0.02912825 -0.00465637 0.99956484 -0.36067021] [ 0. 0. 0. 1. ]] SLAMing on 6.169072329 meters Centerline goodness : 0.814350 Centerline is valid? [False, False] Translation: X:-1.30, Y:-0.64, Z:-0.36 [[ 0.98182259 0.18813608 -0.02508413 -1.3011566 ] [-0.18776315 0.9820758 0.01649607 -0.64101966] [ 0.02773802 -0.01148634 0.99954923 -0.358477 ] [ 0. 0. 0. 1. ]] SLAMing on 6.199072329 meters Centerline goodness : 0.813933 Centerline is valid? [False, False] Translation: X:-1.30, Y:-0.63, Z:-0.36 [[ 0.98147402 0.18992923 -0.02521165 -1.30011505] [-0.18956043 0.98173354 0.01631227 -0.62886901] [ 0.02784929 -0.01123094 0.99954904 -0.35712023] [ 0. 0. 0. 1. ]] SLAMing on 6.229072329 meters Centerline goodness : 0.817316 Centerline is valid? [False, False] Translation: X:-1.29, Y:-0.60, Z:-0.36 [[ 0.98196671 0.18826381 -0.01726623 -1.28557082] [-0.18811943 0.98209874 0.0096513 -0.5972356 ] [ 0.01877414 -0.00622914 0.99980435 -0.35869947] [ 0. 0. 0. 1. ]] SLAMing on 6.259072329 meters Centerline goodness : 0.818151 Centerline is valid? [False, False] Translation: X:-1.28, Y:-0.58, Z:-0.36 [[ 0.98181751 0.18897748 -0.0179415 -1.28387051] [-0.18884433 0.98196705 0.00886179 -0.58360286] [ 0.01929264 -0.00531251 0.99979977 -0.35666288] [ 0. 0. 0. 1. ]] SLAMing on 6.289072329 meters Centerline goodness : 0.820475 Centerline is valid? [False, False] Translation: X:-1.28, Y:-0.57, Z:-0.36 [[ 0.98194633 0.18813104 -0.01970073 -1.27912904] [-0.18803238 0.98213955 0.00676246 -0.56937326] [ 0.0206211 -0.002936 0.99978305 -0.35594564] [ 0. 0. 0. 1. ]] SLAMing on 6.319072329 meters Centerline goodness : 0.818986 Centerline is valid? [False, False] Translation: X:-1.26, Y:-0.54, Z:-0.36 [[ 9.83407376e-01 1.79776848e-01 -2.42943968e-02 -1.26344592e+00] [-1.79800667e-01 9.83702311e-01 1.21833358e-03 -5.40191284e-01] [ 2.41174824e-02 3.17003052e-03 9.99704105e-01 -3.57149556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.349072329 meters Centerline goodness : 0.818256 Centerline is valid? [False, False] Translation: X:-1.26, Y:-0.53, Z:-0.36 [[ 0.9836902 0.17799964 -0.0258789 -1.25786114] [-0.17811154 0.98400813 -0.00206692 -0.52675771] [ 0.02509714 0.00664254 0.99966295 -0.35860983] [ 0. 0. 0. 1. ]] SLAMing on 6.3790723289999995 meters Centerline goodness : 0.816011 Centerline is valid? [False, False] Translation: X:-1.25, Y:-0.51, Z:-0.36 [[ 0.98381597 0.1770762 -0.02738881 -1.25310905] [-0.17725624 0.98415546 -0.00427201 -0.51345786] [ 0.02619838 0.00905771 0.99961573 -0.35877251] [ 0. 0. 0. 1. ]] SLAMing on 6.409072329 meters Centerline goodness : 0.817997 Centerline is valid? [False, False] Translation: X:-1.25, Y:-0.50, Z:-0.36 [[ 0.98388114 0.17649673 -0.02875423 -1.24904232] [-0.17673788 0.98423934 -0.00605283 -0.50126595] [ 0.02723274 0.01103723 0.99956819 -0.3584109 ] [ 0. 0. 0. 1. ]] SLAMing on 6.439072329 meters Centerline goodness : 0.819148 Centerline is valid? [False, False] Translation: X:-1.24, Y:-0.48, Z:-0.35 [[ 0.98451985 0.17194438 -0.03399693 -1.23661141] [-0.17241741 0.98495699 -0.01148782 -0.47774545] [ 0.03151025 0.01717165 0.99935591 -0.35424822] [ 0. 0. 0. 1. ]] SLAMing on 6.469072329 meters Centerline goodness : 0.851188 Centerline is valid? [False, False] Translation: X:-1.23, Y:-0.47, Z:-0.35 [[ 0.98483638 0.16988854 -0.03514523 -1.23333592] [-0.17049525 0.98524384 -0.01503162 -0.46747363] [ 0.03207292 0.02079578 0.99926916 -0.35461469] [ 0. 0. 0. 1. ]] SLAMing on 6.499072329 meters Centerline goodness : 0.838678 Centerline is valid? [False, False] Translation: X:-1.23, Y:-0.46, Z:-0.35 [[ 0.9851832 0.16760139 -0.03638458 -1.23001059] [-0.16834935 0.98555284 -0.01854999 -0.45729216] [ 0.03274992 0.02440046 0.99916568 -0.35478328] [ 0. 0. 0. 1. ]] SLAMing on 6.529072329 meters Centerline goodness : 0.817030 Centerline is valid? [False, False] Translation: X:-1.22, Y:-0.45, Z:-0.35 [[ 0.98594406 0.16285449 -0.03731931 -1.21535541] [-0.16342106 0.98647531 -0.01264995 -0.44813329] [ 0.03475448 0.01857091 0.99922332 -0.35372178] [ 0. 0. 0. 1. ]] SLAMing on 6.559072329 meters Centerline goodness : 0.818077 Centerline is valid? [False, False] Translation: X:-1.20, Y:-0.43, Z:-0.35 [[ 0.98909018 0.14460268 -0.02811898 -1.20473284] [-0.14474112 0.98946519 -0.00294143 -0.43074077] [ 0.02739741 0.00697931 0.99960026 -0.35341773] [ 0. 0. 0. 1. ]] SLAMing on 6.5890723289999995 meters Centerline goodness : 0.818495 Centerline is valid? [False, False] Translation: X:-1.20, Y:-0.42, Z:-0.36 [[ 0.99087249 0.13281145 -0.02308323 -1.19725596] [-0.13287619 0.99113181 -0.00128664 -0.42381379] [ 0.02270764 0.00434211 0.99973272 -0.35527442] [ 0. 0. 0. 1. ]] SLAMing on 6.619072329 meters Centerline goodness : 0.817689 Centerline is valid? [False, False] Translation: X:-1.19, Y:-0.42, Z:-0.36 [[ 0.9929648 0.11684761 -0.01917119 -1.18771748] [-0.11694589 0.99312989 -0.00408411 -0.4180139 ] [ 0.01856226 0.00629737 0.99980787 -0.35762883] [ 0. 0. 0. 1. ]] SLAMing on 6.649072329 meters Centerline goodness : 0.814784 Centerline is valid? [False, False] Translation: X:-1.16, Y:-0.41, Z:-0.36 [[ 0.99679054 0.0767302 -0.02282747 -1.15599522] [-0.07689209 0.99701952 -0.00629924 -0.41210113] [ 0.02227609 0.00803427 0.99971957 -0.36082196] [ 0. 0. 0. 1. ]] SLAMing on 6.679072329 meters Centerline goodness : 0.814893 Centerline is valid? [False, False] Translation: X:-1.14, Y:-0.41, Z:-0.36 [[ 0.99819713 0.05421579 -0.02575132 -1.13963259] [-0.05431112 0.99851951 -0.00301654 -0.40977225] [ 0.02554965 0.00440969 0.99966383 -0.36328326] [ 0. 0. 0. 1. ]] SLAMing on 6.709072329 meters Centerline goodness : 0.812899 Centerline is valid? [False, False] Translation: X:-1.12, Y:-0.41, Z:-0.37 [[ 9.99128481e-01 3.21011840e-02 -2.66794214e-02 -1.12198218e+00] [-3.20745772e-02 9.99484463e-01 1.42473363e-03 -4.06393439e-01] [ 2.67114028e-02 -5.67760792e-04 9.99643026e-01 -3.66432243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.739072329 meters Centerline goodness : 0.812917 Centerline is valid? [False, False] Translation: X:-1.10, Y:-0.40, Z:-0.37 [[ 0.99959795 0.01052359 -0.02632837 -1.10289478] [-0.01038302 0.99993113 0.00547006 -0.40195138] [ 0.02638412 -0.0051945 0.99963838 -0.36979367] [ 0. 0. 0. 1. ]] SLAMing on 6.769072329 meters Centerline goodness : 0.809164 Centerline is valid? [False, False] Translation: X:-1.07, Y:-0.40, Z:-0.37 [[ 0.99922155 -0.02649004 -0.02923291 -1.07311767] [ 0.02672524 0.99961328 0.00768427 -0.39653694] [ 0.02901805 -0.00845955 0.99954309 -0.37088226] [ 0. 0. 0. 1. ]] SLAMing on 6.7990723289999995 meters Centerline goodness : 0.808199 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.40, Z:-0.37 [[ 0.99836775 -0.04413785 -0.03624468 -1.04723898] [ 0.04460604 0.99893002 0.01221161 -0.39777954] [ 0.03566691 -0.01380841 0.99926833 -0.36758328] [ 0. 0. 0. 1. ]] SLAMing on 6.829072329 meters Centerline goodness : 0.809650 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.40, Z:-0.36 [[ 0.99725124 -0.06146338 -0.04137899 -1.0239042 ] [ 0.06219473 0.99792558 0.0166241 -0.40071068] [ 0.04027138 -0.01915196 0.99900521 -0.36377497] [ 0. 0. 0. 1. ]] SLAMing on 6.859072329 meters Centerline goodness : 0.809650 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.40, Z:-0.36 [[ 0.99725124 -0.06146338 -0.04137899 -1.0239042 ] [ 0.06219473 0.99792558 0.0166241 -0.40071068] [ 0.04027138 -0.01915196 0.99900521 -0.36377497] [ 0. 0. 0. 1. ]] SLAMing on 6.889072329 meters Centerline goodness : 0.811612 Centerline is valid? [False, False] Translation: X:-0.99, Y:-0.40, Z:-0.36 [[ 0.99469284 -0.09378056 -0.04232444 -0.98701691] [ 0.09467255 0.99531584 0.01958271 -0.40141732] [ 0.04028971 -0.02348575 0.99891199 -0.35899696] [ 0. 0. 0. 1. ]] SLAMing on 6.919072329 meters Centerline goodness : 0.812215 Centerline is valid? [False, False] Translation: X:-0.98, Y:-0.40, Z:-0.36 [[ 0.99371221 -0.10243407 -0.045203 -0.98015823] [ 0.1032309 0.99453423 0.0156541 -0.40085459] [ 0.04335242 -0.02022202 0.99885516 -0.35586427] [ 0. 0. 0. 1. ]] SLAMing on 6.949072329 meters Centerline goodness : 0.812965 Centerline is valid? [False, False] Translation: X:-0.97, Y:-0.40, Z:-0.35 [[ 0.99281615 -0.10991297 -0.04727817 -0.97477614] [ 0.11056424 0.99380382 0.01138026 -0.39971982] [ 0.04573439 -0.01652578 0.99881693 -0.3539138 ] [ 0. 0. 0. 1. ]] SLAMing on 6.979072329 meters Centerline goodness : 0.811292 Centerline is valid? [False, False] Translation: X:-0.95, Y:-0.39, Z:-0.35 [[ 0.99007254 -0.12762128 -0.05889967 -0.94740645] [ 0.12818328 0.99173325 0.00584852 -0.39385672] [ 0.05766637 -0.01334041 0.99824677 -0.3458298 ] [ 0. 0. 0. 1. ]] SLAMing on 7.009072328999999 meters Centerline goodness : 0.811622 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.39, Z:-0.35 [[ 0.98933834 -0.13258359 -0.06025985 -0.94146128] [ 0.13292643 0.99112445 0.00169892 -0.39261954] [ 0.05949976 -0.00969093 0.99818128 -0.34765345] [ 0. 0. 0. 1. ]] SLAMing on 7.039072329 meters Centerline goodness : 0.809766 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.39, Z:-0.35 [[ 0.98866675 -0.13698912 -0.06141684 -0.93519615] [ 0.1371218 0.99055203 -0.00206931 -0.39199149] [ 0.06112005 -0.00637573 0.99811006 -0.35048499] [ 0. 0. 0. 1. ]] SLAMing on 7.069072329 meters Centerline goodness : 0.810410 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.39, Z:-0.35 [[ 0.98788117 -0.1396457 -0.06774855 -0.91680086] [ 0.13951342 0.99019749 -0.00670343 -0.39145249] [ 0.06802055 -0.00282964 0.99767991 -0.35013886] [ 0. 0. 0. 1. ]] SLAMing on 7.099072329 meters Centerline goodness : 0.810342 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.39, Z:-0.35 [[ 0.9882985 -0.13579766 -0.06946276 -0.9138277 ] [ 0.13598298 0.990709 -0.00207573 -0.39280981] [ 0.06909926 -0.00739431 0.99758239 -0.35019279] [ 0. 0. 0. 1. ]] SLAMing on 7.1290723289999995 meters Centerline goodness : 0.812074 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.39, Z:-0.35 [[ 0.98876572 -0.13159553 -0.07088698 -0.91223181] [ 0.13205318 0.99124102 0.00178838 -0.39105008] [ 0.07003074 -0.01112914 0.99748275 -0.34944261] [ 0. 0. 0. 1. ]] SLAMing on 7.159072329 meters Centerline goodness : 0.814602 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.39, Z:-0.34 [[ 0.99014546 -0.11789495 -0.07558269 -0.90905524] [ 0.11901558 0.99283706 0.01048202 -0.38564823] [ 0.07380552 -0.01937424 0.99708444 -0.34002756] [ 0. 0. 0. 1. ]] SLAMing on 7.189072329 meters Centerline goodness : 0.815302 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.39, Z:-0.34 [[ 0.99109345 -0.10858403 -0.0770927 -0.90837594] [ 0.11036545 0.99370516 0.01922311 -0.38580434] [ 0.0745201 -0.02756027 0.9968386 -0.33888548] [ 0. 0. 0. 1. ]] SLAMing on 7.219072328999999 meters Centerline goodness : 0.817118 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.38, Z:-0.34 [[ 0.99169917 -0.10258901 -0.07751295 -0.90832692] [ 0.10462533 0.99425324 0.02267231 -0.38219484] [ 0.07474158 -0.03059393 0.99673352 -0.33986691] [ 0. 0. 0. 1. ]] SLAMing on 7.249072329 meters Centerline goodness : 0.816176 Centerline is valid? [False, False] Translation: X:-0.89, Y:-0.38, Z:-0.34 [[ 0.99267565 -0.08599396 -0.08485333 -0.89307943] [ 0.08889589 0.99555752 0.03102823 -0.37587095] [ 0.08180813 -0.03834408 0.99591022 -0.33697963] [ 0. 0. 0. 1. ]] SLAMing on 7.279072329 meters Centerline goodness : 0.814961 Centerline is valid? [False, False] Translation: X:-0.89, Y:-0.37, Z:-0.34 [[ 0.9930204 -0.08127207 -0.0854712 -0.89137552] [ 0.08434678 0.99589007 0.03299388 -0.37075178] [ 0.08243844 -0.03997281 0.99579419 -0.33966265] [ 0. 0. 0. 1. ]] SLAMing on 7.309072329 meters Centerline goodness : 0.812520 Centerline is valid? [False, False] Translation: X:-0.88, Y:-0.37, Z:-0.34 [[ 0.99298066 -0.07532232 -0.09119183 -0.87925122] [ 0.07875449 0.99629211 0.03463749 -0.36639134] [ 0.08824472 -0.04157612 0.99523077 -0.33806757] [ 0. 0. 0. 1. ]] SLAMing on 7.3390723289999995 meters Centerline goodness : 0.812658 Centerline is valid? [False, False] Translation: X:-0.88, Y:-0.36, Z:-0.34 [[ 0.99320465 -0.07114782 -0.09210053 -0.8763891 ] [ 0.07484731 0.99649517 0.03735308 -0.36367468] [ 0.08912014 -0.04399273 0.99504886 -0.3405366 ] [ 0. 0. 0. 1. ]] SLAMing on 7.369072329 meters Centerline goodness : 0.811707 Centerline is valid? [False, False] Translation: X:-0.86, Y:-0.35, Z:-0.34 [[ 0.99380481 -0.07002407 -0.08630546 -0.85929898] [ 0.07326032 0.99670149 0.03491512 -0.35148618] [ 0.08357588 -0.04102158 0.99565672 -0.3427647 ] [ 0. 0. 0. 1. ]] SLAMing on 7.399072329 meters Centerline goodness : 0.811085 Centerline is valid? [False, False] Translation: X:-0.85, Y:-0.34, Z:-0.34 [[ 0.9941874 -0.07386004 -0.07833335 -0.8467642 ] [ 0.07632949 0.99666055 0.02900974 -0.34343057] [ 0.0759291 -0.03482027 0.99650505 -0.34349579] [ 0. 0. 0. 1. ]] SLAMing on 7.429072329 meters Centerline goodness : 0.811122 Centerline is valid? [False, False] Translation: X:-0.83, Y:-0.34, Z:-0.34 [[ 0.99430703 -0.08027111 -0.07007198 -0.83383084] [ 0.08190251 0.99642487 0.02072324 -0.33695821] [ 0.06815799 -0.02634434 0.99732666 -0.34470469] [ 0. 0. 0. 1. ]] SLAMing on 7.459072329 meters Centerline goodness : 0.814879 Centerline is valid? [False, False] Translation: X:-0.83, Y:-0.34, Z:-0.34 [[ 0.99388123 -0.08324672 -0.07259535 -0.82905263] [ 0.08510449 0.99610932 0.02287912 -0.3388386 ] [ 0.07040829 -0.02891732 0.99709902 -0.34008958] [ 0. 0. 0. 1. ]] SLAMing on 7.489072329 meters Centerline goodness : 0.816600 Centerline is valid? [False, False] Translation: X:-0.83, Y:-0.34, Z:-0.34 [[ 0.9936265 -0.0852555 -0.07374196 -0.82904655] [ 0.08718319 0.99591922 0.02332369 -0.33783063] [ 0.07145256 -0.02960409 0.99700458 -0.33530049] [ 0. 0. 0. 1. ]] SLAMing on 7.519072329 meters Centerline goodness : 0.816295 Centerline is valid? [False, False] Translation: X:-0.83, Y:-0.34, Z:-0.33 [[ 0.99339128 -0.08666715 -0.07525006 -0.82652124] [ 0.08874395 0.99574813 0.02470186 -0.33922759] [ 0.07278927 -0.0312166 0.99685869 -0.33249646] [ 0. 0. 0. 1. ]] SLAMing on 7.5490723289999995 meters Centerline goodness : 0.815560 Centerline is valid? [False, False] Translation: X:-0.82, Y:-0.34, Z:-0.33 [[ 0.99292546 -0.09128443 -0.07593537 -0.82364741] [ 0.09317513 0.99541252 0.02173293 -0.34136077] [ 0.07360314 -0.02865446 0.99687587 -0.33222763] [ 0. 0. 0. 1. ]] SLAMing on 7.579072329 meters Centerline goodness : 0.815901 Centerline is valid? [False, False] Translation: X:-0.82, Y:-0.35, Z:-0.33 [[ 0.99183242 -0.10092845 -0.07798647 -0.81529644] [ 0.10252795 0.99458866 0.01677531 -0.34968852] [ 0.07587135 -0.02463409 0.99681327 -0.33252564] [ 0. 0. 0. 1. ]] SLAMing on 7.609072329 meters Centerline goodness : 0.815072 Centerline is valid? [False, False] Translation: X:-0.81, Y:-0.35, Z:-0.33 [[ 0.99124231 -0.10560571 -0.07928507 -0.81027506] [ 0.10709175 0.99414018 0.01471903 -0.35410089] [ 0.07726606 -0.02308091 0.99674331 -0.33266526] [ 0. 0. 0. 1. ]] SLAMing on 7.639072329 meters Centerline goodness : 0.814707 Centerline is valid? [False, False] Translation: X:-0.80, Y:-0.36, Z:-0.33 [[ 0.99058299 -0.11050999 -0.08082623 -0.80459826] [ 0.11189189 0.99363848 0.01275846 -0.35845906] [ 0.07890212 -0.02168211 0.99664655 -0.33288167] [ 0. 0. 0. 1. ]] SLAMing on 7.669072329 meters Centerline goodness : 0.814052 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.37, Z:-0.33 [[ 0.98897781 -0.11956746 -0.08732987 -0.79178818] [ 0.12127823 0.99251213 0.0145349 -0.3674048 ] [ 0.08493805 -0.0249659 0.99607341 -0.32882882] [ 0. 0. 0. 1. ]] SLAMing on 7.699072329 meters Centerline goodness : 0.815872 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.37, Z:-0.32 [[ 0.98863425 -0.12101641 -0.08920397 -0.78962742] [ 0.12297335 0.99226847 0.0167581 -0.37177969] [ 0.08648628 -0.02753734 0.99587239 -0.3244318 ] [ 0. 0. 0. 1. ]] SLAMing on 7.729072329 meters Centerline goodness : 0.818671 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.38, Z:-0.32 [[ 0.98839193 -0.12241392 -0.08997898 -0.7908205 ] [ 0.1244976 0.99205843 0.01790041 -0.3755682 ] [ 0.08707315 -0.02889479 0.99578279 -0.31939239] [ 0. 0. 0. 1. ]] SLAMing on 7.759072328999999 meters Centerline goodness : 0.820408 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.38, Z:-0.31 [[ 0.9884046 -0.12705831 -0.08314166 -0.77603696] [ 0.12880302 0.99154197 0.01594681 -0.38211897] [ 0.08041227 -0.0264708 0.99641014 -0.31494286] [ 0. 0. 0. 1. ]] SLAMing on 7.789072329 meters Centerline goodness : 0.820498 Centerline is valid? [False, False] Translation: X:-0.76, Y:-0.38, Z:-0.31 [[ 0.98787969 -0.12809329 -0.08766887 -0.76476009] [ 0.12961909 0.99149227 0.01191482 -0.38451046] [ 0.0853968 -0.02313396 0.99607841 -0.31105575] [ 0. 0. 0. 1. ]] SLAMing on 7.819072329 meters Centerline goodness : 0.822307 Centerline is valid? [False, False] Translation: X:-0.76, Y:-0.39, Z:-0.31 [[ 0.98829665 -0.12361426 -0.08938254 -0.7609342 ] [ 0.12568771 0.99190778 0.0179318 -0.39102612] [ 0.08644261 -0.02895623 0.99583594 -0.3115651 ] [ 0. 0. 0. 1. ]] SLAMing on 7.849072329 meters Centerline goodness : 0.821491 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.39, Z:-0.31 [[ 0.98872719 -0.11808346 -0.09205894 -0.75365587] [ 0.12065372 0.99243156 0.02285342 -0.39019075] [ 0.08866358 -0.03370305 0.99549127 -0.31439744] [ 0. 0. 0. 1. ]] SLAMing on 7.8790723289999995 meters Centerline goodness : 0.820348 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.39, Z:-0.32 [[ 0.98909786 -0.11336216 -0.09399169 -0.74923247] [ 0.11640783 0.99281899 0.02756231 -0.39032428] [ 0.09019222 -0.03820319 0.99519138 -0.31559966] [ 0. 0. 0. 1. ]] SLAMing on 7.909072329 meters Centerline goodness : 0.818097 Centerline is valid? [False, False] Translation: X:-0.74, Y:-0.39, Z:-0.32 [[ 0.98914615 -0.11183296 -0.09530623 -0.74416354] [ 0.11500389 0.99295792 0.02843705 -0.38958621] [ 0.09145488 -0.03908899 0.99504174 -0.31832944] [ 0. 0. 0. 1. ]] SLAMing on 7.939072329 meters Centerline goodness : 0.815530 Centerline is valid? [False, False] Translation: X:-0.73, Y:-0.40, Z:-0.32 [[ 0.98957605 -0.10597855 -0.09750786 -0.73496149] [ 0.1096366 0.99342577 0.03294022 -0.39532905] [ 0.09337586 -0.04328728 0.99468948 -0.32286657] [ 0. 0. 0. 1. ]] SLAMing on 7.969072328999999 meters Centerline goodness : 0.816080 Centerline is valid? [False, False] Translation: X:-0.72, Y:-0.40, Z:-0.32 [[ 0.98934366 -0.1029902 -0.10291812 -0.72351127] [ 0.10682911 0.99374617 0.03249759 -0.39593906] [ 0.09892755 -0.04314594 0.99415882 -0.31855187] [ 0. 0. 0. 1. ]] SLAMing on 7.999072329 meters Centerline goodness : 0.817031 Centerline is valid? [False, False] Translation: X:-0.72, Y:-0.39, Z:-0.32 [[ 0.98945888 -0.10192694 -0.10286899 -0.72369489] [ 0.10575837 0.99386089 0.03249145 -0.39466505] [ 0.09892571 -0.04302821 0.99416411 -0.31872836] [ 0. 0. 0. 1. ]] SLAMing on 8.029072329 meters Centerline goodness : 0.820405 Centerline is valid? [False, False] Translation: X:-0.72, Y:-0.39, Z:-0.32 [[ 0.99078858 -0.09217347 -0.0992071 -0.71846934] [ 0.09541478 0.99503157 0.02842895 -0.39020892] [ 0.0960938 -0.0376329 0.99466062 -0.31724079] [ 0. 0. 0. 1. ]] SLAMing on 8.059072329 meters Centerline goodness : 0.821043 Centerline is valid? [False, False] Translation: X:-0.72, Y:-0.39, Z:-0.32 [[ 0.99115709 -0.08732013 -0.09991404 -0.71867366] [ 0.09100411 0.99530627 0.03291928 -0.39009598] [ 0.09657055 -0.04172076 0.99445136 -0.31580324] [ 0. 0. 0. 1. ]] SLAMing on 8.089072329 meters Centerline goodness : 0.822754 Centerline is valid? [False, False] Translation: X:-0.72, Y:-0.39, Z:-0.31 [[ 0.99210286 -0.0812333 -0.09556711 -0.71518098] [ 0.08398783 0.9961492 0.0251559 -0.38631313] [ 0.09315561 -0.03298371 0.99510507 -0.31411417] [ 0. 0. 0. 1. ]] SLAMing on 8.119072329 meters Centerline goodness : 0.823544 Centerline is valid? [False, False] Translation: X:-0.70, Y:-0.38, Z:-0.31 [[ 0.99292017 -0.07980715 -0.08797926 -0.7015774 ] [ 0.08222982 0.99631809 0.02425961 -0.38332894] [ 0.08571924 -0.03132238 0.99582685 -0.31473284] [ 0. 0. 0. 1. ]] SLAMing on 8.149072329 meters Centerline goodness : 0.822477 Centerline is valid? [False, False] Translation: X:-0.70, Y:-0.38, Z:-0.32 [[ 0.99334144 -0.07385208 -0.08842319 -0.69579063] [ 0.0764305 0.99673236 0.02613372 -0.38332612] [ 0.08620423 -0.03271794 0.99574011 -0.3222248 ] [ 0. 0. 0. 1. ]] SLAMing on 8.179072329 meters Centerline goodness : 0.820511 Centerline is valid? [False, False] Translation: X:-0.69, Y:-0.38, Z:-0.33 [[ 0.99365198 -0.06877954 -0.0890231 -0.6897571 ] [ 0.07154035 0.99703902 0.02819861 -0.38171742] [ 0.08682002 -0.03438835 0.99563032 -0.32983558] [ 0. 0. 0. 1. ]] SLAMing on 8.209072329 meters Centerline goodness : 0.819346 Centerline is valid? [False, False] Translation: X:-0.68, Y:-0.38, Z:-0.33 [[ 0.99459231 -0.06072107 -0.08425607 -0.68462174] [ 0.06266832 0.99782056 0.02065957 -0.37661521] [ 0.08281797 -0.02582803 0.99622994 -0.33164957] [ 0. 0. 0. 1. ]] SLAMing on 8.239072328999999 meters Centerline goodness : 0.822916 Centerline is valid? [False, False] Translation: X:-0.69, Y:-0.37, Z:-0.33 [[ 0.99495106 -0.05458437 -0.08421955 -0.68682556] [ 0.05684304 0.99807862 0.02465646 -0.37343756] [ 0.08271187 -0.02931927 0.99614212 -0.33004592] [ 0. 0. 0. 1. ]] SLAMing on 8.269072329 meters Centerline goodness : 0.823375 Centerline is valid? [False, False] Translation: X:-0.69, Y:-0.37, Z:-0.33 [[ 0.99611478 -0.04148687 -0.07767998 -0.68714162] [ 0.04333576 0.99881236 0.02226822 -0.36765928] [ 0.07666388 -0.02554802 0.99672963 -0.32718542] [ 0. 0. 0. 1. ]] SLAMing on 8.299072329 meters Centerline goodness : 0.823742 Centerline is valid? [False, False] Translation: X:-0.68, Y:-0.37, Z:-0.33 [[ 0.99658032 -0.03721619 -0.07377408 -0.67712838] [ 0.03850815 0.99912749 0.01616759 -0.36694243] [ 0.07310801 -0.0189532 0.99714392 -0.32624824] [ 0. 0. 0. 1. ]] SLAMing on 8.329072329 meters Centerline goodness : 0.825830 Centerline is valid? [False, False] Translation: X:-0.67, Y:-0.37, Z:-0.33 [[ 0.99696369 -0.03324221 -0.07041562 -0.6660245 ] [ 0.03402372 0.99937171 0.00992792 -0.36730199] [ 0.07004135 -0.01229358 0.99746833 -0.32576935] [ 0. 0. 0. 1. ]] SLAMing on 8.359072329 meters Centerline goodness : 0.824856 Centerline is valid? [False, False] Translation: X:-0.65, Y:-0.37, Z:-0.32 [[ 0.99687076 -0.02476751 -0.07506841 -0.6519299 ] [ 0.02579609 0.99958575 0.0127632 -0.36879647] [ 0.0747212 -0.01465973 0.9970967 -0.32459787] [ 0. 0. 0. 1. ]] SLAMing on 8.389072329 meters Centerline goodness : 0.821804 Centerline is valid? [False, False] Translation: X:-0.65, Y:-0.37, Z:-0.33 [[ 0.99683371 -0.02195761 -0.0764226 -0.64629595] [ 0.02318598 0.99961526 0.01522331 -0.36827397] [ 0.07605893 -0.01694704 0.9969593 -0.32736173] [ 0. 0. 0. 1. ]] SLAMing on 8.419072329 meters Centerline goodness : 0.819286 Centerline is valid? [False, False] Translation: X:-0.63, Y:-0.37, Z:-0.33 [[ 0.9965648 -0.01517238 -0.08141492 -0.63201224] [ 0.01655636 0.99972923 0.01635102 -0.3695462 ] [ 0.08114479 -0.01764278 0.99654616 -0.32508995] [ 0. 0. 0. 1. ]] SLAMing on 8.449072329 meters Centerline goodness : 0.838235 Centerline is valid? [False, False] Translation: X:-0.62, Y:-0.37, Z:-0.32 [[ 0.99620493 -0.01312755 -0.08604307 -0.61860932] [ 0.01427636 0.9998168 0.01274991 -0.37291042] [ 0.08585993 -0.0139299 0.99620983 -0.32185239] [ 0. 0. 0. 1. ]] SLAMing on 8.479072329 meters Centerline goodness : 0.820982 Centerline is valid? [False, False] Translation: X:-0.60, Y:-0.38, Z:-0.32 [[ 0.99668036 -0.01189476 -0.08054058 -0.60495592] [ 0.01236749 0.99990908 0.00537309 -0.37615447] [ 0.08046934 -0.00635134 0.99673685 -0.3248909 ] [ 0. 0. 0. 1. ]] SLAMing on 8.509072329 meters Centerline goodness : 0.824963 Centerline is valid? [False, False] Translation: X:-0.59, Y:-0.38, Z:-0.33 [[ 9.97155842e-01 -8.03789403e-03 -7.49374399e-02 -5.92986110e-01] [ 7.97007197e-03 9.99967514e-01 -1.20405889e-03 -3.81473475e-01] [ 7.49446835e-02 6.03377569e-04 9.97187510e-01 -3.26235928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.539072329 meters Centerline goodness : 0.826948 Centerline is valid? [False, False] Translation: X:-0.58, Y:-0.38, Z:-0.33 [[ 9.97845409e-01 -1.00908218e-03 -6.56012264e-02 -5.81353188e-01] [ 1.05005892e-03 9.99999275e-01 5.90157022e-04 -3.80973403e-01] [ 6.56005833e-02 -6.57770629e-04 9.97845745e-01 -3.29864651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.569072328999999 meters Centerline goodness : 0.826568 Centerline is valid? [False, False] Translation: X:-0.57, Y:-0.38, Z:-0.33 [[ 0.99834781 0.00652136 -0.05708871 -0.56899628] [-0.00639847 0.9999768 0.00233513 -0.37771429] [ 0.05710261 -0.00196599 0.99836638 -0.33320368] [ 0. 0. 0. 1. ]] SLAMing on 8.599072329 meters Centerline goodness : 0.823950 Centerline is valid? [False, False] Translation: X:-0.57, Y:-0.38, Z:-0.33 [[ 0.99815519 0.01690252 -0.05831406 -0.56512218] [-0.01623972 0.99979824 0.01182135 -0.37848408] [ 0.0585021 -0.01085254 0.99822829 -0.33379898] [ 0. 0. 0. 1. ]] SLAMing on 8.629072329 meters Centerline goodness : 0.822118 Centerline is valid? [False, False] Translation: X:-0.55, Y:-0.38, Z:-0.33 [[ 0.99781296 0.02060374 -0.06280754 -0.55065023] [-0.02003589 0.99975262 0.00965768 -0.38199491] [ 0.06299099 -0.00837816 0.99797893 -0.33270063] [ 0. 0. 0. 1. ]] SLAMing on 8.659072329 meters Centerline goodness : 0.822659 Centerline is valid? [False, False] Translation: X:-0.54, Y:-0.39, Z:-0.33 [[ 0.99744406 0.02348341 -0.06748246 -0.53597136] [-0.02307535 0.99971047 0.00682009 -0.38713378] [ 0.06762308 -0.00524548 0.99769715 -0.33146162] [ 0. 0. 0. 1. ]] SLAMing on 8.689072329 meters Centerline goodness : 0.823721 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.39, Z:-0.33 [[ 0.99707674 0.02595633 -0.07186268 -0.523052 ] [-0.02575185 0.99966125 0.00377062 -0.39145439] [ 0.07193621 -0.001909 0.99740741 -0.3293536 ] [ 0. 0. 0. 1. ]] SLAMing on 8.719072329 meters Centerline goodness : 0.824240 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.39, Z:-0.33 [[ 0.99738465 0.02889572 -0.06624872 -0.51075106] [-0.02912835 0.99957243 -0.00254809 -0.3928345 ] [ 0.06614677 0.00447114 0.99779989 -0.33212328] [ 0. 0. 0. 1. ]] SLAMing on 8.749072329 meters Centerline goodness : 0.826195 Centerline is valid? [False, False] Translation: X:-0.49, Y:-0.40, Z:-0.33 [[ 0.99751638 0.03418519 -0.06158279 -0.49221672] [-0.03381937 0.99940363 0.0069732 -0.39926857] [ 0.06178445 -0.00487319 0.99807762 -0.33080397] [ 0. 0. 0. 1. ]] SLAMing on 8.779072329 meters Centerline goodness : 0.826195 Centerline is valid? [False, False] Translation: X:-0.49, Y:-0.40, Z:-0.33 [[ 0.99751638 0.03418519 -0.06158279 -0.49221672] [-0.03381937 0.99940363 0.0069732 -0.39926857] [ 0.06178445 -0.00487319 0.99807762 -0.33080397] [ 0. 0. 0. 1. ]] SLAMing on 8.809072329 meters Centerline goodness : 0.826470 Centerline is valid? [False, False] Translation: X:-0.47, Y:-0.40, Z:-0.33 [[ 0.99772064 0.03615546 -0.05697642 -0.47255953] [-0.0355539 0.99930117 0.01153684 -0.40084031] [ 0.05735372 -0.00948481 0.99830886 -0.32935701] [ 0. 0. 0. 1. ]] SLAMing on 8.839072329 meters Centerline goodness : 0.828550 Centerline is valid? [False, False] Translation: X:-0.47, Y:-0.41, Z:-0.32 [[ 0.99738433 0.03949065 -0.06053917 -0.46709668] [-0.03886724 0.99917888 0.01144142 -0.40682916] [ 0.06094129 -0.0090585 0.99810025 -0.32280665] [ 0. 0. 0. 1. ]] SLAMing on 8.869072329 meters Centerline goodness : 0.830572 Centerline is valid? [False, False] Translation: X:-0.46, Y:-0.41, Z:-0.32 [[ 9.97686009e-01 4.04034291e-02 -5.46826334e-02 -4.57293482e-01] [-4.03105153e-02 9.99183273e-01 2.80150137e-03 -4.08152373e-01] [ 5.47511629e-02 -5.90733594e-04 9.98499855e-01 -3.24326828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.899072329 meters Centerline goodness : 0.830479 Centerline is valid? [False, False] Translation: X:-0.45, Y:-0.41, Z:-0.33 [[ 0.99801084 0.04149068 -0.0474645 -0.44515885] [-0.04174188 0.99911912 -0.00431298 -0.40862842] [ 0.04724374 0.00628566 0.99886361 -0.32849982] [ 0. 0. 0. 1. ]] SLAMing on 8.929072329 meters Centerline goodness : 0.831205 Centerline is valid? [False, False] Translation: X:-0.43, Y:-0.41, Z:-0.33 [[ 0.99818377 0.04510552 -0.03993302 -0.43220429] [-0.04545735 0.99893467 -0.00794646 -0.41055875] [ 0.03953205 0.00974727 0.99917076 -0.33301662] [ 0. 0. 0. 1. ]] SLAMing on 8.959072329 meters Centerline goodness : 0.830676 Centerline is valid? [False, False] Translation: X:-0.43, Y:-0.41, Z:-0.33 [[ 0.9981289 0.04598962 -0.04029463 -0.43064961] [-0.04631786 0.99890044 -0.00725028 -0.4118396 ] [ 0.03991689 0.00910307 0.99916154 -0.33378489] [ 0. 0. 0. 1. ]] SLAMing on 8.989072328999999 meters Centerline goodness : 0.829619 Centerline is valid? [False, False] Translation: X:-0.42, Y:-0.41, Z:-0.34 [[ 0.99818505 0.04985526 -0.03377964 -0.41610917] [-0.05028307 0.99866369 -0.01193513 -0.4110043 ] [ 0.03313947 0.01361201 0.99935804 -0.33944715] [ 0. 0. 0. 1. ]] SLAMing on 9.019072329 meters Centerline goodness : 0.827062 Centerline is valid? [False, False] Translation: X:-0.41, Y:-0.41, Z:-0.34 [[ 0.99788966 0.05480643 -0.03482079 -0.40993449] [-0.05509529 0.99845375 -0.00739027 -0.41145826] [ 0.03436191 0.00929314 0.99936625 -0.34347859] [ 0. 0. 0. 1. ]] SLAMing on 9.049072329 meters Centerline goodness : 0.825567 Centerline is valid? [False, False] Translation: X:-0.41, Y:-0.41, Z:-0.34 [[ 0.99785609 0.05514542 -0.03524494 -0.40851599] [-0.05544163 0.9984339 -0.00748218 -0.40983115] [ 0.03477713 0.00942017 0.99935069 -0.34384854] [ 0. 0. 0. 1. ]] SLAMing on 9.079072329 meters Centerline goodness : 0.825397 Centerline is valid? [False, False] Translation: X:-0.41, Y:-0.41, Z:-0.35 [[ 0.99776182 0.05635845 -0.03598729 -0.40512259] [-0.05662392 0.99837507 -0.00639984 -0.40976495] [ 0.03556813 0.00842326 0.99933176 -0.34565759] [ 0. 0. 0. 1. ]] SLAMing on 9.109072329 meters Centerline goodness : 0.823090 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.41, Z:-0.35 [[ 0.99769977 0.05692356 -0.03680856 -0.40177497] [-0.05718461 0.99834512 -0.00607771 -0.40867347] [ 0.03640168 0.00816861 0.99930385 -0.34726927] [ 0. 0. 0. 1. ]] SLAMing on 9.139072329 meters Centerline goodness : 0.824184 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.41, Z:-0.35 [[ 0.99763516 0.05765136 -0.03742192 -0.39887763] [-0.05789442 0.99830787 -0.00544334 -0.40906717] [ 0.03704478 0.00759699 0.99928473 -0.34905582] [ 0. 0. 0. 1. ]] SLAMing on 9.169072329 meters Centerline goodness : 0.824157 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.41, Z:-0.35 [[ 0.99757837 0.05825214 -0.0380011 -0.39587533] [-0.05848231 0.99827606 -0.00497276 -0.40948064] [ 0.03764592 0.00718311 0.99926532 -0.35110556] [ 0. 0. 0. 1. ]] SLAMing on 9.199072329 meters Centerline goodness : 0.823537 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.41, Z:-0.35 [[ 0.99755051 0.05843849 -0.03844364 -0.39400006] [-0.05866987 0.99826533 -0.00491716 -0.40935622] [ 0.03808961 0.00716059 0.99924867 -0.35224844] [ 0. 0. 0. 1. ]] SLAMing on 9.229072329 meters Centerline goodness : 0.823648 Centerline is valid? [False, False] Translation: X:-0.38, Y:-0.41, Z:-0.36 [[ 0.99799586 0.05552943 -0.0303438 -0.38147876] [-0.05558802 0.9984532 -0.00108983 -0.4056202 ] [ 0.03023635 0.0027744 0.99953893 -0.35610714] [ 0. 0. 0. 1. ]] SLAMing on 9.259072329 meters Centerline goodness : 0.824606 Centerline is valid? [False, False] Translation: X:-0.37, Y:-0.40, Z:-0.35 [[ 9.98217603e-01 5.46894519e-02 -2.38889394e-02 -3.65764516e-01] [-5.47108935e-02 9.98502208e-01 -2.44401576e-04 -4.01289571e-01] [ 2.38397925e-02 1.55095117e-03 9.99714589e-01 -3.53810321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.289072329 meters Centerline goodness : 0.824836 Centerline is valid? [False, False] Translation: X:-0.35, Y:-0.40, Z:-0.35 [[ 9.98403149e-01 5.36393217e-02 -1.77193610e-02 -3.49578035e-01] [-5.36436411e-02 9.98560116e-01 2.31789811e-04 -3.96765547e-01] [ 1.77062803e-02 7.19111366e-04 9.99842973e-01 -3.51475844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.319072328999999 meters Centerline goodness : 0.825047 Centerline is valid? [False, False] Translation: X:-0.35, Y:-0.39, Z:-0.35 [[ 0.99847585 0.05207331 -0.01828541 -0.34874554] [-0.05212567 0.99863765 -0.0023984 -0.38987786] [ 0.01813561 0.00334788 0.99982993 -0.35061527] [ 0. 0. 0. 1. ]] SLAMing on 9.349072329 meters Centerline goodness : 0.821621 Centerline is valid? [False, False] Translation: X:-0.35, Y:-0.39, Z:-0.35 [[ 0.99855079 0.05031043 -0.01910945 -0.34519072] [-0.05040794 0.99871786 -0.004655 -0.38597051] [ 0.01885075 0.00561153 0.99980656 -0.3528473 ] [ 0. 0. 0. 1. ]] SLAMing on 9.379072329 meters Centerline goodness : 0.822685 Centerline is valid? [False, False] Translation: X:-0.34, Y:-0.38, Z:-0.36 [[ 0.99863646 0.04809104 -0.02030923 -0.3405995 ] [-0.04824467 0.99881001 -0.00714287 -0.38214672] [ 0.01994156 0.00811294 0.99976823 -0.35555872] [ 0. 0. 0. 1. ]] SLAMing on 9.409072328999999 meters Centerline goodness : 0.821218 Centerline is valid? [False, False] Translation: X:-0.33, Y:-0.38, Z:-0.36 [[ 0.99910483 0.03740926 -0.01975037 -0.32752301] [-0.03752995 0.99927881 -0.00577556 -0.37808879] [ 0.01952007 0.00651162 0.99978826 -0.35693477] [ 0. 0. 0. 1. ]] SLAMing on 9.439072329 meters Centerline goodness : 0.820409 Centerline is valid? [False, False] Translation: X:-0.32, Y:-0.38, Z:-0.36 [[ 9.99426354e-01 3.04182549e-02 -1.48893776e-02 -3.18499767e-01] [-3.04331335e-02 9.99536505e-01 -7.73669142e-04 -3.77674611e-01] [ 1.48589428e-02 1.22635575e-03 9.99888848e-01 -3.57908357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.469072329 meters Centerline goodness : 0.821987 Centerline is valid? [False, False] Translation: X:-0.31, Y:-0.38, Z:-0.36 [[ 0.99970749 0.02302689 -0.00739616 -0.3110324 ] [-0.0230119 0.99973297 0.00210552 -0.37581081] [ 0.00744267 -0.0019347 0.99997043 -0.35878772] [ 0. 0. 0. 1. ]] SLAMing on 9.499072329 meters Centerline goodness : 0.825335 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.37, Z:-0.36 [[ 9.99862615e-01 1.65754579e-02 7.80592539e-05 -3.03673044e-01] [-1.65756286e-02 9.99844836e-01 5.96256705e-03 -3.74414883e-01] [ 2.07851370e-05 -5.96304176e-03 9.99982221e-01 -3.59417252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.529072329 meters Centerline goodness : 0.825015 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.37, Z:-0.36 [[ 0.99996753 0.00511056 0.00623032 -0.29312426] [-0.00514143 0.99997453 0.00494972 -0.3721234 ] [-0.00620487 -0.00498159 0.99996834 -0.36207869] [ 0. 0. 0. 1. ]] SLAMing on 9.559072329 meters Centerline goodness : 0.824664 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.37, Z:-0.36 [[ 0.99998311 0.00127646 0.00566986 -0.29050904] [-0.00128433 0.99999822 0.00138316 -0.37341838] [-0.00566808 -0.00139042 0.99998297 -0.36411495] [ 0. 0. 0. 1. ]] SLAMing on 9.589072329 meters Centerline goodness : 0.822908 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.37, Z:-0.37 [[ 0.9999841 -0.00260202 0.00500276 -0.28740987] [ 0.00261351 0.99999396 -0.00229058 -0.37433041] [-0.00499677 0.00230361 0.99998486 -0.36649397] [ 0. 0. 0. 1. ]] SLAMing on 9.619072329 meters Centerline goodness : 0.822273 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.37, Z:-0.37 [[ 9.99943517e-01 -1.05954008e-02 -8.36450402e-04 -2.73745816e-01] [ 1.05922047e-02 9.99936917e-01 -3.73720678e-03 -3.69288158e-01] [ 8.75994840e-04 3.72813584e-03 9.99992667e-01 -3.65894066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.649072329 meters Centerline goodness : 0.822269 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.37, Z:-0.37 [[ 9.99971354e-01 -7.46470774e-03 -1.25304508e-03 -2.73097419e-01] [ 7.46430217e-03 9.99972088e-01 -3.28031598e-04 -3.66948975e-01] [ 1.25545876e-03 3.18669094e-04 9.99999161e-01 -3.65747094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.679072329 meters Centerline goodness : 0.821446 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.36, Z:-0.36 [[ 9.99986661e-01 -4.91490685e-03 -1.58800098e-03 -2.74201704e-01] [ 4.91642400e-03 9.99987460e-01 9.52896258e-04 -3.56071760e-01] [ 1.58329767e-03 -9.60690834e-04 9.99998285e-01 -3.62931281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.709072329 meters Centerline goodness : 0.821591 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.35, Z:-0.36 [[ 0.99999103 -0.00354722 -0.00231416 -0.27129964] [ 0.00355085 0.99999247 0.00156576 -0.35211677] [ 0.00230858 -0.00157397 0.9999961 -0.36435574] [ 0. 0. 0. 1. ]] SLAMing on 9.739072328999999 meters Centerline goodness : 0.824022 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.35, Z:-0.36 [[ 9.99990277e-01 -3.52798022e-03 -2.64575622e-03 -2.70256052e-01] [ 3.52944385e-03 9.99993621e-01 5.48733877e-04 -3.48318127e-01] [ 2.64380342e-03 -5.58066589e-04 9.99996349e-01 -3.64599930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.769072329 meters Centerline goodness : 0.820930 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.35, Z:-0.37 [[ 9.99990870e-01 -2.65528617e-03 -3.34804666e-03 -2.66751795e-01] [ 2.65704023e-03 9.99996335e-01 5.19566170e-04 -3.45656909e-01] [ 3.34665479e-03 -5.28457321e-04 9.99994260e-01 -3.67111276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.799072329 meters Centerline goodness : 0.817954 Centerline is valid? [False, False] Translation: X:-0.26, Y:-0.34, Z:-0.37 [[ 9.99990993e-01 -7.79945992e-04 -4.17205344e-03 -2.61424681e-01] [ 7.80758098e-04 9.99999677e-01 1.93028524e-04 -3.39133236e-01] [ 4.17190154e-03 -1.96284150e-04 9.99991278e-01 -3.71696028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.829072329 meters Centerline goodness : 0.816718 Centerline is valid? [False, False] Translation: X:-0.26, Y:-0.34, Z:-0.37 [[ 0.99998538 0.00295279 -0.00453012 -0.25989593] [-0.00293745 0.99998994 0.00338903 -0.33637616] [ 0.00454008 -0.00337568 0.999984 -0.37280159] [ 0. 0. 0. 1. ]] SLAMing on 9.859072329 meters Centerline goodness : 0.818825 Centerline is valid? [False, False] Translation: X:-0.26, Y:-0.33, Z:-0.37 [[ 0.9999653 0.00669816 -0.00495259 -0.2582852 ] [-0.00666661 0.99995755 0.00636017 -0.33187262] [ 0.00499498 -0.00632693 0.99996751 -0.37361467] [ 0. 0. 0. 1. ]] SLAMing on 9.889072329 meters Centerline goodness : 0.819457 Centerline is valid? [False, False] Translation: X:-0.26, Y:-0.32, Z:-0.37 [[ 0.99985195 0.01621083 -0.0057688 -0.2555701 ] [-0.01612424 0.99976116 0.01475228 -0.32130947] [ 0.00600657 -0.01465707 0.99987454 -0.37439892] [ 0. 0. 0. 1. ]] SLAMing on 9.919072329 meters Centerline goodness : 0.819058 Centerline is valid? [False, False] Translation: X:-0.25, Y:-0.32, Z:-0.37 [[ 0.99978317 0.01991048 -0.00609863 -0.25491499] [-0.01980072 0.99964975 0.01755878 -0.31646097] [ 0.0064461 -0.01743421 0.99982723 -0.37389958] [ 0. 0. 0. 1. ]] SLAMing on 9.949072329 meters Centerline goodness : 0.820840 Centerline is valid? [False, False] Translation: X:-0.25, Y:-0.31, Z:-0.37 [[ 0.99977738 0.02014008 -0.00629012 -0.25476133] [-0.02003606 0.99966827 0.01618356 -0.31040094] [ 0.00661397 -0.01605393 0.99984925 -0.37283015] [ 0. 0. 0. 1. ]] SLAMing on 9.979072329 meters Centerline goodness : 0.822643 Centerline is valid? [False, False] Translation: X:-0.25, Y:-0.30, Z:-0.36 [[ 0.99972953 0.02209502 -0.00725773 -0.2527306 ] [-0.02201975 0.99970456 0.01029193 -0.30239059] [ 0.00748299 -0.01012934 0.9999207 -0.36392931] [ 0. 0. 0. 1. ]] SLAMing on 10.009072329 meters Centerline goodness : 0.826054 Centerline is valid? [False, False] Translation: X:-0.25, Y:-0.30, Z:-0.36 [[ 0.99972945 0.02205583 -0.0073872 -0.2528889 ] [-0.02198472 0.99971248 0.00957183 -0.30076883] [ 0.00759619 -0.00940684 0.9999269 -0.36308857] [ 0. 0. 0. 1. ]] SLAMing on 10.039072329 meters Centerline goodness : 0.826035 Centerline is valid? [False, False] Translation: X:-0.25, Y:-0.30, Z:-0.36 [[ 0.99972629 0.02213959 -0.00756231 -0.25268197] [-0.02207239 0.99971714 0.00885707 -0.2985145 ] [ 0.00775627 -0.00868773 0.99993218 -0.36251254] [ 0. 0. 0. 1. ]] SLAMing on 10.069072328999999 meters Centerline goodness : 0.826157 Centerline is valid? [False, False] Translation: X:-0.25, Y:-0.29, Z:-0.36 [[ 0.99972241 0.02226873 -0.00769467 -0.2525255 ] [-0.02220827 0.9997225 0.00785554 -0.29402802] [ 0.00786747 -0.00768248 0.99993954 -0.36184919] [ 0. 0. 0. 1. ]] SLAMing on 10.099072329 meters Centerline goodness : 0.824487 Centerline is valid? [False, False] Translation: X:-0.25, Y:-0.29, Z:-0.36 [[ 0.99949962 0.03056968 -0.00812373 -0.25010212] [-0.03044629 0.99942533 0.01490109 -0.28590293] [ 0.00857459 -0.0146463 0.99985597 -0.36285685] [ 0. 0. 0. 1. ]] SLAMing on 10.129072329 meters Centerline goodness : 0.823640 Centerline is valid? [False, False] Translation: X:-0.25, Y:-0.28, Z:-0.37 [[ 0.99932973 0.03550226 -0.00892582 -0.24590665] [-0.0353263 0.99919227 0.01915361 -0.28253242] [ 0.00959861 -0.01882545 0.99977671 -0.36555841] [ 0. 0. 0. 1. ]] SLAMing on 10.159072328999999 meters Centerline goodness : 0.822360 Centerline is valid? [False, False] Translation: X:-0.25, Y:-0.28, Z:-0.37 [[ 0.99888738 0.04573399 -0.01150642 -0.24800223] [-0.04556136 0.99885127 0.01484262 -0.27676032] [ 0.01217201 -0.01430185 0.99982363 -0.37098427] [ 0. 0. 0. 1. ]] SLAMing on 10.189072329 meters Centerline goodness : 0.822091 Centerline is valid? [False, False] Translation: X:-0.25, Y:-0.28, Z:-0.37 [[ 0.99886005 0.04619663 -0.01201942 -0.24639259] [-0.04602054 0.99883472 0.01453631 -0.27520535] [ 0.01267695 -0.0139666 0.9998221 -0.37138611] [ 0. 0. 0. 1. ]] SLAMing on 10.219072329 meters Centerline goodness : 0.823181 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.27, Z:-0.37 [[ 0.99870542 0.04850402 -0.01532484 -0.23953255] [-0.04829997 0.99874278 0.01341561 -0.2749575 ] [ 0.01595629 -0.01265805 0.99979256 -0.36813272] [ 0. 0. 0. 1. ]] SLAMing on 10.249072329 meters Centerline goodness : 0.824489 Centerline is valid? [False, False] Translation: X:-0.23, Y:-0.27, Z:-0.37 [[ 0.9987059 0.04982493 -0.01019812 -0.2311727 ] [-0.04978327 0.99875079 0.00429931 -0.27170512] [ 0.01039959 -0.00378605 0.99993876 -0.36796113] [ 0. 0. 0. 1. ]] SLAMing on 10.279072329 meters Centerline goodness : 0.827488 Centerline is valid? [False, False] Translation: X:-0.23, Y:-0.27, Z:-0.37 [[ 0.99851821 0.05430715 -0.0034814 -0.22511758] [-0.05431105 0.99852353 -0.00103378 -0.26719568] [ 0.00342012 0.00122133 0.99999341 -0.36675621] [ 0. 0. 0. 1. ]] SLAMing on 10.309072329 meters Centerline goodness : 0.828889 Centerline is valid? [False, False] Translation: X:-0.23, Y:-0.26, Z:-0.37 [[ 0.99850411 0.05455272 -0.00368132 -0.2250499 ] [-0.05455979 0.9985088 -0.00184766 -0.26254436] [ 0.00357503 0.00204575 0.99999152 -0.36552773] [ 0. 0. 0. 1. ]] SLAMing on 10.339072329 meters Centerline goodness : 0.827014 Centerline is valid? [False, False] Translation: X:-0.22, Y:-0.26, Z:-0.37 [[ 0.99827641 0.05857161 -0.00368517 -0.22467573] [-0.0585666 0.99828244 0.0014552 -0.25933916] [ 0.00376407 -0.00123687 0.99999215 -0.3650114 ] [ 0. 0. 0. 1. ]] SLAMing on 10.369072329 meters Centerline goodness : 0.823973 Centerline is valid? [False, False] Translation: X:-0.22, Y:-0.26, Z:-0.37 [[ 0.99841284 0.05614544 -0.00441469 -0.22132161] [-0.05615362 0.9984206 -0.00175134 -0.25846088] [ 0.00430938 0.00199646 0.99998872 -0.36748868] [ 0. 0. 0. 1. ]] SLAMing on 10.399072329 meters Centerline goodness : 0.822940 Centerline is valid? [False, False] Translation: X:-0.22, Y:-0.26, Z:-0.37 [[ 0.99855856 0.05342131 -0.00519309 -0.21805601] [-0.05344652 0.99855897 -0.00484287 -0.25939418] [ 0.00492689 0.00511344 0.99997479 -0.37003943] [ 0. 0. 0. 1. ]] SLAMing on 10.429072329 meters Centerline goodness : 0.824239 Centerline is valid? [False, False] Translation: X:-0.21, Y:-0.26, Z:-0.37 [[ 0.99861954 0.05216802 -0.006124 -0.21314221] [-0.05220526 0.99861781 -0.00608855 -0.26066524] [ 0.00579791 0.00639985 0.99996271 -0.37392607] [ 0. 0. 0. 1. ]] SLAMing on 10.459072329 meters Centerline goodness : 0.824162 Centerline is valid? [False, False] Translation: X:-0.21, Y:-0.26, Z:-0.37 [[ 0.99861609 0.05218239 -0.00655043 -0.2122482 ] [-0.05222109 0.99861822 -0.00588321 -0.26121479] [ 0.00623438 0.00621714 0.99996124 -0.37384324] [ 0. 0. 0. 1. ]] SLAMing on 10.489072328999999 meters Centerline goodness : 0.823318 Centerline is valid? [False, False] Translation: X:-0.21, Y:-0.26, Z:-0.37 [[ 0.99859823 0.05245191 -0.00709781 -0.21135328] [-0.05249289 0.99860494 -0.00571586 -0.26095526] [ 0.0067881 0.00608043 0.99995847 -0.37327702] [ 0. 0. 0. 1. ]] SLAMing on 10.519072329 meters Centerline goodness : 0.823857 Centerline is valid? [False, False] Translation: X:-0.21, Y:-0.26, Z:-0.37 [[ 0.99857815 0.05276446 -0.00758843 -0.21071343] [-0.05280661 0.9985898 -0.00546563 -0.26133492] [ 0.00728934 0.00585858 0.99995627 -0.37253445] [ 0. 0. 0. 1. ]] SLAMing on 10.549072329 meters Centerline goodness : 0.822882 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.27, Z:-0.37 [[ 9.98580960e-01 5.31795154e-02 -2.82921765e-03 -1.91780319e-01] [-5.31799573e-02 9.98584942e-01 -8.11219868e-05 -2.66120460e-01] [ 2.82090011e-03 2.31464545e-04 9.99995994e-01 -3.73576697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.579072328999999 meters Centerline goodness : 0.823625 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.27, Z:-0.38 [[ 0.99868098 0.05115985 0.00435588 -0.17854348] [-0.05118807 0.99866699 0.00663551 -0.26971113] [-0.00401061 -0.00684973 0.9999685 -0.37849232] [ 0. 0. 0. 1. ]] SLAMing on 10.609072329 meters Centerline goodness : 0.824256 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.27, Z:-0.38 [[ 0.99885913 0.04757807 0.00409542 -0.17870487] [-0.04758942 0.99886328 0.00271955 -0.26965558] [-0.00396137 -0.00291135 0.99998792 -0.37767716] [ 0. 0. 0. 1. ]] SLAMing on 10.639072329 meters Centerline goodness : 0.823086 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.27, Z:-0.38 [[ 9.99029819e-01 4.38611915e-02 3.95179428e-03 -1.79422170e-01] [-4.38617977e-02 9.99037606e-01 6.68313626e-05 -2.74715158e-01] [-3.94505979e-03 -2.40099325e-04 9.99992189e-01 -3.76711457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.669072329 meters Centerline goodness : 0.822758 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.28, Z:-0.38 [[ 0.99918236 0.04028255 0.0034547 -0.1784529 ] [-0.04027203 0.99918406 -0.00306202 -0.27755063] [-0.00357523 0.00292039 0.99998934 -0.37709323] [ 0. 0. 0. 1. ]] SLAMing on 10.699072329 meters Centerline goodness : 0.822758 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.28, Z:-0.38 [[ 0.99918236 0.04028255 0.0034547 -0.1784529 ] [-0.04027203 0.99918406 -0.00306202 -0.27755063] [-0.00357523 0.00292039 0.99998934 -0.37709323] [ 0. 0. 0. 1. ]] SLAMing on 10.729072329 meters Centerline goodness : 0.820303 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.29, Z:-0.38 [[ 0.99943461 0.0335266 0.00253521 -0.1756666 ] [-0.03350461 0.99940437 -0.00826754 -0.28587097] [-0.00281088 0.00817792 0.99996261 -0.37935171] [ 0. 0. 0. 1. ]] SLAMing on 10.759072329 meters Centerline goodness : 0.818862 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.29, Z:-0.38 [[ 0.99954857 0.02997395 0.00205375 -0.17459863] [-0.02994926 0.99948924 -0.0111488 -0.28931372] [-0.00238687 0.01108226 0.99993574 -0.37984014] [ 0. 0. 0. 1. ]] SLAMing on 10.789072329 meters Centerline goodness : 0.818122 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.29, Z:-0.38 [[ 0.99971471 0.02380409 0.00196546 -0.16535284] [-0.02379611 0.99970889 -0.00398529 -0.29398398] [-0.00205976 0.00393738 0.99999013 -0.37831322] [ 0. 0. 0. 1. ]] SLAMing on 10.819072328999999 meters Centerline goodness : 0.819023 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.30, Z:-0.38 [[ 0.99978187 0.01930823 0.00796296 -0.1532638 ] [-0.01933 0.9998096 0.00266626 -0.29936697] [-0.00790996 -0.0028196 0.99996474 -0.38257708] [ 0. 0. 0. 1. ]] SLAMing on 10.849072329 meters Centerline goodness : 0.815814 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.31, Z:-0.38 [[ 9.99857095e-01 1.51090464e-02 7.58327762e-03 -1.53407425e-01] [-1.51139574e-02 9.99885603e-01 5.90717282e-04 -3.07087848e-01] [-7.57348495e-03 -7.05246201e-04 9.99971072e-01 -3.81465016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.879072329 meters Centerline goodness : 0.816322 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.31, Z:-0.38 [[ 0.99990453 0.01188498 0.00704857 -0.15142345] [-0.01187001 0.99992721 -0.00216196 -0.31023 ] [-0.00707376 0.00207808 0.99997282 -0.38276346] [ 0. 0. 0. 1. ]] SLAMing on 10.909072328999999 meters Centerline goodness : 0.815662 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.31, Z:-0.39 [[ 0.9999373 0.00912013 0.00649699 -0.14864065] [-0.00909144 0.99994885 -0.00443298 -0.31406676] [-0.00653709 0.00437363 0.99996907 -0.3850446 ] [ 0. 0. 0. 1. ]] SLAMing on 10.939072329 meters Centerline goodness : 0.812730 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.32, Z:-0.39 [[ 0.99995963 0.00687229 0.00578913 -0.14505323] [-0.00683468 0.99995557 -0.00649228 -0.31696711] [-0.00583349 0.00645245 0.99996217 -0.38784146] [ 0. 0. 0. 1. ]] SLAMing on 10.969072329 meters Centerline goodness : 0.812814 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.32, Z:-0.39 [[ 0.99994759 0.00878247 0.00526212 -0.14196496] [-0.00875977 0.9999523 -0.00432059 -0.32021517] [-0.00529982 0.00427427 0.99997682 -0.39036238] [ 0. 0. 0. 1. ]] SLAMing on 10.999072329 meters Centerline goodness : 0.812467 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.32, Z:-0.39 [[ 0.99994379 0.00941215 0.0048818 -0.14090522] [-0.00939131 0.99994676 -0.00427538 -0.31853327] [-0.00492178 0.00422929 0.99997894 -0.39055331] [ 0. 0. 0. 1. ]] SLAMing on 11.029072329 meters Centerline goodness : 0.812064 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.32, Z:-0.39 [[ 0.99992081 0.01185529 0.00422185 -0.13743635] [-0.01184476 0.9999267 -0.00250955 -0.31838004] [-0.0042513 0.00245934 0.99998794 -0.39276464] [ 0. 0. 0. 1. ]] SLAMing on 11.059072329 meters Centerline goodness : 0.810515 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.32, Z:-0.39 [[ 0.99991762 0.01218133 0.00404499 -0.13678472] [-0.01217304 0.99992377 -0.00206776 -0.32027631] [-0.00406987 0.00201835 0.99998968 -0.39319513] [ 0. 0. 0. 1. ]] SLAMing on 11.089072329 meters Centerline goodness : 0.812265 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.32, Z:-0.39 [[ 0.99994693 0.00965531 0.00359364 -0.13469677] [-0.0096366 0.99994011 -0.00518858 -0.32072765] [-0.00364353 0.00515368 0.99998008 -0.39453581] [ 0. 0. 0. 1. ]] SLAMing on 11.119072329 meters Centerline goodness : 0.811862 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.32, Z:-0.40 [[ 0.99994312 0.0100542 0.00356044 -0.13410611] [-0.01003862 0.99994008 -0.00436642 -0.32380648] [-0.00360412 0.00433043 0.99998413 -0.39533204] [ 0. 0. 0. 1. ]] SLAMing on 11.149072329 meters Centerline goodness : 0.813651 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.32, Z:-0.40 [[ 0.99994328 0.01009118 0.00340522 -0.13366949] [-0.01007574 0.99993902 -0.00452016 -0.32224926] [-0.00345063 0.0044856 0.99998399 -0.39544476] [ 0. 0. 0. 1. ]] SLAMing on 11.179072329 meters Centerline goodness : 0.813757 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.32, Z:-0.40 [[ 0.99994729 0.00978171 0.00312068 -0.1328294 ] [-0.00976568 0.99993926 -0.00511044 -0.31824899] [-0.00317048 0.00507969 0.99998207 -0.39570127] [ 0. 0. 0. 1. ]] SLAMing on 11.209072329 meters Centerline goodness : 0.811973 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.32, Z:-0.40 [[ 0.99994894 0.00971233 0.00279205 -0.13172524] [-0.00969816 0.99994024 -0.00504631 -0.31835826] [-0.00284089 0.00501897 0.99998337 -0.39635323] [ 0. 0. 0. 1. ]] SLAMing on 11.239072328999999 meters Centerline goodness : 0.812443 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.32, Z:-0.40 [[ 0.99995154 0.00947943 0.00265547 -0.13108678] [-0.00946638 0.99994326 -0.00488458 -0.31971001] [-0.00270162 0.0048592 0.99998454 -0.39701855] [ 0. 0. 0. 1. ]] SLAMing on 11.269072329 meters Centerline goodness : 0.811764 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.32, Z:-0.40 [[ 0.99997671 0.00654255 0.00194474 -0.12785143] [-0.00652667 0.99994618 -0.00806487 -0.31946934] [-0.0019974 0.00805199 0.99996559 -0.39933279] [ 0. 0. 0. 1. ]] SLAMing on 11.299072329 meters Centerline goodness : 0.811500 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.32, Z:-0.40 [[ 0.99999305 0.00350868 0.00125672 -0.12473932] [-0.00349422 0.9999297 -0.01133065 -0.31866405] [-0.00129638 0.01132618 0.99993502 -0.40149143] [ 0. 0. 0. 1. ]] SLAMing on 11.329072328999999 meters Centerline goodness : 0.811133 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.32, Z:-0.40 [[ 0.99999354 -0.00343439 0.00106411 -0.1131474 ] [ 0.00344026 0.99997862 -0.00556171 -0.31658187] [-0.00104499 0.00556534 0.99998397 -0.40141063] [ 0. 0. 0. 1. ]] SLAMing on 11.359072329 meters Centerline goodness : 0.810916 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.32, Z:-0.40 [[ 9.99990931e-01 -4.19587390e-03 7.29592051e-04 -1.12628824e-01] [ 4.20017906e-03 9.99973161e-01 -6.00292298e-03 -3.15646100e-01] [-7.04384962e-04 6.00593296e-03 9.99981716e-01 -4.01292682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.389072329 meters Centerline goodness : 0.811484 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.31, Z:-0.40 [[ 0.99989951 -0.01359597 0.00401426 -0.10220263] [ 0.01360737 0.99990342 -0.00282599 -0.31362714] [-0.00397545 0.00288033 0.99998795 -0.40325677] [ 0. 0. 0. 1. ]] SLAMing on 11.419072329 meters Centerline goodness : 0.810974 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.31, Z:-0.40 [[ 0.99988564 -0.01465581 0.00373038 -0.10182111] [ 0.01466733 0.99988768 -0.00308079 -0.3147409 ] [-0.00368481 0.00313516 0.9999883 -0.40329038] [ 0. 0. 0. 1. ]] SLAMing on 11.449072329 meters Centerline goodness : 0.811943 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.32, Z:-0.40 [[ 0.99986851 -0.01580606 0.00362458 -0.10174306] [ 0.01581896 0.99986854 -0.00355861 -0.31504114] [-0.00356786 0.00361548 0.9999871 -0.40334025] [ 0. 0. 0. 1. ]] SLAMing on 11.479072329 meters Centerline goodness : 0.809814 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.31, Z:-0.40 [[ 0.99975632 -0.02172401 0.00391918 -0.1031195 ] [ 0.0217608 0.99971708 -0.00960325 -0.30962386] [-0.00370945 0.0096862 0.99994621 -0.40190417] [ 0. 0. 0. 1. ]] SLAMing on 11.509072329 meters Centerline goodness : 0.809991 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.31, Z:-0.40 [[ 0.99973297 -0.02280655 0.00372127 -0.1030402 ] [ 0.02284347 0.99968701 -0.01020119 -0.30887141] [-0.00348745 0.01028348 0.99994104 -0.40160465] [ 0. 0. 0. 1. ]] SLAMing on 11.539072329 meters Centerline goodness : 0.810951 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.31, Z:-0.40 [[ 0.99971035 -0.02381225 0.00349124 -0.10277924] [ 0.02384819 0.99965896 -0.0106406 -0.30872406] [-0.00323668 0.01072078 0.99993729 -0.40146362] [ 0. 0. 0. 1. ]] SLAMing on 11.569072328999999 meters Centerline goodness : 0.809756 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.31, Z:-0.41 [[ 0.99943744 -0.0326808 0.00753515 -0.08899045] [ 0.03274039 0.99943246 -0.00792604 -0.30628973] [-0.00727185 0.00816828 0.9999402 -0.40644766] [ 0. 0. 0. 1. ]] SLAMing on 11.599072329 meters Centerline goodness : 0.810098 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.31, Z:-0.41 [[ 0.9994076 -0.03364716 0.00723284 -0.08839611] [ 0.0337086 0.99939515 -0.00854806 -0.30528192] [-0.00694085 0.0087868 0.99993731 -0.40658326] [ 0. 0. 0. 1. ]] SLAMing on 11.629072329 meters Centerline goodness : 0.811252 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.30, Z:-0.41 [[ 0.9993786 -0.03454254 0.00701629 -0.08792587] [ 0.03460706 0.99935781 -0.00929119 -0.30356277] [-0.00669085 0.00952823 0.99993222 -0.40674018] [ 0. 0. 0. 1. ]] SLAMing on 11.659072328999999 meters Centerline goodness : 0.810162 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.30, Z:-0.41 [[ 0.9992962 -0.03687819 0.00686318 -0.08732262] [ 0.03695805 0.99924599 -0.01189792 -0.29717307] [-0.00641923 0.0121432 0.99990566 -0.40714628] [ 0. 0. 0. 1. ]] SLAMing on 11.689072329 meters Centerline goodness : 0.810757 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.29, Z:-0.41 [[ 0.99927252 -0.03751823 0.00684139 -0.08722596] [ 0.03760513 0.99920747 -0.01304945 -0.29342492] [-0.00634638 0.01329723 0.99989145 -0.40726504] [ 0. 0. 0. 1. ]] SLAMing on 11.719072329 meters Centerline goodness : 0.810337 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.29, Z:-0.41 [[ 0.99937741 -0.03464531 0.00667019 -0.08709371] [ 0.03471039 0.99934836 -0.00990129 -0.29188965] [-0.00632281 0.01012665 0.99992873 -0.4076926 ] [ 0. 0. 0. 1. ]] SLAMing on 11.749072329 meters Centerline goodness : 0.808984 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.29, Z:-0.41 [[ 0.99936593 -0.0350209 0.00642501 -0.08622101] [ 0.03509015 0.99932358 -0.01100285 -0.28760497] [-0.00603534 0.01122133 0.99991883 -0.408257 ] [ 0. 0. 0. 1. ]] SLAMing on 11.779072329 meters Centerline goodness : 0.807463 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.28, Z:-0.41 [[ 0.99930345 -0.03688168 0.00568819 -0.08213237] [ 0.03695594 0.99922495 -0.01355574 -0.28152154] [-0.00518382 0.01375651 0.99989194 -0.41174412] [ 0. 0. 0. 1. ]] SLAMing on 11.809072329 meters Centerline goodness : 0.807446 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.28, Z:-0.42 [[ 0.99910556 -0.04108854 0.00999014 -0.06835938] [ 0.04115484 0.99913148 -0.00652407 -0.28176248] [-0.0097134 0.00692938 0.99992881 -0.41787491] [ 0. 0. 0. 1. ]] SLAMing on 11.839072329 meters Centerline goodness : 0.808316 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.28, Z:-0.42 [[ 0.99855228 -0.05304991 0.00889059 -0.04746618] [ 0.05301946 0.9985869 0.0036261 -0.27929218] [-0.00907039 -0.00314948 0.9999539 -0.41741084] [ 0. 0. 0. 1. ]] SLAMing on 11.869072329 meters Centerline goodness : 0.807244 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.28, Z:-0.41 [[ 0.99853964 -0.05372364 -0.00568823 -0.04786229] [ 0.0537689 0.99852033 0.00812745 -0.28279722] [ 0.00524318 -0.00842144 0.99995079 -0.40685172] [ 0. 0. 0. 1. ]] SLAMing on 11.899072329 meters Centerline goodness : 0.808080 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.29, Z:-0.40 [[ 0.99830007 -0.05632896 -0.01496714 -0.05728836] [ 0.0565298 0.99831163 0.01335206 -0.28710508] [ 0.01418976 -0.01417545 0.99979883 -0.39954847] [ 0. 0. 0. 1. ]] SLAMing on 11.929072329 meters Centerline goodness : 0.810875 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.29, Z:-0.40 [[ 0.99722847 -0.07409807 -0.00669743 -0.05394554] [ 0.07415532 0.99720833 0.00874799 -0.28842369] [ 0.00603052 -0.0092204 0.99993931 -0.39876349] [ 0. 0. 0. 1. ]] SLAMing on 11.959072329 meters Centerline goodness : 0.811955 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.29, Z:-0.39 [[ 0.99673826 -0.07946835 -0.0140578 -0.06743657] [ 0.07959883 0.99678654 0.00897896 -0.29425464] [ 0.01329908 -0.01006866 0.99986087 -0.39186991] [ 0. 0. 0. 1. ]] SLAMing on 11.989072328999999 meters Centerline goodness : 0.813271 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.30, Z:-0.39 [[ 0.99623665 -0.08536277 -0.01502429 -0.0651544 ] [ 0.08547132 0.99631786 0.00673658 -0.29805838] [ 0.01439392 -0.00799538 0.99986444 -0.38928728] [ 0. 0. 0. 1. ]] SLAMing on 12.019072329 meters Centerline goodness : 0.812542 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.30, Z:-0.39 [[ 0.99470966 -0.10146331 -0.01605908 -0.0681622 ] [ 0.10157631 0.99480727 0.00638291 -0.30385053] [ 0.01532806 -0.00798036 0.99985067 -0.38968808] [ 0. 0. 0. 1. ]] SLAMing on 12.049072329 meters Centerline goodness : 0.811444 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.31, Z:-0.39 [[ 0.99411419 -0.10547394 -0.02474329 -0.07913313] [ 0.1056293 0.99439273 0.00505461 -0.3083765 ] [ 0.02407142 -0.00763847 0.99968106 -0.38665489] [ 0. 0. 0. 1. ]] SLAMing on 12.079072328999999 meters Centerline goodness : 0.810336 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.31, Z:-0.39 [[ 0.99354273 -0.11050528 -0.02571815 -0.07551388] [ 0.11060685 0.99386095 0.00255633 -0.31227494] [ 0.02527778 -0.00538442 0.99966597 -0.3866123 ] [ 0. 0. 0. 1. ]] SLAMing on 12.109072329 meters Centerline goodness : 0.809268 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.32, Z:-0.38 [[ 0.99275025 -0.11531927 -0.03388819 -0.08769131] [ 0.11535123 0.99332425 -0.00101694 -0.31704983] [ 0.03377923 -0.00289948 0.99942511 -0.3840462 ] [ 0. 0. 0. 1. ]] SLAMing on 12.139072329 meters Centerline goodness : 0.808300 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.33, Z:-0.38 [[ 0.9916261 -0.12456575 -0.03407407 -0.08693547] [ 0.12441263 0.99220871 -0.00658598 -0.32528371] [ 0.03462898 0.00229158 0.99939761 -0.38099443] [ 0. 0. 0. 1. ]] SLAMing on 12.169072329 meters Centerline goodness : 0.809751 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.33, Z:-0.38 [[ 0.99112351 -0.12854623 -0.03391237 -0.08723838] [ 0.12828937 0.99168979 -0.00965361 -0.32765109] [ 0.03487148 0.00521733 0.99937819 -0.37935408] [ 0. 0. 0. 1. ]] SLAMing on 12.199072329 meters Centerline goodness : 0.811851 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.33, Z:-0.38 [[ 0.99111466 -0.12851877 -0.03427317 -0.08733417] [ 0.12831659 0.99170063 -0.00804385 -0.33280836] [ 0.03502251 0.00357456 0.99938013 -0.37812144] [ 0. 0. 0. 1. ]] SLAMing on 12.229072329 meters Centerline goodness : 0.809735 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.34, Z:-0.38 [[ 0.99130226 -0.12831776 -0.02922968 -0.07071712] [ 0.12841486 0.99171946 0.00146154 -0.34421178] [ 0.0288001 -0.00520236 0.99957165 -0.38102961] [ 0. 0. 0. 1. ]] SLAMing on 12.259072329 meters Centerline goodness : 0.811075 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.35, Z:-0.38 [[ 0.9914033 -0.12741735 -0.02973752 -0.06911357] [ 0.12755789 0.99182697 0.00287004 -0.34757055] [ 0.02912878 -0.00663862 0.99955362 -0.38164176] [ 0. 0. 0. 1. ]] SLAMing on 12.289072329 meters Centerline goodness : 0.810382 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.35, Z:-0.38 [[ 0.99151981 -0.12640798 -0.03015766 -0.06754153] [ 0.12658443 0.99194774 0.00400755 -0.3501215 ] [ 0.02940824 -0.00779106 0.99953712 -0.38253164] [ 0. 0. 0. 1. ]] SLAMing on 12.319072328999999 meters Centerline goodness : 0.809696 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.36, Z:-0.38 [[ 0.99211807 -0.12145944 -0.03081122 -0.0668699 ] [ 0.12179993 0.99250998 0.00941891 -0.35512518] [ 0.02943642 -0.01309748 0.99948084 -0.38283268] [ 0. 0. 0. 1. ]] SLAMing on 12.349072329 meters Centerline goodness : 0.810038 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.36, Z:-0.38 [[ 0.99334678 -0.11054995 -0.03226261 -0.06573276] [ 0.11123991 0.99358351 0.02043236 -0.36182758] [ 0.0297968 -0.02388531 0.99927056 -0.3827472 ] [ 0. 0. 0. 1. ]] SLAMing on 12.379072329 meters Centerline goodness : 0.811284 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.36, Z:-0.38 [[ 0.99391333 -0.10514098 -0.03288879 -0.06543786] [ 0.1059909 0.9940462 0.02526032 -0.36241313] [ 0.03003709 -0.02859248 0.99913975 -0.38264339] [ 0. 0. 0. 1. ]] SLAMing on 12.409072328999999 meters Centerline goodness : 0.810909 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.36, Z:-0.38 [[ 0.99558363 -0.08634163 -0.03685597 -0.07761805] [ 0.08748255 0.99569741 0.03055288 -0.36393616] [ 0.0340594 -0.0336422 0.99885342 -0.37962702] [ 0. 0. 0. 1. ]] SLAMing on 12.439072329 meters Centerline goodness : 0.811108 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.37, Z:-0.38 [[ 0.99604823 -0.08062972 -0.03723934 -0.0773825 ] [ 0.08195836 0.99599809 0.03564585 -0.36537603] [ 0.03421619 -0.03855706 0.99867042 -0.37997235] [ 0. 0. 0. 1. ]] SLAMing on 12.469072329 meters Centerline goodness : 0.811817 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.37, Z:-0.38 [[ 0.99662237 -0.07079643 -0.04161402 -0.08872234] [ 0.07219511 0.99684025 0.03312667 -0.36747139] [ 0.03913728 -0.03601911 0.99858445 -0.37686216] [ 0. 0. 0. 1. ]] SLAMing on 12.499072329 meters Centerline goodness : 0.811648 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.37, Z:-0.38 [[ 0.9977488 -0.05294847 -0.04115558 -0.09225203] [ 0.05418069 0.99809752 0.0294245 -0.37312798] [ 0.0395193 -0.0315881 0.99871939 -0.37747773] [ 0. 0. 0. 1. ]] SLAMing on 12.529072329 meters Centerline goodness : 0.810517 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.38, Z:-0.38 [[ 0.99803937 -0.04710805 -0.04120969 -0.09179951] [ 0.0485467 0.99822023 0.03463523 -0.37582489] [ 0.03950475 -0.03656792 0.99855003 -0.37882314] [ 0. 0. 0. 1. ]] SLAMing on 12.559072329 meters Centerline goodness : 0.809221 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.38, Z:-0.38 [[ 0.99829088 -0.04166852 -0.04097624 -0.09237464] [ 0.04327652 0.99829493 0.03917104 -0.37705953] [ 0.03927417 -0.0408774 0.998392 -0.37966038] [ 0. 0. 0. 1. ]] SLAMing on 12.589072329 meters Centerline goodness : 0.809221 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.38, Z:-0.38 [[ 0.99829088 -0.04166852 -0.04097624 -0.09237464] [ 0.04327652 0.99829493 0.03917104 -0.37705953] [ 0.03927417 -0.0408774 0.998392 -0.37966038] [ 0. 0. 0. 1. ]] SLAMing on 12.619072329 meters Centerline goodness : 0.809018 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.38, Z:-0.38 [[ 0.9987146 -0.03083949 -0.04022532 -0.09353814] [ 0.03277058 0.99829682 0.04826544 -0.38062611] [ 0.03866833 -0.04952161 0.99802423 -0.38174815] [ 0. 0. 0. 1. ]] SLAMing on 12.649072329 meters Centerline goodness : 0.807895 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.38, Z:-0.38 [[ 0.99873758 -0.02533207 -0.04337663 -0.10265339] [ 0.02712496 0.99878035 0.04125592 -0.3813116 ] [ 0.04227863 -0.04238043 0.9982066 -0.38118825] [ 0. 0. 0. 1. ]] SLAMing on 12.679072329 meters Centerline goodness : 0.806876 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.38, Z:-0.38 [[ 0.99874595 -0.02411372 -0.04387539 -0.1013177 ] [ 0.02598467 0.99875493 0.04258387 -0.38418012] [ 0.04279391 -0.04367056 0.99812903 -0.38129943] [ 0. 0. 0. 1. ]] SLAMing on 12.709072329 meters Centerline goodness : 0.806491 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.39, Z:-0.38 [[ 0.99868727 -0.01893471 -0.04759426 -0.1231822 ] [ 0.02116715 0.99867774 0.04684795 -0.3924215 ] [ 0.04664428 -0.04779389 0.99776754 -0.37858622] [ 0. 0. 0. 1. ]] SLAMing on 12.739072328999999 meters Centerline goodness : 0.805966 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.40, Z:-0.38 [[ 0.99875743 -0.0159124 -0.04722712 -0.12565442] [ 0.01829742 0.99855613 0.05050609 -0.39656768] [ 0.04635526 -0.05130746 0.9976065 -0.37621522] [ 0. 0. 0. 1. ]] SLAMing on 12.769072329 meters Centerline goodness : 0.805726 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.40, Z:-0.38 [[ 0.99875466 -0.01496291 -0.04759457 -0.12506737] [ 0.01742284 0.99851081 0.05169721 -0.39854708] [ 0.04675015 -0.05246206 0.99752802 -0.37555174] [ 0. 0. 0. 1. ]] SLAMing on 12.799072329 meters Centerline goodness : 0.804959 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.41, Z:-0.37 [[ 0.99883 -0.01028019 -0.04725418 -0.1274963 ] [ 0.01298097 0.99827792 0.05720744 -0.40585912] [ 0.0465847 -0.05775391 0.99724338 -0.37261579] [ 0. 0. 0. 1. ]] SLAMing on 12.829072328999999 meters Centerline goodness : 0.803618 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.41, Z:-0.37 [[ 0.99882899 -0.00909975 -0.04751666 -0.12662415] [ 0.01189067 0.99819971 0.05878727 -0.40914824] [ 0.04689617 -0.05928343 0.99713902 -0.37238077] [ 0. 0. 0. 1. ]] SLAMing on 12.859072329 meters Centerline goodness : 0.805784 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.41, Z:-0.37 [[ 0.99903913 -0.00727948 -0.04321836 -0.10743323] [ 0.01003129 0.99791224 0.06380069 -0.41344247] [ 0.04266369 -0.06417292 0.9970264 -0.37135105] [ 0. 0. 0. 1. ]] SLAMing on 12.889072329 meters Centerline goodness : 0.804975 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.42, Z:-0.37 [[ 0.99888111 -0.00223518 -0.04723903 -0.09815929] [ 0.00531672 0.99785751 0.06520834 -0.41912735] [ 0.04699207 -0.06538653 0.9967529 -0.36774204] [ 0. 0. 0. 1. ]] SLAMing on 12.919072329 meters Centerline goodness : 0.804613 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.42, Z:-0.37 [[ 9.98700353e-01 -2.23298256e-04 -5.09662114e-02 -8.86807345e-02] [ 3.44898846e-03 9.97994188e-01 6.32115973e-02 -4.21171449e-01] [ 5.08498677e-02 -6.33052264e-02 9.96697918e-01 -3.65909200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.949072329 meters Centerline goodness : 0.803185 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.42, Z:-0.37 [[ 9.98573135e-01 8.85999756e-05 -5.34011798e-02 -8.22017705e-02] [ 3.21566062e-03 9.98084173e-01 6.17870719e-02 -4.23620164e-01] [ 5.33043468e-02 -6.18706302e-02 9.96659757e-01 -3.66036286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.979072329 meters Centerline goodness : 0.804525 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.43, Z:-0.37 [[ 0.99849141 -0.00149544 -0.0548878 -0.0777152 ] [ 0.00478638 0.99819439 0.05987522 -0.4266861 ] [ 0.05469915 -0.06004761 0.99669568 -0.36694478] [ 0. 0. 0. 1. ]] SLAMing on 13.009072329 meters Centerline goodness : 0.805369 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.44, Z:-0.37 [[ 0.99862346 -0.00270457 -0.05238199 -0.05489982] [ 0.00617552 0.99778631 0.06621438 -0.43959915] [ 0.05208695 -0.06644672 0.99642952 -0.36731156] [ 0. 0. 0. 1. ]] SLAMing on 13.039072329 meters Centerline goodness : 0.804501 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.45, Z:-0.37 [[ 0.9988082 -0.00481351 -0.04856968 -0.03519336] [ 0.00815121 0.99760009 0.06875771 -0.44532932] [ 0.04812215 -0.06907167 0.99645038 -0.3663644 ] [ 0. 0. 0. 1. ]] SLAMing on 13.069072328999999 meters Centerline goodness : 0.805101 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.45, Z:-0.36 [[ 0.99897869 -0.00653853 -0.04470824 -0.01626694] [ 0.00974267 0.99736932 0.07182987 -0.4504202 ] [ 0.04412096 -0.07219208 0.99641439 -0.3642586 ] [ 0. 0. 0. 1. ]] SLAMing on 13.099072329 meters Centerline goodness : 0.804153 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.46, Z:-0.36 [[ 0.99911476 -0.01205105 -0.04030475 -0.0095465 ] [ 0.01531041 0.99655059 0.08156292 -0.46261108] [ 0.0391828 -0.0821078 0.99585291 -0.36182268] [ 0. 0. 0. 1. ]] SLAMing on 13.129072329 meters Centerline goodness : 0.803798 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.47, Z:-0.36 [[ 0.99905954 -0.01586177 -0.04035382 -0.00970402] [ 0.01901043 0.99670291 0.07887915 -0.46736389] [ 0.03896961 -0.07957211 0.99606709 -0.36100181] [ 0. 0. 0. 1. ]] SLAMing on 13.159072328999999 meters Centerline goodness : 0.805595 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.48, Z:-0.36 [[ 0.99890304 -0.02322245 -0.04066244 -0.00922837] [ 0.02617943 0.9969319 0.07376607 -0.47529002] [ 0.03882466 -0.07474967 0.99644625 -0.35952759] [ 0. 0. 0. 1. ]] SLAMing on 13.189072329 meters Centerline goodness : 0.804665 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.48, Z:-0.36 [[ 0.99865308 -0.02569107 -0.04507756 -0.02143896] [ 0.02840911 0.99774984 0.06073046 -0.47518422] [ 0.04341589 -0.06192928 0.99713581 -0.35566483] [ 0. 0. 0. 1. ]] SLAMing on 13.219072329 meters Centerline goodness : 0.804496 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.48, Z:-0.36 [[ 0.99839326 -0.03354922 -0.04566559 -0.01915468] [ 0.03605631 0.99782229 0.05523247 -0.48211434] [ 0.04371314 -0.05679026 0.99742871 -0.35524222] [ 0. 0. 0. 1. ]] SLAMing on 13.249072328999999 meters Centerline goodness : 0.804173 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.49, Z:-0.35 [[ 0.99825194 -0.03734195 -0.04581091 -0.01847659] [ 0.03973866 0.99782609 0.05257309 -0.48611653] [ 0.04374814 -0.05430165 0.99756575 -0.35474986] [ 0. 0. 0. 1. ]] SLAMing on 13.279072329 meters Centerline goodness : 0.803674 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.49, Z:-0.35 [[ 0.99788692 -0.04121811 -0.05022715 -0.00780212] [ 0.04348059 0.99804852 0.04481729 -0.48815252] [ 0.04828184 -0.04690649 0.99773175 -0.35123222] [ 0. 0. 0. 1. ]] SLAMing on 13.309072329 meters Centerline goodness : 0.803773 Centerline is valid? [False, False] Translation: X:-0.00, Y:-0.49, Z:-0.35 [[ 9.97932636e-01 -4.39414822e-02 -4.68998913e-02 -4.49426051e-04] [ 4.54398815e-02 9.98474237e-01 3.13753986e-02 -4.87802717e-01] [ 4.54496516e-02 -3.34416598e-02 9.98406723e-01 -3.49717536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.339072329 meters Centerline goodness : 0.804283 Centerline is valid? [False, False] Translation: X:-0.00, Y:-0.49, Z:-0.35 [[ 9.97787402e-01 -4.71387731e-02 -4.68853457e-02 -5.12664889e-04] [ 4.85523531e-02 9.98385445e-01 2.94817353e-02 -4.94683095e-01] [ 4.54199139e-02 -3.16928980e-02 9.98465118e-01 -3.48843487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.369072329 meters Centerline goodness : 0.804289 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.50, Z:-0.35 [[ 0.99762473 -0.05005014 -0.0473273 0.00175293] [ 0.05136744 0.99831372 0.02703908 -0.49792544] [ 0.04589418 -0.02940594 0.9985134 -0.34976025] [ 0. 0. 0. 1. ]] SLAMing on 13.399072329 meters Centerline goodness : 0.804726 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.50, Z:-0.35 [[ 0.99746656 -0.05261214 -0.04787934 0.00496149] [ 0.05385389 0.99823521 0.02502465 -0.50165101] [ 0.04647824 -0.02753974 0.9985396 -0.35154847] [ 0. 0. 0. 1. ]] SLAMing on 13.429072329 meters Centerline goodness : 0.802579 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.51, Z:-0.35 [[ 0.99720811 -0.05672396 -0.04856315 0.01016502] [ 0.05786371 0.99807331 0.02239326 -0.50809552] [ 0.04719935 -0.02514079 0.99856906 -0.35493616] [ 0. 0. 0. 1. ]] SLAMing on 13.459072329 meters Centerline goodness : 0.803347 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.51, Z:-0.35 [[ 0.99711917 -0.0587725 -0.04794943 0.00786197] [ 0.0598193 0.99799467 0.0206954 -0.51123842] [ 0.04663695 -0.02350408 0.99863535 -0.35330218] [ 0. 0. 0. 1. ]] SLAMing on 13.489072328999999 meters Centerline goodness : 0.803502 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.51, Z:-0.35 [[ 0.99691235 -0.06209866 -0.04805755 0.0087162 ] [ 0.06300763 0.99785723 0.01763495 -0.51363323] [ 0.04685946 -0.02060849 0.99868888 -0.35329606] [ 0. 0. 0. 1. ]] SLAMing on 13.519072329 meters Centerline goodness : 0.804728 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.52, Z:-0.35 [[ 0.99674554 -0.06419186 -0.04876198 0.0118793 ] [ 0.06502386 0.99776066 0.01567059 -0.51703383] [ 0.04764686 -0.01879029 0.99868749 -0.35448321] [ 0. 0. 0. 1. ]] SLAMing on 13.549072329 meters Centerline goodness : 0.804887 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.52, Z:-0.36 [[ 0.99660196 -0.06614068 -0.04909122 0.01385073] [ 0.06692181 0.99765371 0.01444085 -0.5243693 ] [ 0.04802091 -0.01767705 0.9986899 -0.35514413] [ 0. 0. 0. 1. ]] SLAMing on 13.579072328999999 meters Centerline goodness : 0.803244 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.53, Z:-0.36 [[ 0.99649768 -0.06724402 -0.04970532 0.01756198] [ 0.06799634 0.99759286 0.01360085 -0.52734507] [ 0.04867109 -0.016933 0.99867132 -0.35740571] [ 0. 0. 0. 1. ]] SLAMing on 13.609072329 meters Centerline goodness : 0.804883 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.53, Z:-0.36 [[ 0.99653653 -0.06653513 -0.04988009 0.01823755] [ 0.06734815 0.99761979 0.01479807 -0.53065951] [ 0.04877678 -0.01810615 0.99864558 -0.35770974] [ 0. 0. 0. 1. ]] SLAMing on 13.639072329 meters Centerline goodness : 0.803226 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.54, Z:-0.36 [[ 0.99661175 -0.06520572 -0.05013222 0.01861648] [ 0.06611821 0.99767099 0.01676224 -0.53523395] [ 0.04892247 -0.0200201 0.99860192 -0.35736387] [ 0. 0. 0. 1. ]] SLAMing on 13.669072329 meters Centerline goodness : 0.804095 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.54, Z:-0.36 [[ 0.9966444 -0.06453826 -0.05034634 0.01894731] [ 0.06550896 0.9976919 0.01787288 -0.53840844] [ 0.04907665 -0.02111104 0.99857188 -0.35706532] [ 0. 0. 0. 1. ]] SLAMing on 13.699072329 meters Centerline goodness : 0.803117 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.54, Z:-0.36 [[ 0.99657356 -0.06533131 -0.05072443 0.02172736] [ 0.06628651 0.99764923 0.01738125 -0.54129003] [ 0.04946965 -0.02068404 0.99856143 -0.35877207] [ 0. 0. 0. 1. ]] SLAMing on 13.729072329 meters Centerline goodness : 0.803032 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.55, Z:-0.36 [[ 0.99640052 -0.06704124 -0.05187938 0.02511756] [ 0.06796727 0.99755448 0.0162943 -0.54964276] [ 0.05066012 -0.01976175 0.99852042 -0.35870636] [ 0. 0. 0. 1. ]] SLAMing on 13.759072329 meters Centerline goodness : 0.803482 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.55, Z:-0.36 [[ 0.99620367 -0.06945775 -0.05247722 0.02785784] [ 0.07029108 0.99742541 0.01420253 -0.55338941] [ 0.05135564 -0.0178373 0.99852112 -0.35962925] [ 0. 0. 0. 1. ]] SLAMing on 13.789072329 meters Centerline goodness : 0.802079 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.56, Z:-0.36 [[ 0.99597323 -0.07247743 -0.05276701 0.02946132] [ 0.0731825 0.99725166 0.0115522 -0.55669965] [ 0.05178472 -0.0153673 0.99854003 -0.35995484] [ 0. 0. 0. 1. ]] SLAMing on 13.819072328999999 meters Centerline goodness : 0.803332 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.57, Z:-0.36 [[ 0.99574639 -0.07561466 -0.05264545 0.02970505] [ 0.07625124 0.99703659 0.01018724 -0.56592432] [ 0.05171913 -0.01415819 0.9985613 -0.35946237] [ 0. 0. 0. 1. ]] SLAMing on 13.849072329 meters Centerline goodness : 0.802356 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.57, Z:-0.36 [[ 0.99581157 -0.07913846 -0.04578679 0.04355296] [ 0.07992686 0.99667788 0.01564947 -0.57231112] [ 0.0443962 -0.01924352 0.99882865 -0.36357209] [ 0. 0. 0. 1. ]] SLAMing on 13.879072329 meters Centerline goodness : 0.803905 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.58, Z:-0.36 [[ 0.99551762 -0.08288821 -0.04554362 0.04360451] [ 0.08354951 0.99642128 0.01281027 -0.57599224] [ 0.04431881 -0.016558 0.99888021 -0.36319164] [ 0. 0. 0. 1. ]] SLAMing on 13.909072328999999 meters Centerline goodness : 0.803743 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.59, Z:-0.37 [[ 0.99513823 -0.091234 -0.03709809 0.05525599] [ 0.09178854 0.99568665 0.01352654 -0.58909161] [ 0.03570399 -0.01686596 0.99922008 -0.36588957] [ 0. 0. 0. 1. ]] SLAMing on 13.939072329 meters Centerline goodness : 0.803671 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.60, Z:-0.37 [[ 0.99477511 -0.09517082 -0.0369459 0.05591807] [ 0.09564235 0.99535266 0.01120812 -0.59608308] [ 0.03570751 -0.01468315 0.99925441 -0.36566695] [ 0. 0. 0. 1. ]] SLAMing on 13.969072329 meters Centerline goodness : 0.803483 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.60, Z:-0.37 [[ 0.99438991 -0.09914816 -0.03685584 0.05732761] [ 0.0995418 0.99499269 0.00899906 -0.60382641] [ 0.03577905 -0.01261727 0.99928007 -0.36614101] [ 0. 0. 0. 1. ]] SLAMing on 13.999072328999999 meters Centerline goodness : 0.802499 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.62, Z:-0.37 [[ 0.99332718 -0.10935938 -0.0366283 0.06178493] [ 0.10950085 0.99398494 0.00187263 -0.61708492] [ 0.03620319 -0.00587097 0.9993272 -0.36885882] [ 0. 0. 0. 1. ]] SLAMing on 14.029072329 meters Centerline goodness : 0.804576 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.62, Z:-0.37 [[ 9.92954526e-01 -1.12725148e-01 -3.65287481e-02 6.28387320e-02] [ 1.12803248e-01 9.93617341e-01 7.75812950e-05 -6.24353744e-01] [ 3.62868522e-02 -4.19759614e-03 9.99332600e-01 -3.68959475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.059072329 meters Centerline goodness : 0.805920 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.63, Z:-0.37 [[ 0.9926606 -0.11723899 -0.02966386 0.07468147] [ 0.11745829 0.99306114 0.00575572 -0.63379431] [ 0.02878324 -0.00919774 0.99954336 -0.37213939] [ 0. 0. 0. 1. ]] SLAMing on 14.089072329 meters Centerline goodness : 0.807541 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.64, Z:-0.37 [[ 0.99228989 -0.12042135 -0.02931693 0.07414838] [ 0.12058733 0.99269485 0.00395447 -0.64041185] [ 0.02862656 -0.00745924 0.99956234 -0.37074926] [ 0. 0. 0. 1. ]] SLAMing on 14.119072329 meters Centerline goodness : 0.809290 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.66, Z:-0.37 [[ 0.99193837 -0.12514878 -0.01990129 0.08345093] [ 0.12530113 0.99209682 0.00659698 -0.65689667] [ 0.0189184 -0.00903745 0.99978019 -0.37209138] [ 0. 0. 0. 1. ]] SLAMing on 14.149072329 meters Centerline goodness : 0.806842 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.66, Z:-0.37 [[ 0.99155152 -0.12819535 -0.01978706 0.08392271] [ 0.12830924 0.99172357 0.00459296 -0.66286683] [ 0.0190345 -0.00709302 0.99979367 -0.37127121] [ 0. 0. 0. 1. ]] SLAMing on 14.179072329 meters Centerline goodness : 0.806899 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.67, Z:-0.37 [[ 0.99117564 -0.13107943 -0.0197239 0.08454862] [ 0.13115651 0.9913581 0.00266099 -0.6689867 ] [ 0.01920465 -0.00522442 0.99980192 -0.37058274] [ 0. 0. 0. 1. ]] SLAMing on 14.209072329 meters Centerline goodness : 0.808109 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.68, Z:-0.37 [[ 0.99085665 -0.1333775 -0.02033585 0.08907172] [ 0.13344564 0.99105406 0.00202526 -0.68333393] [ 0.0198838 -0.00472048 0.99979115 -0.37213632] [ 0. 0. 0. 1. ]] SLAMing on 14.239072328999999 meters Centerline goodness : 0.807774 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.69, Z:-0.37 [[ 0.99095745 -0.13257798 -0.0206497 0.09034788] [ 0.13269015 0.99114886 0.00415367 -0.69065211] [ 0.01991625 -0.00685612 0.99977814 -0.37249687] [ 0. 0. 0. 1. ]] SLAMing on 14.269072329 meters Centerline goodness : 0.807696 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.70, Z:-0.37 [[ 0.99110751 -0.13136232 -0.02120964 0.09210233] [ 0.13154353 0.99128291 0.00738162 -0.70205657] [ 0.02005509 -0.01010597 0.9997478 -0.37233225] [ 0. 0. 0. 1. ]] SLAMing on 14.299072329 meters Centerline goodness : 0.807384 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.71, Z:-0.37 [[ 0.99120788 -0.13055491 -0.02150251 0.09223649] [ 0.13077488 0.9913698 0.00915699 -0.70763403] [ 0.02012145 -0.01188847 0.99972686 -0.37125702] [ 0. 0. 0. 1. ]] SLAMing on 14.329072328999999 meters Centerline goodness : 0.806745 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.71, Z:-0.37 [[ 0.99095892 -0.13231513 -0.02220638 0.09429957] [ 0.13251134 0.99115232 0.00760351 -0.7124825 ] [ 0.02100385 -0.01047736 0.99972449 -0.37071918] [ 0. 0. 0. 1. ]] SLAMing on 14.359072329 meters Centerline goodness : 0.808990 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.72, Z:-0.37 [[ 9.91373255e-01 -1.29568767e-01 -1.97738416e-02 9.80435143e-02] [ 1.29552830e-01 9.91570318e-01 -2.09025675e-03 -7.23079133e-01] [ 1.98779863e-02 -4.89532496e-04 9.99802293e-01 -3.66470727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.389072329 meters Centerline goodness : 0.809539 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.73, Z:-0.37 [[ 9.91508816e-01 -1.28487550e-01 -2.00304009e-02 9.82497308e-02] [ 1.28510918e-01 9.91708087e-01 -1.21499489e-04 -7.28731278e-01] [ 1.98799217e-02 -2.45365739e-03 9.99799364e-01 -3.65780570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.419072328999999 meters Centerline goodness : 0.809495 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.73, Z:-0.37 [[ 0.99163146 -0.12748229 -0.02037948 0.09874808] [ 0.12753816 0.99183259 0.00146069 -0.7328556 ] [ 0.02002682 -0.00404763 0.99979125 -0.36537631] [ 0. 0. 0. 1. ]] SLAMing on 14.449072329 meters Centerline goodness : 0.810866 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.74, Z:-0.37 [[ 0.991743 -0.12655991 -0.02069826 0.09923032] [ 0.12664144 0.99194496 0.00267153 -0.73565086] [ 0.02019343 -0.00527073 0.9997822 -0.36513165] [ 0. 0. 0. 1. ]] SLAMing on 14.479072329 meters Centerline goodness : 0.810866 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.74, Z:-0.37 [[ 0.991743 -0.12655991 -0.02069826 0.09923032] [ 0.12664144 0.99194496 0.00267153 -0.73565086] [ 0.02019343 -0.00527073 0.9997822 -0.36513165] [ 0. 0. 0. 1. ]] SLAMing on 14.509072329 meters Centerline goodness : 0.810653 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.74, Z:-0.36 [[ 0.99277063 -0.11836341 -0.01991441 0.10806651] [ 0.11836494 0.99296955 -0.00110575 -0.74221094] [ 0.01990528 -0.00125941 0.99980108 -0.36244588] [ 0. 0. 0. 1. ]] SLAMing on 14.539072329 meters Centerline goodness : 0.812421 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.75, Z:-0.36 [[ 9.93020872e-01 -1.15812383e-01 -2.22944088e-02 1.12011313e-01] [ 1.15853694e-01 9.93266128e-01 5.66034718e-04 -7.46651533e-01] [ 2.20787273e-02 -3.14497391e-03 9.99751289e-01 -3.61275798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.569072328999999 meters Centerline goodness : 0.811683 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.75, Z:-0.36 [[ 0.99315419 -0.11459257 -0.02265618 0.11236877] [ 0.11466962 0.99340141 0.00212719 -0.75071513] [ 0.02226292 -0.0047106 0.99974105 -0.3607017 ] [ 0. 0. 0. 1. ]] SLAMing on 14.599072329 meters Centerline goodness : 0.812693 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.76, Z:-0.36 [[ 0.99347774 -0.11148892 -0.02392089 0.11482028] [ 0.11165389 0.99373097 0.00567115 -0.75846377] [ 0.02313866 -0.00830502 0.99969777 -0.36051856] [ 0. 0. 0. 1. ]] SLAMing on 14.629072329 meters Centerline goodness : 0.813458 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.76, Z:-0.36 [[ 9.94133018e-01 -1.05948627e-01 -2.17814138e-02 1.24457878e-01] [ 1.05960123e-01 9.94370181e-01 -6.28920960e-04 -7.59856047e-01] [ 2.17254217e-02 -1.68273019e-03 9.99762559e-01 -3.59798822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.659072328999999 meters Centerline goodness : 0.813820 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.76, Z:-0.36 [[ 9.94262049e-01 -1.04627953e-01 -2.22703871e-02 1.24725518e-01] [ 1.04659321e-01 9.94508103e-01 2.44439561e-04 -7.60829130e-01] [ 2.21225053e-02 -2.57384057e-03 9.99751954e-01 -3.59063798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.689072329 meters Centerline goodness : 0.815255 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.76, Z:-0.36 [[ 9.95454457e-01 -9.32032600e-02 -1.95851298e-02 1.33921708e-01] [ 9.32037064e-02 9.95646661e-01 -8.91988108e-04 -7.63013475e-01] [ 1.95830052e-02 -9.37473146e-04 9.99807795e-01 -3.59002255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.719072329 meters Centerline goodness : 0.813096 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.76, Z:-0.36 [[ 0.99587772 -0.08838002 -0.02040921 0.13502001] [ 0.08847315 0.99607167 0.00370487 -0.76433646] [ 0.0200016 -0.00549527 0.99978485 -0.35918558] [ 0. 0. 0. 1. ]] SLAMing on 14.749072328999999 meters Centerline goodness : 0.811978 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.76, Z:-0.36 [[ 9.96621004e-01 -7.98424056e-02 -1.92812069e-02 1.46432880e-01] [ 7.98534011e-02 9.96806598e-01 -2.00192762e-04 -7.63686040e-01] [ 1.92356181e-02 -1.34015363e-03 9.99814080e-01 -3.59887138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.779072329 meters Centerline goodness : 0.812092 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.76, Z:-0.36 [[ 9.97865592e-01 -6.35192790e-02 -1.51513078e-02 1.49409996e-01] [ 6.35043523e-02 9.97980487e-01 -1.46474719e-03 -7.62540402e-01] [ 1.52137492e-02 4.99446835e-04 9.99884139e-01 -3.63224528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.809072329 meters Centerline goodness : 0.813321 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.76, Z:-0.36 [[ 0.99847772 -0.05404088 -0.01103767 0.15846454] [ 0.05399766 0.99853232 -0.00417771 -0.76104724] [ 0.01124724 0.00357534 0.99993036 -0.36417245] [ 0. 0. 0. 1. ]] SLAMing on 14.839072329 meters Centerline goodness : 0.813108 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.76, Z:-0.36 [[ 0.99895115 -0.04447085 -0.01090656 0.16725345] [ 0.04439257 0.99898736 -0.00731816 -0.75962046] [ 0.01122096 0.00682631 0.99991374 -0.36125575] [ 0. 0. 0. 1. ]] SLAMing on 14.869072329 meters Centerline goodness : 0.813752 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.76, Z:-0.36 [[ 0.99955418 -0.02721927 -0.01226975 0.18600564] [ 0.02708333 0.99957141 -0.01111262 -0.75692916] [ 0.01256697 0.01077536 0.99986297 -0.35776206] [ 0. 0. 0. 1. ]] SLAMing on 14.899072329 meters Centerline goodness : 0.812212 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.75, Z:-0.36 [[ 0.99979802 -0.0189693 -0.00664001 0.20001351] [ 0.01888293 0.99973928 -0.0128381 -0.75407361] [ 0.0068818 0.01271012 0.99989554 -0.36311135] [ 0. 0. 0. 1. ]] SLAMing on 14.929072329 meters Centerline goodness : 0.813583 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.75, Z:-0.37 [[ 0.99993877 -0.01094674 -0.00162143 0.21583738] [ 0.01092207 0.99983502 -0.01451344 -0.75043853] [ 0.00178004 0.01449485 0.99989336 -0.36948519] [ 0. 0. 0. 1. ]] SLAMing on 14.959072329 meters Centerline goodness : 0.810086 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.74, Z:-0.37 [[ 9.99990019e-01 2.11584762e-04 -4.46283191e-03 2.51311297e-01] [-3.04181722e-04 9.99784483e-01 -2.07580133e-02 -7.40855440e-01] [ 4.45747802e-03 2.07591636e-02 9.99774569e-01 -3.72493411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.989072328999999 meters Centerline goodness : 0.810005 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.73, Z:-0.37 [[ 0.9999671 0.00530789 -0.00613475 0.28167573] [-0.00548917 0.9995372 -0.02992069 -0.73440667] [ 0.00597309 0.02995338 0.99953345 -0.37167688] [ 0. 0. 0. 1. ]] SLAMing on 15.019072329 meters Centerline goodness : 0.810191 Centerline is valid? [False, False] Translation: X:0.30, Y:-0.73, Z:-0.37 [[ 0.99995565 0.00904927 -0.00260984 0.30215755] [-0.00912556 0.99948154 -0.0308767 -0.73087719] [ 0.00232908 0.03089915 0.99951979 -0.37296979] [ 0. 0. 0. 1. ]] SLAMing on 15.049072329 meters Centerline goodness : 0.811177 Centerline is valid? [False, False] Translation: X:0.30, Y:-0.73, Z:-0.37 [[ 0.9999123 0.01297229 -0.00266818 0.30208397] [-0.0130399 0.99954739 -0.0271106 -0.73032546] [ 0.00231529 0.02714302 0.99962888 -0.37231825] [ 0. 0. 0. 1. ]] SLAMing on 15.079072328999999 meters Centerline goodness : 0.811205 Centerline is valid? [False, False] Translation: X:0.30, Y:-0.73, Z:-0.37 [[ 0.99985547 0.01682864 -0.00241546 0.30103506] [-0.01688246 0.99956153 -0.02432537 -0.72619089] [ 0.00200504 0.02436264 0.99970118 -0.37135934] [ 0. 0. 0. 1. ]] SLAMing on 15.109072329 meters Centerline goodness : 0.811133 Centerline is valid? [False, False] Translation: X:0.30, Y:-0.72, Z:-0.37 [[ 0.99982664 0.01851975 -0.0019279 0.29952681] [-0.01855878 0.99956991 -0.022706 -0.72342847] [ 0.00150656 0.02273784 0.99974033 -0.37054359] [ 0. 0. 0. 1. ]] SLAMing on 15.139072329 meters Centerline goodness : 0.809317 Centerline is valid? [False, False] Translation: X:0.30, Y:-0.72, Z:-0.37 [[ 0.99983473 0.0180515 -0.00215583 0.30069597] [-0.01809828 0.99954528 -0.0241182 -0.71841699] [ 0.00171948 0.02415323 0.99970679 -0.37164809] [ 0. 0. 0. 1. ]] SLAMing on 15.169072328999999 meters Centerline goodness : 0.809011 Centerline is valid? [False, False] Translation: X:0.30, Y:-0.72, Z:-0.37 [[ 0.9997707 0.02127428 -0.00243897 0.30195223] [-0.02132046 0.99955626 -0.02080175 -0.71668959] [ 0.00199535 0.02084898 0.99978065 -0.37230947] [ 0. 0. 0. 1. ]] SLAMing on 15.199072329 meters Centerline goodness : 0.809045 Centerline is valid? [False, False] Translation: X:0.30, Y:-0.71, Z:-0.37 [[ 0.99979849 0.01987541 -0.00281908 0.30346557] [-0.0199358 0.99952931 -0.02331768 -0.71016123] [ 0.00235431 0.02336918 0.99972413 -0.37323031] [ 0. 0. 0. 1. ]] SLAMing on 15.229072329 meters Centerline goodness : 0.807794 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.71, Z:-0.37 [[ 0.99988661 0.01436139 -0.00452871 0.27917095] [-0.01448746 0.99946985 -0.02915707 -0.70638406] [ 0.00410758 0.02921938 0.99956458 -0.37086222] [ 0. 0. 0. 1. ]] SLAMing on 15.259072329 meters Centerline goodness : 0.807921 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.71, Z:-0.37 [[ 0.99990149 0.01303759 -0.00519967 0.28125049] [-0.01318891 0.9994564 -0.03021506 -0.70608364] [ 0.00480291 0.03028066 0.9995299 -0.37170482] [ 0. 0. 0. 1. ]] SLAMing on 15.289072329 meters Centerline goodness : 0.808764 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.70, Z:-0.38 [[ 9.99983002e-01 5.83056083e-03 -3.42845800e-05 2.71148055e-01] [-5.82880050e-03 9.99497973e-01 -3.11420412e-02 -7.01064828e-01] [-1.47308197e-04 3.11417116e-02 9.99514968e-01 -3.75201776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.319072328999999 meters Centerline goodness : 0.809278 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.70, Z:-0.38 [[ 9.99975766e-01 1.00245113e-03 6.88935662e-03 2.72787266e-01] [-8.61986396e-04 9.99792312e-01 -2.03614693e-02 -6.99625429e-01] [-6.90833716e-03 2.03550373e-02 9.99768947e-01 -3.77311761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.349072329 meters Centerline goodness : 0.809526 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.70, Z:-0.38 [[ 9.99977153e-01 -1.00075986e-04 6.75898448e-03 2.72784424e-01] [ 2.45080766e-04 9.99769759e-01 -2.14562147e-02 -6.96715298e-01] [-6.75528103e-03 2.14573810e-02 9.99746941e-01 -3.76788341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.379072329 meters Centerline goodness : 0.808745 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.70, Z:-0.37 [[ 0.99996584 -0.00395872 0.00725568 0.281258 ] [ 0.00406702 0.99987962 -0.01497371 -0.69652778] [-0.00719553 0.01500271 0.99986156 -0.37304176] [ 0. 0. 0. 1. ]] SLAMing on 15.409072328999999 meters Centerline goodness : 0.808530 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.70, Z:-0.37 [[ 0.99993025 -0.00947041 0.00705788 0.28162219] [ 0.00960908 0.99975619 -0.01988026 -0.69721172] [-0.00686788 0.01994669 0.99977746 -0.37265584] [ 0. 0. 0. 1. ]] SLAMing on 15.439072329 meters Centerline goodness : 0.810608 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.70, Z:-0.37 [[ 0.99987977 -0.01387969 0.00691395 0.28244716] [ 0.01404349 0.99960766 -0.0242344 -0.69737434] [-0.00657487 0.02432858 0.9996824 -0.37329587] [ 0. 0. 0. 1. ]] SLAMing on 15.469072329 meters Centerline goodness : 0.809984 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.70, Z:-0.37 [[ 0.99980631 -0.01847976 0.00677113 0.28342256] [ 0.01866816 0.99940779 -0.02890627 -0.69618573] [-0.00623294 0.02902707 0.99955919 -0.37407619] [ 0. 0. 0. 1. ]] SLAMing on 15.499072328999999 meters Centerline goodness : 0.810552 Centerline is valid? [False, False] Translation: X:0.29, Y:-0.70, Z:-0.38 [[ 0.99976137 -0.02097373 0.00610839 0.28683876] [ 0.02115157 0.99930571 -0.03067105 -0.69575105] [-0.00546086 0.03079293 0.99951087 -0.37645306] [ 0. 0. 0. 1. ]] SLAMing on 15.529072329 meters Centerline goodness : 0.809652 Centerline is valid? [False, False] Translation: X:0.30, Y:-0.69, Z:-0.37 [[ 9.99436381e-01 -3.35562364e-02 -9.48209164e-04 2.98947728e-01] [ 3.35332951e-02 9.99270111e-01 -1.82965404e-02 -6.94907526e-01] [ 1.56148011e-03 1.82544315e-02 9.99832155e-01 -3.74794400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.559072329 meters Centerline goodness : 0.807875 Centerline is valid? [False, False] Translation: X:0.30, Y:-0.69, Z:-0.38 [[ 0.99940618 -0.03443185 -0.00131418 0.30028875] [ 0.03440118 0.99923204 -0.01875862 -0.69397429] [ 0.00195907 0.01870228 0.99982318 -0.37556358] [ 0. 0. 0. 1. ]] SLAMing on 15.589072329 meters Centerline goodness : 0.807541 Centerline is valid? [False, False] Translation: X:0.30, Y:-0.69, Z:-0.37 [[ 9.99294053e-01 -3.75600514e-02 -7.99055267e-04 2.97271272e-01] [ 3.75338051e-02 9.99058553e-01 -2.17536293e-02 -6.90063778e-01] [ 1.61537043e-03 2.17082808e-02 9.99763042e-01 -3.72611069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.619072329 meters Centerline goodness : 0.807581 Centerline is valid? [False, False] Translation: X:0.30, Y:-0.69, Z:-0.37 [[ 9.99276278e-01 -3.80313776e-02 -7.31742684e-04 2.96306620e-01] [ 3.80057666e-02 9.99030675e-01 -2.22097088e-02 -6.89444255e-01] [ 1.57569921e-03 2.21658247e-02 9.99753066e-01 -3.71282718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.649072329 meters Centerline goodness : 0.809326 Centerline is valid? [False, False] Translation: X:0.30, Y:-0.69, Z:-0.37 [[ 9.99261673e-01 -3.84135224e-02 -7.14850932e-04 2.95804543e-01] [ 3.83875298e-02 9.99006648e-01 -2.26299696e-02 -6.88993154e-01] [ 1.58343768e-03 2.25858200e-02 9.99743654e-01 -3.70488273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.679072329 meters Centerline goodness : 0.809429 Centerline is valid? [False, False] Translation: X:0.30, Y:-0.69, Z:-0.37 [[ 9.99247781e-01 -3.87707910e-02 -8.35904799e-04 2.96085703e-01] [ 3.87412030e-02 9.98982758e-01 -2.30774363e-02 -6.88264461e-01] [ 1.72978494e-03 2.30276931e-02 9.99733331e-01 -3.70472301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.709072329 meters Centerline goodness : 0.809344 Centerline is valid? [False, False] Translation: X:0.30, Y:-0.68, Z:-0.37 [[ 0.99917911 -0.04049477 -0.00113039 0.29904 ] [ 0.04045275 0.99885505 -0.02553767 -0.68215276] [ 0.00216324 0.02547098 0.99967322 -0.37351289] [ 0. 0. 0. 1. ]] SLAMing on 15.739072328999999 meters Centerline goodness : 0.809299 Centerline is valid? [False, False] Translation: X:0.30, Y:-0.68, Z:-0.37 [[ 0.99929536 -0.03750654 -0.00143039 0.30030946] [ 0.0374654 0.99904936 -0.02228739 -0.68046891] [ 0.00226495 0.02221809 0.99975058 -0.37471716] [ 0. 0. 0. 1. ]] SLAMing on 15.769072329 meters Centerline goodness : 0.808650 Centerline is valid? [False, False] Translation: X:0.30, Y:-0.68, Z:-0.38 [[ 0.99941005 -0.0343042 -0.00166756 0.30103973] [ 0.03426649 0.9992329 -0.01895845 -0.67849912] [ 0.00231664 0.01889012 0.99981888 -0.37537927] [ 0. 0. 0. 1. ]] SLAMing on 15.799072329 meters Centerline goodness : 0.807988 Centerline is valid? [False, False] Translation: X:0.30, Y:-0.67, Z:-0.37 [[ 0.99949365 -0.0317696 -0.00177113 0.30010575] [ 0.03173399 0.99934449 -0.01742242 -0.67037816] [ 0.00232348 0.01735739 0.99984665 -0.37406814] [ 0. 0. 0. 1. ]] SLAMing on 15.829072328999999 meters Centerline goodness : 0.807004 Centerline is valid? [False, False] Translation: X:0.30, Y:-0.67, Z:-0.37 [[ 0.99959181 -0.02850364 -0.00193542 0.29963483] [ 0.02847322 0.9994929 -0.01425542 -0.66797855] [ 0.00234077 0.0141945 0.99989651 -0.37311461] [ 0. 0. 0. 1. ]] SLAMing on 15.859072329 meters Centerline goodness : 0.807062 Centerline is valid? [False, False] Translation: X:0.30, Y:-0.67, Z:-0.37 [[ 0.99967795 -0.02528236 -0.00219159 0.29992827] [ 0.02525654 0.99961938 -0.01109948 -0.66585087] [ 0.00247138 0.01104055 0.999936 -0.37297168] [ 0. 0. 0. 1. ]] SLAMing on 15.889072329 meters Centerline goodness : 0.807403 Centerline is valid? [False, False] Translation: X:0.30, Y:-0.66, Z:-0.37 [[ 0.99972824 -0.02316771 -0.00259094 0.30200607] [ 0.02314006 0.99967984 -0.01023539 -0.65823906] [ 0.00282724 0.01017265 0.99994426 -0.3747321 ] [ 0. 0. 0. 1. ]] SLAMing on 15.919072328999999 meters Centerline goodness : 0.807315 Centerline is valid? [False, False] Translation: X:0.30, Y:-0.65, Z:-0.38 [[ 0.99978836 -0.0203698 -0.00288165 0.30355831] [ 0.02034691 0.99976288 -0.00775857 -0.65494855] [ 0.00303901 0.00769829 0.99996575 -0.37611427] [ 0. 0. 0. 1. ]] SLAMing on 15.949072329 meters Centerline goodness : 0.807100 Centerline is valid? [False, False] Translation: X:0.32, Y:-0.65, Z:-0.38 [[ 0.99984693 -0.01723229 0.00302611 0.31773726] [ 0.01727431 0.99974627 -0.01445671 -0.64766533] [-0.00277622 0.01450677 0.99989092 -0.3818302 ] [ 0. 0. 0. 1. ]] SLAMing on 15.979072329 meters Centerline goodness : 0.808374 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.63, Z:-0.39 [[ 0.99988006 -0.0129048 0.00856288 0.33475086] [ 0.01305493 0.99975786 -0.01771407 -0.63375657] [-0.00833221 0.01782373 0.99980643 -0.38639625] [ 0. 0. 0. 1. ]] SLAMing on 16.009072329 meters Centerline goodness : 0.807995 Centerline is valid? [False, False] Translation: X:0.34, Y:-0.63, Z:-0.39 [[ 0.99991551 -0.00986389 0.00846577 0.33506847] [ 0.00999206 0.99983404 -0.01523322 -0.62894523] [-0.0083141 0.01531652 0.99984813 -0.38657548] [ 0. 0. 0. 1. ]] SLAMing on 16.039072329 meters Centerline goodness : 0.808021 Centerline is valid? [False, False] Translation: X:0.34, Y:-0.62, Z:-0.39 [[ 0.999941 -0.0068526 0.00842869 0.3351409 ] [ 0.00696044 0.99989344 -0.01283185 -0.62395397] [-0.00833986 0.01288976 0.99988214 -0.38651214] [ 0. 0. 0. 1. ]] SLAMing on 16.069072329 meters Centerline goodness : 0.805765 Centerline is valid? [False, False] Translation: X:0.36, Y:-0.62, Z:-0.39 [[ 0.99991945 -0.00505223 0.01164378 0.35715731] [ 0.00521477 0.99988879 -0.01397178 -0.61764288] [-0.01157189 0.01403137 0.99983459 -0.38801512] [ 0. 0. 0. 1. ]] SLAMing on 16.099072329 meters Centerline goodness : 0.806917 Centerline is valid? [False, False] Translation: X:0.36, Y:-0.61, Z:-0.39 [[ 0.99992987 -0.00275623 0.01151798 0.35763608] [ 0.00291477 0.99990093 -0.01377044 -0.60554643] [-0.01147888 0.01380305 0.99983884 -0.38787094] [ 0. 0. 0. 1. ]] SLAMing on 16.129072329 meters Centerline goodness : 0.807853 Centerline is valid? [False, False] Translation: X:0.36, Y:-0.60, Z:-0.39 [[ 0.99993966 -0.00103014 0.01093666 0.36061648] [ 0.00116717 0.99992081 -0.01253026 -0.6001805 ] [-0.01092288 0.01254227 0.99986168 -0.39006245] [ 0. 0. 0. 1. ]] SLAMing on 16.159072329 meters Centerline goodness : 0.806863 Centerline is valid? [False, False] Translation: X:0.36, Y:-0.60, Z:-0.39 [[ 9.99948226e-01 3.35980518e-04 1.01702168e-02 3.64136360e-01] [-2.18713462e-04 9.99933511e-01 -1.15293551e-02 -5.95139571e-01] [-1.01734142e-02 1.15265338e-02 9.99881813e-01 -3.92495091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.189072329 meters Centerline goodness : 0.807137 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.58, Z:-0.40 [[ 9.99951363e-01 -5.58161397e-04 9.84679852e-03 3.91115151e-01] [ 7.20834098e-04 9.99863200e-01 -1.65245586e-02 -5.84028896e-01] [-9.83622811e-03 1.65308528e-02 9.99814973e-01 -3.96402616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.219072329 meters Centerline goodness : 0.806163 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.58, Z:-0.40 [[ 0.99995198 -0.00121948 0.00972415 0.3917087 ] [ 0.00139703 0.99983206 -0.01827273 -0.57929217] [-0.00970024 0.01828544 0.99978575 -0.39644515] [ 0. 0. 0. 1. ]] SLAMing on 16.249072329 meters Centerline goodness : 0.806380 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.57, Z:-0.40 [[ 0.99995188 -0.00192458 0.00961988 0.39181667] [ 0.00211523 0.99980078 -0.01984769 -0.57450394] [-0.00957977 0.01986708 0.99975673 -0.39611282] [ 0. 0. 0. 1. ]] SLAMing on 16.279072328999998 meters Centerline goodness : 0.806966 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.57, Z:-0.40 [[ 9.99959980e-01 -2.70199990e-04 8.94232073e-03 3.94268719e-01] [ 4.33853104e-04 9.99832372e-01 -1.83040901e-02 -5.70474875e-01] [-8.93587598e-03 1.83072372e-02 9.99792476e-01 -3.97323936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.309072329 meters Centerline goodness : 0.809786 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.56, Z:-0.39 [[ 0.99994462 0.00497816 0.00927213 0.39212392] [-0.00484214 0.99988118 -0.01463518 -0.55714974] [-0.00934388 0.01458947 0.99984991 -0.39462926] [ 0. 0. 0. 1. ]] SLAMing on 16.339072329 meters Centerline goodness : 0.808431 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.55, Z:-0.39 [[ 0.99992618 0.00802105 0.00912643 0.39226816] [-0.00790509 0.99988846 -0.01267172 -0.54959839] [-0.00922705 0.01259864 0.99987806 -0.39409678] [ 0. 0. 0. 1. ]] SLAMing on 16.369072328999998 meters Centerline goodness : 0.810241 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.54, Z:-0.39 [[ 0.99989684 0.01111536 0.0090976 0.39219428] [-0.01102124 0.99988589 -0.0103314 -0.54423265] [-0.0092114 0.01023006 0.99990524 -0.39367044] [ 0. 0. 0. 1. ]] SLAMing on 16.399072329 meters Centerline goodness : 0.810241 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.54, Z:-0.39 [[ 0.99989722 0.01109532 0.00907937 0.39221019] [-0.01100139 0.99988611 -0.0103312 -0.5441678 ] [-0.00919296 0.01023025 0.99990541 -0.39362733] [ 0. 0. 0. 1. ]] SLAMing on 16.429072329 meters Centerline goodness : 0.810627 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.54, Z:-0.40 [[ 0.99988676 0.01224735 0.00874443 0.39476651] [-0.01215829 0.9998744 -0.01016672 -0.53735018] [-0.00886784 0.01005925 0.99991008 -0.3958139 ] [ 0. 0. 0. 1. ]] SLAMing on 16.459072328999998 meters Centerline goodness : 0.811010 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.53, Z:-0.40 [[ 0.99989572 0.01162167 0.00857269 0.39536965] [-0.01152464 0.99986995 -0.01128164 -0.53458597] [-0.00870269 0.01118166 0.99989961 -0.3961456 ] [ 0. 0. 0. 1. ]] SLAMing on 16.489072329 meters Centerline goodness : 0.812540 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.53, Z:-0.40 [[ 0.99990379 0.01088021 0.00860375 0.39551522] [-0.01077224 0.99986388 -0.01249738 -0.53141471] [-0.00873856 0.0124035 0.99988489 -0.39638924] [ 0. 0. 0. 1. ]] SLAMing on 16.519072329 meters Centerline goodness : 0.812510 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.52, Z:-0.40 [[ 0.99992864 0.00844225 0.00845276 0.39610825] [-0.00830841 0.9998415 -0.01574598 -0.52304679] [-0.00858435 0.01567463 0.99984029 -0.39650199] [ 0. 0. 0. 1. ]] SLAMing on 16.549072329 meters Centerline goodness : 0.813198 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.52, Z:-0.40 [[ 0.99996804 0.00323482 0.00731102 0.37425017] [-0.00320253 0.99998509 -0.00442402 -0.51914672] [-0.00732522 0.00440047 0.99996349 -0.39510026] [ 0. 0. 0. 1. ]] SLAMing on 16.579072329 meters Centerline goodness : 0.813834 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.51, Z:-0.40 [[ 0.99997173 0.00238282 0.00713172 0.37485348] [-0.00234092 0.99997999 -0.00587746 -0.51433262] [-0.00714558 0.0058606 0.9999573 -0.39530803] [ 0. 0. 0. 1. ]] SLAMing on 16.609072329 meters Centerline goodness : 0.813600 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.51, Z:-0.39 [[ 0.99996683 0.00387051 0.00716709 0.37424504] [-0.00384083 0.99998401 -0.00415105 -0.5106656 ] [-0.00718304 0.00412339 0.9999657 -0.39469877] [ 0. 0. 0. 1. ]] SLAMing on 16.639072329 meters Centerline goodness : 0.813203 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.50, Z:-0.39 [[ 0.99997241 0.00227905 0.00707071 0.37424923] [-0.00223053 0.99997397 -0.00686237 -0.50224475] [-0.00708616 0.00684641 0.99995146 -0.3942371 ] [ 0. 0. 0. 1. ]] SLAMing on 16.669072329 meters Centerline goodness : 0.813962 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.50, Z:-0.39 [[ 0.99997338 0.00158096 0.00712386 0.37375709] [-0.00152582 0.9999689 -0.00773817 -0.50067513] [-0.00713588 0.00772709 0.99994468 -0.39366071] [ 0. 0. 0. 1. ]] SLAMing on 16.699072329 meters Centerline goodness : 0.814872 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.50, Z:-0.39 [[ 9.99973562e-01 9.60063969e-04 7.20790696e-03 3.73241657e-01] [-9.00555317e-04 9.99965524e-01 -8.25473498e-03 -5.00301629e-01] [-7.21558353e-03 8.24802562e-03 9.99939951e-01 -3.93182802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.729072329 meters Centerline goodness : 0.813419 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.50, Z:-0.39 [[ 9.99972802e-01 1.75584368e-04 7.37327975e-03 3.72480493e-01] [-1.07721205e-04 9.99957643e-01 -9.20332039e-03 -4.98638530e-01] [-7.37458339e-03 9.20227581e-03 9.99930464e-01 -3.92534026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.759072329 meters Centerline goodness : 0.815244 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.49, Z:-0.39 [[ 9.99973842e-01 8.49366476e-04 7.18295055e-03 3.73159886e-01] [-7.84840162e-04 9.99959359e-01 -8.98131274e-03 -4.89914394e-01] [-7.19028705e-03 8.97544033e-03 9.99933868e-01 -3.92715309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.789072329 meters Centerline goodness : 0.813603 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.49, Z:-0.39 [[ 0.999966 0.00389708 0.00726782 0.37334259] [-0.00385052 0.99997205 -0.00640948 -0.4854218 ] [-0.00729259 0.00638127 0.99995305 -0.39311712] [ 0. 0. 0. 1. ]] SLAMing on 16.819072329 meters Centerline goodness : 0.815344 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.48, Z:-0.40 [[ 0.99996298 0.0056247 0.0065111 0.37676163] [-0.00559185 0.9999716 -0.0050524 -0.4805438 ] [-0.00653933 0.0050158 0.99996604 -0.39541721] [ 0. 0. 0. 1. ]] SLAMing on 16.849072329 meters Centerline goodness : 0.813993 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.47, Z:-0.40 [[ 0.99995233 0.00755901 0.00618068 0.3792868 ] [-0.00753251 0.99996238 -0.00430071 -0.47329019] [-0.00621296 0.00425395 0.99997165 -0.39748154] [ 0. 0. 0. 1. ]] SLAMing on 16.879072329 meters Centerline goodness : 0.815333 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.47, Z:-0.40 [[ 0.99993363 0.0093879 0.00667796 0.37697088] [-0.00936982 0.99995237 -0.00273339 -0.47036072] [-0.0067033 0.00267064 0.99997397 -0.39588238] [ 0. 0. 0. 1. ]] SLAMing on 16.909072329 meters Centerline goodness : 0.815143 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.46, Z:-0.40 [[ 0.99994154 0.00861692 0.00653154 0.3772254 ] [-0.0085873 0.99995278 -0.0045483 -0.46495896] [-0.00657042 0.00449195 0.99996833 -0.39565903] [ 0. 0. 0. 1. ]] SLAMing on 16.939072329 meters Centerline goodness : 0.817893 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.46, Z:-0.40 [[ 0.99992317 0.01047141 0.00663341 0.37746056] [-0.01044554 0.99993775 -0.00392153 -0.45559851] [-0.00667406 0.00385194 0.99997031 -0.39586634] [ 0. 0. 0. 1. ]] SLAMing on 16.969072329 meters Centerline goodness : 0.816812 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.45, Z:-0.40 [[ 0.999932 0.00974969 0.00639878 0.37824313] [-0.00971315 0.99993649 -0.00571659 -0.44926608] [-0.00645411 0.00565404 0.99996319 -0.39603715] [ 0. 0. 0. 1. ]] SLAMing on 16.999072329 meters Centerline goodness : 0.815271 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.45, Z:-0.40 [[ 0.99990579 0.01182584 0.00696813 0.37637494] [-0.01179929 0.99992301 -0.00384 -0.44516629] [-0.007013 0.00375742 0.99996835 -0.39510175] [ 0. 0. 0. 1. ]] SLAMing on 17.029072328999998 meters Centerline goodness : 0.816460 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.44, Z:-0.40 [[ 0.99992524 0.0101863 0.00676389 0.37776234] [-0.01014029 0.99992545 -0.00680143 -0.43619051] [-0.00683267 0.00673234 0.99995399 -0.39597943] [ 0. 0. 0. 1. ]] SLAMing on 17.059072329 meters Centerline goodness : 0.816973 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.43, Z:-0.40 [[ 0.99993241 0.00939862 0.00684458 0.37753 ] [-0.00934343 0.99992394 -0.00805093 -0.43278348] [-0.00691972 0.00798643 0.99994417 -0.39580044] [ 0. 0. 0. 1. ]] SLAMing on 17.089072329 meters Centerline goodness : 0.818708 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.43, Z:-0.39 [[ 0.99994154 0.00818313 0.00706779 0.37635951] [-0.00811349 0.99991879 -0.00982756 -0.42839686] [-0.00714763 0.00976964 0.99992673 -0.39473527] [ 0. 0. 0. 1. ]] SLAMing on 17.119072328999998 meters Centerline goodness : 0.819766 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.42, Z:-0.39 [[ 9.99997353e-01 2.05063461e-04 2.29183728e-03 3.75737822e-01] [-1.99358050e-04 9.99996882e-01 -2.48940002e-03 -4.18987230e-01] [-2.29234062e-03 2.48893653e-03 9.99994275e-01 -3.92648356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.149072329 meters Centerline goodness : 0.819499 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.42, Z:-0.39 [[ 9.99997273e-01 -6.39777404e-04 2.24591487e-03 3.76143629e-01] [ 6.47831022e-04 9.99993357e-01 -3.58700240e-03 -4.16010776e-01] [-2.24360506e-03 3.58844760e-03 9.99991045e-01 -3.93084772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.179072329 meters Centerline goodness : 0.820875 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.41, Z:-0.39 [[ 0.99999624 -0.00143301 0.00233845 0.37622161] [ 0.00144328 0.9999893 -0.00439578 -0.41423305] [-0.00233213 0.00439914 0.9999876 -0.39352128] [ 0. 0. 0. 1. ]] SLAMing on 17.209072328999998 meters Centerline goodness : 0.819883 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.41, Z:-0.39 [[ 0.99999367 -0.00248383 0.002548 0.37568738] [ 0.00249727 0.99998291 -0.00528546 -0.4129808 ] [-0.00253483 0.00529179 0.99998279 -0.39354494] [ 0. 0. 0. 1. ]] SLAMing on 17.239072329 meters Centerline goodness : 0.822413 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.41, Z:-0.39 [[ 0.99998396 -0.00493369 0.00278062 0.37514339] [ 0.00495396 0.99996085 -0.00733179 -0.4093966 ] [-0.00274433 0.00734545 0.99996926 -0.39372133] [ 0. 0. 0. 1. ]] SLAMing on 17.269072329 meters Centerline goodness : 0.822869 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.41, Z:-0.39 [[ 0.99998009 -0.00564945 0.002811 0.37509073] [ 0.00567269 0.99994924 -0.00832707 -0.40647882] [-0.00276382 0.00834285 0.99996138 -0.39366832] [ 0. 0. 0. 1. ]] SLAMing on 17.299072329 meters Centerline goodness : 0.820866 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.40, Z:-0.39 [[ 0.99995286 -0.00938544 -0.00248755 0.38562617] [ 0.00937079 0.99993907 -0.00583508 -0.39953162] [ 0.00254216 0.0058115 0.99997988 -0.38989802] [ 0. 0. 0. 1. ]] SLAMing on 17.329072329 meters Centerline goodness : 0.821083 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.40, Z:-0.39 [[ 0.99997582 -0.00655442 -0.00232553 0.38478156] [ 0.00654871 0.99997554 -0.00245544 -0.39906049] [ 0.00234156 0.00244015 0.99999428 -0.38958992] [ 0. 0. 0. 1. ]] SLAMing on 17.359072329 meters Centerline goodness : 0.822123 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.40, Z:-0.39 [[ 0.9999733 -0.00691274 -0.00236907 0.38484834] [ 0.00690524 0.99997117 -0.00316018 -0.39705286] [ 0.00239085 0.00314373 0.9999922 -0.38950063] [ 0. 0. 0. 1. ]] SLAMing on 17.389072329 meters Centerline goodness : 0.822052 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.40, Z:-0.39 [[ 0.99997236 -0.00703199 -0.00241421 0.38527032] [ 0.0070237 0.99996947 -0.00342388 -0.39622145] [ 0.00243821 0.00340682 0.99999122 -0.3899894 ] [ 0. 0. 0. 1. ]] SLAMing on 17.419072329 meters Centerline goodness : 0.822291 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.40, Z:-0.39 [[ 0.99996577 -0.0079742 -0.00220684 0.38450246] [ 0.00796523 0.99996009 -0.00404603 -0.39575156] [ 0.00223902 0.00402832 0.99998938 -0.38973549] [ 0. 0. 0. 1. ]] SLAMing on 17.449072329 meters Centerline goodness : 0.823026 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.40, Z:-0.39 [[ 0.99996184 -0.00851161 -0.00196783 0.38369147] [ 0.00850295 0.9999543 -0.00436992 -0.39524516] [ 0.00200493 0.00435302 0.99998852 -0.38935763] [ 0. 0. 0. 1. ]] SLAMing on 17.479072329 meters Centerline goodness : 0.821553 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.39, Z:-0.39 [[ 0.99995878 -0.00890014 -0.00179545 0.38333358] [ 0.00889151 0.99994915 -0.00475832 -0.39417135] [ 0.00183771 0.00474216 0.99998707 -0.38932937] [ 0. 0. 0. 1. ]] SLAMing on 17.509072329 meters Centerline goodness : 0.822696 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.39, Z:-0.39 [[ 0.99995693 -0.00908473 -0.00189731 0.38389169] [ 0.00907524 0.99994654 -0.00495546 -0.39303481] [ 0.00194223 0.00493802 0.99998592 -0.38977406] [ 0. 0. 0. 1. ]] SLAMing on 17.539072329 meters Centerline goodness : 0.821598 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.39, Z:-0.39 [[ 0.99995468 -0.00927462 -0.0021493 0.38515678] [ 0.00926363 0.99994424 -0.00506898 -0.39204281] [ 0.00219619 0.00504884 0.99998484 -0.39077844] [ 0. 0. 0. 1. ]] SLAMing on 17.569072329 meters Centerline goodness : 0.820248 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.39, Z:-0.39 [[ 0.99995549 -0.00918808 -0.00214311 0.38525099] [ 0.00917791 0.99994679 -0.00470986 -0.3935677 ] [ 0.00218627 0.00468998 0.99998661 -0.39100801] [ 0. 0. 0. 1. ]] SLAMing on 17.599072329 meters Centerline goodness : 0.821064 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.40, Z:-0.39 [[ 0.99995618 -0.00913899 -0.0020312 0.38485493] [ 0.00913025 0.9999492 -0.00427112 -0.39569888] [ 0.00207013 0.00425239 0.99998882 -0.39090364] [ 0. 0. 0. 1. ]] SLAMing on 17.629072329 meters Centerline goodness : 0.823648 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.40, Z:-0.39 [[ 0.99995564 -0.00921119 -0.00196566 0.38415607] [ 0.00920298 0.99994906 -0.00414458 -0.39667704] [ 0.00200373 0.00412631 0.99998948 -0.39013859] [ 0. 0. 0. 1. ]] SLAMing on 17.659072329 meters Centerline goodness : 0.822365 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.40, Z:-0.39 [[ 9.99980159e-01 -6.14619570e-03 -1.38019673e-03 3.81746274e-01] [ 6.14493850e-03 9.99980703e-01 -9.13286403e-04 -3.95957428e-01] [ 1.38578333e-03 9.04787059e-04 9.99998630e-01 -3.88766116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.689072329 meters Centerline goodness : 0.823223 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.39, Z:-0.39 [[ 9.99986723e-01 -4.75542874e-03 -1.98510748e-03 3.84358226e-01] [ 4.75580497e-03 9.99988674e-01 1.84850612e-04 -3.93176550e-01] [ 1.98420595e-03 -1.94288941e-04 9.99998013e-01 -3.90172095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.719072329 meters Centerline goodness : 0.821786 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.39, Z:-0.39 [[ 9.99996946e-01 -7.53252978e-04 -2.35363853e-03 3.84846648e-01] [ 7.62014574e-04 9.99992776e-01 3.72389852e-03 -3.90793029e-01] [ 2.35081649e-03 -3.72568066e-03 9.99990296e-01 -3.89652302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.749072329 meters Centerline goodness : 0.822797 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.39, Z:-0.39 [[ 9.99996141e-01 -3.94143501e-04 -2.74995201e-03 3.85839442e-01] [ 4.05148043e-04 9.99991909e-01 4.00231250e-03 -3.91725379e-01] [ 2.74835227e-03 -4.00341120e-03 9.99988210e-01 -3.89873291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.779072328999998 meters Centerline goodness : 0.822803 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.39, Z:-0.39 [[ 9.99975893e-01 8.59669697e-04 -6.89021664e-03 3.65172658e-01] [-8.56158819e-04 9.99999502e-01 5.12478838e-04 -3.89487362e-01] [ 6.89065377e-03 -5.06567363e-04 9.99976131e-01 -3.88118474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.809072329 meters Centerline goodness : 0.822303 Centerline is valid? [False, False] Translation: X:0.36, Y:-0.39, Z:-0.39 [[ 0.99996382 0.00501689 -0.0068693 0.36477019] [-0.00498557 0.99997714 0.00456873 -0.38954928] [ 0.00689206 -0.00453432 0.99996597 -0.38759976] [ 0. 0. 0. 1. ]] SLAMing on 17.839072329 meters Centerline goodness : 0.824016 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.39, Z:-0.39 [[ 0.99995935 0.00511012 -0.00742853 0.36599618] [-0.00508127 0.99997949 0.00389776 -0.38590287] [ 0.0074483 -0.00385985 0.99996481 -0.38734557] [ 0. 0. 0. 1. ]] SLAMing on 17.869072328999998 meters Centerline goodness : 0.824105 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.38, Z:-0.39 [[ 0.99995497 0.005211 -0.00793085 0.36732367] [-0.00518362 0.99998055 0.00346858 -0.38331998] [ 0.00794877 -0.00342732 0.99996253 -0.38751495] [ 0. 0. 0. 1. ]] SLAMing on 17.899072329 meters Centerline goodness : 0.822955 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.38, Z:-0.39 [[ 0.99994893 0.00569598 -0.00834839 0.36834968] [-0.00566644 0.99997762 0.00355678 -0.38314363] [ 0.00836847 -0.0035093 0.99995883 -0.38758061] [ 0. 0. 0. 1. ]] SLAMing on 17.929072329 meters Centerline goodness : 0.822444 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.39, Z:-0.39 [[ 0.99994657 0.00594215 -0.00845827 0.36831702] [-0.00590889 0.99997473 0.00395157 -0.38524164] [ 0.00848154 -0.00390138 0.99995642 -0.38730436] [ 0. 0. 0. 1. ]] SLAMing on 17.959072328999998 meters Centerline goodness : 0.822989 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.39, Z:-0.39 [[ 0.99994441 0.00626026 -0.00848496 0.36816618] [-0.00622161 0.99997018 0.00457475 -0.38802075] [ 0.00851335 -0.0045217 0.99995354 -0.38713161] [ 0. 0. 0. 1. ]] SLAMing on 17.989072329 meters Centerline goodness : 0.821512 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.39, Z:-0.39 [[ 0.99994246 0.00647557 -0.00855266 0.36853337] [-0.00642863 0.99996419 0.00550434 -0.39099525] [ 0.008588 -0.00544905 0.99994828 -0.38766397] [ 0. 0. 0. 1. ]] SLAMing on 18.019072329 meters Centerline goodness : 0.820463 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.39, Z:-0.39 [[ 0.99993962 0.00655996 -0.00881566 0.36957138] [-0.00650874 0.99996185 0.00582543 -0.39103211] [ 0.00885354 -0.0057677 0.99994417 -0.38831027] [ 0. 0. 0. 1. ]] SLAMing on 18.049072328999998 meters Centerline goodness : 0.820460 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.39, Z:-0.39 [[ 0.99993819 0.00650509 -0.00901629 0.37031308] [-0.00645132 0.99996131 0.00598004 -0.39105964] [ 0.00905485 -0.0059215 0.99994147 -0.38875701] [ 0. 0. 0. 1. ]] SLAMing on 18.079072329 meters Centerline goodness : 0.817505 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.40, Z:-0.39 [[ 0.99995266 0.00291206 -0.00928419 0.37113957] [-0.00287956 0.99998969 0.00351185 -0.39601538] [ 0.00929432 -0.00348495 0.99995073 -0.38942227] [ 0. 0. 0. 1. ]] SLAMing on 18.109072329 meters Centerline goodness : 0.816015 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.40, Z:-0.39 [[ 9.99956769e-01 -7.54806979e-04 -9.26769436e-03 3.70703298e-01] [ 7.60605397e-04 9.99999517e-01 6.22150565e-04 -4.00949996e-01] [ 9.26722028e-03 -6.29172727e-04 9.99956860e-01 -3.89026412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.139072329 meters Centerline goodness : 0.817978 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.41, Z:-0.39 [[ 0.99994783 -0.00464701 -0.00909608 0.36944368] [ 0.00462551 0.99998646 -0.00238374 -0.40590156] [ 0.00910703 0.00234154 0.99995579 -0.38791567] [ 0. 0. 0. 1. ]] SLAMing on 18.169072329 meters Centerline goodness : 0.818216 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.41, Z:-0.39 [[ 0.99992278 -0.00871558 -0.00885895 0.36821454] [ 0.00866463 0.99994579 -0.00577376 -0.40898528] [ 0.00890879 0.00569655 0.99994409 -0.38683565] [ 0. 0. 0. 1. ]] SLAMing on 18.199072329 meters Centerline goodness : 0.818627 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.41, Z:-0.38 [[ 0.99986743 -0.01405828 -0.00821488 0.36511423] [ 0.01397571 0.9998521 -0.01002294 -0.41060928] [ 0.00835457 0.0099068 0.99991602 -0.3843884 ] [ 0. 0. 0. 1. ]] SLAMing on 18.229072329 meters Centerline goodness : 0.816977 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.41, Z:-0.38 [[ 0.99986987 -0.01393775 -0.00812314 0.3650715 ] [ 0.01386375 0.99986253 -0.00909519 -0.41360373] [ 0.00824879 0.00898139 0.99992564 -0.38474119] [ 0. 0. 0. 1. ]] SLAMing on 18.259072329 meters Centerline goodness : 0.817722 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.42, Z:-0.39 [[ 0.99987577 -0.01346869 -0.00818786 0.36560642] [ 0.01340685 0.99988154 -0.00756091 -0.41894754] [ 0.00828873 0.0074502 0.99993789 -0.38555554] [ 0. 0. 0. 1. ]] SLAMing on 18.289072329 meters Centerline goodness : 0.817722 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.42, Z:-0.39 [[ 0.99987577 -0.01346869 -0.00818786 0.36560642] [ 0.01340685 0.99988154 -0.00756091 -0.41894754] [ 0.00828873 0.0074502 0.99993789 -0.38555554] [ 0. 0. 0. 1. ]] SLAMing on 18.319072329 meters Centerline goodness : 0.815814 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.43, Z:-0.39 [[ 0.99977295 -0.0193591 -0.00890361 0.36842318] [ 0.0192477 0.99973745 -0.01243218 -0.42824757] [ 0.00914195 0.01225798 0.99988308 -0.38703276] [ 0. 0. 0. 1. ]] SLAMing on 18.349072329 meters Centerline goodness : 0.815614 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.43, Z:-0.39 [[ 0.99977802 -0.01914626 -0.00879378 0.36827499] [ 0.01904997 0.99975905 -0.01090561 -0.43402012] [ 0.00900046 0.01073567 0.99990186 -0.38747532] [ 0. 0. 0. 1. ]] SLAMing on 18.379072329 meters Centerline goodness : 0.814776 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.44, Z:-0.39 [[ 0.99977787 -0.01916104 -0.00877883 0.36806076] [ 0.01908081 0.99977622 -0.00913403 -0.43924119] [ 0.00895189 0.00896449 0.99991975 -0.38754636] [ 0. 0. 0. 1. ]] SLAMing on 18.409072329 meters Centerline goodness : 0.813294 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.44, Z:-0.39 [[ 0.99983376 -0.01591414 -0.00889896 0.36807179] [ 0.01587635 0.99986471 -0.0043022 -0.44384324] [ 0.00896623 0.0041602 0.99995115 -0.38786754] [ 0. 0. 0. 1. ]] SLAMing on 18.439072329 meters Centerline goodness : 0.812981 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.45, Z:-0.39 [[ 0.99984029 -0.01542359 -0.009028 0.36817581] [ 0.01539855 0.99987741 -0.00283651 -0.4486627 ] [ 0.00907064 0.00269704 0.99995522 -0.38776417] [ 0. 0. 0. 1. ]] SLAMing on 18.469072329 meters Centerline goodness : 0.811964 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.46, Z:-0.39 [[ 0.99972541 -0.02143442 -0.00946966 0.36802915] [ 0.02136278 0.99974289 -0.00760229 -0.45959985] [ 0.00963017 0.0073979 0.99992626 -0.38617455] [ 0. 0. 0. 1. ]] SLAMing on 18.499072329 meters Centerline goodness : 0.814197 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.46, Z:-0.39 [[ 0.99964572 -0.0248246 -0.00960098 0.3677009 ] [ 0.02472337 0.99963895 -0.01052288 -0.46348861] [ 0.00985874 0.01028178 0.99989854 -0.38508864] [ 0. 0. 0. 1. ]] SLAMing on 18.529072328999998 meters Centerline goodness : 0.814279 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.47, Z:-0.38 [[ 0.99965459 -0.02453008 -0.00943231 0.36669455] [ 0.02443981 0.99965551 -0.00956871 -0.46672044] [ 0.00966379 0.00933488 0.99990973 -0.38416912] [ 0. 0. 0. 1. ]] SLAMing on 18.559072329 meters Centerline goodness : 0.811893 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.47, Z:-0.39 [[ 9.99719291e-01 -2.35915750e-02 -2.18567314e-03 3.78391948e-01] [ 2.35934089e-02 9.99721303e-01 8.17120911e-04 -4.73602604e-01] [ 2.16578683e-03 -8.68459018e-04 9.99997278e-01 -3.87854447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.589072329 meters Centerline goodness : 0.808540 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.48, Z:-0.39 [[ 0.99976672 -0.02138948 -0.00299927 0.38245295] [ 0.02140089 0.99976366 0.00382475 -0.47808451] [ 0.00291675 -0.00388805 0.99998819 -0.39097835] [ 0. 0. 0. 1. ]] SLAMing on 18.619072328999998 meters Centerline goodness : 0.808976 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.48, Z:-0.39 [[ 0.99979253 -0.02007654 -0.00344062 0.3849209 ] [ 0.02009682 0.99978026 0.00596282 -0.48336766] [ 0.00332015 -0.00603072 0.9999763 -0.39303663] [ 0. 0. 0. 1. ]] SLAMing on 18.649072329 meters Centerline goodness : 0.806280 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.49, Z:-0.39 [[ 0.99980641 -0.01932525 -0.00369868 0.3858981 ] [ 0.01935249 0.99978477 0.00747653 -0.48850747] [ 0.0035534 -0.00754667 0.99996521 -0.39368035] [ 0. 0. 0. 1. ]] SLAMing on 18.679072329 meters Centerline goodness : 0.806000 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.49, Z:-0.39 [[ 0.99977289 -0.02080921 -0.00459888 0.38813699] [ 0.02083705 0.99976434 0.00609021 -0.49424275] [ 0.00447107 -0.00618465 0.99997088 -0.39363708] [ 0. 0. 0. 1. ]] SLAMing on 18.709072328999998 meters Centerline goodness : 0.805811 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.49, Z:-0.39 [[ 0.99977951 -0.0203994 -0.00497905 0.38828846] [ 0.02043097 0.99977094 0.00637484 -0.49463454] [ 0.00484787 -0.00647516 0.99996728 -0.39256964] [ 0. 0. 0. 1. ]] SLAMing on 18.739072329 meters Centerline goodness : 0.805474 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.50, Z:-0.39 [[ 0.99984429 -0.01698103 -0.00480031 0.38607858] [ 0.01702809 0.99980561 0.00993947 -0.49536191] [ 0.0046306 -0.01001966 0.99993908 -0.39037239] [ 0. 0. 0. 1. ]] SLAMing on 18.769072329 meters Centerline goodness : 0.805754 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.49, Z:-0.39 [[ 0.99985721 -0.01598834 -0.00547163 0.38745807] [ 0.01604418 0.99981804 0.01031892 -0.49437041] [ 0.00530565 -0.01040523 0.99993179 -0.39005537] [ 0. 0. 0. 1. ]] SLAMing on 18.799072328999998 meters Centerline goodness : 0.803355 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.50, Z:-0.39 [[ 9.99990457e-01 -4.33531511e-03 -5.40023553e-04 3.87458991e-01] [ 4.33779924e-03 9.99979607e-01 4.68710994e-03 -4.95682184e-01] [ 5.19692442e-04 -4.68940773e-03 9.99988870e-01 -3.90971684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.829072329 meters Centerline goodness : 0.801637 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.50, Z:-0.39 [[ 0.99999492 -0.0028996 -0.00132667 0.38930452] [ 0.00290668 0.99998139 0.00536408 -0.4961004 ] [ 0.00131109 -0.00536791 0.99998473 -0.39100748] [ 0. 0. 0. 1. ]] SLAMing on 18.859072329 meters Centerline goodness : 0.799340 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.50, Z:-0.39 [[ 0.99999278 0.00339761 -0.00170409 0.39021376] [-0.0033795 0.99993891 0.01052419 -0.49696505] [ 0.00173975 -0.01051836 0.99994317 -0.39076926] [ 0. 0. 0. 1. ]] SLAMing on 18.889072329 meters Centerline goodness : 0.797933 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.49, Z:-0.39 [[ 0.99998652 0.00476403 -0.00206253 0.39123161] [-0.00474163 0.99993119 0.01072971 -0.49471777] [ 0.0021135 -0.01071978 0.99994031 -0.39071918] [ 0. 0. 0. 1. ]] SLAMing on 18.919072329 meters Centerline goodness : 0.797516 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.49, Z:-0.39 [[ 0.99995538 0.00916226 -0.00230137 0.39161831] [-0.00912673 0.9998458 0.01500284 -0.49464448] [ 0.00243847 -0.01498116 0.9998848 -0.39039401] [ 0. 0. 0. 1. ]] SLAMing on 18.949072329 meters Centerline goodness : 0.796978 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.50, Z:-0.39 [[ 0.99983321 0.01806418 -0.00269052 0.39279551] [-0.01799521 0.9995555 0.02376904 -0.49547469] [ 0.00311869 -0.02371666 0.99971386 -0.39032019] [ 0. 0. 0. 1. ]] SLAMing on 18.979072329 meters Centerline goodness : 0.795396 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.49, Z:-0.39 [[ 0.99970492 0.02273293 -0.00856058 0.38311062] [-0.02258881 0.99960748 0.01657198 -0.49118878] [ 0.00893395 -0.01637372 0.99982603 -0.38739546] [ 0. 0. 0. 1. ]] SLAMing on 19.009072329 meters Centerline goodness : 0.792366 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.49, Z:-0.39 [[ 0.99967925 0.02370952 -0.00890214 0.38388939] [-0.02356127 0.99958779 0.01640497 -0.48915538] [ 0.00928743 -0.01618996 0.9998258 -0.3870947 ] [ 0. 0. 0. 1. ]] SLAMing on 19.039072329 meters Centerline goodness : 0.791379 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.49, Z:-0.39 [[ 0.99957592 0.02839326 -0.00646534 0.39456399] [-0.02832865 0.99954989 0.00987431 -0.48816954] [ 0.0067428 -0.00968697 0.99993035 -0.38723828] [ 0. 0. 0. 1. ]] SLAMing on 19.069072329 meters Centerline goodness : 0.788977 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.49, Z:-0.39 [[ 0.99940374 0.03399021 -0.00606926 0.39355395] [-0.03390418 0.99933044 0.0137545 -0.48559699] [ 0.00653271 -0.01354052 0.99988698 -0.38576158] [ 0. 0. 0. 1. ]] SLAMing on 19.099072329 meters Centerline goodness : 0.788857 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.48, Z:-0.39 [[ 0.99936803 0.03501506 -0.00612181 0.39381211] [-0.03493032 0.99929937 0.01344062 -0.48167581] [ 0.00658814 -0.01321828 0.99989093 -0.38542549] [ 0. 0. 0. 1. ]] SLAMing on 19.129072329 meters Centerline goodness : 0.788003 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.48, Z:-0.39 [[ 0.99922098 0.03897799 -0.0061759 0.39432456] [-0.0388683 0.9991 0.01698366 -0.4795009 ] [ 0.00683233 -0.01673039 0.99983669 -0.38544771] [ 0. 0. 0. 1. ]] SLAMing on 19.159072329 meters Centerline goodness : 0.786738 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.47, Z:-0.39 [[ 0.99902795 0.04363512 -0.00625495 0.39566363] [-0.04350166 0.99885144 0.02008509 -0.47354791] [ 0.00712418 -0.01979347 0.99977871 -0.38601424] [ 0. 0. 0. 1. ]] SLAMing on 19.189072329 meters Centerline goodness : 0.785011 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.47, Z:-0.39 [[ 0.99901686 0.04383419 -0.00662423 0.39682581] [-0.04370006 0.99886033 0.01919223 -0.46975184] [ 0.00745796 -0.01888388 0.99979387 -0.38628195] [ 0. 0. 0. 1. ]] SLAMing on 19.219072329 meters Centerline goodness : 0.784950 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.47, Z:-0.39 [[ 0.99901012 0.04392892 -0.00700281 0.39778771] [-0.04379453 0.99887276 0.01831004 -0.46657105] [ 0.00779925 -0.01798523 0.99980783 -0.38628416] [ 0. 0. 0. 1. ]] SLAMing on 19.249072329 meters Centerline goodness : 0.783759 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.46, Z:-0.39 [[ 0.99899358 0.04425744 -0.00728726 0.39910868] [-0.04412842 0.99888115 0.01700408 -0.46150964] [ 0.00803166 -0.01666539 0.99982886 -0.386728 ] [ 0. 0. 0. 1. ]] SLAMing on 19.279072328999998 meters Centerline goodness : 0.782819 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.46, Z:-0.39 [[ 0.99901167 0.04382681 -0.00740922 0.39951181] [-0.0437046 0.99891761 0.01592223 -0.45824496] [ 0.00809902 -0.01558268 0.99984578 -0.38682742] [ 0. 0. 0. 1. ]] SLAMing on 19.309072329 meters Centerline goodness : 0.782694 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.45, Z:-0.39 [[ 0.99905115 0.04294248 -0.00726181 0.39936605] [-0.04283857 0.99898523 0.01390578 -0.4518497 ] [ 0.00785159 -0.0135815 0.99987694 -0.38670655] [ 0. 0. 0. 1. ]] SLAMing on 19.339072329 meters Centerline goodness : 0.783072 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.45, Z:-0.39 [[ 0.99907249 0.04244979 -0.00722319 0.39923533] [-0.04235417 0.99901921 0.01291283 -0.44910306] [ 0.00776425 -0.01259492 0.99989054 -0.38655107] [ 0. 0. 0. 1. ]] SLAMing on 19.369072328999998 meters Centerline goodness : 0.782072 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.45, Z:-0.39 [[ 0.99909013 0.04203073 -0.00723442 0.39939274] [-0.04194244 0.99904854 0.01195207 -0.44597692] [ 0.00772989 -0.01163776 0.9999024 -0.38656031] [ 0. 0. 0. 1. ]] SLAMing on 19.399072329 meters Centerline goodness : 0.781751 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.44, Z:-0.39 [[ 0.99911297 0.04148851 -0.00721001 0.39940906] [-0.0414086 0.99908283 0.0109006 -0.44278982] [ 0.00765564 -0.01059237 0.99991459 -0.38653753] [ 0. 0. 0. 1. ]] SLAMing on 19.429072329 meters Centerline goodness : 0.782606 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.44, Z:-0.39 [[ 0.99917767 0.03991386 -0.00713155 0.39920858] [-0.03985199 0.99916844 0.00861624 -0.43651191] [ 0.00746953 -0.00832494 0.99993745 -0.38628382] [ 0. 0. 0. 1. ]] SLAMing on 19.459072328999998 meters Centerline goodness : 0.782417 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.43, Z:-0.39 [[ 0.99934147 0.0355113 -0.00745482 0.39999605] [-0.03548718 0.99936454 0.0033433 -0.4319049 ] [ 0.0075688 -0.00307655 0.99996662 -0.38651634] [ 0. 0. 0. 1. ]] SLAMing on 19.489072329 meters Centerline goodness : 0.783274 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.43, Z:-0.39 [[ 0.99937279 0.03462474 -0.00742691 0.40026549] [-0.03460675 0.99939779 0.00253735 -0.4304233 ] [ 0.00751029 -0.00227874 0.9999692 -0.38706601] [ 0. 0. 0. 1. ]] SLAMing on 19.519072329 meters Centerline goodness : 0.783618 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.43, Z:-0.39 [[ 0.99955324 0.02896459 -0.00737342 0.40106016] [-0.0289884 0.99957481 -0.003143 -0.42701777] [ 0.00727925 0.00335533 0.99996788 -0.38875322] [ 0. 0. 0. 1. ]] SLAMing on 19.549072328999998 meters Centerline goodness : 0.786099 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.43, Z:-0.39 [[ 0.9995929 0.02759259 -0.00725821 0.40068197] [-0.02762117 0.99961098 -0.00386697 -0.42694693] [ 0.00714868 0.00406588 0.99996618 -0.38886838] [ 0. 0. 0. 1. ]] SLAMing on 19.579072329 meters Centerline goodness : 0.784609 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.43, Z:-0.39 [[ 0.99963243 0.0261298 -0.00722776 0.40044145] [-0.02616474 0.9996462 -0.0047824 -0.42596089] [ 0.00710024 0.00496976 0.99996244 -0.3889175 ] [ 0. 0. 0. 1. ]] SLAMing on 19.609072329 meters Centerline goodness : 0.788588 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.42, Z:-0.39 [[ 9.99806338e-01 1.96792085e-02 -1.26042795e-04 4.06656950e-01] [-1.96791553e-02 9.99806262e-01 4.10360337e-04 -4.22475048e-01] [ 1.34093943e-04 -4.07800450e-04 9.99999908e-01 -3.90544001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.639072329 meters Centerline goodness : 0.789520 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.42, Z:-0.39 [[ 9.99821893e-01 1.88727489e-02 4.60294700e-05 4.06128775e-01] [-1.88727111e-02 9.99821638e-01 -7.15543059e-04 -4.19785603e-01] [-5.95255245e-05 7.14546914e-04 9.99999743e-01 -3.90252786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.669072329 meters Centerline goodness : 0.791057 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.42, Z:-0.39 [[ 9.99832802e-01 1.82848781e-02 1.76111601e-04 4.05796681e-01] [-1.82845614e-02 9.99831449e-01 -1.65754227e-03 -4.17524221e-01] [-2.06389876e-04 1.65404500e-03 9.99998611e-01 -3.90136303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.699072329 meters Centerline goodness : 0.791147 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.42, Z:-0.39 [[ 9.99841630e-01 1.77954274e-02 1.91643439e-04 4.05824580e-01] [-1.77948760e-02 9.99838350e-01 -2.57227936e-03 -4.15180790e-01] [-2.37387270e-04 2.56846172e-03 9.99996673e-01 -3.90156195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.729072329 meters Centerline goodness : 0.793904 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.41, Z:-0.39 [[ 9.99836933e-01 1.80559715e-02 -2.98602004e-04 4.09327373e-01] [-1.80568943e-02 9.99831017e-01 -3.44762351e-03 -4.08813761e-01] [ 2.36301353e-04 3.45245314e-03 9.99994012e-01 -3.92898916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.759072329 meters Centerline goodness : 0.791282 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.41, Z:-0.39 [[ 9.99769373e-01 2.14749649e-02 -1.66185012e-04 4.09665229e-01] [-2.14749838e-02 9.99769380e-01 -1.12843843e-04 -4.06894021e-01] [ 1.63723368e-04 1.16386639e-04 9.99999980e-01 -3.93604407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.789072329 meters Centerline goodness : 0.792470 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.40, Z:-0.39 [[ 9.99773710e-01 2.12652796e-02 -5.62974337e-04 4.11332487e-01] [-2.12659967e-02 9.99773008e-01 -1.30001985e-03 -4.01898429e-01] [ 5.35201261e-04 1.31169788e-03 9.99998997e-01 -3.94478302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.819072329 meters Centerline goodness : 0.793247 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.39, Z:-0.40 [[ 9.99695443e-01 2.46689172e-02 -6.82756574e-04 4.13151638e-01] [-2.46685698e-02 9.99695553e-01 5.12559171e-04 -3.94194150e-01] [ 6.95192990e-04 -4.95560439e-04 9.99999636e-01 -3.95766598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.849072329 meters Centerline goodness : 0.793697 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.39, Z:-0.40 [[ 9.99598936e-01 2.83151749e-02 -4.67883168e-04 4.12672923e-01] [-2.83132811e-02 9.99592427e-01 3.65203200e-03 -3.91692884e-01] [ 5.71100396e-04 -3.63732000e-03 9.99993222e-01 -3.95342623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.879072329 meters Centerline goodness : 0.795476 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.39, Z:-0.39 [[ 9.99592463e-01 2.85429167e-02 -4.58580631e-04 4.12907595e-01] [-2.85418133e-02 9.99590055e-01 2.25532244e-03 -3.86434093e-01] [ 5.22766119e-04 -2.24131459e-03 9.99997352e-01 -3.94981943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.909072329 meters Centerline goodness : 0.799588 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.38, Z:-0.39 [[ 9.99449376e-01 3.31804793e-02 3.78815105e-05 4.13066997e-01] [-3.31803966e-02 9.99442720e-01 3.64845654e-03 -3.76931012e-01] [ 8.31971367e-05 -3.64770453e-03 9.99993344e-01 -3.94168552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.939072329 meters Centerline goodness : 0.799247 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.37, Z:-0.39 [[ 9.99237111e-01 3.90481024e-02 6.64080586e-04 4.10891478e-01] [-3.90525353e-02 9.99195645e-01 9.10835145e-03 -3.73761125e-01] [-3.07882589e-04 -9.12733683e-03 9.99958298e-01 -3.92570113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.969072329 meters Centerline goodness : 0.799924 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.36, Z:-0.39 [[ 9.98902259e-01 4.68405763e-02 4.86433777e-04 4.14046595e-01] [-4.68426673e-02 9.98794387e-01 1.46811680e-02 -3.64022558e-01] [ 2.01827046e-04 -1.46878378e-02 9.99892108e-01 -3.94386747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.999072329 meters Centerline goodness : 0.801828 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.36, Z:-0.40 [[ 9.98720123e-01 5.05778239e-02 -5.98938779e-07 4.16156795e-01] [-5.05702238e-02 9.98570254e-01 1.73233790e-02 -3.59423573e-01] [ 8.76776897e-04 -1.73011769e-02 9.99849939e-01 -3.95333822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.029072328999998 meters Centerline goodness : 0.802424 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.36, Z:-0.40 [[ 9.98514301e-01 5.44900323e-02 -1.63485921e-04 4.17796343e-01] [-5.44752446e-02 9.98304805e-01 2.04930133e-02 -3.56400266e-01] [ 1.27987374e-03 -2.04536609e-02 9.99789983e-01 -3.96579010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.059072329 meters Centerline goodness : 0.802643 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.35, Z:-0.40 [[ 9.98458728e-01 5.54938572e-02 -7.74728812e-04 4.21066279e-01] [-5.54666396e-02 9.98253128e-01 2.03505185e-02 -3.52171969e-01] [ 1.90270423e-03 -2.02761812e-02 9.99792607e-01 -3.98755976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.089072329 meters Centerline goodness : 0.805253 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.34, Z:-0.40 [[ 9.98261310e-01 5.89385861e-02 -7.74921802e-04 4.21976671e-01] [-5.89075281e-02 9.98023204e-01 2.18994979e-02 -3.44346253e-01] [ 2.06411538e-03 -2.18157727e-02 9.99759877e-01 -3.98665789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.119072328999998 meters Centerline goodness : 0.805966 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.34, Z:-0.40 [[ 0.99827985 0.0586184 -0.00110819 0.42267356] [-0.05858454 0.99808172 0.02001854 -0.33770204] [ 0.00227952 -0.01991918 0.99979899 -0.39813282] [ 0. 0. 0. 1. ]] SLAMing on 20.149072329 meters Centerline goodness : 0.806719 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.33, Z:-0.40 [[ 0.99830638 0.05815918 -0.00137453 0.42306829] [-0.05812479 0.99814469 0.0181295 -0.33083619] [ 0.00242637 -0.0180189 0.9998347 -0.39731525] [ 0. 0. 0. 1. ]] SLAMing on 20.179072329 meters Centerline goodness : 0.806995 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.32, Z:-0.40 [[ 0.99834081 0.05755651 -0.00169465 0.42345266] [-0.05752155 0.99821228 0.01623301 -0.32463147] [ 0.00262593 -0.0161086 0.9998668 -0.39657785] [ 0. 0. 0. 1. ]] SLAMing on 20.209072328999998 meters Centerline goodness : 0.806995 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.32, Z:-0.40 [[ 0.99834081 0.05755651 -0.00169465 0.42345266] [-0.05752155 0.99821228 0.01623301 -0.32463147] [ 0.00262593 -0.0161086 0.9998668 -0.39657785] [ 0. 0. 0. 1. ]] SLAMing on 20.239072329 meters Centerline goodness : 0.808625 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.32, Z:-0.40 [[ 0.99840226 0.05646507 -0.00215222 0.42507543] [-0.05643041 0.99831229 0.01371805 -0.31637987] [ 0.00292318 -0.01357468 0.99990359 -0.39707115] [ 0. 0. 0. 1. ]] SLAMing on 20.269072329 meters Centerline goodness : 0.810053 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.31, Z:-0.40 [[ 0.99842583 0.05602989 -0.00255073 0.42659988] [-0.05599275 0.99834861 0.01284033 -0.31341275] [ 0.00326596 -0.01267729 0.99991431 -0.39794484] [ 0. 0. 0. 1. ]] SLAMing on 20.299072328999998 meters Centerline goodness : 0.809217 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.31, Z:-0.40 [[ 0.99845333 0.05551524 -0.00300209 0.42804794] [-0.05547618 0.99839002 0.01182183 -0.31029703] [ 0.00365354 -0.01163701 0.99992561 -0.39863669] [ 0. 0. 0. 1. ]] SLAMing on 20.329072329 meters Centerline goodness : 0.809623 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.30, Z:-0.40 [[ 0.99863147 0.05212611 -0.00424822 0.43247918] [-0.05209287 0.9986134 0.00759075 -0.30340884] [ 0.00463801 -0.00735906 0.99996217 -0.40127995] [ 0. 0. 0. 1. ]] SLAMing on 20.359072329 meters Centerline goodness : 0.810956 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.30, Z:-0.40 [[ 0.9988063 0.0485706 -0.00518299 0.43538389] [-0.04855427 0.99881531 0.00323317 -0.29891158] [ 0.00533389 -0.00297765 0.99998134 -0.40260349] [ 0. 0. 0. 1. ]] SLAMing on 20.389072329 meters Centerline goodness : 0.811128 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.30, Z:-0.41 [[ 9.98968497e-01 4.53948598e-02 1.11735838e-03 4.48999560e-01] [-4.54033434e-02 9.98924938e-01 9.35439945e-03 -2.99123040e-01] [-6.91515498e-04 -9.39548217e-03 9.99955622e-01 -4.08118713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.419072329 meters Centerline goodness : 0.815549 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.29, Z:-0.41 [[ 9.99026780e-01 4.40932139e-02 1.13153591e-03 4.48391834e-01] [-4.40999636e-02 9.99003536e-01 6.86503996e-03 -2.91180802e-01] [-8.27706699e-04 -6.90825947e-03 9.99975795e-01 -4.06768236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.449072329 meters Centerline goodness : 0.817092 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.29, Z:-0.41 [[ 9.99053156e-01 4.34981382e-02 8.38323970e-04 4.48768830e-01] [-4.35021465e-02 9.99037781e-01 5.57447516e-03 -2.87183121e-01] [-5.95038028e-04 -5.60566589e-03 9.99984111e-01 -4.06219655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.479072329 meters Centerline goodness : 0.818276 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.28, Z:-0.41 [[ 9.99074814e-01 4.30055438e-02 1.97529366e-04 4.50682514e-01] [-4.30059917e-02 9.99066509e-01 4.07376441e-03 -2.81971149e-01] [-2.21505206e-05 -4.07849037e-03 9.99991683e-01 -4.06751309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.509072329 meters Centerline goodness : 0.817096 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.28, Z:-0.41 [[ 9.99196589e-01 4.00669294e-02 -9.04562229e-04 4.54495354e-01] [-4.00664596e-02 9.99196876e-01 5.31616558e-04 -2.79102408e-01] [ 9.25135996e-04 -4.94946845e-04 9.99999450e-01 -4.08744203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.539072329 meters Centerline goodness : 0.819598 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.28, Z:-0.41 [[ 9.99245322e-01 3.87981036e-02 -1.86910122e-03 4.58819277e-01] [-3.87999665e-02 9.99246526e-01 -9.70913763e-04 -2.78083050e-01] [ 1.83002329e-03 1.04270210e-03 9.99997782e-01 -4.11876531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.569072329 meters Centerline goodness : 0.821393 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.28, Z:-0.41 [[ 0.99927038 0.03813743 -0.00205896 0.45957045] [-0.03814127 0.99927063 -0.00185988 -0.27559926] [ 0.00198653 0.00193706 0.99999615 -0.41238192] [ 0. 0. 0. 1. ]] SLAMing on 20.599072329 meters Centerline goodness : 0.820674 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.27, Z:-0.41 [[ 0.99928077 0.03785617 -0.00220372 0.45982003] [-0.03786196 0.99927947 -0.00264718 -0.27227788] [ 0.00210192 0.00272872 0.99999407 -0.41197914] [ 0. 0. 0. 1. ]] SLAMing on 20.629072329 meters Centerline goodness : 0.821477 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.27, Z:-0.42 [[ 0.99928671 0.03748835 0.00454951 0.47040521] [-0.03752286 0.9992657 0.00775172 -0.27326481] [-0.00425557 -0.0079169 0.99995961 -0.41596079] [ 0. 0. 0. 1. ]] SLAMing on 20.659072329 meters Centerline goodness : 0.822225 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.27, Z:-0.42 [[ 0.99929832 0.03722849 0.00411153 0.47110314] [-0.03725603 0.99928235 0.00683888 -0.26976587] [-0.00385398 -0.00698726 0.99996816 -0.41532264] [ 0. 0. 0. 1. ]] SLAMing on 20.689072329 meters Centerline goodness : 0.822760 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.27, Z:-0.42 [[ 0.99928426 0.03767087 0.00344581 0.47327622] [-0.03769327 0.999267 0.00668403 -0.2689168 ] [-0.00319149 -0.00680913 0.99997172 -0.41637942] [ 0. 0. 0. 1. ]] SLAMing on 20.719072329 meters Centerline goodness : 0.824392 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.27, Z:-0.42 [[ 0.99931647 0.0368657 0.00274124 0.47725137] [-0.03688025 0.99930476 0.00546206 -0.26867571] [-0.00253797 -0.00555943 0.99998133 -0.41955694] [ 0. 0. 0. 1. ]] SLAMing on 20.749072329 meters Centerline goodness : 0.825047 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.27, Z:-0.42 [[ 0.99940195 0.03452201 0.00199104 0.48061441] [-0.03452634 0.99940139 0.00218723 -0.26668802] [-0.00191434 -0.00225467 0.99999563 -0.42156832] [ 0. 0. 0. 1. ]] SLAMing on 20.779072328999998 meters Centerline goodness : 0.825955 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.27, Z:-0.42 [[ 0.99937681 0.03527234 0.00135859 0.48313909] [-0.03527574 0.99937432 0.00256895 -0.26613594] [-0.00126713 -0.00261527 0.99999578 -0.42304233] [ 0. 0. 0. 1. ]] SLAMing on 20.809072329 meters Centerline goodness : 0.826346 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.26, Z:-0.42 [[ 9.99357978e-01 3.58240240e-02 5.21229155e-04 4.86054556e-01] [-3.58251474e-02 9.99355346e-01 2.33481849e-03 -2.62035650e-01] [-4.37250549e-04 -2.35199260e-03 9.99997138e-01 -4.23982439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.839072329 meters Centerline goodness : 0.827498 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.26, Z:-0.42 [[ 9.99352793e-01 3.59721066e-02 -4.59982735e-05 4.87449003e-01] [-3.59719397e-02 9.99350747e-01 2.02569420e-03 -2.59749958e-01] [ 1.18836897e-04 -2.02272851e-03 9.99997947e-01 -4.23985612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.869072328999998 meters Centerline goodness : 0.830443 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.26, Z:-0.42 [[ 9.99224071e-01 3.93856132e-02 1.69902020e-04 4.86263822e-01] [-3.93859638e-02 9.99210500e-01 5.20802625e-03 -2.57572025e-01] [ 3.53534250e-05 -5.21067695e-03 9.99986424e-01 -4.22457319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.899072329 meters Centerline goodness : 0.830324 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.26, Z:-0.42 [[ 9.99214382e-01 3.96306861e-02 -1.64897553e-04 4.87030717e-01] [-3.96294018e-02 9.99202409e-01 4.90474811e-03 -2.56041540e-01] [ 3.59144565e-04 -4.89436006e-03 9.99987958e-01 -4.22109466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.929072329 meters Centerline goodness : 0.830403 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.26, Z:-0.42 [[ 9.99205495e-01 3.98507148e-02 -5.46944439e-04 4.87771014e-01] [-3.98476864e-02 9.99194547e-01 4.73481603e-03 -2.55431340e-01] [ 7.35189705e-04 -4.70925972e-03 9.99988641e-01 -4.21877740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.959072328999998 meters Centerline goodness : 0.832198 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.25, Z:-0.42 [[ 9.99311693e-01 3.70690098e-02 -1.42425500e-03 4.90372909e-01] [-3.70676546e-02 9.99312291e-01 9.66374121e-04 -2.53473421e-01] [ 1.45909805e-03 -9.12915167e-04 9.99998519e-01 -4.22525062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.989072329 meters Centerline goodness : 0.834511 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.25, Z:-0.43 [[ 9.99330144e-01 3.65361631e-02 -2.09090882e-03 4.94462097e-01] [-3.65364427e-02 9.99332317e-01 -9.56261351e-05 -2.53862391e-01] [ 2.08601894e-03 1.71956450e-04 9.99997809e-01 -4.25799470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.019072329 meters Centerline goodness : 0.834121 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.25, Z:-0.43 [[ 9.99318030e-01 3.68457868e-02 -2.42119542e-03 4.95769282e-01] [-3.68458347e-02 9.99320961e-01 2.48446009e-05 -2.53309035e-01] [ 2.42046675e-03 6.43833085e-05 9.99997069e-01 -4.26512003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.049072328999998 meters Centerline goodness : 0.835954 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.25, Z:-0.43 [[ 9.99290822e-01 3.75320538e-02 -3.03293339e-03 4.98078980e-01] [-3.75309386e-02 9.99295376e-01 4.23796948e-04 -2.51924206e-01] [ 3.04670228e-03 -3.09667563e-04 9.99995311e-01 -4.27523334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.079072329 meters Centerline goodness : 0.835624 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.25, Z:-0.43 [[ 0.99913643 0.04143316 -0.00311378 0.4986589 ] [-0.04141952 0.99913248 0.00432571 -0.25048723] [ 0.0032903 -0.004193 0.9999858 -0.42756026] [ 0. 0. 0. 1. ]] SLAMing on 21.109072329 meters Centerline goodness : 0.834791 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.25, Z:-0.43 [[ 0.99912349 0.04170961 -0.00354464 0.49985188] [-0.04169356 0.99912037 0.00448802 -0.25030648] [ 0.00372872 -0.0043363 0.99998365 -0.42784378] [ 0. 0. 0. 1. ]] SLAMing on 21.139072328999998 meters Centerline goodness : 0.836168 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.25, Z:-0.43 [[ 0.99910208 0.0421819 -0.00396619 0.50123575] [-0.04216237 0.99909882 0.00488635 -0.2510228 ] [ 0.00416873 -0.00471474 0.9999802 -0.42844658] [ 0. 0. 0. 1. ]] SLAMing on 21.169072329 meters Centerline goodness : 0.835651 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.25, Z:-0.43 [[ 0.9990802 0.04266217 -0.00432368 0.50260292] [-0.04263943 0.99907689 0.00522025 -0.25167894] [ 0.0045424 -0.00503109 0.99997703 -0.42918428] [ 0. 0. 0. 1. ]] SLAMing on 21.199072329 meters Centerline goodness : 0.836047 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.25, Z:-0.43 [[ 0.99903498 0.04365311 -0.00484935 0.50461211] [-0.04362661 0.99903308 0.00544201 -0.25152031] [ 0.00508222 -0.0052252 0.99997343 -0.42995137] [ 0. 0. 0. 1. ]] SLAMing on 21.229072329 meters Centerline goodness : 0.837962 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.25, Z:-0.43 [[ 0.99902016 0.04394696 -0.00523343 0.50567996] [-0.04391921 0.999021 0.00530545 -0.2505427 ] [ 0.00546147 -0.0050704 0.99997223 -0.43009843] [ 0. 0. 0. 1. ]] SLAMing on 21.259072329 meters Centerline goodness : 0.837880 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.25, Z:-0.43 [[ 0.99900449 0.0442476 -0.00567228 0.50688158] [-0.04421961 0.99900947 0.00496971 -0.24851454] [ 0.00588656 -0.00471394 0.99997156 -0.43012553] [ 0. 0. 0. 1. ]] SLAMing on 21.289072329 meters Centerline goodness : 0.837752 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.24, Z:-0.43 [[ 0.9987835 0.04893712 -0.00605557 0.50882605] [-0.04888427 0.99876753 0.00858732 -0.244696 ] [ 0.00646834 -0.00828085 0.99994479 -0.4305058 ] [ 0. 0. 0. 1. ]] SLAMing on 21.319072329 meters Centerline goodness : 0.838575 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.24, Z:-0.43 [[ 0.99872691 0.05000077 -0.00667027 0.5116937 ] [-0.04994069 0.99871264 0.00888794 -0.24251539] [ 0.00710609 -0.00854351 0.99993825 -0.43198557] [ 0. 0. 0. 1. ]] SLAMing on 21.349072329 meters Centerline goodness : 0.837564 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.24, Z:-0.43 [[ 0.99870256 0.05041029 -0.0072112 0.51360416] [-0.05034659 0.99869341 0.00875755 -0.2412155 ] [ 0.00764325 -0.00838313 0.99993565 -0.43286719] [ 0. 0. 0. 1. ]] SLAMing on 21.379072329 meters Centerline goodness : 0.839174 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.24, Z:-0.43 [[ 0.99862391 0.05186226 -0.00778433 0.51676115] [-0.05178882 0.99861422 0.00935741 -0.24128077] [ 0.00825884 -0.00894139 0.99992592 -0.43488771] [ 0. 0. 0. 1. ]] SLAMing on 21.409072329 meters Centerline goodness : 0.839069 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.24, Z:-0.43 [[ 0.99860019 0.05225096 -0.00821594 0.51771191] [-0.05217474 0.99859528 0.00923357 -0.24060619] [ 0.00868687 -0.00879198 0.99992362 -0.43469829] [ 0. 0. 0. 1. ]] SLAMing on 21.439072329 meters Centerline goodness : 0.840755 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.24, Z:-0.43 [[ 0.99858685 0.05244524 -0.0085904 0.51839972] [-0.05237058 0.99858985 0.00869693 -0.23847605] [ 0.00903439 -0.00823476 0.99992528 -0.43417888] [ 0. 0. 0. 1. ]] SLAMing on 21.469072329 meters Centerline goodness : 0.841975 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.23, Z:-0.43 [[ 0.99835222 0.05672786 -0.00864844 0.51882158] [-0.05662256 0.9983239 0.01196971 -0.23487955] [ 0.00931296 -0.01146029 0.99989096 -0.43340399] [ 0. 0. 0. 1. ]] SLAMing on 21.499072329 meters Centerline goodness : 0.842445 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.23, Z:-0.43 [[ 0.99833024 0.05703285 -0.00916408 0.52009574] [-0.05692689 0.99831286 0.01143548 -0.23187647] [ 0.00980081 -0.01089471 0.99989262 -0.43324885] [ 0. 0. 0. 1. ]] SLAMing on 21.529072328999998 meters Centerline goodness : 0.839914 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.23, Z:-0.43 [[ 0.99831353 0.05725351 -0.00959875 0.5215373 ] [-0.05714654 0.99830441 0.01107112 -0.22994701] [ 0.01021633 -0.01050391 0.99989264 -0.4337246 ] [ 0. 0. 0. 1. ]] SLAMing on 21.559072329 meters Centerline goodness : 0.839695 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.23, Z:-0.43 [[ 0.99829123 0.05757244 -0.01000197 0.52311592] [-0.0574608 0.99828591 0.01111274 -0.22951648] [ 0.01062461 -0.01051903 0.99988823 -0.4345739 ] [ 0. 0. 0. 1. ]] SLAMing on 21.589072329 meters Centerline goodness : 0.840819 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.23, Z:-0.44 [[ 0.9982192 0.05869857 -0.01062567 0.52652126] [-0.05856989 0.99821068 0.01204192 -0.23076911] [ 0.0113135 -0.01139813 0.99987104 -0.4372291 ] [ 0. 0. 0. 1. ]] SLAMing on 21.619072328999998 meters Centerline goodness : 0.841132 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.23, Z:-0.44 [[ 0.99819569 0.05901956 -0.01104749 0.5280246 ] [-0.05888413 0.99819019 0.01220701 -0.23068108] [ 0.01174795 -0.01153447 0.99986446 -0.43797231] [ 0. 0. 0. 1. ]] SLAMing on 21.649072329 meters Centerline goodness : 0.842310 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.23, Z:-0.44 [[ 0.9981835 0.05915063 -0.0114414 0.52904177] [-0.05901791 0.99818941 0.01160938 -0.227716 ] [ 0.01210738 -0.01091304 0.99986715 -0.43779902] [ 0. 0. 0. 1. ]] SLAMing on 21.679072329 meters Centerline goodness : 0.841072 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.23, Z:-0.44 [[ 0.99826518 0.05847284 -0.00689599 0.54816592] [-0.05835795 0.99817027 0.01582622 -0.22804984] [ 0.00780878 -0.01539632 0.99985098 -0.43901323] [ 0. 0. 0. 1. ]] SLAMing on 21.709072328999998 meters Centerline goodness : 0.843885 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.23, Z:-0.44 [[ 0.99826872 0.05838447 -0.00712878 0.54834084] [-0.05826873 0.9981808 0.01548701 -0.22716735] [ 0.00802001 -0.01504481 0.99985466 -0.43847431] [ 0. 0. 0. 1. ]] SLAMing on 21.739072329 meters Centerline goodness : 0.841013 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.22, Z:-0.44 [[ 0.99845973 0.05493851 -0.00774188 0.54939517] [-0.05485148 0.9984335 0.01103872 -0.22438974] [ 0.00833621 -0.01059706 0.9999091 -0.43812069] [ 0. 0. 0. 1. ]] SLAMing on 21.769072329 meters Centerline goodness : 0.844058 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.22, Z:-0.44 [[ 0.99860081 0.05219084 -0.00851661 0.55193721] [-0.05212784 0.99861257 0.00745869 -0.22237048] [ 0.00889407 -0.0070043 0.99993592 -0.43915257] [ 0. 0. 0. 1. ]] SLAMing on 21.799072328999998 meters Centerline goodness : 0.844484 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.22, Z:-0.44 [[ 0.99859453 0.05226195 -0.00881192 0.55288272] [-0.05219979 0.99861112 0.0071422 -0.22120842] [ 0.00917295 -0.00667219 0.99993567 -0.43942485] [ 0. 0. 0. 1. ]] SLAMing on 21.829072329 meters Centerline goodness : 0.845763 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.22, Z:-0.44 [[ 0.99859773 0.05216302 -0.00903291 0.55344035] [-0.05210202 0.99861819 0.00686165 -0.22020524] [ 0.00937835 -0.00638139 0.99993566 -0.43946599] [ 0. 0. 0. 1. ]] SLAMing on 21.859072329 meters Centerline goodness : 0.846194 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.22, Z:-0.44 [[ 0.99876682 0.04870473 -0.00962797 0.55446856] [-0.04868298 0.9988112 0.00248074 -0.21693436] [ 0.00973735 -0.00200896 0.99995057 -0.43907955] [ 0. 0. 0. 1. ]] SLAMing on 21.889072328999998 meters Centerline goodness : 0.846293 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.22, Z:-0.44 [[ 0.99886741 0.04732175 -0.00495397 0.57267773] [-0.04728498 0.99885481 0.00729309 -0.21881975] [ 0.00529342 -0.00705059 0.99996113 -0.44069029] [ 0. 0. 0. 1. ]] SLAMing on 21.919072329 meters Centerline goodness : 0.846644 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.22, Z:-0.44 [[ 0.99904378 0.04338494 -0.00541081 0.57295477] [-0.04337171 0.99905578 0.00253824 -0.21588794] [ 0.00551582 -0.00230114 0.99998214 -0.43974631] [ 0. 0. 0. 1. ]] SLAMing on 21.949072329 meters Centerline goodness : 0.848645 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.22, Z:-0.44 [[ 0.99905661 0.04307457 -0.00552008 0.57284291] [-0.04306242 0.99906973 0.00230133 -0.21557341] [ 0.00561407 -0.00206145 0.99998212 -0.43930871] [ 0. 0. 0. 1. ]] SLAMing on 21.979072329 meters Centerline goodness : 0.849240 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.21, Z:-0.44 [[ 9.99160669e-01 4.04185877e-02 -6.65543309e-03 5.75397492e-01] [-4.04204115e-02 9.99182751e-01 -1.39703193e-04 -2.13565940e-01] [ 6.64434735e-03 4.08601280e-04 9.99977843e-01 -4.39906596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.009072329 meters Centerline goodness : 0.848079 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.21, Z:-0.44 [[ 0.9992259 0.03859165 -0.00763484 0.57828899] [-0.03860568 0.99925308 -0.00169855 -0.21274516] [ 0.00756359 0.00199198 0.99996941 -0.44131068] [ 0. 0. 0. 1. ]] SLAMing on 22.039072329 meters Centerline goodness : 0.850075 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.21, Z:-0.44 [[ 0.99923421 0.0383646 -0.00769065 0.57846008] [-0.03837791 0.99926203 -0.00159105 -0.21371026] [ 0.00762393 0.00188498 0.99996916 -0.44149052] [ 0. 0. 0. 1. ]] SLAMing on 22.069072329 meters Centerline goodness : 0.850709 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.21, Z:-0.44 [[ 0.99924092 0.03815719 -0.00784949 0.57864079] [-0.03817008 0.99927013 -0.00149967 -0.21460493] [ 0.00778654 0.00179814 0.99996807 -0.44139421] [ 0. 0. 0. 1. ]] SLAMing on 22.099072329 meters Centerline goodness : 0.850709 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.21, Z:-0.44 [[ 0.99924092 0.03815719 -0.00784949 0.57864079] [-0.03817008 0.99927013 -0.00149967 -0.21460493] [ 0.00778654 0.00179814 0.99996807 -0.44139421] [ 0. 0. 0. 1. ]] SLAMing on 22.129072329 meters Centerline goodness : 0.848260 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.21, Z:-0.44 [[ 0.99932417 0.03562517 -0.00905782 0.58063027] [-0.03565885 0.99935759 -0.00358479 -0.21271127] [ 0.00892429 0.00390536 0.99995255 -0.44134059] [ 0. 0. 0. 1. ]] SLAMing on 22.159072329 meters Centerline goodness : 0.849570 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.21, Z:-0.44 [[ 0.99932604 0.03550816 -0.00930814 0.58149051] [-0.03554273 0.99936176 -0.00357514 -0.21275025] [ 0.00917525 0.00390357 0.99995029 -0.44184286] [ 0. 0. 0. 1. ]] SLAMing on 22.189072329 meters Centerline goodness : 0.849387 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.21, Z:-0.44 [[ 0.99943487 0.0320918 -0.01000238 0.58416526] [-0.03216575 0.99945573 -0.00732187 -0.21043935] [ 0.00976196 0.00763946 0.99992317 -0.44346998] [ 0. 0. 0. 1. ]] SLAMing on 22.219072329 meters Centerline goodness : 0.847714 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.21, Z:-0.44 [[ 0.99942783 0.03225576 -0.01017756 0.5850559 ] [-0.03232795 0.99945273 -0.00700979 -0.21102047] [ 0.00994589 0.0073348 0.99992364 -0.44420864] [ 0. 0. 0. 1. ]] SLAMing on 22.249072329 meters Centerline goodness : 0.847894 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.21, Z:-0.44 [[ 0.99942091 0.03238871 -0.01043118 0.58598531] [-0.032461 0.99944962 -0.00683709 -0.21137375] [ 0.01020399 0.00717174 0.99992222 -0.44472821] [ 0. 0. 0. 1. ]] SLAMing on 22.279072328999998 meters Centerline goodness : 0.848111 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.21, Z:-0.45 [[ 0.99940879 0.03266907 -0.01071464 0.58716662] [-0.03274037 0.99944244 -0.00654765 -0.21159135] [ 0.01049476 0.00689458 0.99992116 -0.44546806] [ 0. 0. 0. 1. ]] SLAMing on 22.309072329 meters Centerline goodness : 0.849918 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.21, Z:-0.45 [[ 0.9994006 0.0328175 -0.01102092 0.58809688] [-0.03289154 0.9994371 -0.00660574 -0.21055136] [ 0.01079794 0.00696428 0.99991745 -0.44572082] [ 0. 0. 0. 1. ]] SLAMing on 22.339072329 meters Centerline goodness : 0.848902 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.21, Z:-0.45 [[ 0.99944445 0.03306198 -0.00420591 0.60069126] [-0.03304933 0.99944909 0.00304349 -0.21014313] [ 0.00430422 -0.0029028 0.99998652 -0.44988809] [ 0. 0. 0. 1. ]] SLAMing on 22.369072328999998 meters Centerline goodness : 0.848164 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.21, Z:-0.45 [[ 0.9994485 0.03290304 -0.00448209 0.60079625] [-0.03289201 0.99945575 0.00251288 -0.20872376] [ 0.00456233 -0.00236407 0.9999868 -0.44900205] [ 0. 0. 0. 1. ]] SLAMing on 22.399072329 meters Centerline goodness : 0.848071 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.21, Z:-0.45 [[ 0.99953784 0.02997721 -0.00504693 0.60272213] [-0.02998463 0.99954938 -0.00140248 -0.20616524] [ 0.00500262 0.00155316 0.99998628 -0.44955077] [ 0. 0. 0. 1. ]] SLAMing on 22.429072329 meters Centerline goodness : 0.850612 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.21, Z:-0.45 [[ 0.999529 0.03022623 -0.00530626 0.60360181] [-0.03023578 0.9995413 -0.00172939 -0.20521754] [ 0.00525156 0.00188901 0.99998443 -0.44974697] [ 0. 0. 0. 1. ]] SLAMing on 22.459072328999998 meters Centerline goodness : 0.852325 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.20, Z:-0.45 [[ 0.99952498 0.03029854 -0.00564035 0.60458056] [-0.03031082 0.99953831 -0.00210407 -0.20329155] [ 0.005574 0.00227404 0.99998188 -0.44996275] [ 0. 0. 0. 1. ]] SLAMing on 22.489072329 meters Centerline goodness : 0.849273 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.20, Z:-0.45 [[ 0.99950029 0.03097548 -0.00630062 0.60727211] [-0.0309883 0.99951785 -0.00194749 -0.20100419] [ 0.00623725 0.00214176 0.99997825 -0.45136036] [ 0. 0. 0. 1. ]] SLAMing on 22.519072329 meters Centerline goodness : 0.848580 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.20, Z:-0.45 [[ 0.99949678 0.0310105 -0.00667424 0.60862213] [-0.03102756 0.99951548 -0.00246924 -0.19833115] [ 0.00659444 0.00267508 0.99997468 -0.45191256] [ 0. 0. 0. 1. ]] SLAMing on 22.549072328999998 meters Centerline goodness : 0.846016 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.20, Z:-0.45 [[ 0.99948736 0.03119624 -0.00719847 0.61051088] [-0.0312153 0.99950943 -0.00255213 -0.19714513] [ 0.00711533 0.00277552 0.99997083 -0.45290353] [ 0. 0. 0. 1. ]] SLAMing on 22.579072329 meters Centerline goodness : 0.843011 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.20, Z:-0.46 [[ 0.99949487 0.03071036 -0.00817753 0.61536601] [-0.03073744 0.99952235 -0.00320626 -0.19801467] [ 0.00807515 0.003456 0.99996142 -0.45635807] [ 0. 0. 0. 1. ]] SLAMing on 22.609072329 meters Centerline goodness : 0.842505 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.20, Z:-0.46 [[ 0.99947902 0.03115063 -0.00844544 0.61618507] [-0.03117441 0.99951032 -0.00269786 -0.19962814] [ 0.00835727 0.00295973 0.9999607 -0.45664188] [ 0. 0. 0. 1. ]] SLAMing on 22.639072328999998 meters Centerline goodness : 0.843409 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.20, Z:-0.46 [[ 0.99960198 0.02695493 -0.00832604 0.6265455 ] [-0.02690715 0.99962112 0.0057978 -0.20144968] [ 0.00847916 -0.00557147 0.99994853 -0.45663682] [ 0. 0. 0. 1. ]] SLAMing on 22.669072329 meters Centerline goodness : 0.845672 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.20, Z:-0.45 [[ 0.9996583 0.02605869 -0.00205467 0.6403736 ] [-0.02603895 0.99961942 0.00911002 -0.20172074] [ 0.00229128 -0.00905341 0.99995639 -0.45366626] [ 0. 0. 0. 1. ]] SLAMing on 22.699072329 meters Centerline goodness : 0.845276 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.20, Z:-0.45 [[ 0.99966118 0.02594307 -0.00211538 0.63943179] [-0.02592409 0.99962732 0.00855379 -0.20005487] [ 0.0023365 -0.00849606 0.99996118 -0.4518784 ] [ 0. 0. 0. 1. ]] SLAMing on 22.729072329 meters Centerline goodness : 0.845472 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.20, Z:-0.45 [[ 0.99965765 0.02605972 -0.00233878 0.6393391 ] [-0.02603967 0.99962704 0.00822945 -0.19851681] [ 0.00255237 -0.00816573 0.9999634 -0.45080644] [ 0. 0. 0. 1. ]] SLAMing on 22.759072329 meters Centerline goodness : 0.840982 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.20, Z:-0.45 [[ 0.99961126 0.02772683 -0.00292558 0.64257787] [-0.02769797 0.99957136 0.00948288 -0.1994303 ] [ 0.00318725 -0.00939816 0.99995076 -0.45311671] [ 0. 0. 0. 1. ]] SLAMing on 22.789072329 meters Centerline goodness : 0.839642 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.20, Z:-0.46 [[ 0.99967174 0.02534869 -0.00372227 0.64604601] [-0.02532426 0.99965836 0.00646833 -0.19985734] [ 0.00388496 -0.00637195 0.99997215 -0.45535115] [ 0. 0. 0. 1. ]] SLAMing on 22.819072329 meters Centerline goodness : 0.841560 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.20, Z:-0.46 [[ 0.99973013 0.02278035 -0.00455153 0.64945622] [-0.0227647 0.99973486 0.00346048 -0.20119197] [ 0.00462915 -0.00335594 0.99998365 -0.45752233] [ 0. 0. 0. 1. ]] SLAMing on 22.849072329 meters Centerline goodness : 0.838577 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.20, Z:-0.46 [[ 9.99779066e-01 2.03380054e-02 -5.30893386e-03 6.52621995e-01] [-2.03341055e-02 9.99792931e-01 7.87541107e-04 -2.03057973e-01] [ 5.32385156e-03 -6.79414691e-04 9.99985597e-01 -4.59529620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.879072329 meters Centerline goodness : 0.839997 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.21, Z:-0.46 [[ 0.99976101 0.02114614 -0.00554674 0.65312828] [-0.0211337 0.99977403 0.00229228 -0.20743106] [ 0.00559396 -0.00217451 0.99998199 -0.45955891] [ 0. 0. 0. 1. ]] SLAMing on 22.909072329 meters Centerline goodness : 0.838957 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.21, Z:-0.46 [[ 0.9997546 0.02140981 -0.00568874 0.6528989 ] [-0.0213951 0.99976762 0.00263562 -0.2081001 ] [ 0.00574385 -0.00251326 0.99998035 -0.45863717] [ 0. 0. 0. 1. ]] SLAMing on 22.939072329 meters Centerline goodness : 0.838809 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.21, Z:-0.46 [[ 0.99974309 0.02188717 -0.0058919 0.65305215] [-0.02186798 0.99975541 0.00330203 -0.20975721] [ 0.00596273 -0.00317234 0.99997719 -0.4581282 ] [ 0. 0. 0. 1. ]] SLAMing on 22.969072329 meters Centerline goodness : 0.837604 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.21, Z:-0.46 [[ 9.99805556e-01 1.87230907e-02 -6.18837849e-03 6.53631777e-01] [-1.87253507e-02 9.99824618e-01 -3.07466341e-04 -2.10001648e-01] [ 6.18153644e-03 4.23286113e-04 9.99980805e-01 -4.57821324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.999072329 meters Centerline goodness : 0.835095 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.22, Z:-0.46 [[ 0.99982833 0.01711535 -0.00709794 0.65778064] [-0.0171255 0.99985241 -0.00137276 -0.21679608] [ 0.00707339 0.00149408 0.99997387 -0.46076846] [ 0. 0. 0. 1. ]] SLAMing on 23.029072328999998 meters Centerline goodness : 0.834932 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.22, Z:-0.46 [[ 9.99808917e-01 1.80614687e-02 -7.47742258e-03 6.59960416e-01] [-1.80601097e-02 9.99836872e-01 2.49235528e-04 -2.20880550e-01] [ 7.48070437e-03 -1.14144831e-04 9.99972013e-01 -4.62819685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.059072329 meters Centerline goodness : 0.832343 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.22, Z:-0.46 [[ 0.99978567 0.01911105 -0.00796101 0.66245047] [-0.01909697 0.99981594 0.00184125 -0.22433794] [ 0.00799473 -0.00168882 0.99996662 -0.46486085] [ 0. 0. 0. 1. ]] SLAMing on 23.089072329 meters Centerline goodness : 0.832081 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.23, Z:-0.47 [[ 0.99975638 0.02040135 -0.00842439 0.66441615] [-0.02036846 0.99978465 0.00397114 -0.23036636] [ 0.0085036 -0.00379858 0.99995663 -0.4662661 ] [ 0. 0. 0. 1. ]] SLAMing on 23.119072328999998 meters Centerline goodness : 0.832909 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.23, Z:-0.47 [[ 0.99974262 0.0209697 -0.00865798 0.66514364] [-0.0209279 0.99976902 0.00489166 -0.23320041] [ 0.00875855 -0.0047092 0.99995055 -0.46657607] [ 0. 0. 0. 1. ]] SLAMing on 23.149072329 meters Centerline goodness : 0.832993 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.23, Z:-0.47 [[ 0.99979934 0.01795663 -0.00887903 0.6658384 ] [-0.01794568 0.9998381 0.00131085 -0.23317704] [ 0.00890113 -0.00115125 0.99995972 -0.46657505] [ 0. 0. 0. 1. ]] SLAMing on 23.179072329 meters Centerline goodness : 0.832776 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.24, Z:-0.47 [[ 0.99984221 0.01742968 -0.00342821 0.68293899] [-0.01739799 0.99980754 0.0090661 -0.24167629] [ 0.00358557 -0.00900503 0.99995303 -0.47131649] [ 0. 0. 0. 1. ]] SLAMing on 23.209072328999998 meters Centerline goodness : 0.831738 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.24, Z:-0.47 [[ 0.99989724 0.01384693 -0.00371224 0.68322313] [-0.01382722 0.99989044 0.00528274 -0.24240956] [ 0.00378498 -0.00523087 0.99997916 -0.47077605] [ 0. 0. 0. 1. ]] SLAMing on 23.239072329 meters Centerline goodness : 0.832868 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.24, Z:-0.47 [[ 0.99993146 0.01090064 -0.0042716 0.68502853] [-0.01089062 0.99993791 0.00236064 -0.24421585] [ 0.00429707 -0.00231396 0.99998809 -0.47144094] [ 0. 0. 0. 1. ]] SLAMing on 23.269072329 meters Centerline goodness : 0.830980 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.25, Z:-0.47 [[ 9.99962620e-01 7.42980713e-03 -4.42231543e-03 6.85370803e-01] [-7.42980927e-03 9.99972398e-01 1.59466957e-05 -2.49826847e-01] [ 4.42231184e-03 1.69108605e-05 9.99990221e-01 -4.71637423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.299072328999998 meters Centerline goodness : 0.830815 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.25, Z:-0.47 [[ 0.99997903 0.00430401 -0.00483967 0.68720524] [-0.00431829 0.99998634 -0.00294544 -0.25092254] [ 0.00482693 0.00296627 0.99998395 -0.47278747] [ 0. 0. 0. 1. ]] SLAMing on 23.329072329 meters Centerline goodness : 0.830929 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.25, Z:-0.47 [[ 0.99997756 0.00446064 -0.0049975 0.68779084] [-0.00447019 0.9999882 -0.00190222 -0.2541856 ] [ 0.00498896 0.00192452 0.9999857 -0.473322 ] [ 0. 0. 0. 1. ]] SLAMing on 23.359072329 meters Centerline goodness : 0.827153 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.26, Z:-0.48 [[ 9.99999717e-01 -7.52436265e-04 -1.48830913e-05 7.03143874e-01] [ 7.52486177e-04 9.99992873e-01 3.69962590e-03 -2.60692262e-01] [ 1.20992525e-05 -3.69963606e-03 9.99993156e-01 -4.78829841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.389072328999998 meters Centerline goodness : 0.826168 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.27, Z:-0.48 [[ 9.99999159e-01 -1.29319990e-03 -9.99198138e-05 7.02982076e-01] [ 1.29360974e-03 9.99990273e-01 4.21669985e-03 -2.65277017e-01] [ 9.44658061e-05 -4.21682556e-03 9.99991105e-01 -4.78718137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.419072329 meters Centerline goodness : 0.827193 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.27, Z:-0.48 [[ 9.99988137e-01 -4.86287089e-03 -2.78767421e-04 7.03798738e-01] [ 4.86314695e-03 9.99987677e-01 9.98315899e-04 -2.67809378e-01] [ 2.73909304e-04 -9.99659744e-04 9.99999463e-01 -4.79239003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.449072329 meters Centerline goodness : 0.828780 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.27, Z:-0.48 [[ 9.99965024e-01 -8.34292601e-03 -5.87852235e-04 7.05036562e-01] [ 8.34161046e-03 9.99962775e-01 -2.20588643e-03 -2.70135147e-01] [ 6.06233900e-04 2.20090564e-03 9.99997394e-01 -4.79888007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.479072329 meters Centerline goodness : 0.827518 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.28, Z:-0.48 [[ 9.99964718e-01 -8.36916171e-03 -7.21556980e-04 7.05739524e-01] [ 8.36860202e-03 9.99964682e-01 -7.75219410e-04 -2.75439315e-01] [ 7.28019433e-04 7.69153635e-04 9.99999439e-01 -4.80912924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.509072329 meters Centerline goodness : 0.824736 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.28, Z:-0.48 [[ 0.99998809 -0.00476025 -0.00107481 0.70628435] [ 0.00476431 0.9999814 0.00380751 -0.27775504] [ 0.00105667 -0.00381258 0.99999217 -0.48108121] [ 0. 0. 0. 1. ]] SLAMing on 23.539072329 meters Centerline goodness : 0.823345 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.27, Z:-0.48 [[ 0.99999033 -0.00416537 -0.00141063 0.70684194] [ 0.00417078 0.99998388 0.00385209 -0.27469902] [ 0.00139457 -0.00385793 0.99999159 -0.48052861] [ 0. 0. 0. 1. ]] SLAMing on 23.569072329 meters Centerline goodness : 0.826022 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.27, Z:-0.48 [[ 0.99999117 -0.00382068 -0.00175253 0.70782661] [ 0.00382771 0.99998458 0.00402431 -0.27442295] [ 0.00173713 -0.00403099 0.99999037 -0.48083478] [ 0. 0. 0. 1. ]] SLAMing on 23.599072329 meters Centerline goodness : 0.822946 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.28, Z:-0.48 [[ 0.99999214 -0.00337927 -0.00207415 0.70921073] [ 0.00338859 0.9999841 0.0045064 -0.27549858] [ 0.00205889 -0.00451339 0.9999877 -0.48186326] [ 0. 0. 0. 1. ]] SLAMing on 23.629072329 meters Centerline goodness : 0.823333 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.28, Z:-0.48 [[ 0.99999289 -0.00294124 -0.0023594 0.71063453] [ 0.00295321 0.9999827 0.00508784 -0.27713702] [ 0.0023444 -0.00509477 0.99998427 -0.48306936] [ 0. 0. 0. 1. ]] SLAMing on 23.659072329 meters Centerline goodness : 0.823348 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.28, Z:-0.48 [[ 0.99999295 -0.00287002 -0.00241937 0.71104682] [ 0.00288275 0.99998193 0.0052758 -0.27860764] [ 0.00240418 -0.00528273 0.99998316 -0.48355134] [ 0. 0. 0. 1. ]] SLAMing on 23.689072329 meters Centerline goodness : 0.823377 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.28, Z:-0.48 [[ 0.99999169 -0.00322801 -0.00249046 0.71070912] [ 0.00323968 0.99998371 0.00469888 -0.27706939] [ 0.00247525 -0.00470691 0.99998586 -0.48283409] [ 0. 0. 0. 1. ]] SLAMing on 23.719072329 meters Centerline goodness : 0.822931 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.27, Z:-0.48 [[ 0.99998991 -0.00356787 -0.00272974 0.71070836] [ 0.00357879 0.99998558 0.00400421 -0.274489 ] [ 0.00271541 -0.00401393 0.99998826 -0.48203171] [ 0. 0. 0. 1. ]] SLAMing on 23.749072329 meters Centerline goodness : 0.821808 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.27, Z:-0.48 [[ 0.99998863 -0.00371932 -0.00298344 0.7109419 ] [ 0.00373004 0.99998658 0.00359616 -0.27243118] [ 0.00297002 -0.00360725 0.99998908 -0.48147731] [ 0. 0. 0. 1. ]] SLAMing on 23.779072328999998 meters Centerline goodness : 0.821319 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.27, Z:-0.48 [[ 0.99998579 -0.00419292 -0.00329154 0.71133937] [ 0.00420351 0.99998599 0.0032169 -0.2714306 ] [ 0.00327801 -0.00323069 0.99998941 -0.48116907] [ 0. 0. 0. 1. ]] SLAMing on 23.809072329 meters Centerline goodness : 0.820734 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.27, Z:-0.48 [[ 9.99965409e-01 -7.33527425e-03 -3.92098025e-03 7.14206044e-01] [ 7.33438141e-03 9.99973074e-01 -2.42039226e-04 -2.70595117e-01] [ 3.92265009e-03 2.13272889e-04 9.99992284e-01 -4.82941735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.839072329 meters Centerline goodness : 0.819432 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.27, Z:-0.48 [[ 9.99963024e-01 -7.62027774e-03 -3.98521887e-03 7.14811321e-01] [ 7.62048982e-03 9.99970963e-01 3.80338308e-05 -2.72316191e-01] [ 3.98481332e-03 -6.84017443e-05 9.99992058e-01 -4.83838710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.869072328999998 meters Centerline goodness : 0.817232 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.27, Z:-0.48 [[ 9.99949570e-01 -9.04947372e-03 -4.35475085e-03 7.15584366e-01] [ 9.04738442e-03 9.99958947e-01 -4.99235665e-04 -2.72720432e-01] [ 4.35908989e-03 4.59811384e-04 9.99990393e-01 -4.84462537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.899072329 meters Centerline goodness : 0.816273 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.27, Z:-0.48 [[ 9.99945785e-01 -9.44075238e-03 -4.39313637e-03 7.15547638e-01] [ 9.43702880e-03 9.99955094e-01 -8.67549062e-04 -2.71479629e-01] [ 4.40112940e-03 8.26043873e-04 9.99989974e-01 -4.84309139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.929072329 meters Centerline goodness : 0.816515 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.27, Z:-0.48 [[ 0.99996356 -0.00705085 -0.0048127 0.7155942 ] [ 0.00706264 0.99997209 0.00243745 -0.27223117] [ 0.00479538 -0.00247136 0.99998545 -0.48383262] [ 0. 0. 0. 1. ]] SLAMing on 23.959072328999998 meters Centerline goodness : 0.817422 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.27, Z:-0.48 [[ 0.99996035 -0.00736401 -0.00500783 0.71577103] [ 0.00737448 0.99997065 0.0020754 -0.27090505] [ 0.0049924 -0.00211225 0.99998531 -0.4834656 ] [ 0. 0. 0. 1. ]] SLAMing on 23.989072329 meters Centerline goodness : 0.816254 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.27, Z:-0.48 [[ 0.9999536 -0.00810783 -0.00520259 0.71581685] [ 0.00811328 0.99996656 0.0010266 -0.26757115] [ 0.0051941 -0.00106877 0.99998594 -0.48294131] [ 0. 0. 0. 1. ]] SLAMing on 24.019072329 meters Centerline goodness : 0.816254 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.27, Z:-0.48 [[ 0.9999536 -0.00810783 -0.00520259 0.71581685] [ 0.00811328 0.99996656 0.0010266 -0.26757115] [ 0.0051941 -0.00106877 0.99998594 -0.48294131] [ 0. 0. 0. 1. ]] SLAMing on 24.049072328999998 meters Centerline goodness : 0.818404 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.27, Z:-0.48 [[ 0.99997059 -0.00575491 -0.00506879 0.71432345] [ 0.00577373 0.99997646 0.00370671 -0.26742512] [ 0.00504734 -0.00373586 0.99998028 -0.48178944] [ 0. 0. 0. 1. ]] SLAMing on 24.079072329 meters Centerline goodness : 0.816808 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.26, Z:-0.48 [[ 0.99997017 -0.00540238 -0.00552108 0.7163002 ] [ 0.00542223 0.99997887 0.0035866 -0.26476764] [ 0.00550159 -0.00361643 0.99997833 -0.48304449] [ 0. 0. 0. 1. ]] SLAMing on 24.109072329 meters Centerline goodness : 0.815650 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.26, Z:-0.48 [[ 0.99996956 -0.0050653 -0.00593497 0.7181433 ] [ 0.00508462 0.99998181 0.00324372 -0.26145172] [ 0.00591843 -0.0032738 0.99997713 -0.48417075] [ 0. 0. 0. 1. ]] SLAMing on 24.139072328999998 meters Centerline goodness : 0.816029 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.26, Z:-0.48 [[ 0.99998049 -0.00197564 -0.00592642 0.71781385] [ 0.00200688 0.9999841 0.00526998 -0.25576916] [ 0.00591591 -0.00528177 0.99996855 -0.48375283] [ 0. 0. 0. 1. ]] SLAMing on 24.169072329 meters Centerline goodness : 0.816045 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.25, Z:-0.48 [[ 0.99997727 -0.00151739 -0.00656961 0.71993781] [ 0.00154813 0.99998787 0.0046767 -0.25108152] [ 0.00656244 -0.00468677 0.99996748 -0.48440857] [ 0. 0. 0. 1. ]] SLAMing on 24.199072329 meters Centerline goodness : 0.815957 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.25, Z:-0.48 [[ 0.99997599 -0.0015586 -0.00675222 0.72037947] [ 0.00158054 0.99999349 0.00324496 -0.24537748] [ 0.00674712 -0.00325556 0.99997194 -0.48404968] [ 0. 0. 0. 1. ]] SLAMing on 24.229072329 meters Centerline goodness : 0.814688 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.24, Z:-0.48 [[ 0.99997123 0.00262085 -0.00711783 0.72179344] [-0.00258287 0.99998241 0.00533924 -0.23548185] [ 0.0071317 -0.00532071 0.99996041 -0.48425804] [ 0. 0. 0. 1. ]] SLAMing on 24.259072329 meters Centerline goodness : 0.813880 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.23, Z:-0.48 [[ 0.99995291 0.00633554 -0.00735159 0.72263006] [-0.00627441 0.99994579 0.00830971 -0.23124749] [ 0.00740383 -0.00826319 0.99993845 -0.48467716] [ 0. 0. 0. 1. ]] SLAMing on 24.289072329 meters Centerline goodness : 0.814067 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.22, Z:-0.49 [[ 0.99994174 0.00722874 -0.00801664 0.72541482] [-0.0071643 0.99994203 0.00803759 -0.22471433] [ 0.00807428 -0.00797969 0.99993556 -0.48613896] [ 0. 0. 0. 1. ]] SLAMing on 24.319072329 meters Centerline goodness : 0.812410 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.21, Z:-0.49 [[ 0.99991796 0.00978988 -0.00825965 0.72625315] [-0.00971617 0.99991303 0.00891751 -0.21487619] [ 0.00834623 -0.00883653 0.99992613 -0.48617714] [ 0. 0. 0. 1. ]] SLAMing on 24.349072329 meters Centerline goodness : 0.813794 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.21, Z:-0.49 [[ 0.99992161 0.00915984 -0.00853628 0.72655109] [-0.00909781 0.99993214 0.007277 -0.20988751] [ 0.00860236 -0.00719877 0.99993709 -0.4856144 ] [ 0. 0. 0. 1. ]] SLAMing on 24.379072329 meters Centerline goodness : 0.812168 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.21, Z:-0.48 [[ 0.99992899 0.00828397 -0.00856705 0.72597441] [-0.00823677 0.99995078 0.00553045 -0.20524715] [ 0.00861244 -0.00545949 0.99994801 -0.48460352] [ 0. 0. 0. 1. ]] SLAMing on 24.409072329 meters Centerline goodness : 0.811858 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.20, Z:-0.48 [[ 0.99993466 0.00742188 -0.00869486 0.72568203] [-0.00738821 0.99996511 0.0038983 -0.20066898] [ 0.00872349 -0.0038338 0.9999546 -0.48372209] [ 0. 0. 0. 1. ]] SLAMing on 24.439072329 meters Centerline goodness : 0.812003 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.19, Z:-0.48 [[ 9.99953168e-01 5.01306187e-03 -8.27837621e-03 7.23413552e-01] [-5.01026800e-03 9.99987384e-01 3.58195352e-04 -1.89795497e-01] [ 8.28006743e-03 -3.16701693e-04 9.99965670e-01 -4.81896981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.469072329 meters Centerline goodness : 0.811362 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.19, Z:-0.48 [[ 0.99995824 0.00402285 -0.00820565 0.72265965] [-0.00403278 0.99999115 -0.00119447 -0.18506228] [ 0.00820077 0.00122752 0.99996562 -0.48100617] [ 0. 0. 0. 1. ]] SLAMing on 24.499072329 meters Centerline goodness : 0.811512 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.18, Z:-0.48 [[ 0.99995895 0.0034221 -0.0083893 0.72290618] [-0.00344106 0.99999156 -0.0022464 -0.18140032] [ 0.00838154 0.00227517 0.99996229 -0.48073274] [ 0. 0. 0. 1. ]] SLAMing on 24.529072328999998 meters Centerline goodness : 0.811105 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.18, Z:-0.48 [[ 0.99995893 0.0028168 -0.0086136 0.72323575] [-0.00284588 0.99999029 -0.00336564 -0.1777186 ] [ 0.00860403 0.00339002 0.99995724 -0.48043092] [ 0. 0. 0. 1. ]] SLAMing on 24.559072329 meters Centerline goodness : 0.813801 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.17, Z:-0.48 [[ 0.9999559 0.00200711 -0.00917429 0.72528174] [-0.00205578 0.99998385 -0.00529906 -0.1682988 ] [ 0.00916351 0.00531768 0.99994387 -0.48140588] [ 0. 0. 0. 1. ]] SLAMing on 24.589072329 meters Centerline goodness : 0.812141 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.16, Z:-0.48 [[ 0.99994596 0.00508065 -0.00906986 0.72492174] [-0.00510354 0.99998385 -0.00250202 -0.16490183] [ 0.009057 0.00254817 0.99995574 -0.48134635] [ 0. 0. 0. 1. ]] SLAMing on 24.619072328999998 meters Centerline goodness : 0.812513 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.16, Z:-0.48 [[ 0.99994193 0.00498716 -0.00955339 0.7264343 ] [-0.00502228 0.99998071 -0.00365557 -0.15873723] [ 0.00953497 0.00370334 0.99994768 -0.4816872 ] [ 0. 0. 0. 1. ]] SLAMing on 24.649072329 meters Centerline goodness : 0.816101 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.15, Z:-0.48 [[ 0.99992794 0.00757386 -0.00931402 0.72520782] [-0.00760281 0.99996636 -0.00307684 -0.14793714] [ 0.00929041 0.00314743 0.99995189 -0.479989 ] [ 0. 0. 0. 1. ]] SLAMing on 24.679072329 meters Centerline goodness : 0.815445 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.14, Z:-0.48 [[ 0.99991471 0.00845423 -0.00995534 0.72795433] [-0.00848849 0.99995818 -0.0034046 -0.141278 ] [ 0.00992614 0.00348881 0.99994465 -0.48131753] [ 0. 0. 0. 1. ]] SLAMing on 24.709072328999998 meters Centerline goodness : 0.816677 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.14, Z:-0.48 [[ 9.99879394e-01 1.19007893e-02 -9.97839010e-03 7.27934791e-01] [-1.19109238e-02 9.99928605e-01 -9.56826742e-04 -1.35909497e-01] [ 9.96629070e-03 1.07556319e-03 9.99949757e-01 -4.80950417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.739072329 meters Centerline goodness : 0.817281 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.13, Z:-0.48 [[ 0.99986638 0.01246076 -0.0105809 0.7304105 ] [-0.01248166 0.99992027 -0.00191187 -0.12831525] [ 0.01055623 0.00204368 0.99994219 -0.48189367] [ 0. 0. 0. 1. ]] SLAMing on 24.769072329 meters Centerline goodness : 0.820112 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.12, Z:-0.48 [[ 9.99811222e-01 1.59464892e-02 -1.11008989e-02 7.33324225e-01] [-1.59579717e-02 9.99872215e-01 -9.46560102e-04 -1.16575439e-01] [ 1.10843860e-02 1.12352924e-03 9.99937935e-01 -4.83249813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.799072328999998 meters Centerline goodness : 0.820484 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.11, Z:-0.48 [[ 0.99979801 0.0162987 -0.01175955 0.7356368 ] [-0.01632262 0.99986489 -0.00194144 -0.10996219] [ 0.01172631 0.00213299 0.99992897 -0.48393023] [ 0. 0. 0. 1. ]] SLAMing on 24.829072329 meters Centerline goodness : 0.822466 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.11, Z:-0.48 [[ 9.99732779e-01 1.98626538e-02 -1.18256234e-02 7.35785899e-01] [-1.98537916e-02 9.99802519e-01 8.66337144e-04 -1.05693301e-01] [ 1.18404958e-02 -6.31322178e-04 9.99929700e-01 -4.83640351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.859072329 meters Centerline goodness : 0.822988 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.10, Z:-0.48 [[ 9.99712180e-01 2.04135355e-02 -1.26033406e-02 7.37914581e-01] [-2.04118930e-02 9.99791622e-01 2.58958834e-04 -9.88190943e-02] [ 1.26060006e-02 -1.62626162e-06 9.99920541e-01 -4.83759259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.889072328999998 meters Centerline goodness : 0.821792 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.09, Z:-0.49 [[ 0.99971824 0.02336629 -0.00417822 0.74482118] [-0.02338609 0.99971521 -0.00475344 -0.08585234] [ 0.00406596 0.00484982 0.99997997 -0.48573931] [ 0. 0. 0. 1. ]] SLAMing on 24.919072329 meters Centerline goodness : 0.823398 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.08, Z:-0.49 [[ 0.9997315 0.02275491 -0.00437426 0.74506689] [-0.02278226 0.99972055 -0.00630863 -0.08049932] [ 0.00422949 0.00640659 0.99997053 -0.48516934] [ 0. 0. 0. 1. ]] SLAMing on 24.949072329 meters Centerline goodness : 0.822463 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.07, Z:-0.49 [[ 0.99974955 0.02186515 -0.00477094 0.74655484] [-0.0219039 0.99972625 -0.00822511 -0.07264031] [ 0.00458979 0.00832755 0.99995479 -0.48580309] [ 0. 0. 0. 1. ]] SLAMing on 24.979072329 meters Centerline goodness : 0.821376 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.07, Z:-0.49 [[ 9.99839759e-01 1.78849761e-02 7.63676917e-04 7.60405181e-01] [-1.78838654e-02 9.99839038e-01 -1.43723852e-03 -7.07605023e-02] [-7.89258970e-04 1.42335072e-03 9.99998676e-01 -4.91953442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.009072329 meters Centerline goodness : 0.820931 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.07, Z:-0.49 [[ 9.99855771e-01 1.69699833e-02 6.76580570e-04 7.60131751e-01] [-1.69682328e-02 9.99852868e-01 -2.51418940e-03 -6.78861412e-02] [-7.19146776e-04 2.50234640e-03 9.99996611e-01 -4.91453776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.039072329 meters Centerline goodness : 0.823397 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.06, Z:-0.49 [[ 9.99937067e-01 1.11966647e-02 7.05363891e-04 7.59234067e-01] [-1.11898679e-02 9.99896908e-01 -8.99774343e-03 -5.98650773e-02] [-8.06035889e-04 8.98928424e-03 9.99959271e-01 -4.90426378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.069072329 meters Centerline goodness : 0.822149 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.06, Z:-0.49 [[ 9.99973921e-01 7.22139422e-03 9.67102098e-05 7.61258289e-01] [-7.21941108e-03 9.99881447e-01 -1.36004193e-02 -5.55398389e-02] [-1.94912734e-04 1.35993664e-02 9.99907505e-01 -4.91195420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.099072329 meters Centerline goodness : 0.821395 Centerline is valid? [False, False] Translation: X:0.78, Y:-0.05, Z:-0.50 [[ 0.99998278 0.00305222 0.00501243 0.77537314] [-0.00301999 0.9999748 -0.00642443 -0.05474419] [-0.00503191 0.00640919 0.9999668 -0.49756977] [ 0. 0. 0. 1. ]] SLAMing on 25.129072329 meters Centerline goodness : 0.821561 Centerline is valid? [False, False] Translation: X:0.78, Y:-0.05, Z:-0.50 [[ 0.99998497 0.00231124 0.0049719 0.77524547] [-0.00227426 0.9999698 -0.00743169 -0.05162747] [-0.00498892 0.00742027 0.99996002 -0.49731684] [ 0. 0. 0. 1. ]] SLAMing on 25.159072329 meters Centerline goodness : 0.821089 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.04, Z:-0.50 [[ 9.99941815e-01 -2.21116309e-03 1.05583306e-02 7.85402503e-01] [ 2.21270546e-03 9.99997543e-01 -1.34401330e-04 -4.48467406e-02] [-1.05580075e-02 1.57755985e-04 9.99944250e-01 -5.01519253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.189072329 meters Centerline goodness : 0.822637 Centerline is valid? [False, False] Translation: X:0.78, Y:-0.04, Z:-0.50 [[ 0.99993993 -0.00290625 0.01056798 0.78486793] [ 0.00292199 0.99999465 -0.00147367 -0.04026543] [-0.01056364 0.00150446 0.99994307 -0.50056564] [ 0. 0. 0. 1. ]] SLAMing on 25.219072329 meters Centerline goodness : 0.817848 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.04, Z:-0.50 [[ 0.99988301 -0.00496745 0.01446712 0.80241276] [ 0.00489086 0.99997386 0.00532459 -0.03840923] [-0.01449319 -0.00525321 0.99988117 -0.50495912] [ 0. 0. 0. 1. ]] SLAMing on 25.249072329 meters Centerline goodness : 0.810626 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.03, Z:-0.51 [[ 0.99989606 -0.0105504 0.00982613 0.84480992] [ 0.01042784 0.99986822 0.01244187 -0.03170358] [-0.00995611 -0.01233811 0.99987432 -0.50855836] [ 0. 0. 0. 1. ]] SLAMing on 25.279072328999998 meters Centerline goodness : 0.808108 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.03, Z:-0.51 [[ 0.99990535 -0.01023683 0.00919274 0.84781155] [ 0.01012553 0.99987584 0.01207351 -0.02813312] [-0.00931519 -0.01197929 0.99988486 -0.51110577] [ 0. 0. 0. 1. ]] SLAMing on 25.309072329 meters Centerline goodness : 0.806912 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.02, Z:-0.52 [[ 0.99987146 -0.01245495 0.01009626 0.87016044] [ 0.01228305 0.99978152 0.01691272 -0.02384838] [-0.0103047 -0.01678654 0.99980599 -0.51628511] [ 0. 0. 0. 1. ]] SLAMing on 25.339072329 meters Centerline goodness : 0.801423 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.01, Z:-0.52 [[ 0.99982288 -0.01187701 0.01459971 0.88734727] [ 0.01154622 0.99967936 0.02253599 -0.01170863] [-0.01486268 -0.02236343 0.99963942 -0.51746958] [ 0. 0. 0. 1. ]] SLAMing on 25.369072328999998 meters Centerline goodness : 0.797869 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.01, Z:-0.52 [[ 0.99977172 -0.01120242 0.01819404 0.90627693] [ 0.01067374 0.99952534 0.02889928 -0.00562284] [-0.01850914 -0.02869849 0.99941673 -0.51943457] [ 0. 0. 0. 1. ]] SLAMing on 25.399072329 meters Centerline goodness : 0.795488 Centerline is valid? [False, False] Translation: X:0.91, Y:0.00, Z:-0.52 [[ 0.99978395 -0.01123658 0.01748715 0.9075879 ] [ 0.0107725 0.99959315 0.02641003 0.0024656 ] [-0.0177768 -0.02621594 0.99949823 -0.51759614] [ 0. 0. 0. 1. ]] SLAMing on 25.429072329 meters Centerline goodness : 0.795525 Centerline is valid? [False, False] Translation: X:0.91, Y:0.01, Z:-0.52 [[ 0.99980659 -0.01066975 0.01652106 0.91115382] [ 0.01028789 0.99968187 0.02302864 0.01416941] [-0.01676151 -0.02285422 0.99959829 -0.51727628] [ 0. 0. 0. 1. ]] SLAMing on 25.459072328999998 meters Centerline goodness : 0.793578 Centerline is valid? [False, False] Translation: X:0.91, Y:0.02, Z:-0.52 [[ 0.99982171 -0.01033474 0.015803 0.91362908] [ 0.00998695 0.99970961 0.02193077 0.01920305] [-0.01602506 -0.02176904 0.99963459 -0.51821828] [ 0. 0. 0. 1. ]] SLAMing on 25.489072329 meters Centerline goodness : 0.793318 Centerline is valid? [False, False] Translation: X:0.92, Y:0.03, Z:-0.52 [[ 0.99983488 -0.01001505 0.01516282 0.91582943] [ 0.0096988 0.99973685 0.02078861 0.0250384 ] [-0.01536703 -0.02063812 0.99966891 -0.51900489] [ 0. 0. 0. 1. ]] SLAMing on 25.519072329 meters Centerline goodness : 0.790468 Centerline is valid? [False, False] Translation: X:0.92, Y:0.03, Z:-0.52 [[ 0.99986409 -0.00646181 0.01516709 0.91576428] [ 0.00609916 0.99969728 0.0238358 0.02852866] [-0.01531652 -0.02374005 0.99960083 -0.51915841] [ 0. 0. 0. 1. ]] SLAMing on 25.549072328999998 meters Centerline goodness : 0.787207 Centerline is valid? [False, False] Translation: X:0.91, Y:0.04, Z:-0.51 [[ 0.99988003 -0.00355959 0.01507489 0.91465064] [ 0.00320755 0.99972306 0.02331332 0.04054743] [-0.0151537 -0.02326217 0.99961454 -0.51416914] [ 0. 0. 0. 1. ]] SLAMing on 25.579072329 meters Centerline goodness : 0.786683 Centerline is valid? [False, False] Translation: X:0.92, Y:0.05, Z:-0.51 [[ 0.99989177 -0.00334121 0.01432799 0.91658137] [ 0.00303011 0.99976037 0.02168013 0.04756395] [-0.014397 -0.02163437 0.99966228 -0.51336656] [ 0. 0. 0. 1. ]] SLAMing on 25.609072329 meters Centerline goodness : 0.785868 Centerline is valid? [False, False] Translation: X:0.92, Y:0.05, Z:-0.51 [[ 0.99990741 -0.00255821 0.01336543 0.91972366] [ 0.00228301 0.99978589 0.02056582 0.05414445] [-0.01341518 -0.0205334 0.99969916 -0.51351963] [ 0. 0. 0. 1. ]] SLAMing on 25.639072328999998 meters Centerline goodness : 0.788159 Centerline is valid? [False, False] Translation: X:0.92, Y:0.06, Z:-0.52 [[ 0.99991888 0.00165235 0.01262921 0.92442515] [-0.00194152 0.99973544 0.02291891 0.06221519] [-0.01258799 -0.02294157 0.99965755 -0.51705295] [ 0. 0. 0. 1. ]] SLAMing on 25.669072329 meters Centerline goodness : 0.785964 Centerline is valid? [False, False] Translation: X:0.93, Y:0.07, Z:-0.52 [[ 0.99992669 0.00253208 0.01184097 0.92780221] [-0.00279891 0.9997413 0.02257221 0.06556444] [-0.01178075 -0.0226037 0.99967509 -0.51895773] [ 0. 0. 0. 1. ]] SLAMing on 25.699072329 meters Centerline goodness : 0.786206 Centerline is valid? [False, False] Translation: X:0.93, Y:0.07, Z:-0.52 [[ 0.99993112 0.00285886 0.01138338 0.9295686 ] [-0.00310566 0.99975922 0.0217223 0.06928694] [-0.01131854 -0.02175615 0.99969923 -0.51927652] [ 0. 0. 0. 1. ]] SLAMing on 25.729072328999997 meters Centerline goodness : 0.785334 Centerline is valid? [False, False] Translation: X:0.93, Y:0.07, Z:-0.52 [[ 0.99993304 0.00365837 0.01097864 0.93155461] [-0.00388808 0.99977243 0.02097556 0.07392222] [-0.0108994 -0.02101684 0.99971971 -0.51965494] [ 0. 0. 0. 1. ]] SLAMing on 25.759072329 meters Centerline goodness : 0.786536 Centerline is valid? [False, False] Translation: X:0.93, Y:0.08, Z:-0.52 [[ 0.99991312 0.00774557 0.01066578 0.93187094] [-0.00798113 0.99972119 0.02222277 0.08166545] [-0.01049068 -0.02230596 0.99969615 -0.51635165] [ 0. 0. 0. 1. ]] SLAMing on 25.789072329 meters Centerline goodness : 0.789039 Centerline is valid? [False, False] Translation: X:0.93, Y:0.09, Z:-0.52 [[ 0.99991639 0.00836374 0.00986192 0.9340288 ] [-0.00857184 0.99973742 0.02125111 0.08587638] [-0.00968159 -0.02133386 0.99972553 -0.51565539] [ 0. 0. 0. 1. ]] SLAMing on 25.819072329 meters Centerline goodness : 0.786773 Centerline is valid? [False, False] Translation: X:0.94, Y:0.09, Z:-0.52 [[ 0.9999189 0.00886296 0.00914517 0.93616578] [-0.0090499 0.99974671 0.02060626 0.089162 ] [-0.00896022 -0.02068735 0.99974584 -0.51555091] [ 0. 0. 0. 1. ]] SLAMing on 25.849072329 meters Centerline goodness : 0.787796 Centerline is valid? [False, False] Translation: X:0.93, Y:0.09, Z:-0.52 [[ 0.99985942 0.01346476 0.00999184 0.93434227] [-0.01365614 0.99971972 0.01933903 0.09107393] [-0.00972864 -0.01947276 0.99976305 -0.51703629] [ 0. 0. 0. 1. ]] SLAMing on 25.879072329 meters Centerline goodness : 0.785982 Centerline is valid? [False, False] Translation: X:0.94, Y:0.09, Z:-0.52 [[ 0.99989638 0.01082046 0.00949414 0.93649939] [-0.01095934 0.99983187 0.01470088 0.09488901] [-0.00933347 -0.01480341 0.99984686 -0.51619905] [ 0. 0. 0. 1. ]] SLAMing on 25.909072329 meters Centerline goodness : 0.785982 Centerline is valid? [False, False] Translation: X:0.94, Y:0.10, Z:-0.52 [[ 0.99992914 0.00796908 0.00884409 0.93863333] [-0.00807002 0.99990203 0.01143709 0.09774768] [-0.00875208 -0.01150765 0.99989548 -0.51710181] [ 0. 0. 0. 1. ]] SLAMing on 25.939072329 meters Centerline goodness : 0.793146 Centerline is valid? [False, False] Translation: X:0.94, Y:0.10, Z:-0.52 [[ 0.99990824 0.01060965 0.00842334 0.93986853] [-0.01071808 0.99985892 0.01293264 0.09742365] [-0.00828494 -0.01302174 0.99988089 -0.51807208] [ 0. 0. 0. 1. ]] SLAMing on 25.969072329 meters Centerline goodness : 0.790194 Centerline is valid? [False, False] Translation: X:0.94, Y:0.09, Z:-0.52 [[ 0.99982302 0.01643806 0.00915023 0.93788143] [-0.01658478 0.99973128 0.01619615 0.09457179] [-0.00888153 -0.01634504 0.99982696 -0.5177515 ] [ 0. 0. 0. 1. ]] SLAMing on 25.999072329 meters Centerline goodness : 0.790278 Centerline is valid? [False, False] Translation: X:0.94, Y:0.09, Z:-0.52 [[ 0.99978702 0.01837387 0.00939783 0.9367667 ] [-0.01853226 0.9996828 0.0170544 0.09265642] [-0.0090815 -0.01722493 0.9998104 -0.51707254] [ 0. 0. 0. 1. ]] SLAMing on 26.029072328999998 meters Centerline goodness : 0.793011 Centerline is valid? [False, False] Translation: X:0.94, Y:0.09, Z:-0.52 [[ 0.99975968 0.01961737 0.00978498 0.93548099] [-0.01978496 0.99965396 0.01733559 0.09034723] [-0.00944152 -0.01752502 0.99980185 -0.5165257 ] [ 0. 0. 0. 1. ]] SLAMing on 26.059072329 meters Centerline goodness : 0.794384 Centerline is valid? [False, False] Translation: X:0.94, Y:0.09, Z:-0.51 [[ 0.99983022 0.01603415 0.00907941 0.93634573] [-0.01614953 0.99978792 0.01277944 0.09097207] [-0.00887258 -0.01292389 0.99987712 -0.51449192] [ 0. 0. 0. 1. ]] SLAMing on 26.089072329 meters Centerline goodness : 0.797295 Centerline is valid? [False, False] Translation: X:0.94, Y:0.09, Z:-0.51 [[ 0.99988625 0.01256387 0.00834526 0.93752038] [-0.01263615 0.99988261 0.00866593 0.09009681] [-0.0082354 -0.00877039 0.99992763 -0.51297874] [ 0. 0. 0. 1. ]] SLAMing on 26.119072328999998 meters Centerline goodness : 0.802685 Centerline is valid? [False, False] Translation: X:0.94, Y:0.08, Z:-0.51 [[ 0.9999262 0.00891227 0.00825606 0.93695586] [-0.00896214 0.9999417 0.00602347 0.08229487] [-0.00820189 -0.00609701 0.99994778 -0.51187719] [ 0. 0. 0. 1. ]] SLAMing on 26.149072329 meters Centerline goodness : 0.805671 Centerline is valid? [False, False] Translation: X:0.94, Y:0.08, Z:-0.51 [[ 0.99995512 0.0052894 0.0078603 0.93749272] [-0.00530927 0.99998276 0.00250929 0.07911304] [-0.00784689 -0.0025509 0.99996596 -0.51112612] [ 0. 0. 0. 1. ]] SLAMing on 26.179072329 meters Centerline goodness : 0.809939 Centerline is valid? [False, False] Translation: X:0.94, Y:0.07, Z:-0.51 [[ 9.99970994e-01 2.01437970e-03 7.34534914e-03 9.38777239e-01] [-2.01151955e-03 9.99997898e-01 -3.96749257e-04 7.45557210e-02] [-7.34613290e-03 3.81962436e-04 9.99972944e-01 -5.11087653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.209072328999998 meters Centerline goodness : 0.816500 Centerline is valid? [False, False] Translation: X:0.94, Y:0.06, Z:-0.51 [[ 0.99996275 -0.00461505 0.00729403 0.93815237] [ 0.00465365 0.99997521 -0.00528359 0.06148914] [-0.00726946 0.00531734 0.99995944 -0.51037475] [ 0. 0. 0. 1. ]] SLAMing on 26.239072329 meters Centerline goodness : 0.820985 Centerline is valid? [False, False] Translation: X:0.94, Y:0.05, Z:-0.51 [[ 0.99994082 -0.00803471 0.00733484 0.93820277] [ 0.00808938 0.99993949 -0.00745441 0.05417899] [-0.00727451 0.0075133 0.99994531 -0.51074476] [ 0. 0. 0. 1. ]] SLAMing on 26.269072329 meters Centerline goodness : 0.825622 Centerline is valid? [False, False] Translation: X:0.94, Y:0.04, Z:-0.51 [[ 0.99993844 -0.00817226 0.00750568 0.93783539] [ 0.00820816 0.99995496 -0.00476455 0.04368917] [-0.0074664 0.00482586 0.99996048 -0.51292948] [ 0. 0. 0. 1. ]] SLAMing on 26.299072328999998 meters Centerline goodness : 0.832720 Centerline is valid? [False, False] Translation: X:0.94, Y:0.03, Z:-0.51 [[ 0.99986223 -0.01482466 0.00746625 0.93796549] [ 0.01488071 0.99986108 -0.00750876 0.02811472] [-0.0073539 0.00761883 0.99994394 -0.51492257] [ 0. 0. 0. 1. ]] SLAMing on 26.329072329 meters Centerline goodness : 0.834239 Centerline is valid? [False, False] Translation: X:0.94, Y:0.02, Z:-0.52 [[ 0.99980958 -0.01802594 0.00747408 0.93870134] [ 0.01809305 0.99979571 -0.00900965 0.01985372] [-0.00731014 0.00914316 0.99993148 -0.51640708] [ 0. 0. 0. 1. ]] SLAMing on 26.359072329 meters Centerline goodness : 0.837701 Centerline is valid? [False, False] Translation: X:0.94, Y:0.01, Z:-0.52 [[ 0.99974993 -0.02109206 0.00742959 0.93972535] [ 0.02116829 0.9997225 -0.01033571 0.01077636] [-0.00720953 0.0104904 0.99991898 -0.51808826] [ 0. 0. 0. 1. ]] SLAMing on 26.389072328999998 meters Centerline goodness : 0.844249 Centerline is valid? [False, False] Translation: X:0.94, Y:0.00, Z:-0.52 [[ 0.9996778 -0.02426466 0.00745146 0.94055845] [ 0.02435035 0.99963581 -0.01163258 0.00159865] [-0.00716648 0.01181028 0.99990457 -0.51984864] [ 0. 0. 0. 1. ]] SLAMing on 26.419072329 meters Centerline goodness : 0.847596 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.02, Z:-0.52 [[ 0.99952133 -0.03021369 0.00665175 0.94333546] [ 0.03029846 0.99945589 -0.01303583 -0.01613769] [-0.00625427 0.01323113 0.9998929 -0.52442138] [ 0. 0. 0. 1. ]] SLAMing on 26.449072329 meters Centerline goodness : 0.846300 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.03, Z:-0.53 [[ 0.99954288 -0.02951394 0.0065544 0.94453592] [ 0.02957322 0.99952083 -0.00913937 -0.02713922] [-0.00628152 0.00932903 0.99993675 -0.52831262] [ 0. 0. 0. 1. ]] SLAMing on 26.479072328999997 meters Centerline goodness : 0.843910 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.04, Z:-0.53 [[ 0.99957431 -0.0285005 0.00623807 0.94640262] [ 0.02853539 0.99957723 -0.00557682 -0.03753467] [-0.00607649 0.00575245 0.99996499 -0.53155343] [ 0. 0. 0. 1. ]] SLAMing on 26.509072329 meters Centerline goodness : 0.839486 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.06, Z:-0.54 [[ 0.99953755 -0.02996799 0.00515735 0.95061933] [ 0.02998448 0.9995454 -0.00315043 -0.05557255] [-0.00506059 0.00330361 0.99998174 -0.53668949] [ 0. 0. 0. 1. ]] SLAMing on 26.539072329 meters Centerline goodness : 0.837430 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.07, Z:-0.54 [[ 9.99572613e-01 -2.88201342e-02 4.89807203e-03 9.52427620e-01] [ 2.88203371e-02 9.99584607e-01 2.91732848e-05 -6.53827246e-02] [-4.89687819e-03 1.12003271e-04 9.99988004e-01 -5.39272499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.569072329 meters Centerline goodness : 0.835137 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.07, Z:-0.54 [[ 0.99960723 -0.02762042 0.00474255 0.95408953] [ 0.02760577 0.999614 0.00312695 -0.07498945] [-0.00482708 -0.0029948 0.99998387 -0.54171726] [ 0. 0. 0. 1. ]] SLAMing on 26.599072329 meters Centerline goodness : 0.833179 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.09, Z:-0.55 [[ 0.99958304 -0.02865652 0.00354246 0.95909049] [ 0.02863961 0.99957859 0.0047343 -0.09160276] [-0.00367664 -0.00463087 0.99998252 -0.5454703 ] [ 0. 0. 0. 1. ]] SLAMing on 26.629072329 meters Centerline goodness : 0.830431 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.10, Z:-0.55 [[ 0.99960157 -0.02800662 0.00351035 0.95994976] [ 0.02798038 0.99958172 0.00731258 -0.10136366] [-0.00371368 -0.00721144 0.9999671 -0.54716403] [ 0. 0. 0. 1. ]] SLAMing on 26.659072329 meters Centerline goodness : 0.830413 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.11, Z:-0.55 [[ 0.99952545 -0.03064466 0.00312714 0.96217686] [ 0.03062605 0.99951388 0.00583522 -0.10867956] [-0.00330444 -0.00573668 0.99997809 -0.54880218] [ 0. 0. 0. 1. ]] SLAMing on 26.689072329 meters Centerline goodness : 0.827786 Centerline is valid? [False, False] Translation: X:0.97, Y:-0.13, Z:-0.55 [[ 0.99946096 -0.03274223 0.00239622 0.96530899] [ 0.03272127 0.99942992 0.00831571 -0.12638785] [-0.00266713 -0.00823283 0.99996255 -0.55369009] [ 0. 0. 0. 1. ]] SLAMing on 26.719072329 meters Centerline goodness : 0.825383 Centerline is valid? [False, False] Translation: X:0.97, Y:-0.13, Z:-0.56 [[ 0.99937406 -0.03532505 0.00190678 0.96809745] [ 0.0353116 0.99935404 0.00667731 -0.13227164] [-0.00214143 -0.0066058 0.99997589 -0.55560394] [ 0. 0. 0. 1. ]] SLAMing on 26.749072329 meters Centerline goodness : 0.823019 Centerline is valid? [False, False] Translation: X:0.97, Y:-0.14, Z:-0.56 [[ 0.9994153 -0.03415738 0.00152979 0.9702667 ] [ 0.0341412 0.99937106 0.00958458 -0.14060912] [-0.00185622 -0.00952675 0.9999529 -0.55795317] [ 0. 0. 0. 1. ]] SLAMing on 26.779072328999998 meters Centerline goodness : 0.823263 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.16, Z:-0.56 [[ 9.99385379e-01 -3.50551571e-02 1.91359319e-05 9.76511772e-01] [ 3.50528110e-02 9.99324518e-01 1.10367053e-02 -1.55481751e-01] [-4.06016444e-04 -1.10292511e-02 9.99939094e-01 -5.62141180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.809072329 meters Centerline goodness : 0.821520 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.16, Z:-0.56 [[ 9.99293356e-01 -3.75841928e-02 -4.66523190e-04 9.79411488e-01] [ 3.75869166e-02 9.99249313e-01 9.38266473e-03 -1.61482360e-01] [ 1.13533098e-04 -9.39356969e-03 9.99955873e-01 -5.64189446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.839072329 meters Centerline goodness : 0.820181 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.17, Z:-0.57 [[ 9.99190608e-01 -4.02152847e-02 -9.26958278e-04 9.82100686e-01] [ 4.02211950e-02 9.99161710e-01 7.62449452e-03 -1.67333062e-01] [ 6.19560000e-04 -7.65560669e-03 9.99970503e-01 -5.65968008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.869072328999998 meters Centerline goodness : 0.821753 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.18, Z:-0.57 [[ 9.99226960e-01 -3.92955284e-02 -1.15938244e-03 9.83664834e-01] [ 3.93053379e-02 9.99175040e-01 1.02141643e-02 -1.75954908e-01] [ 7.57055013e-04 -1.02518383e-02 9.99947162e-01 -5.67714948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.899072329 meters Centerline goodness : 0.819279 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.19, Z:-0.57 [[ 0.9991189 -0.04176111 -0.00417482 0.99514187] [ 0.04178869 0.99910366 0.00675161 -0.18767301] [ 0.00388912 -0.00692013 0.99996849 -0.57032912] [ 0. 0. 0. 1. ]] SLAMing on 26.929072329 meters Centerline goodness : 0.818292 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.19, Z:-0.57 [[ 0.99916766 -0.04053855 -0.0045405 0.99727317] [ 0.04057899 0.99913397 0.00920109 -0.19468924] [ 0.00416357 -0.00937768 0.99994736 -0.57227477] [ 0. 0. 0. 1. ]] SLAMing on 26.959072328999998 meters Centerline goodness : 0.816413 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.20, Z:-0.57 [[ 0.99921537 -0.03929854 -0.00492624 0.99936341] [ 0.039353 0.99915926 0.01149428 -0.20083755] [ 0.00447039 -0.01167913 0.9999218 -0.57409006] [ 0. 0. 0. 1. ]] SLAMing on 26.989072329 meters Centerline goodness : 0.817495 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.21, Z:-0.58 [[ 0.99929884 -0.03699981 -0.00573133 1.00320276] [ 0.03708263 0.99919828 0.01508871 -0.21002005] [ 0.00516845 -0.01529066 0.99986973 -0.57700434] [ 0. 0. 0. 1. ]] SLAMing on 27.019072329 meters Centerline goodness : 0.816789 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.21, Z:-0.58 [[ 0.99933147 -0.03603128 -0.00619275 1.00518669] [ 0.03612887 0.99921183 0.01644455 -0.21284646] [ 0.00559535 -0.01665729 0.9998456 -0.5783691 ] [ 0. 0. 0. 1. ]] SLAMing on 27.049072328999998 meters Centerline goodness : 0.815691 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.21, Z:-0.58 [[ 0.99935813 -0.03520157 -0.00664683 1.00702908] [ 0.03531292 0.99922389 0.0174535 -0.21462748] [ 0.00602728 -0.01767702 0.99982558 -0.57949208] [ 0. 0. 0. 1. ]] SLAMing on 27.079072329 meters Centerline goodness : 0.815342 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.22, Z:-0.58 [[ 0.99939013 -0.03415318 -0.00727477 1.00953551] [ 0.03428321 0.99923962 0.01856974 -0.21585157] [ 0.00663503 -0.01880781 0.9998011 -0.58100876] [ 0. 0. 0. 1. ]] SLAMing on 27.109072329 meters Centerline goodness : 0.813575 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.22, Z:-0.58 [[ 0.99943981 -0.03247418 -0.00809252 1.01310359] [ 0.03263198 0.99926335 0.02019664 -0.21775974] [ 0.00743069 -0.0204494 0.99976328 -0.58333301] [ 0. 0. 0. 1. ]] SLAMing on 27.139072328999998 meters Centerline goodness : 0.814582 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.22, Z:-0.58 [[ 0.99945826 -0.03180271 -0.00847213 1.01497275] [ 0.03197408 0.99926964 0.02092457 -0.21925929] [ 0.00780049 -0.02118412 0.99974516 -0.58473502] [ 0. 0. 0. 1. ]] SLAMing on 27.169072329 meters Centerline goodness : 0.815544 Centerline is valid? [False, False] Translation: X:1.02, Y:-0.22, Z:-0.59 [[ 0.99937877 -0.0340334 -0.00915392 1.01881299] [ 0.03419333 0.99925452 0.0179228 -0.2187579 ] [ 0.00853713 -0.01822467 0.99979747 -0.58714038] [ 0. 0. 0. 1. ]] SLAMing on 27.199072329 meters Centerline goodness : 0.814958 Centerline is valid? [False, False] Translation: X:1.02, Y:-0.22, Z:-0.59 [[ 0.99930642 -0.03592713 -0.00979356 1.02305219] [ 0.03607536 0.99923035 0.01540369 -0.21839875] [ 0.00923261 -0.01574631 0.99983339 -0.59023147] [ 0. 0. 0. 1. ]] SLAMing on 27.229072328999997 meters Centerline goodness : 0.814444 Centerline is valid? [False, False] Translation: X:1.03, Y:-0.22, Z:-0.59 [[ 0.9993366 -0.03489852 -0.01041417 1.02640012] [ 0.03506461 0.99925348 0.01621567 -0.21775797] [ 0.0098405 -0.01657008 0.99981428 -0.59297758] [ 0. 0. 0. 1. ]] SLAMing on 27.259072329 meters Centerline goodness : 0.815167 Centerline is valid? [False, False] Translation: X:1.03, Y:-0.22, Z:-0.59 [[ 0.99933732 -0.03476309 -0.01079087 1.02769039] [ 0.0349337 0.9992608 0.0160463 -0.215897 ] [ 0.01022508 -0.01641263 0.99981302 -0.59363696] [ 0. 0. 0. 1. ]] SLAMing on 27.289072329 meters Centerline goodness : 0.813430 Centerline is valid? [False, False] Translation: X:1.03, Y:-0.21, Z:-0.59 [[ 0.99933819 -0.03462154 -0.01115942 1.02893454] [ 0.03479777 0.99926621 0.01600482 -0.21460302] [ 0.01059712 -0.01638255 0.99980964 -0.5942482 ] [ 0. 0. 0. 1. ]] SLAMing on 27.319072329 meters Centerline goodness : 0.813255 Centerline is valid? [False, False] Translation: X:1.03, Y:-0.21, Z:-0.59 [[ 0.99933516 -0.03464429 -0.01135861 1.02962391] [ 0.03482303 0.99926643 0.01593578 -0.213689 ] [ 0.01079819 -0.01632073 0.9998085 -0.59460208] [ 0. 0. 0. 1. ]] SLAMing on 27.349072329 meters Centerline goodness : 0.813631 Centerline is valid? [False, False] Translation: X:1.03, Y:-0.21, Z:-0.60 [[ 0.99919566 -0.03829521 -0.01189594 1.0315655 ] [ 0.0384347 0.99919229 0.01172752 -0.21118106] [ 0.01143723 -0.01217531 0.99986047 -0.59505751] [ 0. 0. 0. 1. ]] SLAMing on 27.379072329 meters Centerline goodness : 0.813876 Centerline is valid? [False, False] Translation: X:1.03, Y:-0.21, Z:-0.60 [[ 0.99919755 -0.03818957 -0.01207529 1.0324043 ] [ 0.03833607 0.99919112 0.01214315 -0.21285811] [ 0.01160178 -0.01259632 0.99985335 -0.59569518] [ 0. 0. 0. 1. ]] SLAMing on 27.409072329 meters Centerline goodness : 0.814328 Centerline is valid? [False, False] Translation: X:1.04, Y:-0.21, Z:-0.60 [[ 0.99906556 -0.04131492 -0.01269198 1.03546189] [ 0.04142665 0.99910393 0.00867024 -0.21222992] [ 0.0123224 -0.00918793 0.99988186 -0.59734229] [ 0. 0. 0. 1. ]] SLAMing on 27.439072329 meters Centerline goodness : 0.813816 Centerline is valid? [False, False] Translation: X:1.04, Y:-0.21, Z:-0.60 [[ 0.9989233 -0.04445154 -0.0132777 1.03846638] [ 0.04452458 0.99899446 0.00525646 -0.21151036] [ 0.01303069 -0.00584198 0.99989803 -0.59904276] [ 0. 0. 0. 1. ]] SLAMing on 27.469072329 meters Centerline goodness : 0.814639 Centerline is valid? [False, False] Translation: X:1.05, Y:-0.21, Z:-0.60 [[ 0.99874739 -0.0495142 -0.00721121 1.05223385] [ 0.0495891 0.99871337 0.01060769 -0.2127092 ] [ 0.0066767 -0.010952 0.99991773 -0.60393413] [ 0. 0. 0. 1. ]] SLAMing on 27.499072329 meters Centerline goodness : 0.814158 Centerline is valid? [False, False] Translation: X:1.05, Y:-0.21, Z:-0.60 [[ 0.99872891 -0.04986615 -0.00734327 1.05235856] [ 0.04994473 0.9986921 0.01093711 -0.2139615 ] [ 0.00678827 -0.01128996 0.99991322 -0.60383738] [ 0. 0. 0. 1. ]] SLAMing on 27.529072328999998 meters Centerline goodness : 0.814387 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.22, Z:-0.61 [[ 9.98567587e-01 -5.34713534e-02 -1.89409629e-03 1.06772060e+00] [ 5.34963199e-02 9.98415428e-01 1.74578839e-02 -2.17367920e-01] [ 9.57598279e-04 -1.75342042e-02 9.99845805e-01 -6.09203450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.559072329 meters Centerline goodness : 0.815115 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.22, Z:-0.61 [[ 9.98342370e-01 -5.75260239e-02 -1.80798509e-03 1.06804306e+00] [ 5.75451719e-02 9.98252554e-01 1.34309754e-02 -2.17177153e-01] [ 1.03219512e-03 -1.35127526e-02 9.99908166e-01 -6.08987773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.589072329 meters Centerline goodness : 0.815635 Centerline is valid? [False, False] Translation: X:1.09, Y:-0.22, Z:-0.61 [[ 0.99784886 -0.06553946 0.00149402 1.08895338] [ 0.06551397 0.99776334 0.01327556 -0.22076517] [-0.00236075 -0.01314912 0.99991076 -0.61155184] [ 0. 0. 0. 1. ]] SLAMing on 27.619072328999998 meters Centerline goodness : 0.815976 Centerline is valid? [False, False] Translation: X:1.11, Y:-0.22, Z:-0.62 [[ 0.99748227 -0.07077428 0.00448648 1.10954238] [ 0.07069209 0.99736341 0.01639705 -0.22496731] [-0.00563514 -0.01603861 0.99985549 -0.61572952] [ 0. 0. 0. 1. ]] SLAMing on 27.649072329 meters Centerline goodness : 0.814970 Centerline is valid? [False, False] Translation: X:1.12, Y:-0.23, Z:-0.62 [[ 0.99693019 -0.07775185 0.00921163 1.1242808 ] [ 0.0775483 0.99677353 0.02070746 -0.22894169] [-0.01079195 -0.01992954 0.99974314 -0.62159396] [ 0. 0. 0. 1. ]] SLAMing on 27.679072329 meters Centerline goodness : 0.816603 Centerline is valid? [False, False] Translation: X:1.12, Y:-0.24, Z:-0.61 [[ 9.96505723e-01 -8.34996493e-02 -2.03781375e-03 1.12051139e+00] [ 8.35244226e-02 9.96243749e-01 2.28487099e-02 -2.39636048e-01] [ 1.22299939e-04 -2.29390774e-02 9.99736857e-01 -6.14920220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.709072328999998 meters Centerline goodness : 0.818897 Centerline is valid? [False, False] Translation: X:1.12, Y:-0.25, Z:-0.61 [[ 0.9965555 -0.08158355 -0.01487473 1.11691659] [ 0.08200021 0.99618177 0.02996411 -0.24627559] [ 0.01237335 -0.03108063 0.99944029 -0.60706072] [ 0. 0. 0. 1. ]] SLAMing on 27.739072329 meters Centerline goodness : 0.819320 Centerline is valid? [False, False] Translation: X:1.11, Y:-0.25, Z:-0.60 [[ 0.9964938 -0.07873603 -0.02829744 1.11325751] [ 0.07973819 0.99615732 0.03622717 -0.251439 ] [ 0.02533632 -0.03835654 0.99894286 -0.59818676] [ 0. 0. 0. 1. ]] SLAMing on 27.769072329 meters Centerline goodness : 0.820276 Centerline is valid? [False, False] Translation: X:1.11, Y:-0.26, Z:-0.60 [[ 0.996407 -0.0795053 -0.02918886 1.11487946] [ 0.08059819 0.99600681 0.03839748 -0.25577772] [ 0.0260195 -0.04061209 0.99883614 -0.59592028] [ 0. 0. 0. 1. ]] SLAMing on 27.799072328999998 meters Centerline goodness : 0.821063 Centerline is valid? [False, False] Translation: X:1.12, Y:-0.26, Z:-0.60 [[ 0.99640214 -0.07950581 -0.02935299 1.11534372] [ 0.08062412 0.99597684 0.03911379 -0.25841251] [ 0.02612512 -0.04133962 0.99880354 -0.59553939] [ 0. 0. 0. 1. ]] SLAMing on 27.829072329 meters Centerline goodness : 0.821063 Centerline is valid? [False, False] Translation: X:1.12, Y:-0.26, Z:-0.60 [[ 0.99640214 -0.07950581 -0.02935299 1.11534372] [ 0.08062412 0.99597684 0.03911379 -0.25841251] [ 0.02612512 -0.04133962 0.99880354 -0.59553939] [ 0. 0. 0. 1. ]] SLAMing on 27.859072329 meters Centerline goodness : 0.821753 Centerline is valid? [False, False] Translation: X:1.12, Y:-0.26, Z:-0.60 [[ 0.9963767 -0.07960554 -0.02994045 1.11705369] [ 0.08078097 0.99591504 0.04034431 -0.26154678] [ 0.02660652 -0.04261675 0.99873716 -0.59534561] [ 0. 0. 0. 1. ]] SLAMing on 27.889072328999998 meters Centerline goodness : 0.821900 Centerline is valid? [False, False] Translation: X:1.12, Y:-0.26, Z:-0.60 [[ 0.99611232 -0.08288501 -0.02983825 1.11735754] [ 0.0839619 0.99578723 0.03685364 -0.26214117] [ 0.02665793 -0.03921564 0.99887511 -0.59518897] [ 0. 0. 0. 1. ]] SLAMing on 27.919072329 meters Centerline goodness : 0.821918 Centerline is valid? [False, False] Translation: X:1.12, Y:-0.26, Z:-0.60 [[ 0.99583466 -0.08617495 -0.02978621 1.11813927] [ 0.08715572 0.9956358 0.03336517 -0.26270145] [ 0.02678098 -0.03582223 0.99899927 -0.59553479] [ 0. 0. 0. 1. ]] SLAMing on 27.949072329 meters Centerline goodness : 0.821486 Centerline is valid? [False, False] Translation: X:1.12, Y:-0.27, Z:-0.60 [[ 0.99558524 -0.08908728 -0.02955483 1.11849456] [ 0.08998706 0.99547107 0.03065425 -0.26527187] [ 0.02669007 -0.03317847 0.999093 -0.59549869] [ 0. 0. 0. 1. ]] SLAMing on 27.979072328999997 meters Centerline goodness : 0.821946 Centerline is valid? [False, False] Translation: X:1.12, Y:-0.27, Z:-0.59 [[ 0.99560393 -0.0887003 -0.0300845 1.1195408 ] [ 0.08965002 0.99546421 0.03184152 -0.26711275] [ 0.02712369 -0.03439862 0.99904006 -0.59483461] [ 0. 0. 0. 1. ]] SLAMing on 28.009072329 meters Centerline goodness : 0.824819 Centerline is valid? [False, False] Translation: X:1.12, Y:-0.27, Z:-0.59 [[ 0.99563357 -0.08829547 -0.03029348 1.11930731] [ 0.08927776 0.9954676 0.03276801 -0.26843408] [ 0.02726291 -0.03532947 0.99900379 -0.59346059] [ 0. 0. 0. 1. ]] SLAMing on 28.039072329 meters Centerline goodness : 0.827510 Centerline is valid? [False, False] Translation: X:1.12, Y:-0.27, Z:-0.59 [[ 0.99572095 -0.08728069 -0.0303623 1.11820581] [ 0.08829947 0.99551328 0.03400752 -0.27013034] [ 0.02725787 -0.03654298 0.99896027 -0.59138058] [ 0. 0. 0. 1. ]] SLAMing on 28.069072329 meters Centerline goodness : 0.827158 Centerline is valid? [False, False] Translation: X:1.12, Y:-0.27, Z:-0.59 [[ 0.9957791 -0.08655041 -0.03054526 1.1186629 ] [ 0.08760003 0.99554484 0.03488132 -0.27148774] [ 0.02739018 -0.03740986 0.99892456 -0.59126749] [ 0. 0. 0. 1. ]] SLAMing on 28.099072329 meters Centerline goodness : 0.830978 Centerline is valid? [False, False] Translation: X:1.11, Y:-0.27, Z:-0.59 [[ 0.99606048 -0.08182496 -0.03417879 1.10842816] [ 0.08284364 0.99612486 0.02953304 -0.27339983] [ 0.0316298 -0.03224819 0.99897928 -0.58566558] [ 0. 0. 0. 1. ]] SLAMing on 28.129072329 meters Centerline goodness : 0.830447 Centerline is valid? [False, False] Translation: X:1.11, Y:-0.27, Z:-0.59 [[ 0.99606991 -0.08152521 -0.03461761 1.10947679] [ 0.08258277 0.99612337 0.03030367 -0.27454221] [ 0.0320129 -0.03304339 0.99894109 -0.58544186] [ 0. 0. 0. 1. ]] SLAMing on 28.159072329 meters Centerline goodness : 0.833569 Centerline is valid? [False, False] Translation: X:1.11, Y:-0.28, Z:-0.58 [[ 0.99607925 -0.08119703 -0.03511642 1.11044004] [ 0.08229678 0.99612268 0.03109418 -0.27525074] [ 0.03245551 -0.03386223 0.99889939 -0.5849684 ] [ 0. 0. 0. 1. ]] SLAMing on 28.189072329 meters Centerline goodness : 0.833838 Centerline is valid? [False, False] Translation: X:1.11, Y:-0.27, Z:-0.58 [[ 0.99602773 -0.08162406 -0.03558487 1.11090394] [ 0.08274147 0.99608418 0.03114717 -0.27473577] [ 0.03290317 -0.03396779 0.99888116 -0.58387218] [ 0. 0. 0. 1. ]] SLAMing on 28.219072329 meters Centerline goodness : 0.834619 Centerline is valid? [False, False] Translation: X:1.11, Y:-0.28, Z:-0.58 [[ 0.99597106 -0.08199381 -0.03631339 1.11216329] [ 0.08315296 0.99603408 0.03164966 -0.27502971] [ 0.0335743 -0.03454171 0.99883914 -0.58288147] [ 0. 0. 0. 1. ]] SLAMing on 28.249072329 meters Centerline goodness : 0.835222 Centerline is valid? [False, False] Translation: X:1.11, Y:-0.28, Z:-0.58 [[ 0.99590727 -0.08249155 -0.03693043 1.11282663] [ 0.08372293 0.99593791 0.03313826 -0.27789178] [ 0.03404679 -0.03609455 0.99876824 -0.58066625] [ 0. 0. 0. 1. ]] SLAMing on 28.279072328999998 meters Centerline goodness : 0.836398 Centerline is valid? [False, False] Translation: X:1.11, Y:-0.28, Z:-0.58 [[ 0.99585118 -0.0829268 -0.03746419 1.11345239] [ 0.08420529 0.99587017 0.03394209 -0.27893392] [ 0.03449476 -0.03695596 0.99872137 -0.57913002] [ 0. 0. 0. 1. ]] SLAMing on 28.309072329 meters Centerline goodness : 0.836543 Centerline is valid? [False, False] Translation: X:1.11, Y:-0.28, Z:-0.58 [[ 0.99577755 -0.08346675 -0.03821483 1.11482058] [ 0.0848021 0.9957911 0.03476616 -0.27955295] [ 0.03515216 -0.03786006 0.99866458 -0.57792111] [ 0. 0. 0. 1. ]] SLAMing on 28.339072329 meters Centerline goodness : 0.834595 Centerline is valid? [False, False] Translation: X:1.12, Y:-0.28, Z:-0.58 [[ 0.99568544 -0.08411192 -0.03918797 1.11730738] [ 0.08551284 0.99570234 0.0355584 -0.28020741] [ 0.03602867 -0.03875605 0.99859897 -0.5776034 ] [ 0. 0. 0. 1. ]] SLAMing on 28.369072328999998 meters Centerline goodness : 0.834782 Centerline is valid? [False, False] Translation: X:1.12, Y:-0.28, Z:-0.58 [[ 0.99523576 -0.08892033 -0.03998685 1.12076861] [ 0.09021593 0.99541272 0.03185297 -0.27991659] [ 0.03697104 -0.03530867 0.99869237 -0.57826814] [ 0. 0. 0. 1. ]] SLAMing on 28.399072329 meters Centerline goodness : 0.833998 Centerline is valid? [False, False] Translation: X:1.12, Y:-0.28, Z:-0.57 [[ 0.9948074 -0.08726023 -0.05238214 1.11664986] [ 0.08892468 0.9955765 0.03032883 -0.28220951] [ 0.04950393 -0.03482941 0.99816646 -0.57147892] [ 0. 0. 0. 1. ]] SLAMing on 28.429072329 meters Centerline goodness : 0.835766 Centerline is valid? [False, False] Translation: X:1.12, Y:-0.28, Z:-0.57 [[ 0.99448156 -0.09076476 -0.05261362 1.11865727] [ 0.09225229 0.99538125 0.02656467 -0.2809447 ] [ 0.04995948 -0.0312718 0.99826155 -0.5726659 ] [ 0. 0. 0. 1. ]] SLAMing on 28.459072328999998 meters Centerline goodness : 0.836681 Centerline is valid? [False, False] Translation: X:1.12, Y:-0.28, Z:-0.57 [[ 0.99427369 -0.09209959 -0.05419873 1.12212402] [ 0.09366721 0.99523396 0.02712612 -0.28046017] [ 0.05144212 -0.03204743 0.99816165 -0.57165205] [ 0. 0. 0. 1. ]] SLAMing on 28.489072329 meters Centerline goodness : 0.836953 Centerline is valid? [False, False] Translation: X:1.12, Y:-0.28, Z:-0.57 [[ 0.99422848 -0.0924884 -0.05436563 1.1212144 ] [ 0.09404392 0.99520778 0.02678094 -0.27827514] [ 0.05162817 -0.03173913 0.99816189 -0.56978592] [ 0. 0. 0. 1. ]] SLAMing on 28.519072329 meters Centerline goodness : 0.839441 Centerline is valid? [False, False] Translation: X:1.12, Y:-0.28, Z:-0.57 [[ 0.99442592 -0.08959634 -0.05558407 1.12220564] [ 0.09142718 0.99531928 0.03131467 -0.27805906] [ 0.05251822 -0.03622201 0.99796283 -0.56759448] [ 0. 0. 0. 1. ]] SLAMing on 28.549072328999998 meters Centerline goodness : 0.840634 Centerline is valid? [False, False] Translation: X:1.12, Y:-0.28, Z:-0.57 [[ 0.99440419 -0.08958348 -0.05599206 1.12149176] [ 0.09142235 0.99532374 0.03118662 -0.27534207] [ 0.05293642 -0.03613104 0.99794403 -0.56542464] [ 0. 0. 0. 1. ]] SLAMing on 28.579072329 meters Centerline goodness : 0.841426 Centerline is valid? [False, False] Translation: X:1.12, Y:-0.27, Z:-0.56 [[ 0.99437148 -0.09011469 -0.05571983 1.11992963] [ 0.09186294 0.99533017 0.02964879 -0.27122793] [ 0.05278784 -0.0346005 0.99800614 -0.56449968] [ 0. 0. 0. 1. ]] SLAMing on 28.609072329 meters Centerline goodness : 0.840992 Centerline is valid? [False, False] Translation: X:1.12, Y:-0.27, Z:-0.57 [[ 0.99434861 -0.0900178 -0.05628183 1.12225347] [ 0.0917872 0.9953362 0.02968095 -0.27114442] [ 0.05334753 -0.03467916 0.99797365 -0.56602159] [ 0. 0. 0. 1. ]] SLAMing on 28.639072328999998 meters Centerline goodness : 0.840769 Centerline is valid? [False, False] Translation: X:1.12, Y:-0.27, Z:-0.57 [[ 0.99409849 -0.09268771 -0.05636653 1.12460383] [ 0.09424121 0.99522144 0.02555149 -0.26879285] [ 0.05372887 -0.03071275 0.99808313 -0.56868369] [ 0. 0. 0. 1. ]] SLAMing on 28.669072329 meters Centerline goodness : 0.840738 Centerline is valid? [False, False] Translation: X:1.13, Y:-0.27, Z:-0.57 [[ 0.99401533 -0.09335218 -0.05673533 1.12613451] [ 0.09489253 0.99517142 0.02508508 -0.26845728] [ 0.05411963 -0.03031871 0.99807407 -0.56951738] [ 0. 0. 0. 1. ]] SLAMing on 28.699072329 meters Centerline goodness : 0.842299 Centerline is valid? [False, False] Translation: X:1.13, Y:-0.27, Z:-0.57 [[ 0.99383122 -0.09448417 -0.05807113 1.12890461] [ 0.09609156 0.99504494 0.02553406 -0.26698159] [ 0.05537082 -0.03095669 0.99798585 -0.56858469] [ 0. 0. 0. 1. ]] SLAMing on 28.729072328999997 meters Centerline goodness : 0.843139 Centerline is valid? [False, False] Translation: X:1.13, Y:-0.27, Z:-0.57 [[ 0.99367206 -0.09537197 -0.05932978 1.13063555] [ 0.09705939 0.99493276 0.02623492 -0.26570438] [ 0.05652707 -0.03182742 0.99789363 -0.56638751] [ 0. 0. 0. 1. ]] SLAMing on 28.759072329 meters Centerline goodness : 0.843571 Centerline is valid? [False, False] Translation: X:1.13, Y:-0.26, Z:-0.56 [[ 0.993459 -0.09688943 -0.06042897 1.13027801] [ 0.09862994 0.99477099 0.02651055 -0.26223025] [ 0.05754439 -0.03229724 0.99782039 -0.56198667] [ 0. 0. 0. 1. ]] SLAMing on 28.789072329 meters Centerline goodness : 0.843061 Centerline is valid? [False, False] Translation: X:1.13, Y:-0.26, Z:-0.56 [[ 0.99348925 -0.09646094 -0.06061682 1.13119226] [ 0.09822118 0.99480486 0.02675612 -0.262343 ] [ 0.05772098 -0.03253577 0.99780244 -0.56264561] [ 0. 0. 0. 1. ]] SLAMing on 28.819072328999997 meters Centerline goodness : 0.844374 Centerline is valid? [False, False] Translation: X:1.13, Y:-0.26, Z:-0.56 [[ 0.99355896 -0.09576888 -0.06057154 1.13179763] [ 0.09753795 0.99486684 0.02695026 -0.26338923] [ 0.05767962 -0.0326847 0.99779997 -0.56374176] [ 0. 0. 0. 1. ]] SLAMing on 28.849072329 meters Centerline goodness : 0.843723 Centerline is valid? [False, False] Translation: X:1.13, Y:-0.26, Z:-0.56 [[ 0.99359859 -0.09525212 -0.06073608 1.13266616] [ 0.09704166 0.99490797 0.02722205 -0.26464634] [ 0.05783385 -0.03294172 0.99778259 -0.56442245] [ 0. 0. 0. 1. ]] SLAMing on 28.879072329 meters Centerline goodness : 0.844076 Centerline is valid? [False, False] Translation: X:1.13, Y:-0.27, Z:-0.56 [[ 0.9935793 -0.09510421 -0.06128098 1.13409788] [ 0.09695065 0.99489834 0.02789027 -0.26524969] [ 0.05831586 -0.03365243 0.99773081 -0.56439485] [ 0. 0. 0. 1. ]] SLAMing on 28.909072329 meters Centerline goodness : 0.842898 Centerline is valid? [False, False] Translation: X:1.13, Y:-0.26, Z:-0.56 [[ 0.99344795 -0.09606334 -0.06191127 1.13497957] [ 0.09792062 0.99480891 0.02769084 -0.26295862] [ 0.05892981 -0.0335718 0.99769745 -0.56340692] [ 0. 0. 0. 1. ]] SLAMing on 28.939072329 meters Centerline goodness : 0.842690 Centerline is valid? [False, False] Translation: X:1.14, Y:-0.26, Z:-0.56 [[ 0.99338914 -0.09601496 -0.06292179 1.13827091] [ 0.09793675 0.99479307 0.02819827 -0.26245752] [ 0.0598867 -0.03417421 0.99762002 -0.56453218] [ 0. 0. 0. 1. ]] SLAMing on 28.969072329 meters Centerline goodness : 0.842302 Centerline is valid? [False, False] Translation: X:1.14, Y:-0.26, Z:-0.57 [[ 0.99313406 -0.09902477 -0.06228024 1.13770133] [ 0.10065756 0.99464019 0.02364206 -0.26029561] [ 0.05960528 -0.02974872 0.99777864 -0.56535272] [ 0. 0. 0. 1. ]] SLAMing on 28.999072329 meters Centerline goodness : 0.841473 Centerline is valid? [False, False] Translation: X:1.14, Y:-0.26, Z:-0.57 [[ 0.99313867 -0.09863632 -0.06282091 1.14044387] [ 0.10030527 0.9946676 0.02398386 -0.26166669] [ 0.06012025 -0.03012056 0.99773659 -0.56732427] [ 0. 0. 0. 1. ]] SLAMing on 29.029072328999998 meters Centerline goodness : 0.841140 Centerline is valid? [False, False] Translation: X:1.14, Y:-0.26, Z:-0.57 [[ 0.99331312 -0.09716703 -0.0623507 1.14012644] [ 0.09886064 0.99479541 0.02467099 -0.26417097] [ 0.05962898 -0.03067004 0.99774933 -0.56838043] [ 0. 0. 0. 1. ]] SLAMing on 29.059072329 meters Centerline goodness : 0.843552 Centerline is valid? [False, False] Translation: X:1.14, Y:-0.26, Z:-0.57 [[ 0.99336662 -0.09664214 -0.06231411 1.13921897] [ 0.09835105 0.99483874 0.02495916 -0.26402027] [ 0.05958039 -0.03092226 0.99774445 -0.56719579] [ 0. 0. 0. 1. ]] SLAMing on 29.089072329 meters Centerline goodness : 0.845005 Centerline is valid? [False, False] Translation: X:1.14, Y:-0.26, Z:-0.56 [[ 0.99369218 -0.09310745 -0.06250482 1.13626314] [ 0.09506141 0.9950476 0.02904484 -0.26276443] [ 0.05949098 -0.03480343 0.99762194 -0.56328715] [ 0. 0. 0. 1. ]] SLAMing on 29.119072328999998 meters Centerline goodness : 0.845146 Centerline is valid? [False, False] Translation: X:1.14, Y:-0.26, Z:-0.56 [[ 0.99395849 -0.0896304 -0.06334761 1.1373474 ] [ 0.09186749 0.99521343 0.0333256 -0.26309864] [ 0.06005741 -0.03894384 0.99743495 -0.56279575] [ 0. 0. 0. 1. ]] SLAMing on 29.149072329 meters Centerline goodness : 0.845001 Centerline is valid? [False, False] Translation: X:1.14, Y:-0.26, Z:-0.56 [[ 0.99401465 -0.08915559 -0.06313596 1.13658807] [ 0.09133753 0.99528772 0.03255483 -0.26126963] [ 0.059936 -0.03812666 0.99747383 -0.56295414] [ 0. 0. 0. 1. ]] SLAMing on 29.179072329 meters Centerline goodness : 0.845029 Centerline is valid? [False, False] Translation: X:1.14, Y:-0.26, Z:-0.56 [[ 0.9941574 -0.08792572 -0.06261103 1.13565401] [ 0.09007228 0.99541054 0.0323239 -0.26071777] [ 0.05948158 -0.03777456 0.99751442 -0.56381767] [ 0. 0. 0. 1. ]] SLAMing on 29.209072328999998 meters Centerline goodness : 0.845067 Centerline is valid? [False, False] Translation: X:1.13, Y:-0.26, Z:-0.57 [[ 0.99458045 -0.08427867 -0.06088381 1.13195379] [ 0.08629881 0.99577607 0.03134541 -0.25914914] [ 0.0579849 -0.03642974 0.99765256 -0.56556656] [ 0. 0. 0. 1. ]] SLAMing on 29.239072329 meters Centerline goodness : 0.849193 Centerline is valid? [False, False] Translation: X:1.13, Y:-0.26, Z:-0.57 [[ 0.99480958 -0.08226039 -0.05989271 1.12892991] [ 0.08420509 0.9959754 0.03070011 -0.25749952] [ 0.05712626 -0.03558404 0.99773261 -0.56556257] [ 0. 0. 0. 1. ]] SLAMing on 29.269072329 meters Centerline goodness : 0.850641 Centerline is valid? [False, False] Translation: X:1.13, Y:-0.25, Z:-0.57 [[ 0.9950077 -0.08050227 -0.0589835 1.12586075] [ 0.08236153 0.99615701 0.02979565 -0.2547788 ] [ 0.05635821 -0.03450487 0.99781419 -0.56506903] [ 0. 0. 0. 1. ]] SLAMing on 29.299072328999998 meters Centerline goodness : 0.851147 Centerline is valid? [False, False] Translation: X:1.13, Y:-0.26, Z:-0.57 [[ 0.99536309 -0.07559491 -0.05947885 1.12653826] [ 0.07773372 0.99637691 0.03450397 -0.25562271] [ 0.05665503 -0.03896749 0.99763307 -0.56532783] [ 0. 0. 0. 1. ]] SLAMing on 29.329072329 meters Centerline goodness : 0.851768 Centerline is valid? [False, False] Translation: X:1.12, Y:-0.25, Z:-0.57 [[ 0.9956798 -0.07260145 -0.05788586 1.12206277] [ 0.07462971 0.99664239 0.03368031 -0.25381228] [ 0.05524626 -0.0378548 0.99775491 -0.5654813 ] [ 0. 0. 0. 1. ]] SLAMing on 29.359072329 meters Centerline goodness : 0.849943 Centerline is valid? [False, False] Translation: X:1.12, Y:-0.25, Z:-0.57 [[ 0.99578356 -0.07153648 -0.05742505 1.12124008] [ 0.07353595 0.99673 0.03349297 -0.25423272] [ 0.05484131 -0.03757455 0.99778785 -0.56622451] [ 0. 0. 0. 1. ]] SLAMing on 29.389072328999998 meters Centerline goodness : 0.852156 Centerline is valid? [False, False] Translation: X:1.12, Y:-0.26, Z:-0.57 [[ 0.99589706 -0.0700968 -0.05723182 1.12112464] [ 0.07212009 0.99681337 0.03408517 -0.25502688] [ 0.05466018 -0.03807289 0.99777889 -0.5670288 ] [ 0. 0. 0. 1. ]] SLAMing on 29.419072329 meters Centerline goodness : 0.853406 Centerline is valid? [False, False] Translation: X:1.12, Y:-0.26, Z:-0.57 [[ 0.99609808 -0.06764921 -0.05667631 1.11936537] [ 0.0697559 0.99691236 0.03605368 -0.25710202] [ 0.05406231 -0.03986651 0.99774141 -0.56602485] [ 0. 0. 0. 1. ]] SLAMing on 29.449072329 meters Centerline goodness : 0.852623 Centerline is valid? [False, False] Translation: X:1.12, Y:-0.26, Z:-0.57 [[ 0.99612877 -0.06734774 -0.05649558 1.11909108] [ 0.06945589 0.99692731 0.03621902 -0.2576901 ] [ 0.05388272 -0.04000276 0.99774567 -0.56585811] [ 0. 0. 0. 1. ]] SLAMing on 29.479072328999997 meters Centerline goodness : 0.853432 Centerline is valid? [False, False] Translation: X:1.12, Y:-0.26, Z:-0.57 [[ 0.99614174 -0.06723477 -0.05640145 1.11873776] [ 0.06935587 0.99692289 0.03653102 -0.25914584] [ 0.05377174 -0.04030185 0.99773963 -0.56554391] [ 0. 0. 0. 1. ]] SLAMing on 29.509072329 meters Centerline goodness : 0.853131 Centerline is valid? [False, False] Translation: X:1.12, Y:-0.26, Z:-0.57 [[ 0.99615288 -0.06710884 -0.05635466 1.11865695] [ 0.0692643 0.99690429 0.03720607 -0.26202215] [ 0.05368335 -0.0409663 0.99771732 -0.56552295] [ 0. 0. 0. 1. ]] SLAMing on 29.539072329 meters Centerline goodness : 0.852060 Centerline is valid? [False, False] Translation: X:1.12, Y:-0.27, Z:-0.57 [[ 0.99592716 -0.07041419 -0.05631103 1.12004282] [ 0.0724355 0.99676942 0.03469599 -0.26692923] [ 0.05368602 -0.0386336 0.99781023 -0.56621609] [ 0. 0. 0. 1. ]] SLAMing on 29.569072328999997 meters Centerline goodness : 0.851188 Centerline is valid? [False, False] Translation: X:1.12, Y:-0.27, Z:-0.57 [[ 0.99592259 -0.07043441 -0.05636654 1.12031784] [ 0.07250555 0.99673311 0.03558159 -0.27078155] [ 0.05367623 -0.0395234 0.99777591 -0.56635686] [ 0. 0. 0. 1. ]] SLAMing on 29.599072329 meters Centerline goodness : 0.850157 Centerline is valid? [False, False] Translation: X:1.12, Y:-0.27, Z:-0.57 [[ 0.99591739 -0.07045343 -0.05643465 1.12041081] [ 0.07257296 0.99669756 0.03643 -0.27424561] [ 0.05368166 -0.0403769 0.99774144 -0.56634575] [ 0. 0. 0. 1. ]] SLAMing on 29.629072329 meters Centerline goodness : 0.849633 Centerline is valid? [False, False] Translation: X:1.12, Y:-0.28, Z:-0.57 [[ 0.99591459 -0.07053087 -0.05638734 1.1202701 ] [ 0.07268498 0.99666438 0.03710795 -0.27734231] [ 0.053582 -0.04105486 0.99771913 -0.56631861] [ 0. 0. 0. 1. ]] SLAMing on 29.659072329 meters Centerline goodness : 0.847871 Centerline is valid? [False, False] Translation: X:1.12, Y:-0.28, Z:-0.57 [[ 0.9955358 -0.07528953 -0.0569207 1.12232952] [ 0.07736604 0.9963812 0.03519957 -0.28217281] [ 0.05406456 -0.03944616 0.997758 -0.56506961] [ 0. 0. 0. 1. ]] SLAMing on 29.689072329 meters Centerline goodness : 0.848005 Centerline is valid? [False, False] Translation: X:1.12, Y:-0.29, Z:-0.57 [[ 0.99545089 -0.07598908 -0.05747334 1.12466109] [ 0.07816266 0.99626987 0.03656418 -0.28703742] [ 0.05448048 -0.04089011 0.99767724 -0.56524818] [ 0. 0. 0. 1. ]] SLAMing on 29.719072329 meters Centerline goodness : 0.848005 Centerline is valid? [False, False] Translation: X:1.12, Y:-0.29, Z:-0.57 [[ 0.99545089 -0.07598908 -0.05747334 1.12466109] [ 0.07816266 0.99626987 0.03656418 -0.28703742] [ 0.05448048 -0.04089011 0.99767724 -0.56524818] [ 0. 0. 0. 1. ]] SLAMing on 29.749072329 meters Centerline goodness : 0.847086 Centerline is valid? [False, False] Translation: X:1.12, Y:-0.29, Z:-0.57 [[ 0.99520104 -0.07953141 -0.05700569 1.12467405] [ 0.08150431 0.99612125 0.0331588 -0.28944763] [ 0.05414741 -0.03764588 0.99782305 -0.5655348 ] [ 0. 0. 0. 1. ]] SLAMing on 29.779072328999998 meters Centerline goodness : 0.848878 Centerline is valid? [False, False] Translation: X:1.13, Y:-0.30, Z:-0.57 [[ 0.99484415 -0.08302212 -0.05824471 1.13054042] [ 0.08496415 0.99587979 0.03169436 -0.2953983 ] [ 0.05537339 -0.03647966 0.99779909 -0.56781433] [ 0. 0. 0. 1. ]] SLAMing on 29.809072329 meters Centerline goodness : 0.847056 Centerline is valid? [False, False] Translation: X:1.13, Y:-0.30, Z:-0.57 [[ 0.99453108 -0.08683428 -0.05803227 1.13128852] [ 0.08854333 0.99569117 0.02755316 -0.2950704 ] [ 0.05538966 -0.03254085 0.99793441 -0.56869285] [ 0. 0. 0. 1. ]] SLAMing on 29.839072329 meters Centerline goodness : 0.845431 Centerline is valid? [False, False] Translation: X:1.13, Y:-0.30, Z:-0.57 [[ 0.99423518 -0.09023094 -0.05792046 1.13241705] [ 0.09174427 0.99549291 0.02401782 -0.29565648] [ 0.05549225 -0.02919323 0.99803225 -0.56958031] [ 0. 0. 0. 1. ]] SLAMing on 29.869072328999998 meters Centerline goodness : 0.843077 Centerline is valid? [False, False] Translation: X:1.14, Y:-0.30, Z:-0.57 [[ 0.99385908 -0.09357559 -0.05905706 1.13769279] [ 0.0950416 0.99521861 0.02251692 -0.30081682] [ 0.05666765 -0.02799152 0.99800063 -0.5713492 ] [ 0. 0. 0. 1. ]] SLAMing on 29.899072329 meters Centerline goodness : 0.841807 Centerline is valid? [False, False] Translation: X:1.14, Y:-0.30, Z:-0.57 [[ 0.993538 -0.09698229 -0.05896338 1.13868346] [ 0.09826568 0.99497375 0.01926382 -0.30202629] [ 0.05679877 -0.02493341 0.99807426 -0.5717202 ] [ 0. 0. 0. 1. ]] SLAMing on 29.929072329 meters Centerline goodness : 0.838707 Centerline is valid? [False, False] Translation: X:1.14, Y:-0.31, Z:-0.57 [[ 0.99354015 -0.09630797 -0.06002291 1.1422936 ] [ 0.09775906 0.99497306 0.02172021 -0.30686433] [ 0.05762935 -0.02744769 0.99796066 -0.57247238] [ 0. 0. 0. 1. ]] SLAMing on 29.959072328999998 meters Centerline goodness : 0.840305 Centerline is valid? [False, False] Translation: X:1.15, Y:-0.31, Z:-0.57 [[ 0.99336734 -0.09789375 -0.06031702 1.14515379] [ 0.09923422 0.99487032 0.01963704 -0.30891636] [ 0.05808526 -0.02549231 0.99798609 -0.57452976] [ 0. 0. 0. 1. ]] SLAMing on 29.989072329 meters Centerline goodness : 0.839524 Centerline is valid? [False, False] Translation: X:1.15, Y:-0.32, Z:-0.58 [[ 0.99351545 -0.09616191 -0.06066242 1.1490675 ] [ 0.09760376 0.99499817 0.02126395 -0.31671296] [ 0.05831422 -0.02704695 0.99793182 -0.57793788] [ 0. 0. 0. 1. ]] SLAMing on 30.019072329 meters Centerline goodness : 0.838841 Centerline is valid? [False, False] Translation: X:1.15, Y:-0.32, Z:-0.58 [[ 0.99353942 -0.09543059 -0.06142007 1.15176164] [ 0.09696786 0.99503207 0.02254786 -0.31974439] [ 0.05896318 -0.02835796 0.99785729 -0.57892945] [ 0. 0. 0. 1. ]] SLAMing on 30.049072328999998 meters Centerline goodness : 0.838512 Centerline is valid? [False, False] Translation: X:1.15, Y:-0.32, Z:-0.58 [[ 0.99358797 -0.09447089 -0.06211442 1.15429758] [ 0.09610497 0.99508515 0.02386168 -0.32188995] [ 0.0595549 -0.02967818 0.99778375 -0.57997547] [ 0. 0. 0. 1. ]] SLAMing on 30.079072329 meters Centerline goodness : 0.837449 Centerline is valid? [False, False] Translation: X:1.15, Y:-0.32, Z:-0.58 [[ 0.99362215 -0.09401991 -0.06225172 1.15460676] [ 0.0956754 0.99511928 0.02416266 -0.32228747] [ 0.05967611 -0.02996451 0.99776795 -0.57995499] [ 0. 0. 0. 1. ]] SLAMing on 30.109072329 meters Centerline goodness : 0.836731 Centerline is valid? [False, False] Translation: X:1.16, Y:-0.33, Z:-0.58 [[ 0.99400951 -0.08917331 -0.06319186 1.15656883] [ 0.09117797 0.99539526 0.0295779 -0.32573372] [ 0.06026332 -0.03516242 0.997563 -0.58043458] [ 0. 0. 0. 1. ]] SLAMing on 30.139072328999998 meters Centerline goodness : 0.834998 Centerline is valid? [False, False] Translation: X:1.16, Y:-0.33, Z:-0.58 [[ 0.99405626 -0.08817414 -0.06385517 1.15910888] [ 0.09022637 0.99546945 0.0299963 -0.32619979] [ 0.06092097 -0.03557943 0.99750827 -0.58206646] [ 0. 0. 0. 1. ]] SLAMing on 30.169072329 meters Centerline goodness : 0.834195 Centerline is valid? [False, False] Translation: X:1.16, Y:-0.33, Z:-0.58 [[ 0.99432762 -0.08408157 -0.06513734 1.16279467] [ 0.08649124 0.99563419 0.0350973 -0.32959445] [ 0.06190193 -0.04053202 0.9972589 -0.58344628] [ 0. 0. 0. 1. ]] SLAMing on 30.199072329 meters Centerline goodness : 0.833129 Centerline is valid? [False, False] Translation: X:1.17, Y:-0.33, Z:-0.59 [[ 0.99441017 -0.08229266 -0.06615378 1.16714736] [ 0.08476864 0.99576697 0.03553067 -0.32962979] [ 0.06294984 -0.04093982 0.99717664 -0.58679985] [ 0. 0. 0. 1. ]] SLAMing on 30.229072328999997 meters Centerline goodness : 0.831283 Centerline is valid? [False, False] Translation: X:1.17, Y:-0.33, Z:-0.59 [[ 0.9944615 -0.08172334 -0.06608804 1.16695452] [ 0.08419091 0.99581877 0.03545239 -0.32931532] [ 0.06291443 -0.04082005 0.99718378 -0.58695013] [ 0. 0. 0. 1. ]] SLAMing on 30.259072329 meters Centerline goodness : 0.830992 Centerline is valid? [False, False] Translation: X:1.17, Y:-0.33, Z:-0.59 [[ 0.99450268 -0.08131352 -0.06597372 1.16627039] [ 0.08376394 0.99586148 0.03526342 -0.32840519] [ 0.06283329 -0.04059579 0.99719805 -0.58653433] [ 0. 0. 0. 1. ]] SLAMing on 30.289072329 meters Centerline goodness : 0.831363 Centerline is valid? [False, False] Translation: X:1.17, Y:-0.33, Z:-0.59 [[ 0.99453507 -0.08088239 -0.06601538 1.16570049] [ 0.08332369 0.99590415 0.03510116 -0.32731733] [ 0.06290592 -0.04040998 0.99720102 -0.58577793] [ 0. 0. 0. 1. ]] SLAMing on 30.319072328999997 meters Centerline goodness : 0.830015 Centerline is valid? [False, False] Translation: X:1.16, Y:-0.32, Z:-0.59 [[ 0.9945893 -0.08034955 -0.06584886 1.16461276] [ 0.08271955 0.9959897 0.03408791 -0.32357325] [ 0.06284584 -0.03935046 0.99724718 -0.58539144] [ 0. 0. 0. 1. ]] SLAMing on 30.349072329 meters Centerline goodness : 0.829652 Centerline is valid? [False, False] Translation: X:1.17, Y:-0.32, Z:-0.59 [[ 0.99451682 -0.08053032 -0.06671697 1.16629638] [ 0.08290195 0.99599206 0.03357197 -0.32057485] [ 0.06374601 -0.03891885 0.99720698 -0.58523821] [ 0. 0. 0. 1. ]] SLAMing on 30.379072329 meters Centerline goodness : 0.828310 Centerline is valid? [False, False] Translation: X:1.17, Y:-0.32, Z:-0.58 [[ 0.99439723 -0.08135678 -0.06749241 1.16771947] [ 0.08369821 0.9959572 0.03261699 -0.31683902] [ 0.06456594 -0.03808324 0.9971865 -0.58494924] [ 0. 0. 0. 1. ]] SLAMing on 30.409072329 meters Centerline goodness : 0.826908 Centerline is valid? [False, False] Translation: X:1.17, Y:-0.31, Z:-0.59 [[ 0.99408416 -0.08384599 -0.06904005 1.17144808] [ 0.0861142 0.99581661 0.03055518 -0.30999023] [ 0.0661893 -0.03631975 0.99714585 -0.58525099] [ 0. 0. 0. 1. ]] SLAMing on 30.439072329 meters Centerline goodness : 0.825979 Centerline is valid? [False, False] Translation: X:1.17, Y:-0.31, Z:-0.59 [[ 0.99391111 -0.084804 -0.07034908 1.1749165 ] [ 0.08710687 0.99573702 0.03033445 -0.30827158] [ 0.0674767 -0.03627763 0.9970611 -0.58553728] [ 0. 0. 0. 1. ]] SLAMing on 30.469072329 meters Centerline goodness : 0.825568 Centerline is valid? [False, False] Translation: X:1.18, Y:-0.31, Z:-0.58 [[ 0.99375725 -0.08593309 -0.07114803 1.17648412] [ 0.08822486 0.99565725 0.02971542 -0.30649479] [ 0.06828551 -0.03580694 0.99702304 -0.58494336] [ 0. 0. 0. 1. ]] SLAMing on 30.499072329 meters Centerline goodness : 0.826380 Centerline is valid? [False, False] Translation: X:1.18, Y:-0.30, Z:-0.58 [[ 0.99344067 -0.08864601 -0.07223242 1.17721631] [ 0.09083252 0.99548466 0.02756348 -0.30024522] [ 0.06946288 -0.03394373 0.99700689 -0.5823019 ] [ 0. 0. 0. 1. ]] SLAMing on 30.529072328999998 meters Centerline goodness : 0.826700 Centerline is valid? [False, False] Translation: X:1.18, Y:-0.30, Z:-0.58 [[ 0.99323817 -0.09018625 -0.07310522 1.17791294] [ 0.09232298 0.99537937 0.02638889 -0.29573448] [ 0.07038752 -0.03295974 0.99697505 -0.58047593] [ 0. 0. 0. 1. ]] SLAMing on 30.559072329 meters Centerline goodness : 0.826568 Centerline is valid? [False, False] Translation: X:1.19, Y:-0.29, Z:-0.58 [[ 0.99316445 -0.09538427 -0.06727713 1.19431677] [ 0.09711518 0.99500881 0.02293729 -0.28704823] [ 0.06475348 -0.02931413 0.99747064 -0.57959266] [ 0. 0. 0. 1. ]] SLAMing on 30.589072329 meters Centerline goodness : 0.826185 Centerline is valid? [False, False] Translation: X:1.20, Y:-0.28, Z:-0.58 [[ 0.99288224 -0.09748338 -0.06842403 1.19572028] [ 0.09914216 0.99484588 0.02127245 -0.28082441] [ 0.06599766 -0.02790474 0.99742951 -0.57784444] [ 0. 0. 0. 1. ]] SLAMing on 30.619072328999998 meters Centerline goodness : 0.825386 Centerline is valid? [False, False] Translation: X:1.20, Y:-0.27, Z:-0.58 [[ 0.99236945 -0.10108616 -0.07060079 1.20011871] [ 0.10256099 0.9945714 0.01757756 -0.26707511] [ 0.06844067 -0.02468432 0.99734977 -0.57757776] [ 0. 0. 0. 1. ]] SLAMing on 30.649072329 meters Centerline goodness : 0.823418 Centerline is valid? [False, False] Translation: X:1.20, Y:-0.26, Z:-0.58 [[ 0.99216195 -0.10255248 -0.07139778 1.2016216 ] [ 0.10387859 0.99447527 0.0151052 -0.25997912] [ 0.06945426 -0.0224035 0.99733354 -0.57774231] [ 0. 0. 0. 1. ]] SLAMing on 30.679072329 meters Centerline goodness : 0.824281 Centerline is valid? [False, False] Translation: X:1.20, Y:-0.25, Z:-0.58 [[ 0.99222972 -0.10071251 -0.07305595 1.20445971] [ 0.10221963 0.99461343 0.01718321 -0.25461795] [ 0.07093186 -0.02451744 0.99717981 -0.57761876] [ 0. 0. 0. 1. ]] SLAMing on 30.709072328999998 meters Centerline goodness : 0.826735 Centerline is valid? [False, False] Translation: X:1.21, Y:-0.25, Z:-0.58 [[ 0.99238874 -0.09814126 -0.07438338 1.20562542] [ 0.09983022 0.99481671 0.01932992 -0.24847226] [ 0.07210077 -0.0266085 0.99704236 -0.57653147] [ 0. 0. 0. 1. ]] SLAMing on 30.739072329 meters Centerline goodness : 0.827785 Centerline is valid? [False, False] Translation: X:1.21, Y:-0.23, Z:-0.57 [[ 0.9930524 -0.09658584 -0.06721693 1.2144183 ] [ 0.09820107 0.99494186 0.02114821 -0.22745936] [ 0.06483432 -0.02760205 0.99751423 -0.57415975] [ 0. 0. 0. 1. ]] SLAMing on 30.769072329 meters Centerline goodness : 0.827006 Centerline is valid? [False, False] Translation: X:1.22, Y:-0.22, Z:-0.57 [[ 0.99345999 -0.09072628 -0.06932525 1.21672984] [ 0.0927659 0.99532763 0.02678435 -0.21960543] [ 0.06657129 -0.0330402 0.99723448 -0.5732237 ] [ 0. 0. 0. 1. ]] SLAMing on 30.799072328999998 meters Centerline goodness : 0.828287 Centerline is valid? [False, False] Translation: X:1.22, Y:-0.21, Z:-0.57 [[ 0.9938072 -0.08507014 -0.07148644 1.22003814] [ 0.08751171 0.99565769 0.0317407 -0.21083627] [ 0.06847584 -0.03780004 0.99693642 -0.57360697] [ 0. 0. 0. 1. ]] SLAMing on 30.829072329 meters Centerline goodness : 0.828614 Centerline is valid? [False, False] Translation: X:1.23, Y:-0.19, Z:-0.57 [[ 0.99421795 -0.07761559 -0.07420565 1.22544058] [ 0.08012372 0.99628903 0.03143802 -0.18867223] [ 0.0714902 -0.03720187 0.9967473 -0.57351979] [ 0. 0. 0. 1. ]] SLAMing on 30.859072329 meters Centerline goodness : 0.829439 Centerline is valid? [False, False] Translation: X:1.23, Y:-0.18, Z:-0.57 [[ 0.99443339 -0.07426 -0.07475085 1.22686647] [ 0.07689425 0.99649305 0.03299811 -0.17993069] [ 0.07203826 -0.03856233 0.99665613 -0.5745455 ] [ 0. 0. 0. 1. ]] SLAMing on 30.889072328999998 meters Centerline goodness : 0.832767 Centerline is valid? [False, False] Translation: X:1.23, Y:-0.17, Z:-0.57 [[ 0.99463303 -0.0712377 -0.07503545 1.22712551] [ 0.07396474 0.99667389 0.03421068 -0.17085636] [ 0.07234879 -0.03957705 0.99659385 -0.57479315] [ 0. 0. 0. 1. ]] SLAMing on 30.919072329 meters Centerline goodness : 0.834307 Centerline is valid? [False, False] Translation: X:1.23, Y:-0.16, Z:-0.57 [[ 0.9948052 -0.06841355 -0.0753803 1.22730388] [ 0.07121549 0.99684217 0.03512896 -0.16066338] [ 0.07273897 -0.04031472 0.99653588 -0.57476331] [ 0. 0. 0. 1. ]] SLAMing on 30.949072329 meters Centerline goodness : 0.839274 Centerline is valid? [False, False] Translation: X:1.22, Y:-0.14, Z:-0.57 [[ 0.99515123 -0.06407973 -0.07461787 1.2235845 ] [ 0.06678648 0.99717547 0.03436057 -0.1359861 ] [ 0.0722053 -0.03917743 0.99662005 -0.57193003] [ 0. 0. 0. 1. ]] SLAMing on 30.979072328999997 meters Centerline goodness : 0.840086 Centerline is valid? [False, False] Translation: X:1.22, Y:-0.12, Z:-0.57 [[ 0.99530262 -0.06162552 -0.07466591 1.22235519] [ 0.06434469 0.99732861 0.03457449 -0.1246135 ] [ 0.07233578 -0.03921643 0.99660905 -0.570583 ] [ 0. 0. 0. 1. ]] SLAMing on 31.009072329 meters Centerline goodness : 0.842301 Centerline is valid? [False, False] Translation: X:1.22, Y:-0.11, Z:-0.57 [[ 0.9954422 -0.05911899 -0.07483168 1.22173957] [ 0.06187615 0.99746726 0.03507714 -0.11368706] [ 0.07256842 -0.03954756 0.99657906 -0.56982126] [ 0. 0. 0. 1. ]] SLAMing on 31.039072329 meters Centerline goodness : 0.843107 Centerline is valid? [False, False] Translation: X:1.22, Y:-0.09, Z:-0.57 [[ 0.99547013 -0.05734978 -0.07583022 1.22455701] [ 0.05984757 0.99772337 0.03108596 -0.08943141] [ 0.07387481 -0.0354834 0.99663606 -0.56966844] [ 0. 0. 0. 1. ]] SLAMing on 31.069072328999997 meters Centerline goodness : 0.844836 Centerline is valid? [False, False] Translation: X:1.23, Y:-0.08, Z:-0.57 [[ 0.99557728 -0.0546632 -0.07640557 1.22747806] [ 0.05725563 0.99784144 0.03215994 -0.07918774] [ 0.07448267 -0.03639235 0.99655804 -0.57214704] [ 0. 0. 0. 1. ]] SLAMing on 31.099072329 meters Centerline goodness : 0.842716 Centerline is valid? [False, False] Translation: X:1.23, Y:-0.07, Z:-0.57 [[ 0.99568666 -0.05176407 -0.07699708 1.22952104] [ 0.05443857 0.99797 0.03305027 -0.0680745 ] [ 0.07512996 -0.03709932 0.99648338 -0.57349083] [ 0. 0. 0. 1. ]] SLAMing on 31.129072329 meters Centerline goodness : 0.846949 Centerline is valid? [False, False] Translation: X:1.23, Y:-0.06, Z:-0.57 [[ 0.99576381 -0.04906569 -0.0777624 1.23079839] [ 0.05175175 0.99811756 0.03291038 -0.05510524] [ 0.07600124 -0.0367953 0.99642858 -0.57247126] [ 0. 0. 0. 1. ]] SLAMing on 31.159072329 meters Centerline goodness : 0.845748 Centerline is valid? [False, False] Translation: X:1.24, Y:-0.03, Z:-0.57 [[ 0.99634457 -0.04560895 -0.07223097 1.24422562] [ 0.0478677 0.99840743 0.0298543 -0.02667395] [ 0.07075432 -0.0332027 0.99694102 -0.57195575] [ 0. 0. 0. 1. ]] SLAMing on 31.189072329 meters Centerline goodness : 0.841792 Centerline is valid? [False, False] Translation: X:1.28, Y:-0.01, Z:-0.57 [[ 0.99644549 -0.04348715 -0.07214748 1.27627093] [ 0.04564741 0.99854904 0.0285679 -0.01336018] [ 0.07080046 -0.0317597 0.99698476 -0.56773966] [ 0. 0. 0. 1. ]] SLAMing on 31.219072329 meters Centerline goodness : 0.839737 Centerline is valid? [False, False] Translation: X:1.28, Y:0.00, Z:-0.57 [[ 9.96400003e-01 -4.28002252e-02 -7.31790567e-02 1.27893582e+00] [ 4.47498967e-02 9.98680003e-01 2.52130631e-02 3.99247846e-04] [ 7.20033358e-02 -2.83970513e-02 9.97000064e-01 -5.65460028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.249072329 meters Centerline goodness : 0.833454 Centerline is valid? [False, False] Translation: X:1.28, Y:0.02, Z:-0.56 [[ 0.99643574 -0.03990201 -0.07432117 1.28243445] [ 0.04167789 0.99887776 0.02249852 0.02436337] [ 0.07334003 -0.02551588 0.99698053 -0.5638501 ] [ 0. 0. 0. 1. ]] SLAMing on 31.279072328999998 meters Centerline goodness : 0.830513 Centerline is valid? [False, False] Translation: X:1.28, Y:0.03, Z:-0.57 [[ 0.99655658 -0.03673475 -0.07433396 1.28366999] [ 0.03863793 0.99895707 0.02432854 0.03369395] [ 0.07336273 -0.02711687 0.9969366 -0.56570399] [ 0. 0. 0. 1. ]] SLAMing on 31.309072329 meters Centerline goodness : 0.826911 Centerline is valid? [False, False] Translation: X:1.28, Y:0.04, Z:-0.57 [[ 0.99666098 -0.03360427 -0.07441532 1.28468679] [ 0.03563882 0.99902168 0.02618313 0.04292301] [ 0.07346265 -0.02874778 0.99688355 -0.5672337 ] [ 0. 0. 0. 1. ]] SLAMing on 31.339072329 meters Centerline goodness : 0.824971 Centerline is valid? [False, False] Translation: X:1.29, Y:0.06, Z:-0.57 [[ 0.99658551 -0.03425585 -0.07512555 1.28626964] [ 0.03607175 0.99908567 0.02294909 0.0556895 ] [ 0.07427072 -0.02558064 0.99690997 -0.5657032 ] [ 0. 0. 0. 1. ]] SLAMing on 31.369072328999998 meters Centerline goodness : 0.819993 Centerline is valid? [False, False] Translation: X:1.29, Y:0.08, Z:-0.56 [[ 0.99663443 -0.03283342 -0.07511176 1.2856686 ] [ 0.03443285 0.99920489 0.02009876 0.07703197] [ 0.07439213 -0.02261743 0.99697255 -0.56234626] [ 0. 0. 0. 1. ]] SLAMing on 31.399072329 meters Centerline goodness : 0.817261 Centerline is valid? [False, False] Translation: X:1.29, Y:0.09, Z:-0.57 [[ 0.99714297 -0.03661031 -0.06607256 1.29470271] [ 0.0377961 0.99914447 0.01678652 0.09078228] [ 0.06540147 -0.01923585 0.99767361 -0.56576345] [ 0. 0. 0. 1. ]] SLAMing on 31.429072329 meters Centerline goodness : 0.811849 Centerline is valid? [False, False] Translation: X:1.30, Y:0.11, Z:-0.58 [[ 0.99769811 -0.03928587 -0.05527296 1.30327455] [ 0.04042849 0.99898805 0.01970796 0.11392158] [ 0.05444278 -0.0218972 0.99827676 -0.57918606] [ 0. 0. 0. 1. ]] SLAMing on 31.459072328999998 meters Centerline goodness : 0.811690 Centerline is valid? [False, False] Translation: X:1.31, Y:0.13, Z:-0.58 [[ 0.99763578 -0.03974725 -0.05606253 1.30502658] [ 0.04072989 0.99903404 0.01649463 0.12623142] [ 0.05535276 -0.01873905 0.998291 -0.57703451] [ 0. 0. 0. 1. ]] SLAMing on 31.489072329 meters Centerline goodness : 0.811676 Centerline is valid? [False, False] Translation: X:1.31, Y:0.14, Z:-0.57 [[ 0.99757507 -0.04017928 -0.05682962 1.3066605 ] [ 0.04098923 0.99907294 0.01315867 0.13824477] [ 0.05624823 -0.01545617 0.99829717 -0.57435848] [ 0. 0. 0. 1. ]] SLAMing on 31.519072329 meters Centerline goodness : 0.809077 Centerline is valid? [False, False] Translation: X:1.31, Y:0.15, Z:-0.58 [[ 0.99794505 -0.04537589 -0.04524055 1.31107033] [ 0.04610247 0.99882186 0.01514797 0.15164877] [ 0.0444999 -0.01720255 0.99886127 -0.58333278] [ 0. 0. 0. 1. ]] SLAMing on 31.549072328999998 meters Centerline goodness : 0.805785 Centerline is valid? [False, False] Translation: X:1.31, Y:0.16, Z:-0.58 [[ 0.99788811 -0.04632448 -0.04553421 1.31087166] [ 0.04689503 0.99883313 0.01154235 0.16297251] [ 0.04494638 -0.0136533 0.9988961 -0.57975156] [ 0. 0. 0. 1. ]] SLAMing on 31.579072329 meters Centerline goodness : 0.802402 Centerline is valid? [False, False] Translation: X:1.32, Y:0.18, Z:-0.58 [[ 0.99825597 -0.04464433 -0.03862507 1.32062209] [ 0.04480863 0.99898981 0.00339824 0.18470985] [ 0.03843434 -0.00512305 0.999248 -0.57644884] [ 0. 0. 0. 1. ]] SLAMing on 31.609072329 meters Centerline goodness : 0.801345 Centerline is valid? [False, False] Translation: X:1.32, Y:0.20, Z:-0.57 [[ 9.98207853e-01 -4.54682350e-02 -3.89065884e-02 1.32078764e+00] [ 4.55208439e-02 9.98963280e-01 4.66929934e-04 1.95052165e-01] [ 3.88450227e-02 -2.23715386e-03 9.99242743e-01 -5.73985168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.639072328999998 meters Centerline goodness : 0.801345 Centerline is valid? [False, False] Translation: X:1.32, Y:0.20, Z:-0.57 [[ 9.98207853e-01 -4.54682350e-02 -3.89065884e-02 1.32078764e+00] [ 4.55208439e-02 9.98963280e-01 4.66929934e-04 1.95052165e-01] [ 3.88450227e-02 -2.23715386e-03 9.99242743e-01 -5.73985168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.669072329 meters Centerline goodness : 0.799845 Centerline is valid? [False, False] Translation: X:1.32, Y:0.21, Z:-0.57 [[ 9.98162528e-01 -4.62002136e-02 -3.92059632e-02 1.32139669e+00] [ 4.61600353e-02 9.98932193e-01 -1.92988847e-03 2.05021451e-01] [ 3.92532601e-02 1.16593707e-04 9.99229287e-01 -5.72829761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.699072329 meters Centerline goodness : 0.796252 Centerline is valid? [False, False] Translation: X:1.32, Y:0.23, Z:-0.57 [[ 0.99805686 -0.04812193 -0.03958272 1.32337746] [ 0.04782528 0.99882033 -0.00840811 0.22567545] [ 0.03994064 0.00649871 0.99918092 -0.56902002] [ 0. 0. 0. 1. ]] SLAMing on 31.729072328999997 meters Centerline goodness : 0.798215 Centerline is valid? [False, False] Translation: X:1.32, Y:0.23, Z:-0.57 [[ 0.99802196 -0.04869003 -0.03976734 1.3242171 ] [ 0.04832114 0.99877991 -0.01018584 0.2340125 ] [ 0.04021477 0.00824409 0.99915705 -0.56897089] [ 0. 0. 0. 1. ]] SLAMing on 31.759072329 meters Centerline goodness : 0.797283 Centerline is valid? [False, False] Translation: X:1.32, Y:0.24, Z:-0.57 [[ 0.99797805 -0.04939683 -0.03999717 1.32477065] [ 0.04893023 0.99872319 -0.01256254 0.24333872] [ 0.04056665 0.01058006 0.99912082 -0.56766361] [ 0. 0. 0. 1. ]] SLAMing on 31.789072329 meters Centerline goodness : 0.793760 Centerline is valid? [False, False] Translation: X:1.36, Y:0.27, Z:-0.56 [[ 0.99882665 -0.02981182 -0.03816523 1.35531601] [ 0.02925486 0.99945838 -0.01506979 0.26661087] [ 0.03859381 0.01393559 0.9991578 -0.55797632] [ 0. 0. 0. 1. ]] SLAMing on 31.819072328999997 meters Centerline goodness : 0.794998 Centerline is valid? [False, False] Translation: X:1.38, Y:0.28, Z:-0.55 [[ 0.999062 -0.01990144 -0.03845839 1.37539493] [ 0.01912481 0.99960779 -0.02045769 0.27927137] [ 0.03885044 0.019703 0.99905077 -0.54722097] [ 0. 0. 0. 1. ]] SLAMing on 31.849072329 meters Centerline goodness : 0.793279 Centerline is valid? [False, False] Translation: X:1.38, Y:0.29, Z:-0.54 [[ 0.99902572 -0.01853213 -0.04005212 1.38047155] [ 0.0176079 0.99957329 -0.02330647 0.28627154] [ 0.04046694 0.02257853 0.99892574 -0.54189756] [ 0. 0. 0. 1. ]] SLAMing on 31.879072329 meters Centerline goodness : 0.792453 Centerline is valid? [False, False] Translation: X:1.39, Y:0.28, Z:-0.55 [[ 0.99917544 -0.01983406 -0.03542675 1.39433459] [ 0.01942593 0.99974133 -0.01182779 0.28184606] [ 0.03565218 0.01112984 0.99930228 -0.54710278] [ 0. 0. 0. 1. ]] SLAMing on 31.909072329 meters Centerline goodness : 0.792204 Centerline is valid? [False, False] Translation: X:1.40, Y:0.27, Z:-0.56 [[ 0.99957539 -0.01900169 -0.02209032 1.40478765] [ 0.01876692 0.9997657 -0.01078687 0.27483985] [ 0.02229011 0.01036773 0.99969778 -0.55698464] [ 0. 0. 0. 1. ]] SLAMing on 31.939072329 meters Centerline goodness : 0.794400 Centerline is valid? [False, False] Translation: X:1.41, Y:0.27, Z:-0.56 [[ 0.9995104 -0.02072736 -0.02343785 1.41223251] [ 0.02040235 0.99969351 -0.01402214 0.27276112] [ 0.02372131 0.01353708 0.99962695 -0.55910993] [ 0. 0. 0. 1. ]] SLAMing on 31.969072329 meters Centerline goodness : 0.791794 Centerline is valid? [False, False] Translation: X:1.42, Y:0.27, Z:-0.56 [[ 0.99943791 -0.02241042 -0.02493277 1.42015945] [ 0.02197839 0.99960581 -0.01746908 0.27137939] [ 0.02531443 0.01691128 0.99953649 -0.56103224] [ 0. 0. 0. 1. ]] SLAMing on 31.999072329 meters Centerline goodness : 0.792761 Centerline is valid? [False, False] Translation: X:1.42, Y:0.27, Z:-0.56 [[ 0.99934252 -0.02530257 -0.02596758 1.42453464] [ 0.02474842 0.99946369 -0.02144405 0.271047 ] [ 0.02649625 0.02078729 0.99943276 -0.56114191] [ 0. 0. 0. 1. ]] SLAMing on 32.029072328999995 meters Centerline goodness : 0.793006 Centerline is valid? [False, False] Translation: X:1.44, Y:0.27, Z:-0.57 [[ 0.99944984 -0.02539631 -0.02133155 1.44008033] [ 0.02519118 0.99963431 -0.00983076 0.2687509 ] [ 0.02157342 0.00928798 0.99972412 -0.56722593] [ 0. 0. 0. 1. ]] SLAMing on 32.059072328999996 meters Centerline goodness : 0.791515 Centerline is valid? [False, False] Translation: X:1.46, Y:0.27, Z:-0.57 [[ 9.99528617e-01 -2.57050065e-02 -1.67867985e-02 1.45648415e+00] [ 2.57021688e-02 9.99669571e-01 -3.84799279e-04 2.68527472e-01] [ 1.67911429e-02 -4.68392380e-05 9.99859018e-01 -5.69929896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.089072329 meters Centerline goodness : 0.792787 Centerline is valid? [False, False] Translation: X:1.46, Y:0.28, Z:-0.56 [[ 0.99951453 -0.02562147 -0.01772668 1.4577059 ] [ 0.02553848 0.99966187 -0.00489265 0.27763542] [ 0.01784605 0.00443757 0.9998309 -0.56080157] [ 0. 0. 0. 1. ]] SLAMing on 32.119072329 meters Centerline goodness : 0.792971 Centerline is valid? [False, False] Translation: X:1.46, Y:0.28, Z:-0.56 [[ 0.99943497 -0.02774502 -0.01897273 1.46296677] [ 0.02754139 0.99956111 -0.01091118 0.28237048] [ 0.01926713 0.01038248 0.99976046 -0.5566581 ] [ 0. 0. 0. 1. ]] SLAMing on 32.14907232899999 meters Centerline goodness : 0.791468 Centerline is valid? [False, False] Translation: X:1.46, Y:0.28, Z:-0.56 [[ 0.99945082 -0.02700572 -0.01920286 1.4648618 ] [ 0.0268179 0.9995906 -0.00997156 0.28040229] [ 0.01946428 0.0094511 0.99976588 -0.5584076 ] [ 0. 0. 0. 1. ]] SLAMing on 32.17907232899999 meters Centerline goodness : 0.792195 Centerline is valid? [False, False] Translation: X:1.47, Y:0.28, Z:-0.56 [[ 0.99936441 -0.02933739 -0.02025096 1.47025381] [ 0.029062 0.99948288 -0.01376153 0.2793555 ] [ 0.02064422 0.01316425 0.99970021 -0.55896142] [ 0. 0. 0. 1. ]] SLAMing on 32.209072328999994 meters Centerline goodness : 0.792382 Centerline is valid? [False, False] Translation: X:1.47, Y:0.28, Z:-0.56 [[ 0.99924879 -0.03228946 -0.02142984 1.47417917] [ 0.03188078 0.99930829 -0.01914592 0.28160548] [ 0.02203323 0.01844833 0.99958701 -0.55590321] [ 0. 0. 0. 1. ]] SLAMing on 32.239072328999995 meters Centerline goodness : 0.791210 Centerline is valid? [False, False] Translation: X:1.48, Y:0.28, Z:-0.57 [[ 0.99955887 -0.02874579 -0.00746613 1.48057376] [ 0.02864234 0.99949703 -0.01361231 0.27647468] [ 0.00785367 0.01339246 0.99987947 -0.56710617] [ 0. 0. 0. 1. ]] SLAMing on 32.269072329 meters Centerline goodness : 0.790888 Centerline is valid? [False, False] Translation: X:1.48, Y:0.27, Z:-0.57 [[ 0.99966343 -0.02504623 -0.00676064 1.47873634] [ 0.02499099 0.99965457 -0.00813528 0.2721554 ] [ 0.00696206 0.00796358 0.99994405 -0.56962238] [ 0. 0. 0. 1. ]] SLAMing on 32.299072329 meters Centerline goodness : 0.792495 Centerline is valid? [False, False] Translation: X:1.48, Y:0.27, Z:-0.57 [[ 0.99966663 -0.02487351 -0.00692435 1.47908362] [ 0.024816 0.99965782 -0.00827069 0.27238913] [ 0.0071277 0.0080961 0.99994182 -0.56893668] [ 0. 0. 0. 1. ]] SLAMing on 32.329072329 meters Centerline goodness : 0.791816 Centerline is valid? [False, False] Translation: X:1.48, Y:0.27, Z:-0.57 [[ 0.99966472 -0.02491259 -0.00705765 1.478902 ] [ 0.02484979 0.99965202 -0.00885033 0.27379335] [ 0.00727568 0.00867198 0.99993593 -0.5672701 ] [ 0. 0. 0. 1. ]] SLAMing on 32.35907232899999 meters Centerline goodness : 0.791047 Centerline is valid? [False, False] Translation: X:1.48, Y:0.27, Z:-0.57 [[ 0.99967414 -0.02442148 -0.0074301 1.4806217 ] [ 0.02435632 0.99966516 -0.00873732 0.27457424] [ 0.00764099 0.00855351 0.99993422 -0.56790949] [ 0. 0. 0. 1. ]] SLAMing on 32.389072328999994 meters Centerline goodness : 0.790147 Centerline is valid? [False, False] Translation: X:1.48, Y:0.27, Z:-0.57 [[ 0.99969311 -0.02357668 -0.00760434 1.48267959] [ 0.02351352 0.99968914 -0.00829092 0.27352864] [ 0.00779745 0.00810958 0.99993672 -0.56912542] [ 0. 0. 0. 1. ]] SLAMing on 32.419072328999995 meters Centerline goodness : 0.790971 Centerline is valid? [False, False] Translation: X:1.49, Y:0.28, Z:-0.57 [[ 0.99962008 -0.02620733 -0.00853666 1.48658514] [ 0.0260871 0.99956298 -0.01390388 0.27715564] [ 0.00889731 0.0136759 0.99986689 -0.56587112] [ 0. 0. 0. 1. ]] SLAMing on 32.449072328999996 meters Centerline goodness : 0.789529 Centerline is valid? [False, False] Translation: X:1.49, Y:0.28, Z:-0.57 [[ 0.99962677 -0.02587738 -0.0087566 1.48749057] [ 0.02575196 0.99956829 -0.01414448 0.27745868] [ 0.00911884 0.0139137 0.99986162 -0.56524782] [ 0. 0. 0. 1. ]] SLAMing on 32.479072329 meters Centerline goodness : 0.788427 Centerline is valid? [False, False] Translation: X:1.49, Y:0.28, Z:-0.56 [[ 0.99963269 -0.02560672 -0.00887611 1.48803203] [ 0.02547965 0.99957526 -0.01414486 0.27718512] [ 0.00923455 0.0139135 0.99986056 -0.56493166] [ 0. 0. 0. 1. ]] SLAMing on 32.509072329 meters Centerline goodness : 0.790038 Centerline is valid? [False, False] Translation: X:1.49, Y:0.28, Z:-0.57 [[ 0.99964626 -0.02500487 -0.00906181 1.48957464] [ 0.02488045 0.99959803 -0.013592 0.27594938] [ 0.00939803 0.01336173 0.99986656 -0.56596544] [ 0. 0. 0. 1. ]] SLAMing on 32.53907232899999 meters Centerline goodness : 0.791141 Centerline is valid? [False, False] Translation: X:1.49, Y:0.27, Z:-0.57 [[ 0.99966035 -0.02433182 -0.00933487 1.49143367] [ 0.0242101 0.99962317 -0.01293812 0.2749859 ] [ 0.00964616 0.01270773 0.99987272 -0.56731698] [ 0. 0. 0. 1. ]] SLAMing on 32.569072328999994 meters Centerline goodness : 0.789259 Centerline is valid? [False, False] Translation: X:1.49, Y:0.27, Z:-0.57 [[ 0.99967158 -0.0237288 -0.00967865 1.49331776] [ 0.02360554 0.99964123 -0.01265671 0.27461944] [ 0.0099755 0.01242408 0.99987306 -0.56809094] [ 0. 0. 0. 1. ]] SLAMing on 32.599072328999995 meters Centerline goodness : 0.790901 Centerline is valid? [False, False] Translation: X:1.50, Y:0.28, Z:-0.56 [[ 0.99958701 -0.02650926 -0.01109335 1.49801748] [ 0.02629443 0.99947208 -0.01908323 0.27834515] [ 0.01159337 0.01878366 0.99975635 -0.56310536] [ 0. 0. 0. 1. ]] SLAMing on 32.629072328999996 meters Centerline goodness : 0.788090 Centerline is valid? [False, False] Translation: X:1.52, Y:0.28, Z:-0.57 [[ 0.99960842 -0.02698304 -0.00741062 1.52250062] [ 0.02689414 0.99956811 -0.01184491 0.27537917] [ 0.00772703 0.01164097 0.99990239 -0.5683668 ] [ 0. 0. 0. 1. ]] SLAMing on 32.659072329 meters Centerline goodness : 0.788651 Centerline is valid? [False, False] Translation: X:1.52, Y:0.28, Z:-0.57 [[ 0.99961614 -0.02660888 -0.00771588 1.52373888] [ 0.02651813 0.99958062 -0.01163476 0.27583113] [ 0.00802223 0.01142568 0.99990254 -0.56882441] [ 0. 0. 0. 1. ]] SLAMing on 32.689072329 meters Centerline goodness : 0.786596 Centerline is valid? [False, False] Translation: X:1.52, Y:0.28, Z:-0.57 [[ 0.99962308 -0.02624528 -0.00805445 1.52499196] [ 0.02615122 0.99959105 -0.01156931 0.27600811] [ 0.0083548 0.01135432 0.99990063 -0.56880118] [ 0. 0. 0. 1. ]] SLAMing on 32.71907232899999 meters Centerline goodness : 0.788637 Centerline is valid? [False, False] Translation: X:1.53, Y:0.27, Z:-0.57 [[ 0.9996487 -0.02498595 -0.00884137 1.52914195] [ 0.02489409 0.99963649 -0.01035256 0.274935 ] [ 0.00909682 0.01012883 0.99990732 -0.57180043] [ 0. 0. 0. 1. ]] SLAMing on 32.74907232899999 meters Centerline goodness : 0.785360 Centerline is valid? [False, False] Translation: X:1.53, Y:0.27, Z:-0.58 [[ 0.99967133 -0.02388902 -0.00930253 1.53239669] [ 0.0238071 0.99967767 -0.00881899 0.27186263] [ 0.00951021 0.00859462 0.99991784 -0.57504118] [ 0. 0. 0. 1. ]] SLAMing on 32.779072328999995 meters Centerline goodness : 0.784597 Centerline is valid? [False, False] Translation: X:1.54, Y:0.27, Z:-0.57 [[ 0.99959397 -0.02644585 -0.01060704 1.53781722] [ 0.02630343 0.99956487 -0.01334917 0.27210563] [ 0.01095546 0.01306475 0.99985463 -0.57414716] [ 0. 0. 0. 1. ]] SLAMing on 32.809072328999996 meters Centerline goodness : 0.783901 Centerline is valid? [False, False] Translation: X:1.54, Y:0.27, Z:-0.58 [[ 0.99961913 -0.02535506 -0.01089582 1.54073035] [ 0.02523036 0.99961627 -0.01143402 0.2680406 ] [ 0.01118155 0.01115476 0.99987526 -0.57797502] [ 0. 0. 0. 1. ]] SLAMing on 32.839072329 meters Centerline goodness : 0.784809 Centerline is valid? [False, False] Translation: X:1.54, Y:0.27, Z:-0.58 [[ 0.99963309 -0.02463494 -0.01126044 1.54303727] [ 0.02452024 0.99964716 -0.0102132 0.26548054] [ 0.01150807 0.00993334 0.99988444 -0.58030536] [ 0. 0. 0. 1. ]] SLAMing on 32.869072329 meters Centerline goodness : 0.784998 Centerline is valid? [False, False] Translation: X:1.54, Y:0.27, Z:-0.58 [[ 0.99962904 -0.02466548 -0.01155014 1.54328814] [ 0.02454019 0.99963979 -0.01086625 0.26676476] [ 0.011814 0.01057877 0.99987425 -0.57861652] [ 0. 0. 0. 1. ]] SLAMing on 32.89907232899999 meters Centerline goodness : 0.784738 Centerline is valid? [False, False] Translation: X:1.54, Y:0.26, Z:-0.58 [[ 0.99972062 -0.02079668 -0.01123262 1.5423608 ] [ 0.02073519 0.99976952 -0.0055632 0.2642045 ] [ 0.01134572 0.00532874 0.99992144 -0.58069919] [ 0. 0. 0. 1. ]] SLAMing on 32.92907232899999 meters Centerline goodness : 0.783742 Centerline is valid? [False, False] Translation: X:1.55, Y:0.27, Z:-0.58 [[ 0.99965016 -0.0230295 -0.01300781 1.54889409] [ 0.0228868 0.99967738 -0.0110147 0.26732969] [ 0.01325727 0.01071314 0.99985473 -0.57787927] [ 0. 0. 0. 1. ]] SLAMing on 32.959072328999994 meters Centerline goodness : 0.780591 Centerline is valid? [False, False] Translation: X:1.55, Y:0.27, Z:-0.58 [[ 0.9995709 -0.02557948 -0.01427282 1.55442199] [ 0.02536474 0.99956529 -0.01502854 0.26773023] [ 0.01465104 0.01466006 0.99978519 -0.57834141] [ 0. 0. 0. 1. ]] SLAMing on 32.989072328999995 meters Centerline goodness : 0.779751 Centerline is valid? [False, False] Translation: X:1.56, Y:0.26, Z:-0.58 [[ 0.99959531 -0.02435194 -0.01470339 1.55794547] [ 0.02416106 0.99962326 -0.01302259 0.26391702] [ 0.01501497 0.01266207 0.99980709 -0.58255579] [ 0. 0. 0. 1. ]] SLAMing on 33.019072329 meters Centerline goodness : 0.781578 Centerline is valid? [False, False] Translation: X:1.56, Y:0.27, Z:-0.58 [[ 0.99950008 -0.02734557 -0.01586883 1.56221383] [ 0.02706686 0.99948008 -0.01752006 0.26526765] [ 0.01633967 0.01708178 0.99972057 -0.58166801] [ 0. 0. 0. 1. ]] SLAMing on 33.049072329 meters Centerline goodness : 0.780026 Centerline is valid? [False, False] Translation: X:1.57, Y:0.27, Z:-0.58 [[ 0.99939269 -0.03049477 -0.01686175 1.56575082] [ 0.03012385 0.99930775 -0.02183069 0.26655382] [ 0.0175158 0.02130949 0.99961948 -0.58077942] [ 0. 0. 0. 1. ]] SLAMing on 33.079072329 meters Centerline goodness : 0.778964 Centerline is valid? [False, False] Translation: X:1.57, Y:0.26, Z:-0.59 [[ 0.99963766 -0.02644932 -0.00499828 1.57411146] [ 0.02635821 0.99949954 -0.01749066 0.26206819] [ 0.0054584 0.01735258 0.99983453 -0.59212489] [ 0. 0. 0. 1. ]] SLAMing on 33.10907232899999 meters Centerline goodness : 0.779026 Centerline is valid? [False, False] Translation: X:1.58, Y:0.26, Z:-0.59 [[ 0.99965682 -0.02555895 -0.00574223 1.5772349 ] [ 0.02546274 0.99954374 -0.01624706 0.26020769] [ 0.00615487 0.01609527 0.99985152 -0.5942828 ] [ 0. 0. 0. 1. ]] SLAMing on 33.139072328999994 meters Centerline goodness : 0.777067 Centerline is valid? [False, False] Translation: X:1.58, Y:0.25, Z:-0.60 [[ 0.99968863 -0.02392447 -0.00708961 1.58336051] [ 0.02383869 0.99964443 -0.01194663 0.25381387] [ 0.00737291 0.0117739 0.9999035 -0.60260189] [ 0. 0. 0. 1. ]] SLAMing on 33.169072328999995 meters Centerline goodness : 0.775886 Centerline is valid? [False, False] Translation: X:1.59, Y:0.25, Z:-0.61 [[ 0.99971268 -0.02262872 -0.00790556 1.5876757 ] [ 0.0225516 0.99969851 -0.00971175 0.24976929] [ 0.00812294 0.00953068 0.99992159 -0.60689343] [ 0. 0. 0. 1. ]] SLAMing on 33.199072328999996 meters Centerline goodness : 0.774363 Centerline is valid? [False, False] Translation: X:1.59, Y:0.24, Z:-0.61 [[ 0.99973949 -0.02110447 -0.00869186 1.59235162] [ 0.02104293 0.99975327 -0.00711235 0.24493995] [ 0.00883982 0.0069276 0.99993693 -0.6119321 ] [ 0. 0. 0. 1. ]] SLAMing on 33.229072329 meters Centerline goodness : 0.772903 Centerline is valid? [False, False] Translation: X:1.60, Y:0.24, Z:-0.61 [[ 0.99967457 -0.0232741 -0.01044415 1.59943182] [ 0.02316442 0.9996765 -0.01050231 0.24380132] [ 0.0106852 0.01025696 0.9998903 -0.61318799] [ 0. 0. 0. 1. ]] SLAMing on 33.259072329 meters Centerline goodness : 0.772537 Centerline is valid? [False, False] Translation: X:1.61, Y:0.24, Z:-0.62 [[ 0.99963129 -0.02403941 -0.01262527 1.61001272] [ 0.02389779 0.9996511 -0.01125055 0.23746324] [ 0.01289132 0.01094469 0.999857 -0.61933463] [ 0. 0. 0. 1. ]] SLAMing on 33.28907232899999 meters Centerline goodness : 0.772636 Centerline is valid? [False, False] Translation: X:1.61, Y:0.23, Z:-0.62 [[ 0.99965307 -0.02256581 -0.01358422 1.61455229] [ 0.02243865 0.99970364 -0.00944174 0.23330194] [ 0.01379325 0.00913365 0.99986315 -0.62237126] [ 0. 0. 0. 1. ]] SLAMing on 33.319072328999994 meters Centerline goodness : 0.770164 Centerline is valid? [False, False] Translation: X:1.62, Y:0.23, Z:-0.62 [[ 0.99967036 -0.02126853 -0.01438134 1.61817631] [ 0.02115702 0.99974525 -0.00786196 0.22943265] [ 0.01454489 0.0075551 0.99986567 -0.62455578] [ 0. 0. 0. 1. ]] SLAMing on 33.349072328999995 meters Centerline goodness : 0.771810 Centerline is valid? [False, False] Translation: X:1.62, Y:0.23, Z:-0.63 [[ 0.99968315 -0.02014142 -0.01509738 1.62095386] [ 0.02004149 0.99977642 -0.00674133 0.22555368] [ 0.01522978 0.00643662 0.9998633 -0.62528048] [ 0. 0. 0. 1. ]] SLAMing on 33.379072328999996 meters Centerline goodness : 0.774402 Centerline is valid? [False, False] Translation: X:1.62, Y:0.22, Z:-0.63 [[ 0.99970578 -0.01859929 -0.01556981 1.62374698] [ 0.0185444 0.99982133 -0.00366231 0.21553098] [ 0.01563515 0.0033725 0.99987208 -0.62855462] [ 0. 0. 0. 1. ]] SLAMing on 33.409072329 meters Centerline goodness : 0.774037 Centerline is valid? [False, False] Translation: X:1.63, Y:0.21, Z:-0.63 [[ 0.99963736 -0.02056955 -0.01737907 1.63037702] [ 0.02045063 0.99976641 -0.00699303 0.2125018 ] [ 0.01751886 0.00663508 0.99982452 -0.6284452 ] [ 0. 0. 0. 1. ]] SLAMing on 33.439072329 meters Centerline goodness : 0.774723 Centerline is valid? [False, False] Translation: X:1.63, Y:0.21, Z:-0.63 [[ 0.99965631 -0.01925406 -0.01779146 1.6332163 ] [ 0.01917541 0.99980564 -0.00458074 0.20503328] [ 0.0178762 0.00423801 0.99983123 -0.6316037 ] [ 0. 0. 0. 1. ]] SLAMing on 33.46907232899999 meters Centerline goodness : 0.777354 Centerline is valid? [False, False] Translation: X:1.64, Y:0.19, Z:-0.63 [[ 0.99959632 -0.021054 -0.01907685 1.6385809 ] [ 0.02094939 0.99976447 -0.00566727 0.19440733] [ 0.01919167 0.00526533 0.99980196 -0.63367796] [ 0. 0. 0. 1. ]] SLAMing on 33.49907232899999 meters Centerline goodness : 0.776755 Centerline is valid? [False, False] Translation: X:1.64, Y:0.19, Z:-0.64 [[ 0.99960928 -0.02006131 -0.01946354 1.6403169 ] [ 0.0199968 0.99979391 -0.00350362 0.1869657 ] [ 0.01952982 0.00311304 0.99980443 -0.63532344] [ 0. 0. 0. 1. ]] SLAMing on 33.529072328999995 meters Centerline goodness : 0.776755 Centerline is valid? [False, False] Translation: X:1.64, Y:0.19, Z:-0.64 [[ 0.99960928 -0.02006131 -0.01946354 1.6403169 ] [ 0.0199968 0.99979391 -0.00350362 0.1869657 ] [ 0.01952982 0.00311304 0.99980443 -0.63532344] [ 0. 0. 0. 1. ]] SLAMing on 33.559072328999996 meters Centerline goodness : 0.776150 Centerline is valid? [False, False] Translation: X:1.64, Y:0.18, Z:-0.64 [[ 9.99618326e-01 -1.91868173e-02 -1.98763157e-02 1.64199827e+00] [ 1.91639048e-02 9.99815454e-01 -1.34260733e-03 1.79223277e-01] [ 1.98984080e-02 9.61187067e-04 9.99801545e-01 -6.37008992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.589072329 meters Centerline goodness : 0.777537 Centerline is valid? [False, False] Translation: X:1.64, Y:0.17, Z:-0.64 [[ 9.99544707e-01 -2.21423223e-02 -2.04962494e-02 1.64430209e+00] [ 2.21083129e-02 9.99753805e-01 -1.88443725e-03 1.66492097e-01] [ 2.05329292e-02 1.43044178e-03 9.99788154e-01 -6.39568235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.619072329 meters Centerline goodness : 0.777632 Centerline is valid? [False, False] Translation: X:1.65, Y:0.16, Z:-0.64 [[ 0.99945836 -0.02495902 -0.02144835 1.64804815] [ 0.02487323 0.99968155 -0.00425714 0.16099254] [ 0.02154777 0.00372134 0.99976089 -0.6408276 ] [ 0. 0. 0. 1. ]] SLAMing on 33.64907232899999 meters Centerline goodness : 0.777283 Centerline is valid? [False, False] Translation: X:1.65, Y:0.16, Z:-0.64 [[ 0.99936024 -0.02771677 -0.02260303 1.65244146] [ 0.02757198 0.99959741 -0.0066929 0.1560444 ] [ 0.02277943 0.0060654 0.99972212 -0.64226541] [ 0. 0. 0. 1. ]] SLAMing on 33.67907232899999 meters Centerline goodness : 0.779041 Centerline is valid? [False, False] Translation: X:1.65, Y:0.15, Z:-0.64 [[ 0.9992505 -0.03133555 -0.02272723 1.65360023] [ 0.031128 0.99947093 -0.00942925 0.15178572] [ 0.02301068 0.00871473 0.99969724 -0.64265566] [ 0. 0. 0. 1. ]] SLAMing on 33.709072328999994 meters Centerline goodness : 0.778840 Centerline is valid? [False, False] Translation: X:1.65, Y:0.15, Z:-0.64 [[ 0.99916704 -0.03405826 -0.0224782 1.65368991] [ 0.033782 0.99935034 -0.01255721 0.14736662] [ 0.02289127 0.01178739 0.99966847 -0.64285351] [ 0. 0. 0. 1. ]] SLAMing on 33.739072328999995 meters Centerline goodness : 0.780467 Centerline is valid? [False, False] Translation: X:1.65, Y:0.14, Z:-0.64 [[ 0.99911245 -0.03672989 -0.02062089 1.65164216] [ 0.03636119 0.99917697 -0.01797897 0.13894452] [ 0.02126428 0.01721321 0.9996257 -0.64496628] [ 0. 0. 0. 1. ]] SLAMing on 33.769072329 meters Centerline goodness : 0.781808 Centerline is valid? [False, False] Translation: X:1.65, Y:0.13, Z:-0.64 [[ 0.99912201 -0.03651067 -0.0205468 1.65108048] [ 0.03615528 0.99919452 -0.01741016 0.13465077] [ 0.0211659 0.016652 0.99963729 -0.64408087] [ 0. 0. 0. 1. ]] SLAMing on 33.799072329 meters Centerline goodness : 0.785095 Centerline is valid? [False, False] Translation: X:1.65, Y:0.13, Z:-0.64 [[ 0.99924337 -0.03288424 -0.02076803 1.650469 ] [ 0.03267104 0.99941076 -0.01052327 0.12779629] [ 0.02110185 0.0098368 0.99972894 -0.64155438] [ 0. 0. 0. 1. ]] SLAMing on 33.829072329 meters Centerline goodness : 0.786883 Centerline is valid? [False, False] Translation: X:1.65, Y:0.13, Z:-0.64 [[ 0.99928831 -0.03125587 -0.0211174 1.65017748] [ 0.03112481 0.99949433 -0.00650684 0.12505406] [ 0.0213101 0.00584494 0.99975583 -0.63927248] [ 0. 0. 0. 1. ]] SLAMing on 33.85907232899999 meters Centerline goodness : 0.788100 Centerline is valid? [False, False] Translation: X:1.65, Y:0.12, Z:-0.64 [[ 0.99933774 -0.0296916 -0.02103568 1.64881392] [ 0.02960945 0.99955269 -0.00420621 0.12207045] [ 0.02115116 0.00358057 0.99976988 -0.63707663] [ 0. 0. 0. 1. ]] SLAMing on 33.889072328999994 meters Centerline goodness : 0.788193 Centerline is valid? [False, False] Translation: X:1.65, Y:0.12, Z:-0.64 [[ 0.99938151 -0.02844565 -0.02067491 1.64815884] [ 0.02839035 0.99959252 -0.00296331 0.11897141] [ 0.02075078 0.00237451 0.99978186 -0.6368489 ] [ 0. 0. 0. 1. ]] SLAMing on 33.919072328999995 meters Centerline goodness : 0.790379 Centerline is valid? [False, False] Translation: X:1.64, Y:0.11, Z:-0.64 [[ 0.99938524 -0.02976563 -0.0185245 1.64441856] [ 0.02959295 0.99951663 -0.0095269 0.11224742] [ 0.01879912 0.00897285 0.99978302 -0.63844756] [ 0. 0. 0. 1. ]] SLAMing on 33.949072328999996 meters Centerline goodness : 0.790683 Centerline is valid? [False, False] Translation: X:1.65, Y:0.11, Z:-0.64 [[ 0.99941351 -0.02858102 -0.01886144 1.64723647] [ 0.0284533 0.99957057 -0.00700581 0.10551984] [ 0.01905357 0.00646504 0.99979756 -0.6421816 ] [ 0. 0. 0. 1. ]] SLAMing on 33.979072329 meters Centerline goodness : 0.792766 Centerline is valid? [False, False] Translation: X:1.65, Y:0.10, Z:-0.64 [[ 0.99943222 -0.02764318 -0.01926395 1.64956972] [ 0.02754874 0.99960719 -0.00515057 0.10120362] [ 0.01939876 0.00461695 0.99980117 -0.64464626] [ 0. 0. 0. 1. ]] SLAMing on 34.009072329 meters Centerline goodness : 0.792395 Centerline is valid? [False, False] Translation: X:1.65, Y:0.10, Z:-0.65 [[ 9.99529586e-01 -2.37007274e-02 -1.94649114e-02 1.64972590e+00] [ 2.37156435e-02 9.99718601e-01 5.35799923e-04 9.62268373e-02] [ 1.94467352e-02 -9.97170776e-04 9.99810397e-01 -6.46341433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.03907232899999 meters Centerline goodness : 0.792788 Centerline is valid? [False, False] Translation: X:1.65, Y:0.09, Z:-0.65 [[ 0.99953313 -0.02294328 -0.02017738 1.65178048] [ 0.02299966 0.99973218 0.0025667 0.09095718] [ 0.02011309 -0.00302957 0.99979312 -0.64760502] [ 0. 0. 0. 1. ]] SLAMing on 34.069072328999994 meters Centerline goodness : 0.794402 Centerline is valid? [False, False] Translation: X:1.65, Y:0.09, Z:-0.65 [[ 0.9995454 -0.02225466 -0.02034034 1.65329743] [ 0.02234103 0.99974229 0.00402896 0.08642393] [ 0.02024544 -0.00448155 0.999785 -0.64946108] [ 0. 0. 0. 1. ]] SLAMing on 34.099072328999995 meters Centerline goodness : 0.794100 Centerline is valid? [False, False] Translation: X:1.66, Y:0.08, Z:-0.65 [[ 0.99955764 -0.02133554 -0.02071986 1.65559995] [ 0.02145344 0.9997548 0.00548485 0.08227461] [ 0.02059776 -0.00592693 0.99977028 -0.65152713] [ 0. 0. 0. 1. ]] SLAMing on 34.129072328999996 meters Centerline goodness : 0.793260 Centerline is valid? [False, False] Translation: X:1.66, Y:0.08, Z:-0.65 [[ 0.99956979 -0.02059964 -0.02087774 1.65739049] [ 0.02074439 0.99976209 0.0067407 0.07776921] [ 0.02073391 -0.00717089 0.99975931 -0.65359041] [ 0. 0. 0. 1. ]] SLAMing on 34.159072329 meters Centerline goodness : 0.792187 Centerline is valid? [False, False] Translation: X:1.66, Y:0.08, Z:-0.66 [[ 0.99957522 -0.01994933 -0.02124624 1.65947253] [ 0.02011091 0.99977023 0.00741916 0.07716338] [ 0.02109335 -0.00784329 0.99974674 -0.65524541] [ 0. 0. 0. 1. ]] SLAMing on 34.189072329 meters Centerline goodness : 0.793020 Centerline is valid? [False, False] Translation: X:1.66, Y:0.08, Z:-0.66 [[ 0.99957304 -0.01964322 -0.02163042 1.66087715] [ 0.0198059 0.99977695 0.00733263 0.07861794] [ 0.02148156 -0.00775791 0.99973914 -0.65566839] [ 0. 0. 0. 1. ]] SLAMing on 34.21907232899999 meters Centerline goodness : 0.793698 Centerline is valid? [False, False] Translation: X:1.66, Y:0.08, Z:-0.66 [[ 0.99956673 -0.01945003 -0.02209189 1.66205071] [ 0.01961042 0.99978272 0.00706693 0.08046984] [ 0.02194964 -0.00749709 0.99973097 -0.65550108] [ 0. 0. 0. 1. ]] SLAMing on 34.24907232899999 meters Centerline goodness : 0.793192 Centerline is valid? [False, False] Translation: X:1.66, Y:0.08, Z:-0.66 [[ 0.99956386 -0.01931883 -0.02233531 1.66308458] [ 0.01946973 0.99978894 0.00655839 0.08355501] [ 0.02220389 -0.00699039 0.99972902 -0.65576844] [ 0. 0. 0. 1. ]] SLAMing on 34.279072328999995 meters Centerline goodness : 0.791657 Centerline is valid? [False, False] Translation: X:1.66, Y:0.09, Z:-0.66 [[ 0.99955956 -0.01908438 -0.02272619 1.6643565 ] [ 0.0192324 0.99979511 0.00631227 0.08514235] [ 0.02260107 -0.00674657 0.9997218 -0.65592064] [ 0. 0. 0. 1. ]] SLAMing on 34.309072328999996 meters Centerline goodness : 0.791974 Centerline is valid? [False, False] Translation: X:1.66, Y:0.09, Z:-0.66 [[ 0.99955045 -0.01916594 -0.02305583 1.66487807] [ 0.01929856 0.9997984 0.00554315 0.08812176] [ 0.02294494 -0.0059856 0.99971881 -0.65511079] [ 0. 0. 0. 1. ]] SLAMing on 34.339072329 meters Centerline goodness : 0.791213 Centerline is valid? [False, False] Translation: X:1.67, Y:0.09, Z:-0.66 [[ 0.99980123 -0.01697746 -0.01045326 1.67098541] [ 0.0170645 0.99981998 0.0082951 0.09185849] [ 0.01031055 -0.00847183 0.99991096 -0.66149954] [ 0. 0. 0. 1. ]] SLAMing on 34.369072329 meters Centerline goodness : 0.790012 Centerline is valid? [False, False] Translation: X:1.68, Y:0.09, Z:-0.67 [[ 9.99892005e-01 -1.46787110e-02 7.16898650e-04 1.67941481e+00] [ 1.46724988e-02 9.99860236e-01 8.01408704e-03 9.30050516e-02] [-8.34434922e-04 -8.00270286e-03 9.99967630e-01 -6.69153594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.39907232899999 meters Centerline goodness : 0.789457 Centerline is valid? [False, False] Translation: X:1.68, Y:0.09, Z:-0.67 [[ 9.99891861e-01 -1.46959129e-02 5.44834809e-04 1.67988927e+00] [ 1.46911701e-02 9.99861078e-01 7.87370199e-03 9.40562553e-02] [-6.60470358e-04 -7.86484627e-03 9.99968854e-01 -6.69201793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.42907232899999 meters Centerline goodness : 0.789852 Centerline is valid? [False, False] Translation: X:1.68, Y:0.10, Z:-0.67 [[ 9.99837579e-01 -1.80151722e-02 -5.17918809e-04 1.68339573e+00] [ 1.80167252e-02 9.99832663e-01 3.16915394e-03 9.93316538e-02] [ 4.60739288e-04 -3.17797040e-03 9.99994844e-01 -6.69614434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.459072328999994 meters Centerline goodness : 0.788222 Centerline is valid? [False, False] Translation: X:1.70, Y:0.10, Z:-0.68 [[ 0.99980063 -0.01978275 0.00271061 1.70415538] [ 0.01975297 0.99974866 0.01060394 0.0991743 ] [-0.0029197 -0.01054828 0.9999401 -0.67580878] [ 0. 0. 0. 1. ]] SLAMing on 34.489072328999995 meters Centerline goodness : 0.788727 Centerline is valid? [False, False] Translation: X:1.72, Y:0.10, Z:-0.68 [[ 0.99975895 -0.021169 0.00582394 1.72481176] [ 0.02105989 0.99961259 0.01819767 0.10033288] [-0.00620691 -0.01807063 0.99981745 -0.68157838] [ 0. 0. 0. 1. ]] SLAMing on 34.519072329 meters Centerline goodness : 0.787962 Centerline is valid? [False, False] Translation: X:1.73, Y:0.10, Z:-0.68 [[ 0.99976405 -0.02106475 0.0053021 1.72637337] [ 0.02096765 0.99962262 0.01774732 0.10379814] [-0.00567394 -0.01763196 0.99982845 -0.68190844] [ 0. 0. 0. 1. ]] SLAMing on 34.549072329 meters Centerline goodness : 0.785967 Centerline is valid? [False, False] Translation: X:1.76, Y:0.11, Z:-0.69 [[ 0.99974445 -0.02168215 0.006397 1.75565539] [ 0.02153611 0.99952426 0.02207829 0.10742727] [-0.00687266 -0.02193488 0.99973578 -0.68743545] [ 0. 0. 0. 1. ]] SLAMing on 34.579072329 meters Centerline goodness : 0.783803 Centerline is valid? [False, False] Translation: X:1.76, Y:0.11, Z:-0.69 [[ 0.99971348 -0.02341284 0.00498051 1.75947826] [ 0.0233047 0.99951279 0.0207623 0.11047404] [-0.00546418 -0.02064028 0.99977203 -0.68884422] [ 0. 0. 0. 1. ]] SLAMing on 34.60907232899999 meters Centerline goodness : 0.785668 Centerline is valid? [False, False] Translation: X:1.76, Y:0.11, Z:-0.69 [[ 0.9996782 -0.02511674 0.0035565 1.76394441] [ 0.02504332 0.99949872 0.01936836 0.11343262] [-0.00404119 -0.01927306 0.99980609 -0.69110728] [ 0. 0. 0. 1. ]] SLAMing on 34.639072328999994 meters Centerline goodness : 0.784483 Centerline is valid? [False, False] Translation: X:1.77, Y:0.12, Z:-0.69 [[ 9.99575763e-01 -2.91196239e-02 5.83746042e-04 1.77018987e+00] [ 2.91020055e-02 9.99374127e-01 2.01103785e-02 1.17804874e-01] [-1.16898735e-03 -2.00848588e-02 9.99797595e-01 -6.90718911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.669072328999995 meters Centerline goodness : 0.784142 Centerline is valid? [False, False] Translation: X:1.77, Y:0.12, Z:-0.69 [[ 9.99509334e-01 -3.12619363e-02 -1.94470295e-03 1.77464387e+00] [ 3.12992010e-02 9.99230620e-01 2.36331947e-02 1.19209754e-01] [ 1.20438731e-03 -2.36824664e-02 9.99718806e-01 -6.88408570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.699072328999996 meters Centerline goodness : 0.786232 Centerline is valid? [False, False] Translation: X:1.78, Y:0.12, Z:-0.69 [[ 0.99942684 -0.03355555 -0.00447332 1.77853418] [ 0.03366507 0.99906303 0.02719803 0.12023678] [ 0.00355648 -0.02733304 0.99962006 -0.68521592] [ 0. 0. 0. 1. ]] SLAMing on 34.729072329 meters Centerline goodness : 0.785972 Centerline is valid? [False, False] Translation: X:1.78, Y:0.12, Z:-0.68 [[ 0.9993043 -0.03675208 -0.0063399 1.78114155] [ 0.03692079 0.99889906 0.02894017 0.12101431] [ 0.00526931 -0.02915411 0.99956104 -0.68199013] [ 0. 0. 0. 1. ]] SLAMing on 34.759072329 meters Centerline goodness : 0.786819 Centerline is valid? [False, False] Translation: X:1.78, Y:0.12, Z:-0.68 [[ 0.99911793 -0.04112595 -0.00848638 1.7847649 ] [ 0.04136209 0.99869873 0.02983335 0.1210225 ] [ 0.00724841 -0.03015805 0.99951886 -0.6794139 ] [ 0. 0. 0. 1. ]] SLAMing on 34.78907232899999 meters Centerline goodness : 0.785129 Centerline is valid? [False, False] Translation: X:1.79, Y:0.12, Z:-0.68 [[ 0.9985046 -0.05318556 -0.01264341 1.79274786] [ 0.05352059 0.99817888 0.02782946 0.12091044] [ 0.01114026 -0.02846452 0.99953272 -0.67621476] [ 0. 0. 0. 1. ]] SLAMing on 34.819072328999994 meters Centerline goodness : 0.786213 Centerline is valid? [False, False] Translation: X:1.80, Y:0.12, Z:-0.67 [[ 0.99808086 -0.06007002 -0.01503943 1.79722327] [ 0.06044853 0.9978294 0.02612383 0.12107539] [ 0.01343753 -0.02698281 0.99954558 -0.67377471] [ 0. 0. 0. 1. ]] SLAMing on 34.849072328999995 meters Centerline goodness : 0.785425 Centerline is valid? [False, False] Translation: X:1.80, Y:0.13, Z:-0.67 [[ 0.99757333 -0.06785742 -0.01558306 1.79947744] [ 0.06812327 0.99752838 0.0172148 0.12533585] [ 0.01437639 -0.01823459 0.99973037 -0.67212059] [ 0. 0. 0. 1. ]] SLAMing on 34.879072328999996 meters Centerline goodness : 0.784182 Centerline is valid? [False, False] Translation: X:1.81, Y:0.12, Z:-0.66 [[ 0.99710443 -0.06810637 -0.03382731 1.80696704] [ 0.06881859 0.99742151 0.02035498 0.12150883] [ 0.03235378 -0.02262398 0.99922039 -0.66127718] [ 0. 0. 0. 1. ]] SLAMing on 34.909072329 meters Centerline goodness : 0.782871 Centerline is valid? [False, False] Translation: X:1.81, Y:0.12, Z:-0.66 [[ 0.99701165 -0.06884476 -0.03504525 1.80934713] [ 0.06961126 0.99735015 0.02114126 0.12335375] [ 0.03349692 -0.02351763 0.99916209 -0.66071791] [ 0. 0. 0. 1. ]] SLAMing on 34.939072329 meters Centerline goodness : 0.782892 Centerline is valid? [False, False] Translation: X:1.81, Y:0.13, Z:-0.66 [[ 0.99704217 -0.06807083 -0.03568296 1.81050402] [ 0.06886908 0.997391 0.02163905 0.12553236] [ 0.03411687 -0.0240325 0.99912886 -0.66082085] [ 0. 0. 0. 1. ]] SLAMing on 34.96907232899999 meters Centerline goodness : 0.784252 Centerline is valid? [False, False] Translation: X:1.81, Y:0.13, Z:-0.65 [[ 0.99708899 -0.06710155 -0.03620661 1.8120104 ] [ 0.06775456 0.99755514 0.01711921 0.13449416] [ 0.03496936 -0.01952254 0.99919769 -0.65280718] [ 0. 0. 0. 1. ]] SLAMing on 34.99907232899999 meters Centerline goodness : 0.782849 Centerline is valid? [False, False] Translation: X:1.81, Y:0.14, Z:-0.65 [[ 0.99708493 -0.06685247 -0.03677475 1.81253645] [ 0.06739234 0.9976333 0.01364064 0.14126825] [ 0.0357758 -0.01607921 0.99923048 -0.64641671] [ 0. 0. 0. 1. ]] SLAMing on 35.029072328999995 meters Centerline goodness : 0.782980 Centerline is valid? [False, False] Translation: X:1.81, Y:0.15, Z:-0.64 [[ 0.99710713 -0.06610631 -0.03751439 1.8141458 ] [ 0.06652097 0.99773578 0.00991377 0.14889601] [ 0.03677408 -0.01238058 0.99924691 -0.63949066] [ 0. 0. 0. 1. ]] SLAMing on 35.059072328999996 meters Centerline goodness : 0.782391 Centerline is valid? [False, False] Translation: X:1.82, Y:0.16, Z:-0.63 [[ 0.99715932 -0.06484525 -0.03831942 1.8168071 ] [ 0.06512197 0.99785917 0.00601665 0.15721812] [ 0.03784723 -0.00849499 0.99924743 -0.63243674] [ 0. 0. 0. 1. ]] SLAMing on 35.089072329 meters Centerline goodness : 0.784571 Centerline is valid? [False, False] Translation: X:1.82, Y:0.16, Z:-0.63 [[ 0.99720848 -0.06362701 -0.03907503 1.81918954] [ 0.06380834 0.99795635 0.00340982 0.16473468] [ 0.03877822 -0.00589362 0.99923046 -0.62802278] [ 0. 0. 0. 1. ]] SLAMing on 35.119072329 meters Centerline goodness : 0.783612 Centerline is valid? [False, False] Translation: X:1.83, Y:0.17, Z:-0.63 [[ 0.99751843 -0.05747788 -0.04066057 1.82556791] [ 0.05780662 0.99830357 0.00695498 0.17067281] [ 0.04019184 -0.00928817 0.99914881 -0.62988873] [ 0. 0. 0. 1. ]] SLAMing on 35.14907232899999 meters Centerline goodness : 0.782921 Centerline is valid? [False, False] Translation: X:1.83, Y:0.17, Z:-0.63 [[ 0.99755112 -0.05611347 -0.04174972 1.83083597] [ 0.05647115 0.99837653 0.00743685 0.17235377] [ 0.04126464 -0.00977629 0.99910042 -0.6326621 ] [ 0. 0. 0. 1. ]] SLAMing on 35.17907232899999 meters Centerline goodness : 0.783197 Centerline is valid? [False, False] Translation: X:1.83, Y:0.17, Z:-0.63 [[ 0.99756345 -0.05531204 -0.04251752 1.83452611] [ 0.05568762 0.99841855 0.00769962 0.17423645] [ 0.0420244 -0.01004855 0.99906605 -0.63482379] [ 0. 0. 0. 1. ]] SLAMing on 35.209072328999994 meters Centerline goodness : 0.780723 Centerline is valid? [False, False] Translation: X:1.84, Y:0.18, Z:-0.63 [[ 0.9975158 -0.0557649 -0.04304077 1.8356605 ] [ 0.05606348 0.99841059 0.00576055 0.18296171] [ 0.04265112 -0.00815926 0.99905671 -0.63380212] [ 0. 0. 0. 1. ]] SLAMing on 35.239072328999995 meters Centerline goodness : 0.780594 Centerline is valid? [False, False] Translation: X:1.84, Y:0.19, Z:-0.63 [[ 0.99747807 -0.0562451 -0.04328963 1.83564568] [ 0.05649203 0.9983929 0.00450097 0.18783842] [ 0.0429669 -0.00693514 0.99905243 -0.6325511 ] [ 0. 0. 0. 1. ]] SLAMing on 35.269072329 meters Centerline goodness : 0.781790 Centerline is valid? [False, False] Translation: X:1.83, Y:0.20, Z:-0.63 [[ 0.99740992 -0.05747 -0.04325093 1.83456175] [ 0.05761469 0.99833667 0.00210541 0.19552007] [ 0.04305799 -0.00459185 0.99906202 -0.63045745] [ 0. 0. 0. 1. ]] SLAMing on 35.299072329 meters Centerline goodness : 0.781235 Centerline is valid? [False, False] Translation: X:1.84, Y:0.20, Z:-0.63 [[ 9.97139331e-01 -6.15697711e-02 -4.38442431e-02 1.83667243e+00] [ 6.14794565e-02 9.98102536e-01 -3.40661779e-03 2.01169383e-01] [ 4.39707949e-02 7.01352352e-04 9.99032571e-01 -6.28951326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.32907232899999 meters Centerline goodness : 0.780317 Centerline is valid? [False, False] Translation: X:1.84, Y:0.21, Z:-0.63 [[ 0.99684996 -0.06592894 -0.04408553 1.83779397] [ 0.06561127 0.99780806 -0.00861597 0.20610898] [ 0.04455694 0.00569632 0.99899061 -0.62796506] [ 0. 0. 0. 1. ]] SLAMing on 35.35907232899999 meters Centerline goodness : 0.780806 Centerline is valid? [False, False] Translation: X:1.83, Y:0.21, Z:-0.63 [[ 0.99680018 -0.06724364 -0.04321681 1.83472134] [ 0.06690492 0.99771658 -0.00923867 0.20721897] [ 0.04373937 0.00631769 0.999023 -0.62773631] [ 0. 0. 0. 1. ]] SLAMing on 35.389072328999994 meters Centerline goodness : 0.780109 Centerline is valid? [False, False] Translation: X:1.85, Y:0.21, Z:-0.63 [[ 0.99637228 -0.07662108 -0.03703372 1.84629963] [ 0.07640744 0.99705103 -0.00715228 0.20973633] [ 0.03747253 0.00429668 0.99928842 -0.63087768] [ 0. 0. 0. 1. ]] SLAMing on 35.419072328999995 meters Centerline goodness : 0.780114 Centerline is valid? [False, False] Translation: X:1.85, Y:0.21, Z:-0.63 [[ 0.99638539 -0.07624364 -0.03745741 1.8480006 ] [ 0.07602937 0.9970802 -0.00711388 0.21032885] [ 0.03789043 0.0042403 0.9992729 -0.63141394] [ 0. 0. 0. 1. ]] SLAMing on 35.449072328999996 meters Centerline goodness : 0.780114 Centerline is valid? [False, False] Translation: X:1.85, Y:0.21, Z:-0.63 [[ 0.99638539 -0.07624364 -0.03745741 1.8480006 ] [ 0.07602937 0.9970802 -0.00711388 0.21032885] [ 0.03789043 0.0042403 0.9992729 -0.63141394] [ 0. 0. 0. 1. ]] SLAMing on 35.479072329 meters Centerline goodness : 0.780833 Centerline is valid? [False, False] Translation: X:1.85, Y:0.21, Z:-0.63 [[ 9.96712957e-01 -7.18513458e-02 -3.74254614e-02 1.84798868e+00] [ 7.18010660e-02 9.97415352e-01 -2.68754253e-03 2.09562468e-01] [ 3.75218333e-02 -8.47955453e-06 9.99295808e-01 -6.32697784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.509072329 meters Centerline goodness : 0.781150 Centerline is valid? [False, False] Translation: X:1.85, Y:0.21, Z:-0.63 [[ 9.96712278e-01 -7.17661206e-02 -3.76066282e-02 1.84828032e+00] [ 7.16768559e-02 9.97420976e-01 -3.71827050e-03 2.13046066e-01] [ 3.77764856e-02 1.01052099e-03 9.99285703e-01 -6.31208207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.53907232899999 meters Centerline goodness : 0.781758 Centerline is valid? [False, False] Translation: X:1.85, Y:0.21, Z:-0.63 [[ 9.96713581e-01 -7.16672230e-02 -3.77603766e-02 1.84868335e+00] [ 7.15675864e-02 9.97427790e-01 -3.98551557e-03 2.14084725e-01] [ 3.79488798e-02 1.26999849e-03 9.99278875e-01 -6.30813701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.569072328999994 meters Centerline goodness : 0.781028 Centerline is valid? [False, False] Translation: X:1.85, Y:0.21, Z:-0.63 [[ 9.96719525e-01 -7.14094133e-02 -3.80904632e-02 1.84949899e+00] [ 7.13017365e-02 9.97446035e-01 -4.17960835e-03 2.14765416e-01] [ 3.82916449e-02 1.44998108e-03 9.99265554e-01 -6.30267643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.599072328999995 meters Centerline goodness : 0.780522 Centerline is valid? [False, False] Translation: X:1.85, Y:0.22, Z:-0.63 [[ 0.99670148 -0.0715481 -0.0383019 1.84920276] [ 0.07141524 0.99743499 -0.00482767 0.21654179] [ 0.03854906 0.0020764 0.99925455 -0.6284882 ] [ 0. 0. 0. 1. ]] SLAMing on 35.629072328999996 meters Centerline goodness : 0.781813 Centerline is valid? [False, False] Translation: X:1.85, Y:0.22, Z:-0.63 [[ 0.99669248 -0.0715552 -0.03852209 1.84946933] [ 0.07142337 0.99743459 -0.00478944 0.21667853] [ 0.03876597 0.00202223 0.99924627 -0.6281747 ] [ 0. 0. 0. 1. ]] SLAMing on 35.659072329 meters Centerline goodness : 0.779767 Centerline is valid? [False, False] Translation: X:1.85, Y:0.22, Z:-0.63 [[ 9.96693754e-01 -7.14532835e-02 -3.86780214e-02 1.85008709e+00] [ 7.13293246e-02 9.97442318e-01 -4.57718424e-03 2.16186938e-01] [ 3.89061501e-02 1.80317380e-03 9.99241242e-01 -6.28554329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.689072329 meters Centerline goodness : 0.781098 Centerline is valid? [False, False] Translation: X:1.85, Y:0.21, Z:-0.63 [[ 9.96704072e-01 -7.13143460e-02 -3.86685499e-02 1.85065944e+00] [ 7.12118126e-02 9.97453098e-01 -4.02424516e-03 2.13234514e-01] [ 3.88570513e-02 1.25732401e-03 9.99243989e-01 -6.29531077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.71907232899999 meters Centerline goodness : 0.781222 Centerline is valid? [False, False] Translation: X:1.85, Y:0.21, Z:-0.63 [[ 9.96715087e-01 -7.12403672e-02 -3.85207071e-02 1.85062810e+00] [ 7.11496422e-02 9.97458706e-01 -3.72274022e-03 2.11677383e-01] [ 3.86880240e-02 9.69776818e-04 9.99250868e-01 -6.29983150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.74907232899999 meters Centerline goodness : 0.780892 Centerline is valid? [False, False] Translation: X:1.85, Y:0.21, Z:-0.63 [[ 9.96718843e-01 -7.11079066e-02 -3.86679911e-02 1.85088073e+00] [ 7.10108996e-02 9.97468001e-01 -3.87813541e-03 2.10793631e-01] [ 3.88458499e-02 1.11956180e-03 9.99244588e-01 -6.29184786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.779072328999995 meters Centerline goodness : 0.781098 Centerline is valid? [False, False] Translation: X:1.85, Y:0.21, Z:-0.63 [[ 9.96720147e-01 -7.11507754e-02 -3.85553590e-02 1.85044605e+00] [ 7.10490400e-02 9.97464786e-01 -4.00420304e-03 2.10552293e-01] [ 3.87425151e-02 1.25174860e-03 9.99248443e-01 -6.28686180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.809072328999996 meters Centerline goodness : 0.780478 Centerline is valid? [False, False] Translation: X:1.85, Y:0.21, Z:-0.63 [[ 9.96725787e-01 -7.09014923e-02 -3.88675289e-02 1.85084596e+00] [ 7.07835860e-02 9.97481978e-01 -4.40304410e-03 2.11560646e-01] [ 3.90818420e-02 1.63744452e-03 9.99234671e-01 -6.27190325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.839072329 meters Centerline goodness : 0.780709 Centerline is valid? [False, False] Translation: X:1.85, Y:0.21, Z:-0.63 [[ 9.96729810e-01 -7.05746099e-02 -3.93561877e-02 1.85189936e+00] [ 7.04476122e-02 9.97504846e-01 -4.60614307e-03 2.12499757e-01] [ 3.95830647e-02 1.81853066e-03 9.99214629e-01 -6.26316358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.869072329 meters Centerline goodness : 0.779622 Centerline is valid? [False, False] Translation: X:1.85, Y:0.21, Z:-0.63 [[ 0.99672601 -0.07051207 -0.03956411 1.85207576] [ 0.07037762 0.99750896 -0.00478247 0.21338733] [ 0.03980277 0.00198238 0.99920559 -0.62565032] [ 0. 0. 0. 1. ]] SLAMing on 35.89907232899999 meters Centerline goodness : 0.780503 Centerline is valid? [False, False] Translation: X:1.85, Y:0.21, Z:-0.63 [[ 9.96733733e-01 -7.03293942e-02 -3.96943598e-02 1.85239753e+00] [ 7.02006554e-02 9.97522148e-01 -4.62954942e-03 2.13229933e-01] [ 3.99215964e-02 1.82785800e-03 9.99201143e-01 -6.25512770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.92907232899999 meters Centerline goodness : 0.780776 Centerline is valid? [False, False] Translation: X:1.85, Y:0.21, Z:-0.63 [[ 9.96748997e-01 -7.00865652e-02 -3.97405405e-02 1.85303009e+00] [ 6.99767793e-02 9.97539994e-01 -4.14859126e-03 2.11916687e-01] [ 3.99335391e-02 1.35418915e-03 9.99201420e-01 -6.26358885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.959072328999994 meters Centerline goodness : 0.780197 Centerline is valid? [False, False] Translation: X:1.86, Y:0.21, Z:-0.63 [[ 0.99649078 -0.07320259 -0.04058944 1.85679762] [ 0.07292355 0.99730287 -0.00831511 0.21376294] [ 0.04108865 0.005326 0.99914131 -0.62618926] [ 0. 0. 0. 1. ]] SLAMing on 35.989072328999995 meters Centerline goodness : 0.781689 Centerline is valid? [False, False] Translation: X:1.86, Y:0.21, Z:-0.63 [[ 0.99649916 -0.07313961 -0.04049714 1.85692857] [ 0.07287541 0.99730925 -0.00796401 0.21273374] [ 0.04097065 0.00498488 0.99914792 -0.62690919] [ 0. 0. 0. 1. ]] SLAMing on 36.019072329 meters Centerline goodness : 0.782923 Centerline is valid? [False, False] Translation: X:1.86, Y:0.21, Z:-0.63 [[ 0.99652207 -0.07269692 -0.04072987 1.85834916] [ 0.07246603 0.99734548 -0.00711885 0.21021136] [ 0.04113927 0.00414256 0.99914483 -0.62833959] [ 0. 0. 0. 1. ]] SLAMing on 36.049072329 meters Centerline goodness : 0.782090 Centerline is valid? [False, False] Translation: X:1.86, Y:0.21, Z:-0.63 [[ 0.99654962 -0.07227155 -0.04081276 1.85954004] [ 0.07208191 0.99738005 -0.00610127 0.20767176] [ 0.04114678 0.00313836 0.99914818 -0.63015922] [ 0. 0. 0. 1. ]] SLAMing on 36.07907232899999 meters Centerline goodness : 0.782561 Centerline is valid? [False, False] Translation: X:1.86, Y:0.20, Z:-0.63 [[ 0.99655894 -0.07212555 -0.04084336 1.86014907] [ 0.07197199 0.997393 -0.00521963 0.20482085] [ 0.04111335 0.0022621 0.99915193 -0.63154389] [ 0. 0. 0. 1. ]] SLAMing on 36.10907232899999 meters Centerline goodness : 0.783009 Centerline is valid? [False, False] Translation: X:1.86, Y:0.20, Z:-0.63 [[ 9.96576387e-01 -7.19327730e-02 -4.07575870e-02 1.86052528e+00] [ 7.18206928e-02 9.97408677e-01 -4.20940944e-03 2.01436353e-01] [ 4.09547654e-02 1.26775992e-03 9.99160197e-01 -6.32947972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.139072328999994 meters Centerline goodness : 0.784309 Centerline is valid? [False, False] Translation: X:1.88, Y:0.20, Z:-0.64 [[ 0.99658965 -0.0743229 -0.03584933 1.87569419] [ 0.07453575 0.99720757 0.00463601 0.19669087] [ 0.03540466 -0.00729225 0.99934645 -0.6366307 ] [ 0. 0. 0. 1. ]] SLAMing on 36.169072328999995 meters Centerline goodness : 0.783031 Centerline is valid? [False, False] Translation: X:1.87, Y:0.20, Z:-0.63 [[ 0.99657366 -0.07452802 -0.03586812 1.87466609] [ 0.07471858 0.99719664 0.00400007 0.19704435] [ 0.03546945 -0.00666638 0.99934853 -0.63435752] [ 0. 0. 0. 1. ]] SLAMing on 36.199072328999996 meters Centerline goodness : 0.782432 Centerline is valid? [False, False] Translation: X:1.87, Y:0.20, Z:-0.63 [[ 0.99656684 -0.07470854 -0.03568148 1.87317624] [ 0.07488148 0.99718618 0.00353338 0.19618764] [ 0.03531711 -0.00619313 0.99935697 -0.63215102] [ 0. 0. 0. 1. ]] SLAMing on 36.229072329 meters Centerline goodness : 0.783899 Centerline is valid? [False, False] Translation: X:1.87, Y:0.19, Z:-0.63 [[ 0.99657172 -0.07468517 -0.035594 1.87276672] [ 0.07485788 0.99718792 0.00354257 0.19486149] [ 0.03522932 -0.00619492 0.99936005 -0.63148925] [ 0. 0. 0. 1. ]] SLAMing on 36.259072329 meters Centerline goodness : 0.782172 Centerline is valid? [False, False] Translation: X:1.87, Y:0.19, Z:-0.63 [[ 0.99657645 -0.0746641 -0.03550573 1.87238143] [ 0.07484077 0.99718874 0.00367113 0.19333225] [ 0.03513181 -0.00631584 0.99936273 -0.63101283] [ 0. 0. 0. 1. ]] SLAMing on 36.28907232899999 meters Centerline goodness : 0.782822 Centerline is valid? [False, False] Translation: X:1.87, Y:0.19, Z:-0.63 [[ 0.996583 -0.0746038 -0.0354485 1.87223158] [ 0.07479179 0.99719113 0.00400536 0.19137186] [ 0.03505011 -0.00664293 0.99936348 -0.63099002] [ 0. 0. 0. 1. ]] SLAMing on 36.319072328999994 meters Centerline goodness : 0.782154 Centerline is valid? [False, False] Translation: X:1.87, Y:0.19, Z:-0.63 [[ 0.99658919 -0.0745565 -0.03537381 1.8721542 ] [ 0.07477978 0.99718739 0.00502963 0.18616741] [ 0.03489933 -0.00765772 0.99936149 -0.63158525] [ 0. 0. 0. 1. ]] SLAMing on 36.349072328999995 meters Centerline goodness : 0.780494 Centerline is valid? [False, False] Translation: X:1.87, Y:0.18, Z:-0.63 [[ 0.99658918 -0.07456557 -0.03535511 1.87205363] [ 0.07480424 0.99718321 0.00547482 0.18413483] [ 0.03484729 -0.00810086 0.99935982 -0.63173565] [ 0. 0. 0. 1. ]] SLAMing on 36.379072328999996 meters Centerline goodness : 0.780566 Centerline is valid? [False, False] Translation: X:1.87, Y:0.18, Z:-0.63 [[ 0.99658874 -0.07454405 -0.03541286 1.87207239] [ 0.07478883 0.99718346 0.00563662 0.18305246] [ 0.03489294 -0.00826588 0.99935687 -0.63146217] [ 0. 0. 0. 1. ]] SLAMing on 36.409072329 meters Centerline goodness : 0.780629 Centerline is valid? [False, False] Translation: X:1.87, Y:0.18, Z:-0.63 [[ 0.99657974 -0.07461015 -0.03552668 1.87198599] [ 0.07485095 0.99717959 0.00549517 0.18292518] [ 0.03501649 -0.00813558 0.99935362 -0.63073594] [ 0. 0. 0. 1. ]] SLAMing on 36.439072329 meters Centerline goodness : 0.784063 Centerline is valid? [False, False] Translation: X:1.87, Y:0.18, Z:-0.63 [[ 0.99661094 -0.0738973 -0.0361362 1.87378847] [ 0.07413455 0.99723433 0.00526859 0.18356402] [ 0.03564692 -0.00792968 0.99933299 -0.62990456] [ 0. 0. 0. 1. ]] SLAMing on 36.46907232899999 meters Centerline goodness : 0.780120 Centerline is valid? [False, False] Translation: X:1.87, Y:0.18, Z:-0.63 [[ 0.99660356 -0.07394444 -0.03624304 1.87378304] [ 0.07416597 0.99723434 0.0048047 0.1841752 ] [ 0.03578753 -0.00747638 0.99933145 -0.62902578] [ 0. 0. 0. 1. ]] SLAMing on 36.49907232899999 meters Centerline goodness : 0.781762 Centerline is valid? [False, False] Translation: X:1.87, Y:0.18, Z:-0.63 [[ 0.99660377 -0.07392859 -0.03626972 1.87385949] [ 0.07414483 0.99723664 0.00465168 0.18435402] [ 0.0358256 -0.00732509 0.99933121 -0.62877766] [ 0. 0. 0. 1. ]] SLAMing on 36.529072328999995 meters Centerline goodness : 0.783355 Centerline is valid? [False, False] Translation: X:1.87, Y:0.18, Z:-0.63 [[ 0.99658809 -0.07422838 -0.03608783 1.87334589] [ 0.07444021 0.99721505 0.0045601 0.18453679] [ 0.03564884 -0.00723093 0.99933822 -0.62898525] [ 0. 0. 0. 1. ]] SLAMing on 36.559072328999996 meters Centerline goodness : 0.781253 Centerline is valid? [False, False] Translation: X:1.87, Y:0.18, Z:-0.63 [[ 0.99658505 -0.0743928 -0.03583221 1.87277006] [ 0.07460557 0.99720234 0.00463601 0.18355957] [ 0.03538708 -0.00729346 0.99934707 -0.62914367] [ 0. 0. 0. 1. ]] SLAMing on 36.589072329 meters Centerline goodness : 0.781478 Centerline is valid? [False, False] Translation: X:1.87, Y:0.18, Z:-0.63 [[ 0.99650858 -0.0760276 -0.03450304 1.87209955] [ 0.07614001 0.99709522 0.00195403 0.18315122] [ 0.03425426 -0.00457427 0.99940268 -0.62890492] [ 0. 0. 0. 1. ]] SLAMing on 36.619072329 meters Centerline goodness : 0.779788 Centerline is valid? [False, False] Translation: X:1.87, Y:0.18, Z:-0.63 [[ 0.99649992 -0.07629395 -0.03416343 1.87125463] [ 0.07641412 0.99707369 0.00222387 0.18123348] [ 0.03389379 -0.00482666 0.99941379 -0.62925387] [ 0. 0. 0. 1. ]] SLAMing on 36.64907232899999 meters Centerline goodness : 0.780087 Centerline is valid? [False, False] Translation: X:1.87, Y:0.18, Z:-0.63 [[ 0.9964597 -0.07694838 -0.03386766 1.86999788] [ 0.07707514 0.99702227 0.00245144 0.18028587] [ 0.03357818 -0.00505311 0.99942332 -0.62960214] [ 0. 0. 0. 1. ]] SLAMing on 36.67907232899999 meters Centerline goodness : 0.778922 Centerline is valid? [False, False] Translation: X:1.87, Y:0.18, Z:-0.63 [[ 0.99643875 -0.07722054 -0.0338646 1.86976998] [ 0.07734226 0.99700195 0.00229725 0.18105533] [ 0.03358568 -0.00490823 0.99942379 -0.62951019] [ 0. 0. 0. 1. ]] SLAMing on 36.709072328999994 meters Centerline goodness : 0.778672 Centerline is valid? [False, False] Translation: X:1.87, Y:0.18, Z:-0.63 [[ 0.99644218 -0.07713953 -0.03394805 1.87037883] [ 0.07726848 0.99700719 0.00250098 0.1811296 ] [ 0.03365352 -0.00511519 0.99942047 -0.63022458] [ 0. 0. 0. 1. ]] SLAMing on 36.739072328999995 meters Centerline goodness : 0.779110 Centerline is valid? [False, False] Translation: X:1.87, Y:0.18, Z:-0.63 [[ 0.99644518 -0.07718832 -0.03374851 1.87037757] [ 0.07732972 0.99700135 0.00290264 0.17981587] [ 0.03342326 -0.00550209 0.99942614 -0.63125088] [ 0. 0. 0. 1. ]] SLAMing on 36.769072329 meters Centerline goodness : 0.777675 Centerline is valid? [False, False] Translation: X:1.87, Y:0.18, Z:-0.63 [[ 9.96125214e-01 -8.14159709e-02 -3.32565547e-02 1.87014252e+00] [ 8.14271691e-02 9.96678773e-01 -1.01976274e-03 1.77380557e-01] [ 3.32291271e-02 -1.69217572e-03 9.99446328e-01 -6.31161061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.799072329 meters Centerline goodness : 0.779374 Centerline is valid? [False, False] Translation: X:1.87, Y:0.18, Z:-0.63 [[ 9.96092342e-01 -8.20923231e-02 -3.25714033e-02 1.86780005e+00] [ 8.21028210e-02 9.96623345e-01 -1.01728483e-03 1.75338714e-01] [ 3.25449322e-02 -1.66089447e-03 9.99468893e-01 -6.30597089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.82907232899999 meters Centerline goodness : 0.779388 Centerline is valid? [False, False] Translation: X:1.88, Y:0.17, Z:-0.63 [[ 0.99597866 -0.0851813 -0.02776058 1.88361308] [ 0.08539022 0.99632686 0.00642695 0.17274945] [ 0.02711115 -0.00877158 0.99959394 -0.63403696] [ 0. 0. 0. 1. ]] SLAMing on 36.85907232899999 meters Centerline goodness : 0.779922 Centerline is valid? [False, False] Translation: X:1.88, Y:0.17, Z:-0.63 [[ 0.99589409 -0.08632058 -0.02727111 1.88035809] [ 0.08650744 0.99623463 0.00574616 0.17262009] [ 0.02667241 -0.00808172 0.99961156 -0.63142126] [ 0. 0. 0. 1. ]] SLAMing on 36.889072328999994 meters Centerline goodness : 0.779764 Centerline is valid? [False, False] Translation: X:1.88, Y:0.17, Z:-0.63 [[ 0.99588718 -0.086376 -0.02734788 1.88032928] [ 0.08656686 0.99622874 0.00587127 0.17151688] [ 0.02673761 -0.00821454 0.99960873 -0.63115105] [ 0. 0. 0. 1. ]] SLAMing on 36.919072328999995 meters Centerline goodness : 0.782259 Centerline is valid? [False, False] Translation: X:1.88, Y:0.17, Z:-0.63 [[ 0.99592295 -0.08592744 -0.02745828 1.88169916] [ 0.08615023 0.99625732 0.00703447 0.16766384] [ 0.02675106 -0.00937133 0.9995982 -0.63308493] [ 0. 0. 0. 1. ]] SLAMing on 36.949072328999996 meters Centerline goodness : 0.783189 Centerline is valid? [False, False] Translation: X:1.88, Y:0.17, Z:-0.63 [[ 0.99593638 -0.08571115 -0.02764652 1.88240701] [ 0.08593903 0.99627467 0.00716015 0.16699106] [ 0.02692983 -0.00950697 0.99959212 -0.63319866] [ 0. 0. 0. 1. ]] SLAMing on 36.979072329 meters Centerline goodness : 0.781482 Centerline is valid? [False, False] Translation: X:1.88, Y:0.17, Z:-0.63 [[ 0.99592972 -0.08574124 -0.02779254 1.88239322] [ 0.08595629 0.99627681 0.00663547 0.16827064] [ 0.02712013 -0.0089974 0.99959169 -0.63217712] [ 0. 0. 0. 1. ]] SLAMing on 37.009072329 meters Centerline goodness : 0.779678 Centerline is valid? [False, False] Translation: X:1.88, Y:0.17, Z:-0.63 [[ 0.99626824 -0.08156731 -0.02822015 1.88207844] [ 0.08187565 0.99659291 0.00994698 0.17062276] [ 0.02731265 -0.0122204 0.99955224 -0.63079735] [ 0. 0. 0. 1. ]] SLAMing on 37.03907232899999 meters Centerline goodness : 0.779522 Centerline is valid? [False, False] Translation: X:1.88, Y:0.17, Z:-0.63 [[ 0.99662581 -0.07698697 -0.02846041 1.8828912 ] [ 0.07742498 0.99689097 0.01462088 0.16948262] [ 0.02724631 -0.01677509 0.99948799 -0.63235463] [ 0. 0. 0. 1. ]] SLAMing on 37.069072328999994 meters Centerline goodness : 0.780013 Centerline is valid? [False, False] Translation: X:1.89, Y:0.17, Z:-0.63 [[ 0.99667438 -0.07599456 -0.02941109 1.88647607] [ 0.07644711 0.99696704 0.01457947 0.17118778] [ 0.02821393 -0.01677938 0.99946107 -0.63321934] [ 0. 0. 0. 1. ]] SLAMing on 37.099072328999995 meters Centerline goodness : 0.777514 Centerline is valid? [False, False] Translation: X:1.89, Y:0.17, Z:-0.64 [[ 0.99680156 -0.0739088 -0.03039962 1.8919735 ] [ 0.07439771 0.99711162 0.01527733 0.17295832] [ 0.02918269 -0.01749013 0.99942107 -0.63602498] [ 0. 0. 0. 1. ]] SLAMing on 37.129072328999996 meters Centerline goodness : 0.777170 Centerline is valid? [False, False] Translation: X:1.89, Y:0.18, Z:-0.64 [[ 0.99681231 -0.07349774 -0.03103718 1.89389384] [ 0.07398202 0.99715045 0.01475266 0.17563398] [ 0.02986445 -0.01700183 0.99940935 -0.63579909] [ 0. 0. 0. 1. ]] SLAMing on 37.159072329 meters Centerline goodness : 0.777729 Centerline is valid? [False, False] Translation: X:1.89, Y:0.18, Z:-0.63 [[ 0.99678513 -0.07370776 -0.03140958 1.89408709] [ 0.07416091 0.99715473 0.01351328 0.18002247] [ 0.03032418 -0.0157992 0.99941524 -0.63417316] [ 0. 0. 0. 1. ]] SLAMing on 37.189072329 meters Centerline goodness : 0.777081 Centerline is valid? [False, False] Translation: X:1.89, Y:0.19, Z:-0.63 [[ 0.99675187 -0.07393037 -0.03193743 1.8944117 ] [ 0.07434445 0.9971607 0.01197667 0.18529139] [ 0.03096131 -0.01431214 0.99941811 -0.63189828] [ 0. 0. 0. 1. ]] SLAMing on 37.21907232899999 meters Centerline goodness : 0.776212 Centerline is valid? [False, False] Translation: X:1.90, Y:0.19, Z:-0.63 [[ 0.99671419 -0.07417582 -0.03253882 1.89530738] [ 0.07453384 0.99716905 0.0099298 0.19264587] [ 0.03171015 -0.01232241 0.99942114 -0.62968958] [ 0. 0. 0. 1. ]] SLAMing on 37.24907232899999 meters Centerline goodness : 0.777451 Centerline is valid? [False, False] Translation: X:1.90, Y:0.19, Z:-0.63 [[ 0.99670482 -0.07440668 -0.03229795 1.89506776] [ 0.07475347 0.99715521 0.00966431 0.19309238] [ 0.03148698 -0.01204685 0.99943156 -0.63012921] [ 0. 0. 0. 1. ]] SLAMing on 37.279072328999995 meters Centerline goodness : 0.774324 Centerline is valid? [False, False] Translation: X:1.89, Y:0.19, Z:-0.63 [[ 0.9966927 -0.07475554 -0.03186338 1.894418 ] [ 0.07509811 0.99712905 0.009692 0.19248036] [ 0.03104737 -0.01205283 0.99944524 -0.63107063] [ 0. 0. 0. 1. ]] SLAMing on 37.309072328999996 meters Centerline goodness : 0.776665 Centerline is valid? [False, False] Translation: X:1.89, Y:0.20, Z:-0.63 [[ 0.99635259 -0.07919591 -0.03177293 1.89478722] [ 0.07937745 0.99683451 0.00449162 0.19578301] [ 0.03131663 -0.00699729 0.99948502 -0.63004435] [ 0. 0. 0. 1. ]] SLAMing on 37.339072329 meters Centerline goodness : 0.776665 Centerline is valid? [False, False] Translation: X:1.89, Y:0.20, Z:-0.63 [[ 0.99635259 -0.07919591 -0.03177293 1.89478722] [ 0.07937745 0.99683451 0.00449162 0.19578301] [ 0.03131663 -0.00699729 0.99948502 -0.63004435] [ 0. 0. 0. 1. ]] SLAMing on 37.369072329 meters Centerline goodness : 0.776111 Centerline is valid? [False, False] Translation: X:1.89, Y:0.20, Z:-0.63 [[ 9.95953724e-01 -8.41545874e-02 -3.15306963e-02 1.89430097e+00] [ 8.41607077e-02 9.96451547e-01 -1.13535818e-03 2.00434116e-01] [ 3.15143567e-02 -1.52288150e-03 9.99502139e-01 -6.28526747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.39907232899999 meters Centerline goodness : 0.776095 Centerline is valid? [False, False] Translation: X:1.89, Y:0.20, Z:-0.63 [[ 9.95909298e-01 -8.48181779e-02 -3.11536168e-02 1.89283214e+00] [ 8.48120910e-02 9.96395806e-01 -1.51914072e-03 2.01371090e-01] [ 3.11701839e-02 -1.12927702e-03 9.99513454e-01 -6.28202054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.42907232899999 meters Centerline goodness : 0.773820 Centerline is valid? [False, False] Translation: X:1.89, Y:0.20, Z:-0.63 [[ 9.95858665e-01 -8.55825030e-02 -3.06782455e-02 1.89095306e+00] [ 8.55642408e-02 9.96330825e-01 -1.90999128e-03 2.02170377e-01] [ 3.07291435e-02 -7.22879421e-04 9.99527487e-01 -6.27739378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.459072328999994 meters Centerline goodness : 0.774547 Centerline is valid? [False, False] Translation: X:1.89, Y:0.21, Z:-0.62 [[ 9.95841252e-01 -8.55932080e-02 -3.12090366e-02 1.89139007e+00] [ 8.55167870e-02 9.96329568e-01 -3.77774543e-03 2.07633158e-01] [ 3.14178353e-02 1.09313821e-03 9.99505740e-01 -6.24412573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.489072328999995 meters Centerline goodness : 0.773865 Centerline is valid? [False, False] Translation: X:1.89, Y:0.21, Z:-0.62 [[ 9.95822472e-01 -8.58222894e-02 -3.11791524e-02 1.89108432e+00] [ 8.57329527e-02 9.96309328e-01 -4.19339972e-03 2.09181058e-01] [ 3.14239675e-02 1.50280088e-03 9.99505015e-01 -6.24069937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.519072329 meters Centerline goodness : 0.775759 Centerline is valid? [False, False] Translation: X:1.89, Y:0.21, Z:-0.62 [[ 9.95834762e-01 -8.55820436e-02 -3.14458267e-02 1.89238091e+00] [ 8.54959063e-02 9.96330184e-01 -4.07614391e-03 2.10008877e-01] [ 3.16792711e-02 1.37067634e-03 9.99497146e-01 -6.24993489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.549072329 meters Centerline goodness : 0.773406 Centerline is valid? [False, False] Translation: X:1.89, Y:0.21, Z:-0.63 [[ 9.95860495e-01 -8.51670280e-02 -3.17561291e-02 1.89411730e+00] [ 8.50923685e-02 9.96366206e-01 -3.69756382e-03 2.10208979e-01] [ 3.19556444e-02 9.80053501e-04 9.99488807e-01 -6.26467709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.57907232899999 meters Centerline goodness : 0.773093 Centerline is valid? [False, False] Translation: X:1.90, Y:0.21, Z:-0.63 [[ 9.95926577e-01 -8.41026074e-02 -3.25116178e-02 1.89801386e+00] [ 8.40496089e-02 9.96457068e-01 -2.99580061e-03 2.10650201e-01] [ 3.26483860e-02 2.51008690e-04 9.99466868e-01 -6.29092449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.60907232899999 meters Centerline goodness : 0.774102 Centerline is valid? [False, False] Translation: X:1.90, Y:0.21, Z:-0.63 [[ 9.95934780e-01 -8.39392712e-02 -3.26819992e-02 1.89885384e+00] [ 8.38881800e-02 9.96470856e-01 -2.93376731e-03 2.10734766e-01] [ 3.28129180e-02 1.80207470e-04 9.99461495e-01 -6.29596518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.639072328999994 meters Centerline goodness : 0.773066 Centerline is valid? [False, False] Translation: X:1.90, Y:0.21, Z:-0.63 [[ 9.95944749e-01 -8.37651172e-02 -3.28247232e-02 1.89970576e+00] [ 8.37158003e-02 9.96485520e-01 -2.87632797e-03 2.11228260e-01] [ 3.29502973e-02 1.16715764e-04 9.99456985e-01 -6.30177660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.669072328999995 meters Centerline goodness : 0.771965 Centerline is valid? [False, False] Translation: X:1.90, Y:0.21, Z:-0.63 [[ 9.95941167e-01 -8.37058841e-02 -3.30834704e-02 1.90033640e+00] [ 8.36477225e-02 9.96490439e-01 -3.14062307e-03 2.12223154e-01] [ 3.32302506e-02 3.60518856e-04 9.99447658e-01 -6.29884822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.699072328999996 meters Centerline goodness : 0.773354 Centerline is valid? [False, False] Translation: X:1.90, Y:0.21, Z:-0.63 [[ 9.95946001e-01 -8.35081142e-02 -3.34358686e-02 1.90129566e+00] [ 8.34458842e-02 9.96506995e-01 -3.25474571e-03 2.13248111e-01] [ 3.35908746e-02 4.51465359e-04 9.99435565e-01 -6.29730576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.729072329 meters Centerline goodness : 0.773437 Centerline is valid? [False, False] Translation: X:1.90, Y:0.21, Z:-0.63 [[ 9.95948716e-01 -8.34586014e-02 -3.34786169e-02 1.90151673e+00] [ 8.33967307e-02 9.96511149e-01 -3.24266566e-03 2.13150850e-01] [ 3.36324433e-02 4.37521501e-04 9.99434174e-01 -6.29758788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.759072329 meters Centerline goodness : 0.774889 Centerline is valid? [False, False] Translation: X:1.90, Y:0.21, Z:-0.63 [[ 9.95966696e-01 -8.31491888e-02 -3.37128007e-02 1.90270412e+00] [ 8.30888012e-02 9.96537039e-01 -3.19070694e-03 2.13972923e-01] [ 3.38613593e-02 3.76681653e-04 9.99426469e-01 -6.30425132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.78907232899999 meters Centerline goodness : 0.776523 Centerline is valid? [False, False] Translation: X:1.90, Y:0.21, Z:-0.63 [[ 9.95978269e-01 -8.29429991e-02 -3.38784017e-02 1.90339205e+00] [ 8.28827152e-02 9.96554227e-01 -3.18235687e-03 2.14152886e-01] [ 3.40256187e-02 3.61624368e-04 9.99420896e-01 -6.30488351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.819072328999994 meters Centerline goodness : 0.776181 Centerline is valid? [False, False] Translation: X:1.90, Y:0.21, Z:-0.63 [[ 9.95984219e-01 -8.27986691e-02 -3.40560793e-02 1.90383212e+00] [ 8.27361321e-02 9.96566209e-01 -3.24388270e-03 2.14344279e-01] [ 3.42077270e-02 4.13187702e-04 9.99414659e-01 -6.30190816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.849072328999995 meters Centerline goodness : 0.775649 Centerline is valid? [False, False] Translation: X:1.90, Y:0.22, Z:-0.63 [[ 9.95962395e-01 -8.30463045e-02 -3.40913386e-02 1.90333763e+00] [ 8.29637655e-02 9.96545201e-01 -3.83105055e-03 2.16036416e-01] [ 3.42917145e-02 9.87236456e-04 9.99411379e-01 -6.29133044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.879072328999996 meters Centerline goodness : 0.775588 Centerline is valid? [False, False] Translation: X:1.90, Y:0.22, Z:-0.63 [[ 0.99592426 -0.08329657 -0.03459109 1.90346662] [ 0.08316743 0.99652224 -0.00515804 0.22023846] [ 0.03490043 0.00226017 0.99938824 -0.62665532] [ 0. 0. 0. 1. ]] SLAMing on 37.909072329 meters Centerline goodness : 0.773952 Centerline is valid? [False, False] Translation: X:1.90, Y:0.22, Z:-0.63 [[ 0.99592303 -0.08329513 -0.03462992 1.90387229] [ 0.08316879 0.99652255 -0.00507551 0.22039068] [ 0.03493226 0.00217469 0.99938732 -0.62721429] [ 0. 0. 0. 1. ]] SLAMing on 37.939072329 meters Centerline goodness : 0.772483 Centerline is valid? [False, False] Translation: X:1.91, Y:0.22, Z:-0.63 [[ 9.95970922e-01 -8.25391029e-02 -3.50602251e-02 1.90647793e+00] [ 8.24396108e-02 9.96586887e-01 -4.27642440e-03 2.19071832e-01] [ 3.52935328e-02 1.36884305e-03 9.99376052e-01 -6.29303170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.96907232899999 meters Centerline goodness : 0.773925 Centerline is valid? [False, False] Translation: X:1.91, Y:0.22, Z:-0.63 [[ 9.96026805e-01 -8.17164245e-02 -3.53981605e-02 1.90927203e+00] [ 8.16574450e-02 9.96655599e-01 -3.11112103e-03 2.16844565e-01] [ 3.55340045e-02 2.08236594e-04 9.99368446e-01 -6.32246017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.99907232899999 meters Centerline goodness : 0.775611 Centerline is valid? [False, False] Translation: X:1.91, Y:0.22, Z:-0.63 [[ 9.96060094e-01 -8.12405165e-02 -3.55565515e-02 1.91109490e+00] [ 8.12110870e-02 9.96694331e-01 -2.27354495e-03 2.15684923e-01] [ 3.56237173e-02 -6.22998795e-04 9.99365080e-01 -6.34643887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.029072328999995 meters Centerline goodness : 0.775747 Centerline is valid? [False, False] Translation: X:1.91, Y:0.22, Z:-0.63 [[ 9.96024284e-01 -8.16761268e-02 -3.55617146e-02 1.90995860e+00] [ 8.16138776e-02 9.96658883e-01 -3.20100758e-03 2.17995535e-01] [ 3.57043447e-02 2.85951863e-04 9.99362356e-01 -6.32597129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.059072328999996 meters Centerline goodness : 0.775954 Centerline is valid? [False, False] Translation: X:1.92, Y:0.22, Z:-0.64 [[ 0.99615293 -0.08216321 -0.03047197 1.92494855] [ 0.08238495 0.99658196 0.00609205 0.21730972] [ 0.02986727 -0.00857904 0.99951706 -0.63503616] [ 0. 0. 0. 1. ]] SLAMing on 38.089072329 meters Centerline goodness : 0.776226 Centerline is valid? [False, False] Translation: X:1.94, Y:0.22, Z:-0.64 [[ 0.99618049 -0.08360757 -0.02518324 1.93848378] [ 0.08398368 0.99636502 0.01426511 0.2166449 ] [ 0.02389903 -0.0163256 0.99958107 -0.63557088] [ 0. 0. 0. 1. ]] SLAMing on 38.119072329 meters Centerline goodness : 0.776248 Centerline is valid? [False, False] Translation: X:1.94, Y:0.22, Z:-0.64 [[ 0.99618529 -0.08356693 -0.02512842 1.93863812] [ 0.08394242 0.99636832 0.01427721 0.21593622] [ 0.02384406 -0.01633209 0.99958227 -0.63568916] [ 0. 0. 0. 1. ]] SLAMing on 38.14907232899999 meters Centerline goodness : 0.775931 Centerline is valid? [False, False] Translation: X:1.94, Y:0.21, Z:-0.64 [[ 0.99621844 -0.08315552 -0.02517877 1.93996877] [ 0.08354767 0.99639173 0.01494341 0.21419768] [ 0.02384529 -0.01699053 0.99957127 -0.63744475] [ 0. 0. 0. 1. ]] SLAMing on 38.17907232899999 meters Centerline goodness : 0.776754 Centerline is valid? [False, False] Translation: X:1.95, Y:0.21, Z:-0.64 [[ 0.99598099 -0.08569945 -0.02602828 1.94533639] [ 0.08602405 0.99622533 0.01161666 0.21411404] [ 0.0249345 -0.01380903 0.99959371 -0.63959676] [ 0. 0. 0. 1. ]] SLAMing on 38.209072328999994 meters Centerline goodness : 0.774809 Centerline is valid? [False, False] Translation: X:1.95, Y:0.21, Z:-0.64 [[ 0.99599426 -0.08552525 -0.02609324 1.94595085] [ 0.08586233 0.99623375 0.01208179 0.21271658] [ 0.02496167 -0.01427382 0.9995865 -0.64030794] [ 0. 0. 0. 1. ]] SLAMing on 38.239072328999995 meters Centerline goodness : 0.774924 Centerline is valid? [False, False] Translation: X:1.94, Y:0.21, Z:-0.64 [[ 0.99594678 -0.08614051 -0.02588109 1.9445619 ] [ 0.08647432 0.99618101 0.01206605 0.21188312] [ 0.02474287 -0.01425519 0.99959221 -0.63961678] [ 0. 0. 0. 1. ]] SLAMing on 38.269072329 meters Centerline goodness : 0.775966 Centerline is valid? [False, False] Translation: X:1.94, Y:0.21, Z:-0.64 [[ 0.99593552 -0.08627416 -0.0258691 1.94425146] [ 0.08660714 0.99616981 0.01203807 0.21141285] [ 0.02473144 -0.01422959 0.99959285 -0.6391915 ] [ 0. 0. 0. 1. ]] SLAMing on 38.299072329 meters Centerline goodness : 0.775765 Centerline is valid? [False, False] Translation: X:1.94, Y:0.21, Z:-0.64 [[ 0.99592353 -0.08643173 -0.02580449 1.94376589] [ 0.0867586 0.99615917 0.01182602 0.21112793] [ 0.02468323 -0.01401657 0.99959706 -0.6384268 ] [ 0. 0. 0. 1. ]] SLAMing on 38.32907232899999 meters Centerline goodness : 0.775911 Centerline is valid? [False, False] Translation: X:1.94, Y:0.21, Z:-0.64 [[ 0.99590286 -0.08669729 -0.02571129 1.94306288] [ 0.08700912 0.99614381 0.01126599 0.21200944] [ 0.02463542 -0.01345695 0.99960593 -0.63734624] [ 0. 0. 0. 1. ]] SLAMing on 38.35907232899999 meters Centerline goodness : 0.777930 Centerline is valid? [False, False] Translation: X:1.94, Y:0.21, Z:-0.63 [[ 0.99586023 -0.087267 -0.02543383 1.94118646] [ 0.08753652 0.99611426 0.00968138 0.21450549] [ 0.02449014 -0.01186769 0.99962963 -0.63424509] [ 0. 0. 0. 1. ]] SLAMing on 38.389072328999994 meters Centerline goodness : 0.778935 Centerline is valid? [False, False] Translation: X:1.94, Y:0.21, Z:-0.63 [[ 0.99585403 -0.08740616 -0.02519756 1.94052886] [ 0.0876686 0.99610436 0.00950398 0.21378875] [ 0.02426869 -0.01167361 0.99963731 -0.63378263] [ 0. 0. 0. 1. ]] SLAMing on 38.419072328999995 meters Centerline goodness : 0.777914 Centerline is valid? [False, False] Translation: X:1.94, Y:0.22, Z:-0.63 [[ 0.99553309 -0.09080403 -0.02585526 1.94336284] [ 0.09095095 0.99584493 0.00456173 0.21573548] [ 0.02533361 -0.00689291 0.99965529 -0.63200523] [ 0. 0. 0. 1. ]] SLAMing on 38.449072328999996 meters Centerline goodness : 0.777966 Centerline is valid? [False, False] Translation: X:1.94, Y:0.21, Z:-0.63 [[ 0.99550542 -0.09123842 -0.0253873 1.94201029] [ 0.0913941 0.99580205 0.00503848 0.21267961] [ 0.02482102 -0.00733608 0.99966499 -0.6323434 ] [ 0. 0. 0. 1. ]] SLAMing on 38.479072329 meters Centerline goodness : 0.779193 Centerline is valid? [False, False] Translation: X:1.94, Y:0.21, Z:-0.63 [[ 0.99548656 -0.09142732 -0.02544691 1.94170469] [ 0.09158023 0.99578561 0.0049074 0.21246073] [ 0.024891 -0.00721568 0.99966413 -0.63165571] [ 0. 0. 0. 1. ]] SLAMing on 38.509072329 meters Centerline goodness : 0.780082 Centerline is valid? [False, False] Translation: X:1.94, Y:0.21, Z:-0.63 [[ 0.99547564 -0.09154395 -0.02545492 1.94140486] [ 0.09169802 0.99577456 0.00495012 0.21192034] [ 0.02489421 -0.00726189 0.99966372 -0.6312805 ] [ 0. 0. 0. 1. ]] SLAMing on 38.53907232899999 meters Centerline goodness : 0.778737 Centerline is valid? [False, False] Translation: X:1.94, Y:0.21, Z:-0.63 [[ 0.99544305 -0.09199683 -0.02509427 1.93989966] [ 0.09215412 0.99573127 0.0051831 0.20920685] [ 0.02451032 -0.00747202 0.99967165 -0.63070621] [ 0. 0. 0. 1. ]] SLAMing on 38.569072328999994 meters Centerline goodness : 0.779327 Centerline is valid? [False, False] Translation: X:1.94, Y:0.21, Z:-0.63 [[ 0.99543515 -0.09216109 -0.02480332 1.93922776] [ 0.09232437 0.99571369 0.00551821 0.20682011] [ 0.02418844 -0.00778297 0.99967712 -0.63087658] [ 0. 0. 0. 1. ]] SLAMing on 38.599072328999995 meters Centerline goodness : 0.779771 Centerline is valid? [False, False] Translation: X:1.94, Y:0.20, Z:-0.63 [[ 0.99543739 -0.09219717 -0.02457832 1.93910003] [ 0.092375 0.995705 0.0061984 0.20374888] [ 0.02390128 -0.00844054 0.99967869 -0.63182954] [ 0. 0. 0. 1. ]] SLAMing on 38.629072328999996 meters Centerline goodness : 0.779141 Centerline is valid? [False, False] Translation: X:1.94, Y:0.20, Z:-0.63 [[ 0.99511879 -0.09541019 -0.02520909 1.94288361] [ 0.09550775 0.99542505 0.0026921 0.20292563] [ 0.02483691 -0.00508662 0.99967858 -0.63292255] [ 0. 0. 0. 1. ]] SLAMing on 38.659072329 meters Centerline goodness : 0.780831 Centerline is valid? [False, False] Translation: X:1.94, Y:0.20, Z:-0.63 [[ 0.99513653 -0.09518257 -0.02536865 1.9436535 ] [ 0.09528544 0.99544584 0.00287473 0.20246293] [ 0.02497949 -0.00527802 0.99967403 -0.63322712] [ 0. 0. 0. 1. ]] SLAMing on 38.689072329 meters Centerline goodness : 0.783414 Centerline is valid? [False, False] Translation: X:1.94, Y:0.20, Z:-0.63 [[ 0.99513812 -0.09514582 -0.02544392 1.94368807] [ 0.09524561 0.99545004 0.00273649 0.2023769 ] [ 0.02506779 -0.00514661 0.99967251 -0.6326392 ] [ 0. 0. 0. 1. ]] SLAMing on 38.71907232899999 meters Centerline goodness : 0.783147 Centerline is valid? [False, False] Translation: X:1.94, Y:0.20, Z:-0.63 [[ 0.99511596 -0.09545752 -0.02514148 1.94200131] [ 0.09554275 0.99542288 0.00220825 0.20177863] [ 0.02481561 -0.00459955 0.99968146 -0.63053393] [ 0. 0. 0. 1. ]] SLAMing on 38.74907232899999 meters Centerline goodness : 0.783196 Centerline is valid? [False, False] Translation: X:1.94, Y:0.20, Z:-0.63 [[ 9.95104484e-01 -9.55947309e-02 -2.50741482e-02 1.94141206e+00] [ 9.56724286e-02 9.95411031e-01 1.91484419e-03 2.01420050e-01] [ 2.47760346e-02 -4.30437469e-03 9.99683760e-01 -6.29436068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.779072328999995 meters Centerline goodness : 0.784021 Centerline is valid? [False, False] Translation: X:1.94, Y:0.20, Z:-0.63 [[ 9.95098125e-01 -9.56302429e-02 -2.51908363e-02 1.94133471e+00] [ 9.57027255e-02 9.95408534e-01 1.68485024e-03 2.01477806e-01] [ 2.49140508e-02 -4.08742301e-03 9.99681241e-01 -6.28567355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.809072328999996 meters Centerline goodness : 0.784083 Centerline is valid? [False, False] Translation: X:1.94, Y:0.20, Z:-0.63 [[ 0.99545781 -0.09180079 -0.02522629 1.94038763] [ 0.09198162 0.99574201 0.0061015 0.20044055] [ 0.02455875 -0.00839414 0.99966315 -0.62923569] [ 0. 0. 0. 1. ]] SLAMing on 38.839072329 meters Centerline goodness : 0.783581 Centerline is valid? [False, False] Translation: X:1.94, Y:0.20, Z:-0.63 [[ 0.99548499 -0.09136267 -0.025739 1.94221482] [ 0.09154711 0.9957822 0.00607828 0.20107153] [ 0.02507511 -0.00840717 0.99965022 -0.6294805 ] [ 0. 0. 0. 1. ]] SLAMing on 38.869072329 meters Centerline goodness : 0.783351 Centerline is valid? [False, False] Translation: X:1.94, Y:0.20, Z:-0.63 [[ 0.99551328 -0.0910124 -0.02588553 1.94344086] [ 0.0912104 0.99580996 0.00657165 0.19991384] [ 0.02517897 -0.0089032 0.99964331 -0.63068027] [ 0. 0. 0. 1. ]] SLAMing on 38.89907232899999 meters Centerline goodness : 0.782250 Centerline is valid? [False, False] Translation: X:1.94, Y:0.20, Z:-0.63 [[ 0.99553462 -0.09081358 -0.02576274 1.94399504] [ 0.09102773 0.99582188 0.00726232 0.19703873] [ 0.02499558 -0.00957502 0.99964171 -0.6319316 ] [ 0. 0. 0. 1. ]] SLAMing on 38.92907232899999 meters Centerline goodness : 0.782398 Centerline is valid? [False, False] Translation: X:1.94, Y:0.19, Z:-0.63 [[ 0.99517236 -0.09479888 -0.02539984 1.94452027] [ 0.09491912 0.99547859 0.00356782 0.19415176] [ 0.02494677 -0.00596152 0.99967101 -0.63218861] [ 0. 0. 0. 1. ]] SLAMing on 38.959072328999994 meters Centerline goodness : 0.782677 Centerline is valid? [False, False] Translation: X:1.94, Y:0.19, Z:-0.63 [[ 0.99515034 -0.09510126 -0.02513078 1.94346423] [ 0.09522085 0.99544965 0.00360299 0.19269897] [ 0.02467378 -0.00597849 0.99967768 -0.63161948] [ 0. 0. 0. 1. ]] SLAMing on 38.989072328999995 meters Centerline goodness : 0.782365 Centerline is valid? [False, False] Translation: X:1.95, Y:0.19, Z:-0.62 [[ 0.99521138 -0.08823823 -0.04205151 1.94965691] [ 0.08860846 0.9960418 0.0070197 0.18575438] [ 0.04126566 -0.01071221 0.99909078 -0.62062604] [ 0. 0. 0. 1. ]] SLAMing on 39.019072329 meters Centerline goodness : 0.785035 Centerline is valid? [False, False] Translation: X:1.95, Y:0.19, Z:-0.62 [[ 0.99518313 -0.08844315 -0.04228891 1.94937639] [ 0.08879482 0.99602868 0.00650753 0.18676691] [ 0.04154542 -0.01023122 0.99908423 -0.61906531] [ 0. 0. 0. 1. ]] SLAMing on 39.049072329 meters Centerline goodness : 0.785544 Centerline is valid? [False, False] Translation: X:1.95, Y:0.19, Z:-0.61 [[ 0.99506487 -0.08930837 -0.0432425 1.94893178] [ 0.08980759 0.99591151 0.00973919 0.18503818] [ 0.04219591 -0.01357463 0.99901713 -0.61481079] [ 0. 0. 0. 1. ]] SLAMing on 39.07907232899999 meters Centerline goodness : 0.785224 Centerline is valid? [False, False] Translation: X:1.95, Y:0.18, Z:-0.61 [[ 0.9950103 -0.08973304 -0.04361748 1.95035116] [ 0.09023734 0.99587276 0.00973004 0.18392301] [ 0.04256435 -0.01361742 0.99900092 -0.61489818] [ 0. 0. 0. 1. ]] SLAMing on 39.10907232899999 meters Centerline goodness : 0.785568 Centerline is valid? [False, False] Translation: X:1.95, Y:0.18, Z:-0.62 [[ 0.9949777 -0.090105 -0.04359443 1.95193426] [ 0.09054432 0.99585862 0.00820596 0.18236314] [ 0.04267449 -0.01211197 0.99901561 -0.6161849 ] [ 0. 0. 0. 1. ]] SLAMing on 39.139072328999994 meters Centerline goodness : 0.785387 Centerline is valid? [False, False] Translation: X:1.95, Y:0.18, Z:-0.62 [[ 0.99473658 -0.09344465 -0.04203856 1.9527077 ] [ 0.09361732 0.99560593 0.00215357 0.18034714] [ 0.0416526 -0.00607777 0.99911367 -0.62009093] [ 0. 0. 0. 1. ]] SLAMing on 39.169072328999995 meters Centerline goodness : 0.786074 Centerline is valid? [False, False] Translation: X:1.95, Y:0.18, Z:-0.62 [[ 9.94589588e-01 -9.51811074e-02 -4.16186012e-02 1.95286141e+00] [ 9.52255370e-02 9.95455300e-01 -9.18104025e-04 1.78810693e-01] [ 4.15168433e-02 -3.05001694e-03 9.99133149e-01 -6.20023695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.199072328999996 meters Centerline goodness : 0.787075 Centerline is valid? [False, False] Translation: X:1.96, Y:0.18, Z:-0.62 [[ 9.94512606e-01 -9.54238509e-02 -4.28831579e-02 1.95686125e+00] [ 9.54779277e-02 9.95431234e-01 -7.90030256e-04 1.76760716e-01] [ 4.27626225e-02 -3.30870000e-03 9.99079782e-01 -6.21142135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.229072329 meters Centerline goodness : 0.788225 Centerline is valid? [False, False] Translation: X:1.96, Y:0.17, Z:-0.62 [[ 9.94533319e-01 -9.49240791e-02 -4.35074328e-02 1.95819013e+00] [ 9.50961638e-02 9.95466281e-01 1.89814421e-03 1.72033652e-01] [ 4.31300028e-02 -6.02515762e-03 9.99051300e-01 -6.20295422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.259072329 meters Centerline goodness : 0.788225 Centerline is valid? [False, False] Translation: X:1.96, Y:0.17, Z:-0.62 [[ 9.94533319e-01 -9.49240791e-02 -4.35074328e-02 1.95819013e+00] [ 9.50961638e-02 9.95466281e-01 1.89814421e-03 1.72033652e-01] [ 4.31300028e-02 -6.02515762e-03 9.99051300e-01 -6.20295422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.28907232899999 meters Centerline goodness : 0.789449 Centerline is valid? [False, False] Translation: X:1.96, Y:0.17, Z:-0.62 [[ 0.99453843 -0.09430191 -0.0447264 1.95922252] [ 0.09464051 0.99549627 0.00550967 0.17018859] [ 0.04400539 -0.00971251 0.99898408 -0.61751128] [ 0. 0. 0. 1. ]] SLAMing on 39.319072328999994 meters Centerline goodness : 0.790029 Centerline is valid? [False, False] Translation: X:1.96, Y:0.17, Z:-0.62 [[ 0.99452345 -0.09391683 -0.04585555 1.96071423] [ 0.09444256 0.99548563 0.00943151 0.16920419] [ 0.04476276 -0.01371058 0.99890356 -0.61602625] [ 0. 0. 0. 1. ]] SLAMing on 39.349072328999995 meters Centerline goodness : 0.790216 Centerline is valid? [False, False] Translation: X:1.96, Y:0.17, Z:-0.61 [[ 0.99448318 -0.09399539 -0.04656257 1.96164564] [ 0.09459319 0.99545742 0.01080109 0.16854478] [ 0.0453358 -0.015146 0.99885698 -0.61480007] [ 0. 0. 0. 1. ]] SLAMing on 39.379072328999996 meters Centerline goodness : 0.788941 Centerline is valid? [False, False] Translation: X:1.96, Y:0.17, Z:-0.62 [[ 0.99442699 -0.09452143 -0.04669749 1.96292806] [ 0.09507269 0.99542284 0.00972352 0.16778466] [ 0.04556466 -0.01410898 0.99886175 -0.6154681 ] [ 0. 0. 0. 1. ]] SLAMing on 39.409072329 meters Centerline goodness : 0.791826 Centerline is valid? [False, False] Translation: X:1.96, Y:0.16, Z:-0.62 [[ 0.99454607 -0.09479804 -0.04349074 1.96217814] [ 0.09497762 0.99547724 0.00207693 0.16403258] [ 0.04309715 -0.00619625 0.99905167 -0.62266076] [ 0. 0. 0. 1. ]] SLAMing on 39.439072329 meters Centerline goodness : 0.792905 Centerline is valid? [False, False] Translation: X:1.96, Y:0.16, Z:-0.62 [[ 9.94679649e-01 -9.40930187e-02 -4.19392284e-02 1.96102106e+00] [ 9.41221911e-02 9.95559826e-01 -1.28284058e-03 1.62008203e-01] [ 4.18737173e-02 -2.67139665e-03 9.99119340e-01 -6.24934135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.46907232899999 meters Centerline goodness : 0.794752 Centerline is valid? [False, False] Translation: X:1.96, Y:0.16, Z:-0.62 [[ 9.95039423e-01 -9.02413555e-02 -4.18693795e-02 1.96054840e+00] [ 9.03805704e-02 9.95906260e-01 1.44018648e-03 1.58078466e-01] [ 4.15680128e-02 -5.21722073e-03 9.99122055e-01 -6.24344602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.49907232899999 meters Centerline goodness : 0.796459 Centerline is valid? [False, False] Translation: X:1.96, Y:0.16, Z:-0.62 [[ 0.99525986 -0.08720213 -0.04305357 1.96240594] [ 0.08754591 0.99614143 0.00616153 0.15693565] [ 0.04235014 -0.00990148 0.99905377 -0.62372134] [ 0. 0. 0. 1. ]] SLAMing on 39.529072328999995 meters Centerline goodness : 0.796970 Centerline is valid? [False, False] Translation: X:1.96, Y:0.16, Z:-0.62 [[ 0.99545765 -0.08437191 -0.04410732 1.96361541] [ 0.08490732 0.99633451 0.01040631 0.15591961] [ 0.04306764 -0.01410407 0.9989726 -0.62260049] [ 0. 0. 0. 1. ]] SLAMing on 39.559072328999996 meters Centerline goodness : 0.798533 Centerline is valid? [False, False] Translation: X:1.96, Y:0.15, Z:-0.62 [[ 0.99565717 -0.08204822 -0.04398747 1.96243251] [ 0.08265774 0.99650309 0.01221865 0.15488971] [ 0.04283113 -0.01580149 0.99895736 -0.62134581] [ 0. 0. 0. 1. ]] SLAMing on 39.589072329 meters Centerline goodness : 0.798202 Centerline is valid? [False, False] Translation: X:1.96, Y:0.15, Z:-0.62 [[ 0.99614435 -0.07653486 -0.0428818 1.96204852] [ 0.0771899 0.99692046 0.01383138 0.15226223] [ 0.04169116 -0.01708809 0.99898441 -0.62490825] [ 0. 0. 0. 1. ]] SLAMing on 39.619072329 meters Centerline goodness : 0.800892 Centerline is valid? [False, False] Translation: X:1.96, Y:0.15, Z:-0.63 [[ 0.99634248 -0.0741719 -0.04242865 1.96171829] [ 0.07478625 0.99711382 0.01307822 0.15210768] [ 0.04133616 -0.01620347 0.9990139 -0.6262041 ] [ 0. 0. 0. 1. ]] SLAMing on 39.64907232899999 meters Centerline goodness : 0.798837 Centerline is valid? [False, False] Translation: X:1.96, Y:0.15, Z:-0.63 [[ 0.99656608 -0.07115164 -0.0423496 1.96371808] [ 0.07176402 0.99733537 0.01311803 0.15255654] [ 0.04130338 -0.01611216 0.99901673 -0.63006594] [ 0. 0. 0. 1. ]] SLAMing on 39.67907232899999 meters Centerline goodness : 0.798995 Centerline is valid? [False, False] Translation: X:1.96, Y:0.15, Z:-0.64 [[ 0.99704518 -0.06519052 -0.04063386 1.96343425] [ 0.06571737 0.9977689 0.01176643 0.15413638] [ 0.03977614 -0.01440201 0.99910482 -0.63614601] [ 0. 0. 0. 1. ]] SLAMing on 39.709072328999994 meters Centerline goodness : 0.799259 Centerline is valid? [False, False] Translation: X:1.97, Y:0.15, Z:-0.64 [[ 0.99726342 -0.06194206 -0.04035897 1.96531149] [ 0.0624579 0.99797964 0.01164716 0.15443031] [ 0.03955598 -0.01413603 0.99911736 -0.64043315] [ 0. 0. 0. 1. ]] SLAMing on 39.739072328999995 meters Centerline goodness : 0.800148 Centerline is valid? [False, False] Translation: X:1.96, Y:0.15, Z:-0.64 [[ 0.99772256 -0.05530348 -0.03861629 1.96344763] [ 0.05574749 0.99838951 0.0105167 0.15315031] [ 0.03797249 -0.01264551 0.99919877 -0.64448966] [ 0. 0. 0. 1. ]] SLAMing on 39.769072329 meters Centerline goodness : 0.800848 Centerline is valid? [False, False] Translation: X:1.96, Y:0.16, Z:-0.65 [[ 0.99810062 -0.05676449 -0.02393625 1.96150368] [ 0.05706238 0.99829909 0.01195075 0.15625591] [ 0.02321715 -0.01329391 0.99964205 -0.65209378] [ 0. 0. 0. 1. ]] SLAMing on 39.799072329 meters Centerline goodness : 0.802297 Centerline is valid? [False, False] Translation: X:1.96, Y:0.16, Z:-0.65 [[ 0.99830176 -0.05268972 -0.02484716 1.96209863] [ 0.05311772 0.99844538 0.01689148 0.15554382] [ 0.02391852 -0.01818262 0.99954855 -0.6505031 ] [ 0. 0. 0. 1. ]] SLAMing on 39.82907232899999 meters Centerline goodness : 0.800890 Centerline is valid? [False, False] Translation: X:1.96, Y:0.16, Z:-0.65 [[ 0.9984539 -0.04916259 -0.02593953 1.96298994] [ 0.04973036 0.99852655 0.02171694 0.15520023] [ 0.02483365 -0.02297334 0.99942759 -0.64874959] [ 0. 0. 0. 1. ]] SLAMing on 39.85907232899999 meters Centerline goodness : 0.802036 Centerline is valid? [False, False] Translation: X:1.96, Y:0.16, Z:-0.65 [[ 0.99869821 -0.04390049 -0.02597374 1.96272682] [ 0.04454669 0.99869828 0.02484638 0.1550376 ] [ 0.02484916 -0.02597108 0.9993538 -0.64896869] [ 0. 0. 0. 1. ]] SLAMing on 39.889072328999994 meters Centerline goodness : 0.799338 Centerline is valid? [False, False] Translation: X:1.96, Y:0.16, Z:-0.64 [[ 0.99877386 -0.04029802 -0.02875482 1.96113376] [ 0.04051693 0.99915383 0.00707082 0.16056645] [ 0.02844554 -0.00822721 0.99956149 -0.63910164] [ 0. 0. 0. 1. ]] SLAMing on 39.919072328999995 meters Centerline goodness : 0.801958 Centerline is valid? [False, False] Translation: X:1.97, Y:0.16, Z:-0.64 [[ 0.99870145 -0.04117876 -0.02999527 1.9689526 ] [ 0.0413335 0.99913501 0.00455674 0.15821451] [ 0.02978168 -0.00579063 0.99953965 -0.64194749] [ 0. 0. 0. 1. ]] SLAMing on 39.949072328999996 meters Centerline goodness : 0.799693 Centerline is valid? [False, False] Translation: X:1.97, Y:0.16, Z:-0.64 [[ 9.98665170e-01 -4.24682317e-02 -2.93994389e-02 1.96810297e+00] [ 4.25119267e-02 9.99095587e-01 8.62523109e-04 1.57725993e-01] [ 2.93362198e-02 -2.11119858e-03 9.99567371e-01 -6.42393474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.979072329 meters Centerline goodness : 0.798388 Centerline is valid? [False, False] Translation: X:1.97, Y:0.16, Z:-0.64 [[ 9.98634886e-01 -4.31014635e-02 -2.95064042e-02 1.96889624e+00] [ 4.31126853e-02 9.99070183e-01 -2.56061991e-04 1.56811572e-01] [ 2.94900053e-02 -1.01638788e-03 9.99564558e-01 -6.42843056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.009072329 meters Centerline goodness : 0.798195 Centerline is valid? [False, False] Translation: X:1.97, Y:0.16, Z:-0.64 [[ 9.98568635e-01 -4.41007729e-02 -3.02622465e-02 1.97006310e+00] [ 4.41579155e-02 9.99023816e-01 1.22221717e-03 1.55431908e-01] [ 3.01788043e-02 -2.55678546e-03 9.99541246e-01 -6.41487583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.03907232899999 meters Centerline goodness : 0.798779 Centerline is valid? [False, False] Translation: X:1.97, Y:0.15, Z:-0.64 [[ 0.99838388 -0.04687298 -0.03213348 1.97157803] [ 0.04710862 0.99886787 0.00661524 0.15295538] [ 0.03178703 -0.00811831 0.99946169 -0.63622288] [ 0. 0. 0. 1. ]] SLAMing on 40.069072328999994 meters Centerline goodness : 0.800540 Centerline is valid? [False, False] Translation: X:1.97, Y:0.15, Z:-0.63 [[ 0.99825389 -0.04901232 -0.03296922 1.97275232] [ 0.0492891 0.99875537 0.00763495 0.15173524] [ 0.03255398 -0.00924665 0.9994272 -0.63447586] [ 0. 0. 0. 1. ]] SLAMing on 40.099072328999995 meters Centerline goodness : 0.801230 Centerline is valid? [False, False] Translation: X:1.97, Y:0.15, Z:-0.63 [[ 0.99804141 -0.05373941 -0.03202219 1.97101306] [ 0.05383994 0.99854697 0.00228464 0.14710755] [ 0.03185288 -0.00400424 0.99948455 -0.63356577] [ 0. 0. 0. 1. ]] SLAMing on 40.129072328999996 meters Centerline goodness : 0.801230 Centerline is valid? [False, False] Translation: X:1.97, Y:0.15, Z:-0.63 [[ 0.99804141 -0.05373941 -0.03202219 1.97101306] [ 0.05383994 0.99854697 0.00228464 0.14710755] [ 0.03185288 -0.00400424 0.99948455 -0.63356577] [ 0. 0. 0. 1. ]] SLAMing on 40.159072329 meters Centerline goodness : 0.803651 Centerline is valid? [False, False] Translation: X:1.97, Y:0.14, Z:-0.63 [[ 9.97682695e-01 -6.02994805e-02 -3.15152938e-02 1.97027323e+00] [ 6.02651680e-02 9.98180322e-01 -2.03836150e-03 1.42311016e-01] [ 3.15808582e-02 1.34363520e-04 9.99501191e-01 -6.32029440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.189072329 meters Centerline goodness : 0.804285 Centerline is valid? [False, False] Translation: X:1.97, Y:0.14, Z:-0.63 [[ 9.97450077e-01 -6.37223216e-02 -3.21373646e-02 1.97217354e+00] [ 6.37093678e-02 9.97967473e-01 -1.42794808e-03 1.40408056e-01] [ 3.21630368e-02 -6.23144259e-04 9.99482441e-01 -6.31293110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.21907232899999 meters Centerline goodness : 0.803358 Centerline is valid? [False, False] Translation: X:1.97, Y:0.14, Z:-0.63 [[ 9.97207886e-01 -6.71670238e-02 -3.26346892e-02 1.97289879e+00] [ 6.71619135e-02 9.97741302e-01 -1.25400218e-03 1.38203825e-01] [ 3.26452048e-02 -9.41307309e-04 9.99466560e-01 -6.29387963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.24907232899999 meters Centerline goodness : 0.804111 Centerline is valid? [False, False] Translation: X:1.97, Y:0.13, Z:-0.63 [[ 9.96766976e-01 -7.33548554e-02 -3.27820100e-02 1.97320843e+00] [ 7.33110705e-02 9.97305896e-01 -2.53723570e-03 1.33049073e-01] [ 3.28798104e-02 1.25748512e-04 9.99459305e-01 -6.26764271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.279072328999995 meters Centerline goodness : 0.807563 Centerline is valid? [False, False] Translation: X:1.97, Y:0.13, Z:-0.63 [[ 0.99650072 -0.07693488 -0.03267009 1.97285715] [ 0.07682348 0.99703385 -0.0046533 0.13020271] [ 0.03293118 0.00212719 0.99945536 -0.62514632] [ 0. 0. 0. 1. ]] SLAMing on 40.309072328999996 meters Centerline goodness : 0.810936 Centerline is valid? [False, False] Translation: X:1.97, Y:0.13, Z:-0.62 [[ 0.99625599 -0.08014398 -0.0324182 1.9719956 ] [ 0.07998399 0.99677684 -0.00620412 0.1265554 ] [ 0.03281094 0.00358795 0.99945514 -0.62315743] [ 0. 0. 0. 1. ]] SLAMing on 40.339072329 meters Centerline goodness : 0.815308 Centerline is valid? [False, False] Translation: X:1.97, Y:0.12, Z:-0.62 [[ 0.99569613 -0.08682413 -0.03241593 1.97063811] [ 0.08662983 0.99621343 -0.0073537 0.12033812] [ 0.03293167 0.00451386 0.99944741 -0.61809674] [ 0. 0. 0. 1. ]] SLAMing on 40.369072329 meters Centerline goodness : 0.817744 Centerline is valid? [False, False] Translation: X:1.97, Y:0.12, Z:-0.62 [[ 0.995388 -0.09017298 -0.03273471 1.97037625] [ 0.08996307 0.9959143 -0.0078327 0.11734853] [ 0.03330726 0.00485166 0.99943338 -0.61527092] [ 0. 0. 0. 1. ]] SLAMing on 40.39907232899999 meters Centerline goodness : 0.817163 Centerline is valid? [False, False] Translation: X:1.97, Y:0.11, Z:-0.61 [[ 0.99515755 -0.09260604 -0.03294801 1.97080591] [ 0.0923922 0.99569089 -0.00795772 0.11380699] [ 0.03354296 0.00487505 0.99942539 -0.61376954] [ 0. 0. 0. 1. ]] SLAMing on 40.42907232899999 meters Centerline goodness : 0.818578 Centerline is valid? [False, False] Translation: X:1.97, Y:0.11, Z:-0.61 [[ 0.99466284 -0.09771416 -0.03313275 1.97220241] [ 0.09744807 0.99519473 -0.00955675 0.10748872] [ 0.03390737 0.00627702 0.99940527 -0.6126299 ] [ 0. 0. 0. 1. ]] SLAMing on 40.459072328999994 meters Centerline goodness : 0.820298 Centerline is valid? [False, False] Translation: X:1.98, Y:0.10, Z:-0.61 [[ 0.99438996 -0.10004093 -0.03435718 1.97672734] [ 0.09976967 0.99496497 -0.00952527 0.10455401] [ 0.03513711 0.00604403 0.99936422 -0.61389706] [ 0. 0. 0. 1. ]] SLAMing on 40.489072328999995 meters Centerline goodness : 0.822001 Centerline is valid? [False, False] Translation: X:1.98, Y:0.10, Z:-0.61 [[ 0.99421603 -0.10163322 -0.03471572 1.97865548] [ 0.10136285 0.99480449 -0.00946574 0.10090136] [ 0.03549739 0.00589211 0.9993524 -0.61421842] [ 0. 0. 0. 1. ]] SLAMing on 40.519072329 meters Centerline goodness : 0.825382 Centerline is valid? [False, False] Translation: X:1.98, Y:0.09, Z:-0.61 [[ 0.99384308 -0.10512377 -0.0349988 1.97922285] [ 0.10484001 0.9944403 -0.00985174 0.09459362] [ 0.03583987 0.00612181 0.99933879 -0.61198442] [ 0. 0. 0. 1. ]] SLAMing on 40.549072329 meters Centerline goodness : 0.827014 Centerline is valid? [False, False] Translation: X:1.98, Y:0.09, Z:-0.61 [[ 0.99371201 -0.10623899 -0.03535144 1.98009305] [ 0.10595221 0.994322 -0.00989436 0.09159006] [ 0.03620188 0.00608658 0.99932596 -0.61119425] [ 0. 0. 0. 1. ]] SLAMing on 40.57907232899999 meters Centerline goodness : 0.827480 Centerline is valid? [False, False] Translation: X:1.98, Y:0.09, Z:-0.61 [[ 0.99370384 -0.10613764 -0.03588139 1.98232994] [ 0.10587395 0.99433722 -0.00917632 0.0883076 ] [ 0.03665216 0.00531964 0.99931393 -0.61205731] [ 0. 0. 0. 1. ]] SLAMing on 40.60907232899999 meters Centerline goodness : 0.830388 Centerline is valid? [False, False] Translation: X:1.98, Y:0.08, Z:-0.61 [[ 0.99374591 -0.1057727 -0.03579401 1.98227547] [ 0.10552311 0.99437794 -0.00879688 0.08298521] [ 0.03652325 0.00496477 0.99932047 -0.61160591] [ 0. 0. 0. 1. ]] SLAMing on 40.639072328999994 meters Centerline goodness : 0.830151 Centerline is valid? [False, False] Translation: X:1.98, Y:0.08, Z:-0.61 [[ 0.9937616 -0.10548238 -0.03621267 1.9839846 ] [ 0.10525446 0.99441193 -0.00814892 0.08074038] [ 0.03686988 0.00428654 0.99931088 -0.61236473] [ 0. 0. 0. 1. ]] SLAMing on 40.669072328999995 meters Centerline goodness : 0.829556 Centerline is valid? [False, False] Translation: X:1.99, Y:0.08, Z:-0.61 [[ 0.99380191 -0.10502532 -0.03643408 1.98555588] [ 0.10480693 0.99446154 -0.00785824 0.07850129] [ 0.0370576 0.00399099 0.99930516 -0.61359544] [ 0. 0. 0. 1. ]] SLAMing on 40.699072328999996 meters Centerline goodness : 0.830194 Centerline is valid? [False, False] Translation: X:1.99, Y:0.08, Z:-0.61 [[ 0.99379728 -0.10510317 -0.0363359 1.98615466] [ 0.10486344 0.99445076 -0.00844688 0.07625471] [ 0.03702206 0.00458418 0.99930393 -0.61430133] [ 0. 0. 0. 1. ]] SLAMing on 40.729072329 meters Centerline goodness : 0.830854 Centerline is valid? [False, False] Translation: X:1.99, Y:0.07, Z:-0.62 [[ 0.99390989 -0.10401915 -0.03637497 1.98806163] [ 0.10382036 0.99456915 -0.00731692 0.07060499] [ 0.03693852 0.0034959 0.99931142 -0.61638289] [ 0. 0. 0. 1. ]] SLAMing on 40.759072329 meters Centerline goodness : 0.831434 Centerline is valid? [False, False] Translation: X:1.99, Y:0.07, Z:-0.62 [[ 9.93967287e-01 -1.03263822e-01 -3.69542386e-02 1.99008629e+00] [ 1.03136975e-01 9.94652894e-01 -5.32767365e-03 6.80939737e-02] [ 3.73067963e-02 1.48418493e-03 9.99302757e-01 -6.17090852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.78907232899999 meters Centerline goodness : 0.833509 Centerline is valid? [False, False] Translation: X:1.99, Y:0.07, Z:-0.62 [[ 9.94073801e-01 -1.02047514e-01 -3.74644314e-02 1.99147226e+00] [ 1.01992778e-01 9.94779416e-01 -3.37435977e-03 6.55757053e-02] [ 3.76131903e-02 -4.66738786e-04 9.99292265e-01 -6.17256087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.819072328999994 meters Centerline goodness : 0.835815 Centerline is valid? [False, False] Translation: X:1.99, Y:0.06, Z:-0.62 [[ 9.94195102e-01 -1.00922759e-01 -3.72920324e-02 1.99119937e+00] [ 1.00920490e-01 9.94892587e-01 -1.94807742e-03 6.19181487e-02] [ 3.72981719e-02 -1.82676115e-03 9.99302511e-01 -6.17009093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.849072328999995 meters Centerline goodness : 0.835793 Centerline is valid? [False, False] Translation: X:1.99, Y:0.06, Z:-0.62 [[ 9.94281776e-01 -1.00031045e-01 -3.73836837e-02 1.99230491e+00] [ 1.00048196e-01 9.94981584e-01 -1.41636990e-03 6.00081645e-02] [ 3.73377578e-02 -2.33189935e-03 9.99299982e-01 -6.18126738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.879072328999996 meters Centerline goodness : 0.836776 Centerline is valid? [False, False] Translation: X:1.99, Y:0.06, Z:-0.62 [[ 9.94334967e-01 -9.95103750e-02 -3.73585105e-02 1.99222291e+00] [ 9.95301633e-02 9.95033651e-01 -1.33436872e-03 5.87970909e-02] [ 3.73057587e-02 -2.39148918e-03 9.99301036e-01 -6.18033336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.909072329 meters Centerline goodness : 0.838162 Centerline is valid? [False, False] Translation: X:1.99, Y:0.06, Z:-0.62 [[ 9.94423716e-01 -9.84608644e-02 -3.77747310e-02 1.99377685e+00] [ 9.85296701e-02 9.95134113e-01 -4.03502902e-05 5.80605167e-02] [ 3.75948963e-02 -3.68180650e-03 9.99286279e-01 -6.18904152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.939072329 meters Centerline goodness : 0.836740 Centerline is valid? [False, False] Translation: X:1.99, Y:0.06, Z:-0.62 [[ 0.99465804 -0.09569703 -0.03869712 1.99469008] [ 0.09588414 0.99538797 0.00300437 0.05921726] [ 0.03823114 -0.00669876 0.99924647 -0.61813778] [ 0. 0. 0. 1. ]] SLAMing on 40.96907232899999 meters Centerline goodness : 0.836803 Centerline is valid? [False, False] Translation: X:1.99, Y:0.06, Z:-0.62 [[ 0.99476061 -0.09452741 -0.03893443 1.9946288 ] [ 0.09472759 0.99549768 0.00332509 0.06030929] [ 0.03844482 -0.00699584 0.99923624 -0.61783927] [ 0. 0. 0. 1. ]] SLAMing on 40.99907232899999 meters Centerline goodness : 0.839161 Centerline is valid? [False, False] Translation: X:2.00, Y:0.06, Z:-0.62 [[ 0.99504992 -0.09159174 -0.03855662 1.99551329] [ 0.09175194 0.995779 0.00240254 0.06224573] [ 0.03817382 -0.00592829 0.99925353 -0.621597 ] [ 0. 0. 0. 1. ]] SLAMing on 41.029072328999995 meters Centerline goodness : 0.838002 Centerline is valid? [False, False] Translation: X:2.00, Y:0.06, Z:-0.62 [[ 9.95179004e-01 -9.02880652e-02 -3.82990236e-02 1.99595242e+00] [ 9.04026860e-02 9.95904487e-01 1.26806797e-03 6.38620050e-02] [ 3.80276780e-02 -4.72428922e-03 9.99265519e-01 -6.23804965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.059072328999996 meters Centerline goodness : 0.838262 Centerline is valid? [False, False] Translation: X:2.00, Y:0.07, Z:-0.63 [[ 9.95335217e-01 -8.84300464e-02 -3.85737366e-02 1.99738988e+00] [ 8.85628831e-02 9.96069059e-01 1.74531572e-03 6.59010220e-02] [ 3.82677672e-02 -5.15337552e-03 9.99254232e-01 -6.25796374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.089072329 meters Centerline goodness : 0.839147 Centerline is valid? [False, False] Translation: X:2.00, Y:0.07, Z:-0.63 [[ 0.99547034 -0.08640085 -0.03966985 1.9990423 ] [ 0.08663145 0.99623188 0.0041279 0.06847842] [ 0.03916372 -0.00754586 0.99920432 -0.62553144] [ 0. 0. 0. 1. ]] SLAMing on 41.119072329 meters Centerline goodness : 0.840377 Centerline is valid? [False, False] Translation: X:2.00, Y:0.07, Z:-0.63 [[ 0.99572478 -0.08231818 -0.04190331 2.00312045] [ 0.08282924 0.99650731 0.01060678 0.07479667] [ 0.04088382 -0.01403226 0.99906537 -0.6258966 ] [ 0. 0. 0. 1. ]] SLAMing on 41.14907232899999 meters Centerline goodness : 0.840377 Centerline is valid? [False, False] Translation: X:2.00, Y:0.07, Z:-0.63 [[ 0.99572478 -0.08231818 -0.04190331 2.00312045] [ 0.08282924 0.99650731 0.01060678 0.07479667] [ 0.04088382 -0.01403226 0.99906537 -0.6258966 ] [ 0. 0. 0. 1. ]] SLAMing on 41.17907232899999 meters Centerline goodness : 0.839141 Centerline is valid? [False, False] Translation: X:2.00, Y:0.08, Z:-0.63 [[ 0.99572413 -0.08188681 -0.04275513 2.0043338 ] [ 0.08243035 0.99653495 0.01110554 0.07803858] [ 0.04169758 -0.01458238 0.99902386 -0.62544767] [ 0. 0. 0. 1. ]] SLAMing on 41.209072328999994 meters Centerline goodness : 0.838743 Centerline is valid? [False, False] Translation: X:2.01, Y:0.08, Z:-0.63 [[ 0.99568137 -0.08218787 -0.0431713 2.00580088] [ 0.08271563 0.99651702 0.0105811 0.08074489] [ 0.0421513 -0.01410635 0.99901165 -0.62629712] [ 0. 0. 0. 1. ]] SLAMing on 41.239072328999995 meters Centerline goodness : 0.839391 Centerline is valid? [False, False] Translation: X:2.01, Y:0.09, Z:-0.63 [[ 0.99546282 -0.08395809 -0.04477509 2.01081764] [ 0.08454404 0.99635505 0.01135397 0.08617869] [ 0.04365862 -0.01508792 0.99893257 -0.628285 ] [ 0. 0. 0. 1. ]] SLAMing on 41.269072329 meters Centerline goodness : 0.840761 Centerline is valid? [False, False] Translation: X:2.02, Y:0.09, Z:-0.63 [[ 0.9952784 -0.08513145 -0.04662119 2.01502806] [ 0.08586874 0.99620748 0.01404338 0.08969062] [ 0.04524885 -0.01798037 0.99881392 -0.62797598] [ 0. 0. 0. 1. ]] SLAMing on 41.299072329 meters Centerline goodness : 0.840625 Centerline is valid? [False, False] Translation: X:2.02, Y:0.09, Z:-0.63 [[ 0.99500032 -0.08701737 -0.04901358 2.01995754] [ 0.08793474 0.99598324 0.01687809 0.09381112] [ 0.04734802 -0.0211037 0.9986555 -0.62700695] [ 0. 0. 0. 1. ]] SLAMing on 41.32907232899999 meters Centerline goodness : 0.835799 Centerline is valid? [False, False] Translation: X:2.03, Y:0.10, Z:-0.63 [[ 0.99421569 -0.09421464 -0.0515631 2.02703774] [ 0.0951038 0.99535335 0.01506567 0.10140217] [ 0.0499041 -0.01988237 0.99855609 -0.62789192] [ 0. 0. 0. 1. ]] SLAMing on 41.35907232899999 meters Centerline goodness : 0.833179 Centerline is valid? [False, False] Translation: X:2.03, Y:0.10, Z:-0.63 [[ 0.99373045 -0.09913813 -0.05168576 2.02885174] [ 0.09979281 0.99495557 0.01023725 0.10434667] [ 0.05041014 -0.01533094 0.99861093 -0.62892573] [ 0. 0. 0. 1. ]] SLAMing on 41.389072328999994 meters Centerline goodness : 0.831458 Centerline is valid? [False, False] Translation: X:2.03, Y:0.11, Z:-0.63 [[ 0.99330382 -0.10293238 -0.05246379 2.03250372] [ 0.1034826 0.9946001 0.00787408 0.10665415] [ 0.05137 -0.01325044 0.99859178 -0.63070699] [ 0. 0. 0. 1. ]] SLAMing on 41.419072328999995 meters Centerline goodness : 0.832624 Centerline is valid? [False, False] Translation: X:2.04, Y:0.11, Z:-0.63 [[ 0.9927309 -0.10639466 -0.05626316 2.04055126] [ 0.10720211 0.99417045 0.01152481 0.11264923] [ 0.05470899 -0.01747256 0.99834946 -0.63019727] [ 0. 0. 0. 1. ]] SLAMing on 41.449072328999996 meters Centerline goodness : 0.832027 Centerline is valid? [False, False] Translation: X:2.04, Y:0.12, Z:-0.63 [[ 0.99254052 -0.10691296 -0.05859131 2.0437638 ] [ 0.10804091 0.99401076 0.01642484 0.11606757] [ 0.05648436 -0.02263258 0.99814692 -0.62771048] [ 0. 0. 0. 1. ]] SLAMing on 41.479072329 meters Centerline goodness : 0.832916 Centerline is valid? [False, False] Translation: X:2.05, Y:0.12, Z:-0.62 [[ 0.99222972 -0.10836713 -0.06112899 2.04681553] [ 0.10979064 0.99374496 0.02041993 0.11988871] [ 0.05853378 -0.02697266 0.99792097 -0.62433137] [ 0. 0. 0. 1. ]] SLAMing on 41.509072329 meters Centerline goodness : 0.826512 Centerline is valid? [False, False] Translation: X:2.05, Y:0.13, Z:-0.63 [[ 0.99148268 -0.11372696 -0.06346869 2.05413314] [ 0.11511951 0.99317522 0.01872098 0.12559308] [ 0.06090645 -0.02586801 0.99780822 -0.62695329] [ 0. 0. 0. 1. ]] SLAMing on 41.53907232899999 meters Centerline goodness : 0.823566 Centerline is valid? [False, False] Translation: X:2.06, Y:0.13, Z:-0.63 [[ 0.99102648 -0.11776914 -0.06322136 2.05595707] [ 0.1188998 0.99280158 0.014417 0.12659502] [ 0.06106839 -0.02180464 0.99789539 -0.62874886] [ 0. 0. 0. 1. ]] SLAMing on 41.569072328999994 meters Centerline goodness : 0.824436 Centerline is valid? [False, False] Translation: X:2.06, Y:0.13, Z:-0.63 [[ 0.99065626 -0.12067797 -0.06353734 2.05714866] [ 0.12170907 0.99248582 0.01260176 0.12752672] [ 0.06153916 -0.02021708 0.9978999 -0.62852619] [ 0. 0. 0. 1. ]] SLAMing on 41.599072328999995 meters Centerline goodness : 0.827288 Centerline is valid? [False, False] Translation: X:2.06, Y:0.14, Z:-0.63 [[ 0.99053383 -0.12540638 -0.05582089 2.06399352] [ 0.12649935 0.99182973 0.0164832 0.13624537] [ 0.05329772 -0.02338848 0.99830473 -0.62552901] [ 0. 0. 0. 1. ]] SLAMing on 41.629072328999996 meters Centerline goodness : 0.828485 Centerline is valid? [False, False] Translation: X:2.07, Y:0.14, Z:-0.62 [[ 0.99064614 -0.12351078 -0.05801131 2.065143 ] [ 0.1249098 0.99194309 0.02112941 0.13976783] [ 0.05493421 -0.02817795 0.9980923 -0.62199659] [ 0. 0. 0. 1. ]] SLAMing on 41.659072329 meters Centerline goodness : 0.827098 Centerline is valid? [False, False] Translation: X:2.07, Y:0.14, Z:-0.62 [[ 0.99081868 -0.12089895 -0.06051264 2.07022414] [ 0.12257203 0.99215141 0.02473191 0.14415741] [ 0.05704764 -0.03192199 0.99786099 -0.62337135] [ 0. 0. 0. 1. ]] SLAMing on 41.689072329 meters Centerline goodness : 0.819307 Centerline is valid? [False, False] Translation: X:2.07, Y:0.15, Z:-0.63 [[ 0.99086587 -0.12095581 -0.0596198 2.07287793] [ 0.12224529 0.99232815 0.01846414 0.15341005] [ 0.05692906 -0.02558372 0.99805038 -0.63087696] [ 0. 0. 0. 1. ]] SLAMing on 41.71907232899999 meters Centerline goodness : 0.816102 Centerline is valid? [False, False] Translation: X:2.08, Y:0.16, Z:-0.64 [[ 0.99082294 -0.12137959 -0.05947184 2.07672355] [ 0.1224439 0.99236837 0.0145776 0.15646248] [ 0.05724855 -0.02172578 0.99812354 -0.63661137] [ 0. 0. 0. 1. ]] SLAMing on 41.74907232899999 meters Centerline goodness : 0.817191 Centerline is valid? [False, False] Translation: X:2.08, Y:0.16, Z:-0.64 [[ 0.99079319 -0.12135081 -0.0600236 2.08094657] [ 0.1223499 0.99239863 0.01324602 0.15844111] [ 0.05795992 -0.02046795 0.99810907 -0.64090257] [ 0. 0. 0. 1. ]] SLAMing on 41.779072328999995 meters Centerline goodness : 0.820219 Centerline is valid? [False, False] Translation: X:2.08, Y:0.16, Z:-0.64 [[ 0.99098473 -0.11860962 -0.06229785 2.08174476] [ 0.11997211 0.99260316 0.01859206 0.16316862] [ 0.05963184 -0.02589846 0.99788442 -0.63696299] [ 0. 0. 0. 1. ]] SLAMing on 41.809072328999996 meters Centerline goodness : 0.820407 Centerline is valid? [False, False] Translation: X:2.08, Y:0.17, Z:-0.63 [[ 0.99118024 -0.11550784 -0.06495897 2.08275566] [ 0.11736232 0.99276214 0.02548378 0.16695233] [ 0.06154523 -0.03288276 0.99756248 -0.63250378] [ 0. 0. 0. 1. ]] SLAMing on 41.839072329 meters Centerline goodness : 0.821074 Centerline is valid? [False, False] Translation: X:2.08, Y:0.17, Z:-0.63 [[ 0.9915736 -0.11191554 -0.0652434 2.0811528 ] [ 0.11394262 0.99308668 0.02821212 0.17130654] [ 0.06163498 -0.03540839 0.99747049 -0.63095195] [ 0. 0. 0. 1. ]] SLAMing on 41.869072329 meters Centerline goodness : 0.819773 Centerline is valid? [False, False] Translation: X:2.08, Y:0.18, Z:-0.63 [[ 0.99160044 -0.11134035 -0.06581706 2.08229454] [ 0.11336649 0.99316187 0.02788444 0.17583409] [ 0.06226233 -0.03511167 0.99744201 -0.63147659] [ 0. 0. 0. 1. ]] SLAMing on 41.89907232899999 meters Centerline goodness : 0.817867 Centerline is valid? [False, False] Translation: X:2.09, Y:0.18, Z:-0.64 [[ 0.99166669 -0.11135893 -0.06477938 2.08623783] [ 0.11295957 0.99336513 0.02158358 0.18189991] [ 0.06194605 -0.02872117 0.99766617 -0.64012867] [ 0. 0. 0. 1. ]] SLAMing on 41.92907232899999 meters Centerline goodness : 0.815502 Centerline is valid? [False, False] Translation: X:2.09, Y:0.18, Z:-0.64 [[ 0.99176459 -0.11108319 -0.06374583 2.08597337] [ 0.11251462 0.99346239 0.01931164 0.1834301 ] [ 0.06118388 -0.02632494 0.9977793 -0.64263999] [ 0. 0. 0. 1. ]] SLAMing on 41.959072328999994 meters Centerline goodness : 0.816488 Centerline is valid? [False, False] Translation: X:2.09, Y:0.18, Z:-0.64 [[ 0.99188971 -0.11018853 -0.06335056 2.08567283] [ 0.11159966 0.99356824 0.01917469 0.18458666] [ 0.06083027 -0.02608907 0.99780711 -0.64341525] [ 0. 0. 0. 1. ]] SLAMing on 41.989072328999995 meters Centerline goodness : 0.815346 Centerline is valid? [False, False] Translation: X:2.08, Y:0.19, Z:-0.64 [[ 0.99179354 -0.11116069 -0.06315758 2.08356353] [ 0.11239346 0.99353004 0.01630246 0.19289744] [ 0.06093676 -0.02326717 0.99787041 -0.63970885] [ 0. 0. 0. 1. ]] SLAMing on 42.019072329 meters Centerline goodness : 0.812914 Centerline is valid? [False, False] Translation: X:2.08, Y:0.20, Z:-0.64 [[ 0.9917394 -0.11148689 -0.06343219 2.08353346] [ 0.11264447 0.99352267 0.01496407 0.19795832] [ 0.06135302 -0.02198575 0.99787396 -0.63829951] [ 0. 0. 0. 1. ]] SLAMing on 42.049072329 meters Centerline goodness : 0.813923 Centerline is valid? [False, False] Translation: X:2.08, Y:0.20, Z:-0.64 [[ 0.99167729 -0.1118129 -0.06382812 2.08361353] [ 0.11287451 0.99352071 0.01326463 0.20339381] [ 0.0619314 -0.0203588 0.99787275 -0.63608751] [ 0. 0. 0. 1. ]] SLAMing on 42.07907232899999 meters Centerline goodness : 0.811117 Centerline is valid? [False, False] Translation: X:2.09, Y:0.21, Z:-0.63 [[ 0.99164352 -0.11169726 -0.06455115 2.08503091] [ 0.11253779 0.9936018 0.00952378 0.21391106] [ 0.06307436 -0.01670864 0.99786895 -0.63088653] [ 0. 0. 0. 1. ]] SLAMing on 42.10907232899999 meters Centerline goodness : 0.809530 Centerline is valid? [False, False] Translation: X:2.09, Y:0.22, Z:-0.63 [[ 0.99162733 -0.1116714 -0.06484392 2.08591877] [ 0.11245819 0.99361923 0.00860172 0.21760628] [ 0.06346959 -0.01582193 0.99785835 -0.63043768] [ 0. 0. 0. 1. ]] SLAMing on 42.139072328999994 meters Centerline goodness : 0.806885 Centerline is valid? [False, False] Translation: X:2.09, Y:0.22, Z:-0.63 [[ 0.99163965 -0.11119622 -0.06546909 2.08918426] [ 0.11192484 0.99368794 0.00755723 0.22391954] [ 0.06421551 -0.01482166 0.99782598 -0.63185101] [ 0. 0. 0. 1. ]] SLAMing on 42.169072328999995 meters Centerline goodness : 0.807811 Centerline is valid? [False, False] Translation: X:2.09, Y:0.23, Z:-0.63 [[ 0.99163518 -0.11102373 -0.06582861 2.09094192] [ 0.11171581 0.99371613 0.00691579 0.22707186] [ 0.06464713 -0.01421204 0.99780698 -0.63243182] [ 0. 0. 0. 1. ]] SLAMing on 42.199072328999996 meters Centerline goodness : 0.806377 Centerline is valid? [False, False] Translation: X:2.09, Y:0.23, Z:-0.63 [[ 0.9916122 -0.1110577 -0.0661168 2.09216635] [ 0.11170094 0.99372314 0.00610151 0.23105231] [ 0.06502417 -0.01343564 0.99779324 -0.63278467] [ 0. 0. 0. 1. ]] SLAMing on 42.229072329 meters Centerline goodness : 0.807009 Centerline is valid? [False, False] Translation: X:2.10, Y:0.24, Z:-0.63 [[ 0.99160514 -0.11041527 -0.06728824 2.09571124] [ 0.11098809 0.99381003 0.00482341 0.23674601] [ 0.06633915 -0.01225112 0.99772192 -0.63190025] [ 0. 0. 0. 1. ]] SLAMing on 42.25907232899999 meters Centerline goodness : 0.806921 Centerline is valid? [False, False] Translation: X:2.10, Y:0.24, Z:-0.63 [[ 0.99247207 -0.10140805 -0.06867027 2.0987562 ] [ 0.10246704 0.99466318 0.0120695 0.24354997] [ 0.06707984 -0.01901508 0.9975664 -0.63366379] [ 0. 0. 0. 1. ]] SLAMing on 42.28907232899999 meters Centerline goodness : 0.806364 Centerline is valid? [False, False] Translation: X:2.10, Y:0.25, Z:-0.64 [[ 0.99307833 -0.10225372 -0.05778936 2.10137824] [ 0.10311076 0.994597 0.01204066 0.25239096] [ 0.05624592 -0.01791603 0.99825619 -0.63537122] [ 0. 0. 0. 1. ]] SLAMing on 42.319072328999994 meters Centerline goodness : 0.807152 Centerline is valid? [False, False] Translation: X:2.10, Y:0.26, Z:-0.63 [[ 0.99346914 -0.09821517 -0.05807625 2.10081603] [ 0.09922506 0.99495552 0.01476175 0.25729951] [ 0.05633345 -0.02042797 0.99820301 -0.63427942] [ 0. 0. 0. 1. ]] SLAMing on 42.349072328999995 meters Centerline goodness : 0.806976 Centerline is valid? [False, False] Translation: X:2.11, Y:0.27, Z:-0.63 [[ 0.99414055 -0.09085035 -0.05857281 2.11308436] [ 0.09169381 0.99571648 0.01187139 0.26853034] [ 0.05724339 -0.0171726 0.99821255 -0.62814679] [ 0. 0. 0. 1. ]] SLAMing on 42.379072328999996 meters Centerline goodness : 0.807879 Centerline is valid? [False, False] Translation: X:2.12, Y:0.27, Z:-0.63 [[ 0.99416642 -0.08997383 -0.05947976 2.11648021] [ 0.09076468 0.99581461 0.01072546 0.27291619] [ 0.0582658 -0.01606155 0.99817189 -0.62726712] [ 0. 0. 0. 1. ]] SLAMing on 42.409072329 meters Centerline goodness : 0.809754 Centerline is valid? [False, False] Translation: X:2.12, Y:0.28, Z:-0.63 [[ 0.99418665 -0.08902114 -0.06056522 2.12033486] [ 0.08977385 0.99591379 0.00981713 0.27686566] [ 0.05944381 -0.01519723 0.99811596 -0.62653726] [ 0. 0. 0. 1. ]] SLAMing on 42.439072329 meters Centerline goodness : 0.807961 Centerline is valid? [False, False] Translation: X:2.12, Y:0.28, Z:-0.63 [[ 0.99418776 -0.08843224 -0.06140384 2.12306192] [ 0.08915935 0.99597489 0.00919891 0.27974962] [ 0.0603432 -0.01462017 0.99807061 -0.62602549] [ 0. 0. 0. 1. ]] SLAMing on 42.46907232899999 meters Centerline goodness : 0.806021 Centerline is valid? [False, False] Translation: X:2.13, Y:0.28, Z:-0.62 [[ 0.99381405 -0.09190575 -0.06234555 2.12678034] [ 0.09237282 0.99571366 0.00464501 0.28207243] [ 0.06165141 -0.01037531 0.99804382 -0.62483893] [ 0. 0. 0. 1. ]] SLAMing on 42.49907232899999 meters Centerline goodness : 0.806468 Centerline is valid? [False, False] Translation: X:2.13, Y:0.28, Z:-0.63 [[ 0.99383422 -0.09138518 -0.06278766 2.12885142] [ 0.09187901 0.99575754 0.00501726 0.28184389] [ 0.06206278 -0.0107552 0.9980143 -0.62587155] [ 0. 0. 0. 1. ]] SLAMing on 42.529072328999995 meters Centerline goodness : 0.807113 Centerline is valid? [False, False] Translation: X:2.13, Y:0.28, Z:-0.63 [[ 0.9938671 -0.0908034 -0.0631104 2.13091357] [ 0.09135528 0.99580083 0.00590877 0.27948775] [ 0.06230886 -0.011638 0.99798906 -0.62765437] [ 0. 0. 0. 1. ]] SLAMing on 42.559072328999996 meters Centerline goodness : 0.803897 Centerline is valid? [False, False] Translation: X:2.14, Y:0.28, Z:-0.63 [[ 9.93526619e-01 -9.39282298e-02 -6.38932244e-02 2.13530157e+00] [ 9.42301631e-02 9.95548950e-01 1.72201093e-03 2.79198169e-01] [ 6.34470870e-02 -7.73153266e-03 9.97955255e-01 -6.27316649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.589072329 meters Centerline goodness : 0.804972 Centerline is valid? [False, False] Translation: X:2.14, Y:0.28, Z:-0.63 [[ 9.93153640e-01 -9.79914768e-02 -6.35886677e-02 2.13572387e+00] [ 9.80657083e-02 9.95178011e-01 -1.96022160e-03 2.75248958e-01] [ 6.34741288e-02 -4.28906652e-03 9.97974268e-01 -6.26738946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.619072329 meters Centerline goodness : 0.806015 Centerline is valid? [False, False] Translation: X:2.13, Y:0.27, Z:-0.62 [[ 0.99311602 -0.0985061 -0.0633808 2.13376639] [ 0.09854966 0.99512913 -0.00244622 0.27428429] [ 0.06331304 -0.00381677 0.99798642 -0.62432447] [ 0. 0. 0. 1. ]] SLAMing on 42.64907232899999 meters Centerline goodness : 0.807893 Centerline is valid? [False, False] Translation: X:2.13, Y:0.27, Z:-0.62 [[ 0.99305597 -0.09920288 -0.06323471 2.13135539] [ 0.0991835 0.99506317 -0.00345325 0.2745517 ] [ 0.0632651 -0.00284257 0.99799271 -0.6207673 ] [ 0. 0. 0. 1. ]] SLAMing on 42.67907232899999 meters Centerline goodness : 0.808952 Centerline is valid? [False, False] Translation: X:2.15, Y:0.27, Z:-0.62 [[ 0.99290818 -0.10319859 -0.05902023 2.14726936] [ 0.10355029 0.99461992 0.0029237 0.27100266] [ 0.05840098 -0.00901452 0.99825251 -0.6212076 ] [ 0. 0. 0. 1. ]] SLAMing on 42.709072328999994 meters Centerline goodness : 0.804788 Centerline is valid? [False, False] Translation: X:2.15, Y:0.27, Z:-0.62 [[ 9.92480064e-01 -1.07274554e-01 -5.89533053e-02 2.14818677e+00] [ 1.07398282e-01 9.94215497e-01 -1.07492032e-03 2.69368002e-01] [ 5.87276013e-02 -5.26464670e-03 9.98260163e-01 -6.20463836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.739072328999995 meters Centerline goodness : 0.804876 Centerline is valid? [False, False] Translation: X:2.15, Y:0.26, Z:-0.62 [[ 9.92495394e-01 -1.07163540e-01 -5.88971080e-02 2.14874749e+00] [ 1.07358426e-01 9.94220371e-01 1.45500188e-04 2.64208588e-01] [ 5.85411122e-02 -6.46750910e-03 9.98264048e-01 -6.22060418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.769072329 meters Centerline goodness : 0.803249 Centerline is valid? [False, False] Translation: X:2.15, Y:0.26, Z:-0.62 [[ 0.99206946 -0.11107023 -0.0588353 2.15033697] [ 0.11112574 0.9938036 -0.0023378 0.25853248] [ 0.05873039 -0.00421886 0.99826497 -0.623674 ] [ 0. 0. 0. 1. ]] SLAMing on 42.799072329 meters Centerline goodness : 0.802300 Centerline is valid? [False, False] Translation: X:2.15, Y:0.25, Z:-0.63 [[ 9.92064851e-01 -1.11114177e-01 -5.88300253e-02 2.15053578e+00] [ 1.11240007e-01 9.93792914e-01 -1.14195235e-03 2.53971327e-01] [ 5.85917494e-02 -5.41136165e-03 9.98267361e-01 -6.25008604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.82907232899999 meters Centerline goodness : 0.799989 Centerline is valid? [False, False] Translation: X:2.15, Y:0.25, Z:-0.63 [[ 0.9915632 -0.1157888 -0.05826978 2.14971445] [ 0.11576199 0.99326953 -0.00384689 0.24793731] [ 0.05832302 -0.00293099 0.99829346 -0.62568922] [ 0. 0. 0. 1. ]] SLAMing on 42.85907232899999 meters Centerline goodness : 0.801924 Centerline is valid? [False, False] Translation: X:2.15, Y:0.24, Z:-0.63 [[ 0.99151593 -0.11646194 -0.05773019 2.14747277] [ 0.11645713 0.9931897 -0.00345909 0.24376086] [ 0.05773989 -0.00329335 0.99832623 -0.6250048 ] [ 0. 0. 0. 1. ]] SLAMing on 42.889072328999994 meters Centerline goodness : 0.801512 Centerline is valid? [False, False] Translation: X:2.14, Y:0.24, Z:-0.62 [[ 0.99146822 -0.11715267 -0.0571492 2.14484182] [ 0.11714725 0.99310854 -0.00345646 0.24020004] [ 0.05716029 -0.0032679 0.99835967 -0.62335079] [ 0. 0. 0. 1. ]] SLAMing on 42.919072328999995 meters Centerline goodness : 0.799154 Centerline is valid? [False, False] Translation: X:2.14, Y:0.24, Z:-0.62 [[ 0.99138052 -0.11818601 -0.05653965 2.141211 ] [ 0.11815654 0.99298742 -0.00387567 0.23588689] [ 0.05660121 -0.00283826 0.99839283 -0.62000178] [ 0. 0. 0. 1. ]] SLAMing on 42.949072328999996 meters Centerline goodness : 0.797407 Centerline is valid? [False, False] Translation: X:2.14, Y:0.23, Z:-0.62 [[ 0.99141976 -0.11771719 -0.05682885 2.14245331] [ 0.11773061 0.99304066 -0.00312355 0.23301286] [ 0.05680105 -0.00359375 0.99837905 -0.62056058] [ 0. 0. 0. 1. ]] SLAMing on 42.979072329 meters Centerline goodness : 0.797062 Centerline is valid? [False, False] Translation: X:2.14, Y:0.23, Z:-0.62 [[ 9.91490004e-01 -1.16916485e-01 -5.72547685e-02 2.14491522e+00] [ 1.17009632e-01 9.93129265e-01 -1.73438981e-03 2.29283369e-01] [ 5.70641650e-02 -4.97972924e-03 9.98358094e-01 -6.22777927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.00907232899999 meters Centerline goodness : 0.795876 Centerline is valid? [False, False] Translation: X:2.15, Y:0.23, Z:-0.63 [[ 9.91559469e-01 -1.16087066e-01 -5.77374403e-02 2.14765116e+00] [ 1.16269901e-01 9.93217636e-01 -1.93989838e-04 2.25267923e-01] [ 5.73683637e-02 -6.52077398e-03 9.98331784e-01 -6.25288987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.03907232899999 meters Centerline goodness : 0.795776 Centerline is valid? [False, False] Translation: X:2.15, Y:0.22, Z:-0.63 [[ 0.99165587 -0.11476257 -0.05872134 2.15198832] [ 0.11509397 0.99335199 0.00228165 0.21946996] [ 0.05806911 -0.00902109 0.99827181 -0.62899561] [ 0. 0. 0. 1. ]] SLAMing on 43.069072328999994 meters Centerline goodness : 0.795776 Centerline is valid? [False, False] Translation: X:2.15, Y:0.22, Z:-0.63 [[ 0.99165587 -0.11476257 -0.05872134 2.15198832] [ 0.11509397 0.99335199 0.00228165 0.21946996] [ 0.05806911 -0.00902109 0.99827181 -0.62899561] [ 0. 0. 0. 1. ]] SLAMing on 43.099072328999995 meters Centerline goodness : 0.795496 Centerline is valid? [False, False] Translation: X:2.15, Y:0.22, Z:-0.63 [[ 0.99170541 -0.11405225 -0.05926598 2.15391519] [ 0.11441418 0.99342936 0.00273861 0.21789097] [ 0.05856422 -0.00949677 0.99823847 -0.62904157] [ 0. 0. 0. 1. ]] SLAMing on 43.129072328999996 meters Centerline goodness : 0.796861 Centerline is valid? [False, False] Translation: X:2.15, Y:0.21, Z:-0.63 [[ 0.99223016 -0.109139 -0.05973269 2.15395354] [ 0.1097714 0.99392931 0.00740039 0.21422949] [ 0.0585624 -0.01389983 0.99818698 -0.62818655] [ 0. 0. 0. 1. ]] SLAMing on 43.159072329 meters Centerline goodness : 0.795779 Centerline is valid? [False, False] Translation: X:2.16, Y:0.22, Z:-0.63 [[ 0.99227033 -0.10845697 -0.06030481 2.15538469] [ 0.10905376 0.99401337 0.00668501 0.21634438] [ 0.05921875 -0.0132098 0.99815762 -0.62630402] [ 0. 0. 0. 1. ]] SLAMing on 43.189072329 meters Centerline goodness : 0.796666 Centerline is valid? [False, False] Translation: X:2.16, Y:0.22, Z:-0.62 [[ 0.99230582 -0.10762172 -0.06121055 2.15765968] [ 0.1081716 0.99411571 0.00573209 0.21897342] [ 0.06023347 -0.01230923 0.99810842 -0.62406012] [ 0. 0. 0. 1. ]] SLAMing on 43.21907232899999 meters Centerline goodness : 0.793808 Centerline is valid? [False, False] Translation: X:2.16, Y:0.22, Z:-0.64 [[ 0.99327932 -0.10620513 -0.04600713 2.15589468] [ 0.10666014 0.99426692 0.00754372 0.22417797] [ 0.04494219 -0.01240015 0.99891263 -0.63548077] [ 0. 0. 0. 1. ]] SLAMing on 43.24907232899999 meters Centerline goodness : 0.792753 Centerline is valid? [False, False] Translation: X:2.16, Y:0.22, Z:-0.64 [[ 0.99362439 -0.10273727 -0.0464286 2.15873687] [ 0.10322643 0.99462361 0.00825747 0.22479605] [ 0.04533063 -0.01299748 0.99888748 -0.63879115] [ 0. 0. 0. 1. ]] SLAMing on 43.279072328999995 meters Centerline goodness : 0.793092 Centerline is valid? [False, False] Translation: X:2.16, Y:0.23, Z:-0.64 [[ 0.99384744 -0.1006963 -0.04612512 2.1594138 ] [ 0.10113053 0.9948473 0.00717363 0.22553875] [ 0.0451651 -0.01179415 0.99890991 -0.64074126] [ 0. 0. 0. 1. ]] SLAMing on 43.309072328999996 meters Centerline goodness : 0.789419 Centerline is valid? [False, False] Translation: X:2.16, Y:0.23, Z:-0.64 [[ 0.99406902 -0.09868226 -0.04570126 2.1605513 ] [ 0.09900628 0.99507486 0.00487609 0.22811923] [ 0.04499499 -0.00937188 0.99894325 -0.64401171] [ 0. 0. 0. 1. ]] SLAMing on 43.339072329 meters Centerline goodness : 0.789546 Centerline is valid? [False, False] Translation: X:2.16, Y:0.23, Z:-0.64 [[ 0.99426724 -0.09686607 -0.04527284 2.15996135] [ 0.09715667 0.99525999 0.00425799 0.22824491] [ 0.04464579 -0.00863214 0.99896558 -0.64429929] [ 0. 0. 0. 1. ]] SLAMing on 43.369072329 meters Centerline goodness : 0.789546 Centerline is valid? [False, False] Translation: X:2.16, Y:0.23, Z:-0.64 [[ 0.99426724 -0.09686607 -0.04527284 2.15996135] [ 0.09715667 0.99525999 0.00425799 0.22824491] [ 0.04464579 -0.00863214 0.99896558 -0.64429929] [ 0. 0. 0. 1. ]] SLAMing on 43.39907232899999 meters Centerline goodness : 0.788233 Centerline is valid? [False, False] Translation: X:2.16, Y:0.23, Z:-0.64 [[ 9.93911420e-01 -1.00024280e-01 -4.62085813e-02 2.16343369e+00] [ 1.00045801e-01 9.94981108e-01 -1.85257272e-03 2.32368761e-01] [ 4.61619676e-02 -2.78168133e-03 9.98930095e-01 -6.39902632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.42907232899999 meters Centerline goodness : 0.785620 Centerline is valid? [False, False] Translation: X:2.17, Y:0.24, Z:-0.63 [[ 0.99361028 -0.1025666 -0.04710316 2.16773096] [ 0.10224556 0.99471682 -0.00918165 0.238222 ] [ 0.04779603 0.00430689 0.99884783 -0.63274574] [ 0. 0. 0. 1. ]] SLAMing on 43.459072328999994 meters Centerline goodness : 0.785528 Centerline is valid? [False, False] Translation: X:2.17, Y:0.24, Z:-0.63 [[ 0.99356309 -0.10273384 -0.04772983 2.16860482] [ 0.10248681 0.99470532 -0.00760072 0.23809785] [ 0.04825797 0.00266011 0.99883136 -0.63203393] [ 0. 0. 0. 1. ]] SLAMing on 43.489072328999995 meters Centerline goodness : 0.785219 Centerline is valid? [False, False] Translation: X:2.17, Y:0.24, Z:-0.63 [[ 9.93386493e-01 -1.04063739e-01 -4.85181879e-02 2.17017999e+00] [ 1.03845315e-01 9.94568771e-01 -7.00792879e-03 2.38097340e-01] [ 4.89839457e-02 1.92319530e-03 9.98797714e-01 -6.31488913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.519072329 meters Centerline goodness : 0.783311 Centerline is valid? [False, False] Translation: X:2.17, Y:0.24, Z:-0.63 [[ 0.99260599 -0.11084921 -0.04945503 2.17371285] [ 0.11049658 0.99382802 -0.00981675 0.23706658] [ 0.05023797 0.00427955 0.99872811 -0.63175803] [ 0. 0. 0. 1. ]] SLAMing on 43.549072329 meters Centerline goodness : 0.783481 Centerline is valid? [False, False] Translation: X:2.18, Y:0.24, Z:-0.63 [[ 0.99208629 -0.11456865 -0.05136952 2.17822629] [ 0.11424059 0.9934097 -0.00928734 0.236561 ] [ 0.05209501 0.00334536 0.99863653 -0.63146009] [ 0. 0. 0. 1. ]] SLAMing on 43.57907232899999 meters Centerline goodness : 0.784383 Centerline is valid? [False, False] Translation: X:2.17, Y:0.24, Z:-0.63 [[ 0.99193021 -0.116191 -0.05073573 2.17496584] [ 0.11586731 0.9932213 -0.00928513 0.23629886] [ 0.05147066 0.00333159 0.99866895 -0.63145759] [ 0. 0. 0. 1. ]] SLAMing on 43.60907232899999 meters Centerline goodness : 0.783582 Centerline is valid? [False, False] Translation: X:2.18, Y:0.24, Z:-0.63 [[ 0.99153397 -0.11868062 -0.0526811 2.17989479] [ 0.1183898 0.9929298 -0.00861822 0.23688193] [ 0.05333145 0.00230836 0.9985742 -0.63196653] [ 0. 0. 0. 1. ]] SLAMing on 43.639072328999994 meters Centerline goodness : 0.783669 Centerline is valid? [False, False] Translation: X:2.18, Y:0.23, Z:-0.63 [[ 0.99143379 -0.11983817 -0.05194086 2.17722352] [ 0.11953725 0.99279007 -0.00887299 0.23388375] [ 0.0526297 0.00258811 0.99861074 -0.63126106] [ 0. 0. 0. 1. ]] SLAMing on 43.669072328999995 meters Centerline goodness : 0.782998 Centerline is valid? [False, False] Translation: X:2.18, Y:0.23, Z:-0.64 [[ 0.9915505 -0.12423367 -0.03733092 2.18144335] [ 0.12387081 0.99222712 -0.01188974 0.23072386] [ 0.03851786 0.00716506 0.99923222 -0.63762675] [ 0. 0. 0. 1. ]] SLAMing on 43.699072328999996 meters Centerline goodness : 0.782807 Centerline is valid? [False, False] Translation: X:2.18, Y:0.23, Z:-0.64 [[ 0.99148439 -0.12489381 -0.03688145 2.17953783] [ 0.12451537 0.99214026 -0.01239453 0.2311556 ] [ 0.03813957 0.00769668 0.99924278 -0.63656446] [ 0. 0. 0. 1. ]] SLAMing on 43.729072329 meters Centerline goodness : 0.782636 Centerline is valid? [False, False] Translation: X:2.18, Y:0.23, Z:-0.64 [[ 0.99143517 -0.12530838 -0.03679828 2.17869707] [ 0.12490996 0.99208366 -0.01294257 0.23302532] [ 0.03812879 0.00823525 0.9992389 -0.63570776] [ 0. 0. 0. 1. ]] SLAMing on 43.75907232899999 meters Centerline goodness : 0.783182 Centerline is valid? [False, False] Translation: X:2.18, Y:0.23, Z:-0.64 [[ 0.99139878 -0.12553998 -0.03698895 2.17909538] [ 0.12514916 0.99205655 -0.01270758 0.23423604] [ 0.03829043 0.00796914 0.99923487 -0.63672095] [ 0. 0. 0. 1. ]] SLAMing on 43.78907232899999 meters Centerline goodness : 0.784481 Centerline is valid? [False, False] Translation: X:2.18, Y:0.23, Z:-0.64 [[ 0.99142859 -0.1252559 -0.0371526 2.18015186] [ 0.12488506 0.99209683 -0.01214885 0.23334327] [ 0.03838069 0.00740491 0.99923575 -0.63792166] [ 0. 0. 0. 1. ]] SLAMing on 43.819072328999994 meters Centerline goodness : 0.781883 Centerline is valid? [False, False] Translation: X:2.18, Y:0.23, Z:-0.64 [[ 0.99142951 -0.12522752 -0.03722357 2.18059401] [ 0.12485959 0.99210113 -0.01205931 0.23369035] [ 0.03843971 0.00730823 0.9992342 -0.63846683] [ 0. 0. 0. 1. ]] SLAMing on 43.849072328999995 meters Centerline goodness : 0.782338 Centerline is valid? [False, False] Translation: X:2.18, Y:0.23, Z:-0.64 [[ 0.99185015 -0.12193208 -0.03695733 2.17806272] [ 0.12172708 0.99253331 -0.00775565 0.2323285 ] [ 0.03762705 0.00319374 0.99928675 -0.63896109] [ 0. 0. 0. 1. ]] SLAMing on 43.879072328999996 meters Centerline goodness : 0.779407 Centerline is valid? [False, False] Translation: X:2.18, Y:0.23, Z:-0.64 [[ 9.92258379e-01 -1.18607429e-01 -3.68183083e-02 2.17551839e+00] [ 1.18539293e-01 9.92941160e-01 -4.03580992e-03 2.32588834e-01] [ 3.70370908e-02 -3.59850035e-04 9.99313827e-01 -6.38274964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.909072329 meters Centerline goodness : 0.779150 Centerline is valid? [False, False] Translation: X:2.18, Y:0.24, Z:-0.64 [[ 9.92248269e-01 -1.18747763e-01 -3.66379855e-02 2.17553404e+00] [ 1.18651784e-01 9.92924370e-01 -4.79065286e-03 2.35374912e-01] [ 3.69476280e-02 4.06354648e-04 9.99317121e-01 -6.38453417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.939072329 meters Centerline goodness : 0.779713 Centerline is valid? [False, False] Translation: X:2.18, Y:0.23, Z:-0.64 [[ 9.92300508e-01 -1.18230043e-01 -3.68965890e-02 2.17750972e+00] [ 1.18149721e-01 9.92986231e-01 -4.35749059e-03 2.34327897e-01] [ 3.71529911e-02 -3.53815722e-05 9.99309589e-01 -6.40108901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.96907232899999 meters Centerline goodness : 0.777344 Centerline is valid? [False, False] Translation: X:2.18, Y:0.24, Z:-0.64 [[ 9.92345396e-01 -1.17698711e-01 -3.73848730e-02 2.18000441e+00] [ 1.17604319e-01 9.93049309e-01 -4.72165428e-03 2.37811156e-01] [ 3.76807549e-02 2.88889348e-04 9.99289786e-01 -6.41447839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.99907232899999 meters Centerline goodness : 0.777344 Centerline is valid? [False, False] Translation: X:2.18, Y:0.24, Z:-0.64 [[ 9.92345396e-01 -1.17698711e-01 -3.73848730e-02 2.18000441e+00] [ 1.17604319e-01 9.93049309e-01 -4.72165428e-03 2.37811156e-01] [ 3.76807549e-02 2.88889348e-04 9.99289786e-01 -6.41447839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.029072328999995 meters Centerline goodness : 0.775686 Centerline is valid? [False, False] Translation: X:2.18, Y:0.24, Z:-0.64 [[ 9.92777508e-01 -1.13852612e-01 -3.78206534e-02 2.17971084e+00] [ 1.13874567e-01 9.93493878e-01 -1.58020328e-03 2.43033226e-01] [ 3.77544979e-02 -2.73802026e-03 9.99283294e-01 -6.41385987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.059072328999996 meters Centerline goodness : 0.774844 Centerline is valid? [False, False] Translation: X:2.18, Y:0.24, Z:-0.64 [[ 0.99318305 -0.11028633 -0.03774074 2.17793252] [ 0.11045804 0.99387767 0.00248878 0.24313298] [ 0.0372352 -0.00664058 0.99928447 -0.64175036] [ 0. 0. 0. 1. ]] SLAMing on 44.089072329 meters Centerline goodness : 0.774232 Centerline is valid? [False, False] Translation: X:2.18, Y:0.25, Z:-0.64 [[ 9.93165619e-01 -1.10386637e-01 -3.79057313e-02 2.17806469e+00] [ 1.10531263e-01 9.93871134e-01 1.73476360e-03 2.46000184e-01] [ 3.74819174e-02 -5.91267591e-03 9.99279814e-01 -6.40931252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.119072329 meters Centerline goodness : 0.774090 Centerline is valid? [False, False] Translation: X:2.18, Y:0.25, Z:-0.64 [[ 9.93147767e-01 -1.10483904e-01 -3.80896316e-02 2.17849489e+00] [ 1.10585489e-01 9.93866455e-01 5.64091126e-04 2.50011201e-01] [ 3.77936841e-02 -4.77238639e-03 9.99274167e-01 -6.39939132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.14907232899999 meters Centerline goodness : 0.772905 Centerline is valid? [False, False] Translation: X:2.18, Y:0.25, Z:-0.64 [[ 9.93130268e-01 -1.10669294e-01 -3.80076042e-02 2.17853492e+00] [ 1.10754301e-01 9.93847809e-01 1.31913893e-04 2.51805413e-01] [ 3.77591753e-02 -4.34051333e-03 9.99277441e-01 -6.40220303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.17907232899999 meters Centerline goodness : 0.772187 Centerline is valid? [False, False] Translation: X:2.18, Y:0.26, Z:-0.64 [[ 9.92777406e-01 -1.13649638e-01 -3.84289221e-02 2.18220276e+00] [ 1.13564505e-01 9.93520890e-01 -4.39811621e-03 2.56430109e-01] [ 3.86797813e-02 2.18889022e-06 9.99251657e-01 -6.40471456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.209072328999994 meters Centerline goodness : 0.772107 Centerline is valid? [False, False] Translation: X:2.18, Y:0.26, Z:-0.64 [[ 9.92742612e-01 -1.14084381e-01 -3.80376130e-02 2.18179753e+00] [ 1.13990351e-01 9.93471027e-01 -4.63879301e-03 2.58027717e-01] [ 3.83184803e-02 2.69206641e-04 9.99265541e-01 -6.41836312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.239072328999995 meters Centerline goodness : 0.773327 Centerline is valid? [False, False] Translation: X:2.18, Y:0.26, Z:-0.64 [[ 9.92697233e-01 -1.14544924e-01 -3.78373283e-02 2.18067858e+00] [ 1.14407774e-01 9.93417074e-01 -5.77741890e-03 2.60719001e-01] [ 3.82500220e-02 1.40634323e-03 9.99267211e-01 -6.40176080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.269072329 meters Centerline goodness : 0.771845 Centerline is valid? [False, False] Translation: X:2.19, Y:0.27, Z:-0.64 [[ 0.99329436 -0.1107546 -0.03316229 2.19341519] [ 0.11102477 0.99379695 0.0064135 0.26614329] [ 0.03224626 -0.01005233 0.9994294 -0.63917735] [ 0. 0. 0. 1. ]] SLAMing on 44.299072329 meters Centerline goodness : 0.773042 Centerline is valid? [False, False] Translation: X:2.19, Y:0.27, Z:-0.64 [[ 0.99366486 -0.10737829 -0.03316704 2.19091177] [ 0.10773918 0.99413581 0.00928741 0.26932179] [ 0.03197528 -0.01280196 0.99940667 -0.63705898] [ 0. 0. 0. 1. ]] SLAMing on 44.32907232899999 meters Centerline goodness : 0.772243 Centerline is valid? [False, False] Translation: X:2.19, Y:0.27, Z:-0.64 [[ 0.9936998 -0.10683931 -0.03385366 2.19298944] [ 0.10717834 0.99420468 0.00835812 0.27379933] [ 0.0327645 -0.01193385 0.99939185 -0.63620348] [ 0. 0. 0. 1. ]] SLAMing on 44.35907232899999 meters Centerline goodness : 0.770609 Centerline is valid? [False, False] Translation: X:2.20, Y:0.27, Z:-0.64 [[ 9.94610229e-01 -1.00003614e-01 -2.73819229e-02 2.19854916e+00] [ 1.00019724e-01 9.94985146e-01 -7.84104704e-04 2.73310219e-01] [ 2.73230198e-02 -1.95885380e-03 9.99624737e-01 -6.44119351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.389072328999994 meters Centerline goodness : 0.769924 Centerline is valid? [False, False] Translation: X:2.20, Y:0.27, Z:-0.65 [[ 9.94352008e-01 -1.02319391e-01 -2.81926787e-02 2.20461847e+00] [ 1.02242747e-01 9.94750820e-01 -4.15063327e-03 2.73751152e-01] [ 2.84693805e-02 1.24469362e-03 9.99593890e-01 -6.46728183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.419072328999995 meters Centerline goodness : 0.767003 Centerline is valid? [False, False] Translation: X:2.21, Y:0.27, Z:-0.65 [[ 9.94401726e-01 -1.01766148e-01 -2.84404521e-02 2.20654669e+00] [ 1.01709428e-01 9.94808210e-01 -3.43765541e-03 2.72329451e-01] [ 2.86426322e-02 5.25748355e-04 9.99589577e-01 -6.48647395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.449072328999996 meters Centerline goodness : 0.767949 Centerline is valid? [False, False] Translation: X:2.21, Y:0.27, Z:-0.65 [[ 9.94402290e-01 -1.01663950e-01 -2.87841565e-02 2.20731539e+00] [ 1.01595555e-01 9.94818403e-01 -3.83251390e-03 2.73829509e-01] [ 2.90246371e-02 8.86718242e-04 9.99578303e-01 -6.48058123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.479072329 meters Centerline goodness : 0.765690 Centerline is valid? [False, False] Translation: X:2.21, Y:0.28, Z:-0.65 [[ 9.94753202e-01 -9.80211876e-02 -2.92901636e-02 2.20584912e+00] [ 9.80324345e-02 9.95182661e-01 -1.05524090e-03 2.78123678e-01] [ 2.92524989e-02 -1.82168178e-03 9.99570394e-01 -6.45059599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.50907232899999 meters Centerline goodness : 0.764833 Centerline is valid? [False, False] Translation: X:2.20, Y:0.28, Z:-0.65 [[ 0.99511021 -0.09441646 -0.02900343 2.20357139] [ 0.09455087 0.99551458 0.00329512 0.27648712] [ 0.02856223 -0.0060213 0.99957388 -0.64514371] [ 0. 0. 0. 1. ]] SLAMing on 44.53907232899999 meters Centerline goodness : 0.766373 Centerline is valid? [False, False] Translation: X:2.21, Y:0.28, Z:-0.64 [[ 9.94759899e-01 -9.80527213e-02 -2.89552640e-02 2.20509843e+00] [ 9.80616804e-02 9.95179716e-01 -1.11385590e-03 2.76827714e-01] [ 2.89249080e-02 -1.73138266e-03 9.99580088e-01 -6.44475647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.569072328999994 meters Centerline goodness : 0.765255 Centerline is valid? [False, False] Translation: X:2.20, Y:0.27, Z:-0.65 [[ 9.94767216e-01 -9.80834768e-02 -2.85975010e-02 2.20482842e+00] [ 9.81122587e-02 9.95175274e-01 -3.98369409e-04 2.73411748e-01] [ 2.84985994e-02 -2.40948059e-03 9.99590928e-01 -6.45709198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.599072328999995 meters Centerline goodness : 0.764241 Centerline is valid? [False, False] Translation: X:2.21, Y:0.27, Z:-0.65 [[ 9.94783222e-01 -9.79096064e-02 -2.86365302e-02 2.20547620e+00] [ 9.79548389e-02 9.95190845e-01 1.77616981e-04 2.71326515e-01] [ 2.84814223e-02 -2.98177710e-03 9.99589875e-01 -6.46702483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.629072328999996 meters Centerline goodness : 0.765713 Centerline is valid? [False, False] Translation: X:2.21, Y:0.27, Z:-0.65 [[ 9.94787313e-01 -9.78469623e-02 -2.87084410e-02 2.20573051e+00] [ 9.78878804e-02 9.95197449e-01 2.00017007e-05 2.71277417e-01] [ 2.85686101e-02 -2.83010587e-03 9.99587828e-01 -6.46260981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.659072329 meters Centerline goodness : 0.764743 Centerline is valid? [False, False] Translation: X:2.20, Y:0.27, Z:-0.64 [[ 9.94753178e-01 -9.81345459e-02 -2.89089059e-02 2.20498666e+00] [ 9.81541900e-02 9.95170942e-01 -7.42191908e-04 2.72665441e-01] [ 2.88421378e-02 -2.09923249e-03 9.99581775e-01 -6.43789623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.689072329 meters Centerline goodness : 0.766605 Centerline is valid? [False, False] Translation: X:2.20, Y:0.27, Z:-0.64 [[ 9.94726875e-01 -9.84512172e-02 -2.87367551e-02 2.20384869e+00] [ 9.84603623e-02 9.95140365e-01 -1.10004538e-03 2.72808721e-01] [ 2.87054058e-02 -1.73518661e-03 9.99586409e-01 -6.42603312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.71907232899999 meters Centerline goodness : 0.763545 Centerline is valid? [False, False] Translation: X:2.20, Y:0.27, Z:-0.64 [[ 9.94717796e-01 -9.85464196e-02 -2.87247243e-02 2.20347131e+00] [ 9.85436115e-02 9.95131577e-01 -1.51681023e-03 2.72577402e-01] [ 2.87343564e-02 -1.32183994e-03 9.99586209e-01 -6.41268204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.74907232899999 meters Centerline goodness : 0.763033 Centerline is valid? [False, False] Translation: X:2.20, Y:0.27, Z:-0.64 [[ 9.94720453e-01 -9.85583424e-02 -2.85914931e-02 2.20330315e+00] [ 9.85614337e-02 9.95130113e-01 -1.30459951e-03 2.71346585e-01] [ 2.85808350e-02 -1.52030674e-03 9.99590328e-01 -6.41499656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.779072328999995 meters Centerline goodness : 0.760239 Centerline is valid? [False, False] Translation: X:2.21, Y:0.27, Z:-0.64 [[ 9.94792673e-01 -9.76901737e-02 -2.90545475e-02 2.20625642e+00] [ 9.77281596e-02 9.95213140e-01 -1.13142782e-04 2.68663929e-01] [ 2.89265204e-02 -2.72689384e-03 9.99577821e-01 -6.44190426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.809072328999996 meters Centerline goodness : 0.759062 Centerline is valid? [False, False] Translation: X:2.21, Y:0.27, Z:-0.65 [[ 9.94835917e-01 -9.71865777e-02 -2.92620592e-02 2.20777478e+00] [ 9.72493911e-02 9.95259778e-01 7.27747436e-04 2.66644823e-01] [ 2.90526233e-02 -3.56970673e-03 9.99571509e-01 -6.45805397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.839072329 meters Centerline goodness : 0.760479 Centerline is valid? [False, False] Translation: X:2.21, Y:0.27, Z:-0.64 [[ 9.94476057e-01 -1.00618604e-01 -2.98876039e-02 2.21067473e+00] [ 1.00551903e-01 9.94924822e-01 -3.73019207e-03 2.68261108e-01] [ 3.01112457e-02 7.04331254e-04 9.99546305e-01 -6.44832414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.869072329 meters Centerline goodness : 0.759146 Centerline is valid? [False, False] Translation: X:2.21, Y:0.26, Z:-0.64 [[ 9.94378454e-01 -1.01719915e-01 -2.94032246e-02 2.20794313e+00] [ 1.01665818e-01 9.94813024e-01 -3.33287063e-03 2.63433115e-01] [ 2.95897301e-02 3.24831850e-04 9.99562075e-01 -6.43934267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.89907232899999 meters Centerline goodness : 0.759293 Centerline is valid? [False, False] Translation: X:2.21, Y:0.26, Z:-0.64 [[ 9.94348031e-01 -1.02135860e-01 -2.89872227e-02 2.20631585e+00] [ 1.02090901e-01 9.94770458e-01 -3.03061989e-03 2.60831439e-01] [ 2.91451677e-02 5.41592304e-05 9.99575188e-01 -6.43414726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.92907232899999 meters Centerline goodness : 0.760644 Centerline is valid? [False, False] Translation: X:2.21, Y:0.26, Z:-0.64 [[ 9.94319589e-01 -1.02472404e-01 -2.87742995e-02 2.20510251e+00] [ 1.02429965e-01 9.94735847e-01 -2.94893186e-03 2.59346233e-01] [ 2.89250114e-02 -1.51697746e-05 9.99581584e-01 -6.42658034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.959072328999994 meters Centerline goodness : 0.760644 Centerline is valid? [False, False] Translation: X:2.21, Y:0.26, Z:-0.64 [[ 9.94319589e-01 -1.02472404e-01 -2.87742995e-02 2.20510251e+00] [ 1.02429965e-01 9.94735847e-01 -2.94893186e-03 2.59346233e-01] [ 2.89250114e-02 -1.51697746e-05 9.99581584e-01 -6.42658034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.989072328999995 meters Centerline goodness : 0.758658 Centerline is valid? [False, False] Translation: X:2.20, Y:0.26, Z:-0.64 [[ 9.94319450e-01 -1.02505409e-01 -2.86613231e-02 2.20471783e+00] [ 1.02472878e-01 9.94732387e-01 -2.60541212e-03 2.57634764e-01] [ 2.87774152e-02 -3.46396320e-04 9.99585784e-01 -6.42544383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.019072329 meters Centerline goodness : 0.761133 Centerline is valid? [False, False] Translation: X:2.20, Y:0.25, Z:-0.64 [[ 9.94280774e-01 -1.02960908e-01 -2.83688959e-02 2.20362518e+00] [ 1.02960410e-01 9.94684351e-01 -1.48219036e-03 2.52233873e-01] [ 2.83707045e-02 -1.44715977e-03 9.99596423e-01 -6.43412761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.049072329 meters Centerline goodness : 0.760052 Centerline is valid? [False, False] Translation: X:2.20, Y:0.25, Z:-0.64 [[ 9.94269129e-01 -1.03195538e-01 -2.79209536e-02 2.20252813e+00] [ 1.03211704e-01 9.94659035e-01 -8.65393266e-04 2.48675823e-01] [ 2.78611335e-02 -2.02133540e-03 9.99609760e-01 -6.43807436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.07907232899999 meters Centerline goodness : 0.760751 Centerline is valid? [False, False] Translation: X:2.20, Y:0.24, Z:-0.64 [[ 9.94229625e-01 -1.03728860e-01 -2.73454900e-02 2.20062421e+00] [ 1.03752420e-01 9.94602997e-01 -5.59738235e-04 2.44744773e-01] [ 2.72559674e-02 -2.28065242e-03 9.99625885e-01 -6.43336006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.10907232899999 meters Centerline goodness : 0.760532 Centerline is valid? [False, False] Translation: X:2.20, Y:0.24, Z:-0.64 [[ 9.94175210e-01 -1.04429678e-01 -2.66475802e-02 2.19801932e+00] [ 1.04457336e-01 9.94529305e-01 -3.55796667e-04 2.41374712e-01] [ 2.65389552e-02 -2.42981102e-03 9.99644827e-01 -6.42430497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.139072328999994 meters Centerline goodness : 0.759400 Centerline is valid? [False, False] Translation: X:2.21, Y:0.24, Z:-0.65 [[ 0.9938322 -0.10868433 -0.02202882 2.21498884] [ 0.10883224 0.9940442 0.00562689 0.23753923] [ 0.02128607 -0.00798963 0.9997415 -0.6451219 ] [ 0. 0. 0. 1. ]] SLAMing on 45.169072328999995 meters Centerline goodness : 0.759388 Centerline is valid? [False, False] Translation: X:2.22, Y:0.23, Z:-0.65 [[ 0.99383135 -0.10870494 -0.02196563 2.21510136] [ 0.10886887 0.99403547 0.00640713 0.2344969 ] [ 0.02113813 -0.00875898 0.9997382 -0.64603133] [ 0. 0. 0. 1. ]] SLAMing on 45.199072328999996 meters Centerline goodness : 0.758723 Centerline is valid? [False, False] Translation: X:2.22, Y:0.23, Z:-0.65 [[ 0.99383595 -0.10871307 -0.02171583 2.21519865] [ 0.10890074 0.99402318 0.00765123 0.23014394] [ 0.02075425 -0.00996894 0.99973491 -0.64792922] [ 0. 0. 0. 1. ]] SLAMing on 45.229072329 meters Centerline goodness : 0.759844 Centerline is valid? [False, False] Translation: X:2.22, Y:0.23, Z:-0.65 [[ 0.993376 -0.11289757 -0.02140688 2.21545603] [ 0.11302195 0.99358143 0.00468817 0.22553956] [ 0.0207402 -0.00707656 0.99975985 -0.6484016 ] [ 0. 0. 0. 1. ]] SLAMing on 45.25907232899999 meters Centerline goodness : 0.759304 Centerline is valid? [False, False] Translation: X:2.21, Y:0.22, Z:-0.65 [[ 0.99332012 -0.11345865 -0.02103012 2.21354484] [ 0.11357984 0.99351796 0.00465704 0.22357566] [ 0.02036542 -0.00701453 0.999768 -0.64710085] [ 0. 0. 0. 1. ]] SLAMing on 45.28907232899999 meters Centerline goodness : 0.759860 Centerline is valid? [False, False] Translation: X:2.21, Y:0.22, Z:-0.65 [[ 0.99325234 -0.11415305 -0.02046617 2.21108617] [ 0.11426883 0.99343933 0.00457611 0.22154896] [ 0.01980952 -0.00688388 0.99978007 -0.64572438] [ 0. 0. 0. 1. ]] SLAMing on 45.319072328999994 meters Centerline goodness : 0.760520 Centerline is valid? [False, False] Translation: X:2.21, Y:0.22, Z:-0.65 [[ 0.99320713 -0.11462843 -0.01999805 2.20938197] [ 0.11474515 0.99338343 0.00478623 0.21877377] [ 0.01931709 -0.00704839 0.99978856 -0.64505705] [ 0. 0. 0. 1. ]] SLAMing on 45.349072328999995 meters Centerline goodness : 0.759587 Centerline is valid? [False, False] Translation: X:2.21, Y:0.22, Z:-0.65 [[ 9.92766451e-01 -1.18412619e-01 -1.98299277e-02 2.21051879e+00] [ 1.18461619e-01 9.92957767e-01 1.31068351e-03 2.15479016e-01] [ 1.95350792e-02 -3.65028795e-03 9.99802509e-01 -6.45155498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.379072328999996 meters Centerline goodness : 0.760259 Centerline is valid? [False, False] Translation: X:2.21, Y:0.21, Z:-0.65 [[ 9.92787983e-01 -1.18261500e-01 -1.96529394e-02 2.21078054e+00] [ 1.18326359e-01 9.92972395e-01 2.16669713e-03 2.12003485e-01] [ 1.92585895e-02 -4.47653164e-03 9.99804515e-01 -6.46385412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.409072329 meters Centerline goodness : 0.760244 Centerline is valid? [False, False] Translation: X:2.21, Y:0.21, Z:-0.65 [[ 0.99280195 -0.11815674 -0.0195772 2.2109959 ] [ 0.11823373 0.99298179 0.00281891 0.20918554] [ 0.01910673 -0.0051133 0.99980437 -0.64708497] [ 0. 0. 0. 1. ]] SLAMing on 45.439072329 meters Centerline goodness : 0.759564 Centerline is valid? [False, False] Translation: X:2.21, Y:0.21, Z:-0.65 [[ 0.99278039 -0.11837374 -0.01935851 2.21028099] [ 0.11845592 0.99295431 0.00315122 0.20736803] [ 0.01884909 -0.0054216 0.99980764 -0.64711365] [ 0. 0. 0. 1. ]] SLAMing on 45.46907232899999 meters Centerline goodness : 0.759633 Centerline is valid? [False, False] Translation: X:2.22, Y:0.20, Z:-0.65 [[ 0.99240167 -0.12214477 -0.01481815 2.22431308] [ 0.12231989 0.99242354 0.01154792 0.20302472] [ 0.01329536 -0.01327273 0.99982352 -0.65015854] [ 0. 0. 0. 1. ]] SLAMing on 45.49907232899999 meters Centerline goodness : 0.759191 Centerline is valid? [False, False] Translation: X:2.22, Y:0.20, Z:-0.65 [[ 0.99231427 -0.12292139 -0.01423829 2.22156863] [ 0.12308736 0.99233 0.0114313 0.20084938] [ 0.01272393 -0.013096 0.99983328 -0.64838848] [ 0. 0. 0. 1. ]] SLAMing on 45.529072328999995 meters Centerline goodness : 0.760743 Centerline is valid? [False, False] Translation: X:2.22, Y:0.20, Z:-0.65 [[ 0.9918014 -0.12706366 -0.01359453 2.22106333] [ 0.12718004 0.99184686 0.00806544 0.19586253] [ 0.01245887 -0.00972826 0.99987506 -0.64780538] [ 0. 0. 0. 1. ]] SLAMing on 45.559072328999996 meters Centerline goodness : 0.759014 Centerline is valid? [False, False] Translation: X:2.22, Y:0.19, Z:-0.65 [[ 0.9918255 -0.12689403 -0.0134198 2.22143136] [ 0.12702162 0.991858 0.00912265 0.19081749] [ 0.01215293 -0.01075269 0.99986833 -0.64900168] [ 0. 0. 0. 1. ]] SLAMing on 45.589072329 meters Centerline goodness : 0.759101 Centerline is valid? [False, False] Translation: X:2.22, Y:0.19, Z:-0.65 [[ 0.99185969 -0.12663563 -0.01333348 2.2219146 ] [ 0.12677498 0.99187926 0.01018064 0.18608428] [ 0.01193597 -0.01178811 0.99985928 -0.6500237 ] [ 0. 0. 0. 1. ]] SLAMing on 45.619072329 meters Centerline goodness : 0.758952 Centerline is valid? [False, False] Translation: X:2.22, Y:0.18, Z:-0.65 [[ 0.99185518 -0.12669964 -0.01305783 2.22142202] [ 0.12684471 0.99186213 0.01095123 0.18219988] [ 0.01156405 -0.01251835 0.99985477 -0.65044905] [ 0. 0. 0. 1. ]] SLAMing on 45.64907232899999 meters Centerline goodness : 0.761766 Centerline is valid? [False, False] Translation: X:2.22, Y:0.18, Z:-0.65 [[ 0.99131537 -0.13088688 -0.0127458 2.22092381] [ 0.13098847 0.99135561 0.00748862 0.178026 ] [ 0.01165545 -0.00909314 0.99989073 -0.64872236] [ 0. 0. 0. 1. ]] SLAMing on 45.67907232899999 meters Centerline goodness : 0.762084 Centerline is valid? [False, False] Translation: X:2.22, Y:0.17, Z:-0.65 [[ 0.99124288 -0.13147929 -0.01227817 2.21875606] [ 0.13158088 0.99127423 0.00786607 0.17405053] [ 0.01113681 -0.00941276 0.99989368 -0.64743264] [ 0. 0. 0. 1. ]] SLAMing on 45.709072328999994 meters Centerline goodness : 0.762450 Centerline is valid? [False, False] Translation: X:2.22, Y:0.16, Z:-0.64 [[ 0.99166487 -0.12571566 -0.02821985 2.22370955] [ 0.12608717 0.99194912 0.01178884 0.16365081] [ 0.02651062 -0.01524874 0.99953222 -0.63999987] [ 0. 0. 0. 1. ]] SLAMing on 45.739072328999995 meters Centerline goodness : 0.764286 Centerline is valid? [False, False] Translation: X:2.22, Y:0.15, Z:-0.64 [[ 0.99143099 -0.12444638 -0.03972017 2.2212095 ] [ 0.12506558 0.9920567 0.0134949 0.14815126] [ 0.03772527 -0.01834689 0.99911971 -0.63537598] [ 0. 0. 0. 1. ]] SLAMing on 45.769072329 meters Centerline goodness : 0.764472 Centerline is valid? [False, False] Translation: X:2.22, Y:0.14, Z:-0.63 [[ 0.99143139 -0.11871669 -0.05449911 2.22447498] [ 0.11970959 0.99269076 0.0153192 0.13742095] [ 0.05228211 -0.021712 0.9983963 -0.62763595] [ 0. 0. 0. 1. ]] SLAMing on 45.799072329 meters Centerline goodness : 0.765004 Centerline is valid? [False, False] Translation: X:2.22, Y:0.13, Z:-0.63 [[ 0.99111652 -0.12162584 -0.053807 2.22306663] [ 0.12246224 0.99239422 0.01251836 0.13442151] [ 0.0518752 -0.01899648 0.99847288 -0.62592211] [ 0. 0. 0. 1. ]] SLAMing on 45.82907232899999 meters Centerline goodness : 0.766370 Centerline is valid? [False, False] Translation: X:2.22, Y:0.13, Z:-0.63 [[ 0.99089795 -0.12372549 -0.05304006 2.22419296] [ 0.12441814 0.99217999 0.00994958 0.12643095] [ 0.05139427 -0.01645816 0.99854282 -0.62716214] [ 0. 0. 0. 1. ]] SLAMing on 45.85907232899999 meters Centerline goodness : 0.763115 Centerline is valid? [False, False] Translation: X:2.22, Y:0.12, Z:-0.63 [[ 0.99060638 -0.12621945 -0.0526085 2.22413164] [ 0.12677076 0.99190544 0.00726434 0.12312659] [ 0.05126576 -0.01386532 0.99858879 -0.62662933] [ 0. 0. 0. 1. ]] SLAMing on 45.889072328999994 meters Centerline goodness : 0.764027 Centerline is valid? [False, False] Translation: X:2.23, Y:0.12, Z:-0.63 [[ 0.99047771 -0.12673038 -0.05378963 2.22733544] [ 0.12737465 0.99181644 0.00870949 0.1189092 ] [ 0.05224569 -0.015478 0.99851431 -0.62672347] [ 0. 0. 0. 1. ]] SLAMing on 45.919072328999995 meters Centerline goodness : 0.766652 Centerline is valid? [False, False] Translation: X:2.23, Y:0.11, Z:-0.62 [[ 0.99050037 -0.12644519 -0.05404277 2.22548092] [ 0.12728334 0.99178957 0.01234528 0.11176602] [ 0.05203805 -0.01910674 0.9984623 -0.62206947] [ 0. 0. 0. 1. ]] SLAMing on 45.949072328999996 meters Centerline goodness : 0.767843 Centerline is valid? [False, False] Translation: X:2.23, Y:0.11, Z:-0.62 [[ 0.9906182 -0.12525134 -0.05465979 2.22587713] [ 0.12621996 0.99189439 0.01463039 0.10875055] [ 0.05238426 -0.02139229 0.99839785 -0.62055656] [ 0. 0. 0. 1. ]] SLAMing on 45.979072329 meters Centerline goodness : 0.765722 Centerline is valid? [False, False] Translation: X:2.23, Y:0.11, Z:-0.62 [[ 0.9907549 -0.12431208 -0.05432527 2.22548877] [ 0.12528946 0.99200745 0.01495874 0.10583671] [ 0.05203152 -0.02162683 0.99841124 -0.62065975] [ 0. 0. 0. 1. ]] SLAMing on 46.00907232899999 meters Centerline goodness : 0.768324 Centerline is valid? [False, False] Translation: X:2.22, Y:0.09, Z:-0.62 [[ 0.99122 -0.11591829 -0.06360706 2.22156291] [ 0.11711992 0.99299702 0.01548714 0.09424419] [ 0.06136638 -0.02280082 0.99785484 -0.62410315] [ 0. 0. 0. 1. ]] SLAMing on 46.03907232899999 meters Centerline goodness : 0.769218 Centerline is valid? [False, False] Translation: X:2.22, Y:0.09, Z:-0.63 [[ 0.99152473 -0.114539 -0.06131506 2.21840589] [ 0.11547317 0.99323927 0.01190359 0.0913991 ] [ 0.0595371 -0.01888295 0.99804748 -0.6264059 ] [ 0. 0. 0. 1. ]] SLAMing on 46.069072328999994 meters Centerline goodness : 0.771666 Centerline is valid? [False, False] Translation: X:2.22, Y:0.09, Z:-0.63 [[ 0.99184247 -0.11264233 -0.05966755 2.21532756] [ 0.1134571 0.99348808 0.01043704 0.08817173] [ 0.05810334 -0.0171216 0.99816374 -0.62713461] [ 0. 0. 0. 1. ]] SLAMing on 46.099072328999995 meters Centerline goodness : 0.770194 Centerline is valid? [False, False] Translation: X:2.21, Y:0.09, Z:-0.63 [[ 0.99208805 -0.11070346 -0.05921187 2.21405069] [ 0.11158047 0.99368646 0.0117057 0.0859359 ] [ 0.05754217 -0.01821997 0.9981768 -0.626988 ] [ 0. 0. 0. 1. ]] SLAMing on 46.129072328999996 meters Centerline goodness : 0.771826 Centerline is valid? [False, False] Translation: X:2.21, Y:0.09, Z:-0.62 [[ 0.99273831 -0.11042209 -0.04772421 2.2140587 ] [ 0.11121751 0.99369266 0.01433775 0.08772879] [ 0.04583999 -0.0195414 0.99875764 -0.62461876] [ 0. 0. 0. 1. ]] SLAMing on 46.159072329 meters Centerline goodness : 0.770025 Centerline is valid? [False, False] Translation: X:2.22, Y:0.09, Z:-0.63 [[ 0.99306734 -0.10697392 -0.04872196 2.21639233] [ 0.10800251 0.99396933 0.0189847 0.08612956] [ 0.04639726 -0.02411518 0.99863194 -0.62557926] [ 0. 0. 0. 1. ]] SLAMing on 46.189072329 meters Centerline goodness : 0.769602 Centerline is valid? [False, False] Translation: X:2.22, Y:0.09, Z:-0.63 [[ 0.99326095 -0.10544436 -0.04810585 2.21555855] [ 0.10642179 0.99415406 0.01822369 0.08519287] [ 0.04590304 -0.02322039 0.99867599 -0.62667649] [ 0. 0. 0. 1. ]] SLAMing on 46.21907232899999 meters Centerline goodness : 0.770783 Centerline is valid? [False, False] Translation: X:2.21, Y:0.08, Z:-0.63 [[ 0.99348 -0.10414525 -0.04638155 2.21341864] [ 0.10495059 0.99436014 0.01527385 0.08311375] [ 0.04452926 -0.02004203 0.99880702 -0.6290447 ] [ 0. 0. 0. 1. ]] SLAMing on 46.24907232899999 meters Centerline goodness : 0.775895 Centerline is valid? [False, False] Translation: X:2.21, Y:0.08, Z:-0.63 [[ 0.99365651 -0.10286376 -0.04545089 2.21330826] [ 0.10363091 0.99450494 0.01485137 0.07953144] [ 0.04367347 -0.01946728 0.99885617 -0.63144902] [ 0. 0. 0. 1. ]] SLAMing on 46.279072328999995 meters Centerline goodness : 0.772812 Centerline is valid? [False, False] Translation: X:2.21, Y:0.08, Z:-0.63 [[ 0.9935741 -0.10340187 -0.04602783 2.21335154] [ 0.10424114 0.99441983 0.01621693 0.07863554] [ 0.04409413 -0.02091071 0.99880852 -0.62931605] [ 0. 0. 0. 1. ]] SLAMing on 46.309072328999996 meters Centerline goodness : 0.771827 Centerline is valid? [False, False] Translation: X:2.22, Y:0.08, Z:-0.63 [[ 0.99347913 -0.10380036 -0.04716668 2.21615598] [ 0.10476287 0.99432685 0.01840787 0.07737908] [ 0.04498836 -0.02322915 0.9987174 -0.62914839] [ 0. 0. 0. 1. ]] SLAMing on 46.339072329 meters Centerline goodness : 0.770339 Centerline is valid? [False, False] Translation: X:2.21, Y:0.07, Z:-0.63 [[ 0.99315668 -0.10759372 -0.0454246 2.21384023] [ 0.10824399 0.99405072 0.01209973 0.07429197] [ 0.0438525 -0.01693387 0.99889449 -0.62951959] [ 0. 0. 0. 1. ]] SLAMing on 46.369072329 meters Centerline goodness : 0.772926 Centerline is valid? [False, False] Translation: X:2.21, Y:0.07, Z:-0.63 [[ 0.99293907 -0.11010124 -0.04415561 2.2143893 ] [ 0.11054178 0.993842 0.00765523 0.07144317] [ 0.04304085 -0.01248222 0.99899534 -0.63289781] [ 0. 0. 0. 1. ]] SLAMing on 46.39907232899999 meters Centerline goodness : 0.772643 Centerline is valid? [False, False] Translation: X:2.21, Y:0.07, Z:-0.63 [[ 0.99264091 -0.11306616 -0.04335966 2.21404097] [ 0.11334108 0.99354837 0.00392757 0.06851627] [ 0.04263584 -0.0088131 0.99905181 -0.63339336] [ 0. 0. 0. 1. ]] SLAMing on 46.42907232899999 meters Centerline goodness : 0.776688 Centerline is valid? [False, False] Translation: X:2.22, Y:0.06, Z:-0.63 [[ 0.99226488 -0.11558935 -0.04527155 2.21589314] [ 0.11610666 0.99319633 0.00896026 0.06354359] [ 0.04392782 -0.01414728 0.99893453 -0.62809392] [ 0. 0. 0. 1. ]] SLAMing on 46.459072328999994 meters Centerline goodness : 0.776555 Centerline is valid? [False, False] Translation: X:2.22, Y:0.06, Z:-0.62 [[ 0.9920699 -0.11650575 -0.04715645 2.21682965] [ 0.11728976 0.99299613 0.01420548 0.06185193] [ 0.04517115 -0.0196238 0.9987865 -0.62269655] [ 0. 0. 0. 1. ]] SLAMing on 46.489072328999995 meters Centerline goodness : 0.775878 Centerline is valid? [False, False] Translation: X:2.22, Y:0.06, Z:-0.62 [[ 0.99189583 -0.11737533 -0.04863832 2.21934094] [ 0.11834524 0.9928173 0.01755586 0.06066373] [ 0.04622834 -0.0231697 0.99866216 -0.62085393] [ 0. 0. 0. 1. ]] SLAMing on 46.519072329 meters Centerline goodness : 0.777913 Centerline is valid? [False, False] Translation: X:2.22, Y:0.06, Z:-0.62 [[ 0.99142007 -0.12225352 -0.04626355 2.21715026] [ 0.12280053 0.99238909 0.00916156 0.05751103] [ 0.04479141 -0.01476415 0.99888726 -0.62261175] [ 0. 0. 0. 1. ]] SLAMing on 46.549072329 meters Centerline goodness : 0.778635 Centerline is valid? [False, False] Translation: X:2.22, Y:0.05, Z:-0.62 [[ 0.99108902 -0.1252748 -0.04526345 2.21786567] [ 0.12561322 0.99206816 0.00470021 0.05388962] [ 0.04431561 -0.01034401 0.99896403 -0.62494252] [ 0. 0. 0. 1. ]] SLAMing on 46.57907232899999 meters Centerline goodness : 0.779583 Centerline is valid? [False, False] Translation: X:2.22, Y:0.05, Z:-0.63 [[ 9.90675705e-01 -1.28574528e-01 -4.50581667e-02 2.21960622e+00] [ 1.28802680e-01 9.91667835e-01 2.18523470e-03 5.05729871e-02] [ 4.44017691e-02 -7.96847157e-03 9.98981975e-01 -6.26048258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.60907232899999 meters Centerline goodness : 0.780020 Centerline is valid? [False, False] Translation: X:2.22, Y:0.05, Z:-0.62 [[ 0.99003167 -0.13288147 -0.04668847 2.22258951] [ 0.13327444 0.9910645 0.00539338 0.04504471] [ 0.0455546 -0.011562 0.99889494 -0.62238822] [ 0. 0. 0. 1. ]] SLAMing on 46.639072328999994 meters Centerline goodness : 0.781010 Centerline is valid? [False, False] Translation: X:2.22, Y:0.04, Z:-0.62 [[ 0.98977272 -0.13453245 -0.04744446 2.22229066] [ 0.13502732 0.99081447 0.00736996 0.04299514] [ 0.04601716 -0.01370088 0.99884669 -0.61848436] [ 0. 0. 0. 1. ]] SLAMing on 46.669072328999995 meters Centerline goodness : 0.782159 Centerline is valid? [False, False] Translation: X:2.23, Y:0.04, Z:-0.62 [[ 0.9895713 -0.13552944 -0.04878956 2.22506102] [ 0.13613108 0.99064801 0.00921177 0.04088529] [ 0.04708481 -0.01575748 0.9987666 -0.61736596] [ 0. 0. 0. 1. ]] SLAMing on 46.699072328999996 meters Centerline goodness : 0.783615 Centerline is valid? [False, False] Translation: X:2.23, Y:0.03, Z:-0.62 [[ 0.9891602 -0.13265118 -0.06297438 2.22839856] [ 0.13351106 0.99100054 0.00962985 0.03303737] [ 0.06113024 -0.01793324 0.99796868 -0.61511376] [ 0. 0. 0. 1. ]] SLAMing on 46.729072329 meters Centerline goodness : 0.784484 Centerline is valid? [False, False] Translation: X:2.23, Y:0.03, Z:-0.62 [[ 0.98879469 -0.13547889 -0.06269403 2.23079568] [ 0.13613912 0.9906693 0.00636208 0.03185055] [ 0.06124712 -0.0148259 0.99801252 -0.61785119] [ 0. 0. 0. 1. ]] SLAMing on 46.75907232899999 meters Centerline goodness : 0.787919 Centerline is valid? [False, False] Translation: X:2.23, Y:0.03, Z:-0.62 [[ 0.98832655 -0.13888547 -0.06262157 2.23293799] [ 0.13938542 0.99023142 0.00366573 0.0304248 ] [ 0.06150073 -0.01235148 0.99803061 -0.61922198] [ 0. 0. 0. 1. ]] SLAMing on 46.78907232899999 meters Centerline goodness : 0.787156 Centerline is valid? [False, False] Translation: X:2.23, Y:0.03, Z:-0.62 [[ 0.98802927 -0.14080721 -0.06301981 2.23476467] [ 0.1413487 0.98995098 0.00419565 0.02775231] [ 0.06179574 -0.01305319 0.99800346 -0.61915035] [ 0. 0. 0. 1. ]] SLAMing on 46.819072328999994 meters Centerline goodness : 0.789857 Centerline is valid? [False, False] Translation: X:2.23, Y:0.02, Z:-0.61 [[ 0.98751416 -0.14420262 -0.06341446 2.233337 ] [ 0.14483459 0.98944082 0.00546019 0.0233186 ] [ 0.06195748 -0.01457663 0.99797234 -0.61351174] [ 0. 0. 0. 1. ]] SLAMing on 46.849072328999995 meters Centerline goodness : 0.789371 Centerline is valid? [False, False] Translation: X:2.24, Y:0.02, Z:-0.61 [[ 0.98734858 -0.14483865 -0.06453336 2.23569394] [ 0.14562518 0.9893104 0.00763076 0.02148953] [ 0.0627383 -0.01693191 0.99788637 -0.61260719] [ 0. 0. 0. 1. ]] SLAMing on 46.879072328999996 meters Centerline goodness : 0.789371 Centerline is valid? [False, False] Translation: X:2.24, Y:0.02, Z:-0.61 [[ 0.98734858 -0.14483865 -0.06453336 2.23569394] [ 0.14562518 0.9893104 0.00763076 0.02148953] [ 0.0627383 -0.01693191 0.99788637 -0.61260719] [ 0. 0. 0. 1. ]] SLAMing on 46.909072329 meters Centerline goodness : 0.791460 Centerline is valid? [False, False] Translation: X:2.24, Y:0.02, Z:-0.61 [[ 0.98713315 -0.14594833 -0.06532404 2.23846678] [ 0.14683088 0.98912163 0.0088938 0.01866789] [ 0.06331538 -0.01837096 0.99782447 -0.61290267] [ 0. 0. 0. 1. ]] SLAMing on 46.939072329 meters Centerline goodness : 0.794187 Centerline is valid? [False, False] Translation: X:2.24, Y:0.02, Z:-0.61 [[ 0.98711002 -0.14637128 -0.06472441 2.23766583] [ 0.14716576 0.98908221 0.00765666 0.01682017] [ 0.06289705 -0.01708318 0.9978738 -0.61307917] [ 0. 0. 0. 1. ]] SLAMing on 46.96907232899999 meters Centerline goodness : 0.794304 Centerline is valid? [False, False] Translation: X:2.24, Y:0.01, Z:-0.61 [[ 0.98713635 -0.14610253 -0.06492986 2.23978143] [ 0.14692658 0.98911442 0.0080772 0.01484518] [ 0.06304296 -0.01751322 0.99785714 -0.61496989] [ 0. 0. 0. 1. ]] SLAMing on 46.99907232899999 meters Centerline goodness : 0.793226 Centerline is valid? [False, False] Translation: X:2.24, Y:0.01, Z:-0.62 [[ 0.98723766 -0.14543064 -0.06489787 2.24129958] [ 0.14627424 0.98920827 0.00841689 0.01286293] [ 0.06297344 -0.01780235 0.99785641 -0.61691395] [ 0. 0. 0. 1. ]] SLAMing on 47.029072328999995 meters Centerline goodness : 0.794676 Centerline is valid? [False, False] Translation: X:2.24, Y:0.01, Z:-0.62 [[ 0.98722446 -0.14548465 -0.06497749 2.24291723] [ 0.14634916 0.98919453 0.0087239 0.01079154] [ 0.06300619 -0.01812185 0.9978486 -0.61835995] [ 0. 0. 0. 1. ]] SLAMing on 47.059072328999996 meters Centerline goodness : 0.796392 Centerline is valid? [False, False] Translation: X:2.24, Y:0.01, Z:-0.62 [[ 0.98678115 -0.1490561 -0.06360219 2.24226782] [ 0.14965361 0.98872727 0.00470937 0.00693391] [ 0.06218326 -0.01416541 0.99796422 -0.61942402] [ 0. 0. 0. 1. ]] SLAMing on 47.089072329 meters Centerline goodness : 0.797672 Centerline is valid? [False, False] Translation: X:2.24, Y:0.00, Z:-0.62 [[ 0.98653362 -0.15066495 -0.06365126 2.24342022] [ 0.15124753 0.98848609 0.00440778 0.0042471 ] [ 0.06225429 -0.01397552 0.99796247 -0.61951145] [ 0. 0. 0. 1. ]] SLAMing on 47.119072329 meters Centerline goodness : 0.798884 Centerline is valid? [False, False] Translation: X:2.25, Y:0.00, Z:-0.62 [[ 9.86517878e-01 -1.50540713e-01 -6.41869958e-02 2.24516130e+00] [ 1.51250225e-01 9.88475343e-01 6.31387202e-03 1.43516815e-03] [ 6.24967679e-02 -1.59370452e-02 9.97917915e-01 -6.19601875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.14907232899999 meters Centerline goodness : 0.801116 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.00, Z:-0.61 [[ 0.98684176 -0.14806176 -0.06496958 2.24309984] [ 0.14916656 0.98873345 0.01247014 -0.0026804 ] [ 0.06239125 -0.02199734 0.99780932 -0.61435654] [ 0. 0. 0. 1. ]] SLAMing on 47.17907232899999 meters Centerline goodness : 0.801279 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.00, Z:-0.61 [[ 0.98695024 -0.14737 -0.06489461 2.24212057] [ 0.14851412 0.98882288 0.01314771 -0.00385614] [ 0.06223169 -0.0226139 0.99780551 -0.61329472] [ 0. 0. 0. 1. ]] SLAMing on 47.209072328999994 meters Centerline goodness : 0.803038 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.01, Z:-0.62 [[ 0.98704121 -0.14748604 -0.0632259 2.24137022] [ 0.14839059 0.98887995 0.00983206 -0.00780938] [ 0.06107273 -0.01908677 0.99795081 -0.61667968] [ 0. 0. 0. 1. ]] SLAMing on 47.239072328999995 meters Centerline goodness : 0.803749 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.01, Z:-0.62 [[ 0.98719992 -0.14690024 -0.06210188 2.2405219 ] [ 0.14766597 0.98900573 0.00790078 -0.01071692] [ 0.06025849 -0.01696999 0.99803854 -0.61867164] [ 0. 0. 0. 1. ]] SLAMing on 47.269072329 meters Centerline goodness : 0.806922 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.01, Z:-0.62 [[ 0.98730818 -0.14638468 -0.06159608 2.24034409] [ 0.14713406 0.98908591 0.00778678 -0.01322368] [ 0.05978395 -0.01675084 0.99807078 -0.61968157] [ 0. 0. 0. 1. ]] SLAMing on 47.299072329 meters Centerline goodness : 0.805203 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.02, Z:-0.62 [[ 0.98717809 -0.14779423 -0.06030164 2.23684317] [ 0.14840822 0.98890912 0.00580894 -0.01685018] [ 0.05877431 -0.01468372 0.9981633 -0.61751943] [ 0. 0. 0. 1. ]] SLAMing on 47.32907232899999 meters Centerline goodness : 0.804977 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.02, Z:-0.62 [[ 0.98704006 -0.14831636 -0.06127128 2.23913289] [ 0.14906354 0.98879698 0.00778376 -0.01865685] [ 0.0594304 -0.0168162 0.9980908 -0.61680107] [ 0. 0. 0. 1. ]] SLAMing on 47.35907232899999 meters Centerline goodness : 0.805463 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.02, Z:-0.61 [[ 0.98697999 -0.14847822 -0.06184435 2.23937766] [ 0.14932792 0.98874375 0.00932603 -0.01955362] [ 0.0597635 -0.01843969 0.99804223 -0.61492053] [ 0. 0. 0. 1. ]] SLAMing on 47.389072328999994 meters Centerline goodness : 0.804039 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.02, Z:-0.62 [[ 0.98728407 -0.146575 -0.06152995 2.2390617 ] [ 0.14740525 0.98903382 0.00915366 -0.02007996] [ 0.0595135 -0.0181071 0.99806326 -0.61637046] [ 0. 0. 0. 1. ]] SLAMing on 47.419072328999995 meters Centerline goodness : 0.804953 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.02, Z:-0.62 [[ 0.98758863 -0.1448385 -0.06074954 2.24106937] [ 0.14551853 0.98933147 0.00689977 -0.02153999] [ 0.05910208 -0.01565432 0.99812919 -0.62224516] [ 0. 0. 0. 1. ]] SLAMing on 47.449072328999996 meters Centerline goodness : 0.805131 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.02, Z:-0.63 [[ 0.98789708 -0.14316523 -0.05969153 2.24274694] [ 0.14367982 0.98961446 0.0043975 -0.02416504] [ 0.05844203 -0.01292074 0.99820718 -0.62826747] [ 0. 0. 0. 1. ]] SLAMing on 47.479072329 meters Centerline goodness : 0.804787 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.03, Z:-0.63 [[ 0.98810324 -0.14179303 -0.05955445 2.24416191] [ 0.1423228 0.989809 0.00472838 -0.0264367 ] [ 0.05827708 -0.01314808 0.99821386 -0.63078762] [ 0. 0. 0. 1. ]] SLAMing on 47.50907232899999 meters Centerline goodness : 0.807531 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.03, Z:-0.62 [[ 0.98869638 -0.1364442 -0.06214866 2.24300481] [ 0.13773407 0.99032427 0.01694591 -0.02705374] [ 0.05923516 -0.02531435 0.99792303 -0.62222997] [ 0. 0. 0. 1. ]] SLAMing on 47.53907232899999 meters Centerline goodness : 0.806670 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.03, Z:-0.62 [[ 0.98896909 -0.13352866 -0.06411105 2.24348456] [ 0.13527596 0.99052411 0.02371488 -0.02536934] [ 0.06033692 -0.03212597 0.99766095 -0.61783087] [ 0. 0. 0. 1. ]] SLAMing on 47.569072328999994 meters Centerline goodness : 0.807431 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.02, Z:-0.62 [[ 0.98927825 -0.13082822 -0.06490391 2.24448609] [ 0.13274309 0.99080662 0.02610598 -0.02381696] [ 0.06089182 -0.03444162 0.99754998 -0.61808364] [ 0. 0. 0. 1. ]] SLAMing on 47.599072328999995 meters Centerline goodness : 0.806621 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.02, Z:-0.62 [[ 0.9895311 -0.1294197 -0.06386506 2.24562212] [ 0.13108324 0.99111449 0.02256649 -0.02329623] [ 0.06037704 -0.03070188 0.99770337 -0.62395093] [ 0. 0. 0. 1. ]] SLAMing on 47.629072328999996 meters Centerline goodness : 0.806733 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.02, Z:-0.64 [[ 0.98988446 -0.12833007 -0.06049918 2.24684051] [ 0.12921464 0.99155644 0.01092679 -0.02495808] [ 0.05858612 -0.01863364 0.99810844 -0.63751951] [ 0. 0. 0. 1. ]] SLAMing on 47.659072329 meters Centerline goodness : 0.807783 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.02, Z:-0.64 [[ 0.98999158 -0.12762798 -0.06023099 2.24652528] [ 0.12845876 0.99166329 0.01011284 -0.02465603] [ 0.05843818 -0.01774883 0.99813324 -0.63847865] [ 0. 0. 0. 1. ]] SLAMing on 47.689072329 meters Centerline goodness : 0.808207 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.02, Z:-0.64 [[ 0.99014424 -0.12569213 -0.06177269 2.24854376] [ 0.12682462 0.99181545 0.01475202 -0.02375029] [ 0.0594129 -0.02244093 0.99798122 -0.63685286] [ 0. 0. 0. 1. ]] SLAMing on 47.71907232899999 meters Centerline goodness : 0.810924 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.02, Z:-0.63 [[ 0.99071622 -0.12523112 -0.05290124 2.2533157 ] [ 0.12655417 0.99170597 0.02243455 -0.01633417] [ 0.04965297 -0.02892114 0.99834771 -0.63279779] [ 0. 0. 0. 1. ]] SLAMing on 47.74907232899999 meters Centerline goodness : 0.811408 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.02, Z:-0.63 [[ 0.99101276 -0.12255224 -0.05361576 2.25444984] [ 0.12401977 0.99196612 0.02494613 -0.01537496] [ 0.05012781 -0.03137135 0.99824999 -0.6332448 ] [ 0. 0. 0. 1. ]] SLAMing on 47.779072328999995 meters Centerline goodness : 0.809883 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.02, Z:-0.64 [[ 0.9914563 -0.11975234 -0.05170864 2.25471857] [ 0.12093655 0.99245053 0.0204034 -0.01708384] [ 0.04887491 -0.02648254 0.99845376 -0.64106557] [ 0. 0. 0. 1. ]] SLAMing on 47.809072328999996 meters Centerline goodness : 0.808761 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.02, Z:-0.64 [[ 0.99147159 -0.12012598 -0.05053539 2.25231414] [ 0.12107554 0.9925118 0.01615703 -0.01733196] [ 0.04821609 -0.02213784 0.99859157 -0.64195876] [ 0. 0. 0. 1. ]] SLAMing on 47.839072329 meters Centerline goodness : 0.808231 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.02, Z:-0.64 [[ 0.99143803 -0.12020764 -0.0509977 2.25335536] [ 0.12119095 0.99248977 0.01663739 -0.01662222] [ 0.04861475 -0.0226754 0.99856018 -0.64191366] [ 0. 0. 0. 1. ]] SLAMing on 47.869072329 meters Centerline goodness : 0.810697 Centerline is valid? [False, False] Translation: X:2.26, Y:-0.01, Z:-0.64 [[ 0.99111461 -0.12127265 -0.05463317 2.25838039] [ 0.12276766 0.99212348 0.02488191 -0.01288059] [ 0.05118535 -0.03136801 0.99819643 -0.63643758] [ 0. 0. 0. 1. ]] SLAMing on 47.89907232899999 meters Centerline goodness : 0.809481 Centerline is valid? [False, False] Translation: X:2.26, Y:-0.01, Z:-0.64 [[ 0.99096635 -0.12187164 -0.05597315 2.26151997] [ 0.1235459 0.99195824 0.02748201 -0.01149131] [ 0.05217375 -0.034149 0.99805398 -0.63593018] [ 0. 0. 0. 1. ]] SLAMing on 47.92907232899999 meters Centerline goodness : 0.809521 Centerline is valid? [False, False] Translation: X:2.26, Y:-0.01, Z:-0.64 [[ 0.99088093 -0.12251088 -0.05608985 2.26294791] [ 0.12415042 0.99190328 0.02673114 -0.01124441] [ 0.05236085 -0.03345095 0.99806782 -0.63726367] [ 0. 0. 0. 1. ]] SLAMing on 47.959072328999994 meters Centerline goodness : 0.808934 Centerline is valid? [False, False] Translation: X:2.27, Y:-0.01, Z:-0.64 [[ 0.99065167 -0.12478839 -0.05511011 2.26639228] [ 0.12608091 0.99180561 0.02062126 -0.01246054] [ 0.05208522 -0.02737682 0.99826732 -0.64441475] [ 0. 0. 0. 1. ]] SLAMing on 47.989072328999995 meters Centerline goodness : 0.805824 Centerline is valid? [False, False] Translation: X:2.27, Y:-0.01, Z:-0.64 [[ 0.9903891 -0.12702838 -0.05471029 2.26576438] [ 0.12818401 0.99158441 0.01814436 -0.01221925] [ 0.05194502 -0.02498296 0.9983374 -0.64401264] [ 0. 0. 0. 1. ]] SLAMing on 48.019072329 meters Centerline goodness : 0.807049 Centerline is valid? [False, False] Translation: X:2.27, Y:-0.01, Z:-0.64 [[ 0.9901399 -0.12858733 -0.05557232 2.26667024] [ 0.12981 0.99135746 0.01896728 -0.01120505] [ 0.05265308 -0.02599411 0.99827449 -0.64184953] [ 0. 0. 0. 1. ]] SLAMing on 48.049072329 meters Centerline goodness : 0.805882 Centerline is valid? [False, False] Translation: X:2.27, Y:-0.01, Z:-0.64 [[ 0.98988673 -0.1289776 -0.05906811 2.27247448] [ 0.13070435 0.99107113 0.02635136 -0.00631376] [ 0.05514197 -0.03380532 0.99790609 -0.63875873] [ 0. 0. 0. 1. ]] SLAMing on 48.07907232899999 meters Centerline goodness : 0.803336 Centerline is valid? [False, False] Translation: X:2.27, Y:-0.00, Z:-0.64 [[ 0.98984238 -0.12912802 -0.05948123 2.27268162] [ 0.13088516 0.99103949 0.02664232 -0.00377086] [ 0.05550798 -0.03415691 0.99787382 -0.63803603] [ 0. 0. 0. 1. ]] SLAMing on 48.10907232899999 meters Centerline goodness : 0.804181 Centerline is valid? [False, False] Translation: X:2.27, Y:-0.00, Z:-0.64 [[ 9.89958787e-01 -1.28248499e-01 -5.94468039e-02 2.27499811e+00] [ 1.29896862e-01 9.91219036e-01 2.47311229e-02 -7.04308968e-04] [ 5.57530743e-02 -3.22047457e-02 9.97925072e-01 -6.42442356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.139072328999994 meters Centerline goodness : 0.802806 Centerline is valid? [False, False] Translation: X:2.28, Y:0.00, Z:-0.65 [[ 9.89992950e-01 -1.27798385e-01 -5.98458964e-02 2.27775549e+00] [ 1.29439237e-01 9.91287625e-01 2.43788614e-02 2.74310230e-04] [ 5.62089174e-02 -3.18813081e-02 9.97909886e-01 -6.45374033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.169072328999995 meters Centerline goodness : 0.802016 Centerline is valid? [False, False] Translation: X:2.28, Y:0.00, Z:-0.65 [[ 9.90042489e-01 -1.27150298e-01 -6.04042346e-02 2.27966168e+00] [ 1.28827732e-01 9.91358762e-01 2.47228760e-02 2.01058144e-03] [ 5.67387461e-02 -3.22584382e-02 9.97867781e-01 -6.46792297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.199072328999996 meters Centerline goodness : 0.797310 Centerline is valid? [False, False] Translation: X:2.29, Y:0.01, Z:-0.65 [[ 0.99024918 -0.12945976 -0.05144639 2.28744157] [ 0.13118585 0.99085048 0.03171108 0.00886115] [ 0.04687038 -0.03815091 0.99817217 -0.65307199] [ 0. 0. 0. 1. ]] SLAMing on 48.229072329 meters Centerline goodness : 0.794907 Centerline is valid? [False, False] Translation: X:2.29, Y:0.01, Z:-0.65 [[ 0.99040676 -0.12770308 -0.05278608 2.28999812] [ 0.12963427 0.99094649 0.03492861 0.01047081] [ 0.04784769 -0.04143642 0.9979948 -0.65321861] [ 0. 0. 0. 1. ]] SLAMing on 48.25907232899999 meters Centerline goodness : 0.793615 Centerline is valid? [False, False] Translation: X:2.29, Y:0.01, Z:-0.66 [[ 0.99048449 -0.1267134 -0.05370463 2.29319522] [ 0.1287437 0.99101741 0.03618788 0.01185962] [ 0.04863674 -0.04275766 0.99790092 -0.65522221] [ 0. 0. 0. 1. ]] SLAMing on 48.28907232899999 meters Centerline goodness : 0.793070 Centerline is valid? [False, False] Translation: X:2.29, Y:0.01, Z:-0.66 [[ 0.99044934 -0.12701792 -0.0536335 2.29421809] [ 0.12898411 0.99103122 0.03493152 0.01257965] [ 0.04871554 -0.04151577 0.99794952 -0.65684574] [ 0. 0. 0. 1. ]] SLAMing on 48.319072328999994 meters Centerline goodness : 0.790981 Centerline is valid? [False, False] Translation: X:2.30, Y:0.01, Z:-0.66 [[ 0.99025813 -0.12850459 -0.0536229 2.29603836] [ 0.13035787 0.99093047 0.0326134 0.01338748] [ 0.04894559 -0.03928585 0.99802853 -0.65896075] [ 0. 0. 0. 1. ]] SLAMing on 48.349072328999995 meters Centerline goodness : 0.792575 Centerline is valid? [False, False] Translation: X:2.30, Y:0.01, Z:-0.66 [[ 0.98960764 -0.1332818 -0.05396922 2.2987115 ] [ 0.13497149 0.99042613 0.02896172 0.01443099] [ 0.04959246 -0.03594504 0.99812251 -0.65971758] [ 0. 0. 0. 1. ]] SLAMing on 48.379072328999996 meters Centerline goodness : 0.792030 Centerline is valid? [False, False] Translation: X:2.30, Y:0.01, Z:-0.66 [[ 0.98934404 -0.13481551 -0.05498319 2.30039022] [ 0.13660233 0.99016759 0.03013199 0.01410982] [ 0.05038031 -0.03732173 0.99803252 -0.65787913] [ 0. 0. 0. 1. ]] SLAMing on 48.409072329 meters Centerline goodness : 0.789439 Centerline is valid? [False, False] Translation: X:2.30, Y:0.01, Z:-0.66 [[ 0.98915708 -0.13580862 -0.0558953 2.30126949] [ 0.1377233 0.98995551 0.03194337 0.01328664] [ 0.05099567 -0.03929509 0.99792552 -0.65529246] [ 0. 0. 0. 1. ]] SLAMing on 48.439072329 meters Centerline goodness : 0.790453 Centerline is valid? [False, False] Translation: X:2.30, Y:0.01, Z:-0.65 [[ 0.98882402 -0.13790604 -0.0566478 2.30103701] [ 0.13995215 0.98957848 0.03387967 0.01146007] [ 0.05138523 -0.04142901 0.99781922 -0.65074939] [ 0. 0. 0. 1. ]] SLAMing on 48.46907232899999 meters Centerline goodness : 0.789502 Centerline is valid? [False, False] Translation: X:2.30, Y:0.01, Z:-0.65 [[ 0.9886626 -0.13916964 -0.05637449 2.30062828] [ 0.14112813 0.98946187 0.0323737 0.01000692] [ 0.05127497 -0.03996269 0.99788469 -0.65011636] [ 0. 0. 0. 1. ]] SLAMing on 48.49907232899999 meters Centerline goodness : 0.788544 Centerline is valid? [False, False] Translation: X:2.30, Y:0.01, Z:-0.65 [[ 0.98842578 -0.14082511 -0.05641605 2.30256316] [ 0.14270727 0.98928459 0.0308323 0.00846532] [ 0.05146956 -0.03852642 0.99793116 -0.65144502] [ 0. 0. 0. 1. ]] SLAMing on 48.529072328999995 meters Centerline goodness : 0.793460 Centerline is valid? [False, False] Translation: X:2.30, Y:0.01, Z:-0.65 [[ 0.987731 -0.14604137 -0.05531168 2.3019197 ] [ 0.14763183 0.98870504 0.02582991 0.00524781] [ 0.05091471 -0.03367877 0.99813498 -0.65072778] [ 0. 0. 0. 1. ]] SLAMing on 48.559072328999996 meters Centerline goodness : 0.791514 Centerline is valid? [False, False] Translation: X:2.30, Y:0.00, Z:-0.65 [[ 0.98730956 -0.14866749 -0.0558373 2.30278285] [ 0.15028894 0.98829925 0.02603517 0.00389612] [ 0.05131338 -0.0340965 0.99810038 -0.64857401] [ 0. 0. 0. 1. ]] SLAMing on 48.589072329 meters Centerline goodness : 0.793051 Centerline is valid? [False, False] Translation: X:2.31, Y:0.00, Z:-0.65 [[ 0.98694801 -0.1505598 -0.05714341 2.30526421] [ 0.152319 0.98794125 0.02776699 0.00347872] [ 0.05227374 -0.0361086 0.99797977 -0.64660094] [ 0. 0. 0. 1. ]] SLAMing on 48.619072329 meters Centerline goodness : 0.791359 Centerline is valid? [False, False] Translation: X:2.31, Y:0.00, Z:-0.64 [[ 0.98679519 -0.15114538 -0.0582266 2.3067839 ] [ 0.1530258 0.98778799 0.02929139 0.00280376] [ 0.05308828 -0.03781477 0.99787358 -0.64472682] [ 0. 0. 0. 1. ]] SLAMing on 48.64907232899999 meters Centerline goodness : 0.791023 Centerline is valid? [False, False] Translation: X:2.31, Y:0.00, Z:-0.64 [[ 9.86857220e-01 -1.50863226e-01 -5.79060750e-02 2.30527635e+00] [ 1.52753354e-01 9.87817658e-01 2.97100403e-02 9.06995979e-04] [ 5.27184909e-02 -3.81649150e-02 9.97879852e-01 -6.43010114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.67907232899999 meters Centerline goodness : 0.790889 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.00, Z:-0.64 [[ 9.86920713e-01 -1.50430974e-01 -5.79484976e-02 2.30606910e+00] [ 1.52302827e-01 9.87898222e-01 2.93419653e-02 -3.86091698e-04] [ 5.28332773e-02 -3.77839133e-02 9.97888281e-01 -6.43777469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.709072328999994 meters Centerline goodness : 0.790406 Centerline is valid? [False, False] Translation: X:2.31, Y:0.00, Z:-0.65 [[ 9.87098166e-01 -1.49104358e-01 -5.83532420e-02 2.30797374e+00] [ 1.50971222e-01 9.88113091e-01 2.89863675e-02 9.86714234e-04] [ 5.33376086e-02 -3.74220505e-02 9.97875087e-01 -6.45955321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.739072328999995 meters Centerline goodness : 0.790248 Centerline is valid? [False, False] Translation: X:2.31, Y:0.00, Z:-0.65 [[ 0.98716385 -0.14828434 -0.05932352 2.30976665] [ 0.15023548 0.98819857 0.0298813 0.00301652] [ 0.05419248 -0.03841024 0.99779148 -0.64617164] [ 0. 0. 0. 1. ]] SLAMing on 48.769072329 meters Centerline goodness : 0.790248 Centerline is valid? [False, False] Translation: X:2.31, Y:0.00, Z:-0.65 [[ 0.98716385 -0.14828434 -0.05932352 2.30976665] [ 0.15023548 0.98819857 0.0298813 0.00301652] [ 0.05419248 -0.03841024 0.99779148 -0.64617164] [ 0. 0. 0. 1. ]] SLAMing on 48.799072329 meters Centerline goodness : 0.789959 Centerline is valid? [False, False] Translation: X:2.31, Y:0.00, Z:-0.65 [[ 0.98740431 -0.14598222 -0.06100748 2.31434593] [ 0.14816409 0.98841561 0.03289363 0.00471225] [ 0.05549886 -0.04151842 0.99759516 -0.64848717] [ 0. 0. 0. 1. ]] SLAMing on 48.82907232899999 meters Centerline goodness : 0.789197 Centerline is valid? [False, False] Translation: X:2.32, Y:0.01, Z:-0.65 [[ 0.98772585 -0.14334554 -0.0620459 2.31713597] [ 0.14567008 0.98872459 0.03469751 0.0060896 ] [ 0.05637257 -0.04330986 0.99746999 -0.65046756] [ 0. 0. 0. 1. ]] SLAMing on 48.85907232899999 meters Centerline goodness : 0.786511 Centerline is valid? [False, False] Translation: X:2.32, Y:0.01, Z:-0.66 [[ 0.98868564 -0.13672887 -0.0616922 2.31756653] [ 0.1390323 0.98967926 0.03471287 0.00949503] [ 0.05630924 -0.04289732 0.9974914 -0.65594177] [ 0. 0. 0. 1. ]] SLAMing on 48.889072328999994 meters Centerline goodness : 0.786552 Centerline is valid? [False, False] Translation: X:2.32, Y:0.01, Z:-0.66 [[ 0.98929143 -0.13217778 -0.0618992 2.31788861] [ 0.13453649 0.99026854 0.03561113 0.0113418 ] [ 0.05658983 -0.04355749 0.99744691 -0.65826955] [ 0. 0. 0. 1. ]] SLAMing on 48.919072328999995 meters Centerline goodness : 0.786000 Centerline is valid? [False, False] Translation: X:2.32, Y:0.02, Z:-0.66 [[ 0.99066772 -0.12118856 -0.06237631 2.31815073] [ 0.12375294 0.9915455 0.03902232 0.01690644] [ 0.05711989 -0.04637741 0.99728955 -0.662834 ] [ 0. 0. 0. 1. ]] SLAMing on 48.949072328999996 meters Centerline goodness : 0.785548 Centerline is valid? [False, False] Translation: X:2.32, Y:0.02, Z:-0.67 [[ 0.99148785 -0.12034973 -0.04967674 2.31957674] [ 0.12223794 0.99181486 0.03689403 0.02364068] [ 0.04482994 -0.04265237 0.99808369 -0.66731921] [ 0. 0. 0. 1. ]] SLAMing on 48.979072329 meters Centerline goodness : 0.785360 Centerline is valid? [False, False] Translation: X:2.32, Y:0.03, Z:-0.67 [[ 0.99212964 -0.1147926 -0.05001438 2.31889086] [ 0.11679468 0.99238496 0.03912906 0.02684958] [ 0.04514179 -0.04466252 0.9979817 -0.66820579] [ 0. 0. 0. 1. ]] SLAMing on 49.00907232899999 meters Centerline goodness : 0.784037 Centerline is valid? [False, False] Translation: X:2.32, Y:0.03, Z:-0.67 [[ 0.99283455 -0.1079363 -0.05127687 2.32064749] [ 0.11018025 0.99297436 0.04315364 0.03014109] [ 0.04625878 -0.04849412 0.9977517 -0.6699104 ] [ 0. 0. 0. 1. ]] SLAMing on 49.03907232899999 meters Centerline goodness : 0.779266 Centerline is valid? [False, False] Translation: X:2.33, Y:0.04, Z:-0.68 [[ 0.99437061 -0.09776092 -0.04086425 2.32509397] [ 0.09967643 0.99387078 0.04780676 0.04252991] [ 0.03594015 -0.05161084 0.99802035 -0.6759391 ] [ 0. 0. 0. 1. ]] SLAMing on 49.069072328999994 meters Centerline goodness : 0.779289 Centerline is valid? [False, False] Translation: X:2.33, Y:0.05, Z:-0.68 [[ 0.99498794 -0.09111929 -0.0411858 2.32531195] [ 0.09309239 0.994459 0.04883748 0.04750292] [ 0.03650756 -0.05242678 0.99795723 -0.67876006] [ 0. 0. 0. 1. ]] SLAMing on 49.099072328999995 meters Centerline goodness : 0.780491 Centerline is valid? [False, False] Translation: X:2.32, Y:0.05, Z:-0.68 [[ 0.99547656 -0.0857286 -0.04095157 2.3248843 ] [ 0.08765121 0.99500769 0.04771759 0.05189253] [ 0.03665637 -0.0510912 0.99802104 -0.68200038] [ 0. 0. 0. 1. ]] SLAMing on 49.129072328999996 meters Centerline goodness : 0.781367 Centerline is valid? [False, False] Translation: X:2.32, Y:0.06, Z:-0.68 [[ 0.99580321 -0.0819898 -0.04066488 2.32446133] [ 0.08381903 0.99544049 0.04552572 0.05565806] [ 0.03674682 -0.04874315 0.99813515 -0.68475569] [ 0. 0. 0. 1. ]] SLAMing on 49.159072329 meters Centerline goodness : 0.778875 Centerline is valid? [False, False] Translation: X:2.33, Y:0.06, Z:-0.69 [[ 0.99626177 -0.07612379 -0.04083683 2.32538522] [ 0.07791873 0.99597381 0.04432649 0.0618995 ] [ 0.03729811 -0.04734275 0.99818211 -0.68893943] [ 0. 0. 0. 1. ]] SLAMing on 49.189072329 meters Centerline goodness : 0.776810 Centerline is valid? [False, False] Translation: X:2.33, Y:0.07, Z:-0.69 [[ 0.99645796 -0.07870934 -0.02960354 2.32778601] [ 0.07988394 0.9959671 0.04084229 0.06910364] [ 0.02626948 -0.04306247 0.99872696 -0.68945487] [ 0. 0. 0. 1. ]] SLAMing on 49.21907232899999 meters Centerline goodness : 0.776047 Centerline is valid? [False, False] Translation: X:2.33, Y:0.07, Z:-0.69 [[ 0.99657095 -0.07641005 -0.03174656 2.33205257] [ 0.07779338 0.99595791 0.04490021 0.07239838] [ 0.02818741 -0.04721592 0.99848692 -0.68978342] [ 0. 0. 0. 1. ]] SLAMing on 49.24907232899999 meters Centerline goodness : 0.772886 Centerline is valid? [False, False] Translation: X:2.34, Y:0.08, Z:-0.69 [[ 0.99683107 -0.07144677 -0.034974 2.33574983] [ 0.07321609 0.99594726 0.05223458 0.07890133] [ 0.03110027 -0.05462971 0.99802223 -0.68708309] [ 0. 0. 0. 1. ]] SLAMing on 49.279072328999995 meters Centerline goodness : 0.770147 Centerline is valid? [False, False] Translation: X:2.34, Y:0.08, Z:-0.69 [[ 0.99695503 -0.06928145 -0.03578751 2.33727284] [ 0.0711401 0.99602651 0.05357503 0.08130397] [ 0.03193355 -0.05595782 0.99792233 -0.68764772] [ 0. 0. 0. 1. ]] SLAMing on 49.309072328999996 meters Centerline goodness : 0.768714 Centerline is valid? [False, False] Translation: X:2.34, Y:0.08, Z:-0.69 [[ 0.9970393 -0.06803839 -0.03582476 2.33711821] [ 0.06985811 0.99618693 0.05226326 0.08313877] [ 0.03213225 -0.05461118 0.99799055 -0.68825353] [ 0. 0. 0. 1. ]] SLAMing on 49.339072329 meters Centerline goodness : 0.767153 Centerline is valid? [False, False] Translation: X:2.34, Y:0.08, Z:-0.69 [[ 0.99713934 -0.06637227 -0.03616425 2.33982601] [ 0.06820573 0.9963114 0.05207278 0.0848037 ] [ 0.03257466 -0.05439043 0.99798826 -0.69170337] [ 0. 0. 0. 1. ]] SLAMing on 49.369072329 meters Centerline goodness : 0.765823 Centerline is valid? [False, False] Translation: X:2.34, Y:0.09, Z:-0.69 [[ 0.99725453 -0.06438358 -0.0365808 2.34105958] [ 0.06624058 0.99644521 0.05204923 0.0882524 ] [ 0.03309965 -0.05432947 0.99797431 -0.69313825] [ 0. 0. 0. 1. ]] SLAMing on 49.39907232899999 meters Centerline goodness : 0.764521 Centerline is valid? [False, False] Translation: X:2.34, Y:0.09, Z:-0.69 [[ 0.99718192 -0.06500245 -0.03745527 2.34170529] [ 0.06692259 0.9963749 0.05252077 0.09038442] [ 0.03390551 -0.05487937 0.99791717 -0.69138456] [ 0. 0. 0. 1. ]] SLAMing on 49.42907232899999 meters Centerline goodness : 0.764058 Centerline is valid? [False, False] Translation: X:2.34, Y:0.10, Z:-0.70 [[ 0.99721057 -0.07056708 -0.02431813 2.3430406 ] [ 0.07175737 0.99605755 0.05215593 0.09510475] [ 0.02054176 -0.05375545 0.99834282 -0.69725841] [ 0. 0. 0. 1. ]] SLAMing on 49.459072328999994 meters Centerline goodness : 0.763045 Centerline is valid? [False, False] Translation: X:2.35, Y:0.10, Z:-0.70 [[ 0.997153 -0.07092989 -0.02558991 2.34636403] [ 0.0721668 0.99607882 0.05117562 0.09825699] [ 0.02185968 -0.05287667 0.99836176 -0.69888167] [ 0. 0. 0. 1. ]] SLAMing on 49.489072328999995 meters Centerline goodness : 0.763730 Centerline is valid? [False, False] Translation: X:2.35, Y:0.10, Z:-0.70 [[ 0.99718941 -0.07027794 -0.02596709 2.34702594] [ 0.07151369 0.99617561 0.05019906 0.0993528 ] [ 0.0223399 -0.05191497 0.99840161 -0.69922164] [ 0. 0. 0. 1. ]] SLAMing on 49.519072329 meters Centerline goodness : 0.764473 Centerline is valid? [False, False] Translation: X:2.35, Y:0.10, Z:-0.70 [[ 0.99732748 -0.06831841 -0.02589397 2.34616561] [ 0.06956265 0.99629048 0.0506589 0.09999222] [ 0.02233698 -0.05232477 0.99838028 -0.69854047] [ 0. 0. 0. 1. ]] SLAMing on 49.549072329 meters Centerline goodness : 0.764872 Centerline is valid? [False, False] Translation: X:2.35, Y:0.10, Z:-0.70 [[ 0.9974309 -0.06665106 -0.02625313 2.34564469] [ 0.06793929 0.99634961 0.05168863 0.10046616] [ 0.0227122 -0.05333945 0.99831812 -0.69713696] [ 0. 0. 0. 1. ]] SLAMing on 49.57907232899999 meters Centerline goodness : 0.765061 Centerline is valid? [False, False] Translation: X:2.35, Y:0.10, Z:-0.70 [[ 0.99763908 -0.06312499 -0.02704639 2.34637819] [ 0.06454568 0.99637882 0.05534531 0.10106029] [ 0.02345477 -0.05696037 0.99810089 -0.6964111 ] [ 0. 0. 0. 1. ]] SLAMing on 49.60907232899999 meters Centerline goodness : 0.763202 Centerline is valid? [False, False] Translation: X:2.35, Y:0.10, Z:-0.70 [[ 0.9980577 -0.05527399 -0.02873335 2.34787131] [ 0.0569996 0.99637309 0.06317994 0.10422028] [ 0.02513693 -0.06469501 0.99758844 -0.69523484] [ 0. 0. 0. 1. ]] SLAMing on 49.639072328999994 meters Centerline goodness : 0.761450 Centerline is valid? [False, False] Translation: X:2.35, Y:0.11, Z:-0.70 [[ 0.99818829 -0.0531632 -0.02817464 2.34663781] [ 0.0548271 0.99656876 0.06200558 0.10524175] [ 0.02478155 -0.06343798 0.99767805 -0.69590047] [ 0. 0. 0. 1. ]] SLAMing on 49.669072328999995 meters Centerline goodness : 0.763141 Centerline is valid? [False, False] Translation: X:2.34, Y:0.11, Z:-0.70 [[ 0.99832667 -0.0511677 -0.02693946 2.34495519] [ 0.05267927 0.99688112 0.05876162 0.10503085] [ 0.02384875 -0.06008244 0.99790848 -0.69810704] [ 0. 0. 0. 1. ]] SLAMing on 49.699072328999996 meters Centerline goodness : 0.763752 Centerline is valid? [False, False] Translation: X:2.34, Y:0.10, Z:-0.70 [[ 0.99847605 -0.04886021 -0.02565638 2.34332565] [ 0.05023484 0.99716677 0.05599018 0.10409393] [ 0.022848 -0.0571937 0.99810162 -0.70037716] [ 0. 0. 0. 1. ]] SLAMing on 49.729072329 meters Centerline goodness : 0.766206 Centerline is valid? [False, False] Translation: X:2.34, Y:0.10, Z:-0.70 [[ 0.99866911 -0.04545956 -0.02436061 2.34172977] [ 0.04671993 0.99745044 0.05394325 0.10237151] [ 0.02184626 -0.05500958 0.99824681 -0.70284672] [ 0. 0. 0. 1. ]] SLAMing on 49.75907232899999 meters Centerline goodness : 0.767379 Centerline is valid? [False, False] Translation: X:2.34, Y:0.10, Z:-0.70 [[ 0.99866614 -0.04543305 -0.02453107 2.34229795] [ 0.04669967 0.99745914 0.05379962 0.10151915] [ 0.02202446 -0.05487345 0.99825038 -0.70298318] [ 0. 0. 0. 1. ]] SLAMing on 49.78907232899999 meters Centerline goodness : 0.767414 Centerline is valid? [False, False] Translation: X:2.34, Y:0.10, Z:-0.70 [[ 0.99868424 -0.04463778 -0.02524398 2.34495958] [ 0.04596113 0.99745384 0.05452908 0.10119811] [ 0.02274564 -0.05561757 0.99819303 -0.70432723] [ 0. 0. 0. 1. ]] SLAMing on 49.819072328999994 meters Centerline goodness : 0.769540 Centerline is valid? [False, False] Translation: X:2.35, Y:0.10, Z:-0.70 [[ 0.99869112 -0.04393323 -0.0261901 2.34673043] [ 0.04531135 0.99748069 0.05458154 0.10228926] [ 0.02372617 -0.05569681 0.99816578 -0.70295847] [ 0. 0. 0. 1. ]] SLAMing on 49.849072328999995 meters Centerline goodness : 0.770449 Centerline is valid? [False, False] Translation: X:2.35, Y:0.10, Z:-0.70 [[ 0.99852406 -0.04712322 -0.027002 2.34908815] [ 0.04844031 0.99755375 0.05039885 0.10358853] [ 0.02456099 -0.05163245 0.99836409 -0.70192635] [ 0. 0. 0. 1. ]] SLAMing on 49.879072328999996 meters Centerline goodness : 0.773021 Centerline is valid? [False, False] Translation: X:2.35, Y:0.10, Z:-0.70 [[ 0.99855987 -0.04708601 -0.02571193 2.34703128] [ 0.04826192 0.99771844 0.0472092 0.10055 ] [ 0.02343037 -0.04838212 0.99855405 -0.70285903] [ 0. 0. 0. 1. ]] SLAMing on 49.909072329 meters Centerline goodness : 0.773217 Centerline is valid? [False, False] Translation: X:2.34, Y:0.09, Z:-0.70 [[ 0.99866693 -0.04634391 -0.02272908 2.34148375] [ 0.0472737 0.99798864 0.04223602 0.09396676] [ 0.02072598 -0.0432542 0.99884909 -0.70364216] [ 0. 0. 0. 1. ]] SLAMing on 49.939072329 meters Centerline goodness : 0.774986 Centerline is valid? [False, False] Translation: X:2.34, Y:0.09, Z:-0.70 [[ 0.99868677 -0.04587324 -0.02281193 2.34126113] [ 0.04683751 0.99794597 0.04370456 0.09140668] [ 0.02076021 -0.04471562 0.99878402 -0.70253833] [ 0. 0. 0. 1. ]] SLAMing on 49.96907232899999 meters Centerline goodness : 0.773413 Centerline is valid? [False, False] Translation: X:2.34, Y:0.09, Z:-0.70 [[ 0.99866399 -0.04596665 -0.02360731 2.34199214] [ 0.04701079 0.9978455 0.04576403 0.08984425] [ 0.02145283 -0.04681269 0.99867329 -0.70060915] [ 0. 0. 0. 1. ]] SLAMing on 49.99907232899999 meters Centerline goodness : 0.772240 Centerline is valid? [False, False] Translation: X:2.34, Y:0.09, Z:-0.70 [[ 0.99863695 -0.04622077 -0.02424608 2.3424282 ] [ 0.04734209 0.99772885 0.04791523 0.08806851] [ 0.02197633 -0.04899778 0.99855709 -0.69854791] [ 0. 0. 0. 1. ]] SLAMing on 50.029072328999995 meters Centerline goodness : 0.770243 Centerline is valid? [False, False] Translation: X:2.34, Y:0.08, Z:-0.70 [[ 0.99859874 -0.04757505 -0.02317674 2.34034348] [ 0.0485933 0.99777927 0.0455546 0.08380952] [ 0.02095801 -0.046617 0.99869295 -0.69798906] [ 0. 0. 0. 1. ]] SLAMing on 50.059072328999996 meters Centerline goodness : 0.768431 Centerline is valid? [False, False] Translation: X:2.34, Y:0.08, Z:-0.70 [[ 0.99855297 -0.04904574 -0.02205638 2.33920556] [ 0.04992863 0.99789275 0.04143902 0.08058658] [ 0.0199775 -0.0424803 0.99889755 -0.69944871] [ 0. 0. 0. 1. ]] SLAMing on 50.089072329 meters Centerline goodness : 0.768639 Centerline is valid? [False, False] Translation: X:2.34, Y:0.08, Z:-0.70 [[ 0.9984829 -0.05071844 -0.02143673 2.33900993] [ 0.05151426 0.99793511 0.03836404 0.07716509] [ 0.0194467 -0.03941013 0.99903387 -0.70054922] [ 0. 0. 0. 1. ]] SLAMing on 50.119072329 meters Centerline goodness : 0.767753 Centerline is valid? [False, False] Translation: X:2.34, Y:0.07, Z:-0.70 [[ 0.99832552 -0.05383923 -0.02115427 2.33764035] [ 0.05459933 0.9978164 0.03716657 0.07232445] [ 0.01910705 -0.03825934 0.99908515 -0.69773987] [ 0. 0. 0. 1. ]] SLAMing on 50.14907232899999 meters Centerline goodness : 0.766878 Centerline is valid? [False, False] Translation: X:2.34, Y:0.07, Z:-0.69 [[ 0.99822482 -0.05535509 -0.02197783 2.33800839] [ 0.05618296 0.99765728 0.03903105 0.07040012] [ 0.01976577 -0.04019654 0.99899627 -0.69457837] [ 0. 0. 0. 1. ]] SLAMing on 50.17907232899999 meters Centerline goodness : 0.765410 Centerline is valid? [False, False] Translation: X:2.34, Y:0.07, Z:-0.69 [[ 0.99811704 -0.05672871 -0.02332866 2.34011101] [ 0.05766673 0.9974637 0.04172187 0.06856601] [ 0.02090267 -0.04298859 0.99885688 -0.6920985 ] [ 0. 0. 0. 1. ]] SLAMing on 50.209072328999994 meters Centerline goodness : 0.765824 Centerline is valid? [False, False] Translation: X:2.34, Y:0.07, Z:-0.69 [[ 0.99798644 -0.05876919 -0.02385893 2.34014738] [ 0.0597419 0.99731551 0.04233992 0.06668973] [ 0.0213066 -0.04368005 0.99881834 -0.68942701] [ 0. 0. 0. 1. ]] SLAMing on 50.239072328999995 meters Centerline goodness : 0.766923 Centerline is valid? [False, False] Translation: X:2.34, Y:0.06, Z:-0.69 [[ 0.99758893 -0.0656463 -0.02251432 2.33777925] [ 0.06640514 0.99718574 0.03479883 0.06233742] [ 0.02016655 -0.03620999 0.9991407 -0.68814641] [ 0. 0. 0. 1. ]] SLAMing on 50.269072329 meters Centerline goodness : 0.768863 Centerline is valid? [False, False] Translation: X:2.34, Y:0.06, Z:-0.69 [[ 0.99734097 -0.06962156 -0.02153665 2.33655096] [ 0.07022422 0.99712055 0.02862114 0.05963915] [ 0.01948198 -0.03005743 0.9993583 -0.68859667] [ 0. 0. 0. 1. ]] SLAMing on 50.299072329 meters Centerline goodness : 0.768928 Centerline is valid? [False, False] Translation: X:2.34, Y:0.06, Z:-0.69 [[ 0.99708973 -0.07331434 -0.02090633 2.33651257] [ 0.07381951 0.99697033 0.024512 0.05726087] [ 0.01904591 -0.02598396 0.99948091 -0.68927019] [ 0. 0. 0. 1. ]] SLAMing on 50.32907232899999 meters Centerline goodness : 0.770648 Centerline is valid? [False, False] Translation: X:2.34, Y:0.06, Z:-0.69 [[ 0.99684413 -0.0765728 -0.02093779 2.33651268] [ 0.07703525 0.99678003 0.02225162 0.05537026] [ 0.01916651 -0.02379435 0.99953313 -0.68797878] [ 0. 0. 0. 1. ]] SLAMing on 50.35907232899999 meters Centerline goodness : 0.769897 Centerline is valid? [False, False] Translation: X:2.34, Y:0.05, Z:-0.68 [[ 0.99651555 -0.08031447 -0.02250225 2.33778092] [ 0.08089721 0.9963752 0.02630794 0.05090072] [ 0.02030777 -0.02803664 0.99940059 -0.68193966] [ 0. 0. 0. 1. ]] SLAMing on 50.389072328999994 meters Centerline goodness : 0.769850 Centerline is valid? [False, False] Translation: X:2.34, Y:0.05, Z:-0.68 [[ 0.99638747 -0.08161167 -0.02348518 2.33833849] [ 0.08228055 0.99618479 0.02908237 0.04840294] [ 0.02102211 -0.03090968 0.99930109 -0.6783435 ] [ 0. 0. 0. 1. ]] SLAMing on 50.419072328999995 meters Centerline goodness : 0.771578 Centerline is valid? [False, False] Translation: X:2.34, Y:0.05, Z:-0.68 [[ 0.99625044 -0.08322924 -0.02362099 2.33783942] [ 0.08391076 0.99603658 0.02949788 0.04574544] [ 0.02107228 -0.03136933 0.99928571 -0.67600333] [ 0. 0. 0. 1. ]] SLAMing on 50.449072328999996 meters Centerline goodness : 0.775015 Centerline is valid? [False, False] Translation: X:2.34, Y:0.04, Z:-0.67 [[ 0.99579963 -0.0835541 -0.03744086 2.34107399] [ 0.08460874 0.99603395 0.02752683 0.03681603] [ 0.03499238 -0.03057903 0.99891964 -0.67363417] [ 0. 0. 0. 1. ]] SLAMing on 50.479072329 meters Centerline goodness : 0.775988 Centerline is valid? [False, False] Translation: X:2.34, Y:0.04, Z:-0.67 [[ 0.99546772 -0.08743844 -0.03739706 2.34217538] [ 0.08836385 0.99580269 0.02385019 0.03516302] [ 0.03515467 -0.02704665 0.99901583 -0.67385237] [ 0. 0. 0. 1. ]] SLAMing on 50.50907232899999 meters Centerline goodness : 0.774971 Centerline is valid? [False, False] Translation: X:2.34, Y:0.04, Z:-0.67 [[ 0.99510016 -0.0915746 -0.03727961 2.34265729] [ 0.09235435 0.99553017 0.01975753 0.03513828] [ 0.03530369 -0.02310365 0.99910954 -0.67348224] [ 0. 0. 0. 1. ]] SLAMing on 50.53907232899999 meters Centerline goodness : 0.774665 Centerline is valid? [False, False] Translation: X:2.34, Y:0.03, Z:-0.67 [[ 0.99474664 -0.09516795 -0.03771175 2.34280566] [ 0.09596032 0.9951885 0.01978567 0.03349777] [ 0.03564733 -0.02330056 0.99909276 -0.67047192] [ 0. 0. 0. 1. ]] SLAMing on 50.569072328999994 meters Centerline goodness : 0.775933 Centerline is valid? [False, False] Translation: X:2.34, Y:0.03, Z:-0.67 [[ 0.99431393 -0.09969178 -0.03743473 2.34255998] [ 0.10035592 0.99481811 0.01629771 0.03100261] [ 0.035616 -0.01996184 0.99916617 -0.6696467 ] [ 0. 0. 0. 1. ]] SLAMing on 50.599072328999995 meters Centerline goodness : 0.774486 Centerline is valid? [False, False] Translation: X:2.34, Y:0.03, Z:-0.67 [[ 0.99393945 -0.10337102 -0.03740066 2.3425592 ] [ 0.10397592 0.99447262 0.01460185 0.02892162] [ 0.03568452 -0.01840212 0.99919366 -0.66789497] [ 0. 0. 0. 1. ]] SLAMing on 50.629072328999996 meters Centerline goodness : 0.774485 Centerline is valid? [False, False] Translation: X:2.34, Y:0.03, Z:-0.67 [[ 0.99353252 -0.107174 -0.0375081 2.34397106] [ 0.10772356 0.9940966 0.0129453 0.02665899] [ 0.03589928 -0.01690208 0.99921247 -0.66736285] [ 0. 0. 0. 1. ]] SLAMing on 50.659072329 meters Centerline goodness : 0.771144 Centerline is valid? [False, False] Translation: X:2.34, Y:0.02, Z:-0.66 [[ 0.99254919 -0.11613257 -0.03686907 2.34353867] [ 0.11647779 0.9931661 0.00735025 0.02234846] [ 0.03576351 -0.01158991 0.99929307 -0.66424295] [ 0. 0. 0. 1. ]] SLAMing on 50.68907232899999 meters Centerline goodness : 0.771144 Centerline is valid? [False, False] Translation: X:2.34, Y:0.02, Z:-0.66 [[ 0.99254919 -0.11613257 -0.03686907 2.34353867] [ 0.11647779 0.9931661 0.00735025 0.02234846] [ 0.03576351 -0.01158991 0.99929307 -0.66424295] [ 0. 0. 0. 1. ]] SLAMing on 50.71907232899999 meters Centerline goodness : 0.770824 Centerline is valid? [False, False] Translation: X:2.35, Y:0.02, Z:-0.66 [[ 0.99205806 -0.12013523 -0.03726021 2.34517984] [ 0.12045177 0.99269879 0.00636215 0.02001664] [ 0.03622385 -0.01079968 0.99928534 -0.66290911] [ 0. 0. 0. 1. ]] SLAMing on 50.74907232899999 meters Centerline goodness : 0.770157 Centerline is valid? [False, False] Translation: X:2.35, Y:0.02, Z:-0.66 [[ 0.99154389 -0.12409723 -0.03795522 2.34726655] [ 0.12442361 0.99220886 0.00635222 0.01842248] [ 0.03687121 -0.01102103 0.99925925 -0.6611955 ] [ 0. 0. 0. 1. ]] SLAMing on 50.779072328999995 meters Centerline goodness : 0.768711 Centerline is valid? [False, False] Translation: X:2.35, Y:0.02, Z:-0.66 [[ 0.99104211 -0.12771137 -0.03905549 2.35054645] [ 0.12808851 0.99173586 0.00730133 0.01709835] [ 0.03780027 -0.01223849 0.99921037 -0.65989884] [ 0. 0. 0. 1. ]] SLAMing on 50.809072328999996 meters Centerline goodness : 0.766693 Centerline is valid? [False, False] Translation: X:2.36, Y:0.01, Z:-0.65 [[ 0.99002671 -0.12944763 -0.05559162 2.35611022] [ 0.13015888 0.99144902 0.0093548 0.01233291] [ 0.0539053 -0.01649725 0.99840977 -0.65167108] [ 0. 0. 0. 1. ]] SLAMing on 50.839072329 meters Centerline goodness : 0.767316 Centerline is valid? [False, False] Translation: X:2.36, Y:0.01, Z:-0.65 [[ 0.98975167 -0.13115029 -0.05649099 2.35999017] [ 0.13195437 0.99119771 0.01073085 0.0113426 ] [ 0.05458639 -0.01807511 0.99834544 -0.65252228] [ 0. 0. 0. 1. ]] SLAMing on 50.869072329 meters Centerline goodness : 0.767115 Centerline is valid? [False, False] Translation: X:2.36, Y:0.01, Z:-0.65 [[ 0.98958117 -0.1322642 -0.05687954 2.36284887] [ 0.13310374 0.99103863 0.01121702 0.01045352] [ 0.05488622 -0.01867103 0.99831803 -0.65399389] [ 0. 0. 0. 1. ]] SLAMing on 50.89907232899999 meters Centerline goodness : 0.767629 Centerline is valid? [False, False] Translation: X:2.37, Y:0.01, Z:-0.66 [[ 0.98923178 -0.13440796 -0.05792232 2.36829075] [ 0.13529009 0.99073849 0.01156921 0.00952275] [ 0.05583088 -0.01928095 0.99825405 -0.656712 ] [ 0. 0. 0. 1. ]] SLAMing on 50.92907232899999 meters Centerline goodness : 0.768954 Centerline is valid? [False, False] Translation: X:2.37, Y:0.01, Z:-0.66 [[ 0.98914883 -0.13476097 -0.05851556 2.37075655] [ 0.13573994 0.99065826 0.01307225 0.00945452] [ 0.05620729 -0.02087329 0.9982009 -0.6574646 ] [ 0. 0. 0. 1. ]] SLAMing on 50.959072328999994 meters Centerline goodness : 0.771371 Centerline is valid? [False, False] Translation: X:2.38, Y:0.01, Z:-0.66 [[ 0.98920064 -0.13375575 -0.05992901 2.37524943] [ 0.13498348 0.99070353 0.01691091 0.00995613] [ 0.05710995 -0.02481771 0.99805938 -0.65887956] [ 0. 0. 0. 1. ]] SLAMing on 50.989072328999995 meters Centerline goodness : 0.773716 Centerline is valid? [False, False] Translation: X:2.38, Y:0.01, Z:-0.66 [[ 0.98913717 -0.13337229 -0.06180203 2.3811508 ] [ 0.13485662 0.99065336 0.0204846 0.011338 ] [ 0.05849231 -0.02859649 0.99787819 -0.66091996] [ 0. 0. 0. 1. ]] SLAMing on 51.019072329 meters Centerline goodness : 0.775880 Centerline is valid? [False, False] Translation: X:2.38, Y:0.01, Z:-0.66 [[ 0.98899573 -0.13408662 -0.06251581 2.38466831] [ 0.13563578 0.99053164 0.02121327 0.01179063] [ 0.05907947 -0.02945922 0.99781851 -0.66264159] [ 0. 0. 0. 1. ]] SLAMing on 51.049072329 meters Centerline goodness : 0.776571 Centerline is valid? [False, False] Translation: X:2.39, Y:0.01, Z:-0.66 [[ 0.98881391 -0.13506772 -0.06327525 2.38862443] [ 0.13666264 0.99038267 0.02157538 0.01269573] [ 0.05975257 -0.0299814 0.99776287 -0.66488795] [ 0. 0. 0. 1. ]] SLAMing on 51.07907232899999 meters Centerline goodness : 0.777569 Centerline is valid? [False, False] Translation: X:2.39, Y:0.01, Z:-0.67 [[ 0.98864522 -0.13598999 -0.06393235 2.39272298] [ 0.13760582 0.9902522 0.02156899 0.01356115] [ 0.06037598 -0.03012154 0.99772112 -0.667757 ] [ 0. 0. 0. 1. ]] SLAMing on 51.10907232899999 meters Centerline goodness : 0.776708 Centerline is valid? [False, False] Translation: X:2.40, Y:0.01, Z:-0.67 [[ 0.98849314 -0.13683785 -0.06447257 2.39654204] [ 0.13846947 0.99013251 0.02153651 0.01364149] [ 0.06088938 -0.03021618 0.99768706 -0.67046237] [ 0. 0. 0. 1. ]] SLAMing on 51.139072328999994 meters Centerline goodness : 0.778043 Centerline is valid? [False, False] Translation: X:2.40, Y:0.01, Z:-0.67 [[ 0.98817544 -0.13872801 -0.06529813 2.40015793] [ 0.14039757 0.98985755 0.02169223 0.01403018] [ 0.06162653 -0.03060343 0.99762999 -0.67169668] [ 0. 0. 0. 1. ]] SLAMing on 51.169072328999995 meters Centerline goodness : 0.780473 Centerline is valid? [False, False] Translation: X:2.41, Y:0.02, Z:-0.68 [[ 0.9880742 -0.14314281 -0.05674066 2.40928226] [ 0.14481263 0.98910475 0.02647825 0.01721627] [ 0.05233229 -0.03437924 0.99803777 -0.67866863] [ 0. 0. 0. 1. ]] SLAMing on 51.199072328999996 meters Centerline goodness : 0.781738 Centerline is valid? [False, False] Translation: X:2.41, Y:0.02, Z:-0.68 [[ 0.98801446 -0.14327075 -0.05745366 2.40905334] [ 0.14505224 0.9890244 0.02811736 0.01805198] [ 0.05279468 -0.03611414 0.99795215 -0.67606742] [ 0. 0. 0. 1. ]] SLAMing on 51.229072329 meters Centerline goodness : 0.783915 Centerline is valid? [False, False] Translation: X:2.41, Y:0.02, Z:-0.68 [[ 0.98804406 -0.14228332 -0.05936653 2.41415471] [ 0.14436671 0.98899374 0.03239814 0.01785941] [ 0.05410341 -0.04058134 0.99771037 -0.67719929] [ 0. 0. 0. 1. ]] SLAMing on 51.25907232899999 meters Centerline goodness : 0.784105 Centerline is valid? [False, False] Translation: X:2.42, Y:0.02, Z:-0.68 [[ 0.98798296 -0.14269907 -0.05938553 2.41572236] [ 0.14477608 0.98893845 0.03225876 0.01704673] [ 0.05412534 -0.04046871 0.99771375 -0.6786071 ] [ 0. 0. 0. 1. ]] SLAMing on 51.28907232899999 meters Centerline goodness : 0.784620 Centerline is valid? [False, False] Translation: X:2.42, Y:0.02, Z:-0.68 [[ 0.98784692 -0.14352847 -0.0596494 2.41792766] [ 0.14561043 0.98881988 0.03213797 0.01592796] [ 0.0543698 -0.04043297 0.99770191 -0.67995055] [ 0. 0. 0. 1. ]] SLAMing on 51.319072328999994 meters Centerline goodness : 0.784348 Centerline is valid? [False, False] Translation: X:2.42, Y:0.02, Z:-0.68 [[ 0.98743327 -0.14580796 -0.06095545 2.42138132] [ 0.14800583 0.98842827 0.03322387 0.01616142] [ 0.05540578 -0.04182811 0.99758739 -0.67940473] [ 0. 0. 0. 1. ]] SLAMing on 51.349072328999995 meters Centerline goodness : 0.784667 Centerline is valid? [False, False] Translation: X:2.42, Y:0.02, Z:-0.68 [[ 0.98718036 -0.14715925 -0.06179881 2.42255163] [ 0.14942335 0.98819731 0.03374534 0.01744261] [ 0.05610348 -0.04254693 0.997518 -0.67790416] [ 0. 0. 0. 1. ]] SLAMing on 51.379072328999996 meters Centerline goodness : 0.785208 Centerline is valid? [False, False] Translation: X:2.43, Y:0.02, Z:-0.68 [[ 0.98696384 -0.14821274 -0.06273241 2.42545596] [ 0.15057033 0.98799139 0.03466406 0.01845658] [ 0.05684142 -0.04365781 0.99742822 -0.67841345] [ 0. 0. 0. 1. ]] SLAMing on 51.409072329 meters Centerline goodness : 0.785445 Centerline is valid? [False, False] Translation: X:2.43, Y:0.02, Z:-0.68 [[ 0.98676167 -0.14939872 -0.06309855 2.42678133] [ 0.1517255 0.98784373 0.03382509 0.01931748] [ 0.05727808 -0.04295097 0.99743393 -0.67874149] [ 0. 0. 0. 1. ]] SLAMing on 51.43907232899999 meters Centerline goodness : 0.785574 Centerline is valid? [False, False] Translation: X:2.43, Y:0.02, Z:-0.68 [[ 0.98662468 -0.15003913 -0.06371812 2.43026137] [ 0.15241771 0.9877227 0.03424494 0.01937994] [ 0.05779775 -0.04349867 0.99738021 -0.6808679 ] [ 0. 0. 0. 1. ]] SLAMing on 51.46907232899999 meters Centerline goodness : 0.786799 Centerline is valid? [False, False] Translation: X:2.43, Y:0.02, Z:-0.68 [[ 0.98619038 -0.15264213 -0.06425666 2.43233513] [ 0.15505276 0.98730918 0.03433983 0.01963566] [ 0.05819948 -0.04382878 0.9973424 -0.68055859] [ 0. 0. 0. 1. ]] SLAMing on 51.49907232899999 meters Centerline goodness : 0.787776 Centerline is valid? [False, False] Translation: X:2.44, Y:0.02, Z:-0.68 [[ 0.98596302 -0.1535769 -0.06550619 2.43619661] [ 0.15612671 0.98709039 0.03573526 0.02018573] [ 0.05917242 -0.04546091 0.99721208 -0.6812918 ] [ 0. 0. 0. 1. ]] SLAMing on 51.529072328999995 meters Centerline goodness : 0.788766 Centerline is valid? [False, False] Translation: X:2.44, Y:0.02, Z:-0.68 [[ 0.98575539 -0.15463294 -0.06614358 2.43728546] [ 0.15724149 0.98689615 0.03620911 0.02108274] [ 0.05967773 -0.04609384 0.99715291 -0.68042078] [ 0. 0. 0. 1. ]] SLAMing on 51.559072328999996 meters Centerline goodness : 0.789863 Centerline is valid? [False, False] Translation: X:2.44, Y:0.02, Z:-0.68 [[ 0.98546049 -0.15593753 -0.06746189 2.43898306] [ 0.15869092 0.98661383 0.03755459 0.02348184] [ 0.06070266 -0.04771416 0.99701482 -0.67849497] [ 0. 0. 0. 1. ]] SLAMing on 51.589072329 meters Centerline goodness : 0.791401 Centerline is valid? [False, False] Translation: X:2.44, Y:0.03, Z:-0.68 [[ 0.98537617 -0.15589813 -0.06877186 2.44227052] [ 0.15885731 0.98649661 0.03985975 0.02531293] [ 0.06162914 -0.05020176 0.99683581 -0.67907791] [ 0. 0. 0. 1. ]] SLAMing on 51.619072329 meters Centerline goodness : 0.791940 Centerline is valid? [False, False] Translation: X:2.45, Y:0.03, Z:-0.68 [[ 0.98524442 -0.15612522 -0.07013099 2.44571804] [ 0.15926413 0.98635842 0.04161742 0.02764338] [ 0.06267677 -0.05217268 0.99666927 -0.67985546] [ 0. 0. 0. 1. ]] SLAMing on 51.64907232899999 meters Centerline goodness : 0.791233 Centerline is valid? [False, False] Translation: X:2.45, Y:0.03, Z:-0.68 [[ 0.98497126 -0.15755479 -0.07076798 2.44807326] [ 0.16063553 0.98619684 0.04015005 0.03181115] [ 0.06346533 -0.05091449 0.99668444 -0.68137173] [ 0. 0. 0. 1. ]] SLAMing on 51.67907232899999 meters Centerline goodness : 0.791052 Centerline is valid? [False, False] Translation: X:2.45, Y:0.03, Z:-0.68 [[ 0.98487534 -0.1579501 -0.07122027 2.45072263] [ 0.16101888 0.98615676 0.03959496 0.03347823] [ 0.06398032 -0.05046391 0.99667443 -0.683649 ] [ 0. 0. 0. 1. ]] SLAMing on 51.709072328999994 meters Centerline goodness : 0.790324 Centerline is valid? [False, False] Translation: X:2.45, Y:0.03, Z:-0.69 [[ 0.98478465 -0.15826586 -0.0717712 2.45381176] [ 0.16136028 0.98610265 0.03955278 0.03495387] [ 0.06451391 -0.05053199 0.99663658 -0.68606308] [ 0. 0. 0. 1. ]] SLAMing on 51.739072328999995 meters Centerline goodness : 0.788799 Centerline is valid? [False, False] Translation: X:2.46, Y:0.04, Z:-0.69 [[ 0.98463792 -0.15872565 -0.07276222 2.45724762] [ 0.16192242 0.98597884 0.04033438 0.03671258] [ 0.06533991 -0.0514966 0.99653339 -0.68764794] [ 0. 0. 0. 1. ]] SLAMing on 51.769072329 meters Centerline goodness : 0.789487 Centerline is valid? [False, False] Translation: X:2.46, Y:0.04, Z:-0.69 [[ 0.98440577 -0.15894217 -0.07538348 2.46383779] [ 0.16250073 0.98574237 0.04365186 0.03972638] [ 0.06737057 -0.05522101 0.9961987 -0.68918902] [ 0. 0. 0. 1. ]] SLAMing on 51.799072329 meters Centerline goodness : 0.788505 Centerline is valid? [False, False] Translation: X:2.46, Y:0.04, Z:-0.69 [[ 0.98431413 -0.15932243 -0.07577632 2.46408071] [ 0.16292594 0.98565741 0.04398426 0.04126616] [ 0.06768181 -0.05564026 0.99615427 -0.68844615] [ 0. 0. 0. 1. ]] SLAMing on 51.82907232899999 meters Centerline goodness : 0.788843 Centerline is valid? [False, False] Translation: X:2.47, Y:0.04, Z:-0.69 [[ 0.98418801 -0.15984448 -0.0763132 2.46509655] [ 0.16350371 0.98554539 0.04434877 0.0423583 ] [ 0.06812122 -0.05612502 0.99609712 -0.6881043 ] [ 0. 0. 0. 1. ]] SLAMing on 51.85907232899999 meters Centerline goodness : 0.789493 Centerline is valid? [False, False] Translation: X:2.47, Y:0.04, Z:-0.69 [[ 0.98386442 -0.1616038 -0.07677902 2.46625974] [ 0.16525239 0.98527932 0.04377579 0.04413149] [ 0.06857444 -0.05575736 0.99608667 -0.68779433] [ 0. 0. 0. 1. ]] SLAMing on 51.889072328999994 meters Centerline goodness : 0.789133 Centerline is valid? [False, False] Translation: X:2.47, Y:0.05, Z:-0.69 [[ 0.98380959 -0.16163649 -0.07741021 2.46642995] [ 0.16537835 0.98522081 0.04460885 0.04524821] [ 0.06905573 -0.05668858 0.99600086 -0.68635588] [ 0. 0. 0. 1. ]] SLAMing on 51.919072328999995 meters Centerline goodness : 0.788405 Centerline is valid? [False, False] Translation: X:2.47, Y:0.05, Z:-0.69 [[ 0.98392641 -0.16023311 -0.07883005 2.46822444] [ 0.16429913 0.98523787 0.04808469 0.04641853] [ 0.0699616 -0.0602635 0.99572772 -0.68531543] [ 0. 0. 0. 1. ]] SLAMing on 51.949072328999996 meters Centerline goodness : 0.790364 Centerline is valid? [False, False] Translation: X:2.47, Y:0.05, Z:-0.68 [[ 0.98398181 -0.15931657 -0.07998773 2.46863478] [ 0.16365438 0.98520211 0.05093178 0.04790255] [ 0.07068981 -0.06320629 0.99549381 -0.68317293] [ 0. 0. 0. 1. ]] SLAMing on 51.979072329 meters Centerline goodness : 0.791665 Centerline is valid? [False, False] Translation: X:2.47, Y:0.05, Z:-0.68 [[ 0.98387451 -0.15959825 -0.08074244 2.47086984] [ 0.16397802 0.98515293 0.0508421 0.05118031] [ 0.07142934 -0.06326223 0.99543746 -0.68451404] [ 0. 0. 0. 1. ]] SLAMing on 52.00907232899999 meters Centerline goodness : 0.791099 Centerline is valid? [False, False] Translation: X:2.47, Y:0.05, Z:-0.69 [[ 0.98379416 -0.16023232 -0.08046527 2.47147099] [ 0.16446452 0.9851644 0.04901554 0.05229074] [ 0.07141764 -0.06145488 0.99555151 -0.68607824] [ 0. 0. 0. 1. ]] SLAMing on 52.03907232899999 meters Centerline goodness : 0.791891 Centerline is valid? [False, False] Translation: X:2.47, Y:0.05, Z:-0.69 [[ 0.98369518 -0.16101147 -0.08011932 2.47210358] [ 0.1650494 0.98518456 0.046584 0.05357855] [ 0.07143176 -0.0590481 0.99569615 -0.68790298] [ 0. 0. 0. 1. ]] SLAMing on 52.069072328999994 meters Centerline goodness : 0.792880 Centerline is valid? [False, False] Translation: X:2.48, Y:0.06, Z:-0.69 [[ 0.98329715 -0.16300273 -0.0809742 2.47563151] [ 0.16703651 0.98488717 0.0457828 0.05541977] [ 0.07228773 -0.05854375 0.99566416 -0.68950209] [ 0. 0. 0. 1. ]] SLAMing on 52.099072328999995 meters Centerline goodness : 0.792687 Centerline is valid? [False, False] Translation: X:2.48, Y:0.06, Z:-0.70 [[ 0.98309005 -0.16917036 -0.07010956 2.4808937 ] [ 0.17272207 0.98379541 0.04810076 0.05982109] [ 0.06083624 -0.05939685 0.99637893 -0.69532141] [ 0. 0. 0. 1. ]] SLAMing on 52.129072328999996 meters Centerline goodness : 0.792012 Centerline is valid? [False, False] Translation: X:2.48, Y:0.06, Z:-0.69 [[ 0.98289714 -0.16949209 -0.07201146 2.48194395] [ 0.17339139 0.98348816 0.05183114 0.06127136] [ 0.06203745 -0.06343084 0.99605616 -0.69148097] [ 0. 0. 0. 1. ]] SLAMing on 52.159072329 meters Centerline goodness : 0.793393 Centerline is valid? [False, False] Translation: X:2.48, Y:0.06, Z:-0.69 [[ 0.98296343 -0.16814496 -0.07423055 2.48410558] [ 0.17246813 0.98340826 0.05623998 0.06332507] [ 0.06354247 -0.06808425 0.995654 -0.68906713] [ 0. 0. 0. 1. ]] SLAMing on 52.18907232899999 meters Centerline goodness : 0.792117 Centerline is valid? [False, False] Translation: X:2.49, Y:0.07, Z:-0.69 [[ 0.98332202 -0.16485399 -0.0768178 2.48951413] [ 0.16964 0.98364261 0.06057634 0.06866563] [ 0.065575 -0.07259742 0.99520326 -0.69160521] [ 0. 0. 0. 1. ]] SLAMing on 52.21907232899999 meters Centerline goodness : 0.792134 Centerline is valid? [False, False] Translation: X:2.49, Y:0.07, Z:-0.69 [[ 0.98330621 -0.16502131 -0.07666067 2.49117971] [ 0.16964433 0.98378078 0.05827667 0.07075803] [ 0.06580041 -0.07030886 0.99535269 -0.69452737] [ 0. 0. 0. 1. ]] SLAMing on 52.24907232899999 meters Centerline goodness : 0.790618 Centerline is valid? [False, False] Translation: X:2.49, Y:0.07, Z:-0.70 [[ 0.98333454 -0.16526995 -0.07575636 2.49219746] [ 0.16958515 0.98400465 0.05455029 0.07211528] [ 0.06552909 -0.06648834 0.99563308 -0.69845852] [ 0. 0. 0. 1. ]] SLAMing on 52.279072328999995 meters Centerline goodness : 0.789652 Centerline is valid? [False, False] Translation: X:2.49, Y:0.07, Z:-0.70 [[ 0.98328189 -0.16569614 -0.07550833 2.49351711] [ 0.16985862 0.98407037 0.05247434 0.07356884] [ 0.06561072 -0.06442281 0.99576349 -0.7010097 ] [ 0. 0. 0. 1. ]] SLAMing on 52.309072328999996 meters Centerline goodness : 0.794547 Centerline is valid? [False, False] Translation: X:2.50, Y:0.08, Z:-0.70 [[ 0.98323233 -0.16481668 -0.07803622 2.49869806] [ 0.16935875 0.98398237 0.05564453 0.07870759] [ 0.06761512 -0.06792762 0.99539642 -0.70231571] [ 0. 0. 0. 1. ]] SLAMing on 52.339072329 meters Centerline goodness : 0.796179 Centerline is valid? [False, False] Translation: X:2.50, Y:0.08, Z:-0.70 [[ 0.98322362 -0.16373293 -0.0803918 2.50138077] [ 0.16870939 0.98386481 0.05955825 0.08144806] [ 0.06934302 -0.07212193 0.9949824 -0.70035695] [ 0. 0. 0. 1. ]] SLAMing on 52.369072329 meters Centerline goodness : 0.798608 Centerline is valid? [False, False] Translation: X:2.50, Y:0.09, Z:-0.70 [[ 0.98336503 -0.1613573 -0.08340881 2.50357419] [ 0.16700099 0.98376047 0.06577241 0.08631161] [ 0.07144143 -0.07860764 0.99434248 -0.69706704] [ 0. 0. 0. 1. ]] SLAMing on 52.39907232899999 meters Centerline goodness : 0.801380 Centerline is valid? [False, False] Translation: X:2.50, Y:0.09, Z:-0.70 [[ 0.98328779 -0.16173993 -0.08357817 2.50336815] [ 0.16732927 0.98376723 0.06483015 0.08829417] [ 0.07173584 -0.07773176 0.99439014 -0.69657448] [ 0. 0. 0. 1. ]] SLAMing on 52.42907232899999 meters Centerline goodness : 0.803276 Centerline is valid? [False, False] Translation: X:2.50, Y:0.09, Z:-0.70 [[ 0.98312302 -0.16271402 -0.08362584 2.50452878] [ 0.16818543 0.98373118 0.06313974 0.0893827 ] [ 0.07199163 -0.07613877 0.99449489 -0.6977568 ] [ 0. 0. 0. 1. ]] SLAMing on 52.459072328999994 meters Centerline goodness : 0.803201 Centerline is valid? [False, False] Translation: X:2.50, Y:0.09, Z:-0.70 [[ 0.98273204 -0.1653596 -0.0830298 2.50374064] [ 0.17048028 0.98360044 0.05887833 0.09073589] [ 0.07193205 -0.07201657 0.99480621 -0.69746061] [ 0. 0. 0. 1. ]] SLAMing on 52.489072328999995 meters Centerline goodness : 0.803995 Centerline is valid? [False, False] Translation: X:2.50, Y:0.09, Z:-0.70 [[ 0.98237963 -0.1672679 -0.08337699 2.50482802] [ 0.17233852 0.98333944 0.05781852 0.09089772] [ 0.0723167 -0.07116881 0.99483933 -0.69698624] [ 0. 0. 0. 1. ]] SLAMing on 52.519072329 meters Centerline goodness : 0.805716 Centerline is valid? [False, False] Translation: X:2.51, Y:0.09, Z:-0.69 [[ 0.98110065 -0.17366665 -0.08533119 2.50721421] [ 0.17878022 0.98227045 0.05641278 0.09351643] [ 0.07402129 -0.07060214 0.99475433 -0.69257574] [ 0. 0. 0. 1. ]] SLAMing on 52.549072329 meters Centerline goodness : 0.805975 Centerline is valid? [False, False] Translation: X:2.51, Y:0.10, Z:-0.69 [[ 0.98047008 -0.17645059 -0.086854 2.51014376] [ 0.18166633 0.98174826 0.05628228 0.09520008] [ 0.07533772 -0.07096154 0.99462993 -0.69138341] [ 0. 0. 0. 1. ]] SLAMing on 52.57907232899999 meters Centerline goodness : 0.805975 Centerline is valid? [False, False] Translation: X:2.51, Y:0.10, Z:-0.69 [[ 0.98047008 -0.17645059 -0.086854 2.51014376] [ 0.18166633 0.98174826 0.05628228 0.09520008] [ 0.07533772 -0.07096154 0.99462993 -0.69138341] [ 0. 0. 0. 1. ]] SLAMing on 52.60907232899999 meters Centerline goodness : 0.805250 Centerline is valid? [False, False] Translation: X:2.51, Y:0.10, Z:-0.69 [[ 0.98001486 -0.17840733 -0.08798698 2.51271354] [ 0.18368944 0.98138472 0.05605554 0.09612743] [ 0.07634836 -0.07109754 0.99454315 -0.69087283] [ 0. 0. 0. 1. ]] SLAMing on 52.639072328999994 meters Centerline goodness : 0.806458 Centerline is valid? [False, False] Translation: X:2.52, Y:0.10, Z:-0.69 [[ 0.97965723 -0.17986713 -0.08899176 2.51503579] [ 0.18522263 0.9810971 0.05604523 0.09589153] [ 0.07722886 -0.0713884 0.99445432 -0.69028997] [ 0. 0. 0. 1. ]] SLAMing on 52.669072328999995 meters Centerline goodness : 0.809331 Centerline is valid? [False, False] Translation: X:2.52, Y:0.09, Z:-0.69 [[ 0.97928296 -0.18154475 -0.08970169 2.51506152] [ 0.1870173 0.98070988 0.05685643 0.09468333] [ 0.07764935 -0.0724543 0.99434448 -0.68721387] [ 0. 0. 0. 1. ]] SLAMing on 52.699072328999996 meters Centerline goodness : 0.809946 Centerline is valid? [False, False] Translation: X:2.52, Y:0.09, Z:-0.69 [[ 0.97915397 -0.18188799 -0.09041158 2.51568136] [ 0.18747507 0.98057636 0.05764638 0.09443799] [ 0.07817027 -0.0733946 0.9942347 -0.68569428] [ 0. 0. 0. 1. ]] SLAMing on 52.729072329 meters Centerline goodness : 0.811029 Centerline is valid? [False, False] Translation: X:2.52, Y:0.09, Z:-0.68 [[ 0.97877725 -0.18353169 -0.09116587 2.51691825] [ 0.18919118 0.98023621 0.05782444 0.09405763] [ 0.07875147 -0.07384502 0.99415548 -0.68421377] [ 0. 0. 0. 1. ]] SLAMing on 52.75907232899999 meters Centerline goodness : 0.810233 Centerline is valid? [False, False] Translation: X:2.52, Y:0.09, Z:-0.68 [[ 0.9784066 -0.18513695 -0.09189575 2.518529 ] [ 0.19083622 0.97992986 0.05761084 0.09432225] [ 0.0793855 -0.07390387 0.99410068 -0.68362283] [ 0. 0. 0. 1. ]] SLAMing on 52.78907232899999 meters Centerline goodness : 0.810177 Centerline is valid? [False, False] Translation: X:2.52, Y:0.09, Z:-0.68 [[ 0.9781932 -0.18583877 -0.09274705 2.52095606] [ 0.19163114 0.97975387 0.05796434 0.09448402] [ 0.08009726 -0.07447354 0.99400107 -0.68406006] [ 0. 0. 0. 1. ]] SLAMing on 52.819072328999994 meters Centerline goodness : 0.809262 Centerline is valid? [False, False] Translation: X:2.52, Y:0.09, Z:-0.68 [[ 0.97808789 -0.18609156 -0.09334885 2.52269871] [ 0.19198366 0.97964514 0.05863169 0.09429675] [ 0.08053788 -0.0752684 0.99390559 -0.68436195] [ 0. 0. 0. 1. ]] SLAMing on 52.849072328999995 meters Centerline goodness : 0.811215 Centerline is valid? [False, False] Translation: X:2.52, Y:0.09, Z:-0.68 [[ 0.97760009 -0.18900662 -0.0925989 2.52097872] [ 0.19456955 0.97933491 0.05518895 0.09441511] [ 0.08025426 -0.07196965 0.99417283 -0.68241901] [ 0. 0. 0. 1. ]] SLAMing on 52.879072328999996 meters Centerline goodness : 0.810354 Centerline is valid? [False, False] Translation: X:2.52, Y:0.09, Z:-0.68 [[ 0.97747037 -0.18914322 -0.09368306 2.52319468] [ 0.19489381 0.97919454 0.05651949 0.09361879] [ 0.08104366 -0.07350438 0.99399649 -0.6818774 ] [ 0. 0. 0. 1. ]] SLAMing on 52.909072329 meters Centerline goodness : 0.811598 Centerline is valid? [False, False] Translation: X:2.52, Y:0.09, Z:-0.68 [[ 0.97713265 -0.19016832 -0.09511992 2.52459453] [ 0.19611903 0.97888541 0.05762528 0.0943039 ] [ 0.082153 -0.07496237 0.99379652 -0.67940042] [ 0. 0. 0. 1. ]] SLAMing on 52.93907232899999 meters Centerline goodness : 0.812601 Centerline is valid? [False, False] Translation: X:2.53, Y:0.09, Z:-0.68 [[ 0.97675345 -0.1914696 -0.09639546 2.52607938] [ 0.1975915 0.97853813 0.05848694 0.094939 ] [ 0.08312816 -0.07617425 0.99362327 -0.67734276] [ 0. 0. 0. 1. ]] SLAMing on 52.96907232899999 meters Centerline goodness : 0.810154 Centerline is valid? [False, False] Translation: X:2.53, Y:0.10, Z:-0.68 [[ 0.97565734 -0.19660699 -0.09715167 2.52887076] [ 0.20254133 0.97770209 0.0554583 0.09623571] [ 0.0840819 -0.07378553 0.99372327 -0.67663057] [ 0. 0. 0. 1. ]] SLAMing on 52.99907232899999 meters Centerline goodness : 0.809805 Centerline is valid? [False, False] Translation: X:2.53, Y:0.10, Z:-0.68 [[ 0.97508198 -0.19939814 -0.09723944 2.53133011] [ 0.2051124 0.97731772 0.05271596 0.09602566] [ 0.08452237 -0.0713474 0.99386393 -0.67781959] [ 0. 0. 0. 1. ]] SLAMing on 53.029072328999995 meters Centerline goodness : 0.808492 Centerline is valid? [False, False] Translation: X:2.53, Y:0.09, Z:-0.68 [[ 0.9745238 -0.20228968 -0.09686196 2.53238077] [ 0.20772236 0.97692758 0.04963784 0.09486139] [ 0.0845859 -0.06849366 0.99405928 -0.67806462] [ 0. 0. 0. 1. ]] SLAMing on 53.059072328999996 meters Centerline goodness : 0.813771 Centerline is valid? [False, False] Translation: X:2.53, Y:0.09, Z:-0.68 [[ 0.97396817 -0.20511418 -0.09650997 2.53146509] [ 0.21039555 0.97643443 0.04805749 0.09151676] [ 0.08437839 -0.06711174 0.99417116 -0.67522178] [ 0. 0. 0. 1. ]] SLAMing on 53.089072329 meters Centerline goodness : 0.816890 Centerline is valid? [False, False] Translation: X:2.53, Y:0.09, Z:-0.67 [[ 0.97383508 -0.20497646 -0.09813201 2.53204011] [ 0.21060255 0.9762518 0.05078373 0.09050922] [ 0.08539208 -0.07012183 0.99387681 -0.67130844] [ 0. 0. 0. 1. ]] SLAMing on 53.119072329 meters Centerline goodness : 0.816454 Centerline is valid? [False, False] Translation: X:2.53, Y:0.09, Z:-0.67 [[ 0.97364257 -0.20506375 -0.09984493 2.53201725] [ 0.21109833 0.9759682 0.05407006 0.09057235] [ 0.08635767 -0.07372201 0.9935328 -0.66690349] [ 0. 0. 0. 1. ]] SLAMing on 53.14907232899999 meters Centerline goodness : 0.815394 Centerline is valid? [False, False] Translation: X:2.53, Y:0.09, Z:-0.67 [[ 0.97339265 -0.20545992 -0.10145428 2.53412069] [ 0.21174675 0.97574425 0.055556 0.09082987] [ 0.0875789 -0.07556041 0.99328775 -0.66501926] [ 0. 0. 0. 1. ]] SLAMing on 53.17907232899999 meters Centerline goodness : 0.814592 Centerline is valid? [False, False] Translation: X:2.53, Y:0.09, Z:-0.67 [[ 0.97285763 -0.20839202 -0.10060222 2.53433834] [ 0.21428175 0.97540367 0.05168176 0.09021573] [ 0.08735771 -0.07183621 0.99358351 -0.66538343] [ 0. 0. 0. 1. ]] SLAMing on 53.209072328999994 meters Centerline goodness : 0.812872 Centerline is valid? [False, False] Translation: X:2.54, Y:0.09, Z:-0.67 [[ 0.97296607 -0.2077918 -0.10079479 2.53810141] [ 0.21368843 0.97553712 0.05161954 0.08818233] [ 0.08760294 -0.07176274 0.99356723 -0.66896196] [ 0. 0. 0. 1. ]] SLAMing on 53.239072328999995 meters Centerline goodness : 0.813196 Centerline is valid? [False, False] Translation: X:2.54, Y:0.09, Z:-0.67 [[ 0.97267903 -0.20965593 -0.09969904 2.53733007] [ 0.21516012 0.97539948 0.04797886 0.08749311] [ 0.08718734 -0.06811929 0.99386022 -0.66926064] [ 0. 0. 0. 1. ]] SLAMing on 53.269072329 meters Centerline goodness : 0.816418 Centerline is valid? [False, False] Translation: X:2.54, Y:0.09, Z:-0.67 [[ 0.97263675 -0.20990872 -0.09957955 2.53832221] [ 0.21536257 0.97537872 0.04749015 0.0855597 ] [ 0.08715917 -0.06763637 0.99389567 -0.66979718] [ 0. 0. 0. 1. ]] SLAMing on 53.299072329 meters Centerline goodness : 0.818711 Centerline is valid? [False, False] Translation: X:2.54, Y:0.08, Z:-0.67 [[ 0.972562 -0.20925025 -0.10167349 2.54148375] [ 0.2151668 0.97524038 0.05108278 0.08262694] [ 0.08846701 -0.07155793 0.99350544 -0.66774791] [ 0. 0. 0. 1. ]] SLAMing on 53.32907232899999 meters Centerline goodness : 0.817245 Centerline is valid? [False, False] Translation: X:2.54, Y:0.08, Z:-0.67 [[ 0.97244163 -0.20900232 -0.10332139 2.54311837] [ 0.21521782 0.97512268 0.05307582 0.08306818] [ 0.08965806 -0.07384975 0.99323091 -0.6656354 ] [ 0. 0. 0. 1. ]] SLAMing on 53.35907232899999 meters Centerline goodness : 0.816507 Centerline is valid? [False, False] Translation: X:2.55, Y:0.08, Z:-0.66 [[ 0.97234918 -0.2087213 -0.10474968 2.54526348] [ 0.21514736 0.97507537 0.05421847 0.0839408 ] [ 0.09082228 -0.0752559 0.99301957 -0.66474401] [ 0. 0. 0. 1. ]] SLAMing on 53.389072328999994 meters Centerline goodness : 0.816816 Centerline is valid? [False, False] Translation: X:2.55, Y:0.08, Z:-0.67 [[ 0.97257208 -0.20779137 -0.10452895 2.54683997] [ 0.21409498 0.975369 0.05309094 0.08371228] [ 0.09092245 -0.07401389 0.99310375 -0.66722522] [ 0. 0. 0. 1. ]] SLAMing on 53.419072328999995 meters Centerline goodness : 0.816237 Centerline is valid? [False, False] Translation: X:2.55, Y:0.08, Z:-0.67 [[ 0.97268019 -0.20733485 -0.10442947 2.54713099] [ 0.21358758 0.97550519 0.05263055 0.08296681] [ 0.09095934 -0.07349753 0.99313872 -0.66752453] [ 0. 0. 0. 1. ]] SLAMing on 53.449072328999996 meters Centerline goodness : 0.814917 Centerline is valid? [False, False] Translation: X:2.55, Y:0.08, Z:-0.67 [[ 0.97291446 -0.20590792 -0.10506847 2.54926674] [ 0.21231716 0.97571543 0.05385923 0.08190621] [ 0.09142689 -0.07470826 0.99300544 -0.66853859] [ 0. 0. 0. 1. ]] SLAMing on 53.479072329 meters Centerline goodness : 0.812784 Centerline is valid? [False, False] Translation: X:2.55, Y:0.08, Z:-0.67 [[ 0.97316611 -0.20484551 -0.10481426 2.54987315] [ 0.21113107 0.97603301 0.05275642 0.08284281] [ 0.09149526 -0.07347031 0.9930915 -0.67019023] [ 0. 0. 0. 1. ]] SLAMing on 53.50907232899999 meters Centerline goodness : 0.811252 Centerline is valid? [False, False] Translation: X:2.55, Y:0.08, Z:-0.67 [[ 0.97314247 -0.20440687 -0.1058847 2.55286751] [ 0.21077245 0.97610947 0.05277571 0.08340256] [ 0.09256734 -0.07367586 0.99297692 -0.67106371] [ 0. 0. 0. 1. ]] SLAMing on 53.53907232899999 meters Centerline goodness : 0.813186 Centerline is valid? [False, False] Translation: X:2.55, Y:0.08, Z:-0.67 [[ 0.97319997 -0.2039758 -0.10618702 2.55271487] [ 0.21038014 0.97618392 0.05296362 0.08393913] [ 0.09285477 -0.07388383 0.99293463 -0.67018667] [ 0. 0. 0. 1. ]] SLAMing on 53.569072328999994 meters Centerline goodness : 0.813292 Centerline is valid? [False, False] Translation: X:2.55, Y:0.08, Z:-0.67 [[ 0.97341403 -0.20274629 -0.10657896 2.55320723] [ 0.20925942 0.97637624 0.05385104 0.08435563] [ 0.09314307 -0.07472201 0.9928449 -0.67022887] [ 0. 0. 0. 1. ]] SLAMing on 53.599072328999995 meters Centerline goodness : 0.814127 Centerline is valid? [False, False] Translation: X:2.55, Y:0.09, Z:-0.67 [[ 0.97360849 -0.20162786 -0.10692388 2.55422236] [ 0.2081421 0.97662759 0.05362297 0.08547009] [ 0.09361293 -0.07446314 0.99282016 -0.67073752] [ 0. 0. 0. 1. ]] SLAMing on 53.629072328999996 meters Centerline goodness : 0.813266 Centerline is valid? [False, False] Translation: X:2.56, Y:0.09, Z:-0.67 [[ 0.97358237 -0.20117484 -0.10800951 2.5572119 ] [ 0.20786457 0.97663137 0.05462138 0.08611186] [ 0.09449703 -0.07562977 0.9926482 -0.67177855] [ 0. 0. 0. 1. ]] SLAMing on 53.659072329 meters Centerline goodness : 0.814062 Centerline is valid? [False, False] Translation: X:2.56, Y:0.09, Z:-0.67 [[ 0.97356596 -0.20118542 -0.1081376 2.55711881] [ 0.20784975 0.97665512 0.05425187 0.086688 ] [ 0.09469845 -0.07529415 0.99265452 -0.67117987] [ 0. 0. 0. 1. ]] SLAMing on 53.68907232899999 meters Centerline goodness : 0.815596 Centerline is valid? [False, False] Translation: X:2.56, Y:0.09, Z:-0.67 [[ 0.97354397 -0.20131581 -0.10809292 2.55723993] [ 0.20792709 0.97666766 0.05372709 0.08661121] [ 0.09475475 -0.07478113 0.99268793 -0.67114564] [ 0. 0. 0. 1. ]] SLAMing on 53.71907232899999 meters Centerline goodness : 0.813619 Centerline is valid? [False, False] Translation: X:2.56, Y:0.09, Z:-0.67 [[ 0.97336708 -0.20191915 -0.10855956 2.55935257] [ 0.20853767 0.97655464 0.05341416 0.08507263] [ 0.095229 -0.07463034 0.99265389 -0.67140313] [ 0. 0. 0. 1. ]] SLAMing on 53.74907232899999 meters Centerline goodness : 0.813871 Centerline is valid? [False, False] Translation: X:2.56, Y:0.08, Z:-0.67 [[ 0.97317119 -0.20247979 -0.10926928 2.56209007] [ 0.20922431 0.97636751 0.05414497 0.08396748] [ 0.09572371 -0.07555412 0.99253642 -0.67216858] [ 0. 0. 0. 1. ]] SLAMing on 53.779072328999995 meters Centerline goodness : 0.813304 Centerline is valid? [False, False] Translation: X:2.56, Y:0.08, Z:-0.67 [[ 0.97285842 -0.2035332 -0.11009418 2.56356933] [ 0.21039672 0.97608547 0.0546843 0.08333409] [ 0.09633126 -0.07636353 0.99241569 -0.67098936] [ 0. 0. 0. 1. ]] SLAMing on 53.809072328999996 meters Centerline goodness : 0.811335 Centerline is valid? [False, False] Translation: X:2.56, Y:0.08, Z:-0.67 [[ 0.97245533 -0.20482457 -0.11125437 2.56364624] [ 0.21196136 0.97564267 0.05651339 0.08252507] [ 0.09696918 -0.07853838 0.9921838 -0.66695576] [ 0. 0. 0. 1. ]] SLAMing on 53.839072329 meters Centerline goodness : 0.811585 Centerline is valid? [False, False] Translation: X:2.56, Y:0.08, Z:-0.67 [[ 0.97235447 -0.20516219 -0.11151353 2.56432668] [ 0.21233859 0.97555003 0.05669628 0.08176437] [ 0.0971551 -0.0788075 0.99214428 -0.66656482] [ 0. 0. 0. 1. ]] SLAMing on 53.869072329 meters Centerline goodness : 0.810384 Centerline is valid? [False, False] Translation: X:2.56, Y:0.08, Z:-0.67 [[ 0.97194417 -0.20762537 -0.1105271 2.56345822] [ 0.21442516 0.97527166 0.05354478 0.08112164] [ 0.09667669 -0.07574232 0.9924297 -0.66634529] [ 0. 0. 0. 1. ]] SLAMing on 53.89907232899999 meters Centerline goodness : 0.811337 Centerline is valid? [False, False] Translation: X:2.56, Y:0.08, Z:-0.67 [[ 0.97150403 -0.21035833 -0.10922128 2.56306855] [ 0.21667947 0.97498609 0.049519 0.07958086] [ 0.09607249 -0.07177392 0.99278325 -0.66709614] [ 0. 0. 0. 1. ]] SLAMing on 53.92907232899999 meters Centerline goodness : 0.811951 Centerline is valid? [False, False] Translation: X:2.56, Y:0.07, Z:-0.67 [[ 0.97066516 -0.2147321 -0.10816319 2.5633477 ] [ 0.22066929 0.97425617 0.0461517 0.07495587] [ 0.09546841 -0.06866614 0.9930613 -0.66638758] [ 0. 0. 0. 1. ]] SLAMing on 53.959072328999994 meters Centerline goodness : 0.811801 Centerline is valid? [False, False] Translation: X:2.56, Y:0.07, Z:-0.66 [[ 0.97018187 -0.21646427 -0.10904291 2.56430047] [ 0.22258395 0.97376356 0.0473382 0.07315625] [ 0.09593498 -0.07019787 0.99290923 -0.66384654] [ 0. 0. 0. 1. ]] SLAMing on 53.989072328999995 meters Centerline goodness : 0.811490 Centerline is valid? [False, False] Translation: X:2.57, Y:0.07, Z:-0.66 [[ 0.96960705 -0.21842427 -0.1102407 2.56618041] [ 0.22474298 0.97321386 0.04842904 0.07186939] [ 0.0967097 -0.07173296 0.99272434 -0.66155165] [ 0. 0. 0. 1. ]] SLAMing on 54.019072329 meters Centerline goodness : 0.809822 Centerline is valid? [False, False] Translation: X:2.57, Y:0.07, Z:-0.66 [[ 0.96848015 -0.22334964 -0.11027759 2.56797142] [ 0.22952352 0.97218092 0.04672493 0.06780124] [ 0.09677377 -0.07056347 0.99280191 -0.65970015] [ 0. 0. 0. 1. ]] SLAMing on 54.049072329 meters Centerline goodness : 0.809463 Centerline is valid? [False, False] Translation: X:2.57, Y:0.07, Z:-0.66 [[ 0.9677778 -0.22644649 -0.11012774 2.56954701] [ 0.23238731 0.971613 0.04432055 0.06581068] [ 0.09696531 -0.06848474 0.99292878 -0.6594216 ] [ 0. 0. 0. 1. ]] SLAMing on 54.07907232899999 meters Centerline goodness : 0.810342 Centerline is valid? [False, False] Translation: X:2.57, Y:0.06, Z:-0.66 [[ 0.96751204 -0.22762527 -0.1100327 2.57082292] [ 0.23350427 0.97137299 0.04370656 0.06272097] [ 0.09693408 -0.06797973 0.99296654 -0.65936393] [ 0. 0. 0. 1. ]] SLAMing on 54.10907232899999 meters Centerline goodness : 0.811071 Centerline is valid? [False, False] Translation: X:2.57, Y:0.06, Z:-0.66 [[ 0.96735534 -0.22862493 -0.10933562 2.5694339 ] [ 0.23439515 0.97118828 0.04303769 0.05908283] [ 0.09634599 -0.06726048 0.99307275 -0.65736495] [ 0. 0. 0. 1. ]] SLAMing on 54.139072328999994 meters Centerline goodness : 0.811560 Centerline is valid? [False, False] Translation: X:2.57, Y:0.06, Z:-0.66 [[ 0.96746585 -0.22786482 -0.10994294 2.57016348] [ 0.2337985 0.97127436 0.04432122 0.05805432] [ 0.09668551 -0.06858376 0.99294923 -0.65647351] [ 0. 0. 0. 1. ]] SLAMing on 54.169072328999995 meters Centerline goodness : 0.810268 Centerline is valid? [False, False] Translation: X:2.57, Y:0.06, Z:-0.66 [[ 0.96771614 -0.22644711 -0.11066701 2.57160874] [ 0.23253992 0.97152246 0.04548942 0.05801784] [ 0.09721454 -0.06975534 0.99281596 -0.65676347] [ 0. 0. 0. 1. ]] SLAMing on 54.199072328999996 meters Centerline goodness : 0.809864 Centerline is valid? [False, False] Translation: X:2.57, Y:0.06, Z:-0.66 [[ 0.96812206 -0.22477796 -0.11051942 2.57170109] [ 0.23085875 0.97192097 0.04553979 0.05833845] [ 0.0971798 -0.06960245 0.99283009 -0.65784036] [ 0. 0. 0. 1. ]] SLAMing on 54.229072329 meters Centerline goodness : 0.808433 Centerline is valid? [False, False] Translation: X:2.57, Y:0.06, Z:-0.66 [[ 0.96927607 -0.22038988 -0.10923463 2.57207872] [ 0.22624338 0.97306293 0.04429977 0.05956455] [ 0.09652895 -0.06765231 0.99302836 -0.66342273] [ 0. 0. 0. 1. ]] SLAMing on 54.25907232899999 meters Centerline goodness : 0.806766 Centerline is valid? [False, False] Translation: X:2.57, Y:0.06, Z:-0.66 [[ 0.96973641 -0.21832789 -0.10928965 2.57263012] [ 0.22418902 0.9735327 0.04442251 0.06051862] [ 0.09669838 -0.06757966 0.99301682 -0.6649361 ] [ 0. 0. 0. 1. ]] SLAMing on 54.28907232899999 meters Centerline goodness : 0.806687 Centerline is valid? [False, False] Translation: X:2.57, Y:0.06, Z:-0.67 [[ 0.97051566 -0.21445805 -0.11003223 2.57351849] [ 0.22062535 0.97421668 0.04718385 0.06155274] [ 0.09707628 -0.07006856 0.99280743 -0.66619926] [ 0. 0. 0. 1. ]] SLAMing on 54.319072328999994 meters Centerline goodness : 0.805200 Centerline is valid? [False, False] Translation: X:2.58, Y:0.06, Z:-0.67 [[ 0.97144555 -0.20940783 -0.11154331 2.57677937] [ 0.21604478 0.97504861 0.05103783 0.06298282] [ 0.09807243 -0.07367882 0.9924481 -0.66898331] [ 0. 0. 0. 1. ]] SLAMing on 54.349072328999995 meters Centerline goodness : 0.804370 Centerline is valid? [False, False] Translation: X:2.58, Y:0.06, Z:-0.67 [[ 0.97244338 -0.20460236 -0.11176649 2.57677972] [ 0.2114616 0.97593229 0.05329313 0.06424275] [ 0.09817263 -0.07545887 0.99230444 -0.67089367] [ 0. 0. 0. 1. ]] SLAMing on 54.379072328999996 meters Centerline goodness : 0.803522 Centerline is valid? [False, False] Translation: X:2.58, Y:0.07, Z:-0.68 [[ 0.97444526 -0.20195331 -0.09834278 2.57705226] [ 0.20749493 0.97697164 0.04972191 0.07095773] [ 0.08603661 -0.06885691 0.99390967 -0.6761597 ] [ 0. 0. 0. 1. ]] SLAMing on 54.409072329 meters Centerline goodness : 0.802852 Centerline is valid? [False, False] Translation: X:2.58, Y:0.07, Z:-0.68 [[ 0.97559723 -0.19619974 -0.09856824 2.57946621] [ 0.20193984 0.97801663 0.05199786 0.07180167] [ 0.08619942 -0.07063382 0.99377086 -0.68129585] [ 0. 0. 0. 1. ]] SLAMing on 54.43907232899999 meters Centerline goodness : 0.800051 Centerline is valid? [False, False] Translation: X:2.58, Y:0.08, Z:-0.69 [[ 0.9775655 -0.18573453 -0.09933975 2.58000133] [ 0.19195134 0.97974141 0.0571091 0.07600978] [ 0.08672014 -0.07489629 0.99341339 -0.68557459] [ 0. 0. 0. 1. ]] SLAMing on 54.46907232899999 meters Centerline goodness : 0.798962 Centerline is valid? [False, False] Translation: X:2.58, Y:0.08, Z:-0.69 [[ 0.97852831 -0.18012755 -0.10018193 2.58051038] [ 0.18672458 0.98052635 0.06084407 0.0784218 ] [ 0.08727133 -0.07824407 0.99310703 -0.68689599] [ 0. 0. 0. 1. ]] SLAMing on 54.49907232899999 meters Centerline goodness : 0.798962 Centerline is valid? [False, False] Translation: X:2.58, Y:0.08, Z:-0.69 [[ 0.97852831 -0.18012755 -0.10018193 2.58051038] [ 0.18672458 0.98052635 0.06084407 0.0784218 ] [ 0.08727133 -0.07824407 0.99310703 -0.68689599] [ 0. 0. 0. 1. ]] SLAMing on 54.529072328999995 meters Centerline goodness : 0.795758 Centerline is valid? [False, False] Translation: X:2.58, Y:0.09, Z:-0.69 [[ 0.97944615 -0.18135458 -0.08829357 2.58194386] [ 0.1868523 0.98064298 0.05852831 0.08622752] [ 0.07597009 -0.07382318 0.99437351 -0.68876282] [ 0. 0. 0. 1. ]] SLAMing on 54.559072328999996 meters Centerline goodness : 0.794729 Centerline is valid? [False, False] Translation: X:2.58, Y:0.09, Z:-0.69 [[ 0.98023097 -0.17736077 -0.08769493 2.58107764] [ 0.1827927 0.98142078 0.05831028 0.08833357] [ 0.07572367 -0.07318753 0.9944393 -0.69133769] [ 0. 0. 0. 1. ]] SLAMing on 54.589072329 meters Centerline goodness : 0.792700 Centerline is valid? [False, False] Translation: X:2.58, Y:0.09, Z:-0.70 [[ 0.98158289 -0.17041449 -0.08633618 2.58056407] [ 0.17566705 0.9827771 0.05736078 0.09102641] [ 0.07507411 -0.07147079 0.99461339 -0.69772355] [ 0. 0. 0. 1. ]] SLAMing on 54.619072329 meters Centerline goodness : 0.793338 Centerline is valid? [False, False] Translation: X:2.58, Y:0.09, Z:-0.70 [[ 0.9821931 -0.16734656 -0.08539232 2.57908826] [ 0.17245276 0.98340415 0.05635887 0.09197499] [ 0.0745437 -0.07008143 0.99475214 -0.6998655 ] [ 0. 0. 0. 1. ]] SLAMing on 54.64907232899999 meters Centerline goodness : 0.793187 Centerline is valid? [False, False] Translation: X:2.58, Y:0.10, Z:-0.70 [[ 0.98297417 -0.16860305 -0.07303969 2.58096272] [ 0.17267101 0.98352714 0.05347045 0.09731306] [ 0.06282123 -0.06517191 0.99589463 -0.70269639] [ 0. 0. 0. 1. ]] SLAMing on 54.67907232899999 meters Centerline goodness : 0.792540 Centerline is valid? [False, False] Translation: X:2.58, Y:0.10, Z:-0.70 [[ 0.98360447 -0.16465968 -0.0735489 2.58113541] [ 0.16894766 0.98400758 0.05644269 0.0977727 ] [ 0.06307884 -0.0679432 0.99569312 -0.70316003] [ 0. 0. 0. 1. ]] SLAMing on 54.709072328999994 meters Centerline goodness : 0.793782 Centerline is valid? [False, False] Translation: X:2.58, Y:0.10, Z:-0.70 [[ 0.98443186 -0.15880923 -0.07532294 2.58247066] [ 0.16362452 0.98452595 0.06273495 0.10076291] [ 0.0641945 -0.07408296 0.99518379 -0.70304636] [ 0. 0. 0. 1. ]] SLAMing on 54.739072328999995 meters Centerline goodness : 0.793638 Centerline is valid? [False, False] Translation: X:2.58, Y:0.10, Z:-0.70 [[ 0.98455034 -0.15808234 -0.0753034 2.58261707] [ 0.16286194 0.98468595 0.06220593 0.10201061] [ 0.06431654 -0.07350893 0.99521848 -0.70363783] [ 0. 0. 0. 1. ]] SLAMing on 54.769072329 meters Centerline goodness : 0.792492 Centerline is valid? [False, False] Translation: X:2.58, Y:0.10, Z:-0.71 [[ 0.98453989 -0.15832166 -0.0749364 2.58326025] [ 0.16294566 0.98479614 0.06021023 0.10280828] [ 0.06426449 -0.07148994 0.99536891 -0.70545699] [ 0. 0. 0. 1. ]] SLAMing on 54.799072329 meters Centerline goodness : 0.791828 Centerline is valid? [False, False] Translation: X:2.58, Y:0.10, Z:-0.71 [[ 0.9843761 -0.16008534 -0.07332376 2.58163166] [ 0.16429618 0.98484851 0.05549935 0.10220759] [ 0.06332816 -0.06667905 0.99576275 -0.7066172 ] [ 0. 0. 0. 1. ]] SLAMing on 54.82907232899999 meters Centerline goodness : 0.791092 Centerline is valid? [False, False] Translation: X:2.58, Y:0.10, Z:-0.71 [[ 0.98415835 -0.16118653 -0.07383252 2.58268221] [ 0.16545322 0.98463608 0.05583036 0.10165467] [ 0.06369906 -0.06716175 0.99570665 -0.70569931] [ 0. 0. 0. 1. ]] SLAMing on 54.85907232899999 meters Centerline goodness : 0.793359 Centerline is valid? [False, False] Translation: X:2.58, Y:0.10, Z:-0.70 [[ 0.9839055 -0.16224167 -0.07488402 2.58370666] [ 0.16667522 0.98434555 0.05729924 0.10145301] [ 0.06441542 -0.06885835 0.99554467 -0.70346833] [ 0. 0. 0. 1. ]] SLAMing on 54.889072328999994 meters Centerline goodness : 0.793332 Centerline is valid? [False, False] Translation: X:2.58, Y:0.10, Z:-0.70 [[ 0.98362293 -0.16343711 -0.07598847 2.58446953] [ 0.16806075 0.98400815 0.05902161 0.10153681] [ 0.06512695 -0.07082568 0.99536034 -0.70072184] [ 0. 0. 0. 1. ]] SLAMing on 54.919072328999995 meters Centerline goodness : 0.791002 Centerline is valid? [False, False] Translation: X:2.59, Y:0.10, Z:-0.70 [[ 0.98307666 -0.16584472 -0.07781908 2.58871437] [ 0.17075592 0.98340153 0.06135014 0.10149223] [ 0.06635281 -0.07359996 0.99507806 -0.69965657] [ 0. 0. 0. 1. ]] SLAMing on 54.949072328999996 meters Centerline goodness : 0.792955 Centerline is valid? [False, False] Translation: X:2.59, Y:0.10, Z:-0.70 [[ 0.98276302 -0.16782462 -0.07753547 2.58946164] [ 0.17256009 0.98322967 0.05901207 0.10152641] [ 0.0663315 -0.07137441 0.99524159 -0.70031006] [ 0. 0. 0. 1. ]] SLAMing on 54.979072329 meters Centerline goodness : 0.794906 Centerline is valid? [False, False] Translation: X:2.59, Y:0.10, Z:-0.70 [[ 0.98242466 -0.17021848 -0.07659926 2.5886757 ] [ 0.17464828 0.98307254 0.05537467 0.10116988] [ 0.06587684 -0.06777937 0.99552308 -0.70051726] [ 0. 0. 0. 1. ]] SLAMing on 55.00907232899999 meters Centerline goodness : 0.796499 Centerline is valid? [False, False] Translation: X:2.59, Y:0.10, Z:-0.70 [[ 0.98200512 -0.17300513 -0.07573083 2.58748386] [ 0.17714365 0.98282084 0.05180079 0.10060337] [ 0.06546804 -0.06428388 0.99578186 -0.69985985] [ 0. 0. 0. 1. ]] SLAMing on 55.03907232899999 meters Centerline goodness : 0.797436 Centerline is valid? [False, False] Translation: X:2.59, Y:0.10, Z:-0.70 [[ 0.98134735 -0.17674837 -0.07561342 2.58892338] [ 0.18075014 0.98226825 0.04978417 0.09969316] [ 0.0654734 -0.0625227 0.99589364 -0.69976591] [ 0. 0. 0. 1. ]] SLAMing on 55.069072328999994 meters Centerline goodness : 0.800079 Centerline is valid? [False, False] Translation: X:2.59, Y:0.10, Z:-0.70 [[ 0.98101444 -0.1783264 -0.07622575 2.58995058] [ 0.18238734 0.98195089 0.05007298 0.09962163] [ 0.06592061 -0.06302493 0.99583248 -0.69851442] [ 0. 0. 0. 1. ]] SLAMing on 55.099072328999995 meters Centerline goodness : 0.801724 Centerline is valid? [False, False] Translation: X:2.59, Y:0.10, Z:-0.70 [[ 0.98085245 -0.17891074 -0.07693774 2.59169548] [ 0.18309946 0.98175491 0.05130183 0.09839261] [ 0.06635555 -0.06440678 0.99571517 -0.69790715] [ 0. 0. 0. 1. ]] SLAMing on 55.129072328999996 meters Centerline goodness : 0.802213 Centerline is valid? [False, False] Translation: X:2.59, Y:0.10, Z:-0.70 [[ 0.98047133 -0.18116525 -0.07651872 2.59076546] [ 0.18523851 0.98142395 0.04993724 0.09552727] [ 0.06605041 -0.06313624 0.99581683 -0.69552691] [ 0. 0. 0. 1. ]] SLAMing on 55.159072329 meters Centerline goodness : 0.804203 Centerline is valid? [False, False] Translation: X:2.59, Y:0.09, Z:-0.69 [[ 0.98029394 -0.18223513 -0.07625063 2.59059284] [ 0.18621287 0.98130003 0.04873416 0.09369436] [ 0.06594367 -0.06197265 0.99589699 -0.69485456] [ 0. 0. 0. 1. ]] SLAMing on 55.18907232899999 meters Centerline goodness : 0.804802 Centerline is valid? [False, False] Translation: X:2.59, Y:0.09, Z:-0.70 [[ 0.98013748 -0.18299422 -0.07644363 2.59186203] [ 0.18697379 0.98116354 0.04856859 0.09236507] [ 0.06611593 -0.06189685 0.99589029 -0.69501758] [ 0. 0. 0. 1. ]] SLAMing on 55.21907232899999 meters Centerline goodness : 0.803947 Centerline is valid? [False, False] Translation: X:2.59, Y:0.09, Z:-0.69 [[ 0.97991335 -0.18430865 -0.07615873 2.59163842] [ 0.18822336 0.98096064 0.04783496 0.08876593] [ 0.06589232 -0.06120897 0.99594762 -0.69330094] [ 0. 0. 0. 1. ]] SLAMing on 55.24907232899999 meters Centerline goodness : 0.804420 Centerline is valid? [False, False] Translation: X:2.59, Y:0.09, Z:-0.69 [[ 0.97980405 -0.1846379 -0.07676502 2.59401347] [ 0.1886638 0.98082163 0.04893775 0.08640013] [ 0.06625702 -0.06243219 0.99584749 -0.69359051] [ 0. 0. 0. 1. ]] SLAMing on 55.279072328999995 meters Centerline goodness : 0.803138 Centerline is valid? [False, False] Translation: X:2.60, Y:0.08, Z:-0.69 [[ 0.97967758 -0.18514671 -0.07715262 2.59537634] [ 0.18923811 0.98068046 0.04954559 0.0845979 ] [ 0.06648886 -0.06313892 0.99578748 -0.69331603] [ 0. 0. 0. 1. ]] SLAMing on 55.309072328999996 meters Centerline goodness : 0.802415 Centerline is valid? [False, False] Translation: X:2.60, Y:0.08, Z:-0.69 [[ 0.97964394 -0.18522592 -0.07738932 2.59629803] [ 0.18937994 0.98061696 0.05025543 0.08265706] [ 0.06658067 -0.06388841 0.99573354 -0.69309737] [ 0. 0. 0. 1. ]] SLAMing on 55.339072329 meters Centerline goodness : 0.803818 Centerline is valid? [False, False] Translation: X:2.60, Y:0.08, Z:-0.69 [[ 0.97988461 -0.1843842 -0.07634544 2.59587486] [ 0.18837931 0.98087948 0.04887406 0.07800751] [ 0.06587407 -0.06227284 0.99588288 -0.69403092] [ 0. 0. 0. 1. ]] SLAMing on 55.369072329 meters Centerline goodness : 0.805025 Centerline is valid? [False, False] Translation: X:2.59, Y:0.08, Z:-0.69 [[ 0.98003579 -0.18418286 -0.07487676 2.59348391] [ 0.18794254 0.98107093 0.04666292 0.07503682] [ 0.0648649 -0.05980386 0.99610042 -0.69408298] [ 0. 0. 0. 1. ]] SLAMing on 55.39907232899999 meters Centerline goodness : 0.805606 Centerline is valid? [False, False] Translation: X:2.59, Y:0.07, Z:-0.69 [[ 0.98019084 -0.18353768 -0.07443008 2.59320167] [ 0.18726527 0.98120381 0.04659184 0.07277465] [ 0.06447972 -0.05960707 0.99613722 -0.69441462] [ 0. 0. 0. 1. ]] SLAMing on 55.42907232899999 meters Centerline goodness : 0.805813 Centerline is valid? [False, False] Translation: X:2.59, Y:0.07, Z:-0.69 [[ 0.98027347 -0.18294508 -0.07479984 2.59319171] [ 0.18677014 0.98124204 0.04775961 0.07117432] [ 0.06465936 -0.06078786 0.99605422 -0.69314716] [ 0. 0. 0. 1. ]] SLAMing on 55.459072328999994 meters Centerline goodness : 0.807380 Centerline is valid? [False, False] Translation: X:2.59, Y:0.07, Z:-0.69 [[ 0.98043572 -0.18187407 -0.07528363 2.59280838] [ 0.18585807 0.9813159 0.04975821 0.06900761] [ 0.0648273 -0.0627768 0.99591992 -0.69099304] [ 0. 0. 0. 1. ]] SLAMing on 55.489072328999995 meters Centerline goodness : 0.806891 Centerline is valid? [False, False] Translation: X:2.59, Y:0.07, Z:-0.69 [[ 0.98043344 -0.18190445 -0.07523985 2.59336246] [ 0.18587175 0.98132418 0.04954348 0.0673726 ] [ 0.0648225 -0.06255905 0.99593394 -0.69124137] [ 0. 0. 0. 1. ]] SLAMing on 55.519072329 meters Centerline goodness : 0.808286 Centerline is valid? [False, False] Translation: X:2.59, Y:0.07, Z:-0.69 [[ 0.98038541 -0.18256765 -0.0742529 2.59169669] [ 0.18629623 0.98137899 0.04678668 0.06540973] [ 0.0643285 -0.05970202 0.99614131 -0.69101058] [ 0. 0. 0. 1. ]] SLAMing on 55.549072329 meters Centerline goodness : 0.810401 Centerline is valid? [False, False] Translation: X:2.59, Y:0.06, Z:-0.69 [[ 0.98064145 -0.18154954 -0.07336285 2.59185873] [ 0.18512066 0.98167703 0.04517236 0.06149392] [ 0.0638176 -0.05787887 0.99628176 -0.69289743] [ 0. 0. 0. 1. ]] SLAMing on 55.57907232899999 meters Centerline goodness : 0.811009 Centerline is valid? [False, False] Translation: X:2.59, Y:0.06, Z:-0.69 [[ 0.98079462 -0.18073036 -0.07333797 2.59159179] [ 0.18433833 0.9817959 0.04578414 0.05991822] [ 0.06372833 -0.05842383 0.99625567 -0.69255539] [ 0. 0. 0. 1. ]] SLAMing on 55.60907232899999 meters Centerline goodness : 0.811200 Centerline is valid? [False, False] Translation: X:2.59, Y:0.06, Z:-0.69 [[ 0.98090392 -0.18012682 -0.07336091 2.5911564 ] [ 0.1837734 0.98187402 0.04637615 0.05895523] [ 0.06367758 -0.05897233 0.9962266 -0.69187781] [ 0. 0. 0. 1. ]] SLAMing on 55.639072328999994 meters Centerline goodness : 0.808780 Centerline is valid? [False, False] Translation: X:2.59, Y:0.06, Z:-0.69 [[ 0.98116299 -0.17863944 -0.07353327 2.59071437] [ 0.18233839 0.98210913 0.047057 0.0585808 ] [ 0.06381146 -0.05957852 0.99618196 -0.69115917] [ 0. 0. 0. 1. ]] SLAMing on 55.669072328999995 meters Centerline goodness : 0.807963 Centerline is valid? [False, False] Translation: X:2.59, Y:0.06, Z:-0.69 [[ 0.98120497 -0.17833706 -0.07370689 2.59112179] [ 0.18205312 0.98215682 0.0471662 0.05854849] [ 0.06398024 -0.05969828 0.99616396 -0.69121053] [ 0. 0. 0. 1. ]] SLAMing on 55.699072328999996 meters Centerline goodness : 0.808859 Centerline is valid? [False, False] Translation: X:2.59, Y:0.06, Z:-0.69 [[ 0.98125728 -0.17802887 -0.07375547 2.59242782] [ 0.18173641 0.98222377 0.04699303 0.05791182] [ 0.06407826 -0.05951631 0.99616855 -0.69255782] [ 0. 0. 0. 1. ]] SLAMing on 55.729072329 meters Centerline goodness : 0.810061 Centerline is valid? [False, False] Translation: X:2.59, Y:0.06, Z:-0.70 [[ 0.9813054 -0.17838399 -0.07224165 2.59232468] [ 0.18174161 0.98241102 0.04287866 0.05562687] [ 0.06332213 -0.05520638 0.99646503 -0.69584113] [ 0. 0. 0. 1. ]] SLAMing on 55.75907232899999 meters Centerline goodness : 0.811481 Centerline is valid? [False, False] Translation: X:2.59, Y:0.05, Z:-0.70 [[ 0.98126236 -0.1786332 -0.07221053 2.59283083] [ 0.18198061 0.98237278 0.04274077 0.05410007] [ 0.06330274 -0.05508083 0.99647321 -0.69597074] [ 0. 0. 0. 1. ]] SLAMing on 55.78907232899999 meters Centerline goodness : 0.813058 Centerline is valid? [False, False] Translation: X:2.59, Y:0.05, Z:-0.70 [[ 0.98123874 -0.17835572 -0.07321053 2.59476008] [ 0.1819105 0.98227992 0.04510806 0.05285381] [ 0.06386796 -0.05757954 0.99629588 -0.69526103] [ 0. 0. 0. 1. ]] SLAMing on 55.819072328999994 meters Centerline goodness : 0.814194 Centerline is valid? [False, False] Translation: X:2.60, Y:0.05, Z:-0.69 [[ 0.98101951 -0.17876662 -0.07512129 2.59578499] [ 0.18276285 0.98187734 0.05014604 0.05270425] [ 0.06479546 -0.06292363 0.99591273 -0.69072756] [ 0. 0. 0. 1. ]] SLAMing on 55.849072328999995 meters Centerline goodness : 0.812562 Centerline is valid? [False, False] Translation: X:2.60, Y:0.05, Z:-0.69 [[ 0.98069798 -0.1802177 -0.07584893 2.59814466] [ 0.1842894 0.98157004 0.05057345 0.05233268] [ 0.06533681 -0.06357543 0.99583596 -0.6907253 ] [ 0. 0. 0. 1. ]] SLAMing on 55.879072328999996 meters Centerline goodness : 0.813224 Centerline is valid? [False, False] Translation: X:2.60, Y:0.05, Z:-0.69 [[ 0.98019176 -0.18307632 -0.07554589 2.59938845] [ 0.1869693 0.98118762 0.0480972 0.05130605] [ 0.06531923 -0.06126924 0.99598167 -0.69132601] [ 0. 0. 0. 1. ]] SLAMing on 55.909072329 meters Centerline goodness : 0.815509 Centerline is valid? [False, False] Translation: X:2.60, Y:0.05, Z:-0.69 [[ 0.97956224 -0.18660326 -0.07508017 2.60169698] [ 0.19025983 0.98070839 0.0448582 0.05013175] [ 0.06526107 -0.05822614 0.99616801 -0.69326391] [ 0. 0. 0. 1. ]] SLAMing on 55.93907232899999 meters Centerline goodness : 0.815066 Centerline is valid? [False, False] Translation: X:2.60, Y:0.05, Z:-0.69 [[ 0.97796856 -0.19527394 -0.07379424 2.60113123] [ 0.19847221 0.97933993 0.03875666 0.04655094] [ 0.06470148 -0.0525489 0.99652011 -0.69056977] [ 0. 0. 0. 1. ]] SLAMing on 55.96907232899999 meters Centerline goodness : 0.814391 Centerline is valid? [False, False] Translation: X:2.61, Y:0.05, Z:-0.69 [[ 0.97710086 -0.1988956 -0.075594 2.60551861] [ 0.20232891 0.97846818 0.04078025 0.045426 ] [ 0.06585531 -0.05514127 0.99630443 -0.6887267 ] [ 0. 0. 0. 1. ]] SLAMing on 55.99907232899999 meters Centerline goodness : 0.814034 Centerline is valid? [False, False] Translation: X:2.61, Y:0.04, Z:-0.68 [[ 0.97528431 -0.2063098 -0.07909979 2.61065822] [ 0.21025411 0.97660147 0.0451971 0.04416381] [ 0.06792436 -0.06071108 0.99584158 -0.68120777] [ 0. 0. 0. 1. ]] SLAMing on 56.029072328999995 meters Centerline goodness : 0.809939 Centerline is valid? [False, False] Translation: X:2.61, Y:0.04, Z:-0.68 [[ 0.97416274 -0.21093264 -0.08071165 2.61490978] [ 0.21504932 0.9755116 0.04616182 0.04365848] [ 0.06899812 -0.06232611 0.99566797 -0.67931989] [ 0. 0. 0. 1. ]] SLAMing on 56.059072328999996 meters Centerline goodness : 0.810065 Centerline is valid? [False, False] Translation: X:2.62, Y:0.04, Z:-0.68 [[ 0.97299097 -0.21603785 -0.08134018 2.61935798] [ 0.22006848 0.97447982 0.04426004 0.04307042] [ 0.06970252 -0.06096503 0.99570318 -0.67994717] [ 0. 0. 0. 1. ]] SLAMing on 56.089072329 meters Centerline goodness : 0.809556 Centerline is valid? [False, False] Translation: X:2.62, Y:0.04, Z:-0.68 [[ 0.9717899 -0.22127595 -0.08161705 2.62402149] [ 0.22513304 0.97344665 0.04143347 0.04233557] [ 0.07028162 -0.05863932 0.99580215 -0.68161618] [ 0. 0. 0. 1. ]] SLAMing on 56.119072329 meters Centerline goodness : 0.806556 Centerline is valid? [False, False] Translation: X:2.63, Y:0.04, Z:-0.68 [[ 0.96946774 -0.23149959 -0.08087178 2.62693371] [ 0.23485742 0.97141058 0.03469114 0.0403231 ] [ 0.07052872 -0.05262528 0.99612061 -0.68061259] [ 0. 0. 0. 1. ]] SLAMing on 56.14907232899999 meters Centerline goodness : 0.806218 Centerline is valid? [False, False] Translation: X:2.63, Y:0.04, Z:-0.68 [[ 0.96842373 -0.22977775 -0.09673501 2.63153856] [ 0.23414163 0.97152369 0.03632385 0.03636116] [ 0.08563394 -0.05782658 0.99464713 -0.67534329] [ 0. 0. 0. 1. ]] SLAMing on 56.17907232899999 meters Centerline goodness : 0.807093 Centerline is valid? [False, False] Translation: X:2.63, Y:0.04, Z:-0.67 [[ 0.96774735 -0.23237631 -0.09729497 2.63167553] [ 0.23684398 0.97084103 0.03704897 0.03525637] [ 0.08584865 -0.05889777 0.99456577 -0.67209511] [ 0. 0. 0. 1. ]] SLAMing on 56.209072328999994 meters Centerline goodness : 0.808733 Centerline is valid? [False, False] Translation: X:2.63, Y:0.03, Z:-0.67 [[ 0.96721292 -0.23409537 -0.09848107 2.63318701] [ 0.23877775 0.97030533 0.03863623 0.03493327] [ 0.08651214 -0.06088455 0.99438862 -0.66961534] [ 0. 0. 0. 1. ]] SLAMing on 56.239072328999995 meters Centerline goodness : 0.805494 Centerline is valid? [False, False] Translation: X:2.64, Y:0.04, Z:-0.67 [[ 0.96583613 -0.23889453 -0.10044884 2.63705792] [ 0.24385311 0.96897847 0.04020438 0.03511513] [ 0.08772816 -0.0633256 0.99412959 -0.66633752] [ 0. 0. 0. 1. ]] SLAMing on 56.269072329 meters Centerline goodness : 0.808233 Centerline is valid? [False, False] Translation: X:2.64, Y:0.03, Z:-0.67 [[ 0.96517573 -0.24117476 -0.10134371 2.64097014] [ 0.24621322 0.96837445 0.04037295 0.03492464] [ 0.08840173 -0.06391915 0.99403193 -0.66715408] [ 0. 0. 0. 1. ]] SLAMing on 56.299072329 meters Centerline goodness : 0.806297 Centerline is valid? [False, False] Translation: X:2.65, Y:0.03, Z:-0.67 [[ 0.96476687 -0.24254159 -0.10197283 2.64537012] [ 0.24761515 0.96802164 0.04025966 0.03441012] [ 0.08894726 -0.06409121 0.99397218 -0.66962024] [ 0. 0. 0. 1. ]] SLAMing on 56.32907232899999 meters Centerline goodness : 0.808538 Centerline is valid? [False, False] Translation: X:2.65, Y:0.03, Z:-0.67 [[ 0.96464198 -0.24280267 -0.10253152 2.64991203] [ 0.24790786 0.96794924 0.04019903 0.03294624] [ 0.08948487 -0.06419604 0.99391716 -0.67290253] [ 0. 0. 0. 1. ]] SLAMing on 56.35907232899999 meters Centerline goodness : 0.808274 Centerline is valid? [False, False] Translation: X:2.65, Y:0.03, Z:-0.67 [[ 0.96503369 -0.24093169 -0.1032565 2.65201744] [ 0.24623083 0.96830546 0.0418916 0.03263662] [ 0.08989082 -0.06585174 0.9937722 -0.67433454] [ 0. 0. 0. 1. ]] SLAMing on 56.389072328999994 meters Centerline goodness : 0.808274 Centerline is valid? [False, False] Translation: X:2.65, Y:0.03, Z:-0.67 [[ 0.96503369 -0.24093169 -0.1032565 2.65201744] [ 0.24623083 0.96830546 0.0418916 0.03263662] [ 0.08989082 -0.06585174 0.9937722 -0.67433454] [ 0. 0. 0. 1. ]] SLAMing on 56.419072328999995 meters Centerline goodness : 0.808663 Centerline is valid? [False, False] Translation: X:2.65, Y:0.03, Z:-0.67 [[ 0.96528396 -0.23979129 -0.10357129 2.65068817] [ 0.24519126 0.96852884 0.04281504 0.03318619] [ 0.09004511 -0.06672345 0.99370009 -0.67266439] [ 0. 0. 0. 1. ]] SLAMing on 56.449072328999996 meters Centerline goodness : 0.807812 Centerline is valid? [False, False] Translation: X:2.65, Y:0.03, Z:-0.67 [[ 0.96589759 -0.2366225 -0.10512677 2.65279873] [ 0.24248288 0.96902607 0.04680307 0.03350059] [ 0.09079592 -0.07069842 0.99335685 -0.67298717] [ 0. 0. 0. 1. ]] SLAMing on 56.479072329 meters Centerline goodness : 0.806204 Centerline is valid? [False, False] Translation: X:2.65, Y:0.04, Z:-0.67 [[ 0.96697334 -0.23167614 -0.10624843 2.65263061] [ 0.2379039 0.96999638 0.05008743 0.03551424] [ 0.09145653 -0.07371013 0.9930773 -0.67308134] [ 0. 0. 0. 1. ]] SLAMing on 56.50907232899999 meters Centerline goodness : 0.806380 Centerline is valid? [False, False] Translation: X:2.65, Y:0.04, Z:-0.67 [[ 0.96730754 -0.23039294 -0.10599626 2.65220054] [ 0.23651389 0.97038295 0.0491743 0.03714555] [ 0.09152756 -0.07263626 0.99314988 -0.67437039] [ 0. 0. 0. 1. ]] SLAMing on 56.53907232899999 meters Centerline goodness : 0.805927 Centerline is valid? [False, False] Translation: X:2.65, Y:0.04, Z:-0.68 [[ 0.967773 -0.2285366 -0.10576594 2.65374806] [ 0.23454064 0.97091296 0.048153 0.03864644] [ 0.0916848 -0.07140759 0.99322447 -0.6781951 ] [ 0. 0. 0. 1. ]] SLAMing on 56.569072328999994 meters Centerline goodness : 0.806352 Centerline is valid? [False, False] Translation: X:2.66, Y:0.05, Z:-0.68 [[ 0.96879338 -0.22930202 -0.09412744 2.65889032] [ 0.23425259 0.97112054 0.04528384 0.04576958] [ 0.08102541 -0.06592028 0.99452974 -0.68378983] [ 0. 0. 0. 1. ]] SLAMing on 56.599072328999995 meters Centerline goodness : 0.808157 Centerline is valid? [False, False] Translation: X:2.66, Y:0.05, Z:-0.68 [[ 0.96921263 -0.22743683 -0.09433648 2.65747993] [ 0.23242729 0.97154155 0.04565719 0.04724942] [ 0.08126769 -0.0661779 0.99449286 -0.68298928] [ 0. 0. 0. 1. ]] SLAMing on 56.629072328999996 meters Centerline goodness : 0.808793 Centerline is valid? [False, False] Translation: X:2.66, Y:0.05, Z:-0.68 [[ 0.96988403 -0.22414264 -0.09531554 2.6584888 ] [ 0.22941034 0.97212962 0.04832087 0.04822348] [ 0.0818283 -0.06873201 0.99427362 -0.68368657] [ 0. 0. 0. 1. ]] SLAMing on 56.659072329 meters Centerline goodness : 0.807730 Centerline is valid? [False, False] Translation: X:2.66, Y:0.05, Z:-0.68 [[ 0.97101125 -0.21886495 -0.09610038 2.65780931] [ 0.22440521 0.97315542 0.05109621 0.04995297] [ 0.08233743 -0.07118042 0.9940593 -0.68404516] [ 0. 0. 0. 1. ]] SLAMing on 56.68907232899999 meters Centerline goodness : 0.807819 Centerline is valid? [False, False] Translation: X:2.66, Y:0.05, Z:-0.68 [[ 0.97128446 -0.21760941 -0.09619063 2.6564816 ] [ 0.22315839 0.97343891 0.05115682 0.05130589] [ 0.0825035 -0.07115357 0.99404745 -0.68321915] [ 0. 0. 0. 1. ]] SLAMing on 56.71907232899999 meters Centerline goodness : 0.808236 Centerline is valid? [False, False] Translation: X:2.66, Y:0.05, Z:-0.69 [[ 0.97208908 -0.21888803 -0.08444441 2.66198325] [ 0.22379342 0.97315591 0.05370357 0.05463429] [ 0.0704225 -0.07110276 0.99497993 -0.69074058] [ 0. 0. 0. 1. ]] SLAMing on 56.74907232899999 meters Centerline goodness : 0.810137 Centerline is valid? [False, False] Translation: X:2.66, Y:0.06, Z:-0.69 [[ 0.97250984 -0.21697385 -0.08453974 2.66124434] [ 0.22189865 0.97357826 0.05391073 0.05564684] [ 0.07060883 -0.07118797 0.99496064 -0.69087761] [ 0. 0. 0. 1. ]] SLAMing on 56.779072328999995 meters Centerline goodness : 0.811160 Centerline is valid? [False, False] Translation: X:2.67, Y:0.06, Z:-0.70 [[ 0.97378759 -0.2102303 -0.08683863 2.66630236] [ 0.21565801 0.9747066 0.05864022 0.06009962] [ 0.07231423 -0.07583056 0.99449504 -0.6957475 ] [ 0. 0. 0. 1. ]] SLAMing on 56.809072328999996 meters Centerline goodness : 0.810999 Centerline is valid? [False, False] Translation: X:2.67, Y:0.06, Z:-0.70 [[ 0.974378 -0.2070398 -0.08787516 2.66714936] [ 0.21269805 0.97522853 0.06073596 0.06264479] [ 0.0731236 -0.07787066 0.99427818 -0.69638491] [ 0. 0. 0. 1. ]] SLAMing on 56.839072329 meters Centerline goodness : 0.813200 Centerline is valid? [False, False] Translation: X:2.67, Y:0.07, Z:-0.70 [[ 0.97494748 -0.20393246 -0.08881983 2.6678066 ] [ 0.20983104 0.97570544 0.06300653 0.06503609] [ 0.07381292 -0.08006521 0.99405292 -0.6968581 ] [ 0. 0. 0. 1. ]] SLAMing on 56.869072329 meters Centerline goodness : 0.813575 Centerline is valid? [False, False] Translation: X:2.67, Y:0.07, Z:-0.70 [[ 0.9756729 -0.2001553 -0.08944416 2.66772525] [ 0.20619001 0.9764042 0.0641912 0.06880297] [ 0.07448545 -0.08107211 0.99392114 -0.69791205] [ 0. 0. 0. 1. ]] SLAMing on 56.89907232899999 meters Centerline goodness : 0.812199 Centerline is valid? [False, False] Translation: X:2.67, Y:0.07, Z:-0.70 [[ 0.97565281 -0.20031588 -0.08930363 2.66782577] [ 0.20622365 0.97649727 0.06264896 0.07050777] [ 0.07465517 -0.07954016 0.99403218 -0.69879307] [ 0. 0. 0. 1. ]] SLAMing on 56.92907232899999 meters Centerline goodness : 0.810880 Centerline is valid? [False, False] Translation: X:2.67, Y:0.07, Z:-0.70 [[ 0.97553079 -0.20089259 -0.08934113 2.66893546] [ 0.20672243 0.97646068 0.06156598 0.07201655] [ 0.07486995 -0.07852833 0.99409647 -0.70002851] [ 0. 0. 0. 1. ]] SLAMing on 56.959072328999994 meters Centerline goodness : 0.809065 Centerline is valid? [False, False] Translation: X:2.67, Y:0.07, Z:-0.70 [[ 0.97534031 -0.20145791 -0.09014432 2.67109905] [ 0.20736678 0.97631169 0.06176163 0.07392691] [ 0.07556658 -0.07893155 0.99401182 -0.70060752] [ 0. 0. 0. 1. ]] SLAMing on 56.989072328999995 meters Centerline goodness : 0.807460 Centerline is valid? [False, False] Translation: X:2.68, Y:0.08, Z:-0.70 [[ 0.97517682 -0.20067271 -0.09359827 2.67752152] [ 0.20727947 0.97597653 0.06711961 0.07838188] [ 0.07788064 -0.08485449 0.99334502 -0.70089944] [ 0. 0. 0. 1. ]] SLAMing on 57.019072329 meters Centerline goodness : 0.807677 Centerline is valid? [False, False] Translation: X:2.68, Y:0.08, Z:-0.70 [[ 0.97498814 -0.20096941 -0.09491801 2.68054915] [ 0.20780254 0.97576646 0.06854131 0.08061272] [ 0.07884311 -0.08655117 0.99312268 -0.70141417] [ 0. 0. 0. 1. ]] SLAMing on 57.049072329 meters Centerline goodness : 0.806480 Centerline is valid? [False, False] Translation: X:2.68, Y:0.08, Z:-0.70 [[ 0.97480853 -0.20161181 -0.09539921 2.68195372] [ 0.20847929 0.9756293 0.06843877 0.08184434] [ 0.0792762 -0.08660345 0.99308364 -0.70176749] [ 0. 0. 0. 1. ]] SLAMing on 57.07907232899999 meters Centerline goodness : 0.806102 Centerline is valid? [False, False] Translation: X:2.68, Y:0.08, Z:-0.70 [[ 0.97465883 -0.20201331 -0.096077 2.68464445] [ 0.20898845 0.97547821 0.06903694 0.08291746] [ 0.07977464 -0.08736645 0.99297689 -0.70309521] [ 0. 0. 0. 1. ]] SLAMing on 57.10907232899999 meters Centerline goodness : 0.804310 Centerline is valid? [False, False] Translation: X:2.69, Y:0.09, Z:-0.70 [[ 0.97407519 -0.20412927 -0.0975129 2.68798855] [ 0.21127359 0.97495055 0.06953346 0.08649059] [ 0.08087644 -0.08833272 0.99280226 -0.70327803] [ 0. 0. 0. 1. ]] SLAMing on 57.139072328999994 meters Centerline goodness : 0.804185 Centerline is valid? [False, False] Translation: X:2.69, Y:0.09, Z:-0.70 [[ 0.97369856 -0.20568952 -0.09799453 2.68914879] [ 0.21281064 0.97467472 0.06870822 0.08795807] [ 0.08138023 -0.08775537 0.99281229 -0.70299596] [ 0. 0. 0. 1. ]] SLAMing on 57.169072328999995 meters Centerline goodness : 0.806213 Centerline is valid? [False, False] Translation: X:2.69, Y:0.09, Z:-0.70 [[ 0.97336894 -0.20705166 -0.09839981 2.69053469] [ 0.21414603 0.97443672 0.06793057 0.08847115] [ 0.08181925 -0.08719343 0.99282572 -0.70308092] [ 0. 0. 0. 1. ]] SLAMing on 57.199072328999996 meters Centerline goodness : 0.808334 Centerline is valid? [False, False] Translation: X:2.69, Y:0.09, Z:-0.70 [[ 0.97297386 -0.2085276 -0.09918723 2.69119103] [ 0.21573321 0.97405264 0.06841512 0.0898472 ] [ 0.08234714 -0.0879641 0.99271409 -0.70144254] [ 0. 0. 0. 1. ]] SLAMing on 57.229072329 meters Centerline goodness : 0.805631 Centerline is valid? [False, False] Translation: X:2.69, Y:0.09, Z:-0.70 [[ 0.97280224 -0.20878215 -0.10032856 2.69118022] [ 0.21622305 0.97383085 0.07000762 0.09179243] [ 0.08308671 -0.08979691 0.99248834 -0.69892693] [ 0. 0. 0. 1. ]] SLAMing on 57.25907232899999 meters Centerline goodness : 0.806052 Centerline is valid? [False, False] Translation: X:2.69, Y:0.10, Z:-0.70 [[ 0.97299583 -0.21316034 -0.08855384 2.6932473 ] [ 0.21945839 0.97319928 0.06871086 0.09794141] [ 0.0715341 -0.08628927 0.99369866 -0.69964824] [ 0. 0. 0. 1. ]] SLAMing on 57.28907232899999 meters Centerline goodness : 0.805836 Centerline is valid? [False, False] Translation: X:2.69, Y:0.10, Z:-0.70 [[ 0.9730404 -0.21273394 -0.08908789 2.6939911 ] [ 0.21908163 0.97328093 0.06875663 0.09923354] [ 0.07208067 -0.0864205 0.99364776 -0.6996522 ] [ 0. 0. 0. 1. ]] SLAMing on 57.319072328999994 meters Centerline goodness : 0.806594 Centerline is valid? [False, False] Translation: X:2.70, Y:0.10, Z:-0.70 [[ 0.97341611 -0.21107494 -0.08892939 2.69683529] [ 0.21724858 0.97384436 0.06655981 0.10107094] [ 0.07255428 -0.08411017 0.99381153 -0.70445188] [ 0. 0. 0. 1. ]] SLAMing on 57.349072328999995 meters Centerline goodness : 0.806052 Centerline is valid? [False, False] Translation: X:2.70, Y:0.10, Z:-0.71 [[ 0.97365832 -0.21016879 -0.08842263 2.69588437] [ 0.21621629 0.97415131 0.0654197 0.10191598] [ 0.07238784 -0.08281485 0.99393244 -0.70513825] [ 0. 0. 0. 1. ]] SLAMing on 57.379072328999996 meters Centerline goodness : 0.807613 Centerline is valid? [False, False] Translation: X:2.70, Y:0.10, Z:-0.70 [[ 0.97379553 -0.20941458 -0.08870065 2.69535138] [ 0.21546784 0.97433271 0.06518722 0.10378481] [ 0.07277279 -0.08259116 0.99392295 -0.70458654] [ 0. 0. 0. 1. ]] SLAMing on 57.409072329 meters Centerline goodness : 0.804217 Centerline is valid? [False, False] Translation: X:2.70, Y:0.11, Z:-0.70 [[ 0.97422297 -0.20638665 -0.09107228 2.69703163] [ 0.21293293 0.97461805 0.06913186 0.10854003] [ 0.0744928 -0.08674213 0.99344181 -0.70333126] [ 0. 0. 0. 1. ]] SLAMing on 57.43907232899999 meters Centerline goodness : 0.804592 Centerline is valid? [False, False] Translation: X:2.70, Y:0.11, Z:-0.70 [[ 0.97424518 -0.20588943 -0.09195577 2.69705656] [ 0.21257857 0.97463343 0.0700002 0.11104541] [ 0.07521086 -0.08774519 0.99329961 -0.70196042] [ 0. 0. 0. 1. ]] SLAMing on 57.46907232899999 meters Centerline goodness : 0.802461 Centerline is valid? [False, False] Translation: X:2.70, Y:0.11, Z:-0.70 [[ 0.97432193 -0.20533328 -0.09238515 2.69648822] [ 0.21207714 0.97472661 0.07022335 0.11281851] [ 0.07563108 -0.08801293 0.99324401 -0.70090281] [ 0. 0. 0. 1. ]] SLAMing on 57.49907232899999 meters Centerline goodness : 0.802839 Centerline is valid? [False, False] Translation: X:2.70, Y:0.12, Z:-0.70 [[ 0.97434107 -0.20533712 -0.09217453 2.6961333 ] [ 0.211938 0.97487317 0.06858995 0.11653365] [ 0.07577442 -0.08636529 0.99337771 -0.70184052] [ 0. 0. 0. 1. ]] SLAMing on 57.529072328999995 meters Centerline goodness : 0.801919 Centerline is valid? [False, False] Translation: X:2.70, Y:0.12, Z:-0.70 [[ 0.97415379 -0.20623867 -0.0921412 2.69652323] [ 0.21273111 0.97479719 0.06720049 0.11844978] [ 0.07595964 -0.08506491 0.99347576 -0.70226086] [ 0. 0. 0. 1. ]] SLAMing on 57.559072328999996 meters Centerline goodness : 0.798011 Centerline is valid? [False, False] Translation: X:2.70, Y:0.12, Z:-0.70 [[ 0.97378048 -0.20706577 -0.09420908 2.70194595] [ 0.21381527 0.97449013 0.06820563 0.12287159] [ 0.07768277 -0.08656065 0.99321329 -0.70423022] [ 0. 0. 0. 1. ]] SLAMing on 57.589072329 meters Centerline goodness : 0.796271 Centerline is valid? [False, False] Translation: X:2.70, Y:0.13, Z:-0.70 [[ 0.97354631 -0.20787833 -0.09483772 2.70217611] [ 0.21469045 0.97429137 0.06829598 0.12519749] [ 0.07820232 -0.08685005 0.99314725 -0.70302015] [ 0. 0. 0. 1. ]] SLAMing on 57.61907232899999 meters Centerline goodness : 0.796292 Centerline is valid? [False, False] Translation: X:2.70, Y:0.13, Z:-0.70 [[ 0.9733017 -0.20839442 -0.09620585 2.70404323] [ 0.21539219 0.97407892 0.06911197 0.12723657] [ 0.07930955 -0.08798878 0.9929592 -0.7019726 ] [ 0. 0. 0. 1. ]] SLAMing on 57.64907232899999 meters Centerline goodness : 0.794806 Centerline is valid? [False, False] Translation: X:2.70, Y:0.13, Z:-0.70 [[ 0.9730678 -0.20920804 -0.09680415 2.70451228] [ 0.21624614 0.97390156 0.06894457 0.12939555] [ 0.07985395 -0.08802126 0.99291269 -0.70109525] [ 0. 0. 0. 1. ]] SLAMing on 57.67907232899999 meters Centerline goodness : 0.790640 Centerline is valid? [False, False] Translation: X:2.71, Y:0.13, Z:-0.70 [[ 0.97249612 -0.21098134 -0.09868215 2.70759372] [ 0.21822817 0.97342479 0.06943089 0.13398448] [ 0.08141103 -0.0890565 0.9926939 -0.70035603] [ 0. 0. 0. 1. ]] SLAMing on 57.709072328999994 meters Centerline goodness : 0.788465 Centerline is valid? [False, False] Translation: X:2.71, Y:0.14, Z:-0.70 [[ 0.97216534 -0.21222119 -0.09928098 2.70856025] [ 0.2194855 0.97317444 0.06897553 0.13592654] [ 0.08197964 -0.08884636 0.99266594 -0.69980783] [ 0. 0. 0. 1. ]] SLAMing on 57.739072328999995 meters Centerline goodness : 0.786966 Centerline is valid? [False, False] Translation: X:2.71, Y:0.14, Z:-0.70 [[ 0.97192991 -0.21311338 -0.09967415 2.7097008 ] [ 0.22035972 0.97302293 0.06832257 0.13740176] [ 0.08242478 -0.08836892 0.99267169 -0.69992224] [ 0. 0. 0. 1. ]] SLAMing on 57.769072329 meters Centerline goodness : 0.785914 Centerline is valid? [False, False] Translation: X:2.71, Y:0.14, Z:-0.70 [[ 0.97152491 -0.21465037 -0.10032227 2.71090547] [ 0.2219169 0.97270198 0.0678509 0.13938967] [ 0.08301945 -0.08818205 0.99263875 -0.69929068] [ 0. 0. 0. 1. ]] SLAMing on 57.799072329 meters Centerline goodness : 0.782848 Centerline is valid? [False, False] Translation: X:2.71, Y:0.14, Z:-0.70 [[ 0.97119651 -0.21568757 -0.101273 2.71208123] [ 0.22305672 0.97242749 0.06804759 0.14090577] [ 0.08380363 -0.0886772 0.99252874 -0.69805967] [ 0. 0. 0. 1. ]] SLAMing on 57.82907232899999 meters Centerline goodness : 0.781145 Centerline is valid? [False, False] Translation: X:2.71, Y:0.14, Z:-0.70 [[ 0.97083024 -0.2169273 -0.10213317 2.71266308] [ 0.22439134 0.97210706 0.0682377 0.14304493] [ 0.08448176 -0.08916502 0.99242754 -0.69664591] [ 0. 0. 0. 1. ]] SLAMing on 57.85907232899999 meters Centerline goodness : 0.781596 Centerline is valid? [False, False] Translation: X:2.71, Y:0.15, Z:-0.70 [[ 0.97045728 -0.21812594 -0.10312 2.71357846] [ 0.22567956 0.97180961 0.06822622 0.14567007] [ 0.0853311 -0.08948271 0.99232628 -0.69533628] [ 0. 0. 0. 1. ]] SLAMing on 57.889072328999994 meters Centerline goodness : 0.779472 Centerline is valid? [False, False] Translation: X:2.72, Y:0.15, Z:-0.69 [[ 0.96975777 -0.2201538 -0.10536681 2.71680094] [ 0.22793054 0.97127103 0.06841246 0.15115293] [ 0.08727847 -0.09035983 0.9920774 -0.69403404] [ 0. 0. 0. 1. ]] SLAMing on 57.919072328999995 meters Centerline goodness : 0.778458 Centerline is valid? [False, False] Translation: X:2.72, Y:0.15, Z:-0.69 [[ 0.96951009 -0.22111323 -0.10563679 2.71821631] [ 0.22882143 0.97113651 0.06733974 0.15306226] [ 0.08769803 -0.08945851 0.99212208 -0.69487675] [ 0. 0. 0. 1. ]] SLAMing on 57.949072328999996 meters Centerline goodness : 0.778020 Centerline is valid? [False, False] Translation: X:2.72, Y:0.15, Z:-0.70 [[ 0.96936756 -0.22190306 -0.10528798 2.71885811] [ 0.22941613 0.97112408 0.06546948 0.15421248] [ 0.08771982 -0.08761875 0.99228433 -0.69609224] [ 0. 0. 0. 1. ]] SLAMing on 57.979072329 meters Centerline goodness : 0.779383 Centerline is valid? [False, False] Translation: X:2.72, Y:0.16, Z:-0.70 [[ 0.96930272 -0.22215637 -0.10535077 2.72017829] [ 0.22957276 0.97116454 0.06431 0.15510678] [ 0.08802606 -0.08652153 0.99235348 -0.69720942] [ 0. 0. 0. 1. ]] SLAMing on 58.00907232899999 meters Centerline goodness : 0.775857 Centerline is valid? [False, False] Translation: X:2.72, Y:0.16, Z:-0.70 [[ 0.96898579 -0.22232556 -0.10787906 2.72281113] [ 0.23021707 0.97082353 0.06709531 0.15908777] [ 0.08981452 -0.08985 0.99189734 -0.6951457 ] [ 0. 0. 0. 1. ]] SLAMing on 58.03907232899999 meters Centerline goodness : 0.775344 Centerline is valid? [False, False] Translation: X:2.72, Y:0.16, Z:-0.69 [[ 0.96861013 -0.22318088 -0.10947474 2.72339919] [ 0.23137254 0.970432 0.06876401 0.16197916] [ 0.09089098 -0.09193497 0.99160818 -0.69244061] [ 0. 0. 0. 1. ]] SLAMing on 58.069072328999994 meters Centerline goodness : 0.774229 Centerline is valid? [False, False] Translation: X:2.72, Y:0.17, Z:-0.69 [[ 0.96825427 -0.22406026 -0.11081818 2.72423273] [ 0.23245782 0.97011179 0.06961656 0.16509263] [ 0.09190772 -0.09316708 0.99139945 -0.69068526] [ 0. 0. 0. 1. ]] SLAMing on 58.099072328999995 meters Centerline goodness : 0.773413 Centerline is valid? [False, False] Translation: X:2.73, Y:0.17, Z:-0.69 [[ 0.96816153 -0.2240167 -0.11171293 2.72724733] [ 0.23235947 0.97024064 0.0681335 0.17026838] [ 0.09312539 -0.09192179 0.99140206 -0.69307832] [ 0. 0. 0. 1. ]] SLAMing on 58.129072328999996 meters Centerline goodness : 0.772859 Centerline is valid? [False, False] Translation: X:2.73, Y:0.17, Z:-0.69 [[ 0.96825358 -0.22410934 -0.11072488 2.72676202] [ 0.23211809 0.97047755 0.06553263 0.17183048] [ 0.09276954 -0.08915345 0.99168819 -0.69475802] [ 0. 0. 0. 1. ]] SLAMing on 58.159072329 meters Centerline goodness : 0.771671 Centerline is valid? [False, False] Translation: X:2.73, Y:0.17, Z:-0.70 [[ 0.96836684 -0.22392407 -0.11010755 2.72622189] [ 0.23172898 0.97067641 0.06394519 0.17329657] [ 0.09255994 -0.08743751 0.99186054 -0.69568781] [ 0. 0. 0. 1. ]] SLAMing on 58.18907232899999 meters Centerline goodness : 0.771203 Centerline is valid? [False, False] Translation: X:2.73, Y:0.18, Z:-0.70 [[ 0.96857258 -0.22172775 -0.11271185 2.72909349] [ 0.23001609 0.97090243 0.06664137 0.17878216] [ 0.09465597 -0.09047254 0.99139042 -0.69516444] [ 0. 0. 0. 1. ]] SLAMing on 58.21907232899999 meters Centerline goodness : 0.767395 Centerline is valid? [False, False] Translation: X:2.73, Y:0.18, Z:-0.69 [[ 0.96859868 -0.22072675 -0.11443908 2.73089028] [ 0.22939405 0.970889 0.06894145 0.18206247] [ 0.09589042 -0.09302824 0.9910352 -0.6944994 ] [ 0. 0. 0. 1. ]] SLAMing on 58.24907232899999 meters Centerline goodness : 0.767959 Centerline is valid? [False, False] Translation: X:2.73, Y:0.18, Z:-0.69 [[ 0.96856703 -0.22044737 -0.11524267 2.73148296] [ 0.22920757 0.97092 0.0691249 0.18477402] [ 0.09665301 -0.09336659 0.9909293 -0.69384824] [ 0. 0. 0. 1. ]] SLAMing on 58.279072328999995 meters Centerline goodness : 0.769892 Centerline is valid? [False, False] Translation: X:2.73, Y:0.19, Z:-0.69 [[ 0.96862929 -0.21999776 -0.11557807 2.73144976] [ 0.22876575 0.97104073 0.06889212 0.18678205] [ 0.0970749 -0.09317123 0.99090645 -0.6934411 ] [ 0. 0. 0. 1. ]] SLAMing on 58.309072328999996 meters Centerline goodness : 0.769892 Centerline is valid? [False, False] Translation: X:2.73, Y:0.19, Z:-0.69 [[ 0.96862929 -0.21999776 -0.11557807 2.73144976] [ 0.22876575 0.97104073 0.06889212 0.18678205] [ 0.0970749 -0.09317123 0.99090645 -0.6934411 ] [ 0. 0. 0. 1. ]] SLAMing on 58.339072329 meters Centerline goodness : 0.765731 Centerline is valid? [False, False] Translation: X:2.73, Y:0.19, Z:-0.69 [[ 0.96907546 -0.21759338 -0.11638673 2.73182748] [ 0.22659935 0.97142659 0.07059115 0.18971019] [ 0.097701 -0.09478131 0.99069219 -0.69350035] [ 0. 0. 0. 1. ]] SLAMing on 58.36907232899999 meters Centerline goodness : 0.766211 Centerline is valid? [False, False] Translation: X:2.73, Y:0.19, Z:-0.69 [[ 0.96904541 -0.21715964 -0.11744229 2.73380951] [ 0.2263297 0.9714427 0.07123169 0.19201632] [ 0.0986198 -0.09560742 0.99052176 -0.69393789] [ 0. 0. 0. 1. ]] SLAMing on 58.39907232899999 meters Centerline goodness : 0.766384 Centerline is valid? [False, False] Translation: X:2.73, Y:0.19, Z:-0.69 [[ 0.96902781 -0.21708551 -0.11772415 2.73442073] [ 0.22625224 0.97148304 0.07092697 0.19395032] [ 0.0989698 -0.09536556 0.99051017 -0.69429128] [ 0. 0. 0. 1. ]] SLAMing on 58.42907232899999 meters Centerline goodness : 0.766037 Centerline is valid? [False, False] Translation: X:2.74, Y:0.20, Z:-0.70 [[ 0.96895838 -0.2175633 -0.11741324 2.73510834] [ 0.22648097 0.97158833 0.0687203 0.19738004] [ 0.09912632 -0.09317898 0.9907026 -0.69621257] [ 0. 0. 0. 1. ]] SLAMing on 58.459072328999994 meters Centerline goodness : 0.764559 Centerline is valid? [False, False] Translation: X:2.74, Y:0.20, Z:-0.70 [[ 0.96895592 -0.21772132 -0.11714034 2.73533099] [ 0.22647242 0.97168929 0.06730657 0.19869196] [ 0.09916994 -0.09174616 0.99083196 -0.69705427] [ 0. 0. 0. 1. ]] SLAMing on 58.489072328999995 meters Centerline goodness : 0.762534 Centerline is valid? [False, False] Translation: X:2.74, Y:0.20, Z:-0.70 [[ 0.96903722 -0.21734154 -0.11717304 2.73544648] [ 0.22603901 0.97182845 0.06675192 0.19994363] [ 0.09936413 -0.09117077 0.99086561 -0.69730834] [ 0. 0. 0. 1. ]] SLAMing on 58.519072329 meters Centerline goodness : 0.765010 Centerline is valid? [False, False] Translation: X:2.73, Y:0.20, Z:-0.70 [[ 0.96920756 -0.21639492 -0.11751568 2.73446493] [ 0.22520387 0.97196559 0.06757296 0.20109926] [ 0.09959876 -0.09195721 0.99076938 -0.69575458] [ 0. 0. 0. 1. ]] SLAMing on 58.549072329 meters Centerline goodness : 0.764297 Centerline is valid? [False, False] Translation: X:2.74, Y:0.21, Z:-0.69 [[ 0.96983457 -0.21888715 -0.10728149 2.73546726] [ 0.2269122 0.97145002 0.06925112 0.20853419] [ 0.08906042 -0.09150561 0.99181398 -0.69349386] [ 0. 0. 0. 1. ]] SLAMing on 58.57907232899999 meters Centerline goodness : 0.762097 Centerline is valid? [False, False] Translation: X:2.74, Y:0.21, Z:-0.69 [[ 0.96986736 -0.21833472 -0.10810762 2.73553145] [ 0.22651297 0.97148162 0.07010944 0.21015201] [ 0.08971724 -0.09248464 0.99166396 -0.69200303] [ 0. 0. 0. 1. ]] SLAMing on 58.60907232899999 meters Centerline goodness : 0.763928 Centerline is valid? [False, False] Translation: X:2.74, Y:0.21, Z:-0.69 [[ 0.96983114 -0.21848255 -0.10813384 2.73544082] [ 0.22662297 0.97148816 0.06966185 0.21137936] [ 0.08983085 -0.09206585 0.99169264 -0.69165851] [ 0. 0. 0. 1. ]] SLAMing on 58.639072328999994 meters Centerline goodness : 0.763279 Centerline is valid? [False, False] Translation: X:2.74, Y:0.21, Z:-0.69 [[ 0.96983944 -0.21838666 -0.10825312 2.73616086] [ 0.22654075 0.97150517 0.06969211 0.21112432] [ 0.08994864 -0.0921139 0.9916775 -0.69200629] [ 0. 0. 0. 1. ]] SLAMing on 58.669072328999995 meters Centerline goodness : 0.762392 Centerline is valid? [False, False] Translation: X:2.74, Y:0.21, Z:-0.70 [[ 0.96939189 -0.22131457 -0.10629781 2.73649066] [ 0.22878064 0.9713746 0.06395938 0.21194673] [ 0.08909985 -0.08632058 0.99227515 -0.69506335] [ 0. 0. 0. 1. ]] SLAMing on 58.699072328999996 meters Centerline goodness : 0.760441 Centerline is valid? [False, False] Translation: X:2.74, Y:0.21, Z:-0.70 [[ 0.96895296 -0.22312124 -0.10652264 2.73861843] [ 0.23039834 0.97114447 0.06160372 0.21258674] [ 0.08970378 -0.08423375 0.99240007 -0.69584482] [ 0. 0. 0. 1. ]] SLAMing on 58.729072329 meters Centerline goodness : 0.760743 Centerline is valid? [False, False] Translation: X:2.74, Y:0.21, Z:-0.70 [[ 0.96860966 -0.22429327 -0.10718147 2.7402339 ] [ 0.23159252 0.97088587 0.06120075 0.21289257] [ 0.09033405 -0.08410206 0.99235407 -0.69551787] [ 0. 0. 0. 1. ]] SLAMing on 58.75907232899999 meters Centerline goodness : 0.759538 Centerline is valid? [False, False] Translation: X:2.74, Y:0.21, Z:-0.69 [[ 0.96828151 -0.22419622 -0.11030402 2.74213533] [ 0.23221367 0.97042088 0.06603122 0.21445708] [ 0.09223738 -0.08955091 0.99170202 -0.69144184] [ 0. 0. 0. 1. ]] SLAMing on 58.78907232899999 meters Centerline goodness : 0.758170 Centerline is valid? [False, False] Translation: X:2.74, Y:0.22, Z:-0.69 [[ 0.9681477 -0.22476915 -0.11031253 2.7407495 ] [ 0.23268724 0.97038096 0.06494191 0.21751629] [ 0.09244824 -0.08854167 0.99177301 -0.6897213 ] [ 0. 0. 0. 1. ]] SLAMing on 58.819072328999994 meters Centerline goodness : 0.759965 Centerline is valid? [False, False] Translation: X:2.74, Y:0.22, Z:-0.69 [[ 0.96807317 -0.22514931 -0.11019128 2.73980056] [ 0.23299867 0.97034824 0.06431114 0.21865747] [ 0.09244431 -0.08793231 0.99182758 -0.68865156] [ 0. 0. 0. 1. ]] SLAMing on 58.849072328999995 meters Centerline goodness : 0.760773 Centerline is valid? [False, False] Translation: X:2.73, Y:0.22, Z:-0.69 [[ 0.96889471 -0.22550707 -0.10192943 2.73044341] [ 0.23222102 0.97084056 0.05951478 0.21607805] [ 0.08553622 -0.08133371 0.99300976 -0.69163188] [ 0. 0. 0. 1. ]] SLAMing on 58.879072328999996 meters Centerline goodness : 0.763734 Centerline is valid? [False, False] Translation: X:2.73, Y:0.21, Z:-0.69 [[ 0.96909128 -0.22651951 -0.09772918 2.72591184] [ 0.23271462 0.97085275 0.05734844 0.21489513] [ 0.08189011 -0.07831888 0.99355934 -0.69294825] [ 0. 0. 0. 1. ]] SLAMing on 58.909072329 meters Centerline goodness : 0.763985 Centerline is valid? [False, False] Translation: X:2.73, Y:0.22, Z:-0.69 [[ 0.96908135 -0.22657016 -0.09771029 2.72629399] [ 0.2327487 0.97085544 0.05716436 0.21535327] [ 0.08191083 -0.07813886 0.99357181 -0.69328677] [ 0. 0. 0. 1. ]] SLAMing on 58.93907232899999 meters Centerline goodness : 0.761783 Centerline is valid? [False, False] Translation: X:2.73, Y:0.22, Z:-0.69 [[ 0.9689702 -0.22702937 -0.09774664 2.72538522] [ 0.233132 0.97081977 0.05619999 0.21828859] [ 0.08213532 -0.07724399 0.99362325 -0.69211034] [ 0. 0. 0. 1. ]] SLAMing on 58.96907232899999 meters Centerline goodness : 0.760767 Centerline is valid? [False, False] Translation: X:2.73, Y:0.22, Z:-0.69 [[ 0.96883986 -0.22648078 -0.10027857 2.72811077] [ 0.23300767 0.97069084 0.05887894 0.22044127] [ 0.08400454 -0.08040994 0.99321573 -0.69015214] [ 0. 0. 0. 1. ]] SLAMing on 58.99907232899999 meters Centerline goodness : 0.760208 Centerline is valid? [False, False] Translation: X:2.73, Y:0.22, Z:-0.69 [[ 0.96878411 -0.22670614 -0.10030789 2.72769687] [ 0.23318461 0.97068486 0.0582738 0.22182424] [ 0.08415632 -0.07984498 0.99324845 -0.68925399] [ 0. 0. 0. 1. ]] SLAMing on 59.029072328999995 meters Centerline goodness : 0.760453 Centerline is valid? [False, False] Translation: X:2.73, Y:0.22, Z:-0.69 [[ 0.96868674 -0.22728228 -0.0999438 2.72635041] [ 0.23365665 0.9706249 0.0573748 0.22171805] [ 0.08396766 -0.07893074 0.99333749 -0.68753755] [ 0. 0. 0. 1. ]] SLAMing on 59.059072328999996 meters Centerline goodness : 0.761179 Centerline is valid? [False, False] Translation: X:2.73, Y:0.22, Z:-0.69 [[ 0.96865372 -0.22745987 -0.09985975 2.72603763] [ 0.23379071 0.97061855 0.05693454 0.22238231] [ 0.0839754 -0.07849614 0.99337127 -0.68702489] [ 0. 0. 0. 1. ]] SLAMing on 59.089072329 meters Centerline goodness : 0.763157 Centerline is valid? [False, False] Translation: X:2.73, Y:0.22, Z:-0.69 [[ 0.96863031 -0.22755958 -0.09985968 2.72617591] [ 0.23386571 0.9706177 0.05664012 0.22314736] [ 0.08403657 -0.07821709 0.99338811 -0.68699465] [ 0. 0. 0. 1. ]] SLAMing on 59.11907232899999 meters Centerline goodness : 0.762280 Centerline is valid? [False, False] Translation: X:2.73, Y:0.22, Z:-0.69 [[ 0.9685646 -0.2279355 -0.09963944 2.72578361] [ 0.23422042 0.97053535 0.05658556 0.223157 ] [ 0.08380574 -0.07814436 0.99341334 -0.68743481] [ 0. 0. 0. 1. ]] SLAMing on 59.14907232899999 meters Centerline goodness : 0.763222 Centerline is valid? [False, False] Translation: X:2.73, Y:0.22, Z:-0.69 [[ 0.96853203 -0.22806397 -0.09966207 2.72568716] [ 0.2343375 0.97051637 0.05642625 0.22313497] [ 0.08385487 -0.07800519 0.99342013 -0.6870094 ] [ 0. 0. 0. 1. ]] SLAMing on 59.17907232899999 meters Centerline goodness : 0.765582 Centerline is valid? [False, False] Translation: X:2.73, Y:0.22, Z:-0.69 [[ 0.96852494 -0.22806849 -0.09972063 2.72584333] [ 0.234336 0.97052403 0.05630047 0.22288281] [ 0.08394091 -0.07789654 0.99342139 -0.68658283] [ 0. 0. 0. 1. ]] SLAMing on 59.209072328999994 meters Centerline goodness : 0.763664 Centerline is valid? [False, False] Translation: X:2.73, Y:0.22, Z:-0.69 [[ 0.96850862 -0.22814915 -0.09969466 2.72569405] [ 0.23439861 0.97052001 0.05610888 0.22271098] [ 0.08395446 -0.07771022 0.99343483 -0.68601883] [ 0. 0. 0. 1. ]] SLAMing on 59.239072328999995 meters Centerline goodness : 0.765675 Centerline is valid? [False, False] Translation: X:2.73, Y:0.22, Z:-0.69 [[ 0.96847245 -0.22831326 -0.09967027 2.72524374] [ 0.23452858 0.97051081 0.05572355 0.22347613] [ 0.08400865 -0.07734225 0.99345897 -0.6852561 ] [ 0. 0. 0. 1. ]] SLAMing on 59.269072329 meters Centerline goodness : 0.764206 Centerline is valid? [False, False] Translation: X:2.72, Y:0.22, Z:-0.68 [[ 0.96920525 -0.22506455 -0.09993564 2.72228029] [ 0.23158985 0.97100924 0.05922153 0.22405828] [ 0.08370977 -0.0805419 0.99322992 -0.68431368] [ 0. 0. 0. 1. ]] SLAMing on 59.299072329 meters Centerline goodness : 0.763945 Centerline is valid? [False, False] Translation: X:2.72, Y:0.22, Z:-0.68 [[ 0.96918481 -0.22514871 -0.09994427 2.7224185 ] [ 0.23166639 0.97099712 0.05912091 0.22423433] [ 0.0837346 -0.08045281 0.99323505 -0.68437606] [ 0. 0. 0. 1. ]] SLAMing on 59.32907232899999 meters Centerline goodness : 0.763719 Centerline is valid? [False, False] Translation: X:2.72, Y:0.22, Z:-0.68 [[ 0.96883159 -0.22676693 -0.09971009 2.71554434] [ 0.23183277 0.97183114 0.04240038 0.22411663] [ 0.08728637 -0.06419489 0.99411272 -0.6805258 ] [ 0. 0. 0. 1. ]] SLAMing on 59.35907232899999 meters Centerline goodness : 0.762148 Centerline is valid? [False, False] Translation: X:2.72, Y:0.22, Z:-0.68 [[ 0.96793677 -0.23074759 -0.09926712 2.7173047 ] [ 0.23543031 0.97113961 0.03821541 0.22463651] [ 0.08758412 -0.06036059 0.99432672 -0.6804545 ] [ 0. 0. 0. 1. ]] SLAMing on 59.389072328999994 meters Centerline goodness : 0.785916 Centerline is valid? [False, False] Translation: X:2.72, Y:0.22, Z:-0.68 [[ 0.9679248 -0.23086669 -0.0991068 2.71732979] [ 0.23557393 0.97108953 0.03860106 0.22228852] [ 0.08732988 -0.0607099 0.99432781 -0.68074283] [ 0. 0. 0. 1. ]] SLAMing on 59.419072328999995 meters Centerline goodness : 0.767453 Centerline is valid? [False, False] Translation: X:2.72, Y:0.22, Z:-0.68 [[ 0.96784136 -0.23139243 -0.09869476 2.71582686] [ 0.23606503 0.97097532 0.03847382 0.22133505] [ 0.08692763 -0.06053493 0.99437373 -0.67999171] [ 0. 0. 0. 1. ]] SLAMing on 59.449072328999996 meters Centerline goodness : 0.760964 Centerline is valid? [False, False] Translation: X:2.71, Y:0.22, Z:-0.68 [[ 0.96754809 -0.23294094 -0.09792451 2.71133137] [ 0.23746102 0.97068451 0.0372 0.22259187] [ 0.08638841 -0.05924604 0.99449834 -0.67659422] [ 0. 0. 0. 1. ]] SLAMing on 59.479072329 meters Centerline goodness : 0.759628 Centerline is valid? [False, False] Translation: X:2.71, Y:0.22, Z:-0.67 [[ 0.96740724 -0.23361774 -0.09770353 2.70949152] [ 0.23807456 0.97055713 0.03659737 0.22312006] [ 0.08627707 -0.05866529 0.99454243 -0.67483536] [ 0. 0. 0. 1. ]] SLAMing on 59.50907232899999 meters Centerline goodness : 0.760963 Centerline is valid? [False, False] Translation: X:2.71, Y:0.22, Z:-0.67 [[ 0.96727888 -0.23434439 -0.09723304 2.70751891] [ 0.23875873 0.97039646 0.03640023 0.222013 ] [ 0.08582441 -0.05842441 0.99459578 -0.67371791] [ 0. 0. 0. 1. ]] SLAMing on 59.53907232899999 meters Centerline goodness : 0.759495 Centerline is valid? [False, False] Translation: X:2.71, Y:0.22, Z:-0.67 [[ 0.96626465 -0.23873288 -0.09663975 2.70798814] [ 0.24274723 0.96956189 0.03199263 0.22247363] [ 0.08606053 -0.05437238 0.99480512 -0.67249818] [ 0. 0. 0. 1. ]] SLAMing on 59.569072328999994 meters Centerline goodness : 0.764220 Centerline is valid? [False, False] Translation: X:2.71, Y:0.22, Z:-0.67 [[ 0.96433673 -0.24685469 -0.0954853 2.71110742] [ 0.25017141 0.96789675 0.02429302 0.22125399] [ 0.08642307 -0.04731434 0.99513437 -0.67283986] [ 0. 0. 0. 1. ]] SLAMing on 59.599072328999995 meters Centerline goodness : 0.769021 Centerline is valid? [False, False] Translation: X:2.71, Y:0.22, Z:-0.67 [[ 0.96332921 -0.25097755 -0.0949058 2.71249638] [ 0.25392295 0.96701451 0.02015118 0.22190302] [ 0.08671779 -0.04351098 0.99528228 -0.67284296] [ 0. 0. 0. 1. ]] SLAMing on 59.629072328999996 meters Centerline goodness : 0.762498 Centerline is valid? [False, False] Translation: X:2.71, Y:0.22, Z:-0.67 [[ 0.96307151 -0.25218609 -0.0943157 2.71038821] [ 0.25510207 0.96670608 0.02005716 0.2203082 ] [ 0.08611742 -0.04337661 0.99534027 -0.67261037] [ 0. 0. 0. 1. ]] SLAMing on 59.659072329 meters Centerline goodness : 0.764062 Centerline is valid? [False, False] Translation: X:2.72, Y:0.21, Z:-0.66 [[ 0.96278484 -0.24610527 -0.11170296 2.71750624] [ 0.24996261 0.96801159 0.0217313 0.21464882] [ 0.10278157 -0.04884413 0.993504 -0.66350218] [ 0. 0. 0. 1. ]] SLAMing on 59.68907232899999 meters Centerline goodness : 0.764140 Centerline is valid? [False, False] Translation: X:2.72, Y:0.21, Z:-0.66 [[ 0.96228848 -0.2473866 -0.11314037 2.72143842] [ 0.25139171 0.96762636 0.02239299 0.21277678] [ 0.10393788 -0.04999106 0.99332664 -0.66335445] [ 0. 0. 0. 1. ]] SLAMing on 59.71907232899999 meters Centerline goodness : 0.769992 Centerline is valid? [False, False] Translation: X:2.72, Y:0.21, Z:-0.66 [[ 0.96213702 -0.24824107 -0.1125554 2.71956122] [ 0.25221285 0.96741453 0.02231171 0.20896306] [ 0.10334904 -0.04985484 0.99339492 -0.66209811] [ 0. 0. 0. 1. ]] SLAMing on 59.74907232899999 meters Centerline goodness : 0.773158 Centerline is valid? [False, False] Translation: X:2.73, Y:0.20, Z:-0.65 [[ 0.96148615 -0.24275128 -0.12890381 2.7263257 ] [ 0.24781199 0.96849718 0.0245444 0.19887781] [ 0.11888479 -0.055543 0.99135331 -0.65414517] [ 0. 0. 0. 1. ]] SLAMing on 59.779072328999995 meters Centerline goodness : 0.765268 Centerline is valid? [False, False] Translation: X:2.73, Y:0.20, Z:-0.65 [[ 0.96144795 -0.24290609 -0.12889714 2.72601396] [ 0.24797576 0.96845352 0.02461287 0.19834216] [ 0.11885228 -0.05562736 0.99135248 -0.65378492] [ 0. 0. 0. 1. ]] SLAMing on 59.809072328999996 meters Centerline goodness : 0.766474 Centerline is valid? [False, False] Translation: X:2.73, Y:0.20, Z:-0.65 [[ 0.96106975 -0.24320003 -0.13114373 2.72945682] [ 0.2486403 0.96823089 0.02658835 0.19874431] [ 0.12051113 -0.05816088 0.99100675 -0.65236073] [ 0. 0. 0. 1. ]] SLAMing on 59.839072329 meters Centerline goodness : 0.765502 Centerline is valid? [False, False] Translation: X:2.73, Y:0.20, Z:-0.65 [[ 0.96106366 -0.24312598 -0.13132559 2.72972329] [ 0.24856492 0.96825284 0.02649364 0.19906046] [ 0.12071508 -0.058105 0.99098521 -0.65192683] [ 0. 0. 0. 1. ]] SLAMing on 59.86907232899999 meters Centerline goodness : 0.767653 Centerline is valid? [False, False] Translation: X:2.73, Y:0.20, Z:-0.66 [[ 0.9616242 -0.24135238 -0.13049114 2.73187358] [ 0.24663788 0.96876578 0.02574146 0.19560487] [ 0.12020258 -0.05693767 0.99111525 -0.65510039] [ 0. 0. 0. 1. ]] SLAMing on 59.89907232899999 meters Centerline goodness : 0.773575 Centerline is valid? [False, False] Translation: X:2.73, Y:0.19, Z:-0.66 [[ 0.96152114 -0.24247378 -0.12916485 2.73099837] [ 0.24731917 0.96866927 0.02265102 0.19434743] [ 0.11962574 -0.05372438 0.9913644 -0.655383 ] [ 0. 0. 0. 1. ]] SLAMing on 59.92907232899999 meters Centerline goodness : 0.765936 Centerline is valid? [False, False] Translation: X:2.73, Y:0.19, Z:-0.66 [[ 0.96153306 -0.24202462 -0.12991638 2.73352988] [ 0.24697835 0.96874245 0.02323286 0.19271021] [ 0.12023259 -0.05442569 0.99125273 -0.6558887 ] [ 0. 0. 0. 1. ]] SLAMing on 59.959072328999994 meters Centerline goodness : 0.766278 Centerline is valid? [False, False] Translation: X:2.73, Y:0.19, Z:-0.65 [[ 0.96167455 -0.2411389 -0.13051473 2.73447195] [ 0.24626304 0.96889547 0.02441491 0.19029135] [ 0.12056775 -0.05562015 0.99114571 -0.65481834] [ 0. 0. 0. 1. ]] SLAMing on 59.989072328999995 meters Centerline goodness : 0.765873 Centerline is valid? [False, False] Translation: X:2.73, Y:0.19, Z:-0.65 [[ 0.96179893 -0.24048114 -0.13081149 2.7344699 ] [ 0.24565846 0.96904033 0.02475409 0.18947176] [ 0.12080871 -0.0559434 0.99109817 -0.65380811] [ 0. 0. 0. 1. ]] SLAMing on 60.019072329 meters Centerline goodness : 0.766281 Centerline is valid? [False, False] Translation: X:2.73, Y:0.19, Z:-0.65 [[ 0.9621024 -0.23928668 -0.13077023 2.73476291] [ 0.24450951 0.96931884 0.02522058 0.18852656] [ 0.1207231 -0.05623934 0.99109186 -0.65408994] [ 0. 0. 0. 1. ]] SLAMing on 60.049072329 meters Centerline goodness : 0.766764 Centerline is valid? [False, False] Translation: X:2.73, Y:0.19, Z:-0.65 [[ 0.96237246 -0.23839704 -0.13040746 2.73471462] [ 0.2435818 0.96955468 0.02513237 0.18771962] [ 0.12044568 -0.05595158 0.9911419 -0.65477463] [ 0. 0. 0. 1. ]] SLAMing on 60.07907232899999 meters Centerline goodness : 0.768739 Centerline is valid? [False, False] Translation: X:2.74, Y:0.19, Z:-0.66 [[ 0.96283743 -0.23718414 -0.12918111 2.73537206] [ 0.24204384 0.96999059 0.02308758 0.18531772] [ 0.11982845 -0.05349708 0.99135221 -0.65714169] [ 0. 0. 0. 1. ]] SLAMing on 60.10907232899999 meters Centerline goodness : 0.768468 Centerline is valid? [False, False] Translation: X:2.74, Y:0.18, Z:-0.66 [[ 0.96304419 -0.23582009 -0.1301337 2.73852022] [ 0.24091944 0.97023038 0.02471502 0.18390548] [ 0.12043137 -0.05515339 0.99118837 -0.65850255] [ 0. 0. 0. 1. ]] SLAMing on 60.139072328999994 meters Centerline goodness : 0.766752 Centerline is valid? [False, False] Translation: X:2.74, Y:0.18, Z:-0.66 [[ 0.96331419 -0.23466791 -0.13021808 2.73809707] [ 0.23981885 0.97049128 0.02517118 0.18331061] [ 0.12046864 -0.0554765 0.99116581 -0.6577789 ] [ 0. 0. 0. 1. ]] SLAMing on 60.169072328999995 meters Centerline goodness : 0.769782 Centerline is valid? [False, False] Translation: X:2.74, Y:0.18, Z:-0.66 [[ 0.96441577 -0.23011252 -0.13019392 2.73726437] [ 0.23551029 0.9714829 0.02749331 0.18187201] [ 0.12015461 -0.05717699 0.99110729 -0.6577834 ] [ 0. 0. 0. 1. ]] SLAMing on 60.199072328999996 meters Centerline goodness : 0.769782 Centerline is valid? [False, False] Translation: X:2.74, Y:0.18, Z:-0.66 [[ 0.96441577 -0.23011252 -0.13019392 2.73726437] [ 0.23551029 0.9714829 0.02749331 0.18187201] [ 0.12015461 -0.05717699 0.99110729 -0.6577834 ] [ 0. 0. 0. 1. ]] SLAMing on 60.229072329 meters Centerline goodness : 0.768901 Centerline is valid? [False, False] Translation: X:2.74, Y:0.18, Z:-0.66 [[ 0.96478442 -0.2287447 -0.12987254 2.73740486] [ 0.23406854 0.97184179 0.02711909 0.1815234 ] [ 0.12001221 -0.05656315 0.99115976 -0.65863646] [ 0. 0. 0. 1. ]] SLAMing on 60.25907232899999 meters Centerline goodness : 0.769074 Centerline is valid? [False, False] Translation: X:2.74, Y:0.18, Z:-0.66 [[ 0.96518292 -0.22716411 -0.12968577 2.73759501] [ 0.23250109 0.97220977 0.02741171 0.18066633] [ 0.11985482 -0.0566094 0.99117617 -0.65941757] [ 0. 0. 0. 1. ]] SLAMing on 60.28907232899999 meters Centerline goodness : 0.772265 Centerline is valid? [False, False] Translation: X:2.74, Y:0.19, Z:-0.66 [[ 0.96617004 -0.22948412 -0.11769662 2.74009952] [ 0.23395925 0.97191081 0.02554293 0.18601574] [ 0.10852892 -0.05221502 0.99272104 -0.66172484] [ 0. 0. 0. 1. ]] SLAMing on 60.319072328999994 meters Centerline goodness : 0.770217 Centerline is valid? [False, False] Translation: X:2.74, Y:0.19, Z:-0.66 [[ 0.96657568 -0.22762946 -0.11796733 2.74100798] [ 0.23219545 0.97231237 0.02634232 0.18610404] [ 0.10870481 -0.05285333 0.99266802 -0.6625553 ] [ 0. 0. 0. 1. ]] SLAMing on 60.349072328999995 meters Centerline goodness : 0.772161 Centerline is valid? [False, False] Translation: X:2.74, Y:0.19, Z:-0.66 [[ 0.96700407 -0.22601221 -0.11756535 2.74014693] [ 0.23053354 0.97271112 0.02621763 0.185659 ] [ 0.10843162 -0.05245531 0.99271901 -0.66261361] [ 0. 0. 0. 1. ]] SLAMing on 60.379072328999996 meters Centerline goodness : 0.772821 Centerline is valid? [False, False] Translation: X:2.74, Y:0.19, Z:-0.66 [[ 0.96781438 -0.22315134 -0.1163564 2.73803647] [ 0.22751323 0.97344133 0.02548924 0.18545389] [ 0.10757817 -0.05114147 0.9928804 -0.66344346] [ 0. 0. 0. 1. ]] SLAMing on 60.409072329 meters Centerline goodness : 0.771988 Centerline is valid? [False, False] Translation: X:2.74, Y:0.18, Z:-0.66 [[ 0.96804812 -0.22225063 -0.11613565 2.73816604] [ 0.22656152 0.97367154 0.02517177 0.18498211] [ 0.10748354 -0.05067935 0.99291434 -0.66386395] [ 0. 0. 0. 1. ]] SLAMing on 60.43907232899999 meters Centerline goodness : 0.772800 Centerline is valid? [False, False] Translation: X:2.74, Y:0.18, Z:-0.66 [[ 0.96813301 -0.22173053 -0.11642183 2.73905458] [ 0.2260824 0.97377588 0.02544189 0.18421525] [ 0.10772753 -0.05095207 0.99287394 -0.66390651] [ 0. 0. 0. 1. ]] SLAMing on 60.46907232899999 meters Centerline goodness : 0.773367 Centerline is valid? [False, False] Translation: X:2.74, Y:0.18, Z:-0.66 [[ 0.96798077 -0.22186842 -0.11742075 2.74042797] [ 0.22642889 0.97365701 0.02686974 0.18303571] [ 0.10836598 -0.05259684 0.99271868 -0.66231809] [ 0. 0. 0. 1. ]] SLAMing on 60.49907232899999 meters Centerline goodness : 0.772236 Centerline is valid? [False, False] Translation: X:2.74, Y:0.18, Z:-0.66 [[ 0.96781372 -0.22233695 -0.11791046 2.7418845 ] [ 0.22695752 0.97352602 0.02715444 0.18173087] [ 0.10875147 -0.0530411 0.99265289 -0.66189906] [ 0. 0. 0. 1. ]] SLAMing on 60.529072328999995 meters Centerline goodness : 0.771426 Centerline is valid? [False, False] Translation: X:2.74, Y:0.18, Z:-0.66 [[ 0.9677559 -0.22249902 -0.11807921 2.74427962] [ 0.22713083 0.9734853 0.02716547 0.17975141] [ 0.10890408 -0.05310897 0.99263253 -0.66330215] [ 0. 0. 0. 1. ]] SLAMing on 60.559072328999996 meters Centerline goodness : 0.771224 Centerline is valid? [False, False] Translation: X:2.74, Y:0.18, Z:-0.66 [[ 0.96699589 -0.22613013 -0.11740572 2.74370346] [ 0.23049571 0.97275566 0.02486281 0.17592278] [ 0.10858485 -0.05110375 0.99277275 -0.66098655] [ 0. 0. 0. 1. ]] SLAMing on 60.589072329 meters Centerline goodness : 0.771201 Centerline is valid? [False, False] Translation: X:2.75, Y:0.17, Z:-0.66 [[ 0.96644939 -0.22811494 -0.11806421 2.74500118] [ 0.23255583 0.97225837 0.02512855 0.1742168 ] [ 0.10905672 -0.05174199 0.99268797 -0.65944215] [ 0. 0. 0. 1. ]] SLAMing on 60.61907232899999 meters Centerline goodness : 0.773869 Centerline is valid? [False, False] Translation: X:2.75, Y:0.17, Z:-0.66 [[ 0.96556606 -0.23160919 -0.1184878 2.74548112] [ 0.23598382 0.97145726 0.02413363 0.17324204] [ 0.10951626 -0.05126382 0.99266218 -0.65697515] [ 0. 0. 0. 1. ]] SLAMing on 60.64907232899999 meters Centerline goodness : 0.773641 Centerline is valid? [False, False] Translation: X:2.75, Y:0.17, Z:-0.65 [[ 0.96463322 -0.23541093 -0.11859361 2.74561418] [ 0.23961743 0.97061007 0.02235127 0.17191339] [ 0.10984642 -0.04997787 0.99269128 -0.65447549] [ 0. 0. 0. 1. ]] SLAMing on 60.67907232899999 meters Centerline goodness : 0.776272 Centerline is valid? [False, False] Translation: X:2.75, Y:0.17, Z:-0.65 [[ 0.96309343 -0.24129456 -0.1192811 2.74947065] [ 0.24533793 0.9692263 0.02024052 0.16908415] [ 0.11072645 -0.04875769 0.99265419 -0.65346781] [ 0. 0. 0. 1. ]] SLAMing on 60.709072328999994 meters Centerline goodness : 0.776781 Centerline is valid? [False, False] Translation: X:2.75, Y:0.17, Z:-0.65 [[ 0.96249433 -0.24386789 -0.11888276 2.75066344] [ 0.24767334 0.96867389 0.01813319 0.1669204 ] [ 0.11073652 -0.04689718 0.9927427 -0.65342829] [ 0. 0. 0. 1. ]] SLAMing on 60.739072328999995 meters Centerline goodness : 0.778598 Centerline is valid? [False, False] Translation: X:2.75, Y:0.16, Z:-0.65 [[ 0.9617568 -0.24682687 -0.11874492 2.75094336] [ 0.25043142 0.96799845 0.01622039 0.16479563] [ 0.11094127 -0.04533753 0.9927923 -0.65149735] [ 0. 0. 0. 1. ]] SLAMing on 60.769072329 meters Centerline goodness : 0.777697 Centerline is valid? [False, False] Translation: X:2.75, Y:0.16, Z:-0.65 [[ 0.96059165 -0.25069136 -0.12007303 2.75336327] [ 0.25439457 0.96696273 0.01632419 0.16097596] [ 0.11201381 -0.04622681 0.99263084 -0.64784851] [ 0. 0. 0. 1. ]] SLAMing on 60.799072329 meters Centerline goodness : 0.776053 Centerline is valid? [False, False] Translation: X:2.76, Y:0.16, Z:-0.65 [[ 0.96009919 -0.25172568 -0.12183485 2.75698653] [ 0.25570602 0.96658774 0.01796033 0.15903809] [ 0.11324299 -0.0483976 0.99238788 -0.64657293] [ 0. 0. 0. 1. ]] SLAMing on 60.82907232899999 meters Centerline goodness : 0.775264 Centerline is valid? [False, False] Translation: X:2.76, Y:0.16, Z:-0.64 [[ 0.95894865 -0.2552029 -0.12364858 2.76183478] [ 0.25934326 0.96561068 0.01836023 0.15597766] [ 0.11471081 -0.04967395 0.9921562 -0.6449869 ] [ 0. 0. 0. 1. ]] SLAMing on 60.85907232899999 meters Centerline goodness : 0.774916 Centerline is valid? [False, False] Translation: X:2.76, Y:0.15, Z:-0.65 [[ 0.95837511 -0.25723565 -0.12388286 2.7643784 ] [ 0.26123121 0.96512853 0.01688714 0.15491321] [ 0.11521891 -0.04854628 0.99215314 -0.64548137] [ 0. 0. 0. 1. ]] SLAMing on 60.889072328999994 meters Centerline goodness : 0.775964 Centerline is valid? [False, False] Translation: X:2.77, Y:0.15, Z:-0.65 [[ 0.95797694 -0.25828417 -0.12477769 2.7690103 ] [ 0.26226261 0.96485888 0.01629904 0.15322174] [ 0.11618308 -0.04833862 0.99205084 -0.64699185] [ 0. 0. 0. 1. ]] SLAMing on 60.919072328999995 meters Centerline goodness : 0.777074 Centerline is valid? [False, False] Translation: X:2.77, Y:0.15, Z:-0.65 [[ 0.95696103 -0.2619387 -0.12495483 2.77189187] [ 0.26573067 0.96393958 0.01441176 0.1487677 ] [ 0.11667391 -0.04699582 0.99205776 -0.6459583 ] [ 0. 0. 0. 1. ]] SLAMing on 60.949072328999996 meters Centerline goodness : 0.774996 Centerline is valid? [False, False] Translation: X:2.77, Y:0.15, Z:-0.64 [[ 0.95640483 -0.26342891 -0.12607542 2.77315977] [ 0.26742733 0.96345161 0.01560796 0.14651874] [ 0.11735597 -0.04864354 0.99189787 -0.64325326] [ 0. 0. 0. 1. ]] SLAMing on 60.979072329 meters Centerline goodness : 0.775382 Centerline is valid? [False, False] Translation: X:2.78, Y:0.15, Z:-0.64 [[ 0.95590787 -0.2644091 -0.12778096 2.77554602] [ 0.26868743 0.96307426 0.01717651 0.14528293] [ 0.11852093 -0.0507523 0.99165367 -0.64094062] [ 0. 0. 0. 1. ]] SLAMing on 61.00907232899999 meters Centerline goodness : 0.774076 Centerline is valid? [False, False] Translation: X:2.78, Y:0.14, Z:-0.64 [[ 0.95571433 -0.26433487 -0.1293723 2.77924845] [ 0.26891584 0.96297619 0.01900356 0.14438683] [ 0.11955914 -0.05295223 0.99141398 -0.64100185] [ 0. 0. 0. 1. ]] SLAMing on 61.03907232899999 meters Centerline goodness : 0.774697 Centerline is valid? [False, False] Translation: X:2.78, Y:0.14, Z:-0.64 [[ 0.95558069 -0.26474557 -0.12951961 2.77998279] [ 0.26933939 0.96285751 0.01901846 0.14289443] [ 0.11967388 -0.0530584 0.99139446 -0.64052567] [ 0. 0. 0. 1. ]] SLAMing on 61.069072328999994 meters Centerline goodness : 0.774373 Centerline is valid? [False, False] Translation: X:2.78, Y:0.14, Z:-0.64 [[ 0.95572525 -0.26395206 -0.13007136 2.78288913] [ 0.26861058 0.96305435 0.01935659 0.14271619] [ 0.12015658 -0.05343812 0.99131567 -0.64241075] [ 0. 0. 0. 1. ]] SLAMing on 61.099072328999995 meters Centerline goodness : 0.774193 Centerline is valid? [False, False] Translation: X:2.78, Y:0.14, Z:-0.64 [[ 0.95595948 -0.26337447 -0.12951977 2.78322348] [ 0.26782921 0.96329909 0.01795469 0.14359721] [ 0.12003747 -0.05185313 0.99141427 -0.64396108] [ 0. 0. 0. 1. ]] SLAMing on 61.129072328999996 meters Centerline goodness : 0.775022 Centerline is valid? [False, False] Translation: X:2.79, Y:0.14, Z:-0.65 [[ 0.95611359 -0.26226935 -0.13062 2.78687931] [ 0.26688183 0.96354507 0.01884095 0.14439362] [ 0.12091686 -0.0528742 0.99125347 -0.64586646] [ 0. 0. 0. 1. ]] SLAMing on 61.159072329 meters Centerline goodness : 0.776828 Centerline is valid? [False, False] Translation: X:2.79, Y:0.14, Z:-0.65 [[ 0.95681687 -0.25976113 -0.13048231 2.78580934] [ 0.26441424 0.96421417 0.0193946 0.14407502] [ 0.12077493 -0.05305846 0.99126092 -0.6455782 ] [ 0. 0. 0. 1. ]] SLAMing on 61.18907232899999 meters Centerline goodness : 0.775501 Centerline is valid? [False, False] Translation: X:2.79, Y:0.14, Z:-0.65 [[ 0.95738965 -0.25743764 -0.13088513 2.78608015] [ 0.2622672 0.96477091 0.02080875 0.14355028] [ 0.12091721 -0.05424896 0.99117914 -0.6455902 ] [ 0. 0. 0. 1. ]] SLAMing on 61.21907232899999 meters Centerline goodness : 0.777006 Centerline is valid? [False, False] Translation: X:2.79, Y:0.14, Z:-0.65 [[ 0.95811177 -0.25407762 -0.13216048 2.78815276] [ 0.25933082 0.96549295 0.02389339 0.14309192] [ 0.12152924 -0.05716583 0.99094032 -0.6462398 ] [ 0. 0. 0. 1. ]] SLAMing on 61.24907232899999 meters Centerline goodness : 0.775633 Centerline is valid? [False, False] Translation: X:2.79, Y:0.14, Z:-0.65 [[ 0.95844945 -0.25267054 -0.13240938 2.7876707 ] [ 0.25798293 0.96584269 0.02434575 0.14375151] [ 0.12173518 -0.05749353 0.99089608 -0.64561863] [ 0. 0. 0. 1. ]] SLAMing on 61.279072328999995 meters Centerline goodness : 0.776471 Centerline is valid? [False, False] Translation: X:2.79, Y:0.14, Z:-0.65 [[ 0.95915193 -0.24936205 -0.13358947 2.78922625] [ 0.25506113 0.96654455 0.02711917 0.14428348] [ 0.12235768 -0.06008488 0.99066564 -0.6459808 ] [ 0. 0. 0. 1. ]] SLAMing on 61.309072328999996 meters Centerline goodness : 0.776584 Centerline is valid? [False, False] Translation: X:2.79, Y:0.15, Z:-0.65 [[ 0.95982836 -0.2533127 -0.12067392 2.79134979] [ 0.258377 0.96563567 0.02809053 0.14930062] [ 0.10941135 -0.05814145 0.99229468 -0.65198921] [ 0. 0. 0. 1. ]] SLAMing on 61.339072329 meters Centerline goodness : 0.775651 Centerline is valid? [False, False] Translation: X:2.79, Y:0.15, Z:-0.65 [[ 0.96015722 -0.25205287 -0.12069571 2.79164977] [ 0.25708758 0.96598586 0.02787991 0.15039821] [ 0.10956314 -0.05779846 0.99229797 -0.65281857] [ 0. 0. 0. 1. ]] SLAMing on 61.36907232899999 meters Centerline goodness : 0.773856 Centerline is valid? [False, False] Translation: X:2.79, Y:0.15, Z:-0.65 [[ 0.96051258 -0.25072954 -0.12062459 2.79303911] [ 0.2556479 0.96639459 0.02693772 0.15102601] [ 0.10981687 -0.05671144 0.99233264 -0.65464329] [ 0. 0. 0. 1. ]] SLAMing on 61.39907232899999 meters Centerline goodness : 0.775837 Centerline is valid? [False, False] Translation: X:2.79, Y:0.15, Z:-0.66 [[ 0.96085681 -0.24961107 -0.12020194 2.7949207 ] [ 0.25437288 0.96676197 0.0258018 0.15177442] [ 0.10976625 -0.05536795 0.99241411 -0.65793672] [ 0. 0. 0. 1. ]] SLAMing on 61.42907232899999 meters Centerline goodness : 0.776606 Centerline is valid? [False, False] Translation: X:2.80, Y:0.15, Z:-0.66 [[ 0.96099206 -0.24903527 -0.12031498 2.79529861] [ 0.25381483 0.96690502 0.02593673 0.15212663] [ 0.10987399 -0.05546272 0.99239689 -0.6581593 ] [ 0. 0. 0. 1. ]] SLAMing on 61.459072328999994 meters Centerline goodness : 0.776875 Centerline is valid? [False, False] Translation: X:2.80, Y:0.15, Z:-0.66 [[ 0.96124495 -0.2470787 -0.12231215 2.80031445] [ 0.25229863 0.96721592 0.02896143 0.15289637] [ 0.11114651 -0.05869822 0.99206904 -0.65971444] [ 0. 0. 0. 1. ]] SLAMing on 61.489072328999995 meters Centerline goodness : 0.778809 Centerline is valid? [False, False] Translation: X:2.80, Y:0.15, Z:-0.66 [[ 0.96109891 -0.24725202 -0.12310696 2.80154678] [ 0.25260275 0.9671144 0.02969162 0.15330747] [ 0.1117172 -0.05963374 0.99194913 -0.65888184] [ 0. 0. 0. 1. ]] SLAMing on 61.519072329 meters Centerline goodness : 0.780785 Centerline is valid? [False, False] Translation: X:2.80, Y:0.15, Z:-0.66 [[ 0.96101231 -0.24723613 -0.12381292 2.8021309 ] [ 0.25274266 0.96704665 0.03069093 0.15318209] [ 0.11214496 -0.06078717 0.99183085 -0.65755585] [ 0. 0. 0. 1. ]] SLAMing on 61.549072329 meters Centerline goodness : 0.780688 Centerline is valid? [False, False] Translation: X:2.80, Y:0.15, Z:-0.66 [[ 0.96074029 -0.24767947 -0.12503188 2.803296 ] [ 0.25333056 0.96687419 0.03127197 0.15482679] [ 0.11314468 -0.06171864 0.99165977 -0.65569329] [ 0. 0. 0. 1. ]] SLAMing on 61.57907232899999 meters Centerline goodness : 0.781402 Centerline is valid? [False, False] Translation: X:2.81, Y:0.16, Z:-0.66 [[ 0.96066738 -0.24774723 -0.12545714 2.80612695] [ 0.25340987 0.96685778 0.0311362 0.15547673] [ 0.11358531 -0.06170361 0.99161033 -0.65766259] [ 0. 0. 0. 1. ]] SLAMing on 61.60907232899999 meters Centerline goodness : 0.780010 Centerline is valid? [False, False] Translation: X:2.81, Y:0.16, Z:-0.66 [[ 0.96028029 -0.24950289 -0.12494027 2.80680325] [ 0.25480789 0.96658065 0.0281921 0.15617795] [ 0.11373083 -0.05890808 0.99176365 -0.65836768] [ 0. 0. 0. 1. ]] SLAMing on 61.639072328999994 meters Centerline goodness : 0.783730 Centerline is valid? [False, False] Translation: X:2.81, Y:0.16, Z:-0.66 [[ 0.9597032 -0.2518508 -0.12466332 2.80930136] [ 0.25683059 0.96612351 0.02536563 0.15711888] [ 0.11405181 -0.05636083 0.99187481 -0.66028176] [ 0. 0. 0. 1. ]] SLAMing on 61.669072328999995 meters Centerline goodness : 0.782673 Centerline is valid? [False, False] Translation: X:2.81, Y:0.16, Z:-0.66 [[ 0.95943065 -0.25238001 -0.12568676 2.81003363] [ 0.2574835 0.96593565 0.02589543 0.15770331] [ 0.11486983 -0.05720714 0.99173195 -0.65829321] [ 0. 0. 0. 1. ]] SLAMing on 61.699072328999996 meters Centerline goodness : 0.782972 Centerline is valid? [False, False] Translation: X:2.81, Y:0.16, Z:-0.66 [[ 0.95911137 -0.25264695 -0.12757314 2.81224856] [ 0.25818755 0.96566939 0.02866733 0.15857221] [ 0.11595077 -0.06043296 0.99141479 -0.65661004] [ 0. 0. 0. 1. ]] SLAMing on 61.729072329 meters Centerline goodness : 0.784091 Centerline is valid? [False, False] Translation: X:2.81, Y:0.16, Z:-0.65 [[ 0.9587634 -0.25315974 -0.12916223 2.81354794] [ 0.25895957 0.96542214 0.03000061 0.15978718] [ 0.11710113 -0.06221129 0.99116955 -0.65421769] [ 0. 0. 0. 1. ]] SLAMing on 61.75907232899999 meters Centerline goodness : 0.782132 Centerline is valid? [False, False] Translation: X:2.82, Y:0.16, Z:-0.65 [[ 0.95813135 -0.25486529 -0.13049136 2.81618078] [ 0.26081331 0.96490939 0.03043497 0.16131075] [ 0.11815552 -0.06319458 0.9909822 -0.65329321] [ 0. 0. 0. 1. ]] SLAMing on 61.78907232899999 meters Centerline goodness : 0.781094 Centerline is valid? [False, False] Translation: X:2.82, Y:0.16, Z:-0.65 [[ 0.95768132 -0.25643691 -0.13071574 2.81815177] [ 0.26225148 0.96456057 0.02910449 0.16115339] [ 0.11861978 -0.06215322 0.9909926 -0.65376291] [ 0. 0. 0. 1. ]] SLAMing on 61.819072328999994 meters Centerline goodness : 0.782874 Centerline is valid? [False, False] Translation: X:2.82, Y:0.16, Z:-0.66 [[ 0.95746805 -0.25730439 -0.1305733 2.82044081] [ 0.26297832 0.96439674 0.02795231 0.16057308] [ 0.11873221 -0.06110139 0.99104454 -0.65566314] [ 0. 0. 0. 1. ]] SLAMing on 61.849072328999995 meters Centerline goodness : 0.783902 Centerline is valid? [False, False] Translation: X:2.83, Y:0.16, Z:-0.66 [[ 0.95699073 -0.25833198 -0.13203538 2.82665176] [ 0.26418247 0.96404873 0.02859507 0.15850545] [ 0.11990152 -0.06224665 0.99083247 -0.65767253] [ 0. 0. 0. 1. ]] SLAMing on 61.879072328999996 meters Centerline goodness : 0.782792 Centerline is valid? [False, False] Translation: X:2.83, Y:0.16, Z:-0.66 [[ 0.95646521 -0.25939819 -0.13374186 2.83032781] [ 0.26556082 0.9636212 0.0301932 0.15821214] [ 0.12104443 -0.06439534 0.99055615 -0.65699459] [ 0. 0. 0. 1. ]] SLAMing on 61.909072329 meters Centerline goodness : 0.783802 Centerline is valid? [False, False] Translation: X:2.84, Y:0.16, Z:-0.65 [[ 0.95485944 -0.26316237 -0.13780065 2.83601429] [ 0.26994513 0.96231842 0.032755 0.15855894] [ 0.12398822 -0.06847503 0.98991822 -0.65195302] [ 0. 0. 0. 1. ]] SLAMing on 61.93907232899999 meters Centerline goodness : 0.784680 Centerline is valid? [False, False] Translation: X:2.84, Y:0.16, Z:-0.65 [[ 0.95422167 -0.26483504 -0.13900863 2.83845968] [ 0.27175116 0.96180033 0.0330369 0.15841245] [ 0.12494921 -0.06930028 0.98973995 -0.65077011] [ 0. 0. 0. 1. ]] SLAMing on 61.96907232899999 meters Centerline goodness : 0.784687 Centerline is valid? [False, False] Translation: X:2.84, Y:0.16, Z:-0.65 [[ 0.95351149 -0.26732002 -0.13912528 2.84018032] [ 0.27398426 0.96124008 0.03082418 0.15841572] [ 0.12549288 -0.06750935 0.98979494 -0.6505523 ] [ 0. 0. 0. 1. ]] SLAMing on 61.99907232899999 meters Centerline goodness : 0.784080 Centerline is valid? [False, False] Translation: X:2.84, Y:0.16, Z:-0.65 [[ 0.95316449 -0.26858344 -0.13906976 2.8425333 ] [ 0.27510282 0.96095808 0.02963126 0.15686158] [ 0.12568174 -0.06650195 0.98983917 -0.65171464] [ 0. 0. 0. 1. ]] SLAMing on 62.029072328999995 meters Centerline goodness : 0.784654 Centerline is valid? [False, False] Translation: X:2.84, Y:0.15, Z:-0.65 [[ 0.95192244 -0.27303154 -0.13891524 2.84287832] [ 0.27928693 0.9598182 0.02734653 0.15417733] [ 0.12586691 -0.06482898 0.98992663 -0.64872817] [ 0. 0. 0. 1. ]] SLAMing on 62.059072328999996 meters Centerline goodness : 0.787370 Centerline is valid? [False, False] Translation: X:2.84, Y:0.15, Z:-0.65 [[ 0.95140779 -0.2742773 -0.13998277 2.84446246] [ 0.28071263 0.9593799 0.02811815 0.15294745] [ 0.12658448 -0.06604676 0.98975461 -0.64675379] [ 0. 0. 0. 1. ]] SLAMing on 62.089072329 meters Centerline goodness : 0.783191 Centerline is valid? [False, False] Translation: X:2.85, Y:0.15, Z:-0.64 [[ 0.95027862 -0.27697089 -0.14232946 2.84901086] [ 0.28380514 0.95841917 0.02978829 0.15140398] [ 0.1281608 -0.06870101 0.989371 -0.64448964] [ 0. 0. 0. 1. ]] SLAMing on 62.11907232899999 meters Centerline goodness : 0.783191 Centerline is valid? [False, False] Translation: X:2.85, Y:0.15, Z:-0.64 [[ 0.95027862 -0.27697089 -0.14232946 2.84901086] [ 0.28380514 0.95841917 0.02978829 0.15140398] [ 0.1281608 -0.06870101 0.989371 -0.64448964] [ 0. 0. 0. 1. ]] SLAMing on 62.14907232899999 meters Centerline goodness : 0.784154 Centerline is valid? [False, False] Translation: X:2.85, Y:0.15, Z:-0.64 [[ 0.94935412 -0.28035738 -0.14186786 2.84917684] [ 0.28676582 0.9576335 0.02652255 0.15197888] [ 0.12842163 -0.06586215 0.98953022 -0.64349465] [ 0. 0. 0. 1. ]] SLAMing on 62.17907232899999 meters Centerline goodness : 0.783070 Centerline is valid? [False, False] Translation: X:2.85, Y:0.15, Z:-0.64 [[ 0.94887438 -0.28153162 -0.14274926 2.85240164] [ 0.28797274 0.95727906 0.02623923 0.15181759] [ 0.1292637 -0.06600563 0.98941101 -0.64404218] [ 0. 0. 0. 1. ]] SLAMing on 62.209072328999994 meters Centerline goodness : 0.782226 Centerline is valid? [False, False] Translation: X:2.86, Y:0.15, Z:-0.64 [[ 0.94836415 -0.28232715 -0.14455729 2.85665578] [ 0.28904271 0.95692584 0.02733588 0.15125235] [ 0.13061295 -0.0677076 0.98911877 -0.6438235 ] [ 0. 0. 0. 1. ]] SLAMing on 62.239072328999995 meters Centerline goodness : 0.782767 Centerline is valid? [False, False] Translation: X:2.86, Y:0.15, Z:-0.64 [[ 0.94812495 -0.28274129 -0.14531499 2.8578525 ] [ 0.28958988 0.95674368 0.02791486 0.15036838] [ 0.13113651 -0.06854853 0.98899156 -0.64264894] [ 0. 0. 0. 1. ]] SLAMing on 62.269072329 meters Centerline goodness : 0.781390 Centerline is valid? [False, False] Translation: X:2.86, Y:0.15, Z:-0.64 [[ 0.94741988 -0.2845211 -0.14643539 2.86101642] [ 0.29155557 0.95612637 0.02859565 0.14768783] [ 0.13187467 -0.06978614 0.98880684 -0.64176363] [ 0. 0. 0. 1. ]] SLAMing on 62.299072329 meters Centerline goodness : 0.783889 Centerline is valid? [False, False] Translation: X:2.86, Y:0.15, Z:-0.64 [[ 0.94686336 -0.28560772 -0.14791218 2.8644272 ] [ 0.29287451 0.95569688 0.02946164 0.1468864 ] [ 0.13294474 -0.07121585 0.98856158 -0.64114503] [ 0. 0. 0. 1. ]] SLAMing on 62.32907232899999 meters Centerline goodness : 0.783929 Centerline is valid? [False, False] Translation: X:2.87, Y:0.15, Z:-0.64 [[ 0.94619539 -0.28718122 -0.14913495 2.86698843] [ 0.29460189 0.95515442 0.02982897 0.14646053] [ 0.13388059 -0.07215948 0.98836683 -0.64006844] [ 0. 0. 0. 1. ]] SLAMing on 62.35907232899999 meters Centerline goodness : 0.783412 Centerline is valid? [False, False] Translation: X:2.87, Y:0.15, Z:-0.64 [[ 0.94542195 -0.28900146 -0.15051745 2.87081475] [ 0.29654847 0.95455035 0.0298769 0.14637363] [ 0.13504202 -0.072882 0.98815579 -0.63990652] [ 0. 0. 0. 1. ]] SLAMing on 62.389072328999994 meters Centerline goodness : 0.782726 Centerline is valid? [False, False] Translation: X:2.87, Y:0.15, Z:-0.64 [[ 0.94400346 -0.29370567 -0.15031452 2.87202691] [ 0.30086606 0.95328906 0.0268251 0.1451135 ] [ 0.1354145 -0.07054752 0.98827423 -0.63822201] [ 0. 0. 0. 1. ]] SLAMing on 62.419072328999995 meters Centerline goodness : 0.782660 Centerline is valid? [False, False] Translation: X:2.87, Y:0.14, Z:-0.64 [[ 0.9437741 -0.29394035 -0.15129284 2.87355017] [ 0.30129757 0.95312706 0.02772332 0.14395458] [ 0.13605229 -0.07174871 0.98810014 -0.63695457] [ 0. 0. 0. 1. ]] SLAMing on 62.449072328999996 meters Centerline goodness : 0.784687 Centerline is valid? [False, False] Translation: X:2.88, Y:0.14, Z:-0.64 [[ 0.94416468 -0.29170765 -0.15316564 2.87682432] [ 0.29967571 0.95352804 0.03128504 0.14219893] [ 0.13692164 -0.07543825 0.98770519 -0.63711232] [ 0. 0. 0. 1. ]] SLAMing on 62.479072329 meters Centerline goodness : 0.786137 Centerline is valid? [False, False] Translation: X:2.88, Y:0.14, Z:-0.64 [[ 0.94447454 -0.29076903 -0.15303995 2.87614702] [ 0.29880024 0.9537831 0.03187818 0.14066716] [ 0.13669773 -0.0758365 0.9877057 -0.63643981] [ 0. 0. 0. 1. ]] SLAMing on 62.50907232899999 meters Centerline goodness : 0.787304 Centerline is valid? [False, False] Translation: X:2.88, Y:0.14, Z:-0.64 [[ 0.94483744 -0.28916888 -0.15382971 2.87983423] [ 0.29746011 0.95414909 0.03342154 0.13733172] [ 0.13711201 -0.07733613 0.98753198 -0.63828602] [ 0. 0. 0. 1. ]] SLAMing on 62.53907232899999 meters Centerline goodness : 0.786150 Centerline is valid? [False, False] Translation: X:2.88, Y:0.14, Z:-0.64 [[ 0.94462074 -0.28966977 -0.15421766 2.88164356] [ 0.29799218 0.95398418 0.03338925 0.1360815 ] [ 0.13744935 -0.07749584 0.98747257 -0.6384241 ] [ 0. 0. 0. 1. ]] SLAMing on 62.569072328999994 meters Centerline goodness : 0.786735 Centerline is valid? [False, False] Translation: X:2.88, Y:0.13, Z:-0.64 [[ 0.94439782 -0.29024174 -0.15450724 2.88319267] [ 0.29858067 0.9538032 0.0333022 0.13492347] [ 0.13770381 -0.0775834 0.98743024 -0.63855064] [ 0. 0. 0. 1. ]] SLAMing on 62.599072328999995 meters Centerline goodness : 0.786765 Centerline is valid? [False, False] Translation: X:2.89, Y:0.13, Z:-0.64 [[ 0.94359928 -0.29309934 -0.15399085 2.88501309] [ 0.30115105 0.95306171 0.03132754 0.13278912] [ 0.1375807 -0.07593515 0.98757552 -0.6391329 ] [ 0. 0. 0. 1. ]] SLAMing on 62.629072328999996 meters Centerline goodness : 0.786951 Centerline is valid? [False, False] Translation: X:2.89, Y:0.13, Z:-0.64 [[ 0.94334199 -0.29374188 -0.1543425 2.88695787] [ 0.30183656 0.95284267 0.03139318 0.13097276] [ 0.13784262 -0.07620071 0.98751854 -0.63937313] [ 0. 0. 0. 1. ]] SLAMing on 62.659072329 meters Centerline goodness : 0.788568 Centerline is valid? [False, False] Translation: X:2.89, Y:0.13, Z:-0.64 [[ 0.94330153 -0.29326834 -0.15548601 2.8899254 ] [ 0.30167979 0.95283642 0.03304637 0.12926402] [ 0.13846128 -0.07807968 0.98728519 -0.63966511] [ 0. 0. 0. 1. ]] SLAMing on 62.68907232899999 meters Centerline goodness : 0.789181 Centerline is valid? [False, False] Translation: X:2.89, Y:0.13, Z:-0.64 [[ 0.94347524 -0.29200375 -0.15680654 2.89025176] [ 0.30091407 0.95297445 0.03592236 0.12743609] [ 0.13894316 -0.08107715 0.98697583 -0.63693963] [ 0. 0. 0. 1. ]] SLAMing on 62.71907232899999 meters Centerline goodness : 0.789247 Centerline is valid? [False, False] Translation: X:2.89, Y:0.13, Z:-0.64 [[ 0.94349318 -0.29185234 -0.15698034 2.88977052] [ 0.3008388 0.95298119 0.0363712 0.12662837] [ 0.13898429 -0.08154175 0.98693177 -0.6356935 ] [ 0. 0. 0. 1. ]] SLAMing on 62.74907232899999 meters Centerline goodness : 0.790126 Centerline is valid? [False, False] Translation: X:2.89, Y:0.13, Z:-0.64 [[ 0.94364895 -0.29121748 -0.1572229 2.8913831 ] [ 0.30030387 0.9531264 0.03698165 0.12547377] [ 0.1390836 -0.08211234 0.98687047 -0.63664028] [ 0. 0. 0. 1. ]] SLAMing on 62.779072328999995 meters Centerline goodness : 0.794500 Centerline is valid? [False, False] Translation: X:2.89, Y:0.12, Z:-0.64 [[ 0.94425601 -0.29015699 -0.15552976 2.89234675] [ 0.29880944 0.95367207 0.03496434 0.12239164] [ 0.13817924 -0.07948905 0.98721223 -0.64056726] [ 0. 0. 0. 1. ]] SLAMing on 62.809072328999996 meters Centerline goodness : 0.794830 Centerline is valid? [False, False] Translation: X:2.89, Y:0.12, Z:-0.64 [[ 0.94427591 -0.29101228 -0.15380138 2.89013648] [ 0.29910927 0.95368522 0.03190844 0.121157 ] [ 0.13739235 -0.07613379 0.98758645 -0.64070797] [ 0. 0. 0. 1. ]] SLAMing on 62.839072329 meters Centerline goodness : 0.796345 Centerline is valid? [False, False] Translation: X:2.89, Y:0.12, Z:-0.64 [[ 0.94484954 -0.28916494 -0.15376274 2.89053706] [ 0.29735592 0.95420526 0.03273805 0.12008127] [ 0.13725452 -0.07665479 0.98756531 -0.6417256 ] [ 0. 0. 0. 1. ]] SLAMing on 62.86907232899999 meters Centerline goodness : 0.795950 Centerline is valid? [False, False] Translation: X:2.89, Y:0.13, Z:-0.64 [[ 0.94529252 -0.29341257 -0.14258719 2.89400094] [ 0.30062985 0.95321938 0.0315358 0.12611658] [ 0.12666387 -0.07267652 0.98927973 -0.64218609] [ 0. 0. 0. 1. ]] SLAMing on 62.89907232899999 meters Centerline goodness : 0.797355 Centerline is valid? [False, False] Translation: X:2.90, Y:0.13, Z:-0.64 [[ 0.94583068 -0.29061647 -0.14472869 2.89783153] [ 0.29846944 0.95376272 0.03539308 0.1265961 ] [ 0.12775102 -0.07667295 0.98883817 -0.64322242] [ 0. 0. 0. 1. ]] SLAMing on 62.92907232899999 meters Centerline goodness : 0.798497 Centerline is valid? [False, False] Translation: X:2.90, Y:0.13, Z:-0.64 [[ 0.94585364 -0.29038327 -0.14504636 2.89739558] [ 0.29827519 0.95381887 0.0355171 0.12716714] [ 0.12803438 -0.07685771 0.98878718 -0.64214115] [ 0. 0. 0. 1. ]] SLAMing on 62.959072328999994 meters Centerline goodness : 0.801306 Centerline is valid? [False, False] Translation: X:2.90, Y:0.13, Z:-0.65 [[ 0.9463762 -0.28840565 -0.14558253 2.90108627] [ 0.29644997 0.95435084 0.03649495 0.12501376] [ 0.12841147 -0.07769589 0.98867277 -0.64508711] [ 0. 0. 0. 1. ]] SLAMing on 62.989072328999995 meters Centerline goodness : 0.799676 Centerline is valid? [False, False] Translation: X:2.90, Y:0.12, Z:-0.65 [[ 0.94671939 -0.28762247 -0.14489897 2.90048814] [ 0.29559195 0.95462115 0.03638488 0.12285665] [ 0.12785851 -0.07727724 0.98877724 -0.64543952] [ 0. 0. 0. 1. ]] SLAMing on 63.019072329 meters Centerline goodness : 0.800986 Centerline is valid? [False, False] Translation: X:2.90, Y:0.12, Z:-0.64 [[ 0.94685239 -0.28720263 -0.14486267 2.90030095] [ 0.29518836 0.95473934 0.03655988 0.1216325 ] [ 0.127806 -0.07737859 0.9887761 -0.64493371] [ 0. 0. 0. 1. ]] SLAMing on 63.049072329 meters Centerline goodness : 0.801809 Centerline is valid? [False, False] Translation: X:2.90, Y:0.12, Z:-0.64 [[ 0.94686347 -0.28705282 -0.145087 2.90077808] [ 0.2950777 0.95476682 0.03673506 0.12121887] [ 0.12797935 -0.07759502 0.98873672 -0.64467227] [ 0. 0. 0. 1. ]] SLAMing on 63.07907232899999 meters Centerline goodness : 0.802056 Centerline is valid? [False, False] Translation: X:2.90, Y:0.12, Z:-0.64 [[ 0.94587802 -0.2897758 -0.14609847 2.90336747] [ 0.29782797 0.95393477 0.03615178 0.12195525] [ 0.1288925 -0.07770738 0.98860927 -0.64360767] [ 0. 0. 0. 1. ]] SLAMing on 63.10907232899999 meters Centerline goodness : 0.802462 Centerline is valid? [False, False] Translation: X:2.91, Y:0.12, Z:-0.64 [[ 0.94534154 -0.29109909 -0.14693773 2.90518999] [ 0.2992729 0.95346978 0.03648427 0.12184991] [ 0.12948015 -0.07846458 0.98847266 -0.64271798] [ 0. 0. 0. 1. ]] SLAMing on 63.139072328999994 meters Centerline goodness : 0.800597 Centerline is valid? [False, False] Translation: X:2.91, Y:0.12, Z:-0.64 [[ 0.94496558 -0.29194931 -0.14766737 2.90680373] [ 0.30025074 0.95314424 0.03695337 0.12119714] [ 0.12995979 -0.0792569 0.9883465 -0.6419732 ] [ 0. 0. 0. 1. ]] SLAMing on 63.169072328999995 meters Centerline goodness : 0.801982 Centerline is valid? [False, False] Translation: X:2.91, Y:0.12, Z:-0.64 [[ 0.94438499 -0.2940188 -0.14727506 2.9094447 ] [ 0.30210104 0.95261882 0.03538855 0.11848569] [ 0.1298921 -0.07791237 0.98846229 -0.64318437] [ 0. 0. 0. 1. ]] SLAMing on 63.199072328999996 meters Centerline goodness : 0.801814 Centerline is valid? [False, False] Translation: X:2.91, Y:0.12, Z:-0.64 [[ 0.94353756 -0.29731443 -0.14608564 2.90923432] [ 0.30489284 0.95184776 0.03203446 0.11711618] [ 0.12952698 -0.07476618 0.98875314 -0.64286489] [ 0. 0. 0. 1. ]] SLAMing on 63.229072329 meters Centerline goodness : 0.801396 Centerline is valid? [False, False] Translation: X:2.91, Y:0.12, Z:-0.64 [[ 0.94267433 -0.30017234 -0.14581386 2.91140687] [ 0.30749761 0.95107373 0.0300662 0.11572444] [ 0.12965469 -0.07318005 0.98885507 -0.64325929] [ 0. 0. 0. 1. ]] SLAMing on 63.25907232899999 meters Centerline goodness : 0.803661 Centerline is valid? [False, False] Translation: X:2.91, Y:0.11, Z:-0.64 [[ 0.94089988 -0.30507632 -0.14709133 2.91294322] [ 0.31258918 0.94940101 0.03042567 0.11365724] [ 0.13036651 -0.07460667 0.98865485 -0.63839068] [ 0. 0. 0. 1. ]] SLAMing on 63.28907232899999 meters Centerline goodness : 0.800920 Centerline is valid? [False, False] Translation: X:2.92, Y:0.11, Z:-0.64 [[ 0.94031461 -0.30592406 -0.14906005 2.91638462] [ 0.31390782 0.94888782 0.03276861 0.11277838] [ 0.13141656 -0.07760391 0.98828504 -0.63670752] [ 0. 0. 0. 1. ]] SLAMing on 63.319072328999994 meters Centerline goodness : 0.801098 Centerline is valid? [False, False] Translation: X:2.92, Y:0.11, Z:-0.64 [[ 0.9386744 -0.31108433 -0.14871758 2.9184834 ] [ 0.31871387 0.94737765 0.02995077 0.11039388] [ 0.1315745 -0.07551238 0.98842604 -0.6353496 ] [ 0. 0. 0. 1. ]] SLAMing on 63.349072328999995 meters Centerline goodness : 0.800579 Centerline is valid? [False, False] Translation: X:2.92, Y:0.11, Z:-0.64 [[ 0.93770484 -0.31449265 -0.14766182 2.91939784] [ 0.32166386 0.94647271 0.0268657 0.10907633] [ 0.13130881 -0.07268957 0.98867296 -0.63576704] [ 0. 0. 0. 1. ]] SLAMing on 63.379072328999996 meters Centerline goodness : 0.801513 Centerline is valid? [False, False] Translation: X:2.92, Y:0.11, Z:-0.63 [[ 0.93702454 -0.31615153 -0.14843589 2.92171538] [ 0.32341291 0.94587287 0.02699263 0.10826657] [ 0.13186772 -0.07329884 0.98855358 -0.63498011] [ 0. 0. 0. 1. ]] SLAMing on 63.409072329 meters Centerline goodness : 0.801142 Centerline is valid? [False, False] Translation: X:2.93, Y:0.11, Z:-0.63 [[ 0.93656928 -0.31647939 -0.15059475 2.92575738] [ 0.32424555 0.94551274 0.02950384 0.10860158] [ 0.1330519 -0.07646207 0.98815522 -0.63424608] [ 0. 0. 0. 1. ]] SLAMing on 63.43907232899999 meters Centerline goodness : 0.801797 Centerline is valid? [False, False] Translation: X:2.93, Y:0.11, Z:-0.63 [[ 0.93588823 -0.31750862 -0.1526483 2.92905266] [ 0.32578243 0.94490395 0.03197409 0.10758349] [ 0.13408593 -0.07965431 0.98776321 -0.63198828] [ 0. 0. 0. 1. ]] SLAMing on 63.46907232899999 meters Centerline goodness : 0.802642 Centerline is valid? [False, False] Translation: X:2.93, Y:0.11, Z:-0.63 [[ 0.93554882 -0.31833265 -0.15301219 2.93068216] [ 0.32671624 0.94456336 0.03250482 0.10624587] [ 0.13418236 -0.08040142 0.98768958 -0.63177357] [ 0. 0. 0. 1. ]] SLAMing on 63.49907232899999 meters Centerline goodness : 0.803429 Centerline is valid? [False, False] Translation: X:2.93, Y:0.11, Z:-0.63 [[ 0.93476936 -0.32096002 -0.15228564 2.92978226] [ 0.32903512 0.94382565 0.03047988 0.10524681] [ 0.13394827 -0.07859899 0.98786642 -0.63011141] [ 0. 0. 0. 1. ]] SLAMing on 63.529072328999995 meters Centerline goodness : 0.800212 Centerline is valid? [False, False] Translation: X:2.93, Y:0.10, Z:-0.63 [[ 0.93426146 -0.32196432 -0.15327915 2.9332833 ] [ 0.33022539 0.94338683 0.03118461 0.1047239 ] [ 0.1345612 -0.07975124 0.98769075 -0.63059784] [ 0. 0. 0. 1. ]] SLAMing on 63.559072328999996 meters Centerline goodness : 0.800972 Centerline is valid? [False, False] Translation: X:2.94, Y:0.11, Z:-0.63 [[ 0.93303372 -0.32541779 -0.15346442 2.93799208] [ 0.33338333 0.94235558 0.02866216 0.10627453] [ 0.13529088 -0.07790525 0.9877384 -0.63299892] [ 0. 0. 0. 1. ]] SLAMing on 63.589072329 meters Centerline goodness : 0.801635 Centerline is valid? [False, False] Translation: X:2.94, Y:0.11, Z:-0.64 [[ 0.93263741 -0.32609638 -0.15442994 2.94242719] [ 0.33414055 0.94208853 0.02862346 0.10720288] [ 0.13615267 -0.07829661 0.98758903 -0.63507496] [ 0. 0. 0. 1. ]] SLAMing on 63.61907232899999 meters Centerline goodness : 0.801313 Centerline is valid? [False, False] Translation: X:2.95, Y:0.11, Z:-0.64 [[ 0.93218379 -0.32626924 -0.15678574 2.94788153] [ 0.33475471 0.94181449 0.03040977 0.10776633] [ 0.13774131 -0.08083225 0.98716436 -0.6352355 ] [ 0. 0. 0. 1. ]] SLAMing on 63.64907232899999 meters Centerline goodness : 0.801210 Centerline is valid? [False, False] Translation: X:2.95, Y:0.11, Z:-0.63 [[ 0.93212116 -0.32585254 -0.1580198 2.95058355] [ 0.33467179 0.94178827 0.03208811 0.10675079] [ 0.13836521 -0.08279477 0.98691443 -0.63490808] [ 0. 0. 0. 1. ]] SLAMing on 63.67907232899999 meters Centerline goodness : 0.800138 Centerline is valid? [False, False] Translation: X:2.95, Y:0.11, Z:-0.63 [[ 0.93196866 -0.3259688 -0.15867819 2.95213912] [ 0.33497039 0.94165135 0.03297836 0.10527182] [ 0.13866962 -0.0838873 0.98677944 -0.63418633] [ 0. 0. 0. 1. ]] SLAMing on 63.709072328999994 meters Centerline goodness : 0.802025 Centerline is valid? [False, False] Translation: X:2.95, Y:0.10, Z:-0.63 [[ 0.93164926 -0.32665751 -0.15913683 2.95328699] [ 0.33579999 0.94133214 0.03364774 0.10324696] [ 0.13880932 -0.08478604 0.98668298 -0.63298588] [ 0. 0. 0. 1. ]] SLAMing on 63.739072328999995 meters Centerline goodness : 0.803251 Centerline is valid? [False, False] Translation: X:2.95, Y:0.10, Z:-0.63 [[ 0.93134584 -0.3276927 -0.15878417 2.95377957] [ 0.33683519 0.94095713 0.03378969 0.0990462 ] [ 0.13833646 -0.08495398 0.98673494 -0.63164939] [ 0. 0. 0. 1. ]] SLAMing on 63.769072329 meters Centerline goodness : 0.801837 Centerline is valid? [False, False] Translation: X:2.96, Y:0.10, Z:-0.63 [[ 0.93144568 -0.32728054 -0.15904838 2.95515053] [ 0.33655416 0.94102858 0.03459058 0.09682089] [ 0.13834824 -0.08574764 0.98666464 -0.63168307] [ 0. 0. 0. 1. ]] SLAMing on 63.799072329 meters Centerline goodness : 0.801616 Centerline is valid? [False, False] Translation: X:2.96, Y:0.10, Z:-0.63 [[ 0.93175548 -0.32595106 -0.15996135 2.95838998] [ 0.33552676 0.94133248 0.03626237 0.09522954] [ 0.13875706 -0.08745897 0.986457 -0.63289581] [ 0. 0. 0. 1. ]] SLAMing on 63.82907232899999 meters Centerline goodness : 0.800107 Centerline is valid? [False, False] Translation: X:2.96, Y:0.09, Z:-0.63 [[ 0.93199796 -0.32511442 -0.16025113 2.95871639] [ 0.33482081 0.94155248 0.03706692 0.09392247] [ 0.13883386 -0.08820171 0.98638006 -0.63238674] [ 0. 0. 0. 1. ]] SLAMing on 63.85907232899999 meters Centerline goodness : 0.798657 Centerline is valid? [False, False] Translation: X:2.96, Y:0.09, Z:-0.63 [[ 0.93277367 -0.32322718 -0.15955399 2.95903142] [ 0.33288132 0.94223154 0.03727947 0.09110581] [ 0.13828707 -0.08788585 0.98648506 -0.63391497] [ 0. 0. 0. 1. ]] SLAMing on 63.889072328999994 meters Centerline goodness : 0.795947 Centerline is valid? [False, False] Translation: X:2.96, Y:0.09, Z:-0.64 [[ 0.93308633 -0.32243828 -0.15932184 2.96266082] [ 0.33202766 0.9425428 0.0370231 0.08896237] [ 0.13822999 -0.08744501 0.98653223 -0.63757941] [ 0. 0. 0. 1. ]] SLAMing on 63.919072328999995 meters Centerline goodness : 0.793869 Centerline is valid? [False, False] Translation: X:2.96, Y:0.09, Z:-0.64 [[ 0.93280885 -0.32422559 -0.15730678 2.96211623] [ 0.33313838 0.94228932 0.03331144 0.08673454] [ 0.13742808 -0.08347813 0.9869878 -0.63917544] [ 0. 0. 0. 1. ]] SLAMing on 63.949072328999996 meters Centerline goodness : 0.795382 Centerline is valid? [False, False] Translation: X:2.96, Y:0.08, Z:-0.64 [[ 0.93291031 -0.32486522 -0.15537353 2.962092 ] [ 0.33332574 0.94229617 0.03117499 0.08135133] [ 0.13628021 -0.08087347 0.98736376 -0.64063456] [ 0. 0. 0. 1. ]] SLAMing on 63.979072329 meters Centerline goodness : 0.794492 Centerline is valid? [False, False] Translation: X:2.96, Y:0.08, Z:-0.64 [[ 0.93334852 -0.32332811 -0.155947 2.96239812] [ 0.33213316 0.94263974 0.03343488 0.07928034] [ 0.1361914 -0.08300156 0.98719939 -0.63975661] [ 0. 0. 0. 1. ]] SLAMing on 64.00907232899999 meters Centerline goodness : 0.794492 Centerline is valid? [False, False] Translation: X:2.96, Y:0.08, Z:-0.64 [[ 0.93334852 -0.32332811 -0.155947 2.96239812] [ 0.33213316 0.94263974 0.03343488 0.07928034] [ 0.1361914 -0.08300156 0.98719939 -0.63975661] [ 0. 0. 0. 1. ]] SLAMing on 64.03907232899999 meters Centerline goodness : 0.795612 Centerline is valid? [False, False] Translation: X:2.97, Y:0.08, Z:-0.65 [[ 0.93379814 -0.32563587 -0.14826435 2.97172324] [ 0.33479062 0.94140198 0.04095794 0.0817145 ] [ 0.12623898 -0.08788396 0.98809925 -0.64596355] [ 0. 0. 0. 1. ]] SLAMing on 64.069072329 meters Centerline goodness : 0.795472 Centerline is valid? [False, False] Translation: X:2.97, Y:0.08, Z:-0.65 [[ 0.93445022 -0.32361348 -0.14858367 2.97418507] [ 0.33290543 0.94202731 0.04193474 0.08043601] [ 0.12639923 -0.08865024 0.98801031 -0.64838329] [ 0. 0. 0. 1. ]] SLAMing on 64.099072329 meters Centerline goodness : 0.795557 Centerline is valid? [False, False] Translation: X:2.98, Y:0.08, Z:-0.65 [[ 0.93471507 -0.322985 -0.14828493 2.97801709] [ 0.33213872 0.9423345 0.04110436 0.07892008] [ 0.12645791 -0.08767203 0.98809008 -0.65257815] [ 0. 0. 0. 1. ]] SLAMing on 64.129072329 meters Centerline goodness : 0.796747 Centerline is valid? [False, False] Translation: X:2.98, Y:0.08, Z:-0.66 [[ 0.93492975 -0.32229356 -0.14843594 2.98258834] [ 0.33144549 0.94258182 0.04102914 0.07691643] [ 0.1266896 -0.08755779 0.98807053 -0.65655999] [ 0. 0. 0. 1. ]] SLAMing on 64.159072329 meters Centerline goodness : 0.799357 Centerline is valid? [False, False] Translation: X:2.99, Y:0.07, Z:-0.66 [[ 0.93498277 -0.32202022 -0.14869499 2.98549633] [ 0.33128602 0.94260609 0.04175325 0.07371941] [ 0.12671541 -0.08829914 0.98800125 -0.65785111] [ 0. 0. 0. 1. ]] SLAMing on 64.189072329 meters Centerline goodness : 0.799428 Centerline is valid? [False, False] Translation: X:2.99, Y:0.07, Z:-0.66 [[ 0.93500171 -0.32163906 -0.14939922 2.9857009 ] [ 0.33111966 0.94261067 0.0429523 0.07321516] [ 0.12701016 -0.08962949 0.9878436 -0.6563104 ] [ 0. 0. 0. 1. ]] SLAMing on 64.219072329 meters Centerline goodness : 0.798052 Centerline is valid? [False, False] Translation: X:2.99, Y:0.07, Z:-0.66 [[ 0.93570714 -0.31845083 -0.1517933 2.9892775 ] [ 0.32872591 0.94322691 0.04756329 0.07261518] [ 0.12802896 -0.09440371 0.9872672 -0.6563777 ] [ 0. 0. 0. 1. ]] SLAMing on 64.249072329 meters Centerline goodness : 0.798664 Centerline is valid? [False, False] Translation: X:2.99, Y:0.07, Z:-0.66 [[ 0.93712149 -0.31357684 -0.1532086 2.9891919 ] [ 0.32447262 0.94448839 0.05156749 0.07167623] [ 0.12853338 -0.098037 0.98684746 -0.65562571] [ 0. 0. 0. 1. ]] SLAMing on 64.27907232899999 meters Centerline goodness : 0.798534 Centerline is valid? [False, False] Translation: X:2.99, Y:0.07, Z:-0.66 [[ 0.93776886 -0.31199351 -0.15247823 2.9894168 ] [ 0.32270802 0.94513279 0.05082847 0.07083555] [ 0.12825402 -0.09687131 0.98699891 -0.65788695] [ 0. 0. 0. 1. ]] SLAMing on 64.30907232899999 meters Centerline goodness : 0.800017 Centerline is valid? [False, False] Translation: X:3.00, Y:0.07, Z:-0.67 [[ 0.93886124 -0.31466187 -0.13974073 2.99635371] [ 0.32415212 0.94464315 0.0507417 0.07279046] [ 0.11603865 -0.09293667 0.98888716 -0.66786152] [ 0. 0. 0. 1. ]] SLAMing on 64.33907232899999 meters Centerline goodness : 0.803094 Centerline is valid? [False, False] Translation: X:3.00, Y:0.07, Z:-0.67 [[ 0.9405043 -0.30981875 -0.13951347 2.99896569] [ 0.31928875 0.94628385 0.05100561 0.07136161] [ 0.11621685 -0.09251608 0.98890567 -0.67328441] [ 0. 0. 0. 1. ]] SLAMing on 64.36907232899999 meters Centerline goodness : 0.802555 Centerline is valid? [False, False] Translation: X:3.00, Y:0.07, Z:-0.67 [[ 0.9410938 -0.30766613 -0.14029971 2.99923002] [ 0.31735307 0.94686268 0.05232678 0.07196468] [ 0.11674538 -0.09376895 0.98872539 -0.67295233] [ 0. 0. 0. 1. ]] SLAMing on 64.39907232899999 meters Centerline goodness : 0.804759 Centerline is valid? [False, False] Translation: X:3.00, Y:0.07, Z:-0.67 [[ 0.94194612 -0.3040822 -0.1423781 3.00231999] [ 0.31440641 0.94762494 0.05617449 0.07244641] [ 0.11783938 -0.09767793 0.98821703 -0.67366365] [ 0. 0. 0. 1. ]] SLAMing on 64.429072329 meters Centerline goodness : 0.805252 Centerline is valid? [False, False] Translation: X:3.00, Y:0.07, Z:-0.67 [[ 0.94278638 -0.30071973 -0.1439496 3.00456494] [ 0.3115453 0.94838509 0.05920513 0.07247177] [ 0.11871551 -0.10066461 0.98781236 -0.67418749] [ 0. 0. 0. 1. ]] SLAMing on 64.459072329 meters Centerline goodness : 0.805444 Centerline is valid? [False, False] Translation: X:3.00, Y:0.07, Z:-0.68 [[ 0.94500069 -0.29392902 -0.1434553 3.0031768 ] [ 0.30482282 0.95048381 0.06052757 0.07108288] [ 0.11856113 -0.10092705 0.98780413 -0.67688848] [ 0. 0. 0. 1. ]] SLAMing on 64.489072329 meters Centerline goodness : 0.805320 Centerline is valid? [False, False] Translation: X:3.01, Y:0.07, Z:-0.68 [[ 0.94640515 -0.29473066 -0.13210274 3.0078756 ] [ 0.30430778 0.9507499 0.05891857 0.07453893] [ 0.10823155 -0.09596073 0.98948344 -0.67900913] [ 0. 0. 0. 1. ]] SLAMing on 64.519072329 meters Centerline goodness : 0.807723 Centerline is valid? [False, False] Translation: X:3.01, Y:0.07, Z:-0.68 [[ 0.94723083 -0.29195676 -0.13234426 3.00673373] [ 0.30165297 0.95153389 0.05990618 0.07416056] [ 0.10844004 -0.09666702 0.98939186 -0.67837316] [ 0. 0. 0. 1. ]] SLAMing on 64.549072329 meters Centerline goodness : 0.810162 Centerline is valid? [False, False] Translation: X:3.01, Y:0.07, Z:-0.68 [[ 0.94891584 -0.28587384 -0.1335473 3.00547908] [ 0.29608834 0.95302917 0.06377372 0.0746937 ] [ 0.10904323 -0.1000577 0.98898839 -0.67744519] [ 0. 0. 0. 1. ]] SLAMing on 64.579072329 meters Centerline goodness : 0.811286 Centerline is valid? [False, False] Translation: X:3.01, Y:0.08, Z:-0.68 [[ 0.94974425 -0.2881322 -0.12233436 3.00866268] [ 0.29710973 0.95279486 0.06251207 0.07983281] [ 0.09854781 -0.09571721 0.99051832 -0.67777924] [ 0. 0. 0. 1. ]] SLAMing on 64.609072329 meters Centerline goodness : 0.809684 Centerline is valid? [False, False] Translation: X:3.01, Y:0.08, Z:-0.68 [[ 0.9501912 -0.2865468 -0.12258717 3.00874796] [ 0.29552136 0.95330334 0.0622885 0.08109856] [ 0.09901419 -0.09541311 0.99050115 -0.67827458] [ 0. 0. 0. 1. ]] SLAMing on 64.639072329 meters Centerline goodness : 0.806350 Centerline is valid? [False, False] Translation: X:3.01, Y:0.08, Z:-0.68 [[ 0.95116702 -0.28354184 -0.12200546 3.00912253] [ 0.29223896 0.95445042 0.06017301 0.08279654] [ 0.0993866 -0.09288934 0.99070373 -0.68185169] [ 0. 0. 0. 1. ]] SLAMing on 64.66907232899999 meters Centerline goodness : 0.808224 Centerline is valid? [False, False] Translation: X:3.01, Y:0.08, Z:-0.69 [[ 0.95180917 -0.28113844 -0.12255808 3.01311467] [ 0.28987546 0.95517318 0.06013661 0.0834164 ] [ 0.10015748 -0.09276515 0.99063773 -0.68600794] [ 0. 0. 0. 1. ]] SLAMing on 64.69907232899999 meters Centerline goodness : 0.809096 Centerline is valid? [False, False] Translation: X:3.01, Y:0.08, Z:-0.69 [[ 0.95246159 -0.27894956 -0.12249107 3.01486335] [ 0.28764973 0.95585996 0.05991134 0.08391195] [ 0.10037206 -0.09229778 0.99065966 -0.68915463] [ 0. 0. 0. 1. ]] SLAMing on 64.72907232899999 meters Centerline goodness : 0.808777 Centerline is valid? [False, False] Translation: X:3.02, Y:0.08, Z:-0.69 [[ 0.95311327 -0.27647535 -0.12303037 3.01727605] [ 0.28528144 0.95652967 0.06054323 0.08471652] [ 0.10094349 -0.09280284 0.99055441 -0.69172697] [ 0. 0. 0. 1. ]] SLAMing on 64.75907232899999 meters Centerline goodness : 0.811140 Centerline is valid? [False, False] Translation: X:3.02, Y:0.09, Z:-0.69 [[ 0.95410464 -0.27190639 -0.12550401 3.01827205] [ 0.281406 0.95737594 0.06513048 0.0870501 ] [ 0.10244513 -0.09745887 0.98995291 -0.69004234] [ 0. 0. 0. 1. ]] SLAMing on 64.78907232899999 meters Centerline goodness : 0.810405 Centerline is valid? [False, False] Translation: X:3.02, Y:0.09, Z:-0.69 [[ 0.95500822 -0.27327105 -0.11524857 3.0221188 ] [ 0.28196921 0.95706754 0.06719438 0.09267328] [ 0.09193839 -0.09666773 0.99106139 -0.69013357] [ 0. 0. 0. 1. ]] SLAMing on 64.819072329 meters Centerline goodness : 0.811168 Centerline is valid? [False, False] Translation: X:3.02, Y:0.09, Z:-0.69 [[ 0.95640549 -0.26795777 -0.11613428 3.02174439] [ 0.27695712 0.95835767 0.06960844 0.09436212] [ 0.09264605 -0.09873811 0.99079135 -0.6908274 ] [ 0. 0. 0. 1. ]] SLAMing on 64.849072329 meters Centerline goodness : 0.811176 Centerline is valid? [False, False] Translation: X:3.02, Y:0.09, Z:-0.69 [[ 0.95700887 -0.26595118 -0.11577561 3.02137345] [ 0.27486285 0.95899744 0.06909645 0.09424251] [ 0.09265223 -0.09794833 0.99086916 -0.69199458] [ 0. 0. 0. 1. ]] SLAMing on 64.879072329 meters Centerline goodness : 0.812678 Centerline is valid? [False, False] Translation: X:3.02, Y:0.09, Z:-0.69 [[ 0.957425 -0.2644462 -0.11578244 3.02084541] [ 0.27334269 0.95944161 0.06896066 0.09471671] [ 0.09285011 -0.09767294 0.99087782 -0.69207819] [ 0. 0. 0. 1. ]] SLAMing on 64.909072329 meters Centerline goodness : 0.813626 Centerline is valid? [False, False] Translation: X:3.02, Y:0.10, Z:-0.69 [[ 0.95777997 -0.26310957 -0.11589168 3.02041153] [ 0.27202294 0.95980978 0.06905577 0.0956839 ] [ 0.09306474 -0.09766543 0.99085843 -0.69225132] [ 0. 0. 0. 1. ]] SLAMing on 64.939072329 meters Centerline goodness : 0.812641 Centerline is valid? [False, False] Translation: X:3.02, Y:0.10, Z:-0.69 [[ 0.95821837 -0.26108265 -0.11684774 3.02181505] [ 0.27019242 0.96024549 0.07017591 0.09894248] [ 0.0938808 -0.09881522 0.99066743 -0.69332881] [ 0. 0. 0. 1. ]] SLAMing on 64.969072329 meters Centerline goodness : 0.813998 Centerline is valid? [False, False] Translation: X:3.02, Y:0.10, Z:-0.70 [[ 0.95873163 -0.26500194 -0.10299335 3.02160381] [ 0.27265672 0.95963974 0.06891936 0.10192232] [ 0.08057275 -0.094157 0.99229154 -0.6960613 ] [ 0. 0. 0. 1. ]] SLAMing on 64.999072329 meters Centerline goodness : 0.814025 Centerline is valid? [False, False] Translation: X:3.02, Y:0.10, Z:-0.70 [[ 0.95879241 -0.26468125 -0.10325186 3.02299187] [ 0.27234486 0.95974187 0.06873006 0.10185171] [ 0.08090358 -0.09401798 0.9922778 -0.6969893 ] [ 0. 0. 0. 1. ]] SLAMing on 65.02907232899999 meters Centerline goodness : 0.814626 Centerline is valid? [False, False] Translation: X:3.02, Y:0.10, Z:-0.70 [[ 0.95909668 -0.26356418 -0.10328352 3.02486823] [ 0.27117387 0.960122 0.06804754 0.10196698] [ 0.08122988 -0.09327196 0.99232154 -0.69949906] [ 0. 0. 0. 1. ]] SLAMing on 65.05907232899999 meters Centerline goodness : 0.812693 Centerline is valid? [False, False] Translation: X:3.03, Y:0.10, Z:-0.70 [[ 0.95913001 -0.26323324 -0.10381663 3.02522542] [ 0.27092834 0.96016061 0.06847948 0.10298776] [ 0.08165457 -0.09380759 0.9922362 -0.69897757] [ 0. 0. 0. 1. ]] SLAMing on 65.08907232899999 meters Centerline goodness : 0.811836 Centerline is valid? [False, False] Translation: X:3.03, Y:0.10, Z:-0.70 [[ 0.95926333 -0.26247835 -0.10449395 3.02529145] [ 0.27030811 0.96027366 0.06933998 0.10411529] [ 0.08214255 -0.09476086 0.99210533 -0.69813855] [ 0. 0. 0. 1. ]] SLAMing on 65.11907232899999 meters Centerline goodness : 0.810776 Centerline is valid? [False, False] Translation: X:3.03, Y:0.10, Z:-0.70 [[ 0.95946008 -0.26151734 -0.10509534 3.02550259] [ 0.26948528 0.96043363 0.07032018 0.1047574 ] [ 0.08254715 -0.09579105 0.9919728 -0.69745743] [ 0. 0. 0. 1. ]] SLAMing on 65.14907232899999 meters Centerline goodness : 0.813586 Centerline is valid? [False, False] Translation: X:3.03, Y:0.10, Z:-0.70 [[ 0.95990534 -0.25981203 -0.10525895 3.02626784] [ 0.26789016 0.96079471 0.07147298 0.1032064 ] [ 0.08256271 -0.09680513 0.99187306 -0.69808232] [ 0. 0. 0. 1. ]] SLAMing on 65.179072329 meters Centerline goodness : 0.812466 Centerline is valid? [False, False] Translation: X:3.03, Y:0.10, Z:-0.70 [[ 0.95992678 -0.25945539 -0.10594095 3.02773079] [ 0.2676941 0.96076503 0.07259774 0.1028126 ] [ 0.08294848 -0.09804829 0.99171875 -0.69796016] [ 0. 0. 0. 1. ]] SLAMing on 65.209072329 meters Centerline goodness : 0.813690 Centerline is valid? [False, False] Translation: X:3.03, Y:0.10, Z:-0.70 [[ 0.95983411 -0.25947009 -0.10674149 3.02859934] [ 0.26786456 0.96064857 0.07350443 0.10342464] [ 0.08346885 -0.09914432 0.99156611 -0.69706494] [ 0. 0. 0. 1. ]] SLAMing on 65.239072329 meters Centerline goodness : 0.811203 Centerline is valid? [False, False] Translation: X:3.03, Y:0.11, Z:-0.70 [[ 0.95953225 -0.26009723 -0.10792267 3.03031399] [ 0.26870744 0.96032548 0.07464105 0.10563697] [ 0.08422696 -0.10062012 0.99135332 -0.69632914] [ 0. 0. 0. 1. ]] SLAMing on 65.269072329 meters Centerline goodness : 0.814110 Centerline is valid? [False, False] Translation: X:3.03, Y:0.11, Z:-0.70 [[ 0.95921341 -0.26083513 -0.10897095 3.03426945] [ 0.26957013 0.96006785 0.07484432 0.10717364] [ 0.08509747 -0.10116699 0.99122331 -0.69823038] [ 0. 0. 0. 1. ]] SLAMing on 65.299072329 meters Centerline goodness : 0.812405 Centerline is valid? [False, False] Translation: X:3.04, Y:0.11, Z:-0.70 [[ 0.95885934 -0.26173524 -0.1099247 3.03782926] [ 0.27057641 0.95977777 0.07493359 0.10799308] [ 0.08589052 -0.1015938 0.99111125 -0.69964411] [ 0. 0. 0. 1. ]] SLAMing on 65.329072329 meters Centerline goodness : 0.814538 Centerline is valid? [False, False] Translation: X:3.05, Y:0.11, Z:-0.70 [[ 0.95794217 -0.26381533 -0.1129082 3.04604565] [ 0.2731613 0.95887183 0.0771214 0.11036527] [ 0.08791869 -0.10471999 0.99060791 -0.70200702] [ 0. 0. 0. 1. ]] SLAMing on 65.359072329 meters Centerline goodness : 0.815434 Centerline is valid? [False, False] Translation: X:3.05, Y:0.11, Z:-0.70 [[ 0.95742854 -0.26517038 -0.11408447 3.04965517] [ 0.27469459 0.95838676 0.0777026 0.11194059] [ 0.08873262 -0.10573308 0.9904277 -0.70294799] [ 0. 0. 0. 1. ]] SLAMing on 65.389072329 meters Centerline goodness : 0.816447 Centerline is valid? [False, False] Translation: X:3.05, Y:0.11, Z:-0.70 [[ 0.95669253 -0.26720561 -0.11550133 3.05383477] [ 0.27692847 0.95770358 0.07819506 0.11347339] [ 0.08972188 -0.10679424 0.99022471 -0.70346685] [ 0. 0. 0. 1. ]] SLAMing on 65.41907232899999 meters Centerline goodness : 0.815020 Centerline is valid? [False, False] Translation: X:3.06, Y:0.11, Z:-0.71 [[ 0.9561197 -0.26867259 -0.11683385 3.05867441] [ 0.27859557 0.95717141 0.07878705 0.1149457 ] [ 0.09066211 -0.10787924 0.99002144 -0.70521013] [ 0. 0. 0. 1. ]] SLAMing on 65.44907232899999 meters Centerline goodness : 0.817005 Centerline is valid? [False, False] Translation: X:3.06, Y:0.12, Z:-0.70 [[ 0.95491765 -0.27209149 -0.11873714 3.06351602] [ 0.28228188 0.9560419 0.07937774 0.11667498] [ 0.09191968 -0.10931655 0.98974778 -0.70482592] [ 0. 0. 0. 1. ]] SLAMing on 65.47907232899999 meters Centerline goodness : 0.816431 Centerline is valid? [False, False] Translation: X:3.07, Y:0.12, Z:-0.71 [[ 0.95429431 -0.27341954 -0.12068189 3.0683239 ] [ 0.28401615 0.95535977 0.08137898 0.1181871 ] [ 0.09304402 -0.11193511 0.98934996 -0.70524517] [ 0. 0. 0. 1. ]] SLAMing on 65.50907232899999 meters Centerline goodness : 0.816907 Centerline is valid? [False, False] Translation: X:3.07, Y:0.12, Z:-0.70 [[ 0.95285868 -0.27742635 -0.12286151 3.07294063] [ 0.28832936 0.95401897 0.08193892 0.1207543 ] [ 0.09448019 -0.11350079 0.98903542 -0.70387388] [ 0. 0. 0. 1. ]] SLAMing on 65.53907232899999 meters Centerline goodness : 0.816727 Centerline is valid? [False, False] Translation: X:3.07, Y:0.12, Z:-0.70 [[ 0.95215685 -0.27960609 -0.12336034 3.07446828] [ 0.29051096 0.95340893 0.08133134 0.12176455] [ 0.09487211 -0.11327772 0.98902348 -0.70342239] [ 0. 0. 0. 1. ]] SLAMing on 65.569072329 meters Centerline goodness : 0.817352 Centerline is valid? [False, False] Translation: X:3.08, Y:0.12, Z:-0.70 [[ 0.95164503 -0.28066536 -0.12489476 3.07883479] [ 0.29185744 0.95290091 0.08245661 0.12260111] [ 0.09586961 -0.11492088 0.98873768 -0.70422627] [ 0. 0. 0. 1. ]] SLAMing on 65.599072329 meters Centerline goodness : 0.818046 Centerline is valid? [False, False] Translation: X:3.08, Y:0.12, Z:-0.70 [[ 0.95100012 -0.28229765 -0.1261222 3.08158933] [ 0.29369974 0.95227732 0.08311656 0.12338894] [ 0.0966397 -0.11608592 0.98852659 -0.70363888] [ 0. 0. 0. 1. ]] SLAMing on 65.629072329 meters Centerline goodness : 0.817814 Centerline is valid? [False, False] Translation: X:3.09, Y:0.13, Z:-0.70 [[ 0.9494136 -0.2866229 -0.12830094 3.08808245] [ 0.29831819 0.95081456 0.08341422 0.1255199 ] [ 0.09808198 -0.1174691 0.9882211 -0.70418052] [ 0. 0. 0. 1. ]] SLAMing on 65.659072329 meters Centerline goodness : 0.815848 Centerline is valid? [False, False] Translation: X:3.09, Y:0.13, Z:-0.70 [[ 0.94847498 -0.28945814 -0.12887667 3.09082588] [ 0.30112668 0.95001615 0.08241378 0.12627481] [ 0.09857958 -0.11697561 0.98823012 -0.70435164] [ 0. 0. 0. 1. ]] SLAMing on 65.689072329 meters Centerline goodness : 0.816112 Centerline is valid? [False, False] Translation: X:3.09, Y:0.13, Z:-0.70 [[ 0.9474411 -0.29281931 -0.12888838 3.09154045] [ 0.30432163 0.94914676 0.08067696 0.12668285] [ 0.09871021 -0.11566019 0.9883719 -0.70314592] [ 0. 0. 0. 1. ]] SLAMing on 65.719072329 meters Centerline goodness : 0.818563 Centerline is valid? [False, False] Translation: X:3.10, Y:0.13, Z:-0.70 [[ 0.94585746 -0.29718378 -0.13051994 3.09563085] [ 0.30887325 0.94768635 0.08054748 0.12765478] [ 0.09975456 -0.11650055 0.98816833 -0.70157179] [ 0. 0. 0. 1. ]] SLAMing on 65.749072329 meters Centerline goodness : 0.819355 Centerline is valid? [False, False] Translation: X:3.10, Y:0.13, Z:-0.70 [[ 0.94514431 -0.29897582 -0.13158914 3.09733173] [ 0.31084813 0.94699618 0.08106587 0.12831503] [ 0.10037767 -0.11752318 0.98798412 -0.70008138] [ 0. 0. 0. 1. ]] SLAMing on 65.77907232899999 meters Centerline goodness : 0.818349 Centerline is valid? [False, False] Translation: X:3.10, Y:0.13, Z:-0.70 [[ 0.94447064 -0.30064125 -0.13262745 3.09847281] [ 0.31271195 0.94632262 0.08176016 0.12899434] [ 0.10092788 -0.11869426 0.98778805 -0.69816515] [ 0. 0. 0. 1. ]] SLAMing on 65.80907232899999 meters Centerline goodness : 0.820019 Centerline is valid? [False, False] Translation: X:3.10, Y:0.13, Z:-0.70 [[ 0.9433432 -0.30365867 -0.13377223 3.10117099] [ 0.31588701 0.94525628 0.08188989 0.1296541 ] [ 0.10158246 -0.11950718 0.98762292 -0.69681703] [ 0. 0. 0. 1. ]] SLAMing on 65.83907232899999 meters Centerline goodness : 0.820448 Centerline is valid? [False, False] Translation: X:3.10, Y:0.13, Z:-0.70 [[ 0.94257831 -0.30570167 -0.13450877 3.10328785] [ 0.31803545 0.94452572 0.08200377 0.12989924] [ 0.1019783 -0.12007353 0.98751343 -0.69622885] [ 0. 0. 0. 1. ]] SLAMing on 65.86907232899999 meters Centerline goodness : 0.819528 Centerline is valid? [False, False] Translation: X:3.11, Y:0.13, Z:-0.70 [[ 0.94176106 -0.3078688 -0.13528823 3.1050726 ] [ 0.32028563 0.94377899 0.08184329 0.13050746] [ 0.1024852 -0.12040771 0.98742026 -0.69520176] [ 0. 0. 0. 1. ]] SLAMing on 65.89907232899999 meters Centerline goodness : 0.819868 Centerline is valid? [False, False] Translation: X:3.11, Y:0.13, Z:-0.69 [[ 0.93986196 -0.31261344 -0.13759484 3.10970433] [ 0.32539377 0.94197249 0.08250283 0.13302587] [ 0.10381906 -0.12231377 0.98704658 -0.69310783] [ 0. 0. 0. 1. ]] SLAMing on 65.929072329 meters Centerline goodness : 0.819868 Centerline is valid? [False, False] Translation: X:3.11, Y:0.13, Z:-0.69 [[ 0.93986196 -0.31261344 -0.13759484 3.10970433] [ 0.32539377 0.94197249 0.08250283 0.13302587] [ 0.10381906 -0.12231377 0.98704658 -0.69310783] [ 0. 0. 0. 1. ]] SLAMing on 65.959072329 meters Centerline goodness : 0.819387 Centerline is valid? [False, False] Translation: X:3.11, Y:0.13, Z:-0.69 [[ 0.93890782 -0.31476786 -0.139188 3.1138172 ] [ 0.32781151 0.94108436 0.08306524 0.13491893] [ 0.10484138 -0.12361803 0.986776 -0.69318829] [ 0. 0. 0. 1. ]] SLAMing on 65.989072329 meters Centerline goodness : 0.820371 Centerline is valid? [False, False] Translation: X:3.12, Y:0.14, Z:-0.69 [[ 0.9379534 -0.31728039 -0.13991632 3.11586295] [ 0.33036371 0.94023921 0.08252295 0.13617655] [ 0.1053719 -0.12362596 0.98671849 -0.69257825] [ 0. 0. 0. 1. ]] SLAMing on 66.019072329 meters Centerline goodness : 0.818302 Centerline is valid? [False, False] Translation: X:3.12, Y:0.14, Z:-0.69 [[ 0.93663937 -0.32116227 -0.13986241 3.11974246] [ 0.3339263 0.93924003 0.07950714 0.13730997] [ 0.10582968 -0.12117325 0.98697372 -0.69469644] [ 0. 0. 0. 1. ]] SLAMing on 66.049072329 meters Centerline goodness : 0.820326 Centerline is valid? [False, False] Translation: X:3.12, Y:0.14, Z:-0.70 [[ 0.93631199 -0.32189446 -0.1403703 3.12254421] [ 0.3347124 0.93896863 0.07940734 0.13738382] [ 0.10624252 -0.12133373 0.98690965 -0.69601616] [ 0. 0. 0. 1. ]] SLAMing on 66.079072329 meters Centerline goodness : 0.820693 Centerline is valid? [False, False] Translation: X:3.12, Y:0.14, Z:-0.70 [[ 0.93581862 -0.32313211 -0.14081604 3.12362854] [ 0.33599168 0.93852487 0.07925057 0.13775224] [ 0.10655095 -0.12147718 0.98685875 -0.69548708] [ 0. 0. 0. 1. ]] SLAMing on 66.109072329 meters Centerline goodness : 0.821738 Centerline is valid? [False, False] Translation: X:3.12, Y:0.14, Z:-0.69 [[ 0.93527647 -0.32436712 -0.14157648 3.12474148] [ 0.33732095 0.93805057 0.07921934 0.1389748 ] [ 0.10710975 -0.12184869 0.98675245 -0.69459944] [ 0. 0. 0. 1. ]] SLAMing on 66.139072329 meters Centerline goodness : 0.822184 Centerline is valid? [False, False] Translation: X:3.13, Y:0.14, Z:-0.69 [[ 0.93496679 -0.32454209 -0.14321148 3.12581749] [ 0.33785538 0.93773727 0.08063842 0.14099583] [ 0.10812419 -0.12377902 0.9864015 -0.69278469] [ 0. 0. 0. 1. ]] SLAMing on 66.16907232899999 meters Centerline goodness : 0.820774 Centerline is valid? [False, False] Translation: X:3.13, Y:0.15, Z:-0.69 [[ 0.93556523 -0.3214332 -0.14628189 3.12565088] [ 0.3356709 0.93809002 0.08551122 0.14514285] [ 0.10973944 -0.1291039 0.98554018 -0.68957907] [ 0. 0. 0. 1. ]] SLAMing on 66.19907232899999 meters Centerline goodness : 0.820699 Centerline is valid? [False, False] Translation: X:3.13, Y:0.15, Z:-0.69 [[ 0.93574251 -0.32097549 -0.14615296 3.12525925] [ 0.33511475 0.93835422 0.08479067 0.14644194] [ 0.10992752 -0.12832025 0.98562156 -0.6901051 ] [ 0. 0. 0. 1. ]] SLAMing on 66.22907232899999 meters Centerline goodness : 0.822004 Centerline is valid? [False, False] Translation: X:3.13, Y:0.15, Z:-0.69 [[ 0.9357281 -0.32148934 -0.14511211 3.12530431] [ 0.33521641 0.938541 0.08228454 0.14676098] [ 0.10974006 -0.12563992 0.98598769 -0.69202676] [ 0. 0. 0. 1. ]] SLAMing on 66.25907232899999 meters Centerline goodness : 0.822857 Centerline is valid? [False, False] Translation: X:3.12, Y:0.15, Z:-0.70 [[ 0.93655209 -0.31998383 -0.14311019 3.12378392] [ 0.33312398 0.93954171 0.07930817 0.14613047] [ 0.10908066 -0.12194966 0.98652404 -0.69513139] [ 0. 0. 0. 1. ]] SLAMing on 66.28907232899999 meters Centerline goodness : 0.824062 Centerline is valid? [False, False] Translation: X:3.12, Y:0.15, Z:-0.69 [[ 0.93691277 -0.31866009 -0.1437018 3.12254163] [ 0.33194795 0.93989794 0.08001514 0.14763849] [ 0.1095674 -0.12266872 0.98638095 -0.69382935] [ 0. 0. 0. 1. ]] SLAMing on 66.319072329 meters Centerline goodness : 0.822932 Centerline is valid? [False, False] Translation: X:3.12, Y:0.15, Z:-0.69 [[ 0.93744623 -0.31624487 -0.14554641 3.12386253] [ 0.33008084 0.94030503 0.08290414 0.14992719] [ 0.11064001 -0.12576025 0.98587177 -0.69360691] [ 0. 0. 0. 1. ]] SLAMing on 66.349072329 meters Centerline goodness : 0.821468 Centerline is valid? [False, False] Translation: X:3.12, Y:0.15, Z:-0.69 [[ 0.93855475 -0.31259388 -0.14628756 3.12348708] [ 0.32669117 0.94134831 0.08447627 0.15292855] [ 0.11130079 -0.12707646 0.98562859 -0.69499045] [ 0. 0. 0. 1. ]] SLAMing on 66.379072329 meters Centerline goodness : 0.822213 Centerline is valid? [False, False] Translation: X:3.12, Y:0.15, Z:-0.70 [[ 0.93918432 -0.31101974 -0.14560057 3.1224992 ] [ 0.32492379 0.94203896 0.08358906 0.15337981] [ 0.11116356 -0.12581463 0.98580594 -0.69644881] [ 0. 0. 0. 1. ]] SLAMing on 66.409072329 meters Centerline goodness : 0.822083 Centerline is valid? [False, False] Translation: X:3.12, Y:0.15, Z:-0.70 [[ 0.9398525 -0.30940784 -0.14472066 3.12096635] [ 0.32306217 0.94278284 0.08240964 0.15387627] [ 0.11094197 -0.12420668 0.98603478 -0.6977724 ] [ 0. 0. 0. 1. ]] SLAMing on 66.439072329 meters Centerline goodness : 0.824620 Centerline is valid? [False, False] Translation: X:3.12, Y:0.15, Z:-0.70 [[ 0.94127972 -0.30540008 -0.14395583 3.11757828] [ 0.3189887 0.94413529 0.08279344 0.15372105] [ 0.11062865 -0.12385207 0.98611458 -0.69797719] [ 0. 0. 0. 1. ]] SLAMing on 66.469072329 meters Centerline goodness : 0.826088 Centerline is valid? [False, False] Translation: X:3.12, Y:0.16, Z:-0.70 [[ 0.94235589 -0.30762381 -0.13165472 3.11824656] [ 0.31986988 0.94368054 0.0845595 0.15792203] [ 0.09822748 -0.12179753 0.9876825 -0.69990442] [ 0. 0. 0. 1. ]] SLAMing on 66.499072329 meters Centerline goodness : 0.826425 Centerline is valid? [False, False] Translation: X:3.12, Y:0.16, Z:-0.70 [[ 0.94294373 -0.30506824 -0.13338099 3.11879459] [ 0.3178549 0.94406176 0.08783879 0.15941905] [ 0.09912306 -0.12522284 0.98716456 -0.698874 ] [ 0. 0. 0. 1. ]] SLAMing on 66.52907232899999 meters Centerline goodness : 0.828493 Centerline is valid? [False, False] Translation: X:3.12, Y:0.16, Z:-0.70 [[ 0.94380362 -0.3016669 -0.13502521 3.11884619] [ 0.3149642 0.94474637 0.09083965 0.16143727] [ 0.10016126 -0.1282629 0.98666932 -0.69812687] [ 0. 0. 0. 1. ]] SLAMing on 66.55907232899999 meters Centerline goodness : 0.828356 Centerline is valid? [False, False] Translation: X:3.12, Y:0.16, Z:-0.70 [[ 0.94373361 -0.30192087 -0.13494689 3.11960347] [ 0.31508893 0.94481696 0.08966532 0.16255222] [ 0.10042828 -0.12714045 0.98678745 -0.6992297 ] [ 0. 0. 0. 1. ]] SLAMing on 66.58907232899999 meters Centerline goodness : 0.826225 Centerline is valid? [False, False] Translation: X:3.12, Y:0.16, Z:-0.70 [[ 0.94366358 -0.30245245 -0.13424443 3.12014261] [ 0.31532154 0.94493283 0.08760289 0.16330899] [ 0.10035626 -0.12499782 0.98706847 -0.70121737] [ 0. 0. 0. 1. ]] SLAMing on 66.61907232899999 meters Centerline goodness : 0.824440 Centerline is valid? [False, False] Translation: X:3.12, Y:0.16, Z:-0.70 [[ 0.94341064 -0.30414021 -0.13219339 3.11823426] [ 0.31626081 0.94506037 0.08270429 0.16442554] [ 0.09977704 -0.1198317 0.98776764 -0.70267707] [ 0. 0. 0. 1. ]] SLAMing on 66.64907232899999 meters Centerline goodness : 0.825387 Centerline is valid? [False, False] Translation: X:3.12, Y:0.17, Z:-0.70 [[ 0.94345885 -0.30376642 -0.13270778 3.11794293] [ 0.31597372 0.94513498 0.08294868 0.16530019] [ 0.10022974 -0.12019084 0.98767817 -0.701572 ] [ 0. 0. 0. 1. ]] SLAMing on 66.679072329 meters Centerline goodness : 0.825602 Centerline is valid? [False, False] Translation: X:3.12, Y:0.17, Z:-0.70 [[ 0.94364717 -0.3028712 -0.13341309 3.11653581] [ 0.31527823 0.94526742 0.08407821 0.16618272] [ 0.10064618 -0.1214024 0.98748762 -0.69924857] [ 0. 0. 0. 1. ]] SLAMing on 66.709072329 meters Centerline goodness : 0.826156 Centerline is valid? [False, False] Translation: X:3.12, Y:0.17, Z:-0.70 [[ 0.94443793 -0.29915043 -0.13618379 3.1174011 ] [ 0.31237684 0.94580628 0.08871967 0.16789545] [ 0.10226295 -0.12633088 0.98670299 -0.69686258] [ 0. 0. 0. 1. ]] SLAMing on 66.739072329 meters Centerline goodness : 0.825436 Centerline is valid? [False, False] Translation: X:3.12, Y:0.17, Z:-0.70 [[ 0.94460562 -0.29841105 -0.13664211 3.11624343] [ 0.31175551 0.94595671 0.08929954 0.16862623] [ 0.10260956 -0.12695178 0.98658731 -0.69519059] [ 0. 0. 0. 1. ]] SLAMing on 66.769072329 meters Centerline goodness : 0.825731 Centerline is valid? [False, False] Translation: X:3.12, Y:0.17, Z:-0.69 [[ 0.94478682 -0.29776768 -0.13679284 3.11567834] [ 0.31112792 0.94616577 0.08927344 0.16934799] [ 0.10284596 -0.12690444 0.98656879 -0.6947869 ] [ 0. 0. 0. 1. ]] SLAMing on 66.799072329 meters Centerline goodness : 0.826029 Centerline is valid? [False, False] Translation: X:3.12, Y:0.17, Z:-0.70 [[ 0.94510457 -0.29686416 -0.13656143 3.11624851] [ 0.31016006 0.94651353 0.08895439 0.16918923] [ 0.10284987 -0.1264271 0.98662966 -0.69620986] [ 0. 0. 0. 1. ]] SLAMing on 66.829072329 meters Centerline goodness : 0.825505 Centerline is valid? [False, False] Translation: X:3.11, Y:0.17, Z:-0.70 [[ 0.94558322 -0.29639809 -0.13424061 3.11347152] [ 0.30900029 0.94724744 0.08509466 0.16838613] [ 0.10193718 -0.12194447 0.98728839 -0.69783265] [ 0. 0. 0. 1. ]] SLAMing on 66.859072329 meters Centerline goodness : 0.827368 Centerline is valid? [False, False] Translation: X:3.11, Y:0.17, Z:-0.70 [[ 0.94583626 -0.2956745 -0.13405356 3.11284114] [ 0.308215 0.94753564 0.08473327 0.16854795] [ 0.10196706 -0.12146111 0.98734488 -0.69794555] [ 0. 0. 0. 1. ]] SLAMing on 66.889072329 meters Centerline goodness : 0.827449 Centerline is valid? [False, False] Translation: X:3.11, Y:0.17, Z:-0.70 [[ 0.94614656 -0.2945272 -0.13438908 3.11158788] [ 0.3071763 0.94781283 0.08540232 0.16892963] [ 0.10222238 -0.12208425 0.98724162 -0.69660916] [ 0. 0. 0. 1. ]] SLAMing on 66.91907232899999 meters Centerline goodness : 0.827243 Centerline is valid? [False, False] Translation: X:3.11, Y:0.17, Z:-0.70 [[ 0.94720464 -0.29044365 -0.13581556 3.11094206] [ 0.30365803 0.94859837 0.08917918 0.16916311] [ 0.10293289 -0.12571242 0.98671232 -0.69521672] [ 0. 0. 0. 1. ]] SLAMing on 66.94907232899999 meters Centerline goodness : 0.826997 Centerline is valid? [False, False] Translation: X:3.11, Y:0.17, Z:-0.70 [[ 0.94755157 -0.28949776 -0.13541445 3.1102058 ] [ 0.30261302 0.94897422 0.08873153 0.16897309] [ 0.10281725 -0.12505587 0.9868078 -0.69568332] [ 0. 0. 0. 1. ]] SLAMing on 66.97907232899999 meters Centerline goodness : 0.826105 Centerline is valid? [False, False] Translation: X:3.11, Y:0.17, Z:-0.70 [[ 0.94773631 -0.28924901 -0.13465103 3.1100665 ] [ 0.30213523 0.94924452 0.08745933 0.16806597] [ 0.10251923 -0.1235712 0.98702582 -0.69684864] [ 0. 0. 0. 1. ]] SLAMing on 67.00907232899999 meters Centerline goodness : 0.827056 Centerline is valid? [False, False] Translation: X:3.11, Y:0.16, Z:-0.70 [[ 0.94837572 -0.28814404 -0.13250098 3.10718615] [ 0.30052157 0.94996837 0.08512863 0.16455198] [ 0.10134244 -0.12055333 0.98752043 -0.69750018] [ 0. 0. 0. 1. ]] SLAMing on 67.03907232899999 meters Centerline goodness : 0.828874 Centerline is valid? [False, False] Translation: X:3.11, Y:0.16, Z:-0.70 [[ 0.94871977 -0.28694669 -0.13263637 3.10626076] [ 0.29945394 0.95020434 0.08624998 0.16288614] [ 0.1012825 -0.12154554 0.98740495 -0.69622231] [ 0. 0. 0. 1. ]] SLAMing on 67.069072329 meters Centerline goodness : 0.830023 Centerline is valid? [False, False] Translation: X:3.11, Y:0.17, Z:-0.69 [[ 0.94912067 -0.29045263 -0.12168493 3.1078969 ] [ 0.30160001 0.94955639 0.0859075 0.16596921] [ 0.09059464 -0.11823676 0.98884411 -0.6935803 ] [ 0. 0. 0. 1. ]] SLAMing on 67.099072329 meters Centerline goodness : 0.829307 Centerline is valid? [False, False] Translation: X:3.11, Y:0.16, Z:-0.69 [[ 0.94924404 -0.28958172 -0.12279323 3.10752061] [ 0.30112132 0.94944957 0.08872131 0.16437366] [ 0.09089391 -0.12119384 0.98845857 -0.69056711] [ 0. 0. 0. 1. ]] SLAMing on 67.129072329 meters Centerline goodness : 0.827540 Centerline is valid? [False, False] Translation: X:3.11, Y:0.16, Z:-0.69 [[ 0.94895949 -0.29086167 -0.12196464 3.10655619] [ 0.30209474 0.94934763 0.08647457 0.16313129] [ 0.0906347 -0.11890574 0.98876022 -0.69000187] [ 0. 0. 0. 1. ]] SLAMing on 67.159072329 meters Centerline goodness : 0.826793 Centerline is valid? [False, False] Translation: X:3.11, Y:0.16, Z:-0.69 [[ 0.94854953 -0.292921 -0.12021258 3.10551864] [ 0.30361241 0.94919124 0.08279797 0.16121828] [ 0.08985147 -0.11503601 0.98928936 -0.69057773] [ 0. 0. 0. 1. ]] SLAMing on 67.189072329 meters Centerline goodness : 0.827486 Centerline is valid? [False, False] Translation: X:3.10, Y:0.16, Z:-0.69 [[ 0.94809083 -0.29546207 -0.11758373 3.10411592] [ 0.30542028 0.94902121 0.07795635 0.1560098 ] [ 0.08855631 -0.10982216 0.98999842 -0.6910155 ] [ 0. 0. 0. 1. ]] SLAMing on 67.219072329 meters Centerline goodness : 0.827988 Centerline is valid? [False, False] Translation: X:3.10, Y:0.15, Z:-0.69 [[ 0.94790251 -0.29575326 -0.11836742 3.1047386 ] [ 0.30592748 0.94873932 0.07938563 0.1542566 ] [ 0.08882126 -0.11146168 0.98979143 -0.68901832] [ 0. 0. 0. 1. ]] SLAMing on 67.249072329 meters Centerline goodness : 0.827640 Centerline is valid? [False, False] Translation: X:3.11, Y:0.15, Z:-0.69 [[ 0.94757871 -0.29614714 -0.11996443 3.1055192 ] [ 0.30672055 0.94827902 0.08178875 0.15384559] [ 0.08953824 -0.11429683 0.98940342 -0.68591979] [ 0. 0. 0. 1. ]] SLAMing on 67.27907232899999 meters Centerline goodness : 0.828715 Centerline is valid? [False, False] Translation: X:3.11, Y:0.15, Z:-0.68 [[ 0.9472252 -0.29675476 -0.12124779 3.106028 ] [ 0.30763424 0.94783333 0.08350544 0.1538149 ] [ 0.09014206 -0.11639843 0.98910354 -0.6832597 ] [ 0. 0. 0. 1. ]] SLAMing on 67.30907232899999 meters Centerline goodness : 0.825836 Centerline is valid? [False, False] Translation: X:3.11, Y:0.15, Z:-0.68 [[ 0.94600292 -0.300871 -0.1206446 3.10681453] [ 0.31143755 0.94682478 0.08080521 0.15164356] [ 0.08991735 -0.11401523 0.98940154 -0.68190181] [ 0. 0. 0. 1. ]] SLAMing on 67.33907232899999 meters Centerline goodness : 0.825698 Centerline is valid? [False, False] Translation: X:3.11, Y:0.15, Z:-0.68 [[ 0.94473614 -0.29935676 -0.13363814 3.10781246] [ 0.31096508 0.94736352 0.07617794 0.14694667] [ 0.10379952 -0.11352484 0.98809806 -0.67744804] [ 0. 0. 0. 1. ]] SLAMing on 67.36907232899999 meters Centerline goodness : 0.822747 Centerline is valid? [False, False] Translation: X:3.11, Y:0.14, Z:-0.68 [[ 0.94302051 -0.30575776 -0.13124217 3.10836729] [ 0.31650109 0.94598437 0.07028965 0.14196355] [ 0.10266144 -0.10782287 0.98885533 -0.67734062] [ 0. 0. 0. 1. ]] SLAMing on 67.39907232899999 meters Centerline goodness : 0.821701 Centerline is valid? [False, False] Translation: X:3.11, Y:0.14, Z:-0.68 [[ 0.94240841 -0.30711978 -0.13245312 3.11067539] [ 0.31816915 0.9453032 0.07190448 0.14063144] [ 0.10312507 -0.10990588 0.98857772 -0.67575491] [ 0. 0. 0. 1. ]] SLAMing on 67.429072329 meters Centerline goodness : 0.821925 Centerline is valid? [False, False] Translation: X:3.11, Y:0.14, Z:-0.67 [[ 0.94184693 -0.3081212 -0.13411068 3.11235532] [ 0.3196253 0.94461627 0.07442965 0.14001783] [ 0.10374978 -0.11296651 0.98816727 -0.67303175] [ 0. 0. 0. 1. ]] SLAMing on 67.459072329 meters Centerline goodness : 0.822342 Centerline is valid? [False, False] Translation: X:3.11, Y:0.14, Z:-0.67 [[ 0.94122135 -0.30963266 -0.13501847 3.11185399] [ 0.32139038 0.94390792 0.07580272 0.13914438] [ 0.103974 -0.11474078 0.98793925 -0.66922884] [ 0. 0. 0. 1. ]] SLAMing on 67.489072329 meters Centerline goodness : 0.821155 Centerline is valid? [False, False] Translation: X:3.11, Y:0.14, Z:-0.67 [[ 0.94064652 -0.31093342 -0.13603136 3.11491001] [ 0.32290807 0.94331736 0.07669897 0.13803098] [ 0.10447247 -0.11607224 0.98773111 -0.66888507] [ 0. 0. 0. 1. ]] SLAMing on 67.519072329 meters Centerline goodness : 0.822050 Centerline is valid? [False, False] Translation: X:3.12, Y:0.13, Z:-0.67 [[ 0.93939653 -0.31580046 -0.13343248 3.11551734] [ 0.32696194 0.94231592 0.07167008 0.13172781] [ 0.1031021 -0.11095396 0.98846304 -0.66959142] [ 0. 0. 0. 1. ]] SLAMing on 67.549072329 meters Centerline goodness : 0.821455 Centerline is valid? [False, False] Translation: X:3.12, Y:0.13, Z:-0.67 [[ 0.93875589 -0.3178408 -0.13309621 3.11842287] [ 0.32881445 0.94178424 0.07016766 0.12910388] [ 0.10304577 -0.10963426 0.98861615 -0.67090237] [ 0. 0. 0. 1. ]] SLAMing on 67.579072329 meters Centerline goodness : 0.821894 Centerline is valid? [False, False] Translation: X:3.12, Y:0.12, Z:-0.67 [[ 0.93783686 -0.32053559 -0.13311259 3.119512 ] [ 0.33146546 0.94089324 0.06964601 0.1249422 ] [ 0.10292071 -0.10943882 0.98865083 -0.66861033] [ 0. 0. 0. 1. ]] SLAMing on 67.609072329 meters Centerline goodness : 0.822505 Centerline is valid? [False, False] Translation: X:3.12, Y:0.12, Z:-0.67 [[ 0.93745693 -0.3209926 -0.13467835 3.12193284] [ 0.33229214 0.94046347 0.071487 0.12345448] [ 0.10371327 -0.11176854 0.98830732 -0.66676993] [ 0. 0. 0. 1. ]] SLAMing on 67.639072329 meters Centerline goodness : 0.822820 Centerline is valid? [False, False] Translation: X:3.12, Y:0.12, Z:-0.66 [[ 0.93706434 -0.32173442 -0.13563693 3.12312168] [ 0.33327901 0.94001705 0.07275329 0.12225347] [ 0.10409379 -0.11337946 0.98808379 -0.66491902] [ 0. 0. 0. 1. ]] SLAMing on 67.66907232899999 meters Centerline goodness : 0.824772 Centerline is valid? [False, False] Translation: X:3.13, Y:0.12, Z:-0.66 [[ 0.93640562 -0.32321255 -0.13666809 3.12726115] [ 0.33498208 0.93933704 0.07370842 0.11906619] [ 0.10455391 -0.11480234 0.98787089 -0.66491402] [ 0. 0. 0. 1. ]] SLAMing on 67.69907232899999 meters Centerline goodness : 0.824897 Centerline is valid? [False, False] Translation: X:3.13, Y:0.12, Z:-0.67 [[ 0.93634601 -0.32371969 -0.13587384 3.12848162] [ 0.33524979 0.93935119 0.07229742 0.11628936] [ 0.10422916 -0.11324708 0.9880847 -0.66625674] [ 0. 0. 0. 1. ]] SLAMing on 67.72907232899999 meters Centerline goodness : 0.826249 Centerline is valid? [False, False] Translation: X:3.13, Y:0.11, Z:-0.67 [[ 0.93622394 -0.32444461 -0.1349831 3.12938642] [ 0.33567194 0.93934725 0.07036403 0.11344934] [ 0.10396678 -0.11118653 0.98834633 -0.66732165] [ 0. 0. 0. 1. ]] SLAMing on 67.75907232899999 meters Centerline goodness : 0.828860 Centerline is valid? [False, False] Translation: X:3.13, Y:0.11, Z:-0.67 [[ 0.93548271 -0.32669067 -0.13470453 3.13283314] [ 0.33777386 0.93867866 0.06921849 0.10929302] [ 0.10383124 -0.11025237 0.98846522 -0.66843105] [ 0. 0. 0. 1. ]] SLAMing on 67.78907232899999 meters Centerline goodness : 0.830616 Centerline is valid? [False, False] Translation: X:3.13, Y:0.11, Z:-0.67 [[ 0.93496567 -0.32773298 -0.13575818 3.13470234] [ 0.33904131 0.93814902 0.0701955 0.10800934] [ 0.10435603 -0.11165802 0.98825215 -0.66681032] [ 0. 0. 0. 1. ]] SLAMing on 67.819072329 meters Centerline goodness : 0.830616 Centerline is valid? [False, False] Translation: X:3.13, Y:0.11, Z:-0.67 [[ 0.93496567 -0.32773298 -0.13575818 3.13470234] [ 0.33904131 0.93814902 0.0701955 0.10800934] [ 0.10435603 -0.11165802 0.98825215 -0.66681032] [ 0. 0. 0. 1. ]] SLAMing on 67.849072329 meters Centerline goodness : 0.829823 Centerline is valid? [False, False] Translation: X:3.14, Y:0.11, Z:-0.66 [[ 0.93449578 -0.32849547 -0.13714357 3.13648742] [ 0.34011668 0.93765132 0.07162851 0.10717494] [ 0.10506321 -0.11358136 0.98795799 -0.66464739] [ 0. 0. 0. 1. ]] SLAMing on 67.879072329 meters Centerline goodness : 0.831784 Centerline is valid? [False, False] Translation: X:3.14, Y:0.11, Z:-0.66 [[ 0.93404325 -0.32919102 -0.13855138 3.13688432] [ 0.34121437 0.93708095 0.07383795 0.10533484] [ 0.10552707 -0.11624356 0.98759884 -0.66065466] [ 0. 0. 0. 1. ]] SLAMing on 67.909072329 meters Centerline goodness : 0.834801 Centerline is valid? [False, False] Translation: X:3.14, Y:0.10, Z:-0.66 [[ 0.93386774 -0.32928813 -0.13950048 3.13971083] [ 0.34151198 0.93690778 0.07465502 0.1045879 ] [ 0.10611607 -0.11735899 0.98740379 -0.66106673] [ 0. 0. 0. 1. ]] SLAMing on 67.939072329 meters Centerline goodness : 0.835110 Centerline is valid? [False, False] Translation: X:3.14, Y:0.10, Z:-0.66 [[ 0.93369016 -0.33002734 -0.13894117 3.1401826 ] [ 0.34205492 0.93680714 0.07342208 0.10314967] [ 0.10592979 -0.11607899 0.98757509 -0.66156843] [ 0. 0. 0. 1. ]] SLAMing on 67.969072329 meters Centerline goodness : 0.835116 Centerline is valid? [False, False] Translation: X:3.14, Y:0.10, Z:-0.66 [[ 0.9334987 -0.33040633 -0.13932634 3.14354897] [ 0.34247096 0.93666219 0.07333198 0.10183826] [ 0.10627237 -0.11617053 0.98752751 -0.66330462] [ 0. 0. 0. 1. ]] SLAMing on 67.999072329 meters Centerline goodness : 0.837436 Centerline is valid? [False, False] Translation: X:3.15, Y:0.10, Z:-0.66 [[ 0.93283328 -0.33210232 -0.13975018 3.14720634] [ 0.34415645 0.93609219 0.07271693 0.10055415] [ 0.10666959 -0.1159287 0.98751311 -0.66456613] [ 0. 0. 0. 1. ]] SLAMing on 68.02907232899999 meters Centerline goodness : 0.836848 Centerline is valid? [False, False] Translation: X:3.15, Y:0.10, Z:-0.66 [[ 0.93247991 -0.33283655 -0.14036041 3.14849311] [ 0.34495066 0.93581025 0.07258249 0.10114509] [ 0.1071926 -0.11609913 0.98743645 -0.66420131] [ 0. 0. 0. 1. ]] SLAMing on 68.05907232899999 meters Centerline goodness : 0.837146 Centerline is valid? [False, False] Translation: X:3.15, Y:0.10, Z:-0.67 [[ 0.93240872 -0.33257743 -0.14144341 3.15182252] [ 0.34490078 0.93577013 0.07333298 0.10212693] [ 0.10796963 -0.11716025 0.98722644 -0.66569769] [ 0. 0. 0. 1. ]] SLAMing on 68.08907232899999 meters Centerline goodness : 0.836991 Centerline is valid? [False, False] Translation: X:3.16, Y:0.10, Z:-0.67 [[ 0.93182926 -0.33351393 -0.1430479 3.15616466] [ 0.34610036 0.93527879 0.07394681 0.10354916] [ 0.10912737 -0.11841473 0.98694943 -0.66654403] [ 0. 0. 0. 1. ]] SLAMing on 68.11907232899999 meters Centerline goodness : 0.837083 Centerline is valid? [False, False] Translation: X:3.16, Y:0.10, Z:-0.67 [[ 0.93151489 -0.33408309 -0.14376541 3.15762469] [ 0.34678956 0.93500108 0.07422922 0.10388291] [ 0.10962208 -0.11900197 0.98682396 -0.66612887] [ 0. 0. 0. 1. ]] SLAMing on 68.14907232899999 meters Centerline goodness : 0.837530 Centerline is valid? [False, False] Translation: X:3.16, Y:0.10, Z:-0.67 [[ 0.93118402 -0.33461696 -0.14466451 3.15963642] [ 0.34748479 0.93470708 0.07467931 0.10293435] [ 0.11022998 -0.1198089 0.98665859 -0.66537858] [ 0. 0. 0. 1. ]] SLAMing on 68.179072329 meters Centerline goodness : 0.836825 Centerline is valid? [False, False] Translation: X:3.16, Y:0.10, Z:-0.67 [[ 0.93093699 -0.33490326 -0.14558889 3.16214118] [ 0.34795696 0.93448008 0.07531885 0.1024026 ] [ 0.11082539 -0.12077577 0.986474 -0.66538413] [ 0. 0. 0. 1. ]] SLAMing on 68.209072329 meters Centerline goodness : 0.837372 Centerline is valid? [False, False] Translation: X:3.16, Y:0.10, Z:-0.66 [[ 0.9306401 -0.33536254 -0.14642735 3.16380264] [ 0.34857505 0.93421118 0.07579515 0.102474 ] [ 0.11137522 -0.12157893 0.9863134 -0.66482973] [ 0. 0. 0. 1. ]] SLAMing on 68.239072329 meters Centerline goodness : 0.837042 Centerline is valid? [False, False] Translation: X:3.17, Y:0.10, Z:-0.67 [[ 0.93046133 -0.335212 -0.14790073 3.16734892] [ 0.34877296 0.9340179 0.07725276 0.10290982] [ 0.11224588 -0.12346448 0.98598042 -0.66535541] [ 0. 0. 0. 1. ]] SLAMing on 68.269072329 meters Centerline goodness : 0.837701 Centerline is valid? [False, False] Translation: X:3.17, Y:0.10, Z:-0.66 [[ 0.92983827 -0.33646701 -0.14896555 3.1695199 ] [ 0.35023975 0.9334161 0.07788778 0.10202427] [ 0.11284018 -0.12459669 0.98577013 -0.66397722] [ 0. 0. 0. 1. ]] SLAMing on 68.299072329 meters Centerline goodness : 0.837713 Centerline is valid? [False, False] Translation: X:3.17, Y:0.10, Z:-0.66 [[ 0.92928562 -0.33730279 -0.15051597 3.17340975] [ 0.35144312 0.93284191 0.07933289 0.10094803] [ 0.1136484 -0.12662072 0.98541932 -0.66341154] [ 0. 0. 0. 1. ]] SLAMing on 68.329072329 meters Centerline goodness : 0.838204 Centerline is valid? [False, False] Translation: X:3.18, Y:0.10, Z:-0.66 [[ 0.9284519 -0.33913058 -0.15155037 3.17596348] [ 0.35346252 0.93204126 0.07977052 0.10043173] [ 0.11419857 -0.12763047 0.98522543 -0.66220171] [ 0. 0. 0. 1. ]] SLAMing on 68.359072329 meters Centerline goodness : 0.835453 Centerline is valid? [False, False] Translation: X:3.18, Y:0.10, Z:-0.66 [[ 0.92667791 -0.34394272 -0.15156337 3.18033485] [ 0.35799401 0.93052935 0.0771713 0.09955252] [ 0.11449165 -0.12577172 0.98543043 -0.66285803] [ 0. 0. 0. 1. ]] SLAMing on 68.389072329 meters Centerline goodness : 0.831855 Centerline is valid? [False, False] Translation: X:3.18, Y:0.10, Z:-0.66 [[ 0.92578714 -0.34595687 -0.15242056 3.18496406] [ 0.36008105 0.92975611 0.0767803 0.0985802 ] [ 0.11515127 -0.12596597 0.98532876 -0.66371278] [ 0. 0. 0. 1. ]] SLAMing on 68.41907232899999 meters Centerline goodness : 0.832309 Centerline is valid? [False, False] Translation: X:3.19, Y:0.10, Z:-0.66 [[ 0.92505507 -0.34728487 -0.15383868 3.19072183] [ 0.36169253 0.92906341 0.07758671 0.09734907] [ 0.11598119 -0.12741428 0.98504516 -0.6649211 ] [ 0. 0. 0. 1. ]] SLAMing on 68.44907232899999 meters Centerline goodness : 0.832683 Centerline is valid? [False, False] Translation: X:3.19, Y:0.09, Z:-0.66 [[ 0.92416884 -0.34874394 -0.15585125 3.19383545] [ 0.36373255 0.92804373 0.08020891 0.09419348] [ 0.11666441 -0.13081475 0.98451862 -0.66132868] [ 0. 0. 0. 1. ]] SLAMing on 68.47907232899999 meters Centerline goodness : 0.833547 Centerline is valid? [False, False] Translation: X:3.20, Y:0.09, Z:-0.66 [[ 0.92410498 -0.34768731 -0.15856711 3.19622808] [ 0.36356518 0.92771837 0.08461079 0.09333194] [ 0.11768752 -0.13583873 0.98371616 -0.65815632] [ 0. 0. 0. 1. ]] SLAMing on 68.50907232899999 meters Centerline goodness : 0.832305 Centerline is valid? [False, False] Translation: X:3.20, Y:0.09, Z:-0.65 [[ 0.92363801 -0.34838591 -0.15975007 3.19519357] [ 0.36460834 0.92717322 0.08608466 0.0937681 ] [ 0.1181253 -0.13775728 0.98339684 -0.65414656] [ 0. 0. 0. 1. ]] SLAMing on 68.53907232899999 meters Centerline goodness : 0.832003 Centerline is valid? [False, False] Translation: X:3.20, Y:0.09, Z:-0.65 [[ 0.92215175 -0.35240719 -0.15951592 3.19711515] [ 0.3682652 0.92599129 0.08319174 0.09497942] [ 0.11839298 -0.13545957 0.98368379 -0.654061 ] [ 0. 0. 0. 1. ]] SLAMing on 68.569072329 meters Centerline goodness : 0.829666 Centerline is valid? [False, False] Translation: X:3.20, Y:0.10, Z:-0.66 [[ 0.92120119 -0.35528867 -0.15861377 3.2006606 ] [ 0.37060286 0.92537472 0.07959364 0.09518828] [ 0.11849845 -0.13210447 0.98412729 -0.65732255] [ 0. 0. 0. 1. ]] SLAMing on 68.599072329 meters Centerline goodness : 0.830184 Centerline is valid? [False, False] Translation: X:3.20, Y:0.09, Z:-0.66 [[ 0.92032598 -0.35801176 -0.15756797 3.20318863] [ 0.37278501 0.92478781 0.07615015 0.09479892] [ 0.11845429 -0.12882194 0.98456767 -0.65971581] [ 0. 0. 0. 1. ]] SLAMing on 68.629072329 meters Centerline goodness : 0.831329 Centerline is valid? [False, False] Translation: X:3.21, Y:0.09, Z:-0.66 [[ 0.91954566 -0.35941458 -0.1589243 3.20646603] [ 0.37444863 0.92406426 0.07676895 0.09499872] [ 0.11926438 -0.13010154 0.98430158 -0.65909216] [ 0. 0. 0. 1. ]] SLAMing on 68.659072329 meters Centerline goodness : 0.831681 Centerline is valid? [False, False] Translation: X:3.21, Y:0.10, Z:-0.66 [[ 0.91895083 -0.36031505 -0.16031979 3.20661823] [ 0.37563554 0.92351673 0.07755507 0.09700421] [ 0.12011375 -0.13149111 0.98401361 -0.6562092 ] [ 0. 0. 0. 1. ]] SLAMing on 68.689072329 meters Centerline goodness : 0.831883 Centerline is valid? [False, False] Translation: X:3.21, Y:0.10, Z:-0.65 [[ 0.91896995 -0.35897175 -0.16319775 3.20987872] [ 0.37513752 0.92339796 0.08128992 0.09851126] [ 0.12151568 -0.1359246 0.98323875 -0.65477064] [ 0. 0. 0. 1. ]] SLAMing on 68.719072329 meters Centerline goodness : 0.831183 Centerline is valid? [False, False] Translation: X:3.21, Y:0.10, Z:-0.65 [[ 0.91881512 -0.35908747 -0.16381382 3.21035112] [ 0.37532169 0.92333572 0.08114669 0.10021651] [ 0.12211639 -0.13604168 0.98314813 -0.65431206] [ 0. 0. 0. 1. ]] SLAMing on 68.749072329 meters Centerline goodness : 0.832097 Centerline is valid? [False, False] Translation: X:3.21, Y:0.10, Z:-0.66 [[ 0.9187621 -0.35902751 -0.16424206 3.2141387 ] [ 0.3752701 0.92339247 0.08073842 0.10012121] [ 0.12267257 -0.13581453 0.9831103 -0.65693233] [ 0. 0. 0. 1. ]] SLAMing on 68.77907232899999 meters Centerline goodness : 0.830813 Centerline is valid? [False, False] Translation: X:3.22, Y:0.10, Z:-0.66 [[ 0.91854088 -0.35990755 -0.16355188 3.21600242] [ 0.37581684 0.92333816 0.07879309 0.0989295 ] [ 0.12265547 -0.13384022 0.98338316 -0.6587865 ] [ 0. 0. 0. 1. ]] SLAMing on 68.80907232899999 meters Centerline goodness : 0.828810 Centerline is valid? [False, False] Translation: X:3.22, Y:0.10, Z:-0.66 [[ 0.91837276 -0.35999172 -0.16430896 3.22005496] [ 0.37606004 0.92320167 0.07923087 0.09759266] [ 0.12316785 -0.13455351 0.98322176 -0.66037004] [ 0. 0. 0. 1. ]] SLAMing on 68.83907232899999 meters Centerline goodness : 0.829251 Centerline is valid? [False, False] Translation: X:3.22, Y:0.10, Z:-0.66 [[ 0.91830156 -0.35958939 -0.16558294 3.22159306] [ 0.37610665 0.9229926 0.08141526 0.09546917] [ 0.12355577 -0.13704061 0.98282951 -0.65841311] [ 0. 0. 0. 1. ]] SLAMing on 68.86907232899999 meters Centerline goodness : 0.828453 Centerline is valid? [False, False] Translation: X:3.22, Y:0.10, Z:-0.66 [[ 0.91821216 -0.35930759 -0.16668676 3.22176231] [ 0.37615973 0.9228434 0.0828488 0.09531659] [ 0.12405757 -0.13877362 0.98252308 -0.65616156] [ 0. 0. 0. 1. ]] SLAMing on 68.89907232899999 meters Centerline goodness : 0.826429 Centerline is valid? [False, False] Translation: X:3.22, Y:0.09, Z:-0.66 [[ 0.91909374 -0.35588779 -0.16914662 3.22489378] [ 0.37366824 0.9234263 0.08749802 0.09312012] [ 0.12505496 -0.14362361 0.9816993 -0.65549256] [ 0. 0. 0. 1. ]] SLAMing on 68.929072329 meters Centerline goodness : 0.826983 Centerline is valid? [False, False] Translation: X:3.23, Y:0.09, Z:-0.66 [[ 0.91930966 -0.35545846 -0.16887577 3.22530835] [ 0.37318375 0.92363215 0.08739306 0.09162807] [ 0.12491449 -0.14336297 0.98175528 -0.65606858] [ 0. 0. 0. 1. ]] SLAMing on 68.959072329 meters Centerline goodness : 0.825402 Centerline is valid? [False, False] Translation: X:3.23, Y:0.09, Z:-0.66 [[ 0.91959638 -0.35455803 -0.16920729 3.22808356] [ 0.37237477 0.92392363 0.08776191 0.08998089] [ 0.12521792 -0.14371406 0.98166529 -0.65785004] [ 0. 0. 0. 1. ]] SLAMing on 68.989072329 meters Centerline goodness : 0.824835 Centerline is valid? [False, False] Translation: X:3.23, Y:0.09, Z:-0.66 [[ 0.91980753 -0.35374522 -0.16975993 3.23091962] [ 0.37169576 0.92415516 0.08820153 0.08877521] [ 0.12568364 -0.14422748 0.98153047 -0.65924607] [ 0. 0. 0. 1. ]] SLAMing on 69.019072329 meters Centerline goodness : 0.822929 Centerline is valid? [False, False] Translation: X:3.23, Y:0.09, Z:-0.66 [[ 0.91987214 -0.35339282 -0.17014335 3.23224969] [ 0.37144202 0.92422462 0.08854193 0.08812455] [ 0.12596059 -0.14464564 0.98143343 -0.65950201] [ 0. 0. 0. 1. ]] SLAMing on 69.049072329 meters Centerline goodness : 0.822667 Centerline is valid? [False, False] Translation: X:3.23, Y:0.09, Z:-0.66 [[ 0.92022733 -0.35229577 -0.17049734 3.23210242] [ 0.3705061 0.924515 0.08942733 0.08713112] [ 0.12612248 -0.14546378 0.9812917 -0.65874541] [ 0. 0. 0. 1. ]] SLAMing on 69.079072329 meters Centerline goodness : 0.822032 Centerline is valid? [False, False] Translation: X:3.23, Y:0.09, Z:-0.66 [[ 0.92074005 -0.35095082 -0.17050302 3.23204607] [ 0.36921214 0.92499001 0.08986589 0.08610763] [ 0.12617509 -0.14569492 0.98125065 -0.65896373] [ 0. 0. 0. 1. ]] SLAMing on 69.109072329 meters Centerline goodness : 0.822665 Centerline is valid? [False, False] Translation: X:3.23, Y:0.09, Z:-0.66 [[ 0.92117938 -0.34990031 -0.17028891 3.23183702] [ 0.36812438 0.92542382 0.08986205 0.08541326] [ 0.12614666 -0.14546657 0.98128818 -0.65950878] [ 0. 0. 0. 1. ]] SLAMing on 69.139072329 meters Centerline goodness : 0.820927 Centerline is valid? [False, False] Translation: X:3.23, Y:0.09, Z:-0.66 [[ 0.92209843 -0.34756543 -0.17009633 3.23340255] [ 0.36571017 0.92641053 0.08955222 0.08534259] [ 0.12645378 -0.14478192 0.98134991 -0.66286314] [ 0. 0. 0. 1. ]] SLAMing on 69.16907232899999 meters Centerline goodness : 0.822053 Centerline is valid? [False, False] Translation: X:3.23, Y:0.09, Z:-0.66 [[ 0.92228007 -0.3472044 -0.16984869 3.23295144] [ 0.36522418 0.92666697 0.0888799 0.08633853] [ 0.12653368 -0.144005 0.98145391 -0.66350853] [ 0. 0. 0. 1. ]] SLAMing on 69.19907232899999 meters Centerline goodness : 0.822072 Centerline is valid? [False, False] Translation: X:3.23, Y:0.09, Z:-0.66 [[ 0.92376321 -0.34230234 -0.17172843 3.23328535] [ 0.36110312 0.9278852 0.0929171 0.08718757] [ 0.12753852 -0.14784507 0.98075265 -0.66324635] [ 0. 0. 0. 1. ]] SLAMing on 69.22907232899999 meters Centerline goodness : 0.822783 Centerline is valid? [False, False] Translation: X:3.23, Y:0.09, Z:-0.66 [[ 0.92429411 -0.34098126 -0.17149981 3.2308059 ] [ 0.35975653 0.92839661 0.09303215 0.08799148] [ 0.12749763 -0.14768725 0.98078175 -0.66237671] [ 0. 0. 0. 1. ]] SLAMing on 69.25907232899999 meters Centerline goodness : 0.822633 Centerline is valid? [False, False] Translation: X:3.23, Y:0.09, Z:-0.66 [[ 0.92483286 -0.33960419 -0.17132769 3.23094182] [ 0.35833005 0.92896142 0.09289921 0.0881138 ] [ 0.12760785 -0.1473081 0.98082443 -0.66370705] [ 0. 0. 0. 1. ]] SLAMing on 69.28907232899999 meters Centerline goodness : 0.824362 Centerline is valid? [False, False] Translation: X:3.23, Y:0.09, Z:-0.67 [[ 0.92523983 -0.33956849 -0.16918779 3.22990398] [ 0.35749581 0.92964542 0.08919717 0.08828969] [ 0.1269961 -0.1430127 0.98153928 -0.66720318] [ 0. 0. 0. 1. ]] SLAMing on 69.319072329 meters Centerline goodness : 0.824757 Centerline is valid? [False, False] Translation: X:3.23, Y:0.09, Z:-0.67 [[ 0.92523191 -0.33956964 -0.16922875 3.23048928] [ 0.35747039 0.9296793 0.08894561 0.08855924] [ 0.12712524 -0.14278958 0.98155505 -0.66771293] [ 0. 0. 0. 1. ]] SLAMing on 69.349072329 meters Centerline goodness : 0.825025 Centerline is valid? [False, False] Translation: X:3.23, Y:0.09, Z:-0.67 [[ 0.9252867 -0.33934507 -0.16937958 3.2304963 ] [ 0.35725793 0.9297675 0.08887729 0.08908134] [ 0.12732356 -0.14274917 0.98153522 -0.66761638] [ 0. 0. 0. 1. ]] SLAMing on 69.379072329 meters Centerline goodness : 0.826256 Centerline is valid? [False, False] Translation: X:3.23, Y:0.09, Z:-0.67 [[ 0.92610155 -0.33629115 -0.17100928 3.22990974] [ 0.35490777 0.93030978 0.09254287 0.08939521] [ 0.12797026 -0.14639662 0.98091368 -0.66555115] [ 0. 0. 0. 1. ]] SLAMing on 69.409072329 meters Centerline goodness : 0.830029 Centerline is valid? [False, False] Translation: X:3.23, Y:0.09, Z:-0.66 [[ 0.92632639 -0.33559081 -0.17116727 3.2281659 ] [ 0.35428044 0.9305088 0.09294483 0.09020117] [ 0.12808122 -0.14673846 0.98084812 -0.66413806] [ 0. 0. 0. 1. ]] SLAMing on 69.439072329 meters Centerline goodness : 0.828175 Centerline is valid? [False, False] Translation: X:3.23, Y:0.09, Z:-0.66 [[ 0.92645153 -0.33528692 -0.17108549 3.22741263] [ 0.35392631 0.93067148 0.09266477 0.09075372] [ 0.1281551 -0.14640108 0.98088888 -0.66385475] [ 0. 0. 0. 1. ]] SLAMing on 69.469072329 meters Centerline goodness : 0.827954 Centerline is valid? [False, False] Translation: X:3.23, Y:0.09, Z:-0.67 [[ 0.9266271 -0.33513501 -0.17043106 3.22771535] [ 0.35350786 0.93095785 0.09137651 0.09095174] [ 0.12804066 -0.14492067 0.98112363 -0.66567909] [ 0. 0. 0. 1. ]] SLAMing on 69.499072329 meters Centerline goodness : 0.829144 Centerline is valid? [False, False] Translation: X:3.22, Y:0.09, Z:-0.67 [[ 0.92638948 -0.33703648 -0.1679552 3.22476109] [ 0.35444502 0.93105218 0.0866635 0.09217522] [ 0.12716629 -0.13981504 0.98197785 -0.66712223] [ 0. 0. 0. 1. ]] SLAMing on 69.52907232899999 meters Centerline goodness : 0.829152 Centerline is valid? [False, False] Translation: X:3.22, Y:0.09, Z:-0.67 [[ 0.92647191 -0.33665255 -0.16827017 3.22352749] [ 0.35414892 0.93113274 0.08700779 0.09316584] [ 0.12739047 -0.14020297 0.98189347 -0.66564181] [ 0. 0. 0. 1. ]] SLAMing on 69.55907232899999 meters Centerline goodness : 0.830205 Centerline is valid? [False, False] Translation: X:3.22, Y:0.09, Z:-0.66 [[ 0.92689059 -0.3349949 -0.16926979 3.22273781] [ 0.35291453 0.93139251 0.08921506 0.09349012] [ 0.12777002 -0.14243037 0.98152352 -0.66374514] [ 0. 0. 0. 1. ]] SLAMing on 69.58907232899999 meters Centerline goodness : 0.831972 Centerline is valid? [False, False] Translation: X:3.22, Y:0.09, Z:-0.66 [[ 0.92725355 -0.33328705 -0.17064756 3.22143648] [ 0.35176399 0.93155752 0.09199279 0.09484631] [ 0.12830801 -0.14532831 0.98102841 -0.66109639] [ 0. 0. 0. 1. ]] SLAMing on 69.61907232899999 meters Centerline goodness : 0.833386 Centerline is valid? [False, False] Translation: X:3.22, Y:0.10, Z:-0.66 [[ 0.92703488 -0.33387568 -0.170685 3.22161713] [ 0.35226387 0.93144156 0.0912512 0.09597096] [ 0.12851655 -0.1447192 0.98109115 -0.66121972] [ 0. 0. 0. 1. ]] SLAMing on 69.64907232899999 meters Centerline goodness : 0.832382 Centerline is valid? [False, False] Translation: X:3.22, Y:0.10, Z:-0.66 [[ 0.92652151 -0.33591045 -0.16947586 3.2207331 ] [ 0.35370903 0.93120458 0.08802243 0.09689067] [ 0.12824905 -0.14149982 0.98159563 -0.6618218 ] [ 0. 0. 0. 1. ]] SLAMing on 69.679072329 meters Centerline goodness : 0.830873 Centerline is valid? [False, False] Translation: X:3.22, Y:0.10, Z:-0.66 [[ 0.92592652 -0.33797012 -0.16863058 3.22195115] [ 0.35532161 0.93083057 0.08544586 0.09770531] [ 0.12808836 -0.13903468 0.9819688 -0.66373122] [ 0. 0. 0. 1. ]] SLAMing on 69.709072329 meters Centerline goodness : 0.832403 Centerline is valid? [False, False] Translation: X:3.22, Y:0.10, Z:-0.66 [[ 0.92568562 -0.33828874 -0.16931292 3.2228196 ] [ 0.35579761 0.93060766 0.08589203 0.09847882] [ 0.1285076 -0.13975015 0.98181245 -0.66310753] [ 0. 0. 0. 1. ]] SLAMing on 69.739072329 meters Centerline goodness : 0.832403 Centerline is valid? [False, False] Translation: X:3.22, Y:0.10, Z:-0.66 [[ 0.92568562 -0.33828874 -0.16931292 3.2228196 ] [ 0.35579761 0.93060766 0.08589203 0.09847882] [ 0.1285076 -0.13975015 0.98181245 -0.66310753] [ 0. 0. 0. 1. ]] SLAMing on 69.769072329 meters Centerline goodness : 0.832207 Centerline is valid? [False, False] Translation: X:3.22, Y:0.10, Z:-0.66 [[ 0.92536166 -0.33882193 -0.17001619 3.22245698] [ 0.35646775 0.93032772 0.08614563 0.10024958] [ 0.12898274 -0.14032115 0.9816687 -0.66139566] [ 0. 0. 0. 1. ]] SLAMing on 69.799072329 meters Centerline goodness : 0.832007 Centerline is valid? [False, False] Translation: X:3.22, Y:0.10, Z:-0.66 [[ 0.92453173 -0.34000145 -0.172163 3.22188579] [ 0.35820868 0.929486 0.08799046 0.10452821] [ 0.13010622 -0.14302025 0.98113077 -0.65718164] [ 0. 0. 0. 1. ]] SLAMing on 69.829072329 meters Centerline goodness : 0.833523 Centerline is valid? [False, False] Translation: X:3.22, Y:0.11, Z:-0.66 [[ 0.92400829 -0.34112575 -0.17274812 3.22217367] [ 0.35938752 0.9290574 0.08770948 0.10653634] [ 0.13057296 -0.14312781 0.98105307 -0.65616829] [ 0. 0. 0. 1. ]] SLAMing on 69.859072329 meters Centerline goodness : 0.832493 Centerline is valid? [False, False] Translation: X:3.22, Y:0.11, Z:-0.66 [[ 0.92340729 -0.34270988 -0.17282628 3.22295882] [ 0.36081571 0.92862762 0.08638731 0.10875187] [ 0.13088547 -0.14212911 0.98115662 -0.65659398] [ 0. 0. 0. 1. ]] SLAMing on 69.88907232899999 meters Centerline goodness : 0.830849 Centerline is valid? [False, False] Translation: X:3.23, Y:0.11, Z:-0.66 [[ 0.921921 -0.34736072 -0.17147068 3.22674391] [ 0.36453725 0.92768818 0.08066749 0.11228367] [ 0.13105061 -0.1368765 0.98188113 -0.66143005] [ 0. 0. 0. 1. ]] SLAMing on 69.91907232899999 meters Centerline goodness : 0.830577 Centerline is valid? [False, False] Translation: X:3.23, Y:0.11, Z:-0.66 [[ 0.92129151 -0.34891754 -0.17169303 3.22799704] [ 0.36603223 0.92716596 0.07989794 0.11326177] [ 0.13131014 -0.13645448 0.9819052 -0.66148932] [ 0. 0. 0. 1. ]] SLAMing on 69.94907232899999 meters Centerline goodness : 0.833270 Centerline is valid? [False, False] Translation: X:3.23, Y:0.12, Z:-0.66 [[ 0.92068855 -0.34996133 -0.1727995 3.22799963] [ 0.36732253 0.92660103 0.08052758 0.11523776] [ 0.13193465 -0.13761397 0.98165964 -0.65904699] [ 0. 0. 0. 1. ]] SLAMing on 69.97907232899999 meters Centerline goodness : 0.834799 Centerline is valid? [False, False] Translation: X:3.23, Y:0.12, Z:-0.65 [[ 0.92015427 -0.34982769 -0.17588834 3.22753006] [ 0.36811651 0.92596686 0.08411665 0.12061853] [ 0.13344044 -0.1421477 0.98080971 -0.65421808] [ 0. 0. 0. 1. ]] SLAMing on 70.00907232899999 meters Centerline goodness : 0.834226 Centerline is valid? [False, False] Translation: X:3.23, Y:0.12, Z:-0.65 [[ 0.91965679 -0.35103758 -0.17607953 3.22758178] [ 0.36922168 0.92561974 0.08308698 0.12342731] [ 0.13381604 -0.14142389 0.98086317 -0.6541271 ] [ 0. 0. 0. 1. ]] SLAMing on 70.03907232899999 meters Centerline goodness : 0.833992 Centerline is valid? [False, False] Translation: X:3.23, Y:0.13, Z:-0.66 [[ 0.92001542 -0.35657876 -0.16255219 3.23118103] [ 0.37278355 0.92425009 0.08242689 0.12812378] [ 0.1208472 -0.13643079 0.98325103 -0.6611128 ] [ 0. 0. 0. 1. ]] SLAMing on 70.069072329 meters Centerline goodness : 0.835023 Centerline is valid? [False, False] Translation: X:3.23, Y:0.13, Z:-0.66 [[ 0.9195468 -0.3578286 -0.16245729 3.23259778] [ 0.37381801 0.92398149 0.08073599 0.12989797] [ 0.12121788 -0.13496999 0.983407 -0.66243765] [ 0. 0. 0. 1. ]] SLAMing on 70.099072329 meters Centerline goodness : 0.835770 Centerline is valid? [False, False] Translation: X:3.23, Y:0.13, Z:-0.66 [[ 0.91947959 -0.35800471 -0.16244972 3.23191575] [ 0.3739104 0.92400302 0.08005894 0.13173963] [ 0.12144255 -0.13435421 0.9834636 -0.66233469] [ 0. 0. 0. 1. ]] SLAMing on 70.129072329 meters Centerline goodness : 0.836447 Centerline is valid? [False, False] Translation: X:3.23, Y:0.13, Z:-0.66 [[ 0.91960465 -0.35729121 -0.16331037 3.23198397] [ 0.37340714 0.92413961 0.08082757 0.13409605] [ 0.1220426 -0.13531067 0.98325817 -0.66196779] [ 0. 0. 0. 1. ]] SLAMing on 70.159072329 meters Centerline goodness : 0.837673 Centerline is valid? [False, False] Translation: X:3.23, Y:0.14, Z:-0.66 [[ 0.9200936 -0.35495232 -0.16564003 3.23057089] [ 0.3718366 0.92444826 0.0844568 0.13791979] [ 0.1231475 -0.13929919 0.98256319 -0.65876276] [ 0. 0. 0. 1. ]] SLAMing on 70.189072329 meters Centerline goodness : 0.839883 Centerline is valid? [False, False] Translation: X:3.23, Y:0.14, Z:-0.66 [[ 0.92023158 -0.35438421 -0.16608935 3.23026194] [ 0.37139568 0.9245775 0.0849806 0.13877581] [ 0.12344669 -0.13988669 0.98244218 -0.65812015] [ 0. 0. 0. 1. ]] SLAMing on 70.219072329 meters Centerline goodness : 0.837817 Centerline is valid? [False, False] Translation: X:3.23, Y:0.14, Z:-0.66 [[ 0.92026176 -0.35447533 -0.16572727 3.23017187] [ 0.37134151 0.92466779 0.08423158 0.13932646] [ 0.12338465 -0.13905652 0.98256782 -0.65890256] [ 0. 0. 0. 1. ]] SLAMing on 70.249072329 meters Centerline goodness : 0.839396 Centerline is valid? [False, False] Translation: X:3.23, Y:0.14, Z:-0.66 [[ 0.91985311 -0.3557101 -0.16534985 3.23306034] [ 0.37231007 0.92443536 0.08248921 0.14014973] [ 0.12351301 -0.13743937 0.9827792 -0.66205401] [ 0. 0. 0. 1. ]] SLAMing on 70.27907232899999 meters Centerline goodness : 0.837405 Centerline is valid? [False, False] Translation: X:3.23, Y:0.14, Z:-0.66 [[ 0.91933206 -0.35692686 -0.16562539 3.23386384] [ 0.37351235 0.92399221 0.08201785 0.14125976] [ 0.1237622 -0.13726477 0.98277225 -0.66185898] [ 0. 0. 0. 1. ]] SLAMing on 70.30907232899999 meters Centerline goodness : 0.837896 Centerline is valid? [False, False] Translation: X:3.23, Y:0.14, Z:-0.66 [[ 0.91873327 -0.35812095 -0.16636875 3.23425698] [ 0.37483673 0.92344191 0.08217335 0.14277125] [ 0.12420388 -0.13785651 0.9826337 -0.66039223] [ 0. 0. 0. 1. ]] SLAMing on 70.33907232899999 meters Centerline goodness : 0.837164 Centerline is valid? [False, False] Translation: X:3.23, Y:0.14, Z:-0.66 [[ 0.91816246 -0.35910898 -0.16738711 3.23413235] [ 0.37605591 0.92288833 0.08281959 0.14453269] [ 0.12473835 -0.13898875 0.98240647 -0.65807402] [ 0. 0. 0. 1. ]] SLAMing on 70.36907232899999 meters Centerline goodness : 0.836272 Centerline is valid? [False, False] Translation: X:3.23, Y:0.15, Z:-0.66 [[ 0.91729016 -0.36059777 -0.16896157 3.23442059] [ 0.37796776 0.92197194 0.08430958 0.14699329] [ 0.12537598 -0.14119838 0.98201012 -0.65506494] [ 0. 0. 0. 1. ]] SLAMing on 70.39907232899999 meters Centerline goodness : 0.835803 Centerline is valid? [False, False] Translation: X:3.23, Y:0.15, Z:-0.65 [[ 0.91675248 -0.3619515 -0.1689852 3.23498394] [ 0.37923175 0.92152413 0.08352575 0.14785353] [ 0.12549167 -0.14065699 0.98207304 -0.65492186] [ 0. 0. 0. 1. ]] SLAMing on 70.429072329 meters Centerline goodness : 0.834976 Centerline is valid? [False, False] Translation: X:3.24, Y:0.15, Z:-0.66 [[ 0.91593737 -0.36415617 -0.16866836 3.23815801] [ 0.3811268 0.92093528 0.08136686 0.14976781] [ 0.1257024 -0.13881098 0.98230872 -0.6580094 ] [ 0. 0. 0. 1. ]] SLAMing on 70.459072329 meters Centerline goodness : 0.836380 Centerline is valid? [False, False] Translation: X:3.24, Y:0.15, Z:-0.66 [[ 0.91552078 -0.36531844 -0.16841655 3.23879873] [ 0.38211197 0.92062836 0.0802114 0.1506093 ] [ 0.12574635 -0.13778918 0.98244694 -0.65869367] [ 0. 0. 0. 1. ]] SLAMing on 70.489072329 meters Centerline goodness : 0.837239 Centerline is valid? [False, False] Translation: X:3.24, Y:0.15, Z:-0.66 [[ 0.91522741 -0.36585223 -0.16885181 3.23963454] [ 0.3827532 0.92033266 0.08054674 0.15103296] [ 0.12593163 -0.13834715 0.98234479 -0.65832413] [ 0. 0. 0. 1. ]] SLAMing on 70.519072329 meters Centerline goodness : 0.839789 Centerline is valid? [False, False] Translation: X:3.24, Y:0.15, Z:-0.66 [[ 0.91476116 -0.36531544 -0.17250116 3.24321953] [ 0.38337536 0.91963046 0.08545848 0.15313554] [ 0.12741802 -0.14430679 0.98129516 -0.65556381] [ 0. 0. 0. 1. ]] SLAMing on 70.549072329 meters Centerline goodness : 0.838556 Centerline is valid? [False, False] Translation: X:3.24, Y:0.16, Z:-0.65 [[ 0.91418975 -0.36636457 -0.17330351 3.24347419] [ 0.3845802 0.91910494 0.08569816 0.15520191] [ 0.12788734 -0.14499348 0.98113288 -0.65422524] [ 0. 0. 0. 1. ]] SLAMing on 70.579072329 meters Centerline goodness : 0.836140 Centerline is valid? [False, False] Translation: X:3.25, Y:0.16, Z:-0.66 [[ 0.91369932 -0.36704665 -0.17444287 3.24751365] [ 0.38544871 0.91873175 0.08579781 0.1577414 ] [ 0.12877441 -0.14563219 0.98092223 -0.65621447] [ 0. 0. 0. 1. ]] SLAMing on 70.609072329 meters Centerline goodness : 0.834180 Centerline is valid? [False, False] Translation: X:3.25, Y:0.16, Z:-0.66 [[ 0.91255394 -0.37045981 -0.17321902 3.25065753] [ 0.38812755 0.91800146 0.08142683 0.16005034] [ 0.12884995 -0.14153745 0.98151151 -0.66026121] [ 0. 0. 0. 1. ]] SLAMing on 70.63907232899999 meters Centerline goodness : 0.836170 Centerline is valid? [False, False] Translation: X:3.25, Y:0.16, Z:-0.66 [[ 0.91217235 -0.37171071 -0.17254783 3.25129238] [ 0.38906819 0.91775113 0.07974207 0.15969226] [ 0.12871499 -0.13987139 0.98176802 -0.66106614] [ 0. 0. 0. 1. ]] SLAMing on 70.66907232899999 meters Centerline goodness : 0.837514 Centerline is valid? [False, False] Translation: X:3.25, Y:0.16, Z:-0.66 [[ 0.91203061 -0.37181248 -0.173077 3.25323557] [ 0.3893073 0.91760944 0.08020438 0.15957207] [ 0.1289961 -0.14052899 0.98163721 -0.66166522] [ 0. 0. 0. 1. ]] SLAMing on 70.69907232899999 meters Centerline goodness : 0.840270 Centerline is valid? [False, False] Translation: X:3.25, Y:0.16, Z:-0.66 [[ 0.91222484 -0.37001031 -0.17589261 3.25422686] [ 0.38850765 0.91753961 0.08475178 0.15983591] [ 0.1300294 -0.1456483 0.98075426 -0.65812128] [ 0. 0. 0. 1. ]] SLAMing on 70.72907232899999 meters Centerline goodness : 0.840196 Centerline is valid? [False, False] Translation: X:3.25, Y:0.16, Z:-0.66 [[ 0.91232843 -0.36916541 -0.17712633 3.25466565] [ 0.38808068 0.91755368 0.08653686 0.16095943] [ 0.1305765 -0.14768935 0.98037627 -0.65703094] [ 0. 0. 0. 1. ]] SLAMing on 70.75907232899999 meters Centerline goodness : 0.839018 Centerline is valid? [False, False] Translation: X:3.26, Y:0.16, Z:-0.66 [[ 0.91236483 -0.36842786 -0.1784694 3.25655037] [ 0.3877128 0.91758888 0.08780336 0.16272205] [ 0.13141233 -0.14930357 0.98002002 -0.65721232] [ 0. 0. 0. 1. ]] SLAMing on 70.78907232899999 meters Centerline goodness : 0.838937 Centerline is valid? [False, False] Translation: X:3.26, Y:0.17, Z:-0.66 [[ 0.91275301 -0.36724226 -0.17892758 3.25711644] [ 0.38657688 0.91807773 0.08770179 0.16589036] [ 0.13206162 -0.14921934 0.97994557 -0.65875113] [ 0. 0. 0. 1. ]] SLAMing on 70.819072329 meters Centerline goodness : 0.840869 Centerline is valid? [False, False] Translation: X:3.26, Y:0.17, Z:-0.66 [[ 0.91300156 -0.36684814 -0.17846733 3.25581176] [ 0.38600244 0.91839542 0.08690207 0.16663945] [ 0.13202372 -0.14823056 0.98010073 -0.65886755] [ 0. 0. 0. 1. ]] SLAMing on 70.849072329 meters Centerline goodness : 0.841611 Centerline is valid? [False, False] Translation: X:3.26, Y:0.17, Z:-0.66 [[ 0.91364882 -0.36503032 -0.17888179 3.25815011] [ 0.38428301 0.91908388 0.08724329 0.16761818] [ 0.13256093 -0.14845096 0.97999485 -0.6616621 ] [ 0. 0. 0. 1. ]] SLAMing on 70.879072329 meters Centerline goodness : 0.844731 Centerline is valid? [False, False] Translation: X:3.26, Y:0.17, Z:-0.66 [[ 0.9154069 -0.36032245 -0.17943786 3.25869917] [ 0.37989878 0.92071659 0.08920698 0.16834054] [ 0.13306814 -0.14982891 0.97971637 -0.66436671] [ 0. 0. 0. 1. ]] SLAMing on 70.909072329 meters Centerline goodness : 0.846863 Centerline is valid? [False, False] Translation: X:3.26, Y:0.17, Z:-0.66 [[ 0.91613867 -0.3583976 -0.17955804 3.25641084] [ 0.37802952 0.92145121 0.08956192 0.17011436] [ 0.13335519 -0.14992938 0.97966197 -0.66373329] [ 0. 0. 0. 1. ]] SLAMing on 70.939072329 meters Centerline goodness : 0.845861 Centerline is valid? [False, False] Translation: X:3.26, Y:0.18, Z:-0.66 [[ 0.91709209 -0.36095914 -0.16926488 3.26028032] [ 0.37906889 0.92100284 0.08978051 0.17808718] [ 0.12348634 -0.14650004 0.9814728 -0.66482366] [ 0. 0. 0. 1. ]] SLAMing on 70.969072329 meters Centerline goodness : 0.845758 Centerline is valid? [False, False] Translation: X:3.26, Y:0.18, Z:-0.67 [[ 0.91827418 -0.35735688 -0.17049512 3.25963491] [ 0.37580623 0.92220727 0.09112311 0.1833311 ] [ 0.12466837 -0.14774913 0.98113607 -0.66610187] [ 0. 0. 0. 1. ]] SLAMing on 70.999072329 meters Centerline goodness : 0.844473 Centerline is valid? [False, False] Translation: X:3.26, Y:0.19, Z:-0.67 [[ 0.91847728 -0.35682479 -0.17051557 3.26002293] [ 0.37513685 0.92258622 0.09003891 0.1854582 ] [ 0.12518721 -0.14666536 0.98123261 -0.66749058] [ 0. 0. 0. 1. ]] SLAMing on 71.02907232899999 meters Centerline goodness : 0.843607 Centerline is valid? [False, False] Translation: X:3.26, Y:0.19, Z:-0.67 [[ 0.91884474 -0.35563946 -0.17101146 3.26236733] [ 0.37399941 0.92306403 0.08987349 0.1872753 ] [ 0.12589197 -0.14653797 0.98116147 -0.67003542] [ 0. 0. 0. 1. ]] SLAMing on 71.05907232899999 meters Centerline goodness : 0.848089 Centerline is valid? [False, False] Translation: X:3.26, Y:0.19, Z:-0.67 [[ 0.91986359 -0.35314226 -0.17070889 3.25946472] [ 0.37142018 0.92412394 0.08967712 0.18978323] [ 0.12608739 -0.14589544 0.98123213 -0.67008986] [ 0. 0. 0. 1. ]] SLAMing on 71.08907232899999 meters Centerline goodness : 0.849131 Centerline is valid? [False, False] Translation: X:3.26, Y:0.19, Z:-0.67 [[ 0.92066448 -0.35038358 -0.17207054 3.25967386] [ 0.36913251 0.92482808 0.09183801 0.19191933] [ 0.12695713 -0.14806883 0.98079433 -0.67010631] [ 0. 0. 0. 1. ]] SLAMing on 71.11907232899999 meters Centerline goodness : 0.849643 Centerline is valid? [False, False] Translation: X:3.26, Y:0.19, Z:-0.67 [[ 0.92092871 -0.34949356 -0.17246615 3.25806369] [ 0.36830853 0.92514881 0.09191574 0.19464957] [ 0.12743289 -0.1481686 0.98071756 -0.66928465] [ 0. 0. 0. 1. ]] SLAMing on 71.14907232899999 meters Centerline goodness : 0.848754 Centerline is valid? [False, False] Translation: X:3.26, Y:0.20, Z:-0.67 [[ 0.92116886 -0.348747 -0.17269471 3.25726716] [ 0.36753775 0.92549747 0.09149013 0.1972554 ] [ 0.12792161 -0.14774968 0.98071713 -0.66936852] [ 0. 0. 0. 1. ]] SLAMing on 71.179072329 meters Centerline goodness : 0.850021 Centerline is valid? [False, False] Translation: X:3.26, Y:0.20, Z:-0.67 [[ 0.92165236 -0.34748481 -0.17265933 3.25681397] [ 0.36610143 0.92618868 0.09024564 0.20203639] [ 0.12855613 -0.14638593 0.98083866 -0.6714165 ] [ 0. 0. 0. 1. ]] SLAMing on 71.209072329 meters Centerline goodness : 0.848787 Centerline is valid? [False, False] Translation: X:3.26, Y:0.20, Z:-0.67 [[ 0.92164874 -0.34765371 -0.17233834 3.25590725] [ 0.36604127 0.92634661 0.08885801 0.20434312] [ 0.12875322 -0.14497882 0.98102179 -0.6718207 ] [ 0. 0. 0. 1. ]] SLAMing on 71.239072329 meters Centerline goodness : 0.850758 Centerline is valid? [False, False] Translation: X:3.26, Y:0.21, Z:-0.67 [[ 0.92175291 -0.34731787 -0.17245832 3.2566354 ] [ 0.36557516 0.92663665 0.08774581 0.20668352] [ 0.12933051 -0.14392644 0.98110081 -0.6732611 ] [ 0. 0. 0. 1. ]] SLAMing on 71.269072329 meters Centerline goodness : 0.851105 Centerline is valid? [False, False] Translation: X:3.26, Y:0.21, Z:-0.67 [[ 0.9228819 -0.34399282 -0.17308363 3.25550347] [ 0.3624676 0.92775397 0.08882458 0.21002065] [ 0.130024 -0.14471181 0.9808936 -0.67406978] [ 0. 0. 0. 1. ]] SLAMing on 71.299072329 meters Centerline goodness : 0.853390 Centerline is valid? [False, False] Translation: X:3.26, Y:0.22, Z:-0.67 [[ 0.92406171 -0.34605949 -0.16233538 3.25752787] [ 0.36308292 0.92742616 0.08973026 0.21730212] [ 0.11950206 -0.1418575 0.98264729 -0.67463927] [ 0. 0. 0. 1. ]] SLAMing on 71.329072329 meters Centerline goodness : 0.853979 Centerline is valid? [False, False] Translation: X:3.26, Y:0.22, Z:-0.67 [[ 0.9251065 -0.34250029 -0.16392535 3.25693144] [ 0.36007736 0.92832917 0.09246218 0.22005768] [ 0.12050836 -0.14456317 0.98212994 -0.67408145] [ 0. 0. 0. 1. ]] SLAMing on 71.359072329 meters Centerline goodness : 0.855612 Centerline is valid? [False, False] Translation: X:3.26, Y:0.22, Z:-0.68 [[ 0.92692772 -0.33741142 -0.16419054 3.25521524] [ 0.3551131 0.93015578 0.09330009 0.22404489] [ 0.12124226 -0.14478865 0.98200639 -0.67621077] [ 0. 0. 0. 1. ]] SLAMing on 71.38907232899999 meters Centerline goodness : 0.853500 Centerline is valid? [False, False] Translation: X:3.25, Y:0.23, Z:-0.68 [[ 0.92765163 -0.33602597 -0.16293862 3.25385987] [ 0.35330126 0.93103676 0.09137162 0.22531623] [ 0.12099861 -0.14232745 0.98239617 -0.67848952] [ 0. 0. 0. 1. ]] SLAMing on 71.41907232899999 meters Centerline goodness : 0.853588 Centerline is valid? [False, False] Translation: X:3.25, Y:0.23, Z:-0.68 [[ 0.92929119 -0.33207269 -0.16169607 3.25152818] [ 0.34895969 0.93282604 0.08979261 0.22790111] [ 0.12101663 -0.13986889 0.982747 -0.68160591] [ 0. 0. 0. 1. ]] SLAMing on 71.44907232899999 meters Centerline goodness : 0.854785 Centerline is valid? [False, False] Translation: X:3.25, Y:0.23, Z:-0.68 [[ 0.93042714 -0.33431047 -0.15013943 3.25270962] [ 0.34945258 0.93274924 0.08866646 0.23412504] [ 0.11040031 -0.1349643 0.98468087 -0.68200076] [ 0. 0. 0. 1. ]] SLAMing on 71.47907232899999 meters Centerline goodness : 0.853662 Centerline is valid? [False, False] Translation: X:3.25, Y:0.24, Z:-0.68 [[ 0.93155725 -0.33058945 -0.15136612 3.25300584] [ 0.34617625 0.93372749 0.0911865 0.23523142] [ 0.11118942 -0.13734481 0.98426283 -0.68232539] [ 0. 0. 0. 1. ]] SLAMing on 71.50907232899999 meters Centerline goodness : 0.854416 Centerline is valid? [False, False] Translation: X:3.25, Y:0.24, Z:-0.68 [[ 0.93269421 -0.32688409 -0.15240833 3.25349991] [ 0.34289122 0.93469311 0.09367172 0.23648984] [ 0.11183522 -0.13962655 0.98386854 -0.6832806 ] [ 0. 0. 0. 1. ]] SLAMing on 71.53907232899999 meters Centerline goodness : 0.853715 Centerline is valid? [False, False] Translation: X:3.25, Y:0.24, Z:-0.68 [[ 0.93499071 -0.31988401 -0.15318808 3.25088658] [ 0.33645621 0.93661025 0.09776737 0.23651245] [ 0.11220331 -0.14295266 0.98334885 -0.6827779 ] [ 0. 0. 0. 1. ]] SLAMing on 71.569072329 meters Centerline goodness : 0.853290 Centerline is valid? [False, False] Translation: X:3.25, Y:0.24, Z:-0.68 [[ 0.93587915 -0.31721668 -0.15330948 3.24908449] [ 0.33391105 0.93742067 0.09872134 0.23672553] [ 0.11239942 -0.14358298 0.98323461 -0.68209894] [ 0. 0. 0. 1. ]] SLAMing on 71.599072329 meters Centerline goodness : 0.852067 Centerline is valid? [False, False] Translation: X:3.25, Y:0.24, Z:-0.68 [[ 0.9364384 -0.31566258 -0.15310216 3.24756512] [ 0.33231114 0.93800093 0.09860813 0.23736318] [ 0.11248307 -0.14321799 0.98327828 -0.68182786] [ 0. 0. 0. 1. ]] SLAMing on 71.629072329 meters Centerline goodness : 0.852067 Centerline is valid? [False, False] Translation: X:3.25, Y:0.24, Z:-0.68 [[ 0.9364384 -0.31566258 -0.15310216 3.24756512] [ 0.33231114 0.93800093 0.09860813 0.23736318] [ 0.11248307 -0.14321799 0.98327828 -0.68182786] [ 0. 0. 0. 1. ]] SLAMing on 71.659072329 meters Centerline goodness : 0.848558 Centerline is valid? [False, False] Translation: X:3.25, Y:0.24, Z:-0.68 [[ 0.9374511 -0.3132093 -0.15193868 3.24600535] [ 0.32948008 0.93918582 0.09681363 0.23918778] [ 0.11237572 -0.14081881 0.98363701 -0.68433997] [ 0. 0. 0. 1. ]] SLAMing on 71.689072329 meters Centerline goodness : 0.849163 Centerline is valid? [False, False] Translation: X:3.25, Y:0.24, Z:-0.69 [[ 0.93778317 -0.31243282 -0.15148749 3.24537652] [ 0.32852107 0.93962632 0.09579293 0.24040543] [ 0.11241278 -0.13959983 0.98380651 -0.68528533] [ 0. 0. 0. 1. ]] SLAMing on 71.719072329 meters Centerline goodness : 0.849569 Centerline is valid? [False, False] Translation: X:3.24, Y:0.24, Z:-0.69 [[ 0.93799559 -0.31189612 -0.15127818 3.24487636] [ 0.32787633 0.93992016 0.09511683 0.24104868] [ 0.11252284 -0.1388197 0.98390431 -0.68553804] [ 0. 0. 0. 1. ]] SLAMing on 71.749072329 meters Centerline goodness : 0.849222 Centerline is valid? [False, False] Translation: X:3.24, Y:0.24, Z:-0.69 [[ 0.93803213 -0.31218335 -0.1504569 3.24396646] [ 0.327863 0.94008803 0.09348982 0.24149486] [ 0.11225677 -0.13702571 0.98418615 -0.68598731] [ 0. 0. 0. 1. ]] SLAMing on 71.77907232899999 meters Centerline goodness : 0.847720 Centerline is valid? [False, False] Translation: X:3.24, Y:0.24, Z:-0.69 [[ 0.93782956 -0.31258652 -0.150882 3.24430245] [ 0.32832995 0.93992197 0.09352076 0.24182896] [ 0.11258398 -0.13724561 0.98411813 -0.68513565] [ 0. 0. 0. 1. ]] SLAMing on 71.80907232899999 meters Centerline goodness : 0.846212 Centerline is valid? [False, False] Translation: X:3.24, Y:0.24, Z:-0.68 [[ 0.93728567 -0.31348921 -0.15238136 3.24427423] [ 0.3296054 0.939336 0.09491134 0.24302612] [ 0.11338362 -0.13918476 0.98375391 -0.6817932 ] [ 0. 0. 0. 1. ]] SLAMing on 71.83907232899999 meters Centerline goodness : 0.846262 Centerline is valid? [False, False] Translation: X:3.24, Y:0.24, Z:-0.68 [[ 0.93688301 -0.31436056 -0.15306097 3.24488389] [ 0.3305827 0.93898593 0.09497637 0.24348037] [ 0.11386528 -0.13958105 0.98364212 -0.68057435] [ 0. 0. 0. 1. ]] SLAMing on 71.86907232899999 meters Centerline goodness : 0.841747 Centerline is valid? [False, False] Translation: X:3.25, Y:0.24, Z:-0.68 [[ 0.93661263 -0.31520319 -0.15298279 3.24536579] [ 0.33133903 0.93878647 0.09431016 0.24319762] [ 0.11389131 -0.13902126 0.98371838 -0.68046387] [ 0. 0. 0. 1. ]] SLAMing on 71.89907232899999 meters Centerline goodness : 0.841968 Centerline is valid? [False, False] Translation: X:3.24, Y:0.24, Z:-0.68 [[ 0.93646071 -0.31637376 -0.15148921 3.24308271] [ 0.33203234 0.93877417 0.09196515 0.24128493] [ 0.1131188 -0.13642106 0.98417144 -0.67942029] [ 0. 0. 0. 1. ]] SLAMing on 71.929072329 meters Centerline goodness : 0.841665 Centerline is valid? [False, False] Translation: X:3.24, Y:0.24, Z:-0.68 [[ 0.93645488 -0.31630656 -0.1516655 3.24281998] [ 0.33201629 0.93875699 0.09219817 0.24059898] [ 0.11321416 -0.13669484 0.98412249 -0.67843189] [ 0. 0. 0. 1. ]] SLAMing on 71.959072329 meters Centerline goodness : 0.839798 Centerline is valid? [False, False] Translation: X:3.24, Y:0.24, Z:-0.68 [[ 0.93641741 -0.31621385 -0.15208954 3.24285912] [ 0.33203028 0.93871122 0.09261286 0.24009072] [ 0.11348269 -0.13722263 0.9840181 -0.67733846] [ 0. 0. 0. 1. ]] SLAMing on 71.989072329 meters Centerline goodness : 0.840328 Centerline is valid? [False, False] Translation: X:3.24, Y:0.24, Z:-0.68 [[ 0.93631539 -0.31636085 -0.15241161 3.24292072] [ 0.33226586 0.93859093 0.0929864 0.23943301] [ 0.1136349 -0.13770578 0.98393304 -0.67627317] [ 0. 0. 0. 1. ]] SLAMing on 72.019072329 meters Centerline goodness : 0.838921 Centerline is valid? [False, False] Translation: X:3.24, Y:0.24, Z:-0.67 [[ 0.93613975 -0.31765261 -0.15079517 3.24007396] [ 0.33311539 0.93847791 0.09106788 0.23591906] [ 0.11258999 -0.13548446 0.98436145 -0.67416257] [ 0. 0. 0. 1. ]] SLAMing on 72.049072329 meters Centerline goodness : 0.838898 Centerline is valid? [False, False] Translation: X:3.24, Y:0.23, Z:-0.67 [[ 0.93577929 -0.31920128 -0.14975867 3.23853412] [ 0.33430234 0.93824407 0.08910668 0.23393982] [ 0.11206722 -0.13344886 0.98469911 -0.6728036 ] [ 0. 0. 0. 1. ]] SLAMing on 72.079072329 meters Centerline goodness : 0.838401 Centerline is valid? [False, False] Translation: X:3.24, Y:0.23, Z:-0.67 [[ 0.93518037 -0.32125376 -0.1491097 3.23740434] [ 0.33608129 0.93776689 0.0874221 0.23219992] [ 0.11174546 -0.13186841 0.98494856 -0.67093785] [ 0. 0. 0. 1. ]] SLAMing on 72.109072329 meters Centerline goodness : 0.836558 Centerline is valid? [False, False] Translation: X:3.24, Y:0.23, Z:-0.67 [[ 0.93437992 -0.32394859 -0.14829525 3.23578562] [ 0.33852073 0.93701519 0.0860596 0.22812157] [ 0.11107602 -0.13061338 0.98519149 -0.66760977] [ 0. 0. 0. 1. ]] SLAMing on 72.13907232899999 meters Centerline goodness : 0.836912 Centerline is valid? [False, False] Translation: X:3.23, Y:0.23, Z:-0.67 [[ 0.93417508 -0.32463337 -0.14808813 3.23481719] [ 0.33918314 0.93677297 0.08608838 0.22558779] [ 0.1107778 -0.13065061 0.98522013 -0.66556298] [ 0. 0. 0. 1. ]] SLAMing on 72.16907232899999 meters Centerline goodness : 0.835157 Centerline is valid? [False, False] Translation: X:3.23, Y:0.22, Z:-0.66 [[ 0.93387349 -0.32550268 -0.14808213 3.23403029] [ 0.34007127 0.93643681 0.08624169 0.22339572] [ 0.11059765 -0.1308973 0.98520762 -0.66333597] [ 0. 0. 0. 1. ]] SLAMing on 72.19907232899999 meters Centerline goodness : 0.835153 Centerline is valid? [False, False] Translation: X:3.23, Y:0.22, Z:-0.66 [[ 0.93378969 -0.32574171 -0.14808496 3.23292717] [ 0.34042328 0.93621635 0.08724073 0.21922035] [ 0.11022162 -0.13187606 0.98511923 -0.66029436] [ 0. 0. 0. 1. ]] SLAMing on 72.22907232899999 meters Centerline goodness : 0.833780 Centerline is valid? [False, False] Translation: X:3.23, Y:0.22, Z:-0.66 [[ 0.93384886 -0.3257499 -0.14769328 3.2319546 ] [ 0.34036598 0.93624801 0.08712437 0.21720252] [ 0.10989678 -0.13163076 0.98518833 -0.65920868] [ 0. 0. 0. 1. ]] SLAMing on 72.25907232899999 meters Centerline goodness : 0.833042 Centerline is valid? [False, False] Translation: X:3.23, Y:0.21, Z:-0.66 [[ 0.93398034 -0.32651281 -0.14515545 3.22992373] [ 0.34045879 0.93649234 0.08408277 0.21260929] [ 0.10848287 -0.12795111 0.98582959 -0.65978413] [ 0. 0. 0. 1. ]] SLAMing on 72.28907232899999 meters Centerline goodness : 0.831380 Centerline is valid? [False, False] Translation: X:3.23, Y:0.21, Z:-0.66 [[ 0.93384299 -0.32753461 -0.14373014 3.22878047] [ 0.34101015 0.93652519 0.081441 0.21048068] [ 0.10793215 -0.12506654 0.98626011 -0.65979594] [ 0. 0. 0. 1. ]] SLAMing on 72.319072329 meters Centerline goodness : 0.833073 Centerline is valid? [False, False] Translation: X:3.23, Y:0.21, Z:-0.66 [[ 0.93382437 -0.32799596 -0.14279602 3.2276786 ] [ 0.34118692 0.93659328 0.07990311 0.20865427] [ 0.1075339 -0.1233356 0.98652156 -0.65942301] [ 0. 0. 0. 1. ]] SLAMing on 72.349072329 meters Centerline goodness : 0.832077 Centerline is valid? [False, False] Translation: X:3.23, Y:0.21, Z:-0.66 [[ 0.93396737 -0.32759506 -0.14278106 3.22742609] [ 0.3408233 0.93669402 0.08027328 0.20738492] [ 0.10744503 -0.12363573 0.98649368 -0.65885143] [ 0. 0. 0. 1. ]] SLAMing on 72.379072329 meters Centerline goodness : 0.831690 Centerline is valid? [False, False] Translation: X:3.23, Y:0.20, Z:-0.66 [[ 0.93438357 -0.32608645 -0.14350948 3.22693977] [ 0.33965636 0.93691561 0.08259963 0.20463099] [ 0.10752166 -0.12592365 0.98619589 -0.65653097] [ 0. 0. 0. 1. ]] SLAMing on 72.409072329 meters Centerline goodness : 0.831516 Centerline is valid? [False, False] Translation: X:3.23, Y:0.20, Z:-0.66 [[ 0.93452573 -0.32534269 -0.14426984 3.22894145] [ 0.33920275 0.93692151 0.08437757 0.20282463] [ 0.10771789 -0.12778974 0.9859344 -0.65667258] [ 0. 0. 0. 1. ]] SLAMing on 72.439072329 meters Centerline goodness : 0.829359 Centerline is valid? [False, False] Translation: X:3.23, Y:0.20, Z:-0.66 [[ 0.93450291 -0.32565554 -0.14371074 3.22811107] [ 0.33935636 0.93693791 0.08357401 0.20021528] [ 0.1074317 -0.12686931 0.98608448 -0.65562941] [ 0. 0. 0. 1. ]] SLAMing on 72.469072329 meters Centerline goodness : 0.828348 Centerline is valid? [False, False] Translation: X:3.23, Y:0.19, Z:-0.65 [[ 0.93430325 -0.32726814 -0.14132585 3.22555292] [ 0.34035968 0.93682525 0.08070776 0.19457464] [ 0.10598455 -0.12350715 0.98666776 -0.65444767] [ 0. 0. 0. 1. ]] SLAMing on 72.499072329 meters Centerline goodness : 0.827155 Centerline is valid? [False, False] Translation: X:3.23, Y:0.19, Z:-0.66 [[ 0.93438922 -0.32682747 -0.14177655 3.22882082] [ 0.34007091 0.93685253 0.08160338 0.19248968] [ 0.10615349 -0.1244634 0.98652942 -0.6561688 ] [ 0. 0. 0. 1. ]] SLAMing on 72.52907232899999 meters Centerline goodness : 0.825392 Centerline is valid? [False, False] Translation: X:3.23, Y:0.19, Z:-0.66 [[ 0.93414089 -0.32816034 -0.14032671 3.22804555] [ 0.34103175 0.93665901 0.07979499 0.18733978] [ 0.10525273 -0.12239563 0.98688458 -0.65532227] [ 0. 0. 0. 1. ]] SLAMing on 72.55907232899999 meters Centerline goodness : 0.825773 Centerline is valid? [False, False] Translation: X:3.23, Y:0.18, Z:-0.65 [[ 0.93420913 -0.32792876 -0.1404138 3.22855572] [ 0.34088271 0.93665524 0.0804732 0.18452979] [ 0.10512984 -0.12304344 0.98681712 -0.65459799] [ 0. 0. 0. 1. ]] SLAMing on 72.58907232899999 meters Centerline goodness : 0.825065 Centerline is valid? [False, False] Translation: X:3.23, Y:0.18, Z:-0.65 [[ 0.93434561 -0.32717413 -0.14126347 3.23046199] [ 0.34042335 0.93666748 0.08225553 0.18202472] [ 0.10540501 -0.12494447 0.98654886 -0.6541681 ] [ 0. 0. 0. 1. ]] SLAMing on 72.61907232899999 meters Centerline goodness : 0.825233 Centerline is valid? [False, False] Translation: X:3.23, Y:0.18, Z:-0.65 [[ 0.93458004 -0.32693974 -0.14025174 3.22887079] [ 0.34003648 0.93682759 0.0820321 0.1760986 ] [ 0.10457215 -0.12435627 0.9867118 -0.65218878] [ 0. 0. 0. 1. ]] SLAMing on 72.64907232899999 meters Centerline goodness : 0.825364 Centerline is valid? [False, False] Translation: X:3.23, Y:0.17, Z:-0.65 [[ 0.93463126 -0.32727888 -0.13911485 3.2274848 ] [ 0.34008627 0.93693075 0.08063558 0.17271663] [ 0.10395066 -0.12267558 0.98698782 -0.65147852] [ 0. 0. 0. 1. ]] SLAMing on 72.679072329 meters Centerline goodness : 0.826296 Centerline is valid? [False, False] Translation: X:3.23, Y:0.17, Z:-0.65 [[ 0.93462576 -0.32780616 -0.13790506 3.22663909] [ 0.34024784 0.93704816 0.07856305 0.16975926] [ 0.10347023 -0.12034895 0.98732469 -0.65146781] [ 0. 0. 0. 1. ]] SLAMing on 72.709072329 meters Centerline goodness : 0.826114 Centerline is valid? [False, False] Translation: X:3.23, Y:0.16, Z:-0.65 [[ 0.93526504 -0.32613884 -0.13752371 3.23016265] [ 0.33857342 0.93761932 0.07898135 0.16320904] [ 0.103186 -0.12043036 0.98734451 -0.65406294] [ 0. 0. 0. 1. ]] SLAMing on 72.739072329 meters Centerline goodness : 0.824998 Centerline is valid? [False, False] Translation: X:3.23, Y:0.16, Z:-0.65 [[ 0.93555615 -0.32569373 -0.13659536 3.22841734] [ 0.3379775 0.93786376 0.07863068 0.15900886] [ 0.10249832 -0.11972958 0.98750135 -0.65278273] [ 0. 0. 0. 1. ]] SLAMing on 72.769072329 meters Centerline goodness : 0.825142 Centerline is valid? [False, False] Translation: X:3.23, Y:0.16, Z:-0.65 [[ 0.93569173 -0.32490098 -0.13755125 3.23146553] [ 0.33751497 0.93785476 0.08069749 0.15616682] [ 0.1027844 -0.12193358 0.98720189 -0.65307111] [ 0. 0. 0. 1. ]] SLAMing on 72.799072329 meters Centerline goodness : 0.824418 Centerline is valid? [False, False] Translation: X:3.23, Y:0.15, Z:-0.65 [[ 0.93568316 -0.32509291 -0.13715544 3.23053131] [ 0.33768405 0.93777255 0.08094521 0.15263331] [ 0.1023059 -0.12205427 0.98723668 -0.65139687] [ 0. 0. 0. 1. ]] SLAMing on 72.829072329 meters Centerline goodness : 0.822203 Centerline is valid? [False, False] Translation: X:3.23, Y:0.15, Z:-0.65 [[ 0.93573576 -0.32452447 -0.13813924 3.23456632] [ 0.33744154 0.93768801 0.08291201 0.14726942] [ 0.10262453 -0.12419765 0.98693624 -0.65160481] [ 0. 0. 0. 1. ]] SLAMing on 72.859072329 meters Centerline goodness : 0.820469 Centerline is valid? [False, False] Translation: X:3.23, Y:0.14, Z:-0.65 [[ 0.93587554 -0.32436989 -0.13755414 3.23352597] [ 0.33718923 0.93779898 0.08268306 0.14379315] [ 0.10217824 -0.12376282 0.98703717 -0.65043949] [ 0. 0. 0. 1. ]] SLAMing on 72.88907232899999 meters Centerline goodness : 0.819480 Centerline is valid? [False, False] Translation: X:3.24, Y:0.14, Z:-0.65 [[ 0.93642843 -0.32261061 -0.13792819 3.23597982] [ 0.33562245 0.93823319 0.08411927 0.14076325] [ 0.10227103 -0.12506347 0.9868636 -0.65195499] [ 0. 0. 0. 1. ]] SLAMing on 72.91907232899999 meters Centerline goodness : 0.819611 Centerline is valid? [False, False] Translation: X:3.23, Y:0.13, Z:-0.65 [[ 0.93804989 -0.31861218 -0.13619352 3.23430989] [ 0.33142784 0.93969635 0.08441777 0.13288959] [ 0.10108403 -0.12432641 0.98707901 -0.6531258 ] [ 0. 0. 0. 1. ]] SLAMing on 72.94907232899999 meters Centerline goodness : 0.817119 Centerline is valid? [False, False] Translation: X:3.23, Y:0.13, Z:-0.65 [[ 0.93878099 -0.31670997 -0.13559149 3.23340438] [ 0.32950574 0.94031973 0.0849987 0.12967825] [ 0.10057942 -0.12447334 0.98711203 -0.65338216] [ 0. 0. 0. 1. ]] SLAMing on 72.97907232899999 meters Centerline goodness : 0.814901 Centerline is valid? [False, False] Translation: X:3.23, Y:0.12, Z:-0.65 [[ 0.94085912 -0.31024088 -0.13614226 3.23339645] [ 0.32350321 0.94203451 0.08897556 0.1245117 ] [ 0.10064685 -0.12775593 0.98668568 -0.65404617] [ 0. 0. 0. 1. ]] SLAMing on 73.00907232899999 meters Centerline goodness : 0.815406 Centerline is valid? [False, False] Translation: X:3.23, Y:0.12, Z:-0.65 [[ 0.94182272 -0.30750658 -0.13568222 3.23167719] [ 0.32081736 0.94284867 0.09007002 0.12158598] [ 0.10023068 -0.1283592 0.98664975 -0.65378935] [ 0. 0. 0. 1. ]] SLAMing on 73.03907232899999 meters Centerline goodness : 0.814654 Centerline is valid? [False, False] Translation: X:3.23, Y:0.12, Z:-0.65 [[ 0.94285423 -0.30438956 -0.13554666 3.23206315] [ 0.31782121 0.94372856 0.09146625 0.11828552] [ 0.10007788 -0.12931895 0.98653993 -0.65499912] [ 0. 0. 0. 1. ]] SLAMing on 73.069072329 meters Centerline goodness : 0.815085 Centerline is valid? [False, False] Translation: X:3.23, Y:0.11, Z:-0.66 [[ 0.94495078 -0.29895963 -0.13300816 3.2300739 ] [ 0.31202997 0.94568391 0.09120989 0.10979365] [ 0.0985156 -0.12769139 0.98690911 -0.65832252] [ 0. 0. 0. 1. ]] SLAMing on 73.099072329 meters Centerline goodness : 0.814422 Centerline is valid? [False, False] Translation: X:3.23, Y:0.11, Z:-0.66 [[ 0.94583609 -0.29659103 -0.13201456 3.22959525] [ 0.30954509 0.94648673 0.09134935 0.10568349] [ 0.09785663 -0.12726597 0.98702961 -0.65986419] [ 0. 0. 0. 1. ]] SLAMing on 73.129072329 meters Centerline goodness : 0.815242 Centerline is valid? [False, False] Translation: X:3.23, Y:0.10, Z:-0.66 [[ 0.94673098 -0.29396374 -0.1314754 3.22928464] [ 0.30693232 0.9472532 0.09221679 0.10153589] [ 0.0974321 -0.12765854 0.98702091 -0.66068273] [ 0. 0. 0. 1. ]] SLAMing on 73.159072329 meters Centerline goodness : 0.813673 Centerline is valid? [False, False] Translation: X:3.23, Y:0.10, Z:-0.66 [[ 0.94767465 -0.29092384 -0.1314385 3.22976899] [ 0.3040819 0.94797701 0.09420074 0.09704731] [ 0.09719544 -0.12923972 0.98683846 -0.66130456] [ 0. 0. 0. 1. ]] SLAMing on 73.189072329 meters Centerline goodness : 0.814526 Centerline is valid? [False, False] Translation: X:3.23, Y:0.09, Z:-0.66 [[ 0.94852387 -0.28847379 -0.13071095 3.22745374] [ 0.30167636 0.94860183 0.09563439 0.09110871] [ 0.09640463 -0.1301439 0.9867972 -0.65976839] [ 0. 0. 0. 1. ]] SLAMing on 73.219072329 meters Centerline goodness : 0.814614 Centerline is valid? [False, False] Translation: X:3.23, Y:0.08, Z:-0.66 [[ 0.95009289 -0.28373022 -0.12969454 3.22621507] [ 0.29712298 0.94969511 0.0989805 0.07818893] [ 0.09508651 -0.13257589 0.98660133 -0.65849776] [ 0. 0. 0. 1. ]] SLAMing on 73.249072329 meters Centerline goodness : 0.814231 Centerline is valid? [False, False] Translation: X:3.23, Y:0.07, Z:-0.66 [[ 0.95063365 -0.28194493 -0.12962527 3.22721377] [ 0.29549574 0.95002088 0.10071043 0.07246762] [ 0.09475192 -0.13404244 0.98643535 -0.65849591] [ 0. 0. 0. 1. ]] SLAMing on 73.27907232899999 meters Centerline goodness : 0.813244 Centerline is valid? [False, False] Translation: X:3.23, Y:0.07, Z:-0.66 [[ 0.95097145 -0.28067578 -0.12990155 3.22896193] [ 0.29442974 0.95016873 0.10242316 0.06727412] [ 0.09468069 -0.13564838 0.98622263 -0.65841317] [ 0. 0. 0. 1. ]] SLAMing on 73.30907232899999 meters Centerline goodness : 0.812692 Centerline is valid? [False, False] Translation: X:3.23, Y:0.05, Z:-0.66 [[ 0.95119791 -0.27390733 -0.14211726 3.23158561] [ 0.28960372 0.95140833 0.1046512 0.05119469] [ 0.10654681 -0.14070169 0.9843022 -0.65792395] [ 0. 0. 0. 1. ]] SLAMing on 73.33907232899999 meters Centerline goodness : 0.811822 Centerline is valid? [False, False] Translation: X:3.23, Y:0.04, Z:-0.66 [[ 0.95109894 -0.27479428 -0.14106349 3.23340502] [ 0.29019885 0.95137111 0.10333271 0.04458272] [ 0.10580849 -0.1392161 0.98459303 -0.65907695] [ 0. 0. 0. 1. ]] SLAMing on 73.36907232899999 meters Centerline goodness : 0.812667 Centerline is valid? [False, False] Translation: X:3.23, Y:0.04, Z:-0.66 [[ 0.95098116 -0.27588726 -0.13971775 3.2341042 ] [ 0.2909544 0.95129022 0.10194338 0.03732141] [ 0.10478725 -0.13759773 0.98492969 -0.65951378] [ 0. 0. 0. 1. ]] SLAMing on 73.39907232899999 meters Centerline goodness : 0.812762 Centerline is valid? [False, False] Translation: X:3.24, Y:0.02, Z:-0.66 [[ 0.9514184 -0.2751249 -0.13823643 3.23548326] [ 0.29002197 0.9515374 0.1022929 0.02079987] [ 0.10339381 -0.13741495 0.98510246 -0.65801758] [ 0. 0. 0. 1. ]] SLAMing on 73.429072329 meters Centerline goodness : 0.813121 Centerline is valid? [False, False] Translation: X:3.24, Y:0.01, Z:-0.66 [[ 0.95181807 -0.27358973 -0.1385317 3.23800203] [ 0.28878697 0.95164471 0.10475896 0.01205637] [ 0.10317199 -0.13971762 0.98480177 -0.65737789] [ 0. 0. 0. 1. ]] SLAMing on 73.459072329 meters Centerline goodness : 0.813658 Centerline is valid? [False, False] Translation: X:3.24, Y:-0.01, Z:-0.65 [[ 0.95243821 -0.27178628 -0.13781754 3.2390823 ] [ 0.28718089 0.95181059 0.10762778 -0.00559592] [ 0.10192444 -0.14208738 0.9845926 -0.65420066] [ 0. 0. 0. 1. ]] SLAMing on 73.489072329 meters Centerline goodness : 0.813739 Centerline is valid? [False, False] Translation: X:3.24, Y:-0.01, Z:-0.65 [[ 0.95274698 -0.27111793 -0.1369973 3.23812211] [ 0.28649198 0.95191077 0.10857362 -0.01431516] [ 0.10097295 -0.14269181 0.98460322 -0.65201843] [ 0. 0. 0. 1. ]] SLAMing on 73.519072329 meters Centerline goodness : 0.813849 Centerline is valid? [False, False] Translation: X:3.24, Y:-0.02, Z:-0.65 [[ 0.95310743 -0.26978559 -0.13712026 3.23968521] [ 0.2854103 0.95197532 0.11083301 -0.02303068] [ 0.10063395 -0.1447713 0.98433433 -0.65066427] [ 0. 0. 0. 1. ]] SLAMing on 73.549072329 meters Centerline goodness : 0.813849 Centerline is valid? [False, False] Translation: X:3.24, Y:-0.02, Z:-0.65 [[ 0.95310743 -0.26978559 -0.13712026 3.23968521] [ 0.2854103 0.95197532 0.11083301 -0.02303068] [ 0.10063395 -0.1447713 0.98433433 -0.65066427] [ 0. 0. 0. 1. ]] SLAMing on 73.579072329 meters Centerline goodness : 0.811646 Centerline is valid? [False, False] Translation: X:3.24, Y:-0.05, Z:-0.65 [[ 0.95288348 -0.26397216 -0.1494382 3.24298055] [ 0.28148971 0.95308178 0.1113493 -0.04534724] [ 0.11303371 -0.14816822 0.98248133 -0.64584634] [ 0. 0. 0. 1. ]] SLAMing on 73.609072329 meters Centerline goodness : 0.811072 Centerline is valid? [False, False] Translation: X:3.25, Y:-0.05, Z:-0.65 [[ 0.95261355 -0.26543794 -0.14856016 3.24566469] [ 0.28273019 0.95280958 0.11053297 -0.05479457] [ 0.1122099 -0.14729765 0.98270664 -0.64608688] [ 0. 0. 0. 1. ]] SLAMing on 73.63907232899999 meters Centerline goodness : 0.811194 Centerline is valid? [False, False] Translation: X:3.25, Y:-0.06, Z:-0.65 [[ 0.95226638 -0.26699107 -0.14800171 3.24930286] [ 0.284148 0.95244065 0.11007599 -0.06474841] [ 0.11157353 -0.14687605 0.98284219 -0.64627033] [ 0. 0. 0. 1. ]] SLAMing on 73.66907232899999 meters Centerline goodness : 0.810958 Centerline is valid? [False, False] Translation: X:3.25, Y:-0.07, Z:-0.65 [[ 0.95192187 -0.26874373 -0.14704269 3.25121207] [ 0.28569725 0.95203899 0.10953926 -0.07497363] [ 0.11055239 -0.14628251 0.98304608 -0.64554279] [ 0. 0. 0. 1. ]] SLAMing on 73.69907232899999 meters Centerline goodness : 0.809514 Centerline is valid? [False, False] Translation: X:3.25, Y:-0.10, Z:-0.64 [[ 0.95079507 -0.26648649 -0.15803062 3.25017648] [ 0.28542234 0.95180952 0.11221735 -0.10166476] [ 0.12051064 -0.15180117 0.981037 -0.63791041] [ 0. 0. 0. 1. ]] SLAMing on 73.72907232899999 meters Centerline goodness : 0.808495 Centerline is valid? [False, False] Translation: X:3.25, Y:-0.11, Z:-0.64 [[ 0.95013124 -0.26898185 -0.1577954 3.25196261] [ 0.28788622 0.95106485 0.11223714 -0.11062883] [ 0.1198839 -0.15206713 0.9810726 -0.63518236] [ 0. 0. 0. 1. ]] SLAMing on 73.75907232899999 meters Centerline goodness : 0.807177 Centerline is valid? [False, False] Translation: X:3.25, Y:-0.12, Z:-0.63 [[ 0.94943177 -0.27143999 -0.15779623 3.2548573 ] [ 0.29037185 0.95028462 0.11244258 -0.12011837] [ 0.11942992 -0.15257614 0.98104894 -0.63278853] [ 0. 0. 0. 1. ]] SLAMing on 73.78907232899999 meters Centerline goodness : 0.807301 Centerline is valid? [False, False] Translation: X:3.27, Y:-0.14, Z:-0.63 [[ 0.94827419 -0.27431098 -0.1597797 3.26635213] [ 0.29328478 0.94964663 0.1102511 -0.14075426] [ 0.12149116 -0.15140923 0.98097663 -0.62502024] [ 0. 0. 0. 1. ]] SLAMing on 73.819072329 meters Centerline goodness : 0.806615 Centerline is valid? [False, False] Translation: X:3.27, Y:-0.15, Z:-0.62 [[ 0.94771122 -0.27645618 -0.15942215 3.26849448] [ 0.29540807 0.94895959 0.11049782 -0.15118146] [ 0.12073737 -0.15181461 0.98100704 -0.62252427] [ 0. 0. 0. 1. ]] SLAMing on 73.849072329 meters Centerline goodness : 0.807360 Centerline is valid? [False, False] Translation: X:3.27, Y:-0.16, Z:-0.62 [[ 0.94715287 -0.27852588 -0.15913761 3.27083828] [ 0.29745285 0.94830488 0.11063295 -0.16063834] [ 0.12009684 -0.15212225 0.98103801 -0.62041537] [ 0. 0. 0. 1. ]] SLAMing on 73.879072329 meters Centerline goodness : 0.805030 Centerline is valid? [False, False] Translation: X:3.27, Y:-0.18, Z:-0.62 [[ 0.94580204 -0.28360385 -0.15820039 3.27439653] [ 0.3023692 0.94676964 0.11045414 -0.17985431] [ 0.11845411 -0.15230267 0.98120972 -0.61563893] [ 0. 0. 0. 1. ]] SLAMing on 73.909072329 meters Centerline goodness : 0.805697 Centerline is valid? [False, False] Translation: X:3.28, Y:-0.19, Z:-0.61 [[ 0.94501457 -0.28626967 -0.15810483 3.27720775] [ 0.30501537 0.94592767 0.11039235 -0.1889926 ] [ 0.11795375 -0.15254678 0.98123208 -0.61322618] [ 0. 0. 0. 1. ]] SLAMing on 73.939072329 meters Centerline goodness : 0.804957 Centerline is valid? [False, False] Translation: X:3.28, Y:-0.20, Z:-0.61 [[ 0.94357987 -0.2915281 -0.15706178 3.28138796] [ 0.30997472 0.94445254 0.10920193 -0.20497385] [ 0.11650196 -0.15172593 0.98153275 -0.61028509] [ 0. 0. 0. 1. ]] SLAMing on 73.969072329 meters Centerline goodness : 0.805838 Centerline is valid? [False, False] Translation: X:3.28, Y:-0.21, Z:-0.61 [[ 0.94286188 -0.29428101 -0.15623753 3.28273319] [ 0.31247915 0.9437476 0.10815379 -0.2122631 ] [ 0.11562118 -0.15079505 0.98178032 -0.60883554] [ 0. 0. 0. 1. ]] SLAMing on 73.999072329 meters Centerline goodness : 0.805593 Centerline is valid? [False, False] Translation: X:3.28, Y:-0.22, Z:-0.61 [[ 0.9421005 -0.29700015 -0.15568414 3.28467972] [ 0.31501843 0.94299796 0.107323 -0.22008472] [ 0.11493488 -0.15015243 0.98195938 -0.60705544] [ 0. 0. 0. 1. ]] SLAMing on 74.02907232899999 meters Centerline goodness : 0.805851 Centerline is valid? [False, False] Translation: X:3.29, Y:-0.23, Z:-0.61 [[ 0.94122847 -0.30042777 -0.15437658 3.28508586] [ 0.31805374 0.9421695 0.1056336 -0.22772829] [ 0.11371364 -0.1485254 0.98234893 -0.60528333] [ 0. 0. 0. 1. ]] SLAMing on 74.05907232899999 meters Centerline goodness : 0.806833 Centerline is valid? [False, False] Translation: X:3.29, Y:-0.24, Z:-0.60 [[ 0.93978472 -0.30585612 -0.15250151 3.28796572] [ 0.3229606 0.94073629 0.10349727 -0.24306461] [ 0.11180843 -0.14651713 0.98286907 -0.60275618] [ 0. 0. 0. 1. ]] SLAMing on 74.08907232899999 meters Centerline goodness : 0.807080 Centerline is valid? [False, False] Translation: X:3.28, Y:-0.25, Z:-0.60 [[ 0.93925492 -0.30885241 -0.149701 3.28493758] [ 0.3252641 0.94021509 0.10098938 -0.2497387 ] [ 0.10956033 -0.14354713 0.98356024 -0.60172432] [ 0. 0. 0. 1. ]] SLAMing on 74.11907232899999 meters Centerline goodness : 0.806767 Centerline is valid? [False, False] Translation: X:3.28, Y:-0.25, Z:-0.60 [[ 0.93873678 -0.31129094 -0.14788919 3.28257149] [ 0.3272858 0.93966403 0.09957667 -0.25464857] [ 0.10796884 -0.14187832 0.98397829 -0.59995089] [ 0. 0. 0. 1. ]] SLAMing on 74.14907232899999 meters Centerline goodness : 0.803557 Centerline is valid? [False, False] Translation: X:3.28, Y:-0.27, Z:-0.60 [[ 0.93847166 -0.31319573 -0.1455314 3.28031097] [ 0.32880734 0.93917741 0.09915401 -0.26584755] [ 0.10562519 -0.14090502 0.98437244 -0.59748839] [ 0. 0. 0. 1. ]] SLAMing on 74.179072329 meters Centerline goodness : 0.804334 Centerline is valid? [False, False] Translation: X:3.27, Y:-0.27, Z:-0.60 [[ 0.93871965 -0.31266191 -0.14507909 3.27487244] [ 0.32708489 0.94081232 0.0888125 -0.27294478] [ 0.10872391 -0.13082322 0.985426 -0.59644664] [ 0. 0. 0. 1. ]] SLAMing on 74.209072329 meters Centerline goodness : 0.803594 Centerline is valid? [False, False] Translation: X:3.27, Y:-0.28, Z:-0.60 [[ 0.93853696 -0.31426721 -0.14277428 3.26536771] [ 0.32716057 0.94177481 0.07762841 -0.28011357] [ 0.11006516 -0.11956725 0.98670631 -0.59703417] [ 0. 0. 0. 1. ]] SLAMing on 74.239072329 meters Centerline goodness : 0.804118 Centerline is valid? [False, False] Translation: X:3.26, Y:-0.29, Z:-0.60 [[ 0.93886003 -0.31560485 -0.13760603 3.25966439] [ 0.32717597 0.94228548 0.07109124 -0.29406266] [ 0.10722743 -0.11176611 0.9879325 -0.60031098] [ 0. 0. 0. 1. ]] SLAMing on 74.269072329 meters Centerline goodness : 0.802342 Centerline is valid? [False, False] Translation: X:3.26, Y:-0.30, Z:-0.60 [[ 0.93819775 -0.31771401 -0.13726903 3.25921147] [ 0.32917659 0.94164259 0.07037054 -0.29872239] [ 0.10690066 -0.11120723 0.98803097 -0.59735121] [ 0. 0. 0. 1. ]] SLAMing on 74.299072329 meters Centerline goodness : 0.802621 Centerline is valid? [False, False] Translation: X:3.25, Y:-0.31, Z:-0.60 [[ 0.93893281 -0.31800493 -0.13144593 3.24887122] [ 0.32839921 0.94220748 0.06632515 -0.30630675] [ 0.10275761 -0.1054416 0.98910209 -0.5990306 ] [ 0. 0. 0. 1. ]] SLAMing on 74.329072329 meters Centerline goodness : 0.801211 Centerline is valid? [False, False] Translation: X:3.24, Y:-0.32, Z:-0.60 [[ 0.93882165 -0.32075031 -0.12543184 3.23815765] [ 0.32997184 0.94202966 0.06081707 -0.31874065] [ 0.09865342 -0.09848536 0.9902364 -0.59776423] [ 0. 0. 0. 1. ]] SLAMing on 74.359072329 meters Centerline goodness : 0.803349 Centerline is valid? [False, False] Translation: X:3.24, Y:-0.32, Z:-0.60 [[ 0.9374998 -0.32543596 -0.12322969 3.23692626] [ 0.33409976 0.94080081 0.05719428 -0.32357364] [ 0.09732152 -0.09479064 0.99072865 -0.59633416] [ 0. 0. 0. 1. ]] SLAMing on 74.38907232899999 meters Centerline goodness : 0.802487 Centerline is valid? [False, False] Translation: X:3.24, Y:-0.33, Z:-0.60 [[ 0.93430092 -0.33542119 -0.12072457 3.24237405] [ 0.34317606 0.93794516 0.04989067 -0.33440428] [ 0.09649864 -0.08804268 0.99143154 -0.59618787] [ 0. 0. 0. 1. ]] SLAMing on 74.41907232899999 meters Centerline goodness : 0.802984 Centerline is valid? [False, False] Translation: X:3.24, Y:-0.34, Z:-0.60 [[ 0.93310728 -0.33899369 -0.11997536 3.24466442] [ 0.34647596 0.93684938 0.04761986 -0.33997189] [ 0.09625601 -0.08600301 0.99163414 -0.59574785] [ 0. 0. 0. 1. ]] SLAMing on 74.44907232899999 meters Centerline goodness : 0.801598 Centerline is valid? [False, False] Translation: X:3.21, Y:-0.36, Z:-0.60 [[ 0.93256774 -0.34203011 -0.11546783 3.21255674] [ 0.34833343 0.93655496 0.03909766 -0.35649275] [ 0.09476939 -0.07668252 0.99254146 -0.5982428 ] [ 0. 0. 0. 1. ]] SLAMing on 74.47907232899999 meters Centerline goodness : 0.802998 Centerline is valid? [False, False] Translation: X:3.18, Y:-0.37, Z:-0.60 [[ 0.93190716 -0.34554772 -0.11020804 3.18206491] [ 0.35076261 0.93593563 0.03146563 -0.37201515] [ 0.09227475 -0.0679799 0.99341034 -0.60185248] [ 0. 0. 0. 1. ]] SLAMing on 74.50907232899999 meters Centerline goodness : 0.803236 Centerline is valid? [False, False] Translation: X:3.19, Y:-0.38, Z:-0.60 [[ 0.92950393 -0.35243578 -0.10868054 3.18552904] [ 0.35719406 0.93363076 0.0273131 -0.38267228] [ 0.09184138 -0.06420768 0.99370143 -0.60035812] [ 0. 0. 0. 1. ]] SLAMing on 74.53907232899999 meters Centerline goodness : 0.804030 Centerline is valid? [False, False] Translation: X:3.19, Y:-0.39, Z:-0.60 [[ 0.92827544 -0.35588357 -0.10794259 3.18764211] [ 0.36041677 0.93245039 0.02521952 -0.38856195] [ 0.0916759 -0.06231498 0.9938372 -0.59964568] [ 0. 0. 0. 1. ]] SLAMing on 74.569072329 meters Centerline goodness : 0.802831 Centerline is valid? [False, False] Translation: X:3.19, Y:-0.39, Z:-0.60 [[ 0.92705607 -0.35924609 -0.10728136 3.19013096] [ 0.36356266 0.93128207 0.02314965 -0.39430595] [ 0.09159278 -0.06046452 0.99395916 -0.59918602] [ 0. 0. 0. 1. ]] SLAMing on 74.599072329 meters Centerline goodness : 0.803243 Centerline is valid? [False, False] Translation: X:3.20, Y:-0.41, Z:-0.60 [[ 0.9247732 -0.36539327 -0.10621809 3.19669194] [ 0.36933614 0.92909185 0.01947183 -0.40609482] [ 0.09157149 -0.0572372 0.99415218 -0.59957356] [ 0. 0. 0. 1. ]] SLAMing on 74.629072329 meters Centerline goodness : 0.802117 Centerline is valid? [False, False] Translation: X:3.20, Y:-0.41, Z:-0.60 [[ 0.92354755 -0.36867284 -0.1055474 3.19943158] [ 0.37239997 0.92790966 0.01737602 -0.41141744] [ 0.09153239 -0.05535344 0.99426245 -0.59953689] [ 0. 0. 0. 1. ]] SLAMing on 74.659072329 meters Centerline goodness : 0.803329 Centerline is valid? [False, False] Translation: X:3.20, Y:-0.42, Z:-0.60 [[ 0.92233491 -0.37193196 -0.10471357 3.20155144] [ 0.37544318 0.92671815 0.01535855 -0.41706717] [ 0.09132763 -0.05347972 0.99438382 -0.59910261] [ 0. 0. 0. 1. ]] SLAMing on 74.689072329 meters Centerline goodness : 0.802922 Centerline is valid? [False, False] Translation: X:3.20, Y:-0.42, Z:-0.60 [[ 0.92113369 -0.37512307 -0.10390095 3.20337981] [ 0.37842906 0.92553292 0.01342629 -0.42296028] [ 0.09112724 -0.05168655 0.99449702 -0.59825892] [ 0. 0. 0. 1. ]] SLAMing on 74.719072329 meters Centerline goodness : 0.803475 Centerline is valid? [False, False] Translation: X:3.20, Y:-0.44, Z:-0.59 [[ 0.91806252 -0.38336774 -0.10094743 3.20456644] [ 0.38605163 0.92244447 0.0077672 -0.43576029] [ 0.0901407 -0.0461017 0.99486144 -0.59490904] [ 0. 0. 0. 1. ]] SLAMing on 74.749072329 meters Centerline goodness : 0.804586 Centerline is valid? [False, False] Translation: X:3.17, Y:-0.46, Z:-0.60 [[ 0.91626985 -0.38734138 -0.10205985 3.16565058] [ 0.39009228 0.92074341 0.00771871 -0.45973052] [ 0.09098115 -0.04688518 0.99474831 -0.59835617] [ 0. 0. 0. 1. ]] SLAMing on 74.77907232899999 meters Centerline goodness : 0.805560 Centerline is valid? [False, False] Translation: X:3.14, Y:-0.49, Z:-0.60 [[ 0.91519672 -0.39094089 -0.0978784 3.13550212] [ 0.39369032 0.91919139 0.00975284 -0.48805346] [ 0.0861562 -0.04745954 0.99515059 -0.60321015] [ 0. 0. 0. 1. ]] SLAMing on 74.80907232899999 meters Centerline goodness : 0.806601 Centerline is valid? [False, False] Translation: X:3.11, Y:-0.51, Z:-0.61 [[ 0.91526925 -0.39171765 -0.09401853 3.10649087] [ 0.39421748 0.91897409 0.00890001 -0.50638469] [ 0.0829143 -0.04520966 0.99553067 -0.60585949] [ 0. 0. 0. 1. ]] SLAMing on 74.83907232899999 meters Centerline goodness : 0.806088 Centerline is valid? [False, False] Translation: X:3.09, Y:-0.52, Z:-0.60 [[ 0.91400058 -0.39395035 -0.09698486 3.08734639] [ 0.39664412 0.91792382 0.00945033 -0.52185422] [ 0.08530175 -0.04710608 0.99524099 -0.60460719] [ 0. 0. 0. 1. ]] SLAMing on 74.86907232899999 meters Centerline goodness : 0.807836 Centerline is valid? [False, False] Translation: X:3.06, Y:-0.55, Z:-0.61 [[ 0.91387346 -0.39423358 -0.09703184 3.06303599] [ 0.39677155 0.91788592 0.00760108 -0.54849275] [ 0.08606756 -0.0454459 0.99525225 -0.60652601] [ 0. 0. 0. 1. ]] SLAMing on 74.89907232899999 meters Centerline goodness : 0.808041 Centerline is valid? [False, False] Translation: X:3.06, Y:-0.56, Z:-0.61 [[ 0.91380666 -0.39491612 -0.09486122 3.0609264 ] [ 0.3973289 0.91764762 0.00725221 -0.5553243 ] [ 0.08418516 -0.04431823 0.99546409 -0.60634556] [ 0. 0. 0. 1. ]] SLAMing on 74.929072329 meters Centerline goodness : 0.808468 Centerline is valid? [False, False] Translation: X:3.06, Y:-0.56, Z:-0.60 [[ 0.91356973 -0.39555572 -0.09447763 3.06075005] [ 0.39793359 0.91738745 0.00700944 -0.56077159] [ 0.08389996 -0.04399943 0.99550231 -0.60441435] [ 0. 0. 0. 1. ]] SLAMing on 74.959072329 meters Centerline goodness : 0.808922 Centerline is valid? [False, False] Translation: X:3.03, Y:-0.58, Z:-0.61 [[ 0.91461165 -0.39355636 -0.09273039 3.03210667] [ 0.39582485 0.91830148 0.00671441 -0.57990128] [ 0.08251195 -0.04284607 0.99566862 -0.60779802] [ 0. 0. 0. 1. ]] SLAMing on 74.989072329 meters Centerline goodness : 0.809894 Centerline is valid? [False, False] Translation: X:3.00, Y:-0.61, Z:-0.61 [[ 0.91708658 -0.38922159 -0.08636414 2.99596005] [ 0.39119118 0.92028653 0.00649334 -0.61190653] [ 0.07695241 -0.03973985 0.99624248 -0.6112736 ] [ 0. 0. 0. 1. ]] SLAMing on 75.019072329 meters Centerline goodness : 0.811143 Centerline is valid? [False, False] Translation: X:2.97, Y:-0.63, Z:-0.61 [[ 0.91824679 -0.38694746 -0.08422887 2.96618331] [ 0.38886535 0.92126778 0.00702999 -0.63274978] [ 0.07487711 -0.03920896 0.99642164 -0.61371951] [ 0. 0. 0. 1. ]] SLAMing on 75.049072329 meters Centerline goodness : 0.810453 Centerline is valid? [False, False] Translation: X:2.97, Y:-0.64, Z:-0.61 [[ 0.91867955 -0.38573256 -0.08507804 2.9685334 ] [ 0.38784178 0.92168035 0.00917031 -0.63959407] [ 0.07487747 -0.0414214 0.99633209 -0.61294887] [ 0. 0. 0. 1. ]] SLAMing on 75.079072329 meters Centerline goodness : 0.811084 Centerline is valid? [False, False] Translation: X:2.95, Y:-0.67, Z:-0.61 [[ 0.92001759 -0.38185141 -0.08807463 2.94616728] [ 0.3843315 0.92311057 0.01249707 -0.66602303] [ 0.0765306 -0.04534738 0.99603548 -0.61434008] [ 0. 0. 0. 1. ]] SLAMing on 75.109072329 meters Centerline goodness : 0.811311 Centerline is valid? [False, False] Translation: X:2.95, Y:-0.67, Z:-0.61 [[ 0.91920671 -0.38393935 -0.08746201 2.94767483] [ 0.38628918 0.92231132 0.01106759 -0.67163177] [ 0.07641792 -0.04395904 0.99610637 -0.61341051] [ 0. 0. 0. 1. ]] SLAMing on 75.13907232899999 meters Centerline goodness : 0.813655 Centerline is valid? [False, False] Translation: X:2.95, Y:-0.68, Z:-0.61 [[ 0.91857741 -0.38559909 -0.08676911 2.94859214] [ 0.38786847 0.92165673 0.01034041 -0.67925948] [ 0.07598408 -0.04315347 0.99617478 -0.61173826] [ 0. 0. 0. 1. ]] SLAMing on 75.16907232899999 meters Centerline goodness : 0.812471 Centerline is valid? [False, False] Translation: X:2.92, Y:-0.70, Z:-0.61 [[ 0.91880509 -0.38533 -0.08554526 2.91929994] [ 0.38742338 0.92186066 0.00872059 -0.70048436] [ 0.07550051 -0.04115476 0.99629612 -0.61287276] [ 0. 0. 0. 1. ]] SLAMing on 75.19907232899999 meters Centerline goodness : 0.816234 Centerline is valid? [False, False] Translation: X:2.92, Y:-0.72, Z:-0.61 [[ 0.91997643 -0.38328567 -0.08206992 2.91582842] [ 0.38529829 0.92274166 0.00964645 -0.721315 ] [ 0.07203199 -0.04049591 0.99657989 -0.61356013] [ 0. 0. 0. 1. ]] SLAMing on 75.22907232899999 meters Centerline goodness : 0.815594 Centerline is valid? [False, False] Translation: X:2.89, Y:-0.74, Z:-0.62 [[ 0.92057553 -0.38149446 -0.08368194 2.8906758 ] [ 0.38357986 0.92345559 0.00981138 -0.74180362] [ 0.07353357 -0.04113082 0.99644421 -0.61630157] [ 0. 0. 0. 1. ]] SLAMing on 75.25907232899999 meters Centerline goodness : 0.816804 Centerline is valid? [False, False] Translation: X:2.86, Y:-0.77, Z:-0.62 [[ 0.92267165 -0.37620167 -0.08455366 2.86361369] [ 0.3784184 0.92556551 0.01131393 -0.77324931] [ 0.07400363 -0.0424357 0.99635469 -0.62073413] [ 0. 0. 0. 1. ]] SLAMing on 75.28907232899999 meters Centerline goodness : 0.817683 Centerline is valid? [False, False] Translation: X:2.86, Y:-0.78, Z:-0.62 [[ 0.92223535 -0.37739457 -0.08399579 2.86402213] [ 0.3795575 0.92510444 0.01085717 -0.77986694] [ 0.07360744 -0.0418941 0.99640696 -0.61911652] [ 0. 0. 0. 1. ]] SLAMing on 75.319072329 meters Centerline goodness : 0.820504 Centerline is valid? [False, False] Translation: X:2.86, Y:-0.80, Z:-0.62 [[ 0.92298861 -0.37607502 -0.08160642 2.86307953] [ 0.37826396 0.92561104 0.01267217 -0.79945823] [ 0.07077011 -0.04256504 0.99658407 -0.61917578] [ 0. 0. 0. 1. ]] SLAMing on 75.349072329 meters Centerline goodness : 0.820371 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.81, Z:-0.62 [[ 0.92211351 -0.37833958 -0.08102989 2.86536099] [ 0.38044098 0.9247313 0.011691 -0.80797053] [ 0.07050771 -0.04160752 0.9966431 -0.61793092] [ 0. 0. 0. 1. ]] SLAMing on 75.379072329 meters Centerline goodness : 0.821212 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.82, Z:-0.62 [[ 0.92112976 -0.38087108 -0.08035657 2.86809705] [ 0.38286722 0.92374381 0.01049176 -0.81652632] [ 0.07023287 -0.04043017 0.99671096 -0.61707894] [ 0. 0. 0. 1. ]] SLAMing on 75.409072329 meters Centerline goodness : 0.824205 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.82, Z:-0.62 [[ 0.92003251 -0.38365875 -0.07966273 2.87145146] [ 0.38553159 0.92265054 0.00902105 -0.82461949] [ 0.07003986 -0.03901216 0.99678105 -0.61683861] [ 0. 0. 0. 1. ]] SLAMing on 75.439072329 meters Centerline goodness : 0.824205 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.82, Z:-0.62 [[ 0.92003251 -0.38365875 -0.07966273 2.87145146] [ 0.38553159 0.92265054 0.00902105 -0.82461949] [ 0.07003986 -0.03901216 0.99678105 -0.61683861] [ 0. 0. 0. 1. ]] SLAMing on 75.469072329 meters Centerline goodness : 0.824506 Centerline is valid? [False, False] Translation: X:2.85, Y:-0.85, Z:-0.62 [[ 0.91894275 -0.3857052 -0.08231474 2.85433794] [ 0.38764028 0.92177299 0.0083411 -0.85353639] [ 0.0726583 -0.03957351 0.99657148 -0.61830755] [ 0. 0. 0. 1. ]] SLAMing on 75.499072329 meters Centerline goodness : 0.824297 Centerline is valid? [False, False] Translation: X:2.86, Y:-0.86, Z:-0.62 [[ 0.91778533 -0.38863498 -0.08144289 2.85648961] [ 0.39041869 0.92061373 0.00660406 -0.8592779 ] [ 0.07241087 -0.03785794 0.99665613 -0.61810794] [ 0. 0. 0. 1. ]] SLAMing on 75.52907232899999 meters Centerline goodness : 0.825442 Centerline is valid? [False, False] Translation: X:2.83, Y:-0.88, Z:-0.62 [[ 0.91733976 -0.38925815 -0.08346175 2.83231987] [ 0.39119096 0.92027867 0.00753699 -0.87935706] [ 0.07387423 -0.03956346 0.99648248 -0.61911725] [ 0. 0. 0. 1. ]] SLAMing on 75.55907232899999 meters Centerline goodness : 0.825086 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.90, Z:-0.62 [[ 0.91659538 -0.39063076 -0.08520866 2.80826701] [ 0.39267094 0.91964452 0.00796783 -0.89938764] [ 0.0752492 -0.04076224 0.99633127 -0.62008283] [ 0. 0. 0. 1. ]] SLAMing on 75.58907232899999 meters Centerline goodness : 0.828605 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.93, Z:-0.62 [[ 0.91419567 -0.39612777 -0.08560999 2.78624676] [ 0.39799817 0.91737101 0.00528047 -0.92923987] [ 0.07644438 -0.0389 0.99631473 -0.6188154 ] [ 0. 0. 0. 1. ]] SLAMing on 75.61907232899999 meters Centerline goodness : 0.829979 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.95, Z:-0.62 [[ 0.91272602 -0.39927878 -0.08664683 2.76271473] [ 0.4010536 0.91604833 0.00338613 -0.95000563] [ 0.07802067 -0.03784063 0.99623334 -0.6202498 ] [ 0. 0. 0. 1. ]] SLAMing on 75.64907232899999 meters Centerline goodness : 0.830559 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.97, Z:-0.62 [[ 9.11296648e-01 -4.02231735e-01 -8.80230169e-02 2.74079432e+00] [ 4.03966716e-01 9.14771309e-01 2.08425731e-03 -9.69403269e-01] [ 7.96825760e-02 -3.74577457e-02 9.96116260e-01 -6.23179369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.679072329 meters Centerline goodness : 0.830918 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.99, Z:-0.63 [[ 9.09045463e-01 -4.06828993e-01 -9.01471902e-02 2.72536696e+00] [ 4.08611174e-01 9.12707411e-01 1.44538218e-03 -9.92923479e-01] [ 8.16899852e-02 -3.81490674e-02 9.95927404e-01 -6.27084103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.709072329 meters Centerline goodness : 0.831529 Centerline is valid? [False, False] Translation: X:2.70, Y:-1.01, Z:-0.63 [[ 9.08082191e-01 -4.08542790e-01 -9.20843332e-02 2.70254961e+00] [ 4.10427388e-01 9.11891729e-01 1.68335928e-03 -1.01040352e+00] [ 8.32832175e-02 -3.93225609e-02 9.95749789e-01 -6.29694740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.739072329 meters Centerline goodness : 0.831638 Centerline is valid? [False, False] Translation: X:2.68, Y:-1.03, Z:-0.63 [[ 9.07254014e-01 -4.09956041e-01 -9.39478534e-02 2.67895340e+00] [ 4.11976984e-01 9.11191259e-01 2.33545774e-03 -1.02790977e+00] [ 8.46470278e-02 -4.08232067e-02 9.95574380e-01 -6.31895613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.769072329 meters Centerline goodness : 0.830984 Centerline is valid? [False, False] Translation: X:2.66, Y:-1.04, Z:-0.63 [[ 9.06312224e-01 -4.11606429e-01 -9.58034473e-02 2.65563041e+00] [ 4.13725062e-01 9.10398479e-01 2.48647924e-03 -1.04496090e+00] [ 8.61958619e-02 -4.18898137e-02 9.95397165e-01 -6.34471835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.799072329 meters Centerline goodness : 0.830893 Centerline is valid? [False, False] Translation: X:2.63, Y:-1.07, Z:-0.64 [[ 9.05042838e-01 -4.14564743e-01 -9.50449119e-02 2.63018067e+00] [ 4.16442344e-01 9.09162123e-01 -8.83909829e-05 -1.07010614e+00] [ 8.64478777e-02 -3.95007283e-02 9.95472982e-01 -6.39404122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.829072329 meters Centerline goodness : 0.832655 Centerline is valid? [False, False] Translation: X:2.60, Y:-1.09, Z:-0.64 [[ 9.04032801e-01 -4.16563749e-01 -9.59131769e-02 2.60479134e+00] [ 4.18341513e-01 9.08288171e-01 -1.72526964e-03 -1.08705875e+00] [ 8.78354889e-02 -3.85647632e-02 9.95388209e-01 -6.43363615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.859072329 meters Centerline goodness : 0.830962 Centerline is valid? [False, False] Translation: X:2.58, Y:-1.10, Z:-0.65 [[ 0.90348343 -0.41775668 -0.09590123 2.57729749] [ 0.41940557 0.90779319 -0.00323964 -1.10394764] [ 0.08841186 -0.03729455 0.99538558 -0.6489098 ] [ 0. 0. 0. 1. ]] SLAMing on 75.88907232899999 meters Centerline goodness : 0.830760 Centerline is valid? [False, False] Translation: X:2.55, Y:-1.12, Z:-0.65 [[ 0.90278489 -0.41879678 -0.09792185 2.55327928] [ 0.4205267 0.90727433 -0.00325173 -1.11889321] [ 0.0902038 -0.03824314 0.99518879 -0.65241126] [ 0. 0. 0. 1. ]] SLAMing on 75.91907232899999 meters Centerline goodness : 0.830737 Centerline is valid? [False, False] Translation: X:2.53, Y:-1.14, Z:-0.66 [[ 0.90203022 -0.42043026 -0.09787687 2.52753764] [ 0.42201242 0.90657655 -0.00494764 -1.13862742] [ 0.09081301 -0.03684233 0.99518623 -0.65871064] [ 0. 0. 0. 1. ]] SLAMing on 75.94907232899999 meters Centerline goodness : 0.831413 Centerline is valid? [False, False] Translation: X:2.50, Y:-1.16, Z:-0.66 [[ 0.90206632 -0.42048147 -0.09732258 2.49660885] [ 0.42194954 0.9065996 -0.00597872 -1.1560137 ] [ 0.09074655 -0.03567201 0.99523493 -0.66351535] [ 0. 0. 0. 1. ]] SLAMing on 75.97907232899999 meters Centerline goodness : 0.828461 Centerline is valid? [False, False] Translation: X:2.47, Y:-1.17, Z:-0.67 [[ 0.90181481 -0.42104761 -0.09720577 2.46827308] [ 0.42245539 0.90635951 -0.00662487 -1.17408928] [ 0.09089276 -0.03509069 0.99524226 -0.66909783] [ 0. 0. 0. 1. ]] SLAMing on 76.00907232899999 meters Centerline goodness : 0.826435 Centerline is valid? [False, False] Translation: X:2.44, Y:-1.19, Z:-0.67 [[ 0.90152492 -0.42096234 -0.10021746 2.44444558] [ 0.42261173 0.9062959 -0.00520304 -1.18607411] [ 0.09301696 -0.0376624 0.99495195 -0.67219044] [ 0. 0. 0. 1. ]] SLAMing on 76.03907232899999 meters Centerline goodness : 0.826266 Centerline is valid? [False, False] Translation: X:2.42, Y:-1.20, Z:-0.68 [[ 0.90121509 -0.42089117 -0.10325688 2.42062023] [ 0.42275536 0.90623417 -0.00418806 -1.19729389] [ 0.09533763 -0.03987805 0.99464591 -0.67569753] [ 0. 0. 0. 1. ]] SLAMing on 76.069072329 meters Centerline goodness : 0.825505 Centerline is valid? [False, False] Translation: X:2.39, Y:-1.21, Z:-0.68 [[ 0.90156377 -0.42010376 -0.10341958 2.39025694] [ 0.42183836 0.90665403 -0.00555586 -1.21060758] [ 0.09609981 -0.03861738 0.9946223 -0.68222569] [ 0. 0. 0. 1. ]] SLAMing on 76.099072329 meters Centerline goodness : 0.824112 Centerline is valid? [False, False] Translation: X:2.35, Y:-1.23, Z:-0.69 [[ 0.90302453 -0.417618 -0.10070701 2.35321051] [ 0.41898681 0.90795552 -0.00817422 -1.227514 ] [ 0.09485119 -0.03481339 0.99488255 -0.69183525] [ 0. 0. 0. 1. ]] SLAMing on 76.129072329 meters Centerline goodness : 0.822457 Centerline is valid? [False, False] Translation: X:2.33, Y:-1.24, Z:-0.70 [[ 0.90276322 -0.4177545 -0.1024683 2.32594174] [ 0.41913976 0.90788044 -0.00865808 -1.23852639] [ 0.09664591 -0.03513234 0.99469859 -0.69544247] [ 0. 0. 0. 1. ]] SLAMing on 76.159072329 meters Centerline goodness : 0.820624 Centerline is valid? [False, False] Translation: X:2.30, Y:-1.25, Z:-0.70 [[ 0.90265398 -0.41767504 -0.10374657 2.29802389] [ 0.4190692 0.90790941 -0.00902787 -1.24863745] [ 0.0979632 -0.03532795 0.99456279 -0.69998749] [ 0. 0. 0. 1. ]] SLAMing on 76.189072329 meters Centerline goodness : 0.819300 Centerline is valid? [False, False] Translation: X:2.28, Y:-1.25, Z:-0.70 [[ 0.9018916 -0.41839263 -0.10742045 2.27601458] [ 0.420003 0.90748507 -0.00826552 -1.25256446] [ 0.10094069 -0.0376623 0.99417932 -0.70429774] [ 0. 0. 0. 1. ]] SLAMing on 76.219072329 meters Centerline goodness : 0.817228 Centerline is valid? [False, False] Translation: X:2.25, Y:-1.26, Z:-0.71 [[ 0.9014876 -0.41888261 -0.108892 2.24830658] [ 0.42047309 0.90725999 -0.00903794 -1.26135458] [ 0.10257919 -0.03763856 0.9940125 -0.70828038] [ 0. 0. 0. 1. ]] SLAMing on 76.249072329 meters Centerline goodness : 0.816349 Centerline is valid? [False, False] Translation: X:2.22, Y:-1.27, Z:-0.71 [[ 0.90063129 -0.42025809 -0.11066357 2.22240217] [ 0.42177639 0.90663954 -0.01046038 -1.26984155] [ 0.10472803 -0.03725434 0.99380288 -0.71236198] [ 0. 0. 0. 1. ]] SLAMing on 76.27907232899999 meters Centerline goodness : 0.814064 Centerline is valid? [False, False] Translation: X:2.20, Y:-1.28, Z:-0.72 [[ 0.89924868 -0.42295403 -0.11163202 2.19661164] [ 0.42414814 0.90548449 -0.01400725 -1.27555706] [ 0.10700548 -0.03475251 0.99365089 -0.71933935] [ 0. 0. 0. 1. ]] SLAMing on 76.30907232899999 meters Centerline goodness : 0.812588 Centerline is valid? [False, False] Translation: X:2.18, Y:-1.28, Z:-0.72 [[ 0.89758288 -0.42534073 -0.11588894 2.17689804] [ 0.42671042 0.90428036 -0.01397284 -1.2799221 ] [ 0.11073931 -0.03690924 0.99316389 -0.72215221] [ 0. 0. 0. 1. ]] SLAMing on 76.33907232899999 meters Centerline goodness : 0.812205 Centerline is valid? [False, False] Translation: X:2.13, Y:-1.30, Z:-0.73 [[ 0.89648656 -0.42774046 -0.11554199 2.12803354] [ 0.42935397 0.90305904 -0.01181243 -1.29634435] [ 0.10939389 -0.03901872 0.99323236 -0.73178821] [ 0. 0. 0. 1. ]] SLAMing on 76.36907232899999 meters Centerline goodness : 0.809551 Centerline is valid? [False, False] Translation: X:2.09, Y:-1.31, Z:-0.74 [[ 0.89362834 -0.43490067 -0.11085932 2.08778738] [ 0.43665063 0.89958355 -0.00925599 -1.30598408] [ 0.10375266 -0.04013538 0.99379301 -0.7428351 ] [ 0. 0. 0. 1. ]] SLAMing on 76.39907232899999 meters Centerline goodness : 0.808609 Centerline is valid? [False, False] Translation: X:2.05, Y:-1.32, Z:-0.75 [[ 0.89327072 -0.43627334 -0.10831899 2.05370921] [ 0.4376293 0.89907289 -0.01218708 -1.31645323] [ 0.10270357 -0.0365172 0.99404148 -0.74853977] [ 0. 0. 0. 1. ]] SLAMing on 76.429072329 meters Centerline goodness : 0.808663 Centerline is valid? [False, False] Translation: X:2.00, Y:-1.33, Z:-0.75 [[ 0.89175425 -0.4394628 -0.10792039 2.00411849] [ 0.44101555 0.89744009 -0.01032285 -1.33207519] [ 0.1013886 -0.03838913 0.99410594 -0.75484135] [ 0. 0. 0. 1. ]] SLAMing on 76.459072329 meters Centerline goodness : 0.809168 Centerline is valid? [False, False] Translation: X:1.96, Y:-1.34, Z:-0.76 [[ 0.88936042 -0.44425064 -0.10807133 1.9566459 ] [ 0.44590675 0.89502723 -0.0096659 -1.34270068] [ 0.10102086 -0.03959327 0.99409615 -0.76187721] [ 0. 0. 0. 1. ]] SLAMing on 76.489072329 meters Centerline goodness : 0.808099 Centerline is valid? [False, False] Translation: X:1.91, Y:-1.36, Z:-0.77 [[ 0.88734516 -0.44794237 -0.1093901 1.91206037] [ 0.44983562 0.8930746 -0.00810395 -1.35648929] [ 0.10132363 -0.04201656 0.99396586 -0.76875078] [ 0. 0. 0. 1. ]] SLAMing on 76.519072329 meters Centerline goodness : 0.806987 Centerline is valid? [False, False] Translation: X:1.86, Y:-1.37, Z:-0.78 [[ 0.88635403 -0.45020274 -0.10813895 1.8611855 ] [ 0.45207973 0.8919427 -0.00788202 -1.37359053] [ 0.10000225 -0.04190117 0.99410454 -0.77868187] [ 0. 0. 0. 1. ]] SLAMing on 76.549072329 meters Centerline goodness : 0.805801 Centerline is valid? [False, False] Translation: X:1.81, Y:-1.39, Z:-0.79 [[ 0.88543883 -0.45231758 -0.10680305 1.80986877] [ 0.45414121 0.89089394 -0.00798414 -1.39075747] [ 0.09876156 -0.0414342 0.99424814 -0.78841 ] [ 0. 0. 0. 1. ]] SLAMing on 76.579072329 meters Centerline goodness : 0.804998 Centerline is valid? [False, False] Translation: X:1.76, Y:-1.41, Z:-0.80 [[ 0.88464013 -0.4541959 -0.1054416 1.75612241] [ 0.45586628 0.89000194 -0.00908208 -1.40520536] [ 0.09796828 -0.0400329 0.99438402 -0.79862168] [ 0. 0. 0. 1. ]] SLAMing on 76.609072329 meters Centerline goodness : 0.804369 Centerline is valid? [False, False] Translation: X:1.70, Y:-1.42, Z:-0.81 [[ 0.88450855 -0.45491373 -0.10343175 1.7004118 ] [ 0.45652671 0.88966532 -0.00888703 -1.42376235] [ 0.09606247 -0.03935871 0.99459685 -0.80731666] [ 0. 0. 0. 1. ]] SLAMing on 76.63907232899999 meters Centerline goodness : 0.804756 Centerline is valid? [False, False] Translation: X:1.65, Y:-1.44, Z:-0.81 [[ 0.88324259 -0.45737398 -0.10340005 1.65426989] [ 0.45925823 0.88828122 -0.00619235 -1.43787923] [ 0.09468054 -0.04201798 0.99462057 -0.81386793] [ 0. 0. 0. 1. ]] SLAMing on 76.66907232899999 meters Centerline goodness : 0.804994 Centerline is valid? [False, False] Translation: X:1.60, Y:-1.45, Z:-0.82 [[ 0.88327038 -0.45772454 -0.10159564 1.597879 ] [ 0.45952344 0.8881432 -0.00631416 -1.45135843] [ 0.09312162 -0.04110846 0.99480574 -0.82272319] [ 0. 0. 0. 1. ]] SLAMing on 76.69907232899999 meters Centerline goodness : 0.805426 Centerline is valid? [False, False] Translation: X:1.54, Y:-1.47, Z:-0.83 [[ 0.88346808 -0.45765571 -0.10017688 1.54221002] [ 0.45940024 0.88820727 -0.00626573 -1.46901508] [ 0.09184538 -0.04048571 0.99494992 -0.83107019] [ 0. 0. 0. 1. ]] SLAMing on 76.72907232899999 meters Centerline goodness : 0.804082 Centerline is valid? [False, False] Translation: X:1.49, Y:-1.49, Z:-0.84 [[ 0.88353043 -0.457936 -0.09832904 1.4868707 ] [ 0.45957555 0.88811405 -0.00661459 -1.48647256] [ 0.09035647 -0.03934543 0.99513197 -0.83984737] [ 0. 0. 0. 1. ]] SLAMing on 76.75907232899999 meters Centerline goodness : 0.803414 Centerline is valid? [False, False] Translation: X:1.43, Y:-1.50, Z:-0.85 [[ 0.88269264 -0.4600934 -0.09574851 1.43253375] [ 0.46141973 0.88713509 -0.00911966 -1.49876512] [ 0.08913775 -0.03613039 0.99536378 -0.84877557] [ 0. 0. 0. 1. ]] SLAMing on 76.78907232899999 meters Centerline goodness : 0.803703 Centerline is valid? [False, False] Translation: X:1.38, Y:-1.52, Z:-0.86 [[ 0.88255035 -0.46098019 -0.09274774 1.37675519] [ 0.46214251 0.88675131 -0.00981972 -1.51653224] [ 0.08677087 -0.03419628 0.99564122 -0.85681882] [ 0. 0. 0. 1. ]] SLAMing on 76.819072329 meters Centerline goodness : 0.804692 Centerline is valid? [False, False] Translation: X:1.32, Y:-1.53, Z:-0.86 [[ 0.88279218 -0.4610062 -0.0902843 1.31879655] [ 0.46211565 0.88676922 -0.00945932 -1.52870282] [ 0.08442214 -0.03337117 0.99587111 -0.8640563 ] [ 0. 0. 0. 1. ]] SLAMing on 76.849072329 meters Centerline goodness : 0.802915 Centerline is valid? [False, False] Translation: X:1.26, Y:-1.55, Z:-0.87 [[ 0.88332156 -0.46032467 -0.0885676 1.26232302] [ 0.46143358 0.88713167 -0.00874325 -1.54568854] [ 0.08259585 -0.03314496 0.99603179 -0.87183306] [ 0. 0. 0. 1. ]] SLAMing on 76.879072329 meters Centerline goodness : 0.803289 Centerline is valid? [False, False] Translation: X:1.22, Y:-1.56, Z:-0.88 [[ 0.88216471 -0.46231587 -0.08971883 1.21668015] [ 0.46365266 0.88599261 -0.00658087 -1.5580984 ] [ 0.08253266 -0.03579296 0.99594539 -0.87767937] [ 0. 0. 0. 1. ]] SLAMing on 76.909072329 meters Centerline goodness : 0.803384 Centerline is valid? [False, False] Translation: X:1.16, Y:-1.58, Z:-0.88 [[ 0.88211602 -0.46284059 -0.08746382 1.1591602 ] [ 0.46398091 0.88580871 -0.00804036 -1.57630349] [ 0.08119762 -0.03348901 0.99613525 -0.88488938] [ 0. 0. 0. 1. ]] SLAMing on 76.939072329 meters Centerline goodness : 0.801129 Centerline is valid? [False, False] Translation: X:1.11, Y:-1.59, Z:-0.89 [[ 0.88022564 -0.46681784 -0.08534598 1.10589808] [ 0.46771768 0.88381715 -0.01036399 -1.58876385] [ 0.08026833 -0.03079517 0.99629747 -0.8891117 ] [ 0. 0. 0. 1. ]] SLAMing on 76.969072329 meters Centerline goodness : 0.803062 Centerline is valid? [False, False] Translation: X:1.05, Y:-1.61, Z:-0.90 [[ 0.88019307 -0.4674737 -0.08202744 1.04765905] [ 0.46818492 0.88355529 -0.01152961 -1.60807699] [ 0.07786557 -0.02825573 0.99656338 -0.8953185 ] [ 0. 0. 0. 1. ]] SLAMing on 76.999072329 meters Centerline goodness : 0.802923 Centerline is valid? [False, False] Translation: X:1.00, Y:-1.62, Z:-0.90 [[ 0.87921868 -0.46934744 -0.08177711 0.99570808] [ 0.47007309 0.88255459 -0.01134416 -1.62365955] [ 0.07749711 -0.02846722 0.99658608 -0.89927041] [ 0. 0. 0. 1. ]] SLAMing on 77.02907232899999 meters Centerline goodness : 0.802670 Centerline is valid? [False, False] Translation: X:0.94, Y:-1.64, Z:-0.91 [[ 0.87615169 -0.47543395 -0.07950328 0.93722882] [ 0.47656917 0.87912131 -0.00524797 -1.63646546] [ 0.07238809 -0.03329079 0.99682079 -0.90869677] [ 0. 0. 0. 1. ]] SLAMing on 77.05907232899999 meters Centerline goodness : 0.802000 Centerline is valid? [False, False] Translation: X:0.88, Y:-1.66, Z:-0.91 [[ 0.87539494 -0.47729423 -0.07664145 0.88096744] [ 0.47820514 0.8782188 -0.0071816 -1.65517674] [ 0.0707357 -0.0303636 0.99703285 -0.91451636] [ 0. 0. 0. 1. ]] SLAMing on 77.08907232899999 meters Centerline goodness : 0.801596 Centerline is valid? [False, False] Translation: X:0.82, Y:-1.68, Z:-0.92 [[ 0.87464544 -0.47928941 -0.07264313 0.82238944] [ 0.47991332 0.87726173 -0.00974987 -1.67619395] [ 0.06840005 -0.02633472 0.99731034 -0.91986333] [ 0. 0. 0. 1. ]] SLAMing on 77.11907232899999 meters Centerline goodness : 0.803122 Centerline is valid? [False, False] Translation: X:0.77, Y:-1.70, Z:-0.92 [[ 0.87320187 -0.48237796 -0.06949825 0.76648082] [ 0.48276302 0.87566521 -0.01225968 -1.69581367] [ 0.066771 -0.02284601 0.99750674 -0.92441307] [ 0. 0. 0. 1. ]] SLAMing on 77.14907232899999 meters Centerline goodness : 0.803658 Centerline is valid? [False, False] Translation: X:0.71, Y:-1.71, Z:-0.93 [[ 0.86865903 -0.49095866 -0.06626532 0.70584593] [ 0.49153211 0.87081817 -0.00847976 -1.71237897] [ 0.06186826 -0.02520552 0.997766 -0.9315859 ] [ 0. 0. 0. 1. ]] SLAMing on 77.179072329 meters Centerline goodness : 0.804239 Centerline is valid? [False, False] Translation: X:0.64, Y:-1.73, Z:-0.94 [[ 0.86703206 -0.49451186 -0.06093794 0.6399954 ] [ 0.49524691 0.86874543 -0.00344566 -1.73467337] [ 0.05464348 -0.02719183 0.99813561 -0.94064528] [ 0. 0. 0. 1. ]] SLAMing on 77.209072329 meters Centerline goodness : 0.803765 Centerline is valid? [False, False] Translation: X:0.57, Y:-1.76, Z:-0.95 [[ 8.65503062e-01 -4.97937287e-01 -5.44325953e-02 5.72734019e-01] [ 4.98712562e-01 8.66767095e-01 7.64136021e-04 -1.75772317e+00] [ 4.67998906e-02 -2.78075811e-02 9.98517155e-01 -9.49908231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.239072329 meters Centerline goodness : 0.803827 Centerline is valid? [False, False] Translation: X:0.50, Y:-1.78, Z:-0.95 [[ 0.86101667 -0.50572661 -0.05376705 0.50151748] [ 0.50634921 0.86232535 -0.00233919 -1.78023212] [ 0.04754768 -0.02521082 0.99855077 -0.95217931] [ 0. 0. 0. 1. ]] SLAMing on 77.269072329 meters Centerline goodness : 0.803751 Centerline is valid? [False, False] Translation: X:0.43, Y:-1.81, Z:-0.96 [[ 8.58983210e-01 -5.09965354e-01 -4.56418891e-02 4.30737958e-01] [ 5.10445559e-01 8.59909078e-01 -1.30740743e-03 -1.80724538e+00] [ 3.99146073e-02 -2.21746586e-02 9.98957010e-01 -9.60814327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.299072329 meters Centerline goodness : 0.804117 Centerline is valid? [False, False] Translation: X:0.36, Y:-1.83, Z:-0.96 [[ 0.85606303 -0.51501328 -0.04378825 0.35870416] [ 0.51542195 0.85693358 -0.00224937 -1.83325777] [ 0.03868207 -0.02064382 0.9990383 -0.9638918 ] [ 0. 0. 0. 1. ]] SLAMing on 77.329072329 meters Centerline goodness : 0.805555 Centerline is valid? [False, False] Translation: X:0.29, Y:-1.86, Z:-0.97 [[ 0.85153111 -0.52265433 -0.04155991 0.28921841] [ 0.52303214 0.85231047 -0.00206016 -1.85567189] [ 0.0364987 -0.01998287 0.99913389 -0.96595506] [ 0. 0. 0. 1. ]] SLAMing on 77.359072329 meters Centerline goodness : 0.805555 Centerline is valid? [False, False] Translation: X:0.21, Y:-1.89, Z:-0.97 [[ 8.51135708e-01 -5.23345227e-01 -4.09607131e-02 2.13900399e-01] [ 5.23725068e-01 8.51885673e-01 -1.68927687e-03 -1.88504383e+00] [ 3.57779196e-02 -2.00143484e-02 9.99159330e-01 -9.69251284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.38907232899999 meters Centerline goodness : 0.805757 Centerline is valid? [False, False] Translation: X:0.14, Y:-1.91, Z:-0.97 [[ 8.49003018e-01 -5.26817200e-01 -4.07125590e-02 1.41705804e-01] [ 5.27225832e-01 8.49724809e-01 -8.18478202e-04 -1.91015779e+00] [ 3.50256598e-02 -2.07698223e-02 9.99170565e-01 -9.70603583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.41907232899999 meters Centerline goodness : 0.806345 Centerline is valid? [False, False] Translation: X:0.07, Y:-1.94, Z:-0.97 [[ 8.47768577e-01 -5.28866481e-01 -3.98583143e-02 6.57845144e-02] [ 5.29250293e-01 8.48465064e-01 -1.07796531e-03 -1.93703998e+00] [ 3.43884870e-02 -2.01811594e-02 9.99204760e-01 -9.73645929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.44907232899999 meters Centerline goodness : 0.805414 Centerline is valid? [False, False] Translation: X:-0.00, Y:-1.96, Z:-0.98 [[ 0.84478047 -0.53352026 -0.04125629 -0.0049587 ] [ 0.53383169 0.84558139 -0.00398044 -1.95926619] [ 0.0370092 -0.01866132 0.99914067 -0.97604961] [ 0. 0. 0. 1. ]] SLAMing on 77.47907232899999 meters Centerline goodness : 0.805616 Centerline is valid? [False, False] Translation: X:-0.08, Y:-1.99, Z:-0.98 [[ 0.84370474 -0.53539576 -0.03890621 -0.0825079 ] [ 0.53556764 0.84446543 -0.00674066 -1.9876549 ] [ 0.03646387 -0.01514978 0.99922013 -0.97962219] [ 0. 0. 0. 1. ]] SLAMing on 77.50907232899999 meters Centerline goodness : 0.804423 Centerline is valid? [False, False] Translation: X:-0.16, Y:-2.02, Z:-0.98 [[ 0.84337569 -0.5361138 -0.03604786 -0.16324596] [ 0.53615725 0.84406724 -0.00926836 -2.01747223] [ 0.03539571 -0.01151061 0.99930708 -0.98260139] [ 0. 0. 0. 1. ]] SLAMing on 77.53907232899999 meters Centerline goodness : 0.803931 Centerline is valid? [False, False] Translation: X:-0.24, Y:-2.04, Z:-0.98 [[ 0.84269814 -0.53726976 -0.03465621 -0.2381594 ] [ 0.53734594 0.84332521 -0.00786903 -2.04135117] [ 0.03345425 -0.01199116 0.99936831 -0.98478914] [ 0. 0. 0. 1. ]] SLAMing on 77.569072329 meters Centerline goodness : 0.804904 Centerline is valid? [False, False] Translation: X:-0.31, Y:-2.07, Z:-0.99 [[ 0.84255649 -0.53747372 -0.03493656 -0.31249564] [ 0.53760162 0.8431745 -0.00642296 -2.06701981] [ 0.03290979 -0.01337024 0.99936889 -0.98720103] [ 0. 0. 0. 1. ]] SLAMing on 77.599072329 meters Centerline goodness : 0.805166 Centerline is valid? [False, False] Translation: X:-0.39, Y:-2.09, Z:-0.99 [[ 0.84265709 -0.5373109 -0.03501451 -0.387728 ] [ 0.53748254 0.84325938 -0.00511165 -2.09322873] [ 0.03227286 -0.01451232 0.99937373 -0.98926739] [ 0. 0. 0. 1. ]] SLAMing on 77.629072329 meters Centerline goodness : 0.805306 Centerline is valid? [False, False] Translation: X:-0.47, Y:-2.12, Z:-0.99 [[ 0.84411068 -0.53517481 -0.03263561 -0.47032296] [ 0.53530263 0.84464294 -0.00542213 -2.12061736] [ 0.03046722 -0.01289304 0.99945261 -0.99171955] [ 0. 0. 0. 1. ]] SLAMing on 77.659072329 meters Centerline goodness : 0.806240 Centerline is valid? [False, False] Translation: X:-0.55, Y:-2.15, Z:-0.99 [[ 0.84454954 -0.5346039 -0.0305737 -0.54848912] [ 0.53468354 0.84502966 -0.00619553 -2.14948773] [ 0.02914784 -0.01111482 0.99951331 -0.99456205] [ 0. 0. 0. 1. ]] SLAMing on 77.689072329 meters Centerline goodness : 0.806362 Centerline is valid? [False, False] Translation: X:-0.62, Y:-2.18, Z:-1.00 [[ 0.84489239 -0.53414833 -0.02902433 -0.62485361] [ 0.53420769 0.84532965 -0.00631929 -2.17714063] [ 0.02791056 -0.0101659 0.99955873 -0.99664547] [ 0. 0. 0. 1. ]] SLAMing on 77.719072329 meters Centerline goodness : 0.805691 Centerline is valid? [False, False] Translation: X:-0.70, Y:-2.21, Z:-1.00 [[ 0.8458675 -0.53268755 -0.02742532 -0.70296794] [ 0.53274237 0.84625708 -0.00587611 -2.20512551] [ 0.026339 -0.00964021 0.99960658 -0.99861188] [ 0. 0. 0. 1. ]] SLAMing on 77.749072329 meters Centerline goodness : 0.805660 Centerline is valid? [False, False] Translation: X:-0.78, Y:-2.23, Z:-1.00 [[ 0.84828336 -0.52884307 -0.02720932 -0.78025209] [ 0.52895963 0.84864054 -0.00330826 -2.22852773] [ 0.02484048 -0.01158629 0.99962428 -1.00034513] [ 0. 0. 0. 1. ]] SLAMing on 77.77907232899999 meters Centerline goodness : 0.804451 Centerline is valid? [False, False] Translation: X:-0.84, Y:-2.25, Z:-1.00 [[ 0.85098455 -0.52458209 -0.02527692 -0.84153718] [ 0.5246318 0.85131363 -0.00515616 -2.24986248] [ 0.02422342 -0.00887326 0.99966719 -1.0024928 ] [ 0. 0. 0. 1. ]] SLAMing on 77.80907232899999 meters Centerline goodness : 0.805683 Centerline is valid? [False, False] Translation: X:-0.92, Y:-2.28, Z:-1.00 [[ 0.85202163 -0.52286694 -0.02587069 -0.91638203] [ 0.52294293 0.85235698 -0.0042751 -2.27641626] [ 0.02428637 -0.00988642 0.99965616 -1.00407432] [ 0. 0. 0. 1. ]] SLAMing on 77.83907232899999 meters Centerline goodness : 0.805931 Centerline is valid? [False, False] Translation: X:-0.98, Y:-2.30, Z:-1.01 [[ 0.85628065 -0.51599423 -0.02309568 -0.98133149] [ 0.51603609 0.85655465 -0.00456956 -2.29571111] [ 0.02214057 -0.00800538 0.99972282 -1.00560191] [ 0. 0. 0. 1. ]] SLAMing on 77.86907232899999 meters Centerline goodness : 0.804738 Centerline is valid? [False, False] Translation: X:-1.06, Y:-2.32, Z:-1.01 [[ 8.57518772e-01 -5.13939025e-01 -2.29833284e-02 -1.05540094e+00] [ 5.14027835e-01 8.57770386e-01 -2.31289375e-03 -2.32144147e+00] [ 2.09031049e-02 -9.83072074e-03 9.99733173e-01 -1.00673220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.89907232899999 meters Centerline goodness : 0.805536 Centerline is valid? [False, False] Translation: X:-1.12, Y:-2.34, Z:-1.01 [[ 8.62468457e-01 -5.05730066e-01 -1.96280880e-02 -1.12181524e+00] [ 5.05806450e-01 8.62646128e-01 -1.22145425e-03 -2.33970464e+00] [ 1.75498202e-02 -8.87454774e-03 9.99806604e-01 -1.00782924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.929072329 meters Centerline goodness : 0.806403 Centerline is valid? [False, False] Translation: X:-1.18, Y:-2.36, Z:-1.01 [[ 8.65556920e-01 -5.00567798e-01 -1.55915841e-02 -1.18453573e+00] [ 5.00619885e-01 8.65666979e-01 -6.41846125e-04 -2.36072860e+00] [ 1.38184070e-02 -7.24990268e-03 9.99878238e-01 -1.00962894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.959072329 meters Centerline goodness : 0.806315 Centerline is valid? [False, False] Translation: X:-1.25, Y:-2.38, Z:-1.01 [[ 8.68288456e-01 -4.95935105e-01 -1.11143717e-02 -1.24702576e+00] [ 4.95958516e-01 8.68345905e-01 -7.34582518e-04 -2.38155943e+00] [ 1.00154244e-02 -4.87443776e-03 9.99937964e-01 -1.01137477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.989072329 meters Centerline goodness : 0.804859 Centerline is valid? [False, False] Translation: X:-1.31, Y:-2.40, Z:-1.01 [[ 8.71693643e-01 -4.90008624e-01 -6.46071468e-03 -1.30979352e+00] [ 4.90005094e-01 8.71716725e-01 -2.22686315e-03 -2.40077518e+00] [ 6.72309519e-03 -1.22464065e-03 9.99976650e-01 -1.01449465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.019072329 meters Centerline goodness : 0.804667 Centerline is valid? [False, False] Translation: X:-1.36, Y:-2.42, Z:-1.02 [[ 8.72586570e-01 -4.88421228e-01 -6.11401820e-03 -1.36124761e+00] [ 4.88415300e-01 8.72607642e-01 -2.52941133e-03 -2.41845457e+00] [ 6.57055720e-03 -7.79049675e-04 9.99978110e-01 -1.01687037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.049072329 meters Centerline goodness : 0.804860 Centerline is valid? [False, False] Translation: X:-1.43, Y:-2.44, Z:-1.02 [[ 8.73678530e-01 -4.86503653e-01 -1.46700220e-04 -1.42561692e+00] [ 4.86503124e-01 8.73677048e-01 1.76827846e-03 -2.44225810e+00] [-7.32105314e-04 -1.61627704e-03 9.99998426e-01 -1.02336707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.079072329 meters Centerline goodness : 0.802465 Centerline is valid? [False, False] Translation: X:-1.48, Y:-2.46, Z:-1.02 [[ 8.74101091e-01 -4.85742625e-01 1.17645720e-03 -1.47807776e+00] [ 4.85737788e-01 8.74099557e-01 2.96065655e-03 -2.45958796e+00] [-2.46645780e-03 -2.01646341e-03 9.99994925e-01 -1.02400961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.109072329 meters Centerline goodness : 0.802125 Centerline is valid? [False, False] Translation: X:-1.53, Y:-2.48, Z:-1.02 [[ 8.73780515e-01 -4.86301771e-01 4.26606798e-03 -1.53366695e+00] [ 4.86297632e-01 8.73790877e-01 2.02893919e-03 -2.47567806e+00] [-4.71432801e-03 3.01731222e-04 9.99988842e-01 -1.02279331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.13907232899999 meters Centerline goodness : 0.804758 Centerline is valid? [False, False] Translation: X:-1.59, Y:-2.49, Z:-1.02 [[ 8.73521510e-01 -4.86737992e-01 6.80425107e-03 -1.58833779e+00] [ 4.86745120e-01 8.73543776e-01 6.77812028e-04 -2.49429656e+00] [-6.27372804e-03 2.71985261e-03 9.99976621e-01 -1.02143334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.16907232899999 meters Centerline goodness : 0.803277 Centerline is valid? [False, False] Translation: X:-1.64, Y:-2.51, Z:-1.02 [[ 8.72199912e-01 -4.89034170e-01 1.06251513e-02 -1.64347323e+00] [ 4.89076404e-01 8.72239387e-01 -1.65009940e-03 -2.51280122e+00] [-8.46072045e-03 6.63572733e-03 9.99942190e-01 -1.01879227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.19907232899999 meters Centerline goodness : 0.804682 Centerline is valid? [False, False] Translation: X:-1.70, Y:-2.53, Z:-1.02 [[ 0.87117524 -0.49078356 0.01360853 -1.69708369] [ 0.49087985 0.8712143 -0.00475534 -2.53324701] [-0.0095221 0.01082289 0.99989609 -1.01709375] [ 0. 0. 0. 1. ]] SLAMing on 78.22907232899999 meters Centerline goodness : 0.804318 Centerline is valid? [False, False] Translation: X:-1.76, Y:-2.56, Z:-1.02 [[ 0.86701475 -0.4978924 0.01971242 -1.757941 ] [ 0.49803885 0.86714938 -0.00304073 -2.55722475] [-0.01557966 0.01245391 0.99980107 -1.01871863] [ 0. 0. 0. 1. ]] SLAMing on 78.25907232899999 meters Centerline goodness : 0.804365 Centerline is valid? [False, False] Translation: X:-1.82, Y:-2.58, Z:-1.02 [[ 8.65134826e-01 -5.00975972e-01 2.37656862e-02 -1.81925720e+00] [ 5.01075051e-01 8.65401488e-01 2.01445762e-03 -2.58059313e+00] [-2.15760551e-02 1.01656150e-02 9.99715527e-01 -1.01995693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.28907232899999 meters Centerline goodness : 0.804824 Centerline is valid? [False, False] Translation: X:-1.89, Y:-2.61, Z:-1.02 [[ 0.8648067 -0.50118539 0.03037404 -1.8885354 ] [ 0.50122488 0.86528995 0.00684943 -2.60717941] [-0.02971519 0.00930079 0.99951513 -1.02277832] [ 0. 0. 0. 1. ]] SLAMing on 78.319072329 meters Centerline goodness : 0.805124 Centerline is valid? [False, False] Translation: X:-1.96, Y:-2.63, Z:-1.03 [[ 0.86483805 -0.50066742 0.03724626 -1.95775939] [ 0.5006361 0.86559003 0.01083516 -2.63348259] [-0.0376648 0.00927616 0.99924737 -1.025603 ] [ 0. 0. 0. 1. ]] SLAMing on 78.349072329 meters Centerline goodness : 0.805442 Centerline is valid? [False, False] Translation: X:-2.03, Y:-2.66, Z:-1.03 [[ 0.86501241 -0.4998647 0.04346041 -2.02802212] [ 0.49973052 0.86605653 0.01467983 -2.66072272] [-0.0449771 0.00902025 0.99894729 -1.02712667] [ 0. 0. 0. 1. ]] SLAMing on 78.379072329 meters Centerline goodness : 0.803870 Centerline is valid? [False, False] Translation: X:-2.09, Y:-2.68, Z:-1.03 [[ 0.86752371 -0.49509953 0.04773955 -2.09042934] [ 0.49517473 0.86872288 0.01106996 -2.68411054] [-0.04695317 0.01403597 0.99879847 -1.02594129] [ 0. 0. 0. 1. ]] SLAMing on 78.409072329 meters Centerline goodness : 0.803222 Centerline is valid? [False, False] Translation: X:-2.15, Y:-2.71, Z:-1.03 [[ 0.87001161 -0.49031218 0.05170845 -2.15124755] [ 0.49054924 0.87136827 0.0088757 -2.70815636] [-0.04940897 0.01764358 0.99862278 -1.0254228 ] [ 0. 0. 0. 1. ]] SLAMing on 78.439072329 meters Centerline goodness : 0.802853 Centerline is valid? [False, False] Translation: X:-2.21, Y:-2.73, Z:-1.03 [[ 0.87445196 -0.48206895 0.05425223 -2.21085527] [ 0.48225998 0.87596665 0.01037985 -2.72937288] [-0.05252695 0.017087 0.99847331 -1.02670716] [ 0. 0. 0. 1. ]] SLAMing on 78.469072329 meters Centerline goodness : 0.802247 Centerline is valid? [False, False] Translation: X:-2.24, Y:-2.74, Z:-1.03 [[ 0.87743744 -0.47655974 0.05472069 -2.24494657] [ 0.47679777 0.8789621 0.00946135 -2.73943552] [-0.05260631 0.01778896 0.99845687 -1.02512569] [ 0. 0. 0. 1. ]] SLAMing on 78.499072329 meters Centerline goodness : 0.803088 Centerline is valid? [False, False] Translation: X:-2.28, Y:-2.75, Z:-1.02 [[ 0.88098498 -0.46971659 0.05684891 -2.28370032] [ 0.47010384 0.88258181 0.00719257 -2.75121123] [-0.05355229 0.02038834 0.99835688 -1.02357791] [ 0. 0. 0. 1. ]] SLAMing on 78.52907232899999 meters Centerline goodness : 0.802583 Centerline is valid? [False, False] Translation: X:-2.33, Y:-2.77, Z:-1.02 [[ 0.88782549 -0.45619717 0.06041561 -2.33390143] [ 0.45678366 0.8895663 0.00452616 -2.76975323] [-0.05580852 0.02357842 0.99816305 -1.02092439] [ 0. 0. 0. 1. ]] SLAMing on 78.55907232899999 meters Centerline goodness : 0.802600 Centerline is valid? [False, False] Translation: X:-2.37, Y:-2.78, Z:-1.02 [[ 8.90911178e-01 -4.49673866e-01 6.38019361e-02 -2.37467952e+00] [ 4.50566038e-01 8.92742987e-01 4.52497043e-04 -2.78389242e+00] [-5.71622071e-02 2.83438509e-02 9.97962478e-01 -1.01875319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.58907232899999 meters Centerline goodness : 0.802166 Centerline is valid? [False, False] Translation: X:-2.41, Y:-2.80, Z:-1.02 [[ 8.94057057e-01 -4.42997846e-01 6.64446262e-02 -2.41349312e+00] [ 4.44078490e-01 8.95986316e-01 -1.67809394e-03 -2.79734932e+00] [-5.87900839e-02 3.10069410e-02 9.97788703e-01 -1.01686221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.61907232899999 meters Centerline goodness : 0.802399 Centerline is valid? [False, False] Translation: X:-2.46, Y:-2.81, Z:-1.01 [[ 8.99255926e-01 -4.32068836e-01 6.82297714e-02 -2.45563183e+00] [ 4.33143116e-01 9.01324536e-01 -1.05922804e-03 -2.80951349e+00] [-6.10395076e-02 3.05057729e-02 9.97669072e-01 -1.01410142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.64907232899999 meters Centerline goodness : 0.803155 Centerline is valid? [False, False] Translation: X:-2.49, Y:-2.82, Z:-1.01 [[ 9.01739595e-01 -4.26649191e-01 6.95425821e-02 -2.49093251e+00] [ 4.27723336e-01 9.03909492e-01 -6.15660350e-04 -2.82126716e+00] [-6.25975291e-02 3.03001505e-02 9.97578794e-01 -1.01025872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.679072329 meters Centerline goodness : 0.803256 Centerline is valid? [False, False] Translation: X:-2.53, Y:-2.83, Z:-1.01 [[ 9.04082069e-01 -4.21408997e-01 7.10638413e-02 -2.52675621e+00] [ 4.22466841e-01 9.06378366e-01 1.59053105e-04 -2.83392528e+00] [-6.44777548e-02 2.98783195e-02 9.97471757e-01 -1.00517270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.709072329 meters Centerline goodness : 0.803902 Centerline is valid? [False, False] Translation: X:-2.56, Y:-2.85, Z:-1.00 [[ 0.9073565 -0.41384693 0.07372177 -2.56493422] [ 0.41471419 0.90994358 0.00384888 -2.84713683] [-0.0686755 0.02708116 0.99727142 -0.99874304] [ 0. 0. 0. 1. ]] SLAMing on 78.739072329 meters Centerline goodness : 0.804281 Centerline is valid? [False, False] Translation: X:-2.60, Y:-2.86, Z:-1.00 [[ 9.09356478e-01 -4.09350926e-01 7.41796158e-02 -2.59810754e+00] [ 4.10286463e-01 9.11952226e-01 2.85570827e-03 -2.85817510e+00] [-6.88172526e-02 2.78380354e-02 9.97240808e-01 -9.96225893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.769072329 meters Centerline goodness : 0.803052 Centerline is valid? [False, False] Translation: X:-2.63, Y:-2.87, Z:-1.00 [[ 9.11342436e-01 -4.05012578e-01 7.36191281e-02 -2.62865272e+00] [ 4.05939543e-01 9.13896306e-01 2.57497130e-03 -2.86853873e+00] [-6.83231450e-02 2.75382346e-02 9.97283106e-01 -9.95684950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.799072329 meters Centerline goodness : 0.802032 Centerline is valid? [False, False] Translation: X:-2.66, Y:-2.88, Z:-1.00 [[ 9.13025997e-01 -4.01340895e-01 7.28629811e-02 -2.65740452e+00] [ 4.02225391e-01 9.15536563e-01 2.74521911e-03 -2.87834557e+00] [-6.78104920e-02 2.68008847e-02 9.97338182e-01 -9.96450756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.829072329 meters Centerline goodness : 0.801019 Centerline is valid? [False, False] Translation: X:-2.69, Y:-2.89, Z:-1.00 [[ 9.14726205e-01 -3.97286116e-01 7.37544093e-02 -2.69067807e+00] [ 3.98310602e-01 9.17250169e-01 8.89603773e-04 -2.88711806e+00] [-6.80046717e-02 2.85634193e-02 9.97276038e-01 -9.95029870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.859072329 meters Centerline goodness : 0.802326 Centerline is valid? [False, False] Translation: X:-2.73, Y:-2.90, Z:-0.99 [[ 9.15879603e-01 -3.94136409e-01 7.62957605e-02 -2.72531049e+00] [ 3.95263611e-01 9.18567663e-01 3.54944976e-04 -2.89863193e+00] [-7.02227152e-02 2.98318510e-02 9.97085167e-01 -9.91572681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.88907232899999 meters Centerline goodness : 0.802429 Centerline is valid? [False, False] Translation: X:-2.76, Y:-2.91, Z:-0.99 [[ 9.16817697e-01 -3.91360015e-01 7.92631670e-02 -2.75965229e+00] [ 3.92573815e-01 9.19720454e-01 2.92569268e-04 -2.90971624e+00] [-7.30144559e-02 3.08484112e-02 9.96853683e-01 -9.88015023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.91907232899999 meters Centerline goodness : 0.802009 Centerline is valid? [False, False] Translation: X:-2.79, Y:-2.92, Z:-0.98 [[ 0.91709073 -0.3907591 0.07906905 -2.78717703] [ 0.39176634 0.92005988 0.00299096 -2.91612625] [-0.073917 0.02823361 0.99686465 -0.98141664] [ 0. 0. 0. 1. ]] SLAMing on 78.94907232899999 meters Centerline goodness : 0.802543 Centerline is valid? [False, False] Translation: X:-2.81, Y:-2.92, Z:-0.98 [[ 0.91754704 -0.39037218 0.07561074 -2.81018212] [ 0.39107428 0.9203402 0.00590076 -2.92452911] [-0.0718911 0.02415519 0.99711995 -0.9762035 ] [ 0. 0. 0. 1. ]] SLAMing on 78.97907232899999 meters Centerline goodness : 0.802024 Centerline is valid? [False, False] Translation: X:-2.84, Y:-2.94, Z:-0.97 [[ 0.91855792 -0.38775468 0.07679624 -2.84314636] [ 0.3886447 0.92138064 0.00360685 -2.93522785] [-0.07215714 0.02653335 0.99704028 -0.97355955] [ 0. 0. 0. 1. ]] SLAMing on 79.00907232899999 meters Centerline goodness : 0.802812 Centerline is valid? [False, False] Translation: X:-2.87, Y:-2.94, Z:-0.97 [[ 9.19276084e-01 -3.85767461e-01 7.81981270e-02 -2.87469246e+00] [ 3.86781606e-01 9.22168360e-01 2.34617312e-03 -2.94474914e+00] [-7.30169158e-02 2.80888163e-02 9.96935077e-01 -9.71391390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.03907232899999 meters Centerline goodness : 0.804119 Centerline is valid? [False, False] Translation: X:-2.91, Y:-2.96, Z:-0.97 [[ 9.20026353e-01 -3.83627452e-01 7.98842214e-02 -2.90687884e+00] [ 3.84770910e-01 9.23011369e-01 1.16572194e-03 -2.95585808e+00] [-7.41812476e-02 2.96646297e-02 9.96803467e-01 -9.69034821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.069072329 meters Centerline goodness : 0.804085 Centerline is valid? [False, False] Translation: X:-2.93, Y:-2.96, Z:-0.96 [[ 0.92038319 -0.38304276 0.07856857 -2.93281366] [ 0.38392919 0.92335345 0.0040968 -2.96327038] [-0.07411581 0.02639414 0.99690029 -0.96342308] [ 0. 0. 0. 1. ]] SLAMing on 79.099072329 meters Centerline goodness : 0.803785 Centerline is valid? [False, False] Translation: X:-2.96, Y:-2.97, Z:-0.96 [[ 0.92040833 -0.38359796 0.07550574 -2.95560266] [ 0.38437317 0.92316653 0.00456297 -2.96920221] [-0.07145472 0.02482258 0.99713493 -0.95956654] [ 0. 0. 0. 1. ]] SLAMing on 79.129072329 meters Centerline goodness : 0.803091 Centerline is valid? [False, False] Translation: X:-2.98, Y:-2.98, Z:-0.96 [[ 0.92106113 -0.38286893 0.07111803 -2.97711977] [ 0.38332111 0.92358288 0.00771973 -2.97719726] [-0.06863904 0.0201507 0.99743803 -0.95584205] [ 0. 0. 0. 1. ]] SLAMing on 79.159072329 meters Centerline goodness : 0.801465 Centerline is valid? [False, False] Translation: X:-3.01, Y:-2.98, Z:-0.96 [[ 0.92215647 -0.3802239 0.07111418 -3.00621622] [ 0.38075915 0.92465209 0.00640247 -2.98438542] [-0.06819025 0.02117329 0.99744763 -0.95610899] [ 0. 0. 0. 1. ]] SLAMing on 79.189072329 meters Centerline goodness : 0.801176 Centerline is valid? [False, False] Translation: X:-3.04, Y:-2.99, Z:-0.95 [[ 0.92334356 -0.37702239 0.07273776 -3.03968679] [ 0.37771902 0.92590954 0.00445714 -2.99455502] [-0.06902903 0.02335896 0.99734114 -0.95391627] [ 0. 0. 0. 1. ]] SLAMing on 79.219072329 meters Centerline goodness : 0.801077 Centerline is valid? [False, False] Translation: X:-3.07, Y:-3.00, Z:-0.95 [[ 0.92426661 -0.37433385 0.07486924 -3.07279903] [ 0.37513345 0.92696377 0.00361412 -3.00384287] [-0.07075396 0.02474555 0.99718681 -0.95144144] [ 0. 0. 0. 1. ]] SLAMing on 79.249072329 meters Centerline goodness : 0.801077 Centerline is valid? [False, False] Translation: X:-3.09, Y:-3.01, Z:-0.95 [[ 0.92467305 -0.37416493 0.07057164 -3.09376573] [ 0.37467069 0.92713566 0.00642976 -3.01324655] [-0.06783527 0.0204957 0.99748599 -0.94729359] [ 0. 0. 0. 1. ]] SLAMing on 79.27907232899999 meters Centerline goodness : 0.802495 Centerline is valid? [False, False] Translation: X:-3.12, Y:-3.02, Z:-0.94 [[ 0.92524585 -0.37330315 0.0675638 -3.11761503] [ 0.37359076 0.92755186 0.00880249 -3.01978745] [-0.06595492 0.01709674 0.99767612 -0.94237443] [ 0. 0. 0. 1. ]] SLAMing on 79.30907232899999 meters Centerline goodness : 0.801666 Centerline is valid? [False, False] Translation: X:-3.15, Y:-3.03, Z:-0.94 [[ 0.92658429 -0.36934329 0.070902 -3.15338068] [ 0.36975107 0.92909839 0.00776738 -3.0256073 ] [-0.06874376 0.01901896 0.99745304 -0.93888731] [ 0. 0. 0. 1. ]] SLAMing on 79.33907232899999 meters Centerline goodness : 0.803277 Centerline is valid? [False, False] Translation: X:-3.19, Y:-3.03, Z:-0.94 [[ 0.92759704 -0.36638439 0.07298089 -3.18625135] [ 0.36690921 0.93023359 0.00656567 -3.03386574] [-0.07029484 0.02068706 0.99731173 -0.9368403 ] [ 0. 0. 0. 1. ]] SLAMing on 79.36907232899999 meters Centerline goodness : 0.803460 Centerline is valid? [False, False] Translation: X:-3.22, Y:-3.04, Z:-0.94 [[ 0.92851274 -0.36356782 0.07538252 -3.219203 ] [ 0.36426861 0.93128195 0.0047239 -3.04175464] [-0.07191984 0.02307328 0.9971435 -0.93516942] [ 0. 0. 0. 1. ]] SLAMing on 79.39907232899999 meters Centerline goodness : 0.803751 Centerline is valid? [False, False] Translation: X:-3.24, Y:-3.04, Z:-0.93 [[ 9.30646765e-01 -3.58793248e-01 7.18609992e-02 -3.23534327e+00] [ 3.59829051e-01 9.33016911e-01 -1.58048260e-03 -3.04079604e+00] [-6.64804610e-02 2.73285462e-02 9.97413404e-01 -9.27546179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.429072329 meters Centerline goodness : 0.802866 Centerline is valid? [False, False] Translation: X:-3.25, Y:-3.04, Z:-0.92 [[ 0.93241511 -0.35463422 0.06954591 -3.24899052] [ 0.35605371 0.93442418 -0.00878655 -3.0409244 ] [-0.06186937 0.03295479 0.99754006 -0.92226268] [ 0. 0. 0. 1. ]] SLAMing on 79.459072329 meters Centerline goodness : 0.802100 Centerline is valid? [False, False] Translation: X:-3.27, Y:-3.05, Z:-0.92 [[ 9.33940602e-01 -3.51458066e-01 6.50552079e-02 -3.27145562e+00] [ 3.52358914e-01 9.35861457e-01 -2.55535050e-03 -3.04898720e+00] [-5.99845631e-02 2.53093280e-02 9.97878394e-01 -9.18191598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.489072329 meters Centerline goodness : 0.802841 Centerline is valid? [False, False] Translation: X:-3.29, Y:-3.05, Z:-0.92 [[ 9.35899988e-01 -3.47381722e-01 5.84564143e-02 -3.29180868e+00] [ 3.47849365e-01 9.37547605e-01 2.30402404e-03 -3.05193180e+00] [-5.56060471e-02 1.81776905e-02 9.98287303e-01 -9.16061867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.519072329 meters Centerline goodness : 0.802951 Centerline is valid? [False, False] Translation: X:-3.31, Y:-3.06, Z:-0.91 [[ 0.93687397 -0.34565803 0.05279867 -3.3116349 ] [ 0.34588843 0.93826232 0.0050009 -3.05832379] [-0.05126761 0.01357724 0.99859266 -0.91351554] [ 0. 0. 0. 1. ]] SLAMing on 79.549072329 meters Centerline goodness : 0.804020 Centerline is valid? [False, False] Translation: X:-3.33, Y:-3.06, Z:-0.91 [[ 0.9368948 -0.34618611 0.0488192 -3.33241861] [ 0.34643211 0.93806814 0.00359934 -3.06271517] [-0.04704178 0.01354033 0.99880115 -0.91122396] [ 0. 0. 0. 1. ]] SLAMing on 79.579072329 meters Centerline goodness : 0.803254 Centerline is valid? [False, False] Translation: X:-3.33, Y:-3.06, Z:-0.91 [[ 9.36863720e-01 -3.46244842e-01 4.89987660e-02 -3.33332899e+00] [ 3.46520991e-01 9.38037377e-01 3.01352833e-03 -3.06108255e+00] [-4.70060926e-02 1.41558356e-02 9.98794293e-01 -9.10555119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.609072329 meters Centerline goodness : 0.803649 Centerline is valid? [False, False] Translation: X:-3.36, Y:-3.07, Z:-0.91 [[ 0.93677076 -0.34682118 0.04664348 -3.35692754] [ 0.34703416 0.93784515 0.00371131 -3.06886325] [-0.04503152 0.01271023 0.99890471 -0.90614322] [ 0. 0. 0. 1. ]] SLAMing on 79.63907232899999 meters Centerline goodness : 0.804158 Centerline is valid? [False, False] Translation: X:-3.36, Y:-3.07, Z:-0.91 [[ 0.9367382 -0.34689301 0.04676314 -3.35754372] [ 0.34712005 0.93781441 0.00343532 -3.06788587] [-0.04504683 0.01301442 0.9989001 -0.90579942] [ 0. 0. 0. 1. ]] SLAMing on 79.66907232899999 meters Centerline goodness : 0.804777 Centerline is valid? [False, False] Translation: X:-3.38, Y:-3.07, Z:-0.90 [[ 0.93767662 -0.34481742 0.04316833 -3.38114355] [ 0.34489484 0.93862293 0.005877 -3.07184722] [-0.04254528 0.00937781 0.99905053 -0.90228563] [ 0. 0. 0. 1. ]] SLAMing on 79.69907232899999 meters Centerline goodness : 0.805069 Centerline is valid? [False, False] Translation: X:-3.40, Y:-3.08, Z:-0.90 [[ 0.93831924 -0.34358761 0.03878871 -3.40287586] [ 0.34360163 0.93909291 0.00651398 -3.07648505] [-0.03866432 0.00721567 0.9992262 -0.89930183] [ 0. 0. 0. 1. ]] SLAMing on 79.72907232899999 meters Centerline goodness : 0.804071 Centerline is valid? [False, False] Translation: X:-3.41, Y:-3.08, Z:-0.90 [[ 9.40153449e-01 -3.38864949e-01 3.58055643e-02 -3.41433871e+00] [ 3.39088248e-01 9.40754554e-01 -1.74326802e-04 -3.07790529e+00] [-3.36251744e-02 1.23051400e-02 9.99358760e-01 -8.95495583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.75907232899999 meters Centerline goodness : 0.804643 Centerline is valid? [False, False] Translation: X:-3.43, Y:-3.08, Z:-0.89 [[ 0.94159424 -0.33543281 0.02975091 -3.42617001] [ 0.33577207 0.94191648 -0.00710393 -3.08002791] [-0.02563998 0.01667854 0.9995321 -0.88949775] [ 0. 0. 0. 1. ]] SLAMing on 79.78907232899999 meters Centerline goodness : 0.805763 Centerline is valid? [False, False] Translation: X:-3.43, Y:-3.08, Z:-0.89 [[ 9.43142837e-01 -3.31196660e-01 2.81133630e-02 -3.42540538e+00] [ 3.31408544e-01 9.43482223e-01 -3.11005700e-03 -3.08099070e+00] [-2.54944177e-02 1.22502367e-02 9.99599903e-01 -8.89364489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.819072329 meters Centerline goodness : 0.804380 Centerline is valid? [False, False] Translation: X:-3.43, Y:-3.08, Z:-0.89 [[ 9.44561275e-01 -3.27254734e-01 2.66146198e-02 -3.42522844e+00] [ 3.27345758e-01 9.44904114e-01 9.85068404e-04 -3.08139100e+00] [-2.54706321e-02 7.78172544e-03 9.99645283e-01 -8.89195293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.849072329 meters Centerline goodness : 0.804212 Centerline is valid? [False, False] Translation: X:-3.43, Y:-3.08, Z:-0.89 [[ 0.94591693 -0.32341668 0.02535365 -3.42540548] [ 0.3234034 0.94624934 0.00473553 -3.08069131] [-0.02552242 0.00372004 0.99966733 -0.88908325] [ 0. 0. 0. 1. ]] SLAMing on 79.879072329 meters Centerline goodness : 0.804659 Centerline is valid? [False, False] Translation: X:-3.43, Y:-3.08, Z:-0.89 [[ 0.94857918 -0.31571982 0.02277123 -3.42544056] [ 0.31551705 0.94884274 0.01210134 -3.07895925] [-0.02542695 -0.00429436 0.99966746 -0.88892251] [ 0. 0. 0. 1. ]] SLAMing on 79.909072329 meters Centerline goodness : 0.804745 Centerline is valid? [False, False] Translation: X:-3.42, Y:-3.07, Z:-0.89 [[ 9.50267236e-01 -3.10326675e-01 2.62589932e-02 -3.41743001e+00] [ 3.10287361e-01 9.50625950e-01 5.66194179e-03 -3.07337638e+00] [-2.67195319e-02 2.76747592e-03 9.99639139e-01 -8.87139531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.939072329 meters Centerline goodness : 0.803734 Centerline is valid? [False, False] Translation: X:-3.41, Y:-3.07, Z:-0.88 [[ 9.52134418e-01 -3.04844270e-01 2.25836645e-02 -3.40767821e+00] [ 3.04862374e-01 9.52392529e-01 2.72080300e-03 -3.06983911e+00] [-2.23379346e-02 4.29433941e-03 9.99741254e-01 -8.83991118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.969072329 meters Centerline goodness : 0.803116 Centerline is valid? [False, False] Translation: X:-3.41, Y:-3.06, Z:-0.88 [[ 0.95525517 -0.29386295 0.03364699 -3.40944848] [ 0.29470492 0.95529872 -0.0235238 -3.05771595] [-0.02523015 0.03238716 0.9991569 -0.88197042] [ 0. 0. 0. 1. ]] SLAMing on 79.999072329 meters Centerline goodness : 0.803167 Centerline is valid? [False, False] Translation: X:-3.42, Y:-3.06, Z:-0.88 [[ 0.95698318 -0.28845109 0.0312916 -3.42085315] [ 0.28935836 0.95675542 -0.02984625 -3.05877169] [-0.02132923 0.03761685 0.99906458 -0.87895995] [ 0. 0. 0. 1. ]] SLAMing on 80.02907232899999 meters Centerline goodness : 0.804024 Centerline is valid? [False, False] Translation: X:-3.43, Y:-3.06, Z:-0.87 [[ 0.95854212 -0.28360488 0.02766355 -3.43317124] [ 0.2844921 0.95798511 -0.03645229 -3.06049004] [-0.01616322 0.04281112 0.99895243 -0.87374146] [ 0. 0. 0. 1. ]] SLAMing on 80.05907232899999 meters Centerline goodness : 0.803146 Centerline is valid? [False, False] Translation: X:-3.44, Y:-3.07, Z:-0.86 [[ 0.96059824 -0.27756393 0.01446712 -3.43841992] [ 0.27789573 0.96007711 -0.03202973 -3.06647031] [-0.00499925 0.03478806 0.99938221 -0.86316791] [ 0. 0. 0. 1. ]] SLAMing on 80.08907232899999 meters Centerline goodness : 0.803958 Centerline is valid? [False, False] Translation: X:-3.46, Y:-3.08, Z:-0.86 [[ 9.61223659e-01 -2.75551204e-01 1.09822929e-02 -3.46118111e+00] [ 2.75754642e-01 9.60827627e-01 -2.77425383e-02 -3.07735137e+00] [-2.90760058e-03 2.96952024e-02 9.99554771e-01 -8.59520468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.11907232899999 meters Centerline goodness : 0.804320 Centerline is valid? [False, False] Translation: X:-3.47, Y:-3.09, Z:-0.85 [[ 9.61903609e-01 -2.73384363e-01 1.56136623e-03 -3.47288308e+00] [ 2.73367613e-01 9.61742162e-01 -1.79488556e-02 -3.08635054e+00] [ 3.40530472e-03 1.76918959e-02 9.99837687e-01 -8.53436862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.14907232899999 meters Centerline goodness : 0.805156 Centerline is valid? [False, False] Translation: X:-3.49, Y:-3.09, Z:-0.85 [[ 0.9619603 -0.27308794 -0.00744007 -3.48560637] [ 0.27300095 0.96195167 -0.01093003 -3.09400065] [ 0.01014185 0.0084831 0.99991259 -0.84754406] [ 0. 0. 0. 1. ]] SLAMing on 80.179072329 meters Centerline goodness : 0.804390 Centerline is valid? [False, False] Translation: X:-3.50, Y:-3.10, Z:-0.85 [[ 9.62336598e-01 -2.71539846e-01 -1.32054180e-02 -3.50472223e+00] [ 2.71464869e-01 9.62421365e-01 -7.20699003e-03 -3.10340629e+00] [ 1.46661614e-02 3.35074321e-03 9.99886832e-01 -8.45398312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.209072329 meters Centerline goodness : 0.803451 Centerline is valid? [False, False] Translation: X:-3.52, Y:-3.11, Z:-0.84 [[ 0.96236049 -0.27123509 -0.01714093 -3.51708913] [ 0.27095155 0.96243978 -0.01717374 -3.10632581] [ 0.02115523 0.01188297 0.99970558 -0.83994734] [ 0. 0. 0. 1. ]] SLAMing on 80.239072329 meters Centerline goodness : 0.803133 Centerline is valid? [False, False] Translation: X:-3.53, Y:-3.12, Z:-0.84 [[ 0.96142774 -0.27416626 -0.02212596 -3.53468403] [ 0.27386143 0.96163844 -0.01585639 -3.12124825] [ 0.02562446 0.00918533 0.99962944 -0.83562512] [ 0. 0. 0. 1. ]] SLAMing on 80.269072329 meters Centerline goodness : 0.804022 Centerline is valid? [False, False] Translation: X:-3.55, Y:-3.13, Z:-0.83 [[ 0.9613722 -0.2743158 -0.02267883 -3.54729043] [ 0.27373059 0.96145882 -0.02585548 -3.12631193] [ 0.02889732 0.01864885 0.99940841 -0.83169067] [ 0. 0. 0. 1. ]] SLAMing on 80.299072329 meters Centerline goodness : 0.805623 Centerline is valid? [False, False] Translation: X:-3.55, Y:-3.13, Z:-0.83 [[ 0.96137968 -0.27426338 -0.02299352 -3.54657569] [ 0.27369451 0.9614893 -0.02509253 -3.12909452] [ 0.02898999 0.01783025 0.99942066 -0.83122749] [ 0. 0. 0. 1. ]] SLAMing on 80.329072329 meters Centerline goodness : 0.805326 Centerline is valid? [False, False] Translation: X:-3.56, Y:-3.14, Z:-0.83 [[ 0.96044179 -0.27666796 -0.03172386 -3.55724909] [ 0.27618475 0.96092058 -0.01880476 -3.13913934] [ 0.03568678 0.00929923 0.99931976 -0.82564792] [ 0. 0. 0. 1. ]] SLAMing on 80.359072329 meters Centerline goodness : 0.804433 Centerline is valid? [False, False] Translation: X:-3.57, Y:-3.14, Z:-0.82 [[ 0.96035372 -0.27608844 -0.03867692 -3.56878325] [ 0.27525343 0.96103154 -0.02557202 -3.14435167] [ 0.04422987 0.01391223 0.99892451 -0.82029636] [ 0. 0. 0. 1. ]] SLAMing on 80.38907232899999 meters Centerline goodness : 0.805062 Centerline is valid? [False, False] Translation: X:-3.57, Y:-3.15, Z:-0.82 [[ 0.95946891 -0.2791792 -0.03844974 -3.56574297] [ 0.27824192 0.96010303 -0.02799293 -3.14852545] [ 0.04473076 0.01616001 0.99886837 -0.82125845] [ 0. 0. 0. 1. ]] SLAMing on 80.41907232899999 meters Centerline goodness : 0.803602 Centerline is valid? [False, False] Translation: X:-3.56, Y:-3.15, Z:-0.82 [[ 0.95951018 -0.27898317 -0.03884082 -3.56446652] [ 0.2780839 0.96017709 -0.02700544 -3.15209472] [ 0.04482813 0.01511098 0.99888042 -0.82124618] [ 0. 0. 0. 1. ]] SLAMing on 80.44907232899999 meters Centerline goodness : 0.804934 Centerline is valid? [False, False] Translation: X:-3.56, Y:-3.16, Z:-0.82 [[ 0.9595094 -0.27894428 -0.03913834 -3.5637377 ] [ 0.27808494 0.96020405 -0.02601817 -3.15563875] [ 0.04483841 0.01408089 0.99889501 -0.82070834] [ 0. 0. 0. 1. ]] SLAMing on 80.47907232899999 meters Centerline goodness : 0.804203 Centerline is valid? [False, False] Translation: X:-3.56, Y:-3.16, Z:-0.82 [[ 0.95857115 -0.28225789 -0.03836458 -3.56437912] [ 0.28130473 0.95919746 -0.02842325 -3.15927282] [ 0.0448219 0.01645357 0.99885949 -0.81880487] [ 0. 0. 0. 1. ]] SLAMing on 80.50907232899999 meters Centerline goodness : 0.806044 Centerline is valid? [False, False] Translation: X:-3.56, Y:-3.16, Z:-0.82 [[ 0.95859117 -0.2821592 -0.03858956 -3.56368018] [ 0.2812499 0.95924435 -0.02736362 -3.16286643] [ 0.04473771 0.01537721 0.99888041 -0.81827045] [ 0. 0. 0. 1. ]] SLAMing on 80.53907232899999 meters Centerline goodness : 0.805907 Centerline is valid? [False, False] Translation: X:-3.56, Y:-3.17, Z:-0.82 [[ 0.95864484 -0.28191781 -0.03901825 -3.56251674] [ 0.28104445 0.95933112 -0.02641623 -3.16600992] [ 0.04487862 0.01435792 0.99888926 -0.81816886] [ 0. 0. 0. 1. ]] SLAMing on 80.569072329 meters Centerline goodness : 0.803993 Centerline is valid? [False, False] Translation: X:-3.56, Y:-3.17, Z:-0.82 [[ 0.95869764 -0.28168508 -0.03939985 -3.56137183] [ 0.28084379 0.9594125 -0.02558162 -3.1686677 ] [ 0.04500667 0.01345983 0.99889601 -0.81835729] [ 0. 0. 0. 1. ]] SLAMing on 80.599072329 meters Centerline goodness : 0.805424 Centerline is valid? [False, False] Translation: X:-3.56, Y:-3.17, Z:-0.82 [[ 0.95872361 -0.28148948 -0.04015869 -3.55911448] [ 0.28069686 0.95948911 -0.02428828 -3.17307942] [ 0.04536872 0.01201333 0.99889807 -0.8186078 ] [ 0. 0. 0. 1. ]] SLAMing on 80.629072329 meters Centerline goodness : 0.804573 Centerline is valid? [False, False] Translation: X:-3.56, Y:-3.17, Z:-0.82 [[ 0.95876472 -0.28129784 -0.04051829 -3.5579738 ] [ 0.28052819 0.95955345 -0.02368765 -3.17491219] [ 0.04554275 0.01134436 0.99889797 -0.81890848] [ 0. 0. 0. 1. ]] SLAMing on 80.659072329 meters Centerline goodness : 0.805845 Centerline is valid? [False, False] Translation: X:-3.56, Y:-3.18, Z:-0.82 [[ 0.95876705 -0.28122399 -0.04097326 -3.55647067] [ 0.28046917 0.95958137 -0.02325168 -3.17628983] [ 0.04585611 0.01080121 0.99888966 -0.81947996] [ 0. 0. 0. 1. ]] SLAMing on 80.689072329 meters Centerline goodness : 0.804692 Centerline is valid? [False, False] Translation: X:-3.55, Y:-3.18, Z:-0.82 [[ 0.95879103 -0.28104588 -0.04162891 -3.55435998] [ 0.28031121 0.9596416 -0.02266323 -3.17824062] [ 0.04631824 0.01006025 0.99887607 -0.82012868] [ 0. 0. 0. 1. ]] SLAMing on 80.719072329 meters Centerline goodness : 0.804635 Centerline is valid? [False, False] Translation: X:-3.55, Y:-3.18, Z:-0.82 [[ 0.95886184 -0.28076631 -0.04188369 -3.55410957] [ 0.28005273 0.95972906 -0.02214968 -3.18007841] [ 0.04641588 0.00950884 0.99887694 -0.81943354] [ 0. 0. 0. 1. ]] SLAMing on 80.749072329 meters Centerline goodness : 0.805668 Centerline is valid? [False, False] Translation: X:-3.54, Y:-3.18, Z:-0.82 [[ 0.9592838 -0.2801749 -0.03572967 -3.5382602 ] [ 0.27954103 0.95988734 -0.02175098 -3.17695967] [ 0.04039054 0.01087745 0.99912476 -0.8168657 ] [ 0. 0. 0. 1. ]] SLAMing on 80.77907232899999 meters Centerline goodness : 0.805970 Centerline is valid? [False, False] Translation: X:-3.54, Y:-3.18, Z:-0.82 [[ 0.96030972 -0.27645344 -0.03713135 -3.53761157] [ 0.27598371 0.96100602 -0.01733259 -3.17947315] [ 0.04047511 0.00639701 0.99916007 -0.81628951] [ 0. 0. 0. 1. ]] SLAMing on 80.80907232899999 meters Centerline goodness : 0.805031 Centerline is valid? [False, False] Translation: X:-3.53, Y:-3.18, Z:-0.82 [[ 0.96077388 -0.27468867 -0.03820585 -3.53470268] [ 0.27427834 0.9615222 -0.01569873 -3.1785767 ] [ 0.04104804 0.0046039 0.99914657 -0.818182 ] [ 0. 0. 0. 1. ]] SLAMing on 80.83907232899999 meters Centerline goodness : 0.803573 Centerline is valid? [False, False] Translation: X:-3.53, Y:-3.17, Z:-0.82 [[ 0.96240671 -0.26947146 -0.03403598 -3.52635628] [ 0.26885262 0.96293694 -0.02169625 -3.17272547] [ 0.03862102 0.01172996 0.99918508 -0.81783613] [ 0. 0. 0. 1. ]] SLAMing on 80.86907232899999 meters Centerline goodness : 0.804300 Centerline is valid? [False, False] Translation: X:-3.52, Y:-3.17, Z:-0.82 [[ 0.96298437 -0.26725087 -0.03518625 -3.523407 ] [ 0.26669164 0.96357819 -0.01981519 -3.17199266] [ 0.03920033 0.00969784 0.99918431 -0.81964556] [ 0. 0. 0. 1. ]] SLAMing on 80.89907232899999 meters Centerline goodness : 0.804275 Centerline is valid? [False, False] Translation: X:-3.51, Y:-3.17, Z:-0.82 [[ 0.96430115 -0.26297913 -0.03106896 -3.51362667] [ 0.26221841 0.96464422 -0.02651459 -3.16666201] [ 0.03694328 0.0174212 0.9991655 -0.82005209] [ 0. 0. 0. 1. ]] SLAMing on 80.929072329 meters Centerline goodness : 0.804720 Centerline is valid? [False, False] Translation: X:-3.51, Y:-3.17, Z:-0.82 [[ 0.96538977 -0.25879502 -0.03236854 -3.51303098] [ 0.2581708 0.96584321 -0.02224265 -3.16785482] [ 0.03701922 0.01311621 0.99922847 -0.81994249] [ 0. 0. 0. 1. ]] SLAMing on 80.959072329 meters Centerline goodness : 0.803358 Centerline is valid? [False, False] Translation: X:-3.51, Y:-3.17, Z:-0.82 [[ 0.96645203 -0.25464956 -0.03352727 -3.51285951] [ 0.25414877 0.96698805 -0.01850692 -3.16725951] [ 0.03713325 0.00936514 0.99926644 -0.81985292] [ 0. 0. 0. 1. ]] SLAMing on 80.989072329 meters Centerline goodness : 0.804045 Centerline is valid? [False, False] Translation: X:-3.51, Y:-3.17, Z:-0.82 [[ 0.96743356 -0.25072742 -0.03475737 -3.51238944] [ 0.25037266 0.96804423 -0.01427953 -3.1687538 ] [ 0.03722694 0.0051122 0.99929376 -0.81944815] [ 0. 0. 0. 1. ]] SLAMing on 81.019072329 meters Centerline goodness : 0.803476 Centerline is valid? [False, False] Translation: X:-3.51, Y:-3.17, Z:-0.82 [[ 0.96747777 -0.25057681 -0.03461247 -3.51312676] [ 0.25021181 0.96808145 -0.01457254 -3.16715334] [ 0.03715923 0.00543816 0.99929456 -0.81931401] [ 0. 0. 0. 1. ]] SLAMing on 81.049072329 meters Centerline goodness : 0.801679 Centerline is valid? [False, False] Translation: X:-3.52, Y:-3.17, Z:-0.82 [[ 9.68101922e-01 -2.48121127e-01 -3.48507557e-02 -3.51639387e+00] [ 2.47839305e-01 9.68723642e-01 -1.22549418e-02 -3.16683842e+00] [ 3.68014610e-02 3.22664567e-03 9.99317388e-01 -8.16492193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.079072329 meters Centerline goodness : 0.802085 Centerline is valid? [False, False] Translation: X:-3.52, Y:-3.17, Z:-0.82 [[ 9.68133292e-01 -2.47989340e-01 -3.49172722e-02 -3.51657417e+00] [ 2.47703957e-01 9.68757138e-01 -1.23433513e-02 -3.16641074e+00] [ 3.68873763e-02 3.30086287e-03 9.99313978e-01 -8.16171261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.109072329 meters Centerline goodness : 0.801581 Centerline is valid? [False, False] Translation: X:-3.52, Y:-3.17, Z:-0.82 [[ 9.68176874e-01 -2.47812040e-01 -3.49676065e-02 -3.51675114e+00] [ 2.47529297e-01 9.68802784e-01 -1.22643003e-02 -3.16644167e+00] [ 3.69159558e-02 3.21850481e-03 9.99313191e-01 -8.15840160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.13907232899999 meters Centerline goodness : 0.799831 Centerline is valid? [False, False] Translation: X:-3.52, Y:-3.17, Z:-0.82 [[ 9.68301837e-01 -2.47294976e-01 -3.51674109e-02 -3.51656543e+00] [ 2.47026730e-01 9.68936243e-01 -1.18469948e-02 -3.16733768e+00] [ 3.70046813e-02 2.78417627e-03 9.99311214e-01 -8.15520888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.16907232899999 meters Centerline goodness : 0.799831 Centerline is valid? [False, False] Translation: X:-3.52, Y:-3.17, Z:-0.82 [[ 9.68301837e-01 -2.47294976e-01 -3.51674109e-02 -3.51656543e+00] [ 2.47026730e-01 9.68936243e-01 -1.18469948e-02 -3.16733768e+00] [ 3.70046813e-02 2.78417627e-03 9.99311214e-01 -8.15520888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.19907232899999 meters Centerline goodness : 0.800348 Centerline is valid? [False, False] Translation: X:-3.52, Y:-3.17, Z:-0.82 [[ 9.68361834e-01 -2.47045278e-01 -3.52702257e-02 -3.51625575e+00] [ 2.46790654e-01 9.69000965e-01 -1.14675056e-02 -3.16847455e+00] [ 3.70098758e-02 2.40033265e-03 9.99312017e-01 -8.15519556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.22907232899999 meters Centerline goodness : 0.799428 Centerline is valid? [False, False] Translation: X:-3.52, Y:-3.17, Z:-0.82 [[ 9.69177063e-01 -2.43686242e-01 -3.62330776e-02 -3.51534111e+00] [ 2.43585249e-01 9.69852440e-01 -7.24365482e-03 -3.17261548e+00] [ 3.69059178e-02 -1.80545913e-03 9.99317114e-01 -8.15408783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.25907232899999 meters Centerline goodness : 0.799593 Centerline is valid? [False, False] Translation: X:-3.52, Y:-3.17, Z:-0.82 [[ 9.69240491e-01 -2.43423431e-01 -3.63029399e-02 -3.51548238e+00] [ 2.43334238e-01 9.69917792e-01 -6.92286047e-03 -3.17322106e+00] [ 3.68960538e-02 -2.12383153e-03 9.99316852e-01 -8.15059032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.28907232899999 meters Centerline goodness : 0.799792 Centerline is valid? [False, False] Translation: X:-3.52, Y:-3.17, Z:-0.81 [[ 9.69342637e-01 -2.42990279e-01 -3.64770715e-02 -3.51542778e+00] [ 2.42924206e-01 9.70024813e-01 -6.30011226e-03 -3.17474980e+00] [ 3.69145305e-02 -2.75419621e-03 9.99314631e-01 -8.14534106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.319072329 meters Centerline goodness : 0.798712 Centerline is valid? [False, False] Translation: X:-3.51, Y:-3.18, Z:-0.81 [[ 0.96954751 -0.24209723 -0.0369669 -3.51426202] [ 0.24209593 0.97024151 -0.00457908 -3.18017826] [ 0.03697541 -0.0045099 0.999306 -0.81395592] [ 0. 0. 0. 1. ]] SLAMing on 81.349072329 meters Centerline goodness : 0.798178 Centerline is valid? [False, False] Translation: X:-3.52, Y:-3.18, Z:-0.81 [[ 9.69216926e-01 -2.43521897e-01 -3.62716936e-02 -3.51609073e+00] [ 2.43470580e-01 9.69890382e-01 -5.89270828e-03 -3.18289105e+00] [ 3.66145703e-02 -3.11977766e-03 9.99324592e-01 -8.12154947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.379072329 meters Centerline goodness : 0.799127 Centerline is valid? [False, False] Translation: X:-3.52, Y:-3.19, Z:-0.81 [[ 0.96934371 -0.24298052 -0.03651364 -3.51522914] [ 0.2429671 0.9700223 -0.00487199 -3.18651876] [ 0.03660284 -0.00414898 0.99932128 -0.81205445] [ 0. 0. 0. 1. ]] SLAMing on 81.409072329 meters Centerline goodness : 0.798147 Centerline is valid? [False, False] Translation: X:-3.51, Y:-3.19, Z:-0.81 [[ 0.96952578 -0.24220675 -0.03681931 -3.51431269] [ 0.24223863 0.9702098 -0.00366011 -3.1900978 ] [ 0.03660896 -0.00537049 0.99931524 -0.81200673] [ 0. 0. 0. 1. ]] SLAMing on 81.439072329 meters Centerline goodness : 0.799654 Centerline is valid? [False, False] Translation: X:-3.51, Y:-3.19, Z:-0.81 [[ 9.69687484e-01 -2.41518818e-01 -3.70788822e-02 -3.51373797e+00] [ 2.41588265e-01 9.70375194e-01 -2.66333500e-03 -3.19279346e+00] [ 3.66236730e-02 -6.37522021e-03 9.99308793e-01 -8.11812270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.469072329 meters Centerline goodness : 0.799054 Centerline is valid? [False, False] Translation: X:-3.51, Y:-3.20, Z:-0.81 [[ 9.70202744e-01 -2.39411435e-01 -3.72666232e-02 -3.51473487e+00] [ 2.39579650e-01 9.70876711e-01 4.95661229e-05 -3.19829822e+00] [ 3.61694299e-02 -8.97641374e-03 9.99305357e-01 -8.10269938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.499072329 meters Centerline goodness : 0.799466 Centerline is valid? [False, False] Translation: X:-3.51, Y:-3.20, Z:-0.81 [[ 9.70367433e-01 -2.38703627e-01 -3.75183136e-02 -3.51435205e+00] [ 2.38912594e-01 9.71040427e-01 1.12285868e-03 -3.20118273e+00] [ 3.61637689e-02 -1.00531831e-02 9.99295309e-01 -8.09823033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.52907232899999 meters Centerline goodness : 0.799144 Centerline is valid? [False, False] Translation: X:-3.51, Y:-3.21, Z:-0.81 [[ 0.9707632 -0.23698978 -0.03813996 -3.51255382] [ 0.2373095 0.97142577 0.00402085 -3.21062155] [ 0.03609724 -0.01295427 0.99926432 -0.80909713] [ 0. 0. 0. 1. ]] SLAMing on 81.55907232899999 meters Centerline goodness : 0.799453 Centerline is valid? [False, False] Translation: X:-3.51, Y:-3.21, Z:-0.81 [[ 9.70350588e-01 -2.38814386e-01 -3.72481731e-02 -3.51394543e+00] [ 2.39068760e-01 9.70999509e-01 2.46617478e-03 -3.21487173e+00] [ 3.55789997e-02 -1.12979287e-02 9.99303003e-01 -8.07648044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.58907232899999 meters Centerline goodness : 0.798782 Centerline is valid? [False, False] Translation: X:-3.52, Y:-3.22, Z:-0.81 [[ 9.70020798e-01 -2.40253090e-01 -3.65801123e-02 -3.51541250e+00] [ 2.40461710e-01 9.70657687e-01 1.34911365e-03 -3.21916089e+00] [ 3.51826385e-02 -1.01047846e-02 9.99329813e-01 -8.05786140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.61907232899999 meters Centerline goodness : 0.799499 Centerline is valid? [False, False] Translation: X:-3.51, Y:-3.23, Z:-0.81 [[ 0.97036259 -0.23874569 -0.03737558 -3.5132138 ] [ 0.23906628 0.97099377 0.00429156 -3.2280762 ] [ 0.03526687 -0.01309961 0.99929207 -0.8052006 ] [ 0. 0. 0. 1. ]] SLAMing on 81.64907232899999 meters Centerline goodness : 0.798923 Centerline is valid? [False, False] Translation: X:-3.52, Y:-3.23, Z:-0.80 [[ 9.69996994e-01 -2.40332160e-01 -3.66917424e-02 -3.51508509e+00] [ 2.40599086e-01 9.70620021e-01 2.97570734e-03 -3.23118449e+00] [ 3.48985816e-02 -1.17144268e-02 9.99322201e-01 -8.03203643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.679072329 meters Centerline goodness : 0.798501 Centerline is valid? [False, False] Translation: X:-3.51, Y:-3.24, Z:-0.80 [[ 0.97015158 -0.23963337 -0.03717206 -3.51365487] [ 0.23995479 0.97077421 0.00437505 -3.23550452] [ 0.03503727 -0.01316407 0.9992993 -0.80312557] [ 0. 0. 0. 1. ]] SLAMing on 81.709072329 meters Centerline goodness : 0.798430 Centerline is valid? [False, False] Translation: X:-3.51, Y:-3.24, Z:-0.80 [[ 9.69437386e-01 -2.42620848e-01 -3.64181120e-02 -3.51297486e+00] [ 2.42838099e-01 9.70065515e-01 1.59848235e-03 -3.23811234e+00] [ 3.49401294e-02 -1.03933336e-02 9.99335362e-01 -8.03491758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.739072329 meters Centerline goodness : 0.796540 Centerline is valid? [False, False] Translation: X:-3.51, Y:-3.25, Z:-0.80 [[ 9.68942066e-01 -2.44619406e-01 -3.62300668e-02 -3.50931816e+00] [ 2.44817064e-01 9.69568714e-01 1.05515984e-03 -3.24841431e+00] [ 3.48694267e-02 -9.89212734e-03 9.99342919e-01 -8.04618325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.769072329 meters Centerline goodness : 0.798061 Centerline is valid? [False, False] Translation: X:-3.51, Y:-3.25, Z:-0.80 [[ 9.68185894e-01 -2.47688819e-01 -3.55854421e-02 -3.50845518e+00] [ 2.47792116e-01 9.68811990e-01 -1.54746106e-03 -3.25221070e+00] [ 3.48588918e-02 -7.31956201e-03 9.99365440e-01 -8.04447776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.799072329 meters Centerline goodness : 0.798876 Centerline is valid? [False, False] Translation: X:-3.51, Y:-3.26, Z:-0.80 [[ 9.67578121e-01 -2.50105660e-01 -3.52099273e-02 -3.50751199e+00] [ 2.50182699e-01 9.68195980e-01 -2.27176284e-03 -3.26114572e+00] [ 3.46582908e-02 -6.61080664e-03 9.99377356e-01 -8.02987082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.829072329 meters Centerline goodness : 0.798274 Centerline is valid? [False, False] Translation: X:-3.51, Y:-3.26, Z:-0.80 [[ 0.96675729 -0.25337128 -0.03439963 -3.50734701] [ 0.25334256 0.96736231 -0.00526338 -3.26292812] [ 0.03461049 -0.00362647 0.9993943 -0.80280236] [ 0. 0. 0. 1. ]] SLAMing on 81.859072329 meters Centerline goodness : 0.797248 Centerline is valid? [False, False] Translation: X:-3.52, Y:-3.27, Z:-0.80 [[ 0.96733433 -0.25139379 -0.0326414 -3.52352922] [ 0.25100848 0.96786116 -0.01547626 -3.27115689] [ 0.03548298 0.00677745 0.9993473 -0.80397294] [ 0. 0. 0. 1. ]] SLAMing on 81.88907232899999 meters Centerline goodness : 0.798461 Centerline is valid? [False, False] Translation: X:-3.52, Y:-3.28, Z:-0.80 [[ 0.96743983 -0.25088365 -0.03343016 -3.52105477] [ 0.25054953 0.96800395 -0.01390261 -3.27687785] [ 0.03584847 0.00507403 0.99934436 -0.80394214] [ 0. 0. 0. 1. ]] SLAMing on 81.91907232899999 meters Centerline goodness : 0.797543 Centerline is valid? [False, False] Translation: X:-3.52, Y:-3.29, Z:-0.80 [[ 0.9667326 -0.25361557 -0.03327481 -3.51773332] [ 0.25323946 0.96728517 -0.01513858 -3.28672741] [ 0.03602561 0.00620847 0.99933158 -0.80416853] [ 0. 0. 0. 1. ]] SLAMing on 81.94907232899999 meters Centerline goodness : 0.799191 Centerline is valid? [False, False] Translation: X:-3.52, Y:-3.29, Z:-0.80 [[ 0.96588711 -0.25691042 -0.03254423 -3.51710339] [ 0.25644041 0.96639342 -0.01794644 -3.28955089] [ 0.03606116 0.00898858 0.99930916 -0.80416521] [ 0. 0. 0. 1. ]] SLAMing on 81.97907232899999 meters Centerline goodness : 0.800059 Centerline is valid? [False, False] Translation: X:-3.51, Y:-3.30, Z:-0.80 [[ 0.96592897 -0.25667934 -0.0331202 -3.51483137] [ 0.25626849 0.96647026 -0.0161772 -3.29548775] [ 0.03616204 0.00713836 0.99932044 -0.80444254] [ 0. 0. 0. 1. ]] SLAMing on 82.00907232899999 meters Centerline goodness : 0.801308 Centerline is valid? [False, False] Translation: X:-3.51, Y:-3.30, Z:-0.80 [[ 0.96592972 -0.25660872 -0.03364131 -3.51334835] [ 0.25622932 0.96649627 -0.01521493 -3.29821471] [ 0.03641848 0.00607666 0.99931815 -0.80475716] [ 0. 0. 0. 1. ]] SLAMing on 82.03907232899999 meters Centerline goodness : 0.798331 Centerline is valid? [False, False] Translation: X:-3.51, Y:-3.30, Z:-0.80 [[ 0.96594621 -0.25645581 -0.03432699 -3.51143898] [ 0.25611167 0.96654367 -0.01414761 -3.30157715] [ 0.03680677 0.00487428 0.99931051 -0.8049506 ] [ 0. 0. 0. 1. ]] SLAMing on 82.069072329 meters Centerline goodness : 0.800961 Centerline is valid? [False, False] Translation: X:-3.51, Y:-3.31, Z:-0.80 [[ 0.96508387 -0.25975036 -0.03380636 -3.50999245] [ 0.25934017 0.96565222 -0.01607677 -3.30883605] [ 0.03682113 0.00674809 0.99929909 -0.80406148] [ 0. 0. 0. 1. ]] SLAMing on 82.099072329 meters Centerline goodness : 0.800463 Centerline is valid? [False, False] Translation: X:-3.51, Y:-3.31, Z:-0.80 [[ 0.96507235 -0.2597215 -0.03435248 -3.50844824] [ 0.25935221 0.96566818 -0.01487945 -3.31416591] [ 0.03703761 0.00545035 0.99929901 -0.80320882] [ 0. 0. 0. 1. ]] SLAMing on 82.129072329 meters Centerline goodness : 0.802858 Centerline is valid? [False, False] Translation: X:-3.51, Y:-3.32, Z:-0.80 [[ 0.96410299 -0.26338468 -0.0336739 -3.5072499 ] [ 0.26291391 0.96465514 -0.01779723 -3.31750974] [ 0.03717122 0.00830503 0.9992744 -0.80324838] [ 0. 0. 0. 1. ]] SLAMing on 82.159072329 meters Centerline goodness : 0.803035 Centerline is valid? [False, False] Translation: X:-3.51, Y:-3.32, Z:-0.80 [[ 0.9640685 -0.26344764 -0.03416536 -3.50568739] [ 0.26298463 0.96464159 -0.01748405 -3.31834233] [ 0.03756346 0.00787086 0.99926325 -0.80397766] [ 0. 0. 0. 1. ]] SLAMing on 82.189072329 meters Centerline goodness : 0.802581 Centerline is valid? [False, False] Translation: X:-3.50, Y:-3.32, Z:-0.80 [[ 0.96406331 -0.263415 -0.0345613 -3.50432559] [ 0.26295718 0.96465301 -0.01726513 -3.31896094] [ 0.03788756 0.00755654 0.99925344 -0.80452696] [ 0. 0. 0. 1. ]] SLAMing on 82.219072329 meters Centerline goodness : 0.801119 Centerline is valid? [False, False] Translation: X:-3.50, Y:-3.32, Z:-0.80 [[ 0.96408882 -0.26325207 -0.03508704 -3.50288429] [ 0.26280905 0.96470205 -0.01677374 -3.32061498] [ 0.03826426 0.00695019 0.99924348 -0.80478802] [ 0. 0. 0. 1. ]] SLAMing on 82.249072329 meters Centerline goodness : 0.802514 Centerline is valid? [False, False] Translation: X:-3.50, Y:-3.32, Z:-0.80 [[ 0.96419778 -0.26279569 -0.03551152 -3.50200799] [ 0.26238177 0.96483255 -0.01593618 -3.32348793] [ 0.03845063 0.00604805 0.9992422 -0.80428806] [ 0. 0. 0. 1. ]] SLAMing on 82.27907232899999 meters Centerline goodness : 0.803190 Centerline is valid? [False, False] Translation: X:-3.50, Y:-3.33, Z:-0.80 [[ 0.96445096 -0.26180414 -0.03595749 -3.50184067] [ 0.26145685 0.96511179 -0.01412637 -3.32896148] [ 0.03840134 0.00422286 0.99925347 -0.80248022] [ 0. 0. 0. 1. ]] SLAMing on 82.30907232899999 meters Centerline goodness : 0.804012 Centerline is valid? [False, False] Translation: X:-3.50, Y:-3.33, Z:-0.80 [[ 0.96451273 -0.26154256 -0.03620344 -3.50163005] [ 0.26121316 0.96518489 -0.01363138 -3.33009927] [ 0.0385082 0.00369083 0.99925147 -0.80208649] [ 0. 0. 0. 1. ]] SLAMing on 82.33907232899999 meters Centerline goodness : 0.804213 Centerline is valid? [False, False] Translation: X:-3.50, Y:-3.33, Z:-0.80 [[ 9.65474371e-01 -2.57743217e-01 -3.77845619e-02 -3.50018815e+00] [ 2.57591899e-01 9.66212783e-01 -8.90346596e-03 -3.33317189e+00] [ 3.88027347e-02 -1.13692886e-03 9.99246244e-01 -8.01597066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.36907232899999 meters Centerline goodness : 0.802905 Centerline is valid? [False, False] Translation: X:-3.50, Y:-3.33, Z:-0.80 [[ 0.96620421 -0.25473028 -0.03952103 -3.49602635] [ 0.25471309 0.96700072 -0.00555434 -3.334521 ] [ 0.03963172 -0.0046999 0.9992033 -0.80363557] [ 0. 0. 0. 1. ]] SLAMing on 82.39907232899999 meters Centerline goodness : 0.803474 Centerline is valid? [False, False] Translation: X:-3.50, Y:-3.34, Z:-0.80 [[ 0.9662995 -0.25432912 -0.03977417 -3.4954527 ] [ 0.25432652 0.96710438 -0.00520994 -3.33518079] [ 0.03979081 -0.00508127 0.99919511 -0.80378416] [ 0. 0. 0. 1. ]] SLAMing on 82.429072329 meters Centerline goodness : 0.804422 Centerline is valid? [False, False] Translation: X:-3.49, Y:-3.34, Z:-0.80 [[ 0.96628613 -0.25432743 -0.04010826 -3.49414316] [ 0.25433478 0.96710329 -0.00500454 -3.33614677] [ 0.04006163 -0.00536511 0.99918281 -0.80405011] [ 0. 0. 0. 1. ]] SLAMing on 82.459072329 meters Centerline goodness : 0.804311 Centerline is valid? [False, False] Translation: X:-3.49, Y:-3.34, Z:-0.80 [[ 0.96637634 -0.25390144 -0.04063035 -3.49287038] [ 0.25394193 0.96721014 -0.00424734 -3.33864508] [ 0.0403765 -0.00621322 0.99916522 -0.80384886] [ 0. 0. 0. 1. ]] SLAMing on 82.489072329 meters Centerline goodness : 0.804431 Centerline is valid? [False, False] Translation: X:-3.49, Y:-3.34, Z:-0.80 [[ 0.96642235 -0.25365023 -0.0411024 -3.4919454 ] [ 0.25371139 0.96727247 -0.00380822 -3.33992347] [ 0.04072318 -0.0067478 0.99914768 -0.80361926] [ 0. 0. 0. 1. ]] SLAMing on 82.519072329 meters Centerline goodness : 0.804805 Centerline is valid? [False, False] Translation: X:-3.49, Y:-3.34, Z:-0.80 [[ 9.66427999e-01 -2.53555648e-01 -4.15506443e-02 -3.49085124e+00] [ 2.53633219e-01 9.67294200e-01 -3.48160480e-03 -3.34109221e+00] [ 4.10744778e-02 -7.17390332e-03 9.99130333e-01 -8.03598600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.549072329 meters Centerline goodness : 0.804603 Centerline is valid? [False, False] Translation: X:-3.49, Y:-3.34, Z:-0.80 [[ 9.66451056e-01 -2.53394301e-01 -4.19962472e-02 -3.48990541e+00] [ 2.53491771e-01 9.67332651e-01 -3.07624854e-03 -3.34226318e+00] [ 4.14038450e-02 -7.67265945e-03 9.99113033e-01 -8.03545550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.579072329 meters Centerline goodness : 0.806774 Centerline is valid? [False, False] Translation: X:-3.49, Y:-3.35, Z:-0.80 [[ 9.66604075e-01 -2.52741009e-01 -4.24092490e-02 -3.48961392e+00] [ 2.52886163e-01 9.67493984e-01 -1.99507826e-03 -3.34501157e+00] [ 4.15349313e-02 -8.79626146e-03 9.99098331e-01 -8.02557021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.609072329 meters Centerline goodness : 0.806116 Centerline is valid? [False, False] Translation: X:-3.49, Y:-3.35, Z:-0.80 [[ 9.66653939e-01 -2.52484516e-01 -4.27987200e-02 -3.48870973e+00] [ 2.52660038e-01 9.67554180e-01 -1.34649667e-03 -3.34710773e+00] [ 4.17500500e-02 -9.51192991e-03 9.99082808e-01 -8.02279540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.63907232899999 meters Centerline goodness : 0.806539 Centerline is valid? [False, False] Translation: X:-3.49, Y:-3.35, Z:-0.80 [[ 9.66808311e-01 -2.51835464e-01 -4.31345462e-02 -3.48840729e+00] [ 2.52059974e-01 9.67711585e-01 -2.41524744e-04 -3.35034437e+00] [ 4.18026245e-02 -1.06389844e-02 9.99069243e-01 -8.01306457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.66907232899999 meters Centerline goodness : 0.808819 Centerline is valid? [False, False] Translation: X:-3.49, Y:-3.36, Z:-0.80 [[ 9.67014050e-01 -2.50970431e-01 -4.35622588e-02 -3.48742210e+00] [ 2.51275367e-01 9.67914349e-01 1.58230635e-03 -3.35640437e+00] [ 4.17674232e-02 -1.24762350e-02 9.99049461e-01 -8.00402704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.69907232899999 meters Centerline goodness : 0.808054 Centerline is valid? [False, False] Translation: X:-3.49, Y:-3.36, Z:-0.80 [[ 9.67140854e-01 -2.50426863e-01 -4.38743060e-02 -3.48705335e+00] [ 2.50770990e-01 9.68043380e-01 2.43428932e-03 -3.35854478e+00] [ 4.18626200e-02 -1.33567038e-02 9.99034093e-01 -7.99936256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.72907232899999 meters Centerline goodness : 0.807104 Centerline is valid? [False, False] Translation: X:-3.49, Y:-3.36, Z:-0.80 [[ 9.67221070e-01 -2.50045191e-01 -4.42809631e-02 -3.48626663e+00] [ 2.50417511e-01 9.68133350e-01 2.98106326e-03 -3.35987951e+00] [ 4.21244766e-02 -1.39720758e-02 9.99014669e-01 -7.99785336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.75907232899999 meters Centerline goodness : 0.807215 Centerline is valid? [False, False] Translation: X:-3.48, Y:-3.36, Z:-0.80 [[ 0.96747431 -0.24891768 -0.04509382 -3.48438874] [ 0.24937029 0.9683972 0.00461643 -3.36444208] [ 0.04251962 -0.01571134 0.99897209 -0.79957385] [ 0. 0. 0. 1. ]] SLAMing on 82.78907232899999 meters Centerline goodness : 0.806413 Centerline is valid? [False, False] Translation: X:-3.48, Y:-3.37, Z:-0.80 [[ 0.96757066 -0.24847883 -0.04544544 -3.4829561 ] [ 0.24897222 0.9684953 0.00544916 -3.36739423] [ 0.04265969 -0.0165871 0.99895196 -0.79990846] [ 0. 0. 0. 1. ]] SLAMing on 82.819072329 meters Centerline goodness : 0.805231 Centerline is valid? [False, False] Translation: X:-3.48, Y:-3.37, Z:-0.80 [[ 9.66987459e-01 -2.50930774e-01 -4.43734155e-02 -3.48416008e+00] [ 2.51299990e-01 9.67905033e-01 2.85710222e-03 -3.36880503e+00] [ 4.22323173e-02 -1.39138209e-02 9.99010929e-01 -7.99526798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.849072329 meters Centerline goodness : 0.806652 Centerline is valid? [False, False] Translation: X:-3.48, Y:-3.38, Z:-0.80 [[ 0.96724847 -0.24982164 -0.04493934 -3.48215601] [ 0.25028331 0.96816041 0.00486728 -3.37512912] [ 0.04229254 -0.01595544 0.99897786 -0.79961929] [ 0. 0. 0. 1. ]] SLAMing on 82.879072329 meters Centerline goodness : 0.805414 Centerline is valid? [False, False] Translation: X:-3.48, Y:-3.38, Z:-0.80 [[ 0.96738358 -0.24922959 -0.0453168 -3.48135167] [ 0.24974332 0.96829372 0.00596125 -3.37857118] [ 0.04239426 -0.01708439 0.99895488 -0.79908171] [ 0. 0. 0. 1. ]] SLAMing on 82.909072329 meters Centerline goodness : 0.806428 Centerline is valid? [False, False] Translation: X:-3.48, Y:-3.38, Z:-0.80 [[ 0.96691552 -0.25121241 -0.04434751 -3.4835757 ] [ 0.25163709 0.96781265 0.00417739 -3.38151066] [ 0.04187067 -0.01519866 0.99900743 -0.7971459 ] [ 0. 0. 0. 1. ]] SLAMing on 82.939072329 meters Centerline goodness : 0.808497 Centerline is valid? [False, False] Translation: X:-3.49, Y:-3.39, Z:-0.79 [[ 0.96659798 -0.25258571 -0.04346042 -3.48579981] [ 0.25298328 0.96746313 0.00381412 -3.38987446] [ 0.04108296 -0.01468148 0.99904787 -0.79384247] [ 0. 0. 0. 1. ]] SLAMing on 82.969072329 meters Centerline goodness : 0.808418 Centerline is valid? [False, False] Translation: X:-3.48, Y:-3.39, Z:-0.79 [[ 0.96679683 -0.25173365 -0.04397796 -3.48495206] [ 0.25220675 0.9676579 0.00547176 -3.3948588 ] [ 0.0411782 -0.01638162 0.99901752 -0.79275127] [ 0. 0. 0. 1. ]] SLAMing on 82.999072329 meters Centerline goodness : 0.809177 Centerline is valid? [False, False] Translation: X:-3.48, Y:-3.40, Z:-0.79 [[ 9.66077726e-01 -2.54613543e-01 -4.31945801e-02 -3.48477381e+00] [ 2.54962360e-01 9.66947276e-01 2.67590360e-03 -3.39695292e+00] [ 4.10855602e-02 -1.35981229e-02 9.99063095e-01 -7.92785204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.02907232899999 meters Centerline goodness : 0.807161 Centerline is valid? [False, False] Translation: X:-3.48, Y:-3.40, Z:-0.79 [[ 0.9663292 -0.25353379 -0.04391467 -3.48186069] [ 0.2539793 0.9671978 0.0047885 -3.40373788] [ 0.04126013 -0.01578068 0.99902381 -0.79345555] [ 0. 0. 0. 1. ]] SLAMing on 83.05907232899999 meters Centerline goodness : 0.807161 Centerline is valid? [False, False] Translation: X:-3.48, Y:-3.40, Z:-0.79 [[ 0.96631567 -0.2535857 -0.04391274 -3.48182708] [ 0.25403503 0.9671827 0.00488079 -3.40405725] [ 0.04123394 -0.01587176 0.99902345 -0.79345191] [ 0. 0. 0. 1. ]] SLAMing on 83.08907232899999 meters Centerline goodness : 0.806927 Centerline is valid? [False, False] Translation: X:-3.48, Y:-3.41, Z:-0.79 [[ 9.65718278e-01 -2.55996746e-01 -4.30566370e-02 -3.48265183e+00] [ 2.56333004e-01 9.66585589e-01 2.38525109e-03 -3.40577802e+00] [ 4.10073084e-02 -1.33403177e-02 9.99069786e-01 -7.92954690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.11907232899999 meters Centerline goodness : 0.805652 Centerline is valid? [False, False] Translation: X:-3.48, Y:-3.41, Z:-0.79 [[ 0.9658762 -0.25533659 -0.04343262 -3.48165154] [ 0.25572607 0.9667427 0.00356738 -3.40933864] [ 0.04107728 -0.0145525 0.99904999 -0.79269313] [ 0. 0. 0. 1. ]] SLAMing on 83.14907232899999 meters Centerline goodness : 0.807209 Centerline is valid? [False, False] Translation: X:-3.48, Y:-3.41, Z:-0.79 [[ 9.65207267e-01 -2.58021125e-01 -4.24267693e-02 -3.48246617e+00] [ 2.58294227e-01 9.66065789e-01 9.91915209e-04 -3.41152390e+00] [ 4.07311152e-02 -1.19159934e-02 9.99099087e-01 -7.92166964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.179072329 meters Centerline goodness : 0.805958 Centerline is valid? [False, False] Translation: X:-3.48, Y:-3.42, Z:-0.79 [[ 9.64455644e-01 -2.60930798e-01 -4.17184663e-02 -3.48174425e+00] [ 2.61115349e-01 9.65307026e-01 -1.05852668e-03 -3.41685992e+00] [ 4.05473309e-02 -9.87242987e-03 9.99128845e-01 -7.91643965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.209072329 meters Centerline goodness : 0.805001 Centerline is valid? [False, False] Translation: X:-3.48, Y:-3.42, Z:-0.79 [[ 9.64554832e-01 -2.60473745e-01 -4.22777067e-02 -3.48029499e+00] [ 2.60711937e-01 9.65416630e-01 1.24743511e-04 -3.42099567e+00] [ 4.07831087e-02 -1.11426248e-02 9.99105890e-01 -7.91125998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.239072329 meters Centerline goodness : 0.805980 Centerline is valid? [False, False] Translation: X:-3.48, Y:-3.42, Z:-0.79 [[ 9.63660950e-01 -2.63905489e-01 -4.13698777e-02 -3.47990989e+00] [ 2.64006321e-01 9.64515950e-01 -3.10544594e-03 -3.42259295e+00] [ 4.07214511e-02 -7.92931223e-03 9.99139074e-01 -7.91405689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.269072329 meters Centerline goodness : 0.804498 Centerline is valid? [False, False] Translation: X:-3.48, Y:-3.43, Z:-0.79 [[ 0.96279527 -0.2671353 -0.0407921 -3.47812951] [ 0.26714146 0.96364219 -0.00540069 -3.42799307] [ 0.0407517 -0.0056975 0.99915306 -0.79148752] [ 0. 0. 0. 1. ]] SLAMing on 83.299072329 meters Centerline goodness : 0.805526 Centerline is valid? [False, False] Translation: X:-3.48, Y:-3.43, Z:-0.79 [[ 0.9628654 -0.26681001 -0.04126313 -3.4769492 ] [ 0.26685994 0.9637253 -0.00439503 -3.43153013] [ 0.04093896 -0.00677965 0.99913865 -0.79106475] [ 0. 0. 0. 1. ]] SLAMing on 83.329072329 meters Centerline goodness : 0.805924 Centerline is valid? [False, False] Translation: X:-3.48, Y:-3.44, Z:-0.79 [[ 9.63001030e-01 -2.66262511e-01 -4.16328180e-02 -3.47643124e+00] [ 2.66363372e-01 9.63867349e-01 -3.20754159e-03 -3.43517834e+00] [ 4.09825620e-02 -8.00059193e-03 9.99127830e-01 -7.90097189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.359072329 meters Centerline goodness : 0.806621 Centerline is valid? [False, False] Translation: X:-3.48, Y:-3.44, Z:-0.79 [[ 9.63252464e-01 -2.65263862e-01 -4.21873638e-02 -3.47602395e+00] [ 2.65467875e-01 9.64119380e-01 -7.92788426e-04 -3.44268842e+00] [ 4.08839532e-02 -1.04357344e-02 9.99109402e-01 -7.87660692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.38907232899999 meters Centerline goodness : 0.807396 Centerline is valid? [False, False] Translation: X:-3.48, Y:-3.45, Z:-0.79 [[ 9.63379168e-01 -2.64741885e-01 -4.25712677e-02 -3.47532452e+00] [ 2.64996246e-01 9.64249382e-01 3.44443760e-04 -3.44638199e+00] [ 4.09581299e-02 -1.16130561e-02 9.99093373e-01 -7.86876100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.41907232899999 meters Centerline goodness : 0.806897 Centerline is valid? [False, False] Translation: X:-3.47, Y:-3.45, Z:-0.79 [[ 9.63454328e-01 -2.64383722e-01 -4.30929774e-02 -3.47387681e+00] [ 2.64677053e-01 9.64336427e-01 1.14631687e-03 -3.44938261e+00] [ 4.12530603e-02 -1.25101462e-02 9.99070409e-01 -7.86675352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.44907232899999 meters Centerline goodness : 0.805841 Centerline is valid? [False, False] Translation: X:-3.47, Y:-3.45, Z:-0.79 [[ 9.63625888e-01 -2.63654256e-01 -4.37216315e-02 -3.47124346e+00] [ 2.64017033e-01 9.64514411e-01 2.63755695e-03 -3.45466891e+00] [ 4.14747406e-02 -1.40848736e-02 9.99040271e-01 -7.87272468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.47907232899999 meters Centerline goodness : 0.806519 Centerline is valid? [False, False] Translation: X:-3.47, Y:-3.46, Z:-0.79 [[ 9.63653052e-01 -2.63468122e-01 -4.42418899e-02 -3.46940153e+00] [ 2.63865062e-01 9.64554025e-01 3.28049408e-03 -3.45734436e+00] [ 4.18093873e-02 -1.48351472e-02 9.99015462e-01 -7.87650469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.50907232899999 meters Centerline goodness : 0.805893 Centerline is valid? [False, False] Translation: X:-3.47, Y:-3.46, Z:-0.79 [[ 0.96371214 -0.26315971 -0.044787 -3.467592 ] [ 0.26359432 0.96462539 0.00398577 -3.46050248] [ 0.04215378 -0.01564673 0.99898861 -0.78770474] [ 0. 0. 0. 1. ]] SLAMing on 83.53907232899999 meters Centerline goodness : 0.806352 Centerline is valid? [False, False] Translation: X:-3.47, Y:-3.47, Z:-0.79 [[ 0.96393941 -0.26220103 -0.04551291 -3.46529732] [ 0.2627335 0.96484957 0.00603387 -3.46790182] [ 0.04233103 -0.01777405 0.99894553 -0.78706998] [ 0. 0. 0. 1. ]] SLAMing on 83.569072329 meters Centerline goodness : 0.807109 Centerline is valid? [False, False] Translation: X:-3.46, Y:-3.47, Z:-0.79 [[ 0.96398647 -0.26195592 -0.04592589 -3.46402407] [ 0.26252566 0.96490147 0.00673975 -3.47052472] [ 0.04254845 -0.01855375 0.99892211 -0.78700292] [ 0. 0. 0. 1. ]] SLAMing on 83.599072329 meters Centerline goodness : 0.807082 Centerline is valid? [False, False] Translation: X:-3.46, Y:-3.47, Z:-0.79 [[ 0.96404611 -0.26167522 -0.04627288 -3.46316101] [ 0.26228033 0.96496319 0.00742069 -3.47281734] [ 0.04270982 -0.01929036 0.99890127 -0.78668951] [ 0. 0. 0. 1. ]] SLAMing on 83.629072329 meters Centerline goodness : 0.808028 Centerline is valid? [False, False] Translation: X:-3.46, Y:-3.48, Z:-0.79 [[ 0.96414131 -0.26126279 -0.04661846 -3.46253031] [ 0.26191069 0.96505668 0.00826957 -3.47548482] [ 0.04282893 -0.0201829 0.99887854 -0.78607149] [ 0. 0. 0. 1. ]] SLAMing on 83.659072329 meters Centerline goodness : 0.807479 Centerline is valid? [False, False] Translation: X:-3.46, Y:-3.48, Z:-0.79 [[ 0.96335689 -0.26428512 -0.04579161 -3.46198756] [ 0.26482262 0.96427855 0.00598847 -3.48034666] [ 0.0425732 -0.01789569 0.99893306 -0.78559547] [ 0. 0. 0. 1. ]] SLAMing on 83.689072329 meters Centerline goodness : 0.807811 Centerline is valid? [False, False] Translation: X:-3.46, Y:-3.48, Z:-0.79 [[ 9.62403751e-01 -2.67902218e-01 -4.48042546e-02 -3.46150933e+00] [ 2.68283923e-01 9.63336316e-01 2.62291281e-03 -3.48203229e+00] [ 4.24588814e-02 -1.45445623e-02 9.98992342e-01 -7.85896582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.719072329 meters Centerline goodness : 0.807224 Centerline is valid? [False, False] Translation: X:-3.46, Y:-3.49, Z:-0.79 [[ 9.62367485e-01 -2.67935638e-01 -4.53797036e-02 -3.45896052e+00] [ 2.68355015e-01 9.63314423e-01 3.30271023e-03 -3.48583951e+00] [ 4.28300093e-02 -1.53562920e-02 9.98964351e-01 -7.86249980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.749072329 meters Centerline goodness : 0.806725 Centerline is valid? [False, False] Translation: X:-3.46, Y:-3.49, Z:-0.79 [[ 9.61327719e-01 -2.71780252e-01 -4.45478439e-02 -3.45767591e+00] [ 2.72065927e-01 9.62278545e-01 3.63916622e-04 -3.48915417e+00] [ 4.27685290e-02 -1.24697936e-02 9.99007186e-01 -7.86566551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.77907232899999 meters Centerline goodness : 0.806312 Centerline is valid? [False, False] Translation: X:-3.46, Y:-3.49, Z:-0.79 [[ 9.61324905e-01 -2.71722123e-01 -4.49612674e-02 -3.45648280e+00] [ 2.72043293e-01 9.62284420e-01 1.06818349e-03 -3.49172634e+00] [ 4.29752781e-02 -1.32582826e-02 9.98988160e-01 -7.86255464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.80907232899999 meters Centerline goodness : 0.808328 Centerline is valid? [False, False] Translation: X:-3.46, Y:-3.49, Z:-0.79 [[ 9.61305674e-01 -2.71710252e-01 -4.54416233e-02 -3.45503862e+00] [ 2.72068595e-01 9.62276218e-01 1.77745879e-03 -3.49466015e+00] [ 4.32444396e-02 -1.40719198e-02 9.98965415e-01 -7.85888545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.83907232899999 meters Centerline goodness : 0.807261 Centerline is valid? [False, False] Translation: X:-3.45, Y:-3.50, Z:-0.79 [[ 9.60185358e-01 -2.75730347e-01 -4.49094058e-02 -3.45276558e+00] [ 2.75959223e-01 9.61168663e-01 -1.14373132e-03 -3.49921829e+00] [ 4.34808749e-02 -1.12949706e-02 9.98990409e-01 -7.85915267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.86907232899999 meters Centerline goodness : 0.807117 Centerline is valid? [False, False] Translation: X:-3.45, Y:-3.50, Z:-0.79 [[ 9.60145518e-01 -2.75790621e-01 -4.53885299e-02 -3.45114162e+00] [ 2.76058042e-01 9.61140887e-01 -3.91080048e-04 -3.50254871e+00] [ 4.37326281e-02 -1.21543749e-02 9.98969333e-01 -7.85515831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.89907232899999 meters Centerline goodness : 0.806286 Centerline is valid? [False, False] Translation: X:-3.45, Y:-3.50, Z:-0.79 [[ 9.60097887e-01 -2.75895221e-01 -4.57588659e-02 -3.44976350e+00] [ 2.76188208e-01 9.61103567e-01 8.37807805e-05 -3.50487986e+00] [ 4.39558945e-02 -1.27184969e-02 9.98952511e-01 -7.85415095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.929072329 meters Centerline goodness : 0.806744 Centerline is valid? [False, False] Translation: X:-3.45, Y:-3.51, Z:-0.79 [[ 0.95886039 -0.28033029 -0.04474026 -3.44846794] [ 0.28044056 0.95986338 -0.00392109 -3.50501051] [ 0.04404374 -0.00878721 0.99899096 -0.78666702] [ 0. 0. 0. 1. ]] SLAMing on 83.959072329 meters Centerline goodness : 0.805429 Centerline is valid? [False, False] Translation: X:-3.45, Y:-3.51, Z:-0.79 [[ 0.95878981 -0.28049458 -0.04522049 -3.44700709] [ 0.28062246 0.95981138 -0.00362507 -3.50669905] [ 0.04441995 -0.0092142 0.99897045 -0.78656573] [ 0. 0. 0. 1. ]] SLAMing on 83.989072329 meters Centerline goodness : 0.806022 Centerline is valid? [False, False] Translation: X:-3.45, Y:-3.51, Z:-0.79 [[ 0.95766015 -0.28446933 -0.04431973 -3.44696012] [ 0.28445714 0.95866524 -0.00671469 -3.50963103] [ 0.0443979 -0.00617667 0.99899483 -0.78514852] [ 0. 0. 0. 1. ]] SLAMing on 84.019072329 meters Centerline goodness : 0.807640 Centerline is valid? [False, False] Translation: X:-3.45, Y:-3.51, Z:-0.78 [[ 9.56516637e-01 -2.88478335e-01 -4.30833311e-02 -3.44742862e+00] [ 2.88296472e-01 9.57483499e-01 -1.05115790e-02 -3.50995452e+00] [ 4.42839414e-02 -2.36627210e-03 9.99016183e-01 -7.84772865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.049072329 meters Centerline goodness : 0.808421 Centerline is valid? [False, False] Translation: X:-3.45, Y:-3.51, Z:-0.78 [[ 9.56473724e-01 -2.88554662e-01 -4.35226617e-02 -3.44608987e+00] [ 2.88391424e-01 9.57459117e-01 -1.01205342e-02 -3.51212355e+00] [ 4.45914966e-02 -2.87153732e-03 9.99001178e-01 -7.84495095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.079072329 meters Centerline goodness : 0.808658 Centerline is valid? [False, False] Translation: X:-3.44, Y:-3.51, Z:-0.78 [[ 9.56441026e-01 -2.88609038e-01 -4.38792210e-02 -3.44481768e+00] [ 2.88457974e-01 9.57441642e-01 -9.87417699e-03 -3.51337908e+00] [ 4.48615702e-02 -3.21324321e-03 9.98988045e-01 -7.84737537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.109072329 meters Centerline goodness : 0.808463 Centerline is valid? [False, False] Translation: X:-3.44, Y:-3.51, Z:-0.79 [[ 9.56320534e-01 -2.88972718e-01 -4.41112822e-02 -3.44340846e+00] [ 2.88822655e-01 9.57331664e-01 -9.87723516e-03 -3.51362585e+00] [ 4.50833786e-02 -3.29453483e-03 9.98977795e-01 -7.85637575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.13907232899999 meters Centerline goodness : 0.807532 Centerline is valid? [False, False] Translation: X:-3.44, Y:-3.51, Z:-0.79 [[ 9.56328827e-01 -2.88940115e-01 -4.41450349e-02 -3.44359312e+00] [ 2.88793375e-01 9.57341236e-01 -9.80533504e-03 -3.51344584e+00] [ 4.50950169e-02 -3.37166906e-03 9.98977012e-01 -7.85458070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.16907232899999 meters Centerline goodness : 0.809583 Centerline is valid? [False, False] Translation: X:-3.44, Y:-3.51, Z:-0.79 [[ 9.56359180e-01 -2.88844047e-01 -4.41161495e-02 -3.44386976e+00] [ 2.88702012e-01 9.57369899e-01 -9.69661614e-03 -3.51328975e+00] [ 4.50362835e-02 -3.46297326e-03 9.98979350e-01 -7.85400032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.19907232899999 meters Centerline goodness : 0.809762 Centerline is valid? [False, False] Translation: X:-3.44, Y:-3.51, Z:-0.79 [[ 9.56384719e-01 -2.88753896e-01 -4.41526463e-02 -3.44402178e+00] [ 2.88612796e-01 9.57397001e-01 -9.67657939e-03 -3.51295746e+00] [ 4.50657612e-02 -3.48848604e-03 9.98977932e-01 -7.85322755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.22907232899999 meters Centerline goodness : 0.809172 Centerline is valid? [False, False] Translation: X:-3.44, Y:-3.51, Z:-0.79 [[ 9.56374931e-01 -2.88777224e-01 -4.42120604e-02 -3.44389658e+00] [ 2.88627442e-01 9.57390572e-01 -9.87381379e-03 -3.51209251e+00] [ 4.51795423e-02 -3.31774591e-03 9.98973374e-01 -7.85574944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.25907232899999 meters Centerline goodness : 0.809202 Centerline is valid? [False, False] Translation: X:-3.44, Y:-3.51, Z:-0.78 [[ 0.95644978 -0.28851334 -0.04431572 -3.44419137] [ 0.2883728 0.95746937 -0.00967104 -3.51243244] [ 0.04522116 -0.00352959 0.99897076 -0.78497907] [ 0. 0. 0. 1. ]] SLAMing on 84.28907232899999 meters Centerline goodness : 0.808897 Centerline is valid? [False, False] Translation: X:-3.44, Y:-3.51, Z:-0.78 [[ 0.95653 -0.2882382 -0.04437445 -3.44457167] [ 0.28810635 0.95755152 -0.00947741 -3.51275532] [ 0.04522258 -0.00371914 0.99897001 -0.78440113] [ 0. 0. 0. 1. ]] SLAMing on 84.319072329 meters Centerline goodness : 0.808932 Centerline is valid? [False, False] Translation: X:-3.45, Y:-3.51, Z:-0.78 [[ 0.95664019 -0.28789903 -0.04420056 -3.445641 ] [ 0.28776559 0.95765385 -0.00949044 -3.51167306] [ 0.04506112 -0.00364046 0.9989776 -0.78415252] [ 0. 0. 0. 1. ]] SLAMing on 84.349072329 meters Centerline goodness : 0.810682 Centerline is valid? [False, False] Translation: X:-3.45, Y:-3.51, Z:-0.78 [[ 9.56708103e-01 -2.87700688e-01 -4.40218193e-02 -3.44654971e+00] [ 2.87561074e-01 9.57714101e-01 -9.60878226e-03 -3.51035678e+00] [ 4.49247704e-02 -3.46616179e-03 9.98984360e-01 -7.84104560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.379072329 meters Centerline goodness : 0.810224 Centerline is valid? [False, False] Translation: X:-3.45, Y:-3.51, Z:-0.78 [[ 0.9569162 -0.28703793 -0.04382477 -3.44857827] [ 0.28691529 0.95791179 -0.00919863 -3.50953678] [ 0.04462062 -0.00377168 0.99899688 -0.78303798] [ 0. 0. 0. 1. ]] SLAMing on 84.409072329 meters Centerline goodness : 0.811135 Centerline is valid? [False, False] Translation: X:-3.45, Y:-3.51, Z:-0.78 [[ 0.95732294 -0.28572773 -0.04350221 -3.45210965] [ 0.28564239 0.95830036 -0.00829794 -3.50872033] [ 0.04405914 -0.00448227 0.99901887 -0.78100448] [ 0. 0. 0. 1. ]] SLAMing on 84.439072329 meters Centerline goodness : 0.811041 Centerline is valid? [False, False] Translation: X:-3.45, Y:-3.51, Z:-0.78 [[ 0.9574089 -0.2854486 -0.04344307 -3.45283007] [ 0.28536994 0.95838293 -0.00813333 -3.50862499] [ 0.04395675 -0.00461042 0.9990228 -0.78049371] [ 0. 0. 0. 1. ]] SLAMing on 84.469072329 meters Centerline goodness : 0.811194 Centerline is valid? [False, False] Translation: X:-3.45, Y:-3.51, Z:-0.78 [[ 0.95745066 -0.28530929 -0.04343768 -3.45318596] [ 0.28523094 0.9584244 -0.00812284 -3.50824169] [ 0.04394926 -0.00461255 0.99902312 -0.78025955] [ 0. 0. 0. 1. ]] SLAMing on 84.49907232899999 meters Centerline goodness : 0.811575 Centerline is valid? [False, False] Translation: X:-3.45, Y:-3.51, Z:-0.78 [[ 0.95738099 -0.28556001 -0.0433258 -3.45309858] [ 0.28545042 0.95835283 -0.00882704 -3.50533127] [ 0.04404206 -0.00391652 0.999022 -0.78149829] [ 0. 0. 0. 1. ]] SLAMing on 84.52907232899999 meters Centerline goodness : 0.812355 Centerline is valid? [False, False] Translation: X:-3.45, Y:-3.50, Z:-0.78 [[ 0.9573215 -0.28575876 -0.0433298 -3.45280568] [ 0.28563358 0.95829489 -0.00918517 -3.50397291] [ 0.04414747 -0.00358329 0.9990186 -0.78219623] [ 0. 0. 0. 1. ]] SLAMing on 84.55907232899999 meters Centerline goodness : 0.811751 Centerline is valid? [False, False] Translation: X:-3.45, Y:-3.50, Z:-0.78 [[ 9.57225633e-01 -2.86053652e-01 -4.35016655e-02 -3.45194639e+00] [ 2.85917769e-01 9.58207588e-01 -9.44706886e-03 -3.50355224e+00] [ 4.43859945e-02 -3.39492266e-03 9.99008688e-01 -7.82708559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.58907232899999 meters Centerline goodness : 0.812189 Centerline is valid? [False, False] Translation: X:-3.45, Y:-3.50, Z:-0.78 [[ 0.95722559 -0.28602204 -0.04371 -3.45159474] [ 0.28589915 0.95821583 -0.00917101 -3.50473683] [ 0.04450673 -0.00371792 0.99900217 -0.78222587] [ 0. 0. 0. 1. ]] SLAMing on 84.61907232899999 meters Centerline goodness : 0.812636 Centerline is valid? [False, False] Translation: X:-3.45, Y:-3.51, Z:-0.78 [[ 0.95724603 -0.28591537 -0.0439596 -3.45155963] [ 0.28581211 0.95824572 -0.0087507 -3.50626834] [ 0.04462606 -0.00418762 0.99899498 -0.78118095] [ 0. 0. 0. 1. ]] SLAMing on 84.64907232899999 meters Centerline goodness : 0.814231 Centerline is valid? [False, False] Translation: X:-3.45, Y:-3.51, Z:-0.78 [[ 0.95726192 -0.28583069 -0.04416368 -3.45182586] [ 0.2857454 0.95826904 -0.00836691 -3.50748837] [ 0.04471221 -0.00461024 0.99898927 -0.77993623] [ 0. 0. 0. 1. ]] SLAMing on 84.679072329 meters Centerline goodness : 0.814664 Centerline is valid? [False, False] Translation: X:-3.45, Y:-3.51, Z:-0.78 [[ 0.9571563 -0.28614853 -0.04439409 -3.45154144] [ 0.28606942 0.95817329 -0.00826078 -3.5080897 ] [ 0.04490104 -0.00479293 0.99897994 -0.77918426] [ 0. 0. 0. 1. ]] SLAMing on 84.709072329 meters Centerline goodness : 0.815341 Centerline is valid? [False, False] Translation: X:-3.45, Y:-3.51, Z:-0.78 [[ 0.95710537 -0.28628791 -0.04459305 -3.45090041] [ 0.2862062 0.95813173 -0.00834304 -3.5078818 ] [ 0.04511452 -0.00477764 0.9989704 -0.77941787] [ 0. 0. 0. 1. ]] SLAMing on 84.739072329 meters Centerline goodness : 0.813041 Centerline is valid? [False, False] Translation: X:-3.45, Y:-3.51, Z:-0.78 [[ 0.95707164 -0.28636187 -0.04484154 -3.4500687 ] [ 0.28627592 0.95810983 -0.00846439 -3.50762367] [ 0.045387 -0.00473603 0.99895825 -0.77978997] [ 0. 0. 0. 1. ]] SLAMing on 84.769072329 meters Centerline goodness : 0.813987 Centerline is valid? [False, False] Translation: X:-3.45, Y:-3.51, Z:-0.78 [[ 0.95704623 -0.28642006 -0.04501188 -3.44932624] [ 0.28633042 0.95809266 -0.0085645 -3.50749796] [ 0.04557859 -0.00469165 0.99894974 -0.78024916] [ 0. 0. 0. 1. ]] SLAMing on 84.799072329 meters Centerline goodness : 0.811655 Centerline is valid? [False, False] Translation: X:-3.45, Y:-3.51, Z:-0.78 [[ 0.95700329 -0.28654244 -0.04514563 -3.44871599] [ 0.28644309 0.95805691 -0.00879335 -3.50673879] [ 0.04577175 -0.00451639 0.99894171 -0.78080765] [ 0. 0. 0. 1. ]] SLAMing on 84.829072329 meters Centerline goodness : 0.812065 Centerline is valid? [False, False] Translation: X:-3.45, Y:-3.51, Z:-0.78 [[ 0.95698637 -0.28660873 -0.04508344 -3.44899679] [ 0.28650039 0.95803799 -0.00898516 -3.50566848] [ 0.04576688 -0.00431775 0.99894282 -0.78095618] [ 0. 0. 0. 1. ]] SLAMing on 84.859072329 meters Centerline goodness : 0.812720 Centerline is valid? [False, False] Translation: X:-3.45, Y:-3.50, Z:-0.78 [[ 0.95696409 -0.28669189 -0.04502762 -3.44935072] [ 0.2865758 0.95801387 -0.00915103 -3.50468676] [ 0.04576062 -0.00414662 0.99894383 -0.78098451] [ 0. 0. 0. 1. ]] SLAMing on 84.88907232899999 meters Centerline goodness : 0.811814 Centerline is valid? [False, False] Translation: X:-3.45, Y:-3.50, Z:-0.78 [[ 0.95692169 -0.28680607 -0.04520125 -3.44957781] [ 0.28669129 0.95797941 -0.00914129 -3.5046718 ] [ 0.04592364 -0.00421131 0.99893608 -0.78010129] [ 0. 0. 0. 1. ]] SLAMing on 84.91907232899999 meters Centerline goodness : 0.812302 Centerline is valid? [False, False] Translation: X:-3.45, Y:-3.51, Z:-0.78 [[ 0.95690197 -0.28683883 -0.04541046 -3.44930108] [ 0.28673452 0.95796842 -0.00893434 -3.50562611] [ 0.0460645 -0.00447146 0.99892846 -0.77954181] [ 0. 0. 0. 1. ]] SLAMing on 84.94907232899999 meters Centerline goodness : 0.812125 Centerline is valid? [False, False] Translation: X:-3.45, Y:-3.51, Z:-0.78 [[ 0.95686751 -0.28691201 -0.04567351 -3.44888451] [ 0.28681536 0.95794549 -0.00879646 -3.50640898] [ 0.04627654 -0.00468282 0.99891769 -0.77905367] [ 0. 0. 0. 1. ]] SLAMing on 84.97907232899999 meters Centerline goodness : 0.812125 Centerline is valid? [False, False] Translation: X:-3.45, Y:-3.51, Z:-0.78 [[ 0.95686751 -0.28691201 -0.04567351 -3.44888451] [ 0.28681536 0.95794549 -0.00879646 -3.50640898] [ 0.04627654 -0.00468282 0.99891769 -0.77905367] [ 0. 0. 0. 1. ]] SLAMing on 85.00907232899999 meters Centerline goodness : 0.813510 Centerline is valid? [False, False] Translation: X:-3.45, Y:-3.51, Z:-0.78 [[ 0.95659448 -0.28779373 -0.04584508 -3.44767593] [ 0.28767586 0.95768276 -0.00929102 -3.5060959 ] [ 0.04657894 -0.00430078 0.99890535 -0.77941235] [ 0. 0. 0. 1. ]] SLAMing on 85.03907232899999 meters Centerline goodness : 0.811832 Centerline is valid? [False, False] Translation: X:-3.45, Y:-3.51, Z:-0.78 [[ 0.95650502 -0.28806463 -0.04600998 -3.4470933 ] [ 0.28793962 0.95760178 -0.00946566 -3.50585538] [ 0.04678596 -0.00419415 0.99889613 -0.77957402] [ 0. 0. 0. 1. ]] SLAMing on 85.069072329 meters Centerline goodness : 0.811336 Centerline is valid? [False, False] Translation: X:-3.45, Y:-3.51, Z:-0.78 [[ 0.95642684 -0.28830112 -0.04615373 -3.44669889] [ 0.28816974 0.95753102 -0.0096198 -3.50555588] [ 0.04696702 -0.00409948 0.99888803 -0.77962792] [ 0. 0. 0. 1. ]] SLAMing on 85.099072329 meters Centerline goodness : 0.811856 Centerline is valid? [False, False] Translation: X:-3.45, Y:-3.50, Z:-0.78 [[ 0.95617979 -0.28910771 -0.04622705 -3.44601796] [ 0.2889573 0.95728924 -0.01004981 -3.50487074] [ 0.04715813 -0.00374822 0.9988804 -0.77987794] [ 0. 0. 0. 1. ]] SLAMing on 85.129072329 meters Centerline goodness : 0.813550 Centerline is valid? [False, False] Translation: X:-3.45, Y:-3.50, Z:-0.78 [[ 0.95612203 -0.28928312 -0.04632422 -3.44589396] [ 0.28912828 0.95723649 -0.01015526 -3.50452298] [ 0.04728098 -0.00368398 0.99887484 -0.77975522] [ 0. 0. 0. 1. ]] SLAMing on 85.159072329 meters Centerline goodness : 0.812771 Centerline is valid? [False, False] Translation: X:-3.45, Y:-3.50, Z:-0.78 [[ 9.56058919e-01 -2.89489289e-01 -4.63389056e-02 -3.44593167e+00] [ 2.89324724e-01 9.57174870e-01 -1.03668761e-02 -3.50384037e+00] [ 4.73555355e-02 -3.49564665e-03 9.98871981e-01 -7.79729181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.189072329 meters Centerline goodness : 0.812818 Centerline is valid? [False, False] Translation: X:-3.45, Y:-3.50, Z:-0.78 [[ 9.55875266e-01 -2.90098869e-01 -4.63154590e-02 -3.44623167e+00] [ 2.89902415e-01 9.56992398e-01 -1.10516986e-02 -3.50188085e+00] [ 4.75296274e-02 -2.86291809e-03 9.98865726e-01 -7.79457971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.219072329 meters Centerline goodness : 0.814598 Centerline is valid? [False, False] Translation: X:-3.45, Y:-3.50, Z:-0.78 [[ 9.55819860e-01 -2.90272564e-01 -4.63706064e-02 -3.44632870e+00] [ 2.90068408e-01 9.56940129e-01 -1.12208747e-02 -3.50144873e+00] [ 4.76310061e-02 -2.72551312e-03 9.98861281e-01 -7.79183484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.24907232899999 meters Centerline goodness : 0.813776 Centerline is valid? [False, False] Translation: X:-3.45, Y:-3.50, Z:-0.78 [[ 9.55755570e-01 -2.90473789e-01 -4.64356315e-02 -3.44645116e+00] [ 2.90256533e-01 9.56879726e-01 -1.15037005e-02 -3.50060486e+00] [ 4.77748378e-02 -2.48351952e-03 9.98855043e-01 -7.78875382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.27907232899999 meters Centerline goodness : 0.813632 Centerline is valid? [False, False] Translation: X:-3.45, Y:-3.50, Z:-0.78 [[ 9.55678449e-01 -2.90732254e-01 -4.64053657e-02 -3.44678208e+00] [ 2.90495326e-01 9.56802169e-01 -1.19194960e-02 -3.49914722e+00] [ 4.78661365e-02 -2.08933639e-03 9.98851574e-01 -7.78794636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.30907232899999 meters Centerline goodness : 0.812341 Centerline is valid? [False, False] Translation: X:-3.45, Y:-3.50, Z:-0.78 [[ 9.55439247e-01 -2.91534881e-01 -4.62953454e-02 -3.44707591e+00] [ 2.91248141e-01 9.56559579e-01 -1.29727728e-02 -3.49578287e+00] [ 4.80662718e-02 -1.08873704e-03 9.98843555e-01 -7.79071119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.33907232899999 meters Centerline goodness : 0.813269 Centerline is valid? [False, False] Translation: X:-3.45, Y:-3.49, Z:-0.78 [[ 9.55372321e-01 -2.91749336e-01 -4.63255064e-02 -3.44726896e+00] [ 2.91446773e-01 9.56494487e-01 -1.33069543e-02 -3.49457055e+00] [ 4.81923865e-02 -7.88323450e-04 9.98837761e-01 -7.78931995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.36907232899999 meters Centerline goodness : 0.813109 Centerline is valid? [False, False] Translation: X:-3.45, Y:-3.49, Z:-0.78 [[ 9.55222226e-01 -2.92249826e-01 -4.62659447e-02 -3.44764818e+00] [ 2.91907596e-01 9.56342010e-01 -1.41391682e-02 -3.49199234e+00] [ 4.83782360e-02 6.67058940e-07 9.98829088e-01 -7.78917215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.39907232899999 meters Centerline goodness : 0.812436 Centerline is valid? [False, False] Translation: X:-3.45, Y:-3.49, Z:-0.78 [[ 9.55141872e-01 -2.92524333e-01 -4.61900269e-02 -3.44789866e+00] [ 2.92159149e-01 9.56257964e-01 -1.46197621e-02 -3.49027038e+00] [ 4.84462172e-02 4.69108032e-04 9.98825682e-01 -7.79109872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.429072329 meters Centerline goodness : 0.811857 Centerline is valid? [False, False] Translation: X:-3.45, Y:-3.49, Z:-0.78 [[ 9.55039368e-01 -2.92877371e-01 -4.60722310e-02 -3.44833597e+00] [ 2.92482862e-01 9.56149409e-01 -1.52342908e-02 -3.48797196e+00] [ 4.85137155e-02 1.07400950e-03 9.98821939e-01 -7.79316335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.459072329 meters Centerline goodness : 0.811075 Centerline is valid? [False, False] Translation: X:-3.45, Y:-3.49, Z:-0.78 [[ 9.54923059e-01 -2.93273316e-01 -4.59642603e-02 -3.44882348e+00] [ 2.92847126e-01 9.56027091e-01 -1.58984720e-02 -3.48551789e+00] [ 4.86056757e-02 1.72131602e-03 9.98816562e-01 -7.79421674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.489072329 meters Centerline goodness : 0.811192 Centerline is valid? [False, False] Translation: X:-3.45, Y:-3.48, Z:-0.78 [[ 9.54690304e-01 -2.94050663e-01 -4.58326346e-02 -3.44909386e+00] [ 2.93573508e-01 9.55785895e-01 -1.69681527e-02 -3.48222769e+00] [ 4.87956823e-02 2.74408358e-03 9.98805012e-01 -7.79745915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.519072329 meters Centerline goodness : 0.809203 Centerline is valid? [False, False] Translation: X:-3.45, Y:-3.48, Z:-0.78 [[ 9.54602761e-01 -2.94330072e-01 -4.58625795e-02 -3.44896526e+00] [ 2.93835097e-01 9.55698885e-01 -1.73371548e-02 -3.48126038e+00] [ 4.89336621e-02 3.07406033e-03 9.98797300e-01 -7.79856708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.549072329 meters Centerline goodness : 0.809613 Centerline is valid? [False, False] Translation: X:-3.45, Y:-3.48, Z:-0.78 [[ 9.54504965e-01 -2.94636205e-01 -4.59323164e-02 -3.44878434e+00] [ 2.94122828e-01 9.55603450e-01 -1.77146336e-02 -3.48034350e+00] [ 4.91124525e-02 3.39896287e-03 9.98787472e-01 -7.79881053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.579072329 meters Centerline goodness : 0.808718 Centerline is valid? [False, False] Translation: X:-3.45, Y:-3.48, Z:-0.78 [[ 0.95425895 -0.29547501 -0.04565486 -3.44938658] [ 0.29490343 0.95533935 -0.01893917 -3.47636357] [ 0.04921194 0.0046091 0.99877772 -0.78035488] [ 0. 0. 0. 1. ]] SLAMing on 85.609072329 meters Centerline goodness : 0.810098 Centerline is valid? [False, False] Translation: X:-3.45, Y:-3.47, Z:-0.78 [[ 0.95414392 -0.29587786 -0.04544974 -3.45028788] [ 0.29526334 0.95520989 -0.01984029 -3.47271895] [ 0.04928435 0.00551085 0.99876958 -0.78054088] [ 0. 0. 0. 1. ]] SLAMing on 85.63907232899999 meters Centerline goodness : 0.807862 Centerline is valid? [False, False] Translation: X:-3.45, Y:-3.47, Z:-0.78 [[ 0.9540436 -0.29624327 -0.0451744 -3.45140837] [ 0.29558287 0.95509038 -0.02081161 -3.46873186] [ 0.04931094 0.0065024 0.99876231 -0.78074936] [ 0. 0. 0. 1. ]] SLAMing on 85.66907232899999 meters Centerline goodness : 0.807005 Centerline is valid? [False, False] Translation: X:-3.45, Y:-3.46, Z:-0.78 [[ 0.95409684 -0.29613691 -0.04474534 -3.45424697] [ 0.29544337 0.95511735 -0.02154236 -3.46378281] [ 0.04911654 0.00733378 0.99876613 -0.77992034] [ 0. 0. 0. 1. ]] SLAMing on 85.69907232899999 meters Centerline goodness : 0.808034 Centerline is valid? [False, False] Translation: X:-3.45, Y:-3.46, Z:-0.78 [[ 0.95404217 -0.29632788 -0.04464669 -3.45487461] [ 0.29560622 0.95505345 -0.02213303 -3.46181341] [ 0.04919861 0.00791801 0.99875763 -0.77972192] [ 0. 0. 0. 1. ]] SLAMing on 85.72907232899999 meters Centerline goodness : 0.805930 Centerline is valid? [False, False] Translation: X:-3.46, Y:-3.46, Z:-0.78 [[ 0.95403171 -0.29640194 -0.04437771 -3.45605998] [ 0.29565259 0.95502478 -0.02274235 -3.45936265] [ 0.04912269 0.00857653 0.99875593 -0.77948861] [ 0. 0. 0. 1. ]] SLAMing on 85.75907232899999 meters Centerline goodness : 0.807493 Centerline is valid? [False, False] Translation: X:-3.46, Y:-3.45, Z:-0.78 [[ 0.9552332 -0.29239885 -0.04508261 -3.45902378] [ 0.29178507 0.95627918 -0.01978905 -3.45401982] [ 0.04889785 0.00574872 0.99878724 -0.77854477] [ 0. 0. 0. 1. ]] SLAMing on 85.78907232899999 meters Centerline goodness : 0.807020 Centerline is valid? [False, False] Translation: X:-3.46, Y:-3.45, Z:-0.78 [[ 9.56331153e-01 -2.88620722e-01 -4.61389723e-02 -3.45981753e+00] [ 2.88156024e-01 9.57440116e-01 -1.65689566e-02 -3.45118159e+00] [ 4.89574472e-02 2.55018658e-03 9.98797610e-01 -7.78384745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.819072329 meters Centerline goodness : 0.806158 Centerline is valid? [False, False] Translation: X:-3.46, Y:-3.45, Z:-0.78 [[ 9.57423274e-01 -2.84817169e-01 -4.71153367e-02 -3.46071249e+00] [ 2.84498595e-01 9.58581728e-01 -1.34766556e-02 -3.44794108e+00] [ 4.90022838e-02 -5.01383407e-04 9.98798541e-01 -7.78356296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.849072329 meters Centerline goodness : 0.806175 Centerline is valid? [False, False] Translation: X:-3.46, Y:-3.44, Z:-0.78 [[ 9.58798326e-01 -2.80075603e-01 -4.75754935e-02 -3.46495766e+00] [ 2.79897436e-01 9.59972457e-01 -1.05026997e-02 -3.44098776e+00] [ 4.86127133e-02 -3.24628783e-03 9.98812428e-01 -7.77250110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.879072329 meters Centerline goodness : 0.805071 Centerline is valid? [False, False] Translation: X:-3.47, Y:-3.44, Z:-0.78 [[ 0.95988251 -0.27613482 -0.04873519 -3.46526338] [ 0.2761302 0.96109503 -0.0069612 -3.43994094] [ 0.04876138 -0.00677533 0.99878748 -0.77675709] [ 0. 0. 0. 1. ]] SLAMing on 85.909072329 meters Centerline goodness : 0.804743 Centerline is valid? [False, False] Translation: X:-3.47, Y:-3.44, Z:-0.78 [[ 0.9601374 -0.2753164 -0.04834312 -3.46838927] [ 0.27531083 0.96133047 -0.00690514 -3.43741292] [ 0.04837481 -0.00667951 0.99880692 -0.77526419] [ 0. 0. 0. 1. ]] SLAMing on 85.939072329 meters Centerline goodness : 0.803542 Centerline is valid? [False, False] Translation: X:-3.47, Y:-3.43, Z:-0.77 [[ 0.96040075 -0.27445739 -0.04799514 -3.47177293] [ 0.27445648 0.96157591 -0.00673839 -3.43474335] [ 0.04800037 -0.00670103 0.99882484 -0.77344966] [ 0. 0. 0. 1. ]] SLAMing on 85.969072329 meters Centerline goodness : 0.804004 Centerline is valid? [False, False] Translation: X:-3.48, Y:-3.43, Z:-0.77 [[ 0.9614523 -0.27070648 -0.0482439 -3.47566659] [ 0.27082086 0.96262027 -0.00427421 -3.42833554] [ 0.04759761 -0.00895601 0.99882644 -0.7722862 ] [ 0. 0. 0. 1. ]] SLAMing on 85.99907232899999 meters Centerline goodness : 0.804372 Centerline is valid? [False, False] Translation: X:-3.48, Y:-3.43, Z:-0.77 [[ 9.62465524e-01 -2.66894650e-01 -4.92682507e-02 -3.47625762e+00] [ 2.67183044e-01 9.63645498e-01 -7.58297815e-04 -3.42675583e+00] [ 4.76795136e-02 -1.24338057e-02 9.98785294e-01 -7.71878546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.02907232899999 meters Centerline goodness : 0.802957 Centerline is valid? [False, False] Translation: X:-3.48, Y:-3.42, Z:-0.77 [[ 9.63367368e-01 -2.63474406e-01 -5.00455044e-02 -3.47759997e+00] [ 2.63900855e-01 9.64547749e-01 1.99473170e-03 -3.42261846e+00] [ 4.77457179e-02 -1.51287109e-02 9.98744947e-01 -7.71539361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.05907232899999 meters Centerline goodness : 0.804351 Centerline is valid? [False, False] Translation: X:-3.48, Y:-3.42, Z:-0.77 [[ 9.63314484e-01 -2.63719039e-01 -4.97742212e-02 -3.47867699e+00] [ 2.64106031e-01 9.64492847e-01 1.24638889e-03 -3.41960354e+00] [ 4.76781838e-02 -1.43463365e-02 9.98759718e-01 -7.71574054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.08907232899999 meters Centerline goodness : 0.802643 Centerline is valid? [False, False] Translation: X:-3.48, Y:-3.42, Z:-0.77 [[ 9.63227928e-01 -2.64081605e-01 -4.95263941e-02 -3.47956289e+00] [ 2.64420201e-01 9.64407523e-01 2.95503893e-04 -3.41610494e+00] [ 4.76855899e-02 -1.33804167e-02 9.98772771e-01 -7.71812456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.11907232899999 meters Centerline goodness : 0.802643 Centerline is valid? [False, False] Translation: X:-3.48, Y:-3.41, Z:-0.77 [[ 9.63976028e-01 -2.61180395e-01 -5.03489730e-02 -3.47966990e+00] [ 2.61642553e-01 9.65161063e-01 2.70117632e-03 -3.41173141e+00] [ 4.78893740e-02 -1.57773030e-02 9.98728033e-01 -7.72599406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.14907232899999 meters Centerline goodness : 0.801799 Centerline is valid? [False, False] Translation: X:-3.48, Y:-3.41, Z:-0.77 [[ 9.63874368e-01 -2.61580651e-01 -5.02171758e-02 -3.47999781e+00] [ 2.61999599e-01 9.65066242e-01 1.83286938e-03 -3.40885298e+00] [ 4.79834580e-02 -1.49235357e-02 9.98736640e-01 -7.73042455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.179072329 meters Centerline goodness : 0.802487 Centerline is valid? [False, False] Translation: X:-3.48, Y:-3.41, Z:-0.77 [[ 9.63774348e-01 -2.61970951e-01 -5.01021593e-02 -3.48033603e+00] [ 2.62348158e-01 9.64972779e-01 9.89760883e-04 -3.40622342e+00] [ 4.80879313e-02 -1.40981154e-02 9.98743608e-01 -7.73306445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.209072329 meters Centerline goodness : 0.803078 Centerline is valid? [False, False] Translation: X:-3.48, Y:-3.40, Z:-0.77 [[ 9.63659232e-01 -2.62496075e-01 -4.95650629e-02 -3.48208448e+00] [ 2.62797732e-01 9.64850845e-01 -4.45866550e-04 -3.40095698e+00] [ 4.79399311e-02 -1.25959227e-02 9.98770797e-01 -7.73562919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.239072329 meters Centerline goodness : 0.803383 Centerline is valid? [False, False] Translation: X:-3.48, Y:-3.40, Z:-0.77 [[ 9.63565827e-01 -2.62897010e-01 -4.92550465e-02 -3.48307197e+00] [ 2.63142988e-01 9.64755617e-01 -1.53844858e-03 -3.39684526e+00] [ 4.79235363e-02 -1.14787236e-02 9.98785049e-01 -7.73977625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.269072329 meters Centerline goodness : 0.803311 Centerline is valid? [False, False] Translation: X:-3.48, Y:-3.39, Z:-0.77 [[ 9.63460617e-01 -2.63333648e-01 -4.89798813e-02 -3.48406732e+00] [ 2.63521692e-01 9.64649708e-01 -2.69405219e-03 -3.39239402e+00] [ 4.79578628e-02 -1.03116480e-02 9.98796132e-01 -7.74374242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.299072329 meters Centerline goodness : 0.803050 Centerline is valid? [False, False] Translation: X:-3.48, Y:-3.39, Z:-0.77 [[ 9.64400710e-01 -2.59659944e-01 -5.00797832e-02 -3.48398184e+00] [ 2.60028595e-01 9.65600517e-01 8.78316714e-04 -3.39157114e+00] [ 4.81290008e-02 -1.38692249e-02 9.98744834e-01 -7.74230178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.329072329 meters Centerline goodness : 0.803269 Centerline is valid? [False, False] Translation: X:-3.49, Y:-3.39, Z:-0.77 [[ 9.64652316e-01 -2.58814755e-01 -4.96067693e-02 -3.48776420e+00] [ 2.59162337e-01 9.65833592e-01 5.95976103e-04 -3.38597273e+00] [ 4.77576368e-02 -1.34311160e-02 9.98768649e-01 -7.72975964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.359072329 meters Centerline goodness : 0.802570 Centerline is valid? [False, False] Translation: X:-3.49, Y:-3.38, Z:-0.77 [[ 9.64631871e-01 -2.58938200e-01 -4.93595211e-02 -3.48876047e+00] [ 2.59234567e-01 9.65814304e-01 -4.11115753e-04 -3.38224615e+00] [ 4.77785851e-02 -1.23991187e-02 9.98780991e-01 -7.73130844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.38907232899999 meters Centerline goodness : 0.804072 Centerline is valid? [False, False] Translation: X:-3.49, Y:-3.38, Z:-0.77 [[ 9.64641087e-01 -2.58952641e-01 -4.91029879e-02 -3.48990302e+00] [ 2.59195073e-01 9.65823865e-01 -1.47493966e-03 -3.37817332e+00] [ 4.78067771e-02 -1.13044651e-02 9.98792632e-01 -7.73140291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.41907232899999 meters Centerline goodness : 0.803126 Centerline is valid? [False, False] Translation: X:-3.49, Y:-3.37, Z:-0.77 [[ 9.65631361e-01 -2.55109955e-01 -4.97492201e-02 -3.49142596e+00] [ 2.55464078e-01 9.66818228e-01 7.87359891e-04 -3.37223084e+00] [ 4.78975894e-02 -1.34694380e-02 9.98761431e-01 -7.73251531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.44907232899999 meters Centerline goodness : 0.804020 Centerline is valid? [False, False] Translation: X:-3.49, Y:-3.37, Z:-0.77 [[ 0.96656986 -0.25130417 -0.05088137 -3.49111247] [ 0.25182652 0.96776402 0.00402489 -3.37018222] [ 0.04822969 -0.01670361 0.99869659 -0.77353526] [ 0. 0. 0. 1. ]] SLAMing on 86.47907232899999 meters Centerline goodness : 0.802601 Centerline is valid? [False, False] Translation: X:-3.49, Y:-3.37, Z:-0.77 [[ 0.96748141 -0.24754976 -0.05195042 -3.49057135] [ 0.24824183 0.96867119 0.00721902 -3.36802683] [ 0.04853581 -0.01988053 0.99862357 -0.77421947] [ 0. 0. 0. 1. ]] SLAMing on 86.50907232899999 meters Centerline goodness : 0.800764 Centerline is valid? [False, False] Translation: X:-3.48, Y:-3.36, Z:-0.77 [[ 9.69591663e-01 -2.39489418e-01 -5.03669140e-02 -3.48255704e+00] [ 2.39898857e-01 9.70795489e-01 2.15786439e-03 -3.35856892e+00] [ 4.83791872e-02 -1.41752124e-02 9.98728450e-01 -7.74310670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.53907232899999 meters Centerline goodness : 0.803412 Centerline is valid? [False, False] Translation: X:-3.48, Y:-3.35, Z:-0.77 [[ 9.69635368e-01 -2.39367322e-01 -5.01052766e-02 -3.48365682e+00] [ 2.39729843e-01 9.70838812e-01 1.26628908e-03 -3.35487563e+00] [ 4.83410390e-02 -1.32395688e-02 9.98743139e-01 -7.74347630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.569072329 meters Centerline goodness : 0.802328 Centerline is valid? [False, False] Translation: X:-3.47, Y:-3.35, Z:-0.78 [[ 0.97075349 -0.23618968 -0.043036 -3.4721812 ] [ 0.23622986 0.97168803 -0.00422255 -3.34764885] [ 0.04281488 -0.00606734 0.9990646 -0.77818295] [ 0. 0. 0. 1. ]] SLAMing on 86.599072329 meters Centerline goodness : 0.802599 Centerline is valid? [False, False] Translation: X:-3.46, Y:-3.34, Z:-0.78 [[ 9.71901735e-01 -2.32637167e-01 -3.58743091e-02 -3.46115350e+00] [ 2.32440347e-01 9.72563070e-01 -9.62083289e-03 -3.34128573e+00] [ 3.71281915e-02 1.01186734e-03 9.99309999e-01 -7.82111975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.629072329 meters Centerline goodness : 0.802924 Centerline is valid? [False, False] Translation: X:-3.42, Y:-3.32, Z:-0.78 [[ 0.97406384 -0.22393112 -0.03247284 -3.42378612] [ 0.2230888 0.97440649 -0.02762934 -3.32441984] [ 0.03782882 0.01966841 0.99909065 -0.77886004] [ 0. 0. 0. 1. ]] SLAMing on 86.659072329 meters Centerline goodness : 0.803506 Centerline is valid? [False, False] Translation: X:-3.40, Y:-3.32, Z:-0.78 [[ 0.97455832 -0.2222605 -0.0289198 -3.40264058] [ 0.22138529 0.97470545 -0.03062408 -3.31600215] [ 0.03499481 0.02344253 0.99911251 -0.78104947] [ 0. 0. 0. 1. ]] SLAMing on 86.689072329 meters Centerline goodness : 0.802763 Centerline is valid? [False, False] Translation: X:-3.38, Y:-3.31, Z:-0.78 [[ 0.97580259 -0.21714747 -0.02561787 -3.38286561] [ 0.2163822 0.97585907 -0.02962809 -3.30799845] [ 0.0314331 0.02336792 0.99923266 -0.78268294] [ 0. 0. 0. 1. ]] SLAMing on 86.719072329 meters Centerline goodness : 0.804255 Centerline is valid? [False, False] Translation: X:-3.36, Y:-3.30, Z:-0.78 [[ 0.97640356 -0.2147897 -0.02239369 -3.36168573] [ 0.21405662 0.97632311 -0.0311921 -3.30096119] [ 0.02856322 0.02566256 0.99926252 -0.78474616] [ 0. 0. 0. 1. ]] SLAMing on 86.74907232899999 meters Centerline goodness : 0.802598 Centerline is valid? [False, False] Translation: X:-3.35, Y:-3.29, Z:-0.79 [[ 0.9769392 -0.21295808 -0.01544846 -3.34934148] [ 0.21224599 0.97646032 -0.03843016 -3.29459489] [ 0.02326882 0.03426506 0.99914187 -0.78983969] [ 0. 0. 0. 1. ]] SLAMing on 86.77907232899999 meters Centerline goodness : 0.803309 Centerline is valid? [False, False] Translation: X:-3.35, Y:-3.29, Z:-0.79 [[ 0.97691079 -0.21307082 -0.01568883 -3.34857058] [ 0.21234867 0.97643504 -0.03850522 -3.29427293] [ 0.02352347 0.03428466 0.99913523 -0.79012569] [ 0. 0. 0. 1. ]] SLAMing on 86.80907232899999 meters Centerline goodness : 0.804385 Centerline is valid? [False, False] Translation: X:-3.33, Y:-3.29, Z:-0.79 [[ 0.9772289 -0.21193672 -0.01032 -3.33142508] [ 0.21139498 0.97662579 -0.03891308 -3.29177009] [ 0.01832589 0.03584539 0.99918931 -0.7887777 ] [ 0. 0. 0. 1. ]] SLAMing on 86.83907232899999 meters Centerline goodness : 0.803101 Centerline is valid? [False, False] Translation: X:-3.33, Y:-3.29, Z:-0.79 [[ 0.97721432 -0.21198932 -0.01061655 -3.33087128] [ 0.2114466 0.97663522 -0.03839248 -3.29350673] [ 0.01850729 0.03527285 0.99920634 -0.78841009] [ 0. 0. 0. 1. ]] SLAMing on 86.86907232899999 meters Centerline goodness : 0.803101 Centerline is valid? [False, False] Translation: X:-3.33, Y:-3.29, Z:-0.79 [[ 0.9771827 -0.21213459 -0.01062465 -3.33090232] [ 0.21159383 0.97660827 -0.03826672 -3.29374355] [ 0.01849382 0.03514546 0.99921108 -0.78845037] [ 0. 0. 0. 1. ]] SLAMing on 86.89907232899999 meters Centerline goodness : 0.803946 Centerline is valid? [False, False] Translation: X:-3.33, Y:-3.30, Z:-0.79 [[ 0.97710044 -0.21248802 -0.01111645 -3.3290425 ] [ 0.21193382 0.97654284 -0.03805432 -3.29520919] [ 0.01894178 0.03482694 0.99921384 -0.78920997] [ 0. 0. 0. 1. ]] SLAMing on 86.929072329 meters Centerline goodness : 0.804500 Centerline is valid? [False, False] Translation: X:-3.33, Y:-3.30, Z:-0.79 [[ 0.97707143 -0.21260142 -0.01149165 -3.32779463] [ 0.21203605 0.97652459 -0.03795313 -3.29562443] [ 0.01929077 0.03464627 0.99921344 -0.78980097] [ 0. 0. 0. 1. ]] SLAMing on 86.959072329 meters Centerline goodness : 0.804020 Centerline is valid? [False, False] Translation: X:-3.33, Y:-3.30, Z:-0.79 [[ 0.9770168 -0.21282353 -0.01201336 -3.32635109] [ 0.21224494 0.9764889 -0.03770301 -3.29654177] [ 0.019755 0.0342867 0.99921677 -0.79033221] [ 0. 0. 0. 1. ]] SLAMing on 86.989072329 meters Centerline goodness : 0.804951 Centerline is valid? [False, False] Translation: X:-3.31, Y:-3.29, Z:-0.79 [[ 0.97718706 -0.21221931 -0.00827101 -3.30546799] [ 0.2117421 0.97652811 -0.03947326 -3.29242404] [ 0.01645386 0.03682143 0.9991864 -0.79138634] [ 0. 0. 0. 1. ]] SLAMing on 87.019072329 meters Centerline goodness : 0.805824 Centerline is valid? [False, False] Translation: X:-3.30, Y:-3.30, Z:-0.79 [[ 0.9771466 -0.21238765 -0.00871853 -3.30440735] [ 0.21191197 0.97653423 -0.03839539 -3.29699955] [ 0.01666865 0.03567037 0.99922459 -0.79055541] [ 0. 0. 0. 1. ]] SLAMing on 87.049072329 meters Centerline goodness : 0.805098 Centerline is valid? [False, False] Translation: X:-3.30, Y:-3.30, Z:-0.79 [[ 0.97717486 -0.21224468 -0.00902753 -3.30393284] [ 0.21177001 0.97659254 -0.03768913 -3.29959846] [ 0.01681554 0.03491711 0.99924873 -0.78989535] [ 0. 0. 0. 1. ]] SLAMing on 87.079072329 meters Centerline goodness : 0.806439 Centerline is valid? [False, False] Translation: X:-3.30, Y:-3.30, Z:-0.79 [[ 0.9772288 -0.21198072 -0.00938362 -3.30330022] [ 0.21150936 0.97668381 -0.03677685 -3.30255207] [ 0.01696081 0.03395467 0.99927945 -0.78939725] [ 0. 0. 0. 1. ]] SLAMing on 87.109072329 meters Centerline goodness : 0.806002 Centerline is valid? [False, False] Translation: X:-3.30, Y:-3.31, Z:-0.79 [[ 0.97728363 -0.21171183 -0.00973699 -3.30241349] [ 0.21124309 0.97677268 -0.03593742 -3.30554222] [ 0.0171192 0.03306418 0.99930661 -0.78920824] [ 0. 0. 0. 1. ]] SLAMing on 87.13907232899999 meters Centerline goodness : 0.805073 Centerline is valid? [False, False] Translation: X:-3.30, Y:-3.31, Z:-0.79 [[ 0.97733325 -0.2114563 -0.01029299 -3.30039468] [ 0.21098677 0.97686409 -0.03494473 -3.3089505 ] [ 0.01744413 0.03198096 0.99933624 -0.79001803] [ 0. 0. 0. 1. ]] SLAMing on 87.16907232899999 meters Centerline goodness : 0.805888 Centerline is valid? [False, False] Translation: X:-3.30, Y:-3.31, Z:-0.79 [[ 0.97806517 -0.20797466 -0.01162198 -3.29841898] [ 0.20754743 0.97775331 -0.03037303 -3.31253868] [ 0.01768025 0.02729469 0.99947106 -0.79027013] [ 0. 0. 0. 1. ]] SLAMing on 87.19907232899999 meters Centerline goodness : 0.805766 Centerline is valid? [False, False] Translation: X:-3.30, Y:-3.32, Z:-0.79 [[ 0.97880344 -0.20438487 -0.01306342 -3.29645299] [ 0.20400744 0.97863386 -0.0256268 -3.31641912] [ 0.01802204 0.02241856 0.99958622 -0.79030723] [ 0. 0. 0. 1. ]] SLAMing on 87.22907232899999 meters Centerline goodness : 0.806133 Centerline is valid? [False, False] Translation: X:-3.30, Y:-3.32, Z:-0.79 [[ 0.97896239 -0.20358072 -0.01369417 -3.29513507] [ 0.20321549 0.97883468 -0.02421017 -3.32058025] [ 0.01833305 0.02091798 0.99961309 -0.78995298] [ 0. 0. 0. 1. ]] SLAMing on 87.25907232899999 meters Centerline goodness : 0.805236 Centerline is valid? [False, False] Translation: X:-3.29, Y:-3.32, Z:-0.79 [[ 0.97905791 -0.20309451 -0.01407902 -3.29423867] [ 0.20273767 0.97895509 -0.02333151 -3.32333604] [ 0.01852123 0.01998855 0.99962864 -0.78983373] [ 0. 0. 0. 1. ]] SLAMing on 87.28907232899999 meters Centerline goodness : 0.806883 Centerline is valid? [False, False] Translation: X:-3.29, Y:-3.33, Z:-0.79 [[ 0.97928038 -0.20197342 -0.0147197 -3.29308185] [ 0.2016385 0.97922387 -0.0215067 -3.32901088] [ 0.01875766 0.01809303 0.99966034 -0.78901549] [ 0. 0. 0. 1. ]] SLAMing on 87.319072329 meters Centerline goodness : 0.806612 Centerline is valid? [False, False] Translation: X:-3.29, Y:-3.33, Z:-0.79 [[ 0.97937729 -0.20148698 -0.01493727 -3.29272056] [ 0.20116473 0.97934019 -0.02062853 -3.33148859] [ 0.01878504 0.01719826 0.99967562 -0.78866712] [ 0. 0. 0. 1. ]] SLAMing on 87.349072329 meters Centerline goodness : 0.806768 Centerline is valid? [False, False] Translation: X:-3.29, Y:-3.34, Z:-0.79 [[ 0.98013047 -0.19769306 -0.01617742 -3.29104147] [ 0.19744582 0.98018829 -0.0156864 -3.33633663] [ 0.01895801 0.01218056 0.99974608 -0.78848106] [ 0. 0. 0. 1. ]] SLAMing on 87.379072329 meters Centerline goodness : 0.807215 Centerline is valid? [False, False] Translation: X:-3.29, Y:-3.34, Z:-0.79 [[ 0.98029614 -0.19684169 -0.01651759 -3.29038971] [ 0.19662181 0.98037893 -0.01403607 -3.3408952 ] [ 0.01895639 0.01051179 0.99976505 -0.78807184] [ 0. 0. 0. 1. ]] SLAMing on 87.409072329 meters Centerline goodness : 0.808010 Centerline is valid? [False, False] Translation: X:-3.29, Y:-3.34, Z:-0.79 [[ 0.98039067 -0.19633849 -0.01689188 -3.28959645] [ 0.1961351 0.98049108 -0.01297166 -3.34409344] [ 0.01910918 0.00940421 0.99977317 -0.78785182] [ 0. 0. 0. 1. ]] SLAMing on 87.439072329 meters Centerline goodness : 0.807122 Centerline is valid? [False, False] Translation: X:-3.29, Y:-3.35, Z:-0.79 [[ 0.98051878 -0.195673 -0.01717562 -3.28895577] [ 0.1954903 0.98063517 -0.01175612 -3.34782894] [ 0.01914337 0.00816942 0.99978337 -0.78750558] [ 0. 0. 0. 1. ]] SLAMing on 87.469072329 meters Centerline goodness : 0.807135 Centerline is valid? [False, False] Translation: X:-3.29, Y:-3.35, Z:-0.79 [[ 0.98064769 -0.19500083 -0.01745807 -3.28840978] [ 0.19484018 0.98077891 -0.01048939 -3.35169017] [ 0.01916794 0.00688487 0.99979257 -0.7870209 ] [ 0. 0. 0. 1. ]] SLAMing on 87.49907232899999 meters Centerline goodness : 0.806289 Centerline is valid? [False, False] Translation: X:-3.29, Y:-3.36, Z:-0.79 [[ 0.98083888 -0.19397519 -0.01813063 -3.28679463] [ 0.19385275 0.98099553 -0.00829999 -3.35909768] [ 0.01939606 0.00462628 0.99980118 -0.78634997] [ 0. 0. 0. 1. ]] SLAMing on 87.52907232899999 meters Centerline goodness : 0.808173 Centerline is valid? [False, False] Translation: X:-3.29, Y:-3.36, Z:-0.79 [[ 9.80955771e-01 -1.93347224e-01 -1.85101464e-02 -3.28596454e+00] [ 1.93249223e-01 9.81125006e-01 -6.96132561e-03 -3.36344204e+00] [ 1.95067205e-02 3.25168112e-03 9.99804438e-01 -7.85857928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.55907232899999 meters Centerline goodness : 0.808067 Centerline is valid? [False, False] Translation: X:-3.29, Y:-3.37, Z:-0.79 [[ 9.81075041e-01 -1.92702784e-01 -1.89050622e-02 -3.28501167e+00] [ 1.92629323e-01 9.81255330e-01 -5.64995582e-03 -3.36760211e+00] [ 1.96394553e-02 1.90136128e-03 9.99805319e-01 -7.85525449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.58907232899999 meters Centerline goodness : 0.807134 Centerline is valid? [False, False] Translation: X:-3.28, Y:-3.37, Z:-0.79 [[ 9.81229651e-01 -1.91858176e-01 -1.94631017e-02 -3.28342610e+00] [ 1.91818956e-01 9.81422659e-01 -3.87981248e-03 -3.37283768e+00] [ 1.98459027e-02 7.35951897e-05 9.99803048e-01 -7.85631094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.61907232899999 meters Centerline goodness : 0.807618 Centerline is valid? [False, False] Translation: X:-3.28, Y:-3.38, Z:-0.79 [[ 9.81280021e-01 -1.91555366e-01 -1.99012990e-02 -3.28219847e+00] [ 1.91530383e-01 9.81481560e-01 -3.17169234e-03 -3.37515907e+00] [ 2.01403126e-02 -6.99385087e-04 9.99796919e-01 -7.85825107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.64907232899999 meters Centerline goodness : 0.805807 Centerline is valid? [False, False] Translation: X:-3.28, Y:-3.38, Z:-0.79 [[ 9.81372353e-01 -1.91038272e-01 -2.03146010e-02 -3.28115229e+00] [ 1.91037144e-01 9.81580742e-01 -2.01417608e-03 -3.37896037e+00] [ 2.03252058e-02 -1.90418664e-03 9.99791608e-01 -7.85574409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.679072329 meters Centerline goodness : 0.808068 Centerline is valid? [False, False] Translation: X:-3.28, Y:-3.39, Z:-0.78 [[ 9.80823167e-01 -1.93876171e-01 -1.99485823e-02 -3.28037932e+00] [ 1.93841474e-01 9.81025974e-01 -3.67703213e-03 -3.38648703e+00] [ 2.02829663e-02 -2.60344305e-04 9.99794246e-01 -7.84574112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.709072329 meters Centerline goodness : 0.807641 Centerline is valid? [False, False] Translation: X:-3.28, Y:-3.39, Z:-0.78 [[ 9.80898499e-01 -1.93451123e-01 -2.03665862e-02 -3.27929466e+00] [ 1.93445100e-01 9.81108442e-01 -2.28424943e-03 -3.39152293e+00] [ 2.04237203e-02 -1.69919945e-03 9.99789970e-01 -7.83990263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.739072329 meters Centerline goodness : 0.809178 Centerline is valid? [False, False] Translation: X:-3.28, Y:-3.40, Z:-0.78 [[ 9.80210299e-01 -1.96963546e-01 -1.98275455e-02 -3.27800958e+00] [ 1.96907279e-01 9.80410509e-01 -4.77049272e-03 -3.39660146e+00] [ 2.03787471e-02 7.71898060e-04 9.99792034e-01 -7.84374782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.769072329 meters Centerline goodness : 0.808529 Centerline is valid? [False, False] Translation: X:-3.28, Y:-3.40, Z:-0.78 [[ 9.80243308e-01 -1.96747462e-01 -2.03345294e-02 -3.27645981e+00] [ 1.96714904e-01 9.80454090e-01 -3.60892068e-03 -3.40071101e+00] [ 2.06471185e-02 -4.62484645e-04 9.99786719e-01 -7.84333741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.799072329 meters Centerline goodness : 0.808402 Centerline is valid? [False, False] Translation: X:-3.27, Y:-3.41, Z:-0.78 [[ 9.80260302e-01 -1.96602503e-01 -2.09092389e-02 -3.27479216e+00] [ 1.96595359e-01 9.80481730e-01 -2.41692512e-03 -3.40525507e+00] [ 2.09763002e-02 -1.74144358e-03 9.99778457e-01 -7.84078049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.829072329 meters Centerline goodness : 0.809390 Centerline is valid? [False, False] Translation: X:-3.27, Y:-3.41, Z:-0.78 [[ 9.80255038e-01 -1.96562200e-01 -2.15258665e-02 -3.27276056e+00] [ 1.96584081e-01 9.80486336e-01 -1.11562929e-03 -3.41082206e+00] [ 2.13251085e-02 -3.13804145e-03 9.99767669e-01 -7.83810851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.859072329 meters Centerline goodness : 0.810968 Centerline is valid? [False, False] Translation: X:-3.27, Y:-3.42, Z:-0.78 [[ 9.78881362e-01 -2.03427839e-01 -2.02087697e-02 -3.27283248e+00] [ 2.03341108e-01 9.79087822e-01 -6.27942104e-03 -3.41949505e+00] [ 2.10635694e-02 2.03753460e-03 9.99776062e-01 -7.81831985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.88907232899999 meters Centerline goodness : 0.809584 Centerline is valid? [False, False] Translation: X:-3.27, Y:-3.43, Z:-0.78 [[ 9.78755619e-01 -2.03987378e-01 -2.06540234e-02 -3.27025372e+00] [ 2.03915916e-01 9.78972780e-01 -5.53122001e-03 -3.42586375e+00] [ 2.13480258e-02 1.20202856e-03 9.99771382e-01 -7.82011676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.91907232899999 meters Centerline goodness : 0.811340 Centerline is valid? [False, False] Translation: X:-3.27, Y:-3.43, Z:-0.78 [[ 9.78706987e-01 -2.04156678e-01 -2.12763749e-02 -3.26762280e+00] [ 2.04108478e-01 9.78938226e-01 -4.43599187e-03 -3.43173374e+00] [ 2.17338941e-02 -1.15226144e-06 9.99763791e-01 -7.82240402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.94907232899999 meters Centerline goodness : 0.811078 Centerline is valid? [False, False] Translation: X:-3.26, Y:-3.44, Z:-0.78 [[ 9.77948853e-01 -2.07759831e-01 -2.12577719e-02 -3.26370288e+00] [ 2.07664018e-01 9.78177649e-01 -6.64391783e-03 -3.43813645e+00] [ 2.21742166e-02 2.08293749e-03 9.99751952e-01 -7.84004633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.97907232899999 meters Centerline goodness : 0.810309 Centerline is valid? [False, False] Translation: X:-3.26, Y:-3.44, Z:-0.78 [[ 9.78004011e-01 -2.07436289e-01 -2.18710170e-02 -3.26168546e+00] [ 2.07366972e-01 9.78248233e-01 -5.41594815e-03 -3.44257228e+00] [ 2.25187479e-02 7.61492434e-04 9.99746131e-01 -7.84277767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.00907232899999 meters Centerline goodness : 0.810822 Centerline is valid? [False, False] Translation: X:-3.26, Y:-3.45, Z:-0.78 [[ 9.78058074e-01 -2.07119255e-01 -2.24503575e-02 -3.25973924e+00] [ 2.07075754e-01 9.78315589e-01 -4.27087785e-03 -3.44683186e+00] [ 2.28481158e-02 -4.71758155e-04 9.99738836e-01 -7.84606012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.03907232899999 meters Centerline goodness : 0.809145 Centerline is valid? [False, False] Translation: X:-3.26, Y:-3.45, Z:-0.79 [[ 9.78040830e-01 -2.07113278e-01 -2.32427380e-02 -3.25583698e+00] [ 2.07103105e-01 9.78314911e-01 -2.87041186e-03 -3.45479961e+00] [ 2.33332176e-02 -2.00626321e-03 9.99725730e-01 -7.85612198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.069072329 meters Centerline goodness : 0.810874 Centerline is valid? [False, False] Translation: X:-3.25, Y:-3.46, Z:-0.78 [[ 9.78154245e-01 -2.06528442e-01 -2.36701364e-02 -3.25488829e+00] [ 2.06553270e-01 9.78434329e-01 -1.41781524e-03 -3.45979682e+00] [ 2.34524932e-02 -3.50230207e-03 9.99718818e-01 -7.84876454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.099072329 meters Centerline goodness : 0.810869 Centerline is valid? [False, False] Translation: X:-3.25, Y:-3.47, Z:-0.78 [[ 9.78272093e-01 -2.05915359e-01 -2.41366519e-02 -3.25406520e+00] [ 2.05978569e-01 9.78556493e-01 1.35662969e-04 -3.46509633e+00] [ 2.35911424e-02 -5.10434833e-03 9.99708659e-01 -7.83806157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.129072329 meters Centerline goodness : 0.810875 Centerline is valid? [False, False] Translation: X:-3.25, Y:-3.47, Z:-0.78 [[ 9.78501119e-01 -2.04784927e-01 -2.44682363e-02 -3.25408407e+00] [ 2.04912223e-01 9.78776386e-01 2.78682056e-03 -3.47353084e+00] [ 2.33782331e-02 -7.74074773e-03 9.99696724e-01 -7.81457014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.159072329 meters Centerline goodness : 0.811434 Centerline is valid? [False, False] Translation: X:-3.25, Y:-3.48, Z:-0.78 [[ 0.97862314 -0.20417042 -0.02472236 -3.25410496] [ 0.20432602 0.97889507 0.00391349 -3.47660769] [ 0.02340158 -0.00888125 0.9996867 -0.78039517] [ 0. 0. 0. 1. ]] SLAMing on 88.189072329 meters Centerline goodness : 0.812232 Centerline is valid? [False, False] Translation: X:-3.25, Y:-3.48, Z:-0.78 [[ 0.97874461 -0.20355748 -0.02496694 -3.25402405] [ 0.2037399 0.97901245 0.00496748 -3.47949312] [ 0.02343177 -0.00994865 0.99967594 -0.77952659] [ 0. 0. 0. 1. ]] SLAMing on 88.219072329 meters Centerline goodness : 0.812192 Centerline is valid? [False, False] Translation: X:-3.25, Y:-3.48, Z:-0.78 [[ 0.97898163 -0.20235968 -0.02540722 -3.25305725] [ 0.20258836 0.97924074 0.00674751 -3.48477702] [ 0.02351436 -0.01175289 0.99965441 -0.77911081] [ 0. 0. 0. 1. ]] SLAMing on 88.24907232899999 meters Centerline goodness : 0.812577 Centerline is valid? [False, False] Translation: X:-3.25, Y:-3.49, Z:-0.78 [[ 0.97910194 -0.20173997 -0.02569797 -3.25233844] [ 0.20199479 0.97935623 0.00771232 -3.48777203] [ 0.02361158 -0.012742 0.99964 -0.77892671] [ 0. 0. 0. 1. ]] SLAMing on 88.27907232899999 meters Centerline goodness : 0.812952 Centerline is valid? [False, False] Translation: X:-3.25, Y:-3.49, Z:-0.78 [[ 0.97925482 -0.20097134 -0.02589418 -3.25210274] [ 0.20125689 0.97949796 0.00891177 -3.49143236] [ 0.02357228 -0.01393827 0.99962497 -0.77828732] [ 0. 0. 0. 1. ]] SLAMing on 88.30907232899999 meters Centerline goodness : 0.813135 Centerline is valid? [False, False] Translation: X:-3.25, Y:-3.49, Z:-0.78 [[ 0.97937038 -0.20037368 -0.0261542 -3.25163381] [ 0.20068619 0.97960555 0.0099009 -3.4948152 ] [ 0.02363692 -0.01494543 0.99960889 -0.77770482] [ 0. 0. 0. 1. ]] SLAMing on 88.33907232899999 meters Centerline goodness : 0.816391 Centerline is valid? [False, False] Translation: X:-3.25, Y:-3.50, Z:-0.78 [[ 0.97969505 -0.1987731 -0.02620818 -3.25282995] [ 0.19914324 0.97989273 0.01233731 -3.50071376] [ 0.02322888 -0.01730598 0.99958037 -0.77567329] [ 0. 0. 0. 1. ]] SLAMing on 88.36907232899999 meters Centerline goodness : 0.816254 Centerline is valid? [False, False] Translation: X:-3.25, Y:-3.50, Z:-0.78 [[ 0.97976975 -0.19835768 -0.0265608 -3.25212986] [ 0.19875009 0.97996362 0.01302722 -3.50283631] [ 0.02344457 -0.01804264 0.99956231 -0.7753407 ] [ 0. 0. 0. 1. ]] SLAMing on 88.39907232899999 meters Centerline goodness : 0.816481 Centerline is valid? [False, False] Translation: X:-3.25, Y:-3.51, Z:-0.78 [[ 0.97997178 -0.19728375 -0.02710045 -3.25036472] [ 0.19773069 0.98014288 0.01491638 -3.50963694] [ 0.02361955 -0.01997622 0.99952142 -0.77515683] [ 0. 0. 0. 1. ]] SLAMing on 88.429072329 meters Centerline goodness : 0.817687 Centerline is valid? [False, False] Translation: X:-3.25, Y:-3.51, Z:-0.77 [[ 0.98008025 -0.19668896 -0.02749842 -3.24915122] [ 0.19717005 0.98023849 0.01601486 -3.51371 ] [ 0.02380506 -0.02111772 0.99949355 -0.77497049] [ 0. 0. 0. 1. ]] SLAMing on 88.459072329 meters Centerline goodness : 0.818877 Centerline is valid? [False, False] Translation: X:-3.25, Y:-3.52, Z:-0.77 [[ 0.98016427 -0.19621106 -0.02791445 -3.24786988] [ 0.19672403 0.98031197 0.0169737 -3.51749048] [ 0.02403444 -0.02212846 0.9994662 -0.77477503] [ 0. 0. 0. 1. ]] SLAMing on 88.489072329 meters Centerline goodness : 0.818061 Centerline is valid? [False, False] Translation: X:-3.25, Y:-3.52, Z:-0.77 [[ 0.97970416 -0.19862605 -0.02697132 -3.25004005] [ 0.19906347 0.97987767 0.01461088 -3.51963616] [ 0.02352649 -0.01968335 0.99952942 -0.77310474] [ 0. 0. 0. 1. ]] SLAMing on 88.519072329 meters Centerline goodness : 0.821163 Centerline is valid? [False, False] Translation: X:-3.25, Y:-3.53, Z:-0.77 [[ 0.97996862 -0.19725112 -0.02744981 -3.2495537 ] [ 0.19775782 0.98010109 0.01713741 -3.52688126] [ 0.02352322 -0.02222254 0.99947627 -0.77144433] [ 0. 0. 0. 1. ]] SLAMing on 88.549072329 meters Centerline goodness : 0.821578 Centerline is valid? [False, False] Translation: X:-3.25, Y:-3.53, Z:-0.77 [[ 0.98008219 -0.19665897 -0.02764311 -3.24910512] [ 0.19719472 0.98019561 0.01818803 -3.5300261 ] [ 0.02351881 -0.02327684 0.99945238 -0.77111809] [ 0. 0. 0. 1. ]] SLAMing on 88.579072329 meters Centerline goodness : 0.821551 Centerline is valid? [False, False] Translation: X:-3.25, Y:-3.53, Z:-0.77 [[ 0.98015188 -0.19625742 -0.02802338 -3.24793813] [ 0.19682294 0.98025363 0.01906722 -3.53314238] [ 0.02372794 -0.02420442 0.9994254 -0.77108453] [ 0. 0. 0. 1. ]] SLAMing on 88.609072329 meters Centerline goodness : 0.822916 Centerline is valid? [False, False] Translation: X:-3.25, Y:-3.54, Z:-0.77 [[ 0.97967905 -0.19871267 -0.02724414 -3.24874431] [ 0.19921699 0.97980404 0.01722325 -3.53836554] [ 0.02327144 -0.02230075 0.99948042 -0.76988843] [ 0. 0. 0. 1. ]] SLAMing on 88.63907232899999 meters Centerline goodness : 0.822405 Centerline is valid? [False, False] Translation: X:-3.25, Y:-3.54, Z:-0.77 [[ 0.97973641 -0.19837655 -0.02762808 -3.24769293] [ 0.19890911 0.97985155 0.01805871 -3.54201861] [ 0.02348899 -0.02318825 0.99945514 -0.76937659] [ 0. 0. 0. 1. ]] SLAMing on 88.66907232899999 meters Centerline goodness : 0.822908 Centerline is valid? [False, False] Translation: X:-3.25, Y:-3.55, Z:-0.77 [[ 0.97921291 -0.20105676 -0.0268002 -3.24841245] [ 0.20152731 0.97934944 0.01616856 -3.54818998] [ 0.02299596 -0.02123344 0.99951004 -0.76791053] [ 0. 0. 0. 1. ]] SLAMing on 88.69907232899999 meters Centerline goodness : 0.823243 Centerline is valid? [False, False] Translation: X:-3.25, Y:-3.55, Z:-0.77 [[ 0.97927949 -0.20069222 -0.02709838 -3.24739575] [ 0.20118879 0.97940464 0.01701827 -3.55147307] [ 0.02312484 -0.02211753 0.9994879 -0.76775214] [ 0. 0. 0. 1. ]] SLAMing on 88.72907232899999 meters Centerline goodness : 0.821946 Centerline is valid? [False, False] Translation: X:-3.25, Y:-3.55, Z:-0.77 [[ 0.97923449 -0.2008638 -0.02745097 -3.2454119 ] [ 0.20136975 0.97936631 0.01708369 -3.55322779] [ 0.02345306 -0.02225674 0.99947716 -0.7687653 ] [ 0. 0. 0. 1. ]] SLAMing on 88.75907232899999 meters Centerline goodness : 0.822914 Centerline is valid? [False, False] Translation: X:-3.24, Y:-3.56, Z:-0.77 [[ 0.97921794 -0.20086704 -0.02801165 -3.24278683] [ 0.20139785 0.97935142 0.01759862 -3.55652832] [ 0.02389826 -0.02287437 0.99945267 -0.76971755] [ 0. 0. 0. 1. ]] SLAMing on 88.78907232899999 meters Centerline goodness : 0.822914 Centerline is valid? [False, False] Translation: X:-3.24, Y:-3.56, Z:-0.77 [[ 0.97921794 -0.20086704 -0.02801165 -3.24278683] [ 0.20139785 0.97935142 0.01759862 -3.55652832] [ 0.02389826 -0.02287437 0.99945267 -0.76971755] [ 0. 0. 0. 1. ]] SLAMing on 88.819072329 meters Centerline goodness : 0.824216 Centerline is valid? [False, False] Translation: X:-3.24, Y:-3.56, Z:-0.77 [[ 0.97922337 -0.20079165 -0.02836023 -3.24142976] [ 0.20133724 0.9793588 0.01787916 -3.55827983] [ 0.02418486 -0.02321766 0.99943786 -0.77010219] [ 0. 0. 0. 1. ]] SLAMing on 88.849072329 meters Centerline goodness : 0.823138 Centerline is valid? [False, False] Translation: X:-3.24, Y:-3.56, Z:-0.77 [[ 0.97925207 -0.20060845 -0.02866418 -3.2402936 ] [ 0.20117 0.97938644 0.01824385 -3.56021528] [ 0.02441344 -0.0236317 0.9994226 -0.77026239] [ 0. 0. 0. 1. ]] SLAMing on 88.879072329 meters Centerline goodness : 0.823882 Centerline is valid? [False, False] Translation: X:-3.24, Y:-3.56, Z:-0.77 [[ 0.97925051 -0.20054803 -0.02913647 -3.23879528] [ 0.20112862 0.97938901 0.0185595 -3.5620204 ] [ 0.02481387 -0.02403458 0.99940313 -0.77042606] [ 0. 0. 0. 1. ]] SLAMing on 88.909072329 meters Centerline goodness : 0.826992 Centerline is valid? [False, False] Translation: X:-3.24, Y:-3.57, Z:-0.77 [[ 0.97925554 -0.20042981 -0.02977363 -3.23613244] [ 0.20103977 0.97939663 0.01911172 -3.56583349] [ 0.02532963 -0.02470094 0.99937394 -0.77107843] [ 0. 0. 0. 1. ]] SLAMing on 88.939072329 meters Centerline goodness : 0.827890 Centerline is valid? [False, False] Translation: X:-3.23, Y:-3.57, Z:-0.77 [[ 0.9791762 -0.20074683 -0.03024366 -3.23372391] [ 0.20136622 0.97933126 0.0190243 -3.56746171] [ 0.02579949 -0.0247182 0.99936149 -0.77214927] [ 0. 0. 0. 1. ]] SLAMing on 88.969072329 meters Centerline goodness : 0.826012 Centerline is valid? [False, False] Translation: X:-3.23, Y:-3.57, Z:-0.77 [[ 0.97911264 -0.20098829 -0.03069448 -3.23142511] [ 0.20161936 0.97927884 0.01904179 -3.56928084] [ 0.02623128 -0.02483266 0.99934742 -0.77320465] [ 0. 0. 0. 1. ]] SLAMing on 88.99907232899999 meters Centerline goodness : 0.828073 Centerline is valid? [False, False] Translation: X:-3.23, Y:-3.57, Z:-0.77 [[ 0.97907677 -0.20111755 -0.03099059 -3.22982357] [ 0.20176033 0.97924662 0.01920478 -3.57103669] [ 0.02648501 -0.02505563 0.99933516 -0.77385006] [ 0. 0. 0. 1. ]] SLAMing on 89.02907232899999 meters Centerline goodness : 0.827512 Centerline is valid? [False, False] Translation: X:-3.23, Y:-3.57, Z:-0.77 [[ 0.97837685 -0.20461302 -0.03020345 -3.23035295] [ 0.20515903 0.97859434 0.01621372 -3.57324273] [ 0.02623939 -0.02205964 0.99941226 -0.77296404] [ 0. 0. 0. 1. ]] SLAMing on 89.05907232899999 meters Centerline goodness : 0.827948 Centerline is valid? [False, False] Translation: X:-3.23, Y:-3.57, Z:-0.77 [[ 0.97760749 -0.20838132 -0.02933979 -3.23077848] [ 0.20881574 0.97787407 0.01258166 -3.57401644] [ 0.02606883 -0.01842654 0.99949031 -0.77261285] [ 0. 0. 0. 1. ]] SLAMing on 89.08907232899999 meters Centerline goodness : 0.827555 Centerline is valid? [False, False] Translation: X:-3.23, Y:-3.58, Z:-0.77 [[ 0.97683815 -0.21200825 -0.02897814 -3.22978566] [ 0.21237702 0.97713386 0.01026751 -3.58014058] [ 0.02613873 -0.01618399 0.99952731 -0.77102417] [ 0. 0. 0. 1. ]] SLAMing on 89.11907232899999 meters Centerline goodness : 0.829110 Centerline is valid? [False, False] Translation: X:-3.23, Y:-3.58, Z:-0.77 [[ 0.9760328 -0.21580978 -0.0280376 -3.2301622 ] [ 0.21607409 0.97635377 0.00673033 -3.58129 ] [ 0.02592214 -0.01262723 0.99958421 -0.77074778] [ 0. 0. 0. 1. ]] SLAMing on 89.14907232899999 meters Centerline goodness : 0.829750 Centerline is valid? [False, False] Translation: X:-3.23, Y:-3.58, Z:-0.77 [[ 0.97601987 -0.21579525 -0.02859395 -3.22865612] [ 0.21608924 0.97634413 0.00758782 -3.58475706] [ 0.02628012 -0.01358471 0.99956231 -0.77006517] [ 0. 0. 0. 1. ]] SLAMing on 89.179072329 meters Centerline goodness : 0.827963 Centerline is valid? [False, False] Translation: X:-3.23, Y:-3.59, Z:-0.77 [[ 0.97577387 -0.21681655 -0.02925653 -3.22504816] [ 0.21712329 0.97611373 0.00771164 -3.58806439] [ 0.02688569 -0.01387709 0.99954219 -0.7710535 ] [ 0. 0. 0. 1. ]] SLAMing on 89.209072329 meters Centerline goodness : 0.827812 Centerline is valid? [False, False] Translation: X:-3.22, Y:-3.59, Z:-0.77 [[ 0.97572082 -0.21699069 -0.029731 -3.22334654] [ 0.21731139 0.97606972 0.00797865 -3.58964198] [ 0.02728823 -0.01424582 0.99952609 -0.77136921] [ 0. 0. 0. 1. ]] SLAMing on 89.239072329 meters Centerline goodness : 0.825952 Centerline is valid? [False, False] Translation: X:-3.22, Y:-3.59, Z:-0.77 [[ 0.97480841 -0.22113817 -0.02909435 -3.22181719] [ 0.22135389 0.97518374 0.00437474 -3.59193792] [ 0.02740491 -0.01070468 0.9995671 -0.77208474] [ 0. 0. 0. 1. ]] SLAMing on 89.269072329 meters Centerline goodness : 0.826531 Centerline is valid? [False, False] Translation: X:-3.22, Y:-3.60, Z:-0.77 [[ 0.9747911 -0.22113798 -0.02966996 -3.22015902] [ 0.22137857 0.9751749 0.00504375 -3.59515093] [ 0.02781804 -0.0114849 0.99954702 -0.77162178] [ 0. 0. 0. 1. ]] SLAMing on 89.299072329 meters Centerline goodness : 0.827128 Centerline is valid? [False, False] Translation: X:-3.22, Y:-3.60, Z:-0.77 [[ 0.97481294 -0.22097911 -0.03013228 -3.21904087] [ 0.22124625 0.97520074 0.00579808 -3.59809806] [ 0.02810376 -0.0123187 0.9995291 -0.77100643] [ 0. 0. 0. 1. ]] SLAMing on 89.329072329 meters Centerline goodness : 0.826524 Centerline is valid? [False, False] Translation: X:-3.22, Y:-3.60, Z:-0.77 [[ 0.97481638 -0.22091658 -0.03047767 -3.21818395] [ 0.22120081 0.97520825 0.00625044 -3.59971819] [ 0.02834125 -0.01283471 0.9995159 -0.77070017] [ 0. 0. 0. 1. ]] SLAMing on 89.359072329 meters Centerline goodness : 0.824804 Centerline is valid? [False, False] Translation: X:-3.22, Y:-3.60, Z:-0.77 [[ 0.97481192 -0.22091113 -0.03065922 -3.21749444] [ 0.22120958 0.9752035 0.00666775 -3.60084675] [ 0.028426 -0.01328192 0.99950766 -0.77077475] [ 0. 0. 0. 1. ]] SLAMing on 89.38907232899999 meters Centerline goodness : 0.824803 Centerline is valid? [False, False] Translation: X:-3.22, Y:-3.60, Z:-0.77 [[ 0.97485456 -0.22069703 -0.03084493 -3.21740295] [ 0.22100829 0.97524657 0.00703243 -3.60166362] [ 0.02852937 -0.01367258 0.99949944 -0.77027161] [ 0. 0. 0. 1. ]] SLAMing on 89.41907232899999 meters Centerline goodness : 0.824056 Centerline is valid? [False, False] Translation: X:-3.22, Y:-3.60, Z:-0.77 [[ 0.97487634 -0.22057332 -0.03104071 -3.21711069] [ 0.22089277 0.97527133 0.00722605 -3.60235201] [ 0.02867924 -0.01390117 0.999492 -0.76997908] [ 0. 0. 0. 1. ]] SLAMing on 89.44907232899999 meters Centerline goodness : 0.824375 Centerline is valid? [False, False] Translation: X:-3.22, Y:-3.60, Z:-0.77 [[ 0.97492466 -0.22035332 -0.03108575 -3.21706338] [ 0.22067611 0.97531965 0.00732358 -3.6025327 ] [ 0.02870477 -0.01399982 0.99948989 -0.77002327] [ 0. 0. 0. 1. ]] SLAMing on 89.47907232899999 meters Centerline goodness : 0.823715 Centerline is valid? [False, False] Translation: X:-3.22, Y:-3.60, Z:-0.77 [[ 0.97496249 -0.22018194 -0.03111364 -3.21734725] [ 0.22050331 0.97535919 0.0072629 -3.60172016] [ 0.02874781 -0.01394171 0.99948947 -0.76995088] [ 0. 0. 0. 1. ]] SLAMing on 89.50907232899999 meters Centerline goodness : 0.821937 Centerline is valid? [False, False] Translation: X:-3.22, Y:-3.60, Z:-0.77 [[ 0.97495539 -0.22020732 -0.03115651 -3.21727458] [ 0.22052084 0.97535736 0.00696962 -3.6005303 ] [ 0.02885397 -0.01366572 0.99949022 -0.77020816] [ 0. 0. 0. 1. ]] SLAMing on 89.53907232899999 meters Centerline goodness : 0.820579 Centerline is valid? [False, False] Translation: X:-3.22, Y:-3.60, Z:-0.77 [[ 0.97502699 -0.21989379 -0.03113019 -3.21791622] [ 0.22020203 0.97543056 0.0068037 -3.59965341] [ 0.02886924 -0.01348872 0.99949218 -0.76983036] [ 0. 0. 0. 1. ]] SLAMing on 89.569072329 meters Centerline goodness : 0.820786 Centerline is valid? [False, False] Translation: X:-3.22, Y:-3.60, Z:-0.77 [[ 0.97504524 -0.21978882 -0.03129951 -3.21786191] [ 0.22010016 0.97545335 0.00683308 -3.59974828] [ 0.02902938 -0.01355159 0.99948669 -0.76939268] [ 0. 0. 0. 1. ]] SLAMing on 89.599072329 meters Centerline goodness : 0.821672 Centerline is valid? [False, False] Translation: X:-3.22, Y:-3.60, Z:-0.77 [[ 0.97508803 -0.21958456 -0.03139989 -3.21807461] [ 0.21990197 0.97549687 0.00699785 -3.59996152] [ 0.02909387 -0.01372842 0.9994824 -0.76888853] [ 0. 0. 0. 1. ]] SLAMing on 89.629072329 meters Centerline goodness : 0.821464 Centerline is valid? [False, False] Translation: X:-3.22, Y:-3.60, Z:-0.77 [[ 0.97511228 -0.21948621 -0.03133452 -3.21835145] [ 0.21979615 0.97552231 0.00677329 -3.59844518] [ 0.02908088 -0.01349193 0.999486 -0.76930229] [ 0. 0. 0. 1. ]] SLAMing on 89.659072329 meters Centerline goodness : 0.820370 Centerline is valid? [False, False] Translation: X:-3.22, Y:-3.60, Z:-0.77 [[ 0.97508921 -0.21958108 -0.03138752 -3.21807501] [ 0.21988394 0.97550435 0.0065044 -3.59717833] [ 0.02919042 -0.01324398 0.99948613 -0.76983874] [ 0. 0. 0. 1. ]] SLAMing on 89.689072329 meters Centerline goodness : 0.819898 Centerline is valid? [False, False] Translation: X:-3.22, Y:-3.60, Z:-0.77 [[ 0.97508739 -0.21957763 -0.0314681 -3.21785716] [ 0.21988022 0.9755055 0.00645858 -3.59686795] [ 0.02927915 -0.0132169 0.99948389 -0.76995895] [ 0. 0. 0. 1. ]] SLAMing on 89.719072329 meters Centerline goodness : 0.818290 Centerline is valid? [False, False] Translation: X:-3.22, Y:-3.60, Z:-0.77 [[ 0.97503708 -0.21973498 -0.03192549 -3.21683769] [ 0.22004476 0.97546816 0.0064939 -3.59785193] [ 0.02971536 -0.01335683 0.99946916 -0.76943141] [ 0. 0. 0. 1. ]] SLAMing on 89.74907232899999 meters Centerline goodness : 0.819624 Centerline is valid? [False, False] Translation: X:-3.22, Y:-3.60, Z:-0.77 [[ 0.9750555 -0.21964142 -0.03200664 -3.21709625] [ 0.21995738 0.9754867 0.00666628 -3.59798304] [ 0.02975786 -0.01354009 0.99946542 -0.76886837] [ 0. 0. 0. 1. ]] SLAMing on 89.77907232899999 meters Centerline goodness : 0.818556 Centerline is valid? [False, False] Translation: X:-3.22, Y:-3.60, Z:-0.77 [[ 0.97498952 -0.21992361 -0.03207872 -3.21677165] [ 0.22022804 0.97542843 0.00624371 -3.59662939] [ 0.02991736 -0.01315219 0.99946584 -0.76921803] [ 0. 0. 0. 1. ]] SLAMing on 89.80907232899999 meters Centerline goodness : 0.819558 Centerline is valid? [False, False] Translation: X:-3.22, Y:-3.60, Z:-0.77 [[ 0.97494856 -0.22010563 -0.03207532 -3.21673069] [ 0.22039885 0.97539218 0.00586835 -3.59506447] [ 0.02999436 -0.0127907 0.99946823 -0.7696145 ] [ 0. 0. 0. 1. ]] SLAMing on 89.83907232899999 meters Centerline goodness : 0.819116 Centerline is valid? [False, False] Translation: X:-3.22, Y:-3.59, Z:-0.77 [[ 0.97483892 -0.22057947 -0.03215247 -3.21634497] [ 0.22084808 0.97529534 0.00501274 -3.59234756] [ 0.03025244 -0.01198743 0.99947041 -0.77030432] [ 0. 0. 0. 1. ]] SLAMing on 89.86907232899999 meters Centerline goodness : 0.820708 Centerline is valid? [False, False] Translation: X:-3.22, Y:-3.59, Z:-0.77 [[ 0.97484101 -0.22054179 -0.03234687 -3.21653559] [ 0.2208196 0.9753006 0.00523889 -3.59283043] [ 0.03039253 -0.01224991 0.99946297 -0.76923216] [ 0. 0. 0. 1. ]] SLAMing on 89.89907232899999 meters Centerline goodness : 0.820549 Centerline is valid? [False, False] Translation: X:-3.22, Y:-3.59, Z:-0.77 [[ 0.97485324 -0.22046178 -0.03252324 -3.21692815] [ 0.22075358 0.97531338 0.00562725 -3.59389406] [ 0.03047975 -0.01266536 0.99945514 -0.76781773] [ 0. 0. 0. 1. ]] SLAMing on 89.929072329 meters Centerline goodness : 0.822664 Centerline is valid? [False, False] Translation: X:-3.22, Y:-3.59, Z:-0.77 [[ 9.73982795e-01 -2.24468515e-01 -3.11672853e-02 -3.21910774e+00] [ 2.24618860e-01 9.74445744e-01 1.36410049e-03 -3.59131104e+00] [ 3.00646309e-02 -8.32937049e-03 9.99513251e-01 -7.67168915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.959072329 meters Centerline goodness : 0.823580 Centerline is valid? [False, False] Translation: X:-3.22, Y:-3.59, Z:-0.77 [[ 9.73906975e-01 -2.24788012e-01 -3.12338662e-02 -3.21872197e+00] [ 2.24925460e-01 9.74375545e-01 9.13531563e-04 -3.58981274e+00] [ 3.02281645e-02 -7.91498650e-03 9.99511686e-01 -7.67678404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.989072329 meters Centerline goodness : 0.825514 Centerline is valid? [False, False] Translation: X:-3.22, Y:-3.59, Z:-0.77 [[ 9.73710179e-01 -2.25638369e-01 -3.12380262e-02 -3.21781989e+00] [ 2.25737681e-01 9.74188058e-01 -3.56183551e-04 -3.58573962e+00] [ 3.05120807e-02 -6.70478004e-03 9.99511910e-01 -7.69355718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.019072329 meters Centerline goodness : 0.825282 Centerline is valid? [False, False] Translation: X:-3.22, Y:-3.58, Z:-0.77 [[ 9.73646921e-01 -2.25900846e-01 -3.13126418e-02 -3.21745968e+00] [ 2.25990751e-01 9.74129207e-01 -6.83848318e-04 -3.58474484e+00] [ 3.06570409e-02 -6.41054064e-03 9.99509405e-01 -7.69678324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.049072329 meters Centerline goodness : 0.825643 Centerline is valid? [False, False] Translation: X:-3.22, Y:-3.58, Z:-0.77 [[ 9.73613415e-01 -2.26018124e-01 -3.15075418e-02 -3.21722705e+00] [ 2.26108815e-01 9.74101798e-01 -7.00958305e-04 -3.58478831e+00] [ 3.08499824e-02 -6.44167054e-03 9.99503268e-01 -7.69265702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.079072329 meters Centerline goodness : 0.826802 Centerline is valid? [False, False] Translation: X:-3.22, Y:-3.58, Z:-0.77 [[ 9.73435202e-01 -2.26741709e-01 -3.18135979e-02 -3.21604263e+00] [ 2.26824247e-01 9.73935154e-01 -1.03775586e-03 -3.58472865e+00] [ 3.12196839e-02 -6.20590728e-03 9.99493281e-01 -7.69258244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.109072329 meters Centerline goodness : 0.825184 Centerline is valid? [False, False] Translation: X:-3.22, Y:-3.58, Z:-0.77 [[ 9.73371526e-01 -2.27003556e-01 -3.18944886e-02 -3.21582147e+00] [ 2.27077608e-01 9.73875759e-01 -1.32883537e-03 -3.58359430e+00] [ 3.13629196e-02 -5.94907366e-03 9.99490358e-01 -7.69431639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.13907232899999 meters Centerline goodness : 0.826911 Centerline is valid? [False, False] Translation: X:-3.21, Y:-3.58, Z:-0.77 [[ 9.74073149e-01 -2.23804429e-01 -3.30617251e-02 -3.21449104e+00] [ 2.24007690e-01 9.74584093e-01 2.52978559e-03 -3.58427558e+00] [ 3.16552542e-02 -9.87027688e-03 9.99450110e-01 -7.69255104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.16907232899999 meters Centerline goodness : 0.826798 Centerline is valid? [False, False] Translation: X:-3.21, Y:-3.58, Z:-0.77 [[ 9.74016965e-01 -2.24059566e-01 -3.29888383e-02 -3.21481307e+00] [ 2.24247520e-01 9.74530034e-01 2.06472897e-03 -3.58229462e+00] [ 3.16859914e-02 -9.40874623e-03 9.99453587e-01 -7.69408403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.19907232899999 meters Centerline goodness : 0.827290 Centerline is valid? [False, False] Translation: X:-3.22, Y:-3.58, Z:-0.77 [[ 9.73938797e-01 -2.24382587e-01 -3.31009721e-02 -3.21506930e+00] [ 2.24559152e-01 9.74459031e-01 1.66858182e-03 -3.58092467e+00] [ 3.18811405e-02 -9.05822280e-03 9.99450620e-01 -7.68785074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.22907232899999 meters Centerline goodness : 0.828472 Centerline is valid? [False, False] Translation: X:-3.21, Y:-3.58, Z:-0.77 [[ 9.73898788e-01 -2.24534127e-01 -3.32502164e-02 -3.21489304e+00] [ 2.24709230e-01 9.74424585e-01 1.57813355e-03 -3.58079385e+00] [ 3.20454835e-02 -9.00857287e-03 9.99445813e-01 -7.68437014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.25907232899999 meters Centerline goodness : 0.828422 Centerline is valid? [False, False] Translation: X:-3.22, Y:-3.58, Z:-0.77 [[ 9.73872004e-01 -2.24643382e-01 -3.32967117e-02 -3.21511675e+00] [ 2.24814521e-01 9.74400512e-01 1.43980075e-03 -3.58022193e+00] [ 3.21208913e-02 -8.88776592e-03 9.99444474e-01 -7.68018233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.28907232899999 meters Centerline goodness : 0.828358 Centerline is valid? [False, False] Translation: X:-3.22, Y:-3.58, Z:-0.77 [[ 9.73751854e-01 -2.25181070e-01 -3.31785027e-02 -3.21550385e+00] [ 2.25323486e-01 9.74283841e-01 5.69154002e-04 -3.57702350e+00] [ 3.21971163e-02 -8.03011064e-03 9.99449280e-01 -7.68280332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.319072329 meters Centerline goodness : 0.828448 Centerline is valid? [False, False] Translation: X:-3.22, Y:-3.58, Z:-0.77 [[ 9.73700380e-01 -2.25399842e-01 -3.32036265e-02 -3.21534275e+00] [ 2.25529826e-01 9.74236248e-01 1.74099425e-04 -3.57564021e+00] [ 3.23089346e-02 -7.65792879e-03 9.99448592e-01 -7.68647808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.349072329 meters Centerline goodness : 0.827278 Centerline is valid? [False, False] Translation: X:-3.22, Y:-3.57, Z:-0.77 [[ 9.73642034e-01 -2.25650860e-01 -3.32096079e-02 -3.21517461e+00] [ 2.25766256e-01 9.74181461e-01 -2.82088303e-04 -3.57409688e+00] [ 3.24158378e-02 -7.22295579e-03 9.99448369e-01 -7.69104417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.379072329 meters Centerline goodness : 0.826774 Centerline is valid? [False, False] Translation: X:-3.21, Y:-3.57, Z:-0.77 [[ 9.74361170e-01 -2.22377555e-01 -3.41838125e-02 -3.21452832e+00] [ 2.22609132e-01 9.74902923e-01 3.07646467e-03 -3.57219690e+00] [ 3.26417621e-02 -1.06072165e-02 9.99410828e-01 -7.69459068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.409072329 meters Centerline goodness : 0.826065 Centerline is valid? [False, False] Translation: X:-3.22, Y:-3.57, Z:-0.77 [[ 9.74324926e-01 -2.22560236e-01 -3.40276457e-02 -3.21526134e+00] [ 2.22774254e-01 9.74866632e-01 2.58498866e-03 -3.56979688e+00] [ 3.25971006e-02 -1.00991023e-02 9.99417549e-01 -7.69469364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.439072329 meters Centerline goodness : 0.826077 Centerline is valid? [False, False] Translation: X:-3.22, Y:-3.57, Z:-0.77 [[ 9.74390353e-01 -2.22296891e-01 -3.38752430e-02 -3.21726472e+00] [ 2.22511851e-01 9.74926340e-01 2.66586886e-03 -3.56864027e+00] [ 3.24332524e-02 -1.01352399e-02 9.99422514e-01 -7.67673738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.469072329 meters Centerline goodness : 0.827246 Centerline is valid? [False, False] Translation: X:-3.22, Y:-3.57, Z:-0.77 [[ 9.74410076e-01 -2.22193643e-01 -3.39851243e-02 -3.21759045e+00] [ 2.22410464e-01 9.74949407e-01 2.69051105e-03 -3.56861884e+00] [ 3.25359623e-02 -1.01803083e-02 9.99418717e-01 -7.66915171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.49907232899999 meters Centerline goodness : 0.827675 Centerline is valid? [False, False] Translation: X:-3.22, Y:-3.57, Z:-0.77 [[ 9.74404495e-01 -2.22204556e-01 -3.40736860e-02 -3.21786976e+00] [ 2.22415574e-01 9.74948787e-01 2.48500738e-03 -3.56779283e+00] [ 3.26679189e-02 -9.99992081e-03 9.99416234e-01 -7.66434076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.52907232899999 meters Centerline goodness : 0.826671 Centerline is valid? [False, False] Translation: X:-3.22, Y:-3.57, Z:-0.77 [[ 0.97514859 -0.21875877 -0.03506889 -3.21717972] [ 0.21908248 0.97569014 0.00562327 -3.56529152] [ 0.03298623 -0.01316651 0.99936908 -0.76711854] [ 0. 0. 0. 1. ]] SLAMing on 90.55907232899999 meters Centerline goodness : 0.827272 Centerline is valid? [False, False] Translation: X:-3.22, Y:-3.56, Z:-0.77 [[ 0.97515802 -0.2187377 -0.03493798 -3.21792742] [ 0.21904516 0.97570096 0.00518237 -3.56269969] [ 0.03295544 -0.01270663 0.99937605 -0.76726059] [ 0. 0. 0. 1. ]] SLAMing on 90.58907232899999 meters Centerline goodness : 0.825958 Centerline is valid? [False, False] Translation: X:-3.22, Y:-3.56, Z:-0.77 [[ 0.97519644 -0.21858092 -0.03484666 -3.21873274] [ 0.21888181 0.97573846 0.00502052 -3.56121165] [ 0.03290384 -0.01252329 0.99938006 -0.76697939] [ 0. 0. 0. 1. ]] SLAMing on 90.61907232899999 meters Centerline goodness : 0.828000 Centerline is valid? [False, False] Translation: X:-3.22, Y:-3.56, Z:-0.77 [[ 0.97524653 -0.21835672 -0.03485033 -3.21945433] [ 0.2186552 0.97578963 0.00494972 -3.56034305] [ 0.03292578 -0.0124474 0.99938029 -0.76638036] [ 0. 0. 0. 1. ]] SLAMing on 90.64907232899999 meters Centerline goodness : 0.826831 Centerline is valid? [False, False] Translation: X:-3.22, Y:-3.56, Z:-0.77 [[ 0.97529877 -0.21811412 -0.03490753 -3.22005526] [ 0.21840921 0.97584532 0.0048297 -3.55941201] [ 0.03301092 -0.01233453 0.99937888 -0.76579892] [ 0. 0. 0. 1. ]] SLAMing on 90.679072329 meters Centerline goodness : 0.826831 Centerline is valid? [False, False] Translation: X:-3.22, Y:-3.56, Z:-0.77 [[ 0.97529877 -0.21811412 -0.03490753 -3.22005526] [ 0.21840921 0.97584532 0.0048297 -3.55941201] [ 0.03301092 -0.01233453 0.99937888 -0.76579892] [ 0. 0. 0. 1. ]] SLAMing on 90.709072329 meters Centerline goodness : 0.826132 Centerline is valid? [False, False] Translation: X:-3.21, Y:-3.55, Z:-0.76 [[ 9.76950338e-01 -2.10674476e-01 -3.44137085e-02 -3.21462437e+00] [ 2.10724633e-01 9.77542976e-01 -2.20413124e-03 -3.55474196e+00] [ 3.41052332e-02 -5.09848935e-03 9.99405242e-01 -7.63098474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.739072329 meters Centerline goodness : 0.828172 Centerline is valid? [False, False] Translation: X:-3.21, Y:-3.55, Z:-0.76 [[ 9.77816494e-01 -2.06446507e-01 -3.54223740e-02 -3.21457983e+00] [ 2.06640303e-01 9.78415211e-01 1.86022292e-03 -3.55453853e+00] [ 3.42737530e-02 -9.13864673e-03 9.99370699e-01 -7.62713927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.769072329 meters Centerline goodness : 0.828460 Centerline is valid? [False, False] Translation: X:-3.21, Y:-3.55, Z:-0.76 [[ 0.9786507 -0.20228825 -0.03636301 -3.21453039] [ 0.20259768 0.9792493 0.00499783 -3.55104024] [ 0.03459745 -0.01225819 0.99932615 -0.76337038] [ 0. 0. 0. 1. ]] SLAMing on 90.799072329 meters Centerline goodness : 0.829555 Centerline is valid? [False, False] Translation: X:-3.22, Y:-3.55, Z:-0.76 [[ 0.9787377 -0.20190204 -0.0361675 -3.21537881] [ 0.20220219 0.97933201 0.00480464 -3.54976084] [ 0.03444993 -0.01201563 0.99933419 -0.76339147] [ 0. 0. 0. 1. ]] SLAMing on 90.829072329 meters Centerline goodness : 0.829218 Centerline is valid? [False, False] Translation: X:-3.22, Y:-3.55, Z:-0.76 [[ 0.9787853 -0.20164511 -0.03631247 -3.21547829] [ 0.20194214 0.97938632 0.0046689 -3.5492576 ] [ 0.03462248 -0.01190287 0.99932958 -0.76306468] [ 0. 0. 0. 1. ]] SLAMing on 90.859072329 meters Centerline goodness : 0.829162 Centerline is valid? [False, False] Translation: X:-3.22, Y:-3.55, Z:-0.76 [[ 0.97886828 -0.20121688 -0.03645085 -3.21586665] [ 0.20151663 0.97947378 0.0047069 -3.54893097] [ 0.03475554 -0.01195289 0.99932436 -0.76246796] [ 0. 0. 0. 1. ]] SLAMing on 90.88907232899999 meters Centerline goodness : 0.831833 Centerline is valid? [False, False] Translation: X:-3.21, Y:-3.55, Z:-0.76 [[ 9.80802057e-01 -1.91816386e-01 -3.51254738e-02 -3.20854103e+00] [ 1.91930509e-01 9.81408510e-01 -1.25143254e-04 -3.54572095e+00] [ 3.44964434e-02 -6.61890929e-03 9.99382902e-01 -7.61703358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.91907232899999 meters Centerline goodness : 0.832123 Centerline is valid? [False, False] Translation: X:-3.21, Y:-3.55, Z:-0.76 [[ 0.9815749 -0.18763924 -0.03608648 -3.20800193] [ 0.18789801 0.98218085 0.00388813 -3.54560056] [ 0.03471389 -0.01059707 0.99934111 -0.76183382] [ 0. 0. 0. 1. ]] SLAMing on 90.94907232899999 meters Centerline goodness : 0.830735 Centerline is valid? [False, False] Translation: X:-3.21, Y:-3.55, Z:-0.76 [[ 0.98233402 -0.18342491 -0.03708349 -3.2073671 ] [ 0.18383466 0.98292519 0.00793019 -3.54575523] [ 0.0349957 -0.01460732 0.9992807 -0.76190462] [ 0. 0. 0. 1. ]] SLAMing on 90.97907232899999 meters Centerline goodness : 0.829942 Centerline is valid? [False, False] Translation: X:-3.21, Y:-3.55, Z:-0.76 [[ 0.98310876 -0.17894361 -0.03842316 -3.20603637] [ 0.17951672 0.98368179 0.01199488 -3.54653941] [ 0.03564976 -0.01868987 0.99918956 -0.76186614] [ 0. 0. 0. 1. ]] SLAMing on 91.00907232899999 meters Centerline goodness : 0.828600 Centerline is valid? [False, False] Translation: X:-3.21, Y:-3.55, Z:-0.76 [[ 0.98319008 -0.17846833 -0.03855283 -3.20620657] [ 0.17905504 0.98376198 0.01231516 -3.54737379] [ 0.03572894 -0.01901122 0.99918067 -0.76133244] [ 0. 0. 0. 1. ]] SLAMing on 91.03907232899999 meters Centerline goodness : 0.828653 Centerline is valid? [False, False] Translation: X:-3.21, Y:-3.55, Z:-0.76 [[ 0.98326876 -0.1779889 -0.03876214 -3.20634808] [ 0.17859247 0.98384141 0.01268105 -3.54841486] [ 0.03587871 -0.01939151 0.999168 -0.76055095] [ 0. 0. 0. 1. ]] SLAMing on 91.069072329 meters Centerline goodness : 0.830654 Centerline is valid? [False, False] Translation: X:-3.20, Y:-3.55, Z:-0.76 [[ 0.9845977 -0.17114326 -0.0357401 -3.19852481] [ 0.17145454 0.98517489 0.0058114 -3.54628274] [ 0.03421566 -0.0118497 0.99934422 -0.76134506] [ 0. 0. 0. 1. ]] SLAMing on 91.099072329 meters Centerline goodness : 0.828857 Centerline is valid? [False, False] Translation: X:-3.20, Y:-3.55, Z:-0.76 [[ 0.98517828 -0.16751336 -0.03691926 -3.19623272] [ 0.16796746 0.98574638 0.00953988 -3.54706366] [ 0.03479497 -0.01559971 0.99927272 -0.76230339] [ 0. 0. 0. 1. ]] SLAMing on 91.129072329 meters Centerline goodness : 0.828950 Centerline is valid? [False, False] Translation: X:-3.20, Y:-3.55, Z:-0.76 [[ 0.98520056 -0.16735301 -0.03705154 -3.19587625] [ 0.1678047 0.9857753 0.00941451 -3.54617264] [ 0.03494895 -0.0154926 0.99926901 -0.76277535] [ 0. 0. 0. 1. ]] SLAMing on 91.159072329 meters Centerline goodness : 0.826714 Centerline is valid? [False, False] Translation: X:-3.19, Y:-3.55, Z:-0.76 [[ 0.98527027 -0.16686764 -0.03738562 -3.1948185 ] [ 0.16733713 0.98585122 0.00977995 -3.54771623] [ 0.03522471 -0.01589189 0.99925305 -0.76323703] [ 0. 0. 0. 1. ]] SLAMing on 91.189072329 meters Centerline goodness : 0.825184 Centerline is valid? [False, False] Translation: X:-3.19, Y:-3.55, Z:-0.76 [[ 0.98528433 -0.16671858 -0.03767909 -3.19379977] [ 0.1672037 0.98587073 0.01009106 -3.54963503] [ 0.03546434 -0.01624265 0.99923894 -0.76333642] [ 0. 0. 0. 1. ]] SLAMing on 91.219072329 meters Centerline goodness : 0.826444 Centerline is valid? [False, False] Translation: X:-3.19, Y:-3.55, Z:-0.76 [[ 0.98531129 -0.16650039 -0.037938 -3.19294795] [ 0.16700643 0.98589923 0.01056235 -3.55198528] [ 0.03564441 -0.01674309 0.99922427 -0.76323909] [ 0. 0. 0. 1. ]] SLAMing on 91.24907232899999 meters Centerline goodness : 0.826749 Centerline is valid? [False, False] Translation: X:-3.18, Y:-3.55, Z:-0.77 [[ 9.85786871e-01 -1.65108497e-01 -3.10391494e-02 -3.17996240e+00] [ 1.65244126e-01 9.86250981e-01 1.83873518e-03 -3.55002089e+00] [ 3.03088008e-02 -6.94163811e-03 9.99516478e-01 -7.68884371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.27907232899999 meters Centerline goodness : 0.827852 Centerline is valid? [False, False] Translation: X:-3.18, Y:-3.55, Z:-0.77 [[ 9.85765479e-01 -1.65187840e-01 -3.12953453e-02 -3.17892522e+00] [ 1.65331279e-01 9.86235990e-01 2.03462105e-03 -3.55126596e+00] [ 3.05285012e-02 -7.17975864e-03 9.99508110e-01 -7.69178067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.30907232899999 meters Centerline goodness : 0.829497 Centerline is valid? [False, False] Translation: X:-3.18, Y:-3.55, Z:-0.77 [[ 9.85724885e-01 -1.65369706e-01 -3.16118861e-02 -3.17763381e+00] [ 1.65517498e-01 9.86204620e-01 2.09883895e-03 -3.55228315e+00] [ 3.08287037e-02 -7.30119807e-03 9.99498016e-01 -7.69655424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.33907232899999 meters Centerline goodness : 0.829900 Centerline is valid? [False, False] Translation: X:-3.18, Y:-3.55, Z:-0.77 [[ 9.85709631e-01 -1.65394728e-01 -3.19547710e-02 -3.17654822e+00] [ 1.65553716e-01 9.86197910e-01 2.37701717e-03 -3.55380348e+00] [ 3.11205823e-02 -7.63327980e-03 9.99486489e-01 -7.69742361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.36907232899999 meters Centerline goodness : 0.831358 Centerline is valid? [False, False] Translation: X:-3.17, Y:-3.56, Z:-0.77 [[ 9.85683144e-01 -1.65439791e-01 -3.25332896e-02 -3.17443257e+00] [ 1.65624287e-01 9.86184234e-01 3.04161760e-03 -3.55835562e+00] [ 3.15806127e-02 -8.38637408e-03 9.99466024e-01 -7.69678863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.39907232899999 meters Centerline goodness : 0.831954 Centerline is valid? [False, False] Translation: X:-3.17, Y:-3.56, Z:-0.77 [[ 9.85611980e-01 -1.65749128e-01 -3.31096893e-02 -3.17218274e+00] [ 1.65942943e-01 9.86130244e-01 3.17502988e-03 -3.56112100e+00] [ 3.21242076e-02 -8.62366678e-03 9.99446681e-01 -7.70069702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.429072329 meters Centerline goodness : 0.832308 Centerline is valid? [False, False] Translation: X:-3.17, Y:-3.56, Z:-0.77 [[ 9.85522195e-01 -1.66172637e-01 -3.36549986e-02 -3.16978626e+00] [ 1.66371234e-01 9.86058095e-01 3.16950106e-03 -3.56353966e+00] [ 3.26590994e-02 -8.72283727e-03 9.99428484e-01 -7.70810986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.459072329 meters Centerline goodness : 0.831406 Centerline is valid? [False, False] Translation: X:-3.17, Y:-3.57, Z:-0.77 [[ 9.85408603e-01 -1.66715408e-01 -3.42907841e-02 -3.16660228e+00] [ 1.66926460e-01 9.85963601e-01 3.36666138e-03 -3.56672287e+00] [ 3.32481906e-02 -9.04157628e-03 9.99406228e-01 -7.72059644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.489072329 meters Centerline goodness : 0.832572 Centerline is valid? [False, False] Translation: X:-3.17, Y:-3.57, Z:-0.77 [[ 9.85351902e-01 -1.66991113e-01 -3.45774107e-02 -3.16508907e+00] [ 1.67200867e-01 9.85917509e-01 3.24575529e-03 -3.56702577e+00] [ 3.35484623e-02 -8.97958419e-03 9.99396752e-01 -7.73040249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.519072329 meters Centerline goodness : 0.829779 Centerline is valid? [False, False] Translation: X:-3.16, Y:-3.57, Z:-0.77 [[ 9.85259418e-01 -1.67466943e-01 -3.49099097e-02 -3.16312407e+00] [ 1.67669070e-01 9.85838999e-01 2.92430626e-03 -3.56706989e+00] [ 3.39258258e-02 -8.73451239e-03 9.99386185e-01 -7.74379990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.549072329 meters Centerline goodness : 0.827621 Centerline is valid? [False, False] Translation: X:-3.16, Y:-3.57, Z:-0.78 [[ 9.85111397e-01 -1.68173933e-01 -3.56800225e-02 -3.15973405e+00] [ 1.68383469e-01 9.85717213e-01 2.92975195e-03 -3.56991682e+00] [ 3.46777045e-02 -8.89405800e-03 9.99358971e-01 -7.75450167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.579072329 meters Centerline goodness : 0.828177 Centerline is valid? [False, False] Translation: X:-3.16, Y:-3.57, Z:-0.78 [[ 9.84964764e-01 -1.68895075e-01 -3.63162169e-02 -3.15683016e+00] [ 1.69095969e-01 9.85596392e-01 2.51111978e-03 -3.57150636e+00] [ 3.53690166e-02 -8.61429038e-03 9.99337194e-01 -7.76520160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.609072329 meters Centerline goodness : 0.827678 Centerline is valid? [False, False] Translation: X:-3.16, Y:-3.57, Z:-0.78 [[ 9.84927556e-01 -1.68998719e-01 -3.68394109e-02 -3.15526622e+00] [ 1.69217802e-01 9.85574444e-01 2.88977863e-03 -3.57393440e+00] [ 3.58196130e-02 -9.08010673e-03 9.99317020e-01 -7.76364153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.63907232899999 meters Centerline goodness : 0.826905 Centerline is valid? [False, False] Translation: X:-3.15, Y:-3.58, Z:-0.78 [[ 9.84617174e-01 -1.70714327e-01 -3.72241644e-02 -3.15158404e+00] [ 1.70903859e-01 9.85285786e-01 1.94697320e-03 -3.57656603e+00] [ 3.63440638e-02 -8.27877657e-03 9.99305044e-01 -7.78117425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.66907232899999 meters Centerline goodness : 0.828504 Centerline is valid? [False, False] Translation: X:-3.15, Y:-3.58, Z:-0.78 [[ 9.84568720e-01 -1.70892266e-01 -3.76864597e-02 -3.15033218e+00] [ 1.71099113e-01 9.85251115e-01 2.30954930e-03 -3.57850603e+00] [ 3.67359424e-02 -8.72202983e-03 9.99286944e-01 -7.77809108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.69907232899999 meters Centerline goodness : 0.828532 Centerline is valid? [False, False] Translation: X:-3.15, Y:-3.58, Z:-0.78 [[ 9.84536698e-01 -1.70991146e-01 -3.80725435e-02 -3.14930788e+00] [ 1.71219034e-01 9.85229057e-01 2.78355806e-03 -3.58049449e+00] [ 3.70342123e-02 -9.25925920e-03 9.99271101e-01 -7.77427877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.72907232899999 meters Centerline goodness : 0.829160 Centerline is valid? [False, False] Translation: X:-3.15, Y:-3.58, Z:-0.78 [[ 9.84459804e-01 -1.71326591e-01 -3.85498752e-02 -3.14774608e+00] [ 1.71581191e-01 9.85164215e-01 3.37119431e-03 -3.58326789e+00] [ 3.74003823e-02 -9.93323879e-03 9.99250991e-01 -7.77029919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.75907232899999 meters Centerline goodness : 0.829438 Centerline is valid? [False, False] Translation: X:-3.15, Y:-3.59, Z:-0.78 [[ 0.98446628 -0.17121474 -0.03888005 -3.14711533] [ 0.17149063 0.98517823 0.00385057 -3.58501839] [ 0.03764451 -0.01045832 0.99923647 -0.77653623] [ 0. 0. 0. 1. ]] SLAMing on 91.78907232899999 meters Centerline goodness : 0.830359 Centerline is valid? [False, False] Translation: X:-3.15, Y:-3.59, Z:-0.78 [[ 0.98449267 -0.17100703 -0.0391252 -3.1469247 ] [ 0.17130686 0.98520781 0.00441903 -3.58685398] [ 0.03779077 -0.01105292 0.99922454 -0.77570266] [ 0. 0. 0. 1. ]] SLAMing on 91.819072329 meters Centerline goodness : 0.830111 Centerline is valid? [False, False] Translation: X:-3.15, Y:-3.59, Z:-0.77 [[ 0.98456928 -0.17054526 -0.0392129 -3.14769423] [ 0.17087769 0.98527819 0.00526355 -3.5887316 ] [ 0.03773794 -0.01188294 0.99921702 -0.77419512] [ 0. 0. 0. 1. ]] SLAMing on 91.849072329 meters Centerline goodness : 0.830701 Centerline is valid? [False, False] Translation: X:-3.15, Y:-3.59, Z:-0.77 [[ 0.984556 -0.17057942 -0.03939731 -3.14732548] [ 0.17091578 0.98527134 0.00530874 -3.58883267] [ 0.03791148 -0.01196038 0.99920952 -0.77406017] [ 0. 0. 0. 1. ]] SLAMing on 91.879072329 meters Centerline goodness : 0.831823 Centerline is valid? [False, False] Translation: X:-3.15, Y:-3.59, Z:-0.77 [[ 0.98456684 -0.17045937 -0.0396452 -3.14703261] [ 0.17081096 0.98528772 0.00563206 -3.58975172] [ 0.03810189 -0.01231698 0.99919795 -0.77354964] [ 0. 0. 0. 1. ]] SLAMing on 91.909072329 meters Centerline goodness : 0.830657 Centerline is valid? [False, False] Translation: X:-3.15, Y:-3.59, Z:-0.77 [[ 0.98459168 -0.1702759 -0.03981627 -3.14660704] [ 0.17064597 0.98531375 0.0060634 -3.59127985] [ 0.03819907 -0.01276446 0.99918862 -0.77336299] [ 0. 0. 0. 1. ]] SLAMing on 91.939072329 meters Centerline goodness : 0.830687 Centerline is valid? [False, False] Translation: X:-3.14, Y:-3.59, Z:-0.77 [[ 0.98454168 -0.17046736 -0.04023118 -3.14480778] [ 0.17084924 0.9852775 0.00622762 -3.59354475] [ 0.03857727 -0.01300482 0.99917099 -0.77387402] [ 0. 0. 0. 1. ]] SLAMing on 91.969072329 meters Centerline goodness : 0.830145 Centerline is valid? [False, False] Translation: X:-3.14, Y:-3.59, Z:-0.77 [[ 0.98456028 -0.17032986 -0.04035828 -3.14453184] [ 0.17073051 0.98529517 0.00667261 -3.59496284] [ 0.03862827 -0.01345998 0.99916299 -0.77357515] [ 0. 0. 0. 1. ]] SLAMing on 91.99907232899999 meters Centerline goodness : 0.827553 Centerline is valid? [False, False] Translation: X:-3.14, Y:-3.60, Z:-0.77 [[ 0.98458755 -0.17014273 -0.04048208 -3.14434235] [ 0.17056426 0.98532045 0.007172 -3.59651922] [ 0.03866756 -0.01396626 0.99915452 -0.77322576] [ 0. 0. 0. 1. ]] SLAMing on 92.02907232899999 meters Centerline goodness : 0.830694 Centerline is valid? [False, False] Translation: X:-3.14, Y:-3.60, Z:-0.77 [[ 0.98457058 -0.17020079 -0.04065061 -3.14351756] [ 0.17063196 0.98530736 0.00735831 -3.59755628] [ 0.03880096 -0.01418107 0.99914633 -0.77353846] [ 0. 0. 0. 1. ]] SLAMing on 92.05907232899999 meters Centerline goodness : 0.829843 Centerline is valid? [False, False] Translation: X:-3.14, Y:-3.60, Z:-0.77 [[ 0.98458689 -0.17009496 -0.04069831 -3.14357369] [ 0.17052951 0.98532456 0.0074296 -3.59734263] [ 0.03883731 -0.01425535 0.99914386 -0.77343906] [ 0. 0. 0. 1. ]] SLAMing on 92.08907232899999 meters Centerline goodness : 0.828570 Centerline is valid? [False, False] Translation: X:-3.14, Y:-3.60, Z:-0.77 [[ 0.98460147 -0.16998433 -0.04080784 -3.1433416 ] [ 0.17042285 0.98534253 0.00749359 -3.59741495] [ 0.03893591 -0.01433279 0.99913891 -0.77346797] [ 0. 0. 0. 1. ]] SLAMing on 92.11907232899999 meters Centerline goodness : 0.825661 Centerline is valid? [False, False] Translation: X:-3.14, Y:-3.60, Z:-0.77 [[ 0.98453701 -0.1702493 -0.04125599 -3.14151024] [ 0.17068961 0.98529728 0.00737012 -3.59845153] [ 0.03939465 -0.01429812 0.99912143 -0.77405924] [ 0. 0. 0. 1. ]] SLAMing on 92.14907232899999 meters Centerline goodness : 0.824573 Centerline is valid? [False, False] Translation: X:-3.14, Y:-3.60, Z:-0.77 [[ 0.98453433 -0.17021797 -0.0414488 -3.14085638] [ 0.17066701 0.98530006 0.00752148 -3.59935954] [ 0.03955922 -0.0144791 0.99911232 -0.77415136] [ 0. 0. 0. 1. ]] SLAMing on 92.179072329 meters Centerline goodness : 0.823653 Centerline is valid? [False, False] Translation: X:-3.14, Y:-3.60, Z:-0.78 [[ 0.98445044 -0.17062304 -0.04177452 -3.1391384 ] [ 0.17106246 0.98523421 0.00715421 -3.59947704] [ 0.03993702 -0.01418901 0.99910145 -0.7752113 ] [ 0. 0. 0. 1. ]] SLAMing on 92.209072329 meters Centerline goodness : 0.823774 Centerline is valid? [False, False] Translation: X:-3.14, Y:-3.60, Z:-0.78 [[ 0.98430991 -0.17132045 -0.04222926 -3.13644874] [ 0.17173713 0.9851219 0.00641801 -3.59898904] [ 0.04050144 -0.01356964 0.99908733 -0.77722153] [ 0. 0. 0. 1. ]] SLAMing on 92.239072329 meters Centerline goodness : 0.822427 Centerline is valid? [False, False] Translation: X:-3.14, Y:-3.60, Z:-0.78 [[ 0.98428624 -0.17143061 -0.04233361 -3.13580206] [ 0.17184341 0.98510423 0.00628544 -3.5989868 ] [ 0.04062551 -0.01346142 0.99908376 -0.77770192] [ 0. 0. 0. 1. ]] SLAMing on 92.269072329 meters Centerline goodness : 0.823400 Centerline is valid? [False, False] Translation: X:-3.12, Y:-3.59, Z:-0.78 [[ 9.84566753e-01 -1.70937048e-01 -3.75344453e-02 -3.11758892e+00] [ 1.70983899e-01 9.85271829e-01 -1.98207641e-03 -3.59345768e+00] [ 3.73204418e-02 -4.46629926e-03 9.99293369e-01 -7.82086996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.299072329 meters Centerline goodness : 0.822873 Centerline is valid? [False, False] Translation: X:-3.12, Y:-3.59, Z:-0.78 [[ 9.84597428e-01 -1.70752456e-01 -3.75699940e-02 -3.11773889e+00] [ 1.70805936e-01 9.85303036e-01 -1.80538370e-03 -3.59396536e+00] [ 3.73261028e-02 -4.63960184e-03 9.99292368e-01 -7.81774185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.329072329 meters Centerline goodness : 0.824338 Centerline is valid? [False, False] Translation: X:-3.10, Y:-3.59, Z:-0.79 [[ 9.85101825e-01 -1.68978121e-01 -3.19497759e-02 -3.10216613e+00] [ 1.68770758e-01 9.85613333e-01 -9.09890207e-03 -3.58892632e+00] [ 3.30276404e-02 3.57115716e-03 9.99448059e-01 -7.86280219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.359072329 meters Centerline goodness : 0.823741 Centerline is valid? [False, False] Translation: X:-3.10, Y:-3.59, Z:-0.79 [[ 9.85635009e-01 -1.65577902e-01 -3.32804453e-02 -3.09948038e+00] [ 1.65492484e-01 9.86196680e-01 -5.32417552e-03 -3.59118641e+00] [ 3.37026304e-02 -2.59969783e-04 9.99431871e-01 -7.86624753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.38907232899999 meters Centerline goodness : 0.822915 Centerline is valid? [False, False] Translation: X:-3.10, Y:-3.59, Z:-0.79 [[ 9.86117613e-01 -1.62341816e-01 -3.48882205e-02 -3.09578333e+00] [ 1.62383960e-01 9.86726282e-01 -1.64106627e-03 -3.59317522e+00] [ 3.46915378e-02 -4.04700303e-03 9.99389873e-01 -7.87598950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.41907232899999 meters Centerline goodness : 0.823732 Centerline is valid? [False, False] Translation: X:-3.09, Y:-3.59, Z:-0.79 [[ 9.86015955e-01 -1.62857703e-01 -3.53539899e-02 -3.09355214e+00] [ 1.62883485e-01 9.86642927e-01 -2.16908799e-03 -3.59280752e+00] [ 3.52350168e-02 -3.61982573e-03 9.99372498e-01 -7.89097852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.44907232899999 meters Centerline goodness : 0.823184 Centerline is valid? [False, False] Translation: X:-3.09, Y:-3.59, Z:-0.79 [[ 9.85934625e-01 -1.63264942e-01 -3.57417524e-02 -3.09176167e+00] [ 1.63277711e-01 9.86576772e-01 -2.58104490e-03 -3.59260803e+00] [ 3.56833769e-02 -3.29108998e-03 9.99357726e-01 -7.90237980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.47907232899999 meters Centerline goodness : 0.822172 Centerline is valid? [False, False] Translation: X:-3.09, Y:-3.59, Z:-0.79 [[ 9.85856744e-01 -1.63661393e-01 -3.60753181e-02 -3.09004822e+00] [ 1.63663407e-01 9.86511925e-01 -2.91729947e-03 -3.59263272e+00] [ 3.60661808e-02 -3.02817011e-03 9.99344816e-01 -7.91359312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.50907232899999 meters Centerline goodness : 0.821299 Centerline is valid? [False, False] Translation: X:-3.09, Y:-3.59, Z:-0.79 [[ 9.85743568e-01 -1.64247170e-01 -3.65032234e-02 -3.08766962e+00] [ 1.64239732e-01 9.86415188e-01 -3.22283956e-03 -3.59326537e+00] [ 3.65366763e-02 -2.81838624e-03 9.99328338e-01 -7.92829616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.53907232899999 meters Centerline goodness : 0.820928 Centerline is valid? [False, False] Translation: X:-3.09, Y:-3.59, Z:-0.79 [[ 9.85670329e-01 -1.64608512e-01 -3.68515909e-02 -3.08611680e+00] [ 1.64593496e-01 9.86355411e-01 -3.46176806e-03 -3.59329993e+00] [ 3.69186026e-02 -2.65337009e-03 9.99314753e-01 -7.93650113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.569072329 meters Centerline goodness : 0.820901 Centerline is valid? [False, False] Translation: X:-3.08, Y:-3.60, Z:-0.79 [[ 9.85503633e-01 -1.65463850e-01 -3.74740327e-02 -3.08312304e+00] [ 1.65441223e-01 9.86212615e-01 -3.72552031e-03 -3.59505752e+00] [ 3.75738028e-02 -2.52823600e-03 9.99290657e-01 -7.94770539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.599072329 meters Centerline goodness : 0.820901 Centerline is valid? [False, False] Translation: X:-3.08, Y:-3.60, Z:-0.79 [[ 9.85490152e-01 -1.65541053e-01 -3.74876010e-02 -3.08308360e+00] [ 1.65520350e-01 9.86199521e-01 -3.67674466e-03 -3.59515029e+00] [ 3.75789063e-02 -2.58156519e-03 9.99290329e-01 -7.94762977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.629072329 meters Centerline goodness : 0.821146 Centerline is valid? [False, False] Translation: X:-3.08, Y:-3.60, Z:-0.79 [[ 9.85455856e-01 -1.65667565e-01 -3.78287375e-02 -3.08217509e+00] [ 1.65661166e-01 9.86177124e-01 -3.32541759e-03 -3.59719247e+00] [ 3.78567494e-02 -2.98970052e-03 9.99278704e-01 -7.94406461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.659072329 meters Centerline goodness : 0.821182 Centerline is valid? [False, False] Translation: X:-3.08, Y:-3.60, Z:-0.79 [[ 9.85452998e-01 -1.65595771e-01 -3.82155683e-02 -3.08162075e+00] [ 1.65609019e-01 9.86187398e-01 -2.84068589e-03 -3.59897905e+00] [ 3.81581175e-02 -3.52948036e-03 9.99265481e-01 -7.93551452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.689072329 meters Centerline goodness : 0.821147 Centerline is valid? [False, False] Translation: X:-3.08, Y:-3.60, Z:-0.79 [[ 9.85497363e-01 -1.65263865e-01 -3.85071642e-02 -3.08173462e+00] [ 1.65317029e-01 9.86238796e-01 -1.82147258e-03 -3.60175244e+00] [ 3.82782828e-02 -4.57083354e-03 9.99256664e-01 -7.91915212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.719072329 meters Centerline goodness : 0.820400 Centerline is valid? [False, False] Translation: X:-3.08, Y:-3.60, Z:-0.79 [[ 9.85451370e-01 -1.65477827e-01 -3.87644840e-02 -3.08078108e+00] [ 1.65531287e-01 9.86202806e-01 -1.84871551e-03 -3.60204907e+00] [ 3.85355643e-02 -4.59491567e-03 9.99246665e-01 -7.92281003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.74907232899999 meters Centerline goodness : 0.819200 Centerline is valid? [False, False] Translation: X:-3.08, Y:-3.60, Z:-0.79 [[ 9.85405452e-01 -1.65689906e-01 -3.90249827e-02 -3.07965540e+00] [ 1.65740352e-01 9.86167475e-01 -1.96155064e-03 -3.60227854e+00] [ 3.88101778e-02 -4.53509169e-03 9.99236310e-01 -7.92855925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.77907232899999 meters Centerline goodness : 0.818300 Centerline is valid? [False, False] Translation: X:-3.08, Y:-3.60, Z:-0.79 [[ 9.85293495e-01 -1.66189312e-01 -3.97220528e-02 -3.07665232e+00] [ 1.66237420e-01 9.86083496e-01 -2.11191700e-03 -3.60428451e+00] [ 3.95202387e-02 -4.52243347e-03 9.99208536e-01 -7.93969781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.80907232899999 meters Centerline goodness : 0.819062 Centerline is valid? [False, False] Translation: X:-3.08, Y:-3.61, Z:-0.79 [[ 9.85297023e-01 -1.66090479e-01 -4.00465984e-02 -3.07583899e+00] [ 1.66155878e-01 9.86098012e-01 -1.71300287e-03 -3.60627635e+00] [ 3.97743845e-02 -4.96616108e-03 9.99196345e-01 -7.93611430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.83907232899999 meters Centerline goodness : 0.818668 Centerline is valid? [False, False] Translation: X:-3.06, Y:-3.60, Z:-0.80 [[ 9.85745436e-01 -1.64665472e-01 -3.45140240e-02 -3.05904967e+00] [ 1.64471923e-01 9.86346053e-01 -8.39340581e-03 -3.60307411e+00] [ 3.54248755e-02 2.59717355e-03 9.99368967e-01 -7.97350934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.86907232899999 meters Centerline goodness : 0.819784 Centerline is valid? [False, False] Translation: X:-3.06, Y:-3.60, Z:-0.80 [[ 9.85747110e-01 -1.64595943e-01 -3.47966916e-02 -3.05838575e+00] [ 1.64415311e-01 9.86358680e-01 -8.00994283e-03 -3.60465232e+00] [ 3.56404229e-02 2.17466913e-03 9.99362312e-01 -7.97118610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.89907232899999 meters Centerline goodness : 0.817339 Centerline is valid? [False, False] Translation: X:-3.06, Y:-3.61, Z:-0.80 [[ 9.85690834e-01 -1.64855377e-01 -3.51608306e-02 -3.05670234e+00] [ 1.64679089e-01 9.86315784e-01 -7.87218209e-03 -3.60556048e+00] [ 3.59774537e-02 1.96928420e-03 9.99350662e-01 -7.97786295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.929072329 meters Centerline goodness : 0.818222 Centerline is valid? [False, False] Translation: X:-3.06, Y:-3.61, Z:-0.80 [[ 9.85677905e-01 -1.64876515e-01 -3.54231818e-02 -3.05578282e+00] [ 1.64706956e-01 9.86312703e-01 -7.67276253e-03 -3.60629106e+00] [ 3.62033925e-02 1.72842805e-03 9.99342948e-01 -7.98153795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.959072329 meters Centerline goodness : 0.817732 Centerline is valid? [False, False] Translation: X:-3.05, Y:-3.61, Z:-0.80 [[ 9.85612735e-01 -1.65159261e-01 -3.59159549e-02 -3.05388187e+00] [ 1.64988508e-01 9.86265528e-01 -7.68771966e-03 -3.60747375e+00] [ 3.66923664e-02 1.65139460e-03 9.99325244e-01 -7.98785269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.989072329 meters Centerline goodness : 0.816136 Centerline is valid? [False, False] Translation: X:-3.05, Y:-3.61, Z:-0.80 [[ 9.85549463e-01 -1.65425042e-01 -3.64254201e-02 -3.05173268e+00] [ 1.65258801e-01 9.86221343e-01 -7.54925395e-03 -3.60972959e+00] [ 3.71723624e-02 1.42054192e-03 9.99307859e-01 -7.99487817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.019072329 meters Centerline goodness : 0.812894 Centerline is valid? [False, False] Translation: X:-3.05, Y:-3.61, Z:-0.80 [[ 9.85497493e-01 -1.65585566e-01 -3.70959869e-02 -3.04899058e+00] [ 1.65436091e-01 9.86195065e-01 -7.08474935e-03 -3.61362858e+00] [ 3.77570115e-02 8.44987666e-04 9.99286593e-01 -8.00056361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.049072329 meters Centerline goodness : 0.811505 Centerline is valid? [False, False] Translation: X:-3.05, Y:-3.61, Z:-0.80 [[ 9.85462767e-01 -1.65727198e-01 -3.73848908e-02 -3.04783763e+00] [ 1.65586387e-01 9.86171475e-01 -6.85347900e-03 -3.61488963e+00] [ 3.80037207e-02 5.63419407e-04 9.99277439e-01 -8.00419854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.079072329 meters Centerline goodness : 0.811816 Centerline is valid? [False, False] Translation: X:-3.05, Y:-3.62, Z:-0.80 [[ 9.85450538e-01 -1.65703576e-01 -3.78095600e-02 -3.04663365e+00] [ 1.65573743e-01 9.86175584e-01 -6.56147356e-03 -3.61620096e+00] [ 3.83741245e-02 2.05737270e-04 9.99263421e-01 -8.00483442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.109072329 meters Centerline goodness : 0.807133 Centerline is valid? [False, False] Translation: X:-3.05, Y:-3.62, Z:-0.80 [[ 9.85503074e-01 -1.65343321e-01 -3.80167944e-02 -3.04628540e+00] [ 1.65232857e-01 9.86236019e-01 -6.05128400e-03 -3.61776013e+00] [ 3.84940714e-02 -3.18064576e-04 9.99258778e-01 -8.00315205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.13907232899999 meters Centerline goodness : 0.808358 Centerline is valid? [False, False] Translation: X:-3.05, Y:-3.62, Z:-0.80 [[ 9.85511415e-01 -1.65225372e-01 -3.83122438e-02 -3.04531771e+00] [ 1.65127102e-01 9.86255608e-01 -5.73722451e-03 -3.61949301e+00] [ 3.87336004e-02 -6.72289535e-04 9.99249346e-01 -8.00374068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.16907232899999 meters Centerline goodness : 0.806432 Centerline is valid? [False, False] Translation: X:-3.04, Y:-3.63, Z:-0.80 [[ 9.85622421e-01 -1.64464201e-01 -3.87294392e-02 -3.04447089e+00] [ 1.64420184e-01 9.86380839e-01 -4.34082312e-03 -3.62517871e+00] [ 3.89158868e-02 -2.08948892e-03 9.99240305e-01 -7.99415302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.19907232899999 meters Centerline goodness : 0.805114 Centerline is valid? [False, False] Translation: X:-3.04, Y:-3.63, Z:-0.80 [[ 9.85685381e-01 -1.64082978e-01 -3.87441119e-02 -3.04461932e+00] [ 1.64058927e-01 9.86443140e-01 -3.82102410e-03 -3.62661927e+00] [ 3.88458284e-02 -2.58998981e-03 9.99241859e-01 -7.99145059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.22907232899999 meters Centerline goodness : 0.803544 Centerline is valid? [False, False] Translation: X:-3.05, Y:-3.63, Z:-0.80 [[ 9.85739858e-01 -1.63797463e-01 -3.85658321e-02 -3.04510253e+00] [ 1.63780817e-01 9.86490140e-01 -3.61206281e-03 -3.62662715e+00] [ 3.86364598e-02 -2.75578922e-03 9.99249533e-01 -7.99334897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.25907232899999 meters Centerline goodness : 0.800573 Centerline is valid? [False, False] Translation: X:-3.05, Y:-3.63, Z:-0.80 [[ 9.85890677e-01 -1.63005376e-01 -3.80633633e-02 -3.04693916e+00] [ 1.63005357e-01 9.86620236e-01 -3.12478776e-03 -3.62609714e+00] [ 3.80634417e-02 -3.12383302e-03 9.99270442e-01 -7.99280751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.28907232899999 meters Centerline goodness : 0.800348 Centerline is valid? [False, False] Translation: X:-3.05, Y:-3.63, Z:-0.80 [[ 9.85964545e-01 -1.62558925e-01 -3.80593180e-02 -3.04746346e+00] [ 1.62581346e-01 9.86691910e-01 -2.52586952e-03 -3.62761047e+00] [ 3.79634238e-02 -3.69731735e-03 9.99272289e-01 -7.98582159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.319072329 meters Centerline goodness : 0.800170 Centerline is valid? [False, False] Translation: X:-3.05, Y:-3.63, Z:-0.80 [[ 9.86053122e-01 -1.61981416e-01 -3.82264569e-02 -3.04787965e+00] [ 1.62036136e-01 9.86783390e-01 -1.68296249e-03 -3.63008004e+00] [ 3.79938413e-02 -4.53457694e-03 9.99267685e-01 -7.97338577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.349072329 meters Centerline goodness : 0.799257 Centerline is valid? [False, False] Translation: X:-3.05, Y:-3.63, Z:-0.80 [[ 9.86181152e-01 -1.61122384e-01 -3.85527340e-02 -3.04817564e+00] [ 1.61224844e-01 9.86917596e-01 -4.56883293e-04 -3.63449243e+00] [ 3.81219856e-02 -5.76508882e-03 9.99256463e-01 -7.95504771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.379072329 meters Centerline goodness : 0.798156 Centerline is valid? [False, False] Translation: X:-3.05, Y:-3.64, Z:-0.80 [[ 9.86221150e-01 -1.60882557e-01 -3.85311080e-02 -3.04828638e+00] [ 1.60994914e-01 9.86955218e-01 -1.89183951e-04 -3.63524737e+00] [ 3.80589145e-02 -6.01673520e-03 9.99257383e-01 -7.95450476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.409072329 meters Centerline goodness : 0.798965 Centerline is valid? [False, False] Translation: X:-3.05, Y:-3.63, Z:-0.80 [[ 9.86243069e-01 -1.60758158e-01 -3.84892729e-02 -3.04834888e+00] [ 1.60871888e-01 9.86975286e-01 -1.44061972e-04 -3.63490333e+00] [ 3.80111202e-02 -6.04976186e-03 9.99259003e-01 -7.95694113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.439072329 meters Centerline goodness : 0.797547 Centerline is valid? [False, False] Translation: X:-3.05, Y:-3.64, Z:-0.80 [[ 0.98682196 -0.15683171 -0.0398276 -3.04644036] [ 0.15712321 0.98756974 0.00427791 -3.63678892] [ 0.03866162 -0.01047938 0.99919741 -0.79525442] [ 0. 0. 0. 1. ]] SLAMing on 93.469072329 meters Centerline goodness : 0.796971 Centerline is valid? [False, False] Translation: X:-3.05, Y:-3.64, Z:-0.79 [[ 0.98691674 -0.15628665 -0.03962105 -3.04774273] [ 0.15659759 0.98765058 0.00485041 -3.63727942] [ 0.03837369 -0.01099151 0.99920301 -0.79441929] [ 0. 0. 0. 1. ]] SLAMing on 93.49907232899999 meters Centerline goodness : 0.795716 Centerline is valid? [False, False] Translation: X:-3.05, Y:-3.64, Z:-0.79 [[ 9.86493843e-01 -1.59227830e-01 -3.84238861e-02 -3.05080127e+00] [ 1.59405698e-01 9.87211878e-01 1.59104558e-03 -3.63712267e+00] [ 3.76791780e-02 -7.69454304e-03 9.99260263e-01 -7.93296721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.52907232899999 meters Centerline goodness : 0.794448 Centerline is valid? [False, False] Translation: X:-3.05, Y:-3.64, Z:-0.79 [[ 9.86001846e-01 -1.62522333e-01 -3.72404546e-02 -3.05313663e+00] [ 1.62558994e-01 9.86696672e-01 -2.06165166e-03 -3.63662328e+00] [ 3.70800970e-02 -4.02097850e-03 9.99304207e-01 -7.92856615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.55907232899999 meters Centerline goodness : 0.795761 Centerline is valid? [False, False] Translation: X:-3.05, Y:-3.64, Z:-0.79 [[ 9.86000464e-01 -1.62474238e-01 -3.74860874e-02 -3.05245651e+00] [ 1.62524407e-01 9.86703015e-01 -1.72545093e-03 -3.63797728e+00] [ 3.72679768e-02 -4.39110870e-03 9.99295660e-01 -7.92702397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.58907232899999 meters Centerline goodness : 0.793483 Centerline is valid? [False, False] Translation: X:-3.05, Y:-3.64, Z:-0.79 [[ 9.85800212e-01 -1.63549032e-01 -3.80743545e-02 -3.04893408e+00] [ 1.63585984e-01 9.86526707e-01 -2.16392737e-03 -3.63848525e+00] [ 3.79152758e-02 -4.09523069e-03 9.99272566e-01 -7.94561140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.61907232899999 meters Centerline goodness : 0.794268 Centerline is valid? [False, False] Translation: X:-3.05, Y:-3.64, Z:-0.80 [[ 9.85681827e-01 -1.64155677e-01 -3.85259515e-02 -3.04650821e+00] [ 1.64185598e-01 9.86426527e-01 -2.40756458e-03 -3.63915749e+00] [ 3.83982359e-02 -3.95231374e-03 9.99254700e-01 -7.95777639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.64907232899999 meters Centerline goodness : 0.792346 Centerline is valid? [False, False] Translation: X:-3.05, Y:-3.64, Z:-0.80 [[ 9.85014421e-01 -1.68340554e-01 -3.75239682e-02 -3.04674925e+00] [ 1.68206869e-01 9.85728850e-01 -6.71435455e-03 -3.63813763e+00] [ 3.81187562e-02 3.01946843e-04 9.99273170e-01 -7.96889126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.679072329 meters Centerline goodness : 0.792675 Centerline is valid? [False, False] Translation: X:-3.05, Y:-3.64, Z:-0.80 [[ 0.98429098 -0.17262617 -0.03703352 -3.04568166] [ 0.1723582 0.98498012 -0.01033471 -3.64084179] [ 0.03826132 0.00378933 0.99926058 -0.79696215] [ 0. 0. 0. 1. ]] SLAMing on 93.709072329 meters Centerline goodness : 0.792871 Centerline is valid? [False, False] Translation: X:-3.04, Y:-3.64, Z:-0.80 [[ 9.84294036e-01 -1.72501694e-01 -3.75288713e-02 -3.04477872e+00] [ 1.72268122e-01 9.85005290e-01 -9.39533946e-03 -3.64434464e+00] [ 3.85868488e-02 2.78274841e-03 9.99251375e-01 -7.95641917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.739072329 meters Centerline goodness : 0.793094 Centerline is valid? [False, False] Translation: X:-3.05, Y:-3.64, Z:-0.80 [[ 0.98363037 -0.17648356 -0.03639846 -3.04591445] [ 0.17610353 0.98428016 -0.01342049 -3.6438189 ] [ 0.03819478 0.0067909 0.99924724 -0.79585548] [ 0. 0. 0. 1. ]] SLAMing on 93.769072329 meters Centerline goodness : 0.795130 Centerline is valid? [False, False] Translation: X:-3.04, Y:-3.65, Z:-0.80 [[ 0.98355193 -0.17684937 -0.03674105 -3.04452559] [ 0.17649135 0.98421902 -0.01279524 -3.64616978] [ 0.03842407 0.00610031 0.9992429 -0.79560797] [ 0. 0. 0. 1. ]] SLAMing on 93.799072329 meters Centerline goodness : 0.793607 Centerline is valid? [False, False] Translation: X:-3.04, Y:-3.65, Z:-0.80 [[ 0.9835596 -0.17680043 -0.03677117 -3.04444943] [ 0.17645405 0.98422967 -0.01248685 -3.64674601] [ 0.03839895 0.00579314 0.9992457 -0.79549966] [ 0. 0. 0. 1. ]] SLAMing on 93.829072329 meters Centerline goodness : 0.793852 Centerline is valid? [False, False] Translation: X:-3.04, Y:-3.65, Z:-0.79 [[ 0.98359638 -0.17655407 -0.03697064 -3.04424935] [ 0.17622546 0.98427678 -0.01199173 -3.64816757] [ 0.03850653 0.00527986 0.9992444 -0.79497569] [ 0. 0. 0. 1. ]] SLAMing on 93.859072329 meters Centerline goodness : 0.793354 Centerline is valid? [False, False] Translation: X:-3.04, Y:-3.65, Z:-0.79 [[ 0.98368446 -0.17596869 -0.0374152 -3.04349177] [ 0.17569362 0.98438844 -0.01054286 -3.65358266] [ 0.0386863 0.00379724 0.99924419 -0.79360673] [ 0. 0. 0. 1. ]] SLAMing on 93.88907232899999 meters Centerline goodness : 0.793602 Centerline is valid? [False, False] Translation: X:-3.05, Y:-3.65, Z:-0.79 [[ 0.98316322 -0.17913884 -0.03604675 -3.04575661] [ 0.1787328 0.98379497 -0.01421424 -3.65371041] [ 0.03800893 0.00753219 0.99924901 -0.79364915] [ 0. 0. 0. 1. ]] SLAMing on 93.91907232899999 meters Centerline goodness : 0.791603 Centerline is valid? [False, False] Translation: X:-3.05, Y:-3.66, Z:-0.79 [[ 0.98327241 -0.17851877 -0.03614442 -3.04586292] [ 0.17814905 0.98391458 -0.01322959 -3.65670252] [ 0.03792475 0.0065692 0.999259 -0.79303851] [ 0. 0. 0. 1. ]] SLAMing on 93.94907232899999 meters Centerline goodness : 0.789347 Centerline is valid? [False, False] Translation: X:-3.04, Y:-3.66, Z:-0.79 [[ 9.83956768e-01 -1.74401181e-01 -3.75939740e-02 -3.04399460e+00] [ 1.74212081e-01 9.84673395e-01 -8.27385877e-03 -3.66041190e+00] [ 3.84607567e-02 1.59179491e-03 9.99258844e-01 -7.91983676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.97907232899999 meters Centerline goodness : 0.790277 Centerline is valid? [False, False] Translation: X:-3.05, Y:-3.66, Z:-0.79 [[ 0.98345944 -0.17746068 -0.0362662 -3.04628635] [ 0.17712875 0.98411213 -0.01219503 -3.65826047] [ 0.03785414 0.00556953 0.99926775 -0.7927732 ] [ 0. 0. 0. 1. ]] SLAMing on 94.00907232899999 meters Centerline goodness : 0.789844 Centerline is valid? [False, False] Translation: X:-3.04, Y:-3.66, Z:-0.79 [[ 9.84154836e-01 -1.73250138e-01 -3.77312666e-02 -3.04440700e+00] [ 1.73103896e-01 9.84877734e-01 -7.13380387e-03 -3.66262328e+00] [ 3.83966168e-02 4.89338335e-04 9.99262458e-01 -7.91604028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.03907232899999 meters Centerline goodness : 0.786889 Centerline is valid? [False, False] Translation: X:-3.04, Y:-3.67, Z:-0.79 [[ 9.84309304e-01 -1.72356333e-01 -3.77953438e-02 -3.04456707e+00] [ 1.72252576e-01 9.85034487e-01 -6.00917213e-03 -3.66675022e+00] [ 3.82654359e-02 -5.95461311e-04 9.99267433e-01 -7.91016033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.069072329 meters Centerline goodness : 0.787418 Centerline is valid? [False, False] Translation: X:-3.05, Y:-3.67, Z:-0.80 [[ 9.85990765e-01 -1.65124927e-01 -2.35790129e-02 -3.04684785e+00] [ 1.65172151e-01 9.86264750e-01 5.60217341e-05 -3.67417387e+00] [ 2.32458987e-02 -3.94983320e-03 9.99721975e-01 -7.95813756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.099072329 meters Centerline goodness : 0.786863 Centerline is valid? [False, False] Translation: X:-3.05, Y:-3.68, Z:-0.80 [[ 9.86029595e-01 -1.64863067e-01 -2.37866991e-02 -3.04616725e+00] [ 1.64924086e-01 9.86306073e-01 6.13191583e-04 -3.67649829e+00] [ 2.33598731e-02 -4.52762465e-03 9.99716868e-01 -7.95732308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.129072329 meters Centerline goodness : 0.784847 Centerline is valid? [False, False] Translation: X:-3.05, Y:-3.69, Z:-0.80 [[ 0.98747784 -0.15745646 -0.00974523 -3.0463954 ] [ 0.15751856 0.987498 0.00596661 -3.68565846] [ 0.00868391 -0.00742695 0.99993471 -0.80285749] [ 0. 0. 0. 1. ]] SLAMing on 94.159072329 meters Centerline goodness : 0.781182 Centerline is valid? [False, False] Translation: X:-3.05, Y:-3.69, Z:-0.81 [[ 0.98856263 -0.1507345 0.00479911 -3.04825642] [ 0.15067371 0.98852022 0.01118951 -3.69341867] [-0.00643067 -0.01033843 0.99992588 -0.81029667] [ 0. 0. 0. 1. ]] SLAMing on 94.189072329 meters Centerline goodness : 0.782657 Centerline is valid? [False, False] Translation: X:-3.05, Y:-3.70, Z:-0.82 [[ 0.98937049 -0.14410096 0.0195177 -3.05086956] [ 0.14378573 0.98946795 0.01669879 -3.70174142] [-0.02171845 -0.01371493 0.99967005 -0.81652685] [ 0. 0. 0. 1. ]] SLAMing on 94.219072329 meters Centerline goodness : 0.783629 Centerline is valid? [False, False] Translation: X:-3.05, Y:-3.71, Z:-0.83 [[ 0.98989906 -0.13806778 0.03220469 -3.04835326] [ 0.13753789 0.99033044 0.01813707 -3.70864639] [-0.03439743 -0.01352451 0.99931672 -0.82683037] [ 0. 0. 0. 1. ]] SLAMing on 94.24907232899999 meters Centerline goodness : 0.781591 Centerline is valid? [False, False] Translation: X:-3.04, Y:-3.72, Z:-0.84 [[ 0.99042892 -0.13149115 0.04195984 -3.04076441] [ 0.13082804 0.99123822 0.01818821 -3.71816614] [-0.04398378 -0.01252461 0.99895373 -0.83887022] [ 0. 0. 0. 1. ]] SLAMing on 94.27907232899999 meters Centerline goodness : 0.781294 Centerline is valid? [False, False] Translation: X:-3.04, Y:-3.72, Z:-0.84 [[ 0.99045393 -0.13125483 0.04210921 -3.04009054] [ 0.13054998 0.99125802 0.01908515 -3.7211019 ] [-0.04424611 -0.0134056 0.99893071 -0.84021773] [ 0. 0. 0. 1. ]] SLAMing on 94.30907232899999 meters Centerline goodness : 0.779867 Centerline is valid? [False, False] Translation: X:-3.04, Y:-3.72, Z:-0.84 [[ 0.99048612 -0.13101002 0.04211427 -3.03965113] [ 0.13027707 0.99128164 0.01971305 -3.72396476] [-0.04432971 -0.01403898 0.99891831 -0.84051452] [ 0. 0. 0. 1. ]] SLAMing on 94.33907232899999 meters Centerline goodness : 0.779524 Centerline is valid? [False, False] Translation: X:-3.04, Y:-3.73, Z:-0.85 [[ 0.99066638 -0.12504919 0.05424782 -3.03688856] [ 0.12405719 0.99204649 0.02129718 -3.73158973] [-0.05647955 -0.01436856 0.99830036 -0.85183951] [ 0. 0. 0. 1. ]] SLAMing on 94.36907232899999 meters Centerline goodness : 0.780499 Centerline is valid? [False, False] Translation: X:-3.03, Y:-3.74, Z:-0.85 [[ 0.99049326 -0.12675679 0.05343991 -3.03246033] [ 0.12592511 0.99186412 0.01866666 -3.73738644] [-0.05537125 -0.01175978 0.99839658 -0.85413041] [ 0. 0. 0. 1. ]] SLAMing on 94.39907232899999 meters Centerline goodness : 0.781575 Centerline is valid? [False, False] Translation: X:-3.03, Y:-3.74, Z:-0.85 [[ 0.99040674 -0.12760611 0.05302042 -3.03063218] [ 0.12684652 0.99176856 0.01746656 -3.74055068] [-0.05481282 -0.01057355 0.99844066 -0.85458049] [ 0. 0. 0. 1. ]] SLAMing on 94.429072329 meters Centerline goodness : 0.778381 Centerline is valid? [False, False] Translation: X:-3.03, Y:-3.75, Z:-0.85 [[ 0.99012726 -0.12989932 0.05267036 -3.02888105] [ 0.1292365 0.99148767 0.01581514 -3.7458861 ] [-0.05427639 -0.00885207 0.99848671 -0.85476082] [ 0. 0. 0. 1. ]] SLAMing on 94.459072329 meters Centerline goodness : 0.781531 Centerline is valid? [False, False] Translation: X:-3.03, Y:-3.75, Z:-0.86 [[ 0.99000337 -0.13095925 0.05237369 -3.02768503] [ 0.13029321 0.9913472 0.0159503 -3.74904404] [-0.05400935 -0.00896691 0.99850017 -0.85551244] [ 0. 0. 0. 1. ]] SLAMing on 94.489072329 meters Centerline goodness : 0.781531 Centerline is valid? [False, False] Translation: X:-3.03, Y:-3.75, Z:-0.86 [[ 0.99000337 -0.13095925 0.05237369 -3.02768503] [ 0.13029321 0.9913472 0.0159503 -3.74904404] [-0.05400935 -0.00896691 0.99850017 -0.85551244] [ 0. 0. 0. 1. ]] SLAMing on 94.519072329 meters Centerline goodness : 0.778644 Centerline is valid? [False, False] Translation: X:-3.02, Y:-3.75, Z:-0.86 [[ 0.98975836 -0.13290537 0.05210134 -3.02494054] [ 0.13234148 0.99110328 0.01414273 -3.75090884] [-0.05351746 -0.00710271 0.99854165 -0.85807273] [ 0. 0. 0. 1. ]] SLAMing on 94.549072329 meters Centerline goodness : 0.778109 Centerline is valid? [False, False] Translation: X:-3.02, Y:-3.76, Z:-0.86 [[ 0.9892218 -0.13675491 0.05232904 -3.0233476 ] [ 0.13626525 0.9905893 0.01283011 -3.75561093] [-0.05359117 -0.00556119 0.99854747 -0.8603685 ] [ 0. 0. 0. 1. ]] SLAMing on 94.579072329 meters Centerline goodness : 0.779186 Centerline is valid? [False, False] Translation: X:-3.02, Y:-3.76, Z:-0.86 [[ 0.9889963 -0.13832502 0.05246441 -3.02185752] [ 0.13788239 0.99037613 0.01198185 -3.75816904] [-0.05361689 -0.00461609 0.99855091 -0.86238497] [ 0. 0. 0. 1. ]] SLAMing on 94.609072329 meters Centerline goodness : 0.775155 Centerline is valid? [False, False] Translation: X:-3.02, Y:-3.76, Z:-0.86 [[ 0.98896177 -0.13855288 0.05251402 -3.0219107 ] [ 0.1380671 0.99034035 0.01278576 -3.76116502] [-0.05377825 -0.00539417 0.99853833 -0.86231498] [ 0. 0. 0. 1. ]] SLAMing on 94.63907232899999 meters Centerline goodness : 0.776902 Centerline is valid? [False, False] Translation: X:-3.02, Y:-3.76, Z:-0.87 [[ 0.98892677 -0.1392731 0.0512528 -3.0169513 ] [ 0.13883934 0.99024287 0.01194568 -3.76444043] [-0.05241643 -0.0046975 0.99861427 -0.86563243] [ 0. 0. 0. 1. ]] SLAMing on 94.66907232899999 meters Centerline goodness : 0.777363 Centerline is valid? [False, False] Translation: X:-3.02, Y:-3.77, Z:-0.87 [[ 0.98886931 -0.13982798 0.05084904 -3.01508784] [ 0.13939045 0.99016395 0.01206875 -3.76567863] [-0.05203643 -0.00484654 0.99863343 -0.8672724 ] [ 0. 0. 0. 1. ]] SLAMing on 94.69907232899999 meters Centerline goodness : 0.776302 Centerline is valid? [False, False] Translation: X:-3.01, Y:-3.77, Z:-0.87 [[ 0.9887919 -0.14039406 0.05079451 -3.01426701] [ 0.1399537 0.99008359 0.01214256 -3.76743258] [-0.05199555 -0.00489758 0.99863531 -0.86823529] [ 0. 0. 0. 1. ]] SLAMing on 94.72907232899999 meters Centerline goodness : 0.778147 Centerline is valid? [False, False] Translation: X:-3.01, Y:-3.77, Z:-0.87 [[ 9.88498508e-01 -1.42471067e-01 5.07217456e-02 -3.01297909e+00] [ 1.42205356e-01 9.89797810e-01 8.82793770e-03 -3.77019739e+00] [-5.14619984e-02 -1.51349936e-03 9.98673807e-01 -8.67597724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.75907232899999 meters Centerline goodness : 0.778426 Centerline is valid? [False, False] Translation: X:-3.01, Y:-3.77, Z:-0.87 [[ 9.88417762e-01 -1.43030967e-01 5.07195166e-02 -3.01220603e+00] [ 1.42839757e-01 9.89718212e-01 7.39360724e-03 -3.77189849e+00] [-5.12555441e-02 -6.32093156e-05 9.98685569e-01 -8.67611087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.78907232899999 meters Centerline goodness : 0.757563 Centerline is valid? [False, False] Translation: X:-3.01, Y:-3.77, Z:-0.87 [[ 9.88365819e-01 -1.43220181e-01 5.11955735e-02 -3.01317079e+00] [ 1.43002562e-01 9.89690727e-01 7.90772827e-03 -3.77337759e+00] [-5.18003306e-02 -4.94630167e-04 9.98657339e-01 -8.67352879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.819072329 meters Centerline goodness : 0.767214 Centerline is valid? [False, False] Translation: X:-3.01, Y:-3.77, Z:-0.87 [[ 9.88370439e-01 -1.43232793e-01 5.10709545e-02 -3.01205964e+00] [ 1.42989266e-01 9.89688511e-01 8.40958205e-03 -3.77439151e+00] [-5.17488649e-02 -1.00918399e-03 9.98659620e-01 -8.68822823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.849072329 meters Centerline goodness : 0.776054 Centerline is valid? [False, False] Translation: X:-3.01, Y:-3.78, Z:-0.87 [[ 9.88663890e-01 -1.41325251e-01 5.07038972e-02 -3.00991003e+00] [ 1.40968864e-01 9.89957757e-01 1.05554570e-02 -3.77669458e+00] [-5.16864690e-02 -3.28812839e-03 9.98657948e-01 -8.71558189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.879072329 meters Centerline goodness : 0.776604 Centerline is valid? [False, False] Translation: X:-3.01, Y:-3.78, Z:-0.87 [[ 9.88908786e-01 -1.39886096e-01 4.99128554e-02 -3.00862285e+00] [ 1.39527952e-01 9.90161330e-01 1.06062014e-02 -3.77722892e+00] [-5.09054394e-02 -3.52432725e-03 9.98697259e-01 -8.70795206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.909072329 meters Centerline goodness : 0.776163 Centerline is valid? [False, False] Translation: X:-3.01, Y:-3.78, Z:-0.87 [[ 9.89178999e-01 -1.38264876e-01 4.90686374e-02 -3.00686995e+00] [ 1.37950770e-01 9.90391120e-01 9.74757355e-03 -3.77731530e+00] [-4.99448898e-02 -2.87303874e-03 9.98747843e-01 -8.69926191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.939072329 meters Centerline goodness : 0.774432 Centerline is valid? [False, False] Translation: X:-3.00, Y:-3.78, Z:-0.87 [[ 9.89638629e-01 -1.35264527e-01 4.81548752e-02 -3.00490689e+00] [ 1.35027318e-01 9.90808272e-01 8.16038267e-03 -3.77791942e+00] [-4.88160590e-02 -1.57360629e-03 9.98806546e-01 -8.68381254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.969072329 meters Centerline goodness : 0.773700 Centerline is valid? [False, False] Translation: X:-3.00, Y:-3.78, Z:-0.87 [[ 9.89915995e-01 -1.33511986e-01 4.73378563e-02 -3.00305928e+00] [ 1.33306031e-01 9.91046577e-01 7.49556806e-03 -3.77811681e+00] [-4.79147686e-02 -1.10956098e-03 9.98850812e-01 -8.67819595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.99907232899999 meters Centerline goodness : 0.737124 Centerline is valid? [False, False] Translation: X:-3.00, Y:-3.78, Z:-0.87 [[ 9.90264258e-01 -1.31194422e-01 4.65265906e-02 -3.00132541e+00] [ 1.30968920e-01 9.91355191e-01 7.87571620e-03 -3.77811880e+00] [-4.71576271e-02 -1.70550291e-03 9.98886004e-01 -8.67644656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.02907232899999 meters Centerline goodness : 0.771230 Centerline is valid? [False, False] Translation: X:-3.00, Y:-3.78, Z:-0.87 [[ 0.99109014 -0.12521559 0.04540263 -3.00086993] [ 0.12481327 0.99211242 0.01160161 -3.77786263] [-0.04649721 -0.00583139 0.9989014 -0.86572783] [ 0. 0. 0. 1. ]] SLAMing on 95.05907232899999 meters Centerline goodness : 0.770991 Centerline is valid? [False, False] Translation: X:-3.00, Y:-3.78, Z:-0.87 [[ 0.99146488 -0.12234451 0.04504683 -2.99976155] [ 0.12192431 0.99246721 0.01197057 -3.77721516] [-0.04617204 -0.0063761 0.99891315 -0.86597356] [ 0. 0. 0. 1. ]] SLAMing on 95.08907232899999 meters Centerline goodness : 0.771740 Centerline is valid? [False, False] Translation: X:-3.00, Y:-3.78, Z:-0.86 [[ 0.99187533 -0.11916222 0.04453874 -2.99999706] [ 0.11870247 0.99284687 0.0128378 -3.77660774] [-0.04574993 -0.00744664 0.99892517 -0.86379002] [ 0. 0. 0. 1. ]] SLAMing on 95.11907232899999 meters Centerline goodness : 0.770246 Centerline is valid? [False, False] Translation: X:-3.00, Y:-3.78, Z:-0.86 [[ 0.99263683 -0.11322617 0.04303435 -2.99740033] [ 0.11276996 0.99353748 0.01289268 -3.77648127] [-0.04421603 -0.00794476 0.9989904 -0.86199595] [ 0. 0. 0. 1. ]] SLAMing on 95.14907232899999 meters Centerline goodness : 0.773884 Centerline is valid? [False, False] Translation: X:-3.00, Y:-3.78, Z:-0.86 [[ 0.99292751 -0.11111566 0.0418124 -2.99527969] [ 0.11071582 0.99378244 0.01176708 -3.77612108] [-0.04285994 -0.00705456 0.99905618 -0.86047129] [ 0. 0. 0. 1. ]] SLAMing on 95.179072329 meters Centerline goodness : 0.769641 Centerline is valid? [False, False] Translation: X:-2.99, Y:-3.78, Z:-0.86 [[ 0.99314765 -0.10940901 0.04107818 -2.99419084] [ 0.10905035 0.99397669 0.01087949 -3.77620311] [-0.04202107 -0.00632535 0.9990967 -0.85892458] [ 0. 0. 0. 1. ]] SLAMing on 95.209072329 meters Centerline goodness : 0.771146 Centerline is valid? [False, False] Translation: X:-2.99, Y:-3.78, Z:-0.86 [[ 0.99329037 -0.10810216 0.04108732 -2.99380836] [ 0.10774132 0.99411916 0.01090398 -3.77504462] [-0.04202444 -0.00640402 0.99909606 -0.85934877] [ 0. 0. 0. 1. ]] SLAMing on 95.239072329 meters Centerline goodness : 0.769981 Centerline is valid? [False, False] Translation: X:-2.99, Y:-3.77, Z:-0.86 [[ 0.99329873 -0.10805128 0.04101895 -2.99258702] [ 0.10767854 0.99412271 0.01119674 -3.77410473] [-0.04198769 -0.00670485 0.99909563 -0.86131122] [ 0. 0. 0. 1. ]] SLAMing on 95.269072329 meters Centerline goodness : 0.769671 Centerline is valid? [False, False] Translation: X:-2.99, Y:-3.77, Z:-0.86 [[ 0.99334256 -0.1077163 0.04083809 -2.99209034] [ 0.1073027 0.99415161 0.01219435 -3.77379128] [-0.04191278 -0.00773113 0.99909136 -0.86195544] [ 0. 0. 0. 1. ]] SLAMing on 95.299072329 meters Centerline goodness : 0.769588 Centerline is valid? [False, False] Translation: X:-2.99, Y:-3.77, Z:-0.86 [[ 0.9934235 -0.10709598 0.04049947 -2.99173634] [ 0.10666727 0.99421482 0.01260869 -3.77410379] [-0.04161551 -0.00820581 0.9991 -0.86138388] [ 0. 0. 0. 1. ]] SLAMing on 95.329072329 meters Centerline goodness : 0.769137 Centerline is valid? [False, False] Translation: X:-2.99, Y:-3.77, Z:-0.86 [[ 0.99339759 -0.10736947 0.04041077 -2.99082833] [ 0.10698884 0.99419402 0.01147301 -3.77290053] [-0.04140799 -0.00707376 0.99911728 -0.86214646] [ 0. 0. 0. 1. ]] SLAMing on 95.359072329 meters Centerline goodness : 0.767557 Centerline is valid? [False, False] Translation: X:-2.99, Y:-3.77, Z:-0.86 [[ 0.9934176 -0.1072646 0.04019667 -2.99083328] [ 0.10689307 0.99420646 0.01128688 -3.77214231] [-0.04117448 -0.00691584 0.99912804 -0.86137745] [ 0. 0. 0. 1. ]] SLAMing on 95.38907232899999 meters Centerline goodness : 0.784453 Centerline is valid? [False, False] Translation: X:-2.99, Y:-3.77, Z:-0.86 [[ 0.99345752 -0.1069685 0.03999877 -2.9905361 ] [ 0.10661701 0.99424122 0.010826 -3.77180875] [-0.04092647 -0.00649062 0.99914108 -0.86090411] [ 0. 0. 0. 1. ]] SLAMing on 95.41907232899999 meters Centerline goodness : 0.766708 Centerline is valid? [False, False] Translation: X:-2.99, Y:-3.77, Z:-0.86 [[ 0.99350286 -0.10666547 0.0396806 -2.98984928] [ 0.1063484 0.99427841 0.01002336 -3.77175642] [-0.04052271 -0.00573827 0.99916214 -0.86033556] [ 0. 0. 0. 1. ]] SLAMing on 95.44907232899999 meters Centerline goodness : 0.765222 Centerline is valid? [False, False] Translation: X:-2.99, Y:-3.77, Z:-0.86 [[ 0.99358547 -0.10597386 0.03946468 -2.98960291] [ 0.1056705 0.99435388 0.00970099 -3.77096852] [-0.04026991 -0.00546851 0.99917387 -0.85966343] [ 0. 0. 0. 1. ]] SLAMing on 95.47907232899999 meters Centerline goodness : 0.764590 Centerline is valid? [False, False] Translation: X:-2.99, Y:-3.77, Z:-0.86 [[ 0.99358525 -0.10593428 0.03957626 -2.99035442] [ 0.105608 0.99435499 0.01025165 -3.76930054] [-0.04043885 -0.00600632 0.99916396 -0.85921249] [ 0. 0. 0. 1. ]] SLAMing on 95.50907232899999 meters Centerline goodness : 0.763314 Centerline is valid? [False, False] Translation: X:-2.99, Y:-3.77, Z:-0.86 [[ 0.9936302 -0.10529063 0.04016092 -2.99231394] [ 0.10483555 0.9944009 0.01327986 -3.76769102] [-0.04133429 -0.00898497 0.99910497 -0.8591514 ] [ 0. 0. 0. 1. ]] SLAMing on 95.53907232899999 meters Centerline goodness : 0.761663 Centerline is valid? [False, False] Translation: X:-2.99, Y:-3.77, Z:-0.86 [[ 0.9936774 -0.10492307 0.03995458 -2.99113584] [ 0.10448232 0.99444217 0.01296985 -3.76703479] [-0.04109335 -0.0087133 0.99911732 -0.86023957] [ 0. 0. 0. 1. ]] SLAMing on 95.569072329 meters Centerline goodness : 0.763482 Centerline is valid? [False, False] Translation: X:-2.99, Y:-3.77, Z:-0.86 [[ 0.99373221 -0.10451584 0.03965781 -2.99044853] [ 0.10407345 0.99448378 0.01306594 -3.76671537] [-0.04080464 -0.00885672 0.99912789 -0.86025506] [ 0. 0. 0. 1. ]] SLAMing on 95.599072329 meters Centerline goodness : 0.762915 Centerline is valid? [False, False] Translation: X:-2.99, Y:-3.77, Z:-0.86 [[ 0.99381618 -0.10374262 0.03958377 -2.99019243] [ 0.10333356 0.99457133 0.01224908 -3.76512133] [-0.04063963 -0.008083 0.99914117 -0.85992979] [ 0. 0. 0. 1. ]] SLAMing on 95.629072329 meters Centerline goodness : 0.759777 Centerline is valid? [False, False] Translation: X:-2.99, Y:-3.76, Z:-0.86 [[ 0.99387713 -0.10327171 0.03928365 -2.9892194 ] [ 0.10289325 0.99462544 0.01154218 -3.7636149 ] [-0.0402645 -0.00742948 0.99916143 -0.86020236] [ 0. 0. 0. 1. ]] SLAMing on 95.659072329 meters Centerline goodness : 0.763005 Centerline is valid? [False, False] Translation: X:-2.99, Y:-3.76, Z:-0.86 [[ 0.99398562 -0.10213322 0.0395144 -2.99076518] [ 0.10168982 0.99473019 0.01307813 -3.76082056] [-0.04064188 -0.00898126 0.99913341 -0.85917574] [ 0. 0. 0. 1. ]] SLAMing on 95.689072329 meters Centerline goodness : 0.763456 Centerline is valid? [False, False] Translation: X:-2.99, Y:-3.76, Z:-0.86 [[ 0.99399773 -0.10201535 0.03951439 -2.99129729] [ 0.10158497 0.99474508 0.01275584 -3.75885733] [-0.04060804 -0.00866521 0.99913758 -0.85825326] [ 0. 0. 0. 1. ]] SLAMing on 95.719072329 meters Centerline goodness : 0.763394 Centerline is valid? [False, False] Translation: X:-2.99, Y:-3.76, Z:-0.86 [[ 0.99399581 -0.10208043 0.03939425 -2.99128227] [ 0.10167943 0.99474415 0.01205719 -3.75759326] [-0.040418 -0.00797921 0.999151 -0.85754258] [ 0. 0. 0. 1. ]] SLAMing on 95.74907232899999 meters Centerline goodness : 0.762275 Centerline is valid? [False, False] Translation: X:-2.99, Y:-3.76, Z:-0.86 [[ 0.99390873 -0.10297402 0.03926567 -2.99050338] [ 0.10264495 0.99466461 0.01031203 -3.75596355] [-0.04011804 -0.00621879 0.99917559 -0.85791584] [ 0. 0. 0. 1. ]] SLAMing on 95.77907232899999 meters Centerline goodness : 0.763096 Centerline is valid? [False, False] Translation: X:-2.99, Y:-3.75, Z:-0.86 [[ 0.99374957 -0.10423768 0.0399538 -2.99214519] [ 0.10388978 0.99453134 0.01069266 -3.75453907] [-0.04084988 -0.00647503 0.99914431 -0.85788891] [ 0. 0. 0. 1. ]] SLAMing on 95.80907232899999 meters Centerline goodness : 0.762228 Centerline is valid? [False, False] Translation: X:-2.99, Y:-3.75, Z:-0.86 [[ 0.99368176 -0.10471933 0.04037847 -2.99246154] [ 0.1043123 0.99447141 0.01206463 -3.75375424] [-0.04141864 -0.00777644 0.99911162 -0.85955209] [ 0. 0. 0. 1. ]] SLAMing on 95.83907232899999 meters Centerline goodness : 0.760145 Centerline is valid? [False, False] Translation: X:-2.99, Y:-3.75, Z:-0.86 [[ 0.9935904 -0.10543193 0.04077039 -2.99218881] [ 0.10500005 0.9943924 0.01259896 -3.75260749] [-0.0418701 -0.00823732 0.99908911 -0.86178581] [ 0. 0. 0. 1. ]] SLAMing on 95.86907232899999 meters Centerline goodness : 0.768466 Centerline is valid? [False, False] Translation: X:-2.99, Y:-3.75, Z:-0.86 [[ 0.99345018 -0.10650961 0.0413817 -2.99310171] [ 0.10607082 0.99427793 0.01266443 -3.75165857] [-0.04249379 -0.00819209 0.99906314 -0.86245732] [ 0. 0. 0. 1. ]] SLAMing on 95.89907232899999 meters Centerline goodness : 0.760787 Centerline is valid? [False, False] Translation: X:-2.99, Y:-3.75, Z:-0.86 [[ 9.93042454e-01 -1.09979620e-01 4.20852436e-02 -2.99479336e+00] [ 1.09739436e-01 9.93928336e-01 7.98241957e-03 -3.74896799e+00] [-4.27076196e-02 -3.30847063e-03 9.99082135e-01 -8.60239311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.929072329 meters Centerline goodness : 0.751646 Centerline is valid? [False, False] Translation: X:-3.00, Y:-3.75, Z:-0.86 [[ 9.92870232e-01 -1.11295316e-01 4.26855294e-02 -2.99561303e+00] [ 1.11171460e-01 9.93787258e-01 5.27188296e-03 -3.74808148e+00] [-4.30070711e-02 -4.88883012e-04 9.99074648e-01 -8.59280424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.959072329 meters Centerline goodness : 0.770278 Centerline is valid? [False, False] Translation: X:-3.00, Y:-3.75, Z:-0.86 [[ 9.92686475e-01 -1.12657226e-01 4.33810062e-02 -2.99700633e+00] [ 1.12571673e-01 9.93633786e-01 4.41779166e-03 -3.74748406e+00] [-4.36025296e-02 4.97990415e-04 9.99048833e-01 -8.58893288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.989072329 meters Centerline goodness : 0.761861 Centerline is valid? [False, False] Translation: X:-3.00, Y:-3.75, Z:-0.86 [[ 9.92503165e-01 -1.14003748e-01 4.40523920e-02 -2.99781346e+00] [ 1.13834053e-01 9.93479485e-01 6.34985886e-03 -3.74625022e+00] [-4.44890555e-02 -1.28759267e-03 9.99009042e-01 -8.61261899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.019072329 meters Centerline goodness : 0.771956 Centerline is valid? [False, False] Translation: X:-3.00, Y:-3.75, Z:-0.86 [[ 0.99250434 -0.11389003 0.04431925 -2.99947874] [ 0.11357269 0.9934831 0.0096219 -3.74595449] [-0.04512627 -0.00451632 0.99897108 -0.861436 ] [ 0. 0. 0. 1. ]] SLAMing on 96.049072329 meters Centerline goodness : 0.760982 Centerline is valid? [False, False] Translation: X:-3.00, Y:-3.75, Z:-0.86 [[ 0.99242444 -0.11457827 0.04433456 -2.9983095 ] [ 0.11423513 0.99340132 0.01020585 -3.74522683] [-0.04521138 -0.00506397 0.99896461 -0.86402635] [ 0. 0. 0. 1. ]] SLAMing on 96.079072329 meters Centerline goodness : 0.761937 Centerline is valid? [False, False] Translation: X:-3.00, Y:-3.74, Z:-0.86 [[ 9.92164146e-01 -1.16631749e-01 4.48033842e-02 -2.99826051e+00] [ 1.16369875e-01 9.93170270e-01 8.41830941e-03 -3.74381731e+00] [-4.54792313e-02 -3.13858057e-03 9.98960354e-01 -8.64980726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.109072329 meters Centerline goodness : 0.761332 Centerline is valid? [False, False] Translation: X:-3.00, Y:-3.74, Z:-0.86 [[ 9.92114792e-01 -1.17078065e-01 4.47321504e-02 -2.99905758e+00] [ 1.16884020e-01 9.93121336e-01 6.93818031e-03 -3.74295414e+00] [-4.52367616e-02 -1.65499777e-03 9.98974923e-01 -8.62892429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.13907232899999 meters Centerline goodness : 0.764343 Centerline is valid? [False, False] Translation: X:-3.00, Y:-3.74, Z:-0.86 [[ 9.92114633e-01 -1.17148401e-01 4.45511755e-02 -2.99937002e+00] [ 1.17008756e-01 9.93114304e-01 5.73842841e-03 -3.74183965e+00] [-4.49166574e-02 -4.80301159e-04 9.98990622e-01 -8.61242670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.16907232899999 meters Centerline goodness : 0.763138 Centerline is valid? [False, False] Translation: X:-3.00, Y:-3.74, Z:-0.86 [[ 9.92298444e-01 -1.15622990e-01 4.44423450e-02 -2.99899857e+00] [ 1.15513099e-01 9.93293163e-01 5.04153384e-03 -3.73930246e+00] [-4.47271946e-02 1.30966794e-04 9.98999230e-01 -8.60911045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.19907232899999 meters Centerline goodness : 0.763710 Centerline is valid? [False, False] Translation: X:-3.00, Y:-3.74, Z:-0.86 [[ 9.92412849e-01 -1.14729644e-01 4.42023262e-02 -2.99850742e+00] [ 1.14597633e-01 9.93396668e-01 5.51743111e-03 -3.73802824e+00] [-4.45434565e-02 -4.10087592e-04 9.99007363e-01 -8.61120133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.22907232899999 meters Centerline goodness : 0.779430 Centerline is valid? [False, False] Translation: X:-3.00, Y:-3.74, Z:-0.86 [[ 9.92731816e-01 -1.11939649e-01 4.41933891e-02 -2.99962244e+00] [ 1.11693934e-01 9.93710466e-01 7.99845514e-03 -3.73700922e+00] [-4.48107776e-02 -3.00418743e-03 9.98990975e-01 -8.59862588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.25907232899999 meters Centerline goodness : 0.766933 Centerline is valid? [False, False] Translation: X:-3.00, Y:-3.74, Z:-0.86 [[ 9.92848583e-01 -1.10962761e-01 4.40335847e-02 -2.99928611e+00] [ 1.10694482e-01 9.93818198e-01 8.49240640e-03 -3.73604352e+00] [-4.47037186e-02 -3.55739881e-03 9.98993955e-01 -8.59981521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.28907232899999 meters Centerline goodness : 0.764655 Centerline is valid? [False, False] Translation: X:-3.00, Y:-3.73, Z:-0.86 [[ 9.93021601e-01 -1.09739264e-01 4.31902111e-02 -2.99667996e+00] [ 1.09498762e-01 9.93955518e-01 7.90250839e-03 -3.73495556e+00] [-4.37963641e-02 -3.11808690e-03 9.99035613e-01 -8.60957333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.319072329 meters Centerline goodness : 0.765717 Centerline is valid? [False, False] Translation: X:-3.00, Y:-3.73, Z:-0.86 [[ 0.99345747 -0.10598016 0.04254954 -2.99714906] [ 0.10567116 0.9943562 0.00945303 -3.73390385] [-0.04331123 -0.00489493 0.99904964 -0.85819075] [ 0. 0. 0. 1. ]] SLAMing on 96.349072329 meters Centerline goodness : 0.765173 Centerline is valid? [False, False] Translation: X:-3.00, Y:-3.73, Z:-0.86 [[ 0.99362482 -0.10461946 0.04200577 -2.99627989] [ 0.10431276 0.9944998 0.00943393 -3.73329701] [-0.0427617 -0.00499204 0.99907283 -0.85758047] [ 0. 0. 0. 1. ]] SLAMing on 96.379072329 meters Centerline goodness : 0.765515 Centerline is valid? [False, False] Translation: X:-3.00, Y:-3.73, Z:-0.86 [[ 0.99377979 -0.10327144 0.04167408 -2.99605086] [ 0.10297257 0.99464108 0.00926132 -3.73283077] [-0.04240719 -0.00491242 0.99908833 -0.85641927] [ 0. 0. 0. 1. ]] SLAMing on 96.409072329 meters Centerline goodness : 0.765515 Centerline is valid? [False, False] Translation: X:-3.00, Y:-3.73, Z:-0.86 [[ 0.99377979 -0.10327144 0.04167408 -2.99605086] [ 0.10297257 0.99464108 0.00926132 -3.73283077] [-0.04240719 -0.00491242 0.99908833 -0.85641927] [ 0. 0. 0. 1. ]] SLAMing on 96.439072329 meters Centerline goodness : 0.763791 Centerline is valid? [False, False] Translation: X:-2.99, Y:-3.73, Z:-0.86 [[ 0.99384719 -0.10287059 0.04105376 -2.99413731] [ 0.10262633 0.99468765 0.00801929 -3.7318257 ] [-0.04166062 -0.00375676 0.99912476 -0.8568765 ] [ 0. 0. 0. 1. ]] SLAMing on 96.469072329 meters Centerline goodness : 0.765947 Centerline is valid? [False, False] Translation: X:-2.99, Y:-3.73, Z:-0.85 [[ 9.93960857e-01 -1.01916691e-01 4.06792788e-02 -2.99414918e+00] [ 1.01717245e-01 9.94789085e-01 6.94831450e-03 -3.73129638e+00] [-4.11754517e-02 -2.76856848e-03 9.99148096e-01 -8.54807439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.49907232899999 meters Centerline goodness : 0.764466 Centerline is valid? [False, False] Translation: X:-2.99, Y:-3.73, Z:-0.85 [[ 9.93982622e-01 -1.01696199e-01 4.06992558e-02 -2.99376088e+00] [ 1.01528078e-01 9.94813466e-01 6.18200495e-03 -3.73142215e+00] [-4.11168541e-02 -2.01268827e-03 9.99152317e-01 -8.54787092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.52907232899999 meters Centerline goodness : 0.764897 Centerline is valid? [False, False] Translation: X:-2.99, Y:-3.73, Z:-0.85 [[ 9.94007228e-01 -1.01518975e-01 4.05404612e-02 -2.99400863e+00] [ 1.01355535e-01 9.94831737e-01 6.07203773e-03 -3.73203979e+00] [-4.09473645e-02 -1.92664925e-03 9.99159447e-01 -8.53646903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.55907232899999 meters Centerline goodness : 0.763571 Centerline is valid? [False, False] Translation: X:-2.99, Y:-3.73, Z:-0.85 [[ 9.93886610e-01 -1.02515577e-01 4.09873475e-02 -2.99422496e+00] [ 1.02332532e-01 9.94728716e-01 6.54483261e-03 -3.73279827e+00] [-4.14422389e-02 -2.31048245e-03 9.99138230e-01 -8.54959719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.58907232899999 meters Centerline goodness : 0.763244 Centerline is valid? [False, False] Translation: X:-2.99, Y:-3.73, Z:-0.86 [[ 9.93832993e-01 -1.03047303e-01 4.09540534e-02 -2.99321311e+00] [ 1.02843853e-01 9.94672532e-01 7.04955704e-03 -3.73393334e+00] [-4.14623098e-02 -2.79420975e-03 9.99136162e-01 -8.56651793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.61907232899999 meters Centerline goodness : 0.762552 Centerline is valid? [False, False] Translation: X:-2.99, Y:-3.74, Z:-0.86 [[ 9.93558825e-01 -1.05473466e-01 4.14271534e-02 -2.99305836e+00] [ 1.05239842e-01 9.94416385e-01 7.78641543e-03 -3.73639800e+00] [-4.20171004e-02 -3.37647469e-03 9.99111186e-01 -8.58979090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.64907232899999 meters Centerline goodness : 0.762879 Centerline is valid? [False, False] Translation: X:-2.99, Y:-3.74, Z:-0.86 [[ 9.93392113e-01 -1.06948147e-01 4.16437654e-02 -2.99279459e+00] [ 1.06746436e-01 9.94261324e-01 7.04398170e-03 -3.73754253e+00] [-4.21581261e-02 -2.55211231e-03 9.99107691e-01 -8.59690997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.679072329 meters Centerline goodness : 0.759791 Centerline is valid? [False, False] Translation: X:-2.99, Y:-3.74, Z:-0.86 [[ 9.93193165e-01 -1.08830909e-01 4.15110929e-02 -2.99098572e+00] [ 1.08755638e-01 9.94060166e-01 4.07396338e-03 -3.73792578e+00] [-4.17078970e-02 4.68332806e-04 9.99129737e-01 -8.60789354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.709072329 meters Centerline goodness : 0.760619 Centerline is valid? [False, False] Translation: X:-2.99, Y:-3.74, Z:-0.86 [[ 9.93093484e-01 -1.09719101e-01 4.15578011e-02 -2.99177152e+00] [ 1.09693436e-01 9.93961224e-01 2.90428232e-03 -3.73908523e+00] [-4.16254981e-02 1.67439413e-03 9.99131880e-01 -8.58976999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.739072329 meters Centerline goodness : 0.761658 Centerline is valid? [False, False] Translation: X:-2.99, Y:-3.74, Z:-0.86 [[ 9.92799617e-01 -1.12289528e-01 4.17130936e-02 -2.98998257e+00] [ 1.12408821e-01 9.93661909e-01 -5.17999155e-04 -3.74014242e+00] [-4.13905463e-02 5.20318904e-03 9.99129496e-01 -8.60768313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.769072329 meters Centerline goodness : 0.760815 Centerline is valid? [False, False] Translation: X:-2.99, Y:-3.74, Z:-0.86 [[ 9.92724416e-01 -1.12950176e-01 4.17192018e-02 -2.98891860e+00] [ 1.13056885e-01 9.93588497e-01 -1.99782850e-04 -3.74127730e+00] [-4.14291535e-02 4.91497233e-03 9.99129355e-01 -8.62572704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.799072329 meters Centerline goodness : 0.764360 Centerline is valid? [False, False] Translation: X:-2.99, Y:-3.74, Z:-0.86 [[ 9.92673219e-01 -1.13272217e-01 4.20628683e-02 -2.98942297e+00] [ 1.13335014e-01 9.93556426e-01 8.96420874e-04 -3.74304684e+00] [-4.18933726e-02 3.87734276e-03 9.99114564e-01 -8.63166429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.829072329 meters Centerline goodness : 0.760661 Centerline is valid? [False, False] Translation: X:-2.99, Y:-3.75, Z:-0.87 [[ 9.92322399e-01 -1.16334604e-01 4.19823346e-02 -2.98664444e+00] [ 1.16408126e-01 9.93201219e-01 6.97440908e-04 -3.74656218e+00] [-4.17780424e-02 4.19499864e-03 9.99118110e-01 -8.67285123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.859072329 meters Centerline goodness : 0.762947 Centerline is valid? [False, False] Translation: X:-2.99, Y:-3.75, Z:-0.87 [[ 9.92110591e-01 -1.17900405e-01 4.26153627e-02 -2.98730947e+00] [ 1.17950882e-01 9.93018531e-01 1.33680573e-03 -3.74836280e+00] [-4.24754548e-02 3.70026048e-03 9.99090658e-01 -8.68514222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.88907232899999 meters Centerline goodness : 0.762597 Centerline is valid? [False, False] Translation: X:-2.99, Y:-3.75, Z:-0.87 [[ 9.91620417e-01 -1.21712316e-01 4.33019624e-02 -2.98703420e+00] [ 1.21737556e-01 9.92560179e-01 2.06346384e-03 -3.75092835e+00] [-4.32309525e-02 3.22530222e-03 9.99059899e-01 -8.71900630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.91907232899999 meters Centerline goodness : 0.763938 Centerline is valid? [False, False] Translation: X:-2.99, Y:-3.75, Z:-0.87 [[ 9.91405414e-01 -1.23368636e-01 4.35371560e-02 -2.98666440e+00] [ 1.23376970e-01 9.92356712e-01 2.50586980e-03 -3.75275638e+00] [-4.35135348e-02 2.88714950e-03 9.99048666e-01 -8.73461411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.94907232899999 meters Centerline goodness : 0.764656 Centerline is valid? [False, False] Translation: X:-2.99, Y:-3.75, Z:-0.87 [[ 9.91182700e-01 -1.25167779e-01 4.34727690e-02 -2.98501171e+00] [ 1.25255213e-01 9.92124295e-01 7.17557213e-04 -3.75434397e+00] [-4.32202053e-02 4.73396063e-03 9.99054355e-01 -8.74816090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.97907232899999 meters Centerline goodness : 0.760861 Centerline is valid? [False, False] Translation: X:-2.98, Y:-3.76, Z:-0.87 [[ 9.90842689e-01 -1.27782931e-01 4.36152399e-02 -2.98453090e+00] [ 1.28029386e-01 9.91766154e-01 -2.89337003e-03 -3.75752529e+00] [-4.28863954e-02 8.45090692e-03 9.99044213e-01 -8.73652280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.00907232899999 meters Centerline goodness : 0.760252 Centerline is valid? [False, False] Translation: X:-2.98, Y:-3.76, Z:-0.87 [[ 9.90792428e-01 -1.28123336e-01 4.37581578e-02 -2.98473098e+00] [ 1.28401625e-01 9.91715725e-01 -3.59774316e-03 -3.75885844e+00] [-4.29346983e-02 9.18323523e-03 9.99035675e-01 -8.73112726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.03907232899999 meters Centerline goodness : 0.762344 Centerline is valid? [False, False] Translation: X:-2.98, Y:-3.76, Z:-0.87 [[ 9.90822733e-01 -1.27905589e-01 4.37089470e-02 -2.98490567e+00] [ 1.28147093e-01 9.91751340e-01 -2.75717423e-03 -3.75989579e+00] [-4.29957488e-02 8.33304540e-03 9.99040503e-01 -8.72881555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.069072329 meters Centerline goodness : 0.761907 Centerline is valid? [False, False] Translation: X:-2.98, Y:-3.76, Z:-0.87 [[ 9.90934713e-01 -1.27178723e-01 4.32893479e-02 -2.98278476e+00] [ 1.27401102e-01 9.91848360e-01 -2.40629362e-03 -3.76051216e+00] [-4.26304394e-02 7.89959050e-03 9.99059679e-01 -8.74828099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.099072329 meters Centerline goodness : 0.761727 Centerline is valid? [False, False] Translation: X:-2.98, Y:-3.76, Z:-0.88 [[ 9.91211405e-01 -1.25251714e-01 4.25671030e-02 -2.98131534e+00] [ 1.25379061e-01 9.92108858e-01 -3.24661585e-04 -3.76210276e+00] [-4.21905356e-02 5.65883166e-03 9.99093557e-01 -8.75464867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.129072329 meters Centerline goodness : 0.762785 Centerline is valid? [False, False] Translation: X:-2.98, Y:-3.76, Z:-0.88 [[ 9.91414588e-01 -1.23886166e-01 4.18250213e-02 -2.97898528e+00] [ 1.24018452e-01 9.92279746e-01 -5.73089535e-04 -3.76285170e+00] [-4.14311236e-02 5.75524373e-03 9.99124787e-01 -8.76210652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.159072329 meters Centerline goodness : 0.762139 Centerline is valid? [False, False] Translation: X:-2.98, Y:-3.76, Z:-0.88 [[ 9.91578414e-01 -1.22697931e-01 4.14423201e-02 -2.97708701e+00] [ 1.22832282e-01 9.92427196e-01 -7.01596308e-04 -3.76394291e+00] [-4.10424011e-02 5.78614248e-03 9.99140652e-01 -8.77362851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.189072329 meters Centerline goodness : 0.765565 Centerline is valid? [False, False] Translation: X:-2.98, Y:-3.77, Z:-0.88 [[ 9.91771883e-01 -1.21361402e-01 4.07423878e-02 -2.97626183e+00] [ 1.21499984e-01 9.92590995e-01 -9.33505472e-04 -3.76570174e+00] [-4.03272357e-02 5.87602393e-03 9.99169248e-01 -8.75783611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.219072329 meters Centerline goodness : 0.763861 Centerline is valid? [False, False] Translation: X:-2.98, Y:-3.77, Z:-0.87 [[ 9.91882835e-01 -1.20544319e-01 4.04661438e-02 -2.97600520e+00] [ 1.20690019e-01 9.92689556e-01 -1.16818072e-03 -3.76622804e+00] [-4.00295008e-02 6.04255806e-03 9.99180227e-01 -8.74887989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.24907232899999 meters Centerline goodness : 0.764324 Centerline is valid? [False, False] Translation: X:-2.97, Y:-3.77, Z:-0.88 [[ 9.92076257e-01 -1.19108146e-01 3.99743727e-02 -2.97473240e+00] [ 1.19249994e-01 9.92863565e-01 -1.17448631e-03 -3.76629113e+00] [-3.95492074e-02 5.93212369e-03 9.99200015e-01 -8.75046486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.27907232899999 meters Centerline goodness : 0.765229 Centerline is valid? [False, False] Translation: X:-2.97, Y:-3.77, Z:-0.88 [[ 9.92129502e-01 -1.18880928e-01 3.93239767e-02 -2.97265003e+00] [ 1.19037855e-01 9.92888320e-01 -1.66521381e-03 -3.76573904e+00] [-3.88463550e-02 6.33314960e-03 9.99225126e-01 -8.76226729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.30907232899999 meters Centerline goodness : 0.765609 Centerline is valid? [False, False] Translation: X:-2.97, Y:-3.76, Z:-0.88 [[ 9.92162381e-01 -1.18639728e-01 3.92227497e-02 -2.97204942e+00] [ 1.18815611e-01 9.92913952e-01 -2.17573121e-03 -3.76493686e+00] [-3.86866873e-02 6.81895363e-03 9.99228123e-01 -8.76522288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.33907232899999 meters Centerline goodness : 0.766870 Centerline is valid? [False, False] Translation: X:-2.97, Y:-3.77, Z:-0.88 [[ 9.92264532e-01 -1.17869874e-01 3.89588461e-02 -2.97126605e+00] [ 1.18077732e-01 9.92999609e-01 -3.07005810e-03 -3.76507605e+00] [-3.83242516e-02 7.64648193e-03 9.99236100e-01 -8.76022688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.36907232899999 meters Centerline goodness : 0.766709 Centerline is valid? [False, False] Translation: X:-2.97, Y:-3.77, Z:-0.88 [[ 9.92299865e-01 -1.17607132e-01 3.88528127e-02 -2.97135120e+00] [ 1.17824971e-01 9.93028702e-01 -3.35741735e-03 -3.76514352e+00] [-3.81871019e-02 7.90939632e-03 9.99239304e-01 -8.75266495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.39907232899999 meters Centerline goodness : 0.768130 Centerline is valid? [False, False] Translation: X:-2.97, Y:-3.76, Z:-0.88 [[ 9.92388236e-01 -1.16932523e-01 3.86312641e-02 -2.97062482e+00] [ 1.17161271e-01 9.93105996e-01 -3.70367786e-03 -3.76493659e+00] [-3.79318596e-02 8.20157436e-03 9.99246670e-01 -8.75319531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.429072329 meters Centerline goodness : 0.767503 Centerline is valid? [False, False] Translation: X:-2.97, Y:-3.76, Z:-0.88 [[ 9.92513569e-01 -1.16064664e-01 3.80237944e-02 -2.96874221e+00] [ 1.16282935e-01 9.93209704e-01 -3.57251433e-03 -3.76418039e+00] [-3.73509589e-02 7.96728735e-03 9.99270448e-01 -8.76406643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.459072329 meters Centerline goodness : 0.769781 Centerline is valid? [False, False] Translation: X:-2.97, Y:-3.76, Z:-0.88 [[ 9.92908183e-01 -1.12624095e-01 3.80677398e-02 -2.96942105e+00] [ 1.12700361e-01 9.93629009e-01 1.43347805e-04 -3.76175615e+00] [-3.78413550e-02 4.14791681e-03 9.99275151e-01 -8.76855998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.489072329 meters Centerline goodness : 0.768358 Centerline is valid? [False, False] Translation: X:-2.97, Y:-3.76, Z:-0.87 [[ 9.93222071e-01 -1.09927377e-01 3.77609520e-02 -2.97020866e+00] [ 1.09952278e-01 9.93935849e-01 1.42293535e-03 -3.76049379e+00] [-3.76883835e-02 2.73861192e-03 9.99285788e-01 -8.74919596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.519072329 meters Centerline goodness : 0.769222 Centerline is valid? [False, False] Translation: X:-2.97, Y:-3.76, Z:-0.87 [[ 9.93512473e-01 -1.07465156e-01 3.72049136e-02 -2.97003318e+00] [ 1.07511976e-01 9.94203510e-01 7.45757735e-04 -3.75921905e+00] [-3.70693987e-02 3.25905417e-03 9.99307379e-01 -8.72702072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.549072329 meters Centerline goodness : 0.769404 Centerline is valid? [False, False] Translation: X:-2.97, Y:-3.76, Z:-0.87 [[ 9.93940517e-01 -1.03690326e-01 3.64769128e-02 -2.97016086e+00] [ 1.03782228e-01 9.94599845e-01 -6.29943206e-04 -3.75640916e+00] [-3.62146128e-02 4.41178134e-03 9.99334297e-01 -8.68796868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.579072329 meters Centerline goodness : 0.771315 Centerline is valid? [False, False] Translation: X:-2.97, Y:-3.75, Z:-0.87 [[ 9.94070495e-01 -1.02424715e-01 3.65106752e-02 -2.97116645e+00] [ 1.02448693e-01 9.94737544e-01 1.21844664e-03 -3.75476677e+00] [-3.64433384e-02 2.52924910e-03 9.99332520e-01 -8.68145276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.609072329 meters Centerline goodness : 0.772115 Centerline is valid? [False, False] Translation: X:-2.97, Y:-3.75, Z:-0.87 [[ 9.94152767e-01 -1.01561748e-01 3.66808829e-02 -2.97150026e+00] [ 1.01530285e-01 9.94828719e-01 2.72428578e-03 -3.75250235e+00] [-3.67678790e-02 1.01586426e-03 9.99323317e-01 -8.68978344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.63907232899999 meters Centerline goodness : 0.773796 Centerline is valid? [False, False] Translation: X:-2.97, Y:-3.75, Z:-0.87 [[ 9.94149298e-01 -1.01317464e-01 3.74425445e-02 -2.97340339e+00] [ 1.01327374e-01 9.94851788e-01 1.63779674e-03 -3.74655102e+00] [-3.74157198e-02 2.16574021e-03 9.99297440e-01 -8.70404168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.66907232899999 meters Centerline goodness : 0.771120 Centerline is valid? [False, False] Translation: X:-2.97, Y:-3.74, Z:-0.87 [[ 9.94376513e-01 -9.91439914e-02 3.72265939e-02 -2.97438713e+00] [ 9.90929068e-02 9.95072978e-01 3.21940828e-03 -3.74476058e+00] [-3.73623626e-02 4.87587426e-04 9.99301664e-01 -8.68697122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.69907232899999 meters Centerline goodness : 0.771646 Centerline is valid? [False, False] Translation: X:-2.98, Y:-3.74, Z:-0.87 [[ 9.94675192e-01 -9.61944584e-02 3.69849686e-02 -2.97534612e+00] [ 9.61112769e-02 9.95362459e-01 4.02460432e-03 -3.74123616e+00] [-3.72005939e-02 -4.48501519e-04 9.99307718e-01 -8.66442416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.72907232899999 meters Centerline goodness : 0.773660 Centerline is valid? [False, False] Translation: X:-2.98, Y:-3.74, Z:-0.86 [[ 9.94722709e-01 -9.57025018e-02 3.69832917e-02 -2.97601162e+00] [ 9.56647168e-02 9.95409692e-01 2.79400627e-03 -3.73884541e+00] [-3.70809204e-02 7.58734649e-04 9.99311978e-01 -8.64798745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.75907232899999 meters Centerline goodness : 0.772116 Centerline is valid? [False, False] Translation: X:-2.98, Y:-3.74, Z:-0.86 [[ 9.94714655e-01 -9.57922153e-02 3.69676367e-02 -2.97694847e+00] [ 9.58137520e-02 9.95398565e-01 1.19267413e-03 -3.73605987e+00] [-3.69117814e-02 2.35563753e-03 9.99315752e-01 -8.62735849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.78907232899999 meters Centerline goodness : 0.774559 Centerline is valid? [False, False] Translation: X:-2.98, Y:-3.73, Z:-0.86 [[ 9.94802896e-01 -9.47152465e-02 3.73660363e-02 -2.97939512e+00] [ 9.47390484e-02 9.95501492e-01 1.13711404e-03 -3.73113841e+00] [-3.73056469e-02 2.40881838e-03 9.99300999e-01 -8.60173681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.819072329 meters Centerline goodness : 0.774096 Centerline is valid? [False, False] Translation: X:-2.98, Y:-3.73, Z:-0.86 [[ 9.94922600e-01 -9.37130147e-02 3.67000033e-02 -2.97693601e+00] [ 9.37567348e-02 9.95594994e-01 5.31713547e-04 -3.72851115e+00] [-3.65881680e-02 2.91185865e-03 9.99326187e-01 -8.61605481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.849072329 meters Centerline goodness : 0.774876 Centerline is valid? [False, False] Translation: X:-2.98, Y:-3.73, Z:-0.86 [[ 9.95062449e-01 -9.21807064e-02 3.67891398e-02 -2.97842032e+00] [ 9.21659783e-02 9.95741444e-01 2.09968667e-03 -3.72635481e+00] [-3.68260218e-02 1.30138771e-03 9.99320845e-01 -8.60244284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.879072329 meters Centerline goodness : 0.774461 Centerline is valid? [False, False] Translation: X:-2.98, Y:-3.72, Z:-0.86 [[ 9.95136640e-01 -9.14199015e-02 3.66806340e-02 -2.97749454e+00] [ 9.13998642e-02 9.95811784e-01 2.22628027e-03 -3.72425105e+00] [-3.67305339e-02 1.13715190e-03 9.99324559e-01 -8.61378698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.909072329 meters Centerline goodness : 0.773971 Centerline is valid? [False, False] Translation: X:-2.98, Y:-3.72, Z:-0.86 [[ 9.95110298e-01 -9.14784937e-02 3.72448636e-02 -2.97897141e+00] [ 9.15013192e-02 9.95804353e-01 1.09484296e-03 -3.71810710e+00] [-3.71887519e-02 2.31846466e-03 9.99305570e-01 -8.62306223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.939072329 meters Centerline goodness : 0.776096 Centerline is valid? [False, False] Translation: X:-2.98, Y:-3.72, Z:-0.86 [[ 9.95182246e-01 -9.05948838e-02 3.74815199e-02 -2.98076413e+00] [ 9.05527475e-02 9.95887657e-01 2.82379044e-03 -3.71597213e+00] [-3.75832041e-02 5.83868494e-04 9.99293331e-01 -8.61207069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.969072329 meters Centerline goodness : 0.775718 Centerline is valid? [False, False] Translation: X:-2.98, Y:-3.71, Z:-0.86 [[ 9.95198884e-01 -9.03466547e-02 3.76385890e-02 -2.98269786e+00] [ 9.03175658e-02 9.95909939e-01 2.47593693e-03 -3.71238597e+00] [-3.77083376e-02 9.35376071e-04 9.99288350e-01 -8.59439606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.99907232899999 meters Centerline goodness : 0.778420 Centerline is valid? [False, False] Translation: X:-2.98, Y:-3.71, Z:-0.86 [[ 9.95211818e-01 -9.02677874e-02 3.74855203e-02 -2.98319485e+00] [ 9.02390354e-02 9.95917093e-01 2.46169638e-03 -3.71153717e+00] [-3.75546823e-02 9.32747864e-04 9.99294139e-01 -8.58198321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.02907232899999 meters Centerline goodness : 0.778956 Centerline is valid? [False, False] Translation: X:-2.98, Y:-3.71, Z:-0.86 [[ 9.95223327e-01 -9.02081875e-02 3.73230931e-02 -2.98368235e+00] [ 9.01823256e-02 9.95922430e-01 2.37931327e-03 -3.71050238e+00] [-3.73855391e-02 9.97935271e-04 9.99300418e-01 -8.56995868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.05907232899999 meters Centerline goodness : 0.778609 Centerline is valid? [False, False] Translation: X:-2.99, Y:-3.71, Z:-0.86 [[ 9.95242771e-01 -8.98335832e-02 3.77061421e-02 -2.98594944e+00] [ 8.98219202e-02 9.95955820e-01 2.00665782e-03 -3.70624764e+00] [-3.77339169e-02 1.38972639e-03 9.99286856e-01 -8.55765515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.08907232899999 meters Centerline goodness : 0.780477 Centerline is valid? [False, False] Translation: X:-2.99, Y:-3.70, Z:-0.86 [[ 9.95225599e-01 -8.99909769e-02 3.77839958e-02 -2.98618201e+00] [ 9.00032354e-02 9.95940517e-01 1.37984590e-03 -3.70317112e+00] [-3.77547860e-02 2.02742390e-03 9.99284977e-01 -8.56124655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.11907232899999 meters Centerline goodness : 0.780230 Centerline is valid? [False, False] Translation: X:-2.98, Y:-3.70, Z:-0.86 [[ 9.95541218e-01 -8.69720145e-02 3.65178251e-02 -2.98331778e+00] [ 8.68476503e-02 9.96209152e-01 4.98116233e-03 -3.70324548e+00] [-3.68126132e-02 -1.78746511e-03 9.99320587e-01 -8.56551105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.14907232899999 meters Centerline goodness : 0.780611 Centerline is valid? [False, False] Translation: X:-2.98, Y:-3.70, Z:-0.86 [[ 9.95533204e-01 -8.70329169e-02 3.65911372e-02 -2.98380632e+00] [ 8.69307487e-02 9.96204742e-01 4.37695320e-03 -3.70043809e+00] [-3.68332034e-02 -1.17650729e-03 9.99320735e-01 -8.56532339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.179072329 meters Centerline goodness : 0.780532 Centerline is valid? [False, False] Translation: X:-2.98, Y:-3.70, Z:-0.86 [[ 9.95520271e-01 -8.72740804e-02 3.63679237e-02 -2.98308452e+00] [ 8.71866120e-02 9.96184018e-01 3.98715554e-03 -3.69934438e+00] [-3.65771196e-02 -7.98498110e-04 9.99330514e-01 -8.56932444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.209072329 meters Centerline goodness : 0.779876 Centerline is valid? [False, False] Translation: X:-2.98, Y:-3.70, Z:-0.86 [[ 9.95500406e-01 -8.76264410e-02 3.60631297e-02 -2.98208461e+00] [ 8.75576354e-02 9.96153356e-01 3.48588092e-03 -3.69798601e+00] [-3.62298630e-02 -3.12593508e-04 9.99343434e-01 -8.57449310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.239072329 meters Centerline goodness : 0.778593 Centerline is valid? [False, False] Translation: X:-2.98, Y:-3.70, Z:-0.86 [[ 9.95464570e-01 -8.81279908e-02 3.58294153e-02 -2.98098572e+00] [ 8.80852679e-02 9.96109080e-01 2.77226214e-03 -3.69604595e+00] [-3.59343198e-02 3.96354908e-04 9.99354075e-01 -8.58407886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.269072329 meters Centerline goodness : 0.779615 Centerline is valid? [False, False] Translation: X:-2.98, Y:-3.70, Z:-0.86 [[ 9.95447558e-01 -8.84315004e-02 3.55531769e-02 -2.98005066e+00] [ 8.83996629e-02 9.96082025e-01 2.46952435e-03 -3.69529983e+00] [-3.56322642e-02 6.84606866e-04 9.99364735e-01 -8.58809263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.299072329 meters Centerline goodness : 0.779615 Centerline is valid? [False, False] Translation: X:-2.98, Y:-3.70, Z:-0.86 [[ 9.95447558e-01 -8.84315004e-02 3.55531769e-02 -2.98005066e+00] [ 8.83996629e-02 9.96082025e-01 2.46952435e-03 -3.69529983e+00] [-3.56322642e-02 6.84606866e-04 9.99364735e-01 -8.58809263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.329072329 meters Centerline goodness : 0.780197 Centerline is valid? [False, False] Translation: X:-2.98, Y:-3.69, Z:-0.86 [[ 9.95090760e-01 -9.19283191e-02 3.66546633e-02 -2.98217898e+00] [ 9.20610871e-02 9.95751457e-01 -1.94734937e-03 -3.69231451e+00] [-3.63199178e-02 5.31225751e-03 9.99326095e-01 -8.59095882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.359072329 meters Centerline goodness : 0.780447 Centerline is valid? [False, False] Translation: X:-2.98, Y:-3.69, Z:-0.86 [[ 9.95106164e-01 -9.18168040e-02 3.65157088e-02 -2.98225007e+00] [ 9.19346456e-02 9.95763825e-01 -1.55770201e-03 -3.69314334e+00] [-3.62179986e-02 4.90713762e-03 9.99331865e-01 -8.58273302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.38907232899999 meters Centerline goodness : 0.779646 Centerline is valid? [False, False] Translation: X:-2.99, Y:-3.69, Z:-0.86 [[ 0.99478303 -0.09481023 0.03765306 -2.98524764] [ 0.09507512 0.99545597 -0.00530383 -3.69141534] [-0.0369791 0.00885603 0.9992768 -0.85730457] [ 0. 0. 0. 1. ]] SLAMing on 98.41907232899999 meters Centerline goodness : 0.781286 Centerline is valid? [False, False] Translation: X:-2.99, Y:-3.69, Z:-0.86 [[ 0.99481429 -0.09455207 0.03747573 -2.98557879] [ 0.09480107 0.99548408 -0.00491984 -3.69206908] [-0.03684131 0.00844707 0.99928543 -0.85618465] [ 0. 0. 0. 1. ]] SLAMing on 98.44907232899999 meters Centerline goodness : 0.783481 Centerline is valid? [False, False] Translation: X:-2.99, Y:-3.69, Z:-0.86 [[ 0.99482277 -0.09443639 0.03754237 -2.98587712] [ 0.09468958 0.99549419 -0.00502018 -3.69078692] [-0.03689912 0.00854906 0.99928243 -0.85628076] [ 0. 0. 0. 1. ]] SLAMing on 98.47907232899999 meters Centerline goodness : 0.783361 Centerline is valid? [False, False] Translation: X:-2.99, Y:-3.69, Z:-0.85 [[ 9.95525288e-01 -9.17716180e-02 2.25248805e-02 -2.98777187e+00] [ 9.17961191e-02 9.95777821e-01 -5.39933001e-05 -3.69447870e+00] [-2.24248214e-02 2.12144831e-03 9.99746281e-01 -8.45408798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.50907232899999 meters Centerline goodness : 0.782523 Centerline is valid? [False, False] Translation: X:-2.99, Y:-3.69, Z:-0.85 [[ 9.95516744e-01 -9.18541243e-02 2.25661741e-02 -2.98755809e+00] [ 9.18831102e-02 9.95769769e-01 -2.48804959e-04 -3.69371091e+00] [-2.24478602e-02 2.32113977e-03 9.99745321e-01 -8.45970959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.53907232899999 meters Centerline goodness : 0.782015 Centerline is valid? [False, False] Translation: X:-2.99, Y:-3.70, Z:-0.84 [[ 9.95562201e-01 -9.14346239e-02 2.22623617e-02 -2.98752948e+00] [ 9.14456501e-02 9.95809931e-01 5.24372442e-04 -3.69669807e+00] [-2.22170267e-02 1.51375076e-03 9.99752025e-01 -8.44674688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.569072329 meters Centerline goodness : 0.782168 Centerline is valid? [False, False] Translation: X:-2.99, Y:-3.70, Z:-0.84 [[ 9.95609858e-01 -9.09868757e-02 2.19636036e-02 -2.98765924e+00] [ 9.09799581e-02 9.95851854e-01 1.31607441e-03 -3.69947569e+00] [-2.19922409e-02 6.87951079e-04 9.99757905e-01 -8.43199012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.599072329 meters Centerline goodness : 0.782545 Centerline is valid? [False, False] Translation: X:-2.99, Y:-3.70, Z:-0.84 [[ 9.95645871e-01 -9.06437672e-02 2.17487158e-02 -2.98775928e+00] [ 9.06228915e-02 9.95883380e-01 1.94556243e-03 -3.70158993e+00] [-2.18355377e-02 3.38403087e-05 9.99761576e-01 -8.42165730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.629072329 meters Centerline goodness : 0.782153 Centerline is valid? [False, False] Translation: X:-2.99, Y:-3.70, Z:-0.84 [[ 9.95634930e-01 -9.08268689e-02 2.14840872e-02 -2.98644980e+00] [ 9.08029106e-02 9.95866689e-01 2.09009046e-03 -3.70276899e+00] [-2.15851231e-02 -1.30149428e-04 9.99767006e-01 -8.42961457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.659072329 meters Centerline goodness : 0.781791 Centerline is valid? [False, False] Translation: X:-2.99, Y:-3.70, Z:-0.84 [[ 9.95628398e-01 -9.08998316e-02 2.14782227e-02 -2.98580226e+00] [ 9.08750276e-02 9.95860026e-01 2.13008963e-03 -3.70299206e+00] [-2.15829282e-02 -1.68943646e-04 9.99767047e-01 -8.43869830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.689072329 meters Centerline goodness : 0.782243 Centerline is valid? [False, False] Translation: X:-2.99, Y:-3.70, Z:-0.84 [[ 9.95623064e-01 -9.09489932e-02 2.15173196e-02 -2.98527487e+00] [ 9.09241192e-02 9.95855538e-01 2.13355170e-03 -3.70315431e+00] [-2.16221863e-02 -1.67769946e-04 9.99766199e-01 -8.44792232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.719072329 meters Centerline goodness : 0.782016 Centerline is valid? [False, False] Translation: X:-2.99, Y:-3.71, Z:-0.84 [[ 9.95668001e-01 -9.04576275e-02 2.15092925e-02 -2.98543780e+00] [ 9.04147038e-02 9.95899799e-01 2.96177468e-03 -3.70588446e+00] [-2.16890151e-02 -1.00418797e-03 9.99764261e-01 -8.44357537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.74907232899999 meters Centerline goodness : 0.782478 Centerline is valid? [False, False] Translation: X:-2.99, Y:-3.71, Z:-0.84 [[ 9.95715138e-01 -8.99569232e-02 2.14269872e-02 -2.98596826e+00] [ 8.98972153e-02 9.95944042e-01 3.73564369e-03 -3.70831201e+00] [-2.16761273e-02 -1.79341049e-03 9.99763437e-01 -8.43119216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.77907232899999 meters Centerline goodness : 0.781501 Centerline is valid? [False, False] Translation: X:-2.99, Y:-3.71, Z:-0.84 [[ 9.95453811e-01 -9.25209982e-02 2.26180410e-02 -2.98946099e+00] [ 9.25382058e-02 9.95709093e-01 2.86924629e-04 -3.70796080e+00] [-2.25475357e-02 1.80741272e-03 9.99744138e-01 -8.42124760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.80907232899999 meters Centerline goodness : 0.783662 Centerline is valid? [False, False] Translation: X:-2.99, Y:-3.71, Z:-0.84 [[ 9.95502028e-01 -9.20076652e-02 2.25898738e-02 -2.98988341e+00] [ 9.20078881e-02 9.95757744e-01 1.03169650e-03 -3.71056046e+00] [-2.25889658e-02 1.05139063e-03 9.99744284e-01 -8.41256284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.83907232899999 meters Centerline goodness : 0.784222 Centerline is valid? [False, False] Translation: X:-2.99, Y:-3.72, Z:-0.85 [[ 9.95670503e-01 -8.49882638e-02 3.76463068e-02 -2.99425733e+00] [ 8.47916981e-02 9.96375560e-01 6.79047272e-03 -3.71732024e+00] [-3.80869705e-02 -3.56897911e-03 9.99268055e-01 -8.45246023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.86907232899999 meters Centerline goodness : 0.784129 Centerline is valid? [False, False] Translation: X:-2.99, Y:-3.72, Z:-0.84 [[ 0.99570921 -0.08460935 0.0374757 -2.99441074] [ 0.08438798 0.9964051 0.00745293 -3.71951538] [-0.03797157 -0.00425846 0.99926975 -0.84423202] [ 0. 0. 0. 1. ]] SLAMing on 98.89907232899999 meters Centerline goodness : 0.783424 Centerline is valid? [False, False] Translation: X:-2.99, Y:-3.72, Z:-0.84 [[ 9.95914007e-01 -8.25746083e-02 3.65612449e-02 -2.99324596e+00] [ 8.24334225e-02 9.96582187e-01 5.35494771e-03 -3.72353237e+00] [-3.68784681e-02 -2.31919889e-03 9.99317067e-01 -8.40875841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.929072329 meters Centerline goodness : 0.783573 Centerline is valid? [False, False] Translation: X:-2.99, Y:-3.73, Z:-0.84 [[ 9.96059393e-01 -8.12535209e-02 3.55464527e-02 -2.99060079e+00] [ 8.11017507e-02 9.96689567e-01 5.69328019e-03 -3.72536774e+00] [-3.58913776e-02 -2.78796567e-03 9.99351808e-01 -8.41515179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.959072329 meters Centerline goodness : 0.783752 Centerline is valid? [False, False] Translation: X:-2.99, Y:-3.73, Z:-0.84 [[ 0.99624986 -0.07920333 0.03482889 -2.98874191] [ 0.07897696 0.99684569 0.00783014 -3.72700062] [-0.03533921 -0.0050501 0.99936262 -0.84267011] [ 0. 0. 0. 1. ]] SLAMing on 98.989072329 meters Centerline goodness : 0.784593 Centerline is valid? [False, False] Translation: X:-2.99, Y:-3.73, Z:-0.84 [[ 0.9962434 -0.07919318 0.03503616 -2.98831941] [ 0.07898082 0.99684862 0.00740624 -3.72576001] [-0.03551227 -0.00461123 0.9993586 -0.84449805] [ 0. 0. 0. 1. ]] SLAMing on 99.019072329 meters Centerline goodness : 0.782017 Centerline is valid? [False, False] Translation: X:-2.99, Y:-3.73, Z:-0.84 [[ 0.99669052 -0.07401253 0.03361776 -2.98599717] [ 0.07364964 0.99721307 0.0119093 -3.73007282] [-0.03440551 -0.00939395 0.99936381 -0.84412304] [ 0. 0. 0. 1. ]] SLAMing on 99.049072329 meters Centerline goodness : 0.780841 Centerline is valid? [False, False] Translation: X:-2.98, Y:-3.73, Z:-0.84 [[ 0.99685179 -0.07239522 0.03233335 -2.98227135] [ 0.0720953 0.99734406 0.01034883 -3.73206572] [-0.03299668 -0.00798517 0.99942356 -0.84450497] [ 0. 0. 0. 1. ]] SLAMing on 99.079072329 meters Centerline goodness : 0.781213 Centerline is valid? [False, False] Translation: X:-2.98, Y:-3.73, Z:-0.84 [[ 0.9969481 -0.07134477 0.03169256 -2.98187961] [ 0.07108799 0.99742801 0.00915778 -3.73441394] [-0.03226441 -0.00687687 0.99945571 -0.84194713] [ 0. 0. 0. 1. ]] SLAMing on 99.109072329 meters Centerline goodness : 0.780884 Centerline is valid? [False, False] Translation: X:-2.98, Y:-3.74, Z:-0.84 [[ 9.96840275e-01 -7.33108429e-02 3.05775461e-02 -2.97771089e+00] [ 7.32701750e-02 9.97309119e-01 2.44986377e-03 -3.73800646e+00] [-3.06748672e-02 -2.01700717e-04 9.99529395e-01 -8.41910474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.13907232899999 meters Centerline goodness : 0.782163 Centerline is valid? [False, False] Translation: X:-2.98, Y:-3.74, Z:-0.84 [[ 9.96789583e-01 -7.40024857e-02 3.05640318e-02 -2.97826018e+00] [ 7.39535777e-02 9.97257951e-01 2.72907027e-03 -3.74052905e+00] [-3.06821817e-02 -4.59989316e-04 9.99529085e-01 -8.41092107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.16907232899999 meters Centerline goodness : 0.781630 Centerline is valid? [False, False] Translation: X:-2.98, Y:-3.74, Z:-0.84 [[ 9.96734480e-01 -7.48286147e-02 3.03488729e-02 -2.97687894e+00] [ 7.47679727e-02 9.97196047e-01 3.12968188e-03 -3.74274177e+00] [-3.04979658e-02 -8.50338147e-04 9.99534467e-01 -8.42706353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.19907232899999 meters Centerline goodness : 0.779497 Centerline is valid? [False, False] Translation: X:-2.97, Y:-3.75, Z:-0.85 [[ 9.96664280e-01 -7.60235304e-02 2.96772080e-02 -2.97281592e+00] [ 7.59714474e-02 9.97105834e-01 2.88025100e-03 -3.74726867e+00] [-2.98102841e-02 -6.16022841e-04 9.99555385e-01 -8.46798802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.22907232899999 meters Centerline goodness : 0.780299 Centerline is valid? [False, False] Translation: X:-2.97, Y:-3.75, Z:-0.85 [[ 9.96671064e-01 -7.61128208e-02 2.92169144e-02 -2.97159075e+00] [ 7.60834425e-02 9.97099206e-01 2.11752410e-03 -3.75032397e+00] [-2.92933329e-02 1.12448428e-04 9.99570852e-01 -8.46682740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.25907232899999 meters Centerline goodness : 0.782947 Centerline is valid? [False, False] Translation: X:-2.97, Y:-3.75, Z:-0.85 [[ 9.96586523e-01 -7.74072666e-02 2.86952572e-02 -2.97020997e+00] [ 7.74450645e-02 9.96996599e-01 -2.06516269e-04 -3.75294265e+00] [-2.85930880e-02 2.42811738e-03 9.99588185e-01 -8.46153112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.28907232899999 meters Centerline goodness : 0.783824 Centerline is valid? [False, False] Translation: X:-2.97, Y:-3.76, Z:-0.85 [[ 9.96440698e-01 -7.93665656e-02 2.84057064e-02 -2.96845958e+00] [ 7.94925846e-02 9.96829885e-01 -3.33320519e-03 -3.75519718e+00] [-2.80511120e-02 5.57938432e-03 9.99590919e-01 -8.46750361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.319072329 meters Centerline goodness : 0.784513 Centerline is valid? [False, False] Translation: X:-2.96, Y:-3.76, Z:-0.85 [[ 0.99620403 -0.08245213 0.02791381 -2.96496505] [ 0.08264307 0.99656259 -0.00575513 -3.75978479] [-0.02734334 0.00804016 0.99959377 -0.84985701] [ 0. 0. 0. 1. ]] SLAMing on 99.349072329 meters Centerline goodness : 0.784787 Centerline is valid? [False, False] Translation: X:-2.97, Y:-3.76, Z:-0.85 [[ 0.99622617 -0.08214533 0.02802785 -2.96524348] [ 0.08229673 0.99659864 -0.00428961 -3.76236747] [-0.02758014 0.00658002 0.99959794 -0.85008785] [ 0. 0. 0. 1. ]] SLAMing on 99.379072329 meters Centerline goodness : 0.785372 Centerline is valid? [False, False] Translation: X:-2.96, Y:-3.76, Z:-0.85 [[ 9.96284677e-01 -8.14921029e-02 2.78546195e-02 -2.96459010e+00] [ 8.16141322e-02 9.96658636e-01 -3.27059903e-03 -3.76428921e+00] [-2.74950191e-02 5.53177829e-03 9.99606634e-01 -8.50696741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.409072329 meters Centerline goodness : 0.784061 Centerline is valid? [False, False] Translation: X:-2.96, Y:-3.77, Z:-0.85 [[ 9.96497016e-01 -7.91133911e-02 2.71066206e-02 -2.96287783e+00] [ 7.91959597e-02 9.96857092e-01 -1.98447816e-03 -3.76736952e+00] [-2.68644282e-02 4.12426140e-03 9.99630578e-01 -8.50723963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.439072329 meters Centerline goodness : 0.785396 Centerline is valid? [False, False] Translation: X:-2.96, Y:-3.77, Z:-0.85 [[ 9.96622604e-01 -7.78297342e-02 2.61900146e-02 -2.96056661e+00] [ 7.79334366e-02 9.96954168e-01 -2.96092300e-03 -3.76819866e+00] [-2.58797963e-02 4.99200063e-03 9.99652598e-01 -8.50697701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.469072329 meters Centerline goodness : 0.785462 Centerline is valid? [False, False] Translation: X:-2.96, Y:-3.77, Z:-0.85 [[ 0.99683053 -0.07569893 0.02446567 -2.95638966] [ 0.07585262 0.99710434 -0.00541484 -3.76965598] [-0.02398493 0.00725347 0.99968601 -0.85035 ] [ 0. 0. 0. 1. ]] SLAMing on 99.49907232899999 meters Centerline goodness : 0.786220 Centerline is valid? [False, False] Translation: X:-2.96, Y:-3.77, Z:-0.85 [[ 0.99692135 -0.07461639 0.02408789 -2.95566134] [ 0.07477543 0.99718371 -0.00576975 -3.7704988 ] [-0.02358954 0.00755317 0.99969319 -0.84973693] [ 0. 0. 0. 1. ]] SLAMing on 99.52907232899999 meters Centerline goodness : 0.785975 Centerline is valid? [False, False] Translation: X:-2.95, Y:-3.77, Z:-0.85 [[ 0.99702602 -0.07342453 0.0234086 -2.9539314 ] [ 0.07358962 0.9972689 -0.0062699 -3.77132336] [-0.02288431 0.00797388 0.99970632 -0.84979875] [ 0. 0. 0. 1. ]] SLAMing on 99.55907232899999 meters Centerline goodness : 0.786362 Centerline is valid? [False, False] Translation: X:-2.95, Y:-3.77, Z:-0.85 [[ 0.99714144 -0.07207333 0.02268024 -2.95262206] [ 0.07223048 0.99736878 -0.0061866 -3.77179596] [-0.02217467 0.00780712 0.99972363 -0.84926022] [ 0. 0. 0. 1. ]] SLAMing on 99.58907232899999 meters Centerline goodness : 0.787788 Centerline is valid? [False, False] Translation: X:-2.95, Y:-3.77, Z:-0.85 [[ 9.97396795e-01 -6.85876445e-02 2.22568682e-02 -2.95172693e+00] [ 6.86783305e-02 9.97633281e-01 -3.33514625e-03 -3.77332298e+00] [-2.19754427e-02 4.85502873e-03 9.99746722e-01 -8.49713930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.61907232899999 meters Centerline goodness : 0.787005 Centerline is valid? [False, False] Translation: X:-2.95, Y:-3.77, Z:-0.85 [[ 9.97456709e-01 -6.77594368e-02 2.21081960e-02 -2.95067164e+00] [ 6.78394102e-02 9.97692077e-01 -2.88678789e-03 -3.77338091e+00] [-2.18615648e-02 4.37925292e-03 9.99751416e-01 -8.50824215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.64907232899999 meters Centerline goodness : 0.788018 Centerline is valid? [False, False] Translation: X:-2.95, Y:-3.77, Z:-0.85 [[ 9.97493768e-01 -6.72796146e-02 2.19006147e-02 -2.95047054e+00] [ 6.73524756e-02 9.97725842e-01 -2.60561412e-03 -3.77394836e+00] [-2.16755045e-02 4.07414447e-03 9.99756757e-01 -8.50325813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.679072329 meters Centerline goodness : 0.789190 Centerline is valid? [False, False] Translation: X:-2.95, Y:-3.78, Z:-0.85 [[ 0.99750056 -0.0672887 0.02156063 -2.9504677 ] [ 0.06739356 0.99771774 -0.00417317 -3.77635041] [-0.02123062 0.00561579 0.99975883 -0.84840198] [ 0. 0. 0. 1. ]] SLAMing on 99.709072329 meters Centerline goodness : 0.788347 Centerline is valid? [False, False] Translation: X:-2.95, Y:-3.78, Z:-0.85 [[ 0.99749231 -0.06731754 0.02185022 -2.95138951] [ 0.06741644 0.99771761 -0.00382068 -3.77711357] [-0.02154315 0.00528416 0.99975395 -0.84770984] [ 0. 0. 0. 1. ]] SLAMing on 99.739072329 meters Centerline goodness : 0.789100 Centerline is valid? [False, False] Translation: X:-2.95, Y:-3.78, Z:-0.85 [[ 9.97484455e-01 -6.73785582e-02 2.20202406e-02 -2.95147218e+00] [ 6.74713221e-02 9.97715088e-01 -3.49636772e-03 -3.77674249e+00] [-2.17343461e-02 4.97330720e-03 9.99751411e-01 -8.48215626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.769072329 meters Centerline goodness : 0.790424 Centerline is valid? [False, False] Translation: X:-2.95, Y:-3.78, Z:-0.85 [[ 9.97381330e-01 -6.86112104e-02 2.28688532e-02 -2.95217042e+00] [ 6.86564772e-02 9.97639639e-01 -1.19924270e-03 -3.77588720e+00] [-2.27325929e-02 2.76619718e-03 9.99737754e-01 -8.50717828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.799072329 meters Centerline goodness : 0.790697 Centerline is valid? [False, False] Translation: X:-2.95, Y:-3.78, Z:-0.85 [[ 9.97323489e-01 -6.94256508e-02 2.29333083e-02 -2.95141868e+00] [ 6.94706049e-02 9.97583315e-01 -1.16839546e-03 -3.77617555e+00] [-2.27967691e-02 2.75845904e-03 9.99736314e-01 -8.52169189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.829072329 meters Centerline goodness : 0.790718 Centerline is valid? [False, False] Translation: X:-2.95, Y:-3.78, Z:-0.85 [[ 9.97276333e-01 -7.01221970e-02 2.28646621e-02 -2.95165735e+00] [ 7.01612084e-02 9.97535253e-01 -9.07471564e-04 -3.77769407e+00] [-2.27446726e-02 2.50921224e-03 9.99738158e-01 -8.51600815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.859072329 meters Centerline goodness : 0.793880 Centerline is valid? [False, False] Translation: X:-2.95, Y:-3.78, Z:-0.85 [[ 9.96890196e-01 -7.51811078e-02 2.36164941e-02 -2.95195210e+00] [ 7.52740114e-02 9.97158166e-01 -3.06854998e-03 -3.78020238e+00] [-2.33186830e-02 4.83671564e-03 9.99716382e-01 -8.53183145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.88907232899999 meters Centerline goodness : 0.791603 Centerline is valid? [False, False] Translation: X:-2.95, Y:-3.78, Z:-0.86 [[ 0.9965704 -0.07910635 0.02428223 -2.95110128] [ 0.07925964 0.9968393 -0.00541508 -3.78093041] [-0.02377711 0.00732111 0.99969048 -0.85621143] [ 0. 0. 0. 1. ]] SLAMing on 99.91907232899999 meters Centerline goodness : 0.792125 Centerline is valid? [False, False] Translation: X:-2.95, Y:-3.78, Z:-0.86 [[ 0.9962388 -0.08301276 0.02484238 -2.95160906] [ 0.08319111 0.99651412 -0.00623223 -3.78209334] [-0.02423842 0.00827545 0.99967195 -0.85726401] [ 0. 0. 0. 1. ]] SLAMing on 99.94907232899999 meters Centerline goodness : 0.794428 Centerline is valid? [False, False] Translation: X:-2.95, Y:-3.78, Z:-0.86 [[ 0.99550331 -0.09090215 0.02664513 -2.953472 ] [ 0.09114271 0.99580607 -0.00795453 -3.78429263] [-0.0258103 0.01034727 0.99961331 -0.86027175] [ 0. 0. 0. 1. ]] SLAMing on 99.97907232899999 meters Centerline goodness : 0.794213 Centerline is valid? [False, False] Translation: X:-2.95, Y:-3.79, Z:-0.86 [[ 0.99514542 -0.09462263 0.02705835 -2.95249174] [ 0.09490862 0.9954408 -0.00948514 -3.78519793] [-0.02603747 0.01200717 0.99958885 -0.86303527] [ 0. 0. 0. 1. ]] SLAMing on 100.00907232899999 meters Centerline goodness : 0.791783 Centerline is valid? [False, False] Translation: X:-2.95, Y:-3.79, Z:-0.87 [[ 0.99482787 -0.09775385 0.02759875 -2.95160957] [ 0.09806919 0.99512619 -0.01031013 -3.78675955] [-0.02645639 0.01296339 0.99956591 -0.8660103 ] [ 0. 0. 0. 1. ]] SLAMing on 100.03907232899999 meters Centerline goodness : 0.792826 Centerline is valid? [False, False] Translation: X:-2.95, Y:-3.79, Z:-0.88 [[ 0.99463748 -0.09439431 0.04226103 -2.95276295] [ 0.09478866 0.99546975 -0.00742219 -3.79353551] [-0.04136896 0.01138826 0.99907903 -0.87736812] [ 0. 0. 0. 1. ]] SLAMing on 100.069072329 meters Centerline goodness : 0.791502 Centerline is valid? [False, False] Translation: X:-2.95, Y:-3.80, Z:-0.88 [[ 0.99394765 -0.10106838 0.04304935 -2.95097264] [ 0.10149629 0.99480481 -0.00786726 -3.7959868 ] [-0.04203057 0.012189 0.99904197 -0.88366434] [ 0. 0. 0. 1. ]] SLAMing on 100.099072329 meters Centerline goodness : 0.792013 Centerline is valid? [False, False] Translation: X:-2.95, Y:-3.80, Z:-0.89 [[ 0.99355119 -0.10475641 0.04338358 -2.95014328] [ 0.10524312 0.99440502 -0.00908482 -3.79695229] [-0.04218915 0.01359206 0.99901718 -0.88594647] [ 0. 0. 0. 1. ]] SLAMing on 100.129072329 meters Centerline goodness : 0.793296 Centerline is valid? [False, False] Translation: X:-2.95, Y:-3.80, Z:-0.89 [[ 0.99261364 -0.11273018 0.0448339 -2.95185279] [ 0.11341193 0.99346356 -0.01295691 -3.79819886] [-0.04308021 0.01794591 0.99891043 -0.88684364] [ 0. 0. 0. 1. ]] SLAMing on 100.159072329 meters Centerline goodness : 0.794043 Centerline is valid? [False, False] Translation: X:-2.95, Y:-3.80, Z:-0.89 [[ 0.9922203 -0.1160536 0.04506028 -2.95240402] [ 0.11682423 0.99304152 -0.0148542 -3.79816201] [-0.04302285 0.02000277 0.99887383 -0.88614918] [ 0. 0. 0. 1. ]] SLAMing on 100.189072329 meters Centerline goodness : 0.792178 Centerline is valid? [False, False] Translation: X:-2.95, Y:-3.80, Z:-0.89 [[ 0.9919673 -0.11821073 0.04502332 -2.95106394] [ 0.11903426 0.99276022 -0.01606234 -3.79843119] [-0.04279862 0.02129264 0.9988568 -0.88787417] [ 0. 0. 0. 1. ]] SLAMing on 100.219072329 meters Centerline goodness : 0.792178 Centerline is valid? [False, False] Translation: X:-2.95, Y:-3.80, Z:-0.89 [[ 0.9919673 -0.11821073 0.04502332 -2.95106394] [ 0.11903426 0.99276022 -0.01606234 -3.79843119] [-0.04279862 0.02129264 0.9988568 -0.88787417] [ 0. 0. 0. 1. ]] SLAMing on 100.24907232899999 meters Centerline goodness : 0.792823 Centerline is valid? [False, False] Translation: X:-2.95, Y:-3.80, Z:-0.89 [[ 0.99179069 -0.11946493 0.0456 -2.95136402] [ 0.12025907 0.99262802 -0.01507874 -3.79876676] [-0.04346246 0.02043877 0.99884597 -0.88963069] [ 0. 0. 0. 1. ]] SLAMing on 100.27907232899999 meters Centerline goodness : 0.793639 Centerline is valid? [False, False] Translation: X:-2.95, Y:-3.80, Z:-0.89 [[ 0.99159614 -0.12083681 0.04621221 -2.95179504] [ 0.12151305 0.99251602 -0.01210512 -3.79868677] [-0.04440362 0.01761878 0.9988583 -0.89252342] [ 0. 0. 0. 1. ]] SLAMing on 100.30907232899999 meters Centerline goodness : 0.794167 Centerline is valid? [False, False] Translation: X:-2.95, Y:-3.80, Z:-0.89 [[ 0.9915151 -0.12140949 0.04644939 -2.95232324] [ 0.12207379 0.99245168 -0.01173223 -3.79879059] [-0.04467437 0.01730294 0.99885175 -0.89259442] [ 0. 0. 0. 1. ]] SLAMing on 100.33907232899999 meters Centerline goodness : 0.793846 Centerline is valid? [False, False] Translation: X:-2.95, Y:-3.80, Z:-0.89 [[ 0.9914157 -0.12210955 0.04673514 -2.95246143] [ 0.12280273 0.9923555 -0.01224936 -3.79928614] [-0.04488211 0.01788341 0.99883221 -0.89278884] [ 0. 0. 0. 1. ]] SLAMing on 100.36907232899999 meters Centerline goodness : 0.795175 Centerline is valid? [False, False] Translation: X:-2.95, Y:-3.80, Z:-0.89 [[ 0.99132584 -0.12274671 0.04697157 -2.95211001] [ 0.12349146 0.9922567 -0.01328531 -3.79934205] [-0.04497713 0.01897066 0.99880788 -0.89322635] [ 0. 0. 0. 1. ]] SLAMing on 100.39907232899999 meters Centerline goodness : 0.796982 Centerline is valid? [False, False] Translation: X:-2.95, Y:-3.80, Z:-0.89 [[ 0.99113405 -0.1240838 0.04750266 -2.95369343] [ 0.12478036 0.99211207 -0.01197889 -3.79875722] [-0.04564157 0.01780009 0.99879928 -0.89301738] [ 0. 0. 0. 1. ]] SLAMing on 100.429072329 meters Centerline goodness : 0.796500 Centerline is valid? [False, False] Translation: X:-2.95, Y:-3.80, Z:-0.89 [[ 0.9911273 -0.12423221 0.04725495 -2.95260402] [ 0.12490079 0.99210308 -0.01145766 -3.79734549] [-0.04545837 0.01725818 0.99881715 -0.89458209] [ 0. 0. 0. 1. ]] SLAMing on 100.459072329 meters Centerline goodness : 0.798299 Centerline is valid? [False, False] Translation: X:-2.95, Y:-3.80, Z:-0.89 [[ 0.9911786 -0.12385538 0.04716811 -2.95339894] [ 0.12446054 0.9921731 -0.01010535 -3.79598936] [-0.04554733 0.01588678 0.99883585 -0.89383896] [ 0. 0. 0. 1. ]] SLAMing on 100.489072329 meters Centerline goodness : 0.797975 Centerline is valid? [False, False] Translation: X:-2.95, Y:-3.79, Z:-0.89 [[ 0.99131592 -0.12272914 0.04722614 -2.95320276] [ 0.12339729 0.99229081 -0.01149157 -3.79383686] [-0.04545171 0.01721936 0.99881812 -0.89338474] [ 0. 0. 0. 1. ]] SLAMing on 100.519072329 meters Centerline goodness : 0.798504 Centerline is valid? [False, False] Translation: X:-2.95, Y:-3.79, Z:-0.89 [[ 0.99143456 -0.12197231 0.04669331 -2.95129517] [ 0.1227206 0.99234946 -0.0134986 -3.79276061] [-0.04468963 0.01911321 0.99881806 -0.89354257] [ 0. 0. 0. 1. ]] SLAMing on 100.549072329 meters Centerline goodness : 0.801005 Centerline is valid? [False, False] Translation: X:-2.95, Y:-3.79, Z:-0.89 [[ 0.99157588 -0.12114805 0.04583036 -2.94997889] [ 0.12193579 0.99242777 -0.01479148 -3.79130571] [-0.04369137 0.02025523 0.99883972 -0.89235665] [ 0. 0. 0. 1. ]] SLAMing on 100.579072329 meters Centerline goodness : 0.802372 Centerline is valid? [False, False] Translation: X:-2.95, Y:-3.79, Z:-0.89 [[ 0.99172902 -0.11998819 0.04556738 -2.94935785] [ 0.12077727 0.99256678 -0.01496768 -3.79002321] [-0.04343272 0.02034738 0.99884913 -0.89218934] [ 0. 0. 0. 1. ]] SLAMing on 100.60907232899999 meters Centerline goodness : 0.805419 Centerline is valid? [False, False] Translation: X:-2.95, Y:-3.79, Z:-0.89 [[ 0.99208815 -0.11713925 0.04516085 -2.95040764] [ 0.11777205 0.99297282 -0.01160661 -3.78824255] [-0.0434839 0.01683347 0.9989123 -0.89070659] [ 0. 0. 0. 1. ]] SLAMing on 100.63907232899999 meters Centerline goodness : 0.804272 Centerline is valid? [False, False] Translation: X:-2.95, Y:-3.79, Z:-0.89 [[ 0.99227042 -0.11579708 0.04461447 -2.94867045] [ 0.11641239 0.99313507 -0.01144083 -3.78711738] [-0.04298338 0.01654607 0.99893877 -0.89163912] [ 0. 0. 0. 1. ]] SLAMing on 100.66907232899999 meters Centerline goodness : 0.803483 Centerline is valid? [False, False] Translation: X:-2.95, Y:-3.79, Z:-0.89 [[ 0.99242426 -0.11456158 0.04438175 -2.9490488 ] [ 0.1151384 0.99329228 -0.01065775 -3.78619615] [-0.04286308 0.01568706 0.99895779 -0.89049012] [ 0. 0. 0. 1. ]] SLAMing on 100.69907232899999 meters Centerline goodness : 0.801934 Centerline is valid? [False, False] Translation: X:-2.95, Y:-3.78, Z:-0.89 [[ 0.99274599 -0.11213453 0.04337326 -2.94822968] [ 0.1126702 0.99358109 -0.01010184 -3.78419641] [-0.04196209 0.01491544 0.99900786 -0.88863694] [ 0. 0. 0. 1. ]] SLAMing on 100.72907232899999 meters Centerline goodness : 0.801594 Centerline is valid? [False, False] Translation: X:-2.95, Y:-3.78, Z:-0.89 [[ 0.9928901 -0.11099091 0.04301462 -2.94784525] [ 0.1115132 0.99371332 -0.00993171 -3.78310418] [-0.04164187 0.0146578 0.99902508 -0.88800574] [ 0. 0. 0. 1. ]] SLAMing on 100.75907232899999 meters Centerline goodness : 0.800567 Centerline is valid? [False, False] Translation: X:-2.94, Y:-3.78, Z:-0.89 [[ 0.99305777 -0.10992236 0.04187286 -2.94471642] [ 0.11048784 0.99381173 -0.01143175 -3.78139161] [-0.04035714 0.01597883 0.99905755 -0.88864993] [ 0. 0. 0. 1. ]] SLAMing on 100.78907232899999 meters Centerline goodness : 0.798560 Centerline is valid? [False, False] Translation: X:-2.94, Y:-3.78, Z:-0.89 [[ 0.99307566 -0.10985237 0.04163172 -2.94420948] [ 0.11043803 0.99381018 -0.01203214 -3.78110008] [-0.04005227 0.01654655 0.99906057 -0.88830308] [ 0. 0. 0. 1. ]] SLAMing on 100.819072329 meters Centerline goodness : 0.797220 Centerline is valid? [False, False] Translation: X:-2.94, Y:-3.78, Z:-0.89 [[ 0.9930592 -0.10994808 0.04177138 -2.94425845] [ 0.11055624 0.99379085 -0.01253241 -3.78080918] [-0.0401341 0.01706351 0.99904859 -0.88825728] [ 0. 0. 0. 1. ]] SLAMing on 100.849072329 meters Centerline goodness : 0.796876 Centerline is valid? [False, False] Translation: X:-2.95, Y:-3.78, Z:-0.89 [[ 0.99304006 -0.1100633 0.04192276 -2.94550665] [ 0.1106943 0.99376904 -0.01303298 -3.77912259] [-0.04022709 0.01758289 0.99903585 -0.88650932] [ 0. 0. 0. 1. ]] SLAMing on 100.879072329 meters Centerline goodness : 0.795327 Centerline is valid? [False, False] Translation: X:-2.94, Y:-3.78, Z:-0.89 [[ 0.99309623 -0.1097572 0.0413912 -2.9446554 ] [ 0.11037983 0.99380363 -0.01306295 -3.77844712] [-0.03970097 0.01754152 0.99905762 -0.88620237] [ 0. 0. 0. 1. ]] SLAMing on 100.909072329 meters Centerline goodness : 0.793637 Centerline is valid? [False, False] Translation: X:-2.94, Y:-3.78, Z:-0.89 [[ 0.99312535 -0.10957168 0.04118366 -2.94366054] [ 0.11018226 0.99382828 -0.01285362 -3.77789479] [-0.0395211 0.01730296 0.99906891 -0.88722332] [ 0. 0. 0. 1. ]] SLAMing on 100.939072329 meters Centerline goodness : 0.793383 Centerline is valid? [False, False] Translation: X:-2.94, Y:-3.78, Z:-0.89 [[ 0.99312561 -0.10959568 0.04111337 -2.94362474] [ 0.11017158 0.99384006 -0.01200676 -3.77759673] [-0.03954422 0.01645374 0.99908234 -0.88749698] [ 0. 0. 0. 1. ]] SLAMing on 100.969072329 meters Centerline goodness : 0.790170 Centerline is valid? [False, False] Translation: X:-2.94, Y:-3.78, Z:-0.89 [[ 0.99293912 -0.11116464 0.04140454 -2.94457593] [ 0.11176016 0.99365846 -0.01235021 -3.77711981] [-0.03976906 0.01689038 0.99906613 -0.88675171] [ 0. 0. 0. 1. ]] SLAMing on 100.99907232899999 meters Centerline goodness : 0.787568 Centerline is valid? [False, False] Translation: X:-2.94, Y:-3.78, Z:-0.89 [[ 0.99285857 -0.11191219 0.04132223 -2.94373061] [ 0.11259155 0.99353571 -0.01448916 -3.77666126] [-0.0394336 0.01903822 0.99904081 -0.88677763] [ 0. 0. 0. 1. ]] SLAMing on 101.02907232899999 meters Centerline goodness : 0.787373 Centerline is valid? [False, False] Translation: X:-2.94, Y:-3.78, Z:-0.89 [[ 0.99280719 -0.11235765 0.04134794 -2.94439942] [ 0.1130743 0.99346695 -0.01541469 -3.77631146] [-0.03934586 0.01997921 0.99902589 -0.88539653] [ 0. 0. 0. 1. ]] SLAMing on 101.05907232899999 meters Centerline goodness : 0.787099 Centerline is valid? [False, False] Translation: X:-2.94, Y:-3.78, Z:-0.89 [[ 0.99274503 -0.11276601 0.04172698 -2.94430394] [ 0.1135174 0.9934057 -0.01609115 -3.77522509] [-0.03963729 0.02071115 0.99899947 -0.88623295] [ 0. 0. 0. 1. ]] SLAMing on 101.08907232899999 meters Centerline goodness : 0.785544 Centerline is valid? [False, False] Translation: X:-2.94, Y:-3.77, Z:-0.89 [[ 0.99277474 -0.11253508 0.04164335 -2.94445146] [ 0.11326734 0.99344119 -0.01565611 -3.77490906] [-0.03960836 0.02025982 0.99900987 -0.88590721] [ 0. 0. 0. 1. ]] SLAMing on 101.11907232899999 meters Centerline goodness : 0.784514 Centerline is valid? [False, False] Translation: X:-2.94, Y:-3.78, Z:-0.89 [[ 0.99284709 -0.11194521 0.04150815 -2.94401697] [ 0.11265532 0.99351824 -0.01517519 -3.77550838] [-0.03954031 0.01974275 0.99902292 -0.88606651] [ 0. 0. 0. 1. ]] SLAMing on 101.14907232899999 meters Centerline goodness : 0.785665 Centerline is valid? [False, False] Translation: X:-2.94, Y:-3.78, Z:-0.89 [[ 0.99297677 -0.1109448 0.04109007 -2.94198698] [ 0.111633 0.99363864 -0.01484369 -3.77584228] [-0.03918185 0.01932644 0.99904518 -0.88785822] [ 0. 0. 0. 1. ]] SLAMing on 101.179072329 meters Centerline goodness : 0.783838 Centerline is valid? [False, False] Translation: X:-2.94, Y:-3.78, Z:-0.89 [[ 0.99301323 -0.11055102 0.04126971 -2.9419929 ] [ 0.11118343 0.99371024 -0.01334957 -3.7757947 ] [-0.03953433 0.01784481 0.99905886 -0.88889702] [ 0. 0. 0. 1. ]] SLAMing on 101.209072329 meters Centerline goodness : 0.783301 Centerline is valid? [False, False] Translation: X:-2.94, Y:-3.77, Z:-0.89 [[ 0.99306693 -0.11012657 0.04111212 -2.94004073] [ 0.11073861 0.99376569 -0.01291213 -3.77489793] [-0.03943385 0.0173753 0.9990711 -0.89158648] [ 0. 0. 0. 1. ]] SLAMing on 101.239072329 meters Centerline goodness : 0.783642 Centerline is valid? [False, False] Translation: X:-2.94, Y:-3.78, Z:-0.89 [[ 0.99318465 -0.10924324 0.04062212 -2.93842101] [ 0.10987496 0.99385167 -0.01365128 -3.7751045 ] [-0.03888105 0.0180216 0.99908132 -0.89175689] [ 0. 0. 0. 1. ]] SLAMing on 101.269072329 meters Centerline goodness : 0.782923 Centerline is valid? [False, False] Translation: X:-2.94, Y:-3.77, Z:-0.89 [[ 0.99330014 -0.10839566 0.04006506 -2.93813672] [ 0.10906428 0.99392315 -0.01489111 -3.77462367] [-0.03820746 0.019161 0.99908611 -0.88965773] [ 0. 0. 0. 1. ]] SLAMing on 101.299072329 meters Centerline goodness : 0.782836 Centerline is valid? [False, False] Translation: X:-2.94, Y:-3.77, Z:-0.89 [[ 0.99341622 -0.10749609 0.03960817 -2.93745761] [ 0.10818885 0.99400516 -0.01577684 -3.77430262] [-0.03767477 0.01995813 0.99909073 -0.88864025] [ 0. 0. 0. 1. ]] SLAMing on 101.329072329 meters Centerline goodness : 0.782082 Centerline is valid? [False, False] Translation: X:-2.94, Y:-3.77, Z:-0.89 [[ 0.99381803 -0.10391687 0.03907689 -2.93729884] [ 0.10461502 0.99437984 -0.01626145 -3.77341672] [-0.03716743 0.02024895 0.99910388 -0.88617537] [ 0. 0. 0. 1. ]] SLAMing on 101.35907232899999 meters Centerline goodness : 0.782761 Centerline is valid? [False, False] Translation: X:-2.94, Y:-3.77, Z:-0.89 [[ 0.99401191 -0.10216776 0.03875669 -2.93621616] [ 0.10286498 0.99455949 -0.01643846 -3.77293953] [-0.03686635 0.02032673 0.99911345 -0.88634262] [ 0. 0. 0. 1. ]] SLAMing on 101.38907232899999 meters Centerline goodness : 0.783117 Centerline is valid? [False, False] Translation: X:-2.94, Y:-3.77, Z:-0.89 [[ 0.99428132 -0.09972066 0.03821582 -2.93502636] [ 0.10039281 0.99481781 -0.0160877 -3.77231985] [-0.0364135 0.01983229 0.99914 -0.88615949] [ 0. 0. 0. 1. ]] SLAMing on 101.41907232899999 meters Centerline goodness : 0.781385 Centerline is valid? [False, False] Translation: X:-2.94, Y:-3.77, Z:-0.88 [[ 0.9945862 -0.09671297 0.03801182 -2.93655592] [ 0.0972832 0.99516592 -0.01344526 -3.77159533] [-0.03652774 0.01707038 0.99918683 -0.88384899] [ 0. 0. 0. 1. ]] SLAMing on 101.44907232899999 meters Centerline goodness : 0.781205 Centerline is valid? [False, False] Translation: X:-2.94, Y:-3.77, Z:-0.88 [[ 0.9952998 -0.08933704 0.03737919 -2.93695595] [ 0.08978984 0.99590419 -0.01061237 -3.76940026] [-0.03627802 0.01391876 0.9992448 -0.88089506] [ 0. 0. 0. 1. ]] SLAMing on 101.47907232899999 meters Centerline goodness : 0.784140 Centerline is valid? [False, False] Translation: X:-2.94, Y:-3.77, Z:-0.88 [[ 0.99574945 -0.08476692 0.03602228 -2.93572549] [ 0.08517804 0.99631523 -0.01003313 -3.76887907] [-0.03503906 0.0130588 0.99930062 -0.87791288] [ 0. 0. 0. 1. ]] SLAMing on 101.50907232899999 meters Centerline goodness : 0.783141 Centerline is valid? [False, False] Translation: X:-2.93, Y:-3.77, Z:-0.87 [[ 0.9963846 -0.07760382 0.0345741 -2.93481039] [ 0.07795133 0.99691818 -0.00881706 -3.76794342] [-0.03378331 0.01148028 0.99936324 -0.87373267] [ 0. 0. 0. 1. ]] SLAMing on 101.53907232899999 meters Centerline goodness : 0.784310 Centerline is valid? [False, False] Translation: X:-2.93, Y:-3.77, Z:-0.87 [[ 0.99665857 -0.07454586 0.03338571 -2.93336337] [ 0.07487864 0.99715357 -0.00882913 -3.76686433] [-0.0326325 0.0112995 0.99940354 -0.87170787] [ 0. 0. 0. 1. ]] SLAMing on 101.569072329 meters Centerline goodness : 0.783002 Centerline is valid? [False, False] Translation: X:-2.93, Y:-3.77, Z:-0.87 [[ 0.99685591 -0.07210434 0.03285221 -2.93372589] [ 0.07241699 0.99733884 -0.00842693 -3.7656292 ] [-0.03215717 0.0107795 0.99942469 -0.86909411] [ 0. 0. 0. 1. ]] SLAMing on 101.599072329 meters Centerline goodness : 0.783633 Centerline is valid? [False, False] Translation: X:-2.93, Y:-3.76, Z:-0.87 [[ 0.9970281 -0.07005887 0.03204265 -2.9334478 ] [ 0.0703735 0.99748191 -0.00879773 -3.76435278] [-0.03134561 0.01102654 0.99944778 -0.86643279] [ 0. 0. 0. 1. ]] SLAMing on 101.629072329 meters Centerline goodness : 0.785287 Centerline is valid? [False, False] Translation: X:-2.93, Y:-3.76, Z:-0.86 [[ 0.99723982 -0.06734399 0.03126543 -2.93305864] [ 0.06766516 0.99766447 -0.00932932 -3.76317524] [-0.03056413 0.01141915 0.99946758 -0.86367483] [ 0. 0. 0. 1. ]] SLAMing on 101.659072329 meters Centerline goodness : 0.784674 Centerline is valid? [False, False] Translation: X:-2.93, Y:-3.76, Z:-0.86 [[ 0.99734368 -0.06599453 0.03082688 -2.93240084] [ 0.06628242 0.99776545 -0.00841106 -3.76361535] [-0.03020291 0.010432 0.99948935 -0.86334464] [ 0. 0. 0. 1. ]] SLAMing on 101.689072329 meters Centerline goodness : 0.785044 Centerline is valid? [False, False] Translation: X:-2.93, Y:-3.76, Z:-0.86 [[ 0.99741034 -0.06547841 0.02975226 -2.92989148] [ 0.06574294 0.99780452 -0.00800057 -3.76334649] [-0.02916308 0.00993586 0.99952528 -0.86416413] [ 0. 0. 0. 1. ]] SLAMing on 101.719072329 meters Centerline goodness : 0.784923 Centerline is valid? [False, False] Translation: X:-2.93, Y:-3.76, Z:-0.87 [[ 0.99740796 -0.06555773 0.02965721 -2.92873501] [ 0.06579429 0.99780815 -0.00707093 -3.76417778] [-0.02912866 0.00900388 0.99953512 -0.86597662] [ 0. 0. 0. 1. ]] SLAMing on 101.74907232899999 meters Centerline goodness : 0.785086 Centerline is valid? [False, False] Translation: X:-2.93, Y:-3.76, Z:-0.87 [[ 0.99734555 -0.06668978 0.02922882 -2.92733777] [ 0.06695052 0.99772395 -0.0080339 -3.76457054] [-0.02862652 0.00996946 0.99954046 -0.86669559] [ 0. 0. 0. 1. ]] SLAMing on 101.77907232899999 meters Centerline goodness : 0.783660 Centerline is valid? [False, False] Translation: X:-2.93, Y:-3.77, Z:-0.87 [[ 0.99725998 -0.06778525 0.02962576 -2.92878958] [ 0.0680496 0.99764981 -0.00800659 -3.76539545] [-0.02901341 0.01000067 0.99952899 -0.86557912] [ 0. 0. 0. 1. ]] SLAMing on 101.80907232899999 meters Centerline goodness : 0.785017 Centerline is valid? [False, False] Translation: X:-2.93, Y:-3.77, Z:-0.87 [[ 0.99710902 -0.07016346 0.02916656 -2.92676414] [ 0.07048792 0.99745999 -0.01024823 -3.76687221] [-0.02837343 0.0122745 0.99952203 -0.86678066] [ 0. 0. 0. 1. ]] SLAMing on 101.83907232899999 meters Centerline goodness : 0.784594 Centerline is valid? [False, False] Translation: X:-2.93, Y:-3.77, Z:-0.87 [[ 0.99710564 -0.07029931 0.02895418 -2.92685168] [ 0.07061526 0.99745313 -0.01003697 -3.76797527] [-0.02817484 0.01205253 0.99953035 -0.86603674] [ 0. 0. 0. 1. ]] SLAMing on 101.86907232899999 meters Centerline goodness : 0.786045 Centerline is valid? [False, False] Translation: X:-2.93, Y:-3.77, Z:-0.87 [[ 0.99711516 -0.07017216 0.02893487 -2.926639 ] [ 0.07047876 0.99746597 -0.00971481 -3.76910653] [-0.02817984 0.01172608 0.99953409 -0.86616801] [ 0. 0. 0. 1. ]] SLAMing on 101.89907232899999 meters Centerline goodness : 0.787013 Centerline is valid? [False, False] Translation: X:-2.93, Y:-3.77, Z:-0.87 [[ 0.99706254 -0.07081129 0.02919009 -2.92685404] [ 0.07108658 0.99743391 -0.00850236 -3.77147067] [-0.02851312 0.01055241 0.99953772 -0.86699322] [ 0. 0. 0. 1. ]] SLAMing on 101.929072329 meters Centerline goodness : 0.786252 Centerline is valid? [False, False] Translation: X:-2.92, Y:-3.77, Z:-0.87 [[ 0.99705703 -0.07111032 0.02864624 -2.92444572] [ 0.07140082 0.99740483 -0.00924772 -3.77283015] [-0.02791429 0.01126586 0.99954683 -0.86863949] [ 0. 0. 0. 1. ]] SLAMing on 101.959072329 meters Centerline goodness : 0.788177 Centerline is valid? [False, False] Translation: X:-2.92, Y:-3.77, Z:-0.87 [[ 0.99708277 -0.07103777 0.02792116 -2.92294974] [ 0.07133771 0.99740313 -0.00989589 -3.77479914] [-0.02714567 0.01185885 0.99956114 -0.86832316] [ 0. 0. 0. 1. ]] SLAMing on 101.989072329 meters Centerline goodness : 0.786182 Centerline is valid? [False, False] Translation: X:-2.92, Y:-3.78, Z:-0.87 [[ 0.99710015 -0.07089794 0.02765463 -2.92160314] [ 0.07121152 0.99740573 -0.01052289 -3.7770359 ] [-0.02683683 0.01246171 0.99956215 -0.8689505 ] [ 0. 0. 0. 1. ]] SLAMing on 102.019072329 meters Centerline goodness : 0.788302 Centerline is valid? [False, False] Translation: X:-2.92, Y:-3.78, Z:-0.87 [[ 0.99718448 -0.06994181 0.02704164 -2.91973135] [ 0.07025746 0.99746931 -0.01090299 -3.78028029] [-0.02621063 0.01277216 0.99957485 -0.86930776] [ 0. 0. 0. 1. ]] SLAMing on 102.049072329 meters Centerline goodness : 0.787816 Centerline is valid? [False, False] Translation: X:-2.92, Y:-3.78, Z:-0.87 [[ 0.99728159 -0.06872563 0.02657461 -2.91857356] [ 0.06903046 0.99755687 -0.01072752 -3.78173866] [-0.02577243 0.01253282 0.99958927 -0.86921663] [ 0. 0. 0. 1. ]] SLAMing on 102.079072329 meters Centerline goodness : 0.790301 Centerline is valid? [False, False] Translation: X:-2.92, Y:-3.78, Z:-0.87 [[ 0.9973865 -0.06742574 0.0259602 -2.91752454] [ 0.06770221 0.99765624 -0.00992162 -3.78296968] [-0.02523038 0.01165326 0.99961374 -0.86888566] [ 0. 0. 0. 1. ]] SLAMing on 102.10907232899999 meters Centerline goodness : 0.790301 Centerline is valid? [False, False] Translation: X:-2.92, Y:-3.78, Z:-0.87 [[ 0.9973865 -0.06742574 0.0259602 -2.91752454] [ 0.06770221 0.99765624 -0.00992162 -3.78296968] [-0.02523038 0.01165326 0.99961374 -0.86888566] [ 0. 0. 0. 1. ]] SLAMing on 102.13907232899999 meters Centerline goodness : 0.791995 Centerline is valid? [False, False] Translation: X:-2.92, Y:-3.79, Z:-0.87 [[ 0.99761111 -0.06438933 0.0250218 -2.9155741 ] [ 0.0646086 0.99787817 -0.008055 -3.7857939 ] [-0.02445005 0.00965238 0.99965445 -0.86903294] [ 0. 0. 0. 1. ]] SLAMing on 102.16907232899999 meters Centerline goodness : 0.790668 Centerline is valid? [False, False] Translation: X:-2.91, Y:-3.79, Z:-0.87 [[ 0.99770353 -0.0630608 0.02471833 -2.9147302 ] [ 0.06326804 0.99796692 -0.00769285 -3.78747241] [-0.02418296 0.00923907 0.99966486 -0.86897873] [ 0. 0. 0. 1. ]] SLAMing on 102.19907232899999 meters Centerline goodness : 0.792362 Centerline is valid? [False, False] Translation: X:-2.91, Y:-3.79, Z:-0.87 [[ 0.99777971 -0.06214688 0.0239459 -2.91391671] [ 0.06235129 0.99802311 -0.00788548 -3.78847188] [-0.02340851 0.00936103 0.99968216 -0.8674349 ] [ 0. 0. 0. 1. ]] SLAMing on 102.22907232899999 meters Centerline goodness : 0.792107 Centerline is valid? [False, False] Translation: X:-2.91, Y:-3.79, Z:-0.87 [[ 0.99789435 -0.06059516 0.0231319 -2.91194754] [ 0.06080784 0.99811241 -0.00860373 -3.79040783] [-0.02256689 0.00999222 0.9996954 -0.8671945 ] [ 0. 0. 0. 1. ]] SLAMing on 102.25907232899999 meters Centerline goodness : 0.792385 Centerline is valid? [False, False] Translation: X:-2.91, Y:-3.79, Z:-0.87 [[ 0.99796133 -0.059682 0.02261059 -2.91120802] [ 0.05988346 0.99817054 -0.00833921 -3.7907821 ] [-0.02207153 0.00967621 0.99970957 -0.86655371] [ 0. 0. 0. 1. ]] SLAMing on 102.28907232899999 meters Centerline goodness : 0.794183 Centerline is valid? [False, False] Translation: X:-2.91, Y:-3.79, Z:-0.87 [[ 0.99807152 -0.05811231 0.02182192 -2.90968297] [ 0.0583023 0.99826552 -0.00817294 -3.791243 ] [-0.02130912 0.00942945 0.99972847 -0.86620037] [ 0. 0. 0. 1. ]] SLAMing on 102.319072329 meters Centerline goodness : 0.793519 Centerline is valid? [False, False] Translation: X:-2.91, Y:-3.79, Z:-0.87 [[ 0.99819888 -0.05609566 0.02126683 -2.90890928] [ 0.05626772 0.99838694 -0.00757995 -3.79147351] [-0.02080733 0.00876294 0.9997451 -0.86535924] [ 0. 0. 0. 1. ]] SLAMing on 102.349072329 meters Centerline goodness : 0.795289 Centerline is valid? [False, False] Translation: X:-2.91, Y:-3.79, Z:-0.86 [[ 0.99849727 -0.05098431 0.02009498 -2.90792887] [ 0.05111514 0.99867443 -0.00605135 -3.7927502 ] [-0.01975982 0.00706942 0.99977976 -0.86274237] [ 0. 0. 0. 1. ]] SLAMing on 102.379072329 meters Centerline goodness : 0.795643 Centerline is valid? [False, False] Translation: X:-2.91, Y:-3.79, Z:-0.86 [[ 0.99860898 -0.0491655 0.01904876 -2.90600271] [ 0.04930518 0.99875969 -0.00693383 -3.79297817] [-0.01868422 0.00786339 0.99979451 -0.86171483] [ 0. 0. 0. 1. ]] SLAMing on 102.409072329 meters Centerline goodness : 0.796858 Centerline is valid? [False, False] Translation: X:-2.91, Y:-3.79, Z:-0.86 [[ 0.99869657 -0.04769171 0.01818416 -2.90504099] [ 0.04783607 0.99882638 -0.0075883 -3.79358763] [-0.01780092 0.00844827 0.99980586 -0.86000983] [ 0. 0. 0. 1. ]] SLAMing on 102.439072329 meters Centerline goodness : 0.799922 Centerline is valid? [False, False] Translation: X:-2.90, Y:-3.79, Z:-0.86 [[ 0.99878629 -0.04612092 0.01728634 -2.90368391] [ 0.04627857 0.99888952 -0.00883344 -3.79351808] [-0.01685973 0.00962271 0.99981156 -0.85865114] [ 0. 0. 0. 1. ]] SLAMing on 102.469072329 meters Centerline goodness : 0.799547 Centerline is valid? [False, False] Translation: X:-2.90, Y:-3.79, Z:-0.86 [[ 0.99882107 -0.04541444 0.01714626 -2.9036222 ] [ 0.04556272 0.99892651 -0.00835839 -3.79385629] [-0.01674827 0.00912976 0.99981805 -0.85818655] [ 0. 0. 0. 1. ]] SLAMing on 102.49907232899999 meters Centerline goodness : 0.802865 Centerline is valid? [False, False] Translation: X:-2.90, Y:-3.79, Z:-0.86 [[ 0.99885882 -0.04473659 0.01672395 -2.90197499] [ 0.04489209 0.99895093 -0.00904097 -3.79391433] [-0.01630195 0.00978143 0.99981927 -0.85908104] [ 0. 0. 0. 1. ]] SLAMing on 102.52907232899999 meters Centerline goodness : 0.805083 Centerline is valid? [False, False] Translation: X:-2.90, Y:-3.80, Z:-0.86 [[ 0.99893592 -0.04323165 0.01606381 -2.90065912] [ 0.04336487 0.99902695 -0.00803964 -3.79521091] [-0.01570062 0.00872769 0.99983865 -0.85907354] [ 0. 0. 0. 1. ]] SLAMing on 102.55907232899999 meters Centerline goodness : 0.804957 Centerline is valid? [False, False] Translation: X:-2.90, Y:-3.80, Z:-0.86 [[ 0.99896898 -0.04268762 0.01545124 -2.8983308 ] [ 0.04281996 0.99904801 -0.00833804 -3.79568724] [-0.0150806 0.00899106 0.99984586 -0.86064121] [ 0. 0. 0. 1. ]] SLAMing on 102.58907232899999 meters Centerline goodness : 0.804259 Centerline is valid? [False, False] Translation: X:-2.90, Y:-3.80, Z:-0.86 [[ 0.99901091 -0.0418542 0.01501409 -2.89766581] [ 0.0419701 0.9990908 -0.00748872 -3.79634975] [-0.014687 0.00811146 0.99985924 -0.86032484] [ 0. 0. 0. 1. ]] SLAMing on 102.61907232899999 meters Centerline goodness : 0.805511 Centerline is valid? [False, False] Translation: X:-2.90, Y:-3.80, Z:-0.86 [[ 0.99902938 -0.04150893 0.01474128 -2.89742178] [ 0.04161713 0.99910833 -0.00711028 -3.7970455 ] [-0.01443299 0.00771687 0.99986606 -0.85982101] [ 0. 0. 0. 1. ]] SLAMing on 102.64907232899999 meters Centerline goodness : 0.807927 Centerline is valid? [False, False] Translation: X:-2.89, Y:-3.80, Z:-0.86 [[ 0.99892692 -0.04410524 0.01413315 -2.89389166] [ 0.04425391 0.99896634 -0.01038491 -3.7978787 ] [-0.01366052 0.01099921 0.99984619 -0.86284991] [ 0. 0. 0. 1. ]] SLAMing on 102.679072329 meters Centerline goodness : 0.805432 Centerline is valid? [False, False] Translation: X:-2.89, Y:-3.80, Z:-0.86 [[ 0.99885788 -0.04553351 0.01447908 -2.89484904] [ 0.04568272 0.99890446 -0.01014729 -3.79914254] [-0.01400118 0.01079715 0.99984368 -0.8625652 ] [ 0. 0. 0. 1. ]] SLAMing on 102.709072329 meters Centerline goodness : 0.806236 Centerline is valid? [False, False] Translation: X:-2.89, Y:-3.80, Z:-0.86 [[ 0.99878848 -0.04702405 0.01450225 -2.89493623] [ 0.0471782 0.99883154 -0.01047677 -3.80068414] [-0.01399265 0.01114827 0.99983995 -0.86255389] [ 0. 0. 0. 1. ]] SLAMing on 102.739072329 meters Centerline goodness : 0.810450 Centerline is valid? [False, False] Translation: X:-2.89, Y:-3.80, Z:-0.86 [[ 0.99859824 -0.05071041 0.01516634 -2.89499233] [ 0.05088793 0.9986375 -0.01155684 -3.8027606 ] [-0.01455962 0.01231242 0.99981819 -0.86461464] [ 0. 0. 0. 1. ]] SLAMing on 102.769072329 meters Centerline goodness : 0.810466 Centerline is valid? [False, False] Translation: X:-2.90, Y:-3.80, Z:-0.87 [[ 0.99852676 -0.05198717 0.0155449 -2.89562529] [ 0.05215731 0.99858104 -0.01074779 -3.80398218] [-0.0149641 0.01154273 0.9998214 -0.86508426] [ 0. 0. 0. 1. ]] SLAMing on 102.799072329 meters Centerline goodness : 0.810587 Centerline is valid? [False, False] Translation: X:-2.89, Y:-3.80, Z:-0.87 [[ 0.99841983 -0.05403989 0.01541194 -2.89361601] [ 0.05421333 0.99846804 -0.01106727 -3.80486288] [-0.01479025 0.01188532 0.99981998 -0.86801479] [ 0. 0. 0. 1. ]] SLAMing on 102.829072329 meters Centerline goodness : 0.809149 Centerline is valid? [False, False] Translation: X:-2.89, Y:-3.81, Z:-0.87 [[ 0.99827144 -0.05667952 0.01554204 -2.89381549] [ 0.05687273 0.99830586 -0.01228415 -3.80774953] [-0.01481945 0.01314684 0.99980375 -0.86776575] [ 0. 0. 0. 1. ]] SLAMing on 102.85907232899999 meters Centerline goodness : 0.812409 Centerline is valid? [False, False] Translation: X:-2.89, Y:-3.81, Z:-0.87 [[ 0.99816161 -0.05872386 0.01499719 -2.89147581] [ 0.05895129 0.9981451 -0.01520199 -3.80858912] [-0.01407665 0.01605815 0.99977197 -0.86916959] [ 0. 0. 0. 1. ]] SLAMing on 102.88907232899999 meters Centerline goodness : 0.814426 Centerline is valid? [False, False] Translation: X:-2.89, Y:-3.82, Z:-0.88 [[ 0.99817898 -0.05246752 0.02976374 -2.894849 ] [ 0.05283778 0.99853348 -0.01179222 -3.81551464] [-0.02910138 0.0133434 0.9994874 -0.87566613] [ 0. 0. 0. 1. ]] SLAMing on 102.91907232899999 meters Centerline goodness : 0.813863 Centerline is valid? [False, False] Translation: X:-2.89, Y:-3.82, Z:-0.88 [[ 0.99813602 -0.053676 0.02904095 -2.89218965] [ 0.05401701 0.99847846 -0.01108744 -3.81666353] [-0.02840163 0.01263548 0.99951673 -0.87820276] [ 0. 0. 0. 1. ]] SLAMing on 102.94907232899999 meters Centerline goodness : 0.812325 Centerline is valid? [False, False] Translation: X:-2.89, Y:-3.82, Z:-0.88 [[ 0.99816483 -0.05339847 0.02855819 -2.89103332] [ 0.05371401 0.99850223 -0.01039763 -3.81696871] [-0.0279602 0.01191252 0.99953805 -0.87871395] [ 0. 0. 0. 1. ]] SLAMing on 102.97907232899999 meters Centerline goodness : 0.814144 Centerline is valid? [False, False] Translation: X:-2.89, Y:-3.82, Z:-0.88 [[ 0.99817864 -0.05334729 0.02816848 -2.89092765] [ 0.05365519 0.99850651 -0.0102897 -3.81695743] [-0.02757749 0.01178234 0.99955023 -0.87762105] [ 0. 0. 0. 1. ]] SLAMing on 103.00907232899999 meters Centerline goodness : 0.815911 Centerline is valid? [False, False] Translation: X:-2.89, Y:-3.82, Z:-0.88 [[ 0.99819324 -0.05362485 0.02710407 -2.88929319] [ 0.05397542 0.99846562 -0.01237185 -3.81761028] [-0.02639904 0.01381245 0.99955605 -0.87626825] [ 0. 0. 0. 1. ]] SLAMing on 103.03907232899999 meters Centerline goodness : 0.816897 Centerline is valid? [False, False] Translation: X:-2.89, Y:-3.82, Z:-0.88 [[ 0.99820243 -0.05384341 0.02632087 -2.8879452 ] [ 0.05420836 0.99844035 -0.01335376 -3.81769128] [-0.02556081 0.01475657 0.99956435 -0.87570105] [ 0. 0. 0. 1. ]] SLAMing on 103.069072329 meters Centerline goodness : 0.818182 Centerline is valid? [False, False] Translation: X:-2.89, Y:-3.82, Z:-0.88 [[ 0.9981934 -0.05388658 0.02657373 -2.88864238] [ 0.05422798 0.99845284 -0.01229812 -3.81805003] [-0.02586992 0.01371695 0.9995712 -0.87553061] [ 0. 0. 0. 1. ]] SLAMing on 103.099072329 meters Centerline goodness : 0.819510 Centerline is valid? [False, False] Translation: X:-2.89, Y:-3.82, Z:-0.88 [[ 0.99819914 -0.0537918 0.02655031 -2.88814434] [ 0.05409811 0.99847551 -0.01095631 -3.81787113] [-0.02592047 0.0123729 0.99958744 -0.87655597] [ 0. 0. 0. 1. ]] SLAMing on 103.129072329 meters Centerline goodness : 0.817754 Centerline is valid? [False, False] Translation: X:-2.89, Y:-3.82, Z:-0.88 [[ 0.99821423 -0.05388929 0.02577379 -2.88591962] [ 0.05416909 0.99847882 -0.01028373 -3.817313 ] [-0.0251804 0.0116615 0.9996149 -0.87793865] [ 0. 0. 0. 1. ]] SLAMing on 103.159072329 meters Centerline goodness : 0.818602 Centerline is valid? [False, False] Translation: X:-2.88, Y:-3.82, Z:-0.88 [[ 0.9981899 -0.05460804 0.0251971 -2.88479426] [ 0.05488489 0.99843822 -0.01042937 -3.81739872] [-0.02458822 0.01179343 0.9996281 -0.87789389] [ 0. 0. 0. 1. ]] SLAMing on 103.189072329 meters Centerline goodness : 0.818759 Centerline is valid? [False, False] Translation: X:-2.89, Y:-3.82, Z:-0.88 [[ 0.99812237 -0.05567304 0.02553925 -2.88533235] [ 0.05598769 0.99836203 -0.01177459 -3.81784883] [-0.02484189 0.01318236 0.99960447 -0.87772581] [ 0. 0. 0. 1. ]] SLAMing on 103.219072329 meters Centerline goodness : 0.819041 Centerline is valid? [False, False] Translation: X:-2.89, Y:-3.82, Z:-0.88 [[ 0.99791364 -0.05923604 0.02568007 -2.88515653] [ 0.05963074 0.9981095 -0.01488611 -3.81820898] [-0.02474973 0.01638637 0.99955937 -0.87785499] [ 0. 0. 0. 1. ]] SLAMing on 103.24907232899999 meters Centerline goodness : 0.819737 Centerline is valid? [False, False] Translation: X:-2.89, Y:-3.82, Z:-0.88 [[ 0.9978529 -0.06027535 0.02562169 -2.88506749] [ 0.06066234 0.99805149 -0.01460467 -3.81865819] [-0.02469146 0.01612759 0.99956502 -0.87797078] [ 0. 0. 0. 1. ]] SLAMing on 103.27907232899999 meters Centerline goodness : 0.819585 Centerline is valid? [False, False] Translation: X:-2.89, Y:-3.82, Z:-0.88 [[ 0.99781047 -0.0609522 0.02567295 -2.8854836 ] [ 0.06131779 0.99802425 -0.01370141 -3.81884544] [-0.0247871 0.01524562 0.9995765 -0.87784441] [ 0. 0. 0. 1. ]] SLAMing on 103.30907232899999 meters Centerline goodness : 0.818720 Centerline is valid? [False, False] Translation: X:-2.89, Y:-3.82, Z:-0.88 [[ 0.9977621 -0.06152305 0.02618596 -2.8864332 ] [ 0.06186634 0.99800608 -0.01250684 -3.81922702] [-0.02536429 0.01409888 0.99957885 -0.87818111] [ 0. 0. 0. 1. ]] SLAMing on 103.33907232899999 meters Centerline goodness : 0.819426 Centerline is valid? [False, False] Translation: X:-2.88, Y:-3.82, Z:-0.88 [[ 0.99760772 -0.06394782 0.02625858 -2.88479597] [ 0.06429389 0.99785205 -0.01255294 -3.81888324] [-0.02539944 0.01421118 0.99957637 -0.88140162] [ 0. 0. 0. 1. ]] SLAMing on 103.36907232899999 meters Centerline goodness : 0.819484 Centerline is valid? [False, False] Translation: X:-2.89, Y:-3.82, Z:-0.88 [[ 0.99756789 -0.06445253 0.02653627 -2.88558307] [ 0.06479206 0.99782495 -0.01213945 -3.81860534] [-0.02569613 0.01382926 0.99957414 -0.88101616] [ 0. 0. 0. 1. ]] SLAMing on 103.39907232899999 meters Centerline goodness : 0.820323 Centerline is valid? [False, False] Translation: X:-2.88, Y:-3.82, Z:-0.88 [[ 0.9975657 -0.06461917 0.0262112 -2.88404494] [ 0.06496602 0.99780788 -0.01260363 -3.8183195 ] [-0.0253393 0.01427578 0.99957697 -0.88230173] [ 0. 0. 0. 1. ]] SLAMing on 103.429072329 meters Centerline goodness : 0.819301 Centerline is valid? [False, False] Translation: X:-2.89, Y:-3.82, Z:-0.88 [[ 0.99752458 -0.06500477 0.02681594 -2.88561983] [ 0.06535082 0.99778733 -0.01223575 -3.81724165] [-0.02596122 0.0139579 0.9995655 -0.88170145] [ 0. 0. 0. 1. ]] SLAMing on 103.459072329 meters Centerline goodness : 0.816245 Centerline is valid? [False, False] Translation: X:-2.89, Y:-3.82, Z:-0.88 [[ 0.9974948 -0.06529824 0.02720792 -2.88689606] [ 0.06564837 0.99776848 -0.01217987 -3.81691041] [-0.02635188 0.01393552 0.99955559 -0.8806694 ] [ 0. 0. 0. 1. ]] SLAMing on 103.489072329 meters Centerline goodness : 0.817268 Centerline is valid? [False, False] Translation: X:-2.89, Y:-3.82, Z:-0.88 [[ 0.99742795 -0.06616914 0.02755212 -2.88789069] [ 0.06651709 0.99771422 -0.01190859 -3.81673553] [-0.02670116 0.01371065 0.99954943 -0.88018334] [ 0. 0. 0. 1. ]] SLAMing on 103.519072329 meters Centerline goodness : 0.815111 Centerline is valid? [False, False] Translation: X:-2.89, Y:-3.82, Z:-0.88 [[ 0.99726155 -0.06838961 0.02814706 -2.88839643] [ 0.0687382 0.9975672 -0.01160799 -3.81593981] [-0.02728472 0.01351098 0.99953639 -0.88165325] [ 0. 0. 0. 1. ]] SLAMing on 103.549072329 meters Centerline goodness : 0.816637 Centerline is valid? [False, False] Translation: X:-2.89, Y:-3.82, Z:-0.88 [[ 0.9972137 -0.06895939 0.02845067 -2.88905069] [ 0.06929801 0.99753434 -0.01109184 -3.81525647] [-0.02761563 0.01303251 0.99953366 -0.88179889] [ 0. 0. 0. 1. ]] SLAMing on 103.579072329 meters Centerline goodness : 0.815357 Centerline is valid? [False, False] Translation: X:-2.89, Y:-3.81, Z:-0.88 [[ 0.99714413 -0.0699541 0.02846063 -2.88929086] [ 0.07029339 0.99746461 -0.01109947 -3.81424436] [-0.02761201 0.01306836 0.99953329 -0.88151192] [ 0. 0. 0. 1. ]] SLAMing on 103.60907232899999 meters Centerline goodness : 0.818616 Centerline is valid? [False, False] Translation: X:-2.89, Y:-3.81, Z:-0.88 [[ 0.99695271 -0.07274726 0.02816269 -2.88856272] [ 0.07310662 0.99725257 -0.01194672 -3.81267405] [-0.02721623 0.01396919 0.99953196 -0.88194495] [ 0. 0. 0. 1. ]] SLAMing on 103.63907232899999 meters Centerline goodness : 0.817483 Centerline is valid? [False, False] Translation: X:-2.89, Y:-3.81, Z:-0.88 [[ 0.99691684 -0.07321291 0.02822561 -2.88881122] [ 0.07356253 0.99722369 -0.01155258 -3.81194686] [-0.02730145 0.01359331 0.99953482 -0.88195312] [ 0. 0. 0. 1. ]] SLAMing on 103.66907232899999 meters Centerline goodness : 0.818559 Centerline is valid? [False, False] Translation: X:-2.89, Y:-3.81, Z:-0.88 [[ 0.99690048 -0.07341988 0.02826564 -2.88706257] [ 0.07377265 0.99720709 -0.01164527 -3.81107898] [-0.0273317 0.01369441 0.99953261 -0.88481984] [ 0. 0. 0. 1. ]] SLAMing on 103.69907232899999 meters Centerline goodness : 0.818218 Centerline is valid? [False, False] Translation: X:-2.89, Y:-3.81, Z:-0.89 [[ 0.99688991 -0.07341064 0.02865967 -2.88750263] [ 0.07369996 0.99723829 -0.00917108 -3.8095293 ] [-0.02790726 0.01125478 0.99954715 -0.8862572 ] [ 0. 0. 0. 1. ]] SLAMing on 103.72907232899999 meters Centerline goodness : 0.817548 Centerline is valid? [False, False] Translation: X:-2.89, Y:-3.81, Z:-0.89 [[ 0.99688129 -0.07352997 0.02865389 -2.8878549 ] [ 0.07382074 0.99722887 -0.00922423 -3.80838489] [-0.02789623 0.01131072 0.99954683 -0.88561837] [ 0. 0. 0. 1. ]] SLAMing on 103.75907232899999 meters Centerline goodness : 0.817768 Centerline is valid? [False, False] Translation: X:-2.89, Y:-3.81, Z:-0.89 [[ 0.9968458 -0.07386895 0.02901419 -2.88863618] [ 0.07418185 0.99719599 -0.00985907 -3.8075965 ] [-0.02820455 0.0119803 0.99953038 -0.88511826] [ 0. 0. 0. 1. ]] SLAMing on 103.78907232899999 meters Centerline goodness : 0.819348 Centerline is valid? [False, False] Translation: X:-2.89, Y:-3.81, Z:-0.88 [[ 0.99678749 -0.07455199 0.02926929 -2.88998678] [ 0.07486217 0.99714723 -0.00964715 -3.80708786] [-0.02846657 0.01180732 0.99952501 -0.88389102] [ 0. 0. 0. 1. ]] SLAMing on 103.819072329 meters Centerline goodness : 0.820087 Centerline is valid? [False, False] Translation: X:-2.89, Y:-3.80, Z:-0.88 [[ 0.99658497 -0.07701069 0.02979505 -2.89154764] [ 0.07735977 0.99694534 -0.01074474 -3.80477954] [-0.02887658 0.01301298 0.99949828 -0.8830635 ] [ 0. 0. 0. 1. ]] SLAMing on 103.849072329 meters Centerline goodness : 0.819076 Centerline is valid? [False, False] Translation: X:-2.89, Y:-3.80, Z:-0.88 [[ 0.99653132 -0.07767504 0.02986504 -2.89135421] [ 0.07804224 0.99688566 -0.01133092 -3.80463773] [-0.0288919 0.01362235 0.99948971 -0.88328233] [ 0. 0. 0. 1. ]] SLAMing on 103.879072329 meters Centerline goodness : 0.818549 Centerline is valid? [False, False] Translation: X:-2.89, Y:-3.80, Z:-0.88 [[ 0.9964019 -0.07933628 0.02981634 -2.89160531] [ 0.07970051 0.99675559 -0.01123065 -3.80367114] [-0.0288286 0.01356662 0.9994923 -0.88317569] [ 0. 0. 0. 1. ]] SLAMing on 103.909072329 meters Centerline goodness : 0.818166 Centerline is valid? [False, False] Translation: X:-2.89, Y:-3.80, Z:-0.88 [[ 0.99637232 -0.07973552 0.02973967 -2.89139829] [ 0.08007837 0.99673306 -0.01051965 -3.80299657] [-0.02880372 0.012863 0.99950232 -0.88369893] [ 0. 0. 0. 1. ]] SLAMing on 103.939072329 meters Centerline goodness : 0.818763 Centerline is valid? [False, False] Translation: X:-2.89, Y:-3.80, Z:-0.89 [[ 0.9963498 -0.08000773 0.02976321 -2.89049124] [ 0.08033683 0.99671732 -0.01002903 -3.8019572 ] [-0.02886311 0.0123835 0.99950666 -0.88534616] [ 0. 0. 0. 1. ]] SLAMing on 103.969072329 meters Centerline goodness : 0.817616 Centerline is valid? [False, False] Translation: X:-2.89, Y:-3.80, Z:-0.89 [[ 0.99633884 -0.08018542 0.02965143 -2.89059235] [ 0.08049155 0.99671212 -0.009277 -3.80076229] [-0.02881006 0.01162973 0.99951725 -0.88528446] [ 0. 0. 0. 1. ]] SLAMing on 103.99907232899999 meters Centerline goodness : 0.818412 Centerline is valid? [False, False] Translation: X:-2.89, Y:-3.80, Z:-0.88 [[ 0.9962832 -0.080825 0.02978418 -2.89151739] [ 0.08113571 0.99665899 -0.00937341 -3.79789412] [-0.02892706 0.01175513 0.9995124 -0.8845766 ] [ 0. 0. 0. 1. ]] SLAMing on 104.02907232899999 meters Centerline goodness : 0.818412 Centerline is valid? [False, False] Translation: X:-2.89, Y:-3.80, Z:-0.88 [[ 0.9962832 -0.080825 0.02978418 -2.89151739] [ 0.08113571 0.99665899 -0.00937341 -3.79789412] [-0.02892706 0.01175513 0.9995124 -0.8845766 ] [ 0. 0. 0. 1. ]] SLAMing on 104.05907232899999 meters Centerline goodness : 0.816680 Centerline is valid? [False, False] Translation: X:-2.89, Y:-3.80, Z:-0.88 [[ 0.99630217 -0.08063498 0.02966465 -2.89126039] [ 0.08097715 0.99666046 -0.01051796 -3.79695798] [-0.02871747 0.01288122 0.99950457 -0.88402228] [ 0. 0. 0. 1. ]] SLAMing on 104.08907232899999 meters Centerline goodness : 0.816306 Centerline is valid? [False, False] Translation: X:-2.89, Y:-3.80, Z:-0.88 [[ 0.99632946 -0.08039505 0.02939799 -2.89124925] [ 0.08077079 0.99666258 -0.01182323 -3.79550146] [-0.02834935 0.01415433 0.99949786 -0.88268744] [ 0. 0. 0. 1. ]] SLAMing on 104.11907232899999 meters Centerline goodness : 0.813584 Centerline is valid? [False, False] Translation: X:-2.89, Y:-3.79, Z:-0.88 [[ 0.99635464 -0.08008669 0.0293864 -2.89095164] [ 0.08050091 0.99666723 -0.01319251 -3.79285999] [-0.02823192 0.01551005 0.99948106 -0.88255259] [ 0. 0. 0. 1. ]] SLAMing on 104.14907232899999 meters Centerline goodness : 0.813209 Centerline is valid? [False, False] Translation: X:-2.89, Y:-3.79, Z:-0.88 [[ 0.99636206 -0.07994963 0.0295075 -2.89226278] [ 0.0803269 0.9966984 -0.01182781 -3.79105935] [-0.02846445 0.01415503 0.99949458 -0.88158603] [ 0. 0. 0. 1. ]] SLAMing on 104.179072329 meters Centerline goodness : 0.812643 Centerline is valid? [False, False] Translation: X:-2.89, Y:-3.79, Z:-0.88 [[ 0.99639372 -0.07956159 0.02948726 -2.89082935] [ 0.07993522 0.99673122 -0.01171464 -3.78921618] [-0.02845884 0.01402946 0.99949651 -0.88381511] [ 0. 0. 0. 1. ]] SLAMing on 104.209072329 meters Centerline goodness : 0.812422 Centerline is valid? [False, False] Translation: X:-2.89, Y:-3.79, Z:-0.88 [[ 0.99646912 -0.07861954 0.02946638 -2.89182281] [ 0.07892894 0.99683511 -0.0094864 -3.7856642 ] [-0.0286273 0.01177866 0.99952076 -0.88316061] [ 0. 0. 0. 1. ]] SLAMing on 104.239072329 meters Centerline goodness : 0.814069 Centerline is valid? [False, False] Translation: X:-2.89, Y:-3.78, Z:-0.88 [[ 0.99650731 -0.07826508 0.02911631 -2.89117758] [ 0.07858538 0.99685701 -0.0100223 -3.78436285] [-0.0282404 0.01227541 0.99952578 -0.88293634] [ 0. 0. 0. 1. ]] SLAMing on 104.269072329 meters Centerline goodness : 0.811899 Centerline is valid? [False, False] Translation: X:-2.89, Y:-3.78, Z:-0.88 [[ 0.99657164 -0.07758824 0.02872343 -2.89082983] [ 0.07792666 0.9969 -0.01085473 -3.78314318] [-0.02779219 0.01305584 0.99952846 -0.88174621] [ 0. 0. 0. 1. ]] SLAMing on 104.299072329 meters Centerline goodness : 0.812786 Centerline is valid? [False, False] Translation: X:-2.89, Y:-3.78, Z:-0.88 [[ 0.99669172 -0.07606084 0.02864208 -2.8920651 ] [ 0.07637155 0.99703014 -0.00991348 -3.78140643] [-0.02780299 0.01206812 0.99954057 -0.87981402] [ 0. 0. 0. 1. ]] SLAMing on 104.329072329 meters Centerline goodness : 0.811272 Centerline is valid? [False, False] Translation: X:-2.89, Y:-3.78, Z:-0.88 [[ 0.99671399 -0.07573149 0.02873943 -2.89190952] [ 0.07602167 0.99706426 -0.00914098 -3.78064569] [-0.0279628 0.01129576 0.99954514 -0.88065154] [ 0. 0. 0. 1. ]] SLAMing on 104.35907232899999 meters Centerline goodness : 0.811776 Centerline is valid? [False, False] Translation: X:-2.89, Y:-3.78, Z:-0.88 [[ 0.99670417 -0.07593375 0.02854582 -2.89178314] [ 0.07620249 0.99705659 -0.00844595 -3.77923209] [-0.02782047 0.01059337 0.9995568 -0.88069628] [ 0. 0. 0. 1. ]] SLAMing on 104.38907232899999 meters Centerline goodness : 0.797704 Centerline is valid? [False, False] Translation: X:-2.89, Y:-3.78, Z:-0.88 [[ 0.99662633 -0.07676568 0.0290341 -2.89375991] [ 0.07703815 0.9969929 -0.00838374 -3.77687558] [-0.02830321 0.01059219 0.99954326 -0.87949928] [ 0. 0. 0. 1. ]] SLAMing on 104.41907232899999 meters Centerline goodness : 0.808110 Centerline is valid? [False, False] Translation: X:-2.89, Y:-3.78, Z:-0.88 [[ 0.99665174 -0.07656106 0.02870042 -2.89349122] [ 0.07684253 0.9970041 -0.0088343 -3.77585707] [-0.02793807 0.01101014 0.99954902 -0.87872663] [ 0. 0. 0. 1. ]] SLAMing on 104.44907232899999 meters Centerline goodness : 0.808606 Centerline is valid? [False, False] Translation: X:-2.89, Y:-3.77, Z:-0.88 [[ 0.99671327 -0.07594446 0.02819747 -2.89257972] [ 0.07624113 0.99704321 -0.00959811 -3.77467771] [-0.02738517 0.01171637 0.99955629 -0.87825696] [ 0. 0. 0. 1. ]] SLAMing on 104.47907232899999 meters Centerline goodness : 0.807886 Centerline is valid? [False, False] Translation: X:-2.89, Y:-3.77, Z:-0.88 [[ 0.99678606 -0.07500765 0.02813182 -2.89365106] [ 0.07528716 0.99712119 -0.00901023 -3.77338591] [-0.027375 0.01109924 0.99956361 -0.87657756] [ 0. 0. 0. 1. ]] SLAMing on 104.50907232899999 meters Centerline goodness : 0.807367 Centerline is valid? [False, False] Translation: X:-2.90, Y:-3.77, Z:-0.87 [[ 0.99699625 -0.072148 0.02816268 -2.89548785] [ 0.07234062 0.99736265 -0.00588031 -3.77059433] [-0.02766415 0.00789995 0.99958606 -0.87480085] [ 0. 0. 0. 1. ]] SLAMing on 104.53907232899999 meters Centerline goodness : 0.805540 Centerline is valid? [False, False] Translation: X:-2.90, Y:-3.77, Z:-0.87 [[ 0.99716095 -0.06984703 0.02813246 -2.89679507] [ 0.06999253 0.99753859 -0.00421978 -3.76927538] [-0.02776847 0.00617686 0.9995953 -0.872996 ] [ 0. 0. 0. 1. ]] SLAMing on 104.569072329 meters Centerline goodness : 0.804604 Centerline is valid? [False, False] Translation: X:-2.89, Y:-3.77, Z:-0.87 [[ 0.99734299 -0.06769246 0.02691997 -2.89352981] [ 0.06786927 0.99767789 -0.00570836 -3.76786547] [-0.02647104 0.00752024 0.99962129 -0.87318389] [ 0. 0. 0. 1. ]] SLAMing on 104.599072329 meters Centerline goodness : 0.805579 Centerline is valid? [False, False] Translation: X:-2.89, Y:-3.77, Z:-0.87 [[ 0.99751668 -0.06529778 0.02639461 -2.89373558] [ 0.06549527 0.99783047 -0.00668751 -3.76670518] [-0.02590067 0.00839963 0.99962923 -0.87021712] [ 0. 0. 0. 1. ]] SLAMing on 104.629072329 meters Centerline goodness : 0.803476 Centerline is valid? [False, False] Translation: X:-2.89, Y:-3.76, Z:-0.87 [[ 0.99782262 -0.06107729 0.02489147 -2.89203965] [ 0.06132 0.99807662 -0.00910645 -3.76360432] [-0.0242874 0.01061296 0.99964868 -0.86632772] [ 0. 0. 0. 1. ]] SLAMing on 104.659072329 meters Centerline goodness : 0.806239 Centerline is valid? [False, False] Translation: X:-2.89, Y:-3.76, Z:-0.87 [[ 0.99802232 -0.05808049 0.024044 -2.89079757] [ 0.05830034 0.99826252 -0.00854505 -3.76163976] [-0.02350592 0.00992992 0.99967438 -0.86527995] [ 0. 0. 0. 1. ]] SLAMing on 104.689072329 meters Centerline goodness : 0.803904 Centerline is valid? [False, False] Translation: X:-2.89, Y:-3.76, Z:-0.86 [[ 9.98415451e-01 -5.10350388e-02 2.37068128e-02 -2.89221742e+00] [ 5.11004306e-02 9.98691183e-01 -2.16040002e-03 -3.75848689e+00] [-2.35655288e-02 3.36840511e-03 9.99716620e-01 -8.63170621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.719072329 meters Centerline goodness : 0.801778 Centerline is valid? [False, False] Translation: X:-2.89, Y:-3.76, Z:-0.86 [[ 9.98617220e-01 -4.73126961e-02 2.29163054e-02 -2.89135456e+00] [ 4.73256926e-02 9.98879511e-01 -2.48216654e-05 -3.75689058e+00] [-2.28894536e-02 1.10931737e-03 9.99737387e-01 -8.62063672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.74907232899999 meters Centerline goodness : 0.799288 Centerline is valid? [False, False] Translation: X:-2.89, Y:-3.76, Z:-0.86 [[ 9.98801756e-01 -4.37715833e-02 2.18883839e-02 -2.89055676e+00] [ 4.37697390e-02 9.99041487e-01 5.63562757e-04 -3.75527398e+00] [-2.18920717e-02 3.95161380e-04 9.99760262e-01 -8.59676888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.77907232899999 meters Centerline goodness : 0.799402 Centerline is valid? [False, False] Translation: X:-2.89, Y:-3.75, Z:-0.85 [[ 9.99043706e-01 -3.86187501e-02 2.05003822e-02 -2.88991529e+00] [ 3.86607871e-02 9.99251017e-01 -1.65805616e-03 -3.75187895e+00] [-2.04209957e-02 2.44903148e-03 9.99788470e-01 -8.54161251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.80907232899999 meters Centerline goodness : 0.799727 Centerline is valid? [False, False] Translation: X:-2.89, Y:-3.75, Z:-0.85 [[ 9.99138482e-01 -3.63205653e-02 2.00776075e-02 -2.89034426e+00] [ 3.63775674e-02 9.99335037e-01 -2.48107220e-03 -3.75021960e+00] [-1.99741427e-02 3.20930923e-03 9.99795346e-01 -8.51208033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.83907232899999 meters Centerline goodness : 0.798961 Centerline is valid? [False, False] Translation: X:-2.89, Y:-3.75, Z:-0.85 [[ 9.99222517e-01 -3.42236432e-02 1.95730584e-02 -2.89013951e+00] [ 3.42785311e-02 9.99409252e-01 -2.47556630e-03 -3.74868550e+00] [-1.94767727e-02 3.14457728e-03 9.99805365e-01 -8.49433900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.86907232899999 meters Centerline goodness : 0.798289 Centerline is valid? [False, False] Translation: X:-2.89, Y:-3.74, Z:-0.85 [[ 9.99231601e-01 -3.37780440e-02 1.98809065e-02 -2.89097973e+00] [ 3.38523008e-02 9.99421028e-01 -3.41037052e-03 -3.74458392e+00] [-1.97542004e-02 4.08076442e-03 9.99796539e-01 -8.50748251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.89907232899999 meters Centerline goodness : 0.798985 Centerline is valid? [False, False] Translation: X:-2.89, Y:-3.74, Z:-0.85 [[ 9.99273217e-01 -3.26197763e-02 1.97227765e-02 -2.89140610e+00] [ 3.26634118e-02 9.99464613e-01 -1.89427945e-03 -3.74359936e+00] [-1.96504262e-02 2.53711589e-03 9.99803693e-01 -8.49928202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.929072329 meters Centerline goodness : 0.798987 Centerline is valid? [False, False] Translation: X:-2.89, Y:-3.74, Z:-0.85 [[ 9.99304135e-01 -3.20480412e-02 1.90832024e-02 -2.88971133e+00] [ 3.20837277e-02 9.99483957e-01 -1.56675756e-03 -3.74296150e+00] [-1.90231431e-02 2.17792757e-03 9.99816672e-01 -8.50614077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.959072329 meters Centerline goodness : 0.801159 Centerline is valid? [False, False] Translation: X:-2.89, Y:-3.74, Z:-0.85 [[ 9.99344423e-01 -3.13177441e-02 1.81637957e-02 -2.88710415e+00] [ 3.13675021e-02 9.99504889e-01 -2.46093446e-03 -3.74275642e+00] [-1.80777317e-02 3.02907402e-03 9.99831996e-01 -8.51311398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.989072329 meters Centerline goodness : 0.799735 Centerline is valid? [False, False] Translation: X:-2.89, Y:-3.74, Z:-0.85 [[ 9.99346709e-01 -3.13651468e-02 1.79550377e-02 -2.88661586e+00] [ 3.14132327e-02 9.99503596e-01 -2.40231749e-03 -3.74321030e+00] [-1.78707757e-02 2.96477386e-03 9.99835909e-01 -8.51171940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.019072329 meters Centerline goodness : 0.799493 Centerline is valid? [False, False] Translation: X:-2.89, Y:-3.74, Z:-0.85 [[ 9.99359633e-01 -3.11501577e-02 1.76065527e-02 -2.88656860e+00] [ 3.12028576e-02 9.99509354e-01 -2.72639100e-03 -3.74356068e+00] [-1.75129866e-02 3.27401987e-03 9.99841275e-01 -8.50052277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.049072329 meters Centerline goodness : 0.799365 Centerline is valid? [False, False] Translation: X:-2.89, Y:-3.74, Z:-0.85 [[ 9.99375554e-01 -3.09084384e-02 1.71222289e-02 -2.88596646e+00] [ 3.09617283e-02 9.99516491e-01 -2.85596706e-03 -3.74377721e+00] [-1.70256767e-02 3.38431746e-03 9.99849325e-01 -8.49300104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.079072329 meters Centerline goodness : 0.798822 Centerline is valid? [False, False] Translation: X:-2.88, Y:-3.74, Z:-0.85 [[ 9.99415252e-01 -2.99682486e-02 1.64638547e-02 -2.88346037e+00] [ 3.00165839e-02 9.99545763e-01 -2.69656499e-03 -3.74422066e+00] [-1.63755649e-02 3.18917686e-03 9.99860825e-01 -8.50874432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.10907232899999 meters Centerline goodness : 0.799054 Centerline is valid? [False, False] Translation: X:-2.88, Y:-3.74, Z:-0.85 [[ 9.99449590e-01 -2.92674793e-02 1.56182950e-02 -2.88056300e+00] [ 2.93148610e-02 9.99566268e-01 -2.81342063e-03 -3.74414399e+00] [-1.55291791e-02 3.26972025e-03 9.99874069e-01 -8.52481745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.13907232899999 meters Centerline goodness : 0.798166 Centerline is valid? [False, False] Translation: X:-2.88, Y:-3.74, Z:-0.85 [[ 9.99487374e-01 -2.82705301e-02 1.50255269e-02 -2.87953379e+00] [ 2.82999707e-02 9.99597943e-01 -1.75033091e-03 -3.74444746e+00] [-1.49700030e-02 2.17465562e-03 9.99885578e-01 -8.52464174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.16907232899999 meters Centerline goodness : 0.799453 Centerline is valid? [False, False] Translation: X:-2.88, Y:-3.75, Z:-0.85 [[ 9.99532880e-01 -2.70340009e-02 1.42542791e-02 -2.87793483e+00] [ 2.70577862e-02 9.99632778e-01 -1.47839963e-03 -3.74510360e+00] [-1.42090775e-02 1.86339828e-03 9.99897310e-01 -8.52284139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.19907232899999 meters Centerline goodness : 0.797956 Centerline is valid? [False, False] Translation: X:-2.88, Y:-3.75, Z:-0.85 [[ 9.99608000e-01 -2.47045608e-02 1.31731538e-02 -2.87662376e+00] [ 2.47302563e-02 9.99692556e-01 -1.79126013e-03 -3.74704597e+00] [-1.31248515e-02 2.11633342e-03 9.99911626e-01 -8.50211277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.22907232899999 meters Centerline goodness : 0.800446 Centerline is valid? [False, False] Translation: X:-2.88, Y:-3.75, Z:-0.85 [[ 9.99647592e-01 -2.35321952e-02 1.22852746e-02 -2.87539282e+00] [ 2.35624926e-02 9.99719657e-01 -2.32724361e-03 -3.74803447e+00] [-1.22270654e-02 2.61589516e-03 9.99921825e-01 -8.48864491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.25907232899999 meters Centerline goodness : 0.799214 Centerline is valid? [False, False] Translation: X:-2.87, Y:-3.75, Z:-0.85 [[ 9.99690200e-01 -2.20364725e-02 1.15714465e-02 -2.87477487e+00] [ 2.20702135e-02 9.99752513e-01 -2.79631462e-03 -3.74983363e+00] [-1.15069618e-02 3.05083261e-03 9.99929139e-01 -8.46889329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.28907232899999 meters Centerline goodness : 0.800079 Centerline is valid? [False, False] Translation: X:-2.87, Y:-3.75, Z:-0.85 [[ 9.99701711e-01 -2.19453110e-02 1.07187818e-02 -2.87190569e+00] [ 2.19858786e-02 9.99751502e-01 -3.68165037e-03 -3.74972197e+00] [-1.06353233e-02 3.91621402e-03 9.99935775e-01 -8.48343220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.319072329 meters Centerline goodness : 0.800467 Centerline is valid? [False, False] Translation: X:-2.87, Y:-3.75, Z:-0.85 [[ 9.99716997e-01 -2.14752749e-02 1.02341372e-02 -2.87056004e+00] [ 2.15125032e-02 9.99762307e-01 -3.54155736e-03 -3.74955006e+00] [-1.01556487e-02 3.76071700e-03 9.99941358e-01 -8.48700923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.349072329 meters Centerline goodness : 0.797515 Centerline is valid? [False, False] Translation: X:-2.87, Y:-3.75, Z:-0.85 [[ 9.99773814e-01 -1.90906518e-02 9.37379723e-03 -2.86986671e+00] [ 1.91210576e-02 9.99812167e-01 -3.16485873e-03 -3.75110277e+00] [-9.31161731e-03 3.34337980e-03 9.99951057e-01 -8.46706231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.379072329 meters Centerline goodness : 0.798713 Centerline is valid? [False, False] Translation: X:-2.87, Y:-3.76, Z:-0.85 [[ 9.99841386e-01 -1.56551752e-02 8.49229935e-03 -2.86747921e+00] [ 1.56443656e-02 9.99876724e-01 1.33781319e-03 -3.75537517e+00] [-8.51219616e-03 -1.20474436e-03 9.99963045e-01 -8.46327040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.409072329 meters Centerline goodness : 0.795557 Centerline is valid? [False, False] Translation: X:-2.87, Y:-3.76, Z:-0.85 [[ 9.99846014e-01 -1.53914179e-02 8.42921544e-03 -2.86741649e+00] [ 1.53782230e-02 9.99880423e-01 1.62796004e-03 -3.75661075e+00] [-8.45326411e-03 -1.49808300e-03 9.99963148e-01 -8.46317486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.439072329 meters Centerline goodness : 0.796242 Centerline is valid? [False, False] Translation: X:-2.87, Y:-3.76, Z:-0.85 [[ 0.99990327 -0.01151057 0.0078075 -2.86568452] [ 0.01146111 0.99991415 0.00635069 -3.76085905] [-0.00787993 -0.00626059 0.99994935 -0.84612804] [ 0. 0. 0. 1. ]] SLAMing on 105.469072329 meters Centerline goodness : 0.793092 Centerline is valid? [False, False] Translation: X:-2.87, Y:-3.76, Z:-0.85 [[ 0.99990242 -0.01157031 0.00782849 -2.86533833] [ 0.0115224 0.99991478 0.00613794 -3.76017296] [-0.00789885 -0.00604714 0.99995052 -0.84680369] [ 0. 0. 0. 1. ]] SLAMing on 105.49907232899999 meters Centerline goodness : 0.792908 Centerline is valid? [False, False] Translation: X:-2.87, Y:-3.76, Z:-0.85 [[ 0.99990256 -0.01150627 0.00790418 -2.86539214] [ 0.0114587 0.99991612 0.00603785 -3.75978367] [-0.00797299 -0.00594669 0.99995053 -0.84714169] [ 0. 0. 0. 1. ]] SLAMing on 105.52907232899999 meters Centerline goodness : 0.790095 Centerline is valid? [False, False] Translation: X:-2.87, Y:-3.76, Z:-0.85 [[ 0.99990448 -0.01133438 0.00790911 -2.86548134] [ 0.01128596 0.99991746 0.00613968 -3.76010165] [-0.00797805 -0.00604984 0.99994987 -0.84711245] [ 0. 0. 0. 1. ]] SLAMing on 105.55907232899999 meters Centerline goodness : 0.788324 Centerline is valid? [False, False] Translation: X:-2.87, Y:-3.76, Z:-0.85 [[ 0.99990869 -0.01108972 0.00772216 -2.86505447] [ 0.01103898 0.9999174 0.00658238 -3.76314645] [-0.00779452 -0.00649654 0.99994852 -0.8470461 ] [ 0. 0. 0. 1. ]] SLAMing on 105.58907232899999 meters Centerline goodness : 0.787233 Centerline is valid? [False, False] Translation: X:-2.86, Y:-3.76, Z:-0.85 [[ 0.99990872 -0.01134952 0.00733105 -2.86355457] [ 0.01130119 0.99991436 0.00659976 -3.76487765] [-0.00740533 -0.00651631 0.99995135 -0.84766776] [ 0. 0. 0. 1. ]] SLAMing on 105.61907232899999 meters Centerline goodness : 0.785302 Centerline is valid? [False, False] Translation: X:-2.86, Y:-3.77, Z:-0.85 [[ 0.99990716 -0.01174142 0.00691399 -2.86182051] [ 0.01169642 0.99991038 0.00651368 -3.7662406 ] [-0.00698985 -0.00643221 0.99995488 -0.84850205] [ 0. 0. 0. 1. ]] SLAMing on 105.64907232899999 meters Centerline goodness : 0.784756 Centerline is valid? [False, False] Translation: X:-2.86, Y:-3.77, Z:-0.85 [[ 0.99990403 -0.0123032 0.00636899 -2.85930949] [ 0.01226091 0.99990281 0.00663676 -3.7685568 ] [-0.00645002 -0.00655803 0.99995769 -0.84969941] [ 0. 0. 0. 1. ]] SLAMing on 105.679072329 meters Centerline goodness : 0.785230 Centerline is valid? [False, False] Translation: X:-2.86, Y:-3.77, Z:-0.85 [[ 0.99990184 -0.01266144 0.0059999 -2.85785487] [ 0.01262139 0.99989813 0.00666563 -3.76978407] [-0.00608368 -0.00658925 0.99995978 -0.8501979 ] [ 0. 0. 0. 1. ]] SLAMing on 105.709072329 meters Centerline goodness : 0.782928 Centerline is valid? [False, False] Translation: X:-2.86, Y:-3.77, Z:-0.85 [[ 0.99990312 -0.01272366 0.00564445 -2.85698873] [ 0.01268343 0.9998943 0.00710788 -3.7718214 ] [-0.00573429 -0.0070356 0.99995881 -0.84983817] [ 0. 0. 0. 1. ]] SLAMing on 105.739072329 meters Centerline goodness : 0.782711 Centerline is valid? [False, False] Translation: X:-2.86, Y:-3.78, Z:-0.85 [[ 0.99990496 -0.0128183 0.00507514 -2.85564788] [ 0.01277712 0.99988584 0.00806568 -3.7767611 ] [-0.00517795 -0.00800006 0.99995459 -0.84894962] [ 0. 0. 0. 1. ]] SLAMing on 105.769072329 meters Centerline goodness : 0.782984 Centerline is valid? [False, False] Translation: X:-2.85, Y:-3.78, Z:-0.85 [[ 0.99990527 -0.01293869 0.00469504 -2.85453665] [ 0.01289888 0.99988142 0.00841264 -3.77892328] [-0.00480334 -0.00835129 0.99995359 -0.84889466] [ 0. 0. 0. 1. ]] SLAMing on 105.799072329 meters Centerline goodness : 0.782546 Centerline is valid? [False, False] Translation: X:-2.85, Y:-3.78, Z:-0.85 [[ 0.99990327 -0.01320501 0.00436789 -2.85329141] [ 0.01316735 0.99987683 0.00854068 -3.78070165] [-0.00448013 -0.00848234 0.99995399 -0.84924436] [ 0. 0. 0. 1. ]] SLAMing on 105.829072329 meters Centerline goodness : 0.780143 Centerline is valid? [False, False] Translation: X:-2.85, Y:-3.78, Z:-0.85 [[ 9.99898625e-01 -1.37282894e-02 3.77815460e-03 -2.85071707e+00] [ 1.36947190e-02 9.99867742e-01 8.77227112e-03 -3.78414617e+00] [-3.89808319e-03 -8.71964107e-03 9.99954385e-01 -8.50336865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.85907232899999 meters Centerline goodness : 0.781481 Centerline is valid? [False, False] Translation: X:-2.85, Y:-3.79, Z:-0.85 [[ 9.99897160e-01 -1.39006914e-02 3.52706263e-03 -2.84969915e+00] [ 1.38687456e-02 9.99863986e-01 8.92565870e-03 -3.78558219e+00] [-3.65065573e-03 -8.87582485e-03 9.99953945e-01 -8.50641554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.88907232899999 meters Centerline goodness : 0.780498 Centerline is valid? [False, False] Translation: X:-2.85, Y:-3.79, Z:-0.85 [[ 9.99901809e-01 -1.35518800e-02 3.56629258e-03 -2.85021498e+00] [ 1.35164960e-02 9.99860959e-01 9.76558244e-03 -3.78857453e+00] [-3.69813872e-03 -9.71641977e-03 9.99945956e-01 -8.49678758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.91907232899999 meters Centerline goodness : 0.780498 Centerline is valid? [False, False] Translation: X:-2.85, Y:-3.79, Z:-0.85 [[ 9.99901809e-01 -1.35518800e-02 3.56629258e-03 -2.85021498e+00] [ 1.35164960e-02 9.99860959e-01 9.76558244e-03 -3.78857453e+00] [-3.69813872e-03 -9.71641977e-03 9.99945956e-01 -8.49678758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.94907232899999 meters Centerline goodness : 0.780245 Centerline is valid? [False, False] Translation: X:-2.85, Y:-3.79, Z:-0.85 [[ 9.99902596e-01 -1.35328175e-02 3.41500748e-03 -2.85006442e+00] [ 1.34980292e-02 9.99858769e-01 1.00122310e-02 -3.78949002e+00] [-3.55001887e-03 -9.96515994e-03 9.99944045e-01 -8.49123145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.97907232899999 meters Centerline goodness : 0.781756 Centerline is valid? [False, False] Translation: X:-2.85, Y:-3.79, Z:-0.85 [[ 9.99902988e-01 -1.35485634e-02 3.23275995e-03 -2.84958027e+00] [ 1.35151314e-02 9.99857164e-01 1.01485643e-02 -3.79071557e+00] [-3.36979667e-03 -1.01038886e-02 9.99943276e-01 -8.49092327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.00907232899999 meters Centerline goodness : 0.781039 Centerline is valid? [False, False] Translation: X:-2.85, Y:-3.79, Z:-0.85 [[ 9.99902973e-01 -1.36250524e-02 2.89861949e-03 -2.84859335e+00] [ 1.35946418e-02 9.99854903e-01 1.02644419e-02 -3.79215758e+00] [-3.03805246e-03 -1.02240403e-02 9.99943118e-01 -8.49279075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.03907232899999 meters Centerline goodness : 0.783389 Centerline is valid? [False, False] Translation: X:-2.85, Y:-3.79, Z:-0.85 [[ 9.99894034e-01 -1.43672623e-02 2.34574782e-03 -2.84515366e+00] [ 1.43446783e-02 9.99853148e-01 9.37617276e-03 -3.79310963e+00] [-2.48011328e-03 -9.34153020e-03 9.99953291e-01 -8.52630928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.069072329 meters Centerline goodness : 0.782214 Centerline is valid? [False, False] Translation: X:-2.84, Y:-3.79, Z:-0.85 [[ 9.99887542e-01 -1.48368553e-02 2.18417724e-03 -2.84350683e+00] [ 1.48174871e-02 9.99852958e-01 8.63158970e-03 -3.79199225e+00] [-2.31192172e-03 -8.59825500e-03 9.99960362e-01 -8.54696782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.099072329 meters Centerline goodness : 0.783045 Centerline is valid? [False, False] Translation: X:-2.84, Y:-3.79, Z:-0.86 [[ 9.99882989e-01 -1.51398126e-02 2.18944544e-03 -2.84257666e+00] [ 1.51217333e-02 9.99853248e-01 8.05087809e-03 -3.79077422e+00] [-2.31101292e-03 -8.01682784e-03 9.99965194e-01 -8.56260020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.129072329 meters Centerline goodness : 0.781448 Centerline is valid? [False, False] Translation: X:-2.84, Y:-3.79, Z:-0.86 [[ 9.99882208e-01 -1.51776239e-02 2.28254232e-03 -2.84248614e+00] [ 1.51592322e-02 9.99854121e-01 7.86986535e-03 -3.79019787e+00] [-2.40165521e-03 -7.83433675e-03 9.99966427e-01 -8.56813115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.159072329 meters Centerline goodness : 0.782766 Centerline is valid? [False, False] Translation: X:-2.84, Y:-3.79, Z:-0.86 [[ 9.99889403e-01 -1.46837696e-02 2.35965435e-03 -2.84369579e+00] [ 1.46626595e-02 9.99854408e-01 8.72752973e-03 -3.79236570e+00] [-2.48746384e-03 -8.69196569e-03 9.99959130e-01 -8.55029410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.189072329 meters Centerline goodness : 0.782067 Centerline is valid? [False, False] Translation: X:-2.84, Y:-3.79, Z:-0.85 [[ 9.99891919e-01 -1.45344010e-02 2.21393134e-03 -2.84385604e+00] [ 1.45136158e-02 9.99852973e-01 9.13166273e-03 -3.79372625e+00] [-2.34632908e-03 -9.09854362e-03 9.99955855e-01 -8.54037541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.219072329 meters Centerline goodness : 0.782974 Centerline is valid? [False, False] Translation: X:-2.84, Y:-3.80, Z:-0.85 [[ 9.99896619e-01 -1.42177493e-02 2.14622206e-03 -2.84423555e+00] [ 1.41964354e-02 9.99852762e-01 9.63929766e-03 -3.79541872e+00] [-2.28295517e-03 -9.60783244e-03 9.99951238e-01 -8.53122219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.24907232899999 meters Centerline goodness : 0.782744 Centerline is valid? [False, False] Translation: X:-2.84, Y:-3.79, Z:-0.85 [[ 9.99892926e-01 -1.45014880e-02 1.96040046e-03 -2.84327657e+00] [ 1.44827892e-02 9.99852445e-01 9.23775196e-03 -3.79455881e+00] [-2.09407234e-03 -9.20837077e-03 9.99955409e-01 -8.53909048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.27907232899999 meters Centerline goodness : 0.780904 Centerline is valid? [False, False] Translation: X:-2.84, Y:-3.79, Z:-0.86 [[ 9.99883509e-01 -1.51573253e-02 1.79551320e-03 -2.84104286e+00] [ 1.51425770e-02 9.99853652e-01 7.96096892e-03 -3.79263490e+00] [-1.91591742e-03 -7.93285284e-03 9.99966699e-01 -8.57206250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.30907232899999 meters Centerline goodness : 0.782357 Centerline is valid? [False, False] Translation: X:-2.84, Y:-3.79, Z:-0.86 [[ 9.99878619e-01 -1.55065023e-02 1.51506854e-03 -2.83966339e+00] [ 1.54946157e-02 9.99851330e-01 7.56538574e-03 -3.79231452e+00] [-1.63215597e-03 -7.54099205e-03 9.99970234e-01 -8.58226214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.33907232899999 meters Centerline goodness : 0.780392 Centerline is valid? [False, False] Translation: X:-2.84, Y:-3.79, Z:-0.86 [[ 9.99879087e-01 -1.54913334e-02 1.35246511e-03 -2.83927224e+00] [ 1.54806057e-02 9.99851196e-01 7.61156648e-03 -3.79296448e+00] [-1.47017717e-03 -7.58970917e-03 9.99970117e-01 -8.58209852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.36907232899999 meters Centerline goodness : 0.780428 Centerline is valid? [False, False] Translation: X:-2.84, Y:-3.79, Z:-0.86 [[ 9.99882426e-01 -1.52829128e-02 1.25166417e-03 -2.83947022e+00] [ 1.52725604e-02 9.99852156e-01 7.90031637e-03 -3.79386965e+00] [-1.37221897e-03 -7.88027138e-03 9.99968009e-01 -8.57500058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.39907232899999 meters Centerline goodness : 0.781306 Centerline is valid? [False, False] Translation: X:-2.84, Y:-3.79, Z:-0.86 [[ 9.99888593e-01 -1.48557420e-02 1.45222435e-03 -2.84034943e+00] [ 1.48437376e-02 9.99858187e-01 7.95426198e-03 -3.79351425e+00] [-1.57018487e-03 -7.93181938e-03 9.99967310e-01 -8.57368299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.429072329 meters Centerline goodness : 0.779300 Centerline is valid? [False, False] Translation: X:-2.84, Y:-3.80, Z:-0.86 [[ 9.99933952e-01 -1.14847447e-02 4.38637919e-04 -2.83741248e+00] [ 1.14785667e-02 9.99860252e-01 1.21540066e-02 -3.79530733e+00] [-5.78162282e-04 -1.21481689e-02 9.99926041e-01 -8.57329448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.459072329 meters Centerline goodness : 0.778541 Centerline is valid? [False, False] Translation: X:-2.84, Y:-3.79, Z:-0.86 [[ 9.99929939e-01 -1.18337781e-02 2.81002727e-04 -2.83630366e+00] [ 1.18297895e-02 9.99864575e-01 1.14406224e-02 -3.79372933e+00] [-4.16350459e-04 -1.14364967e-02 9.99934514e-01 -8.58652435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.489072329 meters Centerline goodness : 0.779459 Centerline is valid? [False, False] Translation: X:-2.84, Y:-3.79, Z:-0.86 [[ 9.99931303e-01 -1.17201239e-02 1.67230751e-04 -2.83579361e+00] [ 1.17175649e-02 9.99870444e-01 1.10360387e-02 -3.79316178e+00] [-2.96552826e-04 -1.10333210e-02 9.99939087e-01 -8.59595364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.519072329 meters Centerline goodness : 0.779037 Centerline is valid? [False, False] Translation: X:-2.84, Y:-3.79, Z:-0.86 [[ 9.99932318e-01 -1.16336953e-02 1.25000715e-04 -2.83563588e+00] [ 1.16316506e-02 9.99873317e-01 1.08653091e-02 -3.79293196e+00] [-2.51388574e-04 -1.08631197e-02 9.99940963e-01 -8.59978294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.549072329 meters Centerline goodness : 0.777207 Centerline is valid? [False, False] Translation: X:-2.84, Y:-3.79, Z:-0.86 [[ 9.99933965e-01 -1.14903019e-02 1.95352627e-04 -2.83597950e+00] [ 1.14875589e-02 9.99876922e-01 1.06853305e-02 -3.79189134e+00] [-3.18106257e-04 -1.06823808e-02 9.99942891e-01 -8.59990151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.579072329 meters Centerline goodness : 0.778275 Centerline is valid? [False, False] Translation: X:-2.84, Y:-3.79, Z:-0.86 [[ 9.99931538e-01 -1.17007034e-02 1.12302812e-04 -2.83549005e+00] [ 1.16989087e-02 9.99877745e-01 1.03744862e-02 -3.79112119e+00] [-2.33677868e-04 -1.03724621e-02 9.99946177e-01 -8.60395577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.60907232899999 meters Centerline goodness : 0.776135 Centerline is valid? [False, False] Translation: X:-2.83, Y:-3.79, Z:-0.86 [[ 9.99929680e-01 -1.18589359e-02 -5.38677238e-06 -2.83492536e+00] [ 1.18583861e-02 9.99878737e-01 1.00940978e-02 -3.79029834e+00] [-1.14319140e-04 -1.00934519e-02 9.99949053e-01 -8.60840765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.63907232899999 meters Centerline goodness : 0.774406 Centerline is valid? [False, False] Translation: X:-2.83, Y:-3.79, Z:-0.86 [[ 9.99926578e-01 -1.21166411e-02 -1.62733998e-04 -2.83402531e+00] [ 1.21176391e-02 9.99881692e-01 9.47437813e-03 -3.78910985e+00] [ 4.79171068e-05 -9.47565445e-03 9.99955104e-01 -8.61887794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.66907232899999 meters Centerline goodness : 0.774079 Centerline is valid? [False, False] Translation: X:-2.83, Y:-3.79, Z:-0.86 [[ 9.99922680e-01 -1.24287908e-02 -3.99215250e-04 -2.83287749e+00] [ 1.24319226e-02 9.99880899e-01 9.14525687e-03 -3.78880140e+00] [ 2.85503219e-04 -9.14951277e-03 9.99958102e-01 -8.62653673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.69907232899999 meters Centerline goodness : 0.773649 Centerline is valid? [False, False] Translation: X:-2.83, Y:-3.79, Z:-0.86 [[ 9.99916211e-01 -1.29216094e-02 -7.76738226e-04 -2.83121375e+00] [ 1.29278236e-02 9.99879334e-01 8.61323559e-03 -3.78826161e+00] [ 6.65347635e-04 -8.62255543e-03 9.99962604e-01 -8.63677679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.72907232899999 meters Centerline goodness : 0.774300 Centerline is valid? [False, False] Translation: X:-2.83, Y:-3.79, Z:-0.86 [[ 9.99910926e-01 -1.32988018e-02 -1.13214170e-03 -2.82988376e+00] [ 1.33077060e-02 9.99877342e-01 8.25871906e-03 -3.78784659e+00] [ 1.02217177e-03 -8.27304963e-03 9.99965255e-01 -8.64268160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.75907232899999 meters Centerline goodness : 0.774778 Centerline is valid? [False, False] Translation: X:-2.83, Y:-3.79, Z:-0.86 [[ 9.99908670e-01 -1.34581768e-02 -1.23688391e-03 -2.82953536e+00] [ 1.34674201e-02 9.99878917e-01 7.79612278e-03 -3.78641568e+00] [ 1.13181254e-03 -7.81206839e-03 9.99968845e-01 -8.64603235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.78907232899999 meters Centerline goodness : 0.773033 Centerline is valid? [False, False] Translation: X:-2.83, Y:-3.79, Z:-0.86 [[ 9.99912621e-01 -1.31803055e-02 -1.01512420e-03 -2.83060688e+00] [ 1.31879033e-02 9.99881971e-01 7.88188448e-03 -3.78566597e+00] [ 9.11118743e-04 -7.89458313e-03 9.99968422e-01 -8.63959053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.819072329 meters Centerline goodness : 0.770929 Centerline is valid? [False, False] Translation: X:-2.83, Y:-3.78, Z:-0.86 [[ 9.99911351e-01 -1.32755988e-02 -1.02398734e-03 -2.83065292e+00] [ 1.32829604e-02 9.99883252e-01 7.55288996e-03 -3.78418489e+00] [ 9.23598652e-04 -7.56582199e-03 9.99970952e-01 -8.63907839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.849072329 meters Centerline goodness : 0.771740 Centerline is valid? [False, False] Translation: X:-2.83, Y:-3.78, Z:-0.86 [[ 9.99909128e-01 -1.34412850e-02 -1.03365197e-03 -2.83048141e+00] [ 1.34483322e-02 9.99884052e-01 7.14313572e-03 -3.78267429e+00] [ 9.37519192e-04 -7.15638751e-03 9.99973953e-01 -8.64177949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.879072329 meters Centerline goodness : 0.770765 Centerline is valid? [False, False] Translation: X:-2.83, Y:-3.78, Z:-0.86 [[ 9.99907831e-01 -1.35364658e-02 -1.04582936e-03 -2.83044869e+00] [ 1.35428448e-02 9.99888102e-01 6.35419294e-03 -3.77906147e+00] [ 9.59699017e-04 -6.36777079e-03 9.99979265e-01 -8.64721654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.909072329 meters Centerline goodness : 0.769865 Centerline is valid? [False, False] Translation: X:-2.83, Y:-3.78, Z:-0.87 [[ 9.99901072e-01 -1.40011996e-02 -1.34642878e-03 -2.82926736e+00] [ 1.40083938e-02 9.99886800e-01 5.49105690e-03 -3.77642092e+00] [ 1.26939498e-03 -5.50937499e-03 9.99984018e-01 -8.65556194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.939072329 meters Centerline goodness : 0.770419 Centerline is valid? [False, False] Translation: X:-2.83, Y:-3.78, Z:-0.87 [[ 9.99939029e-01 -1.07518049e-02 -2.51744818e-03 -2.82601039e+00] [ 1.07738113e-02 9.99902374e-01 8.89759638e-03 -3.77541827e+00] [ 2.42153719e-03 -8.92417640e-03 9.99957247e-01 -8.65897341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.969072329 meters Centerline goodness : 0.769845 Centerline is valid? [False, False] Translation: X:-2.83, Y:-3.77, Z:-0.87 [[ 9.99934320e-01 -1.11271430e-02 -2.74635127e-03 -2.82507211e+00] [ 1.11491030e-02 9.99904920e-01 8.11466678e-03 -3.77332182e+00] [ 2.65579709e-03 -8.14475316e-03 9.99963304e-01 -8.66657312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.99907232899999 meters Centerline goodness : 0.769524 Centerline is valid? [False, False] Translation: X:-2.82, Y:-3.77, Z:-0.87 [[ 9.99931016e-01 -1.13738368e-02 -2.93256951e-03 -2.82443338e+00] [ 1.13959643e-02 9.99905858e-01 7.64247805e-03 -3.77182465e+00] [ 2.84536913e-03 -7.67537029e-03 9.99966496e-01 -8.66988140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.02907232899999 meters Centerline goodness : 0.767744 Centerline is valid? [False, False] Translation: X:-2.82, Y:-3.77, Z:-0.87 [[ 9.99926169e-01 -1.17637640e-02 -3.04482671e-03 -2.82399759e+00] [ 1.17843128e-02 9.99907296e-01 6.82117472e-03 -3.76835101e+00] [ 2.96430175e-03 -6.85655229e-03 9.99972100e-01 -8.67335863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.05907232899999 meters Centerline goodness : 0.766896 Centerline is valid? [False, False] Translation: X:-2.82, Y:-3.77, Z:-0.87 [[ 9.99926497e-01 -1.17692179e-02 -2.91316641e-03 -2.82440173e+00] [ 1.17882164e-02 9.99908783e-01 6.59268071e-03 -3.76684631e+00] [ 2.83530999e-03 -6.62653716e-03 9.99974025e-01 -8.67262738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.08907232899999 meters Centerline goodness : 0.767881 Centerline is valid? [False, False] Translation: X:-2.82, Y:-3.77, Z:-0.87 [[ 9.99926271e-01 -1.18110069e-02 -2.81991743e-03 -2.82479362e+00] [ 1.18286324e-02 9.99910081e-01 6.31770790e-03 -3.76501404e+00] [ 2.74504538e-03 -6.35059787e-03 9.99976067e-01 -8.67085871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.11907232899999 meters Centerline goodness : 0.767270 Centerline is valid? [False, False] Translation: X:-2.83, Y:-3.76, Z:-0.87 [[ 9.99927213e-01 -1.17735450e-02 -2.63679578e-03 -2.82560585e+00] [ 1.17883351e-02 9.99914464e-01 5.66562888e-03 -3.76090788e+00] [ 2.56986570e-03 -5.69629993e-03 9.99980474e-01 -8.67013728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.14907232899999 meters Centerline goodness : 0.763680 Centerline is valid? [False, False] Translation: X:-2.83, Y:-3.76, Z:-0.87 [[ 9.99923749e-01 -1.20430867e-02 -2.73138692e-03 -2.82518626e+00] [ 1.20565953e-02 9.99914894e-01 4.98436763e-03 -3.75831344e+00] [ 2.67112729e-03 -5.01691879e-03 9.99983848e-01 -8.67515096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.179072329 meters Centerline goodness : 0.763168 Centerline is valid? [False, False] Translation: X:-2.82, Y:-3.76, Z:-0.87 [[ 9.99916188e-01 -1.25782820e-02 -3.06641833e-03 -2.82389752e+00] [ 1.25908125e-02 9.99912319e-01 4.10189282e-03 -3.75554623e+00] [ 3.01455470e-03 -4.14015773e-03 9.99986886e-01 -8.68323320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.209072329 meters Centerline goodness : 0.762278 Centerline is valid? [False, False] Translation: X:-2.82, Y:-3.76, Z:-0.87 [[ 0.9999503 -0.00912671 -0.00401158 -2.82227324] [ 0.00915988 0.99992335 0.00833046 -3.75537905] [ 0.00393525 -0.00836679 0.99995725 -0.86636215] [ 0. 0. 0. 1. ]] SLAMing on 107.239072329 meters Centerline goodness : 0.762659 Centerline is valid? [False, False] Translation: X:-2.82, Y:-3.75, Z:-0.87 [[ 0.99994841 -0.00933128 -0.00401401 -2.82233202] [ 0.009363 0.99992451 0.00795725 -3.75361958] [ 0.00393946 -0.00799443 0.99996028 -0.86621624] [ 0. 0. 0. 1. ]] SLAMing on 107.269072329 meters Centerline goodness : 0.761387 Centerline is valid? [False, False] Translation: X:-2.82, Y:-3.75, Z:-0.87 [[ 0.99994492 -0.00964837 -0.00413118 -2.82206286] [ 0.00967884 0.99992562 0.00742091 -3.75159581] [ 0.00405927 -0.00746049 0.99996393 -0.8662362 ] [ 0. 0. 0. 1. ]] SLAMing on 107.299072329 meters Centerline goodness : 0.761249 Centerline is valid? [False, False] Translation: X:-2.82, Y:-3.75, Z:-0.87 [[ 0.99994134 -0.00998358 -0.00420174 -2.82170737] [ 0.01001235 0.99992618 0.00688363 -3.74953252] [ 0.00413271 -0.0069253 0.99996748 -0.86649685] [ 0. 0. 0. 1. ]] SLAMing on 107.329072329 meters Centerline goodness : 0.762119 Centerline is valid? [False, False] Translation: X:-2.82, Y:-3.74, Z:-0.87 [[ 0.99992871 -0.01100336 -0.00463699 -2.81974975] [ 0.0110286 0.99992431 0.00545328 -3.74497073] [ 0.00457663 -0.00550403 0.99997438 -0.86783062] [ 0. 0. 0. 1. ]] SLAMing on 107.35907232899999 meters Centerline goodness : 0.762450 Centerline is valid? [False, False] Translation: X:-2.82, Y:-3.74, Z:-0.87 [[ 0.99992172 -0.0114943 -0.00494297 -2.81876342] [ 0.0115184 0.99992177 0.00487595 -3.74292042] [ 0.00488654 -0.0049325 0.9999759 -0.86808487] [ 0. 0. 0. 1. ]] SLAMing on 107.38907232899999 meters Centerline goodness : 0.759932 Centerline is valid? [False, False] Translation: X:-2.82, Y:-3.74, Z:-0.87 [[ 0.99991202 -0.01215366 -0.00531411 -2.81731781] [ 0.01217553 0.99991746 0.00410155 -3.74085487] [ 0.00526382 -0.0041659 0.99997747 -0.86874151] [ 0. 0. 0. 1. ]] SLAMing on 107.41907232899999 meters Centerline goodness : 0.760834 Centerline is valid? [False, False] Translation: X:-2.82, Y:-3.74, Z:-0.87 [[ 9.99899069e-01 -1.29873192e-02 -5.76024291e-03 -2.81579931e+00] [ 1.30047774e-02 9.99910923e-01 3.00378416e-03 -3.73735007e+00] [ 5.72071869e-03 -3.07839166e-03 9.99978898e-01 -8.69313223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.44907232899999 meters Centerline goodness : 0.760171 Centerline is valid? [False, False] Translation: X:-2.82, Y:-3.74, Z:-0.87 [[ 9.99892243e-01 -1.36339659e-02 -5.44215827e-03 -2.81663378e+00] [ 1.36531032e-02 9.99900684e-01 3.49495261e-03 -3.73521998e+00] [ 5.39396772e-03 -3.56887835e-03 9.99979084e-01 -8.69287650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.47907232899999 meters Centerline goodness : 0.760046 Centerline is valid? [False, False] Translation: X:-2.82, Y:-3.73, Z:-0.87 [[ 9.99877471e-01 -1.49076912e-02 -4.77542546e-03 -2.81662259e+00] [ 1.49218334e-02 9.99884342e-01 2.93965532e-03 -3.73240419e+00] [ 4.73104967e-03 -3.01055323e-03 9.99984277e-01 -8.71304350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.50907232899999 meters Centerline goodness : 0.759521 Centerline is valid? [False, False] Translation: X:-2.82, Y:-3.73, Z:-0.87 [[ 9.99848505e-01 -1.70479346e-02 -3.51205205e-03 -2.81929780e+00] [ 1.70611831e-02 9.99847312e-01 3.77749539e-03 -3.72831482e+00] [ 3.44711731e-03 -3.83684288e-03 9.99986698e-01 -8.71631713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.53907232899999 meters Centerline goodness : 0.758607 Centerline is valid? [False, False] Translation: X:-2.82, Y:-3.73, Z:-0.87 [[ 9.99834068e-01 -1.79291672e-02 -3.22211822e-03 -2.82018123e+00] [ 1.79407196e-02 9.99832597e-01 3.59291077e-03 -3.72692045e+00] [ 3.15716093e-03 -3.65012171e-03 9.99988354e-01 -8.71281101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.569072329 meters Centerline goodness : 0.757606 Centerline is valid? [False, False] Translation: X:-2.82, Y:-3.72, Z:-0.87 [[ 9.99786200e-01 -2.05133227e-02 -2.59948806e-03 -2.82169576e+00] [ 2.05204880e-02 9.99785622e-01 2.76040006e-03 -3.72473346e+00] [ 2.54230581e-03 -2.81315265e-03 9.99992811e-01 -8.71174164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.599072329 meters Centerline goodness : 0.755775 Centerline is valid? [False, False] Translation: X:-2.82, Y:-3.72, Z:-0.87 [[ 9.99751538e-01 -2.21157734e-02 -2.78457934e-03 -2.81999231e+00] [ 2.21196366e-02 9.99754400e-01 1.36429432e-03 -3.72304545e+00] [ 2.75372302e-03 -1.42554923e-03 9.99995192e-01 -8.73047006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.629072329 meters Centerline goodness : 0.755889 Centerline is valid? [False, False] Translation: X:-2.82, Y:-3.72, Z:-0.87 [[ 9.99653564e-01 -2.62246421e-02 -2.24053122e-03 -2.82074607e+00] [ 2.62164375e-02 9.99649750e-01 -3.61598083e-03 -3.71870761e+00] [ 2.33457428e-03 3.55598938e-03 9.99990952e-01 -8.74260950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.659072329 meters Centerline goodness : 0.756278 Centerline is valid? [False, False] Translation: X:-2.82, Y:-3.72, Z:-0.87 [[ 9.99639152e-01 -2.67372713e-02 -2.58547588e-03 -2.81962012e+00] [ 2.67265065e-02 9.99634325e-01 -4.11217967e-03 -3.71704650e+00] [ 2.69447890e-03 4.04159506e-03 9.99988203e-01 -8.74534794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.689072329 meters Centerline goodness : 0.758867 Centerline is valid? [False, False] Translation: X:-2.82, Y:-3.71, Z:-0.88 [[ 9.99605255e-01 -2.79042770e-02 -3.26887674e-03 -2.81725613e+00] [ 2.78875697e-02 9.99598311e-01 -5.04975323e-03 -3.71433358e+00] [ 3.40847338e-03 4.95659884e-03 9.99981907e-01 -8.75080038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.719072329 meters Centerline goodness : 0.758973 Centerline is valid? [False, False] Translation: X:-2.82, Y:-3.71, Z:-0.88 [[ 9.99493110e-01 -3.17244884e-02 -2.66063271e-03 -2.81870715e+00] [ 3.16979043e-02 9.99452342e-01 -9.50046963e-03 -3.71088113e+00] [ 2.96057313e-03 9.41131746e-03 9.99951330e-01 -8.75207683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.74907232899999 meters Centerline goodness : 0.760085 Centerline is valid? [False, False] Translation: X:-2.82, Y:-3.71, Z:-0.88 [[ 9.99361865e-01 -3.56677960e-02 -1.91611635e-03 -2.81990465e+00] [ 3.56368984e-02 9.99262884e-01 -1.42723428e-02 -3.70765798e+00] [ 2.42376696e-03 1.41949507e-02 9.99896309e-01 -8.76162343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.77907232899999 meters Centerline goodness : 0.758949 Centerline is valid? [False, False] Translation: X:-2.82, Y:-3.70, Z:-0.88 [[ 9.99185615e-01 -4.03230022e-02 -1.47075016e-03 -2.81986139e+00] [ 4.02862040e-02 9.98993382e-01 -1.97292933e-02 -3.70238669e+00] [ 2.26481401e-03 1.96539751e-02 9.99804277e-01 -8.77685679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.80907232899999 meters Centerline goodness : 0.761061 Centerline is valid? [False, False] Translation: X:-2.82, Y:-3.70, Z:-0.88 [[ 9.99036546e-01 -4.38810511e-02 -6.57993849e-04 -2.82148568e+00] [ 4.38527014e-02 9.98750490e-01 -2.39666344e-02 -3.69802966e+00] [ 1.70885279e-03 2.39146889e-02 9.99712542e-01 -8.78060463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.83907232899999 meters Centerline goodness : 0.761061 Centerline is valid? [False, False] Translation: X:-2.82, Y:-3.70, Z:-0.88 [[ 9.99038947e-01 -4.38264013e-02 -6.54531260e-04 -2.82151666e+00] [ 4.37982617e-02 9.98754450e-01 -2.39010615e-02 -3.69826832e+00] [ 1.70121352e-03 2.38494240e-02 9.99714115e-01 -8.78041752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.86907232899999 meters Centerline goodness : 0.761918 Centerline is valid? [False, False] Translation: X:-2.82, Y:-3.70, Z:-0.88 [[ 9.99025264e-01 -4.41338294e-02 -8.53142154e-04 -2.82092955e+00] [ 4.41003534e-02 9.98734703e-01 -2.41692515e-02 -3.69689499e+00] [ 1.91874430e-03 2.41080689e-02 9.99707517e-01 -8.78014614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.89907232899999 meters Centerline goodness : 0.760676 Centerline is valid? [False, False] Translation: X:-2.82, Y:-3.69, Z:-0.88 [[ 9.98827418e-01 -4.84118007e-02 -2.92886471e-04 -2.82171923e+00] [ 4.83827457e-02 9.98404160e-01 -2.91246122e-02 -3.69173301e+00] [ 1.70239399e-03 2.90762906e-02 9.99575746e-01 -8.78517114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.929072329 meters Centerline goodness : 0.762161 Centerline is valid? [False, False] Translation: X:-2.82, Y:-3.69, Z:-0.88 [[ 9.98937393e-01 -4.60796226e-02 -8.68200354e-04 -2.81937796e+00] [ 4.60427355e-02 9.98616387e-01 -2.54043121e-02 -3.69436168e+00] [ 2.03762022e-03 2.53373430e-02 9.99676881e-01 -8.78449581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.959072329 meters Centerline goodness : 0.760749 Centerline is valid? [False, False] Translation: X:-2.82, Y:-3.69, Z:-0.88 [[ 9.98725249e-01 -5.04713853e-02 -7.19048541e-04 -2.81913257e+00] [ 5.04268853e-02 9.98273689e-01 -3.01126455e-02 -3.69194898e+00] [ 2.23763418e-03 3.00380000e-02 9.99546253e-01 -8.78834796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.989072329 meters Centerline goodness : 0.762380 Centerline is valid? [False, False] Translation: X:-2.82, Y:-3.69, Z:-0.88 [[ 9.98701381e-01 -5.09347598e-02 -1.09587597e-03 -2.81786757e+00] [ 5.08783645e-02 9.98246523e-01 -3.02534406e-02 -3.69164513e+00] [ 2.63490610e-03 3.01583965e-02 9.99541659e-01 -8.79105082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.019072329 meters Centerline goodness : 0.762809 Centerline is valid? [False, False] Translation: X:-2.82, Y:-3.69, Z:-0.88 [[ 9.98668254e-01 -5.15687156e-02 -1.54488130e-03 -2.81613577e+00] [ 5.14975283e-02 9.98205298e-01 -3.05644713e-02 -3.69102851e+00] [ 3.11827922e-03 3.04442096e-02 9.99531604e-01 -8.79824024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.049072329 meters Centerline goodness : 0.764059 Centerline is valid? [False, False] Translation: X:-2.81, Y:-3.69, Z:-0.88 [[ 9.98616369e-01 -5.25401531e-02 -2.20881821e-03 -2.81335859e+00] [ 5.24465110e-02 9.98141326e-01 -3.10363862e-02 -3.69061824e+00] [ 3.83536922e-03 3.08775985e-02 9.99515815e-01 -8.81168799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.079072329 meters Centerline goodness : 0.766260 Centerline is valid? [False, False] Translation: X:-2.81, Y:-3.69, Z:-0.88 [[ 9.98549793e-01 -5.37514231e-02 -3.01583140e-03 -2.80992361e+00] [ 5.36284866e-02 9.98052923e-01 -3.18488269e-02 -3.68986651e+00] [ 4.72187911e-03 3.16409050e-02 9.99488147e-01 -8.82791624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.10907232899999 meters Centerline goodness : 0.767204 Centerline is valid? [False, False] Translation: X:-2.81, Y:-3.69, Z:-0.88 [[ 0.9986959 -0.0509002 -0.00395756 -2.80701309] [ 0.05077216 0.998329 -0.02759349 -3.69302618] [ 0.00535546 0.02735657 0.99961139 -0.88286013] [ 0. 0. 0. 1. ]] SLAMing on 108.13907232899999 meters Centerline goodness : 0.767414 Centerline is valid? [False, False] Translation: X:-2.80, Y:-3.70, Z:-0.88 [[ 0.99884999 -0.04770645 -0.00477462 -2.80496201] [ 0.04758432 0.998601 -0.02306016 -3.69659007] [ 0.00586806 0.02280644 0.99972268 -0.88219065] [ 0. 0. 0. 1. ]] SLAMing on 108.16907232899999 meters Centerline goodness : 0.767318 Centerline is valid? [False, False] Translation: X:-2.78, Y:-3.70, Z:-0.88 [[ 9.98878353e-01 -4.73022998e-02 -2.12821946e-03 -2.77955442e+00] [ 4.72310599e-02 9.98544902e-01 -2.60250940e-02 -3.69601927e+00] [ 3.35616948e-03 2.58953849e-02 9.99659024e-01 -8.81742049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.19907232899999 meters Centerline goodness : 0.767947 Centerline is valid? [False, False] Translation: X:-2.78, Y:-3.70, Z:-0.88 [[ 9.99014794e-01 -4.42667126e-02 -3.14625301e-03 -2.77697748e+00] [ 4.41892113e-02 9.98792278e-01 -2.14778735e-02 -3.69987837e+00] [ 4.09320806e-03 2.13176830e-02 9.99764373e-01 -8.80955114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.22907232899999 meters Centerline goodness : 0.766435 Centerline is valid? [False, False] Translation: X:-2.77, Y:-3.70, Z:-0.88 [[ 0.99913806 -0.04131232 -0.00405324 -2.7741007 ] [ 0.04123683 0.99900114 -0.01721192 -3.70306981] [ 0.00476026 0.01702994 0.99984365 -0.88118507] [ 0. 0. 0. 1. ]] SLAMing on 108.25907232899999 meters Centerline goodness : 0.766748 Centerline is valid? [False, False] Translation: X:-2.77, Y:-3.71, Z:-0.88 [[ 0.99924976 -0.03837954 -0.0051887 -2.77039028] [ 0.03830829 0.99917882 -0.01319715 -3.7050952 ] [ 0.00569093 0.01298848 0.99989945 -0.88211054] [ 0. 0. 0. 1. ]] SLAMing on 108.28907232899999 meters Centerline goodness : 0.765537 Centerline is valid? [False, False] Translation: X:-2.75, Y:-3.70, Z:-0.89 [[ 9.99369520e-01 -3.54549726e-02 -1.87267837e-03 -2.75082604e+00] [ 3.54121558e-02 9.99185241e-01 -1.93606052e-02 -3.70355933e+00] [ 2.55758232e-03 1.92820832e-02 9.99810812e-01 -8.87419189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.319072329 meters Centerline goodness : 0.765831 Centerline is valid? [False, False] Translation: X:-2.75, Y:-3.71, Z:-0.89 [[ 9.99494510e-01 -3.16823265e-02 -2.63718673e-03 -2.74917974e+00] [ 3.16413840e-02 9.99396428e-01 -1.43388730e-02 -3.70776129e+00] [ 3.08988385e-03 1.42481806e-02 9.99893715e-01 -8.86448951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.349072329 meters Centerline goodness : 0.765575 Centerline is valid? [False, False] Translation: X:-2.73, Y:-3.71, Z:-0.89 [[ 9.99517118e-01 -3.10702010e-02 -4.16046784e-04 -2.72665348e+00] [ 3.10531921e-02 9.99268699e-01 -2.23106953e-02 -3.70559865e+00] [ 1.10894032e-03 2.22870023e-02 9.99750999e-01 -8.92115304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.379072329 meters Centerline goodness : 0.766472 Centerline is valid? [False, False] Translation: X:-2.72, Y:-3.71, Z:-0.89 [[ 9.99623462e-01 -2.74096049e-02 -1.28361997e-03 -2.72455754e+00] [ 2.73830194e-02 9.99472260e-01 -1.74748878e-02 -3.70942942e+00] [ 1.76192232e-03 1.74331585e-02 9.99846479e-01 -8.91565638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.409072329 meters Centerline goodness : 0.766212 Centerline is valid? [False, False] Translation: X:-2.72, Y:-3.71, Z:-0.89 [[ 9.99696857e-01 -2.45042636e-02 -2.39487426e-03 -2.72065819e+00] [ 2.44694189e-02 9.99607627e-01 -1.36322762e-02 -3.71211404e+00] [ 2.72798347e-03 1.35695425e-02 9.99904208e-01 -8.93045113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.439072329 meters Centerline goodness : 0.764647 Centerline is valid? [False, False] Translation: X:-2.72, Y:-3.72, Z:-0.89 [[ 9.99770959e-01 -2.11389211e-02 -3.34310079e-03 -2.71782810e+00] [ 2.11067973e-02 9.99733329e-01 -9.36882893e-03 -3.71578673e+00] [ 3.54025621e-03 9.29612093e-03 9.99950523e-01 -8.93382047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.469072329 meters Centerline goodness : 0.765580 Centerline is valid? [False, False] Translation: X:-2.70, Y:-3.71, Z:-0.90 [[ 9.99781998e-01 -2.08587287e-02 -9.33140403e-04 -2.69625214e+00] [ 2.08379485e-02 9.99612248e-01 -1.84698184e-02 -3.71405158e+00] [ 1.31803551e-03 1.84463472e-02 9.99828983e-01 -8.99757735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.49907232899999 meters Centerline goodness : 0.765584 Centerline is valid? [False, False] Translation: X:-2.70, Y:-3.72, Z:-0.90 [[ 9.99782981e-01 -2.08030824e-02 -1.10595929e-03 -2.69574792e+00] [ 2.07796834e-02 9.99620344e-01 -1.80934487e-02 -3.71576411e+00] [ 1.48193891e-03 1.80665406e-02 9.99835688e-01 -8.99826901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.52907232899999 meters Centerline goodness : 0.765330 Centerline is valid? [False, False] Translation: X:-2.69, Y:-3.72, Z:-0.90 [[ 9.99780096e-01 -2.09066308e-02 -1.63492930e-03 -2.69377041e+00] [ 2.08749581e-02 9.99629850e-01 -1.74470177e-02 -3.71858691e+00] [ 1.99908249e-03 1.74090519e-02 9.99846453e-01 -9.00955661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.55907232899999 meters Centerline goodness : 0.764940 Centerline is valid? [False, False] Translation: X:-2.69, Y:-3.72, Z:-0.90 [[ 9.99849043e-01 -1.72301598e-02 -2.23872049e-03 -2.69201313e+00] [ 1.72006990e-02 9.99773009e-01 -1.25724612e-02 -3.72283260e+00] [ 2.45483784e-03 1.25320558e-02 9.99918457e-01 -9.00711424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.58907232899999 meters Centerline goodness : 0.764580 Centerline is valid? [False, False] Translation: X:-2.69, Y:-3.73, Z:-0.90 [[ 9.99908131e-01 -1.32599620e-02 -2.81133626e-03 -2.69070859e+00] [ 1.32389210e-02 9.99885161e-01 -7.37532026e-03 -3.72783076e+00] [ 2.90880987e-03 7.33742363e-03 9.99968850e-01 -8.99856023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.61907232899999 meters Centerline goodness : 0.762985 Centerline is valid? [False, False] Translation: X:-2.69, Y:-3.73, Z:-0.90 [[ 0.99992198 -0.01187183 -0.00388617 -2.68837694] [ 0.01183281 0.99988085 -0.00991293 -3.73159012] [ 0.0040034 0.00986617 0.99994331 -0.89858739] [ 0. 0. 0. 1. ]] SLAMing on 108.64907232899999 meters Centerline goodness : 0.761689 Centerline is valid? [False, False] Translation: X:-2.69, Y:-3.73, Z:-0.90 [[ 0.99993076 -0.01098475 -0.00422034 -2.68790782] [ 0.01093831 0.99988104 -0.01087456 -3.73387197] [ 0.00433929 0.01082765 0.99993196 -0.89750442] [ 0. 0. 0. 1. ]] SLAMing on 108.679072329 meters Centerline goodness : 0.761068 Centerline is valid? [False, False] Translation: X:-2.66, Y:-3.74, Z:-0.90 [[ 9.99959638e-01 -8.83941278e-03 -1.60872071e-03 -2.66369649e+00] [ 8.81598476e-03 9.99862710e-01 -1.40299639e-02 -3.73534789e+00] [ 1.73251649e-03 1.40152152e-02 9.99900281e-01 -8.98755200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.709072329 meters Centerline goodness : 0.761178 Centerline is valid? [False, False] Translation: X:-2.66, Y:-3.74, Z:-0.90 [[ 9.99975665e-01 -6.31125653e-03 -2.97270254e-03 -2.65892567e+00] [ 6.26933274e-03 9.99883636e-01 -1.39071927e-02 -3.73977559e+00] [ 3.06012849e-03 1.38882174e-02 9.99898871e-01 -9.00751573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.739072329 meters Centerline goodness : 0.760449 Centerline is valid? [False, False] Translation: X:-2.66, Y:-3.74, Z:-0.90 [[ 9.99991334e-01 -2.09531196e-03 -3.59751929e-03 -2.65759945e+00] [ 2.06410956e-03 9.99960412e-01 -8.65522648e-03 -3.74434974e+00] [ 3.61551227e-03 8.64772580e-03 9.99956071e-01 -8.99974132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.769072329 meters Centerline goodness : 0.759489 Centerline is valid? [False, False] Translation: X:-2.66, Y:-3.75, Z:-0.90 [[ 9.99988154e-01 2.28370646e-03 -4.29843459e-03 -2.65575335e+00] [-2.29777502e-03 9.99992011e-01 -3.27086192e-03 -3.75125964e+00] [ 4.29093056e-03 3.28070001e-03 9.99985412e-01 -8.99807586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.799072329 meters Centerline goodness : 0.759320 Centerline is valid? [False, False] Translation: X:-2.66, Y:-3.75, Z:-0.90 [[ 9.99987678e-01 2.64871511e-03 -4.19870855e-03 -2.65577738e+00] [-2.66125693e-03 9.99992006e-01 -2.98429903e-03 -3.75290778e+00] [ 4.19077042e-03 2.99543610e-03 9.99986732e-01 -9.00361949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.829072329 meters Centerline goodness : 0.758150 Centerline is valid? [False, False] Translation: X:-2.65, Y:-3.76, Z:-0.90 [[ 9.99966407e-01 6.50640625e-03 -4.98506132e-03 -2.65347719e+00] [-6.49851010e-03 9.99977607e-01 1.59852553e-03 -3.75695521e+00] [ 4.99535034e-03 -1.56607636e-03 9.99986297e-01 -9.00478870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.85907232899999 meters Centerline goodness : 0.759305 Centerline is valid? [False, False] Translation: X:-2.65, Y:-3.76, Z:-0.90 [[ 0.9999288 0.01047729 -0.00571096 -2.65138276] [-0.01044186 0.99992627 0.00619881 -3.76077156] [ 0.00577549 -0.00613873 0.99996448 -0.90050746] [ 0. 0. 0. 1. ]] SLAMing on 108.88907232899999 meters Centerline goodness : 0.760351 Centerline is valid? [False, False] Translation: X:-2.65, Y:-3.76, Z:-0.90 [[ 0.99991537 0.01193091 -0.0051878 -2.65345575] [-0.01189428 0.99990451 0.00703502 -3.76306407] [ 0.00527123 -0.00697272 0.9999618 -0.90040044] [ 0. 0. 0. 1. ]] SLAMing on 108.91907232899999 meters Centerline goodness : 0.760943 Centerline is valid? [False, False] Translation: X:-2.66, Y:-3.76, Z:-0.90 [[ 9.99941530e-01 9.62834838e-03 -4.92249514e-03 -2.65557610e+00] [-9.61241417e-03 9.99948517e-01 3.25049536e-03 -3.76194739e+00] [ 4.95353861e-03 -3.20298824e-03 9.99982602e-01 -9.00623841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.94907232899999 meters Centerline goodness : 0.760741 Centerline is valid? [False, False] Translation: X:-2.66, Y:-3.76, Z:-0.90 [[ 0.99993489 0.01046418 -0.00455143 -2.65728947] [-0.01044609 0.99993752 0.0039801 -3.76405825] [ 0.00459279 -0.0039323 0.99998172 -0.89974291] [ 0. 0. 0. 1. ]] SLAMing on 108.97907232899999 meters Centerline goodness : 0.762308 Centerline is valid? [False, False] Translation: X:-2.66, Y:-3.77, Z:-0.90 [[ 0.99985797 0.01630075 -0.00427996 -2.66003125] [-0.01625331 0.99980854 0.01089522 -3.77109818] [ 0.00445674 -0.01082411 0.99993149 -0.89580138] [ 0. 0. 0. 1. ]] SLAMing on 109.00907232899999 meters Centerline goodness : 0.760687 Centerline is valid? [False, False] Translation: X:-2.66, Y:-3.77, Z:-0.90 [[ 0.9998507 0.01682544 -0.00393468 -2.66091666] [-0.01678114 0.99979831 0.01103289 -3.77145129] [ 0.00411951 -0.01096521 0.99993139 -0.89620189] [ 0. 0. 0. 1. ]] SLAMing on 109.03907232899999 meters Centerline goodness : 0.760416 Centerline is valid? [False, False] Translation: X:-2.66, Y:-3.77, Z:-0.90 [[ 9.99831459e-01 1.80581244e-02 -3.31015044e-03 -2.66252498e+00] [-1.80191668e-02 9.99772151e-01 1.14436112e-02 -3.77327750e+00] [ 3.51604638e-03 -1.13820364e-02 9.99929041e-01 -8.97319289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.069072329 meters Centerline goodness : 0.762222 Centerline is valid? [False, False] Translation: X:-2.66, Y:-3.77, Z:-0.90 [[ 9.99874328e-01 1.55500483e-02 -3.08615948e-03 -2.66376117e+00] [-1.55276606e-02 9.99853872e-01 7.15023498e-03 -3.77106229e+00] [ 3.19689501e-03 -7.10141556e-03 9.99969674e-01 -8.99044477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.099072329 meters Centerline goodness : 0.762395 Centerline is valid? [False, False] Translation: X:-2.66, Y:-3.77, Z:-0.90 [[ 9.99865348e-01 1.61964880e-02 -2.63824435e-03 -2.66489933e+00] [-1.61770015e-02 9.99842879e-01 7.24721939e-03 -3.77156810e+00] [ 2.75520933e-03 -7.20356465e-03 9.99970258e-01 -8.99635077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.129072329 meters Centerline goodness : 0.763400 Centerline is valid? [False, False] Translation: X:-2.67, Y:-3.77, Z:-0.90 [[ 9.99855548e-01 1.68496543e-02 -2.23003115e-03 -2.66603570e+00] [-1.68330143e-02 9.99831802e-01 7.28128143e-03 -3.77171821e+00] [ 2.35234314e-03 -7.24269148e-03 9.99971005e-01 -9.00133258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.159072329 meters Centerline goodness : 0.764597 Centerline is valid? [False, False] Translation: X:-2.67, Y:-3.77, Z:-0.90 [[ 9.99828191e-01 1.84814949e-02 -1.42230745e-03 -2.66898045e+00] [-1.84699682e-02 9.99799530e-01 7.73040046e-03 -3.77272709e+00] [ 1.56489168e-03 -7.70280234e-03 9.99969108e-01 -9.00434828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.189072329 meters Centerline goodness : 0.763383 Centerline is valid? [False, False] Translation: X:-2.67, Y:-3.77, Z:-0.90 [[ 9.99822792e-01 1.87843945e-02 -1.23776325e-03 -2.66925081e+00] [-1.87742852e-02 9.99793886e-01 7.72731840e-03 -3.77327329e+00] [ 1.38266113e-03 -7.70271094e-03 9.99969378e-01 -9.01088743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.219072329 meters Centerline goodness : 0.763716 Centerline is valid? [False, False] Translation: X:-2.67, Y:-3.77, Z:-0.90 [[ 9.99871245e-01 1.60278667e-02 -7.75476797e-04 -2.67110812e+00] [-1.60251497e-02 9.99865837e-01 3.39147370e-03 -3.77147716e+00] [ 8.29730845e-04 -3.37860990e-03 9.99993948e-01 -9.02394783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.24907232899999 meters Centerline goodness : 0.767549 Centerline is valid? [False, False] Translation: X:-2.67, Y:-3.77, Z:-0.90 [[ 9.99853001e-01 1.71447842e-02 -1.79485046e-04 -2.67314170e+00] [-1.71439344e-02 9.99845110e-01 3.98007590e-03 -3.77346848e+00] [ 2.47694788e-04 -3.97641376e-03 9.99992063e-01 -9.02417008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.27907232899999 meters Centerline goodness : 0.766693 Centerline is valid? [False, False] Translation: X:-2.67, Y:-3.77, Z:-0.90 [[ 9.99848707e-01 1.73943319e-02 8.71704492e-06 -2.67341408e+00] [-1.73942373e-02 9.99841350e-01 3.83594739e-03 -3.77316394e+00] [ 5.80080800e-05 -3.83551866e-03 9.99992643e-01 -9.03130689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.30907232899999 meters Centerline goodness : 0.764935 Centerline is valid? [False, False] Translation: X:-2.67, Y:-3.77, Z:-0.90 [[ 9.99846416e-01 1.75253758e-02 7.47170105e-05 -2.67355319e+00] [-1.75255348e-02 9.99838123e-01 4.07238729e-03 -3.77420383e+00] [-3.33479775e-06 -4.07307129e-03 9.99991705e-01 -9.03087348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.33907232899999 meters Centerline goodness : 0.766149 Centerline is valid? [False, False] Translation: X:-2.67, Y:-3.78, Z:-0.90 [[ 9.99916389e-01 1.29281499e-02 -2.80705833e-04 -2.67207539e+00] [-1.29281525e-02 9.99916428e-01 -7.38177576e-06 -3.77580448e+00] [ 2.80586941e-04 1.10101664e-05 9.99999961e-01 -9.03694796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.36907232899999 meters Centerline goodness : 0.765165 Centerline is valid? [False, False] Translation: X:-2.67, Y:-3.77, Z:-0.91 [[ 9.99960360e-01 8.90342905e-03 8.46649287e-05 -2.67251969e+00] [-8.90292911e-03 9.99949184e-01 -4.72939446e-03 -3.77424254e+00] [-1.26768454e-04 4.72845323e-03 9.99988813e-01 -9.05157757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.39907232899999 meters Centerline goodness : 0.765422 Centerline is valid? [False, False] Translation: X:-2.67, Y:-3.78, Z:-0.91 [[ 9.99965501e-01 8.28631953e-03 -5.77104326e-04 -2.66974766e+00] [-8.28893648e-03 9.99954646e-01 -4.69031550e-03 -3.77612901e+00] [ 5.38212699e-04 4.69493728e-03 9.99988834e-01 -9.06178898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.429072329 meters Centerline goodness : 0.763861 Centerline is valid? [False, False] Translation: X:-2.67, Y:-3.78, Z:-0.91 [[ 9.99968607e-01 7.88561590e-03 -7.75529911e-04 -2.66834626e+00] [-7.88940597e-03 9.99956318e-01 -5.01188319e-03 -3.77604149e+00] [ 7.35974249e-04 5.01784433e-03 9.99987140e-01 -9.07329206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.459072329 meters Centerline goodness : 0.765808 Centerline is valid? [False, False] Translation: X:-2.67, Y:-3.78, Z:-0.91 [[ 9.99969481e-01 7.77206080e-03 -7.95543629e-04 -2.66804097e+00] [-7.77598289e-03 9.99957006e-01 -5.05180460e-03 -3.77586631e+00] [ 7.56246492e-04 5.05783655e-03 9.99986923e-01 -9.07519159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.489072329 meters Centerline goodness : 0.764427 Centerline is valid? [False, False] Translation: X:-2.67, Y:-3.78, Z:-0.91 [[ 9.99965889e-01 8.19782144e-03 -1.00865263e-03 -2.66837159e+00] [-8.20368014e-03 9.99948657e-01 -5.94829727e-03 -3.77542574e+00] [ 9.59837769e-04 5.95636903e-03 9.99981800e-01 -9.05897726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.519072329 meters Centerline goodness : 0.762928 Centerline is valid? [False, False] Translation: X:-2.67, Y:-3.77, Z:-0.91 [[ 9.99962834e-01 8.38842334e-03 -1.99137412e-03 -2.66607176e+00] [-8.40423918e-03 9.99932109e-01 -8.07130166e-03 -3.77424398e+00] [ 1.92353343e-03 8.08773767e-03 9.99965444e-01 -9.05835207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.549072329 meters Centerline goodness : 0.761203 Centerline is valid? [False, False] Translation: X:-2.67, Y:-3.77, Z:-0.91 [[ 9.99961480e-01 8.53963527e-03 -2.02785177e-03 -2.66644217e+00] [-8.55547925e-03 9.99931898e-01 -7.93746225e-03 -3.77398741e+00] [ 1.95993064e-03 7.95450575e-03 9.99966442e-01 -9.05138663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.579072329 meters Centerline goodness : 0.761740 Centerline is valid? [False, False] Translation: X:-2.67, Y:-3.77, Z:-0.91 [[ 9.99962359e-01 8.40620686e-03 -2.14855344e-03 -2.66591817e+00] [-8.42365314e-03 9.99930535e-01 -8.24421770e-03 -3.77300649e+00] [ 2.07910159e-03 8.26200605e-03 9.99963708e-01 -9.05504560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.60907232899999 meters Centerline goodness : 0.749993 Centerline is valid? [False, False] Translation: X:-2.67, Y:-3.77, Z:-0.91 [[ 9.99963249e-01 8.27802459e-03 -2.23062197e-03 -2.66507215e+00] [-8.29795773e-03 9.99924344e-01 -9.08018706e-03 -3.77008654e+00] [ 2.15528720e-03 9.09836296e-03 9.99956286e-01 -9.06972922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.63907232899999 meters Centerline goodness : 0.740921 Centerline is valid? [False, False] Translation: X:-2.67, Y:-3.77, Z:-0.91 [[ 9.99962433e-01 8.41578739e-03 -2.07557818e-03 -2.66552635e+00] [-8.43477530e-03 9.99921032e-01 -9.31577246e-03 -3.76832852e+00] [ 1.99701472e-03 9.33292952e-03 9.99954453e-01 -9.07056270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.66907232899999 meters Centerline goodness : 0.720717 Centerline is valid? [False, False] Translation: X:-2.67, Y:-3.77, Z:-0.91 [[ 9.99917036e-01 1.26270692e-02 -2.54515539e-03 -2.66539963e+00] [-1.26394735e-02 9.99908024e-01 -4.91798663e-03 -3.76740661e+00] [ 2.48282154e-03 4.94974804e-03 9.99984668e-01 -9.05078742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.69907232899999 meters Centerline goodness : 0.710735 Centerline is valid? [False, False] Translation: X:-2.67, Y:-3.76, Z:-0.91 [[ 9.99918532e-01 1.25421047e-02 -2.37151873e-03 -2.66558521e+00] [-1.25555319e-02 9.99904733e-01 -5.73435193e-03 -3.76396429e+00] [ 2.29937196e-03 5.76366045e-03 9.99980746e-01 -9.05887151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.72907232899999 meters Centerline goodness : 0.710735 Centerline is valid? [False, False] Translation: X:-2.67, Y:-3.76, Z:-0.91 [[ 9.99918532e-01 1.25421047e-02 -2.37151873e-03 -2.66558521e+00] [-1.25555319e-02 9.99904733e-01 -5.73435193e-03 -3.76396429e+00] [ 2.29937196e-03 5.76366045e-03 9.99980746e-01 -9.05887151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.75907232899999 meters Centerline goodness : 0.702453 Centerline is valid? [False, False] Translation: X:-2.67, Y:-3.76, Z:-0.91 [[ 9.99917142e-01 1.27221207e-02 -1.96393335e-03 -2.66653339e+00] [-1.27343289e-02 9.99898853e-01 -6.33416204e-03 -3.76050907e+00] [ 1.88315073e-03 6.35864658e-03 9.99978010e-01 -9.06480713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.78907232899999 meters Centerline goodness : 0.752337 Centerline is valid? [False, False] Translation: X:-2.67, Y:-3.76, Z:-0.91 [[ 9.99857734e-01 1.67373761e-02 -2.09097627e-03 -2.66638135e+00] [-1.67439602e-02 9.99854779e-01 -3.17201248e-03 -3.75589014e+00] [ 2.03758145e-03 3.20657243e-03 9.99992783e-01 -9.06506588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.819072329 meters Centerline goodness : 0.750856 Centerline is valid? [False, False] Translation: X:-2.67, Y:-3.75, Z:-0.91 [[ 9.99854000e-01 1.69808500e-02 -1.90499288e-03 -2.66730737e+00] [-1.69884239e-02 9.99847554e-01 -4.03273394e-03 -3.75169590e+00] [ 1.83622322e-03 4.06450799e-03 9.99990054e-01 -9.06788946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.849072329 meters Centerline goodness : 0.751688 Centerline is valid? [False, False] Translation: X:-2.67, Y:-3.75, Z:-0.91 [[ 9.99848925e-01 1.73081187e-02 -1.59883051e-03 -2.66867992e+00] [-1.73154850e-02 9.99838961e-01 -4.71448625e-03 -3.74774409e+00] [ 1.51697415e-03 4.74145853e-03 9.99987609e-01 -9.06757645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.879072329 meters Centerline goodness : 0.747153 Centerline is valid? [False, False] Translation: X:-2.67, Y:-3.74, Z:-0.91 [[ 9.99840889e-01 1.77960371e-02 -1.22344007e-03 -2.67076710e+00] [-1.78020526e-02 9.99828546e-01 -5.09567072e-03 -3.74364211e+00] [ 1.13254756e-03 5.11663969e-03 9.99986269e-01 -9.05800947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.909072329 meters Centerline goodness : 0.712670 Centerline is valid? [False, False] Translation: X:-2.67, Y:-3.74, Z:-0.90 [[ 9.99757820e-01 2.19665081e-02 -1.33218449e-03 -2.67190411e+00] [-2.19689226e-02 9.99756987e-01 -1.82569661e-03 -3.73787581e+00] [ 1.29175657e-03 1.85452112e-03 9.99997446e-01 -9.04067861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.939072329 meters Centerline goodness : 0.702666 Centerline is valid? [False, False] Translation: X:-2.67, Y:-3.73, Z:-0.91 [[ 9.99766787e-01 2.15636958e-02 -1.17453238e-03 -2.67163155e+00] [-2.15674086e-02 9.99762127e-01 -3.24585819e-03 -3.73209296e+00] [ 1.10426030e-03 3.27043283e-03 9.99994042e-01 -9.05490642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.969072329 meters Centerline goodness : 0.700086 Centerline is valid? [False, False] Translation: X:-2.67, Y:-3.72, Z:-0.91 [[ 9.99709550e-01 2.40079276e-02 -2.10609000e-03 -2.66763509e+00] [-2.40110973e-02 9.99710577e-01 -1.49284930e-03 -3.72471486e+00] [ 2.06964023e-03 1.54298523e-03 9.99996668e-01 -9.07447288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.99907232899999 meters Centerline goodness : 0.691923 Centerline is valid? [False, False] Translation: X:-2.67, Y:-3.72, Z:-0.91 [[ 9.99726414e-01 2.32751284e-02 -2.31640770e-03 -2.66643960e+00] [-2.32813806e-02 9.99725280e-01 -2.70971926e-03 -3.72064528e+00] [ 2.25270227e-03 2.76290709e-03 9.99993646e-01 -9.08406664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.02907232899999 meters Centerline goodness : 0.694707 Centerline is valid? [False, False] Translation: X:-2.67, Y:-3.72, Z:-0.91 [[ 9.99735983e-01 2.28435211e-02 -2.47743090e-03 -2.66594156e+00] [-2.28517303e-02 9.99733294e-01 -3.33751458e-03 -3.71805325e+00] [ 2.40052957e-03 3.39324701e-03 9.99991362e-01 -9.08419120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.05907232899999 meters Centerline goodness : 0.190812 Centerline is valid? [False, False] Translation: X:-2.66, Y:-3.71, Z:-0.91 [[ 9.99767092e-01 2.14063573e-02 -2.74390270e-03 -2.66381810e+00] [-2.14198139e-02 9.99758204e-01 -4.97234712e-03 -3.71112818e+00] [ 2.63679939e-03 5.02996291e-03 9.99983873e-01 -9.09537633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.08907232899999 meters Centerline goodness : 0.191985 Centerline is valid? [False, False] Translation: X:-2.66, Y:-3.71, Z:-0.91 [[ 9.99782824e-01 2.06824545e-02 -2.55755137e-03 -2.66317723e+00] [-2.06974153e-02 9.99767970e-01 -5.96848629e-03 -3.70674680e+00] [ 2.43351500e-03 6.02012478e-03 9.99978918e-01 -9.10642038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.11907232899999 meters Centerline goodness : 0.175451 Centerline is valid? [False, False] Translation: X:-2.66, Y:-3.70, Z:-0.91 [[ 9.99813942e-01 1.90979248e-02 -2.71126440e-03 -2.66127079e+00] [-1.91182914e-02 9.99787609e-01 -7.69594800e-03 -3.69880498e+00] [ 2.56371191e-03 7.74635084e-03 9.99966710e-01 -9.11498525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.14907232899999 meters Centerline goodness : 0.191392 Centerline is valid? [False, False] Translation: X:-2.66, Y:-3.70, Z:-0.91 [[ 9.99825067e-01 1.84455866e-02 -3.09759211e-03 -2.66031889e+00] [-1.84707876e-02 9.99794830e-01 -8.31430340e-03 -3.69616593e+00] [ 2.94359437e-03 8.37006393e-03 9.99960638e-01 -9.11027353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.179072329 meters Centerline goodness : 0.183627 Centerline is valid? [False, False] Translation: X:-2.66, Y:-3.69, Z:-0.91 [[ 0.99983624 0.01767414 -0.00388739 -2.65851471] [-0.01770762 0.99980488 -0.00875481 -3.69447697] [ 0.0037319 0.00882221 0.99995412 -0.91009883] [ 0. 0. 0. 1. ]] SLAMing on 110.209072329 meters Centerline goodness : 0.173822 Centerline is valid? [False, False] Translation: X:-2.66, Y:-3.69, Z:-0.91 [[ 0.99991654 0.01215082 -0.00438952 -2.65695659] [-0.01221244 0.99982323 -0.01429551 -3.6888859 ] [ 0.00421504 0.01434792 0.99988818 -0.90979622] [ 0. 0. 0. 1. ]] SLAMing on 110.239072329 meters Centerline goodness : 0.171543 Centerline is valid? [False, False] Translation: X:-2.65, Y:-3.69, Z:-0.91 [[ 0.99992596 0.01116361 -0.00484232 -2.65486716] [-0.01123479 0.99982541 -0.0149307 -3.68707809] [ 0.0046748 0.014984 0.99987681 -0.9103567 ] [ 0. 0. 0. 1. ]] SLAMing on 110.269072329 meters Centerline goodness : 0.130319 Centerline is valid? [False, False] Translation: X:-2.65, Y:-3.68, Z:-0.91 [[ 9.99999888e-01 3.33069589e-04 -3.37232412e-04 -2.65016885e+00] [-3.35754803e-04 9.99967991e-01 -7.99400486e-03 -3.67658595e+00] [ 3.34559058e-04 7.99411719e-03 9.99967991e-01 -9.12472563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.299072329 meters Centerline goodness : 0.132313 Centerline is valid? [False, False] Translation: X:-2.61, Y:-3.68, Z:-0.90 [[ 9.99990447e-01 9.19069962e-04 -4.27332206e-03 -2.60832768e+00] [-9.05305769e-04 9.99994400e-01 3.22177802e-03 -3.67581677e+00] [ 4.27625917e-03 -3.21787858e-03 9.99985679e-01 -9.04034206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.329072329 meters Centerline goodness : 0.112426 Centerline is valid? [False, False] Translation: X:-2.61, Y:-3.67, Z:-0.91 [[ 9.99988913e-01 -3.09715702e-04 -4.69875187e-03 -2.60564732e+00] [ 3.19912451e-04 9.99997595e-01 2.16950098e-03 -3.67272746e+00] [ 4.69806864e-03 -2.17098012e-03 9.99986607e-01 -9.05451961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.35907232899999 meters Centerline goodness : 0.108639 Centerline is valid? [False, False] Translation: X:-2.60, Y:-3.67, Z:-0.91 [[ 9.99984382e-01 -1.39734867e-03 -5.41141681e-03 -2.60302927e+00] [ 1.40408829e-03 9.99998243e-01 1.24184577e-03 -3.67007865e+00] [ 5.40967201e-03 -1.24942448e-03 9.99984587e-01 -9.05813079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.38907232899999 meters Centerline goodness : 0.174063 Centerline is valid? [False, False] Translation: X:-2.58, Y:-3.65, Z:-0.91 [[ 9.99879152e-01 -1.39843076e-02 -6.79115315e-03 -2.57801632e+00] [ 1.39719855e-02 9.99900660e-01 -1.85850815e-03 -3.65398425e+00] [ 6.81646846e-03 1.76339767e-03 9.99975213e-01 -9.05832308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.41907232899999 meters Centerline goodness : 0.521287 Centerline is valid? [False, False] Translation: X:-2.58, Y:-3.65, Z:-0.91 [[ 9.99854931e-01 -1.53599762e-02 -7.36129294e-03 -2.57551387e+00] [ 1.53374578e-02 9.99877551e-01 -3.10579036e-03 -3.64962876e+00] [ 7.40809642e-03 2.99243629e-03 9.99968082e-01 -9.06318144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.44907232899999 meters Centerline goodness : 0.511177 Centerline is valid? [False, False] Translation: X:-2.57, Y:-3.65, Z:-0.91 [[ 9.99857320e-01 -1.47762748e-02 -8.18538509e-03 -2.57025120e+00] [ 1.47599050e-02 9.99888951e-01 -2.05670171e-03 -3.64653092e+00] [ 8.21486650e-03 1.93559275e-03 9.99964384e-01 -9.08949051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.47907232899999 meters Centerline goodness : 0.513713 Centerline is valid? [False, False] Translation: X:-2.53, Y:-3.63, Z:-0.91 [[ 9.99791180e-01 -1.61282101e-02 -1.25490274e-02 -2.52757856e+00] [ 1.61372741e-02 9.99869593e-01 6.21361822e-04 -3.63440506e+00] [ 1.25373695e-02 -8.23739165e-04 9.99921065e-01 -9.06766801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.50907232899999 meters Centerline goodness : 0.513071 Centerline is valid? [False, False] Translation: X:-2.50, Y:-3.63, Z:-0.91 [[ 9.99844570e-01 -1.06470678e-02 -1.40526235e-02 -2.49884194e+00] [ 1.06481527e-02 9.99943307e-01 2.38240434e-06 -3.63314916e+00] [ 1.40518015e-02 -1.52016515e-04 9.99901257e-01 -9.08250602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.53907232899999 meters Centerline goodness : 0.488457 Centerline is valid? [False, False] Translation: X:-2.48, Y:-3.62, Z:-0.91 [[ 9.99671704e-01 -1.99169347e-02 -1.61183056e-02 -2.47900986e+00] [ 1.98900362e-02 9.99800504e-01 -1.82742333e-03 -3.61527783e+00] [ 1.61514867e-02 1.50622971e-03 9.99868422e-01 -9.07227091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.569072329 meters Centerline goodness : 0.461390 Centerline is valid? [False, False] Translation: X:-2.48, Y:-3.61, Z:-0.91 [[ 9.99613610e-01 -2.17198806e-02 -1.73458425e-02 -2.47536614e+00] [ 2.16587664e-02 9.99758562e-01 -3.70341699e-03 -3.60859212e+00] [ 1.74220923e-02 3.32629647e-03 9.99842691e-01 -9.06767700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.599072329 meters Centerline goodness : 0.462920 Centerline is valid? [False, False] Translation: X:-2.47, Y:-3.60, Z:-0.91 [[ 0.99953889 -0.0237816 -0.01887969 -2.47066536] [ 0.02367642 0.99970299 -0.00577542 -3.60109856] [ 0.01901143 0.00532575 0.99980508 -0.90640319] [ 0. 0. 0. 1. ]] SLAMing on 110.629072329 meters Centerline goodness : 0.211812 Centerline is valid? [False, False] Translation: X:-2.44, Y:-3.58, Z:-0.90 [[ 9.99274783e-01 -3.10257020e-02 -2.20751953e-02 -2.44400383e+00] [ 3.09408260e-02 9.99512494e-01 -4.17616067e-03 -3.58177966e+00] [ 2.21940018e-02 3.49010727e-03 9.99747591e-01 -9.04946445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.659072329 meters Centerline goodness : 0.194069 Centerline is valid? [False, False] Translation: X:-2.42, Y:-3.58, Z:-0.91 [[ 0.99937466 -0.02499339 -0.02501256 -2.41535037] [ 0.02487603 0.99967808 -0.00499203 -3.58020114] [ 0.02512927 0.0043667 0.99967467 -0.9055731 ] [ 0. 0. 0. 1. ]] SLAMing on 110.689072329 meters Centerline goodness : 0.418094 Centerline is valid? [False, False] Translation: X:-2.39, Y:-3.58, Z:-0.91 [[ 0.99940484 -0.01987852 -0.02819224 -2.38600627] [ 0.01969349 0.99978276 -0.00682592 -3.57940034] [ 0.0283218 0.00626666 0.99957921 -0.90712735] [ 0. 0. 0. 1. ]] SLAMing on 110.719072329 meters Centerline goodness : 0.393312 Centerline is valid? [False, False] Translation: X:-2.34, Y:-3.56, Z:-0.91 [[ 0.99901046 -0.02675337 -0.03552967 -2.33941748] [ 0.02639055 0.99959506 -0.01064178 -3.56369366] [ 0.03579998 0.0096936 0.99931196 -0.90535278] [ 0. 0. 0. 1. ]] SLAMing on 110.74907232899999 meters Centerline goodness : 0.177517 Centerline is valid? [False, False] Translation: X:-2.33, Y:-3.56, Z:-0.91 [[ 0.99882028 -0.02982779 -0.03831907 -2.32949483] [ 0.02934266 0.99948276 -0.01316111 -3.55602794] [ 0.03869182 0.0120212 0.99917888 -0.90621329] [ 0. 0. 0. 1. ]] SLAMing on 110.77907232899999 meters Centerline goodness : 0.376883 Centerline is valid? [False, False] Translation: X:-2.30, Y:-3.56, Z:-0.91 [[ 0.99885681 -0.02503061 -0.04072521 -2.29973705] [ 0.02447427 0.99960099 -0.01410241 -3.55666535] [ 0.04106195 0.01308957 0.99907086 -0.90607926] [ 0. 0. 0. 1. ]] SLAMing on 110.80907232899999 meters Centerline goodness : 0.367367 Centerline is valid? [False, False] Translation: X:-2.28, Y:-3.55, Z:-0.91 [[ 0.99861104 -0.03146052 -0.0422637 -2.27932303] [ 0.03097993 0.99944823 -0.01197858 -3.54711968] [ 0.04261723 0.01065261 0.99903468 -0.90514184] [ 0. 0. 0. 1. ]] SLAMing on 110.83907232899999 meters Centerline goodness : 0.178477 Centerline is valid? [False, False] Translation: X:-2.25, Y:-3.55, Z:-0.90 [[ 0.99868977 -0.02661217 -0.04370971 -2.25062128] [ 0.02606839 0.9995761 -0.01296402 -3.54798222] [ 0.04403619 0.01180759 0.99896016 -0.90446694] [ 0. 0. 0. 1. ]] SLAMing on 110.86907232899999 meters Centerline goodness : 0.183063 Centerline is valid? [False, False] Translation: X:-2.21, Y:-3.53, Z:-0.90 [[ 0.99826187 -0.0331445 -0.04873073 -2.20652933] [ 0.03242176 0.99935334 -0.01554788 -3.5334337 ] [ 0.04921454 0.01394092 0.99869093 -0.89872931] [ 0. 0. 0. 1. ]] SLAMing on 110.89907232899999 meters Centerline goodness : 0.192793 Centerline is valid? [False, False] Translation: X:-2.18, Y:-3.54, Z:-0.90 [[ 0.99828271 -0.02867433 -0.05108234 -2.17786941] [ 0.02783604 0.99946713 -0.01704712 -3.53537677] [ 0.05154393 0.01559591 0.99854894 -0.89772452] [ 0. 0. 0. 1. ]] SLAMing on 110.929072329 meters Centerline goodness : 0.201132 Centerline is valid? [False, False] Translation: X:-2.16, Y:-3.53, Z:-0.90 [[ 0.99799114 -0.03515157 -0.05270731 -2.15844263] [ 0.03440014 0.99929411 -0.01509695 -3.52583982] [ 0.05320079 0.01325348 0.99849588 -0.89643221] [ 0. 0. 0. 1. ]] SLAMing on 110.959072329 meters Centerline goodness : 0.202223 Centerline is valid? [False, False] Translation: X:-2.11, Y:-3.51, Z:-0.89 [[ 0.99748509 -0.03995809 -0.05853931 -2.1143921 ] [ 0.03910732 0.99911311 -0.01560806 -3.51224775] [ 0.05911106 0.01327949 0.99816308 -0.89191107] [ 0. 0. 0. 1. ]] SLAMing on 110.989072329 meters Centerline goodness : 0.201394 Centerline is valid? [False, False] Translation: X:-2.09, Y:-3.51, Z:-0.89 [[ 0.99761056 -0.03474576 -0.05971521 -2.0866578 ] [ 0.03386011 0.999302 -0.01577994 -3.51485799] [ 0.06022181 0.01372027 0.99809072 -0.89018563] [ 0. 0. 0. 1. ]] SLAMing on 111.019072329 meters Centerline goodness : 0.198809 Centerline is valid? [False, False] Translation: X:-2.04, Y:-3.50, Z:-0.88 [[ 0.99719421 -0.04070952 -0.06282069 -2.044066 ] [ 0.03958558 0.99903488 -0.01903384 -3.50231167] [ 0.06353492 0.01649364 0.99784331 -0.8848163 ] [ 0. 0. 0. 1. ]] SLAMing on 111.049072329 meters Centerline goodness : 0.197220 Centerline is valid? [False, False] Translation: X:-2.02, Y:-3.51, Z:-0.88 [[ 0.99721509 -0.03589102 -0.06537506 -2.01588999] [ 0.03464757 0.99919833 -0.0200561 -3.50583159] [ 0.06604249 0.01773516 0.99765919 -0.8829185 ] [ 0. 0. 0. 1. ]] SLAMing on 111.079072329 meters Centerline goodness : 0.205723 Centerline is valid? [False, False] Translation: X:-1.98, Y:-3.49, Z:-0.88 [[ 0.99669006 -0.04207031 -0.06956308 -1.98254814] [ 0.04096092 0.99901099 -0.01729891 -3.49261816] [ 0.07022205 0.01439229 0.99742755 -0.88408703] [ 0. 0. 0. 1. ]] SLAMing on 111.10907232899999 meters Centerline goodness : 0.202670 Centerline is valid? [False, False] Translation: X:-1.96, Y:-3.50, Z:-0.88 [[ 0.99668188 -0.0360546 -0.07297468 -1.95514831] [ 0.03485254 0.99923608 -0.01767949 -3.49580225] [ 0.07355636 0.01507747 0.99717708 -0.88447811] [ 0. 0. 0. 1. ]] SLAMing on 111.13907232899999 meters Centerline goodness : 0.193136 Centerline is valid? [False, False] Translation: X:-1.93, Y:-3.50, Z:-0.89 [[ 0.99665646 -0.03157352 -0.07535926 -1.92885416] [ 0.03009241 0.99933256 -0.0207095 -3.49737434] [ 0.07596283 0.01837251 0.99694137 -0.88574733] [ 0. 0. 0. 1. ]] SLAMing on 111.16907232899999 meters Centerline goodness : 0.216114 Centerline is valid? [False, False] Translation: X:-1.90, Y:-3.50, Z:-0.89 [[ 0.99670291 -0.02780621 -0.07622416 -1.90396147] [ 0.02595838 0.99934719 -0.02512672 -3.49779036] [ 0.07687308 0.02306522 0.99677406 -0.88590697] [ 0. 0. 0. 1. ]] SLAMing on 111.19907232899999 meters Centerline goodness : 0.268868 Centerline is valid? [False, False] Translation: X:-1.88, Y:-3.50, Z:-0.89 [[ 0.99680006 -0.02413169 -0.0762056 -1.88065605] [ 0.02190453 0.99931203 -0.02992765 -3.49828305] [ 0.07687537 0.02816264 0.99664289 -0.88521756] [ 0. 0. 0. 1. ]] SLAMing on 111.22907232899999 meters Centerline goodness : 0.260572 Centerline is valid? [False, False] Translation: X:-1.85, Y:-3.49, Z:-0.88 [[ 0.99701404 -0.01989171 -0.07461449 -1.85122257] [ 0.01744465 0.99929296 -0.03330564 -3.49022528] [ 0.07522424 0.03190457 0.99665612 -0.88472797] [ 0. 0. 0. 1. ]] SLAMing on 111.25907232899999 meters Centerline goodness : 0.189079 Centerline is valid? [False, False] Translation: X:-1.83, Y:-3.49, Z:-0.88 [[ 0.99707647 -0.01185858 -0.07548441 -1.82830443] [ 0.00930988 0.99937754 -0.03402735 -3.49155692] [ 0.07584094 0.03322511 0.99656623 -0.88415 ] [ 0. 0. 0. 1. ]] SLAMing on 111.28907232899999 meters Centerline goodness : 0.188077 Centerline is valid? [False, False] Translation: X:-1.80, Y:-3.48, Z:-0.88 [[ 9.97257339e-01 5.98128287e-04 -7.40097394e-02 -1.80122384e+00] [-2.88910022e-03 9.99519794e-01 -3.08518224e-02 -3.48470749e+00] [ 7.39557461e-02 3.09810279e-02 9.96780178e-01 -8.84418499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.319072329 meters Centerline goodness : 0.246658 Centerline is valid? [False, False] Translation: X:-1.78, Y:-3.48, Z:-0.88 [[ 0.99746423 0.00984031 -0.07048607 -1.78402744] [-0.0120933 0.99942716 -0.03160849 -3.48411306] [ 0.07013465 0.03238075 0.99701184 -0.88460713] [ 0. 0. 0. 1. ]] SLAMing on 111.349072329 meters Centerline goodness : 0.237628 Centerline is valid? [False, False] Translation: X:-1.78, Y:-3.47, Z:-0.88 [[ 0.99735821 0.01331915 -0.07140874 -1.77984693] [-0.01554845 0.99940603 -0.03075439 -3.47282734] [ 0.0709567 0.03178344 0.9969729 -0.88423965] [ 0. 0. 0. 1. ]] SLAMing on 111.379072329 meters Centerline goodness : 0.220880 Centerline is valid? [False, False] Translation: X:-1.77, Y:-3.46, Z:-0.89 [[ 0.99714606 0.03229048 -0.06824263 -1.76746116] [-0.03454338 0.99888772 -0.03209481 -3.45622742] [ 0.06713037 0.03436054 0.99715238 -0.8868552 ] [ 0. 0. 0. 1. ]] SLAMing on 111.409072329 meters Centerline goodness : 0.187105 Centerline is valid? [False, False] Translation: X:-1.77, Y:-3.44, Z:-0.89 [[ 0.99687057 0.03993365 -0.06822291 -1.7663945 ] [-0.04195856 0.99871251 -0.02850971 -3.44184689] [ 0.06699657 0.03128303 0.99726267 -0.88607316] [ 0. 0. 0. 1. ]] SLAMing on 111.439072329 meters Centerline goodness : 0.187691 Centerline is valid? [False, False] Translation: X:-1.77, Y:-3.43, Z:-0.89 [[ 0.99651543 0.04872612 -0.06769613 -1.76653811] [-0.05053929 0.99840071 -0.02533367 -3.42512509] [ 0.06635345 0.02866671 0.9973843 -0.88646281] [ 0. 0. 0. 1. ]] SLAMing on 111.469072329 meters Centerline goodness : 0.217576 Centerline is valid? [False, False] Translation: X:-1.75, Y:-3.41, Z:-0.89 [[ 0.9934838 0.08915851 -0.07099785 -1.74606957] [-0.09116815 0.99550691 -0.02558062 -3.41294123] [ 0.06839812 0.03188667 0.9971484 -0.88631895] [ 0. 0. 0. 1. ]] SLAMing on 111.49907232899999 meters Centerline goodness : 0.223458 Centerline is valid? [False, False] Translation: X:-1.75, Y:-3.39, Z:-0.89 [[ 0.99259915 0.10053859 -0.06810965 -1.75173812] [-0.10251896 0.99438531 -0.02622453 -3.38993475] [ 0.06509065 0.03301298 0.99733312 -0.88909619] [ 0. 0. 0. 1. ]] SLAMing on 111.52907232899999 meters Centerline goodness : 0.312196 Centerline is valid? [False, False] Translation: X:-1.73, Y:-3.37, Z:-0.89 [[ 0.98688979 0.1444295 -0.07203243 -1.73319825] [-0.14674488 0.98877992 -0.02793234 -3.3700057 ] [ 0.06718997 0.03813653 0.99701109 -0.88584448] [ 0. 0. 0. 1. ]] SLAMing on 111.55907232899999 meters Centerline goodness : 0.254814 Centerline is valid? [False, False] Translation: X:-1.74, Y:-3.34, Z:-0.89 [[ 0.98492835 0.1584679 -0.06931141 -1.73667266] [-0.16062747 0.98665267 -0.02674557 -3.34425138] [ 0.06414797 0.03747578 0.99723648 -0.88762209] [ 0. 0. 0. 1. ]] SLAMing on 111.58907232899999 meters Centerline goodness : 0.199646 Centerline is valid? [False, False] Translation: X:-1.72, Y:-3.32, Z:-0.89 [[ 0.97665639 0.20341409 -0.06902904 -1.72162362] [-0.20546762 0.97836944 -0.02400636 -3.31561908] [ 0.06265267 0.03762919 0.99732577 -0.88608615] [ 0. 0. 0. 1. ]] SLAMing on 111.61907232899999 meters Centerline goodness : 0.311267 Centerline is valid? [False, False] Translation: X:-1.72, Y:-3.30, Z:-0.89 [[ 0.97138417 0.22758955 -0.06793956 -1.71641819] [-0.22951867 0.973056 -0.02198168 -3.30276149] [ 0.06110619 0.03694606 0.99744725 -0.88616706] [ 0. 0. 0. 1. ]] SLAMing on 111.64907232899999 meters Centerline goodness : 0.311267 Centerline is valid? [False, False] Translation: X:-1.72, Y:-3.30, Z:-0.89 [[ 0.97138417 0.22758955 -0.06793956 -1.71641819] [-0.22951867 0.973056 -0.02198168 -3.30276149] [ 0.06110619 0.03694606 0.99744725 -0.88616706] [ 0. 0. 0. 1. ]] SLAMing on 111.679072329 meters Centerline goodness : 0.320394 Centerline is valid? [False, False] Translation: X:-1.71, Y:-3.29, Z:-0.89 [[ 0.96547337 0.25173578 -0.0670094 -1.71134912] [-0.25356957 0.96710423 -0.02029459 -3.28948329] [ 0.0596962 0.03658543 0.99754592 -0.88588015] [ 0. 0. 0. 1. ]] SLAMing on 111.709072329 meters Centerline goodness : 0.329937 Centerline is valid? [False, False] Translation: X:-1.71, Y:-3.28, Z:-0.89 [[ 0.95896997 0.27570324 -0.06606301 -1.70595241] [-0.27746623 0.96054732 -0.01900878 -3.27566151] [ 0.05821587 0.0365591 0.99763437 -0.88533771] [ 0. 0. 0. 1. ]] SLAMing on 111.739072329 meters Centerline goodness : 0.325656 Centerline is valid? [False, False] Translation: X:-1.69, Y:-3.25, Z:-0.88 [[ 0.94332208 0.32555554 -0.06447506 -1.68650108] [-0.32734804 0.94470821 -0.0192266 -3.24850944] [ 0.05465079 0.03924266 0.99773409 -0.88176816] [ 0. 0. 0. 1. ]] SLAMing on 111.769072329 meters Centerline goodness : 0.079267 Centerline is valid? [False, False] Translation: X:-1.68, Y:-3.23, Z:-0.88 [[ 0.93465445 0.34991991 -0.06306439 -1.67804735] [-0.35157783 0.93600263 -0.01709101 -3.2344478 ] [ 0.05304795 0.03814623 0.99786311 -0.88116582] [ 0. 0. 0. 1. ]] SLAMing on 111.799072329 meters Centerline goodness : 0.261995 Centerline is valid? [False, False] Translation: X:-1.67, Y:-3.22, Z:-0.88 [[ 0.92530664 0.37400349 -0.06268173 -1.66951632] [-0.37557021 0.92667294 -0.01497558 -3.21928557] [ 0.05248455 0.03739839 0.99792121 -0.88124561] [ 0. 0. 0. 1. ]] SLAMing on 111.829072329 meters Centerline goodness : 0.272631 Centerline is valid? [False, False] Translation: X:-1.65, Y:-3.19, Z:-0.88 [[ 0.90334544 0.42388872 -0.06546277 -1.64688655] [-0.42546068 0.90490243 -0.0116102 -3.18885248] [ 0.05431598 0.03833985 0.99778747 -0.88120186] [ 0. 0. 0. 1. ]] SLAMing on 111.85907232899999 meters Centerline goodness : 0.280649 Centerline is valid? [False, False] Translation: X:-1.64, Y:-3.17, Z:-0.88 [[ 0.89233704 0.446196 -0.06814495 -1.63897055] [-0.44786409 0.89403751 -0.01070889 -3.16747085] [ 0.05614588 0.04007561 0.99761796 -0.87975898] [ 0. 0. 0. 1. ]] SLAMing on 111.88907232899999 meters Centerline goodness : 0.289851 Centerline is valid? [False, False] Translation: X:-1.63, Y:-3.15, Z:-0.88 [[ 0.88095499 0.46786074 -0.07088471 -1.63079635] [-0.46967609 0.88277586 -0.01054285 -3.14604189] [ 0.05764272 0.04258063 0.9974288 -0.87801272] [ 0. 0. 0. 1. ]] SLAMing on 111.91907232899999 meters Centerline goodness : 0.303911 Centerline is valid? [False, False] Translation: X:-1.61, Y:-3.11, Z:-0.87 [[ 0.8550503 0.51313254 -0.07472598 -1.60642868] [-0.51534061 0.85689259 -0.012615 -3.11318857] [ 0.05755897 0.04929579 0.99712431 -0.87452996] [ 0. 0. 0. 1. ]] SLAMing on 111.94907232899999 meters Centerline goodness : 0.196008 Centerline is valid? [False, False] Translation: X:-1.60, Y:-3.09, Z:-0.87 [[ 0.84332747 0.53142123 -0.07993901 -1.59680989] [-0.53363821 0.8456772 -0.00776773 -3.09159024] [ 0.06347466 0.04920925 0.99676949 -0.86882741] [ 0. 0. 0. 1. ]] SLAMing on 111.97907232899999 meters Centerline goodness : 0.225354 Centerline is valid? [False, False] Translation: X:-1.59, Y:-3.07, Z:-0.86 [[ 8.31138525e-01 5.49663827e-01 -8.41333996e-02 -1.58725580e+00] [-5.51782634e-01 8.33984691e-01 -2.33661333e-03 -3.07095680e+00] [ 6.88816154e-02 4.83653982e-02 9.96451761e-01 -8.63755236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.00907232899999 meters Centerline goodness : 0.223917 Centerline is valid? [False, False] Translation: X:-1.57, Y:-3.04, Z:-0.86 [[ 8.06976541e-01 5.84739381e-01 -8.28777294e-02 -1.56510967e+00] [-5.86675862e-01 8.09820944e-01 1.21310246e-03 -3.03541624e+00] [ 6.78254698e-02 4.76434181e-02 9.96558985e-01 -8.59569359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.03907232899999 meters Centerline goodness : 0.221425 Centerline is valid? [False, False] Translation: X:-1.56, Y:-3.02, Z:-0.86 [[ 0.79578936 0.59917814 -0.0877773 -1.55756766] [-0.60117519 0.79910445 0.00452384 -3.01507562] [ 0.07285381 0.04916951 0.99612985 -0.85553629] [ 0. 0. 0. 1. ]] SLAMing on 112.069072329 meters Centerline goodness : 0.222305 Centerline is valid? [False, False] Translation: X:-1.55, Y:-2.99, Z:-0.85 [[ 0.78541752 0.6119533 -0.09291112 -1.55144062] [-0.61405131 0.78923155 0.00738553 -2.99376105] [ 0.07784799 0.05125147 0.99564701 -0.85171146] [ 0. 0. 0. 1. ]] SLAMing on 112.099072329 meters Centerline goodness : 0.220982 Centerline is valid? [False, False] Translation: X:-1.53, Y:-2.96, Z:-0.85 [[ 0.76598042 0.63575934 -0.09531032 -1.53151341] [-0.63796816 0.77000875 0.00911902 -2.95781103] [ 0.07918728 0.05381996 0.99540584 -0.85015561] [ 0. 0. 0. 1. ]] SLAMing on 112.129072329 meters Centerline goodness : 0.221598 Centerline is valid? [False, False] Translation: X:-1.53, Y:-2.93, Z:-0.85 [[ 0.75748055 0.64517561 -0.09985818 -1.52754246] [-0.64739032 0.76205219 0.01273712 -2.93250626] [ 0.08431483 0.0549991 0.99492015 -0.84768137] [ 0. 0. 0. 1. ]] SLAMing on 112.159072329 meters Centerline goodness : 0.223045 Centerline is valid? [False, False] Translation: X:-1.52, Y:-2.90, Z:-0.85 [[ 0.75360794 0.65060432 -0.0937502 -1.52451411] [-0.65277831 0.75748987 0.00946415 -2.90421496] [ 0.07717225 0.05406584 0.99555077 -0.85496224] [ 0. 0. 0. 1. ]] SLAMing on 112.189072329 meters Centerline goodness : 0.223653 Centerline is valid? [False, False] Translation: X:-1.51, Y:-2.87, Z:-0.85 [[ 0.73831391 0.66883077 -0.08693655 -1.50773276] [-0.67076617 0.74161479 0.00895828 -2.86822232] [ 0.070465 0.05170008 0.99617357 -0.85495197] [ 0. 0. 0. 1. ]] SLAMing on 112.219072329 meters Centerline goodness : 0.224566 Centerline is valid? [False, False] Translation: X:-1.50, Y:-2.85, Z:-0.86 [[ 0.73218512 0.67599625 -0.0832708 -1.50206544] [-0.67777954 0.73521146 0.00888783 -2.84992358] [ 0.06722979 0.04993171 0.99648732 -0.85661135] [ 0. 0. 0. 1. ]] SLAMing on 112.24907232899999 meters Centerline goodness : 0.227642 Centerline is valid? [False, False] Translation: X:-1.50, Y:-2.83, Z:-0.86 [[ 0.72582917 0.68323209 -0.07978674 -1.4961834 ] [-0.68484952 0.72862599 0.0092359 -2.83315824] [ 0.06444496 0.04793822 0.99676917 -0.858083 ] [ 0. 0. 0. 1. ]] SLAMing on 112.27907232899999 meters Centerline goodness : 0.233130 Centerline is valid? [False, False] Translation: X:-1.49, Y:-2.80, Z:-0.85 [[ 0.70888546 0.70061467 -0.08136637 -1.48515531] [-0.70208497 0.71196177 0.01367937 -2.80362666] [ 0.06751371 0.047429 0.99659038 -0.85454546] [ 0. 0. 0. 1. ]] SLAMing on 112.30907232899999 meters Centerline goodness : 0.237766 Centerline is valid? [False, False] Translation: X:-1.49, Y:-2.78, Z:-0.85 [[ 0.70358705 0.70539638 -0.08591399 -1.48711222] [-0.70689148 0.7071228 0.01678619 -2.77726472] [ 0.07259266 0.04892133 0.99616114 -0.85478773] [ 0. 0. 0. 1. ]] SLAMing on 112.33907232899999 meters Centerline goodness : 0.241607 Centerline is valid? [False, False] Translation: X:-1.49, Y:-2.75, Z:-0.86 [[ 0.69907062 0.70939801 -0.08974817 -1.49083977] [-0.71089652 0.70302409 0.01957723 -2.74936317] [ 0.07698317 0.05011579 0.99577206 -0.85561846] [ 0. 0. 0. 1. ]] SLAMing on 112.36907232899999 meters Centerline goodness : 0.255719 Centerline is valid? [False, False] Translation: X:-1.48, Y:-2.72, Z:-0.85 [[ 0.68505777 0.72293095 -0.08981477 -1.48357888] [-0.72409489 0.68925152 0.02487816 -2.7203319 ] [ 0.07989016 0.04799144 0.99564772 -0.85295091] [ 0. 0. 0. 1. ]] SLAMing on 112.39907232899999 meters Centerline goodness : 0.264701 Centerline is valid? [False, False] Translation: X:-1.49, Y:-2.69, Z:-0.85 [[ 0.68333538 0.72390749 -0.09492474 -1.49181771] [-0.72528448 0.68797733 0.02548755 -2.69056796] [ 0.0837567 0.0514309 0.99515812 -0.85368865] [ 0. 0. 0. 1. ]] SLAMing on 112.429072329 meters Centerline goodness : 0.282875 Centerline is valid? [False, False] Translation: X:-1.50, Y:-2.66, Z:-0.85 [[ 0.67333606 0.73229265 -0.10181366 -1.49510049] [-0.73434894 0.67839061 0.02275568 -2.65808209] [ 0.08573325 0.05944454 0.99454319 -0.85443479] [ 0. 0. 0. 1. ]] SLAMing on 112.459072329 meters Centerline goodness : 0.295134 Centerline is valid? [False, False] Translation: X:-1.51, Y:-2.63, Z:-0.86 [[ 0.67352068 0.73144491 -0.10657503 -1.50828762] [-0.73366265 0.679084 0.02416682 -2.62645428] [ 0.09005009 0.06191327 0.99401093 -0.85562999] [ 0. 0. 0. 1. ]] SLAMing on 112.489072329 meters Centerline goodness : 0.305797 Centerline is valid? [False, False] Translation: X:-1.52, Y:-2.60, Z:-0.85 [[ 0.67625455 0.72909651 -0.10534735 -1.52367189] [-0.73044396 0.68219926 0.03249297 -2.59630597] [ 0.0955584 0.05497682 0.99390449 -0.8524927 ] [ 0. 0. 0. 1. ]] SLAMing on 112.519072329 meters Centerline goodness : 0.302618 Centerline is valid? [False, False] Translation: X:-1.54, Y:-2.57, Z:-0.85 [[ 0.67950125 0.72672557 -0.10073728 -1.53817125] [-0.72716897 0.68534165 0.03914219 -2.56701438] [ 0.09748508 0.04665585 0.99414279 -0.85186369] [ 0. 0. 0. 1. ]] SLAMing on 112.549072329 meters Centerline goodness : 0.296835 Centerline is valid? [False, False] Translation: X:-1.54, Y:-2.54, Z:-0.85 [[ 0.67410718 0.73267782 -0.09360942 -1.54409637] [-0.73165593 0.6797337 0.05139748 -2.54385563] [ 0.10128727 0.03384248 0.99428144 -0.84908649] [ 0. 0. 0. 1. ]] SLAMing on 112.579072329 meters Centerline goodness : 0.293993 Centerline is valid? [False, False] Translation: X:-1.56, Y:-2.52, Z:-0.85 [[ 0.67880771 0.72815971 -0.09488695 -1.56151009] [-0.72633159 0.68480131 0.05907278 -2.51737199] [ 0.10799312 0.02882033 0.9937338 -0.84818076] [ 0. 0. 0. 1. ]] SLAMing on 112.60907232899999 meters Centerline goodness : 0.291525 Centerline is valid? [False, False] Translation: X:-1.58, Y:-2.49, Z:-0.85 [[ 0.68451519 0.72226959 -0.09882105 -1.58088771] [-0.71981421 0.69110243 0.06515316 -2.490801 ] [ 0.11535361 0.02653447 0.99297002 -0.84752224] [ 0. 0. 0. 1. ]] SLAMing on 112.63907232899999 meters Centerline goodness : 0.290725 Centerline is valid? [False, False] Translation: X:-1.60, Y:-2.47, Z:-0.85 [[ 0.69101521 0.71552529 -0.10257457 -1.60043768] [-0.71244865 0.69816419 0.07059526 -2.46582848] [ 0.12212658 0.02429672 0.9922171 -0.84739573] [ 0. 0. 0. 1. ]] SLAMing on 112.66907232899999 meters Centerline goodness : 0.286714 Centerline is valid? [False, False] Translation: X:-1.61, Y:-2.45, Z:-0.85 [[ 0.69073386 0.71480073 -0.10930074 -1.608075 ] [-0.71092724 0.69892293 0.07803334 -2.45248178] [ 0.13217108 0.0238046 0.99094104 -0.84544945] [ 0. 0. 0. 1. ]] SLAMing on 112.69907232899999 meters Centerline goodness : 0.286918 Centerline is valid? [False, False] Translation: X:-1.63, Y:-2.43, Z:-0.85 [[ 0.69892036 0.70677095 -0.10947674 -1.62985447] [-0.70200396 0.70720871 0.08394209 -2.42719293] [ 0.13675074 0.01818427 0.99043857 -0.84757779] [ 0. 0. 0. 1. ]] SLAMing on 112.72907232899999 meters Centerline goodness : 0.287530 Centerline is valid? [False, False] Translation: X:-1.65, Y:-2.40, Z:-0.85 [[ 0.70703866 0.69863614 -0.10956216 -1.65260474] [-0.69295755 0.71536871 0.08976328 -2.40238064] [ 0.14108921 0.01245582 0.98991853 -0.84950861] [ 0. 0. 0. 1. ]] SLAMing on 112.75907232899999 meters Centerline goodness : 0.290022 Centerline is valid? [False, False] Translation: X:-1.67, Y:-2.39, Z:-0.85 [[ 0.71027359 0.69557913 -0.10807915 -1.66728546] [-0.68903806 0.71841818 0.09540372 -2.38743933] [ 0.14400686 0.0067079 0.98955395 -0.84971326] [ 0. 0. 0. 1. ]] SLAMing on 112.78907232899999 meters Centerline goodness : 0.287912 Centerline is valid? [False, False] Translation: X:-1.69, Y:-2.36, Z:-0.85 [[ 0.71903502 0.68634097 -0.10920035 -1.69291595] [-0.67908967 0.72727532 0.09953806 -2.36345307] [ 0.14773576 0.00258548 0.98902349 -0.85042895] [ 0. 0. 0. 1. ]] SLAMing on 112.819072329 meters Centerline goodness : 0.287867 Centerline is valid? [False, False] Translation: X:-1.72, Y:-2.34, Z:-0.85 [[ 7.27927893e-01 6.76708776e-01 -1.10391191e-01 -1.71954346e+00] [-6.68726719e-01 7.36249005e-01 1.03643516e-01 -2.33993640e+00] [ 1.51411882e-01 -1.62346736e-03 9.88469426e-01 -8.51930201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.849072329 meters Centerline goodness : 0.283590 Centerline is valid? [False, False] Translation: X:-1.74, Y:-2.33, Z:-0.86 [[ 0.73144385 0.67309563 -0.10923445 -1.73632481] [-0.66399742 0.73950802 0.1106133 -2.32763459] [ 0.15523308 -0.00837603 0.98784236 -0.85545256] [ 0. 0. 0. 1. ]] SLAMing on 112.879072329 meters Centerline goodness : 0.287080 Centerline is valid? [False, False] Translation: X:-1.77, Y:-2.30, Z:-0.86 [[ 0.73974171 0.66398288 -0.1091281 -1.76563901] [-0.65363072 0.74757959 0.1178628 -2.30203362] [ 0.15984082 -0.01585855 0.98701541 -0.85969457] [ 0. 0. 0. 1. ]] SLAMing on 112.909072329 meters Centerline goodness : 0.279623 Centerline is valid? [False, False] Translation: X:-1.78, Y:-2.28, Z:-0.86 [[ 0.7415314 0.66261239 -0.10524255 -1.78261217] [-0.6509303 0.74853713 0.12641959 -2.2847724 ] [ 0.16254514 -0.02523853 0.98637827 -0.86274592] [ 0. 0. 0. 1. ]] SLAMing on 112.939072329 meters Centerline goodness : 0.280414 Centerline is valid? [False, False] Translation: X:-1.82, Y:-2.26, Z:-0.87 [[ 0.74995264 0.65302623 -0.10548825 -1.81549386] [-0.64040059 0.7566975 0.13151416 -2.2572977 ] [ 0.16570489 -0.03107465 0.98568568 -0.86623892] [ 0. 0. 0. 1. ]] SLAMing on 112.969072329 meters Centerline goodness : 0.280491 Centerline is valid? [False, False] Translation: X:-1.85, Y:-2.23, Z:-0.87 [[ 0.75753735 0.64390927 -0.10732203 -1.84851884] [-0.63055895 0.7643215 0.13493721 -2.23201392] [ 0.16891586 -0.03454711 0.98502484 -0.87010072] [ 0. 0. 0. 1. ]] SLAMing on 112.99907232899999 meters Centerline goodness : 0.280652 Centerline is valid? [False, False] Translation: X:-1.88, Y:-2.21, Z:-0.87 [[ 0.76448112 0.63524558 -0.10968894 -1.88074532] [-0.62115408 0.7713962 0.13825882 -2.20924747] [ 0.17244194 -0.03756252 0.98430322 -0.87424921] [ 0. 0. 0. 1. ]] SLAMing on 113.02907232899999 meters Centerline goodness : 0.278086 Centerline is valid? [False, False] Translation: X:-1.89, Y:-2.20, Z:-0.88 [[ 0.76384182 0.63624019 -0.1083702 -1.88883212] [-0.62072611 0.77019274 0.14663642 -2.20207604] [ 0.17676193 -0.04473881 0.98323632 -0.87543633] [ 0. 0. 0. 1. ]] SLAMing on 113.05907232899999 meters Centerline goodness : 0.274170 Centerline is valid? [False, False] Translation: X:-1.91, Y:-2.19, Z:-0.88 [[ 0.76683246 0.63304021 -0.10596257 -1.90883758] [-0.61635844 0.7723377 0.15361234 -2.18641525] [ 0.17908168 -0.052484 0.9824333 -0.87960503] [ 0. 0. 0. 1. ]] SLAMing on 113.08907232899999 meters Centerline goodness : 0.281750 Centerline is valid? [False, False] Translation: X:-1.93, Y:-2.17, Z:-0.88 [[ 0.7691642 0.63069188 -0.10302521 -1.92682748] [-0.61302432 0.77372719 0.15983558 -2.17142377] [ 0.18052041 -0.05978284 0.98175272 -0.88326602] [ 0. 0. 0. 1. ]] SLAMing on 113.11907232899999 meters Centerline goodness : 0.278158 Centerline is valid? [False, False] Translation: X:-1.94, Y:-2.16, Z:-0.89 [[ 0.77052597 0.62951324 -0.10001402 -1.9384676 ] [-0.61132304 0.77426731 0.16368957 -2.15954412] [ 0.18048234 -0.06498619 0.98142902 -0.88621184] [ 0. 0. 0. 1. ]] SLAMing on 113.14907232899999 meters Centerline goodness : 0.273904 Centerline is valid? [False, False] Translation: X:-1.93, Y:-2.16, Z:-0.89 [[ 0.76220903 0.6389963 -0.1035428 -1.93159221] [-0.62106909 0.76696907 0.16134323 -2.15736681] [ 0.18251185 -0.05867003 0.9814516 -0.8858375 ] [ 0. 0. 0. 1. ]] SLAMing on 113.179072329 meters Centerline goodness : 0.286121 Centerline is valid? [False, False] Translation: X:-1.94, Y:-2.15, Z:-0.88 [[ 0.76256376 0.63830405 -0.10518772 -1.94219899] [-0.61966189 0.76741638 0.16459417 -2.14890406] [ 0.1857839 -0.06033272 0.98073661 -0.88279783] [ 0. 0. 0. 1. ]] SLAMing on 113.209072329 meters Centerline goodness : 0.285020 Centerline is valid? [False, False] Translation: X:-1.93, Y:-2.15, Z:-0.88 [[ 0.75021679 0.6521101 -0.10921165 -1.92845331] [-0.63296649 0.75607125 0.16646223 -2.14738355] [ 0.1911235 -0.05575544 0.97998119 -0.8817602 ] [ 0. 0. 0. 1. ]] SLAMing on 113.239072329 meters Centerline goodness : 0.281990 Centerline is valid? [False, False] Translation: X:-1.93, Y:-2.14, Z:-0.88 [[ 0.74599446 0.65782791 -0.10370489 -1.92676194] [-0.63839272 0.75073329 0.16986544 -2.14037178] [ 0.18959694 -0.06051424 0.97999542 -0.88495403] [ 0. 0. 0. 1. ]] SLAMing on 113.269072329 meters Centerline goodness : 0.283235 Centerline is valid? [False, False] Translation: X:-1.92, Y:-2.13, Z:-0.89 [[ 0.74077474 0.66463573 -0.09753011 -1.92443057] [-0.64482213 0.7442396 0.17410297 -2.13323338] [ 0.18830082 -0.06608151 0.97988573 -0.88809939] [ 0. 0. 0. 1. ]] SLAMing on 113.299072329 meters Centerline goodness : 0.283351 Centerline is valid? [False, False] Translation: X:-1.90, Y:-2.13, Z:-0.88 [[ 0.72217428 0.68472244 -0.098079 -1.90467491] [-0.66149289 0.72509922 0.1914635 -2.12544982] [ 0.20221636 -0.07339146 0.97658703 -0.87928907] [ 0. 0. 0. 1. ]] SLAMing on 113.329072329 meters Centerline goodness : 0.282006 Centerline is valid? [False, False] Translation: X:-1.91, Y:-2.11, Z:-0.88 [[ 0.71884191 0.68898617 -0.09254385 -1.90548023] [-0.66559055 0.72054734 0.19442416 -2.11306482] [ 0.20063778 -0.07816392 0.97654231 -0.88229563] [ 0. 0. 0. 1. ]] SLAMing on 113.35907232899999 meters Centerline goodness : 0.280855 Centerline is valid? [False, False] Translation: X:-1.90, Y:-2.10, Z:-0.88 [[ 0.71109122 0.6958516 -0.10069678 -1.90375423] [-0.67070902 0.71430847 0.19978195 -2.10334651] [ 0.21094715 -0.07452495 0.97465242 -0.87721285] [ 0. 0. 0. 1. ]] SLAMing on 113.38907232899999 meters Centerline goodness : 0.285256 Centerline is valid? [False, False] Translation: X:-1.88, Y:-2.10, Z:-0.88 [[ 0.69407849 0.71253083 -0.10273687 -1.88339318] [-0.68669442 0.69812987 0.20264615 -2.09729008] [ 0.21611531 -0.0701035 0.97384787 -0.87786195] [ 0. 0. 0. 1. ]] SLAMing on 113.41907232899999 meters Centerline goodness : 0.287085 Centerline is valid? [False, False] Translation: X:-1.88, Y:-2.09, Z:-0.88 [[ 0.68939848 0.71787675 -0.09686436 -1.87969363] [-0.69201811 0.6922059 0.20484611 -2.08746054] [ 0.21410434 -0.07418871 0.97398941 -0.88183097] [ 0. 0. 0. 1. ]] SLAMing on 113.44907232899999 meters Centerline goodness : 0.288456 Centerline is valid? [False, False] Translation: X:-1.87, Y:-2.08, Z:-0.88 [[ 0.68316491 0.72447369 -0.09178005 -1.87220983] [-0.69819562 0.68482068 0.20867083 -2.08129422] [ 0.2140294 -0.07847616 0.97366982 -0.88284762] [ 0. 0. 0. 1. ]] SLAMing on 113.47907232899999 meters Centerline goodness : 0.294953 Centerline is valid? [False, False] Translation: X:-1.84, Y:-2.08, Z:-0.88 [[ 0.6656311 0.74060969 -0.09182878 -1.83923663] [-0.71307751 0.66747761 0.21446235 -2.07525689] [ 0.22012655 -0.07727177 0.97240597 -0.87541322] [ 0. 0. 0. 1. ]] SLAMing on 113.50907232899999 meters Centerline goodness : 0.297451 Centerline is valid? [False, False] Translation: X:-1.83, Y:-2.07, Z:-0.88 [[ 0.66149346 0.74463988 -0.08909466 -1.83168745] [-0.71713488 0.66282663 0.21535647 -2.06974721] [ 0.21941733 -0.07856401 0.97246272 -0.87658225] [ 0. 0. 0. 1. ]] SLAMing on 113.53907232899999 meters Centerline goodness : 0.297451 Centerline is valid? [False, False] Translation: X:-1.84, Y:-2.07, Z:-0.88 [[ 0.66282361 0.74360028 -0.08788338 -1.8360701 ] [-0.71644455 0.66393695 0.21423101 -2.06561519] [ 0.21765126 -0.0790338 0.97282146 -0.87921916] [ 0. 0. 0. 1. ]] SLAMing on 113.569072329 meters Centerline goodness : 0.299439 Centerline is valid? [False, False] Translation: X:-1.83, Y:-2.06, Z:-0.88 [[ 0.65883153 0.74744889 -0.0852125 -1.82798105] [-0.72024828 0.65941641 0.21543541 -2.06095384] [ 0.21721748 -0.08056148 0.9727931 -0.88081263] [ 0. 0. 0. 1. ]] SLAMing on 113.599072329 meters Centerline goodness : 0.301652 Centerline is valid? [False, False] Translation: X:-1.82, Y:-2.06, Z:-0.88 [[ 0.65494172 0.75114787 -0.08263298 -1.8192788 ] [-0.72383496 0.6549895 0.21691404 -2.05721735] [ 0.21705825 -0.08225341 0.97268705 -0.88282195] [ 0. 0. 0. 1. ]] SLAMing on 113.629072329 meters Centerline goodness : 0.304690 Centerline is valid? [False, False] Translation: X:-1.79, Y:-2.06, Z:-0.87 [[ 0.64125028 0.76199345 -0.09035519 -1.79363335] [-0.73088022 0.64240061 0.23051153 -2.05527783] [ 0.23369251 -0.08177676 0.96886551 -0.87351516] [ 0. 0. 0. 1. ]] SLAMing on 113.659072329 meters Centerline goodness : 0.302654 Centerline is valid? [False, False] Translation: X:-1.79, Y:-2.05, Z:-0.87 [[ 0.63765505 0.76527081 -0.08807171 -1.78614967] [-0.73392472 0.63827095 0.23230304 -2.05280748] [ 0.23398835 -0.0834912 0.96864786 -0.87469764] [ 0. 0. 0. 1. ]] SLAMing on 113.689072329 meters Centerline goodness : 0.304390 Centerline is valid? [False, False] Translation: X:-1.77, Y:-2.05, Z:-0.87 [[ 0.63030953 0.77159726 -0.08571791 -1.76779618] [-0.73981187 0.63044817 0.23497551 -2.04957459] [ 0.23534716 -0.08469218 0.96821431 -0.87468296] [ 0. 0. 0. 1. ]] SLAMing on 113.719072329 meters Centerline goodness : 0.034569 Centerline is valid? [False, False] Translation: X:-1.77, Y:-2.04, Z:-0.88 [[ 0.62967022 0.77220249 -0.08496309 -1.76610196] [-0.74109171 0.62987838 0.23245708 -2.04325275] [ 0.23302035 -0.08340586 0.96888853 -0.8767948 ] [ 0. 0. 0. 1. ]] SLAMing on 113.74907232899999 meters Centerline goodness : 0.299551 Centerline is valid? [False, False] Translation: X:-1.76, Y:-2.04, Z:-0.88 [[ 0.62904025 0.77280878 -0.08411275 -1.76488909] [-0.74235692 0.62928753 0.2300074 -2.0363623 ] [ 0.23068285 -0.08224223 0.96954713 -0.87850831] [ 0. 0. 0. 1. ]] SLAMing on 113.77907232899999 meters Centerline goodness : 0.163912 Centerline is valid? [False, False] Translation: X:-1.75, Y:-2.03, Z:-0.88 [[ 0.62213984 0.77871433 -0.08090743 -1.75036589] [-0.74759386 0.62158457 0.23395735 -2.0330061 ] [ 0.23247675 -0.08506829 0.96887458 -0.87760663] [ 0. 0. 0. 1. ]] SLAMing on 113.80907232899999 meters Centerline goodness : 0.105916 Centerline is valid? [False, False] Translation: X:-1.76, Y:-2.02, Z:-0.88 [[ 0.62596598 0.77547913 -0.08245436 -1.75673586] [-0.74345289 0.62532992 0.23715036 -2.02004377] [ 0.23546633 -0.08714712 0.96796745 -0.87726359] [ 0. 0. 0. 1. ]] SLAMing on 113.83907232899999 meters Centerline goodness : 0.075798 Centerline is valid? [False, False] Translation: X:-1.77, Y:-2.01, Z:-0.88 [[ 0.63015585 0.77154645 -0.08729076 -1.76969621] [-0.73771527 0.62998189 0.24269116 -2.00554351] [ 0.2422391 -0.08853753 0.96616837 -0.87529301] [ 0. 0. 0. 1. ]] SLAMing on 113.86907232899999 meters Centerline goodness : 0.074447 Centerline is valid? [False, False] Translation: X:-1.79, Y:-1.99, Z:-0.87 [[ 0.63498842 0.76693049 -0.0927757 -1.78508146] [-0.73128325 0.63545457 0.24783522 -1.99096868] [ 0.24902712 -0.08952718 0.96434972 -0.87424846] [ 0. 0. 0. 1. ]] SLAMing on 113.89907232899999 meters Centerline goodness : 0.070598 Centerline is valid? [False, False] Translation: X:-1.79, Y:-1.98, Z:-0.87 [[ 0.63723756 0.76441777 -0.09794774 -1.78811182] [-0.72684953 0.63837697 0.25330733 -1.980555 ] [ 0.25616021 -0.09022368 0.96241448 -0.87204277] [ 0. 0. 0. 1. ]] SLAMing on 113.929072329 meters Centerline goodness : 0.293373 Centerline is valid? [False, False] Translation: X:-1.81, Y:-1.96, Z:-0.87 [[ 0.64565954 0.75664317 -0.10302855 -1.8104085 ] [-0.71688615 0.64707594 0.2595515 -1.96068652] [ 0.26305516 -0.09372216 0.96021776 -0.87124658] [ 0. 0. 0. 1. ]] SLAMing on 113.959072329 meters Centerline goodness : 0.292240 Centerline is valid? [False, False] Translation: X:-1.82, Y:-1.94, Z:-0.87 [[ 0.65133892 0.75150556 -0.10486663 -1.82345509] [-0.7104638 0.65253777 0.26350645 -1.9416959 ] [ 0.266456 -0.09712806 0.95894074 -0.87139442] [ 0. 0. 0. 1. ]] SLAMing on 113.989072329 meters Centerline goodness : 0.293443 Centerline is valid? [False, False] Translation: X:-1.86, Y:-1.92, Z:-0.87 [[ 0.66064522 0.74226588 -0.11220187 -1.85557856] [-0.69867145 0.66262588 0.26978725 -1.9174518 ] [ 0.27460173 -0.09984141 0.95636059 -0.87049899] [ 0. 0. 0. 1. ]] SLAMing on 114.019072329 meters Centerline goodness : 0.288363 Centerline is valid? [False, False] Translation: X:-1.90, Y:-1.89, Z:-0.87 [[ 0.67195405 0.73081315 -0.11995789 -1.89672656] [-0.68472311 0.67477672 0.27537364 -1.88901356] [ 0.28219147 -0.10290049 0.9538236 -0.87383148] [ 0. 0. 0. 1. ]] SLAMing on 114.049072329 meters Centerline goodness : 0.289744 Centerline is valid? [False, False] Translation: X:-1.93, Y:-1.86, Z:-0.88 [[ 0.68098489 0.72119472 -0.12703445 -1.92685249] [-0.67201335 0.68437554 0.28289251 -1.86342325] [ 0.29095986 -0.10727668 0.95070189 -0.87570133] [ 0. 0. 0. 1. ]] SLAMing on 114.079072329 meters Centerline goodness : 0.289759 Centerline is valid? [False, False] Translation: X:-1.98, Y:-1.83, Z:-0.88 [[ 0.69515214 0.70605041 -0.13511595 -1.97894081] [-0.65405868 0.69920279 0.28865672 -1.83119929] [ 0.29827965 -0.11228658 0.94785071 -0.88364758] [ 0. 0. 0. 1. ]] SLAMing on 114.10907232899999 meters Centerline goodness : 0.317018 Centerline is valid? [False, False] Translation: X:-2.03, Y:-1.80, Z:-0.89 [[ 0.70867384 0.690961 -0.14266844 -2.03151451] [-0.63656184 0.71338566 0.29303571 -1.80049407] [ 0.30425387 -0.11684946 0.94539716 -0.89262531] [ 0. 0. 0. 1. ]] SLAMing on 114.13907232899999 meters Centerline goodness : 0.319021 Centerline is valid? [False, False] Translation: X:-2.08, Y:-1.77, Z:-0.90 [[ 0.72081506 0.67672357 -0.14990284 -2.08120907] [-0.62055806 0.72641363 0.29534884 -1.76968474] [ 0.30876099 -0.11986848 0.94355615 -0.90114853] [ 0. 0. 0. 1. ]] SLAMing on 114.16907232899999 meters Centerline goodness : 0.323775 Centerline is valid? [False, False] Translation: X:-2.15, Y:-1.74, Z:-0.92 [[ 0.73698093 0.65751922 -0.15661289 -2.14924109] [-0.59995507 0.7430751 0.29646806 -1.73688136] [ 0.31130859 -0.12453061 0.94211416 -0.91588529] [ 0. 0. 0. 1. ]] SLAMing on 114.19907232899999 meters Centerline goodness : 0.325159 Centerline is valid? [False, False] Translation: X:-2.22, Y:-1.71, Z:-0.93 [[ 0.75253832 0.6379439 -0.16344315 -2.21790744] [-0.57918178 0.7592565 0.29677945 -1.70589632] [ 0.31342391 -0.12867461 0.94085509 -0.93122938] [ 0. 0. 0. 1. ]] SLAMing on 114.22907232899999 meters Centerline goodness : 0.203267 Centerline is valid? [False, False] Translation: X:-2.29, Y:-1.68, Z:-0.95 [[ 0.76761917 0.61772176 -0.17082342 -2.28803085] [-0.5580336 0.77527211 0.2958913 -1.67517775] [ 0.31521312 -0.13180663 0.93982323 -0.9487017 ] [ 0. 0. 0. 1. ]] SLAMing on 114.25907232899999 meters Centerline goodness : 0.336964 Centerline is valid? [False, False] Translation: X:-2.37, Y:-1.65, Z:-0.97 [[ 0.78360907 0.59559336 -0.17670706 -2.36666426] [-0.53495236 0.79150779 0.29553578 -1.64760724] [ 0.31588416 -0.13705466 0.93884675 -0.96704363] [ 0. 0. 0. 1. ]] SLAMing on 114.28907232899999 meters Centerline goodness : 0.328069 Centerline is valid? [False, False] Translation: X:-2.44, Y:-1.62, Z:-0.98 [[ 0.79810599 0.57419904 -0.18254395 -2.44414912] [-0.51244313 0.80624151 0.29559545 -1.62335582] [ 0.31690513 -0.1423731 0.93771053 -0.98421741] [ 0. 0. 0. 1. ]] SLAMing on 114.319072329 meters Centerline goodness : 0.195372 Centerline is valid? [False, False] Translation: X:-2.53, Y:-1.60, Z:-1.00 [[ 0.81327794 0.55075083 -0.1877565 -2.52870427] [-0.48752517 0.82110523 0.29682555 -1.60036264] [ 0.31764476 -0.14986565 0.93629167 -1.00313407] [ 0. 0. 0. 1. ]] SLAMing on 114.349072329 meters Centerline goodness : 0.346655 Centerline is valid? [False, False] Translation: X:-2.60, Y:-1.58, Z:-1.02 [[ 0.82440392 0.53233801 -0.19228731 -2.60484689] [-0.4670743 0.83173375 0.30010093 -1.57950987] [ 0.31968698 -0.15759193 0.93432597 -1.02097322] [ 0. 0. 0. 1. ]] SLAMing on 114.379072329 meters Centerline goodness : 0.193093 Centerline is valid? [False, False] Translation: X:-2.69, Y:-1.56, Z:-1.04 [[ 0.83787932 0.50910973 -0.19688964 -2.69007896] [-0.44223739 0.8445686 0.3018774 -1.56252535] [ 0.31997553 -0.16586488 0.93279392 -1.03889118] [ 0. 0. 0. 1. ]] SLAMing on 114.409072329 meters Centerline goodness : 0.191011 Centerline is valid? [False, False] Translation: X:-2.77, Y:-1.55, Z:-1.06 [[ 0.85018539 0.48636107 -0.20158798 -2.77251662] [-0.41854963 0.85665376 0.30159667 -1.54923497] [ 0.31937598 -0.17203851 0.93188075 -1.05548328] [ 0. 0. 0. 1. ]] SLAMing on 114.439072329 meters Centerline goodness : 0.163311 Centerline is valid? [False, False] Translation: X:-2.84, Y:-1.54, Z:-1.07 [[ 0.85931913 0.46745039 -0.20751089 -2.84423049] [-0.39945102 0.8668093 0.2984636 -1.53856719] [ 0.31938929 -0.17358505 0.93158935 -1.0676759 ] [ 0. 0. 0. 1. ]] SLAMing on 114.469072329 meters Centerline goodness : 0.185112 Centerline is valid? [False, False] Translation: X:-2.92, Y:-1.53, Z:-1.08 [[ 0.8684028 0.44728586 -0.21403724 -2.91606867] [-0.37820814 0.87662896 0.29745632 -1.53217872] [ 0.32067925 -0.17736127 0.9304342 -1.07940462] [ 0. 0. 0. 1. ]] SLAMing on 114.49907232899999 meters Centerline goodness : 0.331141 Centerline is valid? [False, False] Translation: X:-2.99, Y:-1.53, Z:-1.09 [[ 0.8765916 0.42794152 -0.22012091 -2.98693688] [-0.35739962 0.88522983 0.29771407 -1.527521 ] [ 0.32226181 -0.18230252 0.92893117 -1.09112927] [ 0. 0. 0. 1. ]] SLAMing on 114.52907232899999 meters Centerline goodness : 0.163580 Centerline is valid? [False, False] Translation: X:-3.05, Y:-1.52, Z:-1.10 [[ 0.88201942 0.41335074 -0.22623639 -3.05019913] [-0.33997823 0.89067081 0.30186141 -1.52431694] [ 0.32627679 -0.18933218 0.9261192 -1.10120472] [ 0. 0. 0. 1. ]] SLAMing on 114.55907232899999 meters Centerline goodness : 0.319775 Centerline is valid? [False, False] Translation: X:-3.11, Y:-1.52, Z:-1.11 [[ 0.88773524 0.39666008 -0.23363846 -3.11013877] [-0.32152152 0.89745323 0.30199604 -1.5243935 ] [ 0.32946936 -0.19297273 0.92423561 -1.1101897 ] [ 0. 0. 0. 1. ]] SLAMing on 114.58907232899999 meters Centerline goodness : 0.333319 Centerline is valid? [False, False] Translation: X:-3.17, Y:-1.53, Z:-1.12 [[ 0.89311176 0.38019722 -0.24041935 -3.16692433] [-0.30422052 0.90420289 0.29977826 -1.5264944 ] [ 0.33136273 -0.19459499 0.92321803 -1.1190523 ] [ 0. 0. 0. 1. ]] SLAMing on 114.61907232899999 meters Centerline goodness : 0.194483 Centerline is valid? [False, False] Translation: X:-3.22, Y:-1.53, Z:-1.13 [[ 0.89750367 0.3656406 -0.24656464 -3.21692002] [-0.28982373 0.91043329 0.29514984 -1.53085579] [ 0.33239942 -0.19343778 0.92308854 -1.12686509] [ 0. 0. 0. 1. ]] SLAMing on 114.64907232899999 meters Centerline goodness : 0.144097 Centerline is valid? [False, False] Translation: X:-3.27, Y:-1.54, Z:-1.13 [[ 0.90151429 0.35090446 -0.25325492 -3.27016599] [-0.2741078 0.91588617 0.29328729 -1.53501909] [ 0.3348685 -0.19498353 0.92187012 -1.13341212] [ 0. 0. 0. 1. ]] SLAMing on 114.679072329 meters Centerline goodness : 0.154865 Centerline is valid? [False, False] Translation: X:-3.32, Y:-1.54, Z:-1.14 [[ 0.90736298 0.33723428 -0.2509292 -3.31845216] [-0.25945972 0.91899467 0.29686605 -1.54056711] [ 0.330716 -0.20425925 0.92136045 -1.14465779] [ 0. 0. 0. 1. ]] SLAMing on 114.709072329 meters Centerline goodness : 0.146884 Centerline is valid? [False, False] Translation: X:-3.36, Y:-1.55, Z:-1.15 [[ 0.9121379 0.32266093 -0.25277336 -3.36220332] [-0.24349763 0.92264099 0.29906942 -1.54591321] [ 0.32971708 -0.21124284 0.92014298 -1.15289054] [ 0. 0. 0. 1. ]] SLAMing on 114.739072329 meters Centerline goodness : 0.188335 Centerline is valid? [False, False] Translation: X:-3.40, Y:-1.55, Z:-1.16 [[ 0.9171413 0.30824502 -0.25265954 -3.4010315 ] [-0.22923206 0.92654219 0.29828213 -1.55111575] [ 0.3260437 -0.21564919 0.92042975 -1.16272109] [ 0. 0. 0. 1. ]] SLAMing on 114.769072329 meters Centerline goodness : 0.345445 Centerline is valid? [False, False] Translation: X:-3.44, Y:-1.56, Z:-1.17 [[ 0.91891657 0.2971791 -0.25937794 -3.4407613 ] [-0.21715415 0.93008052 0.29630102 -1.55831571] [ 0.32929684 -0.21595092 0.91920008 -1.16550857] [ 0. 0. 0. 1. ]] SLAMing on 114.799072329 meters Centerline goodness : 0.186755 Centerline is valid? [False, False] Translation: X:-3.47, Y:-1.56, Z:-1.17 [[ 0.92281098 0.28461083 -0.259647 -3.47189756] [-0.20482582 0.93327467 0.2950335 -1.56420574] [ 0.3262917 -0.21907775 0.91953176 -1.17356557] [ 0. 0. 0. 1. ]] SLAMing on 114.829072329 meters Centerline goodness : 0.164760 Centerline is valid? [False, False] Translation: X:-3.50, Y:-1.57, Z:-1.18 [[ 0.9273828 0.27311787 -0.2556712 -3.50477093] [-0.19397894 0.93540293 0.29562396 -1.57300608] [ 0.31989578 -0.22456175 0.92045571 -1.18254973] [ 0. 0. 0. 1. ]] SLAMing on 114.85907232899999 meters Centerline goodness : 0.154228 Centerline is valid? [False, False] Translation: X:-3.54, Y:-1.58, Z:-1.19 [[ 0.93151897 0.26157112 -0.25269141 -3.53621152] [-0.18285822 0.93743119 0.2962864 -1.58042389] [ 0.31438078 -0.2297897 0.92106537 -1.1919699 ] [ 0. 0. 0. 1. ]] SLAMing on 114.88907232899999 meters Centerline goodness : 0.183167 Centerline is valid? [False, False] Translation: X:-3.56, Y:-1.59, Z:-1.20 [[ 0.93467241 0.25069806 -0.25206739 -3.56294555] [-0.17214837 0.93952018 0.29608574 -1.5863888 ] [ 0.31105053 -0.23335018 0.92130085 -1.20005091] [ 0. 0. 0. 1. ]] SLAMing on 114.91907232899999 meters Centerline goodness : 0.215424 Centerline is valid? [False, False] Translation: X:-3.59, Y:-1.59, Z:-1.21 [[ 0.9370799 0.24059911 -0.25296902 -3.58609125] [-0.16190083 0.94146351 0.29569338 -1.59288931] [ 0.30930467 -0.23613243 0.92117973 -1.20574254] [ 0. 0. 0. 1. ]] SLAMing on 114.94907232899999 meters Centerline goodness : 0.313251 Centerline is valid? [False, False] Translation: X:-3.61, Y:-1.60, Z:-1.21 [[ 0.93941229 0.23190251 -0.25243963 -3.60708832] [-0.15351101 0.94306196 0.29507375 -1.59762598] [ 0.30649455 -0.23844365 0.92152358 -1.21095582] [ 0. 0. 0. 1. ]] SLAMing on 114.97907232899999 meters Centerline goodness : 0.271018 Centerline is valid? [False, False] Translation: X:-3.63, Y:-1.60, Z:-1.22 [[ 0.94173469 0.22339206 -0.25145925 -3.62879593] [-0.14540305 0.94451195 0.29454225 -1.60226491] [ 0.30330467 -0.24081771 0.92196155 -1.21615914] [ 0. 0. 0. 1. ]] SLAMing on 115.00907232899999 meters Centerline goodness : 0.149863 Centerline is valid? [False, False] Translation: X:-3.64, Y:-1.61, Z:-1.22 [[ 0.94363273 0.21905722 -0.24813544 -3.64447921] [-0.1422339 0.94528467 0.2936093 -1.60709088] [ 0.29887586 -0.24176607 0.92315892 -1.21999008] [ 0. 0. 0. 1. ]] SLAMing on 115.03907232899999 meters Centerline goodness : 0.290172 Centerline is valid? [False, False] Translation: X:-3.66, Y:-1.61, Z:-1.22 [[ 0.94574816 0.21111916 -0.24695977 -3.6631638 ] [-0.13483811 0.94660218 0.29285321 -1.61255061] [ 0.29559957 -0.24366579 0.92371417 -1.22467542] [ 0. 0. 0. 1. ]] SLAMing on 115.069072329 meters Centerline goodness : 0.149334 Centerline is valid? [False, False] Translation: X:-3.68, Y:-1.62, Z:-1.23 [[ 0.9476902 0.20389396 -0.24558206 -3.6787389 ] [-0.12841026 0.94791936 0.29147847 -1.61777141] [ 0.29222268 -0.24469603 0.92451596 -1.22840886] [ 0. 0. 0. 1. ]] SLAMing on 115.099072329 meters Centerline goodness : 0.137779 Centerline is valid? [False, False] Translation: X:-3.69, Y:-1.63, Z:-1.23 [[ 0.94987021 0.19696228 -0.24280123 -3.69132185] [-0.12342377 0.949763 0.28760531 -1.62510298] [ 0.28725103 -0.24322027 0.92646141 -1.23220223] [ 0. 0. 0. 1. ]] SLAMing on 115.129072329 meters Centerline goodness : 0.260322 Centerline is valid? [False, False] Translation: X:-3.70, Y:-1.63, Z:-1.24 [[ 0.9517136 0.19104094 -0.24030104 -3.70435309] [-0.11872324 0.95091304 0.2857782 -1.63059341] [ 0.28310073 -0.24344968 0.92767787 -1.23588585] [ 0. 0. 0. 1. ]] SLAMing on 115.159072329 meters Centerline goodness : 0.139622 Centerline is valid? [False, False] Translation: X:-3.72, Y:-1.64, Z:-1.24 [[ 0.95334943 0.18568507 -0.23800404 -3.71539614] [-0.11458793 0.95202583 0.28375418 -1.63558468] [ 0.27927491 -0.24324449 0.92889054 -1.2387463 ] [ 0. 0. 0. 1. ]] SLAMing on 115.189072329 meters Centerline goodness : 0.183408 Centerline is valid? [False, False] Translation: X:-3.73, Y:-1.65, Z:-1.24 [[ 0.95627067 0.17784546 -0.23220122 -3.73489342] [-0.10808701 0.95257656 0.28445579 -1.64819298] [ 0.27177861 -0.2469188 0.9301438 -1.24306442] [ 0. 0. 0. 1. ]] SLAMing on 115.21907232899999 meters Centerline goodness : 0.297372 Centerline is valid? [False, False] Translation: X:-3.74, Y:-1.65, Z:-1.24 [[ 0.95770898 0.17229088 -0.23045467 -3.74284462] [-0.10393352 0.95397888 0.28128654 -1.65207046] [ 0.26831199 -0.24543868 0.93154094 -1.24489888] [ 0. 0. 0. 1. ]] SLAMing on 115.24907232899999 meters Centerline goodness : 0.092269 Centerline is valid? [False, False] Translation: X:-3.75, Y:-1.65, Z:-1.24 [[ 0.95848699 0.16777427 -0.23055255 -3.74517884] [-0.10037233 0.95534414 0.27792621 -1.65482277] [ 0.26688589 -0.24324756 0.93252482 -1.24418176] [ 0. 0. 0. 1. ]] SLAMing on 115.27907232899999 meters Centerline goodness : 0.160968 Centerline is valid? [False, False] Translation: X:-3.75, Y:-1.66, Z:-1.24 [[ 0.95941953 0.16101999 -0.23148807 -3.74889477] [-0.09466254 0.95720702 0.2734844 -1.66119634] [ 0.26561847 -0.24047302 0.93360568 -1.24115929] [ 0. 0. 0. 1. ]] SLAMing on 115.30907232899999 meters Centerline goodness : 0.145991 Centerline is valid? [False, False] Translation: X:-3.75, Y:-1.66, Z:-1.24 [[ 0.96009977 0.15645616 -0.23179711 -3.75225878] [-0.09088786 0.95843219 0.27045727 -1.66419644] [ 0.26447652 -0.23859842 0.93441049 -1.23910962] [ 0. 0. 0. 1. ]] SLAMing on 115.33907232899999 meters Centerline goodness : 0.150678 Centerline is valid? [False, False] Translation: X:-3.76, Y:-1.67, Z:-1.24 [[ 0.96071659 0.15189881 -0.23227222 -3.75544358] [-0.08702209 0.95959098 0.26760477 -1.66763393] [ 0.26353517 -0.23687952 0.93511352 -1.23672029] [ 0. 0. 0. 1. ]] SLAMing on 115.36907232899999 meters Centerline goodness : 0.119588 Centerline is valid? [False, False] Translation: X:-3.76, Y:-1.67, Z:-1.24 [[ 0.9614632 0.14711753 -0.23226051 -3.75911524] [-0.08307581 0.96075697 0.26465911 -1.67135276] [ 0.2620819 -0.23516477 0.93595439 -1.23542151] [ 0. 0. 0. 1. ]] SLAMing on 115.39907232899999 meters Centerline goodness : 0.097677 Centerline is valid? [False, False] Translation: X:-3.77, Y:-1.69, Z:-1.24 [[ 0.96360846 0.13822815 -0.22880497 -3.77267873] [-0.07513823 0.96147754 0.26441482 -1.68678814] [ 0.25654041 -0.23760035 0.9368741 -1.23550624] [ 0. 0. 0. 1. ]] SLAMing on 115.429072329 meters Centerline goodness : 0.151435 Centerline is valid? [False, False] Translation: X:-3.77, Y:-1.69, Z:-1.23 [[ 0.96400406 0.13382854 -0.22975226 -3.7728345 ] [-0.07127403 0.96253724 0.26161437 -1.69037295] [ 0.25615657 -0.23582195 0.9374283 -1.23382333] [ 0. 0. 0. 1. ]] SLAMing on 115.459072329 meters Centerline goodness : 0.151435 Centerline is valid? [False, False] Translation: X:-3.77, Y:-1.69, Z:-1.23 [[ 0.96400406 0.13382854 -0.22975226 -3.7728345 ] [-0.07127403 0.96253724 0.26161437 -1.69037295] [ 0.25615657 -0.23582195 0.9374283 -1.23382333] [ 0. 0. 0. 1. ]] SLAMing on 115.489072329 meters Centerline goodness : 0.157269 Centerline is valid? [False, False] Translation: X:-3.79, Y:-1.71, Z:-1.23 [[ 0.96611859 0.12364951 -0.22655169 -3.78578891] [-0.06177978 0.96304418 0.26216247 -1.70685327] [ 0.25059555 -0.23928372 0.93805393 -1.23483869] [ 0. 0. 0. 1. ]] SLAMing on 115.519072329 meters Centerline goodness : 0.204715 Centerline is valid? [False, False] Translation: X:-3.79, Y:-1.71, Z:-1.23 [[ 0.96639342 0.11905672 -0.22783603 -3.78510795] [-0.05759532 0.96403411 0.25946295 -1.71095192] [ 0.25053251 -0.237621 0.93849333 -1.23273128] [ 0. 0. 0. 1. ]] SLAMing on 115.549072329 meters Centerline goodness : 0.154203 Centerline is valid? [False, False] Translation: X:-3.78, Y:-1.72, Z:-1.23 [[ 0.96663505 0.11428247 -0.2292514 -3.78449945] [-0.05318161 0.96499651 0.25681403 -1.71545178] [ 0.25057614 -0.23605348 0.93887717 -1.23019726] [ 0. 0. 0. 1. ]] SLAMing on 115.579072329 meters Centerline goodness : 0.215421 Centerline is valid? [False, False] Translation: X:-3.80, Y:-1.73, Z:-1.23 [[ 0.96844447 0.10261543 -0.22712414 -3.79540332] [-0.04201923 0.96548624 0.25704224 -1.73306564] [ 0.24566174 -0.23938756 0.93933163 -1.22717676] [ 0. 0. 0. 1. ]] SLAMing on 115.60907232899999 meters Centerline goodness : 0.219794 Centerline is valid? [False, False] Translation: X:-3.80, Y:-1.74, Z:-1.22 [[ 0.96869256 0.09749795 -0.22831748 -3.79564631] [-0.03736543 0.96643895 0.25416449 -1.73782845] [ 0.24543542 -0.23767607 0.93982527 -1.22445641] [ 0. 0. 0. 1. ]] SLAMing on 115.63907232899999 meters Centerline goodness : 0.133489 Centerline is valid? [False, False] Translation: X:-3.80, Y:-1.75, Z:-1.22 [[ 0.96918279 0.08473678 -0.23131016 -3.79547089] [-0.02586329 0.96878899 0.24653392 -1.7490799 ] [ 0.24498122 -0.23295399 0.9411252 -1.21885118] [ 0. 0. 0. 1. ]] SLAMing on 115.66907232899999 meters Centerline goodness : 0.225735 Centerline is valid? [False, False] Translation: X:-3.80, Y:-1.76, Z:-1.22 [[ 0.96943083 0.07673052 -0.23305856 -3.79590049] [-0.01877326 0.97025631 0.2413509 -1.75501011] [ 0.24464551 -0.22959774 0.94203686 -1.21534844] [ 0. 0. 0. 1. ]] SLAMing on 115.69907232899999 meters Centerline goodness : 0.226357 Centerline is valid? [False, False] Translation: X:-3.80, Y:-1.76, Z:-1.21 [[ 0.96959527 0.06871576 -0.23486836 -3.79629194] [-0.01163944 0.97162975 0.23622055 -1.76117369] [ 0.24443716 -0.22630459 0.94288743 -1.21157361] [ 0. 0. 0. 1. ]] SLAMing on 115.72907232899999 meters Centerline goodness : 0.226015 Centerline is valid? [False, False] Translation: X:-3.80, Y:-1.77, Z:-1.21 [[ 0.96970333 0.06082213 -0.23659275 -3.79670758] [-0.00460975 0.97289227 0.23121285 -1.76786245] [ 0.24424211 -0.22311723 0.94369725 -1.20774484] [ 0. 0. 0. 1. ]] SLAMing on 115.75907232899999 meters Centerline goodness : 0.225215 Centerline is valid? [False, False] Translation: X:-3.80, Y:-1.79, Z:-1.20 [[ 0.97088178 0.04697007 -0.23490931 -3.80389214] [ 0.00818893 0.97350993 0.22849804 -1.78855484] [ 0.23941912 -0.22376824 0.94477842 -1.20364041] [ 0. 0. 0. 1. ]] SLAMing on 115.78907232899999 meters Centerline goodness : 0.284087 Centerline is valid? [False, False] Translation: X:-3.81, Y:-1.80, Z:-1.21 [[ 0.97377359 0.03728778 -0.22444289 -3.80805425] [ 0.01602908 0.97278429 0.23115751 -1.79814938] [ 0.22695386 -0.2286927 0.94667396 -1.20971518] [ 0. 0. 0. 1. ]] SLAMing on 115.819072329 meters Centerline goodness : 0.264002 Centerline is valid? [False, False] Translation: X:-3.81, Y:-1.81, Z:-1.22 [[ 0.97712986 0.03019126 -0.21048927 -3.80965403] [ 0.02024615 0.97216344 0.23342736 -1.80830552] [ 0.21167744 -0.23235044 0.94931867 -1.2186778 ] [ 0. 0. 0. 1. ]] SLAMing on 115.849072329 meters Centerline goodness : 0.266799 Centerline is valid? [False, False] Translation: X:-3.81, Y:-1.82, Z:-1.23 [[ 0.98020925 0.0233028 -0.19658789 -3.81154724] [ 0.02425378 0.97143045 0.23608185 -1.81835173] [ 0.19647283 -0.23617761 0.95163993 -1.22738667] [ 0. 0. 0. 1. ]] SLAMing on 115.879072329 meters Centerline goodness : 0.303223 Centerline is valid? [False, False] Translation: X:-3.81, Y:-1.83, Z:-1.22 [[ 0.98133534 0.01029853 -0.19202834 -3.81329228] [ 0.03668253 0.97020475 0.2394935 -1.83293622] [ 0.18877324 -0.24206752 0.95171843 -1.22310297] [ 0. 0. 0. 1. ]] SLAMing on 115.909072329 meters Centerline goodness : 0.266338 Centerline is valid? [False, False] Translation: X:-3.81, Y:-1.84, Z:-1.23 [[ 0.98392959 0.00499067 -0.17848715 -3.81459321] [ 0.0392789 0.9690737 0.24362539 -1.84197928] [ 0.17418306 -0.246721 0.95330426 -1.2300607 ] [ 0. 0. 0. 1. ]] SLAMing on 115.939072329 meters Centerline goodness : 0.256162 Centerline is valid? [False, False] Translation: X:-3.81, Y:-1.85, Z:-1.23 [[ 9.83671562e-01 1.76102907e-03 -1.79964320e-01 -3.81447887e+00] [ 4.25834372e-02 9.69280719e-01 2.42242727e-01 -1.84831556e+00] [ 1.74862542e-01 -2.45950781e-01 9.53378888e-01 -1.22561633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.96907232899999 meters Centerline goodness : 0.252328 Centerline is valid? [False, False] Translation: X:-3.81, Y:-1.86, Z:-1.22 [[ 9.83280696e-01 -1.59026553e-03 -1.82089387e-01 -3.81281424e+00] [ 4.63574949e-02 9.69201764e-01 2.41865506e-01 -1.86054365e+00] [ 1.76096725e-01 -2.46262891e-01 9.53071106e-01 -1.21993047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.99907232899999 meters Centerline goodness : 0.232165 Centerline is valid? [False, False] Translation: X:-3.81, Y:-1.87, Z:-1.22 [[ 9.83206640e-01 -3.77034522e-03 -1.82456810e-01 -3.81446710e+00] [ 4.84024780e-02 9.69368202e-01 2.40795534e-01 -1.86644615e+00] [ 1.75959947e-01 -2.45583130e-01 9.53271747e-01 -1.21697855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.02907232899999 meters Centerline goodness : 0.258166 Centerline is valid? [False, False] Translation: X:-3.81, Y:-1.88, Z:-1.22 [[ 9.83148250e-01 -2.66987005e-03 -1.82790563e-01 -3.81405370e+00] [ 4.78182618e-02 9.68836430e-01 2.43041941e-01 -1.87555461e+00] [ 1.76445266e-01 -2.47686986e-01 9.52637510e-01 -1.21503860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.05907232899999 meters Centerline goodness : 0.233601 Centerline is valid? [False, False] Translation: X:-3.81, Y:-1.88, Z:-1.21 [[ 9.83147173e-01 -2.07435398e-03 -1.82804086e-01 -3.81445497e+00] [ 4.73989800e-02 9.68634542e-01 2.43927164e-01 -1.87913215e+00] [ 1.76564361e-01 -2.48481029e-01 9.52408633e-01 -1.21397586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.08907232899999 meters Centerline goodness : 0.288288 Centerline is valid? [False, False] Translation: X:-3.82, Y:-1.88, Z:-1.21 [[ 9.83199240e-01 -1.47546196e-03 -1.82529664e-01 -3.81576022e+00] [ 4.68910535e-02 9.68451409e-01 2.44751094e-01 -1.88271887e+00] [ 1.76409989e-01 -2.49198097e-01 9.52249875e-01 -1.21294288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.11907232899999 meters Centerline goodness : 0.252927 Centerline is valid? [False, False] Translation: X:-3.82, Y:-1.89, Z:-1.21 [[ 9.83534111e-01 4.83597992e-04 -1.80721936e-01 -3.82156276e+00] [ 4.47693648e-02 9.68175142e-01 2.46236875e-01 -1.88893610e+00] [ 1.75089566e-01 -2.50273173e-01 9.52211627e-01 -1.21121441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.14907232899999 meters Centerline goodness : 0.256524 Centerline is valid? [False, False] Translation: X:-3.82, Y:-1.89, Z:-1.21 [[ 9.83753950e-01 1.33334455e-03 -1.79517095e-01 -3.82460471e+00] [ 4.37136861e-02 9.68094908e-01 2.46741490e-01 -1.89121355e+00] [ 1.74118577e-01 -2.50580269e-01 9.52308905e-01 -1.21135647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.179072329 meters Centerline goodness : 0.267421 Centerline is valid? [False, False] Translation: X:-3.83, Y:-1.89, Z:-1.21 [[ 9.84080513e-01 2.85707591e-03 -1.77700254e-01 -3.82834226e+00] [ 4.18386301e-02 9.68045185e-01 2.47261094e-01 -1.89293794e+00] [ 1.72728319e-01 -2.50759560e-01 9.52514867e-01 -1.21217900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.209072329 meters Centerline goodness : 0.250520 Centerline is valid? [False, False] Translation: X:-3.83, Y:-1.89, Z:-1.21 [[ 0.98447281 0.00501323 -0.17546555 -3.83233971] [ 0.03924999 0.96799688 0.24787392 -1.89450446] [ 0.17109275 -0.25091216 0.95276984 -1.21351921] [ 0. 0. 0. 1. ]] SLAMing on 116.239072329 meters Centerline goodness : 0.255806 Centerline is valid? [False, False] Translation: X:-3.84, Y:-1.90, Z:-1.22 [[ 0.98526468 0.01287174 -0.17055155 -3.83997404] [ 0.03096452 0.96726286 0.25188044 -1.89775048] [ 0.16821032 -0.25344994 0.95261137 -1.21836576] [ 0. 0. 0. 1. ]] SLAMing on 116.269072329 meters Centerline goodness : 0.202695 Centerline is valid? [False, False] Translation: X:-3.85, Y:-1.90, Z:-1.22 [[ 0.9857618 0.01566053 -0.16741693 -3.84638481] [ 0.02752582 0.96719301 0.25254707 -1.89915931] [ 0.1658795 -0.25355954 0.95299085 -1.21993703] [ 0. 0. 0. 1. ]] SLAMing on 116.299072329 meters Centerline goodness : 0.296161 Centerline is valid? [False, False] Translation: X:-3.85, Y:-1.90, Z:-1.22 [[ 0.98626211 0.01867752 -0.1641286 -3.85388701] [ 0.02384509 0.96708355 0.25333933 -1.90025905] [ 0.16345782 -0.25377265 0.9533525 -1.22109205] [ 0. 0. 0. 1. ]] SLAMing on 116.329072329 meters Centerline goodness : 0.275181 Centerline is valid? [False, False] Translation: X:-3.87, Y:-1.90, Z:-1.23 [[ 0.98699404 0.03287789 -0.15735887 -3.86935974] [ 0.0083664 0.96703043 0.25452337 -1.90054005] [ 0.16053901 -0.25252957 0.9541782 -1.22803279] [ 0. 0. 0. 1. ]] SLAMing on 116.35907232899999 meters Centerline goodness : 0.286353 Centerline is valid? [False, False] Translation: X:-3.88, Y:-1.90, Z:-1.23 [[ 0.98748441 0.03595034 -0.15356466 -3.87787502] [ 0.00446086 0.96691859 0.25504614 -1.90113709] [ 0.15765352 -0.25253912 0.95465667 -1.22947585] [ 0. 0. 0. 1. ]] SLAMing on 116.38907232899999 meters Centerline goodness : 0.280358 Centerline is valid? [False, False] Translation: X:-3.89, Y:-1.90, Z:-1.23 [[ 9.87953800e-01 3.90531466e-02 -1.49740242e-01 -3.88591569e+00] [ 5.09969903e-04 9.66805412e-01 2.55513278e-01 -1.90162722e+00] [ 1.54748274e-01 -2.52511677e-01 9.55139165e-01 -1.23135502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.41907232899999 meters Centerline goodness : 0.193902 Centerline is valid? [False, False] Translation: X:-3.90, Y:-1.90, Z:-1.23 [[ 0.98706303 0.05584899 -0.15029126 -3.8978411 ] [-0.0156768 0.96649786 0.25619548 -1.90261017] [ 0.15956444 -0.250525 0.95486984 -1.23363344] [ 0. 0. 0. 1. ]] SLAMing on 116.44907232899999 meters Centerline goodness : 0.108315 Centerline is valid? [False, False] Translation: X:-3.91, Y:-1.90, Z:-1.23 [[ 0.98748996 0.05902595 -0.14621733 -3.90727677] [-0.01975112 0.96629237 0.25668844 -1.90329411] [ 0.15643997 -0.2505893 0.95536984 -1.23474887] [ 0. 0. 0. 1. ]] SLAMing on 116.47907232899999 meters Centerline goodness : 0.229602 Centerline is valid? [False, False] Translation: X:-3.92, Y:-1.90, Z:-1.24 [[ 0.98791536 0.06204443 -0.14203426 -3.91675098] [-0.0237274 0.96612192 0.2569931 -1.90369651] [ 0.1531674 -0.25051733 0.95591883 -1.23608237] [ 0. 0. 0. 1. ]] SLAMing on 116.50907232899999 meters Centerline goodness : 0.130132 Centerline is valid? [False, False] Translation: X:-3.93, Y:-1.90, Z:-1.24 [[ 0.98830731 0.06507007 -0.13789323 -3.92506017] [-0.02771666 0.96596679 0.25717687 -1.90382725] [ 0.1499348 -0.25034784 0.95647557 -1.23838966] [ 0. 0. 0. 1. ]] SLAMing on 116.53907232899999 meters Centerline goodness : 0.130029 Centerline is valid? [False, False] Translation: X:-3.94, Y:-1.90, Z:-1.24 [[ 0.98692113 0.07941476 -0.14028537 -3.93699814] [-0.04132167 0.96578672 0.25602448 -1.90409364] [ 0.15581787 -0.24687914 0.95643687 -1.24146561] [ 0. 0. 0. 1. ]] SLAMing on 116.569072329 meters Centerline goodness : 0.230560 Centerline is valid? [False, False] Translation: X:-3.95, Y:-1.90, Z:-1.24 [[ 0.98729892 0.08247446 -0.13578959 -3.94590276] [-0.04545743 0.96561455 0.25597297 -1.90404188] [ 0.15223164 -0.24654919 0.95709928 -1.24408962] [ 0. 0. 0. 1. ]] SLAMing on 116.599072329 meters Centerline goodness : 0.185697 Centerline is valid? [False, False] Translation: X:-3.96, Y:-1.90, Z:-1.25 [[ 0.98651094 0.09666033 -0.13210959 -3.96156493] [-0.0605521 0.96528062 0.25409993 -1.9043449 ] [ 0.15208421 -0.24267285 0.95811288 -1.24750036] [ 0. 0. 0. 1. ]] SLAMing on 116.629072329 meters Centerline goodness : 0.164221 Centerline is valid? [False, False] Translation: X:-3.97, Y:-1.90, Z:-1.25 [[ 0.98675654 0.09949552 -0.12810999 -3.97003041] [-0.06430575 0.96502062 0.25416525 -1.90461184] [ 0.14891708 -0.24256101 0.95863854 -1.24904794] [ 0. 0. 0. 1. ]] SLAMing on 116.659072329 meters Centerline goodness : 0.170875 Centerline is valid? [False, False] Translation: X:-3.98, Y:-1.90, Z:-1.25 [[ 0.98694173 0.10248754 -0.12426715 -3.97779154] [-0.0681532 0.96470794 0.25434961 -1.90481876] [ 0.14594917 -0.24255904 0.95909538 -1.25078641] [ 0. 0. 0. 1. ]] SLAMing on 116.689072329 meters Centerline goodness : 0.122736 Centerline is valid? [False, False] Translation: X:-3.99, Y:-1.90, Z:-1.26 [[ 0.9869087 0.1106503 -0.11733592 -3.98936618] [-0.07730414 0.96305334 0.25797737 -1.90435884] [ 0.14154603 -0.24552956 0.95899946 -1.2566153 ] [ 0. 0. 0. 1. ]] SLAMing on 116.71907232899999 meters Centerline goodness : 0.151591 Centerline is valid? [False, False] Translation: X:-4.00, Y:-1.90, Z:-1.26 [[ 0.98701297 0.11342699 -0.11375287 -3.99559269] [-0.08090534 0.96275304 0.25799402 -1.90427116] [ 0.13877941 -0.24544023 0.95942658 -1.2591496 ] [ 0. 0. 0. 1. ]] SLAMing on 116.74907232899999 meters Centerline goodness : 0.155413 Centerline is valid? [False, False] Translation: X:-4.00, Y:-1.90, Z:-1.26 [[ 0.98709447 0.11619549 -0.11019578 -4.00158555] [-0.08448054 0.96242363 0.25807712 -1.90476312] [ 0.13604242 -0.2454371 0.9598193 -1.26172832] [ 0. 0. 0. 1. ]] SLAMing on 116.77907232899999 meters Centerline goodness : 0.236691 Centerline is valid? [False, False] Translation: X:-4.01, Y:-1.91, Z:-1.26 [[ 0.98716371 0.11880304 -0.10674101 -4.00758242] [-0.08788636 0.96212444 0.25805533 -1.90522332] [ 0.1333559 -0.24536178 0.9602155 -1.26408738] [ 0. 0. 0. 1. ]] SLAMing on 116.80907232899999 meters Centerline goodness : 0.154119 Centerline is valid? [False, False] Translation: X:-4.02, Y:-1.91, Z:-1.27 [[ 0.9873225 0.12311662 -0.1001827 -4.02035346] [-0.09369495 0.96152338 0.2582519 -1.90744133] [ 0.1281231 -0.2455913 0.96086908 -1.26774652] [ 0. 0. 0. 1. ]] SLAMing on 116.83907232899999 meters Centerline goodness : 0.160229 Centerline is valid? [False, False] Translation: X:-4.03, Y:-1.91, Z:-1.27 [[ 0.98730261 0.12534854 -0.09757714 -4.02565738] [-0.09649009 0.96119264 0.25845381 -1.90787249] [ 0.12618724 -0.24575689 0.96108289 -1.2683269 ] [ 0. 0. 0. 1. ]] SLAMing on 116.86907232899999 meters Centerline goodness : 0.120119 Centerline is valid? [False, False] Translation: X:-4.03, Y:-1.91, Z:-1.27 [[ 0.98729004 0.12687036 -0.09571984 -4.02976469] [-0.09840436 0.96093757 0.25868044 -1.90830319] [ 0.12479967 -0.24597337 0.96120869 -1.2685306 ] [ 0. 0. 0. 1. ]] SLAMing on 116.89907232899999 meters Centerline goodness : 0.124879 Centerline is valid? [False, False] Translation: X:-4.04, Y:-1.91, Z:-1.27 [[ 0.98721624 0.12979605 -0.09250445 -4.0362666 ] [-0.10199186 0.96043608 0.25915286 -1.90920597] [ 0.12248163 -0.24640521 0.96139624 -1.2691605 ] [ 0. 0. 0. 1. ]] SLAMing on 116.929072329 meters Centerline goodness : 0.064006 Centerline is valid? [False, False] Translation: X:-4.04, Y:-1.91, Z:-1.27 [[ 0.9872378 0.13021987 -0.09167506 -4.03781673] [-0.10260726 0.96036264 0.25918207 -1.9099359 ] [ 0.12179196 -0.24646781 0.9614678 -1.26979241] [ 0. 0. 0. 1. ]] SLAMing on 116.959072329 meters Centerline goodness : 0.106668 Centerline is valid? [False, False] Translation: X:-4.04, Y:-1.91, Z:-1.27 [[ 0.98762914 0.1288226 -0.0894059 -4.04276088] [-0.10220598 0.96125355 0.25601865 -1.91161866] [ 0.11892272 -0.24371366 0.96252846 -1.27105006] [ 0. 0. 0. 1. ]] SLAMing on 116.989072329 meters Centerline goodness : 0.106620 Centerline is valid? [False, False] Translation: X:-4.04, Y:-1.91, Z:-1.27 [[ 0.98763224 0.1289067 -0.08925037 -4.04265564] [-0.10232671 0.96124189 0.2560142 -1.91178176] [ 0.11879314 -0.24371518 0.96254408 -1.2716644 ] [ 0. 0. 0. 1. ]] SLAMing on 117.019072329 meters Centerline goodness : 0.107871 Centerline is valid? [False, False] Translation: X:-4.04, Y:-1.91, Z:-1.27 [[ 0.98762229 0.12889395 -0.08937877 -4.04220339] [-0.10227828 0.9612376 0.25604967 -1.91186062] [ 0.11891749 -0.24373886 0.96252273 -1.27178606] [ 0. 0. 0. 1. ]] SLAMing on 117.049072329 meters Centerline goodness : 0.124126 Centerline is valid? [False, False] Translation: X:-4.04, Y:-1.91, Z:-1.27 [[ 0.98806636 0.12514739 -0.08979416 -4.04346765] [-0.09891808 0.96242648 0.25288432 -1.91359794] [ 0.11806809 -0.24098423 0.96332057 -1.27038703] [ 0. 0. 0. 1. ]] SLAMing on 117.079072329 meters Centerline goodness : 0.267864 Centerline is valid? [False, False] Translation: X:-4.05, Y:-1.92, Z:-1.27 [[ 0.98853988 0.12147158 -0.08963017 -4.04559418] [-0.09579478 0.96363918 0.24944518 -1.91511368] [ 0.11667164 -0.2380004 0.9642321 -1.26966527] [ 0. 0. 0. 1. ]] SLAMing on 117.10907232899999 meters Centerline goodness : 0.064344 Centerline is valid? [False, False] Translation: X:-4.05, Y:-1.92, Z:-1.27 [[ 0.98901877 0.11777922 -0.08927449 -4.04797162] [-0.09271015 0.96486249 0.24585608 -1.9163949 ] [ 0.11509434 -0.23487962 0.96518643 -1.2692207 ] [ 0. 0. 0. 1. ]] SLAMing on 117.13907232899999 meters Centerline goodness : 0.178658 Centerline is valid? [False, False] Translation: X:-4.05, Y:-1.92, Z:-1.27 [[ 0.98949344 0.11390065 -0.08904702 -4.04978202] [-0.08942539 0.96612627 0.24208083 -1.91703823] [ 0.11360383 -0.23157433 0.96616122 -1.26911442] [ 0. 0. 0. 1. ]] SLAMing on 117.16907232899999 meters Centerline goodness : 0.075230 Centerline is valid? [False, False] Translation: X:-4.05, Y:-1.92, Z:-1.27 [[ 0.98948522 0.11371301 -0.08937757 -4.04917365] [-0.08917516 0.96617139 0.24199304 -1.91642373] [ 0.1138718 -0.23147828 0.96615269 -1.26886218] [ 0. 0. 0. 1. ]] SLAMing on 117.19907232899999 meters Centerline goodness : 0.111297 Centerline is valid? [False, False] Translation: X:-4.05, Y:-1.92, Z:-1.27 [[ 0.98948521 0.11343764 -0.08972688 -4.04860321] [-0.088842 0.96623906 0.24184537 -1.91552942] [ 0.11413198 -0.2313309 0.96615729 -1.26857451] [ 0. 0. 0. 1. ]] SLAMing on 117.22907232899999 meters Centerline goodness : 0.109488 Centerline is valid? [False, False] Translation: X:-4.05, Y:-1.91, Z:-1.27 [[ 0.9894734 0.11313395 -0.09023909 -4.04778853] [-0.08844218 0.96631056 0.24170617 -1.91453738] [ 0.11454416 -0.23118089 0.96614442 -1.26806685] [ 0. 0. 0. 1. ]] SLAMing on 117.25907232899999 meters Centerline goodness : 0.138910 Centerline is valid? [False, False] Translation: X:-4.05, Y:-1.91, Z:-1.27 [[ 0.98987777 0.10910352 -0.09076572 -4.04937414] [-0.08479094 0.96749637 0.23824626 -1.9143378 ] [ 0.11380901 -0.22813856 0.96695414 -1.26629678] [ 0. 0. 0. 1. ]] SLAMing on 117.28907232899999 meters Centerline goodness : 0.065511 Centerline is valid? [False, False] Translation: X:-4.05, Y:-1.91, Z:-1.27 [[ 0.99030168 0.1052086 -0.09073994 -4.05157354] [-0.08141269 0.9686718 0.23462082 -1.91472052] [ 0.11258135 -0.224958 0.96784262 -1.26519442] [ 0. 0. 0. 1. ]] SLAMing on 117.319072329 meters Centerline goodness : 0.114642 Centerline is valid? [False, False] Translation: X:-4.05, Y:-1.91, Z:-1.26 [[ 0.99071643 0.10125423 -0.09071123 -4.05377851] [-0.07797481 0.96983748 0.23094412 -1.91492801] [ 0.11135921 -0.22172694 0.96872921 -1.26409335] [ 0. 0. 0. 1. ]] SLAMing on 117.349072329 meters Centerline goodness : 0.114642 Centerline is valid? [False, False] Translation: X:-4.05, Y:-1.91, Z:-1.26 [[ 0.99071643 0.10125423 -0.09071123 -4.05377851] [-0.07797481 0.96983748 0.23094412 -1.91492801] [ 0.11135921 -0.22172694 0.96872921 -1.26409335] [ 0. 0. 0. 1. ]] SLAMing on 117.379072329 meters Centerline goodness : 0.277340 Centerline is valid? [False, False] Translation: X:-4.05, Y:-1.91, Z:-1.26 [[ 0.99107076 0.09690799 -0.09158378 -4.05447778] [-0.07393246 0.9709943 0.22738527 -1.91375116] [ 0.11096277 -0.21858388 0.96948871 -1.26262032] [ 0. 0. 0. 1. ]] SLAMing on 117.409072329 meters Centerline goodness : 0.137317 Centerline is valid? [False, False] Translation: X:-4.06, Y:-1.91, Z:-1.26 [[ 0.99137889 0.09322233 -0.09207326 -4.05612937] [-0.07056425 0.97196077 0.22430549 -1.9136381 ] [ 0.11040188 -0.21587465 0.97015955 -1.26096199] [ 0. 0. 0. 1. ]] SLAMing on 117.439072329 meters Centerline goodness : 0.118566 Centerline is valid? [False, False] Translation: X:-4.06, Y:-1.91, Z:-1.26 [[ 0.99160057 0.08902677 -0.09382188 -4.05622087] [-0.06638092 0.97288025 0.22157976 -1.91240647] [ 0.11100398 -0.21349063 0.97061829 -1.25787411] [ 0. 0. 0. 1. ]] SLAMing on 117.46907232899999 meters Centerline goodness : 0.150892 Centerline is valid? [False, False] Translation: X:-4.06, Y:-1.91, Z:-1.26 [[ 0.99193654 0.08503892 -0.09396958 -4.05825527] [-0.06283961 0.97391737 0.21802783 -1.91275886] [ 0.11005945 -0.21036476 0.97140804 -1.25626449] [ 0. 0. 0. 1. ]] SLAMing on 117.49907232899999 meters Centerline goodness : 0.128739 Centerline is valid? [False, False] Translation: X:-4.06, Y:-1.91, Z:-1.26 [[ 0.99229151 0.08077274 -0.09398577 -4.0601494 ] [-0.05908149 0.97500983 0.21416164 -1.9130457 ] [ 0.10893547 -0.20695796 0.97226615 -1.25513345] [ 0. 0. 0. 1. ]] SLAMing on 117.52907232899999 meters Centerline goodness : 0.277320 Centerline is valid? [False, False] Translation: X:-4.06, Y:-1.91, Z:-1.25 [[ 0.99264139 0.07638618 -0.09395867 -4.06174534] [-0.05522276 0.97610952 0.21014438 -1.91316954] [ 0.10776608 -0.20340935 0.97314496 -1.25442529] [ 0. 0. 0. 1. ]] SLAMing on 117.55907232899999 meters Centerline goodness : 0.086376 Centerline is valid? [False, False] Translation: X:-4.06, Y:-1.91, Z:-1.25 [[ 0.99289092 0.07129635 -0.09531244 -4.06058287] [-0.05039778 0.97725192 0.20600666 -1.91135157] [ 0.10783178 -0.1997386 0.97389773 -1.25316212] [ 0. 0. 0. 1. ]] SLAMing on 117.58907232899999 meters Centerline goodness : 0.136771 Centerline is valid? [False, False] Translation: X:-4.06, Y:-1.91, Z:-1.25 [[ 0.99307202 0.0673532 -0.0962887 -4.06138847] [-0.04665279 0.97806722 0.20299763 -1.91051562] [ 0.10784936 -0.19709913 0.9744334 -1.25118557] [ 0. 0. 0. 1. ]] SLAMing on 117.61907232899999 meters Centerline goodness : 0.151705 Centerline is valid? [False, False] Translation: X:-4.06, Y:-1.91, Z:-1.25 [[ 0.99325494 0.06319464 -0.09721658 -4.06222571] [-0.04273431 0.97891998 0.19972344 -1.90968044] [ 0.10778871 -0.19422181 0.97501768 -1.24908768] [ 0. 0. 0. 1. ]] SLAMing on 117.64907232899999 meters Centerline goodness : 0.145404 Centerline is valid? [False, False] Translation: X:-4.06, Y:-1.91, Z:-1.25 [[ 0.99341652 0.05775804 -0.09893241 -4.06034134] [-0.03750272 0.97997737 0.19554513 -1.9085343 ] [ 0.10824583 -0.19054753 0.9756918 -1.24717503] [ 0. 0. 0. 1. ]] SLAMing on 117.679072329 meters Centerline goodness : 0.290377 Centerline is valid? [False, False] Translation: X:-4.06, Y:-1.91, Z:-1.25 [[ 0.99362212 0.05323074 -0.09940613 -4.06083738] [-0.03337271 0.98089089 0.19167507 -1.90890898] [ 0.10770957 -0.18713514 0.97641133 -1.24586854] [ 0. 0. 0. 1. ]] SLAMing on 117.709072329 meters Centerline goodness : 0.157982 Centerline is valid? [False, False] Translation: X:-4.06, Y:-1.91, Z:-1.24 [[ 0.99378272 0.04871869 -0.10011193 -4.06119406] [-0.02919374 0.9817428 0.18795957 -1.90913521] [ 0.10744131 -0.18386833 0.97706131 -1.24420619] [ 0. 0. 0. 1. ]] SLAMing on 117.739072329 meters Centerline goodness : 0.169141 Centerline is valid? [False, False] Translation: X:-4.07, Y:-1.91, Z:-1.24 [[ 0.99475849 0.03563685 -0.09584138 -4.06680794] [-0.0166653 0.98127381 0.19189576 -1.9120679 ] [ 0.1008852 -0.18929271 0.97672435 -1.24495937] [ 0. 0. 0. 1. ]] SLAMing on 117.769072329 meters Centerline goodness : 0.180227 Centerline is valid? [False, False] Translation: X:-4.07, Y:-1.91, Z:-1.24 [[ 0.99481223 0.03118357 -0.09683081 -4.06680968] [-0.01244485 0.9820145 0.18839495 -1.91138733] [ 0.10096408 -0.18621255 0.97730811 -1.24308127] [ 0. 0. 0. 1. ]] SLAMing on 117.799072329 meters Centerline goodness : 0.227556 Centerline is valid? [False, False] Translation: X:-4.07, Y:-1.91, Z:-1.24 [[ 0.994885 0.02657411 -0.09745589 -4.0668092 ] [-0.00817838 0.98279878 0.18449844 -1.91090897] [ 0.10068241 -0.1827577 0.9779891 -1.24182039] [ 0. 0. 0. 1. ]] SLAMing on 117.829072329 meters Centerline goodness : 0.190970 Centerline is valid? [False, False] Translation: X:-4.07, Y:-1.91, Z:-1.24 [[ 9.94910727e-01 1.74170847e-02 -9.92435957e-02 -4.06519589e+00] [ 4.41410822e-04 9.84184163e-01 1.77147786e-01 -1.91126352e+00] [ 1.00759373e-01 -1.76290040e-01 9.79167693e-01 -1.23942321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.85907232899999 meters Centerline goodness : 0.247178 Centerline is valid? [False, False] Translation: X:-4.06, Y:-1.91, Z:-1.24 [[ 0.9948925 0.01271814 -0.10013574 -4.06425043] [ 0.00485245 0.98485766 0.17329698 -1.91163803] [ 0.10082346 -0.17289777 0.97976578 -1.23799168] [ 0. 0. 0. 1. ]] SLAMing on 117.88907232899999 meters Centerline goodness : 0.230677 Centerline is valid? [False, False] Translation: X:-4.06, Y:-1.91, Z:-1.24 [[ 0.99481059 0.00806415 -0.10142417 -4.0630661 ] [ 0.00931286 0.98545231 0.16969685 -1.91192796] [ 0.10131714 -0.16976077 0.98026329 -1.23582581] [ 0. 0. 0. 1. ]] SLAMing on 117.91907232899999 meters Centerline goodness : 0.134539 Centerline is valid? [False, False] Translation: X:-4.06, Y:-1.91, Z:-1.24 [[ 0.99532102 -0.0048062 -0.09650375 -4.06194824] [ 0.02154744 0.98465142 0.17319727 -1.91240254] [ 0.09419013 -0.17446629 0.98014781 -1.23633292] [ 0. 0. 0. 1. ]] SLAMing on 117.94907232899999 meters Centerline goodness : 0.248248 Centerline is valid? [False, False] Translation: X:-4.06, Y:-1.91, Z:-1.23 [[ 0.99511338 -0.00925043 -0.09830461 -4.06029942] [ 0.02596483 0.98507774 0.17014016 -1.91196499] [ 0.09526381 -0.17186121 0.98050422 -1.23376348] [ 0. 0. 0. 1. ]] SLAMing on 117.97907232899999 meters Centerline goodness : 0.258305 Centerline is valid? [False, False] Translation: X:-4.06, Y:-1.91, Z:-1.23 [[ 0.99493851 -0.01396347 -0.09951074 -4.05890865] [ 0.03047929 0.98557984 0.16644337 -1.91143846] [ 0.09575165 -0.16863393 0.98101693 -1.23205948] [ 0. 0. 0. 1. ]] SLAMing on 118.00907232899999 meters Centerline goodness : 0.251023 Centerline is valid? [False, False] Translation: X:-4.05, Y:-1.91, Z:-1.23 [[ 0.99457642 -0.02368929 -0.10127465 -4.05496238] [ 0.03965264 0.98653837 0.15864964 -1.91150188] [ 0.09615303 -0.16180499 0.98212715 -1.23113972] [ 0. 0. 0. 1. ]] SLAMing on 118.03907232899999 meters Centerline goodness : 0.261475 Centerline is valid? [False, False] Translation: X:-4.05, Y:-1.91, Z:-1.23 [[ 0.99440706 -0.02848738 -0.10170089 -4.05362963] [ 0.04407585 0.98701036 0.15449231 -1.91132882] [ 0.09597875 -0.1581108 0.98274567 -1.23099484] [ 0. 0. 0. 1. ]] SLAMing on 118.069072329 meters Centerline goodness : 0.231046 Centerline is valid? [False, False] Translation: X:-4.05, Y:-1.91, Z:-1.23 [[ 0.99422704 -0.03325745 -0.10201241 -4.05314689] [ 0.04845788 0.98744347 0.15035703 -1.91095074] [ 0.09573099 -0.15443233 0.98335458 -1.23032669] [ 0. 0. 0. 1. ]] SLAMing on 118.099072329 meters Centerline goodness : 0.237310 Centerline is valid? [False, False] Translation: X:-4.05, Y:-1.91, Z:-1.24 [[ 0.99493667 -0.04150322 -0.09153422 -4.04802529] [ 0.05520917 0.98672944 0.15269892 -1.90785832] [ 0.08398201 -0.15697928 0.98402466 -1.23604024] [ 0. 0. 0. 1. ]] SLAMing on 118.129072329 meters Centerline goodness : 0.262850 Centerline is valid? [False, False] Translation: X:-4.05, Y:-1.91, Z:-1.23 [[ 0.99469644 -0.04623034 -0.09187899 -4.04853105] [ 0.05960534 0.98709576 0.14862426 -1.9070888 ] [ 0.08382241 -0.1533125 0.98461621 -1.23427456] [ 0. 0. 0. 1. ]] SLAMing on 118.159072329 meters Centerline goodness : 0.290268 Centerline is valid? [False, False] Translation: X:-4.05, Y:-1.91, Z:-1.23 [[ 0.99444483 -0.05089979 -0.09213409 -4.04927611] [ 0.06393749 0.9874221 0.14460151 -1.90649278] [ 0.08361505 -0.14968904 0.98519121 -1.23248489] [ 0. 0. 0. 1. ]] SLAMing on 118.189072329 meters Centerline goodness : 0.257792 Centerline is valid? [False, False] Translation: X:-4.05, Y:-1.90, Z:-1.24 [[ 0.9948963 -0.05886373 -0.08195375 -4.04611966] [ 0.07052413 0.98653566 0.14755929 -1.90317624] [ 0.07216441 -0.15258591 0.98565199 -1.23574991] [ 0. 0. 0. 1. ]] SLAMing on 118.21907232899999 meters Centerline goodness : 0.231119 Centerline is valid? [False, False] Translation: X:-4.04, Y:-1.90, Z:-1.23 [[ 0.99468003 -0.06014871 -0.08362872 -4.04378189] [ 0.07202549 0.98648762 0.14715467 -1.90183755] [ 0.07364753 -0.15239521 0.98557178 -1.23390608] [ 0. 0. 0. 1. ]] SLAMing on 118.24907232899999 meters Centerline goodness : 0.263696 Centerline is valid? [False, False] Translation: X:-4.04, Y:-1.90, Z:-1.23 [[ 0.99427701 -0.06231179 -0.08677829 -4.04118261] [ 0.07463942 0.98632267 0.14695767 -1.89936756] [ 0.0764342 -0.15259371 0.98532887 -1.22949169] [ 0. 0. 0. 1. ]] SLAMing on 118.27907232899999 meters Centerline goodness : 0.232100 Centerline is valid? [False, False] Translation: X:-4.04, Y:-1.90, Z:-1.23 [[ 0.9941855 -0.06277616 -0.08748908 -4.04074707] [ 0.07518481 0.98632789 0.14664424 -1.89742835] [ 0.07708715 -0.15236943 0.98531271 -1.22812023] [ 0. 0. 0. 1. ]] SLAMing on 118.30907232899999 meters Centerline goodness : 0.230150 Centerline is valid? [False, False] Translation: X:-4.04, Y:-1.90, Z:-1.23 [[ 0.99412979 -0.0632013 -0.08781546 -4.04059647] [ 0.07562182 0.98636039 0.1462003 -1.89548998] [ 0.07737764 -0.15198284 0.98534964 -1.22747542] [ 0. 0. 0. 1. ]] SLAMing on 118.33907232899999 meters Centerline goodness : 0.296924 Centerline is valid? [False, False] Translation: X:-4.04, Y:-1.89, Z:-1.23 [[ 0.99410525 -0.06359774 -0.08780703 -4.04069427] [ 0.07597364 0.9864092 0.14568767 -1.8936098 ] [ 0.07734826 -0.1514999 0.98542632 -1.2275984 ] [ 0. 0. 0. 1. ]] SLAMing on 118.36907232899999 meters Centerline goodness : 0.169433 Centerline is valid? [False, False] Translation: X:-4.04, Y:-1.89, Z:-1.23 [[ 0.99405052 -0.06727728 -0.08565826 -4.04381057] [ 0.07891985 0.98689781 0.14072801 -1.89013 ] [ 0.07506816 -0.14665089 0.98633579 -1.22908298] [ 0. 0. 0. 1. ]] SLAMing on 118.39907232899999 meters Centerline goodness : 0.227186 Centerline is valid? [False, False] Translation: X:-4.04, Y:-1.89, Z:-1.23 [[ 0.99404794 -0.06762177 -0.0854166 -4.0441746 ] [ 0.07918638 0.98695116 0.14020318 -1.88832349] [ 0.07482122 -0.14613251 0.98643148 -1.22967527] [ 0. 0. 0. 1. ]] SLAMing on 118.429072329 meters Centerline goodness : 0.173259 Centerline is valid? [False, False] Translation: X:-4.04, Y:-1.89, Z:-1.23 [[ 0.99404597 -0.06798109 -0.08515387 -4.04476029] [ 0.07946341 0.98700599 0.13965937 -1.88631438] [ 0.07455318 -0.14559445 0.98653134 -1.23010077] [ 0. 0. 0. 1. ]] SLAMing on 118.459072329 meters Centerline goodness : 0.237576 Centerline is valid? [False, False] Translation: X:-4.05, Y:-1.88, Z:-1.23 [[ 0.99405545 -0.06858409 -0.08455757 -4.04671138] [ 0.0798997 0.98711199 0.13865769 -1.8823207 ] [ 0.07395808 -0.14458956 0.9867239 -1.23025833] [ 0. 0. 0. 1. ]] SLAMing on 118.489072329 meters Centerline goodness : 0.116127 Centerline is valid? [False, False] Translation: X:-4.05, Y:-1.88, Z:-1.23 [[ 0.99407143 -0.06891953 -0.08409567 -4.04827628] [ 0.08012161 0.9871768 0.138067 -1.88032778] [ 0.07350178 -0.14398634 0.9868462 -1.2301363 ] [ 0. 0. 0. 1. ]] SLAMing on 118.519072329 meters Centerline goodness : 0.242733 Centerline is valid? [False, False] Translation: X:-4.05, Y:-1.88, Z:-1.23 [[ 0.99408706 -0.06925351 -0.08363533 -4.04972167] [ 0.08034162 0.98724369 0.1374595 -1.87832461] [ 0.0730489 -0.14336611 0.98697012 -1.23014329] [ 0. 0. 0. 1. ]] SLAMing on 118.549072329 meters Centerline goodness : 0.193271 Centerline is valid? [False, False] Translation: X:-4.05, Y:-1.87, Z:-1.23 [[ 0.99410332 -0.06993341 -0.08287281 -4.05175877] [ 0.08081586 0.98737724 0.13621664 -1.87437327] [ 0.07230063 -0.14211085 0.98720673 -1.23054843] [ 0. 0. 0. 1. ]] SLAMing on 118.579072329 meters Centerline goodness : 0.113016 Centerline is valid? [False, False] Translation: X:-4.05, Y:-1.87, Z:-1.23 [[ 0.9941061 -0.0702898 -0.08253726 -4.05283586] [ 0.08107944 0.98743576 0.13563456 -1.87234504] [ 0.07196652 -0.14152722 0.98731498 -1.2305825 ] [ 0. 0. 0. 1. ]] SLAMing on 118.60907232899999 meters Centerline goodness : 0.114956 Centerline is valid? [False, False] Translation: X:-4.05, Y:-1.87, Z:-1.23 [[ 0.99407745 -0.07088418 -0.0823739 -4.05456507] [ 0.0815846 0.98751091 0.13478189 -1.86822703] [ 0.07179122 -0.14070408 0.98744538 -1.22986452] [ 0. 0. 0. 1. ]] SLAMing on 118.63907232899999 meters Centerline goodness : 0.115506 Centerline is valid? [False, False] Translation: X:-4.05, Y:-1.87, Z:-1.23 [[ 0.99404867 -0.07120812 -0.08244178 -4.05475886] [ 0.08188616 0.98754187 0.13437151 -1.86647872] [ 0.07184637 -0.14032266 0.98749565 -1.22957183] [ 0. 0. 0. 1. ]] SLAMing on 118.66907232899999 meters Centerline goodness : 0.257445 Centerline is valid? [False, False] Translation: X:-4.05, Y:-1.86, Z:-1.23 [[ 0.99399801 -0.07157603 -0.08273351 -4.05403984] [ 0.08226398 0.9875642 0.13397607 -1.86495741] [ 0.07211517 -0.13997794 0.98752498 -1.22962962] [ 0. 0. 0. 1. ]] SLAMing on 118.69907232899999 meters Centerline goodness : 0.251598 Centerline is valid? [False, False] Translation: X:-4.05, Y:-1.86, Z:-1.23 [[ 0.99393098 -0.07209317 -0.08308901 -4.05242568] [ 0.08279317 0.98758404 0.13350304 -1.86393866] [ 0.07243272 -0.13957201 0.98755919 -1.2303497 ] [ 0. 0. 0. 1. ]] SLAMing on 118.72907232899999 meters Centerline goodness : 0.241382 Centerline is valid? [False, False] Translation: X:-4.05, Y:-1.86, Z:-1.23 [[ 0.99359427 -0.07676857 -0.08292774 -4.0515049 ] [ 0.08710323 0.98778537 0.12920175 -1.86397 ] [ 0.07199617 -0.13559739 0.98814468 -1.23085807] [ 0. 0. 0. 1. ]] SLAMing on 118.75907232899999 meters Centerline goodness : 0.109037 Centerline is valid? [False, False] Translation: X:-4.05, Y:-1.86, Z:-1.23 [[ 0.99347326 -0.07721456 -0.08395714 -4.04906934] [ 0.08768166 0.98774389 0.12912759 -1.86374779] [ 0.07295762 -0.13564631 0.98806744 -1.23058832] [ 0. 0. 0. 1. ]] SLAMing on 118.78907232899999 meters Centerline goodness : 0.168982 Centerline is valid? [False, False] Translation: X:-4.05, Y:-1.86, Z:-1.23 [[ 0.99336894 -0.07747552 -0.0849452 -4.0472214 ] [ 0.0880796 0.9877023 0.12917491 -1.86358308] [ 0.07389267 -0.13580028 0.9879768 -1.22967326] [ 0. 0. 0. 1. ]] SLAMing on 118.819072329 meters Centerline goodness : 0.243816 Centerline is valid? [False, False] Translation: X:-4.04, Y:-1.86, Z:-1.23 [[ 0.99319227 -0.07746262 -0.08699802 -4.04492714] [ 0.08841025 0.98756568 0.12999095 -1.86268234] [ 0.07584682 -0.13679752 0.98769109 -1.22722523] [ 0. 0. 0. 1. ]] SLAMing on 118.849072329 meters Centerline goodness : 0.252759 Centerline is valid? [False, False] Translation: X:-4.04, Y:-1.86, Z:-1.23 [[ 0.99316517 -0.07750797 -0.08726664 -4.04434427] [ 0.08848967 0.98756313 0.12995633 -1.8619028 ] [ 0.07610867 -0.13679029 0.98767195 -1.22712248] [ 0. 0. 0. 1. ]] SLAMing on 118.879072329 meters Centerline goodness : 0.264197 Centerline is valid? [False, False] Translation: X:-4.04, Y:-1.86, Z:-1.23 [[ 0.99314053 -0.07748325 -0.08756841 -4.0431997 ] [ 0.0885087 0.98755795 0.1299827 -1.86158155] [ 0.0764074 -0.13684165 0.98764177 -1.22746687] [ 0. 0. 0. 1. ]] SLAMing on 118.909072329 meters Centerline goodness : 0.046920 Centerline is valid? [False, False] Translation: X:-4.04, Y:-1.86, Z:-1.23 [[ 0.99291175 -0.08127031 -0.08672594 -4.04360587] [ 0.09188377 0.98771736 0.12637953 -1.86342323] [ 0.07538981 -0.13345243 0.9881836 -1.22822499] [ 0. 0. 0. 1. ]] SLAMing on 118.939072329 meters Centerline goodness : 0.111129 Centerline is valid? [False, False] Translation: X:-4.04, Y:-1.86, Z:-1.23 [[ 0.99289049 -0.08114856 -0.08708265 -4.04274058] [ 0.09182491 0.98769892 0.1265663 -1.86399199] [ 0.07574077 -0.13366283 0.98812832 -1.22796771] [ 0. 0. 0. 1. ]] SLAMing on 118.96907232899999 meters Centerline goodness : 0.264493 Centerline is valid? [False, False] Translation: X:-4.04, Y:-1.86, Z:-1.23 [[ 0.99287796 -0.08110054 -0.08727004 -4.04300422] [ 0.09180941 0.98768859 0.1266581 -1.86420305] [ 0.07592358 -0.13376824 0.98810003 -1.22703702] [ 0. 0. 0. 1. ]] SLAMing on 118.99907232899999 meters Centerline goodness : 0.109572 Centerline is valid? [False, False] Translation: X:-4.04, Y:-1.86, Z:-1.23 [[ 0.99308106 -0.07680061 -0.0888351 -4.04093394] [ 0.08807524 0.98747788 0.13088234 -1.86371824] [ 0.07767085 -0.13780094 0.98740981 -1.22560888] [ 0. 0. 0. 1. ]] SLAMing on 119.02907232899999 meters Centerline goodness : 0.249747 Centerline is valid? [False, False] Translation: X:-4.04, Y:-1.86, Z:-1.23 [[ 0.99310948 -0.07667262 -0.08862768 -4.04134534] [ 0.08792351 0.98748409 0.13093747 -1.86367936] [ 0.0774791 -0.1378277 0.98742114 -1.22579792] [ 0. 0. 0. 1. ]] SLAMing on 119.05907232899999 meters Centerline goodness : 0.110524 Centerline is valid? [False, False] Translation: X:-4.04, Y:-1.86, Z:-1.23 [[ 0.99323617 -0.07599803 -0.08778503 -4.04149654] [ 0.08715143 0.98752598 0.13113758 -1.86419578] [ 0.0767238 -0.13790118 0.98746986 -1.22795357] [ 0. 0. 0. 1. ]] SLAMing on 119.08907232899999 meters Centerline goodness : 0.114021 Centerline is valid? [False, False] Translation: X:-4.04, Y:-1.86, Z:-1.23 [[ 0.99331009 -0.07570701 -0.08719816 -4.04229558] [ 0.08678724 0.98754664 0.13122347 -1.86463406] [ 0.07617772 -0.13791329 0.98751045 -1.2288456 ] [ 0. 0. 0. 1. ]] SLAMing on 119.11907232899999 meters Centerline goodness : 0.113565 Centerline is valid? [False, False] Translation: X:-4.04, Y:-1.86, Z:-1.23 [[ 0.99342376 -0.07519877 -0.08633869 -4.04387981] [ 0.08616814 0.98759138 0.1312948 -1.86480431] [ 0.07539414 -0.13787102 0.98757648 -1.22953048] [ 0. 0. 0. 1. ]] SLAMing on 119.14907232899999 meters Centerline goodness : 0.256159 Centerline is valid? [False, False] Translation: X:-4.05, Y:-1.86, Z:-1.23 [[ 0.99360179 -0.0742501 -0.08510237 -4.04642463] [ 0.08506466 0.98766751 0.13144156 -1.86455972] [ 0.0742933 -0.13783978 0.98766427 -1.22997619] [ 0. 0. 0. 1. ]] SLAMing on 119.179072329 meters Centerline goodness : 0.296330 Centerline is valid? [False, False] Translation: X:-4.05, Y:-1.86, Z:-1.23 [[ 0.99408237 -0.06890303 -0.08397979 -4.04904016] [ 0.07988278 0.98757845 0.13530536 -1.86282288] [ 0.07361368 -0.14121321 0.9872385 -1.23097236] [ 0. 0. 0. 1. ]] SLAMing on 119.209072329 meters Centerline goodness : 0.115796 Centerline is valid? [False, False] Translation: X:-4.05, Y:-1.86, Z:-1.23 [[ 0.99438665 -0.06685351 -0.08201101 -4.05229125] [ 0.07758622 0.98772606 0.13556402 -1.86196074] [ 0.07194148 -0.14116597 0.98736852 -1.23193112] [ 0. 0. 0. 1. ]] SLAMing on 119.239072329 meters Centerline goodness : 0.123828 Centerline is valid? [False, False] Translation: X:-4.06, Y:-1.86, Z:-1.23 [[ 0.99469667 -0.06479984 -0.07987191 -4.05549787] [ 0.07525542 0.98788243 0.13573848 -1.86110642] [ 0.07010823 -0.14102941 0.9875199 -1.23340656] [ 0. 0. 0. 1. ]] SLAMing on 119.269072329 meters Centerline goodness : 0.123828 Centerline is valid? [False, False] Translation: X:-4.06, Y:-1.86, Z:-1.23 [[ 0.99469667 -0.06479984 -0.07987191 -4.05549787] [ 0.07525542 0.98788243 0.13573848 -1.86110642] [ 0.07010823 -0.14102941 0.9875199 -1.23340656] [ 0. 0. 0. 1. ]] SLAMing on 119.299072329 meters Centerline goodness : 0.118549 Centerline is valid? [False, False] Translation: X:-4.05, Y:-1.85, Z:-1.24 [[ 0.99543674 -0.05198483 -0.08002043 -4.05137346] [ 0.06217516 0.9894789 0.13063597 -1.85451555] [ 0.07238744 -0.13501513 0.98819582 -1.23549184] [ 0. 0. 0. 1. ]] SLAMing on 119.329072329 meters Centerline goodness : 0.253857 Centerline is valid? [False, False] Translation: X:-4.05, Y:-1.85, Z:-1.24 [[ 0.99570358 -0.05009864 -0.0778749 -4.05459629] [ 0.0600157 0.98960044 0.13072519 -1.85385823] [ 0.07051588 -0.13483726 0.98835541 -1.2370245 ] [ 0. 0. 0. 1. ]] SLAMing on 119.35907232899999 meters Centerline goodness : 0.255022 Centerline is valid? [False, False] Translation: X:-4.06, Y:-1.85, Z:-1.24 [[ 0.99593436 -0.04844803 -0.07594437 -4.05748909] [ 0.0581169 0.98970789 0.1307697 -1.85313149] [ 0.06882721 -0.13465169 0.98849974 -1.23848842] [ 0. 0. 0. 1. ]] SLAMing on 119.38907232899999 meters Centerline goodness : 0.126186 Centerline is valid? [False, False] Translation: X:-4.06, Y:-1.85, Z:-1.24 [[ 0.99628512 -0.04352281 -0.07430833 -4.05955165] [ 0.0532409 0.98951485 0.1342601 -1.85208728] [ 0.06768582 -0.13771758 0.98815611 -1.24110349] [ 0. 0. 0. 1. ]] SLAMing on 119.41907232899999 meters Centerline goodness : 0.128073 Centerline is valid? [False, False] Translation: X:-4.06, Y:-1.85, Z:-1.24 [[ 0.99645515 -0.04227291 -0.07273331 -4.06221201] [ 0.05178732 0.98958059 0.13434404 -1.85184067] [ 0.06629636 -0.13763447 0.98826188 -1.24208599] [ 0. 0. 0. 1. ]] SLAMing on 119.44907232899999 meters Centerline goodness : 0.254563 Centerline is valid? [False, False] Translation: X:-4.06, Y:-1.85, Z:-1.24 [[ 0.99697832 -0.03139877 -0.07105174 -4.06147548] [ 0.04050388 0.99061082 0.13057429 -1.84576277] [ 0.06628475 -0.13305761 0.98888928 -1.24407104] [ 0. 0. 0. 1. ]] SLAMing on 119.47907232899999 meters Centerline goodness : 0.133668 Centerline is valid? [False, False] Translation: X:-4.07, Y:-1.85, Z:-1.25 [[ 0.99722193 -0.02909131 -0.06857194 -4.06560365] [ 0.03789832 0.99067696 0.13085441 -1.84550004] [ 0.06412591 -0.13308965 0.98902731 -1.24530264] [ 0. 0. 0. 1. ]] SLAMing on 119.50907232899999 meters Centerline goodness : 0.272268 Centerline is valid? [False, False] Translation: X:-4.07, Y:-1.85, Z:-1.25 [[ 0.99743585 -0.02707848 -0.06624568 -4.06971627] [ 0.03560092 0.99073526 0.13105805 -1.84538709] [ 0.06208308 -0.1330804 0.98915888 -1.24624067] [ 0. 0. 0. 1. ]] SLAMing on 119.53907232899999 meters Centerline goodness : 0.189020 Centerline is valid? [False, False] Translation: X:-4.07, Y:-1.85, Z:-1.25 [[ 0.99762597 -0.0253271 -0.06403883 -4.07366046] [ 0.03357431 0.99078953 0.13118261 -1.84532233] [ 0.06012653 -0.13302124 0.9892877 -1.24722464] [ 0. 0. 0. 1. ]] SLAMing on 119.569072329 meters Centerline goodness : 0.203047 Centerline is valid? [False, False] Translation: X:-4.08, Y:-1.85, Z:-1.25 [[ 0.99792981 -0.01915366 -0.06139412 -4.07794827] [ 0.02732638 0.99044434 0.13517871 -1.84512166] [ 0.05821829 -0.13657654 0.98891733 -1.24932818] [ 0. 0. 0. 1. ]] SLAMing on 119.599072329 meters Centerline goodness : 0.210017 Centerline is valid? [False, False] Translation: X:-4.08, Y:-1.85, Z:-1.25 [[ 0.9981342 -0.01674233 -0.05871806 -4.08277309] [ 0.02458664 0.99046822 0.13552933 -1.84522554] [ 0.0558893 -0.13672014 0.98903184 -1.2503056 ] [ 0. 0. 0. 1. ]] SLAMing on 119.629072329 meters Centerline goodness : 0.282533 Centerline is valid? [False, False] Translation: X:-4.09, Y:-1.85, Z:-1.25 [[ 0.99833664 -0.01429216 -0.05585411 -4.08795771] [ 0.02177728 0.9904976 0.13579491 -1.84507812] [ 0.05338256 -0.13678539 0.98916129 -1.2514212 ] [ 0. 0. 0. 1. ]] SLAMing on 119.659072329 meters Centerline goodness : 0.194840 Centerline is valid? [False, False] Translation: X:-4.09, Y:-1.84, Z:-1.25 [[ 9.98168216e-01 -2.76553865e-04 -6.04990597e-02 -4.08777458e+00] [ 8.32349172e-03 9.91108182e-01 1.32797933e-01 -1.84214111e+00] [ 5.99243872e-02 -1.33058239e-01 9.89294988e-01 -1.25006608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.689072329 meters Centerline goodness : 0.168204 Centerline is valid? [False, False] Translation: X:-4.09, Y:-1.84, Z:-1.25 [[ 9.98347244e-01 2.19940208e-03 -5.74277159e-02 -4.09345756e+00] [ 5.46295057e-03 9.91110592e-01 1.32928364e-01 -1.84170463e+00] [ 5.72095804e-02 -1.33022391e-01 9.89460513e-01 -1.25123279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.71907232899999 meters Centerline goodness : 0.204174 Centerline is valid? [False, False] Translation: X:-4.10, Y:-1.84, Z:-1.25 [[ 9.98503795e-01 4.68577924e-03 -5.44813173e-02 -4.09930393e+00] [ 2.61107490e-03 9.91099718e-01 1.33095950e-01 -1.84110545e+00] [ 5.46200764e-02 -1.33039066e-01 9.89604595e-01 -1.25182193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.74907232899999 meters Centerline goodness : 0.173086 Centerline is valid? [False, False] Translation: X:-4.11, Y:-1.84, Z:-1.25 [[ 0.99865409 0.0112453 -0.05063156 -4.10664472] [-0.00423417 0.99063033 0.136505 -1.83909553] [ 0.0516922 -0.13610689 0.98934465 -1.25313979] [ 0. 0. 0. 1. ]] SLAMing on 119.77907232899999 meters Centerline goodness : 0.161304 Centerline is valid? [False, False] Translation: X:-4.11, Y:-1.84, Z:-1.25 [[ 0.99874297 0.01256171 -0.04852507 -4.11077665] [-0.00583792 0.99065118 0.13629438 -1.8383901 ] [ 0.04978351 -0.13583976 0.98947924 -1.25377435] [ 0. 0. 0. 1. ]] SLAMing on 119.80907232899999 meters Centerline goodness : 0.171337 Centerline is valid? [False, False] Translation: X:-4.11, Y:-1.84, Z:-1.26 [[ 0.99875134 0.01767551 -0.04672618 -4.11393292] [-0.0109846 0.99012557 0.13975226 -1.8358317 ] [ 0.04873498 -0.13906449 0.9890834 -1.25504208] [ 0. 0. 0. 1. ]] SLAMing on 119.83907232899999 meters Centerline goodness : 0.166055 Centerline is valid? [False, False] Translation: X:-4.12, Y:-1.83, Z:-1.26 [[ 0.99880566 0.01894578 -0.04503669 -4.11720039] [-0.01248898 0.99013635 0.13954941 -1.83423015] [ 0.04723634 -0.13882028 0.98919041 -1.25551824] [ 0. 0. 0. 1. ]] SLAMing on 119.86907232899999 meters Centerline goodness : 0.157184 Centerline is valid? [False, False] Translation: X:-4.12, Y:-1.83, Z:-1.26 [[ 0.99885941 0.01993084 -0.0433894 -4.12038918] [-0.01370385 0.99014849 0.13934909 -1.83340189] [ 0.0457393 -0.13859555 0.98929227 -1.25615373] [ 0. 0. 0. 1. ]] SLAMing on 119.89907232899999 meters Centerline goodness : 0.101204 Centerline is valid? [False, False] Translation: X:-4.12, Y:-1.83, Z:-1.26 [[ 0.99891117 0.02078786 -0.04176522 -4.12331743] [-0.0147895 0.99016623 0.13911187 -1.83288471] [ 0.04424635 -0.13834272 0.98939555 -1.25715191] [ 0. 0. 0. 1. ]] SLAMing on 119.929072329 meters Centerline goodness : 0.271942 Centerline is valid? [False, False] Translation: X:-4.13, Y:-1.83, Z:-1.26 [[ 0.99900063 0.02334247 -0.03811663 -4.12941283] [-0.01783221 0.99013344 0.13898845 -1.83272828] [ 0.04098488 -0.13816985 0.98956017 -1.25933427] [ 0. 0. 0. 1. ]] SLAMing on 119.959072329 meters Centerline goodness : 0.083911 Centerline is valid? [False, False] Translation: X:-4.13, Y:-1.83, Z:-1.26 [[ 0.99903661 0.02380979 -0.03686378 -4.13220273] [-0.01847939 0.99015868 0.13872384 -1.83227607] [ 0.03980398 -0.13790898 0.98964476 -1.25954893] [ 0. 0. 0. 1. ]] SLAMing on 119.989072329 meters Centerline goodness : 0.100105 Centerline is valid? [False, False] Translation: X:-4.13, Y:-1.83, Z:-1.26 [[ 0.9990657 0.0242401 -0.03577917 -4.13474096] [-0.01906459 0.99017947 0.13849608 -1.83174805] [ 0.03878495 -0.13768457 0.98971647 -1.25955391] [ 0. 0. 0. 1. ]] SLAMing on 120.019072329 meters Centerline goodness : 0.156330 Centerline is valid? [False, False] Translation: X:-4.14, Y:-1.83, Z:-1.26 [[ 0.99909345 0.02453164 -0.03479199 -4.1371485 ] [-0.01949933 0.99020643 0.13824257 -1.83111272] [ 0.03784257 -0.13743882 0.9897871 -1.25950216] [ 0. 0. 0. 1. ]] SLAMing on 120.049072329 meters Centerline goodness : 0.105034 Centerline is valid? [False, False] Translation: X:-4.14, Y:-1.83, Z:-1.26 [[ 0.99912683 0.02532703 -0.03322832 -4.14011593] [-0.02051054 0.99021533 0.13803231 -1.83071453] [ 0.03639914 -0.13723025 0.98987017 -1.26026094] [ 0. 0. 0. 1. ]] SLAMing on 120.079072329 meters Centerline goodness : 0.101295 Centerline is valid? [False, False] Translation: X:-4.14, Y:-1.83, Z:-1.26 [[ 0.99923152 0.02379466 -0.03114773 -4.14453092] [-0.01938561 0.99066919 0.13490278 -1.8320873 ] [ 0.03406707 -0.1341953 0.99036915 -1.26010223] [ 0. 0. 0. 1. ]] SLAMing on 120.10907232899999 meters Centerline goodness : 0.105059 Centerline is valid? [False, False] Translation: X:-4.15, Y:-1.83, Z:-1.26 [[ 0.99933362 0.02216597 -0.02899966 -4.14898481] [-0.01815923 0.99111149 0.1317887 -1.83448742] [ 0.03166312 -0.13117427 0.99085355 -1.25990705] [ 0. 0. 0. 1. ]] SLAMing on 120.13907232899999 meters Centerline goodness : 0.108209 Centerline is valid? [False, False] Translation: X:-4.15, Y:-1.84, Z:-1.26 [[ 0.99932723 0.02222388 -0.02917523 -4.14884294] [-0.01818686 0.99108306 0.13199853 -1.8351341 ] [ 0.03184859 -0.13137912 0.99082046 -1.25944897] [ 0. 0. 0. 1. ]] SLAMing on 120.16907232899999 meters Centerline goodness : 0.087280 Centerline is valid? [False, False] Translation: X:-4.15, Y:-1.84, Z:-1.26 [[ 0.99929548 0.02200813 -0.03040037 -4.14685562] [-0.0177937 0.99101783 0.13254074 -1.83587919] [ 0.03304428 -0.13190643 0.99071124 -1.25822451] [ 0. 0. 0. 1. ]] SLAMing on 120.19907232899999 meters Centerline goodness : 0.102795 Centerline is valid? [False, False] Translation: X:-4.15, Y:-1.84, Z:-1.26 [[ 0.99936318 0.01850972 -0.03050615 -4.14808546] [-0.0144141 0.99148872 0.12939227 -1.83724042] [ 0.03264152 -0.12887015 0.99112412 -1.25682755] [ 0. 0. 0. 1. ]] SLAMing on 120.22907232899999 meters Centerline goodness : 0.107133 Centerline is valid? [False, False] Translation: X:-4.15, Y:-1.84, Z:-1.26 [[ 0.9994322 0.01460498 -0.03036409 -4.14873436] [-0.01067599 0.99200457 0.12574961 -1.83882992] [ 0.03195789 -0.12535404 0.99159723 -1.25654098] [ 0. 0. 0. 1. ]] SLAMing on 120.25907232899999 meters Centerline goodness : 0.103393 Centerline is valid? [False, False] Translation: X:-4.15, Y:-1.84, Z:-1.26 [[ 0.99948496 0.01059342 -0.03029194 -4.1488758 ] [-0.00682171 0.99250579 0.12200707 -1.84051088] [ 0.0313574 -0.12173759 0.99206687 -1.25660663] [ 0. 0. 0. 1. ]] SLAMing on 120.28907232899999 meters Centerline goodness : 0.101816 Centerline is valid? [False, False] Translation: X:-4.15, Y:-1.84, Z:-1.26 [[ 9.99513086e-01 2.84130492e-03 -3.10727706e-02 -4.14827635e+00] [ 7.60542878e-04 9.93331028e-01 1.15294801e-01 -1.84447439e+00] [ 3.11931349e-02 -1.15262294e-01 9.92845200e-01 -1.25530545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.319072329 meters Centerline goodness : 0.176645 Centerline is valid? [False, False] Translation: X:-4.15, Y:-1.85, Z:-1.25 [[ 9.99479284e-01 -8.78297658e-04 -3.22550551e-02 -4.14778840e+00] [ 4.50376780e-03 9.93641462e-01 1.12500495e-01 -1.84600221e+00] [ 3.19511511e-02 -1.12587183e-01 9.93128013e-01 -1.25294548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.349072329 meters Centerline goodness : 0.140559 Centerline is valid? [False, False] Translation: X:-4.15, Y:-1.85, Z:-1.25 [[ 0.9994106 -0.00454076 -0.03402687 -4.14662846] [ 0.00826594 0.99388047 0.1101512 -1.84729285] [ 0.03331847 -0.11036754 0.99333221 -1.25001727] [ 0. 0. 0. 1. ]] SLAMing on 120.379072329 meters Centerline goodness : 0.088704 Centerline is valid? [False, False] Translation: X:-4.14, Y:-1.85, Z:-1.25 [[ 0.9993214 -0.00853115 -0.03583247 -4.14489221] [ 0.01233857 0.99413733 0.10741847 -1.84864207] [ 0.034706 -0.1077877 0.99356797 -1.24730094] [ 0. 0. 0. 1. ]] SLAMing on 120.409072329 meters Centerline goodness : 0.137195 Centerline is valid? [False, False] Translation: X:-4.14, Y:-1.85, Z:-1.24 [[ 0.99907642 -0.0163869 -0.03972129 -4.13858141] [ 0.02039059 0.99451543 0.10258309 -1.85186117] [ 0.03782242 -0.10329829 0.99393105 -1.24437422] [ 0. 0. 0. 1. ]] SLAMing on 120.439072329 meters Centerline goodness : 0.156924 Centerline is valid? [False, False] Translation: X:-4.14, Y:-1.85, Z:-1.24 [[ 0.99895149 -0.02081404 -0.04077626 -4.13609493] [ 0.02476708 0.99478204 0.09897115 -1.8533092 ] [ 0.0385035 -0.09987729 0.9942545 -1.24386645] [ 0. 0. 0. 1. ]] SLAMing on 120.46907232899999 meters Centerline goodness : 0.168243 Centerline is valid? [False, False] Translation: X:-4.13, Y:-1.85, Z:-1.24 [[ 0.99880767 -0.02520302 -0.04180965 -4.13365391] [ 0.02910021 0.99501473 0.09538795 -1.85477439] [ 0.03919716 -0.09649089 0.99456176 -1.2433252 ] [ 0. 0. 0. 1. ]] SLAMing on 120.49907232899999 meters Centerline goodness : 0.166307 Centerline is valid? [False, False] Translation: X:-4.13, Y:-1.86, Z:-1.24 [[ 0.99842832 -0.03180859 -0.04614215 -4.12583143] [ 0.03595784 0.99510266 0.09207458 -1.85717162] [ 0.04298741 -0.09358904 0.99468245 -1.24067261] [ 0. 0. 0. 1. ]] SLAMing on 120.52907232899999 meters Centerline goodness : 0.182196 Centerline is valid? [False, False] Translation: X:-4.12, Y:-1.86, Z:-1.24 [[ 0.99818701 -0.03561819 -0.04851846 -4.12303736] [ 0.03987866 0.99515401 0.08987879 -1.85869885] [ 0.04508202 -0.09165069 0.99477021 -1.23763744] [ 0. 0. 0. 1. ]] SLAMing on 120.55907232899999 meters Centerline goodness : 0.260087 Centerline is valid? [False, False] Translation: X:-4.12, Y:-1.86, Z:-1.23 [[ 0.99791794 -0.03949919 -0.05098621 -4.11991719] [ 0.04386894 0.99518553 0.08764287 -1.86038871] [ 0.04727891 -0.0896971 0.99484629 -1.23463046] [ 0. 0. 0. 1. ]] SLAMing on 120.58907232899999 meters Centerline goodness : 0.142355 Centerline is valid? [False, False] Translation: X:-4.11, Y:-1.86, Z:-1.23 [[ 0.99727125 -0.04631381 -0.0574898 -4.10807254] [ 0.05106926 0.99513842 0.08421077 -1.86310078] [ 0.05331019 -0.08691695 0.99478815 -1.2286985 ] [ 0. 0. 0. 1. ]] SLAMing on 120.61907232899999 meters Centerline goodness : 0.147875 Centerline is valid? [False, False] Translation: X:-4.11, Y:-1.87, Z:-1.23 [[ 0.99695003 -0.05087054 -0.05918471 -4.1051358 ] [ 0.05558687 0.99516448 0.08098001 -1.86527288] [ 0.05477903 -0.08402292 0.99495699 -1.22664294] [ 0. 0. 0. 1. ]] SLAMing on 120.64907232899999 meters Centerline goodness : 0.134623 Centerline is valid? [False, False] Translation: X:-4.09, Y:-1.87, Z:-1.23 [[ 0.99685188 -0.06008297 -0.05173357 -4.09335069] [ 0.06425258 0.9944665 0.08311431 -1.86669932] [ 0.04645355 -0.08617667 0.99519629 -1.22863495] [ 0. 0. 0. 1. ]] SLAMing on 120.679072329 meters Centerline goodness : 0.129307 Centerline is valid? [False, False] Translation: X:-4.09, Y:-1.87, Z:-1.23 [[ 0.99652922 -0.06245659 -0.05503353 -4.08731081] [ 0.06690166 0.99429967 0.08302013 -1.86746884] [ 0.04953466 -0.08641382 0.99502712 -1.22698467] [ 0. 0. 0. 1. ]] SLAMing on 120.709072329 meters Centerline goodness : 0.128759 Centerline is valid? [False, False] Translation: X:-4.08, Y:-1.87, Z:-1.23 [[ 0.99620039 -0.06476923 -0.05822134 -4.08145356] [ 0.06947904 0.99413405 0.08288636 -1.86805523] [ 0.05251133 -0.08661659 0.99485684 -1.22542877] [ 0. 0. 0. 1. ]] SLAMing on 120.739072329 meters Centerline goodness : 0.228004 Centerline is valid? [False, False] Translation: X:-4.07, Y:-1.87, Z:-1.22 [[ 0.99548031 -0.07170922 -0.06226351 -4.07326328] [ 0.07653913 0.99393155 0.07900525 -1.86968771] [ 0.05622026 -0.08341376 0.99492785 -1.2231212 ] [ 0. 0. 0. 1. ]] SLAMing on 120.769072329 meters Centerline goodness : 0.124964 Centerline is valid? [False, False] Translation: X:-4.07, Y:-1.87, Z:-1.22 [[ 0.99510366 -0.07617014 -0.06298269 -4.07076898] [ 0.08083766 0.99388499 0.07521895 -1.87077021] [ 0.05686811 -0.07994203 0.99517601 -1.22275366] [ 0. 0. 0. 1. ]] SLAMing on 120.799072329 meters Centerline goodness : 0.227158 Centerline is valid? [False, False] Translation: X:-4.07, Y:-1.87, Z:-1.22 [[ 0.9947176 -0.08061465 -0.0635467 -4.06858957] [ 0.08510399 0.99380864 0.07142621 -1.87198557] [ 0.05739526 -0.07645698 0.99541957 -1.22243605] [ 0. 0. 0. 1. ]] SLAMing on 120.829072329 meters Centerline goodness : 0.119676 Centerline is valid? [False, False] Translation: X:-4.06, Y:-1.87, Z:-1.22 [[ 0.99402089 -0.08675972 -0.0662964 -4.06322732] [ 0.09123187 0.99352565 0.06770174 -1.8739805 ] [ 0.05999339 -0.07334529 0.99550051 -1.22041388] [ 0. 0. 0. 1. ]] SLAMing on 120.85907232899999 meters Centerline goodness : 0.225961 Centerline is valid? [False, False] Translation: X:-4.06, Y:-1.87, Z:-1.22 [[ 0.99385062 -0.08743273 -0.06794458 -4.06034872] [ 0.09203259 0.99344466 0.06780637 -1.8741191 ] [ 0.06157069 -0.07364251 0.99538225 -1.21897354] [ 0. 0. 0. 1. ]] SLAMing on 120.88907232899999 meters Centerline goodness : 0.233834 Centerline is valid? [False, False] Translation: X:-4.06, Y:-1.87, Z:-1.22 [[ 0.99370937 -0.08791134 -0.06937782 -4.05797907] [ 0.09262319 0.99338325 0.06790182 -1.8740673 ] [ 0.06294943 -0.07390067 0.99527688 -1.21740163] [ 0. 0. 0. 1. ]] SLAMing on 120.91907232899999 meters Centerline goodness : 0.297870 Centerline is valid? [False, False] Translation: X:-4.05, Y:-1.87, Z:-1.21 [[ 0.99327916 -0.09020505 -0.07252283 -4.05297782] [ 0.09513298 0.99316414 0.0676365 -1.87429352] [ 0.06592592 -0.07408124 0.99507072 -1.21469909] [ 0. 0. 0. 1. ]] SLAMing on 120.94907232899999 meters Centerline goodness : 0.223150 Centerline is valid? [False, False] Translation: X:-4.05, Y:-1.87, Z:-1.21 [[ 0.99317022 -0.09055293 -0.07357358 -4.0501788 ] [ 0.09555631 0.99312635 0.06759474 -1.87394847] [ 0.06694696 -0.07416351 0.99499642 -1.21470499] [ 0. 0. 0. 1. ]] SLAMing on 120.97907232899999 meters Centerline goodness : 0.221448 Centerline is valid? [False, False] Translation: X:-4.04, Y:-1.87, Z:-1.22 [[ 0.99279392 -0.09295096 -0.07563306 -4.04495609] [ 0.09804636 0.99294413 0.06669982 -1.87270722] [ 0.06889959 -0.07363472 0.99490239 -1.2154856 ] [ 0. 0. 0. 1. ]] SLAMing on 121.00907232899999 meters Centerline goodness : 0.214044 Centerline is valid? [False, False] Translation: X:-4.04, Y:-1.87, Z:-1.22 [[ 0.99272151 -0.09316157 -0.07632123 -4.04320795] [ 0.09829892 0.99292784 0.06657047 -1.87183574] [ 0.06957966 -0.07358824 0.9948585 -1.21534101] [ 0. 0. 0. 1. ]] SLAMing on 121.03907232899999 meters Centerline goodness : 0.289281 Centerline is valid? [False, False] Translation: X:-4.04, Y:-1.87, Z:-1.21 [[ 0.9926518 -0.09338125 -0.07695674 -4.04202545] [ 0.0985538 0.99291387 0.06640179 -1.87085323] [ 0.07021073 -0.07349824 0.99482082 -1.21463422] [ 0. 0. 0. 1. ]] SLAMing on 121.069072329 meters Centerline goodness : 0.280461 Centerline is valid? [False, False] Translation: X:-4.04, Y:-1.87, Z:-1.21 [[ 0.99260424 -0.09193106 -0.07928117 -4.03801685] [ 0.09746878 0.99283967 0.06905952 -1.86885416] [ 0.07236477 -0.07627621 0.99445728 -1.2141394 ] [ 0. 0. 0. 1. ]] SLAMing on 121.099072329 meters Centerline goodness : 0.206050 Centerline is valid? [False, False] Translation: X:-4.04, Y:-1.87, Z:-1.21 [[ 0.99242252 -0.09276652 -0.08057239 -4.03649305] [ 0.09836348 0.99278905 0.06851665 -1.86673397] [ 0.07363534 -0.07592285 0.99439105 -1.21199472] [ 0. 0. 0. 1. ]] SLAMing on 121.129072329 meters Centerline goodness : 0.219476 Centerline is valid? [False, False] Translation: X:-4.04, Y:-1.87, Z:-1.21 [[ 0.9923598 -0.0930173 -0.0810544 -4.03530247] [ 0.09863051 0.99278167 0.06823918 -1.86556814] [ 0.07412189 -0.07571225 0.99437096 -1.21178856] [ 0. 0. 0. 1. ]] SLAMing on 121.159072329 meters Centerline goodness : 0.219476 Centerline is valid? [False, False] Translation: X:-4.04, Y:-1.87, Z:-1.21 [[ 0.9923598 -0.0930173 -0.0810544 -4.03530247] [ 0.09863051 0.99278167 0.06823918 -1.86556814] [ 0.07412189 -0.07571225 0.99437096 -1.21178856] [ 0. 0. 0. 1. ]] SLAMing on 121.189072329 meters Centerline goodness : 0.284961 Centerline is valid? [False, False] Translation: X:-4.03, Y:-1.86, Z:-1.21 [[ 0.99230809 -0.09322801 -0.08144438 -4.03387353] [ 0.09885144 0.99277763 0.06797775 -1.86437372] [ 0.07451873 -0.07550577 0.994357 -1.21219663] [ 0. 0. 0. 1. ]] SLAMing on 121.21907232899999 meters Centerline goodness : 0.277339 Centerline is valid? [False, False] Translation: X:-4.03, Y:-1.86, Z:-1.21 [[ 0.99226914 -0.09338991 -0.081733 -4.03259541] [ 0.09901723 0.99277757 0.06773682 -1.86318176] [ 0.07481675 -0.07530613 0.99434976 -1.21278941] [ 0. 0. 0. 1. ]] SLAMing on 121.24907232899999 meters Centerline goodness : 0.209536 Centerline is valid? [False, False] Translation: X:-4.03, Y:-1.86, Z:-1.21 [[ 0.9922009 -0.09384589 -0.08203849 -4.03182838] [ 0.09944651 0.9927797 0.06707358 -1.85988565] [ 0.07515157 -0.0747089 0.99436956 -1.21289706] [ 0. 0. 0. 1. ]] SLAMing on 121.27907232899999 meters Centerline goodness : 0.277701 Centerline is valid? [False, False] Translation: X:-4.03, Y:-1.86, Z:-1.21 [[ 0.99217156 -0.09229372 -0.08412763 -4.02802917] [ 0.09825078 0.99272116 0.06965253 -1.85690317] [ 0.07708679 -0.07737287 0.99401764 -1.21305181] [ 0. 0. 0. 1. ]] SLAMing on 121.30907232899999 meters Centerline goodness : 0.086521 Centerline is valid? [False, False] Translation: X:-4.03, Y:-1.85, Z:-1.21 [[ 0.99194606 -0.09350363 -0.08544059 -4.02573418] [ 0.09949224 0.99266083 0.06874418 -1.85355904] [ 0.07838569 -0.0766912 0.99396888 -1.21195128] [ 0. 0. 0. 1. ]] SLAMing on 121.33907232899999 meters Centerline goodness : 0.236081 Centerline is valid? [False, False] Translation: X:-4.02, Y:-1.85, Z:-1.21 [[ 0.99183165 -0.09400305 -0.0862172 -4.02384144] [ 0.10001877 0.99263677 0.06832628 -1.85214893] [ 0.07915948 -0.0763915 0.99393064 -1.21162179] [ 0. 0. 0. 1. ]] SLAMing on 121.36907232899999 meters Centerline goodness : 0.268193 Centerline is valid? [False, False] Translation: X:-4.02, Y:-1.85, Z:-1.21 [[ 0.9917209 -0.09448128 -0.0869652 -4.02186172] [ 0.10052658 0.99260975 0.06797274 -1.85095408] [ 0.07990035 -0.0761523 0.99388971 -1.2115481 ] [ 0. 0. 0. 1. ]] SLAMing on 121.39907232899999 meters Centerline goodness : 0.287765 Centerline is valid? [False, False] Translation: X:-4.02, Y:-1.85, Z:-1.21 [[ 0.99148048 -0.09586846 -0.08817987 -4.01978502] [ 0.10192509 0.99253652 0.06695165 -1.84747894] [ 0.08110319 -0.07536899 0.99385199 -1.21064936] [ 0. 0. 0. 1. ]] SLAMing on 121.429072329 meters Centerline goodness : 0.280726 Centerline is valid? [False, False] Translation: X:-4.02, Y:-1.85, Z:-1.21 [[ 0.99141662 -0.0962405 -0.08849206 -4.0192724 ] [ 0.10228301 0.99253108 0.06648488 -1.8454006 ] [ 0.08143258 -0.07496545 0.99385558 -1.21028003] [ 0. 0. 0. 1. ]] SLAMing on 121.459072329 meters Centerline goodness : 0.277894 Centerline is valid? [False, False] Translation: X:-4.02, Y:-1.84, Z:-1.21 [[ 0.99122269 -0.09728282 -0.08951892 -4.01694099] [ 0.10332798 0.99248398 0.0655659 -1.8417607 ] [ 0.08246766 -0.07424022 0.99382467 -1.21000069] [ 0. 0. 0. 1. ]] SLAMing on 121.489072329 meters Centerline goodness : 0.275977 Centerline is valid? [False, False] Translation: X:-4.01, Y:-1.84, Z:-1.21 [[ 0.99113273 -0.09759811 -0.09016936 -4.01491733] [ 0.10367227 0.9924639 0.0653258 -1.8407601 ] [ 0.08311416 -0.0740946 0.99378168 -1.21022306] [ 0. 0. 0. 1. ]] SLAMing on 121.519072329 meters Centerline goodness : 0.282183 Centerline is valid? [False, False] Translation: X:-4.01, Y:-1.84, Z:-1.21 [[ 0.9910414 -0.0979072 -0.09083575 -4.01281621] [ 0.10401033 0.99244508 0.06507383 -1.83966786] [ 0.0837783 -0.07393872 0.99373752 -1.21048607] [ 0. 0. 0. 1. ]] SLAMing on 121.549072329 meters Centerline goodness : 0.278623 Centerline is valid? [False, False] Translation: X:-4.01, Y:-1.84, Z:-1.21 [[ 0.99098036 -0.0980769 -0.09131726 -4.01129445] [ 0.10420441 0.99243382 0.06493504 -1.83879103] [ 0.08425771 -0.07386501 0.99370247 -1.21069797] [ 0. 0. 0. 1. ]] SLAMing on 121.579072329 meters Centerline goodness : 0.282245 Centerline is valid? [False, False] Translation: X:-4.01, Y:-1.84, Z:-1.21 [[ 0.9908854 -0.09666298 -0.09382104 -4.0070744 ] [ 0.1032008 0.99236595 0.06752348 -1.83550143] [ 0.08657779 -0.07659044 0.99329663 -1.21021926] [ 0. 0. 0. 1. ]] SLAMing on 121.60907232899999 meters Centerline goodness : 0.293473 Centerline is valid? [False, False] Translation: X:-4.00, Y:-1.83, Z:-1.21 [[ 0.99086755 -0.09479534 -0.09589238 -4.00413643] [ 0.10175157 0.99231205 0.07045156 -1.83357616] [ 0.08847669 -0.07956537 0.99289538 -1.20962698] [ 0. 0. 0. 1. ]] SLAMing on 121.63907232899999 meters Centerline goodness : 0.300434 Centerline is valid? [False, False] Translation: X:-4.00, Y:-1.83, Z:-1.21 [[ 0.99081788 -0.0952695 -0.09593568 -4.00495464] [ 0.10216986 0.99231664 0.0697782 -1.83124982] [ 0.08855084 -0.07893923 0.99293874 -1.20855852] [ 0. 0. 0. 1. ]] SLAMing on 121.66907232899999 meters Centerline goodness : 0.297628 Centerline is valid? [False, False] Translation: X:-4.00, Y:-1.83, Z:-1.21 [[ 0.99079921 -0.09541037 -0.09598852 -4.00448636] [ 0.10229405 0.99232046 0.06954165 -1.83042285] [ 0.08861638 -0.07872087 0.99295023 -1.20889109] [ 0. 0. 0. 1. ]] SLAMing on 121.69907232899999 meters Centerline goodness : 0.289937 Centerline is valid? [False, False] Translation: X:-4.00, Y:-1.83, Z:-1.21 [[ 0.99078171 -0.09555715 -0.09602309 -4.00377862] [ 0.10242277 0.99232365 0.06930614 -1.82959374] [ 0.08866328 -0.07850221 0.99296336 -1.20957553] [ 0. 0. 0. 1. ]] SLAMing on 121.72907232899999 meters Centerline goodness : 0.276904 Centerline is valid? [False, False] Translation: X:-4.00, Y:-1.83, Z:-1.21 [[ 0.99076259 -0.09571924 -0.09605891 -4.00327063] [ 0.1025645 0.99232731 0.06904366 -1.82842703] [ 0.08871308 -0.07825811 0.99297818 -1.2100962 ] [ 0. 0. 0. 1. ]] SLAMing on 121.75907232899999 meters Centerline goodness : 0.278396 Centerline is valid? [False, False] Translation: X:-4.00, Y:-1.82, Z:-1.21 [[ 0.99071193 -0.0945356 -0.0977389 -4.00004665] [ 0.10170064 0.99226955 0.07112045 -1.82421254] [ 0.09025992 -0.08039999 0.99266761 -1.21084833] [ 0. 0. 0. 1. ]] SLAMing on 121.78907232899999 meters Centerline goodness : 0.273384 Centerline is valid? [False, False] Translation: X:-4.00, Y:-1.82, Z:-1.21 [[ 0.99069641 -0.09278319 -0.09955852 -3.9968845 ] [ 0.10034205 0.99221181 0.07380517 -1.82154941] [ 0.09193526 -0.08310843 0.99229073 -1.21114503] [ 0. 0. 0. 1. ]] SLAMing on 121.819072329 meters Centerline goodness : 0.281128 Centerline is valid? [False, False] Translation: X:-4.00, Y:-1.82, Z:-1.21 [[ 0.99067095 -0.09309438 -0.09952133 -3.99743963] [ 0.10060987 0.99221731 0.07336532 -1.81964783] [ 0.09191689 -0.08269372 0.99232708 -1.21073455] [ 0. 0. 0. 1. ]] SLAMing on 121.849072329 meters Centerline goodness : 0.299277 Centerline is valid? [False, False] Translation: X:-4.00, Y:-1.82, Z:-1.21 [[ 0.9906127 -0.09373151 -0.0995032 -3.99792752] [ 0.10116257 0.9922277 0.07245915 -1.81616381] [ 0.09193812 -0.08184496 0.99239548 -1.21033383] [ 0. 0. 0. 1. ]] SLAMing on 121.879072329 meters Centerline goodness : 0.274351 Centerline is valid? [False, False] Translation: X:-4.00, Y:-1.81, Z:-1.21 [[ 0.99058617 -0.09397596 -0.09953671 -3.9976844 ] [ 0.10137631 0.99223251 0.07209367 -1.81492076] [ 0.09198849 -0.08150566 0.99241874 -1.21050988] [ 0. 0. 0. 1. ]] SLAMing on 121.909072329 meters Centerline goodness : 0.270616 Centerline is valid? [False, False] Translation: X:-4.00, Y:-1.81, Z:-1.21 [[ 0.99056161 -0.09418727 -0.09958136 -3.99726304] [ 0.10156133 0.99223728 0.07176679 -1.81378038] [ 0.09204882 -0.08120305 0.99243795 -1.21084671] [ 0. 0. 0. 1. ]] SLAMing on 121.939072329 meters Centerline goodness : 0.280842 Centerline is valid? [False, False] Translation: X:-4.00, Y:-1.81, Z:-1.21 [[ 0.9905223 -0.09467532 -0.09950962 -3.99774699] [ 0.10197888 0.99224528 0.07106063 -1.81121201] [ 0.09201026 -0.08053502 0.99249596 -1.21063477] [ 0. 0. 0. 1. ]] SLAMing on 121.96907232899999 meters Centerline goodness : 0.289068 Centerline is valid? [False, False] Translation: X:-4.00, Y:-1.81, Z:-1.21 [[ 0.99050457 -0.09493388 -0.09943974 -3.99852893] [ 0.10219726 0.99224976 0.07068338 -1.80985499] [ 0.09195881 -0.08017468 0.9925299 -1.21003231] [ 0. 0. 0. 1. ]] SLAMing on 121.99907232899999 meters Centerline goodness : 0.291803 Centerline is valid? [False, False] Translation: X:-4.00, Y:-1.81, Z:-1.21 [[ 0.99054673 -0.09244261 -0.10134857 -3.99637676] [ 0.10014249 0.99223884 0.07371268 -1.8071558 ] [ 0.0937478 -0.08316515 0.99211638 -1.20880496] [ 0. 0. 0. 1. ]] SLAMing on 122.02907232899999 meters Centerline goodness : 0.291342 Centerline is valid? [False, False] Translation: X:-4.00, Y:-1.81, Z:-1.21 [[ 0.99054174 -0.09257846 -0.10127337 -3.99660988] [ 0.10025025 0.99224526 0.07347949 -1.80622836] [ 0.0936854 -0.08293718 0.99214136 -1.20882579] [ 0. 0. 0. 1. ]] SLAMing on 122.05907232899999 meters Centerline goodness : 0.282987 Centerline is valid? [False, False] Translation: X:-4.00, Y:-1.81, Z:-1.21 [[ 0.99053725 -0.09268313 -0.1012215 -3.9961993 ] [ 0.10033223 0.99225149 0.0732832 -1.8053432 ] [ 0.09364507 -0.08274552 0.99216117 -1.20950105] [ 0. 0. 0. 1. ]] SLAMing on 122.08907232899999 meters Centerline goodness : 0.293646 Centerline is valid? [False, False] Translation: X:-3.99, Y:-1.80, Z:-1.21 [[ 0.9905979 -0.09259803 -0.10070454 -3.99434991] [ 0.10016996 0.99229444 0.07292269 -1.80337288] [ 0.09317605 -0.08232463 0.99224033 -1.21295508] [ 0. 0. 0. 1. ]] SLAMing on 122.11907232899999 meters Centerline goodness : 0.298403 Centerline is valid? [False, False] Translation: X:-3.99, Y:-1.80, Z:-1.21 [[ 0.99062193 -0.0926971 -0.10037652 -3.99443176] [ 0.10021693 0.99230931 0.07265532 -1.80218031] [ 0.09286962 -0.08203338 0.99229318 -1.21403652] [ 0. 0. 0. 1. ]] SLAMing on 122.14907232899999 meters Centerline goodness : 0.318199 Centerline is valid? [False, False] Translation: X:-3.99, Y:-1.80, Z:-1.21 [[ 0.99064522 -0.09280059 -0.10005047 -3.99488712] [ 0.10027217 0.99232053 0.07242553 -1.80123324] [ 0.092561 -0.08178029 0.99234291 -1.2146995 ] [ 0. 0. 0. 1. ]] SLAMing on 122.179072329 meters Centerline goodness : 0.311704 Centerline is valid? [False, False] Translation: X:-4.00, Y:-1.80, Z:-1.21 [[ 0.99065431 -0.09289734 -0.09987052 -3.99547187] [ 0.10033658 0.99232783 0.07223603 -1.80056164] [ 0.09239376 -0.0815816 0.99237485 -1.21466783] [ 0. 0. 0. 1. ]] SLAMing on 122.209072329 meters Centerline goodness : 0.311298 Centerline is valid? [False, False] Translation: X:-3.99, Y:-1.80, Z:-1.21 [[ 0.99090375 -0.0889188 -0.10101092 -3.99457694] [ 0.09679233 0.99240512 0.07591658 -1.79905188] [ 0.09349334 -0.08500311 0.99198461 -1.21333793] [ 0. 0. 0. 1. ]] SLAMing on 122.239072329 meters Centerline goodness : 0.292438 Centerline is valid? [False, False] Translation: X:-3.99, Y:-1.80, Z:-1.21 [[ 0.99111028 -0.08513749 -0.10223508 -3.99252075] [ 0.09345936 0.99243842 0.07956963 -1.79767574] [ 0.09468766 -0.08841711 0.99157282 -1.21312338] [ 0. 0. 0. 1. ]] SLAMing on 122.269072329 meters Centerline goodness : 0.281052 Centerline is valid? [False, False] Translation: X:-3.99, Y:-1.80, Z:-1.21 [[ 0.99133075 -0.08138961 -0.10314586 -3.99022878] [ 0.0901219 0.99246347 0.08303195 -1.79606807] [ 0.09561056 -0.09160782 0.99119455 -1.21380323] [ 0. 0. 0. 1. ]] SLAMing on 122.299072329 meters Centerline goodness : 0.279634 Centerline is valid? [False, False] Translation: X:-3.99, Y:-1.80, Z:-1.21 [[ 0.99138766 -0.08141794 -0.102575 -3.99139815] [ 0.09007388 0.99248837 0.08278602 -1.79515783] [ 0.09506423 -0.09131236 0.99127435 -1.21441215] [ 0. 0. 0. 1. ]] SLAMing on 122.329072329 meters Centerline goodness : 0.292244 Centerline is valid? [False, False] Translation: X:-3.99, Y:-1.79, Z:-1.22 [[ 0.99150455 -0.08117196 -0.10163579 -3.9921287 ] [ 0.08971224 0.99254641 0.08248231 -1.79398189] [ 0.09418299 -0.09089956 0.99139641 -1.21639892] [ 0. 0. 0. 1. ]] SLAMing on 122.35907232899999 meters Centerline goodness : 0.311359 Centerline is valid? [False, False] Translation: X:-3.99, Y:-1.79, Z:-1.22 [[ 0.99154883 -0.08112862 -0.10123768 -3.99274848] [ 0.08962712 0.99255868 0.08242724 -1.79389087] [ 0.09379713 -0.09080427 0.99144172 -1.21704196] [ 0. 0. 0. 1. ]] SLAMing on 122.38907232899999 meters Centerline goodness : 0.280667 Centerline is valid? [False, False] Translation: X:-3.99, Y:-1.79, Z:-1.22 [[ 0.9918974 -0.07717705 -0.10091206 -3.99212867] [ 0.08593933 0.99261835 0.0855759 -1.79273873] [ 0.09356267 -0.09355483 0.99120811 -1.2188125 ] [ 0. 0. 0. 1. ]] SLAMing on 122.41907232899999 meters Centerline goodness : 0.276855 Centerline is valid? [False, False] Translation: X:-3.99, Y:-1.79, Z:-1.22 [[ 0.99215549 -0.0732002 -0.10133715 -3.99064427] [ 0.08233623 0.99261209 0.08911776 -1.79176537] [ 0.09406504 -0.0967624 0.99085257 -1.21979051] [ 0. 0. 0. 1. ]] SLAMing on 122.44907232899999 meters Centerline goodness : 0.264890 Centerline is valid? [False, False] Translation: X:-3.99, Y:-1.79, Z:-1.22 [[ 0.99227244 -0.07290174 -0.1004029 -3.99302592] [ 0.08193892 0.99265213 0.08903799 -1.79158279] [ 0.09317413 -0.09657685 0.99095484 -1.21993906] [ 0. 0. 0. 1. ]] SLAMing on 122.47907232899999 meters Centerline goodness : 0.278289 Centerline is valid? [False, False] Translation: X:-3.99, Y:-1.79, Z:-1.22 [[ 0.99260751 -0.06831127 -0.10031903 -3.99366591] [ 0.07771887 0.99262126 0.09307417 -1.79175673] [ 0.09322079 -0.10018281 0.99059239 -1.22026974] [ 0. 0. 0. 1. ]] SLAMing on 122.50907232899999 meters Centerline goodness : 0.281226 Centerline is valid? [False, False] Translation: X:-4.00, Y:-1.79, Z:-1.22 [[ 0.99268304 -0.0681418 -0.09968491 -3.99540057] [ 0.07748961 0.99263485 0.09312044 -1.79235699] [ 0.09260533 -0.10016363 0.99065206 -1.22029984] [ 0. 0. 0. 1. ]] SLAMing on 122.53907232899999 meters Centerline goodness : 0.298841 Centerline is valid? [False, False] Translation: X:-4.00, Y:-1.79, Z:-1.22 [[ 0.99276913 -0.06789134 -0.09899602 -3.99706658] [ 0.07718182 0.99264642 0.09325262 -1.79333286] [ 0.091937 -0.10021902 0.9907087 -1.22056105] [ 0. 0. 0. 1. ]] SLAMing on 122.569072329 meters Centerline goodness : 0.285088 Centerline is valid? [False, False] Translation: X:-4.00, Y:-1.79, Z:-1.22 [[ 0.9930731 -0.06615686 -0.09710346 -3.99997813] [ 0.07529618 0.9927503 0.09368742 -1.79448493] [ 0.09020142 -0.10034997 0.99085498 -1.22185132] [ 0. 0. 0. 1. ]] SLAMing on 122.599072329 meters Centerline goodness : 0.286651 Centerline is valid? [False, False] Translation: X:-4.00, Y:-1.80, Z:-1.22 [[ 0.99315979 -0.0658668 -0.09641163 -4.00120935] [ 0.07494918 0.99276301 0.09383084 -1.79513911] [ 0.08953357 -0.10041499 0.99090896 -1.22264224] [ 0. 0. 0. 1. ]] SLAMing on 122.629072329 meters Centerline goodness : 0.254294 Centerline is valid? [False, False] Translation: X:-4.00, Y:-1.80, Z:-1.22 [[ 0.99325047 -0.06554924 -0.09569115 -4.00234359] [ 0.07457236 0.99277708 0.09398207 -1.79569073] [ 0.08883952 -0.10048365 0.99096447 -1.22367601] [ 0. 0. 0. 1. ]] SLAMing on 122.659072329 meters Centerline goodness : 0.286835 Centerline is valid? [False, False] Translation: X:-4.00, Y:-1.80, Z:-1.23 [[ 0.99359284 -0.06319595 -0.09369923 -4.00359998] [ 0.07207971 0.9928954 0.09467442 -1.79602014] [ 0.0870505 -0.10082164 0.9910889 -1.22680957] [ 0. 0. 0. 1. ]] SLAMing on 122.689072329 meters Centerline goodness : 0.237135 Centerline is valid? [False, False] Translation: X:-4.00, Y:-1.80, Z:-1.23 [[ 0.99366355 -0.063016 -0.09306846 -4.00472411] [ 0.07184142 0.99290652 0.09473882 -1.79644513] [ 0.08643822 -0.10082468 0.99114218 -1.22758716] [ 0. 0. 0. 1. ]] SLAMing on 122.71907232899999 meters Centerline goodness : 0.235851 Centerline is valid? [False, False] Translation: X:-4.01, Y:-1.80, Z:-1.23 [[ 0.99372448 -0.06284019 -0.09253518 -4.00569584] [ 0.07162004 0.99291317 0.09483674 -1.79721411] [ 0.08591984 -0.10086897 0.99118274 -1.2281592 ] [ 0. 0. 0. 1. ]] SLAMing on 122.74907232899999 meters Centerline goodness : 0.113241 Centerline is valid? [False, False] Translation: X:-4.01, Y:-1.80, Z:-1.23 [[ 0.99378186 -0.06267449 -0.09202996 -4.00678922] [ 0.07141153 0.99291887 0.09493428 -1.79813569] [ 0.08542833 -0.10091597 0.99122044 -1.22848474] [ 0. 0. 0. 1. ]] SLAMing on 122.77907232899999 meters Centerline goodness : 0.303746 Centerline is valid? [False, False] Translation: X:-4.01, Y:-1.80, Z:-1.23 [[ 0.99390522 -0.0624787 -0.09082304 -4.01101832] [ 0.0710874 0.99294868 0.09486574 -1.79914024] [ 0.08425553 -0.10074393 0.99133832 -1.22730633] [ 0. 0. 0. 1. ]] SLAMing on 122.80907232899999 meters Centerline goodness : 0.262403 Centerline is valid? [False, False] Translation: X:-4.01, Y:-1.80, Z:-1.23 [[ 0.99393967 -0.06237907 -0.09051402 -4.01298068] [ 0.07096644 0.9929461 0.09498323 -1.79936261] [ 0.08395057 -0.10083106 0.99135533 -1.22622959] [ 0. 0. 0. 1. ]] SLAMing on 122.83907232899999 meters Centerline goodness : 0.312434 Centerline is valid? [False, False] Translation: X:-4.01, Y:-1.80, Z:-1.22 [[ 0.99395695 -0.06221101 -0.09043992 -4.014847 ] [ 0.07082227 0.99292099 0.09535255 -1.79973529] [ 0.08386771 -0.10118149 0.99132664 -1.22479795] [ 0. 0. 0. 1. ]] SLAMing on 122.86907232899999 meters Centerline goodness : 0.309794 Centerline is valid? [False, False] Translation: X:-4.01, Y:-1.80, Z:-1.23 [[ 0.99396621 -0.06208055 -0.09042773 -4.01452861] [ 0.0707087 0.99290865 0.09556514 -1.80059204] [ 0.08385374 -0.10138255 0.99130728 -1.22514902] [ 0. 0. 0. 1. ]] SLAMing on 122.89907232899999 meters Centerline goodness : 0.295152 Centerline is valid? [False, False] Translation: X:-4.01, Y:-1.80, Z:-1.23 [[ 0.99398599 -0.0620097 -0.09025878 -4.01426995] [ 0.0706249 0.99290977 0.09561539 -1.80133678] [ 0.08368974 -0.10141487 0.99131784 -1.22585468] [ 0. 0. 0. 1. ]] SLAMing on 122.929072329 meters Centerline goodness : 0.297022 Centerline is valid? [False, False] Translation: X:-4.02, Y:-1.80, Z:-1.23 [[ 0.99413265 -0.06381975 -0.08733446 -4.01920496] [ 0.07186876 0.99312904 0.09235575 -1.80298425] [ 0.08084027 -0.09809049 0.99188866 -1.22692075] [ 0. 0. 0. 1. ]] SLAMing on 122.959072329 meters Centerline goodness : 0.297563 Centerline is valid? [False, False] Translation: X:-4.02, Y:-1.80, Z:-1.23 [[ 0.99418928 -0.06382218 -0.08668571 -4.02102124] [ 0.07179455 0.99314885 0.09220033 -1.80266029] [ 0.08020738 -0.09788814 0.99196002 -1.22698227] [ 0. 0. 0. 1. ]] SLAMing on 122.989072329 meters Centerline goodness : 0.119380 Centerline is valid? [False, False] Translation: X:-4.02, Y:-1.80, Z:-1.23 [[ 0.99425434 -0.06379109 -0.08595937 -4.02324246] [ 0.07167807 0.99317329 0.09202754 -1.80205902] [ 0.07950201 -0.09766018 0.99203927 -1.22684386] [ 0. 0. 0. 1. ]] SLAMing on 123.019072329 meters Centerline goodness : 0.299215 Centerline is valid? [False, False] Translation: X:-4.03, Y:-1.80, Z:-1.23 [[ 0.99432475 -0.06375817 -0.08516566 -4.02551579] [ 0.07155323 0.99319855 0.09185194 -1.80160717] [ 0.07873009 -0.09742454 0.992124 -1.2267985 ] [ 0. 0. 0. 1. ]] SLAMing on 123.049072329 meters Centerline goodness : 0.301027 Centerline is valid? [False, False] Translation: X:-4.03, Y:-1.80, Z:-1.23 [[ 0.99465594 -0.06180593 -0.08270181 -4.03016597] [ 0.06936917 0.99334506 0.09194292 -1.80084532] [ 0.07646882 -0.09718853 0.99232399 -1.22750393] [ 0. 0. 0. 1. ]] SLAMing on 123.079072329 meters Centerline goodness : 0.301027 Centerline is valid? [False, False] Translation: X:-4.03, Y:-1.80, Z:-1.23 [[ 0.99465594 -0.06180593 -0.08270181 -4.03016597] [ 0.06936917 0.99334506 0.09194292 -1.80084532] [ 0.07646882 -0.09718853 0.99232399 -1.22750393] [ 0. 0. 0. 1. ]] SLAMing on 123.10907232899999 meters Centerline goodness : 0.121592 Centerline is valid? [False, False] Translation: X:-4.03, Y:-1.80, Z:-1.23 [[ 0.99473673 -0.0617054 -0.0818003 -4.03283042] [ 0.06916898 0.99337318 0.09178984 -1.8006967 ] [ 0.0755943 -0.09696477 0.99241289 -1.2272649 ] [ 0. 0. 0. 1. ]] SLAMing on 123.13907232899999 meters Centerline goodness : 0.301088 Centerline is valid? [False, False] Translation: X:-4.04, Y:-1.80, Z:-1.23 [[ 0.99505665 -0.05941302 -0.07957609 -4.03802353] [ 0.06669695 0.99350018 0.09224373 -1.79992715] [ 0.07357838 -0.09709522 0.99255163 -1.22680633] [ 0. 0. 0. 1. ]] SLAMing on 123.16907232899999 meters Centerline goodness : 0.304216 Centerline is valid? [False, False] Translation: X:-4.04, Y:-1.80, Z:-1.23 [[ 0.99515976 -0.05913807 -0.07848401 -4.04084202] [ 0.06629934 0.99354773 0.09201796 -1.79924927] [ 0.07253584 -0.09677601 0.99265954 -1.22680858] [ 0. 0. 0. 1. ]] SLAMing on 123.19907232899999 meters Centerline goodness : 0.291179 Centerline is valid? [False, False] Translation: X:-4.04, Y:-1.80, Z:-1.23 [[ 0.99530593 -0.05850504 -0.07709263 -4.04389953] [ 0.0655138 0.99362335 0.09176374 -1.79819725] [ 0.0712324 -0.09638363 0.99279209 -1.22704797] [ 0. 0. 0. 1. ]] SLAMing on 123.22907232899999 meters Centerline goodness : 0.304085 Centerline is valid? [False, False] Translation: X:-4.05, Y:-1.80, Z:-1.23 [[ 0.9957316 -0.05594481 -0.07340814 -4.05189642] [ 0.06259853 0.99381594 0.09171313 -1.79607381] [ 0.06782331 -0.0959169 0.993076 -1.2276213 ] [ 0. 0. 0. 1. ]] SLAMing on 123.25907232899999 meters Centerline goodness : 0.307598 Centerline is valid? [False, False] Translation: X:-4.06, Y:-1.79, Z:-1.23 [[ 0.99601595 -0.0540146 -0.07095524 -4.05643572] [ 0.06042613 0.99396433 0.09156199 -1.79420608] [ 0.0655813 -0.09548475 0.99326822 -1.22828885] [ 0. 0. 0. 1. ]] SLAMing on 123.28907232899999 meters Centerline goodness : 0.308420 Centerline is valid? [False, False] Translation: X:-4.06, Y:-1.79, Z:-1.23 [[ 0.99631026 -0.05186055 -0.06838389 -4.06137519] [ 0.05802904 0.99410916 0.09154019 -1.79236531] [ 0.06323373 -0.09517068 0.99345057 -1.22875949] [ 0. 0. 0. 1. ]] SLAMing on 123.319072329 meters Centerline goodness : 0.313962 Centerline is valid? [False, False] Translation: X:-4.07, Y:-1.79, Z:-1.23 [[ 0.99687079 -0.04560622 -0.06456547 -4.06944466] [ 0.05161545 0.99416783 0.09468988 -1.78779293] [ 0.05987047 -0.09772615 0.99341085 -1.23024653] [ 0. 0. 0. 1. ]] SLAMing on 123.349072329 meters Centerline goodness : 0.294905 Centerline is valid? [False, False] Translation: X:-4.07, Y:-1.79, Z:-1.23 [[ 0.99716599 -0.04324726 -0.06156024 -4.07485648] [ 0.04896587 0.99430658 0.09464017 -1.78567617] [ 0.05711682 -0.09738631 0.99360635 -1.23141649] [ 0. 0. 0. 1. ]] SLAMing on 123.379072329 meters Centerline goodness : 0.299455 Centerline is valid? [False, False] Translation: X:-4.08, Y:-1.78, Z:-1.23 [[ 0.99744926 -0.04096959 -0.05845051 -4.08016471] [ 0.04638188 0.99444722 0.09446402 -1.78366966] [ 0.05425579 -0.09693411 0.99381089 -1.23295261] [ 0. 0. 0. 1. ]] SLAMing on 123.409072329 meters Centerline goodness : 0.312656 Centerline is valid? [False, False] Translation: X:-4.08, Y:-1.78, Z:-1.23 [[ 0.99747648 -0.02880358 -0.06489244 -4.08405423] [ 0.03466595 0.99523768 0.09110566 -1.78011605] [ 0.06195923 -0.09312531 0.99372467 -1.23096521] [ 0. 0. 0. 1. ]] SLAMing on 123.439072329 meters Centerline goodness : 0.326051 Centerline is valid? [False, False] Translation: X:-4.09, Y:-1.78, Z:-1.23 [[ 0.99774705 -0.02656855 -0.06160305 -4.08988458] [ 0.03211729 0.99534134 0.09090706 -1.77872286] [ 0.0589008 -0.09268077 0.9939522 -1.23238316] [ 0. 0. 0. 1. ]] SLAMing on 123.46907232899999 meters Centerline goodness : 0.301220 Centerline is valid? [False, False] Translation: X:-4.10, Y:-1.78, Z:-1.23 [[ 0.99799981 -0.02410729 -0.05843995 -4.09551112] [ 0.02936655 0.99542926 0.09087462 -1.77734737] [ 0.05598209 -0.09240903 0.99414615 -1.23350197] [ 0. 0. 0. 1. ]] SLAMing on 123.49907232899999 meters Centerline goodness : 0.318992 Centerline is valid? [False, False] Translation: X:-4.10, Y:-1.78, Z:-1.23 [[ 0.99823794 -0.02159918 -0.05526751 -4.10205229] [ 0.02657827 0.99549583 0.09100356 -1.77616792] [ 0.05305297 -0.09231212 0.99431577 -1.23367673] [ 0. 0. 0. 1. ]] SLAMing on 123.52907232899999 meters Centerline goodness : 0.276236 Centerline is valid? [False, False] Translation: X:-4.11, Y:-1.77, Z:-1.23 [[ 0.9985906 -0.01483085 -0.0509593 -4.11169484] [ 0.01960558 0.9953305 0.09451358 -1.77287356] [ 0.04931963 -0.09537946 0.99421845 -1.23375027] [ 0. 0. 0. 1. ]] SLAMing on 123.55907232899999 meters Centerline goodness : 0.256350 Centerline is valid? [False, False] Translation: X:-4.12, Y:-1.77, Z:-1.23 [[ 0.99877786 -0.01239878 -0.047844 -4.11768207] [ 0.01688426 0.99537993 0.09451838 -1.771409 ] [ 0.04645104 -0.09521068 0.99437278 -1.23424573] [ 0. 0. 0. 1. ]] SLAMing on 123.58907232899999 meters Centerline goodness : 0.342845 Centerline is valid? [False, False] Translation: X:-4.12, Y:-1.77, Z:-1.24 [[ 0.99894971 -0.01009605 -0.04469392 -4.12305037] [ 0.01428206 0.99543619 0.09435471 -1.76997139] [ 0.04353733 -0.09489393 0.99453489 -1.23551183] [ 0. 0. 0. 1. ]] SLAMing on 123.61907232899999 meters Centerline goodness : 0.266249 Centerline is valid? [False, False] Translation: X:-4.13, Y:-1.77, Z:-1.23 [[ 9.98657718e-01 -2.56065877e-03 -5.17320566e-02 -4.13262645e+00] [ 7.20040385e-03 9.95942620e-01 8.97020142e-02 -1.76963100e+00] [ 5.12924637e-02 -8.99541005e-02 9.94624222e-01 -1.23381894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.64907232899999 meters Centerline goodness : 0.338391 Centerline is valid? [False, False] Translation: X:-4.14, Y:-1.77, Z:-1.24 [[ 9.98823140e-01 -3.01448167e-04 -4.84999316e-02 -4.13803927e+00] [ 4.64887705e-03 9.95971472e-01 8.95500685e-02 -1.76891620e+00] [ 4.82775536e-02 -8.96701508e-02 9.94800755e-01 -1.23537416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.679072329 meters Centerline goodness : 0.318454 Centerline is valid? [False, False] Translation: X:-4.15, Y:-1.77, Z:-1.24 [[ 9.99081771e-01 6.31696739e-03 -4.23758200e-02 -4.15017039e+00] [-2.33645395e-03 9.95632196e-01 9.33331214e-02 -1.76730502e+00] [ 4.27803130e-02 -9.31484111e-02 9.94732737e-01 -1.23853353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.709072329 meters Centerline goodness : 0.141858 Centerline is valid? [False, False] Translation: X:-4.16, Y:-1.77, Z:-1.24 [[ 0.99920478 0.00883582 -0.03888111 -4.15777963] [-0.00517254 0.99562194 0.09332845 -1.76634217] [ 0.03953552 -0.09305312 0.9948759 -1.23804628] [ 0. 0. 0. 1. ]] SLAMing on 123.739072329 meters Centerline goodness : 0.138351 Centerline is valid? [False, False] Translation: X:-4.17, Y:-1.77, Z:-1.24 [[ 0.99931411 0.01140169 -0.03523219 -4.16532502] [-0.00807171 0.99560986 0.09325162 -1.76518932] [ 0.03614074 -0.09290327 0.99501901 -1.2379993 ] [ 0. 0. 0. 1. ]] SLAMing on 123.769072329 meters Centerline goodness : 0.122059 Centerline is valid? [False, False] Translation: X:-4.18, Y:-1.76, Z:-1.24 [[ 0.99944086 0.0183711 -0.02793673 -4.17897978] [-0.01559084 0.99519418 0.09667194 -1.76277462] [ 0.02957844 -0.09618233 0.99492416 -1.24218706] [ 0. 0. 0. 1. ]] SLAMing on 123.799072329 meters Centerline goodness : 0.109904 Centerline is valid? [False, False] Translation: X:-4.19, Y:-1.76, Z:-1.24 [[ 0.99949198 0.0209456 -0.02402224 -4.18591133] [-0.01854019 0.99517773 0.09631998 -1.76156699] [ 0.02592388 -0.09582568 0.9950605 -1.2434624 ] [ 0. 0. 0. 1. ]] SLAMing on 123.829072329 meters Centerline goodness : 0.129383 Centerline is valid? [False, False] Translation: X:-4.19, Y:-1.76, Z:-1.25 [[ 0.99952595 0.02353101 -0.01985344 -4.19316373] [-0.0215227 0.99515549 0.09592875 -1.76065971] [ 0.02201456 -0.09545598 0.99519019 -1.24514019] [ 0. 0. 0. 1. ]] SLAMing on 123.85907232899999 meters Centerline goodness : 0.135399 Centerline is valid? [False, False] Translation: X:-4.20, Y:-1.76, Z:-1.25 [[ 0.9995314 0.02629115 -0.01567641 -4.20052037] [-0.02467457 0.9951086 0.09565579 -1.75988546] [ 0.01811464 -0.09522416 0.99529102 -1.24658249] [ 0. 0. 0. 1. ]] SLAMing on 123.88907232899999 meters Centerline goodness : 0.123430 Centerline is valid? [False, False] Translation: X:-4.21, Y:-1.76, Z:-1.24 [[ 0.99906531 0.03676197 -0.02273894 -4.21343427] [-0.03444066 0.99486264 0.09519538 -1.75815093] [ 0.02612169 -0.09432326 0.99519886 -1.24284255] [ 0. 0. 0. 1. ]] SLAMing on 123.91907232899999 meters Centerline goodness : 0.080139 Centerline is valid? [False, False] Translation: X:-4.22, Y:-1.76, Z:-1.24 [[ 0.99893138 0.04123568 -0.02087385 -4.2173618 ] [-0.03899066 0.99437858 0.09844269 -1.75584184] [ 0.02481586 -0.09752361 0.99492378 -1.24275231] [ 0. 0. 0. 1. ]] SLAMing on 123.94907232899999 meters Centerline goodness : 0.137755 Centerline is valid? [False, False] Translation: X:-4.22, Y:-1.75, Z:-1.24 [[ 0.99888188 0.04389653 -0.01755218 -4.2248426 ] [-0.04196202 0.99425096 0.09850995 -1.7545005 ] [ 0.02177551 -0.09766328 0.99498126 -1.24146797] [ 0. 0. 0. 1. ]] SLAMing on 123.97907232899999 meters Centerline goodness : 0.160024 Centerline is valid? [False, False] Translation: X:-4.23, Y:-1.75, Z:-1.24 [[ 0.99882799 0.04633172 -0.01400062 -4.23226781] [-0.04473778 0.99415549 0.09825169 -1.75336715] [ 0.01847096 -0.09751018 0.99506311 -1.24066115] [ 0. 0. 0. 1. ]] SLAMing on 124.00907232899999 meters Centerline goodness : 0.291978 Centerline is valid? [False, False] Translation: X:-4.25, Y:-1.75, Z:-1.24 [[ 0.99871411 0.05033836 -0.00601521 -4.24837953] [-0.04950856 0.99395743 0.09796698 -1.75248441] [ 0.01091036 -0.0975432 0.99517149 -1.24176026] [ 0. 0. 0. 1. ]] SLAMing on 124.03907232899999 meters Centerline goodness : 0.292464 Centerline is valid? [False, False] Translation: X:-4.25, Y:-1.75, Z:-1.24 [[ 9.98606027e-01 5.27144072e-02 -2.68204957e-03 -4.25449143e+00] [-5.22007613e-02 9.93846340e-01 9.76961264e-02 -1.75159698e+00] [ 7.81553854e-03 -9.74199357e-02 9.95212678e-01 -1.24200921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.069072329 meters Centerline goodness : 0.284428 Centerline is valid? [False, False] Translation: X:-4.26, Y:-1.75, Z:-1.24 [[ 9.98477213e-01 5.51627636e-02 5.69169957e-04 -4.26043939e+00] [-5.49553165e-02 9.93716203e-01 9.75090842e-02 -1.75057301e+00] [ 4.81327715e-03 -9.73918775e-02 9.95234472e-01 -1.24212430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.099072329 meters Centerline goodness : 0.216839 Centerline is valid? [False, False] Translation: X:-4.27, Y:-1.75, Z:-1.24 [[ 0.99793939 0.06361667 -0.00835974 -4.26956979] [-0.06251455 0.99335245 0.09665838 -1.74865037] [ 0.01445325 -0.0959366 0.99528251 -1.23817658] [ 0. 0. 0. 1. ]] SLAMing on 124.129072329 meters Centerline goodness : 0.284831 Centerline is valid? [False, False] Translation: X:-4.28, Y:-1.75, Z:-1.24 [[ 0.99780638 0.06600637 -0.00505782 -4.2750237 ] [-0.06521523 0.99322046 0.09622937 -1.74713948] [ 0.01137528 -0.09568843 0.99534634 -1.23914629] [ 0. 0. 0. 1. ]] SLAMing on 124.159072329 meters Centerline goodness : 0.200555 Centerline is valid? [False, False] Translation: X:-4.29, Y:-1.75, Z:-1.24 [[ 9.97619662e-01 6.89362784e-02 1.67324836e-03 -4.28719612e+00] [-6.87792571e-02 9.93022174e-01 9.57933991e-02 -1.74673706e+00] [ 4.94206770e-03 -9.56804632e-02 9.95399832e-01 -1.24255036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.189072329 meters Centerline goodness : 0.272796 Centerline is valid? [False, False] Translation: X:-4.29, Y:-1.75, Z:-1.24 [[ 9.97515838e-01 7.03331066e-02 3.92526814e-03 -4.29119578e+00] [-7.03861561e-02 9.92939188e-01 9.54859054e-02 -1.74637114e+00] [ 2.81826780e-03 -9.55249874e-02 9.95423043e-01 -1.24301774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.21907232899999 meters Centerline goodness : 0.228166 Centerline is valid? [False, False] Translation: X:-4.30, Y:-1.75, Z:-1.24 [[ 9.97406176e-01 7.17247213e-02 6.04020192e-03 -4.29519375e+00] [-7.19737881e-02 9.92850687e-01 9.52223080e-02 -1.74573050e+00] [ 8.32774881e-04 -9.54100543e-02 9.95437707e-01 -1.24296288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.24907232899999 meters Centerline goodness : 0.275457 Centerline is valid? [False, False] Translation: X:-4.30, Y:-1.74, Z:-1.24 [[ 9.97034042e-01 7.65294677e-02 8.14615684e-03 -4.29927174e+00] [-7.69598721e-02 9.92158262e-01 9.84843171e-02 -1.74279832e+00] [-5.45324455e-04 -9.88191439e-02 9.95105260e-01 -1.24212449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.27907232899999 meters Centerline goodness : 0.258874 Centerline is valid? [False, False] Translation: X:-4.30, Y:-1.74, Z:-1.24 [[ 9.96958014e-01 7.73653767e-02 9.45074885e-03 -4.30194265e+00] [-7.79202708e-02 9.92106148e-01 9.82538701e-02 -1.74177472e+00] [-1.77469836e-03 -9.86913882e-02 9.95116506e-01 -1.24176170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.30907232899999 meters Centerline goodness : 0.297587 Centerline is valid? [False, False] Translation: X:-4.30, Y:-1.74, Z:-1.24 [[ 9.96891717e-01 7.80359537e-02 1.08302958e-02 -4.30434239e+00] [-7.87226775e-02 9.92078948e-01 9.78882042e-02 -1.74107664e+00] [-3.10570910e-03 -9.84365298e-02 9.95138485e-01 -1.24234763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.33907232899999 meters Centerline goodness : 0.313411 Centerline is valid? [False, False] Translation: X:-4.31, Y:-1.74, Z:-1.24 [[ 0.99688296 0.07744079 0.01507636 -4.3114353 ] [-0.07851722 0.9925011 0.09368358 -1.74164145] [-0.00770838 -0.09457531 0.99548787 -1.24453756] [ 0. 0. 0. 1. ]] SLAMing on 124.36907232899999 meters Centerline goodness : 0.309871 Centerline is valid? [False, False] Translation: X:-4.32, Y:-1.74, Z:-1.24 [[ 0.99693286 0.07632632 0.01729626 -4.31614788] [-0.07758394 0.99288239 0.09036204 -1.74239549] [-0.01027615 -0.0914268 0.99575878 -1.24412272] [ 0. 0. 0. 1. ]] SLAMing on 124.39907232899999 meters Centerline goodness : 0.295960 Centerline is valid? [False, False] Translation: X:-4.32, Y:-1.74, Z:-1.24 [[ 0.99690869 0.07651965 0.01782703 -4.31747277] [-0.07782431 0.99286969 0.09029481 -1.74235444] [-0.01079059 -0.09140305 0.99575551 -1.2437848 ] [ 0. 0. 0. 1. ]] SLAMing on 124.429072329 meters Centerline goodness : 0.317706 Centerline is valid? [False, False] Translation: X:-4.32, Y:-1.74, Z:-1.24 [[ 0.99688539 0.07677766 0.01801977 -4.31891139] [-0.07810048 0.99283494 0.09043835 -1.74169991] [-0.01094701 -0.09156402 0.99573902 -1.24217239] [ 0. 0. 0. 1. ]] SLAMing on 124.459072329 meters Centerline goodness : 0.325503 Centerline is valid? [False, False] Translation: X:-4.32, Y:-1.74, Z:-1.24 [[ 0.99688837 0.07672537 0.01807734 -4.31919972] [-0.07805265 0.99284702 0.09034694 -1.74144922] [-0.01101613 -0.0914768 0.99574627 -1.24188576] [ 0. 0. 0. 1. ]] SLAMing on 124.489072329 meters Centerline goodness : 0.292595 Centerline is valid? [False, False] Translation: X:-4.32, Y:-1.74, Z:-1.24 [[ 0.9970835 0.07386725 0.01918648 -4.32195663] [-0.07525665 0.99342304 0.08629658 -1.74164194] [-0.0126858 -0.0874888 0.99608473 -1.24155073] [ 0. 0. 0. 1. ]] SLAMing on 124.519072329 meters Centerline goodness : 0.302248 Centerline is valid? [False, False] Translation: X:-4.32, Y:-1.74, Z:-1.24 [[ 0.99709835 0.07366444 0.01919429 -4.3219387 ] [-0.07505152 0.99346397 0.0860036 -1.74068032] [-0.01273343 -0.08719461 0.99610991 -1.24167605] [ 0. 0. 0. 1. ]] SLAMing on 124.549072329 meters Centerline goodness : 0.326967 Centerline is valid? [False, False] Translation: X:-4.32, Y:-1.74, Z:-1.24 [[ 0.99711745 0.07342678 0.01911305 -4.32206698] [-0.07480414 0.99350636 0.08572897 -1.73954596] [-0.01269413 -0.08691159 0.99613515 -1.24125516] [ 0. 0. 0. 1. ]] SLAMing on 124.579072329 meters Centerline goodness : 0.277355 Centerline is valid? [False, False] Translation: X:-4.32, Y:-1.74, Z:-1.24 [[ 0.99716418 0.07292298 0.01859661 -4.32307186] [-0.0742561 0.99355576 0.08563282 -1.73775874] [-0.01223217 -0.0867709 0.99615319 -1.23869005] [ 0. 0. 0. 1. ]] SLAMing on 124.60907232899999 meters Centerline goodness : 0.314074 Centerline is valid? [False, False] Translation: X:-4.32, Y:-1.74, Z:-1.24 [[ 0.997172 0.07280777 0.01862896 -4.3240356 ] [-0.07414223 0.99357748 0.08547935 -1.73704929] [-0.01228575 -0.0866188 0.99616577 -1.2372678 ] [ 0. 0. 0. 1. ]] SLAMing on 124.63907232899999 meters Centerline goodness : 0.286748 Centerline is valid? [False, False] Translation: X:-4.33, Y:-1.74, Z:-1.24 [[ 0.99717507 0.07269031 0.01892087 -4.32566446] [-0.07404789 0.99360212 0.08527443 -1.73648672] [-0.01260119 -0.08643458 0.99617783 -1.23568107] [ 0. 0. 0. 1. ]] SLAMing on 124.66907232899999 meters Centerline goodness : 0.285942 Centerline is valid? [False, False] Translation: X:-4.33, Y:-1.74, Z:-1.23 [[ 0.99715589 0.07278945 0.01954022 -4.32756249] [-0.07419747 0.99360886 0.08506572 -1.73617282] [-0.01322345 -0.08627362 0.99618372 -1.23468708] [ 0. 0. 0. 1. ]] SLAMing on 124.69907232899999 meters Centerline goodness : 0.263097 Centerline is valid? [False, False] Translation: X:-4.33, Y:-1.74, Z:-1.23 [[ 0.99711025 0.0731161 0.02062005 -4.32997897] [-0.07461077 0.99361022 0.08468747 -1.73540866] [-0.01429628 -0.08598123 0.99619418 -1.23433627] [ 0. 0. 0. 1. ]] SLAMing on 124.72907232899999 meters Centerline goodness : 0.281954 Centerline is valid? [False, False] Translation: X:-4.34, Y:-1.73, Z:-1.23 [[ 9.96901295e-01 7.80236432e-02 1.00059775e-02 -4.33528989e+00] [-7.85797942e-02 9.93598034e-01 8.11674981e-02 -1.73373439e+00] [-3.60893562e-03 -8.17022516e-02 9.96650248e-01 -1.23050634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.75907232899999 meters Centerline goodness : 0.299431 Centerline is valid? [False, False] Translation: X:-4.34, Y:-1.73, Z:-1.23 [[ 0.99675518 0.07955777 0.01223371 -4.33888818] [-0.08028719 0.99351651 0.08049163 -1.73135754] [-0.00575066 -0.08121266 0.99668021 -1.23089658] [ 0. 0. 0. 1. ]] SLAMing on 124.78907232899999 meters Centerline goodness : 0.312927 Centerline is valid? [False, False] Translation: X:-4.35, Y:-1.73, Z:-1.23 [[ 0.99641833 0.08273262 0.01748773 -4.34816808] [-0.08386577 0.99332458 0.07920109 -1.72737943] [-0.01081848 -0.08038404 0.99670526 -1.2315568 ] [ 0. 0. 0. 1. ]] SLAMing on 124.819072329 meters Centerline goodness : 0.301563 Centerline is valid? [False, False] Translation: X:-4.35, Y:-1.73, Z:-1.23 [[ 0.99615534 0.0850985 0.02080365 -4.35371118] [-0.08648248 0.99315125 0.07855815 -1.72547704] [-0.01397599 -0.08005527 0.99669244 -1.2319194 ] [ 0. 0. 0. 1. ]] SLAMing on 124.849072329 meters Centerline goodness : 0.321230 Centerline is valid? [False, False] Translation: X:-4.36, Y:-1.72, Z:-1.23 [[ 0.99585365 0.08765057 0.02434915 -4.35990899] [-0.08930078 0.99295025 0.07794334 -1.7235555 ] [-0.01734572 -0.07979456 0.9966604 -1.23188032] [ 0. 0. 0. 1. ]] SLAMing on 124.879072329 meters Centerline goodness : 0.289813 Centerline is valid? [False, False] Translation: X:-4.37, Y:-1.72, Z:-1.23 [[ 0.99500623 0.09503747 0.03050379 -4.37079082] [-0.09721364 0.99201971 0.08028953 -1.71788708] [-0.02262985 -0.08285397 0.99630473 -1.23093827] [ 0. 0. 0. 1. ]] SLAMing on 124.909072329 meters Centerline goodness : 0.163840 Centerline is valid? [False, False] Translation: X:-4.37, Y:-1.71, Z:-1.23 [[ 0.99445908 0.09987686 0.03279878 -4.37417464] [-0.1022996 0.99127105 0.08316547 -1.71401965] [-0.02420617 -0.08605996 0.99599586 -1.23096616] [ 0. 0. 0. 1. ]] SLAMing on 124.939072329 meters Centerline goodness : 0.148680 Centerline is valid? [False, False] Translation: X:-4.38, Y:-1.71, Z:-1.23 [[ 0.99334041 0.11230822 0.0257233 -4.38177296] [-0.1140913 0.98993672 0.08371653 -1.70833757] [-0.01606239 -0.08609382 0.99615754 -1.22824527] [ 0. 0. 0. 1. ]] SLAMing on 124.96907232899999 meters Centerline goodness : 0.148680 Centerline is valid? [False, False] Translation: X:-4.38, Y:-1.71, Z:-1.23 [[ 0.99334041 0.11230822 0.0257233 -4.38177296] [-0.1140913 0.98993672 0.08371653 -1.70833757] [-0.01606239 -0.08609382 0.99615754 -1.22824527] [ 0. 0. 0. 1. ]] SLAMing on 124.99907232899999 meters Centerline goodness : 0.163890 Centerline is valid? [False, False] Translation: X:-4.39, Y:-1.71, Z:-1.23 [[ 0.99288197 0.11533293 0.0297272 -4.3883937 ] [-0.11743554 0.98961377 0.08290647 -1.70577168] [-0.0198566 -0.08580736 0.99611385 -1.22846781] [ 0. 0. 0. 1. ]] SLAMing on 125.02907232899999 meters Centerline goodness : 0.181297 Centerline is valid? [False, False] Translation: X:-4.39, Y:-1.70, Z:-1.23 [[ 0.99239583 0.11839472 0.0336632 -4.39479541] [-0.12080839 0.98927126 0.08214444 -1.70332913] [-0.02357657 -0.0855866 0.99605175 -1.22872034] [ 0. 0. 0. 1. ]] SLAMing on 125.05907232899999 meters Centerline goodness : 0.172325 Centerline is valid? [False, False] Translation: X:-4.40, Y:-1.70, Z:-1.23 [[ 0.99186554 0.12158454 0.03768232 -4.40132768] [-0.12431461 0.98889452 0.08144639 -1.70101076] [-0.02736121 -0.08546833 0.99596512 -1.22891391] [ 0. 0. 0. 1. ]] SLAMing on 125.08907232899999 meters Centerline goodness : 0.233004 Centerline is valid? [False, False] Translation: X:-4.40, Y:-1.69, Z:-1.23 [[ 0.98962255 0.13926724 0.03538134 -4.40181454] [-0.14171276 0.98666707 0.08003496 -1.69224339] [-0.02376335 -0.08421839 0.99616393 -1.22886707] [ 0. 0. 0. 1. ]] SLAMing on 125.11907232899999 meters Centerline goodness : 0.211512 Centerline is valid? [False, False] Translation: X:-4.41, Y:-1.69, Z:-1.23 [[ 0.98897703 0.14273635 0.03937971 -4.40811585] [-0.14549771 0.98615229 0.07958695 -1.69039015] [-0.02747444 -0.08443932 0.99604978 -1.22892831] [ 0. 0. 0. 1. ]] SLAMing on 125.14907232899999 meters Centerline goodness : 0.159091 Centerline is valid? [False, False] Translation: X:-4.41, Y:-1.69, Z:-1.23 [[ 0.98829835 0.14627655 0.04323817 -4.41405801] [-0.14934487 0.98560444 0.07924643 -1.68861228] [-0.03102384 -0.08477652 0.9959169 -1.22890677] [ 0. 0. 0. 1. ]] SLAMing on 125.179072329 meters Centerline goodness : 0.261443 Centerline is valid? [False, False] Translation: X:-4.42, Y:-1.68, Z:-1.23 [[ 0.98630442 0.15761402 0.04859435 -4.41800948] [-0.16131158 0.98323634 0.08499928 -1.68193035] [-0.03438265 -0.091674 0.99519531 -1.23199908] [ 0. 0. 0. 1. ]] SLAMing on 125.209072329 meters Centerline goodness : 0.251686 Centerline is valid? [False, False] Translation: X:-4.42, Y:-1.68, Z:-1.23 [[ 0.98554279 0.16119214 0.05217761 -4.4228985 ] [-0.16519843 0.98261525 0.08471572 -1.68027188] [-0.037615 -0.09211062 0.99503806 -1.2327578 ] [ 0. 0. 0. 1. ]] SLAMing on 125.239072329 meters Centerline goodness : 0.253216 Centerline is valid? [False, False] Translation: X:-4.43, Y:-1.68, Z:-1.23 [[ 0.98480064 0.16455534 0.05558091 -4.42730732] [-0.16885178 0.98202647 0.08433908 -1.67875883] [-0.04070348 -0.09244212 0.99488576 -1.2339068 ] [ 0. 0. 0. 1. ]] SLAMing on 125.269072329 meters Centerline goodness : 0.372612 Centerline is valid? [False, False] Translation: X:-4.42, Y:-1.67, Z:-1.24 [[ 0.98226381 0.17991783 0.05279563 -4.41984987] [-0.18373983 0.97973696 0.07971935 -1.67032373] [-0.0373829 -0.08800609 0.99541823 -1.23547625] [ 0. 0. 0. 1. ]] SLAMing on 125.299072329 meters Centerline goodness : 0.376631 Centerline is valid? [False, False] Translation: X:-4.42, Y:-1.67, Z:-1.24 [[ 0.98181352 0.18187114 0.05445269 -4.42161323] [-0.18583373 0.97934381 0.07969644 -1.67010149] [-0.03883342 -0.08836619 0.99533079 -1.23656065] [ 0. 0. 0. 1. ]] SLAMing on 125.329072329 meters Centerline goodness : 0.380012 Centerline is valid? [False, False] Translation: X:-4.42, Y:-1.67, Z:-1.24 [[ 0.98146588 0.18339826 0.05558598 -4.42293027] [-0.18746828 0.97901035 0.07996488 -1.6702751 ] [-0.03975383 -0.08890341 0.99524661 -1.23671679] [ 0. 0. 0. 1. ]] SLAMing on 125.35907232899999 meters Centerline goodness : 0.392012 Centerline is valid? [False, False] Translation: X:-4.42, Y:-1.67, Z:-1.24 [[ 0.98044671 0.18865692 0.05597164 -4.42001213] [-0.19291842 0.97758833 0.0842825 -1.66977897] [-0.03881675 -0.09343246 0.99486865 -1.23790309] [ 0. 0. 0. 1. ]] SLAMing on 125.38907232899999 meters Centerline goodness : 0.439633 Centerline is valid? [False, False] Translation: X:-4.42, Y:-1.67, Z:-1.24 [[ 0.98019414 0.18982857 0.05643201 -4.41973275] [-0.19414963 0.97730093 0.08478689 -1.67102235] [-0.03905608 -0.09406387 0.99479978 -1.23884837] [ 0. 0. 0. 1. ]] SLAMing on 125.41907232899999 meters Centerline goodness : 0.225295 Centerline is valid? [False, False] Translation: X:-4.42, Y:-1.67, Z:-1.24 [[ 0.97993441 0.19106022 0.05678504 -4.41867387] [-0.19542814 0.97700817 0.08522253 -1.67203668] [-0.03919681 -0.09460988 0.99474247 -1.24070702] [ 0. 0. 0. 1. ]] SLAMing on 125.44907232899999 meters Centerline goodness : 0.145111 Centerline is valid? [False, False] Translation: X:-4.40, Y:-1.67, Z:-1.24 [[ 0.9787331 0.20060463 0.04288706 -4.40238763] [-0.20351498 0.97577839 0.08023827 -1.66996627] [-0.0257521 -0.08726001 0.99585266 -1.23720294] [ 0. 0. 0. 1. ]] SLAMing on 125.47907232899999 meters Centerline goodness : 0.199514 Centerline is valid? [False, False] Translation: X:-4.40, Y:-1.67, Z:-1.24 [[ 0.97859323 0.20143623 0.0421751 -4.39928336] [-0.20430364 0.97554166 0.08110789 -1.67155582] [-0.02480549 -0.08798816 0.99581262 -1.23902877] [ 0. 0. 0. 1. ]] SLAMing on 125.50907232899999 meters Centerline goodness : 0.112493 Centerline is valid? [False, False] Translation: X:-4.40, Y:-1.67, Z:-1.24 [[ 0.97851743 0.20203709 0.04104458 -4.39581494] [-0.20482967 0.97533748 0.08222899 -1.67354694] [-0.02341901 -0.08886965 0.99576791 -1.2401656 ] [ 0. 0. 0. 1. ]] SLAMing on 125.53907232899999 meters Centerline goodness : 0.080893 Centerline is valid? [False, False] Translation: X:-4.38, Y:-1.68, Z:-1.24 [[ 0.97852727 0.2031801 0.03467322 -4.381012 ] [-0.20543035 0.97509106 0.08364091 -1.6751003 ] [-0.01681538 -0.08896784 0.99589255 -1.23759488] [ 0. 0. 0. 1. ]] SLAMing on 125.569072329 meters Centerline goodness : 0.494143 Centerline is valid? [False, False] Translation: X:-4.38, Y:-1.68, Z:-1.24 [[ 0.97858586 0.2032029 0.03283752 -4.37642371] [-0.20531031 0.97499884 0.08499965 -1.67801937] [-0.01474437 -0.08992134 0.99583972 -1.23846553] [ 0. 0. 0. 1. ]] SLAMing on 125.599072329 meters Centerline goodness : 0.202565 Centerline is valid? [False, False] Translation: X:-4.37, Y:-1.68, Z:-1.24 [[ 0.9790924 0.20099255 0.03130588 -4.37402369] [-0.20294154 0.97567655 0.08288545 -1.682122 ] [-0.01388506 -0.08750578 0.99606724 -1.23856294] [ 0. 0. 0. 1. ]] SLAMing on 125.629072329 meters Centerline goodness : 0.089933 Centerline is valid? [False, False] Translation: X:-4.35, Y:-1.68, Z:-1.24 [[ 0.97975715 0.19881438 0.02342587 -4.35479884] [-0.20006208 0.97658373 0.07911624 -1.68374669] [-0.00714788 -0.08220133 0.99659011 -1.23668331] [ 0. 0. 0. 1. ]] SLAMing on 125.659072329 meters Centerline goodness : 0.190169 Centerline is valid? [False, False] Translation: X:-4.35, Y:-1.69, Z:-1.24 [[ 0.98046255 0.19558726 0.02094795 -4.35027177] [-0.19663063 0.97745909 0.07687735 -1.68781758] [-0.00543953 -0.07949437 0.99682047 -1.23746691] [ 0. 0. 0. 1. ]] SLAMing on 125.689072329 meters Centerline goodness : 0.073656 Centerline is valid? [False, False] Translation: X:-4.33, Y:-1.69, Z:-1.24 [[ 0.98122126 0.191215 0.02533112 -4.32904391] [-0.19263699 0.97813456 0.07838224 -1.68761495] [-0.00978938 -0.08179003 0.9966015 -1.24056421] [ 0. 0. 0. 1. ]] SLAMing on 125.71907232899999 meters Centerline goodness : 0.178450 Centerline is valid? [False, False] Translation: X:-4.32, Y:-1.69, Z:-1.24 [[ 0.98185207 0.18840294 0.02169903 -4.32283775] [-0.18953338 0.97879684 0.07767782 -1.69221292] [-0.00660421 -0.08038082 0.99674235 -1.24035825] [ 0. 0. 0. 1. ]] SLAMing on 125.74907232899999 meters Centerline goodness : 0.374223 Centerline is valid? [False, False] Translation: X:-4.32, Y:-1.69, Z:-1.24 [[ 0.98237301 0.18426791 0.0314422 -4.31516622] [-0.18624695 0.97921056 0.08036639 -1.69347132] [-0.01597959 -0.08480579 0.99626936 -1.24466855] [ 0. 0. 0. 1. ]] SLAMing on 125.77907232899999 meters Centerline goodness : 0.170270 Centerline is valid? [False, False] Translation: X:-4.29, Y:-1.70, Z:-1.24 [[ 0.98355116 0.17944481 0.02065603 -4.29282704] [-0.1805259 0.98041452 0.07872593 -1.69789668] [-0.00612451 -0.08115993 0.99668227 -1.24051255] [ 0. 0. 0. 1. ]] SLAMing on 125.80907232899999 meters Centerline goodness : 0.141472 Centerline is valid? [False, False] Translation: X:-4.29, Y:-1.70, Z:-1.24 [[ 9.84357658e-01 1.75361155e-01 1.69843031e-02 -4.28650132e+00] [-1.76152543e-01 9.81365296e-01 7.67622190e-02 -1.70190170e+00] [-3.20669424e-03 -7.85533063e-02 9.96904757e-01 -1.24037691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.83907232899999 meters Centerline goodness : 0.185596 Centerline is valid? [False, False] Translation: X:-4.28, Y:-1.70, Z:-1.25 [[ 0.98518634 0.16943824 0.02643038 -4.279071 ] [-0.17100932 0.98220071 0.07770181 -1.70289035] [-0.01279428 -0.0810706 0.99662624 -1.24547145] [ 0. 0. 0. 1. ]] SLAMing on 125.86907232899999 meters Centerline goodness : 0.231432 Centerline is valid? [False, False] Translation: X:-4.26, Y:-1.71, Z:-1.24 [[ 0.98680197 0.16113357 0.01605728 -4.25902663] [-0.16187561 0.98420749 0.07163736 -1.70621027] [-0.00426051 -0.07329117 0.99730149 -1.24201873] [ 0. 0. 0. 1. ]] SLAMing on 125.89907232899999 meters Centerline goodness : 0.190013 Centerline is valid? [False, False] Translation: X:-4.25, Y:-1.71, Z:-1.24 [[ 9.87686304e-01 1.55982460e-01 1.20514178e-02 -4.25218476e+00] [-1.56443419e-01 9.85271067e-01 6.90389878e-02 -1.70970834e+00] [-1.10504213e-03 -7.00742277e-02 9.97541168e-01 -1.24176343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.929072329 meters Centerline goodness : 0.299538 Centerline is valid? [False, False] Translation: X:-4.23, Y:-1.71, Z:-1.24 [[ 9.89042823e-01 1.46925534e-01 1.43937969e-02 -4.22911303e+00] [-1.47572587e-01 9.86647940e-01 6.89069905e-02 -1.70782132e+00] [-4.07741370e-03 -7.02760943e-02 9.97519246e-01 -1.24278773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.959072329 meters Centerline goodness : 0.185292 Centerline is valid? [False, False] Translation: X:-4.22, Y:-1.71, Z:-1.24 [[ 9.89855861e-01 1.41694321e-01 1.03968384e-02 -4.22273222e+00] [-1.42072585e-01 9.87631101e-01 6.63339228e-02 -1.71059018e+00] [-8.69100844e-04 -6.71381280e-02 9.97743312e-01 -1.24173026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.989072329 meters Centerline goodness : 0.293530 Centerline is valid? [False, False] Translation: X:-4.22, Y:-1.71, Z:-1.24 [[ 9.90651198e-01 1.36276147e-01 6.24631510e-03 -4.21593228e+00] [-1.36396376e-01 9.88608463e-01 6.36343856e-02 -1.71309326e+00] [ 2.49668894e-03 -6.38914550e-02 9.97953731e-01 -1.24065636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.019072329 meters Centerline goodness : 0.350636 Centerline is valid? [False, False] Translation: X:-4.21, Y:-1.72, Z:-1.24 [[ 9.91414312e-01 1.30741036e-01 2.10806551e-03 -4.20902226e+00] [-1.30626088e-01 9.89561134e-01 6.08735342e-02 -1.71565851e+00] [ 5.87260920e-03 -6.06262613e-02 9.98143261e-01 -1.23972157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.049072329 meters Centerline goodness : 0.177050 Centerline is valid? [False, False] Translation: X:-4.19, Y:-1.72, Z:-1.24 [[ 9.92859453e-01 1.19164388e-01 5.47305835e-03 -4.19049024e+00] [-1.19275218e-01 9.90968519e-01 6.12765541e-02 -1.71530285e+00] [ 1.87835456e-03 -6.14918063e-02 9.98105821e-01 -1.24336016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.079072329 meters Centerline goodness : 0.192094 Centerline is valid? [False, False] Translation: X:-4.18, Y:-1.72, Z:-1.24 [[ 9.93517305e-01 1.13669038e-01 1.64760518e-03 -4.18412653e+00] [-1.13571383e-01 9.91818996e-01 5.82805316e-02 -1.71714937e+00] [ 4.99056588e-03 -5.80898375e-02 9.98298886e-01 -1.24237454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.10907232899999 meters Centerline goodness : 0.176016 Centerline is valid? [False, False] Translation: X:-4.18, Y:-1.72, Z:-1.24 [[ 9.94139257e-01 1.08086837e-01 -2.09132976e-03 -4.17813260e+00] [-1.07807707e-01 9.92639495e-01 5.51754542e-02 -1.71867904e+00] [ 8.03967684e-03 -5.46266236e-02 9.98474484e-01 -1.24106891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.13907232899999 meters Centerline goodness : 0.189247 Centerline is valid? [False, False] Translation: X:-4.16, Y:-1.72, Z:-1.24 [[ 9.95401957e-01 9.57789174e-02 1.15852896e-03 -4.16080585e+00] [-9.56955881e-02 9.93865285e-01 5.54450087e-02 -1.71601936e+00] [ 4.15904119e-03 -5.53009363e-02 9.98461070e-01 -1.24415148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.16907232899999 meters Centerline goodness : 0.186426 Centerline is valid? [False, False] Translation: X:-4.15, Y:-1.72, Z:-1.24 [[ 9.95949144e-01 8.98839024e-02 -2.48734016e-03 -4.15485814e+00] [-8.96342656e-02 9.94620083e-01 5.19286970e-02 -1.71709652e+00] [ 7.14151241e-03 -5.14953904e-02 9.98647697e-01 -1.24271755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.19907232899999 meters Centerline goodness : 0.186375 Centerline is valid? [False, False] Translation: X:-4.15, Y:-1.72, Z:-1.24 [[ 0.99645711 0.08386574 -0.00630608 -4.14851595] [-0.08346438 0.99533194 0.04845643 -1.71822931] [ 0.01034048 -0.04775842 0.99880539 -1.24117552] [ 0. 0. 0. 1. ]] SLAMing on 126.22907232899999 meters Centerline goodness : 0.203048 Centerline is valid? [False, False] Translation: X:-4.13, Y:-1.72, Z:-1.24 [[ 9.97524469e-01 7.02632499e-02 -2.83019190e-03 -4.13213915e+00] [-7.00516910e-02 9.96423971e-01 4.72443648e-02 -1.71560879e+00] [ 6.13961366e-03 -4.69291502e-02 9.98879352e-01 -1.24156538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.25907232899999 meters Centerline goodness : 0.344300 Centerline is valid? [False, False] Translation: X:-4.12, Y:-1.72, Z:-1.24 [[ 0.99774695 0.06666815 -0.00750819 -4.12312833] [-0.06624291 0.99669004 0.04712578 -1.71528324] [ 0.01062513 -0.04652224 0.99886075 -1.2404407 ] [ 0. 0. 0. 1. ]] SLAMing on 126.28907232899999 meters Centerline goodness : 0.335930 Centerline is valid? [False, False] Translation: X:-4.11, Y:-1.71, Z:-1.24 [[ 0.99877189 0.04895274 -0.00763785 -4.10824049] [-0.04855238 0.99776535 0.04590179 -1.71318826] [ 0.0098678 -0.04547459 0.99891676 -1.2394437 ] [ 0. 0. 0. 1. ]] SLAMing on 126.319072329 meters Centerline goodness : 0.296179 Centerline is valid? [False, False] Translation: X:-4.10, Y:-1.71, Z:-1.24 [[ 0.99903153 0.04238259 -0.0118199 -4.10082931] [-0.04184973 0.99823334 0.04217583 -1.71405204] [ 0.01358654 -0.04164033 0.99904028 -1.23778303] [ 0. 0. 0. 1. ]] SLAMing on 126.349072329 meters Centerline goodness : 0.134131 Centerline is valid? [False, False] Translation: X:-4.09, Y:-1.71, Z:-1.24 [[ 9.99498505e-01 3.14935873e-02 -3.30051512e-03 -4.09389087e+00] [-3.13280530e-02 9.98632129e-01 4.18619537e-02 -1.71255231e+00] [ 4.61438354e-03 -4.17375614e-02 9.99117953e-01 -1.24158273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.379072329 meters Centerline goodness : 0.270503 Centerline is valid? [False, False] Translation: X:-4.09, Y:-1.71, Z:-1.24 [[ 0.9996674 0.02471311 -0.00737282 -4.08658131] [-0.02441497 0.99897542 0.0381054 -1.71399893] [ 0.00830697 -0.03791272 0.99924653 -1.24011648] [ 0. 0. 0. 1. ]] SLAMing on 126.409072329 meters Centerline goodness : 0.259606 Centerline is valid? [False, False] Translation: X:-4.07, Y:-1.71, Z:-1.24 [[ 0.99994766 0.00527788 -0.00876453 -4.06967397] [-0.00495731 0.99933217 0.03620266 -1.71321161] [ 0.00894975 -0.03615732 0.99930603 -1.23920907] [ 0. 0. 0. 1. ]] SLAMing on 126.439072329 meters Centerline goodness : 0.261761 Centerline is valid? [False, False] Translation: X:-4.06, Y:-1.71, Z:-1.24 [[ 9.99909971e-01 -1.33151237e-03 -1.33520259e-02 -4.06160715e+00] [ 1.76830464e-03 9.99461837e-01 3.27553022e-02 -1.71427291e+00] [ 1.33012263e-02 -3.27759637e-02 9.99374211e-01 -1.23668233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.46907232899999 meters Centerline goodness : 0.227318 Centerline is valid? [False, False] Translation: X:-4.04, Y:-1.71, Z:-1.23 [[ 0.99962204 -0.02180317 -0.01674508 -4.04270084] [ 0.02233676 0.99922636 0.03236882 -1.71283764] [ 0.01602638 -0.03273062 0.99933571 -1.23391309] [ 0. 0. 0. 1. ]] SLAMing on 126.49907232899999 meters Centerline goodness : 0.216809 Centerline is valid? [False, False] Translation: X:-4.03, Y:-1.71, Z:-1.23 [[ 0.9993638 -0.02869195 -0.02118417 -4.03453419] [ 0.02929519 0.99915762 0.02873732 -1.71472191] [ 0.02034179 -0.02933963 0.9993625 -1.2313328 ] [ 0. 0. 0. 1. ]] SLAMing on 126.52907232899999 meters Centerline goodness : 0.284922 Centerline is valid? [False, False] Translation: X:-4.03, Y:-1.72, Z:-1.23 [[ 0.99903016 -0.03573632 -0.02572252 -4.02611658] [ 0.03638167 0.99902336 0.02507406 -1.71675256] [ 0.02480134 -0.02598557 0.99935461 -1.22852052] [ 0. 0. 0. 1. ]] SLAMing on 126.55907232899999 meters Centerline goodness : 0.281306 Centerline is valid? [False, False] Translation: X:-4.01, Y:-1.72, Z:-1.22 [[ 0.99781883 -0.05940866 -0.02877844 -4.008469 ] [ 0.06005508 0.99794943 0.02214339 -1.71722175] [ 0.02740392 -0.02382338 0.99934052 -1.2229878 ] [ 0. 0. 0. 1. ]] SLAMing on 126.58907232899999 meters Centerline goodness : 0.280922 Centerline is valid? [False, False] Translation: X:-4.00, Y:-1.72, Z:-1.22 [[ 0.99719269 -0.06680937 -0.03381193 -3.99920506] [ 0.06745823 0.99755193 0.01842649 -1.71895147] [ 0.03249809 -0.02065566 0.99925833 -1.21907835] [ 0. 0. 0. 1. ]] SLAMing on 126.61907232899999 meters Centerline goodness : 0.278216 Centerline is valid? [False, False] Translation: X:-3.99, Y:-1.72, Z:-1.21 [[ 0.9964233 -0.0743057 -0.04024022 -3.9868135 ] [ 0.07493841 0.99708349 0.01444804 -1.71974642] [ 0.03904929 -0.0174119 0.99908557 -1.21330657] [ 0. 0. 0. 1. ]] SLAMing on 126.64907232899999 meters Centerline goodness : 0.285984 Centerline is valid? [False, False] Translation: X:-3.97, Y:-1.72, Z:-1.21 [[ 0.99395773 -0.10011921 -0.04499078 -3.96641297] [ 0.10072608 0.9948486 0.01142481 -1.71942949] [ 0.04361517 -0.01588753 0.99892207 -1.20828823] [ 0. 0. 0. 1. ]] SLAMing on 126.679072329 meters Centerline goodness : 0.283308 Centerline is valid? [False, False] Translation: X:-3.95, Y:-1.72, Z:-1.20 [[ 0.99272199 -0.10860777 -0.05203275 -3.95201842] [ 0.10914551 0.99399674 0.00759882 -1.71989296] [ 0.05089509 -0.01322266 0.99861647 -1.20266493] [ 0. 0. 0. 1. ]] SLAMing on 126.709072329 meters Centerline goodness : 0.279748 Centerline is valid? [False, False] Translation: X:-3.94, Y:-1.72, Z:-1.21 [[ 0.99130853 -0.12274815 -0.0473317 -3.94145728] [ 0.12327969 0.99233583 0.00846831 -1.71890364] [ 0.04592947 -0.01422975 0.99884333 -1.20560898] [ 0. 0. 0. 1. ]] SLAMing on 126.739072329 meters Centerline goodness : 0.281104 Centerline is valid? [False, False] Translation: X:-3.93, Y:-1.72, Z:-1.21 [[ 0.98999689 -0.13516874 -0.04044208 -3.92934056] [ 0.13564366 0.99071473 0.00922659 -1.71772825] [ 0.03881942 -0.01462 0.99913928 -1.20917685] [ 0. 0. 0. 1. ]] SLAMing on 126.769072329 meters Centerline goodness : 0.201850 Centerline is valid? [False, False] Translation: X:-3.91, Y:-1.72, Z:-1.20 [[ 0.98529019 -0.16575872 -0.04156073 -3.9091042 ] [ 0.1661714 0.98607442 0.00665571 -1.7184149 ] [ 0.03987873 -0.01346401 0.99911381 -1.20307733] [ 0. 0. 0. 1. ]] SLAMing on 126.799072329 meters Centerline goodness : 0.194959 Centerline is valid? [False, False] Translation: X:-3.90, Y:-1.72, Z:-1.21 [[ 0.98335127 -0.1784442 -0.03432115 -3.89611579] [ 0.17877565 0.98386623 0.00681923 -1.71787482] [ 0.03255056 -0.01284149 0.99938759 -1.20590388] [ 0. 0. 0. 1. ]] SLAMing on 126.829072329 meters Centerline goodness : 0.173478 Centerline is valid? [False, False] Translation: X:-3.88, Y:-1.72, Z:-1.21 [[ 0.98114248 -0.19138618 -0.02703265 -3.88286702] [ 0.19163726 0.98144086 0.00700049 -1.71780642] [ 0.02519115 -0.01204894 0.99961004 -1.20966832] [ 0. 0. 0. 1. ]] SLAMing on 126.85907232899999 meters Centerline goodness : 0.199152 Centerline is valid? [False, False] Translation: X:-3.86, Y:-1.72, Z:-1.21 [[ 0.97423475 -0.22375541 -0.0282872 -3.86432901] [ 0.22400681 0.97456902 0.00601428 -1.7217516 ] [ 0.0262221 -0.01219584 0.99958174 -1.20817972] [ 0. 0. 0. 1. ]] SLAMing on 126.88907232899999 meters Centerline goodness : 0.199152 Centerline is valid? [False, False] Translation: X:-3.86, Y:-1.72, Z:-1.21 [[ 0.97423475 -0.22375541 -0.0282872 -3.86432901] [ 0.22400681 0.97456902 0.00601428 -1.7217516 ] [ 0.0262221 -0.01219584 0.99958174 -1.20817972] [ 0. 0. 0. 1. ]] SLAMing on 126.91907232899999 meters Centerline goodness : 0.200487 Centerline is valid? [False, False] Translation: X:-3.85, Y:-1.72, Z:-1.21 [[ 0.97144049 -0.23622123 -0.02242576 -3.85066522] [ 0.23645063 0.97160924 0.00815982 -1.72127517] [ 0.01986155 -0.01322937 0.99971521 -1.21351398] [ 0. 0. 0. 1. ]] SLAMing on 126.94907232899999 meters Centerline goodness : 0.175852 Centerline is valid? [False, False] Translation: X:-3.82, Y:-1.72, Z:-1.21 [[ 0.96344901 -0.26644328 -0.02782045 -3.82183723] [ 0.26669478 0.96376424 0.00569074 -1.71869637] [ 0.02529609 -0.01290231 0.99959674 -1.20978256] [ 0. 0. 0. 1. ]] SLAMing on 126.97907232899999 meters Centerline goodness : 0.249602 Centerline is valid? [False, False] Translation: X:-3.81, Y:-1.72, Z:-1.21 [[ 9.59260152e-01 -2.80892850e-01 -3.03177939e-02 -3.80884604e+00] [ 2.81105786e-01 9.59672351e-01 2.91834237e-03 -1.71907784e+00] [ 2.82754070e-02 -1.13219568e-02 9.99536050e-01 -1.20639225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.00907232899999 meters Centerline goodness : 0.246059 Centerline is valid? [False, False] Translation: X:-3.80, Y:-1.72, Z:-1.20 [[ 9.54849422e-01 -2.95283336e-01 -3.27159515e-02 -3.79619218e+00] [ 2.95455040e-01 9.55356547e-01 4.34211302e-04 -1.72015762e+00] [ 3.11271831e-02 -1.00806992e-02 9.99464596e-01 -1.20225524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.03907232899999 meters Centerline goodness : 0.244624 Centerline is valid? [False, False] Translation: X:-3.78, Y:-1.72, Z:-1.20 [[ 9.50237143e-01 -3.09561230e-01 -3.49459129e-02 -3.78359082e+00] [ 3.09674404e-01 9.50839968e-01 -2.26261683e-03 -1.72136753e+00] [ 3.39283891e-02 -8.67183220e-03 9.99386644e-01 -1.19818975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.069072329 meters Centerline goodness : 0.241251 Centerline is valid? [False, False] Translation: X:-3.76, Y:-1.72, Z:-1.19 [[ 9.39954673e-01 -3.39031217e-01 -3.92816298e-02 -3.75518686e+00] [ 3.39153476e-01 9.40723732e-01 -3.71209508e-03 -1.72205601e+00] [ 3.82116775e-02 -9.83330016e-03 9.99221284e-01 -1.19220572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.099072329 meters Centerline goodness : 0.238860 Centerline is valid? [False, False] Translation: X:-3.74, Y:-1.72, Z:-1.19 [[ 0.93500179 -0.35223409 -0.04126505 -3.74254016] [ 0.35228831 0.93587104 -0.00619117 -1.72255092] [ 0.04079951 -0.00874844 0.99912905 -1.18893559] [ 0. 0. 0. 1. ]] SLAMing on 127.129072329 meters Centerline goodness : 0.234014 Centerline is valid? [False, False] Translation: X:-3.71, Y:-1.72, Z:-1.19 [[ 0.92455336 -0.37835163 -0.04528928 -3.71453991] [ 0.37842751 0.92560279 -0.00721799 -1.7229278 ] [ 0.04465082 -0.0104653 0.99894784 -1.18552122] [ 0. 0. 0. 1. ]] SLAMing on 127.159072329 meters Centerline goodness : 0.196795 Centerline is valid? [False, False] Translation: X:-3.70, Y:-1.72, Z:-1.18 [[ 0.91956179 -0.39019169 -0.04643872 -3.70347508] [ 0.39017487 0.92068861 -0.00980103 -1.72400756] [ 0.04657988 -0.00910657 0.99887306 -1.18279932] [ 0. 0. 0. 1. ]] SLAMing on 127.189072329 meters Centerline goodness : 0.224300 Centerline is valid? [False, False] Translation: X:-3.68, Y:-1.73, Z:-1.18 [[ 0.90841088 -0.41517661 -0.04917374 -3.67863065] [ 0.41516494 0.90968044 -0.01093463 -1.72558719] [ 0.04927219 -0.01048207 0.99873038 -1.17667427] [ 0. 0. 0. 1. ]] SLAMing on 127.21907232899999 meters Centerline goodness : 0.233109 Centerline is valid? [False, False] Translation: X:-3.65, Y:-1.72, Z:-1.18 [[ 0.90437948 -0.42426666 -0.04577718 -3.65290136] [ 0.42419129 0.90549533 -0.01183068 -1.71898593] [ 0.04647039 -0.00871886 0.99888162 -1.17815602] [ 0. 0. 0. 1. ]] SLAMing on 127.24907232899999 meters Centerline goodness : 0.213175 Centerline is valid? [False, False] Translation: X:-3.63, Y:-1.71, Z:-1.18 [[ 0.90053817 -0.4326785 -0.0426652 -3.62678354] [ 0.43254948 0.9015209 -0.01268946 -1.71224773] [ 0.04395402 -0.00702747 0.99900884 -1.17955438] [ 0. 0. 0. 1. ]] SLAMing on 127.27907232899999 meters Centerline goodness : 0.233264 Centerline is valid? [False, False] Translation: X:-3.60, Y:-1.71, Z:-1.17 [[ 0.89018416 -0.45329125 -0.04581698 -3.60378253] [ 0.45318271 0.89131803 -0.01332677 -1.71418736] [ 0.04687841 -0.00890018 0.99886095 -1.17356279] [ 0. 0. 0. 1. ]] SLAMing on 127.30907232899999 meters Centerline goodness : 0.232715 Centerline is valid? [False, False] Translation: X:-3.58, Y:-1.71, Z:-1.18 [[ 0.88690821 -0.45981635 -0.04430308 -3.57748103] [ 0.45970596 0.88797228 -0.01325368 -1.70788568] [ 0.04543416 -0.00861159 0.99893022 -1.17571186] [ 0. 0. 0. 1. ]] SLAMing on 127.33907232899999 meters Centerline goodness : 0.233176 Centerline is valid? [False, False] Translation: X:-3.55, Y:-1.70, Z:-1.18 [[ 0.88387122 -0.46582053 -0.04222439 -3.55100585] [ 0.4656929 0.88484476 -0.01341175 -1.70192576] [ 0.04360951 -0.00780934 0.99901813 -1.17859512] [ 0. 0. 0. 1. ]] SLAMing on 127.36907232899999 meters Centerline goodness : 0.142524 Centerline is valid? [False, False] Translation: X:-3.52, Y:-1.70, Z:-1.18 [[ 0.87496986 -0.48247324 -0.04058721 -3.52107828] [ 0.48214799 0.87590277 -0.01810129 -1.70002884] [ 0.04428384 -0.00373096 0.99901202 -1.1776618 ] [ 0. 0. 0. 1. ]] SLAMing on 127.39907232899999 meters Centerline goodness : 0.133151 Centerline is valid? [False, False] Translation: X:-3.52, Y:-1.70, Z:-1.18 [[ 8.72386205e-01 -4.87178685e-01 -3.99904852e-02 -3.51656904e+00] [ 4.86737366e-01 8.73301283e-01 -2.07751271e-02 -1.70479867e+00] [ 4.50449412e-02 -1.34092913e-03 9.98984062e-01 -1.17720115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.429072329 meters Centerline goodness : 0.134190 Centerline is valid? [False, False] Translation: X:-3.49, Y:-1.71, Z:-1.17 [[ 0.86259812 -0.50413412 -0.0421101 -3.4944768 ] [ 0.50376057 0.86361562 -0.01983312 -1.70723413] [ 0.04636549 -0.0041054 0.99891611 -1.17341717] [ 0. 0. 0. 1. ]] SLAMing on 127.459072329 meters Centerline goodness : 0.359568 Centerline is valid? [False, False] Translation: X:-3.47, Y:-1.70, Z:-1.18 [[ 0.8606052 -0.50764443 -0.04069179 -3.46782026] [ 0.50743594 0.86153967 -0.01606732 -1.70215549] [ 0.04321408 -0.00682085 0.99904255 -1.17578383] [ 0. 0. 0. 1. ]] SLAMing on 127.489072329 meters Centerline goodness : 0.360144 Centerline is valid? [False, False] Translation: X:-3.46, Y:-1.71, Z:-1.18 [[ 0.85986597 -0.5087785 -0.04213004 -3.46288873] [ 0.50862555 0.86085584 -0.01507564 -1.70711701] [ 0.04393806 -0.00846539 0.99899839 -1.17555263] [ 0. 0. 0. 1. ]] SLAMing on 127.519072329 meters Centerline goodness : 0.360861 Centerline is valid? [False, False] Translation: X:-3.46, Y:-1.71, Z:-1.18 [[ 0.85917927 -0.50982927 -0.04341758 -3.45803138] [ 0.5097285 0.86021822 -0.01419385 -1.71175196] [ 0.04458503 -0.00993611 0.99895618 -1.17560665] [ 0. 0. 0. 1. ]] SLAMing on 127.549072329 meters Centerline goodness : 0.362226 Centerline is valid? [False, False] Translation: X:-3.45, Y:-1.72, Z:-1.18 [[ 0.85853059 -0.51081579 -0.04463706 -3.45296573] [ 0.5107688 0.85961502 -0.01331376 -1.71665388] [ 0.04517156 -0.01136895 0.99891455 -1.17584302] [ 0. 0. 0. 1. ]] SLAMing on 127.579072329 meters Centerline goodness : 0.362724 Centerline is valid? [False, False] Translation: X:-3.45, Y:-1.72, Z:-1.18 [[ 0.85440669 -0.51791424 -0.04188138 -3.44659699] [ 0.5176164 0.85541247 -0.01851385 -1.7231585 ] [ 0.04541445 -0.00586013 0.99895104 -1.17708398] [ 0. 0. 0. 1. ]] SLAMing on 127.60907232899999 meters Centerline goodness : 0.362672 Centerline is valid? [False, False] Translation: X:-3.44, Y:-1.73, Z:-1.18 [[ 8.52401694e-01 -5.21334322e-01 -4.02725242e-02 -3.44418780e+00] [ 5.20900590e-01 8.53348223e-01 -2.14332685e-02 -1.72544384e+00] [ 4.55403854e-02 -2.70822726e-03 9.98958827e-01 -1.17749647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.63907232899999 meters Centerline goodness : 0.363444 Centerline is valid? [False, False] Translation: X:-3.44, Y:-1.73, Z:-1.18 [[ 0.85224296 -0.52154376 -0.04091498 -3.44150933] [ 0.52115055 0.85321621 -0.02059629 -1.72930513] [ 0.04565119 -0.00376982 0.99895033 -1.17727639] [ 0. 0. 0. 1. ]] SLAMing on 127.66907232899999 meters Centerline goodness : 0.364025 Centerline is valid? [False, False] Translation: X:-3.44, Y:-1.74, Z:-1.18 [[ 0.8519662 -0.5219278 -0.0417728 -3.43838922] [ 0.52159486 0.85297331 -0.0193737 -1.73512496] [ 0.04574275 -0.00528274 0.99893928 -1.17625102] [ 0. 0. 0. 1. ]] SLAMing on 127.69907232899999 meters Centerline goodness : 0.363836 Centerline is valid? [False, False] Translation: X:-3.44, Y:-1.74, Z:-1.18 [[ 0.85213805 -0.52159609 -0.04240594 -3.43648172] [ 0.52129048 0.85317113 -0.01884816 -1.7374363 ] [ 0.04601065 -0.00604458 0.99892266 -1.17554312] [ 0. 0. 0. 1. ]] SLAMing on 127.72907232899999 meters Centerline goodness : 0.364640 Centerline is valid? [False, False] Translation: X:-3.43, Y:-1.74, Z:-1.17 [[ 0.85241484 -0.5210654 -0.04335659 -3.43367139] [ 0.52080424 0.85348614 -0.01800975 -1.74188346] [ 0.0463885 -0.00722852 0.99889732 -1.17392366] [ 0. 0. 0. 1. ]] SLAMing on 127.75907232899999 meters Centerline goodness : 0.365200 Centerline is valid? [False, False] Translation: X:-3.43, Y:-1.74, Z:-1.17 [[ 0.85256574 -0.52079603 -0.04362506 -3.43280882] [ 0.52055582 0.85364634 -0.01759464 -1.74346108] [ 0.04640359 -0.00770869 0.99889303 -1.1737004 ] [ 0. 0. 0. 1. ]] SLAMing on 127.78907232899999 meters Centerline goodness : 0.363852 Centerline is valid? [False, False] Translation: X:-3.43, Y:-1.74, Z:-1.17 [[ 0.85267012 -0.52061971 -0.04368954 -3.43256775] [ 0.52039318 0.85375139 -0.01730603 -1.74433908] [ 0.04630986 -0.0079794 0.99889525 -1.17372811] [ 0. 0. 0. 1. ]] SLAMing on 127.819072329 meters Centerline goodness : 0.365134 Centerline is valid? [False, False] Translation: X:-3.43, Y:-1.75, Z:-1.17 [[ 0.85515391 -0.51626314 -0.04673494 -3.42968349] [ 0.51626639 0.85633035 -0.01293625 -1.74715323] [ 0.04669906 -0.0130652 0.99882356 -1.17346273] [ 0. 0. 0. 1. ]] SLAMing on 127.849072329 meters Centerline goodness : 0.365406 Centerline is valid? [False, False] Translation: X:-3.43, Y:-1.75, Z:-1.17 [[ 0.85534175 -0.51594747 -0.04678356 -3.42947882] [ 0.51596975 0.85651511 -0.01253299 -1.74835683] [ 0.04653719 -0.01341892 0.99882642 -1.17347623] [ 0. 0. 0. 1. ]] SLAMing on 127.879072329 meters Centerline goodness : 0.363475 Centerline is valid? [False, False] Translation: X:-3.43, Y:-1.75, Z:-1.17 [[ 0.85557686 -0.51553611 -0.04701861 -3.42857371] [ 0.51558674 0.85675362 -0.01198122 -1.75028014] [ 0.04646012 -0.01399132 0.99882216 -1.1734003 ] [ 0. 0. 0. 1. ]] SLAMing on 127.909072329 meters Centerline goodness : 0.364139 Centerline is valid? [False, False] Translation: X:-3.42, Y:-1.75, Z:-1.17 [[ 0.85653815 -0.51379591 -0.04854028 -3.42207205] [ 0.5138989 0.85777646 -0.01129026 -1.75427766] [ 0.0474376 -0.01527426 0.99875741 -1.17286563] [ 0. 0. 0. 1. ]] SLAMing on 127.939072329 meters Centerline goodness : 0.363673 Centerline is valid? [False, False] Translation: X:-3.42, Y:-1.76, Z:-1.17 [[ 0.85675946 -0.51339041 -0.04892359 -3.42053681] [ 0.51352758 0.85800656 -0.01068481 -1.75636827] [ 0.04746224 -0.0159693 0.99874537 -1.17300896] [ 0. 0. 0. 1. ]] SLAMing on 127.96907232899999 meters Centerline goodness : 0.364864 Centerline is valid? [False, False] Translation: X:-3.42, Y:-1.76, Z:-1.17 [[ 0.85692732 -0.51308827 -0.04915268 -3.41964414] [ 0.51325105 0.85817773 -0.01021471 -1.75774232] [ 0.04742278 -0.0164744 0.99873904 -1.17320201] [ 0. 0. 0. 1. ]] SLAMing on 127.99907232899999 meters Centerline goodness : 0.364739 Centerline is valid? [False, False] Translation: X:-3.42, Y:-1.76, Z:-1.17 [[ 0.85940824 -0.50859437 -0.05243324 -3.41611637] [ 0.50903424 0.8607281 -0.00559281 -1.76107341] [ 0.04797523 -0.02188381 0.99860877 -1.17275786] [ 0. 0. 0. 1. ]] SLAMing on 128.029072329 meters Centerline goodness : 0.362932 Centerline is valid? [False, False] Translation: X:-3.41, Y:-1.76, Z:-1.17 [[ 8.61608831e-01 -5.04542666e-01 -5.53797868e-02 -3.41352125e+00] [ 5.05251972e-01 8.62970776e-01 -1.37260983e-03 -1.76392201e+00] [ 4.84836778e-02 -2.67980937e-02 9.98464419e-01 -1.17192959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.059072329 meters Centerline goodness : 0.365679 Centerline is valid? [False, False] Translation: X:-3.41, Y:-1.77, Z:-1.17 [[ 8.62169432e-01 -5.03464099e-01 -5.64603487e-02 -3.41036099e+00] [ 5.04238009e-01 8.63564499e-01 -6.22105667e-04 -1.76640007e+00] [ 4.90703606e-02 -2.79330933e-02 9.98404648e-01 -1.17125545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.089072329 meters Centerline goodness : 0.364633 Centerline is valid? [False, False] Translation: X:-3.41, Y:-1.77, Z:-1.17 [[ 8.62397351e-01 -5.03022630e-01 -5.69125901e-02 -3.40859718e+00] [ 5.03836997e-01 8.63798749e-01 -4.61457618e-05 -1.76851600e+00] [ 4.91842365e-02 -2.86348725e-02 9.98379164e-01 -1.17124290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.119072329 meters Centerline goodness : 0.366392 Centerline is valid? [False, False] Translation: X:-3.41, Y:-1.77, Z:-1.17 [[ 8.62645787e-01 -5.02537270e-01 -5.74329043e-02 -3.40635330e+00] [ 5.03399561e-01 8.64053517e-01 6.34045301e-04 -1.77085018e+00] [ 4.93064715e-02 -2.94586553e-02 9.98349167e-01 -1.17161217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.149072329 meters Centerline goodness : 0.363701 Centerline is valid? [False, False] Translation: X:-3.40, Y:-1.78, Z:-1.17 [[ 8.63183142e-01 -5.01494127e-01 -5.84679754e-02 -3.40116979e+00] [ 5.02453978e-01 8.64601633e-01 2.00387575e-03 -1.77521549e+00] [ 4.95465751e-02 -3.11071786e-02 9.98287273e-01 -1.17308381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.179072329 meters Centerline goodness : 0.132388 Centerline is valid? [False, False] Translation: X:-3.40, Y:-1.78, Z:-1.17 [[ 8.63397762e-01 -5.01047570e-01 -5.91239085e-02 -3.39882227e+00] [ 5.02058234e-01 8.64829839e-01 2.62273863e-03 -1.77757810e+00] [ 4.98180034e-02 -3.19481117e-02 9.98247206e-01 -1.17287935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.209072329 meters Centerline goodness : 0.362563 Centerline is valid? [False, False] Translation: X:-3.40, Y:-1.78, Z:-1.17 [[ 8.63575784e-01 -5.00659783e-01 -5.98050838e-02 -3.39663169e+00] [ 5.01718670e-01 8.65025091e-01 3.15725521e-03 -1.77999563e+00] [ 5.01521873e-02 -3.27318563e-02 9.98205081e-01 -1.17222058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.239072329 meters Centerline goodness : 0.363181 Centerline is valid? [False, False] Translation: X:-3.39, Y:-1.79, Z:-1.17 [[ 0.86355671 -0.5005732 -0.060797 -3.39370133] [ 0.50171216 0.86502497 0.00408875 -1.78561476] [ 0.05054421 -0.03403346 0.99814178 -1.16981993] [ 0. 0. 0. 1. ]] SLAMing on 128.269072329 meters Centerline goodness : 0.365760 Centerline is valid? [False, False] Translation: X:-3.39, Y:-1.79, Z:-1.17 [[ 0.86376442 -0.50010706 -0.06167624 -3.39074647] [ 0.50131176 0.86525343 0.00479788 -1.78875281] [ 0.05096612 -0.03506327 0.99808468 -1.16912807] [ 0. 0. 0. 1. ]] SLAMing on 128.299072329 meters Centerline goodness : 0.365152 Centerline is valid? [False, False] Translation: X:-3.39, Y:-1.79, Z:-1.17 [[ 0.86397065 -0.49962634 -0.06267562 -3.38728195] [ 0.50090208 0.86548647 0.0055023 -1.79176419] [ 0.05149581 -0.03614817 0.99801878 -1.16865158] [ 0. 0. 0. 1. ]] SLAMing on 128.329072329 meters Centerline goodness : 0.364891 Centerline is valid? [False, False] Translation: X:-3.38, Y:-1.80, Z:-1.17 [[ 0.86432275 -0.49880958 -0.06430541 -3.38067645] [ 0.50022633 0.8658658 0.00707315 -1.79713357] [ 0.05215171 -0.03828074 0.9979052 -1.16940076] [ 0. 0. 0. 1. ]] SLAMing on 128.359072329 meters Centerline goodness : 0.365096 Centerline is valid? [False, False] Translation: X:-3.38, Y:-1.80, Z:-1.17 [[ 0.86446797 -0.49848799 -0.06484486 -3.37850559] [ 0.49994905 0.86602208 0.00753076 -1.79819876] [ 0.05240309 -0.03892922 0.99786694 -1.17004899] [ 0. 0. 0. 1. ]] SLAMing on 128.38907232900002 meters Centerline goodness : 0.364728 Centerline is valid? [False, False] Translation: X:-3.38, Y:-1.80, Z:-1.17 [[ 0.86634739 -0.49484079 -0.06763728 -3.37555944] [ 0.49663959 0.86787586 0.01185804 -1.80125783] [ 0.05283292 -0.04386453 0.99763951 -1.16997989] [ 0. 0. 0. 1. ]] SLAMing on 128.41907232900002 meters Centerline goodness : 0.134177 Centerline is valid? [False, False] Translation: X:-3.37, Y:-1.80, Z:-1.17 [[ 0.86665312 -0.49418851 -0.06848418 -3.37281634] [ 0.49607117 0.8681883 0.01274671 -1.80390984] [ 0.05315789 -0.04502001 0.99757077 -1.1697761 ] [ 0. 0. 0. 1. ]] SLAMing on 128.44907232900002 meters Centerline goodness : 0.371920 Centerline is valid? [False, False] Translation: X:-3.37, Y:-1.81, Z:-1.17 [[ 0.86685527 -0.49374902 -0.06909301 -3.37080017] [ 0.49568984 0.86839731 0.01333019 -1.80610167] [ 0.05341841 -0.04580405 0.99752116 -1.16935817] [ 0. 0. 0. 1. ]] SLAMing on 128.47907232900002 meters Centerline goodness : 0.365868 Centerline is valid? [False, False] Translation: X:-3.37, Y:-1.81, Z:-1.17 [[ 0.86706778 -0.49328096 -0.06976639 -3.36840601] [ 0.49528741 0.86861659 0.01398557 -1.80864527] [ 0.05370143 -0.04668085 0.99746532 -1.16907562] [ 0. 0. 0. 1. ]] SLAMing on 128.50907232900002 meters Centerline goodness : 0.366625 Centerline is valid? [False, False] Translation: X:-3.36, Y:-1.81, Z:-1.17 [[ 0.86743443 -0.49248975 -0.07079089 -3.36398512] [ 0.49460085 0.86898999 0.01504644 -1.81294004] [ 0.05410636 -0.04806503 0.99737769 -1.16911062] [ 0. 0. 0. 1. ]] SLAMing on 128.539072329 meters Centerline goodness : 0.367686 Centerline is valid? [False, False] Translation: X:-3.36, Y:-1.81, Z:-1.17 [[ 0.86760914 -0.49210763 -0.07130535 -3.36214236] [ 0.49427231 0.86916743 0.01558432 -1.81499615] [ 0.05430713 -0.04876536 0.99733278 -1.1689155 ] [ 0. 0. 0. 1. ]] SLAMing on 128.569072329 meters Centerline goodness : 0.131377 Centerline is valid? [False, False] Translation: X:-3.36, Y:-1.82, Z:-1.17 [[ 0.86784455 -0.49158946 -0.07201142 -3.35970535] [ 0.49382657 0.86940784 0.0162886 -1.81772284] [ 0.05459999 -0.04969712 0.99727079 -1.16848159] [ 0. 0. 0. 1. ]] SLAMing on 128.599072329 meters Centerline goodness : 0.347163 Centerline is valid? [False, False] Translation: X:-3.36, Y:-1.82, Z:-1.17 [[ 0.86797367 -0.49131611 -0.07232007 -3.35862296] [ 0.49358795 0.86953652 0.01664878 -1.81903084] [ 0.05470513 -0.05014701 0.99724251 -1.16834542] [ 0. 0. 0. 1. ]] SLAMing on 128.629072329 meters Centerline goodness : 0.133686 Centerline is valid? [False, False] Translation: X:-3.36, Y:-1.82, Z:-1.17 [[ 0.86811982 -0.49101281 -0.07262512 -3.35755441] [ 0.49332256 0.86967898 0.01706803 -1.82060552] [ 0.05477992 -0.05064471 0.99721325 -1.16812617] [ 0. 0. 0. 1. ]] SLAMing on 128.659072329 meters Centerline goodness : 0.215953 Centerline is valid? [False, False] Translation: X:-3.36, Y:-1.82, Z:-1.17 [[ 0.8682623 -0.49071837 -0.07291137 -3.35656214] [ 0.49306374 0.86981798 0.01745952 -1.82215676] [ 0.05485191 -0.0511094 0.99718559 -1.16784214] [ 0. 0. 0. 1. ]] SLAMing on 128.689072329 meters Centerline goodness : 0.368036 Centerline is valid? [False, False] Translation: X:-3.36, Y:-1.82, Z:-1.17 [[ 0.8685126 -0.49024006 -0.07314742 -3.3557787 ] [ 0.49262563 0.87005549 0.01798442 -1.82426564] [ 0.05482563 -0.05165399 0.99715897 -1.16729118] [ 0. 0. 0. 1. ]] SLAMing on 128.719072329 meters Centerline goodness : 0.369566 Centerline is valid? [False, False] Translation: X:-3.36, Y:-1.83, Z:-1.17 [[ 0.86863272 -0.49002139 -0.07318631 -3.35579407] [ 0.49242264 0.87016507 0.01823998 -1.82501804] [ 0.05474619 -0.05188243 0.99715148 -1.16708775] [ 0. 0. 0. 1. ]] SLAMing on 128.749072329 meters Centerline goodness : 0.195435 Centerline is valid? [False, False] Translation: X:-3.35, Y:-1.83, Z:-1.17 [[ 0.87097436 -0.48539413 -0.07613277 -3.35260723] [ 0.4881961 0.8724381 0.02272285 -1.82863243] [ 0.0553916 -0.05695874 0.99683874 -1.16628011] [ 0. 0. 0. 1. ]] SLAMing on 128.779072329 meters Centerline goodness : 0.195435 Centerline is valid? [False, False] Translation: X:-3.35, Y:-1.83, Z:-1.17 [[ 0.87097436 -0.48539413 -0.07613277 -3.35260723] [ 0.4881961 0.8724381 0.02272285 -1.82863243] [ 0.0553916 -0.05695874 0.99683874 -1.16628011] [ 0. 0. 0. 1. ]] SLAMing on 128.809072329 meters Centerline goodness : 0.353544 Centerline is valid? [False, False] Translation: X:-3.35, Y:-1.83, Z:-1.17 [[ 0.87111857 -0.4851259 -0.07619253 -3.35233552] [ 0.48795109 0.87256559 0.02308744 -1.8298211 ] [ 0.05528267 -0.05729013 0.9968258 -1.16623071] [ 0. 0. 0. 1. ]] SLAMing on 128.839072329 meters Centerline goodness : 0.192271 Centerline is valid? [False, False] Translation: X:-3.35, Y:-1.83, Z:-1.17 [[ 0.87124223 -0.48488735 -0.076297 -3.35191017] [ 0.48773509 0.87267822 0.02339244 -1.83083926] [ 0.05524003 -0.05759321 0.99681069 -1.16617073] [ 0. 0. 0. 1. ]] SLAMing on 128.869072329 meters Centerline goodness : 0.190885 Centerline is valid? [False, False] Translation: X:-3.35, Y:-1.83, Z:-1.17 [[ 0.87147057 -0.48442307 -0.07663769 -3.35084358] [ 0.48732105 0.87289424 0.02395486 -1.83277783] [ 0.05529232 -0.05822311 0.9967712 -1.16584026] [ 0. 0. 0. 1. ]] SLAMing on 128.899072329 meters Centerline goodness : 0.203490 Centerline is valid? [False, False] Translation: X:-3.35, Y:-1.83, Z:-1.17 [[ 0.8715431 -0.48427908 -0.07672291 -3.35069393] [ 0.48719166 0.87296158 0.02413228 -1.83331031] [ 0.05528939 -0.05841108 0.99676037 -1.16564066] [ 0. 0. 0. 1. ]] SLAMing on 128.929072329 meters Centerline goodness : 0.198398 Centerline is valid? [False, False] Translation: X:-3.35, Y:-1.84, Z:-1.16 [[ 0.87347366 -0.4803153 -0.07963029 -3.34758723] [ 0.48364348 0.87480092 0.02850144 -1.83670368] [ 0.05597097 -0.06340793 0.99641692 -1.16482605] [ 0. 0. 0. 1. ]] SLAMing on 128.959072329 meters Centerline goodness : 0.372685 Centerline is valid? [False, False] Translation: X:-3.35, Y:-1.84, Z:-1.16 [[ 0.87356698 -0.48008623 -0.0799872 -3.3463438 ] [ 0.48345449 0.87489513 0.02881438 -1.8376837 ] [ 0.05614702 -0.06384146 0.99637934 -1.16476426] [ 0. 0. 0. 1. ]] SLAMing on 128.989072329 meters Centerline goodness : 0.356901 Centerline is valid? [False, False] Translation: X:-3.34, Y:-1.84, Z:-1.16 [[ 0.87366759 -0.47981435 -0.08051794 -3.34460282] [ 0.48323598 0.87500436 0.02916084 -1.83900465] [ 0.05646176 -0.06438605 0.99632651 -1.16447842] [ 0. 0. 0. 1. ]] SLAMing on 129.019072329 meters Centerline goodness : 0.202304 Centerline is valid? [False, False] Translation: X:-3.34, Y:-1.84, Z:-1.16 [[ 0.87376388 -0.47953554 -0.08113166 -3.3425367 ] [ 0.4830195 0.87511041 0.0295624 -1.84065585] [ 0.05682294 -0.06501873 0.99626488 -1.16414733] [ 0. 0. 0. 1. ]] SLAMing on 129.049072329 meters Centerline goodness : 0.354934 Centerline is valid? [False, False] Translation: X:-3.34, Y:-1.84, Z:-1.16 [[ 0.87344113 -0.47999527 -0.08188486 -3.33955895] [ 0.4835688 0.87478354 0.03024873 -1.84416352] [ 0.05711228 -0.06601745 0.99618266 -1.16350892] [ 0. 0. 0. 1. ]] SLAMing on 129.079072329 meters Centerline goodness : 0.220940 Centerline is valid? [False, False] Translation: X:-3.34, Y:-1.85, Z:-1.16 [[ 0.87339687 -0.47995725 -0.08257688 -3.33717034] [ 0.48360002 0.87475228 0.03065074 -1.84595672] [ 0.05752327 -0.06670444 0.99611324 -1.1631066 ] [ 0. 0. 0. 1. ]] SLAMing on 129.109072329 meters Centerline goodness : 0.353456 Centerline is valid? [False, False] Translation: X:-3.33, Y:-1.85, Z:-1.16 [[ 0.87332204 -0.47997772 -0.08324657 -3.33461888] [ 0.48370086 0.87467505 0.03125753 -1.84854488] [ 0.05781078 -0.06756432 0.99603864 -1.1627578 ] [ 0. 0. 0. 1. ]] SLAMing on 129.13907232900002 meters Centerline goodness : 0.209230 Centerline is valid? [False, False] Translation: X:-3.33, Y:-1.85, Z:-1.16 [[ 0.87320792 -0.48007492 -0.08388091 -3.33199687] [ 0.48387847 0.87455391 0.03189181 -1.85129714] [ 0.05804793 -0.06843635 0.99596531 -1.16251667] [ 0. 0. 0. 1. ]] SLAMing on 129.16907232900002 meters Centerline goodness : 0.236897 Centerline is valid? [False, False] Translation: X:-3.33, Y:-1.85, Z:-1.16 [[ 0.87130964 -0.48368237 -0.08289078 -3.32771116] [ 0.4872707 0.87276096 0.02925009 -1.8545539 ] [ 0.05819608 -0.06587613 0.99612928 -1.16301703] [ 0. 0. 0. 1. ]] SLAMing on 129.19907232900002 meters Centerline goodness : 0.240531 Centerline is valid? [False, False] Translation: X:-3.32, Y:-1.86, Z:-1.16 [[ 0.87130771 -0.48355592 -0.08364531 -3.32492253] [ 0.48722924 0.87276396 0.02984522 -1.85697095] [ 0.05857078 -0.06675881 0.99604856 -1.1627151 ] [ 0. 0. 0. 1. ]] SLAMing on 129.22907232900002 meters Centerline goodness : 0.265122 Centerline is valid? [False, False] Translation: X:-3.32, Y:-1.86, Z:-1.16 [[ 0.8709935 -0.4839554 -0.08460193 -3.32151996] [ 0.4877533 0.87243637 0.0308464 -1.86109662] [ 0.05888152 -0.06813189 0.99593725 -1.16187204] [ 0. 0. 0. 1. ]] SLAMing on 129.25907232900002 meters Centerline goodness : 0.257475 Centerline is valid? [False, False] Translation: X:-3.32, Y:-1.86, Z:-1.16 [[ 0.87107626 -0.483674 -0.08535577 -3.31902493] [ 0.48755468 0.87252858 0.03137361 -1.86298543] [ 0.05930075 -0.06894442 0.99585646 -1.16148029] [ 0. 0. 0. 1. ]] SLAMing on 129.289072329 meters Centerline goodness : 0.278888 Centerline is valid? [False, False] Translation: X:-3.32, Y:-1.86, Z:-1.16 [[ 0.87116887 -0.48337649 -0.08609286 -3.3164335 ] [ 0.48734034 0.87262874 0.03191343 -1.86481488] [ 0.0597009 -0.06975852 0.99577585 -1.1613304 ] [ 0. 0. 0. 1. ]] SLAMing on 129.319072329 meters Centerline goodness : 0.287714 Centerline is valid? [False, False] Translation: X:-3.31, Y:-1.87, Z:-1.16 [[ 0.87107899 -0.48334171 -0.0871905 -3.31189432] [ 0.48745658 0.87251847 0.0331299 -1.86910504] [ 0.06006226 -0.07136035 0.99564061 -1.16151479] [ 0. 0. 0. 1. ]] SLAMing on 129.349072329 meters Centerline goodness : 0.293482 Centerline is valid? [False, False] Translation: X:-3.31, Y:-1.87, Z:-1.16 [[ 0.87118891 -0.48300135 -0.08797481 -3.30895938] [ 0.48721225 0.87262965 0.03378931 -1.87139415] [ 0.06044914 -0.07229928 0.99554945 -1.16146111] [ 0. 0. 0. 1. ]] SLAMing on 129.379072329 meters Centerline goodness : 0.342009 Centerline is valid? [False, False] Translation: X:-3.31, Y:-1.87, Z:-1.16 [[ 0.87126131 -0.48272946 -0.08874678 -3.30621272] [ 0.48703221 0.8727072 0.03437695 -1.87366103] [ 0.06085519 -0.07317385 0.99546082 -1.16112489] [ 0. 0. 0. 1. ]] SLAMing on 129.409072329 meters Centerline goodness : 0.349381 Centerline is valid? [False, False] Translation: X:-3.30, Y:-1.88, Z:-1.16 [[ 0.87096539 -0.48310698 -0.08959318 -3.30269284] [ 0.48753663 0.8723841 0.03541213 -1.87824284] [ 0.06105182 -0.07452269 0.9953487 -1.16042008] [ 0. 0. 0. 1. ]] SLAMing on 129.439072329 meters Centerline goodness : 0.302505 Centerline is valid? [False, False] Translation: X:-3.30, Y:-1.88, Z:-1.16 [[ 0.87102176 -0.48287742 -0.09028006 -3.30028457] [ 0.48738825 0.87244723 0.03589607 -1.8801197 ] [ 0.06143119 -0.07526769 0.9952693 -1.16007054] [ 0. 0. 0. 1. ]] SLAMing on 129.469072329 meters Centerline goodness : 0.302221 Centerline is valid? [False, False] Translation: X:-3.30, Y:-1.88, Z:-1.16 [[ 0.87082542 -0.48309811 -0.09099061 -3.29727412] [ 0.48772002 0.87222371 0.03681001 -1.8837085 ] [ 0.06158132 -0.07643304 0.99517121 -1.15975161] [ 0. 0. 0. 1. ]] SLAMing on 129.499072329 meters Centerline goodness : 0.299292 Centerline is valid? [False, False] Translation: X:-3.29, Y:-1.89, Z:-1.16 [[ 0.87090309 -0.48283463 -0.0916435 -3.2949772 ] [ 0.48753455 0.87230825 0.03726085 -1.8854529 ] [ 0.06195055 -0.07712996 0.99509452 -1.15942221] [ 0. 0. 0. 1. ]] SLAMing on 129.529072329 meters Centerline goodness : 0.349113 Centerline is valid? [False, False] Translation: X:-3.29, Y:-1.89, Z:-1.16 [[ 0.87097374 -0.48257583 -0.09233263 -3.29259147] [ 0.48735965 0.87238495 0.03775013 -1.88756696] [ 0.06233229 -0.07787857 0.99501237 -1.15888217] [ 0. 0. 0. 1. ]] SLAMing on 129.559072329 meters Centerline goodness : 0.311383 Centerline is valid? [False, False] Translation: X:-3.29, Y:-1.89, Z:-1.16 [[ 0.8706977 -0.48293753 -0.09304223 -3.2896881 ] [ 0.48783323 0.87208164 0.03863103 -1.89213308] [ 0.06248404 -0.07902504 0.99491245 -1.15763221] [ 0. 0. 0. 1. ]] SLAMing on 129.589072329 meters Centerline goodness : 0.343371 Centerline is valid? [False, False] Translation: X:-3.29, Y:-1.89, Z:-1.16 [[ 0.87079478 -0.48262738 -0.09374037 -3.2873816 ] [ 0.48760861 0.87218587 0.03911069 -1.893985 ] [ 0.06288314 -0.07976599 0.99482817 -1.15712211] [ 0. 0. 0. 1. ]] SLAMing on 129.619072329 meters Centerline goodness : 0.352417 Centerline is valid? [False, False] Translation: X:-3.29, Y:-1.90, Z:-1.16 [[ 0.87090161 -0.48231805 -0.09433818 -3.28541773] [ 0.48737388 0.87229793 0.03953502 -1.89555871] [ 0.06322255 -0.08040908 0.99475489 -1.15672757] [ 0. 0. 0. 1. ]] SLAMing on 129.649072329 meters Centerline goodness : 0.314692 Centerline is valid? [False, False] Translation: X:-3.28, Y:-1.90, Z:-1.16 [[ 0.87111549 -0.48172162 -0.09540484 -3.28148668] [ 0.48692681 0.87250211 0.04052588 -1.89895706] [ 0.06371873 -0.08175789 0.99461328 -1.15648503] [ 0. 0. 0. 1. ]] SLAMing on 129.679072329 meters Centerline goodness : 0.353009 Centerline is valid? [False, False] Translation: X:-3.28, Y:-1.90, Z:-1.16 [[ 0.87126267 -0.4813521 -0.09592448 -3.27935863] [ 0.48663169 0.87264344 0.04102463 -1.9005244 ] [ 0.06396058 -0.08242312 0.99454285 -1.15673181] [ 0. 0. 0. 1. ]] SLAMing on 129.709072329 meters Centerline goodness : 0.350738 Centerline is valid? [False, False] Translation: X:-3.28, Y:-1.90, Z:-1.16 [[ 0.87141639 -0.48098697 -0.09635875 -3.27752451] [ 0.4863352 0.87278445 0.04153773 -1.90208928] [ 0.06412131 -0.08305931 0.99447957 -1.15698676] [ 0. 0. 0. 1. ]] SLAMing on 129.739072329 meters Centerline goodness : 0.322497 Centerline is valid? [False, False] Translation: X:-3.27, Y:-1.91, Z:-1.16 [[ 0.87166213 -0.48037104 -0.09720491 -3.27445949] [ 0.48584237 0.87301965 0.0423543 -1.90518603] [ 0.06451601 -0.0841449 0.99436277 -1.15648953] [ 0. 0. 0. 1. ]] SLAMing on 129.769072329 meters Centerline goodness : 0.346982 Centerline is valid? [False, False] Translation: X:-3.27, Y:-1.91, Z:-1.16 [[ 0.87179273 -0.4800426 -0.09765515 -3.27310559] [ 0.48557902 0.87314568 0.04277438 -1.90694573] [ 0.06473365 -0.08470969 0.99430067 -1.15579616] [ 0. 0. 0. 1. ]] SLAMing on 129.799072329 meters Centerline goodness : 0.318019 Centerline is valid? [False, False] Translation: X:-3.27, Y:-1.91, Z:-1.15 [[ 0.87196752 -0.47955969 -0.09846397 -3.27108466] [ 0.48520007 0.87332963 0.04331555 -1.90986227] [ 0.06521912 -0.08554448 0.99419747 -1.15393246] [ 0. 0. 0. 1. ]] SLAMing on 129.829072329 meters Centerline goodness : 0.315403 Centerline is valid? [False, False] Translation: X:-3.27, Y:-1.91, Z:-1.15 [[ 0.87205085 -0.47934651 -0.09876358 -3.27031392] [ 0.48502955 0.87341139 0.04357616 -1.91093831] [ 0.06537315 -0.08590388 0.99415636 -1.15336928] [ 0. 0. 0. 1. ]] SLAMing on 129.859072329 meters Centerline goodness : 0.329103 Centerline is valid? [False, False] Translation: X:-3.27, Y:-1.91, Z:-1.15 [[ 0.87212021 -0.47917357 -0.09899006 -3.2695825 ] [ 0.48488882 0.87347977 0.04377126 -1.91161135] [ 0.06549178 -0.08617298 0.99412527 -1.15321615] [ 0. 0. 0. 1. ]] SLAMing on 129.88907232900002 meters Centerline goodness : 0.316276 Centerline is valid? [False, False] Translation: X:-3.27, Y:-1.91, Z:-1.15 [[ 0.8721879 -0.47902337 -0.09912048 -3.26912733] [ 0.48476012 0.87354328 0.04392903 -1.91201361] [ 0.065543 -0.08636402 0.99410531 -1.15321923] [ 0. 0. 0. 1. ]] SLAMing on 129.91907232900002 meters Centerline goodness : 0.353216 Centerline is valid? [False, False] Translation: X:-3.27, Y:-1.91, Z:-1.15 [[ 0.87234879 -0.47864998 -0.09950771 -3.26750056] [ 0.48444821 0.87369468 0.04435702 -1.91331491] [ 0.06570787 -0.08690112 0.99404762 -1.15343396] [ 0. 0. 0. 1. ]] SLAMing on 129.94907232900002 meters Centerline goodness : 0.318919 Centerline is valid? [False, False] Translation: X:-3.27, Y:-1.91, Z:-1.15 [[ 0.87244153 -0.47842185 -0.0997913 -3.26647096] [ 0.48426354 0.87378247 0.04464317 -1.91439726] [ 0.06583763 -0.08727384 0.99400638 -1.15327468] [ 0. 0. 0. 1. ]] SLAMing on 129.97907232900002 meters Centerline goodness : 0.322355 Centerline is valid? [False, False] Translation: X:-3.26, Y:-1.92, Z:-1.15 [[ 0.87261826 -0.47798545 -0.10033585 -3.26470838] [ 0.4839056 0.87395672 0.04511112 -1.91670944] [ 0.06612673 -0.08791787 0.99393043 -1.15236975] [ 0. 0. 0. 1. ]] SLAMing on 130.00907232900002 meters Centerline goodness : 0.316401 Centerline is valid? [False, False] Translation: X:-3.26, Y:-1.92, Z:-1.15 [[ 0.87267024 -0.4778725 -0.10042173 -3.26454469] [ 0.48380608 0.87400717 0.04520119 -1.91708227] [ 0.06616891 -0.08803038 0.99391767 -1.15213653] [ 0. 0. 0. 1. ]] SLAMing on 130.039072329 meters Centerline goodness : 0.355545 Centerline is valid? [False, False] Translation: X:-3.26, Y:-1.92, Z:-1.15 [[ 0.87449232 -0.47405017 -0.10266261 -3.26297974] [ 0.48043215 0.87566492 0.04894787 -1.91913062] [ 0.0666943 -0.09212696 0.99351119 -1.15143012] [ 0. 0. 0. 1. ]] SLAMing on 130.069072329 meters Centerline goodness : 0.325656 Centerline is valid? [False, False] Translation: X:-3.26, Y:-1.92, Z:-1.15 [[ 0.87657034 -0.46965261 -0.10512306 -3.26102713] [ 0.47652708 0.87756921 0.05286033 -1.92061029] [ 0.06742677 -0.09642978 0.99305334 -1.15105464] [ 0. 0. 0. 1. ]] SLAMing on 130.099072329 meters Centerline goodness : 0.357793 Centerline is valid? [False, False] Translation: X:-3.26, Y:-1.92, Z:-1.15 [[ 0.87841782 -0.46566432 -0.10741918 -3.25881789] [ 0.47301608 0.87923557 0.05657386 -1.92227581] [ 0.06810233 -0.10050649 0.9926029 -1.15087179] [ 0. 0. 0. 1. ]] SLAMing on 130.129072329 meters Centerline goodness : 0.360696 Centerline is valid? [False, False] Translation: X:-3.26, Y:-1.92, Z:-1.15 [[ 0.88020356 -0.46177167 -0.1095838 -3.25681812] [ 0.4695927 0.8808296 0.06018229 -1.92387809] [ 0.06873418 -0.10443242 0.99215396 -1.15070692] [ 0. 0. 0. 1. ]] SLAMing on 130.159072329 meters Centerline goodness : 0.325976 Centerline is valid? [False, False] Translation: X:-3.26, Y:-1.92, Z:-1.15 [[ 0.88217593 -0.45746975 -0.1117455 -3.25557391] [ 0.46577747 0.88259344 0.06387613 -1.9248856 ] [ 0.06940445 -0.10839853 0.99168179 -1.15033521] [ 0. 0. 0. 1. ]] SLAMing on 130.189072329 meters Centerline goodness : 0.358697 Centerline is valid? [False, False] Translation: X:-3.25, Y:-1.93, Z:-1.15 [[ 0.88409899 -0.45316885 -0.11404811 -3.25425976] [ 0.46199873 0.88429521 0.06766937 -1.92596295] [ 0.07018655 -0.1125165 0.99116794 -1.14969067] [ 0. 0. 0. 1. ]] SLAMing on 130.219072329 meters Centerline goodness : 0.361044 Centerline is valid? [False, False] Translation: X:-3.26, Y:-1.92, Z:-1.15 [[ 0.88604533 -0.44890762 -0.11578264 -3.25540371] [ 0.45815794 0.88604844 0.07077753 -1.92341542] [ 0.07081645 -0.11575883 0.99074968 -1.14985936] [ 0. 0. 0. 1. ]] SLAMing on 130.249072329 meters Centerline goodness : 0.382728 Centerline is valid? [False, False] Translation: X:-3.25, Y:-1.92, Z:-1.15 [[ 0.887963 -0.44456765 -0.11781895 -3.25491666] [ 0.45432871 0.88771253 0.07451102 -1.9235168 ] [ 0.07146417 -0.11969156 0.99023573 -1.14969626] [ 0. 0. 0. 1. ]] SLAMing on 130.279072329 meters Centerline goodness : 0.311912 Centerline is valid? [False, False] Translation: X:-3.25, Y:-1.92, Z:-1.15 [[ 0.88983673 -0.44025881 -0.11984476 -3.2544488 ] [ 0.45053945 0.88932336 0.07821872 -1.9238125 ] [ 0.07214426 -0.12359668 0.98970656 -1.14930513] [ 0. 0. 0. 1. ]] SLAMing on 130.309072329 meters Centerline goodness : 0.363268 Centerline is valid? [False, False] Translation: X:-3.26, Y:-1.92, Z:-1.15 [[ 0.89174085 -0.43598473 -0.12130779 -3.25599959] [ 0.44666556 0.89101584 0.08112114 -1.92110865] [ 0.07271958 -0.12652304 0.98929459 -1.14940827] [ 0. 0. 0. 1. ]] SLAMing on 130.339072329 meters Centerline goodness : 0.371289 Centerline is valid? [False, False] Translation: X:-3.26, Y:-1.92, Z:-1.15 [[ 0.89351179 -0.43186488 -0.12300165 -3.25607321] [ 0.44301934 0.89251986 0.08451128 -1.92078219] [ 0.07328396 -0.13000393 0.98880152 -1.14930523] [ 0. 0. 0. 1. ]] SLAMing on 130.369072329 meters Centerline goodness : 0.410798 Centerline is valid? [False, False] Translation: X:-3.26, Y:-1.92, Z:-1.15 [[ 0.89525891 -0.42776773 -0.12460442 -3.25641775] [ 0.43938809 0.89399255 0.08783745 -1.92010157] [ 0.07382139 -0.13338696 0.98831084 -1.14933186] [ 0. 0. 0. 1. ]] SLAMing on 130.399072329 meters Centerline goodness : 0.410028 Centerline is valid? [False, False] Translation: X:-3.25, Y:-1.91, Z:-1.15 [[ 0.89793564 -0.42130101 -0.12734617 -3.25338685] [ 0.4332936 0.89697029 0.08775512 -1.91108107] [ 0.07725441 -0.13397673 0.98796862 -1.14571947] [ 0. 0. 0. 1. ]] SLAMing on 130.429072329 meters Centerline goodness : 0.365517 Centerline is valid? [False, False] Translation: X:-3.25, Y:-1.91, Z:-1.15 [[ 0.8995967 -0.41728553 -0.12883538 -3.25431658] [ 0.42973643 0.89836418 0.09093074 -1.90959731] [ 0.07779701 -0.13716625 0.98748825 -1.14565973] [ 0. 0. 0. 1. ]] SLAMing on 130.459072329 meters Centerline goodness : 0.342537 Centerline is valid? [False, False] Translation: X:-3.26, Y:-1.90, Z:-1.15 [[ 0.90149282 -0.41281897 -0.12996611 -3.25679088] [ 0.42559586 0.90012479 0.09297058 -1.90340673] [ 0.0786057 -0.13912535 0.98715008 -1.1463694 ] [ 0. 0. 0. 1. ]] SLAMing on 130.489072329 meters Centerline goodness : 0.220704 Centerline is valid? [False, False] Translation: X:-3.26, Y:-1.90, Z:-1.15 [[ 0.90313452 -0.40875212 -0.1314144 -3.25770954] [ 0.42199836 0.90148051 0.09617836 -1.90150459] [ 0.07915441 -0.14231866 0.98665089 -1.14673594] [ 0. 0. 0. 1. ]] SLAMing on 130.519072329 meters Centerline goodness : 0.367752 Centerline is valid? [False, False] Translation: X:-3.26, Y:-1.90, Z:-1.15 [[ 0.90477702 -0.40465061 -0.13280224 -3.25865954] [ 0.41836325 0.90282876 0.09936009 -1.89917514] [ 0.07969156 -0.1454583 0.98614965 -1.14737912] [ 0. 0. 0. 1. ]] SLAMing on 130.549072329 meters Centerline goodness : 0.366271 Centerline is valid? [False, False] Translation: X:-3.26, Y:-1.89, Z:-1.15 [[ 0.90769783 -0.39740013 -0.13475084 -3.26018726] [ 0.41181947 0.9052821 0.10425471 -1.89209671] [ 0.08055669 -0.1501248 0.98537971 -1.14987807] [ 0. 0. 0. 1. ]] SLAMing on 130.579072329 meters Centerline goodness : 0.372127 Centerline is valid? [False, False] Translation: X:-3.26, Y:-1.89, Z:-1.15 [[ 0.90922003 -0.39343245 -0.13612438 -3.26086581] [ 0.40832319 0.90651003 0.1072928 -1.89030039] [ 0.08118565 -0.15313551 0.98486466 -1.14993842] [ 0. 0. 0. 1. ]] SLAMing on 130.609072329 meters Centerline goodness : 0.365315 Centerline is valid? [False, False] Translation: X:-3.26, Y:-1.89, Z:-1.15 [[ 0.90927424 -0.3934869 -0.13560389 -3.26282645] [ 0.4082033 0.90669803 0.10615438 -1.88604038] [ 0.08118142 -0.1518774 0.98505981 -1.15067403] [ 0. 0. 0. 1. ]] SLAMing on 130.63907232900002 meters Centerline goodness : 0.222038 Centerline is valid? [False, False] Translation: X:-3.27, Y:-1.88, Z:-1.15 [[ 0.90930823 -0.39372494 -0.1346819 -3.26535006] [ 0.40817312 0.9068905 0.10461513 -1.88126287] [ 0.08095215 -0.15010093 0.98535093 -1.15069025] [ 0. 0. 0. 1. ]] SLAMing on 130.66907232900002 meters Centerline goodness : 0.222860 Centerline is valid? [False, False] Translation: X:-3.27, Y:-1.87, Z:-1.15 [[ 0.91064407 -0.39033513 -0.13552069 -3.26847731] [ 0.40507554 0.90806019 0.10649182 -1.8742435 ] [ 0.08149345 -0.15187226 0.98503484 -1.15200041] [ 0. 0. 0. 1. ]] SLAMing on 130.69907232900002 meters Centerline goodness : 0.370951 Centerline is valid? [False, False] Translation: X:-3.27, Y:-1.87, Z:-1.15 [[ 0.91207898 -0.38640504 -0.13712432 -3.26877851] [ 0.40165935 0.90921511 0.1095338 -1.87155518] [ 0.08235109 -0.15498074 0.98447919 -1.15240354] [ 0. 0. 0. 1. ]] SLAMing on 130.72907232900002 meters Centerline goodness : 0.370951 Centerline is valid? [False, False] Translation: X:-3.27, Y:-1.87, Z:-1.15 [[ 0.91207898 -0.38640504 -0.13712432 -3.26877851] [ 0.40165935 0.90921511 0.1095338 -1.87155518] [ 0.08235109 -0.15498074 0.98447919 -1.15240354] [ 0. 0. 0. 1. ]] SLAMing on 130.75907232900002 meters Centerline goodness : 0.362815 Centerline is valid? [False, False] Translation: X:-3.27, Y:-1.87, Z:-1.15 [[ 0.91346482 -0.38252111 -0.13877902 -3.26883284] [ 0.39830483 0.91032102 0.11255621 -1.86887398] [ 0.08327834 -0.15809249 0.98390624 -1.15281553] [ 0. 0. 0. 1. ]] SLAMing on 130.789072329 meters Centerline goodness : 0.367054 Centerline is valid? [False, False] Translation: X:-3.27, Y:-1.86, Z:-1.16 [[ 0.91437443 -0.38009426 -0.13945524 -3.26928296] [ 0.39608762 0.91115272 0.11364556 -1.86094911] [ 0.083869 -0.15915109 0.98368538 -1.15629521] [ 0. 0. 0. 1. ]] SLAMing on 130.819072329 meters Centerline goodness : 0.365802 Centerline is valid? [False, False] Translation: X:-3.27, Y:-1.86, Z:-1.16 [[ 0.91420385 -0.38068336 -0.13896582 -3.27092165] [ 0.39651646 0.91108223 0.11271144 -1.85769334] [ 0.08370192 -0.15814347 0.9838621 -1.15709377] [ 0. 0. 0. 1. ]] SLAMing on 130.849072329 meters Centerline goodness : 0.371441 Centerline is valid? [False, False] Translation: X:-3.27, Y:-1.85, Z:-1.16 [[ 0.91475264 -0.37908901 -0.13971087 -3.27489279] [ 0.39515687 0.91151334 0.11399331 -1.85257815] [ 0.08413472 -0.15948339 0.98360886 -1.15592591] [ 0. 0. 0. 1. ]] SLAMing on 130.879072329 meters Centerline goodness : 0.367339 Centerline is valid? [False, False] Translation: X:-3.28, Y:-1.85, Z:-1.15 [[ 0.91567984 -0.37638657 -0.14093821 -3.27680323] [ 0.39290213 0.91213725 0.11676279 -1.85106628] [ 0.08460704 -0.16229225 0.98310878 -1.15475139] [ 0. 0. 0. 1. ]] SLAMing on 130.909072329 meters Centerline goodness : 0.365321 Centerline is valid? [False, False] Translation: X:-3.28, Y:-1.85, Z:-1.15 [[ 0.91660628 -0.37363802 -0.14222361 -3.27838902] [ 0.39062244 0.91274931 0.11959437 -1.84948969] [ 0.08512949 -0.16517669 0.98258314 -1.15381713] [ 0. 0. 0. 1. ]] SLAMing on 130.939072329 meters Centerline goodness : 0.116846 Centerline is valid? [False, False] Translation: X:-3.28, Y:-1.85, Z:-1.15 [[ 0.91743143 -0.3711823 -0.14332922 -3.28046343] [ 0.3886028 0.91324702 0.12234275 -1.84808814] [ 0.08548352 -0.16793922 0.982084 -1.15284052] [ 0. 0. 0. 1. ]] SLAMing on 130.969072329 meters Centerline goodness : 0.368165 Centerline is valid? [False, False] Translation: X:-3.28, Y:-1.84, Z:-1.15 [[ 0.91842768 -0.3681188 -0.14484182 -3.2805867 ] [ 0.38601561 0.91403111 0.12465587 -1.84294961] [ 0.08650176 -0.17039861 0.98157107 -1.15413494] [ 0. 0. 0. 1. ]] SLAMing on 130.999072329 meters Centerline goodness : 0.369025 Centerline is valid? [False, False] Translation: X:-3.28, Y:-1.84, Z:-1.16 [[ 0.91825141 -0.36868258 -0.14452507 -3.28152031] [ 0.38644043 0.91397763 0.1237283 -1.83929978] [ 0.08647621 -0.16946401 0.9817351 -1.15534849] [ 0. 0. 0. 1. ]] SLAMing on 131.029072329 meters Centerline goodness : 0.366207 Centerline is valid? [False, False] Translation: X:-3.28, Y:-1.83, Z:-1.16 [[ 0.91869319 -0.36722538 -0.14542468 -3.2807372 ] [ 0.38520422 0.91440853 0.12439753 -1.83187328] [ 0.08729564 -0.17030136 0.98151766 -1.15829592] [ 0. 0. 0. 1. ]] SLAMing on 131.059072329 meters Centerline goodness : 0.366953 Centerline is valid? [False, False] Translation: X:-3.28, Y:-1.83, Z:-1.16 [[ 0.91851253 -0.36787178 -0.14493132 -3.28264885] [ 0.38567309 0.91434758 0.12338872 -1.82816941] [ 0.08712637 -0.1692302 0.98171795 -1.15900483] [ 0. 0. 0. 1. ]] SLAMing on 131.089072329 meters Centerline goodness : 0.381591 Centerline is valid? [False, False] Translation: X:-3.28, Y:-1.83, Z:-1.16 [[ 0.91965918 -0.36440713 -0.14640502 -3.2831615 ] [ 0.38275469 0.91515267 0.1264691 -1.82669777] [ 0.0878967 -0.17234568 0.9811071 -1.15856417] [ 0. 0. 0. 1. ]] SLAMing on 131.119072329 meters Centerline goodness : 0.368870 Centerline is valid? [False, False] Translation: X:-3.28, Y:-1.82, Z:-1.16 [[ 0.92080351 -0.36104157 -0.14754621 -3.28488618] [ 0.37979679 0.91609035 0.12858023 -1.82095899] [ 0.08874285 -0.1744347 0.98066163 -1.15927907] [ 0. 0. 0. 1. ]] SLAMing on 131.149072329 meters Centerline goodness : 0.378826 Centerline is valid? [False, False] Translation: X:-3.29, Y:-1.82, Z:-1.16 [[ 0.92065867 -0.36164662 -0.14696712 -3.28699482] [ 0.38019436 0.91608363 0.12744814 -1.81672845] [ 0.08854299 -0.17321231 0.98089634 -1.16021242] [ 0. 0. 0. 1. ]] SLAMing on 131.179072329 meters Centerline goodness : 0.373760 Centerline is valid? [False, False] Translation: X:-3.29, Y:-1.81, Z:-1.16 [[ 0.92050923 -0.36225658 -0.14639987 -3.28899765] [ 0.38059544 0.91608079 0.12626596 -1.81236668] [ 0.08837344 -0.1719481 0.98113403 -1.16111005] [ 0. 0. 0. 1. ]] SLAMing on 131.209072329 meters Centerline goodness : 0.368529 Centerline is valid? [False, False] Translation: X:-3.29, Y:-1.81, Z:-1.16 [[ 0.92162765 -0.3589661 -0.1474646 -3.29148828] [ 0.37769242 0.91699858 0.12830447 -1.80658711] [ 0.08916787 -0.17394521 0.98071003 -1.16123112] [ 0. 0. 0. 1. ]] SLAMing on 131.239072329 meters Centerline goodness : 0.368775 Centerline is valid? [False, False] Translation: X:-3.29, Y:-1.80, Z:-1.16 [[ 0.92280981 -0.3553347 -0.14886002 -3.29206596] [ 0.37460214 0.91784154 0.13130175 -1.80463277] [ 0.08997384 -0.17692982 0.98010231 -1.16100362] [ 0. 0. 0. 1. ]] SLAMing on 131.269072329 meters Centerline goodness : 0.376266 Centerline is valid? [False, False] Translation: X:-3.29, Y:-1.80, Z:-1.16 [[ 0.9240144 -0.35156895 -0.15032183 -3.29232756] [ 0.37140451 0.91869779 0.13436171 -1.80255821] [ 0.09086292 -0.17998236 0.97946428 -1.16106918] [ 0. 0. 0. 1. ]] SLAMing on 131.299072329 meters Centerline goodness : 0.376554 Centerline is valid? [False, False] Translation: X:-3.29, Y:-1.80, Z:-1.16 [[ 0.92510662 -0.34827403 -0.15127107 -3.29394422] [ 0.36848415 0.91958733 0.13630327 -1.79613202] [ 0.09163607 -0.18183605 0.97904979 -1.16266346] [ 0. 0. 0. 1. ]] SLAMing on 131.329072329 meters Centerline goodness : 0.375210 Centerline is valid? [False, False] Translation: X:-3.30, Y:-1.79, Z:-1.16 [[ 0.92497207 -0.34883114 -0.15080953 -3.29543195] [ 0.36885719 0.91958908 0.13527856 -1.79236866] [ 0.09149342 -0.18075607 0.97926309 -1.16375601] [ 0. 0. 0. 1. ]] SLAMing on 131.359072329 meters Centerline goodness : 0.372771 Centerline is valid? [False, False] Translation: X:-3.30, Y:-1.79, Z:-1.17 [[ 0.92466065 -0.34998475 -0.15004453 -3.29838561] [ 0.36967618 0.91955514 0.13325867 -1.78522429] [ 0.09133571 -0.17868694 0.97965747 -1.16523165] [ 0. 0. 0. 1. ]] SLAMing on 131.38907232900002 meters Centerline goodness : 0.380648 Centerline is valid? [False, False] Translation: X:-3.30, Y:-1.78, Z:-1.16 [[ 0.92570599 -0.34664697 -0.15134164 -3.29929597] [ 0.3668879 0.92021255 0.13638962 -1.78391121] [ 0.09198742 -0.1817821 0.97902685 -1.16481722] [ 0. 0. 0. 1. ]] SLAMing on 131.41907232900002 meters Centerline goodness : 0.375359 Centerline is valid? [False, False] Translation: X:-3.30, Y:-1.78, Z:-1.16 [[ 0.92678439 -0.34314861 -0.152708 -3.3001114 ] [ 0.3639627 0.92090164 0.13953967 -1.78226135] [ 0.0927462 -0.1849032 0.97837056 -1.16441171] [ 0. 0. 0. 1. ]] SLAMing on 131.44907232900002 meters Centerline goodness : 0.374997 Centerline is valid? [False, False] Translation: X:-3.30, Y:-1.78, Z:-1.16 [[ 0.92774568 -0.33998609 -0.15393963 -3.30156511] [ 0.36128284 0.92158874 0.14194684 -1.7774609 ] [ 0.09360907 -0.18730632 0.97783111 -1.1647523 ] [ 0. 0. 0. 1. ]] SLAMing on 131.47907232900002 meters Centerline goodness : 0.374627 Centerline is valid? [False, False] Translation: X:-3.30, Y:-1.77, Z:-1.17 [[ 0.92759484 -0.34049227 -0.15372973 -3.30235233] [ 0.36167565 0.92154731 0.14121359 -1.77487085] [ 0.09358708 -0.1865893 0.97797029 -1.16533371] [ 0. 0. 0. 1. ]] SLAMing on 131.50907232900002 meters Centerline goodness : 0.373486 Centerline is valid? [False, False] Translation: X:-3.30, Y:-1.77, Z:-1.17 [[ 0.92732497 -0.34134221 -0.15347276 -3.30309213] [ 0.36235605 0.9214642 0.14000651 -1.77076989] [ 0.09362952 -0.18544331 0.97818418 -1.16653245] [ 0. 0. 0. 1. ]] SLAMing on 131.539072329 meters Centerline goodness : 0.373515 Centerline is valid? [False, False] Translation: X:-3.30, Y:-1.77, Z:-1.17 [[ 0.92718478 -0.34181118 -0.1532759 -3.30395417] [ 0.3627206 0.92142287 0.13933292 -1.76849927] [ 0.09360637 -0.18478369 0.97831122 -1.16687437] [ 0. 0. 0. 1. ]] SLAMing on 131.569072329 meters Centerline goodness : 0.375958 Centerline is valid? [False, False] Translation: X:-3.31, Y:-1.77, Z:-1.17 [[ 0.92787719 -0.33951697 -0.15418219 -3.30691619] [ 0.36085206 0.92177501 0.1418331 -1.76576981] [ 0.09396654 -0.18724066 0.9778094 -1.16588111] [ 0. 0. 0. 1. ]] SLAMing on 131.599072329 meters Centerline goodness : 0.374819 Centerline is valid? [False, False] Translation: X:-3.31, Y:-1.76, Z:-1.17 [[ 0.92771281 -0.34006521 -0.15396298 -3.30825509] [ 0.36127858 0.92173015 0.14103656 -1.76299412] [ 0.09395069 -0.18646495 0.97795915 -1.16589612] [ 0. 0. 0. 1. ]] SLAMing on 131.629072329 meters Centerline goodness : 0.374649 Centerline is valid? [False, False] Translation: X:-3.31, Y:-1.76, Z:-1.17 [[ 0.92757311 -0.3405235 -0.15379166 -3.30923857] [ 0.3616406 0.92168504 0.14040214 -1.76077631] [ 0.09393724 -0.18585056 0.97807738 -1.16597058] [ 0. 0. 0. 1. ]] SLAMing on 131.659072329 meters Centerline goodness : 0.373238 Centerline is valid? [False, False] Translation: X:-3.31, Y:-1.76, Z:-1.17 [[ 0.92745811 -0.34087181 -0.1537136 -3.30979431] [ 0.36192531 0.92164719 0.13991617 -1.75924327] [ 0.09397623 -0.18539922 0.97815929 -1.16596197] [ 0. 0. 0. 1. ]] SLAMing on 131.689072329 meters Centerline goodness : 0.373817 Centerline is valid? [False, False] Translation: X:-3.31, Y:-1.76, Z:-1.17 [[ 0.92719565 -0.34161481 -0.15364746 -3.3101807 ] [ 0.36257303 0.92151582 0.13910209 -1.75708564] [ 0.09406923 -0.18468328 0.97828578 -1.16610046] [ 0. 0. 0. 1. ]] SLAMing on 131.719072329 meters Centerline goodness : 0.372848 Centerline is valid? [False, False] Translation: X:-3.31, Y:-1.76, Z:-1.17 [[ 0.92711572 -0.34178487 -0.15375156 -3.30973275] [ 0.36274098 0.921482 0.13888813 -1.75653242] [ 0.09420943 -0.18453736 0.97829982 -1.16630259] [ 0. 0. 0. 1. ]] SLAMing on 131.749072329 meters Centerline goodness : 0.372993 Centerline is valid? [False, False] Translation: X:-3.31, Y:-1.76, Z:-1.17 [[ 0.92702927 -0.34199535 -0.1538048 -3.30948012] [ 0.36293788 0.92143931 0.13865675 -1.75577846] [ 0.09430183 -0.18436045 0.97832428 -1.16655736] [ 0. 0. 0. 1. ]] SLAMing on 131.779072329 meters Centerline goodness : 0.371598 Centerline is valid? [False, False] Translation: X:-3.31, Y:-1.75, Z:-1.17 [[ 0.92675291 -0.3427046 -0.15389151 -3.30973907] [ 0.3636047 0.9212611 0.13809272 -1.75364328] [ 0.09444925 -0.18393351 0.97839041 -1.16660386] [ 0. 0. 0. 1. ]] SLAMing on 131.809072329 meters Centerline goodness : 0.373864 Centerline is valid? [False, False] Translation: X:-3.31, Y:-1.75, Z:-1.17 [[ 0.92662953 -0.34299223 -0.15399365 -3.30991813] [ 0.36387527 0.92120764 0.13773622 -1.75243096] [ 0.09461767 -0.18366493 0.9784246 -1.16627512] [ 0. 0. 0. 1. ]] SLAMing on 131.839072329 meters Centerline goodness : 0.372646 Centerline is valid? [False, False] Translation: X:-3.31, Y:-1.75, Z:-1.17 [[ 0.92639741 -0.34359295 -0.15405103 -3.31050269] [ 0.36442909 0.92107213 0.13717717 -1.75093874] [ 0.094759 -0.18322125 0.9784941 -1.1655156 ] [ 0. 0. 0. 1. ]] SLAMing on 131.869072329 meters Centerline goodness : 0.372749 Centerline is valid? [False, False] Translation: X:-3.31, Y:-1.75, Z:-1.17 [[ 0.92631675 -0.34378469 -0.15410828 -3.31052805] [ 0.36460458 0.9210423 0.13691082 -1.75018066] [ 0.0948724 -0.18301137 0.97852239 -1.16537287] [ 0. 0. 0. 1. ]] SLAMing on 131.899072329 meters Centerline goodness : 0.372891 Centerline is valid? [False, False] Translation: X:-3.31, Y:-1.75, Z:-1.17 [[ 0.9262611 -0.34391025 -0.15416264 -3.31025777] [ 0.36472251 0.92102168 0.13673534 -1.74960189] [ 0.09496245 -0.18287921 0.97853836 -1.16561833] [ 0. 0. 0. 1. ]] SLAMing on 131.929072329 meters Centerline goodness : 0.373196 Centerline is valid? [False, False] Translation: X:-3.31, Y:-1.75, Z:-1.17 [[ 0.92620954 -0.34400561 -0.15425961 -3.30969658] [ 0.36482379 0.92099923 0.13661632 -1.74912539] [ 0.0950762 -0.18281292 0.9785397 -1.16606592] [ 0. 0. 0. 1. ]] SLAMing on 131.959072329 meters Centerline goodness : 0.372436 Centerline is valid? [False, False] Translation: X:-3.31, Y:-1.75, Z:-1.17 [[ 0.92610791 -0.34415848 -0.15452858 -3.30827803] [ 0.36501493 0.92094003 0.13650479 -1.74866676] [ 0.09533228 -0.1828234 0.97851283 -1.16680475] [ 0. 0. 0. 1. ]] SLAMing on 131.989072329 meters Centerline goodness : 0.372484 Centerline is valid? [False, False] Translation: X:-3.31, Y:-1.75, Z:-1.17 [[ 0.9260596 -0.34421785 -0.15468578 -3.3076744 ] [ 0.36509723 0.92091645 0.13644378 -1.7484282 ] [ 0.09548629 -0.18283042 0.9784965 -1.16693496] [ 0. 0. 0. 1. ]] SLAMing on 132.019072329 meters Centerline goodness : 0.372053 Centerline is valid? [False, False] Translation: X:-3.31, Y:-1.75, Z:-1.17 [[ 0.92598654 -0.34434167 -0.15484751 -3.30725591] [ 0.3652383 0.92087888 0.13631977 -1.74807756] [ 0.09565523 -0.18278652 0.9784882 -1.16680498] [ 0. 0. 0. 1. ]] SLAMing on 132.049072329 meters Centerline goodness : 0.373074 Centerline is valid? [False, False] Translation: X:-3.31, Y:-1.75, Z:-1.17 [[ 0.925715 -0.34511032 -0.15475984 -3.30786675] [ 0.36598179 0.92059066 0.13627238 -1.74859451] [ 0.09544146 -0.18278866 0.97850868 -1.16592459] [ 0. 0. 0. 1. ]] SLAMing on 132.079072329 meters Centerline goodness : 0.373228 Centerline is valid? [False, False] Translation: X:-3.31, Y:-1.75, Z:-1.17 [[ 0.92561075 -0.34531749 -0.15492116 -3.30740231] [ 0.36622878 0.92047576 0.13638497 -1.74941947] [ 0.09550506 -0.18297598 0.97846746 -1.16537402] [ 0. 0. 0. 1. ]] SLAMing on 132.109072329 meters Centerline goodness : 0.373117 Centerline is valid? [False, False] Translation: X:-3.31, Y:-1.75, Z:-1.16 [[ 0.92511952 -0.3465786 -0.15503919 -3.3066922 ] [ 0.36748737 0.92000055 0.13620582 -1.75040395] [ 0.09543012 -0.18298161 0.97847372 -1.16492418] [ 0. 0. 0. 1. ]] SLAMing on 132.13907232900002 meters Centerline goodness : 0.300287 Centerline is valid? [False, False] Translation: X:-3.31, Y:-1.75, Z:-1.16 [[ 0.92501116 -0.34676593 -0.15526668 -3.30569369] [ 0.36773266 0.91987723 0.13637656 -1.75119269] [ 0.09553554 -0.18324647 0.97841387 -1.1648404 ] [ 0. 0. 0. 1. ]] SLAMing on 132.16907232900002 meters Centerline goodness : 0.372116 Centerline is valid? [False, False] Translation: X:-3.30, Y:-1.75, Z:-1.16 [[ 0.92460532 -0.34768289 -0.15563293 -3.30416636] [ 0.36872114 0.91946879 0.13646193 -1.75182332] [ 0.09565414 -0.18355858 0.97834377 -1.16492143] [ 0. 0. 0. 1. ]] SLAMing on 132.19907232900002 meters Centerline goodness : 0.372603 Centerline is valid? [False, False] Translation: X:-3.30, Y:-1.75, Z:-1.16 [[ 0.92448088 -0.34790539 -0.15587475 -3.30320528] [ 0.36900188 0.91933442 0.13660831 -1.75244023] [ 0.09577426 -0.18380985 0.97828484 -1.16478644] [ 0. 0. 0. 1. ]] SLAMing on 132.22907232900002 meters Centerline goodness : 0.374220 Centerline is valid? [False, False] Translation: X:-3.30, Y:-1.75, Z:-1.16 [[ 0.92434378 -0.34820052 -0.15602874 -3.30250031] [ 0.36934672 0.91916166 0.13683876 -1.75350241] [ 0.09576831 -0.18411476 0.97822808 -1.16449507] [ 0. 0. 0. 1. ]] SLAMing on 132.25907232900002 meters Centerline goodness : 0.371611 Centerline is valid? [False, False] Translation: X:-3.30, Y:-1.75, Z:-1.16 [[ 0.92416302 -0.3486338 -0.15613198 -3.30191225] [ 0.36981969 0.91893675 0.13707167 -1.75485723] [ 0.09568759 -0.18441725 0.978179 -1.16405823] [ 0. 0. 0. 1. ]] SLAMing on 132.289072329 meters Centerline goodness : 0.369681 Centerline is valid? [False, False] Translation: X:-3.30, Y:-1.76, Z:-1.16 [[ 0.92242155 -0.35377585 -0.15485842 -3.30118534] [ 0.37433058 0.91766357 0.13330488 -1.75546435] [ 0.09494788 -0.18093154 0.97890177 -1.16362006] [ 0. 0. 0. 1. ]] SLAMing on 132.319072329 meters Centerline goodness : 0.369160 Centerline is valid? [False, False] Translation: X:-3.30, Y:-1.76, Z:-1.16 [[ 0.92211601 -0.35456233 -0.15487937 -3.30097957] [ 0.37514173 0.91729489 0.13356188 -1.75725461] [ 0.09471404 -0.18126126 0.97886343 -1.1628009 ] [ 0. 0. 0. 1. ]] SLAMing on 132.349072329 meters Centerline goodness : 0.369962 Centerline is valid? [False, False] Translation: X:-3.30, Y:-1.76, Z:-1.16 [[ 0.92137316 -0.3562852 -0.15534591 -3.29979537] [ 0.37697349 0.91649557 0.13389119 -1.75960302] [ 0.09467039 -0.18192504 0.9787445 -1.16128195] [ 0. 0. 0. 1. ]] SLAMing on 132.379072329 meters Centerline goodness : 0.369783 Centerline is valid? [False, False] Translation: X:-3.30, Y:-1.76, Z:-1.16 [[ 0.92112225 -0.35690055 -0.15542134 -3.29940579] [ 0.37762147 0.91619557 0.13411823 -1.76074174] [ 0.09452947 -0.18222972 0.97870144 -1.16076192] [ 0. 0. 0. 1. ]] SLAMing on 132.409072329 meters Centerline goodness : 0.372136 Centerline is valid? [False, False] Translation: X:-3.30, Y:-1.76, Z:-1.16 [[ 0.92090075 -0.35745204 -0.15546652 -3.29905759] [ 0.37820438 0.9159156 0.13438773 -1.76207526] [ 0.09435704 -0.18255588 0.97865729 -1.16020965] [ 0. 0. 0. 1. ]] SLAMing on 132.439072329 meters Centerline goodness : 0.370971 Centerline is valid? [False, False] Translation: X:-3.30, Y:-1.76, Z:-1.16 [[ 0.92015221 -0.35920782 -0.15585138 -3.29780263] [ 0.38003295 0.91514188 0.13450016 -1.76425683] [ 0.09431262 -0.18298928 0.97858063 -1.15870178] [ 0. 0. 0. 1. ]] SLAMing on 132.469072329 meters Centerline goodness : 0.369935 Centerline is valid? [False, False] Translation: X:-3.30, Y:-1.77, Z:-1.16 [[ 0.91990859 -0.35981387 -0.15589152 -3.29737015] [ 0.38066543 0.91484493 0.13473154 -1.76573618] [ 0.09413829 -0.18328322 0.97854241 -1.15811746] [ 0. 0. 0. 1. ]] SLAMing on 132.499072329 meters Centerline goodness : 0.370220 Centerline is valid? [False, False] Translation: X:-3.30, Y:-1.77, Z:-1.16 [[ 0.91969644 -0.36028466 -0.15605585 -3.29660858] [ 0.38119155 0.91458398 0.13501536 -1.76718017] [ 0.09408222 -0.18366031 0.9784771 -1.1575492 ] [ 0. 0. 0. 1. ]] SLAMing on 132.529072329 meters Centerline goodness : 0.369279 Centerline is valid? [False, False] Translation: X:-3.30, Y:-1.77, Z:-1.16 [[ 0.91952334 -0.36063513 -0.15626623 -3.295468 ] [ 0.38161167 0.91435912 0.13535116 -1.76845992] [ 0.09407107 -0.18409156 0.97839712 -1.15742718] [ 0. 0. 0. 1. ]] SLAMing on 132.559072329 meters Centerline goodness : 0.370892 Centerline is valid? [False, False] Translation: X:-3.29, Y:-1.77, Z:-1.16 [[ 0.91907302 -0.36142816 -0.1570811 -3.29215212] [ 0.38260475 0.91386443 0.13588751 -1.77015629] [ 0.09443726 -0.18499051 0.97819227 -1.15754417] [ 0. 0. 0. 1. ]] SLAMing on 132.589072329 meters Centerline goodness : 0.370892 Centerline is valid? [False, False] Translation: X:-3.29, Y:-1.77, Z:-1.16 [[ 0.91907302 -0.36142816 -0.1570811 -3.29215212] [ 0.38260475 0.91386443 0.13588751 -1.77015629] [ 0.09443726 -0.18499051 0.97819227 -1.15754417] [ 0. 0. 0. 1. ]] SLAMing on 132.619072329 meters Centerline goodness : 0.371337 Centerline is valid? [False, False] Translation: X:-3.29, Y:-1.77, Z:-1.16 [[ 0.91894681 -0.36164048 -0.15733059 -3.29074672] [ 0.38289696 0.9136894 0.13624096 -1.77147368] [ 0.09448105 -0.1854396 0.978103 -1.15749734] [ 0. 0. 0. 1. ]] SLAMing on 132.649072329 meters Centerline goodness : 0.370706 Centerline is valid? [False, False] Translation: X:-3.29, Y:-1.77, Z:-1.16 [[ 0.91841761 -0.36277138 -0.15781643 -3.28855743] [ 0.3841429 0.9131202 0.13654938 -1.77407322] [ 0.09456916 -0.18603342 0.97798172 -1.15652026] [ 0. 0. 0. 1. ]] SLAMing on 132.679072329 meters Centerline goodness : 0.371198 Centerline is valid? [False, False] Translation: X:-3.29, Y:-1.78, Z:-1.16 [[ 0.91823036 -0.36325899 -0.15778441 -3.28837987] [ 0.38465047 0.91286177 0.1368481 -1.7758276 ] [ 0.09432406 -0.18634992 0.97794513 -1.15577089] [ 0. 0. 0. 1. ]] SLAMing on 132.709072329 meters Centerline goodness : 0.369780 Centerline is valid? [False, False] Translation: X:-3.29, Y:-1.78, Z:-1.15 [[ 0.91803394 -0.3637639 -0.15776411 -3.28823467] [ 0.38518054 0.91258839 0.13718008 -1.77775811] [ 0.09407253 -0.18670363 0.97790189 -1.15489117] [ 0. 0. 0. 1. ]] SLAMing on 132.739072329 meters Centerline goodness : 0.370025 Centerline is valid? [False, False] Translation: X:-3.29, Y:-1.78, Z:-1.15 [[ 0.91755772 -0.36480209 -0.15813687 -3.28667824] [ 0.38631423 0.9120608 0.13750062 -1.78033123] [ 0.09406993 -0.18725527 0.97779666 -1.15358401] [ 0. 0. 0. 1. ]] SLAMing on 132.769072329 meters Centerline goodness : 0.369714 Centerline is valid? [False, False] Translation: X:-3.29, Y:-1.78, Z:-1.15 [[ 0.91748286 -0.36484687 -0.15846754 -3.28509427] [ 0.38645207 0.91195489 0.13781537 -1.78165096] [ 0.09423374 -0.18768335 0.97769881 -1.15344642] [ 0. 0. 0. 1. ]] SLAMing on 132.799072329 meters Centerline goodness : 0.368296 Centerline is valid? [False, False] Translation: X:-3.28, Y:-1.78, Z:-1.15 [[ 0.91745695 -0.36475189 -0.15883577 -3.28333724] [ 0.38646111 0.91189917 0.13815832 -1.78290618] [ 0.0944487 -0.18813816 0.97759065 -1.1534412 ] [ 0. 0. 0. 1. ]] SLAMing on 132.829072329 meters Centerline goodness : 0.370528 Centerline is valid? [False, False] Translation: X:-3.28, Y:-1.78, Z:-1.15 [[ 0.91726655 -0.36507017 -0.1592038 -3.28109602] [ 0.3868943 0.91164267 0.13863779 -1.78488544] [ 0.09452445 -0.18876285 0.9774629 -1.15342751] [ 0. 0. 0. 1. ]] SLAMing on 132.859072329 meters Centerline goodness : 0.373934 Centerline is valid? [False, False] Translation: X:-3.28, Y:-1.79, Z:-1.15 [[ 0.91722827 -0.36502681 -0.15952346 -3.27982745] [ 0.38692283 0.9116145 0.13874338 -1.78537408] [ 0.09477885 -0.18898262 0.9773958 -1.15322936] [ 0. 0. 0. 1. ]] SLAMing on 132.88907232900002 meters Centerline goodness : 0.357310 Centerline is valid? [False, False] Translation: X:-3.28, Y:-1.79, Z:-1.15 [[ 0.91716834 -0.36502224 -0.15987808 -3.27863701] [ 0.38698762 0.91158518 0.1387553 -1.78548691] [ 0.09509372 -0.18913281 0.97733616 -1.15290294] [ 0. 0. 0. 1. ]] SLAMing on 132.91907232900002 meters Centerline goodness : 0.421291 Centerline is valid? [False, False] Translation: X:-3.28, Y:-1.79, Z:-1.15 [[ 0.91713552 -0.36494168 -0.16024986 -3.27745751] [ 0.3869833 0.91158045 0.13879845 -1.78573086] [ 0.0954273 -0.189311 0.97726914 -1.15249366] [ 0. 0. 0. 1. ]] SLAMing on 132.94907232900002 meters Centerline goodness : 0.372980 Centerline is valid? [False, False] Translation: X:-3.28, Y:-1.79, Z:-1.15 [[ 0.9170607 -0.36490935 -0.16075083 -3.27539061] [ 0.38706658 0.91151574 0.13899106 -1.78654589] [ 0.09580777 -0.18968451 0.97715948 -1.15217845] [ 0. 0. 0. 1. ]] SLAMing on 132.97907232900002 meters Centerline goodness : 0.361239 Centerline is valid? [False, False] Translation: X:-3.27, Y:-1.79, Z:-1.15 [[ 0.91708695 -0.36470064 -0.16107444 -3.27398935] [ 0.38694033 0.91154026 0.13918169 -1.78732258] [ 0.09606619 -0.1899679 0.97707906 -1.15212072] [ 0. 0. 0. 1. ]] SLAMing on 133.00907232900002 meters Centerline goodness : 0.376523 Centerline is valid? [False, False] Translation: X:-3.27, Y:-1.79, Z:-1.15 [[ 0.91709213 -0.36443416 -0.16164706 -3.27156946] [ 0.38680586 0.91156691 0.13938075 -1.78842693] [ 0.09655701 -0.19035102 0.97695611 -1.15181626] [ 0. 0. 0. 1. ]] SLAMing on 133.039072329 meters Centerline goodness : 0.370097 Centerline is valid? [False, False] Translation: X:-3.27, Y:-1.79, Z:-1.15 [[ 0.91709182 -0.36431322 -0.16192118 -3.27055151] [ 0.38674342 0.91158619 0.13942794 -1.78865292] [ 0.09680967 -0.19049017 0.97690398 -1.15166786] [ 0. 0. 0. 1. ]] SLAMing on 133.069072329 meters Centerline goodness : 0.367528 Centerline is valid? [False, False] Translation: X:-3.27, Y:-1.79, Z:-1.15 [[ 0.91710724 -0.36402296 -0.16248568 -3.26854512] [ 0.38657088 0.91164939 0.1394932 -1.78922722] [ 0.09735124 -0.19074246 0.97680093 -1.15114451] [ 0. 0. 0. 1. ]] SLAMing on 133.099072329 meters Centerline goodness : 0.368860 Centerline is valid? [False, False] Translation: X:-3.27, Y:-1.79, Z:-1.15 [[ 0.91714353 -0.36383387 -0.16270424 -3.26768208] [ 0.38643766 0.91168699 0.13961652 -1.7898655 ] [ 0.09753812 -0.19092343 0.97674693 -1.15088102] [ 0. 0. 0. 1. ]] SLAMing on 133.129072329 meters Centerline goodness : 0.402945 Centerline is valid? [False, False] Translation: X:-3.27, Y:-1.79, Z:-1.15 [[ 0.91716502 -0.3636887 -0.16290751 -3.26696822] [ 0.38633567 0.91172592 0.13964456 -1.79038421] [ 0.09773985 -0.19101409 0.97670904 -1.1504499 ] [ 0. 0. 0. 1. ]] SLAMing on 133.159072329 meters Centerline goodness : 0.375385 Centerline is valid? [False, False] Translation: X:-3.27, Y:-1.79, Z:-1.15 [[ 0.91720304 -0.36350915 -0.16309408 -3.26625065] [ 0.38620625 0.91176119 0.13977217 -1.79116387] [ 0.09789439 -0.19118741 0.97665964 -1.15005383] [ 0. 0. 0. 1. ]] SLAMing on 133.189072329 meters Centerline goodness : 0.373115 Centerline is valid? [False, False] Translation: X:-3.26, Y:-1.79, Z:-1.15 [[ 0.91726566 -0.36313224 -0.16358081 -3.26445022] [ 0.38593372 0.91186532 0.13984563 -1.79193279] [ 0.09838121 -0.19140694 0.97656772 -1.14938067] [ 0. 0. 0. 1. ]] SLAMing on 133.219072329 meters Centerline goodness : 0.375939 Centerline is valid? [False, False] Translation: X:-3.26, Y:-1.79, Z:-1.15 [[ 0.91729142 -0.36296904 -0.16379843 -3.26360756] [ 0.38581705 0.9119099 0.13987687 -1.79194348] [ 0.09859844 -0.19150408 0.97652677 -1.14937182] [ 0. 0. 0. 1. ]] SLAMing on 133.249072329 meters Centerline goodness : 0.374886 Centerline is valid? [False, False] Translation: X:-3.26, Y:-1.79, Z:-1.15 [[ 0.91733975 -0.36271638 -0.16408719 -3.26243144] [ 0.38562712 0.91198276 0.13992558 -1.79165366] [ 0.09889139 -0.19163577 0.97647131 -1.14972606] [ 0. 0. 0. 1. ]] SLAMing on 133.279072329 meters Centerline goodness : 0.376319 Centerline is valid? [False, False] Translation: X:-3.26, Y:-1.79, Z:-1.15 [[ 0.91879742 -0.3582553 -0.16572396 -3.26120006] [ 0.38196041 0.91284499 0.14429228 -1.79411253] [ 0.09958681 -0.19587537 0.97555897 -1.14948018] [ 0. 0. 0. 1. ]] SLAMing on 133.309072329 meters Centerline goodness : 0.376653 Centerline is valid? [False, False] Translation: X:-3.26, Y:-1.80, Z:-1.15 [[ 0.92038858 -0.35317428 -0.16778796 -3.25854794] [ 0.37776281 0.91391581 0.14850301 -1.79581343] [ 0.10089663 -0.20006452 0.97457378 -1.14910958] [ 0. 0. 0. 1. ]] SLAMing on 133.339072329 meters Centerline goodness : 0.379310 Centerline is valid? [False, False] Translation: X:-3.26, Y:-1.80, Z:-1.15 [[ 0.92042627 -0.35298386 -0.16798179 -3.25800331] [ 0.37759849 0.91400679 0.14836091 -1.79538063] [ 0.10116749 -0.19998494 0.97456204 -1.14892778] [ 0. 0. 0. 1. ]] SLAMing on 133.369072329 meters Centerline goodness : 0.377334 Centerline is valid? [False, False] Translation: X:-3.26, Y:-1.79, Z:-1.15 [[ 0.92043061 -0.35287997 -0.16817616 -3.2575778 ] [ 0.37750667 0.91408877 0.14808925 -1.79463581] [ 0.10147021 -0.1997935 0.97456983 -1.14864896] [ 0. 0. 0. 1. ]] SLAMing on 133.399072329 meters Centerline goodness : 0.378784 Centerline is valid? [False, False] Translation: X:-3.26, Y:-1.79, Z:-1.15 [[ 0.92057987 -0.35208053 -0.16903254 -3.25500811] [ 0.37684485 0.91442691 0.14768675 -1.79295599] [ 0.10257027 -0.19965649 0.97448275 -1.14825886] [ 0. 0. 0. 1. ]] SLAMing on 133.429072329 meters Centerline goodness : 0.381685 Centerline is valid? [False, False] Translation: X:-3.25, Y:-1.79, Z:-1.15 [[ 0.92061216 -0.35182276 -0.16939303 -3.25383236] [ 0.37664509 0.91453532 0.14752498 -1.792136 ] [ 0.10301326 -0.19961434 0.97444465 -1.14834289] [ 0. 0. 0. 1. ]] SLAMing on 133.459072329 meters Centerline goodness : 0.381997 Centerline is valid? [False, False] Translation: X:-3.25, Y:-1.79, Z:-1.15 [[ 0.92065486 -0.35151819 -0.16979277 -3.25237012] [ 0.37641346 0.91464652 0.14742675 -1.79146917] [ 0.10347718 -0.19964144 0.97438995 -1.14858906] [ 0. 0. 0. 1. ]] SLAMing on 133.489072329 meters Centerline goodness : 0.382986 Centerline is valid? [False, False] Translation: X:-3.25, Y:-1.79, Z:-1.15 [[ 0.92071048 -0.35115144 -0.17024946 -3.25062806] [ 0.37614108 0.91476009 0.14741731 -1.79115614] [ 0.10397161 -0.19976648 0.97431169 -1.14879404] [ 0. 0. 0. 1. ]] SLAMing on 133.519072329 meters Centerline goodness : 0.386868 Centerline is valid? [False, False] Translation: X:-3.25, Y:-1.79, Z:-1.15 [[ 0.9208858 -0.35016643 -0.17132664 -3.24648241] [ 0.37541237 0.91501401 0.14769873 -1.79205026] [ 0.10504714 -0.2003318 0.97408022 -1.14834085] [ 0. 0. 0. 1. ]] SLAMing on 133.549072329 meters Centerline goodness : 0.387038 Centerline is valid? [False, False] Translation: X:-3.24, Y:-1.79, Z:-1.15 [[ 0.92095157 -0.34976358 -0.17179535 -3.24470188] [ 0.37513427 0.91508872 0.14794225 -1.79330869] [ 0.10546317 -0.20069397 0.9739607 -1.14770735] [ 0. 0. 0. 1. ]] SLAMing on 133.579072329 meters Centerline goodness : 0.388550 Centerline is valid? [False, False] Translation: X:-3.24, Y:-1.79, Z:-1.15 [[ 0.92101021 -0.34934108 -0.1723398 -3.24273155] [ 0.37485487 0.91516025 0.14820777 -1.79444592] [ 0.10594348 -0.20110328 0.97382414 -1.1471476 ] [ 0. 0. 0. 1. ]] SLAMing on 133.609072329 meters Centerline goodness : 0.394429 Centerline is valid? [False, False] Translation: X:-3.24, Y:-1.80, Z:-1.15 [[ 0.92119188 -0.34810078 -0.17387169 -3.23691777] [ 0.37401536 0.91538859 0.14891692 -1.79623739] [ 0.10732206 -0.20221174 0.97344357 -1.14664591] [ 0. 0. 0. 1. ]] SLAMing on 133.63907232900002 meters Centerline goodness : 0.396954 Centerline is valid? [False, False] Translation: X:-3.23, Y:-1.80, Z:-1.15 [[ 0.92125791 -0.34758874 -0.17454492 -3.23444609] [ 0.37368061 0.91547386 0.14923276 -1.79714794] [ 0.10791969 -0.20270591 0.97327471 -1.14635832] [ 0. 0. 0. 1. ]] SLAMing on 133.66907232900002 meters Centerline goodness : 0.399119 Centerline is valid? [False, False] Translation: X:-3.23, Y:-1.80, Z:-1.15 [[ 0.92132962 -0.34702067 -0.17529517 -3.23182069] [ 0.37331237 0.91556428 0.14959918 -1.79829192] [ 0.10857998 -0.20327001 0.9730836 -1.14582818] [ 0. 0. 0. 1. ]] SLAMing on 133.69907232900002 meters Centerline goodness : 0.403326 Centerline is valid? [False, False] Translation: X:-3.22, Y:-1.80, Z:-1.14 [[ 0.92161047 -0.34485157 -0.17807735 -3.22330313] [ 0.37173242 0.9162111 0.14957349 -1.800414 ] [ 0.11157579 -0.20404561 0.97258225 -1.14160323] [ 0. 0. 0. 1. ]] SLAMing on 133.72907232900002 meters Centerline goodness : 0.404487 Centerline is valid? [False, False] Translation: X:-3.22, Y:-1.80, Z:-1.14 [[ 0.92170945 -0.34418688 -0.17884935 -3.22065919] [ 0.37127918 0.91632911 0.14997576 -1.80231393] [ 0.11226518 -0.20463711 0.97237862 -1.14048743] [ 0. 0. 0. 1. ]] SLAMing on 133.75907232900002 meters Centerline goodness : 0.407613 Centerline is valid? [False, False] Translation: X:-3.21, Y:-1.80, Z:-1.14 [[ 0.92215757 -0.34119717 -0.18223585 -3.20930232] [ 0.36893802 0.91738164 0.14931731 -1.80358784] [ 0.11623318 -0.20492782 0.97185104 -1.13560818] [ 0. 0. 0. 1. ]] SLAMing on 133.789072329 meters Centerline goodness : 0.407491 Centerline is valid? [False, False] Translation: X:-3.21, Y:-1.80, Z:-1.14 [[ 0.92224195 -0.3405716 -0.18297753 -3.20639686] [ 0.36849383 0.91752972 0.14950419 -1.80406966] [ 0.11697044 -0.20530513 0.97168293 -1.13552411] [ 0. 0. 0. 1. ]] SLAMing on 133.819072329 meters Centerline goodness : 0.407598 Centerline is valid? [False, False] Translation: X:-3.20, Y:-1.80, Z:-1.14 [[ 0.92236301 -0.33979324 -0.18381249 -3.20309362] [ 0.36791073 0.91774261 0.14963354 -1.80401402] [ 0.11784809 -0.20564303 0.97150541 -1.13580679] [ 0. 0. 0. 1. ]] SLAMing on 133.849072329 meters Centerline goodness : 0.404967 Centerline is valid? [False, False] Translation: X:-3.19, Y:-1.80, Z:-1.13 [[ 0.92357685 -0.33302941 -0.18999268 -3.18921148] [ 0.36271036 0.91952316 0.15138812 -1.8002314 ] [ 0.12428597 -0.20873087 0.97004351 -1.12952941] [ 0. 0. 0. 1. ]] SLAMing on 133.879072329 meters Centerline goodness : 0.405151 Centerline is valid? [False, False] Translation: X:-3.19, Y:-1.80, Z:-1.13 [[ 0.92374764 -0.33203644 -0.19089815 -3.18696524] [ 0.36188544 0.91988672 0.15115343 -1.79916129] [ 0.12541623 -0.20871088 0.96990233 -1.12905017] [ 0. 0. 0. 1. ]] SLAMing on 133.909072329 meters Centerline goodness : 0.403418 Centerline is valid? [False, False] Translation: X:-3.18, Y:-1.80, Z:-1.13 [[ 0.92384579 -0.33128704 -0.19172338 -3.18486819] [ 0.36125724 0.92020764 0.15070206 -1.79782976] [ 0.12649968 -0.20848692 0.96980979 -1.12856116] [ 0. 0. 0. 1. ]] SLAMing on 133.939072329 meters Centerline goodness : 0.399515 Centerline is valid? [False, False] Translation: X:-3.18, Y:-1.80, Z:-1.13 [[ 0.92400694 -0.33036237 -0.1925406 -3.18290838] [ 0.36044421 0.92060968 0.15019248 -1.79644208] [ 0.1276368 -0.20817904 0.96972694 -1.12806105] [ 0. 0. 0. 1. ]] SLAMing on 133.969072329 meters Centerline goodness : 0.392174 Centerline is valid? [False, False] Translation: X:-3.17, Y:-1.79, Z:-1.12 [[ 0.92567242 -0.32186931 -0.19882335 -3.16853562] [ 0.35329005 0.92342116 0.14993165 -1.79090899] [ 0.13533929 -0.2090299 0.96849872 -1.11965994] [ 0. 0. 0. 1. ]] SLAMing on 133.999072329 meters Centerline goodness : 0.393587 Centerline is valid? [False, False] Translation: X:-3.17, Y:-1.79, Z:-1.12 [[ 0.92679605 -0.31716147 -0.20114096 -3.16579912] [ 0.34959888 0.9242409 0.15349068 -1.79015345] [ 0.13722137 -0.21257321 0.96746211 -1.11851449] [ 0. 0. 0. 1. ]] SLAMing on 134.029072329 meters Centerline goodness : 0.396409 Centerline is valid? [False, False] Translation: X:-3.16, Y:-1.79, Z:-1.12 [[ 0.9279112 -0.31246987 -0.20333074 -3.16324686] [ 0.34591056 0.92503368 0.1570305 -1.78927751] [ 0.13902048 -0.21604462 0.96643573 -1.11764554] [ 0. 0. 0. 1. ]] SLAMing on 134.059072329 meters Centerline goodness : 0.147458 Centerline is valid? [False, False] Translation: X:-3.16, Y:-1.79, Z:-1.12 [[ 0.92903288 -0.30766259 -0.20552771 -3.16045142] [ 0.34212664 0.92583164 0.16057752 -1.78863757] [ 0.14088036 -0.21949829 0.9653876 -1.11690124] [ 0. 0. 0. 1. ]] SLAMing on 134.089072329 meters Centerline goodness : 0.187955 Centerline is valid? [False, False] Translation: X:-3.14, Y:-1.78, Z:-1.11 [[ 0.93072179 -0.29768645 -0.21246112 -3.14277425] [ 0.33331372 0.92952555 0.15774734 -1.78140205] [ 0.15052879 -0.21763509 0.96435266 -1.10684519] [ 0. 0. 0. 1. ]] SLAMing on 134.119072329 meters Centerline goodness : 0.172927 Centerline is valid? [False, False] Translation: X:-3.13, Y:-1.78, Z:-1.10 [[ 0.93090182 -0.2942629 -0.21640505 -3.13266445] [ 0.33036064 0.93102105 0.15511822 -1.77757685] [ 0.15583212 -0.21589155 0.96390207 -1.1016034 ] [ 0. 0. 0. 1. ]] SLAMing on 134.149072329 meters Centerline goodness : 0.179007 Centerline is valid? [False, False] Translation: X:-3.12, Y:-1.77, Z:-1.09 [[ 0.93188485 -0.28610594 -0.22301124 -3.11748576] [ 0.32384615 0.93314579 0.15608526 -1.77343383] [ 0.16344508 -0.21767482 0.96223873 -1.09352198] [ 0. 0. 0. 1. ]] SLAMing on 134.179072329 meters Centerline goodness : 0.135775 Centerline is valid? [False, False] Translation: X:-3.11, Y:-1.77, Z:-1.09 [[ 0.93182276 -0.28312134 -0.22704328 -3.10752898] [ 0.32136386 0.93439057 0.15375152 -1.77052199] [ 0.16861677 -0.21623267 0.96167137 -1.08764142] [ 0. 0. 0. 1. ]] SLAMing on 134.209072329 meters Centerline goodness : 0.149927 Centerline is valid? [False, False] Translation: X:-3.09, Y:-1.77, Z:-1.08 [[ 0.93257725 -0.27514857 -0.23365134 -3.09223586] [ 0.31518639 0.93619678 0.1555414 -1.76839392] [ 0.17594664 -0.21869809 0.9597989 -1.07845356] [ 0. 0. 0. 1. ]] SLAMing on 134.239072329 meters Centerline goodness : 0.256830 Centerline is valid? [False, False] Translation: X:-3.08, Y:-1.77, Z:-1.07 [[ 0.93242802 -0.27233315 -0.23751344 -3.08305769] [ 0.31285969 0.93731409 0.15349631 -1.76577837] [ 0.18082256 -0.21743264 0.95917999 -1.072789 ] [ 0. 0. 0. 1. ]] SLAMing on 134.269072329 meters Centerline goodness : 0.120813 Centerline is valid? [False, False] Translation: X:-3.07, Y:-1.76, Z:-1.07 [[ 0.93231084 -0.26936303 -0.24132975 -3.07402052] [ 0.31036435 0.9384628 0.15153068 -1.76342831] [ 0.18566223 -0.21617385 0.95853973 -1.06731091] [ 0. 0. 0. 1. ]] SLAMing on 134.299072329 meters Centerline goodness : 0.122325 Centerline is valid? [False, False] Translation: X:-3.07, Y:-1.76, Z:-1.07 [[ 0.93234484 -0.26829784 -0.24238267 -3.07085111] [ 0.3095654 0.93869828 0.15170632 -1.76310036] [ 0.18682172 -0.2164759 0.95824623 -1.06694302] [ 0. 0. 0. 1. ]] SLAMing on 134.329072329 meters Centerline goodness : 0.122413 Centerline is valid? [False, False] Translation: X:-3.05, Y:-1.76, Z:-1.07 [[ 0.93423315 -0.26441041 -0.23936491 -3.04615947] [ 0.30569403 0.93934991 0.15547642 -1.75774897] [ 0.18373782 -0.21842365 0.9584005 -1.06601739] [ 0. 0. 0. 1. ]] SLAMing on 134.359072329 meters Centerline goodness : 0.120752 Centerline is valid? [False, False] Translation: X:-3.04, Y:-1.76, Z:-1.06 [[ 0.93422944 -0.26371898 -0.24014089 -3.04441577] [ 0.3052296 0.93945539 0.15575131 -1.75789513] [ 0.18452707 -0.21880557 0.95816172 -1.06472546] [ 0. 0. 0. 1. ]] SLAMing on 134.38907232900002 meters Centerline goodness : 0.119636 Centerline is valid? [False, False] Translation: X:-3.02, Y:-1.75, Z:-1.06 [[ 0.93616711 -0.2604507 -0.23612831 -3.01912329] [ 0.30062035 0.94129327 0.15360461 -1.74995856] [ 0.18225956 -0.21478456 0.95950458 -1.05917695] [ 0. 0. 0. 1. ]] SLAMing on 134.41907232900002 meters Centerline goodness : 0.117817 Centerline is valid? [False, False] Translation: X:-3.02, Y:-1.75, Z:-1.06 [[ 0.9361886 -0.2597011 -0.23686758 -3.01757734] [ 0.30008667 0.94141765 0.15388568 -1.75026756] [ 0.18302704 -0.21514682 0.95927731 -1.05772511] [ 0. 0. 0. 1. ]] SLAMing on 134.44907232900002 meters Centerline goodness : 0.115615 Centerline is valid? [False, False] Translation: X:-3.02, Y:-1.75, Z:-1.06 [[ 0.93624097 -0.25893325 -0.23750036 -3.01606035] [ 0.29949241 0.94157685 0.15406928 -1.75016776] [ 0.18373118 -0.21537552 0.95909136 -1.05698801] [ 0. 0. 0. 1. ]] SLAMing on 134.47907232900002 meters Centerline goodness : 0.146888 Centerline is valid? [False, False] Translation: X:-3.00, Y:-1.75, Z:-1.05 [[ 0.93705862 -0.25072907 -0.24301457 -3.00266131] [ 0.29268656 0.94354691 0.15509289 -1.74745644] [ 0.19040935 -0.21645822 0.95754379 -1.04934495] [ 0. 0. 0. 1. ]] SLAMing on 134.50907232900002 meters Centerline goodness : 0.115677 Centerline is valid? [False, False] Translation: X:-2.99, Y:-1.74, Z:-1.04 [[ 0.93704103 -0.24747179 -0.24639771 -2.9942273 ] [ 0.28950937 0.94505913 0.15181426 -1.74370338] [ 0.19529066 -0.21359063 0.95720458 -1.04464271] [ 0. 0. 0. 1. ]] SLAMing on 134.539072329 meters Centerline goodness : 0.115677 Centerline is valid? [False, False] Translation: X:-2.99, Y:-1.74, Z:-1.04 [[ 0.93704103 -0.24747179 -0.24639771 -2.9942273 ] [ 0.28950937 0.94505913 0.15181426 -1.74370338] [ 0.19529066 -0.21359063 0.95720458 -1.04464271] [ 0. 0. 0. 1. ]] SLAMing on 134.569072329 meters Centerline goodness : 0.152235 Centerline is valid? [False, False] Translation: X:-2.99, Y:-1.74, Z:-1.04 [[ 0.93703515 -0.24421394 -0.24964912 -2.98596218] [ 0.28621822 0.94662115 0.14828192 -1.73974248] [ 0.20011062 -0.2103995 0.95691577 -1.04006053] [ 0. 0. 0. 1. ]] SLAMing on 134.599072329 meters Centerline goodness : 0.155228 Centerline is valid? [False, False] Translation: X:-2.98, Y:-1.74, Z:-1.03 [[ 0.9370519 -0.24074048 -0.25293825 -2.97772584] [ 0.28261889 0.94829432 0.14444529 -1.73559272] [ 0.20508608 -0.20683786 0.9566388 -1.03486647] [ 0. 0. 0. 1. ]] SLAMing on 134.629072329 meters Centerline goodness : 0.125454 Centerline is valid? [False, False] Translation: X:-2.96, Y:-1.73, Z:-1.03 [[ 0.94010771 -0.23353392 -0.24831311 -2.95631912] [ 0.27375834 0.9512927 0.14176944 -1.7264414 ] [ 0.20311047 -0.20125633 0.95824946 -1.03186538] [ 0. 0. 0. 1. ]] SLAMing on 134.659072329 meters Centerline goodness : 0.333994 Centerline is valid? [False, False] Translation: X:-2.95, Y:-1.72, Z:-1.03 [[ 0.94014285 -0.22998844 -0.25146915 -2.94906916] [ 0.27001269 0.95292405 0.1379453 -1.72222065] [ 0.20790518 -0.19758815 0.95798453 -1.02624675] [ 0. 0. 0. 1. ]] SLAMing on 134.689072329 meters Centerline goodness : 0.207854 Centerline is valid? [False, False] Translation: X:-2.94, Y:-1.72, Z:-1.03 [[ 0.94300669 -0.22740252 -0.24295363 -2.93790113] [ 0.26543032 0.95434877 0.13698601 -1.71607791] [ 0.20071154 -0.19366598 0.9603168 -1.02879049] [ 0. 0. 0. 1. ]] SLAMing on 134.719072329 meters Centerline goodness : 0.326524 Centerline is valid? [False, False] Translation: X:-2.93, Y:-1.71, Z:-1.02 [[ 0.94396218 -0.21815833 -0.24767386 -2.92629111] [ 0.25695862 0.95671278 0.13664889 -1.71104204] [ 0.20714165 -0.19263331 0.95915835 -1.02252736] [ 0. 0. 0. 1. ]] SLAMing on 134.749072329 meters Centerline goodness : 0.226702 Centerline is valid? [False, False] Translation: X:-2.92, Y:-1.71, Z:-1.02 [[ 0.94421963 -0.21621656 -0.24839421 -2.92408055] [ 0.25510981 0.95722528 0.13652383 -1.70970718] [ 0.2082505 -0.19227628 0.95898986 -1.02369403] [ 0. 0. 0. 1. ]] SLAMing on 134.779072329 meters Centerline goodness : 0.232681 Centerline is valid? [False, False] Translation: X:-2.92, Y:-1.71, Z:-1.03 [[ 0.94451777 -0.21415878 -0.24904257 -2.9216919 ] [ 0.25313398 0.95776349 0.13642683 -1.70862568] [ 0.20930688 -0.1918987 0.9588355 -1.02512605] [ 0. 0. 0. 1. ]] SLAMing on 134.809072329 meters Centerline goodness : 0.238540 Centerline is valid? [False, False] Translation: X:-2.92, Y:-1.71, Z:-1.03 [[ 0.94480091 -0.21227019 -0.24958488 -2.91957614] [ 0.25128122 0.95828207 0.13621019 -1.70730687] [ 0.21025935 -0.1914075 0.95872528 -1.02663099] [ 0. 0. 0. 1. ]] SLAMing on 134.839072329 meters Centerline goodness : 0.185668 Centerline is valid? [False, False] Translation: X:-2.91, Y:-1.70, Z:-1.02 [[ 0.94585157 -0.20262722 -0.2535883 -2.90894777] [ 0.24202556 0.96083534 0.13497809 -1.70173641] [ 0.21630636 -0.18904408 0.95784857 -1.02070821] [ 0. 0. 0. 1. ]] SLAMing on 134.869072329 meters Centerline goodness : 0.229331 Centerline is valid? [False, False] Translation: X:-2.90, Y:-1.70, Z:-1.02 [[ 0.94592049 -0.19894743 -0.25623104 -2.90330233] [ 0.23775905 0.96253394 0.13038039 -1.69617353] [ 0.22069223 -0.18425073 0.95778213 -1.01528664] [ 0. 0. 0. 1. ]] SLAMing on 134.899072329 meters Centerline goodness : 0.180338 Centerline is valid? [False, False] Translation: X:-2.90, Y:-1.69, Z:-1.01 [[ 0.94596716 -0.1951724 -0.25894761 -2.89772191] [ 0.23341926 0.96417891 0.12599397 -1.69082776] [ 0.22508128 -0.17962952 0.95763858 -1.0096796 ] [ 0. 0. 0. 1. ]] SLAMing on 134.929072329 meters Centerline goodness : 0.197072 Centerline is valid? [False, False] Translation: X:-2.89, Y:-1.68, Z:-1.00 [[ 0.94696664 -0.18543749 -0.26242547 -2.88848603] [ 0.22376547 0.96667381 0.12438149 -1.6834619 ] [ 0.23061483 -0.17650688 0.95690236 -1.00405264] [ 0. 0. 0. 1. ]] SLAMing on 134.959072329 meters Centerline goodness : 0.173026 Centerline is valid? [False, False] Translation: X:-2.89, Y:-1.68, Z:-1.01 [[ 0.94729346 -0.18331777 -0.26273505 -2.88682184] [ 0.22153414 0.96725424 0.12386223 -1.68097831] [ 0.23142544 -0.17553866 0.95688476 -1.00628706] [ 0. 0. 0. 1. ]] SLAMing on 134.989072329 meters Centerline goodness : 0.186919 Centerline is valid? [False, False] Translation: X:-2.88, Y:-1.68, Z:-1.01 [[ 0.94770624 -0.18101728 -0.26284147 -2.88492967] [ 0.21909009 0.96787127 0.12338853 -1.67841362] [ 0.23206125 -0.17452204 0.95691673 -1.00928254] [ 0. 0. 0. 1. ]] SLAMing on 135.019072329 meters Centerline goodness : 0.141987 Centerline is valid? [False, False] Translation: X:-2.88, Y:-1.67, Z:-1.01 [[ 0.94866268 -0.17155131 -0.26572405 -2.87627894] [ 0.20920489 0.97043502 0.12037103 -1.6692075 ] [ 0.23721811 -0.16978227 0.95650486 -1.00663673] [ 0. 0. 0. 1. ]] SLAMing on 135.049072329 meters Centerline goodness : 0.170084 Centerline is valid? [False, False] Translation: X:-2.88, Y:-1.67, Z:-1.01 [[ 0.94898373 -0.16940287 -0.2659559 -2.87528689] [ 0.20688486 0.97101388 0.11971093 -1.66594596] [ 0.2379675 -0.16862598 0.95652326 -1.00878137] [ 0. 0. 0. 1. ]] SLAMing on 135.079072329 meters Centerline goodness : 0.163915 Centerline is valid? [False, False] Translation: X:-2.87, Y:-1.66, Z:-1.00 [[ 0.94997654 -0.15937086 -0.26859916 -2.86721899] [ 0.19646171 0.97347726 0.1172383 -1.65690875] [ 0.24279081 -0.16414308 0.95609083 -1.0046224 ] [ 0. 0. 0. 1. ]] SLAMing on 135.109072329 meters Centerline goodness : 0.162700 Centerline is valid? [False, False] Translation: X:-2.87, Y:-1.65, Z:-1.01 [[ 0.95025775 -0.15727728 -0.26883835 -2.86672741] [ 0.19420145 0.9740046 0.11662265 -1.653854 ] [ 0.2435077 -0.16303037 0.9560989 -1.00630207] [ 0. 0. 0. 1. ]] SLAMing on 135.13907232900002 meters Centerline goodness : 0.160843 Centerline is valid? [False, False] Translation: X:-2.87, Y:-1.65, Z:-1.01 [[ 0.9505426 -0.15529411 -0.26898422 -2.86616749] [ 0.19201024 0.97452484 0.11590252 -1.6512711 ] [ 0.24413282 -0.161818 0.95614544 -1.00817358] [ 0. 0. 0. 1. ]] SLAMing on 135.16907232900002 meters Centerline goodness : 0.161599 Centerline is valid? [False, False] Translation: X:-2.87, Y:-1.65, Z:-1.01 [[ 0.95083665 -0.15322683 -0.26913045 -2.86540797] [ 0.18975487 0.97504117 0.11527276 -1.64846492] [ 0.24475039 -0.16067438 0.95618042 -1.01027087] [ 0. 0. 0. 1. ]] SLAMing on 135.19907232900002 meters Centerline goodness : 0.155651 Centerline is valid? [False, False] Translation: X:-2.86, Y:-1.64, Z:-1.01 [[ 0.95172899 -0.14370184 -0.27122261 -2.85793932] [ 0.17954381 0.97732989 0.11220653 -1.63935987] [ 0.24894968 -0.15548655 0.95595397 -1.00752046] [ 0. 0. 0. 1. ]] SLAMing on 135.22907232900002 meters Centerline goodness : 0.200741 Centerline is valid? [False, False] Translation: X:-2.86, Y:-1.64, Z:-1.01 [[ 0.9520055 -0.14193298 -0.27118362 -2.85793108] [ 0.17751677 0.9777896 0.11142396 -1.63682344] [ 0.24934579 -0.15421586 0.95605656 -1.00929728] [ 0. 0. 0. 1. ]] SLAMing on 135.25907232900002 meters Centerline goodness : 0.218252 Centerline is valid? [False, False] Translation: X:-2.86, Y:-1.63, Z:-1.01 [[ 0.95224727 -0.14033508 -0.27116639 -2.85773535] [ 0.1756372 0.97823128 0.1105221 -1.6340553 ] [ 0.24975332 -0.15287128 0.95616612 -1.01110949] [ 0. 0. 0. 1. ]] SLAMing on 135.289072329 meters Centerline goodness : 0.217079 Centerline is valid? [False, False] Translation: X:-2.85, Y:-1.62, Z:-1.01 [[ 0.9535793 -0.13073915 -0.27128176 -2.85296164] [ 0.16433881 0.98080096 0.1049868 -1.62415152] [ 0.25234753 -0.14469536 0.95675701 -1.01211029] [ 0. 0. 0. 1. ]] SLAMing on 135.319072329 meters Centerline goodness : 0.217389 Centerline is valid? [False, False] Translation: X:-2.85, Y:-1.62, Z:-1.01 [[ 0.95371552 -0.12946589 -0.27141352 -2.85074453] [ 0.16306666 0.98100637 0.10505128 -1.61994617] [ 0.25265783 -0.14444754 0.95671256 -1.01419531] [ 0. 0. 0. 1. ]] SLAMing on 135.349072329 meters Centerline goodness : 0.215517 Centerline is valid? [False, False] Translation: X:-2.85, Y:-1.61, Z:-1.02 [[ 0.95424031 -0.12541041 -0.27147313 -2.84955183] [ 0.1568073 0.98283945 0.09714977 -1.6124199 ] [ 0.25463091 -0.1352732 0.95753029 -1.01520612] [ 0. 0. 0. 1. ]] SLAMing on 135.379072329 meters Centerline goodness : 0.211017 Centerline is valid? [False, False] Translation: X:-2.85, Y:-1.60, Z:-1.02 [[ 0.95543895 -0.11581251 -0.27152139 -2.84686813] [ 0.14550929 0.98508373 0.09185366 -1.60139723] [ 0.2568335 -0.12726945 0.95803916 -1.01518064] [ 0. 0. 0. 1. ]] SLAMing on 135.409072329 meters Centerline goodness : 0.211373 Centerline is valid? [False, False] Translation: X:-2.85, Y:-1.60, Z:-1.02 [[ 0.95593591 -0.11081909 -0.27185597 -2.84665449] [ 0.14138289 0.98533913 0.09548656 -1.59951526] [ 0.25728859 -0.12971481 0.95758898 -1.01574448] [ 0. 0. 0. 1. ]] SLAMing on 135.439072329 meters Centerline goodness : 0.271290 Centerline is valid? [False, False] Translation: X:-2.84, Y:-1.59, Z:-1.02 [[ 0.95711931 -0.1009476 -0.27153675 -2.84394197] [ 0.12973899 0.98743568 0.09021404 -1.58969844] [ 0.25901819 -0.12157451 0.9581906 -1.01539569] [ 0. 0. 0. 1. ]] SLAMing on 135.469072329 meters Centerline goodness : 0.207001 Centerline is valid? [False, False] Translation: X:-2.84, Y:-1.59, Z:-1.02 [[ 0.95723644 -0.09993231 -0.27149941 -2.84307799] [ 0.12867291 0.98757981 0.09016323 -1.58610285] [ 0.25911712 -0.12124214 0.95820596 -1.01657667] [ 0. 0. 0. 1. ]] SLAMing on 135.499072329 meters Centerline goodness : 0.200276 Centerline is valid? [False, False] Translation: X:-2.84, Y:-1.58, Z:-1.02 [[ 0.95734431 -0.09881116 -0.27152941 -2.84161536] [ 0.12753787 0.98772103 0.09022889 -1.58250932] [ 0.25927969 -0.12101039 0.95819128 -1.01811988] [ 0. 0. 0. 1. ]] SLAMing on 135.529072329 meters Centerline goodness : 0.077643 Centerline is valid? [False, False] Translation: X:-2.84, Y:-1.57, Z:-1.02 [[ 0.95841939 -0.08907744 -0.27110418 -2.83803196] [ 0.11598005 0.98962021 0.08485555 -1.57308694] [ 0.26073146 -0.11276988 0.95880241 -1.0188737 ] [ 0. 0. 0. 1. ]] SLAMing on 135.559072329 meters Centerline goodness : 0.225701 Centerline is valid? [False, False] Translation: X:-2.84, Y:-1.57, Z:-1.02 [[ 0.95882292 -0.08395186 -0.27131292 -2.83718631] [ 0.11174688 0.98977457 0.08865059 -1.57169007] [ 0.26109625 -0.11531859 0.9583999 -1.0199695 ] [ 0. 0. 0. 1. ]] SLAMing on 135.589072329 meters Centerline goodness : 0.219251 Centerline is valid? [False, False] Translation: X:-2.84, Y:-1.57, Z:-1.02 [[ 0.95921101 -0.07881979 -0.27148052 -2.83632412] [ 0.10750916 0.98989558 0.09245822 -1.5703375 ] [ 0.26144983 -0.11787358 0.95799259 -1.02112253] [ 0. 0. 0. 1. ]] SLAMing on 135.619072329 meters Centerline goodness : 0.218876 Centerline is valid? [False, False] Translation: X:-2.84, Y:-1.57, Z:-1.02 [[ 0.95957359 -0.07362578 -0.27165746 -2.83546721] [ 0.10323396 0.9899801 0.09634387 -1.56936771] [ 0.26184209 -0.12049331 0.95755944 -1.02212295] [ 0. 0. 0. 1. ]] SLAMing on 135.649072329 meters Centerline goodness : 0.218742 Centerline is valid? [False, False] Translation: X:-2.83, Y:-1.56, Z:-1.02 [[ 0.9606124 -0.06337091 -0.27056967 -2.83128556] [ 0.09094787 0.99172394 0.09062068 -1.56006448] [ 0.26258771 -0.11165908 0.95842576 -1.02291783] [ 0. 0. 0. 1. ]] SLAMing on 135.679072329 meters Centerline goodness : 0.219369 Centerline is valid? [False, False] Translation: X:-2.83, Y:-1.56, Z:-1.03 [[ 0.96147855 -0.06006843 -0.26823643 -2.83373968] [ 0.08593636 0.99260341 0.0857521 -1.55659426] [ 0.2611014 -0.10550006 0.95952894 -1.03058634] [ 0. 0. 0. 1. ]] SLAMing on 135.709072329 meters Centerline goodness : 0.219877 Centerline is valid? [False, False] Translation: X:-2.84, Y:-1.55, Z:-1.04 [[ 0.96235 -0.05653596 -0.26586871 -2.83627675] [ 0.08065992 0.9934692 0.08070276 -1.55334337] [ 0.25956977 -0.09910925 0.96062526 -1.03860156] [ 0. 0. 0. 1. ]] SLAMing on 135.739072329 meters Centerline goodness : 0.194731 Centerline is valid? [False, False] Translation: X:-2.83, Y:-1.54, Z:-1.04 [[ 0.96322694 -0.04593313 -0.26473385 -2.83109305] [ 0.0680223 0.99486977 0.0748806 -1.54270397] [ 0.2599362 -0.09013482 0.96140984 -1.04026952] [ 0. 0. 0. 1. ]] SLAMing on 135.769072329 meters SLAMing on 135.799072329 meters SLAMing on 135.829072329 meters SLAMing on 135.859072329 meters SLAMing on 135.88907232900002 meters SLAMing on 135.91907232900002 meters Centerline goodness : 0.267887 Centerline is valid? [False, False] Translation: X:-2.80, Y:-1.50, Z:-1.03 [[ 0.96506243 0.01025438 -0.26181932 -2.80135431] [ 0.01203172 0.99644557 0.08337541 -1.50253997] [ 0.26174366 -0.08361261 0.96150881 -1.03358182] [ 0. 0. 0. 1. ]] SLAMing on 135.94907232900002 meters SLAMing on 135.97907232900002 meters SLAMing on 136.00907232900002 meters Centerline goodness : 0.248845 Centerline is valid? [False, False] Translation: X:-2.79, Y:-1.48, Z:-1.03 [[ 0.96428336 0.03991839 -0.26184753 -2.78793007] [-0.01734129 0.99597185 0.08797362 -1.48033454] [ 0.26430453 -0.08029073 0.96109131 -1.03377613] [ 0. 0. 0. 1. ]] SLAMing on 136.039072329 meters SLAMing on 136.069072329 meters Centerline goodness : 0.291182 Centerline is valid? [False, False] Translation: X:-2.78, Y:-1.47, Z:-1.04 [[ 0.96433139 0.05565411 -0.25878098 -2.78262383] [-0.03490565 0.99584614 0.0840955 -1.46778175] [ 0.2623863 -0.07206301 0.96226834 -1.03567525] [ 0. 0. 0. 1. ]] SLAMing on 136.099072329 meters Centerline goodness : 0.290346 Centerline is valid? [False, False] Translation: X:-2.79, Y:-1.46, Z:-1.04 [[ 0.96461642 0.06405592 -0.25575772 -2.78599391] [-0.04431723 0.99562889 0.08221373 -1.46394461] [ 0.25990605 -0.06797024 0.96323875 -1.04402015] [ 0. 0. 0. 1. ]] SLAMing on 136.129072329 meters Centerline goodness : 0.288841 Centerline is valid? [False, False] Translation: X:-2.78, Y:-1.45, Z:-1.05 [[ 0.96403767 0.08267124 -0.25258035 -2.77957005] [-0.06409719 0.9946579 0.08091481 -1.44865452] [ 0.25792037 -0.06181523 0.96418668 -1.04588722] [ 0. 0. 0. 1. ]] SLAMing on 136.159072329 meters Centerline goodness : 0.270769 Centerline is valid? [False, False] Translation: X:-2.78, Y:-1.44, Z:-1.05 [[ 0.96406214 0.09102819 -0.24959581 -2.78249065] [-0.07335274 0.99415268 0.0792454 -1.4426759 ] [ 0.25534991 -0.05808895 0.96510212 -1.05369579] [ 0. 0. 0. 1. ]] SLAMing on 136.189072329 meters Centerline goodness : 0.287192 Centerline is valid? [False, False] Translation: X:-2.77, Y:-1.43, Z:-1.06 [[ 0.96283804 0.1096379 -0.24682473 -2.77461394] [-0.09315806 0.99262901 0.07751912 -1.42669014] [ 0.25350442 -0.05164465 0.96595463 -1.05588369] [ 0. 0. 0. 1. ]] SLAMing on 136.219072329 meters Centerline goodness : 0.271317 Centerline is valid? [False, False] Translation: X:-2.78, Y:-1.42, Z:-1.06 [[ 0.96273682 0.11781442 -0.24342879 -2.77779079] [-0.10242288 0.9919102 0.07499133 -1.42171795] [ 0.25029456 -0.04726424 0.96701537 -1.06456575] [ 0. 0. 0. 1. ]] SLAMing on 136.249072329 meters Centerline goodness : 0.270020 Centerline is valid? [False, False] Translation: X:-2.78, Y:-1.42, Z:-1.07 [[ 0.9625724 0.12597567 -0.23996773 -2.78120836] [-0.11168644 0.99110997 0.07229914 -1.41655681] [ 0.24694234 -0.04279201 0.96808487 -1.07318357] [ 0. 0. 0. 1. ]] SLAMing on 136.279072329 meters Centerline goodness : 0.264070 Centerline is valid? [False, False] Translation: X:-2.77, Y:-1.40, Z:-1.08 [[ 0.96079268 0.14409491 -0.23688413 -2.77283943] [-0.13114022 0.98891413 0.06964979 -1.40029298] [ 0.24429425 -0.03585397 0.96903809 -1.07534485] [ 0. 0. 0. 1. ]] SLAMing on 136.309072329 meters Centerline goodness : 0.261096 Centerline is valid? [False, False] Translation: X:-2.78, Y:-1.40, Z:-1.08 [[ 0.960372 0.15238155 -0.23337842 -2.77621382] [-0.14033502 0.98780171 0.06748237 -1.3952011 ] [ 0.24081467 -0.03205701 0.97004157 -1.08347213] [ 0. 0. 0. 1. ]] SLAMing on 136.339072329 meters Centerline goodness : 0.254979 Centerline is valid? [False, False] Translation: X:-2.78, Y:-1.38, Z:-1.09 [[ 0.95918936 0.16626395 -0.22871833 -2.77570922] [-0.15457174 0.98562147 0.0682488 -1.38430288] [ 0.23677701 -0.03011014 0.97109733 -1.09376053] [ 0. 0. 0. 1. ]] SLAMing on 136.369072329 meters Centerline goodness : 0.243447 Centerline is valid? [False, False] Translation: X:-2.77, Y:-1.38, Z:-1.10 [[ 0.95845989 0.17174034 -0.22772767 -2.77311812] [-0.15941898 0.98461248 0.07158107 -1.37911169] [ 0.23651687 -0.03230347 0.97109024 -1.09615799] [ 0. 0. 0. 1. ]] SLAMing on 136.399072329 meters Centerline goodness : 0.249030 Centerline is valid? [False, False] Translation: X:-2.77, Y:-1.37, Z:-1.10 [[ 0.95773516 0.17695787 -0.22678022 -2.77082432] [-0.16403542 0.98361675 0.07476944 -1.37424306] [ 0.23629586 -0.03440933 0.97107171 -1.09832021] [ 0. 0. 0. 1. ]] SLAMing on 136.429072329 meters Centerline goodness : 0.249030 Centerline is valid? [False, False] Translation: X:-2.77, Y:-1.37, Z:-1.10 [[ 0.95773516 0.17695787 -0.22678022 -2.77082432] [-0.16403542 0.98361675 0.07476944 -1.37424306] [ 0.23629586 -0.03440933 0.97107171 -1.09832021] [ 0. 0. 0. 1. ]] SLAMing on 136.459072329 meters Centerline goodness : 0.248084 Centerline is valid? [False, False] Translation: X:-2.77, Y:-1.37, Z:-1.10 [[ 0.95702351 0.18200303 -0.22578952 -2.76900184] [-0.16850248 0.9826216 0.0778569 -1.3697476 ] [ 0.23603585 -0.03646479 0.97105994 -1.10025776] [ 0. 0. 0. 1. ]] SLAMing on 136.489072329 meters Centerline goodness : 0.242375 Centerline is valid? [False, False] Translation: X:-2.77, Y:-1.36, Z:-1.11 [[ 0.95564222 0.19445732 -0.22121098 -2.77015397] [-0.18140493 0.98030496 0.07806693 -1.36021812] [ 0.2320349 -0.03447529 0.97209632 -1.10947279] [ 0. 0. 0. 1. ]] SLAMing on 136.519072329 meters Centerline goodness : 0.234766 Centerline is valid? [False, False] Translation: X:-2.77, Y:-1.36, Z:-1.11 [[ 0.95486695 0.19954733 -0.22002266 -2.7689934 ] [-0.18592753 0.97920412 0.08118035 -1.35557275] [ 0.23164642 -0.03660816 0.97211099 -1.11096704] [ 0. 0. 0. 1. ]] SLAMing on 136.549072329 meters Centerline goodness : 0.233359 Centerline is valid? [False, False] Translation: X:-2.77, Y:-1.35, Z:-1.11 [[ 0.95404612 0.20463584 -0.21890679 -2.76795066] [-0.19044833 0.97807174 0.08429179 -1.35041432] [ 0.23135567 -0.03872782 0.9720981 -1.11209077] [ 0. 0. 0. 1. ]] SLAMing on 136.579072329 meters Centerline goodness : 0.195683 Centerline is valid? [False, False] Translation: X:-2.76, Y:-1.34, Z:-1.12 [[ 0.9518656 0.2175697 -0.21590577 -2.76458713] [-0.20181393 0.9750182 0.0927936 -1.34030254] [ 0.23070113 -0.04475424 0.97199488 -1.11505189] [ 0. 0. 0. 1. ]] SLAMing on 136.609072329 meters Centerline goodness : 0.223433 Centerline is valid? [False, False] Translation: X:-2.76, Y:-1.33, Z:-1.12 [[ 0.95090072 0.22274837 -0.21487436 -2.76240481] [-0.20644437 0.97375314 0.09584125 -1.33411316] [ 0.23058307 -0.04677591 0.9719277 -1.11665919] [ 0. 0. 0. 1. ]] SLAMing on 136.63907232900002 meters Centerline goodness : 0.212578 Centerline is valid? [False, False] Translation: X:-2.76, Y:-1.32, Z:-1.13 [[ 0.94907011 0.23462066 -0.2102833 -2.76128956] [-0.21871817 0.97102741 0.09627111 -1.32042608] [ 0.22677804 -0.04537526 0.9728889 -1.12573865] [ 0. 0. 0. 1. ]] SLAMing on 136.66907232900002 meters Centerline goodness : 0.222061 Centerline is valid? [False, False] Translation: X:-2.76, Y:-1.31, Z:-1.13 [[ 0.94808923 0.23962209 -0.20906472 -2.75868497] [-0.22325047 0.96971732 0.09903312 -1.31416637] [ 0.2264642 -0.04721843 0.97287429 -1.1279993 ] [ 0. 0. 0. 1. ]] SLAMing on 136.69907232900002 meters Centerline goodness : 0.230585 Centerline is valid? [False, False] Translation: X:-2.76, Y:-1.31, Z:-1.13 [[ 0.94711406 0.24453153 -0.20779629 -2.75638155] [-0.22769609 0.96839821 0.10178108 -1.30815821] [ 0.22611824 -0.04908389 0.97286243 -1.13013433] [ 0. 0. 0. 1. ]] SLAMing on 136.72907232900002 meters Centerline goodness : 0.240129 Centerline is valid? [False, False] Translation: X:-2.75, Y:-1.30, Z:-1.13 [[ 0.94611325 0.24942256 -0.20653838 -2.75434031] [-0.2321214 0.9670527 0.10454054 -1.30218967] [ 0.22580827 -0.05096521 0.97283769 -1.13195834] [ 0. 0. 0. 1. ]] SLAMing on 136.75907232900002 meters Centerline goodness : 0.255673 Centerline is valid? [False, False] Translation: X:-2.75, Y:-1.29, Z:-1.14 [[ 0.94402233 0.25960761 -0.20353312 -2.75025373] [-0.2413454 0.96414287 0.11036718 -1.28944342] [ 0.22488716 -0.0550673 0.97282751 -1.13553846] [ 0. 0. 0. 1. ]] SLAMing on 136.789072329 meters Centerline goodness : 0.265841 Centerline is valid? [False, False] Translation: X:-2.75, Y:-1.28, Z:-1.14 [[ 0.94293531 0.26446986 -0.20230841 -2.74823655] [-0.24575764 0.96271391 0.11307124 -1.28277941] [ 0.22466906 -0.05690003 0.97277243 -1.13697714] [ 0. 0. 0. 1. ]] SLAMing on 136.819072329 meters Centerline goodness : 0.281148 Centerline is valid? [False, False] Translation: X:-2.75, Y:-1.27, Z:-1.15 [[ 0.9411422 0.27394553 -0.19800303 -2.74799251] [-0.25618736 0.9602507 0.11084504 -1.26810685] [ 0.22049806 -0.05359507 0.97391384 -1.14511962] [ 0. 0. 0. 1. ]] SLAMing on 136.849072329 meters Centerline goodness : 0.291591 Centerline is valid? [False, False] Translation: X:-2.75, Y:-1.26, Z:-1.15 [[ 0.94022311 0.27820489 -0.19642439 -2.74650443] [-0.26013533 0.95893732 0.11299922 -1.26300913] [ 0.21979561 -0.05514756 0.97398595 -1.14717144] [ 0. 0. 0. 1. ]] SLAMing on 136.879072329 meters Centerline goodness : 0.251728 Centerline is valid? [False, False] Translation: X:-2.75, Y:-1.26, Z:-1.15 [[ 0.93937909 0.28220533 -0.19474878 -2.74502335] [-0.26388719 0.95768698 0.1148878 -1.25794527] [ 0.21893031 -0.05653148 0.97410149 -1.14952454] [ 0. 0. 0. 1. ]] SLAMing on 136.909072329 meters Centerline goodness : 0.266250 Centerline is valid? [False, False] Translation: X:-2.74, Y:-1.24, Z:-1.16 [[ 0.93769196 0.29052204 -0.19060624 -2.74392409] [-0.27336238 0.95543204 0.11145681 -1.24313616] [ 0.21449197 -0.05240758 0.97531874 -1.15855711] [ 0. 0. 0. 1. ]] SLAMing on 136.939072329 meters Centerline goodness : 0.259912 Centerline is valid? [False, False] Translation: X:-2.74, Y:-1.24, Z:-1.16 [[ 0.93642986 0.2952999 -0.18946526 -2.74110967] [-0.27771589 0.95386522 0.11408345 -1.2356374 ] [ 0.21441315 -0.05421364 0.97523735 -1.15991595] [ 0. 0. 0. 1. ]] SLAMing on 136.969072329 meters Centerline goodness : 0.416513 Centerline is valid? [False, False] Translation: X:-2.74, Y:-1.23, Z:-1.16 [[ 0.93511704 0.30016046 -0.18830779 -2.73826953] [-0.28213302 0.95223733 0.11681193 -1.22791713] [ 0.21437604 -0.05610498 0.97513853 -1.16115158] [ 0. 0. 0. 1. ]] SLAMing on 136.999072329 meters Centerline goodness : 0.287893 Centerline is valid? [False, False] Translation: X:-2.73, Y:-1.21, Z:-1.16 [[ 0.93250412 0.30981921 -0.18560205 -2.73245179] [-0.2908731 0.94888313 0.12253021 -1.21483315] [ 0.21407687 -0.06027328 0.9749555 -1.16435898] [ 0. 0. 0. 1. ]] SLAMing on 137.029072329 meters Centerline goodness : 0.504727 Centerline is valid? [False, False] Translation: X:-2.73, Y:-1.21, Z:-1.17 [[ 0.9313737 0.31400147 -0.18424468 -2.73099736] [-0.29466247 0.94738445 0.12504695 -1.21033897] [ 0.21381547 -0.06217545 0.97489341 -1.16555671] [ 0. 0. 0. 1. ]] SLAMing on 137.059072329 meters Centerline goodness : 0.286700 Centerline is valid? [False, False] Translation: X:-2.73, Y:-1.20, Z:-1.17 [[ 0.92999211 0.31930792 -0.18209098 -2.72623402] [-0.29974949 0.94551261 0.12710685 -1.19935877] [ 0.21275554 -0.06362669 0.97503165 -1.16936754] [ 0. 0. 0. 1. ]] SLAMing on 137.089072329 meters Centerline goodness : 0.282812 Centerline is valid? [False, False] Translation: X:-2.72, Y:-1.19, Z:-1.17 [[ 0.92982389 0.32034756 -0.18112141 -2.72364326] [-0.30099539 0.94519375 0.12653283 -1.19210479] [ 0.2117293 -0.06313654 0.97528687 -1.17168372] [ 0. 0. 0. 1. ]] SLAMing on 137.119072329 meters Centerline goodness : 0.307389 Centerline is valid? [False, False] Translation: X:-2.72, Y:-1.18, Z:-1.17 [[ 0.92962268 0.3213516 -0.1803741 -2.72089366] [-0.30219164 0.94489012 0.12594791 -1.18437702] [ 0.21090727 -0.06257649 0.97550106 -1.17363591] [ 0. 0. 0. 1. ]] SLAMing on 137.149072329 meters Centerline goodness : 0.307246 Centerline is valid? [False, False] Translation: X:-2.72, Y:-1.17, Z:-1.18 [[ 0.92809642 0.32647977 -0.17901953 -2.71564674] [-0.30707581 0.94305469 0.12787609 -1.1704895 ] [ 0.21057416 -0.06370877 0.97549973 -1.17532499] [ 0. 0. 0. 1. ]] SLAMing on 137.179072329 meters Centerline goodness : 0.199482 Centerline is valid? [False, False] Translation: X:-2.71, Y:-1.16, Z:-1.18 [[ 0.92788868 0.32729982 -0.17859852 -2.71298353] [-0.30803713 0.94280408 0.12741113 -1.16303186] [ 0.21008505 -0.06320837 0.97563773 -1.17655829] [ 0. 0. 0. 1. ]] SLAMing on 137.209072329 meters Centerline goodness : 0.197858 Centerline is valid? [False, False] Translation: X:-2.71, Y:-1.16, Z:-1.18 [[ 0.92773671 0.32787709 -0.17832894 -2.71041252] [-0.30877339 0.94264599 0.1267972 -1.15598668] [ 0.20967495 -0.06257119 0.97576701 -1.17770085] [ 0. 0. 0. 1. ]] SLAMing on 137.239072329 meters Centerline goodness : 0.195124 Centerline is valid? [False, False] Translation: X:-2.71, Y:-1.14, Z:-1.18 [[ 0.92754044 0.32871762 -0.17780174 -2.70586958] [-0.30995319 0.94244085 0.12543631 -1.14474387] [ 0.20880075 -0.06123704 0.97603907 -1.18020076] [ 0. 0. 0. 1. ]] SLAMing on 137.269072329 meters Centerline goodness : 0.196687 Centerline is valid? [False, False] Translation: X:-2.70, Y:-1.14, Z:-1.18 [[ 0.92749193 0.32877352 -0.17795136 -2.70361201] [-0.31019795 0.94248274 0.12451309 -1.13937528] [ 0.20865269 -0.06028474 0.97613002 -1.18107048] [ 0. 0. 0. 1. ]] SLAMing on 137.299072329 meters Centerline goodness : 0.192690 Centerline is valid? [False, False] Translation: X:-2.70, Y:-1.13, Z:-1.18 [[ 0.92738345 0.32882531 -0.17842046 -2.69866282] [-0.31054286 0.94256658 0.12300966 -1.12810661] [ 0.20862185 -0.05866992 0.97623499 -1.18207174] [ 0. 0. 0. 1. ]] SLAMing on 137.329072329 meters Centerline goodness : 0.193569 Centerline is valid? [False, False] Translation: X:-2.70, Y:-1.12, Z:-1.18 [[ 0.92728837 0.32880868 -0.17894447 -2.69617825] [-0.31065457 0.94262735 0.12225964 -1.1217026 ] [ 0.20887798 -0.05778003 0.9762333 -1.18193927] [ 0. 0. 0. 1. ]] SLAMing on 137.359072329 meters Centerline goodness : 0.190936 Centerline is valid? [False, False] Translation: X:-2.69, Y:-1.12, Z:-1.18 [[ 0.92716863 0.32874071 -0.17968827 -2.69376107] [-0.31066694 0.94269933 0.12167181 -1.11514168] [ 0.20939049 -0.05698708 0.97617012 -1.18123332] [ 0. 0. 0. 1. ]] SLAMing on 137.38907232900002 meters Centerline goodness : 0.189833 Centerline is valid? [False, False] Translation: X:-2.69, Y:-1.11, Z:-1.18 [[ 0.92777285 0.32801142 -0.17789335 -2.69354258] [-0.30983931 0.94285391 0.122581 -1.10648977] [ 0.2079354 -0.05860897 0.9763851 -1.184472 ] [ 0. 0. 0. 1. ]] SLAMing on 137.41907232900002 meters Centerline goodness : 0.188563 Centerline is valid? [False, False] Translation: X:-2.69, Y:-1.10, Z:-1.18 [[ 0.92853738 0.32500608 -0.17941399 -2.69076061] [-0.30733168 0.94405826 0.11958777 -1.09989626] [ 0.20824401 -0.05590211 0.97647805 -1.18400216] [ 0. 0. 0. 1. ]] SLAMing on 137.44907232900002 meters Centerline goodness : 0.189768 Centerline is valid? [False, False] Translation: X:-2.69, Y:-1.09, Z:-1.18 [[ 0.92970962 0.32050621 -0.1814271 -2.68691473] [-0.30342938 0.94577927 0.11589733 -1.09041008] [ 0.2087358 -0.05270055 0.97655108 -1.18309562] [ 0. 0. 0. 1. ]] SLAMing on 137.47907232900002 meters Centerline goodness : 0.187849 Centerline is valid? [False, False] Translation: X:-2.68, Y:-1.08, Z:-1.18 [[ 0.93046171 0.31737105 -0.18307546 -2.68416441] [-0.30079015 0.9469828 0.11291088 -1.08341331] [ 0.20920396 -0.04999196 0.97659332 -1.18215503] [ 0. 0. 0. 1. ]] SLAMing on 137.50907232900002 meters Centerline goodness : 0.312394 Centerline is valid? [False, False] Translation: X:-2.68, Y:-1.07, Z:-1.18 [[ 0.93213369 0.31264536 -0.18270099 -2.68280168] [-0.29651405 0.94861398 0.11050311 -1.07249355] [ 0.207861 -0.04883027 0.9769388 -1.18416019] [ 0. 0. 0. 1. ]] SLAMing on 137.539072329 meters Centerline goodness : 0.176783 Centerline is valid? [False, False] Translation: X:-2.68, Y:-1.07, Z:-1.18 [[ 0.93250976 0.31060609 -0.18425366 -2.68088131] [-0.29471087 0.94936552 0.10886055 -1.06644505] [ 0.20873682 -0.04721197 0.9768316 -1.18230139] [ 0. 0. 0. 1. ]] SLAMing on 137.569072329 meters Centerline goodness : 0.311971 Centerline is valid? [False, False] Translation: X:-2.68, Y:-1.06, Z:-1.18 [[ 0.93335843 0.30682902 -0.18627397 -2.67787437] [-0.29148129 0.9507377 0.1055295 -1.05828596] [ 0.2094772 -0.04420147 0.97681397 -1.18079325] [ 0. 0. 0. 1. ]] SLAMing on 137.599072329 meters Centerline goodness : 0.312396 Centerline is valid? [False, False] Translation: X:-2.67, Y:-1.05, Z:-1.18 [[ 0.93423082 0.30288516 -0.18834372 -2.67478339] [-0.28809905 0.9521378 0.10213985 -1.05041979] [ 0.21026582 -0.04116054 0.9767774 -1.179452 ] [ 0. 0. 0. 1. ]] SLAMing on 137.629072329 meters Centerline goodness : 0.302484 Centerline is valid? [False, False] Translation: X:-2.67, Y:-1.04, Z:-1.18 [[ 0.93707438 0.29318553 -0.18956229 -2.67197634] [-0.27946366 0.95533714 0.0960781 -1.03751725] [ 0.2092646 -0.03705655 0.97715666 -1.18155558] [ 0. 0. 0. 1. ]] SLAMing on 137.659072329 meters Centerline goodness : 0.099502 Centerline is valid? [False, False] Translation: X:-2.67, Y:-1.03, Z:-1.18 [[ 0.93800405 0.28892407 -0.19149746 -2.66894839] [-0.27581731 0.95675048 0.0924842 -1.02959996] [ 0.2099362 -0.03393224 0.97712609 -1.18050711] [ 0. 0. 0. 1. ]] SLAMing on 137.689072329 meters Centerline goodness : 0.115630 Centerline is valid? [False, False] Translation: X:-2.67, Y:-1.02, Z:-1.18 [[ 0.93888225 0.28483836 -0.19330605 -2.66576989] [-0.27234037 0.95807731 0.08898653 -1.02149425] [ 0.21054892 -0.03090284 0.97709476 -1.17951426] [ 0. 0. 0. 1. ]] SLAMing on 137.719072329 meters Centerline goodness : 0.108003 Centerline is valid? [False, False] Translation: X:-2.66, Y:-1.01, Z:-1.18 [[ 0.94189629 0.27415499 -0.19408871 -2.6558756 ] [-0.26090752 0.96103461 0.09132221 -1.00796693] [ 0.21156241 -0.03537685 0.97672403 -1.17979513] [ 0. 0. 0. 1. ]] SLAMing on 137.749072329 meters Centerline goodness : 0.094377 Centerline is valid? [False, False] Translation: X:-2.65, Y:-1.00, Z:-1.18 [[ 0.94275551 0.26994582 -0.19580936 -2.65268709] [-0.25734406 0.96233504 0.08766584 -0.99962249] [ 0.21209924 -0.03225708 0.97671562 -1.17903105] [ 0. 0. 0. 1. ]] SLAMing on 137.779072329 meters Centerline goodness : 0.271884 Centerline is valid? [False, False] Translation: X:-2.65, Y:-0.99, Z:-1.18 [[ 0.94523131 0.26001096 -0.1973121 -2.64785771] [-0.24854909 0.96520709 0.0812319 -0.98580262] [ 0.21156822 -0.0277412 0.97696945 -1.18027814] [ 0. 0. 0. 1. ]] SLAMing on 137.809072329 meters Centerline goodness : 0.111212 Centerline is valid? [False, False] Translation: X:-2.65, Y:-0.98, Z:-1.18 [[ 0.94609416 0.25563618 -0.19888688 -2.64501267] [-0.24481014 0.96645509 0.07766947 -0.97796799] [ 0.21207036 -0.02479311 0.97693985 -1.1793773 ] [ 0. 0. 0. 1. ]] SLAMing on 137.839072329 meters Centerline goodness : 0.219416 Centerline is valid? [False, False] Translation: X:-2.64, Y:-0.97, Z:-1.18 [[ 0.94688647 0.25134714 -0.20057574 -2.64173415] [-0.24110627 0.96764581 0.07435968 -0.96983023] [ 0.21277637 -0.02205011 0.97685209 -1.17849319] [ 0. 0. 0. 1. ]] SLAMing on 137.869072329 meters Centerline goodness : 0.441719 Centerline is valid? [False, False] Translation: X:-2.64, Y:-0.96, Z:-1.18 [[ 0.94763921 0.24714572 -0.2022348 -2.63818742] [-0.237482 0.96878465 0.07112384 -0.96149542] [ 0.21349992 -0.01937262 0.97675098 -1.17775126] [ 0. 0. 0. 1. ]] SLAMing on 137.899072329 meters Centerline goodness : 0.365331 Centerline is valid? [False, False] Translation: X:-2.63, Y:-0.95, Z:-1.18 [[ 0.95009314 0.23611851 -0.20388988 -2.6276791 ] [-0.22560276 0.97142707 0.07370785 -0.947934 ] [ 0.21546793 -0.0240312 0.97621518 -1.17698068] [ 0. 0. 0. 1. ]] SLAMing on 137.929072329 meters Centerline goodness : 0.541694 Centerline is valid? [False, False] Translation: X:-2.62, Y:-0.94, Z:-1.18 [[ 0.9507762 0.23192436 -0.20551328 -2.62381494] [-0.22207381 0.97250699 0.07009554 -0.93935801] [ 0.21611996 -0.02100605 0.97614082 -1.17680832] [ 0. 0. 0. 1. ]] SLAMing on 137.959072329 meters Centerline goodness : 0.523233 Centerline is valid? [False, False] Translation: X:-2.61, Y:-0.93, Z:-1.18 [[ 0.95297292 0.22082741 -0.2075521 -2.61310167] [-0.21019925 0.97498734 0.07222159 -0.92685183] [ 0.21830917 -0.02519792 0.97555429 -1.17580931] [ 0. 0. 0. 1. ]] SLAMing on 137.989072329 meters Centerline goodness : 0.526565 Centerline is valid? [False, False] Translation: X:-2.61, Y:-0.92, Z:-1.18 [[ 0.95357955 0.21675586 -0.2090525 -2.60931849] [-0.20680525 0.97597361 0.06860835 -0.91804244] [ 0.21890099 -0.02219037 0.97549472 -1.17545539] [ 0. 0. 0. 1. ]] SLAMing on 138.019072329 meters Centerline goodness : 0.552988 Centerline is valid? [False, False] Translation: X:-2.61, Y:-0.91, Z:-1.17 [[ 0.95412577 0.21276842 -0.21065044 -2.60544189] [-0.20347893 0.97691314 0.06509252 -0.90889433] [ 0.21963682 -0.01924352 0.9753919 -1.17464504] [ 0. 0. 0. 1. ]] SLAMing on 138.049072329 meters Centerline goodness : 0.234784 Centerline is valid? [False, False] Translation: X:-2.60, Y:-0.89, Z:-1.17 [[ 0.956094 0.20334485 -0.2110335 -2.59500276] [-0.19309755 0.97879923 0.06830373 -0.89450609] [ 0.22044863 -0.02455473 0.97508946 -1.17380685] [ 0. 0. 0. 1. ]] SLAMing on 138.079072329 meters Centerline goodness : 0.221203 Centerline is valid? [False, False] Translation: X:-2.59, Y:-0.88, Z:-1.17 [[ 0.95658442 0.19950818 -0.21246817 -2.59083274] [-0.18998607 0.97966303 0.0645418 -0.88454945] [ 0.22102383 -0.02137369 0.97503417 -1.17371895] [ 0. 0. 0. 1. ]] SLAMing on 138.109072329 meters Centerline goodness : 0.235732 Centerline is valid? [False, False] Translation: X:-2.59, Y:-0.87, Z:-1.17 [[ 0.95746177 0.19395624 -0.21365378 -2.58594944] [-0.18514798 0.98083475 0.06069125 -0.87030026] [ 0.2213305 -0.01855199 0.97502238 -1.17392471] [ 0. 0. 0. 1. ]] SLAMing on 138.13907232900002 meters Centerline goodness : 0.237967 Centerline is valid? [False, False] Translation: X:-2.58, Y:-0.86, Z:-1.17 [[ 0.95790004 0.1900138 -0.21522608 -2.58152544] [-0.18196871 0.98166328 0.05678555 -0.86055131] [ 0.22206957 -0.01523047 0.97491186 -1.17394699] [ 0. 0. 0. 1. ]] SLAMing on 138.16907232900002 meters Centerline goodness : 0.242967 Centerline is valid? [False, False] Translation: X:-2.58, Y:-0.85, Z:-1.17 [[ 0.95829657 0.1862637 -0.21673374 -2.57691138] [-0.17895546 0.98242586 0.05305067 -0.85092998] [ 0.22280625 -0.01205259 0.97478824 -1.17405839] [ 0. 0. 0. 1. ]] SLAMing on 138.19907232900002 meters Centerline goodness : 0.191942 Centerline is valid? [False, False] Translation: X:-2.57, Y:-0.84, Z:-1.17 [[ 0.95900085 0.17967519 -0.21916706 -2.5650236 ] [-0.17125375 0.98357689 0.05699702 -0.83749107] [ 0.2258086 -0.01712701 0.97402112 -1.17277959] [ 0. 0. 0. 1. ]] SLAMing on 138.22907232900002 meters Centerline goodness : 0.238638 Centerline is valid? [False, False] Translation: X:-2.56, Y:-0.83, Z:-1.17 [[ 0.95880859 0.17779583 -0.22152816 -2.55809999] [-0.16882691 0.98388174 0.05894227 -0.83050741] [ 0.22843721 -0.01911444 0.97337099 -1.17117011] [ 0. 0. 0. 1. ]] SLAMing on 138.25907232900002 meters Centerline goodness : 0.247242 Centerline is valid? [False, False] Translation: X:-2.55, Y:-0.82, Z:-1.17 [[ 0.95855441 0.17617195 -0.22391269 -2.55090273] [-0.1665686 0.98412683 0.06123138 -0.82375093] [ 0.23114573 -0.02139678 0.97268383 -1.16970952] [ 0. 0. 0. 1. ]] SLAMing on 138.289072329 meters Centerline goodness : 0.244200 Centerline is valid? [False, False] Translation: X:-2.54, Y:-0.81, Z:-1.17 [[ 0.95904196 0.17057856 -0.22614481 -2.53952614] [-0.1596276 0.98496871 0.06599745 -0.81170751] [ 0.23400332 -0.02719537 0.97185537 -1.16898422] [ 0. 0. 0. 1. ]] SLAMing on 138.319072329 meters Centerline goodness : 0.244200 Centerline is valid? [False, False] Translation: X:-2.54, Y:-0.81, Z:-1.17 [[ 0.95904196 0.17057856 -0.22614481 -2.53952614] [-0.1596276 0.98496871 0.06599745 -0.81170751] [ 0.23400332 -0.02719537 0.97185537 -1.16898422] [ 0. 0. 0. 1. ]] SLAMing on 138.349072329 meters Centerline goodness : 0.242946 Centerline is valid? [False, False] Translation: X:-2.53, Y:-0.81, Z:-1.17 [[ 0.95872746 0.16901578 -0.228638 -2.53220913] [-0.15736309 0.9851686 0.06840824 -0.80550426] [ 0.23680905 -0.02960568 0.97110503 -1.16744755] [ 0. 0. 0. 1. ]] SLAMing on 138.379072329 meters Centerline goodness : 0.243115 Centerline is valid? [False, False] Translation: X:-2.52, Y:-0.79, Z:-1.17 [[ 0.95904211 0.1633623 -0.23141088 -2.51945421] [-0.15025695 0.98592656 0.07329167 -0.79426368] [ 0.24012723 -0.03551871 0.97009141 -1.16608753] [ 0. 0. 0. 1. ]] SLAMing on 138.409072329 meters Centerline goodness : 0.236917 Centerline is valid? [False, False] Translation: X:-2.51, Y:-0.79, Z:-1.16 [[ 0.95880076 0.16141201 -0.23376754 -2.51253072] [-0.14757903 0.9861549 0.07562368 -0.78887559] [ 0.24273757 -0.03800885 0.9693471 -1.16466895] [ 0. 0. 0. 1. ]] SLAMing on 138.439072329 meters Centerline goodness : 0.240288 Centerline is valid? [False, False] Translation: X:-2.51, Y:-0.78, Z:-1.16 [[ 0.95854073 0.15938307 -0.23621328 -2.50558243] [-0.14477538 0.98638047 0.07806186 -0.78403141] [ 0.24543791 -0.04062761 0.9685606 -1.16309221] [ 0. 0. 0. 1. ]] SLAMing on 138.469072329 meters Centerline goodness : 0.238431 Centerline is valid? [False, False] Translation: X:-2.50, Y:-0.77, Z:-1.17 [[ 0.96204269 0.14995617 -0.22800661 -2.49771676] [-0.1343929 0.98749563 0.08240709 -0.77469717] [ 0.23751298 -0.04863667 0.97016599 -1.16860186] [ 0. 0. 0. 1. ]] SLAMing on 138.499072329 meters Centerline goodness : 0.237658 Centerline is valid? [False, False] Translation: X:-2.49, Y:-0.77, Z:-1.17 [[ 0.96176923 0.14767205 -0.23063591 -2.49018184] [-0.13117679 0.98767601 0.08537414 -0.77043554] [ 0.24040093 -0.05185614 0.96928754 -1.16715359] [ 0. 0. 0. 1. ]] SLAMing on 138.529072329 meters Centerline goodness : 0.237212 Centerline is valid? [False, False] Translation: X:-2.48, Y:-0.77, Z:-1.17 [[ 0.96147987 0.14543767 -0.23324738 -2.48254704] [-0.1279647 0.98782636 0.08845407 -0.76620708] [ 0.24327246 -0.05519937 0.96838605 -1.16577714] [ 0. 0. 0. 1. ]] SLAMing on 138.559072329 meters Centerline goodness : 0.251266 Centerline is valid? [False, False] Translation: X:-2.47, Y:-0.76, Z:-1.17 [[ 0.96488959 0.13618211 -0.2245941 -2.47393362] [-0.11734804 0.98851358 0.09523831 -0.7585699 ] [ 0.23498407 -0.06553878 0.96978717 -1.17120434] [ 0. 0. 0. 1. ]] SLAMing on 138.589072329 meters Centerline goodness : 0.475569 Centerline is valid? [False, False] Translation: X:-2.47, Y:-0.76, Z:-1.17 [[ 0.96465599 0.13337988 -0.22726336 -2.4664475 ] [-0.1134068 0.98861971 0.09884318 -0.7558365 ] [ 0.23786072 -0.06957645 0.9688041 -1.16961619] [ 0. 0. 0. 1. ]] SLAMing on 138.619072329 meters Centerline goodness : 0.440593 Centerline is valid? [False, False] Translation: X:-2.45, Y:-0.74, Z:-1.17 [[ 0.96808729 0.11954062 -0.22026585 -2.45475208] [-0.10024179 0.99023897 0.09684195 -0.74339236] [ 0.22969238 -0.07167161 0.97062073 -1.16917116] [ 0. 0. 0. 1. ]] SLAMing on 138.649072329 meters Centerline goodness : 0.385761 Centerline is valid? [False, False] Translation: X:-2.45, Y:-0.74, Z:-1.17 [[ 0.9708132 0.11384148 -0.21109676 -2.45176332] [-0.09400357 0.9903564 0.10177196 -0.74209857] [ 0.2206469 -0.07895771 0.97215257 -1.17479723] [ 0. 0. 0. 1. ]] SLAMing on 138.679072329 meters Centerline goodness : 0.383133 Centerline is valid? [False, False] Translation: X:-2.45, Y:-0.74, Z:-1.18 [[ 0.97398869 0.10463423 -0.20099183 -2.45007589] [-0.08516407 0.99100693 0.10321021 -0.73799572] [ 0.20998361 -0.08340829 0.97414062 -1.180154 ] [ 0. 0. 0. 1. ]] SLAMing on 138.709072329 meters Centerline goodness : 0.393800 Centerline is valid? [False, False] Translation: X:-2.44, Y:-0.73, Z:-1.18 [[ 0.97677667 0.08932624 -0.19475152 -2.43702448] [-0.07015106 0.99217979 0.10323804 -0.72626084] [ 0.20245039 -0.08717848 0.9754044 -1.1793347 ] [ 0. 0. 0. 1. ]] SLAMing on 138.739072329 meters Centerline goodness : 0.311050 Centerline is valid? [False, False] Translation: X:-2.44, Y:-0.72, Z:-1.18 [[ 0.97923403 0.08336136 -0.18480151 -2.4356638 ] [-0.06634658 0.99312652 0.09642533 -0.71841121] [ 0.19156943 -0.08216202 0.97803403 -1.17897047] [ 0. 0. 0. 1. ]] SLAMing on 138.769072329 meters Centerline goodness : 0.287987 Centerline is valid? [False, False] Translation: X:-2.42, Y:-0.71, Z:-1.18 [[ 0.98113012 0.06892178 -0.1806474 -2.42359832] [-0.0527456 0.99427991 0.09287287 -0.70830378] [ 0.18601505 -0.08159202 0.97915328 -1.17708977] [ 0. 0. 0. 1. ]] SLAMing on 138.799072329 meters Centerline goodness : 0.281156 Centerline is valid? [False, False] Translation: X:-2.42, Y:-0.70, Z:-1.18 [[ 0.98326172 0.06318555 -0.17089172 -2.42088864] [-0.04891792 0.99505431 0.08645203 -0.70082268] [ 0.17550906 -0.0766453 0.98148972 -1.17818742] [ 0. 0. 0. 1. ]] SLAMing on 138.829072329 meters Centerline goodness : 0.263973 Centerline is valid? [False, False] Translation: X:-2.42, Y:-0.69, Z:-1.18 [[ 0.98528805 0.05743399 -0.1609621 -2.41816199] [-0.04494733 0.99576705 0.08017301 -0.69319209] [ 0.16488542 -0.07175869 0.98369888 -1.17951842] [ 0. 0. 0. 1. ]] SLAMing on 138.859072329 meters Centerline goodness : 0.242067 Centerline is valid? [False, False] Translation: X:-2.40, Y:-0.68, Z:-1.18 [[ 0.98599576 0.04464429 -0.16068372 -2.4003103 ] [-0.03226889 0.99636646 0.07881999 -0.68376883] [ 0.16361873 -0.07253109 0.98385373 -1.17790174] [ 0. 0. 0. 1. ]] SLAMing on 138.88907232900002 meters Centerline goodness : 0.240616 Centerline is valid? [False, False] Translation: X:-2.40, Y:-0.67, Z:-1.18 [[ 0.98775374 0.03683682 -0.15160999 -2.39670399] [-0.02627249 0.99712285 0.07110404 -0.67433493] [ 0.15379303 -0.06625011 0.98587962 -1.17678986] [ 0. 0. 0. 1. ]] SLAMing on 138.91907232900002 meters Centerline goodness : 0.232218 Centerline is valid? [False, False] Translation: X:-2.39, Y:-0.67, Z:-1.18 [[ 0.98948251 0.03094078 -0.14130478 -2.39355063] [-0.0218927 0.99763568 0.06514412 -0.66733237] [ 0.1429863 -0.06136542 0.98782043 -1.17728343] [ 0. 0. 0. 1. ]] SLAMing on 138.94907232900002 meters Centerline goodness : 0.376530 Centerline is valid? [False, False] Translation: X:-2.37, Y:-0.66, Z:-1.18 [[ 0.98990307 0.01592918 -0.14084807 -2.37453482] [-0.00732737 0.99808754 0.06138056 -0.65826422] [ 0.14155645 -0.05972876 0.98812664 -1.17532807] [ 0. 0. 0. 1. ]] SLAMing on 138.97907232900002 meters Centerline goodness : 0.234409 Centerline is valid? [False, False] Translation: X:-2.37, Y:-0.65, Z:-1.17 [[ 0.99080832 0.00404912 -0.13521269 -2.36795395] [ 0.00434696 0.99808265 0.06174243 -0.65400344] [ 0.13520345 -0.06176268 0.98889099 -1.17399432] [ 0. 0. 0. 1. ]] SLAMing on 139.009072329 meters Centerline goodness : 0.232097 Centerline is valid? [False, False] Translation: X:-2.35, Y:-0.65, Z:-1.17 [[ 0.99075966 -0.01156298 -0.13513547 -2.3484466 ] [ 0.01960544 0.9981045 0.05833561 -0.64711263] [ 0.13420478 -0.06044596 0.98910837 -1.17291058] [ 0. 0. 0. 1. ]] SLAMing on 139.039072329 meters Centerline goodness : 0.272724 Centerline is valid? [False, False] Translation: X:-2.34, Y:-0.64, Z:-1.17 [[ 0.99130652 -0.02358375 -0.12944186 -2.34067271] [ 0.03130262 0.99783007 0.05792494 -0.64271669] [ 0.1277949 -0.06147324 0.98989368 -1.17067614] [ 0. 0. 0. 1. ]] SLAMing on 139.069072329 meters Centerline goodness : 0.255657 Centerline is valid? [False, False] Translation: X:-2.33, Y:-0.64, Z:-1.17 [[ 0.99168131 -0.03563447 -0.12368659 -2.33272609] [ 0.04303867 0.99740492 0.05771563 -0.63835074] [ 0.12130895 -0.06255882 0.99064148 -1.16896746] [ 0. 0. 0. 1. ]] SLAMing on 139.099072329 meters Centerline goodness : 0.256868 Centerline is valid? [False, False] Translation: X:-2.32, Y:-0.63, Z:-1.17 [[ 0.99189921 -0.04697913 -0.11802082 -2.32396588] [ 0.05409455 0.99686001 0.05782643 -0.63383136] [ 0.1149336 -0.06374228 0.99132598 -1.16691712] [ 0. 0. 0. 1. ]] SLAMing on 139.129072329 meters Centerline goodness : 0.246255 Centerline is valid? [False, False] Translation: X:-2.30, Y:-0.63, Z:-1.16 [[ 0.99123953 -0.06073263 -0.11728484 -2.30287554] [ 0.06754161 0.99620059 0.05497748 -0.62714134] [ 0.1135003 -0.06241746 0.99157538 -1.16263472] [ 0. 0. 0. 1. ]] SLAMing on 139.159072329 meters Centerline goodness : 0.240383 Centerline is valid? [False, False] Translation: X:-2.30, Y:-0.63, Z:-1.16 [[ 0.9907606 -0.06493151 -0.11906861 -2.29645739] [ 0.07141089 0.99614337 0.05097907 -0.62623649] [ 0.11529926 -0.05901084 0.99157642 -1.16066205] [ 0. 0. 0. 1. ]] SLAMing on 139.189072329 meters Centerline goodness : 0.240763 Centerline is valid? [False, False] Translation: X:-2.29, Y:-0.63, Z:-1.16 [[ 0.99025255 -0.06917694 -0.12089018 -2.28973498] [ 0.07531971 0.9960512 0.04699937 -0.6255414 ] [ 0.11716154 -0.05564666 0.99155263 -1.15926923] [ 0. 0. 0. 1. ]] SLAMing on 139.219072329 meters Centerline goodness : 0.101017 Centerline is valid? [False, False] Translation: X:-2.28, Y:-0.63, Z:-1.16 [[ 0.98968421 -0.07357033 -0.12293317 -2.28227155] [ 0.07935967 0.99592364 0.04287357 -0.62534094] [ 0.11927783 -0.05218723 0.99148842 -1.15843881] [ 0. 0. 0. 1. ]] SLAMing on 139.249072329 meters Centerline goodness : 0.219220 Centerline is valid? [False, False] Translation: X:-2.26, Y:-0.62, Z:-1.16 [[ 0.988585 -0.0885241 -0.12191463 -2.25920901] [ 0.0939678 0.99478579 0.03963952 -0.62294691] [ 0.11776989 -0.05064308 0.99174872 -1.15735908] [ 0. 0. 0. 1. ]] SLAMing on 139.279072329 meters Centerline goodness : 0.213856 Centerline is valid? [False, False] Translation: X:-2.25, Y:-0.62, Z:-1.16 [[ 0.98796275 -0.09279634 -0.12376773 -2.2515566 ] [ 0.09789004 0.99455612 0.03571648 -0.6235983 ] [ 0.11977959 -0.04740218 0.99166823 -1.15675182] [ 0. 0. 0. 1. ]] SLAMing on 139.309072329 meters Centerline goodness : 0.180227 Centerline is valid? [False, False] Translation: X:-2.23, Y:-0.62, Z:-1.15 [[ 0.98667293 -0.10641162 -0.12309792 -2.2269507 ] [ 0.11129794 0.99322215 0.03350409 -0.62131955] [ 0.11869835 -0.04675812 0.99182881 -1.15482266] [ 0. 0. 0. 1. ]] SLAMing on 139.339072329 meters Centerline goodness : 0.196439 Centerline is valid? [False, False] Translation: X:-2.22, Y:-0.62, Z:-1.16 [[ 0.98631222 -0.10689531 -0.12554522 -2.21812427] [ 0.11195475 0.99313353 0.03394013 -0.62415264] [ 0.12105513 -0.04753095 0.99150717 -1.1554723 ] [ 0. 0. 0. 1. ]] SLAMing on 139.369072329 meters Centerline goodness : 0.180857 Centerline is valid? [False, False] Translation: X:-2.21, Y:-0.63, Z:-1.16 [[ 0.98606506 -0.10695546 -0.12742148 -2.210319 ] [ 0.1122144 0.99307398 0.03481372 -0.62759935] [ 0.12281544 -0.04862711 0.9912375 -1.15623338] [ 0. 0. 0. 1. ]] SLAMing on 139.399072329 meters Centerline goodness : 0.502671 Centerline is valid? [False, False] Translation: X:-2.19, Y:-0.63, Z:-1.15 [[ 0.98463616 -0.12059158 -0.12629059 -2.1860118 ] [ 0.12567017 0.9915224 0.03302023 -0.62654731] [ 0.12123798 -0.04838388 0.99144357 -1.15447688] [ 0. 0. 0. 1. ]] SLAMing on 139.429072329 meters Centerline goodness : 0.474894 Centerline is valid? [False, False] Translation: X:-2.18, Y:-0.63, Z:-1.15 [[ 0.98398781 -0.12461567 -0.12743202 -2.17902106] [ 0.1293257 0.99116778 0.02934796 -0.62796016] [ 0.1226493 -0.04535827 0.99141302 -1.15368747] [ 0. 0. 0. 1. ]] SLAMing on 139.459072329 meters Centerline goodness : 0.501467 Centerline is valid? [False, False] Translation: X:-2.15, Y:-0.63, Z:-1.15 [[ 0.98224605 -0.13921747 -0.12574259 -2.15436083] [ 0.14362203 0.98927439 0.02662495 -0.62802502] [ 0.12068726 -0.04421166 0.99170556 -1.15191364] [ 0. 0. 0. 1. ]] SLAMing on 139.489072329 meters Centerline goodness : 0.512731 Centerline is valid? [False, False] Translation: X:-2.15, Y:-0.63, Z:-1.15 [[ 0.98152696 -0.1434345 -0.12661507 -2.14811461] [ 0.14746945 0.98879817 0.02304202 -0.62977171] [ 0.12189173 -0.04128822 0.99168427 -1.15115593] [ 0. 0. 0. 1. ]] SLAMing on 139.519072329 meters Centerline goodness : 0.179644 Centerline is valid? [False, False] Translation: X:-2.14, Y:-0.63, Z:-1.15 [[ 0.98116488 -0.14426566 -0.12846359 -2.14074004] [ 0.14845054 0.98863892 0.02356939 -0.6330702 ] [ 0.12360385 -0.04219595 0.99143411 -1.1520464 ] [ 0. 0. 0. 1. ]] SLAMing on 139.549072329 meters Centerline goodness : 0.490575 Centerline is valid? [False, False] Translation: X:-2.13, Y:-0.64, Z:-1.15 [[ 0.98077144 -0.14518201 -0.13042073 -2.13339437] [ 0.14950858 0.98846993 0.02396627 -0.63597966] [ 0.1254375 -0.04300445 0.99116903 -1.15284678] [ 0. 0. 0. 1. ]] SLAMing on 139.579072329 meters Centerline goodness : 0.225292 Centerline is valid? [False, False] Translation: X:-2.11, Y:-0.64, Z:-1.15 [[ 0.97871975 -0.1595396 -0.12905333 -2.10871113] [ 0.16361542 0.98628872 0.02155337 -0.63553943] [ 0.12384523 -0.04220983 0.99140339 -1.14950941] [ 0. 0. 0. 1. ]] SLAMing on 139.609072329 meters Centerline goodness : 0.214952 Centerline is valid? [False, False] Translation: X:-2.10, Y:-0.64, Z:-1.15 [[ 0.97786745 -0.1639743 -0.12995258 -2.10246291] [ 0.16765141 0.98568555 0.01780463 -0.63692842] [ 0.12517288 -0.0391973 0.99136034 -1.14863935] [ 0. 0. 0. 1. ]] SLAMing on 139.63907232900002 meters Centerline goodness : 0.074389 Centerline is valid? [False, False] Translation: X:-2.10, Y:-0.64, Z:-1.15 [[ 0.97703172 -0.16828344 -0.13072759 -2.09638086] [ 0.17157658 0.98506746 0.01426798 -0.63874741] [ 0.12637443 -0.03637006 0.99131565 -1.14829696] [ 0. 0. 0. 1. ]] SLAMing on 139.66907232900002 meters Centerline goodness : 0.079268 Centerline is valid? [False, False] Translation: X:-2.07, Y:-0.64, Z:-1.14 [[ 0.97400359 -0.18603724 -0.12925618 -2.07038993] [ 0.18869542 0.98199867 0.00852331 -0.63634464] [ 0.12534374 -0.03269178 0.9915746 -1.1448533 ] [ 0. 0. 0. 1. ]] SLAMing on 139.69907232900002 meters Centerline goodness : 0.458970 Centerline is valid? [False, False] Translation: X:-2.06, Y:-0.64, Z:-1.14 [[ 0.97297815 -0.19024841 -0.13083984 -2.06326726] [ 0.19267762 0.98124349 0.00604632 -0.64143605] [ 0.12723544 -0.03109284 0.99138508 -1.14333494] [ 0. 0. 0. 1. ]] SLAMing on 139.72907232900002 meters Centerline goodness : 0.306966 Centerline is valid? [False, False] Translation: X:-2.04, Y:-0.65, Z:-1.14 [[ 0.96690771 -0.2207893 -0.1278341 -2.04005243] [ 0.22367784 0.97462591 0.00851775 -0.65054869] [ 0.1227098 -0.03682953 0.99175899 -1.14453011] [ 0. 0. 0. 1. ]] SLAMing on 139.759072329 meters Centerline goodness : 0.381312 Centerline is valid? [False, False] Translation: X:-2.03, Y:-0.66, Z:-1.15 [[ 0.96492821 -0.22917801 -0.12802734 -2.03218203] [ 0.23135147 0.97286782 0.00216864 -0.65715917] [ 0.12405667 -0.0317119 0.99176827 -1.14562065] [ 0. 0. 0. 1. ]] SLAMing on 139.789072329 meters Centerline goodness : 0.439094 Centerline is valid? [False, False] Translation: X:-2.02, Y:-0.66, Z:-1.15 [[ 0.96280345 -0.23797726 -0.12797005 -2.02437981] [ 0.23940408 0.97091032 -0.00434085 -0.66408024] [ 0.12528046 -0.02645717 0.99176853 -1.14720218] [ 0. 0. 0. 1. ]] SLAMing on 139.819072329 meters Centerline goodness : 0.419771 Centerline is valid? [False, False] Translation: X:-2.02, Y:-0.67, Z:-1.15 [[ 0.9606639 -0.24666239 -0.12760303 -2.0173978 ] [ 0.24731939 0.96887246 -0.01092121 -0.67060155] [ 0.12632491 -0.02106709 0.99176519 -1.14804696] [ 0. 0. 0. 1. ]] SLAMing on 139.849072329 meters Centerline goodness : 0.252537 Centerline is valid? [False, False] Translation: X:-1.99, Y:-0.68, Z:-1.15 [[ 0.95250456 -0.27890684 -0.12225396 -1.99304587] [ 0.27958143 0.96004758 -0.01195263 -0.67507394] [ 0.12070329 -0.022795 0.99242688 -1.14776979] [ 0. 0. 0. 1. ]] SLAMing on 139.879072329 meters Centerline goodness : 0.386417 Centerline is valid? [False, False] Translation: X:-1.99, Y:-0.68, Z:-1.15 [[ 0.95173372 -0.28078778 -0.1239401 -1.98754601] [ 0.28172226 0.95944087 -0.01028477 -0.68204932] [ 0.12180103 -0.02512833 0.9922364 -1.14905997] [ 0. 0. 0. 1. ]] SLAMing on 139.909072329 meters Centerline goodness : 0.378985 Centerline is valid? [False, False] Translation: X:-1.98, Y:-0.69, Z:-1.15 [[ 0.95100752 -0.28253988 -0.12552255 -1.98264359] [ 0.28372166 0.95886688 -0.0087371 -0.68856823] [ 0.12282799 -0.02730441 0.99205229 -1.15008057] [ 0. 0. 0. 1. ]] SLAMing on 139.939072329 meters Centerline goodness : 0.358650 Centerline is valid? [False, False] Translation: X:-1.96, Y:-0.69, Z:-1.15 [[ 0.94164314 -0.31360066 -0.12232262 -1.95869482] [ 0.31501378 0.94905239 -0.00811699 -0.69160083] [ 0.11863606 -0.03089 0.9924572 -1.15021585] [ 0. 0. 0. 1. ]] SLAMing on 139.969072329 meters Centerline goodness : 0.352948 Centerline is valid? [False, False] Translation: X:-1.95, Y:-0.70, Z:-1.15 [[ 0.93990767 -0.31871587 -0.12244903 -1.95291272] [ 0.31985474 0.94740534 -0.01077346 -0.69702461] [ 0.11944254 -0.02903985 0.99241633 -1.15249648] [ 0. 0. 0. 1. ]] SLAMing on 139.999072329 meters Centerline goodness : 0.337712 Centerline is valid? [False, False] Translation: X:-1.92, Y:-0.70, Z:-1.15 [[ 0.92853538 -0.34961154 -0.1248752 -1.92359285] [ 0.35054557 0.93642332 -0.01513865 -0.69729373] [ 0.1222287 -0.02971768 0.99205696 -1.14861599] [ 0. 0. 0. 1. ]] SLAMing on 140.029072329 meters Centerline goodness : 0.233473 Centerline is valid? [False, False] Translation: X:-1.92, Y:-0.70, Z:-1.15 [[ 0.92652517 -0.35467805 -0.1255173 -1.9175673 ] [ 0.35530467 0.93457489 -0.01812084 -0.7007251 ] [ 0.12373238 -0.02780747 0.99192593 -1.14911523] [ 0. 0. 0. 1. ]] SLAMing on 140.059072329 meters Centerline goodness : 0.224522 Centerline is valid? [False, False] Translation: X:-1.91, Y:-0.71, Z:-1.15 [[ 0.92566095 -0.35653645 -0.12662372 -1.91359638] [ 0.35741183 0.93380077 -0.01652012 -0.70658294] [ 0.12413135 -0.02996478 0.99181325 -1.15200757] [ 0. 0. 0. 1. ]] SLAMing on 140.089072329 meters Centerline goodness : 0.204885 Centerline is valid? [False, False] Translation: X:-1.89, Y:-0.71, Z:-1.15 [[ 0.91397858 -0.38514564 -0.1276949 -1.8888604 ] [ 0.38634016 0.9222126 -0.01628517 -0.7064443 ] [ 0.124034 -0.03444937 0.99167979 -1.1501431 ] [ 0. 0. 0. 1. ]] SLAMing on 140.119072329 meters Centerline goodness : 0.328537 Centerline is valid? [False, False] Translation: X:-1.88, Y:-0.71, Z:-1.15 [[ 0.91181772 -0.3902565 -0.12762565 -1.88366032] [ 0.39110496 0.92014177 -0.01939164 -0.70983387] [ 0.12500141 -0.03223338 0.99163282 -1.15106652] [ 0. 0. 0. 1. ]] SLAMing on 140.149072329 meters Centerline goodness : 0.195691 Centerline is valid? [False, False] Translation: X:-1.88, Y:-0.71, Z:-1.15 [[ 0.90971359 -0.39526252 -0.12723493 -1.87908389] [ 0.39574989 0.91808233 -0.02251335 -0.71335799] [ 0.12571082 -0.02987251 0.99161707 -1.15204916] [ 0. 0. 0. 1. ]] SLAMing on 140.179072329 meters Centerline goodness : 0.119367 Centerline is valid? [False, False] Translation: X:-1.85, Y:-0.71, Z:-1.15 [[ 0.89820276 -0.42046724 -0.12821504 -1.85385255] [ 0.42102412 0.90673019 -0.02406354 -0.7139405 ] [ 0.12637437 -0.03236768 0.99145441 -1.14638718] [ 0. 0. 0. 1. ]] SLAMing on 140.209072329 meters Centerline goodness : 0.120974 Centerline is valid? [False, False] Translation: X:-1.85, Y:-0.72, Z:-1.15 [[ 0.89730843 -0.42214701 -0.12895532 -1.85100926] [ 0.42288466 0.90589241 -0.02296767 -0.7179774 ] [ 0.12651538 -0.03392415 0.99138439 -1.14920052] [ 0. 0. 0. 1. ]] SLAMing on 140.239072329 meters Centerline goodness : 0.120974 Centerline is valid? [False, False] Translation: X:-1.86, Y:-0.72, Z:-1.15 [[ 0.90203309 -0.41203963 -0.1286843 -1.85677818] [ 0.41230078 0.91068073 -0.02585865 -0.72085592] [ 0.1278451 -0.02973128 0.99134842 -1.15212551] [ 0. 0. 0. 1. ]] SLAMing on 140.269072329 meters Centerline goodness : 0.114056 Centerline is valid? [False, False] Translation: X:-1.85, Y:-0.72, Z:-1.15 [[ 0.90105352 -0.41388572 -0.1296193 -1.85366171] [ 0.4143199 0.90979114 -0.0248818 -0.72438561] [ 0.12822471 -0.03128402 0.9912516 -1.15491442] [ 0. 0. 0. 1. ]] SLAMing on 140.299072329 meters Centerline goodness : 0.314770 Centerline is valid? [False, False] Translation: X:-1.83, Y:-0.72, Z:-1.15 [[ 0.88949291 -0.43702683 -0.13345374 -1.82934399] [ 0.43782993 0.89871445 -0.02484538 -0.7235171 ] [ 0.1307949 -0.03633025 0.99074356 -1.15083472] [ 0. 0. 0. 1. ]] SLAMing on 140.329072329 meters Centerline goodness : 0.314408 Centerline is valid? [False, False] Translation: X:-1.83, Y:-0.73, Z:-1.15 [[ 0.88859795 -0.43874526 -0.13377697 -1.82735728] [ 0.4397079 0.89782376 -0.02386342 -0.72691892] [ 0.13057811 -0.03761781 0.99072411 -1.15435777] [ 0. 0. 0. 1. ]] SLAMing on 140.359072329 meters Centerline goodness : 0.312687 Centerline is valid? [False, False] Translation: X:-1.81, Y:-0.73, Z:-1.15 [[ 0.87782779 -0.4593569 -0.135682 -1.80659453] [ 0.46026065 0.88738769 -0.02651839 -0.72509545] [ 0.13258394 -0.03917051 0.99039748 -1.15065646] [ 0. 0. 0. 1. ]] SLAMing on 140.38907232900002 meters Centerline goodness : 0.313179 Centerline is valid? [False, False] Translation: X:-1.80, Y:-0.73, Z:-1.15 [[ 0.87552638 -0.46346551 -0.13657699 -1.79828211] [ 0.46405685 0.88531636 -0.02943088 -0.72913382] [ 0.13455404 -0.03761198 0.99019218 -1.14879413] [ 0. 0. 0. 1. ]] SLAMing on 140.41907232900002 meters Centerline goodness : 0.311677 Centerline is valid? [False, False] Translation: X:-1.80, Y:-0.73, Z:-1.15 [[ 0.87461032 -0.46502689 -0.13713784 -1.79594735] [ 0.46573114 0.88445457 -0.02888986 -0.73178742] [ 0.13472675 -0.038602 0.99013059 -1.1504316 ] [ 0. 0. 0. 1. ]] SLAMing on 140.44907232900002 meters Centerline goodness : 0.308270 Centerline is valid? [False, False] Translation: X:-1.77, Y:-0.73, Z:-1.14 [[ 0.86318885 -0.4845582 -0.14180397 -1.77246695] [ 0.4856361 0.8736713 -0.0292582 -0.72968182] [ 0.13806736 -0.04360977 0.98946227 -1.14456955] [ 0. 0. 0. 1. ]] SLAMing on 140.47907232900002 meters Centerline goodness : 0.308584 Centerline is valid? [False, False] Translation: X:-1.77, Y:-0.73, Z:-1.15 [[ 0.86158111 -0.48713394 -0.14275332 -1.76789071] [ 0.48824153 0.87220724 -0.029576 -0.73067001] [ 0.13891795 -0.04421598 0.9893163 -1.14715024] [ 0. 0. 0. 1. ]] SLAMing on 140.509072329 meters Centerline goodness : 0.305698 Centerline is valid? [False, False] Translation: X:-1.76, Y:-0.73, Z:-1.15 [[ 0.85946936 -0.49096452 -0.14235964 -1.76267919] [ 0.4917905 0.87013304 -0.03178978 -0.73266786] [ 0.13947948 -0.04268878 0.98930437 -1.14909978] [ 0. 0. 0. 1. ]] SLAMing on 140.539072329 meters Centerline goodness : 0.305793 Centerline is valid? [False, False] Translation: X:-1.76, Y:-0.73, Z:-1.15 [[ 0.85782909 -0.49366898 -0.14289924 -1.75837358] [ 0.49448946 0.86858567 -0.03223502 -0.73416779] [ 0.14003366 -0.04301003 0.98921217 -1.1517409 ] [ 0. 0. 0. 1. ]] SLAMing on 140.569072329 meters Centerline goodness : 0.303302 Centerline is valid? [False, False] Translation: X:-1.74, Y:-0.73, Z:-1.14 [[ 0.84838626 -0.5088084 -0.1461327 -1.737128 ] [ 0.50910693 0.85985518 -0.03819963 -0.73491146] [ 0.14508925 -0.04198913 0.9885272 -1.14369652] [ 0. 0. 0. 1. ]] SLAMing on 140.599072329 meters Centerline goodness : 0.302725 Centerline is valid? [False, False] Translation: X:-1.73, Y:-0.74, Z:-1.15 [[ 0.84755682 -0.50998804 -0.146832 -1.73347169] [ 0.51043266 0.85909873 -0.03752175 -0.7377867 ] [ 0.14527882 -0.04314604 0.98844953 -1.14537648] [ 0. 0. 0. 1. ]] SLAMing on 140.629072329 meters Centerline goodness : 0.367443 Centerline is valid? [False, False] Translation: X:-1.73, Y:-0.74, Z:-1.15 [[ 0.84683355 -0.51088034 -0.14789932 -1.72869854] [ 0.51151433 0.85849302 -0.03664461 -0.74097652] [ 0.14569155 -0.04462074 0.98832331 -1.14695312] [ 0. 0. 0. 1. ]] SLAMing on 140.659072329 meters Centerline goodness : 0.366196 Centerline is valid? [False, False] Translation: X:-1.71, Y:-0.74, Z:-1.14 [[ 0.83852451 -0.52300618 -0.15277823 -1.7071372 ] [ 0.5239 0.85094838 -0.03762491 -0.74168152] [ 0.14968445 -0.04849111 0.98754401 -1.14166873] [ 0. 0. 0. 1. ]] SLAMing on 140.689072329 meters Centerline goodness : 0.363625 Centerline is valid? [False, False] Translation: X:-1.70, Y:-0.74, Z:-1.14 [[ 0.83795252 -0.52358103 -0.15394307 -1.70167356] [ 0.5246774 0.85050816 -0.03673557 -0.74450769] [ 0.15016388 -0.04998779 0.98739659 -1.14325816] [ 0. 0. 0. 1. ]] SLAMing on 140.719072329 meters Centerline goodness : 0.310270 Centerline is valid? [False, False] Translation: X:-1.70, Y:-0.75, Z:-1.15 [[ 0.83753697 -0.52398858 -0.15481537 -1.69675157] [ 0.52527008 0.85017972 -0.03585792 -0.74734578] [ 0.15041003 -0.05128754 0.98729246 -1.14505358] [ 0. 0. 0. 1. ]] SLAMing on 140.749072329 meters Centerline goodness : 0.287895 Centerline is valid? [False, False] Translation: X:-1.68, Y:-0.75, Z:-1.14 [[ 0.83240898 -0.531071 -0.15829995 -1.67670614] [ 0.53193332 0.84581932 -0.0404551 -0.74908974] [ 0.15537768 -0.05052983 0.98656197 -1.13738513] [ 0. 0. 0. 1. ]] SLAMing on 140.779072329 meters Centerline goodness : 0.292416 Centerline is valid? [False, False] Translation: X:-1.67, Y:-0.75, Z:-1.14 [[ 0.83218825 -0.53122093 -0.15895608 -1.67218096] [ 0.53221952 0.8456692 -0.03982453 -0.75132238] [ 0.15557988 -0.05145803 0.98648212 -1.13863541] [ 0. 0. 0. 1. ]] SLAMing on 140.809072329 meters Centerline goodness : 0.354059 Centerline is valid? [False, False] Translation: X:-1.65, Y:-0.75, Z:-1.13 [[ 0.82919298 -0.53516583 -0.16135842 -1.65493683] [ 0.53590872 0.84319876 -0.0426344 -0.75401622] [ 0.1588737 -0.05112124 0.98597453 -1.13458801] [ 0. 0. 0. 1. ]] SLAMing on 140.839072329 meters Centerline goodness : 0.344627 Centerline is valid? [False, False] Translation: X:-1.65, Y:-0.76, Z:-1.14 [[ 0.83028639 -0.53324947 -0.16207873 -1.65046776] [ 0.53435839 0.84429204 -0.04039877 -0.75779445] [ 0.1583844 -0.05306558 0.98595052 -1.1369015 ] [ 0. 0. 0. 1. ]] SLAMing on 140.869072329 meters Centerline goodness : 0.281217 Centerline is valid? [False, False] Translation: X:-1.65, Y:-0.76, Z:-1.14 [[ 0.83062204 -0.53246734 -0.1629281 -1.64501 ] [ 0.53381843 0.84469454 -0.03910252 -0.76057145] [ 0.15844529 -0.05449461 0.98586278 -1.13886263] [ 0. 0. 0. 1. ]] SLAMing on 140.899072329 meters Centerline goodness : 0.272487 Centerline is valid? [False, False] Translation: X:-1.63, Y:-0.76, Z:-1.14 [[ 0.8286897 -0.53504282 -0.16432453 -1.62937616] [ 0.53611758 0.84311946 -0.04156347 -0.76310843] [ 0.16078345 -0.05365405 0.98553028 -1.13657334] [ 0. 0. 0. 1. ]] SLAMing on 140.929072329 meters Centerline goodness : 0.268543 Centerline is valid? [False, False] Translation: X:-1.63, Y:-0.77, Z:-1.14 [[ 0.83172434 -0.53078869 -0.162782 -1.62816145] [ 0.53205974 0.84579088 -0.03937288 -0.76912348] [ 0.15857821 -0.05386236 0.98587616 -1.14087895] [ 0. 0. 0. 1. ]] SLAMing on 140.959072329 meters Centerline goodness : 0.264466 Centerline is valid? [False, False] Translation: X:-1.61, Y:-0.77, Z:-1.14 [[ 0.8298447 -0.53336021 -0.16396542 -1.61266707] [ 0.53420188 0.84427829 -0.04269097 -0.77050847] [ 0.16120211 -0.05216376 0.98554189 -1.13752612] [ 0. 0. 0. 1. ]] SLAMing on 140.989072329 meters Centerline goodness : 0.261270 Centerline is valid? [False, False] Translation: X:-1.61, Y:-0.78, Z:-1.14 [[ 0.83438316 -0.52661602 -0.16272771 -1.61269523] [ 0.52774119 0.84847123 -0.0398222 -0.77707276] [ 0.15904079 -0.05265115 0.98586707 -1.14216131] [ 0. 0. 0. 1. ]] SLAMing on 141.019072329 meters Centerline goodness : 0.259526 Centerline is valid? [False, False] Translation: X:-1.61, Y:-0.78, Z:-1.15 [[ 0.8388028 -0.51978688 -0.1619613 -1.61298048] [ 0.52131405 0.85259076 -0.03634083 -0.78335469] [ 0.1569762 -0.05394992 0.98612772 -1.14701364] [ 0. 0. 0. 1. ]] SLAMing on 141.049072329 meters Centerline goodness : 0.256830 Centerline is valid? [False, False] Translation: X:-1.61, Y:-0.79, Z:-1.15 [[ 0.84313081 -0.51288463 -0.16149239 -1.61292888] [ 0.51488775 0.85664301 -0.03245546 -0.78911429] [ 0.15498723 -0.05578626 0.98634013 -1.15227085] [ 0. 0. 0. 1. ]] SLAMing on 141.079072329 meters Centerline goodness : 0.254726 Centerline is valid? [False, False] Translation: X:-1.60, Y:-0.79, Z:-1.15 [[ 0.84350887 -0.51132942 -0.16442325 -1.59814205] [ 0.51340803 0.85751409 -0.03289045 -0.78795425] [ 0.15781311 -0.05667284 0.98584137 -1.15005491] [ 0. 0. 0. 1. ]] SLAMing on 141.109072329 meters Centerline goodness : 0.258813 Centerline is valid? [False, False] Translation: X:-1.60, Y:-0.79, Z:-1.15 [[ 0.84997864 -0.50087347 -0.16328528 -1.59882206] [ 0.50293929 0.86374813 -0.03148393 -0.79459866] [ 0.15680682 -0.05536191 0.98607641 -1.15328856] [ 0. 0. 0. 1. ]] SLAMing on 141.13907232900002 meters Centerline goodness : 0.224563 Centerline is valid? [False, False] Translation: X:-1.60, Y:-0.80, Z:-1.15 [[ 0.85539934 -0.4920878 -0.16168357 -1.59644244] [ 0.49389675 0.86894421 -0.03165375 -0.79782982] [ 0.15607043 -0.05277839 0.98633486 -1.1540862 ] [ 0. 0. 0. 1. ]] SLAMing on 141.16907232900002 meters Centerline goodness : 0.274569 Centerline is valid? [False, False] Translation: X:-1.57, Y:-0.79, Z:-1.15 [[ 0.85809011 -0.48758054 -0.1610794 -1.57288412] [ 0.48890311 0.8716726 -0.03406814 -0.79061208] [ 0.15701945 -0.04951869 0.98635328 -1.14994331] [ 0. 0. 0. 1. ]] SLAMing on 141.19907232900002 meters Centerline goodness : 0.253823 Centerline is valid? [False, False] Translation: X:-1.57, Y:-0.79, Z:-1.15 [[ 0.86441056 -0.47661723 -0.16009498 -1.57033783] [ 0.4777262 0.87784975 -0.03402195 -0.79396506] [ 0.15675478 -0.04707263 0.98651513 -1.15005847] [ 0. 0. 0. 1. ]] SLAMing on 141.22907232900002 meters Centerline goodness : 0.259505 Centerline is valid? [False, False] Translation: X:-1.57, Y:-0.80, Z:-1.15 [[ 0.86785676 -0.47033344 -0.16003468 -1.56841458] [ 0.47183497 0.88114488 -0.0309104 -0.79539328] [ 0.15555193 -0.04868416 0.98662731 -1.15365104] [ 0. 0. 0. 1. ]] SLAMing on 141.259072329 meters Centerline goodness : 0.269175 Centerline is valid? [False, False] Translation: X:-1.55, Y:-0.79, Z:-1.15 [[ 0.87004102 -0.4652366 -0.16304453 -1.55013805] [ 0.46678348 0.88382539 -0.03107831 -0.78955484] [ 0.15856167 -0.04906709 0.98612911 -1.15044669] [ 0. 0. 0. 1. ]] SLAMing on 141.289072329 meters Centerline goodness : 0.272064 Centerline is valid? [False, False] Translation: X:-1.54, Y:-0.79, Z:-1.15 [[ 0.87224853 -0.4602054 -0.16550979 -1.54386976] [ 0.46231207 0.88627803 -0.02790718 -0.78833177] [ 0.15953073 -0.05217518 0.98581322 -1.15078081] [ 0. 0. 0. 1. ]] SLAMing on 141.319072329 meters Centerline goodness : 0.192989 Centerline is valid? [False, False] Translation: X:-1.54, Y:-0.79, Z:-1.15 [[ 0.8763283 -0.45236657 -0.16556929 -1.53774647] [ 0.45451992 0.89033144 -0.02686198 -0.78729926] [ 0.15956301 -0.05171463 0.98583226 -1.1502385 ] [ 0. 0. 0. 1. ]] SLAMing on 141.349072329 meters Centerline goodness : 0.106823 Centerline is valid? [False, False] Translation: X:-1.51, Y:-0.78, Z:-1.15 [[ 0.88007926 -0.44471401 -0.16640293 -1.51026671] [ 0.44656839 0.89430468 -0.02821012 -0.77746752] [ 0.16136036 -0.04948314 0.98565423 -1.14562268] [ 0. 0. 0. 1. ]] SLAMing on 141.379072329 meters Centerline goodness : 0.101937 Centerline is valid? [False, False] Translation: X:-1.50, Y:-0.77, Z:-1.14 [[ 0.88215144 -0.43951869 -0.1692104 -1.50035837] [ 0.44160544 0.89679802 -0.02716511 -0.7745437 ] [ 0.16368713 -0.05076049 0.98520551 -1.14195143] [ 0. 0. 0. 1. ]] SLAMing on 141.409072329 meters Centerline goodness : 0.091820 Centerline is valid? [False, False] Translation: X:-1.49, Y:-0.77, Z:-1.14 [[ 0.88540523 -0.43210554 -0.17129619 -1.49135422] [ 0.43449441 0.90031982 -0.02527526 -0.77199928] [ 0.16514293 -0.05204839 0.98489531 -1.13877111] [ 0. 0. 0. 1. ]] SLAMing on 141.439072329 meters Centerline goodness : 0.104773 Centerline is valid? [False, False] Translation: X:-1.46, Y:-0.76, Z:-1.13 [[ 0.88990025 -0.42218247 -0.17274116 -1.46270198] [ 0.42452455 0.90507089 -0.02501178 -0.7613777 ] [ 0.16690253 -0.05107488 0.98464964 -1.13387897] [ 0. 0. 0. 1. ]] SLAMing on 141.469072329 meters Centerline goodness : 0.103793 Centerline is valid? [False, False] Translation: X:-1.52, Y:-0.77, Z:-1.15 [[ 0.92022049 -0.35913659 -0.15561218 -1.52371337] [ 0.35501442 0.9332711 -0.05449608 -0.77464461] [ 0.16479989 -0.00509616 0.98631386 -1.1544234 ] [ 0. 0. 0. 1. ]] SLAMing on 141.499072329 meters Centerline goodness : 0.118333 Centerline is valid? [False, False] Translation: X:-1.52, Y:-0.77, Z:-1.16 [[ 0.92124156 -0.35523862 -0.15849134 -1.51658398] [ 0.35178012 0.93472853 -0.05033211 -0.77194248] [ 0.16602629 -0.00938607 0.98607666 -1.1553841 ] [ 0. 0. 0. 1. ]] SLAMing on 141.529072329 meters Centerline goodness : 0.111377 Centerline is valid? [False, False] Translation: X:-1.47, Y:-0.75, Z:-1.15 [[ 0.91828652 -0.36101643 -0.16253307 -1.47250286] [ 0.35929271 0.93232711 -0.04092554 -0.75407711] [ 0.16630878 -0.02081557 0.985854 -1.15039385] [ 0. 0. 0. 1. ]] SLAMing on 141.559072329 meters Centerline goodness : 0.187599 Centerline is valid? [False, False] Translation: X:-1.44, Y:-0.74, Z:-1.15 [[ 0.91268063 -0.36989475 -0.17375831 -1.44398957] [ 0.3728785 0.92773565 -0.01637651 -0.7421976 ] [ 0.16725936 -0.04984422 0.98465215 -1.14861446] [ 0. 0. 0. 1. ]] SLAMing on 141.589072329 meters Centerline goodness : 0.153679 Centerline is valid? [False, False] Translation: X:-1.41, Y:-0.73, Z:-1.15 [[ 9.10637024e-01 -3.72922295e-01 -1.77958342e-01 -1.40502590e+00] [ 3.78866430e-01 9.25451152e-01 -6.26943687e-04 -7.28069930e-01] [ 1.64925554e-01 -6.68515234e-02 9.84037822e-01 -1.14877395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.619072329 meters Centerline goodness : 0.158722 Centerline is valid? [False, False] Translation: X:-1.40, Y:-0.73, Z:-1.15 [[ 0.91345932 -0.36408554 -0.181752 -1.39981292] [ 0.37181986 0.92825907 0.00922469 -0.73249401] [ 0.16535437 -0.07600538 0.98330113 -1.15032338] [ 0. 0. 0. 1. ]] SLAMing on 141.649072329 meters Centerline goodness : 0.155979 Centerline is valid? [False, False] Translation: X:-1.40, Y:-0.74, Z:-1.15 [[ 0.9161391 -0.35538272 -0.18545155 -1.39511983] [ 0.36495238 0.93082978 0.01912266 -0.7373715 ] [ 0.16582797 -0.0852 0.98246733 -1.15132337] [ 0. 0. 0. 1. ]] SLAMing on 141.679072329 meters Centerline goodness : 0.210015 Centerline is valid? [False, False] Translation: X:-1.37, Y:-0.74, Z:-1.16 [[ 0.91625455 -0.35533173 -0.1849783 -1.36619263] [ 0.36936272 0.9281098 0.04672665 -0.7369442 ] [ 0.15507671 -0.11113759 0.98163112 -1.15908674] [ 0. 0. 0. 1. ]] SLAMing on 141.709072329 meters Centerline goodness : 0.150508 Centerline is valid? [False, False] Translation: X:-1.36, Y:-0.74, Z:-1.16 [[ 0.91776276 -0.35029948 -0.18708767 -1.36216861] [ 0.36540471 0.92937519 0.05235613 -0.74215637] [ 0.15553432 -0.11641322 0.98094701 -1.15969986] [ 0. 0. 0. 1. ]] SLAMing on 141.739072329 meters Centerline goodness : 0.228651 Centerline is valid? [False, False] Translation: X:-1.36, Y:-0.75, Z:-1.16 [[ 0.91939134 -0.34491281 -0.18908916 -1.35808491] [ 0.36113036 0.93069526 0.05823394 -0.74792519] [ 0.15589875 -0.12182562 0.98023166 -1.1608662 ] [ 0. 0. 0. 1. ]] SLAMing on 141.769072329 meters Centerline goodness : 0.283187 Centerline is valid? [False, False] Translation: X:-1.34, Y:-0.75, Z:-1.16 [[ 0.92020629 -0.34091101 -0.19235401 -1.33946138] [ 0.3573064 0.93223972 0.05710728 -0.74885829] [ 0.15985155 -0.1212798 0.97966254 -1.15526219] [ 0. 0. 0. 1. ]] SLAMing on 141.799072329 meters Centerline goodness : 0.119080 Centerline is valid? [False, False] Translation: X:-1.34, Y:-0.76, Z:-1.15 [[ 0.92456378 -0.32973118 -0.19094281 -1.33802966] [ 0.345484 0.93680322 0.05514092 -0.75583654] [ 0.16069416 -0.11694898 0.98005118 -1.15351142] [ 0. 0. 0. 1. ]] SLAMing on 141.829072329 meters Centerline goodness : 0.121082 Centerline is valid? [False, False] Translation: X:-1.34, Y:-0.76, Z:-1.15 [[ 0.92871109 -0.31877807 -0.18941029 -1.33688703] [ 0.33388342 0.94111231 0.05319281 -0.76316378] [ 0.16129965 -0.1126417 0.98045615 -1.15169808] [ 0. 0. 0. 1. ]] SLAMing on 141.859072329 meters Centerline goodness : 0.122313 Centerline is valid? [False, False] Translation: X:-1.34, Y:-0.77, Z:-1.15 [[ 0.93275889 -0.30767473 -0.18787526 -1.33628504] [ 0.32218879 0.94526972 0.05157064 -0.77139927] [ 0.16172581 -0.10863428 0.98083809 -1.15093791] [ 0. 0. 0. 1. ]] SLAMing on 141.88907232900002 meters Centerline goodness : 0.157558 Centerline is valid? [False, False] Translation: X:-1.32, Y:-0.78, Z:-1.15 [[ 0.93320392 -0.30437257 -0.19101777 -1.32002758] [ 0.31906994 0.94636719 0.05082826 -0.77594541] [ 0.16530222 -0.10838116 0.98026971 -1.14531728] [ 0. 0. 0. 1. ]] SLAMing on 141.91907232900002 meters Centerline goodness : 0.127988 Centerline is valid? [False, False] Translation: X:-1.32, Y:-0.78, Z:-1.15 [[ 0.93676455 -0.29471795 -0.18871543 -1.32034182] [ 0.30870133 0.94990139 0.04889619 -0.78436389] [ 0.16485047 -0.10406092 0.98081377 -1.14528561] [ 0. 0. 0. 1. ]] SLAMing on 141.94907232900002 meters Centerline goodness : 0.223711 Centerline is valid? [False, False] Translation: X:-1.31, Y:-0.79, Z:-1.14 [[ 0.93707361 -0.29183908 -0.19163247 -1.3050857 ] [ 0.30596397 0.9508259 0.04812653 -0.78999361] [ 0.16816391 -0.10373074 0.9802861 -1.1401643 ] [ 0. 0. 0. 1. ]] SLAMing on 141.97907232900002 meters Centerline goodness : 0.218528 Centerline is valid? [False, False] Translation: X:-1.31, Y:-0.80, Z:-1.14 [[ 0.94011548 -0.2837839 -0.18881098 -1.30959156] [ 0.29736594 0.95358731 0.0473786 -0.80055266] [ 0.16660247 -0.10068731 0.98086986 -1.14350801] [ 0. 0. 0. 1. ]] SLAMing on 142.009072329 meters Centerline goodness : 0.224090 Centerline is valid? [False, False] Translation: X:-1.31, Y:-0.81, Z:-1.15 [[ 0.94305213 -0.27581488 -0.18595382 -1.31492933] [ 0.28886015 0.95623637 0.04660271 -0.8112217 ] [ 0.16496208 -0.09766344 0.98145268 -1.14684867] [ 0. 0. 0. 1. ]] SLAMing on 142.039072329 meters Centerline goodness : 0.219546 Centerline is valid? [False, False] Translation: X:-1.32, Y:-0.82, Z:-1.15 [[ 0.94556379 -0.26898801 -0.18317909 -1.31773583] [ 0.28107092 0.95872089 0.04305107 -0.81965679] [ 0.1640374 -0.09219385 0.98213646 -1.14800702] [ 0. 0. 0. 1. ]] SLAMing on 142.069072329 meters Centerline goodness : 0.200185 Centerline is valid? [False, False] Translation: X:-1.31, Y:-0.83, Z:-1.14 [[ 0.94563516 -0.26682499 -0.18595311 -1.30507776] [ 0.27909108 0.9593125 0.04275158 -0.82675497] [ 0.16697996 -0.09232525 0.98162811 -1.14407843] [ 0. 0. 0. 1. ]] SLAMing on 142.099072329 meters Centerline goodness : 0.806259 Centerline is valid? [False, False] Translation: X:-1.31, Y:-0.84, Z:-1.15 [[ 0.9477039 -0.26188567 -0.18240946 -1.30995132] [ 0.27355183 0.96095802 0.0415823 -0.83545877] [ 0.16439802 -0.08930615 0.98234296 -1.14703155] [ 0. 0. 0. 1. ]] SLAMing on 142.129072329 meters Centerline goodness : 0.806259 Centerline is valid? [False, False] Translation: X:-1.33, Y:-0.85, Z:-1.15 [[ 0.95204707 -0.24655023 -0.18116114 -1.33113907] [ 0.2571084 0.96567641 0.03693706 -0.84680848] [ 0.1658362 -0.08174387 0.98275953 -1.14986352] [ 0. 0. 0. 1. ]] SLAMing on 142.159072329 meters Centerline goodness : 0.559433 Centerline is valid? [False, False] Translation: X:-1.34, Y:-0.86, Z:-1.15 [[ 0.95406596 -0.24125522 -0.17763465 -1.33638624] [ 0.25131604 0.96722947 0.03615809 -0.85589402] [ 0.16309014 -0.07913964 0.98343201 -1.15311461] [ 0. 0. 0. 1. ]] SLAMing on 142.189072329 meters Centerline goodness : 0.195574 Centerline is valid? [False, False] Translation: X:-1.33, Y:-0.86, Z:-1.15 [[ 0.95333468 -0.24267648 -0.17961378 -1.32589991] [ 0.25233172 0.96708936 0.03266312 -0.86062049] [ 0.165776 -0.07646114 0.9831948 -1.14869846] [ 0. 0. 0. 1. ]] SLAMing on 142.219072329 meters Centerline goodness : 0.130761 Centerline is valid? [False, False] Translation: X:-1.33, Y:-0.87, Z:-1.15 [[ 0.95522636 -0.23798924 -0.17579456 -1.3313661 ] [ 0.24707178 0.96848835 0.03139839 -0.86919966] [ 0.1627825 -0.07342644 0.98392602 -1.15224881] [ 0. 0. 0. 1. ]] SLAMing on 142.249072329 meters Centerline goodness : 0.219056 Centerline is valid? [False, False] Translation: X:-1.34, Y:-0.88, Z:-1.16 [[ 0.95685015 -0.2341109 -0.17213328 -1.33617582] [ 0.24264964 0.96964819 0.03005886 -0.87685867] [ 0.15987162 -0.07052991 0.98461495 -1.15553899] [ 0. 0. 0. 1. ]] SLAMing on 142.279072329 meters Centerline goodness : 0.223928 Centerline is valid? [False, False] Translation: X:-1.33, Y:-0.88, Z:-1.16 [[ 0.95588279 -0.23734736 -0.17307318 -1.32904626] [ 0.24569966 0.96893483 0.02823055 -0.88393027] [ 0.16099619 -0.06950912 0.9845043 -1.156191 ] [ 0. 0. 0. 1. ]] SLAMing on 142.309072329 meters Centerline goodness : 0.224048 Centerline is valid? [False, False] Translation: X:-1.33, Y:-0.89, Z:-1.16 [[ 0.95609135 -0.23671761 -0.17278339 -1.32738347] [ 0.24508895 0.96908082 0.02852662 -0.88905974] [ 0.16068832 -0.06962136 0.98454666 -1.15655608] [ 0. 0. 0. 1. ]] SLAMing on 142.339072329 meters Centerline goodness : 0.120387 Centerline is valid? [False, False] Translation: X:-1.33, Y:-0.90, Z:-1.16 [[ 0.95786712 -0.23251571 -0.16860315 -1.33416308] [ 0.2401274 0.97039399 0.02596807 -0.8967732 ] [ 0.15757349 -0.0653602 0.98534189 -1.16058873] [ 0. 0. 0. 1. ]] SLAMing on 142.369072329 meters Centerline goodness : 0.122268 Centerline is valid? [False, False] Translation: X:-1.33, Y:-0.90, Z:-1.16 [[ 0.95688668 -0.23593632 -0.16941648 -1.32819904] [ 0.24326231 0.96967413 0.02356981 -0.90222973] [ 0.1587178 -0.06376628 0.98526267 -1.16015047] [ 0. 0. 0. 1. ]] SLAMing on 142.399072329 meters Centerline goodness : 0.215954 Centerline is valid? [False, False] Translation: X:-1.34, Y:-0.91, Z:-1.16 [[ 0.95864576 -0.23160886 -0.16539539 -1.33832555] [ 0.23792519 0.97109413 0.01917814 -0.90985196] [ 0.15617266 -0.05773677 0.98604085 -1.16297745] [ 0. 0. 0. 1. ]] SLAMing on 142.429072329 meters Centerline goodness : 0.124554 Centerline is valid? [False, False] Translation: X:-1.33, Y:-0.92, Z:-1.16 [[ 0.95767459 -0.23531446 -0.16579049 -1.33355158] [ 0.24129363 0.9703101 0.01660396 -0.9153599 ] [ 0.15696104 -0.05590538 0.98602121 -1.16289464] [ 0. 0. 0. 1. ]] SLAMing on 142.459072329 meters Centerline goodness : 0.893964 Centerline is valid? [False, False] Translation: X:-1.34, Y:-0.92, Z:-1.17 [[ 0.95914807 -0.23233375 -0.16141873 -1.34422812] [ 0.23708978 0.97143011 0.01058243 -0.92203001] [ 0.15434836 -0.04842084 0.98682927 -1.16593753] [ 0. 0. 0. 1. ]] SLAMing on 142.489072329 meters Centerline goodness : 0.537013 Centerline is valid? [False, False] Translation: X:-1.37, Y:-0.93, Z:-1.17 [[ 0.96013197 -0.22931299 -0.15988169 -1.36614582] [ 0.23404074 0.97216302 0.01113565 -0.9318452 ] [ 0.15287752 -0.04811052 0.98707337 -1.1723519 ] [ 0. 0. 0. 1. ]] SLAMing on 142.519072329 meters Centerline goodness : 0.531226 Centerline is valid? [False, False] Translation: X:-1.36, Y:-0.94, Z:-1.17 [[ 0.95915876 -0.23331337 -0.15993545 -1.36249981] [ 0.23762921 0.97132184 0.00813936 -0.93597418] [ 0.15344978 -0.04581228 0.98709392 -1.17242994] [ 0. 0. 0. 1. ]] SLAMing on 142.549072329 meters Centerline goodness : 0.555073 Centerline is valid? [False, False] Translation: X:-1.39, Y:-0.94, Z:-1.18 [[ 0.9601042 -0.23058396 -0.15821173 -1.38555741] [ 0.23477485 0.97201627 0.00807117 -0.94439019] [ 0.15192329 -0.0448933 0.98737222 -1.17882017] [ 0. 0. 0. 1. ]] SLAMing on 142.579072329 meters Centerline goodness : 0.534246 Centerline is valid? [False, False] Translation: X:-1.41, Y:-0.95, Z:-1.19 [[ 0.96102024 -0.22804601 -0.15631735 -1.4095053 ] [ 0.23208463 0.97266398 0.00784228 -0.95284167] [ 0.15025586 -0.04381545 0.98767575 -1.18506132] [ 0. 0. 0. 1. ]] SLAMing on 142.609072329 meters Centerline goodness : 0.571965 Centerline is valid? [False, False] Translation: X:-1.43, Y:-0.96, Z:-1.19 [[ 0.96191765 -0.22543643 -0.15457314 -1.4335005 ] [ 0.22934413 0.97331498 0.00769545 -0.96119416] [ 0.14871352 -0.04285283 0.98795138 -1.19133359] [ 0. 0. 0. 1. ]] SLAMing on 142.63907232900002 meters Centerline goodness : 0.560631 Centerline is valid? [False, False] Translation: X:-1.45, Y:-0.97, Z:-1.20 [[ 0.96230265 -0.22528665 -0.15237955 -1.45461418] [ 0.22900669 0.97339905 0.00708712 -0.97165727] [ 0.14672947 -0.04171589 0.98829664 -1.19851165] [ 0. 0. 0. 1. ]] SLAMing on 142.66907232900002 meters Centerline goodness : 0.550059 Centerline is valid? [False, False] Translation: X:-1.48, Y:-0.98, Z:-1.21 [[ 0.96262492 -0.22552414 -0.14997375 -1.47763041] [ 0.22895673 0.97341932 0.00580034 -0.98079171] [ 0.14467923 -0.03992105 0.98867296 -1.20553217] [ 0. 0. 0. 1. ]] SLAMing on 142.69907232900002 meters Centerline goodness : 0.484532 Centerline is valid? [False, False] Translation: X:-1.49, Y:-0.99, Z:-1.21 [[ 0.9639082 -0.21656509 -0.15485652 -1.49317501] [ 0.22145982 0.975056 0.01487734 -0.99318175] [ 0.14777187 -0.04863489 0.98782495 -1.20957751] [ 0. 0. 0. 1. ]] SLAMing on 142.72907232900002 meters Centerline goodness : 0.485607 Centerline is valid? [False, False] Translation: X:-1.52, Y:-1.00, Z:-1.21 [[ 0.96423334 -0.2165286 -0.15287061 -1.52054452] [ 0.22079539 0.97525466 0.01130207 -0.99756437] [ 0.14664056 -0.04465096 0.98818158 -1.21432201] [ 0. 0. 0. 1. ]] SLAMing on 142.759072329 meters Centerline goodness : 0.542117 Centerline is valid? [False, False] Translation: X:-1.51, Y:-1.00, Z:-1.21 [[ 0.96483219 -0.21179485 -0.15569777 -1.51444574] [ 0.21720283 0.97595335 0.01838428 -1.00463028] [ 0.14806006 -0.05155574 0.98763365 -1.21439077] [ 0. 0. 0. 1. ]] SLAMing on 142.789072329 meters Centerline goodness : 0.541706 Centerline is valid? [False, False] Translation: X:-1.54, Y:-1.01, Z:-1.22 [[ 0.96473566 -0.21387047 -0.15344224 -1.53995095] [ 0.21857176 0.97571679 0.01425269 -1.01048071] [ 0.14666794 -0.04728822 0.98805483 -1.2203423 ] [ 0. 0. 0. 1. ]] SLAMing on 142.819072329 meters Centerline goodness : 0.553143 Centerline is valid? [False, False] Translation: X:-1.54, Y:-1.02, Z:-1.22 [[ 0.96526128 -0.20981907 -0.15571327 -1.53530708] [ 0.21548608 0.97629672 0.02025969 -1.01695493] [ 0.14777149 -0.05310993 0.98759451 -1.21994396] [ 0. 0. 0. 1. ]] SLAMing on 142.849072329 meters Centerline goodness : 0.551560 Centerline is valid? [False, False] Translation: X:-1.55, Y:-1.03, Z:-1.22 [[ 0.96547172 -0.20542396 -0.16020409 -1.55190516] [ 0.21216831 0.976887 0.0260075 -1.02568946] [ 0.15115873 -0.05909974 0.98674123 -1.222412 ] [ 0. 0. 0. 1. ]] SLAMing on 142.879072329 meters Centerline goodness : 0.565217 Centerline is valid? [False, False] Translation: X:-1.55, Y:-1.03, Z:-1.22 [[ 0.96522845 -0.20550085 -0.16156556 -1.54841137] [ 0.21258376 0.97675132 0.02765855 -1.02934027] [ 0.15212552 -0.06104303 0.98647431 -1.22144127] [ 0. 0. 0. 1. ]] SLAMing on 142.909072329 meters Centerline goodness : 0.612259 Centerline is valid? [False, False] Translation: X:-1.54, Y:-1.04, Z:-1.22 [[ 0.96467575 -0.20606663 -0.16412571 -1.5421678 ] [ 0.21380065 0.97639334 0.03074607 -1.03605334] [ 0.15391552 -0.06475017 0.98596016 -1.21971092] [ 0. 0. 0. 1. ]] SLAMing on 142.939072329 meters Centerline goodness : 0.602530 Centerline is valid? [False, False] Translation: X:-1.54, Y:-1.04, Z:-1.22 [[ 0.96442535 -0.20621418 -0.16540692 -1.53898901] [ 0.21424588 0.97625267 0.03208458 -1.03919311] [ 0.15486266 -0.06638093 0.98570337 -1.21876012] [ 0. 0. 0. 1. ]] SLAMing on 142.969072329 meters Centerline goodness : 0.596792 Centerline is valid? [False, False] Translation: X:-1.54, Y:-1.04, Z:-1.22 [[ 0.96304275 -0.21189437 -0.16628119 -1.53561654] [ 0.21956191 0.97516878 0.02895533 -1.04112036] [ 0.15601676 -0.06439424 0.98565316 -1.21666522] [ 0. 0. 0. 1. ]] SLAMing on 142.999072329 meters Centerline goodness : 0.610427 Centerline is valid? [False, False] Translation: X:-1.53, Y:-1.04, Z:-1.22 [[ 0.96274585 -0.21221383 -0.16758797 -1.53271392] [ 0.22015727 0.97499937 0.03011642 -1.04370749] [ 0.15700705 -0.06589017 0.98539701 -1.21539354] [ 0. 0. 0. 1. ]] SLAMing on 143.029072329 meters Centerline goodness : 0.627732 Centerline is valid? [False, False] Translation: X:-1.53, Y:-1.05, Z:-1.21 [[ 0.96256198 -0.21219642 -0.16866273 -1.52998124] [ 0.22041328 0.97490204 0.03136866 -1.04667864] [ 0.15777333 -0.06736978 0.98517455 -1.2146045 ] [ 0. 0. 0. 1. ]] SLAMing on 143.059072329 meters Centerline goodness : 0.979646 Centerline is valid? [False, True] Translation: X:-1.53, Y:-1.05, Z:-1.21 [[ 0.96112825 -0.21795066 -0.16949925 -1.52691119] [ 0.22572082 0.97379612 0.02777095 -1.04736595] [ 0.15900501 -0.06495096 0.98513896 -1.21246701] [ 0. 0. 0. 1. ]] SLAMing on 143.089072329 meters Centerline goodness : 0.981256 Centerline is valid? [True, True] Translation: X:-1.50, Y:-1.04, Z:-1.20 [[ 0.95888595 -0.22666566 -0.17076418 -1.50066581] [ 0.23056918 0.97305094 0.00311725 -1.03908872] [ 0.16545567 -0.04236204 0.985307 -1.19673995] [ 0. 0. 0. 1. ]] SLAMing on 143.119072329 meters Centerline goodness : 0.983346 Centerline is valid? [True, True] Translation: X:-1.47, Y:-1.04, Z:-1.19 [[ 0.95651298 -0.23660795 -0.17058606 -1.47358866] [ 0.24064467 0.97060838 0.00308402 -1.03899104] [ 0.16484256 -0.04400053 0.98533795 -1.19314535] [ 0. 0. 0. 1. ]] SLAMing on 143.149072329 meters Centerline goodness : 0.943297 Centerline is valid? [True, False] Translation: X:-1.47, Y:-1.05, Z:-1.19 [[ 0.95720613 -0.23239715 -0.17247604 -1.47001642] [ 0.23744991 0.97135834 0.00897283 -1.04542198] [ 0.16545078 -0.04954326 0.98497285 -1.19334394] [ 0. 0. 0. 1. ]] SLAMing on 143.179072329 meters Centerline goodness : 0.980650 Centerline is valid? [False, True] Translation: X:-1.47, Y:-1.05, Z:-1.19 [[ 0.95772808 -0.22871507 -0.17448879 -1.46659089] [ 0.23474282 0.97195021 0.01444291 -1.05091838] [ 0.16629111 -0.05479237 0.98455323 -1.19304284] [ 0. 0. 0. 1. ]] SLAMing on 143.209072329 meters Centerline goodness : 0.937763 Centerline is valid? [True, False] Translation: X:-1.46, Y:-1.06, Z:-1.19 [[ 0.95834637 -0.22451976 -0.1765308 -1.46302936] [ 0.23160551 0.97259708 0.02034227 -1.05736741] [ 0.16712609 -0.06038045 0.98408489 -1.19279716] [ 0. 0. 0. 1. ]] SLAMing on 143.239072329 meters Centerline goodness : 0.935037 Centerline is valid? [False, False] Translation: X:-1.46, Y:-1.06, Z:-1.19 [[ 0.95901419 -0.22022793 -0.17830156 -1.46002499] [ 0.22835262 0.9732274 0.02614419 -1.06341903] [ 0.16777028 -0.06578828 0.9836285 -1.19276016] [ 0. 0. 0. 1. ]] SLAMing on 143.269072329 meters Centerline goodness : 0.985086 Centerline is valid? [False, True] Translation: X:-1.46, Y:-1.07, Z:-1.19 [[ 0.95885704 -0.22035138 -0.17899285 -1.45840125] [ 0.22875392 0.97309627 0.0274827 -1.06780509] [ 0.16812142 -0.0672973 0.98346645 -1.19177396] [ 0. 0. 0. 1. ]] SLAMing on 143.299072329 meters Centerline goodness : 0.984681 Centerline is valid? [True, True] Translation: X:-1.43, Y:-1.06, Z:-1.18 [[ 0.95727414 -0.2271871 -0.17891964 -1.42708005] [ 0.23208592 0.9726725 0.00665781 -1.06402444] [ 0.17251764 -0.04789808 0.98384116 -1.17795613] [ 0. 0. 0. 1. ]] SLAMing on 143.329072329 meters Centerline goodness : 0.985839 Centerline is valid? [True, True] Translation: X:-1.40, Y:-1.07, Z:-1.17 [[ 0.95651707 -0.23076475 -0.17838924 -1.3956865 ] [ 0.23619822 0.97165798 0.00954778 -1.06692877] [ 0.17113004 -0.05126783 0.98391367 -1.17298735] [ 0. 0. 0. 1. ]] SLAMing on 143.359072329 meters Centerline goodness : 0.988238 Centerline is valid? [True, True] Translation: X:-1.36, Y:-1.07, Z:-1.17 [[ 0.95453639 -0.2394061 -0.1776091 -1.36450944] [ 0.24458177 0.96959957 0.00751168 -1.06827056] [ 0.17041137 -0.05061012 0.98407245 -1.16557745] [ 0. 0. 0. 1. ]] SLAMing on 143.38907232900002 meters Centerline goodness : 0.988306 Centerline is valid? [True, True] Translation: X:-1.33, Y:-1.07, Z:-1.16 [[ 0.95366242 -0.24369576 -0.17646634 -1.33115799] [ 0.2478379 0.96880039 0.00147981 -1.06986634] [ 0.17060004 -0.04514629 0.98430556 -1.15891826] [ 0. 0. 0. 1. ]] SLAMing on 143.41907232900002 meters Centerline goodness : 0.983720 Centerline is valid? [True, True] Translation: X:-1.31, Y:-1.01, Z:-1.02 [[ 0.94023244 -0.28733961 -0.18275367 -1.30887748] [ 0.24064381 0.94036058 -0.24044239 -1.00919111] [ 0.24094297 0.18209319 0.95330402 -1.01880051] [ 0. 0. 0. 1. ]] SLAMing on 143.44907232900002 meters Centerline goodness : 0.995026 Centerline is valid? [True, True] Translation: X:-1.29, Y:-1.20, Z:-1.30 [[ 0.96945134 -0.23773305 -0.06039114 -1.29469016] [ 0.24419716 0.91229748 0.32875683 -1.19885105] [-0.02306168 -0.33346109 0.94248175 -1.29841001] [ 0. 0. 0. 1. ]] SLAMing on 143.47907232900002 meters Centerline goodness : 0.995780 Centerline is valid? [True, True] Translation: X:-1.27, Y:-1.08, Z:-1.17 [[ 0.96183367 -0.25963816 -0.08639457 -1.26527164] [ 0.26113525 0.96528163 0.00630513 -1.07809917] [ 0.08175804 -0.02862515 0.99624105 -1.1713259 ] [ 0. 0. 0. 1. ]] SLAMing on 143.509072329 meters Centerline goodness : 0.996447 Centerline is valid? [True, True] Translation: X:-1.24, Y:-1.08, Z:-1.17 [[ 0.9595982 -0.26750055 -0.08726259 -1.23733793] [ 0.26948577 0.96293446 0.01160361 -1.080497 ] [ 0.08092419 -0.03465083 0.99611776 -1.17035045] [ 0. 0. 0. 1. ]] SLAMing on 143.539072329 meters Centerline goodness : 0.996322 Centerline is valid? [True, True] Translation: X:-1.21, Y:-1.08, Z:-1.17 [[ 0.95821292 -0.27238183 -0.08738504 -1.20524701] [ 0.2737626 0.961789 0.00399387 -1.08133421] [ 0.08295811 -0.02774974 0.9961666 -1.16561087] [ 0. 0. 0. 1. ]] SLAMing on 143.569072329 meters Centerline goodness : 0.996943 Centerline is valid? [True, True] Translation: X:-1.17, Y:-1.08, Z:-1.16 [[ 0.95717927 -0.27634489 -0.08626321 -1.17204252] [ 0.27793899 0.96057458 0.00681135 -1.08497741] [ 0.08097996 -0.0304956 0.9962491 -1.16390141] [ 0. 0. 0. 1. ]] SLAMing on 143.599072329 meters Centerline goodness : 0.998204 Centerline is valid? [True, True] Translation: X:-1.13, Y:-1.04, Z:-1.07 [[ 0.94679634 -0.29507526 -0.12848065 -1.13235241] [ 0.27441526 0.94875159 -0.15673767 -1.04389433] [ 0.16814563 0.1131416 0.97924768 -1.07430458] [ 0. 0. 0. 1. ]] SLAMing on 143.629072329 meters Centerline goodness : 0.998100 Centerline is valid? [True, True] Translation: X:-1.09, Y:-1.14, Z:-1.21 [[ 0.95563766 -0.27876891 -0.09510289 -1.09158634] [ 0.29041825 0.94564 0.14636337 -1.13655892] [ 0.04913154 -0.16748996 0.98464877 -1.20609273] [ 0. 0. 0. 1. ]] SLAMing on 143.659072329 meters Centerline goodness : 0.997741 Centerline is valid? [True, True] Translation: X:-1.06, Y:-1.09, Z:-1.15 [[ 0.9499455 -0.29309725 -0.10815524 -1.06094604] [ 0.2955746 0.955292 0.00727013 -1.09301075] [ 0.10118898 -0.03887417 0.99410743 -1.14574876] [ 0. 0. 0. 1. ]] SLAMing on 143.689072329 meters Centerline goodness : 0.998673 Centerline is valid? [True, True] Translation: X:-1.03, Y:-1.10, Z:-1.14 [[ 0.94944103 -0.29454928 -0.10863905 -1.02812848] [ 0.29705901 0.95483107 0.00731978 -1.09538154] [ 0.1015759 -0.03922191 0.99405431 -1.14263177] [ 0. 0. 0. 1. ]] SLAMing on 143.719072329 meters Centerline goodness : 0.999316 Centerline is valid? [True, True] Translation: X:-1.01, Y:-1.07, Z:-1.10 [[ 0.94421545 -0.30649987 -0.12047822 -1.00957587] [ 0.29694969 0.95055061 -0.09096381 -1.07276665] [ 0.14240105 0.05011347 0.98853962 -1.09513556] [ 0. 0. 0. 1. ]] SLAMing on 143.749072329 meters Centerline goodness : 0.999208 Centerline is valid? [True, True] Translation: X:-0.97, Y:-1.10, Z:-1.12 [[ 0.94441029 -0.30586723 -0.12055888 -0.97099106] [ 0.30567536 0.9519142 -0.02054096 -1.0964164 ] [ 0.12104452 -0.01745279 0.99249364 -1.12348522] [ 0. 0. 0. 1. ]] SLAMing on 143.779072329 meters Centerline goodness : 0.998846 Centerline is valid? [True, True] Translation: X:-0.94, Y:-1.16, Z:-1.20 [[ 0.94919846 -0.3049854 -0.0774996 -0.94034856] [ 0.31356841 0.93738181 0.15162515 -1.15754581] [ 0.02640326 -0.16822379 0.98539516 -1.19992341] [ 0. 0. 0. 1. ]] SLAMing on 143.809072329 meters Centerline goodness : 0.998930 Centerline is valid? [True, True] Translation: X:-0.91, Y:-1.11, Z:-1.14 [[ 0.94249788 -0.32252249 -0.08761838 -0.9072614 ] [ 0.32414998 0.94599434 0.00463619 -1.11432748] [ 0.08139122 -0.0327711 0.99614333 -1.13671878] [ 0. 0. 0. 1. ]] SLAMing on 143.839072329 meters Centerline goodness : 0.998843 Centerline is valid? [True, True] Translation: X:-0.87, Y:-1.12, Z:-1.13 [[ 0.94038594 -0.32901859 -0.08614549 -0.86879899] [ 0.32892599 0.94422559 -0.01567573 -1.117981 ] [ 0.08649839 -0.01359425 0.99615924 -1.13158729] [ 0. 0. 0. 1. ]] SLAMing on 143.869072329 meters Centerline goodness : 0.999121 Centerline is valid? [True, True] Translation: X:-0.84, Y:-1.13, Z:-1.14 [[ 0.93773363 -0.33677098 -0.08509372 -0.83678442] [ 0.33845097 0.94096665 0.00571833 -1.12958136] [ 0.07814459 -0.03416232 0.99635654 -1.13720962] [ 0. 0. 0. 1. ]] SLAMing on 143.899072329 meters Centerline goodness : 0.999099 Centerline is valid? [True, True] Translation: X:-0.81, Y:-1.13, Z:-1.13 [[ 0.93611414 -0.34123499 -0.08514108 -0.80564579] [ 0.34293256 0.93934258 0.00572528 -1.13368357] [ 0.07802297 -0.03455716 0.99635246 -1.13454531] [ 0. 0. 0. 1. ]] SLAMing on 143.929072329 meters Centerline goodness : 0.999485 Centerline is valid? [True, True] Translation: X:-0.78, Y:-1.14, Z:-1.13 [[ 0.93528785 -0.34325987 -0.08607727 -0.78086918] [ 0.34619456 0.93791873 0.02139595 -1.13792387] [ 0.07338911 -0.04981086 0.99605869 -1.13391212] [ 0. 0. 0. 1. ]] SLAMing on 143.959072329 meters Centerline goodness : 0.999464 Centerline is valid? [True, True] Translation: X:-0.74, Y:-1.14, Z:-1.12 [[ 0.93053319 -0.35596867 -0.08599008 -0.74255866] [ 0.35644013 0.93426106 -0.01033019 -1.13911841] [ 0.08401441 -0.02103773 0.99624244 -1.12273244] [ 0. 0. 0. 1. ]] SLAMing on 143.989072329 meters Centerline goodness : 0.999443 Centerline is valid? [True, True] Translation: X:-0.72, Y:-1.15, Z:-1.13 [[ 0.92984748 -0.35769838 -0.08622952 -0.717936 ] [ 0.3609799 0.93222416 0.02552702 -1.14846051] [ 0.07125427 -0.05486335 0.99594821 -1.12883132] [ 0. 0. 0. 1. ]] SLAMing on 144.019072329 meters Centerline goodness : 0.999614 Centerline is valid? [True, True] Translation: X:-0.68, Y:-1.15, Z:-1.12 [[ 0.92673629 -0.36561034 -0.08653861 -0.67996986] [ 0.36574096 0.9305972 -0.01491289 -1.14607654] [ 0.0859849 -0.0178304 0.99613688 -1.11573437] [ 0. 0. 0. 1. ]] SLAMing on 144.049072329 meters Centerline goodness : 0.999614 Centerline is valid? [True, True] Translation: X:-0.65, Y:-1.15, Z:-1.12 [[ 0.92741859 -0.36420379 -0.08514906 -0.64724642] [ 0.3659851 0.93060275 0.00578203 -1.15458827] [ 0.07713411 -0.03652565 0.99635145 -1.12188484] [ 0. 0. 0. 1. ]] SLAMing on 144.079072329 meters Centerline goodness : 0.999721 Centerline is valid? [True, True] Translation: X:-0.62, Y:-1.16, Z:-1.12 [[ 0.9262523 -0.36700034 -0.08583377 -0.62229766] [ 0.37032224 0.92853723 0.02607775 -1.15972926] [ 0.0701293 -0.05594073 0.99596813 -1.12171266] [ 0. 0. 0. 1. ]] SLAMing on 144.109072329 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:-0.58, Y:-1.16, Z:-1.11 [[ 0.92149308 -0.37876111 -0.08596818 -0.58443907] [ 0.37893833 0.92530224 -0.01488289 -1.16020129] [ 0.08518361 -0.01886216 0.99618672 -1.10841281] [ 0. 0. 0. 1. ]] SLAMing on 144.13907232900002 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:-0.56, Y:-1.17, Z:-1.12 [[ 0.92119107 -0.37990033 -0.08415915 -0.56079724] [ 0.38355277 0.92296546 0.03196924 -1.17315627] [ 0.06553086 -0.06172926 0.99593936 -1.11716296] [ 0. 0. 0. 1. ]] SLAMing on 144.16907232900002 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:-0.52, Y:-1.17, Z:-1.10 [[ 0.91534075 -0.39332192 -0.0863086 -0.5232828 ] [ 0.39299678 0.91928976 -0.02144449 -1.1702979 ] [ 0.0877772 -0.01428999 0.99603763 -1.09926593] [ 0. 0. 0. 1. ]] SLAMing on 144.19907232900002 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:-0.49, Y:-1.18, Z:-1.11 [[ 0.91428395 -0.39618636 -0.08438737 -0.49060597] [ 0.3980468 0.91734692 0.00577654 -1.18334367] [ 0.0751239 -0.03887152 0.99641628 -1.10717818] [ 0. 0. 0. 1. ]] SLAMing on 144.22907232900002 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:-0.46, Y:-1.19, Z:-1.11 [[ 0.91215698 -0.40111354 -0.08412835 -0.4587923 ] [ 0.40297935 0.91519092 0.00576454 -1.18874722] [ 0.07468127 -0.03916016 0.99643825 -1.10524158] [ 0. 0. 0. 1. ]] SLAMing on 144.259072329 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:-0.43, Y:-1.20, Z:-1.10 [[ 0.90802327 -0.41024562 -0.08480726 -0.42677166] [ 0.41217302 0.91108703 0.00581586 -1.19753389] [ 0.07488086 -0.0402362 0.9963804 -1.10263769] [ 0. 0. 0. 1. ]] SLAMing on 144.289072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:-0.40, Y:-1.20, Z:-1.10 [[ 0.90587926 -0.41491832 -0.08500321 -0.39534203] [ 0.4168708 0.90894703 0.00583317 -1.20307087] [ 0.07484313 -0.04071951 0.9963636 -1.10051506] [ 0. 0. 0. 1. ]] SLAMing on 144.319072329 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:-0.36, Y:-1.21, Z:-1.10 [[ 0.90363248 -0.4195952 -0.08595471 -0.36486185] [ 0.42160838 0.90675881 0.00590289 -1.20787159] [ 0.07546336 -0.04157327 0.99628156 -1.09745334] [ 0. 0. 0. 1. ]] SLAMing on 144.349072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:-0.33, Y:-1.22, Z:-1.09 [[ 0.89936812 -0.42872543 -0.08562417 -0.33293569] [ 0.43075485 0.90244978 0.00588628 -1.21663728] [ 0.07474792 -0.04217696 0.99631012 -1.09380088] [ 0. 0. 0. 1. ]] SLAMing on 144.379072329 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:-0.30, Y:-1.22, Z:-1.09 [[ 0.89730903 -0.43317843 -0.08481126 -0.30144383] [ 0.43518456 0.90032236 0.00583425 -1.22224208] [ 0.0738302 -0.04214368 0.99637995 -1.09121301] [ 0. 0. 0. 1. ]] SLAMing on 144.409072329 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:-0.27, Y:-1.23, Z:-1.09 [[ 0.89516318 -0.43760289 -0.08477376 -0.27094363] [ 0.43962236 0.89816376 0.00583536 -1.22806454] [ 0.07358715 -0.04249204 0.99638314 -1.08815997] [ 0. 0. 0. 1. ]] SLAMing on 144.439072329 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:-0.24, Y:-1.23, Z:-1.09 [[ 0.89319414 -0.44162411 -0.08468987 -0.23869925] [ 0.44365325 0.89617954 0.00583292 -1.23397725] [ 0.07332137 -0.04278287 0.99639029 -1.08564552] [ 0. 0. 0. 1. ]] SLAMing on 144.469072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:-0.21, Y:-1.24, Z:-1.08 [[ 0.88864798 -0.45048656 -0.08582903 -0.20826094] [ 0.45260177 0.89169312 0.00591737 -1.24264572] [ 0.07386746 -0.04410483 0.99629231 -1.0831904 ] [ 0. 0. 0. 1. ]] SLAMing on 144.499072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:-0.18, Y:-1.25, Z:-1.08 [[ 0.88659183 -0.45445438 -0.08617511 -0.17890797] [ 0.45660083 0.8896518 0.00594613 -1.24836062] [ 0.07396359 -0.04461941 0.99626226 -1.08097661] [ 0. 0. 0. 1. ]] SLAMing on 144.529072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:-0.15, Y:-1.25, Z:-1.08 [[ 0.88433802 -0.45863676 -0.08716992 -0.15212891] [ 0.46084792 0.88745876 0.00601274 -1.2533557 ] [ 0.07460204 -0.04548937 0.99617531 -1.07839917] [ 0. 0. 0. 1. ]] SLAMing on 144.559072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:-0.12, Y:-1.26, Z:-1.08 [[ 0.88215851 -0.46276873 -0.08741543 -0.12157197] [ 0.46500668 0.88528668 0.00602416 -1.25875738] [ 0.07459992 -0.04596303 0.99615373 -1.07651864] [ 0. 0. 0. 1. ]] SLAMing on 144.589072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:-0.10, Y:-1.27, Z:-1.07 [[ 0.87979161 -0.46714792 -0.08797467 -0.10061799] [ 0.47080585 0.88186639 0.02556404 -1.27013513] [ 0.06563972 -0.06391002 0.99579463 -1.07416206] [ 0. 0. 0. 1. ]] SLAMing on 144.619072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:-0.06, Y:-1.27, Z:-1.06 [[ 0.87552621 -0.47503042 -0.08831733 -0.06372605] [ 0.4757092 0.87948227 -0.01454929 -1.26799702] [ 0.08458488 -0.02927508 0.99598613 -1.06417419] [ 0. 0. 0. 1. ]] SLAMing on 144.649072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:-0.03, Y:-1.28, Z:-1.07 [[ 0.87296531 -0.48016147 -0.08588673 -0.03182831] [ 0.48238019 0.87594202 0.0059096 -1.28363163] [ 0.07239423 -0.04658894 0.99628738 -1.06731455] [ 0. 0. 0. 1. ]] SLAMing on 144.679072329 meters Centerline goodness : 0.883849 Centerline is valid? [True, False] Translation: X:-0.14, Y:-1.28, Z:-1.08 [[ 0.87223803 -0.4817446 -0.08439764 -0.13926981] [ 0.48480452 0.87441136 0.01921842 -1.28454314] [ 0.06453988 -0.0576794 0.9962468 -1.08005676] [ 0. 0. 0. 1. ]] SLAMing on 144.709072329 meters Centerline goodness : 1.000000 Centerline is valid? [False, True] Translation: X:-0.25, Y:-1.28, Z:-1.09 [[ 0.87121281 -0.48356381 -0.08458297 -0.25329815] [ 0.48669775 0.87333854 0.02012705 -1.28164025] [ 0.06413686 -0.05870129 0.99621314 -1.08956004] [ 0. 0. 0. 1. ]] SLAMing on 144.739072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:-0.22, Y:-1.28, Z:-1.08 [[ 0.86906366 -0.4871976 -0.08583031 -0.22023107] [ 0.48945318 0.87200806 0.00612532 -1.28362233] [ 0.07186048 -0.04733322 0.99629094 -1.08222779] [ 0. 0. 0. 1. ]] SLAMing on 144.769072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:-0.19, Y:-1.30, Z:-1.07 [[ 0.86695858 -0.48937382 -0.09431909 -0.19262402] [ 0.49292637 0.86989684 0.01740903 -1.29853851] [ 0.07352835 -0.06158527 0.99538979 -1.07321982] [ 0. 0. 0. 1. ]] SLAMing on 144.799072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:-0.16, Y:-1.30, Z:-1.07 [[ 0.86387169 -0.49620797 -0.08662193 -0.15655633] [ 0.49768175 0.86734416 -0.00519402 -1.29607153] [ 0.07770834 -0.03862319 0.99622772 -1.07280079] [ 0. 0. 0. 1. ]] SLAMing on 144.829072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:-0.13, Y:-1.31, Z:-1.07 [[ 0.86415899 -0.49517977 -0.08958926 -0.12875894] [ 0.49873618 0.86648898 0.02142609 -1.31052917] [ 0.06701834 -0.06319695 0.9957483 -1.06880952] [ 0. 0. 0. 1. ]] SLAMing on 144.859072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:-0.09, Y:-1.31, Z:-1.07 [[ 0.85968201 -0.50349956 -0.08622663 -0.09369006] [ 0.5046483 0.8632726 -0.00951341 -1.31048095] [ 0.07922709 -0.03533561 0.99623013 -1.06639926] [ 0. 0. 0. 1. ]] SLAMing on 144.88907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:-0.06, Y:-1.32, Z:-1.07 [[ 0.85916858 -0.50453337 -0.08529615 -0.06189444] [ 0.50682293 0.86202826 0.00614693 -1.3212832 ] [ 0.07042637 -0.0485113 0.99633668 -1.06835365] [ 0. 0. 0. 1. ]] SLAMing on 144.91907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:-0.04, Y:-1.33, Z:-1.06 [[ 0.85637068 -0.50790137 -0.09308848 -0.03510838] [ 0.51107124 0.85944944 0.01236328 -1.32990875] [ 0.07372552 -0.0581624 0.99558108 -1.06287695] [ 0. 0. 0. 1. ]] SLAMing on 144.94907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:-0.00, Y:-1.34, Z:-1.06 [[ 0.85616332 -0.50787755 -0.09510397 -0.0026688 ] [ 0.51055887 0.85983074 0.00455338 -1.33751254] [ 0.07946076 -0.05245462 0.99545693 -1.05624058] [ 0. 0. 0. 1. ]] SLAMing on 144.97907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.03, Y:-1.34, Z:-1.06 [[ 0.85530491 -0.51019353 -0.09031102 0.0275917 ] [ 0.51351319 0.85791982 0.016667 -1.34416436] [ 0.06897622 -0.06063127 0.99577414 -1.05621581] [ 0. 0. 0. 1. ]] SLAMing on 145.009072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.06, Y:-1.34, Z:-1.05 [[ 0.85324528 -0.51400007 -0.088184 0.06380459] [ 0.51526696 0.85697714 -0.0094939 -1.34464705] [ 0.08045154 -0.03733768 0.99605896 -1.05418442] [ 0. 0. 0. 1. ]] SLAMing on 145.039072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.10, Y:-1.36, Z:-1.06 [[ 0.85264465 -0.51526326 -0.08660762 0.09598581] [ 0.51766625 0.85555932 0.00631671 -1.35874239] [ 0.07084319 -0.05021975 0.99622247 -1.05500528] [ 0. 0. 0. 1. ]] SLAMing on 145.069072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.12, Y:-1.37, Z:-1.05 [[ 0.85258191 -0.51481107 -0.08985347 0.12451046] [ 0.51822208 0.85505214 0.01821266 -1.3658235 ] [ 0.06745332 -0.06209184 0.99578846 -1.04914565] [ 0. 0. 0. 1. ]] SLAMing on 145.099072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.16, Y:-1.37, Z:-1.04 [[ 0.85193861 -0.51579 -0.09033977 0.1565546 ] [ 0.51871722 0.85487732 0.01082647 -1.37042028] [ 0.07164523 -0.05608428 0.99585215 -1.04300284] [ 0. 0. 0. 1. ]] SLAMing on 145.129072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.19, Y:-1.37, Z:-1.04 [[ 0.85030287 -0.51902861 -0.08714544 0.19046799] [ 0.52017558 0.85399135 -0.01077683 -1.37392263] [ 0.08001493 -0.03616736 0.99613731 -1.04176893] [ 0. 0. 0. 1. ]] SLAMing on 145.159072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.22, Y:-1.38, Z:-1.04 [[ 0.85101549 -0.51803844 -0.08607447 0.22335988] [ 0.52042551 0.85388354 0.00633962 -1.38436129] [ 0.0702134 -0.05019046 0.99626854 -1.04325807] [ 0. 0. 0. 1. ]] SLAMing on 145.189072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.25, Y:-1.39, Z:-1.04 [[ 0.85111511 -0.51783409 -0.08631878 0.25449757] [ 0.52023532 0.85399916 0.00637481 -1.39013007] [ 0.07041507 -0.05033178 0.99624717 -1.04076104] [ 0. 0. 0. 1. ]] SLAMing on 145.219072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.28, Y:-1.40, Z:-1.03 [[ 0.85188067 -0.51601635 -0.08959042 0.28235946] [ 0.5194356 0.85430872 0.01852745 -1.39784522] [ 0.06697741 -0.06231963 0.99580635 -1.03461476] [ 0. 0. 0. 1. ]] SLAMing on 145.249072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.31, Y:-1.40, Z:-1.03 [[ 0.85128066 -0.51624928 -0.09385055 0.31409733] [ 0.5180825 0.85531264 -0.00555054 -1.40015213] [ 0.08313702 -0.04389726 0.99557082 -1.02797129] [ 0. 0. 0. 1. ]] SLAMing on 145.279072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.35, Y:-1.41, Z:-1.03 [[ 0.85208591 -0.51633386 -0.08572605 0.34929115] [ 0.51865356 0.8549654 0.00571358 -1.40902543] [ 0.07034269 -0.04933058 0.99630236 -1.03170547] [ 0. 0. 0. 1. ]] SLAMing on 145.309072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.38, Y:-1.41, Z:-1.03 [[ 0.85260508 -0.51555627 -0.08524265 0.38067358] [ 0.51789301 0.85542193 0.00633567 -1.41435652] [ 0.06965204 -0.04954839 0.99634008 -1.02829406] [ 0. 0. 0. 1. ]] SLAMing on 145.339072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.41, Y:-1.42, Z:-1.02 [[ 0.85402742 -0.51279548 -0.08762395 0.40938694] [ 0.51601516 0.85640086 0.01749072 -1.42397799] [ 0.06607206 -0.06015284 0.99600006 -1.02313734] [ 0. 0. 0. 1. ]] SLAMing on 145.369072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.44, Y:-1.43, Z:-1.02 [[ 0.85387162 -0.51330964 -0.08611891 0.44339691] [ 0.51484412 0.85726902 -0.00503568 -1.42545151] [ 0.07641194 -0.04003799 0.99627214 -1.02074369] [ 0. 0. 0. 1. ]] SLAMing on 145.399072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.47, Y:-1.43, Z:-1.02 [[ 0.85497316 -0.51148625 -0.08603909 0.47490346] [ 0.51385562 0.85785261 0.0064267 -1.43369952] [ 0.07052169 -0.04970632 0.99627103 -1.02059563] [ 0. 0. 0. 1. ]] SLAMing on 145.429072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.51, Y:-1.44, Z:-1.02 [[ 0.85674254 -0.50838937 -0.08678975 0.50646973] [ 0.5107903 0.85968085 0.00648893 -1.44175905] [ 0.07131259 -0.04989071 0.99620552 -1.01744743] [ 0. 0. 0. 1. ]] SLAMing on 145.459072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.54, Y:-1.45, Z:-1.01 [[ 0.85750792 -0.50557663 -0.09524936 0.53729804] [ 0.50821996 0.86121751 0.00410711 -1.44613537] [ 0.07995396 -0.05192951 0.99544497 -1.01040995] [ 0. 0. 0. 1. ]] SLAMing on 145.489072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.57, Y:-1.45, Z:-1.01 [[ 0.85917008 -0.50433867 -0.08642495 0.57047896] [ 0.50690197 0.86195424 0.00923521 -1.45229656] [ 0.06983668 -0.05174359 0.99621556 -1.01200669] [ 0. 0. 0. 1. ]] SLAMing on 145.519072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.60, Y:-1.46, Z:-1.01 [[ 0.8615721 -0.50046307 -0.0850307 0.60151295] [ 0.50274302 0.86441234 0.00638485 -1.45924842] [ 0.07030621 -0.0482496 0.99635787 -1.00810506] [ 0. 0. 0. 1. ]] SLAMing on 145.549072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.63, Y:-1.46, Z:-1.01 [[ 0.86302225 -0.49812941 -0.08402188 0.63294518] [ 0.5003482 0.86580125 0.00631454 -1.46427825] [ 0.06960079 -0.04748979 0.9964439 -1.00592147] [ 0. 0. 0. 1. ]] SLAMing on 145.579072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.66, Y:-1.47, Z:-1.00 [[ 0.86418316 -0.4961513 -0.08379346 0.66249021] [ 0.49835197 0.8669519 0.00630208 -1.46875029] [ 0.06951811 -0.04720479 0.99646322 -1.00314258] [ 0. 0. 0. 1. ]] SLAMing on 145.609072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.69, Y:-1.48, Z:-1.00 [[ 0.86692976 -0.49124765 -0.08431214 0.69160447] [ 0.49345992 0.86974542 0.00634182 -1.47595228] [ 0.0702147 -0.04710258 0.99641921 -1.0000248 ] [ 0. 0. 0. 1. ]] SLAMing on 145.63907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.72, Y:-1.48, Z:-1.00 [[ 0.868368 -0.48863521 -0.08469148 0.72333647] [ 0.49085895 0.87121577 0.00637021 -1.48056469] [ 0.07067184 -0.04710326 0.99638686 -0.99722937] [ 0. 0. 0. 1. ]] SLAMing on 145.66907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.75, Y:-1.49, Z:-0.99 [[ 0.86984841 -0.4859209 -0.08511535 0.75470597] [ 0.48815839 0.87273154 0.00640661 -1.4851622 ] [ 0.07116975 -0.04712255 0.99635051 -0.9948077 ] [ 0. 0. 0. 1. ]] SLAMing on 145.69907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.79, Y:-1.49, Z:-0.99 [[ 0.87291037 -0.48033057 -0.0854987 0.78501008] [ 0.48256997 0.87583374 0.00644005 -1.49220733] [ 0.07178929 -0.04688069 0.99631747 -0.99196922] [ 0. 0. 0. 1. ]] SLAMing on 145.72907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.81, Y:-1.50, Z:-0.99 [[ 0.87463654 -0.47731477 -0.08474394 0.81210231] [ 0.47950475 0.87751607 0.00638387 -1.49672096] [ 0.07131705 -0.04621869 0.99638231 -0.98946315] [ 0. 0. 0. 1. ]] SLAMing on 145.759072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.84, Y:-1.50, Z:-0.99 [[ 0.87622994 -0.47448561 -0.08416949 0.83845158] [ 0.47663549 0.87907827 0.00632407 -1.50064843] [ 0.07099089 -0.0456595 0.99643138 -0.98748142] [ 0. 0. 0. 1. ]] SLAMing on 145.789072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.87, Y:-1.51, Z:-0.98 [[ 0.87962576 -0.46824525 -0.08369537 0.86573461] [ 0.47034988 0.88245771 0.0062757 -1.50753143] [ 0.07091906 -0.04488637 0.99647163 -0.98278487] [ 0. 0. 0. 1. ]] SLAMing on 145.819072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.89, Y:-1.51, Z:-0.98 [[ 0.88113128 -0.46533982 -0.08406258 0.89265447] [ 0.46745251 0.88399582 0.00628777 -1.51157065] [ 0.07138502 -0.04483561 0.99644064 -0.98059598] [ 0. 0. 0. 1. ]] SLAMing on 145.849072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.92, Y:-1.52, Z:-0.98 [[ 0.88448447 -0.45879046 -0.08484413 0.92314374] [ 0.46092064 0.88741871 0.00634 -1.51887432] [ 0.07238354 -0.04471405 0.99637406 -0.97800655] [ 0. 0. 0. 1. ]] SLAMing on 145.879072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.95, Y:-1.52, Z:-0.98 [[ 0.88609377 -0.45554919 -0.08551469 0.95152581] [ 0.45770251 0.88908243 0.00639146 -1.52287971] [ 0.07311799 -0.04480372 0.99631641 -0.97584198] [ 0. 0. 0. 1. ]] SLAMing on 145.909072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.98, Y:-1.53, Z:-0.97 [[ 0.88807107 -0.45177436 -0.08502764 0.97855727] [ 0.45389019 0.891035 0.00635067 -1.52763274] [ 0.07289353 -0.04423306 0.99635835 -0.97350188] [ 0. 0. 0. 1. ]] SLAMing on 145.939072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.01, Y:-1.53, Z:-0.97 [[ 0.88798094 -0.45195136 -0.08502837 1.0068635 ] [ 0.45406711 0.89094492 0.00634096 -1.52970927] [ 0.07288979 -0.04423924 0.99635835 -0.97149628] [ 0. 0. 0. 1. ]] SLAMing on 145.969072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.03, Y:-1.53, Z:-0.97 [[ 0.88972078 -0.44848324 -0.08520397 1.03471553] [ 0.45059486 0.89270607 0.0063366 -1.53371482] [ 0.07322024 -0.04403028 0.99634338 -0.96907922] [ 0. 0. 0. 1. ]] SLAMing on 145.999072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.06, Y:-1.54, Z:-0.97 [[ 0.89346638 -0.44122082 -0.08391678 1.06249664] [ 0.44324383 0.89637949 0.00622245 -1.53984207] [ 0.0724758 -0.04275514 0.99645334 -0.96634067] [ 0. 0. 0. 1. ]] SLAMing on 146.029072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.09, Y:-1.54, Z:-0.96 [[ 0.89543545 -0.43735929 -0.08313965 1.0905299 ] [ 0.4393312 0.89830413 0.00614722 -1.54421039] [ 0.07199615 -0.04203028 0.99651895 -0.9645988 ] [ 0. 0. 0. 1. ]] SLAMing on 146.059072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.12, Y:-1.55, Z:-0.96 [[ 0.89729913 -0.43362377 -0.08261169 1.11701307] [ 0.43555744 0.90014034 0.00608942 -1.54832037] [ 0.0717216 -0.04144617 0.99656321 -0.96244919] [ 0. 0. 0. 1. ]] SLAMing on 146.089072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.14, Y:-1.55, Z:-0.96 [[ 0.89911095 -0.4298501 -0.08263401 1.14322465] [ 0.43177162 0.90196252 0.00607388 -1.55231719] [ 0.07192192 -0.04114011 0.99656145 -0.96029107] [ 0. 0. 0. 1. ]] SLAMing on 146.119072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.17, Y:-1.56, Z:-0.96 [[ 0.90264128 -0.42219649 -0.08359928 1.17103813] [ 0.42413777 0.9055769 0.00613483 -1.55841871] [ 0.07311547 -0.04099517 0.99648057 -0.95782398] [ 0. 0. 0. 1. ]] SLAMing on 146.149072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.20, Y:-1.56, Z:-0.96 [[ 0.90425881 -0.41861365 -0.08413456 1.19868171] [ 0.42056678 0.9072407 0.0061553 -1.56242369] [ 0.07375361 -0.04095019 0.99643539 -0.95614979] [ 0. 0. 0. 1. ]] SLAMing on 146.179072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.23, Y:-1.57, Z:-0.95 [[ 0.90756127 -0.41122153 -0.08502588 1.22584753] [ 0.41319009 0.91062368 0.00620118 -1.56827943] [ 0.07487652 -0.0407598 0.99635945 -0.9536817 ] [ 0. 0. 0. 1. ]] SLAMing on 146.209072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.25, Y:-1.57, Z:-0.95 [[ 0.90934049 -0.40743925 -0.08422071 1.25205195] [ 0.40935672 0.91235385 0.00612522 -1.57236701] [ 0.07434344 -0.04004622 0.9964283 -0.9513073 ] [ 0. 0. 0. 1. ]] SLAMing on 146.239072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.28, Y:-1.58, Z:-0.95 [[ 0.9110912 -0.40366545 -0.08346867 1.27840088] [ 0.40553578 0.91405907 0.0060623 -1.57630262] [ 0.07384816 -0.03937284 0.99649196 -0.94936112] [ 0. 0. 0. 1. ]] SLAMing on 146.269072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.31, Y:-1.58, Z:-0.95 [[ 0.91473228 -0.39565303 -0.08199713 1.30567205] [ 0.39743187 0.91761241 0.00594689 -1.58253164] [ 0.07288867 -0.03802809 0.99661482 -0.94692548] [ 0. 0. 0. 1. ]] SLAMing on 146.299072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.33, Y:-1.59, Z:-0.94 [[ 0.91637317 -0.39187917 -0.08179807 1.33290608] [ 0.39363658 0.91924708 0.00591969 -1.58629146] [ 0.07287283 -0.03762335 0.99663134 -0.94464334] [ 0. 0. 0. 1. ]] SLAMing on 146.329072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.36, Y:-1.59, Z:-0.94 [[ 0.91794924 -0.38808711 -0.08220449 1.36087113] [ 0.38984867 0.92085984 0.0059298 -1.59041203] [ 0.07339753 -0.03749057 0.99659784 -0.94181191] [ 0. 0. 0. 1. ]] SLAMing on 146.359072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.39, Y:-1.60, Z:-0.94 [[ 0.92108986 -0.38041912 -0.08291418 1.38693412] [ 0.38218528 0.92406648 0.00596312 -1.59666704] [ 0.07434973 -0.03718115 0.99653885 -0.94005159] [ 0. 0. 0. 1. ]] SLAMing on 146.38907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.41, Y:-1.60, Z:-0.94 [[ 0.92265493 -0.37647536 -0.0835116 1.41480563] [ 0.37825347 0.92568265 0.0059958 -1.60071135] [ 0.07504797 -0.03712061 0.99648877 -0.93699081] [ 0. 0. 0. 1. ]] SLAMing on 146.41907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.44, Y:-1.60, Z:-0.93 [[ 0.92431751 -0.37237681 -0.08350239 1.4411391 ] [ 0.37413973 0.92735308 0.00597742 -1.60468872] [ 0.07521034 -0.03676659 0.99648965 -0.93488047] [ 0. 0. 0. 1. ]] SLAMing on 146.44907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.47, Y:-1.61, Z:-0.93 [[ 0.92752298 -0.36436744 -0.08329164 1.46872682] [ 0.36609447 0.93055865 0.00595214 -1.61018124] [ 0.07533899 -0.03601335 0.99650744 -0.93169898] [ 0. 0. 0. 1. ]] SLAMing on 146.47907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.50, Y:-1.62, Z:-0.92 [[ 0.92900881 -0.35910543 -0.08936397 1.49618933] [ 0.36161992 0.93223235 0.01318637 -1.61639784] [ 0.07857269 -0.04456605 0.99591174 -0.92340718] [ 0. 0. 0. 1. ]] SLAMing on 146.509072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.52, Y:-1.62, Z:-0.93 [[ 9.30491187e-01 -3.56884454e-01 -8.25810950e-02 1.52427610e+00] [ 3.58030988e-01 9.33709181e-01 -9.88269456e-04 -1.61594392e+00] [ 7.74594246e-02 -2.86470150e-02 9.96583858e-01 -9.26343401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.539072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.55, Y:-1.62, Z:-0.92 [[ 0.93215349 -0.3526955 -0.08182759 1.55153165] [ 0.3543219 0.93510551 0.00580349 -1.621616 ] [ 0.07447057 -0.03440305 0.9966296 -0.92466992] [ 0. 0. 0. 1. ]] SLAMing on 146.569072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.58, Y:-1.63, Z:-0.92 [[ 0.93519827 -0.3445231 -0.0819026 1.57935451] [ 0.34612513 0.93817049 0.00578999 -1.62776491] [ 0.07484382 -0.03376334 0.99662352 -0.92250746] [ 0. 0. 0. 1. ]] SLAMing on 146.599072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.61, Y:-1.63, Z:-0.91 [[ 0.93648497 -0.33945568 -0.08812342 1.60575659] [ 0.34200269 0.93957672 0.01515746 -1.63397254] [ 0.07765342 -0.04433318 0.99599423 -0.9149016 ] [ 0. 0. 0. 1. ]] SLAMing on 146.629072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.63, Y:-1.63, Z:-0.92 [[ 0.93757906 -0.33749121 -0.0839356 1.63392368] [ 0.3384382 0.94098348 -0.00311054 -1.63283677] [ 0.08003179 -0.02549064 0.99646633 -0.91727973] [ 0. 0. 0. 1. ]] SLAMing on 146.659072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.66, Y:-1.64, Z:-0.92 [[ 0.94062995 -0.32897144 -0.08362472 1.66096253] [ 0.3305877 0.94375697 0.00587866 -1.64049899] [ 0.0769875 -0.03317495 0.99647998 -0.91551757] [ 0. 0. 0. 1. ]] SLAMing on 146.689072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.69, Y:-1.64, Z:-0.91 [[ 0.94202258 -0.32514035 -0.08292897 1.6887308 ] [ 0.32671579 0.94510476 0.00581172 -1.64478937] [ 0.07648694 -0.03256898 0.99653851 -0.91363992] [ 0. 0. 0. 1. ]] SLAMing on 146.719072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.71, Y:-1.65, Z:-0.91 [[ 0.94468542 -0.3173657 -0.08275542 1.71488729] [ 0.31890778 0.94776812 0.00578129 -1.65045046] [ 0.07659817 -0.03185285 0.99655312 -0.90994707] [ 0. 0. 0. 1. ]] SLAMing on 146.749072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.74, Y:-1.65, Z:-0.91 [[ 0.94598448 -0.31355761 -0.0824317 1.74278659] [ 0.31507447 0.94904954 0.00574848 -1.65391994] [ 0.07642929 -0.0314101 0.99658014 -0.90749018] [ 0. 0. 0. 1. ]] SLAMing on 146.779072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.77, Y:-1.66, Z:-0.91 [[ 0.9473439 -0.3094448 -0.08236174 1.76967823] [ 0.31094442 0.95041085 0.00572605 -1.65776266] [ 0.0765056 -0.03103446 0.99658605 -0.90532247] [ 0. 0. 0. 1. ]] SLAMing on 146.809072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.80, Y:-1.66, Z:-0.90 [[ 0.94985546 -0.30159228 -0.08256337 1.79692156] [ 0.30307295 0.95295013 0.00573007 -1.66293503] [ 0.07695062 -0.03046547 0.99656934 -0.90316601] [ 0. 0. 0. 1. ]] SLAMing on 146.839072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.82, Y:-1.67, Z:-0.90 [[ 0.951078 -0.29765903 -0.08276312 1.82439138] [ 0.29913253 0.9541944 0.00572461 -1.66713361] [ 0.07726813 -0.03020169 0.99655281 -0.90079546] [ 0. 0. 0. 1. ]] SLAMing on 146.869072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.85, Y:-1.67, Z:-0.90 [[ 0.95212734 -0.29420793 -0.08303746 1.85144741] [ 0.29567845 0.95527037 0.00572537 -1.67048703] [ 0.07763878 -0.03000367 0.99652998 -0.89897184] [ 0. 0. 0. 1. ]] SLAMing on 146.899072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.88, Y:-1.68, Z:-0.90 [[ 0.95447875 -0.28652028 -0.0829243 1.87845155] [ 0.28796072 0.95762521 0.00570826 -1.67626368] [ 0.07777487 -0.02932736 0.9965395 -0.89658412] [ 0. 0. 0. 1. ]] SLAMing on 146.929072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.90, Y:-1.68, Z:-0.89 [[ 0.95558582 -0.28276971 -0.08304843 1.90487256] [ 0.28420098 0.95874777 0.00570265 -1.67962308] [ 0.07800996 -0.02905182 0.9965292 -0.89393303] [ 0. 0. 0. 1. ]] SLAMing on 146.959072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.93, Y:-1.68, Z:-0.89 [[ 0.95674238 -0.27894013 -0.08268267 1.93251598] [ 0.2803447 0.95988272 0.00565841 -1.68310228] [ 0.07778731 -0.02859329 0.99655986 -0.89201134] [ 0. 0. 0. 1. ]] SLAMing on 146.989072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.96, Y:-1.69, Z:-0.89 [[ 0.9590287 -0.27109864 -0.08227687 1.95938588] [ 0.27246235 0.96215008 0.00561081 -1.68783374] [ 0.07764161 -0.02779828 0.99659372 -0.8892953 ] [ 0. 0. 0. 1. ]] SLAMing on 147.019072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.99, Y:-1.69, Z:-0.89 [[ 0.96011104 -0.26718785 -0.08244664 1.98712199] [ 0.26854289 0.96325143 0.0056026 -1.69125272] [ 0.0779199 -0.02751958 0.99657973 -0.88646405] [ 0. 0. 0. 1. ]] SLAMing on 147.049072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.01, Y:-1.70, Z:-0.88 [[ 0.96225681 -0.25928749 -0.08265489 2.01470803] [ 0.26062186 0.96542474 0.00559684 -1.69628927] [ 0.07834588 -0.02692726 0.99656251 -0.88367866] [ 0. 0. 0. 1. ]] SLAMing on 147.079072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.04, Y:-1.70, Z:-0.88 [[ 0.96316503 -0.25578648 -0.08298431 2.04216157] [ 0.25711833 0.96636371 0.00559882 -1.69931079] [ 0.07876092 -0.02672937 0.99653513 -0.88097036] [ 0. 0. 0. 1. ]] SLAMing on 147.109072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.07, Y:-1.70, Z:-0.88 [[ 0.96418366 -0.25195796 -0.08286773 2.06921838] [ 0.25327192 0.96737908 0.00557248 -1.70253364] [ 0.07876047 -0.02636097 0.99654498 -0.8790366 ] [ 0. 0. 0. 1. ]] SLAMing on 147.13907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.10, Y:-1.71, Z:-0.88 [[ 0.96518048 -0.24805376 -0.08304201 2.09645221] [ 0.24935943 0.96839497 0.00557355 -1.70571751] [ 0.07903492 -0.02608679 0.99653046 -0.8766477 ] [ 0. 0. 0. 1. ]] SLAMing on 147.16907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.12, Y:-1.71, Z:-0.87 [[ 0.96712814 -0.24045537 -0.08273075 2.12279555] [ 0.24172461 0.97032911 0.00553392 -1.7101162 ] [ 0.07894539 -0.02535007 0.99655657 -0.87478195] [ 0. 0. 0. 1. ]] SLAMing on 147.19907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.15, Y:-1.71, Z:-0.87 [[ 0.96805458 -0.23668567 -0.08276609 2.15015074] [ 0.23794265 0.97126349 0.00552553 -1.71349277] [ 0.07907986 -0.0250426 0.99655368 -0.87249364] [ 0. 0. 0. 1. ]] SLAMing on 147.22907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.18, Y:-1.72, Z:-0.87 [[ 0.96939421 -0.22866274 -0.0893768 2.17738309] [ 0.23009652 0.97314966 0.00594307 -1.71844144] [ 0.08561805 -0.02632647 0.99598015 -0.86589379] [ 0. 0. 0. 1. ]] SLAMing on 147.259072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.20, Y:-1.72, Z:-0.86 [[ 0.97050269 -0.22452398 -0.08782665 2.20391799] [ 0.22589117 0.97413515 0.00582151 -1.72161494] [ 0.08424795 -0.02548905 0.99611876 -0.86408608] [ 0. 0. 0. 1. ]] SLAMing on 147.289072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.23, Y:-1.72, Z:-0.87 [[ 0.97173854 -0.22123825 -0.08232769 2.23179443] [ 0.22242724 0.97493408 0.0054466 -1.72433847] [ 0.07905907 -0.02360459 0.99659043 -0.86626964] [ 0. 0. 0. 1. ]] SLAMing on 147.319072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.26, Y:-1.73, Z:-0.86 [[ 0.97339627 -0.21378544 -0.0824347 2.25803913] [ 0.21495135 0.97660964 0.00543361 -1.7282829 ] [ 0.07934489 -0.0230085 0.99658166 -0.86328403] [ 0. 0. 0. 1. ]] SLAMing on 147.349072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.29, Y:-1.73, Z:-0.86 [[ 0.97427297 -0.20972338 -0.08251235 2.28535439] [ 0.21087685 0.97749759 0.00542361 -1.73141522] [ 0.07951817 -0.02268402 0.99657528 -0.86062814] [ 0. 0. 0. 1. ]] SLAMing on 147.379072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.31, Y:-1.73, Z:-0.86 [[ 0.97505592 -0.20619818 -0.0821478 2.31177107] [ 0.20732842 0.9782566 0.00538142 -1.73404706] [ 0.07925199 -0.02227876 0.99660563 -0.85898095] [ 0. 0. 0. 1. ]] SLAMing on 147.409072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.34, Y:-1.74, Z:-0.86 [[ 0.97571673 -0.20284298 -0.08265338 2.33989798] [ 0.20397525 0.97896113 0.0054042 -1.73692219] [ 0.07981825 -0.02213222 0.9965637 -0.85611962] [ 0. 0. 0. 1. ]] SLAMing on 147.439072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.37, Y:-1.74, Z:-0.85 [[ 0.97721894 -0.19556619 -0.08244402 2.36784076] [ 0.19666708 0.98045561 0.0053712 -1.74044266] [ 0.07978228 -0.02146286 0.99658122 -0.85402151] [ 0. 0. 0. 1. ]] SLAMing on 147.469072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.40, Y:-1.74, Z:-0.85 [[ 0.9779258 -0.19199868 -0.08244775 2.39542471] [ 0.1930862 0.98116721 0.0053509 -1.74344984] [ 0.07986766 -0.0211523 0.99658102 -0.85241704] [ 0. 0. 0. 1. ]] SLAMing on 147.499072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.42, Y:-1.75, Z:-0.85 [[ 0.9792156 -0.18528799 -0.08249348 2.4229975 ] [ 0.18635277 0.98246842 0.00533302 -1.74760954] [ 0.08005909 -0.02059506 0.99657734 -0.84976708] [ 0. 0. 0. 1. ]] SLAMing on 147.529072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.45, Y:-1.75, Z:-0.85 [[ 0.97990433 -0.18175398 -0.08217661 2.44947506] [ 0.18279737 0.98313636 0.0052933 -1.75024719] [ 0.07982873 -0.0202086 0.99660373 -0.84808672] [ 0. 0. 0. 1. ]] SLAMing on 147.559072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.48, Y:-1.75, Z:-0.84 [[ 0.9803648 -0.17798593 -0.08488735 2.47749898] [ 0.17908538 0.98381841 0.00545629 -1.75380076] [ 0.0825426 -0.02055124 0.99637562 -0.84481367] [ 0. 0. 0. 1. ]] SLAMing on 147.589072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.51, Y:-1.76, Z:-0.84 [[ 0.98167793 -0.17189344 -0.08222584 2.50508601] [ 0.172903 0.98492478 0.0052654 -1.75661234] [ 0.08008118 -0.01938602 0.99659981 -0.84258318] [ 0. 0. 0. 1. ]] SLAMing on 147.619072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.53, Y:-1.76, Z:-0.84 [[ 0.98210665 -0.16799576 -0.08511143 2.53229255] [ 0.16904745 0.98559392 0.00525219 -1.76022677] [ 0.08300297 -0.01954608 0.9963576 -0.83998608] [ 0. 0. 0. 1. ]] SLAMing on 147.649072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.56, Y:-1.76, Z:-0.84 [[ 9.83010042e-01 -1.62358358e-01 -8.56213805e-02 2.56054189e+00] [ 1.63048371e-01 9.86617484e-01 1.08141019e-03 -1.76289248e+00] [ 8.42999750e-02 -1.50234637e-02 9.96327160e-01 -8.38048637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.679072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.59, Y:-1.77, Z:-0.84 [[ 0.9837394 -0.15990483 -0.08177555 2.58731196] [ 0.16123318 0.98686705 0.0098639 -1.76651847] [ 0.07912431 -0.02288844 0.99660196 -0.83667299] [ 0. 0. 0. 1. ]] SLAMing on 147.709072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.62, Y:-1.77, Z:-0.83 [[ 0.98397956 -0.15644654 -0.08549099 2.61543703] [ 0.15747636 0.98750802 0.00539587 -1.76875481] [ 0.08357887 -0.01877223 0.99632433 -0.8335862 ] [ 0. 0. 0. 1. ]] SLAMing on 147.739072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.64, Y:-1.77, Z:-0.83 [[ 0.98469228 -0.15412979 -0.08139487 2.64311896] [ 0.15505374 0.98789278 0.00511724 -1.77055642] [ 0.07962068 -0.01765949 0.9966688 -0.83233181] [ 0. 0. 0. 1. ]] SLAMing on 147.769072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.67, Y:-1.77, Z:-0.83 [[ 0.98535027 -0.14772892 -0.08521154 2.67039054] [ 0.14871723 0.98886537 0.00533438 -1.77430447] [ 0.0834747 -0.01792866 0.9963486 -0.82877251] [ 0. 0. 0. 1. ]] SLAMing on 147.799072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.70, Y:-1.78, Z:-0.83 [[ 0.98605692 -0.14542312 -0.08089413 2.69713091] [ 0.14630448 0.98922674 0.00504501 -1.77658053] [ 0.07928898 -0.01680984 0.99670993 -0.82807503] [ 0. 0. 0. 1. ]] SLAMing on 147.829072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.72, Y:-1.78, Z:-0.83 [[ 0.9864273 -0.14301828 -0.08066566 2.72375632] [ 0.14388584 0.98958158 0.00501662 -1.77889166] [ 0.07910779 -0.01655518 0.99672859 -0.82585982] [ 0. 0. 0. 1. ]] SLAMing on 147.859072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.75, Y:-1.78, Z:-0.82 [[ 0.98639349 -0.14325082 -0.08066657 2.7521207 ] [ 0.14411798 0.98954787 0.00500199 -1.7804867 ] [ 0.07910689 -0.01655943 0.99672859 -0.82385167] [ 0. 0. 0. 1. ]] SLAMing on 147.88907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.78, Y:-1.78, Z:-0.82 [[ 0.98648556 -0.1396584 -0.08568417 2.7792371 ] [ 0.14062271 0.9900491 0.0052938 -1.78381167] [ 0.08409221 -0.01727139 0.99630829 -0.82030717] [ 0. 0. 0. 1. ]] SLAMing on 147.91907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.81, Y:-1.78, Z:-0.82 [[ 9.87055875e-01 -1.35039874e-01 -8.65155052e-02 2.80737450e+00] [ 1.35485491e-01 9.90779064e-01 -7.27385744e-04 -1.78495521e+00] [ 8.58159773e-02 -1.10036253e-02 9.96250239e-01 -8.18203102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.94907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.83, Y:-1.79, Z:-0.82 [[ 0.98787104 -0.13235095 -0.08120365 2.83496911] [ 0.13367139 0.99096442 0.01102188 -1.79005797] [ 0.07901117 -0.0217428 0.99663659 -0.81756167] [ 0. 0. 0. 1. ]] SLAMing on 147.97907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.86, Y:-1.79, Z:-0.81 [[ 9.87951405e-01 -1.27489685e-01 -8.77405363e-02 2.86250288e+00] [ 1.28122071e-01 9.91757130e-01 1.59077508e-03 -1.79164504e+00] [ 8.68144950e-02 -1.28131077e-02 9.96142092e-01 -8.12050473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.009072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.89, Y:-1.79, Z:-0.81 [[ 0.98835592 -0.12510104 -0.08661582 2.89016533] [ 0.12587064 0.99204063 0.00345988 -1.7943477 ] [ 0.08549357 -0.01432199 0.99623578 -0.81105633] [ 0. 0. 0. 1. ]] SLAMing on 148.039072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.92, Y:-1.80, Z:-0.81 [[ 0.98862965 -0.12282962 -0.08674275 2.9182654 ] [ 0.12367485 0.99231296 0.00441767 -1.79714891] [ 0.08553334 -0.01509534 0.99622095 -0.80944299] [ 0. 0. 0. 1. ]] SLAMing on 148.069072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.95, Y:-1.80, Z:-0.81 [[ 0.98964492 -0.11806592 -0.08162952 2.94552344] [ 0.11935058 0.99279097 0.01102442 -1.80150318] [ 0.07973944 -0.02065279 0.99660177 -0.80860588] [ 0. 0. 0. 1. ]] SLAMing on 148.099072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.97, Y:-1.80, Z:-0.81 [[ 0.98982906 -0.11610497 -0.08220746 2.97215205] [ 0.11690702 0.9931303 0.00499473 -1.80237924] [ 0.08106281 -0.01455456 0.99660272 -0.80626353] [ 0. 0. 0. 1. ]] SLAMing on 148.129072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.00, Y:-1.80, Z:-0.80 [[ 0.99008019 -0.11398791 -0.08214599 2.99970586] [ 0.11478081 0.99337836 0.00497997 -1.80478996] [ 0.08103439 -0.01435935 0.99660787 -0.80416189] [ 0. 0. 0. 1. ]] SLAMing on 148.159072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.03, Y:-1.81, Z:-0.80 [[ 9.90119275e-01 -1.09139688e-01 -8.80474336e-02 3.02702984e+00] [ 1.09760292e-01 9.93955600e-01 2.22352834e-03 -1.80749069e+00] [ 8.72725645e-02 -1.18656702e-02 9.96113801e-01 -7.97928968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.189072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.06, Y:-1.81, Z:-0.80 [[ 0.99093628 -0.10719427 -0.08096099 3.05573985] [ 0.10817045 0.9941021 0.00775652 -1.81099967] [ 0.07965204 -0.0164438 0.99668709 -0.79886642] [ 0. 0. 0. 1. ]] SLAMing on 148.219072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.08, Y:-1.81, Z:-0.79 [[ 9.90696002e-01 -1.04815971e-01 -8.68046318e-02 3.08241572e+00] [ 1.05119893e-01 9.94458975e-01 -1.07511453e-03 -1.81141660e+00] [ 8.64363343e-02 -8.05978196e-03 9.96224774e-01 -7.94264371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.249072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.11, Y:-1.82, Z:-0.79 [[ 0.9910012 -0.10205063 -0.08661571 3.11048607] [ 0.10299698 0.99466032 0.00651636 -1.81527199] [ 0.08548822 -0.01537888 0.99622049 -0.79201846] [ 0. 0. 0. 1. ]] SLAMing on 148.279072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.14, Y:-1.82, Z:-0.79 [[ 0.99191332 -0.0981087 -0.08051488 3.1394245 ] [ 0.09918635 0.99502366 0.00948626 -1.81796181] [ 0.07918353 -0.01739552 0.99670826 -0.79241287] [ 0. 0. 0. 1. ]] SLAMing on 148.309072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.17, Y:-1.82, Z:-0.79 [[ 0.99208942 -0.09598563 -0.08090329 3.166098 ] [ 0.09668884 0.99530303 0.00481051 -1.81865743] [ 0.08006155 -0.0125949 0.99671035 -0.79044887] [ 0. 0. 0. 1. ]] SLAMing on 148.339072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.19, Y:-1.82, Z:-0.79 [[ 9.91905812e-01 -9.33680231e-02 -8.60538901e-02 3.19266311e+00] [ 9.38764958e-02 9.95582090e-01 1.87220077e-03 -1.82006514e+00] [ 8.54989081e-02 -9.93548448e-03 9.96288725e-01 -7.86562537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.369072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.22, Y:-1.82, Z:-0.79 [[ 0.99270139 -0.08947571 -0.08085822 3.2227103 ] [ 0.0903901 0.99587657 0.00771249 -1.82418149] [ 0.07983473 -0.01496498 0.99669577 -0.78615753] [ 0. 0. 0. 1. ]] SLAMing on 148.399072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.25, Y:-1.82, Z:-0.78 [[ 9.92424985e-01 -8.72016501e-02 -8.65362455e-02 3.24842483e+00] [ 8.75094735e-02 9.96163659e-01 -2.37206231e-04 -1.82436192e+00] [ 8.62249477e-02 -7.33733189e-03 9.96248675e-01 -7.81481408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.429072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.28, Y:-1.83, Z:-0.78 [[ 0.99310193 -0.08523208 -0.08052354 3.27863198] [ 0.08628941 0.99622253 0.00973712 -1.82882397] [ 0.07938945 -0.01661828 0.99670515 -0.7820093 ] [ 0. 0. 0. 1. ]] SLAMing on 148.459072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.31, Y:-1.83, Z:-0.78 [[ 0.99336356 -0.08127794 -0.08138019 3.30524668] [ 0.0819343 0.9966264 0.00475315 -1.8298631 ] [ 0.08071932 -0.01138944 0.9966718 -0.77970519] [ 0. 0. 0. 1. ]] SLAMing on 148.489072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.33, Y:-1.83, Z:-0.78 [[ 0.99351582 -0.07905063 -0.08171482 3.33327 ] [ 0.07970415 0.99680719 0.00476163 -1.83210331] [ 0.08107751 -0.01124377 0.99664438 -0.77782799] [ 0. 0. 0. 1. ]] SLAMing on 148.519072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.36, Y:-1.83, Z:-0.78 [[ 0.99363452 -0.0771105 -0.08212432 3.36126328] [ 0.07776233 0.99696054 0.00476372 -1.83419195] [ 0.08150738 -0.01111958 0.99661071 -0.77624677] [ 0. 0. 0. 1. ]] SLAMing on 148.549072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.39, Y:-1.84, Z:-0.77 [[ 0.99389589 -0.07299773 -0.0827181 3.38867692] [ 0.07364327 0.99727321 0.00477594 -1.83715591] [ 0.08214391 -0.01083842 0.99656154 -0.77439061] [ 0. 0. 0. 1. ]] SLAMing on 148.579072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.42, Y:-1.84, Z:-0.77 [[ 0.99402999 -0.07138575 -0.08251339 3.41674273] [ 0.07202081 0.99739186 0.00474206 -1.83897382] [ 0.08195967 -0.01065643 0.99657867 -0.77189938] [ 0. 0. 0. 1. ]] SLAMing on 148.609072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.44, Y:-1.84, Z:-0.77 [[ 9.94072821e-01 -6.65245012e-02 -8.59867234e-02 3.44217383e+00] [ 6.69848821e-02 9.97750916e-01 2.47676264e-03 -1.84075856e+00] [ 8.56285667e-02 -8.22189296e-03 9.96293204e-01 -7.67055160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.63907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.47, Y:-1.84, Z:-0.77 [[ 0.99464911 -0.06496472 -0.08032896 3.47118244] [ 0.06571365 0.99781595 0.0067123 -1.84378632] [ 0.07971745 -0.0119551 0.99674581 -0.76675817] [ 0. 0. 0. 1. ]] SLAMing on 148.66907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.50, Y:-1.84, Z:-0.76 [[ 0.99453504 -0.06253966 -0.08359927 3.49756095] [ 0.06307633 0.9980015 0.00379127 -1.8446076 ] [ 0.0831951 -0.00904369 0.99649224 -0.76216934] [ 0. 0. 0. 1. ]] SLAMing on 148.69907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.53, Y:-1.85, Z:-0.76 [[ 0.99492827 -0.06133661 -0.07972176 3.5267837 ] [ 0.06193776 0.99806705 0.00508753 -1.84707135] [ 0.07925561 -0.00999951 0.99680417 -0.76187027] [ 0. 0. 0. 1. ]] SLAMing on 148.72907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.55, Y:-1.85, Z:-0.76 [[ 9.94752426e-01 -5.76262453e-02 -8.45389082e-02 3.55249264e+00] [ 5.80120552e-02 9.98313648e-01 2.11222850e-03 -1.84825529e+00] [ 8.42746260e-02 -7.00542023e-03 9.96417940e-01 -7.57882156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.759072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.58, Y:-1.85, Z:-0.76 [[ 0.99514306 -0.05635838 -0.0807095 3.58216758] [ 0.05708581 0.99834658 0.00673218 -1.85180382] [ 0.08019664 -0.01130685 0.99671493 -0.75743578] [ 0. 0. 0. 1. ]] SLAMing on 148.789072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.61, Y:-1.85, Z:-0.76 [[ 0.99522441 -0.05475 -0.08081344 3.60890208] [ 0.05529543 0.99845978 0.0045251 -1.85336296] [ 0.08044122 -0.0089721 0.99671897 -0.75606156] [ 0. 0. 0. 1. ]] SLAMing on 148.819072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.64, Y:-1.86, Z:-0.75 [[ 0.99535273 -0.05180468 -0.081174 3.63625106] [ 0.05234445 0.9986188 0.00453422 -1.85541139] [ 0.08082699 -0.00876215 0.99668963 -0.75363728] [ 0. 0. 0. 1. ]] SLAMing on 148.849072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.66, Y:-1.86, Z:-0.75 [[ 0.99538496 -0.05058865 -0.08154493 3.66309247] [ 0.05112755 0.99868185 0.0045328 -1.85729028] [ 0.08120814 -0.00868107 0.99665936 -0.75188129] [ 0. 0. 0. 1. ]] SLAMing on 148.879072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.69, Y:-1.86, Z:-0.75 [[ 0.99545447 -0.04925965 -0.08151005 3.69048121] [ 0.04979189 0.99874944 0.00450888 -1.85914967] [ 0.08118601 -0.00854692 0.99666232 -0.74920985] [ 0. 0. 0. 1. ]] SLAMing on 148.909072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.72, Y:-1.86, Z:-0.75 [[ 0.99561701 -0.04639429 -0.08120557 3.71698779] [ 0.04691145 0.99888904 0.00447132 -1.86150208] [ 0.08090791 -0.00826119 0.99668734 -0.74685779] [ 0. 0. 0. 1. ]] SLAMing on 148.939072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.74, Y:-1.86, Z:-0.74 [[ 0.99568812 -0.04459186 -0.08134328 3.74427542] [ 0.04510393 0.99897231 0.00446757 -1.86371709] [ 0.08106047 -0.00811721 0.99667613 -0.74366369] [ 0. 0. 0. 1. ]] SLAMing on 148.969072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.77, Y:-1.87, Z:-0.74 [[ 0.9958173 -0.04187121 -0.0812078 3.77242411] [ 0.04237082 0.9990921 0.00443805 -1.86657132] [ 0.08094824 -0.00786033 0.99668731 -0.74129681] [ 0. 0. 0. 1. ]] SLAMing on 148.999072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.80, Y:-1.87, Z:-0.74 [[ 0.99586119 -0.04088408 -0.08117253 3.79986318] [ 0.04137822 0.99913381 0.0044139 -1.86849659] [ 0.08092176 -0.00775441 0.99669029 -0.73854702] [ 0. 0. 0. 1. ]] SLAMing on 149.029072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.83, Y:-1.87, Z:-0.74 [[ 0.99592608 -0.03965946 -0.08098379 3.82652303] [ 0.04014561 0.99918423 0.00438296 -1.87035612] [ 0.0807439 -0.00761625 0.99670578 -0.73716451] [ 0. 0. 0. 1. ]] SLAMing on 149.059072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.85, Y:-1.87, Z:-0.74 [[ 0.99593055 -0.03851675 -0.08147886 3.85438694] [ 0.03900417 0.99922937 0.00439837 -1.87245989] [ 0.08124666 -0.00755849 0.99666537 -0.7351339 ] [ 0. 0. 0. 1. ]] SLAMing on 149.089072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.88, Y:-1.87, Z:-0.73 [[ 0.99600547 -0.03616911 -0.0816388 3.88193477] [ 0.03664886 0.99931858 0.00438522 -1.87491675] [ 0.08142456 -0.00735967 0.99665233 -0.73291854] [ 0. 0. 0. 1. ]] SLAMing on 149.119072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.91, Y:-1.88, Z:-0.73 [[ 0.9960836 -0.03482092 -0.08127097 3.90899255] [ 0.03529022 0.99936766 0.00434478 -1.87687947] [ 0.08106829 -0.00719584 0.99668257 -0.73086294] [ 0. 0. 0. 1. ]] SLAMing on 149.149072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.94, Y:-1.88, Z:-0.73 [[ 0.99612088 -0.03351558 -0.0813628 3.93642326] [ 0.0339807 0.99941307 0.00433836 -1.87907708] [ 0.08116964 -0.0070863 0.99667511 -0.72921288] [ 0. 0. 0. 1. ]] SLAMing on 149.179072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.96, Y:-1.88, Z:-0.73 [[ 0.99618707 -0.03214979 -0.08110314 3.96322839] [ 0.03260582 0.99945902 0.00430438 -1.88082121] [ 0.08092088 -0.0069324 0.99669642 -0.72676103] [ 0. 0. 0. 1. ]] SLAMing on 149.209072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.99, Y:-1.88, Z:-0.72 [[ 0.99628232 -0.02950515 -0.08093819 3.99054837] [ 0.02994979 0.99954222 0.00428475 -1.88340275] [ 0.08077471 -0.0066929 0.99670991 -0.72435267] [ 0. 0. 0. 1. ]] SLAMing on 149.239072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.02, Y:-1.89, Z:-0.72 [[ 0.99629321 -0.02861664 -0.08112295 4.01809686] [ 0.02905866 0.99956857 0.00427313 -1.88528526] [ 0.08096567 -0.00661461 0.99669494 -0.7219305 ] [ 0. 0. 0. 1. ]] SLAMing on 149.269072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.05, Y:-1.89, Z:-0.72 [[ 0.99629646 -0.02739358 -0.08150435 4.04509729] [ 0.02783401 0.99960343 0.00427226 -1.8871403 ] [ 0.08135499 -0.00652503 0.99666383 -0.7202504 ] [ 0. 0. 0. 1. ]] SLAMing on 149.299072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.07, Y:-1.89, Z:-0.72 [[ 0.99629055 -0.02573814 -0.08211382 4.07245756] [ 0.02617868 0.99964806 0.00429269 -1.88955953] [ 0.08197444 -0.00642639 0.99661371 -0.71795086] [ 0. 0. 0. 1. ]] SLAMing on 149.329072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.10, Y:-1.89, Z:-0.72 [[ 0.99632732 -0.02500814 -0.08189306 4.10053737] [ 0.02544212 0.99966722 0.00425995 -1.8919217 ] [ 0.08175927 -0.00632784 0.99663202 -0.71515647] [ 0. 0. 0. 1. ]] SLAMing on 149.359072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.13, Y:-1.89, Z:-0.71 [[ 0.99636232 -0.02370859 -0.08185373 4.12856416] [ 0.02413604 0.99969971 0.00423651 -1.89458952] [ 0.0817287 -0.00619672 0.99663535 -0.71191626] [ 0. 0. 0. 1. ]] SLAMing on 149.38907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.15, Y:-1.90, Z:-0.71 [[ 0.99623261 -0.02183317 -0.08392795 4.15342661] [ 0.02261212 0.99970951 0.00834171 -1.89748868] [ 0.08372145 -0.01020808 0.99643691 -0.70797375] [ 0. 0. 0. 1. ]] SLAMing on 149.41907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.18, Y:-1.90, Z:-0.71 [[ 9.96380422e-01 -2.24648255e-02 -8.19840557e-02 4.18474204e+00] [ 2.25172408e-02 9.99746414e-01 -2.85309804e-04 -1.89800014e+00] [ 8.19696751e-02 -1.56177762e-03 9.96633600e-01 -7.08077774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.44907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.21, Y:-1.90, Z:-0.71 [[ 9.96403028e-01 -2.00972628e-02 -8.23231749e-02 4.21145645e+00] [ 2.05124502e-02 9.99780773e-01 4.20064669e-03 -1.90132701e+00] [ 8.22207060e-02 -5.87418711e-03 9.96596834e-01 -7.05683235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.47907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.24, Y:-1.90, Z:-0.70 [[ 9.96435397e-01 -1.94466112e-02 -8.20873209e-02 4.23810956e+00] [ 1.98564211e-02 9.99794109e-01 4.17888554e-03 -1.90324473e+00] [ 8.19891547e-02 -5.79394988e-03 9.96616380e-01 -7.03776516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.509072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.27, Y:-1.91, Z:-0.70 [[ 9.96450175e-01 -1.84593700e-02 -8.21358611e-02 4.26608866e+00] [ 1.88653956e-02 9.99813337e-01 4.16994972e-03 -1.90574601e+00] [ 8.20435547e-02 -5.70467264e-03 9.96612418e-01 -7.01215144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.539072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.29, Y:-1.91, Z:-0.70 [[ 9.96448882e-01 -1.81533226e-02 -8.22197206e-02 4.29422191e+00] [ 1.85572695e-02 9.99819180e-01 4.15144072e-03 -1.90795880e+00] [ 8.21294912e-02 -5.66247198e-03 9.96605581e-01 -6.99506734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.569072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.32, Y:-1.91, Z:-0.70 [[ 9.96497986e-01 -1.67696715e-02 -8.19178957e-02 4.32105606e+00] [ 1.71642912e-02 9.99844213e-01 4.11537188e-03 -1.91208445e+00] [ 8.18361206e-02 -5.50702241e-03 9.96630585e-01 -6.96400842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.599072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.35, Y:-1.91, Z:-0.69 [[ 9.96536345e-01 -1.63039401e-02 -8.15444362e-02 4.34926809e+00] [ 1.66924803e-02 9.99852325e-01 4.08526784e-03 -1.91416519e+00] [ 8.14657882e-02 -5.43229677e-03 9.96661334e-01 -6.94185373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.629072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.38, Y:-1.92, Z:-0.69 [[ 9.96396519e-01 -1.54023088e-02 -8.34071090e-02 4.37617347e+00] [ 1.54838025e-02 9.99880064e-01 3.30251530e-04 -1.91536838e+00] [ 8.33920189e-02 -1.62052068e-03 9.96515502e-01 -6.93017032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.659072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.40, Y:-1.92, Z:-0.69 [[ 0.9965189 -0.01461345 -0.08207634 4.40466909] [ 0.01528312 0.9998548 0.00753674 -1.91983423] [ 0.08195429 -0.00876489 0.99659755 -0.6892962 ] [ 0. 0. 0. 1. ]] SLAMing on 149.689072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.43, Y:-1.92, Z:-0.69 [[ 9.96472206e-01 -1.43686939e-02 -8.26842411e-02 4.43239957e+00] [ 1.47573558e-02 9.99882734e-01 4.09129948e-03 -1.92123906e+00] [ 8.26157584e-02 -5.29706698e-03 9.96567397e-01 -6.87848872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.719072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.46, Y:-1.92, Z:-0.69 [[ 9.96437093e-01 -1.39632953e-02 -8.31753914e-02 4.45959182e+00] [ 1.43534310e-02 9.99888601e-01 4.09437528e-03 -1.92380938e+00] [ 8.31089548e-02 -5.27363964e-03 9.96526513e-01 -6.85542778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.749072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.49, Y:-1.92, Z:-0.68 [[ 9.96433538e-01 -1.42101571e-02 -8.31761702e-02 4.48799031e+00] [ 1.45998278e-02 9.99885099e-01 4.07849645e-03 -1.92499204e+00] [ 8.31086571e-02 -5.27830841e-03 9.96526513e-01 -6.83524843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.779072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.52, Y:-1.93, Z:-0.68 [[ 9.96468593e-01 -1.38143780e-02 -8.28221392e-02 4.51528198e+00] [ 1.41978025e-02 9.99891035e-01 4.04229563e-03 -1.92861575e+00] [ 8.27572727e-02 -5.20391301e-03 9.96556146e-01 -6.82010569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.809072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.54, Y:-1.93, Z:-0.68 [[ 9.96515143e-01 -1.35556616e-02 -8.23031846e-02 4.54304300e+00] [ 1.39324875e-02 9.99894914e-01 4.00589154e-03 -1.93117470e+00] [ 8.22402332e-02 -5.13861967e-03 9.96599287e-01 -6.80047864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.839072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.57, Y:-1.93, Z:-0.68 [[ 9.96566126e-01 -1.33836516e-02 -8.17118975e-02 4.57085153e+00] [ 1.37527518e-02 9.99897601e-01 3.95591705e-03 -1.93419365e+00] [ 8.16505857e-02 -5.06609637e-03 9.96648141e-01 -6.77504104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.869072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.60, Y:-1.94, Z:-0.67 [[ 9.96595348e-01 -1.33484920e-02 -8.13604889e-02 4.59865103e+00] [ 1.37125796e-02 9.99898303e-01 3.91785498e-03 -1.93628977e+00] [ 8.12999173e-02 -5.02017823e-03 9.96677040e-01 -6.74700680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.899072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.63, Y:-1.94, Z:-0.67 [[ 9.96618493e-01 -1.29800741e-02 -8.11362873e-02 4.62540007e+00] [ 1.33392405e-02 9.99903476e-01 3.88620908e-03 -1.93876787e+00] [ 8.10780125e-02 -4.95536429e-03 9.96695440e-01 -6.72861533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.929072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.65, Y:-1.94, Z:-0.67 [[ 9.96612140e-01 -1.31462166e-02 -8.11875524e-02 4.65231007e+00] [ 1.35048181e-02 9.99901319e-01 3.86938977e-03 -1.94100245e+00] [ 8.11286729e-02 -4.95270394e-03 9.96691331e-01 -6.70810411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.959072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.68, Y:-1.94, Z:-0.67 [[ 9.96554516e-01 -1.27996161e-02 -8.19467249e-02 4.68043782e+00] [ 1.31629277e-02 9.99905780e-01 3.89478623e-03 -1.94462354e+00] [ 8.18891521e-02 -4.96002563e-03 9.96629101e-01 -6.68664484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.989072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.71, Y:-1.95, Z:-0.67 [[ 9.96317831e-01 -1.23778053e-02 -8.48384871e-02 4.70792010e+00] [ 1.19795645e-02 9.99914713e-01 -5.20160019e-03 -1.94533440e+00] [ 8.48956359e-02 4.16611889e-03 9.96381139e-01 -6.68426584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.019072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.74, Y:-1.95, Z:-0.66 [[ 0.99658585 -0.01172393 -0.08172633 4.73585688] [ 0.01281017 0.99983628 0.01277954 -1.9530644 ] [ 0.08156312 -0.01378284 0.99657287 -0.66392827] [ 0. 0. 0. 1. ]] SLAMing on 150.049072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.76, Y:-1.95, Z:-0.66 [[ 9.96535928e-01 -1.25528498e-02 -8.22105210e-02 4.76381902e+00] [ 1.29135082e-02 9.99909179e-01 3.85674664e-03 -1.95339714e+00] [ 8.21546414e-02 -4.90501283e-03 9.96607523e-01 -6.62044906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.079072329 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:4.79, Y:-1.95, Z:-0.66 [[ 0.99630007 -0.0128515 -0.0849765 4.79142192] [ 0.01231176 0.99990059 -0.0068727 -1.95366084] [ 0.08505637 0.00580106 0.99635925 -0.6615453 ] [ 0. 0. 0. 1. ]] SLAMing on 150.109072329 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:4.82, Y:-1.96, Z:-0.66 [[ 0.99632123 -0.01199216 -0.08485394 4.81880678] [ 0.01252211 0.99990526 0.00571586 -1.95897036] [ 0.08477735 -0.00675738 0.99637701 -0.65775832] [ 0. 0. 0. 1. ]] SLAMing on 150.13907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.85, Y:-1.96, Z:-0.65 [[ 0.99665718 -0.01205781 -0.0808027 4.84691651] [ 0.01309519 0.99983834 0.01232072 -1.96394492] [ 0.08064108 -0.01333766 0.99665396 -0.65450892] [ 0. 0. 0. 1. ]] SLAMing on 150.16907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.87, Y:-1.96, Z:-0.65 [[ 9.96618770e-01 -1.26003803e-02 -8.11927204e-02 4.87450273e+00] [ 1.29459226e-02 9.99909238e-01 3.73078825e-03 -1.96435854e+00] [ 8.11383419e-02 -4.76928828e-03 9.96691438e-01 -6.52819167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.19907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.90, Y:-1.97, Z:-0.65 [[ 9.96629417e-01 -1.26801943e-02 -8.10494831e-02 4.90160056e+00] [ 1.30230640e-02 9.99908339e-01 3.70312850e-03 -1.96682419e+00] [ 8.09950977e-02 -4.74615940e-03 9.96703200e-01 -6.50591933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.22907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.93, Y:-1.97, Z:-0.65 [[ 9.96638366e-01 -1.25299344e-02 -8.09627524e-02 4.92912909e+00] [ 1.28706537e-02 9.99910369e-01 3.68781893e-03 -1.97047462e+00] [ 8.09092875e-02 -4.71746539e-03 9.96710305e-01 -6.48519958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.259072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.96, Y:-1.97, Z:-0.65 [[ 9.96683875e-01 -1.28019176e-02 -8.03577238e-02 4.95686477e+00] [ 1.31366891e-02 9.99907089e-01 3.63870503e-03 -1.97248923e+00] [ 8.03036753e-02 -4.68227307e-03 9.96759447e-01 -6.46934852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.289072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.98, Y:-1.97, Z:-0.65 [[ 9.96350705e-01 -1.28696547e-02 -8.43779908e-02 4.98345180e+00] [ 1.24782326e-02 9.99908806e-01 -5.16467921e-03 -1.97269422e+00] [ 8.44367637e-02 4.09294357e-03 9.96420434e-01 -6.45647086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.319072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.01, Y:-1.98, Z:-0.64 [[ 9.96408956e-01 -1.16808171e-02 -8.38615033e-02 5.01130503e+00] [ 1.20559660e-02 9.99919449e-01 3.96840280e-03 -1.97833517e+00] [ 8.38083941e-02 -4.96518352e-03 9.96469518e-01 -6.42130312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.349072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.04, Y:-1.98, Z:-0.64 [[ 0.99676487 -0.01108236 -0.07960507 5.04115253] [ 0.01208326 0.99985375 0.01210258 -1.98255094] [ 0.0794593 -0.01302532 0.99675301 -0.6392816 ] [ 0. 0. 0. 1. ]] SLAMing on 150.379072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.07, Y:-1.98, Z:-0.64 [[ 9.96412487e-01 -1.18327550e-02 -8.37982174e-02 5.06859758e+00] [ 1.14225164e-02 9.99920324e-01 -5.37331513e-03 -1.98029108e+00] [ 8.38551218e-02 4.39685178e-03 9.96468257e-01 -6.38178213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.409072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.10, Y:-1.99, Z:-0.64 [[ 9.96364875e-01 -9.72476805e-03 -8.46313429e-02 5.09663039e+00] [ 9.88003187e-03 9.99950189e-01 1.41594198e-03 -1.98516641e+00] [ 8.46133576e-02 -2.24695522e-03 9.96411326e-01 -6.35883791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.439072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.13, Y:-1.99, Z:-0.63 [[ 0.99674367 -0.00949686 -0.08007415 5.12546723] [ 0.01064937 0.99984559 0.01397833 -1.9896733 ] [ 0.07992903 -0.01478555 0.99669089 -0.63299556] [ 0. 0. 0. 1. ]] SLAMing on 150.469072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.15, Y:-1.99, Z:-0.63 [[ 9.96711612e-01 -9.99199407e-03 -8.04122086e-02 5.15396768e+00] [ 1.03098631e-02 9.99940590e-01 3.53876395e-03 -1.98939750e+00] [ 8.03720720e-02 -4.35616598e-03 9.96755413e-01 -6.32046182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.499072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.18, Y:-1.99, Z:-0.63 [[ 9.96698563e-01 -9.16858088e-03 -8.06716345e-02 5.18130331e+00] [ 9.48398545e-03 9.99948804e-01 3.52742553e-03 -1.99243797e+00] [ 8.06351630e-02 -4.28086857e-03 9.96734491e-01 -6.29875466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.529072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.21, Y:-1.99, Z:-0.63 [[ 9.96445445e-01 -9.15989161e-03 -8.37411029e-02 5.20888303e+00] [ 8.76490251e-03 9.99948667e-01 -5.08321742e-03 -1.99259139e+00] [ 8.37833659e-02 4.33116623e-03 9.96474580e-01 -6.28399576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.559072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.24, Y:-2.00, Z:-0.63 [[ 9.96531903e-01 -7.74234024e-03 -8.28505992e-02 5.23664430e+00] [ 7.99476818e-03 9.99964354e-01 2.71545758e-03 -1.99690425e+00] [ 8.28266220e-02 -3.36841145e-03 9.96558280e-01 -6.25005127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.589072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.27, Y:-2.00, Z:-0.62 [[ 0.99684611 -0.00694217 -0.07905465 5.26612985] [ 0.00795071 0.99989089 0.01244986 -2.00226233] [ 0.07895959 -0.01303913 0.99679254 -0.62097129] [ 0. 0. 0. 1. ]] SLAMing on 150.619072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.29, Y:-2.00, Z:-0.62 [[ 0.99647511 -0.0073104 -0.08356981 5.29191778] [ 0.00678014 0.99995505 -0.00662724 -2.00016021] [ 0.0836145 0.00603726 0.99647989 -0.62149661] [ 0. 0. 0. 1. ]] SLAMing on 150.649072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.32, Y:-2.01, Z:-0.62 [[ 0.99679413 -0.00566614 -0.07980831 5.32008515] [ 0.0067849 0.99988239 0.01375386 -2.00777155] [ 0.07972099 -0.01425125 0.99671534 -0.61783076] [ 0. 0. 0. 1. ]] SLAMing on 150.679072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.35, Y:-2.01, Z:-0.62 [[ 9.96745305e-01 -6.78760372e-03 -8.03288583e-02 5.34772484e+00] [ 7.08538245e-03 9.99969041e-01 3.42253225e-03 -2.00726580e+00] [ 8.03031407e-02 -3.98055364e-03 9.96762540e-01 -6.16614160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.709072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.37, Y:-2.01, Z:-0.61 [[ 9.96740936e-01 -6.79854023e-03 -8.03821321e-02 5.37459329e+00] [ 7.09502667e-03 9.99969038e-01 3.40341536e-03 -2.00923597e+00] [ 8.03565051e-02 -3.96263678e-03 9.96758311e-01 -6.14730667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.739072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.40, Y:-2.01, Z:-0.61 [[ 0.99640355 -0.0069331 -0.08445055 5.4012556 ] [ 0.00624681 0.99994531 -0.00838807 -2.00895543] [ 0.08450408 0.00783036 0.99639237 -0.61375466] [ 0. 0. 0. 1. ]] SLAMing on 150.769072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.43, Y:-2.02, Z:-0.61 [[ 0.99695404 -0.00587755 -0.07776952 5.4290399 ] [ 0.00705214 0.99986505 0.0148375 -2.01737427] [ 0.07767182 -0.01534075 0.99686095 -0.60933568] [ 0. 0. 0. 1. ]] SLAMing on 150.799072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.46, Y:-2.02, Z:-0.61 [[ 9.96923833e-01 -6.51554462e-03 -7.81051746e-02 5.45561677e+00] [ 6.79152020e-03 9.99971596e-01 3.26826985e-03 -2.01708343e+00] [ 7.80816616e-02 -3.78866898e-03 9.96939768e-01 -6.07853418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.829072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.48, Y:-2.02, Z:-0.61 [[ 9.96951759e-01 -6.71069844e-03 -7.77313124e-02 5.48397642e+00] [ 6.98380572e-03 9.99970357e-01 3.24216688e-03 -2.01930878e+00] [ 7.77072510e-02 -3.77514436e-03 9.96969072e-01 -6.05926367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.859072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.51, Y:-2.02, Z:-0.60 [[ 9.96928379e-01 -6.78448791e-03 -7.80242073e-02 5.51153372e+00] [ 7.05820795e-03 9.99969865e-01 3.23289864e-03 -2.02257966e+00] [ 7.79999225e-02 -3.77367948e-03 9.96946223e-01 -6.03699406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.88907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.54, Y:-2.02, Z:-0.60 [[ 0.99641276 -0.00702615 -0.08433414 5.53777857] [ 0.00603673 0.99991 -0.01198141 -2.02174799] [ 0.08441073 0.01142933 0.99636549 -0.60297162] [ 0. 0. 0. 1. ]] SLAMing on 150.91907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.57, Y:-2.03, Z:-0.60 [[ 0.99690919 -0.00628983 -0.07831029 5.56673784] [ 0.00770417 0.99981239 0.01777167 -2.03000147] [ 0.07818382 -0.01832005 0.99677062 -0.59900428] [ 0. 0. 0. 1. ]] SLAMing on 150.94907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.59, Y:-2.03, Z:-0.60 [[ 9.96791145e-01 -7.00438661e-03 -7.97392781e-02 5.59356425e+00] [ 7.28789288e-03 9.99968113e-01 3.26493838e-03 -2.03027620e+00] [ 7.97138665e-02 -3.83559298e-03 9.96810407e-01 -5.98422322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.97907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.62, Y:-2.03, Z:-0.60 [[ 9.96810319e-01 -7.31533953e-03 -7.94712116e-02 5.62147654e+00] [ 7.59703523e-03 9.99965884e-01 3.24284919e-03 -2.03260394e+00] [ 7.94447778e-02 -3.83625113e-03 9.96831887e-01 -5.96617779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.009072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.65, Y:-2.03, Z:-0.59 [[ 9.96802799e-01 -7.95936815e-03 -7.95036392e-02 5.64973562e+00] [ 8.24157137e-03 9.99960847e-01 3.22205244e-03 -2.03476371e+00] [ 7.94748809e-02 -3.86698580e-03 9.96829368e-01 -5.93734956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.039072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.68, Y:-2.04, Z:-0.59 [[ 9.96889373e-01 -8.40676972e-03 -7.83639235e-02 5.67656173e+00] [ 8.68069470e-03 9.99957343e-01 3.15554873e-03 -2.03859572e+00] [ 7.83340528e-02 -3.82598629e-03 9.96919825e-01 -5.91930474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.069072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.70, Y:-2.04, Z:-0.59 [[ 9.96616995e-01 -8.64615436e-03 -8.17301034e-02 5.70491754e+00] [ 8.23966943e-03 9.99951957e-01 -5.30948046e-03 -2.03975857e+00] [ 8.17720834e-02 4.61808943e-03 9.96640356e-01 -5.91245346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.099072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.73, Y:-2.05, Z:-0.59 [[ 0.99693823 -0.00849649 -0.07773014 5.73325605] [ 0.00941655 0.99988979 0.01147776 -2.04530351] [ 0.07762405 -0.01217457 0.99690836 -0.5866472 ] [ 0. 0. 0. 1. ]] SLAMing on 151.129072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.76, Y:-2.05, Z:-0.59 [[ 9.96922351e-01 -1.01222731e-02 -7.77390854e-02 5.76095049e+00] [ 1.03942259e-02 9.99941191e-01 3.09443264e-03 -2.04642075e+00] [ 7.77031909e-02 -3.89294668e-03 9.96968936e-01 -5.86436811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.159072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.79, Y:-2.05, Z:-0.58 [[ 9.96948267e-01 -1.03463427e-02 -7.73763889e-02 5.78814626e+00] [ 1.06147680e-02 9.99938984e-01 3.05859583e-03 -2.04878637e+00] [ 7.73400224e-02 -3.87059423e-03 9.96997261e-01 -5.84606956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.189072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.82, Y:-2.05, Z:-0.58 [[ 9.96913126e-01 -1.08959957e-02 -7.77527937e-02 5.81570125e+00] [ 1.11678665e-02 9.99932947e-01 3.06262484e-03 -2.05109803e+00] [ 7.77142098e-02 -3.92150372e-03 9.96967965e-01 -5.82857365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.219072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.84, Y:-2.05, Z:-0.58 [[ 9.96874484e-01 -1.17014009e-02 -7.81302752e-02 5.84219349e+00] [ 1.19767001e-02 9.99923607e-01 3.05591925e-03 -2.05469227e+00] [ 7.80885480e-02 -3.98211081e-03 9.96938474e-01 -5.80798905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.249072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.87, Y:-2.06, Z:-0.58 [[ 9.96871555e-01 -1.23440201e-02 -7.80687326e-02 5.86999911e+00] [ 1.26200010e-02 9.99915735e-01 3.04270463e-03 -2.05716911e+00] [ 7.80245949e-02 -4.01841318e-03 9.96943336e-01 -5.78831411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.279072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.90, Y:-2.06, Z:-0.58 [[ 0.99647308 -0.01350527 -0.08281913 5.8966074 ] [ 0.01280159 0.99987736 -0.00902169 -2.05665558] [ 0.08293081 0.00792966 0.99652376 -0.57712358] [ 0. 0. 0. 1. ]] SLAMing on 151.309072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.92, Y:-2.06, Z:-0.57 [[ 0.99695534 -0.01284453 -0.0769095 5.9248705 ] [ 0.01402443 0.99979181 0.01482092 -2.06426696] [ 0.07670312 -0.01585441 0.99692792 -0.57273372] [ 0. 0. 0. 1. ]] SLAMing on 151.339072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.95, Y:-2.06, Z:-0.57 [[ 0.99661391 -0.01502208 -0.08083964 5.95146271] [ 0.01438862 0.99986109 -0.0084129 -2.06275293] [ 0.08095479 0.00722124 0.99669162 -0.57312743] [ 0. 0. 0. 1. ]] SLAMing on 151.369072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.98, Y:-2.07, Z:-0.57 [[ 0.99668724 -0.01475363 -0.07998051 5.98025484] [ 0.01532075 0.99986162 0.00648166 -2.06866794] [ 0.07987381 -0.00768555 0.99677535 -0.56881178] [ 0. 0. 0. 1. ]] SLAMing on 151.399072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.01, Y:-2.07, Z:-0.57 [[ 9.96616062e-01 -1.58075669e-02 -8.06631655e-02 6.00823152e+00] [ 1.59474611e-02 9.99872237e-01 1.09031867e-03 -2.06989864e+00] [ 8.06356244e-02 -2.37300179e-03 9.96740821e-01 -5.67027296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.429072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.04, Y:-2.08, Z:-0.56 [[ 0.99694536 -0.01737656 -0.0761446 6.03725599] [ 0.01831148 0.99976507 0.01159718 -2.076898 ] [ 0.07592519 -0.01295607 0.99702934 -0.5642595 ] [ 0. 0. 0. 1. ]] SLAMing on 151.459072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.06, Y:-2.08, Z:-0.56 [[ 9.96916475e-01 -1.90503956e-02 -7.61224250e-02 6.06413641e+00] [ 1.93257613e-02 9.99809085e-01 2.88234695e-03 -2.07739582e+00] [ 7.60529823e-02 -4.34458298e-03 9.97094313e-01 -5.63431415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.489072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.09, Y:-2.08, Z:-0.56 [[ 9.96499063e-01 -1.98687574e-02 -8.12086799e-02 6.09010165e+00] [ 1.93539953e-02 9.99787334e-01 -7.12108439e-03 -2.07766917e+00] [ 8.13328967e-02 5.52444152e-03 9.96671681e-01 -5.62055855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.519072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.12, Y:-2.08, Z:-0.56 [[ 9.96556334e-01 -2.11001302e-02 -8.01888878e-02 6.11795734e+00] [ 2.14479509e-02 9.99763915e-01 3.47856829e-03 -2.08390303e+00] [ 8.00965581e-02 -5.18647659e-03 9.96773616e-01 -5.58024527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.549072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.15, Y:-2.09, Z:-0.56 [[ 0.99683831 -0.02176395 -0.07641808 6.14624728] [ 0.02270023 0.99967726 0.01140482 -2.08828094] [ 0.0761452 -0.01310347 0.99701064 -0.5551545 ] [ 0. 0. 0. 1. ]] SLAMing on 151.579072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.17, Y:-2.09, Z:-0.55 [[ 9.96705711e-01 -2.39471773e-02 -7.74871453e-02 6.17400879e+00] [ 2.42437023e-02 9.99701906e-01 2.88819171e-03 -2.08837900e+00] [ 7.73948828e-02 -4.75725245e-03 9.96989168e-01 -5.54435451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.609072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.20, Y:-2.09, Z:-0.55 [[ 9.96371010e-01 -2.51957476e-02 -8.13018110e-02 6.19974328e+00] [ 2.52955710e-02 9.99679996e-01 1.97889799e-04 -2.09207150e+00] [ 8.12708081e-02 -2.25374739e-03 9.96689509e-01 -5.51851506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.63907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.23, Y:-2.10, Z:-0.55 [[ 9.96621811e-01 -2.65362306e-02 -7.77225431e-02 6.22989372e+00] [ 2.70307437e-02 9.99620461e-01 5.31724402e-03 -2.09602898e+00] [ 7.75519448e-02 -7.40017951e-03 9.96960848e-01 -5.50283830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.66907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.26, Y:-2.10, Z:-0.55 [[ 9.96602905e-01 -2.69770197e-02 -7.78131684e-02 6.25837590e+00] [ 2.72814195e-02 9.99623726e-01 2.85135495e-03 -2.09632063e+00] [ 7.77069683e-02 -4.96452231e-03 9.96963881e-01 -5.48576315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.69907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.29, Y:-2.10, Z:-0.55 [[ 9.96602535e-01 -2.92374850e-02 -7.69971230e-02 6.28585971e+00] [ 2.95406562e-02 9.99559655e-01 2.80117487e-03 -2.10013001e+00] [ 7.68813184e-02 -5.06620351e-03 9.97027380e-01 -5.47119706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.72907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.31, Y:-2.10, Z:-0.55 [[ 9.96620310e-01 -2.99375148e-02 -7.64964299e-02 6.31260603e+00] [ 3.02371926e-02 9.99538935e-01 2.76207130e-03 -2.10262582e+00] [ 7.63784705e-02 -5.06577364e-03 9.97066029e-01 -5.45262378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.759072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.34, Y:-2.10, Z:-0.54 [[ 9.96560899e-01 -3.12091869e-02 -7.67617187e-02 6.34024531e+00] [ 3.15139228e-02 9.99499498e-01 2.76148823e-03 -2.10498317e+00] [ 7.66371156e-02 -5.17105408e-03 9.97045642e-01 -5.43114574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.789072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.37, Y:-2.11, Z:-0.54 [[ 9.96528050e-01 -3.21681429e-02 -7.67922975e-02 6.36704942e+00] [ 3.24743482e-02 9.99468809e-01 2.74172600e-03 -2.10768991e+00] [ 7.66633099e-02 -5.22598668e-03 9.97043342e-01 -5.41093930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.819072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.39, Y:-2.11, Z:-0.54 [[ 9.96445340e-01 -3.41495380e-02 -7.70096908e-02 6.39465982e+00] [ 3.44625878e-02 9.99402234e-01 2.73940111e-03 -2.11202779e+00] [ 7.68701078e-02 -5.38361670e-03 9.97026581e-01 -5.39989996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.849072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.42, Y:-2.11, Z:-0.54 [[ 9.96440172e-01 -3.54611871e-02 -7.64819432e-02 6.42278993e+00] [ 3.57721934e-02 9.99356323e-01 2.69983980e-03 -2.11436985e+00] [ 7.63369740e-02 -5.42615570e-03 9.97067311e-01 -5.38436949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.879072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.45, Y:-2.12, Z:-0.54 [[ 9.96377995e-01 -3.62660796e-02 -7.69133409e-02 6.45019004e+00] [ 3.65813753e-02 9.99327046e-01 2.69398259e-03 -2.11698405e+00] [ 7.67638815e-02 -5.49782077e-03 9.97034142e-01 -5.36125362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.909072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.48, Y:-2.12, Z:-0.53 [[ 9.96350333e-01 -3.72453005e-02 -7.68036612e-02 6.47807485e+00] [ 3.75609640e-02 9.99290774e-01 2.66906350e-03 -2.12127506e+00] [ 7.66497799e-02 -5.54414186e-03 9.97042664e-01 -5.33983204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.939072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.51, Y:-2.12, Z:-0.53 [[ 9.96340871e-01 -3.81167993e-02 -7.64982235e-02 6.50593182e+00] [ 3.84308954e-02 9.99257780e-01 2.63749271e-03 -2.12315681e+00] [ 7.63409122e-02 -5.56773701e-03 9.97066229e-01 -5.32497541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.969072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.53, Y:-2.13, Z:-0.53 [[ 9.96348324e-01 -3.86209740e-02 -7.61474677e-02 6.53320100e+00] [ 3.89320436e-02 9.99238467e-01 2.60433628e-03 -2.12735047e+00] [ 7.59888969e-02 -5.55940262e-03 9.97093165e-01 -5.29963069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.999072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.56, Y:-2.13, Z:-0.53 [[ 9.96339312e-01 -3.94756088e-02 -7.58264534e-02 6.56128406e+00] [ 3.97857631e-02 9.99204893e-01 2.58350894e-03 -2.12978420e+00] [ 7.56641777e-02 -5.59086483e-03 9.97117683e-01 -5.27889346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.029072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.59, Y:-2.13, Z:-0.53 [[ 9.96337985e-01 -4.01091920e-02 -7.55107421e-02 6.58962530e+00] [ 4.04170466e-02 9.99179637e-01 2.55262922e-03 -2.13209873e+00] [ 7.53464120e-02 -5.59520264e-03 9.97141721e-01 -5.25354323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.059072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.62, Y:-2.13, Z:-0.52 [[ 9.96329981e-01 -4.06384366e-02 -7.53331686e-02 6.61623404e+00] [ 4.09447921e-02 9.99158217e-01 2.52605967e-03 -2.13474386e+00] [ 7.51670993e-02 -5.60128992e-03 9.97155220e-01 -5.23298995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.089072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.64, Y:-2.14, Z:-0.52 [[ 9.96300778e-01 -4.17010670e-02 -7.51384137e-02 6.64425544e+00] [ 4.20077560e-02 9.99114144e-01 2.50516499e-03 -2.13862852e+00] [ 7.49673838e-02 -5.65229398e-03 9.97169967e-01 -5.21328346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.119072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.67, Y:-2.14, Z:-0.52 [[ 9.95968882e-01 -4.12254174e-02 -7.96646142e-02 6.66866857e+00] [ 4.10312316e-02 9.99149560e-01 -4.07367453e-03 -2.13958680e+00] [ 7.97648031e-02 7.88515832e-04 9.96813400e-01 -5.19459389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.149072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.70, Y:-2.15, Z:-0.52 [[ 0.99623385 -0.04236282 -0.07565392 6.69931716] [ 0.04310969 0.99903615 0.00826585 -2.14571164] [ 0.07523083 -0.01149613 0.99709988 -0.5169125 ] [ 0. 0. 0. 1. ]] SLAMing on 152.179072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.73, Y:-2.15, Z:-0.52 [[ 9.96157075e-01 -4.28978153e-02 -7.63600584e-02 6.72602686e+00] [ 4.32154797e-02 9.99062617e-01 2.51181331e-03 -2.14681565e+00] [ 7.61807285e-02 -5.80209716e-03 9.97077145e-01 -5.15792979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.209072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.75, Y:-2.15, Z:-0.51 [[ 9.96126333e-01 -4.34653021e-02 -7.64401517e-02 6.75316677e+00] [ 4.37845623e-02 9.99037856e-01 2.50487747e-03 -2.14888439e+00] [ 7.62577300e-02 -5.84207299e-03 9.97071025e-01 -5.13827903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.239072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.78, Y:-2.15, Z:-0.51 [[ 9.96139040e-01 -4.39430994e-02 -7.60001055e-02 6.78111640e+00] [ 4.42593317e-02 9.99016995e-01 2.48085358e-03 -2.15153126e+00] [ 7.58163806e-02 -5.83498898e-03 9.97104723e-01 -5.11891281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.269072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.81, Y:-2.16, Z:-0.51 [[ 9.96151311e-01 -4.47180853e-02 -7.53847336e-02 6.80897932e+00] [ 4.50298398e-02 9.98982662e-01 2.44004449e-03 -2.15629856e+00] [ 7.51989277e-02 -5.82521600e-03 9.97151537e-01 -5.08979395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.299072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.84, Y:-2.16, Z:-0.51 [[ 9.96147254e-01 -4.54243121e-02 -7.50151987e-02 6.83612585e+00] [ 4.57334516e-02 9.98950777e-01 2.40751721e-03 -2.15869838e+00] [ 7.48271313e-02 -5.82894562e-03 9.97179484e-01 -5.06757906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.329072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.86, Y:-2.16, Z:-0.50 [[ 9.96123070e-01 -4.63713411e-02 -7.47564589e-02 6.86421753e+00] [ 4.66802875e-02 9.98907023e-01 2.38980081e-03 -2.16262796e+00] [ 7.45639335e-02 -5.87018871e-03 9.97198957e-01 -5.04207774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.359072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.89, Y:-2.17, Z:-0.50 [[ 9.96123387e-01 -4.66524294e-02 -7.45771321e-02 6.89195142e+00] [ 4.69591354e-02 9.98894015e-01 2.36346570e-03 -2.16501239e+00] [ 7.43843895e-02 -5.85638110e-03 9.97212447e-01 -5.02493226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.38907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.92, Y:-2.17, Z:-0.50 [[ 9.96080395e-01 -4.68658906e-02 -7.50162290e-02 6.91925013e+00] [ 4.71752897e-02 9.98883846e-01 2.35682581e-03 -2.16718412e+00] [ 7.48220445e-02 -5.88650032e-03 9.97179528e-01 -5.00179401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.41907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.95, Y:-2.17, Z:-0.50 [[ 9.96084036e-01 -4.68770265e-02 -7.49609123e-02 6.94737804e+00] [ 4.71852956e-02 9.98883399e-01 2.34570360e-03 -2.17146072e+00] [ 7.47672513e-02 -5.87357070e-03 9.97183714e-01 -4.98613937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.44907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.98, Y:-2.17, Z:-0.50 [[ 9.96068162e-01 -4.69645222e-02 -7.51169142e-02 6.97507097e+00] [ 4.72727630e-02 9.98879301e-01 2.32976950e-03 -2.17447325e+00] [ 7.49233143e-02 -5.87159331e-03 9.97172012e-01 -4.96524067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.47907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.00, Y:-2.18, Z:-0.49 [[ 9.96063523e-01 -4.72314078e-02 -7.50110092e-02 7.00228090e+00] [ 4.75380163e-02 9.98866767e-01 2.30633459e-03 -2.17702644e+00] [ 7.48170728e-02 -5.86313033e-03 9.97180039e-01 -4.94949289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.509072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.03, Y:-2.18, Z:-0.49 [[ 9.96032674e-01 -4.78819514e-02 -7.50082057e-02 7.03014908e+00] [ 4.81896720e-02 9.98835562e-01 2.29697566e-03 -2.17900786e+00] [ 7.48108796e-02 -5.90248364e-03 9.97180271e-01 -4.92885546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.539072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.06, Y:-2.18, Z:-0.49 [[ 9.96049031e-01 -4.82979756e-02 -7.45226986e-02 7.05798381e+00] [ 4.86013396e-02 9.98815696e-01 2.26160768e-03 -2.18267386e+00] [ 7.43252101e-02 -5.87457512e-03 9.97216753e-01 -4.92170096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.569072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.09, Y:-2.19, Z:-0.49 [[ 9.96064798e-01 -4.77717544e-02 -7.46510398e-02 7.08533194e+00] [ 4.80731855e-02 9.98841293e-01 2.24520544e-03 -2.18505415e+00] [ 7.44572837e-02 -5.82508339e-03 9.97207191e-01 -4.90214570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.599072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.11, Y:-2.19, Z:-0.49 [[ 9.96038742e-01 -4.80159662e-02 -7.48417734e-02 7.11253702e+00] [ 4.83189589e-02 9.98829441e-01 2.24198802e-03 -2.18697910e+00] [ 7.46465154e-02 -5.84938350e-03 9.97192901e-01 -4.87691655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.629072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.14, Y:-2.19, Z:-0.49 [[ 9.96050025e-01 -4.79013096e-02 -7.47650406e-02 7.14032289e+00] [ 4.82026780e-02 9.98835085e-01 2.23058784e-03 -2.19118578e+00] [ 7.45710976e-02 -5.82565226e-03 9.97198683e-01 -4.86037811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.659072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.17, Y:-2.19, Z:-0.48 [[ 9.96053313e-01 -4.77672260e-02 -7.48070214e-02 7.16711248e+00] [ 4.80670499e-02 9.98841663e-01 2.21167504e-03 -2.19381948e+00] [ 7.46147241e-02 -5.79869908e-03 9.97195577e-01 -4.83564635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.689072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.20, Y:-2.20, Z:-0.48 [[ 9.96048658e-01 -4.75971601e-02 -7.49772110e-02 7.19539783e+00] [ 4.78971768e-02 9.98849833e-01 2.20738127e-03 -2.19809763e+00] [ 7.47859095e-02 -5.78985588e-03 9.97182804e-01 -4.80846625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.719072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.22, Y:-2.20, Z:-0.48 [[ 9.96020923e-01 -4.80771214e-02 -7.50394008e-02 7.22277831e+00] [ 4.83774374e-02 9.98826729e-01 2.18852904e-03 -2.19971375e+00] [ 7.48461411e-02 -5.81003463e-03 9.97178168e-01 -4.79370588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.749072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.25, Y:-2.20, Z:-0.48 [[ 9.96048578e-01 -4.77482388e-02 -7.48821462e-02 7.25024774e+00] [ 4.80456621e-02 9.98842773e-01 2.17448622e-03 -2.20244408e+00] [ 7.46916627e-02 -5.76365620e-03 9.97190020e-01 -4.77428511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.779072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.28, Y:-2.20, Z:-0.48 [[ 9.95950675e-01 -4.67735503e-02 -7.67755662e-02 7.27637461e+00] [ 4.64303671e-02 9.98901977e-01 -6.24985830e-03 -2.20489294e+00] [ 7.69835929e-02 2.65983287e-03 9.97028812e-01 -4.79164064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.809072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.31, Y:-2.21, Z:-0.47 [[ 0.99620148 -0.0463136 -0.07374057 7.30624794] [ 0.04718731 0.99883449 0.01014967 -2.21065896] [ 0.07318455 -0.01359074 0.99722581 -0.47177658] [ 0. 0. 0. 1. ]] SLAMing on 152.839072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.33, Y:-2.21, Z:-0.47 [[ 9.96198429e-01 -4.65083200e-02 -7.36591285e-02 7.33345493e+00] [ 4.67895194e-02 9.98902572e-01 2.09566940e-03 -2.21120068e+00] [ 7.34808269e-02 -5.53417778e-03 9.97281275e-01 -4.72098844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.869072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.36, Y:-2.21, Z:-0.47 [[ 9.96231579e-01 -4.60428137e-02 -7.35030616e-02 7.36162864e+00] [ 4.63208864e-02 9.98924442e-01 2.08205941e-03 -2.21363806e+00] [ 7.33281409e-02 -5.47894029e-03 9.97292818e-01 -4.70033499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.899072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.39, Y:-2.22, Z:-0.47 [[ 9.96307159e-01 -4.48193933e-02 -7.32343355e-02 7.38971628e+00] [ 4.50906607e-02 9.98980787e-01 2.05416214e-03 -2.21702661e+00] [ 7.30676279e-02 -5.34876102e-03 9.97312645e-01 -4.67999843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.929072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.42, Y:-2.22, Z:-0.47 [[ 9.96314012e-01 -4.46606720e-02 -7.32380658e-02 7.41618775e+00] [ 4.49300047e-02 9.98988068e-01 2.03329753e-03 -2.21905644e+00] [ 7.30731454e-02 -5.31638946e-03 9.97312414e-01 -4.66035972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.959072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.44, Y:-2.22, Z:-0.47 [[ 9.96242387e-01 -4.35158729e-02 -7.48830773e-02 7.44319441e+00] [ 4.31538878e-02 9.99047642e-01 -6.44602389e-03 -2.21962351e+00] [ 7.50922661e-02 3.19030631e-03 9.97171487e-01 -4.67932040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.989072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.47, Y:-2.23, Z:-0.46 [[ 0.99646963 -0.04245266 -0.07242966 7.47093424] [ 0.04330293 0.99900983 0.01020901 -2.22718805] [ 0.07192454 -0.01330938 0.99732127 -0.45971644] [ 0. 0. 0. 1. ]] SLAMing on 153.019072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.50, Y:-2.23, Z:-0.46 [[ 9.96404707e-01 -4.26850582e-02 -7.31822710e-02 7.49945675e+00] [ 4.29461718e-02 9.99075391e-01 1.99743218e-03 -2.22753711e+00] [ 7.30293455e-02 -5.13314921e-03 9.97316582e-01 -4.59269000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.049072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.53, Y:-2.23, Z:-0.46 [[ 9.96410334e-01 -4.11946353e-02 -7.39557192e-02 7.52633381e+00] [ 4.14557033e-02 9.99138345e-01 1.99783628e-03 -2.23130881e+00] [ 7.38096947e-02 -5.05655106e-03 9.97259525e-01 -4.57852773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.079072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.55, Y:-2.23, Z:-0.46 [[ 9.96211806e-01 -4.08717236e-02 -7.67563679e-02 7.55460312e+00] [ 4.04671581e-02 9.99157598e-01 -6.81940297e-03 -2.23133763e+00] [ 7.69704289e-02 3.68745768e-03 9.97026557e-01 -4.59271926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.109072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.58, Y:-2.24, Z:-0.45 [[ 0.99648946 -0.03952928 -0.07379832 7.58225177] [ 0.04042017 0.99912636 0.01061716 -2.23717136] [ 0.07331416 -0.01356283 0.99721667 -0.4521158 ] [ 0. 0. 0. 1. ]] SLAMing on 153.13907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.61, Y:-2.24, Z:-0.45 [[ 9.96512760e-01 -3.95492963e-02 -7.34722559e-02 7.61081409e+00] [ 3.97998662e-02 9.99205771e-01 1.94889092e-03 -2.23922372e+00] [ 7.33368248e-02 -4.86628062e-03 9.97295357e-01 -4.52347106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.16907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.64, Y:-2.24, Z:-0.45 [[ 9.96544471e-01 -3.91206510e-02 -7.32713548e-02 7.63913127e+00] [ 3.93671575e-02 9.99222963e-01 1.92258510e-03 -2.24153564e+00] [ 7.31392075e-02 -4.80042652e-03 9.97310189e-01 -4.49958372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.19907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.67, Y:-2.24, Z:-0.45 [[ 9.96597267e-01 -3.85100373e-02 -7.28756785e-02 7.66602348e+00] [ 3.87507472e-02 9.99247117e-01 1.89150837e-03 -2.24355666e+00] [ 7.27479696e-02 -4.70905906e-03 9.97339239e-01 -4.47882826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.22907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.69, Y:-2.24, Z:-0.45 [[ 9.96625619e-01 -3.86299334e-02 -7.24230834e-02 7.69347401e+00] [ 3.88664969e-02 9.99242682e-01 1.85946734e-03 -2.24491152e+00] [ 7.22964050e-02 -4.66802434e-03 9.97372267e-01 -4.45700645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.259072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.72, Y:-2.25, Z:-0.44 [[ 9.96733329e-01 -3.66969116e-02 -7.19444771e-02 7.72072030e+00] [ 3.69238550e-02 9.99316413e-01 1.82655913e-03 -2.24838997e+00] [ 7.18282677e-02 -4.47705980e-03 9.97406966e-01 -4.44017605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.289072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.75, Y:-2.25, Z:-0.44 [[ 9.96759953e-01 -3.59920394e-02 -7.19316954e-02 7.74853460e+00] [ 3.62160716e-02 9.99342340e-01 1.81228834e-03 -2.25046959e+00] [ 7.18191608e-02 -4.41149987e-03 9.97407914e-01 -4.42506087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.319072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.78, Y:-2.25, Z:-0.44 [[ 9.96751293e-01 -3.55251239e-02 -7.22829554e-02 7.77642843e+00] [ 3.57486247e-02 9.99359192e-01 1.80026839e-03 -2.25245372e+00] [ 7.21726812e-02 -4.37843609e-03 9.97382541e-01 -4.39822228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.349072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.80, Y:-2.26, Z:-0.44 [[ 9.96744146e-01 -3.46292293e-02 -7.28143077e-02 7.80339705e+00] [ 3.48521272e-02 9.99390873e-01 1.79247788e-03 -2.25661489e+00] [ 7.27078824e-02 -4.32437534e-03 9.97343904e-01 -4.38224333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.379072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.83, Y:-2.26, Z:-0.44 [[ 9.96727484e-01 -3.48187212e-02 -7.29518987e-02 7.83125817e+00] [ 3.50423024e-02 9.99384233e-01 1.78672445e-03 -2.25869762e+00] [ 7.28447658e-02 -4.33727985e-03 9.97333860e-01 -4.36793116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.409072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.86, Y:-2.26, Z:-0.43 [[ 9.96715294e-01 -3.40549340e-02 -7.34770997e-02 7.85871253e+00] [ 3.42781528e-02 9.99410749e-01 1.77867664e-03 -2.26220658e+00] [ 7.33732305e-02 -4.29149346e-03 9.97295318e-01 -4.34731641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.439072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.89, Y:-2.26, Z:-0.43 [[ 9.96390995e-01 -3.39825921e-02 -7.77828247e-02 7.88733235e+00] [ 3.34531410e-02 9.99407462e-01 -8.10008812e-03 -2.26197723e+00] [ 7.80119974e-02 5.46877507e-03 9.96937421e-01 -4.34937569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.469072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.92, Y:-2.27, Z:-0.43 [[ 0.99679739 -0.03231572 -0.07314813 7.91548568] [ 0.03323032 0.9993836 0.0113208 -2.26811168] [ 0.0727372 -0.01371528 0.99725683 -0.42816908] [ 0. 0. 0. 1. ]] SLAMing on 153.499072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.94, Y:-2.27, Z:-0.43 [[ 9.96520937e-01 -3.16179622e-02 -7.71124251e-02 7.94366983e+00] [ 3.10919747e-02 9.99484412e-01 -8.01241354e-03 -2.26767374e+00] [ 7.73260031e-02 5.58696028e-03 9.96990208e-01 -4.30930601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.529072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.97, Y:-2.27, Z:-0.43 [[ 9.96610672e-01 -3.05893878e-02 -7.63639764e-02 7.97190610e+00] [ 3.07768083e-02 9.99525464e-01 1.27839808e-03 -2.27165401e+00] [ 7.62886336e-02 -3.62430463e-03 9.97079189e-01 -4.26305764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.559072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.00, Y:-2.27, Z:-0.42 [[ 9.96595219e-01 -3.07494062e-02 -7.65012624e-02 7.99938197e+00] [ 3.09657173e-02 9.99519097e-01 1.64268062e-03 -2.27221486e+00] [ 7.64139613e-02 -4.00600412e-03 9.97068131e-01 -4.24026186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.589072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.03, Y:-2.27, Z:-0.42 [[ 9.96535262e-01 -2.96106575e-02 -7.77218109e-02 8.02584268e+00] [ 2.97711670e-02 9.99556329e-01 9.07050028e-04 -2.27458176e+00] [ 7.76604697e-02 -3.21777635e-03 9.96974672e-01 -4.21579670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.619072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.05, Y:-2.28, Z:-0.42 [[ 0.99687154 -0.02893901 -0.07355047 8.05489068] [ 0.02990869 0.99947919 0.01211653 -2.27838901] [ 0.07316153 -0.01427843 0.99721789 -0.41671773] [ 0. 0. 0. 1. ]] SLAMing on 153.649072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.08, Y:-2.28, Z:-0.42 [[ 9.96892591e-01 -2.73810743e-02 -7.38609445e-02 8.08187147e+00] [ 2.75818290e-02 9.99618105e-01 1.69918520e-03 -2.27889684e+00] [ 7.37862118e-02 -3.73112508e-03 9.97267102e-01 -4.17684317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.679072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.11, Y:-2.28, Z:-0.41 [[ 9.96913861e-01 -2.68872562e-02 -7.37551912e-02 8.10948972e+00] [ 2.70853802e-02 9.99631700e-01 1.68716717e-03 -2.28006670e+00] [ 7.36826639e-02 -3.67964774e-03 9.97274950e-01 -4.14853608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.709072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.14, Y:-2.28, Z:-0.41 [[ 9.97031909e-01 -2.47566726e-02 -7.29004811e-02 8.13715401e+00] [ 2.49429938e-02 9.99687519e-01 1.64641051e-03 -2.28226603e+00] [ 7.28369415e-02 -3.45988006e-03 9.97337861e-01 -4.12978286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.739072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.16, Y:-2.28, Z:-0.41 [[ 9.97066998e-01 -2.35493663e-02 -7.28205234e-02 8.16377148e+00] [ 2.37304775e-02 9.99717075e-01 1.62278886e-03 -2.28373684e+00] [ 7.27617051e-02 -3.34609500e-03 9.97343741e-01 -4.10859865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.769072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.19, Y:-2.28, Z:-0.41 [[ 9.96668759e-01 -2.28823958e-02 -7.82801389e-02 8.19144627e+00] [ 2.23202660e-02 9.99718474e-01 -8.04855399e-03 -2.28341118e+00] [ 7.84422712e-02 6.27450880e-03 9.96898912e-01 -4.09873252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.799072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.22, Y:-2.29, Z:-0.40 [[ 0.99704978 -0.01972784 -0.07417918 8.21835418] [ 0.0206132 0.99972492 0.01118874 -2.29012541] [ 0.07393804 -0.0126848 0.99718216 -0.40293008] [ 0. 0. 0. 1. ]] SLAMing on 153.829072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.25, Y:-2.29, Z:-0.40 [[ 9.97045403e-01 -1.92603492e-02 -7.43606343e-02 8.24585188e+00] [ 1.94344253e-02 9.99809824e-01 1.61803426e-03 -2.28947381e+00] [ 7.43153288e-02 -3.05840981e-03 9.97230103e-01 -4.04095712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.859072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.27, Y:-2.29, Z:-0.40 [[ 9.96763166e-01 -1.82620872e-02 -7.82923169e-02 8.27396189e+00] [ 1.77704387e-02 9.99817786e-01 -6.97183127e-03 -2.28908362e+00] [ 7.84053711e-02 5.55797579e-03 9.96906067e-01 -4.03949680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.88907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.30, Y:-2.29, Z:-0.40 [[ 0.99716259 -0.01644582 -0.0734596 8.30139042] [ 0.01723222 0.99980066 0.01008427 -2.29390395] [ 0.07327912 -0.01132153 0.99724721 -0.39871698] [ 0. 0. 0. 1. ]] SLAMing on 153.91907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.33, Y:-2.29, Z:-0.40 [[ 9.97250383e-01 -1.47877242e-02 -7.26154089e-02 8.32861446e+00] [ 1.49392194e-02 9.99887212e-01 1.54355525e-03 -2.29389959e+00] [ 7.25843931e-02 -2.62412858e-03 9.97358822e-01 -3.98118701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.94907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.36, Y:-2.30, Z:-0.40 [[ 9.97339577e-01 -1.37938449e-02 -7.15786106e-02 8.35629626e+00] [ 1.39378648e-02 9.99901719e-01 1.51295205e-03 -2.29527372e+00] [ 7.15507064e-02 -2.50657996e-03 9.97433814e-01 -3.96329546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.97907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.38, Y:-2.30, Z:-0.39 [[ 9.97348988e-01 -1.08644805e-02 -7.19510895e-02 8.38319782e+00] [ 1.10009008e-02 9.99938363e-01 1.49999660e-03 -2.29731207e+00] [ 7.19303580e-02 -2.28754689e-03 9.97407034e-01 -3.93352678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.009072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.41, Y:-2.30, Z:-0.39 [[ 9.97312649e-01 -9.23815520e-03 -7.26783088e-02 8.41083863e+00] [ 9.37239971e-03 9.99954944e-01 1.50627904e-03 -2.29825433e+00] [ 7.26611190e-02 -2.18340130e-03 9.97354297e-01 -3.91039231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.039072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.44, Y:-2.30, Z:-0.39 [[ 9.97299163e-01 -7.67162602e-03 -7.30446813e-02 8.43920421e+00] [ 7.80153931e-03 9.99968452e-01 1.49339585e-03 -2.29879857e+00] [ 7.30309201e-02 -2.05922338e-03 9.97327551e-01 -3.89459289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.069072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.47, Y:-2.30, Z:-0.39 [[ 9.97182673e-01 -4.61011265e-03 -7.48696386e-02 8.46690895e+00] [ 4.73637329e-03 9.99987645e-01 1.50893866e-03 -2.29963012e+00] [ 7.48617572e-02 -1.85929804e-03 9.97192188e-01 -3.88372470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.099072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.49, Y:-2.30, Z:-0.39 [[ 9.97185273e-01 -2.83552437e-03 -7.49232289e-02 8.49431181e+00] [ 2.95535993e-03 9.99994525e-01 1.48862447e-03 -2.30032073e+00] [ 7.49185977e-02 -1.70585951e-03 9.97188194e-01 -3.86892381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.129072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.52, Y:-2.30, Z:-0.39 [[ 9.97227519e-01 -1.15887670e-03 -7.44038489e-02 8.52106831e+00] [ 1.27170638e-03 9.99998112e-01 1.46909182e-03 -2.30120198e+00] [ 7.44020059e-02 -1.55963864e-03 9.97227110e-01 -3.85203295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.159072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.55, Y:-2.30, Z:-0.38 [[ 9.97305662e-01 2.09490436e-03 -7.33282261e-02 8.54928434e+00] [-1.99474510e-03 9.99996975e-01 1.43911080e-03 -2.30197234e+00] [ 7.33310191e-02 -1.28896223e-03 9.97306824e-01 -3.82398382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.189072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.58, Y:-2.30, Z:-0.38 [[ 9.97351336e-01 4.01879409e-03 -7.26234259e-02 8.57576981e+00] [-3.92720636e-03 9.99991303e-01 1.40388073e-03 -2.30221223e+00] [ 7.26284362e-02 -1.11495514e-03 9.97358445e-01 -3.80075352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.219072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.60, Y:-2.30, Z:-0.38 [[ 9.97377803e-01 5.78816576e-03 -7.21388574e-02 8.60244273e+00] [-5.70308076e-03 9.99982778e-01 1.38538252e-03 -2.30226617e+00] [ 7.21456339e-02 -9.70336040e-04 9.97393636e-01 -3.77825494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.249072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.63, Y:-2.30, Z:-0.38 [[ 9.97331315e-01 9.57644730e-03 -7.23777581e-02 8.63090353e+00] [-9.50137729e-03 9.99953907e-01 1.38142966e-03 -2.30185248e+00] [ 7.23876511e-02 -6.90054669e-04 9.97376334e-01 -3.75579758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.279072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.66, Y:-2.30, Z:-0.37 [[ 9.97235762e-01 1.16300804e-02 -7.33864786e-02 8.65768729e+00] [-1.15600327e-02 9.99932229e-01 1.37919449e-03 -2.30217242e+00] [ 7.33975453e-02 -5.27031980e-04 9.97302623e-01 -3.73145378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.309072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.69, Y:-2.30, Z:-0.37 [[ 9.97156793e-01 1.35085548e-02 -7.41339964e-02 8.68528370e+00] [-1.34429469e-02 9.99908682e-01 1.38391916e-03 -2.30228435e+00] [ 7.41459214e-02 -3.83405019e-04 9.97247329e-01 -3.71600288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.339072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.71, Y:-2.30, Z:-0.37 [[ 9.96854148e-01 1.47553568e-02 -7.78722487e-02 8.71300823e+00] [-1.51310751e-02 9.99876542e-01 -4.23693749e-03 -2.30121535e+00] [ 7.78001172e-02 5.40189955e-03 9.96954343e-01 -3.70405617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.369072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.74, Y:-2.30, Z:-0.37 [[ 9.97007368e-01 1.90101009e-02 -7.49327959e-02 8.74049433e+00] [-1.85563186e-02 9.99805048e-01 6.74749283e-03 -2.30329473e+00] [ 7.50464581e-02 -5.33682323e-03 9.97165757e-01 -3.65809199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.399072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.77, Y:-2.30, Z:-0.37 [[ 9.97001970e-01 2.05064443e-02 -7.46093705e-02 8.76823608e+00] [-2.04632855e-02 9.99789703e-01 1.34294041e-03 -2.30217886e+00] [ 7.46212193e-02 1.87838617e-04 9.97211933e-01 -3.65596692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.429072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.80, Y:-2.30, Z:-0.36 [[ 9.96990651e-01 2.41167740e-02 -7.36751195e-02 8.79511142e+00] [-2.40851121e-02 9.99709042e-01 1.31829424e-03 -2.30130283e+00] [ 7.36854762e-02 4.60146476e-04 9.97281424e-01 -3.64235546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.459072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.82, Y:-2.30, Z:-0.36 [[ 9.96920678e-01 2.58920275e-02 -7.40186809e-02 8.82342666e+00] [-2.58656427e-02 9.99664563e-01 1.31518609e-03 -2.30119261e+00] [ 7.40279052e-02 6.03404538e-04 9.97255988e-01 -3.61478867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.489072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.85, Y:-2.30, Z:-0.36 [[ 9.96846243e-01 2.76258165e-02 -7.43934315e-02 8.84999629e+00] [-2.76045557e-02 9.99618058e-01 1.31419326e-03 -2.30123799e+00] [ 7.44013232e-02 7.43549008e-04 9.97228103e-01 -3.59016462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.519072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.88, Y:-2.30, Z:-0.36 [[ 9.96745240e-01 3.12849342e-02 -7.42979161e-02 8.87807236e+00] [-3.12745300e-02 9.99509982e-01 1.30373894e-03 -2.30092762e+00] [ 7.43022961e-02 1.02413683e-03 9.97235238e-01 -3.57011220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.549072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.91, Y:-2.30, Z:-0.35 [[ 9.96699793e-01 3.27710269e-02 -7.42669649e-02 8.90596995e+00] [-3.27653000e-02 9.99462233e-01 1.29581121e-03 -2.30055330e+00] [ 7.42694917e-02 1.14184462e-03 9.97237554e-01 -3.54694033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.579072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.93, Y:-2.30, Z:-0.35 [[ 9.96696954e-01 3.41694500e-02 -7.36724611e-02 8.93300552e+00] [-3.41681856e-02 9.99415280e-01 1.27787214e-03 -2.29966733e+00] [ 7.36730475e-02 1.24360305e-03 9.97281673e-01 -3.52859013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.609072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.96, Y:-2.30, Z:-0.35 [[ 9.96600129e-01 3.73986803e-02 -7.34133558e-02 8.96151281e+00] [-3.74068167e-02 9.99299320e-01 1.26458391e-03 -2.29787736e+00] [ 7.34092103e-02 1.48587546e-03 9.97300797e-01 -3.51234117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.63907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.99, Y:-2.30, Z:-0.35 [[ 9.96489267e-01 3.92497556e-02 -7.39499600e-02 8.98902127e+00] [-3.92636707e-02 9.99228083e-01 1.26614768e-03 -2.29751366e+00] [ 7.39425727e-02 1.64184431e-03 9.97261149e-01 -3.49165077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.66907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.02, Y:-2.30, Z:-0.35 [[ 9.96409341e-01 4.09117825e-02 -7.41259210e-02 9.01665150e+00] [-4.09309203e-02 9.99161182e-01 1.26155185e-03 -2.29728285e+00] [ 7.41153552e-02 1.77702011e-03 9.97248092e-01 -3.47318127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.69907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.05, Y:-2.30, Z:-0.35 [[ 9.96282030e-01 4.36361134e-02 -7.42832817e-02 9.04592637e+00] [-4.36633586e-02 9.99045509e-01 1.25793475e-03 -2.29586828e+00] [ 7.42672704e-02 1.99019979e-03 9.97236387e-01 -3.45013474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.72907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.07, Y:-2.30, Z:-0.34 [[ 9.96241672e-01 4.46521003e-02 -7.42207606e-02 9.07487939e+00] [-4.46824960e-02 9.99000454e-01 1.25172503e-03 -2.29550696e+00] [ 7.42024657e-02 2.06934820e-03 9.97241050e-01 -3.42720030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.759072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.10, Y:-2.29, Z:-0.34 [[ 9.96209057e-01 4.58555542e-02 -7.39241706e-02 9.10271383e+00] [-4.58893895e-02 9.98945755e-01 1.24162194e-03 -2.29491581e+00] [ 7.39031717e-02 2.15542003e-03 9.97263092e-01 -3.41268895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.789072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.13, Y:-2.29, Z:-0.34 [[ 9.96157642e-01 4.65549100e-02 -7.41794653e-02 9.13143006e+00] [-4.65914287e-02 9.98913261e-01 1.23901179e-03 -2.29434115e+00] [ 7.41565337e-02 2.22187620e-03 9.97244139e-01 -3.38953407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.819072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.16, Y:-2.29, Z:-0.34 [[ 9.96070999e-01 4.84035406e-02 -7.41597071e-02 9.15935769e+00] [-4.84455243e-02 9.98825064e-01 1.23365813e-03 -2.29312720e+00] [ 7.41322877e-02 2.36389481e-03 9.97245615e-01 -3.37006587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.849072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.19, Y:-2.29, Z:-0.33 [[ 9.95981019e-01 4.94550191e-02 -7.46726917e-02 9.18831487e+00] [-4.95010094e-02 9.98773309e-01 1.23589086e-03 -2.29295310e+00] [ 7.46422123e-02 2.46544978e-03 9.97207331e-01 -3.34694196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.879072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.22, Y:-2.29, Z:-0.33 [[ 9.95937675e-01 5.02101568e-02 -7.47468218e-02 9.21738976e+00] [-5.02587456e-02 9.98735471e-01 1.23197729e-03 -2.29265780e+00] [ 7.47141600e-02 2.52970890e-03 9.97201782e-01 -3.33285774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.909072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.25, Y:-2.29, Z:-0.33 [[ 9.95853028e-01 5.19945692e-02 -7.46546206e-02 9.24602784e+00] [-5.20484253e-02 9.98643810e-01 1.22527935e-03 -2.29119819e+00] [ 7.46170826e-02 2.66545729e-03 9.97208697e-01 -3.30769834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.939072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.27, Y:-2.29, Z:-0.33 [[ 9.95841306e-01 5.31526089e-02 -7.39925177e-02 9.27464095e+00] [-5.32090713e-02 9.98582662e-01 1.20934756e-03 -2.29090466e+00] [ 7.39519252e-02 2.73275489e-03 9.97258063e-01 -3.28975995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.969072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.30, Y:-2.29, Z:-0.33 [[ 9.95791967e-01 5.40332608e-02 -7.40186809e-02 9.30192272e+00] [-5.40925687e-02 9.98535199e-01 1.20466091e-03 -2.29032704e+00] [ 7.39753500e-02 2.80426893e-03 9.97256127e-01 -3.26632424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.999072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.33, Y:-2.29, Z:-0.32 [[ 9.95674317e-01 5.59553093e-02 -7.41731627e-02 9.33068225e+00] [-5.60206569e-02 9.98428888e-01 1.20081185e-03 -2.28864412e+00] [ 7.41238202e-02 2.95961178e-03 9.97244654e-01 -3.23955680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.029072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.36, Y:-2.29, Z:-0.32 [[ 9.95643200e-01 5.65448760e-02 -7.41437432e-02 9.35848265e+00] [-5.66121786e-02 9.98395529e-01 1.19525456e-03 -2.28739143e+00] [ 7.40923672e-02 3.00739176e-03 9.97246848e-01 -3.22700777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.059072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.39, Y:-2.29, Z:-0.32 [[ 9.95542995e-01 5.74830148e-02 -7.47652876e-02 9.38721905e+00] [-5.75545733e-02 9.98341642e-01 1.19888612e-03 -2.28678457e+00] [ 7.47102155e-02 3.10954155e-03 9.97200438e-01 -3.19899872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.089072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.42, Y:-2.28, Z:-0.32 [[ 9.95388331e-01 5.88129167e-02 -7.57833131e-02 9.41653215e+00] [-5.88906845e-02 9.98263704e-01 1.21002695e-03 -2.28478756e+00] [ 7.57228961e-02 3.25848448e-03 9.97123576e-01 -3.18463529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.119072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.45, Y:-2.28, Z:-0.32 [[ 9.95337001e-01 5.96003648e-02 -7.58422806e-02 9.44571830e+00] [-5.96809242e-02 9.98216777e-01 1.20581749e-03 -2.28446489e+00] [ 7.57789041e-02 3.32614264e-03 9.97119097e-01 -3.16436041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.149072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.47, Y:-2.28, Z:-0.31 [[ 9.95318239e-01 5.98993755e-02 -7.58529420e-02 9.47412702e+00] [-5.99812135e-02 9.98198784e-01 1.20084931e-03 -2.28385573e+00] [ 7.57882446e-02 3.35452429e-03 9.97118292e-01 -3.14430223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.179072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.50, Y:-2.28, Z:-0.31 [[ 9.95337882e-01 6.03708793e-02 -7.52187267e-02 9.50222365e+00] [-6.04530696e-02 9.98170336e-01 1.18575006e-03 -2.28205577e+00] [ 7.51526865e-02 3.36698096e-03 9.97166354e-01 -3.12191372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.209072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.53, Y:-2.28, Z:-0.31 [[ 9.95339001e-01 6.05529032e-02 -7.50574422e-02 9.53054187e+00] [-6.06357256e-02 9.98159268e-01 1.17695182e-03 -2.28131973e+00] [ 7.49905493e-02 3.37969642e-03 9.97178517e-01 -3.09969647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.239072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.56, Y:-2.28, Z:-0.31 [[ 9.95388535e-01 6.04725109e-02 -7.44630083e-02 9.55895741e+00] [-6.05541648e-02 9.98164236e-01 1.16267429e-03 -2.28066671e+00] [ 7.43966216e-02 3.35173261e-03 9.97223099e-01 -3.07779918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.269072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.59, Y:-2.28, Z:-0.31 [[ 9.95357193e-01 6.07284266e-02 -7.46734025e-02 9.58726150e+00] [-6.08116404e-02 9.98148584e-01 1.16091393e-03 -2.28041145e+00] [ 7.46056515e-02 3.38548808e-03 9.97207368e-01 -3.05841061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.299072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.62, Y:-2.28, Z:-0.30 [[ 9.95389624e-01 5.99938473e-02 -7.48347220e-02 9.61626949e+00] [-6.00757367e-02 9.98193150e-01 1.15831925e-03 -2.27875822e+00] [ 7.47689989e-02 3.34277209e-03 9.97195278e-01 -3.03916855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.329072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.64, Y:-2.28, Z:-0.30 [[ 9.95372388e-01 5.96654226e-02 -7.53249456e-02 9.64429148e+00] [-5.97478464e-02 9.98212827e-01 1.16075343e-03 -2.27850107e+00] [ 7.52595837e-02 3.34512136e-03 9.97158365e-01 -3.01678930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.359072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.67, Y:-2.28, Z:-0.30 [[ 9.95421301e-01 5.93566319e-02 -7.49214572e-02 9.67300587e+00] [-5.94377679e-02 9.98231353e-01 1.14827893e-03 -2.27838989e+00] [ 7.48571056e-02 3.31014288e-03 9.97188777e-01 -2.99930732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.38907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.70, Y:-2.28, Z:-0.30 [[ 9.95475983e-01 5.85814336e-02 -7.48049673e-02 9.70208868e+00] [-5.86605158e-02 9.98277337e-01 1.14140616e-03 -2.27757961e+00] [ 7.47429687e-02 3.25185555e-03 9.97197530e-01 -2.98175051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.41907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.73, Y:-2.28, Z:-0.30 [[ 9.95560473e-01 5.77312546e-02 -7.43400789e-02 9.73009166e+00] [-5.78073685e-02 9.98327117e-01 1.12921393e-03 -2.27620361e+00] [ 7.42809076e-02 3.17320358e-03 9.97232309e-01 -2.96151558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.44907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.76, Y:-2.28, Z:-0.29 [[ 9.95596801e-01 5.74139211e-02 -7.40989277e-02 9.75849321e+00] [-5.74891319e-02 9.98345505e-01 1.11923750e-03 -2.27613259e+00] [ 7.40405912e-02 3.14557375e-03 9.97250268e-01 -2.93629860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.47907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.79, Y:-2.28, Z:-0.29 [[ 9.95599735e-01 5.73629186e-02 -7.40990034e-02 9.78775456e+00] [-5.74383625e-02 9.98348433e-01 1.11420298e-03 -2.27648693e+00] [ 7.40405378e-02 3.14682522e-03 9.97250268e-01 -2.91459614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.509072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.82, Y:-2.28, Z:-0.29 [[ 9.95627790e-01 5.64088718e-02 -7.44536319e-02 9.81594315e+00] [-5.64826702e-02 9.98402956e-01 1.11570452e-03 -2.27575316e+00] [ 7.43976618e-02 3.09451351e-03 9.97223852e-01 -2.89162516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.539072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.85, Y:-2.28, Z:-0.29 [[ 9.95656842e-01 5.57493844e-02 -7.45617869e-02 9.84514486e+00] [-5.58220252e-02 9.98440117e-01 1.11103203e-03 -2.27503627e+00] [ 7.45074185e-02 3.05598331e-03 9.97215777e-01 -2.87145230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.569072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.87, Y:-2.27, Z:-0.28 [[ 9.95648595e-01 5.55271349e-02 -7.48372450e-02 9.87269320e+00] [-5.56000763e-02 9.98452502e-01 1.10999459e-03 -2.27454931e+00] [ 7.47830694e-02 3.05579198e-03 9.97195144e-01 -2.84593872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.599072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.90, Y:-2.27, Z:-0.28 [[ 9.95684508e-01 5.47509832e-02 -7.49312399e-02 9.90116181e+00] [-5.48223941e-02 9.98495510e-01 1.10504548e-03 -2.27244118e+00] [ 7.48790089e-02 3.00763329e-03 9.97188091e-01 -2.82833624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.629072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.93, Y:-2.27, Z:-0.28 [[ 9.95668850e-01 5.46567499e-02 -7.52075803e-02 9.92972069e+00] [-5.46111955e-02 9.98504142e-01 2.66362619e-03 -2.27255645e+00] [ 7.52406656e-02 1.45508625e-03 9.97164342e-01 -2.80127186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.659072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.96, Y:-2.27, Z:-0.28 [[ 9.95719550e-01 5.38519672e-02 -7.51168659e-02 9.95704477e+00] [-5.40293545e-02 9.98539293e-01 -3.29876118e-04 -2.27093465e+00] [ 7.49893777e-02 4.38697988e-03 9.97174683e-01 -2.79247508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.689072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.98, Y:-2.27, Z:-0.28 [[ 9.95668712e-01 5.35694149e-02 -7.59877229e-02 9.98435487e+00] [-5.36408742e-02 9.98559684e-01 1.10172855e-03 -2.26958274e+00] [ 7.59372955e-02 2.97909124e-03 9.97108145e-01 -2.76425936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.719072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.01, Y:-2.27, Z:-0.27 [[ 9.95636213e-01 5.38896400e-02 -7.61868623e-02 1.00127474e+01] [-5.39629087e-02 9.98542337e-01 1.09810290e-03 -2.26924166e+00] [ 7.61349839e-02 3.01795367e-03 9.97092953e-01 -2.73994491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.749072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.04, Y:-2.27, Z:-0.27 [[ 9.95623274e-01 5.41448074e-02 -7.61750338e-02 1.00406817e+01] [-5.42191996e-02 9.98528460e-01 1.09266865e-03 -2.26812466e+00] [ 7.61221015e-02 3.04226302e-03 9.97093862e-01 -2.72281354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.779072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.07, Y:-2.27, Z:-0.27 [[ 9.95683090e-01 5.42956283e-02 -7.52806075e-02 1.00697072e+01] [-5.43691802e-02 9.98520325e-01 1.07351796e-03 -2.26510469e+00] [ 7.52275040e-02 3.02406123e-03 9.97161811e-01 -2.70880033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.809072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.10, Y:-2.26, Z:-0.27 [[ 9.95681456e-01 5.44022221e-02 -7.52252412e-02 1.00989189e+01] [-5.44763529e-02 9.98514490e-01 1.06762987e-03 -2.26410910e+00] [ 7.51715748e-02 3.03497752e-03 9.97165996e-01 -2.68522120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.839072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.13, Y:-2.26, Z:-0.27 [[ 9.95680742e-01 5.49421449e-02 -7.48413044e-02 1.01271576e+01] [-5.50174220e-02 9.98484835e-01 1.05704988e-03 -2.26318861e+00] [ 7.47859841e-02 3.06509141e-03 9.97194897e-01 -2.66246649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.869072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.16, Y:-2.26, Z:-0.26 [[ 9.95572903e-01 5.61451058e-02 -7.53811835e-02 1.01557506e+01] [-5.62254032e-02 9.98417540e-01 1.05822951e-03 -2.26111385e+00] [ 7.53213102e-02 3.18479281e-03 9.97154229e-01 -2.63278055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.899072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.18, Y:-2.26, Z:-0.26 [[ 9.95536842e-01 5.67672957e-02 -7.53914512e-02 1.01845718e+01] [-5.68497857e-02 9.98382188e-01 1.05317961e-03 -2.25967754e+00] [ 7.53292681e-02 3.23750874e-03 9.97153459e-01 -2.61227560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.929072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.21, Y:-2.26, Z:-0.26 [[ 9.95482645e-01 5.74895134e-02 -7.55596431e-02 1.02120278e+01] [-5.75748464e-02 9.98340640e-01 1.05026015e-03 -2.25820832e+00] [ 7.54946414e-02 3.30481909e-03 9.97140731e-01 -2.59024608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.959072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.24, Y:-2.26, Z:-0.26 [[ 9.95408946e-01 5.83049179e-02 -7.59049854e-02 1.02410417e+01] [-5.83938944e-02 9.98293070e-01 1.04855623e-03 -2.25683594e+00] [ 7.58365569e-02 3.38864544e-03 9.97114504e-01 -2.56447616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.989072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.27, Y:-2.25, Z:-0.26 [[ 9.95347049e-01 5.98579271e-02 -7.55068282e-02 1.02687719e+01] [-5.99508143e-02 9.98200793e-01 1.03784320e-03 -2.25392483e+00] [ 7.54330989e-02 3.49368166e-03 9.97144745e-01 -2.55039277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.019072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.30, Y:-2.25, Z:-0.25 [[ 9.95315651e-01 6.05806484e-02 -7.53441469e-02 1.02965262e+01] [-6.06756830e-02 9.98157003e-01 1.02916372e-03 -2.25265553e+00] [ 7.52676352e-02 3.54721482e-03 9.97157059e-01 -2.53259127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.049072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.33, Y:-2.25, Z:-0.25 [[ 9.95245331e-01 6.14800072e-02 -7.55442878e-02 1.03253655e+01] [-6.15785898e-02 9.98101711e-01 1.02584042e-03 -2.25140710e+00] [ 7.54639516e-02 3.63094782e-03 9.97141920e-01 -2.50147745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.079072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.35, Y:-2.25, Z:-0.25 [[ 9.95253897e-01 6.19686907e-02 -7.50304073e-02 1.03541565e+01] [-6.20676884e-02 9.98071427e-01 1.01386676e-03 -2.24936076e+00] [ 7.49485337e-02 3.64790910e-03 9.97180731e-01 -2.48191528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.109072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.38, Y:-2.25, Z:-0.25 [[ 9.95136752e-01 6.40993296e-02 -7.47938571e-02 1.03833270e+01] [-6.42040709e-02 9.97936284e-01 1.00564705e-03 -2.24616245e+00] [ 7.47039651e-02 3.80131376e-03 9.97198510e-01 -2.46125095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.13907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.41, Y:-2.24, Z:-0.24 [[ 9.95087922e-01 6.50233679e-02 -7.46457586e-02 1.04111809e+01] [-6.51306594e-02 9.97876245e-01 9.98604995e-04 -2.24462661e+00] [ 7.45521619e-02 3.86802771e-03 9.97209614e-01 -2.43866072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.16907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.44, Y:-2.24, Z:-0.24 [[ 9.94988306e-01 6.63044301e-02 -7.48464632e-02 1.04402557e+01] [-6.64163824e-02 9.97791498e-01 9.95007473e-04 -2.24158673e+00] [ 7.47471381e-02 3.98101052e-03 9.97194573e-01 -2.41743379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.19907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.47, Y:-2.24, Z:-0.24 [[ 9.94921538e-01 6.64783244e-02 -7.55762203e-02 1.04684497e+01] [-6.65933784e-02 9.97779697e-01 9.99465574e-04 -2.24004204e+00] [ 7.54748609e-02 4.03848601e-03 9.97139527e-01 -2.39726790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.22907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.50, Y:-2.24, Z:-0.24 [[ 9.94831765e-01 6.71847101e-02 -7.61312952e-02 1.04973606e+01] [-6.73040756e-02 9.97732009e-01 9.99634677e-04 -2.23904616e+00] [ 7.60257903e-02 4.12947811e-03 9.97097300e-01 -2.37845592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.259072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.52, Y:-2.24, Z:-0.24 [[ 9.94786929e-01 6.77192084e-02 -7.62435265e-02 1.05249810e+01] [-6.78408906e-02 9.97695656e-01 9.95872675e-04 -2.23542613e+00] [ 7.61352749e-02 4.18174761e-03 9.97088729e-01 -2.36501475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.289072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.55, Y:-2.23, Z:-0.24 [[ 9.94765981e-01 6.78870422e-02 -7.63674885e-02 1.05533393e+01] [-6.80101052e-02 9.97684140e-01 9.91080886e-04 -2.23393523e+00] [ 7.62579137e-02 4.20786738e-03 9.97079247e-01 -2.35024643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.319072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.58, Y:-2.23, Z:-0.23 [[ 9.94735816e-01 6.83698757e-02 -7.63296552e-02 1.05817639e+01] [-6.84946199e-02 9.97650999e-01 9.85503546e-04 -2.23270793e+00] [ 7.62177355e-02 4.24785505e-03 9.97082149e-01 -2.32710645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.349072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.61, Y:-2.23, Z:-0.23 [[ 9.94764062e-01 6.86753750e-02 -7.56845713e-02 1.06094345e+01] [-6.87992770e-02 9.97630049e-01 9.72053548e-04 -2.22984062e+00] [ 7.55719587e-02 4.24007985e-03 9.97131336e-01 -2.31281764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.379072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.64, Y:-2.23, Z:-0.23 [[ 9.94766084e-01 6.87678345e-02 -7.55739559e-02 1.06385515e+01] [-6.88921172e-02 9.97623650e-01 9.64305721e-04 -2.22886742e+00] [ 7.54606790e-02 4.24719120e-03 9.97139733e-01 -2.28454829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.409072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.67, Y:-2.23, Z:-0.23 [[ 9.94795122e-01 6.88951471e-02 -7.50741234e-02 1.06666696e+01] [-6.90185254e-02 9.97614923e-01 9.52850924e-04 -2.22780300e+00] [ 7.49607126e-02 4.23361384e-03 9.97177501e-01 -2.26847453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.439072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.69, Y:-2.23, Z:-0.22 [[ 9.94841034e-01 6.83886804e-02 -7.49286722e-02 1.06949753e+01] [-6.85106198e-02 9.97649940e-01 9.44725526e-04 -2.22603339e+00] [ 7.48171938e-02 4.19355805e-03 9.97188448e-01 -2.24433567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.469072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.72, Y:-2.22, Z:-0.22 [[ 9.94845064e-01 6.84097639e-02 -7.48558825e-02 1.07241377e+01] [-6.85318985e-02 9.97648484e-01 9.38820518e-04 -2.22320718e+00] [ 7.47440822e-02 4.19603479e-03 9.97193921e-01 -2.22408446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.499072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.75, Y:-2.22, Z:-0.22 [[ 9.94837300e-01 6.80796621e-02 -7.52589291e-02 1.07533416e+01] [-6.82025652e-02 9.97671052e-01 9.38789924e-04 -2.22203184e+00] [ 7.51475675e-02 4.19890879e-03 9.97163584e-01 -2.19962152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.529072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.78, Y:-2.22, Z:-0.22 [[ 9.94834349e-01 6.81187293e-02 -7.52625909e-02 1.07810043e+01] [-6.82421372e-02 9.97668351e-01 9.33772828e-04 -2.22100772e+00] [ 7.51507124e-02 4.20713077e-03 9.97163312e-01 -2.18732273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.559072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.81, Y:-2.22, Z:-0.22 [[ 9.94853531e-01 6.69060918e-02 -7.60922312e-02 1.08101281e+01] [-6.70292022e-02 9.97750573e-01 9.37716023e-04 -2.21921655e+00] [ 7.59838062e-02 4.16751146e-03 9.97100343e-01 -2.16489651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.589072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.84, Y:-2.22, Z:-0.21 [[ 9.94870195e-01 6.62370334e-02 -7.64588178e-02 1.08387149e+01] [-6.63597644e-02 9.97795321e-01 9.37110687e-04 -2.21835381e+00] [ 7.63523221e-02 4.14148564e-03 9.97072300e-01 -2.14311283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.619072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.87, Y:-2.22, Z:-0.21 [[ 9.94913522e-01 6.53121396e-02 -7.66903449e-02 1.08677059e+01] [-6.54332743e-02 9.97856509e-01 9.34854213e-04 -2.21755849e+00] [ 7.65870172e-02 4.08800128e-03 9.97054521e-01 -2.13119853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.649072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.90, Y:-2.22, Z:-0.21 [[ 9.94968768e-01 6.38955252e-02 -7.71654857e-02 1.08963508e+01] [-6.40143365e-02 9.97948541e-01 9.35399925e-04 -2.21567802e+00] [ 7.70669517e-02 4.00900366e-03 9.97017860e-01 -2.11121433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.679072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.92, Y:-2.21, Z:-0.21 [[ 9.95078363e-01 6.29129737e-02 -7.65572294e-02 1.09243814e+01] [-6.30274157e-02 9.98011369e-01 9.22778909e-04 -2.21429113e+00] [ 7.64630401e-02 3.90696699e-03 9.97064762e-01 -2.09564465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.709072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.95, Y:-2.21, Z:-0.21 [[ 9.95173013e-01 6.19060094e-02 -7.61467069e-02 1.09524419e+01] [-6.20167797e-02 9.98074691e-01 9.11342223e-04 -2.21316499e+00] [ 7.60565186e-02 3.81543037e-03 9.97096208e-01 -2.07127806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.739072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.98, Y:-2.21, Z:-0.21 [[ 9.95284223e-01 6.10202206e-02 -7.54045603e-02 1.09808982e+01] [-6.11268560e-02 9.98129604e-01 8.95082185e-04 -2.21228756e+00] [ 7.53181421e-02 3.71838252e-03 9.97152622e-01 -2.05785859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.769072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.01, Y:-2.21, Z:-0.20 [[ 9.95430763e-01 5.86041658e-02 -7.53866559e-02 1.10083521e+01] [-5.87044093e-02 9.98275015e-01 8.87418150e-04 -2.21122975e+00] [ 7.53086214e-02 3.54216578e-03 9.97153982e-01 -2.02553252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.799072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.04, Y:-2.21, Z:-0.20 [[ 9.95524212e-01 5.71641795e-02 -7.52582169e-02 1.10364494e+01] [-5.72604458e-02 9.98358887e-01 8.79723516e-04 -2.21095688e+00] [ 7.51849983e-02 3.43353298e-03 9.97163691e-01 -2.00751871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.829072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.06, Y:-2.21, Z:-0.20 [[ 9.95601655e-01 5.43399154e-02 -7.63185252e-02 1.10637907e+01] [-5.44312580e-02 9.98517129e-01 8.84263611e-04 -2.20956622e+00] [ 7.62534055e-02 3.27373902e-03 9.97083096e-01 -1.98694403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.859072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.09, Y:-2.21, Z:-0.20 [[ 9.95641744e-01 5.30064676e-02 -7.67322150e-02 1.10919555e+01] [-5.30955509e-02 9.98589049e-01 8.80089741e-04 -2.20888935e+00] [ 7.66706000e-02 3.19788514e-03 9.97051349e-01 -1.97091723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.88907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.12, Y:-2.21, Z:-0.20 [[ 9.95688683e-01 5.15032782e-02 -7.71456938e-02 1.11194997e+01] [-5.15894219e-02 9.98667994e-01 8.77196780e-04 -2.20820374e+00] [ 7.70881138e-02 3.10648684e-03 9.97019444e-01 -1.95528919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.91907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.15, Y:-2.21, Z:-0.19 [[ 9.95880975e-01 4.83266305e-02 -7.67177962e-02 1.11466077e+01] [-4.84030067e-02 9.98827513e-01 8.64657992e-04 -2.20663684e+00] [ 7.66696317e-02 2.85227556e-03 9.97052472e-01 -1.94672039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.94907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.17, Y:-2.21, Z:-0.19 [[ 9.95985385e-01 4.69181960e-02 -7.62351282e-02 1.11749997e+01] [-4.69901635e-02 9.98894990e-01 8.50458289e-04 -2.20665065e+00] [ 7.61907896e-02 2.73525711e-03 9.97089505e-01 -1.92886276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.97907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.20, Y:-2.21, Z:-0.19 [[ 9.96105989e-01 4.46534019e-02 -7.60192901e-02 1.12033703e+01] [-4.47189630e-02 9.98999253e-01 8.40421036e-04 -2.20592680e+00] [ 7.59807417e-02 2.56235540e-03 9.97105993e-01 -1.90087221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.009072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.23, Y:-2.20, Z:-0.19 [[ 9.96341838e-01 4.17001062e-02 -7.45925108e-02 1.12315656e+01] [-4.17555301e-02 9.99127524e-01 8.17002416e-04 -2.20489688e+00] [ 7.45614997e-02 2.30063614e-03 9.97213763e-01 -1.87531179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.039072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.26, Y:-2.20, Z:-0.19 [[ 9.96431785e-01 4.01285505e-02 -7.42522498e-02 1.12590609e+01] [-4.01796834e-02 9.99192146e-01 8.05616046e-04 -2.20439952e+00] [ 7.42245930e-02 2.18069045e-03 9.97239166e-01 -1.85367860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.069072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.29, Y:-2.20, Z:-0.18 [[ 9.96455186e-01 3.83422876e-02 -7.48794499e-02 1.12856156e+01] [-3.83898473e-02 9.99262514e-01 8.04603324e-04 -2.20392961e+00] [ 7.48550777e-02 2.07285950e-03 9.97192269e-01 -1.82837101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.099072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.31, Y:-2.20, Z:-0.18 [[ 9.96505263e-01 3.63818926e-02 -7.51905503e-02 1.13140662e+01] [-3.64249632e-02 9.99336072e-01 7.98904680e-04 -2.20336667e+00] [ 7.51696948e-02 1.94270031e-03 9.97168864e-01 -1.81272052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.129072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.34, Y:-2.20, Z:-0.18 [[ 9.96535824e-01 3.22841400e-02 -7.66425846e-02 1.13424080e+01] [-3.23174299e-02 9.99477330e-01 8.06202809e-04 -2.20265880e+00] [ 7.66285534e-02 1.67348137e-03 9.97058305e-01 -1.79398072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.159072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.37, Y:-2.20, Z:-0.18 [[ 9.96577717e-01 3.01893178e-02 -7.69510231e-02 1.13696843e+01] [-3.02172693e-02 9.99543033e-01 8.01354627e-04 -2.20239840e+00] [ 7.69400513e-02 1.52663762e-03 9.97034552e-01 -1.77831330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.189072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.40, Y:-2.20, Z:-0.18 [[ 9.96652492e-01 2.52513182e-02 -7.77571872e-02 1.13979083e+01] [-2.55649266e-02 9.99668541e-01 -3.04022547e-03 -2.20088772e+00] [ 7.76546442e-02 5.01790508e-03 9.96967691e-01 -1.76596649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.219072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.43, Y:-2.20, Z:-0.17 [[ 9.96804285e-01 2.42676417e-02 -7.61071580e-02 1.14251869e+01] [-2.39761838e-02 9.99701288e-01 4.74107699e-03 -2.20277822e+00] [ 7.61994786e-02 -2.90116665e-03 9.97088373e-01 -1.73474287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.249072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.45, Y:-2.20, Z:-0.17 [[ 9.96898850e-01 2.15694427e-02 -7.56798663e-02 1.14530233e+01] [-2.15733958e-02 9.99766974e-01 7.65368933e-04 -2.20146102e+00] [ 7.56787395e-02 8.69676304e-04 9.97131873e-01 -1.72321347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.279072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.48, Y:-2.20, Z:-0.17 [[ 9.97016292e-01 1.72506365e-02 -7.52391522e-02 1.14806391e+01] [-1.72428535e-02 9.99851047e-01 7.53080238e-04 -2.20109763e+00] [ 7.52409363e-02 5.46504413e-04 9.97165233e-01 -1.70031339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.309072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.51, Y:-2.20, Z:-0.17 [[ 9.97037327e-01 1.46838438e-02 -7.55046602e-02 1.15080048e+01] [-1.46692606e-02 9.99892121e-01 7.47760344e-04 -2.20099545e+00] [ 7.55074948e-02 3.62052561e-04 9.97145169e-01 -1.67775598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.339072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.54, Y:-2.20, Z:-0.17 [[ 9.97124679e-01 1.25119883e-02 -7.47383794e-02 1.15357113e+01] [-1.24922910e-02 9.99921701e-01 7.31042174e-04 -2.20113083e+00] [ 7.47416743e-02 2.04713396e-04 9.97202908e-01 -1.66341223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.369072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.56, Y:-2.20, Z:-0.16 [[ 9.96973904e-01 6.40589138e-03 -7.74725718e-02 1.15639412e+01] [-6.97366831e-03 9.99950758e-01 -7.06042625e-03 -2.19895975e+00] [ 7.74235285e-02 7.57932875e-03 9.96969483e-01 -1.64315611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.399072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.59, Y:-2.20, Z:-0.16 [[ 9.96968546e-01 6.70311675e-03 -7.75163688e-02 1.15923017e+01] [-6.67329879e-03 9.99977526e-01 6.43697775e-04 -2.20076314e+00] [ 7.75189414e-02 -1.24456545e-04 9.96990872e-01 -1.60777931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.429072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.62, Y:-2.20, Z:-0.16 [[ 9.97147582e-01 5.15130779e-03 -7.53004960e-02 1.16214098e+01] [-4.53763667e-03 9.99955106e-01 8.31844579e-03 -2.20266273e+00] [ 7.53399663e-02 -7.95303181e-03 9.97126190e-01 -1.58383474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.459072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.65, Y:-2.20, Z:-0.16 [[ 9.97157431e-01 1.77499012e-03 -7.53253407e-02 1.16487146e+01] [-1.72947250e-03 9.99998280e-01 6.69505341e-04 -2.20068988e+00] [ 7.53263995e-02 -5.37329121e-04 9.97158786e-01 -1.58265818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.489072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.68, Y:-2.20, Z:-0.16 [[ 9.97039779e-01 -3.19401865e-03 -7.68210763e-02 1.16776385e+01] [ 3.04093022e-03 9.99993151e-01 -2.10968650e-03 -2.19999538e+00] [ 7.68272885e-02 1.86983383e-03 9.97042663e-01 -1.56207988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.519072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.71, Y:-2.20, Z:-0.15 [[ 9.97089394e-01 -4.93510943e-03 -7.60814332e-02 1.17052412e+01] [ 5.21351980e-03 9.99980419e-01 3.46119272e-03 -2.20139728e+00] [ 7.60628621e-02 -3.84777061e-03 9.97095600e-01 -1.53430576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.549072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.73, Y:-2.20, Z:-0.15 [[ 9.97102759e-01 -7.81929321e-03 -7.56633825e-02 1.17321677e+01] [ 7.89003498e-03 9.99968671e-01 6.36072660e-04 -2.20052258e+00] [ 7.56560384e-02 -1.23121654e-03 9.97133215e-01 -1.51885580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.579072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.76, Y:-2.20, Z:-0.15 [[ 9.97069356e-01 -1.30149685e-02 -7.53877298e-02 1.17599205e+01] [ 1.30992884e-02 9.99914006e-01 6.24103770e-04 -2.20049805e+00] [ 7.53731242e-02 -1.60980036e-03 9.97154101e-01 -1.49642984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.609072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.79, Y:-2.20, Z:-0.15 [[ 9.97024261e-01 -1.57795023e-02 -7.54561537e-02 1.17881421e+01] [ 1.58702578e-02 9.99873878e-01 6.03262334e-04 -2.20044500e+00] [ 7.54371179e-02 -1.79897579e-03 9.97148938e-01 -1.47365310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.63907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.81, Y:-2.20, Z:-0.15 [[ 9.97017037e-01 -1.81980550e-02 -7.50057199e-02 1.18147572e+01] [ 1.82929485e-02 9.99832503e-01 5.78282898e-04 -2.20077356e+00] [ 7.49826330e-02 -1.94863368e-03 9.97182936e-01 -1.46199193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.66907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.84, Y:-2.20, Z:-0.15 [[ 9.96883951e-01 -2.36623338e-02 -7.52494684e-02 1.18424480e+01] [ 2.37726560e-02 9.99717228e-01 5.70588971e-04 -2.20050165e+00] [ 7.52146885e-02 -2.35769071e-03 9.97164576e-01 -1.45364866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.69907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.87, Y:-2.20, Z:-0.14 [[ 9.96784561e-01 -2.62629686e-02 -7.57020223e-02 1.18701160e+01] [ 2.63805216e-02 9.99651820e-01 5.53119288e-04 -2.20068536e+00] [ 7.56611378e-02 -2.54839960e-03 9.97130331e-01 -1.43640007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.72907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.90, Y:-2.20, Z:-0.14 [[ 9.96653027e-01 -2.90211697e-02 -7.64232660e-02 1.18977552e+01] [ 2.89319849e-02 9.99578796e-01 -2.27411732e-03 -2.20012326e+00] [ 7.64570737e-02 5.54291270e-05 9.97072872e-01 -1.41690936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.759072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.93, Y:-2.20, Z:-0.14 [[ 9.96625446e-01 -3.16262730e-02 -7.57462774e-02 1.19254105e+01] [ 3.19663420e-02 9.99483560e-01 3.28108375e-03 -2.20120378e+00] [ 7.56033906e-02 -5.69134297e-03 9.97121726e-01 -1.38852542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.789072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.95, Y:-2.20, Z:-0.14 [[ 9.96490434e-01 -3.66186419e-02 -7.52721105e-02 1.19532584e+01] [ 3.67605542e-02 9.99323977e-01 5.00235645e-04 -2.20167792e+00] [ 7.52029069e-02 -3.26552454e-03 9.97162905e-01 -1.37860011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.819072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.98, Y:-2.20, Z:-0.14 [[ 9.96370790e-01 -3.97811391e-02 -7.52509729e-02 1.19814468e+01] [ 3.99303294e-02 9.99202352e-01 4.78480631e-04 -2.20175767e+00] [ 7.51719146e-02 -3.48154026e-03 9.97164511e-01 -1.35715922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.849072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.01, Y:-2.20, Z:-0.13 [[ 9.96150283e-01 -4.47561779e-02 -7.53757144e-02 1.20085640e+01] [ 4.49183995e-02 9.98990555e-01 4.57408052e-04 -2.20201718e+00] [ 7.52791549e-02 -3.84140361e-03 9.97155100e-01 -1.34786299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.879072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.04, Y:-2.20, Z:-0.13 [[ 9.95994301e-01 -4.74732810e-02 -7.57736042e-02 1.20365381e+01] [ 4.76443042e-02 9.98864264e-01 4.49914305e-04 -2.20207347e+00] [ 7.56661865e-02 -4.05829273e-03 9.97124946e-01 -1.33288158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.909072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.06, Y:-2.20, Z:-0.13 [[ 9.95846841e-01 -4.99713916e-02 -7.61047243e-02 1.20635649e+01] [ 5.01495138e-02 9.98741629e-01 4.30010577e-04 -2.20211161e+00] [ 7.59874680e-02 -4.24483959e-03 9.97099737e-01 -1.31287740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.939072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.09, Y:-2.20, Z:-0.13 [[ 9.95652761e-01 -5.45988406e-02 -7.54622101e-02 1.20904284e+01] [ 5.47864699e-02 9.98498006e-01 4.16984087e-04 -2.20254786e+00] [ 7.53260995e-02 -4.54947946e-03 9.97148575e-01 -1.28698094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.969072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.12, Y:-2.20, Z:-0.13 [[ 9.95522049e-01 -5.70991388e-02 -7.53361661e-02 1.21179110e+01] [ 5.72925592e-02 9.98357349e-01 4.06990425e-04 -2.20291386e+00] [ 7.51891763e-02 -4.72136970e-03 9.97158110e-01 -1.26685733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.999072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.15, Y:-2.20, Z:-0.13 [[ 9.95429955e-01 -5.97916101e-02 -7.44591645e-02 1.21461317e+01] [ 5.99864587e-02 9.98199118e-01 3.81221309e-04 -2.20295679e+00] [ 7.43022785e-02 -4.84602070e-03 9.97223991e-01 -1.25099267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.029072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.17, Y:-2.20, Z:-0.12 [[ 9.95111006e-01 -6.49058772e-02 -7.44399929e-02 1.21739355e+01] [ 6.51132248e-02 9.97877818e-01 3.59370583e-04 -2.20330381e+00] [ 7.42586924e-02 -5.20464161e-03 9.97225430e-01 -1.22906294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.059072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.20, Y:-2.20, Z:-0.12 [[ 9.94947638e-01 -6.72560067e-02 -7.45374230e-02 1.22004311e+01] [ 6.74688290e-02 9.97721325e-01 3.38084464e-04 -2.20335603e+00] [ 7.43448383e-02 -5.36532899e-03 9.97218160e-01 -1.21016018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.089072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.23, Y:-2.20, Z:-0.12 [[ 9.94773514e-01 -7.01920268e-02 -7.41534532e-02 1.22287306e+01] [ 7.04096714e-02 9.97518107e-01 3.21744422e-04 -2.20305527e+00] [ 7.39468284e-02 -5.54118310e-03 9.97246791e-01 -1.19223003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.119072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.26, Y:-2.20, Z:-0.12 [[ 9.94436964e-01 -7.46079249e-02 -7.43557845e-02 1.22556039e+01] [ 7.48374237e-02 9.97195703e-01 3.01230955e-04 -2.20408009e+00] [ 7.41247945e-02 -5.86415054e-03 9.97231732e-01 -1.18112123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.149072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.28, Y:-2.20, Z:-0.12 [[ 9.94274242e-01 -7.67540310e-02 -7.43475032e-02 1.22826453e+01] [ 7.69887430e-02 9.97031919e-01 2.91942422e-04 -2.20433655e+00] [ 7.41044261e-02 -6.01419164e-03 9.97232352e-01 -1.16230100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.179072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.31, Y:-2.20, Z:-0.11 [[ 9.94069171e-01 -7.90029498e-02 -7.47329711e-02 1.23101727e+01] [ 7.92457278e-02 9.96855072e-01 2.84262187e-04 -2.20432061e+00] [ 7.44754837e-02 -6.20484496e-03 9.97203541e-01 -1.13924579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.209072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.34, Y:-2.20, Z:-0.11 [[ 9.93871311e-01 -8.15562270e-02 -7.46217083e-02 1.23382617e+01] [ 8.18038849e-02 9.96648411e-01 2.63331196e-04 -2.20443657e+00] [ 7.43501307e-02 -6.36606295e-03 9.97211879e-01 -1.12032061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.239072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.37, Y:-2.21, Z:-0.11 [[ 9.93571690e-01 -8.54398457e-02 -7.42652688e-02 1.23653565e+01] [ 8.56943336e-02 9.96321446e-01 2.41206604e-04 -2.20521816e+00] [ 7.39714713e-02 -6.60376877e-03 9.97238493e-01 -1.10054396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.269072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.39, Y:-2.21, Z:-0.11 [[ 9.93382491e-01 -8.76156711e-02 -7.42611645e-02 1.23934725e+01] [ 8.78750969e-02 9.96131475e-01 2.26967744e-04 -2.20551498e+00] [ 7.39539974e-02 -6.75117281e-03 9.97238802e-01 -1.08335547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.299072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.42, Y:-2.21, Z:-0.11 [[ 9.93199435e-01 -8.97762020e-02 -7.41290529e-02 1.24200113e+01] [ 9.00390780e-02 9.95938212e-01 2.05198682e-04 -2.20548542e+00] [ 7.38095345e-02 -6.87831479e-03 9.97248636e-01 -1.06422588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.329072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.45, Y:-2.21, Z:-0.10 [[ 9.92853067e-01 -9.33874450e-02 -7.43072790e-02 1.24476113e+01] [ 9.36609074e-02 9.95604136e-01 1.96382765e-04 -2.20634221e+00] [ 7.39622946e-02 -7.15466641e-03 9.97235373e-01 -1.04752859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.359072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.48, Y:-2.21, Z:-0.10 [[ 9.92671681e-01 -9.52824423e-02 -7.43248999e-02 1.24754874e+01] [ 9.55597711e-02 9.95423678e-01 1.75975728e-04 -2.20627740e+00] [ 7.39679979e-02 -7.27715654e-03 9.97234064e-01 -1.02909616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.38907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.50, Y:-2.21, Z:-0.10 [[ 9.92314943e-01 -9.88093093e-02 -7.44833861e-02 1.25032562e+01] [ 9.90961167e-02 9.95077854e-01 1.55766049e-04 -2.20649991e+00] [ 7.41013768e-02 -7.53558330e-03 9.97222242e-01 -1.01131179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.41907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.53, Y:-2.21, Z:-0.10 [[ 9.92147131e-01 -1.00619340e-01 -7.42954881e-02 1.25315683e+01] [ 1.00908194e-01 9.94895732e-01 1.34908049e-04 -2.20651079e+00] [ 7.39026896e-02 -7.63087216e-03 9.97236262e-01 -9.88380497e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.44907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.56, Y:-2.21, Z:-0.10 [[ 9.91921932e-01 -1.02473963e-01 -7.47660914e-02 1.25591220e+01] [ 1.02770110e-01 9.94705128e-01 1.14351038e-04 -2.20679372e+00] [ 7.43584965e-02 -7.79714672e-03 9.97201092e-01 -9.73171609e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.47907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.59, Y:-2.21, Z:-0.10 [[ 9.91585273e-01 -1.05858655e-01 -7.45157163e-02 1.25857960e+01] [ 1.06160673e-01 9.94348985e-01 9.27725298e-05 -2.20703634e+00] [ 7.40848061e-02 -8.00263044e-03 9.97219835e-01 -9.55449435e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.509072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.61, Y:-2.21, Z:-0.09 [[ 9.91425840e-01 -1.07315025e-01 -7.45539293e-02 1.26126598e+01] [ 1.07620347e-01 9.94192061e-01 7.84338248e-05 -2.20704020e+00] [ 7.41125075e-02 -8.10128109e-03 9.97216980e-01 -9.36981117e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.539072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.64, Y:-2.21, Z:-0.09 [[ 9.91318797e-01 -1.08700241e-01 -7.39682401e-02 1.26409287e+01] [ 1.09003914e-01 9.94041318e-01 6.89174909e-05 -2.20734960e+00] [ 7.35199956e-02 -8.13114688e-03 9.97260595e-01 -9.16090671e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.569072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.67, Y:-2.21, Z:-0.09 [[ 9.90974543e-01 -1.11742787e-01 -7.40473130e-02 1.26689463e+01] [ 1.12053958e-01 9.93702122e-01 4.82839129e-05 -2.20722919e+00] [ 7.35755768e-02 -8.34514261e-03 9.97254728e-01 -9.06198236e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.599072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.70, Y:-2.21, Z:-0.09 [[ 9.90812711e-01 -1.13026990e-01 -7.42635303e-02 1.26958888e+01] [ 1.13342000e-01 9.93556033e-01 2.75656158e-05 -2.20734541e+00] [ 7.37818629e-02 -8.44448943e-03 9.97238651e-01 -8.86740535e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.629072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.72, Y:-2.21, Z:-0.09 [[ 9.90637594e-01 -1.14278859e-01 -7.46826664e-02 1.27236575e+01] [ 1.14599894e-01 9.93411729e-01 1.34509070e-05 -2.20762459e+00] [ 7.41890996e-02 -8.57195063e-03 9.97207350e-01 -8.71429995e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.659072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.75, Y:-2.21, Z:-0.09 [[ 9.90469853e-01 -1.16013912e-01 -7.42310084e-02 1.27517190e+01] [ 1.16334337e-01 9.93210110e-01 -7.22648670e-06 -2.20765113e+00] [ 7.37278264e-02 -8.62845755e-03 9.97241073e-01 -8.60441797e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.689072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.78, Y:-2.21, Z:-0.08 [[ 9.90161581e-01 -1.18464974e-01 -7.44720972e-02 1.27798058e+01] [ 1.18792773e-01 9.92919068e-01 -2.80835515e-05 -2.20822894e+00] [ 7.39480923e-02 -8.81893968e-03 9.97223097e-01 -8.33289024e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.719072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.81, Y:-2.21, Z:-0.08 [[ 9.90045249e-01 -1.19646810e-01 -7.41285745e-02 1.28067589e+01] [ 1.19973315e-01 9.92777116e-01 -4.86183039e-05 -2.20836227e+00] [ 7.35989694e-02 -8.84531653e-03 9.97248691e-01 -8.15870088e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.749072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.83, Y:-2.21, Z:-0.08 [[ 9.89899271e-01 -1.21477124e-01 -7.30940622e-02 1.28349960e+01] [ 1.21798831e-01 9.92554805e-01 -5.64832317e-05 -2.20850577e+00] [ 7.25567241e-02 -8.84685863e-03 9.97325050e-01 -8.00122090e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.779072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.86, Y:-2.21, Z:-0.08 [[ 9.89745562e-01 -1.22540889e-01 -7.33992706e-02 1.28632801e+01] [ 1.22866684e-01 9.92423182e-01 -7.71602405e-05 -2.20842400e+00] [ 7.28525930e-02 -8.94195602e-03 9.97302633e-01 -7.80728345e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.809072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.89, Y:-2.21, Z:-0.08 [[ 9.89576375e-01 -1.23728087e-01 -7.36882567e-02 1.28915703e+01] [ 1.24058172e-01 9.92274942e-01 -9.83088967e-05 -2.20830505e+00] [ 7.31311742e-02 -9.04434630e-03 9.97281320e-01 -7.62155516e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.839072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.92, Y:-2.21, Z:-0.07 [[ 9.89364263e-01 -1.24912794e-01 -7.45328701e-02 1.29188080e+01] [ 1.25252249e-01 9.92124921e-01 -1.20709571e-04 -2.20921232e+00] [ 7.39609961e-02 -9.21598390e-03 9.97218550e-01 -7.47902516e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.869072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.95, Y:-2.21, Z:-0.07 [[ 9.89177455e-01 -1.26227625e-01 -7.47967213e-02 1.29463551e+01] [ 1.26572505e-01 9.91957350e-01 -1.30381195e-04 -2.20913002e+00] [ 7.42116152e-02 -9.33823822e-03 9.97198793e-01 -7.30047525e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.899072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.97, Y:-2.21, Z:-0.07 [[ 9.89092457e-01 -1.26906078e-01 -7.47727082e-02 1.29731848e+01] [ 1.27251110e-01 9.91870522e-01 -1.50924438e-04 -2.20900665e+00] [ 7.41839984e-02 -9.36563191e-03 9.97200591e-01 -7.16329525e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.929072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.00, Y:-2.21, Z:-0.07 [[ 9.88952280e-01 -1.28740377e-01 -7.34799447e-02 1.30010130e+01] [ 1.29077880e-01 9.91634447e-01 -1.56898678e-04 -2.20907470e+00] [ 7.28854435e-02 -9.32947016e-03 9.97296683e-01 -6.97560257e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.959072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.03, Y:-2.21, Z:-0.07 [[ 9.88915281e-01 -1.29215638e-01 -7.31429131e-02 1.30278336e+01] [ 1.29549844e-01 9.91572895e-01 -1.76411833e-04 -2.20926130e+00] [ 7.25493253e-02 -9.30119665e-03 9.97321454e-01 -6.69517779e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.989072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.06, Y:-2.21, Z:-0.06 [[ 9.88805597e-01 -1.30281254e-01 -7.27343589e-02 1.30562264e+01] [ 1.30613951e-01 9.91433287e-01 -1.83764796e-04 -2.20862933e+00] [ 7.21352056e-02 -9.31841432e-03 9.97351332e-01 -6.49722776e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.019072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.08, Y:-2.21, Z:-0.06 [[ 9.88724951e-01 -1.30841370e-01 -7.28251874e-02 1.30843336e+01] [ 1.31174968e-01 9.91359211e-01 -2.03688106e-04 -2.20863562e+00] [ 7.22225712e-02 -9.35145014e-03 9.97344700e-01 -6.28009183e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.049072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.11, Y:-2.21, Z:-0.06 [[ 9.88625071e-01 -1.31259670e-01 -7.34259411e-02 1.31110879e+01] [ 1.31598460e-01 9.91303079e-01 -2.25783157e-04 -2.20827682e+00] [ 7.28169977e-02 -9.43952589e-03 9.97300647e-01 -6.09557302e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.079072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.14, Y:-2.21, Z:-0.06 [[ 9.88557323e-01 -1.31622246e-01 -7.36885617e-02 1.31390318e+01] [ 1.31963455e-01 9.91254553e-01 -2.40343083e-04 -2.20821113e+00] [ 7.30757568e-02 -9.48660429e-03 9.97281273e-01 -6.00282687e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.109072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.17, Y:-2.21, Z:-0.06 [[ 9.88394125e-01 -1.32429244e-01 -7.44281464e-02 1.31667088e+01] [ 1.32778101e-01 9.91145754e-01 -2.63179605e-04 -2.20816025e+00] [ 7.38039940e-02 -9.62230279e-03 9.97226344e-01 -5.79166583e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.13907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.19, Y:-2.21, Z:-0.06 [[ 9.88359443e-01 -1.32472728e-01 -7.48103471e-02 1.31945556e+01] [ 1.32823800e-01 9.91139625e-01 -2.84892926e-04 -2.20830627e+00] [ 7.41852400e-02 -9.65501796e-03 9.97197739e-01 -5.57767642e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.16907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.22, Y:-2.21, Z:-0.05 [[ 9.88322890e-01 -1.32783799e-01 -7.47417340e-02 1.32210391e+01] [ 1.33133539e-01 9.91098061e-01 -3.05615239e-04 -2.20788887e+00] [ 7.41169684e-02 -9.64858500e-03 9.97202878e-01 -5.41262164e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.19907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.25, Y:-2.21, Z:-0.05 [[ 9.88327159e-01 -1.32941058e-01 -7.44049803e-02 1.32488047e+01] [ 1.33287403e-01 9.91077378e-01 -3.13351051e-04 -2.20764328e+00] [ 7.37827500e-02 -9.60755325e-03 9.97228059e-01 -5.26161937e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.22907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.28, Y:-2.21, Z:-0.05 [[ 9.88326442e-01 -1.32887161e-01 -7.45107082e-02 1.32760118e+01] [ 1.33232806e-01 9.91084713e-01 -3.34564759e-04 -2.20721673e+00] [ 7.38908832e-02 -9.59661152e-03 9.97220157e-01 -5.07114074e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.259072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.30, Y:-2.21, Z:-0.05 [[ 9.88291993e-01 -1.33143144e-01 -7.45106665e-02 1.33044641e+01] [ 1.33488833e-01 9.91050258e-01 -3.43609775e-04 -2.20690336e+00] [ 7.38895646e-02 -9.60675512e-03 9.97220157e-01 -4.85949082e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.289072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.33, Y:-2.21, Z:-0.05 [[ 9.88339937e-01 -1.32917162e-01 -7.42778334e-02 1.33316734e+01] [ 1.33258641e-01 9.91081230e-01 -3.61712473e-04 -2.20690884e+00] [ 7.36634442e-02 -9.54066828e-03 9.97237521e-01 -4.69986354e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.319072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.36, Y:-2.21, Z:-0.05 [[ 9.88375567e-01 -1.32480591e-01 -7.45830508e-02 1.33595566e+01] [ 1.32823004e-01 9.91139703e-01 -3.72223026e-04 -2.20712251e+00] [ 7.39715351e-02 -9.53844871e-03 9.97214736e-01 -4.58130642e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.349072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.39, Y:-2.21, Z:-0.04 [[ 9.88334143e-01 -1.32519114e-01 -7.50620125e-02 1.33861347e+01] [ 1.32864521e-01 9.91134130e-01 -3.95323573e-04 -2.20678403e+00] [ 7.44489103e-02 -9.58236655e-03 9.97178789e-01 -4.46395027e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.379072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.41, Y:-2.21, Z:-0.04 [[ 9.88314084e-01 -1.32225866e-01 -7.58392505e-02 1.34140973e+01] [ 1.32576558e-01 9.91172682e-01 -4.13865078e-04 -2.20695434e+00] [ 7.52245170e-02 -9.64547810e-03 9.97119971e-01 -4.26132461e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.409072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.44, Y:-2.21, Z:-0.04 [[ 9.88301927e-01 -1.32128873e-01 -7.61660158e-02 1.34415849e+01] [ 1.32480769e-01 9.91185480e-01 -4.36164674e-04 -2.20615593e+00] [ 7.55522788e-02 -9.65946997e-03 9.97095055e-01 -4.14251176e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.439072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.47, Y:-2.21, Z:-0.04 [[ 9.88318543e-01 -1.31882775e-01 -7.63766378e-02 1.34699381e+01] [ 1.32235194e-01 9.91218268e-01 -4.46758416e-04 -2.20587730e+00] [ 7.57648383e-02 -9.65813988e-03 9.97078939e-01 -3.94401727e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.469072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.50, Y:-2.21, Z:-0.04 [[ 9.88438273e-01 -1.31172584e-01 -7.60495503e-02 1.34972995e+01] [ 1.31518366e-01 9.91313625e-01 -4.65273597e-04 -2.20569790e+00] [ 7.54499866e-02 -9.54201834e-03 9.97103931e-01 -3.71601990e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.499072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.52, Y:-2.21, Z:-0.04 [[ 9.88559492e-01 -1.30689903e-01 -7.53012657e-02 1.35248677e+01] [ 1.31026837e-01 9.91378710e-01 -4.69645282e-04 -2.20532229e+00] [ 7.47134496e-02 -9.40221434e-03 9.97160719e-01 -3.54621787e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.529072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.55, Y:-2.20, Z:-0.03 [[ 9.88647952e-01 -1.30213867e-01 -7.49638290e-02 1.35526491e+01] [ 1.30544945e-01 9.91442273e-01 -4.87428863e-04 -2.20496564e+00] [ 7.43857790e-02 -9.30425339e-03 9.97186134e-01 -3.36832332e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.559072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.58, Y:-2.20, Z:-0.03 [[ 9.88645468e-01 -1.29986280e-01 -7.53903599e-02 1.35810364e+01] [ 1.30318979e-01 9.91471988e-01 -5.10507859e-04 -2.20471690e+00] [ 7.48137890e-02 -9.32008347e-03 9.97153967e-01 -3.09465224e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.589072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.61, Y:-2.20, Z:-0.03 [[ 9.88742916e-01 -1.29067934e-01 -7.56895955e-02 1.36090185e+01] [ 1.29399108e-01 9.91592450e-01 -5.32930763e-04 -2.20425642e+00] [ 7.51220157e-02 -9.26723461e-03 9.97131286e-01 -2.92295590e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.619072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.64, Y:-2.20, Z:-0.03 [[ 9.88795633e-01 -1.28472740e-01 -7.60128300e-02 1.36360449e+01] [ 1.28803445e-01 9.91669987e-01 -5.56172640e-04 -2.20405384e+00] [ 7.54510952e-02 -9.24077329e-03 9.97106685e-01 -2.68238641e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.649072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.66, Y:-2.20, Z:-0.03 [[ 9.88845491e-01 -1.28132521e-01 -7.59384806e-02 1.36642580e+01] [ 1.28460880e-01 9.91714416e-01 -5.65017403e-04 -2.20373691e+00] [ 7.53816830e-02 -9.19640912e-03 9.97112345e-01 -2.50765330e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.679072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.69, Y:-2.20, Z:-0.02 [[ 9.88978122e-01 -1.27185253e-01 -7.58036013e-02 1.36921621e+01] [ 1.27508167e-01 9.91837348e-01 -5.84352771e-04 -2.20398082e+00] [ 7.52591640e-02 -9.08766616e-03 9.97122597e-01 -2.25277095e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.709072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.72, Y:-2.20, Z:-0.02 [[ 9.89009607e-01 -1.27010063e-01 -7.56864712e-02 1.37188771e+01] [ 1.27329922e-01 9.91860235e-01 -6.04003745e-04 -2.20383788e+00] [ 7.51471156e-02 -9.03978694e-03 9.97131482e-01 -2.03629099e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.739072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.75, Y:-2.20, Z:-0.02 [[ 9.89074699e-01 -1.26664048e-01 -7.54152409e-02 1.37470264e+01] [ 1.26979934e-01 9.91905098e-01 -6.10946053e-04 -2.20340713e+00] [ 7.48821468e-02 -8.97195104e-03 9.97152029e-01 -1.81157239e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.769072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.77, Y:-2.20, Z:-0.02 [[ 9.89234622e-01 -1.25388841e-01 -7.54486650e-02 1.37739381e+01] [ 1.25699817e-01 9.92068121e-01 -6.31700742e-04 -2.20295706e+00] [ 7.49294235e-02 -8.85898316e-03 9.97149487e-01 -1.56956859e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.799072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.80, Y:-2.20, Z:-0.01 [[ 9.89330625e-01 -1.24665080e-01 -7.53892091e-02 1.38024177e+01] [ 1.24972435e-01 9.92160004e-01 -6.45307649e-04 -2.20231942e+00] [ 7.48786053e-02 -8.78315038e-03 9.97153975e-01 -1.41448956e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.829072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.83, Y:-2.20, Z:-0.01 [[ 9.89399650e-01 -1.23206891e-01 -7.68660849e-02 1.38298110e+01] [ 1.23520524e-01 9.92341785e-01 -6.78883835e-04 -2.20264932e+00] [ 7.63610711e-02 -8.82285169e-03 9.97041195e-01 -1.19989625e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.859072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.86, Y:-2.20, Z:-0.01 [[ 9.89432457e-01 -1.22620894e-01 -7.73791232e-02 1.38579451e+01] [ 1.22935857e-01 9.92414373e-01 -6.97999388e-04 -2.20253984e+00] [ 7.68777433e-02 -8.82204557e-03 9.97001497e-01 -1.03704950e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.88907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.89, Y:-2.20, Z:-0.01 [[ 9.89460223e-01 -1.22361799e-01 -7.74342145e-02 1.38862689e+01] [ 1.22674844e-01 9.92446656e-01 -7.19058133e-04 -2.20228484e+00] [ 7.69373126e-02 -8.78775075e-03 9.96997204e-01 -8.92477457e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.91907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.91, Y:-2.20, Z:-0.01 [[ 9.89601709e-01 -1.21149432e-01 -7.75323970e-02 1.39138633e+01] [ 1.21457967e-01 9.92596299e-01 -7.41189104e-04 -2.20189842e+00] [ 7.70481649e-02 -8.68344532e-03 9.96989558e-01 -6.55316085e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.94907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.94, Y:-2.20, Z:-0.00 [[ 9.89647979e-01 -1.20605409e-01 -7.77895375e-02 1.39410490e+01] [ 1.20912728e-01 9.92662847e-01 -7.64525318e-04 -2.20121368e+00] [ 7.73109896e-02 -8.64913422e-03 9.96969510e-01 -4.77105841e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.97907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.97, Y:-2.20, Z:-0.00 [[ 9.89731923e-01 -1.19893179e-01 -7.78225297e-02 1.39684546e+01] [ 1.20197852e-01 9.92749655e-01 -7.74344554e-04 -2.20072400e+00] [ 7.73511281e-02 -8.58770736e-03 9.96966927e-01 -2.48367179e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.009072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.00, Y:-2.20, Z:-0.00 [[ 9.89804918e-01 -1.19461370e-01 -7.75577599e-02 1.39961267e+01] [ 1.19761557e-01 9.92802373e-01 -7.85906522e-04 -2.20057943e+00] [ 7.70934136e-02 -8.51054398e-03 9.96987551e-01 -1.67386167e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.039072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.02, Y:-2.20, Z:0.00 [[ 9.89938276e-01 -1.17721720e-01 -7.85099113e-02 1.40233152e+01] [ 1.18022318e-01 9.93010607e-01 -8.16546361e-04 -2.20093274e+00] [ 7.80573000e-02 -8.45759122e-03 9.96912999e-01 2.40613219e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.069072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.05, Y:-2.20, Z:0.00 [[ 9.90021537e-01 -1.17026271e-01 -7.84997308e-02 1.40505025e+01] [ 1.17323910e-01 9.93093358e-01 -8.25670768e-04 -2.20080860e+00] [ 7.80541865e-02 -8.39246349e-03 9.96913793e-01 3.86218808e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.099072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.08, Y:-2.20, Z:0.00 [[ 9.90549879e-01 -1.15496385e-01 -7.39697337e-02 1.40773202e+01] [ 1.15544530e-01 9.93295623e-01 -3.64248554e-03 -2.19929394e+00] [ 7.38945066e-02 -4.93873448e-03 9.97253835e-01 3.61813529e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.129072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.11, Y:-2.20, Z:0.01 [[ 9.90212345e-01 -1.15230610e-01 -7.87490908e-02 1.41068272e+01] [ 1.15712151e-01 9.93281557e-01 1.56396310e-03 -2.20047960e+00] [ 7.80398031e-02 -1.06608822e-02 9.96893241e-01 6.92655459e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.159072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.13, Y:-2.20, Z:0.01 [[ 9.90224397e-01 -1.14701482e-01 -7.93675849e-02 1.41346500e+01] [ 1.14995827e-01 9.93365596e-01 -8.67271203e-04 -2.19968297e+00] [ 7.89405056e-02 -8.26814794e-03 9.96845040e-01 9.01267639e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.189072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.16, Y:-2.20, Z:0.01 [[ 9.90445231e-01 -1.13147641e-01 -7.88406995e-02 1.41614021e+01] [ 1.13431527e-01 9.93545424e-01 -8.82867499e-04 -2.20000488e+00] [ 7.84317106e-02 -8.06858905e-03 9.96886836e-01 1.11111638e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.219072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.19, Y:-2.20, Z:0.01 [[ 9.90558923e-01 -1.12545836e-01 -7.82716752e-02 1.41895991e+01] [ 1.12822971e-01 9.93614710e-01 -8.86628585e-04 -2.19975837e+00] [ 7.78716741e-02 -7.95258505e-03 9.96931672e-01 1.28186650e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.249072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.22, Y:-2.20, Z:0.02 [[ 9.90666431e-01 -1.11496930e-01 -7.84120963e-02 1.42166695e+01] [ 1.11770172e-01 9.93733668e-01 -9.09250574e-04 -2.19964194e+00] [ 7.80221187e-02 -7.86336947e-03 9.96920617e-01 1.54718617e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.279072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.24, Y:-2.20, Z:0.02 [[ 9.90708324e-01 -1.11288993e-01 -7.81778581e-02 1.42446103e+01] [ 1.11559180e-01 9.93757369e-01 -9.16481860e-04 -2.19878228e+00] [ 7.77918170e-02 -7.81349157e-03 9.96939006e-01 1.68541935e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.309072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.27, Y:-2.20, Z:0.02 [[ 9.90897660e-01 -1.09527783e-01 -7.82655294e-02 1.42720858e+01] [ 1.09791469e-01 9.93954200e-01 -9.38988423e-04 -2.19864827e+00] [ 7.78951970e-02 -7.66244600e-03 9.96932107e-01 1.88265537e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.339072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.30, Y:-2.20, Z:0.02 [[ 9.90947728e-01 -1.08842329e-01 -7.85871930e-02 1.42995425e+01] [ 1.09104374e-01 9.94029831e-01 -9.64403004e-04 -2.19844590e+00] [ 7.82229821e-02 -7.61853354e-03 9.96906777e-01 2.01453819e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.369072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.33, Y:-2.20, Z:0.02 [[ 9.90970840e-01 -1.08623678e-01 -7.85982872e-02 1.43276449e+01] [ 1.08883920e-01 9.94053988e-01 -9.79800954e-04 -2.19791310e+00] [ 7.82373704e-02 -7.58713542e-03 9.96905888e-01 2.20288399e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.399072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.35, Y:-2.20, Z:0.02 [[ 9.91069771e-01 -1.07151201e-01 -7.93683084e-02 1.43544233e+01] [ 1.07410177e-01 9.94214278e-01 -1.01141842e-03 -2.19800415e+00] [ 7.90174801e-02 -7.52257781e-03 9.96844847e-01 2.37882647e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.429072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.38, Y:-2.20, Z:0.03 [[ 9.91147515e-01 -1.06576920e-01 -7.91704660e-02 1.43826286e+01] [ 1.06831554e-01 9.94276606e-01 -1.02447979e-03 -2.19767387e+00] [ 7.88265281e-02 -7.44249335e-03 9.96860566e-01 2.54592287e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.459072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.41, Y:-2.20, Z:0.03 [[ 9.91335662e-01 -1.04947849e-01 -7.89908508e-02 1.44095221e+01] [ 1.05194505e-01 9.94451118e-01 -1.04368540e-03 -2.19763962e+00] [ 7.86620725e-02 -7.27476093e-03 9.96874795e-01 2.78487419e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.489072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.44, Y:-2.20, Z:0.03 [[ 9.91414300e-01 -1.04182432e-01 -7.90171305e-02 1.44376167e+01] [ 1.04426028e-01 9.94532098e-01 -1.05439570e-03 -2.19719198e+00] [ 7.86949221e-02 -7.20610209e-03 9.96872701e-01 2.97751766e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.519072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.46, Y:-2.20, Z:0.03 [[ 9.91547672e-01 -1.03094158e-01 -7.87706145e-02 1.44647721e+01] [ 1.03331167e-01 9.94646430e-01 -1.07219675e-03 -2.19702738e+00] [ 7.84594477e-02 -7.07632535e-03 9.96892191e-01 3.18216300e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.549072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.49, Y:-2.20, Z:0.03 [[ 9.91673560e-01 -1.01759202e-01 -7.89215804e-02 1.44922469e+01] [ 1.01992132e-01 9.94784614e-01 -1.08446752e-03 -2.19661885e+00] [ 7.86203285e-02 -6.97394244e-03 9.96880238e-01 3.38415307e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.579072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.52, Y:-2.20, Z:0.04 [[ 9.91762084e-01 -1.01041232e-01 -7.87314293e-02 1.45202370e+01] [ 1.01269092e-01 9.94858459e-01 -1.10347931e-03 -2.19613008e+00] [ 7.84381254e-02 -6.87867142e-03 9.96895252e-01 3.60040762e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.609072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.55, Y:-2.20, Z:0.04 [[ 9.91836816e-01 -1.00156636e-01 -7.89200786e-02 1.45480306e+01] [ 1.00381052e-01 9.94948426e-01 -1.12853273e-03 -2.19593878e+00] [ 7.86344380e-02 -6.80276022e-03 9.96880308e-01 3.80671915e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.63907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.58, Y:-2.20, Z:0.04 [[ 9.92017671e-01 -9.86859936e-02 -7.84984983e-02 1.45751962e+01] [ 9.89017099e-02 9.95096549e-01 -1.14457988e-03 -2.19527761e+00] [ 7.82265387e-02 -6.62819224e-03 9.96913575e-01 3.96706212e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.66907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.60, Y:-2.20, Z:0.04 [[ 9.92119255e-01 -9.77061020e-02 -7.84404357e-02 1.46016455e+01] [ 9.79172831e-02 9.95193882e-01 -1.15875179e-03 -2.19537725e+00] [ 7.81766588e-02 -6.53105439e-03 9.96918129e-01 4.20263117e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.69907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.63, Y:-2.19, Z:0.04 [[ 9.92147022e-01 -9.73466678e-02 -7.85360556e-02 1.46298781e+01] [ 9.75564510e-02 9.95229305e-01 -1.17034333e-03 -2.19485526e+00] [ 7.82753130e-02 -6.50054622e-03 9.96910587e-01 4.39876577e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.72907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.66, Y:-2.19, Z:0.05 [[ 9.92177853e-01 -9.65160342e-02 -7.91692111e-02 1.46578205e+01] [ 9.67249007e-02 9.95310429e-01 -1.20136442e-03 -2.19445185e+00] [ 7.89138924e-02 -6.46566691e-03 9.96860468e-01 4.62036513e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.759072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.69, Y:-2.19, Z:0.05 [[ 9.92208274e-01 -9.58121743e-02 -7.96414978e-02 1.46857017e+01] [ 9.60194697e-02 9.95378694e-01 -1.23157744e-03 -2.19373560e+00] [ 7.93914502e-02 -6.42515305e-03 9.96822810e-01 4.77152367e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.789072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.71, Y:-2.19, Z:0.05 [[ 9.92285837e-01 -9.40074097e-02 -8.08172358e-02 1.47122152e+01] [ 9.42131480e-02 9.95551236e-01 -1.27226065e-03 -2.19296046e+00] [ 8.05773010e-02 -6.35159997e-03 9.96728125e-01 4.88313190e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.819072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.74, Y:-2.19, Z:0.05 [[ 9.92336707e-01 -9.32589239e-02 -8.10594388e-02 1.47401115e+01] [ 9.34625226e-02 9.95621966e-01 -1.28721903e-03 -2.19243115e+00] [ 8.08246026e-02 -6.29866494e-03 9.96708438e-01 5.05480952e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.849072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.77, Y:-2.19, Z:0.05 [[ 9.92563098e-01 -9.12526514e-02 -8.05695389e-02 1.47680079e+01] [ 9.14454475e-02 9.95809237e-01 -1.30144130e-03 -2.19229013e+00] [ 8.03506510e-02 -6.07595493e-03 9.96748141e-01 5.29361124e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.879072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.80, Y:-2.19, Z:0.05 [[ 9.92667170e-01 -9.05354192e-02 -8.00951207e-02 1.47962272e+01] [ 9.07218416e-02 9.95875402e-01 -1.31597533e-03 -2.19180969e+00] [ 7.98839029e-02 -5.96005134e-03 9.96786356e-01 5.48993053e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.909072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.82, Y:-2.19, Z:0.06 [[ 9.92780926e-01 -8.97573207e-02 -7.95591343e-02 1.48244779e+01] [ 8.99370163e-02 9.95946568e-01 -1.32908881e-03 -2.19127933e+00] [ 7.93559422e-02 -5.83581715e-03 9.96829262e-01 5.74761127e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.939072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.85, Y:-2.19, Z:0.06 [[ 9.92886447e-01 -8.82633885e-02 -7.99129404e-02 1.48527084e+01] [ 8.84380913e-02 9.96080750e-01 -1.35747719e-03 -2.19066709e+00] [ 7.97195571e-02 -5.71952721e-03 9.96800923e-01 6.01212499e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.969072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.88, Y:-2.19, Z:0.06 [[ 9.92939249e-01 -8.76225101e-02 -7.99621411e-02 1.48796321e+01] [ 8.77935969e-02 9.96137731e-01 -1.38040652e-03 -2.18991553e+00] [ 7.97742605e-02 -5.64950417e-03 9.96796945e-01 6.16260170e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.999072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.91, Y:-2.19, Z:0.06 [[ 9.93015784e-01 -8.59710165e-02 -8.07999876e-02 1.49067782e+01] [ 8.61394770e-02 9.96282097e-01 -1.40500416e-03 -2.18970025e+00] [ 8.06203707e-02 -5.56487736e-03 9.96729345e-01 6.35005270e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.029072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.93, Y:-2.19, Z:0.07 [[ 9.93122065e-01 -8.48152058e-02 -8.07152070e-02 1.49334732e+01] [ 8.49786965e-02 9.96381766e-01 -1.41368474e-03 -2.18920109e+00] [ 8.05430624e-02 -5.45511157e-03 9.96736202e-01 6.53013474e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.059072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.96, Y:-2.19, Z:0.07 [[ 9.93203980e-01 -8.41843729e-02 -8.03669373e-02 1.49616612e+01] [ 8.43431418e-02 9.96435753e-01 -1.42315770e-03 -2.18842394e+00] [ 8.02002973e-02 -5.36491409e-03 9.96764330e-01 6.73719914e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.089072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.99, Y:-2.19, Z:0.07 [[ 9.93364741e-01 -8.27473109e-02 -7.98709778e-02 1.49882053e+01] [ 8.28977318e-02 9.96557024e-01 -1.43644228e-03 -2.18792860e+00] [ 7.97148457e-02 -5.19421178e-03 9.96804175e-01 6.89225655e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.119072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.02, Y:-2.19, Z:0.07 [[ 9.93523156e-01 -8.10304150e-02 -7.96605971e-02 1.50163183e+01] [ 8.11736859e-02 9.96698926e-01 -1.44351201e-03 -2.18659655e+00] [ 7.95145999e-02 -5.03218167e-03 9.96821000e-01 7.09522237e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.149072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.04, Y:-2.19, Z:0.07 [[ 9.93590480e-01 -8.02218803e-02 -7.96392385e-02 1.50432029e+01] [ 8.03607262e-02 9.96764770e-01 -1.46525103e-03 -2.18598500e+00] [ 7.94991324e-02 -4.94400757e-03 9.96822675e-01 7.29559731e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.179072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.07, Y:-2.19, Z:0.07 [[ 9.93653286e-01 -7.91289868e-02 -7.99484263e-02 1.50710443e+01] [ 7.92645245e-02 9.96852516e-01 -1.48188535e-03 -2.18529977e+00] [ 7.98140500e-02 -4.86459374e-03 9.96797900e-01 7.49092922e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.209072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.10, Y:-2.18, Z:0.08 [[ 9.93632104e-01 -7.93949523e-02 -7.99480009e-02 1.50994931e+01] [ 7.95295329e-02 9.96831375e-01 -1.50450616e-03 -2.18455026e+00] [ 7.98141258e-02 -4.86330155e-03 9.96797900e-01 7.70235968e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.239072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.13, Y:-2.18, Z:0.08 [[ 9.93678072e-01 -7.81931788e-02 -8.05587737e-02 1.51264503e+01] [ 7.83242345e-02 9.96926754e-01 -1.53673554e-03 -2.18413642e+00] [ 8.04313590e-02 -4.78268388e-03 9.96748676e-01 7.86926856e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.269072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.15, Y:-2.18, Z:0.08 [[ 9.93728594e-01 -7.74305677e-02 -8.06721059e-02 1.51540545e+01] [ 7.75586043e-02 9.96986590e-01 -1.54991494e-03 -2.18337934e+00] [ 8.05490185e-02 -4.71662115e-03 9.96739489e-01 8.09756014e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.299072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.18, Y:-2.18, Z:0.08 [[ 9.93750061e-01 -7.66981248e-02 -8.11061911e-02 1.51806703e+01] [ 7.68233143e-02 9.97043470e-01 -1.58053514e-03 -2.18255642e+00] [ 8.09876223e-02 -4.66018952e-03 9.96704213e-01 8.33012350e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.329072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.21, Y:-2.18, Z:0.09 [[ 9.93951372e-01 -7.50915954e-02 -8.01369019e-02 1.52087506e+01] [ 7.52077214e-02 9.97166649e-01 -1.57251718e-03 -2.18149722e+00] [ 8.00279288e-02 -4.46390819e-03 9.96782626e-01 8.51180760e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.359072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.24, Y:-2.18, Z:0.09 [[ 9.94070693e-01 -7.40569976e-02 -7.96179536e-02 1.52357737e+01] [ 7.41665286e-02 9.97244611e-01 -1.58468390e-03 -2.18044942e+00] [ 7.95159322e-02 -4.32969941e-03 9.96824192e-01 8.69452539e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.38907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.26, Y:-2.18, Z:0.09 [[ 9.94130208e-01 -7.33028836e-02 -7.95727157e-02 1.52622627e+01] [ 7.34090492e-02 9.97300642e-01 -1.59425900e-03 -2.17962124e+00] [ 7.94747843e-02 -4.25645637e-03 9.96827789e-01 8.87605031e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.41907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.29, Y:-2.18, Z:0.09 [[ 9.94149046e-01 -7.19249014e-02 -8.05883494e-02 1.52904928e+01] [ 7.20279890e-02 9.97401278e-01 -1.63090566e-03 -2.17895128e+00] [ 8.04962254e-02 -4.18325343e-03 9.96746135e-01 9.06291016e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.44907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.32, Y:-2.18, Z:0.09 [[ 9.94144272e-01 -7.10606390e-02 -8.14097796e-02 1.53188062e+01] [ 7.11610617e-02 9.97463439e-01 -1.67089840e-03 -2.17825420e+00] [ 8.13220138e-02 -4.13209228e-03 9.96679314e-01 9.28119317e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.47907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.35, Y:-2.18, Z:0.09 [[ 9.94230365e-01 -7.02510620e-02 -8.10602789e-02 1.53462001e+01] [ 7.03461220e-02 9.97521218e-01 -1.68608321e-03 -2.17734984e+00] [ 8.09777972e-02 -4.02592115e-03 9.96707775e-01 9.40502765e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.509072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.37, Y:-2.18, Z:0.10 [[ 9.94397044e-01 -6.83709297e-02 -8.06221757e-02 1.53735122e+01] [ 6.84579849e-02 9.97652574e-01 -1.68708156e-03 -2.17639456e+00] [ 8.05482684e-02 -3.84160277e-03 9.96743306e-01 9.59917930e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.539072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.40, Y:-2.18, Z:0.10 [[ 9.94483976e-01 -6.76462096e-02 -8.01599172e-02 1.54014278e+01] [ 6.77290401e-02 9.97702324e-01 -1.68831816e-03 -2.17536092e+00] [ 8.00899440e-02 -3.75014889e-03 9.96780586e-01 9.85367350e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.569072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.43, Y:-2.17, Z:0.10 [[ 9.94568767e-01 -6.67630205e-02 -7.98477781e-02 1.54280584e+01] [ 6.68405734e-02 9.97762213e-01 -1.70414812e-03 -2.17474890e+00] [ 7.97828698e-02 -3.64217878e-03 9.96805612e-01 1.00849926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.599072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.46, Y:-2.17, Z:0.10 [[ 9.94719873e-01 -6.48296400e-02 -7.95581015e-02 1.54562389e+01] [ 6.48995945e-02 9.97890336e-01 -1.70887523e-03 -2.17361255e+00] [ 7.95010464e-02 -3.46343638e-03 9.96828766e-01 1.03155137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.629072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.48, Y:-2.17, Z:0.10 [[ 9.94775327e-01 -6.39963705e-02 -7.95393770e-02 1.54831073e+01] [ 6.40619004e-02 9.97944427e-01 -1.73025395e-03 -2.17235669e+00] [ 7.94866080e-02 -3.37422971e-03 9.96830223e-01 1.04198051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.659072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.51, Y:-2.17, Z:0.11 [[ 9.94806554e-01 -6.32942639e-02 -7.97104553e-02 1.55106906e+01] [ 6.33569763e-02 9.97989404e-01 -1.74468187e-03 -2.17140423e+00] [ 7.96606181e-02 -3.31459248e-03 9.96816532e-01 1.06314211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.689072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.54, Y:-2.17, Z:0.11 [[ 9.94810627e-01 -6.23924493e-02 -8.03678931e-02 1.55380634e+01] [ 6.24515143e-02 9.98046410e-01 -1.78093414e-03 -2.17049445e+00] [ 8.03220041e-02 -3.24740443e-03 9.96763678e-01 1.08171786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.719072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.57, Y:-2.17, Z:0.11 [[ 9.94937521e-01 -6.04946303e-02 -8.02479278e-02 1.55664117e+01] [ 6.05464939e-02 9.98163775e-01 -1.78908092e-03 -2.16884827e+00] [ 8.02088043e-02 -3.07870694e-03 9.96773329e-01 1.09708015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.749072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.59, Y:-2.17, Z:0.11 [[ 9.94957481e-01 -6.03964883e-02 -8.00741842e-02 1.55930602e+01] [ 6.04459984e-02 9.98169832e-01 -1.80775286e-03 -2.16743007e+00] [ 8.00368169e-02 -3.04152678e-03 9.96787268e-01 1.11625284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.779072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.62, Y:-2.17, Z:0.11 [[ 9.94991726e-01 -5.92681453e-02 -8.04906931e-02 1.56195553e+01] [ 5.93132148e-02 9.98237739e-01 -1.83302357e-03 -2.16655120e+00] [ 8.04574874e-02 -2.95031848e-03 9.96753675e-01 1.14287672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.809072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.65, Y:-2.17, Z:0.12 [[ 9.95092457e-01 -5.80439774e-02 -8.01367485e-02 1.56477559e+01] [ 5.80834208e-02 9.98310036e-01 -1.84074479e-03 -2.16520312e+00] [ 8.01081644e-02 -2.82290523e-03 9.96782179e-01 1.16440568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.839072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.68, Y:-2.16, Z:0.12 [[ 9.95210481e-01 -5.76172137e-02 -7.89706000e-02 1.56754677e+01] [ 5.76524337e-02 9.98335027e-01 -1.83582725e-03 -2.16406071e+00] [ 7.89448913e-02 -2.72581276e-03 9.96875255e-01 1.17693461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.869072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.70, Y:-2.16, Z:0.12 [[ 9.95323577e-01 -5.55908012e-02 -7.89977241e-02 1.57026851e+01] [ 5.56178737e-02 9.98450397e-01 -1.85924971e-03 -2.16284977e+00] [ 7.89786662e-02 -2.54313037e-03 9.96873063e-01 1.19847799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.899072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.73, Y:-2.16, Z:0.12 [[ 9.95369265e-01 -5.51507507e-02 -7.87300482e-02 1.57306525e+01] [ 5.51754036e-02 9.98474938e-01 -1.86385513e-03 -2.16166007e+00] [ 7.87127729e-02 -2.48873807e-03 9.96894230e-01 1.21407388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.929072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.76, Y:-2.16, Z:0.12 [[ 9.95433855e-01 -5.43033213e-02 -7.85021638e-02 1.57579758e+01] [ 5.43233897e-02 9.98521622e-01 -1.88146792e-03 -2.16035357e+00] [ 7.84882779e-02 -2.39162677e-03 9.96912168e-01 1.22757909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.959072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.79, Y:-2.16, Z:0.12 [[ 9.95476942e-01 -5.36110711e-02 -7.84315642e-02 1.57863133e+01] [ 5.36276803e-02 9.98559201e-01 -1.89603624e-03 -2.15909685e+00] [ 7.84202086e-02 -2.31864250e-03 9.96917697e-01 1.24964173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.989072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.81, Y:-2.16, Z:0.13 [[ 9.95574583e-01 -5.17154085e-02 -7.84650682e-02 1.58134370e+01] [ 5.17243781e-02 9.98659554e-01 -1.91946183e-03 -2.15828549e+00] [ 7.84591558e-02 -2.14758944e-03 9.96915016e-01 1.27485962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.019072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.84, Y:-2.16, Z:0.13 [[ 9.95573756e-01 -5.10261664e-02 -7.89254456e-02 1.58405233e+01] [ 5.10322753e-02 9.98695118e-01 -1.94093761e-03 -2.15730586e+00] [ 7.89214959e-02 -2.09539852e-03 9.96878632e-01 1.30069144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.049072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.87, Y:-2.16, Z:0.13 [[ 9.95626236e-01 -5.07270190e-02 -7.84548808e-02 1.58681604e+01] [ 5.07312881e-02 9.98710455e-01 -1.94000427e-03 -2.15607250e+00] [ 7.84521204e-02 -2.04859801e-03 9.96915778e-01 1.31118661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.079072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.90, Y:-2.15, Z:0.13 [[ 9.95661191e-01 -4.92387282e-02 -7.89578367e-02 1.58958247e+01] [ 4.92366026e-02 9.98785190e-01 -1.97495461e-03 -2.15454801e+00] [ 7.89591623e-02 -1.92122997e-03 9.96876000e-01 1.32948574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.109072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.92, Y:-2.15, Z:0.13 [[ 9.95662121e-01 -4.86582032e-02 -7.93052293e-02 1.59236921e+01] [ 4.86524133e-02 9.98813755e-01 -2.00639575e-03 -2.15332658e+00] [ 7.93087815e-02 -1.86069855e-03 9.96848361e-01 1.34559761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.13907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.95, Y:-2.15, Z:0.14 [[ 9.95725089e-01 -4.82372489e-02 -7.87700084e-02 1.59506894e+01] [ 4.82284891e-02 9.98834297e-01 -2.01475183e-03 -2.15165068e+00] [ 7.87753721e-02 -1.79281955e-03 9.96890780e-01 1.36586037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.16907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.98, Y:-2.15, Z:0.14 [[ 9.95871929e-01 -4.66692636e-02 -7.78529424e-02 1.59772198e+01] [ 4.66551681e-02 9.98909051e-01 -2.00092043e-03 -2.15042782e+00] [ 7.78613903e-02 -1.63958163e-03 9.96962846e-01 1.38927997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.19907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.01, Y:-2.15, Z:0.14 [[ 9.95916182e-01 -4.65534733e-02 -7.73545854e-02 1.60051372e+01] [ 4.65384410e-02 9.98914502e-01 -1.99798138e-03 -2.14892540e+00] [ 7.73636301e-02 -1.61013982e-03 9.97001643e-01 1.41027766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.22907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.03, Y:-2.15, Z:0.14 [[ 9.95938591e-01 -4.60574122e-02 -7.73630291e-02 1.60319750e+01] [ 4.60391783e-02 9.98937592e-01 -2.02016449e-03 -2.14761324e+00] [ 7.73738816e-02 -1.54977052e-03 9.97000943e-01 1.43497329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.259072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.06, Y:-2.15, Z:0.14 [[ 9.95942468e-01 -4.58475165e-02 -7.74377553e-02 1.60595890e+01] [ 4.58278157e-02 9.98947286e-01 -2.03239856e-03 -2.14625723e+00] [ 7.74494160e-02 -1.52465114e-03 9.96995117e-01 1.44986409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.289072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.09, Y:-2.14, Z:0.15 [[ 9.95889400e-01 -4.47918495e-02 -7.87273325e-02 1.60864570e+01] [ 4.47664201e-02 9.98995298e-01 -2.08877633e-03 -2.14452496e+00] [ 7.87417951e-02 -1.44415063e-03 9.96893998e-01 1.46924032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.319072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.11, Y:-2.14, Z:0.15 [[ 9.95845630e-01 -4.48007249e-02 -7.92740552e-02 1.61129801e+01] [ 4.47741413e-02 9.98994899e-01 -2.11371445e-03 -2.14296966e+00] [ 7.92890727e-02 -1.44449445e-03 9.96850619e-01 1.48617605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.349072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.14, Y:-2.14, Z:0.15 [[ 9.95902519e-01 -4.44126423e-02 -7.87762014e-02 1.61405653e+01] [ 4.43839282e-02 9.99012306e-01 -2.11625158e-03 -2.14169007e+00] [ 7.87923830e-02 -1.38881700e-03 9.96890080e-01 1.50418354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.379072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.17, Y:-2.14, Z:0.15 [[ 9.95994482e-01 -4.39140414e-02 -7.78880473e-02 1.61675794e+01] [ 4.38826975e-02 9.99034452e-01 -2.11477550e-03 -2.14011930e+00] [ 7.79057110e-02 -1.31163289e-03 9.96959869e-01 1.52546180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.409072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.20, Y:-2.14, Z:0.16 [[ 9.96006249e-01 -4.37533522e-02 -7.78279853e-02 1.61956086e+01] [ 4.37198202e-02 9.99041549e-01 -2.13551221e-03 -2.13896602e+00] [ 7.78468268e-02 -1.27564201e-03 9.96964515e-01 1.55330693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.439072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.22, Y:-2.14, Z:0.16 [[ 9.96049688e-01 -4.37447102e-02 -7.72749561e-02 1.62238324e+01] [ 4.37099602e-02 9.99041967e-01 -2.14182082e-03 -2.13772973e+00] [ 7.72946175e-02 -1.24432529e-03 9.97007519e-01 1.57163979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.469072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.25, Y:-2.14, Z:0.16 [[ 9.96023391e-01 -4.32881383e-02 -7.78687507e-02 1.62518156e+01] [ 4.32497281e-02 9.99061913e-01 -2.18045749e-03 -2.13640211e+00] [ 7.78900910e-02 -1.19601563e-03 9.96961235e-01 1.59899253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.499072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.28, Y:-2.14, Z:0.16 [[ 9.96035324e-01 -4.34864331e-02 -7.76051711e-02 1.62795920e+01] [ 4.34471773e-02 9.99053314e-01 -2.19497956e-03 -2.13502915e+00] [ 7.76271552e-02 -1.18544845e-03 9.96981755e-01 1.61794640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.529072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.31, Y:-2.13, Z:0.16 [[ 9.96022981e-01 -4.30533245e-02 -7.80040550e-02 1.63069933e+01] [ 4.30105982e-02 9.99072131e-01 -2.22850454e-03 -2.13346547e+00] [ 7.80276219e-02 -1.13535934e-03 9.96950551e-01 1.63381563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.559072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.33, Y:-2.13, Z:0.17 [[ 9.96008138e-01 -4.30219742e-02 -7.82106096e-02 1.63343506e+01] [ 4.29781279e-02 9.99073492e-01 -2.24456592e-03 -2.13219937e+00] [ 7.82347125e-02 -1.12573966e-03 9.96934332e-01 1.65281108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.589072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.36, Y:-2.13, Z:0.17 [[ 9.95954244e-01 -4.32471126e-02 -7.87707466e-02 1.63620317e+01] [ 4.32021111e-02 9.99063760e-01 -2.27618785e-03 -2.13072049e+00] [ 7.87954368e-02 -1.13608359e-03 9.96890159e-01 1.68091842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.619072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.39, Y:-2.13, Z:0.17 [[ 9.96003311e-01 -4.33774771e-02 -7.80755996e-02 1.63891159e+01] [ 4.33319800e-02 9.99058132e-01 -2.27760960e-03 -2.12950730e+00] [ 7.81008597e-02 -1.11466362e-03 9.96944840e-01 1.69716483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.649072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.42, Y:-2.13, Z:0.17 [[ 9.96040987e-01 -4.33240560e-02 -7.76233116e-02 1.64155815e+01] [ 4.32781762e-02 9.99060473e-01 -2.27398895e-03 -2.12834425e+00] [ 7.76489009e-02 -1.09440916e-03 9.96980166e-01 1.71803886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.679072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.44, Y:-2.13, Z:0.17 [[ 9.96018351e-01 -4.40677094e-02 -7.74950370e-02 1.64437466e+01] [ 4.40234502e-02 9.99027896e-01 -2.28023224e-03 -2.12689216e+00] [ 7.75201884e-02 -1.14044575e-03 9.96990130e-01 1.74043430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.709072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.47, Y:-2.13, Z:0.18 [[ 9.96055726e-01 -4.42814075e-02 -7.68904957e-02 1.64707382e+01] [ 4.42368476e-02 9.99018462e-01 -2.28348530e-03 -2.12594854e+00] [ 7.69161407e-02 -1.12691453e-03 9.97036929e-01 1.75939740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.739072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.50, Y:-2.12, Z:0.18 [[ 9.95996357e-01 -4.47528263e-02 -7.73850200e-02 1.64976121e+01] [ 4.47083738e-02 9.98997415e-01 -2.30768711e-03 -2.12452574e+00] [ 7.74107104e-02 -1.16131044e-03 9.96998612e-01 1.78571215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.769072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.53, Y:-2.12, Z:0.18 [[ 9.95952030e-01 -4.53984887e-02 -7.75791922e-02 1.65250851e+01] [ 4.53549998e-02 9.98968231e-01 -2.32335164e-03 -2.12309058e+00] [ 7.76046250e-02 -1.20465747e-03 9.96983486e-01 1.80109588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.799072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.55, Y:-2.12, Z:0.18 [[ 9.95931431e-01 -4.60957808e-02 -7.74323228e-02 1.65530543e+01] [ 4.60529131e-02 9.98936261e-01 -2.34015023e-03 -2.12159347e+00] [ 7.74578260e-02 -1.23535486e-03 9.96994864e-01 1.80614416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.829072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.58, Y:-2.12, Z:0.18 [[ 9.95876424e-01 -4.67408747e-02 -7.77524228e-02 1.65797902e+01] [ 4.66979155e-02 9.98906242e-01 -2.37160967e-03 -2.12049282e+00] [ 7.77782316e-02 -1.26904592e-03 9.96969877e-01 1.82852283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.859072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.61, Y:-2.12, Z:0.18 [[ 9.95883068e-01 -4.74703237e-02 -7.72235880e-02 1.66080147e+01] [ 4.74293570e-02 9.98871794e-01 -2.36551917e-03 -2.11954363e+00] [ 7.72487558e-02 -1.30688464e-03 9.97010994e-01 1.84841901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.88907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.64, Y:-2.12, Z:0.19 [[ 9.95875462e-01 -4.76826605e-02 -7.71908527e-02 1.66352538e+01] [ 4.76406599e-02 9.98861688e-01 -2.38653344e-03 -2.11889226e+00] [ 7.72167817e-02 -1.30073307e-03 9.97013479e-01 1.87074440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.91907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.66, Y:-2.12, Z:0.19 [[ 9.95821339e-01 -4.91809182e-02 -7.69486664e-02 1.66627000e+01] [ 4.91428635e-02 9.98788902e-01 -2.38916610e-03 -2.11751922e+00] [ 7.69729755e-02 -1.40229523e-03 9.97032193e-01 1.89337620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.94907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.69, Y:-2.12, Z:0.19 [[ 9.95785167e-01 -4.97511244e-02 -7.70501622e-02 1.66901379e+01] [ 4.97130137e-02 9.98760627e-01 -2.41378506e-03 -2.11656472e+00] [ 7.70747568e-02 -1.42678441e-03 9.97024296e-01 1.91529340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.97907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.72, Y:-2.12, Z:0.19 [[ 9.95724339e-01 -5.04134988e-02 -7.74049029e-02 1.67166786e+01] [ 5.03753446e-02 9.98727359e-01 -2.44666497e-03 -2.11538575e+00] [ 7.74297392e-02 -1.46309480e-03 9.96996738e-01 1.93457259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.009072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.74, Y:-2.11, Z:0.20 [[ 9.95644886e-01 -5.19615578e-02 -7.74032106e-02 1.67442884e+01] [ 5.19272884e-02 9.98647846e-01 -2.45672862e-03 -2.11437639e+00] [ 7.74262050e-02 -1.57330955e-03 9.96996844e-01 1.95139801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.039072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.77, Y:-2.11, Z:0.20 [[ 9.95573292e-01 -5.27814612e-02 -7.77684897e-02 1.67725647e+01] [ 5.27476756e-02 9.98604768e-01 -2.48997770e-03 -2.11341914e+00] [ 7.77914093e-02 -1.62315177e-03 9.96968336e-01 1.98017546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.069072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.80, Y:-2.11, Z:0.20 [[ 9.95563955e-01 -5.29582976e-02 -7.77677916e-02 1.68009873e+01] [ 5.29233623e-02 9.98595418e-01 -2.51159869e-03 -2.11232033e+00] [ 7.77915704e-02 -1.61527588e-03 9.96968336e-01 2.00131128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.099072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.83, Y:-2.11, Z:0.20 [[ 9.95553616e-01 -5.39382135e-02 -7.72247792e-02 1.68292761e+01] [ 5.39056286e-02 9.98542885e-01 -2.50794935e-03 -2.11141703e+00] [ 7.72475281e-02 -1.66605222e-03 9.97010553e-01 2.01840885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.129072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.86, Y:-2.11, Z:0.20 [[ 9.95482817e-01 -5.55224291e-02 -7.70144182e-02 1.68566704e+01] [ 5.54930474e-02 9.98455885e-01 -2.52317733e-03 -2.11028254e+00] [ 7.70355920e-02 -1.76198508e-03 9.97026786e-01 2.04840009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.159072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.88, Y:-2.11, Z:0.21 [[ 9.95408832e-01 -5.64807409e-02 -7.72734369e-02 1.68839360e+01] [ 5.64523727e-02 9.98402029e-01 -2.55321699e-03 -2.10913190e+00] [ 7.72941638e-02 -1.82077413e-03 9.97006669e-01 2.07311568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.189072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.91, Y:-2.11, Z:0.21 [[ 9.95091999e-01 -5.71634988e-02 -8.07728224e-02 1.69117138e+01] [ 5.72793218e-02 9.98357800e-01 -8.84332613e-04 -2.10861063e+00] [ 8.06907288e-02 -3.74662018e-03 9.96732145e-01 2.10863980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.219072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.94, Y:-2.11, Z:0.21 [[ 9.95194575e-01 -5.91616223e-02 -7.80234557e-02 1.69409984e+01] [ 5.89949519e-02 9.98248400e-01 -4.44146885e-03 -2.10585058e+00] [ 7.81495543e-02 -1.82864312e-04 9.96941630e-01 2.10807940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.249072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.97, Y:-2.11, Z:0.21 [[ 9.95150308e-01 -5.98231417e-02 -7.80836520e-02 1.69683860e+01] [ 5.98009490e-02 9.98206871e-01 -2.62459992e-03 -2.10544388e+00] [ 7.81006498e-02 -2.05760507e-03 9.96943356e-01 2.13012660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.279072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.00, Y:-2.10, Z:0.21 [[ 9.95098140e-01 -6.17034246e-02 -7.72811722e-02 1.69962576e+01] [ 6.16865606e-02 9.98092164e-01 -2.60765854e-03 -2.10480965e+00] [ 7.72946339e-02 -2.17233355e-03 9.97005928e-01 2.14557088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.309072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.02, Y:-2.10, Z:0.22 [[ 9.95037175e-01 -6.30388365e-02 -7.69878244e-02 1.70240611e+01] [ 6.30244089e-02 9.98008548e-01 -2.61947827e-03 -2.10347735e+00] [ 7.69996357e-02 -2.24563387e-03 9.97028592e-01 2.16711957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.339072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.05, Y:-2.10, Z:0.22 [[ 9.94982427e-01 -6.41136700e-02 -7.68075984e-02 1.70519296e+01] [ 6.41008369e-02 9.97939948e-01 -2.63497710e-03 -2.10284727e+00] [ 7.68183088e-02 -2.30167542e-03 9.97042451e-01 2.18757667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.369072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.08, Y:-2.10, Z:0.22 [[ 9.94853019e-01 -6.61453082e-02 -7.67611126e-02 1.70788041e+01] [ 6.61368946e-02 9.97807028e-01 -2.65452299e-03 -2.10226578e+00] [ 7.67683619e-02 -2.43588140e-03 9.97045979e-01 2.21327489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.399072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.11, Y:-2.10, Z:0.22 [[ 9.94730867e-01 -6.73526479e-02 -7.72924483e-02 1.71068081e+01] [ 6.73469842e-02 9.97726007e-01 -2.68285501e-03 -2.10141628e+00] [ 7.72973832e-02 -2.53669460e-03 9.97004854e-01 2.23784614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.429072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.13, Y:-2.10, Z:0.23 [[ 9.94652676e-01 -6.86158264e-02 -7.71875838e-02 1.71344485e+01] [ 6.86123015e-02 9.97639744e-01 -2.70077283e-03 -2.10046619e+00] [ 7.71907170e-02 -2.60968685e-03 9.97012930e-01 2.25732398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.459072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.16, Y:-2.10, Z:0.23 [[ 9.94536655e-01 -7.01370919e-02 -7.73151365e-02 1.71626306e+01] [ 7.01363914e-02 9.97533682e-01 -2.72778937e-03 -2.09924624e+00] [ 7.73157720e-02 -2.70971816e-03 9.97002973e-01 2.28119431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.489072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.19, Y:-2.10, Z:0.23 [[ 9.94405529e-01 -7.20932853e-02 -7.72023477e-02 1.71891343e+01] [ 7.20967348e-02 9.97393864e-01 -2.74614233e-03 -2.09873099e+00] [ 7.71991263e-02 -2.83525807e-03 9.97011663e-01 2.29513618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.519072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.22, Y:-2.10, Z:0.23 [[ 9.94328004e-01 -7.31218553e-02 -7.72335062e-02 1.72174398e+01] [ 7.31275924e-02 9.97318781e-01 -2.75769579e-03 -2.09788178e+00] [ 7.72280740e-02 -2.90584622e-03 9.97009218e-01 2.31476432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.549072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.24, Y:-2.10, Z:0.23 [[ 9.94235974e-01 -7.40303726e-02 -7.75521279e-02 1.72444950e+01] [ 7.40372066e-02 9.97251574e-01 -2.79104516e-03 -2.09699653e+00] [ 7.75456038e-02 -2.96678541e-03 9.96984392e-01 2.33878381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.579072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.27, Y:-2.10, Z:0.23 [[ 9.94170240e-01 -7.58640223e-02 -7.66171230e-02 1.72724263e+01] [ 7.58753508e-02 9.97113471e-01 -2.76730396e-03 -2.09605932e+00] [ 7.66059043e-02 -3.06217984e-03 9.97056748e-01 2.34673537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.609072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.30, Y:-2.09, Z:0.24 [[ 9.94081306e-01 -7.71727139e-02 -7.64639045e-02 1.72995182e+01] [ 7.71861684e-02 9.97012811e-01 -2.78376226e-03 -2.09480001e+00] [ 7.64503229e-02 -3.13466979e-03 9.97068464e-01 2.37125187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.63907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.33, Y:-2.09, Z:0.24 [[ 9.94035094e-01 -7.81191066e-02 -7.61028103e-02 1.73278307e+01] [ 7.81344427e-02 9.96938954e-01 -2.78048117e-03 -2.09400220e+00] [ 7.60870648e-02 -3.18235481e-03 9.97096099e-01 2.39200204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.66907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.36, Y:-2.09, Z:0.24 [[ 9.93807712e-01 -8.05338512e-02 -7.65541058e-02 1.73561663e+01] [ 8.05548299e-02 9.96746193e-01 -2.81890097e-03 -2.09309240e+00] [ 7.65320304e-02 -3.36535745e-03 9.97061444e-01 2.41117377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.69907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.38, Y:-2.09, Z:0.24 [[ 9.93691180e-01 -8.15446934e-02 -7.69954700e-02 1.73835356e+01] [ 8.15672290e-02 9.96663746e-01 -2.85735732e-03 -2.09228041e+00] [ 7.69715959e-02 -3.44097637e-03 9.97027348e-01 2.42776610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.72907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.41, Y:-2.09, Z:0.24 [[ 9.93524494e-01 -8.27308398e-02 -7.78761081e-02 1.74103284e+01] [ 8.27567593e-02 9.96565557e-01 -2.89996600e-03 -2.09138184e+00] [ 7.78485636e-02 -3.56358707e-03 9.96958827e-01 2.44940131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.759072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.44, Y:-2.09, Z:0.25 [[ 9.93246773e-01 -8.53661887e-02 -7.85713816e-02 1.74385682e+01] [ 8.53999573e-02 9.96342423e-01 -2.93648003e-03 -2.09039212e+00] [ 7.85346769e-02 -3.79334333e-03 9.96904165e-01 2.46911233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.789072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.47, Y:-2.09, Z:0.25 [[ 9.93163406e-01 -8.66256645e-02 -7.82460489e-02 1.74663652e+01] [ 8.66613244e-02 9.96233474e-01 -2.94622784e-03 -2.08966358e+00] [ 7.82065521e-02 -3.85482056e-03 9.96929724e-01 2.49041049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.819072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.49, Y:-2.09, Z:0.25 [[ 9.93081504e-01 -8.79508451e-02 -7.78060052e-02 1.74929138e+01] [ 8.79884771e-02 9.96117121e-01 -2.95110149e-03 -2.08870715e+00] [ 7.77634458e-02 -3.91534759e-03 9.96964150e-01 2.51368518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.849072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.52, Y:-2.09, Z:0.25 [[ 9.92989534e-01 -8.99803532e-02 -7.66506504e-02 1.75212282e+01] [ 9.00221367e-02 9.95935493e-01 -2.91697361e-03 -2.08875038e+00] [ 7.66015736e-02 -4.00373106e-03 9.97053744e-01 2.53867033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.879072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.55, Y:-2.09, Z:0.26 [[ 9.92901566e-01 -9.12401770e-02 -7.63001394e-02 1.75479166e+01] [ 9.12836975e-02 9.95820634e-01 -2.92430343e-03 -2.08795527e+00] [ 7.62480671e-02 -4.06141339e-03 9.97080607e-01 2.55830607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.909072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.58, Y:-2.09, Z:0.26 [[ 9.92793765e-01 -9.22570503e-02 -7.64799168e-02 1.75754367e+01] [ 9.23030512e-02 9.95726619e-01 -2.94073353e-03 -2.08727537e+00] [ 7.64243924e-02 -4.13978776e-03 9.97066785e-01 2.57621630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.939072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.60, Y:-2.09, Z:0.26 [[ 9.92703326e-01 -9.34184603e-02 -7.62436799e-02 1.76019076e+01] [ 9.34659438e-02 9.95618098e-01 -2.95311743e-03 -2.08636339e+00] [ 7.61854632e-02 -4.19461800e-03 9.97084841e-01 2.59093055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.969072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.63, Y:-2.09, Z:0.26 [[ 9.92385883e-01 -9.57416298e-02 -7.74841939e-02 1.76299910e+01] [ 9.57969344e-02 9.95396342e-01 -3.01148935e-03 -2.08565953e+00] [ 7.74158081e-02 -4.43418872e-03 9.96989032e-01 2.61915573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.999072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.66, Y:-2.09, Z:0.26 [[ 9.92149657e-01 -9.60219615e-02 -8.01176671e-02 1.76578092e+01] [ 9.60801921e-02 9.95368654e-01 -3.13689666e-03 -2.08522263e+00] [ 8.00478254e-02 -4.58544990e-03 9.96780477e-01 2.64546813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.029072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.68, Y:-2.08, Z:0.27 [[ 9.92191281e-01 -9.75355714e-02 -7.77385016e-02 1.76846360e+01] [ 9.75932148e-02 9.95221665e-01 -3.06639512e-03 -2.08404040e+00] [ 7.76661236e-02 -4.54429979e-03 9.96969068e-01 2.66136415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.059072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.71, Y:-2.08, Z:0.27 [[ 9.92049844e-01 -9.92917809e-02 -7.73191385e-02 1.77116993e+01] [ 9.93533124e-02 9.95047514e-01 -3.06006654e-03 -2.08344930e+00] [ 7.72400560e-02 -4.64617398e-03 9.97001699e-01 2.68367784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.089072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.74, Y:-2.08, Z:0.27 [[ 9.91984761e-01 -1.00069750e-01 -7.71510082e-02 1.77394879e+01] [ 1.00132608e-01 9.94969386e-01 -3.06304521e-03 -2.08275146e+00] [ 7.70694094e-02 -4.68683747e-03 9.97014714e-01 2.70806914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.119072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.77, Y:-2.08, Z:0.27 [[ 9.91621782e-01 -1.01284832e-01 -8.01724687e-02 1.77673899e+01] [ 1.01388442e-01 9.94843008e-01 -2.78798781e-03 -2.08226222e+00] [ 8.00414008e-02 -5.36393222e-03 9.96777108e-01 2.73887690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.149072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.79, Y:-2.08, Z:0.28 [[ 9.91729281e-01 -1.02558750e-01 -7.71669311e-02 1.77949900e+01] [ 1.02585790e-01 9.94717559e-01 -3.62406468e-03 -2.08105567e+00] [ 7.71309809e-02 -4.32213954e-03 9.97011600e-01 2.75046082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.179072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.82, Y:-2.08, Z:0.28 [[ 9.91668978e-01 -1.03343985e-01 -7.68938172e-02 1.78216289e+01] [ 1.03412588e-01 9.94633715e-01 -3.09981893e-03 -2.08006538e+00] [ 7.68015307e-02 -4.87779435e-03 9.97034469e-01 2.76768817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.209072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.85, Y:-2.08, Z:0.28 [[ 9.91563788e-01 -1.04714864e-01 -7.63940514e-02 1.78488025e+01] [ 1.04785910e-01 9.94490006e-01 -3.08888370e-03 -2.07948738e+00] [ 7.62965726e-02 -4.94219494e-03 9.97072920e-01 2.78829331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.239072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.88, Y:-2.08, Z:0.28 [[ 9.91421331e-01 -1.05949585e-01 -7.65403777e-02 1.78768553e+01] [ 1.06023831e-01 9.94358743e-01 -3.10436590e-03 -2.07849011e+00] [ 7.64375000e-02 -5.03736946e-03 9.97061650e-01 2.81119363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.269072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.90, Y:-2.08, Z:0.28 [[ 9.91341729e-01 -1.06868360e-01 -7.62937120e-02 1.79046451e+01] [ 1.06943202e-01 9.94260250e-01 -3.11563781e-03 -2.07745850e+00] [ 7.61887682e-02 -5.07043207e-03 9.97080519e-01 2.83353497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.299072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.93, Y:-2.08, Z:0.29 [[ 9.91123409e-01 -1.08476693e-01 -7.68582736e-02 1.79315332e+01] [ 1.08555829e-01 9.94085332e-01 -3.15991617e-03 -2.07709489e+00] [ 7.67464597e-02 -5.21154674e-03 9.97037021e-01 2.86274590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.329072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.96, Y:-2.08, Z:0.29 [[ 9.91068895e-01 -1.08928116e-01 -7.69227561e-02 1.79580741e+01] [ 1.09008021e-01 9.94035809e-01 -3.17186274e-03 -2.07644641e+00] [ 7.68094791e-02 -5.24166294e-03 9.97032010e-01 2.88827300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.359072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.99, Y:-2.08, Z:0.29 [[ 9.90985009e-01 -1.09646392e-01 -7.69829906e-02 1.79855476e+01] [ 1.09727831e-01 9.93956571e-01 -3.18403881e-03 -2.07595504e+00] [ 7.68668677e-02 -5.29184184e-03 9.97027322e-01 2.91343918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.38907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.01, Y:-2.07, Z:0.29 [[ 9.90881621e-01 -1.10324051e-01 -7.73447985e-02 1.80131423e+01] [ 1.10406614e-01 9.93881283e-01 -3.22096335e-03 -2.07474580e+00] [ 7.72268973e-02 -5.34778392e-03 9.96999201e-01 2.93859076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.41907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.04, Y:-2.07, Z:0.30 [[ 9.90829828e-01 -1.10730701e-01 -7.74271496e-02 1.80406371e+01] [ 1.10812974e-01 9.93835975e-01 -3.24632520e-03 -2.07324753e+00] [ 7.73093546e-02 -5.36337691e-03 9.96992727e-01 2.96105298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.44907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.07, Y:-2.07, Z:0.30 [[ 9.90761499e-01 -1.11160845e-01 -7.76847332e-02 1.80686611e+01] [ 1.11243274e-01 9.93787795e-01 -3.27911647e-03 -2.07198431e+00] [ 7.75666491e-02 -5.39308174e-03 9.96972582e-01 2.98373158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.47907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.10, Y:-2.07, Z:0.30 [[ 9.90719568e-01 -1.11705246e-01 -7.74382011e-02 1.80955954e+01] [ 1.11787125e-01 9.93726729e-01 -3.29032319e-03 -2.07094242e+00] [ 7.73199566e-02 -5.39680631e-03 9.96991725e-01 3.00288464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.509072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.12, Y:-2.07, Z:0.30 [[ 9.90690522e-01 -1.12098793e-01 -7.72408644e-02 1.81232788e+01] [ 1.12180661e-01 9.93682375e-01 -3.29201164e-03 -2.06991454e+00] [ 7.71219161e-02 -5.40356646e-03 9.97007027e-01 3.02281433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.539072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.15, Y:-2.07, Z:0.30 [[ 9.90647232e-01 -1.12435435e-01 -7.73067559e-02 1.81513869e+01] [ 1.12516782e-01 9.93644290e-01 -3.31652382e-03 -2.06908798e+00] [ 7.71883114e-02 -5.41280225e-03 9.97001839e-01 3.04649677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.569072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.18, Y:-2.07, Z:0.31 [[ 9.90464042e-01 -1.13858701e-01 -7.75704721e-02 1.81781620e+01] [ 1.13943224e-01 9.93481615e-01 -3.34999064e-03 -2.06844131e+00] [ 7.74462635e-02 -5.52058437e-03 9.96981243e-01 3.06416404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.599072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.21, Y:-2.07, Z:0.31 [[ 9.90415391e-01 -1.14213910e-01 -7.76693975e-02 1.82058190e+01] [ 1.14298033e-01 9.93440769e-01 -3.37615449e-03 -2.06730330e+00] [ 7.75455498e-02 -5.53366395e-03 9.96973453e-01 3.08051113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.629072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.23, Y:-2.07, Z:0.31 [[ 9.90240418e-01 -1.15443527e-01 -7.80814146e-02 1.82340343e+01] [ 1.15530652e-01 9.93298042e-01 -3.41576999e-03 -2.06625979e+00] [ 7.79524448e-02 -5.63836326e-03 9.96941134e-01 3.10475088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.659072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.26, Y:-2.07, Z:0.31 [[ 9.90177883e-01 -1.15891570e-01 -7.82106439e-02 1.82620937e+01] [ 1.15978675e-01 9.93245736e-01 -3.44312568e-03 -2.06501031e+00] [ 7.80814177e-02 -5.66145996e-03 9.96930910e-01 3.13156470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.689072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.29, Y:-2.06, Z:0.32 [[ 9.90165218e-01 -1.16197380e-01 -7.79166796e-02 1.82899764e+01] [ 1.16283083e-01 9.93210114e-01 -3.45175261e-03 -2.06435448e+00] [ 7.77887189e-02 -5.64258632e-03 9.96953899e-01 3.15035533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.719072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.32, Y:-2.06, Z:0.32 [[ 9.90116941e-01 -1.16403831e-01 -7.82214263e-02 1.83169413e+01] [ 1.16489129e-01 9.93185845e-01 -3.48723693e-03 -2.06335385e+00] [ 7.80943411e-02 -5.65917347e-03 9.96929911e-01 3.16988041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.749072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.34, Y:-2.06, Z:0.32 [[ 9.90130036e-01 -1.16346108e-01 -7.81415060e-02 1.83444186e+01] [ 1.16430238e-01 9.93192726e-01 -3.49407242e-03 -2.06237497e+00] [ 7.80160971e-02 -5.63844812e-03 9.96936155e-01 3.19630796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.779072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.37, Y:-2.06, Z:0.32 [[ 9.90135292e-01 -1.16596667e-01 -7.77001994e-02 1.83717660e+01] [ 1.16678957e-01 9.93163532e-01 -3.49553989e-03 -2.06106059e+00] [ 7.75765728e-02 -5.60492085e-03 9.96970642e-01 3.21284337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.809072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.40, Y:-2.06, Z:0.32 [[ 9.90015473e-01 -1.15398012e-01 -8.09485123e-02 1.83998703e+01] [ 1.15482500e-01 9.93302798e-01 -3.65301552e-03 -2.06040153e+00] [ 8.08279345e-02 -5.73159471e-03 9.96711590e-01 3.23680720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.839072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.43, Y:-2.06, Z:0.32 [[ 9.90206658e-01 -1.16118140e-01 -7.75071144e-02 1.84266388e+01] [ 1.16196117e-01 9.93220058e-01 -3.51835199e-03 -2.05870698e+00] [ 7.73901652e-02 -5.52213018e-03 9.96985591e-01 3.23789599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.869072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.45, Y:-2.06, Z:0.33 [[ 9.90156917e-01 -1.16253805e-01 -7.79380036e-02 1.84540591e+01] [ 1.16332220e-01 9.93204017e-01 -3.54889704e-03 -2.05743631e+00] [ 7.78209111e-02 -5.55273605e-03 9.96951891e-01 3.26262168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.899072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.48, Y:-2.06, Z:0.33 [[ 9.90150054e-01 -1.16247100e-01 -7.80351362e-02 1.84805389e+01] [ 1.16323927e-01 9.93204892e-01 -3.57589098e-03 -2.05670967e+00] [ 7.79205660e-02 -5.53668486e-03 9.96944196e-01 3.28096793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.929072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.51, Y:-2.06, Z:0.33 [[ 9.90190167e-01 -1.16154667e-01 -7.76629040e-02 1.85081601e+01] [ 1.16228753e-01 9.93216016e-01 -3.58095869e-03 -2.05541287e+00] [ 7.75519851e-02 -5.48083237e-03 9.96973244e-01 3.29971686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.959072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.54, Y:-2.05, Z:0.33 [[ 9.90165950e-01 -1.16370995e-01 -7.76478110e-02 1.85363149e+01] [ 1.16444036e-01 9.93190724e-01 -3.60181553e-03 -2.05412180e+00] [ 7.75382324e-02 -5.47522941e-03 9.96974345e-01 3.32668022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.989072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.56, Y:-2.05, Z:0.34 [[ 9.90209964e-01 -1.16060589e-01 -7.75510562e-02 1.85644664e+01] [ 1.16130843e-01 9.93227332e-01 -3.61866579e-03 -2.05290229e+00] [ 7.74458131e-02 -5.42283063e-03 9.96981815e-01 3.35571824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.019072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.59, Y:-2.05, Z:0.34 [[ 9.90179534e-01 -1.16320592e-01 -7.75500441e-02 1.85928835e+01] [ 1.16389958e-01 9.93196922e-01 -3.64023074e-03 -2.05135317e+00] [ 7.74458989e-02 -5.42156439e-03 9.96981815e-01 3.37684364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.049072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.62, Y:-2.05, Z:0.34 [[ 9.90157311e-01 -1.16670697e-01 -7.73074908e-02 1.86211792e+01] [ 1.16739114e-01 9.93155911e-01 -3.64912689e-03 -2.05013249e+00] [ 7.72041376e-02 -5.41159831e-03 9.97000620e-01 3.39604713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.079072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.65, Y:-2.05, Z:0.34 [[ 9.90129036e-01 -1.16772396e-01 -7.75158028e-02 1.86481628e+01] [ 1.16839830e-01 9.93143952e-01 -3.68041416e-03 -2.04896967e+00] [ 7.74141215e-02 -5.41284830e-03 9.96984330e-01 3.41092078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.109072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.68, Y:-2.05, Z:0.34 [[ 9.90026174e-01 -1.17026230e-01 -7.84412948e-02 1.86757011e+01] [ 1.17095275e-01 9.93113663e-01 -3.73476790e-03 -2.04837428e+00] [ 7.83381874e-02 -5.48758704e-03 9.96911739e-01 3.43083244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.13907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.70, Y:-2.05, Z:0.34 [[ 9.90050813e-01 -1.16863151e-01 -7.83734126e-02 1.87034418e+01] [ 1.16929794e-01 9.93133088e-01 -3.75413708e-03 -2.04745988e+00] [ 7.82739495e-02 -5.44740051e-03 9.96917005e-01 3.44912967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.16907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.73, Y:-2.05, Z:0.35 [[ 9.89857708e-01 -1.16721741e-01 -8.09799517e-02 1.87306504e+01] [ 1.16790493e-01 9.93148903e-01 -3.90343612e-03 -2.04663706e+00] [ 8.08807660e-02 -5.59384212e-03 9.96708087e-01 3.47305807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.19907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.76, Y:-2.05, Z:0.35 [[ 9.90062940e-01 -1.17156363e-01 -7.77802075e-02 1.87573327e+01] [ 1.17219384e-01 9.93098886e-01 -3.77070380e-03 -2.04583974e+00] [ 7.76851994e-02 -5.38411389e-03 9.96963400e-01 3.49344411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.22907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.78, Y:-2.04, Z:0.35 [[ 9.90051731e-01 -1.17304929e-01 -7.76989286e-02 1.87840581e+01] [ 1.17367066e-01 9.93081400e-01 -3.78224580e-03 -2.04483426e+00] [ 7.76050369e-02 -5.37467624e-03 9.96969694e-01 3.52565989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.259072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.81, Y:-2.04, Z:0.35 [[ 9.90061471e-01 -1.17402737e-01 -7.74266209e-02 1.88118202e+01] [ 1.17463543e-01 9.93069985e-01 -3.78429881e-03 -2.04369807e+00] [ 7.73343403e-02 -5.34811681e-03 9.96990871e-01 3.54693762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.289072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.84, Y:-2.04, Z:0.36 [[ 9.90007985e-01 -1.17499807e-01 -7.79614342e-02 1.88401098e+01] [ 1.17560031e-01 9.93058382e-01 -3.83265591e-03 -2.04260331e+00] [ 7.78705920e-02 -5.37078866e-03 9.96949008e-01 3.57108811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.319072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.87, Y:-2.04, Z:0.36 [[ 9.90008459e-01 -1.17295206e-01 -7.82629296e-02 1.88667149e+01] [ 1.17353498e-01 9.93082665e-01 -3.87003456e-03 -2.04176462e+00] [ 7.81754952e-02 -5.35306160e-03 9.96925241e-01 3.58892319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.349072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.89, Y:-2.04, Z:0.36 [[ 9.89919261e-01 -1.17748262e-01 -7.87096102e-02 1.88943886e+01] [ 1.17807794e-01 9.93028746e-01 -3.90301654e-03 -2.04021698e+00] [ 7.86204790e-02 -5.40893428e-03 9.96889946e-01 3.61263027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.379072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.92, Y:-2.04, Z:0.36 [[ 9.89990561e-01 -1.17279627e-01 -7.85122751e-02 1.89209841e+01] [ 1.17335651e-01 9.93084596e-01 -3.91535695e-03 -2.03971334e+00] [ 7.84285226e-02 -5.33612249e-03 9.96905458e-01 3.63258140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.409072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.95, Y:-2.04, Z:0.37 [[ 9.89972008e-01 -1.17557559e-01 -7.83303438e-02 1.89487088e+01] [ 1.17613362e-01 9.93051739e-01 -3.91678044e-03 -2.03814088e+00] [ 7.82465312e-02 -5.33519205e-03 9.96919764e-01 3.65412113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.439072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.98, Y:-2.04, Z:0.37 [[ 9.90033334e-01 -1.17414083e-01 -7.77684434e-02 1.89767911e+01] [ 1.17466961e-01 9.93069093e-01 -3.91019945e-03 -2.03689662e+00] [ 7.76885501e-02 -5.26399492e-03 9.96963780e-01 3.67717133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.469072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.00, Y:-2.04, Z:0.37 [[ 9.90116575e-01 -1.17213813e-01 -7.70070815e-02 1.90048653e+01] [ 1.17263417e-01 9.93093216e-01 -3.89301428e-03 -2.03559529e+00] [ 7.69315252e-02 -5.17557558e-03 9.97022945e-01 3.69552334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.499072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.03, Y:-2.03, Z:0.37 [[ 9.90098266e-01 -1.17310775e-01 -7.70947782e-02 1.90325653e+01] [ 1.17359136e-01 9.93081807e-01 -3.91880563e-03 -2.03439487e+00] [ 7.70211398e-02 -5.16777388e-03 9.97016067e-01 3.72159768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.529072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.06, Y:-2.03, Z:0.37 [[ 9.90052768e-01 -1.17656797e-01 -7.71517590e-02 1.90603211e+01] [ 1.17704613e-01 9.93040823e-01 -3.94318776e-03 -2.03333352e+00] [ 7.70787891e-02 -5.17715401e-03 9.97011563e-01 3.74231257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.559072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.09, Y:-2.03, Z:0.38 [[ 9.90001981e-01 -1.18122363e-01 -7.70920552e-02 1.90885292e+01] [ 1.18169771e-01 9.92985500e-01 -3.96261575e-03 -2.03302229e+00] [ 7.70193665e-02 -5.18695305e-03 9.97016105e-01 3.75963148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.589072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.12, Y:-2.03, Z:0.38 [[ 9.89997409e-01 -1.18246241e-01 -7.69607456e-02 1.91151024e+01] [ 1.18292170e-01 9.92970866e-01 -3.97775846e-03 -2.03212861e+00] [ 7.68901331e-02 -5.16588300e-03 9.97026189e-01 3.77787634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.619072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.14, Y:-2.03, Z:0.38 [[ 9.89960755e-01 -1.18354220e-01 -7.72656606e-02 1.91424211e+01] [ 1.18400087e-01 9.92957901e-01 -4.00331025e-03 -2.03066294e+00] [ 7.71953568e-02 -5.18514092e-03 9.97002503e-01 3.79891689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.649072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.17, Y:-2.03, Z:0.38 [[ 9.89912873e-01 -1.18643524e-01 -7.74352564e-02 1.91701786e+01] [ 1.18689698e-01 9.92923249e-01 -4.02210876e-03 -2.02960286e+00] [ 7.73644635e-02 -5.20922998e-03 9.96989270e-01 3.82522665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.679072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.20, Y:-2.03, Z:0.38 [[ 9.89886581e-01 -1.18697477e-01 -7.76882642e-02 1.91976458e+01] [ 1.18742425e-01 9.92916803e-01 -4.05705637e-03 -2.02820055e+00] [ 7.76195452e-02 -5.20886724e-03 9.96969445e-01 3.84847451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.709072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.23, Y:-2.03, Z:0.39 [[ 9.89932998e-01 -1.18566272e-01 -7.72961788e-02 1.92252572e+01] [ 1.18608699e-01 9.92932782e-01 -4.05806248e-03 -2.02762328e+00] [ 7.72310592e-02 -5.15078928e-03 9.96999916e-01 3.86765604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.739072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.25, Y:-2.03, Z:0.39 [[ 9.89915566e-01 -1.18884801e-01 -7.70297166e-02 1.92532451e+01] [ 1.18926240e-01 9.92894769e-01 -4.06544589e-03 -2.02639938e+00] [ 7.69657223e-02 -5.13640642e-03 9.97020509e-01 3.88989138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.769072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.28, Y:-2.03, Z:0.39 [[ 9.89864547e-01 -1.19048212e-01 -7.74319182e-02 1.92815235e+01] [ 1.19088893e-01 9.92875096e-01 -4.10854624e-03 -2.02532447e+00] [ 7.73693382e-02 -5.15437712e-03 9.96989176e-01 3.91329432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.799072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.31, Y:-2.02, Z:0.39 [[ 9.89837925e-01 -1.19314711e-01 -7.73620204e-02 1.93093521e+01] [ 1.19354435e-01 9.92843135e-01 -4.12664490e-03 -2.02386608e+00] [ 7.73007202e-02 -5.14879057e-03 9.96994528e-01 3.92534964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.829072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.34, Y:-2.02, Z:0.39 [[ 9.89835571e-01 -1.19173796e-01 -7.76089436e-02 1.93366462e+01] [ 1.19211618e-01 9.92860145e-01 -4.16204653e-03 -2.02312984e+00] [ 7.75508339e-02 -5.13214603e-03 9.96975190e-01 3.94495062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.859072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.36, Y:-2.02, Z:0.40 [[ 9.89834946e-01 -1.19122141e-01 -7.76961723e-02 1.93633305e+01] [ 1.19159122e-01 9.92866386e-01 -4.17660414e-03 -2.02148278e+00] [ 7.76394438e-02 -5.12405897e-03 9.96968335e-01 3.96387340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.88907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.39, Y:-2.02, Z:0.40 [[ 9.89830410e-01 -1.19093083e-01 -7.77984393e-02 1.93904953e+01] [ 1.19129313e-01 9.92869898e-01 -4.19186094e-03 -2.02022063e+00] [ 7.77429502e-02 -5.11884321e-03 9.96960296e-01 3.98598220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.91907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.42, Y:-2.02, Z:0.40 [[ 9.89838339e-01 -1.19155185e-01 -7.76022215e-02 1.94185842e+01] [ 1.19190641e-01 9.92862540e-01 -4.19129173e-03 -2.01928855e+00] [ 7.75477529e-02 -5.10075730e-03 9.96975591e-01 4.01150671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.94907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.45, Y:-2.02, Z:0.40 [[ 9.89882288e-01 -1.19011951e-01 -7.72606728e-02 1.94452069e+01] [ 1.19044974e-01 9.92880003e-01 -4.19456897e-03 -2.01815400e+00] [ 7.72097808e-02 -5.04536527e-03 9.97002103e-01 4.03063260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.97907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.47, Y:-2.02, Z:0.41 [[ 9.89802387e-01 -1.18974709e-01 -7.83342415e-02 1.94731191e+01] [ 1.19007726e-01 9.92884175e-01 -4.26344827e-03 -2.01665423e+00] [ 7.82840712e-02 -5.10240868e-03 9.96918036e-01 4.06260944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.009072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.50, Y:-2.02, Z:0.41 [[ 9.89813649e-01 -1.19001375e-01 -7.81512249e-02 1.94995895e+01] [ 1.19032624e-01 9.92881140e-01 -4.27511321e-03 -2.01503764e+00] [ 7.81036216e-02 -5.07097994e-03 9.96932349e-01 4.07591690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.039072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.53, Y:-2.01, Z:0.41 [[ 9.89787880e-01 -1.18851561e-01 -7.87036121e-02 1.95278423e+01] [ 1.18881559e-01 9.92899040e-01 -4.32095376e-03 -2.01406854e+00] [ 7.86582931e-02 -5.07958043e-03 9.96888695e-01 4.09984154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.069072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.56, Y:-2.01, Z:0.41 [[ 9.89816552e-01 -1.18764537e-01 -7.84740553e-02 1.95551997e+01] [ 1.18792400e-01 9.92909673e-01 -4.32975736e-03 -2.01277134e+00] [ 7.84318702e-02 -5.03645587e-03 9.96906754e-01 4.12353648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.099072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.58, Y:-2.01, Z:0.41 [[ 9.89771351e-01 -1.18978495e-01 -7.87196922e-02 1.95831252e+01] [ 1.19006385e-01 9.92883943e-01 -4.35375681e-03 -2.01172094e+00] [ 7.86775218e-02 -5.05892224e-03 9.96887283e-01 4.14633899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.129072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.61, Y:-2.01, Z:0.42 [[ 9.89822355e-01 -1.18678951e-01 -7.85303239e-02 1.96098747e+01] [ 1.18704063e-01 9.92920084e-01 -4.36493009e-03 -2.01075589e+00] [ 7.84923612e-02 -5.00136312e-03 9.96902170e-01 4.16635655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.159072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.64, Y:-2.01, Z:0.42 [[ 9.89858836e-01 -1.18361412e-01 -7.85497306e-02 1.96371281e+01] [ 1.18384779e-01 9.92958155e-01 -4.37569308e-03 -2.00992182e+00] [ 7.85145088e-02 -4.96777404e-03 9.96900593e-01 4.18626798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.189072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.67, Y:-2.01, Z:0.42 [[ 9.89830211e-01 -1.18355196e-01 -7.89189463e-02 1.96652294e+01] [ 1.18377947e-01 9.92958832e-01 -4.40664926e-03 -2.00821552e+00] [ 7.88848146e-02 -4.98042831e-03 9.96871296e-01 4.20777648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.219072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.69, Y:-2.01, Z:0.42 [[ 9.89794852e-01 -1.18452285e-01 -7.92162065e-02 1.96934642e+01] [ 1.18473768e-01 9.92947232e-01 -4.44534589e-03 -2.00682484e+00] [ 7.91840743e-02 -4.98506196e-03 9.96847547e-01 4.23301185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.249072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.72, Y:-2.01, Z:0.43 [[ 9.89826199e-01 -1.18169630e-01 -7.92466633e-02 1.97209068e+01] [ 1.18188447e-01 9.92981125e-01 -4.46947049e-03 -2.00595904e+00] [ 7.92185965e-02 -4.94204108e-03 9.96845018e-01 4.25709075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.279072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.75, Y:-2.00, Z:0.43 [[ 9.89809580e-01 -1.18713984e-01 -7.86383189e-02 1.97489479e+01] [ 1.18732483e-01 9.92916276e-01 -4.45709785e-03 -2.00438966e+00] [ 7.86103866e-02 -4.92524467e-03 9.96893249e-01 4.27644280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.309072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.78, Y:-2.00, Z:0.43 [[ 9.89761070e-01 -1.18967049e-01 -7.88661210e-02 1.97763715e+01] [ 1.18984708e-01 9.92885925e-01 -4.49212531e-03 -2.00388857e+00] [ 7.88394764e-02 -4.93773166e-03 9.96875095e-01 4.30586829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.339072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.80, Y:-2.00, Z:0.43 [[ 9.89770266e-01 -1.19300907e-01 -7.82439361e-02 1.98043100e+01] [ 1.19317598e-01 9.92846037e-01 -4.47859455e-03 -2.00266792e+00] [ 7.82184823e-02 -4.90309876e-03 9.96924184e-01 4.32422383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.369072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.83, Y:-2.00, Z:0.43 [[ 9.89770710e-01 -1.19670562e-01 -7.76717311e-02 1.98318246e+01] [ 1.19686425e-01 9.92801692e-01 -4.46776037e-03 -2.00128808e+00] [ 7.76472854e-02 -4.87419348e-03 9.96968977e-01 4.34127611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.399072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.86, Y:-2.00, Z:0.44 [[ 9.89683889e-01 -1.20165924e-01 -7.80125048e-02 1.98595474e+01] [ 1.20181689e-01 9.92741669e-01 -4.51002871e-03 -1.99976582e+00] [ 7.79882160e-02 -4.91217181e-03 9.96942179e-01 4.36665557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.429072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.89, Y:-2.00, Z:0.44 [[ 9.89676246e-01 -1.20396004e-01 -7.77542941e-02 1.98875646e+01] [ 1.20410630e-01 9.92713893e-01 -4.51737790e-03 -1.99868382e+00] [ 7.77316423e-02 -4.89170196e-03 9.96962318e-01 4.38426527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.459072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.91, Y:-2.00, Z:0.44 [[ 9.89610699e-01 -1.20540252e-01 -7.83626900e-02 1.99149320e+01] [ 1.20553832e-01 9.92696250e-01 -4.57480531e-03 -1.99753842e+00] [ 7.83417967e-02 -4.91964628e-03 9.96914420e-01 4.40354345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.489072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.94, Y:-2.00, Z:0.44 [[ 9.89616330e-01 -1.20501356e-01 -7.83514026e-02 1.99420797e+01] [ 1.20514045e-01 9.92701039e-01 -4.58389897e-03 -1.99666714e+00] [ 7.83318848e-02 -4.90614315e-03 9.96915265e-01 4.42011380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.519072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.97, Y:-2.00, Z:0.44 [[ 9.89552515e-01 -1.20753851e-01 -7.87675488e-02 1.99692631e+01] [ 1.20766710e-01 9.92670175e-01 -4.61796256e-03 -1.99633304e+00] [ 7.87478332e-02 -4.94278122e-03 9.96882314e-01 4.44147443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.549072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.00, Y:-1.99, Z:0.45 [[ 9.89405042e-01 -1.21594062e-01 -7.93255733e-02 1.99969398e+01] [ 1.21608954e-01 9.92567144e-01 -4.66128153e-03 -1.99478893e+00] [ 7.93027419e-02 -5.03480452e-03 9.96837863e-01 4.46199769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.579072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.02, Y:-1.99, Z:0.45 [[ 9.89327095e-01 -1.22104498e-01 -7.95134590e-02 2.00234301e+01] [ 1.22119342e-01 9.92504322e-01 -4.69439925e-03 -1.99367175e+00] [ 7.94906589e-02 -5.06583491e-03 9.96822739e-01 4.48360562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.609072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.05, Y:-1.99, Z:0.45 [[ 9.89269402e-01 -1.22522348e-01 -7.95884670e-02 2.00505124e+01] [ 1.22537772e-01 9.92452680e-01 -4.70877267e-03 -1.99377468e+00] [ 7.95647173e-02 -5.09434871e-03 9.96816685e-01 4.51042616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.63907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.08, Y:-1.99, Z:0.45 [[ 9.89169095e-01 -1.23210136e-01 -7.97732047e-02 2.00787596e+01] [ 1.23227016e-01 9.92367234e-01 -4.73022705e-03 -1.99248914e+00] [ 7.97471264e-02 -5.15121960e-03 9.96801816e-01 4.53543742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.66907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.11, Y:-1.99, Z:0.46 [[ 9.89260460e-01 -1.22884676e-01 -7.91397376e-02 2.01055683e+01] [ 1.22898547e-01 9.92408044e-01 -4.71404089e-03 -1.99166350e+00] [ 7.91181955e-02 -5.06274447e-03 9.96852386e-01 4.55325408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.69907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.13, Y:-1.99, Z:0.46 [[ 9.89156293e-01 -1.23635427e-01 -7.92723749e-02 2.01335687e+01] [ 1.23650902e-01 9.92314495e-01 -4.73252432e-03 -1.99068497e+00] [ 7.92482344e-02 -5.12089444e-03 9.96841760e-01 4.58198857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.72907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.16, Y:-1.99, Z:0.46 [[ 9.89156288e-01 -1.23838378e-01 -7.89550119e-02 2.01609986e+01] [ 1.23852629e-01 9.92289323e-01 -4.73553492e-03 -1.98944854e+00] [ 7.89326563e-02 -5.09460164e-03 9.96866932e-01 4.59303947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.759072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.19, Y:-1.99, Z:0.46 [[ 9.89098898e-01 -1.24133268e-01 -7.92104882e-02 2.01875970e+01] [ 1.24147764e-01 9.92252320e-01 -4.76082145e-03 -1.98844686e+00] [ 7.91877671e-02 -5.12488174e-03 9.96846544e-01 4.61021345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.789072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.22, Y:-1.99, Z:0.46 [[ 9.88963952e-01 -1.24715423e-01 -7.99772735e-02 2.02154307e+01] [ 1.24731234e-01 9.92178869e-01 -4.81778986e-03 -1.98799081e+00] [ 7.99526135e-02 -5.21104349e-03 9.96785044e-01 4.63268384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.819072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.24, Y:-1.99, Z:0.47 [[ 9.88917457e-01 -1.25057526e-01 -8.00179934e-02 2.02433963e+01] [ 1.25072655e-01 9.92135766e-01 -4.84280680e-03 -1.98684961e+00] [ 7.99943427e-02 -5.21892674e-03 9.96781655e-01 4.65757222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.849072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.27, Y:-1.99, Z:0.47 [[ 9.88857987e-01 -1.25347102e-01 -8.02993543e-02 2.02711381e+01] [ 1.25361472e-01 9.92099120e-01 -4.88243405e-03 -1.98564318e+00] [ 8.02769177e-02 -5.23841139e-03 9.96758835e-01 4.68104384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.879072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.30, Y:-1.98, Z:0.47 [[ 9.88824974e-01 -1.25608141e-01 -8.02979825e-02 2.02995403e+01] [ 1.25621551e-01 9.92066111e-01 -4.90489639e-03 -1.98369045e+00] [ 8.02770021e-02 -5.23707307e-03 9.96758835e-01 4.70216848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.909072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.33, Y:-1.98, Z:0.47 [[ 9.88852833e-01 -1.25951598e-01 -7.94120249e-02 2.03262552e+01] [ 1.25964207e-01 9.92022829e-01 -4.87076488e-03 -1.98316565e+00] [ 7.93920223e-02 -5.18660311e-03 9.96829978e-01 4.73139444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.939072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.35, Y:-1.98, Z:0.48 [[ 9.88849670e-01 -1.26013906e-01 -7.93525361e-02 2.03537168e+01] [ 1.26025860e-01 9.92014965e-01 -4.87761495e-03 -1.98215035e+00] [ 7.93335507e-02 -5.17724365e-03 9.96834682e-01 4.76709900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.969072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.38, Y:-1.98, Z:0.48 [[ 9.88816985e-01 -1.26270978e-01 -7.93511894e-02 2.03821172e+01] [ 1.26282011e-01 9.91982283e-01 -4.89942907e-03 -1.98017184e+00] [ 7.93336297e-02 -5.17598910e-03 9.96834683e-01 4.78822404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.999072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.41, Y:-1.98, Z:0.48 [[ 9.88882818e-01 -1.25914734e-01 -7.90964669e-02 2.04104523e+01] [ 1.25922926e-01 9.92027905e-01 -4.90429245e-03 -1.97895177e+00] [ 7.90834250e-02 -5.11028798e-03 9.96854903e-01 4.80446164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.029072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.44, Y:-1.98, Z:0.48 [[ 9.88900481e-01 -1.25777749e-01 -7.90935949e-02 2.04380317e+01] [ 1.25783763e-01 9.92045452e-01 -4.92606314e-03 -1.97731248e+00] [ 7.90840302e-02 -5.07730379e-03 9.96855023e-01 4.82285973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.059072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.47, Y:-1.98, Z:0.48 [[ 9.88920990e-01 -1.25315022e-01 -7.95702284e-02 2.04651729e+01] [ 1.25317844e-01 9.92104156e-01 -4.97808693e-03 -1.97671815e+00] [ 7.95657834e-02 -5.04863481e-03 9.96816832e-01 4.84026732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.089072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.49, Y:-1.98, Z:0.49 [[ 9.88935242e-01 -1.25052808e-01 -7.98052717e-02 2.04917961e+01] [ 1.25054000e-01 9.92137324e-01 -5.00281166e-03 -1.97567276e+00] [ 7.98034043e-02 -5.03251166e-03 9.96797919e-01 4.86229983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.119072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.52, Y:-1.97, Z:0.49 [[ 9.88920595e-01 -1.25275326e-01 -7.96376189e-02 2.05200980e+01] [ 1.25276402e-01 9.92109267e-01 -5.00262918e-03 -1.97421479e+00] [ 7.96359257e-02 -5.02951133e-03 9.96811328e-01 4.88352984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.149072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.55, Y:-1.97, Z:0.49 [[ 9.88890384e-01 -1.25203815e-01 -8.01237421e-02 2.05484126e+01] [ 1.25202931e-01 9.92118276e-01 -5.05491286e-03 -1.97283770e+00] [ 8.01251232e-02 -5.03297263e-03 9.96772107e-01 4.91413777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.179072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.58, Y:-1.97, Z:0.49 [[ 9.88895783e-01 -1.25115613e-01 -8.01948486e-02 2.05759403e+01] [ 1.25112661e-01 9.92129528e-01 -5.08151620e-03 -1.97168324e+00] [ 8.01994543e-02 -5.00830095e-03 9.96766254e-01 4.93364649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.209072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.60, Y:-1.97, Z:0.50 [[ 9.88920522e-01 -1.24867945e-01 -8.02757593e-02 2.06032463e+01] [ 1.24862397e-01 9.92160916e-01 -5.10873336e-03 -1.96995527e+00] [ 8.02843879e-02 -4.97129246e-03 9.96759602e-01 4.95129695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.239072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.63, Y:-1.97, Z:0.50 [[ 9.88900214e-01 -1.25082899e-01 -8.01912471e-02 2.06309063e+01] [ 1.25077182e-01 9.92133833e-01 -5.11432136e-03 -1.96813309e+00] [ 8.02001635e-02 -4.97254174e-03 9.96766376e-01 4.97053055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.269072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.66, Y:-1.97, Z:0.50 [[ 9.88940753e-01 -1.24706175e-01 -8.02780030e-02 2.06574940e+01] [ 1.24697393e-01 9.92181493e-01 -5.14244410e-03 -1.96737375e+00] [ 8.02916434e-02 -4.92488516e-03 9.96759248e-01 4.99070527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.299072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.69, Y:-1.97, Z:0.50 [[ 9.88973935e-01 -1.24817153e-01 -7.96946295e-02 2.06853464e+01] [ 1.24807969e-01 9.92167726e-01 -5.11606470e-03 -1.96620632e+00] [ 7.97090120e-02 -4.88687024e-03 9.96806196e-01 5.01165476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.329072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.71, Y:-1.96, Z:0.50 [[ 9.88916519e-01 -1.24949879e-01 -8.01975462e-02 2.07123685e+01] [ 1.24939216e-01 9.92150924e-01 -5.17076462e-03 -1.96486352e+00] [ 8.02141559e-02 -4.90636402e-03 9.96765578e-01 5.03881803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.359072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.74, Y:-1.96, Z:0.51 [[ 9.88872834e-01 -1.25401793e-01 -8.00306715e-02 2.07402734e+01] [ 1.25391758e-01 9.92093830e-01 -5.17103604e-03 -1.96402270e+00] [ 8.00463926e-02 -4.92168953e-03 9.96778989e-01 5.05914109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.38907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.77, Y:-1.96, Z:0.51 [[ 9.88841091e-01 -1.25433251e-01 -8.03728568e-02 2.07672227e+01] [ 1.25421446e-01 9.92089845e-01 -5.21537972e-03 -1.96296312e+00] [ 8.03912771e-02 -4.92329817e-03 9.96751225e-01 5.07559549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.41907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.79, Y:-1.96, Z:0.51 [[ 9.88755573e-01 -1.25930380e-01 -8.06471127e-02 2.07948382e+01] [ 1.25919242e-01 9.92026634e-01 -5.24431861e-03 -1.96211524e+00] [ 8.06645027e-02 -4.96967404e-03 9.96728920e-01 5.09745385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.44907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.82, Y:-1.96, Z:0.51 [[ 9.88683362e-01 -1.26246840e-01 -8.10366865e-02 2.08226529e+01] [ 1.26234786e-01 9.91986273e-01 -5.29265652e-03 -1.96063263e+00] [ 8.10554618e-02 -4.99688736e-03 9.96697067e-01 5.12007966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.47907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.85, Y:-1.96, Z:0.51 [[ 9.88676571e-01 -1.26160574e-01 -8.12535982e-02 2.08508388e+01] [ 1.26146292e-01 9.91997332e-01 -5.32984767e-03 -1.95921366e+00] [ 8.12757692e-02 -4.98034460e-03 9.96679209e-01 5.14499714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.509072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.88, Y:-1.96, Z:0.52 [[ 9.88683656e-01 -1.26177327e-01 -8.11412972e-02 2.08775266e+01] [ 1.26161347e-01 9.91995338e-01 -5.34449105e-03 -1.95756493e+00] [ 8.11661422e-02 -4.95288438e-03 9.96688279e-01 5.16546724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.539072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.91, Y:-1.96, Z:0.52 [[ 9.88706255e-01 -1.25878417e-01 -8.13299739e-02 2.09053962e+01] [ 1.25860433e-01 9.92033433e-01 -5.36826236e-03 -1.95605790e+00] [ 8.13578017e-02 -4.92859117e-03 9.96672773e-01 5.18961638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.569072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.93, Y:-1.95, Z:0.52 [[ 9.88746232e-01 -1.25689047e-01 -8.11366249e-02 2.09320283e+01] [ 1.25668642e-01 9.92057692e-01 -5.37845237e-03 -1.95461064e+00] [ 8.11682254e-02 -4.87840496e-03 9.96688477e-01 5.21131183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.599072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.96, Y:-1.95, Z:0.52 [[ 9.88793719e-01 -1.25400663e-01 -8.10040438e-02 2.09595401e+01] [ 1.25378426e-01 9.92094397e-01 -5.38115320e-03 -1.95382357e+00] [ 8.10384582e-02 -4.83530902e-03 9.96699247e-01 5.23682933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.629072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.99, Y:-1.95, Z:0.53 [[ 9.88794520e-01 -1.25387642e-01 -8.10144169e-02 2.09876126e+01] [ 1.25363487e-01 9.92096157e-01 -5.40482946e-03 -1.95213783e+00] [ 8.10517905e-02 -4.81198404e-03 9.96698275e-01 5.25659239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.659072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.01, Y:-1.95, Z:0.53 [[ 9.88826863e-01 -1.25050362e-01 -8.11408745e-02 2.10141087e+01] [ 1.25023168e-01 9.92138932e-01 -5.43578944e-03 -1.95077986e+00] [ 8.11827680e-02 -4.76943459e-03 9.96687820e-01 5.27479865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.689072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.04, Y:-1.95, Z:0.53 [[ 9.88912505e-01 -1.24453286e-01 -8.10150471e-02 2.10411537e+01] [ 1.24423352e-01 9.92214323e-01 -5.43755994e-03 -1.94857468e+00] [ 8.10610123e-02 -4.70289270e-03 9.96698046e-01 5.29278010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.719072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.07, Y:-1.95, Z:0.53 [[ 9.88924271e-01 -1.24518558e-01 -8.07707611e-02 2.10691451e+01] [ 1.24488124e-01 9.92206228e-01 -5.43218192e-03 -1.94631508e+00] [ 8.08176597e-02 -4.68298401e-03 9.96717902e-01 5.31743677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.749072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.10, Y:-1.94, Z:0.53 [[ 9.89010315e-01 -1.23925742e-01 -8.06288251e-02 2.10971695e+01] [ 1.23891624e-01 9.92280815e-01 -5.44522081e-03 -1.94494097e+00] [ 8.06812392e-02 -4.60385657e-03 9.96729322e-01 5.33905267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.779072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.12, Y:-1.94, Z:0.54 [[ 9.89093542e-01 -1.23618791e-01 -8.00772143e-02 2.11240881e+01] [ 1.23582338e-01 9.92319464e-01 -5.43025589e-03 -1.94355916e+00] [ 8.01334601e-02 -4.52509834e-03 9.96773872e-01 5.36349693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.809072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.15, Y:-1.94, Z:0.54 [[ 9.89199470e-01 -1.22967442e-01 -7.97710226e-02 2.11508743e+01] [ 1.22927941e-01 9.92400773e-01 -5.42465273e-03 -1.94182176e+00] [ 7.98318801e-02 -4.44002399e-03 9.96798454e-01 5.38964076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.839072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.18, Y:-1.94, Z:0.54 [[ 9.89189569e-01 -1.22617798e-01 -8.04293046e-02 2.11791561e+01] [ 1.22575600e-01 9.92444047e-01 -5.48056912e-03 -1.93969320e+00] [ 8.04935998e-02 -4.43734846e-03 9.96745248e-01 5.41288043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.869072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.21, Y:-1.94, Z:0.54 [[ 9.89271599e-01 -1.21643846e-01 -8.08979499e-02 2.12062931e+01] [ 1.21596046e-01 9.92564234e-01 -5.53557176e-03 -1.93713779e+00] [ 8.09697799e-02 -4.36068691e-03 9.96707018e-01 5.42760000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.899072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.23, Y:-1.94, Z:0.54 [[ 9.89341959e-01 -1.21016768e-01 -8.09779658e-02 2.12347032e+01] [ 1.20965840e-01 9.92641140e-01 -5.55263892e-03 -1.93519451e+00] [ 8.10540228e-02 -4.30210902e-03 9.96700425e-01 5.44390392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.929072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.26, Y:-1.93, Z:0.55 [[ 9.89304096e-01 -1.20944662e-01 -8.15462699e-02 2.12623769e+01] [ 1.20890840e-01 9.92649925e-01 -5.61528773e-03 -1.93309546e+00] [ 8.16260377e-02 -4.30296993e-03 9.96653738e-01 5.46558251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.959072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.29, Y:-1.93, Z:0.55 [[ 9.89472857e-01 -1.19722885e-01 -8.13012647e-02 2.12890605e+01] [ 1.19663475e-01 9.92798601e-01 -5.62047983e-03 -1.93165019e+00] [ 8.13886819e-02 -4.16747964e-03 9.96673725e-01 5.48804129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.989072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.32, Y:-1.93, Z:0.55 [[ 9.89501336e-01 -1.19576318e-01 -8.11702564e-02 2.13173265e+01] [ 1.19515689e-01 9.92816391e-01 -5.62267303e-03 -1.92948485e+00] [ 8.12594995e-02 -4.13747667e-03 9.96684391e-01 5.50771790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.019072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.35, Y:-1.93, Z:0.55 [[ 9.89624270e-01 -1.18262194e-01 -8.15956969e-02 2.13452878e+01] [ 1.18194577e-01 9.92974235e-01 -5.67541839e-03 -1.92731859e+00] [ 8.16936121e-02 -4.02763707e-03 9.96649353e-01 5.52572177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.049072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.37, Y:-1.92, Z:0.55 [[ 9.89548054e-01 -1.18137089e-01 -8.26938801e-02 2.13717472e+01] [ 1.17474492e-01 9.92992759e-01 -1.28500334e-02 -1.92342919e+00] [ 8.36324897e-02 3.00130399e-03 9.96492147e-01 5.52162806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.079072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.40, Y:-1.92, Z:0.56 [[ 9.89786794e-01 -1.16339719e-01 -8.23843008e-02 2.14000495e+01] [ 1.16818030e-01 9.93152839e-01 9.93157459e-04 -1.92460232e+00] [ 8.17046585e-02 -1.06069858e-02 9.96600141e-01 5.58266990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.109072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.43, Y:-1.92, Z:0.56 [[ 9.89789645e-01 -1.16477644e-01 -8.21548418e-02 2.14273375e+01] [ 1.16398801e-01 9.93185826e-01 -5.76492820e-03 -1.92048222e+00] [ 8.22665096e-02 -3.85665886e-03 9.96602904e-01 5.58978985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.13907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.46, Y:-1.92, Z:0.56 [[ 9.89983575e-01 -1.14871344e-01 -8.20798060e-02 2.14552987e+01] [ 1.14786183e-01 9.93373456e-01 -5.77131157e-03 -1.91818194e+00] [ 8.21988589e-02 -3.70812401e-03 9.96609049e-01 5.60440557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.16907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.48, Y:-1.92, Z:0.56 [[ 9.90011627e-01 -1.14630044e-01 -8.20788148e-02 2.14830773e+01] [ 1.14542111e-01 9.93401492e-01 -5.79485115e-03 -1.91560309e+00] [ 8.22014811e-02 -3.66451073e-03 9.96608994e-01 5.62723860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.19907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.51, Y:-1.91, Z:0.57 [[ 9.90064738e-01 -1.14133719e-01 -8.21298236e-02 2.15114128e+01] [ 1.14042015e-01 9.93458867e-01 -5.82221188e-03 -1.91366256e+00] [ 8.22571122e-02 -3.60188389e-03 9.96604633e-01 5.65480887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.22907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.54, Y:-1.91, Z:0.57 [[ 9.90167353e-01 -1.13975882e-01 -8.11055531e-02 2.15392306e+01] [ 1.13883982e-01 9.93477281e-01 -5.77332460e-03 -1.91146170e+00] [ 8.12345442e-02 -3.52006581e-03 9.96688797e-01 5.66796558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.259072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.57, Y:-1.91, Z:0.57 [[ 9.90208444e-01 -1.13384615e-01 -8.14319776e-02 2.15662014e+01] [ 1.13288092e-01 9.93545137e-01 -5.81967829e-03 -1.90924987e+00] [ 8.15662074e-02 -3.46257875e-03 9.96661911e-01 5.69941833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.289072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.59, Y:-1.91, Z:0.57 [[ 9.90246883e-01 -1.13109770e-01 -8.13467310e-02 2.15936419e+01] [ 1.13011573e-01 9.93576596e-01 -5.82521554e-03 -1.90699884e+00] [ 8.14830969e-02 -3.42472050e-03 9.96668840e-01 5.71888479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.319072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.62, Y:-1.90, Z:0.57 [[ 9.90291907e-01 -1.12646133e-01 -8.14419300e-02 2.16221863e+01] [ 1.11747615e-01 9.93615382e-01 -1.55223658e-02 -1.90201337e+00] [ 8.26704889e-02 6.27073176e-03 9.96557208e-01 5.69556543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.349072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.65, Y:-1.90, Z:0.58 [[ 9.90393327e-01 -1.11034641e-01 -8.24158095e-02 2.16494751e+01] [ 1.11707939e-01 9.93734598e-01 3.58952582e-03 -1.90411872e+00] [ 8.15008796e-02 -1.27615427e-02 9.96591566e-01 5.77656892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.379072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.68, Y:-1.90, Z:0.58 [[ 9.90416909e-01 -1.11386101e-01 -8.16546617e-02 2.16777784e+01] [ 1.11276702e-01 9.93771927e-01 -5.90355160e-03 -1.89955924e+00] [ 8.18036841e-02 -3.23928416e-03 9.96643198e-01 5.76408897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.409072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.71, Y:-1.90, Z:0.58 [[ 9.90535440e-01 -1.10647996e-01 -8.12192335e-02 2.17056936e+01] [ 1.10535421e-01 9.93854703e-01 -5.89489810e-03 -1.89751392e+00] [ 8.13723759e-02 -3.13849671e-03 9.96678828e-01 5.78917833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.439072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.73, Y:-1.89, Z:0.58 [[ 9.90499662e-01 -1.11063376e-01 -8.10885122e-02 2.17332481e+01] [ 1.10099000e-01 9.93787242e-01 -1.62827573e-02 -1.89269916e+00] [ 8.23931469e-02 7.20030154e-03 9.96573893e-01 5.76833669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.469072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.76, Y:-1.89, Z:0.58 [[ 9.90468940e-01 -1.10416717e-01 -8.23372786e-02 2.17604338e+01] [ 1.10341078e-01 9.93878659e-01 -5.48242959e-03 -1.89324717e+00] [ 8.24386160e-02 -3.65500782e-03 9.96589442e-01 5.82046734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.499072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.79, Y:-1.89, Z:0.59 [[ 9.90587938e-01 -1.09627305e-01 -8.19596961e-02 2.17878252e+01] [ 1.10293356e-01 9.93892448e-01 3.63005185e-03 -1.89316014e+00] [ 8.10611702e-02 -1.26354955e-02 9.96629034e-01 5.87377246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.529072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.82, Y:-1.89, Z:0.58 [[ 9.90478520e-01 -1.10863753e-01 -8.16181899e-02 2.18157885e+01] [ 1.09885115e-01 9.93808985e-01 -1.64001151e-02 -1.88576561e+00] [ 8.29310687e-02 7.27533760e-03 9.96528729e-01 5.82922542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.559072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.84, Y:-1.89, Z:0.59 [[ 9.90494026e-01 -1.09694166e-01 -8.29986396e-02 2.18426979e+01] [ 1.09708632e-01 9.93954050e-01 -4.40026810e-03 -1.88639682e+00] [ 8.29795177e-02 -4.74722791e-03 9.96539946e-01 5.88474655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.589072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.87, Y:-1.89, Z:0.59 [[ 9.90598536e-01 -1.08736901e-01 -8.30110099e-02 2.18704585e+01] [ 1.09317727e-01 9.94003788e-01 2.47062098e-03 -1.88602017e+00] [ 8.22446106e-02 -1.15219685e-02 9.96545568e-01 5.92679682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.619072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.90, Y:-1.88, Z:0.59 [[ 9.90530315e-01 -1.09925186e-01 -8.22566018e-02 2.18989131e+01] [ 1.08995442e-01 9.93917895e-01 -1.57229933e-02 -1.87931839e+00] [ 8.34846614e-02 6.60850676e-03 9.96487149e-01 5.89003865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.649072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.93, Y:-1.88, Z:0.60 [[ 9.90633848e-01 -1.08784165e-01 -8.25262654e-02 2.19260836e+01] [ 1.09425405e-01 9.93989619e-01 3.27385571e-03 -1.88120039e+00] [ 8.16741074e-02 -1.22736623e-02 9.96583513e-01 5.96225876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.679072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.95, Y:-1.88, Z:0.60 [[ 9.90691534e-01 -1.09274291e-01 -8.11752089e-02 2.19528938e+01] [ 1.09144387e-01 9.94007500e-01 -6.04919369e-03 -1.87660082e+00] [ 8.13497878e-02 -2.86693343e-03 9.96681490e-01 5.96271161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.709072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.98, Y:-1.87, Z:0.60 [[ 9.90651920e-01 -1.09491460e-01 -8.13658026e-02 2.19807233e+01] [ 1.09360340e-01 9.93983578e-01 -6.07973526e-03 -1.87392832e+00] [ 8.15419507e-02 -2.87529040e-03 9.96665763e-01 5.98423726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.739072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.01, Y:-1.87, Z:0.60 [[ 9.90756769e-01 -1.09315217e-01 -8.03194152e-02 2.20088329e+01] [ 1.09185059e-01 9.94003187e-01 -6.02391722e-03 -1.87138621e+00] [ 8.04962605e-02 -2.80144334e-03 9.96750974e-01 6.00582115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.769072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.04, Y:-1.87, Z:0.60 [[ 9.90745752e-01 -1.09406087e-01 -8.03315857e-02 2.20369929e+01] [ 1.09274361e-01 9.93993231e-01 -6.04744450e-03 -1.86905985e+00] [ 8.05106797e-02 -2.78670279e-03 9.96749851e-01 6.03171668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.799072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.06, Y:-1.87, Z:0.61 [[ 9.90735883e-01 -1.09539416e-01 -8.02715748e-02 2.20641789e+01] [ 1.09406553e-01 9.93978583e-01 -6.06485678e-03 -1.86653493e+00] [ 8.04525670e-02 -2.77356507e-03 9.96754580e-01 6.05464001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.829072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.09, Y:-1.86, Z:0.61 [[ 9.90707536e-01 -1.09796100e-01 -8.02707622e-02 2.20925525e+01] [ 1.09663208e-01 9.93950234e-01 -6.07559232e-03 -1.86416692e+00] [ 8.04522193e-02 -2.78361423e-03 9.96754580e-01 6.07582645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.859072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.12, Y:-1.86, Z:0.61 [[ 9.90662668e-01 -1.09942078e-01 -8.06239334e-02 2.21206708e+01] [ 1.09806777e-01 9.93934089e-01 -6.12354707e-03 -1.86165702e+00] [ 8.08081113e-02 -2.78668483e-03 9.96725782e-01 6.09507542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.88907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.15, Y:-1.86, Z:0.61 [[ 9.90556818e-01 -1.10310656e-01 -8.14171382e-02 2.21487672e+01] [ 1.10172026e-01 9.93893152e-01 -6.20697318e-03 -1.85919293e+00] [ 8.16046314e-02 -2.82153148e-03 9.96660786e-01 6.11293588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.91907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.18, Y:-1.86, Z:0.61 [[ 9.90591493e-01 -1.10253118e-01 -8.10724621e-02 2.21765940e+01] [ 1.10113556e-01 9.93899650e-01 -6.20412730e-03 -1.85704319e+00] [ 8.12619160e-02 -2.78142136e-03 9.96688901e-01 6.13109057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.94907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.20, Y:-1.85, Z:0.62 [[ 9.90595610e-01 -1.10523397e-01 -8.06530553e-02 2.22037051e+01] [ 1.10384338e-01 9.93869672e-01 -6.19458131e-03 -1.85481042e+00] [ 8.08432718e-02 -2.76650903e-03 9.96722987e-01 6.15077785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.979072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.23, Y:-1.85, Z:0.62 [[ 9.90556950e-01 -1.10671744e-01 -8.09240011e-02 2.22302380e+01] [ 1.10531405e-01 9.93853133e-01 -6.22568545e-03 -1.85243934e+00] [ 8.11155795e-02 -2.77774758e-03 9.96700831e-01 6.17197845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.009072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.26, Y:-1.85, Z:0.62 [[ 9.90586308e-01 -1.10725123e-01 -8.04904600e-02 2.22584913e+01] [ 1.10585588e-01 9.93847247e-01 -6.20308678e-03 -1.84965544e+00] [ 8.06820596e-02 -2.75639200e-03 9.96736077e-01 6.19277021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.039072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.29, Y:-1.85, Z:0.62 [[ 9.90565365e-01 -1.11372037e-01 -7.98531564e-02 2.22860114e+01] [ 1.11235005e-01 9.93774938e-01 -6.17627960e-03 -1.84696962e+00] [ 8.00439304e-02 -2.76445760e-03 9.96787503e-01 6.21586405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.069072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.31, Y:-1.84, Z:0.62 [[ 9.90530936e-01 -1.11643521e-01 -7.99011148e-02 2.23128386e+01] [ 1.11505425e-01 9.93744471e-01 -6.20214746e-03 -1.84467579e+00] [ 8.00937206e-02 -2.76598886e-03 9.96783500e-01 6.23235278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.099072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.34, Y:-1.84, Z:0.63 [[ 9.90448678e-01 -1.12108113e-01 -8.02694699e-02 2.23409418e+01] [ 1.11969362e-01 9.93692055e-01 -6.24190931e-03 -1.84193926e+00] [ 8.04629032e-02 -2.80543047e-03 9.96753656e-01 6.25860043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.129072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.37, Y:-1.84, Z:0.63 [[ 9.90317845e-01 -1.12768112e-01 -8.09562755e-02 2.23679489e+01] [ 1.12627272e-01 9.93617216e-01 -6.31871902e-03 -1.83974865e+00] [ 8.11520991e-02 -2.86034425e-03 9.96697625e-01 6.28030743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.159072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.40, Y:-1.83, Z:0.63 [[ 9.90086658e-01 -1.14496012e-01 -8.13576831e-02 2.23955898e+01] [ 1.13561209e-01 9.93401496e-01 -1.60411687e-02 -1.83455691e+00] [ 8.26574939e-02 6.64307025e-03 9.96555873e-01 6.26920998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.189072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.42, Y:-1.84, Z:0.63 [[ 9.90128501e-01 -1.13387619e-01 -8.23941686e-02 2.24227445e+01] [ 1.14022215e-01 9.93473602e-01 3.02252638e-03 -1.83694048e+00] [ 8.15137145e-02 -1.23874552e-02 9.96595236e-01 6.34889353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.219072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.45, Y:-1.83, Z:0.64 [[ 9.90078398e-01 -1.14867646e-01 -8.09332484e-02 2.24507595e+01] [ 1.14729837e-01 9.93376329e-01 -6.36657386e-03 -1.83154151e+00] [ 8.11284866e-02 -2.98205114e-03 9.96699190e-01 6.35034623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.249072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.48, Y:-1.83, Z:0.64 [[ 9.90079878e-01 -1.15309939e-01 -8.02835759e-02 2.24782654e+01] [ 1.15173918e-01 9.93325119e-01 -6.33853669e-03 -1.82884671e+00] [ 8.04785889e-02 -2.97091635e-03 9.96751910e-01 6.36780739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.279072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.50, Y:-1.83, Z:0.64 [[ 9.90031395e-01 -1.15529767e-01 -8.05649423e-02 2.25046504e+01] [ 1.15391721e-01 9.93299557e-01 -6.38291209e-03 -1.82659646e+00] [ 8.07625378e-02 -2.97724402e-03 9.96728924e-01 6.39688769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.309072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.53, Y:-1.82, Z:0.64 [[ 9.89904549e-01 -1.16822734e-01 -8.02585372e-02 2.25325536e+01] [ 1.16689092e-01 9.93148068e-01 -6.36953272e-03 -1.82426654e+00] [ 8.04527173e-02 -3.06006640e-03 9.96753729e-01 6.41719693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.339072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.56, Y:-1.82, Z:0.64 [[ 9.89823322e-01 -1.17567702e-01 -8.01724773e-02 2.25599295e+01] [ 1.17434966e-01 9.93060047e-01 -6.38523028e-03 -1.82189851e+00] [ 8.03667810e-02 -3.09480231e-03 9.96760554e-01 6.43893322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.369072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.59, Y:-1.82, Z:0.65 [[ 9.89670167e-01 -1.18702135e-01 -8.03913150e-02 2.25874954e+01] [ 1.18570472e-01 9.92924842e-01 -6.42656291e-03 -1.81843627e+00] [ 8.05853805e-02 -3.17185859e-03 9.96742663e-01 6.46108301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.399072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.62, Y:-1.82, Z:0.65 [[ 9.89600187e-01 -1.19432002e-01 -8.01714818e-02 2.26152628e+01] [ 1.19301527e-01 9.92837230e-01 -6.43277468e-03 -1.81539102e+00] [ 8.03655110e-02 -3.19870515e-03 9.96760329e-01 6.47569896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.429072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.64, Y:-1.81, Z:0.65 [[ 9.89475818e-01 -1.20070533e-01 -8.07506853e-02 2.26418278e+01] [ 1.19938419e-01 9.92760040e-01 -6.50225146e-03 -1.81270567e+00] [ 8.09467823e-02 -3.25128897e-03 9.96713122e-01 6.50228912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.459072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.67, Y:-1.81, Z:0.65 [[ 9.89423977e-01 -1.20679839e-01 -8.04771347e-02 2.26693189e+01] [ 1.20549712e-01 9.92686067e-01 -6.49152042e-03 -1.81049654e+00] [ 8.06719260e-02 -3.27862948e-03 9.96735316e-01 6.51653037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.489072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.70, Y:-1.81, Z:0.65 [[ 9.89245836e-01 -1.22056354e-01 -8.05910786e-02 2.26960321e+01] [ 1.21928596e-01 9.92517439e-01 -6.52310228e-03 -1.80820292e+00] [ 8.07842370e-02 -3.37340528e-03 9.96725904e-01 6.54710064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.519072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.72, Y:-1.81, Z:0.66 [[ 9.89144950e-01 -1.23077258e-01 -8.02761298e-02 2.27238163e+01] [ 1.22952550e-01 9.92391174e-01 -6.51365766e-03 -1.80534903e+00] [ 8.04670059e-02 -3.42720329e-03 9.96751381e-01 6.57282575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.549072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.75, Y:-1.80, Z:0.66 [[ 9.89058280e-01 -1.23896038e-01 -8.00842712e-02 2.27505934e+01] [ 1.23772825e-01 9.92289159e-01 -6.52010312e-03 -1.80243173e+00] [ 8.02745691e-02 -3.46349452e-03 9.96766772e-01 6.59638847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.579072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.78, Y:-1.80, Z:0.66 [[ 9.88974631e-01 -1.24560616e-01 -8.00864016e-02 2.27780458e+01] [ 1.24438687e-01 9.92205803e-01 -6.53121761e-03 -1.79965454e+00] [ 8.02757249e-02 -3.50663816e-03 9.96766528e-01 6.61747225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.609072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.81, Y:-1.80, Z:0.66 [[ 9.88729825e-01 -1.26217125e-01 -8.05144082e-02 2.28060482e+01] [ 1.26097505e-01 9.91995969e-01 -6.58907207e-03 -1.79619993e+00] [ 8.07016221e-02 -3.63785391e-03 9.96731666e-01 6.63428232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.63907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.83, Y:-1.79, Z:0.67 [[ 9.88668781e-01 -1.26589438e-01 -8.06793331e-02 2.28330170e+01] [ 1.26468769e-01 9.91948468e-01 -6.62469172e-03 -1.79385606e+00] [ 8.08683569e-02 -3.65379003e-03 9.96718094e-01 6.65203767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.66907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.86, Y:-1.79, Z:0.67 [[ 9.88425806e-01 -1.28196818e-01 -8.11172075e-02 2.28610132e+01] [ 1.28079311e-01 9.91741486e-01 -6.67190447e-03 -1.79105783e+00] [ 8.13026168e-02 -3.79475350e-03 9.96682238e-01 6.66955451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.69907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.89, Y:-1.79, Z:0.67 [[ 9.88335033e-01 -1.29049794e-01 -8.08703507e-02 2.28882532e+01] [ 1.28500433e-01 9.91637053e-01 -1.19831034e-02 -1.78720994e+00] [ 8.17404532e-02 1.45144580e-03 9.96652593e-01 6.66664248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.729072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.92, Y:-1.79, Z:0.67 [[ 9.88293517e-01 -1.29335552e-01 -8.09211975e-02 2.29170561e+01] [ 1.29613454e-01 9.91562907e-01 -1.83140022e-03 -1.78704989e+00] [ 8.04753229e-02 -8.67851498e-03 9.96718820e-01 6.71837023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.759072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.94, Y:-1.78, Z:0.67 [[ 9.88125329e-01 -1.31439375e-01 -7.95740239e-02 2.29444876e+01] [ 1.31332559e-01 9.91316414e-01 -6.59740130e-03 -1.78313830e+00] [ 7.97501943e-02 -3.93160088e-03 9.96807127e-01 6.72613528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.789072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.97, Y:-1.78, Z:0.67 [[ 9.88026978e-01 -1.31998115e-01 -7.98698174e-02 2.29702053e+01] [ 1.31590776e-01 9.91249931e-01 -1.03654393e-02 -1.77970523e+00] [ 8.05391694e-02 -2.68797568e-04 9.96751408e-01 6.74072166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.819072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.00, Y:-1.78, Z:0.68 [[ 9.87826499e-01 -1.32951004e-01 -8.07640870e-02 2.29976269e+01] [ 1.32730483e-01 9.91118929e-01 -8.11707420e-03 -1.77736976e+00] [ 8.11259886e-02 -2.70159526e-03 9.96700193e-01 6.77170707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.849072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.03, Y:-1.78, Z:0.68 [[ 9.87556370e-01 -1.35017552e-01 -8.06391713e-02 2.30266147e+01] [ 1.34867433e-01 9.90836535e-01 -7.33056463e-03 -1.77524383e+00] [ 8.08899919e-02 -3.63625223e-03 9.96716402e-01 6.78211504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.879072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.06, Y:-1.77, Z:0.68 [[ 9.87384646e-01 -1.36013665e-01 -8.10669111e-02 2.30565979e+01] [ 1.36239307e-01 9.90672091e-01 -2.76736645e-03 -1.77411697e+00] [ 8.06871260e-02 -8.31204468e-03 9.96704820e-01 6.82208466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.909072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.08, Y:-1.77, Z:0.68 [[ 9.87199003e-01 -1.37404015e-01 -8.09831155e-02 2.30843300e+01] [ 1.37308762e-01 9.90505155e-01 -6.77069755e-03 -1.77070166e+00] [ 8.11445144e-02 -4.43566545e-03 9.96692476e-01 6.83361773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.939072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.11, Y:-1.77, Z:0.69 [[ 9.87024246e-01 -1.38607266e-01 -8.10627136e-02 2.31112442e+01] [ 1.38514009e-01 9.90337128e-01 -6.80011705e-03 -1.76841097e+00] [ 8.12219607e-02 -4.51644107e-03 9.96685805e-01 6.85179838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.969072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.14, Y:-1.77, Z:0.69 [[ 9.86746852e-01 -1.40810352e-01 -8.06417667e-02 2.31382112e+01] [ 1.40724552e-01 9.90025606e-01 -6.77496913e-03 -1.76566770e+00] [ 8.07913998e-02 -4.66309701e-03 9.96720124e-01 6.86126295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.999072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.17, Y:-1.76, Z:0.69 [[ 9.86588623e-01 -1.41800217e-01 -8.08429832e-02 2.31663752e+01] [ 1.41716383e-01 9.89883925e-01 -6.80311596e-03 -1.76320038e+00] [ 8.09898528e-02 -4.74489834e-03 9.96703632e-01 6.88320416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.029072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.19, Y:-1.76, Z:0.69 [[ 9.86316828e-01 -1.43905355e-01 -8.04385671e-02 2.31931608e+01] [ 1.43827516e-01 9.89579468e-01 -6.79133617e-03 -1.76089947e+00] [ 8.05776641e-02 -4.87087012e-03 9.96736432e-01 6.89764529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.059072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.22, Y:-1.76, Z:0.69 [[ 9.86093663e-01 -1.45616284e-01 -8.00948534e-02 2.32204267e+01] [ 1.45543880e-01 9.89328615e-01 -6.77270918e-03 -1.75805635e+00] [ 8.02263471e-02 -4.97879013e-03 9.96764237e-01 6.91211127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.089072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.25, Y:-1.76, Z:0.69 [[ 9.85986053e-01 -1.46328677e-01 -8.01212886e-02 2.32469481e+01] [ 1.46257342e-01 9.89223273e-01 -6.79012008e-03 -1.75621628e+00] [ 8.02514326e-02 -5.02336301e-03 9.96761994e-01 6.93729286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.119072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.27, Y:-1.75, Z:0.70 [[ 9.85665495e-01 -1.48544070e-01 -7.99886950e-02 2.32738343e+01] [ 1.48479432e-01 9.88892194e-01 -6.78868860e-03 -1.75442450e+00] [ 8.01086156e-02 -5.18529990e-03 9.96772653e-01 6.96371739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.149072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.30, Y:-1.75, Z:0.70 [[ 9.85440842e-01 -1.50167749e-01 -7.97244923e-02 2.33014307e+01] [ 1.50107978e-01 9.88646383e-01 -6.77671365e-03 -1.75151534e+00] [ 7.98369748e-02 -5.28923191e-03 9.96793901e-01 6.98120886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.179072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.33, Y:-1.75, Z:0.70 [[ 9.85297114e-01 -1.51155270e-01 -7.96346729e-02 2.33283032e+01] [ 1.51097119e-01 9.88495599e-01 -6.79056439e-03 -1.74923267e+00] [ 7.97449533e-02 -5.34184613e-03 9.96800987e-01 7.00640877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.209072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.35, Y:-1.75, Z:0.70 [[ 9.84955067e-01 -1.52841778e-01 -8.06405992e-02 2.33541309e+01] [ 1.52561635e-01 9.88246741e-01 -9.66055307e-03 -1.74665234e+00] [ 8.11693455e-02 -2.78745101e-03 9.96696427e-01 7.02269005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.239072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.38, Y:-1.75, Z:0.71 [[ 9.84686812e-01 -1.55100135e-01 -7.95979307e-02 2.33843594e+01] [ 1.55223025e-01 9.87868371e-01 -4.67916018e-03 -1.74553437e+00] [ 7.93580165e-02 -7.74792429e-03 9.96816069e-01 7.05281271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.269072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.41, Y:-1.74, Z:0.71 [[ 9.84498136e-01 -1.56433216e-01 -7.93225606e-02 2.34111733e+01] [ 1.56389543e-01 9.87672037e-01 -6.80133856e-03 -1.74350213e+00] [ 7.94086302e-02 -5.70931382e-03 9.96825799e-01 7.07020155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.299072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.44, Y:-1.74, Z:0.71 [[ 9.84059958e-01 -1.59473232e-01 -7.87037938e-02 2.34390809e+01] [ 1.59439053e-01 9.87184637e-01 -6.75870796e-03 -1.74177829e+00] [ 7.87730091e-02 -5.89748452e-03 9.96875134e-01 7.09047945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.329072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.47, Y:-1.74, Z:0.71 [[ 9.83825695e-01 -1.61044019e-01 -7.84335797e-02 2.34656702e+01] [ 1.61013291e-01 9.86929104e-01 -6.75751329e-03 -1.73912281e+00] [ 7.84966397e-02 -5.98063363e-03 9.96896439e-01 7.10542125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.359072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.49, Y:-1.74, Z:0.71 [[ 9.83539882e-01 -1.62618825e-01 -7.87681339e-02 2.34927028e+01] [ 1.62592042e-01 9.86669972e-01 -6.79657306e-03 -1.73672452e+00] [ 7.88234033e-02 -6.12237108e-03 9.96869795e-01 7.13185347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.38907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.52, Y:-1.73, Z:0.72 [[ 9.83313771e-01 -1.63931688e-01 -7.88697046e-02 2.35208719e+01] [ 1.63907796e-01 9.86452082e-01 -6.82088971e-03 -1.73457913e+00] [ 7.89193443e-02 -6.22028469e-03 9.96861598e-01 7.15002734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.41907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.55, Y:-1.73, Z:0.72 [[ 9.82765775e-01 -1.66893100e-01 -7.94866285e-02 2.35485664e+01] [ 1.66876633e-01 9.85953661e-01 -6.89700186e-03 -1.73262287e+00] [ 7.95211944e-02 -6.48632354e-03 9.96812072e-01 7.17814438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.44907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.58, Y:-1.73, Z:0.72 [[ 9.82521214e-01 -1.68297637e-01 -7.95485310e-02 2.35758166e+01] [ 1.68283938e-01 9.85714242e-01 -6.92456195e-03 -1.73052301e+00] [ 7.95775073e-02 -6.58321102e-03 9.96806943e-01 7.19841922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.479072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.60, Y:-1.73, Z:0.72 [[ 9.82006399e-01 -1.71166865e-01 -7.97830549e-02 2.36040664e+01] [ 1.71161193e-01 9.85218448e-01 -6.96095762e-03 -1.72825900e+00] [ 7.97952229e-02 -6.82005790e-03 9.96787946e-01 7.21694503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.509072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.63, Y:-1.73, Z:0.72 [[ 9.81814799e-01 -1.72468168e-01 -7.93374523e-02 2.36319644e+01] [ 1.72464989e-01 9.84991170e-01 -6.94431542e-03 -1.72570017e+00] [ 7.93443633e-02 -6.86490116e-03 9.96823628e-01 7.23457425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.539072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.66, Y:-1.72, Z:0.73 [[ 9.81493177e-01 -1.74377921e-01 -7.91421810e-02 2.36593624e+01] [ 1.74379148e-01 9.84654061e-01 -6.94932249e-03 -1.72305729e+00] [ 7.91394783e-02 -6.98003349e-03 9.96839115e-01 7.25637709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.569072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.69, Y:-1.72, Z:0.73 [[ 9.81030749e-01 -1.77069245e-01 -7.88996285e-02 2.36872186e+01] [ 1.77077333e-01 9.84172401e-01 -6.95002814e-03 -1.72137858e+00] [ 7.88814731e-02 -7.15314450e-03 9.96858338e-01 7.27646400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.599072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.71, Y:-1.72, Z:0.73 [[ 9.80796292e-01 -1.78420248e-01 -7.87708605e-02 2.37136790e+01] [ 1.78430946e-01 9.83927821e-01 -6.95987990e-03 -1.71927914e+00] [ 7.87466246e-02 -7.22893477e-03 9.96868453e-01 7.29177843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.629072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.74, Y:-1.72, Z:0.73 [[ 9.80508767e-01 -1.79694984e-01 -7.94497970e-02 2.37401307e+01] [ 1.79709258e-01 9.83694652e-01 -7.02949316e-03 -1.71748895e+00] [ 7.94175051e-02 -7.38538436e-03 9.96814083e-01 7.31562645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.659072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.77, Y:-1.72, Z:0.73 [[ 9.80009664e-01 -1.82355467e-01 -7.95458463e-02 2.37680880e+01] [ 1.82377628e-01 9.83203297e-01 -7.04823771e-03 -1.71538474e+00] [ 7.94950230e-02 -7.60004169e-03 9.96806290e-01 7.32824428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.689072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.80, Y:-1.71, Z:0.73 [[ 9.79963001e-01 -1.82606901e-01 -7.95439219e-02 2.37964276e+01] [ 1.82628140e-01 9.83156640e-01 -7.06989197e-03 -1.71265164e+00] [ 7.94951460e-02 -7.59872598e-03 9.96806291e-01 7.34948286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.719072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.82, Y:-1.71, Z:0.74 [[ 9.79645637e-01 -1.84281963e-01 -7.95901038e-02 2.38242886e+01] [ 1.84307058e-01 9.82843109e-01 -7.09450814e-03 -1.71021667e+00] [ 7.95319750e-02 -7.71891392e-03 9.96802429e-01 7.36793138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.749072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.85, Y:-1.71, Z:0.74 [[ 9.79548392e-01 -1.85202475e-01 -7.86447122e-02 2.38514627e+01] [ 1.85228362e-01 9.82670361e-01 -7.02956939e-03 -1.70801651e+00] [ 7.85837214e-02 -7.68142784e-03 9.96877924e-01 7.38249668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.779072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.88, Y:-1.71, Z:0.74 [[ 9.79124139e-01 -1.87918892e-01 -7.74752279e-02 2.38790532e+01] [ 1.87951645e-01 9.82153802e-01 -6.93462572e-03 -1.70621235e+00] [ 7.73957368e-02 -7.77173706e-03 9.96970160e-01 7.41505227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.809072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.91, Y:-1.70, Z:0.74 [[ 9.78966734e-01 -1.88844245e-01 -7.72138884e-02 2.39054822e+01] [ 1.88878062e-01 9.81976087e-01 -6.93130341e-03 -1.70406412e+00] [ 7.71311287e-02 -7.79849414e-03 9.96990458e-01 7.43978900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.839072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.93, Y:-1.70, Z:0.75 [[ 9.78706368e-01 -1.90000990e-01 -7.76754044e-02 2.39337269e+01] [ 1.90038076e-01 9.81751891e-01 -6.98234011e-03 -1.70157000e+00] [ 7.75846267e-02 -7.92762371e-03 9.96954251e-01 7.46227896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.869072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.96, Y:-1.70, Z:0.75 [[ 9.78244052e-01 -1.91817284e-01 -7.90234381e-02 2.39619167e+01] [ 1.91859776e-01 9.81396478e-01 -7.12601545e-03 -1.69916695e+00] [ 7.89202167e-02 -8.19043690e-03 9.96847288e-01 7.47815954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.899072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.99, Y:-1.70, Z:0.75 [[ 9.77959734e-01 -1.92880796e-01 -7.99484677e-02 2.39901406e+01] [ 1.92926021e-01 9.81186654e-01 -7.23194868e-03 -1.69658260e+00] [ 7.98392735e-02 -8.35158514e-03 9.96772763e-01 7.49626527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.929072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.02, Y:-1.69, Z:0.75 [[ 9.77737832e-01 -1.93843357e-01 -8.03335862e-02 2.40170953e+01] [ 1.93890503e-01 9.80996102e-01 -7.28831945e-03 -1.69379565e+00] [ 8.02197273e-02 -8.44985382e-03 9.96741388e-01 7.51556988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.959072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.04, Y:-1.69, Z:0.75 [[ 9.77333741e-01 -1.95996629e-01 -8.00254964e-02 2.40445916e+01] [ 1.96049689e-01 9.80567007e-01 -7.27083528e-03 -1.69193351e+00] [ 7.98954206e-02 -8.58294103e-03 9.96766299e-01 7.54170093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.989072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.07, Y:-1.69, Z:0.76 [[ 9.77122505e-01 -1.97483813e-01 -7.89414576e-02 2.40715437e+01] [ 1.97538549e-01 9.80268728e-01 -7.19324355e-03 -1.68956035e+00] [ 7.88043914e-02 -8.56530081e-03 9.96853301e-01 7.56004208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.019072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.10, Y:-1.69, Z:0.76 [[ 9.76955237e-01 -1.98557872e-01 -7.83149834e-02 2.40992263e+01] [ 1.98613961e-01 9.80051712e-01 -7.15103255e-03 -1.68723815e+00] [ 7.81726273e-02 -8.56821035e-03 9.96903017e-01 7.58418490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.049072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.13, Y:-1.68, Z:0.76 [[ 9.76548846e-01 -2.00547754e-01 -7.83131515e-02 2.41263697e+01] [ 2.00608423e-01 9.79645247e-01 -7.17286431e-03 -1.68456945e+00] [ 7.81576085e-02 -8.70562547e-03 9.96903004e-01 7.60960279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.079072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.15, Y:-1.68, Z:0.76 [[ 9.76370542e-01 -2.01207431e-01 -7.88424682e-02 2.41545928e+01] [ 2.01269827e-01 9.79509103e-01 -7.23696247e-03 -1.68217013e+00] [ 7.86830459e-02 -8.80265300e-03 9.96860819e-01 7.62934513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.109072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.18, Y:-1.68, Z:0.76 [[ 9.76167364e-01 -2.02275259e-01 -7.86256808e-02 2.41812315e+01] [ 2.02339118e-01 9.79288773e-01 -7.23741923e-03 -1.67950971e+00] [ 7.84611973e-02 -8.84411847e-03 9.96877937e-01 7.63894646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.13907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.21, Y:-1.68, Z:0.77 [[ 9.75941111e-01 -2.03123116e-01 -7.92461258e-02 2.42086287e+01] [ 2.03189969e-01 9.79112088e-01 -7.30450951e-03 -1.67715727e+00] [ 7.90745544e-02 -8.97324676e-03 9.96828318e-01 7.65846082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.16907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.24, Y:-1.68, Z:0.77 [[ 9.75603171e-01 -2.04770988e-01 -7.91662554e-02 2.42364534e+01] [ 2.04841395e-01 9.78767822e-01 -7.31801501e-03 -1.67568383e+00] [ 7.89839006e-02 -9.07704753e-03 9.96834565e-01 7.67880894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.19907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.26, Y:-1.67, Z:0.77 [[ 9.75437939e-01 -2.05525490e-01 -7.92470876e-02 2.42634877e+01] [ 2.05596794e-01 9.78609207e-01 -7.34694130e-03 -1.67315739e+00] [ 7.90619133e-02 -9.12646187e-03 9.96827930e-01 7.70312647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.229072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.29, Y:-1.67, Z:0.77 [[ 9.75231823e-01 -2.06788221e-01 -7.84953667e-02 2.42908404e+01] [ 2.06861382e-01 9.78343121e-01 -7.28745096e-03 -1.67081472e+00] [ 7.83023610e-02 -9.13070591e-03 9.96887842e-01 7.72793012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.259072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.32, Y:-1.67, Z:0.77 [[ 9.75138382e-01 -2.07376053e-01 -7.81044755e-02 2.43187530e+01] [ 2.07448581e-01 9.78218882e-01 -7.27355487e-03 -1.66819684e+00] [ 7.79116339e-02 -9.10994009e-03 9.96918646e-01 7.74802113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.289072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.35, Y:-1.67, Z:0.78 [[ 9.75043327e-01 -2.07966807e-01 -7.77194757e-02 2.43459768e+01] [ 2.08038761e-01 9.78093642e-01 -7.25951913e-03 -1.66535822e+00] [ 7.75266640e-02 -9.09031777e-03 9.96948836e-01 7.76497144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.319072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.37, Y:-1.66, Z:0.78 [[ 9.74817036e-01 -2.08848641e-01 -7.81920115e-02 2.43742454e+01] [ 2.08923465e-01 9.77904643e-01 -7.31408449e-03 -1.66320134e+00] [ 7.79918677e-02 -9.20625179e-03 9.96911487e-01 7.78685157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.349072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.40, Y:-1.66, Z:0.78 [[ 9.74597143e-01 -2.09729418e-01 -7.85746846e-02 2.44019315e+01] [ 2.09806096e-01 9.77715225e-01 -7.37163195e-03 -1.66038591e+00] [ 7.83697136e-02 -9.30107638e-03 9.96880975e-01 7.80244160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.379072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.43, Y:-1.66, Z:0.78 [[ 9.74404705e-01 -2.10534219e-01 -7.88087153e-02 2.44285107e+01] [ 2.10612213e-01 9.77541561e-01 -7.41565055e-03 -1.65791764e+00] [ 7.86000428e-02 -9.37223317e-03 9.96862174e-01 7.82047503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.409072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.46, Y:-1.66, Z:0.78 [[ 9.74127478e-01 -2.11621273e-01 -7.93227166e-02 2.44559197e+01] [ 2.11702991e-01 9.77305464e-01 -7.47485492e-03 -1.65544647e+00] [ 7.91043627e-02 -9.51139482e-03 9.96820963e-01 7.83669665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.439072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.48, Y:-1.65, Z:0.79 [[ 9.73977823e-01 -2.12266278e-01 -7.94369413e-02 2.44831209e+01] [ 2.12348545e-01 9.77165145e-01 -7.50828729e-03 -1.65286034e+00] [ 7.92167665e-02 -9.55541359e-03 9.96811616e-01 7.86085271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.469072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.51, Y:-1.65, Z:0.79 [[ 9.73954038e-01 -2.12424771e-01 -7.93047822e-02 2.45096148e+01] [ 2.12506064e-01 9.77130880e-01 -7.51106874e-03 -1.65006423e+00] [ 7.90866887e-02 -9.53731143e-03 9.96822118e-01 7.87658804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.499072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.54, Y:-1.65, Z:0.79 [[ 9.73784494e-01 -2.13326938e-01 -7.89644040e-02 2.45378622e+01] [ 2.13409624e-01 9.76934104e-01 -7.48917162e-03 -1.64744275e+00] [ 7.87406614e-02 -9.55892462e-03 9.96849304e-01 7.90327495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.529072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.56, Y:-1.64, Z:0.79 [[ 9.73660661e-01 -2.13924227e-01 -7.88754924e-02 2.45642886e+01] [ 2.14006884e-01 9.76803336e-01 -7.50315078e-03 -1.64480752e+00] [ 7.86509498e-02 -9.57437558e-03 9.96856238e-01 7.92687579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.559072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.59, Y:-1.64, Z:0.79 [[ 9.73673100e-01 -2.14169158e-01 -7.80529721e-02 2.45912191e+01] [ 2.14250058e-01 9.76750548e-01 -7.43501078e-03 -1.64249853e+00] [ 7.78306333e-02 -9.48358378e-03 9.96921488e-01 7.94659183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.589072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.62, Y:-1.64, Z:0.80 [[ 9.73587774e-01 -2.14532319e-01 -7.81199772e-02 2.46187358e+01] [ 2.14613284e-01 9.76670636e-01 -7.45708681e-03 -1.64015897e+00] [ 7.78972739e-02 -9.50545629e-03 9.96916075e-01 7.97015377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.619072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.65, Y:-1.64, Z:0.80 [[ 9.73431221e-01 -2.15215632e-01 -7.81913710e-02 2.46462904e+01] [ 2.15297148e-01 9.76519887e-01 -7.48648891e-03 -1.63790372e+00] [ 7.79666383e-02 -9.54679718e-03 9.96910258e-01 7.98996522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.649072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.67, Y:-1.64, Z:0.80 [[ 9.73319666e-01 -2.15638434e-01 -7.84148749e-02 2.46742151e+01] [ 2.15720001e-01 9.76426225e-01 -7.53049605e-03 -1.63528042e+00] [ 7.81902046e-02 -9.58607699e-03 9.96892371e-01 8.00666196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.679072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.70, Y:-1.63, Z:0.80 [[ 9.73200049e-01 -2.15940254e-01 -7.90662509e-02 2.47012271e+01] [ 2.16022408e-01 9.76358706e-01 -7.61550750e-03 -1.63222793e+00] [ 7.88415171e-02 -9.66866962e-03 9.96840274e-01 8.01427048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.709072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.73, Y:-1.63, Z:0.80 [[ 9.73153773e-01 -2.15948073e-01 -7.96125914e-02 2.47277839e+01] [ 2.16030608e-01 9.76356401e-01 -7.67821866e-03 -1.63006704e+00] [ 7.93883597e-02 -9.72666904e-03 9.96796308e-01 8.04042612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.739072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.76, Y:-1.63, Z:0.81 [[ 9.73119425e-01 -2.16275677e-01 -7.91417522e-02 2.47558923e+01] [ 2.16357446e-01 9.76284300e-01 -7.64343282e-03 -1.62744718e+00] [ 7.89179387e-02 -9.68493442e-03 9.96834069e-01 8.05828269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.769072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.78, Y:-1.63, Z:0.81 [[ 9.73206451e-01 -2.16275489e-01 -7.80648193e-02 2.47834284e+01] [ 2.16353265e-01 9.76285862e-01 -7.56178533e-03 -1.62513335e+00] [ 7.78490082e-02 -9.53040027e-03 9.96919607e-01 8.08499735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.799072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.81, Y:-1.62, Z:0.81 [[ 9.73194965e-01 -2.16179249e-01 -7.84735118e-02 2.48099629e+01] [ 2.16255812e-01 9.76306973e-01 -7.62348067e-03 -1.62264701e+00] [ 7.82622752e-02 -9.55122002e-03 9.96887050e-01 8.10836047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.829072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.84, Y:-1.62, Z:0.81 [[ 9.73055288e-01 -2.16696138e-01 -7.87793717e-02 2.48378681e+01] [ 2.16774138e-01 9.76191702e-01 -7.66382369e-03 -1.61969470e+00] [ 7.85644899e-02 -9.62000618e-03 9.96862617e-01 8.13192709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.859072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.87, Y:-1.62, Z:0.81 [[ 9.72956764e-01 -2.17031578e-01 -7.90723118e-02 2.48659927e+01] [ 2.17109467e-01 9.76116775e-01 -7.71495075e-03 -1.61677397e+00] [ 7.88581980e-02 -9.66103400e-03 9.96839029e-01 8.14343647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.88907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.89, Y:-1.61, Z:0.82 [[ 9.72893735e-01 -2.17494960e-01 -7.85730468e-02 2.48932296e+01] [ 2.17571629e-01 9.76014078e-01 -7.68797163e-03 -1.61402399e+00] [ 7.83604949e-02 -9.61568640e-03 9.96878714e-01 8.15897657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.91907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.92, Y:-1.61, Z:0.82 [[ 9.72784914e-01 -2.17757343e-01 -7.91912302e-02 2.49197847e+01] [ 2.17835285e-01 9.75954707e-01 -7.75874936e-03 -1.61148814e+00] [ 7.89765786e-02 -9.70304990e-03 9.96829249e-01 8.18889639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.94907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.95, Y:-1.61, Z:0.82 [[ 9.72858140e-01 -2.17791088e-01 -7.81925853e-02 2.49479999e+01] [ 2.17865972e-01 9.75948512e-01 -7.67596797e-03 -1.60892894e+00] [ 7.79836947e-02 -9.56787570e-03 9.96908722e-01 8.20864953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.979072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.97, Y:-1.61, Z:0.82 [[ 9.72936879e-01 -2.17438054e-01 -7.81954064e-02 2.49746885e+01] [ 2.17510096e-01 9.76027712e-01 -7.69831477e-03 -1.60653675e+00] [ 7.79947902e-02 -9.51831599e-03 9.96908328e-01 8.23199289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.009072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.00, Y:-1.60, Z:0.82 [[ 9.72925496e-01 -2.17420950e-01 -7.83843705e-02 2.50027227e+01] [ 2.17492067e-01 9.76031459e-01 -7.73252706e-03 -1.60378356e+00] [ 7.81868248e-02 -9.52480606e-03 9.96893223e-01 8.24827053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.039072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.03, Y:-1.60, Z:0.83 [[ 9.72923380e-01 -2.17475383e-01 -7.82595363e-02 2.50310659e+01] [ 2.17544726e-01 9.76019647e-01 -7.74213591e-03 -1.60059522e+00] [ 7.80665690e-02 -9.49244438e-03 9.96902956e-01 8.26269024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.069072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.06, Y:-1.60, Z:0.83 [[ 9.72886889e-01 -2.17526188e-01 -7.85713649e-02 2.50592848e+01] [ 2.17594474e-01 9.76008131e-01 -7.79568688e-03 -1.59772234e+00] [ 7.83820571e-02 -9.51237325e-03 9.96878011e-01 8.28150090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.099072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.09, Y:-1.60, Z:0.83 [[ 9.72844238e-01 -2.17603705e-01 -7.88842005e-02 2.50871083e+01] [ 2.17671009e-01 9.75990635e-01 -7.84937087e-03 -1.59539163e+00] [ 7.86982931e-02 -9.53458828e-03 9.96852883e-01 8.30414170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.129072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.11, Y:-1.59, Z:0.83 [[ 9.72923970e-01 -2.17258998e-01 -7.88509815e-02 2.51136742e+01] [ 2.17323420e-01 9.76067943e-01 -7.86772909e-03 -1.59323413e+00] [ 7.86732502e-02 -9.48146278e-03 9.96855366e-01 8.32639718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.159072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.14, Y:-1.59, Z:0.83 [[ 9.73078971e-01 -2.16889053e-01 -7.79516232e-02 2.51402516e+01] [ 2.16950076e-01 9.76151638e-01 -7.78749757e-03 -1.59094464e+00] [ 7.77816276e-02 -9.33376044e-03 9.96926727e-01 8.34273513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.189072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.17, Y:-1.59, Z:0.84 [[ 9.73025226e-01 -2.17101921e-01 -7.80298991e-02 2.51682289e+01] [ 2.17162952e-01 9.76104158e-01 -7.80543576e-03 -1.58795160e+00] [ 7.78598840e-02 -9.35031735e-03 9.96920463e-01 8.36587182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.219072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.20, Y:-1.59, Z:0.84 [[ 9.73078373e-01 -2.16833107e-01 -7.81145607e-02 2.51950922e+01] [ 2.16891648e-01 9.76164228e-01 -7.83657441e-03 -1.58535923e+00] [ 7.79518687e-02 -9.31679476e-03 9.96913589e-01 8.38340824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.249072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.22, Y:-1.58, Z:0.84 [[ 9.73179369e-01 -2.16334503e-01 -7.82387310e-02 2.52232820e+01] [ 2.16390389e-01 9.76275238e-01 -7.86510072e-03 -1.58319737e+00] [ 7.80840284e-02 -9.27595571e-03 9.96903627e-01 8.40035092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.279072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.25, Y:-1.58, Z:0.84 [[ 9.73074901e-01 -2.16593773e-01 -7.88186209e-02 2.52508410e+01] [ 2.16649505e-01 9.76217108e-01 -7.94673692e-03 -1.58041432e+00] [ 7.86652998e-02 -9.34324498e-03 9.96857299e-01 8.42559844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.309072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.28, Y:-1.58, Z:0.84 [[ 9.73076052e-01 -2.16715840e-01 -7.84680870e-02 2.52775286e+01] [ 2.16769710e-01 9.76190530e-01 -7.93364087e-03 -1.57814241e+00] [ 7.83191491e-02 -9.28946849e-03 9.96885057e-01 8.44164068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.339072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.31, Y:-1.58, Z:0.85 [[ 9.73135508e-01 -2.16325603e-01 -7.88068364e-02 2.53051400e+01] [ 2.16377834e-01 9.76277098e-01 -7.97872861e-03 -1.57576907e+00] [ 7.86633129e-02 -9.28766844e-03 9.96857975e-01 8.46136985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.369072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.33, Y:-1.57, Z:0.85 [[ 9.73114795e-01 -2.16445874e-01 -7.87323265e-02 2.53324570e+01] [ 2.16496592e-01 9.76250645e-01 -7.99401524e-03 -1.57258084e+00] [ 7.85927561e-02 -9.26618587e-03 9.96863740e-01 8.48175796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.399072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.36, Y:-1.57, Z:0.85 [[ 9.73160314e-01 -2.16228596e-01 -7.87667340e-02 2.53591482e+01] [ 2.16276872e-01 9.76299130e-01 -8.02015636e-03 -1.56978450e+00] [ 7.86340811e-02 -9.23052501e-03 9.96860812e-01 8.49702828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.429072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.39, Y:-1.57, Z:0.85 [[ 9.73209574e-01 -2.16140199e-01 -7.83998673e-02 2.53870948e+01] [ 2.16186892e-01 9.76319278e-01 -7.99351273e-03 -1.56681480e+00] [ 7.82710212e-02 -9.16966049e-03 9.96889946e-01 8.52354181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.459072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.42, Y:-1.56, Z:0.86 [[ 9.73416283e-01 -2.15433727e-01 -7.77756332e-02 2.54151471e+01] [ 2.15475707e-01 9.76476822e-01 -7.95208823e-03 -1.56471959e+00] [ 7.76592512e-02 -9.01806740e-03 9.96939173e-01 8.55211545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.489072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.44, Y:-1.56, Z:0.86 [[ 9.73466444e-01 -2.15201543e-01 -7.77906022e-02 2.54428308e+01] [ 2.15241173e-01 9.76528363e-01 -7.97463156e-03 -1.56209089e+00] [ 7.76808824e-02 -8.98070419e-03 9.96937825e-01 8.57483190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.519072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.47, Y:-1.56, Z:0.86 [[ 9.73347281e-01 -2.15792192e-01 -7.76453539e-02 2.54707363e+01] [ 2.15831785e-01 9.76397935e-01 -7.98204869e-03 -1.55884884e+00] [ 7.75352270e-02 -8.98902997e-03 9.96949089e-01 8.58686537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.549072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.50, Y:-1.56, Z:0.86 [[ 9.73410464e-01 -2.14940586e-01 -7.91998296e-02 2.54985144e+01] [ 2.14977188e-01 9.76584935e-01 -8.16534132e-03 -1.55668749e+00] [ 7.91004237e-02 -9.07792798e-03 9.96825318e-01 8.60713644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.579072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.53, Y:-1.55, Z:0.86 [[ 9.73334042e-01 -2.15155403e-01 -7.95549810e-02 2.55265583e+01] [ 2.15191309e-01 9.76537285e-01 -8.22383617e-03 -1.55383008e+00] [ 7.94578079e-02 -9.11500077e-03 9.96796556e-01 8.62273688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.609072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.55, Y:-1.55, Z:0.86 [[ 9.73337303e-01 -2.15282819e-01 -7.91694544e-02 2.55541637e+01] [ 2.15316956e-01 9.76509731e-01 -8.20697652e-03 -1.55092476e+00] [ 7.90765637e-02 -9.05836955e-03 9.96827389e-01 8.63566094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.63907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.58, Y:-1.55, Z:0.87 [[ 9.73298543e-01 -2.15458835e-01 -7.91671381e-02 2.55824541e+01] [ 2.15491758e-01 9.76470983e-01 -8.22926167e-03 -1.54781358e+00] [ 7.90774804e-02 -9.05033735e-03 9.96827389e-01 8.65688506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.66907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.61, Y:-1.55, Z:0.87 [[ 9.73375245e-01 -2.15012679e-01 -7.94366468e-02 2.56095378e+01] [ 2.15043212e-01 9.76569503e-01 -8.27183329e-03 -1.54617179e+00] [ 7.93539557e-02 -9.03071390e-03 9.96805596e-01 8.68600288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.69907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.64, Y:-1.54, Z:0.87 [[ 9.73439505e-01 -2.14912956e-01 -7.89173688e-02 2.56376634e+01] [ 2.14941490e-01 9.76592219e-01 -8.23371040e-03 -1.54378758e+00] [ 7.88396193e-02 -8.94759787e-03 9.96847157e-01 8.71076026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.729072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.66, Y:-1.54, Z:0.87 [[ 9.73430788e-01 -2.15016052e-01 -7.87438746e-02 2.56648095e+01] [ 2.15043062e-01 9.76569826e-01 -8.23747839e-03 -1.54100579e+00] [ 7.86700821e-02 -8.91470882e-03 9.96860846e-01 8.73802605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.759072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.69, Y:-1.54, Z:0.88 [[ 9.73500644e-01 -2.15006885e-01 -7.79008019e-02 2.56932315e+01] [ 2.15032469e-01 9.76572813e-01 -8.15948958e-03 -1.53875232e+00] [ 7.78301517e-02 -8.80793345e-03 9.96927724e-01 8.75388939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.789072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.72, Y:-1.54, Z:0.88 [[ 9.73468408e-01 -2.15127080e-01 -7.79717783e-02 2.57212669e+01] [ 2.15151414e-01 9.76546373e-01 -8.18840466e-03 -1.53582637e+00] [ 7.79046049e-02 -8.80458513e-03 9.96921939e-01 8.76630202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.819072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.75, Y:-1.53, Z:0.88 [[ 9.73429799e-01 -2.15180590e-01 -7.83054283e-02 2.57477317e+01] [ 2.15203586e-01 9.76534397e-01 -8.24546499e-03 -1.53324536e+00] [ 7.82422082e-02 -8.82522762e-03 9.96895317e-01 8.78379490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.849072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.78, Y:-1.53, Z:0.88 [[ 9.73445070e-01 -2.14909834e-01 -7.88572048e-02 2.57760909e+01] [ 2.14931450e-01 9.76593746e-01 -8.31425682e-03 -1.53112232e+00] [ 7.87982686e-02 -8.85542107e-03 9.96851250e-01 8.79969896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.879072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.80, Y:-1.53, Z:0.88 [[ 9.73446391e-01 -2.14848078e-01 -7.90090309e-02 2.58038118e+01] [ 2.14867790e-01 9.76607425e-01 -8.35288410e-03 -1.52861224e+00] [ 7.89554073e-02 -8.84541099e-03 9.96838905e-01 8.82309440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.909072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.83, Y:-1.53, Z:0.88 [[ 9.73337812e-01 -2.15343100e-01 -7.89990763e-02 2.58317258e+01] [ 2.15362594e-01 9.76498242e-01 -8.37480730e-03 -1.52614944e+00] [ 7.89459161e-02 -8.86192940e-03 9.96839510e-01 8.84470910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.939072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.86, Y:-1.52, Z:0.89 [[ 9.73275927e-01 -2.15791954e-01 -7.85353563e-02 2.58597226e+01] [ 2.15810851e-01 9.76399498e-01 -8.34845875e-03 -1.52346740e+00] [ 7.84834127e-02 -8.82342814e-03 9.96876372e-01 8.86457997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.969072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.89, Y:-1.52, Z:0.89 [[ 9.73276530e-01 -2.15950945e-01 -7.80895977e-02 2.58879163e+01] [ 2.15968339e-01 9.76364886e-01 -8.32383401e-03 -1.52093909e+00] [ 7.80414810e-02 -8.76348841e-03 9.96911595e-01 8.88910288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.999072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.92, Y:-1.52, Z:0.89 [[ 9.73181837e-01 -2.16477440e-01 -7.78115073e-02 2.59156015e+01] [ 2.16494601e-01 9.76248390e-01 -8.31676011e-03 -1.51831773e+00] [ 7.77637497e-02 -8.75205133e-03 9.96933398e-01 8.90643505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.029072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.94, Y:-1.52, Z:0.89 [[ 9.73144847e-01 -2.16508046e-01 -7.81880546e-02 2.59422537e+01] [ 2.16523710e-01 9.76241397e-01 -8.37959291e-03 -1.51557919e+00] [ 7.81446650e-02 -8.77501003e-03 9.96903411e-01 8.92678958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.059072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.97, Y:-1.51, Z:0.89 [[ 9.72922857e-01 -2.17370904e-01 -7.85557376e-02 2.59705571e+01] [ 2.17388650e-01 9.76048725e-01 -8.42977962e-03 -1.51320362e+00] [ 7.85066164e-02 -8.87560045e-03 9.96874082e-01 8.94617145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.089072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.00, Y:-1.51, Z:0.90 [[ 9.72890052e-01 -2.17346954e-01 -7.90268809e-02 2.59985988e+01] [ 2.17363045e-01 9.76053791e-01 -8.50310862e-03 -1.51065095e+00] [ 7.89826115e-02 -8.90493366e-03 9.96836220e-01 8.97110958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.119072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.03, Y:-1.51, Z:0.90 [[ 9.72721578e-01 -2.17829658e-01 -7.97682412e-02 2.60252714e+01] [ 2.17845891e-01 9.75945244e-01 -8.60517120e-03 -1.50885539e+00] [ 7.97238971e-02 -9.00674789e-03 9.96776293e-01 8.98877254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.149072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.05, Y:-1.51, Z:0.90 [[ 9.72646520e-01 -2.18163081e-01 -7.97722850e-02 2.60535868e+01] [ 2.18179545e-01 9.75870607e-01 -8.61656298e-03 -1.50617745e+00] [ 7.97272441e-02 -9.02381087e-03 9.96775871e-01 9.01181566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.179072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.08, Y:-1.50, Z:0.90 [[ 9.72564995e-01 -2.18747002e-01 -7.91648855e-02 2.60804655e+01] [ 2.18763337e-01 9.75740284e-01 -8.57322426e-03 -1.50449903e+00] [ 7.91197350e-02 -8.98035669e-03 9.96824669e-01 9.03975730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.209072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.11, Y:-1.50, Z:0.91 [[ 9.72453845e-01 -2.19383277e-01 -7.87686239e-02 2.61087388e+01] [ 2.19400647e-01 9.75597462e-01 -8.54103633e-03 -1.50180958e+00] [ 7.87202301e-02 -8.97612340e-03 9.96856336e-01 9.06096877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.239072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.14, Y:-1.50, Z:0.91 [[ 9.72444282e-01 -2.19381553e-01 -7.88914018e-02 2.61364203e+01] [ 2.19397182e-01 9.75597925e-01 -8.57701677e-03 -1.49917292e+00] [ 7.88479271e-02 -8.96788031e-03 9.96846318e-01 9.08039112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.269072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.16, Y:-1.50, Z:0.91 [[ 9.72354868e-01 -2.19732576e-01 -7.90164920e-02 2.61640335e+01] [ 2.19747584e-01 9.75518737e-01 -8.61354799e-03 -1.49664735e+00] [ 7.89747456e-02 -8.98825786e-03 9.96836095e-01 9.10418355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.299072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.19, Y:-1.49, Z:0.91 [[ 9.72226678e-01 -2.20058592e-01 -7.96837726e-02 2.61907865e+01] [ 2.20073174e-01 9.75444493e-01 -8.70855517e-03 -1.49488182e+00] [ 7.96434896e-02 -9.06957110e-03 9.96782151e-01 9.12655322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.329072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.22, Y:-1.49, Z:0.91 [[ 9.72174637e-01 -2.20165823e-01 -8.00217788e-02 2.62184106e+01] [ 2.20180010e-01 9.75419954e-01 -8.75655367e-03 -1.49217500e+00] [ 7.99827336e-02 -9.10629668e-03 9.96754653e-01 9.13993789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.359072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.25, Y:-1.49, Z:0.92 [[ 9.72063636e-01 -2.20707857e-01 -7.98769622e-02 2.62457069e+01] [ 2.20721993e-01 9.75297395e-01 -8.76316188e-03 -1.48950696e+00] [ 7.98378918e-02 -9.11225132e-03 9.96766210e-01 9.15436694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.38907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.27, Y:-1.49, Z:0.92 [[ 9.71891413e-01 -2.21212742e-01 -8.05729771e-02 2.62725554e+01] [ 2.21228029e-01 9.75181953e-01 -8.84977306e-03 -1.48721589e+00] [ 8.05309957e-02 -9.22398244e-03 9.96709425e-01 9.17359620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.41907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.30, Y:-1.48, Z:0.92 [[ 9.71771922e-01 -2.21714085e-01 -8.06361992e-02 2.63005328e+01] [ 2.21730202e-01 9.75067731e-01 -8.86780340e-03 -1.48431805e+00] [ 8.05918727e-02 -9.26199835e-03 9.96704151e-01 9.19594613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.44907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.33, Y:-1.48, Z:0.92 [[ 9.71708464e-01 -2.22098419e-01 -8.03427193e-02 2.63270372e+01] [ 2.22113981e-01 9.74980479e-01 -8.85691114e-03 -1.48199878e+00] [ 8.02996889e-02 -9.23890567e-03 9.96727948e-01 9.22323098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.479072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.35, Y:-1.48, Z:0.93 [[ 9.71536569e-01 -2.23115638e-01 -7.95996720e-02 2.63549965e+01] [ 2.23133421e-01 9.74748323e-01 -8.78541254e-03 -1.47968245e+00] [ 7.95498097e-02 -9.22599754e-03 9.96788197e-01 9.25320346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.509072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.38, Y:-1.48, Z:0.93 [[ 9.71491137e-01 -2.23508231e-01 -7.90508755e-02 2.63817906e+01] [ 2.23525356e-01 9.74658875e-01 -8.74599435e-03 -1.47704350e+00] [ 7.90024391e-02 -9.17321910e-03 9.96832216e-01 9.26858081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.539072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.41, Y:-1.47, Z:0.93 [[ 9.71382663e-01 -2.24052136e-01 -7.88439065e-02 2.64091960e+01] [ 2.24070112e-01 9.74533895e-01 -8.73343075e-03 -1.47433507e+00] [ 7.87928030e-02 -9.18305976e-03 9.96848718e-01 9.29210964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.569072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.44, Y:-1.47, Z:0.93 [[ 9.71081153e-01 -2.25143976e-01 -7.94454763e-02 2.64371711e+01] [ 2.25164011e-01 9.74280925e-01 -8.82308577e-03 -1.47219228e+00] [ 7.93886768e-02 -9.32032975e-03 9.96800165e-01 9.31881312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.599072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.46, Y:-1.47, Z:0.93 [[ 9.70952683e-01 -2.25583037e-01 -7.97695431e-02 2.64644605e+01] [ 2.25602942e-01 9.74178853e-01 -8.88111737e-03 -1.46961900e+00] [ 7.97132314e-02 -9.37309887e-03 9.96773769e-01 9.33620668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.629072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.49, Y:-1.47, Z:0.94 [[ 9.70863373e-01 -2.26068435e-01 -7.94819063e-02 2.64909898e+01] [ 2.26089004e-01 9.74066364e-01 -8.85893685e-03 -1.46757765e+00] [ 7.94233775e-02 -9.36916775e-03 9.96796943e-01 9.35078259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.659072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.52, Y:-1.47, Z:0.94 [[ 9.70585945e-01 -2.27086336e-01 -7.99669937e-02 2.65192953e+01] [ 2.27109701e-01 9.73828295e-01 -8.92387132e-03 -1.46604967e+00] [ 7.99006104e-02 -9.49989599e-03 9.96757566e-01 9.37874748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.689072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.55, Y:-1.46, Z:0.94 [[ 9.70512715e-01 -2.27314426e-01 -8.02073700e-02 2.65462502e+01] [ 2.27336904e-01 9.73774828e-01 -8.97311812e-03 -1.46388938e+00] [ 8.01436371e-02 -9.52556990e-03 9.96737810e-01 9.40045597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.719072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.57, Y:-1.46, Z:0.94 [[ 9.70317047e-01 -2.28310854e-01 -7.97432331e-02 2.65745713e+01] [ 2.28335492e-01 9.73541535e-01 -8.93214698e-03 -1.46095940e+00] [ 7.96726556e-02 -9.54119591e-03 9.96775418e-01 9.41894826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.749072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.60, Y:-1.46, Z:0.94 [[ 9.70202484e-01 -2.28748694e-01 -7.98822625e-02 2.66024374e+01] [ 2.28773061e-01 9.73438451e-01 -8.97048051e-03 -1.45795696e+00] [ 7.98124516e-02 -9.57172722e-03 9.96763941e-01 9.44463898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.779072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.63, Y:-1.46, Z:0.95 [[ 9.70086926e-01 -2.29206481e-01 -7.99734006e-02 2.66299347e+01] [ 2.29230599e-01 9.73330502e-01 -9.00364825e-03 -1.45563302e+00] [ 7.99042447e-02 -9.59802907e-03 9.96756334e-01 9.47006846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.809072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.66, Y:-1.45, Z:0.95 [[ 9.70027937e-01 -2.29342874e-01 -8.02972512e-02 2.66568723e+01] [ 2.29365870e-01 9.73298090e-01 -9.06232041e-03 -1.45313110e+00] [ 8.02315399e-02 -9.62674490e-03 9.96729766e-01 9.49526810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.839072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.68, Y:-1.45, Z:0.95 [[ 9.69886984e-01 -2.29819849e-01 -8.06354482e-02 2.66845354e+01] [ 2.29843771e-01 9.73184884e-01 -9.11163780e-03 -1.45127951e+00] [ 8.05672345e-02 -9.69629656e-03 9.96702013e-01 9.51363851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.869072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.71, Y:-1.45, Z:0.96 [[ 9.69727600e-01 -2.29804223e-01 -8.25736039e-02 2.67117035e+01] [ 2.30186037e-01 9.73133820e-01 -4.99564505e-03 -1.44961596e+00] [ 8.15031870e-02 -1.41628757e-02 9.96572448e-01 9.56539743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.899072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.74, Y:-1.44, Z:0.95 [[ 9.69553194e-01 -2.31219101e-01 -8.06494343e-02 2.67412274e+01] [ 2.30878290e-01 9.72886822e-01 -1.36545561e-02 -1.44426431e+00] [ 8.16199660e-02 -5.38138501e-03 9.96648996e-01 9.54387613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.929072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.77, Y:-1.44, Z:0.96 [[ 9.69467478e-01 -2.31535954e-01 -8.07707348e-02 2.67684948e+01] [ 2.31561154e-01 9.72776992e-01 -9.18453158e-03 -1.44278059e+00] [ 8.06984618e-02 -9.79925990e-03 9.96690390e-01 9.56992959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.959072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.80, Y:-1.44, Z:0.96 [[ 9.69376918e-01 -2.31985694e-01 -8.05669210e-02 2.67959458e+01] [ 2.32011397e-01 9.72669820e-01 -9.17238840e-03 -1.44026249e+00] [ 8.04928755e-02 -9.80094227e-03 9.96706997e-01 9.59506276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.989072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.82, Y:-1.44, Z:0.96 [[ 9.69274211e-01 -2.32712560e-01 -7.97017487e-02 2.68227428e+01] [ 2.32738402e-01 9.72496846e-01 -9.09516018e-03 -1.43839473e+00] [ 7.96262572e-02 -9.73395340e-03 9.96777262e-01 9.61874961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.019072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.85, Y:-1.44, Z:0.96 [[ 9.69251687e-01 -2.32861311e-01 -7.95410364e-02 2.68502342e+01] [ 2.32886695e-01 9.72461417e-01 -9.08735333e-03 -1.43593329e+00] [ 7.94666819e-02 -9.71611656e-03 9.96790170e-01 9.64139710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.049072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.88, Y:-1.43, Z:0.97 [[ 9.69152660e-01 -2.33292462e-01 -7.94842678e-02 2.68769637e+01] [ 2.33317541e-01 9.72357998e-01 -9.10212576e-03 -1.43315289e+00] [ 7.94106209e-02 -9.72372455e-03 9.96794564e-01 9.65821406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.079072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.90, Y:-1.43, Z:0.97 [[ 9.69046601e-01 -2.33588488e-01 -7.99068468e-02 2.69043017e+01] [ 2.33613988e-01 9.72286263e-01 -9.16113196e-03 -1.43017297e+00] [ 7.98322645e-02 -9.78979340e-03 9.96760237e-01 9.68122570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.109072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.93, Y:-1.43, Z:0.97 [[ 9.68842104e-01 -2.34264639e-01 -8.04055806e-02 2.69318086e+01] [ 2.34290969e-01 9.72122602e-01 -9.24058819e-03 -1.42774640e+00] [ 8.03288253e-02 -9.88563049e-03 9.96719396e-01 9.69699179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.13907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.96, Y:-1.43, Z:0.97 [[ 9.68856968e-01 -2.34140077e-01 -8.05890799e-02 2.69582559e+01] [ 2.34164369e-01 9.72152699e-01 -9.28323886e-03 -1.42542935e+00] [ 8.05184698e-02 -9.87696037e-03 9.96704180e-01 9.71618982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.16907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.99, Y:-1.42, Z:0.97 [[ 9.68697477e-01 -2.34700634e-01 -8.08752781e-02 2.69865850e+01] [ 2.34726139e-01 9.72016792e-01 -9.32718280e-03 -1.42346201e+00] [ 8.08012241e-02 -9.94832332e-03 9.96680587e-01 9.73481745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.19907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.01, Y:-1.42, Z:0.98 [[ 9.68617645e-01 -2.34946534e-01 -8.11170979e-02 2.70130233e+01] [ 2.34971208e-01 9.71957093e-01 -9.37769660e-03 -1.42073697e+00] [ 8.10455960e-02 -9.97678012e-03 9.96660461e-01 9.75799263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.229072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.04, Y:-1.42, Z:0.98 [[ 9.68489020e-01 -2.35540673e-01 -8.09296621e-02 2.70413611e+01] [ 2.35565953e-01 9.71813173e-01 -9.37221056e-03 -1.41786528e+00] [ 8.08560486e-02 -9.98739000e-03 9.96675750e-01 9.77976641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.259072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.07, Y:-1.42, Z:0.98 [[ 9.68292754e-01 -2.36520340e-01 -8.04193407e-02 2.70692852e+01] [ 2.36546805e-01 9.71575246e-01 -9.33544709e-03 -1.41556723e+00] [ 8.03414638e-02 -9.98349231e-03 9.96717402e-01 9.79915165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.289072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.10, Y:-1.41, Z:0.98 [[ 9.68224825e-01 -2.36816583e-01 -8.03653734e-02 2.70962115e+01] [ 2.36842276e-01 9.71503114e-01 -9.35074478e-03 -1.41295802e+00] [ 8.02896219e-02 -9.98029475e-03 9.96721611e-01 9.82047136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.319072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.12, Y:-1.41, Z:0.98 [[ 9.68090754e-01 -2.37423574e-01 -8.01893932e-02 2.71243363e+01] [ 2.37450331e-01 9.71354768e-01 -9.34101918e-03 -1.40981893e+00] [ 8.01101276e-02 -9.99804369e-03 9.96735876e-01 9.84210716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.349072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.15, Y:-1.41, Z:0.99 [[ 9.67938948e-01 -2.37972616e-01 -8.03941963e-02 2.71520899e+01] [ 2.37999588e-01 9.71219892e-01 -9.38708371e-03 -1.40688568e+00] [ 8.03143115e-02 -1.00476617e-02 9.96718945e-01 9.86420095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.379072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.18, Y:-1.41, Z:0.99 [[ 9.67787766e-01 -2.38550808e-01 -8.05006273e-02 2.71797828e+01] [ 2.38578011e-01 9.71077628e-01 -9.42195292e-03 -1.40515431e+00] [ 8.04199727e-02 -1.00872287e-02 9.96710026e-01 9.88656110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.409072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.21, Y:-1.40, Z:0.99 [[ 9.67608373e-01 -2.39243671e-01 -8.06008858e-02 2.72080919e+01] [ 2.39271489e-01 9.70906656e-01 -9.45618820e-03 -1.40232033e+00] [ 8.05182697e-02 -1.01356071e-02 9.96701599e-01 9.90615869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.439072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.24, Y:-1.40, Z:0.99 [[ 9.67519760e-01 -2.39576719e-01 -8.06753359e-02 2.72352722e+01] [ 2.39603948e-01 9.70824364e-01 -9.48693878e-03 -1.39990137e+00] [ 8.05944313e-02 -1.01513283e-02 9.96695284e-01 9.93193269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.469072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.26, Y:-1.40, Z:0.99 [[ 9.67259097e-01 -2.40707691e-01 -8.04341181e-02 2.72627855e+01] [ 2.40737709e-01 9.70544015e-01 -9.46948695e-03 -1.39765261e+00] [ 8.03442303e-02 -1.02040779e-02 9.96714945e-01 9.94983760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.499072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.29, Y:-1.39, Z:1.00 [[ 9.67197989e-01 -2.40953967e-01 -8.04315551e-02 2.72910513e+01] [ 2.40983044e-01 9.70482915e-01 -9.49120891e-03 -1.39410306e+00] [ 8.03443945e-02 -1.02027628e-02 9.96714945e-01 9.97104283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.529072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.32, Y:-1.39, Z:1.00 [[ 9.67054736e-01 -2.41436906e-01 -8.07053848e-02 2.73174221e+01] [ 2.41466234e-01 9.70362294e-01 -9.54340923e-03 -1.39149385e+00] [ 8.06175935e-02 -1.02586262e-02 9.96692312e-01 9.98737040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.559072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.35, Y:-1.39, Z:1.00 [[ 9.66819484e-01 -2.42246336e-01 -8.10974632e-02 2.73454007e+01] [ 2.42277886e-01 9.70159397e-01 -9.60052626e-03 -1.38943837e+00] [ 8.10031584e-02 -1.03661461e-02 9.96659938e-01 1.00161209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.589072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.37, Y:-1.39, Z:1.00 [[ 9.66679627e-01 -2.42781735e-01 -8.11635866e-02 2.73735072e+01] [ 2.42813411e-01 9.70025209e-01 -9.63024712e-03 -1.38670010e+00] [ 8.10687731e-02 -1.03982436e-02 9.96654268e-01 1.00367003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.619072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.40, Y:-1.38, Z:1.01 [[ 9.66515656e-01 -2.43450480e-01 -8.11131899e-02 2.74010589e+01] [ 2.43482536e-01 9.69857299e-01 -9.64753420e-03 -1.38396489e+00] [ 8.10169161e-02 -1.04251523e-02 9.96658204e-01 1.00596746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.649072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.43, Y:-1.38, Z:1.01 [[ 9.66363874e-01 -2.44193313e-01 -8.06876058e-02 2.74293108e+01] [ 2.44225652e-01 9.69670705e-01 -9.62049230e-03 -1.38222296e+00] [ 8.05896676e-02 -1.04090870e-02 9.96693010e-01 1.00816709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.679072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.46, Y:-1.38, Z:1.01 [[ 9.66232172e-01 -2.44933825e-01 -8.00175643e-02 2.74564174e+01] [ 2.44966317e-01 9.69484428e-01 -9.56280175e-03 -1.37933165e+00] [ 7.99180362e-02 -1.03617213e-02 9.96747582e-01 1.00964316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.709072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.48, Y:-1.38, Z:1.01 [[ 9.66048079e-01 -2.45604246e-01 -8.01851848e-02 2.74839616e+01] [ 2.45638251e-01 9.69314090e-01 -9.59399279e-03 -1.37663171e+00] [ 8.00809548e-02 -1.04282903e-02 9.96733812e-01 1.01214237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.739072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.51, Y:-1.37, Z:1.01 [[ 9.65827723e-01 -2.46543593e-01 -7.99566577e-02 2.75116114e+01] [ 2.46578724e-01 9.69075319e-01 -9.58948517e-03 -1.37487600e+00] [ 7.98482497e-02 -1.04538200e-02 9.96752213e-01 1.01416345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.769072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.54, Y:-1.37, Z:1.02 [[ 9.65579792e-01 -2.47351680e-01 -8.04537798e-02 2.75384250e+01] [ 2.47388232e-01 9.68868169e-01 -9.67128683e-03 -1.37228821e+00] [ 8.03413153e-02 -1.05649192e-02 9.96711420e-01 1.01690362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.799072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.57, Y:-1.37, Z:1.02 [[ 9.65413716e-01 -2.47945063e-01 -8.06201117e-02 2.75655207e+01] [ 2.47982988e-01 9.68715810e-01 -9.70135869e-03 -1.37063219e+00] [ 8.05033809e-02 -1.06265914e-02 9.96697688e-01 1.01842568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.829072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.59, Y:-1.37, Z:1.02 [[ 9.65223861e-01 -2.48746344e-01 -8.04248397e-02 2.75933635e+01] [ 2.48785929e-01 9.68510036e-01 -9.68875148e-03 -1.36756787e+00] [ 8.03023059e-02 -1.06567543e-02 9.96713586e-01 1.02044059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.859072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.62, Y:-1.36, Z:1.02 [[ 9.65025609e-01 -2.49445706e-01 -8.06375477e-02 2.76215790e+01] [ 2.49486059e-01 9.68329434e-01 -9.73719886e-03 -1.36480554e+00] [ 8.05126134e-02 -1.07212977e-02 9.96695928e-01 1.02284103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.88907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.65, Y:-1.36, Z:1.02 [[ 9.64790773e-01 -2.50561187e-01 -7.99865960e-02 2.76482843e+01] [ 2.50602898e-01 9.68041571e-01 -9.68013509e-03 -1.36307796e+00] [ 7.98558162e-02 -1.07055678e-02 9.96748935e-01 1.02443590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.91907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.68, Y:-1.36, Z:1.03 [[ 9.64607059e-01 -2.51217698e-01 -8.01429395e-02 2.76765648e+01] [ 2.51260921e-01 9.67870686e-01 -9.70998927e-03 -1.36027113e+00] [ 8.00073230e-02 -1.07704646e-02 9.96736086e-01 1.02644232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.94907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.70, Y:-1.36, Z:1.03 [[ 9.64501497e-01 -2.51740355e-01 -7.97725269e-02 2.77042357e+01] [ 2.51783106e-01 9.67735198e-01 -9.68779122e-03 -1.35803040e+00] [ 7.96374902e-02 -1.07414855e-02 9.96766016e-01 1.02851454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.979072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.73, Y:-1.36, Z:1.03 [[ 9.64394890e-01 -2.52141191e-01 -7.97954640e-02 2.77314383e+01] [ 2.52183554e-01 9.67630674e-01 -9.71257486e-03 -1.35575441e+00] [ 7.96614788e-02 -1.07563462e-02 9.96763939e-01 1.03016628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.009072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.76, Y:-1.35, Z:1.03 [[ 9.64334388e-01 -2.52231243e-01 -8.02408110e-02 2.77578318e+01] [ 2.52273597e-01 9.67606555e-01 -9.77680658e-03 -1.35314130e+00] [ 8.01075508e-02 -1.08145272e-02 9.96727559e-01 1.03204552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.039072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.79, Y:-1.35, Z:1.03 [[ 9.64050905e-01 -2.53141413e-01 -8.07791926e-02 2.77852991e+01] [ 2.53186596e-01 9.67367281e-01 -9.85344175e-03 -1.35097026e+00] [ 8.06374621e-02 -1.09529894e-02 9.96683316e-01 1.03383733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.069072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.81, Y:-1.35, Z:1.04 [[ 9.63870447e-01 -2.53802210e-01 -8.08591385e-02 2.78126309e+01] [ 2.53847992e-01 9.67193612e-01 -9.88507022e-03 -1.34841922e+00] [ 8.07152948e-02 -1.09980029e-02 9.96676520e-01 1.03591933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.099072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.84, Y:-1.35, Z:1.04 [[ 9.63726850e-01 -2.54217197e-01 -8.12660837e-02 2.78397086e+01] [ 2.54264088e-01 9.67083695e-01 -9.94483275e-03 -1.34591583e+00] [ 8.11192521e-02 -1.10789443e-02 9.96642827e-01 1.03853046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.129072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.87, Y:-1.34, Z:1.04 [[ 9.63608937e-01 -2.54788135e-01 -8.08753485e-02 2.78671448e+01] [ 2.54835661e-01 9.66933618e-01 -9.90775408e-03 -1.34353971e+00] [ 8.07254715e-02 -1.10627225e-02 9.96674979e-01 1.04102518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.159072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.89, Y:-1.34, Z:1.04 [[ 9.63315401e-01 -2.56043726e-01 -8.04055223e-02 2.78938172e+01] [ 2.56093206e-01 9.66601683e-01 -9.87204318e-03 -1.34173138e+00] [ 8.02477879e-02 -1.10814167e-02 9.96713346e-01 1.04330504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.189072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.92, Y:-1.34, Z:1.04 [[ 9.63162387e-01 -2.56725588e-01 -8.00636523e-02 2.79216219e+01] [ 2.56776066e-01 9.66420823e-01 -9.84098106e-03 -1.33846455e+00] [ 7.99016124e-02 -1.10799669e-02 9.96741173e-01 1.04495729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.219072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.95, Y:-1.34, Z:1.05 [[ 9.63249974e-01 -2.56525517e-01 -7.96501589e-02 2.79485188e+01] [ 2.56573048e-01 9.66475036e-01 -9.81198583e-03 -1.33616021e+00] [ 7.94969150e-02 -1.09846890e-02 9.96774587e-01 1.04719220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.249072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.98, Y:-1.33, Z:1.05 [[ 9.63024223e-01 -2.57262382e-01 -8.00025823e-02 2.79764155e+01] [ 2.57311953e-01 9.66278020e-01 -9.86644369e-03 -1.33427924e+00] [ 7.98430016e-02 -1.10839965e-02 9.96745825e-01 1.04870899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.279072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.00, Y:-1.33, Z:1.05 [[ 9.63232731e-01 -2.56177629e-01 -8.09674570e-02 2.80011198e+01] [ 2.55886590e-01 9.66603572e-01 -1.41275623e-02 -1.33175702e+00] [ 8.18825986e-02 -7.11035605e-03 9.96616618e-01 1.04948558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.309072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.03, Y:-1.33, Z:1.05 [[ 9.62794122e-01 -2.57710544e-01 -8.13188427e-02 2.80319515e+01] [ 2.58040981e-01 9.66111424e-01 -6.60069023e-03 -1.33031245e+00] [ 8.02641304e-02 -1.46284882e-02 9.96666282e-01 1.05383197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.339072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.06, Y:-1.33, Z:1.05 [[ 9.62448863e-01 -2.58983826e-01 -8.13607030e-02 2.80597294e+01] [ 2.59037325e-01 9.65814700e-01 -1.00811221e-02 -1.32720340e+00] [ 8.11902106e-02 -1.13728944e-02 9.96633738e-01 1.05386588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.369072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.09, Y:-1.32, Z:1.06 [[ 9.62366266e-01 -2.59438575e-01 -8.08875492e-02 2.80875065e+01] [ 2.59491118e-01 9.65693244e-01 -1.00458080e-02 -1.32445064e+00] [ 8.07188299e-02 -1.13218539e-02 9.96672607e-01 1.05587509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.399072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.12, Y:-1.32, Z:1.06 [[ 9.62315471e-01 -2.59536410e-01 -8.11774958e-02 2.81157326e+01] [ 2.59587782e-01 9.65666645e-01 -1.01052096e-02 -1.32167674e+00] [ 8.10130698e-02 -1.13482865e-02 9.96648433e-01 1.05785897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.429072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.14, Y:-1.32, Z:1.06 [[ 9.62244065e-01 -2.60214924e-01 -7.98408018e-02 2.81427027e+01] [ 2.60265111e-01 9.65485815e-01 -9.96056133e-03 -1.31926269e+00] [ 7.96770483e-02 -1.11952841e-02 9.96757861e-01 1.06070637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.459072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.17, Y:-1.32, Z:1.06 [[ 9.62292979e-01 -2.60068989e-01 -7.97266785e-02 2.81709194e+01] [ 2.60117667e-01 9.65525584e-01 -9.95723268e-03 -1.31664719e+00] [ 7.95677152e-02 -1.11565425e-02 9.96767029e-01 1.06348647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.489072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.20, Y:-1.31, Z:1.07 [[ 9.62259884e-01 -2.60415419e-01 -7.89919289e-02 2.81991551e+01] [ 2.60462534e-01 9.65433320e-01 -9.88802394e-03 -1.31402163e+00] [ 7.88364341e-02 -1.10595892e-02 9.96826215e-01 1.06576812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.519072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.23, Y:-1.31, Z:1.07 [[ 9.62011971e-01 -2.61285606e-01 -7.91378524e-02 2.82267251e+01] [ 2.61333953e-01 9.65197375e-01 -9.92937595e-03 -1.31173667e+00] [ 7.89780504e-02 -1.11292293e-02 9.96814229e-01 1.06807260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.549072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.25, Y:-1.31, Z:1.07 [[ 9.61938013e-01 -2.61535456e-01 -7.92115109e-02 2.82538556e+01] [ 2.61582940e-01 9.65129598e-01 -9.96112467e-03 -1.30906369e+00] [ 7.90545610e-02 -1.11383955e-02 9.96808062e-01 1.06980412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.579072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.28, Y:-1.31, Z:1.07 [[ 9.61600833e-01 -2.62570968e-01 -7.98769389e-02 2.82820744e+01] [ 2.62621461e-01 9.64846485e-01 -1.00612359e-02 -1.30574332e+00] [ 7.97107722e-02 -1.13025056e-02 9.96753955e-01 1.07113232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.609072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.31, Y:-1.30, Z:1.07 [[ 9.61543350e-01 -2.62645161e-01 -8.03237590e-02 2.83097915e+01] [ 2.62694585e-01 9.64825741e-01 -1.01412277e-02 -1.30386226e+00] [ 8.01619747e-02 -1.13493865e-02 9.96717236e-01 1.07246437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.63907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.34, Y:-1.30, Z:1.07 [[ 9.61492942e-01 -2.62725256e-01 -8.06645025e-02 2.83363853e+01] [ 2.62773513e-01 9.64803549e-01 -1.02074857e-02 -1.30136098e+00] [ 8.05071626e-02 -1.13820692e-02 9.96689041e-01 1.07481572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.66907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.36, Y:-1.30, Z:1.08 [[ 9.61416614e-01 -2.63170012e-01 -8.01226479e-02 2.83638399e+01] [ 2.63217790e-01 9.64682986e-01 -1.01553932e-02 -1.29871493e+00] [ 7.99655501e-02 -1.13261425e-02 9.96733279e-01 1.07658933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.69907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.39, Y:-1.30, Z:1.08 [[ 9.61302546e-01 -2.63703028e-01 -7.97378677e-02 2.83921105e+01] [ 2.63750273e-01 9.64537806e-01 -1.01298272e-02 -1.29604387e+00] [ 7.95814541e-02 -1.12930557e-02 9.96764395e-01 1.07900064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.729072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.42, Y:-1.29, Z:1.08 [[ 9.61254910e-01 -2.64139656e-01 -7.88621630e-02 2.84193308e+01] [ 2.64185528e-01 9.64419614e-01 -1.00406727e-02 -1.29441625e+00] [ 7.87083567e-02 -1.11825962e-02 9.96834963e-01 1.08167713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.759072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.45, Y:-1.29, Z:1.08 [[ 9.61189423e-01 -2.64441791e-01 -7.86475229e-02 2.84461344e+01] [ 2.64487608e-01 9.64336994e-01 -1.00233412e-02 -1.29168287e+00] [ 7.84933061e-02 -1.11669657e-02 9.96852095e-01 1.08391189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.789072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.47, Y:-1.29, Z:1.09 [[ 9.61115466e-01 -2.64700728e-01 -7.86802722e-02 2.84743153e+01] [ 2.64746592e-01 9.64265771e-01 -1.00381809e-02 -1.28892960e+00] [ 7.85258071e-02 -1.11824830e-02 9.96849362e-01 1.08672460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.819072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.50, Y:-1.29, Z:1.09 [[ 9.60937791e-01 -2.65327012e-01 -7.87409649e-02 2.85022119e+01] [ 2.65373194e-01 9.64093193e-01 -1.00689092e-02 -1.28681494e+00] [ 7.85851819e-02 -1.12201460e-02 9.96844259e-01 1.08815158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.849072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.53, Y:-1.28, Z:1.09 [[ 9.60935393e-01 -2.65191381e-01 -7.92256460e-02 2.85295702e+01] [ 2.65235926e-01 9.64130082e-01 -1.01532573e-02 -1.28435684e+00] [ 7.90763849e-02 -1.12568633e-02 9.96805000e-01 1.08984126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.879072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.56, Y:-1.28, Z:1.09 [[ 9.60814736e-01 -2.65397384e-01 -7.99954438e-02 2.85570176e+01] [ 2.65442637e-01 9.64072029e-01 -1.02630466e-02 -1.28140097e+00] [ 7.98451555e-02 -1.13733152e-02 9.96742393e-01 1.09183753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.909072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.59, Y:-1.28, Z:1.09 [[ 9.60722909e-01 -2.65575779e-01 -8.05046454e-02 2.85852906e+01] [ 2.65620364e-01 9.64022129e-01 -1.03516894e-02 -1.27858892e+00] [ 8.03574176e-02 -1.14385681e-02 9.96700479e-01 1.09333170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.939072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.61, Y:-1.28, Z:1.09 [[ 9.60722672e-01 -2.65519910e-01 -8.06915386e-02 2.86131837e+01] [ 2.65562610e-01 9.64037527e-01 -1.03993240e-02 -1.27649958e+00] [ 8.05508989e-02 -1.14377892e-02 9.96684870e-01 1.09449508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.969072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.64, Y:-1.27, Z:1.10 [[ 9.60623402e-01 -2.65949082e-01 -8.04597149e-02 2.86402183e+01] [ 2.65991186e-01 9.63919445e-01 -1.03919507e-02 -1.27335580e+00] [ 8.03204135e-02 -1.14188239e-02 9.96703688e-01 1.09675031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.999072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.67, Y:-1.27, Z:1.10 [[ 9.60581071e-01 -2.66250988e-01 -7.99651016e-02 2.86675980e+01] [ 2.66292692e-01 9.63836762e-01 -1.03391482e-02 -1.27068463e+00] [ 7.98261130e-02 -1.13625321e-02 9.96744042e-01 1.09906690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.029072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.70, Y:-1.27, Z:1.10 [[ 9.60625966e-01 -2.66225344e-01 -7.95098738e-02 2.86953981e+01] [ 2.66264676e-01 9.63844891e-01 -1.03028137e-02 -1.26866633e+00] [ 7.93780557e-02 -1.12735205e-02 9.96780834e-01 1.10181248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.059072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.72, Y:-1.27, Z:1.10 [[ 9.60582806e-01 -2.66355599e-01 -7.95950228e-02 2.87229322e+01] [ 2.66393666e-01 9.63808889e-01 -1.03363174e-02 -1.26547924e+00] [ 7.94675265e-02 -1.12747211e-02 9.96773692e-01 1.10379140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.089072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.75, Y:-1.26, Z:1.11 [[ 9.60509662e-01 -2.66097663e-01 -8.13217298e-02 2.87506633e+01] [ 2.66134620e-01 9.63877759e-01 -1.05844465e-02 -1.26286009e+00] [ 8.12007032e-02 -1.14760646e-02 9.96631700e-01 1.10576807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.119072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.78, Y:-1.26, Z:1.11 [[ 9.60473978e-01 -2.66215808e-01 -8.13565091e-02 2.87777708e+01] [ 2.66251350e-01 9.63845220e-01 -1.06118189e-02 -1.25971371e+00] [ 8.12401164e-02 -1.14689045e-02 9.96628571e-01 1.10741772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.149072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.81, Y:-1.26, Z:1.11 [[ 9.60480377e-01 -2.66355426e-01 -8.08222278e-02 2.88056343e+01] [ 2.66390035e-01 9.63807538e-01 -1.05536063e-02 -1.25676684e+00] [ 8.07080827e-02 -1.13937044e-02 9.96672659e-01 1.10914954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.179072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.83, Y:-1.25, Z:1.11 [[ 9.60587301e-01 -2.66200230e-01 -8.00591987e-02 2.88333824e+01] [ 2.66231779e-01 9.63852100e-01 -1.04770493e-02 -1.25411018e+00] [ 7.99542197e-02 -1.12501824e-02 9.96735048e-01 1.11126959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.209072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.86, Y:-1.25, Z:1.11 [[ 9.60684585e-01 -2.66403724e-01 -7.81932457e-02 2.88609771e+01] [ 2.66432667e-01 9.63798976e-01 -1.02551123e-02 -1.25209720e+00] [ 7.80945703e-02 -1.09813067e-02 9.96885474e-01 1.11398321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.239072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.89, Y:-1.25, Z:1.12 [[ 9.60849817e-01 -2.66008347e-01 -7.75060610e-02 2.88878237e+01] [ 2.66033742e-01 9.63909882e-01 -1.01876182e-02 -1.24938013e+00] [ 7.74188496e-02 -1.08304563e-02 9.96939829e-01 1.11539468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.269072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.92, Y:-1.25, Z:1.12 [[ 9.60826836e-01 -2.65903263e-01 -7.81488657e-02 2.89153440e+01] [ 2.65927489e-01 9.63938131e-01 -1.02883861e-02 -1.24628619e+00] [ 7.80663869e-02 -1.08965742e-02 9.96888612e-01 1.11816377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.299072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.94, Y:-1.24, Z:1.12 [[ 9.60897545e-01 -2.65230550e-01 -7.95528941e-02 2.89418696e+01] [ 2.65251637e-01 9.64122089e-01 -1.04959697e-02 -1.24395541e+00] [ 7.94825543e-02 -1.10159839e-02 9.96775387e-01 1.11913850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.329072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.97, Y:-1.24, Z:1.12 [[ 9.60945221e-01 -2.64604961e-01 -8.10462588e-02 2.89695444e+01] [ 2.64344729e-01 9.64324893e-01 -1.41196752e-02 -1.24045952e+00] [ 8.18910610e-02 -7.85591689e-03 9.96610324e-01 1.12066737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.359072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.00, Y:-1.24, Z:1.12 [[ 9.60940645e-01 -2.64660735e-01 -8.09183112e-02 2.89974329e+01] [ 2.64937235e-01 9.64236520e-01 -7.49630430e-03 -1.23848639e+00] [ 8.00083682e-02 -1.42347702e-02 9.96692547e-01 1.12410711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.38907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.03, Y:-1.23, Z:1.13 [[ 9.60831525e-01 -2.65301573e-01 -8.01115226e-02 2.90251467e+01] [ 2.65319944e-01 9.64102041e-01 -1.06104791e-02 -1.23486256e+00] [ 8.00506592e-02 -1.10603019e-02 9.96729433e-01 1.12570554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.41907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.05, Y:-1.23, Z:1.13 [[ 9.61065153e-01 -2.64852442e-01 -7.87842331e-02 2.90521572e+01] [ 2.64866895e-01 9.64228278e-01 -1.04573186e-02 -1.23227767e+00] [ 7.87356318e-02 -1.08171706e-02 9.96836842e-01 1.12854501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.44907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.08, Y:-1.23, Z:1.13 [[ 9.60994808e-01 -2.65108203e-01 -7.87821078e-02 2.90803901e+01] [ 2.65122211e-01 9.64157935e-01 -1.04733061e-02 -1.22831049e+00] [ 7.87349538e-02 -1.08220938e-02 9.96836842e-01 1.13066866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.479072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.11, Y:-1.22, Z:1.13 [[ 9.61050989e-01 -2.65028055e-01 -7.83653427e-02 2.91077989e+01] [ 2.65039976e-01 9.64180915e-01 -1.04390713e-02 -1.22477264e+00] [ 7.83250146e-02 -1.07374687e-02 9.96870051e-01 1.13309199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.509072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.14, Y:-1.22, Z:1.14 [[ 9.61193340e-01 -2.64618029e-01 -7.80042407e-02 2.91356524e+01] [ 2.64626742e-01 9.64294688e-01 -1.04135075e-02 -1.22165451e+00] [ 7.79746768e-02 -1.06326140e-02 9.96898639e-01 1.13562628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.539072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.16, Y:-1.22, Z:1.14 [[ 9.61099617e-01 -2.64124435e-01 -8.07824783e-02 2.91636444e+01] [ 2.64391118e-01 9.64385818e-01 -7.57165141e-03 -1.21975800e+00] [ 7.99053346e-02 -1.40810585e-02 9.96702996e-01 1.14049217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.569072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.19, Y:-1.21, Z:1.14 [[ 9.60957790e-01 -2.65041674e-01 -7.94546241e-02 2.91918389e+01] [ 2.64780726e-01 9.64207089e-01 -1.39949057e-02 -1.21475559e+00] [ 8.03199450e-02 -7.58953941e-03 9.96740240e-01 1.13777635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.599072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.22, Y:-1.21, Z:1.14 [[ 9.60825998e-01 -2.65338049e-01 -8.00569854e-02 2.92200391e+01] [ 2.65345238e-01 9.64093604e-01 -1.07437454e-02 -1.21185374e+00] [ 8.00331520e-02 -1.09198699e-02 9.96732387e-01 1.14027389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.629072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.25, Y:-1.21, Z:1.14 [[ 9.60756021e-01 -2.65503253e-01 -8.03485556e-02 2.92464866e+01] [ 2.65509255e-01 9.64047757e-01 -1.08054208e-02 -1.20875521e+00] [ 8.03287192e-02 -1.09519121e-02 9.96708258e-01 1.14205365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.659072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.27, Y:-1.21, Z:1.15 [[ 9.60813819e-01 -2.64817317e-01 -8.19060075e-02 2.92728129e+01] [ 2.64756415e-01 9.64243100e-01 -1.18019328e-02 -1.20678081e+00] [ 8.21026587e-02 -1.03456808e-02 9.96570178e-01 1.14536799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.689072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.30, Y:-1.20, Z:1.15 [[ 9.60806306e-01 -2.65518132e-01 -7.96954495e-02 2.93015069e+01] [ 2.65562887e-01 9.64039247e-01 -1.02314941e-02 -1.20346725e+00] [ 7.95461883e-02 -1.13336695e-02 9.96766749e-01 1.14605386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.719072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.33, Y:-1.20, Z:1.15 [[ 9.60740190e-01 -2.65903796e-01 -7.92051691e-02 2.93293762e+01] [ 2.65907714e-01 9.63939193e-01 -1.06920189e-02 -1.20000408e+00] [ 7.91920152e-02 -1.07890132e-02 9.96800994e-01 1.14767443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.749072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.36, Y:-1.20, Z:1.15 [[ 9.60615380e-01 -2.66403218e-01 -7.90406094e-02 2.93568093e+01] [ 2.66406916e-01 9.63801334e-01 -1.06931827e-02 -1.19696356e+00] [ 7.90281430e-02 -1.07849293e-02 9.96814044e-01 1.14997154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.779072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.38, Y:-1.19, Z:1.15 [[ 9.60507645e-01 -2.66896284e-01 -7.86856916e-02 2.93848155e+01] [ 2.66899719e-01 9.63665255e-01 -1.06684625e-02 -1.19419304e+00] [ 7.86740400e-02 -1.07540492e-02 9.96842388e-01 1.15168322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.809072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.41, Y:-1.19, Z:1.15 [[ 9.60445900e-01 -2.67139840e-01 -7.86128413e-02 2.94113321e+01] [ 2.67142273e-01 9.63597901e-01 -1.06813203e-02 -1.19118861e+00] [ 7.86045751e-02 -1.07419828e-02 9.96847998e-01 1.15348443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.839072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.44, Y:-1.19, Z:1.16 [[ 9.60288799e-01 -2.67639968e-01 -7.88306451e-02 2.94395498e+01] [ 2.67643198e-01 9.63458436e-01 -1.07219702e-02 -1.18773800e+00] [ 7.88196778e-02 -1.08022980e-02 9.96830361e-01 1.15526800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.869072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.47, Y:-1.19, Z:1.16 [[ 9.60240230e-01 -2.67755300e-01 -7.90303811e-02 2.94668280e+01] [ 2.67757083e-01 9.63426228e-01 -1.07725097e-02 -1.18523204e+00] [ 7.90243385e-02 -1.08167472e-02 9.96814001e-01 1.15770925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.899072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.49, Y:-1.18, Z:1.16 [[ 9.60196593e-01 -2.67843296e-01 -7.92620449e-02 2.94944594e+01] [ 2.67843545e-01 9.63401580e-01 -1.08273228e-02 -1.18211131e+00] [ 7.92612051e-02 -1.08334686e-02 9.96795013e-01 1.16054287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.929072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.52, Y:-1.18, Z:1.16 [[ 9.60130612e-01 -2.68096141e-01 -7.92064843e-02 2.95221282e+01] [ 2.68095372e-01 9.63331354e-01 -1.08431154e-02 -1.17864894e+00] [ 7.92090872e-02 -1.08240849e-02 9.96799257e-01 1.16250303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.959072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.55, Y:-1.18, Z:1.16 [[ 9.60080113e-01 -2.68208559e-01 -7.94376872e-02 2.95490199e+01] [ 2.68206369e-01 9.63299845e-01 -1.08973745e-02 -1.17537547e+00] [ 7.94450808e-02 -1.08433411e-02 9.96780267e-01 1.16432367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.989072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.58, Y:-1.17, Z:1.17 [[ 9.59855382e-01 -2.68938350e-01 -7.96856931e-02 2.95764957e+01] [ 2.68937720e-01 9.63095406e-01 -1.09426375e-02 -1.17225531e+00] [ 7.96878198e-02 -1.09271391e-02 9.96759976e-01 1.16572932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.019072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.60, Y:-1.17, Z:1.17 [[ 9.59798058e-01 -2.69125106e-01 -7.97456230e-02 2.96032209e+01] [ 2.69123296e-01 9.63043215e-01 -1.09735209e-02 -1.16878842e+00] [ 7.97517312e-02 -1.09290408e-02 9.96754843e-01 1.16714632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.049072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.63, Y:-1.17, Z:1.17 [[ 9.59761290e-01 -2.69225703e-01 -7.98485211e-02 2.96295716e+01] [ 2.69223413e-01 9.63014953e-01 -1.09979124e-02 -1.16529630e+00] [ 7.98562405e-02 -1.09417208e-02 9.96746337e-01 1.16938290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.079072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.66, Y:-1.16, Z:1.17 [[ 9.59912045e-01 -2.68926632e-01 -7.90400620e-02 2.96573295e+01] [ 2.68996194e-01 9.63089669e-01 -9.96677554e-03 -1.16270892e+00] [ 7.88029986e-02 -1.16942480e-02 9.96821615e-01 1.17229177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.109072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.69, Y:-1.16, Z:1.17 [[ 9.59815972e-01 -2.69487781e-01 -7.82919942e-02 2.96854548e+01] [ 2.69404125e-01 9.62954565e-01 -1.18288896e-02 -1.15875474e+00] [ 7.85793744e-02 -9.73862905e-03 9.96860292e-01 1.17419988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.13907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.71, Y:-1.16, Z:1.18 [[ 9.59729582e-01 -2.69841188e-01 -7.81336183e-02 2.97128485e+01] [ 2.69837666e-01 9.62845222e-01 -1.08033910e-02 -1.15554113e+00] [ 7.81457809e-02 -1.07150592e-02 9.96884359e-01 1.17722726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.16907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.74, Y:-1.15, Z:1.18 [[ 9.59636363e-01 -2.70130333e-01 -7.82793323e-02 2.97412207e+01] [ 2.70125974e-01 9.62763897e-01 -1.08460878e-02 -1.15251926e+00] [ 7.82943723e-02 -1.07369806e-02 9.96872464e-01 1.17936190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.19907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.77, Y:-1.15, Z:1.18 [[ 9.59457874e-01 -2.70589081e-01 -7.88805247e-02 2.97675562e+01] [ 2.70584398e-01 9.62633957e-01 -1.09520818e-02 -1.14872352e+00] [ 7.88965854e-02 -1.08357782e-02 9.96823914e-01 1.18089258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.229072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.80, Y:-1.15, Z:1.18 [[ 9.59462637e-01 -2.70458906e-01 -7.92680752e-02 2.97957200e+01] [ 2.70452864e-01 9.62670178e-01 -1.10171082e-02 -1.14534553e+00] [ 7.92886871e-02 -1.08677743e-02 9.96792454e-01 1.18283802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.259072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.82, Y:-1.14, Z:1.18 [[ 9.59402232e-01 -2.70753235e-01 -7.89939452e-02 2.98228622e+01] [ 2.70746340e-01 9.62587848e-01 -1.10024985e-02 -1.14111767e+00] [ 7.90175737e-02 -1.08314999e-02 9.96814377e-01 1.18337624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.289072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.85, Y:-1.14, Z:1.19 [[ 9.59484192e-01 -2.70504769e-01 -7.88495777e-02 2.98508906e+01] [ 2.70496172e-01 9.62658277e-01 -1.09937671e-02 -1.13759659e+00] [ 7.88790650e-02 -1.07801632e-02 9.96825903e-01 1.18515449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.319072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.88, Y:-1.13, Z:1.19 [[ 9.59485826e-01 -2.70528800e-01 -7.87471847e-02 2.98779695e+01] [ 2.70518494e-01 9.62651906e-01 -1.10023464e-02 -1.13437680e+00] [ 7.87825790e-02 -1.07459744e-02 9.96833903e-01 1.18759665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.349072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.91, Y:-1.13, Z:1.19 [[ 9.59427228e-01 -2.70753650e-01 -7.86883451e-02 2.99053737e+01] [ 2.70742811e-01 9.62588749e-01 -1.10104278e-02 -1.13061411e+00] [ 7.87256292e-02 -1.07405995e-02 9.96838460e-01 1.18933711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.379072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.94, Y:-1.13, Z:1.19 [[ 9.59410230e-01 -2.70741266e-01 -7.89378119e-02 2.99351381e+01] [ 2.70925289e-01 9.62562192e-01 -8.57399374e-03 -1.12833895e+00] [ 7.83038872e-02 -1.31602722e-02 9.96842670e-01 1.19229646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.409072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.96, Y:-1.12, Z:1.19 [[ 9.59212640e-01 -2.71537491e-01 -7.86034513e-02 2.99632228e+01] [ 2.71532057e-01 9.62366955e-01 -1.09629652e-02 -1.12342759e+00] [ 7.86222201e-02 -1.08275420e-02 9.96845681e-01 1.19299532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.439072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.99, Y:-1.12, Z:1.19 [[ 9.59046071e-01 -2.71971412e-01 -7.91339729e-02 2.99887202e+01] [ 2.71813356e-01 9.62262581e-01 -1.29701751e-02 -1.11844006e+00] [ 7.96751778e-02 -9.07067529e-03 9.96779609e-01 1.19375765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.469072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.02, Y:-1.11, Z:1.20 [[ 9.59023400e-01 -2.72009320e-01 -7.92782974e-02 3.00162248e+01] [ 2.71994058e-01 9.62233756e-01 -1.11995668e-02 -1.11493816e+00] [ 7.93306404e-02 -1.08225792e-02 9.96789607e-01 1.19644608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.499072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.04, Y:-1.11, Z:1.20 [[ 9.59079285e-01 -2.72015371e-01 -7.85783883e-02 3.00432801e+01] [ 2.71998578e-01 9.62233362e-01 -1.11234631e-02 -1.11110106e+00] [ 7.86364997e-02 -1.07049268e-02 9.96845878e-01 1.19963273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.529072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.07, Y:-1.11, Z:1.20 [[ 9.59027177e-01 -2.72264796e-01 -7.83501986e-02 3.00711551e+01] [ 2.72247632e-01 9.62163111e-01 -1.11073861e-02 -1.10708787e+00] [ 7.84098210e-02 -1.06783709e-02 9.96864019e-01 1.20200717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.559072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.10, Y:-1.10, Z:1.20 [[ 9.58982983e-01 -2.72604904e-01 -7.77058886e-02 3.00992431e+01] [ 2.72587315e-01 9.62067721e-01 -1.10388343e-02 -1.10301647e+00] [ 7.77675676e-02 -1.05955853e-02 9.96915212e-01 1.20406770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.589072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.13, Y:-1.10, Z:1.21 [[ 9.58873956e-01 -2.72957959e-01 -7.78118837e-02 3.01262138e+01] [ 2.72939715e-01 9.61967374e-01 -1.10762807e-02 -1.09922684e+00] [ 7.78758523e-02 -1.06171963e-02 9.96906529e-01 1.20603287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.619072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.16, Y:-1.10, Z:1.21 [[ 9.58786902e-01 -2.73243604e-01 -7.78820204e-02 3.01562864e+01] [ 2.73341928e-01 9.61869001e-01 -9.60288250e-03 -1.09595132e+00] [ 7.75362274e-02 -1.20813037e-02 9.96916333e-01 1.20904700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.649072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.18, Y:-1.09, Z:1.21 [[ 9.58583456e-01 -2.73900995e-01 -7.80769045e-02 3.01816682e+01] [ 2.73792840e-01 9.61710081e-01 -1.22963619e-02 -1.09118915e+00] [ 7.84553320e-02 -9.58980829e-03 9.96871504e-01 1.20901557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.679072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.21, Y:-1.09, Z:1.21 [[ 9.58333163e-01 -2.74761596e-01 -7.81256343e-02 3.02092009e+01] [ 2.74745778e-01 9.61452101e-01 -1.11630915e-02 -1.08740518e+00] [ 7.81812441e-02 -1.07667273e-02 9.96881021e-01 1.21044535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.709072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.24, Y:-1.08, Z:1.21 [[ 9.58276936e-01 -2.75031691e-01 -7.78645144e-02 3.02363604e+01] [ 2.75015128e-01 9.61375269e-01 -1.11477190e-02 -1.08370403e+00] [ 7.79229944e-02 -1.07313174e-02 9.96901623e-01 1.21275731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.739072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.26, Y:-1.08, Z:1.21 [[ 9.58196214e-01 -2.75519920e-01 -7.71283897e-02 3.02642045e+01] [ 2.75504404e-01 9.61236269e-01 -1.10525266e-02 -1.07934233e+00] [ 7.71837969e-02 -1.06587218e-02 9.96959905e-01 1.21447832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.769072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.29, Y:-1.08, Z:1.22 [[ 9.58158282e-01 -2.75820559e-01 -7.65227207e-02 3.02919381e+01] [ 2.75804524e-01 9.61150944e-01 -1.09876101e-02 -1.07554334e+00] [ 7.65804940e-02 -1.05774430e-02 9.97007295e-01 1.21762890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.799072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.32, Y:-1.07, Z:1.22 [[ 9.57917191e-01 -2.76606421e-01 -7.67042606e-02 3.03206398e+01] [ 2.76632468e-01 9.60918454e-01 -1.04977000e-02 -1.07208742e+00] [ 7.66102707e-02 -1.11629616e-02 9.96998623e-01 1.22122744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.829072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.35, Y:-1.07, Z:1.22 [[ 9.57874022e-01 -2.76818306e-01 -7.64786510e-02 3.03464049e+01] [ 2.76788624e-01 9.60865559e-01 -1.11997808e-02 -1.06766640e+00] [ 7.65860061e-02 -1.04404415e-02 9.97008315e-01 1.22204103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.859072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.37, Y:-1.06, Z:1.22 [[ 9.57483428e-01 -2.77885338e-01 -7.74933834e-02 3.03746908e+01] [ 2.77871580e-01 9.60553194e-01 -1.11779397e-02 -1.06380234e+00] [ 7.75427026e-02 -1.08305169e-02 9.96930203e-01 1.22364799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.88907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.40, Y:-1.06, Z:1.23 [[ 9.57215726e-01 -2.78590663e-01 -7.82642750e-02 3.04014026e+01] [ 2.78577178e-01 9.60347228e-01 -1.13118684e-02 -1.05964158e+00] [ 7.83122605e-02 -1.09747426e-02 9.96868469e-01 1.22585590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.91907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.43, Y:-1.06, Z:1.23 [[ 9.57032223e-01 -2.79215103e-01 -7.82831437e-02 3.04284896e+01] [ 2.79202453e-01 9.60165415e-01 -1.13298989e-02 -1.05578913e+00] [ 7.83282460e-02 -1.10137674e-02 9.96866783e-01 1.22662776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.94907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.46, Y:-1.05, Z:1.23 [[ 9.56678780e-01 -2.80510669e-01 -7.79709995e-02 3.04566046e+01] [ 2.80501496e-01 9.59787127e-01 -1.12952255e-02 -1.05173887e+00] [ 7.80039929e-02 -1.10650794e-02 9.96891640e-01 1.22884522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.979072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.48, Y:-1.05, Z:1.23 [[ 9.56497168e-01 -2.81285874e-01 -7.74042937e-02 3.04847128e+01] [ 2.81277570e-01 9.59560678e-01 -1.12353560e-02 -1.04758610e+00] [ 7.74344635e-02 -1.10255054e-02 9.96936478e-01 1.23114657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.009072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.51, Y:-1.04, Z:1.23 [[ 9.56300836e-01 -2.82087674e-01 -7.69106923e-02 3.05112707e+01] [ 2.82080336e-01 9.59325584e-01 -1.11851963e-02 -1.04397476e+00] [ 7.69376007e-02 -1.09985814e-02 9.96975244e-01 1.23321105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.039072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.54, Y:-1.04, Z:1.24 [[ 9.55851272e-01 -2.83881468e-01 -7.58924090e-02 3.05413553e+01] [ 2.83983641e-01 9.58780366e-01 -9.66964988e-03 -1.04032917e+00] [ 7.55091861e-02 -1.23094555e-02 9.97069125e-01 1.23634408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.069072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.57, Y:-1.04, Z:1.24 [[ 9.55634435e-01 -2.84292495e-01 -7.70753157e-02 3.05669912e+01] [ 2.84216268e-01 9.58682715e-01 -1.21887051e-02 -1.03539199e+00] [ 7.73559303e-02 -1.02581123e-02 9.96950767e-01 1.23752338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.099072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.59, Y:-1.03, Z:1.24 [[ 9.55352124e-01 -2.85144249e-01 -7.74278742e-02 3.05949866e+01] [ 2.85142126e-01 9.58418416e-01 -1.13184552e-02 -1.03117128e+00] [ 7.74356930e-02 -1.12648384e-02 9.96933707e-01 1.23913807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.129072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.62, Y:-1.03, Z:1.24 [[ 9.55041951e-01 -2.85997859e-01 -7.81031137e-02 3.06215079e+01] [ 2.85996814e-01 9.58162291e-01 -1.14388412e-02 -1.02720397e+00] [ 7.81069424e-02 -1.14126684e-02 9.96879660e-01 1.24148682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.159072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.65, Y:-1.02, Z:1.24 [[ 9.54669262e-01 -2.87346452e-01 -7.77085336e-02 3.06515440e+01] [ 2.87384393e-01 9.57752894e-01 -1.09363696e-02 -1.02300904e+00] [ 7.75681000e-02 -1.18916039e-02 9.96916135e-01 1.24374303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.189072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.68, Y:-1.02, Z:1.25 [[ 9.54261850e-01 -2.88431151e-01 -7.86879438e-02 3.06775952e+01] [ 2.88436072e-01 9.57429475e-01 -1.15512704e-02 -1.01955204e+00] [ 7.86699030e-02 -1.16735048e-02 9.96832371e-01 1.24572375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.219072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.71, Y:-1.02, Z:1.25 [[ 9.54039717e-01 -2.89386408e-01 -7.78699254e-02 3.07050126e+01] [ 2.89393633e-01 9.57141817e-01 -1.14397480e-02 -1.01551714e+00] [ 7.78430694e-02 -1.16210866e-02 9.96897892e-01 1.24797562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.249072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.73, Y:-1.01, Z:1.25 [[ 9.53840076e-01 -2.90229083e-01 -7.71763474e-02 3.07312722e+01] [ 2.90237168e-01 9.56887322e-01 -1.13595365e-02 -1.01175683e+00] [ 7.71459363e-02 -1.15642633e-02 9.96952743e-01 1.24976905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.279072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.76, Y:-1.01, Z:1.25 [[ 9.53310035e-01 -2.92234212e-01 -7.61521022e-02 3.07591745e+01] [ 2.92247525e-01 9.56276908e-01 -1.12187256e-02 -1.00755371e+00] [ 7.61009922e-02 -1.15603397e-02 9.97033098e-01 1.25209993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.309072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.79, Y:-1.00, Z:1.25 [[ 9.53258632e-01 -2.92402657e-01 -7.61489829e-02 3.07873281e+01] [ 2.92414846e-01 9.56225509e-01 -1.12398594e-02 -1.00321603e+00] [ 7.61021647e-02 -1.15526000e-02 9.97033098e-01 1.25421446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.339072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.82, Y:-1.00, Z:1.26 [[ 9.53003517e-01 -2.93190141e-01 -7.63140735e-02 3.08150165e+01] [ 2.93203778e-01 9.55983444e-01 -1.12782417e-02 -9.99110415e-01] [ 7.62616601e-02 -1.16273707e-02 9.97020042e-01 1.25605346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.369072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.84, Y:-0.99, Z:1.26 [[ 9.52613990e-01 -2.94408450e-01 -7.64869307e-02 3.08429880e+01] [ 2.94424303e-01 9.55607690e-01 -1.13257143e-02 -9.94591048e-01] [ 7.64258852e-02 -1.17305774e-02 9.97006258e-01 1.25732854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.399072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.87, Y:-0.99, Z:1.26 [[ 9.52003299e-01 -2.95789606e-01 -7.87288236e-02 3.08695681e+01] [ 2.95809305e-01 9.55175599e-01 -1.16803407e-02 -9.91145786e-01] [ 7.86547746e-02 -1.21689957e-02 9.96827639e-01 1.25942001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.429072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.90, Y:-0.99, Z:1.26 [[ 9.51725248e-01 -2.96540124e-01 -7.92654183e-02 3.08967326e+01] [ 2.96561855e-01 9.54941115e-01 -1.17699661e-02 -9.87358162e-01] [ 7.91840742e-02 -1.23053256e-02 9.96784060e-01 1.26172537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.459072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.92, Y:-0.98, Z:1.26 [[ 9.51213502e-01 -2.98356327e-01 -7.85899210e-02 3.09240048e+01] [ 2.98382871e-01 9.54374788e-01 -1.16801233e-02 -9.82735644e-01] [ 7.84890779e-02 -1.23395953e-02 9.96838602e-01 1.26361715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.489072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.95, Y:-0.98, Z:1.27 [[ 9.51161509e-01 -2.98522877e-01 -7.85867429e-02 3.09521526e+01] [ 2.98548256e-01 9.54322804e-01 -1.17014685e-02 -9.78364075e-01] [ 7.84902769e-02 -1.23319486e-02 9.96838603e-01 1.26573171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.519072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.98, Y:-0.97, Z:1.27 [[ 9.50843672e-01 -3.00056190e-01 -7.65675838e-02 3.09817716e+01] [ 3.00148754e-01 9.53833859e-01 -1.05685765e-02 -9.74519850e-01] [ 7.62039207e-02 -1.29326008e-02 9.97008380e-01 1.26916024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.549072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.01, Y:-0.97, Z:1.27 [[ 9.50709343e-01 -3.00347015e-01 -7.70935533e-02 3.10074748e+01] [ 3.00343114e-01 9.53756739e-01 -1.19203890e-02 -9.69917440e-01] [ 7.71087493e-02 -1.18216927e-02 9.96952601e-01 1.27079777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.579072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.03, Y:-0.97, Z:1.27 [[ 9.50456706e-01 -3.01082911e-01 -7.73377738e-02 3.10341666e+01] [ 3.01112178e-01 9.53518645e-01 -1.15607298e-02 -9.66057191e-01] [ 7.72237475e-02 -1.22993723e-02 9.96937921e-01 1.27340416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.609072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.06, Y:-0.96, Z:1.27 [[ 9.49779168e-01 -3.03071128e-01 -7.78936637e-02 3.10615618e+01] [ 3.03106527e-01 9.52885414e-01 -1.16542455e-02 -9.61342938e-01] [ 7.77558013e-02 -1.25411182e-02 9.96893553e-01 1.27491347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.63907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.09, Y:-0.96, Z:1.28 [[ 9.49466718e-01 -3.03965662e-01 -7.82165379e-02 3.10885866e+01] [ 3.04002633e-01 9.52599047e-01 -1.17240922e-02 -9.57270227e-01] [ 7.80727209e-02 -1.26463981e-02 9.96867453e-01 1.27680197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.66907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.12, Y:-0.95, Z:1.28 [[ 9.49124086e-01 -3.05011770e-01 -7.83025544e-02 3.11161489e+01] [ 3.05051471e-01 9.52263409e-01 -1.17473737e-02 -9.52700564e-01] [ 7.81477446e-02 -1.27365941e-02 9.96860426e-01 1.27823100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.69907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.14, Y:-0.95, Z:1.28 [[ 9.48518077e-01 -3.06757929e-01 -7.88227810e-02 3.11430222e+01] [ 3.06802315e-01 9.51699523e-01 -1.18472460e-02 -9.48549982e-01] [ 7.86498397e-02 -1.29456848e-02 9.96818244e-01 1.27980549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.729072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.17, Y:-0.94, Z:1.28 [[ 9.48234370e-01 -3.07731781e-01 -7.84393390e-02 3.11704352e+01] [ 3.07778129e-01 9.51384980e-01 -1.18001244e-02 -9.44753246e-01] [ 7.82572823e-02 -1.29526294e-02 9.96849049e-01 1.28196817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.759072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.20, Y:-0.94, Z:1.28 [[ 9.47906457e-01 -3.08816245e-01 -7.81401017e-02 3.11967929e+01] [ 3.08864021e-01 9.51033279e-01 -1.17778960e-02 -9.40595275e-01] [ 7.79510428e-02 -1.29703223e-02 9.96872813e-01 1.28380675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.789072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.23, Y:-0.94, Z:1.29 [[ 9.47289339e-01 -3.11139087e-01 -7.63896409e-02 3.12261804e+01] [ 3.11305224e-01 9.50257074e-01 -1.00275119e-02 -9.36221152e-01] [ 7.57097475e-02 -1.42815391e-02 9.97027618e-01 1.28682015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.819072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.25, Y:-0.93, Z:1.29 [[ 9.47120001e-01 -3.11443678e-01 -7.72433768e-02 3.12512989e+01] [ 3.11406495e-01 9.50190122e-01 -1.28345875e-02 -9.31584613e-01] [ 7.73931448e-02 -1.18981947e-02 9.96929654e-01 1.28792741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.849072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.28, Y:-0.93, Z:1.29 [[ 9.47024847e-01 -3.11843686e-01 -7.67948861e-02 3.12775558e+01] [ 3.11895423e-01 9.50045290e-01 -1.16272124e-02 -9.28153660e-01] [ 7.65844926e-02 -1.29407144e-02 9.96979114e-01 1.29061224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.879072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.31, Y:-0.92, Z:1.29 [[ 9.46258928e-01 -3.13885781e-01 -7.79086471e-02 3.13057749e+01] [ 3.13766669e-01 9.49395656e-01 -1.40842473e-02 -9.22807112e-01] [ 7.83869761e-02 -1.11177919e-02 9.96861012e-01 1.29222369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.909072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.33, Y:-0.92, Z:1.30 [[ 9.46248166e-01 -3.13738373e-01 -7.86297752e-02 3.13326075e+01] [ 3.13983640e-01 9.49380400e-01 -9.54624754e-03 -9.19735116e-01] [ 7.76445915e-02 -1.56553437e-02 9.96858178e-01 1.29607267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.939072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.36, Y:-0.91, Z:1.30 [[ 9.45921779e-01 -3.14668960e-01 -7.88380230e-02 3.13606950e+01] [ 3.14729878e-01 9.49105711e-01 -1.19772189e-02 -9.14522387e-01] [ 7.85944768e-02 -1.34831692e-02 9.96815486e-01 1.29708762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.969072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.39, Y:-0.91, Z:1.30 [[ 9.45505701e-01 -3.15959889e-01 -7.86658580e-02 3.13874252e+01] [ 3.16023092e-01 9.48675940e-01 -1.19735508e-02 -9.10203067e-01] [ 7.84115686e-02 -1.35391672e-02 9.96829131e-01 1.29849452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.999072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.41, Y:-0.91, Z:1.30 [[ 9.45233619e-01 -3.16865300e-01 -7.82929613e-02 3.14146679e+01] [ 3.16930049e-01 9.48373912e-01 -1.19275964e-02 -9.05637292e-01] [ 7.80304434e-02 -1.35390269e-02 9.96859040e-01 1.30032138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.029072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.44, Y:-0.90, Z:1.30 [[ 9.45142322e-01 -3.17281290e-01 -7.77082669e-02 3.14408742e+01] [ 3.17344768e-01 9.48236071e-01 -1.18596539e-02 -9.01665639e-01] [ 7.74486280e-02 -1.34512511e-02 9.96905599e-01 1.30195555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.059072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.47, Y:-0.90, Z:1.30 [[ 9.44836320e-01 -3.18228940e-01 -7.75543065e-02 3.14688229e+01] [ 3.18294463e-01 9.47917876e-01 -1.18462965e-02 -8.96760179e-01] [ 7.72849479e-02 -1.34922952e-02 9.96917747e-01 1.30427765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.089072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.50, Y:-0.89, Z:1.31 [[ 9.44683318e-01 -3.18765310e-01 -7.72146794e-02 3.14955887e+01] [ 3.18830366e-01 9.47738147e-01 -1.18153286e-02 -8.91949414e-01] [ 7.69456141e-02 -1.34566406e-02 9.96944478e-01 1.30579112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.119072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.52, Y:-0.89, Z:1.31 [[ 9.44543856e-01 -3.19115016e-01 -7.74758679e-02 3.15233579e+01] [ 3.19180887e-01 9.47619531e-01 -1.18653267e-02 -8.87355902e-01] [ 7.72040495e-02 -1.35214948e-02 9.96923620e-01 1.30752794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.149072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.55, Y:-0.88, Z:1.31 [[ 9.44183250e-01 -3.20009006e-01 -7.81807247e-02 3.15510717e+01] [ 3.20077299e-01 9.47315479e-01 -1.19960553e-02 -8.82353467e-01] [ 7.79006564e-02 -1.36974007e-02 9.96867027e-01 1.31040656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.179072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.58, Y:-0.88, Z:1.31 [[ 9.44027735e-01 -3.20439876e-01 -7.82938105e-02 3.15775148e+01] [ 3.20508070e-01 9.47169320e-01 -1.20355961e-02 -8.77957690e-01] [ 7.80141802e-02 -1.37318616e-02 9.96857675e-01 1.31157924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.209072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.60, Y:-0.87, Z:1.31 [[ 9.43621593e-01 -3.21470880e-01 -7.89605177e-02 3.16048674e+01] [ 3.21542485e-01 9.46817144e-01 -1.21542817e-02 -8.73394270e-01] [ 7.86684195e-02 -1.39201185e-02 9.96803647e-01 1.31493330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.239072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.63, Y:-0.87, Z:1.32 [[ 9.43388464e-01 -3.22241465e-01 -7.86043539e-02 3.16320587e+01] [ 3.22322893e-01 9.46553738e-01 -1.19988817e-02 -8.68399791e-01] [ 7.82697823e-02 -1.40163761e-02 9.96833678e-01 1.31721963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.269072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.66, Y:-0.86, Z:1.32 [[ 9.43277335e-01 -3.22582521e-01 -7.85390747e-02 3.16593359e+01] [ 3.22649588e-01 9.46440054e-01 -1.21847029e-02 -8.63785962e-01] [ 7.82630983e-02 -1.38470460e-02 9.96836570e-01 1.31992536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.299072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.69, Y:-0.86, Z:1.32 [[ 9.43273901e-01 -3.23130296e-01 -7.62965171e-02 3.16868871e+01] [ 3.23105116e-01 9.46273576e-01 -1.30155085e-02 -8.58596320e-01] [ 7.64030832e-02 -1.23746055e-02 9.97000220e-01 1.32052598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.329072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.71, Y:-0.85, Z:1.32 [[ 9.43172649e-01 -3.23171807e-01 -7.73649586e-02 3.17143152e+01] [ 3.23332042e-01 9.46224025e-01 -1.07928523e-02 -8.54523285e-01] [ 7.66925280e-02 -1.48350470e-02 9.96944420e-01 1.32372469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.359072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.74, Y:-0.85, Z:1.33 [[ 9.42986278e-01 -3.23730883e-01 -7.72993772e-02 3.17414190e+01] [ 3.23800527e-01 9.46049530e-01 -1.19793526e-02 -8.49309579e-01] [ 7.70071259e-02 -1.37332140e-02 9.96935957e-01 1.32525692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.38907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.77, Y:-0.84, Z:1.33 [[ 9.42910469e-01 -3.23928745e-01 -7.73951853e-02 3.17677796e+01] [ 3.23997546e-01 9.45981613e-01 -1.20157250e-02 -8.44635964e-01] [ 7.71066610e-02 -1.37460972e-02 9.96928085e-01 1.32621875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.41907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.80, Y:-0.84, Z:1.33 [[ 9.42626088e-01 -3.24512810e-01 -7.84059534e-02 3.17953457e+01] [ 3.24647979e-01 9.45766539e-01 -1.13728925e-02 -8.39832807e-01] [ 7.78443765e-02 -1.47339492e-02 9.96856642e-01 1.32815551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.44907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.82, Y:-0.83, Z:1.33 [[ 9.42723837e-01 -3.24133204e-01 -7.87999520e-02 3.18231645e+01] [ 3.24147735e-01 9.45917647e-01 -1.29634773e-02 -8.34972771e-01] [ 7.87401586e-02 -1.33218469e-02 9.96806158e-01 1.33017063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.479072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.85, Y:-0.83, Z:1.33 [[ 9.42421072e-01 -3.24971083e-01 -7.89703581e-02 3.18506115e+01] [ 3.25043342e-01 9.45619153e-01 -1.22980931e-02 -8.30420602e-01] [ 7.86724077e-02 -1.40788070e-02 9.96801103e-01 1.33262688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.509072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.88, Y:-0.83, Z:1.34 [[ 9.42202885e-01 -3.25648719e-01 -7.87822068e-02 3.18777868e+01] [ 3.25721204e-01 9.45385974e-01 -1.22905093e-02 -8.25212891e-01] [ 7.84819820e-02 -1.40808820e-02 9.96816085e-01 1.33594463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.539072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.91, Y:-0.82, Z:1.34 [[ 9.42249430e-01 -3.25743264e-01 -7.78288965e-02 3.19050654e+01] [ 3.25812659e-01 9.45356115e-01 -1.21625047e-02 -8.20518702e-01] [ 7.75378772e-02 -1.38975266e-02 9.96892540e-01 1.33801083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.569072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.93, Y:-0.82, Z:1.34 [[ 9.41974838e-01 -3.26585988e-01 -7.76208497e-02 3.19328501e+01] [ 3.26658328e-01 9.45064747e-01 -1.21227510e-02 -8.15240958e-01] [ 7.73158493e-02 -1.39361706e-02 9.96909245e-01 1.34019996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.599072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.96, Y:-0.81, Z:1.34 [[ 9.42189956e-01 -3.26140948e-01 -7.68776253e-02 3.19599844e+01] [ 3.26219161e-01 9.45219346e-01 -1.18931404e-02 -8.10156856e-01] [ 7.65450588e-02 -1.38733571e-02 9.96969600e-01 1.34231747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.629072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.99, Y:-0.80, Z:1.34 [[ 9.42031929e-01 -3.26515248e-01 -7.72245929e-02 3.19872552e+01] [ 3.26581808e-01 9.45091189e-01 -1.21229934e-02 -8.04961179e-01] [ 7.69426245e-02 -1.37999003e-02 9.96940016e-01 1.34407023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.659072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.02, Y:-0.80, Z:1.35 [[ 9.41927854e-01 -3.26862403e-01 -7.70252383e-02 3.20153364e+01] [ 3.26928044e-01 9.44971594e-01 -1.21136291e-02 -7.99951763e-01] [ 7.67461522e-02 -1.37715458e-02 9.96955552e-01 1.34535363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.689072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.04, Y:-0.79, Z:1.35 [[ 9.41768146e-01 -3.27082133e-01 -7.80386944e-02 3.20433042e+01] [ 3.27148505e-01 9.44892939e-01 -1.22959218e-02 -7.94527298e-01] [ 7.77599877e-02 -1.39503347e-02 9.96874502e-01 1.34661117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.719072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.07, Y:-0.79, Z:1.35 [[ 9.41580842e-01 -3.27526055e-01 -7.84359727e-02 3.20701072e+01] [ 3.27592851e-01 9.44737866e-01 -1.23809701e-02 -7.89718076e-01] [ 7.81565238e-02 -1.40373797e-02 9.96842269e-01 1.34814010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.749072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.10, Y:-0.78, Z:1.35 [[ 9.41349763e-01 -3.27917805e-01 -7.95646744e-02 3.20986961e+01] [ 3.27791789e-01 9.44630697e-01 -1.50129666e-02 -7.83850907e-01] [ 8.00822529e-02 -1.19481944e-02 9.96716647e-01 1.34957877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.779072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.13, Y:-0.78, Z:1.35 [[ 9.41382866e-01 -3.27928493e-01 -7.91277606e-02 3.21276639e+01] [ 3.28116209e-01 9.44573441e-01 -1.09894122e-02 -7.80072033e-01] [ 7.83457225e-02 -1.56178565e-02 9.96803908e-01 1.35259254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.809072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.15, Y:-0.78, Z:1.35 [[ 9.41479032e-01 -3.27799604e-01 -7.85152985e-02 3.21539269e+01] [ 3.27943319e-01 9.44628314e-01 -1.14248841e-02 -7.75252867e-01] [ 7.79128465e-02 -1.49922788e-02 9.96847441e-01 1.35442884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.839072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.18, Y:-0.77, Z:1.36 [[ 9.41307883e-01 -3.28441609e-01 -7.78818208e-02 3.21824709e+01] [ 3.28249999e-01 9.44461786e-01 -1.56164479e-02 -7.68533809e-01] [ 7.86854948e-02 -1.08648221e-02 9.96840282e-01 1.35590434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.869072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.21, Y:-0.76, Z:1.36 [[ 9.41487552e-01 -3.27991140e-01 -7.76080038e-02 3.22085337e+01] [ 3.28152005e-01 9.44560470e-01 -1.10354238e-02 -7.64605224e-01] [ 7.69249737e-02 -1.50775079e-02 9.96922874e-01 1.35999473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.899072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.24, Y:-0.76, Z:1.36 [[ 9.41672585e-01 -3.27633193e-01 -7.68715361e-02 3.22357336e+01] [ 3.27873293e-01 9.44670500e-01 -9.83616147e-03 -7.60203448e-01] [ 7.58409254e-02 -1.59416801e-02 9.96992486e-01 1.36228129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.929072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.26, Y:-0.75, Z:1.36 [[ 9.41662955e-01 -3.27648527e-01 -7.69241251e-02 3.22631484e+01] [ 3.27705522e-01 9.44700616e-01 -1.22408323e-02 -7.54864045e-01] [ 7.66809590e-02 -1.36817222e-02 9.96961805e-01 1.36408652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.959072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.29, Y:-0.75, Z:1.37 [[ 9.41434077e-01 -3.28069290e-01 -7.79257287e-02 3.22905403e+01] [ 3.28127429e-01 9.44551774e-01 -1.24232012e-02 -7.50132955e-01] [ 7.76805561e-02 -1.38739441e-02 9.96881761e-01 1.36631726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.989072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.32, Y:-0.75, Z:1.37 [[ 9.41318112e-01 -3.28332671e-01 -7.82168137e-02 3.23181448e+01] [ 3.28390321e-01 9.44459489e-01 -1.24928346e-02 -7.45285122e-01] [ 7.79744176e-02 -1.39259130e-02 9.96858094e-01 1.36805139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.019072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.35, Y:-0.74, Z:1.37 [[ 9.40977152e-01 -3.29180840e-01 -7.87526106e-02 3.23463451e+01] [ 3.29140023e-01 9.44179225e-01 -1.38721682e-02 -7.39722547e-01] [ 7.89230308e-02 -1.28672427e-02 9.96797667e-01 1.36928384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.049072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.37, Y:-0.73, Z:1.37 [[ 9.40943044e-01 -3.29019681e-01 -7.98262979e-02 3.23736162e+01] [ 3.29087363e-01 9.44214273e-01 -1.26852121e-02 -7.34972063e-01] [ 7.95468142e-02 -1.43337637e-02 9.96728071e-01 1.37116685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.079072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.40, Y:-0.73, Z:1.37 [[ 9.41039652e-01 -3.28753114e-01 -7.97857313e-02 3.24008556e+01] [ 3.28607485e-01 9.44342227e-01 -1.53257291e-02 -7.29328340e-01] [ 8.03834164e-02 -1.17960697e-02 9.96694215e-01 1.37262791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.109072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.43, Y:-0.72, Z:1.37 [[ 9.41107527e-01 -3.28584248e-01 -7.96807036e-02 3.24280536e+01] [ 3.28484386e-01 9.44394471e-01 -1.47340364e-02 -7.24301659e-01] [ 8.00913881e-02 -1.23075544e-02 9.96711540e-01 1.37484264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.13907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.46, Y:-0.72, Z:1.38 [[ 9.41305892e-01 -3.28342933e-01 -7.83207210e-02 3.24564939e+01] [ 3.28541913e-01 9.44428774e-01 -1.07005594e-02 -7.19125940e-01] [ 7.74817956e-02 -1.56591399e-02 9.96870785e-01 1.37839132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.16907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.48, Y:-0.71, Z:1.38 [[ 9.41544864e-01 -3.27886604e-01 -7.73540170e-02 3.24831728e+01] [ 3.28246221e-01 9.44555006e-01 -8.38211532e-03 -7.14782679e-01] [ 7.58135073e-02 -1.74990261e-02 9.96968453e-01 1.38111231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.19907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.51, Y:-0.71, Z:1.38 [[ 9.41473087e-01 -3.28273037e-01 -7.65848461e-02 3.25093441e+01] [ 3.28301951e-01 9.44489152e-01 -1.25726103e-02 -7.09208509e-01] [ 7.64608053e-02 -1.33061801e-02 9.96983797e-01 1.38206704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.229072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.54, Y:-0.70, Z:1.38 [[ 9.41395367e-01 -3.28489128e-01 -7.66136804e-02 3.25374508e+01] [ 3.28531318e-01 9.44411497e-01 -1.24135725e-02 -7.04501519e-01] [ 7.64325642e-02 -1.34839137e-02 9.96983574e-01 1.38427005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.259072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.57, Y:-0.70, Z:1.39 [[ 9.41367060e-01 -3.28418765e-01 -7.72604235e-02 3.25658183e+01] [ 3.28477266e-01 9.44431602e-01 -1.23139687e-02 -6.99885966e-01] [ 7.70113240e-02 -1.37863282e-02 9.96934899e-01 1.38747288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.289072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.59, Y:-0.69, Z:1.39 [[ 9.41066006e-01 -3.29076921e-01 -7.81226720e-02 3.25919379e+01] [ 3.29123367e-01 9.44202182e-01 -1.26510555e-02 -6.94772762e-01] [ 7.79267677e-02 -1.38065186e-02 9.96863481e-01 1.38936491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.319072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.62, Y:-0.69, Z:1.39 [[ 9.40843955e-01 -3.29531265e-01 -7.88783747e-02 3.26197818e+01] [ 3.29578900e-01 9.44041402e-01 -1.27898377e-02 -6.89719140e-01] [ 7.86791029e-02 -1.39634065e-02 9.96802198e-01 1.39118496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.349072329 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:32.65, Y:-0.68, Z:1.39 [[ 9.40597374e-01 -3.29944843e-01 -8.00810911e-02 3.26465808e+01] [ 3.29993618e-01 9.43893538e-01 -1.30077536e-02 -6.84687513e-01] [ 7.98798656e-02 -1.41911901e-02 9.96703475e-01 1.39336461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.379072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.67, Y:-0.68, Z:1.40 [[ 9.40483797e-01 -3.30307650e-01 -7.99192317e-02 3.26740964e+01] [ 3.30356591e-01 9.43766769e-01 -1.29926443e-02 -6.80061050e-01] [ 7.97166849e-02 -1.41824735e-02 9.96716664e-01 1.39513359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.409072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.70, Y:-0.68, Z:1.40 [[ 9.40364985e-01 -3.30804128e-01 -7.92611120e-02 3.27010790e+01] [ 3.30852169e-01 9.43594313e-01 -1.29079628e-02 -6.75960068e-01] [ 7.90603419e-02 -1.40855146e-02 9.96770315e-01 1.39680034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.439072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.73, Y:-0.67, Z:1.40 [[ 9.40187704e-01 -3.31395242e-01 -7.88940722e-02 3.27295791e+01] [ 3.31205878e-01 9.43425275e-01 -1.58561118e-02 -6.70672579e-01] [ 7.96853018e-02 -1.12224591e-02 9.96756896e-01 1.39837474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.469072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.76, Y:-0.67, Z:1.40 [[ 9.40177173e-01 -3.31300919e-01 -7.94140014e-02 3.27567017e+01] [ 3.31351969e-01 9.43418768e-01 -1.29189757e-02 -6.66835200e-01] [ 7.92007279e-02 -1.41678597e-02 9.96758003e-01 1.40166986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.499072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.78, Y:-0.66, Z:1.41 [[ 9.40091921e-01 -3.31633594e-01 -7.90337815e-02 3.27837430e+01] [ 3.31909084e-01 9.43258274e-01 -1.00094232e-02 -6.62523006e-01] [ 7.78687293e-02 -1.68222522e-02 9.96821686e-01 1.40534504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.529072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.81, Y:-0.66, Z:1.41 [[ 9.40020193e-01 -3.32007702e-01 -7.83129752e-02 3.28105867e+01] [ 3.32054543e-01 9.43173265e-01 -1.28052010e-02 -6.56846735e-01] [ 7.81141299e-02 -1.39670316e-02 9.96846580e-01 1.40631906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.559072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.84, Y:-0.65, Z:1.41 [[ 9.39914392e-01 -3.32330000e-01 -7.82157664e-02 3.28377779e+01] [ 3.32376968e-01 9.43059761e-01 -1.27999082e-02 -6.51913155e-01] [ 7.80159354e-02 -1.39663014e-02 9.96854280e-01 1.40897716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.589072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.87, Y:-0.65, Z:1.41 [[ 9.39519891e-01 -3.33482689e-01 -7.80491599e-02 3.28659090e+01] [ 3.33265663e-01 9.42694200e-01 -1.61754186e-02 -6.45916133e-01] [ 7.89707125e-02 -1.08139775e-02 9.96818281e-01 1.41007892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.619072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.89, Y:-0.64, Z:1.42 [[ 9.39557375e-01 -3.33164640e-01 -7.89510059e-02 3.28920313e+01] [ 3.33486110e-01 9.42707474e-01 -9.46742199e-03 -6.43242636e-01] [ 7.75819136e-02 -1.74338777e-02 9.96833540e-01 1.41562101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.649072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.92, Y:-0.64, Z:1.42 [[ 9.39197192e-01 -3.34254862e-01 -7.86277401e-02 3.29195029e+01] [ 3.34304666e-01 9.42376489e-01 -1.29206175e-02 -6.37924765e-01] [ 7.84157129e-02 -1.41506128e-02 9.96820313e-01 1.41605324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.679072329 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:32.95, Y:-0.63, Z:1.42 [[ 9.38862769e-01 -3.35014007e-01 -7.93871323e-02 3.29457418e+01] [ 3.35065603e-01 9.42104164e-01 -1.30685098e-02 -6.33179212e-01] [ 7.91690817e-02 -1.43303600e-02 9.96758194e-01 1.41802153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.709072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.97, Y:-0.63, Z:1.42 [[ 9.38548947e-01 -3.35720031e-01 -8.01120163e-02 3.29729833e+01] [ 3.35773752e-01 9.41850108e-01 -1.32045926e-02 -6.28359019e-01] [ 7.98865574e-02 -1.45063558e-02 9.96698402e-01 1.41973188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.739072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.00, Y:-0.62, Z:1.42 [[ 9.38428064e-01 -3.36206169e-01 -7.94869811e-02 3.29991000e+01] [ 3.36258934e-01 9.41678126e-01 -1.31238511e-02 -6.23478414e-01] [ 7.92634712e-02 -1.44124173e-02 9.96749509e-01 1.42050496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.769072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.02, Y:-0.62, Z:1.43 [[ 9.38531867e-01 -3.35326623e-01 -8.19389457e-02 3.30241596e+01] [ 3.35808521e-01 9.41894226e-01 -8.24043238e-03 -6.20706930e-01] [ 7.99410562e-02 -1.97818877e-02 9.96603283e-01 1.42732425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.799072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.05, Y:-0.61, Z:1.42 [[ 9.38348792e-01 -3.36777499e-01 -7.79901285e-02 3.30531557e+01] [ 3.36384610e-01 9.41542594e-01 -1.85185977e-02 -6.13014414e-01] [ 7.96676749e-02 -8.85777517e-03 9.96782123e-01 1.42294020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.829072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.08, Y:-0.61, Z:1.43 [[ 9.38517740e-01 -3.36348457e-01 -7.78085304e-02 3.30810619e+01] [ 3.36397001e-01 9.41632213e-01 -1.28776315e-02 -6.08839818e-01] [ 7.75983902e-02 -1.40886707e-02 9.96885148e-01 1.42792048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.859072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.11, Y:-0.60, Z:1.43 [[ 9.38554990e-01 -3.36193971e-01 -7.80265622e-02 3.31079881e+01] [ 3.36240600e-01 9.41687282e-01 -1.29352594e-02 -6.03885478e-01] [ 7.78253775e-02 -1.40952459e-02 9.96867361e-01 1.42972356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.88907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.14, Y:-0.60, Z:1.43 [[ 9.38377695e-01 -3.36503406e-01 -7.88210638e-02 3.31360029e+01] [ 3.36551243e-01 9.41574339e-01 -1.30776336e-02 -5.98711138e-01] [ 7.86165593e-02 -1.42555673e-02 9.96802997e-01 1.43172833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.91907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.16, Y:-0.59, Z:1.43 [[ 9.38392437e-01 -3.36289015e-01 -7.95571010e-02 3.31623799e+01] [ 3.36335228e-01 9.41649499e-01 -1.32225472e-02 -5.94357547e-01] [ 7.93615017e-02 -1.43499175e-02 9.96742611e-01 1.43402746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.94907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.19, Y:-0.59, Z:1.44 [[ 9.38340768e-01 -3.36150321e-01 -8.07438273e-02 3.31887883e+01] [ 3.36196607e-01 9.41696053e-01 -1.34307288e-02 -5.89819965e-01] [ 8.05508873e-02 -1.45432004e-02 9.96644395e-01 1.43581598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.979072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.22, Y:-0.58, Z:1.44 [[ 9.38593064e-01 -3.35194438e-01 -8.17786616e-02 3.32150398e+01] [ 3.34934907e-01 9.42082762e-01 -1.72822802e-02 -5.84764742e-01] [ 8.28351917e-02 -1.11695001e-02 9.96500664e-01 1.43627552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.009072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.24, Y:-0.58, Z:1.44 [[ 9.38344799e-01 -3.35809240e-01 -8.21047626e-02 3.32444808e+01] [ 3.36122964e-01 9.41760840e-01 -1.03862029e-02 -5.80711480e-01] [ 8.08108331e-02 -1.78514567e-02 9.96569583e-01 1.44091201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.039072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.27, Y:-0.57, Z:1.44 [[ 9.38388593e-01 -3.35974172e-01 -8.09209755e-02 3.32717907e+01] [ 3.36017346e-01 9.41759136e-01 -1.34934288e-02 -5.74795379e-01] [ 8.07415116e-02 -1.45287718e-02 9.96629180e-01 1.44125882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.069072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.30, Y:-0.57, Z:1.44 [[ 9.38685362e-01 -3.35476378e-01 -7.95323292e-02 3.32986358e+01] [ 3.35514563e-01 9.41941361e-01 -1.32834992e-02 -5.69751391e-01] [ 7.93710906e-02 -1.42152284e-02 9.96743777e-01 1.44358328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.099072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.33, Y:-0.57, Z:1.45 [[ 9.38925957e-01 -3.34900423e-01 -7.91186121e-02 3.33252213e+01] [ 3.34935050e-01 9.42148345e-01 -1.32290905e-02 -5.65324379e-01] [ 7.89718974e-02 -1.40784598e-02 9.96777426e-01 1.44591160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.129072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.35, Y:-0.56, Z:1.45 [[ 9.38828960e-01 -3.35183548e-01 -7.90706818e-02 3.33531076e+01] [ 3.35218290e-01 9.42047573e-01 -1.32313188e-02 -5.59715694e-01] [ 7.89232643e-02 -1.40839934e-02 9.96781199e-01 1.44864030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.159072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.38, Y:-0.55, Z:1.45 [[ 9.39098873e-01 -3.34370578e-01 -7.93071495e-02 3.33811307e+01] [ 3.34400965e-01 9.42337140e-01 -1.32931857e-02 -5.54493760e-01] [ 7.91789227e-02 -1.40367716e-02 9.96761590e-01 1.45024312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.189072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.41, Y:-0.55, Z:1.45 [[ 9.39265453e-01 -3.33687665e-01 -8.02056780e-02 3.34079994e+01] [ 3.33714563e-01 9.42577979e-01 -1.34664251e-02 -5.49407893e-01] [ 8.00936858e-02 -1.41172549e-02 9.96687366e-01 1.45277833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.219072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.44, Y:-0.54, Z:1.45 [[ 9.39118807e-01 -3.34063852e-01 -8.03567604e-02 3.34357124e+01] [ 3.34090879e-01 9.42444065e-01 -1.35080898e-02 -5.44027877e-01] [ 8.02443164e-02 -1.41607595e-02 9.96674632e-01 1.45488865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.249072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.46, Y:-0.54, Z:1.46 [[ 9.39213609e-01 -3.33783450e-01 -8.04139558e-02 3.34628890e+01] [ 3.33807612e-01 9.42543955e-01 -1.35414519e-02 -5.39351612e-01] [ 8.03136005e-02 -1.41244746e-02 9.96669567e-01 1.45735266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.279072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.49, Y:-0.53, Z:1.46 [[ 9.39296092e-01 -3.33545298e-01 -8.04387131e-02 3.34907699e+01] [ 3.33566725e-01 9.42628832e-01 -1.35692470e-02 -5.34441524e-01] [ 8.03498087e-02 -1.40861375e-02 9.96667191e-01 1.45984301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.309072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.52, Y:-0.53, Z:1.46 [[ 9.39336307e-01 -3.33499413e-01 -8.01588656e-02 3.35187575e+01] [ 3.33518637e-01 9.42646190e-01 -1.35454288e-02 -5.29129842e-01] [ 8.00788419e-02 -1.40107626e-02 9.96690061e-01 1.46221294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.339072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.55, Y:-0.52, Z:1.46 [[ 9.39438252e-01 -3.33305896e-01 -7.97681087e-02 3.35453163e+01] [ 3.33322434e-01 9.42716210e-01 -1.35019631e-02 -5.24659795e-01] [ 7.96989730e-02 -1.39042395e-02 9.96722000e-01 1.46460388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.369072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.57, Y:-0.52, Z:1.47 [[ 9.39513673e-01 -3.33179039e-01 -7.94089772e-02 3.35733924e+01] [ 3.33194090e-01 9.42762290e-01 -1.34522609e-02 -5.19620612e-01] [ 7.93458005e-02 -1.38200188e-02 9.96751349e-01 1.46637751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.399072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.60, Y:-0.51, Z:1.47 [[ 9.39541864e-01 -3.32957609e-01 -8.00019768e-02 3.36000034e+01] [ 3.32970315e-01 9.42839582e-01 -1.35754355e-02 -5.14585998e-01] [ 7.99490748e-02 -1.38835935e-02 9.96702258e-01 1.46821919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.429072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.63, Y:-0.51, Z:1.47 [[ 9.39341901e-01 -3.33458331e-01 -8.02641590e-02 3.36274473e+01] [ 3.33471994e-01 9.42661455e-01 -1.36312252e-02 -5.09542177e-01] [ 8.02073745e-02 -1.39614681e-02 9.96680417e-01 1.46997745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.459072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.65, Y:-0.50, Z:1.47 [[ 9.39303277e-01 -3.33513994e-01 -8.04845886e-02 3.36549466e+01] [ 3.33526069e-01 9.42641445e-01 -1.36918593e-02 -5.04885687e-01] [ 8.04345356e-02 -1.39829001e-02 9.96661810e-01 1.47213352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.489072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.68, Y:-0.50, Z:1.47 [[ 9.38926712e-01 -3.34492139e-01 -8.08185519e-02 3.36825396e+01] [ 3.34505950e-01 9.42293003e-01 -1.37719691e-02 -5.00952699e-01] [ 8.07613713e-02 -1.41034168e-02 9.96633681e-01 1.47460473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.519072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.71, Y:-0.50, Z:1.48 [[ 9.38892079e-01 -3.34634055e-01 -8.06331973e-02 3.37105357e+01] [ 3.34646426e-01 9.42243246e-01 -1.37635589e-02 -4.96727418e-01] [ 8.05818411e-02 -1.40611149e-02 9.96648811e-01 1.47717464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.549072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.74, Y:-0.49, Z:1.48 [[ 9.38676728e-01 -3.35252360e-01 -8.05720509e-02 3.37381821e+01] [ 3.35265037e-01 9.42023125e-01 -1.37763419e-02 -4.92214918e-01] [ 8.05192863e-02 -1.40814601e-02 9.96653579e-01 1.48001606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.579072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.76, Y:-0.49, Z:1.48 [[ 9.38569202e-01 -3.35661484e-01 -8.01200437e-02 3.37646514e+01] [ 3.35673674e-01 9.41878399e-01 -1.37210155e-02 -4.87723883e-01] [ 8.00689549e-02 -1.40160669e-02 9.96690781e-01 1.48246688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.609072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.79, Y:-0.48, Z:1.48 [[ 9.38364139e-01 -3.36339791e-01 -7.96761442e-02 3.37920736e+01] [ 3.36353323e-01 9.41636851e-01 -1.36558506e-02 -4.83009674e-01] [ 7.96189995e-02 -1.39851754e-02 9.96727259e-01 1.48459703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.63907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.82, Y:-0.48, Z:1.49 [[ 9.38274701e-01 -3.36644050e-01 -7.94441297e-02 3.38200317e+01] [ 3.36656732e-01 9.41528664e-01 -1.36388820e-02 -4.78059499e-01] [ 7.93903738e-02 -1.39483831e-02 9.96746011e-01 1.48642492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.66907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.85, Y:-0.47, Z:1.49 [[ 9.37799499e-01 -3.37817819e-01 -8.00701032e-02 3.38462191e+01] [ 3.37833096e-01 9.41105323e-01 -1.37684339e-02 -4.74148036e-01] [ 8.00056226e-02 -1.41383004e-02 9.96694140e-01 1.48835739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.69907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.87, Y:-0.47, Z:1.49 [[ 9.37560139e-01 -3.38399220e-01 -8.04173749e-02 3.38743149e+01] [ 3.38415819e-01 9.40894898e-01 -1.38392636e-02 -4.69706001e-01] [ 8.03474938e-02 -1.42393698e-02 9.96665200e-01 1.49031461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.729072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.90, Y:-0.47, Z:1.49 [[ 9.37237200e-01 -3.39153212e-01 -8.10032746e-02 3.39017272e+01] [ 3.39170883e-01 9.40621138e-01 -1.39637798e-02 -4.65276754e-01] [ 8.09292531e-02 -1.43865783e-02 9.96616016e-01 1.49295936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.759072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.93, Y:-0.46, Z:1.49 [[ 9.36782612e-01 -3.40242624e-01 -8.16902378e-02 3.39297805e+01] [ 3.40262668e-01 9.40224617e-01 -1.41062101e-02 -4.60914554e-01] [ 8.16067065e-02 -1.45816860e-02 9.96557936e-01 1.49450820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.789072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.96, Y:-0.46, Z:1.50 [[ 9.36505947e-01 -3.40994562e-01 -8.17271085e-02 3.39571412e+01] [ 3.41015444e-01 9.39951398e-01 -1.41363583e-02 -4.56223200e-01] [ 8.16399312e-02 -1.46314226e-02 9.96554486e-01 1.49708960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.819072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.98, Y:-0.45, Z:1.50 [[ 9.36307962e-01 -3.41646062e-01 -8.12734230e-02 3.39839034e+01] [ 3.41667236e-01 9.39715513e-01 -1.40802682e-02 -4.51547048e-01] [ 8.11843646e-02 -1.45849985e-02 9.96592382e-01 1.49862609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.849072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.01, Y:-0.45, Z:1.50 [[ 9.36145485e-01 -3.42398229e-01 -7.99692673e-02 3.40113695e+01] [ 3.42420431e-01 9.39444518e-01 -1.38653017e-02 -4.47850881e-01] [ 7.98741445e-02 -1.44031714e-02 9.96700893e-01 1.50214022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.879072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.04, Y:-0.44, Z:1.50 [[ 9.35960719e-01 -3.43052171e-01 -7.93267992e-02 3.40393002e+01] [ 3.43074448e-01 9.39207180e-01 -1.37766147e-02 -4.42966587e-01] [ 7.92303970e-02 -1.43206277e-02 9.96753462e-01 1.50458010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.909072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.07, Y:-0.44, Z:1.51 [[ 9.35700417e-01 -3.43800489e-01 -7.91577741e-02 3.40660611e+01] [ 3.43823493e-01 9.38933336e-01 -1.37693979e-02 -4.38403505e-01] [ 7.90577986e-02 -1.43322710e-02 9.96766999e-01 1.50589217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.939072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.09, Y:-0.43, Z:1.51 [[ 9.35288277e-01 -3.44598046e-01 -8.05482753e-02 3.40926228e+01] [ 3.44623955e-01 9.38636097e-01 -1.40216572e-02 -4.34738650e-01] [ 8.04373544e-02 -1.46445736e-02 9.96652080e-01 1.50797157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.969072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.12, Y:-0.43, Z:1.51 [[ 9.35009631e-01 -3.45173448e-01 -8.13159344e-02 3.41200511e+01] [ 3.45201064e-01 9.38421829e-01 -1.41667090e-02 -4.30408321e-01] [ 8.11986197e-02 -1.48243377e-02 9.96587690e-01 1.50992105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.999072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.15, Y:-0.43, Z:1.51 [[ 9.34834328e-01 -3.45557817e-01 -8.16980609e-02 3.41467768e+01] [ 3.45585327e-01 9.38279046e-01 -1.42553169e-02 -4.26068293e-01] [ 8.15816148e-02 -1.49072916e-02 9.96555173e-01 1.51225166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.029072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.17, Y:-0.42, Z:1.51 [[ 9.34526569e-01 -3.46430853e-01 -8.15215121e-02 3.41736071e+01] [ 3.46460577e-01 9.37956519e-01 -1.42350489e-02 -4.22380513e-01] [ 8.13950939e-02 -1.49409587e-02 9.96569921e-01 1.51384494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.059072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.20, Y:-0.42, Z:1.52 [[ 9.34472755e-01 -3.46700433e-01 -8.09906090e-02 3.42009006e+01] [ 3.46729412e-01 9.37858333e-01 -1.41584499e-02 -4.17631935e-01] [ 8.08664583e-02 -1.48511406e-02 9.96614298e-01 1.51622041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.089072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.23, Y:-0.41, Z:1.52 [[ 9.34360254e-01 -3.47032256e-01 -8.08673570e-02 3.42276709e+01] [ 3.47060530e-01 9.37735840e-01 -1.41592201e-02 -4.13239801e-01] [ 8.07459250e-02 -1.48360554e-02 9.96624296e-01 1.51856814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.119072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.26, Y:-0.41, Z:1.52 [[ 9.34166945e-01 -3.47694092e-01 -8.02554545e-02 3.42555901e+01] [ 3.47723370e-01 9.37491698e-01 -1.40631770e-02 -4.08555611e-01] [ 8.01285059e-02 -1.47693420e-02 9.96675117e-01 1.52036594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.149072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.28, Y:-0.40, Z:1.52 [[ 9.34074899e-01 -3.47942204e-01 -8.02515219e-02 3.42836385e+01] [ 3.47970505e-01 9.37399661e-01 -1.40855839e-02 -4.03430826e-01] [ 8.01287185e-02 -1.47681723e-02 9.96675117e-01 1.52249999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.179072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.31, Y:-0.40, Z:1.52 [[ 9.33982215e-01 -3.48192809e-01 -8.02433131e-02 3.43101597e+01] [ 3.48220313e-01 9.37306599e-01 -1.41050827e-02 -3.99115893e-01] [ 8.01238752e-02 -1.47684552e-02 9.96675503e-01 1.52435068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.209072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.34, Y:-0.39, Z:1.53 [[ 9.33720163e-01 -3.48824013e-01 -8.05510132e-02 3.43371636e+01] [ 3.48853188e-01 9.37070266e-01 -1.41693398e-02 -3.94493188e-01] [ 8.04245653e-02 -1.48702795e-02 9.96649770e-01 1.52696661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.239072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.37, Y:-0.39, Z:1.53 [[ 9.33329255e-01 -3.49659328e-01 -8.14546306e-02 3.43651801e+01] [ 3.49691346e-01 9.36755216e-01 -1.43397199e-02 -3.90474174e-01] [ 8.13170670e-02 -1.51002993e-02 9.96573889e-01 1.52966110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.269072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.39, Y:-0.39, Z:1.53 [[ 9.33087104e-01 -3.50322411e-01 -8.13797524e-02 3.43920008e+01] [ 3.50354948e-01 9.36507080e-01 -1.43491953e-02 -3.85928712e-01] [ 8.12395590e-02 -1.51227498e-02 9.96579870e-01 1.53176772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.299072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.42, Y:-0.38, Z:1.53 [[ 9.32964655e-01 -3.50632233e-01 -8.14493024e-02 3.44188328e+01] [ 3.50665125e-01 9.36390635e-01 -1.43717876e-02 -3.81753743e-01] [ 8.13075760e-02 -1.51530600e-02 9.96573862e-01 1.53368549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.329072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.45, Y:-0.38, Z:1.54 [[ 9.32710704e-01 -3.51267247e-01 -8.16214663e-02 3.44468148e+01] [ 3.51301702e-01 9.36151358e-01 -1.44135147e-02 -3.76847156e-01] [ 8.14730422e-02 -1.52301206e-02 9.96559174e-01 1.53608754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.359072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.47, Y:-0.37, Z:1.54 [[ 9.32512336e-01 -3.51952910e-01 -8.09314054e-02 3.44744916e+01] [ 3.51987380e-01 9.35895282e-01 -1.43145089e-02 -3.72494608e-01] [ 8.07813536e-02 -1.51383772e-02 9.96616878e-01 1.53700459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.38907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.50, Y:-0.37, Z:1.54 [[ 9.32395164e-01 -3.52305553e-01 -8.07468558e-02 3.45026104e+01] [ 3.52339227e-01 9.35763017e-01 -1.43053987e-02 -3.67681450e-01] [ 8.05997928e-02 -1.51120001e-02 9.96631979e-01 1.53898270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.41907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.53, Y:-0.36, Z:1.54 [[ 9.32299228e-01 -3.52469501e-01 -8.11381554e-02 3.45290467e+01] [ 3.52502298e-01 9.35700193e-01 -1.43971757e-02 -3.63150901e-01] [ 8.09955530e-02 -1.51789104e-02 9.96598877e-01 1.54175551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.44907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.56, Y:-0.36, Z:1.54 [[ 9.32241937e-01 -3.52639119e-01 -8.10593733e-02 3.45562718e+01] [ 3.52671546e-01 9.35636456e-01 -1.43945178e-02 -3.58884639e-01] [ 8.09181749e-02 -1.51681614e-02 9.96605326e-01 1.54422251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.479072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.58, Y:-0.36, Z:1.55 [[ 9.32153745e-01 -3.53095563e-01 -8.00806998e-02 3.45829605e+01] [ 3.53127091e-01 9.35466958e-01 -1.42417850e-02 -3.55229250e-01] [ 7.99415598e-02 -1.50031313e-02 9.96686637e-01 1.54626206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.509072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.61, Y:-0.35, Z:1.55 [[ 9.31934789e-01 -3.53733931e-01 -7.98113797e-02 3.46096475e+01] [ 3.53766686e-01 9.35225845e-01 -1.42038897e-02 -3.50737161e-01] [ 7.96660627e-02 -1.49975084e-02 9.96708781e-01 1.54828362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.539072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.64, Y:-0.35, Z:1.55 [[ 9.31641009e-01 -3.54420378e-01 -8.01949258e-02 3.46377027e+01] [ 3.54454662e-01 9.34964037e-01 -1.42877894e-02 -3.46484658e-01] [ 8.00432554e-02 -1.51143749e-02 9.96676795e-01 1.55031094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.569072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.67, Y:-0.34, Z:1.55 [[ 9.31559514e-01 -3.54636053e-01 -8.01881659e-02 3.46653603e+01] [ 3.54669240e-01 9.34882325e-01 -1.43097440e-02 -3.41725384e-01] [ 8.00412501e-02 -1.51098977e-02 9.96677024e-01 1.55258080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.599072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.69, Y:-0.34, Z:1.55 [[ 9.31511340e-01 -3.54748131e-01 -8.02520195e-02 3.46922518e+01] [ 3.54779969e-01 9.34839791e-01 -1.43436202e-02 -3.37013841e-01] [ 8.01111536e-02 -1.51105641e-02 9.96671397e-01 1.55495493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.629072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.72, Y:-0.33, Z:1.56 [[ 9.31389264e-01 -3.55048675e-01 -8.03397581e-02 3.47196104e+01] [ 3.55080348e-01 9.34725247e-01 -1.43756442e-02 -3.32197023e-01] [ 8.01996536e-02 -1.51377486e-02 9.96663867e-01 1.55617163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.659072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.75, Y:-0.33, Z:1.56 [[ 9.31547624e-01 -3.54593553e-01 -8.05135845e-02 3.47476778e+01] [ 3.54621819e-01 9.34898457e-01 -1.44305123e-02 -3.28122717e-01] [ 8.03889925e-02 -1.51091643e-02 9.96649047e-01 1.55971138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.689072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.77, Y:-0.32, Z:1.56 [[ 9.31564716e-01 -3.54536245e-01 -8.05681765e-02 3.47741483e+01] [ 3.54562508e-01 9.34920450e-01 -1.44630732e-02 -3.23388786e-01] [ 8.04525194e-02 -1.50931660e-02 9.96644163e-01 1.56179296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.719072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.80, Y:-0.32, Z:1.56 [[ 9.31488309e-01 -3.54767150e-01 -8.04350642e-02 3.48015135e+01] [ 3.54793227e-01 9.34833111e-01 -1.44506054e-02 -3.18583441e-01] [ 8.03199614e-02 -1.50772460e-02 9.96655096e-01 1.56379242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.749072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.83, Y:-0.31, Z:1.57 [[ 9.31533420e-01 -3.54484128e-01 -8.11571895e-02 3.48288365e+01] [ 3.54507788e-01 9.34939015e-01 -1.46036258e-02 -3.13884936e-01] [ 8.10537764e-02 -1.51670903e-02 9.96594323e-01 1.56595072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.779072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.86, Y:-0.31, Z:1.57 [[ 9.31445239e-01 -3.54690035e-01 -8.12695843e-02 3.48563861e+01] [ 3.54712610e-01 9.34860642e-01 -1.46473204e-02 -3.09288666e-01] [ 8.11709944e-02 -1.51841695e-02 9.96584523e-01 1.56827382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.809072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.88, Y:-0.30, Z:1.57 [[ 9.31474800e-01 -3.54589265e-01 -8.13704516e-02 3.48829185e+01] [ 3.54609643e-01 9.34899056e-01 -1.46886626e-02 -3.04750097e-01] [ 8.12816005e-02 -1.51726277e-02 9.96575683e-01 1.57014775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.839072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.91, Y:-0.30, Z:1.57 [[ 9.31473065e-01 -3.54698971e-01 -8.09108704e-02 3.49110172e+01] [ 3.54718549e-01 9.34858858e-01 -1.46173275e-02 -3.00474206e-01] [ 8.08249949e-02 -1.50849397e-02 9.96614150e-01 1.57322392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.869072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.94, Y:-0.30, Z:1.58 [[ 9.31632171e-01 -3.53142417e-01 -8.57434052e-02 3.49384272e+01] [ 3.53685882e-01 9.35318257e-01 -9.27655286e-03 -2.98384798e-01] [ 8.34733166e-02 -2.16838969e-02 9.96274066e-01 1.58156408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.899072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.97, Y:-0.29, Z:1.58 [[ 9.31388341e-01 -3.55219223e-01 -7.95931028e-02 3.49663602e+01] [ 3.54717402e-01 9.34741356e-01 -2.08365521e-02 -2.90281698e-01] [ 8.18005087e-02 -8.82613687e-03 9.96609641e-01 1.57524233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.929072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.99, Y:-0.29, Z:1.58 [[ 9.31195639e-01 -3.55425818e-01 -8.09145854e-02 3.49942005e+01] [ 3.55443506e-01 9.34582575e-01 -1.46739211e-02 -2.87738864e-01] [ 8.08368520e-02 -1.50962725e-02 9.96613017e-01 1.57983398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.959072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.02, Y:-0.28, Z:1.58 [[ 9.31099131e-01 -3.55679517e-01 -8.09103776e-02 3.50222255e+01] [ 3.55696185e-01 9.34486073e-01 -1.46970877e-02 -2.82449982e-01] [ 8.08370740e-02 -1.50950670e-02 9.96613017e-01 1.58196703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.989072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.05, Y:-0.28, Z:1.58 [[ 9.30944946e-01 -3.55813150e-01 -8.20884292e-02 3.50493317e+01] [ 3.55829060e-01 9.34431743e-01 -1.49331248e-02 -2.78685562e-01] [ 8.20194362e-02 -1.53075315e-02 9.96513167e-01 1.58441969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.019072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.08, Y:-0.27, Z:1.58 [[ 9.30707609e-01 -3.56312815e-01 -8.26106784e-02 3.50765870e+01] [ 3.56056573e-01 9.34284878e-01 -1.83161956e-02 -2.73612500e-01] [ 8.37082029e-02 -1.23670524e-02 9.96413565e-01 1.58490375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.049072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.11, Y:-0.27, Z:1.59 [[ 9.30576510e-01 -3.56727741e-01 -8.22962797e-02 3.51054013e+01] [ 3.57001111e-01 9.34028511e-01 -1.18721444e-02 -2.70158302e-01] [ 8.11021949e-02 -1.83319245e-02 9.96537192e-01 1.58930318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.079072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.13, Y:-0.27, Z:1.59 [[ 9.30418213e-01 -3.57395599e-01 -8.11808734e-02 3.51326592e+01] [ 3.57412323e-01 9.33829037e-01 -1.48243502e-02 -2.66087101e-01] [ 8.11072143e-02 -1.52221991e-02 9.96589135e-01 1.59132140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.109072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.16, Y:-0.26, Z:1.59 [[ 9.30477578e-01 -3.57332668e-01 -8.07764881e-02 3.51593001e+01] [ 3.57347163e-01 9.33854789e-01 -1.47728685e-02 -2.62431689e-01] [ 8.07123388e-02 -1.51194260e-02 9.96622758e-01 1.59360984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.13907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.19, Y:-0.26, Z:1.60 [[ 9.30245064e-01 -3.57934620e-01 -8.07894146e-02 3.51867775e+01] [ 3.57950378e-01 9.33623522e-01 -1.47866914e-02 -2.57461413e-01] [ 8.07195666e-02 -1.51633548e-02 9.96621505e-01 1.59607557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.16907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.21, Y:-0.25, Z:1.60 [[ 9.30233156e-01 -3.58015626e-01 -8.05672801e-02 3.52136561e+01] [ 3.58029726e-01 9.33593377e-01 -1.47689719e-02 -2.53372725e-01] [ 8.05046018e-02 -1.51068938e-02 9.96639750e-01 1.59713452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.19907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.24, Y:-0.25, Z:1.60 [[ 9.30085607e-01 -3.58390859e-01 -8.06024544e-02 3.52411551e+01] [ 3.58405390e-01 9.33448938e-01 -1.47870444e-02 -2.48621611e-01] [ 8.05378170e-02 -1.51351369e-02 9.96636638e-01 1.59896075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.229072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.27, Y:-0.24, Z:1.60 [[ 9.29900124e-01 -3.58818669e-01 -8.08388623e-02 3.52690893e+01] [ 3.58832888e-01 9.33283610e-01 -1.48546822e-02 -2.43706780e-01] [ 8.07757225e-02 -1.51942717e-02 9.96616484e-01 1.60109970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.259072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.30, Y:-0.24, Z:1.60 [[ 9.29923526e-01 -3.58721103e-01 -8.10025045e-02 3.52956405e+01] [ 3.58733160e-01 9.33321101e-01 -1.49078006e-02 -2.40719921e-01] [ 8.09490894e-02 -1.51951699e-02 9.96602404e-01 1.60366591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.289072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.32, Y:-0.24, Z:1.61 [[ 9.29782214e-01 -3.59022445e-01 -8.12891087e-02 3.53235754e+01] [ 3.59034740e-01 9.33204093e-01 -1.49724847e-02 -2.36264464e-01] [ 8.12347870e-02 -1.52644641e-02 9.96578098e-01 1.60588473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.319072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.35, Y:-0.23, Z:1.61 [[ 9.29615464e-01 -3.59487998e-01 -8.11385754e-02 3.53499404e+01] [ 3.59500063e-01 9.33025008e-01 -1.49679012e-02 -2.32134415e-01] [ 8.10851008e-02 -1.52549306e-02 9.96590434e-01 1.60780470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.349072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.38, Y:-0.23, Z:1.61 [[ 9.29548099e-01 -3.59604021e-01 -8.13958216e-02 3.53763865e+01] [ 3.59615741e-01 9.32979496e-01 -1.50259501e-02 -2.28605040e-01] [ 8.13440247e-02 -1.53038753e-02 9.96568583e-01 1.61007040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.379072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.40, Y:-0.22, Z:1.61 [[ 9.29364916e-01 -3.60023013e-01 -8.16350566e-02 3.54044443e+01] [ 3.60035405e-01 9.32816725e-01 -1.50819324e-02 -2.24049096e-01] [ 8.15803889e-02 -1.53748918e-02 9.96548169e-01 1.61202652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.409072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.43, Y:-0.22, Z:1.61 [[ 9.29164265e-01 -3.60682662e-01 -8.10048530e-02 3.54326232e+01] [ 3.60695365e-01 9.32563240e-01 -1.49885937e-02 -2.19334013e-01] [ 8.09482741e-02 -1.52912094e-02 9.96601001e-01 1.61328735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.439072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.46, Y:-0.22, Z:1.62 [[ 9.28977455e-01 -3.61058462e-01 -8.14719346e-02 3.54590168e+01] [ 3.61070881e-01 9.32416152e-01 -1.50976389e-02 -2.16371773e-01] [ 8.14168781e-02 -1.53917771e-02 9.96561280e-01 1.61643112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.469072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.49, Y:-0.21, Z:1.62 [[ 9.28969750e-01 -3.60207156e-01 -8.52408784e-02 3.54858604e+01] [ 3.60366916e-01 9.32704929e-01 -1.40428663e-02 -2.13378656e-01] [ 8.45629284e-02 -1.76725944e-02 9.96261407e-01 1.62137142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.499072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.51, Y:-0.21, Z:1.62 [[ 9.28622189e-01 -3.62169261e-01 -8.05869466e-02 3.55143146e+01] [ 3.62015649e-01 9.32016538e-01 -1.70247855e-02 -2.07289350e-01] [ 8.12742209e-02 -1.33641422e-02 9.96602178e-01 1.61993714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.529072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.54, Y:-0.20, Z:1.62 [[ 9.28352135e-01 -3.62729657e-01 -8.11757937e-02 3.55423422e+01] [ 3.62744566e-01 9.31766485e-01 -1.50863278e-02 -2.03355393e-01] [ 8.11091425e-02 -1.54406535e-02 9.96585618e-01 1.62294527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.559072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.57, Y:-0.20, Z:1.62 [[ 9.28069054e-01 -3.63399390e-01 -8.14169156e-02 3.55702305e+01] [ 3.63414893e-01 9.31504121e-01 -1.51554904e-02 -1.99720237e-01] [ 8.13476883e-02 -1.55227780e-02 9.96564899e-01 1.62489598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.589072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.60, Y:-0.20, Z:1.63 [[ 9.28051933e-01 -3.63497603e-01 -8.11732863e-02 3.55970138e+01] [ 3.63511438e-01 9.31466802e-01 -1.51337613e-02 -1.95666950e-01] [ 8.11113074e-02 -1.54625016e-02 9.96585103e-01 1.62653711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.619072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.62, Y:-0.19, Z:1.63 [[ 9.27657043e-01 -3.64394276e-01 -8.16653061e-02 3.56246851e+01] [ 3.64410222e-01 9.31113765e-01 -1.52429201e-02 -1.90983328e-01] [ 8.15941235e-02 -1.56194701e-02 9.96543241e-01 1.62905168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.649072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.65, Y:-0.19, Z:1.63 [[ 9.27690506e-01 -3.64397073e-01 -8.12717601e-02 3.56513497e+01] [ 3.64411032e-01 9.31114284e-01 -1.51918077e-02 -1.87037441e-01] [ 8.12091470e-02 -1.55230301e-02 9.96576194e-01 1.63094819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.679072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.68, Y:-0.18, Z:1.63 [[ 9.27612192e-01 -3.64645156e-01 -8.10526480e-02 3.56792265e+01] [ 3.64659010e-01 9.31017676e-01 -1.51622649e-02 -1.83615099e-01] [ 8.09902944e-02 -1.54918766e-02 9.96594488e-01 1.63462531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.709072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.71, Y:-0.18, Z:1.64 [[ 9.27615857e-01 -3.64668651e-01 -8.09048678e-02 3.57072890e+01] [ 3.64680674e-01 9.31009267e-01 -1.51575259e-02 -1.78848029e-01] [ 8.08506562e-02 -1.54440804e-02 9.96606568e-01 1.63660185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.739072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.73, Y:-0.17, Z:1.64 [[ 9.27797702e-01 -3.64117996e-01 -8.12988931e-02 3.57336494e+01] [ 3.64126176e-01 9.31224680e-01 -1.52552551e-02 -1.74474905e-01] [ 8.12622487e-02 -1.54492644e-02 9.96573011e-01 1.63930356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.769072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.76, Y:-0.17, Z:1.64 [[ 9.28276630e-01 -3.62848874e-01 -8.15057901e-02 3.57601860e+01] [ 3.62851504e-01 9.31721280e-01 -1.53049904e-02 -1.70395071e-01] [ 8.14940776e-02 -1.53672337e-02 9.96555349e-01 1.64017846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.799072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.79, Y:-0.17, Z:1.64 [[ 9.28481137e-01 -3.62220808e-01 -8.19686872e-02 3.57873141e+01] [ 3.62220155e-01 9.31965278e-01 -1.54038656e-02 -1.65304679e-01] [ 8.19715710e-02 -1.53885119e-02 9.96515858e-01 1.64147781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.829072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.81, Y:-0.16, Z:1.64 [[ 9.28682962e-01 -3.61705928e-01 -8.19559504e-02 3.58149575e+01] [ 3.61701386e-01 9.32166385e-01 -1.54252803e-02 -1.60459913e-01] [ 8.19759973e-02 -1.53183858e-02 9.96516574e-01 1.64427011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.859072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.84, Y:-0.16, Z:1.65 [[ 9.29368477e-01 -3.60016826e-01 -8.16218076e-02 3.58419328e+01] [ 3.60004159e-01 9.32823834e-01 -1.53850951e-02 -1.56775298e-01] [ 8.16776605e-02 -1.50857678e-02 9.96544620e-01 1.64714381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.88907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.87, Y:-0.15, Z:1.65 [[ 9.29695186e-01 -3.59277309e-01 -8.11583398e-02 3.58698767e+01] [ 3.59261094e-01 9.33111510e-01 -1.53093674e-02 -1.51904175e-01] [ 8.12300893e-02 -1.49239888e-02 9.96583638e-01 1.65006442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.91907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.90, Y:-0.15, Z:1.65 [[ 9.29900753e-01 -3.58785545e-01 -8.09785312e-02 3.58976812e+01] [ 3.58765653e-01 9.33302276e-01 -1.52993000e-02 -1.46718570e-01] [ 8.10666151e-02 -1.48254850e-02 9.96598419e-01 1.65255272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.94907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.92, Y:-0.14, Z:1.65 [[ 9.30743507e-01 -3.56549496e-01 -8.11725447e-02 3.59245102e+01] [ 3.56519386e-01 9.34161664e-01 -1.53594592e-02 -1.41794207e-01] [ 8.13046869e-02 -1.46438688e-02 9.96581710e-01 1.65409539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.979072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.95, Y:-0.14, Z:1.66 [[ 9.31081881e-01 -3.55557253e-01 -8.16429424e-02 3.59510240e+01] [ 3.55522196e-01 9.34539972e-01 -1.54598848e-02 -1.36914167e-01] [ 8.17954673e-02 -1.46314595e-02 9.96541731e-01 1.65590924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.009072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.98, Y:-0.13, Z:1.66 [[ 9.31415719e-01 -3.54729627e-01 -8.14349373e-02 3.59785732e+01] [ 3.54690266e-01 9.34856401e-01 -1.54377666e-02 -1.31876834e-01] [ 8.16062056e-02 -1.45052011e-02 9.96559093e-01 1.65742040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.039072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.01, Y:-0.13, Z:1.66 [[ 9.31318318e-01 -3.54986303e-01 -8.14304360e-02 3.60065642e+01] [ 3.54945882e-01 9.34758987e-01 -1.54614753e-02 -1.26356351e-01] [ 8.16064438e-02 -1.45038428e-02 9.96559094e-01 1.65955321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.069072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.03, Y:-0.12, Z:1.67 [[ 9.32199281e-01 -3.51557397e-01 -8.60923773e-02 3.60343123e+01] [ 3.51820589e-01 9.35982652e-01 -1.25995373e-02 -1.23684631e-01] [ 8.50104321e-02 -1.85437913e-02 9.96207486e-01 1.66720250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.099072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.06, Y:-0.12, Z:1.66 [[ 9.32494802e-01 -3.52088660e-01 -8.05420417e-02 3.60618359e+01] [ 3.51714483e-01 9.35909208e-01 -1.92581634e-02 -1.16182920e-01] [ 8.21606195e-02 -1.03696652e-02 9.96565152e-01 1.66375566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.129072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.09, Y:-0.11, Z:1.67 [[ 9.32959337e-01 -3.49716394e-01 -8.53540824e-02 3.60881256e+01] [ 3.49440682e-01 9.36773068e-01 -1.86394468e-02 -1.12356129e-01] [ 8.64759258e-02 -1.24363428e-02 9.96176316e-01 1.67044096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.159072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.12, Y:-0.11, Z:1.67 [[ 9.33371865e-01 -3.49694385e-01 -8.08133541e-02 3.61167474e+01] [ 3.49794294e-01 9.36730958e-01 -1.33815017e-02 -1.06953554e-01] [ 8.03798066e-02 -1.57781329e-02 9.96639422e-01 1.67163684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.189072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.14, Y:-0.10, Z:1.67 [[ 9.34553569e-01 -3.46898419e-01 -7.91903611e-02 3.61448192e+01] [ 3.46824580e-01 9.37808010e-01 -1.51276763e-02 -1.01729311e-01] [ 7.95131220e-02 -1.33275399e-02 9.96744722e-01 1.67230006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.219072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.17, Y:-0.10, Z:1.67 [[ 9.34858641e-01 -3.45978028e-01 -7.96148577e-02 3.61708587e+01] [ 3.45898189e-01 9.38148380e-01 -1.52335340e-02 -9.63311460e-02] [ 7.99610178e-02 -1.32974342e-02 9.96709293e-01 1.67498658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.249072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.20, Y:-0.09, Z:1.68 [[ 9.35262615e-01 -3.44912602e-01 -7.94930030e-02 3.61984175e+01] [ 3.44827310e-01 9.38542504e-01 -1.52346269e-02 -9.09582043e-02] [ 7.98621769e-02 -1.31629814e-02 9.96719002e-01 1.67645588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.279072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.23, Y:-0.09, Z:1.68 [[ 9.36021177e-01 -3.42271911e-01 -8.19407980e-02 3.62250037e+01] [ 3.42169501e-01 9.39506595e-01 -1.57286602e-02 -8.60320615e-02] [ 8.23673987e-02 -1.33152829e-02 9.96513078e-01 1.67915139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.309072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.25, Y:-0.08, Z:1.68 [[ 9.36416777e-01 -3.41108128e-01 -8.22731093e-02 3.62521894e+01] [ 3.40999041e-01 9.39930681e-01 -1.58104154e-02 -8.04230236e-02] [ 8.27240809e-02 -1.32499131e-02 9.96484403e-01 1.68044404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.339072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.28, Y:-0.08, Z:1.68 [[ 9.36717728e-01 -3.40155897e-01 -8.27880616e-02 3.62782910e+01] [ 3.40039833e-01 9.40276043e-01 -1.59334668e-02 -7.53929938e-02] [ 8.32634937e-02 -1.32260778e-02 9.96439793e-01 1.68242099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.369072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.30, Y:-0.07, Z:1.68 [[ 9.37548200e-01 -3.37975742e-01 -8.23150680e-02 3.63043578e+01] [ 3.37851880e-01 9.41065766e-01 -1.58534547e-02 -7.05516554e-02] [ 8.28219756e-02 -1.29469225e-02 9.96480254e-01 1.68476038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.399072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.33, Y:-0.07, Z:1.69 [[ 9.37958977e-01 -3.36911904e-01 -8.19958889e-02 3.63315490e+01] [ 3.36784006e-01 9.41449285e-01 -1.58043182e-02 -6.59806651e-02] [ 8.25196340e-02 -1.27911018e-02 9.96507350e-01 1.68783571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.429072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.36, Y:-0.06, Z:1.69 [[ 9.38132822e-01 -3.36680884e-01 -8.09493090e-02 3.63594679e+01] [ 3.36553366e-01 9.41534722e-01 -1.56268568e-02 -6.03084399e-02] [ 8.14778491e-02 -1.25836951e-02 9.96595711e-01 1.68996748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.459072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.39, Y:-0.06, Z:1.69 [[ 9.38485437e-01 -3.35825997e-01 -8.04113481e-02 3.63874663e+01] [ 3.35695132e-01 9.41842379e-01 -1.55471012e-02 -5.52512580e-02] [ 8.09559361e-02 -1.24029700e-02 9.96640508e-01 1.69267141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.489072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.41, Y:-0.05, Z:1.69 [[ 9.38987770e-01 -3.34578953e-01 -7.97426620e-02 3.64141441e+01] [ 3.34444004e-01 9.42289124e-01 -1.54406545e-02 -4.99874528e-02] [ 8.03067612e-02 -1.21708695e-02 9.96695888e-01 1.69444379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.519072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.44, Y:-0.04, Z:1.70 [[ 9.38964957e-01 -3.34458372e-01 -8.05133953e-02 3.64418392e+01] [ 3.34319435e-01 9.42330675e-01 -1.56017351e-02 -4.41722520e-02] [ 8.10883730e-02 -1.22677103e-02 9.96631416e-01 1.69620227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.549072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.47, Y:-0.04, Z:1.70 [[ 9.39120705e-01 -3.33908161e-01 -8.09792678e-02 3.64691600e+01] [ 3.33763649e-01 9.42525769e-01 -1.57162838e-02 -3.92693320e-02] [ 8.15728421e-02 -1.22684484e-02 9.96591871e-01 1.69796808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.579072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.50, Y:-0.04, Z:1.70 [[ 9.39331149e-01 -3.32966984e-01 -8.24013340e-02 3.64962422e+01] [ 3.32811878e-01 9.42857218e-01 -1.60162438e-02 -3.53326136e-02] [ 8.30255729e-02 -1.23795861e-02 9.96470521e-01 1.69979301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.609072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.52, Y:-0.03, Z:1.70 [[ 9.39348064e-01 -3.32913859e-01 -8.24231519e-02 3.65225502e+01] [ 3.32757516e-01 9.42876138e-01 -1.60319685e-02 -3.06789504e-02] [ 8.30520877e-02 -1.23673247e-02 9.96468464e-01 1.70182378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.63907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.55, Y:-0.03, Z:1.70 [[ 9.39397696e-01 -3.32801341e-01 -8.23118212e-02 3.65489452e+01] [ 3.32643647e-01 9.42916410e-01 -1.60264964e-02 -2.60469110e-02] [ 8.29468065e-02 -1.23252506e-02 9.96477755e-01 1.70374011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.66907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.58, Y:-0.02, Z:1.71 [[ 9.39406299e-01 -3.32948233e-01 -8.16166589e-02 3.65764674e+01] [ 3.32792722e-01 9.42865895e-01 -1.59030624e-02 -2.08261653e-02] [ 8.22484608e-02 -1.22219931e-02 9.96536910e-01 1.70568033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.69907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.60, Y:-0.02, Z:1.71 [[ 9.39334602e-01 -3.32075173e-01 -8.58870436e-02 3.66036451e+01] [ 3.32497470e-01 9.43053636e-01 -9.76073076e-03 -1.81603387e-02] [ 8.42373851e-02 -1.93886326e-02 9.96257067e-01 1.71403320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.729072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.63, Y:-0.01, Z:1.71 [[ 9.39209859e-01 -3.33973815e-01 -7.96638661e-02 3.66305874e+01] [ 3.33255210e-01 9.42567041e-01 -2.25463734e-02 -9.27181612e-03] [ 8.26184328e-02 -5.37262223e-03 9.96566771e-01 1.70654028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.759072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.66, Y:-0.01, Z:1.71 [[ 9.39047547e-01 -3.34202425e-01 -8.06129265e-02 3.66583389e+01] [ 3.34050375e-01 9.42423347e-01 -1.57664998e-02 -5.85425966e-03] [ 8.12407065e-02 -1.21232854e-02 9.96620777e-01 1.71190224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.789072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.68, Y:-0.00, Z:1.72 [[ 9.38902115e-01 -3.34550055e-01 -8.08645745e-02 3.66848918e+01] [ 3.34396462e-01 9.42299395e-01 -1.58384441e-02 -2.53288708e-03] [ 8.14973920e-02 -1.21700790e-02 9.96599250e-01 1.71563156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.819072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.71, Y:0.00, Z:1.72 [[ 9.38607146e-01 -3.35242608e-01 -8.14187894e-02 3.67127167e+01] [ 3.35088496e-01 9.42051494e-01 -1.59587622e-02 2.40049262e-03] [ 8.20507493e-02 -1.23034915e-02 9.96552206e-01 1.71838602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.849072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.74, Y:0.01, Z:1.72 [[ 9.38421249e-01 -3.35739997e-01 -8.15120461e-02 3.67400573e+01] [ 3.35585410e-01 9.41873881e-01 -1.60007530e-02 7.12383924e-03] [ 8.21461600e-02 -1.23388068e-02 9.96543909e-01 1.72012893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.879072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.77, Y:0.01, Z:1.72 [[ 9.38073193e-01 -3.36524269e-01 -8.22806235e-02 3.67662749e+01] [ 3.36367794e-01 9.41591781e-01 -1.61748308e-02 1.17242575e-02] [ 8.29179819e-02 -1.25033766e-02 9.96477934e-01 1.72150898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.909072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.79, Y:0.02, Z:1.72 [[ 9.37778087e-01 -3.37392967e-01 -8.20868159e-02 3.67941998e+01] [ 3.37239468e-01 9.41280383e-01 -1.61487298e-02 1.74234519e-02] [ 8.27151774e-02 -1.25389892e-02 9.96494342e-01 1.72331155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.939072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.82, Y:0.02, Z:1.73 [[ 9.37633630e-01 -3.37965839e-01 -8.13773095e-02 3.68214399e+01] [ 3.37815084e-01 9.41075931e-01 -1.60331275e-02 2.25140646e-02] [ 8.20008766e-02 -1.24572831e-02 9.96554400e-01 1.72525855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.969072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.85, Y:0.03, Z:1.73 [[ 9.37448760e-01 -3.38780242e-01 -8.01109879e-02 3.68489231e+01] [ 3.38635031e-01 9.40785006e-01 -1.58078406e-02 2.60953445e-02] [ 8.07226003e-02 -1.23093464e-02 9.96660595e-01 1.72861657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.999072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.88, Y:0.03, Z:1.73 [[ 9.37142999e-01 -3.39530262e-01 -8.05121148e-02 3.68758403e+01] [ 3.39384363e-01 9.40513210e-01 -1.59108575e-02 3.09127536e-02] [ 8.11249252e-02 -1.24138040e-02 9.96626632e-01 1.73097601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.029072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.90, Y:0.04, Z:1.73 [[ 9.36912555e-01 -3.40152972e-01 -8.05656234e-02 3.69035449e+01] [ 3.40007711e-01 9.40287569e-01 -1.59387724e-02 3.58263044e-02] [ 8.11764750e-02 -1.24596973e-02 9.96621862e-01 1.73387438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.059072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.93, Y:0.04, Z:1.74 [[ 9.36571884e-01 -3.40962522e-01 -8.11028079e-02 3.69310976e+01] [ 3.40816295e-01 9.39992567e-01 -1.60694435e-02 4.15375444e-02] [ 8.17151146e-02 -1.25909695e-02 9.96576193e-01 1.73555100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.089072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.96, Y:0.05, Z:1.74 [[ 9.36330243e-01 -3.41385725e-01 -8.21064148e-02 3.69574349e+01] [ 3.41235534e-01 9.39836629e-01 -1.62917699e-02 4.61090149e-02] [ 8.27283938e-02 -1.27631495e-02 9.96490399e-01 1.73688382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.119072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.98, Y:0.05, Z:1.74 [[ 9.36114542e-01 -3.42048546e-01 -8.18068204e-02 3.69845505e+01] [ 3.41900907e-01 9.39595600e-01 -1.62443479e-02 5.16801197e-02] [ 8.24216841e-02 -1.27632558e-02 9.96515813e-01 1.73827377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.149072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.01, Y:0.06, Z:1.74 [[ 9.36038086e-01 -3.42398404e-01 -8.12159759e-02 3.70107499e+01] [ 3.42252289e-01 9.39469297e-01 -1.61496528e-02 5.66120485e-02] [ 8.18295311e-02 -1.26796636e-02 9.96565680e-01 1.74016777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.179072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.04, Y:0.06, Z:1.74 [[ 9.35707928e-01 -3.43324407e-01 -8.11111827e-02 3.70381103e+01] [ 3.43181093e-01 9.39130567e-01 -1.61405126e-02 6.12625955e-02] [ 8.17154229e-02 -1.27330187e-02 9.96574362e-01 1.74361940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.209072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.07, Y:0.07, Z:1.75 [[ 9.35454376e-01 -3.44072115e-01 -8.08671213e-02 3.70657351e+01] [ 3.43930384e-01 9.38856836e-01 -1.61162369e-02 6.62600612e-02] [ 8.14677974e-02 -1.27366558e-02 9.96594589e-01 1.74570497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.239072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.09, Y:0.07, Z:1.75 [[ 9.35347679e-01 -3.44266701e-01 -8.12721207e-02 3.70924884e+01] [ 3.44122332e-01 9.38784699e-01 -1.62206473e-02 7.08946651e-02] [ 8.18812522e-02 -1.27956069e-02 9.96559950e-01 1.74838746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.269072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.12, Y:0.07, Z:1.75 [[ 9.35043537e-01 -3.43872415e-01 -8.62864155e-02 3.71199106e+01] [ 3.43892119e-01 9.38887647e-01 -1.51061949e-02 7.47853490e-02] [ 8.62078533e-02 -1.55482684e-02 9.96155840e-01 1.75487426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.299072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.15, Y:0.08, Z:1.75 [[ 9.34705716e-01 -3.46091154e-01 -8.09082032e-02 3.71482684e+01] [ 3.45766375e-01 9.38139424e-01 -1.84400306e-02 8.18239939e-02] [ 8.22851067e-02 -1.07393341e-02 9.96550966e-01 1.75061132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.329072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.18, Y:0.09, Z:1.75 [[ 9.34443927e-01 -3.46679015e-01 -8.14138054e-02 3.71761034e+01] [ 3.46538346e-01 9.37894070e-01 -1.63060750e-02 8.68016921e-02] [ 8.20104993e-02 -1.29758927e-02 9.96546990e-01 1.75366216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.359072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.20, Y:0.09, Z:1.76 [[ 9.34171917e-01 -3.47462339e-01 -8.11957639e-02 3.72039574e+01] [ 3.47323333e-01 9.37604000e-01 -1.62862516e-02 9.24776000e-02] [ 8.17883321e-02 -1.29870244e-02 9.96565104e-01 1.75537938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.38907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.23, Y:0.10, Z:1.76 [[ 9.33752090e-01 -3.48660694e-01 -8.08872992e-02 3.72319729e+01] [ 3.48525107e-01 9.37158593e-01 -1.62487626e-02 9.70876016e-02] [ 8.14695323e-02 -1.30189386e-02 9.96590800e-01 1.75845777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.41907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.26, Y:0.10, Z:1.76 [[ 9.33559097e-01 -3.49213419e-01 -8.07304181e-02 3.72595528e+01] [ 3.49078359e-01 9.36952776e-01 -1.62417718e-02 1.02406107e-01] [ 8.13124340e-02 -1.30185880e-02 9.96603635e-01 1.76112868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.44907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.29, Y:0.11, Z:1.76 [[ 9.33349550e-01 -3.49888207e-01 -8.02300502e-02 3.72868970e+01] [ 3.49755249e-01 9.36701631e-01 -1.61653948e-02 1.07437302e-01] [ 8.08076999e-02 -1.29729172e-02 9.96645282e-01 1.76337159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.479072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.31, Y:0.11, Z:1.77 [[ 9.32783566e-01 -3.51257966e-01 -8.08248688e-02 3.73143665e+01] [ 3.51125978e-01 9.36186152e-01 -1.63105942e-02 1.12866357e-01] [ 8.13963491e-02 -1.31654570e-02 9.96594855e-01 1.76564058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.509072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.34, Y:0.12, Z:1.77 [[ 9.32618375e-01 -3.51581039e-01 -8.13248975e-02 3.73411275e+01] [ 3.51446650e-01 9.36063633e-01 -1.64355652e-02 1.18162110e-01] [ 8.19037121e-02 -1.32532527e-02 9.96552123e-01 1.76767789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.539072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.37, Y:0.12, Z:1.77 [[ 9.32175020e-01 -3.52653965e-01 -8.17613184e-02 3.73685737e+01] [ 3.52521123e-01 9.35657742e-01 -1.65362766e-02 1.23793973e-01] [ 8.23321940e-02 -1.34078878e-02 9.96514746e-01 1.76887889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.569072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.40, Y:0.13, Z:1.77 [[ 9.31744460e-01 -3.53558388e-01 -8.27570443e-02 3.73960466e+01] [ 3.53423658e-01 9.35313162e-01 -1.67632605e-02 1.28550584e-01] [ 8.33305442e-02 -1.36292222e-02 9.96428755e-01 1.77104378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.599072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.42, Y:0.13, Z:1.77 [[ 9.31515047e-01 -3.54159182e-01 -8.27707143e-02 3.74227531e+01] [ 3.54024732e-01 9.35085341e-01 -1.67896922e-02 1.33218085e-01] [ 8.33439052e-02 -1.36630290e-02 9.96427175e-01 1.77308709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.629072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.45, Y:0.14, Z:1.78 [[ 9.31092971e-01 -3.55369278e-01 -8.23319899e-02 3.74501738e+01] [ 3.55239789e-01 9.34625789e-01 -1.67130741e-02 1.38632893e-01] [ 8.28889141e-02 -1.36861730e-02 9.96464810e-01 1.77506948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.659072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.48, Y:0.14, Z:1.78 [[ 9.30728628e-01 -3.56292063e-01 -8.24632459e-02 3.74776532e+01] [ 3.56163562e-01 9.34273218e-01 -1.67651479e-02 1.43734924e-01] [ 8.30164913e-02 -1.37666004e-02 9.96453081e-01 1.77849899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.689072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.50, Y:0.15, Z:1.78 [[ 9.30484963e-01 -3.57069458e-01 -8.18482465e-02 3.75044598e+01] [ 3.56943782e-01 9.33977220e-01 -1.66639789e-02 1.48557245e-01] [ 8.23945956e-02 -1.37096408e-02 9.96505482e-01 1.78101423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.719072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.53, Y:0.15, Z:1.78 [[ 9.29797068e-01 -3.58943267e-01 -8.14686629e-02 3.75316429e+01] [ 3.58824696e-01 9.33257366e-01 -1.65989954e-02 1.53019771e-01] [ 8.19893274e-02 -1.37992710e-02 9.96537671e-01 1.78379091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.749072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.56, Y:0.16, Z:1.79 [[ 9.29350975e-01 -3.60133275e-01 -8.13067644e-02 3.75593106e+01] [ 3.60017588e-01 9.32797995e-01 -1.65902701e-02 1.58315937e-01] [ 8.18174951e-02 -1.38536815e-02 9.96551039e-01 1.78562933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.779072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.59, Y:0.16, Z:1.79 [[ 9.28603385e-01 -3.62165364e-01 -8.08208008e-02 3.75865679e+01] [ 3.62056457e-01 9.32009842e-01 -1.65159415e-02 1.62572821e-01] [ 8.13072838e-02 -1.39249337e-02 9.96591803e-01 1.78766880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.809072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.61, Y:0.17, Z:1.79 [[ 9.28149294e-01 -3.63176108e-01 -8.14984900e-02 3.76135489e+01] [ 3.63067096e-01 9.31613693e-01 -1.66796476e-02 1.67343852e-01] [ 8.19827587e-02 -1.41082170e-02 9.96533886e-01 1.79019290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.839072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.64, Y:0.17, Z:1.79 [[ 9.27667450e-01 -3.64372243e-01 -8.16453993e-02 3.76407567e+01] [ 3.64265280e-01 9.31144866e-01 -1.67345593e-02 1.72283353e-01] [ 8.21213032e-02 -1.42164782e-02 9.96520940e-01 1.79228792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.869072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.67, Y:0.18, Z:1.79 [[ 9.26718104e-01 -3.66563608e-01 -8.26116030e-02 3.76680500e+01] [ 3.66460552e-01 9.30279062e-01 -1.69567142e-02 1.76054516e-01] [ 8.30675589e-02 -1.45597996e-02 9.96437551e-01 1.79394945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.899072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.70, Y:0.18, Z:1.80 [[ 9.26109559e-01 -3.68039148e-01 -8.28750263e-02 3.76958217e+01] [ 3.67940098e-01 9.29693652e-01 -1.70234326e-02 1.81162339e-01] [ 8.33136755e-02 -1.47274816e-02 9.96414539e-01 1.79645141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.929072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.72, Y:0.19, Z:1.80 [[ 9.25314805e-01 -3.70076484e-01 -8.26795514e-02 3.77240496e+01] [ 3.69983674e-01 9.28882558e-01 -1.70080816e-02 1.85014520e-01] [ 8.30938842e-02 -1.48522545e-02 9.96431040e-01 1.79856239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.959072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.75, Y:0.19, Z:1.80 [[ 9.25213795e-01 -3.70330040e-01 -8.26746351e-02 3.77519591e+01] [ 3.70236144e-01 9.28781519e-01 -1.70319478e-02 1.90981724e-01] [ 8.30941151e-02 -1.48509451e-02 9.96431040e-01 1.80069521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.989072329 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:37.78, Y:0.20, Z:1.80 [[ 9.24562095e-01 -3.71924931e-01 -8.28056669e-02 3.77791776e+01] [ 3.71834931e-01 9.28141673e-01 -1.70827181e-02 1.96174626e-01] [ 8.32088789e-02 -1.49960058e-02 9.96419290e-01 1.80244658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.019072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.81, Y:0.20, Z:1.80 [[ 9.24073669e-01 -3.73213135e-01 -8.24609607e-02 3.78067484e+01] [ 3.73126749e-01 9.27623949e-01 -1.70364026e-02 2.01063200e-01] [ 8.28509712e-02 -1.50254991e-02 9.96448670e-01 1.80498925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.049072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.83, Y:0.21, Z:1.81 [[ 9.23603653e-01 -3.74328900e-01 -8.26690253e-02 3.78342704e+01] [ 3.74244425e-01 9.27172366e-01 -1.71030580e-02 2.05994471e-01] [ 8.30506047e-02 -1.51419750e-02 9.96430287e-01 1.80764731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.079072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.86, Y:0.21, Z:1.81 [[ 9.23191309e-01 -3.75409584e-01 -8.23738517e-02 3.78608719e+01] [ 3.75327836e-01 9.26735001e-01 -1.70661554e-02 2.10776883e-01] [ 8.27455298e-02 -1.51618732e-02 9.96455365e-01 1.80931875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.109072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.89, Y:0.21, Z:1.81 [[ 9.22517774e-01 -3.77066893e-01 -8.23499595e-02 3.78885406e+01] [ 3.76990073e-01 9.26059821e-01 -1.70790214e-02 2.14966203e-01] [ 8.27009223e-02 -1.52894165e-02 9.96457120e-01 1.81073492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.13907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.92, Y:0.22, Z:1.81 [[ 9.21811682e-01 -3.78791405e-01 -8.23425477e-02 3.79164537e+01] [ 3.78719133e-01 9.25353618e-01 -1.71026450e-02 2.20293520e-01] [ 8.26743093e-02 -1.54192804e-02 9.96457327e-01 1.81278457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.16907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.94, Y:0.23, Z:1.82 [[ 9.21330421e-01 -3.79943587e-01 -8.24204257e-02 3.79433650e+01] [ 3.79873639e-01 9.24879531e-01 -1.71426806e-02 2.25128948e-01] [ 8.27422162e-02 -1.55152739e-02 9.96450200e-01 1.81531572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.19907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.97, Y:0.23, Z:1.82 [[ 9.20404843e-01 -3.82158452e-01 -8.25217719e-02 3.79708970e+01] [ 3.82095847e-01 9.23963060e-01 -1.71763673e-02 2.27877364e-01] [ 8.28111628e-02 -1.57220147e-02 9.96441232e-01 1.81809629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.229072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.00, Y:0.23, Z:1.82 [[ 9.19786903e-01 -3.83678503e-01 -8.23581148e-02 3.79986524e+01] [ 3.83619883e-01 9.23331497e-01 -1.71677364e-02 2.32786762e-01] [ 8.26307329e-02 -1.58035513e-02 9.96454921e-01 1.82003745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.259072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.02, Y:0.24, Z:1.82 [[ 9.19169951e-01 -3.85043857e-01 -8.28723704e-02 3.80249244e+01] [ 3.84987865e-01 9.22759499e-01 -1.72988741e-02 2.37232970e-01] [ 8.31320922e-02 -1.60042518e-02 9.96410016e-01 1.82298357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.289072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.05, Y:0.24, Z:1.82 [[ 9.18486093e-01 -3.86775671e-01 -8.23885790e-02 3.80515968e+01] [ 3.86726085e-01 9.22034052e-01 -1.72087894e-02 2.40451343e-01] [ 8.26210164e-02 -1.60557789e-02 9.96451695e-01 1.82419854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.319072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.08, Y:0.25, Z:1.83 [[ 9.17796993e-01 -3.88428923e-01 -8.22900430e-02 3.80796640e+01] [ 3.88384803e-01 9.21336739e-01 -1.72005442e-02 2.45671251e-01] [ 8.24980287e-02 -1.61735943e-02 9.96459979e-01 1.82626633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.349072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.11, Y:0.25, Z:1.83 [[ 9.17438609e-01 -3.89270314e-01 -8.23105230e-02 3.81061590e+01] [ 3.89227503e-01 9.20980536e-01 -1.72279806e-02 2.50018957e-01] [ 8.25127311e-02 -1.62319048e-02 9.96457814e-01 1.82875005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.379072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.13, Y:0.25, Z:1.83 [[ 9.16988638e-01 -3.90438791e-01 -8.17886782e-02 3.81341614e+01] [ 3.90399959e-01 9.20485964e-01 -1.71307361e-02 2.54482423e-01] [ 8.19738342e-02 -1.62216062e-02 9.96502459e-01 1.83098697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.409072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.16, Y:0.26, Z:1.83 [[ 9.16089887e-01 -3.92529541e-01 -8.18527848e-02 3.81617685e+01] [ 3.92496637e-01 9.19593188e-01 -1.71685258e-02 2.57546111e-01] [ 8.20104169e-02 -1.63990299e-02 9.96496545e-01 1.83374334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.439072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.19, Y:0.26, Z:1.84 [[ 9.15758576e-01 -3.93252138e-01 -8.20913272e-02 3.81881266e+01] [ 3.93219878e-01 9.19282780e-01 -1.72423017e-02 2.61937772e-01] [ 8.22457156e-02 -1.64901560e-02 9.96475648e-01 1.83615435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.469072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.22, Y:0.27, Z:1.84 [[ 9.15256280e-01 -3.94307581e-01 -8.26285307e-02 3.82155583e+01] [ 3.94277993e-01 9.18827091e-01 -1.73678308e-02 2.67087733e-01] [ 8.27695998e-02 -1.66825951e-02 9.96429066e-01 1.83842492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.499072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.24, Y:0.27, Z:1.84 [[ 9.14637040e-01 -3.95454302e-01 -8.39939232e-02 3.82425311e+01] [ 3.95426380e-01 9.18327513e-01 -1.76792795e-02 2.71815351e-01] [ 8.41252778e-02 -1.70432891e-02 9.96309422e-01 1.83970446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.529072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.27, Y:0.28, Z:1.84 [[ 9.14579360e-01 -3.95627136e-01 -8.38078967e-02 3.82689294e+01] [ 3.95599077e-01 9.18253669e-01 -1.76513011e-02 2.76305435e-01] [ 8.39402423e-02 -1.70108109e-02 9.96325583e-01 1.84178448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.559072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.30, Y:0.28, Z:1.84 [[ 9.14283445e-01 -3.96320907e-01 -8.37587086e-02 3.82960389e+01] [ 3.96294579e-01 9.17953675e-01 -1.76538142e-02 2.81729557e-01] [ 8.38831900e-02 -1.70525321e-02 9.96329675e-01 1.84399929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.589072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.32, Y:0.29, Z:1.85 [[ 9.14331625e-01 -3.96441582e-01 -8.26544170e-02 3.83227116e+01] [ 3.96414389e-01 9.17905942e-01 -1.74445717e-02 2.85232777e-01] [ 8.27847342e-02 -1.68152766e-02 9.96425579e-01 1.84650524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.619072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.35, Y:0.29, Z:1.85 [[ 9.14132205e-01 -3.96875312e-01 -8.27786055e-02 3.83502524e+01] [ 3.96848702e-01 9.17717517e-01 -1.74833396e-02 2.90529196e-01] [ 8.29060822e-02 -1.68684984e-02 9.96414590e-01 1.84940471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.649072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.38, Y:0.30, Z:1.85 [[ 9.14044969e-01 -3.97060649e-01 -8.28530923e-02 3.83779172e+01] [ 3.97032715e-01 9.17637162e-01 -1.75232077e-02 2.96184988e-01] [ 8.29868527e-02 -1.68783883e-02 9.96407699e-01 1.85116028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.679072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.41, Y:0.30, Z:1.85 [[ 9.14018653e-01 -3.97092723e-01 -8.29895834e-02 3.84055884e+01] [ 3.97062740e-01 9.17623139e-01 -1.75771429e-02 3.02070044e-01] [ 8.31329175e-02 -1.68862350e-02 9.96395390e-01 1.85244787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.709072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.43, Y:0.31, Z:1.85 [[ 9.14161718e-01 -3.96614869e-01 -8.36958697e-02 3.84327559e+01] [ 3.96580359e-01 9.17828348e-01 -1.77522254e-02 3.07217678e-01] [ 8.38592384e-02 -1.69637332e-02 9.96333207e-01 1.85483165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.739072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.46, Y:0.31, Z:1.87 [[ 9.14158075e-01 -3.95924017e-01 -8.69435838e-02 3.84622984e+01] [ 3.96787017e-01 9.17877039e-01 -7.86152131e-03 3.10321438e-01] [ 8.29160844e-02 -2.73114121e-02 9.96182217e-01 1.86561228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.769072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.49, Y:0.32, Z:1.85 [[ 9.14270900e-01 -3.96885169e-01 -8.11842580e-02 3.84877516e+01] [ 3.95997297e-01 9.17841202e-01 -2.74530369e-02 3.20203379e-01] [ 8.54099601e-02 -7.04923399e-03 9.96320956e-01 1.85409417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.799072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.51, Y:0.32, Z:1.86 [[ 9.14921178e-01 -3.94950557e-01 -8.32664134e-02 3.85140755e+01] [ 3.94905354e-01 9.18551023e-01 -1.77138269e-02 3.21982865e-01] [ 8.34805350e-02 -1.66755972e-02 9.96369873e-01 1.86325667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.829072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.54, Y:0.33, Z:1.86 [[ 9.15136182e-01 -3.94598265e-01 -8.25710425e-02 3.85420830e+01] [ 3.94551375e-01 9.18705731e-01 -1.75781830e-02 3.27682235e-01] [ 8.27948105e-02 -1.64920871e-02 9.96430143e-01 1.86498473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.859072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.57, Y:0.33, Z:1.88 [[ 9.15202120e-01 -3.93625661e-01 -8.63939764e-02 3.85716703e+01] [ 3.94603265e-01 9.18830838e-01 -6.17695198e-03 3.30892711e-01] [ 8.18128565e-02 -2.84381856e-02 9.96241901e-01 1.87735917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.88907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.60, Y:0.34, Z:1.86 [[ 9.15366026e-01 -3.94584335e-01 -8.00514916e-02 3.85964893e+01] [ 3.93566000e-01 9.18845306e-01 -2.87942110e-02 3.42585924e-01] [ 8.49166820e-02 -5.14830290e-03 9.96374755e-01 1.86266940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.91907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.62, Y:0.35, Z:1.87 [[ 9.16305031e-01 -3.91859001e-01 -8.26535737e-02 3.86245191e+01] [ 3.91796436e-01 9.19882532e-01 -1.76544580e-02 3.45604599e-01] [ 8.29496369e-02 -1.62065069e-02 9.96421952e-01 1.87096116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.94907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.65, Y:0.35, Z:1.87 [[ 9.16568063e-01 -3.91261261e-01 -8.25688238e-02 3.86506191e+01] [ 3.91194511e-01 9.20138562e-01 -1.76601601e-02 3.51269351e-01] [ 8.28844953e-02 -1.61137319e-02 9.96428878e-01 1.87237715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.979072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.68, Y:0.36, Z:1.88 [[ 9.16990205e-01 -3.90150898e-01 -8.31338751e-02 3.86782192e+01] [ 3.90077806e-01 9.20609952e-01 -1.77938553e-02 3.56638697e-01] [ 8.34761614e-02 -1.61118886e-02 9.96379515e-01 1.87624379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.009072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.71, Y:0.36, Z:1.88 [[ 9.17777610e-01 -3.88346642e-01 -8.28923677e-02 3.87059434e+01] [ 3.88264774e-01 9.21376571e-01 -1.77673874e-02 3.63004692e-01] [ 8.32749908e-02 -1.58776760e-02 9.96400108e-01 1.87768974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.039072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.73, Y:0.37, Z:1.88 [[ 9.18105782e-01 -3.87353447e-01 -8.38992250e-02 3.87332517e+01] [ 3.87263465e-01 9.21793189e-01 -1.80090157e-02 3.69412089e-01] [ 8.43135885e-02 -1.59569232e-02 9.96311495e-01 1.88056702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.069072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.76, Y:0.38, Z:1.88 [[ 9.18636274e-01 -3.86200885e-01 -8.34042775e-02 3.87604504e+01] [ 3.86105223e-01 9.22280509e-01 -1.79281634e-02 3.75700315e-01] [ 8.38460121e-02 -1.57333660e-02 9.96354509e-01 1.88146299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.099072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.79, Y:0.38, Z:1.88 [[ 9.19063680e-01 -3.85041145e-01 -8.40551504e-02 3.87866843e+01] [ 3.84937294e-01 9.22765381e-01 -1.80923135e-02 3.82332886e-01] [ 8.45294679e-02 -1.57279739e-02 9.96296843e-01 1.88417877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.129072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.81, Y:0.39, Z:1.89 [[ 9.20118799e-01 -3.82527005e-01 -8.39909880e-02 3.88141574e+01] [ 3.82412113e-01 9.23814742e-01 -1.80913708e-02 3.89465567e-01] [ 8.45125509e-02 -1.54729608e-02 9.96302272e-01 1.88511268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.159072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.84, Y:0.40, Z:1.89 [[ 9.20517971e-01 -3.81437009e-01 -8.45722950e-02 3.88412539e+01] [ 3.81314021e-01 9.24265589e-01 -1.82411128e-02 3.95625740e-01] [ 8.51250976e-02 -1.54573297e-02 9.96250364e-01 1.88739219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.189072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.87, Y:0.40, Z:1.89 [[ 9.21329918e-01 -3.79347974e-01 -8.51251849e-02 3.88677689e+01] [ 3.79212628e-01 9.25126886e-01 -1.83855218e-02 4.01976381e-01] [ 8.57261077e-02 -1.53414138e-02 9.96200620e-01 1.88980999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.219072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.90, Y:0.41, Z:1.89 [[ 9.21686939e-01 -3.78652197e-01 -8.43546053e-02 3.88952168e+01] [ 3.78514868e-01 9.25415524e-01 -1.82374311e-02 4.08367595e-01] [ 8.49687046e-02 -1.51202703e-02 9.96268888e-01 1.89132366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.249072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.92, Y:0.41, Z:1.89 [[ 9.22129615e-01 -3.77579837e-01 -8.43234214e-02 3.89220419e+01] [ 3.77436097e-01 9.25855660e-01 -1.82562106e-02 4.14404370e-01] [ 8.49644940e-02 -1.49921107e-02 9.96271184e-01 1.89429435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.279072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.95, Y:0.42, Z:1.90 [[ 9.23182938e-01 -3.75302584e-01 -8.29532065e-02 3.89488457e+01] [ 3.75152396e-01 9.26788665e-01 -1.79847089e-02 4.21533212e-01] [ 8.36297992e-02 -1.45169178e-02 9.96391146e-01 1.89582727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.309072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.97, Y:0.43, Z:1.90 [[ 9.23669105e-01 -3.74218330e-01 -8.24380105e-02 3.89749528e+01] [ 3.74063768e-01 9.27230275e-01 -1.78973222e-02 4.27934352e-01] [ 8.31365252e-02 -1.43058693e-02 9.96435477e-01 1.89726864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.339072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.00, Y:0.43, Z:1.90 [[ 9.24202038e-01 -3.72920185e-01 -8.23476086e-02 3.90018104e+01] [ 3.72759468e-01 9.27755423e-01 -1.78956516e-02 4.34626082e-01] [ 8.30720902e-02 -1.41566531e-02 9.96442982e-01 1.89897513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.369072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.03, Y:0.44, Z:1.90 [[ 9.24727093e-01 -3.71575236e-01 -8.25327069e-02 3.90288823e+01] [ 3.71406554e-01 9.28296608e-01 -1.79604917e-02 4.41065845e-01] [ 8.32885058e-02 -1.40446350e-02 9.96426502e-01 1.90135323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.399072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.06, Y:0.45, Z:1.90 [[ 9.25806312e-01 -3.68684576e-01 -8.33927872e-02 3.90551216e+01] [ 3.68499041e-01 9.29450521e-01 -1.81710299e-02 4.47508998e-01] [ 8.42088479e-02 -1.39073079e-02 9.96351071e-01 1.90383232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.429072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.08, Y:0.45, Z:1.91 [[ 9.26279836e-01 -3.67459183e-01 -8.35428826e-02 3.90827694e+01] [ 3.67267086e-01 9.29937124e-01 -1.82162677e-02 4.53808528e-01] [ 8.43833629e-02 -1.38091896e-02 9.96337671e-01 1.90607737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.459072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.11, Y:0.46, Z:1.91 [[ 9.26614231e-01 -3.66529711e-01 -8.39168468e-02 3.91090805e+01] [ 3.66330235e-01 9.30304520e-01 -1.83209682e-02 4.60658054e-01] [ 8.47834011e-02 -1.37648083e-02 9.96304323e-01 1.90772256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.489072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.14, Y:0.47, Z:1.91 [[ 9.27672489e-01 -3.63833255e-01 -8.39590150e-02 3.91364054e+01] [ 3.63621757e-01 9.31366070e-01 -1.83428702e-02 4.68151415e-01] [ 8.48703240e-02 -1.35131485e-02 9.96300368e-01 1.90989073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.519072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.16, Y:0.48, Z:1.91 [[ 9.28028400e-01 -3.62866951e-01 -8.42072719e-02 3.91636144e+01] [ 3.62648163e-01 9.31744019e-01 -1.84226048e-02 4.75630582e-01] [ 8.51445764e-02 -1.34409120e-02 9.96277945e-01 1.91164556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.549072329 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:39.19, Y:0.48, Z:1.91 [[ 9.28593686e-01 -3.61384263e-01 -8.43515315e-02 3.91899691e+01] [ 3.61156679e-01 9.32322043e-01 -1.84786502e-02 4.82503448e-01] [ 8.53206856e-02 -1.33049611e-02 9.96264703e-01 1.91386016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.579072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.22, Y:0.49, Z:1.92 [[ 9.29238194e-01 -3.59835661e-01 -8.38729707e-02 3.92171095e+01] [ 3.59603367e-01 9.32924079e-01 -1.83869730e-02 4.89473289e-01] [ 8.48634025e-02 -1.30751251e-02 9.96306802e-01 1.91543823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.609072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.24, Y:0.50, Z:1.92 [[ 9.30026793e-01 -3.57760706e-01 -8.40085872e-02 3.92426683e+01] [ 3.57517279e-01 9.33724424e-01 -1.84416858e-02 4.96773979e-01] [ 8.50385802e-02 -1.28832597e-02 9.96294365e-01 1.91759513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.63907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.27, Y:0.50, Z:1.92 [[ 9.30399348e-01 -3.56778024e-01 -8.40624394e-02 3.92692048e+01] [ 3.56528931e-01 9.34101688e-01 -1.84704316e-02 5.03351948e-01] [ 8.51127106e-02 -1.27858142e-02 9.96289290e-01 1.91940697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.66907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.30, Y:0.51, Z:1.92 [[ 9.30777286e-01 -3.55826784e-01 -8.39103337e-02 3.92954556e+01] [ 3.55573875e-01 9.34466099e-01 -1.84480294e-02 5.09650298e-01] [ 8.49756651e-02 -1.26653157e-02 9.96302527e-01 1.92130417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.69907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.32, Y:0.52, Z:1.92 [[ 9.31464194e-01 -3.53991124e-01 -8.40520048e-02 3.93220283e+01] [ 3.53728975e-01 9.35165151e-01 -1.84919856e-02 5.17288963e-01] [ 8.51485045e-02 -1.25070070e-02 9.96289771e-01 1.92336771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.729072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.35, Y:0.52, Z:1.92 [[ 9.31759699e-01 -3.53261044e-01 -8.38480675e-02 3.93479632e+01] [ 3.52995181e-01 9.35442783e-01 -1.84716430e-02 5.24011687e-01] [ 8.49603815e-02 -1.23868312e-02 9.96307332e-01 1.92477078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.759072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.37, Y:0.53, Z:1.93 [[ 9.32583839e-01 -3.51155273e-01 -8.35305770e-02 3.93737701e+01] [ 3.50881746e-01 9.36238628e-01 -1.84182302e-02 5.30656769e-01] [ 8.46722115e-02 -1.21328108e-02 9.96334990e-01 1.92673810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.789072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.40, Y:0.54, Z:1.93 [[ 9.32823349e-01 -3.50467666e-01 -8.37437460e-02 3.94007308e+01] [ 3.50188948e-01 9.36496803e-01 -1.84780505e-02 5.37398431e-01] [ 8.49017096e-02 -1.20893774e-02 9.96315987e-01 1.92882551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.819072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.43, Y:0.54, Z:1.93 [[ 9.33018938e-01 -3.49961139e-01 -8.36831036e-02 3.94280742e+01] [ 3.49678670e-01 9.36687219e-01 -1.84900482e-02 5.44397872e-01] [ 8.48556919e-02 -1.20106312e-02 9.96320860e-01 1.93077265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.849072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.46, Y:0.55, Z:1.93 [[ 9.32924581e-01 -3.50213859e-01 -8.36778255e-02 3.94558939e+01] [ 3.49930288e-01 9.36592777e-01 -1.85139058e-02 5.50785676e-01] [ 8.48558734e-02 -1.20093277e-02 9.96320860e-01 1.93290687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.879072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.48, Y:0.56, Z:1.93 [[ 9.33092061e-01 -3.49606969e-01 -8.43455529e-02 3.94830037e+01] [ 3.49314374e-01 9.36819250e-01 -1.86858617e-02 5.57450824e-01] [ 8.55492451e-02 -1.20274848e-02 9.96261344e-01 1.93451825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.909072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.51, Y:0.57, Z:1.93 [[ 9.33333752e-01 -3.49023448e-01 -8.40876883e-02 3.95108371e+01] [ 3.48521628e-01 9.37064244e-01 -2.10541492e-02 5.65916640e-01] [ 8.61439578e-02 -9.65582998e-03 9.96235908e-01 1.93494974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.939072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.54, Y:0.57, Z:1.94 [[ 9.33915507e-01 -3.47332985e-01 -8.46263751e-02 3.95382834e+01] [ 3.47241369e-01 9.37634551e-01 -1.62751652e-02 5.71279293e-01] [ 8.50015149e-02 -1.41861492e-02 9.96279828e-01 1.93999033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.969072329 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:39.57, Y:0.58, Z:1.94 [[ 9.33959351e-01 -3.47370779e-01 -8.39849530e-02 3.95659714e+01] [ 3.46931544e-01 9.37672024e-01 -2.02405562e-02 5.79073670e-01] [ 8.57813186e-02 -1.02331726e-02 9.96261435e-01 1.94042850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.999072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.59, Y:0.59, Z:1.94 [[ 9.34509442e-01 -3.46017074e-01 -8.34523032e-02 3.95934191e+01] [ 3.45849307e-01 9.38137473e-01 -1.69215306e-02 5.85833848e-01] [ 8.41448714e-02 -1.30485911e-02 9.96368092e-01 1.94321171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.029072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.62, Y:0.59, Z:1.94 [[ 9.34404382e-01 -3.46160899e-01 -8.40302518e-02 3.96193843e+01] [ 3.45848487e-01 9.38103743e-01 -1.87134259e-02 5.92838216e-01] [ 8.53069501e-02 -1.15758283e-02 9.96287471e-01 1.94458596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.059072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.65, Y:0.60, Z:1.95 [[ 9.34295232e-01 -3.46444311e-01 -8.40759151e-02 3.96462904e+01] [ 3.46131051e-01 9.37998938e-01 -1.87426458e-02 5.99895890e-01] [ 8.53564021e-02 -1.15901203e-02 9.96283069e-01 1.94538425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.089072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.67, Y:0.61, Z:1.95 [[ 9.34226212e-01 -3.46513135e-01 -8.45578668e-02 3.96729049e+01] [ 3.46194433e-01 9.37972897e-01 -1.88748243e-02 6.06228281e-01] [ 8.58533618e-02 -1.16401072e-02 9.96239784e-01 1.94683810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.119072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.70, Y:0.61, Z:1.95 [[ 9.34179040e-01 -3.46617081e-01 -8.46529432e-02 3.96996525e+01] [ 3.46296916e-01 9.37934365e-01 -1.89095872e-02 6.12961047e-01] [ 8.59532904e-02 -1.16501131e-02 9.96231051e-01 1.94916830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.149072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.73, Y:0.62, Z:1.95 [[ 9.34055186e-01 -3.47071003e-01 -8.41583539e-02 3.97259900e+01] [ 3.46754285e-01 9.37767109e-01 -1.88232390e-02 6.19348178e-01] [ 8.54539367e-02 -1.16003258e-02 9.96274589e-01 1.95120826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.179072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.75, Y:0.63, Z:1.95 [[ 9.34187237e-01 -3.47054583e-01 -8.27485504e-02 3.97530279e+01] [ 3.46747211e-01 9.37775751e-01 -1.85206053e-02 6.26161374e-01] [ 8.40272449e-02 -1.13911160e-02 9.96398346e-01 1.95367422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.209072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.78, Y:0.63, Z:1.95 [[ 9.34078040e-01 -3.47426953e-01 -8.24180058e-02 3.97805916e+01] [ 3.47121306e-01 9.37638301e-01 -1.84720410e-02 6.33366517e-01] [ 8.36959638e-02 -1.13547180e-02 9.96426644e-01 1.95488175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.239072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.81, Y:0.64, Z:1.96 [[ 9.34092618e-01 -3.47392221e-01 -8.23991855e-02 3.98065237e+01] [ 3.47084556e-01 9.37651513e-01 -1.84919231e-02 6.39880340e-01] [ 8.36856712e-02 -1.13263158e-02 9.96427831e-01 1.95675514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.269072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.83, Y:0.65, Z:1.96 [[ 9.33990359e-01 -3.47587599e-01 -8.27337311e-02 3.98336305e+01] [ 3.47277116e-01 9.37578475e-01 -1.85797586e-02 6.46609434e-01] [ 8.40274591e-02 -1.13782161e-02 9.96398476e-01 1.95841062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.299072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.86, Y:0.65, Z:1.96 [[ 9.33720722e-01 -3.48210539e-01 -8.31566793e-02 3.98602887e+01] [ 3.47897226e-01 9.37346178e-01 -1.86992629e-02 6.53584690e-01] [ 8.44578760e-02 -1.14700887e-02 9.96361031e-01 1.95928289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.329072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.89, Y:0.66, Z:1.96 [[ 9.33434624e-01 -3.48894934e-01 -8.34992622e-02 3.98897940e+01] [ 3.48799359e-01 9.37057303e-01 -1.62055028e-02 6.60056516e-01] [ 8.38976113e-02 -1.39977117e-02 9.96376061e-01 1.96284885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.359072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.92, Y:0.67, Z:1.96 [[ 9.33414695e-01 -3.49125316e-01 -8.27557870e-02 3.99158745e+01] [ 3.48629170e-01 9.37028944e-01 -2.08436797e-02 6.67091616e-01] [ 8.48216239e-02 -9.39528448e-03 9.96351856e-01 1.96185005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.38907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.94, Y:0.67, Z:1.97 [[ 9.33287750e-01 -3.49326976e-01 -8.33345067e-02 3.99423226e+01] [ 3.49011657e-01 9.36929818e-01 -1.87984019e-02 6.73002484e-01] [ 8.46453731e-02 -1.15403961e-02 9.96344308e-01 1.96567087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.41907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.97, Y:0.68, Z:1.97 [[ 9.33209724e-01 -3.49710820e-01 -8.25951188e-02 3.99687901e+01] [ 3.49401059e-01 9.36787658e-01 -1.86489666e-02 6.80116536e-01] [ 8.38958333e-02 -1.14554251e-02 9.96408682e-01 1.96562137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.44907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.00, Y:0.69, Z:1.97 [[ 9.32985905e-01 -3.50304864e-01 -8.26063116e-02 3.99963789e+01] [ 3.49995783e-01 9.36565215e-01 -1.86694950e-02 6.87161266e-01] [ 8.39062129e-02 -1.14934850e-02 9.96407370e-01 1.96805368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.479072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.02, Y:0.69, Z:1.97 [[ 9.32734565e-01 -3.50938672e-01 -8.27543282e-02 4.00246020e+01] [ 3.50729516e-01 9.36312694e-01 -1.75312963e-02 6.94520658e-01] [ 8.36363378e-02 -1.26723394e-02 9.96415764e-01 1.97030007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.509072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.05, Y:0.70, Z:1.97 [[ 9.32742043e-01 -3.51160851e-01 -8.17210957e-02 4.00516015e+01] [ 3.50775803e-01 9.36256491e-01 -1.94966381e-02 7.01726904e-01] [ 8.33583623e-02 -1.04804489e-02 9.96464522e-01 1.97115064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.539072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.08, Y:0.71, Z:1.97 [[ 9.32339664e-01 -3.52131511e-01 -8.21349452e-02 4.00791925e+01] [ 3.51768839e-01 9.35887368e-01 -1.93266399e-02 7.08487843e-01] [ 8.36745766e-02 -1.08735213e-02 9.96433807e-01 1.97341242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.569072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.11, Y:0.71, Z:1.98 [[ 9.32289148e-01 -3.52198144e-01 -8.24221598e-02 4.01050911e+01] [ 3.51966021e-01 9.35843271e-01 -1.78127048e-02 7.14490565e-01] [ 8.34078252e-02 -1.24032083e-02 9.96438305e-01 1.97561943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.599072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.13, Y:0.72, Z:1.98 [[ 9.31940351e-01 -3.53167974e-01 -8.22165686e-02 4.01335817e+01] [ 3.52936370e-01 9.35477616e-01 -1.78198832e-02 7.21905070e-01] [ 8.32051716e-02 -1.24101491e-02 9.96455161e-01 1.97721040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.629072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.16, Y:0.73, Z:1.98 [[ 9.31846425e-01 -3.53612802e-01 -8.13647790e-02 4.01608782e+01] [ 3.53253870e-01 9.35329468e-01 -1.92481093e-02 7.28654320e-01] [ 8.29092533e-02 -1.08061412e-02 9.96498511e-01 1.97872114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.659072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.19, Y:0.74, Z:1.98 [[ 9.31527879e-01 -3.54501479e-01 -8.11450061e-02 4.01869743e+01] [ 3.54204915e-01 9.34984700e-01 -1.85064495e-02 7.35409740e-01] [ 8.24299029e-02 -1.15026863e-02 9.96530481e-01 1.98117434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.689072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.21, Y:0.74, Z:1.98 [[ 9.31510338e-01 -3.54785289e-01 -8.00992472e-02 4.02137849e+01] [ 3.54496340e-01 9.34878704e-01 -1.82798913e-02 7.41939202e-01] [ 8.13685169e-02 -1.13669822e-02 9.96619263e-01 1.98273839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.719072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.24, Y:0.75, Z:1.99 [[ 9.31285936e-01 -3.55346703e-01 -8.02198672e-02 4.02401419e+01] [ 3.55056980e-01 9.34664918e-01 -1.83311827e-02 7.48849229e-01] [ 8.14926209e-02 -1.14110511e-02 9.96608620e-01 1.98506522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.749072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.27, Y:0.76, Z:1.99 [[ 9.30963416e-01 -3.56231849e-01 -8.00374126e-02 4.02681232e+01] [ 3.55770567e-01 9.34349828e-01 -2.04377495e-02 7.56637388e-01] [ 8.20635200e-02 -9.44815862e-03 9.96582315e-01 1.98602251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.779072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.29, Y:0.76, Z:1.99 [[ 9.31166019e-01 -3.55461680e-01 -8.10977089e-02 4.02949092e+01] [ 3.55349258e-01 9.34591388e-01 -1.63046654e-02 7.62666987e-01] [ 8.15889041e-02 -1.36356603e-02 9.96572787e-01 1.98893840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.809072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.32, Y:0.77, Z:1.99 [[ 9.31027771e-01 -3.55838430e-01 -8.10327133e-02 4.03208014e+01] [ 3.55540510e-01 9.34476436e-01 -1.85670697e-02 7.69697471e-01] [ 8.23300381e-02 -1.15239546e-02 9.96538491e-01 1.98945064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.839072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.35, Y:0.78, Z:1.98 [[ 9.30796468e-01 -3.58202347e-01 -7.28629727e-02 4.03487629e+01] [ 3.57109263e-01 9.33643978e-01 -2.79624054e-02 7.80736516e-01] [ 7.80442749e-02 7.26569669e-06 9.96949894e-01 1.98144824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.869072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.38, Y:0.78, Z:2.00 [[ 9.30690116e-01 -3.56087292e-01 -8.37720037e-02 4.03761527e+01] [ 3.56856376e-01 9.34139236e-01 -6.11671966e-03 7.80610707e-01] [ 8.04328017e-02 -2.42018031e-02 9.96466175e-01 1.99856252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.899072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.40, Y:0.79, Z:1.99 [[ 9.30392226e-01 -3.58929248e-01 -7.44318572e-02 4.04009614e+01] [ 3.57726222e-01 9.33364508e-01 -2.93708291e-02 7.93286404e-01] [ 8.00141034e-02 7.00163975e-04 9.96793486e-01 1.98531627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.929072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.43, Y:0.80, Z:1.99 [[ 9.30224171e-01 -3.58918007e-01 -7.65562235e-02 4.04291889e+01] [ 3.58583216e-01 9.33313413e-01 -1.85512664e-02 7.97280403e-01] [ 7.81093339e-02 -1.01949404e-02 9.96892670e-01 1.99293715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.959072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.46, Y:0.80, Z:2.00 [[ 9.29949544e-01 -3.57896640e-01 -8.42842898e-02 4.04561516e+01] [ 3.58675945e-01 9.33441358e-01 -6.22884574e-03 7.99960135e-01] [ 8.09037248e-02 -2.44382350e-02 9.96422280e-01 2.00460327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.989072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.48, Y:0.81, Z:2.00 [[ 9.29518267e-01 -3.59830818e-01 -8.07314882e-02 4.04831334e+01] [ 3.59330178e-01 9.32970740e-01 -2.11523400e-02 8.10678754e-01] [ 8.29313801e-02 -9.34777357e-03 9.96511418e-01 1.99977997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.019072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.51, Y:0.82, Z:2.00 [[ 9.29151644e-01 -3.62308244e-01 -7.35524255e-02 4.05107674e+01] [ 3.61259102e-01 9.32057843e-01 -2.75687964e-02 8.20512678e-01] [ 7.85435172e-02 -9.55890708e-04 9.96910228e-01 1.99502178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.049072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.54, Y:0.82, Z:2.00 [[ 9.29035482e-01 -3.62239012e-01 -7.53390384e-02 4.05381937e+01] [ 3.62042356e-01 9.32011434e-01 -1.67337678e-02 8.24981501e-01] [ 7.62784688e-02 -1.17296590e-02 9.97017558e-01 2.00294130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.079072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.57, Y:0.83, Z:2.00 [[ 9.28865791e-01 -3.62838639e-01 -7.45416889e-02 4.05661569e+01] [ 3.62604192e-01 9.31785711e-01 -1.71344416e-02 8.31776504e-01] [ 7.56739181e-02 -1.11135322e-02 9.97070683e-01 2.00317500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.109072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.59, Y:0.83, Z:2.01 [[ 9.28756652e-01 -3.61423883e-01 -8.23641765e-02 4.05919598e+01] [ 3.61889231e-01 9.32170301e-01 -9.73213730e-03 8.34744398e-01] [ 8.02948661e-02 -2.07679212e-02 9.96554779e-01 2.01299938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.13907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.62, Y:0.84, Z:2.01 [[ 9.28517313e-01 -3.62525057e-01 -8.01946522e-02 4.06187313e+01] [ 3.62244431e-01 9.31898819e-01 -1.85354865e-02 8.43628153e-01] [ 8.14528800e-02 -1.18395460e-02 9.96606870e-01 2.00960583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.16907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.65, Y:0.85, Z:2.00 [[ 9.27939684e-01 -3.65429064e-01 -7.34135074e-02 4.06459892e+01] [ 3.64560970e-01 9.30833640e-01 -2.53778112e-02 8.54665091e-01] [ 7.76095521e-02 -3.21462140e-03 9.96978648e-01 2.00431002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.19907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.67, Y:0.86, Z:2.01 [[ 9.27879371e-01 -3.65188435e-01 -7.53477284e-02 4.06726555e+01] [ 3.64782110e-01 9.30886998e-01 -1.95808369e-02 8.59585246e-01] [ 7.72909159e-02 -9.31684874e-03 9.96965050e-01 2.00899322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.229072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.70, Y:0.87, Z:2.01 [[ 9.27441376e-01 -3.66155742e-01 -7.60425284e-02 4.07005438e+01] [ 3.65910905e-01 9.30482857e-01 -1.76312891e-02 8.66390544e-01] [ 7.72120668e-02 -1.14728033e-02 9.96948680e-01 2.01235395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.259072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.73, Y:0.87, Z:2.02 [[ 9.27523002e-01 -3.64412241e-01 -8.30951200e-02 4.07272932e+01] [ 3.64995074e-01 9.30969641e-01 -8.60949467e-03 8.69118463e-01] [ 8.04964393e-02 -2.23438051e-02 9.96504429e-01 2.02196590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.289072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.75, Y:0.88, Z:2.02 [[ 9.26923465e-01 -3.66540207e-01 -8.03813869e-02 4.07544267e+01] [ 3.66265262e-01 9.30323104e-01 -1.86729465e-02 8.78460212e-01] [ 8.16250471e-02 -1.21325175e-02 9.96589260e-01 2.01948927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.319072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.78, Y:0.88, Z:2.02 [[ 9.26695166e-01 -3.67268701e-01 -7.96854550e-02 4.07803792e+01] [ 3.66999128e-01 9.30036597e-01 -1.85355605e-02 8.84435378e-01] [ 8.09179207e-02 -1.20676782e-02 9.96647712e-01 2.02059445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.349072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.81, Y:0.89, Z:2.02 [[ 9.25934859e-01 -3.69063633e-01 -8.02288683e-02 4.08076795e+01] [ 3.68795505e-01 9.29322842e-01 -1.86796899e-02 8.91442372e-01] [ 8.14525141e-02 -1.22918700e-02 9.96601424e-01 2.02174932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.379072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.83, Y:0.90, Z:2.02 [[ 9.25631909e-01 -3.69783328e-01 -8.04105695e-02 4.08342714e+01] [ 3.69514654e-01 9.29035791e-01 -1.87461904e-02 8.98200675e-01] [ 8.16363257e-02 -1.23608118e-02 9.96585531e-01 2.02342285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.409072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.86, Y:0.90, Z:2.03 [[ 9.25292526e-01 -3.70639134e-01 -8.03764516e-02 4.08621506e+01] [ 3.70598001e-01 9.28655842e-01 -1.59827533e-02 9.04321869e-01] [ 8.05658952e-02 -1.49986301e-02 9.96636432e-01 2.02590664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.439072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.89, Y:0.92, Z:2.02 [[ 9.24829646e-01 -3.73256355e-01 -7.32790521e-02 4.08890957e+01] [ 3.72241758e-01 9.27726519e-01 -2.75604785e-02 9.15067748e-01] [ 7.82700437e-02 -1.78877553e-03 9.96930590e-01 2.01943973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.469072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.92, Y:0.92, Z:2.03 [[ 9.24295158e-01 -3.72810037e-01 -8.17993758e-02 4.09164418e+01] [ 3.73249281e-01 9.27672467e-01 -1.04292165e-02 9.15700874e-01] [ 7.97711453e-02 -2.08918840e-02 9.96594247e-01 2.03280551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.499072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.94, Y:0.92, Z:2.03 [[ 9.24061366e-01 -3.73729201e-01 -8.02313936e-02 4.09436662e+01] [ 3.73408679e-01 9.27461356e-01 -1.95292276e-02 9.24102338e-01] [ 8.17101597e-02 -1.19128940e-02 9.96584935e-01 2.03155632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.529072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.97, Y:0.93, Z:2.03 [[ 9.23414818e-01 -3.75394383e-01 -7.99007606e-02 4.09711239e+01] [ 3.75142989e-01 9.26778170e-01 -1.87072535e-02 9.30785722e-01] [ 8.10728786e-02 -1.26996551e-02 9.96627266e-01 2.03356533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.559072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.00, Y:0.94, Z:2.03 [[ 9.23111867e-01 -3.76140536e-01 -7.98922873e-02 4.09977300e+01] [ 3.75889971e-01 9.26475012e-01 -1.87291594e-02 9.37445730e-01] [ 8.10630039e-02 -1.27416002e-02 9.96627534e-01 2.03483584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.589072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.02, Y:0.94, Z:2.04 [[ 9.22741888e-01 -3.77116189e-01 -7.95662490e-02 4.10247990e+01] [ 3.76870249e-01 9.26078000e-01 -1.86642062e-02 9.43824887e-01] [ 8.07231271e-02 -1.27639072e-02 9.96654835e-01 2.03654371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.619072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.05, Y:0.95, Z:2.03 [[ 9.22119726e-01 -3.79935367e-01 -7.31049132e-02 4.10528772e+01] [ 3.79351461e-01 9.24984939e-01 -2.22560518e-02 9.53336610e-01] [ 7.60768048e-02 -7.20971122e-03 9.97075895e-01 2.03298499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.649072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.08, Y:0.96, Z:2.04 [[ 9.21714142e-01 -3.79396098e-01 -8.06327583e-02 4.10796950e+01] [ 3.79568448e-01 9.25061059e-01 -1.37778981e-02 9.55575871e-01] [ 7.98175055e-02 -1.79063674e-02 9.96648648e-01 2.04187903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.679072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.11, Y:0.96, Z:2.04 [[ 9.21210111e-01 -3.80842187e-01 -7.95685814e-02 4.11071197e+01] [ 3.80605085e-01 9.24548137e-01 -1.87219837e-02 9.63341832e-01] [ 8.06951049e-02 -1.30373260e-02 9.96653565e-01 2.04151808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.709072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.13, Y:0.97, Z:2.04 [[ 9.20869062e-01 -3.81787010e-01 -7.89863914e-02 4.11340562e+01] [ 3.81554752e-01 9.24158893e-01 -1.86094677e-02 9.69684683e-01] [ 8.01008290e-02 -1.30007499e-02 9.96701980e-01 2.04343721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.739072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.16, Y:0.98, Z:2.04 [[ 9.20605048e-01 -3.83622634e-01 -7.29384724e-02 4.11614964e+01] [ 3.83387035e-01 9.23416948e-01 -1.77629459e-02 9.77547435e-01] [ 7.41668897e-02 -1.16110070e-02 9.97178247e-01 2.04365652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.769072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.19, Y:0.98, Z:2.05 [[ 9.20565182e-01 -3.83697827e-01 -7.30460427e-02 4.11882114e+01] [ 3.83494882e-01 9.23380128e-01 -1.73440315e-02 9.83874714e-01] [ 7.41041314e-02 -1.20464720e-02 9.97177748e-01 2.04599247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.799072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.22, Y:0.99, Z:2.05 [[ 9.20063588e-01 -3.85042066e-01 -7.22883225e-02 4.12157269e+01] [ 3.84749615e-01 9.22835800e-01 -1.84883488e-02 9.91001494e-01] [ 7.38290440e-02 -1.08024477e-02 9.97212404e-01 2.04643705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.829072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.24, Y:1.00, Z:2.05 [[ 9.19850916e-01 -3.85337495e-01 -7.34118978e-02 4.12429495e+01] [ 3.85235034e-01 9.22677663e-01 -1.61213774e-02 9.96529566e-01] [ 7.39476895e-02 -1.34515711e-02 9.97171397e-01 2.05058320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.859072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.27, Y:1.00, Z:2.05 [[ 9.19512304e-01 -3.86256531e-01 -7.28217985e-02 4.12713189e+01] [ 3.86100150e-01 9.22304181e-01 -1.67830868e-02 1.00335573e+00] [ 7.36464261e-02 -1.26842526e-02 9.97203747e-01 2.05184383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.88907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.30, Y:1.01, Z:2.05 [[ 9.18966991e-01 -3.86392171e-01 -7.87449002e-02 4.12978964e+01] [ 3.86169913e-01 9.22239115e-01 -1.86497320e-02 1.00840727e+00] [ 7.98277375e-02 -1.32704232e-02 9.96720336e-01 2.05378761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.91907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.32, Y:1.02, Z:2.05 [[ 9.18533636e-01 -3.88489591e-01 -7.32925467e-02 4.13248437e+01] [ 3.88302625e-01 9.21368234e-01 -1.73680199e-02 1.01607112e+00] [ 7.42767192e-02 -1.25065778e-02 9.97159242e-01 2.05421348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.94907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.35, Y:1.02, Z:2.06 [[ 9.18247328e-01 -3.88079050e-01 -7.88447557e-02 4.13508904e+01] [ 3.87859280e-01 9.21528674e-01 -1.87104993e-02 1.02131632e+00] [ 7.99188560e-02 -1.33998042e-02 9.96711303e-01 2.05665031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.979072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.38, Y:1.03, Z:2.06 [[ 9.17880941e-01 -3.88852754e-01 -7.92976282e-02 4.13783099e+01] [ 3.88632296e-01 9.21200504e-01 -1.88300101e-02 1.02797859e+00] [ 8.03711164e-02 -1.35339119e-02 9.96673124e-01 2.05938701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.009072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.41, Y:1.03, Z:2.06 [[ 9.17686366e-01 -3.89479828e-01 -7.84678107e-02 4.14051662e+01] [ 3.89264281e-01 9.20937163e-01 -1.86563768e-02 1.03367194e+00] [ 7.95302054e-02 -1.34240133e-02 9.96742064e-01 2.06023876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.039072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.43, Y:1.04, Z:2.06 [[ 9.17209480e-01 -3.91605132e-01 -7.32952243e-02 4.14319913e+01] [ 3.91422804e-01 9.20045757e-01 -1.74354174e-02 1.04082720e+00] [ 7.42627591e-02 -1.26974921e-02 9.97157869e-01 2.06256576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.069072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.46, Y:1.05, Z:2.06 [[ 9.16843099e-01 -3.91402219e-01 -7.87593495e-02 4.14581652e+01] [ 3.91189088e-01 9.20119073e-01 -1.87613546e-02 1.04575747e+00] [ 7.98112155e-02 -1.36085796e-02 9.96717100e-01 2.06433463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.099072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.48, Y:1.05, Z:2.07 [[ 9.16626163e-01 -3.92007665e-01 -7.82717593e-02 4.14841231e+01] [ 3.91798423e-01 9.19861919e-01 -1.86559879e-02 1.05218620e+00] [ 7.93125009e-02 -1.35661853e-02 9.96757486e-01 2.06508732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.129072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.51, Y:1.06, Z:2.07 [[ 9.16287079e-01 -3.92826778e-01 -7.81352155e-02 4.15112086e+01] [ 3.92620259e-01 9.19511873e-01 -1.86345716e-02 1.05925478e+00] [ 7.91664171e-02 -1.36028514e-02 9.96768599e-01 2.06646111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.159072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.54, Y:1.07, Z:2.07 [[ 9.15984745e-01 -3.94831826e-01 -7.12725486e-02 4.15384157e+01] [ 3.94664208e-01 9.18667818e-01 -1.70177484e-02 1.06662986e+00] [ 7.21949454e-02 -1.25407261e-02 9.97311697e-01 2.06700974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.189072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.56, Y:1.07, Z:2.07 [[ 9.15839300e-01 -3.95175139e-01 -7.12389288e-02 4.15646578e+01] [ 3.95007088e-01 9.18520179e-01 -1.70317608e-02 1.07289475e+00] [ 7.21649221e-02 -1.25415259e-02 9.97313859e-01 2.06913336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.219072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.59, Y:1.08, Z:2.07 [[ 9.15627798e-01 -3.95708519e-01 -7.09964994e-02 4.15908985e+01] [ 3.95565811e-01 9.18286533e-01 -1.66592952e-02 1.07914421e+00] [ 7.17873543e-02 -1.28300741e-02 9.97337438e-01 2.07137399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.249072329 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:41.62, Y:1.09, Z:2.07 [[ 9.15543168e-01 -3.95825639e-01 -7.14336804e-02 4.16189281e+01] [ 3.95622045e-01 9.18245116e-01 -1.75813436e-02 1.08555463e+00] [ 7.25527748e-02 -1.21642597e-02 9.97290392e-01 2.07386662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.279072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.65, Y:1.09, Z:2.08 [[ 9.15344489e-01 -3.96400918e-01 -7.07868561e-02 4.16464572e+01] [ 3.96233689e-01 9.17992469e-01 -1.69909293e-02 1.09222839e+00] [ 7.17170207e-02 -1.24955836e-02 9.97346745e-01 2.07545613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.309072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.67, Y:1.10, Z:2.08 [[ 9.15422075e-01 -3.96114397e-01 -7.13849322e-02 4.16734404e+01] [ 3.96353722e-01 9.18027265e-01 -1.13871357e-02 1.09727558e+00] [ 7.00439225e-02 -1.78696482e-02 9.97383840e-01 2.07797770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.339072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.70, Y:1.11, Z:2.08 [[ 9.15093862e-01 -3.95901041e-01 -7.65871369e-02 4.17001153e+01] [ 3.95239493e-01 9.18257714e-01 -2.42593108e-02 1.10541908e+00] [ 7.99310156e-02 -8.07071474e-03 9.96767724e-01 2.07653536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.369072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.73, Y:1.11, Z:2.08 [[ 9.15021038e-01 -3.95696540e-01 -7.84904328e-02 4.17271519e+01] [ 3.95484963e-01 9.18278237e-01 -1.88871367e-02 1.11070167e+00] [ 7.95496309e-02 -1.37596584e-02 9.96735937e-01 2.08109145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.399072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.75, Y:1.12, Z:2.08 [[ 9.14942666e-01 -3.95858186e-01 -7.85888969e-02 4.17531596e+01] [ 3.95644724e-01 9.18208428e-01 -1.89350381e-02 1.11720894e+00] [ 7.96565773e-02 -1.37688083e-02 9.96727269e-01 2.08292450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.429072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.78, Y:1.12, Z:2.08 [[ 9.14770426e-01 -3.97369124e-01 -7.27519530e-02 4.17806728e+01] [ 3.97189963e-01 9.17568835e-01 -1.75375775e-02 1.12483317e+00] [ 7.37238165e-02 -1.28534882e-02 9.97195862e-01 2.08497156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.459072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.81, Y:1.13, Z:2.09 [[ 9.14907938e-01 -3.97149182e-01 -7.22218200e-02 4.18074201e+01] [ 3.96970183e-01 9.17665918e-01 -1.74337476e-02 1.13064604e+00] [ 7.31993014e-02 -1.27196350e-02 9.97236217e-01 2.08578711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.489072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.83, Y:1.14, Z:2.09 [[ 9.14535815e-01 -3.98084352e-01 -7.17850394e-02 4.18331257e+01] [ 3.97909540e-01 9.17260799e-01 -1.73385139e-02 1.13758004e+00] [ 7.27477937e-02 -1.27072600e-02 9.97269414e-01 2.08776116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.519072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.86, Y:1.14, Z:2.09 [[ 9.14828050e-01 -3.96256004e-01 -7.79154574e-02 4.18598688e+01] [ 3.96042955e-01 9.18038876e-01 -1.88308252e-02 1.14241044e+00] [ 7.89912465e-02 -1.36309009e-02 9.96782113e-01 2.08968577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.549072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.89, Y:1.15, Z:2.09 [[ 9.14651567e-01 -3.97832614e-01 -7.17058027e-02 4.18864628e+01] [ 3.97656048e-01 9.17370725e-01 -1.73384362e-02 1.15040822e+00] [ 7.26785996e-02 -1.26556183e-02 9.97275116e-01 2.09178164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.579072329 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:41.91, Y:1.16, Z:2.09 [[ 9.14862428e-01 -3.96238979e-01 -7.75977358e-02 4.19132854e+01] [ 3.96024771e-01 9.18047561e-01 -1.87897816e-02 1.15560044e+00] [ 7.86836560e-02 -1.35405603e-02 9.96807672e-01 2.09336818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.609072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.94, Y:1.16, Z:2.10 [[ 9.14653715e-01 -3.97894072e-01 -7.13364562e-02 4.19402714e+01] [ 3.97717081e-01 9.17345324e-01 -1.72823407e-02 1.16392023e+00] [ 7.23167055e-02 -1.25643700e-02 9.97302577e-01 2.09568760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.63907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.97, Y:1.17, Z:2.10 [[ 9.14668782e-01 -3.97845208e-01 -7.14157536e-02 4.19675720e+01] [ 3.97666117e-01 9.17366649e-01 -1.73231075e-02 1.17054028e+00] [ 7.24063460e-02 -1.25547198e-02 9.97296195e-01 2.09740469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.66907232900002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:41.99, Y:1.18, Z:2.10 [[ 9.14735353e-01 -3.97783260e-01 -7.09063596e-02 4.19938917e+01] [ 3.97604933e-01 9.17395082e-01 -1.72215527e-02 1.17654365e+00] [ 7.18995910e-02 -1.24395552e-02 9.97334300e-01 2.09841691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.69907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.02, Y:1.18, Z:2.10 [[ 9.14417600e-01 -3.98202154e-01 -7.26326205e-02 4.20210560e+01] [ 3.98015620e-01 9.17208814e-01 -1.76509803e-02 1.18289994e+00] [ 7.36479382e-02 -1.27685505e-02 9.97202560e-01 2.10266390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.729072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.05, Y:1.19, Z:2.10 [[ 9.14493428e-01 -3.97096600e-01 -7.75632662e-02 4.20481928e+01] [ 3.96878087e-01 9.17677216e-01 -1.88762059e-02 1.18747452e+00] [ 7.86737194e-02 -1.35209944e-02 9.96808722e-01 2.10240134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.759072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.08, Y:1.19, Z:2.10 [[ 9.14227480e-01 -3.97682646e-01 -7.76957325e-02 4.20759744e+01] [ 3.97464055e-01 9.17422549e-01 -1.89259437e-02 1.19395870e+00] [ 7.88063364e-02 -1.35786431e-02 9.96797463e-01 2.10433164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.789072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.10, Y:1.20, Z:2.11 [[ 9.13871276e-01 -3.99473153e-01 -7.25292411e-02 4.21027792e+01] [ 3.99286509e-01 9.16655581e-01 -1.76869763e-02 1.20116147e+00] [ 7.35498058e-02 -1.27963279e-02 9.97209446e-01 2.10853688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.819072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.13, Y:1.21, Z:2.11 [[ 9.13879091e-01 -3.98518939e-01 -7.75091137e-02 4.21291091e+01] [ 3.98300622e-01 9.17059638e-01 -1.89271029e-02 1.20646850e+00] [ 7.86232887e-02 -1.35748446e-02 9.96811969e-01 2.10765892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.849072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.16, Y:1.21, Z:2.11 [[ 9.13612450e-01 -3.99177120e-01 -7.72652411e-02 4.21561159e+01] [ 3.98961575e-01 9.16773288e-01 -1.88785855e-02 1.21328932e+00] [ 7.83706085e-02 -1.35781515e-02 9.96831822e-01 2.10920232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.879072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.18, Y:1.22, Z:2.11 [[ 9.13604719e-01 -3.99180032e-01 -7.73415813e-02 4.21835929e+01] [ 3.98962207e-01 9.16772139e-01 -1.89209607e-02 1.21974876e+00] [ 7.84574766e-02 -1.35700890e-02 9.96825099e-01 2.11132455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.909072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.21, Y:1.23, Z:2.11 [[ 9.13468185e-01 -3.99462467e-01 -7.74958881e-02 4.22098926e+01] [ 3.99242935e-01 9.16648661e-01 -1.89818611e-02 1.22592425e+00] [ 7.86190431e-02 -1.36003596e-02 9.96811956e-01 2.11338396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.939072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.24, Y:1.23, Z:2.12 [[ 9.12868791e-01 -4.01699935e-01 -7.28541926e-02 4.22366049e+01] [ 4.01511998e-01 9.15679727e-01 -1.78536596e-02 1.23274591e+00] [ 7.38829211e-02 -1.29537838e-02 9.97182788e-01 2.11798450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.969072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.26, Y:1.24, Z:2.12 [[ 9.12736113e-01 -4.01147832e-01 -7.74157984e-02 4.22644976e+01] [ 4.00931891e-01 9.15910881e-01 -1.89967501e-02 1.23899367e+00] [ 7.85264772e-02 -1.36994426e-02 9.96817896e-01 2.11694674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.999072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.29, Y:1.25, Z:2.12 [[ 9.12479953e-01 -4.01587746e-01 -7.81512450e-02 4.22918187e+01] [ 4.01367318e-01 9.15715877e-01 -1.92017875e-02 1.24517390e+00] [ 7.92755385e-02 -1.38461095e-02 9.96756577e-01 2.11936393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.029072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.32, Y:1.25, Z:2.12 [[ 9.11712897e-01 -4.03203955e-01 -7.87792103e-02 4.23185095e+01] [ 4.02983885e-01 9.15001855e-01 -1.93802504e-02 1.25134446e+00] [ 7.98973171e-02 -1.40775280e-02 9.96703688e-01 2.11953150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.059072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.35, Y:1.26, Z:2.12 [[ 9.11463123e-01 -4.03682098e-01 -7.92195614e-02 4.23455812e+01] [ 4.03460387e-01 9.14789297e-01 -1.95002200e-02 1.25730021e+00] [ 8.03410966e-02 -1.41882235e-02 9.96666445e-01 2.12178514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.089072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.37, Y:1.26, Z:2.12 [[ 9.11032958e-01 -4.04646631e-01 -7.92467847e-02 4.23727251e+01] [ 4.04426319e-01 9.14362006e-01 -1.95313841e-02 1.26374445e+00] [ 8.03635577e-02 -1.42557508e-02 9.96663671e-01 2.12357654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.119072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.40, Y:1.27, Z:2.13 [[ 9.10735836e-01 -4.05265537e-01 -7.94989431e-02 4.24000624e+01] [ 4.05044120e-01 9.14086643e-01 -1.96181161e-02 1.27018449e+00] [ 8.06194684e-02 -1.43336581e-02 9.96641885e-01 2.12542253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.149072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.43, Y:1.28, Z:2.13 [[ 9.10188076e-01 -4.06625381e-01 -7.88255466e-02 4.24268506e+01] [ 4.06410708e-01 9.13482920e-01 -1.94754121e-02 1.27505146e+00] [ 7.99249874e-02 -1.43092583e-02 9.96698170e-01 2.12699580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.179072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.45, Y:1.28, Z:2.13 [[ 9.09828962e-01 -4.07413857e-01 -7.88999880e-02 4.24532410e+01] [ 4.07200738e-01 9.13130391e-01 -1.95050766e-02 1.28120220e+00] [ 7.99926154e-02 -1.43818498e-02 9.96691700e-01 2.12931618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.209072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.48, Y:1.29, Z:2.13 [[ 9.09408398e-01 -4.08457714e-01 -7.83496135e-02 4.24805821e+01] [ 4.08249392e-01 9.12664430e-01 -1.93925747e-02 1.28755758e+00] [ 7.94279521e-02 -1.43504119e-02 9.96737310e-01 2.13087166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.239072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.51, Y:1.29, Z:2.13 [[ 9.08894816e-01 -4.09675267e-01 -7.79511920e-02 4.25077332e+01] [ 4.09471473e-01 9.12118379e-01 -1.93177379e-02 1.29267705e+00] [ 7.90147144e-02 -1.43609976e-02 9.96770002e-01 2.13250967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.269072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.53, Y:1.30, Z:2.13 [[ 9.08608334e-01 -4.10297974e-01 -7.80158138e-02 4.25344286e+01] [ 4.10094228e-01 9.11837726e-01 -1.93568222e-02 1.29895048e+00] [ 7.90798272e-02 -1.44060650e-02 9.96764188e-01 2.13470694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.299072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.56, Y:1.31, Z:2.14 [[ 9.08202787e-01 -4.11239958e-01 -7.77778557e-02 4.25614474e+01] [ 4.11039921e-01 9.11412839e-01 -1.93085370e-02 1.30519021e+00] [ 7.88281782e-02 -1.44337365e-02 9.96783721e-01 2.13684309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.329072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.59, Y:1.31, Z:2.14 [[ 9.07889631e-01 -4.11904054e-01 -7.79196249e-02 4.25878512e+01] [ 4.11703759e-01 9.11111909e-01 -1.93675819e-02 1.31112272e+00] [ 7.89710837e-02 -1.44961757e-02 9.96771503e-01 2.13912579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.359072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.62, Y:1.32, Z:2.14 [[ 9.07138261e-01 -4.13580271e-01 -7.77916131e-02 4.26157465e+01] [ 4.13385682e-01 9.10350469e-01 -1.93468820e-02 1.31711633e+00] [ 7.88191202e-02 -1.46076421e-02 9.96781903e-01 2.14140309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.38907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.64, Y:1.32, Z:2.14 [[ 9.06711199e-01 -4.14357349e-01 -7.86307056e-02 4.26435540e+01] [ 4.14159428e-01 9.09993729e-01 -1.95801133e-02 1.32294088e+00] [ 7.96666129e-02 -1.48121401e-02 9.96711509e-01 2.14468126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.41907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.67, Y:1.33, Z:2.15 [[ 9.05885180e-01 -4.16030577e-01 -7.93133010e-02 4.26696979e+01] [ 4.15833482e-01 9.09225774e-01 -1.97739187e-02 1.32816080e+00] [ 8.03402523e-02 -1.50682262e-02 9.96653597e-01 2.14537531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.44907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.70, Y:1.33, Z:2.15 [[ 9.05304515e-01 -4.17199866e-01 -7.97997933e-02 4.26966916e+01] [ 4.17003792e-01 9.08686720e-01 -1.99068440e-02 1.33414787e+00] [ 8.08181451e-02 -1.52550607e-02 9.96612116e-01 2.14756382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.479072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.72, Y:1.34, Z:2.15 [[ 9.04776972e-01 -4.18394656e-01 -7.95269901e-02 4.27242051e+01] [ 4.18202358e-01 9.08136683e-01 -1.98633483e-02 1.34065542e+00] [ 8.05320958e-02 -1.52864747e-02 9.96634790e-01 2.14845290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.509072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.75, Y:1.35, Z:2.15 [[ 9.03808607e-01 -4.20411186e-01 -7.99026712e-02 4.27513940e+01] [ 4.20222597e-01 9.07201009e-01 -1.99824637e-02 1.34574401e+00] [ 8.08886352e-02 -1.55165853e-02 9.96602360e-01 2.15102275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.539072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.78, Y:1.35, Z:2.15 [[ 9.03326389e-01 -4.21627111e-01 -7.89431014e-02 4.27788469e+01] [ 4.21445462e-01 9.06638288e-01 -1.97670840e-02 1.35145964e+00] [ 7.99071768e-02 -1.54140832e-02 9.96683124e-01 2.15305808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.569072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.81, Y:1.36, Z:2.16 [[ 9.02841902e-01 -4.22637053e-01 -7.90848951e-02 4.28060632e+01] [ 4.22456481e-01 9.06166318e-01 -1.98274132e-02 1.35691909e+00] [ 8.00438676e-02 -1.55089071e-02 9.96670684e-01 2.15660069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.599072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.83, Y:1.36, Z:2.16 [[ 9.02302207e-01 -4.23826946e-01 -7.88761459e-02 4.28326987e+01] [ 4.23649776e-01 9.05609670e-01 -1.97988049e-02 1.36264561e+00] [ 7.98222675e-02 -1.55513561e-02 9.96687795e-01 2.15951447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.629072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.86, Y:1.37, Z:2.16 [[ 9.01364085e-01 -4.25811361e-01 -7.89143335e-02 4.28604496e+01] [ 4.25640397e-01 9.04675318e-01 -1.98197330e-02 1.36779425e+00] [ 7.98313172e-02 -1.57243327e-02 9.96684356e-01 2.16191713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.659072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.89, Y:1.37, Z:2.16 [[ 9.01253510e-01 -4.26046367e-01 -7.89088305e-02 4.28880710e+01] [ 4.25874427e-01 9.04564692e-01 -1.98416191e-02 1.37496408e+00] [ 7.98315917e-02 -1.57229240e-02 9.96684357e-01 2.16410583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.689072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.92, Y:1.38, Z:2.17 [[ 9.00866664e-01 -4.26847223e-01 -7.89981098e-02 4.29158513e+01] [ 4.26676086e-01 9.04185856e-01 -1.98860402e-02 1.38109464e+00] [ 7.99172746e-02 -1.57919336e-02 9.96676399e-01 2.16576543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.719072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.94, Y:1.39, Z:2.17 [[ 9.00633847e-01 -4.27239216e-01 -7.95319138e-02 4.29429499e+01] [ 4.27065270e-01 9.03998593e-01 -2.00449440e-02 1.38703049e+00] [ 8.04607242e-02 -1.59121632e-02 9.96630762e-01 2.16732298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.749072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.97, Y:1.39, Z:2.17 [[ 8.99922870e-01 -4.28570501e-01 -8.04124034e-02 4.29706952e+01] [ 4.28395788e-01 9.03363324e-01 -2.02917078e-02 1.39215507e+00] [ 8.13380434e-02 -1.61873630e-02 9.96555112e-01 2.16867259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.779072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.00, Y:1.40, Z:2.17 [[ 8.99561697e-01 -4.29257787e-01 -8.07867911e-02 4.29966244e+01] [ 4.29082137e-01 9.03034848e-01 -2.04103340e-02 1.39783649e+00] [ 8.17145825e-02 -1.63038143e-02 9.96522410e-01 2.17130080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.809072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.02, Y:1.40, Z:2.17 [[ 8.99157972e-01 -4.30148338e-01 -8.05440779e-02 4.30236519e+01] [ 4.29975735e-01 9.02610703e-01 -2.03662812e-02 1.40392428e+00] [ 8.14604688e-02 -1.63194951e-02 9.96542957e-01 2.17312636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.839072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.05, Y:1.41, Z:2.18 [[ 8.98737424e-01 -4.30927633e-01 -8.10704499e-02 4.30513630e+01] [ 4.30753775e-01 9.02236076e-01 -2.05243544e-02 1.40917638e+00] [ 8.19891961e-02 -1.64753969e-02 9.96497031e-01 2.17589861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.869072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.08, Y:1.42, Z:2.18 [[ 8.98589357e-01 -4.31173021e-01 -8.14063511e-02 4.30779517e+01] [ 4.30996737e-01 9.02117556e-01 -2.06331800e-02 1.41543594e+00] [ 8.23345690e-02 -1.65451157e-02 9.96467399e-01 2.17844341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.899072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.11, Y:1.42, Z:2.18 [[ 8.98143530e-01 -4.32123916e-01 -8.12842027e-02 4.31050098e+01] [ 4.31950897e-01 9.01661512e-01 -2.06140896e-02 1.42207471e+00] [ 8.21986782e-02 -1.65963731e-02 9.96477766e-01 2.18099473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.929072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.13, Y:1.43, Z:2.18 [[ 8.97916338e-01 -4.32671427e-01 -8.08806854e-02 4.31320566e+01] [ 4.32500230e-01 9.01399924e-01 -2.05360367e-02 1.42754829e+00] [ 8.17911999e-02 -1.65412722e-02 9.96512211e-01 2.18340607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.959072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.16, Y:1.43, Z:2.19 [[ 8.97750224e-01 -4.33025820e-01 -8.08280530e-02 4.31585266e+01] [ 4.32854218e-01 9.01229741e-01 -2.05470290e-02 1.43379191e+00] [ 8.17420393e-02 -1.65406638e-02 9.96516254e-01 2.18536506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.989072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.18, Y:1.44, Z:2.19 [[ 8.97629675e-01 -4.33287909e-01 -8.07623369e-02 4.31848852e+01] [ 4.33116653e-01 9.01103766e-01 -2.05418410e-02 1.43891499e+00] [ 8.16757773e-02 -1.65405469e-02 9.96521690e-01 2.18765937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.019072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.21, Y:1.45, Z:2.19 [[ 8.97433623e-01 -4.33660257e-01 -8.09424087e-02 4.32121786e+01] [ 4.33488239e-01 9.00923618e-01 -2.06053490e-02 1.44528781e+00] [ 8.18586487e-02 -1.65956492e-02 9.96505768e-01 2.18961321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.049072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.24, Y:1.45, Z:2.19 [[ 8.97330128e-01 -4.33797625e-01 -8.13527000e-02 4.32394766e+01] [ 4.33622326e-01 9.00856110e-01 -2.07351833e-02 1.45170840e+00] [ 8.22819501e-02 -1.66700424e-02 9.96469664e-01 2.19124450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.079072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.27, Y:1.46, Z:2.19 [[ 8.97319289e-01 -4.33696679e-01 -8.20078279e-02 4.32671307e+01] [ 4.33516046e-01 9.00902805e-01 -2.09278096e-02 1.45810034e+00] [ 8.29574038e-02 -1.67727820e-02 9.96411934e-01 2.19348131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.109072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.29, Y:1.46, Z:2.19 [[ 8.97641021e-01 -4.32951835e-01 -8.24215126e-02 4.32934563e+01] [ 4.32764369e-01 9.01261105e-01 -2.10575960e-02 1.46383197e+00] [ 8.34002283e-02 -1.67669319e-02 9.96375066e-01 2.19464042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.13907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.32, Y:1.47, Z:2.20 [[ 8.97674858e-01 -4.32916192e-01 -8.22400175e-02 4.33207854e+01] [ 4.32728362e-01 9.01279187e-01 -2.10236177e-02 1.47026529e+00] [ 8.32226806e-02 -1.67152150e-02 9.96390780e-01 2.19704322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.16907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.35, Y:1.48, Z:2.20 [[ 8.97765097e-01 -4.32664488e-01 -8.25788786e-02 4.33484812e+01] [ 4.32471975e-01 9.01399620e-01 -2.11356751e-02 1.47689939e+00] [ 8.35812258e-02 -1.67381793e-02 9.96360383e-01 2.20001868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.19907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.37, Y:1.48, Z:2.20 [[ 8.98028976e-01 -4.32206892e-01 -8.21045747e-02 4.33747298e+01] [ 4.32012847e-01 9.01622068e-01 -2.10367944e-02 1.48267585e+00] [ 8.31195439e-02 -1.65785801e-02 9.96401672e-01 2.20235605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.229072329 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:43.40, Y:1.49, Z:2.20 [[ 8.98066290e-01 -4.32252020e-01 -8.14563054e-02 4.34022109e+01] [ 4.32060161e-01 9.01602974e-01 -2.08828616e-02 1.48936150e+00] [ 8.24679063e-02 -1.64398304e-02 9.96458116e-01 2.20411406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.259072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.43, Y:1.50, Z:2.21 [[ 8.98101418e-01 -4.32022972e-01 -8.22799714e-02 4.34292859e+01] [ 4.31824178e-01 9.01710502e-01 -2.11198998e-02 1.49574504e+00] [ 8.33169962e-02 -1.65626690e-02 9.96385446e-01 2.20584516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.289072329 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:43.46, Y:1.50, Z:2.21 [[ 8.98225401e-01 -4.31740311e-01 -8.24101547e-02 4.34567771e+01] [ 4.31537581e-01 9.01846303e-01 -2.11792636e-02 1.50223453e+00] [ 8.34652352e-02 -1.65393263e-02 9.96373427e-01 2.20714363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.319072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.48, Y:1.51, Z:2.21 [[ 8.98086004e-01 -4.31922379e-01 -8.29734181e-02 4.34839638e+01] [ 4.31715445e-01 9.01757144e-01 -2.13501077e-02 1.50889466e+00] [ 8.40434619e-02 -1.66466732e-02 9.96323032e-01 2.20881951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.349072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.51, Y:1.51, Z:2.21 [[ 8.98120192e-01 -4.31660810e-01 -8.39587177e-02 4.35115718e+01] [ 4.31445652e-01 9.01879590e-01 -2.16299578e-02 1.51438143e+00] [ 8.50574590e-02 -1.67973218e-02 9.96234450e-01 2.21148402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.379072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.54, Y:1.52, Z:2.21 [[ 8.98011705e-01 -4.32047288e-01 -8.31271185e-02 4.35391354e+01] [ 4.31835749e-01 9.01697377e-01 -2.14412485e-02 1.52104363e+00] [ 8.42191379e-02 -1.66427693e-02 9.96308263e-01 2.21341317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.409072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.57, Y:1.53, Z:2.22 [[ 8.98013315e-01 -4.32071533e-01 -8.29835928e-02 4.35650358e+01] [ 4.31858689e-01 9.01686671e-01 -2.14294175e-02 1.52690909e+00] [ 8.40842408e-02 -1.65932834e-02 9.96320482e-01 2.21651620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.439072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.59, Y:1.53, Z:2.22 [[ 8.98076880e-01 -4.32196788e-01 -8.16324306e-02 4.35926366e+01] [ 4.31989755e-01 9.01631694e-01 -2.10983564e-02 1.53367228e+00] [ 8.27210285e-02 -1.63164276e-02 9.96439163e-01 2.21828305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.469072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.62, Y:1.54, Z:2.22 [[ 8.98220323e-01 -4.32064120e-01 -8.07517639e-02 4.36202361e+01] [ 4.31858929e-01 9.01699085e-01 -2.08955773e-02 1.53968047e+00] [ 8.18420208e-02 -1.61045380e-02 9.96515192e-01 2.22161097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.499072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.65, Y:1.55, Z:2.22 [[ 8.98379237e-01 -4.31812272e-01 -8.03299917e-02 4.36472486e+01] [ 4.31606171e-01 9.01822038e-01 -2.08116506e-02 1.54631917e+00] [ 8.14300830e-02 -1.59741654e-02 9.96551036e-01 2.22329157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.529072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.67, Y:1.55, Z:2.23 [[ 8.98495721e-01 -4.31457862e-01 -8.09293041e-02 4.36739359e+01] [ 4.31245264e-01 9.01990498e-01 -2.09919875e-02 1.55273353e+00] [ 8.20546214e-02 -1.60391682e-02 9.96498763e-01 2.22524169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.559072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.70, Y:1.56, Z:2.23 [[ 8.98826199e-01 -4.30389668e-01 -8.29228474e-02 4.37014193e+01] [ 4.30161094e-01 9.02495551e-01 -2.15224097e-02 1.55913695e+00] [ 8.41005236e-02 -1.63252771e-02 9.96323535e-01 2.22621838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.589072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.73, Y:1.57, Z:2.23 [[ 8.99000634e-01 -4.29889579e-01 -8.36230174e-02 4.37273955e+01] [ 4.29652950e-01 9.02732618e-01 -2.17293202e-02 1.56566493e+00] [ 8.48304337e-02 -1.63942034e-02 9.96260522e-01 2.22826980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.619072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.75, Y:1.57, Z:2.23 [[ 8.99120716e-01 -4.29671985e-01 -8.34501181e-02 4.37545809e+01] [ 4.29434309e-01 9.02837412e-01 -2.16975061e-02 1.57277553e+00] [ 8.46646992e-02 -1.63276666e-02 9.96275713e-01 2.22989936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.649072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.78, Y:1.58, Z:2.23 [[ 8.99451617e-01 -4.29016888e-01 -8.32544266e-02 4.37803657e+01] [ 4.28775512e-01 9.03151099e-01 -2.16714800e-02 1.57916319e+00] [ 8.44887578e-02 -1.62050116e-02 9.96292651e-01 2.23226098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.679072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.81, Y:1.59, Z:2.24 [[ 9.00126049e-01 -4.27846801e-01 -8.19768912e-02 4.38073396e+01] [ 4.27607001e-01 9.03712548e-01 -2.13514142e-02 1.58537244e+00] [ 8.32186795e-02 -1.58349284e-02 9.96405493e-01 2.23563426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.709072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.83, Y:1.59, Z:2.24 [[ 9.00426064e-01 -4.27319109e-01 -8.14326831e-02 4.38334183e+01] [ 4.27078282e-01 9.03965275e-01 -2.12349473e-02 1.59193352e+00] [ 8.26864165e-02 -1.56576304e-02 9.96452606e-01 2.23806382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.739072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.86, Y:1.60, Z:2.24 [[ 9.00996586e-01 -4.26086131e-01 -8.15828531e-02 4.38607060e+01] [ 4.25837460e-01 9.04548945e-01 -2.12993613e-02 1.59869603e+00] [ 8.28710462e-02 -1.55503831e-02 9.96438947e-01 2.24031495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.769072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.89, Y:1.61, Z:2.24 [[ 9.01363361e-01 -4.25262201e-01 -8.18300215e-02 4.38871578e+01] [ 4.25006716e-01 9.04937470e-01 -2.13884575e-02 1.60566715e+00] [ 8.31467551e-02 -1.54995367e-02 9.96416771e-01 2.24166110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.799072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.91, Y:1.61, Z:2.24 [[ 9.01367985e-01 -4.24970590e-01 -8.32811655e-02 4.39142220e+01] [ 4.24703717e-01 9.05070351e-01 -2.17809998e-02 1.61272780e+00] [ 8.46315981e-02 -1.57371246e-02 9.96288028e-01 2.24369634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.829072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.94, Y:1.62, Z:2.24 [[ 9.02302357e-01 -4.23002247e-01 -8.31838618e-02 4.39404601e+01] [ 4.22725799e-01 9.05995861e-01 -2.17806711e-02 1.61852948e+00] [ 8.45775074e-02 -1.55112136e-02 9.96296165e-01 2.24473215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.859072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.97, Y:1.63, Z:2.25 [[ 9.02541497e-01 -4.22406596e-01 -8.36152679e-02 4.39661638e+01] [ 4.22123843e-01 9.06273481e-01 -2.19052253e-02 1.62528987e+00] [ 8.50312115e-02 -1.55256234e-02 9.96257320e-01 2.24752011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.88907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.99, Y:1.63, Z:2.25 [[ 9.02822642e-01 -4.21839925e-01 -8.34407208e-02 4.39934119e+01] [ 4.21554900e-01 9.06539055e-01 -2.18725163e-02 1.63251761e+00] [ 8.48689729e-02 -1.54278418e-02 9.96272673e-01 2.24927494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.91907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.02, Y:1.64, Z:2.25 [[ 9.03725105e-01 -4.19976707e-01 -8.30692479e-02 4.40197595e+01] [ 4.19684470e-01 9.07408230e-01 -2.18002209e-02 1.63984322e+00] [ 8.45333042e-02 -1.51614664e-02 9.96305300e-01 2.25121004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.94907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.05, Y:1.65, Z:2.25 [[ 9.04120314e-01 -4.19142752e-01 -8.29807912e-02 4.40458646e+01] [ 4.18846765e-01 9.07795488e-01 -2.17885403e-02 1.64702266e+00] [ 8.44620966e-02 -1.50567740e-02 9.96312927e-01 2.25289575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.979072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.07, Y:1.65, Z:2.26 [[ 9.04422789e-01 -4.18445607e-01 -8.32027164e-02 4.40729133e+01] [ 4.18144090e-01 9.08117651e-01 -2.18598355e-02 1.65430014e+00] [ 8.47050075e-02 -1.50201907e-02 9.96292856e-01 2.25528882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.009072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.10, Y:1.66, Z:2.26 [[ 9.04790167e-01 -4.17663248e-01 -8.31394313e-02 4.40992743e+01] [ 4.17356905e-01 9.08479506e-01 -2.18678107e-02 1.66100928e+00] [ 8.46638503e-02 -1.49130357e-02 9.96297964e-01 2.25784904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.039072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.13, Y:1.67, Z:2.26 [[ 9.05518806e-01 -4.15985098e-01 -8.36187175e-02 4.41268821e+01] [ 4.15667199e-01 9.09250501e-01 -2.20069488e-02 1.66812273e+00] [ 8.51849236e-02 -1.48298521e-02 9.96254789e-01 2.26048960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.069072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.15, Y:1.68, Z:2.26 [[ 9.05555893e-01 -4.15755649e-01 -8.43549914e-02 4.41534375e+01] [ 4.15428955e-01 9.09354032e-01 -2.22267457e-02 1.67566972e+00] [ 8.59494466e-02 -1.49159454e-02 9.96187837e-01 2.26247172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.099072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.18, Y:1.68, Z:2.26 [[ 9.05959832e-01 -4.14899276e-01 -8.42340390e-02 4.41800480e+01] [ 4.14567704e-01 9.09747139e-01 -2.22207289e-02 1.68302852e+00] [ 8.58510404e-02 -1.47896244e-02 9.96198206e-01 2.26415471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.129072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.21, Y:1.69, Z:2.27 [[ 9.06907085e-01 -4.12911321e-01 -8.38079985e-02 4.42075169e+01] [ 4.12572588e-01 9.10655759e-01 -2.21347552e-02 1.69049348e+00] [ 8.54599276e-02 -1.45027165e-02 9.96236052e-01 2.26601617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.159072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.23, Y:1.70, Z:2.27 [[ 9.07251215e-01 -4.12230372e-01 -8.34347294e-02 4.42348224e+01] [ 4.11889614e-01 9.10966630e-01 -2.20622780e-02 1.69788574e+00] [ 8.51009953e-02 -1.43498700e-02 9.96268991e-01 2.26781196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.189072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.26, Y:1.71, Z:2.27 [[ 9.07647778e-01 -4.11431031e-01 -8.30663435e-02 4.42622908e+01] [ 4.11087795e-01 9.11330468e-01 -2.19909832e-02 1.70540638e+00] [ 8.47486626e-02 -1.41874929e-02 9.96301350e-01 2.26991329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.219072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.29, Y:1.71, Z:2.27 [[ 9.08389681e-01 -4.09865168e-01 -8.26966265e-02 4.42889407e+01] [ 4.09516473e-01 9.12039371e-01 -2.19190530e-02 1.71297992e+00] [ 8.44064355e-02 -1.39545892e-02 9.96333691e-01 2.27240375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.249072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.32, Y:1.72, Z:2.27 [[ 9.08813671e-01 -4.08975447e-01 -8.24426784e-02 4.43162426e+01] [ 4.08623144e-01 9.12440955e-01 -2.18775955e-02 1.72056919e+00] [ 8.41714756e-02 -1.38053285e-02 9.96355647e-01 2.27450672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.279072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.34, Y:1.73, Z:2.28 [[ 9.09002964e-01 -4.08500748e-01 -8.27088250e-02 4.43431975e+01] [ 4.08142040e-01 9.12653929e-01 -2.19745466e-02 1.72841776e+00] [ 8.44611528e-02 -1.37820205e-02 9.96331456e-01 2.27637712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.309072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.37, Y:1.74, Z:2.28 [[ 9.09516977e-01 -4.07084640e-01 -8.40295475e-02 4.43701449e+01] [ 4.06706258e-01 9.13285495e-01 -2.23522606e-02 1.73601203e+00] [ 8.58422288e-02 -1.38455824e-02 9.96212533e-01 2.27879913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.339072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.40, Y:1.74, Z:2.28 [[ 9.09841774e-01 -4.06277526e-01 -8.44187092e-02 4.43973782e+01] [ 4.05890037e-01 9.13645366e-01 -2.24815949e-02 1.74322266e+00] [ 8.62625292e-02 -1.38100188e-02 9.96176721e-01 2.28064393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.369072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.42, Y:1.75, Z:2.28 [[ 9.10418292e-01 -4.05016906e-01 -8.42605449e-02 4.44238172e+01] [ 4.04623247e-01 9.14207454e-01 -2.24668516e-02 1.75103638e+00] [ 8.61310729e-02 -1.36395426e-02 9.96190444e-01 2.28299692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.399072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.45, Y:1.76, Z:2.29 [[ 9.10852159e-01 -4.04115663e-01 -8.38980098e-02 4.44501154e+01] [ 4.03719402e-01 9.14608686e-01 -2.23963284e-02 1.75826137e+00] [ 8.57845556e-02 -1.34715103e-02 9.96222630e-01 2.28554752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.429072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.48, Y:1.77, Z:2.29 [[ 9.11147352e-01 -4.03638594e-01 -8.29842702e-02 4.44763690e+01] [ 4.03247896e-01 9.14822306e-01 -2.21648863e-02 1.76600904e+00] [ 8.48624649e-02 -1.32677549e-02 9.96304335e-01 2.28707667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.459072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.50, Y:1.77, Z:2.29 [[ 9.11330411e-01 -4.03248255e-01 -8.28717452e-02 4.45031123e+01] [ 4.02855437e-01 9.14995470e-01 -2.21537034e-02 1.77338387e+00] [ 8.47607137e-02 -1.31959894e-02 9.96313950e-01 2.28962039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.489072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.53, Y:1.78, Z:2.29 [[ 9.11542201e-01 -4.02844661e-01 -8.25045092e-02 4.45287099e+01] [ 4.02451626e-01 9.15174936e-01 -2.20799566e-02 1.78032704e+00] [ 8.44008516e-02 -1.30772617e-02 9.96346065e-01 2.29135034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.519072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.56, Y:1.79, Z:2.29 [[ 9.11714682e-01 -4.02238024e-01 -8.35518419e-02 4.45557950e+01] [ 4.01831378e-01 9.15440318e-01 -2.23733787e-02 1.78733478e+00] [ 8.54861483e-02 -1.31756139e-02 9.96252238e-01 2.29349384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.549072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.58, Y:1.80, Z:2.29 [[ 9.11713124e-01 -4.02286404e-01 -8.33356334e-02 4.45831822e+01] [ 4.01879843e-01 9.15419827e-01 -2.23412616e-02 1.79505673e+00] [ 8.52746769e-02 -1.31220899e-02 9.96271068e-01 2.29493306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.579072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.61, Y:1.80, Z:2.30 [[ 9.11603469e-01 -4.02536167e-01 -8.33291645e-02 4.46106968e+01] [ 4.02128473e-01 9.15310047e-01 -2.23653649e-02 1.80268718e+00] [ 8.52748898e-02 -1.31206855e-02 9.96271068e-01 2.29712173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.609072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.64, Y:1.81, Z:2.30 [[ 9.11384656e-01 -4.03007210e-01 -8.34457770e-02 4.46382236e+01] [ 4.02598182e-01 9.15102173e-01 -2.24213627e-02 1.81065897e+00] [ 8.53973827e-02 -1.31606322e-02 9.96260049e-01 2.29814176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.63907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.66, Y:1.82, Z:2.30 [[ 9.11705166e-01 -4.02296918e-01 -8.33719373e-02 4.46644805e+01] [ 4.01883569e-01 9.15416104e-01 -2.24266255e-02 1.81807361e+00] [ 8.53421764e-02 -1.30593414e-02 9.96266112e-01 2.30065387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.66907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.69, Y:1.82, Z:2.30 [[ 9.11927947e-01 -4.01719781e-01 -8.37176070e-02 4.46908836e+01] [ 4.01299645e-01 9.15669668e-01 -2.25311910e-02 1.82497740e+00] [ 8.57088985e-02 -1.30490232e-02 9.96234765e-01 2.30342693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.69907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.72, Y:1.83, Z:2.31 [[ 9.12100451e-01 -4.01404511e-01 -8.33497758e-02 4.47179157e+01] [ 4.00985666e-01 9.15809323e-01 -2.24450127e-02 1.83205585e+00] [ 8.53420311e-02 -1.29499592e-02 9.96267553e-01 2.30612265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.729072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.74, Y:1.84, Z:2.31 [[ 9.12319300e-01 -4.00991006e-01 -8.29440029e-02 4.47444414e+01] [ 4.00572375e-01 9.15992219e-01 -2.23612727e-02 1.83880755e+00] [ 8.49427305e-02 -1.28244555e-02 9.96303300e-01 2.30884589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.759072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.77, Y:1.85, Z:2.31 [[ 9.12404110e-01 -4.00688051e-01 -8.34735041e-02 4.47717581e+01] [ 4.00261668e-01 9.16124201e-01 -2.25176753e-02 1.84642961e+00] [ 8.54946606e-02 -1.28660245e-02 9.96255554e-01 2.31059498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.789072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.80, Y:1.85, Z:2.31 [[ 9.12210577e-01 -4.00994981e-01 -8.41123583e-02 4.47986444e+01] [ 4.00560991e-01 9.15988440e-01 -2.27171651e-02 1.85419047e+00] [ 8.61554171e-02 -1.29692913e-02 9.96197291e-01 2.31252242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.819072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.83, Y:1.86, Z:2.31 [[ 9.12206037e-01 -4.01002719e-01 -8.41247002e-02 4.48251329e+01] [ 4.00566431e-01 9.15985347e-01 -2.27459754e-02 1.86147589e+00] [ 8.61781906e-02 -1.29485148e-02 9.96195591e-01 2.31412488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.849072329 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:44.85, Y:1.87, Z:2.32 [[ 9.12122700e-01 -4.01216568e-01 -8.40086026e-02 4.48526272e+01] [ 4.00781205e-01 9.15891841e-01 -2.27279860e-02 1.86854889e+00] [ 8.60616382e-02 -1.29383570e-02 9.96205799e-01 2.31633544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.879072329 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:44.88, Y:1.88, Z:2.32 [[ 9.12099555e-01 -4.01348323e-01 -8.36296905e-02 4.48794977e+01] [ 4.00915186e-01 9.15835102e-01 -2.26512811e-02 1.87537529e+00] [ 8.56820598e-02 -1.28681895e-02 9.96239426e-01 2.31933982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.909072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.91, Y:1.88, Z:2.32 [[ 9.12034204e-01 -4.01427449e-01 -8.39619786e-02 4.49067037e+01] [ 4.00988761e-01 9.15799957e-01 -2.27695284e-02 1.88255097e+00] [ 8.60326902e-02 -1.29012211e-02 9.96208781e-01 2.32232491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.939072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.93, Y:1.89, Z:2.32 [[ 9.11927185e-01 -4.01566283e-01 -8.44590386e-02 4.49329871e+01] [ 4.01120703e-01 9.15738156e-01 -2.29305656e-02 1.89002566e+00] [ 8.65505063e-02 -1.29672628e-02 9.96163069e-01 2.32408762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.969072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.96, Y:1.90, Z:2.33 [[ 9.11891791e-01 -4.01539561e-01 -8.49667129e-02 4.49601601e+01] [ 4.01087274e-01 9.15748979e-01 -2.30825780e-02 1.89790495e+00] [ 8.70767489e-02 -1.30302539e-02 9.96116385e-01 2.32625665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.999072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.99, Y:1.91, Z:2.33 [[ 9.11664593e-01 -4.02003837e-01 -8.52090659e-02 4.49874824e+01] [ 4.01548505e-01 9.15544459e-01 -2.31763099e-02 1.90561425e+00] [ 8.73296537e-02 -1.30865519e-02 9.96093507e-01 2.32864563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.029072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.01, Y:1.91, Z:2.33 [[ 9.11698255e-01 -4.02015306e-01 -8.47937813e-02 4.50132583e+01] [ 4.01562195e-01 9.15540660e-01 -2.30890282e-02 1.91247338e+00] [ 8.69142972e-02 -1.29997503e-02 9.96130971e-01 2.33129647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.059072329 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:45.04, Y:1.92, Z:2.33 [[ 9.11672473e-01 -4.02110553e-01 -8.46191758e-02 4.50405587e+01] [ 4.01658485e-01 9.15499267e-01 -2.30554461e-02 1.91940483e+00] [ 8.67396316e-02 -1.29689944e-02 9.96146596e-01 2.33437011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.089072329 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:45.07, Y:1.93, Z:2.34 [[ 9.11465181e-01 -4.02680216e-01 -8.41419526e-02 4.50669873e+01] [ 4.02233258e-01 9.15249475e-01 -2.29522529e-02 1.92627072e+00] [ 8.62532961e-02 -1.29245123e-02 9.96189403e-01 2.33691238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.119072329 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:45.09, Y:1.93, Z:2.34 [[ 9.11181660e-01 -4.03299326e-01 -8.42474695e-02 4.50943131e+01] [ 4.02852082e-01 9.14976036e-01 -2.30011662e-02 1.93395847e+00] [ 8.63607705e-02 -1.29810277e-02 9.96179356e-01 2.33885919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.149072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.12, Y:1.94, Z:2.34 [[ 9.11011510e-01 -4.03603628e-01 -8.46294271e-02 4.51202700e+01] [ 4.03151253e-01 9.14840944e-01 -2.31325220e-02 1.94115951e+00] [ 8.67588348e-02 -1.30444658e-02 9.96143939e-01 2.34043919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.179072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.15, Y:1.95, Z:2.34 [[ 9.10588690e-01 -4.04411529e-01 -8.53202976e-02 4.51478830e+01] [ 4.03953408e-01 9.14481710e-01 -2.33419472e-02 1.94840900e+00] [ 8.74636042e-02 -1.32105119e-02 9.96080117e-01 2.34113604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.209072329 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:45.17, Y:1.96, Z:2.34 [[ 9.10441423e-01 -4.04730483e-01 -8.53794622e-02 4.51737150e+01] [ 4.04270792e-01 9.14340363e-01 -2.33843252e-02 1.95529814e+00] [ 8.75302377e-02 -1.32263646e-02 9.96074054e-01 2.34218948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.239072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.20, Y:1.96, Z:2.34 [[ 9.10271961e-01 -4.05115126e-01 -8.53621160e-02 4.52005395e+01] [ 4.04656047e-01 9.14169694e-01 -2.33934909e-02 1.96210915e+00] [ 8.75125164e-02 -1.32478575e-02 9.96075325e-01 2.34496498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.269072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.23, Y:1.97, Z:2.35 [[ 9.10067557e-01 -4.05646108e-01 -8.50192757e-02 4.52270660e+01] [ 4.05190697e-01 9.13934587e-01 -2.33253013e-02 1.96961075e+00] [ 8.71638743e-02 -1.32214196e-02 9.96106246e-01 2.34723118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.299072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.25, Y:1.98, Z:2.35 [[ 9.09927534e-01 -4.06014491e-01 -8.47591598e-02 4.52533075e+01] [ 4.05561162e-01 9.13771415e-01 -2.32796992e-02 1.97673611e+00] [ 8.69023926e-02 -1.31921840e-02 9.96129480e-01 2.34997992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.329072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.28, Y:1.98, Z:2.35 [[ 9.09793336e-01 -4.06437339e-01 -8.41711050e-02 4.52803767e+01] [ 4.05990836e-01 9.13584347e-01 -2.31318475e-02 1.98426570e+00] [ 8.62990505e-02 -1.31274966e-02 9.96182786e-01 2.35216702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.359072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.31, Y:1.99, Z:2.36 [[ 9.09298982e-01 -4.07458676e-01 -8.45741641e-02 4.53068582e+01] [ 4.07009846e-01 9.13127323e-01 -2.32696532e-02 1.99071168e+00] [ 8.67084022e-02 -1.32634456e-02 9.96145438e-01 2.35512084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.38907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.33, Y:2.00, Z:2.36 [[ 9.08729518e-01 -4.08661249e-01 -8.48919718e-02 4.53337151e+01] [ 4.08212379e-01 9.12587612e-01 -2.33774252e-02 1.99809829e+00] [ 8.70248097e-02 -1.34101974e-02 9.96115881e-01 2.35672371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.41907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.36, Y:2.01, Z:2.36 [[ 9.08366232e-01 -4.09440780e-01 -8.50237404e-02 4.53603099e+01] [ 4.08991438e-01 9.12237094e-01 -2.34411758e-02 2.00535864e+00] [ 8.71595831e-02 -1.34808093e-02 9.96103145e-01 2.35799813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.44907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.39, Y:2.01, Z:2.36 [[ 9.07780819e-01 -4.10693513e-01 -8.52339314e-02 4.53868772e+01] [ 4.10245700e-01 9.11671754e-01 -2.35176159e-02 2.01194937e+00] [ 8.73639001e-02 -1.36180132e-02 9.96083379e-01 2.35894609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.479072329 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:45.41, Y:2.02, Z:2.36 [[ 9.07665943e-01 -4.10873423e-01 -8.55895194e-02 4.54140671e+01] [ 4.10421413e-01 9.11589762e-01 -2.36298430e-02 2.01901531e+00] [ 8.77314041e-02 -1.36797678e-02 9.96050232e-01 2.36115463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.509072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.44, Y:2.03, Z:2.36 [[ 9.07236294e-01 -4.11915960e-01 -8.51325413e-02 4.54411757e+01] [ 4.11470916e-01 9.11119110e-01 -2.35298219e-02 2.02695440e+00] [ 8.72581945e-02 -1.36824563e-02 9.96091762e-01 2.36305547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.539072329 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:45.47, Y:2.03, Z:2.37 [[ 9.06834859e-01 -4.13034526e-01 -8.39822531e-02 4.54671446e+01] [ 4.12603776e-01 9.10614140e-01 -2.32381624e-02 2.03427955e+00] [ 8.60735906e-02 -1.35782190e-02 9.96196250e-01 2.36536050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.569072329 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:45.49, Y:2.04, Z:2.37 [[ 9.06679388e-01 -4.13380238e-01 -8.39599057e-02 4.54939338e+01] [ 4.12949452e-01 9.10457088e-01 -2.32517057e-02 2.04157384e+00] [ 8.60536868e-02 -1.35893548e-02 9.96197818e-01 2.36799482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.599072329 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:45.52, Y:2.05, Z:2.37 [[ 9.06437648e-01 -4.14010066e-01 -8.34652924e-02 4.55209223e+01] [ 4.13584596e-01 9.10171545e-01 -2.31417527e-02 2.04921544e+00] [ 8.55486527e-02 -1.35434033e-02 9.96241941e-01 2.36927634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.629072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.55, Y:2.06, Z:2.37 [[ 9.06041286e-01 -4.14722364e-01 -8.42291455e-02 4.55469130e+01] [ 4.14289856e-01 9.09844670e-01 -2.33793038e-02 2.05606580e+00] [ 8.63313593e-02 -1.37126661e-02 9.96172103e-01 2.37150533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.659072329 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:45.57, Y:2.06, Z:2.37 [[ 9.05585318e-01 -4.15601121e-01 -8.47994076e-02 4.55734972e+01] [ 4.15165283e-01 9.09441100e-01 -2.35515260e-02 2.06358277e+00] [ 8.69081071e-02 -1.38778539e-02 9.96119665e-01 2.37381432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.689072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.60, Y:2.07, Z:2.38 [[ 9.05302383e-01 -4.16282127e-01 -8.44795006e-02 4.55996406e+01] [ 4.15850267e-01 9.09129741e-01 -2.34876401e-02 2.07093875e+00] [ 8.65803112e-02 -1.38674063e-02 9.96148355e-01 2.37515281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.719072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.63, Y:2.08, Z:2.38 [[ 9.04866562e-01 -4.17117305e-01 -8.50273944e-02 4.56266431e+01] [ 4.16682219e-01 9.08744424e-01 -2.36537625e-02 2.07760629e+00] [ 8.71345642e-02 -1.40259047e-02 9.96097807e-01 2.37797867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.749072329 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:45.65, Y:2.09, Z:2.38 [[ 9.04665343e-01 -4.17524806e-01 -8.51683842e-02 4.56533446e+01] [ 4.17087687e-01 9.08556676e-01 -2.37197709e-02 2.08516879e+00] [ 8.72838968e-02 -1.40642297e-02 9.96084193e-01 2.38005431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.779072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.68, Y:2.09, Z:2.38 [[ 9.04443005e-01 -4.18006642e-01 -8.51662958e-02 4.56806731e+01] [ 4.17569200e-01 9.08334770e-01 -2.37467719e-02 2.09334452e+00] [ 8.72858161e-02 -1.40852202e-02 9.96083728e-01 2.38197164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.809072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.71, Y:2.10, Z:2.38 [[ 9.04355938e-01 -4.18289393e-01 -8.47013688e-02 4.57066254e+01] [ 4.17855615e-01 9.08205746e-01 -2.36433380e-02 2.10094162e+00] [ 8.68160274e-02 -1.40109494e-02 9.96125831e-01 2.38417149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.839072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.73, Y:2.11, Z:2.39 [[ 9.04101912e-01 -4.18958945e-01 -8.41019290e-02 4.57334096e+01] [ 4.18532861e-01 9.07897827e-01 -2.34900133e-02 2.10850677e+00] [ 8.61973097e-02 -1.39620550e-02 9.96180247e-01 2.38654712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.869072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.76, Y:2.12, Z:2.39 [[ 9.04079995e-01 -4.18997233e-01 -8.41467808e-02 4.57606676e+01] [ 4.18568487e-01 9.07880369e-01 -2.35299264e-02 2.11579577e+00] [ 8.62541845e-02 -1.39482549e-02 9.96175518e-01 2.38909976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.899072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.79, Y:2.12, Z:2.39 [[ 9.03835176e-01 -4.19461004e-01 -8.44656231e-02 4.57868860e+01] [ 4.19028876e-01 9.07665024e-01 -2.36432876e-02 2.12339625e+00] [ 8.65839290e-02 -1.40239001e-02 9.96145849e-01 2.39152404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.929072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.81, Y:2.13, Z:2.39 [[ 9.03606167e-01 -4.19903719e-01 -8.47157670e-02 4.58140798e+01] [ 4.19469700e-01 9.07459191e-01 -2.37273585e-02 2.13136909e+00] [ 8.68393075e-02 -1.40955099e-02 9.96122609e-01 2.39357209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.959072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.84, Y:2.14, Z:2.40 [[ 9.03472118e-01 -4.20176116e-01 -8.47948307e-02 4.58399807e+01] [ 4.19740219e-01 9.07332846e-01 -2.37751152e-02 2.13921499e+00] [ 8.69268706e-02 -1.41116472e-02 9.96114743e-01 2.39555321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.989072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.87, Y:2.15, Z:2.40 [[ 9.03446140e-01 -4.20206616e-01 -8.49203915e-02 4.58668518e+01] [ 4.19768347e-01 9.07318544e-01 -2.38242232e-02 2.14699979e+00] [ 8.70609422e-02 -1.41229899e-02 9.96102873e-01 2.39788773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.019072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.89, Y:2.16, Z:2.40 [[ 9.03407083e-01 -4.20262903e-01 -8.50572480e-02 4.58935545e+01] [ 4.19821089e-01 9.07292418e-01 -2.38897882e-02 2.15508896e+00] [ 8.72117879e-02 -1.41266227e-02 9.96089626e-01 2.40072375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.049072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.92, Y:2.16, Z:2.40 [[ 9.03266333e-01 -4.20639036e-01 -8.46919894e-02 4.59203860e+01] [ 4.20200248e-01 9.07118866e-01 -2.38141582e-02 2.16324954e+00] [ 8.68428659e-02 -1.40770676e-02 9.96122559e-01 2.40223746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.079072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.95, Y:2.17, Z:2.40 [[ 9.03272238e-01 -4.20610152e-01 -8.47724258e-02 4.59461524e+01] [ 4.20168202e-01 9.07132451e-01 -2.38620727e-02 2.17104512e+00] [ 8.69364484e-02 -1.40647299e-02 9.96114570e-01 2.40430833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.109072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.97, Y:2.18, Z:2.41 [[ 9.03205600e-01 -4.20751915e-01 -8.47789467e-02 4.59728183e+01] [ 4.20309310e-01 9.07066671e-01 -2.38775744e-02 2.17915906e+00] [ 8.69466921e-02 -1.40670217e-02 9.96113644e-01 2.40605495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.13907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.00, Y:2.19, Z:2.41 [[ 9.03225519e-01 -4.20680529e-01 -8.49208691e-02 4.59990321e+01] [ 4.20233964e-01 9.07099870e-01 -2.39424340e-02 2.18677184e+00] [ 8.71038252e-02 -1.40612161e-02 9.96099998e-01 2.40824821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.16907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.03, Y:2.20, Z:2.41 [[ 9.02908067e-01 -4.21362573e-01 -8.49152830e-02 4.60261770e+01] [ 4.20917815e-01 9.06782434e-01 -2.39543381e-02 2.19552021e+00] [ 8.70931486e-02 -1.41137903e-02 9.96100188e-01 2.40964099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.19907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.05, Y:2.20, Z:2.41 [[ 9.02945347e-01 -4.21405459e-01 -8.43038494e-02 4.60520219e+01] [ 4.20965164e-01 9.06764366e-01 -2.38057688e-02 2.20289285e+00] [ 8.64756075e-02 -1.39936757e-02 9.96155684e-01 2.41093118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.229072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.08, Y:2.21, Z:2.41 [[ 9.02663103e-01 -4.21937779e-01 -8.46630599e-02 4.60787810e+01] [ 4.21494848e-01 9.06515252e-01 -2.39205218e-02 2.21079070e+00] [ 8.68413268e-02 -1.40928712e-02 9.96122470e-01 2.41347470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.259072329 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:46.10, Y:2.22, Z:2.41 [[ 9.02484754e-01 -4.22563639e-01 -8.34340414e-02 4.61046477e+01] [ 4.22133900e-01 9.06226300e-01 -2.35979683e-02 2.21877618e+00] [ 8.55817660e-02 -1.39235306e-02 9.96233856e-01 2.41477316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.289072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.13, Y:2.23, Z:2.42 [[ 9.02302742e-01 -4.22834315e-01 -8.40291832e-02 4.61316859e+01] [ 4.22398408e-01 9.06098285e-01 -2.37798947e-02 2.22640176e+00] [ 8.61936542e-02 -1.40371290e-02 9.96179508e-01 2.41882017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.319072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.16, Y:2.23, Z:2.42 [[ 9.02176418e-01 -4.23249240e-01 -8.32934039e-02 4.61581761e+01] [ 4.22820361e-01 9.05906218e-01 -2.35980165e-02 2.23443190e+00] [ 8.54438551e-02 -1.39285731e-02 9.96245624e-01 2.42043024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.349072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.18, Y:2.24, Z:2.42 [[ 9.01736591e-01 -4.24039603e-01 -8.40329434e-02 4.61848800e+01] [ 4.23604102e-01 9.05533811e-01 -2.38344536e-02 2.24219751e+00] [ 8.62014238e-02 -1.41043006e-02 9.96177887e-01 2.42391033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.379072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.21, Y:2.25, Z:2.42 [[ 9.01431444e-01 -4.24878390e-01 -8.30644630e-02 4.62115539e+01] [ 4.24454041e-01 9.05142237e-01 -2.35859841e-02 2.25056849e+00] [ 8.52063288e-02 -1.39958992e-02 9.96265023e-01 2.42406768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.409072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.24, Y:2.25, Z:2.44 [[ 9.01152763e-01 -4.24341242e-01 -8.86465374e-02 4.62376104e+01] [ 4.25427977e-01 9.04963683e-01 -7.19505610e-03 2.25368805e+00] [ 8.32750560e-02 -3.12288724e-02 9.96037159e-01 2.43931264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.439072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.26, Y:2.27, Z:2.42 [[ 9.00417216e-01 -4.27691911e-01 -7.95516555e-02 4.62642681e+01] [ 4.25743998e-01 9.03919792e-01 -4.08785660e-02 2.27117263e+00] [ 8.93917480e-02 2.93912477e-03 9.95992207e-01 2.41774673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.469072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.29, Y:2.27, Z:2.43 [[ 9.00453992e-01 -4.26691281e-01 -8.43632594e-02 4.62922550e+01] [ 4.26255587e-01 9.04283794e-01 -2.40207080e-02 2.27439000e+00] [ 8.65377550e-02 -1.43307683e-02 9.96145494e-01 2.42973549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.499072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.32, Y:2.28, Z:2.43 [[ 8.99944114e-01 -4.27855065e-01 -8.39084900e-02 4.63191668e+01] [ 4.27426785e-01 9.03733568e-01 -2.39161094e-02 2.28235989e+00] [ 8.60635477e-02 -1.43415742e-02 9.96186421e-01 2.43096157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.529072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.34, Y:2.29, Z:2.43 [[ 8.99670282e-01 -4.28603687e-01 -8.30196558e-02 4.63449757e+01] [ 4.28185402e-01 9.03380419e-01 -2.36871257e-02 2.28974503e+00] [ 8.51507209e-02 -1.42372017e-02 9.96266358e-01 2.43272366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.559072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.37, Y:2.30, Z:2.44 [[ 8.99422259e-01 -4.29161095e-01 -8.28272535e-02 4.63718899e+01] [ 4.28745936e-01 9.03115627e-01 -2.36450246e-02 2.29787120e+00] [ 8.49501116e-02 -1.42449869e-02 9.96283373e-01 2.43548714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.589072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.40, Y:2.30, Z:2.45 [[ 8.99183277e-01 -4.28834042e-01 -8.70103440e-02 4.63978728e+01] [ 4.29871956e-01 9.02859594e-01 -7.39285203e-03 2.30130205e+00] [ 8.17284305e-02 -3.07557779e-02 9.96179977e-01 2.45039077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.619072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.42, Y:2.32, Z:2.43 [[ 8.98555493e-01 -4.31929929e-01 -7.76824443e-02 4.64248765e+01] [ 4.30087248e-01 9.01903783e-01 -3.99315131e-02 2.31815823e+00] [ 8.73097060e-02 2.47045172e-03 9.96178153e-01 2.43054955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.649072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.45, Y:2.32, Z:2.44 [[ 8.98323314e-01 -4.31573189e-01 -8.22180394e-02 4.64510729e+01] [ 4.31168549e-01 9.01964434e-01 -2.35338533e-02 2.32140499e+00] [ 8.43143275e-02 -1.43088237e-02 9.96336465e-01 2.44263961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.679072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.48, Y:2.33, Z:2.45 [[ 8.97610633e-01 -4.32947830e-01 -8.27727514e-02 4.64780842e+01] [ 4.32541819e-01 9.01302037e-01 -2.37110104e-02 2.32926780e+00] [ 8.48688800e-02 -1.45194214e-02 9.96286334e-01 2.44569576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.709072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.50, Y:2.34, Z:2.45 [[ 8.97161149e-01 -4.33876018e-01 -8.27857063e-02 4.65040359e+01] [ 4.33471634e-01 9.00854485e-01 -2.37389739e-02 2.33691746e+00] [ 8.48776462e-02 -1.45875703e-02 9.96284592e-01 2.44745425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.739072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.53, Y:2.34, Z:2.45 [[ 8.96353674e-01 -4.35491926e-01 -8.30474145e-02 4.65307735e+01] [ 4.35090367e-01 9.00071401e-01 -2.38295091e-02 2.34460342e+00] [ 8.51261615e-02 -1.47734620e-02 9.96260649e-01 2.44994825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.769072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.56, Y:2.35, Z:2.45 [[ 8.95942555e-01 -4.36334278e-01 -8.30622435e-02 4.65563997e+01] [ 4.35933964e-01 8.99662356e-01 -2.38584314e-02 2.35224885e+00] [ 8.51382251e-02 -1.48338691e-02 9.96258721e-01 2.45137821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.799072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.58, Y:2.36, Z:2.45 [[ 8.95759407e-01 -4.36580776e-01 -8.37395398e-02 4.65838373e+01] [ 4.36173822e-01 8.99540553e-01 -2.40663902e-02 2.35985478e+00] [ 8.58340352e-02 -1.49672997e-02 9.96197018e-01 2.45354578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.829072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.61, Y:2.37, Z:2.45 [[ 8.95206926e-01 -4.37730486e-01 -8.36455651e-02 4.66093029e+01] [ 4.37327125e-01 8.98980471e-01 -2.40644764e-02 2.36811421e+00] [ 8.57294844e-02 -1.50377886e-02 9.96204959e-01 2.45377957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.859072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.64, Y:2.38, Z:2.46 [[ 8.94866866e-01 -4.38328080e-01 -8.41533546e-02 4.66360856e+01] [ 4.37920983e-01 8.98686975e-01 -2.42267094e-02 2.37590600e+00] [ 8.62467707e-02 -1.51728402e-02 9.96158260e-01 2.45668558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.88907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.66, Y:2.38, Z:2.46 [[ 8.94576036e-01 -4.38910227e-01 -8.42112202e-02 4.66622663e+01] [ 4.38502916e-01 8.98402054e-01 -2.42681278e-02 2.38412702e+00] [ 8.63070626e-02 -1.52171800e-02 9.96152362e-01 2.45903218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.91907232900002 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:46.69, Y:2.39, Z:2.47 [[ 8.94592227e-01 -4.38238029e-01 -8.74767222e-02 4.66872896e+01] [ 4.39198107e-01 8.98345321e-01 -8.98376715e-03 2.38702276e+00] [ 8.25213325e-02 -3.03828025e-02 9.96126054e-01 2.47293388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.94907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.72, Y:2.40, Z:2.46 [[ 8.93713137e-01 -4.41697631e-01 -7.86131819e-02 4.67162753e+01] [ 4.39915996e-01 8.97163580e-01 -3.96412359e-02 2.40416098e+00] [ 8.80383237e-02 8.44697076e-04 9.96116730e-01 2.45589226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.979072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.74, Y:2.41, Z:2.47 [[ 8.93305519e-01 -4.41610226e-01 -8.35802469e-02 4.67433626e+01] [ 4.41217255e-01 8.97076054e-01 -2.41223281e-02 2.40791253e+00] [ 8.56305048e-02 -1.53284383e-02 9.96209042e-01 2.46747870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.009072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.77, Y:2.42, Z:2.47 [[ 8.93083024e-01 -4.42164274e-01 -8.30269027e-02 4.67702247e+01] [ 4.41776610e-01 8.96804330e-01 -2.39879397e-02 2.41612175e+00] [ 8.50654958e-02 -1.52561219e-02 9.96258557e-01 2.46964491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.039072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.80, Y:2.42, Z:2.48 [[ 8.93082792e-01 -4.41241768e-01 -8.77999333e-02 4.67951788e+01] [ 4.42278570e-01 8.96839038e-01 -8.33102026e-03 2.41986941e+00] [ 8.24184019e-02 -3.13917381e-02 9.96103291e-01 2.48334535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.069072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.82, Y:2.44, Z:2.46 [[ 8.92422488e-01 -4.44451336e-01 -7.77503259e-02 4.68243676e+01] [ 4.42624276e-01 8.95801674e-01 -4.02878521e-02 2.43742175e+00] [ 8.75548617e-02 1.53960348e-03 9.96158509e-01 2.46398868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.099072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.85, Y:2.44, Z:2.48 [[ 8.92377500e-01 -4.43679887e-01 -8.25260868e-02 4.68521648e+01] [ 4.43298812e-01 8.96055382e-01 -2.38938452e-02 2.44130081e+00] [ 8.45491628e-02 -1.52613864e-02 9.96302429e-01 2.47604048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.129072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.88, Y:2.45, Z:2.48 [[ 8.92321029e-01 -4.43843773e-01 -8.22550065e-02 4.68782251e+01] [ 4.43463858e-01 8.95975173e-01 -2.38389782e-02 2.44927189e+00] [ 8.42792257e-02 -1.52051009e-02 9.96326160e-01 2.47832348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.159072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.91, Y:2.46, Z:2.48 [[ 8.92107337e-01 -4.44133790e-01 -8.30040666e-02 4.69052772e+01] [ 4.43746852e-01 8.95828831e-01 -2.40714883e-02 2.45763208e+00] [ 8.50483973e-02 -1.53584419e-02 9.96258445e-01 2.48126972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.189072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.93, Y:2.47, Z:2.48 [[ 8.91953681e-01 -4.44368282e-01 -8.33994075e-02 4.69306013e+01] [ 4.43976451e-01 8.95711280e-01 -2.42118477e-02 2.46556270e+00] [ 8.54607673e-02 -1.54315263e-02 9.96222026e-01 2.48354944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.219072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.96, Y:2.48, Z:2.48 [[ 8.91748403e-01 -4.44585769e-01 -8.44291449e-02 4.69568493e+01] [ 4.44183984e-01 8.95599870e-01 -2.45246962e-02 2.47505297e+00] [ 8.65180621e-02 -1.56322152e-02 9.96127632e-01 2.48421625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.249072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.98, Y:2.48, Z:2.49 [[ 8.91828428e-01 -4.44435650e-01 -8.43742116e-02 4.69830035e+01] [ 4.44031564e-01 8.95675200e-01 -2.45337752e-02 2.48335910e+00] [ 8.64755732e-02 -1.55848950e-02 9.96132063e-01 2.48556322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.279072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.01, Y:2.49, Z:2.49 [[ 8.91993516e-01 -4.44089372e-01 -8.44523369e-02 4.70084079e+01] [ 4.43681725e-01 8.95847509e-01 -2.45716715e-02 2.49116688e+00] [ 8.65684338e-02 -1.55521868e-02 9.96124508e-01 2.48719498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.309072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.03, Y:2.50, Z:2.49 [[ 8.91971856e-01 -4.44173424e-01 -8.42388112e-02 4.70349232e+01] [ 4.43766538e-01 8.95806680e-01 -2.45285759e-02 2.49966413e+00] [ 8.63566314e-02 -1.55035662e-02 9.96143650e-01 2.49013509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.339072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.06, Y:2.50, Z:2.50 [[ 8.92517971e-01 -4.42393156e-01 -8.77494551e-02 4.70585270e+01] [ 4.43133389e-01 8.96376391e-01 -1.19233493e-02 2.50344524e+00] [ 8.39313479e-02 -2.82429099e-02 9.96071216e-01 2.50159674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.369072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.09, Y:2.52, Z:2.49 [[ 8.91629942e-01 -4.45839679e-01 -7.88861607e-02 4.70874310e+01] [ 4.44267960e-01 8.95111285e-01 -3.74401844e-02 2.52049928e+00] [ 8.73042125e-02 -1.66380421e-03 9.96180308e-01 2.48765544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.399072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.11, Y:2.53, Z:2.50 [[ 8.91605667e-01 -4.45173364e-01 -8.28251806e-02 4.71148474e+01] [ 4.44778651e-01 8.95314040e-01 -2.41810160e-02 2.52539283e+00] [ 8.49192912e-02 -1.52789412e-02 9.96270680e-01 2.49730564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.429072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.14, Y:2.53, Z:2.50 [[ 8.91569397e-01 -4.45222655e-01 -8.29505702e-02 4.71404751e+01] [ 4.44824817e-01 8.95289436e-01 -2.42427062e-02 2.53385270e+00] [ 8.50581712e-02 -1.52844172e-02 9.96258749e-01 2.49912271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.459072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.17, Y:2.54, Z:2.50 [[ 8.91673144e-01 -4.45001910e-01 -8.30199048e-02 4.71667239e+01] [ 4.44601472e-01 8.95399499e-01 -2.42748408e-02 2.54139209e+00] [ 8.51383317e-02 -1.52655482e-02 9.96252191e-01 2.50082131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.489072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.19, Y:2.55, Z:2.50 [[ 8.91315994e-01 -4.45512348e-01 -8.41103252e-02 4.71936137e+01] [ 4.45102141e-01 8.95141568e-01 -2.46101072e-02 2.55036145e+00] [ 8.62547550e-02 -1.55023037e-02 9.96152496e-01 2.50282800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.519072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.22, Y:2.56, Z:2.51 [[ 8.91064223e-01 -4.45903615e-01 -8.47025217e-02 4.72196225e+01] [ 4.45487015e-01 8.94944568e-01 -2.48100879e-02 2.55867128e+00] [ 8.68669695e-02 -1.56264919e-02 9.96097356e-01 2.50515765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.549072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.25, Y:2.57, Z:2.51 [[ 8.90867889e-01 -4.46344600e-01 -8.44446651e-02 4.72463027e+01] [ 4.45930696e-01 8.94725114e-01 -2.47544987e-02 2.56676981e+00] [ 8.66037994e-02 -1.56034802e-02 9.96120632e-01 2.50721971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.579072329 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:47.27, Y:2.57, Z:2.51 [[ 8.90821781e-01 -4.46402537e-01 -8.46246363e-02 4.72719747e+01] [ 4.45984845e-01 8.94695936e-01 -2.48334537e-02 2.57468526e+00] [ 8.67990350e-02 -1.56191238e-02 9.96103393e-01 2.50979075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.609072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.30, Y:2.58, Z:2.51 [[ 8.90910111e-01 -4.46377968e-01 -8.38205417e-02 4.72975690e+01] [ 4.45966966e-01 8.94711026e-01 -2.46098514e-02 2.58327962e+00] [ 8.59804584e-02 -1.54560272e-02 9.96176928e-01 2.51184944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.63907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.32, Y:2.59, Z:2.51 [[ 8.90786916e-01 -4.46640080e-01 -8.37335590e-02 4.73245797e+01] [ 4.46229639e-01 8.94580304e-01 -2.46005819e-02 2.59190899e+00] [ 8.58939986e-02 -1.54505193e-02 9.96184472e-01 2.51453979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.66907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.35, Y:2.60, Z:2.52 [[ 8.90737504e-01 -4.46826426e-01 -8.32636976e-02 4.73510002e+01] [ 4.46419089e-01 8.94488846e-01 -2.44888108e-02 2.60028313e+00] [ 8.54206965e-02 -1.53574018e-02 9.96226608e-01 2.51752244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.69907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.38, Y:2.61, Z:2.52 [[ 8.90358860e-01 -4.47557406e-01 -8.33874642e-02 4.73771914e+01] [ 4.47149803e-01 8.94122106e-01 -2.45502287e-02 2.60870229e+00] [ 8.55462117e-02 -1.54281746e-02 9.96214744e-01 2.51929379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.729072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.40, Y:2.62, Z:2.52 [[ 8.89955062e-01 -4.48131405e-01 -8.46063333e-02 4.74043501e+01] [ 4.47712920e-01 8.93829882e-01 -2.49255735e-02 2.61720733e+00] [ 8.67936012e-02 -1.56967082e-02 9.96102647e-01 2.52174679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.759072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.43, Y:2.63, Z:2.52 [[ 8.89628359e-01 -4.48613914e-01 -8.54806372e-02 4.74312245e+01] [ 4.48186509e-01 8.93584512e-01 -2.52105844e-02 2.62527828e+00] [ 8.76939924e-02 -1.58832175e-02 9.96020827e-01 2.52261984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.789072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.46, Y:2.63, Z:2.52 [[ 8.89166230e-01 -4.49432086e-01 -8.59896194e-02 4.74579367e+01] [ 4.49000851e-01 8.93170575e-01 -2.53881896e-02 2.63337348e+00] [ 8.82136648e-02 -1.60350914e-02 9.95972502e-01 2.52483752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.819072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.48, Y:2.64, Z:2.53 [[ 8.89126228e-01 -4.49492459e-01 -8.60876337e-02 4.74849039e+01] [ 4.49058057e-01 8.93140201e-01 -2.54448751e-02 2.64139217e+00] [ 8.83256060e-02 -1.60346398e-02 9.95962588e-01 2.52718946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.849072329 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:47.51, Y:2.65, Z:2.53 [[ 8.88629704e-01 -4.50676597e-01 -8.50167860e-02 4.75119882e+01] [ 4.50255695e-01 8.92545235e-01 -2.51557821e-02 2.64992940e+00] [ 8.72184495e-02 -1.59251168e-02 9.96061912e-01 2.52939636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.879072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.54, Y:2.66, Z:2.53 [[ 8.88233006e-01 -4.51628972e-01 -8.41034983e-02 4.75378290e+01] [ 4.51218909e-01 8.92065542e-01 -2.49111585e-02 2.65815403e+00] [ 8.62764337e-02 -1.58221755e-02 9.96145590e-01 2.53116562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.909072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.56, Y:2.67, Z:2.53 [[ 8.88053106e-01 -4.51979415e-01 -8.41206877e-02 4.75647135e+01] [ 4.51569501e-01 8.91887592e-01 -2.49300668e-02 2.66617357e+00] [ 8.62940747e-02 -1.58471137e-02 9.96143665e-01 2.53427752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.939072329 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:47.59, Y:2.67, Z:2.54 [[ 8.87335206e-01 -4.53379025e-01 -8.41646735e-02 4.75910609e+01] [ 4.52972401e-01 8.91174787e-01 -2.49700600e-02 2.67388487e+00] [ 8.63263364e-02 -1.59674609e-02 9.96138948e-01 2.53799196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.969072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.62, Y:2.68, Z:2.54 [[ 8.86933181e-01 -4.54146708e-01 -8.42632852e-02 4.76183011e+01] [ 4.53740095e-01 8.90782574e-01 -2.50266487e-02 2.68185871e+00] [ 8.64260362e-02 -1.60366659e-02 9.96129191e-01 2.54018725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.999072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.64, Y:2.69, Z:2.54 [[ 8.86403675e-01 -4.55174373e-01 -8.42900701e-02 4.76447277e+01] [ 4.54769579e-01 8.90256435e-01 -2.50621288e-02 2.68984431e+00] [ 8.64474161e-02 -1.61173967e-02 9.96126033e-01 2.54208639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.029072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.67, Y:2.70, Z:2.54 [[ 8.85421070e-01 -4.57033523e-01 -8.45570093e-02 4.76713819e+01] [ 4.56631903e-01 8.89299622e-01 -2.51691870e-02 2.69742183e+00] [ 8.66996786e-02 -1.63260996e-02 9.96100710e-01 2.54406087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.059072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.70, Y:2.71, Z:2.55 [[ 8.84793096e-01 -4.58190178e-01 -8.48701217e-02 4.76982859e+01] [ 4.57788275e-01 8.88701470e-01 -2.52901687e-02 2.70540290e+00] [ 8.70119088e-02 -1.64759799e-02 9.96071016e-01 2.54670318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.089072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.72, Y:2.71, Z:2.55 [[ 8.83692246e-01 -4.60291245e-01 -8.49704912e-02 4.77243427e+01] [ 4.59895425e-01 8.87611272e-01 -2.53461760e-02 2.71283587e+00] [ 8.70873886e-02 -1.66793209e-02 9.96061036e-01 2.54984522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.119072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.75, Y:2.72, Z:2.55 [[ 8.83199225e-01 -4.61300047e-01 -8.46250275e-02 4.77515946e+01] [ 4.60910386e-01 8.87087113e-01 -2.52600290e-02 2.72074837e+00] [ 8.67222240e-02 -1.66949161e-02 9.96092634e-01 2.55201332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.149072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.78, Y:2.73, Z:2.55 [[ 8.82486999e-01 -4.62663829e-01 -8.46101522e-02 4.77785186e+01] [ 4.62277941e-01 8.86374574e-01 -2.52827952e-02 2.72885544e+00] [ 8.66937224e-02 -1.68016688e-02 9.96093320e-01 2.55339387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.179072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.80, Y:2.74, Z:2.56 [[ 8.82191669e-01 -4.63235254e-01 -8.45633466e-02 4.78044413e+01] [ 4.62850077e-01 8.86075616e-01 -2.52944269e-02 2.73614342e+00] [ 8.66467897e-02 -1.68256188e-02 9.96096999e-01 2.55634645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.209072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.83, Y:2.74, Z:2.56 [[ 8.81208010e-01 -4.64997731e-01 -8.51443054e-02 4.78318069e+01] [ 4.64613686e-01 8.85146678e-01 -2.54849047e-02 2.74369507e+00] [ 8.72156219e-02 -1.71017075e-02 9.96042653e-01 2.55905546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.239072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.86, Y:2.75, Z:2.56 [[ 8.80430407e-01 -4.66516185e-01 -8.48819697e-02 4.78588928e+01] [ 4.66138900e-01 8.84345905e-01 -2.54331603e-02 2.75152450e+00] [ 8.69300033e-02 -1.71746603e-02 9.96066366e-01 2.56058316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.269072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.89, Y:2.76, Z:2.56 [[ 8.79829557e-01 -4.67603238e-01 -8.51302731e-02 4.78850978e+01] [ 4.67226298e-01 8.83768972e-01 -2.55341119e-02 2.75887616e+00] [ 8.71753274e-02 -1.73094360e-02 9.96042592e-01 2.56311233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.299072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.91, Y:2.77, Z:2.57 [[ 8.78431588e-01 -4.70156599e-01 -8.55027346e-02 4.79126059e+01] [ 4.69786386e-01 8.82407019e-01 -2.56632999e-02 2.76608487e+00] [ 8.75139830e-02 -1.76245673e-02 9.96007368e-01 2.56566506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.329072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.94, Y:2.77, Z:2.57 [[ 8.77782949e-01 -4.71320809e-01 -8.57542383e-02 4.79400043e+01] [ 4.70951293e-01 8.81782835e-01 -2.57664708e-02 2.77381918e+00] [ 8.77608892e-02 -1.77687007e-02 9.95983082e-01 2.56811924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.359072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.97, Y:2.78, Z:2.57 [[ 8.76348942e-01 -4.74026149e-01 -8.55087233e-02 4.79672297e+01] [ 4.73668616e-01 8.80327514e-01 -2.57198337e-02 2.78080895e+00] [ 8.74675555e-02 -1.79632496e-02 9.96005396e-01 2.57036119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.38907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.99, Y:2.79, Z:2.57 [[ 8.76219885e-01 -4.74265994e-01 -8.55013459e-02 4.79945073e+01] [ 4.73907265e-01 8.80198349e-01 -2.57443370e-02 2.78924908e+00] [ 8.74678071e-02 -1.79620090e-02 9.96005396e-01 2.57255109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.41907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.02, Y:2.80, Z:2.57 [[ 8.75370583e-01 -4.75829585e-01 -8.55134392e-02 4.80218864e+01] [ 4.75475588e-01 8.79351280e-01 -2.57738627e-02 2.79730450e+00] [ 8.74603186e-02 -1.80978716e-02 9.96003594e-01 2.57493406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.44907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.05, Y:2.80, Z:2.58 [[ 8.74715214e-01 -4.77126115e-01 -8.49939081e-02 4.80475685e+01] [ 4.76779863e-01 8.78648590e-01 -2.56440598e-02 2.80449672e+00] [ 8.69152282e-02 -1.80921346e-02 9.96051413e-01 2.57720464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.479072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.07, Y:2.81, Z:2.58 [[ 8.74175503e-01 -4.78222932e-01 -8.43801979e-02 4.80743936e+01] [ 4.77885008e-01 8.78052900e-01 -2.54759378e-02 2.81182781e+00] [ 8.62734551e-02 -1.80535909e-02 9.96107905e-01 2.57853814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.509072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.10, Y:2.82, Z:2.58 [[ 8.72587381e-01 -4.81037003e-01 -8.48213594e-02 4.81014620e+01] [ 4.80705817e-01 8.76507097e-01 -2.56364374e-02 2.81859255e+00] [ 8.66785985e-02 -1.84040891e-02 9.96066318e-01 2.58161994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.539072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.13, Y:2.83, Z:2.58 [[ 8.71674204e-01 -4.82662556e-01 -8.49761089e-02 4.81287385e+01] [ 4.82335122e-01 8.75609387e-01 -2.57105363e-02 2.82658116e+00] [ 8.68153918e-02 -1.85757506e-02 9.96051218e-01 2.58382780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.569072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.16, Y:2.83, Z:2.59 [[ 8.70380256e-01 -4.85102843e-01 -8.43412177e-02 4.81563630e+01] [ 4.84788766e-01 8.74258132e-01 -2.55454564e-02 2.83370416e+00] [ 8.61281690e-02 -1.86534140e-02 9.96109426e-01 2.58568444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.599072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.18, Y:2.84, Z:2.59 [[ 8.69728840e-01 -4.86200779e-01 -8.47381085e-02 4.81838116e+01] [ 4.85886294e-01 8.73644296e-01 -2.56934444e-02 2.84127886e+00] [ 8.65231378e-02 -1.88267559e-02 9.96071935e-01 2.58849829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.629072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.21, Y:2.85, Z:2.59 [[ 8.68442742e-01 -4.88557921e-01 -8.43703838e-02 4.82104198e+01] [ 4.88254376e-01 8.72325555e-01 -2.56084034e-02 2.84735691e+00] [ 8.61096302e-02 -1.89547770e-02 9.96105340e-01 2.59051257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.659072329 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:48.24, Y:2.85, Z:2.59 [[ 8.67845418e-01 -4.89665275e-01 -8.40966580e-02 4.82369630e+01] [ 4.89367025e-01 8.71703757e-01 -2.55435778e-02 2.85457851e+00] [ 8.58151758e-02 -1.89862544e-02 9.96130151e-01 2.59229225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.689072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.26, Y:2.86, Z:2.59 [[ 8.67113151e-01 -4.90812500e-01 -8.49580643e-02 4.82639081e+01] [ 4.90511886e-01 8.71051832e-01 -2.58223845e-02 2.86186389e+00] [ 8.66768267e-02 -1.92820112e-02 9.96049864e-01 2.59485752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.719072329 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:48.29, Y:2.87, Z:2.60 [[ 8.66084648e-01 -4.92500610e-01 -8.56769027e-02 4.82900723e+01] [ 4.92200437e-01 8.70091508e-01 -2.60671876e-02 2.86774032e+00] [ 8.73848513e-02 -1.95938179e-02 9.95981913e-01 2.59665057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.749072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.32, Y:2.88, Z:2.60 [[ 8.65304961e-01 -4.93798221e-01 -8.60850811e-02 4.83170423e+01] [ 4.93499743e-01 8.69350967e-01 -2.62087803e-02 2.87544620e+00] [ 8.77799975e-02 -1.98043778e-02 9.95943000e-01 2.59771195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.779072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.34, Y:2.88, Z:2.60 [[ 8.64711784e-01 -4.94856569e-01 -8.59680567e-02 4.83429632e+01] [ 4.94561509e-01 8.68747661e-01 -2.61995210e-02 2.88280469e+00] [ 8.76495533e-02 -1.98614573e-02 9.95953351e-01 2.59936314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.809072329 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:48.37, Y:2.89, Z:2.60 [[ 8.64258359e-01 -4.95536934e-01 -8.66062104e-02 4.83702502e+01] [ 4.95239185e-01 8.68355096e-01 -2.64116980e-02 2.89021988e+00] [ 8.82929160e-02 -2.00642583e-02 9.95892457e-01 2.60224524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.839072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.40, Y:2.89, Z:2.62 [[ 8.63885470e-01 -4.94545187e-01 -9.55350863e-02 4.83950804e+01] [ 4.95899447e-01 8.68314272e-01 -1.06800252e-02 2.89189971e+00] [ 8.82362340e-02 -3.81494778e-02 9.95368768e-01 2.62022814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.869072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.42, Y:2.91, Z:2.60 [[ 8.62740907e-01 -4.99224551e-01 -8.03304111e-02 4.84234365e+01] [ 4.97320971e-01 8.66469540e-01 -4.36163771e-02 2.90883682e+00] [ 9.13782207e-02 -2.32036523e-03 9.95813555e-01 2.59814218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.899072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.45, Y:2.91, Z:2.61 [[ 8.62520410e-01 -4.98839510e-01 -8.49569622e-02 4.84507814e+01] [ 4.98562056e-01 8.66464712e-01 -2.59764899e-02 2.91167634e+00] [ 8.65703093e-02 -1.99510651e-02 9.96045951e-01 2.61021323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.929072329 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:48.48, Y:2.92, Z:2.61 [[ 8.62305637e-01 -4.99301024e-01 -8.44243835e-02 4.84778636e+01] [ 4.99026726e-01 8.66201232e-01 -2.58409159e-02 2.91942966e+00] [ 8.60309007e-02 -1.98472562e-02 9.96094760e-01 2.61245356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.959072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.51, Y:2.93, Z:2.61 [[ 8.61907711e-01 -5.00088587e-01 -8.38242395e-02 4.85052245e+01] [ 4.99819329e-01 8.65748787e-01 -2.56841555e-02 2.92701315e+00] [ 8.54150867e-02 -1.97596035e-02 9.96149497e-01 2.61433260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.989072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.53, Y:2.93, Z:2.62 [[ 8.61918880e-01 -5.00043529e-01 -8.39780532e-02 4.85312290e+01] [ 4.99770866e-01 8.65774594e-01 -2.57571870e-02 2.93402352e+00] [ 8.55857797e-02 -1.97691787e-02 9.96134657e-01 2.61655605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.019072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.56, Y:2.94, Z:2.62 [[ 8.61799616e-01 -5.00166888e-01 -8.44660000e-02 4.85579743e+01] [ 4.99890192e-01 8.65700734e-01 -2.59236475e-02 2.94196636e+00] [ 8.60884283e-02 -1.98827355e-02 9.96089082e-01 2.61837097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.049072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.58, Y:2.95, Z:2.62 [[ 8.61993622e-01 -4.99631706e-01 -8.56455089e-02 4.85843451e+01] [ 4.99342519e-01 8.66005038e-01 -2.63120354e-02 2.94906522e+00] [ 8.73157693e-02 -2.00856375e-02 9.95978174e-01 2.62144164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.079072329 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:48.61, Y:2.96, Z:2.62 [[ 8.61796440e-01 -4.99851025e-01 -8.63472542e-02 4.86111998e+01] [ 4.99556622e-01 8.65874433e-01 -2.65451937e-02 2.95736765e+00] [ 8.80345221e-02 -2.02587892e-02 9.95911394e-01 2.62327288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.109072329 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:48.64, Y:2.96, Z:2.63 [[ 8.61765822e-01 -4.99857814e-01 -8.66131265e-02 4.86370791e+01] [ 4.99559141e-01 8.65869600e-01 -2.66552146e-02 2.96485023e+00] [ 8.83194906e-02 -2.02978261e-02 9.95885368e-01 2.62560378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.13907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.66, Y:2.97, Z:2.63 [[ 8.61955971e-01 -4.99665283e-01 -8.58283667e-02 4.86641834e+01] [ 4.99368621e-01 8.65986054e-01 -2.64411684e-02 2.97151692e+00] [ 8.75379025e-02 -2.00688701e-02 9.95959013e-01 2.62792729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.16907232900002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:48.69, Y:2.98, Z:2.63 [[ 8.62022265e-01 -4.99647081e-01 -8.52666963e-02 4.86900197e+01] [ 4.99351863e-01 8.66000184e-01 -2.62944491e-02 2.97881505e+00] [ 8.69789195e-02 -1.99116831e-02 9.96011141e-01 2.63000070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.19907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.72, Y:2.99, Z:2.63 [[ 8.62591265e-01 -4.98833661e-01 -8.42691379e-02 4.87170202e+01] [ 4.98540122e-01 8.66476520e-01 -2.60035979e-02 2.98575055e+00] [ 8.59886994e-02 -1.95810699e-02 9.96103672e-01 2.63241687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.229072329 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:48.74, Y:2.99, Z:2.63 [[ 8.62623091e-01 -4.98804068e-01 -8.41183988e-02 4.87435485e+01] [ 4.98509066e-01 8.66494959e-01 -2.59845599e-02 2.99356830e+00] [ 8.58493727e-02 -1.95189030e-02 9.96116910e-01 2.63452178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.259072329 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:48.77, Y:3.00, Z:2.64 [[ 8.62824097e-01 -4.98337753e-01 -8.48178139e-02 4.87707443e+01] [ 4.98033325e-01 8.66761139e-01 -2.62285085e-02 3.00120133e+00] [ 8.65874410e-02 -1.96115087e-02 9.96051205e-01 2.63661893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.289072329 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:48.80, Y:3.01, Z:2.64 [[ 8.62875224e-01 -4.98173907e-01 -8.52590570e-02 4.87981719e+01] [ 4.97863146e-01 8.66853913e-01 -2.63928227e-02 3.00881818e+00] [ 8.70553629e-02 -1.96736295e-02 9.96009193e-01 2.63867448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.319072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.83, Y:3.02, Z:2.64 [[ 8.62659215e-01 -4.98445609e-01 -8.58548433e-02 4.88255271e+01] [ 4.98129354e-01 8.66694476e-01 -2.66051149e-02 3.01668946e+00] [ 8.76711212e-02 -1.98156701e-02 9.95952365e-01 2.64100261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.349072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.85, Y:3.02, Z:2.64 [[ 8.62640138e-01 -4.98415799e-01 -8.62188118e-02 4.88527129e+01] [ 4.98094287e-01 8.66710302e-01 -2.67457069e-02 3.02385500e+00] [ 8.80572154e-02 -1.98731773e-02 9.95917157e-01 2.64294844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.379072329 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:48.88, Y:3.03, Z:2.65 [[ 8.62398422e-01 -4.98808817e-01 -8.63639190e-02 4.88793954e+01] [ 4.98485599e-01 8.66483038e-01 -2.68188974e-02 3.03110799e+00] [ 8.82103734e-02 -1.99225951e-02 9.95902616e-01 2.64595691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.409072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.91, Y:3.04, Z:2.65 [[ 8.62379539e-01 -4.98976069e-01 -8.55827815e-02 4.89068658e+01] [ 4.98656936e-01 8.66391062e-01 -2.66042821e-02 3.03791393e+00] [ 8.74230570e-02 -1.97334590e-02 9.95975803e-01 2.64754842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.439072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.93, Y:3.05, Z:2.65 [[ 8.62076546e-01 -4.99515742e-01 -8.54871432e-02 4.89332229e+01] [ 4.99197331e-01 8.66079851e-01 -2.66029352e-02 3.04586188e+00] [ 8.73272772e-02 -1.97411872e-02 9.95984052e-01 2.64926653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.469072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.96, Y:3.05, Z:2.65 [[ 8.61888450e-01 -4.99830437e-01 -8.55443416e-02 4.89593030e+01] [ 4.99510743e-01 8.65897767e-01 -2.66472223e-02 3.05181325e+00] [ 8.73917471e-02 -1.97633845e-02 9.95977957e-01 2.65034588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.499072329 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:48.99, Y:3.06, Z:2.65 [[ 8.61484904e-01 -5.00311412e-01 -8.67885453e-02 4.89865655e+01] [ 4.99983139e-01 8.65612499e-01 -2.70529425e-02 3.05899641e+00] [ 8.86601455e-02 -2.00871077e-02 9.95859371e-01 2.65358916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.529072329 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:49.01, Y:3.07, Z:2.65 [[ 8.61303902e-01 -5.00775676e-01 -8.59029117e-02 4.90132054e+01] [ 5.00453823e-01 8.65348218e-01 -2.68036047e-02 3.06608204e+00] [ 8.77585248e-02 -1.99043913e-02 9.95942898e-01 2.65469347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.559072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.04, Y:3.07, Z:2.66 [[ 8.60843961e-01 -5.01517924e-01 -8.61826334e-02 4.90407479e+01] [ 5.01195923e-01 8.64915351e-01 -2.69087583e-02 3.07150921e+00] [ 8.80359073e-02 -2.00301424e-02 9.95915896e-01 2.65887056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.589072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.07, Y:3.08, Z:2.66 [[ 8.60660284e-01 -5.01894351e-01 -8.58250350e-02 4.90673427e+01] [ 5.01574251e-01 8.64698596e-01 -2.68255438e-02 3.07880249e+00] [ 8.76763761e-02 -1.99599475e-02 9.95949022e-01 2.66144782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.619072329 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:49.09, Y:3.09, Z:2.66 [[ 8.60538696e-01 -5.02339726e-01 -8.44272006e-02 4.90935052e+01] [ 5.02029570e-01 8.64446956e-01 -2.64153687e-02 3.08619787e+00] [ 8.62523256e-02 -1.96535043e-02 9.96079453e-01 2.66285992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.649072329 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:49.12, Y:3.09, Z:2.67 [[ 8.60294655e-01 -5.02726168e-01 -8.46138659e-02 4.91209784e+01] [ 5.02414653e-01 8.64220793e-01 -2.64940845e-02 3.09359190e+00] [ 8.64443318e-02 -1.97185268e-02 9.96061523e-01 2.66618395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.679072329 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:49.15, Y:3.10, Z:2.67 [[ 8.60218448e-01 -5.02776966e-01 -8.50855155e-02 4.91489921e+01] [ 5.02459760e-01 8.64189153e-01 -2.66701691e-02 3.09983500e+00] [ 8.69391262e-02 -1.98098763e-02 9.96016645e-01 2.66805127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.709072329 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:49.17, Y:3.11, Z:2.67 [[ 8.60218605e-01 -5.02829135e-01 -8.47750767e-02 4.91748041e+01] [ 5.02512131e-01 8.64160876e-01 -2.65995802e-02 3.10650329e+00] [ 8.66343484e-02 -1.97190507e-02 9.96045003e-01 2.66979811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.739072329 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:49.20, Y:3.11, Z:2.67 [[ 8.59936221e-01 -5.03117919e-01 -8.59188928e-02 4.92013885e+01] [ 5.02792286e-01 8.63986262e-01 -2.69751135e-02 3.11255097e+00] [ 8.78044060e-02 -2.00024793e-02 9.95936889e-01 2.67134202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.769072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.23, Y:3.12, Z:2.67 [[ 8.59859064e-01 -5.03204982e-01 -8.61808305e-02 4.92285564e+01] [ 5.02875966e-01 8.63934340e-01 -2.70780189e-02 3.11970107e+00] [ 8.80803729e-02 -2.00549884e-02 9.95911465e-01 2.67340162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.799072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.26, Y:3.13, Z:2.68 [[ 8.59998456e-01 -5.02920500e-01 -8.64501345e-02 4.92552205e+01] [ 5.02585586e-01 8.64099755e-01 -2.71908553e-02 3.12676374e+00] [ 8.83763786e-02 -2.00644979e-02 9.95885049e-01 2.67637307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.829072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.28, Y:3.13, Z:2.68 [[ 8.60413807e-01 -5.02411191e-01 -8.52706038e-02 4.92824666e+01] [ 5.02080469e-01 8.64404076e-01 -2.68476254e-02 3.13334045e+00] [ 8.71968049e-02 -1.97126372e-02 9.95996049e-01 2.67828830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.859072329 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:49.31, Y:3.14, Z:2.68 [[ 8.60605886e-01 -5.02015397e-01 -8.56624157e-02 4.93084043e+01] [ 5.01677458e-01 8.64633363e-01 -2.69976986e-02 3.14072913e+00] [ 8.76198430e-02 -1.97405246e-02 9.95958370e-01 2.68085342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.88907232900002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:49.33, Y:3.15, Z:2.68 [[ 8.61510747e-01 -5.00364242e-01 -8.62256194e-02 4.93346179e+01] [ 5.00012650e-01 8.65591122e-01 -2.71911538e-02 3.14668003e+00] [ 8.82416117e-02 -1.96884292e-02 9.95904505e-01 2.68326902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.91907232900002 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:49.36, Y:3.16, Z:2.68 [[ 8.61500446e-01 -5.00471296e-01 -8.57056798e-02 4.93617034e+01] [ 5.00122850e-01 8.65532044e-01 -2.70447067e-02 3.15506819e+00] [ 8.77161116e-02 -1.95643420e-02 9.95953373e-01 2.68491704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.94907232900002 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:49.39, Y:3.16, Z:2.69 [[ 8.62002995e-01 -4.99583720e-01 -8.58308941e-02 4.93880304e+01] [ 4.99227717e-01 8.66046573e-01 -2.71112364e-02 3.16198597e+00] [ 8.78778841e-02 -1.94791943e-02 9.95940781e-01 2.68704310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.979072329 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:49.42, Y:3.17, Z:2.69 [[ 8.62514037e-01 -4.98779203e-01 -8.53747158e-02 4.94153864e+01] [ 4.98421674e-01 8.66514665e-01 -2.69846139e-02 3.16870197e+00] [ 8.74378075e-02 -1.92780005e-02 9.95983428e-01 2.68953505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.009072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.44, Y:3.17, Z:2.71 [[ 8.63223383e-01 -4.96217361e-01 -9.28101335e-02 4.94428794e+01] [ 4.97440784e-01 8.67426971e-01 -1.10958365e-02 3.17094152e+00] [ 8.60119596e-02 -3.65893600e-02 9.95621997e-01 2.70819751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.039072329 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:49.47, Y:3.19, Z:2.68 [[ 8.63924044e-01 -4.97287119e-01 -7.96289287e-02 4.94687589e+01] [ 4.95384583e-01 8.67584020e-01 -4.34980785e-02 3.18781373e+00] [ 9.07158202e-02 -1.86790774e-03 9.95875068e-01 2.68289434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.069072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.50, Y:3.19, Z:2.70 [[ 8.64705064e-01 -4.94982745e-01 -8.53067073e-02 4.94953138e+01] [ 4.94602404e-01 8.68698954e-01 -2.70294065e-02 3.19076891e+00] [ 8.74849372e-02 -1.88204378e-02 9.95988041e-01 2.69573942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.099072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.52, Y:3.20, Z:2.70 [[ 8.65307761e-01 -4.93777356e-01 -8.61765714e-02 4.95228385e+01] [ 4.93381771e-01 8.69383539e-01 -2.73256256e-02 3.19823000e+00] [ 8.84132678e-02 -1.88728735e-02 9.95905070e-01 2.69872590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.129072329 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:49.55, Y:3.21, Z:2.70 [[ 8.65648123e-01 -4.93184285e-01 -8.61544437e-02 4.95502617e+01] [ 4.92783597e-01 8.69722066e-01 -2.73469279e-02 3.20648650e+00] [ 8.84174958e-02 -1.87826799e-02 9.95906400e-01 2.69996697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.159072329 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:49.58, Y:3.21, Z:2.70 [[ 8.66803323e-01 -4.91240814e-01 -8.56414744e-02 4.95777844e+01] [ 4.90833298e-01 8.70828425e-01 -2.72126370e-02 3.21251802e+00] [ 8.79469882e-02 -1.84476832e-02 9.95954321e-01 2.70342521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.189072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.61, Y:3.22, Z:2.71 [[ 8.67267258e-01 -4.90417704e-01 -8.56620064e-02 4.96051249e+01] [ 4.90003631e-01 8.71294435e-01 -2.72479134e-02 3.21995655e+00] [ 8.79996886e-02 -1.83434710e-02 9.95951591e-01 2.70627467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.219072329 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:49.63, Y:3.23, Z:2.71 [[ 8.68450026e-01 -4.88509491e-01 -8.45755799e-02 4.96321931e+01] [ 4.88094704e-01 8.72375098e-01 -2.69304318e-02 3.22723239e+00] [ 8.69374014e-02 -1.78931584e-02 9.96053072e-01 2.70808296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.249072329 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:49.66, Y:3.23, Z:2.71 [[ 8.68881034e-01 -4.87764823e-01 -8.44465875e-02 4.96577399e+01] [ 4.87345588e-01 8.72794243e-01 -2.69163188e-02 3.23491234e+00] [ 8.68333288e-02 -1.77675929e-02 9.96064398e-01 2.70948073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.279072329 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:49.68, Y:3.24, Z:2.71 [[ 8.68745262e-01 -4.88007468e-01 -8.44415886e-02 4.96849001e+01] [ 4.87587869e-01 8.72658431e-01 -2.69319927e-02 3.24380327e+00] [ 8.68316778e-02 -1.77756532e-02 9.96064398e-01 2.71167622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.309072329 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:49.71, Y:3.25, Z:2.71 [[ 8.69371190e-01 -4.86869010e-01 -8.45712795e-02 4.97115200e+01] [ 4.86440693e-01 8.73296326e-01 -2.69996261e-02 3.25175296e+00] [ 8.70010688e-02 -1.76662147e-02 9.96051564e-01 2.71341060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.339072329 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:49.74, Y:3.26, Z:2.72 [[ 8.69990301e-01 -4.85627577e-01 -8.53389260e-02 4.97375959e+01] [ 4.85183443e-01 8.73987014e-01 -2.72713289e-02 3.25930696e+00] [ 8.78288226e-02 -1.76792423e-02 9.95978686e-01 2.71590759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.369072329 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:49.76, Y:3.27, Z:2.72 [[ 8.70520358e-01 -4.84620142e-01 -8.56599336e-02 4.97645669e+01] [ 4.84166456e-01 8.74547051e-01 -2.73915634e-02 3.26714330e+00] [ 8.81881457e-02 -1.76287529e-02 9.95947829e-01 2.71776864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.399072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.79, Y:3.27, Z:2.72 [[ 8.71774753e-01 -4.82280562e-01 -8.61059730e-02 4.97916909e+01] [ 4.81808666e-01 8.75842842e-01 -2.75630978e-02 3.27330892e+00] [ 8.87084465e-02 -1.74577913e-02 9.95904633e-01 2.72029920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.429072329 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:49.82, Y:3.28, Z:2.72 [[ 8.72266247e-01 -4.81469975e-01 -8.56636270e-02 4.98176274e+01] [ 4.80996741e-01 8.76292592e-01 -2.74486411e-02 3.28129287e+00] [ 8.82820983e-02 -1.72614022e-02 9.95945940e-01 2.72175618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.459072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.84, Y:3.29, Z:2.72 [[ 8.73654488e-01 -4.78976560e-01 -8.54943842e-02 4.98440317e+01] [ 4.78492067e-01 8.77663863e-01 -2.74132178e-02 3.28800167e+00] [ 8.81656203e-02 -1.69587039e-02 9.95961458e-01 2.72322703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.489072329 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:49.87, Y:3.30, Z:2.73 [[ 8.74038261e-01 -4.78260026e-01 -8.55830946e-02 4.98712375e+01] [ 4.77769705e-01 8.78055872e-01 -2.74589496e-02 3.29645515e+00] [ 8.82792567e-02 -1.68888373e-02 9.95952579e-01 2.72546588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.519072329 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:49.90, Y:3.30, Z:2.73 [[ 8.74665891e-01 -4.77155410e-01 -8.53363525e-02 4.98982487e+01] [ 4.76660416e-01 8.78660164e-01 -2.74073523e-02 3.30453813e+00] [ 8.80592200e-02 -1.67041851e-02 9.95975172e-01 2.72689230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.549072329 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:49.93, Y:3.31, Z:2.73 [[ 8.75813426e-01 -4.75069315e-01 -8.52055726e-02 4.99252642e+01] [ 4.74563825e-01 8.79794723e-01 -2.73938304e-02 3.31160556e+00] [ 8.79773813e-02 -1.64435980e-02 9.95986741e-01 2.72917156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.579072329 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:49.95, Y:3.32, Z:2.73 [[ 8.76492390e-01 -4.73710046e-01 -8.57897622e-02 4.99526605e+01] [ 4.73188806e-01 8.80528260e-01 -2.76104616e-02 3.31950707e+00] [ 8.86196630e-02 -1.63943956e-02 9.95930610e-01 2.73228555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.609072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.98, Y:3.33, Z:2.73 [[ 8.77791292e-01 -4.71462116e-01 -8.48877012e-02 4.99801561e+01] [ 4.70939135e-01 8.81741688e-01 -2.73482570e-02 3.32651649e+00] [ 8.77426921e-02 -1.59708787e-02 9.96015136e-01 2.73491470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.63907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.01, Y:3.33, Z:2.74 [[ 8.78333994e-01 -4.70472048e-01 -8.47670211e-02 5.00067742e+01] [ 4.69943617e-01 8.82273002e-01 -2.73376645e-02 3.33433960e+00] [ 8.76492612e-02 -1.58241204e-02 9.96025705e-01 2.73768347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.66907232900002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:50.03, Y:3.34, Z:2.74 [[ 8.78978962e-01 -4.69365092e-01 -8.42163638e-02 5.00338051e+01] [ 4.68836149e-01 8.82866629e-01 -2.71878798e-02 3.34213937e+00] [ 8.71128589e-02 -1.55861014e-02 9.96076515e-01 2.73945156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.69907232900002 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:50.06, Y:3.35, Z:2.74 [[ 8.79403057e-01 -4.68478673e-01 -8.47230578e-02 5.00606323e+01] [ 4.67936914e-01 8.83337645e-01 -2.73797396e-02 3.35012429e+00] [ 8.76658904e-02 -1.55672195e-02 9.96028289e-01 2.74275066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.729072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.09, Y:3.36, Z:2.74 [[ 8.80418680e-01 -4.66601683e-01 -8.45329388e-02 5.00879485e+01] [ 4.66051555e-01 8.84334860e-01 -2.73460060e-02 3.35783523e+00] [ 8.75151170e-02 -1.53207731e-02 9.96045370e-01 2.74333155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.759072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.11, Y:3.37, Z:2.75 [[ 8.80775529e-01 -4.65853969e-01 -8.49384935e-02 5.01144728e+01] [ 4.65292709e-01 8.84729417e-01 -2.75055386e-02 3.36581092e+00] [ 8.79611481e-02 -1.52950564e-02 9.96006475e-01 2.74524808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.789072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.14, Y:3.37, Z:2.75 [[ 8.81762871e-01 -4.63889804e-01 -8.54428988e-02 5.01418686e+01] [ 4.63310423e-01 8.85763119e-01 -2.76974536e-02 3.37274579e+00] [ 8.85307348e-02 -1.51639994e-02 9.95958012e-01 2.74752388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.819072329 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:50.17, Y:3.38, Z:2.75 [[ 8.82229159e-01 -4.63080626e-01 -8.50179090e-02 5.01688923e+01] [ 4.62500849e-01 8.86189524e-01 -2.75878881e-02 3.38054765e+00] [ 8.81173968e-02 -1.49820157e-02 9.95997421e-01 2.74936924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.849072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.19, Y:3.39, Z:2.75 [[ 8.82659403e-01 -4.62320294e-01 -8.46895774e-02 5.01945833e+01] [ 4.61739140e-01 8.86589090e-01 -2.75091099e-02 3.38758379e+00] [ 8.78028752e-02 -1.48233182e-02 9.96027572e-01 2.75155448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.879072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.22, Y:3.40, Z:2.75 [[ 8.82975263e-01 -4.61681914e-01 -8.48792926e-02 5.02201364e+01] [ 4.61093855e-01 8.86922435e-01 -2.75871734e-02 3.39517055e+00] [ 8.80178478e-02 -1.47785285e-02 9.96009264e-01 2.75489851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.909072329 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:50.25, Y:3.40, Z:2.76 [[ 8.83698142e-01 -4.60396059e-01 -8.43389744e-02 5.02470952e+01] [ 4.59808285e-01 8.87594513e-01 -2.74284679e-02 3.40234752e+00] [ 8.74867695e-02 -1.45412731e-02 9.96059545e-01 2.75653080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.939072329 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:50.27, Y:3.41, Z:2.76 [[ 8.84022208e-01 -4.59709226e-01 -8.46886198e-02 5.02740248e+01] [ 4.59111063e-01 8.87950967e-01 -2.75701264e-02 3.41050242e+00] [ 8.78735833e-02 -1.45088782e-02 9.96025966e-01 2.75810121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.969072329 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:50.30, Y:3.42, Z:2.76 [[ 8.84238307e-01 -4.59305034e-01 -8.46256579e-02 5.03008611e+01] [ 4.58703479e-01 8.88161349e-01 -2.75778138e-02 3.41817278e+00] [ 8.78278672e-02 -1.44327244e-02 9.96031105e-01 2.76002138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.999072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.33, Y:3.43, Z:2.76 [[ 8.84438802e-01 -4.58759337e-01 -8.54861218e-02 5.03264058e+01] [ 4.58140566e-01 8.88442226e-01 -2.78860884e-02 3.42558501e+00] [ 8.87424838e-02 -1.45011216e-02 9.95949039e-01 2.76244183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.029072329 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:50.35, Y:3.43, Z:2.76 [[ 8.84959961e-01 -4.57768924e-01 -8.54018733e-02 5.03537267e+01] [ 4.57145264e-01 8.88955052e-01 -2.78769370e-02 3.43195428e+00] [ 8.86796221e-02 -1.43710888e-02 9.95956523e-01 2.76448988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.059072329 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:50.38, Y:3.44, Z:2.77 [[ 8.85174259e-01 -4.57514755e-01 -8.45386322e-02 5.03798618e+01] [ 4.56900061e-01 8.89089041e-01 -2.76226563e-02 3.43951862e+00] [ 8.78001443e-02 -1.41748420e-02 9.96037253e-01 2.76621665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.089072329 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:50.41, Y:3.45, Z:2.77 [[ 8.85382519e-01 -4.57103024e-01 -8.45849948e-02 5.04067300e+01] [ 4.56484250e-01 8.89301573e-01 -2.76557659e-02 3.44719769e+00] [ 8.78631032e-02 -1.41257863e-02 9.96032398e-01 2.76985147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.119072329 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:50.43, Y:3.45, Z:2.77 [[ 8.85784530e-01 -4.56436713e-01 -8.39719797e-02 5.04344746e+01] [ 4.55821546e-01 8.89646792e-01 -2.74827843e-02 3.45439443e+00] [ 8.72495541e-02 -1.39324124e-02 9.96089054e-01 2.77182886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.149072329 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:50.46, Y:3.46, Z:2.77 [[ 8.85897771e-01 -4.56378999e-01 -8.30863903e-02 5.04615315e+01] [ 4.55774124e-01 8.89679168e-01 -2.72199586e-02 3.46247119e+00] [ 8.63428480e-02 -1.37545261e-02 9.96170530e-01 2.77276011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.179072329 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:50.49, Y:3.47, Z:2.78 [[ 8.85956319e-01 -4.56199595e-01 -8.34465716e-02 5.04882743e+01] [ 4.55586325e-01 8.89770893e-01 -2.73652662e-02 3.46994774e+00] [ 8.67323539e-02 -1.37726864e-02 9.96136442e-01 2.77562559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.209072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.52, Y:3.48, Z:2.78 [[ 8.86347690e-01 -4.55420170e-01 -8.35478335e-02 5.05153349e+01] [ 4.54799640e-01 8.90171385e-01 -2.74261275e-02 3.47624306e+00] [ 8.68623023e-02 -1.36884398e-02 9.96126281e-01 2.77743336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.239072329 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:50.54, Y:3.48, Z:2.78 [[ 8.86352547e-01 -4.55374802e-01 -8.37433695e-02 5.05426877e+01] [ 4.54748635e-01 8.90194566e-01 -2.75193427e-02 3.48400340e+00] [ 8.70795076e-02 -1.36903435e-02 9.96107290e-01 2.77899816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.269072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.57, Y:3.49, Z:2.78 [[ 8.86504318e-01 -4.54922772e-01 -8.45893959e-02 5.05697947e+01] [ 4.54279298e-01 8.90424605e-01 -2.78270138e-02 3.49114528e+00] [ 8.79796217e-02 -1.37584435e-02 9.96027254e-01 2.78021601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.299072329 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:50.60, Y:3.50, Z:2.78 [[ 8.86652185e-01 -4.54650332e-01 -8.45043059e-02 5.05961245e+01] [ 4.54004525e-01 8.90564753e-01 -2.78264663e-02 3.49897002e+00] [ 8.79078684e-02 -1.36929401e-02 9.96034492e-01 2.78221398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.329072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.62, Y:3.51, Z:2.78 [[ 8.86904722e-01 -4.54087445e-01 -8.48799500e-02 5.06231193e+01] [ 4.53431776e-01 8.90852061e-01 -2.79683673e-02 3.50660949e+00] [ 8.83155628e-02 -1.36819894e-02 9.95998577e-01 2.78488021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.359072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.65, Y:3.51, Z:2.79 [[ 8.87325010e-01 -4.53346495e-01 -8.44469159e-02 5.06491914e+01] [ 4.52691801e-01 8.91231921e-01 -2.78531238e-02 3.51325545e+00] [ 8.78889031e-02 -1.35136530e-02 9.96038615e-01 2.78672043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.38907232900002 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:50.67, Y:3.52, Z:2.79 [[ 8.87587417e-01 -4.52825125e-01 -8.44865839e-02 5.06748148e+01] [ 4.52166088e-01 8.91497840e-01 -2.78824278e-02 3.52058548e+00] [ 8.79454709e-02 -1.34538761e-02 9.96034431e-01 2.78928870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.41907232900002 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:50.70, Y:3.53, Z:2.79 [[ 8.88072417e-01 -4.51853223e-01 -8.45934275e-02 5.07015685e+01] [ 4.51186649e-01 8.91992271e-01 -2.79355656e-02 3.52764524e+00] [ 8.80794589e-02 -1.33586198e-02 9.96023873e-01 2.79194655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.449072329 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:50.73, Y:3.54, Z:2.79 [[ 8.88134199e-01 -4.51832730e-01 -8.40525347e-02 5.07287053e+01] [ 4.51172023e-01 8.92004350e-01 -2.77856851e-02 3.53608861e+00] [ 8.75297086e-02 -1.32447349e-02 9.96073856e-01 2.79304606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.479072329 meters Centerline goodness : 0.999675 Centerline is valid? [True, True] Translation: X:50.76, Y:3.54, Z:2.80 [[ 8.88508122e-01 -4.51049620e-01 -8.43063260e-02 5.07550266e+01] [ 4.50379078e-01 8.92401505e-01 -2.78969687e-02 3.54388607e+00] [ 8.78180093e-02 -1.31831221e-02 9.96049297e-01 2.79528131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.509072329 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:50.78, Y:3.55, Z:2.80 [[ 8.88764112e-01 -4.50696454e-01 -8.34928770e-02 5.07822690e+01] [ 4.50035722e-01 8.92582537e-01 -2.76452950e-02 3.55264901e+00] [ 8.69839204e-02 -1.30046311e-02 9.96124830e-01 2.79639502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.539072329 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:50.81, Y:3.56, Z:2.80 [[ 8.89098749e-01 -4.49913234e-01 -8.41516312e-02 5.08098980e+01] [ 4.49518604e-01 8.92930618e-01 -2.46563693e-02 3.55966224e+00] [ 8.62347949e-02 -1.59057767e-02 9.96147864e-01 2.80141682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.569072329 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:50.84, Y:3.57, Z:2.80 [[ 8.89967960e-01 -4.48529377e-01 -8.23312087e-02 5.08360599e+01] [ 4.47624825e-01 8.93712167e-01 -3.01757968e-02 3.56874600e+00] [ 8.71151343e-02 -9.99800054e-03 9.96148078e-01 2.79790795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.599072329 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:50.86, Y:3.58, Z:2.80 [[ 8.90097930e-01 -4.47993493e-01 -8.38302179e-02 5.08627594e+01] [ 4.47308800e-01 8.93946307e-01 -2.78359236e-02 3.57642296e+00] [ 8.74100263e-02 -1.27212962e-02 9.96091189e-01 2.80244210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.629072329 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:50.89, Y:3.58, Z:2.80 [[ 8.90465423e-01 -4.47241451e-01 -8.39429256e-02 5.08885482e+01] [ 4.46549191e-01 8.94323951e-01 -2.79014310e-02 3.58429780e+00] [ 8.75508454e-02 -1.26393860e-02 9.96079864e-01 2.80495348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.659072329 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:50.92, Y:3.59, Z:2.81 [[ 8.91136561e-01 -4.45935226e-01 -8.37699422e-02 5.09156297e+01] [ 4.45238338e-01 8.94978418e-01 -2.78649104e-02 3.59222040e+00] [ 8.73982355e-02 -1.24661494e-02 9.96095449e-01 2.80668312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.689072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.94, Y:3.60, Z:2.81 [[ 8.91351447e-01 -4.45323926e-01 -8.47301491e-02 5.09438490e+01] [ 4.45015279e-01 8.95213412e-01 -2.35446076e-02 3.59943626e+00] [ 8.63365429e-02 -1.67196909e-02 9.96125722e-01 2.81346561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.719072329 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:50.97, Y:3.61, Z:2.81 [[ 8.92442128e-01 -4.43813026e-01 -8.10989941e-02 5.09693727e+01] [ 4.42772199e-01 8.96084612e-01 -3.13870657e-02 3.60931301e+00] [ 8.66015493e-02 -7.89724025e-03 9.96211727e-01 2.80861842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.749072329 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:51.00, Y:3.62, Z:2.81 [[ 8.92383708e-01 -4.43690058e-01 -8.24041910e-02 5.09965179e+01] [ 4.43000841e-01 8.96100122e-01 -2.74741096e-02 3.61743472e+00] [ 8.60323948e-02 -1.19876781e-02 9.96220218e-01 2.81370013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.779072329 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:51.02, Y:3.63, Z:2.82 [[ 8.93056390e-01 -4.42319646e-01 -8.24840327e-02 5.10244846e+01] [ 4.41718406e-01 8.96765280e-01 -2.63985169e-02 3.62560522e+00] [ 8.56453993e-02 -1.28593513e-02 9.96242693e-01 2.81647219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.809072329 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:51.05, Y:3.63, Z:2.82 [[ 8.93461275e-01 -4.41571106e-01 -8.21091294e-02 5.10496424e+01] [ 4.40798584e-01 8.97159907e-01 -2.82968244e-02 3.63431965e+00] [ 8.61600789e-02 -1.09114712e-02 9.96221552e-01 2.81656379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.839072329 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:51.08, Y:3.64, Z:2.82 [[ 8.94226111e-01 -4.39894362e-01 -8.27805147e-02 5.10761471e+01] [ 4.39177601e-01 8.97974341e-01 -2.76607565e-02 3.64199192e+00] [ 8.65025890e-02 -1.16203772e-02 9.96183853e-01 2.81947919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.869072329 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:51.10, Y:3.65, Z:2.82 [[ 8.94348382e-01 -4.39643163e-01 -8.27940874e-02 5.11035899e+01] [ 4.39137500e-01 8.98066253e-01 -2.52044013e-02 3.65029933e+00] [ 8.54355185e-02 -1.38164730e-02 9.96247900e-01 2.82291531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.899072329 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:51.13, Y:3.66, Z:2.82 [[ 8.94696678e-01 -4.39237711e-01 -8.11670425e-02 5.11289008e+01] [ 4.38354660e-01 8.98322576e-01 -2.93554372e-02 3.65991163e+00] [ 8.58082017e-02 -9.31573919e-03 9.96268121e-01 2.82194952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.929072329 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:51.15, Y:3.67, Z:2.83 [[ 8.94825847e-01 -4.38785553e-01 -8.21823677e-02 5.11544036e+01] [ 4.38067469e-01 8.98520056e-01 -2.75427157e-02 3.66812012e+00] [ 8.59278514e-02 -1.13554879e-02 9.96236647e-01 2.82543352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.959072329 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:51.18, Y:3.68, Z:2.83 [[ 8.95195592e-01 -4.38105156e-01 -8.17846212e-02 5.11816894e+01] [ 4.37389747e-01 8.98853710e-01 -2.74265716e-02 3.67667497e+00] [ 8.55281326e-02 -1.12196088e-02 9.96272583e-01 2.82677494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.989072329 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:51.21, Y:3.69, Z:2.83 [[ 8.95364713e-01 -4.37768481e-01 -8.17360824e-02 5.12088355e+01] [ 4.37050164e-01 8.99018525e-01 -2.74380579e-02 3.68540319e+00] [ 8.54937691e-02 -1.11556993e-02 9.96276250e-01 2.82876878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.019072329 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:51.24, Y:3.69, Z:2.83 [[ 8.95297914e-01 -4.37947300e-01 -8.15095610e-02 5.12368944e+01] [ 4.37251877e-01 8.98929204e-01 -2.71492608e-02 3.69452872e+00] [ 8.51612702e-02 -1.13335320e-02 9.96302720e-01 2.83144932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.049072329 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:51.26, Y:3.70, Z:2.83 [[ 8.95742559e-01 -4.36996161e-01 -8.17289646e-02 5.12629643e+01] [ 4.36270511e-01 8.99395669e-01 -2.74858605e-02 3.70230412e+00] [ 8.55178923e-02 -1.10356821e-02 9.96275516e-01 2.83408783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.079072329 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:51.29, Y:3.71, Z:2.84 [[ 8.95766628e-01 -4.37072499e-01 -8.10541716e-02 5.12900110e+01] [ 4.36357684e-01 8.99359788e-01 -2.72753318e-02 3.71129106e+00] [ 8.48181600e-02 -1.09362786e-02 9.96336428e-01 2.83585807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.109072329 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:51.32, Y:3.72, Z:2.84 [[ 8.95845628e-01 -4.36950429e-01 -8.08389368e-02 5.13169411e+01] [ 4.36236599e-01 8.99419895e-01 -2.72301824e-02 3.71994375e+00] [ 8.46063879e-02 -1.08708630e-02 9.96355149e-01 2.83782703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.13907232900002 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:51.34, Y:3.73, Z:2.84 [[ 8.95649511e-01 -4.37330132e-01 -8.09586889e-02 5.13439374e+01] [ 4.36613352e-01 8.99235002e-01 -2.72982051e-02 3.72860971e+00] [ 8.47392144e-02 -1.08980205e-02 9.96343565e-01 2.83975011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.16907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.37, Y:3.74, Z:2.84 [[ 8.95674910e-01 -4.37252277e-01 -8.10981024e-02 5.13693973e+01] [ 4.36530376e-01 8.99273022e-01 -2.73726648e-02 3.73686930e+00] [ 8.48980956e-02 -1.08847761e-02 9.96330184e-01 2.84185752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.199072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.40, Y:3.75, Z:2.84 [[ 8.95550688e-01 -4.37507761e-01 -8.10920702e-02 5.13964159e+01] [ 4.36785298e-01 8.99148688e-01 -2.73905245e-02 3.74625818e+00] [ 8.48973955e-02 -1.08902210e-02 9.96330184e-01 2.84404951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.229072329 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:51.42, Y:3.75, Z:2.85 [[ 8.95298123e-01 -4.37956954e-01 -8.14553711e-02 5.14229575e+01] [ 4.37227593e-01 8.98929149e-01 -2.75393663e-02 3.75488423e+00] [ 8.52836644e-02 -1.09585929e-02 9.96296445e-01 2.84628050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.259072329 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:51.45, Y:3.76, Z:2.85 [[ 8.94947910e-01 -4.38692756e-01 -8.13443592e-02 5.14505462e+01] [ 4.37926129e-01 8.98574967e-01 -2.79952402e-02 3.76350081e+00] [ 8.53753140e-02 -1.05685386e-02 9.96292809e-01 2.84843142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.289072329 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:51.48, Y:3.77, Z:2.85 [[ 8.95057025e-01 -4.38373635e-01 -8.18625559e-02 5.14763680e+01] [ 4.37693782e-01 8.98717553e-01 -2.70353904e-02 3.77133524e+00] [ 8.54229183e-02 -1.16325156e-02 9.96276874e-01 2.85135370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.319072329 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:51.50, Y:3.78, Z:2.85 [[ 8.94852622e-01 -4.38984859e-01 -8.08150839e-02 5.15036522e+01] [ 4.38127238e-01 8.98444776e-01 -2.90087606e-02 3.78099029e+00] [ 8.53422966e-02 -9.44872401e-03 9.96306887e-01 2.85147717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.349072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.53, Y:3.79, Z:2.86 [[ 8.94624956e-01 -4.39162347e-01 -8.23566655e-02 5.15292003e+01] [ 4.38564781e-01 8.98318044e-01 -2.61844370e-02 3.78918884e+00] [ 8.54816975e-02 -1.26934822e-02 9.96258879e-01 2.85570645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.379072329 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:51.56, Y:3.80, Z:2.86 [[ 8.94383453e-01 -4.39766250e-01 -8.17550236e-02 5.15566264e+01] [ 4.39071472e-01 8.98038455e-01 -2.72612496e-02 3.79893185e+00] [ 8.54077326e-02 -1.15142880e-02 9.96279549e-01 2.85678762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.409072329 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:51.58, Y:3.81, Z:2.86 [[ 8.94188769e-01 -4.40465256e-01 -8.01049591e-02 5.15826802e+01] [ 4.39512403e-01 8.97731499e-01 -3.01164885e-02 3.80870069e+00] [ 8.51780119e-02 -8.27729727e-03 9.96331367e-01 2.85653686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.439072329 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:51.61, Y:3.82, Z:2.86 [[ 8.94000753e-01 -4.40831108e-01 -8.01909482e-02 5.16094787e+01] [ 4.40142459e-01 8.97521047e-01 -2.70293324e-02 3.81647656e+00] [ 8.38884344e-02 -1.11311976e-02 9.96412980e-01 2.86023897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.469072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.64, Y:3.83, Z:2.86 [[ 8.93920755e-01 -4.40923185e-01 -8.05756028e-02 5.16371277e+01] [ 4.40340965e-01 8.97459215e-01 -2.58223116e-02 3.82506978e+00] [ 8.36989732e-02 -1.23976384e-02 9.96413960e-01 2.86309112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.499072329 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:51.66, Y:3.83, Z:2.87 [[ 8.93795203e-01 -4.41014224e-01 -8.14652679e-02 5.16629410e+01] [ 4.40428213e-01 8.97411143e-01 -2.60043955e-02 3.83377683e+00] [ 8.45761476e-02 -1.26369985e-02 9.96336882e-01 2.86561711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.529072329 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:51.69, Y:3.84, Z:2.87 [[ 8.93629115e-01 -4.41355169e-01 -8.14408966e-02 5.16894148e+01] [ 4.40624026e-01 8.97263672e-01 -2.77194935e-02 3.84325349e+00] [ 8.53080997e-02 -1.11138693e-02 9.96292633e-01 2.86608340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.559072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.72, Y:3.85, Z:2.87 [[ 8.93168435e-01 -4.42233291e-01 -8.17304226e-02 5.17166334e+01] [ 4.41395588e-01 8.96842719e-01 -2.90357129e-02 3.85316364e+00] [ 8.61398934e-02 -1.01416656e-02 9.96231432e-01 2.86593584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.589072329 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:51.74, Y:3.86, Z:2.87 [[ 8.93219582e-01 -4.42014684e-01 -8.23516701e-02 5.17411987e+01] [ 4.41391737e-01 8.96919668e-01 -2.66165915e-02 3.86120941e+00] [ 8.56277569e-02 -1.25748860e-02 9.96247840e-01 2.86881697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.619072329 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:51.77, Y:3.87, Z:2.87 [[ 8.92960280e-01 -4.42834620e-01 -8.07430348e-02 5.17690348e+01] [ 4.41880661e-01 8.96561881e-01 -3.03030544e-02 3.87155654e+00] [ 8.58103687e-02 -8.61936167e-03 9.96274203e-01 2.86809327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.649072329 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:51.80, Y:3.88, Z:2.88 [[ 8.93298390e-01 -4.41977985e-01 -8.16911743e-02 5.17951254e+01] [ 4.41489879e-01 8.96919813e-01 -2.49306413e-02 3.87809011e+00] [ 8.42892274e-02 -1.37953249e-02 9.96345831e-01 2.87591425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.679072329 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:51.82, Y:3.89, Z:2.88 [[ 8.93335816e-01 -4.42183944e-01 -8.01528575e-02 5.18211739e+01] [ 4.41469981e-01 8.96857932e-01 -2.73880594e-02 3.88790894e+00] [ 8.39962861e-02 -1.09183461e-02 9.96406249e-01 2.87603329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.709072329 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:51.85, Y:3.90, Z:2.88 [[ 8.93295630e-01 -4.42300813e-01 -7.99556676e-02 5.18472498e+01] [ 4.41588506e-01 8.96800797e-01 -2.73481447e-02 3.89735428e+00] [ 8.38004130e-02 -1.08775257e-02 9.96423188e-01 2.87887795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.739072329 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:51.87, Y:3.91, Z:2.88 [[ 8.93426526e-01 -4.42064113e-01 -7.98020228e-02 5.18724318e+01] [ 4.41351414e-01 8.96918307e-01 -2.73218020e-02 3.90666731e+00] [ 8.36538833e-02 -1.08107129e-02 9.96436228e-01 2.87950702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.769072329 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:51.90, Y:3.92, Z:2.88 [[ 8.93354704e-01 -4.42218728e-01 -7.97494118e-02 5.18992423e+01] [ 4.41506210e-01 8.96842173e-01 -2.73200113e-02 3.91621010e+00] [ 8.36040564e-02 -1.08034000e-02 9.96440489e-01 2.88133139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.799072329 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:51.93, Y:3.93, Z:2.88 [[ 8.93058255e-01 -4.42754347e-01 -8.00970777e-02 5.19258370e+01] [ 4.42035396e-01 8.96576986e-01 -2.74666511e-02 3.92565911e+00] [ 8.39741756e-02 -1.08764240e-02 9.96408571e-01 2.88293198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.829072329 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:51.95, Y:3.94, Z:2.88 [[ 8.92620501e-01 -4.43734115e-01 -7.95529782e-02 5.19528754e+01] [ 4.42721359e-01 8.96126069e-01 -3.09170930e-02 3.93614670e+00] [ 8.50084665e-02 -7.62257153e-03 9.96351071e-01 2.88276543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.859072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.98, Y:3.94, Z:2.89 [[ 8.92830349e-01 -4.42823084e-01 -8.22294601e-02 5.19792288e+01] [ 4.42390068e-01 8.96490428e-01 -2.44118930e-02 3.94212515e+00] [ 8.45280735e-02 -1.45818175e-02 9.96314396e-01 2.89023248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.88907232900002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:52.01, Y:3.95, Z:2.89 [[ 8.92748064e-01 -4.43280248e-01 -8.06443757e-02 5.20056994e+01] [ 4.42548007e-01 8.96316287e-01 -2.77195945e-02 3.95236660e+00] [ 8.45704161e-02 -1.09423933e-02 9.96357420e-01 2.89037867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.91907232900002 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:52.03, Y:3.96, Z:2.89 [[ 8.92674065e-01 -4.43449030e-01 -8.05355354e-02 5.20319327e+01] [ 4.42717138e-01 8.96233079e-01 -2.77092886e-02 3.96132019e+00] [ 8.44662679e-02 -1.09190984e-02 9.96366510e-01 2.89252488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.949072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.06, Y:3.97, Z:2.89 [[ 8.92757588e-01 -4.43524533e-01 -7.91825652e-02 5.20582924e+01] [ 4.42815115e-01 8.96198147e-01 -2.72700319e-02 3.96991215e+00] [ 8.30581964e-02 -1.07177088e-02 9.96487063e-01 2.89372218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.979072329 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:52.08, Y:3.98, Z:2.90 [[ 8.92646815e-01 -4.43764890e-01 -7.90846835e-02 5.20833272e+01] [ 4.43055979e-01 8.96079328e-01 -2.72623675e-02 3.97879148e+00] [ 8.29642316e-02 -1.07032764e-02 9.96495046e-01 2.89629450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.009072329 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:52.11, Y:3.99, Z:2.90 [[ 8.92671340e-01 -4.43703508e-01 -7.91522300e-02 5.21087581e+01] [ 4.42991899e-01 8.96109843e-01 -2.73006640e-02 3.98704250e+00] [ 8.30424928e-02 -1.06932763e-02 9.96488634e-01 2.89835957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.039072329 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:52.14, Y:4.00, Z:2.90 [[ 8.92542560e-01 -4.44011726e-01 -7.88756351e-02 5.21352347e+01] [ 4.43304973e-01 8.95957439e-01 -2.72207387e-02 3.99573560e+00] [ 8.27555392e-02 -1.06702935e-02 9.96512752e-01 2.90071596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.069072329 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:52.16, Y:4.00, Z:2.90 [[ 8.92360781e-01 -4.44366363e-01 -7.89352324e-02 5.21620952e+01] [ 4.43657770e-01 8.95781389e-01 -2.72669619e-02 4.00408179e+00] [ 8.28252328e-02 -1.06882617e-02 9.96506770e-01 2.90326853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.099072329 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:52.19, Y:4.01, Z:2.91 [[ 8.92120954e-01 -4.44808086e-01 -7.91578757e-02 5.21887140e+01] [ 4.44094963e-01 8.95561562e-01 -2.73706436e-02 4.01294622e+00] [ 8.30654344e-02 -1.07356892e-02 9.96486266e-01 2.90547751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.129072329 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:52.21, Y:4.02, Z:2.91 [[ 8.92111621e-01 -4.44836004e-01 -7.91061620e-02 5.22149621e+01] [ 4.44121729e-01 8.95548032e-01 -2.73790599e-02 4.02112913e+00] [ 8.30225593e-02 -1.07075879e-02 9.96490142e-01 2.90795664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.159072329 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:52.24, Y:4.03, Z:2.91 [[ 8.92294313e-01 -4.44458515e-01 -7.91674673e-02 5.22408468e+01] [ 4.43740420e-01 8.95735920e-01 -2.74153416e-02 4.02989254e+00] [ 8.30981261e-02 -1.06672519e-02 9.96484275e-01 2.90981731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.189072329 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:52.27, Y:4.04, Z:2.91 [[ 8.92243044e-01 -4.44622246e-01 -7.88251811e-02 5.22675495e+01] [ 4.43909686e-01 8.95655196e-01 -2.73122895e-02 4.03933806e+00] [ 8.27438345e-02 -1.06220611e-02 9.96514240e-01 2.91169799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.219072329 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:52.29, Y:4.05, Z:2.91 [[ 8.92750062e-01 -4.43806761e-01 -7.76716591e-02 5.22937978e+01] [ 4.43109778e-01 8.96062533e-01 -2.69381228e-02 4.04862607e+00] [ 8.15539845e-02 -1.03680608e-02 9.96614996e-01 2.91177720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.249072329 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:52.32, Y:4.06, Z:2.91 [[ 8.92857804e-01 -4.43535449e-01 -7.79823569e-02 5.23192339e+01] [ 4.42829772e-01 8.96196928e-01 -2.70713609e-02 4.05750937e+00] [ 8.18946569e-02 -1.03620335e-02 9.96587123e-01 2.91461791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.279072329 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:52.35, Y:4.07, Z:2.92 [[ 8.92945063e-01 -4.43244965e-01 -7.86321516e-02 5.23456979e+01] [ 4.42525077e-01 8.96340100e-01 -2.73126547e-02 4.06673162e+00] [ 8.25873474e-02 -1.04079988e-02 9.96529480e-01 2.91703603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.309072329 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:52.37, Y:4.08, Z:2.92 [[ 8.93528607e-01 -4.42034055e-01 -7.88195545e-02 5.23713719e+01] [ 4.41303866e-01 8.96939171e-01 -2.74047520e-02 4.07537422e+00] [ 8.28101796e-02 -1.02964442e-02 9.96512146e-01 2.91767843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.339072329 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:52.40, Y:4.08, Z:2.92 [[ 8.93677497e-01 -4.41760632e-01 -7.86643267e-02 5.23970928e+01] [ 4.41030998e-01 8.97074552e-01 -2.73661833e-02 4.08470066e+00] [ 8.26570680e-02 -1.02368643e-02 9.96525472e-01 2.92018939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.369072329 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:52.43, Y:4.10, Z:2.92 [[ 8.93736205e-01 -4.42111227e-01 -7.59819620e-02 5.24253961e+01] [ 4.41008565e-01 8.96944986e-01 -3.16407585e-02 4.09626436e+00] [ 8.21403744e-02 -5.23020458e-03 9.96607046e-01 2.91881518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.399072329 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:52.45, Y:4.10, Z:2.93 [[ 8.94567061e-01 -4.39749569e-01 -7.98128460e-02 5.24505563e+01] [ 4.39446579e-01 8.97992623e-01 -2.22700195e-02 4.10211572e+00] [ 8.14645784e-02 -1.51514563e-02 9.96561065e-01 2.92928852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.429072329 meters Centerline goodness : 0.999568 Centerline is valid? [True, True] Translation: X:52.48, Y:4.11, Z:2.93 [[ 8.95476658e-01 -4.38226087e-01 -7.79708361e-02 5.24765788e+01] [ 4.37491710e-01 8.98811637e-01 -2.71780148e-02 4.11345083e+00] [ 8.19912099e-02 -9.77431653e-03 9.96585121e-01 2.92802095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.459072329 meters Centerline goodness : 0.999697 Centerline is valid? [True, True] Translation: X:52.50, Y:4.12, Z:2.93 [[ 8.95952459e-01 -4.37256884e-01 -7.79461867e-02 5.25034773e+01] [ 4.36517125e-01 8.99284794e-01 -2.71966600e-02 4.12331426e+00] [ 8.19877473e-02 -9.65793084e-03 9.96586541e-01 2.92989929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.489072329 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:52.53, Y:4.13, Z:2.93 [[ 8.97328949e-01 -4.34408243e-01 -7.80399604e-02 5.25289201e+01] [ 4.33653883e-01 9.00667202e-01 -2.72562126e-02 4.13266845e+00] [ 8.21283562e-02 -9.38454329e-03 9.96577575e-01 2.93072060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.519072329 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:52.56, Y:4.14, Z:2.93 [[ 8.97797609e-01 -4.33392914e-01 -7.82945384e-02 5.25557925e+01] [ 4.32628483e-01 9.01157008e-01 -2.73613451e-02 4.14238531e+00] [ 8.24138851e-02 -9.30749715e-03 9.96554726e-01 2.93264993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.549072329 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:52.58, Y:4.15, Z:2.93 [[ 8.98329575e-01 -4.32396799e-01 -7.76980226e-02 5.25811313e+01] [ 4.31638186e-01 9.01637287e-01 -2.71786667e-02 4.15197869e+00] [ 8.18074027e-02 -9.12203344e-03 9.96606410e-01 2.93374546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.579072329 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:52.61, Y:4.16, Z:2.94 [[ 8.99942651e-01 -4.29178502e-01 -7.68702671e-02 5.26071514e+01] [ 4.28423147e-01 9.03177593e-01 -2.69043395e-02 4.16152785e+00] [ 8.09742669e-02 -8.72063914e-03 9.96678042e-01 2.93609168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.609072329 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:52.63, Y:4.17, Z:2.94 [[ 9.00641794e-01 -4.27698754e-01 -7.69294093e-02 5.26337786e+01] [ 4.26934748e-01 9.03880706e-01 -2.69516502e-02 4.17171435e+00] [ 8.10621960e-02 -8.57005531e-03 9.96672200e-01 2.93858410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.63907232900002 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:52.66, Y:4.18, Z:2.94 [[ 9.01132434e-01 -4.26619678e-01 -7.71750325e-02 5.26600213e+01] [ 4.25844694e-01 9.04391403e-01 -2.70644999e-02 4.18198266e+00] [ 8.13426841e-02 -8.47587943e-03 9.96650153e-01 2.94085018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.66907232900002 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:52.69, Y:4.19, Z:2.94 [[ 9.01882570e-01 -4.24998356e-01 -7.73577831e-02 5.26858213e+01] [ 4.24211624e-01 9.05155836e-01 -2.71552936e-02 4.19199459e+00] [ 8.15618040e-02 -8.32518481e-03 9.96633515e-01 2.94258211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.699072329 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:52.71, Y:4.20, Z:2.94 [[ 9.03457133e-01 -4.21588105e-01 -7.76445679e-02 5.27112301e+01] [ 4.20780924e-01 9.06751950e-01 -2.72821324e-02 4.20265360e+00] [ 8.19061859e-02 -8.02311590e-03 9.96607749e-01 2.94337460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.729072329 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:52.74, Y:4.21, Z:2.95 [[ 9.04129325e-01 -4.19985069e-01 -7.85029030e-02 5.27370455e+01] [ 4.19152629e-01 9.07496184e-01 -2.75998002e-02 4.21246641e+00] [ 8.28325890e-02 -7.95090945e-03 9.96531758e-01 2.94589328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.759072329 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:52.76, Y:4.22, Z:2.95 [[ 9.05339402e-01 -4.17473946e-01 -7.79491612e-02 5.27633831e+01] [ 4.16641822e-01 9.08656758e-01 -2.74315158e-02 4.22289273e+00] [ 8.22809752e-02 -7.64204846e-03 9.96579871e-01 2.94777792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.789072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.79, Y:4.23, Z:2.95 [[ 9.05938807e-01 -4.16188067e-01 -7.78612263e-02 5.27886640e+01] [ 4.15350940e-01 9.09247686e-01 -2.74270274e-02 4.23227089e+00] [ 8.22099414e-02 -7.49252503e-03 9.96586869e-01 2.94969627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.819072329 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:52.81, Y:4.24, Z:2.95 [[ 9.06491521e-01 -4.15037212e-01 -7.75708459e-02 5.28141568e+01] [ 4.14200915e-01 9.09774774e-01 -2.73397591e-02 4.24200239e+00] [ 8.19190162e-02 -7.34665550e-03 9.96611911e-01 2.95114848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.849072329 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:52.84, Y:4.25, Z:2.95 [[ 9.06902409e-01 -4.14218059e-01 -7.71454518e-02 5.28401357e+01] [ 4.13386744e-01 9.10149049e-01 -2.72049540e-02 4.25188113e+00] [ 8.14826428e-02 -7.21866877e-03 9.96648619e-01 2.95235452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.879072329 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:52.87, Y:4.26, Z:2.95 [[ 9.07321474e-01 -4.13379228e-01 -7.67160715e-02 5.28661860e+01] [ 4.12552001e-01 9.10531440e-01 -2.70803064e-02 4.26180459e+00] [ 8.10468312e-02 -7.07882525e-03 9.96685157e-01 2.95410034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.909072329 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:52.89, Y:4.27, Z:2.96 [[ 9.08206408e-01 -4.11369492e-01 -7.70471418e-02 5.28913884e+01] [ 4.10525792e-01 9.11442515e-01 -2.72234561e-02 4.27144688e+00] [ 8.14229399e-02 -6.90532160e-03 9.96655719e-01 2.95589450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.939072329 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:52.92, Y:4.28, Z:2.96 [[ 9.08568407e-01 -4.10624163e-01 -7.67544589e-02 5.29174092e+01] [ 4.09782981e-01 9.11779348e-01 -2.71353781e-02 4.28103966e+00] [ 8.11255724e-02 -6.79832372e-03 9.96680703e-01 2.95805640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.969072329 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:52.94, Y:4.29, Z:2.96 [[ 9.08883784e-01 -4.10030443e-01 -7.61925422e-02 5.29434589e+01] [ 4.09197432e-01 9.12047430e-01 -2.69619715e-02 4.29033206e+00] [ 8.05464413e-02 -6.67249394e-03 9.96728523e-01 2.96096584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.999072329 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:52.97, Y:4.30, Z:2.96 [[ 9.09566713e-01 -4.08685268e-01 -7.52645119e-02 5.29695191e+01] [ 4.07865881e-01 9.12652589e-01 -2.66585038e-02 4.29982989e+00] [ 7.95852894e-02 -6.45013882e-03 9.96807192e-01 2.96369919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.029072329 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:53.00, Y:4.31, Z:2.97 [[ 9.09729930e-01 -4.08352187e-01 -7.50995732e-02 5.29953331e+01] [ 4.07533233e-01 9.12802137e-01 -2.66255841e-02 4.30925813e+00] [ 7.94236664e-02 -6.38348115e-03 9.96820512e-01 2.96613677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.059072329 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:53.02, Y:4.32, Z:2.97 [[ 9.09897368e-01 -4.07981971e-01 -7.50832239e-02 5.30219844e+01] [ 4.07160956e-01 9.12967996e-01 -2.66344583e-02 4.31918844e+00] [ 7.94149593e-02 -6.33633371e-03 9.96821506e-01 2.96792177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.089072329 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:53.05, Y:4.33, Z:2.97 [[ 9.09784268e-01 -4.08235569e-01 -7.50753382e-02 5.30488570e+01] [ 4.07413589e-01 9.12854638e-01 -2.66566678e-02 4.32897583e+00] [ 7.94150706e-02 -6.33489600e-03 9.96821506e-01 2.97011246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.119072329 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:53.07, Y:4.34, Z:2.97 [[ 9.09955405e-01 -4.07736701e-01 -7.57095967e-02 5.30742844e+01] [ 4.06897168e-01 9.13077652e-01 -2.69053297e-02 4.33831686e+00] [ 8.00990311e-02 -6.32337025e-03 9.96766853e-01 2.97136800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.149072329 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:53.10, Y:4.35, Z:2.97 [[ 9.09780536e-01 -4.08050893e-01 -7.61173163e-02 5.31006272e+01] [ 4.07202194e-01 9.12936945e-01 -2.70648657e-02 4.34823763e+00] [ 8.05341528e-02 -6.37205015e-03 9.96731482e-01 2.97247598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.179072329 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:53.13, Y:4.36, Z:2.97 [[ 9.09925734e-01 -4.07609886e-01 -7.67420282e-02 5.31274597e+01] [ 4.06743588e-01 9.13134000e-01 -2.73121231e-02 4.35734886e+00] [ 8.12084466e-02 -6.36232426e-03 9.96676833e-01 2.97411370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.209072329 meters Centerline goodness : 0.999717 Centerline is valid? [True, True] Translation: X:53.15, Y:4.37, Z:2.98 [[ 9.09867822e-01 -4.07691821e-01 -7.69930281e-02 5.31540349e+01] [ 4.06818021e-01 9.13097389e-01 -2.74272993e-02 4.36672800e+00] [ 8.14840185e-02 -6.36693418e-03 9.96654312e-01 2.97661972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.239072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.18, Y:4.38, Z:2.98 [[ 9.09872674e-01 -4.07863357e-01 -7.60210450e-02 5.31809229e+01] [ 4.07010008e-01 9.13021399e-01 -2.71068103e-02 4.37628202e+00] [ 8.04647155e-02 -6.27758012e-03 9.96737689e-01 2.97849377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.269072329 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:53.21, Y:4.39, Z:2.98 [[ 9.09763958e-01 -4.08370900e-01 -7.45838394e-02 5.32067446e+01] [ 4.07549219e-01 9.12795173e-01 -2.66196515e-02 4.38523511e+00] [ 7.89504597e-02 -6.17898601e-03 9.96859391e-01 2.98063198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.299072329 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:53.23, Y:4.39, Z:2.98 [[ 9.09718730e-01 -4.08417633e-01 -7.48790383e-02 5.32324968e+01] [ 4.07588427e-01 9.12774160e-01 -2.67396080e-02 4.39385143e+00] [ 7.92685787e-02 -6.19430724e-03 9.96834050e-01 2.98292784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.329072329 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:53.26, Y:4.40, Z:2.99 [[ 9.09473286e-01 -4.08962044e-01 -7.48891769e-02 5.32589907e+01] [ 4.08133286e-01 9.12530133e-01 -2.67577702e-02 4.40329411e+00] [ 7.92815429e-02 -6.22928863e-03 9.96832801e-01 2.98528109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.359072329 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:53.28, Y:4.41, Z:2.99 [[ 9.09070383e-01 -4.09838058e-01 -7.49920376e-02 5.32840644e+01] [ 4.09007897e-01 9.12136610e-01 -2.68205944e-02 4.41264328e+00] [ 7.93950833e-02 -6.29052762e-03 9.96823380e-01 2.98637264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.38907232900002 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:53.31, Y:4.42, Z:2.99 [[ 9.08732438e-01 -4.10496736e-01 -7.54836754e-02 5.33113834e+01] [ 4.09656419e-01 9.11839796e-01 -2.70148910e-02 4.42108479e+00] [ 7.99185438e-02 -6.37306444e-03 9.96781024e-01 2.98889440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.41907232900002 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:53.34, Y:4.43, Z:2.99 [[ 9.08643181e-01 -4.10731676e-01 -7.52798714e-02 5.33372763e+01] [ 4.09894606e-01 9.11734137e-01 -2.69680433e-02 4.43011062e+00] [ 7.97118582e-02 -6.35248458e-03 9.96797705e-01 2.99029477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.449072329 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:53.36, Y:4.44, Z:2.99 [[ 9.08359148e-01 -4.11204215e-01 -7.61232701e-02 5.33640663e+01] [ 4.10348392e-01 9.11520437e-01 -2.72890166e-02 4.43907780e+00] [ 8.06092750e-02 -6.44883363e-03 9.96724916e-01 2.99391023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.479072329 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:53.39, Y:4.45, Z:3.00 [[ 9.08300252e-01 -4.11461490e-01 -7.54327203e-02 5.33899095e+01] [ 4.10619923e-01 9.11404755e-01 -2.70675413e-02 4.44818174e+00] [ 7.98869908e-02 -6.38872326e-03 9.96783453e-01 2.99510913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.509072329 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:53.42, Y:4.46, Z:3.00 [[ 9.08207208e-01 -4.11518703e-01 -7.62366364e-02 5.34170983e+01] [ 4.10658014e-01 9.11378506e-01 -2.73717772e-02 4.45705523e+00] [ 8.07444301e-02 -6.44794042e-03 9.96713982e-01 2.99762601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.539072329 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:53.44, Y:4.47, Z:3.00 [[ 9.08112693e-01 -4.11795809e-01 -7.58653392e-02 5.34438157e+01] [ 4.10942387e-01 9.11253548e-01 -2.72640164e-02 4.46672065e+00] [ 8.03597672e-02 -6.41748429e-03 9.96745265e-01 2.99873536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.569072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.47, Y:4.48, Z:3.00 [[ 9.07745144e-01 -4.12427542e-01 -7.68262714e-02 5.34736065e+01] [ 4.11818507e-01 9.10940506e-01 -2.43497934e-02 4.47584912e+00] [ 8.00266880e-02 -9.53507365e-03 9.96747115e-01 3.00406840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.599072329 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:53.50, Y:4.49, Z:3.00 [[ 9.07681077e-01 -4.12883604e-01 -7.51145204e-02 5.34967457e+01] [ 4.11835745e-01 9.10774993e-01 -2.96686917e-02 4.48541754e+00] [ 8.06621432e-02 -4.00513437e-03 9.96733454e-01 2.99981854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.629072329 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:53.52, Y:4.49, Z:3.00 [[ 9.07513267e-01 -4.13015973e-01 -7.64033847e-02 5.35232764e+01] [ 4.12147993e-01 9.10700608e-01 -2.75397013e-02 4.49356741e+00] [ 8.09549454e-02 -6.49685739e-03 9.96696588e-01 3.00444657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.659072329 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:53.55, Y:4.50, Z:3.01 [[ 9.07289211e-01 -4.13660709e-01 -7.55718576e-02 5.35494083e+01] [ 4.12811667e-01 9.10408205e-01 -2.72658593e-02 4.50276624e+00] [ 8.00800540e-02 -6.45892451e-03 9.96767509e-01 3.00621692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.689072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.57, Y:4.51, Z:3.01 [[ 9.07246797e-01 -4.13659092e-01 -7.60881406e-02 5.35749612e+01] [ 4.12796239e-01 9.10408798e-01 -2.74788072e-02 4.51116114e+00] [ 8.06381710e-02 -6.47883847e-03 9.96722384e-01 3.00982135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.719072329 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:53.60, Y:4.52, Z:3.02 [[ 9.07301867e-01 -4.13473808e-01 -7.64377682e-02 5.36028685e+01] [ 4.13688376e-01 9.10314701e-01 -1.37504028e-02 4.51805027e+00] [ 7.52678555e-02 -1.91456501e-02 9.96979535e-01 3.01936548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.749072329 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:53.63, Y:4.53, Z:3.00 [[ 9.07473907e-01 -4.14258668e-01 -6.98631819e-02 5.36269324e+01] [ 4.12473810e-01 9.10135660e-01 -3.89671172e-02 4.53367373e+00] [ 7.97274393e-02 6.54490935e-03 9.96795214e-01 3.00485445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.779072329 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:53.65, Y:4.54, Z:3.02 [[ 9.07685995e-01 -4.13044164e-01 -7.41663872e-02 5.36541696e+01] [ 4.12218697e-01 9.10689764e-01 -2.68309363e-02 4.53972816e+00] [ 7.86249314e-02 -6.21870637e-03 9.96884872e-01 3.01646069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.809072329 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:53.68, Y:4.55, Z:3.02 [[ 9.07919774e-01 -4.12589057e-01 -7.38373460e-02 5.36801099e+01] [ 4.11767404e-01 9.10896654e-01 -2.67374560e-02 4.54891191e+00] [ 7.82897731e-02 -6.12834722e-03 9.96911809e-01 3.01838257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.839072329 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:53.71, Y:4.56, Z:3.02 [[ 9.08311171e-01 -4.11761603e-01 -7.36423741e-02 5.37062799e+01] [ 4.10940450e-01 9.11271667e-01 -2.66813824e-02 4.55864486e+00] [ 7.80945778e-02 -6.02763269e-03 9.96927733e-01 3.01959847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.869072329 meters Centerline goodness : 0.999717 Centerline is valid? [True, True] Translation: X:53.73, Y:4.57, Z:3.02 [[ 9.08386101e-01 -4.11448210e-01 -7.44651683e-02 5.37329756e+01] [ 4.10605493e-01 9.11413098e-01 -2.70054356e-02 4.56830771e+00] [ 7.89798679e-02 -6.04444480e-03 9.96857886e-01 3.02192732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.899072329 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:53.76, Y:4.58, Z:3.02 [[ 9.08383281e-01 -4.11438700e-01 -7.45520699e-02 5.37595177e+01] [ 4.10591941e-01 9.11417505e-01 -2.70626801e-02 4.57840123e+00] [ 7.90826954e-02 -6.02719298e-03 9.96849838e-01 3.02295956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.929072329 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:53.78, Y:4.59, Z:3.02 [[ 9.08631210e-01 -4.10903855e-01 -7.44805058e-02 5.37847358e+01] [ 4.10054920e-01 9.11659257e-01 -2.70621834e-02 4.58763405e+00] [ 7.90207981e-02 -5.95155334e-03 9.96855201e-01 3.02454516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.959072329 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:53.81, Y:4.60, Z:3.03 [[ 9.09047645e-01 -4.09944025e-01 -7.46878603e-02 5.38105866e+01] [ 4.09085997e-01 9.12091784e-01 -2.71518641e-02 4.59680321e+00] [ 7.92529282e-02 -5.87141976e-03 9.96837248e-01 3.02717185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.989072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.84, Y:4.61, Z:3.04 [[ 9.09029063e-01 -4.09713024e-01 -7.61669268e-02 5.38395449e+01] [ 4.09272976e-01 9.12146243e-01 -2.20195996e-02 4.60518854e+00] [ 7.84970929e-02 -1.11566088e-02 9.96851913e-01 3.03554228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.019072329 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:53.86, Y:4.62, Z:3.03 [[ 9.09377118e-01 -4.09704864e-01 -7.19387333e-02 5.38626220e+01] [ 4.08518991e-01 9.12217535e-01 -3.11673315e-02 4.61721450e+00] [ 7.83931813e-02 -1.04548059e-03 9.96921971e-01 3.02850954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.049072329 meters Centerline goodness : 0.999717 Centerline is valid? [True, True] Translation: X:53.89, Y:4.63, Z:3.03 [[ 9.09570859e-01 -4.09009098e-01 -7.34330357e-02 5.38888637e+01] [ 4.08173412e-01 9.12512788e-01 -2.67371748e-02 4.62552231e+00] [ 7.79443319e-02 -5.65405773e-03 9.96941680e-01 3.03490235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.079072329 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:53.91, Y:4.63, Z:3.04 [[ 9.09898864e-01 -4.08373808e-01 -7.29032933e-02 5.39144311e+01] [ 4.07546177e-01 9.12797998e-01 -2.65693189e-02 4.63488639e+00] [ 7.73961941e-02 -5.53606537e-03 9.96985046e-01 3.03661524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.109072329 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:53.94, Y:4.64, Z:3.04 [[ 9.09695225e-01 -4.08833492e-01 -7.28681892e-02 5.39403006e+01] [ 4.08007030e-01 9.12592059e-01 -2.65705950e-02 4.64492810e+00] [ 7.73618800e-02 -5.55959005e-03 9.96987578e-01 3.03806243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.13907232900002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:53.97, Y:4.65, Z:3.04 [[ 9.09647016e-01 -4.08706711e-01 -7.41696030e-02 5.39654360e+01] [ 4.07847956e-01 9.12648447e-01 -2.70713214e-02 4.65407278e+00] [ 7.87550037e-02 -5.62457424e-03 9.96878134e-01 3.03913536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.16907232900002 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:53.99, Y:4.66, Z:3.04 [[ 9.09463299e-01 -4.09059484e-01 -7.44771563e-02 5.39921262e+01] [ 4.08193575e-01 9.12490135e-01 -2.71985192e-02 4.66393136e+00] [ 7.90854826e-02 -5.66504174e-03 9.96851741e-01 3.04088616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.199072329 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:54.02, Y:4.67, Z:3.05 [[ 9.09083680e-01 -4.09673358e-01 -7.57271529e-02 5.40212263e+01] [ 4.09173510e-01 9.12173754e-01 -2.27174197e-02 4.67254844e+00] [ 7.83830430e-02 -1.03335095e-02 9.96869759e-01 3.04749799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.229072329 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:54.05, Y:4.68, Z:3.05 [[ 9.08960711e-01 -4.09915558e-01 -7.58924273e-02 5.40483465e+01] [ 4.09491527e-01 9.12053780e-01 -2.17851003e-02 4.68183342e+00] [ 7.81480268e-02 -1.12755057e-02 9.96878001e-01 3.05210884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.259072329 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:54.07, Y:4.70, Z:3.04 [[ 9.08700093e-01 -4.11640273e-01 -6.94004841e-02 5.40707999e+01] [ 4.10157236e-01 9.11340037e-01 -3.50767417e-02 4.69540925e+00] [ 7.76864393e-02 3.40912768e-03 9.96972013e-01 3.04182561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.289072329 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:54.10, Y:4.70, Z:3.05 [[ 9.08572660e-01 -4.11332180e-01 -7.28118114e-02 5.40977854e+01] [ 4.10504384e-01 9.11468043e-01 -2.66862834e-02 4.70230076e+00] [ 7.73425664e-02 -5.64314027e-03 9.96988607e-01 3.05145861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.319072329 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:54.12, Y:4.71, Z:3.05 [[ 9.08039459e-01 -4.12537179e-01 -7.26458338e-02 5.41237266e+01] [ 4.11715051e-01 9.10922869e-01 -2.66503727e-02 4.71267806e+00] [ 7.71690209e-02 -5.70979317e-03 9.97001675e-01 3.05296444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.349072329 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:54.15, Y:4.72, Z:3.05 [[ 9.07811429e-01 -4.12983151e-01 -7.29611312e-02 5.41498089e+01] [ 4.12153327e-01 9.10720516e-01 -2.67913599e-02 4.72253703e+00] [ 7.75115793e-02 -5.74967022e-03 9.96974872e-01 3.05417948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.379072329 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:54.18, Y:4.73, Z:3.06 [[ 9.07486283e-01 -4.13663537e-01 -7.31513859e-02 5.41757880e+01] [ 4.12829567e-01 9.10411359e-01 -2.68868948e-02 4.73266080e+00] [ 7.77199807e-02 -5.79956677e-03 9.96958359e-01 3.05594521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.409072329 meters Centerline goodness : 0.999760 Centerline is valid? [True, True] Translation: X:54.20, Y:4.74, Z:3.06 [[ 9.07298396e-01 -4.14085180e-01 -7.30964117e-02 5.42021571e+01] [ 4.13251820e-01 9.10219607e-01 -2.68923781e-02 4.74226373e+00] [ 7.76695224e-02 -5.80781363e-03 9.96962243e-01 3.05795838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.439072329 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:54.23, Y:4.75, Z:3.06 [[ 9.07141058e-01 -4.14404086e-01 -7.32417486e-02 5.42287868e+01] [ 4.13566409e-01 9.10074363e-01 -2.69718413e-02 4.75225183e+00] [ 7.78326789e-02 -5.82306227e-03 9.96949430e-01 3.06192899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.469072329 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:54.25, Y:4.76, Z:3.06 [[ 9.07174755e-01 -4.14384513e-01 -7.29344891e-02 5.42544274e+01] [ 4.13551790e-01 9.10083592e-01 -2.68844324e-02 4.76204250e+00] [ 7.75169743e-02 -5.77331018e-03 9.96974316e-01 3.06372776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.499072329 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:54.28, Y:4.77, Z:3.07 [[ 9.07114516e-01 -4.14581182e-01 -7.25651369e-02 5.42800906e+01] [ 4.13756390e-01 9.09994181e-01 -2.67626635e-02 4.77250678e+00] [ 7.71291490e-02 -5.74748858e-03 9.97004544e-01 3.06526288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.529072329 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:54.31, Y:4.78, Z:3.07 [[ 9.07124946e-01 -4.14723890e-01 -7.16130405e-02 5.43052070e+01] [ 4.13919181e-01 9.09929693e-01 -2.64360668e-02 4.78272741e+00] [ 7.61265004e-02 -5.66119540e-03 9.97082096e-01 3.06615188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.559072329 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:54.33, Y:4.79, Z:3.07 [[ 9.06984217e-01 -4.14869328e-01 -7.25470216e-02 5.43313181e+01] [ 4.14042839e-01 9.09862930e-01 -2.67950740e-02 4.79274972e+00] [ 7.71243000e-02 -5.73486561e-03 9.97004992e-01 3.06871957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.589072329 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:54.36, Y:4.80, Z:3.08 [[ 9.06719387e-01 -4.15281141e-01 -7.34950872e-02 5.43601823e+01] [ 4.14917697e-01 9.09619538e-01 -2.08710613e-02 4.80215497e+00] [ 7.55199254e-02 -1.15702164e-02 9.97077164e-01 3.07615414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.619072329 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:54.38, Y:4.81, Z:3.07 [[ 9.07146078e-01 -4.14980275e-01 -6.98381343e-02 5.43830004e+01] [ 4.13782255e-01 9.09830355e-01 -3.15114499e-02 4.81428953e+00] [ 7.66174847e-02 -3.12292465e-04 9.97060511e-01 3.06858697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.649072329 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:54.41, Y:4.82, Z:3.07 [[ 9.07080569e-01 -4.14808000e-01 -7.16879682e-02 5.44091490e+01] [ 4.13996450e-01 9.09891672e-01 -2.65345720e-02 4.82315046e+00] [ 7.62350380e-02 -5.60956972e-03 9.97074095e-01 3.07450681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.679072329 meters Centerline goodness : 0.999717 Centerline is valid? [True, True] Translation: X:54.44, Y:4.83, Z:3.08 [[ 9.07131028e-01 -4.14600429e-01 -7.22480642e-02 5.44351793e+01] [ 4.13773545e-01 9.09986251e-01 -2.67670643e-02 4.83325873e+00] [ 7.68423815e-02 -5.61310308e-03 9.97027453e-01 3.07682092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.709072329 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:54.46, Y:4.84, Z:3.08 [[ 9.06996107e-01 -4.14933382e-01 -7.20302065e-02 5.44609936e+01] [ 4.14110624e-01 9.09834551e-01 -2.67110639e-02 4.84428354e+00] [ 7.66188827e-02 -5.60164277e-03 9.97044717e-01 3.07757701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.739072329 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:54.49, Y:4.85, Z:3.08 [[ 9.07071386e-01 -4.14547715e-01 -7.32918311e-02 5.44858418e+01] [ 4.13692575e-01 9.10010079e-01 -2.72049618e-02 4.85458615e+00] [ 7.79740597e-02 -5.64344396e-03 9.96939415e-01 3.07938649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.769072329 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:54.51, Y:4.86, Z:3.08 [[ 9.06921229e-01 -4.14901346e-01 -7.31488769e-02 5.45107599e+01] [ 4.14049569e-01 9.09848863e-01 -2.71661582e-02 4.86418570e+00] [ 7.78256982e-02 -5.64969537e-03 9.96950973e-01 3.08109595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.799072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.54, Y:4.87, Z:3.08 [[ 9.06875787e-01 -4.15004791e-01 -7.31254427e-02 5.45369811e+01] [ 4.14152538e-01 9.09801739e-01 -2.71748314e-02 4.87405481e+00] [ 7.78073401e-02 -5.64089106e-03 9.96952455e-01 3.08399950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.829072329 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:54.56, Y:4.88, Z:3.09 [[ 9.06613969e-01 -4.15629239e-01 -7.28247611e-02 5.45630693e+01] [ 4.14784050e-01 9.09516593e-01 -2.70879810e-02 4.88405642e+00] [ 7.74938856e-02 -5.64820736e-03 9.96976828e-01 3.08683526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.859072329 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:54.59, Y:4.89, Z:3.09 [[ 9.06295774e-01 -4.16491314e-01 -7.18537087e-02 5.45894727e+01] [ 4.15669357e-01 9.09122306e-01 -2.67510519e-02 4.89481049e+00] [ 7.64653901e-02 -5.62301958e-03 9.97056380e-01 3.08860583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.88907232900002 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:54.62, Y:4.90, Z:3.09 [[ 9.06113910e-01 -4.16799313e-01 -7.23596286e-02 5.46156006e+01] [ 4.15964787e-01 9.08980872e-01 -2.69642426e-02 4.90474554e+00] [ 7.70121961e-02 -5.66638220e-03 9.97014049e-01 3.09104355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.91907232900002 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:54.64, Y:4.92, Z:3.09 [[ 9.05576569e-01 -4.17886027e-01 -7.28172078e-02 5.46420707e+01] [ 4.17042458e-01 9.08481119e-01 -2.71596202e-02 4.91540227e+00] [ 7.75026842e-02 -5.77275162e-03 9.96975431e-01 3.09173523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.949072329 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:54.67, Y:4.93, Z:3.09 [[ 9.05403294e-01 -4.18315326e-01 -7.25062962e-02 5.46684459e+01] [ 4.17478331e-01 9.08283599e-01 -2.70692854e-02 4.92572973e+00] [ 7.71797767e-02 -5.76118740e-03 9.97000547e-01 3.09302098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.979072329 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:54.70, Y:4.94, Z:3.10 [[ 9.05322712e-01 -4.18491142e-01 -7.24979336e-02 5.46951218e+01] [ 4.17652926e-01 9.08202662e-01 -2.70916642e-02 4.93589301e+00] [ 7.71804378e-02 -5.75227520e-03 9.97000547e-01 3.09520109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.009072329 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:54.72, Y:4.95, Z:3.10 [[ 9.05149081e-01 -4.18788808e-01 -7.29456987e-02 5.47208999e+01] [ 4.17939898e-01 9.08065145e-01 -2.72751434e-02 4.94552326e+00] [ 7.76619712e-02 -5.79884689e-03 9.96962884e-01 3.09760196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.039072329 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:54.75, Y:4.96, Z:3.10 [[ 9.05054272e-01 -4.19005901e-01 -7.28753656e-02 5.47468727e+01] [ 4.18157962e-01 9.07965012e-01 -2.72663877e-02 4.95571886e+00] [ 7.75930596e-02 -5.79585374e-03 9.96968267e-01 3.10049230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.069072329 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:54.77, Y:4.97, Z:3.10 [[ 9.05074644e-01 -4.19059345e-01 -7.23128940e-02 5.47719628e+01] [ 4.18222704e-01 9.07940747e-01 -2.70807867e-02 4.96575767e+00] [ 7.70042798e-02 -5.73276073e-03 9.97014281e-01 3.10227175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.099072329 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:54.80, Y:4.98, Z:3.10 [[ 9.05041138e-01 -4.19207290e-01 -7.18734052e-02 5.47981025e+01] [ 4.18380199e-01 9.07872670e-01 -2.69299876e-02 4.97644151e+00] [ 7.65411474e-02 -5.69766292e-03 9.97050144e-01 3.10419788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.129072329 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:54.82, Y:4.99, Z:3.11 [[ 9.05476658e-01 -4.18332974e-01 -7.14810765e-02 5.48245679e+01] [ 4.17510281e-01 9.08276663e-01 -2.68079913e-02 4.98737541e+00] [ 7.61392604e-02 -5.57007396e-03 9.97081635e-01 3.10587455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.159072329 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:54.85, Y:5.00, Z:3.11 [[ 9.05469332e-01 -4.18457944e-01 -7.08395195e-02 5.48494662e+01] [ 4.17648439e-01 9.08219477e-01 -2.65925351e-02 4.99760281e+00] [ 7.54656889e-02 -5.50728978e-03 9.97133190e-01 3.10768402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.189072329 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:54.88, Y:5.01, Z:3.11 [[ 9.05599269e-01 -4.18207932e-01 -7.06547192e-02 5.48758120e+01] [ 4.17400617e-01 9.08334933e-01 -2.65400561e-02 5.00808805e+00] [ 7.52774116e-02 -5.45666804e-03 9.97147700e-01 3.10895665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.219072329 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:54.90, Y:5.02, Z:3.11 [[ 9.06010543e-01 -4.17279311e-01 -7.08722283e-02 5.49004638e+01] [ 4.16462275e-01 9.08762404e-01 -2.66470688e-02 5.01872048e+00] [ 7.55252871e-02 -5.37308417e-03 9.97129410e-01 3.11093427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.249072329 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:54.93, Y:5.03, Z:3.11 [[ 9.06029984e-01 -4.17224072e-01 -7.09488744e-02 5.49266607e+01] [ 4.16404055e-01 9.08787833e-01 -2.66896479e-02 5.02917557e+00] [ 7.56130374e-02 -5.36177776e-03 9.97122821e-01 3.11293315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.279072329 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:54.95, Y:5.04, Z:3.12 [[ 9.06172272e-01 -4.16901426e-01 -7.10282621e-02 5.49519263e+01] [ 4.16076690e-01 9.08936147e-01 -2.67445212e-02 5.03927158e+00] [ 7.57099839e-02 -5.31806060e-03 9.97115699e-01 3.11524092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.309072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.98, Y:5.05, Z:3.12 [[ 9.06403597e-01 -4.16401801e-01 -7.10074602e-02 5.49776521e+01] [ 4.15574994e-01 9.09165467e-01 -2.67502801e-02 5.04925700e+00] [ 7.56963956e-02 -5.26237468e-03 9.97117026e-01 3.11788203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.339072329 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:55.00, Y:5.06, Z:3.12 [[ 9.06456515e-01 -4.16499359e-01 -6.97486161e-02 5.50031259e+01] [ 4.15700108e-01 9.09121398e-01 -2.63002726e-02 5.06026040e+00] [ 7.43640061e-02 -5.15445379e-03 9.97217843e-01 3.12018314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.369072329 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:55.03, Y:5.07, Z:3.12 [[ 9.06458784e-01 -4.16502987e-01 -6.96974459e-02 5.50293535e+01] [ 4.15703079e-01 9.09119883e-01 -2.63056857e-02 5.07086136e+00] [ 7.43197305e-02 -5.12842302e-03 9.97221278e-01 3.12277539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.399072329 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:55.05, Y:5.08, Z:3.13 [[ 9.06511018e-01 -4.16468479e-01 -6.92226861e-02 5.50543381e+01] [ 4.15677496e-01 9.09136031e-01 -2.61514074e-02 5.08058718e+00] [ 7.38240749e-02 -5.06777387e-03 9.97258404e-01 3.12501982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.429072329 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:55.08, Y:5.09, Z:3.13 [[ 9.06285909e-01 -4.16815740e-01 -7.00748904e-02 5.50804168e+01] [ 4.16005141e-01 9.08976431e-01 -2.64871753e-02 5.09164541e+00] [ 7.47366954e-02 -5.14656094e-03 9.97190022e-01 3.12680310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.459072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.11, Y:5.10, Z:3.13 [[ 9.06271414e-01 -4.16851467e-01 -7.00498275e-02 5.51060016e+01] [ 4.16039680e-01 9.08960170e-01 -2.65027187e-02 5.10143686e+00] [ 7.47202003e-02 -5.12485146e-03 9.97191370e-01 3.12820697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.489072329 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:55.13, Y:5.11, Z:3.13 [[ 9.05819116e-01 -4.17757312e-01 -7.05021809e-02 5.51319626e+01] [ 4.16936688e-01 9.08543654e-01 -2.66875792e-02 5.11189694e+00] [ 7.52032405e-02 -5.22082638e-03 9.97154560e-01 3.12988965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.519072329 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:55.16, Y:5.12, Z:3.13 [[ 9.05386661e-01 -4.18703288e-01 -7.04453772e-02 5.51578584e+01] [ 4.17884982e-01 9.08107788e-01 -2.66905759e-02 5.12243627e+00] [ 7.51474276e-02 -5.27277381e-03 9.97158494e-01 3.13222068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.549072329 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:55.19, Y:5.13, Z:3.14 [[ 9.04972842e-01 -4.18984586e-01 -7.40004925e-02 5.51859718e+01] [ 4.18944927e-01 9.07856041e-01 -1.68094269e-02 5.12974213e+00] [ 7.42246849e-02 -1.57900561e-02 9.97116528e-01 3.14385374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.579072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.21, Y:5.15, Z:3.13 [[ 9.04494533e-01 -4.21441729e-01 -6.53950172e-02 5.52087851e+01] [ 4.19962811e-01 9.06843157e-01 -3.55910987e-02 5.14562456e+00] [ 7.43025980e-02 4.72847895e-03 9.97224531e-01 3.12858559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.609072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.24, Y:5.15, Z:3.14 [[ 9.03390549e-01 -4.23378455e-01 -6.80896476e-02 5.52358584e+01] [ 4.22623754e-01 9.05936651e-01 -2.58446613e-02 5.15236453e+00] [ 7.26269800e-02 -5.42847970e-03 9.97344401e-01 3.13909690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.63907232900002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:55.26, Y:5.16, Z:3.14 [[ 9.02482174e-01 -4.25336491e-01 -6.79322871e-02 5.52623613e+01] [ 4.24589056e-01 9.05018259e-01 -2.58085935e-02 5.16225248e+00] [ 7.24572968e-02 -5.55151010e-03 9.97356065e-01 3.14158881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.66907232900002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:55.29, Y:5.17, Z:3.14 [[ 9.01370120e-01 -4.27610171e-01 -6.84211073e-02 5.52883418e+01] [ 4.26856647e-01 9.03944930e-01 -2.60185645e-02 5.17219756e+00] [ 7.29747159e-02 -5.75364783e-03 9.97317194e-01 3.14408363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.699072329 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:55.32, Y:5.18, Z:3.15 [[ 8.99328009e-01 -4.31210819e-01 -7.25697013e-02 5.53166971e+01] [ 4.31000412e-01 9.02144396e-01 -1.93425283e-02 5.17924698e+00] [ 7.38090568e-02 -1.38822938e-02 9.97175764e-01 3.15301451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.729072329 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:55.34, Y:5.19, Z:3.14 [[ 8.97915998e-01 -4.35243416e-01 -6.56508161e-02 5.53402719e+01] [ 4.34001282e-01 9.00312232e-01 -3.28751101e-02 5.19385167e+00] [ 7.34149080e-02 1.02654891e-03 9.97300956e-01 3.14174387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.759072329 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:55.37, Y:5.20, Z:3.15 [[ 8.96650535e-01 -4.37468984e-01 -6.81080534e-02 5.53657256e+01] [ 4.36746196e-01 8.99210212e-01 -2.59568029e-02 5.20126865e+00] [ 7.25987533e-02 -6.47175204e-03 9.97340232e-01 3.14875548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.789072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.39, Y:5.21, Z:3.15 [[ 8.95126872e-01 -4.40576474e-01 -6.81194002e-02 5.53905519e+01] [ 4.39861374e-01 8.97689985e-01 -2.59742753e-02 5.21065514e+00] [ 7.25937580e-02 -6.71282117e-03 9.97339002e-01 3.15138380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.819072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.42, Y:5.22, Z:3.15 [[ 8.91836572e-01 -4.47355369e-01 -6.70872742e-02 5.54166263e+01] [ 4.46679819e-01 8.94327772e-01 -2.55925068e-02 5.22017319e+00] [ 7.14469577e-02 -7.14219793e-03 9.97418829e-01 3.15323890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.849072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.44, Y:5.23, Z:3.16 [[ 8.89803480e-01 -4.51336310e-01 -6.74188607e-02 5.54433957e+01] [ 4.50663642e-01 8.92322598e-01 -2.57422388e-02 5.23017117e+00] [ 7.17777800e-02 -7.47769563e-03 9.97392618e-01 3.15542258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.879072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.47, Y:5.24, Z:3.16 [[ 8.87410297e-01 -4.56020008e-01 -6.74441831e-02 5.54688470e+01] [ 4.55358360e-01 8.89935017e-01 -2.57765183e-02 5.23999848e+00] [ 7.17755483e-02 -7.83692482e-03 9.97390021e-01 3.15702172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.909072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.50, Y:5.25, Z:3.16 [[ 8.84983342e-01 -4.60623145e-01 -6.80499987e-02 5.54951528e+01] [ 4.59961730e-01 8.87557287e-01 -2.60243855e-02 5.24956217e+00] [ 7.23857065e-02 -8.26924749e-03 9.97342433e-01 3.15929297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.939072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.52, Y:5.26, Z:3.16 [[ 8.79987289e-01 -4.70064105e-01 -6.82796328e-02 5.55206446e+01] [ 4.69424168e-01 8.82585861e-01 -2.61371000e-02 5.25862375e+00] [ 7.25487510e-02 -9.05179404e-03 9.97323791e-01 3.16050484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.969072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.55, Y:5.27, Z:3.16 [[ 8.77179051e-01 -4.75360762e-01 -6.77425885e-02 5.55466138e+01] [ 4.74745366e-01 8.79740720e-01 -2.59442339e-02 5.26898252e+00] [ 7.19287843e-02 -9.40274145e-03 9.97365449e-01 3.16160142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.999072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.57, Y:5.28, Z:3.16 [[ 8.72367485e-01 -4.84294366e-01 -6.65878276e-02 5.55724379e+01] [ 4.83723350e-01 8.74848632e-01 -2.55263108e-02 5.27800520e+00] [ 7.06165184e-02 -9.94176354e-03 9.97453993e-01 3.16319753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.029072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.60, Y:5.29, Z:3.17 [[ 8.69730063e-01 -4.89011890e-01 -6.66107207e-02 5.55983941e+01] [ 4.88453053e-01 8.72216107e-01 -2.55475683e-02 5.28832065e+00] [ 7.05920081e-02 -1.03167216e-02 9.97451920e-01 3.16592531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.059072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.62, Y:5.30, Z:3.17 [[ 8.67090807e-01 -4.93678843e-01 -6.65937777e-02 5.56232031e+01] [ 4.93131930e-01 8.69578811e-01 -2.55654231e-02 5.29822037e+00] [ 7.05296465e-02 -1.06719748e-02 9.97452594e-01 3.16779561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.089072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.65, Y:5.31, Z:3.17 [[ 8.64666618e-01 -4.98003485e-01 -6.59103082e-02 5.56492576e+01] [ 4.97478433e-01 8.67106622e-01 -2.53241947e-02 5.30806249e+00] [ 6.97628019e-02 -1.08919710e-02 9.97504144e-01 3.16953718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.119072329 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:55.68, Y:5.32, Z:3.17 [[ 8.59502872e-01 -5.06874847e-01 -6.58232691e-02 5.56756430e+01] [ 5.06374584e-01 8.61941964e-01 -2.53146366e-02 5.31851237e+00] [ 6.95671904e-02 -1.15732276e-02 9.97510133e-01 3.17074180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.149072329 meters Centerline goodness : 0.999567 Centerline is valid? [True, True] Translation: X:55.70, Y:5.33, Z:3.17 [[ 8.56792938e-01 -5.11457117e-01 -6.57075271e-02 5.57005337e+01] [ 5.10969831e-01 8.59226379e-01 -2.52954974e-02 5.32834940e+00] [ 6.93952027e-02 -1.19015605e-02 9.97518250e-01 3.17312273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.179072329 meters Centerline goodness : 0.998961 Centerline is valid? [True, True] Translation: X:55.73, Y:5.34, Z:3.17 [[ 8.54106088e-01 -5.15921554e-01 -6.57855663e-02 5.57259597e+01] [ 5.15444993e-01 8.56547987e-01 -2.53378090e-02 5.33864818e+00] [ 6.94208162e-02 -1.22676638e-02 9.97512032e-01 3.17491115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.209072329 meters Centerline goodness : 0.997276 Centerline is valid? [True, True] Translation: X:55.75, Y:5.35, Z:3.18 [[ 8.49321576e-01 -5.23850046e-01 -6.50691215e-02 5.57520464e+01] [ 5.23405082e-01 8.51714925e-01 -2.50759997e-02 5.34932506e+00] [ 6.85564055e-02 -1.27599213e-02 9.97565639e-01 3.17560922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.239072329 meters Centerline goodness : 0.995718 Centerline is valid? [True, True] Translation: X:55.78, Y:5.36, Z:3.18 [[ 8.46879144e-01 -5.27835027e-01 -6.46985242e-02 5.57782052e+01] [ 5.27404734e-01 8.49247601e-01 -2.49551351e-02 5.35979250e+00] [ 6.81172609e-02 -1.29883245e-02 9.97592774e-01 3.17695126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.269072329 meters Centerline goodness : 0.991830 Centerline is valid? [True, True] Translation: X:55.80, Y:5.38, Z:3.17 [[ 8.38470867e-01 -5.43630082e-01 -3.78541762e-02 5.58016174e+01] [ 5.43497670e-01 8.39283611e-01 -1.46048854e-02 5.37694922e+00] [ 3.97100448e-02 -8.32788567e-03 9.99176540e-01 3.16802757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.299072329 meters Centerline goodness : 0.842311 Centerline is valid? [True, False] Translation: X:55.70, Y:5.33, Z:3.18 [[ 8.37571199e-01 -5.44322867e-01 -4.67664660e-02 5.57034902e+01] [ 5.45424773e-01 8.38037696e-01 1.43051216e-02 5.32849481e+00] [ 3.14054566e-02 -3.74891469e-02 9.98803415e-01 3.18244573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.329072329 meters Centerline goodness : 0.987024 Centerline is valid? [False, True] Translation: X:55.62, Y:5.29, Z:3.19 [[ 8.36315461e-01 -5.45879063e-01 -5.09165702e-02 5.56202106e+01] [ 5.47557707e-01 8.36312489e-01 2.76039546e-02 5.29065158e+00] [ 2.75137427e-02 -5.09653745e-02 9.98321353e-01 3.18802574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.359072329 meters Centerline goodness : 0.132665 Centerline is valid? [True, False] Translation: X:55.54, Y:5.26, Z:3.19 [[ 8.34027073e-01 -5.49263864e-01 -5.20389191e-02 5.55353824e+01] [ 5.51212212e-01 8.33599155e-01 3.57427648e-02 5.25520439e+00] [ 2.37473899e-02 -5.84949212e-02 9.98005213e-01 3.18763956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.38907232900002 meters Centerline goodness : 0.976747 Centerline is valid? [False, True] Translation: X:55.49, Y:5.24, Z:3.18 [[ 8.29332100e-01 -5.56553996e-01 -4.95572140e-02 5.54854721e+01] [ 5.58421447e-01 8.28637891e-01 3.90478302e-02 5.23683136e+00] [ 1.93327593e-02 -6.00574302e-02 9.98007690e-01 3.18302728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.41907232900002 meters Centerline goodness : 0.972588 Centerline is valid? [True, True] Translation: X:55.51, Y:5.26, Z:3.14 [[ 8.27574920e-01 -5.60573026e-01 -2.96249001e-02 5.55072963e+01] [ 5.60511285e-01 8.28071986e-01 -1.11304028e-02 5.26134555e+00] [ 3.07709534e-02 -7.39384863e-03 9.99499114e-01 3.14469931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.449072329 meters Centerline goodness : 0.967943 Centerline is valid? [True, True] Translation: X:55.53, Y:5.27, Z:3.15 [[ 8.26211558e-01 -5.62598875e-01 -2.92740070e-02 5.55327193e+01] [ 5.62575744e-01 8.26687636e-01 -9.80227692e-03 5.27245963e+00] [ 2.97152096e-02 -8.37009177e-03 9.99523360e-01 3.14550351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.479072329 meters Centerline goodness : 0.957822 Centerline is valid? [True, True] Translation: X:55.56, Y:5.29, Z:3.14 [[ 8.23419840e-01 -5.66766254e-01 -2.74914588e-02 5.55582166e+01] [ 5.66514410e-01 8.23877084e-01 -1.69697746e-02 5.28669338e+00] [ 3.22674785e-02 -1.60105853e-03 9.99477987e-01 3.14252047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.509072329 meters Centerline goodness : 0.952644 Centerline is valid? [True, True] Translation: X:55.59, Y:5.29, Z:3.15 [[ 8.22430404e-01 -5.68121902e-01 -2.90815255e-02 5.55854137e+01] [ 5.68257201e-01 8.22840361e-01 -4.18243586e-03 5.29473693e+00] [ 2.63055864e-02 -1.30860239e-02 9.99568293e-01 3.15003074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.539072329 meters Centerline goodness : 0.946900 Centerline is valid? [True, False] Translation: X:55.58, Y:5.29, Z:3.16 [[ 8.19827599e-01 -5.71291972e-01 -3.88354315e-02 5.55823885e+01] [ 5.72008047e-01 8.20189559e-01 9.79192951e-03 5.29078438e+00] [ 2.62583647e-02 -3.02418734e-02 9.99197642e-01 3.16298261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.569072329 meters Centerline goodness : 0.941615 Centerline is valid? [False, False] Translation: X:55.58, Y:5.29, Z:3.17 [[ 8.17597628e-01 -5.74064457e-01 -4.45434285e-02 5.55769408e+01] [ 5.75342955e-01 8.17562397e-01 2.39209571e-02 5.28556336e+00] [ 2.26848609e-02 -4.51854655e-02 9.98721017e-01 3.17098096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.599072329 meters Centerline goodness : 0.930499 Centerline is valid? [False, False] Translation: X:55.58, Y:5.29, Z:3.17 [[ 8.16101382e-01 -5.76158341e-01 -4.49455202e-02 5.55824366e+01] [ 5.77408244e-01 8.16160976e-01 2.19312619e-02 5.28913716e+00] [ 2.40469002e-02 -4.38500470e-02 9.98748677e-01 3.16836383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.629072329 meters Centerline goodness : 0.924558 Centerline is valid? [False, False] Translation: X:55.59, Y:5.29, Z:3.17 [[ 8.17164071e-01 -5.74464250e-01 -4.72621077e-02 5.55868561e+01] [ 5.75873471e-01 8.17182209e-01 2.41450333e-02 5.28864634e+00] [ 2.47512951e-02 -4.69474478e-02 9.98590662e-01 3.16744558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.659072329 meters Centerline goodness : 0.918555 Centerline is valid? [False, False] Translation: X:55.59, Y:5.29, Z:3.17 [[ 8.18200895e-01 -5.72787494e-01 -4.96163482e-02 5.55915026e+01] [ 5.74361922e-01 8.18183101e-01 2.61686028e-02 5.28828945e+00] [ 2.56062092e-02 -4.99089153e-02 9.98425472e-01 3.16647339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.689072329 meters Centerline goodness : 0.906042 Centerline is valid? [False, False] Translation: X:55.61, Y:5.30, Z:3.17 [[ 8.15475836e-01 -5.76126439e-01 -5.54751053e-02 5.56111115e+01] [ 5.78118976e-01 8.15396648e-01 3.01123972e-02 5.29648559e+00] [ 2.78856667e-02 -5.66271433e-02 9.98005890e-01 3.17309752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.719072329 meters Centerline goodness : 0.899683 Centerline is valid? [False, False] Translation: X:55.62, Y:5.30, Z:3.18 [[ 8.15508212e-01 -5.75459082e-01 -6.15889689e-02 5.56220513e+01] [ 5.77888999e-01 8.15464777e-01 3.25807032e-02 5.29884577e+00] [ 3.14747733e-02 -6.21614186e-02 9.97569695e-01 3.17792702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.749072329 meters Centerline goodness : 0.892908 Centerline is valid? [False, False] Translation: X:55.63, Y:5.30, Z:3.18 [[ 8.14833156e-01 -5.76080896e-01 -6.46353591e-02 5.56321186e+01] [ 5.78887703e-01 8.14508217e-01 3.82804504e-02 5.30166547e+00] [ 3.05933950e-02 -6.86087947e-02 9.97174447e-01 3.18301072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.779072329 meters Centerline goodness : 0.879147 Centerline is valid? [False, False] Translation: X:55.65, Y:5.31, Z:3.18 [[ 8.12279010e-01 -5.79870509e-01 -6.28729094e-02 5.56454914e+01] [ 5.82706726e-01 8.11499783e-01 4.38289136e-02 5.30634407e+00] [ 2.56062579e-02 -7.22377738e-02 9.97058686e-01 3.18296730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.809072329 meters Centerline goodness : 0.871829 Centerline is valid? [False, False] Translation: X:55.66, Y:5.31, Z:3.19 [[ 8.11464875e-01 -5.80432533e-01 -6.79914059e-02 5.56578807e+01] [ 5.83735392e-01 8.10588037e-01 4.69044389e-02 5.31045458e+00] [ 2.78881579e-02 -7.77502946e-02 9.96582732e-01 3.18723199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.839072329 meters Centerline goodness : 0.118160 Centerline is valid? [False, False] Translation: X:55.67, Y:5.31, Z:3.19 [[ 8.09988348e-01 -5.82284769e-01 -6.97375305e-02 5.56687181e+01] [ 5.85866164e-01 8.08732406e-01 5.20839179e-02 5.31391597e+00] [ 2.60713287e-02 -8.30442261e-02 9.96204769e-01 3.19050933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.869072329 meters Centerline goodness : 0.120655 Centerline is valid? [False, False] Translation: X:55.68, Y:5.32, Z:3.19 [[ 8.05896071e-01 -5.87872500e-01 -7.02669613e-02 5.56842742e+01] [ 5.91522196e-01 8.04520809e-01 5.33644023e-02 5.32121081e+00] [ 2.51597679e-02 -8.45706294e-02 9.96099792e-01 3.19115199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.899072329 meters Centerline goodness : 0.123325 Centerline is valid? [False, False] Translation: X:55.69, Y:5.32, Z:3.19 [[ 8.04178633e-01 -5.90174416e-01 -7.06461964e-02 5.56938826e+01] [ 5.93987955e-01 8.02299534e-01 5.91081038e-02 5.32433696e+00] [ 2.17953198e-02 -8.94964638e-02 9.95748636e-01 3.19430400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.929072329 meters Centerline goodness : 0.123325 Centerline is valid? [False, False] Translation: X:55.69, Y:5.32, Z:3.19 [[ 8.04178633e-01 -5.90174416e-01 -7.06461964e-02 5.56938826e+01] [ 5.93987955e-01 8.02299534e-01 5.91081038e-02 5.32433696e+00] [ 2.17953198e-02 -8.94964638e-02 9.95748636e-01 3.19430400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.959072329 meters Centerline goodness : 0.142169 Centerline is valid? [False, False] Translation: X:55.70, Y:5.33, Z:3.20 [[ 8.02508900e-01 -5.92626415e-01 -6.90897704e-02 5.57029363e+01] [ 5.96421763e-01 7.99951266e-01 6.60231231e-02 5.32714037e+00] [ 1.61414025e-02 -9.41907867e-02 9.95423302e-01 3.19619823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.989072329 meters Centerline goodness : 0.157842 Centerline is valid? [False, False] Translation: X:55.72, Y:5.33, Z:3.20 [[ 7.98325252e-01 -5.98241702e-01 -6.91639923e-02 5.57190746e+01] [ 6.02054974e-01 7.95558064e-01 6.79497921e-02 5.33456601e+00] [ 1.43735725e-02 -9.58865605e-02 9.95288485e-01 3.19634573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.019072329 meters Centerline goodness : 0.159139 Centerline is valid? [False, False] Translation: X:55.73, Y:5.34, Z:3.20 [[ 7.96348631e-01 -6.00997826e-01 -6.80475665e-02 5.57286586e+01] [ 6.04767444e-01 7.92917458e-01 7.44193747e-02 5.33782423e+00] [ 9.23022108e-03 -1.00416720e-01 9.94902651e-01 3.19792454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.049072329 meters Centerline goodness : 0.164420 Centerline is valid? [False, False] Translation: X:55.74, Y:5.34, Z:3.20 [[ 7.94045206e-01 -6.04099896e-01 -6.74946441e-02 5.57385139e+01] [ 6.07837344e-01 7.90038307e-01 7.98325602e-02 5.34176576e+00] [ 5.09651307e-03 -1.04416427e-01 9.94520606e-01 3.19968731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.079072329 meters Centerline goodness : 0.156616 Centerline is valid? [False, False] Translation: X:55.76, Y:5.35, Z:3.20 [[ 7.88992468e-01 -6.10464407e-01 -6.94556952e-02 5.57566990e+01] [ 6.14367147e-01 7.85108273e-01 7.84729816e-02 5.35038004e+00] [ 6.62527868e-03 -1.04585889e-01 9.94493790e-01 3.19972523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.109072329 meters Centerline goodness : 0.154921 Centerline is valid? [False, False] Translation: X:55.76, Y:5.35, Z:3.20 [[ 7.88699718e-01 -6.10779969e-01 -7.00041726e-02 5.57591848e+01] [ 6.14738999e-01 7.84812134e-01 7.85231012e-02 5.34942422e+00] [ 6.97978677e-03 -1.04965443e-01 9.94451376e-01 3.19990589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.13907232900002 meters Centerline goodness : 0.146746 Centerline is valid? [False, False] Translation: X:55.76, Y:5.35, Z:3.20 [[ 7.88428149e-01 -6.11075096e-01 -7.04860279e-02 5.57613693e+01] [ 6.15084131e-01 7.84531050e-01 7.86291518e-02 5.34834589e+00] [ 7.25016095e-03 -1.05348274e-01 9.94408958e-01 3.20020909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.16907232900002 meters Centerline goodness : 0.145311 Centerline is valid? [False, False] Translation: X:55.76, Y:5.35, Z:3.20 [[ 7.88170902e-01 -6.11349623e-01 -7.09807527e-02 5.57634521e+01] [ 6.15409701e-01 7.84273457e-01 7.86514199e-02 5.34758062e+00] [ 7.58480437e-03 -1.05673004e-01 9.94372006e-01 3.20054569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.199072329 meters Centerline goodness : 0.131609 Centerline is valid? [False, False] Translation: X:55.77, Y:5.35, Z:3.20 [[ 7.86940911e-01 -6.12876763e-01 -7.14568189e-02 5.57692320e+01] [ 6.16971540e-01 7.83145753e-01 7.76456623e-02 5.34785159e+00] [ 8.37388211e-03 -1.05189372e-01 9.94416952e-01 3.19893394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.229072329 meters Centerline goodness : 0.129233 Centerline is valid? [False, False] Translation: X:55.77, Y:5.35, Z:3.20 [[ 7.86708777e-01 -6.13117837e-01 -7.19431598e-02 5.57713511e+01] [ 6.17263021e-01 7.82912656e-01 7.76796971e-02 5.34736300e+00] [ 8.69840252e-03 -1.05519152e-01 9.94379227e-01 3.19879335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.259072329 meters Centerline goodness : 0.130844 Centerline is valid? [False, False] Translation: X:55.77, Y:5.35, Z:3.20 [[ 7.86504208e-01 -6.13322049e-01 -7.24375272e-02 5.57734219e+01] [ 6.17518399e-01 7.82712705e-01 7.76649780e-02 5.34683661e+00] [ 9.06412939e-03 -1.05815338e-01 9.94344486e-01 3.19884437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.289072329 meters Centerline goodness : 0.130799 Centerline is valid? [False, False] Translation: X:55.78, Y:5.35, Z:3.20 [[ 7.86260731e-01 -6.13585206e-01 -7.28509341e-02 5.57754174e+01] [ 6.17823548e-01 7.82477913e-01 7.76039872e-02 5.34643628e+00] [ 9.38758845e-03 -1.06025990e-01 9.94319045e-01 3.19872865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.319072329 meters Centerline goodness : 0.118445 Centerline is valid? [False, False] Translation: X:55.78, Y:5.35, Z:3.20 [[ 7.85158835e-01 -6.14934740e-01 -7.33544105e-02 5.57808138e+01] [ 6.19210080e-01 7.81480294e-01 7.65991265e-02 5.34693793e+00] [ 1.02215624e-02 -1.05564271e-01 9.94359947e-01 3.19730594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.349072329 meters Centerline goodness : 0.118511 Centerline is valid? [False, False] Translation: X:55.78, Y:5.35, Z:3.20 [[ 7.84970982e-01 -6.15139193e-01 -7.36500519e-02 5.57822720e+01] [ 6.19444897e-01 7.81293664e-01 7.66043686e-02 5.34659933e+00] [ 1.04199694e-02 -1.05754355e-01 9.94337689e-01 3.19734325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.379072329 meters Centerline goodness : 0.121215 Centerline is valid? [False, False] Translation: X:55.79, Y:5.35, Z:3.20 [[ 7.84003744e-01 -6.16308287e-01 -7.41769844e-02 5.57865299e+01] [ 6.20653237e-01 7.80432492e-01 7.55955320e-02 5.34814568e+00] [ 1.12999759e-02 -1.05305366e-01 9.94375729e-01 3.19596429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.409072329 meters Centerline goodness : 0.122562 Centerline is valid? [False, False] Translation: X:55.79, Y:5.35, Z:3.20 [[ 7.84314433e-01 -6.15799799e-01 -7.51097680e-02 5.57888550e+01] [ 6.20252186e-01 7.80698413e-01 7.61394383e-02 5.34792773e+00] [ 1.17514258e-02 -1.06304258e-01 9.94264205e-01 3.19559646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.439072329 meters Centerline goodness : 0.121994 Centerline is valid? [False, False] Translation: X:55.79, Y:5.35, Z:3.20 [[ 7.84137068e-01 -6.15990822e-01 -7.53947253e-02 5.57900253e+01] [ 6.20470869e-01 7.80539259e-01 7.59892506e-02 5.34812919e+00] [ 1.20398620e-02 -1.06366219e-01 9.94254127e-01 3.19554076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.469072329 meters Centerline goodness : 0.122197 Centerline is valid? [False, False] Translation: X:55.79, Y:5.35, Z:3.20 [[ 7.83915887e-01 -6.16243342e-01 -7.56308515e-02 5.57912130e+01] [ 6.20745156e-01 7.80338814e-01 7.58075630e-02 5.34844124e+00] [ 1.23017829e-02 -1.06374238e-01 9.94250063e-01 3.19526427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.499072329 meters Centerline goodness : 0.123145 Centerline is valid? [False, False] Translation: X:55.79, Y:5.35, Z:3.19 [[ 7.83313903e-01 -6.16959761e-01 -7.60261991e-02 5.57936080e+01] [ 6.21493877e-01 7.79792686e-01 7.52909558e-02 5.34938944e+00] [ 1.28331839e-02 -1.06226270e-01 9.94259166e-01 3.19485134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.529072329 meters Centerline goodness : 0.130461 Centerline is valid? [False, False] Translation: X:55.79, Y:5.35, Z:3.19 [[ 7.83134589e-01 -6.17161631e-01 -7.62347485e-02 5.57945915e+01] [ 6.21715197e-01 7.79629788e-01 7.51505675e-02 5.34960843e+00] [ 1.30548340e-02 -1.06249311e-01 9.94253818e-01 3.19466114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.559072329 meters Centerline goodness : 0.131240 Centerline is valid? [False, False] Translation: X:55.80, Y:5.35, Z:3.19 [[ 7.82935080e-01 -6.17404916e-01 -7.63140268e-02 5.57953701e+01] [ 6.21965170e-01 7.79435207e-01 7.51005008e-02 5.34968108e+00] [ 1.31144209e-02 -1.06263483e-01 9.94251520e-01 3.19441824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.589072329 meters Centerline goodness : 0.133024 Centerline is valid? [False, False] Translation: X:55.80, Y:5.35, Z:3.19 [[ 7.82734593e-01 -6.17649651e-01 -7.63902124e-02 5.57961928e+01] [ 6.22215872e-01 7.79242713e-01 7.50213537e-02 5.34983820e+00] [ 1.31896034e-02 -1.06253011e-01 9.94251644e-01 3.19401404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.619072329 meters Centerline goodness : 0.135429 Centerline is valid? [False, False] Translation: X:55.79, Y:5.35, Z:3.19 [[ 7.80798986e-01 -6.20236478e-01 -7.52306728e-02 5.57926011e+01] [ 6.24706549e-01 7.76899176e-01 7.85455155e-02 5.34731279e+00] [ 9.72985375e-03 -1.08325353e-01 9.94067879e-01 3.19101111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.649072329 meters Centerline goodness : 0.134154 Centerline is valid? [False, False] Translation: X:55.78, Y:5.34, Z:3.19 [[ 7.77336713e-01 -6.24496864e-01 -7.58373406e-02 5.57826922e+01] [ 6.29051134e-01 7.72872793e-01 8.34404989e-02 5.34399151e+00] [ 6.50428737e-03 -1.12566928e-01 9.93622856e-01 3.18938222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.679072329 meters Centerline goodness : 0.137834 Centerline is valid? [False, False] Translation: X:55.77, Y:5.34, Z:3.19 [[ 7.73255942e-01 -6.29432620e-01 -7.67452020e-02 5.57718186e+01] [ 6.34082587e-01 7.68284991e-01 8.76210324e-02 5.34101732e+00] [ 3.81065084e-03 -1.16416280e-01 9.93193198e-01 3.18854383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.709072329 meters Centerline goodness : 0.139070 Centerline is valid? [False, False] Translation: X:55.76, Y:5.34, Z:3.19 [[ 7.67132327e-01 -6.36838512e-01 -7.71018937e-02 5.57620925e+01] [ 6.41487268e-01 7.61839248e-01 8.99724657e-02 5.33929376e+00] [ 1.44131748e-03 -1.18480670e-01 9.92955313e-01 3.18645224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.739072329 meters Centerline goodness : 0.138563 Centerline is valid? [False, False] Translation: X:55.75, Y:5.34, Z:3.18 [[ 7.63283409e-01 -6.41336314e-01 -7.80139049e-02 5.57519595e+01] [ 6.46061589e-01 7.57379464e-01 9.47669331e-02 5.33540342e+00] [-1.69134612e-03 -1.22735815e-01 9.92437937e-01 3.18499969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.769072329 meters Centerline goodness : 0.141373 Centerline is valid? [False, False] Translation: X:55.74, Y:5.33, Z:3.18 [[ 7.58614022e-01 -6.46611170e-01 -7.99922528e-02 5.57409929e+01] [ 6.51530431e-01 7.52187622e-01 9.85995836e-02 5.33246737e+00] [-3.58640962e-03 -1.26916414e-01 9.91906932e-01 3.18411452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.799072329 meters Centerline goodness : 0.143694 Centerline is valid? [False, False] Translation: X:55.73, Y:5.33, Z:3.18 [[ 7.52005653e-01 -6.54194961e-01 -8.07245423e-02 5.57311229e+01] [ 6.59129715e-01 7.45207286e-01 1.01064928e-01 5.32967436e+00] [-5.95964969e-03 -1.29209342e-01 9.91599429e-01 3.18213376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.829072329 meters Centerline goodness : 0.145772 Centerline is valid? [False, False] Translation: X:55.72, Y:5.33, Z:3.18 [[ 7.46592488e-01 -6.60171387e-01 -8.23006496e-02 5.57196686e+01] [ 6.65235232e-01 7.39344863e-01 1.04073340e-01 5.32633012e+00] [-7.85767860e-03 -1.32449665e-01 9.91158586e-01 3.18169377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.859072329 meters Centerline goodness : 0.148951 Centerline is valid? [False, False] Translation: X:55.71, Y:5.32, Z:3.18 [[ 7.40676624e-01 -6.66592167e-01 -8.39822648e-02 5.57076877e+01] [ 6.71797229e-01 7.33065287e-01 1.06319177e-01 5.32300675e+00] [-9.30704753e-03 -1.35167182e-01 9.90779093e-01 3.18184991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.88907232900002 meters Centerline goodness : 0.151630 Centerline is valid? [False, False] Translation: X:55.70, Y:5.32, Z:3.18 [[ 7.33097251e-01 -6.74800311e-01 -8.49291449e-02 5.56987200e+01] [ 6.80033447e-01 7.25226754e-01 1.07706386e-01 5.31871182e+00] [-1.10874145e-02 -1.36713915e-01 9.90548522e-01 3.18065392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.91907232900002 meters Centerline goodness : 0.146670 Centerline is valid? [False, False] Translation: X:55.69, Y:5.31, Z:3.18 [[ 7.27125271e-01 -6.81038115e-01 -8.64634417e-02 5.56874295e+01] [ 6.86381524e-01 7.18818863e-01 1.10362342e-01 5.31484467e+00] [-1.30094082e-02 -1.39594156e-01 9.90123339e-01 3.18015835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.949072329 meters Centerline goodness : 0.151916 Centerline is valid? [False, False] Translation: X:55.68, Y:5.31, Z:3.18 [[ 7.21189835e-01 -6.87120996e-01 -8.80338505e-02 5.56757398e+01] [ 6.92573835e-01 7.12411556e-01 1.13186828e-01 5.31058545e+00] [-1.50567134e-02 -1.42599131e-01 9.89665996e-01 3.17995268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.979072329 meters Centerline goodness : 0.156889 Centerline is valid? [False, False] Translation: X:55.67, Y:5.31, Z:3.18 [[ 7.13221041e-01 -6.95274116e-01 -8.89362137e-02 5.56665965e+01] [ 7.00731703e-01 7.04160297e-01 1.14600857e-01 5.30513542e+00] [-1.70536592e-02 -1.44056167e-01 9.89422556e-01 3.17907249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.009072329 meters Centerline goodness : 0.161507 Centerline is valid? [False, False] Translation: X:55.65, Y:5.30, Z:3.18 [[ 7.07094143e-01 -7.01308115e-01 -9.04698877e-02 5.56546858e+01] [ 7.06857325e-01 6.97539999e-01 1.17433686e-01 5.30026390e+00] [-1.92508313e-02 -1.46985974e-01 9.88951227e-01 3.17915744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.039072329 meters Centerline goodness : 0.160520 Centerline is valid? [False, False] Translation: X:55.64, Y:5.29, Z:3.18 [[ 7.01146272e-01 -7.07044862e-01 -9.20948837e-02 5.56426873e+01] [ 7.12690343e-01 6.91042072e-01 1.20554262e-01 5.29485554e+00] [-2.15958326e-02 -1.50161306e-01 9.88425618e-01 3.17961620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.069072329 meters Centerline goodness : 0.161237 Centerline is valid? [False, False] Translation: X:55.63, Y:5.29, Z:3.18 [[ 6.95258278e-01 -7.12623850e-01 -9.37186016e-02 5.56304665e+01] [ 7.18356532e-01 6.84567613e-01 1.23818725e-01 5.28923516e+00] [-2.40794570e-02 -1.53409363e-01 9.87869297e-01 3.18003077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.099072329 meters Centerline goodness : 0.169656 Centerline is valid? [False, False] Translation: X:55.62, Y:5.28, Z:3.18 [[ 6.87561829e-01 -7.20011789e-01 -9.40306128e-02 5.56208567e+01] [ 7.25611824e-01 6.76418218e-01 1.26276977e-01 5.28260629e+00] [-2.73168922e-02 -1.55052953e-01 9.87528414e-01 3.17944839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.129072329 meters Centerline goodness : 0.176366 Centerline is valid? [False, False] Translation: X:55.61, Y:5.28, Z:3.18 [[ 6.82113446e-01 -7.24891288e-01 -9.61970246e-02 5.56086958e+01] [ 7.30641259e-01 6.70275169e-01 1.29979035e-01 5.27639170e+00] [-2.97421932e-02 -1.58945963e-01 9.86839188e-01 3.18025077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.159072329 meters Centerline goodness : 0.233043 Centerline is valid? [False, False] Translation: X:55.60, Y:5.27, Z:3.18 [[ 6.74545506e-01 -7.31723718e-01 -9.78200435e-02 5.55989165e+01] [ 7.37535137e-01 6.62203978e-01 1.32392648e-01 5.26882481e+00] [-3.20980191e-02 -1.61450585e-01 9.86358670e-01 3.18084600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.189072329 meters Centerline goodness : 0.231965 Centerline is valid? [False, False] Translation: X:55.59, Y:5.26, Z:3.18 [[ 6.69177013e-01 -7.36270714e-01 -1.00536362e-01 5.55870806e+01] [ 7.42309844e-01 6.56067273e-01 1.36205094e-01 5.26210346e+00] [-3.43252049e-02 -1.65774450e-01 9.85566138e-01 3.18178334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.219072329 meters Centerline goodness : 0.236696 Centerline is valid? [False, False] Translation: X:55.58, Y:5.26, Z:3.18 [[ 6.64095128e-01 -7.40480240e-01 -1.03279591e-01 5.55750008e+01] [ 7.46740677e-01 6.50126217e-01 1.40407489e-01 5.25510906e+00] [-3.68242014e-02 -1.70367001e-01 9.84692370e-01 3.18287920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.249072329 meters Centerline goodness : 0.238771 Centerline is valid? [False, False] Translation: X:55.56, Y:5.25, Z:3.18 [[ 6.58652790e-01 -7.44953810e-01 -1.05926027e-01 5.55629026e+01] [ 7.51429580e-01 6.43893615e-01 1.44064566e-01 5.24833197e+00] [-3.91163551e-02 -1.74484479e-01 9.83882654e-01 3.18392429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.279072329 meters Centerline goodness : 0.241650 Centerline is valid? [False, False] Translation: X:55.55, Y:5.24, Z:3.18 [[ 6.52208282e-01 -7.50480523e-01 -1.06786431e-01 5.55527237e+01] [ 7.56787489e-01 6.36543462e-01 1.48610622e-01 5.23973868e+00] [-4.35551732e-02 -1.77739713e-01 9.83113188e-01 3.18387429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.309072329 meters Centerline goodness : 0.245137 Centerline is valid? [False, False] Translation: X:55.54, Y:5.23, Z:3.18 [[ 6.47335726e-01 -7.54357603e-01 -1.09092001e-01 5.55390767e+01] [ 7.60783644e-01 6.30739544e-01 1.52891711e-01 5.23173172e+00] [-4.65263852e-02 -1.81967677e-01 9.82203166e-01 3.18497159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.339072329 meters Centerline goodness : 0.249341 Centerline is valid? [False, False] Translation: X:55.53, Y:5.22, Z:3.19 [[ 6.40628861e-01 -7.59964111e-01 -1.09768903e-01 5.55284237e+01] [ 7.66157369e-01 6.23162026e-01 1.57073150e-01 5.22313504e+00] [-5.09661454e-02 -1.84725847e-01 9.81467683e-01 3.18518988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.369072329 meters Centerline goodness : 0.250610 Centerline is valid? [False, False] Translation: X:55.51, Y:5.21, Z:3.19 [[ 6.36087892e-01 -7.63518638e-01 -1.11496562e-01 5.55134721e+01] [ 7.69692494e-01 6.17644665e-01 1.61519449e-01 5.21365521e+00] [-5.44578531e-02 -1.88558633e-01 9.80550857e-01 3.18601065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.399072329 meters Centerline goodness : 0.254295 Centerline is valid? [False, False] Translation: X:55.50, Y:5.20, Z:3.19 [[ 0.6316254 -0.7669654 -0.11319637 55.49948078] [ 0.77305972 0.61204542 0.16667056 5.20481127] [-0.05854923 -0.19278091 0.9794935 3.18730296] [ 0. 0. 0. 1. ]] SLAMing on 208.429072329 meters Centerline goodness : 0.252758 Centerline is valid? [False, False] Translation: X:55.49, Y:5.20, Z:3.19 [[ 0.62705998 -0.77033365 -0.11567993 55.4850987 ] [ 0.77651383 0.6063651 0.17131152 5.19578901] [-0.06182276 -0.19724966 0.97840202 3.18900765] [ 0. 0. 0. 1. ]] SLAMing on 208.459072329 meters Centerline goodness : 0.256224 Centerline is valid? [False, False] Translation: X:55.48, Y:5.19, Z:3.19 [[ 0.62466412 -0.77209096 -0.11691997 55.47547696] [ 0.77796603 0.60235456 0.17871159 5.186363 ] [-0.06755432 -0.20259448 0.97692983 3.18908434] [ 0. 0. 0. 1. ]] SLAMing on 208.489072329 meters Centerline goodness : 0.260151 Centerline is valid? [False, False] Translation: X:55.47, Y:5.18, Z:3.19 [[ 0.61961855 -0.77583437 -0.11897012 55.46524292] [ 0.78154672 0.59583828 0.18482818 5.17625363] [-0.0725091 -0.20750368 0.97554326 3.18996836] [ 0. 0. 0. 1. ]] SLAMing on 208.519072329 meters Centerline goodness : 0.256225 Centerline is valid? [False, False] Translation: X:55.45, Y:5.17, Z:3.19 [[ 0.61630153 -0.77815836 -0.12100409 55.45423696] [ 0.78368319 0.59089341 0.19153492 5.16704439] [-0.07754399 -0.21287214 0.97399814 3.19087233] [ 0. 0. 0. 1. ]] SLAMing on 208.549072329 meters Centerline goodness : 0.261225 Centerline is valid? [False, False] Translation: X:55.44, Y:5.15, Z:3.19 [[ 0.61541237 -0.77893065 -0.12055974 55.44424312] [ 0.78359962 0.58810635 0.20025622 5.15472501] [-0.08508376 -0.21771072 0.97229769 3.19032366] [ 0. 0. 0. 1. ]] SLAMing on 208.579072329 meters Centerline goodness : 0.263118 Centerline is valid? [False, False] Translation: X:55.43, Y:5.14, Z:3.19 [[ 0.60932913 -0.78362636 -0.12102783 55.43407143] [ 0.78767689 0.58068963 0.20582678 5.14365432] [-0.09101168 -0.22074708 0.97107549 3.19208048] [ 0. 0. 0. 1. ]] SLAMing on 208.609072329 meters Centerline goodness : 0.265248 Centerline is valid? [False, False] Translation: X:55.42, Y:5.13, Z:3.19 [[ 0.60484233 -0.78678353 -0.12303426 55.41857794] [ 0.79064716 0.57485501 0.21075768 5.13314297] [-0.09509381 -0.22475185 0.9697648 3.19401119] [ 0. 0. 0. 1. ]] SLAMing on 208.63907232900002 meters Centerline goodness : 0.265900 Centerline is valid? [False, False] Translation: X:55.41, Y:5.12, Z:3.20 [[ 0.59913127 -0.79071157 -0.12576538 55.40780926] [ 0.79447055 0.567647 0.21585509 5.12259845] [-0.09928878 -0.22924242 0.96829213 3.19652317] [ 0. 0. 0. 1. ]] SLAMing on 208.66907232900002 meters Centerline goodness : 0.271338 Centerline is valid? [False, False] Translation: X:55.40, Y:5.11, Z:3.20 [[ 0.59615111 -0.79250454 -0.12860952 55.3953513 ] [ 0.7960658 0.56265012 0.22294414 5.11272851] [-0.10432208 -0.23529004 0.96631025 3.19847025] [ 0. 0. 0. 1. ]] SLAMing on 208.699072329 meters Centerline goodness : 0.271366 Centerline is valid? [False, False] Translation: X:55.38, Y:5.10, Z:3.20 [[ 0.59256882 -0.79474531 -0.13130914 55.38277727] [ 0.79810732 0.55719911 0.22924631 5.10297461] [-0.10902709 -0.240643 0.96447086 3.20058216] [ 0. 0. 0. 1. ]] SLAMing on 208.729072329 meters Centerline goodness : 0.272702 Centerline is valid? [False, False] Translation: X:55.37, Y:5.09, Z:3.20 [[ 0.58887057 -0.79724742 -0.13277046 55.36687522] [ 0.80016014 0.55192062 0.23479222 5.09137913] [-0.11390874 -0.24449986 0.96293542 3.20181677] [ 0. 0. 0. 1. ]] SLAMing on 208.759072329 meters Centerline goodness : 0.277340 Centerline is valid? [False, False] Translation: X:55.36, Y:5.08, Z:3.20 [[ 0.58226098 -0.80193574 -0.13368328 55.3555381 ] [ 0.80419471 0.54397611 0.23950126 5.07997979] [-0.11934411 -0.24695963 0.96164855 3.20499249] [ 0. 0. 0. 1. ]] SLAMing on 208.789072329 meters Centerline goodness : 0.277340 Centerline is valid? [False, False] Translation: X:55.34, Y:5.06, Z:3.20 [[ 0.58402806 -0.80084321 -0.13251935 55.33673975] [ 0.80185989 0.54379859 0.24759608 5.06498927] [-0.12622181 -0.25086501 0.95975768 3.20276599] [ 0. 0. 0. 1. ]] SLAMing on 208.819072329 meters Centerline goodness : 0.282182 Centerline is valid? [False, False] Translation: X:55.32, Y:5.04, Z:3.20 [[ 0.59208808 -0.79703043 -0.11905547 55.31786686] [ 0.7914605 0.5473025 0.27212177 5.0406671 ] [-0.15172998 -0.25534775 0.95486938 3.203957 ] [ 0. 0. 0. 1. ]] SLAMing on 208.849072329 meters Centerline goodness : 0.283432 Centerline is valid? [False, False] Translation: X:55.31, Y:5.02, Z:3.21 [[ 0.5976513 -0.79433875 -0.10880658 55.30524446] [ 0.78279284 0.54877579 0.2933948 5.02172463] [-0.17334444 -0.26052079 0.94977925 3.20592129] [ 0. 0. 0. 1. ]] SLAMing on 208.879072329 meters Centerline goodness : 0.288750 Centerline is valid? [False, False] Translation: X:55.30, Y:5.01, Z:3.21 [[ 0.59887103 -0.79458076 -0.09997452 55.29665276] [ 0.77717084 0.54649158 0.31201353 5.0050944 ] [-0.19328472 -0.26455314 0.94480297 3.20817672] [ 0. 0. 0. 1. ]] SLAMing on 208.909072329 meters Centerline goodness : 0.290443 Centerline is valid? [False, False] Translation: X:55.29, Y:4.99, Z:3.21 [[ 0.60265304 -0.792672 -0.09208915 55.28778401] [ 0.76936375 0.54650416 0.3307758 4.99035479] [-0.21186962 -0.2701931 0.93920549 3.21044366] [ 0. 0. 0. 1. ]] SLAMing on 208.939072329 meters Centerline goodness : 0.290874 Centerline is valid? [False, False] Translation: X:55.28, Y:4.98, Z:3.21 [[ 0.60589963 -0.79106776 -0.08424623 55.28017391] [ 0.76170877 0.54631603 0.34833682 4.97685059] [-0.22953296 -0.27522824 0.93357594 3.21245877] [ 0. 0. 0. 1. ]] SLAMing on 208.969072329 meters Centerline goodness : 0.295666 Centerline is valid? [False, False] Translation: X:55.27, Y:4.96, Z:3.21 [[ 0.60864216 -0.7897686 -0.07629078 55.27329184] [ 0.75412795 0.54591045 0.3650655 4.96420918] [-0.24666934 -0.27972727 0.92785069 3.21462023] [ 0. 0. 0. 1. ]] SLAMing on 208.999072329 meters Centerline goodness : 0.301692 Centerline is valid? [False, False] Translation: X:55.27, Y:4.95, Z:3.22 [[ 0.6087937 -0.79050137 -0.06691652 55.26766566] [ 0.74787531 0.54372695 0.3808458 4.95042697] [-0.26467481 -0.28190174 0.922214 3.21739988] [ 0. 0. 0. 1. ]] SLAMing on 209.029072329 meters Centerline goodness : 0.300823 Centerline is valid? [False, False] Translation: X:55.26, Y:4.94, Z:3.22 [[ 0.61085139 -0.78957566 -0.05857359 55.26237192] [ 0.74027807 0.54334015 0.39594174 4.93919055] [-0.28080058 -0.28522231 0.91640563 3.21953547] [ 0. 0. 0. 1. ]] SLAMing on 209.059072329 meters Centerline goodness : 0.304633 Centerline is valid? [False, False] Translation: X:55.26, Y:4.93, Z:3.22 [[ 6.12811861e-01 -7.88638718e-01 -5.01058345e-02 5.52564376e+01] [ 7.32207454e-01 5.42826793e-01 4.11353032e-01 4.92756116e+00] [-2.97210138e-01 -2.88769883e-01 9.10097846e-01 3.22203923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.089072329 meters Centerline goodness : 0.305940 Centerline is valid? [False, False] Translation: X:55.25, Y:4.92, Z:3.22 [[ 6.12763409e-01 -7.89188518e-01 -4.12612122e-02 5.52516036e+01] [ 7.25157506e-01 5.40758725e-01 4.26294022e-01 4.91522514e+00] [-3.14113987e-01 -2.91138256e-01 9.03643137e-01 3.22482110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.119072329 meters Centerline goodness : 0.309629 Centerline is valid? [False, False] Translation: X:55.25, Y:4.90, Z:3.23 [[ 6.14636773e-01 -7.88100660e-01 -3.34512615e-02 5.52458784e+01] [ 7.16491519e-01 5.40046160e-01 4.41576774e-01 4.90407062e+00] [-3.29941722e-01 -2.95376869e-01 8.96599669e-01 3.22708337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.149072329 meters Centerline goodness : 0.314723 Centerline is valid? [False, False] Translation: X:55.24, Y:4.89, Z:3.23 [[ 6.16293247e-01 -7.87096228e-01 -2.57325006e-02 5.52408943e+01] [ 7.07712955e-01 5.39212108e-01 4.56500467e-01 4.89346436e+00] [-3.45434520e-01 -2.99549379e-01 8.89350978e-01 3.22937249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.179072329 meters Centerline goodness : 0.314104 Centerline is valid? [False, False] Translation: X:55.24, Y:4.88, Z:3.23 [[ 6.16308800e-01 -7.87321146e-01 -1.69963855e-02 5.52369208e+01] [ 6.99641927e-01 5.37512377e-01 4.70724568e-01 4.88181212e+00] [-3.61475638e-01 -3.02003077e-01 8.82116491e-01 3.23221977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.209072329 meters Centerline goodness : 0.316261 Centerline is valid? [False, False] Translation: X:55.23, Y:4.87, Z:3.23 [[ 6.17505602e-01 -7.86518523e-01 -8.68584998e-03 5.52330516e+01] [ 6.91030485e-01 5.37195818e-01 4.83629530e-01 4.87320344e+00] [-3.75717582e-01 -3.04646131e-01 8.75229703e-01 3.23498120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.239072329 meters Centerline goodness : 0.321313 Centerline is valid? [False, False] Translation: X:55.23, Y:4.86, Z:3.24 [[ 6.17320805e-01 -7.86711523e-01 -5.14929721e-05 5.52307321e+01] [ 6.82906255e-01 5.35833860e-01 4.96508934e-01 4.86316362e+00] [-3.90581708e-01 -3.06540460e-01 8.68031610e-01 3.23806940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.269072329 meters Centerline goodness : 0.322122 Centerline is valid? [False, False] Translation: X:55.23, Y:4.85, Z:3.24 [[ 6.18503785e-01 -7.85742556e-01 7.85518184e-03 5.52269584e+01] [ 6.73740022e-01 5.35431614e-01 5.09300864e-01 4.85492300e+00] [-4.04385275e-01 -3.09712162e-01 8.60552687e-01 3.24087872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.299072329 meters Centerline goodness : 0.325459 Centerline is valid? [False, False] Translation: X:55.22, Y:4.85, Z:3.24 [[ 6.19414522e-01 -7.84903477e-01 1.58802022e-02 5.52228244e+01] [ 6.64305562e-01 5.34808346e-01 5.22185937e-01 4.84623833e+00] [-4.18358423e-01 -3.12900246e-01 8.52683802e-01 3.24347518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.329072329 meters Centerline goodness : 0.328253 Centerline is valid? [False, False] Translation: X:55.22, Y:4.84, Z:3.25 [[ 6.20436620e-01 -7.83899769e-01 2.36548897e-02 5.52196307e+01] [ 6.54862469e-01 5.34431623e-01 5.34357547e-01 4.83848027e+00] [-4.31524678e-01 -3.16044290e-01 8.44927487e-01 3.24603652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.359072329 meters Centerline goodness : 0.328239 Centerline is valid? [False, False] Translation: X:55.22, Y:4.83, Z:3.25 [[ 6.21340920e-01 -7.82914769e-01 3.13037602e-02 5.52166925e+01] [ 6.45178414e-01 5.33882808e-01 5.46547310e-01 4.83063993e+00] [-4.44612500e-01 -3.19395698e-01 8.36842944e-01 3.24847554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.38907232900002 meters Centerline goodness : 0.330516 Centerline is valid? [False, False] Translation: X:55.22, Y:4.82, Z:3.25 [[ 6.21776295e-01 -7.82203426e-01 3.93959369e-02 5.52157636e+01] [ 6.35797443e-01 5.33491770e-01 5.57806546e-01 4.82270467e+00] [-4.57335600e-01 -3.21783052e-01 8.29035474e-01 3.25166347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.41907232900002 meters Centerline goodness : 0.332791 Centerline is valid? [False, False] Translation: X:55.21, Y:4.82, Z:3.25 [[ 6.22501221e-01 -7.81191606e-01 4.72430319e-02 5.52132006e+01] [ 6.25946842e-01 5.33209545e-01 5.69102919e-01 4.81568319e+00] [-4.69768859e-01 -3.24695636e-01 8.20908012e-01 3.25412348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.449072329 meters Centerline goodness : 0.335142 Centerline is valid? [False, False] Translation: X:55.21, Y:4.81, Z:3.26 [[ 6.23430141e-01 -7.79952554e-01 5.48531936e-02 5.52125237e+01] [ 6.16017276e-01 5.33175189e-01 5.79868031e-01 4.80891042e+00] [-4.81515913e-01 -3.27716693e-01 8.12861731e-01 3.25689362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.479072329 meters Centerline goodness : 0.336647 Centerline is valid? [False, False] Translation: X:55.21, Y:4.80, Z:3.26 [[ 0.62425205 -0.77872558 0.06241665 55.21024648] [ 0.60589392 0.53303929 0.59056047 4.80284505] [-0.49315507 -0.33084072 0.80457597 3.25908127] [ 0. 0. 0. 1. ]] SLAMing on 209.509072329 meters Centerline goodness : 0.335794 Centerline is valid? [False, False] Translation: X:55.21, Y:4.80, Z:3.26 [[ 0.62501869 -0.7774693 0.06995083 55.20772954] [ 0.59547295 0.53280718 0.60127237 4.79682324] [-0.50474112 -0.33415265 0.79597639 3.26124119] [ 0. 0. 0. 1. ]] SLAMing on 209.539072329 meters Centerline goodness : 0.336180 Centerline is valid? [False, False] Translation: X:55.21, Y:4.79, Z:3.26 [[ 0.62560246 -0.77629224 0.07740743 55.20568932] [ 0.58507553 0.53249556 0.61166585 4.79087681] [-0.51605057 -0.33737047 0.78732013 3.26298772] [ 0. 0. 0. 1. ]] SLAMing on 209.569072329 meters Centerline goodness : 0.338744 Centerline is valid? [False, False] Translation: X:55.21, Y:4.79, Z:3.26 [[ 0.62674544 -0.77461306 0.08464495 55.20604943] [ 0.57475471 0.53290048 0.62102665 4.78567819] [-0.52616269 -0.34057554 0.77920545 3.26499998] [ 0. 0. 0. 1. ]] SLAMing on 209.599072329 meters Centerline goodness : 0.340528 Centerline is valid? [False, False] Translation: X:55.20, Y:4.78, Z:3.27 [[ 0.62705186 -0.77346345 0.09252166 55.20431888] [ 0.56429561 0.53290362 0.63054278 4.78023242] [-0.53700692 -0.34317345 0.77062023 3.26646818] [ 0. 0. 0. 1. ]] SLAMing on 209.629072329 meters Centerline goodness : 0.343065 Centerline is valid? [False, False] Translation: X:55.20, Y:4.78, Z:3.27 [[ 0.62744749 -0.77217383 0.10028578 55.20272047] [ 0.55366727 0.53299165 0.6398222 4.77504177] [-0.54750544 -0.34592988 0.76195165 3.26816952] [ 0. 0. 0. 1. ]] SLAMing on 209.659072329 meters Centerline goodness : 0.343482 Centerline is valid? [False, False] Translation: X:55.20, Y:4.77, Z:3.27 [[ 0.62770129 -0.77091522 0.10807782 55.20106147] [ 0.54303776 0.53311075 0.64877031 4.77020948] [-0.55776436 -0.34854362 0.75327038 3.2697203 ] [ 0. 0. 0. 1. ]] SLAMing on 209.689072329 meters Centerline goodness : 0.344325 Centerline is valid? [False, False] Translation: X:55.20, Y:4.77, Z:3.27 [[ 0.62820229 -0.76945126 0.11535445 55.20083249] [ 0.53224823 0.53313367 0.65763235 4.76578502] [-0.56751538 -0.35172895 0.74445486 3.27046822] [ 0. 0. 0. 1. ]] SLAMing on 209.719072329 meters Centerline goodness : 0.344536 Centerline is valid? [False, False] Translation: X:55.20, Y:4.76, Z:3.27 [[ 0.62824982 -0.76825377 0.1228345 55.1985383 ] [ 0.52113562 0.53277274 0.66676148 4.76109788] [-0.57768489 -0.35487935 0.73507878 3.27168331] [ 0. 0. 0. 1. ]] SLAMing on 209.749072329 meters Centerline goodness : 0.346385 Centerline is valid? [False, False] Translation: X:55.20, Y:4.76, Z:3.27 [[ 0.62794924 -0.76725053 0.13040847 55.19616233] [ 0.5100318 0.53227605 0.67568466 4.75647734] [-0.58783273 -0.3577832 0.72556452 3.27291556] [ 0. 0. 0. 1. ]] SLAMing on 209.779072329 meters Centerline goodness : 0.349054 Centerline is valid? [False, False] Translation: X:55.20, Y:4.75, Z:3.27 [[ 0.62742303 -0.76632218 0.13816894 55.19554427] [ 0.49937066 0.53213212 0.68371365 4.75237819] [-0.59746907 -0.35998018 0.71655076 3.27297934] [ 0. 0. 0. 1. ]] SLAMing on 209.809072329 meters Centerline goodness : 0.351717 Centerline is valid? [False, False] Translation: X:55.19, Y:4.75, Z:3.27 [[ 0.62654302 -0.765562 0.14614604 55.19347678] [ 0.48827613 0.53171321 0.69200251 4.74755436] [-0.60747861 -0.36220972 0.70694685 3.27422917] [ 0. 0. 0. 1. ]] SLAMing on 209.839072329 meters Centerline goodness : 0.351728 Centerline is valid? [False, False] Translation: X:55.19, Y:4.74, Z:3.28 [[ 0.62539031 -0.7649366 0.15413942 55.19094436] [ 0.47705611 0.53112789 0.70022899 4.74282539] [-0.61749853 -0.36438327 0.69707991 3.27556805] [ 0. 0. 0. 1. ]] SLAMing on 209.869072329 meters Centerline goodness : 0.351746 Centerline is valid? [False, False] Translation: X:55.19, Y:4.74, Z:3.27 [[ 0.62374777 -0.76467407 0.16190206 55.18923386] [ 0.46638669 0.5303314 0.70797744 4.73885288] [-0.62723374 -0.36609039 0.68742684 3.27497806] [ 0. 0. 0. 1. ]] SLAMing on 209.899072329 meters Centerline goodness : 0.352653 Centerline is valid? [False, False] Translation: X:55.19, Y:4.73, Z:3.28 [[ 0.62229163 -0.76421843 0.16947957 55.18626175] [ 0.45485006 0.52922251 0.71626458 4.73402901] [-0.63707499 -0.36863766 0.67693554 3.27602956] [ 0. 0. 0. 1. ]] SLAMing on 209.929072329 meters Centerline goodness : 0.353132 Centerline is valid? [False, False] Translation: X:55.18, Y:4.73, Z:3.28 [[ 0.62053292 -0.76384566 0.17742238 55.18332611] [ 0.44350244 0.52844051 0.72391727 4.72971589] [-0.64671824 -0.37052725 0.66668214 3.27728933] [ 0. 0. 0. 1. ]] SLAMing on 209.959072329 meters Centerline goodness : 0.358773 Centerline is valid? [False, False] Translation: X:55.18, Y:4.73, Z:3.28 [[ 0.61787612 -0.76391919 0.18616277 55.18217473] [ 0.43315098 0.52830259 0.7302579 4.7261738 ] [-0.6562083 -0.37057233 0.6573179 3.27664329] [ 0. 0. 0. 1. ]] SLAMing on 209.989072329 meters Centerline goodness : 0.358424 Centerline is valid? [False, False] Translation: X:55.18, Y:4.72, Z:3.28 [[ 0.61545359 -0.76377301 0.19459617 55.17916742] [ 0.42185739 0.52776734 0.73722315 4.72191063] [-0.66577265 -0.3716348 0.6470196 3.27796232] [ 0. 0. 0. 1. ]] SLAMing on 210.019072329 meters Centerline goodness : 0.358118 Centerline is valid? [False, False] Translation: X:55.18, Y:4.72, Z:3.28 [[ 0.61302913 -0.76361166 0.20271289 55.17563235] [ 0.41016521 0.52689671 0.74440873 4.71768011] [-0.67524795 -0.37319846 0.63620997 3.2794258 ] [ 0. 0. 0. 1. ]] SLAMing on 210.049072329 meters Centerline goodness : 0.359638 Centerline is valid? [False, False] Translation: X:55.17, Y:4.71, Z:3.28 [[ 0.61069382 -0.76338349 0.21047258 55.17197454] [ 0.39822895 0.52580711 0.7516253 4.71342054] [-0.68444632 -0.37519665 0.62510856 3.28079985] [ 0. 0. 0. 1. ]] SLAMing on 210.079072329 meters Centerline goodness : 0.359546 Centerline is valid? [False, False] Translation: X:55.17, Y:4.71, Z:3.28 [[ 0.60749458 -0.76381748 0.21802106 55.16900218] [ 0.38730204 0.5244666 0.75824265 4.71031143] [-0.69350376 -0.3761883 0.61443868 3.27967262] [ 0. 0. 0. 1. ]] SLAMing on 210.109072329 meters Centerline goodness : 0.359838 Centerline is valid? [False, False] Translation: X:55.17, Y:4.71, Z:3.28 [[ 0.60486727 -0.76364127 0.22580434 55.16525906] [ 0.37515361 0.52337984 0.76507079 4.70579647] [-0.70242107 -0.37805497 0.60305811 3.28105755] [ 0. 0. 0. 1. ]] SLAMing on 210.13907232900002 meters Centerline goodness : 0.362554 Centerline is valid? [False, False] Translation: X:55.16, Y:4.70, Z:3.28 [[ 0.60199166 -0.76344792 0.23399426 55.16189376] [ 0.36314562 0.52274028 0.77127677 4.70132536] [-0.71114787 -0.37932819 0.59192806 3.28193188] [ 0. 0. 0. 1. ]] SLAMing on 210.16907232900002 meters Centerline goodness : 0.361405 Centerline is valid? [False, False] Translation: X:55.16, Y:4.70, Z:3.28 [[ 0.59882382 -0.76334382 0.24231437 55.15863643] [ 0.35110431 0.52215371 0.77722665 4.69697927] [-0.71981651 -0.38034421 0.58069138 3.28340735] [ 0. 0. 0. 1. ]] SLAMing on 210.199072329 meters Centerline goodness : 0.363508 Centerline is valid? [False, False] Translation: X:55.16, Y:4.69, Z:3.28 [[ 0.59436843 -0.76393299 0.25126192 55.15576314] [ 0.34030496 0.5220107 0.78211084 4.69372118] [-0.72864168 -0.37935631 0.57023687 3.28269583] [ 0. 0. 0. 1. ]] SLAMing on 210.229072329 meters Centerline goodness : 0.364227 Centerline is valid? [False, False] Translation: X:55.15, Y:4.69, Z:3.28 [[ 0.5909838 -0.76391138 0.25918634 55.15185111] [ 0.32802652 0.52110863 0.7879368 4.68974104] [-0.73697812 -0.38063789 0.55854995 3.28388891] [ 0. 0. 0. 1. ]] SLAMing on 210.259072329 meters Centerline goodness : 0.364083 Centerline is valid? [False, False] Translation: X:55.15, Y:4.69, Z:3.29 [[ 0.58733103 -0.76408517 0.26686348 55.14732437] [ 0.3155623 0.51982426 0.79385337 4.68579654] [-0.7452937 -0.38204266 0.54642539 3.28556963] [ 0. 0. 0. 1. ]] SLAMing on 210.289072329 meters Centerline goodness : 0.365132 Centerline is valid? [False, False] Translation: X:55.14, Y:4.68, Z:3.28 [[ 0.58275502 -0.76479184 0.27475448 55.14384236] [ 0.30425352 0.51884099 0.79889538 4.68270092] [-0.75354255 -0.38196528 0.5350478 3.28471669] [ 0. 0. 0. 1. ]] SLAMing on 210.319072329 meters Centerline goodness : 0.363368 Centerline is valid? [False, False] Translation: X:55.14, Y:4.68, Z:3.29 [[ 0.5788321 -0.76488888 0.28266306 55.13971418] [ 0.29174069 0.51794027 0.80413012 4.6784746 ] [-0.76147276 -0.38299201 0.52294967 3.28646531] [ 0. 0. 0. 1. ]] SLAMing on 210.349072329 meters Centerline goodness : 0.367060 Centerline is valid? [False, False] Translation: X:55.14, Y:4.67, Z:3.29 [[ 0.57349507 -0.76557762 0.29153783 55.13659755] [ 0.28061716 0.51793472 0.80808269 4.67460201] [-0.76964759 -0.38162092 0.51186723 3.28530894] [ 0. 0. 0. 1. ]] SLAMing on 210.379072329 meters Centerline goodness : 0.366048 Centerline is valid? [False, False] Translation: X:55.13, Y:4.67, Z:3.29 [[ 0.56919246 -0.76568315 0.29958182 55.13221769] [ 0.26787936 0.51718149 0.81287389 4.67026137] [-0.77734201 -0.3824299 0.49948651 3.28711975] [ 0. 0. 0. 1. ]] SLAMing on 210.409072329 meters Centerline goodness : 0.365928 Centerline is valid? [False, False] Translation: X:55.13, Y:4.67, Z:3.29 [[ 0.56457622 -0.76591967 0.30760486 55.12772494] [ 0.25519946 0.51640668 0.81743341 4.66585191] [-0.78493753 -0.38300286 0.48701322 3.2889448 ] [ 0. 0. 0. 1. ]] SLAMing on 210.439072329 meters Centerline goodness : 0.368189 Centerline is valid? [False, False] Translation: X:55.12, Y:4.66, Z:3.29 [[ 0.55988345 -0.76617282 0.31545165 55.1232955 ] [ 0.24260261 0.51561884 0.82175495 4.66177622] [-0.79225911 -0.3835576 0.47456197 3.29023152] [ 0. 0. 0. 1. ]] SLAMing on 210.469072329 meters Centerline goodness : 0.369231 Centerline is valid? [False, False] Translation: X:55.12, Y:4.66, Z:3.29 [[ 0.55389175 -0.76730598 0.32318023 55.1195717 ] [ 0.23131093 0.51469931 0.82557851 4.65845175] [-0.79981197 -0.38252601 0.46257396 3.28929857] [ 0. 0. 0. 1. ]] SLAMing on 210.499072329 meters Centerline goodness : 0.368579 Centerline is valid? [False, False] Translation: X:55.12, Y:4.65, Z:3.29 [[ 0.5488444 -0.76757638 0.33105335 55.11503619] [ 0.21862232 0.51405321 0.82942967 4.65436884] [-0.80682966 -0.38285218 0.44994456 3.29087168] [ 0. 0. 0. 1. ]] SLAMing on 210.529072329 meters Centerline goodness : 0.369273 Centerline is valid? [False, False] Translation: X:55.11, Y:4.65, Z:3.29 [[ 0.54353848 -0.76794014 0.33887146 55.11099948] [ 0.20600828 0.51341188 0.83304792 4.65025141] [-0.81371156 -0.38298328 0.43726114 3.29260474] [ 0. 0. 0. 1. ]] SLAMing on 210.559072329 meters Centerline goodness : 0.370178 Centerline is valid? [False, False] Translation: X:55.11, Y:4.65, Z:3.29 [[ 0.53617235 -0.76892333 0.34824722 55.10769214] [ 0.19539851 0.51441713 0.8349817 4.64665832] [-0.82118124 -0.37964712 0.42606271 3.29189872] [ 0. 0. 0. 1. ]] SLAMing on 210.589072329 meters Centerline goodness : 0.371107 Centerline is valid? [False, False] Translation: X:55.10, Y:4.64, Z:3.29 [[ 0.53037209 -0.76932406 0.35615438 55.10337626] [ 0.18263277 0.5139309 0.83816484 4.64229085] [-0.82785912 -0.37949377 0.41307839 3.29410978] [ 0. 0. 0. 1. ]] SLAMing on 210.619072329 meters Centerline goodness : 0.371242 Centerline is valid? [False, False] Translation: X:55.11, Y:4.65, Z:3.29 [[ 0.53185635 -0.76995236 0.35256514 55.10782243] [ 0.20003531 0.51877775 0.83117719 4.64789519] [-0.8228698 -0.37154139 0.4299329 3.28596921] [ 0. 0. 0. 1. ]] SLAMing on 210.649072329 meters Centerline goodness : 0.371209 Centerline is valid? [False, False] Translation: X:55.11, Y:4.65, Z:3.28 [[ 0.53343247 -0.77059669 0.3487557 55.1117438 ] [ 0.21727493 0.52331731 0.82397245 4.65393085] [-0.81746033 -0.36375779 0.44658579 3.27804387] [ 0. 0. 0. 1. ]] SLAMing on 210.679072329 meters Centerline goodness : 0.373219 Centerline is valid? [False, False] Translation: X:55.12, Y:4.66, Z:3.27 [[ 0.53237098 -0.7730914 0.3448345 55.11619373] [ 0.23495787 0.52630283 0.81719039 4.66013175] [-0.81325023 -0.35402687 0.46183226 3.26736008] [ 0. 0. 0. 1. ]] SLAMing on 210.709072329 meters Centerline goodness : 0.374334 Centerline is valid? [False, False] Translation: X:55.11, Y:4.66, Z:3.27 [[ 0.52676756 -0.77360793 0.35220264 55.1115927 ] [ 0.22217916 0.52525938 0.82142498 4.6556382 ] [-0.82045863 -0.35444795 0.44856916 3.26935532] [ 0. 0. 0. 1. ]] SLAMing on 210.739072329 meters Centerline goodness : 0.374334 Centerline is valid? [False, False] Translation: X:55.11, Y:4.66, Z:3.27 [[ 0.52676756 -0.77360793 0.35220264 55.1115927 ] [ 0.22217916 0.52525938 0.82142498 4.6556382 ] [-0.82045863 -0.35444795 0.44856916 3.26935532] [ 0. 0. 0. 1. ]] SLAMing on 210.769072329 meters Centerline goodness : 0.373279 Centerline is valid? [False, False] Translation: X:55.12, Y:4.66, Z:3.26 [[ 0.52830653 -0.77435077 0.34824288 55.1157081 ] [ 0.23927798 0.52931614 0.81398432 4.66227005] [-0.81463996 -0.34670638 0.46492626 3.26175244] [ 0. 0. 0. 1. ]] SLAMing on 210.799072329 meters Centerline goodness : 0.375567 Centerline is valid? [False, False] Translation: X:55.12, Y:4.67, Z:3.25 [[ 0.52709223 -0.77667264 0.34489619 55.12078372] [ 0.25743758 0.53271468 0.80618916 4.66830741] [-0.80987633 -0.3361468 0.4807345 3.25202026] [ 0. 0. 0. 1. ]] SLAMing on 210.829072329 meters Centerline goodness : 0.377429 Centerline is valid? [False, False] Translation: X:55.12, Y:4.67, Z:3.25 [[ 0.5280894 -0.77775216 0.34091519 55.1244197 ] [ 0.27393135 0.53601927 0.79852675 4.67397953] [-0.80379301 -0.32830615 0.49611679 3.24514844] [ 0. 0. 0. 1. ]] SLAMing on 210.859072329 meters Centerline goodness : 0.378491 Centerline is valid? [False, False] Translation: X:55.13, Y:4.68, Z:3.24 [[ 0.52904504 -0.77886658 0.33686525 55.12799486] [ 0.29002428 0.53901975 0.79078671 4.6796667 ] [-0.79749437 -0.32066268 0.51105594 3.23895715] [ 0. 0. 0. 1. ]] SLAMing on 210.88907232900002 meters Centerline goodness : 0.379909 Centerline is valid? [False, False] Translation: X:55.13, Y:4.69, Z:3.23 [[ 0.5298857 -0.78005074 0.3327792 55.13172142] [ 0.30616014 0.54188493 0.78270473 4.68589768] [-0.79087743 -0.31286031 0.52595752 3.23284125] [ 0. 0. 0. 1. ]] SLAMing on 210.91907232900002 meters Centerline goodness : 0.380359 Centerline is valid? [False, False] Translation: X:55.14, Y:4.69, Z:3.22 [[ 0.52679901 -0.78373848 0.32899361 55.13717056] [ 0.32397234 0.54297697 0.77473734 4.69378546] [-0.78582741 -0.30154603 0.53994932 3.22355762] [ 0. 0. 0. 1. ]] SLAMing on 210.949072329 meters Centerline goodness : 0.381645 Centerline is valid? [False, False] Translation: X:55.14, Y:4.70, Z:3.22 [[ 0.52756435 -0.78482409 0.32515689 55.14005309] [ 0.33896764 0.5454412 0.76654735 4.7000137 ] [-0.77895879 -0.2941854 0.5537853 3.21842238] [ 0. 0. 0. 1. ]] SLAMing on 210.979072329 meters Centerline goodness : 0.456306 Centerline is valid? [False, False] Translation: X:55.15, Y:4.71, Z:3.21 [[ 0.52449276 -0.78826212 0.32179213 55.14510661] [ 0.3563304 0.54648427 0.75788099 4.70858783] [-0.77326321 -0.28283877 0.5675088 3.20989655] [ 0. 0. 0. 1. ]] SLAMing on 211.009072329 meters Centerline goodness : 0.495957 Centerline is valid? [False, False] Translation: X:55.15, Y:4.71, Z:3.21 [[ 0.52548237 -0.78914423 0.31799318 55.14785181] [ 0.37064878 0.54875763 0.74932272 4.71436987] [-0.76582488 -0.2758921 0.58085781 3.20519853] [ 0. 0. 0. 1. ]] SLAMing on 211.039072329 meters Centerline goodness : 0.498462 Centerline is valid? [False, False] Translation: X:55.15, Y:4.72, Z:3.20 [[ 0.52643675 -0.79005881 0.31412008 55.15046005] [ 0.38480154 0.55085771 0.74059676 4.7202163 ] [-0.75815046 -0.26900346 0.59400759 3.20107103] [ 0. 0. 0. 1. ]] SLAMing on 211.069072329 meters Centerline goodness : 0.500820 Centerline is valid? [False, False] Translation: X:55.16, Y:4.73, Z:3.19 [[ 0.52305713 -0.7939081 0.31003415 55.15568271] [ 0.40208209 0.55059268 0.7315584 4.72845293] [-0.75149267 -0.25798766 0.60720765 3.19335937] [ 0. 0. 0. 1. ]] SLAMing on 211.099072329 meters Centerline goodness : 0.504125 Centerline is valid? [False, False] Translation: X:55.16, Y:4.73, Z:3.19 [[ 0.52421475 -0.79484839 0.30563858 55.15756041] [ 0.41555675 0.55203492 0.72289006 4.73409485] [-0.74331117 -0.25193945 0.61968946 3.19030771] [ 0. 0. 0. 1. ]] SLAMing on 211.129072329 meters Centerline goodness : 0.502498 Centerline is valid? [False, False] Translation: X:55.16, Y:4.74, Z:3.19 [[ 0.52535383 -0.79588382 0.30095233 55.15895831] [ 0.4288941 0.55316629 0.71418269 4.74029118] [-0.73488312 -0.24612194 0.6319579 3.18741639] [ 0. 0. 0. 1. ]] SLAMing on 211.159072329 meters Centerline goodness : 0.503807 Centerline is valid? [False, False] Translation: X:55.16, Y:4.75, Z:3.18 [[ 0.51991621 -0.8014157 0.29566876 55.16158078] [ 0.44442626 0.54937169 0.70758466 4.74875447] [-0.72950149 -0.23648177 0.64179743 3.18056932] [ 0. 0. 0. 1. ]] SLAMing on 211.189072329 meters Centerline goodness : 0.507364 Centerline is valid? [False, False] Translation: X:55.16, Y:4.75, Z:3.18 [[ 0.5203573 -0.80281586 0.29105837 55.16233585] [ 0.45742846 0.54986059 0.69886517 4.75488885] [-0.72110157 -0.23052121 0.6533548 3.17830456] [ 0. 0. 0. 1. ]] SLAMing on 211.219072329 meters Centerline goodness : 0.501859 Centerline is valid? [False, False] Translation: X:55.16, Y:4.76, Z:3.18 [[ 0.52054098 -0.8043875 0.28635265 55.16338477] [ 0.47047539 0.55008028 0.68997434 4.76124068] [-0.71252368 -0.22443805 0.66478385 3.17620755] [ 0. 0. 0. 1. ]] SLAMing on 211.249072329 meters Centerline goodness : 0.506157 Centerline is valid? [False, False] Translation: X:55.16, Y:4.77, Z:3.18 [[ 0.5200078 -0.8062908 0.28193444 55.16431789] [ 0.4835839 0.54998175 0.68093074 4.7672091 ] [-0.704087 -0.21775034 0.67590405 3.17507666] [ 0. 0. 0. 1. ]] SLAMing on 211.279072329 meters Centerline goodness : 0.510253 Centerline is valid? [False, False] Translation: X:55.17, Y:4.77, Z:3.17 [[ 0.50832866 -0.8148313 0.27866097 55.16580338] [ 0.49769803 0.54204913 0.67711108 4.7699655 ] [-0.70277923 -0.20550595 0.68107904 3.17220246] [ 0. 0. 0. 1. ]] SLAMing on 211.309072329 meters Centerline goodness : 0.513939 Centerline is valid? [False, False] Translation: X:55.16, Y:4.77, Z:3.17 [[ 0.49921731 -0.82118356 0.2764772 55.15929678] [ 0.50779824 0.53581705 0.6745673 4.77064552] [-0.70208477 -0.19636104 0.68448471 3.17362022] [ 0. 0. 0. 1. ]] SLAMing on 211.339072329 meters Centerline goodness : 0.516080 Centerline is valid? [False, False] Translation: X:55.15, Y:4.77, Z:3.18 [[ 0.48939051 -0.82750703 0.27518911 55.15195992] [ 0.51679083 0.52937909 0.67281872 4.76989161] [-0.70244157 -0.18705589 0.68672114 3.17630786] [ 0. 0. 0. 1. ]] SLAMing on 211.369072329 meters Centerline goodness : 0.518074 Centerline is valid? [False, False] Translation: X:55.14, Y:4.77, Z:3.18 [[ 0.47911426 -0.83384632 0.27413472 55.14467401] [ 0.52540517 0.52262622 0.67142479 4.7682934 ] [-0.70313508 -0.17765739 0.68850484 3.17943858] [ 0. 0. 0. 1. ]] SLAMing on 211.399072329 meters Centerline goodness : 0.505773 Centerline is valid? [False, False] Translation: X:55.15, Y:4.77, Z:3.18 [[ 0.46197283 -0.84345598 0.27415891 55.15001961] [ 0.5402035 0.5127681 0.66726985 4.76675683] [-0.70339269 -0.16015894 0.69252281 3.1786588 ] [ 0. 0. 0. 1. ]] SLAMing on 211.429072329 meters Centerline goodness : 0.516732 Centerline is valid? [False, False] Translation: X:55.14, Y:4.76, Z:3.18 [[ 0.4506875 -0.84959394 0.27399072 55.14187323] [ 0.54758754 0.50551626 0.66678422 4.76344488] [-0.7050026 -0.15047741 0.69305691 3.18359507] [ 0. 0. 0. 1. ]] SLAMing on 211.459072329 meters Centerline goodness : 0.511329 Centerline is valid? [False, False] Translation: X:55.14, Y:4.76, Z:3.18 [[ 0.42942773 -0.86054274 0.27396717 55.14182508] [ 0.5590682 0.49155667 0.66769364 4.75617236] [-0.7092493 -0.13355983 0.69219015 3.18468006] [ 0. 0. 0. 1. ]] SLAMing on 211.489072329 meters Centerline goodness : 0.519633 Centerline is valid? [False, False] Translation: X:55.13, Y:4.75, Z:3.19 [[ 0.41795547 -0.86603134 0.27441381 55.13310352] [ 0.56426609 0.48420478 0.66869238 4.75112037] [-0.71198104 -0.12464123 0.69104816 3.19064208] [ 0. 0. 0. 1. ]] SLAMing on 211.519072329 meters Centerline goodness : 0.529334 Centerline is valid? [False, False] Translation: X:55.12, Y:4.75, Z:3.20 [[ 0.40623988 -0.8715095 0.27466407 55.12490728] [ 0.57037314 0.47668448 0.66891433 4.74677065] [-0.7138933 -0.11507867 0.69073386 3.19627887] [ 0. 0. 0. 1. ]] SLAMing on 211.549072329 meters Centerline goodness : 0.524012 Centerline is valid? [False, False] Translation: X:55.13, Y:4.74, Z:3.20 [[ 0.38405642 -0.88114834 0.27582289 55.12509674] [ 0.58054003 0.46274704 0.66995407 4.73903373] [-0.71796514 -0.09717394 0.68926286 3.19762987] [ 0. 0. 0. 1. ]] SLAMing on 211.579072329 meters Centerline goodness : 0.538628 Centerline is valid? [False, False] Translation: X:55.12, Y:4.73, Z:3.20 [[ 0.37195547 -0.88612652 0.27645779 55.11678769] [ 0.5860606 0.45514247 0.67035685 4.73431199] [-0.71984866 -0.08732188 0.68861658 3.20371524] [ 0. 0. 0. 1. ]] SLAMing on 211.609072329 meters Centerline goodness : 0.541261 Centerline is valid? [False, False] Translation: X:55.11, Y:4.73, Z:3.21 [[ 0.36009554 -0.89072899 0.27736809 55.10767422] [ 0.59008102 0.44774944 0.67180714 4.72903383] [-0.7225895 -0.07824511 0.68683485 3.21105203] [ 0. 0. 0. 1. ]] SLAMing on 211.63907232900002 meters Centerline goodness : 0.306685 Centerline is valid? [False, False] Translation: X:55.11, Y:4.72, Z:3.21 [[ 0.33729821 -0.89948589 0.27776796 55.10754833] [ 0.59825786 0.43262512 0.67447982 4.71996288] [-0.72685449 -0.06132397 0.68404819 3.21356203] [ 0. 0. 0. 1. ]] SLAMing on 211.66907232900002 meters Centerline goodness : 0.303255 Centerline is valid? [False, False] Translation: X:55.10, Y:4.71, Z:3.22 [[ 3.26102148e-01 -9.03315135e-01 2.78709807e-01 5.50970081e+01] [ 6.00660060e-01 4.25654953e-01 6.76775704e-01 4.71375596e+00] [-7.29975946e-01 -5.32881616e-02 6.81392317e-01 3.22278107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.699072329 meters Centerline goodness : 0.509847 Centerline is valid? [False, False] Translation: X:55.09, Y:4.71, Z:3.23 [[ 3.14763803e-01 -9.07014294e-01 2.79729905e-01 5.50871246e+01] [ 6.03189755e-01 4.18693678e-01 6.78865026e-01 4.70780152e+00] [-7.32861425e-01 -4.49519250e-02 6.78891344e-01 3.23148635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.729072329 meters Centerline goodness : 0.519261 Centerline is valid? [False, False] Translation: X:55.09, Y:4.70, Z:3.24 [[ 2.93164301e-01 -9.13463825e-01 2.82202998e-01 5.50861777e+01] [ 6.09444356e-01 4.05978953e-01 6.80998287e-01 4.69895636e+00] [-7.36635778e-01 -2.76573625e-02 6.75723908e-01 3.23567516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.759072329 meters Centerline goodness : 0.518583 Centerline is valid? [False, False] Translation: X:55.08, Y:4.69, Z:3.25 [[ 2.82604768e-01 -9.16238574e-01 2.83974330e-01 5.50750755e+01] [ 6.10273325e-01 4.00137706e-01 6.83707748e-01 4.69232148e+00] [-7.40068249e-01 -1.99171108e-02 6.72236785e-01 3.24578041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.789072329 meters Centerline goodness : 0.235599 Centerline is valid? [False, False] Translation: X:55.06, Y:4.69, Z:3.26 [[ 2.71992286e-01 -9.19162397e-01 2.84887143e-01 5.50648551e+01] [ 6.11806581e-01 3.93686292e-01 6.86078575e-01 4.68638826e+00] [-7.42773790e-01 -1.23122505e-02 6.69429238e-01 3.25545403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.819072329 meters Centerline goodness : 0.519833 Centerline is valid? [False, False] Translation: X:55.06, Y:4.68, Z:3.26 [[ 2.61691722e-01 -9.21988166e-01 2.85403687e-01 5.50552561e+01] [ 6.13005464e-01 3.87182132e-01 6.88704797e-01 4.68027468e+00] [-7.45480881e-01 -5.27432506e-03 6.66506142e-01 3.26477278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.849072329 meters Centerline goodness : 0.498357 Centerline is valid? [False, False] Translation: X:55.06, Y:4.67, Z:3.27 [[ 2.41702348e-01 -9.27590327e-01 2.84879204e-01 5.50592528e+01] [ 6.18924374e-01 3.73482970e-01 6.90972569e-01 4.67301901e+00] [-7.47337002e-01 9.30899100e-03 6.64379973e-01 3.26589298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.879072329 meters Centerline goodness : 0.286952 Centerline is valid? [False, False] Translation: X:55.05, Y:4.67, Z:3.27 [[ 2.31393611e-01 -9.30368370e-01 2.84379486e-01 5.50526745e+01] [ 6.21448261e-01 3.66255971e-01 6.92573912e-01 4.66825397e+00] [-7.48504547e-01 1.64699588e-02 6.62925097e-01 3.27282657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.909072329 meters Centerline goodness : 0.276476 Centerline is valid? [False, False] Translation: X:55.06, Y:4.66, Z:3.27 [[ 2.12612058e-01 -9.34392877e-01 2.85842725e-01 5.50570594e+01] [ 6.27088010e-01 3.54820805e-01 6.93442733e-01 4.66259268e+00] [-7.49370896e-01 3.18142588e-02 6.61385752e-01 3.27407065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.939072329 meters Centerline goodness : 0.269156 Centerline is valid? [False, False] Translation: X:55.05, Y:4.66, Z:3.28 [[ 2.04403758e-01 -9.35825650e-01 2.87140134e-01 5.50517547e+01] [ 6.27659607e-01 3.50394706e-01 6.95174056e-01 4.65831544e+00] [-7.51174096e-01 3.81300740e-02 6.59001954e-01 3.28057409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.969072329 meters Centerline goodness : 0.483726 Centerline is valid? [False, False] Translation: X:55.05, Y:4.65, Z:3.29 [[ 1.95809473e-01 -9.37404585e-01 2.87977939e-01 5.50468091e+01] [ 6.28989324e-01 3.45354349e-01 6.96493219e-01 4.65448716e+00] [-7.52350371e-01 4.47550787e-02 6.57241130e-01 3.28639142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.999072329 meters Centerline goodness : 0.265661 Centerline is valid? [False, False] Translation: X:55.04, Y:4.65, Z:3.29 [[ 1.86299692e-01 -9.39769703e-01 2.86575175e-01 5.50414227e+01] [ 6.32950306e-01 3.37888330e-01 6.96566857e-01 4.65167049e+00] [-7.51442836e-01 5.16176538e-02 6.57776012e-01 3.29220391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.029072329 meters Centerline goodness : 0.253396 Centerline is valid? [False, False] Translation: X:55.04, Y:4.65, Z:3.29 [[ 1.82584876e-01 -9.40161779e-01 2.87677931e-01 5.50413575e+01] [ 6.31969974e-01 3.36369792e-01 6.98190028e-01 4.64769539e+00] [-7.53177745e-01 5.43248742e-02 6.55570052e-01 3.29496977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.059072329 meters Centerline goodness : 0.244326 Centerline is valid? [False, False] Translation: X:55.05, Y:4.64, Z:3.29 [[ 0.17040748 -0.94203451 0.28901949 55.05235436] [ 0.635915 0.3291906 0.69802985 4.64405652] [-0.75271071 0.06484233 0.65515041 3.29142555] [ 0. 0. 0. 1. ]] SLAMing on 212.089072329 meters Centerline goodness : 0.239829 Centerline is valid? [False, False] Translation: X:55.05, Y:4.64, Z:3.29 [[ 0.16725869 -0.94226618 0.29010166 55.05259592] [ 0.63516163 0.32803141 0.69926039 4.64087117] [-0.75405188 0.06730406 0.65335743 3.29343652] [ 0. 0. 0. 1. ]] SLAMing on 212.119072329 meters Centerline goodness : 0.250295 Centerline is valid? [False, False] Translation: X:55.05, Y:4.64, Z:3.29 [[ 0.16358536 -0.94227955 0.29214563 55.05495383] [ 0.63528366 0.32717823 0.6995492 4.63824763] [-0.7547546 0.07115934 0.65213637 3.29318964] [ 0. 0. 0. 1. ]] SLAMing on 212.149072329 meters Centerline goodness : 0.306616 Centerline is valid? [False, False] Translation: X:55.07, Y:4.64, Z:3.29 [[ 0.15493046 -0.94249955 0.29612691 55.06621046] [ 0.63810879 0.32430032 0.69831688 4.6360934 ] [-0.7541974 0.08077063 0.65166125 3.28905315] [ 0. 0. 0. 1. ]] SLAMing on 212.179072329 meters Centerline goodness : 0.206463 Centerline is valid? [False, False] Translation: X:55.07, Y:4.63, Z:3.29 [[ 0.15243811 -0.94264245 0.29696437 55.06729048] [ 0.6379638 0.32334253 0.69889326 4.63427362] [-0.75482767 0.08291455 0.65066148 3.28977126] [ 0. 0. 0. 1. ]] SLAMing on 212.209072329 meters Centerline goodness : 0.191910 Centerline is valid? [False, False] Translation: X:55.08, Y:4.63, Z:3.29 [[ 0.14618604 -0.94310794 0.29862529 55.0768917 ] [ 0.6401288 0.32033219 0.69829966 4.63304811] [-0.75423124 0.08907699 0.65053864 3.28579406] [ 0. 0. 0. 1. ]] SLAMing on 212.239072329 meters Centerline goodness : 0.189149 Centerline is valid? [False, False] Translation: X:55.08, Y:4.63, Z:3.29 [[ 0.14416634 -0.94325445 0.29914396 55.07866811] [ 0.64024896 0.31941274 0.6986106 4.63176471] [-0.75451795 0.09081048 0.64996625 3.28533551] [ 0. 0. 0. 1. ]] SLAMing on 212.269072329 meters Centerline goodness : 0.160890 Centerline is valid? [False, False] Translation: X:55.08, Y:4.63, Z:3.28 [[ 0.14233667 -0.94336064 0.29968481 55.08041845] [ 0.64050171 0.31861569 0.69874287 4.63088492] [-0.7546508 0.0924919 0.6495748 3.28482903] [ 0. 0. 0. 1. ]] SLAMing on 212.299072329 meters Centerline goodness : 0.225118 Centerline is valid? [False, False] Translation: X:55.09, Y:4.63, Z:3.28 [[ 0.13703219 -0.94334813 0.30218618 55.08900018] [ 0.64312196 0.3167517 0.69718183 4.63140748] [-0.75340316 0.09880621 0.65009308 3.27996126] [ 0. 0. 0. 1. ]] SLAMing on 212.329072329 meters Centerline goodness : 0.211466 Centerline is valid? [False, False] Translation: X:54.97, Y:4.59, Z:3.37 [[ 0.18235127 -0.9329599 0.31037692 54.96542163] [ 0.61897638 0.35419365 0.70101006 4.59049389] [-0.76394781 0.06428591 0.6420678 3.36813508] [ 0. 0. 0. 1. ]] SLAMing on 212.359072329 meters Centerline goodness : 0.213735 Centerline is valid? [False, False] Translation: X:54.97, Y:4.59, Z:3.37 [[ 0.18138428 -0.93307702 0.31059139 54.96699911] [ 0.61940941 0.35370742 0.70087306 4.59032968] [-0.76382703 0.06525588 0.64211365 3.36710542] [ 0. 0. 0. 1. ]] SLAMing on 212.38907232900002 meters Centerline goodness : 0.140733 Centerline is valid? [False, False] Translation: X:54.97, Y:4.59, Z:3.36 [[ 0.17898869 -0.93341845 0.31095506 54.97436234] [ 0.62103167 0.35232593 0.70013292 4.59046643] [-0.76307452 0.06779707 0.64274477 3.36224669] [ 0. 0. 0. 1. ]] SLAMing on 212.41907232900002 meters Centerline goodness : 0.229894 Centerline is valid? [False, False] Translation: X:54.98, Y:4.59, Z:3.36 [[ 0.17878671 -0.9334812 0.31088288 54.97540192] [ 0.62126308 0.35212358 0.70002941 4.59067477] [-0.76293348 0.0679841 0.64289242 3.36159722] [ 0. 0. 0. 1. ]] SLAMing on 212.449072329 meters Centerline goodness : 0.218518 Centerline is valid? [False, False] Translation: X:54.98, Y:4.59, Z:3.36 [[ 0.17858852 -0.9334986 0.31094454 54.97601843] [ 0.62150883 0.35202262 0.69986202 4.59107888] [-0.76277973 0.06826745 0.64304482 3.36121201] [ 0. 0. 0. 1. ]] SLAMing on 212.479072329 meters Centerline goodness : 0.219654 Centerline is valid? [False, False] Translation: X:54.98, Y:4.59, Z:3.36 [[ 0.17669026 -0.93339082 0.31234937 54.98259535] [ 0.62404919 0.35164034 0.69779057 4.59328287] [-0.76114595 0.07162857 0.64461321 3.35590026] [ 0. 0. 0. 1. ]] SLAMing on 212.509072329 meters Centerline goodness : 0.222187 Centerline is valid? [False, False] Translation: X:54.98, Y:4.59, Z:3.36 [[ 0.17704617 -0.9333162 0.31237082 54.98214331] [ 0.62419517 0.35186803 0.69754518 4.59427935] [-0.76094352 0.07148266 0.64486835 3.35599701] [ 0. 0. 0. 1. ]] SLAMing on 212.539072329 meters Centerline goodness : 0.317725 Centerline is valid? [False, False] Translation: X:54.98, Y:4.60, Z:3.36 [[ 0.17821558 -0.93348067 0.31121222 54.97997519] [ 0.62369031 0.35178953 0.6980362 4.59519291] [-0.7610845 0.06969912 0.64489722 3.35739129] [ 0. 0. 0. 1. ]] SLAMing on 212.569072329 meters Centerline goodness : 0.230713 Centerline is valid? [False, False] Translation: X:54.98, Y:4.60, Z:3.35 [[ 0.17843401 -0.93365442 0.31056517 54.98439966] [ 0.62537623 0.35128998 0.69677825 4.59770658] [-0.75964852 0.06989114 0.64656736 3.35244889] [ 0. 0. 0. 1. ]] SLAMing on 212.599072329 meters Centerline goodness : 0.230713 Centerline is valid? [False, False] Translation: X:54.97, Y:4.59, Z:3.36 [[ 0.18373386 -0.93237521 0.3113171 54.96712616] [ 0.61892161 0.35577786 0.70025578 4.58773008] [-0.76366086 0.06402019 0.64243561 3.3641152 ] [ 0. 0. 0. 1. ]] SLAMing on 212.629072329 meters Centerline goodness : 0.334514 Centerline is valid? [False, False] Translation: X:54.96, Y:4.59, Z:3.37 [[ 0.18575048 -0.93221128 0.31061052 54.96136307] [ 0.61658531 0.35671098 0.70184032 4.58502452] [-0.76506164 0.06115071 0.64104701 3.36694209] [ 0. 0. 0. 1. ]] SLAMing on 212.659072329 meters Centerline goodness : 0.205942 Centerline is valid? [False, False] Translation: X:54.95, Y:4.58, Z:3.37 [[ 0.18814302 -0.93183673 0.31029424 54.954179 ] [ 0.61371036 0.35820394 0.70359756 4.58123209] [-0.76678667 0.05805383 0.63927143 3.37070859] [ 0. 0. 0. 1. ]] SLAMing on 212.689072329 meters Centerline goodness : 0.225847 Centerline is valid? [False, False] Translation: X:54.95, Y:4.58, Z:3.37 [[ 0.19035668 -0.93133789 0.31044172 54.95278804] [ 0.61373643 0.35970779 0.70280716 4.58165774] [-0.76621924 0.05674536 0.64006878 3.36799563] [ 0. 0. 0. 1. ]] SLAMing on 212.719072329 meters Centerline goodness : 0.241625 Centerline is valid? [False, False] Translation: X:54.94, Y:4.58, Z:3.38 [[ 1.94019068e-01 -9.30149942e-01 3.11733359e-01 5.49398674e+01] [ 6.08892844e-01 3.63334741e-01 7.05150601e-01 4.57526287e+00] [-7.69159350e-01 5.29995496e-02 6.36855511e-01 3.37506367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.749072329 meters Centerline goodness : 0.236290 Centerline is valid? [False, False] Translation: X:54.93, Y:4.57, Z:3.38 [[ 1.99376219e-01 -9.28654203e-01 3.12810637e-01 5.49256684e+01] [ 6.03432770e-01 3.67866498e-01 7.07490729e-01 4.56844672e+00] [-7.72086792e-01 4.77033626e-02 6.33724210e-01 3.38351886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.779072329 meters Centerline goodness : 0.214829 Centerline is valid? [False, False] Translation: X:54.91, Y:4.56, Z:3.39 [[ 2.04735441e-01 -9.27033788e-01 3.14152439e-01 5.49108661e+01] [ 5.97621189e-01 3.72573965e-01 7.09956023e-01 4.56145127e+00] [-7.75198242e-01 4.23909945e-02 6.30294129e-01 3.39188587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.809072329 meters Centerline goodness : 0.236549 Centerline is valid? [False, False] Translation: X:54.90, Y:4.56, Z:3.39 [[ 2.13315036e-01 -9.24116272e-01 3.17026516e-01 5.49026201e+01] [ 5.91924501e-01 3.80404263e-01 7.10575810e-01 4.55985832e+00] [-7.77252907e-01 3.60792582e-02 6.28153012e-01 3.39377675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.839072329 meters Centerline goodness : 0.240484 Centerline is valid? [False, False] Translation: X:54.89, Y:4.55, Z:3.41 [[ 2.23026913e-01 -9.21029348e-01 3.19317924e-01 5.48855712e+01] [ 5.85715581e-01 3.88458136e-01 7.11363153e-01 4.55295163e+00] [-7.79227986e-01 2.83763552e-02 6.26097858e-01 3.40505392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.869072329 meters Centerline goodness : 0.236128 Centerline is valid? [False, False] Translation: X:54.87, Y:4.55, Z:3.42 [[ 2.34058425e-01 -9.17420492e-01 3.21801640e-01 5.48673867e+01] [ 5.79398032e-01 3.97421297e-01 7.11585718e-01 4.54613156e+00] [-7.80714144e-01 1.98986046e-02 6.24571430e-01 3.41790334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.899072329 meters Centerline goodness : 0.223624 Centerline is valid? [False, False] Translation: X:54.86, Y:4.54, Z:3.42 [[ 2.46271934e-01 -9.12697586e-01 3.26087798e-01 5.48592461e+01] [ 5.71969036e-01 4.08478566e-01 7.11334438e-01 4.54306890e+00] [-7.82433101e-01 1.13304156e-02 6.22631564e-01 3.42053880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.929072329 meters Centerline goodness : 0.226387 Centerline is valid? [False, False] Translation: X:54.84, Y:4.54, Z:3.43 [[ 2.58212917e-01 -9.08545205e-01 3.28438274e-01 5.48394874e+01] [ 5.64972625e-01 4.17782533e-01 7.11522092e-01 4.53655726e+00] [-7.83665759e-01 1.83443861e-03 6.21180016e-01 3.43453584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.959072329 meters Centerline goodness : 0.239417 Centerline is valid? [False, False] Translation: X:54.82, Y:4.53, Z:3.45 [[ 2.70670852e-01 -9.03801079e-01 3.31482881e-01 5.48182557e+01] [ 5.56625039e-01 4.27873588e-01 7.12104458e-01 4.52972070e+00] [-7.85433547e-01 -8.23424891e-03 6.18891219e-01 3.44917000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.989072329 meters Centerline goodness : 0.235114 Centerline is valid? [False, False] Translation: X:54.81, Y:4.53, Z:3.45 [[ 2.84843015e-01 -8.98170484e-01 3.34894370e-01 5.48063302e+01] [ 5.47400770e-01 4.39210795e-01 7.12352634e-01 4.52677650e+00] [-7.86903332e-01 -1.95872361e-02 6.16765341e-01 3.45485085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.019072329 meters Centerline goodness : 0.239037 Centerline is valid? [False, False] Translation: X:54.78, Y:4.52, Z:3.47 [[ 2.98232583e-01 -8.92703142e-01 3.37843789e-01 5.47827856e+01] [ 5.38502321e-01 4.49604687e-01 7.12650599e-01 4.52030041e+00] [-7.88081580e-01 -3.06059645e-02 6.14809481e-01 3.47140034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.049072329 meters Centerline goodness : 0.234637 Centerline is valid? [False, False] Translation: X:54.76, Y:4.51, Z:3.49 [[ 3.11003340e-01 -8.87255322e-01 3.40668336e-01 5.47603313e+01] [ 5.29745579e-01 4.59429517e-01 7.12947502e-01 4.51441464e+00] [-7.89079555e-01 -4.12615100e-02 6.12903698e-01 3.48696615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.079072329 meters Centerline goodness : 0.222849 Centerline is valid? [False, False] Translation: X:54.75, Y:4.51, Z:3.49 [[ 3.25456290e-01 -8.80822901e-01 3.43844763e-01 5.47468684e+01] [ 5.19803567e-01 4.70430625e-01 7.13091354e-01 4.51145919e+00] [-7.89862301e-01 -5.33483322e-02 6.10959492e-01 3.49340675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.109072329 meters Centerline goodness : 0.226659 Centerline is valid? [False, False] Translation: X:54.72, Y:4.51, Z:3.51 [[ 0.33885238 -0.87481876 0.34622422 54.72275906] [ 0.51095946 0.48010962 0.71303239 4.50584018] [-0.78999968 -0.06470618 0.6096832 3.50974215] [ 0. 0. 0. 1. ]] SLAMing on 213.13907232900002 meters Centerline goodness : 0.232268 Centerline is valid? [False, False] Translation: X:54.70, Y:4.50, Z:3.53 [[ 0.35225133 -0.8683633 0.34909051 54.69740873] [ 0.50146448 0.49005487 0.71300743 4.49997226] [-0.79022299 -0.07610133 0.60807583 3.52663291] [ 0. 0. 0. 1. ]] SLAMing on 213.16907232900002 meters Centerline goodness : 0.225199 Centerline is valid? [False, False] Translation: X:54.69, Y:4.50, Z:3.53 [[ 0.36743258 -0.86062112 0.35259691 54.68503352] [ 0.49150462 0.50153302 0.71196056 4.49840806] [-0.78956729 -0.08829449 0.60727883 3.53250057] [ 0. 0. 0. 1. ]] SLAMing on 213.199072329 meters Centerline goodness : 0.233781 Centerline is valid? [False, False] Translation: X:54.66, Y:4.49, Z:3.55 [[ 0.38020185 -0.85395179 0.35526454 54.66044168] [ 0.482017 0.51076696 0.71188252 4.49352864] [-0.78937074 -0.0994155 0.60581382 3.54816471] [ 0. 0. 0. 1. ]] SLAMing on 213.229072329 meters Centerline goodness : 0.226971 Centerline is valid? [False, False] Translation: X:54.64, Y:4.49, Z:3.56 [[ 0.39233011 -0.84806228 0.35618458 54.6392144 ] [ 0.47431186 0.51830162 0.71161204 4.48992341] [-0.78810237 -0.11024426 0.60559133 3.56160499] [ 0. 0. 0. 1. ]] SLAMing on 213.259072329 meters Centerline goodness : 0.231144 Centerline is valid? [False, False] Translation: X:54.63, Y:4.49, Z:3.57 [[ 0.40685342 -0.84021358 0.3584849 54.62599762] [ 0.46385656 0.52809557 0.71130315 4.48923359] [-0.78696085 -0.12311055 0.60459607 3.5662229 ] [ 0. 0. 0. 1. ]] SLAMing on 213.289072329 meters Centerline goodness : 0.243468 Centerline is valid? [False, False] Translation: X:54.60, Y:4.49, Z:3.58 [[ 0.41893156 -0.8339783 0.35913305 54.60419539] [ 0.45618378 0.53528341 0.71089242 4.48638337] [-0.78510681 -0.13398459 0.60469448 3.57953288] [ 0. 0. 0. 1. ]] SLAMing on 213.319072329 meters Centerline goodness : 0.219628 Centerline is valid? [False, False] Translation: X:54.58, Y:4.48, Z:3.59 [[ 0.43063175 -0.82748644 0.36030889 54.58281706] [ 0.44845333 0.54263492 0.71023725 4.4836948 ] [-0.78322788 -0.14426899 0.60476487 3.59183661] [ 0. 0. 0. 1. ]] SLAMing on 213.349072329 meters Centerline goodness : 0.231445 Centerline is valid? [False, False] Translation: X:54.56, Y:4.48, Z:3.60 [[ 0.44267853 -0.82052173 0.36163491 54.55997758] [ 0.44043949 0.55027015 0.70937706 4.48102527] [-0.78105619 -0.1547477 0.60498296 3.60497993] [ 0. 0. 0. 1. ]] SLAMing on 213.379072329 meters Centerline goodness : 0.248812 Centerline is valid? [False, False] Translation: X:54.55, Y:4.48, Z:3.61 [[ 0.45691128 -0.81142121 0.36445534 54.55141348] [ 0.43062837 0.56029003 0.70755515 4.48107634] [-0.77832595 -0.16634512 0.60542383 3.60612648] [ 0. 0. 0. 1. ]] SLAMing on 213.409072329 meters Centerline goodness : 0.235924 Centerline is valid? [False, False] Translation: X:54.53, Y:4.48, Z:3.62 [[ 0.46813693 -0.80559632 0.3631286 54.53313812] [ 0.42459478 0.56546008 0.70708851 4.47948383] [-0.77496263 -0.17683174 0.60676474 3.61750037] [ 0. 0. 0. 1. ]] SLAMing on 213.439072329 meters Centerline goodness : 0.254759 Centerline is valid? [False, False] Translation: X:54.52, Y:4.48, Z:3.62 [[ 0.48230948 -0.79664761 0.36432149 54.52072621] [ 0.41440244 0.57390664 0.7063298 4.48027492] [-0.77178247 -0.18969385 0.60693333 3.62084555] [ 0. 0. 0. 1. ]] SLAMing on 213.469072329 meters Centerline goodness : 0.259391 Centerline is valid? [False, False] Translation: X:54.50, Y:4.48, Z:3.63 [[ 0.49351703 -0.79061889 0.36243994 54.50230827] [ 0.40806821 0.57849654 0.70627338 4.47940346] [-0.76806333 -0.20065772 0.60812433 3.63278288] [ 0. 0. 0. 1. ]] SLAMing on 213.499072329 meters Centerline goodness : 0.259531 Centerline is valid? [False, False] Translation: X:54.48, Y:4.48, Z:3.64 [[ 0.50421116 -0.78461664 0.36076008 54.4843194 ] [ 0.4019953 0.58297666 0.70607223 4.47889762] [-0.76431073 -0.21098563 0.60935554 3.6439278 ] [ 0. 0. 0. 1. ]] SLAMing on 213.529072329 meters Centerline goodness : 0.253644 Centerline is valid? [False, False] Translation: X:54.46, Y:4.48, Z:3.66 [[ 0.51480092 -0.7779632 0.36021281 54.46434155] [ 0.39483991 0.5881037 0.70585798 4.47780109] [-0.76097402 -0.22114994 0.60992724 3.65561762] [ 0. 0. 0. 1. ]] SLAMing on 213.559072329 meters Centerline goodness : 0.256279 Centerline is valid? [False, False] Translation: X:54.46, Y:4.48, Z:3.66 [[ 0.52691978 -0.76849948 0.36299325 54.45506633] [ 0.38437808 0.59639439 0.70467526 4.47887091] [-0.75802971 -0.23178068 0.60964635 3.65754538] [ 0. 0. 0. 1. ]] SLAMing on 213.589072329 meters Centerline goodness : 0.295132 Centerline is valid? [False, False] Translation: X:54.44, Y:4.48, Z:3.67 [[ 0.53672825 -0.76234815 0.36159105 54.43748251] [ 0.37860882 0.6005867 0.70423787 4.47856284] [-0.75404121 -0.24108279 0.61098358 3.66769928] [ 0. 0. 0. 1. ]] SLAMing on 213.619072329 meters Centerline goodness : 0.301409 Centerline is valid? [False, False] Translation: X:54.42, Y:4.48, Z:3.68 [[ 0.54678804 -0.75589145 0.36007077 54.4187685 ] [ 0.37269749 0.60483364 0.70375624 4.47831984] [-0.74974624 -0.25060802 0.61243464 3.67843659] [ 0. 0. 0. 1. ]] SLAMing on 213.649072329 meters Centerline goodness : 0.306311 Centerline is valid? [False, False] Translation: X:54.41, Y:4.48, Z:3.68 [[ 0.55669191 -0.74952463 0.3581996 54.40931295] [ 0.36747911 0.60889915 0.70299426 4.4814654 ] [-0.74501894 -0.25972035 0.61440387 3.67945339] [ 0. 0. 0. 1. ]] SLAMing on 213.679072329 meters Centerline goodness : 0.306597 Centerline is valid? [False, False] Translation: X:54.39, Y:4.48, Z:3.69 [[ 0.56608836 -0.74343244 0.35616314 54.39293446] [ 0.36211056 0.61239839 0.70274046 4.48171698] [-0.74055379 -0.26884276 0.61587633 3.68915465] [ 0. 0. 0. 1. ]] SLAMing on 213.709072329 meters Centerline goodness : 0.317187 Centerline is valid? [False, False] Translation: X:54.38, Y:4.48, Z:3.69 [[ 0.57552362 -0.73637048 0.35571208 54.38125345] [ 0.35561914 0.61704495 0.70199042 4.48498991] [-0.73641536 -0.27751405 0.61699138 3.6901628 ] [ 0. 0. 0. 1. ]] SLAMing on 213.739072329 meters Centerline goodness : 0.236081 Centerline is valid? [False, False] Translation: X:54.37, Y:4.49, Z:3.70 [[ 0.58471288 -0.73024042 0.35335502 54.36565265] [ 0.35066199 0.62028826 0.70162572 4.4860081 ] [-0.73153743 -0.28634142 0.61875809 3.6999374 ] [ 0. 0. 0. 1. ]] SLAMing on 213.769072329 meters Centerline goodness : 0.237841 Centerline is valid? [False, False] Translation: X:54.35, Y:4.49, Z:3.71 [[ 0.59382261 -0.72398151 0.35103488 54.3498121 ] [ 0.34557287 0.62348904 0.70131363 4.48674205] [-0.7266045 -0.29514775 0.62043026 3.70956888] [ 0. 0. 0. 1. ]] SLAMing on 213.799072329 meters Centerline goodness : 0.235160 Centerline is valid? [False, False] Translation: X:54.34, Y:4.49, Z:3.72 [[ 0.60248134 -0.71805325 0.34844766 54.33608263] [ 0.34108597 0.62634362 0.7009665 4.48809392] [-0.72157924 -0.30346862 0.62227823 3.71812566] [ 0. 0. 0. 1. ]] SLAMing on 213.829072329 meters Centerline goodness : 0.314062 Centerline is valid? [False, False] Translation: X:54.33, Y:4.49, Z:3.72 [[ 0.61009315 -0.71290015 0.34577409 54.32925325] [ 0.33732889 0.62857978 0.70078291 4.49126437] [-0.71693484 -0.31090326 0.62397403 3.71772205] [ 0. 0. 0. 1. ]] SLAMing on 213.859072329 meters Centerline goodness : 0.237515 Centerline is valid? [False, False] Translation: X:54.31, Y:4.49, Z:3.73 [[ 0.61863812 -0.70679465 0.34311544 54.31491857] [ 0.33206587 0.63100667 0.70111543 4.49215683] [-0.71205276 -0.3197998 0.62506716 3.72670154] [ 0. 0. 0. 1. ]] SLAMing on 213.88907232900002 meters Centerline goodness : 0.231728 Centerline is valid? [False, False] Translation: X:54.30, Y:4.49, Z:3.73 [[ 0.626002 -0.70155676 0.34049907 54.30435325] [ 0.32753291 0.63279594 0.70163487 4.49327154] [-0.70770311 -0.32770018 0.62591445 3.73339899] [ 0. 0. 0. 1. ]] SLAMing on 213.91907232900002 meters Centerline goodness : 0.233723 Centerline is valid? [False, False] Translation: X:54.30, Y:4.50, Z:3.73 [[ 0.63126225 -0.69850352 0.3370472 54.30063059] [ 0.32481882 0.63274066 0.70294522 4.49872929] [-0.70427318 -0.33426351 0.62631238 3.73016708] [ 0. 0. 0. 1. ]] SLAMing on 213.949072329 meters Centerline goodness : 0.230861 Centerline is valid? [False, False] Translation: X:54.29, Y:4.50, Z:3.74 [[ 0.63858978 -0.69294497 0.33470936 54.28915464] [ 0.32066852 0.63499379 0.70281903 4.50004392] [-0.69955328 -0.3414823 0.62770618 3.73719717] [ 0. 0. 0. 1. ]] SLAMing on 213.979072329 meters Centerline goodness : 0.232949 Centerline is valid? [False, False] Translation: X:54.28, Y:4.50, Z:3.74 [[ 0.64598102 -0.68723173 0.33229668 54.27733396] [ 0.31650516 0.637261 0.70265418 4.50145442] [-0.69464596 -0.34872765 0.62917089 3.74437101] [ 0. 0. 0. 1. ]] SLAMing on 214.009072329 meters Centerline goodness : 0.233068 Centerline is valid? [False, False] Translation: X:54.28, Y:4.51, Z:3.74 [[ 0.64977009 -0.68503923 0.32942388 54.27742477] [ 0.31612467 0.63765439 0.70246856 4.50792137] [-0.6912771 -0.35230404 0.63088654 3.73921384] [ 0. 0. 0. 1. ]] SLAMing on 214.039072329 meters Centerline goodness : 0.234036 Centerline is valid? [False, False] Translation: X:54.27, Y:4.51, Z:3.75 [[ 0.6568169 -0.67950048 0.32691078 54.26638907] [ 0.31231906 0.63975424 0.70226158 4.50941849] [-0.68632964 -0.3591568 0.63242234 3.74621554] [ 0. 0. 0. 1. ]] SLAMing on 214.069072329 meters Centerline goodness : 0.234665 Centerline is valid? [False, False] Translation: X:54.27, Y:4.52, Z:3.74 [[ 0.6600163 -0.67793262 0.32370641 54.26801337] [ 0.31214962 0.63940933 0.70265092 4.51514699] [-0.68333088 -0.36271623 0.63363699 3.74051758] [ 0. 0. 0. 1. ]] SLAMing on 214.099072329 meters Centerline goodness : 0.238102 Centerline is valid? [False, False] Translation: X:54.26, Y:4.52, Z:3.75 [[ 0.665879 -0.6729034 0.32218967 54.25751543] [ 0.30786631 0.64120624 0.70290319 4.51505587] [-0.67957597 -0.36885713 0.63413005 3.74613815] [ 0. 0. 0. 1. ]] SLAMing on 214.129072329 meters Centerline goodness : 0.239628 Centerline is valid? [False, False] Translation: X:54.25, Y:4.51, Z:3.75 [[ 0.66995278 -0.66902362 0.32182397 54.24792777] [ 0.30368616 0.64252464 0.70351745 4.51448845] [-0.67744962 -0.37358999 0.63363438 3.74904576] [ 0. 0. 0. 1. ]] SLAMing on 214.159072329 meters Centerline goodness : 0.238834 Centerline is valid? [False, False] Translation: X:54.24, Y:4.51, Z:3.75 [[ 0.67286165 -0.66616881 0.32167735 54.23948783] [ 0.29976128 0.64306083 0.70470983 4.51406302] [-0.67631381 -0.3777458 0.63238259 3.75044277] [ 0. 0. 0. 1. ]] SLAMing on 214.189072329 meters Centerline goodness : 0.240375 Centerline is valid? [False, False] Translation: X:54.24, Y:4.52, Z:3.74 [[ 0.67554707 -0.66497794 0.31849723 54.24248689] [ 0.30000072 0.6424946 0.70512429 4.51910223] [-0.67352485 -0.38079525 0.63352921 3.74488596] [ 0. 0. 0. 1. ]] SLAMing on 214.219072329 meters Centerline goodness : 0.243328 Centerline is valid? [False, False] Translation: X:54.23, Y:4.52, Z:3.75 [[ 0.6780829 -0.66248479 0.31830408 54.23490193] [ 0.29612527 0.64261999 0.70664657 4.51832306] [-0.67269117 -0.38490708 0.63192811 3.74579433] [ 0. 0. 0. 1. ]] SLAMing on 214.249072329 meters Centerline goodness : 0.245151 Centerline is valid? [False, False] Translation: X:54.23, Y:4.52, Z:3.75 [[ 0.68011602 -0.66074665 0.31757842 54.22971774] [ 0.2932661 0.64224063 0.70818216 4.51902221] [-0.67189076 -0.38851105 0.63057273 3.74563589] [ 0. 0. 0. 1. ]] SLAMing on 214.279072329 meters Centerline goodness : 0.244644 Centerline is valid? [False, False] Translation: X:54.23, Y:4.52, Z:3.75 [[ 0.68207765 -0.65914125 0.31670632 54.22533292] [ 0.29060066 0.64173139 0.70974085 4.51962633] [-0.67105986 -0.3920633 0.62925752 3.74559397] [ 0. 0. 0. 1. ]] SLAMing on 214.309072329 meters Centerline goodness : 0.241153 Centerline is valid? [False, False] Translation: X:54.23, Y:4.52, Z:3.74 [[ 0.68351085 -0.65848824 0.31497008 54.22808397] [ 0.29122332 0.64167675 0.709535 4.52244185] [-0.66932944 -0.39324824 0.63036016 3.74035672] [ 0. 0. 0. 1. ]] SLAMing on 214.339072329 meters Centerline goodness : 0.241715 Centerline is valid? [False, False] Translation: X:54.23, Y:4.52, Z:3.74 [[ 0.68510345 -0.6574453 0.31368606 54.2254641 ] [ 0.28927945 0.64076179 0.71115521 4.52378993] [-0.66854369 -0.39647195 0.62917352 3.74004203] [ 0. 0. 0. 1. ]] SLAMing on 214.369072329 meters Centerline goodness : 0.242574 Centerline is valid? [False, False] Translation: X:54.22, Y:4.53, Z:3.74 [[ 0.68672375 -0.65655121 0.31201122 54.22400976] [ 0.28776805 0.63969871 0.71272373 4.52573185] [-0.6675328 -0.39965745 0.62823076 3.73965327] [ 0. 0. 0. 1. ]] SLAMing on 214.399072329 meters Centerline goodness : 0.245451 Centerline is valid? [False, False] Translation: X:54.23, Y:4.53, Z:3.73 [[ 0.68707012 -0.65652383 0.3113055 54.2267303 ] [ 0.28935643 0.64023826 0.71159527 4.52846397] [-0.66648894 -0.3988376 0.62985797 3.73488599] [ 0. 0. 0. 1. ]] SLAMing on 214.429072329 meters Centerline goodness : 0.246674 Centerline is valid? [False, False] Translation: X:54.22, Y:4.53, Z:3.74 [[ 0.68818154 -0.65562308 0.31074836 54.22317655] [ 0.28786871 0.63988038 0.71251997 4.53021938] [-0.66598631 -0.40088836 0.62908724 3.73573085] [ 0. 0. 0. 1. ]] SLAMing on 214.459072329 meters Centerline goodness : 0.247837 Centerline is valid? [False, False] Translation: X:54.22, Y:4.53, Z:3.74 [[ 0.68868205 -0.65511415 0.31071286 54.22167386] [ 0.28743416 0.64009413 0.71250341 4.53164218] [-0.66565654 -0.40137882 0.62912352 3.73633757] [ 0. 0. 0. 1. ]] SLAMing on 214.489072329 meters Centerline goodness : 0.251722 Centerline is valid? [False, False] Translation: X:54.22, Y:4.53, Z:3.73 [[ 0.6880157 -0.65574986 0.31084807 54.22384418] [ 0.28935278 0.64071023 0.71117183 4.53343047] [-0.66551437 -0.39935264 0.63056174 3.73158438] [ 0. 0. 0. 1. ]] SLAMing on 214.519072329 meters Centerline goodness : 0.253869 Centerline is valid? [False, False] Translation: X:54.22, Y:4.53, Z:3.73 [[ 0.68906171 -0.65402852 0.31215484 54.21594103] [ 0.28613202 0.64126853 0.71197131 4.53103043] [-0.66582462 -0.40127467 0.62901209 3.73351963] [ 0. 0. 0. 1. ]] SLAMing on 214.549072329 meters Centerline goodness : 0.253869 Centerline is valid? [False, False] Translation: X:54.20, Y:4.53, Z:3.74 [[ 0.69449345 -0.64865302 0.31133279 54.20266563] [ 0.28142083 0.64312847 0.71217139 4.5286297 ] [-0.66217911 -0.40698283 0.62919298 3.74411643] [ 0. 0. 0. 1. ]] SLAMing on 214.579072329 meters Centerline goodness : 0.260149 Centerline is valid? [False, False] Translation: X:54.20, Y:4.53, Z:3.74 [[ 0.69352033 -0.64949887 0.3117383 54.20432464] [ 0.28278723 0.64339667 0.71138746 4.52854545] [-0.66261673 -0.40520605 0.62987865 3.73996332] [ 0. 0. 0. 1. ]] SLAMing on 214.609072329 meters Centerline goodness : 0.262325 Centerline is valid? [False, False] Translation: X:54.20, Y:4.53, Z:3.74 [[ 0.69348646 -0.64915361 0.31253179 54.20141047] [ 0.28169907 0.6435655 0.71166641 4.52766886] [-0.6631155 -0.4054911 0.62916993 3.74129848] [ 0. 0. 0. 1. ]] SLAMing on 214.63907232900002 meters Centerline goodness : 0.263977 Centerline is valid? [False, False] Translation: X:54.20, Y:4.53, Z:3.74 [[ 0.69311382 -0.64926295 0.31313074 54.19997894] [ 0.28134894 0.64362084 0.71175486 4.52716678] [-0.66365353 -0.40522812 0.62877194 3.74191664] [ 0. 0. 0. 1. ]] SLAMing on 214.66907232900002 meters Centerline goodness : 0.268724 Centerline is valid? [False, False] Translation: X:54.20, Y:4.53, Z:3.74 [[ 0.69171096 -0.65036421 0.3139464 54.20037278] [ 0.28238164 0.64368822 0.71128481 4.52688658] [-0.66467779 -0.4033508 0.62889711 3.74129433] [ 0. 0. 0. 1. ]] SLAMing on 214.699072329 meters Centerline goodness : 0.273233 Centerline is valid? [False, False] Translation: X:54.19, Y:4.52, Z:3.74 [[ 0.69205022 -0.64887399 0.31627367 54.19199447] [ 0.27931735 0.64472786 0.7115531 4.5228679 ] [-0.66561874 -0.40408975 0.62742582 3.74468578] [ 0. 0. 0. 1. ]] SLAMing on 214.729072329 meters Centerline goodness : 0.275790 Centerline is valid? [False, False] Translation: X:54.18, Y:4.52, Z:3.75 [[ 0.69229633 -0.64747975 0.318584 54.18374966] [ 0.27622625 0.64564206 0.71193075 4.518721 ] [-0.66665197 -0.40486578 0.62582653 3.74810134] [ 0. 0. 0. 1. ]] SLAMing on 214.759072329 meters Centerline goodness : 0.275756 Centerline is valid? [False, False] Translation: X:54.18, Y:4.52, Z:3.75 [[ 0.69181183 -0.64705628 0.32049113 54.17847586] [ 0.27430873 0.64607749 0.71227705 4.51539031] [-0.66794545 -0.40484818 0.62445723 3.75030024] [ 0. 0. 0. 1. ]] SLAMing on 214.789072329 meters Centerline goodness : 0.281567 Centerline is valid? [False, False] Translation: X:54.18, Y:4.51, Z:3.75 [[ 0.689747 -0.64857106 0.32187678 54.17789019] [ 0.27489671 0.64583772 0.71226782 4.51301832] [-0.66983646 -0.40280172 0.62375468 3.74957261] [ 0. 0. 0. 1. ]] SLAMing on 214.819072329 meters Centerline goodness : 0.287107 Centerline is valid? [False, False] Translation: X:54.17, Y:4.51, Z:3.75 [[ 0.69060874 -0.64646893 0.32424911 54.1679479 ] [ 0.27108286 0.64703285 0.71264478 4.50804557] [-0.67050253 -0.40426034 0.62209319 3.75414292] [ 0. 0. 0. 1. ]] SLAMing on 214.849072329 meters Centerline goodness : 0.292980 Centerline is valid? [False, False] Translation: X:54.16, Y:4.50, Z:3.76 [[ 0.69093752 -0.64474768 0.32696449 54.15817292] [ 0.26773431 0.64834739 0.71271593 4.50320736] [-0.67150852 -0.40490257 0.62058861 3.75817151] [ 0. 0. 0. 1. ]] SLAMing on 214.879072329 meters Centerline goodness : 0.298763 Centerline is valid? [False, False] Translation: X:54.15, Y:4.50, Z:3.76 [[ 0.69228413 -0.64208191 0.32935315 54.14700724] [ 0.26375938 0.64996902 0.71272103 4.4983356 ] [-0.67169463 -0.40653547 0.61931836 3.76345807] [ 0. 0. 0. 1. ]] SLAMing on 214.909072329 meters Centerline goodness : 0.316028 Centerline is valid? [False, False] Translation: X:54.14, Y:4.50, Z:3.76 [[ 0.68999112 -0.64355299 0.33128809 54.14453129] [ 0.2639866 0.649913 0.71268798 4.49603128] [-0.67396092 -0.40429276 0.61832357 3.76476171] [ 0. 0. 0. 1. ]] SLAMing on 214.939072329 meters Centerline goodness : 0.318290 Centerline is valid? [False, False] Translation: X:54.13, Y:4.49, Z:3.77 [[ 0.69296091 -0.63972231 0.33250644 54.13235285] [ 0.25966049 0.65168595 0.7126583 4.49213314] [-0.67259319 -0.40750556 0.6177035 3.77202764] [ 0. 0. 0. 1. ]] SLAMing on 214.969072329 meters Centerline goodness : 0.318362 Centerline is valid? [False, False] Translation: X:54.12, Y:4.49, Z:3.78 [[ 0.69471786 -0.6367811 0.33448007 54.12072648] [ 0.25530042 0.65304055 0.7129935 4.4877562 ] [-0.67244984 -0.40993642 0.61624942 3.77785423] [ 0. 0. 0. 1. ]] SLAMing on 214.999072329 meters Centerline goodness : 0.318760 Centerline is valid? [False, False] Translation: X:54.12, Y:4.48, Z:3.78 [[ 0.69244213 -0.63812829 0.33662468 54.11707814] [ 0.25500486 0.65293411 0.71319673 4.48494906] [-0.67490475 -0.40800653 0.6148449 3.78025747] [ 0. 0. 0. 1. ]] SLAMing on 215.029072329 meters Centerline goodness : 0.284785 Centerline is valid? [False, False] Translation: X:54.10, Y:4.48, Z:3.79 [[ 0.69673832 -0.63318215 0.3370995 54.10319022] [ 0.25096519 0.65540867 0.71235943 4.48237152] [-0.67199121 -0.41172787 0.61555501 3.7897589 ] [ 0. 0. 0. 1. ]] SLAMing on 215.059072329 meters Centerline goodness : 0.309915 Centerline is valid? [False, False] Translation: X:54.09, Y:4.48, Z:3.80 [[ 0.70121457 -0.62793359 0.33763522 54.0882878 ] [ 0.24676565 0.6580655 0.71137649 4.47959114] [-0.66888328 -0.41551078 0.61639755 3.79898232] [ 0. 0. 0. 1. ]] SLAMing on 215.089072329 meters Centerline goodness : 0.326153 Centerline is valid? [False, False] Translation: X:54.07, Y:4.48, Z:3.81 [[ 0.70585851 -0.62257366 0.33788431 54.07336288] [ 0.24244518 0.66052618 0.7105811 4.47686038] [-0.66557051 -0.41965129 0.61717801 3.80840883] [ 0. 0. 0. 1. ]] SLAMing on 215.119072329 meters Centerline goodness : 0.321307 Centerline is valid? [False, False] Translation: X:54.06, Y:4.48, Z:3.82 [[ 0.70723266 -0.62220882 0.33567566 54.05816833] [ 0.24656795 0.66206944 0.70772049 4.47946138] [-0.66259053 -0.41775619 0.62165389 3.81932135] [ 0. 0. 0. 1. ]] SLAMing on 215.149072329 meters Centerline goodness : 0.323349 Centerline is valid? [False, False] Translation: X:54.04, Y:4.48, Z:3.83 [[ 0.71231386 -0.61626384 0.33589858 54.0401968 ] [ 0.24093421 0.66420198 0.70766266 4.47597104] [-0.65921141 -0.42314845 0.62159932 3.82957315] [ 0. 0. 0. 1. ]] SLAMing on 215.179072329 meters Centerline goodness : 0.321780 Centerline is valid? [False, False] Translation: X:54.02, Y:4.47, Z:3.84 [[ 0.71734862 -0.61035816 0.33596709 54.02270885] [ 0.23529053 0.666117 0.70776162 4.47275956] [-0.65578147 -0.42866195 0.6214496 3.83975946] [ 0. 0. 0. 1. ]] SLAMing on 215.209072329 meters Centerline goodness : 0.324807 Centerline is valid? [False, False] Translation: X:54.01, Y:4.47, Z:3.85 [[ 0.72013656 -0.60729587 0.33555189 54.00721673] [ 0.23425541 0.66803484 0.70629587 4.47188443] [-0.65309092 -0.43002463 0.62333865 3.85178981] [ 0. 0. 0. 1. ]] SLAMing on 215.239072329 meters Centerline goodness : 0.326166 Centerline is valid? [False, False] Translation: X:53.99, Y:4.47, Z:3.86 [[ 0.72525101 -0.60089009 0.33606856 53.98769143] [ 0.22887435 0.67078922 0.70544904 4.46922642] [-0.64932851 -0.43471016 0.62401888 3.8627419 ] [ 0. 0. 0. 1. ]] SLAMing on 215.269072329 meters Centerline goodness : 0.329561 Centerline is valid? [False, False] Translation: X:53.97, Y:4.47, Z:3.87 [[ 0.73055202 -0.59425102 0.33639186 53.96680176] [ 0.22344924 0.67353997 0.70456678 4.46734229] [-0.64526289 -0.43955617 0.62484092 3.87455287] [ 0. 0. 0. 1. ]] SLAMing on 215.299072329 meters Centerline goodness : 0.263124 Centerline is valid? [False, False] Translation: X:53.95, Y:4.47, Z:3.89 [[ 0.73004898 -0.59564706 0.33501204 53.94630239] [ 0.22817494 0.67454011 0.70209104 4.4695872 ] [-0.64417753 -0.4361195 0.62835905 3.88864459] [ 0. 0. 0. 1. ]] SLAMing on 215.329072329 meters Centerline goodness : 0.086905 Centerline is valid? [False, False] Translation: X:53.92, Y:4.47, Z:3.90 [[ 0.7356226 -0.58877113 0.33497455 53.92206736] [ 0.22226959 0.67692599 0.70168899 4.46796263] [-0.6398872 -0.44172362 0.62882797 3.90104624] [ 0. 0. 0. 1. ]] SLAMing on 215.359072329 meters Centerline goodness : 0.245734 Centerline is valid? [False, False] Translation: X:53.90, Y:4.47, Z:3.91 [[ 0.74078565 -0.58246904 0.33461387 53.8990872 ] [ 0.21697103 0.67890266 0.70143763 4.46690723] [-0.63573595 -0.44701341 0.62930025 3.91353477] [ 0. 0. 0. 1. ]] SLAMing on 215.38907232900002 meters Centerline goodness : 0.081415 Centerline is valid? [False, False] Translation: X:53.87, Y:4.47, Z:3.93 [[ 0.73929301 -0.58493985 0.33360338 53.87468793] [ 0.22106433 0.67878079 0.70027652 4.46700117] [-0.63606321 -0.44396173 0.63112723 3.92911409] [ 0. 0. 0. 1. ]] SLAMing on 215.41907232900002 meters Centerline goodness : 0.361286 Centerline is valid? [False, False] Translation: X:53.85, Y:4.47, Z:3.94 [[ 0.74354303 -0.57954633 0.33357131 53.85181835] [ 0.21685221 0.68086784 0.69956708 4.46641336] [-0.63254951 -0.44782255 0.63193044 3.94132212] [ 0. 0. 0. 1. ]] SLAMing on 215.449072329 meters Centerline goodness : 0.261856 Centerline is valid? [False, False] Translation: X:53.82, Y:4.47, Z:3.96 [[ 0.74112847 -0.58229719 0.33415352 53.82389559] [ 0.2206765 0.68135782 0.69789212 4.46580611] [-0.63405873 -0.44348789 0.63347298 3.95809011] [ 0. 0. 0. 1. ]] SLAMing on 215.479072329 meters Centerline goodness : 0.381563 Centerline is valid? [False, False] Translation: X:53.80, Y:4.47, Z:3.97 [[ 0.74303428 -0.58122751 0.33177499 53.79644418] [ 0.22206816 0.68177414 0.69704358 4.4711548 ] [-0.63133651 -0.44425061 0.63565368 3.97215915] [ 0. 0. 0. 1. ]] SLAMing on 215.509072329 meters Centerline goodness : 0.238970 Centerline is valid? [False, False] Translation: X:53.77, Y:4.48, Z:3.99 [[ 0.74494756 -0.58009615 0.3294565 53.76784541] [ 0.22324393 0.6821422 0.69630752 4.47628888] [-0.6286615 -0.44516343 0.63766311 3.98623272] [ 0. 0. 0. 1. ]] SLAMing on 215.539072329 meters Centerline goodness : 0.246644 Centerline is valid? [False, False] Translation: X:53.74, Y:4.48, Z:4.00 [[ 0.74593711 -0.58030121 0.32684604 53.7424488 ] [ 0.22579889 0.68203092 0.69559233 4.48142528] [-0.62657218 -0.44506666 0.63978354 3.999796 ] [ 0. 0. 0. 1. ]] SLAMing on 215.569072329 meters Centerline goodness : 0.082832 Centerline is valid? [False, False] Translation: X:53.71, Y:4.48, Z:4.02 [[ 0.74193734 -0.58481953 0.32789495 53.71239957] [ 0.23013102 0.68147177 0.69472004 4.47868899] [-0.629737 -0.43997994 0.64019447 4.01647419] [ 0. 0. 0. 1. ]] SLAMing on 215.599072329 meters Centerline goodness : 0.314648 Centerline is valid? [False, False] Translation: X:53.69, Y:4.48, Z:4.03 [[ 0.7422654 -0.58574572 0.32549045 53.68681394] [ 0.23310931 0.68109743 0.6940939 4.48382875] [-0.62825324 -0.43932703 0.64209784 4.02983136] [ 0. 0. 0. 1. ]] SLAMing on 215.629072329 meters Centerline goodness : 0.253441 Centerline is valid? [False, False] Translation: X:53.66, Y:4.49, Z:4.04 [[ 0.74208965 -0.58741363 0.32287487 53.66380092] [ 0.23715919 0.6806216 0.69318811 4.48884507] [-0.62694375 -0.43783498 0.64439278 4.04239738] [ 0. 0. 0. 1. ]] SLAMing on 215.659072329 meters Centerline goodness : 0.433461 Centerline is valid? [False, False] Translation: X:53.64, Y:4.49, Z:4.06 [[ 0.74197967 -0.58892821 0.32035875 53.63957102] [ 0.24072163 0.6800113 0.69255883 4.49384303] [-0.625715 -0.43674729 0.64632232 4.05515843] [ 0. 0. 0. 1. ]] SLAMing on 215.689072329 meters Centerline goodness : 0.167694 Centerline is valid? [False, False] Translation: X:53.62, Y:4.49, Z:4.07 [[ 0.73508547 -0.59790925 0.31961522 53.62047572] [ 0.25033959 0.67748511 0.69162419 4.48808907] [-0.63006305 -0.42839054 0.64768982 4.06829013] [ 0. 0. 0. 1. ]] SLAMing on 215.719072329 meters Centerline goodness : 0.485259 Centerline is valid? [False, False] Translation: X:53.60, Y:4.49, Z:4.08 [[ 0.73383187 -0.60043633 0.31775303 53.59766461] [ 0.25529547 0.67720735 0.69008292 4.49229192] [-0.62953554 -0.42528393 0.65024501 4.07962011] [ 0. 0. 0. 1. ]] SLAMing on 215.749072329 meters Centerline goodness : 0.410417 Centerline is valid? [False, False] Translation: X:53.58, Y:4.49, Z:4.09 [[ 0.72534694 -0.61027805 0.31848473 53.57688891] [ 0.26508884 0.67460618 0.68893716 4.48580072] [-0.635295 -0.41529171 0.65110143 4.09298851] [ 0. 0. 0. 1. ]] SLAMing on 215.779072329 meters Centerline goodness : 0.202871 Centerline is valid? [False, False] Translation: X:53.55, Y:4.49, Z:4.10 [[ 0.72339326 -0.61317505 0.31736187 53.55294363] [ 0.2700824 0.67433592 0.68726018 4.49005891] [-0.6354193 -0.41144552 0.65341785 4.10435115] [ 0. 0. 0. 1. ]] SLAMing on 215.809072329 meters Centerline goodness : 0.207117 Centerline is valid? [False, False] Translation: X:53.53, Y:4.49, Z:4.12 [[ 0.72116048 -0.61626729 0.31645251 53.52897345] [ 0.2751635 0.67402575 0.68554674 4.49421819] [-0.63577717 -0.40731303 0.655655 4.11545068] [ 0. 0. 0. 1. ]] SLAMing on 215.839072329 meters Centerline goodness : 0.236587 Centerline is valid? [False, False] Translation: X:53.52, Y:4.49, Z:4.13 [[ 0.70966467 -0.6289534 0.31748021 53.51552798] [ 0.28840933 0.6704749 0.68358136 4.48616603] [-0.64280333 -0.39354928 0.65720837 4.12659802] [ 0. 0. 0. 1. ]] SLAMing on 215.869072329 meters Centerline goodness : 0.218866 Centerline is valid? [False, False] Translation: X:53.49, Y:4.49, Z:4.14 [[ 0.70691844 -0.6323267 0.31690577 53.49183995] [ 0.29393946 0.67017316 0.68151855 4.48999462] [-0.64332411 -0.38862692 0.65962353 4.13691499] [ 0. 0. 0. 1. ]] SLAMing on 215.899072329 meters Centerline goodness : 0.228673 Centerline is valid? [False, False] Translation: X:53.48, Y:4.48, Z:4.14 [[ 0.70031833 -0.6360294 0.32406918 53.47833998] [ 0.29235958 0.66972692 0.68263586 4.48329473] [-0.65121433 -0.38331768 0.65497133 4.14450521] [ 0. 0. 0. 1. ]] SLAMing on 215.929072329 meters Centerline goodness : 0.098184 Centerline is valid? [False, False] Translation: X:53.47, Y:4.47, Z:4.15 [[ 0.68207346 -0.65133683 0.33246975 53.46931512] [ 0.30213069 0.66501427 0.68298833 4.46830833] [-0.66595258 -0.3653989 0.65037743 4.15497601] [ 0. 0. 0. 1. ]] SLAMing on 215.959072329 meters Centerline goodness : 0.089783 Centerline is valid? [False, False] Translation: X:53.46, Y:4.46, Z:4.16 [[ 0.67457048 -0.65537519 0.33976173 53.45894633] [ 0.30209134 0.66502163 0.68299857 4.46223972] [-0.67356921 -0.3580916 0.64658713 4.16259469] [ 0. 0. 0. 1. ]] SLAMing on 215.989072329 meters Centerline goodness : 0.090503 Centerline is valid? [False, False] Translation: X:53.45, Y:4.46, Z:4.17 [[ 0.66678123 -0.65986984 0.34637349 53.45275624] [ 0.30370349 0.66502253 0.68228236 4.45535884] [-0.68056373 -0.34973823 0.64382931 4.16838679] [ 0. 0. 0. 1. ]] SLAMing on 216.019072329 meters Centerline goodness : 0.087716 Centerline is valid? [False, False] Translation: X:53.45, Y:4.44, Z:4.18 [[ 0.6461479 -0.6774006 0.35159824 53.45448191] [ 0.31936693 0.65839063 0.68156184 4.44172233] [-0.69317938 -0.3281009 0.64175707 4.17799348] [ 0. 0. 0. 1. ]] SLAMing on 216.049072329 meters Centerline goodness : 0.078801 Centerline is valid? [False, False] Translation: X:53.45, Y:4.43, Z:4.18 [[ 0.6378643 -0.68169167 0.35836519 53.44828821] [ 0.32092515 0.658267 0.68094905 4.43497234] [-0.70009727 -0.31934469 0.63865702 4.18449141] [ 0. 0. 0. 1. ]] SLAMing on 216.079072329 meters Centerline goodness : 0.084739 Centerline is valid? [False, False] Translation: X:53.44, Y:4.43, Z:4.19 [[ 0.62936437 -0.6859883 0.36513085 53.44279749] [ 0.32283962 0.65819498 0.68011318 4.42805246] [-0.70687698 -0.3101603 0.63570868 4.19041253] [ 0. 0. 0. 1. ]] SLAMing on 216.109072329 meters Centerline goodness : 0.079126 Centerline is valid? [False, False] Translation: X:53.44, Y:4.42, Z:4.20 [[ 0.62063346 -0.69026994 0.37194289 53.43776044] [ 0.32500841 0.65815468 0.67911851 4.42099888] [-0.71357105 -0.3005991 0.63281635 4.19603991] [ 0. 0. 0. 1. ]] SLAMing on 216.13907232900002 meters Centerline goodness : 0.082157 Centerline is valid? [False, False] Translation: X:53.45, Y:4.40, Z:4.20 [[ 0.59705635 -0.70939925 0.37453495 53.44918179] [ 0.34417831 0.64825945 0.67919142 4.40332834] [-0.7246137 -0.27660874 0.63120725 4.2033021 ] [ 0. 0. 0. 1. ]] SLAMing on 216.16907232900002 meters Centerline goodness : 0.080583 Centerline is valid? [False, False] Translation: X:53.45, Y:4.40, Z:4.21 [[ 0.58789773 -0.71337436 0.3814096 53.44616607] [ 0.34697258 0.64829656 0.67773269 4.39601183] [-0.73074366 -0.26609884 0.62865342 4.20809972] [ 0. 0. 0. 1. ]] SLAMing on 216.199072329 meters Centerline goodness : 0.077425 Centerline is valid? [False, False] Translation: X:53.44, Y:4.39, Z:4.21 [[ 0.57864627 -0.71730063 0.38813439 53.44261302] [ 0.34969665 0.64814463 0.67647675 4.38917542] [-0.73680442 -0.25571145 0.62588409 4.21317966] [ 0. 0. 0. 1. ]] SLAMing on 216.229072329 meters Centerline goodness : 0.075635 Centerline is valid? [False, False] Translation: X:53.44, Y:4.38, Z:4.22 [[ 0.56796062 -0.72154959 0.39596328 53.44152504] [ 0.35429206 0.64856812 0.6736739 4.38125924] [-0.74289829 -0.2423336 0.62400045 4.21701558] [ 0. 0. 0. 1. ]] SLAMing on 216.259072329 meters Centerline goodness : 0.197653 Centerline is valid? [False, False] Translation: X:53.46, Y:4.36, Z:4.22 [[ 0.54071194 -0.74144677 0.39735033 53.46407561] [ 0.37739439 0.63596608 0.67314235 4.36181505] [-0.75180055 -0.21401833 0.6236923 4.22223986] [ 0. 0. 0. 1. ]] SLAMing on 216.289072329 meters Centerline goodness : 0.213809 Centerline is valid? [False, False] Translation: X:53.46, Y:4.35, Z:4.23 [[ 0.53009054 -0.74489086 0.40514397 53.4627541 ] [ 0.38148537 0.63621419 0.67059706 4.35456604] [-0.75727996 -0.20092066 0.62141609 4.22676739] [ 0. 0. 0. 1. ]] SLAMing on 216.319072329 meters Centerline goodness : 0.214011 Centerline is valid? [False, False] Translation: X:53.49, Y:4.34, Z:4.23 [[ 0.50166087 -0.76378102 0.40617106 53.48614664] [ 0.40468196 0.62218569 0.67016227 4.33571309] [-0.76457105 -0.17182409 0.62121461 4.23162437] [ 0. 0. 0. 1. ]] SLAMing on 216.349072329 meters Centerline goodness : 0.400123 Centerline is valid? [False, False] Translation: X:53.49, Y:4.33, Z:4.24 [[ 0.49051319 -0.76709427 0.41347696 53.48694084] [ 0.40920631 0.62166877 0.66789081 4.32767152] [-0.76938092 -0.15841187 0.61883655 4.2354102 ] [ 0. 0. 0. 1. ]] SLAMing on 216.379072329 meters Centerline goodness : 0.378255 Centerline is valid? [False, False] Translation: X:53.49, Y:4.32, Z:4.24 [[ 0.4792904 -0.77096101 0.41940414 53.4895909 ] [ 0.41397334 0.61995839 0.66654157 4.31803595] [-0.77389068 -0.14584484 0.61629741 4.23884551] [ 0. 0. 0. 1. ]] SLAMing on 216.409072329 meters Centerline goodness : 0.378255 Centerline is valid? [False, False] Translation: X:53.49, Y:4.32, Z:4.24 [[ 0.4792904 -0.77096101 0.41940414 53.4895909 ] [ 0.41397334 0.61995839 0.66654157 4.31803595] [-0.77389068 -0.14584484 0.61629741 4.23884551] [ 0. 0. 0. 1. ]] SLAMing on 216.439072329 meters Centerline goodness : 0.218684 Centerline is valid? [False, False] Translation: X:53.51, Y:4.30, Z:4.24 [[ 0.44886376 -0.78837214 0.42070262 53.51360868] [ 0.43621442 0.60420223 0.6668258 4.29851232] [-0.77989635 -0.11579739 0.61510378 4.24273573] [ 0. 0. 0. 1. ]] SLAMing on 216.469072329 meters Centerline goodness : 0.203681 Centerline is valid? [False, False] Translation: X:53.52, Y:4.29, Z:4.25 [[ 0.43616026 -0.7936919 0.42404881 53.52166193] [ 0.44225018 0.59946094 0.6671292 4.28610265] [-0.78369573 -0.10343959 0.61247143 4.24540604] [ 0. 0. 0. 1. ]] SLAMing on 216.499072329 meters Centerline goodness : 0.324736 Centerline is valid? [False, False] Translation: X:53.53, Y:4.28, Z:4.25 [[ 0.423944 -0.79765695 0.42896954 53.52567613] [ 0.44703273 0.59621526 0.66685014 4.27597515] [-0.78767583 -0.09094369 0.60934065 4.24900505] [ 0. 0. 0. 1. ]] SLAMing on 216.529072329 meters Centerline goodness : 0.162472 Centerline is valid? [False, False] Translation: X:53.55, Y:4.26, Z:4.25 [[ 0.39038222 -0.813314 0.43141866 53.55183234] [ 0.46885835 0.57891154 0.66710814 4.25684403] [-0.79232163 -0.05815292 0.60732584 4.25174381] [ 0. 0. 0. 1. ]] SLAMing on 216.559072329 meters Centerline goodness : 0.186810 Centerline is valid? [False, False] Translation: X:53.56, Y:4.24, Z:4.25 [[ 3.76044136e-01 -8.18654052e-01 4.34046486e-01 5.35638788e+01] [ 4.76284920e-01 5.72582925e-01 6.67309125e-01 4.24476533e+00] [-7.94822926e-01 -4.42078876e-02 6.05229030e-01 4.25281370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.589072329 meters Centerline goodness : 0.178949 Centerline is valid? [False, False] Translation: X:53.57, Y:4.23, Z:4.25 [[ 3.61809416e-01 -8.23424337e-01 4.37111323e-01 5.35742547e+01] [ 4.82962715e-01 5.66609084e-01 6.67608539e-01 4.23261665e+00] [-7.97396364e-01 -3.04385842e-02 6.02687756e-01 4.25413487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.619072329 meters Centerline goodness : 0.251311 Centerline is valid? [False, False] Translation: X:53.58, Y:4.22, Z:4.26 [[ 3.47123211e-01 -8.28051206e-01 4.40268867e-01 5.35843449e+01] [ 4.89739304e-01 5.60417631e-01 6.67897817e-01 4.22070557e+00] [-7.99788028e-01 -1.62258663e-02 6.00063189e-01 4.25548137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.649072329 meters Centerline goodness : 0.178873 Centerline is valid? [False, False] Translation: X:53.61, Y:4.20, Z:4.26 [[ 3.09827507e-01 -8.41383914e-01 4.42809243e-01 5.36116291e+01] [ 5.12023598e-01 5.40075750e-01 6.67944623e-01 4.20205089e+00] [-8.01148395e-01 1.97811646e-02 5.98138742e-01 4.25605314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.679072329 meters Centerline goodness : 0.178724 Centerline is valid? [False, False] Translation: X:53.62, Y:4.20, Z:4.26 [[ 2.91593476e-01 -8.47448593e-01 4.43626111e-01 5.36183531e+01] [ 5.25679112e-01 5.29439479e-01 6.65849315e-01 4.19823174e+00] [-7.99146242e-01 3.90476643e-02 5.99867121e-01 4.25538663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.709072329 meters Centerline goodness : 0.174233 Centerline is valid? [False, False] Translation: X:53.62, Y:4.20, Z:4.26 [[ 0.27341744 -0.8531512 0.44427011 53.62388826] [ 0.53872971 0.5184544 0.66405973 4.19509828] [-0.79687715 0.057776 0.60137238 4.25510815] [ 0. 0. 0. 1. ]] SLAMing on 216.739072329 meters Centerline goodness : 0.169221 Centerline is valid? [False, False] Translation: X:53.63, Y:4.19, Z:4.25 [[ 0.25538961 -0.85841819 0.44485319 53.62811287] [ 0.55133545 0.50727306 0.66234679 4.19276751] [-0.79423257 0.07610685 0.60282864 4.25469505] [ 0. 0. 0. 1. ]] SLAMing on 216.769072329 meters Centerline goodness : 0.160731 Centerline is valid? [False, False] Translation: X:53.66, Y:4.18, Z:4.25 [[ 0.2145595 -0.86911069 0.44565775 53.65720472] [ 0.57471299 0.48127407 0.66187631 4.17619698] [-0.7897273 0.11411345 0.60275113 4.2510659 ] [ 0. 0. 0. 1. ]] SLAMing on 216.799072329 meters Centerline goodness : 0.127980 Centerline is valid? [False, False] Translation: X:53.66, Y:4.17, Z:4.25 [[ 0.19522832 -0.87300166 0.44693848 53.66285733] [ 0.58697411 0.46908555 0.65986373 4.17352409] [-0.78571451 0.13351723 0.60400816 4.24944487] [ 0. 0. 0. 1. ]] SLAMing on 216.829072329 meters Centerline goodness : 0.293904 Centerline is valid? [False, False] Translation: X:53.69, Y:4.16, Z:4.24 [[ 0.15288042 -0.88110904 0.44752033 53.69010229] [ 0.60983771 0.44045237 0.65886241 4.15983123] [-0.77764102 0.17218761 0.60467006 4.24451095] [ 0. 0. 0. 1. ]] SLAMing on 216.859072329 meters Centerline goodness : 0.245579 Centerline is valid? [False, False] Translation: X:53.70, Y:4.16, Z:4.24 [[ 0.13270867 -0.88350522 0.44922927 53.69737463] [ 0.62166711 0.4271993 0.65652933 4.15732157] [-0.77195752 0.19214393 0.60593918 4.24170138] [ 0. 0. 0. 1. ]] SLAMing on 216.88907232900002 meters Centerline goodness : 0.235055 Centerline is valid? [False, False] Translation: X:53.70, Y:4.16, Z:4.24 [[ 0.11254576 -0.8855287 0.45074646 53.7035875 ] [ 0.63284819 0.41360569 0.65454831 4.15544098] [-0.76605262 0.21158744 0.60695481 4.23930956] [ 0. 0. 0. 1. ]] SLAMing on 216.91907232900002 meters Centerline goodness : 0.219510 Centerline is valid? [False, False] Translation: X:53.71, Y:4.15, Z:4.24 [[ 0.09175985 -0.88689525 0.45276589 53.71219414] [ 0.64403088 0.39964205 0.65231163 4.1528082 ] [-0.75947637 0.2317392 0.60785902 4.23617296] [ 0. 0. 0. 1. ]] SLAMing on 216.949072329 meters Centerline goodness : 0.087930 Centerline is valid? [False, False] Translation: X:53.74, Y:4.14, Z:4.23 [[ 4.67111294e-02 -8.90277942e-01 4.53015734e-01 5.37407911e+01] [ 6.64071705e-01 3.66459706e-01 6.51702428e-01 4.14078959e+00] [-7.46208310e-01 2.70393174e-01 6.08326138e-01 4.22761451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.979072329 meters Centerline goodness : 0.256826 Centerline is valid? [False, False] Translation: X:53.75, Y:4.14, Z:4.22 [[ 2.52593970e-02 -8.90020021e-01 4.55221182e-01 5.37499256e+01] [ 6.74171719e-01 3.51398643e-01 6.49624113e-01 4.13912861e+00] [-7.38142572e-01 2.90488133e-01 6.08902445e-01 4.22376308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.009072329 meters Centerline goodness : 0.455266 Centerline is valid? [False, False] Translation: X:53.76, Y:4.14, Z:4.22 [[ 3.86969344e-03 -8.89130428e-01 4.57637528e-01 5.37579933e+01] [ 6.83980826e-01 3.36200254e-01 6.47409931e-01 4.13827928e+00] [-7.29489722e-01 3.10510016e-01 6.09449157e-01 4.21994002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.039072329 meters Centerline goodness : 0.410260 Centerline is valid? [False, False] Translation: X:53.79, Y:4.13, Z:4.21 [[-4.25261894e-02 -8.88236577e-01 4.57413715e-01 5.37890229e+01] [ 7.00977259e-01 2.99703275e-01 6.47154410e-01 4.12645994e+00] [-7.11914606e-01 3.48157623e-01 6.09888403e-01 4.20865674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.069072329 meters Centerline goodness : 0.405438 Centerline is valid? [False, False] Translation: X:53.81, Y:4.12, Z:4.20 [[-0.06587555 -0.88569433 0.4595715 53.80727982] [ 0.70948111 0.28228308 0.64571884 4.12157857] [-0.70163877 0.36859438 0.60978784 4.20317697] [ 0. 0. 0. 1. ]] SLAMing on 217.099072329 meters Centerline goodness : 0.406485 Centerline is valid? [False, False] Translation: X:53.86, Y:4.10, Z:4.19 [[-0.09515549 -0.8832542 0.45913772 53.86249369] [ 0.71985409 0.25752087 0.64458754 4.09586457] [-0.6875722 0.39184821 0.61130962 4.18631883] [ 0. 0. 0. 1. ]] SLAMing on 217.129072329 meters Centerline goodness : 0.405581 Centerline is valid? [False, False] Translation: X:55.61, Y:5.08, Z:5.65 [[ 4.74064701e-02 -8.00426630e-01 -5.97553209e-01 5.56076148e+01] [-2.92625619e-01 5.60850578e-01 -7.74478454e-01 5.07847725e+00] [ 9.55051241e-01 2.11574667e-01 -2.07637392e-01 5.64977952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.159072329 meters Centerline goodness : 0.156723 Centerline is valid? [False, False] Translation: X:55.63, Y:5.06, Z:5.64 [[ 2.58298562e-02 -8.02412285e-01 -5.96210821e-01 5.56291539e+01] [-2.75939182e-01 5.67515499e-01 -7.75747205e-01 5.06459910e+00] [ 9.60827969e-01 1.84555365e-01 -2.06758146e-01 5.63946884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.189072329 meters Centerline goodness : 0.152690 Centerline is valid? [False, False] Translation: X:55.65, Y:5.05, Z:5.63 [[ 3.96671057e-03 -8.03969825e-01 -5.94656863e-01 5.56481079e+01] [-2.59253573e-01 5.73502513e-01 -7.77098740e-01 5.05203701e+00] [ 9.65801144e-01 1.57249442e-01 -2.06157131e-01 5.63160040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.219072329 meters Centerline goodness : 0.113130 Centerline is valid? [False, False] Translation: X:55.68, Y:5.03, Z:5.62 [[-4.10033179e-02 -8.01349918e-01 -5.96788938e-01 5.56818576e+01] [-2.27385956e-01 5.89102367e-01 -7.75405718e-01 5.02871615e+00] [ 9.72941085e-01 1.03907216e-01 -2.06370869e-01 5.62245320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.249072329 meters Centerline goodness : 0.087330 Centerline is valid? [False, False] Translation: X:55.70, Y:5.02, Z:5.62 [[-0.06324249 -0.80068186 -0.59574235 55.70148632] [-0.20918318 0.59431228 -0.77655348 5.01654978] [ 0.97582928 0.07550811 -0.20507497 5.61527951] [ 0. 0. 0. 1. ]] SLAMing on 217.279072329 meters Centerline goodness : 0.066455 Centerline is valid? [False, False] Translation: X:55.72, Y:5.00, Z:5.61 [[-8.51945943e-02 -7.99433343e-01 -5.94683287e-01 5.57205563e+01] [-1.90649310e-01 5.98904661e-01 -7.77795634e-01 5.00450392e+00] [ 9.77954356e-01 4.71119747e-02 -2.03434854e-01 5.60836281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.309072329 meters Centerline goodness : 0.057686 Centerline is valid? [False, False] Translation: X:55.76, Y:4.98, Z:5.60 [[-1.29608812e-01 -7.91503504e-01 -5.97263559e-01 5.57555595e+01] [-1.57073353e-01 6.11127516e-01 -7.75790642e-01 4.98109156e+00] [ 9.79045207e-01 -6.73511343e-03 -2.03531621e-01 5.60111612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.339072329 meters Centerline goodness : 0.062929 Centerline is valid? [False, False] Translation: X:55.78, Y:4.97, Z:5.59 [[-1.51702532e-01 -7.86152672e-01 -5.99124626e-01 5.57797311e+01] [-1.36904715e-01 6.17009645e-01 -7.74955609e-01 4.96854809e+00] [ 9.78899096e-01 -3.55397422e-02 -2.01229933e-01 5.59394150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.369072329 meters Centerline goodness : 0.069235 Centerline is valid? [False, False] Translation: X:55.81, Y:4.96, Z:5.59 [[-0.17310865 -0.77919422 -0.60240333 55.80691216] [-0.11641518 0.62353749 -0.77307729 4.95529816] [ 0.97799842 -0.06369747 -0.19864977 5.58620479] [ 0. 0. 0. 1. ]] SLAMing on 217.399072329 meters Centerline goodness : 0.085432 Centerline is valid? [False, False] Translation: X:55.85, Y:4.94, Z:5.57 [[-0.19275004 -0.7686012 -0.60999969 55.84574236] [-0.093855 0.63324782 -0.76823723 4.93941436] [ 0.97674903 -0.09082624 -0.19419561 5.57440617] [ 0. 0. 0. 1. ]] SLAMing on 217.429072329 meters Centerline goodness : 0.192570 Centerline is valid? [False, False] Translation: X:55.88, Y:4.92, Z:5.58 [[-0.2355008 -0.74993059 -0.61817755 55.87926682] [-0.05818495 0.64580592 -0.76128131 4.91827405] [ 0.97013086 -0.14331373 -0.19572249 5.57663295] [ 0. 0. 0. 1. ]] SLAMing on 217.459072329 meters Centerline goodness : 0.196486 Centerline is valid? [False, False] Translation: X:55.96, Y:4.89, Z:5.54 [[-2.48059729e-01 -7.27338649e-01 -6.39878786e-01 5.59646296e+01] [-2.65039663e-02 6.65371850e-01 -7.46041448e-01 4.88542497e+00] [ 9.68382110e-01 -1.68103514e-01 -1.84329320e-01 5.54228068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.489072329 meters Centerline goodness : 0.173914 Centerline is valid? [False, False] Translation: X:56.05, Y:4.85, Z:5.52 [[-2.76023043e-01 -6.94377060e-01 -6.64568867e-01 5.60534343e+01] [ 2.59551301e-02 6.85793139e-01 -7.27333556e-01 4.84674269e+00] [ 9.60800505e-01 -2.18009793e-01 -1.71272062e-01 5.51608842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.519072329 meters Centerline goodness : 0.198166 Centerline is valid? [False, False] Translation: X:55.86, Y:2.87, Z:4.22 [[ 0.92620952 0.32254205 0.19519877 55.86233835] [-0.32222137 0.40844774 0.85401629 2.86649 ] [ 0.19572767 -0.85389523 0.48223813 4.22000395] [ 0. 0. 0. 1. ]] SLAMing on 217.549072329 meters Centerline goodness : 0.215115 Centerline is valid? [False, False] Translation: X:55.85, Y:2.86, Z:4.23 [[ 0.93502242 0.29858643 0.19125692 55.85478463] [-0.30875677 0.42035248 0.85321337 2.86481716] [ 0.17436261 -0.8568255 0.48522958 4.2335036 ] [ 0. 0. 0. 1. ]] SLAMing on 217.579072329 meters Centerline goodness : 0.214104 Centerline is valid? [False, False] Translation: X:55.85, Y:2.86, Z:4.25 [[ 0.9430126 0.27468843 0.18781241 55.84741224] [-0.29544394 0.4314731 0.85237541 2.86318722] [ 0.15310166 -0.85928879 0.4880396 4.24688044] [ 0. 0. 0. 1. ]] SLAMing on 217.609072329 meters Centerline goodness : 0.231254 Centerline is valid? [False, False] Translation: X:55.84, Y:2.86, Z:4.26 [[ 0.95024845 0.25086759 0.18464378 55.83996053] [-0.2821475 0.44203302 0.85146908 2.86176336] [ 0.13198735 -0.86120396 0.49082286 4.25998626] [ 0. 0. 0. 1. ]] SLAMing on 217.63907232900002 meters Centerline goodness : 0.237001 Centerline is valid? [False, False] Translation: X:55.82, Y:2.85, Z:4.29 [[ 0.96178553 0.2035436 0.18313546 55.82386037] [-0.25882007 0.45762568 0.85064147 2.85286614] [ 0.08933514 -0.86553379 0.49281893 4.28539067] [ 0. 0. 0. 1. ]] SLAMing on 217.66907232900002 meters SLAMing on 217.699072329 meters SLAMing on 217.729072329 meters Centerline goodness : 0.159460 Centerline is valid? [False, False] Translation: X:55.80, Y:2.84, Z:4.33 [[ 9.77204643e-01 1.11823132e-01 1.80462388e-01 5.57960375e+01] [-2.12154002e-01 4.82896216e-01 8.49589268e-01 2.83634980e+00] [ 7.85912813e-03 -8.68508395e-01 4.95612149e-01 4.33235899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.759072329 meters SLAMing on 217.789072329 meters Centerline goodness : 0.145774 Centerline is valid? [False, False] Translation: X:55.78, Y:2.83, Z:4.35 [[ 9.81166609e-01 6.82765564e-02 1.80694211e-01 5.57839338e+01] [-1.90619429e-01 4.93559000e-01 8.48565700e-01 2.82824563e+00] [-3.12461103e-02 -8.67028157e-01 4.97278448e-01 4.35271848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.819072329 meters Centerline goodness : 0.180603 Centerline is valid? [False, False] Translation: X:55.77, Y:2.82, Z:4.37 [[ 9.83069018e-01 2.62995651e-02 1.81338466e-01 5.57745551e+01] [-1.69805302e-01 5.02656736e-01 8.47645188e-01 2.82009321e+00] [-6.88583017e-02 -8.64085956e-01 4.98612069e-01 4.37158009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.849072329 meters Centerline goodness : 0.176992 Centerline is valid? [False, False] Translation: X:55.77, Y:2.82, Z:4.38 [[ 9.83623966e-01 1.32345444e-02 1.79746321e-01 5.57737124e+01] [-1.60892036e-01 5.13932190e-01 8.42607535e-01 2.82208157e+00] [-8.12258933e-02 -8.57728717e-01 5.07645351e-01 4.37907047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.879072329 meters Centerline goodness : 0.176971 Centerline is valid? [False, False] Translation: X:55.77, Y:2.82, Z:4.39 [[ 9.83982961e-01 5.25261462e-04 1.78261762e-01 5.57725817e+01] [-1.51979354e-01 5.25100377e-01 8.37360060e-01 2.82419895e+00] [-9.31654857e-02 -8.51040139e-01 5.16769653e-01 4.38597082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.909072329 meters Centerline goodness : 0.212607 Centerline is valid? [False, False] Translation: X:55.77, Y:2.83, Z:4.39 [[ 9.84140263e-01 -1.17587344e-02 1.77001909e-01 5.57715390e+01] [-1.43233684e-01 5.35976581e-01 8.31993520e-01 2.82640879e+00] [-1.04652069e-01 -8.44150956e-01 5.25791886e-01 4.39222804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.939072329 meters Centerline goodness : 0.284939 Centerline is valid? [False, False] Translation: X:55.77, Y:2.83, Z:4.40 [[ 9.84131803e-01 -2.35295389e-02 1.75871987e-01 5.57706889e+01] [-1.34642014e-01 5.46537213e-01 8.26540140e-01 2.82861380e+00] [-1.15568694e-01 -8.37104197e-01 5.34696588e-01 4.39806990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.969072329 meters Centerline goodness : 0.311794 Centerline is valid? [False, False] Translation: X:55.76, Y:2.82, Z:4.41 [[ 0.98253466 -0.05660159 0.17726222 55.7586669 ] [-0.11684597 0.5537183 0.82446532 2.82094892] [-0.14481938 -0.83077813 0.53743375 4.41168527] [ 0. 0. 0. 1. ]] SLAMing on 217.999072329 meters Centerline goodness : 0.191163 Centerline is valid? [False, False] Translation: X:55.76, Y:2.82, Z:4.42 [[ 0.98193344 -0.0672372 0.17687814 55.76090668] [-0.10964773 0.55964632 0.8214459 2.82180938] [-0.15422093 -0.82599949 0.54216303 4.41718574] [ 0. 0. 0. 1. ]] SLAMing on 218.029072329 meters Centerline goodness : 0.185243 Centerline is valid? [False, False] Translation: X:55.76, Y:2.82, Z:4.42 [[ 0.98123495 -0.07746484 0.17657059 55.76321069] [-0.10260062 0.56556697 0.81829525 2.82269825] [-0.1632516 -0.82105615 0.54700613 4.42211833] [ 0. 0. 0. 1. ]] SLAMing on 218.059072329 meters Centerline goodness : 0.231407 Centerline is valid? [False, False] Translation: X:55.77, Y:2.82, Z:4.43 [[ 0.97924438 -0.1060776 0.17270778 55.76640834] [-0.08222433 0.57092722 0.81687286 2.82013613] [-0.18525549 -0.81411894 0.55035512 4.43175051] [ 0. 0. 0. 1. ]] SLAMing on 218.089072329 meters Centerline goodness : 0.232020 Centerline is valid? [False, False] Translation: X:55.77, Y:2.82, Z:4.44 [[ 0.978186 -0.11527338 0.17281258 55.76850347] [-0.07576015 0.57664212 0.81347665 2.82067148] [-0.19342322 -0.80882379 0.55533012 4.43562973] [ 0. 0. 0. 1. ]] SLAMing on 218.119072329 meters Centerline goodness : 0.170815 Centerline is valid? [False, False] Translation: X:55.77, Y:2.82, Z:4.44 [[ 0.97533726 -0.14165666 0.16926491 55.77092639] [-0.05639184 0.58149711 0.81159169 2.81820091] [-0.21339442 -0.80112078 0.55916752 4.44292259] [ 0. 0. 0. 1. ]] SLAMing on 218.149072329 meters Centerline goodness : 0.240811 Centerline is valid? [False, False] Translation: X:55.77, Y:2.82, Z:4.45 [[ 9.74038522e-01 -1.49967813e-01 1.69583645e-01 5.57730508e+01] [-5.03161922e-02 5.86949741e-01 8.08058341e-01 2.81846217e+00] [-2.20719819e-01 -7.95612755e-01 5.64165849e-01 4.44588306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.179072329 meters Centerline goodness : 0.167765 Centerline is valid? [False, False] Translation: X:55.78, Y:2.82, Z:4.45 [[ 9.72704733e-01 -1.58075380e-01 1.69875474e-01 5.57750858e+01] [-4.42008318e-02 5.92452297e-01 8.04392045e-01 2.81913633e+00] [-2.27797693e-01 -7.89944587e-01 5.69294090e-01 4.44838233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.209072329 meters Centerline goodness : 0.181561 Centerline is valid? [False, False] Translation: X:55.78, Y:2.82, Z:4.46 [[ 9.69977898e-01 -1.72819251e-01 1.71103431e-01 5.57767453e+01] [-3.41775359e-02 5.99717035e-01 7.99481941e-01 2.81919479e+00] [-2.40779512e-01 -7.81327706e-01 5.75805733e-01 4.45503387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.239072329 meters Centerline goodness : 0.224694 Centerline is valid? [False, False] Translation: X:55.78, Y:2.82, Z:4.46 [[ 9.68502803e-01 -1.80281994e-01 1.71757748e-01 5.57778752e+01] [-2.84544535e-02 6.05134174e-01 7.95614842e-01 2.82030765e+00] [-2.47371512e-01 -7.75442477e-01 5.80944317e-01 4.45761030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.269072329 meters Centerline goodness : 0.206018 Centerline is valid? [False, False] Translation: X:55.78, Y:2.82, Z:4.46 [[ 9.66964883e-01 -1.87540345e-01 1.72648585e-01 5.57785674e+01] [-2.29180827e-02 6.10590008e-01 7.91615186e-01 2.82147153e+00] [-2.53877286e-01 -7.69420861e-01 5.86121031e-01 4.46006876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.299072329 meters Centerline goodness : 0.212078 Centerline is valid? [False, False] Translation: X:55.77, Y:2.82, Z:4.47 [[ 9.63563691e-01 -2.01496959e-01 1.75909036e-01 5.57653592e+01] [-1.47891167e-02 6.16515553e-01 7.87203821e-01 2.81913764e+00] [-2.67069833e-01 -7.61122558e-01 5.91072040e-01 4.46601418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.329072329 meters Centerline goodness : 0.291065 Centerline is valid? [False, False] Translation: X:55.77, Y:2.82, Z:4.47 [[ 9.62603805e-01 -2.05306708e-01 1.76757096e-01 5.57650712e+01] [-1.19524027e-02 6.19629657e-01 7.84803305e-01 2.81875551e+00] [-2.70649322e-01 -7.57567320e-01 5.94003957e-01 4.46807081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.359072329 meters Centerline goodness : 0.291065 Centerline is valid? [False, False] Translation: X:55.77, Y:2.82, Z:4.47 [[ 9.62603805e-01 -2.05306708e-01 1.76757096e-01 5.57650712e+01] [-1.19524027e-02 6.19629657e-01 7.84803305e-01 2.81875551e+00] [-2.70649322e-01 -7.57567320e-01 5.94003957e-01 4.46807081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.38907232900002 meters Centerline goodness : 0.242130 Centerline is valid? [False, False] Translation: X:55.76, Y:2.82, Z:4.47 [[ 9.61692283e-01 -2.08908272e-01 1.77497289e-01 5.57649535e+01] [-9.13153712e-03 6.22717937e-01 7.82393114e-01 2.81858984e+00] [-2.73979139e-01 -7.54042243e-01 5.96955381e-01 4.46960861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.41907232900002 meters Centerline goodness : 0.250107 Centerline is valid? [False, False] Translation: X:55.76, Y:2.82, Z:4.47 [[ 9.60802391e-01 -2.12347315e-01 1.78234066e-01 5.57649664e+01] [-6.40909411e-03 6.25715928e-01 7.80024679e-01 2.81822136e+00] [-2.77160041e-01 -7.50591896e-01 5.99828406e-01 4.47100733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.449072329 meters Centerline goodness : 0.344160 Centerline is valid? [False, False] Translation: X:55.75, Y:2.82, Z:4.48 [[ 9.57971217e-01 -2.22000473e-01 1.81678113e-01 5.57532079e+01] [-1.72090225e-03 6.28865327e-01 7.77512340e-01 2.81511800e+00] [-2.86859174e-01 -7.45147093e-01 6.02052842e-01 4.47509186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.479072329 meters Centerline goodness : 0.342729 Centerline is valid? [False, False] Translation: X:55.75, Y:2.82, Z:4.48 [[ 9.57061444e-01 -2.25221566e-01 1.82506545e-01 5.57531321e+01] [ 8.99431207e-04 6.31886344e-01 7.75060539e-01 2.81502326e+00] [-2.89883742e-01 -7.41616406e-01 6.04956628e-01 4.47586963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.509072329 meters Centerline goodness : 0.265646 Centerline is valid? [False, False] Translation: X:55.75, Y:2.82, Z:4.48 [[ 9.56128998e-01 -2.28384176e-01 1.83461189e-01 5.57526887e+01] [ 3.41233446e-03 6.34903190e-01 7.72584167e-01 2.81527454e+00] [-2.92926092e-01 -7.38064094e-01 6.07828674e-01 4.47652292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.539072329 meters Centerline goodness : 0.344801 Centerline is valid? [False, False] Translation: X:55.75, Y:2.81, Z:4.48 [[ 9.55134564e-01 -2.31757134e-01 1.84408772e-01 5.57521536e+01] [ 5.95022760e-03 6.37530340e-01 7.70402271e-01 2.81455131e+00] [-2.96112410e-01 -7.34740564e-01 6.10306272e-01 4.47868724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.569072329 meters Centerline goodness : 0.347086 Centerline is valid? [False, False] Translation: X:55.75, Y:2.81, Z:4.48 [[ 9.55061025e-01 -2.32059567e-01 1.84409316e-01 5.57520038e+01] [ 6.09195451e-03 6.37380394e-01 7.70525225e-01 2.81409635e+00] [-2.96346632e-01 -7.34775198e-01 6.10150868e-01 4.48037197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.599072329 meters Centerline goodness : 0.346950 Centerline is valid? [False, False] Translation: X:55.75, Y:2.81, Z:4.48 [[ 9.54877345e-01 -2.32463247e-01 1.84851547e-01 5.57513025e+01] [ 6.05696742e-03 6.37507471e-01 7.70420364e-01 2.81405190e+00] [-2.96938661e-01 -7.34537312e-01 6.10149464e-01 4.48218361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.629072329 meters Centerline goodness : 0.248916 Centerline is valid? [False, False] Translation: X:55.75, Y:2.81, Z:4.49 [[ 9.54136686e-01 -2.34756924e-01 1.85775057e-01 5.57490654e+01] [ 7.59712070e-03 6.39337834e-01 7.68888430e-01 2.81465099e+00] [-2.99274905e-01 -7.32213303e-01 6.11799158e-01 4.48628684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.659072329 meters Centerline goodness : 0.344821 Centerline is valid? [False, False] Translation: X:55.75, Y:2.81, Z:4.49 [[ 9.54096593e-01 -2.34942113e-01 1.85746855e-01 5.57491182e+01] [ 7.65866838e-03 6.39127797e-01 7.69062419e-01 2.81374603e+00] [-2.99401127e-01 -7.32337260e-01 6.11588997e-01 4.48788646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.689072329 meters Centerline goodness : 0.164514 Centerline is valid? [False, False] Translation: X:55.75, Y:2.81, Z:4.49 [[ 9.54074223e-01 -2.35038833e-01 1.85739400e-01 5.57491867e+01] [ 7.64916397e-03 6.38930622e-01 7.69226333e-01 2.81284586e+00] [-2.99472650e-01 -7.32478264e-01 6.11385087e-01 4.48937489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.719072329 meters Centerline goodness : 0.351267 Centerline is valid? [False, False] Translation: X:55.75, Y:2.81, Z:4.49 [[ 9.53991255e-01 -2.35098229e-01 1.86090056e-01 5.57488496e+01] [ 7.46653359e-03 6.39077544e-01 7.69106068e-01 2.81275089e+00] [-2.99741450e-01 -7.32331015e-01 6.11429757e-01 4.49082766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.749072329 meters Centerline goodness : 0.350437 Centerline is valid? [False, False] Translation: X:55.74, Y:2.81, Z:4.50 [[ 9.54470837e-01 -2.31015687e-01 1.88725128e-01 5.57352013e+01] [ 4.22431375e-03 6.43063908e-01 7.65800866e-01 2.81292064e+00] [-2.98274332e-01 -7.30137359e-01 6.14761629e-01 4.49500041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.779072329 meters Centerline goodness : 0.350887 Centerline is valid? [False, False] Translation: X:55.73, Y:2.81, Z:4.50 [[ 9.54282934e-01 -2.31020789e-01 1.89666754e-01 5.57338346e+01] [ 3.78943115e-03 6.43838533e-01 7.65152000e-01 2.81465097e+00] [-2.98880784e-01 -7.29452766e-01 6.15279562e-01 4.49664723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.809072329 meters Centerline goodness : 0.352414 Centerline is valid? [False, False] Translation: X:55.73, Y:2.81, Z:4.50 [[ 9.54256602e-01 -2.31013038e-01 1.89808624e-01 5.57334479e+01] [ 3.63769718e-03 6.43758650e-01 7.65219947e-01 2.81466430e+00] [-2.98966729e-01 -7.29525720e-01 6.15151298e-01 4.49794266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.839072329 meters Centerline goodness : 0.339752 Centerline is valid? [False, False] Translation: X:55.72, Y:2.82, Z:4.51 [[ 9.56679174e-01 -2.24167349e-01 1.85779328e-01 5.57151687e+01] [ 4.40447648e-03 6.49171032e-01 7.60629721e-01 2.81920299e+00] [-2.91110906e-01 -7.26860352e-01 6.22035746e-01 4.50967525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.869072329 meters Centerline goodness : 0.357879 Centerline is valid? [False, False] Translation: X:55.71, Y:2.82, Z:4.51 [[ 9.56678494e-01 -2.24128574e-01 1.85829603e-01 5.57149357e+01] [ 4.32305700e-03 6.49133416e-01 7.60662290e-01 2.81898930e+00] [-2.91114360e-01 -7.26905902e-01 6.21980900e-01 4.51027597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.899072329 meters Centerline goodness : 0.240032 Centerline is valid? [False, False] Translation: X:55.70, Y:2.82, Z:4.52 [[ 9.57977074e-01 -2.18583986e-01 1.85744360e-01 5.57028238e+01] [ 1.62398512e-03 6.51665699e-01 7.58504568e-01 2.81963175e+00] [-2.86840181e-01 -7.26328340e-01 6.24635776e-01 4.51756860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.929072329 meters Centerline goodness : 0.353116 Centerline is valid? [False, False] Translation: X:55.70, Y:2.82, Z:4.52 [[ 9.57967116e-01 -2.18511162e-01 1.85881352e-01 5.57023551e+01] [ 1.50124622e-03 6.51755107e-01 7.58427997e-01 2.81968559e+00] [-2.86874103e-01 -7.26270027e-01 6.24688000e-01 4.51765422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.959072329 meters Centerline goodness : 0.142415 Centerline is valid? [False, False] Translation: X:55.70, Y:2.82, Z:4.52 [[ 9.57954226e-01 -2.18452736e-01 1.86016406e-01 5.57018838e+01] [ 1.37006842e-03 6.51794420e-01 7.58394460e-01 2.81961965e+00] [-2.86917800e-01 -7.26252323e-01 6.24688514e-01 4.51796958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.989072329 meters Centerline goodness : 0.239919 Centerline is valid? [False, False] Translation: X:55.70, Y:2.82, Z:4.52 [[ 9.57940350e-01 -2.18390418e-01 1.86160982e-01 5.57014780e+01] [ 1.25293980e-03 6.51895055e-01 7.58308161e-01 2.81952996e+00] [-2.86964660e-01 -7.26180737e-01 6.24750207e-01 4.51803176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.019072329 meters Centerline goodness : 0.341763 Centerline is valid? [False, False] Translation: X:55.70, Y:2.82, Z:4.52 [[ 9.57936160e-01 -2.18272398e-01 1.86320886e-01 5.57010261e+01] [ 1.05155928e-03 6.51909153e-01 7.58296347e-01 2.81924451e+00] [-2.86979454e-01 -7.26203564e-01 6.24716878e-01 4.51845504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.049072329 meters Centerline goodness : 0.363928 Centerline is valid? [False, False] Translation: X:55.69, Y:2.82, Z:4.53 [[ 9.59461810e-01 -2.11723408e-01 1.86027506e-01 5.56875150e+01] [-2.06993664e-03 6.54738204e-01 7.55852895e-01 2.81898900e+00] [-2.81831067e-01 -7.25597052e-01 6.27758049e-01 4.52767108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.079072329 meters Centerline goodness : 0.236215 Centerline is valid? [False, False] Translation: X:55.69, Y:2.82, Z:4.53 [[ 9.59468560e-01 -2.11535416e-01 1.86206474e-01 5.56869195e+01] [-2.36750987e-03 6.54664898e-01 7.55915516e-01 2.81869751e+00] [-2.81805745e-01 -7.25718017e-01 6.27629574e-01 4.52841840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.109072329 meters Centerline goodness : 0.235264 Centerline is valid? [False, False] Translation: X:55.69, Y:2.82, Z:4.53 [[ 9.58940697e-01 -2.13213851e-01 1.87009609e-01 5.56860044e+01] [-7.47837108e-04 6.57494506e-01 7.53458967e-01 2.81922669e+00] [-2.83605678e-01 -7.22662320e-01 6.30338790e-01 4.52798804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.13907232900002 meters Centerline goodness : 0.232232 Centerline is valid? [False, False] Translation: X:55.67, Y:2.82, Z:4.54 [[ 9.61557540e-01 -2.05113267e-01 1.82580514e-01 5.56675712e+01] [-1.34638458e-03 6.61358250e-01 7.50068965e-01 2.82255269e+00] [-2.74600225e-01 -7.21480293e-01 6.35657851e-01 4.54155818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.16907232900002 meters Centerline goodness : 0.328945 Centerline is valid? [False, False] Translation: X:55.67, Y:2.82, Z:4.54 [[ 9.61573343e-01 -2.05004516e-01 1.82619424e-01 5.56673976e+01] [-1.55242004e-03 6.61092916e-01 7.50302437e-01 2.82186624e+00] [-2.74543796e-01 -7.21754325e-01 6.35371072e-01 4.54271669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.199072329 meters Centerline goodness : 0.324839 Centerline is valid? [False, False] Translation: X:55.67, Y:2.82, Z:4.54 [[ 9.61589163e-01 -2.04957691e-01 1.82588682e-01 5.56674360e+01] [-1.66808300e-03 6.60810228e-01 7.50551171e-01 2.82109298e+00] [-2.74487703e-01 -7.22026445e-01 6.35086068e-01 4.54385766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.229072329 meters Centerline goodness : 0.320192 Centerline is valid? [False, False] Translation: X:55.65, Y:2.83, Z:4.56 [[ 9.63634208e-01 -1.99886038e-01 1.77354686e-01 5.56517971e+01] [ 6.27093113e-04 6.65380554e-01 7.46504069e-01 2.82526153e+00] [-2.67224100e-01 -7.19245639e-01 6.41308811e-01 4.55596067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.259072329 meters Centerline goodness : 0.226482 Centerline is valid? [False, False] Translation: X:55.65, Y:2.83, Z:4.56 [[ 9.63032064e-01 -2.01964842e-01 1.78267907e-01 5.56509131e+01] [ 2.39597285e-03 6.68149906e-01 7.44022823e-01 2.82517164e+00] [-2.69376137e-01 -7.16090710e-01 6.43933686e-01 4.55597684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.289072329 meters Centerline goodness : 0.326334 Centerline is valid? [False, False] Translation: X:55.65, Y:2.82, Z:4.56 [[ 9.63045613e-01 -2.01956033e-01 1.78204680e-01 5.56511845e+01] [ 2.31415011e-03 6.67818678e-01 7.44320400e-01 2.82400363e+00] [-2.69328409e-01 -7.16402104e-01 6.43607204e-01 4.55720359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.319072329 meters Centerline goodness : 0.317239 Centerline is valid? [False, False] Translation: X:55.65, Y:2.82, Z:4.56 [[ 9.62438540e-01 -2.03996924e-01 1.79157227e-01 5.56502373e+01] [ 4.07827378e-03 6.70668318e-01 7.41746166e-01 2.82399861e+00] [-2.71469013e-01 -7.13154444e-01 6.46308992e-01 4.55698346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.349072329 meters Centerline goodness : 0.304901 Centerline is valid? [False, False] Translation: X:55.63, Y:2.83, Z:4.57 [[ 9.64676780e-01 -1.97029945e-01 1.74865408e-01 5.56319603e+01] [ 4.28037238e-03 6.75421700e-01 7.37419288e-01 2.82621486e+00] [-2.63401573e-01 -7.10622775e-01 6.52406992e-01 4.57085183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.379072329 meters Centerline goodness : 0.331122 Centerline is valid? [False, False] Translation: X:55.63, Y:2.82, Z:4.57 [[ 9.64698749e-01 -1.96932842e-01 1.74853596e-01 5.56321197e+01] [ 4.07555028e-03 6.75028368e-01 7.37780518e-01 2.82481754e+00] [-2.63324352e-01 -7.11023318e-01 6.52001631e-01 4.57238986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.409072329 meters Centerline goodness : 0.299031 Centerline is valid? [False, False] Translation: X:55.63, Y:2.82, Z:4.57 [[ 9.64716989e-01 -1.96836409e-01 1.74861545e-01 5.56322578e+01] [ 3.87526204e-03 6.74686396e-01 7.38094336e-01 2.82333470e+00] [-2.63260544e-01 -7.11374511e-01 6.51644221e-01 4.57385192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.439072329 meters Centerline goodness : 0.321674 Centerline is valid? [False, False] Translation: X:55.62, Y:2.82, Z:4.58 [[ 9.65135338e-01 -1.92725483e-01 1.77117665e-01 5.56203570e+01] [ 8.46113032e-05 6.76893431e-01 7.36081026e-01 2.82041958e+00] [-2.61751355e-01 -7.10402824e-01 6.53310077e-01 4.58185944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.469072329 meters Centerline goodness : 0.223302 Centerline is valid? [False, False] Translation: X:55.61, Y:2.82, Z:4.59 [[ 9.66852398e-01 -1.86413658e-01 1.74488933e-01 5.56084513e+01] [-1.40701233e-03 6.79470022e-01 7.33701921e-01 2.82092544e+00] [-2.55332058e-01 -7.09626971e-01 6.56684934e-01 4.59109682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.499072329 meters Centerline goodness : 0.235281 Centerline is valid? [False, False] Translation: X:55.60, Y:2.82, Z:4.60 [[ 9.67928793e-01 -1.80604084e-01 1.74631090e-01 5.55970095e+01] [-4.90681457e-03 6.81395665e-01 7.31898812e-01 2.81937435e+00] [-2.51176782e-01 -7.09282815e-01 6.58656293e-01 4.59885892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.529072329 meters Centerline goodness : 0.238976 Centerline is valid? [False, False] Translation: X:55.58, Y:2.82, Z:4.61 [[ 9.70111726e-01 -1.73116052e-01 1.70041382e-01 5.55794228e+01] [-5.54110038e-03 6.84756431e-01 7.28750936e-01 2.82160841e+00] [-2.42595415e-01 -7.07912045e-01 6.63330989e-01 4.61236319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.559072329 meters Centerline goodness : 0.116201 Centerline is valid? [False, False] Translation: X:55.58, Y:2.82, Z:4.62 [[ 9.70202189e-01 -1.71467451e-01 1.71191782e-01 5.55756550e+01] [-7.51941578e-03 6.84889851e-01 7.28607817e-01 2.81939975e+00] [-2.42180040e-01 -7.08184161e-01 6.63192297e-01 4.61546015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.589072329 meters Centerline goodness : 0.317385 Centerline is valid? [False, False] Translation: X:55.57, Y:2.82, Z:4.62 [[ 9.70396979e-01 -1.68238689e-01 1.73278523e-01 5.55682103e+01] [-1.11052491e-02 6.85622352e-01 7.27872698e-01 2.81658528e+00] [-2.41259977e-01 -7.08249768e-01 6.63457526e-01 4.61949342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.619072329 meters Centerline goodness : 0.323769 Centerline is valid? [False, False] Translation: X:55.56, Y:2.81, Z:4.62 [[ 9.70562295e-01 -1.65360437e-01 1.75113556e-01 5.55619673e+01] [-1.43426082e-02 6.86092223e-01 7.27373185e-01 2.81363215e+00] [-2.40422797e-01 -7.08472573e-01 6.63523543e-01 4.62312047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.649072329 meters Centerline goodness : 0.108508 Centerline is valid? [False, False] Translation: X:55.55, Y:2.81, Z:4.63 [[ 9.71568177e-01 -1.58090137e-01 1.76246378e-01 5.55482931e+01] [-1.97830609e-02 6.87599384e-01 7.25820720e-01 2.80988394e+00] [-2.35931998e-01 -7.08671007e-01 6.64922173e-01 4.63195014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.679072329 meters Centerline goodness : 0.328792 Centerline is valid? [False, False] Translation: X:55.54, Y:2.81, Z:4.64 [[ 9.71959733e-01 -1.53036022e-01 1.78533622e-01 5.55376752e+01] [-2.46037290e-02 6.88888592e-01 7.24449560e-01 2.80687798e+00] [-2.33856654e-01 -7.08528393e-01 6.65806714e-01 4.63660626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.709072329 meters Centerline goodness : 0.110269 Centerline is valid? [False, False] Translation: X:55.53, Y:2.80, Z:4.64 [[ 9.72715239e-01 -1.46775507e-01 1.79671964e-01 5.55261572e+01] [-2.93360854e-02 6.90410425e-01 7.22822827e-01 2.80415512e+00] [-2.30140084e-01 -7.08371650e-01 6.67266923e-01 4.64251666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.739072329 meters Centerline goodness : 0.109103 Centerline is valid? [False, False] Translation: X:55.51, Y:2.80, Z:4.65 [[ 9.73510304e-01 -1.39312149e-01 1.81300338e-01 5.55125459e+01] [-3.53476920e-02 6.91706041e-01 7.21313589e-01 2.79964420e+00] [-2.25894285e-01 -7.08614760e-01 6.68458596e-01 4.65006355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.769072329 meters Centerline goodness : 0.107862 Centerline is valid? [False, False] Translation: X:55.51, Y:2.80, Z:4.65 [[ 9.73108083e-01 -1.40637317e-01 1.82433010e-01 5.55105688e+01] [-3.43738954e-02 6.94459624e-01 7.18710140e-01 2.79941541e+00] [-2.27769825e-01 -7.05653580e-01 6.70950022e-01 4.64990537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.799072329 meters Centerline goodness : 0.110247 Centerline is valid? [False, False] Translation: X:55.51, Y:2.80, Z:4.65 [[ 9.72704819e-01 -1.41830920e-01 1.83655452e-01 5.55083552e+01] [-3.35653453e-02 6.97138320e-01 7.16150494e-01 2.79909019e+00] [-2.29605536e-01 -7.02767495e-01 6.73349200e-01 4.64995278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.829072329 meters Centerline goodness : 0.109663 Centerline is valid? [False, False] Translation: X:55.51, Y:2.80, Z:4.65 [[ 9.72707984e-01 -1.40373505e-01 1.84755125e-01 5.55053821e+01] [-3.55323135e-02 6.96740462e-01 7.16442728e-01 2.79659258e+00] [-2.29295949e-01 -7.03454339e-01 6.72737215e-01 4.65201621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.859072329 meters Centerline goodness : 0.205413 Centerline is valid? [False, False] Translation: X:55.50, Y:2.80, Z:4.65 [[ 9.72335100e-01 -1.41553908e-01 1.85814272e-01 5.55035305e+01] [-3.46737053e-02 6.99194415e-01 7.14090264e-01 2.79615499e+00] [-2.31002568e-01 -7.00777897e-01 6.74943073e-01 4.65230291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.88907232900002 meters Centerline goodness : 0.108096 Centerline is valid? [False, False] Translation: X:55.50, Y:2.80, Z:4.65 [[ 9.71972393e-01 -1.42768018e-01 1.86780515e-01 5.55020250e+01] [-3.37017238e-02 7.01668065e-01 7.11706485e-01 2.79552656e+00] [-2.32666847e-01 -6.98053880e-01 6.77190460e-01 4.65235623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.91907232900002 meters Centerline goodness : 0.105216 Centerline is valid? [False, False] Translation: X:55.50, Y:2.79, Z:4.66 [[ 9.72012556e-01 -1.41330368e-01 1.87662778e-01 5.54997251e+01] [-3.55589608e-02 7.01095121e-01 7.12180589e-01 2.79194511e+00] [-2.32222203e-01 -6.98921568e-01 6.76447700e-01 4.65500907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.949072329 meters Centerline goodness : 0.101278 Centerline is valid? [False, False] Translation: X:55.50, Y:2.79, Z:4.66 [[ 9.71620714e-01 -1.42726265e-01 1.88632982e-01 5.54981568e+01] [-3.44560805e-02 7.03550800e-01 7.09809165e-01 2.79137510e+00] [-2.34021296e-01 -6.96164840e-01 6.78666743e-01 4.65567285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.979072329 meters Centerline goodness : 0.104939 Centerline is valid? [False, False] Translation: X:55.50, Y:2.79, Z:4.66 [[ 9.71241285e-01 -1.44005262e-01 1.89612370e-01 5.54964896e+01] [-3.34715164e-02 7.05877041e-01 7.07543116e-01 2.79085899e+00] [-2.35732951e-01 -6.93541698e-01 6.80756850e-01 4.65643266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.009072329 meters Centerline goodness : 0.226746 Centerline is valid? [False, False] Translation: X:55.49, Y:2.79, Z:4.66 [[ 9.71360227e-01 -1.39423930e-01 1.92406543e-01 5.54879418e+01] [-3.88310542e-02 7.05720537e-01 7.07425383e-01 2.78513992e+00] [-2.34417277e-01 -6.94636229e-01 6.80094883e-01 4.66111502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.039072329 meters Centerline goodness : 0.195627 Centerline is valid? [False, False] Translation: X:55.49, Y:2.78, Z:4.66 [[ 9.71354885e-01 -1.39007751e-01 1.92734358e-01 5.54870347e+01] [-3.95416146e-02 7.05201210e-01 7.07903746e-01 2.78380311e+00] [-2.34320610e-01 -6.95246790e-01 6.79504049e-01 4.66298021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.069072329 meters Centerline goodness : 0.193877 Centerline is valid? [False, False] Translation: X:55.49, Y:2.78, Z:4.66 [[ 9.70984866e-01 -1.40196140e-01 1.93735470e-01 5.54850364e+01] [-3.86698973e-02 7.07421261e-01 7.05733519e-01 2.78345197e+00] [-2.35993705e-01 -6.92748297e-01 6.81473968e-01 4.66421048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.099072329 meters Centerline goodness : 0.250148 Centerline is valid? [False, False] Translation: X:55.48, Y:2.78, Z:4.67 [[ 9.71066882e-01 -1.35182699e-01 1.96862259e-01 5.54758037e+01] [-4.46250295e-02 7.07114793e-01 7.05689221e-01 2.77633255e+00] [-2.34601189e-01 -6.94056415e-01 6.80623225e-01 4.66955187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.129072329 meters Centerline goodness : 0.239607 Centerline is valid? [False, False] Translation: X:55.47, Y:2.78, Z:4.67 [[ 9.70659023e-01 -1.36456591e-01 1.97991564e-01 5.54738590e+01] [-4.37357587e-02 7.09465205e-01 7.03382049e-01 2.77542641e+00] [-2.36449242e-01 -6.91403444e-01 6.82680770e-01 4.67055765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.159072329 meters Centerline goodness : 0.266836 Centerline is valid? [False, False] Translation: X:55.47, Y:2.77, Z:4.67 [[ 9.70268217e-01 -1.37620101e-01 1.99098707e-01 5.54718802e+01] [-4.29308131e-02 7.11710327e-01 7.01160007e-01 2.77444009e+00] [-2.38194316e-01 -6.88860739e-01 6.84641768e-01 4.67173009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.189072329 meters Centerline goodness : 0.261628 Centerline is valid? [False, False] Translation: X:55.47, Y:2.77, Z:4.67 [[ 9.69853630e-01 -1.38939586e-01 2.00199221e-01 5.54701294e+01] [-4.19490581e-02 7.14085882e-01 6.98800135e-01 2.77337518e+00] [-2.40050439e-01 -6.86132017e-01 6.86730400e-01 4.67235450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.219072329 meters Centerline goodness : 0.261628 Centerline is valid? [False, False] Translation: X:55.47, Y:2.77, Z:4.67 [[ 9.69853630e-01 -1.38939586e-01 2.00199221e-01 5.54701294e+01] [-4.19490581e-02 7.14085882e-01 6.98800135e-01 2.77337518e+00] [-2.40050439e-01 -6.86132017e-01 6.86730400e-01 4.67235450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.249072329 meters Centerline goodness : 0.298187 Centerline is valid? [False, False] Translation: X:55.46, Y:2.77, Z:4.68 [[ 9.70005784e-01 -1.32919205e-01 2.03522148e-01 5.54587195e+01] [-4.86150857e-02 7.14263914e-01 6.98185960e-01 2.76559040e+00] [-2.38170849e-01 -6.87138665e-01 6.86378249e-01 4.67886505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.279072329 meters Centerline goodness : 0.281311 Centerline is valid? [False, False] Translation: X:55.46, Y:2.76, Z:4.68 [[ 9.69600693e-01 -1.34105711e-01 2.04670846e-01 5.54567155e+01] [-4.78032002e-02 7.16509741e-01 6.95937242e-01 2.76443167e+00] [-2.39977813e-01 -6.84565154e-01 6.88317659e-01 4.67998838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.309072329 meters Centerline goodness : 0.242239 Centerline is valid? [False, False] Translation: X:55.45, Y:2.76, Z:4.68 [[ 9.69183046e-01 -1.35325248e-01 2.05842901e-01 5.54546899e+01] [-4.69594057e-02 7.18784469e-01 6.93645228e-01 2.76320623e+00] [-2.41824393e-01 -6.81935455e-01 6.90278928e-01 4.68117042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.339072329 meters Centerline goodness : 0.244879 Centerline is valid? [False, False] Translation: X:55.44, Y:2.76, Z:4.69 [[ 9.69278025e-01 -1.30110590e-01 2.08737500e-01 5.54437337e+01] [-5.25370550e-02 7.19539314e-01 6.92461575e-01 2.75840411e+00] [-2.40291422e-01 -6.82154242e-01 6.90598018e-01 4.68655890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.369072329 meters Centerline goodness : 0.393017 Centerline is valid? [False, False] Translation: X:55.43, Y:2.75, Z:4.69 [[ 0.96914016 -0.12516889 0.21236786 55.43263699] [-0.05882062 0.71919205 0.69231707 2.75147632] [-0.23938983 -0.68344388 0.68963539 4.69367257] [ 0. 0. 0. 1. ]] SLAMing on 220.399072329 meters Centerline goodness : 0.326452 Centerline is valid? [False, False] Translation: X:55.42, Y:2.75, Z:4.70 [[ 0.96925186 -0.11964636 0.21502462 55.42068477] [-0.06445645 0.71987358 0.69110592 2.74747713] [-0.23747885 -0.68371542 0.69002683 4.70057764] [ 0. 0. 0. 1. ]] SLAMing on 220.429072329 meters Centerline goodness : 0.381331 Centerline is valid? [False, False] Translation: X:55.41, Y:2.74, Z:4.71 [[ 0.96948724 -0.11373489 0.2171609 55.40850232] [-0.06994321 0.72070056 0.6897091 2.74348942] [-0.23495198 -0.68385311 0.69075502 4.70811104] [ 0. 0. 0. 1. ]] SLAMing on 220.459072329 meters Centerline goodness : 0.389437 Centerline is valid? [False, False] Translation: X:55.40, Y:2.74, Z:4.72 [[ 0.96943863 -0.1076505 0.22045435 55.39558716] [-0.07658136 0.72090493 0.68878979 2.73632399] [-0.23307519 -0.68462212 0.69062907 4.71680594] [ 0. 0. 0. 1. ]] SLAMing on 220.489072329 meters Centerline goodness : 0.251741 Centerline is valid? [False, False] Translation: X:55.38, Y:2.74, Z:4.73 [[ 0.97118646 -0.10118873 0.21577234 55.3843449 ] [-0.07713499 0.72318851 0.68632978 2.73671237] [-0.22549292 -0.68319779 0.6945457 4.72653105] [ 0. 0. 0. 1. ]] SLAMing on 220.519072329 meters Centerline goodness : 0.215243 Centerline is valid? [False, False] Translation: X:55.37, Y:2.74, Z:4.74 [[ 0.97279584 -0.09466508 0.21143977 55.37293615] [-0.07809503 0.725273 0.68401772 2.73673245] [-0.21810415 -0.68192199 0.69814968 4.73617259] [ 0. 0. 0. 1. ]] SLAMing on 220.549072329 meters Centerline goodness : 0.199895 Centerline is valid? [False, False] Translation: X:55.36, Y:2.74, Z:4.75 [[ 0.97465247 -0.08913689 0.20520033 55.36152389] [-0.076932 0.72773563 0.6815294 2.7388714 ] [-0.210081 -0.68004079 0.70243185 4.74612716] [ 0. 0. 0. 1. ]] SLAMing on 220.579072329 meters Centerline goodness : 0.235637 Centerline is valid? [False, False] Translation: X:55.34, Y:2.74, Z:4.76 [[ 0.97567899 -0.08852133 0.20053549 55.33846007] [-0.07456598 0.72624929 0.68337536 2.73516045] [-0.20613205 -0.6817081 0.7019855 4.76036031] [ 0. 0. 0. 1. ]] SLAMing on 220.609072329 meters Centerline goodness : 0.237406 Centerline is valid? [False, False] Translation: X:55.32, Y:2.73, Z:4.77 [[ 0.97672472 -0.08895775 0.19518028 55.31732161] [-0.0706063 0.72589487 0.68417205 2.73454501] [-0.20254277 -0.68202871 0.70271848 4.7711305 ] [ 0. 0. 0. 1. ]] SLAMing on 220.63907232900002 meters Centerline goodness : 0.383304 Centerline is valid? [False, False] Translation: X:55.30, Y:2.73, Z:4.78 [[ 0.97776695 -0.08958176 0.18959668 55.29638926] [-0.06628296 0.7257658 0.68474125 2.73385372] [-0.19894311 -0.68208439 0.70369207 4.78192772] [ 0. 0. 0. 1. ]] SLAMing on 220.66907232900002 meters Centerline goodness : 0.252334 Centerline is valid? [False, False] Translation: X:55.28, Y:2.73, Z:4.79 [[ 0.97896578 -0.08392992 0.18596173 55.28370736] [-0.06716357 0.72809215 0.68218097 2.73428562] [-0.19265268 -0.68032169 0.70714026 4.79194573] [ 0. 0. 0. 1. ]] SLAMing on 220.699072329 meters Centerline goodness : 0.087096 Centerline is valid? [False, False] Translation: X:55.26, Y:2.73, Z:4.81 [[ 0.97973242 -0.08500604 0.18137905 55.2610661 ] [-0.06316444 0.72818593 0.68246282 2.73008194] [-0.19009113 -0.68008766 0.708058 4.80581342] [ 0. 0. 0. 1. ]] SLAMing on 220.729072329 meters Centerline goodness : 0.424244 Centerline is valid? [False, False] Translation: X:55.24, Y:2.73, Z:4.82 [[ 0.98061636 -0.08635404 0.17588215 55.24035193] [-0.05823564 0.7286293 0.68242798 2.72894515] [-0.1870833 -0.67944266 0.70947693 4.81581564] [ 0. 0. 0. 1. ]] SLAMing on 220.759072329 meters Centerline goodness : 0.406408 Centerline is valid? [False, False] Translation: X:55.22, Y:2.72, Z:4.83 [[ 9.81406553e-01 -8.71052814e-02 1.71037559e-01 5.52180184e+01] [-5.44894903e-02 7.27998139e-01 6.83410276e-01 2.72419898e+00] [-1.84043669e-01 -6.80023073e-01 7.09715822e-01 4.82933447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.789072329 meters Centerline goodness : 0.408551 Centerline is valid? [False, False] Translation: X:55.20, Y:2.72, Z:4.84 [[ 9.82359797e-01 -8.79482953e-02 1.65028260e-01 5.51979071e+01] [-4.97968936e-02 7.27605115e-01 6.84186427e-01 2.72227066e+00] [-1.80248436e-01 -6.80335134e-01 7.10390461e-01 4.83946520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.819072329 meters Centerline goodness : 0.409620 Centerline is valid? [False, False] Translation: X:55.18, Y:2.72, Z:4.85 [[ 9.83110684e-01 -8.92508522e-02 1.59773803e-01 5.51769357e+01] [-4.53129442e-02 7.27133380e-01 6.84999113e-01 2.72027955e+00] [-1.77313620e-01 -6.80669768e-01 7.10808376e-01 4.84985927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.849072329 meters Centerline goodness : 0.407706 Centerline is valid? [False, False] Translation: X:55.16, Y:2.72, Z:4.86 [[ 9.83844658e-01 -9.06836081e-02 1.54357287e-01 5.51558325e+01] [-4.05136978e-02 7.27065545e-01 6.85371675e-01 2.71817298e+00] [-1.74379841e-01 -6.80552846e-01 7.11645625e-01 4.86010947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.879072329 meters Centerline goodness : 0.410009 Centerline is valid? [False, False] Translation: X:55.13, Y:2.71, Z:4.87 [[ 9.84350673e-01 -9.23417656e-02 1.50089144e-01 5.51330701e+01] [-3.64373207e-02 7.26650177e-01 6.86040700e-01 2.71250667e+00] [-1.72412513e-01 -6.80773470e-01 7.11913904e-01 4.87427250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.909072329 meters Centerline goodness : 0.410492 Centerline is valid? [False, False] Translation: X:55.11, Y:2.71, Z:4.89 [[ 9.84945793e-01 -9.42382994e-02 1.44916970e-01 5.51116401e+01] [-3.14457165e-02 7.26666803e-01 6.86270008e-01 2.71014767e+00] [-1.69979270e-01 -6.80495775e-01 7.12764020e-01 4.88538198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.939072329 meters Centerline goodness : 0.408174 Centerline is valid? [False, False] Translation: X:55.09, Y:2.71, Z:4.90 [[ 9.85476259e-01 -9.63478460e-02 1.39834315e-01 5.50900869e+01] [-2.63246313e-02 7.26826998e-01 6.86315910e-01 2.70788973e+00] [-1.67760415e-01 -6.80029122e-01 7.13734430e-01 4.89621349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.969072329 meters Centerline goodness : 0.408984 Centerline is valid? [False, False] Translation: X:55.07, Y:2.70, Z:4.91 [[ 9.85864215e-01 -9.85945463e-02 1.35465366e-01 5.50672720e+01] [-2.17265409e-02 7.26468413e-01 6.86856318e-01 2.70180561e+00] [-1.66131597e-01 -6.80090259e-01 7.14057093e-01 4.91102870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.999072329 meters Centerline goodness : 0.409750 Centerline is valid? [False, False] Translation: X:55.05, Y:2.70, Z:4.92 [[ 9.86302353e-01 -1.01006303e-01 1.30404733e-01 5.50460186e+01] [-1.64709036e-02 7.26322687e-01 6.87156505e-01 2.69911392e+00] [-1.64123054e-01 -6.79891962e-01 7.14710111e-01 4.92208163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.029072329 meters Centerline goodness : 0.409057 Centerline is valid? [False, False] Translation: X:55.02, Y:2.70, Z:4.93 [[ 9.86672392e-01 -1.03622969e-01 1.25458644e-01 5.50244446e+01] [-1.11149294e-02 7.26291794e-01 6.87296652e-01 2.69639401e+00] [-1.62339303e-01 -6.79531096e-01 7.15460300e-01 4.93318565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.059072329 meters Centerline goodness : 0.408360 Centerline is valid? [False, False] Translation: X:55.00, Y:2.69, Z:4.95 [[ 9.86922426e-01 -1.06421062e-01 1.21073043e-01 5.50021320e+01] [-6.11329767e-03 7.25841846e-01 6.87834458e-01 2.68924243e+00] [-1.61079954e-01 -6.79579408e-01 7.15699012e-01 4.94815712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.089072329 meters Centerline goodness : 0.408475 Centerline is valid? [False, False] Translation: X:54.98, Y:2.69, Z:4.96 [[ 9.87226558e-01 -1.09188748e-01 1.16023881e-01 5.49810159e+01] [-5.97585340e-04 7.25689124e-01 6.88022484e-01 2.68571199e+00] [-1.59321583e-01 -6.79303402e-01 7.16354326e-01 4.95921176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.119072329 meters Centerline goodness : 0.407289 Centerline is valid? [False, False] Translation: X:54.96, Y:2.68, Z:4.97 [[ 9.87488999e-01 -1.11989059e-01 1.11013184e-01 5.49596405e+01] [ 4.92780252e-03 7.25577997e-01 6.88122291e-01 2.68220413e+00] [-1.57610892e-01 -6.78966141e-01 7.17052150e-01 4.97023464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.149072329 meters Centerline goodness : 0.408147 Centerline is valid? [False, False] Translation: X:54.94, Y:2.67, Z:4.99 [[ 9.87605104e-01 -1.15379324e-01 1.06413202e-01 5.49378940e+01] [ 1.05249120e-02 7.25122504e-01 6.88539454e-01 2.67464039e+00] [-1.56605824e-01 -6.78885090e-01 7.17349043e-01 4.98512921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.179072329 meters Centerline goodness : 0.408733 Centerline is valid? [False, False] Translation: X:54.92, Y:2.67, Z:5.00 [[ 9.87735821e-01 -1.18589176e-01 1.01560596e-01 5.49164333e+01] [ 1.62305277e-02 7.24931893e-01 6.88629306e-01 2.67125947e+00] [-1.55288497e-01 -6.78535451e-01 7.17965964e-01 4.99602786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.209072329 meters Centerline goodness : 0.408823 Centerline is valid? [False, False] Translation: X:54.90, Y:2.67, Z:5.01 [[ 9.87829767e-01 -1.21882617e-01 9.66280495e-02 5.48952096e+01] [ 2.20109419e-02 7.24537668e-01 6.88883653e-01 2.66768349e+00] [-1.53973604e-01 -6.78372903e-01 7.18402626e-01 5.00715879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.239072329 meters Centerline goodness : 0.408296 Centerline is valid? [False, False] Translation: X:54.87, Y:2.66, Z:5.02 [[ 9.87727847e-01 -1.26061617e-01 9.22072120e-02 5.48733747e+01] [ 2.80572300e-02 7.23982922e-01 6.89247068e-01 2.66090394e+00] [-1.53644047e-01 -6.78201443e-01 7.18635032e-01 5.02192154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.269072329 meters Centerline goodness : 0.408383 Centerline is valid? [False, False] Translation: X:54.85, Y:2.66, Z:5.03 [[ 9.87676384e-01 -1.29681828e-01 8.76241106e-02 5.48515574e+01] [ 3.38926946e-02 7.23799201e-01 6.89177773e-01 2.65742627e+00] [-1.52796094e-01 -6.77714793e-01 7.19274644e-01 5.03281271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.299072329 meters Centerline goodness : 0.406560 Centerline is valid? [False, False] Translation: X:54.83, Y:2.65, Z:5.04 [[ 9.87558272e-01 -1.33431857e-01 8.32141729e-02 5.48294620e+01] [ 3.97274356e-02 7.23702781e-01 6.88967354e-01 2.65391808e+00] [-1.52152522e-01 -6.77089524e-01 7.19999574e-01 5.04354273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.329072329 meters Centerline goodness : 0.407394 Centerline is valid? [False, False] Translation: X:54.81, Y:2.65, Z:5.05 [[ 9.87394054e-01 -1.37246991e-01 7.88431655e-02 5.48075982e+01] [ 4.55814395e-02 7.23578280e-01 6.88735657e-01 2.65018541e+00] [-1.51576099e-01 -6.76459707e-01 7.20712807e-01 5.05415674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.359072329 meters Centerline goodness : 0.407157 Centerline is valid? [False, False] Translation: X:54.79, Y:2.64, Z:5.07 [[ 9.86984949e-01 -1.42536795e-01 7.44578512e-02 5.47855424e+01] [ 5.26298468e-02 7.23816830e-01 6.87982046e-01 2.64347999e+00] [-1.51956602e-01 -6.75109220e-01 7.21898007e-01 5.06853413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.38907232900002 meters Centerline goodness : 0.404846 Centerline is valid? [False, False] Translation: X:54.76, Y:2.64, Z:5.08 [[ 0.98676469 -0.14628578 0.06997088 54.76417488] [ 0.05846839 0.72343552 0.68791169 2.63929648] [-0.15125112 -0.67471588 0.72241372 5.0791431 ] [ 0. 0. 0. 1. ]] SLAMing on 221.41907232900002 meters Centerline goodness : 0.405824 Centerline is valid? [False, False] Translation: X:54.74, Y:2.64, Z:5.09 [[ 0.98648464 -0.15014682 0.06560475 54.74243813] [ 0.0642974 0.72299285 0.68785695 2.63506057] [-0.1507113 -0.67434211 0.72287539 5.08974675] [ 0. 0. 0. 1. ]] SLAMing on 221.449072329 meters Centerline goodness : 0.404549 Centerline is valid? [False, False] Translation: X:54.72, Y:2.63, Z:5.10 [[ 0.98616038 -0.15405741 0.06127007 54.72062667] [ 0.07012531 0.72245515 0.68785245 2.63076156] [-0.15023364 -0.67403625 0.72325997 5.10029018] [ 0. 0. 0. 1. ]] SLAMing on 221.479072329 meters Centerline goodness : 0.405357 Centerline is valid? [False, False] Translation: X:54.70, Y:2.62, Z:5.11 [[ 0.98559195 -0.15926291 0.0569547 54.70000501] [ 0.07681077 0.72144858 0.68819478 2.62300429] [-0.15069379 -0.6739045 0.72328702 5.11473208] [ 0. 0. 0. 1. ]] SLAMing on 221.509072329 meters Centerline goodness : 0.403807 Centerline is valid? [False, False] Translation: X:54.68, Y:2.62, Z:5.13 [[ 9.85134156e-01 -1.63454983e-01 5.28503851e-02 5.46781886e+01] [ 8.26811260e-02 7.20822740e-01 6.88170334e-01 2.61841349e+00] [-1.50580629e-01 -6.73570372e-01 7.23621744e-01 5.12527146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.539072329 meters Centerline goodness : 0.403344 Centerline is valid? [False, False] Translation: X:54.66, Y:2.61, Z:5.14 [[ 9.84636464e-01 -1.67658658e-01 4.88017259e-02 5.46562793e+01] [ 8.85420113e-02 7.20264295e-01 6.88025914e-01 2.61369980e+00] [-1.50503642e-01 -6.73134400e-01 7.24043323e-01 5.13566765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.569072329 meters Centerline goodness : 0.402177 Centerline is valid? [False, False] Translation: X:54.64, Y:2.61, Z:5.15 [[ 9.83815370e-01 -1.73516694e-01 4.47132542e-02 5.46351802e+01] [ 9.56905055e-02 7.19742247e-01 6.87615027e-01 2.60586073e+00] [-1.51494705e-01 -6.72207598e-01 7.24697385e-01 5.14967994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.599072329 meters Centerline goodness : 0.402140 Centerline is valid? [False, False] Translation: X:54.61, Y:2.60, Z:5.16 [[ 9.83261917e-01 -1.77666424e-01 4.03812384e-02 5.46133086e+01] [ 1.01702760e-01 7.19097990e-01 6.87426090e-01 2.60092776e+00] [-1.51170602e-01 -6.71813012e-01 7.25130834e-01 5.16030067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.629072329 meters Centerline goodness : 0.400709 Centerline is valid? [False, False] Translation: X:54.59, Y:2.60, Z:5.17 [[ 9.82642698e-01 -1.81939179e-01 3.62141275e-02 5.45915656e+01] [ 1.07693610e-01 7.18432549e-01 6.87209399e-01 2.59595645e+00] [-1.51047722e-01 -6.71381268e-01 7.25556186e-01 5.17070718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.659072329 meters Centerline goodness : 0.400957 Centerline is valid? [False, False] Translation: X:54.57, Y:2.59, Z:5.18 [[ 9.81632863e-01 -1.88044164e-01 3.21918342e-02 5.45705759e+01] [ 1.14970187e-01 7.17738054e-01 6.86756100e-01 2.58787762e+00] [-1.52245781e-01 -6.70441256e-01 7.26174734e-01 5.18478354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.689072329 meters Centerline goodness : 0.400352 Centerline is valid? [False, False] Translation: X:54.55, Y:2.58, Z:5.20 [[ 9.80869819e-01 -1.92575782e-01 2.84423379e-02 5.45485341e+01] [ 1.20868138e-01 7.17023144e-01 6.86490134e-01 2.58267800e+00] [-1.52595189e-01 -6.69919681e-01 7.26582638e-01 5.19515924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.719072329 meters Centerline goodness : 0.401076 Centerline is valid? [False, False] Translation: X:54.53, Y:2.58, Z:5.21 [[ 9.80104669e-01 -1.96978009e-01 2.43823964e-02 5.45272745e+01] [ 1.26834848e-01 7.16059517e-01 6.86419470e-01 2.57738297e+00] [-1.52668788e-01 -6.69670390e-01 7.26796952e-01 5.20575471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.749072329 meters Centerline goodness : 0.400122 Centerline is valid? [False, False] Translation: X:54.51, Y:2.57, Z:5.22 [[ 9.78784017e-01 -2.03811861e-01 2.10374516e-02 5.45059119e+01] [ 1.34257181e-01 7.15519842e-01 6.85570103e-01 2.56924809e+00] [-1.54780033e-01 -6.68200630e-01 7.27702590e-01 5.21895055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.779072329 meters Centerline goodness : 0.398480 Centerline is valid? [False, False] Translation: X:54.48, Y:2.56, Z:5.23 [[ 9.77958710e-01 -2.08120022e-01 1.68171933e-02 5.44844507e+01] [ 1.40257165e-01 7.14460163e-01 6.85473999e-01 2.56375489e+00] [-1.54676079e-01 -6.68006536e-01 7.27902864e-01 5.22949082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.809072329 meters Centerline goodness : 0.396580 Centerline is valid? [False, False] Translation: X:54.44, Y:2.55, Z:5.24 [[ 9.74317110e-01 -2.24690115e-01 1.48499934e-02 5.44375527e+01] [ 1.53117749e-01 7.09426946e-01 6.87945029e-01 2.54829419e+00] [-1.65109433e-01 -6.68002814e-01 7.25610856e-01 5.24277269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.839072329 meters Centerline goodness : 0.397044 Centerline is valid? [False, False] Translation: X:54.42, Y:2.54, Z:5.25 [[ 9.73287727e-01 -2.29331250e-01 1.08710094e-02 5.44160736e+01] [ 1.59259488e-01 7.08491666e-01 6.87514345e-01 2.54286179e+00] [-1.65370544e-01 -6.67417963e-01 7.26089420e-01 5.25285378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.869072329 meters Centerline goodness : 0.397761 Centerline is valid? [False, False] Translation: X:54.39, Y:2.54, Z:5.26 [[ 9.72226246e-01 -2.33944826e-01 6.77831165e-03 5.43947553e+01] [ 1.65451049e-01 7.07487898e-01 6.87085748e-01 2.53739829e+00] [-1.65535729e-01 -6.66881319e-01 7.26544719e-01 5.26326562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.899072329 meters Centerline goodness : 0.397093 Centerline is valid? [False, False] Translation: X:54.37, Y:2.53, Z:5.27 [[ 9.71083345e-01 -2.38721510e-01 3.02945707e-03 5.43735543e+01] [ 1.71497801e-01 7.06342852e-01 6.86781100e-01 2.53167541e+00] [-1.66089257e-01 -6.66402143e-01 7.26857994e-01 5.27361704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.929072329 meters Centerline goodness : 0.396466 Centerline is valid? [False, False] Translation: X:54.35, Y:2.52, Z:5.29 [[ 9.69050284e-01 -2.46862552e-01 6.53088544e-04 5.43514509e+01] [ 1.79323793e-01 7.05742514e-01 6.85398046e-01 2.52271465e+00] [-1.69660023e-01 -6.64068057e-01 7.28168313e-01 5.28649363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.959072329 meters Centerline goodness : 0.396677 Centerline is valid? [False, False] Translation: X:54.33, Y:2.51, Z:5.30 [[ 9.67790301e-01 -2.51747023e-01 -2.31735556e-03 5.43276516e+01] [ 1.84722463e-01 7.03813782e-01 6.85947354e-01 2.51259778e+00] [-1.71054217e-01 -6.64281263e-01 7.27647482e-01 5.29800741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.989072329 meters Centerline goodness : 0.396076 Centerline is valid? [False, False] Translation: X:54.31, Y:2.51, Z:5.31 [[ 9.66546895e-01 -2.56425967e-01 -5.72910391e-03 5.43057573e+01] [ 1.90535789e-01 7.02875427e-01 6.85319084e-01 2.50624967e+00] [-1.71706762e-01 -6.63484632e-01 7.28220386e-01 5.30808027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.019072329 meters Centerline goodness : 0.397472 Centerline is valid? [False, False] Translation: X:54.28, Y:2.50, Z:5.32 [[ 9.65307576e-01 -2.60951701e-01 -9.24622412e-03 5.42839937e+01] [ 1.96330373e-01 7.02005242e-01 6.84575069e-01 2.49991829e+00] [-1.72150131e-01 -6.62640816e-01 7.28883723e-01 5.31817580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.049072329 meters Centerline goodness : 0.399266 Centerline is valid? [False, False] Translation: X:54.26, Y:2.49, Z:5.33 [[ 9.62879949e-01 -2.69672898e-01 -1.17784775e-02 5.42633158e+01] [ 2.04787226e-01 7.01382900e-01 6.82732905e-01 2.48976599e+00] [-1.75853338e-01 -6.59801906e-01 7.30573096e-01 5.32997213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.079072329 meters Centerline goodness : 0.396838 Centerline is valid? [False, False] Translation: X:54.26, Y:2.49, Z:5.33 [[ 9.61809373e-01 -2.73510718e-01 -1.07059790e-02 5.42631986e+01] [ 2.07308351e-01 7.02351341e-01 6.80974185e-01 2.48623669e+00] [-1.78734380e-01 -6.57186793e-01 7.32229159e-01 5.33206170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.109072329 meters Centerline goodness : 0.397973 Centerline is valid? [False, False] Translation: X:54.24, Y:2.48, Z:5.34 [[ 9.60412967e-01 -2.78234511e-01 -1.38740727e-02 5.42420191e+01] [ 2.13181600e-01 7.01977317e-01 6.79545033e-01 2.48117038e+00] [-1.79333596e-01 -6.55601558e-01 7.33502596e-01 5.34184559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.13907232900002 meters Centerline goodness : 0.396652 Centerline is valid? [False, False] Translation: X:54.22, Y:2.47, Z:5.35 [[ 9.57578722e-01 -2.87745995e-01 -1.56599170e-02 5.42215054e+01] [ 2.21785779e-01 7.01195698e-01 6.77595500e-01 2.47342309e+00] [-1.83994725e-01 -6.52324180e-01 7.35268050e-01 5.35305041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.16907232900002 meters Centerline goodness : 0.396652 Centerline is valid? [False, False] Translation: X:54.22, Y:2.48, Z:5.35 [[ 9.57140147e-01 -2.89271489e-01 -1.43089052e-02 5.42199573e+01] [ 2.22738059e-01 7.03617073e-01 6.74767199e-01 2.47558833e+00] [-1.85122922e-01 -6.49033913e-01 7.37891918e-01 5.35428626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.199072329 meters Centerline goodness : 0.396896 Centerline is valid? [False, False] Translation: X:54.22, Y:2.47, Z:5.36 [[ 9.55973573e-01 -2.93159552e-01 -1.31150633e-02 5.42194076e+01] [ 2.25323381e-01 7.04664800e-01 6.72812673e-01 2.47288057e+00] [-1.87999738e-01 -6.46146266e-01 7.39696628e-01 5.35649064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.229072329 meters Centerline goodness : 0.397457 Centerline is valid? [False, False] Translation: X:54.22, Y:2.47, Z:5.36 [[ 9.54770084e-01 -2.97107441e-01 -1.18850971e-02 5.42188050e+01] [ 2.27966711e-01 7.05749693e-01 6.70782043e-01 2.47038996e+00] [-1.90906433e-01 -6.43152034e-01 7.41559300e-01 5.35853961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.259072329 meters Centerline goodness : 0.396195 Centerline is valid? [False, False] Translation: X:54.20, Y:2.46, Z:5.37 [[ 9.51775686e-01 -3.06495181e-01 -1.35553696e-02 5.41983039e+01] [ 2.36697050e-01 7.05482733e-01 6.68033397e-01 2.46288322e+00] [-1.95185938e-01 -6.39026461e-01 7.44007817e-01 5.36925353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.289072329 meters Centerline goodness : 0.397005 Centerline is valid? [False, False] Translation: X:54.18, Y:2.46, Z:5.38 [[ 9.50189777e-01 -3.11235250e-01 -1.64926525e-02 5.41774638e+01] [ 2.42631525e-01 7.05456954e-01 6.65928246e-01 2.45801524e+00] [-1.95625488e-01 -6.36759848e-01 7.45833469e-01 5.37804182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.319072329 meters Centerline goodness : 0.398040 Centerline is valid? [False, False] Translation: X:54.18, Y:2.46, Z:5.38 [[ 9.48897732e-01 -3.15214472e-01 -1.52620796e-02 5.41771665e+01] [ 2.45351292e-01 7.06442960e-01 6.63883339e-01 2.45555501e+00] [-1.98483847e-01 -6.33701966e-01 7.47680400e-01 5.37952048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.349072329 meters Centerline goodness : 0.396581 Centerline is valid? [False, False] Translation: X:54.18, Y:2.45, Z:5.38 [[ 9.47581323e-01 -3.19208244e-01 -1.39904908e-02 5.41767544e+01] [ 2.48082903e-01 7.07437018e-01 6.61806421e-01 2.45323092e+00] [-2.01356674e-01 -6.30586205e-01 7.49544213e-01 5.38091492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.379072329 meters Centerline goodness : 0.396707 Centerline is valid? [False, False] Translation: X:54.17, Y:2.45, Z:5.38 [[ 9.44931147e-01 -3.27070905e-01 -1.13908021e-02 5.41748458e+01] [ 2.53438514e-01 7.09293697e-01 6.57777600e-01 2.44911471e+00] [-2.07060491e-01 -6.24441410e-01 7.53126071e-01 5.38457498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.409072329 meters Centerline goodness : 0.397261 Centerline is valid? [False, False] Translation: X:54.17, Y:2.45, Z:5.39 [[ 9.43522181e-01 -3.31157648e-01 -1.00252617e-02 5.41741455e+01] [ 2.56298159e-01 7.10391665e-01 6.55480691e-01 2.44750944e+00] [-2.09945582e-01 -6.21030027e-01 7.55145389e-01 5.38578078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.439072329 meters Centerline goodness : 0.398781 Centerline is valid? [False, False] Translation: X:54.17, Y:2.45, Z:5.39 [[ 9.42109536e-01 -3.35193172e-01 -8.66949402e-03 5.41734110e+01] [ 2.59144401e-01 7.11469126e-01 6.53188994e-01 2.44593572e+00] [-2.12776414e-01 -6.17622231e-01 7.57145282e-01 5.38719966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.469072329 meters Centerline goodness : 0.396854 Centerline is valid? [False, False] Translation: X:54.17, Y:2.44, Z:5.39 [[ 9.39267260e-01 -3.43136209e-01 -5.87853281e-03 5.41717323e+01] [ 2.64704742e-01 7.13462095e-01 6.48770560e-01 2.44256443e+00] [-2.18422560e-01 -6.10925021e-01 7.60961368e-01 5.38986907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.499072329 meters Centerline goodness : 0.398057 Centerline is valid? [False, False] Translation: X:54.17, Y:2.44, Z:5.39 [[ 9.37791994e-01 -3.47168486e-01 -4.49642396e-03 5.41710940e+01] [ 2.67617882e-01 7.14533330e-01 6.46392134e-01 2.44130580e+00] [-2.21194133e-01 -6.07384692e-01 7.62992131e-01 5.39073359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.529072329 meters Centerline goodness : 0.397182 Centerline is valid? [False, False] Translation: X:54.17, Y:2.44, Z:5.39 [[ 9.34806264e-01 -3.55154393e-01 -1.61413186e-03 5.41683409e+01] [ 2.73286802e-01 7.16404058e-01 6.41934225e-01 2.43914635e+00] [-2.26829389e-01 -6.00525256e-01 7.66758010e-01 5.39305695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.559072329 meters Centerline goodness : 0.396772 Centerline is valid? [False, False] Translation: X:54.17, Y:2.44, Z:5.39 [[ 9.33226138e-01 -3.59289532e-01 -9.01081621e-05 5.41671845e+01] [ 2.76330928e-01 7.17587393e-01 6.39303958e-01 2.43876171e+00] [-2.29630559e-01 -5.96640064e-01 7.68954121e-01 5.39370797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.589072329 meters Centerline goodness : 0.396558 Centerline is valid? [False, False] Translation: X:54.17, Y:2.44, Z:5.39 [[ 9.31619087e-01 -3.63433221e-01 1.47327474e-03 5.41660352e+01] [ 2.79383004e-01 7.18746975e-01 6.36669399e-01 2.43833650e+00] [-2.32445722e-01 -5.92721756e-01 7.71135465e-01 5.39426323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.619072329 meters Centerline goodness : 0.396680 Centerline is valid? [False, False] Translation: X:54.16, Y:2.43, Z:5.40 [[ 9.29175506e-01 -3.69625214e-01 3.17486084e-03 5.41629488e+01] [ 2.83449621e-01 7.18004944e-01 6.35708434e-01 2.43333784e+00] [-2.37253432e-01 -5.89784793e-01 7.71922734e-01 5.39625059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.649072329 meters Centerline goodness : 0.398928 Centerline is valid? [False, False] Translation: X:54.16, Y:2.43, Z:5.40 [[ 9.27515903e-01 -3.73753563e-01 4.74595311e-03 5.41620932e+01] [ 2.86534239e-01 7.19109113e-01 6.33072044e-01 2.43274863e+00] [-2.40025790e-01 -5.85824511e-01 7.74078331e-01 5.39661846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.679072329 meters Centerline goodness : 0.398973 Centerline is valid? [False, False] Translation: X:54.16, Y:2.43, Z:5.40 [[ 9.25790422e-01 -3.77982434e-01 6.43230260e-03 5.41609575e+01] [ 2.89682519e-01 7.20244727e-01 6.30342424e-01 2.43241069e+00] [-2.42891196e-01 -5.81701653e-01 7.76290573e-01 5.39674096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.709072329 meters Centerline goodness : 0.397574 Centerline is valid? [False, False] Translation: X:54.16, Y:2.43, Z:5.40 [[ 9.24018944e-01 -3.82259703e-01 8.15540197e-03 5.41597434e+01] [ 2.92877668e-01 7.21349426e-01 6.27596747e-01 2.43215721e+00] [-2.45787841e-01 -5.77522749e-01 7.78495865e-01 5.39666985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.739072329 meters Centerline goodness : 0.400402 Centerline is valid? [False, False] Translation: X:54.16, Y:2.43, Z:5.40 [[ 9.20398358e-01 -3.90806923e-01 1.16966556e-02 5.41556065e+01] [ 2.99185587e-01 7.23247432e-01 6.22415565e-01 2.43202058e+00] [-2.51703888e-01 -5.69370793e-01 7.82599548e-01 5.39753438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.769072329 meters Centerline goodness : 0.398969 Centerline is valid? [False, False] Translation: X:54.15, Y:2.43, Z:5.40 [[ 9.18513766e-01 -3.95155716e-01 1.35802011e-02 5.41534231e+01] [ 3.02428648e-01 7.24271117e-01 6.19651726e-01 2.43225803e+00] [-2.54694669e-01 -5.65051599e-01 7.84759400e-01 5.39777220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.799072329 meters Centerline goodness : 0.398391 Centerline is valid? [False, False] Translation: X:54.15, Y:2.43, Z:5.40 [[ 9.16619706e-01 -3.99461758e-01 1.54472825e-02 5.41514781e+01] [ 3.05719830e-01 7.25365861e-01 6.16749344e-01 2.43279938e+00] [-2.57572709e-01 -5.60602062e-01 7.87008023e-01 5.39778765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.829072329 meters Centerline goodness : 0.398520 Centerline is valid? [False, False] Translation: X:54.15, Y:2.43, Z:5.40 [[ 9.14656602e-01 -4.03857277e-01 1.73954145e-02 5.41494614e+01] [ 3.09042241e-01 7.26362579e-01 6.13913917e-01 2.43308463e+00] [-2.60568981e-01 -5.56144499e-01 7.89181286e-01 5.39753732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.859072329 meters Centerline goodness : 0.400170 Centerline is valid? [False, False] Translation: X:54.14, Y:2.43, Z:5.40 [[ 9.11369623e-01 -4.11113585e-01 1.97744912e-02 5.41439191e+01] [ 3.13910455e-01 7.25354270e-01 6.12634809e-01 2.42967633e+00] [-2.66206004e-01 -5.52129335e-01 7.90118700e-01 5.39779328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.88907232900002 meters Centerline goodness : 0.399511 Centerline is valid? [False, False] Translation: X:54.14, Y:2.43, Z:5.40 [[ 9.09282738e-01 -4.15607029e-01 2.18105630e-02 5.41418517e+01] [ 3.17336768e-01 7.26282526e-01 6.09763125e-01 2.42999508e+00] [-2.69262471e-01 -5.47525790e-01 7.92283555e-01 5.39726391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.91907232900002 meters Centerline goodness : 0.397864 Centerline is valid? [False, False] Translation: X:54.14, Y:2.43, Z:5.40 [[ 9.07150537e-01 -4.20126696e-01 2.39052650e-02 5.41395906e+01] [ 3.20759940e-01 7.27130580e-01 6.06954843e-01 2.43013109e+00] [-2.72380182e-01 -5.42931561e-01 7.94376710e-01 5.39679985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.949072329 meters Centerline goodness : 0.398938 Centerline is valid? [False, False] Translation: X:54.13, Y:2.43, Z:5.40 [[ 9.03436940e-01 -4.27910112e-01 2.63558687e-02 5.41337079e+01] [ 3.26066243e-01 7.25728992e-01 6.05803793e-01 2.42657310e+00] [-2.78356787e-01 -5.38711766e-01 7.95177422e-01 5.39600635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.979072329 meters Centerline goodness : 0.399865 Centerline is valid? [False, False] Translation: X:54.13, Y:2.43, Z:5.40 [[ 9.01143648e-01 -4.32575711e-01 2.86073406e-02 5.41309951e+01] [ 3.29669041e-01 7.26630456e-01 6.02765713e-01 2.42747205e+00] [-2.81528772e-01 -5.33747538e-01 7.97405239e-01 5.39515319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.009072329 meters Centerline goodness : 0.399961 Centerline is valid? [False, False] Translation: X:54.13, Y:2.43, Z:5.39 [[ 8.98799072e-01 -4.37270537e-01 3.08983112e-02 5.41280357e+01] [ 3.33331982e-01 7.27528876e-01 5.99659506e-01 2.42862676e+00] [-2.84692848e-01 -5.28674013e-01 7.99658534e-01 5.39445933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.039072329 meters Centerline goodness : 0.398196 Centerline is valid? [False, False] Translation: X:54.12, Y:2.43, Z:5.39 [[ 8.94710967e-01 -4.45363939e-01 3.38119443e-02 5.41200613e+01] [ 3.39009485e-01 7.26435676e-01 5.97799112e-01 2.42782893e+00] [-2.90800370e-01 -5.23394852e-01 8.00932565e-01 5.39346106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.069072329 meters Centerline goodness : 0.396606 Centerline is valid? [False, False] Translation: X:54.12, Y:2.43, Z:5.39 [[ 8.92245995e-01 -4.50083067e-01 3.63636704e-02 5.41162780e+01] [ 3.42711099e-01 7.27421498e-01 5.94480501e-01 2.42981160e+00] [-2.94017323e-01 -5.17960613e-01 8.03287381e-01 5.39266768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.099072329 meters Centerline goodness : 0.397545 Centerline is valid? [False, False] Translation: X:54.11, Y:2.43, Z:5.39 [[ 8.89754599e-01 -4.54777032e-01 3.89179170e-02 5.41127785e+01] [ 3.46448390e-01 7.28398198e-01 5.91108771e-01 2.43181563e+00] [-2.97170433e-01 -5.12458698e-01 8.05652417e-01 5.39143412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.129072329 meters Centerline goodness : 0.397168 Centerline is valid? [False, False] Translation: X:54.10, Y:2.43, Z:5.39 [[ 8.85398776e-01 -4.62907207e-01 4.22601980e-02 5.41036025e+01] [ 3.52034118e-01 7.27137073e-01 5.89358682e-01 2.43137289e+00] [-3.03547338e-01 -5.06940425e-01 8.06765405e-01 5.38909555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.159072329 meters Centerline goodness : 0.371203 Centerline is valid? [False, False] Translation: X:54.10, Y:2.43, Z:5.39 [[ 8.83364445e-01 -4.66766460e-01 4.23831308e-02 5.40958107e+01] [ 3.54353795e-01 7.24324004e-01 5.91428884e-01 2.42936292e+00] [-3.06758285e-01 -5.07428624e-01 8.05242538e-01 5.38997755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.189072329 meters Centerline goodness : 0.368624 Centerline is valid? [False, False] Translation: X:54.08, Y:2.43, Z:5.39 [[ 8.77541851e-01 -4.77678147e-01 4.17598734e-02 5.40790165e+01] [ 3.63820200e-01 7.20033375e-01 5.90920300e-01 2.43222802e+00] [-3.12338217e-01 -5.03364208e-01 8.05648380e-01 5.39084203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.219072329 meters Centerline goodness : 0.371873 Centerline is valid? [False, False] Translation: X:54.05, Y:2.43, Z:5.40 [[ 8.75376351e-01 -4.81837375e-01 3.93571867e-02 5.40543080e+01] [ 3.68906385e-01 7.18383021e-01 5.89774460e-01 2.43041449e+00] [-3.12448912e-01 -5.01755497e-01 8.06608392e-01 5.39725416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.249072329 meters Centerline goodness : 0.365461 Centerline is valid? [False, False] Translation: X:54.03, Y:2.43, Z:5.40 [[ 8.72487769e-01 -4.87292868e-01 3.62043278e-02 5.40323213e+01] [ 3.75327840e-01 7.15770066e-01 5.88899163e-01 2.43064502e+00] [-3.12880336e-01 -5.00218825e-01 8.07395208e-01 5.40400516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.279072329 meters Centerline goodness : 0.382152 Centerline is valid? [False, False] Translation: X:54.01, Y:2.43, Z:5.41 [[ 8.69676201e-01 -4.92505281e-01 3.31941881e-02 5.40098649e+01] [ 3.81540105e-01 7.13351249e-01 5.87841087e-01 2.43068534e+00] [-3.13193955e-01 -4.98566489e-01 8.08295121e-01 5.41063215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.309072329 meters Centerline goodness : 0.376703 Centerline is valid? [False, False] Translation: X:53.99, Y:2.44, Z:5.41 [[ 8.63867447e-01 -5.02639497e-01 3.29631547e-02 5.39908619e+01] [ 3.90209098e-01 7.09148535e-01 5.87235229e-01 2.43519050e+00] [-3.18543393e-01 -4.94430875e-01 8.08744840e-01 5.41170424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.339072329 meters Centerline goodness : 0.380554 Centerline is valid? [False, False] Translation: X:53.97, Y:2.43, Z:5.42 [[ 8.62007445e-01 -5.05964422e-01 3.07110300e-02 5.39650169e+01] [ 3.94619856e-01 7.07869301e-01 5.85829516e-01 2.43344178e+00] [-3.18148288e-01 -4.92870222e-01 8.09852215e-01 5.41702945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.369072329 meters Centerline goodness : 0.384386 Centerline is valid? [False, False] Translation: X:53.94, Y:2.43, Z:5.42 [[ 8.60371041e-01 -5.08900504e-01 2.79633628e-02 5.39394459e+01] [ 3.98852452e-01 7.06445990e-01 5.84680070e-01 2.43183681e+00] [-3.17298588e-01 -4.91888544e-01 8.10781886e-01 5.42252251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.399072329 meters Centerline goodness : 0.323998 Centerline is valid? [False, False] Translation: X:53.91, Y:2.43, Z:5.43 [[ 8.58710408e-01 -5.11847929e-01 2.50625598e-02 5.39143132e+01] [ 4.03112609e-01 7.04867687e-01 5.83662375e-01 2.43066449e+00] [-3.16412166e-01 -4.91093922e-01 8.11609574e-01 5.42777454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.429072329 meters Centerline goodness : 0.288515 Centerline is valid? [False, False] Translation: X:53.89, Y:2.43, Z:5.43 [[ 8.55171965e-01 -5.17797703e-01 2.38002087e-02 5.38885947e+01] [ 4.08834209e-01 7.02015347e-01 5.83120093e-01 2.43417629e+00] [-3.18646356e-01 -4.88937616e-01 8.12037258e-01 5.42939037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.459072329 meters Centerline goodness : 0.297373 Centerline is valid? [False, False] Translation: X:53.86, Y:2.43, Z:5.43 [[ 8.53835490e-01 -5.20109183e-01 2.12460390e-02 5.38618296e+01] [ 4.12363631e-01 7.00736629e-01 5.82172151e-01 2.43339066e+00] [-3.17680959e-01 -4.88318150e-01 8.12787914e-01 5.43465082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.489072329 meters Centerline goodness : 0.344422 Centerline is valid? [False, False] Translation: X:53.83, Y:2.43, Z:5.44 [[ 8.52564838e-01 -5.22286730e-01 1.87021015e-02 5.38348288e+01] [ 4.15777217e-01 6.99514139e-01 5.81213623e-01 2.43253514e+00] [-3.16642547e-01 -4.87746391e-01 8.13536081e-01 5.43999246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.519072329 meters Centerline goodness : 0.256359 Centerline is valid? [False, False] Translation: X:53.81, Y:2.44, Z:5.44 [[ 8.50214891e-01 -5.26157901e-01 1.71027151e-02 5.38053688e+01] [ 4.20668442e-01 6.98569858e-01 5.78824858e-01 2.43657028e+00] [-3.16500714e-01 -4.84930941e-01 8.15272520e-01 5.44198766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.549072329 meters Centerline goodness : 0.278183 Centerline is valid? [False, False] Translation: X:53.78, Y:2.44, Z:5.45 [[ 8.49227562e-01 -5.27824790e-01 1.46129368e-02 5.37775709e+01] [ 4.23793579e-01 6.97835958e-01 5.77428765e-01 2.43580598e+00] [-3.14978650e-01 -4.84175554e-01 8.16310286e-01 5.44654159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.579072329 meters Centerline goodness : 0.226882 Centerline is valid? [False, False] Translation: X:53.75, Y:2.44, Z:5.45 [[ 8.48377775e-01 -5.29254448e-01 1.20366221e-02 5.37495591e+01] [ 4.26722847e-01 6.97125581e-01 5.76128056e-01 2.43510544e+00] [-3.13309373e-01 -4.83637936e-01 8.17270814e-01 5.45104721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.609072329 meters Centerline goodness : 0.278282 Centerline is valid? [False, False] Translation: X:53.72, Y:2.44, Z:5.45 [[ 8.46949294e-01 -5.31585679e-01 9.67256399e-03 5.37193779e+01] [ 4.30433066e-01 6.96240076e-01 5.74436360e-01 2.43991879e+00] [-3.12096570e-01 -4.82355079e-01 8.18492095e-01 5.45181233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.63907232900002 meters Centerline goodness : 0.217802 Centerline is valid? [False, False] Translation: X:53.69, Y:2.44, Z:5.46 [[ 8.46463098e-01 -5.32404455e-01 6.76163804e-03 5.36914959e+01] [ 4.32767792e-01 6.95339058e-01 5.73773155e-01 2.43967999e+00] [-3.10181015e-01 -4.82751583e-01 8.18986354e-01 5.45600505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.66907232900002 meters Centerline goodness : 0.260279 Centerline is valid? [False, False] Translation: X:53.66, Y:2.44, Z:5.46 [[ 8.46233679e-01 -5.32799556e-01 3.63226348e-03 5.36634990e+01] [ 4.34835969e-01 6.94547759e-01 5.73167593e-01 2.43952482e+00] [-3.07906220e-01 -4.83454282e-01 8.19430117e-01 5.46032232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.699072329 meters Centerline goodness : 0.260472 Centerline is valid? [False, False] Translation: X:53.64, Y:2.44, Z:5.46 [[ 8.46066293e-01 -5.33077409e-01 5.50956929e-04 5.36353824e+01] [ 4.36792195e-01 6.93840312e-01 5.72536637e-01 2.43946271e+00] [-3.05588623e-01 -4.84163296e-01 8.19878952e-01 5.46423268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.729072329 meters Centerline goodness : 0.231750 Centerline is valid? [False, False] Translation: X:53.60, Y:2.45, Z:5.46 [[ 8.45490202e-01 -5.33986223e-01 -2.24297513e-03 5.36041607e+01] [ 4.39510589e-01 6.93503787e-01 5.70861576e-01 2.44579154e+00] [-3.03276705e-01 -4.83643681e-01 8.21043257e-01 5.46450191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.759072329 meters Centerline goodness : 0.261253 Centerline is valid? [False, False] Translation: X:53.58, Y:2.45, Z:5.47 [[ 8.45473360e-01 -5.33994433e-01 -4.97431288e-03 5.35755477e+01] [ 4.41239040e-01 6.93306204e-01 5.69767161e-01 2.44588237e+00] [-3.00803770e-01 -4.83917817e-01 8.21791116e-01 5.46794785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.789072329 meters Centerline goodness : 0.276240 Centerline is valid? [False, False] Translation: X:53.55, Y:2.45, Z:5.47 [[ 8.45571214e-01 -5.33805526e-01 -7.80911009e-03 5.35468928e+01] [ 4.42833081e-01 6.93146971e-01 5.68723253e-01 2.44606199e+00] [-2.98174755e-01 -4.84354144e-01 8.22491872e-01 5.47137769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.819072329 meters Centerline goodness : 0.210009 Centerline is valid? [False, False] Translation: X:53.51, Y:2.45, Z:5.47 [[ 8.45612537e-01 -5.33688514e-01 -1.07706210e-02 5.35146465e+01] [ 4.44652043e-01 6.93086586e-01 5.67376017e-01 2.45313786e+00] [-2.95337090e-01 -4.84569452e-01 8.23388395e-01 5.47110836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.849072329 meters Centerline goodness : 0.244436 Centerline is valid? [False, False] Translation: X:53.49, Y:2.45, Z:5.47 [[ 8.45928244e-01 -5.33109904e-01 -1.41151082e-02 5.34862845e+01] [ 4.46038177e-01 6.92760454e-01 5.66685891e-01 2.45420987e+00] [-2.92327472e-01 -4.85671478e-01 8.23813004e-01 5.47403605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.879072329 meters Centerline goodness : 0.267650 Centerline is valid? [False, False] Translation: X:53.46, Y:2.46, Z:5.48 [[ 8.46449170e-01 -5.32181259e-01 -1.75188329e-02 5.34577727e+01] [ 4.47085938e-01 6.92463222e-01 5.66223322e-01 2.45526507e+00] [-2.89202293e-01 -4.87111685e-01 8.24065677e-01 5.47702522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.909072329 meters Centerline goodness : 0.274366 Centerline is valid? [False, False] Translation: X:53.43, Y:2.46, Z:5.48 [[ 8.47218463e-01 -5.30840412e-01 -2.07203406e-02 5.34251826e+01] [ 4.47977492e-01 6.92917493e-01 5.64961517e-01 2.46341129e+00] [-2.85546918e-01 -4.87928074e-01 8.24857050e-01 5.47589621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.939072329 meters Centerline goodness : 0.356072 Centerline is valid? [False, False] Translation: X:53.40, Y:2.46, Z:5.48 [[ 8.47864790e-01 -5.29685504e-01 -2.36339610e-02 5.33962753e+01] [ 4.48806532e-01 6.93241445e-01 5.63905130e-01 2.46409234e+00] [-2.82308332e-01 -4.88722381e-01 8.25501327e-01 5.47826550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.969072329 meters Centerline goodness : 0.244539 Centerline is valid? [False, False] Translation: X:53.36, Y:2.47, Z:5.48 [[ 8.48704784e-01 -5.28178178e-01 -2.69815184e-02 5.33638408e+01] [ 4.49875748e-01 6.94180390e-01 5.61894472e-01 2.47277476e+00] [-2.78050357e-01 -4.89020857e-01 8.26768771e-01 5.47644892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.999072329 meters Centerline goodness : 0.368360 Centerline is valid? [False, False] Translation: X:53.33, Y:2.47, Z:5.48 [[ 8.49592060e-01 -5.26569899e-01 -3.02898244e-02 5.33348831e+01] [ 4.50417543e-01 6.94446464e-01 5.61131131e-01 2.47367905e+00] [-2.74440101e-01 -4.90375622e-01 8.27172522e-01 5.47834717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.029072329 meters Centerline goodness : 0.368360 Centerline is valid? [False, False] Translation: X:53.31, Y:2.47, Z:5.48 [[ 8.50423821e-01 -5.25028012e-01 -3.35397026e-02 5.33098534e+01] [ 4.50827804e-01 6.94408696e-01 5.60848334e-01 2.46748975e+00] [-2.71170825e-01 -4.92079414e-01 8.27238922e-01 5.48499382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.059072329 meters Centerline goodness : 0.367859 Centerline is valid? [False, False] Translation: X:53.28, Y:2.47, Z:5.49 [[ 8.51479112e-01 -5.23082772e-01 -3.69829209e-02 5.32807962e+01] [ 4.51125377e-01 6.94739032e-01 5.60199581e-01 2.46839256e+00] [-2.67337271e-01 -4.93682176e-01 8.27531687e-01 5.48652525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.089072329 meters Centerline goodness : 0.363963 Centerline is valid? [False, False] Translation: X:53.25, Y:2.47, Z:5.49 [[ 8.52496890e-01 -5.21171170e-01 -4.03690983e-02 5.32517273e+01] [ 4.51410273e-01 6.95041359e-01 5.59594741e-01 2.46947021e+00] [-2.63586453e-01 -4.95275802e-01 8.27782617e-01 5.48817643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.119072329 meters Centerline goodness : 0.234411 Centerline is valid? [False, False] Translation: X:53.22, Y:2.48, Z:5.49 [[ 8.53840464e-01 -5.18678691e-01 -4.39189890e-02 5.32189720e+01] [ 4.51646935e-01 6.96254404e-01 5.57893225e-01 2.47855797e+00] [-2.58788538e-01 -4.96187687e-01 8.28749824e-01 5.48568946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.149072329 meters Centerline goodness : 0.203798 Centerline is valid? [False, False] Translation: X:53.19, Y:2.48, Z:5.49 [[ 8.55076358e-01 -5.16373450e-01 -4.69348817e-02 5.31897053e+01] [ 4.51476668e-01 6.96972322e-01 5.57134095e-01 2.47908904e+00] [-2.54976941e-01 -4.97582197e-01 8.29095119e-01 5.48752611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.179072329 meters Centerline goodness : 0.185018 Centerline is valid? [False, False] Translation: X:53.16, Y:2.48, Z:5.49 [[ 8.56376676e-01 -5.13921074e-01 -5.00411617e-02 5.31605525e+01] [ 4.51219688e-01 6.97715133e-01 5.56412066e-01 2.47960869e+00] [-2.51037411e-01 -4.99077873e-01 8.29398273e-01 5.48897340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.209072329 meters Centerline goodness : 0.373139 Centerline is valid? [False, False] Translation: X:53.13, Y:2.49, Z:5.49 [[ 0.85789847 -0.51098496 -0.05389422 53.12748693] [ 0.4511485 0.69890441 0.55497537 2.48839754] [-0.24591716 -0.50042681 0.83011912 5.48631266] [ 0. 0. 0. 1. ]] SLAMing on 224.239072329 meters Centerline goodness : 0.167016 Centerline is valid? [False, False] Translation: X:53.10, Y:2.49, Z:5.49 [[ 0.85932117 -0.50819415 -0.05749638 53.09842364] [ 0.45082241 0.69958787 0.55437891 2.48932124] [-0.24150835 -0.50231019 0.83027597 5.4875198 ] [ 0. 0. 0. 1. ]] SLAMing on 224.269072329 meters Centerline goodness : 0.396406 Centerline is valid? [False, False] Translation: X:53.07, Y:2.50, Z:5.48 [[ 0.86096684 -0.50492318 -0.06155229 53.06577461] [ 0.45062546 0.70099819 0.55275513 2.49871929] [-0.23595084 -0.50364087 0.83106743 5.48435535] [ 0. 0. 0. 1. ]] SLAMing on 224.299072329 meters Centerline goodness : 0.171444 Centerline is valid? [False, False] Translation: X:53.04, Y:2.50, Z:5.49 [[ 0.86260029 -0.50173098 -0.06470516 53.03665797] [ 0.44981805 0.70217084 0.55192377 2.49936009] [-0.23148318 -0.50519515 0.83138042 5.4854348 ] [ 0. 0. 0. 1. ]] SLAMing on 224.329072329 meters Centerline goodness : 0.168486 Centerline is valid? [False, False] Translation: X:53.01, Y:2.50, Z:5.49 [[ 0.86430974 -0.49837206 -0.06777874 53.0073092 ] [ 0.44884085 0.70346339 0.55107273 2.49978405] [-0.22695939 -0.5067194 0.8317 5.48671953] [ 0. 0. 0. 1. ]] SLAMing on 224.359072329 meters Centerline goodness : 0.182199 Centerline is valid? [False, False] Translation: X:52.98, Y:2.50, Z:5.49 [[ 0.8659899 -0.4950227 -0.07080976 52.97816727] [ 0.44783066 0.70471663 0.5502928 2.50014583] [-0.22250661 -0.50825879 0.83196383 5.48791972] [ 0. 0. 0. 1. ]] SLAMing on 224.38907232900002 meters Centerline goodness : 0.402401 Centerline is valid? [False, False] Translation: X:52.94, Y:2.51, Z:5.48 [[ 0.86796732 -0.49105376 -0.0741548 52.9442786 ] [ 0.44666136 0.70662729 0.54879095 2.50871366] [-0.21708605 -0.50945469 0.83266413 5.48470244] [ 0. 0. 0. 1. ]] SLAMing on 224.41907232900002 meters Centerline goodness : 0.218277 Centerline is valid? [False, False] Translation: X:52.91, Y:2.51, Z:5.49 [[ 0.86977481 -0.48732594 -0.07749321 52.91499841] [ 0.44545597 0.70787932 0.54815677 2.50938558] [-0.21227517 -0.51129277 0.83277786 5.4852849 ] [ 0. 0. 0. 1. ]] SLAMing on 224.449072329 meters Centerline goodness : 0.206155 Centerline is valid? [False, False] Translation: X:52.89, Y:2.51, Z:5.49 [[ 0.87177243 -0.4831698 -0.0809925 52.88569388] [ 0.44396352 0.70923903 0.5476097 2.51015704] [-0.20714542 -0.51334875 0.8328048 5.48570886] [ 0. 0. 0. 1. ]] SLAMing on 224.479072329 meters Centerline goodness : 0.209015 Centerline is valid? [False, False] Translation: X:52.85, Y:2.52, Z:5.48 [[ 0.87424563 -0.4779983 -0.08492462 52.85182843] [ 0.44184205 0.71090311 0.54716759 2.51798815] [-0.20117201 -0.51588215 0.83270369 5.48213508] [ 0. 0. 0. 1. ]] SLAMing on 224.509072329 meters Centerline goodness : 0.396543 Centerline is valid? [False, False] Translation: X:52.82, Y:2.52, Z:5.48 [[ 0.8763097 -0.4736362 -0.08803444 52.82253612] [ 0.44004816 0.71260786 0.54639515 2.51851226] [-0.19605849 -0.51755076 0.83288791 5.48259917] [ 0. 0. 0. 1. ]] SLAMing on 224.539072329 meters Centerline goodness : 0.399945 Centerline is valid? [False, False] Translation: X:52.79, Y:2.52, Z:5.48 [[ 0.87844304 -0.4690859 -0.09108377 52.79313503] [ 0.43806948 0.71441366 0.54562648 2.51896235] [-0.1908742 -0.5192028 0.83306392 5.48298582] [ 0. 0. 0. 1. ]] SLAMing on 224.569072329 meters Centerline goodness : 0.399647 Centerline is valid? [False, False] Translation: X:52.76, Y:2.53, Z:5.48 [[ 0.88140265 -0.46299302 -0.09363137 52.7570154 ] [ 0.43464925 0.71732035 0.54454711 2.52538241] [-0.18495782 -0.52066207 0.83348762 5.47859987] [ 0. 0. 0. 1. ]] SLAMing on 224.599072329 meters Centerline goodness : 0.399801 Centerline is valid? [False, False] Translation: X:52.73, Y:2.53, Z:5.48 [[ 0.88354636 -0.45822987 -0.09680501 52.72834917] [ 0.43261002 0.71932138 0.54353042 2.52618237] [-0.17942796 -0.52211315 0.83378862 5.47811024] [ 0. 0. 0. 1. ]] SLAMing on 224.629072329 meters Centerline goodness : 0.389116 Centerline is valid? [False, False] Translation: X:52.70, Y:2.53, Z:5.47 [[ 0.88646359 -0.45164122 -0.10100747 52.69625698] [ 0.42954482 0.72169597 0.5428132 2.53415987] [-0.17226013 -0.52457137 0.83375735 5.47306139] [ 0. 0. 0. 1. ]] SLAMing on 224.659072329 meters Centerline goodness : 0.369591 Centerline is valid? [False, False] Translation: X:52.66, Y:2.53, Z:5.47 [[ 0.88968121 -0.44457432 -0.10402411 52.66438285] [ 0.42531185 0.72408809 0.54296064 2.53279447] [-0.16606374 -0.52730457 0.8332903 5.47235072] [ 0. 0. 0. 1. ]] SLAMing on 224.689072329 meters Centerline goodness : 0.328826 Centerline is valid? [False, False] Translation: X:52.64, Y:2.53, Z:5.47 [[ 0.89226961 -0.43847951 -0.10765993 52.63518141] [ 0.42224363 0.72593539 0.54288869 2.53304624] [-0.15989141 -0.5298618 0.83287527 5.47183476] [ 0. 0. 0. 1. ]] SLAMing on 224.719072329 meters Centerline goodness : 0.350156 Centerline is valid? [False, False] Translation: X:52.60, Y:2.54, Z:5.47 [[ 0.89617256 -0.42960657 -0.11096368 52.59964204] [ 0.41676242 0.72918755 0.5427657 2.53925511] [-0.15226238 -0.53265722 0.83252174 5.46576052] [ 0. 0. 0. 1. ]] SLAMing on 224.749072329 meters Centerline goodness : 0.360538 Centerline is valid? [False, False] Translation: X:52.57, Y:2.54, Z:5.47 [[ 0.89866884 -0.42347598 -0.1142909 52.57078641] [ 0.41357926 0.73128585 0.54237735 2.540019 ] [-0.14610446 -0.53468597 0.83232469 5.46521658] [ 0. 0. 0. 1. ]] SLAMing on 224.779072329 meters Centerline goodness : 0.099281 Centerline is valid? [False, False] Translation: X:52.54, Y:2.54, Z:5.46 [[ 0.90133611 -0.41686969 -0.11752817 52.54198982] [ 0.40991965 0.73342913 0.54226155 2.54032836] [-0.13985382 -0.53693702 0.83194924 5.46478924] [ 0. 0. 0. 1. ]] SLAMing on 224.809072329 meters Centerline goodness : 0.098493 Centerline is valid? [False, False] Translation: X:52.51, Y:2.55, Z:5.46 [[ 0.90481656 -0.40803432 -0.12171685 52.5102327 ] [ 0.40499726 0.73643821 0.54188189 2.54950365] [-0.13146947 -0.5395987 0.83159427 5.45993102] [ 0. 0. 0. 1. ]] SLAMing on 224.839072329 meters Centerline goodness : 0.097699 Centerline is valid? [False, False] Translation: X:52.48, Y:2.55, Z:5.46 [[ 0.90780139 -0.40027969 -0.12519107 52.48123 ] [ 0.400459 0.73859129 0.54232417 2.54997713] [-0.12461632 -0.54245652 0.8307898 5.4588923 ] [ 0. 0. 0. 1. ]] SLAMing on 224.869072329 meters Centerline goodness : 0.099561 Centerline is valid? [False, False] Translation: X:52.45, Y:2.55, Z:5.46 [[ 0.91085954 -0.39216385 -0.12861734 52.45226935] [ 0.39558818 0.74073408 0.54297607 2.55015055] [-0.11766434 -0.54545443 0.82984009 5.45749592] [ 0. 0. 0. 1. ]] SLAMing on 224.899072329 meters Centerline goodness : 0.099204 Centerline is valid? [False, False] Translation: X:52.42, Y:2.55, Z:5.46 [[ 0.9136911 -0.38430913 -0.13219329 52.42428073] [ 0.39106638 0.74285581 0.54335287 2.5509117 ] [-0.11061491 -0.54815303 0.82903112 5.45580718] [ 0. 0. 0. 1. ]] SLAMing on 224.929072329 meters Centerline goodness : 0.211315 Centerline is valid? [False, False] Translation: X:52.39, Y:2.56, Z:5.45 [[ 0.91774309 -0.3734665 -0.13516803 52.39002704] [ 0.38382165 0.74644577 0.5435988 2.55762393] [-0.10212034 -0.55076446 0.82838997 5.44736076] [ 0. 0. 0. 1. ]] SLAMing on 224.959072329 meters Centerline goodness : 0.098653 Centerline is valid? [False, False] Translation: X:52.36, Y:2.56, Z:5.45 [[ 0.92038755 -0.36556665 -0.13873637 52.36273223] [ 0.37933092 0.7487433 0.54359131 2.55881525] [-0.09484093 -0.55294167 0.82780475 5.44500532] [ 0. 0. 0. 1. ]] SLAMing on 224.989072329 meters Centerline goodness : 0.345587 Centerline is valid? [False, False] Translation: X:52.33, Y:2.56, Z:5.44 [[ 0.92498621 -0.35271497 -0.14139541 52.32650689] [ 0.37032543 0.75327803 0.54353591 2.56485813] [-0.0852032 -0.55512554 0.82739111 5.43621184] [ 0. 0. 0. 1. ]] SLAMing on 225.019072329 meters Centerline goodness : 0.211384 Centerline is valid? [False, False] Translation: X:52.30, Y:2.57, Z:5.43 [[ 0.92794874 -0.34339397 -0.14488521 52.29891962] [ 0.36457764 0.75556197 0.5442511 2.5653702 ] [-0.0774228 -0.55785903 0.82631654 5.4340718 ] [ 0. 0. 0. 1. ]] SLAMing on 225.049072329 meters Centerline goodness : 0.206066 Centerline is valid? [False, False] Translation: X:52.27, Y:2.57, Z:5.43 [[ 0.93067249 -0.33438603 -0.1484409 52.27206537] [ 0.35916126 0.75781553 0.54471902 2.56649661] [-0.06965561 -0.56026922 0.82537658 5.43165478] [ 0. 0. 0. 1. ]] SLAMing on 225.079072329 meters Centerline goodness : 0.098507 Centerline is valid? [False, False] Translation: X:52.24, Y:2.57, Z:5.43 [[ 0.93356515 -0.32459418 -0.1519695 52.24489271] [ 0.35306607 0.75995566 0.5457213 2.56723431] [-0.06164788 -0.56312166 0.82407131 5.42931293] [ 0. 0. 0. 1. ]] SLAMing on 225.109072329 meters Centerline goodness : 0.099209 Centerline is valid? [False, False] Translation: X:52.21, Y:2.57, Z:5.42 [[ 9.38635194e-01 -3.07855861e-01 -1.55527299e-01 5.22066212e+01] [ 3.41389980e-01 7.64967533e-01 5.46147924e-01 2.57261668e+00] [-4.91615049e-02 -5.65729124e-01 8.23124355e-01 5.42116891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.13907232900002 meters Centerline goodness : 0.099705 Centerline is valid? [False, False] Translation: X:52.18, Y:2.57, Z:5.42 [[ 9.42158412e-01 -2.95720443e-01 -1.57755967e-01 5.21752863e+01] [ 3.32698079e-01 7.68111174e-01 5.47098906e-01 2.57080648e+00] [-4.06142100e-02 -5.67938944e-01 8.22068028e-01 5.41649337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.16907232900002 meters Centerline goodness : 0.260549 Centerline is valid? [False, False] Translation: X:52.14, Y:2.57, Z:5.41 [[ 9.45697253e-01 -2.83089522e-01 -1.59740502e-01 5.21435085e+01] [ 3.23489616e-01 7.71594028e-01 5.47719932e-01 2.56856668e+00] [-3.17989561e-02 -5.69651629e-01 8.21270874e-01 5.41119216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.199072329 meters Centerline goodness : 0.249111 Centerline is valid? [False, False] Translation: X:52.11, Y:2.57, Z:5.40 [[ 9.50233214e-01 -2.64703526e-01 -1.64282932e-01 5.21053206e+01] [ 3.11078245e-01 7.77499157e-01 5.46557761e-01 2.57442378e+00] [-1.69459251e-02 -5.70462185e-01 8.21149031e-01 5.40380416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.229072329 meters Centerline goodness : 0.370705 Centerline is valid? [False, False] Translation: X:52.07, Y:2.57, Z:5.40 [[ 9.53725650e-01 -2.50456875e-01 -1.66369281e-01 5.20715849e+01] [ 3.00601698e-01 7.81744337e-01 5.46364723e-01 2.57196882e+00] [-6.78255784e-03 -5.71092939e-01 8.20857388e-01 5.39876369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.259072329 meters Centerline goodness : 0.369650 Centerline is valid? [False, False] Translation: X:52.04, Y:2.57, Z:5.39 [[ 9.56166311e-01 -2.39076461e-01 -1.69081136e-01 5.20446614e+01] [ 2.92819857e-01 7.83778975e-01 5.47674218e-01 2.57231629e+00] [ 1.58622515e-03 -5.73177951e-01 8.19429387e-01 5.39488747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.289072329 meters Centerline goodness : 0.368654 Centerline is valid? [False, False] Translation: X:52.01, Y:2.58, Z:5.39 [[ 9.60151636e-01 -2.19786744e-01 -1.72634361e-01 5.20071482e+01] [ 2.79023219e-01 7.89129328e-01 5.47193701e-01 2.57871700e+00] [ 1.59649156e-02 -5.73557923e-01 8.19009420e-01 5.38647049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.319072329 meters Centerline goodness : 0.369368 Centerline is valid? [False, False] Translation: X:51.97, Y:2.58, Z:5.38 [[ 9.63084410e-01 -2.05268658e-01 -1.74164281e-01 5.19749378e+01] [ 2.67986902e-01 7.92398392e-01 5.47985227e-01 2.57655234e+00] [ 2.55233039e-02 -5.74429775e-01 8.18155850e-01 5.38059406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.349072329 meters Centerline goodness : 0.368067 Centerline is valid? [False, False] Translation: X:51.95, Y:2.58, Z:5.38 [[ 9.64979383e-01 -1.93568309e-01 -1.77048299e-01 5.19494673e+01] [ 2.60093212e-01 7.93856839e-01 5.49675214e-01 2.57772894e+00] [ 3.41513014e-02 -5.76474309e-01 8.16401286e-01 5.37654945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.379072329 meters Centerline goodness : 0.367697 Centerline is valid? [False, False] Translation: X:51.92, Y:2.58, Z:5.37 [[ 9.66748569e-01 -1.81662799e-01 -1.79988419e-01 5.19239402e+01] [ 2.52098573e-01 7.95173596e-01 5.51493664e-01 2.57893251e+00] [ 4.29361560e-02 -5.78530534e-01 8.14529869e-01 5.37257835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.409072329 meters Centerline goodness : 0.369553 Centerline is valid? [False, False] Translation: X:51.89, Y:2.59, Z:5.36 [[ 0.96953475 -0.1600766 -0.18541267 51.88642722] [ 0.2374601 0.79999832 0.55101305 2.58617559] [ 0.06012553 -0.57825441 0.81363798 5.36490747] [ 0. 0. 0. 1. ]] SLAMing on 225.439072329 meters Centerline goodness : 0.350437 Centerline is valid? [False, False] Translation: X:51.85, Y:2.58, Z:5.36 [[ 0.97169838 -0.14472644 -0.18669897 51.85428475] [ 0.22557052 0.80315595 0.55141496 2.58418435] [ 0.07014407 -0.57792281 0.81307136 5.35786023] [ 0. 0. 0. 1. ]] SLAMing on 225.469072329 meters Centerline goodness : 0.370145 Centerline is valid? [False, False] Translation: X:51.83, Y:2.59, Z:5.35 [[ 0.97479655 -0.12686785 -0.18351083 51.83184961] [ 0.20879206 0.80858962 0.55008063 2.59384533] [ 0.07859741 -0.57453231 0.81469938 5.3466439 ] [ 0. 0. 0. 1. ]] SLAMing on 225.499072329 meters Centerline goodness : 0.371353 Centerline is valid? [False, False] Translation: X:51.82, Y:2.60, Z:5.34 [[ 0.97594515 -0.11380802 -0.18595374 51.8164383 ] [ 0.1993272 0.81130219 0.54959751 2.5974515 ] [ 0.08831607 -0.57344267 0.81447147 5.34404705] [ 0. 0. 0. 1. ]] SLAMing on 225.529072329 meters Centerline goodness : 0.334966 Centerline is valid? [False, False] Translation: X:51.80, Y:2.60, Z:5.34 [[ 0.97638851 -0.10164663 -0.19061334 51.79905353] [ 0.1917839 0.81397975 0.54832099 2.60406188] [ 0.09942042 -0.57193088 0.81425466 5.34275114] [ 0. 0. 0. 1. ]] SLAMing on 225.559072329 meters Centerline goodness : 0.167537 Centerline is valid? [False, False] Translation: X:51.78, Y:2.61, Z:5.33 [[ 0.97881729 -0.08280894 -0.18724154 51.77743436] [ 0.17402611 0.81828117 0.54784198 2.61445566] [ 0.10785001 -0.56882212 0.81535868 5.33143857] [ 0. 0. 0. 1. ]] SLAMing on 225.589072329 meters Centerline goodness : 0.363561 Centerline is valid? [False, False] Translation: X:51.76, Y:2.62, Z:5.33 [[ 0.9795539 -0.06949462 -0.1887979 51.76330543] [ 0.16377803 0.8204639 0.54773694 2.61772057] [ 0.11683709 -0.5674588 0.8150703 5.32755364] [ 0. 0. 0. 1. ]] SLAMing on 225.619072329 meters Centerline goodness : 0.171532 Centerline is valid? [False, False] Translation: X:51.75, Y:2.62, Z:5.32 [[ 0.98014597 -0.05698176 -0.18991304 51.7503927 ] [ 0.15385224 0.82275763 0.54717399 2.62076272] [ 0.12507346 -0.56552893 0.81518934 5.32299444] [ 0. 0. 0. 1. ]] SLAMing on 225.649072329 meters Centerline goodness : 0.174551 Centerline is valid? [False, False] Translation: X:51.73, Y:2.63, Z:5.31 [[ 9.81685815e-01 -3.95049065e-02 -1.86366102e-01 5.17311014e+01] [ 1.36783723e-01 8.27077770e-01 5.45190403e-01 2.63154083e+00] [ 1.32601564e-01 -5.60697534e-01 8.17334143e-01 5.31085835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.679072329 meters Centerline goodness : 0.193240 Centerline is valid? [False, False] Translation: X:51.73, Y:2.64, Z:5.31 [[ 9.81807846e-01 -3.59124292e-02 -1.86450129e-01 5.17302782e+01] [ 1.34100221e-01 8.26333458e-01 5.46982766e-01 2.63804182e+00] [ 1.34426500e-01 -5.62034975e-01 8.16116538e-01 5.30696161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.709072329 meters Centerline goodness : 0.246020 Centerline is valid? [False, False] Translation: X:51.73, Y:2.64, Z:5.30 [[ 9.81918184e-01 -3.23307064e-02 -1.86524544e-01 5.17293590e+01] [ 1.31422451e-01 8.25596529e-01 5.48742664e-01 2.64473943e+00] [ 1.36252778e-01 -5.63333913e-01 8.14917225e-01 5.30307707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.739072329 meters Centerline goodness : 0.169950 Centerline is valid? [False, False] Translation: X:51.73, Y:2.65, Z:5.30 [[ 9.82018786e-01 -2.87031032e-02 -1.86588414e-01 5.17284689e+01] [ 1.28713562e-01 8.24827662e-01 5.50538053e-01 2.65133930e+00] [ 1.38101135e-01 -5.64655169e-01 8.13690738e-01 5.29924813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.769072329 meters Centerline goodness : 0.178989 Centerline is valid? [False, False] Translation: X:51.72, Y:2.66, Z:5.28 [[ 9.83499128e-01 -1.62207620e-02 -1.80184216e-01 5.17159057e+01] [ 1.14502797e-01 8.26912861e-01 5.50549026e-01 2.66370222e+00] [ 1.40066321e-01 -5.62096084e-01 8.15125400e-01 5.28458219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.799072329 meters Centerline goodness : 0.196164 Centerline is valid? [False, False] Translation: X:51.72, Y:2.67, Z:5.28 [[ 9.83531266e-01 -1.26517310e-02 -1.80294709e-01 5.17151014e+01] [ 1.11875334e-01 8.26087097e-01 5.52326007e-01 2.67052713e+00] [ 1.41951253e-01 -5.63400428e-01 8.13897905e-01 5.28094733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.829072329 meters Centerline goodness : 0.196672 Centerline is valid? [False, False] Translation: X:51.70, Y:2.68, Z:5.27 [[ 9.83907326e-01 2.72573967e-03 -1.78658735e-01 5.17003006e+01] [ 9.76657893e-02 8.29093893e-01 5.50513133e-01 2.68387588e+00] [ 1.49625421e-01 -5.59102751e-01 8.15485344e-01 5.27200778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.859072329 meters Centerline goodness : 0.174696 Centerline is valid? [False, False] Translation: X:51.70, Y:2.69, Z:5.27 [[ 9.83894741e-01 6.25067102e-03 -1.78639490e-01 5.16995339e+01] [ 9.50168939e-02 8.28209486e-01 5.52305022e-01 2.69038405e+00] [ 1.51403197e-01 -5.60383776e-01 8.14277038e-01 5.26835815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.88907232900002 meters Centerline goodness : 0.160588 Centerline is valid? [False, False] Translation: X:51.70, Y:2.70, Z:5.26 [[ 9.83879887e-01 9.73685761e-03 -1.78565289e-01 5.16986894e+01] [ 9.23697547e-02 8.27334430e-01 5.54062785e-01 2.69688739e+00] [ 1.53128042e-01 -5.61625262e-01 8.13098314e-01 5.26455607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.91907232900002 meters Centerline goodness : 0.174101 Centerline is valid? [False, False] Translation: X:51.69, Y:2.71, Z:5.25 [[ 9.84872326e-01 2.16027707e-02 -1.71929701e-01 5.16874437e+01] [ 7.83691816e-02 8.29395249e-01 5.53138132e-01 2.70896009e+00] [ 1.54546993e-01 -5.58244428e-01 8.15155436e-01 5.25007016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.949072329 meters Centerline goodness : 0.174101 Centerline is valid? [False, False] Translation: X:51.69, Y:2.71, Z:5.25 [[ 9.84820907e-01 1.74867419e-02 -1.72690463e-01 5.16898073e+01] [ 8.16762683e-02 8.31193390e-01 5.49951394e-01 2.71007084e+00] [ 1.53156029e-01 -5.55708343e-01 8.17148376e-01 5.24997818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.979072329 meters Centerline goodness : 0.179928 Centerline is valid? [False, False] Translation: X:51.69, Y:2.72, Z:5.25 [[ 9.84762746e-01 2.10201907e-02 -1.72628170e-01 5.16893195e+01] [ 7.90035225e-02 8.30243767e-01 5.51773261e-01 2.71660946e+00] [ 1.54921841e-01 -5.57003985e-01 8.15932463e-01 5.24615300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.009072329 meters Centerline goodness : 0.180394 Centerline is valid? [False, False] Translation: X:51.69, Y:2.72, Z:5.24 [[ 9.84698196e-01 2.46254345e-02 -1.72519713e-01 5.16887569e+01] [ 7.62627833e-02 8.29246779e-01 5.53654917e-01 2.72300946e+00] [ 1.56695409e-01 -5.58339831e-01 8.14679803e-01 5.24239355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.039072329 meters Centerline goodness : 0.220817 Centerline is valid? [False, False] Translation: X:51.68, Y:2.73, Z:5.23 [[ 9.85377750e-01 3.58865673e-02 -1.66561833e-01 5.16790733e+01] [ 6.33598671e-02 8.30285403e-01 5.53725273e-01 2.73485492e+00] [ 1.58165158e-01 -5.56181899e-01 8.15870994e-01 5.22731676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.069072329 meters Centerline goodness : 0.171812 Centerline is valid? [False, False] Translation: X:51.68, Y:2.74, Z:5.22 [[ 9.85268106e-01 3.54956748e-02 -1.67292609e-01 5.16807040e+01] [ 6.38140873e-02 8.31261161e-01 5.52207067e-01 2.74284560e+00] [ 1.58664811e-01 -5.54747636e-01 8.16749985e-01 5.22395785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.099072329 meters Centerline goodness : 0.061463 Centerline is valid? [False, False] Translation: X:51.68, Y:2.75, Z:5.22 [[ 9.85166365e-01 3.51463870e-02 -1.67964175e-01 5.16824311e+01] [ 6.42050157e-02 8.32214221e-01 5.50724256e-01 2.75057384e+00] [ 1.59138143e-01 -5.53339156e-01 8.17612885e-01 5.22039848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.129072329 meters Centerline goodness : 0.060406 Centerline is valid? [False, False] Translation: X:51.68, Y:2.76, Z:5.21 [[ 9.85053608e-01 4.19614690e-02 -1.67058743e-01 5.16818593e+01] [ 5.85901478e-02 8.30415136e-01 5.54055860e-01 2.76233672e+00] [ 1.61977107e-01 -5.55562720e-01 8.15544898e-01 5.21124953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.159072329 meters Centerline goodness : 0.060452 Centerline is valid? [False, False] Translation: X:51.68, Y:2.77, Z:5.21 [[ 9.84934813e-01 4.16316845e-02 -1.67839856e-01 5.16836864e+01] [ 5.90108703e-02 8.31408397e-01 5.52519497e-01 2.77038077e+00] [ 1.62545783e-01 -5.54100063e-01 8.16426352e-01 5.20789265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.189072329 meters Centerline goodness : 0.060220 Centerline is valid? [False, False] Translation: X:51.68, Y:2.78, Z:5.20 [[ 9.84728794e-01 4.85438813e-02 -1.67190590e-01 5.16833139e+01] [ 5.34801611e-02 8.29558328e-01 5.55853265e-01 2.78302194e+00] [ 1.65677622e-01 -5.56306095e-01 8.14293838e-01 5.19918835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.219072329 meters Centerline goodness : 0.317974 Centerline is valid? [False, False] Translation: X:51.69, Y:2.79, Z:5.20 [[ 9.84584985e-01 4.85368706e-02 -1.68037434e-01 5.16851474e+01] [ 5.36795679e-02 8.30507875e-01 5.54414262e-01 2.79114819e+00] [ 1.66465945e-01 -5.54888135e-01 8.15100145e-01 5.19610384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.249072329 meters Centerline goodness : 0.317419 Centerline is valid? [False, False] Translation: X:51.69, Y:2.80, Z:5.19 [[ 9.84449471e-01 4.86034441e-02 -1.68810381e-01 5.16867686e+01] [ 5.37715263e-02 8.31463258e-01 5.52971495e-01 2.79920399e+00] [ 1.67235948e-01 -5.53449687e-01 8.15920083e-01 5.19305743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.279072329 meters Centerline goodness : 0.315693 Centerline is valid? [False, False] Translation: X:51.69, Y:2.81, Z:5.19 [[ 9.84312750e-01 4.88027482e-02 -1.69548527e-01 5.16882888e+01] [ 5.37430079e-02 8.32378295e-01 5.51595924e-01 2.80721413e+00] [ 1.68047910e-01 -5.52054949e-01 8.16697761e-01 5.19003081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.309072329 meters Centerline goodness : 0.314665 Centerline is valid? [False, False] Translation: X:51.68, Y:2.82, Z:5.18 [[ 9.84602651e-01 6.24655742e-02 -1.63265646e-01 5.16775123e+01] [ 3.86179592e-02 8.33171523e-01 5.51664632e-01 2.81735542e+00] [ 1.70488335e-01 -5.49475445e-01 8.17930598e-01 5.17588190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.339072329 meters Centerline goodness : 0.056435 Centerline is valid? [False, False] Translation: X:51.68, Y:2.82, Z:5.17 [[ 9.84387762e-01 6.63011526e-02 -1.63048739e-01 5.16775479e+01] [ 3.56859804e-02 8.31925255e-01 5.53739000e-01 2.82326203e+00] [ 1.72357898e-01 -5.50912449e-01 8.16571018e-01 5.17222886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.369072329 meters Centerline goodness : 0.055928 Centerline is valid? [False, False] Translation: X:51.68, Y:2.83, Z:5.17 [[ 9.84163211e-01 7.01580999e-02 -1.62790096e-01 5.16778194e+01] [ 3.27275303e-02 8.30643388e-01 5.55842128e-01 2.82899231e+00] [ 1.74217344e-01 -5.52367091e-01 8.15192562e-01 5.16831026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.399072329 meters Centerline goodness : 0.303034 Centerline is valid? [False, False] Translation: X:51.68, Y:2.84, Z:5.16 [[ 9.83787050e-01 7.79624422e-02 -1.61508198e-01 5.16779316e+01] [ 2.63430359e-02 8.27978998e-01 5.60140003e-01 2.83921278e+00] [ 1.77395278e-01 -5.55313098e-01 8.12501248e-01 5.15878365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.429072329 meters Centerline goodness : 0.298348 Centerline is valid? [False, False] Translation: X:51.68, Y:2.84, Z:5.15 [[ 9.83528114e-01 8.19243365e-02 -1.61123716e-01 5.16784807e+01] [ 2.32747372e-02 8.26572401e-01 5.62348960e-01 2.84440542e+00] [ 1.79250482e-01 -5.56836124e-01 8.11050427e-01 5.15460806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.459072329 meters Centerline goodness : 0.057102 Centerline is valid? [False, False] Translation: X:51.68, Y:2.85, Z:5.15 [[ 9.83255759e-01 8.59552780e-02 -1.60685412e-01 5.16791312e+01] [ 2.01406278e-02 8.25107274e-01 5.64616987e-01 2.84928880e+00] [ 1.81114513e-01 -5.58399209e-01 8.09560286e-01 5.15035951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.489072329 meters Centerline goodness : 0.056352 Centerline is valid? [False, False] Translation: X:51.68, Y:2.86, Z:5.14 [[ 9.82810928e-01 9.40615749e-02 -1.58855594e-01 5.16788302e+01] [ 1.33509586e-02 8.22004102e-01 5.69325046e-01 2.85782470e+00] [ 1.84131560e-01 -5.61659751e-01 8.06618802e-01 5.14026138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.519072329 meters Centerline goodness : 0.286373 Centerline is valid? [False, False] Translation: X:51.68, Y:2.86, Z:5.14 [[ 9.82496459e-01 9.80597386e-02 -1.58382437e-01 5.16790589e+01] [ 1.02578033e-02 8.20462882e-01 5.71607765e-01 2.86271515e+00] [ 1.85998619e-01 -5.63227261e-01 8.05095998e-01 5.13639491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.549072329 meters Centerline goodness : 0.282829 Centerline is valid? [False, False] Translation: X:51.68, Y:2.87, Z:5.13 [[ 9.82294875e-01 9.89454807e-02 -1.59080390e-01 5.16813636e+01] [ 9.72641891e-03 8.21066655e-01 5.70749458e-01 2.86913179e+00] [ 1.87088683e-01 -5.62191550e-01 8.05567182e-01 5.13375398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.579072329 meters Centerline goodness : 0.279141 Centerline is valid? [False, False] Translation: X:51.68, Y:2.88, Z:5.13 [[ 9.82120585e-01 9.95413961e-02 -1.59783186e-01 5.16834551e+01] [ 9.42891071e-03 8.21693089e-01 5.69852230e-01 2.87532970e+00] [ 1.88016626e-01 -5.61170187e-01 8.06063130e-01 5.13127532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.609072329 meters Centerline goodness : 0.058884 Centerline is valid? [False, False] Translation: X:51.68, Y:2.88, Z:5.12 [[ 9.81762262e-01 1.07239595e-01 -1.56979392e-01 5.16803964e+01] [ 2.51432377e-03 8.18320882e-01 5.74756132e-01 2.88162574e+00] [ 1.90096129e-01 -5.64668578e-01 8.03126926e-01 5.12114304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.63907232900002 meters Centerline goodness : 0.058648 Centerline is valid? [False, False] Translation: X:51.68, Y:2.89, Z:5.12 [[ 9.81625654e-01 1.07617323e-01 -1.57574071e-01 5.16820824e+01] [ 2.34897146e-03 8.18909244e-01 5.73918228e-01 2.88721158e+00] [ 1.90802407e-01 -5.63742992e-01 8.03609532e-01 5.11880126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.66907232900002 meters Centerline goodness : 0.265712 Centerline is valid? [False, False] Translation: X:51.68, Y:2.89, Z:5.12 [[ 9.81467214e-01 1.08018939e-01 -1.58284608e-01 5.16837898e+01] [ 2.24300690e-03 8.19458011e-01 5.73134833e-01 2.89267131e+00] [ 1.91617007e-01 -5.62868081e-01 8.04028884e-01 5.11696061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.699072329 meters Centerline goodness : 0.262536 Centerline is valid? [False, False] Translation: X:51.69, Y:2.90, Z:5.12 [[ 9.81321517e-01 1.08291733e-01 -1.58999940e-01 5.16854482e+01] [ 2.22554817e-03 8.20065091e-01 5.72265928e-01 2.89812840e+00] [ 1.92361969e-01 -5.61930731e-01 8.04506511e-01 5.11523169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.729072329 meters Centerline goodness : 0.254483 Centerline is valid? [False, False] Translation: X:51.68, Y:2.90, Z:5.11 [[ 9.80958364e-01 1.15703214e-01 -1.55991840e-01 5.16804985e+01] [-4.47681103e-03 8.16435650e-01 5.77419074e-01 2.90387225e+00] [ 1.94166542e-01 -5.65725724e-01 8.01407362e-01 5.10606838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.759072329 meters Centerline goodness : 0.251335 Centerline is valid? [False, False] Translation: X:51.68, Y:2.91, Z:5.10 [[ 9.80844460e-01 1.15869134e-01 -1.56583811e-01 5.16816400e+01] [-4.45145721e-03 8.16971981e-01 5.76660183e-01 2.90876394e+00] [ 1.94741703e-01 -5.64916920e-01 8.01838228e-01 5.10449726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.789072329 meters Centerline goodness : 0.246923 Centerline is valid? [False, False] Translation: X:51.68, Y:2.91, Z:5.10 [[ 9.80743840e-01 1.16022405e-01 -1.57099720e-01 5.16826706e+01] [-4.44903148e-03 8.17472173e-01 5.75950911e-01 2.91355287e+00] [ 1.95247859e-01 -5.64161367e-01 8.02246986e-01 5.10267703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.819072329 meters Centerline goodness : 0.233047 Centerline is valid? [False, False] Translation: X:51.67, Y:2.91, Z:5.09 [[ 9.80883288e-01 1.23832231e-01 -1.50111803e-01 5.16704313e+01] [-1.37303879e-02 8.13517407e-01 5.81378452e-01 2.91198782e+00] [ 1.94111956e-01 -5.68203315e-01 7.99665894e-01 5.08658723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.849072329 meters Centerline goodness : 0.232121 Centerline is valid? [False, False] Translation: X:51.67, Y:2.92, Z:5.09 [[ 9.80767007e-01 1.24054380e-01 -1.50687057e-01 5.16713004e+01] [-1.37138566e-02 8.13923200e-01 5.80810601e-01 2.91652926e+00] [ 1.94699791e-01 -5.67573374e-01 7.99970285e-01 5.08506611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.879072329 meters Centerline goodness : 0.228549 Centerline is valid? [False, False] Translation: X:51.67, Y:2.92, Z:5.08 [[ 9.80653058e-01 1.24172858e-01 -1.51329713e-01 5.16720002e+01] [-1.35855342e-02 8.14368739e-01 5.80188754e-01 2.92138542e+00] [ 1.95281883e-01 -5.66907980e-01 8.00300149e-01 5.08369308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.909072329 meters Centerline goodness : 0.223275 Centerline is valid? [False, False] Translation: X:51.65, Y:2.93, Z:5.08 [[ 9.78511415e-01 1.39080962e-01 -1.52223180e-01 5.16474570e+01] [-2.48407840e-02 8.12395602e-01 5.82577310e-01 2.92706388e+00] [ 2.04690855e-01 -5.66277205e-01 7.98393250e-01 5.07735691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.939072329 meters Centerline goodness : 0.219666 Centerline is valid? [False, False] Translation: X:51.65, Y:2.93, Z:5.08 [[ 9.78446874e-01 1.38965570e-01 -1.52742546e-01 5.16472782e+01] [-2.45954071e-02 8.12839225e-01 5.81968607e-01 2.93216039e+00] [ 2.05028732e-01 -5.65668599e-01 7.98737914e-01 5.07581258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.969072329 meters Centerline goodness : 0.216747 Centerline is valid? [False, False] Translation: X:51.65, Y:2.94, Z:5.07 [[ 9.78387949e-01 1.38764185e-01 -1.53302064e-01 5.16470997e+01] [-2.42728200e-02 8.13332971e-01 5.81291931e-01 2.93757118e+00] [ 2.05348124e-01 -5.65007946e-01 7.99123375e-01 5.07411700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.999072329 meters Centerline goodness : 0.214218 Centerline is valid? [False, False] Translation: X:51.62, Y:2.94, Z:5.06 [[ 9.76327065e-01 1.53137589e-01 -1.52755819e-01 5.16196774e+01] [-3.57004658e-02 8.10625917e-01 5.84475063e-01 2.94299491e+00] [ 2.13332928e-01 -5.65185369e-01 7.96903106e-01 5.06265229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.029072329 meters Centerline goodness : 0.214337 Centerline is valid? [False, False] Translation: X:51.60, Y:2.95, Z:5.06 [[ 9.73957719e-01 1.64321181e-01 -1.56220716e-01 5.16007552e+01] [-4.32340299e-02 8.10973967e-01 5.83482684e-01 2.94925396e+00] [ 2.22569497e-01 -5.61533413e-01 7.96958622e-01 5.06043821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.059072329 meters Centerline goodness : 0.219907 Centerline is valid? [False, False] Translation: X:51.57, Y:2.95, Z:5.04 [[ 0.97167349 0.18147981 -0.15137934 51.56685799] [-0.05909069 0.80677212 0.58790054 2.95228267] [ 0.22882071 -0.56230226 0.79464284 5.04029159] [ 0. 0. 0. 1. ]] SLAMing on 227.089072329 meters Centerline goodness : 0.217610 Centerline is valid? [False, False] Translation: X:51.56, Y:2.95, Z:5.03 [[ 0.9716485 0.18439804 -0.14797486 51.56039876] [-0.06248709 0.80390264 0.59146928 2.95430321] [ 0.22802316 -0.56545372 0.79263329 5.0308617 ] [ 0. 0. 0. 1. ]] SLAMing on 227.119072329 meters Centerline goodness : 0.222260 Centerline is valid? [False, False] Translation: X:51.54, Y:2.96, Z:5.02 [[ 0.96881733 0.19751211 -0.14960597 51.53922418] [-0.0720086 0.802175 0.59273099 2.96088025] [ 0.23708172 -0.56347514 0.79138362 5.02433545] [ 0. 0. 0. 1. ]] SLAMing on 227.149072329 meters Centerline goodness : 0.222309 Centerline is valid? [False, False] Translation: X:51.52, Y:2.97, Z:5.02 [[ 0.9657822 0.21123033 -0.1504875 51.51737436] [-0.08229361 0.79983717 0.59454879 2.96822114] [ 0.24595223 -0.56182048 0.78985141 5.01595305] [ 0. 0. 0. 1. ]] SLAMing on 227.179072329 meters Centerline goodness : 0.461535 Centerline is valid? [False, False] Translation: X:51.47, Y:2.98, Z:4.99 [[ 0.9587149 0.24049396 -0.15175108 51.47253711] [-0.10337878 0.79188398 0.60185762 2.98390368] [ 0.26491237 -0.56132203 0.78405294 4.993808 ] [ 0. 0. 0. 1. ]] SLAMing on 227.209072329 meters Centerline goodness : 0.185619 Centerline is valid? [False, False] Translation: X:51.45, Y:2.99, Z:4.98 [[ 0.95468041 0.25635025 -0.15122784 51.45030012] [-0.11530665 0.78697753 0.60611116 2.99187367] [ 0.27438966 -0.56120487 0.78087093 4.98069048] [ 0. 0. 0. 1. ]] SLAMing on 227.239072329 meters Centerline goodness : 0.147803 Centerline is valid? [False, False] Translation: X:51.43, Y:3.00, Z:4.97 [[ 0.95035909 0.27174864 -0.15155952 51.42946704] [-0.12621964 0.78189927 0.61049335 3.0009125 ] [ 0.28440501 -0.56105811 0.77738509 4.96661475] [ 0. 0. 0. 1. ]] SLAMing on 227.269072329 meters Centerline goodness : 0.106280 Centerline is valid? [False, False] Translation: X:51.39, Y:3.01, Z:4.94 [[ 0.94050781 0.30418636 -0.15137941 51.38925191] [-0.14865632 0.76901888 0.6217003 3.00860069] [ 0.30552638 -0.56221048 0.76848748 4.94063644] [ 0. 0. 0. 1. ]] SLAMing on 227.299072329 meters Centerline goodness : 0.109524 Centerline is valid? [False, False] Translation: X:51.36, Y:3.02, Z:4.93 [[ 0.93091811 0.32840457 -0.15981836 51.36093882] [-0.16188892 0.76328018 0.62545611 3.01699425] [ 0.32738884 -0.5563756 0.7637164 4.93409137] [ 0. 0. 0. 1. ]] SLAMing on 227.329072329 meters Centerline goodness : 0.377760 Centerline is valid? [False, False] Translation: X:51.32, Y:3.02, Z:4.93 [[ 0.90975717 0.37659227 -0.1747002 51.32254348] [-0.19292432 0.75614403 0.62532104 3.01702461] [ 0.36758958 -0.53518638 0.76056126 4.93370467] [ 0. 0. 0. 1. ]] SLAMing on 227.359072329 meters Centerline goodness : 0.377960 Centerline is valid? [False, False] Translation: X:51.24, Y:3.08, Z:4.87 [[ 0.89574581 0.40649859 -0.17999539 51.23921661] [-0.21586698 0.75164514 0.62324236 3.07686086] [ 0.3886398 -0.51941167 0.76103261 4.87410381] [ 0. 0. 0. 1. ]] SLAMing on 227.38907232900002 meters Centerline goodness : 0.307487 Centerline is valid? [False, False] Translation: X:51.19, Y:3.12, Z:4.86 [[ 0.87927309 0.43194343 -0.20075783 51.19494732] [-0.23192534 0.75638481 0.61163115 3.11766153] [ 0.41604023 -0.49122998 0.76524743 4.85970815] [ 0. 0. 0. 1. ]] SLAMing on 227.41907232900002 meters Centerline goodness : 0.173681 Centerline is valid? [False, False] Translation: X:51.17, Y:3.15, Z:4.86 [[ 0.86309659 0.45495522 -0.21927159 51.16582502] [-0.2477041 0.75969943 0.60124825 3.14617903] [ 0.44012153 -0.46462084 0.76838825 4.85817154] [ 0. 0. 0. 1. ]] SLAMing on 227.449072329 meters Centerline goodness : 0.486034 Centerline is valid? [False, False] Translation: X:51.09, Y:3.21, Z:4.81 [[ 0.83370739 0.50325529 -0.22730181 51.08768049] [-0.28755195 0.7470659 0.59933831 3.21012636] [ 0.4714296 -0.4343117 0.7675464 4.80586963] [ 0. 0. 0. 1. ]] SLAMing on 227.479072329 meters Centerline goodness : 0.492013 Centerline is valid? [False, False] Translation: X:51.03, Y:3.28, Z:4.76 [[ 0.8163901 0.52382501 -0.24313485 51.03193006] [-0.30029768 0.74467763 0.59605078 3.27691716] [ 0.49328339 -0.41359713 0.76525088 4.76356582] [ 0. 0. 0. 1. ]] SLAMing on 227.509072329 meters Centerline goodness : 0.211776 Centerline is valid? [False, False] Translation: X:50.94, Y:3.36, Z:4.69 [[ 0.78448378 0.56257113 -0.26095771 50.94310805] [-0.32972831 0.73476723 0.59278694 3.35828594] [ 0.52522799 -0.37898659 0.7619086 4.69487958] [ 0. 0. 0. 1. ]] SLAMing on 227.539072329 meters Centerline goodness : 0.192441 Centerline is valid? [False, False] Translation: X:50.85, Y:3.48, Z:4.61 [[ 0.76884211 0.57385512 -0.28208529 50.85328778] [-0.3386889 0.73964444 0.58156335 3.47512806] [ 0.54237592 -0.35159123 0.76302815 4.61259494] [ 0. 0. 0. 1. ]] SLAMing on 227.569072329 meters Centerline goodness : 0.659737 Centerline is valid? [False, False] Translation: X:50.81, Y:3.53, Z:4.59 [[ 0.75330481 0.58181883 -0.30662472 50.81187401] [-0.34683182 0.74757228 0.56643037 3.53036766] [ 0.558784 -0.32034751 0.76494308 4.58543764] [ 0. 0. 0. 1. ]] SLAMing on 227.599072329 meters Centerline goodness : 0.667299 Centerline is valid? [False, False] Translation: X:50.62, Y:3.75, Z:4.39 [[ 0.7429705 0.59297636 -0.31044142 50.62414075] [-0.35464974 0.74211957 0.56875487 3.74884992] [ 0.56764285 -0.31247012 0.76167186 4.38907533] [ 0. 0. 0. 1. ]] SLAMing on 227.629072329 meters Centerline goodness : 0.703755 Centerline is valid? [False, False] Translation: X:50.56, Y:3.81, Z:4.35 [[ 0.73063993 0.60254212 -0.32110479 50.55951224] [-0.36849468 0.74392619 0.55748138 3.80699826] [ 0.57478428 -0.28899275 0.76557575 4.34595105] [ 0. 0. 0. 1. ]] SLAMing on 227.659072329 meters Centerline goodness : 0.719798 Centerline is valid? [False, False] Translation: X:50.51, Y:3.86, Z:4.31 [[ 0.72565262 0.60200376 -0.33319626 50.51271936] [-0.37379873 0.75147574 0.54365312 3.86154853] [ 0.57767013 -0.26995498 0.77033858 4.31310251] [ 0. 0. 0. 1. ]] SLAMing on 227.689072329 meters Centerline goodness : 0.741968 Centerline is valid? [False, False] Translation: X:50.46, Y:3.92, Z:4.28 [[ 0.72249072 0.59939117 -0.34458292 50.46434937] [-0.38068119 0.7609255 0.52542765 3.91941547] [ 0.57713862 -0.24844036 0.77793856 4.27904222] [ 0. 0. 0. 1. ]] SLAMing on 227.719072329 meters Centerline goodness : 0.669193 Centerline is valid? [False, False] Translation: X:50.40, Y:3.99, Z:4.23 [[ 0.72383856 0.59412322 -0.35082095 50.39717887] [-0.39388633 0.7732827 0.49687768 3.98710618] [ 0.56649034 -0.22147565 0.79374885 4.23120906] [ 0. 0. 0. 1. ]] SLAMing on 227.749072329 meters Centerline goodness : 0.775362 Centerline is valid? [False, False] Translation: X:50.36, Y:4.03, Z:4.20 [[ 0.71599537 0.59431811 -0.36624666 50.36221879] [-0.40596319 0.78126829 0.47414528 4.03426025] [ 0.56793003 -0.19080316 0.80065575 4.20078598] [ 0. 0. 0. 1. ]] SLAMing on 227.779072329 meters Centerline goodness : 0.709181 Centerline is valid? [False, False] Translation: X:50.33, Y:4.08, Z:4.17 [[ 0.70878941 0.59275324 -0.38244106 50.32893315] [-0.41750451 0.78949324 0.44987821 4.0815965 ] [ 0.5686014 -0.15919805 0.8070616 4.17185335] [ 0. 0. 0. 1. ]] SLAMing on 227.809072329 meters Centerline goodness : 0.785397 Centerline is valid? [False, False] Translation: X:50.28, Y:4.13, Z:4.13 [[ 0.69853065 0.59368948 -0.39948433 50.28414271] [-0.43289027 0.79512239 0.4247192 4.13399764] [ 0.56979026 -0.1237465 0.81241976 4.13389904] [ 0. 0. 0. 1. ]] SLAMing on 227.839072329 meters Centerline goodness : 0.785397 Centerline is valid? [False, False] Translation: X:50.27, Y:4.17, Z:4.12 [[ 0.69676203 0.58443133 -0.41588784 50.26753068] [-0.43624401 0.80550065 0.40107339 4.16863114] [ 0.56939778 -0.09802413 0.81619693 4.11894584] [ 0. 0. 0. 1. ]] SLAMing on 227.869072329 meters Centerline goodness : 0.797126 Centerline is valid? [False, False] Translation: X:50.24, Y:4.21, Z:4.10 [[ 0.6895666 0.57960788 -0.43422644 50.24113838] [-0.44517606 0.81215786 0.37711787 4.20536301] [ 0.57124091 -0.06674067 0.81806449 4.09627688] [ 0. 0. 0. 1. ]] SLAMing on 227.899072329 meters Centerline goodness : 0.799468 Centerline is valid? [False, False] Translation: X:50.21, Y:4.24, Z:4.07 [[ 6.82300368e-01 5.74486155e-01 -4.52141422e-01 5.02143813e+01] [-4.54089291e-01 8.17720080e-01 3.53746783e-01 4.24327138e+00] [ 5.72947749e-01 -3.60489824e-02 8.18798722e-01 4.07290515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.929072329 meters Centerline goodness : 0.803074 Centerline is valid? [False, False] Translation: X:50.19, Y:4.28, Z:4.05 [[ 6.70844807e-01 5.75310616e-01 -4.67958268e-01 5.01854916e+01] [-4.70511380e-01 8.17932778e-01 3.31066476e-01 4.28283561e+00] [ 5.73224464e-01 -1.91453564e-03 8.19396149e-01 4.04853029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.959072329 meters Centerline goodness : 0.806474 Centerline is valid? [False, False] Translation: X:50.16, Y:4.33, Z:4.03 [[ 6.65944049e-01 5.73023832e-01 -4.77663283e-01 5.01596107e+01] [-4.80710675e-01 8.19258502e-01 3.12622381e-01 4.32545494e+00] [ 5.70469781e-01 2.14288250e-02 8.21038997e-01 4.02539247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.989072329 meters Centerline goodness : 0.806556 Centerline is valid? [False, False] Translation: X:50.13, Y:4.37, Z:4.00 [[ 6.61621098e-01 5.70733298e-01 -4.86334273e-01 5.01335285e+01] [-4.90650258e-01 8.19978018e-01 2.94785302e-01 4.37060887e+00] [ 5.67027201e-01 4.35838614e-02 8.22545197e-01 4.00179237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.019072329 meters Centerline goodness : 0.808033 Centerline is valid? [False, False] Translation: X:50.10, Y:4.43, Z:3.97 [[ 0.65283401 0.57484979 -0.49331072 50.10339751] [-0.50818737 0.81530155 0.27754094 4.42532667] [ 0.56174135 0.06950612 0.82438799 3.97139382] [ 0. 0. 0. 1. ]] SLAMing on 228.049072329 meters Centerline goodness : 0.806616 Centerline is valid? [False, False] Translation: X:50.07, Y:4.48, Z:3.94 [[ 0.64613852 0.57368404 -0.50338022 50.06942782] [-0.51673513 0.81421456 0.2646497 4.48183735] [ 0.56168481 0.08911387 0.82253808 3.94031066] [ 0. 0. 0. 1. ]] SLAMing on 228.079072329 meters Centerline goodness : 0.807799 Centerline is valid? [False, False] Translation: X:50.04, Y:4.54, Z:3.91 [[ 0.64022389 0.5724735 -0.5122377 50.03841337] [-0.52582357 0.8126978 0.25106145 4.53535965] [ 0.56002048 0.10861112 0.82132861 3.91063084] [ 0. 0. 0. 1. ]] SLAMing on 228.109072329 meters Centerline goodness : 0.807997 Centerline is valid? [False, False] Translation: X:50.00, Y:4.59, Z:3.88 [[ 0.63363344 0.57129003 -0.52166691 50.00492616] [-0.53458423 0.81074938 0.23854799 4.59182386] [ 0.55922121 0.12772291 0.81912056 3.88081296] [ 0. 0. 0. 1. ]] SLAMing on 228.13907232900002 meters Centerline goodness : 0.809487 Centerline is valid? [False, False] Translation: X:49.97, Y:4.66, Z:3.85 [[ 0.62395463 0.57371471 -0.53059593 49.97195658] [-0.54971824 0.8048182 0.22378008 4.6578946 ] [ 0.55541919 0.15204964 0.81755149 3.85100123] [ 0. 0. 0. 1. ]] SLAMing on 228.16907232900002 meters Centerline goodness : 0.812589 Centerline is valid? [False, False] Translation: X:49.94, Y:4.72, Z:3.82 [[ 0.61831772 0.57268372 -0.53825324 49.93717378] [-0.55779763 0.80223719 0.21278464 4.71692016] [ 0.55366507 0.16866787 0.81547909 3.82186055] [ 0. 0. 0. 1. ]] SLAMing on 228.199072329 meters Centerline goodness : 0.812226 Centerline is valid? [False, False] Translation: X:49.91, Y:4.77, Z:3.79 [[ 0.61455044 0.57351462 -0.54167217 49.90753326] [-0.56695753 0.7985351 0.20223959 4.76964052] [ 0.54853161 0.18281869 0.81589853 3.79227579] [ 0. 0. 0. 1. ]] SLAMing on 228.229072329 meters Centerline goodness : 0.812931 Centerline is valid? [False, False] Translation: X:49.88, Y:4.84, Z:3.76 [[ 0.6025825 0.57980225 -0.54838279 49.8757819 ] [-0.58354913 0.78885282 0.19282544 4.83767738] [ 0.54439393 0.20381506 0.813692 3.75827589] [ 0. 0. 0. 1. ]] SLAMing on 228.259072329 meters Centerline goodness : 0.814237 Centerline is valid? [False, False] Translation: X:49.84, Y:4.90, Z:3.72 [[ 0.59697482 0.58153728 -0.55266215 49.83612367] [-0.5936761 0.78356627 0.18322823 4.90476589] [ 0.53960147 0.21871967 0.81301412 3.72020209] [ 0. 0. 0. 1. ]] SLAMing on 228.289072329 meters Centerline goodness : 0.816557 Centerline is valid? [False, False] Translation: X:49.79, Y:4.98, Z:3.68 [[ 0.59223074 0.5839487 -0.55521767 49.79410739] [-0.60387595 0.77785939 0.17397874 4.97532966] [ 0.53347594 0.23224704 0.81330482 3.67984506] [ 0. 0. 0. 1. ]] SLAMing on 228.319072329 meters Centerline goodness : 0.816729 Centerline is valid? [False, False] Translation: X:49.76, Y:5.05, Z:3.64 [[ 0.57976989 0.59382747 -0.55788513 49.75589951] [-0.6245619 0.76361536 0.16374983 5.05261615] [ 0.5232488 0.25349658 0.81360321 3.64150139] [ 0. 0. 0. 1. ]] SLAMing on 228.349072329 meters Centerline goodness : 0.816535 Centerline is valid? [False, False] Translation: X:49.70, Y:5.13, Z:3.59 [[ 0.57096959 0.59863327 -0.5618113 49.70400929] [-0.6352264 0.75565537 0.15960072 5.13480714] [ 0.52007803 0.26575021 0.81172389 3.59320353] [ 0. 0. 0. 1. ]] SLAMing on 228.379072329 meters Centerline goodness : 0.814552 Centerline is valid? [False, False] Translation: X:49.65, Y:5.22, Z:3.55 [[ 0.56148343 0.60404704 -0.56556479 49.65168677] [-0.64710335 0.74650736 0.15486776 5.21651403] [ 0.51574569 0.27902319 0.81003237 3.5469454 ] [ 0. 0. 0. 1. ]] SLAMing on 228.409072329 meters Centerline goodness : 0.811442 Centerline is valid? [False, False] Translation: X:49.61, Y:5.29, Z:3.51 [[ 0.53819829 0.61961766 -0.57132876 49.6145688 ] [-0.67304399 0.72398938 0.15116599 5.29115016] [ 0.50730108 0.30317211 0.80667979 3.51300823] [ 0. 0. 0. 1. ]] SLAMing on 228.439072329 meters Centerline goodness : 0.808142 Centerline is valid? [False, False] Translation: X:49.57, Y:5.37, Z:3.47 [[ 0.52439358 0.62702695 -0.57606299 49.566337 ] [-0.68545354 0.7122299 0.15126802 5.36720903] [ 0.50513842 0.31554044 0.80328663 3.46872692] [ 0. 0. 0. 1. ]] SLAMing on 228.469072329 meters Centerline goodness : 0.808207 Centerline is valid? [False, False] Translation: X:49.51, Y:5.45, Z:3.42 [[ 0.50097354 0.64055713 -0.58198975 49.51219896] [-0.7082679 0.68989904 0.14965258 5.4547437 ] [ 0.4973752 0.33723268 0.79930722 3.42292077] [ 0. 0. 0. 1. ]] SLAMing on 228.499072329 meters Centerline goodness : 0.808110 Centerline is valid? [False, False] Translation: X:49.44, Y:5.55, Z:3.36 [[ 0.4916592 0.64593009 -0.58399106 49.44377273] [-0.72158712 0.67760942 0.14197712 5.54840467] [ 0.48742514 0.35159607 0.79924773 3.36389686] [ 0. 0. 0. 1. ]] SLAMing on 228.529072329 meters Centerline goodness : 0.809539 Centerline is valid? [False, False] Translation: X:49.37, Y:5.65, Z:3.30 [[ 0.4833978 0.6505604 -0.58574545 49.36779364] [-0.73284903 0.66672184 0.13569926 5.65026281] [ 0.47880985 0.36366626 0.79905443 3.30092591] [ 0. 0. 0. 1. ]] SLAMing on 228.559072329 meters Centerline goodness : 0.811945 Centerline is valid? [False, False] Translation: X:49.29, Y:5.75, Z:3.24 [[ 0.47571282 0.65507268 -0.5870069 49.29063491] [-0.74291632 0.65652296 0.13058694 5.75329602] [ 0.47092744 0.37397512 0.79898057 3.23516242] [ 0. 0. 0. 1. ]] SLAMing on 228.589072329 meters Centerline goodness : 0.815164 Centerline is valid? [False, False] Translation: X:49.21, Y:5.86, Z:3.17 [[ 0.4563509 0.66590844 -0.59017778 49.20758797] [-0.7610504 0.63576378 0.12886699 5.85986523] [ 0.46102727 0.39034647 0.79692126 3.16723557] [ 0. 0. 0. 1. ]] SLAMing on 228.619072329 meters Centerline goodness : 0.818177 Centerline is valid? [False, False] Translation: X:49.11, Y:5.99, Z:3.09 [[ 0.44608972 0.66983143 -0.59357376 49.11153974] [-0.76919449 0.62599372 0.12834211 5.98595967] [ 0.45754102 0.39932158 0.79448001 3.08700699] [ 0. 0. 0. 1. ]] SLAMing on 228.649072329 meters Centerline goodness : 0.824191 Centerline is valid? [False, False] Translation: X:49.00, Y:6.13, Z:2.99 [[ 0.42638969 0.67890704 -0.59772657 48.99874155] [-0.7882943 0.60297367 0.12253513 6.12617035] [ 0.44360335 0.41893673 0.79228031 2.993329 ] [ 0. 0. 0. 1. ]] SLAMing on 228.679072329 meters Centerline goodness : 0.826549 Centerline is valid? [False, False] Translation: X:48.88, Y:6.28, Z:2.89 [[ 0.41707191 0.68034593 -0.60264453 48.87847357] [-0.79863982 0.59085172 0.11431835 6.27925727] [ 0.43384958 0.43361695 0.78977901 2.89103009] [ 0. 0. 0. 1. ]] SLAMing on 228.709072329 meters Centerline goodness : 0.828519 Centerline is valid? [False, False] Translation: X:48.75, Y:6.44, Z:2.78 [[ 0.4093955 0.68164142 -0.60643244 48.75037041] [-0.80618098 0.58147687 0.10934747 6.44266046] [ 0.4271622 0.44412793 0.78758036 2.78154109] [ 0. 0. 0. 1. ]] SLAMing on 228.739072329 meters Centerline goodness : 0.834936 Centerline is valid? [False, False] Translation: X:48.61, Y:6.61, Z:2.66 [[ 0.39510641 0.68836355 -0.60831452 48.6121643 ] [-0.81979537 0.56301545 0.10463816 6.60629252] [ 0.41451957 0.45735022 0.78676827 2.6619252 ] [ 0. 0. 0. 1. ]] SLAMing on 228.769072329 meters Centerline goodness : 0.835976 Centerline is valid? [False, False] Translation: X:48.47, Y:6.79, Z:2.53 [[ 0.3910599 0.69070457 -0.60827572 48.46774394] [-0.82579066 0.55513658 0.09946436 6.7912591 ] [ 0.4063766 0.46341189 0.78746904 2.53255117] [ 0. 0. 0. 1. ]] SLAMing on 228.799072329 meters Centerline goodness : 0.837753 Centerline is valid? [False, False] Translation: X:48.31, Y:6.99, Z:2.40 [[ 0.38730468 0.69052038 -0.6108819 48.30822846] [-0.83167328 0.54763444 0.09173915 6.99373301] [ 0.39788772 0.47252315 0.78638873 2.39651948] [ 0. 0. 0. 1. ]] SLAMing on 228.829072329 meters Centerline goodness : 0.835822 Centerline is valid? [False, False] Translation: X:48.14, Y:7.21, Z:2.25 [[ 0.38807037 0.68866536 -0.61248789 48.13939108] [-0.83535145 0.54357945 0.0819105 7.2097879 ] [ 0.38934475 0.47985561 0.78622469 2.25378501] [ 0. 0. 0. 1. ]] SLAMing on 228.859072329 meters Centerline goodness : 0.836058 Centerline is valid? [False, False] Translation: X:47.95, Y:7.44, Z:2.09 [[ 0.38757841 0.69086227 -0.61032148 47.94969294] [-0.84666067 0.52865363 0.06075397 7.43606175] [ 0.36462129 0.49318826 0.78982065 2.08825458] [ 0. 0. 0. 1. ]] SLAMing on 228.88907232900002 meters Centerline goodness : 0.834535 Centerline is valid? [False, False] Translation: X:47.77, Y:7.67, Z:1.92 [[ 3.95759058e-01 6.92744082e-01 -6.02893361e-01 4.77656336e+01] [-8.50649872e-01 5.23920957e-01 4.36076291e-02 7.66788943e+00] [ 3.46077394e-01 4.95593047e-01 7.96629129e-01 1.91985998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.91907232900002 meters Centerline goodness : 0.831912 Centerline is valid? [False, False] Translation: X:47.57, Y:7.91, Z:1.74 [[ 4.05103560e-01 6.96685415e-01 -5.92047751e-01 4.75699638e+01] [-8.54178462e-01 5.19298410e-01 2.66142255e-02 7.90786067e+00] [ 3.25991198e-01 4.94932919e-01 8.05463310e-01 1.74393152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.949072329 meters Centerline goodness : 0.831237 Centerline is valid? [False, False] Translation: X:47.37, Y:8.12, Z:1.58 [[ 4.08568432e-01 7.06739234e-01 -5.77573798e-01 4.73733737e+01] [-8.60353736e-01 5.09482016e-01 1.48163805e-02 8.12061290e+00] [ 3.04734780e-01 4.90864269e-01 8.16204008e-01 1.57698786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.979072329 meters Centerline goodness : 0.830801 Centerline is valid? [False, False] Translation: X:47.18, Y:8.35, Z:1.42 [[ 4.17603500e-01 7.12887194e-01 -5.63381900e-01 4.71767327e+01] [-8.61943083e-01 5.06998226e-01 2.63070970e-03 8.34548237e+00] [ 2.87509023e-01 4.84504538e-01 8.26192420e-01 1.41662545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.009072329 meters Centerline goodness : 0.830135 Centerline is valid? [False, False] Translation: X:46.98, Y:8.56, Z:1.27 [[ 4.26559365e-01 7.18261914e-01 -5.49678934e-01 4.69793912e+01] [-8.63463481e-01 5.04288992e-01 -1.11098618e-02 8.56494955e+00] [ 2.69217245e-01 4.79366702e-01 8.35302125e-01 1.26520838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.039072329 meters Centerline goodness : 0.826894 Centerline is valid? [False, False] Translation: X:46.78, Y:8.78, Z:1.12 [[ 4.33363153e-01 7.25251801e-01 -5.34982432e-01 4.67833623e+01] [-8.65334437e-01 5.00703708e-01 -2.21835211e-02 8.77506561e+00] [ 2.51779048e-01 4.72552242e-01 8.44571897e-01 1.11949875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.069072329 meters Centerline goodness : 0.825585 Centerline is valid? [False, False] Translation: X:46.57, Y:8.98, Z:0.97 [[ 4.31951950e-01 7.35676878e-01 -5.21725066e-01 4.65706040e+01] [-8.72294718e-01 4.87768710e-01 -3.44036426e-02 8.97744532e+00] [ 2.29171198e-01 4.69958740e-01 8.52419700e-01 9.69644491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.099072329 meters Centerline goodness : 0.824039 Centerline is valid? [False, False] Translation: X:46.35, Y:9.20, Z:0.82 [[ 4.39097883e-01 7.42205465e-01 -5.06284601e-01 4.63527665e+01] [-8.73208604e-01 4.85162443e-01 -4.60883718e-02 9.19751934e+00] [ 2.11423232e-01 4.62329376e-01 8.61133999e-01 8.24355926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.129072329 meters Centerline goodness : 0.822278 Centerline is valid? [False, False] Translation: X:46.14, Y:9.41, Z:0.69 [[ 0.44662701 0.74997474 -0.48791619 46.13506178] [-0.87318257 0.48429313 -0.05488505 9.40961584] [ 0.19513206 0.45055306 0.87116326 0.68581941] [ 0. 0. 0. 1. ]] SLAMing on 229.159072329 meters Centerline goodness : 0.821374 Centerline is valid? [False, False] Translation: X:45.91, Y:9.62, Z:0.56 [[ 0.45484042 0.75687103 -0.46932552 45.91443473] [-0.87250886 0.48431815 -0.06453073 9.61682946] [ 0.17846142 0.43884186 0.88066415 0.55516853] [ 0. 0. 0. 1. ]] SLAMing on 229.189072329 meters Centerline goodness : 0.819695 Centerline is valid? [False, False] Translation: X:45.69, Y:9.80, Z:0.43 [[ 0.4572853 0.76806231 -0.44829727 45.68997981] [-0.8751548 0.47825714 -0.07330881 9.79947717] [ 0.15809564 0.42585255 0.89087338 0.42709774] [ 0. 0. 0. 1. ]] SLAMing on 229.219072329 meters Centerline goodness : 0.820491 Centerline is valid? [False, False] Translation: X:45.45, Y:10.01, Z:0.30 [[ 0.46412798 0.77433374 -0.43010751 45.45233936] [-0.87385156 0.47966167 -0.07942374 10.0064933 ] [ 0.14480561 0.4127129 0.89927715 0.30233364] [ 0. 0. 0. 1. ]] SLAMing on 229.249072329 meters Centerline goodness : 0.818111 Centerline is valid? [False, False] Translation: X:45.21, Y:10.21, Z:0.18 [[ 0.4702939 0.78059512 -0.4116976 45.21309997] [-0.87251836 0.48127317 -0.08418941 10.20799754] [ 0.13242116 0.39880748 0.9074234 0.18352145] [ 0. 0. 0. 1. ]] SLAMing on 229.279072329 meters Centerline goodness : 0.816140 Centerline is valid? [False, False] Translation: X:44.97, Y:10.39, Z:0.07 [[ 0.4711209 0.78948751 -0.39338856 44.97052627] [-0.87372898 0.47886837 -0.085339 10.3852024 ] [ 0.12100727 0.38391997 0.91540302 0.06959066] [ 0. 0. 0. 1. ]] SLAMing on 229.309072329 meters Centerline goodness : 0.816002 Centerline is valid? [False, False] Translation: X:44.72, Y:10.58, Z:-0.04 [[ 4.77054261e-01 7.95000484e-01 -3.74691156e-01 4.47242995e+01] [-8.72003917e-01 4.81356068e-01 -8.89129011e-02 1.05784001e+01] [ 1.09674062e-01 3.69148434e-01 9.22876500e-01 -3.72014934e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.339072329 meters Centerline goodness : 0.813978 Centerline is valid? [False, False] Translation: X:44.48, Y:10.76, Z:-0.14 [[ 0.48214693 0.80056095 -0.35586022 44.48400692] [-0.87067686 0.48294339 -0.0932067 10.75984423] [ 0.09724269 0.35477859 0.92987957 -0.13541166] [ 0. 0. 0. 1. ]] SLAMing on 229.369072329 meters Centerline goodness : 0.810905 Centerline is valid? [False, False] Translation: X:44.23, Y:10.93, Z:-0.23 [[ 0.48046847 0.81060018 -0.33477963 44.23014469] [-0.87320966 0.4776671 -0.09663869 10.92614084] [ 0.08157788 0.33876465 0.93732788 -0.23291855] [ 0. 0. 0. 1. ]] SLAMing on 229.399072329 meters Centerline goodness : 0.809360 Centerline is valid? [False, False] Translation: X:43.99, Y:11.10, Z:-0.32 [[ 0.48341272 0.81654 -0.31555437 43.99187459] [-0.87239936 0.47915503 -0.09659097 11.09672185] [ 0.07232907 0.32198274 0.94397861 -0.31660344] [ 0. 0. 0. 1. ]] SLAMing on 229.429072329 meters Centerline goodness : 0.807994 Centerline is valid? [False, False] Translation: X:43.75, Y:11.27, Z:-0.40 [[ 0.48725003 0.82151623 -0.2961393 43.74721127] [-0.8708057 0.48250774 -0.09425349 11.26710422] [ 0.06545874 0.30380481 0.95048293 -0.39823258] [ 0. 0. 0. 1. ]] SLAMing on 229.459072329 meters Centerline goodness : 0.805209 Centerline is valid? [False, False] Translation: X:43.50, Y:11.43, Z:-0.47 [[ 0.49160169 0.82511124 -0.27842273 43.50367394] [-0.86875335 0.48670736 -0.09156185 11.43130807] [ 0.05996168 0.28689264 0.95608431 -0.47448884] [ 0. 0. 0. 1. ]] SLAMing on 229.489072329 meters Centerline goodness : 0.804619 Centerline is valid? [False, False] Translation: X:43.25, Y:11.58, Z:-0.55 [[ 0.49482936 0.8292979 -0.25963224 43.2471917 ] [-0.86721825 0.49033453 -0.08662888 11.58019688] [ 0.0554655 0.26802433 0.96181419 -0.55192447] [ 0. 0. 0. 1. ]] SLAMing on 229.519072329 meters Centerline goodness : 0.803936 Centerline is valid? [False, False] Translation: X:43.00, Y:11.74, Z:-0.62 [[ 0.50011602 0.83122058 -0.2428092 42.99844342] [-0.86451917 0.49541531 -0.08467753 11.73943716] [ 0.04990569 0.2522618 0.96637126 -0.6179242 ] [ 0. 0. 0. 1. ]] SLAMing on 229.549072329 meters Centerline goodness : 0.803645 Centerline is valid? [False, False] Translation: X:42.74, Y:11.88, Z:-0.68 [[ 0.50425852 0.83393176 -0.22423463 42.74380206] [-0.86249223 0.49922874 -0.08293257 11.88008492] [ 0.04278427 0.23522008 0.97100001 -0.68436014] [ 0. 0. 0. 1. ]] SLAMing on 229.579072329 meters Centerline goodness : 0.801034 Centerline is valid? [False, False] Translation: X:42.49, Y:12.03, Z:-0.74 [[ 5.09373318e-01 8.35421511e-01 -2.06421224e-01 4.24939827e+01] [-8.59654532e-01 5.04903301e-01 -7.78892939e-02 1.20323777e+01] [ 3.91523657e-02 2.17125669e-01 9.75358158e-01 -7.40555919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.609072329 meters Centerline goodness : 0.800185 Centerline is valid? [False, False] Translation: X:42.25, Y:12.18, Z:-0.79 [[ 5.14370588e-01 8.36524171e-01 -1.88812633e-01 4.22461767e+01] [-8.56790069e-01 5.10669326e-01 -7.16073750e-02 1.21795258e+01] [ 3.65195199e-02 1.98605516e-01 9.79398884e-01 -7.91773100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.63907232900002 meters Centerline goodness : 0.800219 Centerline is valid? [False, False] Translation: X:42.00, Y:12.31, Z:-0.84 [[ 5.21450499e-01 8.36416836e-01 -1.68808337e-01 4.19962195e+01] [-8.52598782e-01 5.18647816e-01 -6.38729995e-02 1.23081073e+01] [ 3.41276232e-02 1.77232390e-01 9.83577137e-01 -8.39305470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.66907232900002 meters Centerline goodness : 0.798829 Centerline is valid? [False, False] Translation: X:41.76, Y:12.44, Z:-0.88 [[ 5.29185544e-01 8.35071252e-01 -1.50395024e-01 4.17585823e+01] [-8.47917546e-01 5.27046175e-01 -5.70803385e-02 1.24442049e+01] [ 3.15989722e-02 1.57728669e-01 9.86976784e-01 -8.79360862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.699072329 meters Centerline goodness : 0.799249 Centerline is valid? [False, False] Translation: X:41.52, Y:12.58, Z:-0.92 [[ 5.37113341e-01 8.32915450e-01 -1.33270823e-01 4.15231035e+01] [-8.42993657e-01 5.35570189e-01 -5.02619748e-02 1.25770146e+01] [ 2.95119043e-02 1.39342835e-01 9.89804335e-01 -9.15183589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.729072329 meters Centerline goodness : 0.797802 Centerline is valid? [False, False] Translation: X:41.30, Y:12.70, Z:-0.95 [[ 5.45379012e-01 8.29808185e-01 -1.18237511e-01 4.12972398e+01] [-8.37744172e-01 5.44236644e-01 -4.46226157e-02 1.27020249e+01] [ 2.73209745e-02 1.23389024e-01 9.91982214e-01 -9.47309307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.759072329 meters Centerline goodness : 0.797802 Centerline is valid? [False, False] Translation: X:41.08, Y:12.84, Z:-0.98 [[ 5.49727708e-01 8.28863676e-01 -1.03848225e-01 4.10777634e+01] [-8.34992428e-01 5.48839616e-01 -3.95312686e-02 1.28363128e+01] [ 2.42299873e-02 1.08443915e-01 9.93807237e-01 -9.76156751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.789072329 meters Centerline goodness : 0.796589 Centerline is valid? [False, False] Translation: X:40.86, Y:12.94, Z:-1.00 [[ 5.62599986e-01 8.21072329e-01 -9.65478490e-02 4.08562267e+01] [-8.26418800e-01 5.61740697e-01 -3.84624066e-02 1.29397663e+01] [ 2.26544383e-02 1.01427907e-01 9.94584917e-01 -1.00466004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.819072329 meters Centerline goodness : 0.795658 Centerline is valid? [False, False] Translation: X:40.64, Y:13.05, Z:-1.03 [[ 5.70871561e-01 8.16377814e-01 -8.73666190e-02 4.06436396e+01] [-8.20770588e-01 5.70167143e-01 -3.52855713e-02 1.30509689e+01] [ 2.10072180e-02 9.18514804e-02 9.95551105e-01 -1.02961891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.849072329 meters Centerline goodness : 0.794342 Centerline is valid? [False, False] Translation: X:40.43, Y:13.16, Z:-1.05 [[ 5.78861156e-01 8.11824403e-01 -7.65565195e-02 4.04325514e+01] [-8.15192709e-01 5.78385594e-01 -3.05114914e-02 1.31604241e+01] [ 1.95092147e-02 8.00702337e-02 9.96598288e-01 -1.05100030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.879072329 meters Centerline goodness : 0.793703 Centerline is valid? [False, False] Translation: X:40.22, Y:13.26, Z:-1.07 [[ 5.91805377e-01 8.03911137e-01 -5.91039709e-02 4.02198003e+01] [-8.05865482e-01 5.91749649e-01 -2.03267713e-02 1.32602535e+01] [ 1.86338362e-02 5.96593426e-02 9.98044860e-01 -1.06733592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.909072329 meters Centerline goodness : 0.791637 Centerline is valid? [False, False] Translation: X:40.02, Y:13.37, Z:-1.08 [[ 6.00008862e-01 7.98904507e-01 -4.17247458e-02 4.00150193e+01] [-7.99818301e-01 6.00152131e-01 -1.03973567e-02 1.33681493e+01] [ 1.67347000e-02 3.96107215e-02 9.99075043e-01 -1.07961421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.939072329 meters Centerline goodness : 0.791378 Centerline is valid? [False, False] Translation: X:39.82, Y:13.47, Z:-1.09 [[ 6.08148936e-01 7.93399770e-01 -2.59167102e-02 3.98213528e+01] [-7.93719837e-01 6.08271983e-01 -3.74362906e-03 1.34697941e+01] [ 1.27942142e-02 2.28472910e-02 9.99657096e-01 -1.09023844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.969072329 meters Centerline goodness : 0.792125 Centerline is valid? [False, False] Translation: X:39.63, Y:13.55, Z:-1.10 [[ 6.20812490e-01 7.83575741e-01 -2.45134946e-02 3.96331986e+01] [-7.83842385e-01 6.20956065e-01 -2.16344358e-03 1.35541761e+01] [ 1.35265812e-02 2.05578088e-02 9.99697158e-01 -1.09856873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.999072329 meters Centerline goodness : 0.791512 Centerline is valid? [False, False] Translation: X:39.45, Y:13.64, Z:-1.11 [[ 6.27373984e-01 7.78286495e-01 -2.59232648e-02 3.94498658e+01] [-7.78589664e-01 6.27527435e-01 -2.73000482e-03 1.36441059e+01] [ 1.41428340e-02 2.18963200e-02 9.99660208e-01 -1.10781538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.029072329 meters Centerline goodness : 0.792547 Centerline is valid? [False, False] Translation: X:39.28, Y:13.73, Z:-1.12 [[ 6.33250392e-01 7.73558734e-01 -2.45117398e-02 3.92753281e+01] [-7.73838610e-01 6.33374091e-01 -3.32670688e-03 1.37300075e+01] [ 1.29516978e-02 2.10747691e-02 9.99694007e-01 -1.11698667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.059072329 meters Centerline goodness : 0.792319 Centerline is valid? [False, False] Translation: X:39.09, Y:13.82, Z:-1.12 [[ 6.41440290e-01 7.67076582e-01 -1.21602367e-02 3.90931712e+01] [-7.67110626e-01 6.41509651e-01 2.57959859e-03 1.38172208e+01] [ 9.77965889e-03 7.67358834e-03 9.99922734e-01 -1.12268835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.089072329 meters Centerline goodness : 0.791374 Centerline is valid? [False, False] Translation: X:38.92, Y:13.91, Z:-1.12 [[ 6.45243773e-01 7.63973469e-01 2.23876635e-03 3.89180580e+01] [-7.63947327e-01 6.45190435e-01 1.06670224e-02 1.39111450e+01] [ 6.70489147e-03 -8.59312935e-03 9.99940600e-01 -1.12351997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.119072329 meters Centerline goodness : 0.789466 Centerline is valid? [False, False] Translation: X:38.74, Y:14.01, Z:-1.12 [[ 6.49043776e-01 7.60609024e-01 1.46999994e-02 3.87422048e+01] [-7.60740749e-01 6.48813187e-01 1.77471538e-02 1.40056985e+01] [ 3.96109189e-03 -2.27015683e-02 9.99734439e-01 -1.12302909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.149072329 meters Centerline goodness : 0.790071 Centerline is valid? [False, False] Translation: X:38.58, Y:14.09, Z:-1.12 [[ 6.54303934e-01 7.56040072e-01 1.70226837e-02 3.85754539e+01] [-7.56231472e-01 6.54121059e-01 1.54790527e-02 1.40883141e+01] [ 5.67888220e-04 -2.30010942e-02 9.99735279e-01 -1.12282797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.179072329 meters Centerline goodness : 0.791373 Centerline is valid? [False, False] Translation: X:38.42, Y:14.17, Z:-1.12 [[ 6.55914279e-01 7.54734029e-01 1.23694424e-02 3.84201579e+01] [-7.54835128e-01 6.55812458e-01 1.15736952e-02 1.41673293e+01] [ 6.23027192e-04 -1.69282416e-02 9.99856513e-01 -1.12379409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.209072329 meters Centerline goodness : 0.794087 Centerline is valid? [False, False] Translation: X:38.25, Y:14.25, Z:-1.12 [[ 6.55881863e-01 7.54822070e-01 7.91354637e-03 3.82543471e+01] [-7.54863546e-01 6.55847063e-01 6.75697100e-03 1.42532483e+01] [-8.97653057e-05 -1.04054224e-02 9.99945858e-01 -1.12464902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.239072329 meters Centerline goodness : 0.794569 Centerline is valid? [False, False] Translation: X:38.09, Y:14.34, Z:-1.13 [[ 6.53255958e-01 7.57081177e-01 9.20569804e-03 3.80928147e+01] [-7.57136241e-01 6.53225663e-01 6.39892077e-03 1.43388418e+01] [-1.16889573e-03 -1.11501007e-02 9.99937152e-01 -1.12615032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.269072329 meters Centerline goodness : 0.794518 Centerline is valid? [False, False] Translation: X:37.93, Y:14.43, Z:-1.12 [[ 6.52308446e-01 7.57758476e-01 1.71983382e-02 3.79256442e+01] [-7.57952816e-01 6.52172882e-01 1.33439805e-02 1.44317665e+01] [-1.10477548e-03 -2.17399201e-02 9.99763050e-01 -1.12410779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.299072329 meters Centerline goodness : 0.794615 Centerline is valid? [False, False] Translation: X:37.75, Y:14.53, Z:-1.12 [[ 6.50935476e-01 7.58665543e-01 2.66383119e-02 3.77456417e+01] [-7.59128932e-01 6.50646801e-01 1.95449398e-02 1.45323976e+01] [-2.50405998e-03 -3.29444080e-02 9.99454049e-01 -1.12220419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.329072329 meters Centerline goodness : 0.793032 Centerline is valid? [False, False] Translation: X:37.57, Y:14.63, Z:-1.12 [[ 6.45961177e-01 7.62703217e-01 3.19054802e-02 3.75704909e+01] [-7.63365966e-01 6.45533323e-01 2.36459551e-02 1.46291464e+01] [-2.56120464e-03 -3.96299266e-02 9.99211143e-01 -1.11899839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.359072329 meters Centerline goodness : 0.793786 Centerline is valid? [False, False] Translation: X:37.40, Y:14.72, Z:-1.12 [[ 6.42132783e-01 7.66038382e-01 2.91665204e-02 3.74007525e+01] [-7.66582659e-01 6.41860531e-01 1.91333758e-02 1.47211265e+01] [-4.06393801e-03 -3.46447166e-02 9.99391429e-01 -1.11750152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.38907232900002 meters Centerline goodness : 0.794170 Centerline is valid? [False, False] Translation: X:37.22, Y:14.82, Z:-1.12 [[ 6.38343583e-01 7.69261114e-01 2.74737720e-02 3.72212768e+01] [-7.69735881e-01 6.38151697e-01 1.64038208e-02 1.48178205e+01] [-4.91361281e-03 -3.16188218e-02 9.99487922e-01 -1.11703232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.419072329 meters Centerline goodness : 0.794756 Centerline is valid? [False, False] Translation: X:37.04, Y:14.92, Z:-1.11 [[ 6.33466950e-01 7.73256344e-01 2.81824267e-02 3.70376759e+01] [-7.73748613e-01 6.33298545e-01 1.56855331e-02 1.49173798e+01] [-5.71895180e-03 -3.17423804e-02 9.99479722e-01 -1.11428749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.449072329 meters Centerline goodness : 0.794408 Centerline is valid? [False, False] Translation: X:36.84, Y:15.03, Z:-1.11 [[ 6.19085467e-01 7.84304203e-01 4.00012839e-02 3.68435896e+01] [-7.85245247e-01 6.18939726e-01 1.74217395e-02 1.50296852e+01] [-1.10944401e-02 -4.21963638e-02 9.99047737e-01 -1.10843243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.479072329 meters Centerline goodness : 0.792596 Centerline is valid? [False, False] Translation: X:36.64, Y:15.14, Z:-1.10 [[ 6.11523241e-01 7.89484738e-01 5.24706996e-02 3.66447900e+01] [-7.91041681e-01 6.11467740e-01 1.89805717e-02 1.51429732e+01] [-1.70992685e-02 -5.31135711e-02 9.98442068e-01 -1.10051289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.509072329 meters Centerline goodness : 0.792591 Centerline is valid? [False, False] Translation: X:36.44, Y:15.26, Z:-1.09 [[ 6.04248259e-01 7.94279402e-01 6.32793254e-02 3.64379665e+01] [-7.96499680e-01 6.04281725e-01 2.07811731e-02 1.52594268e+01] [-2.17324822e-02 -6.29589501e-02 9.97779470e-01 -1.09073218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.539072329 meters Centerline goodness : 0.792243 Centerline is valid? [False, False] Translation: X:36.24, Y:15.37, Z:-1.08 [[ 5.96743738e-01 7.99430612e-01 6.93369123e-02 3.62373600e+01] [-8.01999630e-01 5.97027332e-01 1.88403445e-02 1.53713418e+01] [-2.63344837e-02 -6.68510356e-02 9.97415377e-01 -1.08216028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.569072329 meters Centerline goodness : 0.795652 Centerline is valid? [False, False] Translation: X:36.03, Y:15.49, Z:-1.08 [[ 5.81916642e-01 8.10847786e-01 6.24410817e-02 3.60265322e+01] [-8.12923044e-01 5.82138477e-01 1.64595588e-02 1.54875557e+01] [-2.30031594e-02 -6.03378854e-02 9.97912919e-01 -1.07751157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.599072329 meters Centerline goodness : 0.793037 Centerline is valid? [False, False] Translation: X:35.82, Y:15.60, Z:-1.07 [[ 5.75634166e-01 8.15601725e-01 5.86441224e-02 3.58248344e+01] [-8.17485156e-01 5.75667650e-01 1.80215575e-02 1.55973248e+01] [-1.90611108e-02 -5.83145238e-02 9.98116271e-01 -1.07367520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.629072329 meters Centerline goodness : 0.793535 Centerline is valid? [False, False] Translation: X:35.60, Y:15.72, Z:-1.07 [[ 5.69447921e-01 8.19959427e-01 5.82718080e-02 3.56001526e+01] [-8.21900271e-01 5.69174222e-01 2.28177601e-02 1.57197536e+01] [-1.44571735e-02 -6.08871408e-02 9.98039952e-01 -1.06819399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.659072329 meters Centerline goodness : 0.793090 Centerline is valid? [False, False] Translation: X:35.38, Y:15.84, Z:-1.06 [[ 5.57402664e-01 8.27960393e-01 6.15130674e-02 3.53842932e+01] [-8.30221239e-01 5.56384240e-01 3.41946207e-02 1.58429227e+01] [-5.91310969e-03 -7.01296277e-02 9.97520361e-01 -1.06426856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.689072329 meters Centerline goodness : 0.792729 Centerline is valid? [False, False] Translation: X:35.14, Y:15.98, Z:-1.06 [[ 5.55051387e-01 8.29027375e-01 6.80556286e-02 3.51355352e+01] [-8.31798925e-01 5.53704314e-01 3.90138634e-02 1.59772282e+01] [-5.33913432e-03 -7.82632977e-02 9.96918427e-01 -1.05636363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.719072329 meters Centerline goodness : 0.792212 Centerline is valid? [False, False] Translation: X:34.90, Y:16.10, Z:-1.05 [[ 5.54142414e-01 8.29482243e-01 6.98955882e-02 3.49013672e+01] [-8.32417092e-01 5.52467078e-01 4.31498828e-02 1.61010642e+01] [-2.82294979e-03 -8.20934625e-02 9.96620637e-01 -1.04748362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.749072329 meters Centerline goodness : 0.803956 Centerline is valid? [False, False] Translation: X:34.68, Y:16.22, Z:-1.04 [[ 5.46983877e-01 8.34950807e-01 6.05457519e-02 3.46789930e+01] [-8.37143140e-01 5.45553721e-01 3.95284751e-02 1.62227930e+01] [-2.66280658e-05 -7.23068995e-02 9.97382430e-01 -1.04108172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.779072329 meters Centerline goodness : 0.790310 Centerline is valid? [False, False] Translation: X:34.43, Y:16.37, Z:-1.02 [[ 5.23845096e-01 8.49208326e-01 6.65697747e-02 3.44258090e+01] [-8.51796123e-01 5.22732095e-01 3.45618493e-02 1.63743395e+01] [-5.44794767e-03 -7.48089313e-02 9.97183004e-01 -1.02409749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.809072329 meters Centerline goodness : 0.806606 Centerline is valid? [False, False] Translation: X:34.14, Y:16.55, Z:-1.01 [[ 4.94655590e-01 8.66592441e-01 6.58284701e-02 3.41438806e+01] [-8.69082684e-01 4.93521788e-01 3.36382747e-02 1.65457345e+01] [-3.33710972e-03 -7.38497441e-02 9.97263796e-01 -1.00808538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.839072329 meters Centerline goodness : 0.810884 Centerline is valid? [False, False] Translation: X:33.92, Y:16.73, Z:-1.00 [[ 4.28630265e-01 9.01151400e-01 6.48247627e-02 3.39172910e+01] [-9.03388411e-01 4.26460623e-01 4.49523733e-02 1.67303596e+01] [ 1.28636855e-02 -7.78298870e-02 9.96883661e-01 -1.00415478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.869072329 meters Centerline goodness : 0.813603 Centerline is valid? [False, False] Translation: X:33.60, Y:16.92, Z:-0.98 [[ 4.04713261e-01 9.10602714e-01 8.37249822e-02 3.35967298e+01] [-9.14056609e-01 4.00179211e-01 6.60084398e-02 1.69196015e+01] [ 2.66024671e-02 -1.03243864e-01 9.94300263e-01 -9.78810366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.899072329 meters Centerline goodness : 0.813916 Centerline is valid? [False, False] Translation: X:33.26, Y:17.14, Z:-0.95 [[ 0.3666829 0.92352734 0.1124318 33.26199704] [-0.92909132 0.35723037 0.09579034 17.13554644] [ 0.04830094 -0.13958409 0.9890315 -0.94620098] [ 0. 0. 0. 1. ]] SLAMing on 230.929072329 meters Centerline goodness : 0.811274 Centerline is valid? [False, False] Translation: X:32.89, Y:17.33, Z:-0.91 [[ 0.36030514 0.92225678 0.14008079 32.89142831] [-0.93091831 0.34586763 0.11733147 17.32974674] [ 0.05976033 -0.17267891 0.98316362 -0.91117504] [ 0. 0. 0. 1. ]] SLAMing on 230.959072329 meters Centerline goodness : 0.246790 Centerline is valid? [False, False] Translation: X:32.49, Y:17.53, Z:-0.87 [[ 0.35797481 0.91880311 0.16629757 32.49378063] [-0.93126736 0.33839234 0.13502493 17.52868692] [ 0.0677875 -0.20320303 0.97678728 -0.86906337] [ 0. 0. 0. 1. ]] SLAMing on 230.989072329 meters Centerline goodness : 0.807022 Centerline is valid? [False, False] Translation: X:32.10, Y:17.72, Z:-0.82 [[ 0.36077609 0.91323423 0.18932474 32.1043544 ] [-0.92989359 0.33661736 0.14827902 17.7151267 ] [ 0.07168348 -0.22954739 0.97065415 -0.8211068 ] [ 0. 0. 0. 1. ]] SLAMing on 231.019072329 meters Centerline goodness : 0.802559 Centerline is valid? [False, False] Translation: X:31.72, Y:17.89, Z:-0.77 [[ 0.36187583 0.9093408 0.20529294 31.71759791] [-0.92965945 0.33568925 0.15180917 17.88953437] [ 0.06913164 -0.24578859 0.9668551 -0.77223137] [ 0. 0. 0. 1. ]] SLAMing on 231.049072329 meters Centerline goodness : 0.804416 Centerline is valid? [False, False] Translation: X:31.32, Y:18.06, Z:-0.71 [[ 0.36380654 0.90535822 0.21902347 31.31530889] [-0.92909858 0.33592053 0.15470363 18.06281894] [ 0.06648772 -0.25977659 0.96337713 -0.7103404 ] [ 0. 0. 0. 1. ]] SLAMing on 231.079072329 meters Centerline goodness : 0.803811 Centerline is valid? [False, False] Translation: X:30.93, Y:18.23, Z:-0.64 [[ 0.35962284 0.90197963 0.23896479 30.92700351] [-0.93108044 0.33004713 0.15542875 18.22732657] [ 0.06132393 -0.27839117 0.95850808 -0.64029311] [ 0. 0. 0. 1. ]] SLAMing on 231.109072329 meters Centerline goodness : 0.805068 Centerline is valid? [False, False] Translation: X:30.51, Y:18.41, Z:-0.55 [[ 0.34926415 0.89807916 0.26733568 30.50894546] [-0.93539004 0.31732107 0.15605387 18.4056736 ] [ 0.05531749 -0.30456716 0.95088318 -0.54816958] [ 0. 0. 0. 1. ]] SLAMing on 231.13907232900002 meters Centerline goodness : 0.801383 Centerline is valid? [False, False] Translation: X:30.11, Y:18.57, Z:-0.46 [[ 0.32990682 0.90151747 0.28004954 30.11259045] [-0.94172262 0.29363631 0.16412258 18.57114792] [ 0.06572666 -0.31787414 0.94585202 -0.455388 ] [ 0. 0. 0. 1. ]] SLAMing on 231.169072329 meters Centerline goodness : 0.800500 Centerline is valid? [False, False] Translation: X:29.71, Y:18.74, Z:-0.35 [[ 0.32357983 0.89812286 0.29777746 29.70640338] [-0.9430962 0.28065723 0.17832858 18.74356173] [ 0.07658757 -0.33853632 0.93783128 -0.35015015] [ 0. 0. 0. 1. ]] SLAMing on 231.199072329 meters Centerline goodness : 0.802045 Centerline is valid? [False, False] Translation: X:29.27, Y:18.93, Z:-0.23 [[ 0.31454921 0.88901233 0.33273994 29.26814296] [-0.94559915 0.26278423 0.19179857 18.93365795] [ 0.08307249 -0.3749687 0.92330788 -0.22695529] [ 0. 0. 0. 1. ]] SLAMing on 231.229072329 meters Centerline goodness : 0.801934 Centerline is valid? [False, False] Translation: X:28.81, Y:19.14, Z:-0.08 [[ 0.28164482 0.8773821 0.38842869 28.81354715] [-0.95554464 0.21966314 0.19667881 19.14376473] [ 0.087239 -0.42655452 0.90024474 -0.07517654] [ 0. 0. 0. 1. ]] SLAMing on 231.259072329 meters Centerline goodness : 0.802066 Centerline is valid? [False, False] Translation: X:28.41, Y:19.32, Z:0.05 [[ 0.27286485 0.87224523 0.40587318 28.41313522] [-0.95736729 0.20460327 0.20392492 19.31920178] [ 0.09482956 -0.44421365 0.89088809 0.04623206] [ 0. 0. 0. 1. ]] SLAMing on 231.289072329 meters Centerline goodness : 0.799801 Centerline is valid? [False, False] Translation: X:27.99, Y:19.50, Z:0.17 [[ 0.2651511 0.87110753 0.41336009 27.99460932] [-0.9585092 0.19159722 0.21107018 19.49957204] [ 0.10466618 -0.45217494 0.8857668 0.17447653] [ 0. 0. 0. 1. ]] SLAMing on 231.319072329 meters Centerline goodness : 0.800919 Centerline is valid? [False, False] Translation: X:27.60, Y:19.67, Z:0.30 [[ 0.25923823 0.87158323 0.41609881 27.59603608] [-0.95899968 0.18120966 0.21790517 19.66874711] [ 0.11452137 -0.45552798 0.88282451 0.29513743] [ 0. 0. 0. 1. ]] SLAMing on 231.349072329 meters Centerline goodness : 0.794845 Centerline is valid? [False, False] Translation: X:27.18, Y:19.85, Z:0.42 [[ 0.24801928 0.87792419 0.40955531 27.17648261] [-0.95995372 0.16586462 0.2257826 19.84564587] [ 0.13028927 -0.44915258 0.88390422 0.41705667] [ 0. 0. 0. 1. ]] SLAMing on 231.379072329 meters Centerline goodness : 0.794646 Centerline is valid? [False, False] Translation: X:26.72, Y:20.03, Z:0.57 [[ 0.25005212 0.87137836 0.42210626 26.72157497] [-0.9580175 0.15950576 0.23824437 20.03299051] [ 0.14027261 -0.4639587 0.87468047 0.56684193] [ 0. 0. 0. 1. ]] SLAMing on 231.409072329 meters Centerline goodness : 0.796131 Centerline is valid? [False, False] Translation: X:26.28, Y:20.22, Z:0.73 [[ 0.24677273 0.85936126 0.44788552 26.27925929] [-0.95815044 0.14717078 0.24553716 20.22321075] [ 0.14508946 -0.48973359 0.85971511 0.72866348] [ 0. 0. 0. 1. ]] SLAMing on 231.439072329 meters Centerline goodness : 0.795567 Centerline is valid? [False, False] Translation: X:25.83, Y:20.41, Z:0.90 [[ 0.2530733 0.84675724 0.46792743 25.83067118] [-0.95621232 0.14543278 0.25398287 20.4095152 ] [ 0.14700985 -0.51171426 0.84648486 0.89756825] [ 0. 0. 0. 1. ]] SLAMing on 231.469072329 meters Centerline goodness : 0.796738 Centerline is valid? [False, False] Translation: X:25.40, Y:20.59, Z:1.07 [[ 0.26155867 0.83740443 0.47993841 25.39546792] [-0.95374093 0.14788531 0.26174065 20.58960994] [ 0.14820694 -0.52619745 0.83734757 1.06841485] [ 0. 0. 0. 1. ]] SLAMing on 231.499072329 meters Centerline goodness : 0.795124 Centerline is valid? [False, False] Translation: X:24.98, Y:20.76, Z:1.23 [[ 0.28360003 0.83134148 0.47795645 24.98435664] [-0.94742409 0.16588936 0.27362073 20.76017251] [ 0.14818437 -0.5304263 0.83467918 1.23040494] [ 0. 0. 0. 1. ]] SLAMing on 231.529072329 meters Centerline goodness : 0.794229 Centerline is valid? [False, False] Translation: X:24.58, Y:20.93, Z:1.40 [[ 0.29923466 0.82450182 0.48026594 24.57909036] [-0.94268977 0.17757897 0.28249195 20.92769029] [ 0.14762999 -0.53727317 0.83038721 1.39728961] [ 0. 0. 0. 1. ]] SLAMing on 231.559072329 meters Centerline goodness : 0.794151 Centerline is valid? [False, False] Translation: X:24.19, Y:21.09, Z:1.56 [[ 0.31392289 0.81664083 0.4843038 24.18923829] [-0.93847497 0.18956243 0.28867078 21.09097121] [ 0.14393454 -0.54512736 0.82590496 1.56432013] [ 0. 0. 0. 1. ]] SLAMing on 231.589072329 meters Centerline goodness : 0.794696 Centerline is valid? [False, False] Translation: X:23.82, Y:21.25, Z:1.73 [[ 0.32655961 0.80837328 0.48978716 23.82067363] [-0.93529201 0.20162603 0.29081918 21.24765508] [ 0.13633661 -0.55306382 0.82190799 1.72878252] [ 0. 0. 0. 1. ]] SLAMing on 231.619072329 meters Centerline goodness : 0.797607 Centerline is valid? [False, False] Translation: X:23.45, Y:21.41, Z:1.90 [[ 0.34475551 0.7973553 0.4953465 23.45018571] [-0.93187666 0.22724398 0.28278271 21.41049461] [ 0.11291379 -0.55909274 0.82138041 1.90423225] [ 0. 0. 0. 1. ]] SLAMing on 231.649072329 meters Centerline goodness : 0.800012 Centerline is valid? [False, False] Translation: X:23.11, Y:21.56, Z:2.07 [[ 0.35072119 0.79619471 0.4930199 23.1123197 ] [-0.93142558 0.24195039 0.27185733 21.56002887] [ 0.09716501 -0.55455747 0.82645325 2.06991081] [ 0. 0. 0. 1. ]] SLAMing on 231.679072329 meters Centerline goodness : 0.800012 Centerline is valid? [False, False] Translation: X:22.78, Y:21.71, Z:2.23 [[ 0.34718636 0.79947762 0.49020115 22.78176288] [-0.93322676 0.2429987 0.26464969 21.7065929 ] [ 0.09246326 -0.54935159 0.83045974 2.23098857] [ 0. 0. 0. 1. ]] SLAMing on 231.709072329 meters Centerline goodness : 0.799465 Centerline is valid? [False, False] Translation: X:22.45, Y:21.85, Z:2.39 [[ 0.36743262 0.79467543 0.48320206 22.44518399] [-0.92717186 0.27213612 0.25747675 21.85126451] [ 0.07311371 -0.54261671 0.83679238 2.38960707] [ 0. 0. 0. 1. ]] SLAMing on 231.739072329 meters Centerline goodness : 0.800389 Centerline is valid? [False, False] Translation: X:22.13, Y:21.99, Z:2.54 [[ 0.37684273 0.7948605 0.47559052 22.12744008] [-0.92403969 0.28692987 0.25262998 21.99218715] [ 0.06434446 -0.53466629 0.84261008 2.54479584] [ 0. 0. 0. 1. ]] SLAMing on 231.769072329 meters Centerline goodness : 0.800368 Centerline is valid? [False, False] Translation: X:21.82, Y:22.13, Z:2.70 [[ 0.38664194 0.79361037 0.46977717 21.81789222] [-0.92051805 0.30107825 0.24899478 22.13068385] [ 0.05616515 -0.52871019 0.84694215 2.69576787] [ 0. 0. 0. 1. ]] SLAMing on 231.799072329 meters Centerline goodness : 0.799557 Centerline is valid? [False, False] Translation: X:21.51, Y:22.27, Z:2.85 [[ 0.40991384 0.78269742 0.46835391 21.50603757] [-0.91108557 0.32685044 0.25118097 22.27082016] [ 0.04351702 -0.52967305 0.84708484 2.84699442] [ 0. 0. 0. 1. ]] SLAMing on 231.829072329 meters Centerline goodness : 0.798336 Centerline is valid? [False, False] Translation: X:21.21, Y:22.41, Z:2.99 [[ 0.41633291 0.78322618 0.46176148 21.20933697] [-0.90864841 0.34053771 0.24164464 22.40708217] [ 0.0320152 -0.52018345 0.85345428 2.99342657] [ 0. 0. 0. 1. ]] SLAMing on 231.859072329 meters Centerline goodness : 0.798187 Centerline is valid? [False, False] Translation: X:20.91, Y:22.54, Z:3.13 [[ 4.23287349e-01 7.82823535e-01 4.56086761e-01 2.09132816e+01] [-9.05753930e-01 3.54019119e-01 2.32981291e-01 2.25393150e+01] [ 2.09198044e-02 -5.11720409e-01 8.58897307e-01 3.13330627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.88907232900002 meters Centerline goodness : 0.797493 Centerline is valid? [False, False] Translation: X:20.61, Y:22.67, Z:3.27 [[ 4.36745988e-01 7.79209350e-01 4.49539466e-01 2.06132292e+01] [-8.99584683e-01 3.77980159e-01 2.18811328e-01 2.26713135e+01] [ 5.82833854e-04 -4.99963788e-01 8.66046114e-01 3.27168362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.919072329 meters Centerline goodness : 0.796940 Centerline is valid? [False, False] Translation: X:20.33, Y:22.80, Z:3.40 [[ 4.40664824e-01 7.81842217e-01 4.41063784e-01 2.03325718e+01] [-8.97604324e-01 3.89796241e-01 2.05828492e-01 2.27967877e+01] [-1.09996005e-02 -4.86602136e-01 8.73554446e-01 3.40158962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.949072329 meters Centerline goodness : 0.797601 Centerline is valid? [False, False] Translation: X:20.06, Y:22.92, Z:3.53 [[ 4.45195929e-01 7.83541804e-01 4.33431454e-01 2.00567507e+01] [-8.95186903e-01 4.00810009e-01 1.94914713e-01 2.29188675e+01] [-2.09998390e-02 -4.74777397e-01 8.79855346e-01 3.52635384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.979072329 meters Centerline goodness : 0.798184 Centerline is valid? [False, False] Translation: X:19.77, Y:23.05, Z:3.65 [[ 0.4557226 0.77961054 0.42956294 19.77317306] [-0.88940782 0.41814892 0.18467595 23.0450167 ] [-0.03564597 -0.46621764 0.88395163 3.65305887] [ 0. 0. 0. 1. ]] SLAMing on 232.009072329 meters Centerline goodness : 0.797886 Centerline is valid? [False, False] Translation: X:19.50, Y:23.17, Z:3.77 [[ 0.45931761 0.77919883 0.42646984 19.50345384] [-0.88725045 0.42547367 0.17820996 23.1667427 ] [-0.0425907 -0.46024053 0.88677206 3.77448721] [ 0. 0. 0. 1. ]] SLAMing on 232.039072329 meters Centerline goodness : 0.798659 Centerline is valid? [False, False] Translation: X:19.24, Y:23.29, Z:3.89 [[ 0.46270565 0.77834433 0.42436256 19.23735747] [-0.88519917 0.43168846 0.17339982 23.28608748] [-0.04822765 -0.45587846 0.88873445 3.89119114] [ 0. 0. 0. 1. ]] SLAMing on 232.069072329 meters Centerline goodness : 0.797324 Centerline is valid? [False, False] Translation: X:18.98, Y:23.40, Z:4.00 [[ 0.46950616 0.77749701 0.41840455 18.97534695] [-0.88152554 0.43949467 0.17250262 23.40252725] [-0.0497663 -0.44982534 0.89172893 4.00298719] [ 0. 0. 0. 1. ]] SLAMing on 232.099072329 meters Centerline goodness : 0.796664 Centerline is valid? [False, False] Translation: X:18.71, Y:23.52, Z:4.11 [[ 0.47091669 0.78057139 0.41103015 18.7130636 ] [-0.88071441 0.44281178 0.16810666 23.5169774 ] [-0.05078974 -0.44116441 0.89598793 4.11265719] [ 0. 0. 0. 1. ]] SLAMing on 232.129072329 meters Centerline goodness : 0.797597 Centerline is valid? [False, False] Translation: X:18.45, Y:23.63, Z:4.22 [[ 0.47196403 0.78296703 0.40523151 18.45115399] [-0.88006369 0.44569381 0.16384422 23.62998345] [-0.05232456 -0.43395812 0.8994123 4.21833462] [ 0. 0. 0. 1. ]] SLAMing on 232.159072329 meters Centerline goodness : 0.797245 Centerline is valid? [False, False] Translation: X:18.19, Y:23.74, Z:4.32 [[ 0.47193334 0.7856299 0.40008073 18.19152284] [-0.87993769 0.44787226 0.15849325 23.74101764] [-0.05466803 -0.42684436 0.9026712 4.32235757] [ 0. 0. 0. 1. ]] SLAMing on 232.189072329 meters Centerline goodness : 0.798861 Centerline is valid? [False, False] Translation: X:17.93, Y:23.85, Z:4.42 [[ 0.46944671 0.78900105 0.39635481 17.92641286] [-0.88095264 0.44879468 0.15001926 23.8529351 ] [-0.05951658 -0.41959587 0.90575774 4.42453094] [ 0. 0. 0. 1. ]] SLAMing on 232.219072329 meters Centerline goodness : 0.798374 Centerline is valid? [False, False] Translation: X:17.66, Y:23.96, Z:4.53 [[ 0.46828677 0.78941818 0.39689602 17.65736383] [-0.88132295 0.44937834 0.14604442 23.96487268] [-0.06306635 -0.41818424 0.90617028 4.53066392] [ 0. 0. 0. 1. ]] SLAMing on 232.249072329 meters Centerline goodness : 0.799385 Centerline is valid? [False, False] Translation: X:17.39, Y:24.08, Z:4.64 [[ 0.46389866 0.78959323 0.4016722 17.38538141] [-0.88341835 0.44615488 0.14324048 24.07866072] [-0.06610629 -0.42129366 0.90451181 4.64062339] [ 0. 0. 0. 1. ]] SLAMing on 232.279072329 meters Centerline goodness : 0.798465 Centerline is valid? [False, False] Translation: X:17.11, Y:24.19, Z:4.75 [[ 0.46200084 0.78911714 0.40478311 17.11376548] [-0.8843203 0.44453544 0.142709 24.18954186] [-0.06732632 -0.4238896 0.90320805 4.74975115] [ 0. 0. 0. 1. ]] SLAMing on 232.309072329 meters Centerline goodness : 0.799031 Centerline is valid? [False, False] Translation: X:16.84, Y:24.30, Z:4.86 [[ 0.45975522 0.78927813 0.40701987 16.83911129] [-0.88544592 0.44247051 0.1421456 24.30047646] [-0.06790188 -0.42574627 0.90229122 4.86007295] [ 0. 0. 0. 1. ]] SLAMing on 232.339072329 meters Centerline goodness : 0.802144 Centerline is valid? [False, False] Translation: X:16.57, Y:24.40, Z:4.97 [[ 0.45331048 0.7938813 0.4052926 16.57356642] [-0.88929904 0.43365737 0.1452188 24.40376489] [-0.06047164 -0.42625552 0.90257931 4.96796697] [ 0. 0. 0. 1. ]] SLAMing on 232.369072329 meters Centerline goodness : 0.800581 Centerline is valid? [False, False] Translation: X:16.30, Y:24.51, Z:5.08 [[ 0.45148935 0.79593836 0.40328587 16.29555284] [-0.89057711 0.42985717 0.1486446 24.51148072] [-0.05504339 -0.42626862 0.90292042 5.07674679] [ 0. 0. 0. 1. ]] SLAMing on 232.399072329 meters Centerline goodness : 0.800424 Centerline is valid? [False, False] Translation: X:16.03, Y:24.61, Z:5.18 [[ 0.44882651 0.79841325 0.4013615 16.02864768] [-0.89213776 0.42619306 0.14983224 24.6147042 ] [-0.05142944 -0.42531843 0.90358134 5.18065123] [ 0. 0. 0. 1. ]] SLAMing on 232.429072329 meters Centerline goodness : 0.799152 Centerline is valid? [False, False] Translation: X:15.75, Y:24.72, Z:5.29 [[ 0.44572724 0.80000774 0.40164019 15.74879915] [-0.89385481 0.42206099 0.15128811 24.72140294] [-0.04848499 -0.42644125 0.90321485 5.28980076] [ 0. 0. 0. 1. ]] SLAMing on 232.459072329 meters Centerline goodness : 0.800962 Centerline is valid? [False, False] Translation: X:15.46, Y:24.82, Z:5.40 [[ 0.43462146 0.80372702 0.4063583 15.46426891] [-0.89948479 0.40995956 0.15119615 24.82438704] [-0.04507004 -0.4312262 0.90111745 5.39944208] [ 0. 0. 0. 1. ]] SLAMing on 232.489072329 meters Centerline goodness : 0.801977 Centerline is valid? [False, False] Translation: X:15.17, Y:24.93, Z:5.51 [[ 0.42875687 0.80460148 0.4108333 15.17412121] [-0.9023401 0.40362947 0.15121375 24.93247102] [-0.04415762 -0.43554529 0.89908309 5.514881 ] [ 0. 0. 0. 1. ]] SLAMing on 232.519072329 meters Centerline goodness : 0.802697 Centerline is valid? [False, False] Translation: X:14.88, Y:25.04, Z:5.63 [[ 0.4139207 0.80942579 0.41653276 14.8790754 ] [-0.90951919 0.38683026 0.15210912 25.03799252] [-0.03800643 -0.44180565 0.89630535 5.63268107] [ 0. 0. 0. 1. ]] SLAMing on 232.549072329 meters Centerline goodness : 0.801058 Centerline is valid? [False, False] Translation: X:14.57, Y:25.15, Z:5.76 [[ 0.4092773 0.81000988 0.41997152 14.56947649] [-0.91185495 0.37917632 0.15730821 25.15039992] [-0.03182205 -0.44733579 0.89379978 5.75593822] [ 0. 0. 0. 1. ]] SLAMing on 232.579072329 meters Centerline goodness : 0.801045 Centerline is valid? [False, False] Translation: X:14.27, Y:25.26, Z:5.88 [[ 4.05246588e-01 8.10782438e-01 4.22382577e-01 1.42660699e+01] [-9.13879787e-01 3.71640147e-01 1.63423789e-01 2.52592981e+01] [-2.44731846e-02 -4.52233833e-01 8.91563584e-01 5.87734015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.609072329 meters Centerline goodness : 0.800041 Centerline is valid? [False, False] Translation: X:13.96, Y:25.37, Z:6.00 [[ 4.01945123e-01 8.10903171e-01 4.25295385e-01 1.39614151e+01] [-9.15497304e-01 3.64749931e-01 1.69770948e-01 2.53677158e+01] [-1.74586627e-02 -4.57595383e-01 8.88989123e-01 6.00001029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.63907232900002 meters Centerline goodness : 0.797992 Centerline is valid? [False, False] Translation: X:13.65, Y:25.48, Z:6.13 [[ 3.99013895e-01 8.10927395e-01 4.28000785e-01 1.36512343e+01] [-9.16882306e-01 3.58308653e-01 1.75902661e-01 2.54771375e+01] [-1.07120983e-02 -4.62613953e-01 8.86495111e-01 6.12714415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.669072329 meters Centerline goodness : 0.798717 Centerline is valid? [False, False] Translation: X:13.34, Y:25.58, Z:6.26 [[ 3.88068393e-01 8.13797228e-01 4.32593335e-01 1.33405302e+01] [-9.21620365e-01 3.44869242e-01 1.77991878e-01 2.55842050e+01] [-4.33883849e-03 -4.67759850e-01 8.83844951e-01 6.25700890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.699072329 meters Centerline goodness : 0.798072 Centerline is valid? [False, False] Translation: X:13.02, Y:25.69, Z:6.39 [[ 3.77428868e-01 8.17581716e-01 4.34865021e-01 1.30238155e+01] [-9.26038258e-01 3.32833788e-01 1.77974193e-01 2.56900477e+01] [ 7.70673745e-04 -4.69874245e-01 8.82733029e-01 6.38864068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.729072329 meters Centerline goodness : 0.795705 Centerline is valid? [False, False] Translation: X:12.70, Y:25.80, Z:6.52 [[ 3.75039820e-01 8.18117339e-01 4.35923334e-01 1.27003252e+01] [-9.26997005e-01 3.28619194e-01 1.80792638e-01 2.57998929e+01] [ 4.65681783e-03 -4.71904064e-01 8.81637606e-01 6.52340294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.759072329 meters Centerline goodness : 0.795770 Centerline is valid? [False, False] Translation: X:12.38, Y:25.91, Z:6.66 [[ 3.72949839e-01 8.18321842e-01 4.37330287e-01 1.23805303e+01] [-9.27808495e-01 3.24370881e-01 1.84268630e-01 2.59076879e+01] [ 8.93383415e-03 -4.74481711e-01 8.80220025e-01 6.65829940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.789072329 meters Centerline goodness : 0.797331 Centerline is valid? [False, False] Translation: X:12.06, Y:26.01, Z:6.79 [[ 3.70921918e-01 8.18077055e-01 4.39507523e-01 1.20645193e+01] [-9.28574957e-01 3.20164771e-01 1.87731374e-01 2.60139138e+01] [ 1.28639042e-02 -4.77749361e-01 8.78401997e-01 6.79377340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.819072329 meters Centerline goodness : 0.798699 Centerline is valid? [False, False] Translation: X:11.74, Y:26.12, Z:6.94 [[ 3.64039034e-01 8.17648464e-01 4.46011850e-01 1.17421695e+01] [-9.31158672e-01 3.08981723e-01 1.93581566e-01 2.61167086e+01] [ 2.04721599e-02 -4.85779049e-01 8.73841866e-01 6.93633766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.849072329 meters Centerline goodness : 0.797206 Centerline is valid? [False, False] Translation: X:11.42, Y:26.22, Z:7.08 [[ 3.62863733e-01 8.15401745e-01 4.51054215e-01 1.14243615e+01] [-9.31515185e-01 3.04586981e-01 1.98761743e-01 2.62208637e+01] [ 2.46854303e-02 -4.92287279e-01 8.70082677e-01 7.07645698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.879072329 meters Centerline goodness : 0.798831 Centerline is valid? [False, False] Translation: X:11.10, Y:26.33, Z:7.22 [[ 0.36161753 0.8144185 0.45382294 11.10037033] [-0.9318683 0.30047033 0.20332008 26.32558107] [ 0.02922731 -0.49642732 0.86758612 7.21983584] [ 0. 0. 0. 1. ]] SLAMing on 232.909072329 meters Centerline goodness : 0.797512 Centerline is valid? [False, False] Translation: X:10.78, Y:26.42, Z:7.36 [[ 0.35671749 0.81749102 0.45217371 10.7786761 ] [-0.93341478 0.29188701 0.20865957 26.41895511] [ 0.0385937 -0.49649814 0.86717941 7.35970555] [ 0. 0. 0. 1. ]] SLAMing on 232.939072329 meters Centerline goodness : 0.796613 Centerline is valid? [False, False] Translation: X:10.46, Y:26.52, Z:7.50 [[ 0.35767801 0.81741295 0.45155565 10.45643738] [-0.93271245 0.28889589 0.2158394 26.51727307] [ 0.04597735 -0.49837259 0.86574294 7.49974964] [ 0. 0. 0. 1. ]] SLAMing on 232.969072329 meters Centerline goodness : 0.794696 Centerline is valid? [False, False] Translation: X:10.13, Y:26.62, Z:7.64 [[ 0.35838929 0.81705232 0.45164435 10.12859973] [-0.93208243 0.28583782 0.22252886 26.61798592] [ 0.05272068 -0.50072172 0.86400132 7.64414341] [ 0. 0. 0. 1. ]] SLAMing on 232.999072329 meters Centerline goodness : 0.792545 Centerline is valid? [False, False] Translation: X:9.78, Y:26.72, Z:7.80 [[ 0.35633803 0.81533963 0.45633814 9.78338767] [-0.9323212 0.2780468 0.23122968 26.71880924] [ 0.06164737 -0.50784965 0.85923707 7.79970814] [ 0. 0. 0. 1. ]] SLAMing on 233.029072329 meters Centerline goodness : 0.791893 Centerline is valid? [False, False] Translation: X:9.44, Y:26.82, Z:7.96 [[ 0.35789869 0.81137109 0.46215309 9.44049804] [-0.9314795 0.27565573 0.2374023 26.82474471] [ 0.06522622 -0.5154521 0.85443237 7.95514937] [ 0. 0. 0. 1. ]] SLAMing on 233.059072329 meters Centerline goodness : 0.789581 Centerline is valid? [False, False] Translation: X:9.08, Y:26.93, Z:8.12 [[ 0.35566162 0.80789196 0.46990999 9.07840645] [-0.93225099 0.27092404 0.23980877 26.93046469] [ 0.06642966 -0.52336483 0.84951536 8.12430001] [ 0. 0. 0. 1. ]] SLAMing on 233.089072329 meters Centerline goodness : 0.790014 Centerline is valid? [False, False] Translation: X:8.73, Y:27.03, Z:8.28 [[ 0.35720161 0.80652081 0.47109574 8.73059565] [-0.93152263 0.27069987 0.24287273 27.03391225] [ 0.06835636 -0.52559087 0.84798682 8.2830229 ] [ 0. 0. 0. 1. ]] SLAMing on 233.119072329 meters Centerline goodness : 0.789102 Centerline is valid? [False, False] Translation: X:8.39, Y:27.14, Z:8.44 [[ 0.35838165 0.80742457 0.46864502 8.38733826] [-0.93088127 0.27095283 0.24504004 27.13516569] [ 0.07087065 -0.52407073 0.84872093 8.44079187] [ 0. 0. 0. 1. ]] SLAMing on 233.149072329 meters Centerline goodness : 0.787553 Centerline is valid? [False, False] Translation: X:8.04, Y:27.24, Z:8.60 [[ 0.35954005 0.80946404 0.46421861 8.0376577 ] [-0.93016917 0.27130457 0.2473442 27.23823814] [ 0.0742716 -0.52073199 0.85048335 8.60240697] [ 0. 0. 0. 1. ]] SLAMing on 233.179072329 meters Centerline goodness : 0.783209 Centerline is valid? [False, False] Translation: X:7.70, Y:27.33, Z:8.76 [[ 0.36030167 0.81115572 0.4606616 7.69661135] [-0.92917024 0.26833682 0.25424008 27.3324329 ] [ 0.08261583 -0.51963617 0.85038396 8.75962488] [ 0. 0. 0. 1. ]] SLAMing on 233.209072329 meters Centerline goodness : 0.780350 Centerline is valid? [False, False] Translation: X:7.34, Y:27.44, Z:8.92 [[ 0.36275269 0.80913876 0.46228234 7.34272723] [-0.92778839 0.26712048 0.26049059 27.43587604] [ 0.08728795 -0.52339385 0.84760822 8.92337483] [ 0. 0. 0. 1. ]] SLAMing on 233.239072329 meters Centerline goodness : 0.778870 Centerline is valid? [False, False] Translation: X:6.99, Y:27.54, Z:9.09 [[ 0.36353485 0.80788191 0.46386338 6.98894934] [-0.92727063 0.26596288 0.26350127 27.54005459] [ 0.08950747 -0.52591879 0.84581194 9.08901179] [ 0. 0. 0. 1. ]] SLAMing on 233.269072329 meters Centerline goodness : 0.779329 Centerline is valid? [False, False] Translation: X:6.64, Y:27.64, Z:9.26 [[ 0.36136228 0.80633083 0.46823914 6.63522279] [-0.92794505 0.26182264 0.26526759 27.6384476 ] [ 0.09129782 -0.53035789 0.84284353 9.25529081] [ 0. 0. 0. 1. ]] SLAMing on 233.299072329 meters Centerline goodness : 0.777367 Centerline is valid? [False, False] Translation: X:6.29, Y:27.74, Z:9.41 [[ 0.36064661 0.80747854 0.46681091 6.29034997] [-0.92819378 0.26156477 0.26465105 27.7363474 ] [ 0.09159876 -0.52873649 0.84382901 9.41498957] [ 0. 0. 0. 1. ]] SLAMing on 233.329072329 meters Centerline goodness : 0.777347 Centerline is valid? [False, False] Translation: X:5.96, Y:27.83, Z:9.57 [[ 0.35906983 0.81039528 0.4629561 5.95701489] [-0.92885584 0.26188518 0.26199806 27.82960392] [ 0.09108065 -0.52409507 0.84677545 9.56890394] [ 0. 0. 0. 1. ]] SLAMing on 233.359072329 meters Centerline goodness : 0.775048 Centerline is valid? [False, False] Translation: X:5.63, Y:27.91, Z:9.72 [[ 0.35651279 0.81499722 0.45681305 5.62687757] [-0.92944762 0.25966176 0.26211238 27.91443113] [ 0.09500398 -0.51803021 0.85006996 9.72055242] [ 0. 0. 0. 1. ]] SLAMing on 233.38907232900002 meters Centerline goodness : 0.773727 Centerline is valid? [False, False] Translation: X:5.27, Y:28.01, Z:9.88 [[ 0.35791911 0.81447246 0.45664923 5.27498322] [-0.92857103 0.25901607 0.26583174 28.01150114] [ 0.09823314 -0.51917751 0.84900233 9.88295603] [ 0. 0. 0. 1. ]] SLAMing on 233.419072329 meters Centerline goodness : 0.772994 Centerline is valid? [False, False] Translation: X:4.93, Y:28.11, Z:10.04 [[ 0.36039922 0.81151438 0.45995305 4.92700294] [-0.92732525 0.25836432 0.27076881 28.10721472] [ 0.10089733 -0.52411095 0.84565208 10.04343228] [ 0. 0. 0. 1. ]] SLAMing on 233.449072329 meters Centerline goodness : 0.772468 Centerline is valid? [False, False] Translation: X:4.58, Y:28.20, Z:10.21 [[ 0.3623335 0.80829542 0.46408291 4.57916258] [-0.92656275 0.25843258 0.27330215 28.20337521] [ 0.10097473 -0.52902847 0.84257521 10.20530931] [ 0. 0. 0. 1. ]] SLAMing on 233.479072329 meters Centerline goodness : 0.775248 Centerline is valid? [False, False] Translation: X:4.23, Y:28.30, Z:10.37 [[ 0.36217146 0.80623568 0.46777757 4.22730394] [-0.92706614 0.25942217 0.27064462 28.29796302] [ 0.09685148 -0.53168051 0.84138911 10.37408212] [ 0. 0. 0. 1. ]] SLAMing on 233.509072329 meters Centerline goodness : 0.775883 Centerline is valid? [False, False] Translation: X:3.88, Y:28.39, Z:10.53 [[ 0.3628116 0.80756262 0.46498426 3.88441482] [-0.92707156 0.26226686 0.26787016 28.38927928] [ 0.09437197 -0.52826008 0.84382179 10.53406118] [ 0. 0. 0. 1. ]] SLAMing on 233.539072329 meters Centerline goodness : 0.776988 Centerline is valid? [False, False] Translation: X:3.54, Y:28.48, Z:10.69 [[ 0.3632016 0.81003665 0.46035337 3.53985312] [-0.92712627 0.26526285 0.26471212 28.47920153] [ 0.09231187 -0.52294957 0.84735014 10.69315335] [ 0. 0. 0. 1. ]] SLAMing on 233.569072329 meters Centerline goodness : 0.776988 Centerline is valid? [False, False] Translation: X:3.20, Y:28.57, Z:10.85 [[ 0.36452523 0.80985489 0.45962638 3.20489991] [-0.92676014 0.2674095 0.2638329 28.57078947] [ 0.0907579 -0.52213716 0.84801874 10.84832452] [ 0. 0. 0. 1. ]] SLAMing on 233.599072329 meters Centerline goodness : 0.776040 Centerline is valid? [False, False] Translation: X:2.88, Y:28.65, Z:11.00 [[ 0.36515137 0.81373037 0.4522249 2.87667427] [-0.92620399 0.26856909 0.2646069 28.64729623] [ 0.09386504 -0.51547408 0.85174869 10.99989173] [ 0. 0. 0. 1. ]] SLAMing on 233.629072329 meters Centerline goodness : 0.775353 Centerline is valid? [False, False] Translation: X:2.54, Y:28.73, Z:11.16 [[ 0.36679293 0.81273758 0.45268154 2.53617653] [-0.92540382 0.26888239 0.26707683 28.73323207] [ 0.09534528 -0.51687511 0.85073462 11.15830431] [ 0. 0. 0. 1. ]] SLAMing on 233.659072329 meters Centerline goodness : 0.774190 Centerline is valid? [False, False] Translation: X:2.18, Y:28.82, Z:11.33 [[ 0.36772425 0.80830834 0.45980051 2.17964642] [-0.92513653 0.2678164 0.26906648 28.8212876 ] [ 0.09434656 -0.52432052 0.84627816 11.32618852] [ 0. 0. 0. 1. ]] SLAMing on 233.689072329 meters Centerline goodness : 0.774178 Centerline is valid? [False, False] Translation: X:1.83, Y:28.91, Z:11.49 [[ 0.37006907 0.80505415 0.46361266 1.82976338] [-0.9243076 0.26895492 0.27077427 28.90869801] [ 0.09329705 -0.52872588 0.84364957 11.48920276] [ 0. 0. 0. 1. ]] SLAMing on 233.719072329 meters Centerline goodness : 0.773685 Centerline is valid? [False, False] Translation: X:1.48, Y:29.00, Z:11.65 [[ 0.37232655 0.80302924 0.46531386 1.47899062] [-0.92356984 0.27109246 0.27115977 28.99530791] [ 0.09160615 -0.53070983 0.8425885 11.65271478] [ 0. 0. 0. 1. ]] SLAMing on 233.749072329 meters Centerline goodness : 0.774972 Centerline is valid? [False, False] Translation: X:1.13, Y:29.07, Z:11.82 [[ 0.37635413 0.8039689 0.46042542 1.13180875] [-0.92211589 0.2768958 0.27024249 29.07350219] [ 0.0897767 -0.52627248 0.84556338 11.81653057] [ 0. 0. 0. 1. ]] SLAMing on 233.779072329 meters Centerline goodness : 0.773390 Centerline is valid? [False, False] Translation: X:0.79, Y:29.15, Z:11.98 [[ 0.37982018 0.80462142 0.45642195 0.79022896] [-0.92073704 0.28117929 0.27052079 29.15481946] [ 0.08933043 -0.52299385 0.84764232 11.97568222] [ 0. 0. 0. 1. ]] SLAMing on 233.809072329 meters Centerline goodness : 0.772576 Centerline is valid? [False, False] Translation: X:0.45, Y:29.24, Z:12.13 [[ 0.38381357 0.80384111 0.454452 0.44752696] [-0.91908559 0.28497308 0.27216174 29.23634508] [ 0.0892682 -0.52213965 0.84817532 12.13474833] [ 0. 0. 0. 1. ]] SLAMing on 233.839072329 meters Centerline goodness : 0.772626 Centerline is valid? [False, False] Translation: X:0.11, Y:29.32, Z:12.29 [[ 0.38680304 0.80240076 0.45446278 0.1088864 ] [-0.91794666 0.28796064 0.27286003 29.31822127] [ 0.0880757 -0.52271569 0.84794515 12.29355823] [ 0. 0. 0. 1. ]] SLAMing on 233.869072329 meters Centerline goodness : 0.774304 Centerline is valid? [False, False] Translation: X:-0.24, Y:29.40, Z:12.46 [[ 0.3903664 0.79767061 0.45971259 -0.23830613] [-0.91680957 0.2911865 0.27325928 29.40035025] [ 0.08410879 -0.52814015 0.84498148 12.46016269] [ 0. 0. 0. 1. ]] SLAMing on 233.899072329 meters Centerline goodness : 0.775260 Centerline is valid? [False, False] Translation: X:-0.58, Y:29.48, Z:12.62 [[ 0.39114106 0.7953555 0.46305323 -0.58008583] [-0.91693173 0.29357597 0.27027644 29.48404974] [ 0.07902455 -0.53030442 0.84411631 12.62224412] [ 0. 0. 0. 1. ]] SLAMing on 233.929072329 meters Centerline goodness : 0.773966 Centerline is valid? [False, False] Translation: X:-0.95, Y:29.57, Z:12.79 [[ 0.39353006 0.7921633 0.46648837 -0.94697137] [-0.91618905 0.29616112 0.26997448 29.57162336] [ 0.07570816 -0.53363461 0.84231964 12.7946209 ] [ 0. 0. 0. 1. ]] SLAMing on 233.959072329 meters Centerline goodness : 0.777951 Centerline is valid? [False, False] Translation: X:-1.28, Y:29.65, Z:12.95 [[ 0.39724074 0.7913615 0.46470074 -1.2839059 ] [-0.91499099 0.30254915 0.26693726 29.64709685] [ 0.07064906 -0.53123534 0.84427349 12.9543889 ] [ 0. 0. 0. 1. ]] SLAMing on 233.989072329 meters Centerline goodness : 0.776299 Centerline is valid? [False, False] Translation: X:-1.60, Y:29.72, Z:13.11 [[ 0.3998242 0.79317395 0.45936445 -1.60217446] [-0.91391926 0.3067361 0.26582805 29.72186811] [ 0.06994422 -0.52610651 0.84753746 13.10520598] [ 0. 0. 0. 1. ]] SLAMing on 234.019072329 meters Centerline goodness : 0.776403 Centerline is valid? [False, False] Translation: X:-1.93, Y:29.80, Z:13.26 [[ 0.40233239 0.79451844 0.45482865 -1.93178167] [-0.91292077 0.3109653 0.26434115 29.79980959] [ 0.06858799 -0.52157553 0.8504438 13.26008327] [ 0. 0. 0. 1. ]] SLAMing on 234.049072329 meters Centerline goodness : 0.773512 Centerline is valid? [False, False] Translation: X:-2.26, Y:29.87, Z:13.42 [[ 0.40729003 0.7921492 0.45454864 -2.26261837] [-0.91076119 0.31520522 0.2667578 29.87441339] [ 0.06803588 -0.52263306 0.8498387 13.41709247] [ 0. 0. 0. 1. ]] SLAMing on 234.079072329 meters Centerline goodness : 0.771453 Centerline is valid? [False, False] Translation: X:-2.59, Y:29.95, Z:13.57 [[ 0.408262 0.79039273 0.4567291 -2.59186009] [-0.9105493 0.31697884 0.26537592 29.95304332] [ 0.06497773 -0.52421727 0.84910197 13.57291397] [ 0. 0. 0. 1. ]] SLAMing on 234.109072329 meters Centerline goodness : 0.768937 Centerline is valid? [False, False] Translation: X:-2.92, Y:30.03, Z:13.73 [[ 0.40963376 0.7886834 0.45845249 -2.91985486] [-0.91009957 0.31882621 0.26470479 30.03068656] [ 0.06260161 -0.52566943 0.8483824 13.72737578] [ 0. 0. 0. 1. ]] SLAMing on 234.13907232900002 meters Centerline goodness : 0.766840 Centerline is valid? [False, False] Translation: X:-3.26, Y:30.11, Z:13.89 [[ 0.41269607 0.78753107 0.45768631 -3.25739266] [-0.90896963 0.32363981 0.26273844 30.10718677] [ 0.05878918 -0.52445408 0.8494067 13.88590095] [ 0. 0. 0. 1. ]] SLAMing on 234.169072329 meters Centerline goodness : 0.766954 Centerline is valid? [False, False] Translation: X:-3.58, Y:30.18, Z:14.04 [[ 0.41419293 0.78847453 0.45470006 -3.58189057] [-0.9084492 0.32724492 0.26005925 30.18282275] [ 0.05625181 -0.5207866 0.85183158 14.03697989] [ 0. 0. 0. 1. ]] SLAMing on 234.199072329 meters Centerline goodness : 0.768062 Centerline is valid? [False, False] Translation: X:-3.92, Y:30.26, Z:14.19 [[ 0.41552502 0.78954302 0.45162016 -3.91543849] [-0.90801656 0.33095163 0.25685977 30.26042141] [ 0.05333741 -0.51681024 0.85443683 14.19367525] [ 0. 0. 0. 1. ]] SLAMing on 234.229072329 meters Centerline goodness : 0.768891 Centerline is valid? [False, False] Translation: X:-4.24, Y:30.33, Z:14.35 [[ 0.41722803 0.78897787 0.45103736 -4.23930844] [-0.90763534 0.33661458 0.25077623 30.33380377] [ 0.04603115 -0.51400832 0.85654923 14.35036504] [ 0. 0. 0. 1. ]] SLAMing on 234.259072329 meters Centerline goodness : 0.768652 Centerline is valid? [False, False] Translation: X:-4.57, Y:30.41, Z:14.51 [[ 0.41768782 0.78735229 0.45344597 -4.57471455] [-0.90763728 0.33871797 0.24792076 30.41230307] [ 0.04161068 -0.51511795 0.85610867 14.50886199] [ 0. 0. 0. 1. ]] SLAMing on 234.289072329 meters Centerline goodness : 0.766524 Centerline is valid? [False, False] Translation: X:-4.91, Y:30.49, Z:14.67 [[ 0.41817277 0.78591331 0.45549073 -4.90999241] [-0.90758505 0.34068013 0.24541072 30.49072557] [ 0.03769491 -0.51602066 0.85574633 14.66667811] [ 0. 0. 0. 1. ]] SLAMing on 234.319072329 meters Centerline goodness : 0.765585 Centerline is valid? [False, False] Translation: X:-5.24, Y:30.56, Z:14.82 [[ 0.42176162 0.78478102 0.45413201 -5.23746876] [-0.90596807 0.34453617 0.24600141 30.56240349] [ 0.03659234 -0.51518305 0.85629868 14.82110313] [ 0. 0. 0. 1. ]] SLAMing on 234.349072329 meters Centerline goodness : 0.762424 Centerline is valid? [False, False] Translation: X:-5.56, Y:30.63, Z:14.97 [[ 0.42361294 0.78529989 0.45150433 -5.55849684] [-0.90508426 0.3465334 0.24644893 30.63437588] [ 0.03707499 -0.51304842 0.85755861 14.97008886] [ 0. 0. 0. 1. ]] SLAMing on 234.379072329 meters Centerline goodness : 0.761961 Centerline is valid? [False, False] Translation: X:-5.88, Y:30.71, Z:15.12 [[ 0.42473841 0.78627435 0.44874261 -5.87904209] [-0.90454874 0.34817155 0.24610598 30.70578244] [ 0.0372674 -0.51044023 0.8591053 15.11858037] [ 0. 0. 0. 1. ]] SLAMing on 234.409072329 meters Centerline goodness : 0.759331 Centerline is valid? [False, False] Translation: X:-6.21, Y:30.78, Z:15.27 [[ 0.42526919 0.78699781 0.44696819 -6.20888872] [-0.90432573 0.3495063 0.24503127 30.77904895] [ 0.03662088 -0.50840909 0.86033663 15.2707233 ] [ 0. 0. 0. 1. ]] SLAMing on 234.439072329 meters Centerline goodness : 0.758334 Centerline is valid? [False, False] Translation: X:-6.54, Y:30.85, Z:15.42 [[ 0.42621127 0.78695113 0.44615229 -6.53784249] [-0.90381391 0.34957547 0.24681453 30.847008 ] [ 0.03826708 -0.50843378 0.86025039 15.42401617] [ 0. 0. 0. 1. ]] SLAMing on 234.469072329 meters Centerline goodness : 0.755707 Centerline is valid? [False, False] Translation: X:-6.81, Y:30.92, Z:15.55 [[ 4.12722252e-01 8.00024423e-01 4.35455239e-01 -6.80689579e+00] [-9.10620202e-01 3.51509480e-01 2.17283072e-01 3.09191215e+01] [ 2.07651197e-02 -4.86211897e-01 8.73594186e-01 1.55549529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.499072329 meters Centerline goodness : 0.753955 Centerline is valid? [False, False] Translation: X:-7.07, Y:30.98, Z:15.68 [[ 4.02832794e-01 8.09090070e-01 4.27900689e-01 -7.07456396e+00] [-9.15242094e-01 3.52208469e-01 1.95655574e-01 3.09846867e+01] [ 7.59273596e-03 -4.70449204e-01 8.82394411e-01 1.56815376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.529072329 meters Centerline goodness : 0.752222 Centerline is valid? [False, False] Translation: X:-7.35, Y:31.05, Z:15.81 [[ 3.95477643e-01 8.17128213e-01 4.19403049e-01 -7.34585960e+00] [-9.18467476e-01 3.53757328e-01 1.76842440e-01 3.10529794e+01] [-3.86395505e-03 -4.55145291e-01 8.90408801e-01 1.58050251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.559072329 meters Centerline goodness : 0.752020 Centerline is valid? [False, False] Translation: X:-7.62, Y:31.12, Z:15.93 [[ 3.89754437e-01 8.24060384e-01 4.11115510e-01 -7.62100452e+00] [-9.20824168e-01 3.55126225e-01 1.61146565e-01 3.11211145e+01] [-1.32033986e-02 -4.41372686e-01 8.97226740e-01 1.59273888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.589072329 meters Centerline goodness : 0.752746 Centerline is valid? [False, False] Translation: X:-7.90, Y:31.19, Z:16.05 [[ 3.84633918e-01 8.30258817e-01 4.03394405e-01 -7.89862027e+00] [-9.22815740e-01 3.56106185e-01 1.46967666e-01 3.11868867e+01] [-2.16300421e-02 -4.28787455e-01 9.03146422e-01 1.60499237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.619072329 meters Centerline goodness : 0.752656 Centerline is valid? [False, False] Translation: X:-8.18, Y:31.25, Z:16.17 [[ 3.79999296e-01 8.35315625e-01 3.97301323e-01 -8.18058294e+00] [-9.24552009e-01 3.56167326e-01 1.35456331e-01 3.12549346e+01] [-2.83569600e-02 -4.18799047e-01 9.07636073e-01 1.61705910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.649072329 meters Centerline goodness : 0.751925 Centerline is valid? [False, False] Translation: X:-8.47, Y:31.32, Z:16.29 [[ 0.37592546 0.83970363 0.39189012 -8.46518288] [-0.92603257 0.35586051 0.12580531 31.32249281] [-0.03381905 -0.41019644 0.91136993 16.28978961] [ 0. 0. 0. 1. ]] SLAMing on 234.679072329 meters Centerline goodness : 0.752298 Centerline is valid? [False, False] Translation: X:-8.75, Y:31.39, Z:16.41 [[ 0.37737954 0.8410224 0.38764159 -8.75345398] [-0.92510931 0.36132424 0.11669427 31.39055937] [-0.04192181 -0.40264888 0.91439403 16.40956509] [ 0. 0. 0. 1. ]] SLAMing on 234.709072329 meters Centerline goodness : 0.752619 Centerline is valid? [False, False] Translation: X:-9.03, Y:31.46, Z:16.52 [[ 0.38005746 0.84175682 0.38340812 -9.03176451] [-0.9236528 0.36743294 0.1088969 31.45903735] [-0.04921206 -0.39552306 0.91713667 16.52205326] [ 0. 0. 0. 1. ]] SLAMing on 234.739072329 meters Centerline goodness : 0.752340 Centerline is valid? [False, False] Translation: X:-9.31, Y:31.53, Z:16.63 [[ 0.38286389 0.84195982 0.38015642 -9.31362749] [-0.92218284 0.37270547 0.10329295 31.52696588] [-0.05471786 -0.39012087 0.91913637 16.63465011] [ 0. 0. 0. 1. ]] SLAMing on 234.769072329 meters Centerline goodness : 0.753045 Centerline is valid? [False, False] Translation: X:-9.59, Y:31.59, Z:16.75 [[ 0.39005911 0.8388132 0.37979772 -9.59285151] [-0.91884782 0.38135783 0.10141444 31.59319669] [-0.05977106 -0.38853393 0.91949378 16.74647796] [ 0. 0. 0. 1. ]] SLAMing on 234.799072329 meters Centerline goodness : 0.751643 Centerline is valid? [False, False] Translation: X:-9.87, Y:31.66, Z:16.86 [[ 0.39278275 0.83839224 0.37791554 -9.87274337] [-0.91748789 0.38529084 0.0988278 31.65954193] [-0.06275094 -0.38555079 0.92055033 16.85691914] [ 0. 0. 0. 1. ]] SLAMing on 234.829072329 meters Centerline goodness : 0.750820 Centerline is valid? [False, False] Translation: X:-10.14, Y:31.72, Z:16.96 [[ 0.39635451 0.83896876 0.37287332 -10.1394875 ] [ -0.91582389 0.38986177 0.0963037 31.72235109] [ -0.06457326 -0.3796567 0.92287111 16.96132722] [ 0. 0. 0. 1. ]] SLAMing on 234.859072329 meters Centerline goodness : 0.748897 Centerline is valid? [False, False] Translation: X:-10.41, Y:31.78, Z:17.07 [[ 0.39637175 0.84074351 0.36883572 -10.40681684] [ -0.91570296 0.39098656 0.09283096 31.78474843] [ -0.06616278 -0.37453953 0.92484735 17.06589454] [ 0. 0. 0. 1. ]] SLAMing on 234.88907232900002 meters Centerline goodness : 0.747949 Centerline is valid? [False, False] Translation: X:-10.68, Y:31.85, Z:17.17 [[ 0.3961521 0.84221634 0.36569816 -10.67813355] [ -0.91574682 0.39141581 0.09056166 31.84744979] [ -0.06686753 -0.37076312 0.92631714 17.17067351] [ 0. 0. 0. 1. ]] SLAMing on 234.919072329 meters Centerline goodness : 0.744020 Centerline is valid? [False, False] Translation: X:-10.96, Y:31.91, Z:17.28 [[ 0.39350023 0.84436818 0.36359312 -10.95640129] [ -0.91679379 0.38974747 0.08709792 31.91239723] [ -0.06816679 -0.36761296 0.92747722 17.27791743] [ 0. 0. 0. 1. ]] SLAMing on 234.949072329 meters Centerline goodness : 0.744318 Centerline is valid? [False, False] Translation: X:-11.23, Y:31.97, Z:17.38 [[ 0.39167822 0.84570922 0.36244185 -11.22809011] [ -0.91748148 0.38869457 0.08452373 31.97490309] [ -0.06939668 -0.36563979 0.92816574 17.38263124] [ 0. 0. 0. 1. ]] SLAMing on 234.979072329 meters Centerline goodness : 0.745764 Centerline is valid? [False, False] Translation: X:-11.51, Y:32.04, Z:17.49 [[ 0.39077658 0.8461965 0.36227772 -11.50625335] [ -0.91771749 0.38865763 0.08209661 32.03898753] [ -0.07133214 -0.36455003 0.92844763 17.48777988] [ 0. 0. 0. 1. ]] SLAMing on 235.009072329 meters Centerline goodness : 0.745156 Centerline is valid? [False, False] Translation: X:-11.79, Y:32.10, Z:17.59 [[ 0.3903454 0.84667473 0.36162462 -11.78667368] [ -0.917768 0.38899643 0.07989795 32.10356133] [ -0.07302311 -0.3630753 0.92889394 17.59304341] [ 0. 0. 0. 1. ]] SLAMing on 235.039072329 meters Centerline goodness : 0.744520 Centerline is valid? [False, False] Translation: X:-12.06, Y:32.17, Z:17.69 [[ 0.39087276 0.84784662 0.35829402 -12.05668964] [ -0.91746809 0.39015934 0.07764017 32.16607674] [ -0.0739648 -0.35907075 0.93037487 17.69463278] [ 0. 0. 0. 1. ]] SLAMing on 235.069072329 meters Centerline goodness : 0.745593 Centerline is valid? [False, False] Translation: X:-12.33, Y:32.23, Z:17.80 [[ 0.39083583 0.84850187 0.35677993 -12.33037962] [ -0.91735609 0.39087361 0.07533673 32.22977504] [ -0.0755325 -0.35673854 0.93114578 17.795987 ] [ 0. 0. 0. 1. ]] SLAMing on 235.099072329 meters Centerline goodness : 0.746545 Centerline is valid? [False, False] Translation: X:-12.60, Y:32.29, Z:17.90 [[ 0.39396526 0.8475226 0.35566391 -12.60391417] [ -0.91601353 0.39385917 0.07611949 32.29289105] [ -0.0755685 -0.35578139 0.93150899 17.89696972] [ 0. 0. 0. 1. ]] SLAMing on 235.129072329 meters Centerline goodness : 0.747151 Centerline is valid? [False, False] Translation: X:-12.88, Y:32.36, Z:18.00 [[ 0.39640073 0.84702728 0.3541345 -12.88203869] [ -0.91501641 0.3959773 0.07711645 32.35722711] [ -0.07490949 -0.3546079 0.93200955 17.99919284] [ 0. 0. 0. 1. ]] SLAMing on 235.159072329 meters Centerline goodness : 0.745249 Centerline is valid? [False, False] Translation: X:-13.15, Y:32.42, Z:18.10 [[ 0.39899636 0.84630538 0.3529435 -13.1482898 ] [ -0.91397489 0.39805391 0.07875903 32.41838123] [ -0.07383635 -0.35400606 0.93232393 18.09589533] [ 0. 0. 0. 1. ]] SLAMing on 235.189072329 meters Centerline goodness : 0.746743 Centerline is valid? [False, False] Translation: X:-13.42, Y:32.48, Z:18.19 [[ 0.40058183 0.84544655 0.35320579 -13.41894758] [ -0.91324748 0.39964535 0.07913677 32.48110422] [ -0.07425114 -0.35426505 0.9321926 18.19418424] [ 0. 0. 0. 1. ]] SLAMing on 235.219072329 meters Centerline goodness : 0.746997 Centerline is valid? [False, False] Translation: X:-13.69, Y:32.54, Z:18.29 [[ 0.39974747 0.8455724 0.35384924 -13.68568071] [ -0.91359339 0.39891318 0.07883772 32.54236178] [ -0.07449213 -0.3547895 0.93197389 18.29191617] [ 0. 0. 0. 1. ]] SLAMing on 235.249072329 meters Centerline goodness : 0.747071 Centerline is valid? [False, False] Translation: X:-13.96, Y:32.61, Z:18.39 [[ 0.39773231 0.84631876 0.35433537 -13.95906665] [ -0.91434434 0.3976231 0.07661781 32.60599699] [ -0.07604883 -0.35445792 0.93197433 18.39197374] [ 0. 0. 0. 1. ]] SLAMing on 235.279072329 meters Centerline goodness : 0.749438 Centerline is valid? [False, False] Translation: X:-14.23, Y:32.67, Z:18.49 [[ 0.39632331 0.84679674 0.35477191 -14.22903752] [ -0.91493452 0.39639006 0.07595883 32.6684561 ] [ -0.07630637 -0.35469732 0.93186219 18.49015433] [ 0. 0. 0. 1. ]] SLAMing on 235.309072329 meters Centerline goodness : 0.746858 Centerline is valid? [False, False] Translation: X:-14.50, Y:32.73, Z:18.59 [[ 0.39372031 0.84959649 0.350956 -14.4994447 ] [ -0.91627478 0.39331641 0.07578085 32.73248753] [ -0.07365361 -0.35140859 0.93332049 18.58880519] [ 0. 0. 0. 1. ]] SLAMing on 235.339072329 meters Centerline goodness : 0.747987 Centerline is valid? [False, False] Translation: X:-14.77, Y:32.80, Z:18.69 [[ 0.39380048 0.85018688 0.34943305 -14.77227085] [ -0.91631565 0.39316519 0.07607083 32.79545211] [ -0.07271049 -0.3501477 0.93386818 18.68678288] [ 0. 0. 0. 1. ]] SLAMing on 235.369072329 meters Centerline goodness : 0.746418 Centerline is valid? [False, False] Translation: X:-15.05, Y:32.86, Z:18.79 [[ 0.39326208 0.85038285 0.34956249 -15.04742875] [ -0.91653893 0.39269615 0.07580313 32.85956065] [ -0.07281016 -0.35019813 0.9338415 18.78649868] [ 0. 0. 0. 1. ]] SLAMing on 235.399072329 meters Centerline goodness : 0.745527 Centerline is valid? [False, False] Translation: X:-15.32, Y:32.92, Z:18.89 [[ 0.39208182 0.84956323 0.35286565 -15.32430217] [ -0.91695822 0.39172971 0.07573277 32.92241403] [ -0.07388818 -0.3532565 0.93260408 18.88808796] [ 0. 0. 0. 1. ]] SLAMing on 235.429072329 meters Centerline goodness : 0.747593 Centerline is valid? [False, False] Translation: X:-15.61, Y:32.99, Z:18.99 [[ 0.38947282 0.84938258 0.35617434 -15.60900467] [ -0.91784715 0.39008956 0.0733945 32.98765604] [ -0.07659989 -0.35549876 0.93153265 18.99327895] [ 0. 0. 0. 1. ]] SLAMing on 235.459072329 meters Centerline goodness : 0.745900 Centerline is valid? [False, False] Translation: X:-15.89, Y:33.05, Z:19.10 [[ 0.38358478 0.85118219 0.35826191 -15.8899926 ] [ -0.92039461 0.38416957 0.07271515 33.05116536] [ -0.07573949 -0.35763476 0.9307851 19.09669566] [ 0. 0. 0. 1. ]] SLAMing on 235.489072329 meters Centerline goodness : 0.745900 Centerline is valid? [False, False] Translation: X:-16.17, Y:33.11, Z:19.20 [[ 0.38445324 0.85006204 0.35998643 -16.17212436] [ -0.91995041 0.38520338 0.07286703 33.11311117] [ -0.07672649 -0.35918363 0.93010761 19.20009868] [ 0. 0. 0. 1. ]] SLAMing on 235.519072329 meters Centerline goodness : 0.743857 Centerline is valid? [False, False] Translation: X:-16.45, Y:33.17, Z:19.30 [[ 0.38257314 0.85137649 0.3588814 -16.44797299] [ -0.92094428 0.38257233 0.07416227 33.17337842] [ -0.07415808 -0.35888226 0.93043221 19.30096273] [ 0. 0. 0. 1. ]] SLAMing on 235.549072329 meters Centerline goodness : 0.740884 Centerline is valid? [False, False] Translation: X:-16.71, Y:33.23, Z:19.40 [[ 0.37962808 0.85533029 0.35255159 -16.71483811] [ -0.92277207 0.37732745 0.07820301 33.2301724 ] [ -0.06613799 -0.35501282 0.93251899 19.39687323] [ 0. 0. 0. 1. ]] SLAMing on 235.579072329 meters Centerline goodness : 0.741657 Centerline is valid? [False, False] Translation: X:-16.99, Y:33.29, Z:19.50 [[ 0.37993303 0.85506964 0.35285522 -16.99029761] [ -0.92291894 0.37606824 0.0824215 33.28824371] [ -0.06222152 -0.35697142 0.93204071 19.49858792] [ 0. 0. 0. 1. ]] SLAMing on 235.609072329 meters Centerline goodness : 0.742847 Centerline is valid? [False, False] Translation: X:-17.27, Y:33.35, Z:19.60 [[ 0.38074242 0.85344152 0.35591121 -17.26920087] [ -0.92274085 0.37559322 0.08648153 33.34647811] [ -0.05987091 -0.361341 0.93050962 19.60341253] [ 0. 0. 0. 1. ]] SLAMing on 235.63907232900002 meters Centerline goodness : 0.742887 Centerline is valid? [False, False] Translation: X:-17.55, Y:33.41, Z:19.71 [[ 0.38425745 0.85007966 0.36015382 -17.54597643] [ -0.92123296 0.37866834 0.08910739 33.40695207] [ -0.06063047 -0.36602575 0.92862753 19.70871458] [ 0. 0. 0. 1. ]] SLAMing on 235.669072329 meters Centerline goodness : 0.749531 Centerline is valid? [False, False] Translation: X:-17.83, Y:33.47, Z:19.82 [[ 0.38652041 0.84551292 0.36838821 -17.8292787 ] [ -0.91990297 0.38209826 0.08820114 33.47122101] [ -0.06618529 -0.37297295 0.92547862 19.81958483] [ 0. 0. 0. 1. ]] SLAMing on 235.699072329 meters Centerline goodness : 0.750077 Centerline is valid? [False, False] Translation: X:-18.11, Y:33.53, Z:19.93 [[ 0.38742698 0.84412653 0.37060861 -18.10840201] [ -0.91936971 0.38353519 0.08752198 33.53189788] [ -0.06826182 -0.37463471 0.92465624 19.92576742] [ 0. 0. 0. 1. ]] SLAMing on 235.729072329 meters Centerline goodness : 0.750680 Centerline is valid? [False, False] Translation: X:-18.39, Y:33.59, Z:20.03 [[ 0.38807695 0.84449124 0.3690946 -18.38598024] [ -0.91906248 0.38446241 0.08667649 33.59113911] [ -0.06870546 -0.37285814 0.92534122 20.03155461] [ 0. 0. 0. 1. ]] SLAMing on 235.759072329 meters Centerline goodness : 0.754214 Centerline is valid? [False, False] Translation: X:-18.66, Y:33.65, Z:20.13 [[ 0.38996044 0.84645127 0.36256185 -18.65728956] [ -0.91848046 0.3856644 0.0875021 33.64833656] [ -0.06576093 -0.36712833 0.92784281 20.13276859] [ 0. 0. 0. 1. ]] SLAMing on 235.789072329 meters Centerline goodness : 0.754021 Centerline is valid? [False, False] Translation: X:-18.93, Y:33.71, Z:20.24 [[ 0.39126886 0.84608131 0.36201533 -18.93405646] [ -0.91803729 0.38627301 0.08944659 33.70731079] [ -0.06415767 -0.36734124 0.92787079 20.23817382] [ 0. 0. 0. 1. ]] SLAMing on 235.819072329 meters Centerline goodness : 0.756291 Centerline is valid? [False, False] Translation: X:-19.22, Y:33.77, Z:20.35 [[ 0.39004398 0.84356016 0.36915031 -19.21610095] [ -0.91860412 0.38412335 0.09282089 33.76938469] [ -0.06349925 -0.37530723 0.92472284 20.34704311] [ 0. 0. 0. 1. ]] SLAMing on 235.849072329 meters Centerline goodness : 0.756259 Centerline is valid? [False, False] Translation: X:-19.50, Y:33.83, Z:20.46 [[ 0.38936708 0.8411314 0.37535481 -19.50419212] [ -0.91884853 0.38307313 0.09472247 33.83079161] [ -0.0641143 -0.38177603 0.92202843 20.45806015] [ 0. 0. 0. 1. ]] SLAMing on 235.879072329 meters Centerline goodness : 0.755447 Centerline is valid? [False, False] Translation: X:-19.79, Y:33.89, Z:20.57 [[ 0.38823956 0.84059823 0.37770976 -19.7889516 ] [ -0.91931389 0.38185824 0.09511182 33.89015485] [ -0.06428075 -0.38416 0.9210261 20.56935129] [ 0. 0. 0. 1. ]] SLAMing on 235.909072329 meters Centerline goodness : 0.756333 Centerline is valid? [False, False] Translation: X:-20.07, Y:33.95, Z:20.68 [[ 0.38778228 0.84090763 0.37749075 -20.06937523] [ -0.91952313 0.3813729 0.09503648 33.94784096] [ -0.06404784 -0.38396493 0.92112366 20.67756117] [ 0. 0. 0. 1. ]] SLAMing on 235.939072329 meters Centerline goodness : 0.758510 Centerline is valid? [False, False] Translation: X:-20.34, Y:34.00, Z:20.78 [[ 0.38605993 0.84370464 0.37298821 -20.33829468] [ -0.92055747 0.37840942 0.09685176 34.00217618] [ -0.05942798 -0.38074766 0.92276732 20.78170358] [ 0. 0. 0. 1. ]] SLAMing on 235.969072329 meters Centerline goodness : 0.758117 Centerline is valid? [False, False] Translation: X:-20.62, Y:34.06, Z:20.89 [[ 0.38588039 0.84379374 0.37297246 -20.6217919 ] [ -0.92076853 0.37736195 0.09891044 34.06072034] [ -0.05728561 -0.38158891 0.92255529 20.89245828] [ 0. 0. 0. 1. ]] SLAMing on 235.999072329 meters Centerline goodness : 0.757107 Centerline is valid? [False, False] Translation: X:-20.94, Y:34.12, Z:21.01 [[ 0.39064085 0.83766699 0.38172469 -20.94028541] [ -0.91940326 0.37566142 0.1165167 34.12323171] [ -0.04579704 -0.39647511 0.91690246 21.01351859] [ 0. 0. 0. 1. ]] SLAMing on 236.029072329 meters Centerline goodness : 0.757205 Centerline is valid? [False, False] Translation: X:-21.24, Y:34.19, Z:21.13 [[ 0.38942481 0.8367502 0.38496417 -21.23588249] [ -0.91976927 0.37538846 0.11449015 34.18557273] [ -0.04871145 -0.39866352 0.91580271 21.13149577] [ 0. 0. 0. 1. ]] SLAMing on 236.059072329 meters Centerline goodness : 0.758247 Centerline is valid? [False, False] Translation: X:-21.52, Y:34.25, Z:21.25 [[ 0.38781399 0.83633972 0.38747411 -21.5234709 ] [ -0.92031552 0.37468319 0.11239152 34.24537298] [ -0.05118254 -0.40018543 0.91500381 21.2471959 ] [ 0. 0. 0. 1. ]] SLAMing on 236.089072329 meters Centerline goodness : 0.761567 Centerline is valid? [False, False] Translation: X:-21.85, Y:34.31, Z:21.37 [[ 0.38929349 0.8326539 0.39387568 -21.8459917 ] [ -0.9201562 0.37103447 0.12508394 34.30634225] [ -0.04198983 -0.41112152 0.91061295 21.37346857] [ 0. 0. 0. 1. ]] SLAMing on 236.119072329 meters Centerline goodness : 0.761180 Centerline is valid? [False, False] Translation: X:-22.17, Y:34.37, Z:21.50 [[ 3.94117010e-01 8.27896556e-01 3.99072769e-01 -2.21654810e+01] [-9.18491008e-01 3.70084328e-01 1.39326443e-01 3.43656655e+01] [-3.23426949e-02 -4.21455671e-01 9.06272071e-01 2.15011800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.149072329 meters Centerline goodness : 0.761884 Centerline is valid? [False, False] Translation: X:-22.49, Y:34.43, Z:21.63 [[ 3.99849647e-01 8.22714010e-01 4.04056825e-01 -2.24923151e+01] [-9.16296237e-01 3.69772585e-01 1.53848759e-01 3.44258594e+01] [-2.28356073e-02 -4.31752120e-01 9.01703189e-01 2.16339586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.179072329 meters Centerline goodness : 0.760686 Centerline is valid? [False, False] Translation: X:-22.77, Y:34.49, Z:21.75 [[ 3.96679766e-01 8.26502517e-01 3.99423024e-01 -2.27710579e+01] [-9.17578776e-01 3.69502490e-01 1.46687080e-01 3.44854591e+01] [-2.63505612e-02 -4.24689886e-01 9.04955330e-01 2.17545746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.209072329 meters Centerline goodness : 0.762571 Centerline is valid? [False, False] Translation: X:-23.05, Y:34.54, Z:21.88 [[ 3.93805770e-01 8.28447692e-01 3.98235405e-01 -2.30500059e+01] [-9.18681625e-01 3.69189271e-01 1.40439861e-01 3.45430689e+01] [-3.06771603e-02 -4.21157576e-01 9.06468536e-01 2.18752791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.239072329 meters Centerline goodness : 0.763496 Centerline is valid? [False, False] Translation: X:-23.35, Y:34.60, Z:22.00 [[ 0.3904244 0.82992381 0.39849123 -23.34597449] [ -0.91995276 0.36835508 0.13416947 34.60393972] [ -0.03543584 -0.41897614 0.90730551 22.00191664] [ 0. 0. 0. 1. ]] SLAMing on 236.269072329 meters Centerline goodness : 0.766077 Centerline is valid? [False, False] Translation: X:-23.63, Y:34.66, Z:22.12 [[ 0.38461612 0.83260539 0.39854574 -23.62903355] [ -0.92231752 0.36414077 0.12935182 34.66231396] [ -0.03742773 -0.41733652 0.90798094 22.12195975] [ 0. 0. 0. 1. ]] SLAMing on 236.299072329 meters Centerline goodness : 0.767065 Centerline is valid? [False, False] Translation: X:-23.96, Y:34.72, Z:22.25 [[ 3.90307055e-01 8.27730707e-01 4.03140521e-01 -2.39557261e+01] [-9.20339529e-01 3.62759122e-01 1.46222333e-01 3.47197160e+01] [-2.52101868e-02 -4.28097766e-01 9.03380733e-01 2.22535815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.329072329 meters Centerline goodness : 0.766207 Centerline is valid? [False, False] Translation: X:-24.23, Y:34.77, Z:22.37 [[ 3.86027985e-01 8.33537540e-01 3.95218374e-01 -2.42263139e+01] [-9.22202478e-01 3.59339344e-01 1.42890957e-01 3.47746506e+01] [-2.29125347e-02 -4.19631272e-01 9.07405428e-01 2.23671806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.359072329 meters Centerline goodness : 0.763334 Centerline is valid? [False, False] Translation: X:-24.55, Y:34.83, Z:22.50 [[ 3.93007847e-01 8.28122064e-01 3.99698235e-01 -2.45502633e+01] [-9.19477343e-01 3.58788356e-01 1.60724395e-01 3.48306675e+01] [-1.03076547e-02 -4.30679420e-01 9.02446115e-01 2.24980675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.38907232900002 meters Centerline goodness : 0.762641 Centerline is valid? [False, False] Translation: X:-24.87, Y:34.89, Z:22.63 [[ 3.98878765e-01 8.22509158e-01 4.05431148e-01 -2.48723984e+01] [-9.17003641e-01 3.57664100e-01 1.76580616e-01 3.48861976e+01] [ 2.31007215e-04 -4.42216097e-01 8.96908507e-01 2.26309988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.419072329 meters Centerline goodness : 0.765556 Centerline is valid? [False, False] Translation: X:-25.20, Y:34.94, Z:22.77 [[ 4.01202022e-01 8.16386035e-01 4.15392319e-01 -2.52009138e+01] [-9.15952094e-01 3.53457699e-01 1.89998466e-01 3.49440153e+01] [ 8.28848093e-03 -4.56707233e-01 8.89578442e-01 2.27715534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.449072329 meters Centerline goodness : 0.766220 Centerline is valid? [False, False] Translation: X:-25.52, Y:35.00, Z:22.91 [[ 4.04878807e-01 8.11650720e-01 4.21065625e-01 -2.55233562e+01] [-9.14256308e-01 3.52077171e-01 2.00442185e-01 3.49999602e+01] [ 1.44414495e-02 -4.66116696e-01 8.84605375e-01 2.29107187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.479072329 meters Centerline goodness : 0.769638 Centerline is valid? [False, False] Translation: X:-25.84, Y:35.05, Z:23.05 [[ 4.09232297e-01 8.07629868e-01 4.24573814e-01 -2.58386271e+01] [-9.12169954e-01 3.51011527e-01 2.11510953e-01 3.50530536e+01] [ 2.17922600e-02 -4.73840589e-01 8.80340953e-01 2.30480051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.509072329 meters Centerline goodness : 0.769483 Centerline is valid? [False, False] Translation: X:-26.15, Y:35.11, Z:23.19 [[ 4.13189607e-01 8.05116184e-01 4.25514136e-01 -2.61518307e+01] [-9.10203167e-01 3.50576185e-01 2.20514246e-01 3.51059510e+01] [ 2.83644658e-02 -4.78418509e-01 8.77673736e-01 2.31852468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.539072329 meters Centerline goodness : 0.770888 Centerline is valid? [False, False] Translation: X:-26.46, Y:35.16, Z:23.32 [[ 0.41624669 0.80465626 0.42339933 -26.45896551] [ -0.90848658 0.34895458 0.22996268 35.15863276] [ 0.03729378 -0.48037382 0.8762706 23.31919613] [ 0. 0. 0. 1. ]] SLAMing on 236.569072329 meters Centerline goodness : 0.770002 Centerline is valid? [False, False] Translation: X:-26.77, Y:35.21, Z:23.46 [[ 0.41996581 0.80239099 0.42402527 -26.77124735] [ -0.9064502 0.3479726 0.23929709 35.210389 ] [ 0.04446065 -0.48485438 0.87346407 23.45739278] [ 0. 0. 0. 1. ]] SLAMing on 236.599072329 meters Centerline goodness : 0.770091 Centerline is valid? [False, False] Translation: X:-27.08, Y:35.26, Z:23.60 [[ 0.42127445 0.80160201 0.42421935 -27.0769243 ] [ -0.90562034 0.34664956 0.24430695 35.2617839 ] [ 0.04878149 -0.48710195 0.87198169 23.595303 ] [ 0. 0. 0. 1. ]] SLAMing on 236.629072329 meters Centerline goodness : 0.771339 Centerline is valid? [False, False] Translation: X:-27.38, Y:35.31, Z:23.73 [[ 0.42237689 0.80048289 0.42523512 -27.37721758] [ -0.90487936 0.34503388 0.24928892 35.31181751] [ 0.05283099 -0.49008036 0.87007478 23.73085015] [ 0. 0. 0. 1. ]] SLAMing on 236.659072329 meters Centerline goodness : 0.771091 Centerline is valid? [False, False] Translation: X:-27.68, Y:35.36, Z:23.87 [[ 0.42105239 0.80079695 0.42595673 -27.68111793] [ -0.90525279 0.34156898 0.25268167 35.36443524] [ 0.0568531 -0.49199074 0.8687421 23.86619417] [ 0. 0. 0. 1. ]] SLAMing on 236.689072329 meters Centerline goodness : 0.771967 Centerline is valid? [False, False] Translation: X:-27.98, Y:35.41, Z:24.00 [[ 0.42255872 0.80023044 0.42552952 -27.9843779 ] [ -0.9043196 0.34096222 0.25680894 35.41461111] [ 0.06041684 -0.49333154 0.86774063 24.0021267 ] [ 0. 0. 0. 1. ]] SLAMing on 236.719072329 meters Centerline goodness : 0.770587 Centerline is valid? [False, False] Translation: X:-28.29, Y:35.46, Z:24.14 [[ 0.42405143 0.79927224 0.42584536 -28.28509875] [ -0.90347373 0.34086341 0.25989874 35.46469181] [ 0.06257474 -0.49495053 0.86666509 24.13626598] [ 0. 0. 0. 1. ]] SLAMing on 236.749072329 meters Centerline goodness : 0.771858 Centerline is valid? [False, False] Translation: X:-28.59, Y:35.52, Z:24.27 [[ 0.4234978 0.79873229 0.42740653 -28.58665454] [ -0.90359961 0.33887144 0.26205704 35.51712368] [ 0.06447755 -0.49718496 0.86524549 24.2710518 ] [ 0. 0. 0. 1. ]] SLAMing on 236.779072329 meters Centerline goodness : 0.772233 Centerline is valid? [False, False] Translation: X:-28.89, Y:35.57, Z:24.41 [[ 0.42401732 0.79788275 0.42847686 -28.88534135] [ -0.90326923 0.33826451 0.26397314 35.56614766] [ 0.0656811 -0.49895915 0.86413295 24.40638566] [ 0. 0. 0. 1. ]] SLAMing on 236.809072329 meters Centerline goodness : 0.774457 Centerline is valid? [False, False] Translation: X:-29.19, Y:35.62, Z:24.54 [[ 0.42313015 0.79806761 0.42900928 -29.18688142] [ -0.90376925 0.33803519 0.26255162 35.61602981] [ 0.06451371 -0.49881891 0.86430185 24.54439111] [ 0. 0. 0. 1. ]] SLAMing on 236.839072329 meters Centerline goodness : 0.775947 Centerline is valid? [False, False] Translation: X:-29.48, Y:35.67, Z:24.68 [[ 0.42125848 0.79938486 0.42839834 -29.48384772] [ -0.904602 0.33644365 0.26172676 35.66548275] [ 0.06508851 -0.49778461 0.86485488 24.67828842] [ 0. 0. 0. 1. ]] SLAMing on 236.869072329 meters Centerline goodness : 0.776919 Centerline is valid? [False, False] Translation: X:-29.80, Y:35.72, Z:24.82 [[ 0.42127832 0.80115575 0.42505769 -29.80437912] [ -0.90442291 0.33628085 0.26255359 35.71612227] [ 0.06740756 -0.49504005 0.86625145 24.8233082 ] [ 0. 0. 0. 1. ]] SLAMing on 236.899072329 meters Centerline goodness : 0.775648 Centerline is valid? [False, False] Translation: X:-30.10, Y:35.76, Z:24.95 [[ 0.42126302 0.80318075 0.42123408 -30.09565459] [ -0.90406814 0.33496497 0.26544164 35.76346381] [ 0.07209896 -0.49264506 0.86723848 24.95165269] [ 0. 0. 0. 1. ]] SLAMing on 236.929072329 meters Centerline goodness : 0.773896 Centerline is valid? [False, False] Translation: X:-30.43, Y:35.81, Z:25.10 [[ 0.42165948 0.80263189 0.42188308 -30.42609715] [ -0.90368311 0.33371541 0.26831113 35.81479062] [ 0.07456618 -0.49438455 0.86603915 25.10056975] [ 0. 0. 0. 1. ]] SLAMing on 236.959072329 meters Centerline goodness : 0.773201 Centerline is valid? [False, False] Translation: X:-30.73, Y:35.86, Z:25.24 [[ 0.41945946 0.80299414 0.42338419 -30.72612002] [ -0.90484792 0.33242923 0.26597191 35.86269124] [ 0.0728286 -0.49466274 0.86602816 25.23702663] [ 0. 0. 0. 1. ]] SLAMing on 236.989072329 meters Centerline goodness : 0.773610 Centerline is valid? [False, False] Translation: X:-31.03, Y:35.91, Z:25.37 [[ 0.41794264 0.80280195 0.42524462 -31.03040811] [ -0.90565831 0.331363 0.26454034 35.90958569] [ 0.07146316 -0.49568901 0.86555498 25.37457315] [ 0. 0. 0. 1. ]] SLAMing on 237.019072329 meters Centerline goodness : 0.774158 Centerline is valid? [False, False] Translation: X:-31.32, Y:35.95, Z:25.51 [[ 0.41545548 0.80412033 0.42519082 -31.3199924 ] [ -0.90680605 0.32944172 0.26300368 35.95352572] [ 0.07141101 -0.49483193 0.86604955 25.50523666] [ 0. 0. 0. 1. ]] SLAMing on 237.049072329 meters Centerline goodness : 0.770882 Centerline is valid? [False, False] Translation: X:-31.66, Y:36.00, Z:25.65 [[ 0.4177054 0.80393164 0.42333924 -31.65700205] [ -0.90540893 0.32939374 0.26783284 36.00158025] [ 0.075874 -0.49517035 0.86547644 25.6542463 ] [ 0. 0. 0. 1. ]] SLAMing on 237.079072329 meters Centerline goodness : 0.771112 Centerline is valid? [False, False] Translation: X:-31.96, Y:36.05, Z:25.79 [[ 0.41754698 0.80596178 0.41961902 -31.95789843] [ -0.90536369 0.32974332 0.26755546 36.04600308] [ 0.07727291 -0.49162481 0.86737186 25.78843934] [ 0. 0. 0. 1. ]] SLAMing on 237.109072329 meters Centerline goodness : 0.769629 Centerline is valid? [False, False] Translation: X:-32.25, Y:36.09, Z:25.92 [[ 0.41889173 0.80643504 0.41736344 -32.25202225] [ -0.90443314 0.32964016 0.27081 36.08781074] [ 0.08081092 -0.49091739 0.86745012 25.91822067] [ 0. 0. 0. 1. ]] SLAMing on 237.13907232900002 meters Centerline goodness : 0.764549 Centerline is valid? [False, False] Translation: X:-32.55, Y:36.13, Z:26.05 [[ 0.41540771 0.80839763 0.41704882 -32.55111339] [ -0.90600476 0.3267797 0.26901748 36.13336483] [ 0.08119 -0.48960015 0.8681589 26.05170416] [ 0. 0. 0. 1. ]] SLAMing on 237.169072329 meters Centerline goodness : 0.760740 Centerline is valid? [False, False] Translation: X:-32.91, Y:36.18, Z:26.21 [[ 0.41771282 0.80543984 0.42045531 -32.9087968 ] [ -0.90459451 0.32537945 0.27538516 36.18201174] [ 0.08499866 -0.49537348 0.86451162 26.20968759] [ 0. 0. 0. 1. ]] SLAMing on 237.199072329 meters Centerline goodness : 0.762515 Centerline is valid? [False, False] Translation: X:-33.22, Y:36.23, Z:26.35 [[ 0.41438887 0.80558169 0.42346193 -33.21584443] [ -0.90648634 0.32392081 0.27084649 36.22727258] [ 0.08102085 -0.49609822 0.86447798 26.34905057] [ 0. 0. 0. 1. ]] SLAMing on 237.229072329 meters Centerline goodness : 0.762154 Centerline is valid? [False, False] Translation: X:-33.55, Y:36.27, Z:26.50 [[ 0.41462272 0.8058959 0.42263437 -33.554 ] [ -0.90630802 0.32394893 0.27140903 36.27351829] [ 0.08181547 -0.49556926 0.8647065 26.49975649] [ 0. 0. 0. 1. ]] SLAMing on 237.259072329 meters Centerline goodness : 0.759952 Centerline is valid? [False, False] Translation: X:-33.85, Y:36.32, Z:26.63 [[ 0.41211401 0.80939255 0.41838469 -33.85318608] [ -0.90725528 0.32222239 0.27029721 36.31642858] [ 0.08396363 -0.49097498 0.86711803 26.63195401] [ 0. 0. 0. 1. ]] SLAMing on 237.289072329 meters Centerline goodness : 0.757677 Centerline is valid? [False, False] Translation: X:-34.15, Y:36.36, Z:26.76 [[ 0.41153316 0.81076313 0.41629749 -34.15095312] [ -0.90743266 0.32195698 0.27001792 36.35824098] [ 0.08489069 -0.48888326 0.86820892 26.76411565] [ 0. 0. 0. 1. ]] SLAMing on 237.319072329 meters Centerline goodness : 0.755833 Centerline is valid? [False, False] Translation: X:-34.45, Y:36.40, Z:26.90 [[ 0.4125563 0.80987592 0.41701115 -34.44796375] [ -0.90679171 0.32152395 0.27267407 36.39856402] [ 0.08675309 -0.49063566 0.8670355 26.89522004] [ 0. 0. 0. 1. ]] SLAMing on 237.349072329 meters Centerline goodness : 0.754608 Centerline is valid? [False, False] Translation: X:-34.75, Y:36.44, Z:27.03 [[ 0.41027304 0.80874607 0.42143307 -34.74976933] [ -0.90803483 0.31942692 0.27099665 36.44229533] [ 0.08455041 -0.49385853 0.86542185 27.03049055] [ 0. 0. 0. 1. ]] SLAMing on 237.379072329 meters Centerline goodness : 0.754608 Centerline is valid? [False, False] Translation: X:-35.04, Y:36.48, Z:27.16 [[ 0.41119007 0.8081927 0.42160086 -35.04103969] [ -0.90769339 0.32052666 0.27084195 36.48007222] [ 0.08375817 -0.49405184 0.86538856 27.15986914] [ 0. 0. 0. 1. ]] SLAMing on 237.409072329 meters Centerline goodness : 0.756189 Centerline is valid? [False, False] Translation: X:-35.33, Y:36.52, Z:27.29 [[ 0.41025022 0.80765826 0.42353617 -35.33132356] [ -0.90823358 0.31982106 0.26986339 36.51865604] [ 0.08250161 -0.49538129 0.86474901 27.28873578] [ 0. 0. 0. 1. ]] SLAMing on 237.439072329 meters Centerline goodness : 0.756528 Centerline is valid? [False, False] Translation: X:-35.62, Y:36.56, Z:27.42 [[ 0.40970999 0.80809083 0.42323391 -35.61903044] [ -0.90841134 0.31910031 0.27011817 36.55517029] [ 0.08322595 -0.49514059 0.86481746 27.41697647] [ 0. 0. 0. 1. ]] SLAMing on 237.469072329 meters Centerline goodness : 0.753892 Centerline is valid? [False, False] Translation: X:-35.90, Y:36.59, Z:27.54 [[ 0.40876613 0.80998351 0.42051988 -35.90496296] [ -0.90860362 0.31789944 0.27088633 36.59181251] [ 0.08573043 -0.49281504 0.86590047 27.54246646] [ 0. 0. 0. 1. ]] SLAMing on 237.499072329 meters Centerline goodness : 0.751769 Centerline is valid? [False, False] Translation: X:-36.19, Y:36.63, Z:27.67 [[ 0.40976513 0.80980244 0.41989588 -36.18755785] [ -0.9079893 0.31796462 0.27286247 36.62710122] [ 0.08745266 -0.49307049 0.86558276 27.66928682] [ 0. 0. 0. 1. ]] SLAMing on 237.529072329 meters Centerline goodness : 0.751335 Centerline is valid? [False, False] Translation: X:-36.47, Y:36.66, Z:27.80 [[ 0.41128305 0.80869715 0.42054152 -36.47385916] [ -0.90726485 0.31873157 0.27437323 36.66328675] [ 0.08784499 -0.4943876 0.8647914 27.79874474] [ 0. 0. 0. 1. ]] SLAMing on 237.559072329 meters Centerline goodness : 0.752024 Centerline is valid? [False, False] Translation: X:-36.76, Y:36.70, Z:27.93 [[ 0.41395326 0.80640037 0.42232824 -36.756825 ] [ -0.9062758 0.32151985 0.2743887 36.7007298 ] [ 0.08548024 -0.49632996 0.86391533 27.92792938] [ 0. 0. 0. 1. ]] SLAMing on 237.589072329 meters Centerline goodness : 0.752041 Centerline is valid? [False, False] Translation: X:-37.03, Y:36.74, Z:28.05 [[ 0.4146324 0.80648524 0.42149915 -37.0340561 ] [ -0.90616041 0.32348104 0.27245792 36.7356371 ] [ 0.08338631 -0.49491572 0.86493072 28.05410313] [ 0. 0. 0. 1. ]] SLAMing on 237.619072329 meters Centerline goodness : 0.753399 Centerline is valid? [False, False] Translation: X:-37.31, Y:36.77, Z:28.18 [[ 0.41550242 0.8069567 0.41973637 -37.31149756] [ -0.90585053 0.32529027 0.27133202 36.76921387] [ 0.08241703 -0.49295752 0.86614105 28.17936997] [ 0. 0. 0. 1. ]] SLAMing on 237.649072329 meters Centerline goodness : 0.750893 Centerline is valid? [False, False] Translation: X:-37.67, Y:36.81, Z:28.34 [[ 0.41840134 0.80707076 0.41662586 -37.6734905 ] [ -0.90403094 0.32582855 0.27670166 36.81014419] [ 0.08756922 -0.49241502 0.86594404 28.34157 ] [ 0. 0. 0. 1. ]] SLAMing on 237.679072329 meters Centerline goodness : 0.751546 Centerline is valid? [False, False] Translation: X:-37.95, Y:36.85, Z:28.47 [[ 0.41643098 0.80813252 0.4165418 -37.95466923] [ -0.90522024 0.32590077 0.27269948 36.84675594] [ 0.08462602 -0.49062258 0.86725309 28.47103357] [ 0. 0. 0. 1. ]] SLAMing on 237.709072329 meters Centerline goodness : 0.752739 Centerline is valid? [False, False] Translation: X:-38.24, Y:36.88, Z:28.60 [[ 0.41664544 0.80654541 0.41939371 -38.23613948] [ -0.90520877 0.32561616 0.27307728 36.88156475] [ 0.08368785 -0.49341527 0.86575846 28.59946237] [ 0. 0. 0. 1. ]] SLAMing on 237.739072329 meters Centerline goodness : 0.752123 Centerline is valid? [False, False] Translation: X:-38.61, Y:36.93, Z:28.77 [[ 0.41979194 0.80201568 0.42490655 -38.61402778] [ -0.90356185 0.32506584 0.27912039 36.92540086] [ 0.08573633 -0.50110184 0.86113079 28.77023313] [ 0. 0. 0. 1. ]] SLAMing on 237.769072329 meters Centerline goodness : 0.752502 Centerline is valid? [False, False] Translation: X:-38.89, Y:36.96, Z:28.89 [[ 0.41835876 0.80397981 0.42260196 -38.88621677] [ -0.90453279 0.32655741 0.27419098 36.95919672] [ 0.08244021 -0.49696753 0.86384425 28.89451773] [ 0. 0. 0. 1. ]] SLAMing on 237.799072329 meters Centerline goodness : 0.750480 Centerline is valid? [False, False] Translation: X:-39.16, Y:36.99, Z:29.02 [[ 0.41917323 0.80494076 0.41995736 -39.15647806] [ -0.90416194 0.32813615 0.27352853 36.99030554] [ 0.08237107 -0.4943653 0.86534268 29.01574143] [ 0. 0. 0. 1. ]] SLAMing on 237.829072329 meters Centerline goodness : 0.746004 Centerline is valid? [False, False] Translation: X:-39.43, Y:37.02, Z:29.14 [[ 0.41876666 0.80734215 0.41573205 -39.42764969] [ -0.90435155 0.32925102 0.27155485 37.02180015] [ 0.08235747 -0.48968605 0.86800047 29.13903366] [ 0. 0. 0. 1. ]] SLAMing on 237.859072329 meters Centerline goodness : 0.746755 Centerline is valid? [False, False] Translation: X:-39.71, Y:37.06, Z:29.27 [[ 0.41913302 0.80618271 0.4176086 -39.70888235] [ -0.90421612 0.32911321 0.2721722 37.05539931] [ 0.08198001 -0.49168478 0.86690562 29.26638617] [ 0. 0. 0. 1. ]] SLAMing on 237.88907232900002 meters Centerline goodness : 0.745279 Centerline is valid? [False, False] Translation: X:-39.99, Y:37.09, Z:29.39 [[ 0.41949501 0.80462196 0.42024687 -39.98677564] [ -0.90411016 0.32888014 0.27280518 37.08881894] [ 0.08129419 -0.49438988 0.86543047 29.39308072] [ 0. 0. 0. 1. ]] SLAMing on 237.919072329 meters Centerline goodness : 0.744383 Centerline is valid? [False, False] Translation: X:-40.27, Y:37.13, Z:29.52 [[ 0.42022765 0.80283491 0.42292413 -40.26944595] [ -0.90410248 0.33062603 0.27071225 37.12559564] [ 0.07750752 -0.49612753 0.86478324 29.52094363] [ 0. 0. 0. 1. ]] SLAMing on 237.949072329 meters Centerline goodness : 0.742569 Centerline is valid? [False, False] Translation: X:-40.64, Y:37.17, Z:29.69 [[ 0.42380846 0.80158019 0.42172929 -40.6424748 ] [ -0.90219291 0.33235689 0.27493061 37.16697858] [ 0.08021429 -0.49699909 0.86403563 29.6864014 ] [ 0. 0. 0. 1. ]] SLAMing on 237.979072329 meters Centerline goodness : 0.743289 Centerline is valid? [False, False] Translation: X:-40.92, Y:37.20, Z:29.81 [[ 0.42441177 0.80356236 0.41732743 -40.91751273] [ -0.90203868 0.33513632 0.27204754 37.19858553] [ 0.07874558 -0.49190566 0.86708013 29.8105996 ] [ 0. 0. 0. 1. ]] SLAMing on 238.009072329 meters Centerline goodness : 0.745593 Centerline is valid? [False, False] Translation: X:-41.19, Y:37.23, Z:29.94 [[ 0.4261469 0.80506476 0.41263732 -41.19349563] [ -0.90134428 0.33886561 0.26971945 37.22961829] [ 0.07731302 -0.4868684 0.87004704 29.93601572] [ 0. 0. 0. 1. ]] SLAMing on 238.039072329 meters Centerline goodness : 0.746452 Centerline is valid? [False, False] Translation: X:-41.56, Y:37.27, Z:30.10 [[ 0.42900898 0.80204759 0.41553695 -41.56298416] [ -0.89972687 0.33853613 0.27547205 37.27049765] [ 0.08026742 -0.49204974 0.86685881 30.10328263] [ 0. 0. 0. 1. ]] SLAMing on 238.069072329 meters Centerline goodness : 0.745302 Centerline is valid? [False, False] Translation: X:-41.84, Y:37.31, Z:30.23 [[ 0.4275912 0.80144284 0.41815684 -41.84230962] [ -0.90064471 0.33804453 0.27306593 37.30535203] [ 0.0774911 -0.49337133 0.86636012 30.23186191] [ 0. 0. 0. 1. ]] SLAMing on 238.099072329 meters Centerline goodness : 0.747604 Centerline is valid? [False, False] Translation: X:-42.19, Y:37.35, Z:30.39 [[ 0.42872611 0.79826705 0.42304093 -42.19092063] [ -0.90022502 0.33803776 0.27445469 37.34749072] [ 0.07608432 -0.49849793 0.86354559 30.3885848 ] [ 0. 0. 0. 1. ]] SLAMing on 238.129072329 meters Centerline goodness : 0.745986 Centerline is valid? [False, False] Translation: X:-42.46, Y:37.38, Z:30.51 [[ 0.42781538 0.80051359 0.41970466 -42.46367707] [ -0.90093943 0.34033283 0.26922429 37.38050396] [ 0.07267843 -0.49330677 0.86681387 30.51215726] [ 0. 0. 0. 1. ]] SLAMing on 238.159072329 meters Centerline goodness : 0.744909 Centerline is valid? [False, False] Translation: X:-42.82, Y:37.42, Z:30.67 [[ 0.43167298 0.80020078 0.41633777 -42.81650995] [ -0.89883906 0.3427974 0.27309026 37.41744292] [ 0.07580753 -0.49210634 0.86722809 30.66826475] [ 0. 0. 0. 1. ]] SLAMing on 238.189072329 meters Centerline goodness : 0.742161 Centerline is valid? [False, False] Translation: X:-43.09, Y:37.45, Z:30.79 [[ 0.43274855 0.80211085 0.41151778 -43.08670849] [ -0.89854018 0.34671163 0.26910331 37.44734696] [ 0.07317268 -0.48621932 0.87076778 30.790945 ] [ 0. 0. 0. 1. ]] SLAMing on 238.219072329 meters Centerline goodness : 0.742861 Centerline is valid? [False, False] Translation: X:-43.37, Y:37.48, Z:30.92 [[ 0.43159311 0.80181767 0.4132987 -43.36732538] [ -0.89935229 0.34694565 0.26607173 37.48076742] [ 0.06994883 -0.48653586 0.87085591 30.91877456] [ 0. 0. 0. 1. ]] SLAMing on 238.249072329 meters Centerline goodness : 0.745471 Centerline is valid? [False, False] Translation: X:-43.65, Y:37.51, Z:31.05 [[ 0.43072205 0.80040528 0.41692913 -43.64863848] [ -0.89999679 0.34667124 0.26424388 37.514428 ] [ 0.06696486 -0.48905055 0.86968113 31.0460719 ] [ 0. 0. 0. 1. ]] SLAMing on 238.279072329 meters Centerline goodness : 0.744515 Centerline is valid? [False, False] Translation: X:-43.93, Y:37.55, Z:31.17 [[ 0.43217858 0.79760087 0.42077847 -43.93296759] [ -0.89960716 0.34889152 0.26264359 37.54802051] [ 0.06267871 -0.49204426 0.86831091 31.1747397 ] [ 0. 0. 0. 1. ]] SLAMing on 238.309072329 meters Centerline goodness : 0.744294 Centerline is valid? [False, False] Translation: X:-44.27, Y:37.58, Z:31.32 [[ 0.4360357 0.79604747 0.41973956 -44.26565778] [ -0.89776732 0.35246475 0.26416365 37.58333777] [ 0.0623434 -0.49201324 0.86835262 31.32230494] [ 0. 0. 0. 1. ]] SLAMing on 238.339072329 meters Centerline goodness : 0.743328 Centerline is valid? [False, False] Translation: X:-44.54, Y:37.61, Z:31.44 [[ 0.44067902 0.79693456 0.41315532 -44.53610707] [ -0.89582319 0.36095985 0.25924658 37.61068985] [ 0.05747008 -0.48435864 0.87297989 31.44475959] [ 0. 0. 0. 1. ]] SLAMing on 238.369072329 meters Centerline goodness : 0.740759 Centerline is valid? [False, False] Translation: X:-44.81, Y:37.64, Z:31.57 [[ 0.44208433 0.79701882 0.41148809 -44.81400751] [ -0.89535326 0.36454986 0.25582403 37.64114433] [ 0.05388864 -0.48152299 0.87477518 31.56965975] [ 0. 0. 0. 1. ]] SLAMing on 238.399072329 meters Centerline goodness : 0.740320 Centerline is valid? [False, False] Translation: X:-45.09, Y:37.67, Z:31.69 [[ 0.44293952 0.796165 0.41222066 -45.09141082] [ -0.8951498 0.3670285 0.25297612 37.67247647] [ 0.050114 -0.48105236 0.87525837 31.69453767] [ 0. 0. 0. 1. ]] SLAMing on 238.429072329 meters Centerline goodness : 0.741818 Centerline is valid? [False, False] Translation: X:-45.41, Y:37.71, Z:31.84 [[ 0.44511277 0.79346873 0.41506868 -45.41023044] [ -0.89416691 0.36879276 0.25388469 37.70713912] [ 0.04837524 -0.48414799 0.87364785 31.83819934] [ 0. 0. 0. 1. ]] SLAMing on 238.459072329 meters Centerline goodness : 0.745713 Centerline is valid? [False, False] Translation: X:-45.70, Y:37.74, Z:31.97 [[ 4.48430511e-01 7.89179571e-01 4.19649474e-01 -4.57014773e+01] [-8.92784538e-01 3.72908002e-01 2.52735811e-01 3.77394263e+01] [ 4.29632924e-02 -4.87991010e-01 8.71790645e-01 3.19715141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.489072329 meters Centerline goodness : 0.744008 Centerline is valid? [False, False] Translation: X:-45.97, Y:37.77, Z:32.09 [[ 4.49927634e-01 7.88964448e-01 4.18449787e-01 -4.59723583e+01] [-8.92211626e-01 3.76622994e-01 2.49225872e-01 3.77690360e+01] [ 3.90325409e-02 -4.85479372e-01 8.73376345e-01 3.20936395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.519072329 meters Centerline goodness : 0.743470 Centerline is valid? [False, False] Translation: X:-46.25, Y:37.80, Z:32.22 [[ 4.52476420e-01 7.89296126e-01 4.15062302e-01 -4.62544413e+01] [-8.91013404e-01 3.80887778e-01 2.47021487e-01 3.77980921e+01] [ 3.68809445e-02 -4.81597473e-01 8.75616166e-01 3.22196541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.549072329 meters Centerline goodness : 0.742573 Centerline is valid? [False, False] Translation: X:-46.52, Y:37.82, Z:32.34 [[ 4.58215984e-01 7.89769957e-01 4.07800841e-01 -4.65150519e+01] [-8.88131938e-01 3.88497253e-01 2.45543367e-01 3.78225549e+01] [ 3.54932684e-02 -4.74692847e-01 8.79435574e-01 3.23350473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.579072329 meters Centerline goodness : 0.744124 Centerline is valid? [False, False] Translation: X:-46.78, Y:37.85, Z:32.45 [[ 4.59575617e-01 7.88737850e-01 4.08268119e-01 -4.67757676e+01] [-8.87555341e-01 3.91213981e-01 2.43304619e-01 3.78503453e+01] [ 3.21833658e-02 -4.74177419e-01 8.79840898e-01 3.24535841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.609072329 meters Centerline goodness : 0.747824 Centerline is valid? [False, False] Translation: X:-47.05, Y:37.88, Z:32.58 [[ 4.59835844e-01 7.86653020e-01 4.11980610e-01 -4.70534565e+01] [-8.87593559e-01 3.93061927e-01 2.40166599e-01 3.78811874e+01] [ 2.69938883e-02 -4.76108547e-01 8.78972117e-01 3.25800701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.63907232900002 meters Centerline goodness : 0.752443 Centerline is valid? [False, False] Translation: X:-47.32, Y:37.91, Z:32.70 [[ 4.60107280e-01 7.82698928e-01 4.19146370e-01 -4.73203035e+01] [-8.87627646e-01 3.94624769e-01 2.37462531e-01 3.79112934e+01] [ 2.04561288e-02 -4.81304145e-01 8.76314936e-01 3.27016416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.669072329 meters Centerline goodness : 0.755151 Centerline is valid? [False, False] Translation: X:-47.58, Y:37.94, Z:32.82 [[ 4.60787344e-01 7.82759804e-01 4.18284726e-01 -4.75784107e+01] [-8.87333243e-01 3.96899438e-01 2.34756366e-01 3.79381877e+01] [ 1.77408740e-02 -4.79330705e-01 8.77455034e-01 3.28168215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.699072329 meters Centerline goodness : 0.753917 Centerline is valid? [False, False] Translation: X:-47.83, Y:37.96, Z:32.93 [[ 4.64290678e-01 7.85389606e-01 4.09386533e-01 -4.78261034e+01] [-8.85503942e-01 4.02341001e-01 2.32388655e-01 3.79612858e+01] [ 1.78026467e-02 -4.70409276e-01 8.82268768e-01 3.29258786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.729072329 meters Centerline goodness : 0.757396 Centerline is valid? [False, False] Translation: X:-48.08, Y:37.99, Z:33.04 [[ 4.65243073e-01 7.85837028e-01 4.07442079e-01 -4.80808371e+01] [-8.85027222e-01 4.04321085e-01 2.30762381e-01 3.79875209e+01] [ 1.66042004e-02 -4.67957931e-01 8.83594746e-01 3.30405280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.759072329 meters Centerline goodness : 0.757836 Centerline is valid? [False, False] Translation: X:-48.34, Y:38.02, Z:33.16 [[ 4.64974400e-01 7.85110455e-01 4.09145916e-01 -4.83412967e+01] [-8.85203192e-01 4.04647266e-01 2.29512308e-01 3.80150521e+01] [ 1.46327362e-02 -4.68894619e-01 8.83132900e-01 3.31591284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.789072329 meters Centerline goodness : 0.760651 Centerline is valid? [False, False] Translation: X:-48.61, Y:38.04, Z:33.28 [[ 4.61844325e-01 7.81386798e-01 4.19683800e-01 -4.86095080e+01] [-8.86915022e-01 4.02032350e-01 2.27490073e-01 3.80445876e+01] [ 9.03127550e-03 -4.77288865e-01 8.78700048e-01 3.32835925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.819072329 meters Centerline goodness : 0.760793 Centerline is valid? [False, False] Translation: X:-48.87, Y:38.07, Z:33.40 [[ 4.60573070e-01 7.80546653e-01 4.22633848e-01 -4.88723256e+01] [-8.87601061e-01 4.01749729e-01 2.25303155e-01 3.80711207e+01] [ 6.06658984e-03 -4.78898817e-01 8.77849144e-01 3.34032462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.849072329 meters Centerline goodness : 0.759266 Centerline is valid? [False, False] Translation: X:-49.12, Y:38.09, Z:33.51 [[ 4.61110505e-01 7.83462800e-01 4.16609101e-01 -4.91244859e+01] [-8.87309923e-01 4.03077301e-01 2.24075412e-01 3.80924929e+01] [ 7.62907739e-03 -4.72984916e-01 8.81037494e-01 3.35144666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.879072329 meters Centerline goodness : 0.756483 Centerline is valid? [False, False] Translation: X:-49.38, Y:38.12, Z:33.63 [[ 4.62292987e-01 7.85426052e-01 4.11571514e-01 -4.93774824e+01] [-8.86671028e-01 4.04227870e-01 2.24531326e-01 3.81152363e+01] [ 9.98407655e-03 -4.68727795e-01 8.83286234e-01 3.36271544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.909072329 meters Centerline goodness : 0.758047 Centerline is valid? [False, False] Translation: X:-49.64, Y:38.14, Z:33.74 [[ 4.63140789e-01 7.85992380e-01 4.09532157e-01 -4.96352223e+01] [-8.86204604e-01 4.04481487e-01 2.25911767e-01 3.81392355e+01] [ 1.19167517e-02 -4.67558237e-01 8.83881941e-01 3.37433992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.939072329 meters Centerline goodness : 0.760898 Centerline is valid? [False, False] Translation: X:-49.90, Y:38.17, Z:33.86 [[ 4.62739696e-01 7.84887081e-01 4.12097371e-01 -4.99002809e+01] [-8.86430021e-01 4.04078555e-01 2.25748397e-01 3.81654067e+01] [ 1.06672903e-02 -4.69758226e-01 8.82730660e-01 3.38639350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.969072329 meters Centerline goodness : 0.761498 Centerline is valid? [False, False] Translation: X:-50.17, Y:38.19, Z:33.99 [[ 4.61498921e-01 7.80657854e-01 4.21416731e-01 -5.01724418e+01] [-8.87109581e-01 4.02108043e-01 2.26595924e-01 3.81919647e+01] [ 7.43883051e-03 -4.78416594e-01 8.78101490e-01 3.39901360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.999072329 meters Centerline goodness : 0.763058 Centerline is valid? [False, False] Translation: X:-50.44, Y:38.22, Z:34.11 [[ 4.60313221e-01 7.80547228e-01 4.22915788e-01 -5.04408414e+01] [-8.87746355e-01 4.02433055e-01 2.23504018e-01 3.82186235e+01] [ 4.26014882e-03 -4.78323803e-01 8.78173212e-01 3.41120448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.029072329 meters Centerline goodness : 0.763706 Centerline is valid? [False, False] Translation: X:-50.70, Y:38.24, Z:34.23 [[ 4.60761211e-01 7.83370211e-01 4.17169293e-01 -5.07014464e+01] [-8.87509983e-01 4.04027552e-01 2.21557595e-01 3.82393233e+01] [ 5.01373135e-03 -4.72327058e-01 8.81409106e-01 3.42299229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.059072329 meters Centerline goodness : 0.763838 Centerline is valid? [False, False] Translation: X:-50.97, Y:38.26, Z:34.35 [[ 4.61542509e-01 7.83815786e-01 4.15465193e-01 -5.09690159e+01] [-8.87103926e-01 4.05143904e-01 2.21144842e-01 3.82635471e+01] [ 5.01362800e-03 -4.70628549e-01 8.82317195e-01 3.43508305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.089072329 meters Centerline goodness : 0.765456 Centerline is valid? [False, False] Translation: X:-51.24, Y:38.29, Z:34.47 [[ 4.61391396e-01 7.83678676e-01 4.15891467e-01 -5.12402922e+01] [-8.87190545e-01 4.05807781e-01 2.19574546e-01 3.82898181e+01] [ 3.30389644e-03 -4.70284783e-01 8.82508531e-01 3.44741212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.119072329 meters Centerline goodness : 0.765403 Centerline is valid? [False, False] Translation: X:-51.51, Y:38.32, Z:34.60 [[ 4.61349701e-01 7.81112193e-01 4.20737680e-01 -5.15083941e+01] [-8.87216492e-01 4.05195873e-01 2.20597371e-01 3.83158732e+01] [ 1.83012483e-03 -4.75057940e-01 8.79952615e-01 3.45972944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.149072329 meters Centerline goodness : 0.765807 Centerline is valid? [False, False] Translation: X:-51.78, Y:38.34, Z:34.72 [[ 4.61851591e-01 7.79769644e-01 4.22672936e-01 -5.17783382e+01] [-8.86957197e-01 4.05931624e-01 2.20287193e-01 3.83411481e+01] [ 1.96955454e-04 -4.76632793e-01 8.79102464e-01 3.47206668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.179072329 meters Centerline goodness : 0.765871 Centerline is valid? [False, False] Translation: X:-52.05, Y:38.37, Z:34.84 [[ 4.62504120e-01 7.79415058e-01 4.22613424e-01 -5.20466938e+01] [-8.86616786e-01 4.07003321e-01 2.19679247e-01 3.83653297e+01] [-7.83754000e-04 -4.76298713e-01 8.79283187e-01 3.48430000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.209072329 meters Centerline goodness : 0.766942 Centerline is valid? [False, False] Translation: X:-52.31, Y:38.39, Z:34.96 [[ 4.61713828e-01 7.81039713e-01 4.20472719e-01 -5.23123057e+01] [-8.87028738e-01 4.06224402e-01 2.19457861e-01 3.83870986e+01] [ 5.99025666e-04 -4.74298114e-01 8.80364095e-01 3.49648544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.239072329 meters Centerline goodness : 0.767656 Centerline is valid? [False, False] Translation: X:-52.58, Y:38.41, Z:35.09 [[ 4.61853404e-01 7.80490923e-01 4.21337575e-01 -5.25836749e+01] [-8.86954616e-01 4.05495636e-01 2.21099068e-01 3.84109291e+01] [ 1.71526731e-03 -4.75822664e-01 8.79539567e-01 3.50889165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.269072329 meters Centerline goodness : 0.767302 Centerline is valid? [False, False] Translation: X:-52.86, Y:38.44, Z:35.21 [[ 4.62473070e-01 7.79407337e-01 4.22661641e-01 -5.28561173e+01] [-8.86630789e-01 4.05401287e-01 2.22566034e-01 3.84352681e+01] [ 2.12202677e-03 -4.77675621e-01 8.78533721e-01 3.52135582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.299072329 meters Centerline goodness : 0.767302 Centerline is valid? [False, False] Translation: X:-53.13, Y:38.46, Z:35.34 [[ 4.63660283e-01 7.78106137e-01 4.23756985e-01 -5.31256104e+01] [-8.86012140e-01 4.06501875e-01 2.23021778e-01 3.84592650e+01] [ 1.27660487e-03 -4.78860174e-01 8.77890258e-01 3.53373875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.329072329 meters Centerline goodness : 0.768622 Centerline is valid? [False, False] Translation: X:-53.39, Y:38.48, Z:35.46 [[ 4.64721625e-01 7.78416448e-01 4.22020905e-01 -5.33889413e+01] [-8.85447534e-01 4.06353520e-01 2.25520469e-01 3.84819456e+01] [ 4.05916258e-03 -4.78481609e-01 8.78088192e-01 3.54596477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.359072329 meters Centerline goodness : 0.767746 Centerline is valid? [False, False] Translation: X:-53.65, Y:38.50, Z:35.58 [[ 4.66268489e-01 7.77620961e-01 4.21781148e-01 -5.36541880e+01] [-8.84626430e-01 4.06911585e-01 2.27725805e-01 3.85036286e+01] [ 5.45672405e-03 -4.79300118e-01 8.77634104e-01 3.55815075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.38907232900002 meters Centerline goodness : 0.766040 Centerline is valid? [False, False] Translation: X:-53.92, Y:38.53, Z:35.70 [[ 4.67200112e-01 7.76508126e-01 4.22799226e-01 -5.39205789e+01] [-8.84136100e-01 4.07480629e-01 2.28610792e-01 3.85254757e+01] [ 5.23564308e-03 -4.80619046e-01 8.76913862e-01 3.57045361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.419072329 meters Centerline goodness : 0.768791 Centerline is valid? [False, False] Translation: X:-54.18, Y:38.55, Z:35.83 [[ 4.66319299e-01 7.75082280e-01 4.26372807e-01 -5.41835327e+01] [-8.84605326e-01 4.06153849e-01 2.29155992e-01 3.85478739e+01] [ 4.44179198e-03 -4.84031517e-01 8.75039291e-01 3.58270519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.449072329 meters Centerline goodness : 0.768364 Centerline is valid? [False, False] Translation: X:-54.45, Y:38.57, Z:35.95 [[ 4.66563050e-01 7.73833987e-01 4.28368860e-01 -5.44492940e+01] [-8.84482075e-01 4.06426804e-01 2.29147796e-01 3.85709851e+01] [ 3.22176531e-03 -4.85796473e-01 8.74066020e-01 3.59507805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.479072329 meters Centerline goodness : 0.769522 Centerline is valid? [False, False] Translation: X:-54.72, Y:38.59, Z:36.08 [[ 4.67089612e-01 7.72983449e-01 4.29329572e-01 -5.47174420e+01] [-8.84208247e-01 4.07370513e-01 2.28527988e-01 3.85938288e+01] [ 1.75214393e-03 -4.86359798e-01 8.73756875e-01 3.60762089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.509072329 meters Centerline goodness : 0.769324 Centerline is valid? [False, False] Translation: X:-54.98, Y:38.61, Z:36.20 [[ 4.68214525e-01 7.72590099e-01 4.28811960e-01 -5.49775040e+01] [-8.83612880e-01 4.08365208e-01 2.29054872e-01 3.86143182e+01] [ 1.85364154e-03 -4.86150589e-01 8.73873085e-01 3.61984491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.539072329 meters Centerline goodness : 0.771209 Centerline is valid? [False, False] Translation: X:-55.24, Y:38.63, Z:36.32 [[ 4.69255325e-01 7.71557044e-01 4.29533663e-01 -5.52374709e+01] [-8.83061560e-01 4.09278974e-01 2.29549564e-01 3.86338939e+01] [ 1.31148602e-03 -4.87022022e-01 8.73388705e-01 3.63210569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.569072329 meters Centerline goodness : 0.771673 Centerline is valid? [False, False] Translation: X:-55.50, Y:38.65, Z:36.45 [[ 4.69975868e-01 7.70614089e-01 4.30437694e-01 -5.54994355e+01] [-8.82678839e-01 4.09829077e-01 2.30039550e-01 3.86533228e+01] [ 8.65835478e-04 -4.88051282e-01 8.72814526e-01 3.64453842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.599072329 meters Centerline goodness : 0.771264 Centerline is valid? [False, False] Translation: X:-55.76, Y:38.67, Z:36.57 [[ 4.68685278e-01 7.70778239e-01 4.31549553e-01 -5.57582070e+01] [-8.83364330e-01 4.08256983e-01 2.30203596e-01 3.86730510e+01] [ 1.25280336e-03 -4.89108518e-01 8.72222041e-01 3.65689045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.629072329 meters Centerline goodness : 0.771959 Centerline is valid? [False, False] Translation: X:-56.01, Y:38.69, Z:36.69 [[ 4.69260067e-01 7.70054350e-01 4.32216714e-01 -5.60124511e+01] [-8.83057914e-01 4.08140182e-01 2.31582191e-01 3.86914497e+01] [ 1.92586509e-03 -4.90344665e-01 8.71526477e-01 3.66893842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.659072329 meters Centerline goodness : 0.770119 Centerline is valid? [False, False] Translation: X:-56.27, Y:38.71, Z:36.81 [[ 4.70338257e-01 7.68978966e-01 4.32958744e-01 -5.62708310e+01] [-8.82483760e-01 4.08683427e-01 2.32809514e-01 3.87096978e+01] [ 2.08255591e-03 -4.91578281e-01 8.70830900e-01 3.68121538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.689072329 meters Centerline goodness : 0.769662 Centerline is valid? [False, False] Translation: X:-56.53, Y:38.73, Z:36.94 [[ 4.71086532e-01 7.68117237e-01 4.33674291e-01 -5.65289333e+01] [-8.82079854e-01 4.08237267e-01 2.35111603e-01 3.87270003e+01] [ 3.55126756e-03 -4.93293265e-01 8.69855818e-01 3.69363332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.719072329 meters Centerline goodness : 0.769043 Centerline is valid? [False, False] Translation: X:-56.78, Y:38.74, Z:37.06 [[ 4.71359914e-01 7.66832391e-01 4.35646549e-01 -5.67849643e+01] [-8.81936158e-01 4.08209383e-01 2.35698353e-01 3.87444378e+01] [ 2.90612262e-03 -4.95311198e-01 8.68710752e-01 3.70605234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.749072329 meters Centerline goodness : 0.772012 Centerline is valid? [False, False] Translation: X:-57.04, Y:38.76, Z:37.19 [[ 4.70254704e-01 7.66284939e-01 4.37798933e-01 -5.70409318e+01] [-8.82529180e-01 4.07378796e-01 2.34914375e-01 3.87610551e+01] [ 1.66134560e-03 -4.96839923e-01 8.67840613e-01 3.71855652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.779072329 meters Centerline goodness : 0.773247 Centerline is valid? [False, False] Translation: X:-57.29, Y:38.78, Z:37.31 [[ 4.70849448e-01 7.66268771e-01 4.37187566e-01 -5.72907061e+01] [-8.82210292e-01 4.07614097e-01 2.35702669e-01 3.87766190e+01] [ 2.40777930e-03 -4.96671842e-01 8.67935069e-01 3.73057188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.809072329 meters Centerline goodness : 0.770574 Centerline is valid? [False, False] Translation: X:-57.54, Y:38.79, Z:37.43 [[ 4.72218721e-01 7.66154524e-01 4.35909078e-01 -5.75397003e+01] [-8.81471377e-01 4.08072650e-01 2.37665570e-01 3.87916247e+01] [ 4.20597963e-03 -4.96471507e-01 8.68042829e-01 3.74261203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.839072329 meters Centerline goodness : 0.770287 Centerline is valid? [False, False] Translation: X:-57.79, Y:38.81, Z:37.55 [[ 4.73039855e-01 7.66390035e-01 4.34602819e-01 -5.77900940e+01] [-8.81021045e-01 4.08150789e-01 2.39196262e-01 3.88087736e+01] [ 5.93414842e-03 -4.96043595e-01 8.68277339e-01 3.75477904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.869072329 meters Centerline goodness : 0.769578 Centerline is valid? [False, False] Translation: X:-58.05, Y:38.83, Z:37.67 [[ 4.73950725e-01 7.64983737e-01 4.36085533e-01 -5.80470071e+01] [-8.80532281e-01 4.08477619e-01 2.40434891e-01 3.88251218e+01] [ 5.79760115e-03 -4.97941680e-01 8.67191139e-01 3.76741005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.899072329 meters Centerline goodness : 0.770234 Centerline is valid? [False, False] Translation: X:-58.30, Y:38.84, Z:37.80 [[ 4.73213622e-01 7.64105859e-01 4.38418868e-01 -5.83001287e+01] [-8.80939570e-01 4.08307212e-01 2.39229376e-01 3.88416160e+01] [ 3.78698215e-03 -4.99427128e-01 8.66347622e-01 3.77989533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.929072329 meters Centerline goodness : 0.771080 Centerline is valid? [False, False] Translation: X:-58.55, Y:38.86, Z:37.92 [[ 4.71552601e-01 7.64012058e-01 4.40367709e-01 -5.85461383e+01] [-8.81837163e-01 4.07885027e-01 2.36628451e-01 3.88576307e+01] [ 1.16759488e-03 -4.99915372e-01 8.66073471e-01 3.79202357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.959072329 meters Centerline goodness : 0.769666 Centerline is valid? [False, False] Translation: X:-58.80, Y:38.87, Z:38.04 [[ 4.69937920e-01 7.66047565e-01 4.38553850e-01 -5.87961600e+01] [-8.82698383e-01 4.07054260e-01 2.34841212e-01 3.88733287e+01] [ 1.38432525e-03 -4.97471565e-01 8.67479179e-01 3.80407325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.989072329 meters Centerline goodness : 0.769956 Centerline is valid? [False, False] Translation: X:-59.04, Y:38.89, Z:38.16 [[ 4.71216417e-01 7.66771927e-01 4.35908134e-01 -5.90412393e+01] [-8.82008153e-01 4.07351921e-01 2.36909331e-01 3.88882075e+01] [ 4.08740908e-03 -4.96110094e-01 8.68250003e-01 3.81590829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.019072329 meters Centerline goodness : 0.770150 Centerline is valid? [False, False] Translation: X:-59.29, Y:38.90, Z:38.28 [[ 4.72772999e-01 7.65127919e-01 4.37109778e-01 -5.92879978e+01] [-8.81168043e-01 4.07489867e-01 2.39780918e-01 3.89023079e+01] [ 5.34526939e-03 -4.98529112e-01 8.66856478e-01 3.82805643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.049072329 meters Centerline goodness : 0.770990 Centerline is valid? [False, False] Translation: X:-59.54, Y:38.92, Z:38.40 [[ 4.72732334e-01 7.64194245e-01 4.38783884e-01 -5.95396424e+01] [-8.81197390e-01 4.07745797e-01 2.39237382e-01 3.89177709e+01] [ 3.91154598e-03 -4.99750459e-01 8.66160596e-01 3.84045455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.079072329 meters Centerline goodness : 0.768186 Centerline is valid? [False, False] Translation: X:-59.79, Y:38.93, Z:38.53 [[ 4.73760018e-01 7.62651952e-01 4.40356044e-01 -5.97878184e+01] [-8.80643761e-01 4.07864656e-01 2.41066358e-01 3.89314174e+01] [ 4.24406195e-03 -5.02004404e-01 8.64854650e-01 3.85263546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.109072329 meters Centerline goodness : 0.769948 Centerline is valid? [False, False] Translation: X:-60.02, Y:38.95, Z:38.64 [[ 4.73255885e-01 7.63694332e-01 4.39089779e-01 -6.00241643e+01] [-8.80918221e-01 4.08317011e-01 2.39291258e-01 3.89461380e+01] [ 3.45755191e-03 -5.00048183e-01 8.65990681e-01 3.86428064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.13907232900002 meters Centerline goodness : 0.770384 Centerline is valid? [False, False] Translation: X:-60.27, Y:38.96, Z:38.77 [[ 4.73196418e-01 7.64255934e-01 4.38175784e-01 -6.02719402e+01] [-8.80954135e-01 4.09252684e-01 2.37554315e-01 3.89597575e+01] [ 2.22767950e-03 -4.98422619e-01 8.66931329e-01 3.87653547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.169072329 meters Centerline goodness : 0.772826 Centerline is valid? [False, False] Translation: X:-60.51, Y:38.97, Z:38.88 [[ 4.72738631e-01 7.64570528e-01 4.38121095e-01 -6.05099674e+01] [-8.81202461e-01 4.09808301e-01 2.35667941e-01 3.89740177e+01] [ 6.39100826e-04 -4.97482728e-01 8.67473646e-01 3.88849998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.199072329 meters Centerline goodness : 0.772375 Centerline is valid? [False, False] Translation: X:-60.75, Y:38.99, Z:39.01 [[ 4.72785287e-01 7.63924844e-01 4.39195748e-01 -6.07545417e+01] [-8.81177111e-01 4.10431957e-01 2.34675324e-01 3.89873764e+01] [-9.85660084e-04 -4.97960281e-01 8.67199277e-01 3.90083378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.229072329 meters Centerline goodness : 0.772788 Centerline is valid? [False, False] Translation: X:-61.00, Y:39.00, Z:39.13 [[ 4.72695026e-01 7.63558549e-01 4.39929260e-01 -6.09974310e+01] [-8.81222031e-01 4.11089682e-01 2.33351676e-01 3.90004850e+01] [-2.67271281e-03 -4.97979533e-01 8.67184664e-01 3.91308605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.259072329 meters Centerline goodness : 0.773406 Centerline is valid? [False, False] Translation: X:-61.24, Y:39.01, Z:39.25 [[ 4.74104617e-01 7.62764086e-01 4.39790588e-01 -6.12431420e+01] [-8.80465653e-01 4.11997496e-01 2.34602423e-01 3.90135387e+01] [-2.24631827e-03 -4.98446600e-01 8.66917494e-01 3.92527592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.289072329 meters Centerline goodness : 0.771165 Centerline is valid? [False, False] Translation: X:-61.49, Y:39.02, Z:39.37 [[ 4.75935908e-01 7.62081008e-01 4.38996069e-01 -6.14851862e+01] [-8.79478626e-01 4.13275564e-01 2.36052229e-01 3.90246742e+01] [-1.53542710e-03 -4.98433391e-01 8.66926639e-01 3.93719659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.319072329 meters Centerline goodness : 0.773631 Centerline is valid? [False, False] Translation: X:-61.72, Y:39.04, Z:39.49 [[ 4.76569103e-01 7.62539395e-01 4.37510642e-01 -6.17206413e+01] [-8.79134022e-01 4.14660080e-01 2.34905065e-01 3.90358322e+01] [-2.29383135e-03 -4.96578987e-01 8.67988507e-01 3.94899109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.349072329 meters Centerline goodness : 0.772843 Centerline is valid? [False, False] Translation: X:-61.96, Y:39.05, Z:39.61 [[ 4.76494651e-01 7.62824364e-01 4.37094769e-01 -6.19577895e+01] [-8.79171335e-01 4.15273160e-01 2.33679195e-01 3.90488250e+01] [-3.25754258e-03 -4.95628078e-01 8.68528754e-01 3.96080432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.379072329 meters Centerline goodness : 0.772699 Centerline is valid? [False, False] Translation: X:-62.19, Y:39.06, Z:39.73 [[ 4.75607414e-01 7.62721305e-01 4.38239431e-01 -6.21941088e+01] [-8.79644795e-01 4.15070754e-01 2.32252672e-01 3.90607336e+01] [-4.75630955e-03 -4.95956127e-01 8.68334554e-01 3.97259604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.409072329 meters Centerline goodness : 0.771866 Centerline is valid? [False, False] Translation: X:-62.43, Y:39.07, Z:39.84 [[ 4.75347135e-01 7.63080606e-01 4.37896209e-01 -6.24294229e+01] [-8.79789090e-01 4.14562309e-01 2.32613947e-01 3.90727721e+01] [-4.03207211e-03 -4.95828681e-01 8.68410998e-01 3.98425431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.439072329 meters Centerline goodness : 0.773223 Centerline is valid? [False, False] Translation: X:-62.66, Y:39.08, Z:39.96 [[ 4.75934328e-01 7.63944765e-01 4.35746384e-01 -6.26634215e+01] [-8.79473950e-01 4.15366962e-01 2.32370091e-01 3.90832755e+01] [-3.47673696e-03 -4.93820496e-01 8.69556916e-01 3.99583627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.469072329 meters Centerline goodness : 0.772721 Centerline is valid? [False, False] Translation: X:-62.90, Y:39.09, Z:40.07 [[ 4.76780903e-01 7.64350073e-01 4.34107057e-01 -6.28953724e+01] [-8.79017532e-01 4.16184435e-01 2.32634248e-01 3.90933090e+01] [-2.85459563e-03 -4.92503281e-01 8.70305906e-01 4.00736253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.499072329 meters Centerline goodness : 0.774476 Centerline is valid? [False, False] Translation: X:-63.13, Y:39.11, Z:40.19 [[ 4.76431686e-01 7.63790081e-01 4.35473949e-01 -6.31279005e+01] [-8.79201276e-01 4.16269423e-01 2.31786289e-01 3.91059150e+01] [-4.23842134e-03 -4.93299584e-01 8.69849157e-01 4.01897341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.529072329 meters Centerline goodness : 0.775601 Centerline is valid? [False, False] Translation: X:-63.36, Y:39.12, Z:40.31 [[ 4.75926980e-01 7.62995373e-01 4.37414644e-01 -6.33595377e+01] [-8.79470020e-01 4.15765818e-01 2.31670605e-01 3.91167693e+01] [-5.09845785e-03 -4.94951356e-01 8.68905726e-01 4.03050903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.559072329 meters Centerline goodness : 0.775494 Centerline is valid? [False, False] Translation: X:-63.59, Y:39.13, Z:40.42 [[ 4.74693018e-01 7.62849805e-01 4.39006507e-01 -6.35887976e+01] [-8.80125125e-01 4.15272493e-01 2.30061993e-01 3.91282704e+01] [-6.80458035e-03 -4.95589479e-01 8.68530233e-01 4.04195013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.589072329 meters Centerline goodness : 0.775128 Centerline is valid? [False, False] Translation: X:-63.82, Y:39.14, Z:40.53 [[ 4.73681952e-01 7.63203231e-01 4.39484058e-01 -6.38199559e+01] [-8.80657932e-01 4.15109299e-01 2.28310921e-01 3.91391763e+01] [-8.18628680e-03 -4.95181884e-01 8.68750762e-01 4.05347799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.619072329 meters Centerline goodness : 0.776222 Centerline is valid? [False, False] Translation: X:-64.05, Y:39.15, Z:40.65 [[ 4.72619006e-01 7.65256932e-01 4.37050459e-01 -6.40454484e+01] [-8.81228526e-01 4.15011126e-01 2.26278699e-01 3.91505246e+01] [-8.21946058e-03 -4.92084946e-01 8.70508384e-01 4.06463992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.649072329 meters Centerline goodness : 0.776158 Centerline is valid? [False, False] Translation: X:-64.27, Y:39.16, Z:40.76 [[ 4.72261511e-01 7.66747147e-01 4.34819362e-01 -6.42734404e+01] [-8.81418001e-01 4.15511332e-01 2.24616651e-01 3.91598178e+01] [-8.44819565e-03 -4.89335412e-01 8.72054748e-01 4.07589802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.679072329 meters Centerline goodness : 0.778069 Centerline is valid? [False, False] Translation: X:-64.50, Y:39.17, Z:40.87 [[ 4.71075143e-01 7.67955646e-01 4.33972737e-01 -6.45042564e+01] [-8.82061317e-01 4.14281503e-01 2.24362808e-01 3.91718646e+01] [-7.48619196e-03 -4.88482306e-01 8.72541686e-01 4.08717208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.709072329 meters Centerline goodness : 0.777230 Centerline is valid? [False, False] Translation: X:-64.74, Y:39.18, Z:40.98 [[ 4.71124753e-01 7.67292553e-01 4.35090341e-01 -6.47359507e+01] [-8.82042790e-01 4.13434625e-01 2.25991874e-01 3.91819494e+01] [-6.47953022e-03 -4.90238664e-01 8.71564150e-01 4.09839992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.739072329 meters Centerline goodness : 0.777685 Centerline is valid? [False, False] Translation: X:-64.96, Y:39.19, Z:41.09 [[ 4.70624283e-01 7.67268204e-01 4.35674520e-01 -6.49597152e+01] [-8.82311312e-01 4.12758261e-01 2.26179944e-01 3.91913340e+01] [-6.28757792e-03 -4.90846331e-01 8.71223476e-01 4.10947094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.769072329 meters Centerline goodness : 0.780432 Centerline is valid? [False, False] Translation: X:-65.19, Y:39.20, Z:41.21 [[ 4.69756785e-01 7.67251294e-01 4.36639455e-01 -6.51896263e+01] [-8.82762076e-01 4.12585392e-01 2.24731865e-01 3.92014394e+01] [-7.72524698e-03 -4.91018070e-01 8.71115133e-01 4.12084666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.799072329 meters Centerline goodness : 0.781809 Centerline is valid? [False, False] Translation: X:-65.42, Y:39.21, Z:41.32 [[ 4.70061724e-01 7.67376628e-01 4.36090687e-01 -6.54156506e+01] [-8.82600548e-01 4.12936637e-01 2.24721174e-01 3.92094120e+01] [-7.63204475e-03 -4.90526701e-01 8.71392740e-01 4.13197616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.829072329 meters Centerline goodness : 0.782690 Centerline is valid? [False, False] Translation: X:-65.64, Y:39.22, Z:41.43 [[ 4.69356636e-01 7.68630211e-01 4.34640019e-01 -6.56368139e+01] [-8.82977503e-01 4.12682210e-01 2.23705439e-01 3.92189142e+01] [-7.42144515e-03 -4.88774991e-01 8.72378318e-01 4.14284657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.859072329 meters Centerline goodness : 0.782417 Centerline is valid? [False, False] Translation: X:-65.87, Y:39.23, Z:41.54 [[ 4.69230118e-01 7.68692761e-01 4.34666006e-01 -6.58672260e+01] [-8.83043509e-01 4.12654327e-01 2.23496236e-01 3.92272514e+01] [-7.56686971e-03 -4.88700160e-01 8.72418991e-01 4.15417254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.88907232900002 meters Centerline goodness : 0.783533 Centerline is valid? [False, False] Translation: X:-66.10, Y:39.24, Z:41.66 [[ 4.68779730e-01 7.68549252e-01 4.35405112e-01 -6.60988905e+01] [-8.83272542e-01 4.12691860e-01 2.22519764e-01 3.92359723e+01] [-8.67074777e-03 -4.88894135e-01 8.72300030e-01 4.16553306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.919072329 meters Centerline goodness : 0.784192 Centerline is valid? [False, False] Translation: X:-66.33, Y:39.24, Z:41.77 [[ 4.69207500e-01 7.67876214e-01 4.36131221e-01 -6.63331801e+01] [-8.83048373e-01 4.12649698e-01 2.23485563e-01 3.92449745e+01] [-8.36016810e-03 -4.89986067e-01 8.71690175e-01 4.17697704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.949072329 meters Centerline goodness : 0.785231 Centerline is valid? [False, False] Translation: X:-66.56, Y:39.25, Z:41.88 [[ 4.69545781e-01 7.67853058e-01 4.35807802e-01 -6.65561847e+01] [-8.82862508e-01 4.13354065e-01 2.22917494e-01 3.92524986e+01] [-8.97504739e-03 -4.89428338e-01 8.71997334e-01 4.18791488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.979072329 meters Centerline goodness : 0.785624 Centerline is valid? [False, False] Translation: X:-66.79, Y:39.26, Z:41.99 [[ 4.68729394e-01 7.68709385e-01 4.35176558e-01 -6.67881589e+01] [-8.83284272e-01 4.13498114e-01 2.20971049e-01 3.92604153e+01] [-1.00821664e-02 -4.87960235e-01 8.72807630e-01 4.19940849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.009072329 meters Centerline goodness : 0.788918 Centerline is valid? [False, False] Translation: X:-67.02, Y:39.27, Z:42.11 [[ 4.68319815e-01 7.68569245e-01 4.35864505e-01 -6.70166762e+01] [-8.83486651e-01 4.13651367e-01 2.19872426e-01 3.92675161e+01] [-1.13087639e-02 -4.88051086e-01 8.72741800e-01 4.21067233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.039072329 meters Centerline goodness : 0.786805 Centerline is valid? [False, False] Translation: X:-67.24, Y:39.27, Z:42.22 [[ 4.68988468e-01 7.67697708e-01 4.36680714e-01 -6.72430447e+01] [-8.83137131e-01 4.13719742e-01 2.21144260e-01 3.92733043e+01] [-1.08914909e-02 -4.89363060e-01 8.72012139e-01 4.22180871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.069072329 meters Centerline goodness : 0.787504 Centerline is valid? [False, False] Translation: X:-67.47, Y:39.28, Z:42.33 [[ 4.69246760e-01 7.67320278e-01 4.37066436e-01 -6.74711247e+01] [-8.82992384e-01 4.14144076e-01 2.20927894e-01 3.92799120e+01] [-1.14860227e-02 -4.89596032e-01 8.71873727e-01 4.23303016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.099072329 meters Centerline goodness : 0.787097 Centerline is valid? [False, False] Translation: X:-67.70, Y:39.29, Z:42.44 [[ 4.69664748e-01 7.66662862e-01 4.37770581e-01 -6.76962615e+01] [-8.82765245e-01 4.14478983e-01 2.21207356e-01 3.92863923e+01] [-1.18552403e-02 -4.90341951e-01 8.71449496e-01 4.24408805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.129072329 meters Centerline goodness : 0.785273 Centerline is valid? [False, False] Translation: X:-67.93, Y:39.29, Z:42.55 [[ 4.69797170e-01 7.66297280e-01 4.38268294e-01 -6.79256068e+01] [-8.82706798e-01 4.13922287e-01 2.22479322e-01 3.92937061e+01] [-1.09237149e-02 -4.91382558e-01 8.70875338e-01 4.25535738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.159072329 meters Centerline goodness : 0.783583 Centerline is valid? [False, False] Translation: X:-68.15, Y:39.30, Z:42.66 [[ 4.70006239e-01 7.66137552e-01 4.38323382e-01 -6.81495494e+01] [-8.82589654e-01 4.14329757e-01 2.22185406e-01 3.92997283e+01] [-1.13858371e-02 -4.91288209e-01 8.70922648e-01 4.26634214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.189072329 meters Centerline goodness : 0.783583 Centerline is valid? [False, False] Translation: X:-68.38, Y:39.30, Z:42.78 [[ 4.70653820e-01 7.65301045e-01 4.39089161e-01 -6.83762356e+01] [-8.82231213e-01 4.15171705e-01 2.22037253e-01 3.93047010e+01] [-1.23720538e-02 -4.91880845e-01 8.70574619e-01 4.27752687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.219072329 meters Centerline goodness : 0.784524 Centerline is valid? [False, False] Translation: X:-68.60, Y:39.31, Z:42.88 [[ 4.70277795e-01 7.66986539e-01 4.36543748e-01 -6.85955075e+01] [-8.82442312e-01 4.15174800e-01 2.21190985e-01 3.93106124e+01] [-1.15914548e-02 -4.89245883e-01 8.72068864e-01 4.28843850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.249072329 meters Centerline goodness : 0.782902 Centerline is valid? [False, False] Translation: X:-68.82, Y:39.32, Z:43.00 [[ 4.70400415e-01 7.66884401e-01 4.36591074e-01 -6.88210816e+01] [-8.82378621e-01 4.15188078e-01 2.21420029e-01 3.93158484e+01] [-1.14638427e-02 -4.89394703e-01 8.71987044e-01 4.29967560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.279072329 meters Centerline goodness : 0.783181 Centerline is valid? [False, False] Translation: X:-69.05, Y:39.32, Z:43.11 [[ 4.70310246e-01 7.65780853e-01 4.38620516e-01 -6.90487806e+01] [-8.82412877e-01 4.15095310e-01 2.21457440e-01 3.93218503e+01] [-1.24814518e-02 -4.91198095e-01 8.70958463e-01 4.31103768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.309072329 meters Centerline goodness : 0.785319 Centerline is valid? [False, False] Translation: X:-69.28, Y:39.33, Z:43.23 [[ 4.68854215e-01 7.63170346e-01 4.44687248e-01 -6.92831925e+01] [-8.83127400e-01 4.14253898e-01 2.20181068e-01 3.93299594e+01] [-1.61777637e-02 -4.95948315e-01 8.68201330e-01 4.32290974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.339072329 meters Centerline goodness : 0.784027 Centerline is valid? [False, False] Translation: X:-69.51, Y:39.34, Z:43.34 [[ 4.69010912e-01 7.61678394e-01 4.47073583e-01 -6.95091912e+01] [-8.83007644e-01 4.14750179e-01 2.19726627e-01 3.93357032e+01] [-1.80628242e-02 -4.97823577e-01 8.67090203e-01 4.33423618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.369072329 meters Centerline goodness : 0.783117 Centerline is valid? [False, False] Translation: X:-69.74, Y:39.34, Z:43.46 [[ 4.68737884e-01 7.61913936e-01 4.46958556e-01 -6.97355345e+01] [-8.83108929e-01 4.15705839e-01 2.17502356e-01 3.93417037e+01] [-2.00852053e-02 -4.96664685e-01 8.67710075e-01 4.34557367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.399072329 meters Centerline goodness : 0.778979 Centerline is valid? [False, False] Translation: X:-69.95, Y:39.35, Z:43.56 [[ 4.69362177e-01 7.64788511e-01 4.41358902e-01 -6.99526877e+01] [-8.82825270e-01 4.16545927e-01 2.17046152e-01 3.93460577e+01] [-1.78518494e-02 -4.91516047e-01 8.70685527e-01 4.35643061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.429072329 meters Centerline goodness : 0.780314 Centerline is valid? [False, False] Translation: X:-70.18, Y:39.35, Z:43.68 [[ 4.70023515e-01 7.64787005e-01 4.40657160e-01 -7.01764494e+01] [-8.82474760e-01 4.17233007e-01 2.17151827e-01 3.93501098e+01] [-1.77818169e-02 -4.90935287e-01 8.71014553e-01 4.36767242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.459072329 meters Centerline goodness : 0.777655 Centerline is valid? [False, False] Translation: X:-70.40, Y:39.36, Z:43.79 [[ 4.69292081e-01 7.63331551e-01 4.43948067e-01 -7.04035422e+01] [-8.82849072e-01 4.16118430e-01 2.17768154e-01 3.93563125e+01] [-1.85056705e-02 -4.94136009e-01 8.69187635e-01 4.37925503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.489072329 meters Centerline goodness : 0.780889 Centerline is valid? [False, False] Translation: X:-70.63, Y:39.36, Z:43.91 [[ 4.68986893e-01 7.61560724e-01 4.47299183e-01 -7.06259931e+01] [-8.82985021e-01 4.15598252e-01 2.18209868e-01 3.93606376e+01] [-1.97166931e-02 -4.97296046e-01 8.67356844e-01 4.39050727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.519072329 meters Centerline goodness : 0.777542 Centerline is valid? [False, False] Translation: X:-70.85, Y:39.36, Z:44.02 [[ 4.69184786e-01 7.60253614e-01 4.49310670e-01 -7.08469892e+01] [-8.82882267e-01 4.15115659e-01 2.19540185e-01 3.93634326e+01] [-1.96096760e-02 -4.99693337e-01 8.65980386e-01 4.40174730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.549072329 meters Centerline goodness : 0.777066 Centerline is valid? [False, False] Translation: X:-71.06, Y:39.37, Z:44.12 [[ 4.70223391e-01 7.60710372e-01 4.47447977e-01 -7.10575796e+01] [-8.82357553e-01 4.15737348e-01 2.20471325e-01 3.93654445e+01] [-1.83060119e-02 -4.98479876e-01 8.66707969e-01 4.41244911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.579072329 meters Centerline goodness : 0.777411 Centerline is valid? [False, False] Translation: X:-71.27, Y:39.37, Z:44.23 [[ 4.71484255e-01 7.60954231e-01 4.45703103e-01 -7.12678580e+01] [-8.81714491e-01 4.16388457e-01 2.21811202e-01 3.93672809e+01] [-1.67974543e-02 -4.97563374e-01 8.67264974e-01 4.42313431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.609072329 meters Centerline goodness : 0.777041 Centerline is valid? [False, False] Translation: X:-71.48, Y:39.37, Z:44.34 [[ 4.73194982e-01 7.60267776e-01 4.45061138e-01 -7.14774933e+01] [-8.80839783e-01 4.16579701e-01 2.24905825e-01 3.93687516e+01] [-1.44147844e-02 -4.98451864e-01 8.66797527e-01 4.43380152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.63907232900002 meters Centerline goodness : 0.775442 Centerline is valid? [False, False] Translation: X:-71.69, Y:39.37, Z:44.45 [[ 4.73087164e-01 7.58805113e-01 4.47664312e-01 -7.16912042e+01] [-8.80919823e-01 4.14911634e-01 2.27658959e-01 3.93720082e+01] [-1.29923490e-02 -5.02058898e-01 8.64735834e-01 4.44490782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.669072329 meters Centerline goodness : 0.774792 Centerline is valid? [False, False] Translation: X:-71.91, Y:39.37, Z:44.56 [[ 4.73114123e-01 7.56433675e-01 4.51631622e-01 -7.19085874e+01] [-8.80892163e-01 4.14232017e-01 2.28999636e-01 3.93745140e+01] [-1.38572420e-02 -5.06181719e-01 8.62315513e-01 4.45608990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.699072329 meters Centerline goodness : 0.776744 Centerline is valid? [False, False] Translation: X:-72.12, Y:39.38, Z:44.67 [[ 4.72682150e-01 7.54923605e-01 4.54600853e-01 -7.21220982e+01] [-8.81125771e-01 4.12929143e-01 2.30449341e-01 3.93769818e+01] [-1.37462938e-02 -5.09489817e-01 8.60366879e-01 4.46715249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.729072329 meters Centerline goodness : 0.774255 Centerline is valid? [False, False] Translation: X:-72.33, Y:39.38, Z:44.78 [[ 4.73749024e-01 7.54345791e-01 4.54449435e-01 -7.23283420e+01] [-8.80572562e-01 4.13025834e-01 2.32382493e-01 3.93780928e+01] [-1.24026008e-02 -5.10266683e-01 8.59926792e-01 4.47776701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.759072329 meters Centerline goodness : 0.774527 Centerline is valid? [False, False] Translation: X:-72.54, Y:39.38, Z:44.89 [[ 4.74245518e-01 7.54712614e-01 4.53321143e-01 -7.25402201e+01] [-8.80313929e-01 4.13393344e-01 2.32708680e-01 3.93798076e+01] [-1.17717671e-02 -5.09425965e-01 8.60433967e-01 4.48873427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.789072329 meters Centerline goodness : 0.773065 Centerline is valid? [False, False] Translation: X:-72.75, Y:39.38, Z:45.00 [[ 4.73979470e-01 7.56301981e-01 4.50944315e-01 -7.27490919e+01] [-8.80492354e-01 4.12178901e-01 2.34183194e-01 3.93823153e+01] [-8.75651907e-03 -5.08051047e-01 8.61282449e-01 4.49953796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.819072329 meters Centerline goodness : 0.771054 Centerline is valid? [False, False] Translation: X:-72.96, Y:39.38, Z:45.11 [[ 4.74906607e-01 7.54746750e-01 4.52571606e-01 -7.29612696e+01] [-8.80008449e-01 4.11366091e-01 2.37409074e-01 3.93830845e+01] [-6.98888547e-03 -5.11013975e-01 8.59543991e-01 4.51053682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.849072329 meters Centerline goodness : 0.769145 Centerline is valid? [False, False] Translation: X:-73.18, Y:39.38, Z:45.22 [[ 4.75068391e-01 7.52962321e-01 4.55365531e-01 -7.31779563e+01] [-8.79920883e-01 4.10625460e-01 2.39010401e-01 3.93845182e+01] [-7.01885439e-03 -5.14231927e-01 8.57622447e-01 4.52185945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.879072329 meters Centerline goodness : 0.768952 Centerline is valid? [False, False] Translation: X:-73.39, Y:39.39, Z:45.33 [[ 4.73667220e-01 7.51206104e-01 4.59705073e-01 -7.33932986e+01] [-8.80662081e-01 4.09087281e-01 2.38918176e-01 3.93884316e+01] [-8.58270641e-03 -5.18012534e-01 8.55329966e-01 4.53327561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.909072329 meters Centerline goodness : 0.768367 Centerline is valid? [False, False] Translation: X:-73.61, Y:39.39, Z:45.45 [[ 4.73898734e-01 7.50768853e-01 4.60180529e-01 -7.36052910e+01] [-8.80541826e-01 4.08846088e-01 2.39772743e-01 3.93891317e+01] [-8.12910206e-03 -5.18836203e-01 8.54835020e-01 4.54452718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.939072329 meters Centerline goodness : 0.767303 Centerline is valid? [False, False] Translation: X:-73.82, Y:39.39, Z:45.56 [[ 4.74159723e-01 7.50914728e-01 4.59673393e-01 -7.38161270e+01] [-8.80408471e-01 4.08727264e-01 2.40464025e-01 3.93893751e+01] [-7.31307032e-03 -5.18718705e-01 8.54913694e-01 4.55568097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.969072329 meters Centerline goodness : 0.765062 Centerline is valid? [False, False] Translation: X:-74.03, Y:39.39, Z:45.67 [[ 4.72953774e-01 7.53062781e-01 4.57396082e-01 -7.40272642e+01] [-8.81072810e-01 4.07196862e-01 2.40627137e-01 3.93900570e+01] [-5.04290813e-03 -5.16804763e-01 8.56088433e-01 4.56686122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.999072329 meters Centerline goodness : 0.765664 Centerline is valid? [False, False] Translation: X:-74.24, Y:39.39, Z:45.78 [[ 4.73373219e-01 7.52688382e-01 4.57578404e-01 -7.42359316e+01] [-8.80855052e-01 4.06547476e-01 2.42515006e-01 3.93899987e+01] [-3.48911801e-03 -5.17860358e-01 8.55458050e-01 4.57806145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.029072329 meters Centerline goodness : 0.762844 Centerline is valid? [False, False] Translation: X:-74.45, Y:39.39, Z:45.90 [[ 4.72144885e-01 7.51752894e-01 4.60376795e-01 -7.44510195e+01] [-8.81519679e-01 4.03531457e-01 2.45123273e-01 3.93912160e+01] [-1.50438932e-03 -5.21564904e-01 8.53210283e-01 4.58975832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.059072329 meters Centerline goodness : 0.762302 Centerline is valid? [False, False] Translation: X:-74.66, Y:39.39, Z:46.01 [[ 4.71744076e-01 7.50467006e-01 4.62878818e-01 -7.46612187e+01] [-8.81734833e-01 4.02168059e-01 2.46585760e-01 3.93908235e+01] [-1.10059843e-03 -5.24461749e-01 8.51433299e-01 4.60113847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.089072329 meters Centerline goodness : 0.761045 Centerline is valid? [False, False] Translation: X:-74.87, Y:39.39, Z:46.13 [[ 4.71055313e-01 7.49838111e-01 4.64596276e-01 -7.48741301e+01] [-8.82103452e-01 4.00797484e-01 2.47497226e-01 3.93896101e+01] [-6.26165955e-04 -5.26406862e-01 8.50232570e-01 4.61267400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.119072329 meters Centerline goodness : 0.760988 Centerline is valid? [False, False] Translation: X:-75.09, Y:39.39, Z:46.24 [[ 4.70449148e-01 7.49974646e-01 4.64989923e-01 -7.50889995e+01] [-8.82426998e-01 4.00096546e-01 2.47477974e-01 3.93876342e+01] [-4.38656681e-04 -5.26745464e-01 8.50022955e-01 4.62429008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.149072329 meters Centerline goodness : 0.758830 Centerline is valid? [False, False] Translation: X:-75.30, Y:39.38, Z:46.36 [[ 4.69666661e-01 7.53117136e-01 4.60681893e-01 -7.52987788e+01] [-8.82837981e-01 3.98750956e-01 2.48182944e-01 3.93846481e+01] [ 3.21348274e-03 -5.23270727e-01 8.52160442e-01 4.63562137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.179072329 meters Centerline goodness : 0.758687 Centerline is valid? [False, False] Translation: X:-75.51, Y:39.38, Z:46.47 [[ 4.70722757e-01 7.53137499e-01 4.59569357e-01 -7.55122818e+01] [-8.82256837e-01 3.97940131e-01 2.51528380e-01 3.93814338e+01] [ 6.55436547e-03 -5.23858339e-01 8.51780183e-01 4.64726867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.209072329 meters Centerline goodness : 0.756527 Centerline is valid? [False, False] Translation: X:-75.73, Y:39.38, Z:46.59 [[ 4.70951565e-01 7.52644257e-01 4.60142637e-01 -7.57257139e+01] [-8.82110991e-01 3.96340847e-01 2.54546917e-01 3.93786059e+01] [ 9.20995281e-03 -5.25776147e-01 8.50573113e-01 4.65904741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.239072329 meters Centerline goodness : 0.755124 Centerline is valid? [False, False] Translation: X:-75.94, Y:39.38, Z:46.71 [[ 4.67139287e-01 7.52203335e-01 4.64726833e-01 -7.59431756e+01] [-8.84111536e-01 3.90660888e-01 2.56380310e-01 3.93768116e+01] [ 1.12995270e-02 -5.30635669e-01 8.47524694e-01 4.67109590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.269072329 meters Centerline goodness : 0.754682 Centerline is valid? [False, False] Translation: X:-76.16, Y:39.37, Z:46.83 [[ 4.66160463e-01 7.51746812e-01 4.66445231e-01 -7.61606929e+01] [-8.84612794e-01 3.88655816e-01 2.57695289e-01 3.93731810e+01] [ 1.24349599e-02 -5.32750775e-01 8.46180822e-01 4.68296344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.299072329 meters Centerline goodness : 0.753964 Centerline is valid? [False, False] Translation: X:-76.38, Y:39.37, Z:46.95 [[ 4.64898235e-01 7.53048938e-01 4.65603831e-01 -7.63769517e+01] [-8.85263634e-01 3.87452479e-01 2.57271987e-01 3.93694203e+01] [ 1.33390383e-02 -5.31787433e-01 8.46772813e-01 4.69479619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.329072329 meters Centerline goodness : 0.748730 Centerline is valid? [False, False] Translation: X:-76.59, Y:39.36, Z:47.06 [[ 4.63783235e-01 7.56930559e-01 4.60392485e-01 -7.65892566e+01] [-8.85749855e-01 3.85145313e-01 2.59056523e-01 3.93641611e+01] [ 1.87697915e-02 -5.27938649e-01 8.49075072e-01 4.70637056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.359072329 meters Centerline goodness : 0.747677 Centerline is valid? [False, False] Translation: X:-76.80, Y:39.36, Z:47.18 [[ 4.64528282e-01 7.56703078e-01 4.60015138e-01 -7.68001137e+01] [-8.85295105e-01 3.84154513e-01 2.62064663e-01 3.93591937e+01] [ 2.15882459e-02 -5.28985597e-01 8.48356167e-01 4.71795871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.38907232900002 meters Centerline goodness : 0.747880 Centerline is valid? [False, False] Translation: X:-77.02, Y:39.35, Z:47.30 [[ 4.63574984e-01 7.56476689e-01 4.61347215e-01 -7.70153493e+01] [-8.85758158e-01 3.82108499e-01 2.63487343e-01 3.93546644e+01] [ 2.30373416e-02 -5.30788200e-01 8.47191341e-01 4.73001641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.419072329 meters Centerline goodness : 0.746564 Centerline is valid? [False, False] Translation: X:-77.23, Y:39.35, Z:47.42 [[ 4.57766587e-01 7.57438728e-01 4.65549488e-01 -7.72260171e+01] [-8.88775955e-01 3.76339526e-01 2.61621603e-01 3.93520903e+01] [ 2.29576608e-02 -5.33530819e-01 8.45468989e-01 4.74196415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.449072329 meters Centerline goodness : 0.747649 Centerline is valid? [False, False] Translation: X:-77.43, Y:39.35, Z:47.54 [[ 4.56373149e-01 7.57866791e-01 4.66220417e-01 -7.74336540e+01] [-8.89459318e-01 3.74315644e-01 2.62202060e-01 3.93470962e+01] [ 2.42006381e-02 -5.34346073e-01 8.44919288e-01 4.75356031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.479072329 meters Centerline goodness : 0.745085 Centerline is valid? [False, False] Translation: X:-77.64, Y:39.34, Z:47.65 [[ 4.55401444e-01 7.59888156e-01 4.63874460e-01 -7.76399375e+01] [-8.89807717e-01 3.71410617e-01 2.65134644e-01 3.93424598e+01] [ 2.91847763e-02 -5.33501774e-01 8.45295277e-01 4.76486833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.509072329 meters Centerline goodness : 0.746305 Centerline is valid? [False, False] Translation: X:-77.85, Y:39.34, Z:47.76 [[ 4.55930167e-01 7.60115543e-01 4.62981689e-01 -7.78474240e+01] [-8.89443116e-01 3.70481396e-01 2.67646180e-01 3.93366285e+01] [ 3.19159190e-02 -5.33823844e-01 8.44993182e-01 4.77641172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.539072329 meters Centerline goodness : 0.747606 Centerline is valid? [False, False] Translation: X:-78.06, Y:39.33, Z:47.88 [[ 4.54594985e-01 7.60907886e-01 4.62993077e-01 -7.80555249e+01] [-8.90113600e-01 3.69266487e-01 2.67095565e-01 3.93313589e+01] [ 3.22672949e-02 -5.33536738e-01 8.45161151e-01 4.78819001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.569072329 meters Centerline goodness : 0.747564 Centerline is valid? [False, False] Translation: X:-78.26, Y:39.33, Z:48.00 [[ 4.53198779e-01 7.61134387e-01 4.63988482e-01 -7.82630757e+01] [-8.90798953e-01 3.67439678e-01 2.67329963e-01 3.93250247e+01] [ 3.29862493e-02 -5.34474066e-01 8.44540928e-01 4.79993017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.599072329 meters Centerline goodness : 0.749929 Centerline is valid? [False, False] Translation: X:-78.47, Y:39.32, Z:48.12 [[ 4.48708855e-01 7.62408043e-01 4.66255658e-01 -7.84693094e+01] [-8.93045071e-01 3.62895982e-01 2.66039486e-01 3.93193087e+01] [ 3.36283389e-02 -5.35761590e-01 8.43699385e-01 4.81161045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.629072329 meters Centerline goodness : 0.751840 Centerline is valid? [False, False] Translation: X:-78.67, Y:39.31, Z:48.23 [[ 4.47360758e-01 7.63091557e-01 4.66432876e-01 -7.86721092e+01] [-8.93664839e-01 3.60944845e-01 2.66612031e-01 3.93132189e+01] [ 3.50928476e-02 -5.36106421e-01 8.43420653e-01 4.82305604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.659072329 meters Centerline goodness : 0.749792 Centerline is valid? [False, False] Translation: X:-78.87, Y:39.31, Z:48.34 [[ 4.45985365e-01 7.65114961e-01 4.64430997e-01 -7.88693587e+01] [-8.94160463e-01 3.57869317e-01 2.69084779e-01 3.93083563e+01] [ 3.96751866e-02 -5.35283708e-01 8.43740026e-01 4.83410011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.689072329 meters Centerline goodness : 0.747364 Centerline is valid? [False, False] Translation: X:-79.07, Y:39.30, Z:48.45 [[ 4.46768971e-01 7.65061607e-01 4.63765269e-01 -7.90677294e+01] [-8.93652174e-01 3.57161539e-01 2.71700988e-01 3.93016982e+01] [ 4.22288778e-02 -5.35832412e-01 8.43267661e-01 4.84523069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.719072329 meters Centerline goodness : 0.749074 Centerline is valid? [False, False] Translation: X:-79.27, Y:39.29, Z:48.57 [[ 4.46804551e-01 7.64846348e-01 4.64085938e-01 -7.92718033e+01] [-8.93579219e-01 3.56382873e-01 2.72960484e-01 3.92947070e+01] [ 4.33805496e-02 -5.36657537e-01 8.42684292e-01 4.85674721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.749072329 meters Centerline goodness : 0.751287 Centerline is valid? [False, False] Translation: X:-79.48, Y:39.29, Z:48.69 [[ 4.43007851e-01 7.65570962e-01 4.66524540e-01 -7.94805009e+01] [-8.95478042e-01 3.52808711e-01 2.71376290e-01 3.92877314e+01] [ 4.31638855e-02 -5.37984308e-01 8.41849014e-01 4.86867112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.779072329 meters Centerline goodness : 0.751964 Centerline is valid? [False, False] Translation: X:-79.69, Y:39.28, Z:48.80 [[ 4.41899883e-01 7.66098707e-01 4.66708972e-01 -7.96856238e+01] [-8.95917279e-01 3.50600868e-01 2.72784275e-01 3.92793975e+01] [ 4.53511094e-02 -5.38675971e-01 8.41291552e-01 4.88029201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.809072329 meters Centerline goodness : 0.752548 Centerline is valid? [False, False] Translation: X:-79.89, Y:39.27, Z:48.92 [[ 4.40187082e-01 7.67230832e-01 4.66467773e-01 -7.98909827e+01] [-8.96681491e-01 3.48489219e-01 2.72979063e-01 3.92719199e+01] [ 4.68789638e-02 -5.38434875e-01 8.41362139e-01 4.89196618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.839072329 meters Centerline goodness : 0.752140 Centerline is valid? [False, False] Translation: X:-80.09, Y:39.26, Z:49.03 [[ 4.37387233e-01 7.69498240e-01 4.65365305e-01 -8.00887632e+01] [-8.97748403e-01 3.43509486e-01 2.75769902e-01 3.92644933e+01] [ 5.23470582e-02 -5.38399193e-01 8.41062479e-01 4.90310193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.869072329 meters Centerline goodness : 0.751629 Centerline is valid? [False, False] Translation: X:-80.28, Y:39.26, Z:49.14 [[ 4.37976680e-01 7.69441397e-01 4.64904683e-01 -8.02843837e+01] [-8.97217806e-01 3.41704174e-01 2.79711397e-01 3.92560795e+01] [ 5.63616572e-02 -5.39627828e-01 8.40014982e-01 4.91409101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.899072329 meters Centerline goodness : 0.750717 Centerline is valid? [False, False] Translation: X:-80.49, Y:39.25, Z:49.26 [[ 4.38025365e-01 7.69601273e-01 4.64594082e-01 -8.04879806e+01] [-8.97009201e-01 3.40126801e-01 2.82291077e-01 3.92477763e+01] [ 5.92306728e-02 -5.40395818e-01 8.39323589e-01 4.92561086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.929072329 meters Centerline goodness : 0.751217 Centerline is valid? [False, False] Translation: X:-80.69, Y:39.24, Z:49.37 [[ 4.35861697e-01 7.70682832e-01 4.64836050e-01 -8.06910617e+01] [-8.97812456e-01 3.36216271e-01 2.84414156e-01 3.92393082e+01] [ 6.29076641e-02 -5.41300832e-01 8.38472441e-01 4.93716061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.959072329 meters Centerline goodness : 0.751832 Centerline is valid? [False, False] Translation: X:-80.90, Y:39.23, Z:49.49 [[ 4.35315750e-01 7.70484401e-01 4.65675837e-01 -8.08980696e+01] [-8.97906135e-01 3.34053281e-01 2.86658295e-01 3.92300943e+01] [ 6.53052034e-02 -5.42920062e-01 8.37241325e-01 4.94893786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.989072329 meters Centerline goodness : 0.753267 Centerline is valid? [False, False] Translation: X:-81.10, Y:39.22, Z:49.61 [[ 4.34278538e-01 7.70762651e-01 4.66183534e-01 -8.11036852e+01] [-8.98264709e-01 3.31920577e-01 2.88009103e-01 3.92210390e+01] [ 6.72507525e-02 -5.43832389e-01 8.36494871e-01 4.96067894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.019072329 meters Centerline goodness : 0.753175 Centerline is valid? [False, False] Translation: X:-81.31, Y:39.21, Z:49.73 [[ 4.31420892e-01 7.72771599e-01 4.65510548e-01 -8.13139397e+01] [-8.99416218e-01 3.28284075e-01 2.88582800e-01 3.92130456e+01] [ 7.01888918e-02 -5.43188385e-01 8.36671918e-01 4.97256670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.049072329 meters Centerline goodness : 0.754132 Centerline is valid? [False, False] Translation: X:-81.52, Y:39.20, Z:49.84 [[ 4.32188984e-01 7.72799351e-01 4.64751380e-01 -8.15241003e+01] [-8.98754512e-01 3.26926177e-01 2.92163656e-01 3.92042254e+01] [ 7.38444921e-02 -5.43967314e-01 8.35850795e-01 4.98440991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.079072329 meters Centerline goodness : 0.755558 Centerline is valid? [False, False] Translation: X:-81.73, Y:39.20, Z:49.96 [[ 4.32817729e-01 7.72480084e-01 4.64697034e-01 -8.17304535e+01] [-8.98216092e-01 3.25703315e-01 2.95169787e-01 3.91956050e+01] [ 7.66594172e-02 -5.45153070e-01 8.34824211e-01 4.99608592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.109072329 meters Centerline goodness : 0.755558 Centerline is valid? [False, False] Translation: X:-81.94, Y:39.19, Z:50.08 [[ 4.33807916e-01 7.71765889e-01 4.64960326e-01 -8.19423611e+01] [-8.97733193e-01 3.26292963e-01 2.95986515e-01 3.91865273e+01] [ 7.67190141e-02 -5.45811611e-01 8.34388326e-01 5.00824595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.13907232900002 meters Centerline goodness : 0.755504 Centerline is valid? [False, False] Translation: X:-82.15, Y:39.18, Z:50.20 [[ 4.31575464e-01 7.72391098e-01 4.65998510e-01 -8.21522264e+01] [-8.98682787e-01 3.23370582e-01 2.96311853e-01 3.91792547e+01] [ 7.81784285e-02 -5.46665765e-01 8.33693394e-01 5.02029621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.169072329 meters Centerline goodness : 0.756035 Centerline is valid? [False, False] Translation: X:-82.36, Y:39.17, Z:50.33 [[ 4.31039802e-01 7.72296883e-01 4.66649992e-01 -8.23646687e+01] [-8.98877225e-01 3.22291811e-01 2.96896823e-01 3.91704115e+01] [ 7.88950200e-02 -5.47435397e-01 8.33120677e-01 5.03251993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.199072329 meters Centerline goodness : 0.758459 Centerline is valid? [False, False] Translation: X:-82.58, Y:39.16, Z:50.45 [[ 4.29696257e-01 7.73338451e-01 4.66163885e-01 -8.25797482e+01] [-8.99386314e-01 3.20573928e-01 2.97214762e-01 3.91614302e+01] [ 8.04076159e-02 -5.46973489e-01 8.33279435e-01 5.04488225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.229072329 meters Centerline goodness : 0.760191 Centerline is valid? [False, False] Translation: X:-82.79, Y:39.15, Z:50.57 [[ 4.29934140e-01 7.73673504e-01 4.65387950e-01 -8.27949140e+01] [-8.99207661e-01 3.20606975e-01 2.97719248e-01 3.91519607e+01] [ 8.11308711e-02 -5.46480079e-01 8.33533026e-01 5.05734530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.259072329 meters Centerline goodness : 0.758046 Centerline is valid? [False, False] Translation: X:-83.01, Y:39.14, Z:50.70 [[ 4.30988882e-01 7.73530670e-01 4.64649207e-01 -8.30092879e+01] [-8.98583584e-01 3.20869527e-01 2.99316370e-01 3.91424085e+01] [ 8.24386211e-02 -5.46528177e-01 8.33373161e-01 5.06965582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.289072329 meters Centerline goodness : 0.759213 Centerline is valid? [False, False] Translation: X:-83.22, Y:39.13, Z:50.82 [[ 0.43140579 0.77331961 0.46461362 -83.21930631] [ -0.89827443 0.32047 0.30066931 39.13462809] [ 0.08361874 -0.54706101 0.83290585 50.81688943] [ 0. 0. 0. 1. ]] SLAMing on 243.319072329 meters Centerline goodness : 0.757173 Centerline is valid? [False, False] Translation: X:-83.42, Y:39.13, Z:50.94 [[ 4.31956971e-01 7.72299812e-01 4.65796281e-01 -8.34246942e+01] [-8.98081406e-01 3.20885203e-01 3.00803051e-01 3.91261070e+01] [ 8.28430056e-02 -5.48256954e-01 8.32196701e-01 5.09352827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.349072329 meters Centerline goodness : 0.756466 Centerline is valid? [False, False] Translation: X:-83.63, Y:39.12, Z:51.06 [[ 4.32810754e-01 7.71008840e-01 4.67140471e-01 -8.36342630e+01] [-8.97825402e-01 3.22022233e-01 3.00351842e-01 3.91174603e+01] [ 8.11443077e-02 -5.49406088e-01 8.31606007e-01 5.10566384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.379072329 meters Centerline goodness : 0.754305 Centerline is valid? [False, False] Translation: X:-83.83, Y:39.11, Z:51.17 [[ 4.36709244e-01 7.68971326e-01 4.66870578e-01 -8.38335154e+01] [-8.95987354e-01 3.25313591e-01 3.02287493e-01 3.91089510e+01] [ 8.05710701e-02 -5.50321876e-01 8.31056036e-01 5.11702622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.409072329 meters Centerline goodness : 0.755138 Centerline is valid? [False, False] Translation: X:-84.03, Y:39.10, Z:51.29 [[ 4.38112455e-01 7.68293331e-01 4.66672084e-01 -8.40310898e+01] [-8.95523451e-01 3.27944739e-01 3.00815554e-01 3.91000329e+01] [ 7.80719294e-02 -5.49706836e-01 8.31701370e-01 5.12852933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.439072329 meters Centerline goodness : 0.755775 Centerline is valid? [False, False] Translation: X:-84.23, Y:39.09, Z:51.40 [[ 4.41738856e-01 7.65748641e-01 4.67435345e-01 -8.42331394e+01] [-8.94052640e-01 3.32529322e-01 3.00156835e-01 3.90904248e+01] [ 7.44087305e-02 -5.50502741e-01 8.31510717e-01 5.14025851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.469072329 meters Centerline goodness : 0.757683 Centerline is valid? [False, False] Translation: X:-84.44, Y:39.08, Z:51.52 [[ 4.43857678e-01 7.63952719e-01 4.68365888e-01 -8.44351400e+01] [-8.93165555e-01 3.34920465e-01 3.00139256e-01 3.90803408e+01] [ 7.24268801e-02 -5.51547391e-01 8.30993274e-01 5.15211186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.499072329 meters Centerline goodness : 0.755535 Centerline is valid? [False, False] Translation: X:-84.64, Y:39.07, Z:51.64 [[ 4.44797500e-01 7.63045108e-01 4.68953460e-01 -8.46380821e+01] [-8.92985939e-01 3.37619498e-01 2.97639358e-01 3.90714108e+01] [ 6.87844239e-02 -5.51158088e-01 8.31560860e-01 5.16417964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.529072329 meters Centerline goodness : 0.753720 Centerline is valid? [False, False] Translation: X:-84.84, Y:39.06, Z:51.76 [[ 4.49152310e-01 7.59524503e-01 4.70515390e-01 -8.48416626e+01] [-8.91043963e-01 3.42129035e-01 2.98309200e-01 3.90628072e+01] [ 6.55961704e-02 -5.53236164e-01 8.30437770e-01 5.17613429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.559072329 meters Centerline goodness : 0.752230 Centerline is valid? [False, False] Translation: X:-85.04, Y:39.05, Z:51.88 [[ 4.50540013e-01 7.58287598e-01 4.71183207e-01 -8.50387031e+01] [-8.90604824e-01 3.45137705e-01 2.96146944e-01 3.90535796e+01] [ 6.19414644e-02 -5.53064086e-01 8.30832939e-01 5.18771425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.589072329 meters Centerline goodness : 0.749737 Centerline is valid? [False, False] Translation: X:-85.24, Y:39.04, Z:51.99 [[ 4.51519029e-01 7.57750165e-01 4.71110660e-01 -8.52360301e+01] [-8.90363818e-01 3.48218049e-01 2.93251533e-01 3.90439310e+01] [ 5.81621627e-02 -5.51868534e-01 8.31900405e-01 5.19932380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.619072329 meters Centerline goodness : 0.750733 Centerline is valid? [False, False] Translation: X:-85.43, Y:39.03, Z:52.11 [[ 4.52935022e-01 7.57410001e-01 4.70297732e-01 -8.54340772e+01] [-8.89839583e-01 3.51456844e-01 2.90970109e-01 3.90331550e+01] [ 5.50943139e-02 -5.50280090e-01 8.33160512e-01 5.21094439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.649072329 meters Centerline goodness : 0.749651 Centerline is valid? [False, False] Translation: X:-85.63, Y:39.02, Z:52.23 [[ 4.56147482e-01 7.56448632e-01 4.68737604e-01 -8.56318981e+01] [-8.88414234e-01 3.56624186e-01 2.89031726e-01 3.90217829e+01] [ 5.14744872e-02 -5.48274254e-01 8.34712957e-01 5.22257590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.679072329 meters Centerline goodness : 0.750213 Centerline is valid? [False, False] Translation: X:-85.84, Y:39.01, Z:52.35 [[ 4.57924870e-01 7.54781430e-01 4.69691183e-01 -8.58362686e+01] [-8.87672630e-01 3.59453991e-01 2.87802243e-01 3.90104955e+01] [ 4.83954180e-02 -5.48723812e-01 8.34601738e-01 5.23466724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.709072329 meters Centerline goodness : 0.747750 Centerline is valid? [False, False] Translation: X:-86.04, Y:39.00, Z:52.46 [[ 4.62234652e-01 7.50073756e-01 4.72999458e-01 -8.60350474e+01] [-8.85685259e-01 3.64288598e-01 2.87846208e-01 3.90009717e+01] [ 4.35975764e-02 -5.51981139e-01 8.32716082e-01 5.24638669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.739072329 meters Centerline goodness : 0.746054 Centerline is valid? [False, False] Translation: X:-86.23, Y:38.99, Z:52.58 [[ 4.62901483e-01 7.49552779e-01 4.73173169e-01 -8.62344936e+01] [-8.85490893e-01 3.66727054e-01 2.85336901e-01 3.89906379e+01] [ 4.03496650e-02 -5.51073406e-01 8.33480657e-01 5.25834562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.769072329 meters Centerline goodness : 0.747149 Centerline is valid? [False, False] Translation: X:-86.43, Y:38.98, Z:52.70 [[ 4.63206325e-01 7.49898187e-01 4.72326804e-01 -8.64311109e+01] [-8.85473956e-01 3.69292195e-01 2.82062311e-01 3.89799897e+01] [ 3.70914136e-02 -5.48886130e-01 8.35073795e-01 5.27008374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.799072329 meters Centerline goodness : 0.746241 Centerline is valid? [False, False] Translation: X:-86.62, Y:38.97, Z:52.81 [[ 4.65602184e-01 7.50310943e-01 4.69305972e-01 -8.66244197e+01] [-8.84391999e-01 3.74917449e-01 2.78006651e-01 3.89686780e+01] [ 3.26404349e-02 -5.44490951e-01 8.38131378e-01 5.28148625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.829072329 meters Centerline goodness : 0.747365 Centerline is valid? [False, False] Translation: X:-86.82, Y:38.96, Z:52.93 [[ 4.66275102e-01 7.50118336e-01 4.68945639e-01 -8.68192592e+01] [-8.84169358e-01 3.77876360e-01 2.74688920e-01 3.89569992e+01] [ 2.88457246e-02 -5.42707969e-01 8.39425985e-01 5.29301906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.859072329 meters Centerline goodness : 0.747763 Centerline is valid? [False, False] Translation: X:-87.01, Y:38.95, Z:53.04 [[ 4.66626339e-01 7.49469868e-01 4.69632598e-01 -8.70112361e+01] [-8.84074071e-01 3.79666806e-01 2.72518170e-01 3.89455344e+01] [ 2.59402486e-02 -5.42354159e-01 8.39749409e-01 5.30435633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.88907232900002 meters Centerline goodness : 0.749180 Centerline is valid? [False, False] Translation: X:-87.20, Y:38.93, Z:53.16 [[ 4.66167410e-01 7.48995061e-01 4.70844289e-01 -8.72005072e+01] [-8.84393694e-01 3.80603968e-01 2.70163678e-01 3.89348241e+01] [ 2.31460559e-02 -5.42353222e-01 8.39831675e-01 5.31567181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.919072329 meters Centerline goodness : 0.749270 Centerline is valid? [False, False] Translation: X:-87.39, Y:38.92, Z:53.27 [[ 4.66384617e-01 7.47741027e-01 4.72619027e-01 -8.73907679e+01] [-8.84352373e-01 3.81960349e-01 2.68378784e-01 3.89245801e+01] [ 2.01560988e-02 -5.43129495e-01 8.39406983e-01 5.32686901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.949072329 meters Centerline goodness : 0.745298 Centerline is valid? [False, False] Translation: X:-87.58, Y:38.91, Z:53.38 [[ 4.66278124e-01 7.48684042e-01 4.71229155e-01 -8.75786117e+01] [-8.84389059e-01 3.81867043e-01 2.68390673e-01 3.89115361e+01] [ 2.09929300e-02 -5.41894609e-01 8.40184224e-01 5.33785439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.979072329 meters Centerline goodness : 0.744583 Centerline is valid? [False, False] Translation: X:-87.76, Y:38.90, Z:53.49 [[ 4.66195835e-01 7.50352799e-01 4.68649251e-01 -8.77606968e+01] [-8.84393938e-01 3.81774076e-01 2.68506829e-01 3.88965148e+01] [ 2.25567159e-02 -5.39647322e-01 8.41588951e-01 5.34851133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.009072329 meters Centerline goodness : 0.741511 Centerline is valid? [False, False] Translation: X:-87.94, Y:38.88, Z:53.59 [[ 4.65834730e-01 7.50999631e-01 4.67971751e-01 -8.79436402e+01] [-8.84603656e-01 3.82221597e-01 2.67176013e-01 3.88828365e+01] [ 2.17801773e-02 -5.38429388e-01 8.42389113e-01 5.35934684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.039072329 meters Centerline goodness : 0.740438 Centerline is valid? [False, False] Translation: X:-88.13, Y:38.87, Z:53.71 [[ 4.65139004e-01 7.51255511e-01 4.68252991e-01 -8.81318809e+01] [-8.84999659e-01 3.82368506e-01 2.65650012e-01 3.88694276e+01] [ 2.05258393e-02 -5.37967920e-01 8.42715378e-01 5.37051258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.069072329 meters Centerline goodness : 0.737457 Centerline is valid? [False, False] Translation: X:-88.32, Y:38.86, Z:53.82 [[ 4.64313553e-01 7.49955684e-01 4.71146895e-01 -8.83205712e+01] [-8.85437074e-01 3.80838156e-01 2.66389729e-01 3.88551798e+01] [ 2.03497766e-02 -5.40859290e-01 8.40866883e-01 5.38160854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.099072329 meters Centerline goodness : 0.736213 Centerline is valid? [False, False] Translation: X:-88.51, Y:38.84, Z:53.93 [[ 4.63823418e-01 7.49690482e-01 4.72050864e-01 -8.85135890e+01] [-8.85713436e-01 3.80684910e-01 2.65689121e-01 3.88411972e+01] [ 1.94819642e-02 -5.41334629e-01 8.40581509e-01 5.39291512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.129072329 meters Centerline goodness : 0.731359 Centerline is valid? [False, False] Translation: X:-88.70, Y:38.83, Z:54.04 [[ 4.64000531e-01 7.50836585e-01 4.70050985e-01 -8.87007621e+01] [-8.85599128e-01 3.80941283e-01 2.65702697e-01 3.88256703e+01] [ 2.04374803e-02 -5.39562935e-01 8.41697183e-01 5.40383449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.159072329 meters Centerline goodness : 0.726966 Centerline is valid? [False, False] Translation: X:-88.89, Y:38.81, Z:54.15 [[ 4.64334365e-01 7.51289231e-01 4.68996897e-01 -8.88877446e+01] [-8.85410348e-01 3.81203425e-01 2.65955756e-01 3.88109134e+01] [ 2.10264718e-02 -5.38747103e-01 8.42205110e-01 5.41477365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.189072329 meters Centerline goodness : 0.727037 Centerline is valid? [False, False] Translation: X:-89.08, Y:38.80, Z:54.26 [[ 4.64370351e-01 7.51277840e-01 4.68979513e-01 -8.90765234e+01] [-8.85397170e-01 3.81383034e-01 2.65742040e-01 3.87963889e+01] [ 2.07852761e-02 -5.38635859e-01 8.42282247e-01 5.42585852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.219072329 meters Centerline goodness : 0.726570 Centerline is valid? [False, False] Translation: X:-89.26, Y:38.78, Z:54.37 [[ 4.65517484e-01 7.50396208e-01 4.69253666e-01 -8.92625658e+01] [-8.84784300e-01 3.81872682e-01 2.67076761e-01 3.87812668e+01] [ 2.12182327e-02 -5.39517179e-01 8.41707194e-01 5.43675498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.249072329 meters Centerline goodness : 0.722853 Centerline is valid? [False, False] Translation: X:-89.45, Y:38.77, Z:54.48 [[ 4.66565972e-01 7.50396765e-01 4.68210304e-01 -8.94508166e+01] [-8.84204415e-01 3.82341669e-01 2.68323314e-01 3.87660448e+01] [ 2.23326375e-02 -5.39184146e-01 8.41891745e-01 5.44786229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.279072329 meters Centerline goodness : 0.720541 Centerline is valid? [False, False] Translation: X:-89.64, Y:38.75, Z:54.59 [[ 4.67421569e-01 7.50040237e-01 4.67928114e-01 -8.96386656e+01] [-8.83737544e-01 3.82721285e-01 2.69318347e-01 3.87508340e+01] [ 2.29135474e-02 -5.39410846e-01 8.41730900e-01 5.45892290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.309072329 meters Centerline goodness : 0.722247 Centerline is valid? [False, False] Translation: X:-89.83, Y:38.74, Z:54.70 [[ 4.67580662e-01 7.49885015e-01 4.68017936e-01 -8.98261289e+01] [-8.83644545e-01 3.82600108e-01 2.69795246e-01 3.87356068e+01] [ 2.32516991e-02 -5.39712536e-01 8.41528215e-01 5.46993521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.339072329 meters Centerline goodness : 0.724987 Centerline is valid? [False, False] Translation: X:-90.01, Y:38.72, Z:54.81 [[ 4.64447794e-01 7.51730226e-01 4.68177225e-01 -9.00112466e+01] [-8.85302940e-01 3.80404738e-01 2.67452688e-01 3.87206210e+01] [ 2.29554356e-02 -5.38696484e-01 8.42187120e-01 5.48093652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.369072329 meters Centerline goodness : 0.725123 Centerline is valid? [False, False] Translation: X:-90.20, Y:38.70, Z:54.92 [[ 4.64151656e-01 7.52314893e-01 4.67531327e-01 -9.02006822e+01] [-8.85404078e-01 3.79197496e-01 2.68828714e-01 3.87047023e+01] [ 2.49571366e-02 -5.38731436e-01 8.42107820e-01 5.49203636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.399072329 meters Centerline goodness : 0.722329 Centerline is valid? [False, False] Translation: X:-90.39, Y:38.69, Z:55.03 [[ 4.63843470e-01 7.53026242e-01 4.66691241e-01 -9.03850799e+01] [-8.85450788e-01 3.76966548e-01 2.71796108e-01 3.86893246e+01] [ 2.87426156e-02 -5.39302977e-01 8.41621151e-01 5.50275345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.429072329 meters Centerline goodness : 0.722370 Centerline is valid? [False, False] Translation: X:-90.57, Y:38.67, Z:55.14 [[ 4.63212464e-01 7.53146714e-01 4.67123368e-01 -9.05730527e+01] [-8.85800914e-01 3.76720698e-01 2.70994938e-01 3.86748750e+01] [ 2.81239051e-02 -5.39306539e-01 8.41639770e-01 5.51387445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.459072329 meters Centerline goodness : 0.721425 Centerline is valid? [False, False] Translation: X:-90.76, Y:38.66, Z:55.25 [[ 4.63216957e-01 7.52195913e-01 4.68648440e-01 -9.07614257e+01] [-8.85818389e-01 3.76559744e-01 2.71161466e-01 3.86598376e+01] [ 2.74924095e-02 -5.40743995e-01 8.40737830e-01 5.52490402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.489072329 meters Centerline goodness : 0.723453 Centerline is valid? [False, False] Translation: X:-90.95, Y:38.65, Z:55.36 [[ 4.62113413e-01 7.52115115e-01 4.69865990e-01 -9.09468589e+01] [-8.86437122e-01 3.76165579e-01 2.69682566e-01 3.86454294e+01] [ 2.60849222e-02 -5.41130587e-01 8.40533917e-01 5.53587135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.519072329 meters Centerline goodness : 0.723913 Centerline is valid? [False, False] Translation: X:-91.13, Y:38.63, Z:55.47 [[ 4.60594384e-01 7.52893519e-01 4.70110798e-01 -9.11299277e+01] [-8.87240656e-01 3.75232103e-01 2.68337262e-01 3.86314387e+01] [ 2.56287221e-02 -5.40696049e-01 8.40827540e-01 5.54659624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.549072329 meters Centerline goodness : 0.722371 Centerline is valid? [False, False] Translation: X:-91.31, Y:38.62, Z:55.57 [[ 4.60772166e-01 7.53594677e-01 4.68811340e-01 -9.13109875e+01] [-8.87123257e-01 3.75307031e-01 2.68620473e-01 3.86172849e+01] [ 2.64827665e-02 -5.39666281e-01 8.41462399e-01 5.55714343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.579072329 meters Centerline goodness : 0.720572 Centerline is valid? [False, False] Translation: X:-91.49, Y:38.60, Z:55.67 [[ 4.61014219e-01 7.54872459e-01 4.66512016e-01 -9.14896183e+01] [-8.86936336e-01 3.75107361e-01 2.69515128e-01 3.86039860e+01] [ 2.84574560e-02 -5.38016764e-01 8.42453639e-01 5.56749522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.609072329 meters Centerline goodness : 0.721962 Centerline is valid? [False, False] Translation: X:-91.67, Y:38.59, Z:55.78 [[ 4.60795612e-01 7.54952548e-01 4.66598386e-01 -9.16746943e+01] [-8.87062930e-01 3.75161731e-01 2.69022366e-01 3.85899393e+01] [ 2.80492626e-02 -5.37866458e-01 8.42563299e-01 5.57831677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.63907232900002 meters Centerline goodness : 0.723387 Centerline is valid? [False, False] Translation: X:-91.86, Y:38.57, Z:55.89 [[ 4.61664832e-01 7.53914630e-01 4.67416638e-01 -9.18599455e+01] [-8.86595821e-01 3.75227758e-01 2.70466228e-01 3.85746057e+01] [ 2.85207489e-02 -5.39274384e-01 8.41647020e-01 5.58908212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.669072329 meters Centerline goodness : 0.725481 Centerline is valid? [False, False] Translation: X:-92.04, Y:38.56, Z:56.00 [[ 4.61863310e-01 7.53016449e-01 4.68666736e-01 -9.20389619e+01] [-8.86527101e-01 3.75595013e-01 2.70181579e-01 3.85603754e+01] [ 2.74222845e-02 -5.40272721e-01 8.41043046e-01 5.59952966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.699072329 meters Centerline goodness : 0.727320 Centerline is valid? [False, False] Translation: X:-92.22, Y:38.55, Z:56.10 [[ 4.61531366e-01 7.52193285e-01 4.70312726e-01 -9.22213492e+01] [-8.86798338e-01 3.76827926e-01 2.67561998e-01 3.85471722e+01] [ 2.40313690e-02 -5.40560798e-01 8.40961662e-01 5.61026575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.729072329 meters Centerline goodness : 0.727243 Centerline is valid? [False, False] Translation: X:-92.40, Y:38.53, Z:56.21 [[ 4.61514718e-01 7.52038361e-01 4.70576739e-01 -9.24025043e+01] [-8.86858886e-01 3.77939042e-01 2.65788257e-01 3.85336005e+01] [ 2.20336432e-02 -5.40000355e-01 8.41376334e-01 5.62092590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.759072329 meters Centerline goodness : 0.729176 Centerline is valid? [False, False] Translation: X:-92.59, Y:38.52, Z:56.32 [[ 4.62961001e-01 7.51384334e-01 4.70200697e-01 -9.25877570e+01] [-8.86104061e-01 3.79127923e-01 2.66611348e-01 3.85190286e+01] [ 2.20613765e-02 -5.40077403e-01 8.41326152e-01 5.63167591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.789072329 meters Centerline goodness : 0.730795 Centerline is valid? [False, False] Translation: X:-92.77, Y:38.51, Z:56.42 [[ 4.65750091e-01 7.51711742e-01 4.66911458e-01 -9.27687670e+01] [-8.84624276e-01 3.81957175e-01 2.67485712e-01 3.85051429e+01] [ 2.27319693e-02 -5.37622705e-01 8.42879045e-01 5.64211793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.819072329 meters Centerline goodness : 0.730114 Centerline is valid? [False, False] Translation: X:-92.95, Y:38.49, Z:56.53 [[ 4.67037472e-01 7.52152988e-01 4.64910618e-01 -9.29547151e+01] [-8.83929789e-01 3.83264495e-01 2.67911282e-01 3.84894690e+01] [ 2.33265382e-02 -5.36072953e-01 8.43849312e-01 5.65287574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.849072329 meters Centerline goodness : 0.731536 Centerline is valid? [False, False] Translation: X:-93.14, Y:38.47, Z:56.63 [[ 4.67653386e-01 7.52482880e-01 4.63756214e-01 -9.31369199e+01] [-8.83592285e-01 3.83865121e-01 2.68164583e-01 3.84737211e+01] [ 2.37694223e-02 -5.35179488e-01 8.44403890e-01 5.66343362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.879072329 meters Centerline goodness : 0.735669 Centerline is valid? [False, False] Translation: X:-93.32, Y:38.46, Z:56.74 [[ 4.66489023e-01 7.52695227e-01 4.64583562e-01 -9.33248636e+01] [-8.84219351e-01 3.82973076e-01 2.67371956e-01 3.84570378e+01] [ 2.33265993e-02 -5.35519858e-01 8.44200421e-01 5.67428531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.909072329 meters Centerline goodness : 0.735617 Centerline is valid? [False, False] Translation: X:-93.52, Y:38.44, Z:56.86 [[ 4.65082797e-01 7.53004860e-01 4.65490787e-01 -9.35179368e+01] [-8.84985969e-01 3.82219362e-01 2.65910123e-01 3.84411618e+01] [ 2.23120226e-02 -5.35623039e-01 8.44162386e-01 5.68557786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.939072329 meters Centerline goodness : 0.735819 Centerline is valid? [False, False] Translation: X:-93.71, Y:38.42, Z:56.97 [[ 4.64458538e-01 7.52718652e-01 4.66575714e-01 -9.37120962e+01] [-8.85303332e-01 3.81123005e-01 2.66426848e-01 3.84247931e+01] [ 2.27217202e-02 -5.36805259e-01 8.43400165e-01 5.69687802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.969072329 meters Centerline goodness : 0.735264 Centerline is valid? [False, False] Translation: X:-93.91, Y:38.41, Z:57.08 [[ 4.63607741e-01 7.52327023e-01 4.68051185e-01 -9.39060417e+01] [-8.85688182e-01 3.78591018e-01 2.68747624e-01 3.84080567e+01] [ 2.49861259e-02 -5.39140882e-01 8.41844880e-01 5.70824524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.999072329 meters Centerline goodness : 0.735264 Centerline is valid? [False, False] Translation: X:-94.10, Y:38.39, Z:57.20 [[ 4.64139118e-01 7.51864764e-01 4.68267291e-01 -9.40999460e+01] [-8.85425440e-01 3.79248064e-01 2.68686985e-01 3.83909561e+01] [ 2.44268133e-02 -5.39323912e-01 8.41744052e-01 5.71960900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.029072329 meters Centerline goodness : 0.732069 Centerline is valid? [False, False] Translation: X:-94.29, Y:38.37, Z:57.31 [[ 4.64094597e-01 7.51435225e-01 4.69000328e-01 -9.42923979e+01] [-8.85446949e-01 3.78912541e-01 2.69089182e-01 3.83738516e+01] [ 2.44929840e-02 -5.40157744e-01 8.41207290e-01 5.73090406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.059072329 meters Centerline goodness : 0.731892 Centerline is valid? [False, False] Translation: X:-94.48, Y:38.36, Z:57.42 [[ 4.63502204e-01 7.51558230e-01 4.69388894e-01 -9.44833274e+01] [-8.85785232e-01 3.78966955e-01 2.67896566e-01 3.83566700e+01] [ 2.34569888e-02 -5.39948398e-01 8.41371200e-01 5.74216665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.089072329 meters Centerline goodness : 0.734217 Centerline is valid? [False, False] Translation: X:-94.67, Y:38.34, Z:57.53 [[ 4.62822945e-01 7.52081978e-01 4.69220225e-01 -9.46701383e+01] [-8.86086349e-01 3.77330737e-01 2.69207166e-01 3.83375796e+01] [ 2.54146445e-02 -5.40364889e-01 8.41046897e-01 5.75319748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.119072329 meters Centerline goodness : 0.735480 Centerline is valid? [False, False] Translation: X:-94.85, Y:38.32, Z:57.64 [[ 4.62676980e-01 7.51787045e-01 4.69836409e-01 -9.48549774e+01] [-8.86157909e-01 3.76903065e-01 2.69570474e-01 3.83194776e+01] [ 2.55768070e-02 -5.41073302e-01 8.40586407e-01 5.76413138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.149072329 meters Centerline goodness : 0.736694 Centerline is valid? [False, False] Translation: X:-95.05, Y:38.30, Z:57.75 [[ 4.62203854e-01 7.51052170e-01 4.71474534e-01 -9.50460812e+01] [-8.86433186e-01 3.76580164e-01 2.69116306e-01 3.83010433e+01] [ 2.45724284e-02 -5.42317267e-01 8.39814371e-01 5.77548109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.179072329 meters Centerline goodness : 0.737183 Centerline is valid? [False, False] Translation: X:-95.23, Y:38.28, Z:57.86 [[ 4.61265484e-01 7.49716200e-01 4.74510035e-01 -9.52281330e+01] [-8.86989363e-01 3.76377986e-01 2.67562106e-01 3.82828289e+01] [ 2.20005141e-02 -5.44302518e-01 8.38600469e-01 5.78636960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.209072329 meters Centerline goodness : 0.738101 Centerline is valid? [False, False] Translation: X:-95.42, Y:38.26, Z:57.98 [[ 4.63107274e-01 7.48485574e-01 4.74658824e-01 -9.54174150e+01] [-8.86043935e-01 3.78053143e-01 2.68331822e-01 3.82634538e+01] [ 2.13962374e-02 -5.44834990e-01 8.38270263e-01 5.79753782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.239072329 meters Centerline goodness : 0.737356 Centerline is valid? [False, False] Translation: X:-95.61, Y:38.24, Z:58.09 [[ 4.65555644e-01 7.47508107e-01 4.73803306e-01 -9.56079307e+01] [-8.84791810e-01 3.80999434e-01 2.68296261e-01 3.82437069e+01] [ 2.00348381e-02 -5.44124123e-01 8.38765488e-01 5.80879946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.269072329 meters Centerline goodness : 0.740844 Centerline is valid? [False, False] Translation: X:-95.79, Y:38.22, Z:58.20 [[ 4.71968114e-01 7.45410642e-01 4.70753730e-01 -9.57889285e+01] [-8.81458240e-01 3.88891388e-01 2.67945627e-01 3.82238067e+01] [ 1.66574501e-02 -5.41411547e-01 8.40592688e-01 5.81956465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.299072329 meters Centerline goodness : 0.739125 Centerline is valid? [False, False] Translation: X:-95.97, Y:38.21, Z:58.31 [[ 4.74881542e-01 7.44348075e-01 4.69503423e-01 -9.59711964e+01] [-8.79953542e-01 3.93724620e-01 2.65824541e-01 3.82054426e+01] [ 1.30109289e-02 -5.39376368e-01 8.41964280e-01 5.83050612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.329072329 meters Centerline goodness : 0.741841 Centerline is valid? [False, False] Translation: X:-96.15, Y:38.19, Z:58.41 [[ 4.78623890e-01 7.41895052e-01 4.69585886e-01 -9.61542775e+01] [-8.77975565e-01 3.99016966e-01 2.64469975e-01 3.81867464e+01] [ 8.83623050e-03 -5.38866582e-01 8.42344780e-01 5.84146273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.359072329 meters Centerline goodness : 0.741664 Centerline is valid? [False, False] Translation: X:-96.34, Y:38.17, Z:58.53 [[ 4.87025981e-01 7.35295303e-01 4.71324211e-01 -9.63362301e+01] [-8.73387361e-01 4.09737462e-01 2.63267412e-01 3.81668962e+01] [ 4.60105354e-04 -5.39866678e-01 8.41750413e-01 5.85256049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.38907232900002 meters Centerline goodness : 0.744005 Centerline is valid? [False, False] Translation: X:-96.51, Y:38.15, Z:58.63 [[ 4.90936548e-01 7.31961740e-01 4.72454567e-01 -9.65124896e+01] [-8.71179030e-01 4.15785339e-01 2.61093180e-01 3.81489504e+01] [-5.32946381e-03 -5.39772696e-01 8.41793937e-01 5.86320286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.419072329 meters Centerline goodness : 0.744892 Centerline is valid? [False, False] Translation: X:-96.68, Y:38.13, Z:58.74 [[ 4.94317059e-01 7.29306090e-01 4.73036227e-01 -9.66845660e+01] [-8.69207120e-01 4.21811617e-01 2.57980508e-01 3.81313986e+01] [-1.13854200e-02 -5.38690623e-01 8.42426724e-01 5.87363830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.449072329 meters Centerline goodness : 0.748074 Centerline is valid? [False, False] Translation: X:-96.85, Y:38.11, Z:58.83 [[ 5.03786858e-01 7.24155940e-01 4.70953263e-01 -9.68492210e+01] [-8.63628121e-01 4.33959432e-01 2.56565156e-01 3.81117591e+01] [-1.85814286e-02 -5.35982636e-01 8.44024493e-01 5.88342718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.479072329 meters Centerline goodness : 0.749300 Centerline is valid? [False, False] Translation: X:-97.02, Y:38.09, Z:58.94 [[ 5.07430489e-01 7.22217667e-01 4.70016957e-01 -9.70163206e+01] [-8.61311934e-01 4.41322543e-01 2.51746234e-01 3.80947244e+01] [-2.56135013e-02 -5.32574929e-01 8.45995209e-01 5.89353743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.509072329 meters Centerline goodness : 0.750930 Centerline is valid? [False, False] Translation: X:-97.19, Y:38.08, Z:59.04 [[ 5.12180264e-01 7.18937631e-01 4.69893669e-01 -9.71855178e+01] [-8.58294743e-01 4.48596391e-01 2.49181482e-01 3.80769548e+01] [-3.16466598e-02 -5.30933103e-01 8.46822608e-01 5.90364471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.539072329 meters Centerline goodness : 0.753630 Centerline is valid? [False, False] Translation: X:-97.35, Y:38.06, Z:59.14 [[ 5.17405156e-01 7.14703197e-01 4.70628563e-01 -9.73498057e+01] [-8.54934923e-01 4.55581849e-01 2.48055350e-01 3.80594922e+01] [-3.71238791e-02 -5.30701911e-01 8.46745120e-01 5.91350100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.569072329 meters Centerline goodness : 0.755851 Centerline is valid? [False, False] Translation: X:-97.52, Y:38.04, Z:59.24 [[ 5.27653531e-01 7.06027649e-01 4.72341731e-01 -9.75195768e+01] [-8.48060770e-01 4.69735259e-01 2.45238080e-01 3.80413036e+01] [-4.87307007e-02 -5.29975231e-01 8.46611820e-01 5.92388227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.599072329 meters Centerline goodness : 0.757890 Centerline is valid? [False, False] Translation: X:-97.68, Y:38.02, Z:59.34 [[ 5.33102087e-01 7.02491830e-01 4.71494850e-01 -9.76805576e+01] [-8.44255266e-01 4.77994394e-01 2.42393079e-01 3.80239918e+01] [-5.50927373e-02 -5.27282267e-01 8.47902236e-01 5.93350969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.629072329 meters Centerline goodness : 0.758435 Centerline is valid? [False, False] Translation: X:-97.84, Y:38.01, Z:59.43 [[ 5.38415349e-01 6.99212860e-01 4.70329978e-01 -9.78427858e+01] [-8.40389342e-01 4.86657304e-01 2.38559055e-01 3.80069401e+01] [-6.20859597e-02 -5.23704158e-01 8.49634797e-01 5.94311880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.659072329 meters Centerline goodness : 0.762540 Centerline is valid? [False, False] Translation: X:-98.00, Y:37.99, Z:59.53 [[ 5.49279747e-01 6.91788078e-01 4.68744082e-01 -9.80046293e+01] [-8.32421327e-01 5.02148635e-01 2.34353331e-01 3.79890371e+01] [-7.32563610e-02 -5.18918109e-01 8.51679225e-01 5.95282104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.689072329 meters Centerline goodness : 0.763852 Centerline is valid? [False, False] Translation: X:-98.16, Y:37.97, Z:59.63 [[ 5.52710404e-01 6.89094214e-01 4.68679393e-01 -9.81641591e+01] [-8.29410966e-01 5.09625094e-01 2.28822449e-01 3.79733657e+01] [-8.11705542e-02 -5.15200377e-01 8.53217389e-01 5.96253940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.719072329 meters Centerline goodness : 0.766393 Centerline is valid? [False, False] Translation: X:-98.32, Y:37.96, Z:59.72 [[ 5.62824508e-01 6.80012586e-01 4.69905794e-01 -9.83236257e+01] [-8.21283198e-01 5.24296516e-01 2.24960159e-01 3.79557057e+01] [-9.33942309e-02 -5.12538824e-01 8.53569840e-01 5.97224619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.749072329 meters Centerline goodness : 0.767317 Centerline is valid? [False, False] Translation: X:-98.48, Y:37.94, Z:59.81 [[ 0.56651509 0.67681654 0.47008512 -98.47778948] [ -0.81778284 0.53198409 0.21959998 37.94031378] [ -0.10144891 -0.50883424 0.85486597 59.81499773] [ 0. 0. 0. 1. ]] SLAMing on 245.779072329 meters Centerline goodness : 0.768234 Centerline is valid? [False, False] Translation: X:-98.64, Y:37.92, Z:59.91 [[ 0.56965584 0.67428519 0.46992735 -98.63725028] [ -0.81456953 0.53930377 0.21360694 37.92453296] [ -0.10940159 -0.50447094 0.85646971 59.91050166] [ 0. 0. 0. 1. ]] SLAMing on 245.809072329 meters Centerline goodness : 0.768220 Centerline is valid? [False, False] Translation: X:-98.79, Y:37.91, Z:60.00 [[ 0.57840084 0.66828495 0.46781161 -98.78628874] [ -0.80701362 0.55248142 0.20855048 37.90756314] [ -0.11908607 -0.49815611 0.85887077 59.99899885] [ 0. 0. 0. 1. ]] SLAMing on 245.839072329 meters Centerline goodness : 0.769675 Centerline is valid? [False, False] Translation: X:-98.94, Y:37.89, Z:60.09 [[ 0.58108303 0.66707818 0.46620726 -98.9377786 ] [ -0.80407307 0.55907502 0.20224152 37.89245945] [ -0.12573393 -0.49238382 0.8612486 60.08899769] [ 0. 0. 0. 1. ]] SLAMing on 245.869072329 meters Centerline goodness : 0.769022 Centerline is valid? [False, False] Translation: X:-99.09, Y:37.88, Z:60.18 [[ 0.58398515 0.66551473 0.46481338 -99.08908177] [ -0.80094274 0.5655745 0.19651006 37.87737458] [ -0.13210626 -0.48704786 0.86332631 60.17875046] [ 0. 0. 0. 1. ]] SLAMing on 245.899072329 meters Centerline goodness : 0.769856 Centerline is valid? [False, False] Translation: X:-99.24, Y:37.86, Z:60.27 [[ 0.58691612 0.66344854 0.46407488 -99.23974325] [ -0.79770872 0.57191406 0.1912462 37.86243338] [ -0.13852894 -0.48244206 0.86490427 60.26779876] [ 0. 0. 0. 1. ]] SLAMing on 245.929072329 meters Centerline goodness : 0.769991 Centerline is valid? [False, False] Translation: X:-99.39, Y:37.85, Z:60.36 [[ 0.59388401 0.65670813 0.46479696 -99.3890478 ] [ -0.7908059 0.58280131 0.18699913 37.84587189] [ -0.14808043 -0.47861997 0.86544504 60.35527232] [ 0. 0. 0. 1. ]] SLAMing on 245.959072329 meters Centerline goodness : 0.768706 Centerline is valid? [False, False] Translation: X:-99.53, Y:37.83, Z:60.44 [[ 0.59559591 0.65441373 0.46584137 -99.53499953] [ -0.78840122 0.58734095 0.18290466 37.83101868] [ -0.15391239 -0.47620717 0.86575846 60.4401744 ] [ 0. 0. 0. 1. ]] SLAMing on 245.989072329 meters Centerline goodness : 0.768787 Centerline is valid? [False, False] Translation: X:-99.68, Y:37.82, Z:60.53 [[ 0.59622335 0.65286745 0.46720639 -99.68441826] [ -0.78661974 0.59139259 0.17743783 37.81616145] [ -0.16045902 -0.47330634 0.8661605 60.52748408] [ 0. 0. 0. 1. ]] SLAMing on 246.019072329 meters Centerline goodness : 0.771918 Centerline is valid? [False, False] Translation: X:-99.83, Y:37.80, Z:60.61 [[ 0.59909214 0.65016502 0.46730509 -99.83291229] [ -0.78296012 0.59781365 0.17202409 37.79911293] [ -0.16751731 -0.46893953 0.86719875 60.61427845] [ 0. 0. 0. 1. ]] SLAMing on 246.049072329 meters Centerline goodness : 0.772243 Centerline is valid? [False, False] Translation: X:-99.97, Y:37.78, Z:60.70 [[ 0.60025965 0.64988375 0.46619681 -99.97426461] [ -0.78135733 0.6009618 0.16830224 37.78400294] [ -0.17078958 -0.46529134 0.86852454 60.69558708] [ 0. 0. 0. 1. ]] SLAMing on 246.079072329 meters Centerline goodness : 0.770600 Centerline is valid? [False, False] Translation: X:-100.11, Y:37.77, Z:60.77 [[ 0.60399311 0.64823055 0.46366959 -100.1131311 ] [ -0.77768394 0.60663149 0.16494219 37.76703413] [ -0.17435601 -0.46021233 0.87051972 60.77466847] [ 0. 0. 0. 1. ]] SLAMing on 246.109072329 meters Centerline goodness : 0.772051 Centerline is valid? [False, False] Translation: X:-100.26, Y:37.75, Z:60.86 [[ 0.60396472 0.64818278 0.46377333 -100.25972751] [ -0.77694167 0.60857587 0.161236 37.7517011 ] [ -0.17773086 -0.45770568 0.87115857 60.85932555] [ 0. 0. 0. 1. ]] SLAMing on 246.13907232900002 meters Centerline goodness : 0.773048 Centerline is valid? [False, False] Translation: X:-100.41, Y:37.74, Z:60.95 [[ 0.60329805 0.64788106 0.46506084 -100.40894089] [ -0.77677266 0.60948897 0.15857941 37.73639689] [ -0.18070886 -0.4569172 0.87095981 60.94509168] [ 0. 0. 0. 1. ]] SLAMing on 246.169072329 meters Centerline goodness : 0.772604 Centerline is valid? [False, False] Translation: X:-100.56, Y:37.72, Z:61.03 [[ 0.60104035 0.64778364 0.46810987 -100.55850581] [ -0.77783505 0.60870172 0.15638046 37.7201514 ] [ -0.18363858 -0.45810323 0.86972312 61.03186607] [ 0. 0. 0. 1. ]] SLAMing on 246.199072329 meters Centerline goodness : 0.771971 Centerline is valid? [False, False] Translation: X:-100.70, Y:37.71, Z:61.11 [[ 0.59921364 0.64955774 0.46799332 -100.70356086] [ -0.77888555 0.60818127 0.1531432 37.70513656] [ -0.18514942 -0.45627874 0.87036165 61.11489563] [ 0. 0. 0. 1. ]] SLAMing on 246.229072329 meters Centerline goodness : 0.772535 Centerline is valid? [False, False] Translation: X:-100.86, Y:37.69, Z:61.20 [[ 0.59988088 0.64962837 0.46703952 -100.8550551 ] [ -0.77871191 0.60809116 0.15437905 37.68792175] [ -0.1837136 -0.45629828 0.87065561 61.19719525] [ 0. 0. 0. 1. ]] SLAMing on 246.259072329 meters Centerline goodness : 0.773516 Centerline is valid? [False, False] Translation: X:-101.01, Y:37.67, Z:61.28 [[ 0.5999333 0.65087152 0.46523791 -101.00712226] [ -0.77923839 0.60714521 0.15544205 37.6696001 ] [ -0.18129416 -0.4557861 0.8714307 61.2800384 ] [ 0. 0. 0. 1. ]] SLAMing on 246.289072329 meters Centerline goodness : 0.773007 Centerline is valid? [False, False] Translation: X:-101.16, Y:37.65, Z:61.37 [[ 0.6000536 0.64972813 0.46667872 -101.16378111] [ -0.77937866 0.60630361 0.15800261 37.65233033] [ -0.18029025 -0.45852947 0.87019891 61.36677379] [ 0. 0. 0. 1. ]] SLAMing on 246.319072329 meters Centerline goodness : 0.773621 Centerline is valid? [False, False] Translation: X:-101.32, Y:37.64, Z:61.45 [[ 0.59961007 0.64857684 0.46884522 -101.31952003] [ -0.77985189 0.60508796 0.16031091 37.63537818] [ -0.17971865 -0.46175387 0.86861071 61.45388553] [ 0. 0. 0. 1. ]] SLAMing on 246.349072329 meters Centerline goodness : 0.772230 Centerline is valid? [False, False] Translation: X:-101.47, Y:37.62, Z:61.54 [[ 0.59713296 0.65008389 0.46991825 -101.46730801] [ -0.78159554 0.60328579 0.15860223 37.61980798] [ -0.18039025 -0.46199263 0.8683445 61.53978288] [ 0. 0. 0. 1. ]] SLAMing on 246.379072329 meters Centerline goodness : 0.771362 Centerline is valid? [False, False] Translation: X:-101.62, Y:37.60, Z:61.62 [[ 0.59410619 0.65273978 0.47007299 -101.62166807] [ -0.78436056 0.59968677 0.15860103 37.60288275] [ -0.17837135 -0.46293257 0.86826096 61.62408093] [ 0. 0. 0. 1. ]] SLAMing on 246.409072329 meters Centerline goodness : 0.770383 Centerline is valid? [False, False] Translation: X:-101.77, Y:37.59, Z:61.71 [[ 0.59339458 0.65415807 0.46899903 -101.77456886] [ -0.7854721 0.59789231 0.15986986 37.58547545] [ -0.17583076 -0.46325156 0.86860897 61.70699424] [ 0. 0. 0. 1. ]] SLAMing on 246.439072329 meters Centerline goodness : 0.770701 Centerline is valid? [False, False] Translation: X:-101.92, Y:37.57, Z:61.79 [[ 0.58896022 0.6606617 0.4654589 -101.91694601] [ -0.78973838 0.59276881 0.15791907 37.56838954] [ -0.17157844 -0.4605988 0.87086715 61.78829111] [ 0. 0. 0. 1. ]] SLAMing on 246.469072329 meters Centerline goodness : 0.769579 Centerline is valid? [False, False] Translation: X:-102.08, Y:37.55, Z:61.88 [[ 0.58867488 0.65976973 0.46708221 -102.07528979] [ -0.79054282 0.59054221 0.16217877 37.54999906] [ -0.16883112 -0.46471905 0.86921358 61.87550255] [ 0. 0. 0. 1. ]] SLAMing on 246.499072329 meters Centerline goodness : 0.769833 Centerline is valid? [False, False] Translation: X:-102.22, Y:37.53, Z:61.96 [[ 0.58594283 0.66097091 0.46881602 -102.22369271] [ -0.79277321 0.58741138 0.1626607 37.53320007] [ -0.16787387 -0.46697465 0.86818952 61.96162387] [ 0. 0. 0. 1. ]] SLAMing on 246.529072329 meters Centerline goodness : 0.767818 Centerline is valid? [False, False] Translation: X:-102.37, Y:37.52, Z:62.05 [[ 0.57985108 0.66488926 0.47084497 -102.37411494] [ -0.79800204 0.57998367 0.16374271 37.51603787] [ -0.16421162 -0.47068164 0.86688715 62.04728304] [ 0. 0. 0. 1. ]] SLAMing on 246.559072329 meters Centerline goodness : 0.766286 Centerline is valid? [False, False] Translation: X:-102.53, Y:37.50, Z:62.13 [[ 0.57949884 0.66521384 0.47082019 -102.52987567] [ -0.79918255 0.57701759 0.16839821 37.49716138] [ -0.15965071 -0.47385784 0.86600831 62.13154215] [ 0. 0. 0. 1. ]] SLAMing on 246.589072329 meters Centerline goodness : 0.766590 Centerline is valid? [False, False] Translation: X:-102.67, Y:37.48, Z:62.21 [[ 0.57704278 0.66877773 0.46878351 -102.67310072] [ -0.80148168 0.57404603 0.16762538 37.47998452] [ -0.15699919 -0.47244841 0.86726222 62.21377226] [ 0. 0. 0. 1. ]] SLAMing on 246.619072329 meters Centerline goodness : 0.765391 Centerline is valid? [False, False] Translation: X:-102.82, Y:37.46, Z:62.29 [[ 0.57288969 0.67315958 0.46760408 -102.81528256] [ -0.8053621 0.56831376 0.16855669 37.46235371] [ -0.15228028 -0.47315499 0.86771831 62.2948559 ] [ 0. 0. 0. 1. ]] SLAMing on 246.649072329 meters Centerline goodness : 0.764088 Centerline is valid? [False, False] Translation: X:-102.97, Y:37.44, Z:62.38 [[ 0.57299546 0.67195281 0.46920745 -102.97323267] [ -0.80612219 0.56533819 0.17481344 37.44321287] [ -0.14779451 -0.47840585 0.86561229 62.38220335] [ 0. 0. 0. 1. ]] SLAMing on 246.679072329 meters Centerline goodness : 0.764548 Centerline is valid? [False, False] Translation: X:-103.12, Y:37.43, Z:62.47 [[ 0.57074259 0.6729358 0.47054256 -103.12439496] [ -0.80818412 0.56171507 0.17695936 37.42550033] [ -0.14522856 -0.48128327 0.86445074 62.46847885] [ 0. 0. 0. 1. ]] SLAMing on 246.709072329 meters Centerline goodness : 0.763635 Centerline is valid? [False, False] Translation: X:-103.28, Y:37.41, Z:62.55 [[ 0.56813298 0.67427993 0.47177484 -103.27554934] [ -0.81041438 0.55804977 0.17835071 37.40761954] [ -0.14301554 -0.48366004 0.86349263 62.55489661] [ 0. 0. 0. 1. ]] SLAMing on 246.739072329 meters Centerline goodness : 0.763282 Centerline is valid? [False, False] Translation: X:-103.43, Y:37.39, Z:62.64 [[ 0.56219615 0.67943536 0.47149027 -103.42750594] [ -0.81527898 0.55099235 0.17812247 37.38907025] [ -0.13876483 -0.48453587 0.86369515 62.64058806] [ 0. 0. 0. 1. ]] SLAMing on 246.769072329 meters Centerline goodness : 0.762163 Centerline is valid? [False, False] Translation: X:-103.57, Y:37.37, Z:62.72 [[ 0.56040682 0.68184563 0.47013907 -103.57444558] [ -0.81712174 0.54779139 0.17954567 37.37070348] [ -0.1351157 -0.48477947 0.86413692 62.72477898] [ 0. 0. 0. 1. ]] SLAMing on 246.799072329 meters Centerline goodness : 0.762234 Centerline is valid? [False, False] Translation: X:-103.73, Y:37.35, Z:62.81 [[ 0.5576622 0.6846989 0.46925503 -103.72861185] [ -0.82027384 0.54115852 0.18519795 37.35169638] [ -0.12713653 -0.48819552 0.86342425 62.81140383] [ 0. 0. 0. 1. ]] SLAMing on 246.829072329 meters Centerline goodness : 0.764725 Centerline is valid? [False, False] Translation: X:-103.89, Y:37.33, Z:62.90 [[ 0.55664579 0.68466994 0.47050243 -103.89040804] [ -0.82156105 0.53769394 0.18953277 37.33188272] [ -0.12321891 -0.49204909 0.86180322 62.90331089] [ 0. 0. 0. 1. ]] SLAMing on 246.859072329 meters Centerline goodness : 0.762887 Centerline is valid? [False, False] Translation: X:-104.05, Y:37.31, Z:62.99 [[ 0.55398079 0.68613728 0.47150919 -104.04585303] [ -0.82378671 0.53363683 0.19133006 37.31319132] [ -0.12033598 -0.49441618 0.86085533 62.99339482] [ 0. 0. 0. 1. ]] SLAMing on 246.88907232900002 meters Centerline goodness : 0.763530 Centerline is valid? [False, False] Translation: X:-104.20, Y:37.29, Z:63.08 [[ 0.54823514 0.68996213 0.47264204 -104.20104499] [ -0.8283578 0.5258003 0.19328065 37.29496649] [ -0.115159 -0.49747996 0.85979771 63.08228433] [ 0. 0. 0. 1. ]] SLAMing on 246.919072329 meters Centerline goodness : 0.763530 Centerline is valid? [False, False] Translation: X:-104.36, Y:37.27, Z:63.18 [[ 0.54933934 0.68925947 0.47238509 -104.36296361] [ -0.82775849 0.52614425 0.19490539 37.27438304] [ -0.11420232 -0.49808997 0.85957211 63.17598706] [ 0. 0. 0. 1. ]] SLAMing on 246.949072329 meters Centerline goodness : 0.762665 Centerline is valid? [False, False] Translation: X:-104.52, Y:37.26, Z:63.27 [[ 0.54773257 0.69102651 0.47166873 -104.52158291] [ -0.82921722 0.52337087 0.19616763 37.25509793] [ -0.11130064 -0.49856323 0.85967835 63.26650013] [ 0. 0. 0. 1. ]] SLAMing on 246.979072329 meters Centerline goodness : 0.763627 Centerline is valid? [False, False] Translation: X:-104.69, Y:37.23, Z:63.36 [[ 0.54758213 0.6918071 0.47069814 -104.68735598] [ -0.82991029 0.52081472 0.20000232 37.23433178] [ -0.10678349 -0.50015493 0.85932667 63.35962005] [ 0. 0. 0. 1. ]] SLAMing on 247.009072329 meters Centerline goodness : 0.762654 Centerline is valid? [False, False] Translation: X:-104.85, Y:37.22, Z:63.45 [[ 5.42609997e-01 6.96729360e-01 4.69193553e-01 -1.04846693e+02] [-8.33825535e-01 5.14289172e-01 2.00603152e-01 3.72157562e+01] [-1.01535058e-01 -5.00074841e-01 8.60009178e-01 6.34517240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.039072329 meters Centerline goodness : 0.765487 Centerline is valid? [False, False] Translation: X:-105.01, Y:37.20, Z:63.55 [[ 5.40772014e-01 6.97481160e-01 4.70197470e-01 -1.05012559e+02] [-8.35349797e-01 5.10933799e-01 2.02823494e-01 3.71952092e+01] [-9.87742140e-02 -5.02460631e-01 8.58939444e-01 6.35471711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.069072329 meters Centerline goodness : 0.765346 Centerline is valid? [False, False] Translation: X:-105.18, Y:37.17, Z:63.64 [[ 5.38858408e-01 6.97981088e-01 4.71650311e-01 -1.05179346e+02] [-8.36847354e-01 5.07696872e-01 2.04769118e-01 3.71744844e+01] [-9.65304165e-02 -5.05040876e-01 8.57680356e-01 6.36429690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.099072329 meters Centerline goodness : 0.765456 Centerline is valid? [False, False] Translation: X:-105.33, Y:37.16, Z:63.73 [[ 5.34790222e-01 7.01238501e-01 4.71448813e-01 -1.05332807e+02] [-8.40044794e-01 5.01461640e-01 2.07028908e-01 3.71561213e+01] [-9.12368540e-02 -5.06755156e-01 8.57248533e-01 6.37317454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.129072329 meters Centerline goodness : 0.763975 Centerline is valid? [False, False] Translation: X:-105.50, Y:37.14, Z:63.83 [[ 5.34472178e-01 7.01553338e-01 4.71341070e-01 -1.05497784e+02] [-8.40552942e-01 4.99523541e-01 2.09635360e-01 3.71353856e+01] [-8.83755739e-02 -5.08231391e-01 8.56674157e-01 6.38268642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.159072329 meters Centerline goodness : 0.765266 Centerline is valid? [False, False] Translation: X:-105.66, Y:37.12, Z:63.92 [[ 5.31948217e-01 7.03221149e-01 4.71710833e-01 -1.05659407e+02] [-8.42598519e-01 4.94858014e-01 2.12469486e-01 3.71153999e+01] [-8.40168499e-02 -5.10485613e-01 8.55771937e-01 6.39201191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.189072329 meters Centerline goodness : 0.764855 Centerline is valid? [False, False] Translation: X:-105.83, Y:37.09, Z:64.02 [[ 5.30964252e-01 7.03138982e-01 4.72940309e-01 -1.05826421e+02] [-8.43384430e-01 4.92721351e-01 2.14309063e-01 3.70936914e+01] [-8.23387316e-02 -5.12660944e-01 8.54633892e-01 6.40170827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.219072329 meters Centerline goodness : 0.764742 Centerline is valid? [False, False] Translation: X:-106.00, Y:37.07, Z:64.12 [[ 5.29945248e-01 7.03585524e-01 4.73418889e-01 -1.05995821e+02] [-8.44244844e-01 4.90414925e-01 2.16203247e-01 3.70712479e+01] [-8.00542140e-02 -5.14257340e-01 8.53891510e-01 6.41160466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.249072329 meters Centerline goodness : 0.765064 Centerline is valid? [False, False] Translation: X:-106.16, Y:37.05, Z:64.21 [[ 5.29203664e-01 7.04464597e-01 4.72940920e-01 -1.06159772e+02] [-8.45002135e-01 4.88085914e-01 2.18502935e-01 3.70490782e+01] [-7.69082193e-02 -5.15268641e-01 8.53570942e-01 6.42119192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.279072329 meters Centerline goodness : 0.763919 Centerline is valid? [False, False] Translation: X:-106.32, Y:37.03, Z:64.30 [[ 5.26221997e-01 7.07985837e-01 4.71005800e-01 -1.06317877e+02] [-8.47324552e-01 4.83228102e-01 2.20299125e-01 3.70287500e+01] [-7.16345787e-02 -5.15021024e-01 8.54179040e-01 6.43041848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.309072329 meters Centerline goodness : 0.762382 Centerline is valid? [False, False] Translation: X:-106.48, Y:37.01, Z:64.40 [[ 5.26166525e-01 7.07729806e-01 4.71452342e-01 -1.06482744e+02] [-8.47601038e-01 4.81266142e-01 2.23507003e-01 3.70058613e+01] [-6.87114822e-02 -5.17205397e-01 8.53098651e-01 6.44006228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.339072329 meters Centerline goodness : 0.762003 Centerline is valid? [False, False] Translation: X:-106.65, Y:36.98, Z:64.50 [[ 5.25922032e-01 7.07594250e-01 4.71928378e-01 -1.06647776e+02] [-8.47956846e-01 4.79362907e-01 2.26230835e-01 3.69829118e+01] [-6.61453209e-02 -5.19154680e-01 8.52116902e-01 6.44976981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.369072329 meters Centerline goodness : 0.761436 Centerline is valid? [False, False] Translation: X:-106.81, Y:36.96, Z:64.60 [[ 5.23599673e-01 7.08667389e-01 4.72899476e-01 -1.06813994e+02] [-8.49574448e-01 4.75857897e-01 2.27557728e-01 3.69610743e+01] [-6.37702085e-02 -5.20912463e-01 8.51224745e-01 6.45959522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.399072329 meters Centerline goodness : 0.761197 Centerline is valid? [False, False] Translation: X:-106.98, Y:36.94, Z:64.69 [[ 5.24093318e-01 7.08485348e-01 4.72625334e-01 -1.06979055e+02] [-8.49414081e-01 4.75119306e-01 2.29689712e-01 3.69373709e+01] [-6.18216255e-02 -5.21833457e-01 8.50804284e-01 6.46931063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.429072329 meters Centerline goodness : 0.762021 Centerline is valid? [False, False] Translation: X:-107.14, Y:36.91, Z:64.79 [[ 5.23622576e-01 7.10181185e-01 4.70597580e-01 -1.07139598e+02] [-8.49889109e-01 4.73834076e-01 2.30585714e-01 3.69145249e+01] [-5.92275341e-02 -5.20695644e-01 8.51685473e-01 6.47875325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.459072329 meters Centerline goodness : 0.763201 Centerline is valid? [False, False] Translation: X:-107.30, Y:36.89, Z:64.88 [[ 5.24555690e-01 7.09439658e-01 4.70676853e-01 -1.07301498e+02] [-8.49426124e-01 4.73499702e-01 2.32966288e-01 3.68907431e+01] [-5.75898262e-02 -5.22009007e-01 8.50993542e-01 6.48840298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.489072329 meters Centerline goodness : 0.762539 Centerline is valid? [False, False] Translation: X:-107.47, Y:36.87, Z:64.98 [[ 5.24560976e-01 7.08315780e-01 4.72360603e-01 -1.07465798e+02] [-8.49383853e-01 4.73302022e-01 2.33521447e-01 3.68680473e+01] [-5.81623026e-02 -5.23711707e-01 8.49907756e-01 6.49824316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.519072329 meters Centerline goodness : 0.763447 Centerline is valid? [False, False] Translation: X:-107.63, Y:36.85, Z:65.08 [[ 5.24984502e-01 7.05907815e-01 4.75484416e-01 -1.07629840e+02] [-8.49103848e-01 4.72744453e-01 2.35659369e-01 3.68462031e+01] [-5.84288301e-02 -5.27453163e-01 8.47572553e-01 6.50796860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.549072329 meters Centerline goodness : 0.763192 Centerline is valid? [False, False] Translation: X:-107.79, Y:36.82, Z:65.18 [[ 5.24805124e-01 7.06076732e-01 4.75431626e-01 -1.07790491e+02] [-8.49131890e-01 4.73369152e-01 2.34300405e-01 3.68235607e+01] [-5.96206015e-02 -5.26666208e-01 8.47978826e-01 6.51766072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.579072329 meters Centerline goodness : 0.762596 Centerline is valid? [False, False] Translation: X:-107.94, Y:36.80, Z:65.27 [[ 5.24202718e-01 7.07361298e-01 4.74185096e-01 -1.07942883e+02] [-8.49436093e-01 4.73926906e-01 2.32059501e-01 3.68016095e+01] [-6.05791660e-02 -5.24436156e-01 8.49291989e-01 6.52686275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.609072329 meters Centerline goodness : 0.763481 Centerline is valid? [False, False] Translation: X:-108.10, Y:36.78, Z:65.36 [[ 5.24303358e-01 7.08501206e-01 4.72368531e-01 -1.08097989e+02] [-8.49454236e-01 4.73896890e-01 2.32054389e-01 3.67780911e+01] [-5.94431634e-02 -5.22922345e-01 8.50305081e-01 6.53611640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.63907232900002 meters Centerline goodness : 0.760965 Centerline is valid? [False, False] Translation: X:-108.25, Y:36.75, Z:65.46 [[ 5.24219163e-01 7.09802771e-01 4.70504299e-01 -1.08254905e+02] [-8.49575243e-01 4.73832201e-01 2.31743288e-01 3.67546135e+01] [-5.84480595e-02 -5.21213076e-01 8.51422782e-01 6.54552864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.669072329 meters Centerline goodness : 0.758966 Centerline is valid? [False, False] Translation: X:-108.41, Y:36.73, Z:65.55 [[ 5.24700719e-01 7.08518462e-01 4.71901202e-01 -1.08411423e+02] [-8.49200038e-01 4.74423211e-01 2.31909278e-01 3.67321618e+01] [-5.95688781e-02 -5.22421483e-01 8.50604104e-01 6.55492891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.699072329 meters Centerline goodness : 0.761363 Centerline is valid? [False, False] Translation: X:-108.57, Y:36.71, Z:65.64 [[ 5.25006431e-01 7.05441771e-01 4.76151399e-01 -1.08567419e+02] [-8.48873166e-01 4.74447302e-01 2.33053870e-01 3.67097455e+01] [-6.15028115e-02 -5.26546926e-01 8.47918474e-01 6.56443557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.729072329 meters Centerline goodness : 0.761962 Centerline is valid? [False, False] Translation: X:-108.71, Y:36.69, Z:65.73 [[ 5.24383787e-01 7.05241351e-01 4.77133400e-01 -1.08714255e+02] [-8.49089980e-01 4.75074703e-01 2.30976691e-01 3.66881351e+01] [-6.37796946e-02 -5.26249621e-01 8.47934837e-01 6.57338662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.759072329 meters Centerline goodness : 0.763351 Centerline is valid? [False, False] Translation: X:-108.86, Y:36.66, Z:65.82 [[ 5.26378867e-01 7.06389311e-01 4.73222389e-01 -1.08861889e+02] [-8.47915534e-01 4.77331923e-01 2.30637123e-01 3.66640509e+01] [-6.29645541e-02 -5.22655123e-01 8.50215907e-01 6.58209619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.789072329 meters Centerline goodness : 0.761284 Centerline is valid? [False, False] Translation: X:-109.02, Y:36.64, Z:65.91 [[ 5.28280466e-01 7.06563563e-01 4.70837212e-01 -1.09020117e+02] [-8.46786079e-01 4.79077827e-01 2.31166113e-01 3.66390911e+01] [-6.22341165e-02 -5.20818939e-01 8.51395647e-01 6.59149964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.819072329 meters Centerline goodness : 0.761853 Centerline is valid? [False, False] Translation: X:-109.17, Y:36.61, Z:66.01 [[ 5.30650932e-01 7.05301214e-01 4.70063597e-01 -1.09173621e+02] [-8.45319487e-01 4.80955033e-01 2.32631086e-01 3.66149684e+01] [-6.20044657e-02 -5.20799821e-01 8.51424097e-01 6.60067705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.849072329 meters Centerline goodness : 0.760808 Centerline is valid? [False, False] Translation: X:-109.33, Y:36.59, Z:66.10 [[ 5.31972195e-01 7.03474215e-01 4.71306283e-01 -1.09330964e+02] [-8.44350514e-01 4.82669464e-01 2.32599222e-01 3.65909582e+01] [-6.38575959e-02 -5.21684021e-01 8.50745549e-01 6.61027091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.879072329 meters Centerline goodness : 0.761565 Centerline is valid? [False, False] Translation: X:-109.49, Y:36.57, Z:66.20 [[ 5.32843656e-01 6.99267086e-01 4.76553440e-01 -1.09485687e+02] [-8.43371132e-01 4.84956118e-01 2.31392949e-01 3.65677655e+01] [-6.93020335e-02 -5.25207679e-01 8.48147465e-01 6.61991568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.909072329 meters Centerline goodness : 0.761471 Centerline is valid? [False, False] Translation: X:-109.64, Y:36.54, Z:66.29 [[ 5.32781485e-01 6.98362131e-01 4.77947930e-01 -1.09638194e+02] [-8.43123074e-01 4.86575649e-01 2.28883419e-01 3.65448986e+01] [-7.27143116e-02 -5.24913776e-01 8.48043723e-01 6.62921701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.939072329 meters Centerline goodness : 0.760778 Centerline is valid? [False, False] Translation: X:-109.79, Y:36.52, Z:66.38 [[ 5.36761947e-01 6.97485230e-01 4.74764116e-01 -1.09788340e+02] [-8.40541797e-01 4.90942801e-01 2.29051639e-01 3.65197133e+01] [-7.33218894e-02 -5.22005287e-01 8.49784903e-01 6.63815365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.969072329 meters Centerline goodness : 0.759972 Centerline is valid? [False, False] Translation: X:-109.94, Y:36.49, Z:66.47 [[ 5.39234046e-01 6.96747385e-01 4.73043047e-01 -1.09943364e+02] [-8.38831345e-01 4.94229255e-01 2.28252968e-01 3.64948284e+01] [-7.47570541e-02 -5.19885107e-01 8.50958788e-01 6.64749309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.999072329 meters Centerline goodness : 0.762419 Centerline is valid? [False, False] Translation: X:-110.10, Y:36.47, Z:66.57 [[ 5.41839960e-01 6.94656954e-01 4.73139698e-01 -1.10100921e+02] [-8.36940688e-01 4.97563098e-01 2.27950102e-01 3.64700511e+01] [-7.70697303e-02 -5.19502339e-01 8.50986238e-01 6.65694013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.029072329 meters Centerline goodness : 0.762787 Centerline is valid? [False, False] Translation: X:-110.25, Y:36.45, Z:66.66 [[ 5.45571659e-01 6.90540614e-01 4.74873905e-01 -1.10252973e+02] [-8.34107379e-01 5.02409464e-01 2.27705094e-01 3.64458524e+01] [-8.13415286e-02 -5.20325274e-01 8.50085387e-01 6.66630706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.059072329 meters Centerline goodness : 0.762272 Centerline is valid? [False, False] Translation: X:-110.40, Y:36.42, Z:66.76 [[ 5.46287599e-01 6.88861206e-01 4.76487249e-01 -1.10404467e+02] [-8.33132081e-01 5.05549401e-01 2.24300553e-01 3.64227742e+01] [-8.63758937e-02 -5.19509424e-01 8.50087739e-01 6.67562090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.089072329 meters Centerline goodness : 0.763166 Centerline is valid? [False, False] Translation: X:-110.55, Y:36.40, Z:66.85 [[ 5.47353733e-01 6.87612545e-01 4.77066953e-01 -1.10554529e+02] [-8.31892424e-01 5.09297391e-01 2.20388663e-01 3.63991963e+01] [-9.14269453e-02 -5.17498942e-01 8.50785495e-01 6.68486844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.119072329 meters Centerline goodness : 0.759068 Centerline is valid? [False, False] Translation: X:-110.70, Y:36.37, Z:66.94 [[ 5.53036648e-01 6.84115786e-01 4.75537651e-01 -1.10699317e+02] [-8.27651894e-01 5.16609472e-01 2.19333072e-01 3.63745214e+01] [-9.56180370e-02 -5.14878864e-01 8.51913696e-01 6.69356792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.149072329 meters Centerline goodness : 0.758635 Centerline is valid? [False, False] Translation: X:-110.85, Y:36.35, Z:67.03 [[ 5.54873610e-01 6.83309782e-01 4.74555601e-01 -1.10848688e+02] [-8.25984303e-01 5.20588220e-01 2.16189354e-01 3.63509691e+01] [-9.93237555e-02 -5.11933245e-01 8.53263819e-01 6.70266355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.179072329 meters Centerline goodness : 0.760033 Centerline is valid? [False, False] Translation: X:-111.00, Y:36.33, Z:67.12 [[ 5.58060555e-01 6.81011902e-01 4.74121510e-01 -1.10997091e+02] [-8.23547699e-01 5.24554621e-01 2.15897283e-01 3.63263617e+01] [-1.01674010e-01 -5.10945436e-01 8.53579028e-01 6.71160981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.209072329 meters Centerline goodness : 0.760258 Centerline is valid? [False, False] Translation: X:-111.15, Y:36.30, Z:67.21 [[ 5.60895299e-01 6.78528251e-01 4.74337302e-01 -1.11145661e+02] [-8.21163419e-01 5.28842213e-01 2.14514691e-01 3.63022183e+01] [-1.05295311e-01 -5.09828722e-01 8.53807690e-01 6.72069589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.239072329 meters Centerline goodness : 0.760357 Centerline is valid? [False, False] Translation: X:-111.29, Y:36.28, Z:67.30 [[ 0.56448552 0.67512891 0.47492847 -111.28731637] [ -0.81777498 0.53564566 0.21054173 36.27911276] [ -0.11225057 -0.50723238 0.85446774 67.29585939] [ 0. 0. 0. 1. ]] SLAMing on 248.269072329 meters Centerline goodness : 0.760850 Centerline is valid? [False, False] Translation: X:-111.43, Y:36.26, Z:67.38 [[ 0.56441435 0.67486525 0.47538756 -111.42615354] [ -0.81703121 0.53893559 0.20495957 36.25768589] [ -0.11788318 -0.5040886 0.85556896 67.38168655] [ 0. 0. 0. 1. ]] SLAMing on 248.299072329 meters Centerline goodness : 0.761033 Centerline is valid? [False, False] Translation: X:-111.57, Y:36.23, Z:67.47 [[ 0.56829781 0.67248171 0.47413705 -111.57489372] [ -0.81373755 0.54472773 0.2027385 36.2319889 ] [ -0.12193766 -0.50103897 0.8567912 67.47004385] [ 0. 0. 0. 1. ]] SLAMing on 248.329072329 meters Centerline goodness : 0.760692 Centerline is valid? [False, False] Translation: X:-111.72, Y:36.21, Z:67.56 [[ 0.56893063 0.67248844 0.47336797 -111.71958952] [ -0.81269832 0.54783897 0.19847898 36.20879468] [ -0.1258546 -0.49762613 0.85821259 67.5580071 ] [ 0. 0. 0. 1. ]] SLAMing on 248.359072329 meters Centerline goodness : 0.759868 Centerline is valid? [False, False] Translation: X:-111.87, Y:36.18, Z:67.65 [[ 0.57065245 0.67120017 0.47312379 -111.8665449 ] [ -0.81115483 0.55052441 0.19735936 36.18447062] [ -0.12799856 -0.49640025 0.85860536 67.64571852] [ 0. 0. 0. 1. ]] SLAMing on 248.38907232900002 meters Centerline goodness : 0.758496 Centerline is valid? [False, False] Translation: X:-112.01, Y:36.16, Z:67.73 [[ 0.57364338 0.66794202 0.47411679 -112.00823467] [ -0.80867775 0.55388904 0.19810916 36.15952234] [ -0.13028266 -0.4970517 0.85788463 67.73139517] [ 0. 0. 0. 1. ]] SLAMing on 248.419072329 meters Centerline goodness : 0.759415 Centerline is valid? [False, False] Translation: X:-112.15, Y:36.14, Z:67.82 [[ 0.57324719 0.66743677 0.47530602 -112.15028957] [ -0.80824853 0.55590184 0.19418409 36.13605303] [ -0.13461789 -0.49548088 0.85812396 67.81835903] [ 0. 0. 0. 1. ]] SLAMing on 248.449072329 meters Centerline goodness : 0.759811 Centerline is valid? [False, False] Translation: X:-112.29, Y:36.11, Z:67.90 [[ 0.57460202 0.66603282 0.47563936 -112.29143052] [ -0.80686865 0.55834894 0.19289749 36.11184333] [ -0.13709667 -0.49461778 0.85822943 67.9020214 ] [ 0. 0. 0. 1. ]] SLAMing on 248.479072329 meters Centerline goodness : 0.759288 Centerline is valid? [False, False] Translation: X:-112.43, Y:36.09, Z:67.99 [[ 0.57635488 0.66501065 0.4749483 -112.43423619] [ -0.80535945 0.5607988 0.192096 36.08684062] [ -0.13860455 -0.49321956 0.85879173 67.98639771] [ 0. 0. 0. 1. ]] SLAMing on 248.509072329 meters Centerline goodness : 0.758847 Centerline is valid? [False, False] Translation: X:-112.57, Y:36.06, Z:68.07 [[ 0.57958452 0.66341337 0.47324886 -112.57177478] [ -0.80276331 0.56470439 0.19152027 36.06159502] [ -0.14018861 -0.49090901 0.85985784 68.06766694] [ 0. 0. 0. 1. ]] SLAMing on 248.539072329 meters Centerline goodness : 0.757579 Centerline is valid? [False, False] Translation: X:-112.71, Y:36.04, Z:68.15 [[ 0.58018663 0.66252662 0.47375304 -112.71326337] [ -0.80183862 0.5667114 0.18945452 36.03729198] [ -0.14296259 -0.48979247 0.86003781 68.15295339] [ 0. 0. 0. 1. ]] SLAMing on 248.569072329 meters Centerline goodness : 0.758747 Centerline is valid? [False, False] Translation: X:-112.85, Y:36.01, Z:68.24 [[ 0.58019182 0.66043043 0.47666456 -112.85345063] [ -0.80084199 0.56922639 0.18610056 36.01151525] [ -0.14842357 -0.48970702 0.85916091 68.24027584] [ 0. 0. 0. 1. ]] SLAMing on 248.599072329 meters Centerline goodness : 0.757187 Centerline is valid? [False, False] Translation: X:-113.00, Y:35.99, Z:68.33 [[ 0.58062691 0.65961888 0.47725814 -112.9972928 ] [ -0.80006589 0.57089629 0.18431495 35.98589812] [ -0.15088728 -0.48885617 0.85921631 68.32598311] [ 0. 0. 0. 1. ]] SLAMing on 248.629072329 meters Centerline goodness : 0.757845 Centerline is valid? [False, False] Translation: X:-113.14, Y:35.96, Z:68.41 [[ 0.58374 0.65859938 0.47486258 -113.13734084] [ -0.7976781 0.57431761 0.18403511 35.95800987] [ -0.15151653 -0.48621614 0.86060247 68.40781546] [ 0. 0. 0. 1. ]] SLAMing on 248.659072329 meters Centerline goodness : 0.757255 Centerline is valid? [False, False] Translation: X:-113.28, Y:35.93, Z:68.49 [[ 0.58588279 0.65794658 0.47312542 -113.27893219] [ -0.79612958 0.57635831 0.1843605 35.931778 ] [ -0.15139041 -0.48468278 0.86148914 68.49072721] [ 0. 0. 0. 1. ]] SLAMing on 248.689072329 meters Centerline goodness : 0.756271 Centerline is valid? [False, False] Translation: X:-113.42, Y:35.91, Z:68.58 [[ 0.58719444 0.65692057 0.472925 -113.42141943] [ -0.79495916 0.57806165 0.18407784 35.90560928] [ -0.15245529 -0.48404555 0.86165961 68.57512616] [ 0. 0. 0. 1. ]] SLAMing on 248.719072329 meters Centerline goodness : 0.754171 Centerline is valid? [False, False] Translation: X:-113.57, Y:35.88, Z:68.66 [[ 0.5883585 0.65453465 0.47478275 -113.56727572] [ -0.79376503 0.57947641 0.1847814 35.87893152] [ -0.15417957 -0.48558365 0.86048659 68.66150146] [ 0. 0. 0. 1. ]] SLAMing on 248.749072329 meters Centerline goodness : 0.756363 Centerline is valid? [False, False] Translation: X:-113.71, Y:35.85, Z:68.75 [[ 0.58960214 0.65119965 0.47781622 -113.71089499] [ -0.79232922 0.58116087 0.18565139 35.85006832] [ -0.15679197 -0.48804821 0.85861821 68.74887201] [ 0. 0. 0. 1. ]] SLAMing on 248.779072329 meters Centerline goodness : 0.756053 Centerline is valid? [False, False] Translation: X:-113.85, Y:35.82, Z:68.83 [[ 0.58991533 0.6508426 0.47791611 -113.84854737] [ -0.79162899 0.58281002 0.1834558 35.82447223] [ -0.15913344 -0.48655563 0.85903444 68.83133923] [ 0. 0. 0. 1. ]] SLAMing on 248.809072329 meters Centerline goodness : 0.756053 Centerline is valid? [False, False] Translation: X:-113.99, Y:35.80, Z:68.91 [[ 0.59003849 0.65072904 0.47791871 -113.98725134] [ -0.79132819 0.58353901 0.18243333 35.80081197] [ -0.16016955 -0.48583323 0.85925071 68.91291612] [ 0. 0. 0. 1. ]] SLAMing on 248.839072329 meters Centerline goodness : 0.758051 Centerline is valid? [False, False] Translation: X:-114.13, Y:35.77, Z:68.99 [[ 0.59131983 0.65053655 0.47659527 -114.12671571] [ -0.79033769 0.58498247 0.18210393 35.77397118] [ -0.16033462 -0.48435287 0.86005529 68.99456288] [ 0. 0. 0. 1. ]] SLAMing on 248.869072329 meters Centerline goodness : 0.758962 Centerline is valid? [False, False] Translation: X:-114.26, Y:35.75, Z:69.07 [[ 0.59308111 0.65143027 0.47317375 -114.26240825] [ -0.78928205 0.58647603 0.1818783 35.74545944] [ -0.15902404 -0.48133613 0.86199007 69.07335222] [ 0. 0. 0. 1. ]] SLAMing on 248.899072329 meters Centerline goodness : 0.758381 Centerline is valid? [False, False] Translation: X:-114.41, Y:35.72, Z:69.16 [[ 0.59349738 0.65137065 0.47273369 -114.40520942] [ -0.78894198 0.58699765 0.1816709 35.7184051 ] [ -0.15915847 -0.48078066 0.86227521 69.15762014] [ 0. 0. 0. 1. ]] SLAMing on 248.929072329 meters Centerline goodness : 0.757045 Centerline is valid? [False, False] Translation: X:-114.55, Y:35.69, Z:69.24 [[ 0.59383907 0.64915289 0.47534797 -114.54703072] [ -0.78862474 0.58670397 0.18398227 35.68916275] [ -0.15945592 -0.48412702 0.86034576 69.24296726] [ 0. 0. 0. 1. ]] SLAMing on 248.959072329 meters Centerline goodness : 0.757679 Centerline is valid? [False, False] Translation: X:-114.69, Y:35.66, Z:69.33 [[ 0.59368693 0.64826511 0.47674751 -114.68996542] [ -0.78847868 0.586981 0.18372447 35.6622651 ] [ -0.16073956 -0.48498006 0.85962616 69.32730061] [ 0. 0. 0. 1. ]] SLAMing on 248.989072329 meters Centerline goodness : 0.759722 Centerline is valid? [False, False] Translation: X:-114.83, Y:35.63, Z:69.41 [[ 0.59310714 0.64866489 0.47692533 -114.83458112] [ -0.78860988 0.58740725 0.18178882 35.63483237] [ -0.16222938 -0.48392827 0.85993898 69.41256589] [ 0. 0. 0. 1. ]] SLAMing on 249.019072329 meters Centerline goodness : 0.761521 Centerline is valid? [False, False] Translation: X:-114.98, Y:35.60, Z:69.50 [[ 0.5933656 0.6500167 0.47475841 -114.97788336] [ -0.7885242 0.58788405 0.18061541 35.60363522] [ -0.16169986 -0.48152947 0.86138407 69.49702376] [ 0. 0. 0. 1. ]] SLAMing on 249.049072329 meters Centerline goodness : 0.761874 Centerline is valid? [False, False] Translation: X:-115.12, Y:35.58, Z:69.58 [[ 0.5939773 0.65014949 0.47381073 -115.12116564] [ -0.78821981 0.58814692 0.18108762 35.57500187] [ -0.1609363 -0.48102894 0.86180663 69.58131491] [ 0. 0. 0. 1. ]] SLAMing on 249.079072329 meters Centerline goodness : 0.763196 Centerline is valid? [False, False] Translation: X:-115.27, Y:35.55, Z:69.67 [[ 0.59420385 0.64957842 0.47430967 -115.26705395] [ -0.78798871 0.58836029 0.18140001 35.5468686 ] [ -0.16123144 -0.48153925 0.86146641 69.66717808] [ 0. 0. 0. 1. ]] SLAMing on 249.109072329 meters Centerline goodness : 0.761958 Centerline is valid? [False, False] Translation: X:-115.42, Y:35.52, Z:69.76 [[ 0.59361949 0.64866709 0.47628448 -115.41550302] [ -0.78850274 0.58714144 0.18310749 35.51660306] [ -0.16087055 -0.4842478 0.86001438 69.75521869] [ 0. 0. 0. 1. ]] SLAMing on 249.13907232900002 meters Centerline goodness : 0.763647 Centerline is valid? [False, False] Translation: X:-115.56, Y:35.49, Z:69.84 [[ 0.59306221 0.64863293 0.47702466 -115.56164928] [ -0.7888796 0.58663828 0.18309699 35.48837486] [ -0.16107819 -0.48490293 0.85960628 69.84178211] [ 0. 0. 0. 1. ]] SLAMing on 249.169072329 meters Centerline goodness : 0.763578 Centerline is valid? [False, False] Translation: X:-115.71, Y:35.46, Z:69.93 [[ 0.59144213 0.65036038 0.47668394 -115.70819534] [ -0.79046353 0.58439085 0.18345232 35.45572417] [ -0.15925961 -0.4853027 0.85971953 69.92908112] [ 0. 0. 0. 1. ]] SLAMing on 249.199072329 meters Centerline goodness : 0.762750 Centerline is valid? [False, False] Translation: X:-115.86, Y:35.43, Z:70.02 [[ 0.59114171 0.65110174 0.47604411 -115.85571505] [ -0.79094666 0.58355312 0.1840357 35.42576823] [ -0.15797106 -0.48531668 0.85994934 70.01590378] [ 0. 0. 0. 1. ]] SLAMing on 249.229072329 meters Centerline goodness : 0.764666 Centerline is valid? [False, False] Translation: X:-116.01, Y:35.40, Z:70.11 [[ 0.59047024 0.65203277 0.47560294 -116.00582904] [ -0.7915738 0.58278171 0.18378356 35.39591142] [ -0.15733979 -0.48499355 0.86024732 70.10511502] [ 0. 0. 0. 1. ]] SLAMing on 249.259072329 meters Centerline goodness : 0.765667 Centerline is valid? [False, False] Translation: X:-116.15, Y:35.36, Z:70.19 [[ 0.58933264 0.65266376 0.47614814 -116.15489563] [ -0.79284976 0.58043179 0.18570995 35.36479474] [ -0.15516536 -0.48695888 0.85953171 70.19435924] [ 0. 0. 0. 1. ]] SLAMing on 249.289072329 meters Centerline goodness : 0.766145 Centerline is valid? [False, False] Translation: X:-116.31, Y:35.33, Z:70.29 [[ 0.58904076 0.65187951 0.4775815 -116.3077564 ] [ -0.79311951 0.57963532 0.18704102 35.33446178] [ -0.1548949 -0.48895399 0.85844719 70.28530055] [ 0. 0. 0. 1. ]] SLAMing on 249.319072329 meters Centerline goodness : 0.766906 Centerline is valid? [False, False] Translation: X:-116.46, Y:35.30, Z:70.38 [[ 0.58859755 0.65129199 0.47892762 -116.45913459] [ -0.79348675 0.57879284 0.18808943 35.30404549] [ -0.15469874 -0.49073169 0.85746761 70.37537245] [ 0. 0. 0. 1. ]] SLAMing on 249.349072329 meters Centerline goodness : 0.769000 Centerline is valid? [False, False] Translation: X:-116.61, Y:35.27, Z:70.46 [[ 0.58806979 0.6513407 0.47950935 -116.60829767] [ -0.79392711 0.5780716 0.18844884 35.27403239] [ -0.15444634 -0.49151654 0.85706349 70.46385525] [ 0. 0. 0. 1. ]] SLAMing on 249.379072329 meters Centerline goodness : 0.772022 Centerline is valid? [False, False] Translation: X:-116.75, Y:35.24, Z:70.55 [[ 0.58727828 0.65350076 0.47753636 -116.75099579] [ -0.79521481 0.57578727 0.19000641 35.24231623] [ -0.15079002 -0.49133062 0.85782084 70.54943565] [ 0. 0. 0. 1. ]] SLAMing on 249.409072329 meters Centerline goodness : 0.773588 Centerline is valid? [False, False] Translation: X:-116.90, Y:35.21, Z:70.64 [[ 0.58729913 0.65348996 0.47752549 -116.89892859] [ -0.79538752 0.57519071 0.19108728 35.21206468] [ -0.14979461 -0.49204321 0.85758676 70.63757136] [ 0. 0. 0. 1. ]] SLAMing on 249.439072329 meters Centerline goodness : 0.775279 Centerline is valid? [False, False] Translation: X:-117.05, Y:35.18, Z:70.73 [[ 0.58760619 0.65275712 0.47814966 -117.04573536] [ -0.7953748 0.57453033 0.1931161 35.18161549] [ -0.14865357 -0.49378441 0.85678415 70.72519822] [ 0. 0. 0. 1. ]] SLAMing on 249.469072329 meters Centerline goodness : 0.777533 Centerline is valid? [False, False] Translation: X:-117.19, Y:35.15, Z:70.81 [[ 0.58671738 0.6525334 0.47954445 -117.18882828] [ -0.79646581 0.57198811 0.19614236 35.15120696] [ -0.14630428 -0.49702089 0.8553159 70.8112422 ] [ 0. 0. 0. 1. ]] SLAMing on 249.499072329 meters Centerline goodness : 0.778402 Centerline is valid? [False, False] Translation: X:-117.34, Y:35.12, Z:70.90 [[ 0.58664838 0.65192746 0.48045215 -117.33661749] [ -0.79668444 0.57108964 0.1978649 35.12054429] [ -0.14538768 -0.49884587 0.85440928 70.90023918] [ 0. 0. 0. 1. ]] SLAMing on 249.529072329 meters Centerline goodness : 0.782364 Centerline is valid? [False, False] Translation: X:-117.48, Y:35.09, Z:70.99 [[ 0.58589662 0.65202099 0.48124192 -117.47871534] [ -0.79760539 0.56901641 0.20011487 35.09007454] [ -0.14335546 -0.50108777 0.85344025 70.98595535] [ 0. 0. 0. 1. ]] SLAMing on 249.559072329 meters Centerline goodness : 0.781973 Centerline is valid? [False, False] Translation: X:-117.62, Y:35.06, Z:71.07 [[ 0.58563362 0.65202703 0.48155375 -117.62486532] [ -0.79774881 0.56889963 0.19987507 35.0597728 ] [ -0.1436318 -0.50121249 0.85332054 71.07494383] [ 0. 0. 0. 1. ]] SLAMing on 249.589072329 meters Centerline goodness : 0.783100 Centerline is valid? [False, False] Translation: X:-117.77, Y:35.03, Z:71.16 [[ 0.58603828 0.6517778 0.48139884 -117.76971282] [ -0.79759674 0.56873861 0.20093739 35.02921605] [ -0.14282357 -0.50171915 0.85315844 71.16268163] [ 0. 0. 0. 1. ]] SLAMing on 249.619072329 meters Centerline goodness : 0.785169 Centerline is valid? [False, False] Translation: X:-117.91, Y:35.00, Z:71.25 [[ 0.58683271 0.65246693 0.47949376 -117.9110102 ] [ -0.79737067 0.56864893 0.20208514 34.99881363] [ -0.14080974 -0.50092443 0.85395979 71.24796264] [ 0. 0. 0. 1. ]] SLAMing on 249.649072329 meters Centerline goodness : 0.784623 Centerline is valid? [False, False] Translation: X:-118.05, Y:34.97, Z:71.33 [[ 0.58695 0.65238826 0.47945724 -118.05318014] [ -0.79724035 0.56890333 0.20188321 34.96942016] [ -0.14105858 -0.50073801 0.85402806 71.33467347] [ 0. 0. 0. 1. ]] SLAMing on 249.679072329 meters Centerline goodness : 0.784508 Centerline is valid? [False, False] Translation: X:-118.20, Y:34.94, Z:71.42 [[ 0.58769492 0.6512924 0.48003426 -118.19567079] [ -0.7967956 0.568903 0.20363239 34.93924255] [ -0.1404687 -0.5021629 0.85328832 71.42167523] [ 0. 0. 0. 1. ]] SLAMing on 249.709072329 meters Centerline goodness : 0.785033 Centerline is valid? [False, False] Translation: X:-118.34, Y:34.91, Z:71.51 [[ 0.588106 0.64994897 0.48134984 -118.33745601] [ -0.79639331 0.56914644 0.20452389 34.90923302] [ -0.14102845 -0.50362552 0.85233345 71.5089022 ] [ 0. 0. 0. 1. ]] SLAMing on 249.739072329 meters Centerline goodness : 0.780098 Centerline is valid? [False, False] Translation: X:-118.47, Y:34.88, Z:71.59 [[ 0.58735535 0.64938295 0.48302741 -118.47359361] [ -0.79652579 0.56956129 0.20284625 34.88023033] [ -0.14338882 -0.50388662 0.85178514 71.59472715] [ 0. 0. 0. 1. ]] SLAMing on 249.769072329 meters Centerline goodness : 0.778084 Centerline is valid? [False, False] Translation: X:-118.61, Y:34.85, Z:71.68 [[ 0.58797002 0.64878755 0.48307967 -118.60658433] [ -0.79599394 0.57027147 0.20293866 34.85159122] [ -0.14382247 -0.50385034 0.85173349 71.67693102] [ 0. 0. 0. 1. ]] SLAMing on 249.799072329 meters Centerline goodness : 0.777814 Centerline is valid? [False, False] Translation: X:-118.74, Y:34.82, Z:71.76 [[ 0.58903396 0.64779605 0.48311414 -118.74215248] [ -0.79514494 0.57125935 0.20348778 34.82232142] [ -0.14416489 -0.50400698 0.85158291 71.7603094 ] [ 0. 0. 0. 1. ]] SLAMing on 249.829072329 meters Centerline goodness : 0.775692 Centerline is valid? [False, False] Translation: X:-118.88, Y:34.79, Z:71.85 [[ 0.59092286 0.64648895 0.48255799 -118.88046921] [ -0.79364329 0.57316532 0.20398982 34.791209 ] [ -0.14470834 -0.50352116 0.85177811 71.84590146] [ 0. 0. 0. 1. ]] SLAMing on 249.859072329 meters Centerline goodness : 0.776409 Centerline is valid? [False, False] Translation: X:-119.01, Y:34.76, Z:71.93 [[ 0.59125828 0.64625694 0.48245788 -119.00767052] [ -0.79306636 0.57457252 0.20226756 34.76350843] [ -0.14649022 -0.50221348 0.85224541 71.92621398] [ 0. 0. 0. 1. ]] SLAMing on 249.88907232900002 meters Centerline goodness : 0.773684 Centerline is valid? [False, False] Translation: X:-119.14, Y:34.73, Z:72.01 [[ 0.59515498 0.6428451 0.48222476 -119.14361725] [ -0.79002554 0.57791554 0.2046296 34.73279466] [ -0.14714005 -0.5027562 0.85181336 72.00927966] [ 0. 0. 0. 1. ]] SLAMing on 249.919072329 meters Centerline goodness : 0.773593 Centerline is valid? [False, False] Translation: X:-119.28, Y:34.70, Z:72.09 [[ 0.59741851 0.64068357 0.48230248 -119.27976735] [ -0.78818798 0.57997679 0.20588011 34.70253682] [ -0.14782024 -0.50314161 0.85146797 72.09294218] [ 0. 0. 0. 1. ]] SLAMing on 249.949072329 meters Centerline goodness : 0.770670 Centerline is valid? [False, False] Translation: X:-119.42, Y:34.67, Z:72.18 [[ 0.59855342 0.63917298 0.48289927 -119.41619062] [ -0.78685929 0.58218779 0.20471893 34.67261174] [ -0.15028725 -0.50250899 0.85140968 72.1787992 ] [ 0. 0. 0. 1. ]] SLAMing on 249.979072329 meters Centerline goodness : 0.770751 Centerline is valid? [False, False] Translation: X:-119.54, Y:34.64, Z:72.26 [[ 0.59876345 0.63856538 0.48344243 -119.54477307] [ -0.78605881 0.5842834 0.20180301 34.64430675] [ -0.15360297 -0.50084644 0.85179749 72.26075836] [ 0. 0. 0. 1. ]] SLAMing on 250.009072329 meters Centerline goodness : 0.768998 Centerline is valid? [False, False] Translation: X:-119.67, Y:34.62, Z:72.34 [[ 0.60016988 0.63683937 0.48397492 -119.66856567] [ -0.78415454 0.58781173 0.19894478 34.61549716] [ -0.15779027 -0.4989118 0.85216738 72.34028344] [ 0. 0. 0. 1. ]] SLAMing on 250.039072329 meters Centerline goodness : 0.769287 Centerline is valid? [False, False] Translation: X:-119.79, Y:34.59, Z:72.42 [[ 0.60104975 0.63577485 0.48428249 -119.79067886] [ -0.78294209 0.59004612 0.19709708 34.58869526] [ -0.16043965 -0.4976303 0.85242197 72.41770016] [ 0. 0. 0. 1. ]] SLAMing on 250.069072329 meters Centerline goodness : 0.766235 Centerline is valid? [False, False] Translation: X:-119.92, Y:34.56, Z:72.50 [[ 0.60657299 0.63120681 0.48337064 -119.92165278] [ -0.77839656 0.595219 0.19953228 34.55827229] [ -0.16176526 -0.49728494 0.85237298 72.49896998] [ 0. 0. 0. 1. ]] SLAMing on 250.099072329 meters Centerline goodness : 0.767482 Centerline is valid? [False, False] Translation: X:-120.05, Y:34.53, Z:72.58 [[ 0.60925244 0.62926253 0.48253511 -120.05450184] [ -0.77611628 0.59800361 0.20008798 34.52844213] [ -0.16264987 -0.49640745 0.85271605 72.58175177] [ 0. 0. 0. 1. ]] SLAMing on 250.129072329 meters Centerline goodness : 0.766695 Centerline is valid? [False, False] Translation: X:-120.18, Y:34.50, Z:72.66 [[ 0.6094105 0.62921776 0.48239387 -120.17942975] [ -0.77525621 0.60037957 0.19627071 34.50101607] [ -0.16612241 -0.49358828 0.85368259 72.66144007] [ 0. 0. 0. 1. ]] SLAMing on 250.159072329 meters Centerline goodness : 0.766445 Centerline is valid? [False, False] Translation: X:-120.30, Y:34.47, Z:72.74 [[ 0.60943599 0.62909107 0.48252689 -120.3020042 ] [ -0.77460103 0.60222374 0.19318336 34.47373503] [ -0.16905922 -0.49149872 0.85431141 72.739565 ] [ 0. 0. 0. 1. ]] SLAMing on 250.189072329 meters Centerline goodness : 0.766352 Centerline is valid? [False, False] Translation: X:-120.43, Y:34.44, Z:72.82 [[ 0.60992221 0.62787652 0.4834935 -120.42766555] [ -0.77325481 0.60504673 0.18972468 34.44470946] [ -0.17341249 -0.48958098 0.85453998 72.81982406] [ 0. 0. 0. 1. ]] SLAMing on 250.219072329 meters Centerline goodness : 0.766699 Centerline is valid? [False, False] Translation: X:-120.56, Y:34.42, Z:72.90 [[ 0.61143238 0.62636437 0.48354743 -120.55868454] [ -0.77186978 0.60668255 0.19014029 34.41500012] [ -0.17426269 -0.48949358 0.85441708 72.90100483] [ 0. 0. 0. 1. ]] SLAMing on 250.249072329 meters Centerline goodness : 0.765960 Centerline is valid? [False, False] Translation: X:-120.69, Y:34.39, Z:72.98 [[ 0.61216089 0.62536375 0.48392068 -120.68876884] [ -0.77075941 0.60859087 0.18853936 34.38633909] [ -0.17660402 -0.48840284 0.85456052 72.98196178] [ 0. 0. 0. 1. ]] SLAMing on 250.279072329 meters Centerline goodness : 0.764340 Centerline is valid? [False, False] Translation: X:-120.82, Y:34.36, Z:73.06 [[ 0.61554121 0.62270305 0.48306307 -120.82229545] [ -0.76776064 0.61217081 0.18918375 34.3554411 ] [ -0.17791181 -0.48732721 0.85490326 73.06412115] [ 0. 0. 0. 1. ]] SLAMing on 250.309072329 meters Centerline goodness : 0.763198 Centerline is valid? [False, False] Translation: X:-120.96, Y:34.33, Z:73.15 [[ 0.61612874 0.62214694 0.48303059 -120.95779565] [ -0.7666983 0.61421741 0.18684401 34.32553294] [ -0.18044137 -0.4854587 0.85543601 73.14877766] [ 0. 0. 0. 1. ]] SLAMing on 250.339072329 meters Centerline goodness : 0.762230 Centerline is valid? [False, False] Translation: X:-121.10, Y:34.29, Z:73.23 [[ 0.61837999 0.61974616 0.48323999 -121.09515293] [ -0.76457365 0.61664435 0.18755499 34.29293934] [ -0.18175072 -0.48545282 0.85516211 73.23337408] [ 0. 0. 0. 1. ]] SLAMing on 250.369072329 meters Centerline goodness : 0.760818 Centerline is valid? [False, False] Translation: X:-121.22, Y:34.27, Z:73.31 [[ 0.61671142 0.62093134 0.4838505 -121.22331255] [ -0.76496597 0.61774488 0.18225896 34.26540151] [ -0.18572586 -0.48253035 0.85596166 73.31451976] [ 0. 0. 0. 1. ]] SLAMing on 250.399072329 meters Centerline goodness : 0.760899 Centerline is valid? [False, False] Translation: X:-121.36, Y:34.24, Z:73.40 [[ 0.61761168 0.62005443 0.48382673 -121.35585416] [ -0.76417727 0.61858026 0.18273356 34.23509372] [ -0.18598092 -0.48258777 0.8558739 73.3964427 ] [ 0. 0. 0. 1. ]] SLAMing on 250.429072329 meters Centerline goodness : 0.757805 Centerline is valid? [False, False] Translation: X:-121.49, Y:34.20, Z:73.48 [[ 0.61748923 0.62019858 0.48379828 -121.49150304] [ -0.76389033 0.61949351 0.18082962 34.20484509] [ -0.18755962 -0.48122917 0.85629427 73.48085437] [ 0. 0. 0. 1. ]] SLAMing on 250.459072329 meters Centerline goodness : 0.754629 Centerline is valid? [False, False] Translation: X:-121.62, Y:34.18, Z:73.56 [[ 0.61744147 0.62080888 0.48307595 -121.61938186] [ -0.76339321 0.62102931 0.17763277 34.17541907] [ -0.18972833 -0.47845474 0.85737053 73.56100948] [ 0. 0. 0. 1. ]] SLAMing on 250.489072329 meters Centerline goodness : 0.754647 Centerline is valid? [False, False] Translation: X:-121.75, Y:34.14, Z:73.64 [[ 0.61848474 0.61982961 0.48299884 -121.75364544] [ -0.76241273 0.62217098 0.17784855 34.14442548] [ -0.19027207 -0.47824108 0.85736924 73.64326001] [ 0. 0. 0. 1. ]] SLAMing on 250.519072329 meters Centerline goodness : 0.752716 Centerline is valid? [False, False] Translation: X:-121.89, Y:34.11, Z:73.72 [[ 0.61949847 0.61868847 0.48316273 -121.88517071] [ -0.7615103 0.62307771 0.17853915 34.11350694] [ -0.19058782 -0.47853813 0.85713333 73.7243573 ] [ 0. 0. 0. 1. ]] SLAMing on 250.549072329 meters Centerline goodness : 0.752311 Centerline is valid? [False, False] Translation: X:-122.01, Y:34.08, Z:73.81 [[ 0.61817935 0.61925562 0.48412474 -122.01402606] [ -0.7619826 0.62331223 0.17568262 34.08338274] [ -0.19296842 -0.477498 0.85718076 73.80633487] [ 0. 0. 0. 1. ]] SLAMing on 250.579072329 meters Centerline goodness : 0.749641 Centerline is valid? [False, False] Translation: X:-122.14, Y:34.05, Z:73.89 [[ 0.61773491 0.61961886 0.48422727 -122.14338601] [ -0.76219741 0.6233104 0.17475487 34.05369362] [ -0.19354248 -0.47702895 0.85731248 73.88678422] [ 0. 0. 0. 1. ]] SLAMing on 250.609072329 meters Centerline goodness : 0.749467 Centerline is valid? [False, False] Translation: X:-122.27, Y:34.02, Z:73.97 [[ 0.61803097 0.61966658 0.48378823 -122.27232812] [ -0.76200367 0.62354168 0.17477467 34.02362226] [ -0.19336011 -0.47666456 0.85755627 73.96632854] [ 0. 0. 0. 1. ]] SLAMing on 250.63907232900002 meters Centerline goodness : 0.747828 Centerline is valid? [False, False] Translation: X:-122.40, Y:33.99, Z:74.05 [[ 0.61859773 0.6196764 0.48305074 -122.40461116] [ -0.76177231 0.6236095 0.17553959 33.99139786] [ -0.19245729 -0.47656307 0.85781573 74.04729576] [ 0. 0. 0. 1. ]] SLAMing on 250.669072329 meters Centerline goodness : 0.746924 Centerline is valid? [False, False] Translation: X:-122.50, Y:33.97, Z:74.11 [[ 0.61433556 0.62390677 0.48304468 -122.50159764] [ -0.76391142 0.6235706 0.16612962 33.97125125] [ -0.19756307 -0.47106268 0.8596911 74.11091201] [ 0. 0. 0. 1. ]] SLAMing on 250.699072329 meters Centerline goodness : 0.746924 Centerline is valid? [False, False] Translation: X:-122.63, Y:33.94, Z:74.19 [[ 0.61603391 0.62264024 0.48251565 -122.630553 ] [ -0.76300028 0.6239022 0.16904618 33.94105509] [ -0.19578762 -0.47229776 0.85941959 74.18894339] [ 0. 0. 0. 1. ]] SLAMing on 250.729072329 meters Centerline goodness : 0.744543 Centerline is valid? [False, False] Translation: X:-122.76, Y:33.91, Z:74.27 [[ 0.6159181 0.6220457 0.48342946 -122.76118894] [ -0.7632753 0.62312582 0.17066055 33.90921561] [ -0.19507872 -0.47410269 0.85858659 74.26896598] [ 0. 0. 0. 1. ]] SLAMing on 250.759072329 meters Centerline goodness : 0.743273 Centerline is valid? [False, False] Translation: X:-122.88, Y:33.88, Z:74.35 [[ 0.61498948 0.62334628 0.48293618 -122.88424069] [ -0.76398652 0.6226499 0.16920906 33.87999687] [ -0.19522433 -0.47301852 0.85915129 74.34560207] [ 0. 0. 0. 1. ]] SLAMing on 250.789072329 meters Centerline goodness : 0.743401 Centerline is valid? [False, False] Translation: X:-123.02, Y:33.85, Z:74.42 [[ 0.61615815 0.62269279 0.48228915 -123.01563682] [ -0.76351558 0.62256106 0.17164405 33.84836023] [ -0.19337293 -0.47399516 0.85903172 74.42438692] [ 0. 0. 0. 1. ]] SLAMing on 250.819072329 meters Centerline goodness : 0.742709 Centerline is valid? [False, False] Translation: X:-123.14, Y:33.82, Z:74.50 [[ 0.61670712 0.62333854 0.48075087 -123.14239103] [ -0.76360932 0.62207705 0.17297672 33.81674217] [ -0.19124103 -0.47378182 0.85962646 74.50102677] [ 0. 0. 0. 1. ]] SLAMing on 250.849072329 meters Centerline goodness : 0.745558 Centerline is valid? [False, False] Translation: X:-123.26, Y:33.79, Z:74.58 [[ 0.6155142 0.62460594 0.48063467 -123.26491798] [ -0.7642424 0.62201935 0.17036863 33.78802004] [ -0.19255081 -0.47218571 0.86021209 74.57779399] [ 0. 0. 0. 1. ]] SLAMing on 250.879072329 meters Centerline goodness : 0.748407 Centerline is valid? [False, False] Translation: X:-123.39, Y:33.76, Z:74.66 [[ 0.61673987 0.62306121 0.48106825 -123.39338566] [ -0.76351684 0.62217714 0.173025 33.75662103] [ -0.1915045 -0.47401512 0.85943917 74.65637163] [ 0. 0. 0. 1. ]] SLAMing on 250.909072329 meters Centerline goodness : 0.747435 Centerline is valid? [False, False] Translation: X:-123.53, Y:33.72, Z:74.74 [[ 0.61779947 0.62095222 0.48243358 -123.52682091] [ -0.76256835 0.62281775 0.174893 33.72329049] [ -0.19186799 -0.47593738 0.85829499 74.73800587] [ 0. 0. 0. 1. ]] SLAMing on 250.939072329 meters Centerline goodness : 0.748288 Centerline is valid? [False, False] Translation: X:-123.62, Y:33.70, Z:74.80 [[ 0.61386981 0.62514044 0.48204075 -123.61662339] [ -0.76421715 0.62364542 0.16443396 33.70463687] [ -0.19782819 -0.46932485 0.86058015 74.79605381] [ 0. 0. 0. 1. ]] SLAMing on 250.969072329 meters Centerline goodness : 0.748935 Centerline is valid? [False, False] Translation: X:-123.74, Y:33.67, Z:74.87 [[ 0.6169958 0.6228972 0.48095245 -123.74316286] [ -0.76241899 0.62458049 0.16916409 33.67323484] [ -0.19502168 -0.47106082 0.86027219 74.87145683] [ 0. 0. 0. 1. ]] SLAMing on 250.999072329 meters Centerline goodness : 0.751097 Centerline is valid? [False, False] Translation: X:-123.87, Y:33.64, Z:74.95 [[ 0.61967076 0.62079268 0.48023389 -123.8740172 ] [ -0.76048914 0.62621068 0.17180354 33.64063744] [ -0.19407321 -0.47167429 0.86015054 74.95017192] [ 0. 0. 0. 1. ]] SLAMing on 251.029072329 meters Centerline goodness : 0.751020 Centerline is valid? [False, False] Translation: X:-124.00, Y:33.61, Z:75.03 [[ 0.62065378 0.61928342 0.4809126 -124.00071081] [ -0.7595196 0.62716877 0.17259579 33.61042897] [ -0.19472766 -0.47238478 0.85961257 75.02781562] [ 0. 0. 0. 1. ]] SLAMing on 251.059072329 meters Centerline goodness : 0.753867 Centerline is valid? [False, False] Translation: X:-124.12, Y:33.58, Z:75.10 [[ 0.62031449 0.61894016 0.48179146 -124.12052184] [ -0.7591832 0.62814811 0.17050167 33.58259019] [ -0.19710606 -0.47153264 0.85953835 75.10280209] [ 0. 0. 0. 1. ]] SLAMing on 251.089072329 meters Centerline goodness : 0.754309 Centerline is valid? [False, False] Translation: X:-124.25, Y:33.55, Z:75.18 [[ 0.62312071 0.61558669 0.48246617 -124.25199394] [ -0.75692942 0.6299527 0.17383167 33.55053275] [ -0.19692241 -0.47351096 0.85849225 75.18271279] [ 0. 0. 0. 1. ]] SLAMing on 251.119072329 meters Centerline goodness : 0.753131 Centerline is valid? [False, False] Translation: X:-124.38, Y:33.52, Z:75.26 [[ 0.6247908 0.61419293 0.48208246 -124.38367028] [ -0.75565625 0.63105795 0.17535536 33.51887781] [ -0.19651994 -0.47384904 0.85839792 75.26266162] [ 0. 0. 0. 1. ]] SLAMing on 251.149072329 meters Centerline goodness : 0.753649 Centerline is valid? [False, False] Translation: X:-124.51, Y:33.49, Z:75.34 [[ 0.62464767 0.61471288 0.48160498 -124.50997115] [ -0.75535413 0.63209371 0.17290945 33.4890021 ] [ -0.19812982 -0.47178979 0.85916178 75.34121422] [ 0. 0. 0. 1. ]] SLAMing on 251.179072329 meters Centerline goodness : 0.756432 Centerline is valid? [False, False] Translation: X:-124.61, Y:33.47, Z:75.41 [[ 0.62004838 0.61942166 0.48151512 -124.61241224] [ -0.75712286 0.63331077 0.16025745 33.46810626] [ -0.20568178 -0.46393348 0.86166161 75.40772756] [ 0. 0. 0. 1. ]] SLAMing on 251.209072329 meters Centerline goodness : 0.756919 Centerline is valid? [False, False] Translation: X:-124.75, Y:33.44, Z:75.49 [[ 0.62278614 0.61617142 0.48215164 -124.74608063] [ -0.75510482 0.63470049 0.16423155 33.43569326] [ -0.2048271 -0.46635616 0.86055667 75.4889851 ] [ 0. 0. 0. 1. ]] SLAMing on 251.239072329 meters Centerline goodness : 0.755999 Centerline is valid? [False, False] Translation: X:-124.88, Y:33.40, Z:75.57 [[ 0.62503951 0.61342509 0.48273726 -124.87958249] [ -0.75354901 0.63553959 0.16808724 33.4038482 ] [ -0.20368971 -0.46882735 0.85948323 75.56927145] [ 0. 0. 0. 1. ]] SLAMing on 251.269072329 meters Centerline goodness : 0.755305 Centerline is valid? [False, False] Translation: X:-124.99, Y:33.38, Z:75.64 [[ 0.62078184 0.61788155 0.48254771 -124.98580221] [ -0.75488361 0.63723626 0.1551795 33.38241605] [ -0.21161435 -0.46059997 0.86201336 75.63788501] [ 0. 0. 0. 1. ]] SLAMing on 251.299072329 meters Centerline goodness : 0.754781 Centerline is valid? [False, False] Translation: X:-125.12, Y:33.35, Z:75.72 [[ 0.62352123 0.61621093 0.48115004 -125.11797837] [ -0.75329744 0.63821162 0.15883605 33.34936778] [ -0.20919904 -0.46148675 0.86212861 75.71724805] [ 0. 0. 0. 1. ]] SLAMing on 251.329072329 meters Centerline goodness : 0.754760 Centerline is valid? [False, False] Translation: X:-125.22, Y:33.33, Z:75.78 [[ 0.61907855 0.62111199 0.48058469 -125.22205765] [ -0.75502592 0.6390855 0.14664781 33.32783996] [ -0.21604999 -0.45364042 0.86459978 75.78409824] [ 0. 0. 0. 1. ]] SLAMing on 251.359072329 meters Centerline goodness : 0.755725 Centerline is valid? [False, False] Translation: X:-125.34, Y:33.30, Z:75.85 [[ 0.61815678 0.62135879 0.4814514 -125.33584496] [ -0.75466254 0.64048864 0.14233321 33.30290282] [ -0.21992416 -0.45131758 0.8648386 75.85258919] [ 0. 0. 0. 1. ]] SLAMing on 251.38907232900002 meters Centerline goodness : 0.757391 Centerline is valid? [False, False] Translation: X:-125.46, Y:33.27, Z:75.93 [[ 0.62178037 0.61810009 0.48097968 -125.46268284] [ -0.75262997 0.64144753 0.14863781 33.27116622] [ -0.21665018 -0.4544198 0.86404013 75.92780418] [ 0. 0. 0. 1. ]] SLAMing on 251.419072329 meters Centerline goodness : 0.757249 Centerline is valid? [False, False] Translation: X:-125.59, Y:33.24, Z:76.01 [[ 0.6254604 0.61464641 0.48063403 -125.59461641] [ -0.74995766 0.64356463 0.1529316 33.23827397] [ -0.2153202 -0.45610783 0.86348298 76.00622556] [ 0. 0. 0. 1. ]] SLAMing on 251.449072329 meters Centerline goodness : 0.757119 Centerline is valid? [False, False] Translation: X:-125.72, Y:33.21, Z:76.08 [[ 0.62817118 0.61181851 0.48070685 -125.72463099] [ -0.74803808 0.64488123 0.15673937 33.20553286] [ -0.21410278 -0.45804618 0.86275935 76.08374446] [ 0. 0. 0. 1. ]] SLAMing on 251.479072329 meters Centerline goodness : 0.758832 Centerline is valid? [False, False] Translation: X:-125.86, Y:33.17, Z:76.16 [[ 0.63053245 0.60899305 0.48120296 -125.85654238] [ -0.74631435 0.64598129 0.1603841 33.17192332] [ -0.21317531 -0.46025606 0.86181242 76.16285901] [ 0. 0. 0. 1. ]] SLAMing on 251.509072329 meters Centerline goodness : 0.758903 Centerline is valid? [False, False] Translation: X:-125.99, Y:33.14, Z:76.24 [[ 0.63258363 0.60637496 0.48181673 -125.99052322] [ -0.74483523 0.64680993 0.16388228 33.1379215 ] [ -0.21226973 -0.46254332 0.8608108 76.24367783] [ 0. 0. 0. 1. ]] SLAMing on 251.539072329 meters Centerline goodness : 0.760965 Centerline is valid? [False, False] Translation: X:-126.10, Y:33.12, Z:76.31 [[ 0.62788358 0.6108995 0.4822489 -126.09561728] [ -0.74668237 0.64763607 0.15176614 33.11568194] [ -0.21960792 -0.45537822 0.86278794 76.3114737 ] [ 0. 0. 0. 1. ]] SLAMing on 251.569072329 meters Centerline goodness : 0.762417 Centerline is valid? [False, False] Translation: X:-126.23, Y:33.08, Z:76.39 [[ 0.63197908 0.60714628 0.48163871 -126.2251525 ] [ -0.74368049 0.64996383 0.15648117 33.08217978] [ -0.21804078 -0.45707813 0.86228638 76.38867199] [ 0. 0. 0. 1. ]] SLAMing on 251.599072329 meters Centerline goodness : 0.761218 Centerline is valid? [False, False] Translation: X:-126.33, Y:33.06, Z:76.45 [[ 0.62843178 0.61116908 0.48119212 -126.32881048] [ -0.74455454 0.65170318 0.14464264 33.05952137] [ -0.22519333 -0.44917181 0.86459971 76.45482071] [ 0. 0. 0. 1. ]] SLAMing on 251.629072329 meters Centerline goodness : 0.765084 Centerline is valid? [False, False] Translation: X:-126.46, Y:33.02, Z:76.53 [[ 0.63290978 0.60641061 0.48134331 -126.45805657] [ -0.74098949 0.65464768 0.14956934 33.0242854 ] [ -0.22440985 -0.45133423 0.86367681 76.53250055] [ 0. 0. 0. 1. ]] SLAMing on 251.659072329 meters Centerline goodness : 0.767659 Centerline is valid? [False, False] Translation: X:-126.55, Y:33.00, Z:76.59 [[ 0.62956976 0.60947479 0.48185308 -126.55239197] [ -0.74184985 0.65584921 0.13971617 33.0026161 ] [ -0.23086948 -0.44542371 0.86504162 76.5937556 ] [ 0. 0. 0. 1. ]] SLAMing on 251.689072329 meters Centerline goodness : 0.767931 Centerline is valid? [False, False] Translation: X:-126.66, Y:32.98, Z:76.66 [[ 0.62998599 0.60822873 0.48288246 -126.6593724 ] [ -0.74013844 0.65852899 0.13614204 32.97521928] [ -0.23518659 -0.44316745 0.8650375 76.65957711] [ 0. 0. 0. 1. ]] SLAMing on 251.719072329 meters Centerline goodness : 0.768940 Centerline is valid? [False, False] Translation: X:-126.77, Y:32.95, Z:76.72 [[ 0.62993124 0.60820089 0.48298893 -126.76641328] [ -0.73908005 0.66052287 0.13217491 32.94948012] [ -0.23863633 -0.44022859 0.86559314 76.72406066] [ 0. 0. 0. 1. ]] SLAMing on 251.749072329 meters Centerline goodness : 0.768344 Centerline is valid? [False, False] Translation: X:-126.87, Y:32.92, Z:76.78 [[ 0.63129263 0.60728944 0.4823579 -126.86533094] [ -0.73726601 0.66292049 0.13028912 32.92483998] [ -0.24064173 -0.43787665 0.86623069 76.78358167] [ 0. 0. 0. 1. ]] SLAMing on 251.779072329 meters Centerline goodness : 0.770548 Centerline is valid? [False, False] Translation: X:-126.96, Y:32.90, Z:76.84 [[ 0.63376214 0.60501295 0.48198017 -126.96492693] [ -0.73425945 0.66653729 0.12880644 32.89914879] [ -0.24332819 -0.43553114 0.86666258 76.84372412] [ 0. 0. 0. 1. ]] SLAMing on 251.809072329 meters Centerline goodness : 0.772453 Centerline is valid? [False, False] Translation: X:-127.07, Y:32.88, Z:76.91 [[ 6.43566830e-01 5.95291677e-01 4.81092044e-01 -1.27070480e+02] [-7.21578144e-01 6.81499163e-01 1.21999479e-01 3.28751994e+01] [-2.55238551e-01 -4.25660322e-01 8.68139719e-01 7.69074692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.839072329 meters Centerline goodness : 0.774966 Centerline is valid? [False, False] Translation: X:-127.17, Y:32.85, Z:76.97 [[ 6.46195125e-01 5.91846109e-01 4.81819513e-01 -1.27173819e+02] [-7.16725347e-01 6.87517489e-01 1.16723946e-01 3.28525048e+01] [-2.62176729e-01 -4.20758702e-01 8.68461558e-01 7.69698798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.869072329 meters Centerline goodness : 0.775705 Centerline is valid? [False, False] Translation: X:-127.28, Y:32.83, Z:77.03 [[ 6.48725770e-01 5.88675618e-01 4.82302697e-01 -1.27275294e+02] [-7.12421592e-01 6.92613930e-01 1.12877893e-01 3.28294002e+01] [-2.67601103e-01 -4.16829653e-01 8.68701727e-01 7.70312002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.899072329 meters Centerline goodness : 0.776813 Centerline is valid? [False, False] Translation: X:-127.38, Y:32.80, Z:77.09 [[ 6.53918781e-01 5.82358072e-01 4.82958905e-01 -1.27379414e+02] [-7.04715289e-01 7.01102186e-01 1.08775395e-01 3.28046203e+01] [-2.75257315e-01 -4.11478798e-01 8.68860523e-01 7.70940113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.929072329 meters Centerline goodness : 0.776214 Centerline is valid? [False, False] Translation: X:-127.48, Y:32.78, Z:77.15 [[ 6.56079752e-01 5.80051975e-01 4.82803339e-01 -1.27476509e+02] [-7.01085629e-01 7.05243669e-01 1.05405449e-01 3.27819247e+01] [-2.79353359e-01 -4.07640864e-01 8.69362195e-01 7.71516064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.959072329 meters Centerline goodness : 0.776086 Centerline is valid? [False, False] Translation: X:-127.57, Y:32.76, Z:77.20 [[ 6.58710420e-01 5.78238789e-01 4.81394313e-01 -1.27565822e+02] [-6.97612343e-01 7.09051264e-01 1.02875282e-01 3.27605379e+01] [-2.81846768e-01 -4.03591635e-01 8.70445973e-01 7.72048720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.989072329 meters Centerline goodness : 0.777120 Centerline is valid? [False, False] Translation: X:-127.67, Y:32.74, Z:77.27 [[ 6.62791642e-01 5.73645228e-01 4.81288262e-01 -1.27666210e+02] [-6.91504983e-01 7.15486186e-01 9.95006337e-02 3.27361231e+01] [-2.87277039e-01 -3.98761420e-01 8.70896798e-01 7.72651832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.019072329 meters Centerline goodness : 0.777177 Centerline is valid? [False, False] Translation: X:-127.76, Y:32.71, Z:77.32 [[ 6.63845017e-01 5.72010646e-01 4.81781708e-01 -1.27760058e+02] [-6.89189449e-01 7.18044186e-01 9.71105014e-02 3.27131981e+01] [-2.90392314e-01 -3.96505193e-01 8.70893757e-01 7.73218478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.049072329 meters Centerline goodness : 0.778709 Centerline is valid? [False, False] Translation: X:-127.86, Y:32.69, Z:77.38 [[ 6.64725255e-01 5.68996603e-01 4.84131388e-01 -1.27861670e+02] [-6.86122078e-01 7.21353811e-01 9.42612006e-02 3.26874929e+01] [-2.95595719e-01 -3.94831035e-01 8.69903227e-01 7.73832829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.079072329 meters Centerline goodness : 0.778335 Centerline is valid? [False, False] Translation: X:-127.96, Y:32.66, Z:77.44 [[ 6.64766972e-01 5.69464872e-01 4.83523146e-01 -1.27955637e+02] [-6.85302975e-01 7.22519841e-01 9.12409574e-02 3.26643366e+01] [-2.97396546e-01 -3.92013825e-01 8.70563298e-01 7.74386832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.109072329 meters Centerline goodness : 0.777485 Centerline is valid? [False, False] Translation: X:-128.05, Y:32.64, Z:77.49 [[ 6.65068337e-01 5.70317533e-01 4.82101669e-01 -1.28045145e+02] [-6.84848586e-01 7.23201904e-01 8.92267894e-02 3.26420273e+01] [-2.97769242e-01 -3.89508559e-01 8.71559844e-01 7.74912449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.13907232900002 meters Centerline goodness : 0.778448 Centerline is valid? [False, False] Translation: X:-128.14, Y:32.62, Z:77.54 [[ 6.65075020e-01 5.71193639e-01 4.81054098e-01 -1.28137072e+02] [-6.84563035e-01 7.23732725e-01 8.70884270e-02 3.26194855e+01] [-2.98410238e-01 -3.87232190e-01 8.72354607e-01 7.75447484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.169072329 meters Centerline goodness : 0.776628 Centerline is valid? [False, False] Translation: X:-128.24, Y:32.59, Z:77.61 [[ 6.66894817e-01 5.69939158e-01 4.80021520e-01 -1.28243707e+02] [-6.84315516e-01 7.23379642e-01 9.18377283e-02 3.25907756e+01] [-2.94895878e-01 -3.89732279e-01 8.72436343e-01 7.76068976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.199072329 meters Centerline goodness : 0.777213 Centerline is valid? [False, False] Translation: X:-128.34, Y:32.57, Z:77.66 [[ 6.66095185e-01 5.70289848e-01 4.80714774e-01 -1.28341022e+02] [-6.84636846e-01 7.23222813e-01 9.06705612e-02 3.25671723e+01] [-2.95955391e-01 -3.89510271e-01 8.72176677e-01 7.76645293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.229072329 meters Centerline goodness : 0.777759 Centerline is valid? [False, False] Translation: X:-128.44, Y:32.54, Z:77.72 [[ 6.65264503e-01 5.70520280e-01 4.81590854e-01 -1.28438849e+02] [-6.85044570e-01 7.22934997e-01 8.98828515e-02 3.25430540e+01] [-2.96878893e-01 -3.89707070e-01 8.71774812e-01 7.77222156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.259072329 meters Centerline goodness : 0.778091 Centerline is valid? [False, False] Translation: X:-128.54, Y:32.52, Z:77.78 [[ 6.63219922e-01 5.71923552e-01 4.82745053e-01 -1.28541280e+02] [-6.86672499e-01 7.21555438e-01 8.85360323e-02 3.25163524e+01] [-2.97691476e-01 -3.90206612e-01 8.71274116e-01 7.77829546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.289072329 meters Centerline goodness : 0.778384 Centerline is valid? [False, False] Translation: X:-128.64, Y:32.49, Z:77.84 [[ 6.61935709e-01 5.73740411e-01 4.82351591e-01 -1.28635489e+02] [-6.87895582e-01 7.20590018e-01 8.68889785e-02 3.24923217e+01] [-2.97726024e-01 -3.89322446e-01 8.71657758e-01 7.78385189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.319072329 meters Centerline goodness : 0.778185 Centerline is valid? [False, False] Translation: X:-128.74, Y:32.47, Z:77.90 [[ 6.59320990e-01 5.76569782e-01 4.82558927e-01 -1.28736737e+02] [-6.91050021e-01 7.17574780e-01 8.68118840e-02 3.24659304e+01] [-2.96219007e-01 -3.90709254e-01 8.71550675e-01 7.78985637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.349072329 meters Centerline goodness : 0.777188 Centerline is valid? [False, False] Translation: X:-128.84, Y:32.44, Z:77.96 [[ 6.62985672e-01 5.72860985e-01 4.81954657e-01 -1.28838325e+02] [-6.88123660e-01 7.19871859e-01 9.09413868e-02 3.24397237e+01] [-2.94848822e-01 -3.91937238e-01 8.71463925e-01 7.79558268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.379072329 meters Centerline goodness : 0.779944 Centerline is valid? [False, False] Translation: X:-128.93, Y:32.42, Z:78.01 [[ 6.65073766e-01 5.71353751e-01 4.80865654e-01 -1.28928373e+02] [-6.84869683e-01 7.23363498e-01 8.77426179e-02 3.24201766e+01] [-2.97708588e-01 -3.87685621e-01 8.72392948e-01 7.80090604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.409072329 meters Centerline goodness : 0.781448 Centerline is valid? [False, False] Translation: X:-129.03, Y:32.40, Z:78.07 [[ 6.69858662e-01 5.64969601e-01 4.81766253e-01 -1.29033850e+02] [-6.79770402e-01 7.27651096e-01 9.18481569e-02 3.23974142e+01] [-2.98666325e-01 -3.89015723e-01 8.71473002e-01 7.80689591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.439072329 meters Centerline goodness : 0.781489 Centerline is valid? [False, False] Translation: X:-129.12, Y:32.38, Z:78.12 [[ 6.69990024e-01 5.63891397e-01 4.82845586e-01 -1.29124555e+02] [-6.78605509e-01 7.28925042e-01 9.03484725e-02 3.23774945e+01] [-3.01011513e-01 -3.88194250e-01 8.71032315e-01 7.81223648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.469072329 meters Centerline goodness : 0.779214 Centerline is valid? [False, False] Translation: X:-129.21, Y:32.36, Z:78.18 [[ 6.69747468e-01 5.63523040e-01 4.83611531e-01 -1.29214698e+02] [-6.78124921e-01 7.29532167e-01 8.90472250e-02 3.23577443e+01] [-3.02630005e-01 -3.87588185e-01 8.70741339e-01 7.81753282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.499072329 meters Centerline goodness : 0.780329 Centerline is valid? [False, False] Translation: X:-129.31, Y:32.34, Z:78.23 [[ 6.68695605e-01 5.64844731e-01 4.83525199e-01 -1.29310343e+02] [-6.78988463e-01 7.28914813e-01 8.75092137e-02 3.23375679e+01] [-3.03019561e-01 -3.86825058e-01 8.70945188e-01 7.82323972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.529072329 meters Centerline goodness : 0.779622 Centerline is valid? [False, False] Translation: X:-129.40, Y:32.32, Z:78.29 [[ 6.67921677e-01 5.66948497e-01 4.82130724e-01 -1.29402176e+02] [-6.79839069e-01 7.28384365e-01 8.52939426e-02 3.23161304e+01] [-3.02819209e-01 -3.84740976e-01 8.71937445e-01 7.82859866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.559072329 meters Centerline goodness : 0.778468 Centerline is valid? [False, False] Translation: X:-129.49, Y:32.29, Z:78.34 [[ 6.67122821e-01 5.69027147e-01 4.80786073e-01 -1.29493266e+02] [-6.80780944e-01 7.27731277e-01 8.33336353e-02 3.22945635e+01] [-3.02463962e-01 -3.82903766e-01 8.72868981e-01 7.83394538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.589072329 meters Centerline goodness : 0.778491 Centerline is valid? [False, False] Translation: X:-129.60, Y:32.27, Z:78.40 [[ 6.66775146e-01 5.70377319e-01 4.79667196e-01 -1.29595975e+02] [-6.82899313e-01 7.25340503e-01 8.67737427e-02 3.22700698e+01] [-2.98428271e-01 -3.85422974e-01 8.73149299e-01 7.83984363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.619072329 meters Centerline goodness : 0.778294 Centerline is valid? [False, False] Translation: X:-129.68, Y:32.25, Z:78.45 [[ 6.65592427e-01 5.71404847e-01 4.80086682e-01 -1.29682697e+02] [-6.84358073e-01 7.23915295e-01 8.71818455e-02 3.22494474e+01] [-2.97725963e-01 -3.86578773e-01 8.72878058e-01 7.84501001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.649072329 meters Centerline goodness : 0.778294 Centerline is valid? [False, False] Translation: X:-129.77, Y:32.23, Z:78.50 [[ 6.65570495e-01 5.71037627e-01 4.80553791e-01 -1.29773176e+02] [-6.84064676e-01 7.24234395e-01 8.68335148e-02 3.22268961e+01] [-2.98448380e-01 -3.86523699e-01 8.72655714e-01 7.85027286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.679072329 meters Centerline goodness : 0.775448 Centerline is valid? [False, False] Translation: X:-129.88, Y:32.20, Z:78.56 [[ 6.65979939e-01 5.69656896e-01 4.81624067e-01 -1.29875030e+02] [-6.84764516e-01 7.22963287e-01 9.17695174e-02 3.22018312e+01] [-2.95919380e-01 -3.90915729e-01 8.71559874e-01 7.85608640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.709072329 meters Centerline goodness : 0.773929 Centerline is valid? [False, False] Translation: X:-129.97, Y:32.18, Z:78.62 [[ 6.62293946e-01 5.72843302e-01 4.82925751e-01 -1.29973182e+02] [-6.88553633e-01 7.19470211e-01 9.08653362e-02 3.21805033e+01] [-2.95399093e-01 -3.92699842e-01 8.70934102e-01 7.86187340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.739072329 meters Centerline goodness : 0.773371 Centerline is valid? [False, False] Translation: X:-130.07, Y:32.16, Z:78.67 [[ 6.60505392e-01 5.74400412e-01 4.83525381e-01 -1.30065541e+02] [-6.90214269e-01 7.17998017e-01 8.99061159e-02 3.21589058e+01] [-2.95528155e-01 -3.93119592e-01 8.70700923e-01 7.86724546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.769072329 meters Centerline goodness : 0.773064 Centerline is valid? [False, False] Translation: X:-130.16, Y:32.14, Z:78.72 [[ 6.58845988e-01 5.76500106e-01 4.83290381e-01 -1.30155188e+02] [-6.91980296e-01 7.16443757e-01 8.87221047e-02 3.21377267e+01] [-2.95102074e-01 -3.92881624e-01 8.70952809e-01 7.87249081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.799072329 meters Centerline goodness : 0.773053 Centerline is valid? [False, False] Translation: X:-130.25, Y:32.12, Z:78.78 [[ 6.55436168e-01 5.80859905e-01 4.82706122e-01 -1.30251430e+02] [-6.96069941e-01 7.12604574e-01 8.76433656e-02 3.21162278e+01] [-2.93070073e-01 -3.93441854e-01 8.71385930e-01 7.87819995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.829072329 meters Centerline goodness : 0.770237 Centerline is valid? [False, False] Translation: X:-130.34, Y:32.09, Z:78.83 [[ 6.54009414e-01 5.82632897e-01 4.82504502e-01 -1.30340998e+02] [-6.97833853e-01 7.10900974e-01 8.74512366e-02 3.20947454e+01] [-2.92060953e-01 -3.93901908e-01 8.71516888e-01 7.88346298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.859072329 meters Centerline goodness : 0.770110 Centerline is valid? [False, False] Translation: X:-130.43, Y:32.07, Z:78.89 [[ 6.52816781e-01 5.84042206e-01 4.82415746e-01 -1.30427108e+02] [-6.99491397e-01 7.09207328e-01 8.79587995e-02 3.20740667e+01] [-2.90761131e-01 -3.94866645e-01 8.71514944e-01 7.88857275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.88907232900002 meters Centerline goodness : 0.772154 Centerline is valid? [False, False] Translation: X:-130.53, Y:32.05, Z:78.95 [[ 6.51988830e-01 5.84116724e-01 4.83444120e-01 -1.30531487e+02] [-7.02419780e-01 7.05391238e-01 9.50244909e-02 3.20487322e+01] [-2.85511852e-01 -4.01535619e-01 8.70202349e-01 7.89459052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.919072329 meters Centerline goodness : 0.770778 Centerline is valid? [False, False] Translation: X:-130.64, Y:32.02, Z:79.01 [[ 6.53381514e-01 5.82615194e-01 4.83375768e-01 -1.30640552e+02] [-7.03208900e-01 7.03550374e-01 1.02538360e-01 3.20200153e+01] [-2.80338795e-01 -4.06910811e-01 8.69386998e-01 7.90088171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.949072329 meters Centerline goodness : 0.772518 Centerline is valid? [False, False] Translation: X:-130.73, Y:32.00, Z:79.06 [[ 6.51841669e-01 5.84172265e-01 4.83575437e-01 -1.30734266e+02] [-7.04748314e-01 7.02115868e-01 1.01799422e-01 3.19980919e+01] [-2.80057588e-01 -4.07156079e-01 8.69362798e-01 7.90631799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.979072329 meters Centerline goodness : 0.771813 Centerline is valid? [False, False] Translation: X:-130.83, Y:31.97, Z:79.12 [[ 6.48387162e-01 5.88970992e-01 4.82397408e-01 -1.30834138e+02] [-7.08724132e-01 6.98372273e-01 9.99313373e-02 3.19747781e+01] [-2.78036315e-01 -4.06680880e-01 8.70233571e-01 7.91220838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.009072329 meters Centerline goodness : 0.771596 Centerline is valid? [False, False] Translation: X:-130.92, Y:31.95, Z:79.18 [[ 6.47192475e-01 5.89848502e-01 4.82929234e-01 -1.30924509e+02] [-7.10112987e-01 6.96880859e-01 1.00481908e-01 3.19519928e+01] [-2.77275037e-01 -4.07965456e-01 8.69875130e-01 7.91752944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.039072329 meters Centerline goodness : 0.771288 Centerline is valid? [False, False] Translation: X:-131.01, Y:31.93, Z:79.23 [[ 6.46230374e-01 5.90611112e-01 4.83285442e-01 -1.31011517e+02] [-7.11524178e-01 6.95252383e-01 1.01771642e-01 3.19293248e+01] [-2.75897893e-01 -4.09637203e-01 8.69527294e-01 7.92272346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.069072329 meters Centerline goodness : 0.773980 Centerline is valid? [False, False] Translation: X:-131.13, Y:31.90, Z:79.30 [[ 6.45693028e-01 5.90519090e-01 4.84115397e-01 -1.31127091e+02] [-7.14102353e-01 6.91512810e-01 1.08939719e-01 3.18992027e+01] [-2.70441015e-01 -4.16049561e-01 8.68196073e-01 7.92954870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.099072329 meters Centerline goodness : 0.772820 Centerline is valid? [False, False] Translation: X:-131.24, Y:31.87, Z:79.36 [[ 6.47570667e-01 5.88876245e-01 4.83608313e-01 -1.31235280e+02] [-7.14669782e-01 6.89552409e-01 1.17322537e-01 3.18691062e+01] [-2.64384822e-01 -4.21594881e-01 8.67385971e-01 7.93590560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.129072329 meters Centerline goodness : 0.773065 Centerline is valid? [False, False] Translation: X:-131.34, Y:31.84, Z:79.42 [[ 6.49485284e-01 5.87626711e-01 4.82559544e-01 -1.31344839e+02] [-7.15108656e-01 6.87748617e-01 1.24985801e-01 3.18384194e+01] [-2.58434664e-01 -4.26258945e-01 8.66899554e-01 7.94233882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.159072329 meters Centerline goodness : 0.773061 Centerline is valid? [False, False] Translation: X:-131.46, Y:31.81, Z:79.49 [[ 6.49786722e-01 5.88823746e-01 4.80690973e-01 -1.31457060e+02] [-7.17046636e-01 6.84684478e-01 1.30580578e-01 3.18072453e+01] [-2.52232703e-01 -4.29527371e-01 8.67112969e-01 7.94883200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.189072329 meters Centerline goodness : 0.774754 Centerline is valid? [False, False] Translation: X:-131.57, Y:31.78, Z:79.55 [[ 0.65139851 0.58813039 0.47935646 -131.5681492 ] [ -0.71762981 0.68270185 0.13757045 31.7755551 ] [ -0.24634818 -0.43361368 0.86677088 79.55379351] [ 0. 0. 0. 1. ]] SLAMing on 253.219072329 meters Centerline goodness : 0.775833 Centerline is valid? [False, False] Translation: X:-131.68, Y:31.74, Z:79.62 [[ 0.6509977 0.58905381 0.47876676 -131.67973788] [ -0.72027612 0.67843374 0.14467195 31.7444219 ] [ -0.23959196 -0.43902536 0.8659402 79.61952778] [ 0. 0. 0. 1. ]] SLAMing on 253.249072329 meters Centerline goodness : 0.775104 Centerline is valid? [False, False] Translation: X:-131.80, Y:31.71, Z:79.69 [[ 0.65208855 0.5881703 0.47836829 -131.7954506 ] [ -0.72087969 0.67641133 0.15099733 31.71183502] [ -0.23476158 -0.44330962 0.8650801 79.68853298] [ 0. 0. 0. 1. ]] SLAMing on 253.279072329 meters Centerline goodness : 0.773424 Centerline is valid? [False, False] Translation: X:-131.91, Y:31.68, Z:79.76 [[ 0.65296999 0.58737188 0.4781469 -131.91192621] [ -0.72146033 0.67450035 0.15666611 31.6790719 ] [ -0.23048898 -0.44726229 0.864194 79.75802969] [ 0. 0. 0. 1. ]] SLAMing on 253.309072329 meters Centerline goodness : 0.775555 Centerline is valid? [False, False] Translation: X:-132.03, Y:31.65, Z:79.83 [[ 0.65272826 0.58834819 0.47727584 -132.02923306] [ -0.72347481 0.67101 0.16226453 31.64578916] [ -0.22478882 -0.45121169 0.86364229 79.82793377] [ 0. 0. 0. 1. ]] SLAMing on 253.339072329 meters Centerline goodness : 0.773265 Centerline is valid? [False, False] Translation: X:-132.15, Y:31.61, Z:79.90 [[ 0.65356316 0.58791392 0.47666803 -132.14998464] [ -0.72375422 0.66971057 0.16633574 31.61174762] [ -0.22143853 -0.45370141 0.86320334 79.90068317] [ 0. 0. 0. 1. ]] SLAMing on 253.369072329 meters Centerline goodness : 0.772738 Centerline is valid? [False, False] Translation: X:-132.27, Y:31.58, Z:79.97 [[ 0.65394071 0.58763685 0.47649184 -132.2693232 ] [ -0.72421493 0.66838592 0.16962606 31.57828866] [ -0.21880191 -0.45600789 0.86266014 79.9726329 ] [ 0. 0. 0. 1. ]] SLAMing on 253.399072329 meters Centerline goodness : 0.774215 Centerline is valid? [False, False] Translation: X:-132.38, Y:31.55, Z:80.04 [[ 0.64969642 0.59228285 0.47654549 -132.3818126 ] [ -0.72840242 0.66441325 0.16728701 31.54730556] [ -0.21754191 -0.45580265 0.86308717 80.04330192] [ 0. 0. 0. 1. ]] SLAMing on 253.429072329 meters Centerline goodness : 0.774501 Centerline is valid? [False, False] Translation: X:-132.50, Y:31.51, Z:80.12 [[ 0.64988656 0.59220005 0.47638909 -132.50183811] [ -0.72919375 0.66256528 0.17112487 31.51298519] [ -0.21429871 -0.4585917 0.86242085 80.11610998] [ 0. 0. 0. 1. ]] SLAMing on 253.459072329 meters Centerline goodness : 0.772736 Centerline is valid? [False, False] Translation: X:-132.62, Y:31.48, Z:80.19 [[ 0.64967989 0.59232947 0.47651006 -132.62186682] [ -0.7300649 0.66089442 0.17384994 31.47911082] [ -0.2119464 -0.46083008 0.86180877 80.18959079] [ 0. 0. 0. 1. ]] SLAMing on 253.489072329 meters Centerline goodness : 0.773547 Centerline is valid? [False, False] Translation: X:-132.74, Y:31.44, Z:80.26 [[ 0.64753364 0.59433003 0.47694025 -132.74431613] [ -0.73295816 0.65700055 0.17641604 31.44474355] [ -0.20850066 -0.46381257 0.861049 80.26442533] [ 0. 0. 0. 1. ]] SLAMing on 253.519072329 meters Centerline goodness : 0.770694 Centerline is valid? [False, False] Translation: X:-132.87, Y:31.41, Z:80.34 [[ 0.64716589 0.59438541 0.47737018 -132.87003474] [ -0.73380969 0.65542051 0.17873805 31.40949101] [ -0.20663892 -0.46597204 0.86033157 80.34098417] [ 0. 0. 0. 1. ]] SLAMing on 253.549072329 meters Centerline goodness : 0.770614 Centerline is valid? [False, False] Translation: X:-132.99, Y:31.38, Z:80.41 [[ 0.64372078 0.59867803 0.47666359 -132.98640674] [ -0.73725096 0.65213933 0.17656534 31.37594735] [ -0.20514529 -0.46507946 0.86117159 80.41441956] [ 0. 0. 0. 1. ]] SLAMing on 253.579072329 meters Centerline goodness : 0.772309 Centerline is valid? [False, False] Translation: X:-133.11, Y:31.34, Z:80.49 [[ 0.64485303 0.59799982 0.47598402 -133.11102026] [ -0.73714435 0.65115698 0.18059012 31.33877534] [ -0.20194745 -0.46732302 0.86071274 80.49048787] [ 0. 0. 0. 1. ]] SLAMing on 253.609072329 meters Centerline goodness : 0.771884 Centerline is valid? [False, False] Translation: X:-133.23, Y:31.30, Z:80.56 [[ 0.64326817 0.60024136 0.47530661 -133.22786803] [ -0.73864238 0.64992385 0.17890339 31.30465457] [ -0.20152789 -0.46616446 0.86143903 80.56468109] [ 0. 0. 0. 1. ]] SLAMing on 253.63907232900002 meters Centerline goodness : 0.772822 Centerline is valid? [False, False] Translation: X:-133.35, Y:31.27, Z:80.64 [[ 0.64432058 0.59976021 0.4744878 -133.35374521] [ -0.73864478 0.64879744 0.1829365 31.26715583] [ -0.19812844 -0.46834769 0.8610433 80.64203077] [ 0. 0. 0. 1. ]] SLAMing on 253.669072329 meters Centerline goodness : 0.772634 Centerline is valid? [False, False] Translation: X:-133.48, Y:31.23, Z:80.72 [[ 0.64369912 0.60110077 0.47363415 -133.47834866] [ -0.74051211 0.64541901 0.18728618 31.23023544] [ -0.19311462 -0.47128778 0.86057805 80.71770725] [ 0. 0. 0. 1. ]] SLAMing on 253.699072329 meters Centerline goodness : 0.770575 Centerline is valid? [False, False] Translation: X:-133.60, Y:31.20, Z:80.79 [[ 0.64218527 0.60225987 0.47421634 -133.59863738] [ -0.74180212 0.64418448 0.18642953 31.19576107] [ -0.19320378 -0.47149698 0.86044343 80.79259543] [ 0. 0. 0. 1. ]] SLAMing on 253.729072329 meters Centerline goodness : 0.771647 Centerline is valid? [False, False] Translation: X:-133.72, Y:31.16, Z:80.87 [[ 0.64142644 0.6024599 0.47498861 -133.71620154] [ -0.74237087 0.64360214 0.18617672 31.16130602] [ -0.19353968 -0.47203638 0.86007212 80.86626944] [ 0. 0. 0. 1. ]] SLAMing on 253.759072329 meters Centerline goodness : 0.772025 Centerline is valid? [False, False] Translation: X:-133.84, Y:31.13, Z:80.94 [[ 0.63888036 0.60425731 0.47613547 -133.83641561] [ -0.74437562 0.64183555 0.18426087 31.12509284] [ -0.1942597 -0.47214428 0.85985054 80.94256328] [ 0. 0. 0. 1. ]] SLAMing on 253.789072329 meters Centerline goodness : 0.772662 Centerline is valid? [False, False] Translation: X:-133.95, Y:31.09, Z:81.02 [[ 0.6377525 0.60492237 0.47680256 -133.95385824] [ -0.74526158 0.64099768 0.18359508 31.09007762] [ -0.19456857 -0.47243085 0.85962327 81.01742264] [ 0. 0. 0. 1. ]] SLAMing on 253.819072329 meters Centerline goodness : 0.773546 Centerline is valid? [False, False] Translation: X:-134.07, Y:31.05, Z:81.09 [[ 0.6368615 0.60573892 0.4769568 -134.0731877 ] [ -0.74587711 0.64064775 0.18231239 31.05358519] [ -0.19512759 -0.4718589 0.85981068 81.09309554] [ 0. 0. 0. 1. ]] SLAMing on 253.849072329 meters Centerline goodness : 0.774361 Centerline is valid? [False, False] Translation: X:-134.19, Y:31.02, Z:81.17 [[ 0.6376002 0.60572303 0.47598908 -134.18661818] [ -0.74533533 0.64126823 0.18234665 31.0190025 ] [ -0.19478511 -0.47103574 0.86033953 81.16531184] [ 0. 0. 0. 1. ]] SLAMing on 253.879072329 meters Centerline goodness : 0.774135 Centerline is valid? [False, False] Translation: X:-134.30, Y:30.98, Z:81.24 [[ 0.63859434 0.60521296 0.47530469 -134.30169974] [ -0.74451326 0.6421378 0.1826446 30.98403934] [ -0.19467223 -0.47050645 0.86065464 81.23859036] [ 0. 0. 0. 1. ]] SLAMing on 253.909072329 meters Centerline goodness : 0.769166 Centerline is valid? [False, False] Translation: X:-134.41, Y:30.95, Z:81.31 [[ 0.64064938 0.60289004 0.4754913 -134.41489378] [ -0.74235501 0.64453728 0.18297742 30.94922757] [ -0.19615661 -0.47020771 0.86048085 81.30949394] [ 0. 0. 0. 1. ]] SLAMing on 253.939072329 meters Centerline goodness : 0.768837 Centerline is valid? [False, False] Translation: X:-134.53, Y:30.91, Z:81.38 [[ 0.64210693 0.6010247 0.47588654 -134.53008152] [ -0.74070614 0.64641783 0.18302569 30.91457829] [ -0.19761858 -0.47001414 0.86025206 81.38196702] [ 0. 0. 0. 1. ]] SLAMing on 253.969072329 meters Centerline goodness : 0.768629 Centerline is valid? [False, False] Translation: X:-134.65, Y:30.88, Z:81.45 [[ 0.64369644 0.599093 0.47617482 -134.64503822] [ -0.73877742 0.64879374 0.18241327 30.87997935] [ -0.19965673 -0.46920598 0.86022261 81.45433548] [ 0. 0. 0. 1. ]] SLAMing on 253.999072329 meters Centerline goodness : 0.768204 Centerline is valid? [False, False] Translation: X:-134.76, Y:30.85, Z:81.53 [[ 0.64532919 0.59720138 0.476341 -134.75811203] [ -0.73676775 0.65130633 0.18158566 30.84554767] [ -0.2018007 -0.46813521 0.8603057 81.52590023] [ 0. 0. 0. 1. ]] SLAMing on 254.029072329 meters Centerline goodness : 0.767928 Centerline is valid? [False, False] Translation: X:-134.87, Y:30.81, Z:81.60 [[ 0.64907536 0.59314086 0.47632456 -134.87144907] [ -0.73238935 0.65653657 0.18045934 30.80927494] [ -0.20568668 -0.46598675 0.86055176 81.59774935] [ 0. 0. 0. 1. ]] SLAMing on 254.059072329 meters Centerline goodness : 0.766782 Centerline is valid? [False, False] Translation: X:-134.99, Y:30.77, Z:81.67 [[ 0.65114846 0.59066135 0.47657618 -134.98523731] [ -0.7297633 0.65974186 0.17940516 30.77495216] [ -0.20844956 -0.46460719 0.86063287 81.66960667] [ 0. 0. 0. 1. ]] SLAMing on 254.089072329 meters Centerline goodness : 0.765569 Centerline is valid? [False, False] Translation: X:-135.10, Y:30.74, Z:81.74 [[ 0.65592822 0.58530825 0.47662608 -135.09803058] [ -0.72407244 0.66629752 0.1782322 30.73976428] [ -0.213254 -0.46201934 0.86084892 81.74137993] [ 0. 0. 0. 1. ]] SLAMing on 254.119072329 meters Centerline goodness : 0.764289 Centerline is valid? [False, False] Translation: X:-135.18, Y:30.72, Z:81.80 [[ 0.65440508 0.5859058 0.47798366 -135.18454844] [ -0.7229922 0.6699644 0.16861193 30.71597639] [ -0.22144133 -0.45591897 0.86203343 81.79861081] [ 0. 0. 0. 1. ]] SLAMing on 254.149072329 meters Centerline goodness : 0.764462 Centerline is valid? [False, False] Translation: X:-135.27, Y:30.69, Z:81.86 [[ 0.65273546 0.58649584 0.47954046 -135.27447365] [ -0.72175144 0.67379576 0.15834816 30.69140752] [ -0.23024179 -0.44946847 0.8631146 81.85686348] [ 0. 0. 0. 1. ]] SLAMing on 254.179072329 meters Centerline goodness : 0.762531 Centerline is valid? [False, False] Translation: X:-135.37, Y:30.66, Z:81.92 [[ 0.65434116 0.58330482 0.48124124 -135.36932545] [ -0.71610855 0.68243775 0.14651712 30.66466239] [ -0.24295305 -0.44049315 0.86425668 81.9170669 ] [ 0. 0. 0. 1. ]] SLAMing on 254.209072329 meters Centerline goodness : 0.762357 Centerline is valid? [False, False] Translation: X:-135.48, Y:30.63, Z:81.98 [[ 0.66167209 0.57603948 0.47996725 -135.48207303] [ -0.70963032 0.68780576 0.15280064 30.62896194] [ -0.24210504 -0.44170323 0.86387696 81.98468704] [ 0. 0. 0. 1. ]] SLAMing on 254.239072329 meters Centerline goodness : 0.761860 Centerline is valid? [False, False] Translation: X:-135.58, Y:30.60, Z:82.05 [[ 0.66523379 0.57241772 0.47937665 -135.58152781] [ -0.70497218 0.69302652 0.15075964 30.59946272] [ -0.24592324 -0.4382376 0.86456322 82.04726552] [ 0. 0. 0. 1. ]] SLAMing on 254.269072329 meters Centerline goodness : 0.762181 Centerline is valid? [False, False] Translation: X:-135.69, Y:30.57, Z:82.11 [[ 0.67132346 0.56466676 0.48007943 -135.68644488] [ -0.69676461 0.70164083 0.14906112 30.56768605] [ -0.25267347 -0.43457059 0.86446777 82.11314993] [ 0. 0. 0. 1. ]] SLAMing on 254.299072329 meters Centerline goodness : 0.760775 Centerline is valid? [False, False] Translation: X:-135.77, Y:30.55, Z:82.17 [[ 0.67064081 0.56369902 0.48216628 -135.76749783] [ -0.69436248 0.70573455 0.14071068 30.54617734] [ -0.26096293 -0.42916449 0.86470584 82.165654 ] [ 0. 0. 0. 1. ]] SLAMing on 254.329072329 meters Centerline goodness : 0.760111 Centerline is valid? [False, False] Translation: X:-135.86, Y:30.52, Z:82.22 [[ 6.71324498e-01 5.60399524e-01 4.85052360e-01 -1.35857349e+02] [-6.89101033e-01 7.12890532e-01 1.30103254e-01 3.05221438e+01] [-2.72879433e-01 -4.21591584e-01 8.64752769e-01 8.22230379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.359072329 meters Centerline goodness : 0.759839 Centerline is valid? [False, False] Translation: X:-135.93, Y:30.50, Z:82.27 [[ 6.70904467e-01 5.60611763e-01 4.85388141e-01 -1.35932251e+02] [-6.87025243e-01 7.16259804e-01 1.22344632e-01 3.05013204e+01] [-2.79076175e-01 -4.15555466e-01 8.65696334e-01 8.22710298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.38907232900002 meters Centerline goodness : 0.760627 Centerline is valid? [False, False] Translation: X:-136.01, Y:30.48, Z:82.32 [[ 6.73457987e-01 5.59755744e-01 4.82833146e-01 -1.36012864e+02] [-6.84331581e-01 7.19084319e-01 1.20863680e-01 3.04758609e+01] [-2.79543605e-01 -4.11814580e-01 8.67331612e-01 8.23214258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.419072329 meters Centerline goodness : 0.758799 Centerline is valid? [False, False] Translation: X:-136.10, Y:30.45, Z:82.38 [[ 6.76889274e-01 5.57422131e-01 4.80730152e-01 -1.36102223e+02] [-6.79627274e-01 7.24117113e-01 1.17308031e-01 3.04475239e+01] [-2.82714837e-01 -4.06121871e-01 8.68986391e-01 8.23763269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.449072329 meters Centerline goodness : 0.758488 Centerline is valid? [False, False] Translation: X:-136.18, Y:30.42, Z:82.43 [[ 6.78690047e-01 5.56045088e-01 4.79785035e-01 -1.36184757e+02] [-6.77293242e-01 7.26492609e-01 1.16113532e-01 3.04224199e+01] [-2.83995923e-01 -4.03760261e-01 8.69668884e-01 8.24278327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.479072329 meters Centerline goodness : 0.759455 Centerline is valid? [False, False] Translation: X:-136.27, Y:30.40, Z:82.48 [[ 6.79703378e-01 5.54505460e-01 4.80132287e-01 -1.36271245e+02] [-6.75326055e-01 7.28558481e-01 1.14617882e-01 3.03969854e+01] [-2.86248208e-01 -4.02152005e-01 8.69675645e-01 8.24814217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.509072329 meters Centerline goodness : 0.759455 Centerline is valid? [False, False] Translation: X:-136.36, Y:30.37, Z:82.54 [[ 6.79374248e-01 5.54847781e-01 4.80202636e-01 -1.36360918e+02] [-6.75206007e-01 7.28916998e-01 1.13034769e-01 3.03715164e+01] [-2.87310773e-01 -4.01028615e-01 8.69843992e-01 8.25357519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.539072329 meters Centerline goodness : 0.758545 Centerline is valid? [False, False] Translation: X:-136.46, Y:30.34, Z:82.59 [[ 6.80624015e-01 5.51691832e-01 4.82065423e-01 -1.36456940e+02] [-6.72033762e-01 7.32165653e-01 1.10923756e-01 3.03434732e+01] [-2.91756015e-01 -3.99461612e-01 8.69085064e-01 8.25933138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.569072329 meters Centerline goodness : 0.757890 Centerline is valid? [False, False] Translation: X:-136.54, Y:30.32, Z:82.64 [[ 6.81727825e-01 5.50848539e-01 4.81469688e-01 -1.36541042e+02] [-6.70534056e-01 7.33673063e-01 1.10035978e-01 3.03182684e+01] [-2.92628183e-01 -3.97856411e-01 8.69528046e-01 8.26443379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.599072329 meters Centerline goodness : 0.757424 Centerline is valid? [False, False] Translation: X:-136.63, Y:30.29, Z:82.70 [[ 6.83366130e-01 5.49586593e-01 4.80588503e-01 -1.36628280e+02] [-6.68128123e-01 7.36134914e-01 1.08213679e-01 3.02916467e+01] [-2.94305189e-01 -3.95044258e-01 8.70243926e-01 8.26963900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.629072329 meters Centerline goodness : 0.759077 Centerline is valid? [False, False] Translation: X:-136.71, Y:30.27, Z:82.75 [[ 6.84434624e-01 5.49105845e-01 4.79616531e-01 -1.36712740e+02] [-6.66959164e-01 7.37270762e-01 1.07690742e-01 3.02661973e+01] [-2.94473630e-01 -3.93591913e-01 8.70844813e-01 8.27472479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.659072329 meters Centerline goodness : 0.760598 Centerline is valid? [False, False] Translation: X:-136.80, Y:30.24, Z:82.80 [[ 6.84998874e-01 5.48439747e-01 4.79573130e-01 -1.36800085e+02] [-6.65929352e-01 7.38325871e-01 1.06831678e-01 3.02405445e+01] [-2.95490510e-01 -3.92541402e-01 8.70974515e-01 8.27992396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.689072329 meters Centerline goodness : 0.761420 Centerline is valid? [False, False] Translation: X:-136.89, Y:30.21, Z:82.85 [[ 6.85336783e-01 5.47221394e-01 4.80481260e-01 -1.36893050e+02] [-6.64757786e-01 7.39507188e-01 1.05953784e-01 3.02125400e+01] [-2.97339168e-01 -3.92017684e-01 8.70581159e-01 8.28549248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.719072329 meters Centerline goodness : 0.760586 Centerline is valid? [False, False] Translation: X:-136.98, Y:30.19, Z:82.91 [[ 6.87648505e-01 5.43763329e-01 4.81103914e-01 -1.36980295e+02] [-6.60890540e-01 7.43144844e-01 1.04687315e-01 3.01877494e+01] [-3.00604770e-01 -3.89945102e-01 8.70390481e-01 8.29078182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.749072329 meters Centerline goodness : 0.760326 Centerline is valid? [False, False] Translation: X:-137.07, Y:30.16, Z:82.96 [[ 6.89905808e-01 5.40483528e-01 4.81567787e-01 -1.37067437e+02] [-6.56839151e-01 7.47018632e-01 1.02593822e-01 3.01637698e+01] [-3.04289838e-01 -3.87092650e-01 8.70383234e-01 8.29597567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.779072329 meters Centerline goodness : 0.760344 Centerline is valid? [False, False] Translation: X:-137.15, Y:30.14, Z:83.01 [[ 6.91999695e-01 5.38362709e-01 4.80938682e-01 -1.37152984e+02] [-6.53477898e-01 7.50254482e-01 1.00423343e-01 3.01394607e+01] [-3.06762219e-01 -3.83775722e-01 8.70984005e-01 8.30110184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.809072329 meters Centerline goodness : 0.761266 Centerline is valid? [False, False] Translation: X:-137.24, Y:30.12, Z:83.06 [[ 6.95407444e-01 5.35099863e-01 4.79663031e-01 -1.37236611e+02] [-6.48368490e-01 7.55031863e-01 9.76994779e-02 3.01177144e+01] [-3.09881894e-01 -3.78939339e-01 8.71996668e-01 8.30596668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.839072329 meters Centerline goodness : 0.762461 Centerline is valid? [False, False] Translation: X:-137.32, Y:30.09, Z:83.11 [[ 6.96797935e-01 5.33497704e-01 4.79429701e-01 -1.37318944e+02] [-6.46424855e-01 7.56730625e-01 9.74354597e-02 3.00943388e+01] [-3.10817543e-01 -3.77808102e-01 8.72154512e-01 8.31093788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.869072329 meters Centerline goodness : 0.763288 Centerline is valid? [False, False] Translation: X:-137.41, Y:30.07, Z:83.16 [[ 6.97468078e-01 5.30127647e-01 4.82185605e-01 -1.37409826e+02] [-6.43454300e-01 7.59471852e-01 9.57552596e-02 3.00708900e+01] [-3.15443884e-01 -3.77050638e-01 8.70820287e-01 8.31638195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.899072329 meters Centerline goodness : 0.763901 Centerline is valid? [False, False] Translation: X:-137.49, Y:30.05, Z:83.21 [[ 6.98104495e-01 5.29174136e-01 4.82311981e-01 -1.37491790e+02] [-6.42199590e-01 7.60628361e-01 9.49957001e-02 3.00478564e+01] [-3.16590904e-01 -3.76057482e-01 8.70833492e-01 8.32131969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.929072329 meters Centerline goodness : 0.764855 Centerline is valid? [False, False] Translation: X:-137.58, Y:30.02, Z:83.26 [[ 6.98650483e-01 5.28576012e-01 4.82177252e-01 -1.37578766e+02] [-6.40487849e-01 7.62405814e-01 9.22642453e-02 3.00237390e+01] [-3.18846073e-01 -3.73289131e-01 8.71201702e-01 8.32648542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.959072329 meters Centerline goodness : 0.765403 Centerline is valid? [False, False] Translation: X:-137.66, Y:30.00, Z:83.31 [[ 6.99275366e-01 5.28479181e-01 4.81376898e-01 -1.37660748e+02] [-6.39579815e-01 7.63308482e-01 9.10923811e-02 3.00000912e+01] [-3.19298642e-01 -3.71577605e-01 8.71767435e-01 8.33137751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.989072329 meters Centerline goodness : 0.765194 Centerline is valid? [False, False] Translation: X:-137.74, Y:29.98, Z:83.36 [[ 6.99954721e-01 5.28092053e-01 4.80814072e-01 -1.37743008e+02] [-6.38749303e-01 7.64051173e-01 9.06925146e-02 2.99761553e+01] [-3.19472559e-01 -3.70600307e-01 8.72119657e-01 8.33627254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.019072329 meters Centerline goodness : 0.765648 Centerline is valid? [False, False] Translation: X:-137.83, Y:29.95, Z:83.41 [[ 7.00130357e-01 5.28183239e-01 4.80458061e-01 -1.37826643e+02] [-6.38396278e-01 7.64438897e-01 8.99075386e-02 2.99520643e+01] [-3.19793175e-01 -3.69669635e-01 8.72397092e-01 8.34130241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.049072329 meters Centerline goodness : 0.765268 Centerline is valid? [False, False] Translation: X:-137.92, Y:29.93, Z:83.47 [[ 6.99308640e-01 5.28520048e-01 4.81283684e-01 -1.37916045e+02] [-6.38839963e-01 7.64165906e-01 8.90728405e-02 2.99270919e+01] [-3.20703800e-01 -3.69752658e-01 8.72027548e-01 8.34661387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.079072329 meters Centerline goodness : 0.766012 Centerline is valid? [False, False] Translation: X:-138.00, Y:29.90, Z:83.52 [[ 6.98926341e-01 5.28752773e-01 4.81583301e-01 -1.38002239e+02] [-6.39052343e-01 7.64045429e-01 8.85815114e-02 2.99022223e+01] [-3.21113800e-01 -3.69668889e-01 8.71912175e-01 8.35174212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.109072329 meters Centerline goodness : 0.766137 Centerline is valid? [False, False] Translation: X:-138.09, Y:29.88, Z:83.57 [[ 6.98633806e-01 5.29137959e-01 4.81584702e-01 -1.38086280e+02] [-6.39264457e-01 7.63933750e-01 8.80123785e-02 2.98780475e+01] [-3.21328117e-01 -3.69348406e-01 8.71969034e-01 8.35673697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.13907232900002 meters Centerline goodness : 0.765149 Centerline is valid? [False, False] Translation: X:-138.18, Y:29.85, Z:83.62 [[ 6.97103839e-01 5.30021137e-01 4.82828988e-01 -1.38178746e+02] [-6.40513648e-01 7.62978253e-01 8.72149832e-02 2.98527594e+01] [-3.22162233e-01 -3.70056456e-01 8.71360841e-01 8.36220362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.169072329 meters Centerline goodness : 0.764751 Centerline is valid? [False, False] Translation: X:-138.26, Y:29.83, Z:83.67 [[ 6.96669484e-01 5.30684384e-01 4.82727371e-01 -1.38263150e+02] [-6.41192298e-01 7.62408012e-01 8.72150273e-02 2.98286923e+01] [-3.21751562e-01 -3.70281120e-01 8.71417136e-01 8.36722235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.199072329 meters Centerline goodness : 0.765070 Centerline is valid? [False, False] Translation: X:-138.35, Y:29.80, Z:83.72 [[ 6.96498154e-01 5.31555701e-01 4.82015413e-01 -1.38346027e+02] [-6.41781095e-01 7.61922908e-01 8.71235253e-02 2.98048341e+01] [-3.20947579e-01 -3.70029754e-01 8.71820298e-01 8.37216959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.229072329 meters Centerline goodness : 0.764787 Centerline is valid? [False, False] Translation: X:-138.43, Y:29.78, Z:83.77 [[ 6.95005051e-01 5.33837209e-01 4.81649056e-01 -1.38433719e+02] [-6.43922787e-01 7.60170925e-01 8.66233702e-02 2.97800757e+01] [-3.19892831e-01 -3.70348483e-01 8.72072576e-01 8.37733750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.259072329 meters Centerline goodness : 0.766363 Centerline is valid? [False, False] Translation: X:-138.52, Y:29.76, Z:83.82 [[ 6.94174198e-01 5.35153362e-01 4.81386603e-01 -1.38517750e+02] [-6.45315736e-01 7.58965194e-01 8.68299151e-02 2.97553435e+01] [-3.18888356e-01 -3.70921437e-01 8.72196941e-01 8.38239601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.289072329 meters Centerline goodness : 0.764558 Centerline is valid? [False, False] Translation: X:-138.60, Y:29.73, Z:83.88 [[ 6.92873623e-01 5.36851610e-01 4.81369392e-01 -1.38603458e+02] [-6.47151295e-01 7.57404751e-01 8.67942662e-02 2.97303063e+01] [-3.17995822e-01 -3.71656283e-01 8.72209989e-01 8.38753911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.319072329 meters Centerline goodness : 0.764880 Centerline is valid? [False, False] Translation: X:-138.70, Y:29.70, Z:83.93 [[ 6.90002391e-01 5.40064388e-01 4.81899530e-01 -1.38695156e+02] [-6.51235087e-01 7.53792782e-01 8.76886716e-02 2.97047687e+01] [-3.15894859e-01 -3.74335276e-01 8.71827701e-01 8.39302391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.349072329 meters Centerline goodness : 0.763791 Centerline is valid? [False, False] Translation: X:-138.78, Y:29.68, Z:83.98 [[ 6.88793990e-01 5.41753970e-01 4.81731746e-01 -1.38783900e+02] [-6.52929906e-01 7.52348410e-01 8.74894729e-02 2.96790298e+01] [-3.15032344e-01 -3.74799287e-01 8.71940432e-01 8.39827958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.379072329 meters Centerline goodness : 0.763091 Centerline is valid? [False, False] Translation: X:-138.88, Y:29.65, Z:84.04 [[ 6.86358176e-01 5.44918008e-01 4.81639719e-01 -1.38875192e+02] [-6.56582692e-01 7.49084061e-01 8.81603040e-02 2.96522137e+01] [-3.12748500e-01 -3.76745849e-01 8.71923702e-01 8.40362359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.409072329 meters Centerline goodness : 0.763627 Centerline is valid? [False, False] Translation: X:-138.96, Y:29.63, Z:84.09 [[ 6.85359390e-01 5.46099007e-01 4.81724382e-01 -1.38964278e+02] [-6.58030639e-01 7.47773118e-01 8.84931744e-02 2.96253829e+01] [-3.11894509e-01 -3.77639031e-01 8.71843207e-01 8.40885931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.439072329 meters Centerline goodness : 0.764371 Centerline is valid? [False, False] Translation: X:-139.05, Y:29.60, Z:84.14 [[ 6.84576148e-01 5.47091745e-01 4.81711656e-01 -1.39050184e+02] [-6.59399885e-01 7.46468437e-01 8.93121700e-02 2.95989688e+01] [-3.10720596e-01 -3.78781592e-01 8.71766722e-01 8.41395352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.469072329 meters Centerline goodness : 0.762949 Centerline is valid? [False, False] Translation: X:-139.14, Y:29.57, Z:84.19 [[ 6.83533361e-01 5.47918391e-01 4.82252611e-01 -1.39139158e+02] [-6.60710150e-01 7.45257629e-01 8.97394176e-02 2.95720323e+01] [-3.10232560e-01 -3.79969081e-01 8.71423695e-01 8.41920591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.499072329 meters Centerline goodness : 0.766735 Centerline is valid? [False, False] Translation: X:-139.23, Y:29.54, Z:84.25 [[ 6.81478681e-01 5.49978616e-01 4.82815006e-01 -1.39233954e+02] [-6.63624912e-01 7.42525985e-01 9.08687905e-02 2.95426331e+01] [-3.08526796e-01 -3.82333209e-01 8.70995140e-01 8.42482601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.529072329 meters Centerline goodness : 0.766694 Centerline is valid? [False, False] Translation: X:-139.32, Y:29.52, Z:84.30 [[ 6.81255635e-01 5.51037001e-01 4.81922176e-01 -1.39318775e+02] [-6.64445150e-01 7.41759392e-01 9.11353200e-02 2.95163271e+01] [-3.07251367e-01 -3.82297303e-01 8.71461628e-01 8.42987707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.559072329 meters Centerline goodness : 0.768643 Centerline is valid? [False, False] Translation: X:-139.41, Y:29.49, Z:84.35 [[ 6.80382460e-01 5.52070504e-01 4.81972889e-01 -1.39409575e+02] [-6.65982091e-01 7.40243244e-01 9.22377033e-02 2.94871999e+01] [-3.05855460e-01 -3.83742228e-01 8.71317589e-01 8.43524514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.589072329 meters Centerline goodness : 0.769259 Centerline is valid? [False, False] Translation: X:-139.50, Y:29.46, Z:84.40 [[ 6.80362885e-01 5.52091947e-01 4.81975960e-01 -1.39496979e+02] [-6.66485118e-01 7.39618950e-01 9.36023281e-02 2.94588830e+01] [-3.04801462e-01 -3.84913355e-01 8.71170350e-01 8.44046601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.619072329 meters Centerline goodness : 0.768752 Centerline is valid? [False, False] Translation: X:-139.59, Y:29.43, Z:84.46 [[ 6.80169283e-01 5.52182483e-01 4.82145467e-01 -1.39586305e+02] [-6.67120296e-01 7.38879879e-01 9.49053963e-02 2.94299078e+01] [-3.03842487e-01 -3.86200762e-01 8.70935540e-01 8.44580421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.649072329 meters Centerline goodness : 0.770216 Centerline is valid? [False, False] Translation: X:-139.67, Y:29.40, Z:84.51 [[ 6.80241475e-01 5.52270324e-01 4.81942968e-01 -1.39672432e+02] [-6.67726943e-01 7.38104681e-01 9.66551077e-02 2.94015079e+01] [-3.02344613e-01 -3.87555118e-01 8.70855192e-01 8.45097392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.679072329 meters Centerline goodness : 0.770049 Centerline is valid? [False, False] Translation: X:-139.76, Y:29.37, Z:84.56 [[ 6.79559591e-01 5.52367370e-01 4.82792969e-01 -1.39763099e+02] [-6.69046572e-01 7.36601264e-01 9.89710187e-02 2.93705908e+01] [-3.00957550e-01 -3.90267686e-01 8.70123949e-01 8.45640425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.709072329 meters Centerline goodness : 0.772107 Centerline is valid? [False, False] Translation: X:-139.85, Y:29.34, Z:84.62 [[ 6.79825738e-01 5.52251375e-01 4.82550915e-01 -1.39851219e+02] [-6.69303212e-01 7.36171927e-01 1.00419643e-01 2.93410594e+01] [-2.99783551e-01 -3.91240735e-01 8.70092242e-01 8.46171357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.739072329 meters Centerline goodness : 0.771612 Centerline is valid? [False, False] Translation: X:-139.94, Y:29.31, Z:84.67 [[ 6.83316251e-01 5.47936138e-01 4.82540040e-01 -1.39944067e+02] [-6.64517980e-01 7.40535420e-01 1.00115665e-01 2.93100313e+01] [-3.02481000e-01 -3.89067193e-01 8.70133302e-01 8.46740792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.769072329 meters Centerline goodness : 0.774151 Centerline is valid? [False, False] Translation: X:-140.03, Y:29.29, Z:84.72 [[ 6.89965528e-01 5.39561707e-01 4.82515009e-01 -1.40029353e+02] [-6.55202482e-01 7.48874012e-01 9.94857876e-02 2.92851264e+01] [-3.07664229e-01 -3.84786796e-01 8.70219423e-01 8.47244507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.799072329 meters Centerline goodness : 0.777476 Centerline is valid? [False, False] Translation: X:-140.12, Y:29.26, Z:84.78 [[ 6.98387974e-01 5.27999950e-01 4.83187636e-01 -1.40118279e+02] [-6.41946011e-01 7.60630170e-01 9.66802112e-02 2.92586321e+01] [-3.16479947e-01 -3.77700672e-01 8.70162425e-01 8.47771909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.829072329 meters Centerline goodness : 0.776664 Centerline is valid? [False, False] Translation: X:-140.20, Y:29.23, Z:84.83 [[ 7.01429125e-01 5.23305860e-01 4.83888582e-01 -1.40200693e+02] [-6.37097242e-01 7.64718360e-01 9.65035430e-02 2.92334127e+01] [-3.19537613e-01 -3.75974477e-01 8.69792450e-01 8.48270889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.859072329 meters Centerline goodness : 0.776578 Centerline is valid? [False, False] Translation: X:-140.28, Y:29.21, Z:84.88 [[ 7.03864197e-01 5.19048594e-01 4.84936852e-01 -1.40282624e+02] [-6.33020393e-01 7.68071679e-01 9.67009740e-02 2.92086233e+01] [-3.22273757e-01 -3.75039270e-01 8.69186500e-01 8.48766339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.88907232900002 meters Centerline goodness : 0.776682 Centerline is valid? [False, False] Translation: X:-140.36, Y:29.18, Z:84.93 [[ 7.06051667e-01 5.15635040e-01 4.85398340e-01 -1.40362705e+02] [-6.29719258e-01 7.70710361e-01 9.72583957e-02 2.91840073e+01] [-3.23951693e-01 -3.74334135e-01 8.68866650e-01 8.49254904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.919072329 meters Centerline goodness : 0.776444 Centerline is valid? [False, False] Translation: X:-140.45, Y:29.16, Z:84.98 [[ 7.09272765e-01 5.10778461e-01 4.85836915e-01 -1.40445095e+02] [-6.24564628e-01 7.74912435e-01 9.71068651e-02 2.91582365e+01] [-3.26880972e-01 -3.72311807e-01 8.68638445e-01 8.49756024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.949072329 meters Centerline goodness : 0.776549 Centerline is valid? [False, False] Translation: X:-140.52, Y:29.13, Z:85.02 [[ 7.10881834e-01 5.09600540e-01 4.84720856e-01 -1.40522256e+02] [-6.22315090e-01 7.76865878e-01 9.59340230e-02 2.91323292e+01] [-3.27675063e-01 -3.69846857e-01 8.69391946e-01 8.50225470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.979072329 meters Centerline goodness : 0.778825 Centerline is valid? [False, False] Translation: X:-140.60, Y:29.10, Z:85.07 [[ 7.12798573e-01 5.08525520e-01 4.83032079e-01 -1.40600414e+02] [-6.19387518e-01 7.79514715e-01 9.33590434e-02 2.91044549e+01] [-3.29055158e-01 -3.65730234e-01 8.70611337e-01 8.50705710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.009072329 meters Centerline goodness : 0.778581 Centerline is valid? [False, False] Translation: X:-140.68, Y:29.08, Z:85.12 [[ 7.13085202e-01 5.08344028e-01 4.82800004e-01 -1.40679710e+02] [-6.18657046e-01 7.80228350e-01 9.22343863e-02 2.90781764e+01] [-3.29807451e-01 -3.64458600e-01 8.70859905e-01 8.51188065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.03907232899996 meters Centerline goodness : 0.777705 Centerline is valid? [False, False] Translation: X:-140.76, Y:29.05, Z:85.17 [[ 7.12820094e-01 5.08242435e-01 4.83298190e-01 -1.40758241e+02] [-6.18684626e-01 7.80234349e-01 9.19983331e-02 2.90525350e+01] [-3.30328392e-01 -3.64587421e-01 8.70608503e-01 8.51663785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.069072329 meters Centerline goodness : 0.778623 Centerline is valid? [False, False] Translation: X:-140.84, Y:29.03, Z:85.22 [[ 7.10913245e-01 5.09021902e-01 4.85282456e-01 -1.40838916e+02] [-6.20855227e-01 7.78381969e-01 9.30607196e-02 2.90259870e+01] [-3.30365169e-01 -3.67448247e-01 8.69390960e-01 8.52162743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.09907232899997 meters Centerline goodness : 0.776439 Centerline is valid? [False, False] Translation: X:-140.92, Y:29.00, Z:85.26 [[ 7.10203817e-01 5.09791939e-01 4.85512839e-01 -1.40919780e+02] [-6.21880551e-01 7.77539216e-01 9.32595653e-02 2.89996736e+01] [-3.29962298e-01 -3.68164291e-01 8.69241012e-01 8.52645957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.129072329 meters Centerline goodness : 0.778164 Centerline is valid? [False, False] Translation: X:-141.00, Y:28.97, Z:85.31 [[ 7.09954824e-01 5.10807056e-01 4.84809550e-01 -1.40997744e+02] [-6.22691705e-01 7.76881510e-01 9.33282416e-02 2.89738579e+01] [-3.28966851e-01 -3.68145720e-01 8.69626092e-01 8.53107166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.15907232899997 meters Centerline goodness : 0.775202 Centerline is valid? [False, False] Translation: X:-141.08, Y:28.95, Z:85.36 [[ 7.08697096e-01 5.14319994e-01 4.82932055e-01 -1.41079307e+02] [-6.24928772e-01 7.75316709e-01 9.13675549e-02 2.89465117e+01] [-3.27433131e-01 -3.66550057e-01 8.70878063e-01 8.53575943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.189072329 meters Centerline goodness : 0.775520 Centerline is valid? [False, False] Translation: X:-141.16, Y:28.92, Z:85.40 [[ 7.08123848e-01 5.15592005e-01 4.82416315e-01 -1.41158754e+02] [-6.26222969e-01 7.74227462e-01 9.17421897e-02 2.89197319e+01] [-3.26198420e-01 -3.67065010e-01 8.71124486e-01 8.54045338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.21907232899997 meters Centerline goodness : 0.777197 Centerline is valid? [False, False] Translation: X:-141.24, Y:28.89, Z:85.45 [[ 7.07189814e-01 5.16412230e-01 4.82908870e-01 -1.41238850e+02] [-6.27815608e-01 7.72786800e-01 9.29952867e-02 2.88927942e+01] [-3.25161697e-01 -3.68943045e-01 8.70718611e-01 8.54519682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.249072329 meters Centerline goodness : 0.776563 Centerline is valid? [False, False] Translation: X:-141.33, Y:28.86, Z:85.50 [[ 7.04108458e-01 5.18737997e-01 4.84914601e-01 -1.41327021e+02] [-6.31729124e-01 7.69448221e-01 9.41687256e-02 2.88634073e+01] [-3.24267781e-01 -3.72639672e-01 8.69476901e-01 8.55042670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.279072329 meters Centerline goodness : 0.777766 Centerline is valid? [False, False] Translation: X:-141.41, Y:28.84, Z:85.55 [[ 7.03507463e-01 5.19580706e-01 4.84884667e-01 -1.41408739e+02] [-6.32985402e-01 7.68299386e-01 9.51080113e-02 2.88363666e+01] [-3.23120304e-01 -3.73834111e-01 8.69391354e-01 8.55523781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.30907232899995 meters Centerline goodness : 0.778275 Centerline is valid? [False, False] Translation: X:-141.49, Y:28.81, Z:85.60 [[ 7.03302524e-01 5.20659873e-01 4.84023611e-01 -1.41488580e+02] [-6.34129267e-01 7.67231004e-01 9.61075358e-02 2.88091462e+01] [-3.21318584e-01 -3.74526210e-01 8.69761166e-01 8.56002154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.339072329 meters Centerline goodness : 0.776762 Centerline is valid? [False, False] Translation: X:-141.57, Y:28.78, Z:85.65 [[ 7.02931367e-01 5.21860729e-01 4.83268945e-01 -1.41568074e+02] [-6.35498460e-01 7.65955210e-01 9.72333475e-02 2.87821741e+01] [-3.19420100e-01 -3.75465040e-01 8.70055632e-01 8.56476585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.36907232899995 meters Centerline goodness : 0.776872 Centerline is valid? [False, False] Translation: X:-141.65, Y:28.75, Z:85.70 [[ 7.00785309e-01 5.24586890e-01 4.83434116e-01 -1.41652764e+02] [-6.38878850e-01 7.63021417e-01 9.81434257e-02 2.87537490e+01] [-3.17385830e-01 -3.77633303e-01 8.69861669e-01 8.56977921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.399072329 meters Centerline goodness : 0.777437 Centerline is valid? [False, False] Translation: X:-141.74, Y:28.73, Z:85.75 [[ 7.00341643e-01 5.24960553e-01 4.83671377e-01 -1.41735794e+02] [-6.39914013e-01 7.61969706e-01 9.95601474e-02 2.87258329e+01] [-3.16277787e-01 -3.79234209e-01 8.69568730e-01 8.57477819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.42907232899995 meters Centerline goodness : 0.777437 Centerline is valid? [False, False] Translation: X:-141.82, Y:28.70, Z:85.80 [[ 7.00951359e-01 5.24069390e-01 4.83754553e-01 -1.41817816e+02] [-6.39335631e-01 7.62328220e-01 1.00526794e-01 2.86988073e+01] [-3.16096731e-01 -3.79745915e-01 8.69411235e-01 8.57963305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.459072329 meters Centerline goodness : 0.779697 Centerline is valid? [False, False] Translation: X:-141.90, Y:28.67, Z:85.85 [[ 7.01457000e-01 5.22260879e-01 4.84975928e-01 -1.41900613e+02] [-6.38062356e-01 7.63353282e-01 1.00837479e-01 2.86718051e+01] [-3.17544496e-01 -3.80178039e-01 8.68694510e-01 8.58468890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.48907232899995 meters Centerline goodness : 0.779869 Centerline is valid? [False, False] Translation: X:-141.98, Y:28.65, Z:85.90 [[ 7.02567385e-01 5.20614916e-01 4.85138308e-01 -1.41981427e+02] [-6.36023527e-01 7.65168914e-01 9.99530143e-02 2.86464959e+01] [-3.19175723e-01 -3.78783106e-01 8.68706059e-01 8.58955633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.519072329 meters Centerline goodness : 0.779488 Centerline is valid? [False, False] Translation: X:-142.06, Y:28.62, Z:85.95 [[ 7.03511044e-01 5.19278958e-01 4.85202612e-01 -1.42062510e+02] [-6.34496527e-01 7.66471804e-01 9.96751314e-02 2.86205964e+01] [-3.20134923e-01 -3.77981928e-01 8.68702074e-01 8.59450397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.54907232899996 meters Centerline goodness : 0.780801 Centerline is valid? [False, False] Translation: X:-142.15, Y:28.60, Z:86.00 [[ 7.04493871e-01 5.17337583e-01 4.85849988e-01 -1.42146798e+02] [-6.32343974e-01 7.68368383e-01 9.87477880e-02 2.85955244e+01] [-3.22225828e-01 -3.76791524e-01 8.68446120e-01 8.59960491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.579072329 meters Centerline goodness : 0.780823 Centerline is valid? [False, False] Translation: X:-142.23, Y:28.57, Z:86.04 [[ 7.05594739e-01 5.16797775e-01 4.84825869e-01 -1.42225116e+02] [-6.31374529e-01 7.69129473e-01 9.90255440e-02 2.85708271e+01] [-3.21717684e-01 -3.75978608e-01 8.68986662e-01 8.60432234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.60907232899996 meters Centerline goodness : 0.781011 Centerline is valid? [False, False] Translation: X:-142.30, Y:28.55, Z:86.09 [[ 7.06519543e-01 5.16703420e-01 4.83578030e-01 -1.42302396e+02] [-6.30794724e-01 7.69566543e-01 9.93244777e-02 2.85465364e+01] [-3.20824175e-01 -3.75213154e-01 8.69647594e-01 8.60896654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.639072329 meters Centerline goodness : 0.781684 Centerline is valid? [False, False] Translation: X:-142.39, Y:28.52, Z:86.14 [[ 7.05835659e-01 5.17752376e-01 4.83454754e-01 -1.42388353e+02] [-6.31522376e-01 7.69093976e-01 9.83562145e-02 2.85206837e+01] [-3.20897975e-01 -3.74735819e-01 8.69826164e-01 8.61404681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.66907232899996 meters Centerline goodness : 0.782358 Centerline is valid? [False, False] Translation: X:-142.47, Y:28.49, Z:86.19 [[ 7.05552415e-01 5.18227061e-01 4.83359601e-01 -1.42468087e+02] [-6.32274162e-01 7.68378610e-01 9.91145566e-02 2.84943299e+01] [-3.20039333e-01 -3.75546301e-01 8.69792965e-01 8.61886093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.699072329 meters Centerline goodness : 0.785369 Centerline is valid? [False, False] Translation: X:-142.55, Y:28.47, Z:86.24 [[ 7.03897873e-01 5.20183886e-01 4.83669835e-01 -1.42553663e+02] [-6.34209470e-01 7.66901679e-01 9.81843358e-02 2.84672540e+01] [-3.19853299e-01 -3.75859734e-01 8.69726007e-01 8.62396468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.72907232899996 meters Centerline goodness : 0.785611 Centerline is valid? [False, False] Translation: X:-142.63, Y:28.44, Z:86.29 [[ 7.03977673e-01 5.20748359e-01 4.82945735e-01 -1.42634031e+02] [-6.34640629e-01 7.66489964e-01 9.86124081e-02 2.84408324e+01] [-3.18820810e-01 -3.75917919e-01 8.70079887e-01 8.62879647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.759072329 meters Centerline goodness : 0.785554 Centerline is valid? [False, False] Translation: X:-142.71, Y:28.41, Z:86.34 [[ 7.04171258e-01 5.21121657e-01 4.82260364e-01 -1.42713130e+02] [-6.35059808e-01 7.66024103e-01 9.95294617e-02 2.84145328e+01] [-3.17556105e-01 -3.76349960e-01 8.70355576e-01 8.63359125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.78907232899996 meters Centerline goodness : 0.786322 Centerline is valid? [False, False] Translation: X:-142.80, Y:28.39, Z:86.39 [[ 7.03791698e-01 5.21579698e-01 4.82319256e-01 -1.42795769e+02] [-6.35643054e-01 7.65519759e-01 9.96865421e-02 2.83879915e+01] [-3.17230444e-01 -3.76741446e-01 8.70304963e-01 8.63859680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.819072329 meters Centerline goodness : 0.789778 Centerline is valid? [False, False] Translation: X:-142.88, Y:28.36, Z:86.44 [[ 7.01715453e-01 5.22490498e-01 4.84354316e-01 -1.42883040e+02] [-6.37714471e-01 7.63752658e-01 1.00010654e-01 2.83611806e+01] [-3.17672280e-01 -3.79058777e-01 8.69136794e-01 8.64380473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.84907232899997 meters Centerline goodness : 0.790693 Centerline is valid? [False, False] Translation: X:-142.96, Y:28.33, Z:86.49 [[ 7.01070209e-01 5.22949475e-01 4.84793161e-01 -1.42964824e+02] [-6.38690337e-01 7.62840335e-01 1.00743616e-01 2.83341907e+01] [-3.17135957e-01 -3.80261055e-01 8.68807410e-01 8.64869389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.879072329 meters Centerline goodness : 0.794033 Centerline is valid? [False, False] Translation: X:-143.05, Y:28.31, Z:86.54 [[ 6.98565795e-01 5.26410453e-01 4.84662631e-01 -1.43049656e+02] [-6.41951276e-01 7.60258408e-01 9.95274392e-02 2.83078509e+01] [-3.16076556e-01 -3.80656259e-01 8.69020381e-01 8.65364494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.90907232899997 meters Centerline goodness : 0.794053 Centerline is valid? [False, False] Translation: X:-143.13, Y:28.28, Z:86.58 [[ 6.97964894e-01 5.27999980e-01 4.83798541e-01 -1.43129924e+02] [-6.43401014e-01 7.58983951e-01 9.98924254e-02 2.82812595e+01] [-3.14452129e-01 -3.80997878e-01 8.69459876e-01 8.65844011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.939072329 meters Centerline goodness : 0.791934 Centerline is valid? [False, False] Translation: X:-143.21, Y:28.25, Z:86.63 [[ 6.97286388e-01 5.29017611e-01 4.83665235e-01 -1.43210941e+02] [-6.44776247e-01 7.57693945e-01 1.00814068e-01 2.82543673e+01] [-3.13137803e-01 -3.82152133e-01 8.69427665e-01 8.66328866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.96907232899997 meters Centerline goodness : 0.792623 Centerline is valid? [False, False] Translation: X:-143.30, Y:28.23, Z:86.68 [[ 6.95051482e-01 5.29769683e-01 4.86053003e-01 -1.43297034e+02] [-6.47435242e-01 7.55163314e-01 1.02742283e-01 2.82273527e+01] [-3.12619649e-01 -3.86099020e-01 8.67868943e-01 8.66848445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.999072329 meters Centerline goodness : 0.792577 Centerline is valid? [False, False] Translation: X:-143.38, Y:28.20, Z:86.73 [[ 6.94930716e-01 5.29709781e-01 4.86290909e-01 -1.43378201e+02] [-6.47920457e-01 7.54581458e-01 1.03951455e-01 2.82001666e+01] [-3.11882000e-01 -3.87316887e-01 8.67591636e-01 8.67336436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.029072329 meters Centerline goodness : 0.791794 Centerline is valid? [False, False] Translation: X:-143.46, Y:28.17, Z:86.78 [[ 6.93931529e-01 5.31610554e-01 4.85643132e-01 -1.43462881e+02] [-6.49330780e-01 7.53498232e-01 1.03004625e-01 2.81734798e+01] [-3.11172895e-01 -3.86821191e-01 8.68067276e-01 8.67830830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.05907232899995 meters Centerline goodness : 0.792723 Centerline is valid? [False, False] Translation: X:-143.56, Y:28.14, Z:86.84 [[ 6.97287767e-01 5.28986991e-01 4.83696737e-01 -1.43557652e+02] [-6.48465890e-01 7.53073767e-01 1.11229005e-01 2.81388952e+01] [-3.05420627e-01 -3.91219459e-01 8.68139145e-01 8.68383477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.089072329 meters Centerline goodness : 0.792733 Centerline is valid? [False, False] Translation: X:-143.65, Y:28.10, Z:86.90 [[ 7.00256862e-01 5.26300046e-01 4.82336593e-01 -1.43653435e+02] [-6.47529438e-01 7.52732230e-01 1.18742648e-01 2.81038981e+01] [-3.00576038e-01 -3.95477497e-01 8.67900682e-01 8.68950297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.11907232899995 meters Centerline goodness : 0.791112 Centerline is valid? [False, False] Translation: X:-143.74, Y:28.07, Z:86.95 [[ 7.00301207e-01 5.26070840e-01 4.82522218e-01 -1.43740521e+02] [-6.47469829e-01 7.52739821e-01 1.19019251e-01 2.80740707e+01] [-3.00601130e-01 -3.95767903e-01 8.67759602e-01 8.69491833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.149072329 meters Centerline goodness : 0.788788 Centerline is valid? [False, False] Translation: X:-143.84, Y:28.04, Z:87.01 [[ 6.99551285e-01 5.24380115e-01 4.85441546e-01 -1.43835742e+02] [-6.47255286e-01 7.52848391e-01 1.19498511e-01 2.80431755e+01] [-3.02801244e-01 -3.97799944e-01 8.66063861e-01 8.70086883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.17907232899995 meters Centerline goodness : 0.790690 Centerline is valid? [False, False] Translation: X:-143.90, Y:28.02, Z:87.05 [[ 6.97376014e-01 5.26156196e-01 4.86648078e-01 -1.43900380e+02] [-6.47906434e-01 7.53108621e-01 1.14213210e-01 2.80234979e+01] [-3.06404875e-01 -3.94951974e-01 8.66099874e-01 8.70505644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.209072329 meters Centerline goodness : 0.788655 Centerline is valid? [False, False] Translation: X:-144.00, Y:27.99, Z:87.11 [[ 7.00002352e-01 5.25084183e-01 4.84028210e-01 -1.44000508e+02] [-6.47104725e-01 7.53073577e-01 1.18893496e-01 2.79873074e+01] [-3.02079762e-01 -3.96442669e-01 8.66937730e-01 8.71112988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.23907232899995 meters Centerline goodness : 0.790137 Centerline is valid? [False, False] Translation: X:-144.06, Y:27.97, Z:87.15 [[ 6.98572505e-01 5.27505617e-01 4.83460732e-01 -1.44064542e+02] [-6.47212558e-01 7.53956720e-01 1.12539632e-01 2.79669084e+01] [-3.05143180e-01 -3.91518950e-01 8.68101694e-01 8.71518695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.269072329 meters Centerline goodness : 0.787063 Centerline is valid? [False, False] Translation: X:-144.15, Y:27.94, Z:87.20 [[ 7.00052691e-01 5.27319180e-01 4.81519171e-01 -1.44146029e+02] [-6.46096633e-01 7.54901571e-01 1.12617757e-01 2.79379581e+01] [-3.04114075e-01 -3.89946279e-01 8.69170023e-01 8.72020556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.29907232899996 meters Centerline goodness : 0.786778 Centerline is valid? [False, False] Translation: X:-144.24, Y:27.90, Z:87.26 [[ 7.04171031e-01 5.22990971e-01 4.80232864e-01 -1.44241931e+02] [-6.43380942e-01 7.56083490e-01 1.19994667e-01 2.79031052e+01] [-3.00340013e-01 -3.93469441e-01 8.68894514e-01 8.72591354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.329072329 meters Centerline goodness : 0.787841 Centerline is valid? [False, False] Translation: X:-144.33, Y:27.87, Z:87.32 [[ 7.04280752e-01 5.21996813e-01 4.81152730e-01 -1.44331074e+02] [-6.42912804e-01 7.56412007e-01 1.20432564e-01 2.78721047e+01] [-3.01084287e-01 -3.94157588e-01 8.68324852e-01 8.73151961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.35907232899996 meters Centerline goodness : 0.788471 Centerline is valid? [False, False] Translation: X:-144.42, Y:27.84, Z:87.37 [[ 7.04678791e-01 5.20872459e-01 4.81788005e-01 -1.44417184e+02] [-6.42352233e-01 7.56733026e-01 1.21403195e-01 2.78420008e+01] [-3.01349315e-01 -3.95027858e-01 8.67837302e-01 8.73685586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.389072329 meters Centerline goodness : 0.788884 Centerline is valid? [False, False] Translation: X:-144.50, Y:27.81, Z:87.42 [[ 7.05044788e-01 5.20580036e-01 4.81568556e-01 -1.44503198e+02] [-6.41893210e-01 7.57139867e-01 1.21294389e-01 2.78120673e+01] [-3.01471315e-01 -3.94633563e-01 8.67974307e-01 8.74213980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.41907232899996 meters Centerline goodness : 0.790795 Centerline is valid? [False, False] Translation: X:-144.59, Y:27.78, Z:87.48 [[ 7.05586509e-01 5.21344271e-01 4.79945652e-01 -1.44592269e+02] [-6.41375661e-01 7.57829820e-01 1.19713094e-01 2.77816481e+01] [-3.01305391e-01 -3.92293404e-01 8.69092024e-01 8.74751045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.449072329 meters Centerline goodness : 0.790826 Centerline is valid? [False, False] Translation: X:-144.68, Y:27.75, Z:87.53 [[ 7.06105910e-01 5.21599599e-01 4.78903228e-01 -1.44678262e+02] [-6.40896158e-01 7.58348702e-01 1.18993114e-01 2.77515097e+01] [-3.01108880e-01 -3.90948980e-01 8.69765679e-01 8.75274245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.47907232899996 meters Centerline goodness : 0.789626 Centerline is valid? [False, False] Translation: X:-144.77, Y:27.72, Z:87.58 [[ 7.05925286e-01 5.20852823e-01 4.79981069e-01 -1.44769845e+02] [-6.40596988e-01 7.58609519e-01 1.18941571e-01 2.77198208e+01] [-3.02167154e-01 -3.91438290e-01 8.69178391e-01 8.75835228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.509072329 meters Centerline goodness : 0.789318 Centerline is valid? [False, False] Translation: X:-144.86, Y:27.69, Z:87.64 [[ 7.06167657e-01 5.20216041e-01 4.80315012e-01 -1.44856496e+02] [-6.40299294e-01 7.58759187e-01 1.19588084e-01 2.76893638e+01] [-3.02231788e-01 -3.91994600e-01 8.68905161e-01 8.76373337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.53907232899996 meters Centerline goodness : 0.787722 Centerline is valid? [False, False] Translation: X:-144.95, Y:27.66, Z:87.69 [[ 7.06151227e-01 5.19541851e-01 4.81068300e-01 -1.44945069e+02] [-6.39985369e-01 7.59003577e-01 1.19717574e-01 2.76590608e+01] [-3.02934270e-01 -3.92415385e-01 8.68470491e-01 8.76917463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.569072329 meters Centerline goodness : 0.785889 Centerline is valid? [False, False] Translation: X:-145.04, Y:27.63, Z:87.75 [[ 7.05969267e-01 5.18984334e-01 4.81936359e-01 -1.45037166e+02] [-6.39543277e-01 7.59494916e-01 1.18961630e-01 2.76279437e+01] [-3.04288993e-01 -3.92202413e-01 8.68093011e-01 8.77485793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.59907232899997 meters Centerline goodness : 0.785272 Centerline is valid? [False, False] Translation: X:-145.12, Y:27.60, Z:87.80 [[ 7.06354045e-01 5.18949443e-01 4.81409845e-01 -1.45123248e+02] [-6.39050760e-01 7.59998210e-01 1.18392763e-01 2.75974297e+01] [-3.04430762e-01 -3.91272535e-01 8.68462846e-01 8.78012361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.629072329 meters Centerline goodness : 0.784651 Centerline is valid? [False, False] Translation: X:-145.21, Y:27.57, Z:87.85 [[ 7.06752656e-01 5.18944255e-01 4.80830057e-01 -1.45208034e+02] [-6.38707890e-01 7.60311492e-01 1.18231412e-01 2.75671603e+01] [-3.04225106e-01 -3.90670316e-01 8.68805956e-01 8.78527305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.65907232899997 meters Centerline goodness : 0.784377 Centerline is valid? [False, False] Translation: X:-145.30, Y:27.54, Z:87.91 [[ 7.06891708e-01 5.19342639e-01 4.80195102e-01 -1.45297172e+02] [-6.38864091e-01 7.60164830e-01 1.18330485e-01 2.75354397e+01] [-3.03573362e-01 -3.90426246e-01 8.69143579e-01 8.79066913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.689072329 meters Centerline goodness : 0.783892 Centerline is valid? [False, False] Translation: X:-145.38, Y:27.50, Z:87.96 [[ 7.07679368e-01 5.19151909e-01 4.79240240e-01 -1.45380942e+02] [-6.38438929e-01 7.60414215e-01 1.19020820e-01 2.75049774e+01] [-3.02631205e-01 -3.90194205e-01 8.69576240e-01 8.79578849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.71907232899997 meters Centerline goodness : 0.784050 Centerline is valid? [False, False] Translation: X:-145.47, Y:27.47, Z:88.01 [[ 7.08454745e-01 5.18783589e-01 4.78492908e-01 -1.45466026e+02] [-6.37826977e-01 7.60862816e-01 1.19434176e-01 2.74741002e+01] [-3.02106971e-01 -3.89809394e-01 8.69931040e-01 8.80099875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.749072329 meters Centerline goodness : 0.784091 Centerline is valid? [False, False] Translation: X:-145.56, Y:27.44, Z:88.07 [[ 7.08896261e-01 5.17752021e-01 4.78956090e-01 -1.45555777e+02] [-6.37065600e-01 7.61444602e-01 1.19789562e-01 2.74409114e+01] [-3.02677241e-01 -3.90044821e-01 8.69627233e-01 8.80654086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.779072329 meters Centerline goodness : 0.785014 Centerline is valid? [False, False] Translation: X:-145.64, Y:27.41, Z:88.12 [[ 7.09365306e-01 5.17015018e-01 4.79057756e-01 -1.45641841e+02] [-6.36468609e-01 7.61877807e-01 1.20207804e-01 2.74087661e+01] [-3.02834233e-01 -3.90176469e-01 8.69513514e-01 8.81185891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.80907232899995 meters Centerline goodness : 0.783209 Centerline is valid? [False, False] Translation: X:-145.73, Y:27.37, Z:88.18 [[ 7.09684478e-01 5.15434815e-01 4.80286262e-01 -1.45733617e+02] [-6.35470375e-01 7.62662478e-01 1.20512853e-01 2.73741834e+01] [-3.04179790e-01 -3.90733792e-01 8.68793277e-01 8.81751537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.839072329 meters Centerline goodness : 0.782864 Centerline is valid? [False, False] Translation: X:-145.82, Y:27.34, Z:88.23 [[ 7.10355784e-01 5.14760192e-01 4.80017297e-01 -1.45819005e+02] [-6.34709969e-01 7.63252785e-01 1.20782622e-01 2.73424395e+01] [-3.04200453e-01 -3.90470398e-01 8.68904456e-01 8.82277841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.86907232899995 meters Centerline goodness : 0.782940 Centerline is valid? [False, False] Translation: X:-145.90, Y:27.31, Z:88.28 [[ 7.11119115e-01 5.14238839e-01 4.79445535e-01 -1.45904273e+02] [-6.33832829e-01 7.63999974e-01 1.20664760e-01 2.73107088e+01] [-3.04245870e-01 -3.89695338e-01 8.69236443e-01 8.82804770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.899072329 meters Centerline goodness : 0.783304 Centerline is valid? [False, False] Translation: X:-145.99, Y:27.28, Z:88.34 [[ 7.12194267e-01 5.12085222e-01 4.80154195e-01 -1.45994769e+02] [-6.32057254e-01 7.65380818e-01 1.21226361e-01 2.72756565e+01] [-3.05422583e-01 -3.89821661e-01 8.68767010e-01 8.83371732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.92907232899995 meters Centerline goodness : 0.782559 Centerline is valid? [False, False] Translation: X:-146.08, Y:27.24, Z:88.39 [[ 7.12932111e-01 5.10488511e-01 4.80759071e-01 -1.46080559e+02] [-6.30945827e-01 7.66156291e-01 1.22114298e-01 2.72430249e+01] [-3.05998640e-01 -3.90392134e-01 8.68308018e-01 8.83901106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.959072329 meters Centerline goodness : 0.782746 Centerline is valid? [False, False] Translation: X:-146.17, Y:27.21, Z:88.44 [[ 7.13541595e-01 5.09350375e-01 4.81061938e-01 -1.46166061e+02] [-6.30050431e-01 7.66810757e-01 1.22628374e-01 2.72102960e+01] [-3.06422660e-01 -3.90593727e-01 8.68067793e-01 8.84430852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.98907232899995 meters Centerline goodness : 0.781772 Centerline is valid? [False, False] Translation: X:-146.25, Y:27.18, Z:88.49 [[ 7.14604490e-01 5.08468095e-01 4.80417131e-01 -1.46248153e+02] [-6.29061122e-01 7.67499804e-01 1.23394309e-01 2.71779927e+01] [-3.05977984e-01 -3.90389867e-01 8.68316316e-01 8.84939406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.019072329 meters Centerline goodness : 0.782055 Centerline is valid? [False, False] Translation: X:-146.34, Y:27.14, Z:88.55 [[ 7.15647315e-01 5.07498761e-01 4.79889495e-01 -1.46338731e+02] [-6.27359152e-01 7.69075555e-01 1.22242728e-01 2.71422302e+01] [-3.07033247e-01 -3.88545747e-01 8.68770849e-01 8.85499240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.04907232899996 meters Centerline goodness : 0.781210 Centerline is valid? [False, False] Translation: X:-146.42, Y:27.11, Z:88.60 [[ 7.16830330e-01 5.06884240e-01 4.78772018e-01 -1.46419273e+02] [-6.26416744e-01 7.69728644e-01 1.22962913e-01 2.71107410e+01] [-3.06196574e-01 -3.88054354e-01 8.69285613e-01 8.86000355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.079072329 meters Centerline goodness : 0.781103 Centerline is valid? [False, False] Translation: X:-146.51, Y:27.08, Z:88.66 [[ 7.17347363e-01 5.05666807e-01 4.79284719e-01 -1.46509369e+02] [-6.25436997e-01 7.70487885e-01 1.23194898e-01 2.70751816e+01] [-3.06987498e-01 -3.88135930e-01 8.68970181e-01 8.86560123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.10907232899996 meters Centerline goodness : 0.781961 Centerline is valid? [False, False] Translation: X:-146.57, Y:27.05, Z:88.70 [[ 7.16020913e-01 5.07257571e-01 4.79587123e-01 -1.46571642e+02] [-6.25690037e-01 7.70991420e-01 1.18676908e-01 2.70521035e+01] [-3.09557796e-01 -3.85048032e-01 8.69431989e-01 8.86963836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.139072329 meters Centerline goodness : 0.781511 Centerline is valid? [False, False] Translation: X:-146.65, Y:27.02, Z:88.75 [[ 7.17156082e-01 5.06383669e-01 4.78813882e-01 -1.46651464e+02] [-6.24813235e-01 7.71514150e-01 1.19893028e-01 2.70205517e+01] [-3.08699814e-01 -3.85151265e-01 8.69691283e-01 8.87460548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.16907232899996 meters Centerline goodness : 0.784503 Centerline is valid? [False, False] Translation: X:-146.74, Y:26.98, Z:88.80 [[ 7.18332967e-01 5.05062821e-01 4.78444662e-01 -1.46739559e+02] [-6.23417292e-01 7.72554670e-01 1.20458135e-01 2.69849955e+01] [-3.08785733e-01 -3.84799725e-01 8.69816384e-01 8.88005569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.199072329 meters Centerline goodness : 0.781363 Centerline is valid? [False, False] Translation: X:-146.80, Y:26.96, Z:88.84 [[ 7.17510497e-01 5.06664961e-01 4.77984627e-01 -1.46798584e+02] [-6.23369826e-01 7.73261122e-01 1.16091763e-01 2.69628153e+01] [-3.10787300e-01 -3.81258252e-01 8.70662621e-01 8.88383724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.22907232899996 meters Centerline goodness : 0.781628 Centerline is valid? [False, False] Translation: X:-146.86, Y:26.94, Z:88.88 [[ 7.16625396e-01 5.08101884e-01 4.77787105e-01 -1.46856619e+02] [-6.23297880e-01 7.73948229e-01 1.11820800e-01 2.69411636e+01] [-3.12966125e-01 -3.77937315e-01 8.71329783e-01 8.88752479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.259072329 meters Centerline goodness : 0.781306 Centerline is valid? [False, False] Translation: X:-146.93, Y:26.91, Z:88.92 [[ 7.15789254e-01 5.08888289e-01 4.78203359e-01 -1.46929427e+02] [-6.23167796e-01 7.74516884e-01 1.08561011e-01 2.69132620e+01] [-3.15131149e-01 -3.75707739e-01 8.71513657e-01 8.89209483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.28907232899996 meters Centerline goodness : 0.783430 Centerline is valid? [False, False] Translation: X:-147.01, Y:26.88, Z:88.97 [[ 7.16661429e-01 5.07749716e-01 4.78107333e-01 -1.47009834e+02] [-6.22838311e-01 7.74409831e-01 1.11183865e-01 2.68816388e+01] [-3.13797444e-01 -3.77464752e-01 8.71235632e-01 8.89706055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.319072329 meters Centerline goodness : 0.783430 Centerline is valid? [False, False] Translation: X:-147.08, Y:26.86, Z:89.01 [[ 7.16888231e-01 5.07946875e-01 4.77557574e-01 -1.47079847e+02] [-6.22714166e-01 7.74541552e-01 1.10961483e-01 2.68556474e+01] [-3.13525647e-01 -3.76928848e-01 8.71565438e-01 8.90136790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.34907232899997 meters Centerline goodness : 0.783316 Centerline is valid? [False, False] Translation: X:-147.16, Y:26.83, Z:89.06 [[ 7.13685566e-01 5.09343491e-01 4.80855614e-01 -1.47156117e+02] [-6.24680218e-01 7.73383360e-01 1.07948151e-01 2.68272148e+01] [-3.16903043e-01 -3.77422027e-01 8.70129344e-01 8.90625505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.379072329 meters Centerline goodness : 0.785184 Centerline is valid? [False, False] Translation: X:-147.23, Y:26.80, Z:89.11 [[ 7.13727210e-01 5.09653582e-01 4.80465083e-01 -1.47228124e+02] [-6.25337125e-01 7.72657011e-01 1.09337204e-01 2.67991594e+01] [-3.15510617e-01 -3.78489591e-01 8.70171638e-01 8.91067987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.40907232899997 meters Centerline goodness : 0.783424 Centerline is valid? [False, False] Translation: X:-147.29, Y:26.78, Z:89.14 [[ 7.12243452e-01 5.12053919e-01 4.80114622e-01 -1.47285199e+02] [-6.26583070e-01 7.72104311e-01 1.06059362e-01 2.67782266e+01] [-3.16390458e-01 -3.76371780e-01 8.70770556e-01 8.91425844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.439072329 meters Centerline goodness : 0.784112 Centerline is valid? [False, False] Translation: X:-147.36, Y:26.75, Z:89.18 [[ 7.13023839e-01 5.12448996e-01 4.78532163e-01 -1.47356430e+02] [-6.26911632e-01 7.71591779e-01 1.07832890e-01 2.67507117e+01] [-3.13972627e-01 -3.76884800e-01 8.71423569e-01 8.91844094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.46907232899997 meters Centerline goodness : 0.782847 Centerline is valid? [False, False] Translation: X:-147.43, Y:26.72, Z:89.23 [[ 7.12487818e-01 5.14205495e-01 4.77445095e-01 -1.47434086e+02] [-6.28963334e-01 7.69659466e-01 1.09678761e-01 2.67205936e+01] [-3.11072716e-01 -3.78440240e-01 8.71789396e-01 8.92298952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.499072329 meters Centerline goodness : 0.782404 Centerline is valid? [False, False] Translation: X:-147.51, Y:26.69, Z:89.27 [[ 7.12662548e-01 5.14120105e-01 4.77276240e-01 -1.47508015e+02] [-6.29938259e-01 7.68394804e-01 1.12903562e-01 2.66913184e+01] [-3.08690592e-01 -3.81116704e-01 8.71470123e-01 8.92746184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.529072329 meters Centerline goodness : 0.780450 Centerline is valid? [False, False] Translation: X:-147.59, Y:26.66, Z:89.32 [[ 7.11447715e-01 5.14402811e-01 4.78781679e-01 -1.47586256e+02] [-6.32309406e-01 7.65871149e-01 1.16731305e-01 2.66593086e+01] [-3.06638164e-01 -3.85786379e-01 8.70139015e-01 8.93235643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.55907232899995 meters Centerline goodness : 0.781363 Centerline is valid? [False, False] Translation: X:-147.65, Y:26.64, Z:89.36 [[ 7.09374053e-01 5.16173966e-01 4.79950924e-01 -1.47649412e+02] [-6.33816200e-01 7.65034259e-01 1.14015822e-01 2.66356032e+01] [-3.08326900e-01 -3.85080537e-01 8.69854875e-01 8.93640974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.589072329 meters Centerline goodness : 0.780686 Centerline is valid? [False, False] Translation: X:-147.72, Y:26.61, Z:89.41 [[ 7.09662912e-01 5.16335445e-01 4.79349830e-01 -1.47722593e+02] [-6.34374568e-01 7.64285513e-01 1.15916185e-01 2.66068998e+01] [-3.06508496e-01 -3.86348759e-01 8.69935158e-01 8.94085644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.61907232899995 meters Centerline goodness : 0.779534 Centerline is valid? [False, False] Translation: X:-147.80, Y:26.58, Z:89.45 [[ 7.09430891e-01 5.18323355e-01 4.77544459e-01 -1.47801106e+02] [-6.35852516e-01 7.62969120e-01 1.16489054e-01 2.65756553e+01] [-3.03972679e-01 -3.86288780e-01 8.70851072e-01 8.94546562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.649072329 meters Centerline goodness : 0.779230 Centerline is valid? [False, False] Translation: X:-147.87, Y:26.55, Z:89.50 [[ 7.10177059e-01 5.19016748e-01 4.75678632e-01 -1.47873573e+02] [-6.36070082e-01 7.62628391e-01 1.17527820e-01 2.65472456e+01] [-3.01767122e-01 -3.86030508e-01 8.71732213e-01 8.94977864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.67907232899995 meters Centerline goodness : 0.779094 Centerline is valid? [False, False] Translation: X:-147.95, Y:26.52, Z:89.54 [[ 7.10759625e-01 5.19641994e-01 4.74123352e-01 -1.47948293e+02] [-6.36313542e-01 7.62285685e-01 1.18429774e-01 2.65170605e+01] [-2.99876360e-01 -3.85866212e-01 8.72457125e-01 8.95426781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.709072329 meters Centerline goodness : 0.781154 Centerline is valid? [False, False] Translation: X:-148.02, Y:26.49, Z:89.59 [[ 7.11776687e-01 5.19019256e-01 4.73278944e-01 -1.48022013e+02] [-6.36062032e-01 7.62121545e-01 1.20813253e-01 2.64871823e+01] [-2.97991676e-01 -3.87026824e-01 8.72588791e-01 8.95887176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.73907232899995 meters Centerline goodness : 0.782696 Centerline is valid? [False, False] Translation: X:-148.10, Y:26.46, Z:89.63 [[ 7.12649150e-01 5.18219793e-01 4.72841871e-01 -1.48096037e+02] [-6.35882535e-01 7.61855518e-01 1.23408147e-01 2.64574107e+01] [-2.96284644e-01 -3.88618599e-01 8.72462604e-01 8.96347014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.769072329 meters Centerline goodness : 0.784968 Centerline is valid? [False, False] Translation: X:-148.17, Y:26.43, Z:89.68 [[ 7.12996291e-01 5.14867344e-01 4.75970490e-01 -1.48168704e+02] [-6.31398875e-01 7.66654204e-01 1.16519498e-01 2.64326059e+01] [-3.04912693e-01 -3.83605202e-01 8.71708265e-01 8.96807752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.79907232899996 meters Centerline goodness : 0.784113 Centerline is valid? [False, False] Translation: X:-148.24, Y:26.41, Z:89.72 [[ 7.17186790e-01 5.10751974e-01 4.74104976e-01 -1.48241804e+02] [-6.26038504e-01 7.71062303e-01 1.16355986e-01 2.64055689e+01] [-3.06135426e-01 -3.80256946e-01 8.72746101e-01 8.97242129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.829072329 meters Centerline goodness : 0.784856 Centerline is valid? [False, False] Translation: X:-148.30, Y:26.38, Z:89.76 [[ 7.18174391e-01 5.09871833e-01 4.73557027e-01 -1.48303336e+02] [-6.22051909e-01 7.75423667e-01 1.08487599e-01 2.63848507e+01] [-3.11892555e-01 -3.72490068e-01 8.74056167e-01 8.97621501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.85907232899996 meters Centerline goodness : 0.785028 Centerline is valid? [False, False] Translation: X:-148.38, Y:26.36, Z:89.81 [[ 7.23946045e-01 5.03459859e-01 4.71625163e-01 -1.48379005e+02] [-6.14211290e-01 7.81662138e-01 1.08391852e-01 2.63578575e+01] [-3.14080587e-01 -3.68147353e-01 8.75111942e-01 8.98061560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.889072329 meters Centerline goodness : 0.785870 Centerline is valid? [False, False] Translation: X:-148.45, Y:26.33, Z:89.85 [[ 7.26561865e-01 4.99930962e-01 4.71356436e-01 -1.48453039e+02] [-6.11095104e-01 7.83783762e-01 1.10660690e-01 2.63306004e+01] [-3.14118815e-01 -3.68445447e-01 8.74972755e-01 8.98504861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.91907232899996 meters Centerline goodness : 0.790397 Centerline is valid? [False, False] Translation: X:-148.53, Y:26.30, Z:89.90 [[ 7.28525168e-01 4.96850523e-01 4.71583119e-01 -1.48528193e+02] [-6.08561199e-01 7.85481863e-01 1.12567802e-01 2.63030417e+01] [-3.14490615e-01 -3.68995666e-01 8.74607256e-01 8.98957285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.949072329 meters Centerline goodness : 0.786447 Centerline is valid? [False, False] Translation: X:-148.60, Y:26.28, Z:89.94 [[ 7.27635158e-01 4.95292944e-01 4.74586110e-01 -1.48598746e+02] [-6.05543352e-01 7.88832606e-01 1.05168289e-01 2.62805033e+01] [-3.22279887e-01 -3.63906608e-01 8.73903687e-01 8.99391861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.97907232899996 meters Centerline goodness : 0.789479 Centerline is valid? [False, False] Translation: X:-148.67, Y:26.25, Z:89.98 [[ 7.29726579e-01 4.93720521e-01 4.73010748e-01 -1.48668663e+02] [-6.03351516e-01 7.90430124e-01 1.05769405e-01 2.62532198e+01] [-3.21661418e-01 -3.62574498e-01 8.74684895e-01 8.99810692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.009072329 meters Centerline goodness : 0.788007 Centerline is valid? [False, False] Translation: X:-148.74, Y:26.23, Z:90.02 [[ 7.31616700e-01 4.92627263e-01 4.71227529e-01 -1.48739453e+02] [-6.01176677e-01 7.92155597e-01 1.05243114e-01 2.62253854e+01] [-3.21439898e-01 -3.60288620e-01 8.75710285e-01 9.00236280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.03907232899996 meters Centerline goodness : 0.789642 Centerline is valid? [False, False] Translation: X:-148.81, Y:26.20, Z:90.07 [[ 7.34176945e-01 4.90539738e-01 4.69419832e-01 -1.48813915e+02] [-5.97802442e-01 7.94817429e-01 1.04391068e-01 2.61955261e+01] [-3.21895097e-01 -3.57261838e-01 8.76782485e-01 9.00688086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.069072329 meters Centerline goodness : 0.789223 Centerline is valid? [False, False] Translation: X:-148.88, Y:26.17, Z:90.11 [[ 7.35764848e-01 4.89270325e-01 4.68257021e-01 -1.48884246e+02] [-5.96271709e-01 7.95838779e-01 1.05359798e-01 2.61676136e+01] [-3.21107673e-01 -3.56728450e-01 8.77288251e-01 9.01121314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.09907232899997 meters Centerline goodness : 0.791151 Centerline is valid? [False, False] Translation: X:-148.96, Y:26.14, Z:90.16 [[ 7.36887147e-01 4.87223058e-01 4.68626744e-01 -1.48960917e+02] [-5.94545967e-01 7.97010781e-01 1.06249274e-01 2.61371392e+01] [-3.21733471e-01 -3.56913865e-01 8.76983504e-01 9.01583471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.129072329 meters Centerline goodness : 0.790689 Centerline is valid? [False, False] Translation: X:-149.03, Y:26.11, Z:90.20 [[ 7.37525318e-01 4.87451853e-01 4.67383243e-01 -1.49032465e+02] [-5.94086954e-01 7.97411170e-01 1.05811703e-01 2.61091624e+01] [-3.21118508e-01 -3.55705097e-01 8.77699714e-01 9.02010609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.15907232899997 meters Centerline goodness : 0.789667 Centerline is valid? [False, False] Translation: X:-149.09, Y:26.09, Z:90.23 [[ 7.36459943e-01 4.89757914e-01 4.66651839e-01 -1.49086717e+02] [-5.94882372e-01 7.97309368e-01 1.02042810e-01 2.60882139e+01] [-3.22089609e-01 -3.52753395e-01 8.78534761e-01 9.02345670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.189072329 meters Centerline goodness : 0.789871 Centerline is valid? [False, False] Translation: X:-149.16, Y:26.06, Z:90.28 [[ 7.36759553e-01 4.90554572e-01 4.65340276e-01 -1.49158947e+02] [-5.95465033e-01 7.96772170e-01 1.02837263e-01 2.60592861e+01] [-3.20322892e-01 -3.52860199e-01 8.79137603e-01 9.02764601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.21907232899997 meters Centerline goodness : 0.787780 Centerline is valid? [False, False] Translation: X:-149.23, Y:26.03, Z:90.32 [[ 7.36044158e-01 4.92648912e-01 4.64258600e-01 -1.49233121e+02] [-5.97866189e-01 7.94753312e-01 1.04514081e-01 2.60276293e+01] [-3.17482312e-01 -3.54491498e-01 8.79511660e-01 9.03195583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.249072329 meters Centerline goodness : 0.785738 Centerline is valid? [False, False] Translation: X:-149.30, Y:26.00, Z:90.36 [[ 7.36217491e-01 4.93330567e-01 4.63258846e-01 -1.49303482e+02] [-5.98745845e-01 7.93877142e-01 1.06124910e-01 2.59985975e+01] [-3.15415946e-01 -3.55505324e-01 8.79845864e-01 9.03616031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.279072329 meters Centerline goodness : 0.784599 Centerline is valid? [False, False] Translation: X:-149.36, Y:25.98, Z:90.40 [[ 7.34417807e-01 4.95821734e-01 4.63455816e-01 -1.49361028e+02] [-6.00449835e-01 7.92982415e-01 1.03144967e-01 2.59757562e+01] [-3.16370796e-01 -3.54033469e-01 8.80096485e-01 9.03972098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.30907232899995 meters Centerline goodness : 0.784258 Centerline is valid? [False, False] Translation: X:-149.44, Y:25.94, Z:90.44 [[ 7.33717585e-01 4.97210816e-01 4.63076570e-01 -1.49438127e+02] [-6.02855935e-01 7.90758047e-01 1.06143454e-01 2.59418531e+01] [-3.13405851e-01 -3.57047777e-01 8.79939576e-01 9.04419590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.339072329 meters Centerline goodness : 0.783194 Centerline is valid? [False, False] Translation: X:-149.51, Y:25.91, Z:90.48 [[ 7.36035278e-01 4.95552446e-01 4.61172248e-01 -1.49510350e+02] [-6.00426207e-01 7.92533991e-01 1.06668848e-01 2.59131329e+01] [-3.12634674e-01 -3.55411939e-01 8.80875652e-01 9.04845520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.36907232899995 meters Centerline goodness : 0.784843 Centerline is valid? [False, False] Translation: X:-149.58, Y:25.89, Z:90.53 [[ 7.38513980e-01 4.93374241e-01 4.59542120e-01 -1.49582497e+02] [-5.97239724e-01 7.94989393e-01 1.06285354e-01 2.58861629e+01] [-3.12892655e-01 -3.52950029e-01 8.81773476e-01 9.05269061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.399072329 meters Centerline goodness : 0.784693 Centerline is valid? [False, False] Translation: X:-149.66, Y:25.86, Z:90.57 [[ 7.40056761e-01 4.91571451e-01 4.58991829e-01 -1.49659817e+02] [-5.94547878e-01 7.97196058e-01 1.04839240e-01 2.58570779e+01] [-3.14370500e-01 -3.50479606e-01 8.82233095e-01 9.05718418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.42907232899995 meters Centerline goodness : 0.786591 Centerline is valid? [False, False] Translation: X:-149.73, Y:25.83, Z:90.62 [[ 7.40426240e-01 4.91489516e-01 4.58483411e-01 -1.49734101e+02] [-5.94552959e-01 7.97076863e-01 1.05713074e-01 2.58289234e+01] [-3.13489651e-01 -3.50865402e-01 8.82393171e-01 9.06152104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.459072329 meters Centerline goodness : 0.784948 Centerline is valid? [False, False] Translation: X:-149.81, Y:25.80, Z:90.66 [[ 7.40216161e-01 4.92429648e-01 4.57813364e-01 -1.49808263e+02] [-5.95604388e-01 7.96168549e-01 1.06635147e-01 2.58009206e+01] [-3.11986294e-01 -3.51608707e-01 8.82630086e-01 9.06583381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.48907232899995 meters Centerline goodness : 0.782136 Centerline is valid? [False, False] Translation: X:-149.89, Y:25.77, Z:90.70 [[ 7.37901684e-01 4.96149539e-01 4.57533321e-01 -1.49886039e+02] [-5.99935172e-01 7.92736314e-01 1.07920920e-01 2.57716488e+01] [-3.09158364e-01 -3.54125361e-01 8.82619020e-01 9.07018379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.519072329 meters Centerline goodness : 0.781935 Centerline is valid? [False, False] Translation: X:-149.96, Y:25.74, Z:90.74 [[ 7.37317889e-01 4.98213411e-01 4.56229907e-01 -1.49957276e+02] [-6.01912104e-01 7.91109453e-01 1.08846925e-01 2.57430299e+01] [-3.06698794e-01 -3.54865088e-01 8.83179834e-01 9.07437855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.54907232899996 meters Centerline goodness : 0.781945 Centerline is valid? [False, False] Translation: X:-150.04, Y:25.71, Z:90.79 [[ 7.40145073e-01 4.94737264e-01 4.55434200e-01 -1.50036843e+02] [-5.97272652e-01 7.94839060e-01 1.07220557e-01 2.57124535e+01] [-3.08950886e-01 -3.51377160e-01 8.83789252e-01 9.07908175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.579072329 meters Centerline goodness : 0.783381 Centerline is valid? [False, False] Translation: X:-150.11, Y:25.68, Z:90.83 [[ 7.41616129e-01 4.93552135e-01 4.54325663e-01 -1.50110140e+02] [-5.95089536e-01 7.96642668e-01 1.05966518e-01 2.56846361e+01] [-3.09635207e-01 -3.48950927e-01 8.84510763e-01 9.08344189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.60907232899996 meters Centerline goodness : 0.784184 Centerline is valid? [False, False] Translation: X:-150.17, Y:25.66, Z:90.87 [[ 7.40182618e-01 4.95422998e-01 4.54627039e-01 -1.50170229e+02] [-5.95375717e-01 7.97112381e-01 1.00695620e-01 2.56635448e+01] [-3.12501915e-01 -3.45207047e-01 8.84971552e-01 9.08710779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.639072329 meters Centerline goodness : 0.782096 Centerline is valid? [False, False] Translation: X:-150.25, Y:25.63, Z:90.92 [[ 7.38073975e-01 4.98265700e-01 4.54948457e-01 -1.50249524e+02] [-5.99211920e-01 7.93999579e-01 1.02517037e-01 2.56346281e+01] [-3.10148160e-01 -3.48275696e-01 8.84597173e-01 9.09153007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.66907232899996 meters Centerline goodness : 0.779011 Centerline is valid? [False, False] Translation: X:-150.33, Y:25.61, Z:90.96 [[ 7.36584548e-01 5.00797762e-01 4.54582011e-01 -1.50327696e+02] [-6.02523567e-01 7.91209886e-01 1.04653081e-01 2.56051840e+01] [-3.07259753e-01 -3.50982217e-01 8.84535430e-01 9.09589524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.699072329 meters Centerline goodness : 0.779110 Centerline is valid? [False, False] Translation: X:-150.41, Y:25.58, Z:91.00 [[ 7.34518108e-01 5.04086071e-01 4.54291077e-01 -1.50406857e+02] [-6.06552031e-01 7.87884384e-01 1.06455773e-01 2.55754274e+01] [-3.04265973e-01 -3.53744868e-01 8.84469777e-01 9.10025936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.72907232899996 meters Centerline goodness : 0.777127 Centerline is valid? [False, False] Translation: X:-150.48, Y:25.55, Z:91.04 [[ 7.34343397e-01 5.05313455e-01 4.53208657e-01 -1.50481844e+02] [-6.08178334e-01 7.86319653e-01 1.08722201e-01 2.55456742e+01] [-3.01428083e-01 -3.55471117e-01 8.84749341e-01 9.10445889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.759072329 meters Centerline goodness : 0.775829 Centerline is valid? [False, False] Translation: X:-150.56, Y:25.52, Z:91.09 [[ 7.36029155e-01 5.04602593e-01 4.51261905e-01 -1.50556613e+02] [-6.06646534e-01 7.87476047e-01 1.08910325e-01 2.55185595e+01] [-3.00401508e-01 -3.53917645e-01 8.85720743e-01 9.10866497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.78907232899996 meters Centerline goodness : 0.774370 Centerline is valid? [False, False] Translation: X:-150.63, Y:25.49, Z:91.13 [[ 7.31208804e-01 5.12182412e-01 4.50558389e-01 -1.50629274e+02] [-6.11994774e-01 7.84305066e-01 1.01626574e-01 2.54916978e+01] [-3.01323883e-01 -3.50049625e-01 8.86943728e-01 9.11313573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.819072329 meters Centerline goodness : 0.772548 Centerline is valid? [False, False] Translation: X:-150.71, Y:25.46, Z:91.18 [[ 7.30072158e-01 5.13777303e-01 4.50585759e-01 -1.50707428e+02] [-6.14915274e-01 7.81547921e-01 1.05176289e-01 2.54606687e+01] [-2.98117173e-01 -3.53858346e-01 8.86515889e-01 9.11758137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.84907232899997 meters Centerline goodness : 0.776999 Centerline is valid? [False, False] Translation: X:-150.79, Y:25.43, Z:91.22 [[ 7.27092880e-01 5.16689804e-01 4.52070337e-01 -1.50789665e+02] [-6.20126117e-01 7.76818410e-01 1.09529707e-01 2.54297780e+01] [-2.94583677e-01 -3.59978893e-01 8.85231977e-01 9.12229927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.879072329 meters Centerline goodness : 0.776818 Centerline is valid? [False, False] Translation: X:-150.87, Y:25.40, Z:91.27 [[ 7.28075672e-01 5.15985167e-01 4.51292726e-01 -1.50868076e+02] [-6.19625107e-01 7.76965854e-01 1.11304941e-01 2.53995917e+01] [-2.93207339e-01 -3.60670723e-01 8.85407299e-01 9.12670253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.90907232899997 meters Centerline goodness : 0.778045 Centerline is valid? [False, False] Translation: X:-150.94, Y:25.37, Z:91.31 [[ 7.29525826e-01 5.15330328e-01 4.49696256e-01 -1.50942464e+02] [-6.18628864e-01 7.77587128e-01 1.12501501e-01 2.53721828e+01] [-2.91702585e-01 -3.60267834e-01 8.86068107e-01 9.13084966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.939072329 meters Centerline goodness : 0.778909 Centerline is valid? [False, False] Translation: X:-151.02, Y:25.34, Z:91.35 [[ 7.26842259e-01 5.19550012e-01 4.49186060e-01 -1.51024986e+02] [-6.23008913e-01 7.74035222e-01 1.12824508e-01 2.53429012e+01] [-2.89067857e-01 -3.61852539e-01 8.86285797e-01 9.13535101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.96907232899997 meters Centerline goodness : 0.779470 Centerline is valid? [False, False] Translation: X:-151.10, Y:25.31, Z:91.40 [[ 7.25491485e-01 5.21543756e-01 4.49059255e-01 -1.51104090e+02] [-6.25846559e-01 7.71391533e-01 1.15200636e-01 2.53127217e+01] [-2.86318335e-01 -3.64619271e-01 8.86044355e-01 9.13980792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.999072329 meters Centerline goodness : 0.776909 Centerline is valid? [False, False] Translation: X:-151.19, Y:25.28, Z:91.44 [[ 7.20104530e-01 5.27485044e-01 4.50787083e-01 -1.51187319e+02] [-6.34154914e-01 7.63985843e-01 1.19051150e-01 2.52829559e+01] [-2.81597249e-01 -3.71598116e-01 8.84656899e-01 9.14449016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.029072329 meters Centerline goodness : 0.779171 Centerline is valid? [False, False] Translation: X:-151.27, Y:25.25, Z:91.49 [[ 7.18162253e-01 5.30122988e-01 4.50791078e-01 -1.51266106e+02] [-6.37821239e-01 7.60493264e-01 1.21795170e-01 2.52519502e+01] [-2.78257159e-01 -3.74992818e-01 8.84281256e-01 9.14896371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.05907232899995 meters Centerline goodness : 0.779322 Centerline is valid? [False, False] Translation: X:-151.34, Y:25.22, Z:91.53 [[ 7.17720660e-01 5.31561803e-01 4.49798959e-01 -1.51341900e+02] [-6.39399592e-01 7.58908013e-01 1.23396876e-01 2.52208014e+01] [-2.75762969e-01 -3.76165758e-01 8.84564360e-01 9.15331343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.089072329 meters Centerline goodness : 0.780369 Centerline is valid? [False, False] Translation: X:-151.41, Y:25.20, Z:91.57 [[ 7.16107145e-01 5.33924221e-01 4.49572556e-01 -1.51410136e+02] [-6.39989427e-01 7.59328609e-01 1.17616312e-01 2.51961105e+01] [-2.78575106e-01 -3.71947564e-01 8.85466499e-01 9.15744235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.11907232899995 meters Centerline goodness : 0.786057 Centerline is valid? [False, False] Translation: X:-151.49, Y:25.17, Z:91.62 [[ 7.13370698e-01 5.37715318e-01 4.49404589e-01 -1.51487385e+02] [-6.43788730e-01 7.56181907e-01 1.17153723e-01 2.51680880e+01] [-2.76836268e-01 -3.72895642e-01 8.85613076e-01 9.16190479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.149072329 meters Centerline goodness : 0.785335 Centerline is valid? [False, False] Translation: X:-151.57, Y:25.13, Z:91.67 [[ 7.13152551e-01 5.38988906e-01 4.48223603e-01 -1.51570725e+02] [-6.45982886e-01 7.53606179e-01 1.21588806e-01 2.51343814e+01] [-2.72249059e-01 -3.76256143e-01 8.85613778e-01 9.16675143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.17907232899995 meters Centerline goodness : 0.785837 Centerline is valid? [False, False] Translation: X:-151.66, Y:25.10, Z:91.72 [[ 7.12917083e-01 5.40165477e-01 4.47180602e-01 -1.51655235e+02] [-6.48270886e-01 7.50816732e-01 1.26566560e-01 2.51005481e+01] [-2.67383792e-01 -3.80125628e-01 8.85443626e-01 9.17166729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.209072329 meters Centerline goodness : 0.785742 Centerline is valid? [False, False] Translation: X:-151.75, Y:25.06, Z:91.77 [[ 7.09905461e-01 5.45135312e-01 4.45939153e-01 -1.51747034e+02] [-6.54208581e-01 7.44909541e-01 1.30846885e-01 2.50645956e+01] [-2.60855072e-01 -3.84626138e-01 8.85447551e-01 9.17694408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.23907232899995 meters Centerline goodness : 0.785742 Centerline is valid? [False, False] Translation: X:-151.82, Y:25.04, Z:91.81 [[ 7.08628429e-01 5.46040528e-01 4.46861826e-01 -1.51818372e+02] [-6.54459417e-01 7.45343718e-01 1.27065388e-01 2.50371634e+01] [-2.63682804e-01 -3.82495077e-01 8.85533114e-01 9.18121298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.269072329 meters Centerline goodness : 0.784088 Centerline is valid? [False, False] Translation: X:-151.89, Y:25.01, Z:91.85 [[ 7.08188820e-01 5.47703045e-01 4.45522132e-01 -1.51892465e+02] [-6.56332199e-01 7.43266085e-01 1.29551426e-01 2.50066687e+01] [-2.60185780e-01 -3.84157392e-01 8.85847875e-01 9.18546175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.29907232899996 meters Centerline goodness : 0.785330 Centerline is valid? [False, False] Translation: X:-151.98, Y:24.97, Z:91.91 [[ 7.06768399e-01 5.50759710e-01 4.44006950e-01 -1.51982278e+02] [-6.59849823e-01 7.39531517e-01 1.33008817e-01 2.49678144e+01] [-2.55101236e-01 -3.86984336e-01 8.86096204e-01 9.19068681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.329072329 meters Centerline goodness : 0.785908 Centerline is valid? [False, False] Translation: X:-152.07, Y:24.93, Z:91.96 [[ 7.07437254e-01 5.50856044e-01 4.42820676e-01 -1.52068847e+02] [-6.60608295e-01 7.38085058e-01 1.37211983e-01 2.49301210e+01] [-2.51255274e-01 -3.89599881e-01 8.86048938e-01 9.19574565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.35907232899996 meters Centerline goodness : 0.785961 Centerline is valid? [False, False] Translation: X:-152.15, Y:24.89, Z:92.01 [[ 7.08402806e-01 5.50781023e-01 4.41368021e-01 -1.52154106e+02] [-6.61165689e-01 7.36708545e-01 1.41846578e-01 2.48922595e+01] [-2.47033189e-01 -3.92301906e-01 8.86043914e-01 9.20075583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.389072329 meters Centerline goodness : 0.786952 Centerline is valid? [False, False] Translation: X:-152.22, Y:24.87, Z:92.04 [[ 7.06743440e-01 5.53151153e-01 4.41064068e-01 -1.52216468e+02] [-6.62824561e-01 7.35674044e-01 1.39453585e-01 2.48660401e+01] [-2.47340475e-01 -3.90906003e-01 8.86574975e-01 9.20449288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.41907232899996 meters Centerline goodness : 0.786580 Centerline is valid? [False, False] Translation: X:-152.30, Y:24.83, Z:92.10 [[ 7.08768521e-01 5.52345934e-01 4.38817904e-01 -1.52302572e+02] [-6.62024415e-01 7.35653448e-01 1.43309728e-01 2.48251336e+01] [-2.43661359e-01 -3.92081591e-01 8.87074500e-01 9.20953891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.449072329 meters Centerline goodness : 0.787981 Centerline is valid? [False, False] Translation: X:-152.37, Y:24.80, Z:92.14 [[ 7.09842021e-01 5.50936496e-01 4.38854513e-01 -1.52373821e+02] [-6.58749091e-01 7.39833263e-01 1.36734700e-01 2.47969628e+01] [-2.49347030e-01 -3.86155047e-01 8.88093654e-01 9.21371201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.47907232899996 meters Centerline goodness : 0.790696 Centerline is valid? [False, False] Translation: X:-152.44, Y:24.77, Z:92.18 [[ 7.10699191e-01 5.49865391e-01 4.38810564e-01 -1.52441862e+02] [-6.55814480e-01 7.43574627e-01 1.30399931e-01 2.47711342e+01] [-2.54585993e-01 -3.80453447e-01 8.89067571e-01 9.21768409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.509072329 meters Centerline goodness : 0.792666 Centerline is valid? [False, False] Translation: X:-152.52, Y:24.74, Z:92.22 [[ 7.14437376e-01 5.47961441e-01 4.35106302e-01 -1.52523762e+02] [-6.52746625e-01 7.45914424e-01 1.32414177e-01 2.47354171e+01] [-2.51994204e-01 -3.78615808e-01 8.90589126e-01 9.22238383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.53907232899996 meters Centerline goodness : 0.791123 Centerline is valid? [False, False] Translation: X:-152.59, Y:24.71, Z:92.26 [[ 7.13730940e-01 5.49523157e-01 4.34295342e-01 -1.52585630e+02] [-6.53248296e-01 7.45953436e-01 1.29692465e-01 2.47102124e+01] [-2.52695090e-01 -3.76268217e-01 8.91385113e-01 9.22610100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.569072329 meters Centerline goodness : 0.790208 Centerline is valid? [False, False] Translation: X:-152.66, Y:24.68, Z:92.30 [[ 7.15249001e-01 5.48855651e-01 4.32638811e-01 -1.52659473e+02] [-6.52654264e-01 7.45953309e-01 1.32650192e-01 2.46769438e+01] [-2.49922545e-01 -3.77241482e-01 8.91755340e-01 9.23043897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.59907232899997 meters Centerline goodness : 0.794723 Centerline is valid? [False, False] Translation: X:-152.73, Y:24.65, Z:92.35 [[ 7.16376060e-01 5.47081796e-01 4.33020611e-01 -1.52730963e+02] [-6.49188349e-01 7.50056843e-01 1.26369382e-01 2.46490885e+01] [-2.55655684e-01 -3.71639935e-01 8.92481893e-01 9.23467282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.629072329 meters Centerline goodness : 0.797499 Centerline is valid? [False, False] Translation: X:-152.80, Y:24.62, Z:92.39 [[ 7.15403774e-01 5.47708909e-01 4.33834521e-01 -1.52801342e+02] [-6.49608361e-01 7.50037249e-01 1.24310509e-01 2.46203921e+01] [-2.57306078e-01 -3.70754739e-01 8.92375765e-01 9.23890321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.65907232899997 meters Centerline goodness : 0.797115 Centerline is valid? [False, False] Translation: X:-152.87, Y:24.59, Z:92.43 [[ 7.15209628e-01 5.49200760e-01 4.32265790e-01 -1.52873843e+02] [-6.51588800e-01 7.47665861e-01 1.28170967e-01 2.45887347e+01] [-2.52798781e-01 -3.73328657e-01 8.92590886e-01 9.24303401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.689072329 meters Centerline goodness : 0.798931 Centerline is valid? [False, False] Translation: X:-152.95, Y:24.56, Z:92.47 [[ 7.15574956e-01 5.49972566e-01 4.30676978e-01 -1.52948090e+02] [-6.53025411e-01 7.45583425e-01 1.32902855e-01 2.45555626e+01] [-2.48012692e-01 -3.76344965e-01 8.92666887e-01 9.24728062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.71907232899997 meters Centerline goodness : 0.799305 Centerline is valid? [False, False] Translation: X:-153.01, Y:24.53, Z:92.51 [[ 7.14786234e-01 5.51471501e-01 4.30069557e-01 -1.53012757e+02] [-6.53518739e-01 7.45660208e-01 1.30015815e-01 2.45292442e+01] [-2.48985738e-01 -3.73992029e-01 8.93384611e-01 9.25113213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.749072329 meters Centerline goodness : 0.799010 Centerline is valid? [False, False] Translation: X:-153.08, Y:24.50, Z:92.55 [[ 7.12188142e-01 5.54525965e-01 4.30452093e-01 -1.53078879e+02] [-6.56614293e-01 7.43097631e-01 1.29087494e-01 2.45033441e+01] [-2.48285564e-01 -3.74575579e-01 8.93334996e-01 9.25509059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.779072329 meters Centerline goodness : 0.799951 Centerline is valid? [False, False] Translation: X:-153.16, Y:24.47, Z:92.60 [[ 7.12397685e-01 5.55508425e-01 4.28835549e-01 -1.53164532e+02] [-6.58470285e-01 7.40454521e-01 1.34699615e-01 2.44655592e+01] [-2.42706450e-01 -3.78335160e-01 8.93283878e-01 9.26005146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.80907232899995 meters Centerline goodness : 0.800847 Centerline is valid? [False, False] Translation: X:-153.24, Y:24.43, Z:92.65 [[ 7.12972972e-01 5.55998284e-01 4.27241676e-01 -1.53241834e+02] [-6.59696142e-01 7.38380110e-01 1.39985044e-01 2.44313710e+01] [-2.37635311e-01 -3.81655239e-01 8.93234985e-01 9.26450347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.839072329 meters Centerline goodness : 0.798369 Centerline is valid? [False, False] Translation: X:-153.31, Y:24.40, Z:92.69 [[ 7.11937653e-01 5.57485421e-01 4.27030191e-01 -1.53311264e+02] [-6.60393073e-01 7.38285664e-01 1.37168755e-01 2.44041970e+01] [-2.38800687e-01 -3.79663381e-01 8.93772873e-01 9.26870606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.86907232899995 meters Centerline goodness : 0.802400 Centerline is valid? [False, False] Translation: X:-153.40, Y:24.37, Z:92.74 [[ 7.13205752e-01 5.57442578e-01 4.24965090e-01 -1.53395518e+02] [-6.60670883e-01 7.37155737e-01 1.41828779e-01 2.43674566e+01] [-2.34204054e-01 -3.81915162e-01 8.94029793e-01 9.27364607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.899072329 meters Centerline goodness : 0.802874 Centerline is valid? [False, False] Translation: X:-153.48, Y:24.33, Z:92.79 [[ 7.14791872e-01 5.56827724e-01 4.23102193e-01 -1.53479321e+02] [-6.60581610e-01 7.36200625e-01 1.47107362e-01 2.43299151e+01] [-2.29574641e-01 -3.84644675e-01 8.94060377e-01 9.27859378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.92907232899995 meters Centerline goodness : 0.801934 Centerline is valid? [False, False] Translation: X:-153.57, Y:24.29, Z:92.84 [[ 7.14099055e-01 5.59404400e-01 4.20867268e-01 -1.53568338e+02] [-6.63660194e-01 7.32275396e-01 1.52734710e-01 2.42900550e+01] [-2.22750277e-01 -3.88380564e-01 8.94171601e-01 9.28380833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.959072329 meters Centerline goodness : 0.802108 Centerline is valid? [False, False] Translation: X:-153.66, Y:24.25, Z:92.89 [[ 0.71534127 0.55835575 0.42014964 -153.65528352] [ -0.66371129 0.73098338 0.15858948 24.25161065] [ -0.21857306 -0.39230366 0.8934896 92.8901132 ] [ 0. 0. 0. 1. ]] SLAMing on 260.98907232899995 meters Centerline goodness : 0.803321 Centerline is valid? [False, False] Translation: X:-153.75, Y:24.21, Z:92.95 [[ 0.71521661 0.5572675 0.42180342 -153.74944903] [ -0.66491059 0.72846661 0.16501605 24.210197 ] [ -0.21531163 -0.39848378 0.89154449 92.9469157 ] [ 0. 0. 0. 1. ]] SLAMing on 261.019072329 meters Centerline goodness : 0.802943 Centerline is valid? [False, False] Translation: X:-153.82, Y:24.18, Z:92.99 [[ 0.71256545 0.55945291 0.42339452 -153.8245826 ] [ -0.66675597 0.72779666 0.16046338 24.18006423] [ -0.21837341 -0.39664149 0.89162132 92.99212543] [ 0. 0. 0. 1. ]] SLAMing on 261.04907232899996 meters Centerline goodness : 0.807594 Centerline is valid? [False, False] Translation: X:-153.91, Y:24.14, Z:93.04 [[ 0.71382007 0.5597209 0.42091974 -153.91266972] [ -0.66683 0.72687691 0.16427938 24.14096922] [ -0.21400624 -0.39794782 0.89209801 93.04399491] [ 0. 0. 0. 1. ]] SLAMing on 261.079072329 meters Centerline goodness : 0.805766 Centerline is valid? [False, False] Translation: X:-154.00, Y:24.10, Z:93.09 [[ 0.7147914 0.56055991 0.41814572 -153.99944069] [ -0.66735704 0.72549089 0.16821877 24.10296575] [ -0.20906421 -0.39929382 0.89266825 93.09484149] [ 0. 0. 0. 1. ]] SLAMing on 261.10907232899996 meters Centerline goodness : 0.804490 Centerline is valid? [False, False] Translation: X:-154.09, Y:24.06, Z:93.15 [[ 0.71548082 0.56131376 0.41594959 -154.0894552 ] [ -0.66810891 0.72379694 0.17247747 24.06387413] [ -0.20424906 -0.40130394 0.89288155 93.14779569] [ 0. 0. 0. 1. ]] SLAMing on 261.139072329 meters Centerline goodness : 0.804218 Centerline is valid? [False, False] Translation: X:-154.18, Y:24.02, Z:93.20 [[ 0.71418811 0.56362994 0.41503812 -154.18187579] [ -0.67097241 0.72013622 0.17663481 24.02418995] [ -0.19932731 -0.40462961 0.89249286 93.20277936] [ 0. 0. 0. 1. ]] SLAMing on 261.16907232899996 meters Centerline goodness : 0.806856 Centerline is valid? [False, False] Translation: X:-154.28, Y:23.98, Z:93.26 [[ 0.71466055 0.56278353 0.41537332 -154.27552346] [ -0.67136635 0.71854237 0.18156013 23.98239621] [ -0.19628427 -0.40862153 0.89134782 93.25956161] [ 0. 0. 0. 1. ]] SLAMing on 261.199072329 meters Centerline goodness : 0.808529 Centerline is valid? [False, False] Translation: X:-154.37, Y:23.94, Z:93.31 [[ 0.71430145 0.56377827 0.41464142 -154.3674581 ] [ -0.6728074 0.71627848 0.185136 23.94102613] [ -0.19262307 -0.41121672 0.89095295 93.31447114] [ 0. 0. 0. 1. ]] SLAMing on 261.22907232899996 meters Centerline goodness : 0.812151 Centerline is valid? [False, False] Translation: X:-154.46, Y:23.90, Z:93.37 [[ 0.71589386 0.56312254 0.41278201 -154.45840801] [ -0.67197947 0.71621764 0.18835045 23.89973566] [ -0.18957737 -0.41221996 0.89114259 93.36962561] [ 0. 0. 0. 1. ]] SLAMing on 261.259072329 meters Centerline goodness : 0.811840 Centerline is valid? [False, False] Translation: X:-154.55, Y:23.86, Z:93.43 [[ 0.71743215 0.56174295 0.41199025 -154.55004784] [ -0.67070292 0.71682838 0.19056409 23.85906086] [ -0.18827827 -0.41303987 0.89103836 93.4250573 ] [ 0. 0. 0. 1. ]] SLAMing on 261.28907232899996 meters Centerline goodness : 0.810591 Centerline is valid? [False, False] Translation: X:-154.64, Y:23.82, Z:93.48 [[ 0.72047539 0.55932624 0.40996266 -154.6408777 ] [ -0.66744299 0.71975039 0.19099536 23.81708672] [ -0.18824207 -0.41123416 0.89188082 93.48046425] [ 0. 0. 0. 1. ]] SLAMing on 261.319072329 meters Centerline goodness : 0.812482 Centerline is valid? [False, False] Translation: X:-154.73, Y:23.78, Z:93.53 [[ 0.72341623 0.55768966 0.40700271 -154.73081916] [ -0.66462046 0.72214257 0.19180654 23.77534654] [ -0.18694546 -0.40925829 0.89306161 93.53479839] [ 0. 0. 0. 1. ]] SLAMing on 261.34907232899997 meters Centerline goodness : 0.816524 Centerline is valid? [False, False] Translation: X:-154.82, Y:23.74, Z:93.59 [[ 0.72677389 0.55585519 0.40351545 -154.81596313] [ -0.66141979 0.72479662 0.19285674 23.73600938] [ -0.18526621 -0.40705635 0.89441688 93.58697164] [ 0. 0. 0. 1. ]] SLAMing on 261.379072329 meters Centerline goodness : 0.810594 Centerline is valid? [False, False] Translation: X:-154.91, Y:23.70, Z:93.65 [[ 0.72926654 0.55180818 0.40457143 -154.90825959] [ -0.65773002 0.72831127 0.19223398 23.69702271] [ -0.18857765 -0.40628859 0.89407385 93.64528992] [ 0. 0. 0. 1. ]] SLAMing on 261.40907232899997 meters Centerline goodness : 0.812736 Centerline is valid? [False, False] Translation: X:-155.00, Y:23.66, Z:93.70 [[ 0.72803662 0.54938451 0.41004796 -155.00011047] [ -0.65724746 0.72942288 0.18965241 23.65846114] [ -0.19490627 -0.40757688 0.89212815 93.70378804] [ 0. 0. 0. 1. ]] SLAMing on 261.439072329 meters Centerline goodness : 0.812594 Centerline is valid? [False, False] Translation: X:-155.09, Y:23.62, Z:93.76 [[ 0.72705025 0.54707014 0.41486407 -155.08950644] [ -0.65661378 0.73060284 0.18729078 23.62013985] [ -0.20063967 -0.40857527 0.89039877 93.76102958] [ 0. 0. 0. 1. ]] SLAMing on 261.46907232899997 meters Centerline goodness : 0.812320 Centerline is valid? [False, False] Translation: X:-155.18, Y:23.58, Z:93.82 [[ 0.72713055 0.54505978 0.41736195 -155.17619787] [ -0.654839 0.73319311 0.18334055 23.58229225] [ -0.20607534 -0.40661739 0.89005351 93.81599622] [ 0. 0. 0. 1. ]] SLAMing on 261.499072329 meters Centerline goodness : 0.816216 Centerline is valid? [False, False] Translation: X:-155.26, Y:23.54, Z:93.87 [[ 0.72955984 0.54360893 0.41500816 -155.26375919] [ -0.65257401 0.73490714 0.18454989 23.54170873] [ -0.20466949 -0.40546372 0.89090379 93.86949879] [ 0. 0. 0. 1. ]] SLAMing on 261.529072329 meters Centerline goodness : 0.814007 Centerline is valid? [False, False] Translation: X:-155.35, Y:23.50, Z:93.92 [[ 0.73368306 0.54090577 0.41125431 -155.34840591] [ -0.64838508 0.73833622 0.18562439 23.50280399] [ -0.20323865 -0.40284063 0.89242001 93.92114652] [ 0. 0. 0. 1. ]] SLAMing on 261.55907232899995 meters Centerline goodness : 0.808120 Centerline is valid? [False, False] Translation: X:-155.44, Y:23.46, Z:93.98 [[ 0.73557274 0.5378075 0.41194155 -155.43570785] [ -0.64561361 0.7407223 0.18577821 23.46356523] [ -0.20522138 -0.40260846 0.89207097 93.97557254] [ 0. 0. 0. 1. ]] SLAMing on 261.589072329 meters Centerline goodness : 0.808656 Centerline is valid? [False, False] Translation: X:-155.52, Y:23.43, Z:94.03 [[ 0.73572858 0.53537638 0.41481996 -155.52020592] [ -0.64359854 0.74339778 0.18204579 23.42579736] [ -0.21091322 -0.40091381 0.89150644 94.02952761] [ 0. 0. 0. 1. ]] SLAMing on 261.61907232899995 meters Centerline goodness : 0.814210 Centerline is valid? [False, False] Translation: X:-155.60, Y:23.39, Z:94.08 [[ 0.73660032 0.53158746 0.41813245 -155.60418983] [ -0.64036312 0.7470948 0.1782819 23.38717675] [ -0.21761216 -0.39907911 0.89071927 94.08291515] [ 0. 0. 0. 1. ]] SLAMing on 261.649072329 meters Centerline goodness : 0.808900 Centerline is valid? [False, False] Translation: X:-155.69, Y:23.35, Z:94.13 [[ 0.73909575 0.52904819 0.41694781 -155.68782741] [ -0.63767293 0.7489786 0.18001193 23.34943676] [ -0.21705001 -0.39892238 0.89092661 94.13437017] [ 0. 0. 0. 1. ]] SLAMing on 261.67907232899995 meters Centerline goodness : 0.815177 Centerline is valid? [False, False] Translation: X:-155.75, Y:23.33, Z:94.18 [[ 0.73472154 0.53328714 0.41927209 -155.74983605] [ -0.63967547 0.75039643 0.16649471 23.32633883] [ -0.2258308 -0.39052532 0.89246312 94.17523559] [ 0. 0. 0. 1. ]] SLAMing on 261.709072329 meters Centerline goodness : 0.812894 Centerline is valid? [False, False] Translation: X:-155.83, Y:23.29, Z:94.23 [[ 0.73880635 0.52884553 0.41771711 -155.83321447] [ -0.63529371 0.75336246 0.16984378 23.28744512] [ -0.22487126 -0.39085472 0.89256121 94.22800198] [ 0. 0. 0. 1. ]] SLAMing on 261.73907232899995 meters Centerline goodness : 0.808482 Centerline is valid? [False, False] Translation: X:-155.92, Y:23.25, Z:94.28 [[ 0.74071939 0.52535416 0.41873356 -155.91806668] [ -0.63270004 0.75508437 0.17186698 23.24988985] [ -0.22588813 -0.39223794 0.89169723 94.28067657] [ 0. 0. 0. 1. ]] SLAMing on 261.769072329 meters Centerline goodness : 0.813877 Centerline is valid? [False, False] Translation: X:-156.00, Y:23.21, Z:94.33 [[ 0.74101818 0.52401879 0.41987661 -156.00475022] [ -0.63200715 0.75552524 0.17247775 23.21063188] [ -0.22684579 -0.39317417 0.89104156 94.33429168] [ 0. 0. 0. 1. ]] SLAMing on 261.79907232899996 meters Centerline goodness : 0.814539 Centerline is valid? [False, False] Translation: X:-156.08, Y:23.17, Z:94.38 [[ 0.74206636 0.5245608 0.41734098 -156.08426793] [ -0.63217312 0.75469756 0.1754672 23.1734118 ] [ -0.22292301 -0.39404005 0.89164891 94.38339171] [ 0. 0. 0. 1. ]] SLAMing on 261.829072329 meters Centerline goodness : 0.815494 Centerline is valid? [False, False] Translation: X:-156.17, Y:23.14, Z:94.43 [[ 0.74325609 0.52444153 0.41536908 -156.16510569] [ -0.63195377 0.75413562 0.17864461 23.13601204] [ -0.21955596 -0.39527275 0.89193869 94.4337618 ] [ 0. 0. 0. 1. ]] SLAMing on 261.85907232899996 meters Centerline goodness : 0.814558 Centerline is valid? [False, False] Translation: X:-156.24, Y:23.10, Z:94.48 [[ 0.74040825 0.52708604 0.41710421 -156.24234072] [ -0.63458879 0.75271012 0.1752842 23.10222022] [ -0.22156871 -0.39447152 0.89179568 94.48273805] [ 0. 0. 0. 1. ]] SLAMing on 261.889072329 meters Centerline goodness : 0.813339 Centerline is valid? [False, False] Translation: X:-156.32, Y:23.07, Z:94.54 [[ 0.73540323 0.53082649 0.42119511 -156.32279794] [ -0.64026149 0.74787401 0.17535588 23.06500677] [ -0.22191733 -0.39863229 0.88985673 94.53535008] [ 0. 0. 0. 1. ]] SLAMing on 261.91907232899996 meters Centerline goodness : 0.809287 Centerline is valid? [False, False] Translation: X:-156.41, Y:23.02, Z:94.59 [[ 0.73585638 0.53019083 0.4212043 -156.40811638] [ -0.64050067 0.74682817 0.17890383 23.02435365] [ -0.21971406 -0.40142916 0.88914586 94.58838169] [ 0. 0. 0. 1. ]] SLAMing on 261.949072329 meters Centerline goodness : 0.806902 Centerline is valid? [False, False] Translation: X:-156.47, Y:23.00, Z:94.63 [[ 0.73111628 0.53450144 0.42400141 -156.4710613 ] [ -0.64319966 0.74724222 0.16710252 22.99942351] [ -0.22751522 -0.39488894 0.8901121 94.62971436] [ 0. 0. 0. 1. ]] SLAMing on 261.97907232899996 meters Centerline goodness : 0.814812 Centerline is valid? [False, False] Translation: X:-156.55, Y:22.96, Z:94.68 [[ 0.73609462 0.53110185 0.41963738 -156.5531192 ] [ -0.63813383 0.75124455 0.16857294 22.95737431] [ -0.22572089 -0.39187045 0.89190113 94.68089299] [ 0. 0. 0. 1. ]] SLAMing on 262.009072329 meters Centerline goodness : 0.816203 Centerline is valid? [False, False] Translation: X:-156.62, Y:22.93, Z:94.72 [[ 0.73580316 0.53148134 0.41966808 -156.6179306 ] [ -0.63741733 0.75282361 0.16418208 22.92753387] [ -0.22867633 -0.3883094 0.89270541 94.72115067] [ 0. 0. 0. 1. ]] SLAMing on 262.03907232899996 meters Centerline goodness : 0.818471 Centerline is valid? [False, False] Translation: X:-156.70, Y:22.89, Z:94.77 [[ 0.73870586 0.5291881 0.41746091 -156.69627991] [ -0.63531455 0.75353602 0.16899376 22.88823404] [ -0.22514235 -0.39005567 0.89284237 94.77045277] [ 0. 0. 0. 1. ]] SLAMing on 262.069072329 meters Centerline goodness : 0.815820 Centerline is valid? [False, False] Translation: X:-156.77, Y:22.86, Z:94.81 [[ 0.73730176 0.5299161 0.41901675 -156.76561815] [ -0.63587151 0.753835 0.1655301 22.85851665] [ -0.22815242 -0.38848645 0.89276243 94.81414766] [ 0. 0. 0. 1. ]] SLAMing on 262.09907232899997 meters Centerline goodness : 0.817816 Centerline is valid? [False, False] Translation: X:-156.85, Y:22.82, Z:94.86 [[ 0.73950372 0.52781958 0.41778073 -156.84663172] [ -0.634538 0.75376418 0.17088323 22.81960098] [ -0.22471264 -0.39146654 0.892333 94.86458031] [ 0. 0. 0. 1. ]] SLAMing on 262.129072329 meters Centerline goodness : 0.817816 Centerline is valid? [False, False] Translation: X:-156.93, Y:22.78, Z:94.92 [[ 0.74129656 0.52607905 0.4167976 -156.92813388] [ -0.63322579 0.75404468 0.17447555 22.78043634] [ -0.22249608 -0.39326512 0.89209755 94.91521385] [ 0. 0. 0. 1. ]] SLAMing on 262.15907232899997 meters Centerline goodness : 0.815294 Centerline is valid? [False, False] Translation: X:-157.01, Y:22.75, Z:94.96 [[ 0.73992297 0.52564402 0.41977656 -157.0060276 ] [ -0.6335521 0.75429038 0.1722143 22.74590215] [ -0.22611 -0.39337564 0.89113965 94.96497212] [ 0. 0. 0. 1. ]] SLAMing on 262.189072329 meters Centerline goodness : 0.816443 Centerline is valid? [False, False] Translation: X:-157.09, Y:22.71, Z:95.02 [[ 0.74130763 0.5236336 0.41984622 -157.08611232] [ -0.63160067 0.75586514 0.17247748 22.70810698] [ -0.22703212 -0.39303403 0.89105593 95.01577426] [ 0. 0. 0. 1. ]] SLAMing on 262.21907232899997 meters Centerline goodness : 0.820304 Centerline is valid? [False, False] Translation: X:-157.17, Y:22.67, Z:95.07 [[ 0.74267535 0.52212038 0.41931329 -157.16841343] [ -0.62999196 0.75705098 0.17315872 22.66956369] [ -0.22703184 -0.39276471 0.89117474 95.06727416] [ 0. 0. 0. 1. ]] SLAMing on 262.249072329 meters Centerline goodness : 0.818283 Centerline is valid? [False, False] Translation: X:-157.25, Y:22.63, Z:95.12 [[ 0.74335899 0.52259136 0.41751129 -157.24701729] [ -0.63025497 0.75629215 0.17550174 22.63098299] [ -0.22404481 -0.39359936 0.89156237 95.116266 ] [ 0. 0. 0. 1. ]] SLAMing on 262.279072329 meters Centerline goodness : 0.818707 Centerline is valid? [False, False] Translation: X:-157.33, Y:22.59, Z:95.17 [[ 0.74325435 0.52295126 0.41724688 -157.32602146] [ -0.63079891 0.75556261 0.17668584 22.59262294] [ -0.22285806 -0.39452139 0.89145227 95.16745684] [ 0. 0. 0. 1. ]] SLAMing on 262.30907232899995 meters Centerline goodness : 0.817477 Centerline is valid? [False, False] Translation: X:-157.40, Y:22.56, Z:95.22 [[ 0.74392095 0.52049883 0.4191212 -157.40217867] [ -0.62805983 0.75882626 0.17240523 22.55978892] [ -0.22830345 -0.39148905 0.89141116 95.2167213 ] [ 0. 0. 0. 1. ]] SLAMing on 262.339072329 meters Centerline goodness : 0.818569 Centerline is valid? [False, False] Translation: X:-157.48, Y:22.52, Z:95.27 [[ 0.74350622 0.51967752 0.42087264 -157.47870259] [ -0.62713088 0.76035414 0.16902205 22.52461955] [ -0.2321753 -0.38961117 0.89123384 95.2658008 ] [ 0. 0. 0. 1. ]] SLAMing on 262.36907232899995 meters Centerline goodness : 0.818158 Centerline is valid? [False, False] Translation: X:-157.55, Y:22.49, Z:95.31 [[ 0.74548974 0.51851747 0.41878955 -157.55491473] [ -0.62607109 0.76030774 0.17311018 22.4859349 ] [ -0.22864828 -0.39124389 0.89143041 95.31397294] [ 0. 0. 0. 1. ]] SLAMing on 262.399072329 meters Centerline goodness : 0.817709 Centerline is valid? [False, False] Translation: X:-157.63, Y:22.45, Z:95.36 [[ 0.74754607 0.5166337 0.41744998 -157.63282503] [ -0.62370146 0.76211989 0.17369448 22.44912417] [ -0.22841051 -0.39020879 0.89194492 95.36343885] [ 0. 0. 0. 1. ]] SLAMing on 262.42907232899995 meters Centerline goodness : 0.816297 Centerline is valid? [False, False] Translation: X:-157.71, Y:22.42, Z:95.41 [[ 0.74828143 0.51526576 0.41782304 -157.70636497] [ -0.62168499 0.76445309 0.17064361 22.41532118] [ -0.2314793 -0.38744376 0.89235904 95.41129389] [ 0. 0. 0. 1. ]] SLAMing on 262.459072329 meters Centerline goodness : 0.816240 Centerline is valid? [False, False] Translation: X:-157.78, Y:22.38, Z:95.46 [[ 0.74834448 0.51382706 0.41947858 -157.78184999] [ -0.62034627 0.76604926 0.16834201 22.38111928] [ -0.23484258 -0.38619979 0.89201944 95.46039751] [ 0. 0. 0. 1. ]] SLAMing on 262.48907232899995 meters Centerline goodness : 0.813561 Centerline is valid? [False, False] Translation: X:-157.85, Y:22.35, Z:95.50 [[ 0.74784087 0.51253307 0.42195247 -157.8463655 ] [ -0.61891581 0.76817913 0.16384153 22.35404953] [ -0.24016088 -0.38368045 0.89169057 95.50071118] [ 0. 0. 0. 1. ]] SLAMing on 262.519072329 meters Centerline goodness : 0.816310 Centerline is valid? [False, False] Translation: X:-157.91, Y:22.33, Z:95.54 [[ 0.74791893 0.51106294 0.42359409 -157.90884777] [ -0.616541 0.77130049 0.15802768 22.32599259] [ -0.24595624 -0.37935502 0.89196149 95.54008932] [ 0. 0. 0. 1. ]] SLAMing on 262.54907232899996 meters Centerline goodness : 0.817028 Centerline is valid? [False, False] Translation: X:-157.99, Y:22.29, Z:95.59 [[ 0.75078543 0.50903872 0.42095228 -157.98617247] [ -0.61411313 0.77262183 0.16099867 22.28599549] [ -0.24328236 -0.37938778 0.89268057 95.58904957] [ 0. 0. 0. 1. ]] SLAMing on 262.579072329 meters Centerline goodness : 0.817730 Centerline is valid? [False, False] Translation: X:-158.06, Y:22.25, Z:95.64 [[ 0.75325242 0.50759727 0.41827719 -158.06024086] [ -0.61237868 0.7732853 0.16438433 22.24741443] [ -0.24000657 -0.37996693 0.89332076 95.63625577] [ 0. 0. 0. 1. ]] SLAMing on 262.60907232899996 meters Centerline goodness : 0.816276 Centerline is valid? [False, False] Translation: X:-158.12, Y:22.22, Z:95.68 [[ 0.75467622 0.50393165 0.42013889 -158.12291931] [ -0.60807869 0.77769649 0.1594631 22.22006298] [ -0.24638204 -0.37582052 0.89333915 95.67764322] [ 0. 0. 0. 1. ]] SLAMing on 262.639072329 meters Centerline goodness : 0.815468 Centerline is valid? [False, False] Translation: X:-158.19, Y:22.19, Z:95.72 [[ 7.54198640e-01 5.01724063e-01 4.23624097e-01 -1.58187137e+02] [-6.06032893e-01 7.80212272e-01 1.54896554e-01 2.21920213e+01] [-2.52801391e-01 -3.73552908e-01 8.92496320e-01 9.57182440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.66907232899996 meters Centerline goodness : 0.818244 Centerline is valid? [False, False] Translation: X:-158.26, Y:22.15, Z:95.77 [[ 7.56065006e-01 4.98438927e-01 4.24174897e-01 -1.58264015e+02] [-6.03827473e-01 7.81247031e-01 1.58257573e-01 2.21530910e+01] [-2.52503644e-01 -3.75781469e-01 8.91644658e-01 9.57675852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.699072329 meters Centerline goodness : 0.816780 Centerline is valid? [False, False] Translation: X:-158.33, Y:22.12, Z:95.81 [[ 7.56156757e-01 4.98056661e-01 4.24460271e-01 -1.58331016e+02] [-6.02468178e-01 7.83058766e-01 1.54437892e-01 2.21218218e+01] [-2.55458515e-01 -3.72503062e-01 8.92178467e-01 9.58100809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.72907232899996 meters Centerline goodness : 0.806552 Centerline is valid? [False, False] Translation: X:-158.38, Y:22.10, Z:95.84 [[ 7.56319254e-01 4.99329143e-01 4.22671968e-01 -1.58381748e+02] [-6.02303767e-01 7.83672437e-01 1.51946319e-01 2.20980177e+01] [-2.55365146e-01 -3.69496846e-01 8.93454377e-01 9.58413670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.759072329 meters Centerline goodness : 0.816166 Centerline is valid? [False, False] Translation: X:-158.45, Y:22.06, Z:95.89 [[ 7.58840816e-01 4.98153387e-01 4.19528090e-01 -1.58453566e+02] [-6.00816864e-01 7.84068695e-01 1.55741379e-01 2.20610533e+01] [-2.51355747e-01 -3.70242466e-01 8.94282285e-01 9.58868082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.78907232899996 meters Centerline goodness : 0.816847 Centerline is valid? [False, False] Translation: X:-158.51, Y:22.04, Z:95.92 [[ 7.57108572e-01 4.99992518e-01 4.20468897e-01 -1.58510765e+02] [-6.03024766e-01 7.82439553e-01 1.55401024e-01 2.20357925e+01] [-2.51292146e-01 -3.71208605e-01 8.93899563e-01 9.59243614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.819072329 meters Centerline goodness : 0.817563 Centerline is valid? [False, False] Translation: X:-158.59, Y:22.00, Z:95.97 [[ 0.7579615 0.49962682 0.41936549 -158.58688281] [ -0.60329492 0.78142233 0.15941887 21.99853283] [ -0.24805162 -0.37383443 0.89371036 95.97096699] [ 0. 0. 0. 1. ]] SLAMing on 262.84907232899997 meters Centerline goodness : 0.794160 Centerline is valid? [False, False] Translation: X:-158.64, Y:21.98, Z:96.00 [[ 7.57671760e-01 5.01311353e-01 4.17876096e-01 -1.58638525e+02] [-6.03946130e-01 7.81245538e-01 1.57811539e-01 2.19750173e+01] [-2.47351120e-01 -3.71943997e-01 8.94692733e-01 9.60022336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.879072329 meters Centerline goodness : 0.813253 Centerline is valid? [False, False] Translation: X:-158.69, Y:21.95, Z:96.03 [[ 7.58087290e-01 5.03055814e-01 4.15016276e-01 -1.58688075e+02] [-6.03508475e-01 7.82320486e-01 1.54117414e-01 2.19545550e+01] [-2.47146073e-01 -3.67300293e-01 8.96665664e-01 9.60302308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.90907232899997 meters Centerline goodness : 0.811556 Centerline is valid? [False, False] Translation: X:-158.76, Y:21.92, Z:96.08 [[ 7.59665248e-01 5.01853697e-01 4.13583822e-01 -1.58764234e+02] [-6.02873679e-01 7.81926009e-01 1.58540353e-01 2.19161886e+01] [-2.43827885e-01 -3.69776397e-01 8.96556400e-01 9.60775511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.939072329 meters Centerline goodness : 0.811899 Centerline is valid? [False, False] Translation: X:-158.84, Y:21.88, Z:96.12 [[ 7.57642146e-01 5.01601592e-01 4.17581395e-01 -1.58836161e+02] [-6.03814989e-01 7.81568281e-01 1.56711460e-01 2.18834082e+01] [-2.47761655e-01 -3.70873112e-01 8.95023629e-01 9.61228271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.96907232899997 meters Centerline goodness : 0.815928 Centerline is valid? [False, False] Translation: X:-158.91, Y:21.85, Z:96.17 [[ 7.53219236e-01 5.02681468e-01 4.24231215e-01 -1.58907208e+02] [-6.07128205e-01 7.79471059e-01 1.54337977e-01 2.18511754e+01] [-2.53093113e-01 -3.73813069e-01 8.92304693e-01 9.61678000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.999072329 meters Centerline goodness : 0.813936 Centerline is valid? [False, False] Translation: X:-158.97, Y:21.82, Z:96.20 [[ 7.52530215e-01 5.03363377e-01 4.24645247e-01 -1.58965925e+02] [-6.06997441e-01 7.80270554e-01 1.50771248e-01 2.18245946e+01] [-2.55445458e-01 -3.71218498e-01 8.92717450e-01 9.62040244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.029072329 meters Centerline goodness : 0.816126 Centerline is valid? [False, False] Translation: X:-159.04, Y:21.79, Z:96.25 [[ 7.54410916e-01 5.03264572e-01 4.21413028e-01 -1.59037622e+02] [-6.06507273e-01 7.79959036e-01 1.54314064e-01 2.17872507e+01] [-2.51024098e-01 -3.72006280e-01 8.93643234e-01 9.62479877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.05907232899995 meters Centerline goodness : 0.815936 Centerline is valid? [False, False] Translation: X:-159.11, Y:21.75, Z:96.29 [[ 7.56437208e-01 5.02940817e-01 4.18154618e-01 -1.59109612e+02] [-6.05902466e-01 7.79613900e-01 1.58380453e-01 2.17498731e+01] [-2.46343158e-01 -3.73165782e-01 8.94462044e-01 9.62922105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.089072329 meters Centerline goodness : 0.817284 Centerline is valid? [False, False] Translation: X:-159.19, Y:21.71, Z:96.34 [[ 0.75682609 0.50405563 0.41610359 -159.18654684] [ -0.60715564 0.77789269 0.16200302 21.71175249] [ -0.24202541 -0.37524776 0.8947697 96.3390911 ] [ 0. 0. 0. 1. ]] SLAMing on 263.11907232899995 meters Centerline goodness : 0.816784 Centerline is valid? [False, False] Translation: X:-159.26, Y:21.68, Z:96.38 [[ 0.75553314 0.50513592 0.4171419 -159.25650418] [ -0.60831988 0.77728443 0.16054859 21.67841283] [ -0.24313904 -0.37505549 0.89454837 96.38488179] [ 0. 0. 0. 1. ]] SLAMing on 263.149072329 meters Centerline goodness : 0.816674 Centerline is valid? [False, False] Translation: X:-159.33, Y:21.64, Z:96.43 [[ 0.7567092 0.50458402 0.41567553 -159.33417534] [ -0.60805654 0.77676594 0.16401806 21.63938074] [ -0.2401217 -0.3768682 0.89460155 96.43342915] [ 0. 0. 0. 1. ]] SLAMing on 263.17907232899995 meters Centerline goodness : 0.818305 Centerline is valid? [False, False] Translation: X:-159.39, Y:21.61, Z:96.47 [[ 0.7540888 0.50996346 0.41386876 -159.38792628] [ -0.61207489 0.77417419 0.16130299 21.61314711] [ -0.23814788 -0.37495545 0.89593191 96.46696139] [ 0. 0. 0. 1. ]] SLAMing on 263.209072329 meters Centerline goodness : 0.818325 Centerline is valid? [False, False] Translation: X:-159.46, Y:21.57, Z:96.51 [[ 0.75703237 0.50822173 0.41062472 -159.46226578] [ -0.6100184 0.774898 0.16556158 21.5743472 ] [ -0.23405029 -0.37582411 0.89664748 96.51341801] [ 0. 0. 0. 1. ]] SLAMing on 263.23907232899995 meters Centerline goodness : 0.815869 Centerline is valid? [False, False] Translation: X:-159.54, Y:21.54, Z:96.56 [[ 0.75920517 0.50648291 0.40875735 -159.53700116] [ -0.60833257 0.77547974 0.1690049 21.53654184] [ -0.23138495 -0.3769698 0.89685828 96.56056244] [ 0. 0. 0. 1. ]] SLAMing on 263.269072329 meters Centerline goodness : 0.814620 Centerline is valid? [False, False] Translation: X:-159.62, Y:21.50, Z:96.61 [[ 0.75861426 0.50535386 0.41124431 -159.61642142] [ -0.60837093 0.77534805 0.16947039 21.49829684] [ -0.23321496 -0.37875173 0.89563269 96.61005579] [ 0. 0. 0. 1. ]] SLAMing on 263.29907232899996 meters Centerline goodness : 0.815444 Centerline is valid? [False, False] Translation: X:-159.68, Y:21.47, Z:96.65 [[ 0.7579731 0.50494282 0.41292799 -159.67779971] [ -0.6075921 0.77684869 0.1653419 21.47107773] [ -0.23729436 -0.37621649 0.89562969 96.64734186] [ 0. 0. 0. 1. ]] SLAMing on 263.329072329 meters Centerline goodness : 0.815535 Centerline is valid? [False, False] Translation: X:-159.75, Y:21.43, Z:96.70 [[ 0.75639276 0.50432713 0.41656227 -159.75352064] [ -0.60813605 0.77673552 0.16386723 21.43483365] [ -0.24091603 -0.37727452 0.89421664 96.69653756] [ 0. 0. 0. 1. ]] SLAMing on 263.35907232899996 meters Centerline goodness : 0.789547 Centerline is valid? [False, False] Translation: X:-159.82, Y:21.40, Z:96.74 [[ 0.7555604 0.50362511 0.41891554 -159.82346067] [ -0.60775452 0.77755796 0.16136317 21.40218024] [ -0.24446457 -0.37651743 0.89357244 96.74137305] [ 0. 0. 0. 1. ]] SLAMing on 263.389072329 meters Centerline goodness : 0.816129 Centerline is valid? [False, False] Translation: X:-159.89, Y:21.37, Z:96.79 [[ 7.54819192e-01 5.04483261e-01 4.19219067e-01 -1.59892505e+02] [-6.08363810e-01 7.77387336e-01 1.59882473e-01 2.13680472e+01] [-2.45237562e-01 -3.75720068e-01 8.93696240e-01 9.67869804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.41907232899996 meters Centerline goodness : 0.817012 Centerline is valid? [False, False] Translation: X:-159.97, Y:21.33, Z:96.83 [[ 0.75619764 0.50397672 0.4173399 -159.96741873] [ -0.60836696 0.77635586 0.16480661 21.32863662] [ -0.24094558 -0.37852218 0.89368126 96.83416492] [ 0. 0. 0. 1. ]] SLAMing on 263.449072329 meters Centerline goodness : 0.813409 Centerline is valid? [False, False] Translation: X:-160.04, Y:21.29, Z:96.88 [[ 0.75910202 0.50133111 0.41524842 -160.04034686] [ -0.60534355 0.77824047 0.1670358 21.29264936] [ -0.23942288 -0.37816517 0.89424146 96.8793988 ] [ 0. 0. 0. 1. ]] SLAMing on 263.47907232899996 meters Centerline goodness : 0.814943 Centerline is valid? [False, False] Translation: X:-160.11, Y:21.26, Z:96.92 [[ 0.75839454 0.50060903 0.41740667 -160.11029566] [ -0.60475363 0.77931664 0.16412986 21.25902452] [ -0.24312707 -0.37690339 0.89377462 96.92394239] [ 0. 0. 0. 1. ]] SLAMing on 263.509072329 meters Centerline goodness : 0.766892 Centerline is valid? [False, False] Translation: X:-160.18, Y:21.22, Z:96.97 [[ 0.75821366 0.49997238 0.41849691 -160.18191413] [ -0.60372227 0.78076123 0.16103207 21.22295058] [ -0.24623457 -0.37475262 0.89382829 96.97060448] [ 0. 0. 0. 1. ]] SLAMing on 263.53907232899996 meters Centerline goodness : 0.814298 Centerline is valid? [False, False] Translation: X:-160.25, Y:21.18, Z:97.01 [[ 0.76427856 0.49323778 0.41544527 -160.25427522] [ -0.59577986 0.78661424 0.16212463 21.18428626] [ -0.24682917 -0.37142231 0.89505353 97.01490356] [ 0. 0. 0. 1. ]] SLAMing on 263.569072329 meters Centerline goodness : 0.814864 Centerline is valid? [False, False] Translation: X:-160.32, Y:21.15, Z:97.06 [[ 7.64877907e-01 4.90987143e-01 4.17005291e-01 -1.60323521e+02] [-5.93090845e-01 7.89398260e-01 1.58409711e-01 2.11507694e+01] [-2.51406120e-01 -3.68486109e-01 8.94993268e-01 9.70588438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.59907232899997 meters Centerline goodness : 0.392956 Centerline is valid? [False, False] Translation: X:-160.38, Y:21.12, Z:97.09 [[ 7.65645528e-01 4.89423723e-01 4.17434240e-01 -1.60382027e+02] [-5.90173077e-01 7.92611628e-01 1.53174889e-01 2.11217562e+01] [-2.55895808e-01 -3.63636119e-01 8.95704253e-01 9.70949577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.629072329 meters Centerline goodness : 0.475167 Centerline is valid? [False, False] Translation: X:-160.45, Y:21.08, Z:97.14 [[ 7.73386047e-01 4.80476150e-01 4.13541644e-01 -1.60451466e+02] [-5.79770887e-01 7.99927836e-01 1.54858570e-01 2.10829128e+01] [-2.56397622e-01 -3.59524863e-01 8.97219111e-01 9.71382258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.65907232899997 meters Centerline goodness : 0.797089 Centerline is valid? [False, False] Translation: X:-160.52, Y:21.05, Z:97.18 [[ 7.74187933e-01 4.78201614e-01 4.14676092e-01 -1.60517850e+02] [-5.76731812e-01 8.02882971e-01 1.50862029e-01 2.10500997e+01] [-2.60793907e-01 -3.55952456e-01 8.97376391e-01 9.71815609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.689072329 meters Centerline goodness : 0.812459 Centerline is valid? [False, False] Translation: X:-160.57, Y:21.02, Z:97.22 [[ 7.76094587e-01 4.73594928e-01 4.16395288e-01 -1.60570236e+02] [-5.72053465e-01 8.06604176e-01 1.48810405e-01 2.10209319e+01] [-2.65390325e-01 -3.53691317e-01 8.96922755e-01 9.72168189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.71907232899997 meters Centerline goodness : 0.811678 Centerline is valid? [False, False] Translation: X:-160.62, Y:21.00, Z:97.25 [[ 7.76933277e-01 4.71036010e-01 4.17731684e-01 -1.60624908e+02] [-5.68362582e-01 8.10158631e-01 1.43551272e-01 2.09952049e+01] [-2.70811111e-01 -3.48952819e-01 8.97158443e-01 9.72516412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.749072329 meters Centerline goodness : 0.785802 Centerline is valid? [False, False] Translation: X:-160.68, Y:20.97, Z:97.28 [[ 7.77356224e-01 4.69727388e-01 4.18417832e-01 -1.60677543e+02] [-5.66012992e-01 8.12524521e-01 1.39403001e-01 2.09693822e+01] [-2.74493341e-01 -3.45195719e-01 8.97492797e-01 9.72842375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.779072329 meters Centerline goodness : 0.799510 Centerline is valid? [False, False] Translation: X:-160.73, Y:20.94, Z:97.32 [[ 7.83038692e-01 4.59920357e-01 4.18716697e-01 -1.60729305e+02] [-5.54427446e-01 8.21247709e-01 1.34767977e-01 2.09415975e+01] [-2.81887592e-01 -3.37676569e-01 8.98061200e-01 9.73160018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.80907232899995 meters Centerline goodness : 0.811110 Centerline is valid? [False, False] Translation: X:-160.77, Y:20.92, Z:97.34 [[ 7.86952147e-01 4.56253530e-01 4.15378184e-01 -1.60772624e+02] [-5.47801652e-01 8.26434531e-01 1.30074270e-01 2.09164930e+01] [-2.83936029e-01 -3.29907081e-01 9.00300866e-01 9.73443140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.839072329 meters Centerline goodness : 0.808206 Centerline is valid? [False, False] Translation: X:-160.81, Y:20.89, Z:97.37 [[ 7.92219241e-01 4.50602777e-01 4.11516478e-01 -1.60814684e+02] [-5.38760260e-01 8.33149701e-01 1.24895791e-01 2.08913343e+01] [-2.86576441e-01 -3.20653573e-01 9.02804093e-01 9.73724062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.86907232899995 meters Centerline goodness : 0.767282 Centerline is valid? [False, False] Translation: X:-160.85, Y:20.87, Z:97.39 [[ 7.99672135e-01 4.39511664e-01 4.09089200e-01 -1.60845835e+02] [-5.26920870e-01 8.40347358e-01 1.27164127e-01 2.08715689e+01] [-2.87886911e-01 -3.17247246e-01 9.03590234e-01 9.73907234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.899072329 meters Centerline goodness : 0.808337 Centerline is valid? [False, False] Translation: X:-160.89, Y:20.84, Z:97.42 [[ 8.08918613e-01 4.24363434e-01 4.06898455e-01 -1.60886093e+02] [-5.09256864e-01 8.51596818e-01 1.24259026e-01 2.08441838e+01] [-2.93782443e-01 -3.07731270e-01 9.04982509e-01 9.74174448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.92907232899995 meters Centerline goodness : 0.807078 Centerline is valid? [False, False] Translation: X:-160.92, Y:20.82, Z:97.44 [[ 8.15587093e-01 4.12703707e-01 4.05577790e-01 -1.60919211e+02] [-4.97158899e-01 8.58426610e-01 1.26240978e-01 2.08236737e+01] [-2.96058648e-01 -3.04597120e-01 9.05300984e-01 9.74369716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.959072329 meters Centerline goodness : 0.807152 Centerline is valid? [False, False] Translation: X:-160.96, Y:20.80, Z:97.47 [[ 8.21795978e-01 3.97867543e-01 4.07863688e-01 -1.60961782e+02] [-4.83067893e-01 8.66111303e-01 1.28439174e-01 2.07960254e+01] [-3.02153572e-01 -3.02576649e-01 9.03963821e-01 9.74664522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.98907232899995 meters Centerline goodness : 0.807373 Centerline is valid? [False, False] Translation: X:-161.00, Y:20.77, Z:97.49 [[ 8.25144205e-01 3.88117197e-01 4.10490052e-01 -1.61002132e+02] [-4.74828833e-01 8.70162395e-01 1.31738320e-01 2.07731525e+01] [-3.06063099e-01 -3.03615624e-01 9.02298693e-01 9.74907072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.019072329 meters Centerline goodness : 0.805298 Centerline is valid? [False, False] Translation: X:-161.04, Y:20.75, Z:97.52 [[ 8.27241742e-01 3.83664460e-01 4.10454239e-01 -1.61040555e+02] [-4.69822945e-01 8.73006136e-01 1.30868971e-01 2.07489299e+01] [-3.08119296e-01 -3.01101095e-01 9.02441483e-01 9.75178093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.04907232899996 meters Centerline goodness : 0.805298 Centerline is valid? [False, False] Translation: X:-161.07, Y:20.74, Z:97.53 [[ 8.24641784e-01 3.86862421e-01 4.12678319e-01 -1.61070246e+02] [-4.70704985e-01 8.73904341e-01 1.21359053e-01 2.07382582e+01] [-3.13692118e-01 -2.94327488e-01 9.02756105e-01 9.75344910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.079072329 meters Centerline goodness : 0.751904 Centerline is valid? [False, False] Translation: X:-161.11, Y:20.71, Z:97.56 [[ 8.31766140e-01 3.72413512e-01 4.11671307e-01 -1.61106649e+02] [-4.54700997e-01 8.82469956e-01 1.20390118e-01 2.07132038e+01] [-3.18452654e-01 -2.87323777e-01 9.03345424e-01 9.75578905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.10907232899996 meters Centerline goodness : 0.804355 Centerline is valid? [False, False] Translation: X:-161.14, Y:20.69, Z:97.58 [[ 8.34762837e-01 3.68459483e-01 4.09155980e-01 -1.61140030e+02] [-4.48529784e-01 8.86054272e-01 1.17170218e-01 2.06920549e+01] [-3.19361926e-01 -2.81327987e-01 9.04910230e-01 9.75810020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.139072329 meters Centerline goodness : 0.803248 Centerline is valid? [False, False] Translation: X:-161.17, Y:20.67, Z:97.60 [[ 8.39256863e-01 3.60500671e-01 4.07046906e-01 -1.61169256e+02] [-4.39223263e-01 8.90767063e-01 1.16691745e-01 2.06729480e+01] [-3.20516525e-01 -2.76718819e-01 9.05922653e-01 9.76002310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.16907232899996 meters Centerline goodness : 0.802681 Centerline is valid? [False, False] Translation: X:-161.20, Y:20.65, Z:97.62 [[ 8.46709453e-01 3.44401892e-01 4.05549551e-01 -1.61201129e+02] [-4.21627481e-01 8.99238118e-01 1.16623640e-01 2.06476016e+01] [-3.24520213e-01 -2.69737175e-01 9.06602718e-01 9.76239889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.199072329 meters Centerline goodness : 0.802792 Centerline is valid? [False, False] Translation: X:-161.22, Y:20.64, Z:97.64 [[ 8.47306536e-01 3.42377984e-01 4.06015949e-01 -1.61217266e+02] [-4.17092738e-01 9.02230764e-01 1.09605186e-01 2.06378343e+01] [-3.28793677e-01 -2.62215495e-01 9.07269394e-01 9.76368055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.22907232899996 meters Centerline goodness : 0.802687 Centerline is valid? [False, False] Translation: X:-161.25, Y:20.62, Z:97.66 [[ 8.49857018e-01 3.39556686e-01 4.03043803e-01 -1.61250384e+02] [-4.11859771e-01 9.05067594e-01 1.05944228e-01 2.06180026e+01] [-3.28807814e-01 -2.56034974e-01 9.09027785e-01 9.76590442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.259072329 meters Centerline goodness : 0.801629 Centerline is valid? [False, False] Translation: X:-161.28, Y:20.60, Z:97.68 [[ 8.52339953e-01 3.37992253e-01 3.99096281e-01 -1.61284244e+02] [-4.07373942e-01 9.07619073e-01 1.01361184e-01 2.05976899e+01] [-3.27968101e-01 -2.48975612e-01 9.11289235e-01 9.76810011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.28907232899996 meters Centerline goodness : 0.801145 Centerline is valid? [False, False] Translation: X:-161.32, Y:20.58, Z:97.70 [[ 8.55758379e-01 3.31002533e-01 3.97636668e-01 -1.61316423e+02] [-3.98980135e-01 9.11502207e-01 9.98928362e-02 2.05754218e+01] [-3.29381919e-01 -2.44133263e-01 9.12089086e-01 9.77038311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.319072329 meters Centerline goodness : 0.736629 Centerline is valid? [False, False] Translation: X:-161.35, Y:20.56, Z:97.72 [[ 8.57874194e-01 3.24039819e-01 3.98810811e-01 -1.61347287e+02] [-3.93286535e-01 9.13546811e-01 1.03720421e-01 2.05580099e+01] [-3.30722798e-01 -2.45825994e-01 9.11148732e-01 9.77223616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.34907232899997 meters Centerline goodness : 0.797489 Centerline is valid? [False, False] Translation: X:-161.38, Y:20.54, Z:97.74 [[ 8.61016517e-01 3.13058913e-01 4.00805034e-01 -1.61381077e+02] [-3.83806154e-01 9.17051104e-01 1.08213253e-01 2.05364072e+01] [-3.33681576e-01 -2.47004837e-01 9.09750085e-01 9.77437486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.379072329 meters Centerline goodness : 0.796451 Centerline is valid? [False, False] Translation: X:-161.39, Y:20.53, Z:97.75 [[ 8.62721617e-01 3.09406021e-01 3.99974156e-01 -1.61388304e+02] [-3.77186370e-01 9.20563730e-01 1.01453741e-01 2.05308654e+01] [-3.36811302e-01 -2.38391135e-01 9.10893964e-01 9.77505513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.40907232899997 meters Centerline goodness : 0.795659 Centerline is valid? [False, False] Translation: X:-161.40, Y:20.52, Z:97.76 [[ 8.62589671e-01 3.08353154e-01 4.01070309e-01 -1.61401410e+02] [-3.73933547e-01 9.22585583e-01 9.49186213e-02 2.05245017e+01] [-3.40753228e-01 -2.31849466e-01 9.11116383e-01 9.77582157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.439072329 meters Centerline goodness : 0.795181 Centerline is valid? [False, False] Translation: X:-161.43, Y:20.50, Z:97.78 [[ 8.67188160e-01 2.95554160e-01 4.00789763e-01 -1.61432011e+02] [-3.60447299e-01 9.27860702e-01 9.56674626e-02 2.05029417e+01] [-3.43602154e-01 -2.27425278e-01 9.11161513e-01 9.77772326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.46907232899997 meters Centerline goodness : 0.795832 Centerline is valid? [False, False] Translation: X:-161.43, Y:20.50, Z:97.78 [[ 8.69374126e-01 2.91721320e-01 3.98857494e-01 -1.61434275e+02] [-3.53750254e-01 9.30986392e-01 9.01393088e-02 2.04979208e+01] [-3.45035342e-01 -2.19460723e-01 9.12571972e-01 9.77818006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.499072329 meters Centerline goodness : 0.797196 Centerline is valid? [False, False] Translation: X:-161.46, Y:20.48, Z:97.80 [[ 8.72253980e-01 2.82517337e-01 3.99195376e-01 -1.61462928e+02] [-3.44749118e-01 9.34159135e-01 9.21669990e-02 2.04802426e+01] [-3.46873232e-01 -2.18015286e-01 9.12221627e-01 9.77977612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.529072329 meters Centerline goodness : 0.796544 Centerline is valid? [False, False] Translation: X:-161.50, Y:20.46, Z:97.82 [[ 8.74200821e-01 2.80909561e-01 3.96059015e-01 -1.61495534e+02] [-3.41199530e-01 9.35726382e-01 8.94372327e-02 2.04586359e+01] [-3.45479095e-01 -2.13321252e-01 9.13858982e-01 9.78197151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.55907232899995 meters Centerline goodness : 0.796283 Centerline is valid? [False, False] Translation: X:-161.52, Y:20.43, Z:97.84 [[ 8.79758985e-01 2.66948133e-01 3.93399062e-01 -1.61523640e+02] [-3.23917802e-01 9.42260013e-01 8.49901498e-02 2.04348348e+01] [-3.47996243e-01 -2.02199807e-01 9.15430965e-01 9.78361776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.589072329 meters Centerline goodness : 0.797149 Centerline is valid? [False, False] Translation: X:-161.55, Y:20.42, Z:97.85 [[ 8.82937684e-01 2.56890538e-01 3.92973661e-01 -1.61547494e+02] [-3.14056785e-01 9.45350308e-01 8.76420593e-02 2.04185803e+01] [-3.48983356e-01 -2.00798521e-01 9.15363628e-01 9.78498413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.61907232899995 meters Centerline goodness : 0.797099 Centerline is valid? [False, False] Translation: X:-161.56, Y:20.41, Z:97.86 [[ 8.82896679e-01 2.55511503e-01 3.93963610e-01 -1.61555577e+02] [-3.11710716e-01 9.46388361e-01 8.47673293e-02 2.04124647e+01] [-3.51183548e-01 -1.97643472e-01 9.15208814e-01 9.78573685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.649072329 meters Centerline goodness : 0.794986 Centerline is valid? [False, False] Translation: X:-161.58, Y:20.40, Z:97.87 [[ 8.85370069e-01 2.47095111e-01 3.93781471e-01 -1.61580709e+02] [-3.04192779e-01 9.48463889e-01 8.87862805e-02 2.03973468e+01] [-3.51548850e-01 -1.98394195e-01 9.14906088e-01 9.78709809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.67907232899995 meters Centerline goodness : 0.793804 Centerline is valid? [False, False] Translation: X:-161.61, Y:20.38, Z:97.89 [[ 8.88104109e-01 2.38440398e-01 3.92959626e-01 -1.61607536e+02] [-2.94793396e-01 9.51412377e-01 8.89457286e-02 2.03807276e+01] [-3.52658397e-01 -1.94834970e-01 9.15243896e-01 9.78858509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.709072329 meters Centerline goodness : 0.792953 Centerline is valid? [False, False] Translation: X:-161.61, Y:20.38, Z:97.89 [[ 8.90107821e-01 2.33366906e-01 3.91468970e-01 -1.61611290e+02] [-2.86002187e-01 9.54788991e-01 8.11217056e-02 2.03751984e+01] [-3.54839141e-01 -1.84168046e-01 9.16608594e-01 9.78913225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.73907232899995 meters Centerline goodness : 0.790216 Centerline is valid? [False, False] Translation: X:-161.64, Y:20.35, Z:97.91 [[ 8.94563900e-01 2.16137611e-01 3.91203223e-01 -1.61635338e+02] [-2.68165139e-01 9.59796854e-01 8.29304359e-02 2.03495031e+01] [-3.57551236e-01 -1.79093641e-01 9.16560190e-01 9.79102598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.769072329 meters Centerline goodness : 0.781259 Centerline is valid? [False, False] Translation: X:-161.64, Y:20.34, Z:97.92 [[ 8.96414294e-01 2.10854908e-01 3.89848203e-01 -1.61639201e+02] [-2.59404463e-01 9.62794914e-01 7.57316184e-02 2.03423420e+01] [-3.59375483e-01 -1.69015269e-01 9.17759827e-01 9.79174082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.79907232899996 meters Centerline goodness : 0.790051 Centerline is valid? [False, False] Translation: X:-161.66, Y:20.33, Z:97.93 [[ 8.99018873e-01 1.99709816e-01 3.89719201e-01 -1.61660023e+02] [-2.48661624e-01 9.65369672e-01 7.89227042e-02 2.03255362e+01] [-3.60461459e-01 -1.67861210e-01 9.17545721e-01 9.79299046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.829072329 meters Centerline goodness : 0.788657 Centerline is valid? [False, False] Translation: X:-161.68, Y:20.30, Z:97.95 [[ 9.03244262e-01 1.83357683e-01 3.87981654e-01 -1.61682515e+02] [-2.30078545e-01 9.70107567e-01 7.71697568e-02 2.03010245e+01] [-3.62234270e-01 -1.58969394e-01 9.18430762e-01 9.79455553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.85907232899996 meters Centerline goodness : 0.791743 Centerline is valid? [False, False] Translation: X:-161.69, Y:20.28, Z:97.96 [[ 9.08127763e-01 1.78595177e-01 3.78692129e-01 -1.61694303e+02] [-2.23571700e-01 9.71566431e-01 7.79382167e-02 2.02834538e+01] [-3.54005170e-01 -1.55442701e-01 9.22235277e-01 9.79588350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.889072329 meters Centerline goodness : 0.790985 Centerline is valid? [False, False] Translation: X:-161.70, Y:20.27, Z:97.97 [[ 9.13020886e-01 1.73727699e-01 3.69068487e-01 -1.61703808e+02] [-2.17526726e-01 9.72750876e-01 8.02362539e-02 2.02681405e+01] [-3.45072434e-01 -1.53539635e-01 9.25932285e-01 9.79707498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.91907232899996 meters Centerline goodness : 0.791930 Centerline is valid? [False, False] Translation: X:-161.71, Y:20.26, Z:97.98 [[ 9.14601528e-01 1.67747054e-01 3.67919789e-01 -1.61707117e+02] [-2.08058624e-01 9.75427455e-01 7.24768125e-02 2.02596918e+01] [-3.46721292e-01 -1.42836289e-01 9.27028662e-01 9.79767961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.949072329 meters Centerline goodness : 0.792222 Centerline is valid? [False, False] Translation: X:-161.71, Y:20.26, Z:97.98 [[ 9.15423511e-01 1.64059635e-01 3.67538069e-01 -1.61710341e+02] [-2.02085302e-01 9.77059907e-01 6.71972437e-02 2.02552099e+01] [-3.48082356e-01 -1.35787979e-01 9.27577651e-01 9.79815235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.97907232899996 meters Centerline goodness : 0.792900 Centerline is valid? [False, False] Translation: X:-161.71, Y:20.25, Z:97.99 [[ 9.16035380e-01 1.60887597e-01 3.67415790e-01 -1.61713859e+02] [-1.97047992e-01 9.78376834e-01 6.28558567e-02 2.02504073e+01] [-3.49358370e-01 -1.29976732e-01 9.27930374e-01 9.79864335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.009072329 meters Centerline goodness : 0.793158 Centerline is valid? [False, False] Translation: X:-161.73, Y:20.23, Z:98.00 [[ 9.18258841e-01 1.48779285e-01 3.66967880e-01 -1.61734924e+02] [-1.85189443e-01 9.80492239e-01 6.58774528e-02 2.02317053e+01] [-3.50007958e-01 -1.28451131e-01 9.27898020e-01 9.80003466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.03907232899996 meters Centerline goodness : 0.772445 Centerline is valid? [False, False] Translation: X:-161.74, Y:20.23, Z:98.01 [[ 9.18875491e-01 1.45315075e-01 3.66812432e-01 -1.61738417e+02] [-1.79808374e-01 9.81778104e-01 6.14874173e-02 2.02262943e+01] [-3.51193366e-01 -1.22455228e-01 9.28260705e-01 9.80059039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.069072329 meters Centerline goodness : 0.779838 Centerline is valid? [False, False] Translation: X:-161.75, Y:20.21, Z:98.02 [[ 9.21302756e-01 1.35495654e-01 3.64475183e-01 -1.61754401e+02] [-1.70807153e-01 9.83071607e-01 6.62957910e-02 2.02118269e+01] [-3.49322412e-01 -1.23333463e-01 9.28850208e-01 9.80157261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.09907232899997 meters Centerline goodness : 0.791204 Centerline is valid? [False, False] Translation: X:-161.77, Y:20.20, Z:98.03 [[ 9.24859026e-01 1.27776171e-01 3.58202502e-01 -1.61767639e+02] [-1.63459762e-01 9.83988896e-01 7.10405505e-02 2.01959053e+01] [-3.43389995e-01 -1.24254190e-01 9.30937274e-01 9.80265725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.129072329 meters Centerline goodness : 0.792586 Centerline is valid? [False, False] Translation: X:-161.78, Y:20.18, Z:98.04 [[ 9.30063729e-01 1.19146823e-01 3.47542075e-01 -1.61775422e+02] [-1.51756953e-01 9.86071306e-01 6.80676555e-02 2.01766273e+01] [-3.34591223e-01 -1.16049184e-01 9.35190516e-01 9.80377589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.15907232899997 meters Centerline goodness : 0.793158 Centerline is valid? [False, False] Translation: X:-161.79, Y:20.16, Z:98.05 [[ 9.33984334e-01 1.15486311e-01 3.38136328e-01 -1.61786762e+02] [-1.46497605e-01 9.86899521e-01 6.75854096e-02 2.01625009e+01] [-3.25901391e-01 -1.12659876e-01 9.38667159e-01 9.80477030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.189072329 meters Centerline goodness : 0.791752 Centerline is valid? [False, False] Translation: X:-161.80, Y:20.14, Z:98.06 [[ 9.37325384e-01 1.04766824e-01 3.32332722e-01 -1.61801333e+02] [-1.35123504e-01 9.88386706e-01 6.95223581e-02 2.01448038e+01] [-3.21189608e-01 -1.10071033e-01 9.40596409e-01 9.80592394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.21907232899997 meters Centerline goodness : 0.792474 Centerline is valid? [False, False] Translation: X:-161.80, Y:20.14, Z:98.06 [[ 9.37677499e-01 1.02383565e-01 3.32082087e-01 -1.61802572e+02] [-1.31861682e-01 9.88972677e-01 6.74206291e-02 2.01400463e+01] [-3.21517346e-01 -1.07007709e-01 9.40837896e-01 9.80627574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.249072329 meters Centerline goodness : 0.791077 Centerline is valid? [False, False] Translation: X:-161.81, Y:20.14, Z:98.07 [[ 9.38074686e-01 9.87604049e-02 3.32057624e-01 -1.61805960e+02] [-1.26596584e-01 9.89938089e-01 6.32130183e-02 2.01354565e+01] [-3.22473546e-01 -1.01335893e-01 9.41138592e-01 9.80689219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.279072329 meters Centerline goodness : 0.791184 Centerline is valid? [False, False] Translation: X:-161.81, Y:20.13, Z:98.07 [[ 9.38311875e-01 9.65737550e-02 3.32030625e-01 -1.61807530e+02] [-1.23442315e-01 9.90490286e-01 6.07535031e-02 2.01317166e+01] [-3.23005915e-01 -9.79923623e-02 9.41310085e-01 9.80716226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.30907232899995 meters Centerline goodness : 0.791718 Centerline is valid? [False, False] Translation: X:-161.82, Y:20.11, Z:98.08 [[ 9.40904256e-01 8.71916186e-02 3.27256479e-01 -1.61822754e+02] [-1.14603755e-01 9.91256315e-01 6.53979964e-02 2.01137826e+01] [-3.18692895e-01 -9.90380744e-02 9.42669772e-01 9.80833004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.339072329 meters Centerline goodness : 0.790368 Centerline is valid? [False, False] Translation: X:-161.83, Y:20.11, Z:98.09 [[ 9.41111064e-01 8.37049355e-02 3.27572053e-01 -1.61826233e+02] [-1.09308774e-01 9.92164130e-01 6.05138985e-02 2.01094503e+01] [-3.19939929e-01 -9.27567988e-02 9.42886323e-01 9.80877693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.36907232899995 meters Centerline goodness : 0.790362 Centerline is valid? [False, False] Translation: X:-161.83, Y:20.10, Z:98.09 [[ 9.41269945e-01 7.97247875e-02 3.28107983e-01 -1.61830074e+02] [-1.03127706e-01 9.93172466e-01 5.45263980e-02 2.01047966e+01] [-3.21520709e-01 -8.51610833e-02 9.43065228e-01 9.80914068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.399072329 meters Centerline goodness : 0.789986 Centerline is valid? [False, False] Translation: X:-161.84, Y:20.08, Z:98.10 [[ 9.44993320e-01 7.19977005e-02 3.19067322e-01 -1.61840266e+02] [-9.40478552e-02 9.94089690e-01 5.42281268e-02 2.00831378e+01] [-3.13277234e-01 -8.12528149e-02 9.46179346e-01 9.81044416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.42907232899995 meters Centerline goodness : 0.790757 Centerline is valid? [False, False] Translation: X:-161.85, Y:20.07, Z:98.11 [[ 9.47537546e-01 6.38919641e-02 3.13193894e-01 -1.61853930e+02] [-8.64735290e-02 9.94521341e-01 5.87335644e-02 2.00682604e+01] [-3.07725408e-01 -8.27352388e-02 9.47871275e-01 9.81141783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.459072329 meters Centerline goodness : 0.790794 Centerline is valid? [False, False] Translation: X:-161.86, Y:20.06, Z:98.12 [[ 9.47756200e-01 5.93276996e-02 3.13430070e-01 -1.61856545e+02] [-7.97932539e-02 9.95408664e-01 5.28642480e-02 2.00636265e+01] [-3.08854693e-01 -7.51120240e-02 9.48138683e-01 9.81174578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.48907232899995 meters Centerline goodness : 0.789965 Centerline is valid? [False, False] Translation: X:-161.87, Y:20.04, Z:98.13 [[ 9.50583857e-01 4.69614890e-02 3.06895664e-01 -1.61867130e+02] [-6.71053422e-02 9.96205951e-01 5.54127742e-02 2.00436791e+01] [-3.03129021e-01 -7.32688272e-02 9.50128663e-01 9.81281704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.519072329 meters Centerline goodness : 0.789865 Centerline is valid? [False, False] Translation: X:-161.88, Y:20.03, Z:98.14 [[ 9.53773962e-01 3.87290993e-02 2.98018937e-01 -1.61875945e+02] [-5.79476406e-02 9.96752160e-01 5.59214038e-02 2.00284668e+01] [-2.94885234e-01 -7.06058731e-02 9.52920516e-01 9.81373925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.54907232899996 meters Centerline goodness : 0.789147 Centerline is valid? [False, False] Translation: X:-161.88, Y:20.01, Z:98.15 [[ 9.56945325e-01 3.18806251e-02 2.88512166e-01 -1.61884064e+02] [-5.03182818e-02 9.97121594e-01 5.67150600e-02 2.00125131e+01] [-2.85873599e-01 -6.87906480e-02 9.55795026e-01 9.81470715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.579072329 meters Centerline goodness : 0.789362 Centerline is valid? [False, False] Translation: X:-161.89, Y:19.99, Z:98.16 [[ 9.59500042e-01 1.63749129e-02 2.81232166e-01 -1.61893121e+02] [-3.31558515e-02 9.97934896e-01 5.50148444e-02 1.99898696e+01] [-2.79750529e-01 -6.21112375e-02 9.58061499e-01 9.81571975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.60907232899996 meters Centerline goodness : 0.789266 Centerline is valid? [False, False] Translation: X:-161.90, Y:19.97, Z:98.17 [[ 9.61904858e-01 7.03350179e-03 2.73293934e-01 -1.61900808e+02] [-2.42884439e-02 9.97914543e-01 5.98049807e-02 1.99733938e+01] [-2.72303353e-01 -6.41645859e-02 9.60069680e-01 9.81674560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.639072329 meters Centerline goodness : 0.788284 Centerline is valid? [False, False] Translation: X:-161.92, Y:19.96, Z:98.18 [[ 9.63639870e-01 -2.27629503e-03 2.67194720e-01 -1.61916298e+02] [-1.43024716e-02 9.98090797e-01 6.00849485e-02 1.99553720e+01] [-2.66821362e-01 -6.17217969e-02 9.61767529e-01 9.81791324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.66907232899996 meters Centerline goodness : 0.788883 Centerline is valid? [False, False] Translation: X:-161.92, Y:19.93, Z:98.19 [[ 9.65004984e-01 -2.15814208e-02 2.61341967e-01 -1.61922241e+02] [ 6.19542736e-03 9.98205831e-01 5.95544680e-02 1.99328077e+01] [-2.62158345e-01 -5.58512332e-02 9.63407308e-01 9.81903241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.699072329 meters Centerline goodness : 0.787724 Centerline is valid? [False, False] Translation: X:-161.92, Y:19.93, Z:98.19 [[ 9.64861185e-01 -2.78791094e-02 2.61276959e-01 -1.61921184e+02] [ 1.44676241e-02 9.98483621e-01 5.31144621e-02 1.99260450e+01] [-2.62361548e-01 -4.74680260e-02 9.63801434e-01 9.81911434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.72907232899996 meters Centerline goodness : 0.788854 Centerline is valid? [False, False] Translation: X:-161.93, Y:19.91, Z:98.20 [[ 9.66288627e-01 -3.82679976e-02 2.54601356e-01 -1.61931815e+02] [ 2.50714581e-02 9.98178253e-01 5.48780195e-02 1.99096750e+01] [-2.56237609e-01 -4.66447789e-02 9.65487728e-01 9.81994996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.759072329 meters Centerline goodness : 0.788594 Centerline is valid? [False, False] Translation: X:-161.94, Y:19.89, Z:98.21 [[ 9.67681602e-01 -4.73903088e-02 2.47682206e-01 -1.61943257e+02] [ 3.43614587e-02 9.97801707e-01 5.66660794e-02 1.98933876e+01] [-2.49823151e-01 -4.63240006e-02 9.67182754e-01 9.82079199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.78907232899996 meters Centerline goodness : 0.789592 Centerline is valid? [False, False] Translation: X:-161.95, Y:19.87, Z:98.22 [[ 9.68209917e-01 -6.32263440e-02 2.42016498e-01 -1.61953583e+02] [ 5.14849874e-02 9.97183286e-01 5.45416452e-02 1.98696226e+01] [-2.44783275e-01 -4.03475455e-02 9.68737954e-01 9.82183711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.819072329 meters Centerline goodness : 0.790049 Centerline is valid? [False, False] Translation: X:-161.95, Y:19.86, Z:98.22 [[ 9.67694197e-01 -6.90687415e-02 2.42481856e-01 -1.61953380e+02] [ 5.90608099e-02 9.97084677e-01 4.83111644e-02 1.98628633e+01] [-2.45111734e-01 -3.24292586e-02 9.68952311e-01 9.82197231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.84907232899997 meters Centerline goodness : 0.789831 Centerline is valid? [False, False] Translation: X:-161.96, Y:19.85, Z:98.23 [[ 9.69226237e-01 -7.69745262e-02 2.33827765e-01 -1.61962025e+02] [ 6.75093339e-02 9.96552275e-01 4.82291808e-02 1.98473316e+01] [-2.36734009e-01 -3.09594307e-02 9.71081110e-01 9.82284597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.879072329 meters Centerline goodness : 0.789501 Centerline is valid? [False, False] Translation: X:-161.97, Y:19.83, Z:98.24 [[ 9.69322262e-01 -9.26573679e-02 2.27659758e-01 -1.61971783e+02] [ 8.49928883e-02 9.95441820e-01 4.32642125e-02 1.98253292e+01] [-2.30630792e-01 -2.25875039e-02 9.72779133e-01 9.82362900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.90907232899997 meters Centerline goodness : 0.790170 Centerline is valid? [False, False] Translation: X:-161.98, Y:19.81, Z:98.24 [[ 9.70771462e-01 -9.97833884e-02 2.18279739e-01 -1.61979330e+02] [ 9.27823825e-02 9.94795199e-01 4.21181861e-02 1.98111077e+01] [-2.21346332e-01 -2.06346188e-02 9.74976930e-01 9.82441022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.939072329 meters Centerline goodness : 0.790170 Centerline is valid? [False, False] Translation: X:-161.98, Y:19.81, Z:98.24 [[ 9.70771462e-01 -9.97833884e-02 2.18279739e-01 -1.61979330e+02] [ 9.27823825e-02 9.94795199e-01 4.21181861e-02 1.98111077e+01] [-2.21346332e-01 -2.06346188e-02 9.74976930e-01 9.82441022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.96907232899997 meters Centerline goodness : 0.791629 Centerline is valid? [False, False] Translation: X:-161.99, Y:19.79, Z:98.25 [[ 9.70637685e-01 -1.13977377e-01 2.11829274e-01 -1.61987336e+02] [ 1.08092177e-01 9.93367837e-01 3.91972251e-02 1.97915554e+01] [-2.14891985e-01 -1.51492164e-02 9.76520320e-01 9.82490530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.999072329 meters Centerline goodness : 0.791187 Centerline is valid? [False, False] Translation: X:-162.00, Y:19.78, Z:98.26 [[ 9.70948991e-01 -1.23250266e-01 2.05103459e-01 -1.61997991e+02] [ 1.17359179e-01 9.92255521e-01 4.06915675e-02 1.97779437e+01] [-2.08530286e-01 -1.54386629e-02 9.77894047e-01 9.82555592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.029072329 meters Centerline goodness : 0.790738 Centerline is valid? [False, False] Translation: X:-162.01, Y:19.76, Z:98.26 [[ 9.71627725e-01 -1.30908842e-01 1.96983346e-01 -1.62006550e+02] [ 1.24809078e-01 9.91243204e-01 4.31231381e-02 1.97646286e+01] [-2.00903603e-01 -1.73143268e-02 9.79457991e-01 9.82619213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.05907232899995 meters Centerline goodness : 0.791318 Centerline is valid? [False, False] Translation: X:-162.01, Y:19.75, Z:98.27 [[ 9.72231191e-01 -1.38728940e-01 1.88469606e-01 -1.62014531e+02] [ 1.32608417e-01 9.90156979e-01 4.47679049e-02 1.97518332e+01] [-1.92825100e-01 -1.85320975e-02 9.81058124e-01 9.82687588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.089072329 meters Centerline goodness : 0.790689 Centerline is valid? [False, False] Translation: X:-162.01, Y:19.74, Z:98.27 [[ 9.70895703e-01 -1.47020987e-01 1.89067088e-01 -1.62010129e+02] [ 1.42370809e-01 9.89082844e-01 3.80221075e-02 1.97436054e+01] [-1.92593061e-01 -9.99786652e-03 9.81227780e-01 9.82677545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.11907232899995 meters Centerline goodness : 0.790755 Centerline is valid? [False, False] Translation: X:-162.02, Y:19.73, Z:98.28 [[ 9.71047417e-01 -1.54657254e-01 1.82066052e-01 -1.62021252e+02] [ 1.49579660e-01 9.87883294e-01 4.13826433e-02 1.97309284e+01] [-1.86260137e-01 -1.29511307e-02 9.82415100e-01 9.82756916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.149072329 meters Centerline goodness : 0.789086 Centerline is valid? [False, False] Translation: X:-162.03, Y:19.71, Z:98.28 [[ 9.70636946e-01 -1.64248895e-01 1.75744759e-01 -1.62032892e+02] [ 1.59230976e-01 9.86331230e-01 4.23816083e-02 1.97146679e+01] [-1.80303677e-01 -1.31531452e-02 9.83523044e-01 9.82834987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.17907232899995 meters Centerline goodness : 0.788594 Centerline is valid? [False, False] Translation: X:-162.03, Y:19.71, Z:98.28 [[ 9.69207685e-01 -1.70893406e-01 1.77290460e-01 -1.62032713e+02] [ 1.67393544e-01 9.85281869e-01 3.46271616e-02 1.97124522e+01] [-1.80598629e-01 -3.88363274e-03 9.83549212e-01 9.82829770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.209072329 meters Centerline goodness : 0.788425 Centerline is valid? [False, False] Translation: X:-162.03, Y:19.71, Z:98.28 [[ 9.68503578e-01 -1.73933661e-01 1.78179409e-01 -1.62033071e+02] [ 1.71103400e-01 9.84757347e-01 3.12505031e-02 1.97098825e+01] [-1.80898996e-01 2.20878480e-04 9.83501655e-01 9.82832972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.23907232899995 meters Centerline goodness : 0.787897 Centerline is valid? [False, False] Translation: X:-162.04, Y:19.71, Z:98.29 [[ 9.67304865e-01 -1.78541771e-01 1.80122555e-01 -1.62036449e+02] [ 1.76927163e-01 9.83903240e-01 2.51235715e-02 1.97083755e+01] [-1.81708772e-01 7.56641967e-03 9.83323279e-01 9.82854312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.269072329 meters Centerline goodness : 0.788510 Centerline is valid? [False, False] Translation: X:-162.05, Y:19.69, Z:98.29 [[ 9.67283093e-01 -1.84886827e-01 1.73724722e-01 -1.62050004e+02] [ 1.82689068e-01 9.82751771e-01 2.86994850e-02 1.96941720e+01] [-1.76034435e-01 3.97708082e-03 9.84375975e-01 9.82931641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.29907232899996 meters Centerline goodness : 0.787574 Centerline is valid? [False, False] Translation: X:-162.05, Y:19.69, Z:98.29 [[ 9.66454731e-01 -1.87895041e-01 1.75101990e-01 -1.62051504e+02] [ 1.86464622e-01 9.82150200e-01 2.47372150e-02 1.96942585e+01] [-1.76624455e-01 8.74292797e-03 9.84239485e-01 9.82928174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.329072329 meters Centerline goodness : 0.788240 Centerline is valid? [False, False] Translation: X:-162.06, Y:19.69, Z:98.30 [[ 9.68367942e-01 -1.89102272e-01 1.62800059e-01 -1.62056769e+02] [ 1.87447893e-01 9.81940736e-01 2.56062181e-02 1.96859963e+01] [-1.64702204e-01 5.72028716e-03 9.86326752e-01 9.83022836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.35907232899996 meters Centerline goodness : 0.787065 Centerline is valid? [False, False] Translation: X:-162.06, Y:19.68, Z:98.30 [[ 9.67580068e-01 -1.91881478e-01 1.64226401e-01 -1.62058949e+02] [ 1.90839407e-01 9.81369059e-01 2.22506173e-02 1.96849936e+01] [-1.65436190e-01 9.81161532e-03 9.86171688e-01 9.83031149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.389072329 meters Centerline goodness : 0.788588 Centerline is valid? [False, False] Translation: X:-162.06, Y:19.68, Z:98.30 [[ 9.66787170e-01 -1.94515745e-01 1.65789606e-01 -1.62061697e+02] [ 1.94119603e-01 9.80798676e-01 1.87493320e-02 1.96847943e+01] [-1.66253266e-01 1.40563988e-02 9.85982895e-01 9.83041648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.41907232899996 meters Centerline goodness : 0.788669 Centerline is valid? [False, False] Translation: X:-162.07, Y:19.68, Z:98.31 [[ 9.69081709e-01 -1.93515855e-01 1.53075978e-01 -1.62067146e+02] [ 1.93197238e-01 9.81010954e-01 1.70978124e-02 1.96772960e+01] [-1.53477909e-01 1.30046790e-02 9.88066501e-01 9.83137890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.449072329 meters Centerline goodness : 0.787256 Centerline is valid? [False, False] Translation: X:-162.07, Y:19.67, Z:98.32 [[ 9.71261654e-01 -1.92471559e-01 1.40019633e-01 -1.62071703e+02] [ 1.92063878e-01 9.81242898e-01 1.65481852e-02 1.96719222e+01] [-1.40578326e-01 1.08200959e-02 9.90010434e-01 9.83224385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.47907232899996 meters Centerline goodness : 0.787562 Centerline is valid? [False, False] Translation: X:-162.08, Y:19.67, Z:98.33 [[ 9.73100032e-01 -1.92029759e-01 1.27282756e-01 -1.62077730e+02] [ 1.91342965e-01 9.81363319e-01 1.77173783e-02 1.96655271e+01] [-1.28312892e-01 7.11387846e-03 9.91708220e-01 9.83315772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.509072329 meters Centerline goodness : 0.786687 Centerline is valid? [False, False] Translation: X:-162.08, Y:19.67, Z:98.33 [[ 9.72337135e-01 -1.94780575e-01 1.28922546e-01 -1.62080799e+02] [ 1.94576186e-01 9.80783136e-01 1.43020165e-02 1.96658481e+01] [-1.29230814e-01 1.11788755e-02 9.91551526e-01 9.83324129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.53907232899996 meters Centerline goodness : 0.786669 Centerline is valid? [False, False] Translation: X:-162.08, Y:19.66, Z:98.33 [[ 9.71578151e-01 -1.98110478e-01 1.29569037e-01 -1.62080678e+02] [ 1.98292843e-01 9.80073908e-01 1.16225091e-02 1.96615884e+01] [-1.29289773e-01 1.44004367e-02 9.91502285e-01 9.83339511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.569072329 meters Centerline goodness : 0.785747 Centerline is valid? [False, False] Translation: X:-162.09, Y:19.65, Z:98.34 [[ 9.71863988e-01 -2.01828860e-01 1.21431048e-01 -1.62093211e+02] [ 2.01187025e-01 9.79393785e-01 1.76520485e-02 1.96498248e+01] [-1.22491506e-01 7.27496104e-03 9.92442898e-01 9.83427088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.59907232899997 meters Centerline goodness : 0.786399 Centerline is valid? [False, False] Translation: X:-162.10, Y:19.65, Z:98.34 [[ 9.71075403e-01 -2.04759824e-01 1.22824984e-01 -1.62095496e+02] [ 2.04540754e-01 9.78750252e-01 1.45266420e-02 1.96485326e+01] [-1.23189457e-01 1.10162502e-02 9.92322024e-01 9.83439925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.629072329 meters Centerline goodness : 0.782860 Centerline is valid? [False, False] Translation: X:-162.11, Y:19.64, Z:98.35 [[ 9.70716251e-01 -2.10288594e-01 1.16140719e-01 -1.62108974e+02] [ 2.09461024e-01 9.77624044e-01 1.94244190e-02 1.96360178e+01] [-1.17626694e-01 5.47135481e-03 9.93042811e-01 9.83510462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.65907232899997 meters Centerline goodness : 0.781994 Centerline is valid? [False, False] Translation: X:-162.12, Y:19.63, Z:98.36 [[ 9.71202724e-01 -2.13442612e-01 1.05865580e-01 -1.62117308e+02] [ 2.12184526e-01 9.76955604e-01 2.31403466e-02 1.96267322e+01] [-1.08365108e-01 -1.09297806e-05 9.94111162e-01 9.83579550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.689072329 meters Centerline goodness : 0.782096 Centerline is valid? [False, False] Translation: X:-162.12, Y:19.63, Z:98.36 [[ 9.70359397e-01 -2.16367709e-01 1.07645969e-01 -1.62119689e+02] [ 2.15564661e-01 9.76301149e-01 1.91818494e-02 1.96277388e+01] [-1.09245216e-01 4.59137899e-03 9.94004226e-01 9.83569414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.71907232899997 meters Centerline goodness : 0.780270 Centerline is valid? [False, False] Translation: X:-162.13, Y:19.62, Z:98.36 [[ 9.70411798e-01 -2.20721964e-01 9.78915576e-02 -1.62128070e+02] [ 2.19682636e-01 9.75336496e-01 2.14070034e-02 1.96166523e+01] [-1.00202205e-01 7.31466777e-04 9.94966825e-01 9.83636393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.749072329 meters Centerline goodness : 0.779206 Centerline is valid? [False, False] Translation: X:-162.13, Y:19.62, Z:98.36 [[ 9.69500922e-01 -2.23967904e-01 9.95305967e-02 -1.62129669e+02] [ 2.23355052e-01 9.74581789e-01 1.74028047e-02 1.96168897e+01] [-1.00898377e-01 5.35862643e-03 9.94882306e-01 9.83627923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.779072329 meters Centerline goodness : 0.778829 Centerline is valid? [False, False] Translation: X:-162.13, Y:19.61, Z:98.37 [[ 9.70414064e-01 -2.25321648e-01 8.67565496e-02 -1.62134276e+02] [ 2.24621527e-01 9.74282084e-01 1.78771048e-02 1.96076461e+01] [-8.85534506e-02 2.13919475e-03 9.96069129e-01 9.83721762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.80907232899995 meters Centerline goodness : 0.777754 Centerline is valid? [False, False] Translation: X:-162.13, Y:19.60, Z:98.37 [[ 9.69455328e-01 -2.29119135e-01 8.75259369e-02 -1.62132973e+02] [ 2.28752196e-01 9.73379124e-01 1.43357163e-02 1.96046976e+01] [-8.84805068e-02 6.12391374e-03 9.96059083e-01 9.83716509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.839072329 meters Centerline goodness : 0.775745 Centerline is valid? [False, False] Translation: X:-162.14, Y:19.59, Z:98.38 [[ 9.69191200e-01 -2.33212967e-01 7.92472720e-02 -1.62144958e+02] [ 2.32452985e-01 9.72425666e-01 1.88131121e-02 1.95940029e+01] [-8.14495430e-02 1.87762263e-04 9.96677449e-01 9.83784972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.86907232899995 meters Centerline goodness : 0.774634 Centerline is valid? [False, False] Translation: X:-162.15, Y:19.59, Z:98.38 [[ 9.68226963e-01 -2.36650682e-01 8.08269892e-02 -1.62146210e+02] [ 2.36223994e-01 9.71583776e-01 1.49396058e-02 1.95938704e+01] [-8.20656593e-02 4.62834503e-03 9.96616178e-01 9.83776412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.899072329 meters Centerline goodness : 0.771435 Centerline is valid? [False, False] Translation: X:-162.16, Y:19.58, Z:98.38 [[ 9.67377996e-01 -2.42215050e-01 7.42407008e-02 -1.62159784e+02] [ 2.41557038e-01 9.70222362e-01 1.78540112e-02 1.95809828e+01] [-7.63544983e-02 6.61786177e-04 9.97080515e-01 9.83821372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.92907232899995 meters Centerline goodness : 0.772255 Centerline is valid? [False, False] Translation: X:-162.17, Y:19.57, Z:98.39 [[ 9.66420295e-01 -2.47973680e-01 6.73859614e-02 -1.62173339e+02] [ 2.47133502e-01 9.68761094e-01 2.06633747e-02 1.95690589e+01] [-7.04048707e-02 -3.31617603e-03 9.97512986e-01 9.83880086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.959072329 meters Centerline goodness : 0.771162 Centerline is valid? [False, False] Translation: X:-162.17, Y:19.57, Z:98.39 [[ 9.65392094e-01 -2.51541054e-01 6.88854300e-02 -1.62173881e+02] [ 2.50981751e-01 9.67846037e-01 1.67991199e-02 1.95683356e+01] [-7.08961588e-02 1.07124829e-03 9.97483126e-01 9.83869394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.98907232899995 meters Centerline goodness : 0.768238 Centerline is valid? [False, False] Translation: X:-162.19, Y:19.55, Z:98.39 [[ 9.63875301e-01 -2.58963901e-01 6.23065215e-02 -1.62185327e+02] [ 2.58284806e-01 9.65884754e-01 1.88574026e-02 1.95543812e+01] [-6.50643057e-02 -2.08335678e-03 9.97878898e-01 9.83915668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.019072329 meters Centerline goodness : 0.767745 Centerline is valid? [False, False] Translation: X:-162.19, Y:19.55, Z:98.39 [[ 9.62814054e-01 -2.62538993e-01 6.37367674e-02 -1.62185675e+02] [ 2.62103141e-01 9.64919275e-01 1.52556754e-02 1.95529158e+01] [-6.55060450e-02 2.01722821e-03 9.97850133e-01 9.83908711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.04907232899996 meters Centerline goodness : 0.766672 Centerline is valid? [False, False] Translation: X:-162.20, Y:19.54, Z:98.40 [[ 9.61646166e-01 -2.68292673e-01 5.70586822e-02 -1.62198975e+02] [ 2.67662710e-01 9.63334023e-01 1.85535505e-02 1.95406856e+01] [-5.99443515e-02 -2.56946923e-03 9.98198413e-01 9.83963821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.079072329 meters Centerline goodness : 0.765735 Centerline is valid? [False, False] Translation: X:-162.21, Y:19.53, Z:98.40 [[ 9.60557215e-01 -2.73508007e-01 5.02315237e-02 -1.62212091e+02] [ 2.72707531e-01 9.61838841e-01 2.22855588e-02 1.95285458e+01] [-5.44099093e-02 -7.70803945e-03 9.98488932e-01 9.84013307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.10907232899996 meters Centerline goodness : 0.764830 Centerline is valid? [False, False] Translation: X:-162.22, Y:19.51, Z:98.40 [[ 9.57774195e-01 -2.84035134e-01 4.46389217e-02 -1.62222431e+02] [ 2.83346732e-01 9.58783366e-01 2.11916749e-02 1.95138783e+01] [-4.88182358e-02 -7.64854675e-03 9.98778394e-01 9.84046167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.139072329 meters Centerline goodness : 0.764953 Centerline is valid? [False, False] Translation: X:-162.23, Y:19.51, Z:98.40 [[ 9.55633715e-01 -2.90600626e-01 4.81194246e-02 -1.62225490e+02] [ 2.90263682e-01 9.56844257e-01 1.40022417e-02 1.95127295e+01] [-5.01118552e-02 5.86307074e-04 9.98743440e-01 9.84037522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.16907232899996 meters Centerline goodness : 0.762319 Centerline is valid? [False, False] Translation: X:-162.24, Y:19.50, Z:98.41 [[ 9.52880320e-01 -3.00318091e-01 4.27567647e-02 -1.62237506e+02] [ 2.99993711e-01 9.53838988e-01 1.39627114e-02 1.94952733e+01] [-4.49763240e-02 -4.78032344e-04 9.98987939e-01 9.84093494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.199072329 meters Centerline goodness : 0.762963 Centerline is valid? [False, False] Translation: X:-162.25, Y:19.48, Z:98.42 [[ 9.51256050e-01 -3.06291738e-01 3.60180353e-02 -1.62250776e+02] [ 3.05885572e-01 9.51926528e-01 1.64287150e-02 1.94819426e+01] [-3.93185029e-02 -4.61051720e-03 9.99216092e-01 9.84153159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.22907232899996 meters Centerline goodness : 0.762119 Centerline is valid? [False, False] Translation: X:-162.27, Y:19.47, Z:98.42 [[ 9.49588775e-01 -3.12077861e-01 2.98088305e-02 -1.62265256e+02] [ 3.11612706e-01 9.50013825e-01 1.92679528e-02 1.94675852e+01] [-3.43319026e-02 -9.00782133e-03 9.99369891e-01 9.84213937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.259072329 meters Centerline goodness : 0.760929 Centerline is valid? [False, False] Translation: X:-162.28, Y:19.45, Z:98.43 [[ 9.46615136e-01 -3.21392198e-01 2.50367644e-02 -1.62279078e+02] [ 3.20973401e-01 9.46890205e-01 1.93653235e-02 1.94495430e+01] [-2.99309308e-02 -1.02953729e-02 9.99498947e-01 9.84276546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.28907232899996 meters Centerline goodness : 0.760030 Centerline is valid? [False, False] Translation: X:-162.28, Y:19.45, Z:98.43 [[ 9.44390981e-01 -3.27535943e-01 2.90840391e-02 -1.62283429e+02] [ 3.27310595e-01 9.44836325e-01 1.23326509e-02 1.94481470e+01] [-3.15190431e-02 -2.12733014e-03 9.99500888e-01 9.84267808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.319072329 meters Centerline goodness : 0.759677 Centerline is valid? [False, False] Translation: X:-162.28, Y:19.45, Z:98.43 [[ 9.43170179e-01 -3.30885785e-01 3.07345232e-02 -1.62283942e+02] [ 3.30757397e-01 9.43669806e-01 9.31886180e-03 1.94451482e+01] [-3.20867204e-02 1.37639835e-03 9.99484141e-01 9.84268447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.34907232899997 meters Centerline goodness : 0.758058 Centerline is valid? [False, False] Translation: X:-162.30, Y:19.43, Z:98.43 [[ 9.40786279e-01 -3.38015835e-01 2.58161401e-02 -1.62299738e+02] [ 3.37829508e-01 9.41138292e-01 1.13990787e-02 1.94273615e+01] [-2.81496271e-02 -2.00264290e-03 9.99601715e-01 9.84335375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.379072329 meters Centerline goodness : 0.757496 Centerline is valid? [False, False] Translation: X:-162.31, Y:19.42, Z:98.44 [[ 9.41364946e-01 -3.36908924e-01 1.80115640e-02 -1.62311055e+02] [ 3.36905264e-01 9.41532668e-01 3.32856562e-03 1.94168083e+01] [-1.80798994e-02 2.93479572e-03 9.99832238e-01 9.84404912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.40907232899997 meters Centerline goodness : 0.756133 Centerline is valid? [False, False] Translation: X:-162.33, Y:19.40, Z:98.45 [[ 9.39863377e-01 -3.41355414e-01 1.15461858e-02 -1.62326490e+02] [ 3.41295674e-01 9.39930952e-01 6.86068025e-03 1.94028257e+01] [-1.31945477e-02 -2.50743885e-03 9.99909804e-01 9.84464689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.439072329 meters Centerline goodness : 0.754821 Centerline is valid? [False, False] Translation: X:-162.34, Y:19.39, Z:98.45 [[ 9.37090783e-01 -3.49020501e-01 6.74937078e-03 -1.62341943e+02] [ 3.48970746e-01 9.37103203e-01 7.55024168e-03 1.93858536e+01] [-8.96004611e-03 -4.71992894e-03 9.99948719e-01 9.84517642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.46907232899997 meters Centerline goodness : 0.753353 Centerline is valid? [False, False] Translation: X:-162.34, Y:19.38, Z:98.45 [[ 9.35765903e-01 -3.52519010e-01 8.51602412e-03 -1.62342649e+02] [ 3.52494278e-01 9.35804096e-01 4.29853587e-03 1.93837417e+01] [-9.48464586e-03 -1.02057353e-03 9.99954499e-01 9.84517817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.499072329 meters Centerline goodness : 0.752734 Centerline is valid? [False, False] Translation: X:-162.36, Y:19.37, Z:98.46 [[ 9.33475032e-01 -3.58617233e-01 4.24782399e-03 -1.62362192e+02] [ 3.58584692e-01 9.33471836e-01 6.88121402e-03 1.93672422e+01] [-6.43294599e-03 -4.90023682e-03 9.99967302e-01 9.84595223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.529072329 meters Centerline goodness : 0.753027 Centerline is valid? [False, False] Translation: X:-162.37, Y:19.35, Z:98.45 [[ 9.34411402e-01 -3.55714972e-01 1.84984047e-02 -1.62369273e+02] [ 3.55365135e-01 9.34519067e-01 1.97417035e-02 1.93549775e+01] [-2.43095314e-02 -1.18731848e-02 9.99633970e-01 9.84541626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.55907232899995 meters Centerline goodness : 0.751602 Centerline is valid? [False, False] Translation: X:-162.38, Y:19.34, Z:98.45 [[ 9.35236158e-01 -3.52431429e-01 3.35472367e-02 -1.62375549e+02] [ 3.51496395e-01 9.35683534e-01 3.07669856e-02 1.93433006e+01] [-4.22328497e-02 -1.69826647e-02 9.98963451e-01 9.84466367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.589072329 meters Centerline goodness : 0.750981 Centerline is valid? [False, False] Translation: X:-162.38, Y:19.33, Z:98.44 [[ 9.36015288e-01 -3.48627495e-01 4.83140778e-02 -1.62381018e+02] [ 3.46899112e-01 9.37018052e-01 4.07207099e-02 1.93323739e+01] [-5.94675221e-02 -2.13550963e-02 9.98001790e-01 9.84396529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.61907232899995 meters Centerline goodness : 0.750126 Centerline is valid? [False, False] Translation: X:-162.39, Y:19.32, Z:98.43 [[ 9.36536103e-01 -3.44880921e-01 6.29068912e-02 -1.62385332e+02] [ 3.42119331e-01 9.38287036e-01 5.07129271e-02 1.93199838e+01] [-7.65146415e-02 -2.59728236e-02 9.96730115e-01 9.84320449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.649072329 meters Centerline goodness : 0.749937 Centerline is valid? [False, False] Translation: X:-162.39, Y:19.31, Z:98.42 [[ 9.37432834e-01 -3.39436376e-01 7.74766336e-02 -1.62390406e+02] [ 3.35428063e-01 9.40132342e-01 6.03257404e-02 1.93102482e+01] [-9.33150397e-02 -3.05634927e-02 9.95167411e-01 9.84244929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.67907232899995 meters Centerline goodness : 0.750469 Centerline is valid? [False, False] Translation: X:-162.40, Y:19.30, Z:98.42 [[ 9.38307551e-01 -3.33360019e-01 9.19240795e-02 -1.62396381e+02] [ 3.27859392e-01 9.42129161e-01 7.00061637e-02 1.93010548e+01] [-1.09941612e-01 -3.55491393e-02 9.93302120e-01 9.84184495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.709072329 meters Centerline goodness : 0.751816 Centerline is valid? [False, False] Translation: X:-162.41, Y:19.30, Z:98.41 [[ 9.38459254e-01 -3.31489502e-01 9.69996823e-02 -1.62411897e+02] [ 3.26424289e-01 9.43015027e-01 6.45743106e-02 1.92979848e+01] [-1.12877864e-01 -2.89373071e-02 9.93187404e-01 9.84143665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.73907232899995 meters Centerline goodness : 0.751973 Centerline is valid? [False, False] Translation: X:-162.42, Y:19.29, Z:98.41 [[ 9.39414191e-01 -3.23783414e-01 1.12540116e-01 -1.62420167e+02] [ 3.17151533e-01 9.45558385e-01 7.30359215e-02 1.92880412e+01] [-1.30061070e-01 -3.29187108e-02 9.90959372e-01 9.84088881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.769072329 meters Centerline goodness : 0.753794 Centerline is valid? [False, False] Translation: X:-162.42, Y:19.29, Z:98.41 [[ 9.40471872e-01 -3.20825416e-01 1.12177138e-01 -1.62418837e+02] [ 3.14437766e-01 9.46610903e-01 7.11104078e-02 1.92897414e+01] [-1.29002128e-01 -3.16046098e-02 9.91140555e-01 9.84099007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.79907232899996 meters Centerline goodness : 0.754587 Centerline is valid? [False, False] Translation: X:-162.42, Y:19.29, Z:98.41 [[ 9.40585094e-01 -3.20419886e-01 1.12386728e-01 -1.62418857e+02] [ 3.14059407e-01 9.46757526e-01 7.08299128e-02 1.92903184e+01] [-1.29098293e-01 -3.13254512e-02 9.91136896e-01 9.84090988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.829072329 meters Centerline goodness : 0.754279 Centerline is valid? [False, False] Translation: X:-162.42, Y:19.29, Z:98.41 [[ 9.40548493e-01 -3.20366716e-01 1.12843694e-01 -1.62419746e+02] [ 3.13915741e-01 9.46761729e-01 7.14082354e-02 1.92897832e+01] [-1.29712912e-01 -3.17394965e-02 9.91043473e-01 9.84086897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.85907232899996 meters Centerline goodness : 0.754279 Centerline is valid? [False, False] Translation: X:-162.42, Y:19.29, Z:98.41 [[ 9.40548493e-01 -3.20366716e-01 1.12843694e-01 -1.62419746e+02] [ 3.13915741e-01 9.46761729e-01 7.14082354e-02 1.92897832e+01] [-1.29712912e-01 -3.17394965e-02 9.91043473e-01 9.84086897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.889072329 meters Centerline goodness : 0.755899 Centerline is valid? [False, False] Translation: X:-162.42, Y:19.29, Z:98.41 [[ 9.40141654e-01 -3.21462002e-01 1.13118748e-01 -1.62419141e+02] [ 3.15090893e-01 9.46417948e-01 7.07869829e-02 1.92898978e+01] [-1.29812938e-01 -3.09071041e-02 9.91056685e-01 9.84065357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.91907232899996 meters Centerline goodness : 0.756288 Centerline is valid? [False, False] Translation: X:-162.42, Y:19.29, Z:98.41 [[ 9.40283733e-01 -3.20877578e-01 1.13596133e-01 -1.62420424e+02] [ 3.14309858e-01 9.46575712e-01 7.21369192e-02 1.92890509e+01] [-1.30674460e-01 -3.21247874e-02 9.90904730e-01 9.84058488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.949072329 meters Centerline goodness : 0.755940 Centerline is valid? [False, False] Translation: X:-162.42, Y:19.29, Z:98.40 [[ 9.40552492e-01 -3.20208146e-01 1.13259668e-01 -1.62419179e+02] [ 3.13685013e-01 9.46804959e-01 7.18476356e-02 1.92901387e+01] [-1.30241013e-01 -3.20486124e-02 9.90964260e-01 9.84040985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.97907232899996 meters Centerline goodness : 0.757687 Centerline is valid? [False, False] Translation: X:-162.42, Y:19.29, Z:98.41 [[ 9.40986555e-01 -3.18760238e-01 1.13737479e-01 -1.62420894e+02] [ 3.12136036e-01 9.47272973e-01 7.24224381e-02 1.92896891e+01] [-1.30825833e-01 -3.26469746e-02 9.90867689e-01 9.84057574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.009072329 meters Centerline goodness : 0.758086 Centerline is valid? [False, False] Translation: X:-162.42, Y:19.29, Z:98.41 [[ 9.40464762e-01 -3.20050554e-01 1.14427594e-01 -1.62421399e+02] [ 3.13504807e-01 9.46873948e-01 7.17249032e-02 1.92887833e+01] [-1.31304103e-01 -3.15811431e-02 9.90838970e-01 9.84054365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.03907232899996 meters Centerline goodness : 0.758633 Centerline is valid? [False, False] Translation: X:-162.42, Y:19.29, Z:98.41 [[ 9.40379364e-01 -3.20196868e-01 1.14719739e-01 -1.62422365e+02] [ 3.13590448e-01 9.46815682e-01 7.21186230e-02 1.92879327e+01] [-1.31710605e-01 -3.18438505e-02 9.90776607e-01 9.84062415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.069072329 meters Centerline goodness : 0.758785 Centerline is valid? [False, False] Translation: X:-162.42, Y:19.29, Z:98.41 [[ 9.40573103e-01 -3.19662548e-01 1.14621520e-01 -1.62421993e+02] [ 3.12971668e-01 9.46972070e-01 7.27504887e-02 1.92873888e+01] [-1.31798985e-01 -3.25538645e-02 9.90741779e-01 9.84052637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.09907232899997 meters Centerline goodness : 0.760180 Centerline is valid? [False, False] Translation: X:-162.42, Y:19.29, Z:98.40 [[ 9.40080422e-01 -3.20980752e-01 1.14978941e-01 -1.62422441e+02] [ 3.14123240e-01 9.46495652e-01 7.39768261e-02 1.92854858e+01] [-1.32572205e-01 -3.34266082e-02 9.90609546e-01 9.84038281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.129072329 meters Centerline goodness : 0.760113 Centerline is valid? [False, False] Translation: X:-162.42, Y:19.28, Z:98.40 [[ 9.40185145e-01 -3.20630587e-01 1.15099607e-01 -1.62421796e+02] [ 3.13779391e-01 9.46617168e-01 7.38811901e-02 1.92849572e+01] [-1.32643834e-01 -3.33461126e-02 9.90602670e-01 9.84026530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.15907232899997 meters Centerline goodness : 0.759357 Centerline is valid? [False, False] Translation: X:-162.42, Y:19.28, Z:98.40 [[ 9.39154123e-01 -3.23395163e-01 1.15780406e-01 -1.62420693e+02] [ 3.16820115e-01 9.45764343e-01 7.17970946e-02 1.92844329e+01] [-1.32719813e-01 -3.07469758e-02 9.90676574e-01 9.84003576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.189072329 meters Centerline goodness : 0.757656 Centerline is valid? [False, False] Translation: X:-162.43, Y:19.28, Z:98.40 [[ 9.38803106e-01 -3.22754118e-01 1.20326668e-01 -1.62433183e+02] [ 3.16848448e-01 9.46185528e-01 6.58787312e-02 1.92815216e+01] [-1.35113983e-01 -2.37218396e-02 9.90546054e-01 9.83963140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.21907232899997 meters Centerline goodness : 0.757780 Centerline is valid? [False, False] Translation: X:-162.45, Y:19.28, Z:98.39 [[ 9.38598146e-01 -3.21681434e-01 1.24717979e-01 -1.62447194e+02] [ 3.16581086e-01 9.46709686e-01 5.93058763e-02 1.92782682e+01] [-1.37149318e-01 -1.61810324e-02 9.90418214e-01 9.83933434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.249072329 meters Centerline goodness : 0.756849 Centerline is valid? [False, False] Translation: X:-162.46, Y:19.27, Z:98.39 [[ 9.38049717e-01 -3.21472414e-01 1.29298937e-01 -1.62461483e+02] [ 3.17223480e-01 9.46880833e-01 5.27821177e-02 1.92747602e+01] [-1.39398680e-01 -8.49559207e-03 9.90199896e-01 9.83927031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.279072329 meters Centerline goodness : 0.757738 Centerline is valid? [False, False] Translation: X:-162.47, Y:19.28, Z:98.39 [[ 9.36834849e-01 -3.23880567e-01 1.32067571e-01 -1.62465997e+02] [ 3.20226610e-01 9.46092359e-01 4.86226941e-02 1.92762839e+01] [-1.40696066e-01 -3.25988365e-03 9.90047469e-01 9.83917363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.30907232899995 meters Centerline goodness : 0.757745 Centerline is valid? [False, False] Translation: X:-162.47, Y:19.28, Z:98.39 [[ 9.35740511e-01 -3.25531320e-01 1.35716819e-01 -1.62472620e+02] [ 3.22523219e-01 9.45528222e-01 4.42171305e-02 1.92759097e+01] [-1.42718144e-01 2.39606516e-03 9.89760471e-01 9.83894050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.339072329 meters Centerline goodness : 0.756865 Centerline is valid? [False, False] Translation: X:-162.47, Y:19.27, Z:98.39 [[ 9.34919616e-01 -3.27957452e-01 1.35533100e-01 -1.62470572e+02] [ 3.25116974e-01 9.44685434e-01 4.32248011e-02 1.92743988e+01] [-1.42212041e-01 3.65239689e-03 9.89829478e-01 9.83872482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.36907232899995 meters Centerline goodness : 0.757135 Centerline is valid? [False, False] Translation: X:-162.48, Y:19.28, Z:98.38 [[ 9.33771642e-01 -3.29776668e-01 1.38988739e-01 -1.62476808e+02] [ 3.27650262e-01 9.44011034e-01 3.85807495e-02 1.92756448e+01] [-1.43929935e-01 9.51408712e-03 9.89542145e-01 9.83848507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.399072329 meters Centerline goodness : 0.756676 Centerline is valid? [False, False] Translation: X:-162.48, Y:19.28, Z:98.38 [[ 9.32661714e-01 -3.31234047e-01 1.42920023e-01 -1.62484353e+02] [ 3.29932065e-01 9.43413128e-01 3.34140946e-02 1.92775418e+01] [-1.45900512e-01 1.59898515e-02 9.89170039e-01 9.83811781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.42907232899995 meters Centerline goodness : 0.756425 Centerline is valid? [False, False] Translation: X:-162.48, Y:19.28, Z:98.39 [[ 9.32855704e-01 -3.36439529e-01 1.28797047e-01 -1.62481759e+02] [ 3.35767114e-01 9.41541773e-01 2.75596603e-02 1.92831559e+01] [-1.30539959e-01 1.75366265e-02 9.91287943e-01 9.83902697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.459072329 meters Centerline goodness : 0.758734 Centerline is valid? [False, False] Translation: X:-162.48, Y:19.29, Z:98.39 [[ 9.31455395e-01 -3.39282344e-01 1.31447090e-01 -1.62484898e+02] [ 3.39353572e-01 9.40388497e-01 2.25527877e-02 1.92860477e+01] [-1.31263094e-01 2.36001237e-02 9.91066614e-01 9.83875736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.48907232899995 meters Centerline goodness : 0.759666 Centerline is valid? [False, False] Translation: X:-162.50, Y:19.28, Z:98.38 [[ 9.30956350e-01 -3.38701650e-01 1.36387193e-01 -1.62497491e+02] [ 3.39674481e-01 9.40393102e-01 1.67946810e-02 1.92849562e+01] [-1.33945962e-01 3.06921341e-02 9.90513237e-01 9.83826972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.519072329 meters Centerline goodness : 0.760670 Centerline is valid? [False, False] Translation: X:-162.51, Y:19.29, Z:98.38 [[ 9.31052998e-01 -3.36630269e-01 1.40784859e-01 -1.62511910e+02] [ 3.38535912e-01 9.40890118e-01 1.09189128e-02 1.92850174e+01] [-1.36138719e-01 3.74946440e-02 9.89980000e-01 9.83784184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.54907232899996 meters Centerline goodness : 0.760736 Centerline is valid? [False, False] Translation: X:-162.52, Y:19.28, Z:98.38 [[ 9.31205569e-01 -3.34867326e-01 1.43944650e-01 -1.62523220e+02] [ 3.37428902e-01 9.41325208e-01 6.97061636e-03 1.92847180e+01] [-1.37832960e-01 4.20800085e-02 9.89561190e-01 9.83769509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.579072329 meters Centerline goodness : 0.761454 Centerline is valid? [False, False] Translation: X:-162.54, Y:19.28, Z:98.38 [[ 9.31314166e-01 -3.32855529e-01 1.47855066e-01 -1.62536912e+02] [ 3.36121311e-01 9.41813709e-01 3.06625580e-03 1.92826616e+01] [-1.40272548e-01 4.68415910e-02 9.89004286e-01 9.83761551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.60907232899996 meters Centerline goodness : 0.760073 Centerline is valid? [False, False] Translation: X:-162.55, Y:19.28, Z:98.38 [[ 9.32036274e-01 -3.29483951e-01 1.50826754e-01 -1.62550186e+02] [ 3.33178474e-01 9.42863420e-01 8.21747630e-04 1.92819961e+01] [-1.42479782e-01 4.94863291e-02 9.88559869e-01 9.83757070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.639072329 meters Centerline goodness : 0.760470 Centerline is valid? [False, False] Translation: X:-162.56, Y:19.28, Z:98.38 [[ 9.32363671e-01 -3.26990020e-01 1.54193098e-01 -1.62563232e+02] [ 3.31364447e-01 9.43498569e-01 -2.83771906e-03 1.92801191e+01] [-1.44553062e-01 5.37398970e-02 9.88036657e-01 9.83750944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.66907232899996 meters Centerline goodness : 0.760052 Centerline is valid? [False, False] Translation: X:-162.58, Y:19.28, Z:98.37 [[ 9.32727747e-01 -3.24300817e-01 1.57632261e-01 -1.62577012e+02] [ 3.29377073e-01 9.44176206e-01 -6.48357077e-03 1.92775756e+01] [-1.46730003e-01 5.79678591e-02 9.87476599e-01 9.83748708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.699072329 meters Centerline goodness : 0.759257 Centerline is valid? [False, False] Translation: X:-162.59, Y:19.28, Z:98.38 [[ 9.32599326e-01 -3.22958796e-01 1.61109009e-01 -1.62589186e+02] [ 3.28661815e-01 9.44401349e-01 -9.35431817e-03 1.92753923e+01] [-1.49130506e-01 6.16742103e-02 9.86892286e-01 9.83766752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.72907232899996 meters Centerline goodness : 0.760641 Centerline is valid? [False, False] Translation: X:-162.60, Y:19.27, Z:98.39 [[ 9.36165759e-01 -3.18772909e-01 1.48248114e-01 -1.62598349e+02] [ 3.23748132e-01 9.46089617e-01 -1.00788899e-02 1.92656850e+01] [-1.37043125e-01 5.74305617e-02 9.88898838e-01 9.83917443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.759072329 meters Centerline goodness : 0.760439 Centerline is valid? [False, False] Translation: X:-162.61, Y:19.26, Z:98.41 [[ 9.39233409e-01 -3.15475807e-01 1.35335207e-01 -1.62608258e+02] [ 3.19805454e-01 9.47419781e-01 -1.09649806e-02 1.92557342e+01] [-1.24760066e-01 5.35796136e-02 9.90739194e-01 9.84060361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.78907232899996 meters Centerline goodness : 0.760937 Centerline is valid? [False, False] Translation: X:-162.61, Y:19.26, Z:98.41 [[ 9.39226802e-01 -3.15420921e-01 1.35508885e-01 -1.62609608e+02] [ 3.19717773e-01 9.47453150e-01 -1.06336641e-02 1.92552313e+01] [-1.25034239e-01 5.33120211e-02 9.90719066e-01 9.84077476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.819072329 meters Centerline goodness : 0.760928 Centerline is valid? [False, False] Translation: X:-162.61, Y:19.26, Z:98.41 [[ 9.39805048e-01 -3.13785486e-01 1.35296493e-01 -1.62609397e+02] [ 3.17994356e-01 9.48038371e-01 -1.01408407e-02 1.92562455e+01] [-1.25084218e-01 5.25539343e-02 9.90753260e-01 9.84071719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.84907232899997 meters Centerline goodness : 0.758868 Centerline is valid? [False, False] Translation: X:-162.63, Y:19.24, Z:98.42 [[ 9.40532882e-01 -3.14754928e-01 1.27778062e-01 -1.62627215e+02] [ 3.17677271e-01 9.48195235e-01 -2.63579373e-03 1.92447731e+01] [-1.20328920e-01 4.30712366e-02 9.91799284e-01 9.84168752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.879072329 meters Centerline goodness : 0.757454 Centerline is valid? [False, False] Translation: X:-162.65, Y:19.23, Z:98.43 [[ 9.41036973e-01 -3.16107626e-01 1.20521305e-01 -1.62645146e+02] [ 3.17948468e-01 9.48098918e-01 4.14893525e-03 1.92330240e+01] [-1.15577629e-01 3.44152628e-02 9.92702071e-01 9.84257009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.90907232899997 meters Centerline goodness : 0.758228 Centerline is valid? [False, False] Translation: X:-162.66, Y:19.22, Z:98.44 [[ 9.43652431e-01 -3.12342246e-01 1.09372808e-01 -1.62655042e+02] [ 3.14240358e-01 9.49343448e-01 -1.24467715e-04 1.92246898e+01] [-1.03793482e-01 3.44868046e-02 9.94000791e-01 9.84362028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.939072329 meters Centerline goodness : 0.758481 Centerline is valid? [False, False] Translation: X:-162.67, Y:19.21, Z:98.44 [[ 9.43277054e-01 -3.15660138e-01 1.02893517e-01 -1.62672700e+02] [ 3.16864521e-01 9.48458387e-01 4.85427241e-03 1.92134828e+01] [-9.91225198e-02 2.80243813e-02 9.94680532e-01 9.84449411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.96907232899997 meters Centerline goodness : 0.759636 Centerline is valid? [False, False] Translation: X:-162.68, Y:19.20, Z:98.44 [[ 9.42468126e-01 -3.12816650e-01 1.17896460e-01 -1.62679181e+02] [ 3.13319898e-01 9.49533493e-01 1.47236768e-02 1.92045712e+01] [-1.16552449e-01 2.30627107e-02 9.92916733e-01 9.84368104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.999072329 meters Centerline goodness : 0.760136 Centerline is valid? [False, False] Translation: X:-162.68, Y:19.21, Z:98.44 [[ 9.41318331e-01 -3.15310646e-01 1.20411780e-01 -1.62683439e+02] [ 3.16357041e-01 9.48578364e-01 1.08309640e-02 1.92060437e+01] [-1.17635127e-01 2.78977293e-02 9.92664945e-01 9.84365527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.029072329 meters Centerline goodness : 0.759852 Centerline is valid? [False, False] Translation: X:-162.69, Y:19.21, Z:98.43 [[ 9.40369180e-01 -3.16749248e-01 1.23998869e-01 -1.62690809e+02] [ 3.18420362e-01 9.47926420e-01 6.63139991e-03 1.92064036e+01] [-1.19642295e-01 3.32478008e-02 9.92260200e-01 9.84348297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.05907232899995 meters Centerline goodness : 0.758690 Centerline is valid? [False, False] Translation: X:-162.69, Y:19.20, Z:98.44 [[ 9.40914154e-01 -3.15239093e-01 1.23712851e-01 -1.62692413e+02] [ 3.16611703e-01 9.48513252e-01 8.92409086e-03 1.92048068e+01] [-1.20156501e-01 3.07721332e-02 9.92277930e-01 9.84370781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.089072329 meters Centerline goodness : 0.758375 Centerline is valid? [False, False] Translation: X:-162.69, Y:19.20, Z:98.44 [[ 9.41093861e-01 -3.14602583e-01 1.23965963e-01 -1.62694256e+02] [ 3.15883296e-01 9.48748433e-01 9.70328599e-03 1.92034716e+01] [-1.20665192e-01 3.00270741e-02 9.92239027e-01 9.84387468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.11907232899995 meters Centerline goodness : 0.759448 Centerline is valid? [False, False] Translation: X:-162.70, Y:19.20, Z:98.44 [[ 9.40117130e-01 -3.16476777e-01 1.26578953e-01 -1.62699539e+02] [ 3.18315646e-01 9.47966007e-01 5.96651232e-03 1.92043474e+01] [-1.21880807e-01 3.46828408e-02 9.91938592e-01 9.84388485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.149072329 meters Centerline goodness : 0.759933 Centerline is valid? [False, False] Translation: X:-162.72, Y:19.19, Z:98.45 [[ 9.39622315e-01 -3.20629034e-01 1.19611571e-01 -1.62715654e+02] [ 3.21790135e-01 9.46758136e-01 1.00070197e-02 1.91923661e+01] [-1.16451769e-01 2.90870045e-02 9.92770332e-01 9.84482427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.17907232899995 meters Centerline goodness : 0.758832 Centerline is valid? [False, False] Translation: X:-162.72, Y:19.19, Z:98.45 [[ 9.38457289e-01 -3.23076290e-01 1.22145930e-01 -1.62719807e+02] [ 3.24767925e-01 9.45772411e-01 6.35153825e-03 1.91925663e+01] [-1.17574282e-01 3.37084329e-02 9.92491829e-01 9.84484315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.209072329 meters Centerline goodness : 0.759589 Centerline is valid? [False, False] Translation: X:-162.72, Y:19.19, Z:98.44 [[ 9.37685859e-01 -3.19838981e-01 1.35824361e-01 -1.62722335e+02] [ 3.21223805e-01 9.46924780e-01 1.21954365e-02 1.91859924e+01] [-1.32516029e-01 3.21945297e-02 9.90657869e-01 9.84418811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.23907232899995 meters Centerline goodness : 0.760758 Centerline is valid? [False, False] Translation: X:-162.72, Y:19.18, Z:98.44 [[ 9.37500925e-01 -3.20239174e-01 1.36157582e-01 -1.62724171e+02] [ 3.21433575e-01 9.46832671e-01 1.37240906e-02 1.91842520e+01] [-1.33313438e-01 3.08992706e-02 9.90592127e-01 9.84429450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.269072329 meters Centerline goodness : 0.759733 Centerline is valid? [False, False] Translation: X:-162.72, Y:19.18, Z:98.44 [[ 9.37510222e-01 -3.20276355e-01 1.36006029e-01 -1.62723381e+02] [ 3.21400790e-01 9.46836609e-01 1.42115162e-02 1.91842307e+01] [-1.33327100e-01 3.03890035e-02 9.90606074e-01 9.84409228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.29907232899996 meters Centerline goodness : 0.760367 Centerline is valid? [False, False] Translation: X:-162.72, Y:19.18, Z:98.44 [[ 9.37196218e-01 -3.21311369e-01 1.35728603e-01 -1.62722866e+02] [ 3.22216565e-01 9.46533232e-01 1.58532698e-02 1.91841638e+01] [-1.33565469e-01 2.88763797e-02 9.90619211e-01 9.84377950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.329072329 meters Centerline goodness : 0.758098 Centerline is valid? [False, False] Translation: X:-162.73, Y:19.19, Z:98.44 [[ 9.35924791e-01 -3.23972289e-01 1.38154774e-01 -1.62726342e+02] [ 3.25523981e-01 9.45459562e-01 1.18471126e-02 1.91854688e+01] [-1.34457888e-01 3.38846856e-02 9.90339792e-01 9.84372152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.35907232899996 meters Centerline goodness : 0.760032 Centerline is valid? [False, False] Translation: X:-162.73, Y:19.18, Z:98.44 [[ 9.35575118e-01 -3.24745475e-01 1.38706794e-01 -1.62728799e+02] [ 3.26190147e-01 9.45217108e-01 1.28298985e-02 1.91836369e+01] [-1.35274486e-01 3.32414556e-02 9.90250382e-01 9.84395196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.389072329 meters Centerline goodness : 0.760210 Centerline is valid? [False, False] Translation: X:-162.73, Y:19.18, Z:98.44 [[ 9.35457306e-01 -3.25046206e-01 1.38796949e-01 -1.62729633e+02] [ 3.26446558e-01 9.45123499e-01 1.31990679e-02 1.91832488e+01] [-1.35470565e-01 3.29626219e-02 9.90232898e-01 9.84402044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.41907232899996 meters Centerline goodness : 0.760474 Centerline is valid? [False, False] Translation: X:-162.73, Y:19.18, Z:98.44 [[ 9.35717723e-01 -3.24382387e-01 1.38594410e-01 -1.62730965e+02] [ 3.25604083e-01 9.45396466e-01 1.44049947e-02 1.91845932e+01] [-1.35699392e-01 3.16478970e-02 9.90244457e-01 9.84413199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.449072329 meters Centerline goodness : 0.759698 Centerline is valid? [False, False] Translation: X:-162.73, Y:19.18, Z:98.44 [[ 9.35744507e-01 -3.24321522e-01 1.38556008e-01 -1.62731863e+02] [ 3.25548577e-01 9.45416383e-01 1.43522325e-02 1.91846227e+01] [-1.35647858e-01 3.16766884e-02 9.90250598e-01 9.84431601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.47907232899996 meters Centerline goodness : 0.760802 Centerline is valid? [False, False] Translation: X:-162.73, Y:19.19, Z:98.44 [[ 9.35929595e-01 -3.23812946e-01 1.38495375e-01 -1.62731460e+02] [ 3.25274909e-01 9.45535810e-01 1.25803603e-02 1.91857025e+01] [-1.35026020e-01 3.32747392e-02 9.90283174e-01 9.84448362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.509072329 meters Centerline goodness : 0.759846 Centerline is valid? [False, False] Translation: X:-162.74, Y:19.19, Z:98.44 [[ 9.35126366e-01 -3.24428601e-01 1.42424586e-01 -1.62740586e+02] [ 3.26679373e-01 9.45101827e-01 7.94503924e-03 1.91862528e+01] [-1.37183335e-01 3.90975589e-02 9.89773769e-01 9.84426250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.53907232899996 meters Centerline goodness : 0.760320 Centerline is valid? [False, False] Translation: X:-162.74, Y:19.19, Z:98.44 [[ 9.34989805e-01 -3.24758737e-01 1.42568676e-01 -1.62741743e+02] [ 3.26966141e-01 9.44999390e-01 8.32440882e-03 1.91855434e+01] [-1.37430736e-01 3.88318924e-02 9.89749906e-01 9.84441404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.569072329 meters Centerline goodness : 0.759535 Centerline is valid? [False, False] Translation: X:-162.75, Y:19.19, Z:98.44 [[ 9.33760523e-01 -3.27200427e-01 1.45021259e-01 -1.62745607e+02] [ 3.30093450e-01 9.43938301e-01 4.33579725e-03 1.91869863e+01] [-1.38309795e-01 4.38219714e-02 9.89419039e-01 9.84437061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.59907232899997 meters Centerline goodness : 0.759721 Centerline is valid? [False, False] Translation: X:-162.77, Y:19.18, Z:98.45 [[ 9.33982839e-01 -3.29200854e-01 1.38934710e-01 -1.62765967e+02] [ 3.31279780e-01 9.43493736e-01 8.56023873e-03 1.91760417e+01] [-1.33902067e-01 3.80311442e-02 9.90264545e-01 9.84511868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.629072329 meters Centerline goodness : 0.758203 Centerline is valid? [False, False] Translation: X:-162.78, Y:19.17, Z:98.46 [[ 9.34995200e-01 -3.30797145e-01 1.27895365e-01 -1.62776224e+02] [ 3.32179846e-01 9.43152051e-01 1.09890148e-02 1.91685318e+01] [-1.24259911e-01 3.22095866e-02 9.91726786e-01 9.84605885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.65907232899997 meters Centerline goodness : 0.758208 Centerline is valid? [False, False] Translation: X:-162.78, Y:19.17, Z:98.46 [[ 9.33889551e-01 -3.32942114e-01 1.30383491e-01 -1.62780891e+02] [ 3.34907740e-01 9.42223401e-01 7.20192454e-03 1.91700670e+01] [-1.25248201e-01 3.69406383e-02 9.91437480e-01 9.84606126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.689072329 meters Centerline goodness : 0.756914 Centerline is valid? [False, False] Translation: X:-162.78, Y:19.17, Z:98.46 [[ 9.34145268e-01 -3.32166990e-01 1.30528573e-01 -1.62781952e+02] [ 3.34052198e-01 9.42522091e-01 7.82545166e-03 1.91693158e+01] [-1.25625420e-01 3.62932482e-02 9.91413664e-01 9.84618130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.71907232899997 meters Centerline goodness : 0.757186 Centerline is valid? [False, False] Translation: X:-162.78, Y:19.17, Z:98.46 [[ 9.34428449e-01 -3.31338807e-01 1.30606544e-01 -1.62784138e+02] [ 3.33002693e-01 9.42877707e-01 9.53079914e-03 1.91689009e+01] [-1.26303923e-01 3.45864811e-02 9.91388468e-01 9.84637242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.749072329 meters Centerline goodness : 0.757186 Centerline is valid? [False, False] Translation: X:-162.78, Y:19.17, Z:98.46 [[ 9.34428449e-01 -3.31338807e-01 1.30606544e-01 -1.62784138e+02] [ 3.33002693e-01 9.42877707e-01 9.53079914e-03 1.91689009e+01] [-1.26303923e-01 3.45864811e-02 9.91388468e-01 9.84637242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.779072329 meters Centerline goodness : 0.757873 Centerline is valid? [False, False] Translation: X:-162.79, Y:19.17, Z:98.46 [[ 9.33673067e-01 -3.32675429e-01 1.32595861e-01 -1.62789209e+02] [ 3.34862179e-01 9.42247280e-01 6.11422171e-03 1.91714201e+01] [-1.26972141e-01 3.86926549e-02 9.91151327e-01 9.84643225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.80907232899995 meters Centerline goodness : 0.757209 Centerline is valid? [False, False] Translation: X:-162.80, Y:19.17, Z:98.46 [[ 9.32817335e-01 -3.33550155e-01 1.36367571e-01 -1.62798084e+02] [ 3.36465633e-01 9.41694084e-01 1.76898506e-03 1.91724650e+01] [-1.29006580e-01 4.42328612e-02 9.90656730e-01 9.84630107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.839072329 meters Centerline goodness : 0.758478 Centerline is valid? [False, False] Translation: X:-162.80, Y:19.17, Z:98.47 [[ 9.32792207e-01 -3.33458163e-01 1.36763855e-01 -1.62800064e+02] [ 3.36312322e-01 9.41747532e-01 2.36823085e-03 1.91716328e+01] [-1.29586729e-01 4.37863023e-02 9.90600848e-01 9.84650363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.86907232899995 meters Centerline goodness : 0.758146 Centerline is valid? [False, False] Translation: X:-162.81, Y:19.17, Z:98.46 [[ 9.32293130e-01 -3.33335072e-01 1.40418123e-01 -1.62809982e+02] [ 3.36926868e-01 9.41528857e-01 -1.92293355e-03 1.91720904e+01] [-1.31566734e-01 4.91033762e-02 9.90090427e-01 9.84637831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.899072329 meters Centerline goodness : 0.759136 Centerline is valid? [False, False] Translation: X:-162.81, Y:19.17, Z:98.47 [[ 9.32876668e-01 -3.31754165e-01 1.40286480e-01 -1.62812385e+02] [ 3.35016381e-01 9.42212225e-01 3.83961558e-04 1.91716135e+01] [-1.32307017e-01 4.66400801e-02 9.90110881e-01 9.84663998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.92907232899995 meters Centerline goodness : 0.758652 Centerline is valid? [False, False] Translation: X:-162.82, Y:19.17, Z:98.47 [[ 9.32961347e-01 -3.31243412e-01 1.40928801e-01 -1.62815076e+02] [ 3.34505462e-01 9.42393636e-01 5.74878852e-04 1.91725518e+01] [-1.33000830e-01 4.66051138e-02 9.90019567e-01 9.84670506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.959072329 meters Centerline goodness : 0.760903 Centerline is valid? [False, False] Translation: X:-162.83, Y:19.16, Z:98.48 [[ 9.36207343e-01 -3.26530034e-01 1.29976722e-01 -1.62829513e+02] [ 3.29758787e-01 9.44058613e-01 -3.53222725e-03 1.91630259e+01] [-1.21552265e-01 4.61678632e-02 9.91510754e-01 9.84783756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.98907232899995 meters Centerline goodness : 0.760178 Centerline is valid? [False, False] Translation: X:-162.83, Y:19.16, Z:98.48 [[ 9.36213040e-01 -3.26371196e-01 1.30334135e-01 -1.62830877e+02] [ 3.29540852e-01 9.44136782e-01 -2.92626000e-03 1.91621229e+01] [-1.22098204e-01 4.56900246e-02 9.91465809e-01 9.84794292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.019072329 meters Centerline goodness : 0.761523 Centerline is valid? [False, False] Translation: X:-162.84, Y:19.15, Z:98.49 [[ 9.38947598e-01 -3.23045047e-01 1.18403145e-01 -1.62841067e+02] [ 3.26079438e-01 9.45318769e-01 -6.68021990e-03 1.91528286e+01] [-1.09770704e-01 4.48812076e-02 9.92943135e-01 9.84908525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.04907232899996 meters Centerline goodness : 0.761129 Centerline is valid? [False, False] Translation: X:-162.86, Y:19.14, Z:98.50 [[ 9.39154863e-01 -3.24643399e-01 1.12226586e-01 -1.62862870e+02] [ 3.26861147e-01 9.45071270e-01 -1.44427620e-03 1.91397454e+01] [-1.05593247e-01 3.80389096e-02 9.93681593e-01 9.85007315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.079072329 meters Centerline goodness : 0.760358 Centerline is valid? [False, False] Translation: X:-162.87, Y:19.14, Z:98.50 [[ 9.38304124e-01 -3.26021893e-01 1.15304363e-01 -1.62869920e+02] [ 3.28752079e-01 9.44403170e-01 -4.97225447e-03 1.91401787e+01] [-1.07272742e-01 4.25720360e-02 9.93317764e-01 9.85008677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.10907232899996 meters Centerline goodness : 0.760615 Centerline is valid? [False, False] Translation: X:-162.88, Y:19.13, Z:98.49 [[ 9.38108274e-01 -3.21179868e-01 1.29600764e-01 -1.62876319e+02] [ 3.23250088e-01 9.46298662e-01 5.31244564e-03 1.91313077e+01] [-1.24347280e-01 3.69098092e-02 9.91552026e-01 9.84946393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.139072329 meters Centerline goodness : 0.760612 Centerline is valid? [False, False] Translation: X:-162.88, Y:19.13, Z:98.50 [[ 9.37220854e-01 -3.23320552e-01 1.30693889e-01 -1.62879992e+02] [ 3.25228180e-01 9.45609127e-01 7.07173043e-03 1.91288920e+01] [-1.25871770e-01 3.58775624e-02 9.91397548e-01 9.84962380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.16907232899996 meters Centerline goodness : 0.760855 Centerline is valid? [False, False] Translation: X:-162.88, Y:19.13, Z:98.50 [[ 9.36022136e-01 -3.25735707e-01 1.33262182e-01 -1.62884296e+02] [ 3.28229179e-01 9.44591879e-01 3.43327969e-03 1.91295915e+01] [-1.26996717e-01 4.05269109e-02 9.91074873e-01 9.84963701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.199072329 meters Centerline goodness : 0.761055 Centerline is valid? [False, False] Translation: X:-162.89, Y:19.13, Z:98.50 [[ 9.35694560e-01 -3.26463946e-01 1.33779605e-01 -1.62886623e+02] [ 3.28793427e-01 9.44389028e-01 4.92412469e-03 1.91283921e+01] [-1.27947540e-01 3.93783781e-02 9.90998875e-01 9.84972821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.22907232899996 meters Centerline goodness : 0.761267 Centerline is valid? [False, False] Translation: X:-162.90, Y:19.12, Z:98.50 [[ 9.36632325e-01 -3.22278951e-01 1.37317753e-01 -1.62904316e+02] [ 3.25392522e-01 9.45579002e-01 -2.39927133e-04 1.91235441e+01] [-1.29767460e-01 4.49068935e-02 9.90527020e-01 9.84952506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.259072329 meters Centerline goodness : 0.761633 Centerline is valid? [False, False] Translation: X:-162.92, Y:19.12, Z:98.49 [[ 9.36059152e-01 -3.22107882e-01 1.41561915e-01 -1.62915301e+02] [ 3.25986159e-01 9.45363962e-01 -4.47256121e-03 1.91222407e+01] [-1.32386885e-01 5.03338068e-02 9.89919300e-01 9.84933521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.28907232899996 meters Centerline goodness : 0.761507 Centerline is valid? [False, False] Translation: X:-162.93, Y:19.12, Z:98.49 [[ 9.35555023e-01 -3.21980037e-01 1.45140120e-01 -1.62925152e+02] [ 3.26515318e-01 9.45158652e-01 -7.92908822e-03 1.91206398e+01] [-1.34627432e-01 5.48085708e-02 9.89379338e-01 9.84934077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.319072329 meters Centerline goodness : 0.762602 Centerline is valid? [False, False] Translation: X:-162.94, Y:19.11, Z:98.50 [[ 9.35465620e-01 -3.25106306e-01 1.38600017e-01 -1.62942996e+02] [ 3.28634328e-01 9.44453294e-01 -2.73011392e-03 1.91096780e+01] [-1.30013665e-01 4.81026510e-02 9.90344678e-01 9.85026923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.34907232899997 meters Centerline goodness : 0.761288 Centerline is valid? [False, False] Translation: X:-162.95, Y:19.10, Z:98.51 [[ 9.38532114e-01 -3.21064069e-01 1.26788546e-01 -1.62951639e+02] [ 3.24316501e-01 9.45933595e-01 -5.33299256e-03 1.91022979e+01] [-1.18221312e-01 4.61248023e-02 9.91915432e-01 9.85143222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.379072329 meters Centerline goodness : 0.761712 Centerline is valid? [False, False] Translation: X:-162.96, Y:19.10, Z:98.53 [[ 9.41579157e-01 -3.16758724e-01 1.14422909e-01 -1.62958791e+02] [ 3.19597985e-01 9.47528143e-01 -6.89543728e-03 1.90955177e+01] [-1.06234737e-01 4.30619313e-02 9.93408199e-01 9.85259627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.40907232899997 meters Centerline goodness : 0.760068 Centerline is valid? [False, False] Translation: X:-162.96, Y:19.10, Z:98.53 [[ 9.41718420e-01 -3.16059931e-01 1.15206499e-01 -1.62961898e+02] [ 3.18909693e-01 9.47761309e-01 -6.71627611e-03 1.90963296e+01] [-1.07065517e-01 4.30653103e-02 9.93318858e-01 9.85263839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.439072329 meters Centerline goodness : 0.759871 Centerline is valid? [False, False] Translation: X:-162.97, Y:19.09, Z:98.53 [[ 9.41310931e-01 -3.15791343e-01 1.19203852e-01 -1.62973059e+02] [ 3.19187884e-01 9.47638063e-01 -1.00596357e-02 1.90935915e+01] [-1.09785362e-01 4.75176703e-02 9.92818838e-01 9.85261505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.46907232899997 meters Centerline goodness : 0.758986 Centerline is valid? [False, False] Translation: X:-162.99, Y:19.09, Z:98.53 [[ 9.41320024e-01 -3.14069664e-01 1.23599590e-01 -1.62987269e+02] [ 3.18054367e-01 9.47977340e-01 -1.34306291e-02 1.90888054e+01] [-1.12951457e-01 5.19539093e-02 9.92241281e-01 9.85258024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.499072329 meters Centerline goodness : 0.757240 Centerline is valid? [False, False] Translation: X:-162.99, Y:19.08, Z:98.52 [[ 9.40885023e-01 -3.09788623e-01 1.36990447e-01 -1.62990539e+02] [ 3.13553883e-01 9.49549732e-01 -6.26648222e-03 1.90810578e+01] [-1.28137958e-01 4.88499260e-02 9.90552547e-01 9.85218063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.529072329 meters Centerline goodness : 0.757055 Centerline is valid? [False, False] Translation: X:-162.99, Y:19.08, Z:98.52 [[ 9.41012829e-01 -3.09435099e-01 1.36911563e-01 -1.62991561e+02] [ 3.13059681e-01 9.49719026e-01 -5.23531958e-03 1.90798913e+01] [-1.28407525e-01 4.77879932e-02 9.90569440e-01 9.85233300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.55907232899995 meters Centerline goodness : 0.755915 Centerline is valid? [False, False] Translation: X:-162.99, Y:19.08, Z:98.52 [[ 9.40920911e-01 -3.09625946e-01 1.37111683e-01 -1.62993659e+02] [ 3.12953787e-01 9.49764026e-01 -2.86757133e-03 1.90787830e+01] [-1.29335870e-01 4.56077782e-02 9.90551444e-01 9.85238565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.589072329 meters Centerline goodness : 0.755703 Centerline is valid? [False, False] Translation: X:-162.99, Y:19.08, Z:98.52 [[ 9.40438586e-01 -3.11253390e-01 1.36735485e-01 -1.62994666e+02] [ 3.14231326e-01 9.49346424e-01 -2.04563537e-04 1.90790309e+01] [-1.29745672e-01 4.31589521e-02 9.90607574e-01 9.85224603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.61907232899995 meters Centerline goodness : 0.754128 Centerline is valid? [False, False] Translation: X:-162.99, Y:19.08, Z:98.52 [[ 9.40490763e-01 -3.11106795e-01 1.36710231e-01 -1.62993999e+02] [ 3.14117241e-01 9.49384082e-01 -4.71983056e-04 1.90790769e+01] [-1.29643680e-01 4.33869363e-02 9.90610968e-01 9.85213750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.649072329 meters Centerline goodness : 0.753960 Centerline is valid? [False, False] Translation: X:-163.00, Y:19.08, Z:98.52 [[ 9.40116432e-01 -3.12015569e-01 1.37212894e-01 -1.62996009e+02] [ 3.14918365e-01 9.49118583e-01 5.81911980e-04 1.90773054e+01] [-1.30412873e-01 4.26637950e-02 9.90541409e-01 9.85228381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.67907232899995 meters Centerline goodness : 0.752601 Centerline is valid? [False, False] Translation: X:-162.99, Y:19.08, Z:98.52 [[ 9.40323834e-01 -3.11565910e-01 1.36812901e-01 -1.62994997e+02] [ 3.14617079e-01 9.49218406e-01 -7.15145214e-04 1.90795110e+01] [-1.29642509e-01 4.37161433e-02 9.90596648e-01 9.85227538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.709072329 meters Centerline goodness : 0.752087 Centerline is valid? [False, False] Translation: X:-163.00, Y:19.08, Z:98.53 [[ 9.40675943e-01 -3.10359452e-01 1.37134169e-01 -1.62997534e+02] [ 3.13223934e-01 9.49679019e-01 7.26588798e-04 1.90793641e+01] [-1.30458947e-01 4.22702192e-02 9.90552216e-01 9.85250518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.73907232899995 meters Centerline goodness : 0.752916 Centerline is valid? [False, False] Translation: X:-163.00, Y:19.08, Z:98.53 [[ 9.40626775e-01 -3.10408763e-01 1.37359635e-01 -1.62999368e+02] [ 3.13185910e-01 9.49690707e-01 1.46524098e-03 1.90788303e+01] [-1.30903993e-01 4.16408576e-02 9.90520158e-01 9.85269958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.769072329 meters Centerline goodness : 0.751174 Centerline is valid? [False, False] Translation: X:-163.00, Y:19.08, Z:98.53 [[ 9.40617866e-01 -3.10300989e-01 1.37663817e-01 -1.63000522e+02] [ 3.13223613e-01 9.49679294e-01 4.55440140e-04 1.90787087e+01] [-1.30877800e-01 4.26911631e-02 9.90478907e-01 9.85298896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.79907232899996 meters Centerline goodness : 0.751484 Centerline is valid? [False, False] Translation: X:-163.00, Y:19.08, Z:98.53 [[ 9.40905133e-01 -3.09473354e-01 1.37563706e-01 -1.63000547e+02] [ 3.12438741e-01 9.49937909e-01 3.82007615e-05 1.90787176e+01] [-1.30688801e-01 4.29442878e-02 9.90492920e-01 9.85310606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.829072329 meters Centerline goodness : 0.750624 Centerline is valid? [False, False] Translation: X:-163.00, Y:19.08, Z:98.53 [[ 9.41099430e-01 -3.08947748e-01 1.37415981e-01 -1.63001983e+02] [ 3.11664545e-01 9.50190429e-01 1.83288744e-03 1.90787562e+01] [-1.31137616e-01 4.11027598e-02 9.90511731e-01 9.85319394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.85907232899996 meters Centerline goodness : 0.751144 Centerline is valid? [False, False] Translation: X:-163.00, Y:19.08, Z:98.53 [[ 9.41246844e-01 -3.08384923e-01 1.37670321e-01 -1.63004077e+02] [ 3.10866473e-01 9.50446619e-01 3.64146306e-03 1.90780747e+01] [-1.31971263e-01 3.93695714e-02 9.90471414e-01 9.85331050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.889072329 meters Centerline goodness : 0.751444 Centerline is valid? [False, False] Translation: X:-163.00, Y:19.08, Z:98.53 [[ 9.41454306e-01 -3.07884581e-01 1.37371305e-01 -1.63002562e+02] [ 3.10388620e-01 9.50603867e-01 3.34546008e-03 1.90786580e+01] [-1.31615709e-01 3.94888919e-02 9.90513974e-01 9.85310720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.91907232899996 meters Centerline goodness : 0.750486 Centerline is valid? [False, False] Translation: X:-163.01, Y:19.07, Z:98.54 [[ 9.42254866e-01 -3.10049611e-01 1.26589915e-01 -1.63013214e+02] [ 3.11914182e-01 9.50095359e-01 5.32459952e-03 1.90691779e+01] [-1.21923381e-01 3.44680600e-02 9.91940846e-01 9.85417175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.949072329 meters Centerline goodness : 0.750302 Centerline is valid? [False, False] Translation: X:-163.01, Y:19.07, Z:98.54 [[ 9.42082337e-01 -3.10418805e-01 1.26968642e-01 -1.63013037e+02] [ 3.12370564e-01 9.49948457e-01 4.74978245e-03 1.90690684e+01] [-1.22088087e-01 3.51865802e-02 9.91895359e-01 9.85407816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.97907232899996 meters Centerline goodness : 0.750651 Centerline is valid? [False, False] Translation: X:-163.01, Y:19.07, Z:98.54 [[ 9.42104356e-01 -3.10242246e-01 1.27236521e-01 -1.63014760e+02] [ 3.12083264e-01 9.50037582e-01 5.71212391e-03 1.90680881e+01] [-1.22651619e-01 3.43269719e-02 9.91855957e-01 9.85424731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.009072329 meters Centerline goodness : 0.750178 Centerline is valid? [False, False] Translation: X:-163.01, Y:19.07, Z:98.54 [[ 9.42077314e-01 -3.10221687e-01 1.27486625e-01 -1.63014629e+02] [ 3.12057849e-01 9.50045273e-01 5.82043763e-03 1.90677643e+01] [-1.22923692e-01 3.42998997e-02 9.91823212e-01 9.85411763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.03907232899996 meters Centerline goodness : 0.750405 Centerline is valid? [False, False] Translation: X:-163.02, Y:19.07, Z:98.54 [[ 9.42066206e-01 -3.10036044e-01 1.28019198e-01 -1.63016736e+02] [ 3.11775274e-01 9.50132000e-01 6.73505930e-03 1.90667075e+01] [-1.23723248e-01 3.35683488e-02 9.91748821e-01 9.85428010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.069072329 meters Centerline goodness : 0.749520 Centerline is valid? [False, False] Translation: X:-163.02, Y:19.07, Z:98.54 [[ 9.42078499e-01 -3.09971608e-01 1.28084755e-01 -1.63016524e+02] [ 3.11735130e-01 9.50146439e-01 6.55391122e-03 1.90664468e+01] [-1.23730801e-01 3.37542190e-02 9.91741570e-01 9.85423588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.09907232899997 meters Centerline goodness : 0.748923 Centerline is valid? [False, False] Translation: X:-163.02, Y:19.07, Z:98.54 [[ 9.42078654e-01 -3.09857834e-01 1.28358611e-01 -1.63017641e+02] [ 3.11508205e-01 9.50213666e-01 7.52515579e-03 1.90650080e+01] [-1.24299835e-01 3.28954717e-02 9.91699268e-01 9.85430669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.129072329 meters Centerline goodness : 0.748491 Centerline is valid? [False, False] Translation: X:-163.02, Y:19.06, Z:98.54 [[ 9.42587295e-01 -3.08430303e-01 1.28062247e-01 -1.63019295e+02] [ 3.09682803e-01 9.50781760e-01 1.05170039e-02 1.90635688e+01] [-1.25003011e-01 2.97454813e-02 9.91710368e-01 9.85446029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.15907232899997 meters Centerline goodness : 0.748611 Centerline is valid? [False, False] Translation: X:-163.02, Y:19.06, Z:98.55 [[ 9.43031504e-01 -3.07081339e-01 1.28033718e-01 -1.63020278e+02] [ 3.08120688e-01 9.51270263e-01 1.21048560e-02 1.90629889e+01] [-1.25511844e-01 2.80345769e-02 9.91695941e-01 9.85450717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.189072329 meters Centerline goodness : 0.749166 Centerline is valid? [False, False] Translation: X:-163.02, Y:19.06, Z:98.55 [[ 9.42936567e-01 -3.07235963e-01 1.28361572e-01 -1.63021782e+02] [ 3.08137237e-01 9.51249280e-01 1.32759404e-02 1.90625402e+01] [-1.26182699e-01 2.70346104e-02 9.91638571e-01 9.85454592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.21907232899997 meters Centerline goodness : 0.747642 Centerline is valid? [False, False] Translation: X:-163.02, Y:19.06, Z:98.55 [[ 9.43018049e-01 -3.06998424e-01 1.28331317e-01 -1.63022320e+02] [ 3.07875740e-01 9.51331626e-01 1.34412227e-02 1.90619964e+01] [-1.26212075e-01 2.68347836e-02 9.91640261e-01 9.85466885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.249072329 meters Centerline goodness : 0.748265 Centerline is valid? [False, False] Translation: X:-163.02, Y:19.06, Z:98.55 [[ 9.43192417e-01 -3.06391433e-01 1.28500405e-01 -1.63022513e+02] [ 3.07326294e-01 9.51515619e-01 1.29836446e-02 1.90623114e+01] [-1.26248219e-01 2.72454779e-02 9.91624461e-01 9.85470554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.279072329 meters Centerline goodness : 0.747859 Centerline is valid? [False, False] Translation: X:-163.02, Y:19.06, Z:98.55 [[ 9.43461190e-01 -3.05395921e-01 1.28896528e-01 -1.63024090e+02] [ 3.06365686e-01 9.51828810e-01 1.27272770e-02 1.90619446e+01] [-1.26574288e-01 2.74817813e-02 9.91576372e-01 9.85497219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.30907232899995 meters Centerline goodness : 0.746228 Centerline is valid? [False, False] Translation: X:-163.03, Y:19.06, Z:98.55 [[ 9.43391299e-01 -3.05351107e-01 1.29512776e-01 -1.63026235e+02] [ 3.06276519e-01 9.51851004e-01 1.32045220e-02 1.90607729e+01] [-1.27308881e-01 2.72096910e-02 9.91489829e-01 9.85518967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.339072329 meters Centerline goodness : 0.747160 Centerline is valid? [False, False] Translation: X:-163.03, Y:19.06, Z:98.55 [[ 9.43356199e-01 -3.05215521e-01 1.30086766e-01 -1.63027573e+02] [ 3.06099317e-01 9.51901848e-01 1.36411302e-02 1.90603529e+01] [-1.27993317e-01 2.69510253e-02 9.91408772e-01 9.85519964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.36907232899995 meters Centerline goodness : 0.748739 Centerline is valid? [False, False] Translation: X:-163.03, Y:19.06, Z:98.55 [[ 9.43351989e-01 -3.05048192e-01 1.30509103e-01 -1.63029867e+02] [ 3.05738927e-01 9.51993942e-01 1.52066551e-02 1.90602608e+01] [-1.28882638e-01 2.55564847e-02 9.91330486e-01 9.85529162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.399072329 meters Centerline goodness : 0.750576 Centerline is valid? [False, False] Translation: X:-163.03, Y:19.06, Z:98.55 [[ 9.43405392e-01 -3.04757745e-01 1.30801309e-01 -1.63031268e+02] [ 3.05227223e-01 9.52128884e-01 1.69390075e-02 1.90587874e+01] [-1.29701998e-01 2.39437693e-02 9.91263884e-01 9.85530758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.42907232899995 meters Centerline goodness : 0.749418 Centerline is valid? [False, False] Translation: X:-163.03, Y:19.06, Z:98.55 [[ 9.43585631e-01 -3.04213232e-01 1.30768753e-01 -1.63031660e+02] [ 3.04591341e-01 9.52320652e-01 1.75923519e-02 1.90568818e+01] [-1.29885610e-01 2.32311394e-02 9.91256799e-01 9.85544333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.459072329 meters Centerline goodness : 0.749264 Centerline is valid? [False, False] Translation: X:-163.03, Y:19.06, Z:98.55 [[ 9.42689291e-01 -3.06368781e-01 1.32193308e-01 -1.63031218e+02] [ 3.07255143e-01 9.51521972e-01 1.41496839e-02 1.90562800e+01] [-1.30119859e-01 2.72783184e-02 9.91122957e-01 9.85526147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.48907232899995 meters Centerline goodness : 0.748531 Centerline is valid? [False, False] Translation: X:-163.03, Y:19.05, Z:98.55 [[ 9.42857111e-01 -3.02474124e-01 1.39749319e-01 -1.63026370e+02] [ 3.02147446e-01 9.52957392e-01 2.40651260e-02 1.90521101e+01] [-1.40454224e-01 1.95349245e-02 9.89894438e-01 9.85523244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.519072329 meters Centerline goodness : 0.749182 Centerline is valid? [False, False] Translation: X:-163.03, Y:19.05, Z:98.55 [[ 9.42584515e-01 -3.03119189e-01 1.40189832e-01 -1.63028155e+02] [ 3.02545566e-01 9.52782756e-01 2.59075196e-02 1.90500009e+01] [-1.41423521e-01 1.79937853e-02 9.89785639e-01 9.85526435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.54907232899996 meters Centerline goodness : 0.749601 Centerline is valid? [False, False] Translation: X:-163.03, Y:19.05, Z:98.55 [[ 9.42467361e-01 -3.03524287e-01 1.40100965e-01 -1.63027102e+02] [ 3.02861060e-01 9.52664722e-01 2.65538209e-02 1.90477573e+01] [-1.41528977e-01 1.74050174e-02 9.89781094e-01 9.85507696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.579072329 meters Centerline goodness : 0.748980 Centerline is valid? [False, False] Translation: X:-163.03, Y:19.05, Z:98.55 [[ 9.42560462e-01 -3.03217431e-01 1.40139093e-01 -1.63027825e+02] [ 3.02403476e-01 9.52780689e-01 2.75879684e-02 1.90461668e+01] [-1.41886974e-01 1.63752205e-02 9.89747412e-01 9.85516211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.60907232899996 meters Centerline goodness : 0.747654 Centerline is valid? [False, False] Translation: X:-163.03, Y:19.04, Z:98.55 [[ 9.42409636e-01 -3.03485794e-01 1.40571872e-01 -1.63029029e+02] [ 3.02554744e-01 9.52706642e-01 2.84724512e-02 1.90439727e+01] [-1.42564740e-01 1.56979742e-02 9.89660987e-01 9.85522887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.639072329 meters Centerline goodness : 0.748288 Centerline is valid? [False, False] Translation: X:-163.03, Y:19.04, Z:98.55 [[ 9.42128794e-01 -3.04126092e-01 1.41069681e-01 -1.63030995e+02] [ 3.03061078e-01 9.52514351e-01 2.95024357e-02 1.90424084e+01] [-1.43343357e-01 1.49576356e-02 9.89559979e-01 9.85538243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.66907232899996 meters Centerline goodness : 0.748288 Centerline is valid? [False, False] Translation: X:-163.03, Y:19.04, Z:98.55 [[ 9.42128794e-01 -3.04126092e-01 1.41069681e-01 -1.63030995e+02] [ 3.03061078e-01 9.52514351e-01 2.95024357e-02 1.90424084e+01] [-1.43343357e-01 1.49576356e-02 9.89559979e-01 9.85538243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.699072329 meters Centerline goodness : 0.748632 Centerline is valid? [False, False] Translation: X:-163.03, Y:19.04, Z:98.56 [[ 9.42026210e-01 -3.04303751e-01 1.41371308e-01 -1.63032704e+02] [ 3.03088884e-01 9.52471550e-01 3.05789998e-02 1.90407340e+01] [-1.43957453e-01 1.40418526e-02 9.89484249e-01 9.85556406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.72907232899996 meters Centerline goodness : 0.747464 Centerline is valid? [False, False] Translation: X:-163.03, Y:19.04, Z:98.56 [[ 9.41821711e-01 -3.04792444e-01 1.41680738e-01 -1.63034321e+02] [ 3.03423377e-01 9.52328283e-01 3.17032515e-02 1.90387413e+01] [-1.44589486e-01 1.31304376e-02 9.89404605e-01 9.85573552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.759072329 meters Centerline goodness : 0.745162 Centerline is valid? [False, False] Translation: X:-163.03, Y:19.04, Z:98.56 [[ 9.40676608e-01 -3.07845041e-01 1.42684795e-01 -1.63032947e+02] [ 3.07090615e-01 9.51273105e-01 2.78358337e-02 1.90374562e+01] [-1.44301331e-01 1.76326437e-02 9.89376680e-01 9.85558238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.78907232899996 meters Centerline goodness : 0.746489 Centerline is valid? [False, False] Translation: X:-163.03, Y:19.04, Z:98.56 [[ 9.39943527e-01 -3.09895645e-01 1.43076398e-01 -1.63033176e+02] [ 3.09245910e-01 9.50589402e-01 2.73268311e-02 1.90354914e+01] [-1.44475374e-01 1.85601130e-02 9.89334316e-01 9.85561503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.819072329 meters Centerline goodness : 0.744253 Centerline is valid? [False, False] Translation: X:-163.03, Y:19.03, Z:98.56 [[ 9.39319798e-01 -3.11582842e-01 1.43507660e-01 -1.63034497e+02] [ 3.10849970e-01 9.50044067e-01 2.80814260e-02 1.90331994e+01] [-1.45088292e-01 1.82319125e-02 9.89250719e-01 9.85570150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.84907232899997 meters Centerline goodness : 0.743270 Centerline is valid? [False, False] Translation: X:-163.03, Y:19.03, Z:98.56 [[ 9.38771424e-01 -3.13118195e-01 1.43753990e-01 -1.63034713e+02] [ 3.12287440e-01 9.49548022e-01 2.88982461e-02 1.90315225e+01] [-1.45549883e-01 1.77637177e-02 9.89191428e-01 9.85557470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.879072329 meters Centerline goodness : 0.743324 Centerline is valid? [False, False] Translation: X:-163.03, Y:19.03, Z:98.55 [[ 9.38098679e-01 -3.15302998e-01 1.43369762e-01 -1.63034478e+02] [ 3.14102762e-01 9.48865227e-01 3.15315074e-02 1.90278105e+01] [-1.45980560e-01 1.54531728e-02 9.89166758e-01 9.85545578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.90907232899997 meters Centerline goodness : 0.741593 Centerline is valid? [False, False] Translation: X:-163.04, Y:19.03, Z:98.56 [[ 9.37686597e-01 -3.16336826e-01 1.43787544e-01 -1.63036299e+02] [ 3.14879797e-01 9.48544103e-01 3.33886017e-02 1.90250356e+01] [-1.46950872e-01 1.39677485e-02 9.89045167e-01 9.85554820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.939072329 meters Centerline goodness : 0.738986 Centerline is valid? [False, False] Translation: X:-163.04, Y:19.02, Z:98.55 [[ 9.36285230e-01 -3.20191608e-01 1.44385953e-01 -1.63035389e+02] [ 3.19135960e-01 9.47200141e-01 3.10504613e-02 1.90235779e+01] [-1.46704492e-01 1.70066613e-02 9.89034158e-01 9.85544917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.96907232899997 meters Centerline goodness : 0.738766 Centerline is valid? [False, False] Translation: X:-163.04, Y:19.02, Z:98.56 [[ 9.35957812e-01 -3.21051989e-01 1.44598042e-01 -1.63036541e+02] [ 3.19956796e-01 9.46911353e-01 3.14092072e-02 1.90221531e+01] [-1.47005516e-01 1.68674334e-02 9.88991844e-01 9.85562428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.999072329 meters Centerline goodness : 0.738825 Centerline is valid? [False, False] Translation: X:-163.04, Y:19.02, Z:98.56 [[ 9.35736322e-01 -3.21692001e-01 1.44609105e-01 -1.63037287e+02] [ 3.20530217e-01 9.46700702e-01 3.19086188e-02 1.90212086e+01] [-1.47166288e-01 1.64935341e-02 9.88974240e-01 9.85574512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.029072329 meters Centerline goodness : 0.738553 Centerline is valid? [False, False] Translation: X:-163.04, Y:19.02, Z:98.56 [[ 9.34771363e-01 -3.24274506e-01 1.45081164e-01 -1.63038530e+02] [ 3.23179332e-01 9.45805983e-01 3.17200626e-02 1.90212928e+01] [-1.47504640e-01 1.72362274e-02 9.88911166e-01 9.85578228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.05907232899995 meters Centerline goodness : 0.737959 Centerline is valid? [False, False] Translation: X:-163.04, Y:19.02, Z:98.56 [[ 9.34402088e-01 -3.25187597e-01 1.45415832e-01 -1.63039111e+02] [ 3.24105002e-01 9.45488241e-01 3.17479761e-02 1.90209752e+01] [-1.47813007e-01 1.74646234e-02 9.88861113e-01 9.85577741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.089072329 meters Centerline goodness : 0.736875 Centerline is valid? [False, False] Translation: X:-163.04, Y:19.02, Z:98.56 [[ 9.34220940e-01 -3.25696123e-01 1.45441640e-01 -1.63039571e+02] [ 3.24617576e-01 9.45311829e-01 3.17643612e-02 1.90206798e+01] [-1.47833232e-01 1.75379813e-02 9.88856792e-01 9.85585089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.11907232899995 meters Centerline goodness : 0.737736 Centerline is valid? [False, False] Translation: X:-163.04, Y:19.02, Z:98.56 [[ 9.34270984e-01 -3.25503633e-01 1.45551069e-01 -1.63039448e+02] [ 3.24518132e-01 9.45366750e-01 3.11398422e-02 1.90223490e+01] [-1.47735273e-01 1.81409101e-02 9.88860555e-01 9.85578736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.149072329 meters Centerline goodness : 0.736042 Centerline is valid? [False, False] Translation: X:-163.04, Y:19.02, Z:98.56 [[ 9.34520375e-01 -3.24806220e-01 1.45508035e-01 -1.63041475e+02] [ 3.23615396e-01 9.45632043e-01 3.24517382e-02 1.90230999e+01] [-1.48137587e-01 1.67618299e-02 9.88824705e-01 9.85598863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.17907232899995 meters Centerline goodness : 0.736465 Centerline is valid? [False, False] Translation: X:-163.04, Y:19.02, Z:98.56 [[ 9.35125643e-01 -3.23085006e-01 1.45451404e-01 -1.63042937e+02] [ 3.21764620e-01 9.46238379e-01 3.31731774e-02 1.90241752e+01] [-1.48349457e-01 1.57800269e-02 9.88809097e-01 9.85619428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.209072329 meters Centerline goodness : 0.736188 Centerline is valid? [False, False] Translation: X:-163.04, Y:19.03, Z:98.57 [[ 9.36165793e-01 -3.20137588e-01 1.45277437e-01 -1.63044383e+02] [ 3.18890517e-01 9.47236513e-01 3.24318705e-02 1.90274239e+01] [-1.47994753e-01 1.59659891e-02 9.88859262e-01 9.85655415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.23907232899995 meters Centerline goodness : 0.735285 Centerline is valid? [False, False] Translation: X:-163.05, Y:19.03, Z:98.57 [[ 9.36301914e-01 -3.19742606e-01 1.45270066e-01 -1.63045432e+02] [ 3.18538915e-01 9.47365776e-01 3.21098920e-02 1.90280913e+01] [-1.47890790e-01 1.62096160e-02 9.88870852e-01 9.85679270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.269072329 meters Centerline goodness : 0.737500 Centerline is valid? [False, False] Translation: X:-163.05, Y:19.03, Z:98.57 [[ 9.37026627e-01 -3.17809991e-01 1.44837527e-01 -1.63045213e+02] [ 3.16735496e-01 9.48005795e-01 3.10425082e-02 1.90312382e+01] [-1.47172435e-01 1.67875292e-02 9.88968378e-01 9.85689469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.29907232899996 meters Centerline goodness : 0.737215 Centerline is valid? [False, False] Translation: X:-163.05, Y:19.03, Z:98.57 [[ 9.37702459e-01 -3.16022736e-01 1.44373574e-01 -1.63046664e+02] [ 3.14657305e-01 9.48638257e-01 3.28060663e-02 1.90312482e+01] [-1.47325759e-01 1.46658708e-02 9.88979288e-01 9.85714145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.329072329 meters Centerline goodness : 0.736830 Centerline is valid? [False, False] Translation: X:-163.05, Y:19.03, Z:98.57 [[ 9.38065464e-01 -3.15007562e-01 1.44233913e-01 -1.63047890e+02] [ 3.13408944e-01 9.48999435e-01 3.42769007e-02 1.90315332e+01] [-1.47675385e-01 1.30502216e-02 9.88949783e-01 9.85723981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.35907232899996 meters Centerline goodness : 0.737616 Centerline is valid? [False, False] Translation: X:-163.05, Y:19.03, Z:98.57 [[ 9.37725609e-01 -3.15727194e-01 1.44868976e-01 -1.63050677e+02] [ 3.13847566e-01 9.48780744e-01 3.62602281e-02 1.90308045e+01] [-1.48897235e-01 1.14646313e-02 9.88786213e-01 9.85731521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.389072329 meters Centerline goodness : 0.736759 Centerline is valid? [False, False] Translation: X:-163.05, Y:19.03, Z:98.57 [[ 9.37929907e-01 -3.15093466e-01 1.44926176e-01 -1.63051803e+02] [ 3.13075761e-01 9.49002040e-01 3.71307858e-02 1.90306524e+01] [-1.49234905e-01 1.05467984e-02 9.88745522e-01 9.85741503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.41907232899996 meters Centerline goodness : 0.737750 Centerline is valid? [False, False] Translation: X:-163.05, Y:19.03, Z:98.57 [[ 9.37995764e-01 -3.14955458e-01 1.44799886e-01 -1.63051412e+02] [ 3.13014108e-01 9.49042827e-01 3.66043822e-02 1.90314170e+01] [-1.48950043e-01 1.09896518e-02 9.88783653e-01 9.85740263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.449072329 meters Centerline goodness : 0.737199 Centerline is valid? [False, False] Translation: X:-163.05, Y:19.03, Z:98.58 [[ 9.37930957e-01 -3.14833137e-01 1.45484078e-01 -1.63053935e+02] [ 3.12848055e-01 9.49084769e-01 3.69350322e-02 1.90309370e+01] [-1.49705094e-01 1.08719006e-02 9.88670919e-01 9.85766327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.47907232899996 meters Centerline goodness : 0.738153 Centerline is valid? [False, False] Translation: X:-163.05, Y:19.03, Z:98.58 [[ 9.38174867e-01 -3.14263562e-01 1.45142459e-01 -1.63053939e+02] [ 3.12273061e-01 9.49275425e-01 3.69012558e-02 1.90307978e+01] [-1.49376889e-01 1.07042491e-02 9.88722390e-01 9.85782478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.509072329 meters Centerline goodness : 0.738528 Centerline is valid? [False, False] Translation: X:-163.06, Y:19.03, Z:98.58 [[ 9.38582415e-01 -3.12987193e-01 1.45265506e-01 -1.63055156e+02] [ 3.10927983e-01 9.49702665e-01 3.72644114e-02 1.90304279e+01] [-1.49622322e-01 1.01913897e-02 9.88690698e-01 9.85803831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.53907232899996 meters Centerline goodness : 0.739048 Centerline is valid? [False, False] Translation: X:-163.05, Y:19.03, Z:98.58 [[ 9.38295857e-01 -3.13762400e-01 1.45444288e-01 -1.63054998e+02] [ 3.11746912e-01 9.49442595e-01 3.70489053e-02 1.90299667e+01] [-1.49715555e-01 1.05789732e-02 9.88672513e-01 9.85796502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.569072329 meters Centerline goodness : 0.736325 Centerline is valid? [False, False] Translation: X:-163.06, Y:19.03, Z:98.58 [[ 9.38213721e-01 -3.13956823e-01 1.45554553e-01 -1.63055879e+02] [ 3.11846031e-01 9.49384392e-01 3.77005184e-02 1.90288200e+01] [-1.50023556e-01 1.00194661e-02 9.88631652e-01 9.85807620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.59907232899997 meters Centerline goodness : 0.737284 Centerline is valid? [False, False] Translation: X:-163.06, Y:19.03, Z:98.58 [[ 9.38151876e-01 -3.14096072e-01 1.45652722e-01 -1.63056104e+02] [ 3.12007480e-01 9.49336445e-01 3.75718757e-02 1.90282120e+01] [-1.50074616e-01 1.01966133e-02 9.88622091e-01 9.85810917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.629072329 meters Centerline goodness : 0.734751 Centerline is valid? [False, False] Translation: X:-163.06, Y:19.03, Z:98.58 [[ 9.36831016e-01 -3.17254527e-01 1.47299735e-01 -1.63056877e+02] [ 3.15592423e-01 9.48243537e-01 3.51513429e-02 1.90275157e+01] [-1.50827944e-01 1.35558121e-02 9.88467081e-01 9.85792048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.65907232899997 meters Centerline goodness : 0.734834 Centerline is valid? [False, False] Translation: X:-163.06, Y:19.03, Z:98.58 [[ 9.36429228e-01 -3.18450847e-01 1.47273076e-01 -1.63056826e+02] [ 3.16785855e-01 9.47841346e-01 3.52633722e-02 1.90266966e+01] [-1.50821161e-01 1.36323750e-02 9.88467063e-01 9.85791232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.689072329 meters Centerline goodness : 0.733458 Centerline is valid? [False, False] Translation: X:-163.06, Y:19.03, Z:98.58 [[ 9.36281905e-01 -3.18698878e-01 1.47672676e-01 -1.63058585e+02] [ 3.16849713e-01 9.47772331e-01 3.65221636e-02 1.90253929e+01] [-1.51599649e-01 1.25950041e-02 9.88361731e-01 9.85801359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.71907232899997 meters Centerline goodness : 0.732606 Centerline is valid? [False, False] Translation: X:-163.06, Y:19.02, Z:98.58 [[ 9.35958288e-01 -3.19757407e-01 1.47435693e-01 -1.63058369e+02] [ 3.17763487e-01 9.47426931e-01 3.75310015e-02 1.90235101e+01] [-1.51685362e-01 1.17222280e-02 9.88359317e-01 9.85800431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.749072329 meters Centerline goodness : 0.732918 Centerline is valid? [False, False] Translation: X:-163.06, Y:19.02, Z:98.58 [[ 9.35578033e-01 -3.20749360e-01 1.47694252e-01 -1.63059719e+02] [ 3.18618248e-01 9.47100026e-01 3.85221013e-02 1.90218194e+01] [-1.52237169e-01 1.10176520e-02 9.88282579e-01 9.85812215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.779072329 meters Centerline goodness : 0.733063 Centerline is valid? [False, False] Translation: X:-163.06, Y:19.02, Z:98.58 [[ 9.35196833e-01 -3.21875576e-01 1.47658381e-01 -1.63058663e+02] [ 3.19934705e-01 9.46702205e-01 3.73727203e-02 1.90211732e+01] [-1.51817881e-01 1.22901910e-02 9.88332071e-01 9.85806913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.80907232899995 meters Centerline goodness : 0.733830 Centerline is valid? [False, False] Translation: X:-163.06, Y:19.02, Z:98.58 [[ 9.34984406e-01 -3.22346943e-01 1.47975031e-01 -1.63059816e+02] [ 3.20378272e-01 9.46542506e-01 3.76171218e-02 1.90187530e+01] [-1.52190421e-01 1.22365626e-02 9.88275438e-01 9.85829304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.839072329 meters Centerline goodness : 0.734142 Centerline is valid? [False, False] Translation: X:-163.06, Y:19.02, Z:98.58 [[ 9.34584543e-01 -3.23450263e-01 1.48093416e-01 -1.63058196e+02] [ 3.21879448e-01 9.46128810e-01 3.51268559e-02 1.90186139e+01] [-1.51477238e-01 1.48392104e-02 9.88349353e-01 9.85825906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.86907232899995 meters Centerline goodness : 0.732778 Centerline is valid? [False, False] Translation: X:-163.06, Y:19.02, Z:98.58 [[ 9.34211794e-01 -3.24457616e-01 1.48241625e-01 -1.63059375e+02] [ 3.22846351e-01 9.45785889e-01 3.54864317e-02 1.90172101e+01] [-1.51718680e-01 1.47074246e-02 9.88314289e-01 9.85844871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.899072329 meters Centerline goodness : 0.734472 Centerline is valid? [False, False] Translation: X:-163.06, Y:19.02, Z:98.58 [[ 9.33204807e-01 -3.27125032e-01 1.48721219e-01 -1.63060974e+02] [ 3.25249728e-01 9.44885869e-01 3.74607632e-02 1.90153820e+01] [-1.52778932e-01 1.34129719e-02 9.88169363e-01 9.85833824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.92907232899995 meters Centerline goodness : 0.733770 Centerline is valid? [False, False] Translation: X:-163.06, Y:19.02, Z:98.58 [[ 9.32737082e-01 -3.28372016e-01 1.48907205e-01 -1.63061210e+02] [ 3.26368321e-01 9.44462080e-01 3.84070230e-02 1.90150406e+01] [-1.53249000e-01 1.27749398e-02 9.88105027e-01 9.85813557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.959072329 meters Centerline goodness : 0.732529 Centerline is valid? [False, False] Translation: X:-163.06, Y:19.01, Z:98.58 [[ 9.32275772e-01 -3.29674685e-01 1.48917719e-01 -1.63061759e+02] [ 3.27458920e-01 9.44023492e-01 3.98786025e-02 1.90142514e+01] [-1.53728791e-01 1.15865804e-02 9.88045146e-01 9.85804239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.98907232899995 meters Centerline goodness : 0.734570 Centerline is valid? [False, False] Translation: X:-163.06, Y:19.01, Z:98.58 [[ 9.32262876e-01 -3.29759583e-01 1.48810441e-01 -1.63061957e+02] [ 3.27566718e-01 9.43992359e-01 3.97299818e-02 1.90141882e+01] [-1.53577261e-01 1.17065605e-02 9.88067296e-01 9.85813860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.019072329 meters Centerline goodness : 0.732499 Centerline is valid? [False, False] Translation: X:-163.06, Y:19.01, Z:98.58 [[ 9.32268209e-01 -3.29790274e-01 1.48708985e-01 -1.63062219e+02] [ 3.27643004e-01 9.43978420e-01 3.94310104e-02 1.90148205e+01] [-1.53382036e-01 1.19631812e-02 9.88094547e-01 9.85823020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.04907232899996 meters Centerline goodness : 0.733820 Centerline is valid? [False, False] Translation: X:-163.06, Y:19.02, Z:98.58 [[ 9.32477907e-01 -3.29370242e-01 1.48324633e-01 -1.63061771e+02] [ 3.27276246e-01 9.44122604e-01 3.90226537e-02 1.90160904e+01] [-1.52889540e-01 1.21553668e-02 9.88168526e-01 9.85826039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.079072329 meters Centerline goodness : 0.732371 Centerline is valid? [False, False] Translation: X:-163.06, Y:19.02, Z:98.58 [[ 9.32883322e-01 -3.28429407e-01 1.47860853e-01 -1.63060020e+02] [ 3.26638611e-01 9.44427167e-01 3.69397462e-02 1.90181023e+01] [-1.51775905e-01 1.38365905e-02 9.88318078e-01 9.85825120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.10907232899996 meters Centerline goodness : 0.732001 Centerline is valid? [False, False] Translation: X:-163.06, Y:19.02, Z:98.58 [[ 9.33006983e-01 -3.28033422e-01 1.47959601e-01 -1.63060920e+02] [ 3.26268039e-01 9.44562593e-01 3.67515308e-02 1.90177228e+01] [-1.51812835e-01 1.39850539e-02 9.88310316e-01 9.85845488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.139072329 meters Centerline goodness : 0.732238 Centerline is valid? [False, False] Translation: X:-163.06, Y:19.02, Z:98.59 [[ 9.33181460e-01 -3.27569455e-01 1.47887172e-01 -1.63061825e+02] [ 3.25803743e-01 9.44724474e-01 3.67095286e-02 1.90187613e+01] [-1.51737551e-01 1.39255428e-02 9.88322718e-01 9.85862150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.16907232899996 meters Centerline goodness : 0.731510 Centerline is valid? [False, False] Translation: X:-163.06, Y:19.02, Z:98.59 [[ 9.33031869e-01 -3.28005245e-01 1.47865110e-01 -1.63061626e+02] [ 3.26254285e-01 9.44571425e-01 3.66464878e-02 1.90193600e+01] [-1.51689398e-01 1.40492849e-02 9.88328358e-01 9.85852603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.199072329 meters Centerline goodness : 0.732815 Centerline is valid? [False, False] Translation: X:-163.06, Y:19.02, Z:98.59 [[ 9.32673451e-01 -3.28900300e-01 1.48137864e-01 -1.63063312e+02] [ 3.26968743e-01 9.44274175e-01 3.79173318e-02 1.90181449e+01] [-1.52353781e-01 1.30719626e-02 9.88239571e-01 9.85861921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.22907232899996 meters Centerline goodness : 0.730531 Centerline is valid? [False, False] Translation: X:-163.07, Y:19.02, Z:98.60 [[ 9.31756309e-01 -3.36093688e-01 1.37372535e-01 -1.63066434e+02] [ 3.34735353e-01 9.41713839e-01 3.35751274e-02 1.90217185e+01] [-1.40650006e-01 1.46996073e-02 9.89950250e-01 9.85961492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.259072329 meters Centerline goodness : 0.730776 Centerline is valid? [False, False] Translation: X:-163.07, Y:19.02, Z:98.60 [[ 9.31790543e-01 -3.35927805e-01 1.37545972e-01 -1.63067599e+02] [ 3.34469795e-01 9.41782758e-01 3.42810715e-02 1.90209485e+01] [-1.41054390e-01 1.40621949e-02 9.89901972e-01 9.85973019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.28907232899996 meters Centerline goodness : 0.731406 Centerline is valid? [False, False] Translation: X:-163.07, Y:19.02, Z:98.60 [[ 9.32000754e-01 -3.35280331e-01 1.37701468e-01 -1.63068379e+02] [ 3.33805508e-01 9.42015325e-01 3.43658232e-02 1.90207713e+01] [-1.41239078e-01 1.39365355e-02 9.89877415e-01 9.85985732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.319072329 meters Centerline goodness : 0.728841 Centerline is valid? [False, False] Translation: X:-163.07, Y:19.02, Z:98.60 [[ 9.32635575e-01 -3.33504430e-01 1.37715936e-01 -1.63070496e+02] [ 3.31788208e-01 9.42669715e-01 3.59220566e-02 1.90204428e+01] [-1.41800807e-01 1.21903356e-02 9.89820149e-01 9.86011509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.34907232899997 meters Centerline goodness : 0.728952 Centerline is valid? [False, False] Translation: X:-163.07, Y:19.02, Z:98.60 [[ 9.32729082e-01 -3.33170983e-01 1.37889653e-01 -1.63070255e+02] [ 3.31539798e-01 9.42779903e-01 3.53187900e-02 1.90210605e+01] [-1.41766790e-01 1.27730452e-02 9.89817673e-01 9.86003135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.379072329 meters Centerline goodness : 0.730256 Centerline is valid? [False, False] Translation: X:-163.07, Y:19.02, Z:98.60 [[ 9.32679033e-01 -3.33157055e-01 1.38261343e-01 -1.63070581e+02] [ 3.31600407e-01 9.42776688e-01 3.48322784e-02 1.90208101e+01] [-1.41954190e-01 1.33601818e-02 9.89783064e-01 9.86004558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.40907232899997 meters Centerline goodness : 0.729976 Centerline is valid? [False, False] Translation: X:-163.07, Y:19.02, Z:98.60 [[ 9.31865125e-01 -3.35025068e-01 1.39232154e-01 -1.63072531e+02] [ 3.33580737e-01 9.42097749e-01 3.42888246e-02 1.90191375e+01] [-1.42657915e-01 1.44926047e-02 9.89665946e-01 9.86023913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.439072329 meters Centerline goodness : 0.730064 Centerline is valid? [False, False] Translation: X:-163.07, Y:19.02, Z:98.60 [[ 9.31366783e-01 -3.36244971e-01 1.39625335e-01 -1.63073475e+02] [ 3.34784529e-01 9.41661683e-01 3.45339590e-02 1.90189793e+01] [-1.43091698e-01 1.45806195e-02 9.89602027e-01 9.86021554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.46907232899997 meters Centerline goodness : 0.728919 Centerline is valid? [False, False] Translation: X:-163.08, Y:19.02, Z:98.60 [[ 9.31318775e-01 -3.36305498e-01 1.39799684e-01 -1.63075049e+02] [ 3.34660573e-01 9.41657362e-01 3.58289309e-02 1.90184858e+01] [-1.43692868e-01 1.34172864e-02 9.89531372e-01 9.86029838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.499072329 meters Centerline goodness : 0.729529 Centerline is valid? [False, False] Translation: X:-163.08, Y:19.02, Z:98.60 [[ 9.31272553e-01 -3.36453016e-01 1.39752637e-01 -1.63075331e+02] [ 3.34743867e-01 9.41610564e-01 3.62779466e-02 1.90191966e+01] [-1.43798384e-01 1.29966821e-02 9.89521658e-01 9.86023184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.529072329 meters Centerline goodness : 0.729712 Centerline is valid? [False, False] Translation: X:-163.08, Y:19.02, Z:98.60 [[ 9.30787315e-01 -3.37454265e-01 1.40568817e-01 -1.63078203e+02] [ 3.35666298e-01 9.41255248e-01 3.69688395e-02 1.90177748e+01] [-1.44786430e-01 1.27740876e-02 9.89380469e-01 9.86046182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.55907232899995 meters Centerline goodness : 0.729712 Centerline is valid? [False, False] Translation: X:-163.08, Y:19.02, Z:98.60 [[ 9.30787315e-01 -3.37454265e-01 1.40568817e-01 -1.63078203e+02] [ 3.35666298e-01 9.41255248e-01 3.69688395e-02 1.90177748e+01] [-1.44786430e-01 1.27740876e-02 9.89380469e-01 9.86046182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.589072329 meters Centerline goodness : 0.730345 Centerline is valid? [False, False] Translation: X:-163.08, Y:19.02, Z:98.61 [[ 9.30783046e-01 -3.37516284e-01 1.40448137e-01 -1.63078232e+02] [ 3.35840212e-01 9.41223213e-01 3.61968872e-02 1.90171741e+01] [-1.44410085e-01 1.34766830e-02 9.89426150e-01 9.86066169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.61907232899995 meters Centerline goodness : 0.728912 Centerline is valid? [False, False] Translation: X:-163.08, Y:19.02, Z:98.61 [[ 9.30796560e-01 -3.37362860e-01 1.40726917e-01 -1.63077171e+02] [ 3.36061596e-01 9.41239037e-01 3.36404454e-02 1.90176050e+01] [-1.43806704e-01 1.59805014e-02 9.89476758e-01 9.86068631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.649072329 meters Centerline goodness : 0.730916 Centerline is valid? [False, False] Translation: X:-163.08, Y:19.02, Z:98.61 [[ 9.31021636e-01 -3.36707981e-01 1.40806423e-01 -1.63078330e+02] [ 3.35265439e-01 9.41489273e-01 3.45692677e-02 1.90169387e+01] [-1.44207486e-01 1.50227912e-02 9.89433432e-01 9.86079778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.67907232899995 meters Centerline goodness : 0.729928 Centerline is valid? [False, False] Translation: X:-163.08, Y:19.02, Z:98.61 [[ 9.31000527e-01 -3.36827122e-01 1.40660969e-01 -1.63077790e+02] [ 3.35380352e-01 9.41447503e-01 3.45921714e-02 1.90169150e+01] [-1.44076499e-01 1.49695953e-02 9.89453321e-01 9.86070679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.709072329 meters Centerline goodness : 0.730742 Centerline is valid? [False, False] Translation: X:-163.08, Y:19.01, Z:98.61 [[ 9.29846840e-01 -3.39670792e-01 1.41451784e-01 -1.63076972e+02] [ 3.38510098e-01 9.40386091e-01 3.29380338e-02 1.90147705e+01] [-1.44207378e-01 1.72555305e-02 9.89397028e-01 9.86054412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.73907232899995 meters Centerline goodness : 0.730451 Centerline is valid? [False, False] Translation: X:-163.08, Y:19.01, Z:98.61 [[ 9.29337344e-01 -3.40980077e-01 1.41649879e-01 -1.63077879e+02] [ 3.39732712e-01 9.39919606e-01 3.36573779e-02 1.90127515e+01] [-1.44615993e-01 1.68440392e-02 9.89344476e-01 9.86061832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.769072329 meters Centerline goodness : 0.732063 Centerline is valid? [False, False] Translation: X:-163.08, Y:19.01, Z:98.60 [[ 9.28858186e-01 -3.42562746e-01 1.40972467e-01 -1.63076406e+02] [ 3.41205480e-01 9.39357048e-01 3.44551436e-02 1.90110326e+01] [-1.44226529e-01 1.60966360e-02 9.89413769e-01 9.86041993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.79907232899996 meters Centerline goodness : 0.732028 Centerline is valid? [False, False] Translation: X:-163.08, Y:19.01, Z:98.60 [[ 9.28541335e-01 -3.43419517e-01 1.40975264e-01 -1.63076863e+02] [ 3.41851842e-01 9.39065494e-01 3.59627164e-02 1.90104113e+01] [-1.44735305e-01 1.47997850e-02 9.89359721e-01 9.86025506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.829072329 meters Centerline goodness : 0.730344 Centerline is valid? [False, False] Translation: X:-163.08, Y:19.01, Z:98.60 [[ 9.28408433e-01 -3.43847754e-01 1.40806615e-01 -1.63077755e+02] [ 3.42058545e-01 9.38930416e-01 3.74916870e-02 1.90097318e+01] [-1.45099046e-01 1.33565074e-02 9.89326979e-01 9.86027528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.85907232899996 meters Centerline goodness : 0.729041 Centerline is valid? [False, False] Translation: X:-163.08, Y:19.01, Z:98.60 [[ 9.28258760e-01 -3.44044270e-01 1.41312475e-01 -1.63076066e+02] [ 3.42697259e-01 9.38810776e-01 3.45386027e-02 1.90090271e+01] [-1.44548483e-01 1.63666374e-02 9.89362355e-01 9.86023818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.889072329 meters Centerline goodness : 0.730361 Centerline is valid? [False, False] Translation: X:-163.08, Y:19.01, Z:98.60 [[ 9.28310713e-01 -3.43688402e-01 1.41836181e-01 -1.63075564e+02] [ 3.42606991e-01 9.38907623e-01 3.27555381e-02 1.90080004e+01] [-1.44428770e-01 1.81867503e-02 9.89348054e-01 9.86030066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.91907232899996 meters Centerline goodness : 0.728903 Centerline is valid? [False, False] Translation: X:-163.07, Y:19.01, Z:98.60 [[ 9.28430053e-01 -3.43321734e-01 1.41943032e-01 -1.63074880e+02] [ 3.42460104e-01 9.39013077e-01 3.12332707e-02 1.90078923e+01] [-1.44009424e-01 1.96119183e-02 9.89381958e-01 9.86035224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.949072329 meters Centerline goodness : 0.728982 Centerline is valid? [False, False] Translation: X:-163.07, Y:19.01, Z:98.60 [[ 9.29334039e-01 -3.41221540e-01 1.41088996e-01 -1.63073386e+02] [ 3.40295960e-01 9.39794157e-01 3.13942989e-02 1.90091846e+01] [-1.43307025e-01 1.88362249e-02 9.89499011e-01 9.86026511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.97907232899996 meters Centerline goodness : 0.726948 Centerline is valid? [False, False] Translation: X:-163.07, Y:19.01, Z:98.60 [[ 9.29519218e-01 -3.40851359e-01 1.40763542e-01 -1.63073257e+02] [ 3.39799878e-01 9.39946630e-01 3.21927810e-02 1.90084975e+01] [-1.43283170e-01 1.79076258e-02 9.89519707e-01 9.86024629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.009072329 meters Centerline goodness : 0.727678 Centerline is valid? [False, False] Translation: X:-163.08, Y:19.01, Z:98.61 [[ 9.28604560e-01 -3.42970371e-01 1.41650613e-01 -1.63075203e+02] [ 3.42038569e-01 9.39152808e-01 3.16483781e-02 1.90056395e+01] [-1.43886027e-01 1.90611448e-02 9.89410675e-01 9.86053021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.03907232899996 meters Centerline goodness : 0.728333 Centerline is valid? [False, False] Translation: X:-163.08, Y:19.00, Z:98.61 [[ 9.28264968e-01 -3.43677665e-01 1.42161215e-01 -1.63075468e+02] [ 3.42838636e-01 9.38878164e-01 3.11361965e-02 1.90047140e+01] [-1.44172876e-01 1.98357167e-02 9.89353691e-01 9.86050697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.069072329 meters Centerline goodness : 0.728831 Centerline is valid? [False, False] Translation: X:-163.08, Y:19.00, Z:98.61 [[ 9.28087785e-01 -3.44163595e-01 1.42142475e-01 -1.63076096e+02] [ 3.43296739e-01 9.38703219e-01 3.13626487e-02 1.90041991e+01] [-1.44223481e-01 1.96897572e-02 9.89349231e-01 9.86060850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.09907232899997 meters Centerline goodness : 0.728758 Centerline is valid? [False, False] Translation: X:-163.08, Y:19.00, Z:98.61 [[ 9.27888498e-01 -3.44778290e-01 1.41953747e-01 -1.63076016e+02] [ 3.43827252e-01 9.38488793e-01 3.19625916e-02 1.90036580e+01] [-1.44242009e-01 1.91498457e-02 9.89357128e-01 9.86055782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.129072329 meters Centerline goodness : 0.728354 Centerline is valid? [False, False] Translation: X:-163.08, Y:19.00, Z:98.60 [[ 9.26706183e-01 -3.47826636e-01 1.42240227e-01 -1.63075937e+02] [ 3.46905345e-01 9.37352821e-01 3.20370052e-02 1.90024635e+01] [-1.44472602e-01 1.96550044e-02 9.89313574e-01 9.86036002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.15907232899997 meters Centerline goodness : 0.729539 Centerline is valid? [False, False] Translation: X:-163.08, Y:19.00, Z:98.60 [[ 9.26169943e-01 -3.49105878e-01 1.42598470e-01 -1.63076304e+02] [ 3.48233942e-01 9.36866425e-01 3.18500314e-02 1.90018502e+01] [-1.44714752e-01 2.01590856e-02 9.89268038e-01 9.86032286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.189072329 meters Centerline goodness : 0.728860 Centerline is valid? [False, False] Translation: X:-163.08, Y:19.00, Z:98.60 [[ 9.25930122e-01 -3.49702118e-01 1.42694910e-01 -1.63077224e+02] [ 3.48791148e-01 9.36647936e-01 3.21772937e-02 1.90008801e+01] [-1.44907361e-01 1.99767962e-02 9.89243541e-01 9.86046121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.21907232899997 meters Centerline goodness : 0.730179 Centerline is valid? [False, False] Translation: X:-163.08, Y:19.00, Z:98.60 [[ 9.25608898e-01 -3.50435223e-01 1.42980149e-01 -1.63077403e+02] [ 3.49536714e-01 9.36369517e-01 3.21902550e-02 1.90005526e+01] [-1.45162853e-01 2.01812252e-02 9.89201933e-01 9.86036426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.249072329 meters Centerline goodness : 0.730360 Centerline is valid? [False, False] Translation: X:-163.08, Y:19.00, Z:98.60 [[ 9.25752265e-01 -3.50271255e-01 1.42452771e-01 -1.63077548e+02] [ 3.49227938e-01 9.36453276e-01 3.30924352e-02 1.89999734e+01] [-1.44991693e-01 1.91130908e-02 9.89248249e-01 9.86046023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.279072329 meters Centerline goodness : 0.731436 Centerline is valid? [False, False] Translation: X:-163.08, Y:19.00, Z:98.60 [[ 9.25698292e-01 -3.50445586e-01 1.42374726e-01 -1.63077008e+02] [ 3.49455710e-01 9.36381013e-01 3.27307992e-02 1.90003050e+01] [-1.44787355e-01 1.94548162e-02 9.89271516e-01 9.86035973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.30907232899995 meters Centerline goodness : 0.731496 Centerline is valid? [False, False] Translation: X:-163.08, Y:19.00, Z:98.60 [[ 9.25358877e-01 -3.51177278e-01 1.42777689e-01 -1.63078054e+02] [ 3.50169165e-01 9.36106129e-01 3.29677351e-02 1.89989618e+01] [-1.45232589e-01 1.94893576e-02 9.89205570e-01 9.86042197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.339072329 meters Centerline goodness : 0.730982 Centerline is valid? [False, False] Translation: X:-163.08, Y:19.00, Z:98.60 [[ 9.24921748e-01 -3.52197866e-01 1.43095856e-01 -1.63078341e+02] [ 3.51185144e-01 9.35719961e-01 3.31232311e-02 1.89979800e+01] [-1.45563580e-01 1.96167418e-02 9.89154400e-01 9.86038009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.36907232899995 meters Centerline goodness : 0.731135 Centerline is valid? [False, False] Translation: X:-163.08, Y:19.00, Z:98.60 [[ 9.24676768e-01 -3.52720336e-01 1.43391908e-01 -1.63078561e+02] [ 3.51762690e-01 9.35513283e-01 3.28315067e-02 1.89975285e+01] [-1.45725375e-01 2.00813918e-02 9.89121253e-01 9.86034900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.399072329 meters Centerline goodness : 0.732196 Centerline is valid? [False, False] Translation: X:-163.08, Y:19.00, Z:98.60 [[ 9.24546837e-01 -3.53036100e-01 1.43452635e-01 -1.63080320e+02] [ 3.51882402e-01 9.35419483e-01 3.41930603e-02 1.89973069e+01] [-1.46259774e-01 1.88653720e-02 9.89066315e-01 9.86044536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.42907232899995 meters Centerline goodness : 0.732618 Centerline is valid? [False, False] Translation: X:-163.08, Y:19.00, Z:98.61 [[ 9.24703683e-01 -3.52623658e-01 1.43456106e-01 -1.63082018e+02] [ 3.51238448e-01 9.35604297e-01 3.57232795e-02 1.89965302e+01] [-1.46815022e-01 1.73538520e-02 9.89011725e-01 9.86058404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.459072329 meters Centerline goodness : 0.733799 Centerline is valid? [False, False] Translation: X:-163.08, Y:19.00, Z:98.61 [[ 9.25466002e-01 -3.50516581e-01 1.43703880e-01 -1.63084460e+02] [ 3.48998764e-01 9.36413016e-01 3.64763820e-02 1.89962479e+01] [-1.47351760e-01 1.63948250e-02 9.88948264e-01 9.86091782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.48907232899995 meters Centerline goodness : 0.732831 Centerline is valid? [False, False] Translation: X:-163.08, Y:19.00, Z:98.61 [[ 9.25691502e-01 -3.49938983e-01 1.43659148e-01 -1.63083459e+02] [ 3.48611228e-01 9.36608171e-01 3.51474964e-02 1.89972569e+01] [-1.46851811e-01 1.75454535e-02 9.89002883e-01 9.86086818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.519072329 meters Centerline goodness : 0.735092 Centerline is valid? [False, False] Translation: X:-163.09, Y:19.00, Z:98.61 [[ 9.25622735e-01 -3.49896836e-01 1.44203871e-01 -1.63085403e+02] [ 3.48532666e-01 9.36625842e-01 3.54543849e-02 1.89961843e+01] [-1.47470449e-01 1.74423747e-02 9.88912650e-01 9.86107716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.54907232899996 meters Centerline goodness : 0.736309 Centerline is valid? [False, False] Translation: X:-163.09, Y:19.00, Z:98.61 [[ 9.25620066e-01 -3.49825673e-01 1.44393532e-01 -1.63085462e+02] [ 3.48644424e-01 9.36629264e-01 3.42445239e-02 1.89969171e+01] [-1.47222822e-01 1.86445815e-02 9.88927611e-01 9.86110614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.579072329 meters Centerline goodness : 0.735474 Centerline is valid? [False, False] Translation: X:-163.09, Y:19.00, Z:98.61 [[ 9.25310862e-01 -3.50444505e-01 1.44873937e-01 -1.63086468e+02] [ 3.49272436e-01 9.36393435e-01 3.42943318e-02 1.89965034e+01] [-1.47677264e-01 1.88675552e-02 9.88855622e-01 9.86111382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.60907232899996 meters Centerline goodness : 0.737230 Centerline is valid? [False, False] Translation: X:-163.09, Y:19.00, Z:98.61 [[ 9.25091408e-01 -3.50844819e-01 1.45305884e-01 -1.63089849e+02] [ 3.49322477e-01 9.36283002e-01 3.67144015e-02 1.89959413e+01] [-1.48928487e-01 1.67944338e-02 9.88705342e-01 9.86126334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.639072329 meters Centerline goodness : 0.735486 Centerline is valid? [False, False] Translation: X:-163.09, Y:19.00, Z:98.61 [[ 9.25285377e-01 -3.50368901e-01 1.45219157e-01 -1.63089438e+02] [ 3.48889829e-01 9.36457405e-01 3.63787789e-02 1.89969293e+01] [-1.48737548e-01 1.70047348e-02 9.88730489e-01 9.86116797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.66907232899996 meters Centerline goodness : 0.735889 Centerline is valid? [False, False] Translation: X:-163.09, Y:19.00, Z:98.61 [[ 9.25355182e-01 -3.50156688e-01 1.45286206e-01 -1.63090693e+02] [ 3.48540057e-01 9.36552104e-01 3.72825120e-02 1.89963262e+01] [-1.49122823e-01 1.61384969e-02 9.88686974e-01 9.86127711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.699072329 meters Centerline goodness : 0.737594 Centerline is valid? [False, False] Translation: X:-163.09, Y:19.00, Z:98.61 [[ 9.25162492e-01 -3.50511946e-01 1.45656238e-01 -1.63091150e+02] [ 3.48937773e-01 9.36412402e-01 3.70708039e-02 1.89958344e+01] [-1.49388067e-01 1.65284460e-02 9.88640489e-01 9.86127573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.72907232899996 meters Centerline goodness : 0.737521 Centerline is valid? [False, False] Translation: X:-163.09, Y:19.00, Z:98.61 [[ 9.25223543e-01 -3.50157452e-01 1.46120339e-01 -1.63092795e+02] [ 3.48534924e-01 9.36548803e-01 3.74131755e-02 1.89957598e+01] [-1.49949330e-01 1.63124902e-02 9.88559103e-01 9.86136667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.759072329 meters Centerline goodness : 0.736388 Centerline is valid? [False, False] Translation: X:-163.09, Y:19.00, Z:98.61 [[ 9.25298266e-01 -3.49849728e-01 1.46384037e-01 -1.63094030e+02] [ 3.48099940e-01 9.36676603e-01 3.82540584e-02 1.89960922e+01] [-1.50497674e-01 1.55598605e-02 9.88487906e-01 9.86135003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.78907232899996 meters Centerline goodness : 0.735960 Centerline is valid? [False, False] Translation: X:-163.09, Y:19.00, Z:98.61 [[ 9.25563064e-01 -3.49143704e-01 1.46395657e-01 -1.63094895e+02] [ 3.47264351e-01 9.36953945e-01 3.90483862e-02 1.89966208e+01] [-1.50799486e-01 1.46962487e-02 9.88455126e-01 9.86135099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.819072329 meters Centerline goodness : 0.736812 Centerline is valid? [False, False] Translation: X:-163.10, Y:19.00, Z:98.61 [[ 9.25619206e-01 -3.48822472e-01 1.46805886e-01 -1.63095990e+02] [ 3.47059343e-01 9.37060687e-01 3.83025011e-02 1.89974642e+01] [-1.50926797e-01 1.54968235e-02 9.88423467e-01 9.86143237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.84907232899997 meters Centerline goodness : 0.736548 Centerline is valid? [False, False] Translation: X:-163.10, Y:19.00, Z:98.62 [[ 9.25629402e-01 -3.48621832e-01 1.47217621e-01 -1.63097300e+02] [ 3.46859646e-01 9.37133789e-01 3.83229363e-02 1.89972389e+01] [-1.51322820e-01 1.55910154e-02 9.88361434e-01 9.86155793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.879072329 meters Centerline goodness : 0.736251 Centerline is valid? [False, False] Translation: X:-163.10, Y:19.00, Z:98.62 [[ 9.25954031e-01 -3.47635170e-01 1.47509053e-01 -1.63098082e+02] [ 3.45938210e-01 9.37493630e-01 3.78476947e-02 1.89980481e+01] [-1.51445987e-01 1.59837922e-02 9.88336295e-01 9.86162803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.90907232899997 meters Centerline goodness : 0.737528 Centerline is valid? [False, False] Translation: X:-163.10, Y:19.00, Z:98.62 [[ 9.26945176e-01 -3.45170511e-01 1.47071272e-01 -1.63100852e+02] [ 3.42963867e-01 9.38456681e-01 4.09248560e-02 1.89991050e+01] [-1.52146071e-01 1.25050343e-02 9.88278907e-01 9.86186895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.939072329 meters Centerline goodness : 0.736841 Centerline is valid? [False, False] Translation: X:-163.10, Y:19.00, Z:98.62 [[ 9.27016797e-01 -3.45030383e-01 1.46948609e-01 -1.63101470e+02] [ 3.42739098e-01 9.38515604e-01 4.14532482e-02 1.89996304e+01] [-1.52216193e-01 1.19371765e-02 9.88275131e-01 9.86189646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.96907232899997 meters Centerline goodness : 0.738420 Centerline is valid? [False, False] Translation: X:-163.10, Y:19.00, Z:98.62 [[ 9.27097644e-01 -3.44811986e-01 1.46951194e-01 -1.63101616e+02] [ 3.42528819e-01 9.38595463e-01 4.13831569e-02 1.89999992e+01] [-1.52197133e-01 1.19687918e-02 9.88277684e-01 9.86189930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.999072329 meters Centerline goodness : 0.740137 Centerline is valid? [False, False] Translation: X:-163.10, Y:19.00, Z:98.62 [[ 9.27374722e-01 -3.43883768e-01 1.47377337e-01 -1.63102327e+02] [ 3.41744142e-01 9.38923766e-01 4.04116639e-02 1.89996500e+01] [-1.52273000e-01 1.28885860e-02 9.88254430e-01 9.86204025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.029072329 meters Centerline goodness : 0.743521 Centerline is valid? [False, False] Translation: X:-163.10, Y:19.00, Z:98.62 [[ 9.27461303e-01 -3.43673955e-01 1.47321907e-01 -1.63102314e+02] [ 3.41527792e-01 9.39001591e-01 4.04324068e-02 1.90000141e+01] [-1.52231070e-01 1.28150328e-02 9.88261846e-01 9.86201440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.05907232899995 meters Centerline goodness : 0.744090 Centerline is valid? [False, False] Translation: X:-163.10, Y:19.00, Z:98.62 [[ 9.27559429e-01 -3.43465047e-01 1.47191263e-01 -1.63102087e+02] [ 3.41266825e-01 9.39083063e-01 4.07425459e-02 1.90001377e+01] [-1.52218462e-01 1.24403624e-02 9.88268575e-01 9.86192402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.089072329 meters Centerline goodness : 0.745837 Centerline is valid? [False, False] Translation: X:-163.10, Y:19.00, Z:98.62 [[ 9.26879089e-01 -3.44939958e-01 1.48025605e-01 -1.63104238e+02] [ 3.42482591e-01 9.38557814e-01 4.26016911e-02 1.89968475e+01] [-1.53625614e-01 1.12095762e-02 9.88065542e-01 9.86192714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.11907232899995 meters Centerline goodness : 0.747237 Centerline is valid? [False, False] Translation: X:-163.10, Y:19.00, Z:98.62 [[ 9.26363615e-01 -3.46185538e-01 1.48344284e-01 -1.63104679e+02] [ 3.43729729e-01 9.38096569e-01 4.27165137e-02 1.89953603e+01] [-1.53949103e-01 1.14193164e-02 9.88012790e-01 9.86192488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.149072329 meters Centerline goodness : 0.747923 Centerline is valid? [False, False] Translation: X:-163.10, Y:18.99, Z:98.62 [[ 9.26070908e-01 -3.47020861e-01 1.48220089e-01 -1.63104826e+02] [ 3.44492132e-01 9.37792729e-01 4.32431188e-02 1.89936691e+01] [-1.54005986e-01 1.10144601e-02 9.88008521e-01 9.86198652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.17907232899995 meters Centerline goodness : 0.750085 Centerline is valid? [False, False] Translation: X:-163.11, Y:18.99, Z:98.62 [[ 9.25684963e-01 -3.48023967e-01 1.48279022e-01 -1.63106828e+02] [ 3.45075033e-01 9.37446446e-01 4.60150181e-02 1.89896769e+01] [-1.55017971e-01 8.57197794e-03 9.87874461e-01 9.86216673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.209072329 meters Centerline goodness : 0.750326 Centerline is valid? [False, False] Translation: X:-163.11, Y:18.99, Z:98.62 [[ 9.25512099e-01 -3.48480559e-01 1.48285721e-01 -1.63106319e+02] [ 3.45587076e-01 9.37273271e-01 4.56988908e-02 1.89892181e+01] [-1.54909418e-01 8.95075236e-03 9.87888129e-01 9.86207843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.23907232899995 meters Centerline goodness : 0.752467 Centerline is valid? [False, False] Translation: X:-163.11, Y:18.99, Z:98.62 [[ 9.24743766e-01 -3.50384253e-01 1.48592875e-01 -1.63106764e+02] [ 3.47512454e-01 9.36559410e-01 4.57336494e-02 1.89878433e+01] [-1.55190405e-01 9.34596724e-03 9.87840367e-01 9.86207124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.269072329 meters Centerline goodness : 0.750710 Centerline is valid? [False, False] Translation: X:-163.11, Y:18.98, Z:98.62 [[ 9.22748830e-01 -3.55006322e-01 1.50017025e-01 -1.63106034e+02] [ 3.52639152e-01 9.34770487e-01 4.30088985e-02 1.89843169e+01] [-1.55499918e-01 1.32154658e-02 9.87747502e-01 9.86193489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.29907232899996 meters Centerline goodness : 0.752130 Centerline is valid? [False, False] Translation: X:-163.12, Y:18.98, Z:98.62 [[ 9.21106212e-01 -3.57127620e-01 1.54994222e-01 -1.63115944e+02] [ 3.56128191e-01 9.33776400e-01 3.51332727e-02 1.89828742e+01] [-1.57277009e-01 2.28363362e-02 9.87290456e-01 9.86168600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.329072329 meters Centerline goodness : 0.751720 Centerline is valid? [False, False] Translation: X:-163.13, Y:18.97, Z:98.63 [[ 9.20635763e-01 -3.60799429e-01 1.49176285e-01 -1.63133979e+02] [ 3.59141926e-01 9.32473569e-01 3.88602633e-02 1.89700136e+01] [-1.53123704e-01 1.77993103e-02 9.88046717e-01 9.86250425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.35907232899996 meters Centerline goodness : 0.750984 Centerline is valid? [False, False] Translation: X:-163.14, Y:18.97, Z:98.62 [[ 9.19384660e-01 -3.62380550e-01 1.53010402e-01 -1.63140588e+02] [ 3.61541277e-01 9.31726019e-01 3.42714178e-02 1.89705298e+01] [-1.54983068e-01 2.38109603e-02 9.87630137e-01 9.86220068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.389072329 meters Centerline goodness : 0.750271 Centerline is valid? [False, False] Translation: X:-163.14, Y:18.97, Z:98.62 [[ 9.18951926e-01 -3.63602107e-01 1.52711710e-01 -1.63140096e+02] [ 3.62615667e-01 9.31271206e-01 3.52678079e-02 1.89691837e+01] [-1.55039468e-01 2.29662387e-02 9.87641289e-01 9.86206664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.41907232899996 meters Centerline goodness : 0.750823 Centerline is valid? [False, False] Translation: X:-163.14, Y:18.97, Z:98.62 [[ 9.18289840e-01 -3.65126239e-01 1.53057504e-01 -1.63140429e+02] [ 3.64045354e-01 9.30683282e-01 3.60500922e-02 1.89676617e+01] [-1.55610895e-01 2.26154398e-02 9.87559513e-01 9.86191506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.449072329 meters Centerline goodness : 0.750994 Centerline is valid? [False, False] Translation: X:-163.15, Y:18.97, Z:98.62 [[ 9.16663618e-01 -3.67363420e-01 1.57391005e-01 -1.63149306e+02] [ 3.67437753e-01 9.29573764e-01 2.97004087e-02 1.89659288e+01] [-1.57217393e-01 3.06061133e-02 9.87089640e-01 9.86190939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.47907232899996 meters Centerline goodness : 0.750994 Centerline is valid? [False, False] Translation: X:-163.15, Y:18.97, Z:98.62 [[ 9.15341988e-01 -3.69737368e-01 1.59509635e-01 -1.63152719e+02] [ 3.70439706e-01 9.28480573e-01 2.64243970e-02 1.89681226e+01] [-1.57871684e-01 3.49013421e-02 9.86842656e-01 9.86200041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.509072329 meters Centerline goodness : 0.749749 Centerline is valid? [False, False] Translation: X:-163.15, Y:18.97, Z:98.62 [[ 9.14741719e-01 -3.71089225e-01 1.59813559e-01 -1.63153161e+02] [ 3.71938725e-01 9.27901585e-01 2.56950120e-02 1.89672517e+01] [-1.57826397e-01 3.59365521e-02 9.86812744e-01 9.86211629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.53907232899996 meters Centerline goodness : 0.751206 Centerline is valid? [False, False] Translation: X:-163.15, Y:18.97, Z:98.62 [[ 9.14393370e-01 -3.71714625e-01 1.60352746e-01 -1.63153771e+02] [ 3.72658440e-01 9.27623959e-01 2.52879055e-02 1.89665903e+01] [-1.58146933e-01 3.66337109e-02 9.86735790e-01 9.86214177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.569072329 meters Centerline goodness : 0.750886 Centerline is valid? [False, False] Translation: X:-163.17, Y:18.96, Z:98.63 [[ 9.17852559e-01 -3.66962439e-01 1.51278709e-01 -1.63171160e+02] [ 3.68572731e-01 9.29419025e-01 1.82870923e-02 1.89585840e+01] [-1.47311986e-01 3.89723525e-02 9.88321979e-01 9.86295533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.59907232899997 meters Centerline goodness : 0.753075 Centerline is valid? [False, False] Translation: X:-163.17, Y:18.96, Z:98.63 [[ 9.18132160e-01 -3.66547549e-01 1.50586293e-01 -1.63172418e+02] [ 3.67753150e-01 9.29691123e-01 2.07854834e-02 1.89585674e+01] [-1.47617608e-01 3.62947629e-02 9.88378334e-01 9.86303202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.629072329 meters Centerline goodness : 0.752936 Centerline is valid? [False, False] Translation: X:-163.17, Y:18.96, Z:98.63 [[ 9.18933247e-01 -3.64818378e-01 1.49897424e-01 -1.63173678e+02] [ 3.65826265e-01 9.30427884e-01 2.17967340e-02 1.89591440e+01] [-1.47420592e-01 3.48066711e-02 9.88461261e-01 9.86335303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.65907232899997 meters Centerline goodness : 0.754165 Centerline is valid? [False, False] Translation: X:-163.19, Y:18.96, Z:98.63 [[ 9.18808197e-01 -3.63037504e-01 1.54904062e-01 -1.63188244e+02] [ 3.64983008e-01 9.30864123e-01 1.67149167e-02 1.89561024e+01] [-1.50262776e-01 4.11795480e-02 9.87788106e-01 9.86305986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.689072329 meters Centerline goodness : 0.754427 Centerline is valid? [False, False] Translation: X:-163.19, Y:18.96, Z:98.63 [[ 9.19043389e-01 -3.62546997e-01 1.54657440e-01 -1.63188104e+02] [ 3.64614389e-01 9.31024534e-01 1.58007596e-02 1.89572139e+01] [-1.49718389e-01 4.18687444e-02 9.87841795e-01 9.86315504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.71907232899997 meters Centerline goodness : 0.755024 Centerline is valid? [False, False] Translation: X:-163.19, Y:18.96, Z:98.63 [[ 9.19136502e-01 -3.62293530e-01 1.54698057e-01 -1.63188335e+02] [ 3.64436913e-01 9.31102564e-01 1.52889164e-02 1.89584262e+01] [-1.49578833e-01 4.23250813e-02 9.87843490e-01 9.86317465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.749072329 meters Centerline goodness : 0.755057 Centerline is valid? [False, False] Translation: X:-163.19, Y:18.96, Z:98.63 [[ 9.19626991e-01 -3.61189671e-01 1.54363917e-01 -1.63188194e+02] [ 3.63307616e-01 9.31544149e-01 1.52667514e-02 1.89602229e+01] [-1.49310996e-01 4.20418699e-02 9.87896102e-01 9.86313015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.779072329 meters Centerline goodness : 0.756545 Centerline is valid? [False, False] Translation: X:-163.20, Y:18.96, Z:98.63 [[ 9.19048340e-01 -3.60880101e-01 1.58479342e-01 -1.63198743e+02] [ 3.63832969e-01 9.31399247e-01 1.10006074e-02 1.89600402e+01] [-1.51577440e-01 4.75499196e-02 9.87301010e-01 9.86294377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.80907232899995 meters Centerline goodness : 0.754378 Centerline is valid? [False, False] Translation: X:-163.20, Y:18.96, Z:98.63 [[ 9.19506277e-01 -3.59904347e-01 1.58041345e-01 -1.63198067e+02] [ 3.62825429e-01 9.31792395e-01 1.09836744e-02 1.89613246e+01] [-1.51214796e-01 4.72418613e-02 9.87371405e-01 9.86287505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.839072329 meters Centerline goodness : 0.756200 Centerline is valid? [False, False] Translation: X:-163.22, Y:18.96, Z:98.63 [[ 9.21002609e-01 -3.54491390e-01 1.61524141e-01 -1.63216806e+02] [ 3.58134351e-01 9.33644034e-01 6.97171405e-03 1.89573996e+01] [-1.53277463e-01 5.14263765e-02 9.86844135e-01 9.86282603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.86907232899995 meters Centerline goodness : 0.755216 Centerline is valid? [False, False] Translation: X:-163.22, Y:18.96, Z:98.63 [[ 9.21310168e-01 -3.52765410e-01 1.63536359e-01 -1.63224451e+02] [ 3.56614254e-01 9.34231219e-01 6.18895938e-03 1.89560236e+01] [-1.54964023e-01 5.26174456e-02 9.86517894e-01 9.86289295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.899072329 meters Centerline goodness : 0.755589 Centerline is valid? [False, False] Translation: X:-163.24, Y:18.95, Z:98.63 [[ 9.21037092e-01 -3.51020382e-01 1.68746455e-01 -1.63242201e+02] [ 3.56375047e-01 9.34341705e-01 -1.55058084e-03 1.89494298e+01] [-1.57122565e-01 6.15651684e-02 9.85658272e-01 9.86286030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.92907232899995 meters Centerline goodness : 0.755193 Centerline is valid? [False, False] Translation: X:-163.25, Y:18.95, Z:98.63 [[ 9.19826407e-01 -3.52810242e-01 1.71593457e-01 -1.63247069e+02] [ 3.58951432e-01 9.33342139e-01 -5.13038116e-03 1.89491162e+01] [-1.58345353e-01 6.63127773e-02 9.85154488e-01 9.86286003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.959072329 meters Centerline goodness : 0.754249 Centerline is valid? [False, False] Translation: X:-163.25, Y:18.95, Z:98.63 [[ 9.19475712e-01 -3.53691640e-01 1.71658494e-01 -1.63247005e+02] [ 3.59913730e-01 9.32969225e-01 -5.52561100e-03 1.89485669e+01] [-1.58197730e-01 6.68629141e-02 9.85141020e-01 9.86286199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.98907232899995 meters Centerline goodness : 0.754316 Centerline is valid? [False, False] Translation: X:-163.25, Y:18.95, Z:98.63 [[ 9.18854132e-01 -3.55606854e-01 1.71028796e-01 -1.63248173e+02] [ 3.61234681e-01 9.32472961e-01 -1.91899100e-03 1.89462998e+01] [-1.58797321e-01 6.35448053e-02 9.85264162e-01 9.86281322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.019072329 meters Centerline goodness : 0.753334 Centerline is valid? [False, False] Translation: X:-163.27, Y:18.94, Z:98.64 [[ 9.19229874e-01 -3.57827962e-01 1.64242467e-01 -1.63265905e+02] [ 3.62279941e-01 9.32064360e-01 3.04516826e-03 1.89355527e+01] [-1.54174197e-01 5.67025417e-02 9.86415297e-01 9.86357924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.04907232899996 meters Centerline goodness : 0.753325 Centerline is valid? [False, False] Translation: X:-163.27, Y:18.93, Z:98.63 [[ 9.18910054e-01 -3.58766030e-01 1.63985515e-01 -1.63265641e+02] [ 3.63020248e-01 9.31771334e-01 4.29883179e-03 1.89349415e+01] [-1.54339277e-01 5.55798225e-02 9.86453380e-01 9.86338833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.079072329 meters Centerline goodness : 0.752829 Centerline is valid? [False, False] Translation: X:-163.27, Y:18.93, Z:98.63 [[ 9.17843581e-01 -3.61361039e-01 1.64260039e-01 -1.63265172e+02] [ 3.65763137e-01 9.30700669e-01 3.68691961e-03 1.89331384e+01] [-1.54209237e-01 5.66962516e-02 9.86410182e-01 9.86332289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.10907232899996 meters Centerline goodness : 0.754312 Centerline is valid? [False, False] Translation: X:-163.28, Y:18.93, Z:98.63 [[ 9.17140020e-01 -3.61222332e-01 1.68441710e-01 -1.63276937e+02] [ 3.66704455e-01 9.30336197e-01 -1.55021157e-03 1.89286698e+01] [-1.56147449e-01 6.31900865e-02 9.85710397e-01 9.86338794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.139072329 meters Centerline goodness : 0.752711 Centerline is valid? [False, False] Translation: X:-163.28, Y:18.93, Z:98.63 [[ 9.16494327e-01 -3.62691366e-01 1.68799057e-01 -1.63278054e+02] [ 3.68192731e-01 9.29748448e-01 -1.39109123e-03 1.89273450e+01] [-1.56436125e-01 6.34255132e-02 9.85649503e-01 9.86349556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.16907232899996 meters Centerline goodness : 0.753857 Centerline is valid? [False, False] Translation: X:-163.28, Y:18.93, Z:98.63 [[ 9.15889131e-01 -3.64135553e-01 1.68974551e-01 -1.63279172e+02] [ 3.69571787e-01 9.29201856e-01 -7.77343831e-04 1.89273768e+01] [-1.56728408e-01 6.31601876e-02 9.85620108e-01 9.86347562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.199072329 meters Centerline goodness : 0.753687 Centerline is valid? [False, False] Translation: X:-163.28, Y:18.93, Z:98.63 [[ 9.15587703e-01 -3.65095391e-01 1.68536383e-01 -1.63281796e+02] [ 3.69815613e-01 9.29098099e-01 3.62418021e-03 1.89274357e+01] [-1.57910004e-01 5.90091309e-02 9.85688771e-01 9.86339277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.22907232899996 meters Centerline goodness : 0.753927 Centerline is valid? [False, False] Translation: X:-163.28, Y:18.93, Z:98.63 [[ 9.15834931e-01 -3.64575806e-01 1.68317736e-01 -1.63282243e+02] [ 3.69175703e-01 9.29349924e-01 4.24490197e-03 1.89274483e+01] [-1.57973664e-01 5.82511891e-02 9.85723653e-01 9.86345796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.259072329 meters Centerline goodness : 0.753397 Centerline is valid? [False, False] Translation: X:-163.28, Y:18.93, Z:98.64 [[ 9.16854014e-01 -3.62375766e-01 1.67518716e-01 -1.63280842e+02] [ 3.67229627e-01 9.30127834e-01 2.14799007e-03 1.89292860e+01] [-1.56592200e-01 5.95484423e-02 9.85866556e-01 9.86368404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.28907232899996 meters Centerline goodness : 0.753185 Centerline is valid? [False, False] Translation: X:-163.28, Y:18.93, Z:98.65 [[ 9.17312525e-01 -3.66026085e-01 1.56724713e-01 -1.63283564e+02] [ 3.71045520e-01 9.28609852e-01 -2.99425612e-03 1.89326267e+01] [-1.44440136e-01 6.08986711e-02 9.87637787e-01 9.86502225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.319072329 meters Centerline goodness : 0.753177 Centerline is valid? [False, False] Translation: X:-163.28, Y:18.93, Z:98.65 [[ 9.17598008e-01 -3.65293443e-01 1.56762866e-01 -1.63283831e+02] [ 3.70374607e-01 9.28876023e-01 -3.46179725e-03 1.89327050e+01] [-1.44348696e-01 6.12375233e-02 9.87630204e-01 9.86514390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.34907232899997 meters Centerline goodness : 0.752519 Centerline is valid? [False, False] Translation: X:-163.28, Y:18.93, Z:98.65 [[ 9.16839459e-01 -3.67068835e-01 1.57053737e-01 -1.63283694e+02] [ 3.72245018e-01 9.28126568e-01 -3.83679583e-03 1.89319567e+01] [-1.44357378e-01 6.19801970e-02 9.87582605e-01 9.86505451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.379072329 meters Centerline goodness : 0.752915 Centerline is valid? [False, False] Translation: X:-163.28, Y:18.93, Z:98.65 [[ 9.16723883e-01 -3.67386686e-01 1.56985175e-01 -1.63284005e+02] [ 3.72398177e-01 9.28069087e-01 -2.71412126e-03 1.89314554e+01] [-1.44695956e-01 6.09490929e-02 9.87597230e-01 9.86495761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.40907232899997 meters Centerline goodness : 0.751999 Centerline is valid? [False, False] Translation: X:-163.28, Y:18.93, Z:98.65 [[ 9.16740475e-01 -3.67560042e-01 1.56481681e-01 -1.63283764e+02] [ 3.72318324e-01 9.28104340e-01 -1.18357084e-03 1.89310271e+01] [-1.44796293e-01 5.93460243e-02 9.87680152e-01 9.86483397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.439072329 meters Centerline goodness : 0.753418 Centerline is valid? [False, False] Translation: X:-163.29, Y:18.93, Z:98.65 [[ 9.16528936e-01 -3.68054187e-01 1.56559332e-01 -1.63286366e+02] [ 3.72435655e-01 9.28056883e-01 1.45099783e-03 1.89303879e+01] [-1.45830012e-01 5.69783960e-02 9.87667490e-01 9.86491823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.46907232899997 meters Centerline goodness : 0.752241 Centerline is valid? [False, False] Translation: X:-163.29, Y:18.93, Z:98.65 [[ 9.16349068e-01 -3.68391430e-01 1.56818811e-01 -1.63287439e+02] [ 3.72723501e-01 9.27940473e-01 1.91612597e-03 1.89298729e+01] [-1.46224406e-01 5.66942159e-02 9.87625531e-01 9.86499413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.499072329 meters Centerline goodness : 0.752366 Centerline is valid? [False, False] Translation: X:-163.29, Y:18.93, Z:98.65 [[ 9.16200316e-01 -3.68739272e-01 1.56870426e-01 -1.63288496e+02] [ 3.73025860e-01 9.27818162e-01 2.27310706e-03 1.89295159e+01] [-1.46385414e-01 5.64341041e-02 9.87616577e-01 9.86513223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.529072329 meters Centerline goodness : 0.755596 Centerline is valid? [False, False] Translation: X:-163.29, Y:18.93, Z:98.65 [[ 9.16251784e-01 -3.68488847e-01 1.57158003e-01 -1.63289094e+02] [ 3.72857123e-01 9.27886996e-01 1.81349942e-03 1.89300213e+01] [-1.46493122e-01 5.69358588e-02 9.87571807e-01 9.86517865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.55907232899995 meters Centerline goodness : 0.753991 Centerline is valid? [False, False] Translation: X:-163.29, Y:18.93, Z:98.65 [[ 9.16484937e-01 -3.67832304e-01 1.57336441e-01 -1.63290465e+02] [ 3.72070247e-01 9.28200636e-01 2.70376800e-03 1.89293759e+01] [-1.47034317e-01 5.60622457e-02 9.87541358e-01 9.86531664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.589072329 meters Centerline goodness : 0.755336 Centerline is valid? [False, False] Translation: X:-163.29, Y:18.93, Z:98.65 [[ 9.16175433e-01 -3.68327230e-01 1.57979836e-01 -1.63291689e+02] [ 3.72626829e-01 9.27977683e-01 2.58199747e-03 1.89292852e+01] [-1.47552782e-01 5.65019625e-02 9.87438963e-01 9.86533271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.61907232899995 meters Centerline goodness : 0.755797 Centerline is valid? [False, False] Translation: X:-163.29, Y:18.93, Z:98.65 [[ 9.15966213e-01 -3.68818094e-01 1.58047812e-01 -1.63292310e+02] [ 3.73068612e-01 9.27798975e-01 2.97888498e-03 1.89291385e+01] [-1.47735264e-01 5.62341197e-02 9.87426967e-01 9.86534246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.649072329 meters Centerline goodness : 0.757116 Centerline is valid? [False, False] Translation: X:-163.29, Y:18.93, Z:98.65 [[ 9.15864916e-01 -3.69093843e-01 1.57991109e-01 -1.63293785e+02] [ 3.73160679e-01 9.27757192e-01 4.20715440e-03 1.89284053e+01] [-1.48130223e-01 5.51028845e-02 9.87431572e-01 9.86548451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.67907232899995 meters Centerline goodness : 0.757119 Centerline is valid? [False, False] Translation: X:-163.30, Y:18.93, Z:98.66 [[ 9.15720275e-01 -3.69264900e-01 1.58429199e-01 -1.63295378e+02] [ 3.73184893e-01 9.27741500e-01 5.36138196e-03 1.89272286e+01] [-1.48961113e-01 5.42138577e-02 9.87355784e-01 9.86552893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.709072329 meters Centerline goodness : 0.758105 Centerline is valid? [False, False] Translation: X:-163.30, Y:18.93, Z:98.66 [[ 9.14716063e-01 -3.71524730e-01 1.58946212e-01 -1.63296787e+02] [ 3.75394101e-01 9.26845327e-01 6.08347451e-03 1.89259360e+01] [-1.49578715e-01 5.41028187e-02 9.87268501e-01 9.86553764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.73907232899995 meters Centerline goodness : 0.757838 Centerline is valid? [False, False] Translation: X:-163.30, Y:18.92, Z:98.66 [[ 9.14276599e-01 -3.72409176e-01 1.59404224e-01 -1.63297778e+02] [ 3.76250047e-01 9.26495246e-01 6.51624589e-03 1.89245440e+01] [-1.50113965e-01 5.40181957e-02 9.87191892e-01 9.86554496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.769072329 meters Centerline goodness : 0.763324 Centerline is valid? [False, False] Translation: X:-163.30, Y:18.92, Z:98.66 [[ 9.13576701e-01 -3.74102853e-01 1.59451144e-01 -1.63299694e+02] [ 3.77527650e-01 9.25950509e-01 9.40891677e-03 1.89225498e+01] [-1.51163771e-01 5.16014487e-02 9.87160982e-01 9.86554773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.79907232899996 meters Centerline goodness : 0.760955 Centerline is valid? [False, False] Translation: X:-163.30, Y:18.92, Z:98.66 [[ 9.13139622e-01 -3.75314050e-01 1.59108123e-01 -1.63300226e+02] [ 3.78517276e-01 9.25530688e-01 1.08451273e-02 1.89216733e+01] [-1.51329779e-01 5.03220578e-02 9.87201595e-01 9.86552725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.829072329 meters Centerline goodness : 0.762926 Centerline is valid? [False, False] Translation: X:-163.30, Y:18.92, Z:98.66 [[ 9.12416296e-01 -3.76798777e-01 1.59747253e-01 -1.63302697e+02] [ 3.79786375e-01 9.24988536e-01 1.25903364e-02 1.89194195e+01] [-1.52508401e-01 4.91822021e-02 9.87077656e-01 9.86560205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.85907232899996 meters Centerline goodness : 0.765489 Centerline is valid? [False, False] Translation: X:-163.32, Y:18.91, Z:98.66 [[ 9.13398042e-01 -3.72958249e-01 1.63113951e-01 -1.63324209e+02] [ 3.77566786e-01 9.25977636e-01 2.95642694e-03 1.89093397e+01] [-1.52142495e-01 5.88860156e-02 9.86602807e-01 9.86568683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.889072329 meters Centerline goodness : 0.765821 Centerline is valid? [False, False] Translation: X:-163.33, Y:18.91, Z:98.66 [[ 9.12824160e-01 -3.74248106e-01 1.63371992e-01 -1.63325270e+02] [ 3.78878819e-01 9.25441334e-01 3.02944513e-03 1.89090184e+01] [-1.52324958e-01 5.91328367e-02 9.86559889e-01 9.86575741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.91907232899996 meters Centerline goodness : 0.767661 Centerline is valid? [False, False] Translation: X:-163.34, Y:18.90, Z:98.67 [[ 9.16383569e-01 -3.69124662e-01 1.54881044e-01 -1.63343674e+02] [ 3.74125429e-01 9.27371881e-01 -3.39979447e-03 1.88971272e+01] [-1.42377377e-01 6.10604527e-02 9.87927277e-01 9.86688094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.949072329 meters Centerline goodness : 0.767922 Centerline is valid? [False, False] Translation: X:-163.37, Y:18.88, Z:98.68 [[ 9.17293140e-01 -3.68659642e-01 1.50543559e-01 -1.63373975e+02] [ 3.73076713e-01 9.27799742e-01 -1.18496909e-03 1.88798379e+01] [-1.39237425e-01 5.72512601e-02 9.88602667e-01 9.86785560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.97907232899996 meters Centerline goodness : 0.769987 Centerline is valid? [False, False] Translation: X:-163.39, Y:18.87, Z:98.69 [[ 9.20790969e-01 -3.64074188e-01 1.39978484e-01 -1.63389420e+02] [ 3.68471228e-01 9.29620045e-01 -5.96031423e-03 1.88683622e+01] [-1.27956809e-01 5.70662476e-02 9.90136606e-01 9.86907275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.009072329 meters Centerline goodness : 0.769031 Centerline is valid? [False, False] Translation: X:-163.40, Y:18.86, Z:98.70 [[ 9.24082617e-01 -3.59979628e-01 1.28397760e-01 -1.63401660e+02] [ 3.64117673e-01 9.31304140e-01 -9.53517058e-03 1.88575852e+01] [-1.16144898e-01 5.55631790e-02 9.91676911e-01 9.87029373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.03907232899996 meters Centerline goodness : 0.769592 Centerline is valid? [False, False] Translation: X:-163.42, Y:18.85, Z:98.71 [[ 9.27149013e-01 -3.55651440e-01 1.17926933e-01 -1.63420176e+02] [ 3.59740191e-01 9.32936857e-01 -1.46906743e-02 1.88451904e+01] [-1.04793623e-01 5.60435016e-02 9.92913603e-01 9.87142304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.069072329 meters Centerline goodness : 0.771174 Centerline is valid? [False, False] Translation: X:-163.45, Y:18.83, Z:98.72 [[ 9.27736047e-01 -3.55570800e-01 1.13469087e-01 -1.63449217e+02] [ 3.59125373e-01 9.33213479e-01 -1.18983109e-02 1.88280408e+01] [-1.01660190e-01 5.17881203e-02 9.93470280e-01 9.87231264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.09907232899997 meters Centerline goodness : 0.771482 Centerline is valid? [False, False] Translation: X:-163.47, Y:18.82, Z:98.73 [[ 9.27657965e-01 -3.57570326e-01 1.07676185e-01 -1.63470974e+02] [ 3.60451214e-01 9.32744369e-01 -7.92869133e-03 1.88151148e+01] [-9.75992908e-02 4.61671254e-02 9.94154402e-01 9.87313450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.129072329 meters Centerline goodness : 0.771216 Centerline is valid? [False, False] Translation: X:-163.48, Y:18.81, Z:98.73 [[ 9.27466832e-01 -3.53357826e-01 1.22243704e-01 -1.63479077e+02] [ 3.55604251e-01 9.34629454e-01 3.66059451e-03 1.88060323e+01] [-1.15546066e-01 4.00753008e-02 9.92493364e-01 9.87258979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.15907232899997 meters Centerline goodness : 0.770806 Centerline is valid? [False, False] Translation: X:-163.51, Y:18.79, Z:98.73 [[ 9.27855427e-01 -3.53674147e-01 1.18316963e-01 -1.63507382e+02] [ 3.55487698e-01 9.34660917e-01 6.12095298e-03 1.87904981e+01] [-1.12751064e-01 3.63808653e-02 9.92957013e-01 9.87321911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.189072329 meters Centerline goodness : 0.772083 Centerline is valid? [False, False] Translation: X:-163.53, Y:18.78, Z:98.74 [[ 9.30733483e-01 -3.49135343e-01 1.08810362e-01 -1.63526246e+02] [ 3.51310937e-01 9.36258430e-01 -8.81750192e-04 1.87803126e+01] [-1.01566769e-01 3.90469447e-02 9.94062135e-01 9.87409446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.21907232899997 meters Centerline goodness : 0.772549 Centerline is valid? [False, False] Translation: X:-163.55, Y:18.77, Z:98.74 [[ 9.32193434e-01 -3.45079787e-01 1.09248995e-01 -1.63548203e+02] [ 3.48182204e-01 9.37372318e-01 -1.01138182e-02 1.87713987e+01] [-9.89169098e-02 4.74665909e-02 9.93962961e-01 9.87439176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.24907232899994 meters Centerline goodness : 0.773476 Centerline is valid? [False, False] Translation: X:-163.57, Y:18.76, Z:98.75 [[ 9.34786388e-01 -3.40862576e-01 9.99355426e-02 -1.63566613e+02] [ 3.44082421e-01 9.38795444e-01 -1.64439018e-02 1.87601293e+01] [-8.82139213e-02 4.97575990e-02 9.94858023e-01 9.87547120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.279072329 meters Centerline goodness : 0.772299 Centerline is valid? [False, False] Translation: X:-163.58, Y:18.76, Z:98.75 [[ 9.34099852e-01 -3.41531014e-01 1.03990544e-01 -1.63576177e+02] [ 3.45271471e-01 9.38293417e-01 -1.98261045e-02 1.87575653e+01] [-9.08024134e-02 5.44245293e-02 9.94380658e-01 9.87537785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.30907232899995 meters Centerline goodness : 0.772673 Centerline is valid? [False, False] Translation: X:-163.60, Y:18.74, Z:98.76 [[ 9.34024360e-01 -3.43401681e-01 9.83553769e-02 -1.63599207e+02] [ 3.46468002e-01 9.37934255e-01 -1.54679285e-02 1.87432095e+01] [-8.69391645e-02 4.85244129e-02 9.95031137e-01 9.87633010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.339072329 meters Centerline goodness : 0.772372 Centerline is valid? [False, False] Translation: X:-163.62, Y:18.73, Z:98.77 [[ 9.35605683e-01 -3.39013828e-01 9.85476100e-02 -1.63622883e+02] [ 3.42959270e-01 9.38996047e-01 -2.57946218e-02 1.87348250e+01] [-8.37910827e-02 5.79314112e-02 9.94797972e-01 9.87651505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.36907232899995 meters Centerline goodness : 0.772372 Centerline is valid? [False, False] Translation: X:-163.63, Y:18.74, Z:98.76 [[ 9.34832665e-01 -3.40302865e-01 1.01399450e-01 -1.63629043e+02] [ 3.44721571e-01 9.38248407e-01 -2.92739645e-02 1.87350515e+01] [-8.51758583e-02 6.23208359e-02 9.94414997e-01 9.87644989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.399072329 meters Centerline goodness : 0.771016 Centerline is valid? [False, False] Translation: X:-163.65, Y:18.72, Z:98.77 [[ 9.35188718e-01 -3.41499719e-01 9.38083395e-02 -1.63646298e+02] [ 3.44838039e-01 9.38415144e-01 -2.15347095e-02 1.87235678e+01] [-8.06770692e-02 5.24877012e-02 9.95357349e-01 9.87740495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.42907232899995 meters Centerline goodness : 0.770069 Centerline is valid? [False, False] Translation: X:-163.68, Y:18.71, Z:98.78 [[ 9.36152570e-01 -3.39924770e-01 8.98304892e-02 -1.63678735e+02] [ 3.42903619e-01 9.39165180e-01 -1.96436300e-02 1.87089604e+01] [-7.76883112e-02 4.91926345e-02 9.95763331e-01 9.87790192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.459072329 meters Centerline goodness : 0.771151 Centerline is valid? [False, False] Translation: X:-163.70, Y:18.71, Z:98.77 [[ 9.36681678e-01 -3.37407207e-01 9.37219878e-02 -1.63695110e+02] [ 3.41162366e-01 9.39617683e-01 -2.69601540e-02 1.87053087e+01] [-7.89662867e-02 5.72274974e-02 9.95233309e-01 9.87744300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.48907232899995 meters Centerline goodness : 0.771189 Centerline is valid? [False, False] Translation: X:-163.71, Y:18.70, Z:98.79 [[ 9.39196067e-01 -3.33502816e-01 8.17717570e-02 -1.63706485e+02] [ 3.36671372e-01 9.41199148e-01 -2.82232282e-02 1.86950155e+01] [-6.75509820e-02 5.40373545e-02 9.96251389e-01 9.87873755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.519072329 meters Centerline goodness : 0.770296 Centerline is valid? [False, False] Translation: X:-163.73, Y:18.68, Z:98.80 [[ 9.41653173e-01 -3.27675276e-01 7.69299398e-02 -1.63729662e+02] [ 3.30927156e-01 9.43048608e-01 -3.38605918e-02 1.86825882e+01] [-6.14533939e-02 5.73431398e-02 9.96461361e-01 9.87976031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.54907232899996 meters Centerline goodness : 0.770313 Centerline is valid? [False, False] Translation: X:-163.75, Y:18.67, Z:98.81 [[ 9.41816618e-01 -3.28617877e-01 7.06523051e-02 -1.63751293e+02] [ 3.31161919e-01 9.43169620e-01 -2.76197658e-02 1.86699861e+01] [-5.75607590e-02 4.94101074e-02 9.97118549e-01 9.88065701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.579072329 meters Centerline goodness : 0.772497 Centerline is valid? [False, False] Translation: X:-163.77, Y:18.66, Z:98.82 [[ 9.41998827e-01 -3.29589959e-01 6.33140455e-02 -1.63769091e+02] [ 3.31371284e-01 9.43293415e-01 -1.97637557e-02 1.86585178e+01] [-5.32097868e-02 3.95978913e-02 9.97797938e-01 9.88154648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.60907232899996 meters Centerline goodness : 0.771625 Centerline is valid? [False, False] Translation: X:-163.79, Y:18.65, Z:98.82 [[ 9.44404604e-01 -3.23999254e-01 5.58965732e-02 -1.63790781e+02] [ 3.25751927e-01 9.45110824e-01 -2.55188716e-02 1.86471011e+01] [-4.45603610e-02 4.23085562e-02 9.98110395e-01 9.88229428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.639072329 meters Centerline goodness : 0.771469 Centerline is valid? [False, False] Translation: X:-163.80, Y:18.64, Z:98.82 [[ 9.44333386e-01 -3.23325346e-01 6.07879698e-02 -1.63804052e+02] [ 3.25512205e-01 9.45058039e-01 -3.01182089e-02 1.86438738e+01] [-4.77101793e-02 4.82288563e-02 9.97696204e-01 9.88183210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.66907232899996 meters Centerline goodness : 0.772308 Centerline is valid? [False, False] Translation: X:-163.82, Y:18.63, Z:98.83 [[ 9.44335768e-01 -3.24614560e-01 5.34354325e-02 -1.63821515e+02] [ 3.26183679e-01 9.45011078e-01 -2.36277577e-02 1.86325654e+01] [-4.28271614e-02 3.97423027e-02 9.98291733e-01 9.88259761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.699072329 meters Centerline goodness : 0.772085 Centerline is valid? [False, False] Translation: X:-163.84, Y:18.63, Z:98.82 [[ 9.45769734e-01 -3.19952782e-01 5.61233195e-02 -1.63842069e+02] [ 3.21961045e-01 9.46239937e-01 -3.11619484e-02 1.86255782e+01] [-4.31357742e-02 4.75415503e-02 9.97937426e-01 9.88227387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.72907232899996 meters Centerline goodness : 0.772193 Centerline is valid? [False, False] Translation: X:-163.86, Y:18.62, Z:98.82 [[ 9.45883926e-01 -3.18768965e-01 6.07449201e-02 -1.63856016e+02] [ 3.21189234e-01 9.46361300e-01 -3.51819060e-02 1.86223874e+01] [-4.62717417e-02 5.27886137e-02 9.97533101e-01 9.88196039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.759072329 meters Centerline goodness : 0.770720 Centerline is valid? [False, False] Translation: X:-163.89, Y:18.61, Z:98.82 [[ 9.46365974e-01 -3.18067007e-01 5.67875258e-02 -1.63886240e+02] [ 3.20165237e-01 9.46803521e-01 -3.25163654e-02 1.86081342e+01] [-4.34242463e-02 4.89537735e-02 9.97856634e-01 9.88244123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.78907232899996 meters Centerline goodness : 0.772241 Centerline is valid? [False, False] Translation: X:-163.91, Y:18.59, Z:98.83 [[ 9.47145010e-01 -3.16753893e-01 5.08261961e-02 -1.63910678e+02] [ 3.18292059e-01 9.47649079e-01 -2.55222939e-02 1.85925179e+01] [-4.00811120e-02 4.03508880e-02 9.98381345e-01 9.88316345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.819072329 meters Centerline goodness : 0.770903 Centerline is valid? [False, False] Translation: X:-163.92, Y:18.58, Z:98.82 [[ 9.48406856e-01 -3.09682622e-01 6.79787368e-02 -1.63922542e+02] [ 3.11368002e-01 9.50162759e-01 -1.55144500e-02 1.85806699e+01] [-5.97863086e-02 3.58804143e-02 9.97566135e-01 9.88236599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.84907232899997 meters Centerline goodness : 0.773056 Centerline is valid? [False, False] Translation: X:-163.93, Y:18.57, Z:98.82 [[ 9.49145506e-01 -3.03161303e-01 8.49472322e-02 -1.63934169e+02] [ 3.04741320e-01 9.52416378e-01 -5.98094560e-03 1.85687299e+01] [-7.90919439e-02 3.15637193e-02 9.96367500e-01 9.88171574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.879072329 meters Centerline goodness : 0.773056 Centerline is valid? [False, False] Translation: X:-163.94, Y:18.56, Z:98.81 [[ 9.47969502e-01 -3.01727531e-01 1.01559443e-01 -1.63939649e+02] [ 3.03306410e-01 9.52893074e-01 -1.09800589e-04 1.85569380e+01] [-9.67421598e-02 3.09077176e-02 9.94829467e-01 9.88084967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.90907232899997 meters Centerline goodness : 0.774192 Centerline is valid? [False, False] Translation: X:-163.94, Y:18.55, Z:98.81 [[ 9.47015349e-01 -3.03978195e-01 1.03726494e-01 -1.63943149e+02] [ 3.05558747e-01 9.52172980e-01 6.84497117e-04 1.85528964e+01] [-9.89736370e-02 3.10463082e-02 9.94605623e-01 9.88082512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.939072329 meters Centerline goodness : 0.775362 Centerline is valid? [False, False] Translation: X:-163.96, Y:18.54, Z:98.82 [[ 9.46079626e-01 -3.08582214e-01 9.85411517e-02 -1.63961505e+02] [ 3.09672773e-01 9.50832942e-01 4.41474594e-03 1.85390400e+01] [-9.50584853e-02 2.63388105e-02 9.95123184e-01 9.88154648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.96907232899997 meters Centerline goodness : 0.774899 Centerline is valid? [False, False] Translation: X:-163.98, Y:18.53, Z:98.82 [[ 9.45662318e-01 -3.11614106e-01 9.28408803e-02 -1.63981583e+02] [ 3.12215763e-01 9.49974564e-01 8.34537910e-03 1.85271966e+01] [-9.07970127e-02 2.10944757e-02 9.95645984e-01 9.88225069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.99907232899994 meters Centerline goodness : 0.775589 Centerline is valid? [False, False] Translation: X:-163.98, Y:18.53, Z:98.82 [[ 9.44428607e-01 -3.14696014e-01 9.49790817e-02 -1.63983706e+02] [ 3.15735864e-01 9.48837523e-01 4.26835274e-03 1.85273729e+01] [-9.14629502e-02 2.59571480e-02 9.95470118e-01 9.88213257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.029072329 meters Centerline goodness : 0.776743 Centerline is valid? [False, False] Translation: X:-163.99, Y:18.53, Z:98.82 [[ 9.43220867e-01 -3.17548168e-01 9.74554080e-02 -1.63986927e+02] [ 3.19022607e-01 9.47746985e-01 4.77537336e-04 1.85271856e+01] [-9.25147102e-02 3.06400552e-02 9.95239778e-01 9.88203940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.05907232899995 meters Centerline goodness : 0.777583 Centerline is valid? [False, False] Translation: X:-164.01, Y:18.51, Z:98.83 [[ 9.42794031e-01 -3.20413780e-01 9.20566435e-02 -1.64008541e+02] [ 3.21343651e-01 9.46949757e-01 4.94125415e-03 1.85134236e+01] [-8.87562622e-02 2.49232330e-02 9.95741512e-01 9.88289511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.089072329 meters Centerline goodness : 0.777944 Centerline is valid? [False, False] Translation: X:-164.01, Y:18.51, Z:98.83 [[ 9.41584868e-01 -3.23159614e-01 9.47934621e-02 -1.64012344e+02] [ 3.24541893e-01 9.45870912e-01 8.81312035e-04 1.85139588e+01] [-8.99471829e-02 2.99346196e-02 9.95496571e-01 9.88274855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.11907232899995 meters Centerline goodness : 0.778814 Centerline is valid? [False, False] Translation: X:-164.01, Y:18.51, Z:98.83 [[ 9.40374679e-01 -3.26113092e-01 9.66732306e-02 -1.64014043e+02] [ 3.27873390e-01 9.44718445e-01 -2.46997783e-03 1.85120405e+01] [-9.05234920e-02 3.40192844e-02 9.95313109e-01 9.88277877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.149072329 meters Centerline goodness : 0.779124 Centerline is valid? [False, False] Translation: X:-164.02, Y:18.51, Z:98.83 [[ 9.39247930e-01 -3.28527104e-01 9.94146258e-02 -1.64018732e+02] [ 3.30746629e-01 9.43698822e-01 -6.26110153e-03 1.85125708e+01] [-9.17605237e-02 3.87617790e-02 9.95026397e-01 9.88273380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.17907232899995 meters Centerline goodness : 0.780081 Centerline is valid? [False, False] Translation: X:-164.04, Y:18.50, Z:98.84 [[ 9.39305739e-01 -3.30300870e-01 9.27688685e-02 -1.64037997e+02] [ 3.31748301e-01 9.43367918e-01 -1.92297175e-04 1.85016173e+01] [-8.74516584e-02 3.09565404e-02 9.95687652e-01 9.88360226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.209072329 meters Centerline goodness : 0.778749 Centerline is valid? [False, False] Translation: X:-164.04, Y:18.50, Z:98.84 [[ 9.39153374e-01 -3.30691916e-01 9.29182215e-02 -1.64037499e+02] [ 3.32126593e-01 9.43234820e-01 2.49603316e-05 1.85007988e+01] [-8.76519561e-02 3.08371708e-02 9.95673743e-01 9.88357924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.23907232899995 meters Centerline goodness : 0.779622 Centerline is valid? [False, False] Translation: X:-164.04, Y:18.50, Z:98.83 [[ 9.37784601e-01 -3.33742297e-01 9.57920681e-02 -1.64040897e+02] [ 3.35725890e-01 9.41946891e-01 -4.91742296e-03 1.85038670e+01] [-8.85898887e-02 3.67713608e-02 9.95389220e-01 9.88328083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.269072329 meters Centerline goodness : 0.779226 Centerline is valid? [False, False] Translation: X:-164.04, Y:18.50, Z:98.83 [[ 9.37795997e-01 -3.33669852e-01 9.59327787e-02 -1.64041273e+02] [ 3.35646518e-01 9.41975860e-01 -4.78475946e-03 1.85037311e+01] [-8.87698318e-02 3.66866314e-02 9.95376315e-01 9.88326069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.29907232899996 meters Centerline goodness : 0.777503 Centerline is valid? [False, False] Translation: X:-164.06, Y:18.49, Z:98.84 [[ 9.38148398e-01 -3.34938710e-01 8.77134211e-02 -1.64058757e+02] [ 3.36148453e-01 9.41808442e-01 1.03715386e-03 1.84940299e+01] [-8.29566235e-02 2.85117266e-02 9.96145210e-01 9.88416817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.329072329 meters Centerline goodness : 0.778675 Centerline is valid? [False, False] Translation: X:-164.06, Y:18.50, Z:98.84 [[ 9.37100885e-01 -3.37225093e-01 9.01175174e-02 -1.64063512e+02] [ 3.38833041e-01 9.40842590e-01 -2.71880951e-03 1.84957117e+01] [-8.38695476e-02 3.30825912e-02 9.95927428e-01 9.88419989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.35907232899996 meters Centerline goodness : 0.780094 Centerline is valid? [False, False] Translation: X:-164.05, Y:18.50, Z:98.84 [[ 9.39372723e-01 -3.32195393e-01 8.50006353e-02 -1.64051106e+02] [ 3.34272687e-01 9.42411249e-01 -1.10819055e-02 1.84989578e+01] [-7.64241969e-02 3.88234305e-02 9.96319268e-01 9.88443226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.389072329 meters Centerline goodness : 0.778643 Centerline is valid? [False, False] Translation: X:-164.05, Y:18.50, Z:98.84 [[ 9.39326981e-01 -3.32241037e-01 8.53271105e-02 -1.64052322e+02] [ 3.34355032e-01 9.42378354e-01 -1.13907694e-02 1.85008588e+01] [-7.66259409e-02 3.92292058e-02 9.96287877e-01 9.88441746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.41907232899996 meters Centerline goodness : 0.777943 Centerline is valid? [False, False] Translation: X:-164.05, Y:18.50, Z:98.84 [[ 9.39420583e-01 -3.31866131e-01 8.57545310e-02 -1.64054150e+02] [ 3.33969427e-01 9.42519137e-01 -1.10498408e-02 1.85007240e+01] [-7.71582187e-02 3.90198394e-02 9.96255018e-01 9.88447812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.449072329 meters Centerline goodness : 0.778215 Centerline is valid? [False, False] Translation: X:-164.05, Y:18.50, Z:98.85 [[ 9.39380246e-01 -3.31938574e-01 8.59158665e-02 -1.64054637e+02] [ 3.34037940e-01 9.42496435e-01 -1.09144012e-02 1.85006302e+01] [-7.73524871e-02 3.89519320e-02 9.96242611e-01 9.88453785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.47907232899996 meters Centerline goodness : 0.779444 Centerline is valid? [False, False] Translation: X:-164.06, Y:18.50, Z:98.85 [[ 9.39438809e-01 -3.31799278e-01 8.58135331e-02 -1.64055032e+02] [ 3.33860843e-01 9.42564057e-01 -1.04850510e-02 1.84999476e+01] [-7.74058196e-02 3.84998423e-02 9.96256042e-01 9.88465273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.509072329 meters Centerline goodness : 0.779717 Centerline is valid? [False, False] Translation: X:-164.06, Y:18.50, Z:98.85 [[ 9.39425090e-01 -3.31889309e-01 8.56153413e-02 -1.64055398e+02] [ 3.33924554e-01 9.42544173e-01 -1.02408074e-02 1.85001918e+01] [-7.72974266e-02 3.82095361e-02 9.96275634e-01 9.88481984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.53907232899996 meters Centerline goodness : 0.780678 Centerline is valid? [False, False] Translation: X:-164.06, Y:18.50, Z:98.85 [[ 9.39299734e-01 -3.32184525e-01 8.58455115e-02 -1.64055373e+02] [ 3.34237513e-01 9.42432131e-01 -1.03422706e-02 1.85004636e+01] [-7.74680261e-02 3.84072823e-02 9.96254779e-01 9.88479190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.569072329 meters Centerline goodness : 0.779657 Centerline is valid? [False, False] Translation: X:-164.06, Y:18.50, Z:98.85 [[ 9.39351686e-01 -3.31940517e-01 8.62200833e-02 -1.64056826e+02] [ 3.34015456e-01 9.42509689e-01 -1.04480084e-02 1.85013830e+01] [-7.77951466e-02 3.86131947e-02 9.96221329e-01 9.88478174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.59907232899997 meters Centerline goodness : 0.779767 Centerline is valid? [False, False] Translation: X:-164.05, Y:18.51, Z:98.84 [[ 9.41628996e-01 -3.26394649e-01 8.24704012e-02 -1.64046019e+02] [ 3.29105455e-01 9.44051473e-01 -2.13639044e-02 1.85098265e+01] [-7.08832396e-02 4.72583307e-02 9.96364500e-01 9.88446034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.629072329 meters Centerline goodness : 0.778461 Centerline is valid? [False, False] Translation: X:-164.06, Y:18.51, Z:98.84 [[ 9.41463181e-01 -3.25811266e-01 8.65684527e-02 -1.64057925e+02] [ 3.29097852e-01 9.43924493e-01 -2.64793450e-02 1.85106205e+01] [-7.30868139e-02 5.34188202e-02 9.95893944e-01 9.88408408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.65907232899997 meters Centerline goodness : 0.778805 Centerline is valid? [False, False] Translation: X:-164.07, Y:18.51, Z:98.84 [[ 9.41970644e-01 -3.23646487e-01 8.91305596e-02 -1.64070091e+02] [ 3.27239204e-01 9.44503382e-01 -2.87726515e-02 1.85094300e+01] [-7.48719474e-02 5.62700064e-02 9.95604278e-01 9.88425822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.689072329 meters Centerline goodness : 0.778003 Centerline is valid? [False, False] Translation: X:-164.07, Y:18.51, Z:98.84 [[ 9.42151862e-01 -3.23011461e-01 8.95179579e-02 -1.64072631e+02] [ 3.26583402e-01 9.44746692e-01 -2.82306523e-02 1.85088127e+01] [-7.54529703e-02 5.58326408e-02 9.95585037e-01 9.88444301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.71907232899997 meters Centerline goodness : 0.777882 Centerline is valid? [False, False] Translation: X:-164.08, Y:18.50, Z:98.84 [[ 9.42775212e-01 -3.16513271e-01 1.04853463e-01 -1.64081180e+02] [ 3.20103358e-01 9.47193214e-01 -1.89434735e-02 1.85017521e+01] [-9.33206276e-02 5.14233828e-02 9.94307244e-01 9.88401174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.74907232899994 meters Centerline goodness : 0.777280 Centerline is valid? [False, False] Translation: X:-164.12, Y:18.49, Z:98.84 [[ 9.43984418e-01 -3.13668429e-01 1.02496509e-01 -1.64119225e+02] [ 3.17034466e-01 9.48243837e-01 -1.79658905e-02 1.84887145e+01] [-9.15563504e-02 4.94544468e-02 9.94571110e-01 9.88449460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.779072329 meters Centerline goodness : 0.776189 Centerline is valid? [False, False] Translation: X:-164.12, Y:18.48, Z:98.86 [[ 9.46504251e-01 -3.10538097e-01 8.77256703e-02 -1.64123728e+02] [ 3.13123603e-01 9.49558720e-01 -1.70835124e-02 1.84826347e+01] [-7.79955937e-02 4.36385950e-02 9.95998173e-01 9.88570375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.80907232899995 meters Centerline goodness : 0.776431 Centerline is valid? [False, False] Translation: X:-164.14, Y:18.48, Z:98.85 [[ 9.47560409e-01 -3.06540126e-01 9.03461241e-02 -1.64141367e+02] [ 3.09697789e-01 9.50558110e-01 -2.29468761e-02 1.84785955e+01] [-7.88451027e-02 4.97235462e-02 9.95646031e-01 9.88548325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.839072329 meters Centerline goodness : 0.777460 Centerline is valid? [False, False] Translation: X:-164.16, Y:18.47, Z:98.87 [[ 9.50849152e-01 -2.99551182e-01 7.84536745e-02 -1.64156678e+02] [ 3.02225115e-01 9.52921839e-01 -2.44938336e-02 1.84694545e+01] [-6.74230630e-02 4.70006117e-02 9.96616814e-01 9.88655758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.86907232899995 meters Centerline goodness : 0.776815 Centerline is valid? [False, False] Translation: X:-164.17, Y:18.47, Z:98.86 [[ 9.50322802e-01 -3.00175975e-01 8.23465653e-02 -1.64166614e+02] [ 3.03330238e-01 9.52455352e-01 -2.86281323e-02 1.84696248e+01] [-6.98379493e-02 5.21841702e-02 9.96192488e-01 9.88639755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.899072329 meters Centerline goodness : 0.779215 Centerline is valid? [False, False] Translation: X:-164.18, Y:18.46, Z:98.88 [[ 9.52608150e-01 -2.95733993e-01 7.12679264e-02 -1.64182346e+02] [ 2.98413936e-01 9.53957994e-01 -3.02203452e-02 1.84594078e+01] [-5.90494247e-02 5.00554895e-02 9.96999305e-01 9.88772715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.92907232899995 meters Centerline goodness : 0.778080 Centerline is valid? [False, False] Translation: X:-164.20, Y:18.45, Z:98.89 [[ 9.52775888e-01 -2.96838335e-01 6.40711295e-02 -1.64200104e+02] [ 2.98726779e-01 9.54084628e-01 -2.20189632e-02 1.84485620e+01] [-5.45932073e-02 4.01188994e-02 9.97702388e-01 9.88866811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.959072329 meters Centerline goodness : 0.777318 Centerline is valid? [False, False] Translation: X:-164.21, Y:18.44, Z:98.90 [[ 9.54942691e-01 -2.92235041e-01 5.17990231e-02 -1.64213385e+02] [ 2.93733997e-01 9.55585701e-01 -2.40063787e-02 1.84395892e+01] [-4.24829008e-02 3.81398500e-02 9.98368947e-01 9.88976344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.98907232899995 meters Centerline goodness : 0.776585 Centerline is valid? [False, False] Translation: X:-164.23, Y:18.44, Z:98.89 [[ 9.55320239e-01 -2.90154355e-01 5.63355211e-02 -1.64229346e+02] [ 2.92049715e-01 9.55969511e-01 -2.87968582e-02 1.84361064e+01] [-4.54995068e-02 4.39629943e-02 9.97996518e-01 9.88937979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.019072329 meters Centerline goodness : 0.775084 Centerline is valid? [False, False] Translation: X:-164.26, Y:18.43, Z:98.90 [[ 9.57286460e-01 -2.83815439e-01 5.52397485e-02 -1.64255578e+02] [ 2.86008166e-01 9.57520383e-01 -3.67973486e-02 1.84277846e+01] [-4.24495295e-02 5.10246227e-02 9.97794831e-01 9.88965857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.04907232899996 meters Centerline goodness : 0.773962 Centerline is valid? [False, False] Translation: X:-164.27, Y:18.42, Z:98.91 [[ 9.57605083e-01 -2.84063489e-01 4.79628893e-02 -1.64273451e+02] [ 2.85543578e-01 9.57975125e-01 -2.73591744e-02 1.84171894e+01] [-3.81755124e-02 3.98947795e-02 9.98474355e-01 9.89056238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.079072329 meters Centerline goodness : 0.773416 Centerline is valid? [False, False] Translation: X:-164.30, Y:18.41, Z:98.91 [[ 9.58027496e-01 -2.83528478e-01 4.23664780e-02 -1.64297701e+02] [ 2.84574580e-01 9.58423796e-01 -2.10032083e-02 1.84054872e+01] [-3.46500330e-02 3.21780737e-02 9.98881348e-01 9.89123045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.10907232899996 meters Centerline goodness : 0.772861 Centerline is valid? [False, False] Translation: X:-164.32, Y:18.39, Z:98.92 [[ 9.58756175e-01 -2.82263736e-01 3.33733474e-02 -1.64318678e+02] [ 2.82931549e-01 9.58984973e-01 -1.72499531e-02 1.83924171e+01] [-2.71355025e-02 2.59808720e-02 9.99294080e-01 9.89213947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.139072329 meters Centerline goodness : 0.772544 Centerline is valid? [False, False] Translation: X:-164.32, Y:18.39, Z:98.92 [[ 9.57910148e-01 -2.84834401e-01 3.57422942e-02 -1.64322890e+02] [ 2.85674327e-01 9.58096000e-01 -2.10293320e-02 1.83925402e+01] [-2.82546719e-02 3.03548664e-02 9.99139758e-01 9.89209150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.16907232899996 meters Centerline goodness : 0.770963 Centerline is valid? [False, False] Translation: X:-164.35, Y:18.38, Z:98.93 [[ 9.57888783e-01 -2.85570309e-01 2.99779570e-02 -1.64346184e+02] [ 2.86111584e-01 9.58069777e-01 -1.55712658e-02 1.83781934e+01] [-2.42742833e-02 2.34925817e-02 9.99429266e-01 9.89283192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.199072329 meters Centerline goodness : 0.771239 Centerline is valid? [False, False] Translation: X:-164.36, Y:18.37, Z:98.94 [[ 9.57855067e-01 -2.86373781e-01 2.24438675e-02 -1.64363150e+02] [ 2.86602682e-01 9.58018743e-01 -7.68053320e-03 1.83676643e+01] [-1.93021424e-02 1.37893103e-02 9.99718602e-01 9.89357919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.22907232899996 meters Centerline goodness : 0.770443 Centerline is valid? [False, False] Translation: X:-164.38, Y:18.36, Z:98.94 [[ 9.57797642e-01 -2.87022252e-01 1.55532494e-02 -1.64382105e+02] [ 2.87066940e-01 9.57910287e-01 -6.73184286e-04 1.83569003e+01] [-1.47053987e-02 5.10959804e-03 9.99878814e-01 9.89422311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.259072329 meters Centerline goodness : 0.768706 Centerline is valid? [False, False] Translation: X:-164.40, Y:18.35, Z:98.95 [[ 9.58997339e-01 -2.83340393e-01 6.50573884e-03 -1.64395777e+02] [ 2.83383065e-01 9.58981348e-01 -6.98661359e-03 1.83477095e+01] [-4.25929236e-03 8.54376006e-03 9.99954430e-01 9.89477464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.28907232899996 meters Centerline goodness : 0.768706 Centerline is valid? [False, False] Translation: X:-164.40, Y:18.35, Z:98.95 [[ 9.58997339e-01 -2.83340393e-01 6.50573884e-03 -1.64395777e+02] [ 2.83383065e-01 9.58981348e-01 -6.98661359e-03 1.83477095e+01] [-4.25929236e-03 8.54376006e-03 9.99954430e-01 9.89477464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.319072329 meters Centerline goodness : 0.765930 Centerline is valid? [False, False] Translation: X:-164.40, Y:18.35, Z:98.95 [[ 9.58081600e-01 -2.86365207e-01 8.63809305e-03 -1.64398959e+02] [ 2.86446761e-01 9.58039134e-01 -1.04532740e-02 1.83468368e+01] [-5.28217720e-03 1.24894433e-02 9.99908052e-01 9.89476118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.34907232899997 meters Centerline goodness : 0.767303 Centerline is valid? [False, False] Translation: X:-164.40, Y:18.35, Z:98.95 [[ 9.57218134e-01 -2.89151632e-01 1.11703693e-02 -1.64403043e+02] [ 2.89291390e-01 9.57137935e-01 -1.40522239e-02 1.83455515e+01] [-6.62836073e-03 1.66825352e-02 9.99838866e-01 9.89468858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.379072329 meters Centerline goodness : 0.767903 Centerline is valid? [False, False] Translation: X:-164.41, Y:18.34, Z:98.95 [[ 9.56282723e-01 -2.92139703e-01 1.33322181e-02 -1.64406402e+02] [ 2.92343700e-01 9.56154079e-01 -1.74510006e-02 1.83445934e+01] [-7.64952463e-03 2.05856804e-02 9.99758828e-01 9.89469825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.40907232899997 meters Centerline goodness : 0.767104 Centerline is valid? [False, False] Translation: X:-164.43, Y:18.33, Z:98.95 [[ 9.55388456e-01 -2.95254178e-01 7.60710686e-03 -1.64425949e+02] [ 2.95329247e-01 9.55318235e-01 -1.21534121e-02 1.83307411e+01] [-3.67886221e-03 1.38578307e-02 9.99897208e-01 9.89540326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.439072329 meters Centerline goodness : 0.768503 Centerline is valid? [False, False] Translation: X:-164.44, Y:18.32, Z:98.96 [[ 9.54616241e-01 -2.97837489e-01 8.14271458e-04 -1.64443003e+02] [ 2.97836794e-01 9.54597351e-01 -6.09432702e-03 1.83201633e+01] [ 1.03781768e-03 6.06026355e-03 9.99981098e-01 9.89606906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.46907232899997 meters Centerline goodness : 0.766289 Centerline is valid? [False, False] Translation: X:-164.46, Y:18.31, Z:98.97 [[ 9.53326120e-01 -3.01898488e-01 -5.15869421e-03 -1.64460511e+02] [ 3.01897280e-01 9.53339904e-01 -1.02982857e-03 1.83081170e+01] [ 5.22889273e-03 -5.75633277e-04 9.99986164e-01 9.89674673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.49907232899994 meters Centerline goodness : 0.767226 Centerline is valid? [False, False] Translation: X:-164.46, Y:18.31, Z:98.97 [[ 9.52173944e-01 -3.05541407e-01 -3.03792835e-03 -1.64462440e+02] [ 3.05523833e-01 9.52170460e-01 -5.15784891e-03 1.83085229e+01] [ 4.46856204e-03 3.98300983e-03 9.99982084e-01 9.89660746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.529072329 meters Centerline goodness : 0.765513 Centerline is valid? [False, False] Translation: X:-164.46, Y:18.31, Z:98.97 [[ 9.51034076e-01 -3.09084708e-01 -9.11167067e-04 -1.64464843e+02] [ 3.09064038e-01 9.50997394e-01 -9.13107453e-03 1.83091475e+01] [ 3.68879301e-03 8.40235405e-03 9.99957896e-01 9.89653089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.55907232899995 meters Centerline goodness : 0.765649 Centerline is valid? [False, False] Translation: X:-164.48, Y:18.30, Z:98.97 [[ 9.49941425e-01 -3.12351978e-01 -6.89426580e-03 -1.64484389e+02] [ 3.12331105e-01 9.49965099e-01 -3.94860759e-03 1.82970505e+01] [ 7.78266729e-03 1.59765226e-03 9.99968438e-01 9.89730823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.589072329 meters Centerline goodness : 0.765972 Centerline is valid? [False, False] Translation: X:-164.48, Y:18.30, Z:98.97 [[ 9.49825240e-01 -3.12698280e-01 -7.19716058e-03 -1.64483057e+02] [ 3.12677639e-01 9.49851448e-01 -3.86274201e-03 1.82965298e+01] [ 8.04410618e-03 1.41853867e-03 9.99966639e-01 9.89730309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.61907232899995 meters Centerline goodness : 0.764128 Centerline is valid? [False, False] Translation: X:-164.48, Y:18.30, Z:98.97 [[ 9.49688029e-01 -3.13111177e-01 -7.35106658e-03 -1.64481906e+02] [ 3.13088870e-01 9.49715237e-01 -4.04078409e-03 1.82967948e+01] [ 8.24663460e-03 1.53594715e-03 9.99964816e-01 9.89723717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.649072329 meters Centerline goodness : 0.765185 Centerline is valid? [False, False] Translation: X:-164.50, Y:18.29, Z:98.98 [[ 9.48784550e-01 -3.15613023e-01 -1.40106500e-02 -1.64500581e+02] [ 3.15650641e-01 9.48875345e-01 5.02124013e-04 1.82895264e+01] [ 1.31358835e-02 -4.89887816e-03 9.99901720e-01 9.89781338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.67907232899995 meters Centerline goodness : 0.765501 Centerline is valid? [False, False] Translation: X:-164.50, Y:18.29, Z:98.98 [[ 9.47738365e-01 -3.18842263e-01 -1.14718368e-02 -1.64504855e+02] [ 3.18820474e-01 9.47807785e-01 -3.72947425e-03 1.82921743e+01] [ 1.20622103e-02 -1.22890630e-04 9.99927241e-01 9.89771832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.709072329 meters Centerline goodness : 0.765795 Centerline is valid? [False, False] Translation: X:-164.50, Y:18.29, Z:98.98 [[ 9.47727955e-01 -3.18865230e-01 -1.16913571e-02 -1.64504839e+02] [ 3.18845371e-01 9.47800005e-01 -3.57486201e-03 1.82919296e+01] [ 1.22209675e-02 -3.39738433e-04 9.99925263e-01 9.89781651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.73907232899995 meters Centerline goodness : 0.765288 Centerline is valid? [False, False] Translation: X:-164.50, Y:18.29, Z:98.98 [[ 9.47551531e-01 -3.19389833e-01 -1.16717640e-02 -1.64504522e+02] [ 3.19363831e-01 9.47623404e-01 -4.07766837e-03 1.82934611e+01] [ 1.23628026e-02 1.36261635e-04 9.99923568e-01 9.89779645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.769072329 meters Centerline goodness : 0.765769 Centerline is valid? [False, False] Translation: X:-164.50, Y:18.30, Z:98.98 [[ 9.47399372e-01 -3.19845780e-01 -1.15371747e-02 -1.64504407e+02] [ 3.19812028e-01 9.47469303e-01 -4.71028400e-03 1.82955833e+01] [ 1.24376833e-02 7.72792865e-04 9.99922350e-01 9.89770550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.79907232899996 meters Centerline goodness : 0.764044 Centerline is valid? [False, False] Translation: X:-164.50, Y:18.30, Z:98.98 [[ 9.48291010e-01 -3.17111943e-01 -1.35711346e-02 -1.64501439e+02] [ 3.17119822e-01 9.48384089e-01 -1.62437620e-03 1.82978682e+01] [ 1.33857572e-02 -2.76329444e-03 9.99906588e-01 9.89764191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.829072329 meters Centerline goodness : 0.763953 Centerline is valid? [False, False] Translation: X:-164.50, Y:18.30, Z:98.98 [[ 9.48335035e-01 -3.16997984e-01 -1.31506505e-02 -1.64502805e+02] [ 3.17001003e-01 9.48423280e-01 -1.90941208e-03 1.82993394e+01] [ 1.30776629e-02 -2.35800704e-03 9.99911703e-01 9.89759879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.85907232899996 meters Centerline goodness : 0.764451 Centerline is valid? [False, False] Translation: X:-164.50, Y:18.30, Z:98.98 [[ 9.48272969e-01 -3.17190093e-01 -1.29931439e-02 -1.64503317e+02] [ 3.17187209e-01 9.48360066e-01 -2.33670817e-03 1.83011081e+01] [ 1.30633595e-02 -1.90542185e-03 9.99912855e-01 9.89758567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.889072329 meters Centerline goodness : 0.764751 Centerline is valid? [False, False] Translation: X:-164.50, Y:18.31, Z:98.98 [[ 9.48497647e-01 -3.16493456e-01 -1.35685874e-02 -1.64504004e+02] [ 3.16481123e-01 9.48593732e-01 -3.10336055e-03 1.83052893e+01] [ 1.38532703e-02 -1.35067161e-03 9.99903127e-01 9.89771204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.91907232899996 meters Centerline goodness : 0.765173 Centerline is valid? [False, False] Translation: X:-164.51, Y:18.31, Z:98.98 [[ 9.48636550e-01 -3.16103091e-01 -1.29433985e-02 -1.64506874e+02] [ 3.16089508e-01 9.48724190e-01 -3.13584834e-03 1.83070149e+01] [ 1.32709666e-02 -1.11649212e-03 9.99911314e-01 9.89776737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.949072329 meters Centerline goodness : 0.765474 Centerline is valid? [False, False] Translation: X:-164.51, Y:18.31, Z:98.98 [[ 9.48801821e-01 -3.15633950e-01 -1.22602439e-02 -1.64509877e+02] [ 3.15620652e-01 9.48880534e-01 -3.05555359e-03 1.83082820e+01] [ 1.25979433e-02 -9.70471371e-04 9.99920172e-01 9.89782711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.97907232899996 meters Centerline goodness : 0.763988 Centerline is valid? [False, False] Translation: X:-164.51, Y:18.31, Z:98.98 [[ 9.48866402e-01 -3.15456022e-01 -1.18342190e-02 -1.64511732e+02] [ 3.15440088e-01 9.48939968e-01 -3.23858015e-03 1.83096837e+01] [ 1.22515930e-02 -6.60007194e-04 9.99924729e-01 9.89785542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.009072329 meters Centerline goodness : 0.766576 Centerline is valid? [False, False] Translation: X:-164.52, Y:18.31, Z:98.98 [[ 9.49200080e-01 -3.14485473e-01 -1.08671830e-02 -1.64516303e+02] [ 3.14471175e-01 9.49262139e-01 -3.04480502e-03 1.83109127e+01] [ 1.12733523e-02 -5.27286623e-04 9.99936315e-01 9.89794403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.03907232899996 meters Centerline goodness : 0.764966 Centerline is valid? [False, False] Translation: X:-164.52, Y:18.31, Z:98.98 [[ 9.49303116e-01 -3.14191575e-01 -1.03560385e-02 -1.64518338e+02] [ 3.14174951e-01 9.49359585e-01 -3.23711326e-03 1.83122941e+01] [ 1.08486781e-02 -1.80606168e-04 9.99941135e-01 9.89793883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.069072329 meters Centerline goodness : 0.764501 Centerline is valid? [False, False] Translation: X:-164.53, Y:18.32, Z:98.98 [[ 9.49878264e-01 -3.12520057e-01 -7.90556627e-03 -1.64525791e+02] [ 3.12492168e-01 9.49909304e-01 -4.57804224e-03 1.83151053e+01] [ 8.94030098e-03 1.87815528e-03 9.99958271e-01 9.89756849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.09907232899997 meters Centerline goodness : 0.764572 Centerline is valid? [False, False] Translation: X:-164.54, Y:18.31, Z:98.97 [[ 9.52522081e-01 -3.04372406e-01 7.68916967e-03 -1.64536762e+02] [ 3.04329238e-01 9.52546089e-01 6.29785282e-03 1.83073529e+01] [-9.24118111e-03 -3.65880473e-03 9.99950606e-01 9.89723508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.129072329 meters Centerline goodness : 0.763340 Centerline is valid? [False, False] Translation: X:-164.54, Y:18.31, Z:98.97 [[ 9.52743923e-01 -3.03657708e-01 8.42692440e-03 -1.64539859e+02] [ 3.03610201e-01 9.52774373e-01 6.46830722e-03 1.83078924e+01] [-9.99310896e-03 -3.60414019e-03 9.99943572e-01 9.89727735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.15907232899997 meters Centerline goodness : 0.763429 Centerline is valid? [False, False] Translation: X:-164.55, Y:18.30, Z:98.97 [[ 9.55486203e-01 -2.93920783e-01 2.56259574e-02 -1.64552667e+02] [ 2.93593171e-01 9.55799698e-01 1.58109812e-02 1.82979997e+01] [-2.91404583e-02 -7.58356828e-03 9.99546559e-01 9.89661931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.189072329 meters Centerline goodness : 0.763826 Centerline is valid? [False, False] Translation: X:-164.57, Y:18.29, Z:98.96 [[ 9.57212902e-01 -2.86206741e-01 4.27687078e-02 -1.64566736e+02] [ 2.85313632e-01 9.58086035e-01 2.58317965e-02 1.82866178e+01] [-4.83693360e-02 -1.25240335e-02 9.98750998e-01 9.89601765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.21907232899997 meters Centerline goodness : 0.763330 Centerline is valid? [False, False] Translation: X:-164.58, Y:18.28, Z:98.95 [[ 9.58286669e-01 -2.79526760e-01 5.95940427e-02 -1.64577025e+02] [ 2.77867546e-01 9.59993034e-01 3.46843066e-02 1.82771279e+01] [-6.69050577e-02 -1.66782583e-02 9.97619942e-01 9.89522530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.24907232899994 meters Centerline goodness : 0.764163 Centerline is valid? [False, False] Translation: X:-164.58, Y:18.28, Z:98.95 [[ 9.57427408e-01 -2.81880194e-01 6.22600597e-02 -1.64582346e+02] [ 2.80446722e-01 9.59373553e-01 3.08548622e-02 1.82781490e+01] [-6.84280292e-02 -1.20806611e-02 9.97582910e-01 9.89518198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.279072329 meters Centerline goodness : 0.763244 Centerline is valid? [False, False] Translation: X:-164.59, Y:18.27, Z:98.94 [[ 9.57931653e-01 -2.76311795e-01 7.75805399e-02 -1.64588261e+02] [ 2.74063299e-01 9.60941396e-01 3.84830169e-02 1.82694226e+01] [-8.51836638e-02 -1.56021213e-02 9.96243101e-01 9.89443695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.30907232899995 meters Centerline goodness : 0.763078 Centerline is valid? [False, False] Translation: X:-164.59, Y:18.27, Z:98.94 [[ 9.57761033e-01 -2.76702871e-01 7.82899983e-02 -1.64588754e+02] [ 2.74342306e-01 9.60813633e-01 3.96668854e-02 1.82655273e+01] [-8.61980387e-02 -1.65131384e-02 9.96141162e-01 9.89434428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.339072329 meters Centerline goodness : 0.761985 Centerline is valid? [False, False] Translation: X:-164.60, Y:18.26, Z:98.93 [[ 9.57973257e-01 -2.71000770e-01 9.40522214e-02 -1.64595415e+02] [ 2.67673602e-01 9.62382403e-01 4.65934787e-02 1.82557501e+01] [-1.03141071e-01 -1.94600097e-02 9.94476358e-01 9.89345929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.36907232899995 meters Centerline goodness : 0.763004 Centerline is valid? [False, False] Translation: X:-164.60, Y:18.26, Z:98.93 [[ 9.56900461e-01 -2.73991534e-01 9.62816030e-02 -1.64598332e+02] [ 2.71083158e-01 9.61623971e-01 4.23469048e-02 1.82567925e+01] [-1.04189391e-01 -1.44214518e-02 9.94452911e-01 9.89333342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.399072329 meters Centerline goodness : 0.763120 Centerline is valid? [False, False] Translation: X:-164.60, Y:18.25, Z:98.93 [[ 9.56387796e-01 -2.75794570e-01 9.62275411e-02 -1.64596247e+02] [ 2.72899647e-01 9.61111631e-01 4.23109286e-02 1.82542112e+01] [-1.04154533e-01 -1.42051937e-02 9.94459675e-01 9.89303822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.42907232899995 meters Centerline goodness : 0.763680 Centerline is valid? [False, False] Translation: X:-164.60, Y:18.26, Z:98.93 [[ 9.55284329e-01 -2.78769904e-01 9.85859605e-02 -1.64599416e+02] [ 2.76330309e-01 9.60316378e-01 3.78683795e-02 1.82558859e+01] [-1.05230277e-01 -8.93278056e-03 9.94407761e-01 9.89286921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.459072329 meters Centerline goodness : 0.761786 Centerline is valid? [False, False] Translation: X:-164.60, Y:18.26, Z:98.93 [[ 9.54167801e-01 -2.81763237e-01 1.00862713e-01 -1.64602419e+02] [ 2.79799361e-01 9.59476995e-01 3.34097912e-02 1.82577794e+01] [-1.06189104e-01 -3.65722420e-03 9.94339227e-01 9.89271087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.48907232899995 meters Centerline goodness : 0.762148 Centerline is valid? [False, False] Translation: X:-164.60, Y:18.26, Z:98.93 [[ 9.52968499e-01 -2.84992267e-01 1.03104065e-01 -1.64604821e+02] [ 2.83542853e-01 9.58528082e-01 2.87639894e-02 1.82595489e+01] [-1.07025657e-01 1.82324508e-03 9.94254587e-01 9.89250902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.519072329 meters Centerline goodness : 0.761703 Centerline is valid? [False, False] Translation: X:-164.61, Y:18.26, Z:98.92 [[ 9.52025638e-01 -2.86902821e-01 1.06461058e-01 -1.64611392e+02] [ 2.85960210e-01 9.57932144e-01 2.43467764e-02 1.82602202e+01] [-1.08967628e-01 7.26487098e-03 9.94018751e-01 9.89231396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.54907232899996 meters Centerline goodness : 0.760215 Centerline is valid? [False, False] Translation: X:-164.61, Y:18.26, Z:98.92 [[ 9.51605772e-01 -2.88263184e-01 1.06540091e-01 -1.64611546e+02] [ 2.87452131e-01 9.57513304e-01 2.32281189e-02 1.82592157e+01] [-1.08709366e-01 8.52116405e-03 9.94037053e-01 9.89243700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.579072329 meters Centerline goodness : 0.761257 Centerline is valid? [False, False] Translation: X:-164.61, Y:18.26, Z:98.92 [[ 9.51347613e-01 -2.89056839e-01 1.06695185e-01 -1.64611453e+02] [ 2.88303834e-01 9.57268564e-01 2.27551074e-02 1.82585972e+01] [-1.08713466e-01 9.11261388e-03 9.94031359e-01 9.89241275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.60907232899996 meters Centerline goodness : 0.762197 Centerline is valid? [False, False] Translation: X:-164.61, Y:18.26, Z:98.92 [[ 9.51057268e-01 -2.89916027e-01 1.06952188e-01 -1.64611917e+02] [ 2.89117955e-01 9.57011423e-01 2.32367083e-02 1.82580234e+01] [-1.09091159e-01 8.82235750e-03 9.93992598e-01 9.89235261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.639072329 meters Centerline goodness : 0.760870 Centerline is valid? [False, False] Translation: X:-164.61, Y:18.26, Z:98.92 [[ 9.50662758e-01 -2.91269393e-01 1.06782305e-01 -1.64611274e+02] [ 2.90277706e-01 9.56614198e-01 2.50625018e-02 1.82569095e+01] [-1.09449409e-01 7.17053545e-03 9.93966504e-01 9.89204146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.66907232899996 meters Centerline goodness : 0.760632 Centerline is valid? [False, False] Translation: X:-164.61, Y:18.26, Z:98.92 [[ 9.50476071e-01 -2.91706213e-01 1.07250755e-01 -1.64611857e+02] [ 2.90652583e-01 9.56484032e-01 2.56782325e-02 1.82557888e+01] [-1.10074134e-01 6.76616331e-03 9.93900349e-01 9.89197192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.699072329 meters Centerline goodness : 0.763313 Centerline is valid? [False, False] Translation: X:-164.62, Y:18.26, Z:98.92 [[ 9.49430374e-01 -2.94071533e-01 1.10017715e-01 -1.64616734e+02] [ 2.93541313e-01 9.55707833e-01 2.13550036e-02 1.82573465e+01] [-1.11424691e-01 1.20196556e-02 9.93700189e-01 9.89183475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.72907232899996 meters Centerline goodness : 0.761585 Centerline is valid? [False, False] Translation: X:-164.62, Y:18.26, Z:98.92 [[ 9.48343462e-01 -2.96664465e-01 1.12404954e-01 -1.64620621e+02] [ 2.96679031e-01 9.54826167e-01 1.69865664e-02 1.82596651e+01] [-1.12366502e-01 1.72390936e-02 9.93517279e-01 9.89172961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.759072329 meters Centerline goodness : 0.763665 Centerline is valid? [False, False] Translation: X:-164.63, Y:18.26, Z:98.92 [[ 9.47288013e-01 -2.99033558e-01 1.14997180e-01 -1.64625197e+02] [ 2.99642779e-01 9.53971393e-01 1.23607116e-02 1.82625143e+01] [-1.13400287e-01 2.27489206e-02 9.93288911e-01 9.89157744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.78907232899996 meters Centerline goodness : 0.761719 Centerline is valid? [False, False] Translation: X:-164.63, Y:18.26, Z:98.92 [[ 9.47238895e-01 -2.99125954e-01 1.15161365e-01 -1.64625671e+02] [ 2.99745475e-01 9.53939792e-01 1.23094903e-02 1.82630131e+01] [-1.13539096e-01 2.28590699e-02 9.93270525e-01 9.89158161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.819072329 meters Centerline goodness : 0.762720 Centerline is valid? [False, False] Translation: X:-164.63, Y:18.26, Z:98.92 [[ 9.47199311e-01 -2.99149454e-01 1.15425605e-01 -1.64626397e+02] [ 2.99740359e-01 9.53937419e-01 1.26141601e-02 1.82626916e+01] [-1.13882323e-01 2.26495884e-02 9.93236031e-01 9.89168981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.84907232899997 meters Centerline goodness : 0.762761 Centerline is valid? [False, False] Translation: X:-164.63, Y:18.26, Z:98.92 [[ 9.46101391e-01 -3.01654122e-01 1.17885322e-01 -1.64630703e+02] [ 3.02803406e-01 9.53015416e-01 8.46843669e-03 1.82647751e+01] [-1.14901068e-01 2.76840772e-02 9.92991106e-01 9.89165066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.879072329 meters Centerline goodness : 0.762224 Centerline is valid? [False, False] Translation: X:-164.64, Y:18.27, Z:98.92 [[ 9.44978050e-01 -3.04154464e-01 1.20443125e-01 -1.64635069e+02] [ 3.05924148e-01 9.52047620e-01 3.96808188e-03 1.82676624e+01] [-1.15874500e-01 3.30967100e-02 9.92712299e-01 9.89153363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.90907232899997 meters Centerline goodness : 0.762422 Centerline is valid? [False, False] Translation: X:-164.64, Y:18.27, Z:98.92 [[ 9.45307371e-01 -3.03292818e-01 1.20030996e-01 -1.64636894e+02] [ 3.04794391e-01 9.52398687e-01 6.09257241e-03 1.82681140e+01] [-1.16165196e-01 3.08254206e-02 9.92751450e-01 9.89173431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.939072329 meters Centerline goodness : 0.761821 Centerline is valid? [False, False] Translation: X:-164.64, Y:18.27, Z:98.92 [[ 9.45360111e-01 -3.03008375e-01 1.20333637e-01 -1.64638084e+02] [ 3.04521151e-01 9.52486299e-01 6.05962238e-03 1.82685287e+01] [-1.16452257e-01 3.09156123e-02 9.92715013e-01 9.89174184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.96907232899997 meters Centerline goodness : 0.761991 Centerline is valid? [False, False] Translation: X:-164.64, Y:18.27, Z:98.92 [[ 9.45336653e-01 -3.03033089e-01 1.20455634e-01 -1.64638430e+02] [ 3.04580124e-01 9.52469047e-01 5.80198951e-03 1.82694810e+01] [-1.16488458e-01 3.12035587e-02 9.92701756e-01 9.89171372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.99907232899994 meters Centerline goodness : 0.760580 Centerline is valid? [False, False] Translation: X:-164.64, Y:18.27, Z:98.92 [[ 9.45294534e-01 -3.03039983e-01 1.20768426e-01 -1.64639103e+02] [ 3.04637564e-01 9.52452716e-01 5.45697776e-03 1.82705827e+01] [-1.16679898e-01 3.16321480e-02 9.92665708e-01 9.89165273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.029072329 meters Centerline goodness : 0.760008 Centerline is valid? [False, False] Translation: X:-164.64, Y:18.27, Z:98.92 [[ 9.45314596e-01 -3.02824658e-01 1.21150902e-01 -1.64640611e+02] [ 3.04449076e-01 9.52513759e-01 5.31979448e-03 1.82718129e+01] [-1.17008866e-01 3.18554006e-02 9.92619846e-01 9.89168801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.05907232899995 meters Centerline goodness : 0.760556 Centerline is valid? [False, False] Translation: X:-164.65, Y:18.27, Z:98.92 [[ 9.44551163e-01 -3.03738121e-01 1.24764799e-01 -1.64649399e+02] [ 3.05987770e-01 9.52034703e-01 1.18725648e-03 1.82724257e+01] [-1.19141034e-01 3.70550782e-02 9.92185635e-01 9.89161179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.089072329 meters Centerline goodness : 0.761464 Centerline is valid? [False, False] Translation: X:-164.65, Y:18.27, Z:98.92 [[ 9.44666933e-01 -3.03303619e-01 1.24945189e-01 -1.64650688e+02] [ 3.05481517e-01 9.52196284e-01 1.81112636e-03 1.82712175e+01] [-1.19521666e-01 3.64575347e-02 9.92161993e-01 9.89174355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.11907232899995 meters Centerline goodness : 0.762450 Centerline is valid? [False, False] Translation: X:-164.65, Y:18.27, Z:98.92 [[ 9.43517374e-01 -3.05882447e-01 1.27322008e-01 -1.64654297e+02] [ 3.08697028e-01 9.51157126e-01 -2.50341987e-03 1.82735275e+01] [-1.20337483e-01 4.16659456e-02 9.91858276e-01 9.89162965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.149072329 meters Centerline goodness : 0.760359 Centerline is valid? [False, False] Translation: X:-164.66, Y:18.28, Z:98.91 [[ 9.42341048e-01 -3.08456292e-01 1.29800098e-01 -1.64657827e+02] [ 3.11930494e-01 9.50080369e-01 -6.83081443e-03 1.82756409e+01] [-1.21213518e-01 4.69255656e-02 9.91516654e-01 9.89148334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.17907232899995 meters Centerline goodness : 0.760359 Centerline is valid? [False, False] Translation: X:-164.66, Y:18.28, Z:98.91 [[ 9.42285724e-01 -3.08623007e-01 1.29805446e-01 -1.64657690e+02] [ 3.12069302e-01 9.50036490e-01 -6.58932317e-03 1.82751354e+01] [-1.21286294e-01 4.67173202e-02 9.91517588e-01 9.89149336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.209072329 meters Centerline goodness : 0.758210 Centerline is valid? [False, False] Translation: X:-164.66, Y:18.28, Z:98.91 [[ 9.41188801e-01 -3.11037174e-01 1.31983018e-01 -1.64660790e+02] [ 3.15165669e-01 9.48971764e-01 -1.10991749e-02 1.82781618e+01] [-1.21795901e-01 5.20429353e-02 9.91189836e-01 9.89130228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.23907232899995 meters Centerline goodness : 0.758129 Centerline is valid? [False, False] Translation: X:-164.68, Y:18.27, Z:98.92 [[ 9.41503085e-01 -3.12915932e-01 1.25122180e-01 -1.64678941e+02] [ 3.15966213e-01 9.48758260e-01 -4.80801038e-03 1.82675761e+01] [-1.17206198e-01 4.40611378e-02 9.92129691e-01 9.89222866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.269072329 meters Centerline goodness : 0.758367 Centerline is valid? [False, False] Translation: X:-164.70, Y:18.26, Z:98.93 [[ 9.41819291e-01 -3.14444573e-01 1.18747777e-01 -1.64699379e+02] [ 3.16595955e-01 9.48560163e-01 7.86689015e-04 1.82566758e+01] [-1.12886781e-01 3.68541469e-02 9.92924139e-01 9.89308709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.29907232899996 meters Centerline goodness : 0.759114 Centerline is valid? [False, False] Translation: X:-164.71, Y:18.26, Z:98.93 [[ 9.40919405e-01 -3.15740731e-01 1.22386532e-01 -1.64707283e+02] [ 3.18561589e-01 9.47894979e-01 -3.69099010e-03 1.82576383e+01] [-1.14844184e-01 4.24605725e-02 9.92475649e-01 9.89290254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.329072329 meters Centerline goodness : 0.758458 Centerline is valid? [False, False] Translation: X:-164.71, Y:18.26, Z:98.93 [[ 9.39953040e-01 -3.17358766e-01 1.25585410e-01 -1.64714009e+02] [ 3.20820662e-01 9.47107585e-01 -7.83101661e-03 1.82587710e+01] [-1.16457652e-01 4.76511821e-02 9.92051904e-01 9.89281890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.35907232899996 meters Centerline goodness : 0.759349 Centerline is valid? [False, False] Translation: X:-164.73, Y:18.26, Z:98.93 [[ 9.40075373e-01 -3.15186192e-01 1.30061357e-01 -1.64729454e+02] [ 3.19371562e-01 9.47551893e-01 -1.21332562e-02 1.82562234e+01] [-1.19415651e-01 5.29440742e-02 9.91431706e-01 9.89269080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.389072329 meters Centerline goodness : 0.756926 Centerline is valid? [False, False] Translation: X:-164.75, Y:18.25, Z:98.94 [[ 9.43312084e-01 -3.09907710e-01 1.18825602e-01 -1.64748187e+02] [ 3.13810078e-01 9.49364180e-01 -1.51950404e-02 1.82462256e+01] [-1.08099710e-01 5.16223366e-02 9.92798865e-01 9.89384050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.41907232899996 meters Centerline goodness : 0.757011 Centerline is valid? [False, False] Translation: X:-164.75, Y:18.25, Z:98.94 [[ 9.43857891e-01 -3.08547153e-01 1.18029389e-01 -1.64749850e+02] [ 3.11998723e-01 9.50012778e-01 -1.15116972e-02 1.82468194e+01] [-1.08577527e-01 4.76904250e-02 9.92943374e-01 9.89390909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.449072329 meters Centerline goodness : 0.757297 Centerline is valid? [False, False] Translation: X:-164.76, Y:18.24, Z:98.95 [[ 9.46991682e-01 -3.03775123e-01 1.04534343e-01 -1.64758353e+02] [ 3.06601276e-01 9.51765772e-01 -1.17290959e-02 1.82385562e+01] [-9.59292021e-02 4.31577192e-02 9.94452110e-01 9.89521358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.47907232899996 meters Centerline goodness : 0.758008 Centerline is valid? [False, False] Translation: X:-164.76, Y:18.24, Z:98.95 [[ 9.47407139e-01 -3.02533643e-01 1.04370054e-01 -1.64758861e+02] [ 3.05312604e-01 9.52184195e-01 -1.13786164e-02 1.82382989e+01] [-9.59371014e-02 4.26456753e-02 9.94473438e-01 9.89535218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.509072329 meters Centerline goodness : 0.758280 Centerline is valid? [False, False] Translation: X:-164.76, Y:18.24, Z:98.96 [[ 9.46936911e-01 -3.03484726e-01 1.05865513e-01 -1.64763769e+02] [ 3.06584763e-01 9.51741029e-01 -1.39569781e-02 1.82388081e+01] [-9.65208226e-02 4.56731309e-02 9.94282503e-01 9.89556143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.53907232899996 meters Centerline goodness : 0.758264 Centerline is valid? [False, False] Translation: X:-164.77, Y:18.23, Z:98.95 [[ 9.47270291e-01 -2.96892737e-01 1.20555790e-01 -1.64770143e+02] [ 2.99827156e-01 9.53971018e-01 -6.55539793e-03 1.82316504e+01] [-1.13060480e-01 4.23556336e-02 9.92684909e-01 9.89515052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.569072329 meters Centerline goodness : 0.758680 Centerline is valid? [False, False] Translation: X:-164.77, Y:18.23, Z:98.95 [[ 9.47522867e-01 -2.96323643e-01 1.19969644e-01 -1.64769482e+02] [ 2.99198511e-01 9.54170176e-01 -6.28698925e-03 1.82314879e+01] [-1.12608472e-01 4.18518048e-02 9.92757653e-01 9.89519656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.59907232899997 meters Centerline goodness : 0.756959 Centerline is valid? [False, False] Translation: X:-164.77, Y:18.23, Z:98.95 [[ 9.47570003e-01 -2.96192109e-01 1.19922157e-01 -1.64768819e+02] [ 2.99095642e-01 9.54200549e-01 -6.56580558e-03 1.82298099e+01] [-1.12485048e-01 4.20897549e-02 9.92761586e-01 9.89521607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.629072329 meters Centerline goodness : 0.758544 Centerline is valid? [False, False] Translation: X:-164.77, Y:18.23, Z:98.95 [[ 9.47293415e-01 -2.96905513e-01 1.20342440e-01 -1.64769015e+02] [ 2.99830317e-01 9.53970058e-01 -6.55059641e-03 1.82281223e+01] [-1.12858176e-01 4.22876487e-02 9.92710827e-01 9.89516186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.65907232899997 meters Centerline goodness : 0.756858 Centerline is valid? [False, False] Translation: X:-164.77, Y:18.23, Z:98.95 [[ 9.47252270e-01 -2.97025774e-01 1.20369540e-01 -1.64769858e+02] [ 2.99842625e-01 9.53972332e-01 -5.58477671e-03 1.82259627e+01] [-1.13170388e-01 4.13821113e-02 9.92713445e-01 9.89528462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.689072329 meters Centerline goodness : 0.757278 Centerline is valid? [False, False] Translation: X:-164.77, Y:18.22, Z:98.95 [[ 9.47058375e-01 -2.97830108e-01 1.19906887e-01 -1.64766835e+02] [ 3.00778078e-01 9.53669464e-01 -6.86297698e-03 1.82234596e+01] [-1.12307536e-01 4.25650030e-02 9.92761420e-01 9.89513825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.71907232899997 meters Centerline goodness : 0.756894 Centerline is valid? [False, False] Translation: X:-164.77, Y:18.22, Z:98.95 [[ 9.46908043e-01 -2.98220579e-01 1.20123453e-01 -1.64767504e+02] [ 3.01183438e-01 9.53541345e-01 -6.88764080e-03 1.82216214e+01] [-1.12488642e-01 4.27011569e-02 9.92735069e-01 9.89526186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.74907232899994 meters Centerline goodness : 0.758515 Centerline is valid? [False, False] Translation: X:-164.77, Y:18.22, Z:98.95 [[ 9.46718404e-01 -2.98722837e-01 1.20369973e-01 -1.64767360e+02] [ 3.01691503e-01 9.53381253e-01 -6.81353743e-03 1.82203660e+01] [-1.12723117e-01 4.27650994e-02 9.92705719e-01 9.89517913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.779072329 meters Centerline goodness : 0.756980 Centerline is valid? [False, False] Translation: X:-164.77, Y:18.22, Z:98.95 [[ 9.46527798e-01 -2.99386040e-01 1.20221160e-01 -1.64767620e+02] [ 3.02180587e-01 9.53235982e-01 -5.29673033e-03 1.82167741e+01] [-1.13013368e-01 4.13420031e-02 9.92733004e-01 9.89522304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.80907232899995 meters Centerline goodness : 0.756678 Centerline is valid? [False, False] Translation: X:-164.79, Y:18.21, Z:98.96 [[ 9.46606320e-01 -3.01815235e-01 1.13331541e-01 -1.64785665e+02] [ 3.03754209e-01 9.52750415e-01 1.67085590e-04 1.82053721e+01] [-1.08027102e-01 3.42667684e-02 9.93557212e-01 9.89611402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.839072329 meters Centerline goodness : 0.756619 Centerline is valid? [False, False] Translation: X:-164.80, Y:18.19, Z:98.97 [[ 9.47995162e-01 -3.01353902e-01 1.02425573e-01 -1.64800495e+02] [ 3.02730168e-01 9.53073758e-01 2.20415352e-03 1.81930888e+01] [-9.82833563e-02 2.89177841e-02 9.94738229e-01 9.89723978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.86907232899995 meters Centerline goodness : 0.757092 Centerline is valid? [False, False] Translation: X:-164.80, Y:18.19, Z:98.97 [[ 9.47718376e-01 -3.01938192e-01 1.03262813e-01 -1.64802411e+02] [ 3.03250493e-01 9.52905756e-01 3.12384425e-03 1.81910656e+01] [-9.93429372e-02 2.83539744e-02 9.94649201e-01 9.89726067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.899072329 meters Centerline goodness : 0.756426 Centerline is valid? [False, False] Translation: X:-164.80, Y:18.19, Z:98.97 [[ 9.47294881e-01 -3.02915925e-01 1.04280159e-01 -1.64803661e+02] [ 3.04203734e-01 9.52599767e-01 3.71115116e-03 1.81895044e+01] [-1.00461422e-01 2.82068594e-02 9.94541038e-01 9.89714624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.92907232899995 meters Centerline goodness : 0.756227 Centerline is valid? [False, False] Translation: X:-164.81, Y:18.19, Z:98.97 [[ 9.46188505e-01 -3.05535987e-01 1.06653993e-01 -1.64807418e+02] [ 3.07301843e-01 9.51612085e-01 -1.28769043e-04 1.81902583e+01] [-1.01453885e-01 3.28968084e-02 9.94296188e-01 9.89711814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.959072329 meters Centerline goodness : 0.756110 Centerline is valid? [False, False] Translation: X:-164.83, Y:18.18, Z:98.98 [[ 9.45990543e-01 -3.08089335e-01 1.00910134e-01 -1.64829026e+02] [ 3.09305634e-01 9.50955267e-01 3.75552990e-03 1.81774681e+01] [-9.71180625e-02 2.76593773e-02 9.94888456e-01 9.89797297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.98907232899995 meters Centerline goodness : 0.757865 Centerline is valid? [False, False] Translation: X:-164.83, Y:18.18, Z:98.98 [[ 9.44784960e-01 -3.10979121e-01 1.03311986e-01 -1.64832251e+02] [ 3.12694453e-01 9.49853670e-01 -4.29347899e-04 1.81790775e+01] [-9.79977504e-02 3.27107262e-02 9.94648908e-01 9.89785339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.019072329 meters Centerline goodness : 0.755666 Centerline is valid? [False, False] Translation: X:-164.85, Y:18.17, Z:98.99 [[ 9.44378890e-01 -3.14469712e-01 9.62149235e-02 -1.64847657e+02] [ 3.15519709e-01 9.48908362e-01 4.49812358e-03 1.81704695e+01] [-9.27136691e-02 2.61097717e-02 9.95350418e-01 9.89850497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.04907232899996 meters Centerline goodness : 0.756367 Centerline is valid? [False, False] Translation: X:-164.85, Y:18.17, Z:98.98 [[ 9.43170335e-01 -3.17298170e-01 9.87501449e-02 -1.64851384e+02] [ 3.18852807e-01 9.47804245e-01 4.09564520e-05 1.81732898e+01] [-9.36088019e-02 3.14481319e-02 9.95112259e-01 9.89833856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.079072329 meters Centerline goodness : 0.756799 Centerline is valid? [False, False] Translation: X:-164.85, Y:18.18, Z:98.98 [[ 9.41920294e-01 -3.20196996e-01 1.01291875e-01 -1.64854941e+02] [ 3.22279534e-01 9.46634019e-01 -4.46496152e-03 1.81759810e+01] [-9.44566671e-02 3.68499361e-02 9.94846732e-01 9.89820326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.10907232899996 meters Centerline goodness : 0.758142 Centerline is valid? [False, False] Translation: X:-164.86, Y:18.18, Z:98.98 [[ 9.40780517e-01 -3.22753276e-01 1.03741708e-01 -1.64859598e+02] [ 3.25261375e-01 9.45592189e-01 -7.77496256e-03 1.81763604e+01] [-9.55879538e-02 4.10577038e-02 9.94573883e-01 9.89834499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.139072329 meters Centerline goodness : 0.759014 Centerline is valid? [False, False] Translation: X:-164.87, Y:18.17, Z:98.99 [[ 9.38997662e-01 -3.26584271e-01 1.07824414e-01 -1.64868999e+02] [ 3.29752547e-01 9.43984832e-01 -1.24857905e-02 1.81715769e+01] [-9.77069482e-02 4.72795032e-02 9.94091546e-01 9.89894949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.16907232899996 meters Centerline goodness : 0.758345 Centerline is valid? [False, False] Translation: X:-164.87, Y:18.17, Z:98.99 [[ 9.37710074e-01 -3.29599075e-01 1.09837455e-01 -1.64871963e+02] [ 3.33206829e-01 9.42722025e-01 -1.57604998e-02 1.81712901e+01] [-9.83515419e-02 5.13773695e-02 9.93824602e-01 9.89912694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.199072329 meters Centerline goodness : 0.757306 Centerline is valid? [False, False] Translation: X:-164.87, Y:18.17, Z:98.99 [[ 9.37156475e-01 -3.31269733e-01 1.09535864e-01 -1.64869760e+02] [ 3.34755828e-01 9.42191831e-01 -1.45975507e-02 1.81684877e+01] [-9.83680697e-02 5.03479581e-02 9.93875649e-01 9.89942017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.22907232899996 meters Centerline goodness : 0.757104 Centerline is valid? [False, False] Translation: X:-164.89, Y:18.16, Z:99.00 [[ 9.36848617e-01 -3.34218949e-01 1.03016324e-01 -1.64886701e+02] [ 3.36701217e-01 9.41583925e-01 -7.21127646e-03 1.81583889e+01] [-9.45883698e-02 4.14415961e-02 9.94653525e-01 9.90047377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.259072329 meters Centerline goodness : 0.756572 Centerline is valid? [False, False] Translation: X:-164.89, Y:18.16, Z:99.01 [[ 9.36744184e-01 -3.34617469e-01 1.02671726e-01 -1.64886095e+02] [ 3.37078367e-01 9.41449694e-01 -7.11672584e-03 1.81588150e+01] [-9.42788844e-02 4.12749694e-02 9.94689836e-01 9.90055728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.28907232899996 meters Centerline goodness : 0.756486 Centerline is valid? [False, False] Translation: X:-164.89, Y:18.16, Z:99.01 [[ 9.36527962e-01 -3.35283002e-01 1.02472851e-01 -1.64885632e+02] [ 3.37759327e-01 9.41203949e-01 -7.33236294e-03 1.81605252e+01] [-9.39894355e-02 4.14781242e-02 9.94708777e-01 9.90062801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.319072329 meters Centerline goodness : 0.756226 Centerline is valid? [False, False] Translation: X:-164.89, Y:18.16, Z:99.01 [[ 9.36320017e-01 -3.35618666e-01 1.03271185e-01 -1.64885629e+02] [ 3.38179298e-01 9.41048976e-01 -7.84772436e-03 1.81613183e+01] [-9.45493999e-02 4.22721581e-02 9.94622278e-01 9.90061620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.34907232899997 meters Centerline goodness : 0.756967 Centerline is valid? [False, False] Translation: X:-164.90, Y:18.15, Z:99.02 [[ 9.36645282e-01 -3.36920364e-01 9.58138050e-02 -1.64903453e+02] [ 3.38532390e-01 9.40954544e-01 -6.05539362e-04 1.81519320e+01] [-8.99524166e-02 3.30032520e-02 9.95399090e-01 9.90156367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.379072329 meters Centerline goodness : 0.755515 Centerline is valid? [False, False] Translation: X:-164.90, Y:18.15, Z:99.01 [[ 9.36477733e-01 -3.37398102e-01 9.57704322e-02 -1.64902992e+02] [ 3.39075695e-01 9.40758162e-01 -1.32420826e-03 1.81542947e+01] [-8.96500305e-02 3.37135174e-02 9.95402567e-01 9.90149206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.40907232899997 meters Centerline goodness : 0.757793 Centerline is valid? [False, False] Translation: X:-164.90, Y:18.16, Z:99.01 [[ 9.36242412e-01 -3.38090026e-01 9.56309594e-02 -1.64902244e+02] [ 3.39879917e-01 9.40465264e-01 -2.59401260e-03 1.81582102e+01] [-8.90605857e-02 3.49316672e-02 9.95413477e-01 9.90137832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.439072329 meters Centerline goodness : 0.757094 Centerline is valid? [False, False] Translation: X:-164.90, Y:18.16, Z:99.01 [[ 9.36110036e-01 -3.38489212e-01 9.55146764e-02 -1.64901746e+02] [ 3.40300326e-01 9.40312461e-01 -2.85742744e-03 1.81593751e+01] [-8.88464320e-02 3.51785420e-02 9.95423921e-01 9.90138886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.46907232899997 meters Centerline goodness : 0.758651 Centerline is valid? [False, False] Translation: X:-164.90, Y:18.16, Z:99.01 [[ 9.36030456e-01 -3.38711180e-01 9.55077030e-02 -1.64901865e+02] [ 3.40547775e-01 9.40221988e-01 -3.13471489e-03 1.81605570e+01] [-8.87366794e-02 3.54591243e-02 9.95423755e-01 9.90140887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.49907232899994 meters Centerline goodness : 0.758544 Centerline is valid? [False, False] Translation: X:-164.90, Y:18.16, Z:99.02 [[ 9.36081466e-01 -3.38519714e-01 9.56864214e-02 -1.64903894e+02] [ 3.40361056e-01 9.40289626e-01 -3.12584032e-03 1.81625037e+01] [-8.89147908e-02 3.54939726e-02 9.95406619e-01 9.90166046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.529072329 meters Centerline goodness : 0.759835 Centerline is valid? [False, False] Translation: X:-164.91, Y:18.16, Z:99.01 [[ 9.36357169e-01 -3.32998567e-01 1.11117981e-01 -1.64912296e+02] [ 3.34528586e-01 9.42371634e-01 5.13116094e-03 1.81568705e+01] [-1.06423103e-01 3.23675418e-02 9.93793975e-01 9.90122875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.55907232899995 meters Centerline goodness : 0.759938 Centerline is valid? [False, False] Translation: X:-164.91, Y:18.16, Z:99.00 [[ 9.36729049e-01 -3.28598040e-01 1.20673179e-01 -1.64912398e+02] [ 3.30242814e-01 9.43872348e-01 6.68389077e-03 1.81551600e+01] [-1.16096390e-01 3.35904557e-02 9.92669789e-01 9.90032780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.589072329 meters Centerline goodness : 0.759645 Centerline is valid? [False, False] Translation: X:-164.92, Y:18.16, Z:99.01 [[ 9.36697184e-01 -3.28329944e-01 1.21646342e-01 -1.64918019e+02] [ 3.29781120e-01 9.44018376e-01 8.58599017e-03 1.81575406e+01] [-1.17655420e-01 3.20741940e-02 9.92536371e-01 9.90069138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.61907232899995 meters Centerline goodness : 0.760688 Centerline is valid? [False, False] Translation: X:-164.92, Y:18.16, Z:99.01 [[ 9.36663763e-01 -3.28267649e-01 1.22071067e-01 -1.64919537e+02] [ 3.29777012e-01 9.44023164e-01 8.20905030e-03 1.81594890e+01] [-1.17932680e-01 3.25671116e-02 9.92487414e-01 9.90067859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.649072329 meters Centerline goodness : 0.762237 Centerline is valid? [False, False] Translation: X:-164.92, Y:18.16, Z:99.01 [[ 9.36537549e-01 -3.28544634e-01 1.22294081e-01 -1.64919892e+02] [ 3.30134763e-01 9.43903131e-01 7.61039397e-03 1.81618315e+01] [-1.17934120e-01 3.32461077e-02 9.92464730e-01 9.90065428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.67907232899995 meters Centerline goodness : 0.759227 Centerline is valid? [False, False] Translation: X:-164.92, Y:18.17, Z:99.01 [[ 9.37149565e-01 -3.26979450e-01 1.21799561e-01 -1.64922519e+02] [ 3.28380983e-01 9.44502888e-01 8.95684778e-03 1.81659077e+01] [-1.17968742e-01 3.16027534e-02 9.92514303e-01 9.90092449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.709072329 meters Centerline goodness : 0.759512 Centerline is valid? [False, False] Translation: X:-164.92, Y:18.17, Z:99.01 [[ 9.37252042e-01 -3.26584901e-01 1.22069295e-01 -1.64924086e+02] [ 3.27987883e-01 9.44639140e-01 8.99134694e-03 1.81678437e+01] [-1.18247872e-01 3.16100913e-02 9.92480853e-01 9.90100617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.73907232899995 meters Centerline goodness : 0.760377 Centerline is valid? [False, False] Translation: X:-164.92, Y:18.17, Z:99.01 [[ 9.37181631e-01 -3.26643611e-01 1.22452199e-01 -1.64924737e+02] [ 3.28121308e-01 9.44597597e-01 8.47275107e-03 1.81696036e+01] [-1.18435623e-01 3.22386690e-02 9.92438246e-01 9.90094615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.769072329 meters Centerline goodness : 0.761755 Centerline is valid? [False, False] Translation: X:-164.93, Y:18.17, Z:99.01 [[ 9.36958178e-01 -3.27153013e-01 1.22801789e-01 -1.64927340e+02] [ 3.28674158e-01 9.44407439e-01 8.23928323e-03 1.81730057e+01] [-1.18670430e-01 3.26419110e-02 9.92397015e-01 9.90109448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.79907232899996 meters Centerline goodness : 0.761350 Centerline is valid? [False, False] Translation: X:-164.93, Y:18.17, Z:99.01 [[ 9.36798631e-01 -3.27523916e-01 1.23030114e-01 -1.64929921e+02] [ 3.28970487e-01 9.44297798e-01 8.94912090e-03 1.81737550e+01] [-1.19108117e-01 3.20897524e-02 9.92362587e-01 9.90129978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.829072329 meters Centerline goodness : 0.761659 Centerline is valid? [False, False] Translation: X:-164.93, Y:18.18, Z:99.01 [[ 9.36675614e-01 -3.27581535e-01 1.23810874e-01 -1.64931496e+02] [ 3.29134643e-01 9.44246683e-01 8.28185823e-03 1.81759749e+01] [-1.19620991e-01 3.29930332e-02 9.92271273e-01 9.90132227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.85907232899996 meters Centerline goodness : 0.762013 Centerline is valid? [False, False] Translation: X:-164.93, Y:18.18, Z:99.01 [[ 9.36454536e-01 -3.28098629e-01 1.24113624e-01 -1.64933554e+02] [ 3.29591998e-01 9.44081564e-01 8.89462970e-03 1.81767597e+01] [-1.20091700e-01 3.25774411e-02 9.92228146e-01 9.90142022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.889072329 meters Centerline goodness : 0.764390 Centerline is valid? [False, False] Translation: X:-164.93, Y:18.18, Z:99.01 [[ 9.36113133e-01 -3.28844150e-01 1.24714582e-01 -1.64934163e+02] [ 3.30395212e-01 9.43803183e-01 8.63457743e-03 1.81782784e+01] [-1.20545450e-01 3.31221595e-02 9.92155087e-01 9.90124314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.91907232899996 meters Centerline goodness : 0.764835 Centerline is valid? [False, False] Translation: X:-164.94, Y:18.18, Z:99.01 [[ 9.35707659e-01 -3.29705220e-01 1.25481651e-01 -1.64938430e+02] [ 3.31025422e-01 9.43560168e-01 1.07879468e-02 1.81792541e+01] [-1.21956330e-01 3.14432523e-02 9.92037285e-01 9.90139239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.949072329 meters Centerline goodness : 0.766057 Centerline is valid? [False, False] Translation: X:-164.94, Y:18.18, Z:99.02 [[ 9.35533384e-01 -3.30126006e-01 1.25674613e-01 -1.64940126e+02] [ 3.31444575e-01 9.43411955e-01 1.08801292e-02 1.81795913e+01] [-1.22154745e-01 3.14754445e-02 9.92011852e-01 9.90156135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.97907232899996 meters Centerline goodness : 0.765875 Centerline is valid? [False, False] Translation: X:-164.95, Y:18.18, Z:99.02 [[ 9.34646080e-01 -3.31162933e-01 1.29490603e-01 -1.64948811e+02] [ 3.33076655e-01 9.42872075e-01 7.22439860e-03 1.81795907e+01] [-1.24485527e-01 3.63780412e-02 9.91554331e-01 9.90154417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.009072329 meters Centerline goodness : 0.765780 Centerline is valid? [False, False] Translation: X:-164.95, Y:18.18, Z:99.01 [[ 9.34684732e-01 -3.31070361e-01 1.29448318e-01 -1.64948105e+02] [ 3.33059800e-01 9.42882595e-01 6.60164213e-03 1.81817065e+01] [-1.24240174e-01 3.69435769e-02 9.91564194e-01 9.90136992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.03907232899996 meters Centerline goodness : 0.765118 Centerline is valid? [False, False] Translation: X:-164.95, Y:18.18, Z:99.01 [[ 9.34809952e-01 -3.30901328e-01 1.28975440e-01 -1.64947922e+02] [ 3.32808893e-01 9.42967542e-01 7.10326661e-03 1.81826593e+01] [-1.23970134e-01 3.62839691e-02 9.91622347e-01 9.90132991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.069072329 meters Centerline goodness : 0.764872 Centerline is valid? [False, False] Translation: X:-164.95, Y:18.18, Z:99.01 [[ 9.34981736e-01 -3.30467322e-01 1.28842940e-01 -1.64948895e+02] [ 3.32226089e-01 9.43163931e-01 8.22344145e-03 1.81827035e+01] [-1.24237592e-01 3.51162184e-02 9.91630915e-01 9.90137258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.09907232899997 meters Centerline goodness : 0.764872 Centerline is valid? [False, False] Translation: X:-164.95, Y:18.18, Z:99.01 [[ 9.34981736e-01 -3.30467322e-01 1.28842940e-01 -1.64948895e+02] [ 3.32226089e-01 9.43163931e-01 8.22344145e-03 1.81827035e+01] [-1.24237592e-01 3.51162184e-02 9.91630915e-01 9.90137258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.129072329 meters Centerline goodness : 0.762496 Centerline is valid? [False, False] Translation: X:-164.95, Y:18.18, Z:99.01 [[ 9.35171714e-01 -3.30057936e-01 1.28513132e-01 -1.64947953e+02] [ 3.31809067e-01 9.43311256e-01 8.16190962e-03 1.81838068e+01] [-1.23921787e-01 3.50090355e-02 9.91674220e-01 9.90123152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.15907232899997 meters Centerline goodness : 0.759968 Centerline is valid? [False, False] Translation: X:-164.95, Y:18.19, Z:99.01 [[ 9.35325363e-01 -3.29364063e-01 1.29173446e-01 -1.64951202e+02] [ 3.31125961e-01 9.43550796e-01 8.21541665e-03 1.81857281e+01] [-1.24587571e-01 3.50885939e-02 9.91587983e-01 9.90131644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.189072329 meters Centerline goodness : 0.758962 Centerline is valid? [False, False] Translation: X:-164.95, Y:18.19, Z:99.02 [[ 9.35564464e-01 -3.28702363e-01 1.29127422e-01 -1.64953252e+02] [ 3.30296286e-01 9.43829584e-01 9.49098746e-03 1.81860696e+01] [-1.24993991e-01 3.37708773e-02 9.91582589e-01 9.90151623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.21907232899997 meters Centerline goodness : 0.759465 Centerline is valid? [False, False] Translation: X:-164.97, Y:18.19, Z:99.01 [[ 9.35148931e-01 -3.27954810e-01 1.33948195e-01 -1.64966128e+02] [ 3.30401011e-01 9.43831394e-01 4.17992227e-03 1.81861081e+01] [-1.27795338e-01 4.03477693e-02 9.90979520e-01 9.90115893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.24907232899994 meters Centerline goodness : 0.758888 Centerline is valid? [False, False] Translation: X:-164.97, Y:18.19, Z:99.01 [[ 9.36214467e-01 -3.25200324e-01 1.33218696e-01 -1.64966870e+02] [ 3.27539356e-01 9.44826413e-01 4.58473773e-03 1.81869185e+01] [-1.27359501e-01 3.93420679e-02 9.91076061e-01 9.90149799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.279072329 meters Centerline goodness : 0.760138 Centerline is valid? [False, False] Translation: X:-164.97, Y:18.19, Z:99.02 [[ 9.36683790e-01 -3.24058152e-01 1.32701889e-01 -1.64966813e+02] [ 3.26404661e-01 9.45220423e-01 4.28350168e-03 1.81874692e+01] [-1.26820639e-01 3.93022284e-02 9.91146740e-01 9.90169062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.30907232899995 meters Centerline goodness : 0.760817 Centerline is valid? [False, False] Translation: X:-164.99, Y:18.18, Z:99.02 [[ 9.37747201e-01 -3.19616396e-01 1.35924783e-01 -1.64986577e+02] [ 3.23008119e-01 9.46391202e-01 -3.07386446e-03 1.81823648e+01] [-1.27655561e-01 4.67873162e-02 9.90714391e-01 9.90156605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.339072329 meters Centerline goodness : 0.759733 Centerline is valid? [False, False] Translation: X:-164.99, Y:18.18, Z:99.02 [[ 9.38190494e-01 -3.18630412e-01 1.35178610e-01 -1.64987678e+02] [ 3.21656651e-01 9.46856201e-01 -5.77239276e-04 1.81828660e+01] [-1.27810779e-01 4.40226594e-02 9.90821079e-01 9.90165687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.36907232899995 meters Centerline goodness : 0.761044 Centerline is valid? [False, False] Translation: X:-164.99, Y:18.18, Z:99.02 [[ 9.38227648e-01 -3.18576577e-01 1.35047568e-01 -1.64989050e+02] [ 3.21362685e-01 9.46955387e-01 1.23252274e-03 1.81819708e+01] [-1.28276675e-01 4.22428622e-02 9.90838350e-01 9.90175364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.399072329 meters Centerline goodness : 0.760340 Centerline is valid? [False, False] Translation: X:-164.99, Y:18.18, Z:99.02 [[ 9.38366044e-01 -3.18292483e-01 1.34755567e-01 -1.64988846e+02] [ 3.21026979e-01 9.47068839e-01 1.51441930e-03 1.81801461e+01] [-1.28104827e-01 4.18390930e-02 9.90877714e-01 9.90188429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.42907232899995 meters Centerline goodness : 0.759792 Centerline is valid? [False, False] Translation: X:-164.99, Y:18.18, Z:99.02 [[ 9.38380430e-01 -3.18279781e-01 1.34685377e-01 -1.64987544e+02] [ 3.21113065e-01 9.47040587e-01 7.25053940e-04 1.81795607e+01] [-1.27783288e-01 4.25688577e-02 9.90888149e-01 9.90180800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.459072329 meters Centerline goodness : 0.761586 Centerline is valid? [False, False] Translation: X:-165.01, Y:18.17, Z:99.03 [[ 9.41518131e-01 -3.12323720e-01 1.26481236e-01 -1.65008714e+02] [ 3.15394252e-01 9.48950036e-01 -4.50502326e-03 1.81684516e+01] [-1.18617348e-01 4.41330158e-02 9.91958770e-01 9.90285244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.48907232899995 meters Centerline goodness : 0.761023 Centerline is valid? [False, False] Translation: X:-165.02, Y:18.16, Z:99.04 [[ 9.44466773e-01 -3.07636526e-01 1.15508799e-01 -1.65022205e+02] [ 3.10382527e-01 9.50591916e-01 -6.13969737e-03 1.81595663e+01] [-1.07912936e-01 4.16506532e-02 9.93287482e-01 9.90405625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.519072329 meters Centerline goodness : 0.762118 Centerline is valid? [False, False] Translation: X:-165.03, Y:18.16, Z:99.04 [[ 9.44197400e-01 -3.08307282e-01 1.15921910e-01 -1.65025684e+02] [ 3.10636230e-01 9.50526469e-01 -2.13668449e-03 1.81579622e+01] [-1.09528089e-01 3.80269971e-02 9.93256032e-01 9.90409559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.54907232899996 meters Centerline goodness : 0.761577 Centerline is valid? [False, False] Translation: X:-165.03, Y:18.16, Z:99.04 [[ 9.44011513e-01 -3.08703921e-01 1.16379342e-01 -1.65026284e+02] [ 3.10971309e-01 9.50418272e-01 -1.39756883e-03 1.81568601e+01] [-1.10177619e-01 3.75099575e-02 9.93203854e-01 9.90398931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.579072329 meters Centerline goodness : 0.762134 Centerline is valid? [False, False] Translation: X:-165.03, Y:18.16, Z:99.04 [[ 9.43901760e-01 -3.08843927e-01 1.16896946e-01 -1.65026920e+02] [ 3.11106896e-01 9.50374203e-01 -1.17236169e-03 1.81556646e+01] [-1.10733765e-01 3.74740403e-02 9.93143358e-01 9.90397450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.60907232899996 meters Centerline goodness : 0.763741 Centerline is valid? [False, False] Translation: X:-165.03, Y:18.16, Z:99.04 [[ 9.44166139e-01 -3.08030655e-01 1.16907730e-01 -1.65025040e+02] [ 3.10585827e-01 9.50537550e-01 -3.84848007e-03 1.81555437e+01] [-1.09939738e-01 3.99434887e-02 9.93135324e-01 9.90400955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.639072329 meters Centerline goodness : 0.765689 Centerline is valid? [False, False] Translation: X:-165.03, Y:18.15, Z:99.04 [[ 9.44299937e-01 -3.07365038e-01 1.17577047e-01 -1.65027328e+02] [ 3.09895822e-01 9.50764344e-01 -3.42657455e-03 1.81549864e+01] [-1.10734855e-01 3.96723499e-02 9.93057852e-01 9.90420963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.66907232899996 meters Centerline goodness : 0.766100 Centerline is valid? [False, False] Translation: X:-165.03, Y:18.16, Z:99.04 [[ 9.44656305e-01 -3.06144295e-01 1.17898841e-01 -1.65027580e+02] [ 3.08666197e-01 9.51164679e-01 -3.30646913e-03 1.81553102e+01] [-1.11128957e-01 3.95148638e-02 9.93020106e-01 9.90416046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.699072329 meters Centerline goodness : 0.768603 Centerline is valid? [False, False] Translation: X:-165.03, Y:18.16, Z:99.05 [[ 9.46063769e-01 -3.01977611e-01 1.17357865e-01 -1.65030705e+02] [ 3.03992755e-01 9.52674037e-01 7.64317326e-04 1.81558850e+01] [-1.12034597e-01 3.49528476e-02 9.93089395e-01 9.90450545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.72907232899996 meters Centerline goodness : 0.770045 Centerline is valid? [False, False] Translation: X:-165.03, Y:18.16, Z:99.05 [[ 9.47009670e-01 -2.99016073e-01 1.17311865e-01 -1.65033275e+02] [ 3.00733854e-01 9.53702759e-01 3.19307849e-03 1.81558412e+01] [-1.12835431e-01 3.22557731e-02 9.93089991e-01 9.90478514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.759072329 meters Centerline goodness : 0.769295 Centerline is valid? [False, False] Translation: X:-165.03, Y:18.16, Z:99.05 [[ 9.48090541e-01 -2.95688690e-01 1.17015063e-01 -1.65034194e+02] [ 2.97214784e-01 9.54799622e-01 4.58849752e-03 1.81568020e+01] [-1.13082705e-01 3.04282957e-02 9.93119540e-01 9.90494056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.78907232899996 meters Centerline goodness : 0.770909 Centerline is valid? [False, False] Translation: X:-165.04, Y:18.16, Z:99.05 [[ 9.50796343e-01 -2.87353249e-01 1.15820661e-01 -1.65036325e+02] [ 2.88373011e-01 9.57482883e-01 8.21799032e-03 1.81595636e+01] [-1.13257766e-01 2.55859175e-02 9.93236145e-01 9.90545222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.819072329 meters Centerline goodness : 0.771770 Centerline is valid? [False, False] Translation: X:-165.04, Y:18.16, Z:99.06 [[ 9.52325236e-01 -2.82482515e-01 1.15240070e-01 -1.65038681e+02] [ 2.83141089e-01 9.59015670e-01 1.09575956e-02 1.81614275e+01] [-1.13612362e-01 2.21940040e-02 9.93277231e-01 9.90582873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.84907232899997 meters Centerline goodness : 0.772122 Centerline is valid? [False, False] Translation: X:-165.04, Y:18.16, Z:99.06 [[ 9.54172074e-01 -2.76566382e-01 1.14309624e-01 -1.65041193e+02] [ 2.76728905e-01 9.60834619e-01 1.47630656e-02 1.81630752e+01] [-1.13915612e-01 1.75462722e-02 9.93335473e-01 9.90626637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.879072329 meters Centerline goodness : 0.771983 Centerline is valid? [False, False] Translation: X:-165.07, Y:18.16, Z:99.07 [[ 9.58646568e-01 -2.61846181e-01 1.11504865e-01 -1.65067638e+02] [ 2.61904000e-01 9.64986625e-01 1.43912253e-02 1.81611561e+01] [-1.11368990e-01 1.54074713e-02 9.93659679e-01 9.90665184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.90907232899997 meters Centerline goodness : 0.772403 Centerline is valid? [False, False] Translation: X:-165.08, Y:18.16, Z:99.07 [[ 9.60038088e-01 -2.56076098e-01 1.12924321e-01 -1.65077469e+02] [ 2.55785478e-01 9.66578710e-01 1.73027717e-02 1.81620627e+01] [-1.13581071e-01 1.22730817e-02 9.93452924e-01 9.90673446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.939072329 meters Centerline goodness : 0.772549 Centerline is valid? [False, False] Translation: X:-165.09, Y:18.16, Z:99.07 [[ 9.61602089e-01 -2.49216881e-01 1.14945067e-01 -1.65091935e+02] [ 2.48845167e-01 9.68379621e-01 1.78042932e-02 1.81616277e+01] [-1.15747591e-01 1.14828790e-02 9.93212283e-01 9.90679483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.96907232899997 meters Centerline goodness : 0.773662 Centerline is valid? [False, False] Translation: X:-165.11, Y:18.16, Z:99.07 [[ 9.67408872e-01 -2.28095544e-01 1.09965887e-01 -1.65112128e+02] [ 2.28307024e-01 9.73528905e-01 1.08339469e-02 1.81627876e+01] [-1.09526145e-01 1.46251282e-02 9.93876315e-01 9.90733723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.99907232899994 meters Centerline goodness : 0.775234 Centerline is valid? [False, False] Translation: X:-165.13, Y:18.16, Z:99.07 [[ 9.68770596e-01 -2.21248675e-01 1.11948899e-01 -1.65125611e+02] [ 2.21320757e-01 9.75127964e-01 1.19405206e-02 1.81636735e+01] [-1.11806327e-01 1.32089899e-02 9.93642223e-01 9.90733340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.029072329 meters Centerline goodness : 0.775814 Centerline is valid? [False, False] Translation: X:-165.14, Y:18.16, Z:99.07 [[ 9.70045998e-01 -2.14614389e-01 1.13804331e-01 -1.65138750e+02] [ 2.14568953e-01 9.76625042e-01 1.27941741e-02 1.81643486e+01] [-1.13889973e-01 1.20079387e-02 9.93420799e-01 9.90736638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.05907232899995 meters Centerline goodness : 0.779835 Centerline is valid? [False, False] Translation: X:-165.15, Y:18.17, Z:99.08 [[ 9.74675007e-01 -1.96002577e-01 1.07664389e-01 -1.65150656e+02] [ 1.96189185e-01 9.80525119e-01 8.96076214e-03 1.81656804e+01] [-1.07323970e-01 1.23887578e-02 9.94146913e-01 9.90780477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.089072329 meters Centerline goodness : 0.778942 Centerline is valid? [False, False] Translation: X:-165.16, Y:18.17, Z:99.08 [[ 9.75330170e-01 -1.91582916e-01 1.09667889e-01 -1.65160500e+02] [ 1.91780380e-01 9.81398018e-01 8.84401085e-03 1.81669937e+01] [-1.09322210e-01 1.24063187e-02 9.93928940e-01 9.90773196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.11907232899995 meters Centerline goodness : 0.780170 Centerline is valid? [False, False] Translation: X:-165.17, Y:18.17, Z:99.08 [[ 9.75711293e-01 -1.88338786e-01 1.11874819e-01 -1.65169246e+02] [ 1.88578739e-01 9.82021031e-01 8.52956477e-03 1.81679877e+01] [-1.11469873e-01 1.27748198e-02 9.93685700e-01 9.90767891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.149072329 meters Centerline goodness : 0.780731 Centerline is valid? [False, False] Translation: X:-165.17, Y:18.17, Z:99.08 [[ 9.75971811e-01 -1.86412798e-01 1.12824164e-01 -1.65174102e+02] [ 1.86585423e-01 9.82396394e-01 9.12169647e-03 1.81687510e+01] [-1.12538453e-01 1.21488257e-02 9.93573099e-01 9.90784648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.17907232899995 meters Centerline goodness : 0.780044 Centerline is valid? [False, False] Translation: X:-165.18, Y:18.17, Z:99.08 [[ 9.76193369e-01 -1.84762680e-01 1.13618916e-01 -1.65178313e+02] [ 1.84842645e-01 9.82718031e-01 9.92310671e-03 1.81686824e+01] [-1.13488777e-01 1.13147500e-02 9.93474848e-01 9.90802663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.209072329 meters Centerline goodness : 0.778261 Centerline is valid? [False, False] Translation: X:-165.19, Y:18.16, Z:99.09 [[ 9.76609365e-01 -1.87926463e-01 1.04488245e-01 -1.65190654e+02] [ 1.87457582e-01 9.82167451e-01 1.43788899e-02 1.81592156e+01] [-1.05327127e-01 5.54455516e-03 9.94422171e-01 9.90892726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.23907232899995 meters Centerline goodness : 0.779721 Centerline is valid? [False, False] Translation: X:-165.19, Y:18.16, Z:99.09 [[ 9.75866666e-01 -1.90876133e-01 1.06068617e-01 -1.65193338e+02] [ 1.90818422e-01 9.81566077e-01 1.07873576e-02 1.81591444e+01] [-1.06172405e-01 9.71282337e-03 9.94300297e-01 9.90897726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.269072329 meters Centerline goodness : 0.779717 Centerline is valid? [False, False] Translation: X:-165.21, Y:18.15, Z:99.10 [[ 9.75846565e-01 -1.94621861e-01 9.92260665e-02 -1.65207513e+02] [ 1.93866838e-01 9.80875495e-01 1.72890702e-02 1.81488543e+01] [-1.00693248e-01 2.36516398e-03 9.94914708e-01 9.90962908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.29907232899996 meters Centerline goodness : 0.778884 Centerline is valid? [False, False] Translation: X:-165.21, Y:18.15, Z:99.10 [[ 9.75039148e-01 -1.97777516e-01 1.00909435e-01 -1.65209816e+02] [ 1.97436749e-01 9.80223310e-01 1.34533648e-02 1.81493844e+01] [-1.01574553e-01 6.80567334e-03 9.94804651e-01 9.90957203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.329072329 meters Centerline goodness : 0.775776 Centerline is valid? [False, False] Translation: X:-165.21, Y:18.15, Z:99.10 [[ 9.74293356e-01 -2.00923250e-01 1.01893594e-01 -1.65210279e+02] [ 2.00899215e-01 9.79554519e-01 1.06042754e-02 1.81454617e+01] [-1.01940976e-01 1.01386679e-02 9.94738782e-01 9.90963571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.35907232899996 meters Centerline goodness : 0.776728 Centerline is valid? [False, False] Translation: X:-165.21, Y:18.14, Z:99.10 [[ 9.73495851e-01 -2.04163111e-01 1.03069160e-01 -1.65211161e+02] [ 2.04508566e-01 9.78837420e-01 7.31792450e-03 1.81428744e+01] [-1.02382001e-01 1.39545570e-02 9.94647272e-01 9.90966975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.389072329 meters Centerline goodness : 0.775689 Centerline is valid? [False, False] Translation: X:-165.23, Y:18.13, Z:99.10 [[ 9.72744589e-01 -2.10480304e-01 9.72934005e-02 -1.65226732e+02] [ 2.10468063e-01 9.77544281e-01 1.05058228e-02 1.81302989e+01] [-9.73198760e-02 1.02576713e-02 9.95200292e-01 9.91038805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.41907232899996 meters Centerline goodness : 0.774855 Centerline is valid? [False, False] Translation: X:-165.24, Y:18.12, Z:99.11 [[ 9.72353071e-01 -2.15469520e-01 9.00132884e-02 -1.65240940e+02] [ 2.15110340e-01 9.76492406e-01 1.37885236e-02 1.81181482e+01] [-9.08682991e-02 5.95547580e-03 9.95845111e-01 9.91113726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.449072329 meters Centerline goodness : 0.772724 Centerline is valid? [False, False] Translation: X:-165.26, Y:18.10, Z:99.12 [[ 9.71333491e-01 -2.21826485e-01 8.54649661e-02 -1.65259796e+02] [ 2.21241845e-01 9.75081525e-01 1.63727134e-02 1.81022066e+01] [-8.69672109e-02 3.00506189e-03 9.96206642e-01 9.91185914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.47907232899996 meters Centerline goodness : 0.772921 Centerline is valid? [False, False] Translation: X:-165.27, Y:18.09, Z:99.12 [[ 9.70004909e-01 -2.29766678e-01 7.93583666e-02 -1.65272499e+02] [ 2.29012030e-01 9.73245734e-01 1.86073059e-02 1.80919315e+01] [-8.15105305e-02 1.24842559e-04 9.96672473e-01 9.91244107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.509072329 meters Centerline goodness : 0.772537 Centerline is valid? [False, False] Translation: X:-165.29, Y:18.08, Z:99.13 [[ 9.68221481e-01 -2.38886795e-01 7.40288035e-02 -1.65286418e+02] [ 2.38075076e-01 9.71046295e-01 1.97319798e-02 1.80812015e+01] [-7.65991048e-02 -1.48051376e-03 9.97060873e-01 9.91307900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.53907232899996 meters Centerline goodness : 0.770579 Centerline is valid? [False, False] Translation: X:-165.30, Y:18.07, Z:99.14 [[ 9.64809354e-01 -2.53460940e-01 7.00032984e-02 -1.65297896e+02] [ 2.52939546e-01 9.67343716e-01 1.63621957e-02 1.80678918e+01] [-7.18644283e-02 1.92020303e-03 9.97412561e-01 9.91364429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.569072329 meters Centerline goodness : 0.769984 Centerline is valid? [False, False] Translation: X:-165.30, Y:18.06, Z:99.13 [[ 9.63507462e-01 -2.53931253e-01 8.46893709e-02 -1.65299791e+02] [ 2.52885599e-01 9.67221958e-01 2.30338423e-02 1.80572214e+01] [-8.77624315e-02 -7.76556626e-04 9.96141131e-01 9.91258688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.59907232899997 meters Centerline goodness : 0.766693 Centerline is valid? [False, False] Translation: X:-165.30, Y:18.05, Z:99.12 [[ 9.61920856e-01 -2.54678770e-01 9.92320094e-02 -1.65304065e+02] [ 2.52676275e-01 9.67006134e-01 3.24628565e-02 1.80453056e+01] [-1.04225562e-01 -6.15312417e-03 9.94534651e-01 9.91193325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.629072329 meters Centerline goodness : 0.767101 Centerline is valid? [False, False] Translation: X:-165.30, Y:18.04, Z:99.12 [[ 9.59941012e-01 -2.61483148e-01 1.00696657e-01 -1.65303831e+02] [ 2.59673941e-01 9.65201619e-01 3.09075960e-02 1.80414009e+01] [-1.05274392e-01 -3.52117120e-03 9.94436978e-01 9.91150219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.65907232899997 meters Centerline goodness : 0.766367 Centerline is valid? [False, False] Translation: X:-165.31, Y:18.03, Z:99.11 [[ 9.56489945e-01 -2.72728541e-01 1.03663535e-01 -1.65306848e+02] [ 2.70972110e-01 9.62089852e-01 3.09391680e-02 1.80344192e+01] [-1.08171629e-01 -1.50307621e-03 9.94131098e-01 9.91102837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.689072329 meters Centerline goodness : 0.765736 Centerline is valid? [False, False] Translation: X:-165.31, Y:18.02, Z:99.10 [[ 9.55061013e-01 -2.71721949e-01 1.18429909e-01 -1.65311034e+02] [ 2.68921541e-01 9.62358851e-01 3.93274229e-02 1.80249748e+01] [-1.24658195e-01 -5.71173475e-03 9.92183305e-01 9.91024265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.71907232899997 meters Centerline goodness : 0.765794 Centerline is valid? [False, False] Translation: X:-165.31, Y:18.02, Z:99.10 [[ 9.52317015e-01 -2.80181197e-01 1.20792386e-01 -1.65311521e+02] [ 2.77779418e-01 9.59946209e-01 3.66315483e-02 1.80192743e+01] [-1.26217664e-01 -1.33120805e-03 9.92001678e-01 9.90986693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.74907232899994 meters Centerline goodness : 0.764923 Centerline is valid? [False, False] Translation: X:-165.31, Y:18.02, Z:99.10 [[ 9.51068010e-01 -2.83979504e-01 1.21759112e-01 -1.65311847e+02] [ 2.81741879e-01 9.58830239e-01 3.55821168e-02 1.80165644e+01] [-1.26850910e-01 4.63628058e-04 9.91921686e-01 9.90973473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.779072329 meters Centerline goodness : 0.766165 Centerline is valid? [False, False] Translation: X:-165.31, Y:18.02, Z:99.09 [[ 9.49847453e-01 -2.87714284e-01 1.22516554e-01 -1.65310937e+02] [ 2.85689484e-01 9.57712904e-01 3.41688824e-02 1.80150910e+01] [-1.27166560e-01 2.54646502e-03 9.91878108e-01 9.90940578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.80907232899995 meters Centerline goodness : 0.764806 Centerline is valid? [False, False] Translation: X:-165.31, Y:18.01, Z:99.09 [[ 9.47953929e-01 -2.93751214e-01 1.22855906e-01 -1.65310602e+02] [ 2.91704229e-01 9.55877493e-01 3.47399216e-02 1.80106982e+01] [-1.27640089e-01 2.90574207e-03 9.91816296e-01 9.90917239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.839072329 meters Centerline goodness : 0.764476 Centerline is valid? [False, False] Translation: X:-165.31, Y:18.01, Z:99.09 [[ 9.46986195e-01 -2.96636609e-01 1.23385040e-01 -1.65309713e+02] [ 2.94745019e-01 9.54980207e-01 3.37368819e-02 1.80087908e+01] [-1.27837865e-01 4.41876447e-03 9.91785236e-01 9.90894347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.86907232899995 meters Centerline goodness : 0.761789 Centerline is valid? [False, False] Translation: X:-165.31, Y:18.01, Z:99.09 [[ 9.46114853e-01 -2.99274527e-01 1.23699002e-01 -1.65308254e+02] [ 2.97637128e-01 9.54144298e-01 3.19499465e-02 1.80071513e+01] [-1.27588503e-01 6.58909675e-03 9.91805302e-01 9.90879139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.899072329 meters Centerline goodness : 0.762283 Centerline is valid? [False, False] Translation: X:-165.31, Y:18.00, Z:99.09 [[ 9.44378294e-01 -3.04144104e-01 1.25083976e-01 -1.65307003e+02] [ 3.02987834e-01 9.52564157e-01 2.86338717e-02 1.80029493e+01] [-1.27859336e-01 1.08577161e-02 9.91732877e-01 9.90859112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.92907232899995 meters Centerline goodness : 0.762263 Centerline is valid? [False, False] Translation: X:-165.31, Y:18.00, Z:99.08 [[ 9.43429373e-01 -3.06918288e-01 1.25467854e-01 -1.65305935e+02] [ 3.06008009e-01 9.51647477e-01 2.69477045e-02 1.80016009e+01] [-1.27671910e-01 1.29709121e-02 9.91731637e-01 9.90847038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.959072329 meters Centerline goodness : 0.761467 Centerline is valid? [False, False] Translation: X:-165.31, Y:18.00, Z:99.08 [[ 9.42707808e-01 -3.09048805e-01 1.25661547e-01 -1.65306317e+02] [ 3.08093539e-01 9.50959661e-01 2.74607680e-02 1.79987074e+01] [-1.27985779e-01 1.28280301e-02 9.91693038e-01 9.90847754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.98907232899995 meters Centerline goodness : 0.761467 Centerline is valid? [False, False] Translation: X:-165.31, Y:18.00, Z:99.08 [[ 9.42707808e-01 -3.09048805e-01 1.25661547e-01 -1.65306317e+02] [ 3.08093539e-01 9.50959661e-01 2.74607680e-02 1.79987074e+01] [-1.27985779e-01 1.28280301e-02 9.91693038e-01 9.90847754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.019072329 meters Centerline goodness : 0.762411 Centerline is valid? [False, False] Translation: X:-165.31, Y:18.00, Z:99.08 [[ 9.41817569e-01 -3.11634760e-01 1.25950165e-01 -1.65305810e+02] [ 3.10671581e-01 9.50112824e-01 2.77270700e-02 1.79965649e+01] [-1.28307586e-01 1.30152951e-02 9.91649013e-01 9.90827456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.04907232899996 meters Centerline goodness : 0.760259 Centerline is valid? [False, False] Translation: X:-165.30, Y:17.99, Z:99.08 [[ 9.40469191e-01 -3.15629722e-01 1.26077671e-01 -1.65303437e+02] [ 3.14831111e-01 9.48770957e-01 2.67402858e-02 1.79934965e+01] [-1.28058862e-01 1.45447584e-02 9.91659910e-01 9.90794953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.079072329 meters Centerline goodness : 0.759825 Centerline is valid? [False, False] Translation: X:-165.30, Y:17.99, Z:99.08 [[ 9.39645193e-01 -3.17916289e-01 1.26475868e-01 -1.65302364e+02] [ 3.17261948e-01 9.47986174e-01 2.58277113e-02 1.79917941e+01] [-1.28108425e-01 1.58570956e-02 9.91633392e-01 9.90773300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.10907232899996 meters Centerline goodness : 0.760363 Centerline is valid? [False, False] Translation: X:-165.30, Y:17.99, Z:99.08 [[ 9.39080985e-01 -3.19623703e-01 1.26362937e-01 -1.65301772e+02] [ 3.18882547e-01 9.47420820e-01 2.66028552e-02 1.79895258e+01] [-1.28221780e-01 1.53126996e-02 9.91627297e-01 9.90760266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.139072329 meters Centerline goodness : 0.759998 Centerline is valid? [False, False] Translation: X:-165.30, Y:17.99, Z:99.07 [[ 9.38377014e-01 -3.21851332e-01 1.25937682e-01 -1.65300916e+02] [ 3.20947304e-01 9.46684075e-01 2.79658795e-02 1.79869218e+01] [-1.28224053e-01 1.41768210e-02 9.91643893e-01 9.90744487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.16907232899996 meters Centerline goodness : 0.758102 Centerline is valid? [False, False] Translation: X:-165.30, Y:17.99, Z:99.07 [[ 9.38212894e-01 -3.22327681e-01 1.25942174e-01 -1.65300907e+02] [ 3.21356100e-01 9.46528820e-01 2.85210488e-02 1.79856374e+01] [-1.28401021e-01 1.37134701e-02 9.91627510e-01 9.90740057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.199072329 meters Centerline goodness : 0.759753 Centerline is valid? [False, False] Translation: X:-165.30, Y:17.98, Z:99.07 [[ 9.38170143e-01 -3.22466791e-01 1.25904535e-01 -1.65300760e+02] [ 3.21397095e-01 9.46491612e-01 2.92837302e-02 1.79842387e+01] [-1.28610617e-01 1.29922304e-02 9.91610060e-01 9.90732697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.22907232899996 meters Centerline goodness : 0.759574 Centerline is valid? [False, False] Translation: X:-165.30, Y:17.98, Z:99.07 [[ 9.38283419e-01 -3.22331536e-01 1.25405768e-01 -1.65299411e+02] [ 3.21083718e-01 9.46556327e-01 3.06000853e-02 1.79829750e+01] [-1.28566996e-01 1.15541976e-02 9.91633515e-01 9.90710631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.259072329 meters Centerline goodness : 0.758851 Centerline is valid? [False, False] Translation: X:-165.30, Y:17.98, Z:99.07 [[ 9.38332590e-01 -3.22368211e-01 1.24942733e-01 -1.65298767e+02] [ 3.21076690e-01 9.46549006e-01 3.08988544e-02 1.79830476e+01] [-1.28225228e-01 1.11227970e-02 9.91682698e-01 9.90705801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.28907232899996 meters Centerline goodness : 0.757835 Centerline is valid? [False, False] Translation: X:-165.30, Y:17.98, Z:99.07 [[ 9.38412044e-01 -3.22244307e-01 1.24665322e-01 -1.65299351e+02] [ 3.20789436e-01 9.46605400e-01 3.21302805e-02 1.79823941e+01] [-1.28362667e-01 9.83987613e-03 9.91678477e-01 9.90710921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.319072329 meters Centerline goodness : 0.757425 Centerline is valid? [False, False] Translation: X:-165.30, Y:17.98, Z:99.07 [[ 9.38321199e-01 -3.22669061e-01 1.24249770e-01 -1.65298387e+02] [ 3.21198701e-01 9.46462644e-01 3.22468349e-02 1.79830078e+01] [-1.28002822e-01 9.65097599e-03 9.91726846e-01 9.90699876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.34907232899997 meters Centerline goodness : 0.758897 Centerline is valid? [False, False] Translation: X:-165.30, Y:17.98, Z:99.07 [[ 9.38237420e-01 -3.22813261e-01 1.24507601e-01 -1.65300031e+02] [ 3.21310395e-01 9.46415127e-01 3.25274690e-02 1.79824620e+01] [-1.28336175e-01 9.48709788e-03 9.91685344e-01 9.90721029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.379072329 meters Centerline goodness : 0.759423 Centerline is valid? [False, False] Translation: X:-165.30, Y:17.98, Z:99.07 [[ 9.37999517e-01 -3.23318086e-01 1.24989283e-01 -1.65300357e+02] [ 3.21972208e-01 9.46228691e-01 3.13872786e-02 1.79827144e+01] [-1.28416521e-01 1.08018234e-02 9.91661494e-01 9.90722177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.40907232899997 meters Centerline goodness : 0.760161 Centerline is valid? [False, False] Translation: X:-165.30, Y:17.98, Z:99.07 [[ 9.37803181e-01 -3.23772040e-01 1.25287107e-01 -1.65300181e+02] [ 3.22594257e-01 9.46057160e-01 3.01462492e-02 1.79840201e+01] [-1.28289277e-01 1.21456527e-02 9.91662415e-01 9.90715089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.439072329 meters Centerline goodness : 0.759684 Centerline is valid? [False, False] Translation: X:-165.30, Y:17.98, Z:99.07 [[ 9.37712749e-01 -3.24095803e-01 1.25126776e-01 -1.65302992e+02] [ 3.22557949e-01 9.45976745e-01 3.29297335e-02 1.79843505e+01] [-1.29039409e-01 9.48200543e-03 9.91594132e-01 9.90730065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.46907232899997 meters Centerline goodness : 0.758048 Centerline is valid? [False, False] Translation: X:-165.30, Y:17.99, Z:99.07 [[ 9.37702723e-01 -3.24205325e-01 1.24918020e-01 -1.65302521e+02] [ 3.22589356e-01 9.45945216e-01 3.35224522e-02 1.79853635e+01] [-1.29033761e-01 8.86312884e-03 9.91600592e-01 9.90709900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.49907232899994 meters Centerline goodness : 0.757597 Centerline is valid? [False, False] Translation: X:-165.30, Y:17.99, Z:99.07 [[ 9.38007318e-01 -3.23438460e-01 1.24618755e-01 -1.65301996e+02] [ 3.21912590e-01 9.46202601e-01 3.27554845e-02 1.79863692e+01] [-1.28508973e-01 9.39146184e-03 9.91663877e-01 9.90718931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.529072329 meters Centerline goodness : 0.757889 Centerline is valid? [False, False] Translation: X:-165.30, Y:17.99, Z:99.07 [[ 9.38160641e-01 -3.23065025e-01 1.24433119e-01 -1.65301883e+02] [ 3.21577712e-01 9.46328066e-01 3.24185990e-02 1.79863425e+01] [-1.28227869e-01 9.60106416e-03 9.91698257e-01 9.90727362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.55907232899995 meters Centerline goodness : 0.758772 Centerline is valid? [False, False] Translation: X:-165.30, Y:17.99, Z:99.07 [[ 9.38363539e-01 -3.22533799e-01 1.24281199e-01 -1.65302593e+02] [ 3.20906746e-01 9.46519849e-01 3.34519841e-02 1.79854051e+01] [-1.28424017e-01 8.49255277e-03 9.91682988e-01 9.90737236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.589072329 meters Centerline goodness : 0.758449 Centerline is valid? [False, False] Translation: X:-165.30, Y:17.99, Z:99.07 [[ 9.38996169e-01 -3.21298402e-01 1.22692835e-01 -1.65300894e+02] [ 3.19438780e-01 9.46957360e-01 3.50802484e-02 1.79856729e+01] [-1.27456111e-01 6.25263066e-03 9.91824503e-01 9.90732366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.61907232899995 meters Centerline goodness : 0.758330 Centerline is valid? [False, False] Translation: X:-165.30, Y:17.99, Z:99.07 [[ 9.39236919e-01 -3.20637069e-01 1.22580091e-01 -1.65301293e+02] [ 3.18606920e-01 9.47189417e-01 3.63570990e-02 1.79850309e+01] [-1.27763999e-01 4.90693576e-03 9.91792459e-01 9.90729490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.649072329 meters Centerline goodness : 0.759862 Centerline is valid? [False, False] Translation: X:-165.30, Y:17.99, Z:99.07 [[ 9.39335728e-01 -3.20407075e-01 1.22424249e-01 -1.65300516e+02] [ 3.18391977e-01 9.47266981e-01 3.62189996e-02 1.79850513e+01] [-1.27573272e-01 4.95709821e-03 9.91816761e-01 9.90719561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.67907232899995 meters Centerline goodness : 0.759230 Centerline is valid? [False, False] Translation: X:-165.30, Y:17.98, Z:99.07 [[ 9.39475259e-01 -3.20088776e-01 1.22185978e-01 -1.65298871e+02] [ 3.18242311e-01 9.47367771e-01 3.48731724e-02 1.79844715e+01] [-1.26917569e-01 6.12226537e-03 9.91894374e-01 9.90718451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.709072329 meters Centerline goodness : 0.760409 Centerline is valid? [False, False] Translation: X:-165.30, Y:17.98, Z:99.07 [[ 9.39591501e-01 -3.19712131e-01 1.22278227e-01 -1.65297989e+02] [ 3.17956356e-01 9.47490340e-01 3.41439820e-02 1.79839304e+01] [-1.26773684e-01 6.79774429e-03 9.91908375e-01 9.90711538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.73907232899995 meters Centerline goodness : 0.760450 Centerline is valid? [False, False] Translation: X:-165.30, Y:17.98, Z:99.07 [[ 9.39515934e-01 -3.19911760e-01 1.22336733e-01 -1.65297012e+02] [ 3.18214921e-01 9.47419461e-01 3.36991012e-02 1.79837220e+01] [-1.26684940e-01 7.26853118e-03 9.91916375e-01 9.90696847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.769072329 meters Centerline goodness : 0.761593 Centerline is valid? [False, False] Translation: X:-165.30, Y:17.98, Z:99.07 [[ 9.39476225e-01 -3.19935167e-01 1.22580226e-01 -1.65296970e+02] [ 3.18245114e-01 9.47410647e-01 3.36617507e-02 1.79827964e+01] [-1.26903389e-01 7.38614351e-03 9.91887582e-01 9.90692998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.79907232899996 meters Centerline goodness : 0.761293 Centerline is valid? [False, False] Translation: X:-165.30, Y:17.98, Z:99.07 [[ 9.39298513e-01 -3.20308884e-01 1.22965534e-01 -1.65298086e+02] [ 3.18567578e-01 9.47286289e-01 3.41084336e-02 1.79808473e+01] [-1.27408799e-01 7.13483136e-03 9.91824628e-01 9.90704946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.829072329 meters Centerline goodness : 0.760633 Centerline is valid? [False, False] Translation: X:-165.30, Y:17.98, Z:99.07 [[ 9.39002447e-01 -3.21010665e-01 1.23395941e-01 -1.65296906e+02] [ 3.19494839e-01 9.47033043e-01 3.24262793e-02 1.79795900e+01] [-1.27269215e-01 8.97601079e-03 9.91827595e-01 9.90693214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.85907232899996 meters Centerline goodness : 0.759697 Centerline is valid? [False, False] Translation: X:-165.30, Y:17.98, Z:99.07 [[ 9.38224857e-01 -3.23151441e-01 1.23722524e-01 -1.65295116e+02] [ 3.21904965e-01 9.46280786e-01 3.04937169e-02 1.79769103e+01] [-1.26930336e-01 1.12169316e-02 9.91848209e-01 9.90680869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.889072329 meters Centerline goodness : 0.760220 Centerline is valid? [False, False] Translation: X:-165.30, Y:17.97, Z:99.07 [[ 9.37771952e-01 -3.24396443e-01 1.23898000e-01 -1.65295506e+02] [ 3.23151865e-01 9.45852971e-01 3.05782491e-02 1.79748734e+01] [-1.27108767e-01 1.13624455e-02 9.91823702e-01 9.90688786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.91907232899996 meters Centerline goodness : 0.760150 Centerline is valid? [False, False] Translation: X:-165.30, Y:17.97, Z:99.07 [[ 9.37086480e-01 -3.26200367e-01 1.24347291e-01 -1.65295726e+02] [ 3.24915186e-01 9.45233110e-01 3.10562429e-02 1.79726526e+01] [-1.27667734e-01 1.12999377e-02 9.91752621e-01 9.90678370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.949072329 meters Centerline goodness : 0.761939 Centerline is valid? [False, False] Translation: X:-165.29, Y:17.97, Z:99.06 [[ 9.35679557e-01 -3.29945870e-01 1.25057946e-01 -1.65294706e+02] [ 3.28653850e-01 9.43927411e-01 3.14275246e-02 1.79690186e+01] [-1.28415005e-01 1.16946830e-02 9.91651562e-01 9.90639509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.97907232899996 meters Centerline goodness : 0.761970 Centerline is valid? [False, False] Translation: X:-165.30, Y:17.97, Z:99.06 [[ 9.34813524e-01 -3.32200087e-01 1.25565828e-01 -1.65295541e+02] [ 3.30770776e-01 9.43145015e-01 3.26829415e-02 1.79663794e+01] [-1.29284061e-01 1.09810506e-02 9.91546796e-01 9.90628112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.009072329 meters Centerline goodness : 0.762913 Centerline is valid? [False, False] Translation: X:-165.29, Y:17.96, Z:99.06 [[ 9.33298586e-01 -3.36088600e-01 1.26484000e-01 -1.65293893e+02] [ 3.34910663e-01 9.41736117e-01 3.11116415e-02 1.79635573e+01] [-1.29570819e-01 1.33243894e-02 9.91480642e-01 9.90591953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.03907232899996 meters Centerline goodness : 0.762532 Centerline is valid? [False, False] Translation: X:-165.29, Y:17.96, Z:99.06 [[ 9.32599303e-01 -3.37842817e-01 1.26967595e-01 -1.65294045e+02] [ 3.36690549e-01 9.41102015e-01 3.10881221e-02 1.79621111e+01] [-1.29992359e-01 1.37560285e-02 9.91419567e-01 9.90579650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.069072329 meters Centerline goodness : 0.762896 Centerline is valid? [False, False] Translation: X:-165.29, Y:17.96, Z:99.06 [[ 9.32003726e-01 -3.39398825e-01 1.27190767e-01 -1.65294541e+02] [ 3.38129856e-01 9.40551587e-01 3.21078188e-02 1.79603128e+01] [-1.30526834e-01 1.30823890e-02 9.91358460e-01 9.90573096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.09907232899997 meters Centerline goodness : 0.762055 Centerline is valid? [False, False] Translation: X:-165.30, Y:17.96, Z:99.06 [[ 9.31113654e-01 -3.41514579e-01 1.28043569e-01 -1.65296914e+02] [ 3.40118434e-01 9.39792782e-01 3.33013079e-02 1.79577463e+01] [-1.31707304e-01 1.25426758e-02 9.91209295e-01 9.90581928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.129072329 meters Centerline goodness : 0.761191 Centerline is valid? [False, False] Translation: X:-165.30, Y:17.96, Z:99.06 [[ 9.30730517e-01 -3.42402994e-01 1.28455808e-01 -1.65296424e+02] [ 3.41147156e-01 9.39453099e-01 3.23495319e-02 1.79575012e+01] [-1.31754783e-01 1.37136370e-02 9.91187476e-01 9.90569961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.15907232899997 meters Centerline goodness : 0.761164 Centerline is valid? [False, False] Translation: X:-165.30, Y:17.96, Z:99.06 [[ 9.30366760e-01 -3.43374503e-01 1.28497637e-01 -1.65297088e+02] [ 3.42116225e-01 9.39097483e-01 3.24408128e-02 1.79572567e+01] [-1.31811155e-01 1.37792724e-02 9.91179071e-01 9.90576722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.189072329 meters Centerline goodness : 0.761366 Centerline is valid? [False, False] Translation: X:-165.30, Y:17.96, Z:99.06 [[ 9.29418256e-01 -3.45817449e-01 1.28809924e-01 -1.65298445e+02] [ 3.44570739e-01 9.38195530e-01 3.25599854e-02 1.79580110e+01] [-1.32108706e-01 1.41222857e-02 9.91134628e-01 9.90577885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.21907232899997 meters Centerline goodness : 0.760357 Centerline is valid? [False, False] Translation: X:-165.30, Y:17.96, Z:99.06 [[ 9.28893697e-01 -3.47128626e-01 1.29066718e-01 -1.65299622e+02] [ 3.45817549e-01 9.37715561e-01 3.31624830e-02 1.79580814e+01] [-1.32539517e-01 1.38291148e-02 9.91081244e-01 9.90577257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.24907232899994 meters Centerline goodness : 0.761293 Centerline is valid? [False, False] Translation: X:-165.30, Y:17.96, Z:99.06 [[ 9.28316034e-01 -3.48551096e-01 1.29388847e-01 -1.65301141e+02] [ 3.47148907e-01 9.37194332e-01 3.39767666e-02 1.79577364e+01] [-1.33105133e-01 1.33760196e-02 9.91011658e-01 9.90581602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.279072329 meters Centerline goodness : 0.761649 Centerline is valid? [False, False] Translation: X:-165.30, Y:17.96, Z:99.06 [[ 9.27808036e-01 -3.49712792e-01 1.29896923e-01 -1.65303353e+02] [ 3.48243689e-01 9.36764994e-01 3.46075078e-02 1.79571741e+01] [-1.33785579e-01 1.31266598e-02 9.90923362e-01 9.90595670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.30907232899995 meters Centerline goodness : 0.762827 Centerline is valid? [False, False] Translation: X:-165.30, Y:17.96, Z:99.06 [[ 9.26901867e-01 -3.51918911e-01 1.30407087e-01 -1.65302928e+02] [ 3.50640688e-01 9.35914077e-01 3.34058060e-02 1.79576460e+01] [-1.33805964e-01 1.47621269e-02 9.90897595e-01 9.90575736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.339072329 meters Centerline goodness : 0.762042 Centerline is valid? [False, False] Translation: X:-165.30, Y:17.96, Z:99.06 [[ 9.26507864e-01 -3.52804899e-01 1.30812392e-01 -1.65303467e+02] [ 3.51502825e-01 9.35580394e-01 3.36911075e-02 1.79580934e+01] [-1.34271897e-01 1.47658493e-02 9.90834511e-01 9.90559344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.36907232899995 meters Centerline goodness : 0.762646 Centerline is valid? [False, False] Translation: X:-165.30, Y:17.96, Z:99.05 [[ 9.26399965e-01 -3.53188185e-01 1.30541988e-01 -1.65303250e+02] [ 3.51800961e-01 9.35445547e-01 3.43178278e-02 1.79589564e+01] [-1.34235573e-01 1.41327624e-02 9.90848665e-01 9.90545656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.399072329 meters Centerline goodness : 0.763975 Centerline is valid? [False, False] Translation: X:-165.30, Y:17.96, Z:99.05 [[ 9.26530009e-01 -3.53050205e-01 1.29991137e-01 -1.65303449e+02] [ 3.51549754e-01 9.35511420e-01 3.50877956e-02 1.79608402e+01] [-1.33995947e-01 1.31884566e-02 9.90894117e-01 9.90540627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.42907232899995 meters Centerline goodness : 0.763702 Centerline is valid? [False, False] Translation: X:-165.30, Y:17.96, Z:99.05 [[ 9.26824497e-01 -3.52522525e-01 1.29322164e-01 -1.65302819e+02] [ 3.51057764e-01 9.35709924e-01 3.47186414e-02 1.79617198e+01] [-1.33247136e-01 1.32214624e-02 9.90994649e-01 9.90549602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.459072329 meters Centerline goodness : 0.762624 Centerline is valid? [False, False] Translation: X:-165.30, Y:17.96, Z:99.05 [[ 9.27233566e-01 -3.51530572e-01 1.29089780e-01 -1.65301884e+02] [ 3.50167231e-01 9.36074699e-01 3.38683972e-02 1.79645648e+01] [-1.32743454e-01 1.37990960e-02 9.91054368e-01 9.90531870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.48907232899995 meters Centerline goodness : 0.761221 Centerline is valid? [False, False] Translation: X:-165.30, Y:17.97, Z:99.05 [[ 9.27386877e-01 -3.51288473e-01 1.28646757e-01 -1.65302824e+02] [ 3.49758746e-01 9.36183945e-01 3.50491345e-02 1.79654020e+01] [-1.32749385e-01 1.24912210e-02 9.91070921e-01 9.90538866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.519072329 meters Centerline goodness : 0.761947 Centerline is valid? [False, False] Translation: X:-165.30, Y:17.97, Z:99.05 [[ 9.27295416e-01 -3.51471249e-01 1.28806724e-01 -1.65303366e+02] [ 3.49923086e-01 9.36116315e-01 3.52147553e-02 1.79668760e+01] [-1.32955050e-01 1.24179652e-02 9.91044272e-01 9.90529257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.54907232899996 meters Centerline goodness : 0.761768 Centerline is valid? [False, False] Translation: X:-165.30, Y:17.97, Z:99.05 [[ 9.27141955e-01 -3.51713736e-01 1.29248764e-01 -1.65303881e+02] [ 3.50208759e-01 9.36019297e-01 3.49528314e-02 1.79675953e+01] [-1.33272728e-01 1.28578128e-02 9.90995992e-01 9.90520593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.579072329 meters Centerline goodness : 0.762729 Centerline is valid? [False, False] Translation: X:-165.30, Y:17.97, Z:99.05 [[ 9.26654349e-01 -3.52691316e-01 1.30079029e-01 -1.65304537e+02] [ 3.51490424e-01 9.35614952e-01 3.28503258e-02 1.79690284e+01] [-1.33289909e-01 1.52806357e-02 9.90959284e-01 9.90522869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.60907232899996 meters Centerline goodness : 0.761681 Centerline is valid? [False, False] Translation: X:-165.30, Y:17.97, Z:99.05 [[ 9.26427415e-01 -3.53185942e-01 1.30353119e-01 -1.65304277e+02] [ 3.52080206e-01 9.35415402e-01 3.22110816e-02 1.79689571e+01] [-1.33310817e-01 1.60535239e-02 9.90944252e-01 9.90516345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.639072329 meters Centerline goodness : 0.762327 Centerline is valid? [False, False] Translation: X:-165.30, Y:17.97, Z:99.05 [[ 9.25944177e-01 -3.54316784e-01 1.30717244e-01 -1.65304566e+02] [ 3.53231280e-01 9.34982163e-01 3.21872330e-02 1.79686651e+01] [-1.33622768e-01 1.63698382e-02 9.90897060e-01 9.90505607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.66907232899996 meters Centerline goodness : 0.762406 Centerline is valid? [False, False] Translation: X:-165.32, Y:17.96, Z:99.06 [[ 9.25061023e-01 -3.59107385e-01 1.23709298e-01 -1.65318914e+02] [ 3.57443640e-01 9.33234184e-01 3.61663077e-02 1.79615933e+01] [-1.28437334e-01 1.07630603e-02 9.91659220e-01 9.90582989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.699072329 meters Centerline goodness : 0.764101 Centerline is valid? [False, False] Translation: X:-165.32, Y:17.96, Z:99.06 [[ 9.24207943e-01 -3.61040072e-01 1.24457803e-01 -1.65320658e+02] [ 3.59174279e-01 9.32500215e-01 3.79102263e-02 1.79595070e+01] [-1.29744039e-01 9.66510943e-03 9.91500414e-01 9.90570383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.72907232899996 meters Centerline goodness : 0.764971 Centerline is valid? [False, False] Translation: X:-165.34, Y:17.95, Z:99.07 [[ 9.23504822e-01 -3.65068258e-01 1.17745538e-01 -1.65336738e+02] [ 3.62702627e-01 9.30971314e-01 4.17039181e-02 1.79505021e+01] [-1.24842495e-01 4.19284670e-03 9.92167713e-01 9.90653021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.759072329 meters Centerline goodness : 0.768659 Centerline is valid? [False, False] Translation: X:-165.36, Y:17.94, Z:99.07 [[ 9.21802234e-01 -3.70630020e-01 1.13639912e-01 -1.65357403e+02] [ 3.68272373e-01 9.28774874e-01 4.18651728e-02 1.79392563e+01] [-1.21062385e-01 3.25903018e-03 9.92639551e-01 9.90721064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.78907232899996 meters Centerline goodness : 0.767723 Centerline is valid? [False, False] Translation: X:-165.36, Y:17.94, Z:99.07 [[ 9.20394143e-01 -3.73651226e-01 1.15149390e-01 -1.65358465e+02] [ 3.71410692e-01 9.27556365e-01 4.11495672e-02 1.79376793e+01] [-1.22183136e-01 4.89389395e-03 9.92495507e-01 9.90704609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.819072329 meters Centerline goodness : 0.768442 Centerline is valid? [False, False] Translation: X:-165.38, Y:17.93, Z:99.08 [[ 9.19486019e-01 -3.77447207e-01 1.09904807e-01 -1.65378598e+02] [ 3.74962519e-01 9.26029997e-01 4.32614619e-02 1.79276604e+01] [-1.18104066e-01 1.43187400e-03 9.93000191e-01 9.90776764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.84907232899997 meters Centerline goodness : 0.769888 Centerline is valid? [False, False] Translation: X:-165.40, Y:17.92, Z:99.08 [[ 9.17206898e-01 -3.83991332e-01 1.06217525e-01 -1.65398221e+02] [ 3.81691684e-01 9.23334509e-01 4.20100326e-02 1.79193378e+01] [-1.14205794e-01 2.01045421e-03 9.93455079e-01 9.90814950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.879072329 meters Centerline goodness : 0.768958 Centerline is valid? [False, False] Translation: X:-165.42, Y:17.91, Z:99.09 [[ 9.16205969e-01 -3.87850264e-01 1.00691589e-01 -1.65417367e+02] [ 3.85290489e-01 9.21720214e-01 4.45318432e-02 1.79102677e+01] [-1.10081160e-01 -2.00482884e-03 9.93920580e-01 9.90883461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.90907232899997 meters Centerline goodness : 0.768958 Centerline is valid? [False, False] Translation: X:-165.42, Y:17.91, Z:99.09 [[ 9.14769333e-01 -3.90596865e-01 1.03107503e-01 -1.65421096e+02] [ 3.88439422e-01 9.20558493e-01 4.10715995e-02 1.79129123e+01] [-1.10958926e-01 2.47997924e-03 9.93821899e-01 9.90888248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.939072329 meters Centerline goodness : 0.769966 Centerline is valid? [False, False] Translation: X:-165.44, Y:17.91, Z:99.09 [[ 9.12289606e-01 -3.97375865e-01 9.90964030e-02 -1.65439858e+02] [ 3.95410752e-01 9.17650814e-01 3.95894058e-02 1.79055715e+01] [-1.06667769e-01 3.06677977e-03 9.94289989e-01 9.90926478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.96907232899997 meters Centerline goodness : 0.768838 Centerline is valid? [False, False] Translation: X:-165.46, Y:17.90, Z:99.10 [[ 9.11099704e-01 -4.01323659e-01 9.40034575e-02 -1.65460200e+02] [ 3.99206266e-01 9.15936308e-01 4.11708203e-02 1.78965779e+01] [-1.02624004e-01 1.60470189e-05 9.94720219e-01 9.90988751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.99907232899994 meters Centerline goodness : 0.768466 Centerline is valid? [False, False] Translation: X:-165.48, Y:17.89, Z:99.11 [[ 9.09936556e-01 -4.05102180e-01 8.89251799e-02 -1.65481244e+02] [ 4.02826484e-01 9.14265418e-01 4.30066094e-02 1.78871261e+01] [-9.87232880e-02 -3.31186849e-03 9.95109413e-01 9.91061024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.029072329 meters Centerline goodness : 0.768439 Centerline is valid? [False, False] Translation: X:-165.50, Y:17.88, Z:99.11 [[ 9.08686780e-01 -4.09038866e-01 8.35197144e-02 -1.65501871e+02] [ 4.06591373e-01 9.12488879e-01 4.52493308e-02 1.78780701e+01] [-9.47195455e-02 -7.15907337e-03 9.95478255e-01 9.91144855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.05907232899995 meters Centerline goodness : 0.771100 Centerline is valid? [False, False] Translation: X:-165.52, Y:17.87, Z:99.12 [[ 9.05478350e-01 -4.16907759e-01 7.93528677e-02 -1.65520856e+02] [ 4.14553947e-01 9.08915541e-01 4.49173078e-02 1.78734566e+01] [-9.08514288e-02 -7.77560520e-03 9.95834102e-01 9.91220075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.089072329 meters Centerline goodness : 0.769814 Centerline is valid? [False, False] Translation: X:-165.54, Y:17.87, Z:99.13 [[ 9.03491522e-01 -4.22334758e-01 7.30508187e-02 -1.65537065e+02] [ 4.19852954e-01 9.06359904e-01 4.72781331e-02 1.78677372e+01] [-8.61775319e-02 -1.20447904e-02 9.96206985e-01 9.91299766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.11907232899995 meters Centerline goodness : 0.773743 Centerline is valid? [False, False] Translation: X:-165.56, Y:17.86, Z:99.14 [[ 9.01622992e-01 -4.27110465e-01 6.82102020e-02 -1.65557278e+02] [ 4.24612822e-01 9.04080325e-01 4.84016290e-02 1.78610221e+01] [-8.23403438e-02 -1.46770952e-02 9.96496187e-01 9.91362962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.149072329 meters Centerline goodness : 0.774271 Centerline is valid? [False, False] Translation: X:-165.57, Y:17.86, Z:99.14 [[ 8.97619592e-01 -4.36098594e-01 6.40084755e-02 -1.65573851e+02] [ 4.33845635e-01 8.99791922e-01 4.63946387e-02 1.78587249e+01] [-7.78269459e-02 -1.38749389e-02 9.96870329e-01 9.91412127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.17907232899995 meters Centerline goodness : 0.774753 Centerline is valid? [False, False] Translation: X:-165.60, Y:17.85, Z:99.15 [[ 8.95712465e-01 -4.40650293e-01 5.93843343e-02 -1.65595860e+02] [ 4.38431913e-01 8.97535344e-01 4.69868431e-02 1.78511486e+01] [-7.40043051e-02 -1.60507138e-02 9.97128747e-01 9.91481356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.209072329 meters Centerline goodness : 0.775659 Centerline is valid? [False, False] Translation: X:-165.61, Y:17.85, Z:99.15 [[ 8.91375214e-01 -4.49908777e-01 5.50664974e-02 -1.65612434e+02] [ 4.47911446e-01 8.92939221e-01 4.51096769e-02 1.78504752e+01] [-6.94662749e-02 -1.55447334e-02 9.97463181e-01 9.91533243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.23907232899995 meters Centerline goodness : 0.776763 Centerline is valid? [False, False] Translation: X:-165.63, Y:17.85, Z:99.16 [[ 8.89265345e-01 -4.54681626e-01 4.97168421e-02 -1.65631486e+02] [ 4.52670719e-01 8.90449070e-01 4.67939534e-02 1.78457464e+01] [-6.55466666e-02 -1.91068824e-02 9.97666558e-01 9.91588630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.269072329 meters Centerline goodness : 0.778041 Centerline is valid? [False, False] Translation: X:-165.65, Y:17.84, Z:99.16 [[ 8.87070805e-01 -4.59444802e-01 4.48983411e-02 -1.65651715e+02] [ 4.57474236e-01 8.87937242e-01 4.77993515e-02 1.78411297e+01] [-6.18280728e-02 -2.18615750e-02 9.97847364e-01 9.91636968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.29907232899996 meters Centerline goodness : 0.779239 Centerline is valid? [False, False] Translation: X:-165.67, Y:17.84, Z:99.17 [[ 8.84531784e-01 -4.64810406e-01 3.94310647e-02 -1.65670078e+02] [ 4.62900524e-01 8.85054554e-01 4.90055343e-02 1.78369563e+01] [-5.76769257e-02 -2.50942922e-02 9.98019864e-01 9.91697079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.329072329 meters Centerline goodness : 0.781862 Centerline is valid? [False, False] Translation: X:-165.70, Y:17.83, Z:99.17 [[ 8.80076329e-01 -4.73322158e-01 3.78389991e-02 -1.65700381e+02] [ 4.71903121e-01 8.80703530e-01 4.08501732e-02 1.78340679e+01] [-5.26602322e-02 -1.80949288e-02 9.98448533e-01 9.91735933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.35907232899996 meters Centerline goodness : 0.784219 Centerline is valid? [False, False] Translation: X:-165.72, Y:17.83, Z:99.18 [[ 8.76972519e-01 -4.79273697e-01 3.48701033e-02 -1.65724094e+02] [ 4.77973324e-01 8.77478567e-01 3.96593869e-02 1.78289359e+01] [-4.96054692e-02 -1.81132133e-02 9.98604631e-01 9.91787413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.389072329 meters Centerline goodness : 0.787346 Centerline is valid? [False, False] Translation: X:-165.77, Y:17.82, Z:99.18 [[ 8.69454135e-01 -4.92704767e-01 3.59377328e-02 -1.65768882e+02] [ 4.91537476e-01 8.70078508e-01 3.68008120e-02 1.78242146e+01] [-4.94005844e-02 -1.43318757e-02 9.98676214e-01 9.91806730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.41907232899996 meters Centerline goodness : 0.789882 Centerline is valid? [False, False] Translation: X:-165.79, Y:17.82, Z:99.18 [[ 8.66162508e-01 -4.98608516e-01 3.39419764e-02 -1.65794276e+02] [ 4.97619315e-01 8.66739743e-01 3.37229268e-02 1.78202415e+01] [-4.62333984e-02 -1.23193518e-02 9.98854697e-01 9.91824026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.449072329 meters Centerline goodness : 0.792020 Centerline is valid? [False, False] Translation: X:-165.82, Y:17.82, Z:99.19 [[ 8.62102143e-01 -5.05766981e-01 3.12994507e-02 -1.65815937e+02] [ 5.04909969e-01 8.62594696e-01 3.15644214e-02 1.78179329e+01] [-4.29629823e-02 -1.14083507e-02 9.99011527e-01 9.91851705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.47907232899996 meters Centerline goodness : 0.795254 Centerline is valid? [False, False] Translation: X:-165.86, Y:17.81, Z:99.19 [[ 8.53051395e-01 -5.20912672e-01 3.08756530e-02 -1.65856883e+02] [ 5.20140785e-01 8.53557961e-01 2.98725774e-02 1.78146505e+01] [-4.19151635e-02 -9.42315737e-03 9.99076735e-01 9.91887566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.509072329 meters Centerline goodness : 0.798940 Centerline is valid? [False, False] Translation: X:-165.91, Y:17.80, Z:99.19 [[ 8.47484455e-01 -5.29825441e-01 3.24823217e-02 -1.65907003e+02] [ 5.29103418e-01 8.48077969e-01 2.85189624e-02 1.78040700e+01] [-4.26576132e-02 -6.98286983e-03 9.99065347e-01 9.91900827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.53907232899996 meters Centerline goodness : 0.807523 Centerline is valid? [False, False] Translation: X:-165.97, Y:17.79, Z:99.20 [[ 8.35956867e-01 -5.47962497e-01 3.02195218e-02 -1.65970082e+02] [ 5.47353828e-01 8.36484594e-01 2.64066296e-02 1.77936201e+01] [-3.97480071e-02 -5.53403236e-03 9.99194411e-01 9.91981060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.569072329 meters Centerline goodness : 0.811028 Centerline is valid? [False, False] Translation: X:-166.02, Y:17.78, Z:99.20 [[ 8.29904541e-01 -5.56918501e-01 3.31697996e-02 -1.66023027e+02] [ 5.56399264e-01 8.30565720e-01 2.40923968e-02 1.77827947e+01] [-4.09672000e-02 -1.53873745e-03 9.99159307e-01 9.91990845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.59907232899997 meters Centerline goodness : 0.816547 Centerline is valid? [False, False] Translation: X:-166.07, Y:17.77, Z:99.20 [[ 8.23574180e-01 -5.66089907e-01 3.56059924e-02 -1.66074496e+02] [ 5.65680763e-01 8.24340251e-01 2.16431442e-02 1.77736389e+01] [-4.16034182e-02 2.31689024e-03 9.99131517e-01 9.91989859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.629072329 meters Centerline goodness : 0.819386 Centerline is valid? [False, False] Translation: X:-166.14, Y:17.76, Z:99.20 [[ 8.16256561e-01 -5.76771148e-01 3.25617779e-02 -1.66144482e+02] [ 5.76329617e-01 8.16905700e-01 2.25665517e-02 1.77582260e+01] [-3.96156379e-02 3.46221115e-04 9.99214933e-01 9.92041476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.65907232899997 meters Centerline goodness : 0.828102 Centerline is valid? [False, False] Translation: X:-166.22, Y:17.75, Z:99.21 [[ 8.00418510e-01 -5.98820367e-01 2.72832731e-02 -1.66222023e+02] [ 5.98376706e-01 8.00880330e-01 2.31519801e-02 1.77495706e+01] [-3.57145140e-02 -2.20559834e-03 9.99359599e-01 9.92103540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.689072329 meters Centerline goodness : 0.831075 Centerline is valid? [False, False] Translation: X:-166.31, Y:17.73, Z:99.22 [[ 7.90245872e-01 -6.12318700e-01 2.40264564e-02 -1.66312822e+02] [ 6.11781825e-01 7.90587264e-01 2.63586007e-02 1.77271505e+01] [-3.51348746e-02 -6.13082607e-03 9.99363774e-01 9.92206623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.71907232899997 meters Centerline goodness : 0.835216 Centerline is valid? [False, False] Translation: X:-166.40, Y:17.72, Z:99.23 [[ 7.67980471e-01 -6.40197535e-01 1.87912973e-02 -1.66404437e+02] [ 6.39636073e-01 7.68146078e-01 2.85883977e-02 1.77155136e+01] [-3.27366830e-02 -9.93573952e-03 9.99414624e-01 9.92339878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.74907232899994 meters Centerline goodness : 0.838098 Centerline is valid? [False, False] Translation: X:-166.51, Y:17.69, Z:99.25 [[ 7.54813674e-01 -6.55863571e-01 9.96458038e-03 -1.66508096e+02] [ 6.55367089e-01 7.54702605e-01 3.02978180e-02 1.76927928e+01] [-2.73915299e-02 -1.63387493e-02 9.99491245e-01 9.92486671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.779072329 meters Centerline goodness : 0.839796 Centerline is valid? [False, False] Translation: X:-166.62, Y:17.67, Z:99.26 [[ 7.41584383e-01 -6.70845202e-01 4.39524591e-03 -1.66617151e+02] [ 6.70452743e-01 7.41346869e-01 2.99656305e-02 1.76689385e+01] [-2.33607012e-02 -1.92752389e-02 9.99541266e-01 9.92571345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.80907232899995 meters Centerline goodness : 0.879353 Centerline is valid? [False, False] Translation: X:-166.74, Y:17.65, Z:99.27 [[ 7.12919389e-01 -7.01241968e-01 -2.37633416e-03 -1.66740672e+02] [ 7.00932450e-01 7.12495208e-01 3.23153061e-02 1.76544217e+01] [-2.09677221e-02 -2.47038580e-02 9.99474899e-01 9.92655992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.839072329 meters Centerline goodness : 0.886497 Centerline is valid? [False, False] Translation: X:-166.90, Y:17.62, Z:99.26 [[ 6.98321739e-01 -7.15780008e-01 2.39378686e-03 -1.66898171e+02] [ 7.15438129e-01 6.98084346e-01 2.87494177e-02 1.76164413e+01] [-2.22493236e-02 -1.83637370e-02 9.99583784e-01 9.92640064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.86907232899995 meters Centerline goodness : 0.860708 Centerline is valid? [False, False] Translation: X:-167.08, Y:17.57, Z:99.26 [[ 6.83306446e-01 -7.29998557e-01 1.39430108e-02 -1.67084033e+02] [ 7.29605071e-01 6.83414252e-01 2.49278830e-02 1.75692033e+01] [-2.77261709e-02 -6.86049171e-03 9.99592013e-01 9.92570665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.899072329 meters Centerline goodness : 0.858995 Centerline is valid? [False, False] Translation: X:-167.26, Y:17.53, Z:99.25 [[ 6.66573434e-01 -7.44961849e-01 2.66777226e-02 -1.67261924e+02] [ 7.44694872e-01 6.67080201e-01 2.08219301e-02 1.75259051e+01] [-3.33077241e-02 5.98741782e-03 9.99427209e-01 9.92502883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.92907232899995 meters Centerline goodness : 0.816192 Centerline is valid? [False, False] Translation: X:-167.45, Y:17.49, Z:99.24 [[ 6.29333945e-01 -7.75945244e-01 4.29856227e-02 -1.67452953e+02] [ 7.76209266e-01 6.30320972e-01 1.39516549e-02 1.74940476e+01] [-3.79204598e-02 2.45855886e-02 9.98978272e-01 9.92442913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.959072329 meters Centerline goodness : 0.679269 Centerline is valid? [False, False] Translation: X:-167.66, Y:17.44, Z:99.24 [[ 6.09355873e-01 -7.90894081e-01 5.63202737e-02 -1.67656530e+02] [ 7.91872627e-01 6.10640769e-01 7.45617742e-03 1.74434840e+01] [-4.02885018e-02 4.00550176e-02 9.98384912e-01 9.92423020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.98907232899995 meters Centerline goodness : 0.689269 Centerline is valid? [False, False] Translation: X:-167.87, Y:17.41, Z:99.24 [[ 5.66577398e-01 -8.21172538e-01 6.83060458e-02 -1.67868105e+02] [ 8.23048545e-01 5.67969809e-01 1.17861160e-03 1.74069685e+01] [-3.97636153e-02 5.55514169e-02 9.97663718e-01 9.92387086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.019072329 meters Centerline goodness : 0.838620 Centerline is valid? [False, False] Translation: X:-168.10, Y:17.35, Z:99.24 [[ 5.44024059e-01 -8.35314536e-01 7.92934356e-02 -1.68104400e+02] [ 8.38211056e-01 5.45309176e-01 -6.33469736e-03 1.73479478e+01] [-3.79479732e-02 6.99108622e-02 9.96831191e-01 9.92423600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.04907232899996 meters Centerline goodness : 0.839494 Centerline is valid? [False, False] Translation: X:-168.35, Y:17.29, Z:99.25 [[ 5.21936718e-01 -8.47906323e-01 9.29350906e-02 -1.68346769e+02] [ 8.52209455e-01 5.23000996e-01 -1.44569149e-02 1.72877759e+01] [-3.63470354e-02 8.67457577e-02 9.95567208e-01 9.92502585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.079072329 meters Centerline goodness : 0.869901 Centerline is valid? [False, False] Translation: X:-168.61, Y:17.24, Z:99.26 [[ 4.79536549e-01 -8.70452039e-01 1.11166295e-01 -1.68605981e+02] [ 8.76967009e-01 4.79876735e-01 -2.54398248e-02 1.72410398e+01] [-3.12019712e-02 1.09688499e-01 9.93476155e-01 9.92618054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.10907232899996 meters Centerline goodness : 0.867208 Centerline is valid? [False, False] Translation: X:-168.88, Y:17.17, Z:99.28 [[ 4.60842374e-01 -8.78864593e-01 1.23374768e-01 -1.68880917e+02] [ 8.87157914e-01 4.59957559e-01 -3.72810918e-02 1.71737544e+01] [-2.39821254e-02 1.26633608e-01 9.91659612e-01 9.92792132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.139072329 meters Centerline goodness : 0.870219 Centerline is valid? [False, False] Translation: X:-169.16, Y:17.11, Z:99.30 [[ 4.43700938e-01 -8.86065432e-01 1.34229383e-01 -1.69163328e+02] [ 8.96020262e-01 4.41402461e-01 -4.80786615e-02 1.71050134e+01] [-1.66483400e-02 1.41604794e-01 9.89783267e-01 9.92991917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.16907232899996 meters Centerline goodness : 0.857819 Centerline is valid? [False, False] Translation: X:-169.46, Y:17.06, Z:99.32 [[ 4.12069928e-01 -8.99534345e-01 1.45039088e-01 -1.69456873e+02] [ 9.11139887e-01 4.07638553e-01 -6.04559068e-02 1.70557544e+01] [-4.74135932e-03 1.57062959e-01 9.87577210e-01 9.93220295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.199072329 meters Centerline goodness : 0.855734 Centerline is valid? [False, False] Translation: X:-169.76, Y:16.98, Z:99.35 [[ 3.99455783e-01 -9.03109920e-01 1.57567602e-01 -1.69763860e+02] [ 9.16745361e-01 3.92831766e-01 -7.25337631e-02 1.69825069e+01] [ 3.60840176e-03 1.73423399e-01 9.84840751e-01 9.93524151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.22907232899996 meters Centerline goodness : 0.847003 Centerline is valid? [False, False] Translation: X:-170.09, Y:16.90, Z:99.39 [[ 3.87582095e-01 -9.06050242e-01 1.69861939e-01 -1.70090616e+02] [ 9.21736916e-01 3.78214201e-01 -8.57617425e-02 1.69029236e+01] [ 1.34602501e-02 1.89807735e-01 9.81729008e-01 9.93891492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.259072329 meters Centerline goodness : 0.318636 Centerline is valid? [False, False] Translation: X:-170.43, Y:16.84, Z:99.43 [[ 3.63401304e-01 -9.13913253e-01 1.80837102e-01 -1.70427502e+02] [ 9.31245103e-01 3.50742546e-01 -9.88039692e-02 1.68411856e+01] [ 2.68709911e-02 2.04309157e-01 9.78537540e-01 9.94306661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.28907232899996 meters Centerline goodness : 0.832877 Centerline is valid? [False, False] Translation: X:-170.77, Y:16.76, Z:99.48 [[ 3.54565208e-01 -9.14680083e-01 1.94020252e-01 -1.70771947e+02] [ 9.34220212e-01 3.37906216e-01 -1.14245282e-01 1.67574670e+01] [ 3.89372352e-02 2.21765044e-01 9.74322409e-01 9.94787326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.319072329 meters Centerline goodness : 0.829504 Centerline is valid? [False, False] Translation: X:-171.12, Y:16.67, Z:99.53 [[ 3.46382439e-01 -9.14884413e-01 2.07378200e-01 -1.71122499e+02] [ 9.36666206e-01 3.25109367e-01 -1.30231782e-01 1.66723530e+01] [ 5.17264320e-02 2.39354154e-01 9.69553487e-01 9.95323377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.34907232899997 meters Centerline goodness : 0.824440 Centerline is valid? [False, False] Translation: X:-171.49, Y:16.60, Z:99.60 [[ 3.28283567e-01 -9.18173810e-01 2.21780870e-01 -1.71488989e+02] [ 9.42008421e-01 3.00927115e-01 -1.48536210e-01 1.66041761e+01] [ 6.96421808e-02 2.57681444e-01 9.63716888e-01 9.95952663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.379072329 meters Centerline goodness : 0.820666 Centerline is valid? [False, False] Translation: X:-171.86, Y:16.51, Z:99.66 [[ 3.24137818e-01 -9.16157693e-01 2.35774801e-01 -1.71862125e+02] [ 9.42244034e-01 2.90443710e-01 -1.66789182e-01 1.65141885e+01] [ 8.43258839e-02 2.76220081e-01 9.57387911e-01 9.96626096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.40907232899997 meters Centerline goodness : 0.817153 Centerline is valid? [False, False] Translation: X:-172.25, Y:16.42, Z:99.74 [[ 3.21330535e-01 -9.13481916e-01 2.49594623e-01 -1.72246015e+02] [ 9.41761822e-01 2.80666657e-01 -1.85232014e-01 1.64215239e+01] [ 9.91532068e-02 2.94579389e-01 9.50469161e-01 9.97382201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.439072329 meters Centerline goodness : 0.812836 Centerline is valid? [False, False] Translation: X:-172.63, Y:16.35, Z:99.82 [[ 3.12589979e-01 -9.12181539e-01 2.64976121e-01 -1.72629860e+02] [ 9.42795251e-01 2.63913824e-01 -2.03682615e-01 1.63488526e+01] [ 1.15864660e-01 3.13487373e-01 9.42497240e-01 9.98234607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.46907232899997 meters Centerline goodness : 0.809992 Centerline is valid? [False, False] Translation: X:-173.03, Y:16.25, Z:99.91 [[ 3.13485266e-01 -9.07715055e-01 2.78891319e-01 -1.73028640e+02] [ 9.40551784e-01 2.56375379e-01 -2.22786910e-01 1.62509586e+01] [ 1.30726164e-01 3.32152141e-01 9.34122918e-01 9.99148747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.49907232899994 meters Centerline goodness : 0.806112 Centerline is valid? [False, False] Translation: X:-173.42, Y:16.15, Z:100.01 [[ 3.15315213e-01 -9.03016004e-01 2.91784874e-01 -1.73419835e+02] [ 9.38057276e-01 2.50054508e-01 -2.39835965e-01 1.61542158e+01] [ 1.43613592e-01 3.49334853e-01 9.25926723e-01 1.00009822e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.529072329 meters Centerline goodness : 0.801478 Centerline is valid? [False, False] Translation: X:-173.84, Y:16.07, Z:100.12 [[ 3.15909171e-01 -8.98493620e-01 3.04812419e-01 -1.73838869e+02] [ 9.35796510e-01 2.42080681e-01 -2.56284677e-01 1.60672841e+01] [ 1.56480949e-01 3.66205077e-01 9.17282701e-01 1.00123528e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.55907232899995 meters Centerline goodness : 0.798137 Centerline is valid? [False, False] Translation: X:-174.25, Y:15.96, Z:100.24 [[ 3.21506809e-01 -8.92609596e-01 3.16040314e-01 -1.74254589e+02] [ 9.32176404e-01 2.39713305e-01 -2.71264968e-01 1.59617093e+01] [ 1.66374645e-01 3.81818858e-01 9.09139064e-01 1.00236525e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.589072329 meters Centerline goodness : 0.795052 Centerline is valid? [False, False] Translation: X:-174.69, Y:15.85, Z:100.36 [[ 3.27796872e-01 -8.86773619e-01 3.25855426e-01 -1.74685147e+02] [ 9.28535168e-01 2.38776489e-01 -2.84267883e-01 1.58501857e+01] [ 1.74274645e-01 3.95750346e-01 9.01670678e-01 1.00359208e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.61907232899995 meters Centerline goodness : 0.793202 Centerline is valid? [False, False] Translation: X:-175.12, Y:15.76, Z:100.49 [[ 0.33991605 -0.8779 0.33726646 -175.11725034] [ 0.92336538 0.24348252 -0.29683773 15.75694277] [ 0.17847535 0.41232008 0.89338609 100.49208806] [ 0. 0. 0. 1. ]] SLAMing on 288.649072329 meters Centerline goodness : 0.793287 Centerline is valid? [False, False] Translation: X:-175.53, Y:15.65, Z:100.62 [[ 0.35031022 -0.87125105 0.34380861 -175.53400323] [ 0.91895897 0.24873401 -0.30601602 15.64734412] [ 0.18109989 0.42314655 0.88777803 100.62193602] [ 0. 0. 0. 1. ]] SLAMing on 288.67907232899995 meters Centerline goodness : 0.792513 Centerline is valid? [False, False] Translation: X:-175.96, Y:15.55, Z:100.77 [[ 3.68395535e-01 -8.62785152e-01 3.46246315e-01 -1.75960640e+02] [ 9.13305866e-01 2.66303826e-01 -3.08147152e-01 1.55495022e+01] [ 1.73658069e-01 4.29748826e-01 8.86091881e-01 1.00765312e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.709072329 meters Centerline goodness : 0.791865 Centerline is valid? [False, False] Translation: X:-176.35, Y:15.44, Z:100.89 [[ 3.79228798e-01 -8.57892077e-01 3.46708383e-01 -1.76353612e+02] [ 9.09721271e-01 2.77206374e-01 -3.09134008e-01 1.54417112e+01] [ 1.69093843e-01 4.32640509e-01 8.85567311e-01 1.00893671e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.73907232899995 meters Centerline goodness : 0.793251 Centerline is valid? [False, False] Translation: X:-176.76, Y:15.33, Z:101.03 [[ 3.88305384e-01 -8.54738188e-01 3.44443841e-01 -1.76756679e+02] [ 9.06921399e-01 2.88160015e-01 -3.07339196e-01 1.53290793e+01] [ 1.63439605e-01 4.31724955e-01 8.87074438e-01 1.01026614e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.769072329 meters Centerline goodness : 0.792643 Centerline is valid? [False, False] Translation: X:-177.07, Y:15.23, Z:101.13 [[ 3.83761540e-01 -8.64125618e-01 3.25597907e-01 -1.77065202e+02] [ 9.13400666e-01 3.03382481e-01 -2.71400614e-01 1.52291939e+01] [ 1.35743522e-01 4.01554463e-01 9.05719443e-01 1.01133840e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.79907232899996 meters Centerline goodness : 0.792643 Centerline is valid? [False, False] Translation: X:-177.37, Y:15.12, Z:101.23 [[ 3.71442875e-01 -8.75765082e-01 3.08327280e-01 -1.77367266e+02] [ 9.21608530e-01 3.07522201e-01 -2.36786430e-01 1.51168285e+01] [ 1.12551803e-01 3.72109683e-01 9.21339500e-01 1.01230258e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.829072329 meters Centerline goodness : 0.788065 Centerline is valid? [False, False] Translation: X:-177.68, Y:15.04, Z:101.33 [[ 3.78806280e-01 -8.78551898e-01 2.90950795e-01 -1.77679387e+02] [ 9.20932402e-01 3.26720602e-01 -2.12455074e-01 1.50396807e+01] [ 9.15931896e-02 3.48425331e-01 9.32850726e-01 1.01331191e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.85907232899996 meters Centerline goodness : 0.786944 Centerline is valid? [False, False] Translation: X:-177.97, Y:14.94, Z:101.42 [[ 3.87559065e-01 -8.78404068e-01 2.79650254e-01 -1.77973986e+02] [ 9.19304259e-01 3.45771251e-01 -1.87941272e-01 1.49410057e+01] [ 6.83933599e-02 3.29922013e-01 9.41527383e-01 1.01419319e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.889072329 meters Centerline goodness : 0.792080 Centerline is valid? [False, False] Translation: X:-178.27, Y:14.86, Z:101.50 [[ 4.21312112e-01 -8.67404127e-01 2.64775726e-01 -1.78265610e+02] [ 9.06249299e-01 3.91470619e-01 -1.59571183e-01 1.48582555e+01] [ 3.47607853e-02 3.07182088e-01 9.51015695e-01 1.01503305e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.91907232899996 meters Centerline goodness : 0.790736 Centerline is valid? [False, False] Translation: X:-178.53, Y:14.77, Z:101.58 [[ 4.32564232e-01 -8.65299940e-01 2.53267049e-01 -1.78529582e+02] [ 9.01452212e-01 4.09938142e-01 -1.39049018e-01 1.47747863e+01] [ 1.64952834e-02 2.88455774e-01 9.57351123e-01 1.01576168e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.949072329 meters Centerline goodness : 0.791548 Centerline is valid? [False, False] Translation: X:-178.78, Y:14.70, Z:101.64 [[ 4.40537387e-01 -8.64232081e-01 2.42960326e-01 -1.78776490e+02] [ 8.97728332e-01 4.23110429e-01 -1.22724923e-01 1.46964616e+01] [ 3.26376820e-03 2.72177286e-01 9.62241588e-01 1.01642354e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.97907232899996 meters Centerline goodness : 0.790004 Centerline is valid? [False, False] Translation: X:-179.02, Y:14.62, Z:101.71 [[ 4.48708010e-01 -8.62080461e-01 2.35538533e-01 -1.79020952e+02] [ 8.93658802e-01 4.34579895e-01 -1.11867159e-01 1.46200795e+01] [-5.92181859e-03 2.60686773e-01 9.65405272e-01 1.01706175e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.009072329 meters Centerline goodness : 0.786714 Centerline is valid? [False, False] Translation: X:-179.28, Y:14.54, Z:101.77 [[ 4.62398881e-01 -8.54956068e-01 2.35026372e-01 -1.79275151e+02] [ 8.86503175e-01 4.50946774e-01 -1.03726214e-01 1.45444602e+01] [-1.73030279e-02 2.56314511e-01 9.66438553e-01 1.01774058e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.03907232899996 meters Centerline goodness : 0.789225 Centerline is valid? [False, False] Translation: X:-179.51, Y:14.47, Z:101.84 [[ 4.78146923e-01 -8.46564723e-01 2.33888200e-01 -1.79513173e+02] [ 8.77758576e-01 4.69781023e-01 -9.40514359e-02 1.44731694e+01] [-3.02556103e-02 2.50267779e-01 9.67703796e-01 1.01835899e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.069072329 meters Centerline goodness : 0.788196 Centerline is valid? [False, False] Translation: X:-179.74, Y:14.40, Z:101.89 [[ 4.82102657e-01 -8.45358354e-01 2.30100588e-01 -1.79740002e+02] [ 8.75343674e-01 4.75785241e-01 -8.60340402e-02 1.44024589e+01] [-3.67488689e-02 2.42894333e-01 9.69356417e-01 1.01892735e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.09907232899997 meters Centerline goodness : 0.787479 Centerline is valid? [False, False] Translation: X:-179.97, Y:14.33, Z:101.95 [[ 4.84433895e-01 -8.45010253e-01 2.26454132e-01 -1.79968462e+02] [ 8.73778825e-01 4.80034315e-01 -7.79591038e-02 1.43307462e+01] [-4.28295122e-02 2.35636858e-01 9.70896959e-01 1.01949010e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.129072329 meters Centerline goodness : 0.788312 Centerline is valid? [False, False] Translation: X:-180.19, Y:14.26, Z:102.00 [[ 4.86289270e-01 -8.44872258e-01 2.22965499e-01 -1.80190981e+02] [ 8.72471555e-01 4.83531684e-01 -7.06434435e-02 1.42599524e+01] [-4.81261973e-02 2.28884204e-01 9.72263282e-01 1.02002527e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.15907232899997 meters Centerline goodness : 0.789189 Centerline is valid? [False, False] Translation: X:-180.42, Y:14.19, Z:102.06 [[ 4.92158659e-01 -8.42032434e-01 2.20819460e-01 -1.80417427e+02] [ 8.69164440e-01 4.89402595e-01 -7.09808224e-02 1.41893940e+01] [-4.83014617e-02 2.26862248e-01 9.72728374e-01 1.02055295e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.189072329 meters Centerline goodness : 0.787905 Centerline is valid? [False, False] Translation: X:-180.65, Y:14.12, Z:102.11 [[ 4.93525256e-01 -8.41722368e-01 2.18943547e-01 -1.80646216e+02] [ 8.68440118e-01 4.90635356e-01 -7.13351847e-02 1.41177535e+01] [-4.73770245e-02 2.25345075e-01 9.73126413e-01 1.02107203e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.21907232899997 meters Centerline goodness : 0.788984 Centerline is valid? [False, False] Translation: X:-180.86, Y:14.05, Z:102.16 [[ 4.93240732e-01 -8.42683021e-01 2.15867799e-01 -1.80861110e+02] [ 8.68502662e-01 4.91072677e-01 -6.74592624e-02 1.40495579e+01] [-4.91600028e-02 2.20755414e-01 9.74089493e-01 1.02156966e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.24907232899994 meters Centerline goodness : 0.789366 Centerline is valid? [False, False] Translation: X:-181.08, Y:13.98, Z:102.21 [[ 4.96852169e-01 -8.41744718e-01 2.11196004e-01 -1.81076024e+02] [ 8.66325237e-01 4.95425924e-01 -6.35117059e-02 1.39828120e+01] [-5.11713326e-02 2.14520357e-01 9.75378137e-01 1.02207024e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.279072329 meters Centerline goodness : 0.789402 Centerline is valid? [False, False] Translation: X:-181.30, Y:13.92, Z:102.26 [[ 5.03989806e-01 -8.38695290e-01 2.06360087e-01 -1.81296918e+02] [ 8.62184257e-01 5.02722454e-01 -6.25175287e-02 1.39179420e+01] [-5.13086926e-02 2.09428616e-01 9.76476868e-01 1.02256346e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.30907232899995 meters Centerline goodness : 0.788815 Centerline is valid? [False, False] Translation: X:-181.51, Y:13.85, Z:102.30 [[ 5.05537982e-01 -8.39122515e-01 2.00760440e-01 -1.81505927e+02] [ 8.61216151e-01 5.04868832e-01 -5.84311885e-02 1.38527141e+01] [-5.23267630e-02 2.02437319e-01 9.77896233e-01 1.02303214e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.339072329 meters Centerline goodness : 0.789015 Centerline is valid? [False, False] Translation: X:-181.71, Y:13.79, Z:102.35 [[ 5.05027818e-01 -8.40116502e-01 1.97866534e-01 -1.81713731e+02] [ 8.61526661e-01 5.04529180e-01 -5.67637184e-02 1.37881562e+01] [-5.21413035e-02 1.99134551e-01 9.78584036e-01 1.02349380e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.36907232899995 meters Centerline goodness : 0.788749 Centerline is valid? [False, False] Translation: X:-181.92, Y:13.72, Z:102.40 [[ 5.05445365e-01 -8.39765939e-01 1.98288050e-01 -1.81922918e+02] [ 8.61190337e-01 5.05250259e-01 -5.54380694e-02 1.37228249e+01] [-5.36300863e-02 1.98784668e-01 9.78574713e-01 1.02396653e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.399072329 meters Centerline goodness : 0.788653 Centerline is valid? [False, False] Translation: X:-182.14, Y:13.66, Z:102.45 [[ 5.04355030e-01 -8.39933045e-01 2.00345910e-01 -1.82137253e+02] [ 8.61649184e-01 5.04710595e-01 -5.31779921e-02 1.36554062e+01] [-5.64507509e-02 1.99448478e-01 9.78280950e-01 1.02445020e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.42907232899995 meters Centerline goodness : 0.789354 Centerline is valid? [False, False] Translation: X:-182.35, Y:13.59, Z:102.49 [[ 5.02041385e-01 -8.40659322e-01 2.03091980e-01 -1.82348041e+02] [ 8.62794731e-01 5.03001089e-01 -5.07460096e-02 1.35887665e+01] [-5.94953810e-02 2.00703287e-01 9.77843796e-01 1.02494006e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.459072329 meters Centerline goodness : 0.790039 Centerline is valid? [False, False] Translation: X:-182.56, Y:13.52, Z:102.54 [[ 5.01024141e-01 -8.41292775e-01 2.02980977e-01 -1.82560770e+02] [ 8.63300802e-01 5.02303342e-01 -4.90211939e-02 1.35208523e+01] [-6.07168467e-02 1.99794442e-01 9.77954828e-01 1.02541447e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.48907232899995 meters Centerline goodness : 0.788924 Centerline is valid? [False, False] Translation: X:-182.76, Y:13.46, Z:102.59 [[ 5.01365588e-01 -8.41829506e-01 1.99889045e-01 -1.82763738e+02] [ 8.63027526e-01 5.03052011e-01 -4.60669414e-02 1.34565164e+01] [-6.17740756e-02 1.95606127e-01 9.78735003e-01 1.02585859e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.519072329 meters Centerline goodness : 0.787743 Centerline is valid? [False, False] Translation: X:-182.98, Y:13.39, Z:102.63 [[ 5.04231207e-01 -8.40824017e-01 1.96890486e-01 -1.82976119e+02] [ 8.61559659e-01 5.05351620e-01 -4.83186764e-02 1.33918654e+01] [-5.88714225e-02 1.93996685e-01 9.79234110e-01 1.02630401e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.54907232899996 meters Centerline goodness : 0.786914 Centerline is valid? [False, False] Translation: X:-183.18, Y:13.33, Z:102.68 [[ 5.04299058e-01 -8.41254207e-01 1.94868723e-01 -1.83184680e+02] [ 8.61465561e-01 5.05708003e-01 -4.62223237e-02 1.33263666e+01] [-5.96619487e-02 1.91182568e-01 9.79739597e-01 1.02676579e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.579072329 meters Centerline goodness : 0.787707 Centerline is valid? [False, False] Translation: X:-183.40, Y:13.26, Z:102.72 [[ 5.05098454e-01 -8.40300064e-01 1.96904427e-01 -1.83401557e+02] [ 8.61062913e-01 5.06156724e-01 -4.87445529e-02 1.32595912e+01] [-5.87044487e-02 1.94167898e-01 9.79210200e-01 1.02722880e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.60907232899996 meters Centerline goodness : 0.787703 Centerline is valid? [False, False] Translation: X:-183.61, Y:13.20, Z:102.77 [[ 5.07061860e-01 -8.39213572e-01 1.96491349e-01 -1.83606079e+02] [ 8.59865700e-01 5.08229730e-01 -4.83065213e-02 1.31954139e+01] [-5.93232567e-02 1.93450565e-01 9.79314878e-01 1.02768023e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.639072329 meters Centerline goodness : 0.787930 Centerline is valid? [False, False] Translation: X:-183.83, Y:13.13, Z:102.81 [[ 5.12106561e-01 -8.35892657e-01 1.97560970e-01 -1.83826690e+02] [ 8.56841175e-01 5.13169177e-01 -4.98055908e-02 1.31299772e+01] [-5.97500728e-02 1.94784144e-01 9.79024548e-01 1.02814071e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.66907232899996 meters Centerline goodness : 0.786828 Centerline is valid? [False, False] Translation: X:-184.03, Y:13.07, Z:102.86 [[ 5.16077750e-01 -8.34014564e-01 1.95149848e-01 -1.84033985e+02] [ 8.54268862e-01 5.17758118e-01 -4.63814908e-02 1.30676638e+01] [-6.23575789e-02 1.90646894e-01 9.79676117e-01 1.02860706e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.699072329 meters Centerline goodness : 0.788255 Centerline is valid? [False, False] Translation: X:-184.24, Y:13.01, Z:102.91 [[ 5.23547239e-01 -8.29345681e-01 1.95151302e-01 -1.84243509e+02] [ 8.49222497e-01 5.26437859e-01 -4.10406105e-02 1.30085228e+01] [-6.86981805e-02 1.87213574e-01 9.79914097e-01 1.02909992e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.72907232899996 meters Centerline goodness : 0.789522 Centerline is valid? [False, False] Translation: X:-184.45, Y:12.95, Z:102.96 [[ 5.25722585e-01 -8.28292960e-01 1.93769285e-01 -1.84451413e+02] [ 8.47563493e-01 5.29446634e-01 -3.63646422e-02 1.29452645e+01] [-7.24699187e-02 1.83349486e-01 9.80372927e-01 1.02958011e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.759072329 meters Centerline goodness : 0.790397 Centerline is valid? [False, False] Translation: X:-184.66, Y:12.89, Z:103.00 [[ 5.31618676e-01 -8.24741625e-01 1.92828512e-01 -1.84655731e+02] [ 8.43613669e-01 5.35887590e-01 -3.37708340e-02 1.28851532e+01] [-7.54821939e-02 1.80625974e-01 9.80651159e-01 1.03004883e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.78907232899996 meters Centerline goodness : 0.789371 Centerline is valid? [False, False] Translation: X:-184.85, Y:12.83, Z:103.05 [[ 5.33148791e-01 -8.24174877e-01 1.91018686e-01 -1.84849850e+02] [ 8.42587033e-01 5.37596850e-01 -3.21981066e-02 1.28256479e+01] [-7.61541735e-02 1.78116250e-01 9.81058175e-01 1.03047945e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.819072329 meters Centerline goodness : 0.788610 Centerline is valid? [False, False] Translation: X:-185.06, Y:12.76, Z:103.09 [[ 5.36207983e-01 -8.22123628e-01 1.91294902e-01 -1.85061800e+02] [ 8.40642599e-01 5.40575418e-01 -3.31396615e-02 1.27613491e+01] [-7.61644229e-02 1.78580395e-01 9.80972998e-01 1.03093054e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.84907232899997 meters Centerline goodness : 0.788297 Centerline is valid? [False, False] Translation: X:-185.26, Y:12.70, Z:103.14 [[ 5.38383555e-01 -8.20846912e-01 1.90665923e-01 -1.85261071e+02] [ 8.39135938e-01 5.42990961e-01 -3.18071282e-02 1.26992808e+01] [-7.74210900e-02 1.77119063e-01 9.81139548e-01 1.03137255e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.879072329 meters Centerline goodness : 0.788267 Centerline is valid? [False, False] Translation: X:-185.46, Y:12.64, Z:103.18 [[ 5.45856016e-01 -8.15435735e-01 1.92628585e-01 -1.85456812e+02] [ 8.34018842e-01 5.50830121e-01 -3.16029839e-02 1.26426820e+01] [-8.03354245e-02 1.77906549e-01 9.80762703e-01 1.03179678e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.90907232899997 meters Centerline goodness : 0.786471 Centerline is valid? [False, False] Translation: X:-185.65, Y:12.58, Z:103.22 [[ 5.49137044e-01 -8.13466067e-01 1.91628456e-01 -1.85650335e+02] [ 8.31701285e-01 5.54421932e-01 -2.98210215e-02 1.25841298e+01] [-8.19846297e-02 1.75753461e-01 9.81014394e-01 1.03222471e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.939072329 meters Centerline goodness : 0.788311 Centerline is valid? [False, False] Translation: X:-185.84, Y:12.53, Z:103.27 [[ 5.53659587e-01 -8.10458178e-01 1.91359880e-01 -1.85842799e+02] [ 8.28528595e-01 5.59206013e-01 -2.87924178e-02 1.25280923e+01] [-8.36745450e-02 1.74488330e-01 9.81097545e-01 1.03265615e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.96907232899997 meters Centerline goodness : 0.788537 Centerline is valid? [False, False] Translation: X:-186.03, Y:12.47, Z:103.30 [[ 5.57006761e-01 -8.08614095e-01 1.89437889e-01 -1.86027093e+02] [ 8.26257387e-01 5.62595318e-01 -2.80220972e-02 1.24723906e+01] [-8.39178064e-02 1.72132952e-01 9.81492765e-01 1.03304934e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.99907232899994 meters Centerline goodness : 0.788289 Centerline is valid? [False, False] Translation: X:-186.21, Y:12.42, Z:103.34 [[ 5.61182236e-01 -8.06460722e-01 1.86267552e-01 -1.86213077e+02] [ 8.23337246e-01 5.66965443e-01 -2.58063025e-02 1.24155635e+01] [-8.47954957e-02 1.67843052e-01 9.82160086e-01 1.03344233e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.029072329 meters Centerline goodness : 0.788638 Centerline is valid? [False, False] Translation: X:-186.40, Y:12.36, Z:103.38 [[ 5.63747309e-01 -8.05186029e-01 1.84022907e-01 -1.86401085e+02] [ 8.21547896e-01 5.69615000e-01 -2.44500853e-02 1.23598671e+01] [-8.51353411e-02 1.64967302e-01 9.82617811e-01 1.03383981e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.05907232899995 meters Centerline goodness : 0.788845 Centerline is valid? [False, False] Translation: X:-186.58, Y:12.30, Z:103.42 [[ 5.65498822e-01 -8.04261352e-01 1.82687602e-01 -1.86583928e+02] [ 8.20356942e-01 5.71344196e-01 -2.40893704e-02 1.23039060e+01] [-8.50033511e-02 1.63491553e-01 9.82875853e-01 1.03422687e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.089072329 meters Centerline goodness : 0.788173 Centerline is valid? [False, False] Translation: X:-186.77, Y:12.25, Z:103.46 [[ 5.65918161e-01 -8.03891953e-01 1.83014651e-01 -1.86768875e+02] [ 8.20038731e-01 5.71800817e-01 -2.40895254e-02 1.22458903e+01] [-8.52825514e-02 1.63711802e-01 9.82815004e-01 1.03461110e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.11907232899995 meters Centerline goodness : 0.786281 Centerline is valid? [False, False] Translation: X:-186.95, Y:12.19, Z:103.50 [[ 5.67119780e-01 -8.03051936e-01 1.82982902e-01 -1.86950544e+02] [ 8.19214521e-01 5.72966463e-01 -2.44336017e-02 1.21893007e+01] [-8.52216150e-02 1.63759029e-01 9.82812422e-01 1.03498332e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.149072329 meters Centerline goodness : 0.787718 Centerline is valid? [False, False] Translation: X:-187.14, Y:12.13, Z:103.54 [[ 5.64221330e-01 -8.05424369e-01 1.81509991e-01 -1.87141257e+02] [ 8.21177416e-01 5.70238340e-01 -2.22685194e-02 1.21279675e+01] [-8.55683480e-02 1.61616279e-01 9.83136937e-01 1.03536659e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.17907232899995 meters Centerline goodness : 0.786407 Centerline is valid? [False, False] Translation: X:-187.33, Y:12.07, Z:103.57 [[ 5.62237679e-01 -8.06944299e-01 1.80913492e-01 -1.87329603e+02] [ 8.22504986e-01 5.68369807e-01 -2.10073821e-02 1.20681813e+01] [-8.58739792e-02 1.60613391e-01 9.83274630e-01 1.03574938e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.209072329 meters Centerline goodness : 0.787110 Centerline is valid? [False, False] Translation: X:-187.52, Y:12.01, Z:103.61 [[ 5.57710888e-01 -8.10132932e-01 1.80674286e-01 -1.87516233e+02] [ 8.25650719e-01 5.63806565e-01 -2.05681193e-02 1.20068909e+01] [-8.52024377e-02 1.60644918e-01 9.83327898e-01 1.03612172e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.23907232899995 meters Centerline goodness : 0.784778 Centerline is valid? [False, False] Translation: X:-187.70, Y:11.95, Z:103.65 [[ 5.53735216e-01 -8.12701031e-01 1.81367982e-01 -1.87702956e+02] [ 8.28313141e-01 5.59908164e-01 -2.00047141e-02 1.19475959e+01] [-8.52915620e-02 1.61306798e-01 9.83211812e-01 1.03649149e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.269072329 meters Centerline goodness : 0.786002 Centerline is valid? [False, False] Translation: X:-187.89, Y:11.89, Z:103.69 [[ 5.52777032e-01 -8.13395133e-01 1.81179220e-01 -1.87893532e+02] [ 8.28933417e-01 5.59009887e-01 -1.94251435e-02 1.18869364e+01] [-8.54806583e-02 1.60923283e-01 9.83258234e-01 1.03688461e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.29907232899996 meters Centerline goodness : 0.786217 Centerline is valid? [False, False] Translation: X:-188.08, Y:11.83, Z:103.73 [[ 5.49532630e-01 -8.15316678e-01 1.82407793e-01 -1.88084263e+02] [ 8.30911944e-01 5.56128642e-01 -1.75007260e-02 1.18265257e+01] [-8.71735646e-02 1.61182034e-01 9.83067201e-01 1.03727975e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.329072329 meters Centerline goodness : 0.785729 Centerline is valid? [False, False] Translation: X:-188.28, Y:11.77, Z:103.77 [[ 5.51273984e-01 -8.14366127e-01 1.81396817e-01 -1.88275866e+02] [ 8.29615484e-01 5.58116491e-01 -1.56246866e-02 1.17667535e+01] [-8.85163396e-02 1.59103092e-01 9.83285851e-01 1.03767231e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.35907232899996 meters Centerline goodness : 0.787959 Centerline is valid? [False, False] Translation: X:-188.47, Y:11.71, Z:103.81 [[ 5.51054912e-01 -8.14540845e-01 1.81277950e-01 -1.88465531e+02] [ 8.29690747e-01 5.58029334e-01 -1.47148422e-02 1.17085620e+01] [-8.91725735e-02 1.58513323e-01 9.83321808e-01 1.03806220e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.389072329 meters Centerline goodness : 0.786226 Centerline is valid? [False, False] Translation: X:-188.66, Y:11.65, Z:103.85 [[ 5.49818924e-01 -8.15761426e-01 1.79533972e-01 -1.88655273e+02] [ 8.30608057e-01 5.56673251e-01 -1.43229893e-02 1.16489977e+01] [-8.82576177e-02 1.56997414e-01 9.83647500e-01 1.03845348e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.41907232899996 meters Centerline goodness : 0.786275 Centerline is valid? [False, False] Translation: X:-188.85, Y:11.59, Z:103.89 [[ 5.49684076e-01 -8.15549718e-01 1.80903495e-01 -1.88852567e+02] [ 8.30870192e-01 5.56201292e-01 -1.71710728e-02 1.15888076e+01] [-8.66148941e-02 1.59745987e-01 9.83350944e-01 1.03885844e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.449072329 meters Centerline goodness : 0.785004 Centerline is valid? [False, False] Translation: X:-189.04, Y:11.53, Z:103.93 [[ 5.47373761e-01 -8.16849704e-01 1.82039905e-01 -1.89044522e+02] [ 8.32453279e-01 5.53800132e-01 -1.80817977e-02 1.15298287e+01] [-8.60436126e-02 1.61437218e-01 9.83124876e-01 1.03925723e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.47907232899996 meters Centerline goodness : 0.782634 Centerline is valid? [False, False] Translation: X:-189.24, Y:11.47, Z:103.97 [[ 5.40471952e-01 -8.20882665e-01 1.84503982e-01 -1.89238764e+02] [ 8.37075857e-01 5.46737029e-01 -1.95609490e-02 1.14671966e+01] [-8.48179150e-02 1.65015973e-01 9.82637090e-01 1.03965579e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.509072329 meters Centerline goodness : 0.783150 Centerline is valid? [False, False] Translation: X:-189.44, Y:11.41, Z:104.01 [[ 5.40081163e-01 -8.20927463e-01 1.85446591e-01 -1.89435261e+02] [ 8.37516460e-01 5.45956742e-01 -2.23028103e-02 1.14077205e+01] [-8.29368271e-02 1.67359900e-01 9.82401215e-01 1.04006001e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.53907232899996 meters Centerline goodness : 0.783290 Centerline is valid? [False, False] Translation: X:-189.64, Y:11.34, Z:104.05 [[ 5.38490695e-01 -8.21828150e-01 1.86081334e-01 -1.89639168e+02] [ 8.38801325e-01 5.43840605e-01 -2.54898731e-02 1.13444869e+01] [-8.02502902e-02 1.69811329e-01 9.82203647e-01 1.04046476e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.569072329 meters Centerline goodness : 0.781059 Centerline is valid? [False, False] Translation: X:-189.83, Y:11.29, Z:104.09 [[ 5.37999688e-01 -8.22228527e-01 1.85732564e-01 -1.89830453e+02] [ 8.39176593e-01 5.43242869e-01 -2.58810892e-02 1.12858299e+01] [-7.96177211e-02 1.69786438e-01 9.82259428e-01 1.04085882e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.59907232899997 meters Centerline goodness : 0.781040 Centerline is valid? [False, False] Translation: X:-190.04, Y:11.22, Z:104.13 [[ 5.37443103e-01 -8.22140893e-01 1.87721238e-01 -1.90038943e+02] [ 8.39585440e-01 5.42520667e-01 -2.77058579e-02 1.12229504e+01] [-7.90645327e-02 1.72498341e-01 9.81831514e-01 1.04128609e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.629072329 meters Centerline goodness : 0.781331 Centerline is valid? [False, False] Translation: X:-190.24, Y:11.16, Z:104.17 [[ 5.32071144e-01 -8.25222935e-01 1.89492492e-01 -1.90242992e+02] [ 8.42942202e-01 5.37334644e-01 -2.68314040e-02 1.11580496e+01] [-7.96789908e-02 1.74007434e-01 9.81515497e-01 1.04172751e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.65907232899997 meters Centerline goodness : 0.780327 Centerline is valid? [False, False] Translation: X:-190.46, Y:11.09, Z:104.22 [[ 5.30998441e-01 -8.25287677e-01 1.92200169e-01 -1.90459455e+02] [ 8.43672850e-01 5.36073780e-01 -2.90004094e-02 1.10918068e+01] [-7.90997904e-02 1.77553236e-01 9.80927149e-01 1.04217502e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.689072329 meters Centerline goodness : 0.781199 Centerline is valid? [False, False] Translation: X:-190.67, Y:11.03, Z:104.26 [[ 5.28864445e-01 -8.26119387e-01 1.94497193e-01 -1.90670362e+02] [ 8.45173445e-01 5.33535008e-01 -3.19725509e-02 1.10276642e+01] [-7.73579171e-02 1.81293008e-01 9.80381863e-01 1.04260921e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.71907232899997 meters Centerline goodness : 0.781199 Centerline is valid? [False, False] Translation: X:-190.88, Y:10.97, Z:104.31 [[ 5.29888244e-01 -8.24923860e-01 1.96771630e-01 -1.90884437e+02] [ 8.44601484e-01 5.34276838e-01 -3.45918090e-02 1.09650769e+01] [-7.65949157e-02 1.84523404e-01 9.79838932e-01 1.04305920e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.74907232899994 meters Centerline goodness : 0.781247 Centerline is valid? [False, False] Translation: X:-191.10, Y:10.90, Z:104.35 [[ 5.26502611e-01 -8.27028699e-01 1.97024189e-01 -1.91095976e+02] [ 8.46927575e-01 5.30445361e-01 -3.66251610e-02 1.09014350e+01] [-7.42205079e-02 1.86148462e-01 9.79714278e-01 1.04351071e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.779072329 meters Centerline goodness : 0.783595 Centerline is valid? [False, False] Translation: X:-191.30, Y:10.84, Z:104.39 [[ 5.21453083e-01 -8.30428941e-01 1.96149068e-01 -1.91301444e+02] [ 8.50338778e-01 5.24809163e-01 -3.87208585e-02 1.08377114e+01] [-7.07859065e-02 1.86984270e-01 9.79809287e-01 1.04394567e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.80907232899995 meters Centerline goodness : 0.780823 Centerline is valid? [False, False] Translation: X:-191.51, Y:10.77, Z:104.44 [[ 5.17732920e-01 -8.32581864e-01 1.96875756e-01 -1.91514376e+02] [ 8.52595596e-01 5.21185685e-01 -3.80293543e-02 1.07733074e+01] [-7.09462751e-02 1.87544451e-01 9.79690617e-01 1.04441526e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.839072329 meters Centerline goodness : 0.780093 Centerline is valid? [False, False] Translation: X:-191.72, Y:10.71, Z:104.49 [[ 5.13644611e-01 -8.35213453e-01 1.96437523e-01 -1.91723396e+02] [ 8.55009999e-01 5.17363999e-01 -3.59498866e-02 1.07093212e+01] [-7.16038736e-02 1.86421512e-01 9.79857084e-01 1.04487157e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.86907232899995 meters Centerline goodness : 0.780626 Centerline is valid? [False, False] Translation: X:-191.94, Y:10.64, Z:104.53 [[ 5.14932220e-01 -8.34004279e-01 1.98196041e-01 -1.91943726e+02] [ 8.54321620e-01 5.18312043e-01 -3.85641728e-02 1.06431883e+01] [-7.05647098e-02 1.89181098e-01 9.79403458e-01 1.04533737e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.899072329 meters Centerline goodness : 0.778268 Centerline is valid? [False, False] Translation: X:-192.16, Y:10.58, Z:104.58 [[ 5.15063107e-01 -8.33312218e-01 2.00750450e-01 -1.92162147e+02] [ 8.54393783e-01 5.17900699e-01 -4.23099255e-02 1.05799179e+01] [-6.87114206e-02 1.93312218e-01 9.78728321e-01 1.04580474e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.92907232899995 meters Centerline goodness : 0.778234 Centerline is valid? [False, False] Translation: X:-192.38, Y:10.52, Z:104.63 [[ 5.15469128e-01 -8.32821685e-01 2.01741467e-01 -1.92375101e+02] [ 8.54401921e-01 5.17507701e-01 -4.67240443e-02 1.05167108e+01] [-6.54899653e-02 1.96453099e-01 9.78323691e-01 1.04625679e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.959072329 meters Centerline goodness : 0.777764 Centerline is valid? [False, False] Translation: X:-192.59, Y:10.45, Z:104.67 [[ 5.15787626e-01 -8.32400746e-01 2.02662584e-01 -1.92592261e+02] [ 8.54326073e-01 5.17408974e-01 -4.91417822e-02 1.04548777e+01] [-6.39537836e-02 1.98486653e-01 9.78014807e-01 1.04672105e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.98907232899995 meters Centerline goodness : 0.777706 Centerline is valid? [False, False] Translation: X:-192.80, Y:10.39, Z:104.72 [[ 5.16561259e-01 -8.32237141e-01 2.01359896e-01 -1.92799682e+02] [ 8.53930261e-01 5.18013738e-01 -4.96475150e-02 1.03942246e+01] [-6.29886867e-02 1.97593292e-01 9.78258308e-01 1.04718222e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.019072329 meters Centerline goodness : 0.775799 Centerline is valid? [False, False] Translation: X:-193.00, Y:10.34, Z:104.76 [[ 5.19261359e-01 -8.30791110e-01 2.00384063e-01 -1.93003227e+02] [ 8.52256634e-01 5.20801442e-01 -4.92390988e-02 1.03358793e+01] [-6.34529032e-02 1.96346608e-01 9.78479299e-01 1.04764322e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.04907232899996 meters Centerline goodness : 0.776388 Centerline is valid? [False, False] Translation: X:-193.21, Y:10.28, Z:104.81 [[ 5.20792754e-01 -8.29923739e-01 2.00003736e-01 -1.93214362e+02] [ 8.51176551e-01 5.22751984e-01 -4.72106126e-02 1.02753241e+01] [-6.53711418e-02 1.94825435e-01 9.78657071e-01 1.04812987e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.079072329 meters Centerline goodness : 0.777111 Centerline is valid? [False, False] Translation: X:-193.43, Y:10.21, Z:104.86 [[ 5.21843271e-01 -8.29472430e-01 1.99135852e-01 -1.93425756e+02] [ 8.50393885e-01 5.24227898e-01 -4.48926604e-02 1.02148469e+01] [-6.71553452e-02 1.92770844e-01 9.78943084e-01 1.04861280e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.10907232899996 meters Centerline goodness : 0.775337 Centerline is valid? [False, False] Translation: X:-193.63, Y:10.16, Z:104.91 [[ 5.25794599e-01 -8.27506729e-01 1.96907731e-01 -1.93628958e+02] [ 8.47745647e-01 5.28775810e-01 -4.15145785e-02 1.01587335e+01] [-6.97664517e-02 1.88755813e-01 9.79542692e-01 1.04906865e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.139072329 meters Centerline goodness : 0.776659 Centerline is valid? [False, False] Translation: X:-193.83, Y:10.10, Z:104.95 [[ 5.27628489e-01 -8.26716086e-01 1.95316895e-01 -1.93833700e+02] [ 8.46520081e-01 5.30867924e-01 -3.97869260e-02 1.01007812e+01] [-7.07949830e-02 1.86332390e-01 9.79932809e-01 1.04953025e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.16907232899996 meters Centerline goodness : 0.775740 Centerline is valid? [False, False] Translation: X:-194.04, Y:10.04, Z:105.00 [[ 5.28519973e-01 -8.26194661e-01 1.95112842e-01 -1.94042885e+02] [ 8.45898205e-01 5.31917610e-01 -3.89856814e-02 1.00411846e+01] [-7.15741947e-02 1.85650314e-01 9.80005661e-01 1.05000105e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.199072329 meters Centerline goodness : 0.775756 Centerline is valid? [False, False] Translation: X:-194.25, Y:9.98, Z:105.05 [[ 5.29956728e-01 -8.25014987e-01 1.96204326e-01 -1.94254011e+02] [ 8.45072622e-01 5.33070843e-01 -4.10821064e-02 9.98103127e+00] [-7.06974522e-02 1.87578643e-01 9.79702058e-01 1.05046432e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.22907232899996 meters Centerline goodness : 0.775849 Centerline is valid? [False, False] Translation: X:-194.46, Y:9.92, Z:105.09 [[ 5.31980984e-01 -8.23921992e-01 1.95317135e-01 -1.94456281e+02] [ 8.43734878e-01 5.35256759e-01 -4.01454579e-02 9.92241980e+00] [-7.14680908e-02 1.86152499e-01 9.79918139e-01 1.05091032e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.259072329 meters Centerline goodness : 0.775893 Centerline is valid? [False, False] Translation: X:-194.66, Y:9.86, Z:105.14 [[ 5.33515030e-01 -8.23167688e-01 1.94310757e-01 -1.94657843e+02] [ 8.42713689e-01 5.36934272e-01 -3.91819555e-02 9.86465415e+00] [-7.20787851e-02 1.84652497e-01 9.80157183e-01 1.05135131e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.28907232899996 meters Centerline goodness : 0.774779 Centerline is valid? [False, False] Translation: X:-194.86, Y:9.81, Z:105.18 [[ 5.36385681e-01 -8.21532550e-01 1.93325296e-01 -1.94859287e+02] [ 8.40803846e-01 5.39995430e-01 -3.81291037e-02 9.80829548e+00] [-7.30704768e-02 1.83000558e-01 9.80393544e-01 1.05179257e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.319072329 meters Centerline goodness : 0.775735 Centerline is valid? [False, False] Translation: X:-195.06, Y:9.75, Z:105.22 [[ 5.37450493e-01 -8.20842321e-01 1.93299900e-01 -1.95059959e+02] [ 8.40019624e-01 5.41292566e-01 -3.70052673e-02 9.75040672e+00] [-7.42563094e-02 1.82264208e-01 9.80441614e-01 1.05222517e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.34907232899997 meters Centerline goodness : 0.774382 Centerline is valid? [False, False] Translation: X:-195.26, Y:9.69, Z:105.27 [[ 5.38614094e-01 -8.19978714e-01 1.93726008e-01 -1.95259504e+02] [ 8.39204943e-01 5.42576720e-01 -3.66819592e-02 9.69245703e+00] [-7.50327963e-02 1.82333244e-01 9.80369659e-01 1.05266375e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.379072329 meters Centerline goodness : 0.773306 Centerline is valid? [False, False] Translation: X:-195.46, Y:9.63, Z:105.31 [[ 5.37077459e-01 -8.20642697e-01 1.95175221e-01 -1.95457714e+02] [ 8.40159241e-01 5.41086553e-01 -3.68482345e-02 9.63440755e+00] [-7.53674529e-02 1.83768622e-01 9.80075936e-01 1.05309498e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.40907232899997 meters Centerline goodness : 0.773470 Centerline is valid? [False, False] Translation: X:-195.66, Y:9.57, Z:105.35 [[ 5.36637233e-01 -8.20763338e-01 1.95877573e-01 -1.95663785e+02] [ 8.40544598e-01 5.40368307e-01 -3.85599650e-02 9.57431973e+00] [-7.41974270e-02 1.85336549e-01 9.79869943e-01 1.05354208e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.439072329 meters Centerline goodness : 0.775283 Centerline is valid? [False, False] Translation: X:-195.86, Y:9.52, Z:105.40 [[ 5.35851804e-01 -8.21555687e-01 1.94702587e-01 -1.95858201e+02] [ 8.41124217e-01 5.39460836e-01 -3.86271756e-02 9.51761719e+00] [-7.33000446e-02 1.84467503e-01 9.80101446e-01 1.05396575e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.46907232899997 meters Centerline goodness : 0.774078 Centerline is valid? [False, False] Translation: X:-196.06, Y:9.46, Z:105.44 [[ 5.35721572e-01 -8.21738366e-01 1.94289618e-01 -1.96059277e+02] [ 8.41201492e-01 5.39367482e-01 -3.82461627e-02 9.45934850e+00] [-7.33651625e-02 1.83926011e-01 9.80198335e-01 1.05440488e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.49907232899994 meters Centerline goodness : 0.774345 Centerline is valid? [False, False] Translation: X:-196.26, Y:9.40, Z:105.48 [[ 5.34050846e-01 -8.22876530e-01 1.94071920e-01 -1.96260015e+02] [ 8.42276107e-01 5.37716424e-01 -3.78418577e-02 9.40012709e+00] [-7.32164826e-02 1.83671618e-01 9.80257152e-01 1.05484216e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.529072329 meters Centerline goodness : 0.773803 Centerline is valid? [False, False] Translation: X:-196.46, Y:9.34, Z:105.53 [[ 5.33672464e-01 -8.22984138e-01 1.94655621e-01 -1.96458471e+02] [ 8.42542476e-01 5.37253551e-01 -3.84811301e-02 9.34285126e+00] [-7.29100640e-02 1.84541948e-01 9.80116520e-01 1.05526894e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.55907232899995 meters Centerline goodness : 0.774873 Centerline is valid? [False, False] Translation: X:-196.66, Y:9.28, Z:105.57 [[ 5.34704844e-01 -8.22214641e-01 1.95073868e-01 -1.96664785e+02] [ 8.41993529e-01 5.37968339e-01 -4.04594119e-02 9.28389639e+00] [-7.16772437e-02 1.85884778e-01 9.79953684e-01 1.05571460e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.589072329 meters Centerline goodness : 0.774478 Centerline is valid? [False, False] Translation: X:-196.87, Y:9.22, Z:105.62 [[ 5.33311021e-01 -8.22968016e-01 1.95711520e-01 -1.96871644e+02] [ 8.42800103e-01 5.36777998e-01 -3.94634916e-02 9.22447047e+00] [-7.25764464e-02 1.85992004e-01 9.79867151e-01 1.05616518e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.61907232899995 meters Centerline goodness : 0.773206 Centerline is valid? [False, False] Translation: X:-197.07, Y:9.17, Z:105.66 [[ 5.28571967e-01 -8.25663569e-01 1.97208889e-01 -1.97070409e+02] [ 8.45813494e-01 5.32004137e-01 -3.96375005e-02 9.16614274e+00] [-7.21887048e-02 1.87753211e-01 9.79559862e-01 1.05660294e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.649072329 meters Centerline goodness : 0.773536 Centerline is valid? [False, False] Translation: X:-197.28, Y:9.11, Z:105.71 [[ 5.27550477e-01 -8.26531776e-01 1.96305164e-01 -1.97277659e+02] [ 8.46368532e-01 5.31263411e-01 -3.76761950e-02 9.10592611e+00] [-7.31491788e-02 1.86022608e-01 9.79818752e-01 1.05705817e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.67907232899995 meters Centerline goodness : 0.774515 Centerline is valid? [False, False] Translation: X:-197.48, Y:9.05, Z:105.75 [[ 5.24014715e-01 -8.28966581e-01 1.95506996e-01 -1.97479385e+02] [ 8.48573818e-01 5.27822989e-01 -3.64055926e-02 9.04651892e+00] [-7.30140674e-02 1.84979184e-01 9.80026350e-01 1.05749782e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.709072329 meters Centerline goodness : 0.774041 Centerline is valid? [False, False] Translation: X:-197.68, Y:8.99, Z:105.79 [[ 5.23187848e-01 -8.29529394e-01 1.95334227e-01 -1.97683185e+02] [ 8.49045000e-01 5.27122264e-01 -3.55627128e-02 8.98833359e+00] [-7.34647043e-02 1.84453528e-01 9.80091747e-01 1.05794023e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.73907232899995 meters Centerline goodness : 0.773465 Centerline is valid? [False, False] Translation: X:-197.89, Y:8.93, Z:105.84 [[ 5.22022187e-01 -8.30238349e-01 1.95440834e-01 -1.97888280e+02] [ 8.49741004e-01 5.26034008e-01 -3.50492306e-02 8.92965127e+00] [-7.37093098e-02 1.84370566e-01 9.80088992e-01 1.05839225e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.769072329 meters Centerline goodness : 0.774440 Centerline is valid? [False, False] Translation: X:-198.10, Y:8.87, Z:105.88 [[ 5.21543734e-01 -8.29929317e-01 1.98013793e-01 -1.98097370e+02] [ 8.50016782e-01 5.25502188e-01 -3.63169353e-02 8.87073500e+00] [-7.39161924e-02 1.87255918e-01 9.79526221e-01 1.05884671e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.79907232899996 meters Centerline goodness : 0.776681 Centerline is valid? [False, False] Translation: X:-198.31, Y:8.81, Z:105.93 [[ 5.21480980e-01 -8.29170714e-01 2.01329366e-01 -1.98313534e+02] [ 8.50046863e-01 5.25313512e-01 -3.82889576e-02 8.80924979e+00] [-7.40129542e-02 1.91106360e-01 9.78774970e-01 1.05929840e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.829072329 meters Centerline goodness : 0.776117 Centerline is valid? [False, False] Translation: X:-198.52, Y:8.75, Z:105.98 [[ 5.19819462e-01 -8.30292114e-01 2.01004310e-01 -1.98521862e+02] [ 8.51056981e-01 5.23728820e-01 -3.75517974e-02 8.75087091e+00] [-7.40927887e-02 1.90586276e-01 9.78870334e-01 1.05976549e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.85907232899996 meters Centerline goodness : 0.775054 Centerline is valid? [False, False] Translation: X:-198.73, Y:8.69, Z:106.02 [[ 5.18390251e-01 -8.31333725e-01 2.00389086e-01 -1.98726605e+02] [ 8.51981792e-01 5.22226871e-01 -3.74982771e-02 8.69260010e+00] [-7.34749829e-02 1.90166594e-01 9.78998516e-01 1.06022302e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.889072329 meters Centerline goodness : 0.774453 Centerline is valid? [False, False] Translation: X:-198.94, Y:8.63, Z:106.07 [[ 5.15399030e-01 -8.32559380e-01 2.02999307e-01 -1.98943498e+02] [ 8.54065221e-01 5.18465517e-01 -4.20250553e-02 8.62986890e+00] [-7.02597867e-02 1.95034321e-01 9.78276636e-01 1.06068686e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.91907232899996 meters Centerline goodness : 0.774141 Centerline is valid? [False, False] Translation: X:-199.15, Y:8.57, Z:106.11 [[ 5.15231199e-01 -8.32418826e-01 2.03999286e-01 -1.99150484e+02] [ 8.54297862e-01 5.17879451e-01 -4.44526412e-02 8.57209064e+00] [-6.86438228e-02 1.97179541e-01 9.77961274e-01 1.06114636e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.949072329 meters Centerline goodness : 0.774744 Centerline is valid? [False, False] Translation: X:-199.36, Y:8.51, Z:106.16 [[ 5.12154114e-01 -8.34355059e-01 2.03837677e-01 -1.99363369e+02] [ 8.56236712e-01 5.14635468e-01 -4.48221750e-02 8.51321387e+00] [-6.75044902e-02 1.97489164e-01 9.77978105e-01 1.06162125e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.97907232899996 meters Centerline goodness : 0.776087 Centerline is valid? [False, False] Translation: X:-199.57, Y:8.45, Z:106.21 [[ 5.09327798e-01 -8.36701079e-01 2.01287104e-01 -1.99568892e+02] [ 8.57935057e-01 5.11980307e-01 -4.27036687e-02 8.45471400e+00] [-6.73248275e-02 1.94441428e-01 9.78600990e-01 1.06206982e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.009072329 meters Centerline goodness : 0.776002 Centerline is valid? [False, False] Translation: X:-199.78, Y:8.40, Z:106.25 [[ 5.07236233e-01 -8.38183108e-01 2.00400803e-01 -1.99779112e+02] [ 8.59181546e-01 5.09966283e-01 -4.17308077e-02 8.39626944e+00] [-6.72195946e-02 1.93348050e-01 9.78824835e-01 1.06253815e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.03907232899996 meters Centerline goodness : 0.776792 Centerline is valid? [False, False] Translation: X:-199.99, Y:8.34, Z:106.30 [[ 5.05130612e-01 -8.39356262e-01 2.00808690e-01 -1.99994339e+02] [ 8.60597397e-01 5.07378543e-01 -4.40356032e-02 8.33604184e+00] [-6.49244612e-02 1.95059167e-01 9.78640248e-01 1.06301545e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.069072329 meters Centerline goodness : 0.776482 Centerline is valid? [False, False] Translation: X:-200.22, Y:8.27, Z:106.35 [[ 5.04804841e-01 -8.39187255e-01 2.02328506e-01 -2.00218737e+02] [ 8.60986961e-01 5.06364564e-01 -4.79205714e-02 8.27372321e+00] [-6.22376531e-02 1.98392742e-01 9.78144567e-01 1.06350643e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.09907232899997 meters Centerline goodness : 0.777443 Centerline is valid? [False, False] Translation: X:-200.43, Y:8.21, Z:106.40 [[ 5.02130115e-01 -8.40793578e-01 2.02315366e-01 -2.00432379e+02] [ 8.62552889e-01 5.03756071e-01 -4.72475821e-02 8.21415196e+00] [-6.21921303e-02 1.98232137e-01 9.78180024e-01 1.06398816e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.129072329 meters Centerline goodness : 0.777565 Centerline is valid? [False, False] Translation: X:-200.65, Y:8.15, Z:106.45 [[ 5.00428648e-01 -8.41368682e-01 2.04132087e-01 -2.00650543e+02] [ 8.63802886e-01 5.01126862e-01 -5.21195041e-02 8.15255239e+00] [-5.84443539e-02 2.02411979e-01 9.77554934e-01 1.06446264e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.15907232899997 meters Centerline goodness : 0.778662 Centerline is valid? [False, False] Translation: X:-200.87, Y:8.09, Z:106.50 [[ 5.00277610e-01 -8.41135843e-01 2.05457552e-01 -2.00873191e+02] [ 8.64046349e-01 5.00340309e-01 -5.55291063e-02 8.09251248e+00] [-5.60911737e-02 2.05304816e-01 9.77089409e-01 1.06495726e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.189072329 meters Centerline goodness : 0.778530 Centerline is valid? [False, False] Translation: X:-201.09, Y:8.03, Z:106.55 [[ 4.99924482e-01 -8.41533838e-01 2.04685885e-01 -2.01090297e+02] [ 8.64240352e-01 5.00086349e-01 -5.47928601e-02 8.03371970e+00] [-5.62505709e-02 2.04290093e-01 9.77292910e-01 1.06545796e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.21907232899997 meters Centerline goodness : 0.777773 Centerline is valid? [False, False] Translation: X:-201.31, Y:7.97, Z:106.60 [[ 4.98458490e-01 -8.42622899e-01 2.03778760e-01 -2.01306311e+02] [ 8.65009687e-01 4.98997910e-01 -5.25293037e-02 7.97476852e+00] [-5.74227813e-02 2.02454279e-01 9.77606715e-01 1.06595738e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.24907232899994 meters Centerline goodness : 0.780849 Centerline is valid? [False, False] Translation: X:-201.52, Y:7.92, Z:106.65 [[ 4.93361293e-01 -8.44983399e-01 2.06392078e-01 -2.01523640e+02] [ 8.67873454e-01 4.94080106e-01 -5.17737015e-02 7.91561206e+00] [-5.82263014e-02 2.04665346e-01 9.77098661e-01 1.06646610e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.279072329 meters Centerline goodness : 0.781546 Centerline is valid? [False, False] Translation: X:-201.76, Y:7.85, Z:106.70 [[ 4.90772924e-01 -8.46078245e-01 2.08070999e-01 -2.01756653e+02] [ 8.69403445e-01 4.91239005e-01 -5.31214615e-02 7.85143327e+00] [-5.72676779e-02 2.06968219e-01 9.76670144e-01 1.06698423e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.30907232899995 meters Centerline goodness : 0.783242 Centerline is valid? [False, False] Translation: X:-201.98, Y:7.79, Z:106.75 [[ 4.91454385e-01 -8.45955374e-01 2.06959157e-01 -2.01977284e+02] [ 8.69236063e-01 4.91159573e-01 -5.64884123e-02 7.79012638e+00] [-5.38632955e-02 2.07657841e-01 9.76717445e-01 1.06747397e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.339072329 meters Centerline goodness : 0.781114 Centerline is valid? [False, False] Translation: X:-202.21, Y:7.73, Z:106.80 [[ 4.91574775e-01 -8.46034369e-01 2.06349428e-01 -2.02205370e+02] [ 8.69277333e-01 4.90888508e-01 -5.81841235e-02 7.72888101e+00] [-5.20687945e-02 2.07976728e-01 9.76746908e-01 1.06798831e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.36907232899995 meters Centerline goodness : 0.783087 Centerline is valid? [False, False] Translation: X:-202.42, Y:7.67, Z:106.85 [[ 4.91821208e-01 -8.46179183e-01 2.05165029e-01 -2.02422402e+02] [ 8.69094297e-01 4.91380065e-01 -5.67515092e-02 7.67028846e+00] [-5.27920596e-02 2.06219352e-01 9.77080640e-01 1.06848242e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.399072329 meters Centerline goodness : 0.783105 Centerline is valid? [False, False] Translation: X:-202.65, Y:7.61, Z:106.90 [[ 4.95194155e-01 -8.44426307e-01 2.04271783e-01 -2.02651658e+02] [ 8.67126976e-01 4.94902091e-01 -5.62381407e-02 7.60938040e+00] [-5.36055668e-02 2.04978372e-01 9.77297452e-01 1.06898815e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.42907232899995 meters Centerline goodness : 0.782482 Centerline is valid? [False, False] Translation: X:-202.87, Y:7.55, Z:106.95 [[ 4.94353480e-01 -8.45424020e-01 2.02170381e-01 -2.02874451e+02] [ 8.67528690e-01 4.94514873e-01 -5.33761405e-02 7.55035603e+00] [-5.48507890e-02 2.01775286e-01 9.77894741e-01 1.06949246e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.459072329 meters Centerline goodness : 0.783272 Centerline is valid? [False, False] Translation: X:-203.09, Y:7.49, Z:107.00 [[ 4.95997349e-01 -8.44974516e-01 2.00011742e-01 -2.03090676e+02] [ 8.66564376e-01 4.96338597e-01 -5.20977789e-02 7.49268165e+00] [-5.52522520e-02 1.99163411e-01 9.78407443e-01 1.06997903e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.48907232899995 meters Centerline goodness : 0.783842 Centerline is valid? [False, False] Translation: X:-203.32, Y:7.43, Z:107.05 [[ 4.99844312e-01 -8.42179513e-01 2.02211108e-01 -2.03319978e+02] [ 8.64283563e-01 5.00178763e-01 -5.32459150e-02 7.43270225e+00] [-5.62990832e-02 2.01382405e-01 9.77893420e-01 1.07049099e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.519072329 meters Centerline goodness : 0.783386 Centerline is valid? [False, False] Translation: X:-203.54, Y:7.37, Z:107.10 [[ 5.02315021e-01 -8.40484770e-01 2.03137814e-01 -2.03544609e+02] [ 8.62857413e-01 5.02489770e-01 -5.45995907e-02 7.37352163e+00] [-5.61845492e-02 2.02705164e-01 9.77626674e-01 1.07099016e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.54907232899996 meters Centerline goodness : 0.782739 Centerline is valid? [False, False] Translation: X:-203.77, Y:7.32, Z:107.15 [[ 5.04569174e-01 -8.39214765e-01 2.02801695e-01 -2.03768372e+02] [ 8.61564501e-01 5.04613801e-01 -5.54213123e-02 7.31510161e+00] [-5.58261508e-02 2.02690627e-01 9.77650219e-01 1.07149135e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.579072329 meters Centerline goodness : 0.783835 Centerline is valid? [False, False] Translation: X:-203.99, Y:7.26, Z:107.20 [[ 5.03299950e-01 -8.40333467e-01 2.01317722e-01 -2.03985834e+02] [ 8.62343083e-01 5.03347120e-01 -5.48277634e-02 7.25632876e+00] [-5.52590908e-02 2.01199755e-01 9.77990333e-01 1.07198244e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.60907232899996 meters Centerline goodness : 0.783835 Centerline is valid? [False, False] Translation: X:-204.21, Y:7.20, Z:107.25 [[ 5.03683030e-01 -8.40163555e-01 2.01068662e-01 -2.04213273e+02] [ 8.62124414e-01 5.03716797e-01 -5.48715170e-02 7.19580498e+00] [-5.51806136e-02 2.00984054e-01 9.78039115e-01 1.07247899e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.639072329 meters Centerline goodness : 0.780075 Centerline is valid? [False, False] Translation: X:-204.44, Y:7.14, Z:107.30 [[ 5.02305508e-01 -8.41194094e-01 2.00204079e-01 -2.04436126e+02] [ 8.62952677e-01 5.02345050e-01 -5.44254328e-02 7.13568023e+00] [-5.47891753e-02 2.00104840e-01 9.78241381e-01 1.07297704e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.66907232899996 meters Centerline goodness : 0.781188 Centerline is valid? [False, False] Translation: X:-204.66, Y:7.08, Z:107.35 [[ 5.00880877e-01 -8.42221507e-01 1.99452451e-01 -2.04661427e+02] [ 8.63756540e-01 5.01096300e-01 -5.31708314e-02 7.07663484e+00] [-5.51632672e-02 1.98910611e-01 9.78463889e-01 1.07348121e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.699072329 meters Centerline goodness : 0.782608 Centerline is valid? [False, False] Translation: X:-204.88, Y:7.02, Z:107.40 [[ 4.96595671e-01 -8.44677825e-01 1.99780158e-01 -2.04880711e+02] [ 8.66189270e-01 4.97050021e-01 -5.15502221e-02 7.01782778e+00] [-5.57574024e-02 1.98647047e-01 9.78483757e-01 1.07396585e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.72907232899996 meters Centerline goodness : 0.783941 Centerline is valid? [False, False] Translation: X:-205.11, Y:6.96, Z:107.44 [[ 4.97875852e-01 -8.43461800e-01 2.01722157e-01 -2.05108311e+02] [ 8.65467269e-01 4.98125257e-01 -5.32694483e-02 6.95611428e+00] [-5.55521566e-02 2.01105496e-01 9.77993117e-01 1.07444434e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.759072329 meters Centerline goodness : 0.783202 Centerline is valid? [False, False] Translation: X:-205.34, Y:6.90, Z:107.49 [[ 4.99096386e-01 -8.42453604e-01 2.02915553e-01 -2.05339189e+02] [ 8.64832434e-01 4.98981118e-01 -5.55221164e-02 6.89505112e+00] [-5.44762226e-02 2.03198839e-01 9.77620874e-01 1.07494120e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.78907232899996 meters Centerline goodness : 0.782716 Centerline is valid? [False, False] Translation: X:-205.57, Y:6.83, Z:107.54 [[ 5.00149826e-01 -8.42593216e-01 1.99716858e-01 -2.05567975e+02] [ 8.64405881e-01 4.99521849e-01 -5.72747359e-02 6.83480768e+00] [-5.15036303e-02 2.01282376e-01 9.78178297e-01 1.07541046e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.819072329 meters Centerline goodness : 0.781774 Centerline is valid? [False, False] Translation: X:-205.79, Y:6.78, Z:107.59 [[ 5.01531918e-01 -8.42056566e-01 1.98510641e-01 -2.05789066e+02] [ 8.63712852e-01 5.00516154e-01 -5.90227774e-02 6.77716223e+00] [-4.96572653e-02 2.01057999e-01 9.78319905e-01 1.07588453e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.84907232899997 meters Centerline goodness : 0.782630 Centerline is valid? [False, False] Translation: X:-206.01, Y:6.72, Z:107.64 [[ 4.99179158e-01 -8.43408603e-01 1.98701023e-01 -2.06013847e+02] [ 8.65060220e-01 4.98278903e-01 -5.82146906e-02 6.71649877e+00] [-4.99097569e-02 2.00947911e-01 9.78329675e-01 1.07637507e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.879072329 meters Centerline goodness : 0.782899 Centerline is valid? [False, False] Translation: X:-206.24, Y:6.66, Z:107.69 [[ 4.99770764e-01 -8.42862580e-01 1.99529083e-01 -2.06238856e+02] [ 8.64789631e-01 4.98503645e-01 -6.02744551e-02 6.65775477e+00] [-4.86628924e-02 2.02674093e-01 9.78036367e-01 1.07686035e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.90907232899997 meters Centerline goodness : 0.781657 Centerline is valid? [False, False] Translation: X:-206.46, Y:6.60, Z:107.73 [[ 4.97394329e-01 -8.44178566e-01 1.99903555e-01 -2.06458529e+02] [ 8.66127347e-01 4.96302253e-01 -5.92240889e-02 6.59963397e+00] [-4.92168783e-02 2.02599661e-01 9.78024067e-01 1.07733249e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.939072329 meters Centerline goodness : 0.781115 Centerline is valid? [False, False] Translation: X:-206.68, Y:6.54, Z:107.78 [[ 4.98510596e-01 -8.43245558e-01 2.01057490e-01 -2.06681858e+02] [ 8.65577918e-01 4.96911686e-01 -6.20777266e-02 6.54036612e+00] [-4.75610489e-02 2.04977328e-01 9.77610475e-01 1.07780242e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.96907232899997 meters Centerline goodness : 0.780818 Centerline is valid? [False, False] Translation: X:-206.91, Y:6.48, Z:107.83 [[ 4.98792690e-01 -8.43337622e-01 1.99968764e-01 -2.06910659e+02] [ 8.65395999e-01 4.97347572e-01 -6.11159426e-02 6.48125058e+00] [-4.79126055e-02 2.03536354e-01 9.77894337e-01 1.07829274e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.99907232899994 meters Centerline goodness : 0.783085 Centerline is valid? [False, False] Translation: X:-207.14, Y:6.42, Z:107.88 [[ 4.97868366e-01 -8.45074959e-01 1.94872791e-01 -2.07137275e+02] [ 8.66024042e-01 4.96405679e-01 -5.98645182e-02 6.42425860e+00] [-4.61459547e-02 1.98569172e-01 9.78999916e-01 1.07879016e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.029072329 meters Centerline goodness : 0.780272 Centerline is valid? [False, False] Translation: X:-207.36, Y:6.37, Z:107.93 [[ 5.00345458e-01 -8.43859292e-01 1.93793496e-01 -2.07357698e+02] [ 8.64589045e-01 4.98914067e-01 -5.97539686e-02 6.36871237e+00] [-4.62623595e-02 1.97449360e-01 9.79220886e-01 1.07926695e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.05907232899995 meters Centerline goodness : 0.782281 Centerline is valid? [False, False] Translation: X:-207.59, Y:6.31, Z:107.98 [[ 5.03404248e-01 -8.41831958e-01 1.94687229e-01 -2.07593067e+02] [ 8.62821753e-01 5.01776115e-01 -6.13135586e-02 6.30991077e+00] [-4.60736883e-02 1.98845882e-01 9.78947154e-01 1.07976418e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.089072329 meters Centerline goodness : 0.782996 Centerline is valid? [False, False] Translation: X:-207.82, Y:6.25, Z:108.03 [[ 5.11219774e-01 -8.36985478e-01 1.95216936e-01 -2.07824136e+02] [ 8.58165212e-01 5.09528456e-01 -6.27153955e-02 6.25415200e+00] [-4.69767087e-02 1.99589734e-01 9.78752843e-01 1.08025064e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.11907232899995 meters Centerline goodness : 0.783750 Centerline is valid? [False, False] Translation: X:-208.04, Y:6.20, Z:108.07 [[ 5.13638927e-01 -8.35909243e-01 1.93470386e-01 -2.08041327e+02] [ 8.56619037e-01 5.12419418e-01 -6.02508486e-02 6.20055754e+00] [-4.87737413e-02 1.96677597e-01 9.79254331e-01 1.08072999e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.149072329 meters Centerline goodness : 0.782259 Centerline is valid? [False, False] Translation: X:-208.26, Y:6.15, Z:108.12 [[ 5.17395510e-01 -8.34030194e-01 1.91560751e-01 -2.08260083e+02] [ 8.54207809e-01 5.16776392e-01 -5.71942313e-02 6.14555567e+00] [-5.12923580e-02 1.93224728e-01 9.79812890e-01 1.08120795e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.17907232899995 meters Centerline goodness : 0.783589 Centerline is valid? [False, False] Translation: X:-208.48, Y:6.09, Z:108.17 [[ 5.23382032e-01 -8.30533672e-01 1.90486401e-01 -2.08478663e+02] [ 8.50388859e-01 5.23265748e-01 -5.50612876e-02 6.09446866e+00] [-5.39447556e-02 1.90805602e-01 9.80144472e-01 1.08168755e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.209072329 meters Centerline goodness : 0.783108 Centerline is valid? [False, False] Translation: X:-208.69, Y:6.04, Z:108.22 [[ 5.25274050e-01 -8.29391114e-01 1.90256545e-01 -2.08692883e+02] [ 8.49133919e-01 5.25425698e-01 -5.38462826e-02 6.04191447e+00] [-5.53060496e-02 1.89837340e-01 9.80256612e-01 1.08215510e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.23907232899995 meters Centerline goodness : 0.782151 Centerline is valid? [False, False] Translation: X:-208.91, Y:5.99, Z:108.26 [[ 5.27363615e-01 -8.28112158e-01 1.90047021e-01 -2.08907100e+02] [ 8.47712513e-01 5.27892815e-01 -5.20833097e-02 5.98763816e+00] [-5.71936350e-02 1.88572081e-01 9.80392502e-01 1.08262616e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.269072329 meters Centerline goodness : 0.783895 Centerline is valid? [False, False] Translation: X:-209.12, Y:5.94, Z:108.31 [[ 5.33198243e-01 -8.23833452e-01 1.92348843e-01 -2.09122167e+02] [ 8.43721298e-01 5.34482118e-01 -4.96310041e-02 5.93509325e+00] [-6.19193353e-02 1.88751979e-01 9.80070756e-01 1.08309973e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.29907232899996 meters Centerline goodness : 0.784192 Centerline is valid? [False, False] Translation: X:-209.33, Y:5.88, Z:108.36 [[ 5.35592622e-01 -8.22301609e-01 1.92251419e-01 -2.09334187e+02] [ 8.42054703e-01 5.37261985e-01 -4.78898494e-02 5.88278341e+00] [-6.39094787e-02 1.87535661e-01 9.80176491e-01 1.08356105e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.329072329 meters Centerline goodness : 0.784047 Centerline is valid? [False, False] Translation: X:-209.54, Y:5.83, Z:108.40 [[ 5.38761861e-01 -8.20538949e-01 1.90922733e-01 -2.09536224e+02] [ 8.39931162e-01 5.40710030e-01 -4.63498307e-02 5.83235738e+00] [-6.52019953e-02 1.85333474e-01 9.80510175e-01 1.08398375e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.35907232899996 meters Centerline goodness : 0.782661 Centerline is valid? [False, False] Translation: X:-209.74, Y:5.79, Z:108.44 [[ 5.46410149e-01 -8.16345913e-01 1.87123753e-01 -2.09736145e+02] [ 8.34910778e-01 5.48554432e-01 -4.48556284e-02 5.78567153e+00] [-6.60298553e-02 1.80741209e-01 9.81311711e-01 1.08440421e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.389072329 meters Centerline goodness : 0.783423 Centerline is valid? [False, False] Translation: X:-209.94, Y:5.74, Z:108.48 [[ 5.50795911e-01 -8.13706953e-01 1.85754834e-01 -2.09937146e+02] [ 8.31942536e-01 5.53124803e-01 -4.38699158e-02 5.73647432e+00] [-6.70483506e-02 1.78700718e-01 9.81616306e-01 1.08482148e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.41907232899996 meters Centerline goodness : 0.782040 Centerline is valid? [False, False] Translation: X:-210.13, Y:5.69, Z:108.52 [[ 5.57872817e-01 -8.09072798e-01 1.84875980e-01 -2.10134306e+02] [ 8.27127242e-01 5.60301220e-01 -4.38527990e-02 5.68984400e+00] [-6.81061303e-02 1.77380244e-01 9.81782972e-01 1.08523766e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.449072329 meters Centerline goodness : 0.782382 Centerline is valid? [False, False] Translation: X:-210.33, Y:5.64, Z:108.56 [[ 5.62271262e-01 -8.06605440e-01 1.82314816e-01 -2.10326817e+02] [ 8.24149825e-01 5.64714275e-01 -4.32995863e-02 5.64219119e+00] [-6.80300970e-02 1.74600836e-01 9.82286340e-01 1.08562481e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.47907232899996 meters Centerline goodness : 0.783254 Centerline is valid? [False, False] Translation: X:-210.52, Y:5.60, Z:108.60 [[ 5.66298951e-01 -8.04632872e-01 1.78525737e-01 -2.10519467e+02] [ 8.21492164e-01 5.68581768e-01 -4.31902446e-02 5.59635331e+00] [-6.67541887e-02 1.71116085e-01 9.82986858e-01 1.08601358e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.509072329 meters Centerline goodness : 0.781512 Centerline is valid? [False, False] Translation: X:-210.71, Y:5.55, Z:108.64 [[ 5.67769855e-01 -8.04270962e-01 1.75458289e-01 -2.10714880e+02] [ 8.20573835e-01 5.69932657e-01 -4.28409575e-02 5.54871706e+00] [-6.55436708e-02 1.68300285e-01 9.83554290e-01 1.08639479e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.53907232899996 meters Centerline goodness : 0.782208 Centerline is valid? [False, False] Translation: X:-210.90, Y:5.51, Z:108.67 [[ 5.84119776e-01 -7.93467333e-01 1.70920092e-01 -2.10897510e+02] [ 8.08890419e-01 5.86472756e-01 -4.17851214e-02 5.50798173e+00] [-6.70848489e-02 1.62663141e-01 9.84398459e-01 1.08674465e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.569072329 meters Centerline goodness : 0.783506 Centerline is valid? [False, False] Translation: X:-211.09, Y:5.47, Z:108.71 [[ 5.94442395e-01 -7.85548541e-01 1.71906163e-01 -2.11090858e+02] [ 8.00976507e-01 5.97355573e-01 -4.00369298e-02 5.46509543e+00] [-7.12381527e-02 1.61492446e-01 9.84299403e-01 1.08712889e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.59907232899997 meters Centerline goodness : 0.783733 Centerline is valid? [False, False] Translation: X:-211.28, Y:5.43, Z:108.75 [[ 6.11278673e-01 -7.71757258e-01 1.75297230e-01 -2.11275191e+02] [ 7.87586799e-01 6.14972251e-01 -3.89379544e-02 5.42648349e+00] [-7.77522832e-02 1.61863725e-01 9.83745250e-01 1.08749860e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.629072329 meters Centerline goodness : 0.786159 Centerline is valid? [False, False] Translation: X:-211.46, Y:5.38, Z:108.79 [[ 6.18817749e-01 -7.65576470e-01 1.75946760e-01 -2.11459221e+02] [ 7.81457334e-01 6.22756338e-01 -3.87166550e-02 5.38355060e+00] [-7.99314000e-02 1.61453439e-01 9.83638022e-01 1.08785729e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.65907232899997 meters Centerline goodness : 0.787928 Centerline is valid? [False, False] Translation: X:-211.63, Y:5.35, Z:108.82 [[ 6.41989587e-01 -7.47394674e-01 1.71027984e-01 -2.11625049e+02] [ 7.62059713e-01 6.46554797e-01 -3.50982807e-02 5.35121689e+00] [-8.43466956e-02 1.52866267e-01 9.84640817e-01 1.08815904e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.689072329 meters Centerline goodness : 0.788546 Centerline is valid? [False, False] Translation: X:-211.78, Y:5.32, Z:108.85 [[ 6.53161721e-01 -7.38653816e-01 1.66644249e-01 -2.11779276e+02] [ 7.52054104e-01 6.58461762e-01 -2.90298647e-02 5.31753169e+00] [-8.82858453e-02 1.44286688e-01 9.85589652e-01 1.08845931e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.71907232899997 meters Centerline goodness : 0.788866 Centerline is valid? [False, False] Translation: X:-211.93, Y:5.29, Z:108.88 [[ 6.64271315e-01 -7.28996023e-01 1.65252587e-01 -2.11932036e+02] [ 7.41751551e-01 6.70204990e-01 -2.50979763e-02 5.28537549e+00] [-9.24567834e-02 1.39248228e-01 9.85931881e-01 1.08875864e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.74907232899994 meters Centerline goodness : 0.789803 Centerline is valid? [False, False] Translation: X:-212.08, Y:5.25, Z:108.91 [[ 6.75049671e-01 -7.19072819e-01 1.65052180e-01 -2.12083586e+02] [ 7.31355094e-01 6.81659938e-01 -2.14349321e-02 5.25324180e+00] [-9.70961816e-02 1.35181396e-01 9.86051886e-01 1.08905778e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.779072329 meters Centerline goodness : 0.790304 Centerline is valid? [False, False] Translation: X:-212.23, Y:5.23, Z:108.93 [[ 6.95964621e-01 -6.97489372e-01 1.70709763e-01 -2.12232852e+02] [ 7.10078509e-01 7.03864889e-01 -1.90454309e-02 5.22742687e+00] [-1.06872623e-01 1.34472280e-01 9.85137274e-01 1.08934559e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.80907232899995 meters Centerline goodness : 0.791537 Centerline is valid? [False, False] Translation: X:-212.37, Y:5.20, Z:108.96 [[ 7.06156493e-01 -6.86931054e-01 1.71664597e-01 -2.12374039e+02] [ 6.99331569e-01 7.14588817e-01 -1.72678536e-02 5.19898167e+00] [-1.10807776e-01 1.32244279e-01 9.85004105e-01 1.08962442e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.839072329 meters Centerline goodness : 0.793526 Centerline is valid? [False, False] Translation: X:-212.51, Y:5.17, Z:108.99 [[ 7.16096668e-01 -6.76422281e-01 1.72216313e-01 -2.12512929e+02] [ 6.88468819e-01 7.25117798e-01 -1.46582626e-02 5.17085705e+00] [-1.14961939e-01 1.29062295e-01 9.84950088e-01 1.08988753e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.86907232899995 meters Centerline goodness : 0.792822 Centerline is valid? [False, False] Translation: X:-212.65, Y:5.15, Z:109.01 [[ 7.34758233e-01 -6.56123899e-01 1.72138806e-01 -2.12650407e+02] [ 6.67405300e-01 7.44619725e-01 -1.05655516e-02 5.14937271e+00] [-1.21245640e-01 1.22649478e-01 9.85016041e-01 1.09013996e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.899072329 meters Centerline goodness : 0.793256 Centerline is valid? [False, False] Translation: X:-212.78, Y:5.12, Z:109.04 [[ 7.44140527e-01 -6.45883468e-01 1.70556215e-01 -2.12775625e+02] [ 6.56587710e-01 7.54200579e-01 -8.60618794e-03 5.12496554e+00] [-1.23075001e-01 1.18389328e-01 9.85310363e-01 1.09037539e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.92907232899995 meters Centerline goodness : 0.795617 Centerline is valid? [False, False] Translation: X:-212.90, Y:5.11, Z:109.06 [[ 7.59518735e-01 -6.27831013e-01 1.70174940e-01 -2.12900980e+02] [ 6.38112391e-01 7.69906061e-01 -7.56523964e-03 5.10624152e+00] [-1.26269026e-01 1.14336679e-01 9.85384827e-01 1.09062908e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.959072329 meters Centerline goodness : 0.795654 Centerline is valid? [False, False] Translation: X:-213.01, Y:5.08, Z:109.08 [[ 7.64759807e-01 -6.21051172e-01 1.71574706e-01 -2.13011636e+02] [ 6.31072501e-01 7.75707477e-01 -5.04063741e-03 5.08320760e+00] [-1.29961289e-01 1.12130956e-01 9.85158217e-01 1.09083251e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.98907232899995 meters Centerline goodness : 0.795698 Centerline is valid? [False, False] Translation: X:-213.12, Y:5.06, Z:109.10 [[ 7.69383630e-01 -6.15068817e-01 1.72450513e-01 -2.13121316e+02] [ 6.24870761e-01 7.80721258e-01 -3.29389564e-03 5.06083580e+00] [-1.32609809e-01 1.10293553e-01 9.85012675e-01 1.09103895e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.019072329 meters Centerline goodness : 0.795891 Centerline is valid? [False, False] Translation: X:-213.23, Y:5.04, Z:109.12 [[ 7.72042491e-01 -6.11265931e-01 1.74081455e-01 -2.13231206e+02] [ 6.21220213e-01 7.83628385e-01 -3.46427904e-03 5.04061362e+00] [-1.34297574e-01 1.10817489e-01 9.84725163e-01 1.09124592e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.04907232899996 meters Centerline goodness : 0.795967 Centerline is valid? [False, False] Translation: X:-213.34, Y:5.02, Z:109.15 [[ 7.71072925e-01 -6.12776926e-01 1.73063525e-01 -2.13337418e+02] [ 6.22549092e-01 7.82575702e-01 -2.81062397e-03 5.01726904e+00] [-1.33713024e-01 1.09907736e-01 9.84906654e-01 1.09145337e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.079072329 meters Centerline goodness : 0.796439 Centerline is valid? [False, False] Translation: X:-213.44, Y:4.99, Z:109.17 [[ 7.68977497e-01 -6.15504151e-01 1.72708566e-01 -2.13444385e+02] [ 6.25225400e-01 7.80440445e-01 -2.43143238e-03 4.99348099e+00] [-1.33292193e-01 1.09851499e-01 9.84969969e-01 1.09165247e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.10907232899996 meters Centerline goodness : 0.796331 Centerline is valid? [False, False] Translation: X:-213.56, Y:4.97, Z:109.18 [[ 7.61111590e-01 -6.25071888e-01 1.73188574e-01 -2.13558643e+02] [ 6.35146630e-01 7.72383222e-01 -3.59390487e-03 4.96793882e+00] [-1.31521500e-01 1.12735502e-01 9.84882126e-01 1.09184642e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.139072329 meters Centerline goodness : 0.796765 Centerline is valid? [False, False] Translation: X:-213.67, Y:4.94, Z:109.20 [[ 7.55922890e-01 -6.31492266e-01 1.72621265e-01 -2.13671460e+02] [ 6.41487452e-01 7.67128502e-01 -2.77678425e-03 4.94188503e+00] [-1.30669175e-01 1.12833410e-01 9.84984359e-01 1.09204380e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.16907232899996 meters Centerline goodness : 0.796468 Centerline is valid? [False, False] Translation: X:-213.80, Y:4.91, Z:109.23 [[ 7.42912477e-01 -6.46730719e-01 1.72685925e-01 -2.13795374e+02] [ 6.57001263e-01 7.53883107e-01 -3.09853102e-03 4.91316384e+00] [-1.28181086e-01 1.15756808e-01 9.84972066e-01 1.09226219e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.199072329 meters Centerline goodness : 0.797169 Centerline is valid? [False, False] Translation: X:-213.91, Y:4.88, Z:109.25 [[ 7.35307777e-01 -6.55581985e-01 1.71856724e-01 -2.13913126e+02] [ 6.65860625e-01 7.46070433e-01 -2.92197243e-03 4.88475653e+00] [-1.26301628e-01 1.16581175e-01 9.85117622e-01 1.09247740e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.22907232899996 meters Centerline goodness : 0.796426 Centerline is valid? [False, False] Translation: X:-214.03, Y:4.86, Z:109.27 [[ 7.26969091e-01 -6.64814302e-01 1.71865888e-01 -2.14030659e+02] [ 6.75273420e-01 7.37560237e-01 -3.27179870e-03 4.85620751e+00] [-1.24586306e-01 1.18434963e-01 9.85114923e-01 1.09268634e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.259072329 meters Centerline goodness : 0.798090 Centerline is valid? [False, False] Translation: X:-214.17, Y:4.82, Z:109.29 [[ 7.18073861e-01 -6.74099035e-01 1.73090790e-01 -2.14166421e+02] [ 6.85360452e-01 7.28166249e-01 -7.41379495e-03 4.82190516e+00] [-1.21041240e-01 1.23953235e-01 9.84877969e-01 1.09290302e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.28907232899996 meters Centerline goodness : 0.797843 Centerline is valid? [False, False] Translation: X:-214.30, Y:4.79, Z:109.31 [[ 7.20678598e-01 -6.71480829e-01 1.72440873e-01 -2.14297854e+02] [ 6.82757307e-01 7.30595666e-01 -8.51071763e-03 4.79259026e+00] [-1.20269771e-01 1.23868758e-01 9.84983103e-01 1.09314295e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.319072329 meters Centerline goodness : 0.797185 Centerline is valid? [False, False] Translation: X:-214.44, Y:4.76, Z:109.34 [[ 7.20736559e-01 -6.71415469e-01 1.72453126e-01 -2.14436872e+02] [ 6.82631156e-01 7.30719217e-01 -8.00823064e-03 4.76104777e+00] [-1.20637964e-01 1.23493702e-01 9.84985171e-01 1.09338810e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.34907232899997 meters Centerline goodness : 0.797115 Centerline is valid? [False, False] Translation: X:-214.57, Y:4.73, Z:109.36 [[ 7.20453205e-01 -6.71499444e-01 1.73308038e-01 -2.14572393e+02] [ 6.82851594e-01 7.30510845e-01 -8.22231320e-03 4.73092179e+00] [-1.21082123e-01 1.24267462e-01 9.84833345e-01 1.09363448e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.379072329 meters Centerline goodness : 0.797590 Centerline is valid? [False, False] Translation: X:-214.71, Y:4.70, Z:109.39 [[ 7.19763625e-01 -6.71478571e-01 1.76229546e-01 -2.14709388e+02] [ 6.83424746e-01 7.29952923e-01 -9.96726627e-03 4.69936051e+00] [-1.21946467e-01 1.27613709e-01 9.84298634e-01 1.09389619e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.40907232899997 meters Centerline goodness : 0.795998 Centerline is valid? [False, False] Translation: X:-214.85, Y:4.67, Z:109.42 [[ 7.20744629e-01 -6.69788211e-01 1.78636312e-01 -2.14845670e+02] [ 6.82179737e-01 7.31099163e-01 -1.11723179e-02 4.66879464e+00] [-1.23117771e-01 1.29914461e-01 9.83851740e-01 1.09415576e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.439072329 meters Centerline goodness : 0.795929 Centerline is valid? [False, False] Translation: X:-214.98, Y:4.64, Z:109.44 [[ 7.21034901e-01 -6.68969170e-01 1.80524019e-01 -2.14980290e+02] [ 6.81907136e-01 7.31312497e-01 -1.35900517e-02 4.63915457e+00] [-1.22928145e-01 1.32899518e-01 9.83476685e-01 1.09441347e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.46907232899997 meters Centerline goodness : 0.795513 Centerline is valid? [False, False] Translation: X:-215.12, Y:4.61, Z:109.47 [[ 7.21858566e-01 -6.67456782e-01 1.82815906e-01 -2.15118202e+02] [ 6.80784762e-01 7.32342984e-01 -1.43478797e-02 4.60988773e+00] [-1.24307357e-01 1.34815423e-01 9.83042462e-01 1.09467793e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.49907232899994 meters Centerline goodness : 0.796286 Centerline is valid? [False, False] Translation: X:-215.25, Y:4.58, Z:109.49 [[ 7.22639147e-01 -6.66319172e-01 1.83878830e-01 -2.15254090e+02] [ 6.79875313e-01 7.33172103e-01 -1.51071694e-02 4.58105971e+00] [-1.24748632e-01 1.35931709e-01 9.82832819e-01 1.09494686e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.529072329 meters Centerline goodness : 0.796286 Centerline is valid? [False, False] Translation: X:-215.39, Y:4.55, Z:109.52 [[ 7.23903893e-01 -6.64440016e-01 1.85694961e-01 -2.15392307e+02] [ 6.78280536e-01 7.34638595e-01 -1.55450685e-02 4.55195011e+00] [-1.26089920e-01 1.37206414e-01 9.82484469e-01 1.09521689e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.55907232899995 meters Centerline goodness : 0.796440 Centerline is valid? [False, False] Translation: X:-215.53, Y:4.52, Z:109.55 [[ 7.26299188e-01 -6.61763197e-01 1.85900406e-01 -2.15528202e+02] [ 6.75625384e-01 7.37075861e-01 -1.57960392e-02 4.52466652e+00] [-1.26569465e-01 1.37071684e-01 9.82441614e-01 1.09548400e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.589072329 meters Centerline goodness : 0.795263 Centerline is valid? [False, False] Translation: X:-215.66, Y:4.50, Z:109.58 [[ 7.28365467e-01 -6.59352270e-01 1.86382215e-01 -2.15662337e+02] [ 6.73443471e-01 7.39035811e-01 -1.73193999e-02 4.49887176e+00] [-1.26323545e-01 1.38132738e-01 9.82324645e-01 1.09575424e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.61907232899995 meters Centerline goodness : 0.795317 Centerline is valid? [False, False] Translation: X:-215.80, Y:4.47, Z:109.60 [[ 7.31170683e-01 -6.55895765e-01 1.87590453e-01 -2.15799101e+02] [ 6.70300305e-01 7.41851810e-01 -1.87987810e-02 4.47358949e+00] [-1.26834276e-01 1.39487055e-01 9.82067425e-01 1.09602030e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.649072329 meters Centerline goodness : 0.794338 Centerline is valid? [False, False] Translation: X:-215.93, Y:4.45, Z:109.63 [[ 7.35127644e-01 -6.51206422e-01 1.88460987e-01 -2.15930713e+02] [ 6.65804876e-01 7.45861717e-01 -1.98536046e-02 4.44923773e+00] [-1.27637041e-01 1.40073178e-01 9.81879978e-01 1.09628833e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.67907232899995 meters Centerline goodness : 0.795865 Centerline is valid? [False, False] Translation: X:-216.06, Y:4.43, Z:109.66 [[ 7.39362238e-01 -6.46137227e-01 1.89341397e-01 -2.16062093e+02] [ 6.60894575e-01 7.50194290e-01 -2.06612702e-02 4.42643318e+00] [-1.28692819e-01 1.40410865e-01 9.81693917e-01 1.09656566e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.709072329 meters Centerline goodness : 0.796858 Centerline is valid? [False, False] Translation: X:-216.19, Y:4.41, Z:109.68 [[ 7.43817261e-01 -6.40159932e-01 1.92174773e-01 -2.16186532e+02] [ 6.54631179e-01 7.55775302e-01 -1.61774861e-02 4.40675803e+00] [-1.34884769e-01 1.37836691e-01 9.81227367e-01 1.09683617e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.73907232899995 meters Centerline goodness : 0.797776 Centerline is valid? [False, False] Translation: X:-216.30, Y:4.38, Z:109.71 [[ 7.45093597e-01 -6.38384317e-01 1.93134656e-01 -2.16303921e+02] [ 6.52608572e-01 7.57572664e-01 -1.36275957e-02 4.38454804e+00] [-1.37613892e-01 1.36195166e-01 9.81077618e-01 1.09709883e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.769072329 meters Centerline goodness : 0.797811 Centerline is valid? [False, False] Translation: X:-216.42, Y:4.36, Z:109.74 [[ 7.46362761e-01 -6.36791058e-01 1.93493609e-01 -2.16421409e+02] [ 6.50593718e-01 7.59353550e-01 -1.04880644e-02 4.36216690e+00] [-1.40251353e-01 1.33713627e-01 9.81045475e-01 1.09735989e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.79907232899996 meters Centerline goodness : 0.798498 Centerline is valid? [False, False] Translation: X:-216.54, Y:4.34, Z:109.76 [[ 7.47431990e-01 -6.35626362e-01 1.93195621e-01 -2.16535158e+02] [ 6.49062284e-01 7.60689297e-01 -8.36325684e-03 4.34166028e+00] [-1.41645935e-01 1.31646957e-01 9.81124614e-01 1.09762317e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.829072329 meters Centerline goodness : 0.797498 Centerline is valid? [False, False] Translation: X:-216.65, Y:4.32, Z:109.79 [[ 7.47333914e-01 -6.36260571e-01 1.91479779e-01 -2.16651232e+02] [ 6.49124135e-01 7.60659404e-01 -5.92696325e-03 4.31994202e+00] [-1.41879801e-01 1.28723566e-01 9.81478663e-01 1.09787977e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.85907232899996 meters Centerline goodness : 0.797402 Centerline is valid? [False, False] Translation: X:-216.77, Y:4.30, Z:109.81 [[ 7.48758946e-01 -6.34427231e-01 1.91995128e-01 -2.16774561e+02] [ 6.47388227e-01 7.62133951e-01 -6.35013165e-03 4.29620820e+00] [-1.42297309e-01 1.29050104e-01 9.81375334e-01 1.09812478e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.889072329 meters Centerline goodness : 0.798374 Centerline is valid? [False, False] Translation: X:-216.90, Y:4.27, Z:109.84 [[ 7.49567975e-01 -6.33595372e-01 1.91584854e-01 -2.16896580e+02] [ 6.46859528e-01 7.62556772e-01 -8.93987473e-03 4.27289284e+00] [-1.40430064e-01 1.30629532e-01 9.81435338e-01 1.09837421e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.91907232899996 meters Centerline goodness : 0.796844 Centerline is valid? [False, False] Translation: X:-217.01, Y:4.25, Z:109.86 [[ 7.48217889e-01 -6.35492922e-01 1.90574754e-01 -2.17008467e+02] [ 6.48588651e-01 7.61091817e-01 -8.48574690e-03 4.25052144e+00] [-1.39652254e-01 1.29953810e-01 9.81636010e-01 1.09861880e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.949072329 meters Centerline goodness : 0.794862 Centerline is valid? [False, False] Translation: X:-217.14, Y:4.22, Z:109.89 [[ 7.46300329e-01 -6.37290758e-01 1.92084120e-01 -2.17136248e+02] [ 6.51064721e-01 7.58933549e-01 -1.16015805e-02 4.22155609e+00] [-1.38385503e-01 1.33717457e-01 9.81309887e-01 1.09886103e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.97907232899996 meters Centerline goodness : 0.795593 Centerline is valid? [False, False] Translation: X:-217.25, Y:4.20, Z:109.91 [[ 7.45051939e-01 -6.39407936e-01 1.89881803e-01 -2.17248985e+02] [ 6.52719553e-01 7.57530814e-01 -1.02103226e-02 4.19838347e+00] [-1.37312755e-01 1.31546786e-01 9.81753864e-01 1.09910063e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.009072329 meters Centerline goodness : 0.795124 Centerline is valid? [False, False] Translation: X:-217.36, Y:4.17, Z:109.93 [[ 7.43898938e-01 -6.41516233e-01 1.87273309e-01 -2.17360142e+02] [ 6.54248790e-01 7.56233583e-01 -8.32398651e-03 4.17459580e+00] [-1.36282393e-01 1.28715541e-01 9.82272579e-01 1.09933021e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.03907232899996 meters Centerline goodness : 0.796121 Centerline is valid? [False, False] Translation: X:-217.49, Y:4.14, Z:109.96 [[ 7.41150801e-01 -6.44143070e-01 1.89143318e-01 -2.17492423e+02] [ 6.57414121e-01 7.53462123e-01 -1.00748852e-02 4.14480093e+00] [-1.36022658e-01 1.31812497e-01 9.81897806e-01 1.09959201e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.069072329 meters Centerline goodness : 0.797150 Centerline is valid? [False, False] Translation: X:-217.61, Y:4.12, Z:109.99 [[ 7.37172776e-01 -6.48468960e-01 1.89906046e-01 -2.17612661e+02] [ 6.61557336e-01 7.49857151e-01 -7.49302428e-03 4.11863057e+00] [-1.37543413e-01 1.31157391e-01 9.81773675e-01 1.09985299e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.09907232899997 meters Centerline goodness : 0.796820 Centerline is valid? [False, False] Translation: X:-217.74, Y:4.09, Z:110.01 [[ 7.31580181e-01 -6.54547689e-01 1.90677114e-01 -2.17735681e+02] [ 6.67526514e-01 7.44567778e-01 -5.21326393e-03 4.09216010e+00] [-1.38559705e-01 1.31095949e-01 9.81638966e-01 1.10012101e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.129072329 meters Centerline goodness : 0.796809 Centerline is valid? [False, False] Translation: X:-217.86, Y:4.06, Z:110.04 [[ 7.27084867e-01 -6.59746943e-01 1.89951486e-01 -2.17858132e+02] [ 6.72333154e-01 7.40244574e-01 -2.46993167e-03 4.06498480e+00] [-1.38981027e-01 1.29506532e-01 9.81790371e-01 1.10038783e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.15907232899997 meters Centerline goodness : 0.796308 Centerline is valid? [False, False] Translation: X:-217.98, Y:4.03, Z:110.06 [[ 7.19998436e-01 -6.68126069e-01 1.87642767e-01 -2.17977863e+02] [ 6.80300097e-01 7.32933386e-01 -6.56057718e-04 4.03480040e+00] [-1.37091319e-01 1.28125753e-01 9.82237121e-01 1.10063227e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.189072329 meters Centerline goodness : 0.798244 Centerline is valid? [False, False] Translation: X:-218.12, Y:4.01, Z:110.09 [[ 7.17589117e-01 -6.70614019e-01 1.87996536e-01 -2.18116170e+02] [ 6.83028855e-01 7.30389348e-01 -1.72735821e-03 4.00545437e+00] [-1.36152277e-01 1.29646593e-01 9.82168172e-01 1.10089473e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.21907232899997 meters Centerline goodness : 0.796278 Centerline is valid? [False, False] Translation: X:-218.25, Y:3.97, Z:110.11 [[ 7.11628381e-01 -6.76817278e-01 1.88423511e-01 -2.18254701e+02] [ 6.89647226e-01 7.24136920e-01 -3.52482923e-03 3.97429829e+00] [-1.34058756e-01 1.32454120e-01 9.82081542e-01 1.10113578e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.24907232899994 meters Centerline goodness : 0.793396 Centerline is valid? [False, False] Translation: X:-218.39, Y:3.95, Z:110.14 [[ 7.10598506e-01 -6.77640830e-01 1.89348010e-01 -2.18391294e+02] [ 6.90970725e-01 7.22856527e-01 -6.15622125e-03 3.94677919e+00] [-1.32699738e-01 1.35208533e-01 9.81890743e-01 1.10140247e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.279072329 meters Centerline goodness : 0.793947 Centerline is valid? [False, False] Translation: X:-218.53, Y:3.92, Z:110.17 [[ 7.08958526e-01 -6.78914233e-01 1.90927399e-01 -2.18532129e+02] [ 6.92833486e-01 7.21045035e-01 -8.70734075e-03 3.91971211e+00] [-1.31755715e-01 1.38454039e-01 9.81565541e-01 1.10168144e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.30907232899995 meters Centerline goodness : 0.793274 Centerline is valid? [False, False] Translation: X:-218.67, Y:3.89, Z:110.19 [[ 7.08890870e-01 -6.78849097e-01 1.91409607e-01 -2.18668989e+02] [ 6.93121161e-01 7.20739672e-01 -1.08342901e-02 3.89346077e+00] [-1.30601650e-01 1.40350378e-01 9.81450447e-01 1.10194130e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.339072329 meters Centerline goodness : 0.793524 Centerline is valid? [False, False] Translation: X:-218.81, Y:3.87, Z:110.22 [[ 7.10118580e-01 -6.76991074e-01 1.93428767e-01 -2.18810848e+02] [ 6.91776130e-01 7.22000464e-01 -1.26931175e-02 3.86899570e+00] [-1.31062532e-01 1.42823022e-01 9.81032210e-01 1.10224345e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.36907232899995 meters Centerline goodness : 0.793475 Centerline is valid? [False, False] Translation: X:-218.95, Y:3.85, Z:110.26 [[ 7.12351517e-01 -6.73903254e-01 1.95983979e-01 -2.18951368e+02] [ 6.89311507e-01 7.24312307e-01 -1.48771205e-02 3.84591302e+00] [-1.31927868e-01 1.45691751e-01 9.80494238e-01 1.10255322e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.399072329 meters Centerline goodness : 0.796022 Centerline is valid? [False, False] Translation: X:-219.09, Y:3.82, Z:110.29 [[ 7.13964774e-01 -6.71338864e-01 1.98893013e-01 -2.19093022e+02] [ 6.87322897e-01 7.26171903e-01 -1.61741028e-02 3.82280522e+00] [-1.33572214e-01 1.48251461e-01 9.79887732e-01 1.10287128e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.42907232899995 meters Centerline goodness : 0.796635 Centerline is valid? [False, False] Translation: X:-219.22, Y:3.80, Z:110.32 [[ 7.13554167e-01 -6.70930630e-01 2.01723921e-01 -2.19224029e+02] [ 6.86681191e-01 7.26868834e-01 -1.14297828e-02 3.80307120e+00] [-1.38958240e-01 1.46675791e-01 9.79375730e-01 1.10318301e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.459072329 meters Centerline goodness : 0.797249 Centerline is valid? [False, False] Translation: X:-219.36, Y:3.78, Z:110.35 [[ 7.13038913e-01 -6.71156860e-01 2.02790476e-01 -2.19355312e+02] [ 6.86604116e-01 7.26985739e-01 -8.15613913e-03 3.78174754e+00] [-1.41951735e-01 1.45052420e-01 9.79188184e-01 1.10350438e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.48907232899995 meters Centerline goodness : 0.797955 Centerline is valid? [False, False] Translation: X:-219.49, Y:3.76, Z:110.38 [[ 7.14409797e-01 -6.69034685e-01 2.04966417e-01 -2.19493979e+02] [ 6.84911775e-01 7.28568898e-01 -9.12256412e-03 3.75955886e+00] [-1.43228845e-01 1.46901162e-01 9.78726492e-01 1.10382484e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.519072329 meters Centerline goodness : 0.799415 Centerline is valid? [False, False] Translation: X:-219.63, Y:3.74, Z:110.41 [[ 7.15891129e-01 -6.67164872e-01 2.05890565e-01 -2.19633343e+02] [ 6.83209097e-01 7.30160360e-01 -9.54871080e-03 3.73633527e+00] [-1.43962565e-01 1.47502145e-01 9.78528435e-01 1.10412870e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.54907232899996 meters Centerline goodness : 0.800230 Centerline is valid? [False, False] Translation: X:-219.77, Y:3.71, Z:110.44 [[ 7.18303305e-01 -6.64314777e-01 2.06703261e-01 -2.19771837e+02] [ 6.80430096e-01 7.32750499e-01 -9.57025322e-03 3.71443331e+00] [-1.45104257e-01 1.47521465e-01 9.78356874e-01 1.10443090e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.579072329 meters Centerline goodness : 0.800802 Centerline is valid? [False, False] Translation: X:-219.89, Y:3.70, Z:110.47 [[ 7.22440083e-01 -6.60558987e-01 2.04308960e-01 -2.19891106e+02] [ 6.75687880e-01 7.37164289e-01 -5.89064745e-03 3.69649828e+00] [-1.46718149e-01 1.42304728e-01 9.78888732e-01 1.10471507e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.60907232899996 meters Centerline goodness : 0.798980 Centerline is valid? [False, False] Translation: X:-220.03, Y:3.68, Z:110.50 [[ 7.22069731e-01 -6.60694677e-01 2.05177601e-01 -2.20026170e+02] [ 6.76287979e-01 7.36592682e-01 -8.11109237e-03 3.67501795e+00] [-1.45773364e-01 1.44615919e-01 9.78691148e-01 1.10501317e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.639072329 meters Centerline goodness : 0.799962 Centerline is valid? [False, False] Translation: X:-220.16, Y:3.66, Z:110.53 [[ 7.27208928e-01 -6.55247773e-01 2.04493351e-01 -2.20155314e+02] [ 6.71022088e-01 7.41359361e-01 -1.07542990e-02 3.65502710e+00] [-1.44556330e-01 1.45040178e-01 9.78808875e-01 1.10528601e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.66907232899996 meters Centerline goodness : 0.798661 Centerline is valid? [False, False] Translation: X:-220.29, Y:3.63, Z:110.56 [[ 7.26513682e-01 -6.55867979e-01 2.04975764e-01 -2.20288988e+02] [ 6.72021255e-01 7.40422084e-01 -1.27502919e-02 3.63388740e+00] [-1.43406074e-01 1.47011332e-01 9.78683997e-01 1.10559243e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.699072329 meters Centerline goodness : 0.798337 Centerline is valid? [False, False] Translation: X:-220.41, Y:3.61, Z:110.59 [[ 7.26196654e-01 -6.56483623e-01 2.04126608e-01 -2.20409245e+02] [ 6.72187853e-01 7.40306300e-01 -1.04915635e-02 3.61426604e+00] [-1.44228674e-01 1.44830364e-01 9.78888275e-01 1.10586683e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.72907232899996 meters Centerline goodness : 0.798921 Centerline is valid? [False, False] Translation: X:-220.53, Y:3.59, Z:110.61 [[ 7.25288043e-01 -6.57588641e-01 2.03799983e-01 -2.20527682e+02] [ 6.72972575e-01 7.39618483e-01 -8.50956291e-03 3.59309582e+00] [-1.45138442e-01 1.43323684e-01 9.78975564e-01 1.10614967e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.759072329 meters Centerline goodness : 0.798984 Centerline is valid? [False, False] Translation: X:-220.65, Y:3.57, Z:110.64 [[ 7.22520343e-01 -6.60873116e-01 2.03005121e-01 -2.20650693e+02] [ 6.75713473e-01 7.37145986e-01 -5.20560733e-03 3.57173517e+00] [-1.46204164e-01 1.40934452e-01 9.79163838e-01 1.10643490e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.78907232899996 meters Centerline goodness : 0.798012 Centerline is valid? [False, False] Translation: X:-220.77, Y:3.55, Z:110.67 [[ 7.18833695e-01 -6.65781215e-01 2.00033728e-01 -2.20772847e+02] [ 6.79996812e-01 7.33207899e-01 -3.24232973e-03 3.54770960e+00] [-1.44507627e-01 1.38352993e-01 9.79783647e-01 1.10672506e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.819072329 meters Centerline goodness : 0.796956 Centerline is valid? [False, False] Translation: X:-220.90, Y:3.52, Z:110.70 [[ 7.16588393e-01 -6.67785696e-01 2.01403423e-01 -2.20903207e+02] [ 6.82364572e-01 7.31000617e-01 -4.08521719e-03 3.52424894e+00] [-1.44497977e-01 1.40357980e-01 9.79499858e-01 1.10699976e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.84907232899997 meters Centerline goodness : 0.796400 Centerline is valid? [False, False] Translation: X:-221.04, Y:3.50, Z:110.73 [[ 7.14795235e-01 -6.69394346e-01 2.02432661e-01 -2.21038305e+02] [ 6.84391684e-01 7.29092433e-01 -5.67873849e-03 3.50058099e+00] [-1.43790806e-01 1.42602365e-01 9.79279720e-01 1.10728521e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.879072329 meters Centerline goodness : 0.797677 Centerline is valid? [False, False] Translation: X:-221.17, Y:3.47, Z:110.76 [[ 7.11461093e-01 -6.72722421e-01 2.03144425e-01 -2.21173052e+02] [ 6.88176024e-01 7.25503760e-01 -7.61931022e-03 3.47468732e+00] [-1.42256364e-01 1.45219966e-01 9.79119139e-01 1.10755295e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.90907232899997 meters Centerline goodness : 0.797073 Centerline is valid? [False, False] Translation: X:-221.31, Y:3.45, Z:110.78 [[ 7.11411088e-01 -6.72794731e-01 2.03080067e-01 -2.21309435e+02] [ 6.88425761e-01 7.25252178e-01 -8.90227671e-03 3.45199799e+00] [-1.41294856e-01 1.46138728e-01 9.79121666e-01 1.10784030e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.939072329 meters Centerline goodness : 0.796016 Centerline is valid? [False, False] Translation: X:-221.45, Y:3.43, Z:110.81 [[ 7.12080514e-01 -6.72409990e-01 2.02005313e-01 -2.21446542e+02] [ 6.87874649e-01 7.25774558e-01 -8.93080436e-03 3.43091442e+00] [-1.40605155e-01 1.45313786e-01 9.79343706e-01 1.10811244e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.96907232899997 meters Centerline goodness : 0.795145 Centerline is valid? [False, False] Translation: X:-221.58, Y:3.41, Z:110.84 [[ 7.14125456e-01 -6.70252682e-01 2.01955874e-01 -2.21577515e+02] [ 6.85896942e-01 7.27622581e-01 -1.05244780e-02 3.41250663e+00] [-1.39893594e-01 1.46036714e-01 9.79338073e-01 1.10840344e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.99907232899994 meters Centerline goodness : 0.796405 Centerline is valid? [False, False] Translation: X:-221.71, Y:3.39, Z:110.87 [[ 7.17077358e-01 -6.66901811e-01 2.02588347e-01 -2.21714782e+02] [ 6.82942998e-01 7.30354711e-01 -1.30712398e-02 3.39330065e+00] [-1.39244120e-01 1.47729383e-01 9.79176748e-01 1.10871102e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.029072329 meters Centerline goodness : 0.794499 Centerline is valid? [False, False] Translation: X:-221.85, Y:3.38, Z:110.90 [[ 7.21044989e-01 -6.62362291e-01 2.03396949e-01 -2.21847719e+02] [ 6.78790952e-01 7.34167849e-01 -1.55052305e-02 3.37624297e+00] [-1.39057421e-01 1.49243977e-01 9.78973579e-01 1.10900875e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.05907232899995 meters Centerline goodness : 0.796490 Centerline is valid? [False, False] Translation: X:-221.97, Y:3.36, Z:110.93 [[ 7.26109398e-01 -6.56873084e-01 2.03181925e-01 -2.21965399e+02] [ 6.72975481e-01 7.39529248e-01 -1.41595463e-02 3.36395351e+00] [-1.40957952e-01 1.47017834e-01 9.79038616e-01 1.10928631e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.089072329 meters Centerline goodness : 0.797083 Centerline is valid? [False, False] Translation: X:-222.09, Y:3.35, Z:110.96 [[ 7.29217743e-01 -6.53425647e-01 2.03165962e-01 -2.22087791e+02] [ 6.69041907e-01 7.43139125e-01 -1.12768191e-02 3.34971957e+00] [-1.43612012e-01 1.44149799e-01 9.79079376e-01 1.10958006e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.11907232899995 meters Centerline goodness : 0.796752 Centerline is valid? [False, False] Translation: X:-222.21, Y:3.34, Z:110.99 [[ 7.36243746e-01 -6.45250894e-01 2.03952028e-01 -2.22211806e+02] [ 6.60188494e-01 7.51067101e-01 -7.02582290e-03 3.33897109e+00] [-1.48648240e-01 1.39819500e-01 9.78955672e-01 1.10987655e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.149072329 meters Centerline goodness : 0.796100 Centerline is valid? [False, False] Translation: X:-222.33, Y:3.32, Z:111.02 [[ 7.39239933e-01 -6.41672397e-01 2.04403661e-01 -2.22332346e+02] [ 6.56196711e-01 7.54577156e-01 -4.38094041e-03 3.32476501e+00] [-1.51427204e-01 1.37367576e-01 9.78876882e-01 1.11017415e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.17907232899995 meters Centerline goodness : 0.795769 Centerline is valid? [False, False] Translation: X:-222.45, Y:3.31, Z:111.05 [[ 7.41226601e-01 -6.39144211e-01 2.05128747e-01 -2.22449827e+02] [ 6.53467487e-01 7.56949528e-01 -2.76692394e-03 3.31042310e+00] [-1.53503645e-01 1.36095884e-01 9.78731087e-01 1.11045319e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.209072329 meters Centerline goodness : 0.795103 Centerline is valid? [False, False] Translation: X:-222.58, Y:3.30, Z:111.07 [[ 7.46142899e-01 -6.32633097e-01 2.07475635e-01 -2.22575287e+02] [ 6.47515179e-01 7.62035754e-01 -5.05993657e-03 3.29669479e+00] [-1.54902768e-01 1.38119058e-01 9.78227099e-01 1.11073760e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.23907232899995 meters Centerline goodness : 0.796058 Centerline is valid? [False, False] Translation: X:-222.69, Y:3.28, Z:111.10 [[ 7.47509414e-01 -6.31095691e-01 2.07238761e-01 -2.22689241e+02] [ 6.45748468e-01 7.63539535e-01 -4.03663715e-03 3.28121637e+00] [-1.55687483e-01 1.36841537e-01 9.78282066e-01 1.11100993e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.269072329 meters Centerline goodness : 0.795906 Centerline is valid? [False, False] Translation: X:-222.81, Y:3.27, Z:111.13 [[ 7.49534184e-01 -6.28636594e-01 2.07399467e-01 -2.22806041e+02] [ 6.43064727e-01 7.65806635e-01 -2.82026313e-03 3.26536797e+00] [-1.57054967e-01 1.35485165e-01 9.78252272e-01 1.11128828e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.29907232899996 meters Centerline goodness : 0.795634 Centerline is valid? [False, False] Translation: X:-222.92, Y:3.25, Z:111.16 [[ 7.53165394e-01 -6.24341422e-01 2.07218914e-01 -2.22919912e+02] [ 6.38444207e-01 7.69666564e-01 -1.54120072e-03 3.25271452e+00] [-1.58527234e-01 1.33458494e-01 9.78293385e-01 1.11156064e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.329072329 meters Centerline goodness : 0.795455 Centerline is valid? [False, False] Translation: X:-223.03, Y:3.24, Z:111.18 [[ 7.54806489e-01 -6.22793613e-01 2.05901143e-01 -2.23031884e+02] [ 6.36376395e-01 7.71378618e-01 3.33382525e-04 3.23794972e+00] [-1.59035367e-01 1.30778988e-01 9.78572740e-01 1.11182865e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.35907232899996 meters Centerline goodness : 0.795643 Centerline is valid? [False, False] Translation: X:-223.15, Y:3.22, Z:111.21 [[ 7.55642845e-01 -6.21795358e-01 2.05850489e-01 -2.23145931e+02] [ 6.35183448e-01 7.72360125e-01 1.35104267e-03 3.22350827e+00] [-1.59830782e-01 1.29731918e-01 9.78582521e-01 1.11211206e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.389072329 meters Centerline goodness : 0.796803 Centerline is valid? [False, False] Translation: X:-223.26, Y:3.21, Z:111.24 [[ 7.55962273e-01 -6.21428093e-01 2.05786702e-01 -2.23256936e+02] [ 6.34758980e-01 7.72708536e-01 1.59850142e-03 3.20748115e+00] [-1.60006495e-01 1.29416550e-01 9.78595564e-01 1.11237649e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.41907232899996 meters Centerline goodness : 0.796803 Centerline is valid? [False, False] Translation: X:-223.37, Y:3.19, Z:111.26 [[ 7.55834223e-01 -6.21834972e-01 2.05026570e-01 -2.23370787e+02] [ 6.34898958e-01 7.72590599e-01 2.66059574e-03 3.19111433e+00] [-1.60056052e-01 1.28160186e-01 9.78752792e-01 1.11264193e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.449072329 meters Centerline goodness : 0.795219 Centerline is valid? [False, False] Translation: X:-223.48, Y:3.17, Z:111.29 [[ 7.55496173e-01 -6.22133494e-01 2.05366620e-01 -2.23484273e+02] [ 6.35250684e-01 7.72301445e-01 2.65445395e-03 3.17476256e+00] [-1.60256362e-01 1.28453856e-01 9.78681514e-01 1.11291361e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.47907232899996 meters Centerline goodness : 0.795719 Centerline is valid? [False, False] Translation: X:-223.59, Y:3.16, Z:111.32 [[ 7.55259785e-01 -6.22670532e-01 2.04607101e-01 -2.23594870e+02] [ 6.35663568e-01 7.71960894e-01 2.86486211e-03 3.15875779e+00] [-1.59732546e-01 1.27897564e-01 9.78839990e-01 1.11317887e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.509072329 meters Centerline goodness : 0.796445 Centerline is valid? [False, False] Translation: X:-223.71, Y:3.14, Z:111.34 [[ 7.53640123e-01 -6.24970775e-01 2.03563494e-01 -2.23705368e+02] [ 6.37871229e-01 7.70137616e-01 2.88927435e-03 3.14135503e+00] [-1.58577616e-01 1.27669823e-01 9.79057483e-01 1.11343168e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.53907232899996 meters Centerline goodness : 0.795404 Centerline is valid? [False, False] Translation: X:-223.82, Y:3.12, Z:111.37 [[ 7.52422702e-01 -6.27115298e-01 2.01460868e-01 -2.23816417e+02] [ 6.39640018e-01 7.68665296e-01 3.78284875e-03 3.12386904e+00] [-1.57228260e-01 1.26016132e-01 9.79489259e-01 1.11367712e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.569072329 meters Centerline goodness : 0.794586 Centerline is valid? [False, False] Translation: X:-223.93, Y:3.10, Z:111.39 [[ 7.49094985e-01 -6.31832512e-01 1.99108965e-01 -2.23926189e+02] [ 6.44122918e-01 7.64911791e-01 3.95205819e-03 3.10316406e+00] [-1.54797834e-01 1.25290181e-01 9.79969388e-01 1.11390425e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.59907232899997 meters Centerline goodness : 0.793799 Centerline is valid? [False, False] Translation: X:-224.04, Y:3.08, Z:111.42 [[ 7.45470863e-01 -6.36206721e-01 1.98781790e-01 -2.24039951e+02] [ 6.48577179e-01 7.61139626e-01 3.75666179e-03 3.08364942e+00] [-1.53690711e-01 1.26124851e-01 9.80036575e-01 1.11415245e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.629072329 meters Centerline goodness : 0.794725 Centerline is valid? [False, False] Translation: X:-224.17, Y:3.06, Z:111.44 [[ 7.44524940e-01 -6.36425285e-01 2.01607216e-01 -2.24168500e+02] [ 6.49778178e-01 7.60123881e-01 -6.94477787e-05 3.06162234e+00] [-1.53202261e-01 1.31051675e-01 9.79466449e-01 1.11441697e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.65907232899997 meters Centerline goodness : 0.792628 Centerline is valid? [False, False] Translation: X:-224.28, Y:3.04, Z:111.47 [[ 7.37198572e-01 -6.44480838e-01 2.02935245e-01 -2.24284699e+02] [ 6.58377616e-01 7.52686679e-01 -1.29547163e-03 3.03826248e+00] [-1.51911749e-01 1.34563043e-01 9.79191303e-01 1.11466759e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.689072329 meters Centerline goodness : 0.792957 Centerline is valid? [False, False] Translation: X:-224.40, Y:3.02, Z:111.49 [[ 7.34743209e-01 -6.47561320e-01 2.02031564e-01 -2.24399624e+02] [ 6.61198010e-01 7.50211431e-01 -1.40696166e-05 3.01809974e+00] [-1.51557278e-01 1.33593205e-01 9.79379011e-01 1.11492678e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.71907232899997 meters Centerline goodness : 0.792485 Centerline is valid? [False, False] Translation: X:-224.53, Y:3.00, Z:111.52 [[ 7.31775354e-01 -6.49974331e-01 2.05032195e-01 -2.24530300e+02] [ 6.64630334e-01 7.47164036e-01 -3.52458259e-03 2.99703469e+00] [-1.50901794e-01 1.38849819e-01 9.78748883e-01 1.11520873e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.74907232899994 meters Centerline goodness : 0.794518 Centerline is valid? [False, False] Translation: X:-224.65, Y:2.97, Z:111.55 [[ 7.25959337e-01 -6.56671426e-01 2.04366532e-01 -2.24649621e+02] [ 6.71101444e-01 7.41363437e-01 -1.76239490e-03 2.97420429e+00] [-1.50352560e-01 1.38430102e-01 9.78892851e-01 1.11547503e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.779072329 meters Centerline goodness : 0.793611 Centerline is valid? [False, False] Translation: X:-224.79, Y:2.95, Z:111.58 [[ 7.25111167e-01 -6.56998913e-01 2.06315835e-01 -2.24785828e+02] [ 6.72048950e-01 7.40496449e-01 -3.90099336e-03 2.95467104e+00] [-1.50213195e-01 1.41482994e-01 9.78477674e-01 1.11576905e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.80907232899995 meters Centerline goodness : 0.792763 Centerline is valid? [False, False] Translation: X:-224.92, Y:2.94, Z:111.61 [[ 7.24229203e-01 -6.57548862e-01 2.07657303e-01 -2.24919301e+02] [ 6.73193502e-01 7.39438658e-01 -6.40162741e-03 2.93524752e+00] [-1.49340455e-01 1.44429793e-01 9.78180691e-01 1.11606469e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.839072329 meters Centerline goodness : 0.792692 Centerline is valid? [False, False] Translation: X:-225.05, Y:2.92, Z:111.64 [[ 7.22926140e-01 -6.58451773e-01 2.09330025e-01 -2.25054532e+02] [ 6.74715585e-01 7.38026932e-01 -8.66761043e-03 2.91559533e+00] [-1.48783993e-01 1.47504272e-01 9.77806634e-01 1.11636300e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.86907232899995 meters Centerline goodness : 0.792847 Centerline is valid? [False, False] Translation: X:-225.18, Y:2.90, Z:111.67 [[ 7.22352857e-01 -6.58695327e-01 2.10539344e-01 -2.25179054e+02] [ 6.75138968e-01 7.37640574e-01 -8.58824130e-03 2.89878718e+00] [-1.49645328e-01 1.48347056e-01 9.77547660e-01 1.11667047e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.899072329 meters Centerline goodness : 0.791059 Centerline is valid? [False, False] Translation: X:-225.32, Y:2.88, Z:111.70 [[ 7.24047270e-01 -6.55274815e-01 2.15338032e-01 -2.25318873e+02] [ 6.72925272e-01 7.39613460e-01 -1.19794591e-02 2.88194999e+00] [-1.51417069e-01 1.53580098e-01 9.76466090e-01 1.11699191e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.92907232899995 meters Centerline goodness : 0.792746 Centerline is valid? [False, False] Translation: X:-225.46, Y:2.87, Z:111.73 [[ 7.25976144e-01 -6.52521358e-01 2.17196953e-01 -2.25455827e+02] [ 6.70658154e-01 7.41642705e-01 -1.35550476e-02 2.86555310e+00] [-1.52237578e-01 1.55505549e-01 9.76033680e-01 1.11730796e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.959072329 meters Centerline goodness : 0.793426 Centerline is valid? [False, False] Translation: X:-225.59, Y:2.85, Z:111.76 [[ 7.28166690e-01 -6.49585032e-01 2.18660827e-01 -2.25587918e+02] [ 6.68187029e-01 7.43833865e-01 -1.54037287e-02 2.84972024e+00] [-1.52641297e-01 1.57322811e-01 9.75679337e-01 1.11761288e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.98907232899995 meters Centerline goodness : 0.792527 Centerline is valid? [False, False] Translation: X:-225.72, Y:2.83, Z:111.79 [[ 7.32596010e-01 -6.44256000e-01 2.19629898e-01 -2.25718294e+02] [ 6.63355093e-01 7.48081395e-01 -1.82824268e-02 2.83414212e+00] [-1.52522477e-01 1.59086244e-01 9.75411944e-01 1.11791654e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.019072329 meters Centerline goodness : 0.790623 Centerline is valid? [False, False] Translation: X:-225.84, Y:2.82, Z:111.82 [[ 7.32027134e-01 -6.44888815e-01 2.19669504e-01 -2.25841019e+02] [ 6.63773759e-01 7.47744959e-01 -1.67890477e-02 2.81914713e+00] [-1.53429695e-01 1.58100891e-01 9.75429873e-01 1.11822638e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.04907232899996 meters Centerline goodness : 0.789434 Centerline is valid? [False, False] Translation: X:-225.95, Y:2.80, Z:111.85 [[ 7.32079279e-01 -6.44779928e-01 2.19815318e-01 -2.25953864e+02] [ 6.63610263e-01 7.47900791e-01 -1.63041647e-02 2.80394010e+00] [-1.53887452e-01 1.57807642e-01 9.75405249e-01 1.11850717e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.079072329 meters Centerline goodness : 0.789634 Centerline is valid? [False, False] Translation: X:-226.09, Y:2.79, Z:111.88 [[ 7.33354131e-01 -6.42948859e-01 2.20926421e-01 -2.26088983e+02] [ 6.62293427e-01 7.49012574e-01 -1.86434938e-02 2.78695508e+00] [-1.53489854e-01 1.59990400e-01 9.75112269e-01 1.11882859e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.10907232899996 meters Centerline goodness : 0.789100 Centerline is valid? [False, False] Translation: X:-226.21, Y:2.77, Z:111.91 [[ 7.32571522e-01 -6.44023873e-01 2.20391052e-01 -2.26206525e+02] [ 6.63031632e-01 7.48399973e-01 -1.69273764e-02 2.77090721e+00] [-1.54039023e-01 1.58526753e-01 9.75264707e-01 1.11911920e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.139072329 meters Centerline goodness : 0.787992 Centerline is valid? [False, False] Translation: X:-226.34, Y:2.75, Z:111.94 [[ 7.32567314e-01 -6.44109713e-01 2.20154055e-01 -2.26337369e+02] [ 6.63447877e-01 7.47974276e-01 -1.92716558e-02 2.75295641e+00] [-1.52256509e-01 1.60178525e-01 9.75274728e-01 1.11941865e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.16907232899996 meters Centerline goodness : 0.786205 Centerline is valid? [False, False] Translation: X:-226.45, Y:2.74, Z:111.97 [[ 7.30997529e-01 -6.46267691e-01 2.19044939e-01 -2.26454096e+02] [ 6.65164302e-01 7.46495756e-01 -1.73360442e-02 2.73600420e+00] [-1.52312392e-01 1.58373479e-01 9.75560750e-01 1.11969703e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.199072329 meters Centerline goodness : 0.786073 Centerline is valid? [False, False] Translation: X:-226.59, Y:2.72, Z:112.00 [[ 7.27388300e-01 -6.49510652e-01 2.21454676e-01 -2.26587966e+02] [ 6.69369187e-01 7.42647819e-01 -2.04721163e-02 2.71673648e+00] [-1.51165975e-01 1.63126114e-01 9.74955752e-01 1.11999182e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.22907232899996 meters Centerline goodness : 0.787062 Centerline is valid? [False, False] Translation: X:-226.71, Y:2.70, Z:112.03 [[ 7.27629534e-01 -6.49640340e-01 2.20278665e-01 -2.26708913e+02] [ 6.68789837e-01 7.43253017e-01 -1.71786692e-02 2.70061709e+00] [-1.52562826e-01 1.59819840e-01 9.75285703e-01 1.12028136e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.259072329 meters Centerline goodness : 0.787387 Centerline is valid? [False, False] Translation: X:-226.83, Y:2.69, Z:112.06 [[ 7.25624856e-01 -6.51966095e-01 2.20019952e-01 -2.26828797e+02] [ 6.70849145e-01 7.41433247e-01 -1.54325783e-02 2.68565165e+00] [-1.53068590e-01 1.58798459e-01 9.75373291e-01 1.12058086e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.28907232899996 meters Centerline goodness : 0.786121 Centerline is valid? [False, False] Translation: X:-226.96, Y:2.67, Z:112.09 [[ 7.23693545e-01 -6.53940991e-01 2.20519464e-01 -2.26964706e+02] [ 6.73112015e-01 7.39357237e-01 -1.64648331e-02 2.66629707e+00] [-1.52275632e-01 1.60349794e-01 9.75243598e-01 1.12088518e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.319072329 meters Centerline goodness : 0.787684 Centerline is valid? [False, False] Translation: X:-227.10, Y:2.65, Z:112.12 [[ 7.23333314e-01 -6.53910239e-01 2.21788898e-01 -2.27096503e+02] [ 6.73686003e-01 7.38774170e-01 -1.89709023e-02 2.64939977e+00] [-1.51446642e-01 1.63138362e-01 9.74910144e-01 1.12120263e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.34907232899997 meters Centerline goodness : 0.785412 Centerline is valid? [False, False] Translation: X:-227.21, Y:2.63, Z:112.15 [[ 7.22726877e-01 -6.54684551e-01 2.21481379e-01 -2.27214513e+02] [ 6.74079578e-01 7.38468629e-01 -1.67572817e-02 2.63291040e+00] [-1.52586317e-01 1.61407012e-01 9.75020611e-01 1.12148610e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.379072329 meters Centerline goodness : 0.787280 Centerline is valid? [False, False] Translation: X:-227.35, Y:2.62, Z:112.18 [[ 7.23613928e-01 -6.53325359e-01 2.22595729e-01 -2.27352548e+02] [ 6.73030410e-01 7.39402581e-01 -1.77169691e-02 2.61501905e+00] [-1.53012911e-01 1.62633940e-01 9.74749840e-01 1.12179719e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.40907232899997 meters Centerline goodness : 0.787008 Centerline is valid? [False, False] Translation: X:-227.48, Y:2.60, Z:112.21 [[ 7.20765116e-01 -6.56569984e-01 2.22291486e-01 -2.27477039e+02] [ 6.75981294e-01 7.36751025e-01 -1.57231717e-02 2.60064284e+00] [-1.53450117e-01 1.61597600e-01 9.74853464e-01 1.12210469e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.439072329 meters Centerline goodness : 0.787638 Centerline is valid? [False, False] Translation: X:-227.62, Y:2.58, Z:112.24 [[ 7.20094181e-01 -6.56633636e-01 2.24269122e-01 -2.27615834e+02] [ 6.76708345e-01 7.36036479e-01 -1.77796724e-02 2.58300864e+00] [-1.53395524e-01 1.64567825e-01 9.74365047e-01 1.12242893e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.46907232899997 meters Centerline goodness : 0.787044 Centerline is valid? [False, False] Translation: X:-227.75, Y:2.57, Z:112.28 [[ 7.16406109e-01 -6.60443153e-01 2.24893593e-01 -2.27745302e+02] [ 6.80484649e-01 7.32580017e-01 -1.63450786e-02 2.56569264e+00] [-1.53957557e-01 1.64746352e-01 9.74246227e-01 1.12276080e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.49907232899994 meters Centerline goodness : 0.786593 Centerline is valid? [False, False] Translation: X:-227.89, Y:2.55, Z:112.31 [[ 7.16495143e-01 -6.59461404e-01 2.27476080e-01 -2.27887899e+02] [ 6.80233976e-01 7.32767723e-01 -1.82538247e-02 2.54849248e+00] [-1.54649437e-01 1.67815735e-01 9.73612567e-01 1.12309890e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.529072329 meters Centerline goodness : 0.787817 Centerline is valid? [False, False] Translation: X:-228.02, Y:2.53, Z:112.34 [[ 7.14440192e-01 -6.61348369e-01 2.28459073e-01 -2.28015289e+02] [ 6.82037686e-01 7.31133672e-01 -1.63752448e-02 2.53172200e+00] [-1.56204379e-01 1.67516830e-01 9.73415792e-01 1.12343261e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.55907232899995 meters Centerline goodness : 0.788996 Centerline is valid? [False, False] Translation: X:-228.16, Y:2.52, Z:112.38 [[ 7.14965708e-01 -6.59559205e-01 2.31960538e-01 -2.28156895e+02] [ 6.81171518e-01 7.31890312e-01 -1.84914416e-02 2.51506234e+00] [-1.57573470e-01 1.71225658e-01 9.72549421e-01 1.12377361e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.589072329 meters Centerline goodness : 0.789366 Centerline is valid? [False, False] Translation: X:-228.30, Y:2.50, Z:112.41 [[ 7.15777590e-01 -6.57882714e-01 2.34206693e-01 -2.28299064e+02] [ 6.80086062e-01 7.32863119e-01 -1.98644393e-02 2.49940184e+00] [-1.58572977e-01 1.73499228e-01 9.71983862e-01 1.12411639e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.61907232899995 meters Centerline goodness : 0.788719 Centerline is valid? [False, False] Translation: X:-228.43, Y:2.48, Z:112.44 [[ 7.14874325e-01 -6.59027824e-01 2.33745645e-01 -2.28426249e+02] [ 6.80722832e-01 7.32341373e-01 -1.71037775e-02 2.48458266e+00] [-1.59909742e-01 1.71343049e-01 9.72147331e-01 1.12444224e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.649072329 meters Centerline goodness : 0.789144 Centerline is valid? [False, False] Translation: X:-228.56, Y:2.47, Z:112.48 [[ 7.16265209e-01 -6.57823479e-01 2.32878556e-01 -2.28561854e+02] [ 6.79645050e-01 7.33294707e-01 -1.90126063e-02 2.46972694e+00] [-1.58261674e-01 1.71892826e-01 9.72319957e-01 1.12477167e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.67907232899995 meters Centerline goodness : 0.789230 Centerline is valid? [False, False] Translation: X:-228.70, Y:2.46, Z:112.51 [[ 7.17020247e-01 -6.56716309e-01 2.33678528e-01 -2.28699671e+02] [ 6.79007649e-01 7.33825918e-01 -2.11691843e-02 2.45505908e+00] [-1.57577212e-01 1.73848242e-01 9.72083438e-01 1.12511147e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.709072329 meters Centerline goodness : 0.788666 Centerline is valid? [False, False] Translation: X:-228.83, Y:2.44, Z:112.54 [[ 7.17044746e-01 -6.56692363e-01 2.33670650e-01 -2.28826073e+02] [ 6.78803164e-01 7.34045939e-01 -2.00704685e-02 2.44176182e+00] [-1.58344868e-01 1.73007801e-01 9.72108638e-01 1.12543720e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.73907232899995 meters Centerline goodness : 0.789212 Centerline is valid? [False, False] Translation: X:-228.96, Y:2.43, Z:112.58 [[ 7.18349261e-01 -6.54938619e-01 2.34584197e-01 -2.28962462e+02] [ 6.77572679e-01 7.35111175e-01 -2.25127500e-02 2.42777749e+00] [-1.57700995e-01 1.75119860e-01 9.71835084e-01 1.12577778e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.769072329 meters Centerline goodness : 0.788818 Centerline is valid? [False, False] Translation: X:-229.09, Y:2.41, Z:112.61 [[ 7.17168306e-01 -6.56282726e-01 2.34441047e-01 -2.29088388e+02] [ 6.78760172e-01 7.34044725e-01 -2.15167504e-02 2.41411321e+00] [-1.57969142e-01 1.74560376e-01 9.71892188e-01 1.12611214e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.79907232899996 meters Centerline goodness : 0.787858 Centerline is valid? [False, False] Translation: X:-229.22, Y:2.40, Z:112.64 [[ 7.18048731e-01 -6.54835279e-01 2.35789689e-01 -2.29223229e+02] [ 6.78220813e-01 7.34405484e-01 -2.57898239e-02 2.40019133e+00] [-1.56277154e-01 1.78435825e-01 9.71461840e-01 1.12644663e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.829072329 meters Centerline goodness : 0.788464 Centerline is valid? [False, False] Translation: X:-229.36, Y:2.39, Z:112.68 [[ 7.18524699e-01 -6.54069802e-01 2.36463423e-01 -2.29359388e+02] [ 6.77957416e-01 7.34558743e-01 -2.82346282e-02 2.38524415e+00] [-1.55228857e-01 1.80599409e-01 9.71230073e-01 1.12678757e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.85907232899996 meters Centerline goodness : 0.788274 Centerline is valid? [False, False] Translation: X:-229.49, Y:2.37, Z:112.71 [[ 7.17394706e-01 -6.55439554e-01 2.36101306e-01 -2.29485820e+02] [ 6.79000960e-01 7.33661335e-01 -2.64337212e-02 2.37128603e+00] [-1.55892693e-01 1.79276425e-01 9.71368844e-01 1.12711861e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.889072329 meters Centerline goodness : 0.789309 Centerline is valid? [False, False] Translation: X:-229.61, Y:2.36, Z:112.75 [[ 7.15140021e-01 -6.58806711e-01 2.33556136e-01 -2.29611506e+02] [ 6.81449161e-01 7.31498013e-01 -2.31882913e-02 2.35751072e+00] [-1.55569247e-01 1.75739508e-01 9.72066785e-01 1.12745323e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.91907232899996 meters Centerline goodness : 0.789006 Centerline is valid? [False, False] Translation: X:-229.75, Y:2.34, Z:112.78 [[ 7.15534165e-01 -6.58391950e-01 2.33518519e-01 -2.29746776e+02] [ 6.81133697e-01 7.31768467e-01 -2.39122926e-02 2.34311936e+00] [-1.55137828e-01 1.76167395e-01 9.72058282e-01 1.12778926e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.949072329 meters Centerline goodness : 0.789550 Centerline is valid? [False, False] Translation: X:-229.88, Y:2.33, Z:112.81 [[ 7.14414710e-01 -6.58917904e-01 2.35454493e-01 -2.29882989e+02] [ 6.82505467e-01 7.30386293e-01 -2.68728772e-02 2.32797633e+00] [-1.54265715e-01 1.79897358e-01 9.71513783e-01 1.12812697e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.97907232899996 meters Centerline goodness : 0.788884 Centerline is valid? [False, False] Translation: X:-230.01, Y:2.31, Z:112.85 [[ 7.14623426e-01 -6.58873751e-01 2.34944121e-01 -2.30007215e+02] [ 6.81847704e-01 7.31112113e-01 -2.36386504e-02 2.31462826e+00] [-1.56195607e-01 1.77088843e-01 9.71721397e-01 1.12845212e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.009072329 meters Centerline goodness : 0.788509 Centerline is valid? [False, False] Translation: X:-230.13, Y:2.30, Z:112.88 [[ 7.14322677e-01 -6.59160057e-01 2.35055595e-01 -2.30131471e+02] [ 6.81681483e-01 7.31356952e-01 -2.06727746e-02 2.30309965e+00] [-1.58282876e-01 1.75000078e-01 9.71762061e-01 1.12876884e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.03907232899996 meters Centerline goodness : 0.790064 Centerline is valid? [False, False] Translation: X:-230.27, Y:2.29, Z:112.91 [[ 7.15248644e-01 -6.58065826e-01 2.35305642e-01 -2.30265921e+02] [ 6.80666155e-01 7.32291719e-01 -2.10338739e-02 2.29116672e+00] [-1.58470699e-01 1.75209036e-01 9.71693795e-01 1.12910035e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.069072329 meters Centerline goodness : 0.789926 Centerline is valid? [False, False] Translation: X:-230.40, Y:2.28, Z:112.94 [[ 7.19206095e-01 -6.53781026e-01 2.35187082e-01 -2.30402219e+02] [ 6.76564397e-01 7.36026914e-01 -2.29128517e-02 2.28020770e+00] [-1.58124034e-01 1.75598269e-01 9.71680008e-01 1.12942813e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.09907232899997 meters Centerline goodness : 0.790374 Centerline is valid? [False, False] Translation: X:-230.54, Y:2.27, Z:112.98 [[ 7.21414883e-01 -6.51289527e-01 2.35334909e-01 -2.30536242e+02] [ 6.74435605e-01 7.37898899e-01 -2.53343521e-02 2.26960630e+00] [-1.57153372e-01 1.76994820e-01 9.71584094e-01 1.12976349e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.129072329 meters Centerline goodness : 0.789282 Centerline is valid? [False, False] Translation: X:-230.66, Y:2.26, Z:113.01 [[ 7.24908680e-01 -6.47692090e-01 2.34525823e-01 -2.30657958e+02] [ 6.70232634e-01 7.41793308e-01 -2.30413714e-02 2.26154611e+00] [-1.59045972e-01 1.73889750e-01 9.71836783e-01 1.13007794e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.15907232899997 meters Centerline goodness : 0.790021 Centerline is valid? [False, False] Translation: X:-230.79, Y:2.25, Z:113.04 [[ 7.28372240e-01 -6.43242400e-01 2.36036214e-01 -2.30788376e+02] [ 6.65987163e-01 7.45601268e-01 -2.32346238e-02 2.25131339e+00] [-1.61043406e-01 1.74120544e-01 9.71466447e-01 1.13040241e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.189072329 meters Centerline goodness : 0.790878 Centerline is valid? [False, False] Translation: X:-230.91, Y:2.24, Z:113.07 [[ 7.32026836e-01 -6.38963937e-01 2.36351007e-01 -2.30912029e+02] [ 6.61131707e-01 7.50001526e-01 -2.00643267e-02 2.24403445e+00] [-1.64443235e-01 1.70946771e-01 9.71460562e-01 1.13074698e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.21907232899997 meters Centerline goodness : 0.792238 Centerline is valid? [False, False] Translation: X:-231.04, Y:2.23, Z:113.11 [[ 7.32616483e-01 -6.38228980e-01 2.36509743e-01 -2.31035912e+02] [ 6.60078319e-01 7.50977926e-01 -1.81319380e-02 2.23348192e+00] [-1.66041268e-01 1.69398710e-01 9.71459919e-01 1.13107505e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.24907232899994 meters Centerline goodness : 0.791090 Centerline is valid? [False, False] Translation: X:-231.16, Y:2.22, Z:113.14 [[ 7.35523060e-01 -6.35157802e-01 2.35754946e-01 -2.31156744e+02] [ 6.56310069e-01 7.54335984e-01 -1.53074387e-02 2.22407730e+00] [-1.68115800e-01 1.65987319e-01 9.71691972e-01 1.13139030e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.279072329 meters Centerline goodness : 0.792233 Centerline is valid? [False, False] Translation: X:-231.28, Y:2.22, Z:113.17 [[ 7.36941517e-01 -6.33375324e-01 2.36120519e-01 -2.31278760e+02] [ 6.54338502e-01 7.56070009e-01 -1.41161854e-02 2.21513879e+00] [-1.69582799e-01 1.64905550e-01 9.71621240e-01 1.13171354e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.30907232899995 meters Centerline goodness : 0.793344 Centerline is valid? [False, False] Translation: X:-231.40, Y:2.21, Z:113.20 [[ 7.39128190e-01 -6.31017707e-01 2.35597479e-01 -2.31399504e+02] [ 6.51402948e-01 7.58641930e-01 -1.16885411e-02 2.20565856e+00] [-1.71358450e-01 1.62108223e-01 9.71780431e-01 1.13202378e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.339072329 meters Centerline goodness : 0.793344 Centerline is valid? [False, False] Translation: X:-231.52, Y:2.19, Z:113.23 [[ 7.39286229e-01 -6.30779163e-01 2.35740365e-01 -2.31519608e+02] [ 6.50975805e-01 7.59025583e-01 -1.05197344e-02 2.19489830e+00] [-1.72297339e-01 1.61238369e-01 9.71759134e-01 1.13233164e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.36907232899995 meters Centerline goodness : 0.792074 Centerline is valid? [False, False] Translation: X:-231.64, Y:2.19, Z:113.26 [[ 7.39829105e-01 -6.30139497e-01 2.35747979e-01 -2.31639887e+02] [ 6.50143916e-01 7.59751353e-01 -9.52736288e-03 2.18557736e+00] [-1.73106279e-01 1.60318735e-01 9.71767523e-01 1.13264300e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.399072329 meters Centerline goodness : 0.792552 Centerline is valid? [False, False] Translation: X:-231.76, Y:2.18, Z:113.30 [[ 7.41939775e-01 -6.28221217e-01 2.34229531e-01 -2.31755637e+02] [ 6.47813798e-01 7.61746275e-01 -8.93846084e-03 2.17774290e+00] [-1.72808142e-01 1.58368922e-01 9.72140232e-01 1.13295147e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.42907232899995 meters Centerline goodness : 0.792065 Centerline is valid? [False, False] Translation: X:-231.87, Y:2.17, Z:113.33 [[ 7.43604726e-01 -6.26125540e-01 2.34560909e-01 -2.31874313e+02] [ 6.45514275e-01 7.63708349e-01 -7.80250658e-03 2.16903738e+00] [-1.74250776e-01 1.57214396e-01 9.72070111e-01 1.13325392e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.459072329 meters Centerline goodness : 0.792862 Centerline is valid? [False, False] Translation: X:-231.99, Y:2.16, Z:113.36 [[ 7.45920910e-01 -6.23508479e-01 2.34177651e-01 -2.31991301e+02] [ 6.42864721e-01 7.65934009e-01 -8.36923885e-03 2.16204731e+00] [-1.74146335e-01 1.56787340e-01 9.72157798e-01 1.13356572e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.48907232899995 meters Centerline goodness : 0.791260 Centerline is valid? [False, False] Translation: X:-232.11, Y:2.15, Z:113.39 [[ 7.47603339e-01 -6.21357391e-01 2.34529828e-01 -2.32105993e+02] [ 6.40862529e-01 7.67600584e-01 -9.19571816e-03 2.15370510e+00] [-1.74311406e-01 1.57176129e-01 9.72065429e-01 1.13386321e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.519072329 meters Centerline goodness : 0.791306 Centerline is valid? [False, False] Translation: X:-232.22, Y:2.15, Z:113.42 [[ 7.50168689e-01 -6.18417249e-01 2.34109044e-01 -2.32218792e+02] [ 6.37648626e-01 7.70280485e-01 -8.49730287e-03 2.14561691e+00] [-1.75074750e-01 1.55653721e-01 9.72173210e-01 1.13415080e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.54907232899996 meters Centerline goodness : 0.791154 Centerline is valid? [False, False] Translation: X:-232.33, Y:2.14, Z:113.44 [[ 7.52670928e-01 -6.15562815e-01 2.33599859e-01 -2.32334240e+02] [ 6.34437225e-01 7.72938911e-01 -7.40583758e-03 2.13859685e+00] [-1.75999663e-01 1.53778605e-01 9.72304612e-01 1.13444129e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.579072329 meters Centerline goodness : 0.790870 Centerline is valid? [False, False] Translation: X:-232.45, Y:2.13, Z:113.47 [[ 7.53518016e-01 -6.14745216e-01 2.33021286e-01 -2.32446003e+02] [ 6.33612430e-01 7.73609187e-01 -8.00714521e-03 2.13013930e+00] [-1.75345053e-01 1.53678711e-01 9.72438670e-01 1.13474198e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.60907232899996 meters Centerline goodness : 0.790741 Centerline is valid? [False, False] Translation: X:-232.56, Y:2.12, Z:113.50 [[ 7.55810941e-01 -6.11276834e-01 2.34713557e-01 -2.32560873e+02] [ 6.30310578e-01 7.76302641e-01 -7.92374572e-03 2.12215235e+00] [-1.77365152e-01 1.53931292e-01 9.72032284e-01 1.13504497e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.639072329 meters Centerline goodness : 0.790184 Centerline is valid? [False, False] Translation: X:-232.67, Y:2.11, Z:113.53 [[ 7.55801908e-01 -6.10977662e-01 2.35520216e-01 -2.32671898e+02] [ 6.30374307e-01 7.76236401e-01 -9.23488617e-03 2.11314786e+00] [-1.77177056e-01 1.55445637e-01 9.71825573e-01 1.13534190e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.66907232899996 meters Centerline goodness : 0.790224 Centerline is valid? [False, False] Translation: X:-232.78, Y:2.10, Z:113.56 [[ 7.55871238e-01 -6.10657192e-01 2.36128071e-01 -2.32784727e+02] [ 6.30318850e-01 7.76269530e-01 -1.01864956e-02 2.10394268e+00] [-1.77078569e-01 1.56535653e-01 9.71668549e-01 1.13563747e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.699072329 meters Centerline goodness : 0.790981 Centerline is valid? [False, False] Translation: X:-232.90, Y:2.10, Z:113.59 [[ 7.55443018e-01 -6.11341849e-01 2.35726517e-01 -2.32900794e+02] [ 6.30666893e-01 7.76005965e-01 -8.60310279e-03 2.09517753e+00] [-1.77665746e-01 1.55164064e-01 9.71781352e-01 1.13593809e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.72907232899996 meters Centerline goodness : 0.792844 Centerline is valid? [False, False] Translation: X:-233.01, Y:2.09, Z:113.62 [[ 7.56505462e-01 -6.10632078e-01 2.34153692e-01 -2.33014349e+02] [ 6.29411631e-01 7.77039411e-01 -7.12415253e-03 2.08712491e+00] [-1.77596411e-01 1.52768517e-01 9.72173490e-01 1.13622911e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.759072329 meters Centerline goodness : 0.791624 Centerline is valid? [False, False] Translation: X:-233.13, Y:2.08, Z:113.65 [[ 7.56022186e-01 -6.11699578e-01 2.32925054e-01 -2.33129288e+02] [ 6.30083966e-01 7.76504738e-01 -5.88102158e-03 2.07929135e+00] [-1.77269989e-01 1.51208524e-01 9.72476906e-01 1.13652083e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.78907232899996 meters Centerline goodness : 0.791194 Centerline is valid? [False, False] Translation: X:-233.24, Y:2.07, Z:113.68 [[ 7.57129853e-01 -6.10260799e-01 2.33101143e-01 -2.33244478e+02] [ 6.28595007e-01 7.77712165e-01 -5.66620518e-03 2.07092263e+00] [-1.77827732e-01 1.50816268e-01 9.72435988e-01 1.13682282e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.819072329 meters Centerline goodness : 0.793352 Centerline is valid? [False, False] Translation: X:-233.36, Y:2.06, Z:113.71 [[ 7.57870024e-01 -6.09409162e-01 2.32923809e-01 -2.33357987e+02] [ 6.27761727e-01 7.78382066e-01 -6.04761307e-03 2.06267319e+00] [-1.77618245e-01 1.50803957e-01 9.72476182e-01 1.13712066e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.84907232899997 meters Centerline goodness : 0.794420 Centerline is valid? [False, False] Translation: X:-233.47, Y:2.06, Z:113.74 [[ 7.60174772e-01 -6.06569479e-01 2.32825650e-01 -2.33469756e+02] [ 6.24982707e-01 7.80608234e-01 -6.88479550e-03 2.05572478e+00] [-1.77569513e-01 1.50745653e-01 9.72494121e-01 1.13741059e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.879072329 meters Centerline goodness : 0.792941 Centerline is valid? [False, False] Translation: X:-233.58, Y:2.05, Z:113.77 [[ 7.61860623e-01 -6.04568470e-01 2.32519583e-01 -2.33581958e+02] [ 6.22766461e-01 7.82382676e-01 -6.26762760e-03 2.04903466e+00] [-1.78130084e-01 1.49580457e-01 9.72571519e-01 1.13769567e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.90907232899997 meters Centerline goodness : 0.794435 Centerline is valid? [False, False] Translation: X:-233.69, Y:2.04, Z:113.80 [[ 7.64295913e-01 -6.01867391e-01 2.31532723e-01 -2.33694449e+02] [ 6.19659763e-01 7.84852681e-01 -5.29596324e-03 2.04249384e+00] [-1.78531611e-01 1.47519195e-01 9.72812701e-01 1.13798925e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.939072329 meters Centerline goodness : 0.793233 Centerline is valid? [False, False] Translation: X:-233.80, Y:2.04, Z:113.83 [[ 7.68467950e-01 -5.97068044e-01 2.30145084e-01 -2.33804041e+02] [ 6.14431097e-01 7.88955734e-01 -4.82455833e-03 2.03803095e+00] [-1.78693694e-01 1.45115815e-01 9.73144369e-01 1.13827740e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.96907232899997 meters Centerline goodness : 0.793410 Centerline is valid? [False, False] Translation: X:-233.91, Y:2.03, Z:113.86 [[ 7.70330252e-01 -5.94818719e-01 2.29743324e-01 -2.33914216e+02] [ 6.12193566e-01 7.90688461e-01 -5.54935413e-03 2.03171828e+00] [-1.78354535e-01 1.44922220e-01 9.73235434e-01 1.13857154e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.99907232899994 meters Centerline goodness : 0.793319 Centerline is valid? [False, False] Translation: X:-234.02, Y:2.02, Z:113.89 [[ 7.72423696e-01 -5.91260172e-01 2.31890153e-01 -2.34022691e+02] [ 6.09220082e-01 7.92966234e-01 -7.44609230e-03 2.02445770e+00] [-1.79478484e-01 1.47023676e-01 9.72713479e-01 1.13886329e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.029072329 meters Centerline goodness : 0.793199 Centerline is valid? [False, False] Translation: X:-234.13, Y:2.02, Z:113.92 [[ 7.73336637e-01 -5.89782048e-01 2.32610365e-01 -2.34133312e+02] [ 6.07856162e-01 7.94010095e-01 -7.67180086e-03 2.01680971e+00] [-1.80170287e-01 1.47326528e-01 9.72539748e-01 1.13915258e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.05907232899995 meters Centerline goodness : 0.793966 Centerline is valid? [False, False] Translation: X:-234.24, Y:2.01, Z:113.94 [[ 7.74323249e-01 -5.88460737e-01 2.32674593e-01 -2.34242766e+02] [ 6.06507812e-01 7.95040600e-01 -7.66272732e-03 2.00977286e+00] [-1.80476534e-01 1.47052386e-01 9.72524455e-01 1.13943030e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.089072329 meters Centerline goodness : 0.794080 Centerline is valid? [False, False] Translation: X:-234.35, Y:2.00, Z:113.97 [[ 7.74937330e-01 -5.87643798e-01 2.32694865e-01 -2.34353314e+02] [ 6.05477577e-01 7.95834856e-01 -6.61707344e-03 2.00148613e+00] [-1.81298202e-01 1.46019340e-01 9.72527282e-01 1.13970551e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.11907232899995 meters Centerline goodness : 0.793998 Centerline is valid? [False, False] Translation: X:-234.46, Y:1.99, Z:114.00 [[ 7.74280275e-01 -5.88581934e-01 2.32510996e-01 -2.34463544e+02] [ 6.06398372e-01 7.95134100e-01 -6.54047076e-03 1.99318224e+00] [-1.81027818e-01 1.46058447e-01 9.72571776e-01 1.13998585e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.149072329 meters Centerline goodness : 0.794398 Centerline is valid? [False, False] Translation: X:-234.57, Y:1.98, Z:114.03 [[ 7.73053515e-01 -5.89696611e-01 2.33765203e-01 -2.34574882e+02] [ 6.07847122e-01 7.94022085e-01 -7.12775281e-03 1.98498069e+00] [-1.81411522e-01 1.47603640e-01 9.72266952e-01 1.14027066e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.17907232899995 meters Centerline goodness : 0.795245 Centerline is valid? [False, False] Translation: X:-234.69, Y:1.97, Z:114.06 [[ 7.71009796e-01 -5.92117464e-01 2.34394547e-01 -2.34686182e+02] [ 6.10518850e-01 7.91965338e-01 -7.59192823e-03 1.97440648e+00] [-1.81137043e-01 1.48955740e-01 9.72111907e-01 1.14055748e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.209072329 meters Centerline goodness : 0.794689 Centerline is valid? [False, False] Translation: X:-234.80, Y:1.97, Z:114.08 [[ 7.70259501e-01 -5.93092462e-01 2.34396316e-01 -2.34796948e+02] [ 6.11523310e-01 7.91189853e-01 -7.60635559e-03 1.96531055e+00] [-1.80940715e-01 1.49197679e-01 9.72111367e-01 1.14083888e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.23907232899995 meters Centerline goodness : 0.795585 Centerline is valid? [False, False] Translation: X:-234.91, Y:1.96, Z:114.11 [[ 7.69703468e-01 -5.93748070e-01 2.34562999e-01 -2.34907640e+02] [ 6.12230299e-01 7.90642530e-01 -7.64531725e-03 1.95654970e+00] [-1.80916091e-01 1.49491202e-01 9.72070856e-01 1.14112040e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.269072329 meters Centerline goodness : 0.793036 Centerline is valid? [False, False] Translation: X:-235.02, Y:1.95, Z:114.14 [[ 7.68154951e-01 -5.96092673e-01 2.33691028e-01 -2.35015736e+02] [ 6.14556219e-01 7.88833012e-01 -7.94563814e-03 1.94652976e+00] [-1.79606861e-01 1.49719756e-01 9.72278443e-01 1.14138696e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.29907232899996 meters Centerline goodness : 0.793766 Centerline is valid? [False, False] Translation: X:-235.12, Y:1.94, Z:114.17 [[ 7.67971149e-01 -5.96848184e-01 2.32362989e-01 -2.35124504e+02] [ 6.15128052e-01 7.88386874e-01 -7.97598108e-03 1.93727872e+00] [-1.78431480e-01 1.49058316e-01 9.72596435e-01 1.14166034e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.329072329 meters Centerline goodness : 0.793455 Centerline is valid? [False, False] Translation: X:-235.24, Y:1.93, Z:114.19 [[ 7.66559914e-01 -5.98512775e-01 2.32740966e-01 -2.35237676e+02] [ 6.16915641e-01 7.86987805e-01 -8.07999617e-03 1.92793086e+00] [-1.78328321e-01 1.49775343e-01 9.72505196e-01 1.14194279e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.35907232899996 meters Centerline goodness : 0.793294 Centerline is valid? [False, False] Translation: X:-235.35, Y:1.92, Z:114.22 [[ 7.63853559e-01 -6.02013175e-01 2.32611003e-01 -2.35348874e+02] [ 6.20540660e-01 7.84129654e-01 -8.36508004e-03 1.91664386e+00] [-1.77361297e-01 1.50734281e-01 9.72533880e-01 1.14222096e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.389072329 meters Centerline goodness : 0.791810 Centerline is valid? [False, False] Translation: X:-235.46, Y:1.91, Z:114.25 [[ 7.59772613e-01 -6.06342067e-01 2.34722975e-01 -2.35463709e+02] [ 6.25514384e-01 7.80155959e-01 -9.40394373e-03 1.90502380e+00] [-1.77418521e-01 1.53967456e-01 9.72016816e-01 1.14250663e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.41907232899996 meters Centerline goodness : 0.792208 Centerline is valid? [False, False] Translation: X:-235.58, Y:1.89, Z:114.28 [[ 7.58466837e-01 -6.07734802e-01 2.35343297e-01 -2.35578014e+02] [ 6.27009745e-01 7.78957001e-01 -9.20705459e-03 1.89499654e+00] [-1.77726861e-01 1.54545786e-01 9.71868696e-01 1.14279083e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.449072329 meters Centerline goodness : 0.792334 Centerline is valid? [False, False] Translation: X:-235.69, Y:1.89, Z:114.31 [[ 7.57067780e-01 -6.09417048e-01 2.35497852e-01 -2.35692971e+02] [ 6.28682745e-01 7.77612438e-01 -8.76939312e-03 1.88618813e+00] [-1.77781841e-01 1.54692461e-01 9.71835305e-01 1.14308352e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.47907232899996 meters Centerline goodness : 0.789757 Centerline is valid? [False, False] Translation: X:-235.81, Y:1.88, Z:114.34 [[ 7.56072932e-01 -6.10827988e-01 2.35038062e-01 -2.35806523e+02] [ 6.29988410e-01 7.76559160e-01 -8.39487584e-03 1.87714140e+00] [-1.77393135e-01 1.54418393e-01 9.71949914e-01 1.14337431e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.509072329 meters Centerline goodness : 0.789156 Centerline is valid? [False, False] Translation: X:-235.92, Y:1.87, Z:114.37 [[ 7.53382478e-01 -6.13921572e-01 2.35616521e-01 -2.35922328e+02] [ 6.33070355e-01 7.74059342e-01 -7.35255851e-03 1.86760362e+00] [-1.77867275e-01 1.54701123e-01 9.71818293e-01 1.14366237e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.53907232899996 meters Centerline goodness : 0.789121 Centerline is valid? [False, False] Translation: X:-236.04, Y:1.86, Z:114.40 [[ 7.53024889e-01 -6.14190566e-01 2.36058182e-01 -2.36038277e+02] [ 6.33299392e-01 7.73877887e-01 -6.70049835e-03 1.85967685e+00] [-1.78564824e-01 1.54541145e-01 9.71715822e-01 1.14395796e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.569072329 meters Centerline goodness : 0.788702 Centerline is valid? [False, False] Translation: X:-236.16, Y:1.85, Z:114.43 [[ 7.50703797e-01 -6.16420382e-01 2.37633587e-01 -2.36156131e+02] [ 6.35960678e-01 7.71686943e-01 -7.29920187e-03 1.85105374e+00] [-1.78879359e-01 1.56605156e-01 9.71327442e-01 1.14426288e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.59907232899997 meters Centerline goodness : 0.786702 Centerline is valid? [False, False] Translation: X:-236.27, Y:1.84, Z:114.46 [[ 7.50067317e-01 -6.17147473e-01 2.37756213e-01 -2.36268416e+02] [ 6.36935981e-01 7.70870619e-01 -8.42883060e-03 1.84133749e+00] [-1.78077447e-01 1.57757677e-01 9.71288288e-01 1.14455371e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.629072329 meters Centerline goodness : 0.785653 Centerline is valid? [False, False] Translation: X:-236.39, Y:1.83, Z:114.49 [[ 7.49216562e-01 -6.17379670e-01 2.39826786e-01 -2.36387502e+02] [ 6.37566746e-01 7.70346330e-01 -8.67043215e-03 1.83353605e+00] [-1.79396736e-01 1.59401615e-01 9.70776976e-01 1.14486032e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.65907232899997 meters Centerline goodness : 0.785365 Centerline is valid? [False, False] Translation: X:-236.51, Y:1.83, Z:114.52 [[ 7.49249913e-01 -6.16773912e-01 2.41276834e-01 -2.36508246e+02] [ 6.37042970e-01 7.70787961e-01 -7.88506681e-03 1.82651952e+00] [-1.81109975e-01 1.59611596e-01 9.70424296e-01 1.14516853e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.689072329 meters Centerline goodness : 0.785522 Centerline is valid? [False, False] Translation: X:-236.63, Y:1.82, Z:114.55 [[ 7.49962339e-01 -6.15696460e-01 2.41814723e-01 -2.36625654e+02] [ 6.35904399e-01 7.71733885e-01 -7.23913479e-03 1.82001204e+00] [-1.82159506e-01 1.59200124e-01 9.70295437e-01 1.14547198e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.71907232899997 meters Centerline goodness : 0.785541 Centerline is valid? [False, False] Translation: X:-236.75, Y:1.81, Z:114.58 [[ 7.50232432e-01 -6.14972407e-01 2.42817290e-01 -2.36745096e+02] [ 6.35125116e-01 7.72384696e-01 -6.16177251e-03 1.81370482e+00] [-1.83759039e-01 1.58842121e-01 9.70052471e-01 1.14577705e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.74907232899994 meters Centerline goodness : 0.784050 Centerline is valid? [False, False] Translation: X:-236.86, Y:1.81, Z:114.61 [[ 7.52194320e-01 -6.12951305e-01 2.41856162e-01 -2.36857768e+02] [ 6.32842294e-01 7.74257890e-01 -5.94565973e-03 1.80755173e+00] [-1.83614642e-01 1.57529100e-01 9.70293897e-01 1.14607587e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.779072329 meters Centerline goodness : 0.785853 Centerline is valid? [False, False] Translation: X:-236.98, Y:1.80, Z:114.64 [[ 7.53139094e-01 -6.11287881e-01 2.43122668e-01 -2.36975617e+02] [ 6.31358221e-01 7.75467869e-01 -6.03172042e-03 1.80197942e+00] [-1.84846699e-01 1.58040219e-01 9.69976797e-01 1.14638720e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.80907232899995 meters Centerline goodness : 0.784028 Centerline is valid? [False, False] Translation: X:-237.09, Y:1.80, Z:114.67 [[ 7.53856508e-01 -6.09153094e-01 2.46237432e-01 -2.37092531e+02] [ 6.29934845e-01 7.76613428e-01 -7.32630275e-03 1.79661687e+00] [-1.86768456e-01 1.60636519e-01 9.69181847e-01 1.14670512e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.839072329 meters Centerline goodness : 0.784131 Centerline is valid? [False, False] Translation: X:-237.21, Y:1.79, Z:114.70 [[ 7.55202196e-01 -6.07065531e-01 2.47267232e-01 -2.37207947e+02] [ 6.27886836e-01 7.78273617e-01 -6.94968874e-03 1.79034499e+00] [-1.88222647e-01 1.60504260e-01 9.68922400e-01 1.14701707e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.86907232899995 meters Centerline goodness : 0.784351 Centerline is valid? [False, False] Translation: X:-237.33, Y:1.79, Z:114.73 [[ 7.56135407e-01 -6.05274532e-01 2.48801101e-01 -2.37325672e+02] [ 6.26212289e-01 7.79625615e-01 -6.48612191e-03 1.78635725e+00] [-1.90045827e-01 1.60706693e-01 9.68532882e-01 1.14733283e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.899072329 meters Centerline goodness : 0.783743 Centerline is valid? [False, False] Translation: X:-237.44, Y:1.78, Z:114.76 [[ 7.55712915e-01 -6.04882678e-01 2.51027761e-01 -2.37442705e+02] [ 6.26220707e-01 7.79617589e-01 -6.63632333e-03 1.78023498e+00] [-1.91691460e-01 1.62213937e-01 9.67957139e-01 1.14764641e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.92907232899995 meters Centerline goodness : 0.783558 Centerline is valid? [False, False] Translation: X:-237.56, Y:1.77, Z:114.80 [[ 7.56336326e-01 -6.03616662e-01 2.52194938e-01 -2.37558662e+02] [ 6.24989363e-01 7.80610218e-01 -5.99862958e-03 1.77379746e+00] [-1.93245073e-01 1.62156135e-01 9.67657858e-01 1.14795920e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.959072329 meters Centerline goodness : 0.783709 Centerline is valid? [False, False] Translation: X:-237.68, Y:1.77, Z:114.83 [[ 7.55304070e-01 -6.04175814e-01 2.53943590e-01 -2.37676654e+02] [ 6.25782305e-01 7.79977939e-01 -5.56074543e-03 1.76711134e+00] [-1.94710730e-01 1.63113459e-01 9.67203045e-01 1.14827539e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.98907232899995 meters Centerline goodness : 0.783108 Centerline is valid? [False, False] Translation: X:-237.79, Y:1.76, Z:114.86 [[ 7.54446860e-01 -6.04722413e-01 2.55187653e-01 -2.37792538e+02] [ 6.26730715e-01 7.79209754e-01 -6.38517441e-03 1.76079798e+00] [-1.94983450e-01 1.64751215e-01 9.66870462e-01 1.14859414e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.019072329 meters Centerline goodness : 0.783330 Centerline is valid? [False, False] Translation: X:-237.91, Y:1.75, Z:114.89 [[ 7.53062219e-01 -6.05514297e-01 2.57390228e-01 -2.37911428e+02] [ 6.27975578e-01 7.78205340e-01 -6.56677343e-03 1.75388385e+00] [-1.96326175e-01 1.66579966e-01 9.66285231e-01 1.14891914e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.04907232899996 meters Centerline goodness : 0.782954 Centerline is valid? [False, False] Translation: X:-238.03, Y:1.75, Z:114.92 [[ 7.53975248e-01 -6.04641328e-01 2.56768748e-01 -2.38026711e+02] [ 6.26699574e-01 7.79243135e-01 -5.27074746e-03 1.74833583e+00] [-1.96898372e-01 1.64890878e-01 9.66458499e-01 1.14923419e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.079072329 meters Centerline goodness : 0.782670 Centerline is valid? [False, False] Translation: X:-238.14, Y:1.74, Z:114.95 [[ 7.55095110e-01 -6.03464282e-01 2.56246433e-01 -2.38141146e+02] [ 6.25183463e-01 7.80466246e-01 -4.25165847e-03 1.74341073e+00] [-1.97425967e-01 1.63411438e-01 9.66602136e-01 1.14954491e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.10907232899996 meters Centerline goodness : 0.783939 Centerline is valid? [False, False] Translation: X:-238.26, Y:1.74, Z:114.99 [[ 7.57315889e-01 -6.00862935e-01 2.55805350e-01 -2.38256055e+02] [ 6.22335299e-01 7.82741320e-01 -3.84731410e-03 1.74100052e+00] [-1.97917709e-01 1.62110331e-01 9.66720653e-01 1.14987242e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.139072329 meters Centerline goodness : 0.782807 Centerline is valid? [False, False] Translation: X:-238.37, Y:1.74, Z:115.02 [[ 7.58330309e-01 -5.99043915e-01 2.57063281e-01 -2.38370359e+02] [ 6.20853248e-01 7.83912591e-01 -4.72167280e-03 1.73712252e+00] [-1.98686653e-01 1.63179161e-01 9.66383038e-01 1.15020145e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.16907232899996 meters Centerline goodness : 0.781991 Centerline is valid? [False, False] Translation: X:-238.49, Y:1.73, Z:115.05 [[ 7.59645069e-01 -5.96865346e-01 2.58246255e-01 -2.38485424e+02] [ 6.18959726e-01 7.85403763e-01 -5.45763894e-03 1.73346184e+00] [-1.99570105e-01 1.63989900e-01 9.66063707e-01 1.15053235e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.199072329 meters Centerline goodness : 0.782278 Centerline is valid? [False, False] Translation: X:-238.60, Y:1.73, Z:115.09 [[ 7.61322579e-01 -5.94435897e-01 2.58909048e-01 -2.38596853e+02] [ 6.16580820e-01 7.87272134e-01 -5.53894178e-03 1.72972978e+00] [-2.00539333e-01 1.63855274e-01 9.65885824e-01 1.15085250e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.22907232899996 meters Centerline goodness : 0.782278 Centerline is valid? [False, False] Translation: X:-238.71, Y:1.73, Z:115.12 [[ 7.61487293e-01 -5.94039805e-01 2.59333402e-01 -2.38711490e+02] [ 6.16224554e-01 7.87551734e-01 -5.43735837e-03 1.72503321e+00] [-2.01008463e-01 1.63948089e-01 9.65772552e-01 1.15118055e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.259072329 meters Centerline goodness : 0.782870 Centerline is valid? [False, False] Translation: X:-238.83, Y:1.72, Z:115.15 [[ 7.62300496e-01 -5.92730550e-01 2.59939318e-01 -2.38826334e+02] [ 6.14925647e-01 7.88567996e-01 -5.19268848e-03 1.72216943e+00] [-2.01901962e-01 1.63801742e-01 9.65610992e-01 1.15151028e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.28907232899996 meters Centerline goodness : 0.781275 Centerline is valid? [False, False] Translation: X:-238.94, Y:1.72, Z:115.18 [[ 7.62403737e-01 -5.92251773e-01 2.60726636e-01 -2.38941330e+02] [ 6.14506305e-01 7.88896720e-01 -4.89563501e-03 1.71842595e+00] [-2.02786939e-01 1.63950612e-01 9.65400256e-01 1.15183720e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.319072329 meters Centerline goodness : 0.782186 Centerline is valid? [False, False] Translation: X:-239.05, Y:1.72, Z:115.22 [[ 7.64377144e-01 -5.89634009e-01 2.60881806e-01 -2.39052909e+02] [ 6.11677551e-01 7.91096043e-01 -4.19810231e-03 1.71554420e+00] [-2.03907221e-01 1.62784478e-01 9.65361621e-01 1.15215352e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.34907232899997 meters Centerline goodness : 0.781413 Centerline is valid? [False, False] Translation: X:-239.17, Y:1.71, Z:115.25 [[ 7.65262701e-01 -5.88149838e-01 2.61634795e-01 -2.39165923e+02] [ 6.10359710e-01 7.92110972e-01 -4.60787340e-03 1.71211069e+00] [-2.04533672e-01 1.63217571e-01 9.65155947e-01 1.15248643e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.379072329 meters Centerline goodness : 0.782011 Centerline is valid? [False, False] Translation: X:-239.28, Y:1.71, Z:115.28 [[ 7.67102183e-01 -5.84975115e-01 2.63359745e-01 -2.39279927e+02] [ 6.07429509e-01 7.94358706e-01 -4.86189275e-03 1.71005813e+00] [-2.06358020e-01 1.63702049e-01 9.64685444e-01 1.15282230e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.40907232899997 meters Centerline goodness : 0.783106 Centerline is valid? [False, False] Translation: X:-239.39, Y:1.71, Z:115.31 [[ 7.67530355e-01 -5.83634832e-01 2.65080247e-01 -2.39392552e+02] [ 6.06428088e-01 7.95121005e-01 -5.24992663e-03 1.70620209e+00] [-2.07706833e-01 1.64781586e-01 9.64212062e-01 1.15314685e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.439072329 meters Centerline goodness : 0.781773 Centerline is valid? [False, False] Translation: X:-239.50, Y:1.70, Z:115.35 [[ 7.67928071e-01 -5.82450453e-01 2.66529449e-01 -2.39504115e+02] [ 6.05662065e-01 7.95697885e-01 -6.19183986e-03 1.70363180e+00] [-2.08470479e-01 1.66181664e-01 9.63806886e-01 1.15347587e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.46907232899997 meters Centerline goodness : 0.780625 Centerline is valid? [False, False] Translation: X:-239.61, Y:1.70, Z:115.38 [[ 7.71657282e-01 -5.77400830e-01 2.66745797e-01 -2.39612312e+02] [ 6.00527872e-01 7.99577676e-01 -6.46642804e-03 1.70203839e+00] [-2.09550264e-01 1.65178153e-01 9.63745228e-01 1.15379805e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.49907232899994 meters Centerline goodness : 0.780519 Centerline is valid? [False, False] Translation: X:-239.72, Y:1.70, Z:115.41 [[ 7.72069371e-01 -5.76733724e-01 2.66996440e-01 -2.39719865e+02] [ 6.00286862e-01 7.99741345e-01 -8.33455176e-03 1.69941450e+00] [-2.08721275e-01 1.66709307e-01 9.63661474e-01 1.15412288e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.529072329 meters Centerline goodness : 0.779618 Centerline is valid? [False, False] Translation: X:-239.83, Y:1.70, Z:115.44 [[ 7.72660082e-01 -5.76072266e-01 2.66715471e-01 -2.39826081e+02] [ 5.99922131e-01 7.99995257e-01 -1.00511716e-02 1.69628562e+00] [-2.07580910e-01 1.67774653e-01 9.63722902e-01 1.15443574e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.55907232899995 meters Centerline goodness : 0.779577 Centerline is valid? [False, False] Translation: X:-239.93, Y:1.69, Z:115.47 [[ 7.74410248e-01 -5.73939961e-01 2.66236152e-01 -2.39929442e+02] [ 5.97829749e-01 8.01547799e-01 -1.09871321e-02 1.69378823e+00] [-2.07095048e-01 1.67672440e-01 9.63845213e-01 1.15473754e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.589072329 meters Centerline goodness : 0.780264 Centerline is valid? [False, False] Translation: X:-240.04, Y:1.69, Z:115.51 [[ 7.75150394e-01 -5.72578743e-01 2.67012079e-01 -2.40042165e+02] [ 5.96368931e-01 8.02646916e-01 -1.01008517e-02 1.68980462e+00] [-2.08532889e-01 1.67067387e-01 9.63640245e-01 1.15506430e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.61907232899995 meters Centerline goodness : 0.780603 Centerline is valid? [False, False] Translation: X:-240.15, Y:1.69, Z:115.54 [[ 7.76239586e-01 -5.70426788e-01 2.68449967e-01 -2.40153189e+02] [ 5.94250250e-01 8.04225021e-01 -9.42101882e-03 1.68897330e+00] [-2.10520179e-01 1.66839428e-01 9.63247559e-01 1.15538866e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.649072329 meters Centerline goodness : 0.781360 Centerline is valid? [False, False] Translation: X:-240.26, Y:1.69, Z:115.57 [[ 7.77154993e-01 -5.69267709e-01 2.68261797e-01 -2.40257856e+02] [ 5.93153098e-01 8.05026955e-01 -1.00500382e-02 1.68575400e+00] [-2.10236815e-01 1.66930753e-01 9.63293623e-01 1.15570410e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.67907232899995 meters Centerline goodness : 0.780677 Centerline is valid? [False, False] Translation: X:-240.37, Y:1.68, Z:115.60 [[ 7.76880957e-01 -5.69219592e-01 2.69156155e-01 -2.40366724e+02] [ 5.93386613e-01 8.04847662e-01 -1.06098346e-02 1.68297175e+00] [-2.10590376e-01 1.67956238e-01 9.63038107e-01 1.15602687e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.709072329 meters Centerline goodness : 0.782209 Centerline is valid? [False, False] Translation: X:-240.48, Y:1.68, Z:115.63 [[ 7.73814901e-01 -5.72656152e-01 2.70694348e-01 -2.40477061e+02] [ 5.97519709e-01 8.01765226e-01 -1.19465553e-02 1.67800347e+00] [-2.10192046e-01 1.70989630e-01 9.62591216e-01 1.15634490e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.73907232899995 meters Centerline goodness : 0.781545 Centerline is valid? [False, False] Translation: X:-240.59, Y:1.67, Z:115.67 [[ 7.73640460e-01 -5.73000067e-01 2.70465084e-01 -2.40585583e+02] [ 5.97842346e-01 8.01524096e-01 -1.19855279e-02 1.67280731e+00] [-2.09916574e-01 1.70967970e-01 9.62655175e-01 1.15666447e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.769072329 meters Centerline goodness : 0.781585 Centerline is valid? [False, False] Translation: X:-240.69, Y:1.67, Z:115.70 [[ 7.72957543e-01 -5.73628984e-01 2.71083798e-01 -2.40694749e+02] [ 5.98597842e-01 8.00960728e-01 -1.19388517e-02 1.66821678e+00] [-2.10279005e-01 1.71498402e-01 9.62481708e-01 1.15697300e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.79907232899996 meters Centerline goodness : 0.781071 Centerline is valid? [False, False] Translation: X:-240.80, Y:1.66, Z:115.73 [[ 7.72590623e-01 -5.73863581e-01 2.71632692e-01 -2.40802118e+02] [ 5.99126735e-01 8.00552172e-01 -1.27818233e-02 1.66324000e+00] [-2.10121119e-01 1.72617525e-01 9.62316115e-01 1.15728520e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.829072329 meters Centerline goodness : 0.782234 Centerline is valid? [False, False] Translation: X:-240.91, Y:1.66, Z:115.76 [[ 7.73352650e-01 -5.72517906e-01 2.72303005e-01 -2.40911131e+02] [ 5.97835805e-01 8.01518197e-01 -1.26858093e-02 1.65970564e+00] [-2.10992961e-01 1.72603091e-01 9.62127925e-01 1.15760481e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.85907232899996 meters Centerline goodness : 0.781296 Centerline is valid? [False, False] Translation: X:-241.02, Y:1.66, Z:115.79 [[ 7.72283543e-01 -5.72447810e-01 2.75466212e-01 -2.41020572e+02] [ 5.98677144e-01 8.00865641e-01 -1.41386609e-02 1.65512091e+00] [-2.12517779e-01 1.75834381e-01 9.61206775e-01 1.15792922e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.889072329 meters Centerline goodness : 0.781735 Centerline is valid? [False, False] Translation: X:-241.13, Y:1.65, Z:115.83 [[ 7.71072324e-01 -5.73033270e-01 2.77633469e-01 -2.41132175e+02] [ 5.99732364e-01 8.00072973e-01 -1.42943698e-02 1.65059327e+00] [-2.13935885e-01 1.77527770e-01 9.60580724e-01 1.15825781e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.91907232899996 meters Centerline goodness : 0.779971 Centerline is valid? [False, False] Translation: X:-241.24, Y:1.64, Z:115.86 [[ 7.69053372e-01 -5.74943762e-01 2.79278681e-01 -2.41243790e+02] [ 6.02056168e-01 7.98323850e-01 -1.44014161e-02 1.64465123e+00] [-2.14674827e-01 1.79216910e-01 9.60102087e-01 1.15858666e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.949072329 meters Centerline goodness : 0.781841 Centerline is valid? [False, False] Translation: X:-241.35, Y:1.64, Z:115.89 [[ 7.69905616e-01 -5.73585819e-01 2.79722453e-01 -2.41354819e+02] [ 6.00434160e-01 7.99567310e-01 -1.30742507e-02 1.64200401e+00] [-2.16157724e-01 1.78020855e-01 9.59991882e-01 1.15890887e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.97907232899996 meters Centerline goodness : 0.781768 Centerline is valid? [False, False] Translation: X:-241.47, Y:1.64, Z:115.92 [[ 7.69076575e-01 -5.74329096e-01 2.80476937e-01 -2.41468175e+02] [ 6.01227738e-01 7.98979557e-01 -1.25249628e-02 1.63898393e+00] [-2.16901888e-01 1.78263170e-01 9.59779044e-01 1.15924391e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.009072329 meters Centerline goodness : 0.781176 Centerline is valid? [False, False] Translation: X:-241.58, Y:1.64, Z:115.96 [[ 7.67744352e-01 -5.75322341e-01 2.82086535e-01 -2.41581354e+02] [ 6.02733620e-01 7.97832643e-01 -1.32384511e-02 1.63577244e+00] [-2.17441469e-01 1.80186785e-01 9.59297623e-01 1.15957961e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.03907232899996 meters Centerline goodness : 0.782201 Centerline is valid? [False, False] Translation: X:-241.69, Y:1.63, Z:115.99 [[ 7.68682542e-01 -5.74401870e-01 2.81406540e-01 -2.41689681e+02] [ 6.01579681e-01 7.98707803e-01 -1.29511637e-02 1.63276365e+00] [-2.17322427e-01 1.79243790e-01 9.59501238e-01 1.15990478e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.069072329 meters Centerline goodness : 0.779771 Centerline is valid? [False, False] Translation: X:-241.80, Y:1.63, Z:116.02 [[ 7.68758870e-01 -5.74199415e-01 2.81611136e-01 -2.41801733e+02] [ 6.01393754e-01 7.98848898e-01 -1.28837693e-02 1.63022471e+00] [-2.17566893e-01 1.79263690e-01 9.59442117e-01 1.16024600e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.09907232899997 meters Centerline goodness : 0.781021 Centerline is valid? [False, False] Translation: X:-241.91, Y:1.63, Z:116.06 [[ 7.69168810e-01 -5.73341641e-01 2.82238738e-01 -2.41908695e+02] [ 6.00859325e-01 7.99233599e-01 -1.39185313e-02 1.62747839e+00] [-2.17594609e-01 1.80291478e-01 9.59243227e-01 1.16056950e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.129072329 meters Centerline goodness : 0.781134 Centerline is valid? [False, False] Translation: X:-242.02, Y:1.63, Z:116.09 [[ 7.69983043e-01 -5.70873818e-01 2.85007365e-01 -2.42020846e+02] [ 5.98867159e-01 8.00725111e-01 -1.40507124e-02 1.62568100e+00] [-2.20191370e-01 1.81500361e-01 9.58422339e-01 1.16091326e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.15907232899997 meters Centerline goodness : 0.781106 Centerline is valid? [False, False] Translation: X:-242.13, Y:1.62, Z:116.13 [[ 7.71146421e-01 -5.68568189e-01 2.86467120e-01 -2.42132971e+02] [ 5.96609184e-01 8.02419807e-01 -1.34139662e-02 1.62303535e+00] [-2.22240137e-01 1.81253047e-01 9.57996166e-01 1.16125677e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.189072329 meters Centerline goodness : 0.781670 Centerline is valid? [False, False] Translation: X:-242.24, Y:1.62, Z:116.16 [[ 7.71431179e-01 -5.67421231e-01 2.87970627e-01 -2.42242891e+02] [ 5.95849086e-01 8.02974371e-01 -1.40009315e-02 1.62141550e+00] [-2.23288608e-01 1.82387790e-01 9.57536888e-01 1.16159567e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.21907232899997 meters Centerline goodness : 0.781642 Centerline is valid? [False, False] Translation: X:-242.35, Y:1.62, Z:116.19 [[ 7.72596883e-01 -5.65632508e-01 2.88364219e-01 -2.42352150e+02] [ 5.93856929e-01 8.04463806e-01 -1.31123487e-02 1.61923703e+00] [-2.24561806e-01 1.81377649e-01 9.57431013e-01 1.16192361e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.24907232899994 meters Centerline goodness : 0.780376 Centerline is valid? [False, False] Translation: X:-242.46, Y:1.62, Z:116.23 [[ 7.73722250e-01 -5.64053210e-01 2.88440386e-01 -2.42460451e+02] [ 5.92179360e-01 8.05702797e-01 -1.29076858e-02 1.61854276e+00] [-2.25116604e-01 1.80795407e-01 9.57410850e-01 1.16225629e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.279072329 meters Centerline goodness : 0.780521 Centerline is valid? [False, False] Translation: X:-242.57, Y:1.62, Z:116.26 [[ 7.72386000e-01 -5.65377881e-01 2.89426534e-01 -2.42569483e+02] [ 5.93884763e-01 8.04437431e-01 -1.34650665e-02 1.61561947e+00] [-2.25212686e-01 1.82286237e-01 9.57105519e-01 1.16259236e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.30907232899995 meters Centerline goodness : 0.779196 Centerline is valid? [False, False] Translation: X:-242.68, Y:1.61, Z:116.29 [[ 7.71662051e-01 -5.65109456e-01 2.91871516e-01 -2.42680704e+02] [ 5.94223011e-01 8.04178206e-01 -1.40152065e-02 1.61258070e+00] [-2.26796586e-01 1.84251774e-01 9.56354846e-01 1.16292807e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.339072329 meters Centerline goodness : 0.780916 Centerline is valid? [False, False] Translation: X:-242.79, Y:1.61, Z:116.33 [[ 7.71967309e-01 -5.63801140e-01 2.93589421e-01 -2.42788893e+02] [ 5.93452753e-01 8.04728043e-01 -1.50534593e-02 1.61043455e+00] [-2.27772482e-01 1.85852228e-01 9.55813081e-01 1.16326571e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.36907232899995 meters Centerline goodness : 0.778888 Centerline is valid? [False, False] Translation: X:-242.90, Y:1.61, Z:116.36 [[ 7.70964584e-01 -5.63994711e-01 2.95843837e-01 -2.42898465e+02] [ 5.94385384e-01 8.04017433e-01 -1.61859057e-02 1.60834495e+00] [-2.28734837e-01 1.88324013e-01 9.55099178e-01 1.16361133e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.399072329 meters Centerline goodness : 0.780161 Centerline is valid? [False, False] Translation: X:-243.01, Y:1.61, Z:116.40 [[ 7.71158805e-01 -5.63422578e-01 2.96427219e-01 -2.43008672e+02] [ 5.93705889e-01 8.04535849e-01 -1.53422531e-02 1.60702721e+00] [-2.29842152e-01 1.87821899e-01 9.54932207e-01 1.16396160e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.42907232899995 meters Centerline goodness : 0.779548 Centerline is valid? [False, False] Translation: X:-243.12, Y:1.61, Z:116.43 [[ 7.71284604e-01 -5.62412856e-01 2.98013153e-01 -2.43117939e+02] [ 5.93178467e-01 8.04908617e-01 -1.61686309e-02 1.60681777e+00] [-2.30779909e-01 1.89245602e-01 9.54424819e-01 1.16430819e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.459072329 meters Centerline goodness : 0.777882 Centerline is valid? [False, False] Translation: X:-243.23, Y:1.61, Z:116.47 [[ 7.70109381e-01 -5.63384502e-01 2.99214711e-01 -2.43227535e+02] [ 5.94670443e-01 8.03787456e-01 -1.71110961e-02 1.60515658e+00] [-2.30864905e-01 1.91111561e-01 9.54032372e-01 1.16466473e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.48907232899995 meters Centerline goodness : 0.777554 Centerline is valid? [False, False] Translation: X:-243.34, Y:1.60, Z:116.50 [[ 7.69630796e-01 -5.63627326e-01 2.99987793e-01 -2.43336909e+02] [ 5.95239273e-01 8.03352572e-01 -1.77441007e-02 1.60321602e+00] [-2.30994905e-01 1.92220922e-01 9.53777999e-01 1.16502013e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.519072329 meters Centerline goodness : 0.777371 Centerline is valid? [False, False] Translation: X:-243.45, Y:1.60, Z:116.54 [[ 7.69358505e-01 -5.63000954e-01 3.01856616e-01 -2.43445189e+02] [ 5.95431381e-01 8.03167051e-01 -1.95999731e-02 1.60229172e+00] [-2.31406485e-01 1.94814308e-01 9.53151837e-01 1.16537255e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.54907232899996 meters Centerline goodness : 0.776583 Centerline is valid? [False, False] Translation: X:-243.55, Y:1.60, Z:116.57 [[ 7.70340702e-01 -5.61469316e-01 3.02204252e-01 -2.43553012e+02] [ 5.94061694e-01 8.04164863e-01 -2.02379927e-02 1.60148651e+00] [-2.31659029e-01 1.95118119e-01 9.53028338e-01 1.16572374e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.579072329 meters Centerline goodness : 0.775915 Centerline is valid? [False, False] Translation: X:-243.65, Y:1.60, Z:116.61 [[ 7.72278985e-01 -5.58548205e-01 3.02669905e-01 -2.43654472e+02] [ 5.91480580e-01 8.06025782e-01 -2.17523056e-02 1.60235323e+00] [-2.31810036e-01 1.95822220e-01 9.52847189e-01 1.16605840e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.60907232899996 meters Centerline goodness : 0.777908 Centerline is valid? [False, False] Translation: X:-243.76, Y:1.60, Z:116.64 [[ 7.73218381e-01 -5.56702750e-01 3.03669859e-01 -2.43762498e+02] [ 5.89824991e-01 8.07231852e-01 -2.19822041e-02 1.60322718e+00] [-2.32894429e-01 1.96109116e-01 9.52523700e-01 1.16641705e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.639072329 meters Centerline goodness : 0.776140 Centerline is valid? [False, False] Translation: X:-243.87, Y:1.60, Z:116.68 [[ 7.72211273e-01 -5.57643630e-01 3.04505062e-01 -2.43869308e+02] [ 5.91234658e-01 8.06171753e-01 -2.29931329e-02 1.60307003e+00] [-2.32661405e-01 1.97789502e-01 9.52233156e-01 1.16676502e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.66907232899996 meters Centerline goodness : 0.775711 Centerline is valid? [False, False] Translation: X:-243.98, Y:1.60, Z:116.71 [[ 7.72950299e-01 -5.56602281e-01 3.04535280e-01 -2.43975373e+02] [ 5.90425801e-01 8.06731860e-01 -2.41056019e-02 1.60330448e+00] [-2.32261080e-01 1.98437919e-01 9.52195979e-01 1.16711869e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.699072329 meters Centerline goodness : 0.775100 Centerline is valid? [False, False] Translation: X:-244.08, Y:1.60, Z:116.75 [[ 7.73862115e-01 -5.54742516e-01 3.05611138e-01 -2.44081287e+02] [ 5.88701949e-01 8.07992696e-01 -2.40378491e-02 1.60380098e+00] [-2.33596751e-01 1.98515854e-01 9.51852937e-01 1.16746918e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.72907232899996 meters Centerline goodness : 0.776060 Centerline is valid? [False, False] Translation: X:-244.19, Y:1.60, Z:116.78 [[ 7.73183510e-01 -5.54641002e-01 3.07507103e-01 -2.44190270e+02] [ 5.89137727e-01 8.07659484e-01 -2.45539362e-02 1.60371985e+00] [-2.34742408e-01 2.00148734e-01 9.51228935e-01 1.16784178e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.759072329 meters Centerline goodness : 0.775801 Centerline is valid? [False, False] Translation: X:-244.30, Y:1.60, Z:116.82 [[ 7.73181433e-01 -5.53775935e-01 3.09067445e-01 -2.44297152e+02] [ 5.88668376e-01 8.07990448e-01 -2.49194562e-02 1.60368730e+00] [-2.35923749e-01 2.01205492e-01 9.50713592e-01 1.16820470e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.78907232899996 meters Centerline goodness : 0.775272 Centerline is valid? [False, False] Translation: X:-244.40, Y:1.60, Z:116.86 [[ 7.72098730e-01 -5.54361418e-01 3.10720082e-01 -2.44399439e+02] [ 5.89930607e-01 8.07033395e-01 -2.60572010e-02 1.60205552e+00] [-2.36316376e-01 2.03422018e-01 9.50144228e-01 1.16855341e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.819072329 meters Centerline goodness : 0.774869 Centerline is valid? [False, False] Translation: X:-244.51, Y:1.60, Z:116.89 [[ 7.71865093e-01 -5.54277131e-01 3.11450061e-01 -2.44509875e+02] [ 5.89817497e-01 8.07140099e-01 -2.53017737e-02 1.60188754e+00] [-2.37359639e-01 2.03228252e-01 9.49925618e-01 1.16892809e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.84907232899997 meters Centerline goodness : 0.775313 Centerline is valid? [False, False] Translation: X:-244.62, Y:1.60, Z:116.93 [[ 7.71286953e-01 -5.55193488e-01 3.11250104e-01 -2.44617991e+02] [ 5.90491503e-01 8.06676639e-01 -2.43430467e-02 1.60133212e+00] [-2.37563087e-01 2.02566016e-01 9.50016204e-01 1.16928788e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.879072329 meters Centerline goodness : 0.776150 Centerline is valid? [False, False] Translation: X:-244.72, Y:1.60, Z:116.96 [[ 7.71663340e-01 -5.54646338e-01 3.11292675e-01 -2.44724183e+02] [ 5.89659561e-01 8.07316641e-01 -2.32689323e-02 1.60136089e+00] [-2.38405729e-01 2.01512484e-01 9.50029172e-01 1.16963966e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.90907232899997 meters Centerline goodness : 0.775240 Centerline is valid? [False, False] Translation: X:-244.83, Y:1.60, Z:117.00 [[ 7.70739221e-01 -5.55012952e-01 3.12924394e-01 -2.44832324e+02] [ 5.90612930e-01 8.06595404e-01 -2.40877780e-02 1.60187764e+00] [-2.39034350e-01 2.03382589e-01 9.49472539e-01 1.17000558e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.939072329 meters Centerline goodness : 0.773849 Centerline is valid? [False, False] Translation: X:-244.94, Y:1.60, Z:117.04 [[ 7.71144043e-01 -5.54675067e-01 3.12525896e-01 -2.44935041e+02] [ 5.90475538e-01 8.06658750e-01 -2.53041339e-02 1.60181763e+00] [-2.38066176e-01 2.04052028e-01 9.49572149e-01 1.17035254e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.96907232899997 meters Centerline goodness : 0.773553 Centerline is valid? [False, False] Translation: X:-245.04, Y:1.60, Z:117.07 [[ 7.72340720e-01 -5.52584344e-01 3.13273611e-01 -2.45042165e+02] [ 5.88765135e-01 8.07868599e-01 -2.65319132e-02 1.60256634e+00] [-2.38422793e-01 2.04936257e-01 9.49292211e-01 1.17072805e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.99907232899994 meters Centerline goodness : 0.773996 Centerline is valid? [False, False] Translation: X:-245.13, Y:1.60, Z:117.10 [[ 7.72109134e-01 -5.52107286e-01 3.14682428e-01 -2.45128071e+02] [ 5.87830075e-01 8.08641451e-01 -2.35543283e-02 1.60343799e+00] [-2.41460739e-01 2.03166307e-01 9.48904718e-01 1.17104467e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.029072329 meters Centerline goodness : 0.774636 Centerline is valid? [False, False] Translation: X:-245.24, Y:1.61, Z:117.14 [[ 7.72104291e-01 -5.50835788e-01 3.16914654e-01 -2.45239675e+02] [ 5.87046201e-01 8.09205455e-01 -2.37337288e-02 1.60507564e+00] [-2.43375680e-01 2.04368458e-01 9.48157061e-01 1.17143832e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.05907232899995 meters Centerline goodness : 0.774942 Centerline is valid? [False, False] Translation: X:-245.34, Y:1.61, Z:117.18 [[ 7.72958353e-01 -5.48681744e-01 3.18565109e-01 -2.45343900e+02] [ 5.85401541e-01 8.10368299e-01 -2.46628394e-02 1.60640821e+00] [-2.44623015e-01 2.05551853e-01 9.47580084e-01 1.17180683e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.089072329 meters Centerline goodness : 0.774939 Centerline is valid? [False, False] Translation: X:-245.46, Y:1.61, Z:117.22 [[ 7.73473639e-01 -5.46365364e-01 3.21284015e-01 -2.45455673e+02] [ 5.83417642e-01 8.11817788e-01 -2.39944863e-02 1.60805768e+00] [-2.47714322e-01 2.06001865e-01 9.46678851e-01 1.17221140e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.11907232899995 meters Centerline goodness : 0.774334 Centerline is valid? [False, False] Translation: X:-245.56, Y:1.61, Z:117.26 [[ 7.72152129e-01 -5.46966759e-01 3.23432303e-01 -2.45562706e+02] [ 5.84819640e-01 8.10776474e-01 -2.50499100e-02 1.60968614e+00] [-2.48529834e-01 2.08491904e-01 9.45919683e-01 1.17259630e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.149072329 meters Centerline goodness : 0.774334 Centerline is valid? [False, False] Translation: X:-245.67, Y:1.61, Z:117.30 [[ 7.72360940e-01 -5.46079640e-01 3.24431203e-01 -2.45669636e+02] [ 5.84083856e-01 8.11310846e-01 -2.49150551e-02 1.61114999e+00] [-2.49608950e-01 2.08738444e-01 9.45581109e-01 1.17297049e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.17907232899995 meters Centerline goodness : 0.774595 Centerline is valid? [False, False] Translation: X:-245.77, Y:1.61, Z:117.33 [[ 7.72771692e-01 -5.44948327e-01 3.25354012e-01 -2.45774834e+02] [ 5.83116142e-01 8.12005880e-01 -2.49402234e-02 1.61269432e+00] [-2.50598238e-01 2.08992275e-01 9.45263324e-01 1.17334027e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.209072329 meters Centerline goodness : 0.772637 Centerline is valid? [False, False] Translation: X:-245.88, Y:1.61, Z:117.37 [[ 7.72780843e-01 -5.44591355e-01 3.25929478e-01 -2.45882442e+02] [ 5.82793122e-01 8.12247127e-01 -2.46329249e-02 1.61383454e+00] [-2.51320404e-01 2.08985310e-01 9.45073116e-01 1.17372139e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.23907232899995 meters Centerline goodness : 0.772756 Centerline is valid? [False, False] Translation: X:-245.98, Y:1.62, Z:117.41 [[ 7.73752002e-01 -5.43676761e-01 3.25151379e-01 -2.45983502e+02] [ 5.81808928e-01 8.12934192e-01 -2.52263877e-02 1.61596306e+00] [-2.50611673e-01 2.08694943e-01 9.45325452e-01 1.17407603e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.269072329 meters Centerline goodness : 0.772232 Centerline is valid? [False, False] Translation: X:-246.09, Y:1.62, Z:117.44 [[ 7.76753696e-01 -5.40649225e-01 3.23035774e-01 -2.46085463e+02] [ 5.77981316e-01 8.15678522e-01 -2.46200680e-02 1.61958250e+00] [-2.50182522e-01 2.05832371e-01 9.46066457e-01 1.17444090e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.29907232899996 meters Centerline goodness : 0.772330 Centerline is valid? [False, False] Translation: X:-246.19, Y:1.62, Z:117.48 [[ 7.78562985e-01 -5.37848243e-01 3.23355759e-01 -2.46189371e+02] [ 5.75128579e-01 8.17690668e-01 -2.46797347e-02 1.62328473e+00] [-2.51131035e-01 2.05185866e-01 9.45955582e-01 1.17481380e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.329072329 meters Centerline goodness : 0.771877 Centerline is valid? [False, False] Translation: X:-246.29, Y:1.63, Z:117.52 [[ 7.79616975e-01 -5.35472370e-01 3.24756391e-01 -2.46291714e+02] [ 5.73222267e-01 8.18997053e-01 -2.56916173e-02 1.62643505e+00] [-2.52217376e-01 2.06187216e-01 9.45448691e-01 1.17518654e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.35907232899996 meters Centerline goodness : 0.771655 Centerline is valid? [False, False] Translation: X:-246.39, Y:1.63, Z:117.56 [[ 7.80327810e-01 -5.32966523e-01 3.27162336e-01 -2.46394754e+02] [ 5.71696528e-01 8.19995560e-01 -2.77553886e-02 1.62875295e+00] [-2.53478969e-01 2.08695873e-01 9.44560450e-01 1.17556115e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.389072329 meters Centerline goodness : 0.771704 Centerline is valid? [False, False] Translation: X:-246.50, Y:1.63, Z:117.59 [[ 7.81021562e-01 -5.31865056e-01 3.27299377e-01 -2.46496749e+02] [ 5.70838617e-01 8.20558681e-01 -2.87528184e-02 1.63149531e+00] [-2.53275725e-01 2.09291694e-01 9.44483136e-01 1.17593312e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.41907232899996 meters Centerline goodness : 0.770695 Centerline is valid? [False, False] Translation: X:-246.60, Y:1.63, Z:117.63 [[ 7.82712064e-01 -5.29986776e-01 3.26306362e-01 -2.46597169e+02] [ 5.68620401e-01 8.22099309e-01 -2.86978357e-02 1.63471909e+00] [-2.53046761e-01 2.08006597e-01 9.44828340e-01 1.17629746e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.449072329 meters Centerline goodness : 0.771229 Centerline is valid? [False, False] Translation: X:-246.70, Y:1.64, Z:117.67 [[ 7.83087910e-01 -5.29550368e-01 3.26113069e-01 -2.46698596e+02] [ 5.68231033e-01 8.22353557e-01 -2.91224857e-02 1.63739286e+00] [-2.52758419e-01 2.08113033e-01 9.44882081e-01 1.17666143e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.47907232899996 meters Centerline goodness : 0.770392 Centerline is valid? [False, False] Translation: X:-246.80, Y:1.64, Z:117.70 [[ 7.84545993e-01 -5.27744335e-01 3.25535716e-01 -2.46795391e+02] [ 5.66466216e-01 8.23534571e-01 -3.01137307e-02 1.64033684e+00] [-2.52197565e-01 2.08030592e-01 9.45050084e-01 1.17700688e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.509072329 meters Centerline goodness : 0.769192 Centerline is valid? [False, False] Translation: X:-246.90, Y:1.64, Z:117.74 [[ 7.84062844e-01 -5.27789579e-01 3.26624582e-01 -2.46897996e+02] [ 5.67017401e-01 8.23120232e-01 -3.10539873e-02 1.64298818e+00] [-2.52461330e-01 2.09550099e-01 9.44643865e-01 1.17737959e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.53907232899996 meters Centerline goodness : 0.771016 Centerline is valid? [False, False] Translation: X:-247.00, Y:1.65, Z:117.77 [[ 7.84538301e-01 -5.26783307e-01 3.27107020e-01 -2.46997129e+02] [ 5.66429006e-01 8.23474037e-01 -3.23835107e-02 1.64537747e+00] [-2.52305045e-01 2.10689009e-01 9.44432266e-01 1.17774586e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.569072329 meters Centerline goodness : 0.771858 Centerline is valid? [False, False] Translation: X:-247.08, Y:1.65, Z:117.81 [[ 7.82119770e-01 -5.30495090e-01 3.26900021e-01 -2.47084262e+02] [ 5.69020644e-01 8.21856971e-01 -2.76879981e-02 1.64580474e+00] [-2.53976715e-01 2.07668191e-01 9.44653244e-01 1.17808517e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.59907232899997 meters Centerline goodness : 0.771417 Centerline is valid? [False, False] Translation: X:-247.19, Y:1.65, Z:117.85 [[ 7.82058407e-01 -5.30032631e-01 3.27795755e-01 -2.47187584e+02] [ 5.68726166e-01 8.22062728e-01 -2.76300374e-02 1.64880518e+00] [-2.54823851e-01 2.08034326e-01 9.44344494e-01 1.17845477e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.629072329 meters Centerline goodness : 0.770983 Centerline is valid? [False, False] Translation: X:-247.28, Y:1.65, Z:117.88 [[ 7.79211746e-01 -5.35180291e-01 3.26207161e-01 -2.47275960e+02] [ 5.72374297e-01 8.19685265e-01 -2.24439498e-02 1.64890494e+00] [-2.55375644e-01 2.04201184e-01 9.45031829e-01 1.17880144e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.65907232899997 meters Centerline goodness : 0.770809 Centerline is valid? [False, False] Translation: X:-247.38, Y:1.65, Z:117.92 [[ 7.80582951e-01 -5.33078402e-01 3.26370454e-01 -2.47378353e+02] [ 5.70288384e-01 8.21128923e-01 -2.27695100e-02 1.65126731e+00] [-2.55854286e-01 2.03898770e-01 9.44967659e-01 1.17916576e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.689072329 meters Centerline goodness : 0.770557 Centerline is valid? [False, False] Translation: X:-247.48, Y:1.65, Z:117.95 [[ 7.81377963e-01 -5.31704865e-01 3.26708456e-01 -2.47478696e+02] [ 5.69299319e-01 8.21775000e-01 -2.41688788e-02 1.65430439e+00] [-2.55630131e-01 2.04879931e-01 9.44816093e-01 1.17953035e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.71907232899997 meters Centerline goodness : 0.770446 Centerline is valid? [False, False] Translation: X:-247.57, Y:1.66, Z:117.99 [[ 7.81105733e-01 -5.31360318e-01 3.27917742e-01 -2.47567326e+02] [ 5.68266173e-01 8.22584433e-01 -2.06979948e-02 1.65785233e+00] [-2.58741937e-01 2.02511883e-01 9.44479511e-01 1.17986785e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.74907232899994 meters Centerline goodness : 0.770024 Centerline is valid? [False, False] Translation: X:-247.67, Y:1.66, Z:118.03 [[ 7.81868049e-01 -5.29033469e-01 3.29857458e-01 -2.47673060e+02] [ 5.66592615e-01 8.23706294e-01 -2.19260279e-02 1.66212271e+00] [-2.60106061e-01 2.04038060e-01 9.43776089e-01 1.18025497e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.779072329 meters Centerline goodness : 0.770758 Centerline is valid? [False, False] Translation: X:-247.77, Y:1.67, Z:118.06 [[ 7.83833660e-01 -5.25225336e-01 3.31275020e-01 -2.47773276e+02] [ 5.63668401e-01 8.25632065e-01 -2.46906254e-02 1.66746990e+00] [-2.60543137e-01 2.06082604e-01 9.43211129e-01 1.18062751e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.80907232899995 meters Centerline goodness : 0.770850 Centerline is valid? [False, False] Translation: X:-247.87, Y:1.67, Z:118.10 [[ 7.85190281e-01 -5.23155797e-01 3.31337040e-01 -2.47872495e+02] [ 5.61798825e-01 8.26872678e-01 -2.57615091e-02 1.67075132e+00] [-2.60496263e-01 2.06372446e-01 9.43160702e-01 1.18099122e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.839072329 meters Centerline goodness : 0.769905 Centerline is valid? [False, False] Translation: X:-247.97, Y:1.67, Z:118.14 [[ 7.84870363e-01 -5.23071858e-01 3.32226345e-01 -2.47971502e+02] [ 5.62631593e-01 8.26221388e-01 -2.83532769e-02 1.67397415e+00] [-2.59661710e-01 2.09174684e-01 9.42773434e-01 1.18135613e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.86907232899995 meters Centerline goodness : 0.769178 Centerline is valid? [False, False] Translation: X:-248.07, Y:1.68, Z:118.17 [[ 7.85940298e-01 -5.21377578e-01 3.32360150e-01 -2.48066885e+02] [ 5.61395893e-01 8.26995072e-01 -3.02291584e-02 1.67758129e+00] [-2.59099401e-01 2.10343937e-01 9.42667984e-01 1.18171184e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.899072329 meters Centerline goodness : 0.769773 Centerline is valid? [False, False] Translation: X:-248.16, Y:1.68, Z:118.21 [[ 7.86762935e-01 -5.20226751e-01 3.32217114e-01 -2.48164793e+02] [ 5.60457140e-01 8.27590158e-01 -3.13420487e-02 1.68166636e+00] [-2.58634642e-01 2.10852216e-01 9.42682059e-01 1.18207531e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.92907232899995 meters Centerline goodness : 0.769228 Centerline is valid? [False, False] Translation: X:-248.25, Y:1.68, Z:118.24 [[ 7.84595837e-01 -5.24163391e-01 3.31152701e-01 -2.48251901e+02] [ 5.63013251e-01 8.26023782e-01 -2.64724597e-02 1.68271172e+00] [-2.59664112e-01 2.07213540e-01 9.43205756e-01 1.18241737e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.959072329 meters Centerline goodness : 0.768097 Centerline is valid? [False, False] Translation: X:-248.36, Y:1.68, Z:118.28 [[ 7.81725454e-01 -5.27537793e-01 3.32579602e-01 -2.48356026e+02] [ 5.67658490e-01 8.22744765e-01 -2.92385130e-02 1.68346535e+00] [-2.58203706e-01 2.11648125e-01 9.42621832e-01 1.18278884e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.98907232899995 meters Centerline goodness : 0.769356 Centerline is valid? [False, False] Translation: X:-248.46, Y:1.69, Z:118.32 [[ 7.81648314e-01 -5.27237685e-01 3.33236159e-01 -2.48455836e+02] [ 5.67794176e-01 8.22612028e-01 -3.03187376e-02 1.68554430e+00] [-2.58138891e-01 2.12908140e-01 9.42355791e-01 1.18315028e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.019072329 meters Centerline goodness : 0.768136 Centerline is valid? [False, False] Translation: X:-248.55, Y:1.69, Z:118.35 [[ 7.79315218e-01 -5.31500778e-01 3.31925766e-01 -2.48546510e+02] [ 5.70043468e-01 8.21284398e-01 -2.32891014e-02 1.68697801e+00] [-2.60227277e-01 2.07361666e-01 9.43017976e-01 1.18350570e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.04907232899996 meters Centerline goodness : 0.768189 Centerline is valid? [False, False] Translation: X:-248.65, Y:1.69, Z:118.39 [[ 7.78716128e-01 -5.31168328e-01 3.33858354e-01 -2.48652018e+02] [ 5.70471233e-01 8.20952845e-01 -2.44744490e-02 1.69039312e+00] [-2.61081913e-01 2.09515235e-01 9.42305471e-01 1.18388826e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.079072329 meters Centerline goodness : 0.768306 Centerline is valid? [False, False] Translation: X:-248.75, Y:1.69, Z:118.43 [[ 7.78397470e-01 -5.30922966e-01 3.34989826e-01 -2.48754065e+02] [ 5.70951307e-01 8.20566450e-01 -2.61783478e-02 1.69415526e+00] [-2.60982726e-01 2.11640039e-01 9.41858010e-01 1.18426352e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.10907232899996 meters Centerline goodness : 0.767583 Centerline is valid? [False, False] Translation: X:-248.86, Y:1.69, Z:118.46 [[ 7.75958487e-01 -5.34089137e-01 3.35614691e-01 -2.48857135e+02] [ 5.75174552e-01 8.17521859e-01 -2.88486508e-02 1.69487532e+00] [-2.58964595e-01 2.15422385e-01 9.41557505e-01 1.18463101e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.139072329 meters Centerline goodness : 0.766345 Centerline is valid? [False, False] Translation: X:-248.96, Y:1.70, Z:118.50 [[ 7.75454276e-01 -5.34358458e-01 3.36350568e-01 -2.48959310e+02] [ 5.76128427e-01 8.16784727e-01 -3.06389413e-02 1.69775122e+00] [-2.58353829e-01 2.17540222e-01 9.41238307e-01 1.18500180e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.16907232899996 meters Centerline goodness : 0.766868 Centerline is valid? [False, False] Translation: X:-249.06, Y:1.70, Z:118.54 [[ 7.74098941e-01 -5.35852355e-01 3.37095066e-01 -2.49062361e+02] [ 5.78467725e-01 8.15046768e-01 -3.27697584e-02 1.70005597e+00] [-2.57188492e-01 2.20365651e-01 9.40900133e-01 1.18537438e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.199072329 meters Centerline goodness : 0.767851 Centerline is valid? [False, False] Translation: X:-249.16, Y:1.70, Z:118.58 [[ 7.73966208e-01 -5.35415690e-01 3.38092217e-01 -2.49164079e+02] [ 5.78636063e-01 8.14870008e-01 -3.41639689e-02 1.70376654e+00] [-2.57209283e-01 2.22074107e-01 9.40492677e-01 1.18575308e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.22907232899996 meters Centerline goodness : 0.765415 Centerline is valid? [False, False] Translation: X:-249.25, Y:1.71, Z:118.61 [[ 7.71809950e-01 -5.39036721e-01 3.37266681e-01 -2.49252909e+02] [ 5.81049323e-01 8.13322785e-01 -2.97948220e-02 1.70760327e+00] [-2.58246173e-01 2.18964517e-01 9.40937540e-01 1.18611378e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.259072329 meters Centerline goodness : 0.766137 Centerline is valid? [False, False] Translation: X:-249.36, Y:1.71, Z:118.65 [[ 7.70999890e-01 -5.39268610e-01 3.38745534e-01 -2.49355631e+02] [ 5.81994138e-01 8.12601212e-01 -3.10176500e-02 1.71202899e+00] [-2.58538186e-01 2.21062520e-01 9.40366614e-01 1.18650181e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.28907232899996 meters Centerline goodness : 0.765967 Centerline is valid? [False, False] Translation: X:-249.46, Y:1.72, Z:118.69 [[ 7.71086156e-01 -5.38697890e-01 3.39456512e-01 -2.49456624e+02] [ 5.81880614e-01 8.12638508e-01 -3.21497329e-02 1.71669991e+00] [-2.58536440e-01 2.22313377e-01 9.40072163e-01 1.18688129e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.319072329 meters Centerline goodness : 0.765301 Centerline is valid? [False, False] Translation: X:-249.56, Y:1.72, Z:118.73 [[ 7.68317328e-01 -5.42695674e-01 3.39366895e-01 -2.49558228e+02] [ 5.86673317e-01 8.09094629e-01 -3.43555032e-02 1.72001322e+00] [-2.55935349e-01 2.25493430e-01 9.40026494e-01 1.18728097e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.34907232899997 meters Centerline goodness : 0.764315 Centerline is valid? [False, False] Translation: X:-249.66, Y:1.72, Z:118.77 [[ 7.66655530e-01 -5.44053380e-01 3.40947531e-01 -2.49661620e+02] [ 5.89232712e-01 8.07114370e-01 -3.70297908e-02 1.72370902e+00] [-2.55037468e-01 2.29286532e-01 9.39352743e-01 1.18767149e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.379072329 meters Centerline goodness : 0.765090 Centerline is valid? [False, False] Translation: X:-249.76, Y:1.73, Z:118.80 [[ 7.68044519e-01 -5.42266551e-01 3.40667880e-01 -2.49763181e+02] [ 5.87284752e-01 8.08532060e-01 -3.70476487e-02 1.72819798e+00] [-2.55351202e-01 2.28523295e-01 9.39453494e-01 1.18804958e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.40907232899997 meters Centerline goodness : 0.764245 Centerline is valid? [False, False] Translation: X:-249.87, Y:1.73, Z:118.84 [[ 7.65548034e-01 -5.45383194e-01 3.41311264e-01 -2.49869394e+02] [ 5.91298482e-01 8.05502279e-01 -3.91431111e-02 1.73261639e+00] [-2.53579006e-01 2.31782764e-01 9.39134941e-01 1.18844909e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.439072329 meters Centerline goodness : 0.763655 Centerline is valid? [False, False] Translation: X:-249.97, Y:1.74, Z:118.88 [[ 7.66220003e-01 -5.44321576e-01 3.41498066e-01 -2.49971549e+02] [ 5.90791415e-01 8.05770489e-01 -4.12240630e-02 1.73712030e+00] [-2.52729917e-01 2.33340827e-01 9.38977980e-01 1.18883897e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.46907232899997 meters Centerline goodness : 0.763442 Centerline is valid? [False, False] Translation: X:-250.07, Y:1.74, Z:118.92 [[ 7.64127570e-01 -5.48209750e-01 3.39963421e-01 -2.50065330e+02] [ 5.92682292e-01 8.04695309e-01 -3.45421444e-02 1.74134896e+00] [-2.54630630e-01 2.27884904e-01 9.39804082e-01 1.18923268e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.49907232899994 meters Centerline goodness : 0.763109 Centerline is valid? [False, False] Translation: X:-250.17, Y:1.75, Z:118.96 [[ 7.64021598e-01 -5.47929716e-01 3.40652352e-01 -2.50168397e+02] [ 5.92955966e-01 8.04430215e-01 -3.59896083e-02 1.74841707e+00] [-2.54311269e-01 2.29488682e-01 9.39500252e-01 1.18962777e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.529072329 meters Centerline goodness : 0.763177 Centerline is valid? [False, False] Translation: X:-250.27, Y:1.75, Z:119.00 [[ 7.64477679e-01 -5.47482171e-01 3.40348572e-01 -2.50273914e+02] [ 5.92388593e-01 8.04851116e-01 -3.59226433e-02 1.75492014e+00] [-2.54262921e-01 2.29080671e-01 9.39612906e-01 1.19002986e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.55907232899995 meters Centerline goodness : 0.762033 Centerline is valid? [False, False] Translation: X:-250.38, Y:1.76, Z:119.04 [[ 7.65624206e-01 -5.45657853e-01 3.40700871e-01 -2.50379228e+02] [ 5.91096166e-01 8.05709762e-01 -3.79091305e-02 1.76117278e+00] [-2.53820603e-01 2.30411127e-01 9.39407161e-01 1.19043558e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.589072329 meters Centerline goodness : 0.763217 Centerline is valid? [False, False] Translation: X:-250.48, Y:1.77, Z:119.08 [[ 7.66274394e-01 -5.43864968e-01 3.42102981e-01 -2.50482320e+02] [ 5.90209957e-01 8.06245023e-01 -4.02637645e-02 1.76706898e+00] [-2.53920774e-01 2.32765677e-01 9.38799435e-01 1.19083276e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.61907232899995 meters Centerline goodness : 0.762720 Centerline is valid? [False, False] Translation: X:-250.58, Y:1.77, Z:119.12 [[ 7.65869186e-01 -5.43709189e-01 3.43256040e-01 -2.50584532e+02] [ 5.90977822e-01 8.05562630e-01 -4.25918192e-02 1.77191617e+00] [-2.53356675e-01 2.35476468e-01 9.38275668e-01 1.19122714e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.649072329 meters Centerline goodness : 0.762444 Centerline is valid? [False, False] Translation: X:-250.69, Y:1.78, Z:119.16 [[ 7.67099074e-01 -5.41815279e-01 3.43504315e-01 -2.50689701e+02] [ 5.89193799e-01 8.06840392e-01 -4.31190098e-02 1.77816742e+00] [-2.53790618e-01 2.35467165e-01 9.38160720e-01 1.19163812e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.67907232899995 meters Centerline goodness : 0.762706 Centerline is valid? [False, False] Translation: X:-250.79, Y:1.78, Z:119.20 [[ 7.67277721e-01 -5.41028600e-01 3.44344236e-01 -2.50789404e+02] [ 5.87884592e-01 8.07928555e-01 -4.05358738e-02 1.78429694e+00] [-2.56274474e-01 2.33536944e-01 9.37967958e-01 1.19202820e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.709072329 meters Centerline goodness : 0.761863 Centerline is valid? [False, False] Translation: X:-250.88, Y:1.79, Z:119.24 [[ 7.66688883e-01 -5.41499056e-01 3.44915830e-01 -2.50878940e+02] [ 5.87604964e-01 8.08293848e-01 -3.71680160e-02 1.78953849e+00] [-2.58666898e-01 2.31170558e-01 9.37897441e-01 1.19240136e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.73907232899995 meters Centerline goodness : 0.763007 Centerline is valid? [False, False] Translation: X:-250.98, Y:1.80, Z:119.28 [[ 7.66242299e-01 -5.39549656e-01 3.48939689e-01 -2.50982540e+02] [ 5.87317457e-01 8.08380559e-01 -3.97375996e-02 1.79654228e+00] [-2.60635653e-01 2.35387001e-01 9.36302310e-01 1.19281962e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.769072329 meters Centerline goodness : 0.761396 Centerline is valid? [False, False] Translation: X:-251.08, Y:1.80, Z:119.32 [[ 7.66376367e-01 -5.38469188e-01 3.50311573e-01 -2.51083851e+02] [ 5.86865975e-01 8.08650565e-01 -4.08973096e-02 1.80337117e+00] [-2.61257710e-01 2.36928674e-01 9.35739928e-01 1.19322263e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.79907232899996 meters Centerline goodness : 0.761233 Centerline is valid? [False, False] Translation: X:-251.19, Y:1.81, Z:119.36 [[ 7.67588921e-01 -5.36610978e-01 3.50508070e-01 -2.51187901e+02] [ 5.84776362e-01 8.10195347e-01 -4.02505393e-02 1.81078972e+00] [-2.62381126e-01 2.35864702e-01 9.35694388e-01 1.19362442e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.829072329 meters Centerline goodness : 0.760151 Centerline is valid? [False, False] Translation: X:-251.27, Y:1.82, Z:119.40 [[ 7.67804239e-01 -5.38929578e-01 3.46455711e-01 -2.51274508e+02] [ 5.84451340e-01 8.10710175e-01 -3.41415172e-02 1.81877437e+00] [-2.62475297e-01 2.28700506e-01 9.37444823e-01 1.19398759e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.85907232899996 meters Centerline goodness : 0.761898 Centerline is valid? [False, False] Translation: X:-251.38, Y:1.83, Z:119.44 [[ 7.68675059e-01 -5.37457346e-01 3.46811555e-01 -2.51376535e+02] [ 5.83503867e-01 8.11312866e-01 -3.59815275e-02 1.82661246e+00] [-2.62034140e-01 2.30023986e-01 9.37244405e-01 1.19438098e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.889072329 meters Centerline goodness : 0.760863 Centerline is valid? [False, False] Translation: X:-251.47, Y:1.83, Z:119.47 [[ 7.70893510e-01 -5.34353416e-01 3.46683752e-01 -2.51470180e+02] [ 5.81094326e-01 8.12891528e-01 -3.92013734e-02 1.83366181e+00] [-2.60868897e-01 2.31676045e-01 9.37162541e-01 1.19474594e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.91907232899996 meters Centerline goodness : 0.758463 Centerline is valid? [False, False] Translation: X:-251.57, Y:1.84, Z:119.52 [[ 7.72201418e-01 -5.31945695e-01 3.47474816e-01 -2.51574931e+02] [ 5.79133939e-01 8.14224016e-01 -4.05355667e-02 1.84148590e+00] [-2.61359620e-01 2.32536081e-01 9.36812746e-01 1.19515455e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.949072329 meters Centerline goodness : 0.759127 Centerline is valid? [False, False] Translation: X:-251.67, Y:1.85, Z:119.55 [[ 7.75294087e-01 -5.27702513e-01 3.47057829e-01 -2.51674084e+02] [ 5.74793281e-01 8.17250650e-01 -4.14011989e-02 1.85032105e+00] [-2.61785720e-01 2.31584613e-01 9.36929455e-01 1.19554238e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.97907232899996 meters Centerline goodness : 0.757453 Centerline is valid? [False, False] Translation: X:-251.76, Y:1.86, Z:119.59 [[ 7.76750400e-01 -5.25317279e-01 3.47419879e-01 -2.51758260e+02] [ 5.71465633e-01 8.19737422e-01 -3.81783772e-02 1.85860745e+00] [-2.64737315e-01 2.28193591e-01 9.36932142e-01 1.19589335e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.009072329 meters Centerline goodness : 0.757990 Centerline is valid? [False, False] Translation: X:-251.86, Y:1.87, Z:119.63 [[ 7.78380162e-01 -5.22198640e-01 3.48472242e-01 -2.51856845e+02] [ 5.69000653e-01 8.21356869e-01 -4.01391517e-02 1.86679566e+00] [-2.65259459e-01 2.29524453e-01 9.36459260e-01 1.19627979e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.03907232899996 meters Centerline goodness : 0.757990 Centerline is valid? [False, False] Translation: X:-251.94, Y:1.87, Z:119.66 [[ 7.77721123e-01 -5.24482939e-01 3.46507577e-01 -2.51941728e+02] [ 5.69651755e-01 8.21110265e-01 -3.57044945e-02 1.87264293e+00] [-2.65794530e-01 2.25156789e-01 9.37367424e-01 1.19664364e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.069072329 meters Centerline goodness : 0.757572 Centerline is valid? [False, False] Translation: X:-252.04, Y:1.88, Z:119.70 [[ 7.80854435e-01 -5.19885805e-01 3.46388655e-01 -2.52039368e+02] [ 5.65499789e-01 8.23859543e-01 -3.82810917e-02 1.88156633e+00] [-2.65473803e-01 2.25774671e-01 9.37309691e-01 1.19702377e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.09907232899997 meters Centerline goodness : 0.758085 Centerline is valid? [False, False] Translation: X:-252.12, Y:1.89, Z:119.74 [[ 7.81164730e-01 -5.20437001e-01 3.44857931e-01 -2.52120293e+02] [ 5.64688271e-01 8.24573313e-01 -3.47276319e-02 1.88865465e+00] [-2.66287102e-01 2.21865230e-01 9.38012260e-01 1.19736333e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.129072329 meters Centerline goodness : 0.756887 Centerline is valid? [False, False] Translation: X:-252.20, Y:1.90, Z:119.77 [[ 7.80932345e-01 -5.21925260e-01 3.43130728e-01 -2.52202056e+02] [ 5.64904487e-01 8.24556300e-01 -3.14615488e-02 1.89573561e+00] [-2.66510026e-01 2.18405429e-01 9.38760606e-01 1.19770904e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.15907232899997 meters Centerline goodness : 0.757601 Centerline is valid? [False, False] Translation: X:-252.29, Y:1.90, Z:119.81 [[ 7.81537945e-01 -5.19735357e-01 3.45070425e-01 -2.52288853e+02] [ 5.62491940e-01 8.26278053e-01 -2.94516017e-02 1.90351118e+00] [-2.69817080e-01 2.17116877e-01 9.38114601e-01 1.19806084e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.189072329 meters Centerline goodness : 0.757176 Centerline is valid? [False, False] Translation: X:-252.39, Y:1.91, Z:119.85 [[ 7.82770706e-01 -5.16843571e-01 3.46616134e-01 -2.52388483e+02] [ 5.60491091e-01 8.27549709e-01 -3.17996172e-02 1.91179296e+00] [-2.70406653e-01 2.19167064e-01 9.37467887e-01 1.19845494e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.21907232899997 meters Centerline goodness : 0.757419 Centerline is valid? [False, False] Translation: X:-252.49, Y:1.92, Z:119.88 [[ 7.84116643e-01 -5.14166526e-01 3.47554131e-01 -2.52485045e+02] [ 5.58544676e-01 8.28775083e-01 -3.40544672e-02 1.91957597e+00] [-2.70534536e-01 2.20827184e-01 9.37041312e-01 1.19883946e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.24907232899994 meters Centerline goodness : 0.755887 Centerline is valid? [False, False] Translation: X:-252.58, Y:1.93, Z:119.92 [[ 7.84352247e-01 -5.13376483e-01 3.48189803e-01 -2.52584587e+02] [ 5.58946211e-01 8.28342190e-01 -3.77935143e-02 1.92780373e+00] [-2.69018003e-01 2.24262799e-01 9.36661898e-01 1.19923388e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.279072329 meters Centerline goodness : 0.755709 Centerline is valid? [False, False] Translation: X:-252.68, Y:1.94, Z:119.96 [[ 7.85462399e-01 -5.11660980e-01 3.48212381e-01 -2.52682240e+02] [ 5.57729509e-01 8.29065784e-01 -3.98462176e-02 1.93583474e+00] [-2.68303216e-01 2.25506026e-01 9.36568426e-01 1.19961750e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.30907232899995 meters Centerline goodness : 0.757146 Centerline is valid? [False, False] Translation: X:-252.78, Y:1.94, Z:120.00 [[ 7.88671051e-01 -5.07940431e-01 3.46402213e-01 -2.52775600e+02] [ 5.53847654e-01 8.31577974e-01 -4.16034789e-02 1.94443792e+00] [-2.66928361e-01 2.24665512e-01 9.37163090e-01 1.19997312e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.339072329 meters Centerline goodness : 0.755446 Centerline is valid? [False, False] Translation: X:-252.86, Y:1.95, Z:120.03 [[ 7.89184270e-01 -5.08840619e-01 3.43903204e-01 -2.52856757e+02] [ 5.52953163e-01 8.32376031e-01 -3.73221409e-02 1.95212560e+00] [-2.67265762e-01 2.19616411e-01 9.38263100e-01 1.20031424e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.36907232899995 meters Centerline goodness : 0.756377 Centerline is valid? [False, False] Translation: X:-252.94, Y:1.96, Z:120.06 [[ 7.90974894e-01 -5.07372173e-01 3.41953499e-01 -2.52936084e+02] [ 5.49767313e-01 8.34655690e-01 -3.32532671e-02 1.96064343e+00] [-2.68541651e-01 2.14297356e-01 9.39128332e-01 1.20063753e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.399072329 meters Centerline goodness : 0.755310 Centerline is valid? [False, False] Translation: X:-253.02, Y:1.97, Z:120.10 [[ 7.91919902e-01 -5.06742776e-01 3.40697267e-01 -2.53017852e+02] [ 5.47758849e-01 8.36112205e-01 -2.96078529e-02 1.96953156e+00] [-2.69857578e-01 2.10066991e-01 9.39706735e-01 1.20097587e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.42907232899995 meters Centerline goodness : 0.754967 Centerline is valid? [False, False] Translation: X:-253.11, Y:1.98, Z:120.13 [[ 7.93681505e-01 -5.02758354e-01 3.42496286e-01 -2.53109300e+02] [ 5.44299665e-01 8.38327898e-01 -3.07279913e-02 1.97912005e+00] [-2.71675437e-01 2.10808852e-01 9.39016552e-01 1.20133106e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.459072329 meters Centerline goodness : 0.754237 Centerline is valid? [False, False] Translation: X:-253.20, Y:1.99, Z:120.17 [[ 7.95116940e-01 -5.00200982e-01 3.42911110e-01 -2.53202503e+02] [ 5.42672154e-01 8.39252144e-01 -3.40994357e-02 1.98819227e+00] [-2.70732313e-01 2.13201350e-01 9.38748741e-01 1.20169646e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.48907232899995 meters Centerline goodness : 0.754257 Centerline is valid? [False, False] Translation: X:-253.28, Y:2.00, Z:120.20 [[ 7.95539375e-01 -5.00811264e-01 3.41035454e-01 -2.53279518e+02] [ 5.42215947e-01 8.39636089e-01 -3.18293141e-02 1.99528186e+00] [-2.70405195e-01 2.10236334e-01 9.39511423e-01 1.20201690e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.519072329 meters Centerline goodness : 0.754047 Centerline is valid? [False, False] Translation: X:-253.37, Y:2.00, Z:120.24 [[ 7.97271055e-01 -4.98606237e-01 3.40221525e-01 -2.53372782e+02] [ 5.40585901e-01 8.40563446e-01 -3.49281683e-02 2.00437181e+00] [-2.68562375e-01 2.11766177e-01 9.39696407e-01 1.20237428e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.54907232899996 meters Centerline goodness : 0.755187 Centerline is valid? [False, False] Translation: X:-253.45, Y:2.01, Z:120.27 [[ 7.97828494e-01 -4.98597468e-01 3.38925154e-01 -2.53450350e+02] [ 5.39467174e-01 8.41393864e-01 -3.21175122e-02 2.01116734e+00] [-2.69155835e-01 2.08463261e-01 9.40264966e-01 1.20269428e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.579072329 meters Centerline goodness : 0.754361 Centerline is valid? [False, False] Translation: X:-253.53, Y:2.02, Z:120.30 [[ 7.97976159e-01 -4.98883982e-01 3.38155028e-01 -2.53528734e+02] [ 5.38970757e-01 8.41791673e-01 -2.99549974e-02 2.01797920e+00] [-2.69712018e-01 2.06159045e-01 9.40613563e-01 1.20301852e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.60907232899996 meters Centerline goodness : 0.756104 Centerline is valid? [False, False] Translation: X:-253.62, Y:2.03, Z:120.34 [[ 8.01254732e-01 -4.94117449e-01 3.37400060e-01 -2.53620094e+02] [ 5.34279369e-01 8.44712106e-01 -3.17334921e-02 2.02719974e+00] [-2.69325843e-01 2.05692502e-01 9.40826331e-01 1.20336243e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.639072329 meters Centerline goodness : 0.755722 Centerline is valid? [False, False] Translation: X:-253.70, Y:2.03, Z:120.37 [[ 8.01877791e-01 -4.94187266e-01 3.35813868e-01 -2.53696231e+02] [ 5.33378552e-01 8.45358723e-01 -2.95964503e-02 2.03434639e+00] [-2.69256994e-01 2.02848651e-01 9.41463274e-01 1.20367343e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.66907232899996 meters Centerline goodness : 0.754791 Centerline is valid? [False, False] Translation: X:-253.77, Y:2.04, Z:120.40 [[ 8.02826751e-01 -4.93718068e-01 3.34232968e-01 -2.53773718e+02] [ 5.31527803e-01 8.46638593e-01 -2.61014618e-02 2.04294056e+00] [-2.70087767e-01 1.98609067e-01 9.42128992e-01 1.20398205e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.699072329 meters Centerline goodness : 0.753251 Centerline is valid? [False, False] Translation: X:-253.85, Y:2.05, Z:120.43 [[ 8.03266386e-01 -4.93137662e-01 3.34033471e-01 -2.53849828e+02] [ 5.30460068e-01 8.47350921e-01 -2.46684527e-02 2.05047382e+00] [-2.70878626e-01 1.97006756e-01 9.42238350e-01 1.20428289e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.72907232899996 meters Centerline goodness : 0.753998 Centerline is valid? [False, False] Translation: X:-253.92, Y:2.06, Z:120.46 [[ 8.04225007e-01 -4.92066327e-01 3.33305966e-01 -2.53923388e+02] [ 5.28887465e-01 8.48361395e-01 -2.36852939e-02 2.05801859e+00] [-2.71109179e-01 1.95329653e-01 9.42521161e-01 1.20457695e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.759072329 meters Centerline goodness : 0.753989 Centerline is valid? [False, False] Translation: X:-254.00, Y:2.07, Z:120.49 [[ 8.05073442e-01 -4.90931043e-01 3.32931619e-01 -2.53997539e+02] [ 5.27363752e-01 8.49332678e-01 -2.28358410e-02 2.06508443e+00] [-2.71558880e-01 1.93960597e-01 9.42674420e-01 1.20487014e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.78907232899996 meters Centerline goodness : 0.753120 Centerline is valid? [False, False] Translation: X:-254.08, Y:2.07, Z:120.52 [[ 8.06003083e-01 -4.87767810e-01 3.35323119e-01 -2.54077314e+02] [ 5.24495705e-01 8.51111337e-01 -2.26660246e-02 2.07401865e+00] [-2.74341551e-01 1.94144421e-01 9.41830482e-01 1.20517768e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.819072329 meters Centerline goodness : 0.753231 Centerline is valid? [False, False] Translation: X:-254.15, Y:2.08, Z:120.55 [[ 8.06258285e-01 -4.87027851e-01 3.35784828e-01 -2.54152560e+02] [ 5.23761940e-01 8.51567880e-01 -2.24850235e-02 2.08156723e+00] [-2.74992741e-01 1.94000049e-01 9.41670310e-01 1.20548036e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.84907232899997 meters Centerline goodness : 0.753116 Centerline is valid? [False, False] Translation: X:-254.23, Y:2.09, Z:120.58 [[ 8.07087955e-01 -4.85774716e-01 3.35606850e-01 -2.54226551e+02] [ 5.22089730e-01 8.52621416e-01 -2.14250882e-02 2.08879138e+00] [-2.75737822e-01 1.92508820e-01 9.41758466e-01 1.20577428e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.879072329 meters Centerline goodness : 0.752550 Centerline is valid? [False, False] Translation: X:-254.32, Y:2.10, Z:120.61 [[ 8.06816935e-01 -4.84591989e-01 3.37960113e-01 -2.54319012e+02] [ 5.21755017e-01 8.52790650e-01 -2.27993385e-02 2.09758672e+00] [-2.77160848e-01 1.94727277e-01 9.40884239e-01 1.20612250e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.90907232899997 meters Centerline goodness : 0.752915 Centerline is valid? [False, False] Translation: X:-254.40, Y:2.10, Z:120.64 [[ 8.06678450e-01 -4.85040048e-01 3.37647789e-01 -2.54396017e+02] [ 5.21578529e-01 8.52949081e-01 -2.08255366e-02 2.10469059e+00] [-2.77895152e-01 1.92909349e-01 9.41042118e-01 1.20643090e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.939072329 meters Centerline goodness : 0.754835 Centerline is valid? [False, False] Translation: X:-254.49, Y:2.11, Z:120.68 [[ 8.07746067e-01 -4.83454656e-01 3.37369067e-01 -2.54487269e+02] [ 5.21064994e-01 8.53151312e-01 -2.49822115e-02 2.11399475e+00] [-2.75749096e-01 1.95970494e-01 9.41040914e-01 1.20677702e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.96907232899997 meters Centerline goodness : 0.755369 Centerline is valid? [False, False] Translation: X:-254.58, Y:2.12, Z:120.71 [[ 8.08957127e-01 -4.81868729e-01 3.36735645e-01 -2.54575736e+02] [ 5.20578927e-01 8.53302485e-01 -2.95372626e-02 2.12173384e+00] [-2.73104280e-01 1.99191860e-01 9.41135833e-01 1.20710898e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.99907232899994 meters Centerline goodness : 0.753852 Centerline is valid? [False, False] Translation: X:-254.66, Y:2.13, Z:120.74 [[ 8.07771363e-01 -4.84470933e-01 3.35847198e-01 -2.54655498e+02] [ 5.22475012e-01 8.52217730e-01 -2.72910827e-02 2.12879572e+00] [-2.72993200e-01 1.97516724e-01 9.41521034e-01 1.20742844e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.029072329 meters Centerline goodness : 0.755735 Centerline is valid? [False, False] Translation: X:-254.73, Y:2.14, Z:120.77 [[ 8.07564996e-01 -4.85433861e-01 3.34951855e-01 -2.54730448e+02] [ 5.22992404e-01 8.51932957e-01 -2.62522934e-02 2.13612588e+00] [-2.72612772e-01 1.96377709e-01 9.41869456e-01 1.20772934e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.05907232899995 meters Centerline goodness : 0.756463 Centerline is valid? [False, False] Translation: X:-254.81, Y:2.14, Z:120.80 [[ 8.07118915e-01 -4.86278787e-01 3.34801431e-01 -2.54805952e+02] [ 5.23758941e-01 8.51471629e-01 -2.59352469e-02 2.14350321e+00] [-2.72462160e-01 1.96288072e-01 9.41931720e-01 1.20803912e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.089072329 meters Centerline goodness : 0.756943 Centerline is valid? [False, False] Translation: X:-254.88, Y:2.15, Z:120.83 [[ 8.07394536e-01 -4.86666445e-01 3.33571334e-01 -2.54880214e+02] [ 5.23547803e-01 8.51637583e-01 -2.47209523e-02 2.15086597e+00] [-2.72051026e-01 1.94600101e-01 9.42400679e-01 1.20833718e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.11907232899995 meters Centerline goodness : 0.755203 Centerline is valid? [False, False] Translation: X:-254.96, Y:2.16, Z:120.86 [[ 8.07243256e-01 -4.88575461e-01 3.31137954e-01 -2.54956178e+02] [ 5.24465662e-01 8.51127784e-01 -2.27434490e-02 2.15844212e+00] [-2.70728822e-01 1.92029982e-01 9.43308216e-01 1.20863734e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.149072329 meters Centerline goodness : 0.756513 Centerline is valid? [False, False] Translation: X:-255.03, Y:2.17, Z:120.89 [[ 8.07493447e-01 -4.89565435e-01 3.29059293e-01 -2.55029961e+02] [ 5.24817437e-01 8.50933628e-01 -2.18773622e-02 2.16609715e+00] [-2.69297218e-01 1.90361882e-01 9.44055805e-01 1.20892720e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.17907232899995 meters Centerline goodness : 0.757911 Centerline is valid? [False, False] Translation: X:-255.10, Y:2.17, Z:120.92 [[ 8.07855575e-01 -4.90416369e-01 3.26896245e-01 -2.55102987e+02] [ 5.24963543e-01 8.50869395e-01 -2.08458953e-02 2.17322573e+00] [-2.67922842e-01 1.88449084e-01 9.44830299e-01 1.20920840e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.209072329 meters Centerline goodness : 0.756313 Centerline is valid? [False, False] Translation: X:-255.18, Y:2.18, Z:120.95 [[ 8.07570695e-01 -4.91908372e-01 3.25354770e-01 -2.55177453e+02] [ 5.26193978e-01 8.50110522e-01 -2.07845543e-02 2.17998399e+00] [-2.66363417e-01 1.87984718e-01 9.45363568e-01 1.20949982e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.23907232899995 meters Centerline goodness : 0.757956 Centerline is valid? [False, False] Translation: X:-255.27, Y:2.19, Z:120.98 [[ 8.08509954e-01 -4.90071697e-01 3.25793473e-01 -2.55266766e+02] [ 5.25695161e-01 8.50288947e-01 -2.55598233e-02 2.18916167e+00] [-2.64492443e-01 1.91933424e-01 9.45095397e-01 1.20982130e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.269072329 meters Centerline goodness : 0.757773 Centerline is valid? [False, False] Translation: X:-255.34, Y:2.20, Z:121.01 [[ 8.08182673e-01 -4.90621632e-01 3.25777810e-01 -2.55340223e+02] [ 5.26428405e-01 8.49817964e-01 -2.61258996e-02 2.19610707e+00] [-2.64033904e-01 1.92613192e-01 9.45085317e-01 1.21010570e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.29907232899996 meters Centerline goodness : 0.757151 Centerline is valid? [False, False] Translation: X:-255.42, Y:2.20, Z:121.04 [[ 8.06888079e-01 -4.92727815e-01 3.25808115e-01 -2.55416098e+02] [ 5.28744943e-01 8.48367980e-01 -2.64680038e-02 2.20274230e+00] [-2.63363651e-01 1.93626110e-01 9.45065351e-01 1.21040290e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.329072329 meters Centerline goodness : 0.756542 Centerline is valid? [False, False] Translation: X:-255.49, Y:2.21, Z:121.07 [[ 8.05393921e-01 -4.94524677e-01 3.26781235e-01 -2.55491276e+02] [ 5.31032957e-01 8.46916335e-01 -2.71425875e-02 2.20888587e+00] [-2.63333687e-01 1.95392081e-01 9.44710170e-01 1.21068719e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.35907232899996 meters Centerline goodness : 0.756725 Centerline is valid? [False, False] Translation: X:-255.58, Y:2.22, Z:121.10 [[ 8.06720985e-01 -4.92928540e-01 3.25918251e-01 -2.55581970e+02] [ 5.30165872e-01 8.47336434e-01 -3.07427513e-02 2.21734999e+00] [-2.61008429e-01 1.97591556e-01 9.44897972e-01 1.21101645e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.389072329 meters Centerline goodness : 0.757092 Centerline is valid? [False, False] Translation: X:-255.66, Y:2.22, Z:121.13 [[ 8.04398417e-01 -4.97690689e-01 3.24418196e-01 -2.55662441e+02] [ 5.34280373e-01 8.44819485e-01 -2.87144641e-02 2.22296311e+00] [-2.59783892e-01 1.96428144e-01 9.45477823e-01 1.21131525e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.41907232899996 meters Centerline goodness : 0.756628 Centerline is valid? [False, False] Translation: X:-255.74, Y:2.23, Z:121.16 [[ 8.03300269e-01 -5.00198501e-01 3.23280278e-01 -2.55738793e+02] [ 5.36476527e-01 8.43449837e-01 -2.80233437e-02 2.23035932e+00] [-2.58653463e-01 1.95943440e-01 9.45888236e-01 1.21160508e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.449072329 meters Centerline goodness : 0.757105 Centerline is valid? [False, False] Translation: X:-255.81, Y:2.24, Z:121.19 [[ 8.02859336e-01 -5.01379014e-01 3.22546074e-01 -2.55812927e+02] [ 5.37429334e-01 8.42858399e-01 -2.75577535e-02 2.23727064e+00] [-2.58043788e-01 1.95470722e-01 9.46152525e-01 1.21187795e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.47907232899996 meters Centerline goodness : 0.756503 Centerline is valid? [False, False] Translation: X:-255.89, Y:2.24, Z:121.22 [[ 8.01949108e-01 -5.02561136e-01 3.22970482e-01 -2.55889794e+02] [ 5.38601171e-01 8.42129204e-01 -2.69663022e-02 2.24427890e+00] [-2.58430659e-01 1.95577882e-01 9.46024781e-01 1.21216939e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.509072329 meters Centerline goodness : 0.756428 Centerline is valid? [False, False] Translation: X:-255.96, Y:2.25, Z:121.24 [[ 8.01928598e-01 -5.02778803e-01 3.22682506e-01 -2.55964610e+02] [ 5.38649339e-01 8.42112116e-01 -2.65344008e-02 2.25204890e+00] [-2.58393914e-01 1.95091413e-01 9.46135258e-01 1.21244783e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.53907232899996 meters Centerline goodness : 0.756627 Centerline is valid? [False, False] Translation: X:-256.04, Y:2.26, Z:121.27 [[ 8.02105724e-01 -5.03471452e-01 3.21158691e-01 -2.56038628e+02] [ 5.38637037e-01 8.42166169e-01 -2.50257171e-02 2.25921062e+00] [-2.57869250e-01 1.93061237e-01 9.46694676e-01 1.21271137e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.569072329 meters Centerline goodness : 0.755994 Centerline is valid? [False, False] Translation: X:-256.11, Y:2.27, Z:121.30 [[ 8.02561264e-01 -5.02850607e-01 3.20993279e-01 -2.56112134e+02] [ 5.38052191e-01 8.42528689e-01 -2.54017266e-02 2.26638280e+00] [-2.57672773e-01 1.93097579e-01 9.46740760e-01 1.21298015e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.59907232899997 meters Centerline goodness : 0.756750 Centerline is valid? [False, False] Translation: X:-256.19, Y:2.27, Z:121.32 [[ 8.03695121e-01 -5.00799443e-01 3.21362832e-01 -2.56186605e+02] [ 5.35894463e-01 8.43911890e-01 -2.50967470e-02 2.27437391e+00] [-2.58633478e-01 1.92386696e-01 9.46623517e-01 1.21324629e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.629072329 meters Centerline goodness : 0.755927 Centerline is valid? [False, False] Translation: X:-256.26, Y:2.28, Z:121.35 [[ 8.02412940e-01 -5.02233003e-01 3.22328226e-01 -2.56262643e+02] [ 5.37884753e-01 8.42613827e-01 -2.61137964e-02 2.28248636e+00] [-2.58483010e-01 1.94329487e-01 9.46267713e-01 1.21353443e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.65907232899997 meters Centerline goodness : 0.755744 Centerline is valid? [False, False] Translation: X:-256.34, Y:2.29, Z:121.38 [[ 8.02040219e-01 -5.02845382e-01 3.22301115e-01 -2.56337401e+02] [ 5.38628723e-01 8.42126225e-01 -2.65050767e-02 2.28998457e+00] [-2.58090266e-01 1.94858776e-01 9.46266068e-01 1.21381747e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.689072329 meters Centerline goodness : 0.755961 Centerline is valid? [False, False] Translation: X:-256.41, Y:2.30, Z:121.41 [[ 8.02541838e-01 -5.02416992e-01 3.21720009e-01 -2.56410793e+02] [ 5.38054758e-01 8.42492916e-01 -2.65096881e-02 2.29768796e+00] [-2.57727911e-01 1.94378115e-01 9.46463667e-01 1.21408648e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.71907232899997 meters Centerline goodness : 0.756576 Centerline is valid? [False, False] Translation: X:-256.48, Y:2.31, Z:121.44 [[ 8.02693596e-01 -5.02799416e-01 3.20742479e-01 -2.56484560e+02] [ 5.38099719e-01 8.42480953e-01 -2.59718249e-02 2.30508865e+00] [-2.57160811e-01 1.93438855e-01 9.46810291e-01 1.21435448e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.74907232899994 meters Centerline goodness : 0.755257 Centerline is valid? [False, False] Translation: X:-256.56, Y:2.31, Z:121.46 [[ 8.02530705e-01 -5.04100887e-01 3.19103061e-01 -2.56559359e+02] [ 5.38735074e-01 8.42116953e-01 -2.45674081e-02 2.31305664e+00] [-2.56337646e-01 1.91628111e-01 9.47401540e-01 1.21462709e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.779072329 meters Centerline goodness : 0.754930 Centerline is valid? [False, False] Translation: X:-256.64, Y:2.32, Z:121.49 [[ 8.01947669e-01 -5.05130355e-01 3.18940841e-01 -2.56635066e+02] [ 5.39733250e-01 8.41482670e-01 -2.43913004e-02 2.32167589e+00] [-2.56062405e-01 1.91703523e-01 9.47460714e-01 1.21490633e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.80907232899995 meters Centerline goodness : 0.755422 Centerline is valid? [False, False] Translation: X:-256.71, Y:2.33, Z:121.52 [[ 8.02300460e-01 -5.05193444e-01 3.17952129e-01 -2.56708535e+02] [ 5.39446562e-01 8.41681732e-01 -2.38593526e-02 2.33006035e+00] [-2.55560910e-01 1.90660553e-01 9.47806507e-01 1.21517682e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.839072329 meters Centerline goodness : 0.754275 Centerline is valid? [False, False] Translation: X:-256.78, Y:2.34, Z:121.55 [[ 8.01248808e-01 -5.07293020e-01 3.17260367e-01 -2.56784821e+02] [ 5.41320060e-01 8.40497073e-01 -2.31789242e-02 2.33758266e+00] [-2.54897903e-01 1.90311486e-01 9.48055166e-01 1.21545400e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.86907232899995 meters Centerline goodness : 0.754695 Centerline is valid? [False, False] Translation: X:-256.86, Y:2.35, Z:121.57 [[ 8.00743304e-01 -5.08008607e-01 3.17391581e-01 -2.56859820e+02] [ 5.42150495e-01 8.39956278e-01 -2.33728921e-02 2.34521237e+00] [-2.54721421e-01 1.90789689e-01 9.48006483e-01 1.21572295e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.899072329 meters Centerline goodness : 0.753841 Centerline is valid? [False, False] Translation: X:-256.94, Y:2.35, Z:121.60 [[ 7.98996129e-01 -5.10913268e-01 3.17132179e-01 -2.56939294e+02] [ 5.44933190e-01 8.38175044e-01 -2.25923384e-02 2.35235722e+00] [-2.54269553e-01 1.90867041e-01 9.48112212e-01 1.21601281e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.92907232899995 meters Centerline goodness : 0.753611 Centerline is valid? [False, False] Translation: X:-257.01, Y:2.36, Z:121.63 [[ 7.98939105e-01 -5.10959256e-01 3.17201741e-01 -2.57012658e+02] [ 5.45145811e-01 8.38021533e-01 -2.31507172e-02 2.36057310e+00] [-2.53992816e-01 1.91417214e-01 9.48075471e-01 1.21627388e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.959072329 meters Centerline goodness : 0.753611 Centerline is valid? [False, False] Translation: X:-257.09, Y:2.37, Z:121.65 [[ 7.99235226e-01 -5.10311698e-01 3.17498070e-01 -2.57087512e+02] [ 5.44612619e-01 8.38359506e-01 -2.34613284e-02 2.36910222e+00] [-2.54204935e-01 1.91664576e-01 9.47968639e-01 1.21654158e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.98907232899995 meters Centerline goodness : 0.753418 Centerline is valid? [False, False] Translation: X:-257.16, Y:2.38, Z:121.68 [[ 7.99385245e-01 -5.09559375e-01 3.18327620e-01 -2.57162714e+02] [ 5.44038140e-01 8.38728384e-01 -2.36050863e-02 2.37693026e+00] [-2.54962217e-01 1.92051924e-01 9.47686829e-01 1.21680238e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.019072329 meters Centerline goodness : 0.753896 Centerline is valid? [False, False] Translation: X:-257.24, Y:2.39, Z:121.71 [[ 7.98576224e-01 -5.09875719e-01 3.19848034e-01 -2.57240605e+02] [ 5.44734412e-01 8.38272163e-01 -2.37529294e-02 2.38553114e+00] [-2.56008661e-01 1.93200755e-01 9.47171069e-01 1.21708422e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.04907232899996 meters Centerline goodness : 0.755073 Centerline is valid? [False, False] Translation: X:-257.32, Y:2.39, Z:121.74 [[ 7.99308541e-01 -5.08187427e-01 3.20704531e-01 -2.57315041e+02] [ 5.43277981e-01 8.39202823e-01 -2.42416503e-02 2.39444430e+00] [-2.56816846e-01 1.93608268e-01 9.46869023e-01 1.21735113e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.079072329 meters Centerline goodness : 0.752838 Centerline is valid? [False, False] Translation: X:-257.39, Y:2.40, Z:121.76 [[ 7.98969703e-01 -5.08120916e-01 3.21652839e-01 -2.57388597e+02] [ 5.43809007e-01 8.38815320e-01 -2.57025930e-02 2.40256174e+00] [-2.56747304e-01 1.95453304e-01 9.46508757e-01 1.21761702e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.10907232899996 meters Centerline goodness : 0.754348 Centerline is valid? [False, False] Translation: X:-257.46, Y:2.41, Z:121.79 [[ 7.99646558e-01 -5.07297061e-01 3.21271029e-01 -2.57459831e+02] [ 5.43019507e-01 8.39308563e-01 -2.62859445e-02 2.41108600e+00] [-2.56310743e-01 1.95475901e-01 9.46622404e-01 1.21787099e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.139072329 meters Centerline goodness : 0.753637 Centerline is valid? [False, False] Translation: X:-257.53, Y:2.42, Z:121.81 [[ 8.00186401e-01 -5.06311083e-01 3.21482210e-01 -2.57534143e+02] [ 5.42015820e-01 8.39958755e-01 -2.62324366e-02 2.41972623e+00] [-2.56750023e-01 1.95239283e-01 9.46552190e-01 1.21813723e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.16907232899996 meters Centerline goodness : 0.753689 Centerline is valid? [False, False] Translation: X:-257.61, Y:2.43, Z:121.84 [[ 8.00824958e-01 -5.04913140e-01 3.22090216e-01 -2.57608731e+02] [ 5.40746383e-01 8.40768889e-01 -2.64768669e-02 2.42863343e+00] [-2.57434915e-01 1.95372455e-01 9.46338665e-01 1.21840814e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.199072329 meters Centerline goodness : 0.754064 Centerline is valid? [False, False] Translation: X:-257.69, Y:2.44, Z:121.87 [[ 8.00120282e-01 -5.05765940e-01 3.22503254e-01 -2.57685252e+02] [ 5.41725712e-01 8.40138882e-01 -2.64558513e-02 2.43809315e+00] [-2.57567055e-01 1.95876168e-01 9.46198573e-01 1.21869158e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.22907232899996 meters Centerline goodness : 0.755036 Centerline is valid? [False, False] Translation: X:-257.75, Y:2.45, Z:121.89 [[ 8.01479270e-01 -5.03789505e-01 3.22222152e-01 -2.57754880e+02] [ 5.39909709e-01 8.41269248e-01 -2.76325538e-02 2.44618076e+00] [-2.57154597e-01 1.96117787e-01 9.46260708e-01 1.21893604e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.259072329 meters Centerline goodness : 0.753691 Centerline is valid? [False, False] Translation: X:-257.83, Y:2.46, Z:121.92 [[ 8.02004303e-01 -5.02619276e-01 3.22742873e-01 -2.57829434e+02] [ 5.38849550e-01 8.41942046e-01 -2.78344067e-02 2.45643616e+00] [-2.57740685e-01 1.96233166e-01 9.46077314e-01 1.21920429e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.28907232899996 meters Centerline goodness : 0.754146 Centerline is valid? [False, False] Translation: X:-257.90, Y:2.47, Z:121.95 [[ 8.03350765e-01 -5.00357450e-01 3.22908612e-01 -2.57904232e+02] [ 5.36312145e-01 8.43584314e-01 -2.71069744e-02 2.46722660e+00] [-2.58837463e-01 1.94956219e-01 9.46041881e-01 1.21947078e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.319072329 meters Centerline goodness : 0.756136 Centerline is valid? [False, False] Translation: X:-257.98, Y:2.48, Z:121.98 [[ 8.05413854e-01 -4.96002103e-01 3.24484880e-01 -2.57982320e+02] [ 5.32028402e-01 8.46298250e-01 -2.69267830e-02 2.47852916e+00] [-2.61255245e-01 1.94322376e-01 9.45507542e-01 1.21975561e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.34907232899997 meters Centerline goodness : 0.755645 Centerline is valid? [False, False] Translation: X:-258.06, Y:2.49, Z:122.00 [[ 8.05746513e-01 -4.95419587e-01 3.24548902e-01 -2.58058009e+02] [ 5.31314349e-01 8.46759927e-01 -2.65082729e-02 2.48816847e+00] [-2.61682287e-01 1.93796437e-01 9.45497394e-01 1.22003932e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.379072329 meters Centerline goodness : 0.755598 Centerline is valid? [False, False] Translation: X:-258.14, Y:2.50, Z:122.03 [[ 8.06010095e-01 -4.93175864e-01 3.27300005e-01 -2.58137383e+02] [ 5.29823131e-01 8.47662665e-01 -2.74855630e-02 2.49846202e+00] [-2.63884778e-01 1.95564755e-01 9.44520646e-01 1.22033542e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.40907232899997 meters Centerline goodness : 0.754027 Centerline is valid? [False, False] Translation: X:-258.21, Y:2.51, Z:122.06 [[ 8.06020335e-01 -4.92465231e-01 3.28343137e-01 -2.58211127e+02] [ 5.29537083e-01 8.47813917e-01 -2.83203135e-02 2.50726914e+00] [-2.64427111e-01 1.96696615e-01 9.44133859e-01 1.22061051e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.439072329 meters Centerline goodness : 0.755722 Centerline is valid? [False, False] Translation: X:-258.29, Y:2.52, Z:122.09 [[ 8.05845772e-01 -4.92325752e-01 3.28980161e-01 -2.58286115e+02] [ 5.29636113e-01 8.47739350e-01 -2.86981120e-02 2.51653013e+00] [-2.64760608e-01 1.97366026e-01 9.43900669e-01 1.22088882e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.46907232899997 meters Centerline goodness : 0.756136 Centerline is valid? [False, False] Translation: X:-258.36, Y:2.52, Z:122.12 [[ 8.04789048e-01 -4.95087642e-01 3.27418408e-01 -2.58358928e+02] [ 5.32414811e-01 8.45970096e-01 -2.94799219e-02 2.52414558e+00] [-2.62391037e-01 1.98047528e-01 9.44419462e-01 1.22115521e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.49907232899994 meters Centerline goodness : 0.757225 Centerline is valid? [False, False] Translation: X:-258.43, Y:2.53, Z:122.14 [[ 8.05701922e-01 -4.94534663e-01 3.26005951e-01 -2.58431073e+02] [ 5.31378457e-01 8.46639500e-01 -2.89567233e-02 2.53229738e+00] [-2.61689412e-01 1.96563027e-01 9.44924139e-01 1.22142165e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.529072329 meters Centerline goodness : 0.755965 Centerline is valid? [False, False] Translation: X:-258.51, Y:2.54, Z:122.17 [[ 8.05949411e-01 -4.94524730e-01 3.25408726e-01 -2.58505687e+02] [ 5.31086987e-01 8.46840817e-01 -2.84120150e-02 2.54163968e+00] [-2.61518947e-01 1.95718986e-01 9.45146506e-01 1.22169244e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.55907232899995 meters Centerline goodness : 0.757265 Centerline is valid? [False, False] Translation: X:-258.58, Y:2.55, Z:122.20 [[ 8.06283933e-01 -4.93738894e-01 3.25773117e-01 -2.58580398e+02] [ 5.30264850e-01 8.47364960e-01 -2.81391876e-02 2.55071297e+00] [-2.62155313e-01 1.95434208e-01 9.45029133e-01 1.22195745e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.589072329 meters Centerline goodness : 0.757827 Centerline is valid? [False, False] Translation: X:-258.66, Y:2.56, Z:122.22 [[ 8.04801640e-01 -4.95931001e-01 3.26108512e-01 -2.58656963e+02] [ 5.32564106e-01 8.45931057e-01 -2.78589168e-02 2.56064704e+00] [-2.62049218e-01 1.96094590e-01 9.44921753e-01 1.22224223e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.61907232899995 meters Centerline goodness : 0.758843 Centerline is valid? [False, False] Translation: X:-258.73, Y:2.57, Z:122.25 [[ 8.04806516e-01 -4.95201377e-01 3.27203406e-01 -2.58731982e+02] [ 5.32163576e-01 8.46167899e-01 -2.83163476e-02 2.56966500e+00] [-2.62846725e-01 1.96914916e-01 9.44529574e-01 1.22251482e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.649072329 meters Centerline goodness : 0.760078 Centerline is valid? [False, False] Translation: X:-258.81, Y:2.58, Z:122.28 [[ 8.04008123e-01 -4.95205956e-01 3.29153457e-01 -2.58807753e+02] [ 5.33007485e-01 8.45586200e-01 -2.97825372e-02 2.57905904e+00] [-2.63579131e-01 1.99386658e-01 9.43806655e-01 1.22279541e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.67907232899995 meters Centerline goodness : 0.759177 Centerline is valid? [False, False] Translation: X:-258.89, Y:2.59, Z:122.31 [[ 8.02723235e-01 -4.96719509e-01 3.30007785e-01 -2.58887277e+02] [ 5.34422706e-01 8.44737676e-01 -2.84715703e-02 2.58830768e+00] [-2.64627625e-01 1.99218444e-01 9.43548744e-01 1.22309397e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.709072329 meters Centerline goodness : 0.759974 Centerline is valid? [False, False] Translation: X:-258.96, Y:2.60, Z:122.34 [[ 8.03137253e-01 -4.95157172e-01 3.31345632e-01 -2.58962107e+02] [ 5.33302847e-01 8.45417609e-01 -2.92769541e-02 2.59838429e+00] [-2.65628738e-01 2.00220982e-01 9.43055106e-01 1.22336716e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.73907232899995 meters Centerline goodness : 0.761444 Centerline is valid? [False, False] Translation: X:-259.04, Y:2.61, Z:122.37 [[ 8.03671107e-01 -4.92831542e-01 3.33511354e-01 -2.59042681e+02] [ 5.31411644e-01 8.46598761e-01 -2.95330634e-02 2.60974515e+00] [-2.67795474e-01 2.00966687e-01 9.42283384e-01 1.22366235e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.769072329 meters Centerline goodness : 0.760683 Centerline is valid? [False, False] Translation: X:-259.12, Y:2.62, Z:122.39 [[ 8.04212244e-01 -4.91173375e-01 3.34651134e-01 -2.59117307e+02] [ 5.30079213e-01 8.47414156e-01 -3.00878165e-02 2.62017067e+00] [-2.68809774e-01 2.01588600e-01 9.41861636e-01 1.22393734e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.79907232899996 meters Centerline goodness : 0.760823 Centerline is valid? [False, False] Translation: X:-259.19, Y:2.63, Z:122.42 [[ 8.04539612e-01 -4.89628834e-01 3.36124409e-01 -2.59192463e+02] [ 5.29242525e-01 8.47878703e-01 -3.16868251e-02 2.63143736e+00] [-2.69477945e-01 2.03384637e-01 9.41284403e-01 1.22421307e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.829072329 meters Centerline goodness : 0.763645 Centerline is valid? [False, False] Translation: X:-259.26, Y:2.64, Z:122.45 [[ 8.04977141e-01 -4.88199939e-01 3.37153707e-01 -2.59263545e+02] [ 5.28582353e-01 8.48208173e-01 -3.38170201e-02 2.64048153e+00] [-2.69467063e-01 2.05435428e-01 9.40842063e-01 1.22448013e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.85907232899996 meters Centerline goodness : 0.764737 Centerline is valid? [False, False] Translation: X:-259.34, Y:2.65, Z:122.48 [[ 8.05920413e-01 -4.85753267e-01 3.38431753e-01 -2.59336288e+02] [ 5.26637926e-01 8.49368953e-01 -3.49982248e-02 2.65111984e+00] [-2.70452922e-01 2.06436781e-01 9.40339871e-01 1.22475213e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.889072329 meters Centerline goodness : 0.764366 Centerline is valid? [False, False] Translation: X:-259.42, Y:2.66, Z:122.50 [[ 8.06823484e-01 -4.82977453e-01 3.40247917e-01 -2.59416076e+02] [ 5.23969359e-01 8.51040632e-01 -3.44376740e-02 2.66236776e+00] [-2.72932182e-01 2.06064607e-01 9.39704955e-01 1.22504386e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.91907232899996 meters Centerline goodness : 0.763727 Centerline is valid? [False, False] Translation: X:-259.49, Y:2.67, Z:122.53 [[ 8.09227998e-01 -4.79127090e-01 3.39981291e-01 -2.59490176e+02] [ 5.19610348e-01 8.53741351e-01 -3.36272413e-02 2.67450787e+00] [-2.74144365e-01 2.03869902e-01 9.39830799e-01 1.22531337e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.949072329 meters Centerline goodness : 0.764000 Centerline is valid? [False, False] Translation: X:-259.56, Y:2.69, Z:122.56 [[ 8.09811656e-01 -4.77256277e-01 3.41220645e-01 -2.59564136e+02] [ 5.18282070e-01 8.54498846e-01 -3.48628492e-02 2.68516835e+00] [-2.74934134e-01 2.05080884e-01 9.39336496e-01 1.22559229e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.97907232899996 meters Centerline goodness : 0.765928 Centerline is valid? [False, False] Translation: X:-259.64, Y:2.70, Z:122.59 [[ 8.12820982e-01 -4.71479228e-01 3.42095584e-01 -2.59640714e+02] [ 5.12080858e-01 8.58270761e-01 -3.38304000e-02 2.69837630e+00] [-2.77660306e-01 2.02678659e-01 9.39055970e-01 1.22588428e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.009072329 meters Centerline goodness : 0.765117 Centerline is valid? [False, False] Translation: X:-259.72, Y:2.71, Z:122.62 [[ 8.13194402e-01 -4.68563515e-01 3.45200083e-01 -2.59720677e+02] [ 5.09767333e-01 8.59639335e-01 -3.40217562e-02 2.71143108e+00] [-2.80806216e-01 2.03638027e-01 9.37912268e-01 1.22618199e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.03907232899996 meters Centerline goodness : 0.766325 Centerline is valid? [False, False] Translation: X:-259.80, Y:2.72, Z:122.65 [[ 8.13291389e-01 -4.66492823e-01 3.47766535e-01 -2.59799902e+02] [ 5.08110977e-01 8.60626837e-01 -3.38331583e-02 2.72324124e+00] [-2.83514287e-01 2.04220210e-01 9.36970520e-01 1.22647829e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.069072329 meters Centerline goodness : 0.765709 Centerline is valid? [False, False] Translation: X:-259.88, Y:2.74, Z:122.68 [[ 8.14714612e-01 -4.61980855e-01 3.50447985e-01 -2.59878062e+02] [ 5.03891796e-01 8.63111708e-01 -3.36338743e-02 2.73651763e+00] [-2.86937553e-01 2.03989873e-01 9.35978083e-01 1.22677647e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.09907232899997 meters Centerline goodness : 0.768494 Centerline is valid? [False, False] Translation: X:-259.96, Y:2.75, Z:122.71 [[ 8.15186121e-01 -4.58978299e-01 3.53285308e-01 -2.59955910e+02] [ 5.01437741e-01 8.64530685e-01 -3.38657261e-02 2.74905907e+00] [-2.89882356e-01 2.04757457e-01 9.34902457e-01 1.22707532e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.129072329 meters Centerline goodness : 0.769717 Centerline is valid? [False, False] Translation: X:-260.03, Y:2.76, Z:122.74 [[ 8.16529870e-01 -4.55266426e-01 3.54980918e-01 -2.60030515e+02] [ 4.97897296e-01 8.66574049e-01 -3.38777193e-02 2.76120968e+00] [-2.92193863e-01 2.04406209e-01 9.34259519e-01 1.22736149e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.15907232899997 meters Centerline goodness : 0.767307 Centerline is valid? [False, False] Translation: X:-260.11, Y:2.77, Z:122.77 [[ 8.18324396e-01 -4.50521532e-01 3.56897089e-01 -2.60106973e+02] [ 4.93028132e-01 8.69387107e-01 -3.30048552e-02 2.77472540e+00] [-2.95412330e-01 2.02968983e-01 9.33560468e-01 1.22765566e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.189072329 meters Centerline goodness : 0.767781 Centerline is valid? [False, False] Translation: X:-260.18, Y:2.79, Z:122.79 [[ 8.19402051e-01 -4.48392742e-01 3.57105347e-01 -2.60177144e+02] [ 4.90998651e-01 8.70512668e-01 -3.35859975e-02 2.78653180e+00] [-2.95805011e-01 2.02858679e-01 9.33460097e-01 1.22793901e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.21907232899997 meters Centerline goodness : 0.766820 Centerline is valid? [False, False] Translation: X:-260.24, Y:2.80, Z:122.82 [[ 8.20344728e-01 -4.47018375e-01 3.56663847e-01 -2.60244848e+02] [ 4.89908815e-01 8.71067694e-01 -3.50774227e-02 2.79740264e+00] [-2.94998102e-01 2.03508341e-01 9.33574033e-01 1.22821926e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.24907232899994 meters Centerline goodness : 0.766643 Centerline is valid? [False, False] Translation: X:-260.31, Y:2.81, Z:122.85 [[ 8.20974426e-01 -4.45096961e-01 3.57616677e-01 -2.60313644e+02] [ 4.89025561e-01 8.71439768e-01 -3.80359398e-02 2.80893371e+00] [-2.94711713e-01 2.06110230e-01 9.33093553e-01 1.22850928e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.279072329 meters Centerline goodness : 0.768117 Centerline is valid? [False, False] Translation: X:-260.38, Y:2.82, Z:122.88 [[ 8.21657474e-01 -4.44146355e-01 3.57229633e-01 -2.60382536e+02] [ 4.88140545e-01 8.71905889e-01 -3.87160076e-02 2.81932174e+00] [-2.94275047e-01 2.06189565e-01 9.33213834e-01 1.22879434e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.30907232899995 meters Centerline goodness : 0.768418 Centerline is valid? [False, False] Translation: X:-260.45, Y:2.83, Z:122.91 [[ 8.21222664e-01 -4.44679570e-01 3.57565960e-01 -2.60454970e+02] [ 4.88807805e-01 8.71528819e-01 -3.87872139e-02 2.83059808e+00] [-2.94381157e-01 2.06633971e-01 9.33082063e-01 1.22909359e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.339072329 meters Centerline goodness : 0.768930 Centerline is valid? [False, False] Translation: X:-260.52, Y:2.84, Z:122.94 [[ 8.22875479e-01 -4.42427332e-01 3.56558553e-01 -2.60524118e+02] [ 4.85734387e-01 8.73307357e-01 -3.73679771e-02 2.84228531e+00] [-2.94852593e-01 2.03941942e-01 9.33525379e-01 1.22937207e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.36907232899995 meters Centerline goodness : 0.767947 Centerline is valid? [False, False] Translation: X:-260.60, Y:2.85, Z:122.97 [[ 8.23267214e-01 -4.41632871e-01 3.56639176e-01 -2.60596870e+02] [ 4.84665978e-01 8.73933381e-01 -3.65969368e-02 2.85477546e+00] [-2.95516471e-01 2.02979933e-01 9.33525127e-01 1.22967041e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.399072329 meters Centerline goodness : 0.768453 Centerline is valid? [False, False] Translation: X:-260.67, Y:2.87, Z:123.00 [[ 8.23640344e-01 -4.40599529e-01 3.57055512e-01 -2.60669466e+02] [ 4.83485879e-01 8.74610233e-01 -3.60325447e-02 2.86686846e+00] [-2.96408483e-01 2.02309156e-01 9.33387924e-01 1.22996858e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.42907232899995 meters Centerline goodness : 0.768898 Centerline is valid? [False, False] Translation: X:-260.75, Y:2.88, Z:123.03 [[ 8.24169081e-01 -4.37239339e-01 3.59954284e-01 -2.60746799e+02] [ 4.80449147e-01 8.76299250e-01 -3.56123733e-02 2.87979951e+00] [-2.99856539e-01 2.02290346e-01 9.32290015e-01 1.23028130e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.459072329 meters Centerline goodness : 0.768785 Centerline is valid? [False, False] Translation: X:-260.82, Y:2.89, Z:123.06 [[ 8.24602598e-01 -4.34601809e-01 3.62148896e-01 -2.60821065e+02] [ 4.78269593e-01 8.77475754e-01 -3.59791208e-02 2.89243666e+00] [-3.02140284e-01 2.02873281e-01 9.31425617e-01 1.23058030e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.48907232899995 meters Centerline goodness : 0.768209 Centerline is valid? [False, False] Translation: X:-260.90, Y:2.91, Z:123.09 [[ 8.26005968e-01 -4.30640564e-01 3.63679592e-01 -2.60895129e+02] [ 4.74256730e-01 8.79669816e-01 -3.55185812e-02 2.90645125e+00] [-3.04622218e-01 2.01816054e-01 9.30846703e-01 1.23088280e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.519072329 meters Centerline goodness : 0.768674 Centerline is valid? [False, False] Translation: X:-260.96, Y:2.92, Z:123.12 [[ 8.27249276e-01 -4.28692681e-01 3.63154541e-01 -2.60964070e+02] [ 4.71919883e-01 8.80943025e-01 -3.50857631e-02 2.91878146e+00] [-3.04877450e-01 2.00404521e-01 9.31068079e-01 1.23116779e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.54907232899996 meters Centerline goodness : 0.769835 Centerline is valid? [False, False] Translation: X:-261.03, Y:2.93, Z:123.15 [[ 8.28261928e-01 -4.26667031e-01 3.63231914e-01 -2.61034967e+02] [ 4.69530038e-01 8.82249096e-01 -3.43231180e-02 2.93086355e+00] [-3.05816485e-01 1.98976827e-01 9.31066324e-01 1.23145703e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.579072329 meters Centerline goodness : 0.769870 Centerline is valid? [False, False] Translation: X:-261.10, Y:2.94, Z:123.17 [[ 8.29078139e-01 -4.24585247e-01 3.63808752e-01 -2.61102561e+02] [ 4.67897840e-01 8.83061090e-01 -3.57032647e-02 2.94151025e+00] [-3.06106274e-01 1.99826126e-01 9.30789165e-01 1.23174552e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.60907232899996 meters Centerline goodness : 0.767695 Centerline is valid? [False, False] Translation: X:-261.18, Y:2.95, Z:123.21 [[ 8.28767419e-01 -4.23282064e-01 3.66028496e-01 -2.61176565e+02] [ 4.67097539e-01 8.83474956e-01 -3.59428804e-02 2.95380756e+00] [-3.08163033e-01 2.00759298e-01 9.29909270e-01 1.23205081e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.639072329 meters Centerline goodness : 0.768256 Centerline is valid? [False, False] Translation: X:-261.24, Y:2.97, Z:123.23 [[ 8.29776310e-01 -4.20913310e-01 3.66474094e-01 -2.61243911e+02] [ 4.64987429e-01 8.84548592e-01 -3.68846711e-02 2.96515863e+00] [-3.08638895e-01 2.01011873e-01 9.29696864e-01 1.23233542e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.66907232899996 meters Centerline goodness : 0.769754 Centerline is valid? [False, False] Translation: X:-261.31, Y:2.98, Z:123.26 [[ 8.30355778e-01 -4.19442561e-01 3.66847680e-01 -2.61313843e+02] [ 4.63331660e-01 8.85438617e-01 -3.63624467e-02 2.97653076e+00] [-3.09569144e-01 2.00165912e-01 9.29570090e-01 1.23262478e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.699072329 meters Centerline goodness : 0.770878 Centerline is valid? [False, False] Translation: X:-261.38, Y:2.99, Z:123.29 [[ 8.31212738e-01 -4.18509864e-01 3.65971143e-01 -2.61381606e+02] [ 4.61784396e-01 8.86289343e-01 -3.53039860e-02 2.98891431e+00] [-3.09581257e-01 1.98344886e-01 9.29956317e-01 1.23290578e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.72907232899996 meters Centerline goodness : 0.771953 Centerline is valid? [False, False] Translation: X:-261.45, Y:3.00, Z:123.32 [[ 8.32296101e-01 -4.16771864e-01 3.65492015e-01 -2.61450575e+02] [ 4.59214352e-01 8.87694397e-01 -3.34788884e-02 3.00048716e+00] [-3.10492155e-01 1.95703527e-01 9.30212207e-01 1.23318452e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.759072329 meters Centerline goodness : 0.770474 Centerline is valid? [False, False] Translation: X:-261.52, Y:3.01, Z:123.35 [[ 8.32714659e-01 -4.15553047e-01 3.65926171e-01 -2.61520918e+02] [ 4.57708725e-01 8.88505294e-01 -3.25740076e-02 3.01234348e+00] [-3.11591112e-01 1.94612454e-01 9.30073638e-01 1.23347071e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.78907232899996 meters Centerline goodness : 0.771081 Centerline is valid? [False, False] Translation: X:-261.59, Y:3.02, Z:123.37 [[ 8.33093737e-01 -4.14407870e-01 3.66361765e-01 -2.61589056e+02] [ 4.56602243e-01 8.89072420e-01 -3.26285720e-02 3.02403056e+00] [-3.12200604e-01 1.94464262e-01 9.29900228e-01 1.23374343e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.819072329 meters Centerline goodness : 0.771482 Centerline is valid? [False, False] Translation: X:-261.66, Y:3.04, Z:123.40 [[ 8.32588523e-01 -4.14794661e-01 3.67071848e-01 -2.61659798e+02] [ 4.57079668e-01 8.88837294e-01 -3.23487669e-02 3.03533406e+00] [-3.12849052e-01 1.94714290e-01 9.29629935e-01 1.23403381e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.84907232899997 meters Centerline goodness : 0.771482 Centerline is valid? [False, False] Translation: X:-261.73, Y:3.05, Z:123.43 [[ 8.32948400e-01 -4.13854309e-01 3.67316720e-01 -2.61728255e+02] [ 4.56114341e-01 8.89334783e-01 -3.23009483e-02 3.04725995e+00] [-3.13299649e-01 1.94443447e-01 9.29534871e-01 1.23431788e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.879072329 meters Centerline goodness : 0.771725 Centerline is valid? [False, False] Translation: X:-261.80, Y:3.06, Z:123.46 [[ 8.33026548e-01 -4.12995652e-01 3.68105097e-01 -2.61796805e+02] [ 4.55592797e-01 8.89578285e-01 -3.29496399e-02 3.05912354e+00] [-3.13850243e-01 1.95153955e-01 9.29200172e-01 1.23460418e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.90907232899997 meters Centerline goodness : 0.773050 Centerline is valid? [False, False] Translation: X:-261.87, Y:3.07, Z:123.49 [[ 8.33359321e-01 -4.11820276e-01 3.68668284e-01 -2.61866810e+02] [ 4.54061123e-01 8.90404226e-01 -3.17617649e-02 3.07162222e+00] [-3.15183659e-01 1.93866898e-01 9.29018238e-01 1.23488817e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.939072329 meters Centerline goodness : 0.773111 Centerline is valid? [False, False] Translation: X:-261.94, Y:3.08, Z:123.52 [[ 8.32636628e-01 -4.12476765e-01 3.69566184e-01 -2.61936244e+02] [ 4.54885535e-01 8.89991469e-01 -3.15330686e-02 3.08286620e+00] [-3.15904093e-01 1.94365899e-01 9.28669210e-01 1.23517075e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.96907232899997 meters Centerline goodness : 0.772506 Centerline is valid? [False, False] Translation: X:-262.01, Y:3.09, Z:123.55 [[ 8.32114561e-01 -4.12572807e-01 3.70633291e-01 -2.62006111e+02] [ 4.55199302e-01 8.89833944e-01 -3.14507061e-02 3.09323921e+00] [-3.16826377e-01 1.94882606e-01 9.28246636e-01 1.23545696e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.99907232899994 meters Centerline goodness : 0.774028 Centerline is valid? [False, False] Translation: X:-262.08, Y:3.10, Z:123.58 [[ 8.31857303e-01 -4.12304664e-01 3.71508131e-01 -2.62076488e+02] [ 4.55122321e-01 8.89871961e-01 -3.14891257e-02 3.10485351e+00] [-3.17611556e-01 1.95276102e-01 9.27895545e-01 1.23575162e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.029072329 meters Centerline goodness : 0.773781 Centerline is valid? [False, False] Translation: X:-262.15, Y:3.12, Z:123.60 [[ 8.31791360e-01 -4.11489245e-01 3.72558363e-01 -2.62145445e+02] [ 4.54763251e-01 8.90026641e-01 -3.22949452e-02 3.11638551e+00] [-3.18297846e-01 1.96288509e-01 9.27446658e-01 1.23604202e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.05907232899995 meters Centerline goodness : 0.775350 Centerline is valid? [False, False] Translation: X:-262.21, Y:3.13, Z:123.63 [[ 8.31988334e-01 -4.10958078e-01 3.72704802e-01 -2.62214178e+02] [ 4.54243780e-01 8.90290212e-01 -3.23407991e-02 3.12911309e+00] [-3.18524725e-01 1.96206006e-01 9.27386221e-01 1.23632337e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.089072329 meters Centerline goodness : 0.774828 Centerline is valid? [False, False] Translation: X:-262.28, Y:3.14, Z:123.66 [[ 8.32167804e-01 -4.10898861e-01 3.72369269e-01 -2.62281545e+02] [ 4.54154257e-01 8.90330603e-01 -3.24858184e-02 3.14139413e+00] [-3.18183370e-01 1.96146741e-01 9.27515929e-01 1.23659548e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.11907232899995 meters Centerline goodness : 0.773273 Centerline is valid? [False, False] Translation: X:-262.35, Y:3.16, Z:123.68 [[ 8.34473629e-01 -4.08124244e-01 3.70254459e-01 -2.62346168e+02] [ 4.50251942e-01 8.92358331e-01 -3.11415644e-02 3.15517550e+00] [-3.17690023e-01 1.92694603e-01 9.28408229e-01 1.23684580e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.149072329 meters Centerline goodness : 0.772890 Centerline is valid? [False, False] Translation: X:-262.41, Y:3.17, Z:123.71 [[ 8.36448543e-01 -4.05178318e-01 3.69031660e-01 -2.62411399e+02] [ 4.46614196e-01 8.94206523e-01 -3.05033407e-02 3.16886591e+00] [-3.17631225e-01 1.90329253e-01 9.28916132e-01 1.23711112e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.17907232899995 meters Centerline goodness : 0.772070 Centerline is valid? [False, False] Translation: X:-262.48, Y:3.18, Z:123.74 [[ 8.38119099e-01 -4.01796884e-01 3.68938532e-01 -2.62478648e+02] [ 4.42962229e-01 8.96022866e-01 -3.04546894e-02 3.18237992e+00] [-3.18340761e-01 1.88950491e-01 9.28954720e-01 1.23739423e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.209072329 meters Centerline goodness : 0.772845 Centerline is valid? [False, False] Translation: X:-262.55, Y:3.20, Z:123.77 [[ 8.39275184e-01 -3.98008827e-01 3.70413470e-01 -2.62547917e+02] [ 4.39553818e-01 8.97667622e-01 -3.13891777e-02 3.19768547e+00] [-3.20015009e-01 1.89160813e-01 9.28336459e-01 1.23769750e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.23907232899995 meters Centerline goodness : 0.775459 Centerline is valid? [False, False] Translation: X:-262.61, Y:3.21, Z:123.80 [[ 8.40555717e-01 -3.94963886e-01 3.70768951e-01 -2.62613658e+02] [ 4.36614834e-01 8.99076181e-01 -3.20859460e-02 3.21291103e+00] [-3.20676742e-01 1.88853249e-01 9.28170715e-01 1.23798810e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.269072329 meters Centerline goodness : 0.777223 Centerline is valid? [False, False] Translation: X:-262.68, Y:3.23, Z:123.83 [[ 8.41582534e-01 -3.91470106e-01 3.72142438e-01 -2.62683198e+02] [ 4.33284682e-01 9.00674513e-01 -3.24006944e-02 3.22831556e+00] [-3.22495306e-01 1.88511476e-01 9.27609940e-01 1.23829841e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.29907232899996 meters Centerline goodness : 0.776825 Centerline is valid? [False, False] Translation: X:-262.75, Y:3.24, Z:123.86 [[ 8.42547654e-01 -3.89936967e-01 3.71567777e-01 -2.62749546e+02] [ 4.31470334e-01 9.01550152e-01 -3.22594897e-02 3.24127939e+00] [-3.22407818e-01 1.87500630e-01 9.27845199e-01 1.23858719e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.329072329 meters Centerline goodness : 0.778099 Centerline is valid? [False, False] Translation: X:-262.81, Y:3.25, Z:123.89 [[ 8.44047338e-01 -3.87410904e-01 3.70805721e-01 -2.62814054e+02] [ 4.28636979e-01 9.02897255e-01 -3.23556497e-02 3.25451685e+00] [-3.22264536e-01 1.86250744e-01 9.28146664e-01 1.23885958e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.35907232899996 meters Centerline goodness : 0.779542 Centerline is valid? [False, False] Translation: X:-262.88, Y:3.27, Z:123.91 [[ 8.44663150e-01 -3.86740595e-01 3.70102520e-01 -2.62878186e+02] [ 4.28228473e-01 9.03042599e-01 -3.36814202e-02 3.26799961e+00] [-3.21192370e-01 1.86937892e-01 9.28380141e-01 1.23913083e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.389072329 meters Centerline goodness : 0.778516 Centerline is valid? [False, False] Translation: X:-262.94, Y:3.28, Z:123.94 [[ 8.46718171e-01 -3.83957562e-01 3.68300054e-01 -2.62941436e+02] [ 4.24847892e-01 9.04640165e-01 -3.36220362e-02 3.28188287e+00] [-3.20269587e-01 1.84939891e-01 9.29098826e-01 1.23939995e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.41907232899996 meters Centerline goodness : 0.781048 Centerline is valid? [False, False] Translation: X:-263.01, Y:3.30, Z:123.97 [[ 8.47929737e-01 -3.81966213e-01 3.67582608e-01 -2.63005139e+02] [ 4.22705348e-01 9.05628436e-01 -3.40194819e-02 3.29603563e+00] [-3.19898970e-01 1.84225265e-01 9.29368442e-01 1.23966935e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.449072329 meters Centerline goodness : 0.780888 Centerline is valid? [False, False] Translation: X:-263.07, Y:3.31, Z:124.00 [[ 8.48823732e-01 -3.80071822e-01 3.67482900e-01 -2.63070300e+02] [ 4.21036635e-01 9.06363834e-01 -3.51105679e-02 3.30984862e+00] [-3.19728673e-01 1.84526447e-01 9.29367294e-01 1.23995072e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.47907232899996 meters Centerline goodness : 0.783164 Centerline is valid? [False, False] Translation: X:-263.14, Y:3.32, Z:124.02 [[ 8.49667356e-01 -3.78659274e-01 3.66991197e-01 -2.63135274e+02] [ 4.19644635e-01 9.06984139e-01 -3.57512425e-02 3.32389346e+00] [-3.19317656e-01 1.84382551e-01 9.29537148e-01 1.24023036e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.509072329 meters Centerline goodness : 0.781962 Centerline is valid? [False, False] Translation: X:-263.20, Y:3.34, Z:124.05 [[ 8.50442573e-01 -3.77489956e-01 3.66399731e-01 -2.63199188e+02] [ 4.18796163e-01 9.07314645e-01 -3.72814708e-02 3.33759369e+00] [-3.18366461e-01 1.85152551e-01 9.29710347e-01 1.24050795e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.53907232899996 meters Centerline goodness : 0.782821 Centerline is valid? [False, False] Translation: X:-263.26, Y:3.35, Z:124.08 [[ 8.52155567e-01 -3.75443879e-01 3.64517192e-01 -2.63262232e+02] [ 4.16136163e-01 9.08547315e-01 -3.70468653e-02 3.35137194e+00] [-3.17272097e-01 1.83258478e-01 9.30459428e-01 1.24077163e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.569072329 meters Centerline goodness : 0.782773 Centerline is valid? [False, False] Translation: X:-263.33, Y:3.36, Z:124.10 [[ 8.53297878e-01 -3.74251315e-01 3.63068431e-01 -2.63325455e+02] [ 4.14823655e-01 9.09115587e-01 -3.78177754e-02 3.36442453e+00] [-3.15917818e-01 1.82879201e-01 9.30994699e-01 1.24103370e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.59907232899997 meters Centerline goodness : 0.782018 Centerline is valid? [False, False] Translation: X:-263.39, Y:3.38, Z:124.13 [[ 8.53592239e-01 -3.74970603e-01 3.61631492e-01 -2.63390641e+02] [ 4.15404878e-01 9.08835874e-01 -3.81594088e-02 3.37767090e+00] [-3.14355016e-01 1.82796061e-01 9.31539867e-01 1.24129572e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.629072329 meters Centerline goodness : 0.783198 Centerline is valid? [False, False] Translation: X:-263.46, Y:3.39, Z:124.16 [[ 8.54056889e-01 -3.74665729e-01 3.60849584e-01 -2.63455125e+02] [ 4.15358305e-01 9.08801158e-01 -3.94706657e-02 3.39174689e+00] [-3.13152214e-01 1.83592065e-01 9.31788412e-01 1.24156325e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.65907232899997 meters Centerline goodness : 0.784705 Centerline is valid? [False, False] Translation: X:-263.52, Y:3.40, Z:124.18 [[ 8.54925019e-01 -3.74085408e-01 3.59392986e-01 -2.63519093e+02] [ 4.14848672e-01 9.08979544e-01 -4.07034240e-02 3.40433408e+00] [-3.11454316e-01 1.83892079e-01 9.32298189e-01 1.24183186e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.689072329 meters Centerline goodness : 0.784818 Centerline is valid? [False, False] Translation: X:-263.58, Y:3.42, Z:124.21 [[ 8.55597993e-01 -3.74064422e-01 3.57809841e-01 -2.63583582e+02] [ 4.14534275e-01 9.09117700e-01 -4.08208663e-02 3.41778556e+00] [-3.10021626e-01 1.83250694e-01 9.32901803e-01 1.24209187e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.71907232899997 meters Centerline goodness : 0.785876 Centerline is valid? [False, False] Translation: X:-263.65, Y:3.43, Z:124.24 [[ 8.56108729e-01 -3.73321623e-01 3.57363695e-01 -2.63646924e+02] [ 4.14406997e-01 9.09070617e-01 -4.30981941e-02 3.43125375e+00] [-3.08779347e-01 1.84990756e-01 9.32970383e-01 1.24235796e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.74907232899994 meters Centerline goodness : 0.786750 Centerline is valid? [False, False] Translation: X:-263.72, Y:3.44, Z:124.26 [[ 8.55382994e-01 -3.73810170e-01 3.58588747e-01 -2.63715062e+02] [ 4.15861192e-01 9.08307214e-01 -4.51383847e-02 3.44414993e+00] [-3.08835559e-01 1.87733750e-01 9.32403688e-01 1.24264893e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.779072329 meters Centerline goodness : 0.785545 Centerline is valid? [False, False] Translation: X:-263.78, Y:3.46, Z:124.29 [[ 8.56205426e-01 -3.72451394e-01 3.58039421e-01 -2.63779712e+02] [ 4.14642374e-01 9.08812443e-01 -4.61697462e-02 3.45729563e+00] [-3.08194695e-01 1.87989103e-01 9.32564275e-01 1.24292135e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.80907232899995 meters Centerline goodness : 0.786559 Centerline is valid? [False, False] Translation: X:-263.83, Y:3.47, Z:124.32 [[ 8.54525568e-01 -3.76319023e-01 3.58008445e-01 -2.63831902e+02] [ 4.16462730e-01 9.08303407e-01 -3.92901331e-02 3.46725014e+00] [-3.10394666e-01 1.82671598e-01 9.32891333e-01 1.24315731e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.839072329 meters Centerline goodness : 0.786023 Centerline is valid? [False, False] Translation: X:-263.90, Y:3.48, Z:124.34 [[ 8.55990723e-01 -3.74451597e-01 3.56463018e-01 -2.63895626e+02] [ 4.14032483e-01 9.09430050e-01 -3.89112753e-02 3.48213584e+00] [-3.09607791e-01 1.80894959e-01 9.33498811e-01 1.24341908e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.86907232899995 meters Centerline goodness : 0.785260 Centerline is valid? [False, False] Translation: X:-263.96, Y:3.50, Z:124.37 [[ 8.57064961e-01 -3.73011675e-01 3.55389846e-01 -2.63957801e+02] [ 4.12570609e-01 9.10056531e-01 -3.97819535e-02 3.49634417e+00] [-3.08585717e-01 1.80719124e-01 9.33871219e-01 1.24367027e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.899072329 meters Centerline goodness : 0.787516 Centerline is valid? [False, False] Translation: X:-264.03, Y:3.51, Z:124.39 [[ 8.56096693e-01 -3.76077637e-01 3.54491274e-01 -2.64026286e+02] [ 4.15550613e-01 9.08711600e-01 -3.95084332e-02 3.50875720e+00] [-3.07272094e-01 1.81132105e-01 9.34224288e-01 1.24394730e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.92907232899995 meters Centerline goodness : 0.785822 Centerline is valid? [False, False] Translation: X:-264.09, Y:3.52, Z:124.42 [[ 8.55929517e-01 -3.76760821e-01 3.54169375e-01 -2.64091474e+02] [ 4.16785688e-01 9.08067661e-01 -4.12651593e-02 3.52233968e+00] [-3.06062660e-01 1.82932794e-01 9.34270432e-01 1.24421561e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.959072329 meters Centerline goodness : 0.785772 Centerline is valid? [False, False] Translation: X:-264.16, Y:3.54, Z:124.45 [[ 8.55782306e-01 -3.77327247e-01 3.53922016e-01 -2.64157087e+02] [ 4.17844552e-01 9.07508717e-01 -4.28235815e-02 3.53509392e+00] [-3.05028811e-01 1.84532050e-01 9.34294037e-01 1.24448316e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.98907232899995 meters Centerline goodness : 0.786189 Centerline is valid? [False, False] Translation: X:-264.22, Y:3.55, Z:124.48 [[ 8.54943825e-01 -3.79051157e-01 3.54106308e-01 -2.64224048e+02] [ 4.20309698e-01 9.06281005e-01 -4.46598035e-02 3.54845596e+00] [-3.03991470e-01 1.87015939e-01 9.34138226e-01 1.24475972e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.019072329 meters Centerline goodness : 0.785637 Centerline is valid? [False, False] Translation: X:-264.29, Y:3.56, Z:124.50 [[ 8.53171461e-01 -3.82402472e-01 3.54777122e-01 -2.64293628e+02] [ 4.24630396e-01 9.04167597e-01 -4.65830804e-02 3.55968446e+00] [-3.02964493e-01 1.90392505e-01 9.33789703e-01 1.24503450e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.04907232899996 meters Centerline goodness : 0.784377 Centerline is valid? [False, False] Translation: X:-264.36, Y:3.57, Z:124.53 [[ 8.53237592e-01 -3.83125436e-01 3.53836843e-01 -2.64358728e+02] [ 4.25447879e-01 9.03742291e-01 -4.73706036e-02 3.57226580e+00] [-3.01628436e-01 1.90957514e-01 9.34106800e-01 1.24529073e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.079072329 meters Centerline goodness : 0.783911 Centerline is valid? [False, False] Translation: X:-264.43, Y:3.58, Z:124.56 [[ 8.52653934e-01 -3.86371011e-01 3.51708274e-01 -2.64425409e+02] [ 4.28202354e-01 9.02476447e-01 -4.66798367e-02 3.58468303e+00] [-2.99372698e-01 1.90404057e-01 9.34945069e-01 1.24555277e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.10907232899996 meters Centerline goodness : 0.783737 Centerline is valid? [False, False] Translation: X:-264.49, Y:3.60, Z:124.58 [[ 8.52743721e-01 -3.86747812e-01 3.51075885e-01 -2.64491627e+02] [ 4.28669815e-01 9.02221068e-01 -4.73215908e-02 3.59800370e+00] [-2.98446538e-01 1.90848824e-01 9.35150464e-01 1.24582366e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.139072329 meters Centerline goodness : 0.784716 Centerline is valid? [False, False] Translation: X:-264.56, Y:3.61, Z:124.61 [[ 8.52551705e-01 -3.87090288e-01 3.51164775e-01 -2.64559636e+02] [ 4.29282851e-01 9.01891175e-01 -4.80472806e-02 3.61165094e+00] [-2.98113776e-01 1.91711807e-01 9.35080082e-01 1.24610609e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.16907232899996 meters Centerline goodness : 0.784898 Centerline is valid? [False, False] Translation: X:-264.63, Y:3.63, Z:124.64 [[ 8.52783016e-01 -3.85800725e-01 3.52021205e-01 -2.64626504e+02] [ 4.28488459e-01 9.02204065e-01 -4.92490166e-02 3.62535416e+00] [-2.98594656e-01 1.92835749e-01 9.34695461e-01 1.24638819e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.199072329 meters Centerline goodness : 0.783414 Centerline is valid? [False, False] Translation: X:-264.70, Y:3.64, Z:124.67 [[ 8.52313098e-01 -3.86797405e-01 3.52065549e-01 -2.64695224e+02] [ 4.29359582e-01 9.01822619e-01 -4.86447683e-02 3.63978626e+00] [-2.98685005e-01 1.92623290e-01 9.34710402e-01 1.24666698e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.22907232899996 meters Centerline goodness : 0.782583 Centerline is valid? [False, False] Translation: X:-264.76, Y:3.65, Z:124.69 [[ 8.51697813e-01 -3.88269148e-01 3.51934517e-01 -2.64764427e+02] [ 4.30566865e-01 9.01300585e-01 -4.76385417e-02 3.65319158e+00] [-2.98702210e-01 1.92104983e-01 9.34811567e-01 1.24693936e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.259072329 meters Centerline goodness : 0.783238 Centerline is valid? [False, False] Translation: X:-264.83, Y:3.67, Z:124.72 [[ 8.52976028e-01 -3.86537175e-01 3.50743364e-01 -2.64828173e+02] [ 4.28315257e-01 9.02399285e-01 -4.71335415e-02 3.66700332e+00] [-2.98291695e-01 1.90432515e-01 9.35284728e-01 1.24718487e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.28907232899996 meters Centerline goodness : 0.782910 Centerline is valid? [False, False] Translation: X:-264.90, Y:3.68, Z:124.75 [[ 8.52850716e-01 -3.87055337e-01 3.50476564e-01 -2.64896293e+02] [ 4.28731592e-01 9.02213720e-01 -4.69001679e-02 3.68171184e+00] [-2.98051804e-01 1.90259217e-01 9.35396468e-01 1.24745647e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.319072329 meters Centerline goodness : 0.782043 Centerline is valid? [False, False] Translation: X:-264.96, Y:3.70, Z:124.77 [[ 8.52472820e-01 -3.87768742e-01 3.50607322e-01 -2.64964113e+02] [ 4.29646393e-01 9.01756799e-01 -4.73143922e-02 3.69737421e+00] [-2.97815495e-01 1.90971405e-01 9.35326603e-01 1.24773096e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.34907232899997 meters Centerline goodness : 0.782122 Centerline is valid? [False, False] Translation: X:-265.03, Y:3.71, Z:124.80 [[ 8.52753459e-01 -3.87352738e-01 3.50384639e-01 -2.65030397e+02] [ 4.29248341e-01 9.01931456e-01 -4.75973732e-02 3.71180729e+00] [-2.97585954e-01 1.90990850e-01 9.35395689e-01 1.24799268e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.379072329 meters Centerline goodness : 0.780113 Centerline is valid? [False, False] Translation: X:-265.10, Y:3.73, Z:124.83 [[ 8.53088861e-01 -3.86998768e-01 3.49959067e-01 -2.65096484e+02] [ 4.28835001e-01 9.02119270e-01 -4.77636323e-02 3.72566418e+00] [-2.97220351e-01 1.90821320e-01 9.35546518e-01 1.24825234e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.40907232899997 meters Centerline goodness : 0.781811 Centerline is valid? [False, False] Translation: X:-265.16, Y:3.74, Z:124.85 [[ 8.54084761e-01 -3.85231491e-01 3.49479499e-01 -2.65161688e+02] [ 4.26913178e-01 9.03021971e-01 -4.79213789e-02 3.74103470e+00] [-2.97126842e-01 1.90126323e-01 9.35717704e-01 1.24851195e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.439072329 meters Centerline goodness : 0.781820 Centerline is valid? [False, False] Translation: X:-265.23, Y:3.76, Z:124.88 [[ 8.54921055e-01 -3.84069440e-01 3.48712854e-01 -2.65227564e+02] [ 4.25563774e-01 9.03651413e-01 -4.80582764e-02 3.75751792e+00] [-2.96657148e-01 1.89485591e-01 9.35996660e-01 1.24878154e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.46907232899997 meters Centerline goodness : 0.783459 Centerline is valid? [False, False] Translation: X:-265.29, Y:3.77, Z:124.90 [[ 8.55019648e-01 -3.84149198e-01 3.48383115e-01 -2.65294298e+02] [ 4.25613125e-01 9.03622186e-01 -4.81706651e-02 3.77237628e+00] [-2.96301989e-01 1.89463291e-01 9.36113664e-01 1.24904429e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.49907232899994 meters Centerline goodness : 0.783932 Centerline is valid? [False, False] Translation: X:-265.36, Y:3.79, Z:124.93 [[ 8.55459181e-01 -3.84207756e-01 3.47237657e-01 -2.65358887e+02] [ 4.25684526e-01 9.03545205e-01 -4.89770041e-02 3.78660418e+00] [-2.94927575e-01 1.89711525e-01 9.36497337e-01 1.24929432e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.529072329 meters Centerline goodness : 0.782279 Centerline is valid? [False, False] Translation: X:-265.42, Y:3.80, Z:124.95 [[ 8.56083429e-01 -3.84470192e-01 3.45403872e-01 -2.65423351e+02] [ 4.25433368e-01 9.03687099e-01 -4.85394218e-02 3.80129219e+00] [-2.93475062e-01 1.88500127e-01 9.37197999e-01 1.24953756e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.55907232899995 meters Centerline goodness : 0.781715 Centerline is valid? [False, False] Translation: X:-265.49, Y:3.81, Z:124.98 [[ 8.56632129e-01 -3.84139079e-01 3.44410459e-01 -2.65487759e+02] [ 4.25315200e-01 9.03665514e-01 -4.99561698e-02 3.81437836e+00] [-2.92041737e-01 1.89277063e-01 9.37489102e-01 1.24978176e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.589072329 meters Centerline goodness : 0.783819 Centerline is valid? [False, False] Translation: X:-265.55, Y:3.83, Z:125.00 [[ 8.58149242e-01 -3.81100495e-01 3.44009143e-01 -2.65552679e+02] [ 4.22057425e-01 9.05185844e-01 -5.00611304e-02 3.83050036e+00] [-2.92313885e-01 1.88151534e-01 9.37630840e-01 1.25004026e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.61907232899995 meters Centerline goodness : 0.783422 Centerline is valid? [False, False] Translation: X:-265.62, Y:3.85, Z:125.03 [[ 8.59133928e-01 -3.77957210e-01 3.45017741e-01 -2.65619875e+02] [ 4.19266545e-01 9.06426332e-01 -5.10575090e-02 3.84846420e+00] [-2.93435612e-01 1.88519634e-01 9.37206428e-01 1.25032131e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.649072329 meters Centerline goodness : 0.783225 Centerline is valid? [False, False] Translation: X:-265.69, Y:3.87, Z:125.06 [[ 8.59991215e-01 -3.76901328e-01 3.44035608e-01 -2.65685102e+02] [ 4.18089938e-01 9.06943357e-01 -5.15223360e-02 3.86598683e+00] [-2.92601973e-01 1.88146582e-01 9.37541972e-01 1.25058614e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.67907232899995 meters Centerline goodness : 0.784147 Centerline is valid? [False, False] Translation: X:-265.75, Y:3.88, Z:125.08 [[ 8.61801258e-01 -3.74193916e-01 3.42458035e-01 -2.65748332e+02] [ 4.14747278e-01 9.08505105e-01 -5.10212658e-02 3.88207140e+00] [-2.92033026e-01 1.86003729e-01 9.38146750e-01 1.25083055e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.709072329 meters Centerline goodness : 0.782751 Centerline is valid? [False, False] Translation: X:-265.81, Y:3.90, Z:125.11 [[ 8.64490979e-01 -3.69989136e-01 3.40240191e-01 -2.65810896e+02] [ 4.09460399e-01 9.10970647e-01 -4.97459711e-02 3.90050593e+00] [-2.91543358e-01 1.82319827e-01 9.39021805e-01 1.25107572e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.73907232899995 meters Centerline goodness : 0.783318 Centerline is valid? [False, False] Translation: X:-265.87, Y:3.92, Z:125.13 [[ 8.65926469e-01 -3.67452732e-01 3.39337356e-01 -2.65874988e+02] [ 4.06712701e-01 9.12181502e-01 -5.00967770e-02 3.91762574e+00] [-2.91129061e-01 1.81392938e-01 9.39329799e-01 1.25132872e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.769072329 meters Centerline goodness : 0.783318 Centerline is valid? [False, False] Translation: X:-265.94, Y:3.93, Z:125.16 [[ 8.66679187e-01 -3.66477704e-01 3.38469023e-01 -2.65938953e+02] [ 4.05841695e-01 9.12509704e-01 -5.11718596e-02 3.93322931e+00] [-2.90102922e-01 1.81714428e-01 9.39585101e-01 1.25157621e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.79907232899996 meters Centerline goodness : 0.782730 Centerline is valid? [False, False] Translation: X:-266.00, Y:3.95, Z:125.18 [[ 8.68132696e-01 -3.63590568e-01 3.37857250e-01 -2.66003156e+02] [ 4.02865572e-01 9.13793298e-01 -5.17797134e-02 3.95062479e+00] [-2.89905075e-01 1.81062716e-01 9.39771962e-01 1.25182970e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.829072329 meters Centerline goodness : 0.784480 Centerline is valid? [False, False] Translation: X:-266.07, Y:3.97, Z:125.21 [[ 8.68798090e-01 -3.61022782e-01 3.38898849e-01 -2.66068232e+02] [ 4.01191298e-01 9.14376165e-01 -5.44221588e-02 3.96834834e+00] [-2.90233391e-01 1.83245137e-01 9.39247464e-01 1.25210010e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.85907232899996 meters Centerline goodness : 0.784864 Centerline is valid? [False, False] Translation: X:-266.12, Y:3.98, Z:125.23 [[ 8.67846561e-01 -3.63873366e-01 3.38287629e-01 -2.66119079e+02] [ 4.01662015e-01 9.14598776e-01 -4.66551591e-02 3.97892345e+00] [-2.92420882e-01 1.76366810e-01 9.39885512e-01 1.25231735e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.889072329 meters Centerline goodness : 0.784611 Centerline is valid? [False, False] Translation: X:-266.18, Y:3.99, Z:125.26 [[ 8.68148373e-01 -3.63132387e-01 3.38309433e-01 -2.66182662e+02] [ 4.01608771e-01 9.14500467e-01 -4.89825639e-02 3.99383283e+00] [-2.91596979e-01 1.78392168e-01 9.39759244e-01 1.25256149e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.91907232899996 meters Centerline goodness : 0.784515 Centerline is valid? [False, False] Translation: X:-266.24, Y:4.00, Z:125.28 [[ 8.66457945e-01 -3.67797930e-01 3.37602299e-01 -2.66235485e+02] [ 4.04253444e-01 9.13676611e-01 -4.21212840e-02 4.00461906e+00] [-2.92967203e-01 1.72973213e-01 9.40345939e-01 1.25278646e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.949072329 meters Centerline goodness : 0.784201 Centerline is valid? [False, False] Translation: X:-266.30, Y:4.02, Z:125.30 [[ 8.66900063e-01 -3.67132281e-01 3.37191591e-01 -2.66298217e+02] [ 4.04183152e-01 9.13599340e-01 -4.44097379e-02 4.02017292e+00] [-2.91753767e-01 1.74785965e-01 9.40388008e-01 1.25301866e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.97907232899996 meters Centerline goodness : 0.784460 Centerline is valid? [False, False] Translation: X:-266.36, Y:4.04, Z:125.33 [[ 8.68419686e-01 -3.64411072e-01 3.36231795e-01 -2.66360838e+02] [ 4.01215498e-01 9.14892827e-01 -4.46904816e-02 4.03632004e+00] [-2.91330351e-01 1.73711501e-01 9.40718311e-01 1.25325144e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.009072329 meters Centerline goodness : 0.784349 Centerline is valid? [False, False] Translation: X:-266.43, Y:4.05, Z:125.35 [[ 8.69088241e-01 -3.63214214e-01 3.35799142e-01 -2.66425330e+02] [ 4.00246950e-01 9.15256735e-01 -4.59073897e-02 4.05248793e+00] [-2.90668210e-01 1.74300155e-01 9.40814247e-01 1.25349179e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.03907232899996 meters Centerline goodness : 0.783429 Centerline is valid? [False, False] Translation: X:-266.49, Y:4.07, Z:125.37 [[ 8.69253502e-01 -3.63373328e-01 3.35198706e-01 -2.66488203e+02] [ 4.01165938e-01 9.14708291e-01 -4.87302028e-02 4.06757227e+00] [-2.88901780e-01 1.76829203e-01 9.40886388e-01 1.25372520e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.069072329 meters Centerline goodness : 0.784193 Centerline is valid? [False, False] Translation: X:-266.55, Y:4.08, Z:125.40 [[ 8.70058335e-01 -3.62341267e-01 3.34226421e-01 -2.66550978e+02] [ 4.00398366e-01 9.14954214e-01 -5.03977701e-02 4.08314713e+00] [-2.87540680e-01 1.77672713e-01 9.41144391e-01 1.25396002e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.09907232899997 meters Centerline goodness : 0.783151 Centerline is valid? [False, False] Translation: X:-266.61, Y:4.10, Z:125.42 [[ 8.70494705e-01 -3.62028874e-01 3.33427747e-01 -2.66614881e+02] [ 4.00433412e-01 9.14842830e-01 -5.21121774e-02 4.09875875e+00] [-2.86167870e-01 1.78878985e-01 9.41334297e-01 1.25420445e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.129072329 meters Centerline goodness : 0.783768 Centerline is valid? [False, False] Translation: X:-266.68, Y:4.12, Z:125.45 [[ 8.71142632e-01 -3.61528264e-01 3.32276735e-01 -2.66678513e+02] [ 4.00134927e-01 9.14886172e-01 -5.36221213e-02 4.11505447e+00] [-2.84609478e-01 1.79668043e-01 9.41656434e-01 1.25445007e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.15907232899997 meters Centerline goodness : 0.782999 Centerline is valid? [False, False] Translation: X:-266.73, Y:4.12, Z:125.47 [[ 8.69188886e-01 -3.66434995e-01 3.32018184e-01 -2.66732287e+02] [ 4.03347039e-01 9.13819911e-01 -4.73744218e-02 4.12427361e+00] [-2.86045181e-01 1.75095872e-01 9.42082581e-01 1.25468164e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.189072329 meters Centerline goodness : 0.781788 Centerline is valid? [False, False] Translation: X:-266.80, Y:4.14, Z:125.49 [[ 8.69429832e-01 -3.65686292e-01 3.32212739e-01 -2.66797077e+02] [ 4.03472666e-01 9.13610383e-01 -5.02580929e-02 4.14031174e+00] [-2.85134312e-01 1.77734645e-01 9.41864545e-01 1.25492576e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.21907232899997 meters Centerline goodness : 0.781931 Centerline is valid? [False, False] Translation: X:-266.86, Y:4.16, Z:125.52 [[ 8.69941005e-01 -3.66232131e-01 3.30267581e-01 -2.66860076e+02] [ 4.03626245e-01 9.13548962e-01 -5.01412758e-02 4.15532028e+00] [-2.83352259e-01 1.76924615e-01 9.42554602e-01 1.25515301e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.24907232899994 meters Centerline goodness : 0.782363 Centerline is valid? [False, False] Translation: X:-266.92, Y:4.17, Z:125.54 [[ 8.70092176e-01 -3.67364653e-01 3.28607391e-01 -2.66923334e+02] [ 4.04913507e-01 9.12899776e-01 -5.15659886e-02 4.17073348e+00] [-2.81042092e-01 1.77924734e-01 9.43057862e-01 1.25538762e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.279072329 meters Centerline goodness : 0.781074 Centerline is valid? [False, False] Translation: X:-266.98, Y:4.18, Z:125.56 [[ 8.67467872e-01 -3.74050044e-01 3.28003135e-01 -2.66975033e+02] [ 4.10016719e-01 9.10940106e-01 -4.55457341e-02 4.17844809e+00] [-2.81754826e-01 1.73996230e-01 9.43578046e-01 1.25558074e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.30907232899995 meters Centerline goodness : 0.780709 Centerline is valid? [False, False] Translation: X:-267.04, Y:4.19, Z:125.58 [[ 8.67814828e-01 -3.73264934e-01 3.27979746e-01 -2.67038525e+02] [ 4.09942335e-01 9.10843533e-01 -4.80764002e-02 4.19240235e+00] [-2.80792996e-01 1.76174196e-01 9.43460622e-01 1.25580661e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.339072329 meters Centerline goodness : 0.779633 Centerline is valid? [False, False] Translation: X:-267.10, Y:4.21, Z:125.60 [[ 8.68190188e-01 -3.72009955e-01 3.28411924e-01 -2.67103072e+02] [ 4.09463820e-01 9.10921575e-01 -5.06089341e-02 4.20819090e+00] [-2.80330480e-01 1.78410981e-01 9.43177790e-01 1.25604633e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.36907232899995 meters Centerline goodness : 0.781081 Centerline is valid? [False, False] Translation: X:-267.16, Y:4.22, Z:125.63 [[ 8.66119489e-01 -3.76097919e-01 3.29222395e-01 -2.67157378e+02] [ 4.12195455e-01 9.09990994e-01 -4.48474893e-02 4.22008180e+00] [-2.82722367e-01 1.74547259e-01 9.43186788e-01 1.25627888e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.399072329 meters Centerline goodness : 0.781087 Centerline is valid? [False, False] Translation: X:-267.22, Y:4.23, Z:125.65 [[ 8.66998716e-01 -3.74164785e-01 3.29110833e-01 -2.67219333e+02] [ 4.10756968e-01 9.10537929e-01 -4.68976819e-02 4.23490362e+00] [-2.82120436e-01 1.75844798e-01 9.43126008e-01 1.25649880e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.42907232899995 meters Centerline goodness : 0.780123 Centerline is valid? [False, False] Translation: X:-267.28, Y:4.25, Z:125.67 [[ 8.67377031e-01 -3.73113452e-01 3.29307512e-01 -2.67283501e+02] [ 4.10146090e-01 9.10733725e-01 -4.84176430e-02 4.25129515e+00] [-2.81846183e-01 1.77060540e-01 9.42980538e-01 1.25672987e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.459072329 meters Centerline goodness : 0.778611 Centerline is valid? [False, False] Translation: X:-267.35, Y:4.27, Z:125.70 [[ 8.67235648e-01 -3.73790705e-01 3.28911598e-01 -2.67347426e+02] [ 4.11572402e-01 9.09944379e-01 -5.10821385e-02 4.26732280e+00] [-2.80197231e-01 1.79671188e-01 9.42978142e-01 1.25696320e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.48907232899995 meters Centerline goodness : 0.780050 Centerline is valid? [False, False] Translation: X:-267.41, Y:4.28, Z:125.72 [[ 8.67246858e-01 -3.73777338e-01 3.28897232e-01 -2.67411375e+02] [ 4.12345678e-01 9.09440664e-01 -5.37468285e-02 4.28360314e+00] [-2.79023170e-01 1.82231120e-01 9.42835028e-01 1.25719859e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.519072329 meters Centerline goodness : 0.778083 Centerline is valid? [False, False] Translation: X:-267.48, Y:4.30, Z:125.74 [[ 8.66558166e-01 -3.74429467e-01 3.29968967e-01 -2.67476452e+02] [ 4.14272924e-01 9.08352889e-01 -5.72099162e-02 4.29685551e+00] [-2.78307186e-01 1.86272929e-01 9.42256603e-01 1.25743167e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.54907232899996 meters Centerline goodness : 0.779541 Centerline is valid? [False, False] Translation: X:-267.53, Y:4.31, Z:125.76 [[ 8.64739140e-01 -3.78217460e-01 3.30420600e-01 -2.67530571e+02] [ 4.16035886e-01 9.08002532e-01 -4.94524350e-02 4.30838918e+00] [-2.81318968e-01 1.80230283e-01 9.42537365e-01 1.25764422e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.579072329 meters Centerline goodness : 0.778690 Centerline is valid? [False, False] Translation: X:-267.59, Y:4.32, Z:125.79 [[ 8.65031540e-01 -3.76991351e-01 3.31055822e-01 -2.67594227e+02] [ 4.15609924e-01 9.08060492e-01 -5.19088927e-02 4.32347946e+00] [-2.81049509e-01 1.82492914e-01 9.42182312e-01 1.25787413e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.60907232899996 meters Centerline goodness : 0.777490 Centerline is valid? [False, False] Translation: X:-267.66, Y:4.34, Z:125.81 [[ 8.65461437e-01 -3.75885229e-01 3.31189971e-01 -2.67657104e+02] [ 4.15193701e-01 9.08110096e-01 -5.43161551e-02 4.34028665e+00] [-2.80340316e-01 1.84516527e-01 9.41999447e-01 1.25810668e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.639072329 meters Centerline goodness : 0.778366 Centerline is valid? [False, False] Translation: X:-267.71, Y:4.35, Z:125.83 [[ 8.64436311e-01 -3.79264057e-01 3.30013090e-01 -2.67707482e+02] [ 4.16506024e-01 9.07885012e-01 -4.76186511e-02 4.35252889e+00] [-2.81553896e-01 1.78615731e-01 9.42774535e-01 1.25831431e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.66907232899996 meters Centerline goodness : 0.778299 Centerline is valid? [False, False] Translation: X:-267.77, Y:4.37, Z:125.85 [[ 8.64827908e-01 -3.78419796e-01 3.29956280e-01 -2.67770851e+02] [ 4.16307891e-01 9.07849773e-01 -4.99652750e-02 4.36880267e+00] [-2.80642885e-01 1.80574768e-01 9.42672968e-01 1.25853890e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.699072329 meters Centerline goodness : 0.777583 Centerline is valid? [False, False] Translation: X:-267.83, Y:4.39, Z:125.88 [[ 8.65971408e-01 -3.76807541e-01 3.28800240e-01 -2.67831659e+02] [ 4.14976551e-01 9.08346950e-01 -5.19642180e-02 4.38503474e+00] [-2.79084186e-01 1.81443917e-01 9.42968781e-01 1.25875294e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.72907232899996 meters Centerline goodness : 0.776115 Centerline is valid? [False, False] Translation: X:-267.89, Y:4.40, Z:125.90 [[ 8.66979574e-01 -3.74600678e-01 3.28665103e-01 -2.67893799e+02] [ 4.13391304e-01 9.08919598e-01 -5.45233389e-02 4.40168142e+00] [-2.78305674e-01 1.83137917e-01 9.42871389e-01 1.25897332e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.759072329 meters Centerline goodness : 0.777329 Centerline is valid? [False, False] Translation: X:-267.95, Y:4.41, Z:125.92 [[ 8.65409564e-01 -3.77888716e-01 3.29038608e-01 -2.67945374e+02] [ 4.15295741e-01 9.08362869e-01 -4.90545132e-02 4.41319155e+00] [-2.80349307e-01 1.79100577e-01 9.43041489e-01 1.25918619e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.78907232899996 meters Centerline goodness : 0.776040 Centerline is valid? [False, False] Translation: X:-268.01, Y:4.43, Z:125.94 [[ 8.66211504e-01 -3.75810934e-01 3.29308019e-01 -2.68007204e+02] [ 4.14118859e-01 9.08721807e-01 -5.22517770e-02 4.42863428e+00] [-2.79612589e-01 1.81633752e-01 9.42775679e-01 1.25941424e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.819072329 meters Centerline goodness : 0.776009 Centerline is valid? [False, False] Translation: X:-268.06, Y:4.44, Z:125.96 [[ 8.64914392e-01 -3.78413118e-01 3.29737178e-01 -2.68057494e+02] [ 4.15052419e-01 9.08637454e-01 -4.59289371e-02 4.44046497e+00] [-2.82231438e-01 1.76582812e-01 9.42954891e-01 1.25961757e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.84907232899997 meters Centerline goodness : 0.776296 Centerline is valid? [False, False] Translation: X:-268.12, Y:4.46, Z:125.98 [[ 8.64686657e-01 -3.78060234e-01 3.30737729e-01 -2.68121414e+02] [ 4.15887224e-01 9.08079230e-01 -4.92943075e-02 4.45680851e+00] [-2.81699845e-01 1.80173726e-01 9.42434415e-01 1.25984812e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.879072329 meters Centerline goodness : 0.774732 Centerline is valid? [False, False] Translation: X:-268.19, Y:4.47, Z:126.01 [[ 8.63586887e-01 -3.80854016e-01 3.30405670e-01 -2.68185800e+02] [ 4.19544573e-01 9.06246805e-01 -5.19526713e-02 4.47198986e+00] [-2.79642699e-01 1.83485552e-01 9.42408093e-01 1.26008535e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.90907232899997 meters Centerline goodness : 0.774733 Centerline is valid? [False, False] Translation: X:-268.25, Y:4.49, Z:126.03 [[ 8.63876471e-01 -3.80491065e-01 3.30066650e-01 -2.68247636e+02] [ 4.19972805e-01 9.05873287e-01 -5.49220368e-02 4.48779183e+00] [-2.78101217e-01 1.86064872e-01 9.42358518e-01 1.26030415e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.939072329 meters Centerline goodness : 0.774132 Centerline is valid? [False, False] Translation: X:-268.31, Y:4.50, Z:126.05 [[ 8.63522895e-01 -3.82712527e-01 3.28419445e-01 -2.68310410e+02] [ 4.22519279e-01 9.04570402e-01 -5.68317342e-02 4.50204368e+00] [-2.75328293e-01 1.87839051e-01 9.42820673e-01 1.26053038e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.96907232899997 meters Centerline goodness : 0.773807 Centerline is valid? [False, False] Translation: X:-268.36, Y:4.51, Z:126.07 [[ 8.61928935e-01 -3.86003097e-01 3.28755412e-01 -2.68362283e+02] [ 4.24060309e-01 9.04247652e-01 -5.00902988e-02 4.51270664e+00] [-2.77941299e-01 1.82586400e-01 9.43085808e-01 1.26073967e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.99907232899994 meters Centerline goodness : 0.774163 Centerline is valid? [False, False] Translation: X:-268.43, Y:4.53, Z:126.10 [[ 8.62421933e-01 -3.84281269e-01 3.29478855e-01 -2.68425023e+02] [ 4.23495106e-01 9.04299394e-01 -5.38005666e-02 4.52922570e+00] [-2.77272979e-01 1.85931471e-01 9.42628868e-01 1.26097243e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.029072329 meters Centerline goodness : 0.774992 Centerline is valid? [False, False] Translation: X:-268.48, Y:4.54, Z:126.12 [[ 8.60779371e-01 -3.86709092e-01 3.30930434e-01 -2.68476517e+02] [ 4.24784474e-01 9.03992212e-01 -4.85410314e-02 4.54080582e+00] [-2.80387277e-01 1.82357229e-01 9.42405866e-01 1.26118413e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.05907232899995 meters Centerline goodness : 0.775254 Centerline is valid? [False, False] Translation: X:-268.54, Y:4.56, Z:126.14 [[ 8.61608032e-01 -3.84365413e-01 3.31503889e-01 -2.68538919e+02] [ 4.23321278e-01 9.04514629e-01 -5.15012800e-02 4.55708796e+00] [-2.80054806e-01 1.84706567e-01 9.42047127e-01 1.26141290e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.089072329 meters Centerline goodness : 0.773789 Centerline is valid? [False, False] Translation: X:-268.60, Y:4.58, Z:126.16 [[ 8.62558042e-01 -3.82375792e-01 3.31334238e-01 -2.68601780e+02] [ 4.21677585e-01 9.05188773e-01 -5.31159063e-02 4.57564289e+00] [-2.79609795e-01 1.85531774e-01 9.42017157e-01 1.26164570e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.11907232899995 meters Centerline goodness : 0.774725 Centerline is valid? [False, False] Translation: X:-268.66, Y:4.59, Z:126.19 [[ 8.63364587e-01 -3.80889874e-01 3.30944850e-01 -2.68664899e+02] [ 4.20383090e-01 9.05721673e-01 -5.42799168e-02 4.59276388e+00] [-2.79069253e-01 1.85986977e-01 9.42087680e-01 1.26187513e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.149072329 meters Centerline goodness : 0.773988 Centerline is valid? [False, False] Translation: X:-268.71, Y:4.60, Z:126.21 [[ 8.63000863e-01 -3.82250936e-01 3.30323678e-01 -2.68710824e+02] [ 4.19864704e-01 9.06308352e-01 -4.81539386e-02 4.60393732e+00] [-2.80968220e-01 1.80248144e-01 9.42638566e-01 1.26205745e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.17907232899995 meters Centerline goodness : 0.774944 Centerline is valid? [False, False] Translation: X:-268.77, Y:4.62, Z:126.23 [[ 8.64656605e-01 -3.79213231e-01 3.29493978e-01 -2.68772341e+02] [ 4.16810231e-01 9.07662891e-01 -4.91661255e-02 4.62111966e+00] [-2.80425011e-01 1.79848276e-01 9.42876668e-01 1.26227975e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.209072329 meters Centerline goodness : 0.774438 Centerline is valid? [False, False] Translation: X:-268.83, Y:4.64, Z:126.25 [[ 8.66038553e-01 -3.76644490e-01 3.28810207e-01 -2.68831176e+02] [ 4.15050023e-01 9.08266115e-01 -5.27839264e-02 4.63895820e+00] [-2.78766394e-01 1.82185599e-01 9.42919776e-01 1.26249256e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.23907232899995 meters Centerline goodness : 0.776231 Centerline is valid? [False, False] Translation: X:-268.89, Y:4.66, Z:126.27 [[ 8.67248964e-01 -3.74322883e-01 3.28270640e-01 -2.68892110e+02] [ 4.13284789e-01 9.08913644e-01 -5.54226512e-02 4.65653528e+00] [-2.77623697e-01 1.83734499e-01 9.42956370e-01 1.26271293e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.269072329 meters Centerline goodness : 0.774857 Centerline is valid? [False, False] Translation: X:-268.95, Y:4.67, Z:126.29 [[ 8.69505231e-01 -3.69871839e-01 3.27346111e-01 -2.68948846e+02] [ 4.09514841e-01 9.10386613e-01 -5.91084638e-02 4.67302695e+00] [-2.76148961e-01 1.85448209e-01 9.43053929e-01 1.26292974e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.29907232899996 meters Centerline goodness : 0.774287 Centerline is valid? [False, False] Translation: X:-269.00, Y:4.69, Z:126.31 [[ 8.68989777e-01 -3.70129505e-01 3.28421858e-01 -2.68999067e+02] [ 4.08011524e-01 9.11474428e-01 -5.23542013e-02 4.68597794e+00] [-2.79970291e-01 1.79495169e-01 9.43079064e-01 1.26314157e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.329072329 meters Centerline goodness : 0.775198 Centerline is valid? [False, False] Translation: X:-269.05, Y:4.70, Z:126.34 [[ 8.68145436e-01 -3.71157806e-01 3.29492617e-01 -2.69047634e+02] [ 4.07791936e-01 9.11849274e-01 -4.72931165e-02 4.69824331e+00] [-2.82894394e-01 1.75421736e-01 9.42972946e-01 1.26335032e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.35907232899996 meters Centerline goodness : 0.775361 Centerline is valid? [False, False] Translation: X:-269.09, Y:4.71, Z:126.35 [[ 8.68021322e-01 -3.70647763e-01 3.30392525e-01 -2.69092485e+02] [ 4.06261541e-01 9.12724837e-01 -4.34158144e-02 4.71016038e+00] [-2.85465489e-01 1.71911629e-01 9.42844550e-01 1.26354299e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.389072329 meters Centerline goodness : 0.775700 Centerline is valid? [False, False] Translation: X:-269.15, Y:4.73, Z:126.38 [[ 8.68746822e-01 -3.68368126e-01 3.31034565e-01 -2.69153246e+02] [ 4.05194650e-01 9.13000821e-01 -4.74003772e-02 4.72841367e+00] [-2.84774041e-01 1.75312362e-01 9.42427356e-01 1.26377078e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.41907232899996 meters Centerline goodness : 0.773450 Centerline is valid? [False, False] Translation: X:-269.21, Y:4.75, Z:126.40 [[ 8.70515522e-01 -3.65185509e-01 3.29912520e-01 -2.69211690e+02] [ 4.02400180e-01 9.14100095e-01 -4.99511027e-02 4.74588666e+00] [-2.83331647e-01 1.76240067e-01 9.42689035e-01 1.26398225e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.449072329 meters Centerline goodness : 0.773815 Centerline is valid? [False, False] Translation: X:-269.27, Y:4.76, Z:126.42 [[ 8.72330234e-01 -3.63479636e-01 3.26990089e-01 -2.69269027e+02] [ 4.00489792e-01 9.14854837e-01 -5.14641023e-02 4.76390168e+00] [-2.80442311e-01 1.75849885e-01 9.43625417e-01 1.26418212e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.47907232899996 meters Centerline goodness : 0.773983 Centerline is valid? [False, False] Translation: X:-269.32, Y:4.78, Z:126.44 [[ 8.71791597e-01 -3.65947453e-01 3.25671420e-01 -2.69315775e+02] [ 4.01106821e-01 9.14891181e-01 -4.56885630e-02 4.77605273e+00] [-2.81234297e-01 1.70459933e-01 9.44378463e-01 1.26436946e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.509072329 meters Centerline goodness : 0.772938 Centerline is valid? [False, False] Translation: X:-269.37, Y:4.79, Z:126.46 [[ 8.73718568e-01 -3.62410836e-01 3.24459937e-01 -2.69373089e+02] [ 3.97906232e-01 9.16160226e-01 -4.81775041e-02 4.79393212e+00] [-2.79797240e-01 1.71198211e-01 9.44671730e-01 1.26456648e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.53907232899996 meters Centerline goodness : 0.771942 Centerline is valid? [False, False] Translation: X:-269.43, Y:4.81, Z:126.48 [[ 8.75567712e-01 -3.58654934e-01 3.23647678e-01 -2.69430513e+02] [ 3.94752107e-01 9.17351557e-01 -5.13507077e-02 4.81076971e+00] [-2.78481517e-01 1.72721625e-01 9.44783195e-01 1.26477790e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.569072329 meters Centerline goodness : 0.772083 Centerline is valid? [False, False] Translation: X:-269.49, Y:4.83, Z:126.50 [[ 8.77105182e-01 -3.55149984e-01 3.23349637e-01 -2.69488824e+02] [ 3.92082066e-01 9.18287754e-01 -5.49477362e-02 4.82891030e+00] [-2.77413324e-01 1.74974538e-01 9.44682888e-01 1.26499521e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.59907232899997 meters Centerline goodness : 0.770621 Centerline is valid? [False, False] Translation: X:-269.53, Y:4.84, Z:126.52 [[ 8.77615833e-01 -3.53715333e-01 3.23536572e-01 -2.69534856e+02] [ 3.89032543e-01 9.19888609e-01 -4.95845428e-02 4.84273094e+00] [-2.80078794e-01 1.69382435e-01 9.44915583e-01 1.26518880e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.629072329 meters Centerline goodness : 0.770366 Centerline is valid? [False, False] Translation: X:-269.58, Y:4.86, Z:126.54 [[ 8.77514032e-01 -3.54862464e-01 3.22555042e-01 -2.69580711e+02] [ 3.88476193e-01 9.20394664e-01 -4.42708697e-02 4.85620538e+00] [-2.81167869e-01 1.64153264e-01 9.45514852e-01 1.26537826e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.65907232899997 meters Centerline goodness : 0.770366 Centerline is valid? [False, False] Translation: X:-269.64, Y:4.87, Z:126.56 [[ 8.78540556e-01 -3.52573780e-01 3.22270416e-01 -2.69638429e+02] [ 3.87358636e-01 9.20638201e-01 -4.87707862e-02 4.87282538e+00] [-2.79499156e-01 1.67681343e-01 9.45390496e-01 1.26558379e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.689072329 meters Centerline goodness : 0.770432 Centerline is valid? [False, False] Translation: X:-269.69, Y:4.89, Z:126.58 [[ 8.81183036e-01 -3.47382274e-01 3.20689901e-01 -2.69694030e+02] [ 3.82587194e-01 9.22453215e-01 -5.20298560e-02 4.89189109e+00] [-2.77747180e-01 1.68539676e-01 9.45754134e-01 1.26579800e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.71907232899997 meters Centerline goodness : 0.770730 Centerline is valid? [False, False] Translation: X:-269.74, Y:4.90, Z:126.60 [[ 8.80553216e-01 -3.49320139e-01 3.20314649e-01 -2.69739865e+02] [ 3.82855466e-01 9.22648146e-01 -4.62827203e-02 4.90399479e+00] [-2.79370231e-01 1.63388612e-01 9.46179917e-01 1.26598691e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.74907232899994 meters Centerline goodness : 0.770056 Centerline is valid? [False, False] Translation: X:-269.79, Y:4.92, Z:126.62 [[ 8.83343941e-01 -3.43542046e-01 3.18876692e-01 -2.69793987e+02] [ 3.77851696e-01 9.24475243e-01 -5.07308653e-02 4.92255566e+00] [-2.77365422e-01 1.65300901e-01 9.46437549e-01 1.26620537e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.779072329 meters Centerline goodness : 0.769542 Centerline is valid? [False, False] Translation: X:-269.84, Y:4.93, Z:126.64 [[ 8.83716280e-01 -3.44602169e-01 3.16693672e-01 -2.69837610e+02] [ 3.76671095e-01 9.25289607e-01 -4.42496178e-02 4.93438040e+00] [-2.77784849e-01 1.58393460e-01 9.47495166e-01 1.26638179e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.80907232899995 meters Centerline goodness : 0.769592 Centerline is valid? [False, False] Translation: X:-269.88, Y:4.95, Z:126.66 [[ 8.83047604e-01 -3.47459484e-01 3.15434362e-01 -2.69883142e+02] [ 3.78205228e-01 9.24856397e-01 -4.00181313e-02 4.94649923e+00] [-2.77826808e-01 1.54636839e-01 9.48103218e-01 1.26656957e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.839072329 meters Centerline goodness : 0.768719 Centerline is valid? [False, False] Translation: X:-269.94, Y:4.96, Z:126.68 [[ 8.84324280e-01 -3.45599861e-01 3.13896964e-01 -2.69939454e+02] [ 3.77119674e-01 9.25124573e-01 -4.38779672e-02 4.96219292e+00] [-2.75229576e-01 1.57179073e-01 9.48442629e-01 1.26675371e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.86907232899995 meters Centerline goodness : 0.768020 Centerline is valid? [False, False] Translation: X:-269.98, Y:4.97, Z:126.69 [[ 8.83723047e-01 -3.48327646e-01 3.12572275e-01 -2.69981890e+02] [ 3.78719088e-01 9.24632300e-01 -4.03356128e-02 4.97290340e+00] [-2.74964413e-01 1.54022598e-01 9.49037202e-01 1.26691712e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.899072329 meters Centerline goodness : 0.767638 Centerline is valid? [False, False] Translation: X:-270.04, Y:4.99, Z:126.71 [[ 8.83924717e-01 -3.47357514e-01 3.13081225e-01 -2.70042369e+02] [ 3.79131651e-01 9.24249429e-01 -4.49686936e-02 4.98879230e+00] [-2.73744930e-01 1.58447941e-01 9.48661143e-01 1.26712921e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.92907232899995 meters Centerline goodness : 0.767216 Centerline is valid? [False, False] Translation: X:-270.10, Y:5.01, Z:126.73 [[ 8.84300037e-01 -3.46037279e-01 3.13483088e-01 -2.70102643e+02] [ 3.79072974e-01 9.24052069e-01 -4.93097787e-02 5.00502135e+00] [-2.72611675e-01 1.62437606e-01 9.48312659e-01 1.26734276e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.959072329 meters Centerline goodness : 0.765347 Centerline is valid? [False, False] Translation: X:-270.15, Y:5.02, Z:126.75 [[ 8.83673207e-01 -3.48056914e-01 3.13014453e-01 -2.70148747e+02] [ 3.79287035e-01 9.24278684e-01 -4.30146408e-02 5.01683174e+00] [-2.74341044e-01 1.56733209e-01 9.48773784e-01 1.26751965e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.98907232899995 meters Centerline goodness : 0.765416 Centerline is valid? [False, False] Translation: X:-270.21, Y:5.03, Z:126.77 [[ 8.84388060e-01 -3.47029791e-01 3.12134720e-01 -2.70207921e+02] [ 3.78926372e-01 9.24281834e-01 -4.60205996e-02 5.03393636e+00] [-2.72529933e-01 1.58976146e-01 9.48922558e-01 1.26771596e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.019072329 meters Centerline goodness : 0.763061 Centerline is valid? [False, False] Translation: X:-270.26, Y:5.05, Z:126.79 [[ 8.86402835e-01 -3.43573975e-01 3.10236907e-01 -2.70263058e+02] [ 3.75725374e-01 9.25455108e-01 -4.86136433e-02 5.04947198e+00] [-2.70407948e-01 1.59655149e-01 9.49415491e-01 1.26789080e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.04907232899996 meters Centerline goodness : 0.762478 Centerline is valid? [False, False] Translation: X:-270.31, Y:5.06, Z:126.81 [[ 8.86459184e-01 -3.45677061e-01 3.07729563e-01 -2.70307166e+02] [ 3.75847488e-01 9.25690728e-01 -4.28408894e-02 5.06082297e+00] [-2.70053290e-01 1.53636083e-01 9.50508903e-01 1.26806416e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.079072329 meters Centerline goodness : 0.763507 Centerline is valid? [False, False] Translation: X:-270.36, Y:5.08, Z:126.83 [[ 8.87519414e-01 -3.43294897e-01 3.07340047e-01 -2.70364478e+02] [ 3.74502198e-01 9.26028776e-01 -4.71042356e-02 5.07683771e+00] [-2.68435084e-01 1.56905447e-01 9.50433210e-01 1.26825446e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.10907232899996 meters Centerline goodness : 0.760689 Centerline is valid? [False, False] Translation: X:-270.41, Y:5.09, Z:126.84 [[ 8.86516189e-01 -3.46103765e-01 3.07085053e-01 -2.70412554e+02] [ 3.76130389e-01 9.25584602e-01 -4.26506048e-02 5.08845058e+00] [-2.69471662e-01 1.53314472e-01 9.50725879e-01 1.26844702e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.139072329 meters Centerline goodness : 0.760224 Centerline is valid? [False, False] Translation: X:-270.47, Y:5.11, Z:126.86 [[ 8.88816745e-01 -3.41494307e-01 3.05591937e-01 -2.70466243e+02] [ 3.72286810e-01 9.26928395e-01 -4.69710695e-02 5.10503948e+00] [-2.67221491e-01 1.55516520e-01 9.51003305e-01 1.26864001e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.16907232899996 meters Centerline goodness : 0.758915 Centerline is valid? [False, False] Translation: X:-270.53, Y:5.12, Z:126.88 [[ 8.89708420e-01 -3.39134225e-01 3.05625432e-01 -2.70526945e+02] [ 3.70732708e-01 9.27382921e-01 -5.01814379e-02 5.12251139e+00] [-2.66413563e-01 1.57952192e-01 9.50828543e-01 1.26884738e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.199072329 meters Centerline goodness : 0.758094 Centerline is valid? [False, False] Translation: X:-270.57, Y:5.13, Z:126.90 [[ 8.88589370e-01 -3.42879027e-01 3.04701337e-01 -2.70574606e+02] [ 3.72839623e-01 9.26836069e-01 -4.43341552e-02 5.13386819e+00] [-2.67206938e-01 1.52999591e-01 9.51415565e-01 1.26902785e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.22907232899996 meters Centerline goodness : 0.757796 Centerline is valid? [False, False] Translation: X:-270.62, Y:5.15, Z:126.92 [[ 8.87598864e-01 -3.45932787e-01 3.04136094e-01 -2.70619948e+02] [ 3.74930908e-01 9.26155685e-01 -4.07732947e-02 5.14513461e+00] [-2.67572553e-01 1.50220352e-01 9.51755627e-01 1.26920557e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.259072329 meters Centerline goodness : 0.756257 Centerline is valid? [False, False] Translation: X:-270.68, Y:5.16, Z:126.94 [[ 8.87682663e-01 -3.45185339e-01 3.04740170e-01 -2.70679903e+02] [ 3.75377755e-01 9.25789369e-01 -4.47837533e-02 5.16160506e+00] [-2.66666515e-01 1.54146443e-01 9.51382071e-01 1.26939453e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.28907232899996 meters Centerline goodness : 0.756290 Centerline is valid? [False, False] Translation: X:-270.73, Y:5.17, Z:126.96 [[ 8.85859559e-01 -3.49449246e-01 3.05185297e-01 -2.70730516e+02] [ 3.78790054e-01 9.24581568e-01 -4.08291579e-02 5.17411641e+00] [-2.67900982e-01 1.51770055e-01 9.51417319e-01 1.26959652e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.319072329 meters Centerline goodness : 0.753456 Centerline is valid? [False, False] Translation: X:-270.79, Y:5.19, Z:126.98 [[ 8.86368415e-01 -3.47622848e-01 3.05793049e-01 -2.70790501e+02] [ 3.78085253e-01 9.24689304e-01 -4.47351469e-02 5.19104322e+00] [-2.67212602e-01 1.55267664e-01 9.51046465e-01 1.26979589e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.34907232899997 meters Centerline goodness : 0.752794 Centerline is valid? [False, False] Translation: X:-270.84, Y:5.20, Z:127.00 [[ 8.83737698e-01 -3.53440131e-01 3.06737273e-01 -2.70841305e+02] [ 3.83048966e-01 9.22851281e-01 -4.02368252e-02 5.20078332e+00] [-2.68851577e-01 1.53054195e-01 9.50943344e-01 1.26998664e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.379072329 meters Centerline goodness : 0.752986 Centerline is valid? [False, False] Translation: X:-270.90, Y:5.22, Z:127.02 [[ 8.84062907e-01 -3.52294490e-01 3.07117842e-01 -2.70900364e+02] [ 3.83349037e-01 9.22491391e-01 -4.53116943e-02 5.21605886e+00] [-2.67350505e-01 1.57791717e-01 9.50592174e-01 1.27018149e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.40907232899997 meters Centerline goodness : 0.753132 Centerline is valid? [False, False] Translation: X:-270.96, Y:5.23, Z:127.04 [[ 8.85011488e-01 -3.50427279e-01 3.06521433e-01 -2.70958248e+02] [ 3.82517203e-01 9.22612561e-01 -4.96653972e-02 5.22982325e+00] [-2.65396414e-01 1.61204168e-01 9.50567178e-01 1.27037266e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.439072329 meters Centerline goodness : 0.750000 Centerline is valid? [False, False] Translation: X:-271.02, Y:5.25, Z:127.06 [[ 8.86574739e-01 -3.47914676e-01 3.04861625e-01 -2.71015533e+02] [ 3.80457412e-01 9.23293730e-01 -5.27337353e-02 5.24643497e+00] [-2.63129986e-01 1.62739262e-01 9.50935614e-01 1.27056297e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.46907232899997 meters Centerline goodness : 0.750052 Centerline is valid? [False, False] Translation: X:-271.06, Y:5.26, Z:127.07 [[ 8.85484982e-01 -3.51613313e-01 3.03783516e-01 -2.71062081e+02] [ 3.82482542e-01 9.22775845e-01 -4.68171397e-02 5.25736685e+00] [-2.63862562e-01 1.57647766e-01 9.51590106e-01 1.27072977e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.49907232899994 meters Centerline goodness : 0.748105 Centerline is valid? [False, False] Translation: X:-271.12, Y:5.27, Z:127.09 [[ 8.85339566e-01 -3.51332368e-01 3.04531477e-01 -2.71117683e+02] [ 3.82061061e-01 9.22996978e-01 -4.58903602e-02 5.27148281e+00] [-2.64958864e-01 1.56978171e-01 9.51396161e-01 1.27089336e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.529072329 meters Centerline goodness : 0.747330 Centerline is valid? [False, False] Translation: X:-271.16, Y:5.28, Z:127.11 [[ 8.84621377e-01 -3.52983526e-01 3.04709123e-01 -2.71162660e+02] [ 3.82602467e-01 9.22978067e-01 -4.15552640e-02 5.28193896e+00] [-2.66571513e-01 1.53343137e-01 9.51538497e-01 1.27105648e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.55907232899995 meters Centerline goodness : 0.747458 Centerline is valid? [False, False] Translation: X:-271.22, Y:5.30, Z:127.13 [[ 8.84783161e-01 -3.52232013e-01 3.05108779e-01 -2.71223402e+02] [ 3.83135286e-01 9.22545020e-01 -4.60221424e-02 5.29865382e+00] [-2.65266113e-01 1.57617556e-01 9.51204812e-01 1.27125810e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.589072329 meters Centerline goodness : 0.746711 Centerline is valid? [False, False] Translation: X:-271.27, Y:5.31, Z:127.14 [[ 8.83055073e-01 -3.55624825e-01 3.06177599e-01 -2.71271706e+02] [ 3.85735083e-01 9.21652612e-01 -4.20108222e-02 5.30927034e+00] [-2.67249292e-01 1.55201311e-01 9.51046986e-01 1.27143926e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.61907232899995 meters Centerline goodness : 0.747252 Centerline is valid? [False, False] Translation: X:-271.33, Y:5.33, Z:127.16 [[ 8.82460941e-01 -3.56481344e-01 3.06893693e-01 -2.71333283e+02] [ 3.88373086e-01 9.20261930e-01 -4.77946277e-02 5.32530640e+00] [-2.65384689e-01 1.61366143e-01 9.50542968e-01 1.27164297e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.649072329 meters Centerline goodness : 0.747619 Centerline is valid? [False, False] Translation: X:-271.40, Y:5.34, Z:127.18 [[ 8.81319080e-01 -3.58945919e-01 3.07301980e-01 -2.71395902e+02] [ 3.92471962e-01 9.18233849e-01 -5.30316669e-02 5.33899531e+00] [-2.63139579e-01 1.67345231e-01 9.50133220e-01 1.27184605e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.67907232899995 meters Centerline goodness : 0.747150 Centerline is valid? [False, False] Translation: X:-271.46, Y:5.36, Z:127.21 [[ 8.82356426e-01 -3.57716139e-01 3.05755298e-01 -2.71457259e+02] [ 3.91419674e-01 9.18573725e-01 -5.48903600e-02 5.35534279e+00] [-2.61223615e-01 1.68111501e-01 9.50526563e-01 1.27205799e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.709072329 meters Centerline goodness : 0.747024 Centerline is valid? [False, False] Translation: X:-271.51, Y:5.37, Z:127.22 [[ 8.81252897e-01 -3.60447457e-01 3.05730211e-01 -2.71506755e+02] [ 3.92337024e-01 9.18572362e-01 -4.79215532e-02 5.36660408e+00] [-2.63562120e-01 1.62180289e-01 9.50911438e-01 1.27223595e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.73907232899995 meters Centerline goodness : 0.745261 Centerline is valid? [False, False] Translation: X:-271.57, Y:5.38, Z:127.24 [[ 8.81747310e-01 -3.59289394e-01 3.05667813e-01 -2.71568154e+02] [ 3.92006903e-01 9.18540229e-01 -5.11315528e-02 5.38404678e+00] [-2.62397159e-01 1.64909002e-01 9.50764299e-01 1.27244204e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.769072329 meters Centerline goodness : 0.745546 Centerline is valid? [False, False] Translation: X:-271.62, Y:5.40, Z:127.26 [[ 8.80479077e-01 -3.62166109e-01 3.05928595e-01 -2.71617493e+02] [ 3.93509307e-01 9.18190837e-01 -4.55632740e-02 5.39644239e+00] [-2.64399359e-01 1.60503259e-01 9.50963555e-01 1.27263105e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.79907232899996 meters Centerline goodness : 0.745875 Centerline is valid? [False, False] Translation: X:-271.68, Y:5.41, Z:127.28 [[ 8.81632531e-01 -3.59877400e-01 3.05306955e-01 -2.71677449e+02] [ 3.91882174e-01 9.18725744e-01 -4.86967010e-02 5.41306382e+00] [-2.62968518e-01 1.62576949e-01 9.51008041e-01 1.27282899e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.829072329 meters Centerline goodness : 0.744399 Centerline is valid? [False, False] Translation: X:-271.74, Y:5.43, Z:127.30 [[ 8.83377194e-01 -3.56558246e-01 3.04156130e-01 -2.71735151e+02] [ 3.89093629e-01 9.19736700e-01 -5.18705101e-02 5.43006720e+00] [-2.61248697e-01 1.64166438e-01 9.51208967e-01 1.27302221e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.85907232899996 meters Centerline goodness : 0.744904 Centerline is valid? [False, False] Translation: X:-271.80, Y:5.45, Z:127.32 [[ 8.84204130e-01 -3.55133915e-01 3.03418785e-01 -2.71796236e+02] [ 3.88379541e-01 9.19846832e-01 -5.51646403e-02 5.44770827e+00] [-2.59507973e-01 1.66618451e-01 9.51259115e-01 1.27323372e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.889072329 meters Centerline goodness : 0.745368 Centerline is valid? [False, False] Translation: X:-271.85, Y:5.46, Z:127.34 [[ 8.83170171e-01 -3.57825654e-01 3.03267621e-01 -2.71846634e+02] [ 3.89343536e-01 9.19812112e-01 -4.85519274e-02 5.46025062e+00] [-2.61576106e-01 1.60954902e-01 9.51667726e-01 1.27342273e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.91907232899996 meters Centerline goodness : 0.744356 Centerline is valid? [False, False] Translation: X:-271.91, Y:5.48, Z:127.36 [[ 8.83495077e-01 -3.56173947e-01 3.04263977e-01 -2.71908316e+02] [ 3.88885701e-01 9.19788944e-01 -5.24996232e-02 5.47755092e+00] [-2.61159644e-01 1.64707069e-01 9.51139959e-01 1.27363201e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.949072329 meters Centerline goodness : 0.746173 Centerline is valid? [False, False] Translation: X:-271.96, Y:5.49, Z:127.38 [[ 8.81768249e-01 -3.59768631e-01 3.05043090e-01 -2.71959161e+02] [ 3.91285148e-01 9.19062480e-01 -4.71178332e-02 5.48984143e+00] [-2.63402141e-01 1.60905840e-01 9.51172236e-01 1.27382142e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.97907232899996 meters Centerline goodness : 0.747022 Centerline is valid? [False, False] Translation: X:-272.02, Y:5.51, Z:127.40 [[ 8.82749892e-01 -3.56891768e-01 3.05582877e-01 -2.72019624e+02] [ 3.89377365e-01 9.19681334e-01 -5.07100702e-02 5.50715343e+00] [-2.62940861e-01 1.63751364e-01 9.50814174e-01 1.27403371e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.009072329 meters Centerline goodness : 0.747613 Centerline is valid? [False, False] Translation: X:-272.07, Y:5.52, Z:127.42 [[ 8.81637570e-01 -3.59241257e-01 3.06040707e-01 -2.72068745e+02] [ 3.90450952e-01 9.19500469e-01 -4.54636369e-02 5.51969924e+00] [-2.65072160e-01 1.59576336e-01 9.50932250e-01 1.27422845e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.03907232899996 meters Centerline goodness : 0.748004 Centerline is valid? [False, False] Translation: X:-272.13, Y:5.54, Z:127.44 [[ 8.82807626e-01 -3.56488943e-01 3.05886136e-01 -2.72128336e+02] [ 3.88423292e-01 9.20199226e-01 -4.85873428e-02 5.53834300e+00] [-2.64155335e-01 1.61706577e-01 9.50827504e-01 1.27442706e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.069072329 meters Centerline goodness : 0.749003 Centerline is valid? [False, False] Translation: X:-272.19, Y:5.56, Z:127.46 [[ 8.83808017e-01 -3.54697636e-01 3.05078639e-01 -2.72187577e+02] [ 3.87253349e-01 9.20527014e-01 -5.16222918e-02 5.55533108e+00] [-2.62522824e-01 1.63766920e-01 9.50927002e-01 1.27462267e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.09907232899997 meters Centerline goodness : 0.749123 Centerline is valid? [False, False] Translation: X:-272.25, Y:5.57, Z:127.48 [[ 8.85142410e-01 -3.53195665e-01 3.02945103e-01 -2.72246428e+02] [ 3.85980118e-01 9.20920792e-01 -5.40762673e-02 5.57242873e+00] [-2.59888941e-01 1.64795984e-01 9.51472554e-01 1.27481432e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.129072329 meters Centerline goodness : 0.749316 Centerline is valid? [False, False] Translation: X:-272.30, Y:5.58, Z:127.50 [[ 8.84048202e-01 -3.56899264e-01 3.01797435e-01 -2.72295418e+02] [ 3.87903034e-01 9.20462154e-01 -4.77562538e-02 5.58419615e+00] [-2.60748946e-01 1.59286971e-01 9.52175219e-01 1.27499460e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.15907232899997 meters Centerline goodness : 0.750308 Centerline is valid? [False, False] Translation: X:-272.35, Y:5.60, Z:127.52 [[ 8.86245512e-01 -3.53434326e-01 2.99421225e-01 -2.72352457e+02] [ 3.84497035e-01 9.21770722e-01 -5.00076681e-02 5.60120550e+00] [-2.58323292e-01 1.59445645e-01 9.52809615e-01 1.27517396e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.189072329 meters Centerline goodness : 0.748372 Centerline is valid? [False, False] Translation: X:-272.40, Y:5.61, Z:127.54 [[ 8.85571550e-01 -3.55197932e-01 2.99328346e-01 -2.72399278e+02] [ 3.84974908e-01 9.21825664e-01 -4.50751036e-02 5.61442893e+00] [-2.59917968e-01 1.55151132e-01 9.53084873e-01 1.27535027e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.21907232899997 meters Centerline goodness : 0.748972 Centerline is valid? [False, False] Translation: X:-272.46, Y:5.63, Z:127.55 [[ 8.87935520e-01 -3.50895918e-01 2.97392951e-01 -2.72455311e+02] [ 3.80976441e-01 9.23335678e-01 -4.80434847e-02 5.63255170e+00] [-2.57735260e-01 1.55959225e-01 9.53545624e-01 1.27553483e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.24907232899994 meters Centerline goodness : 0.749749 Centerline is valid? [False, False] Translation: X:-272.50, Y:5.65, Z:127.57 [[ 8.88113850e-01 -3.49754955e-01 2.98203388e-01 -2.72500734e+02] [ 3.78843218e-01 9.24411523e-01 -4.40585158e-02 5.64778995e+00] [-2.60252963e-01 1.52101309e-01 9.53484969e-01 1.27570696e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.279072329 meters Centerline goodness : 0.750031 Centerline is valid? [False, False] Translation: X:-272.54, Y:5.66, Z:127.59 [[ 8.87966372e-01 -3.49262081e-01 2.99218517e-01 -2.72544849e+02] [ 3.77598358e-01 9.25071021e-01 -4.07809461e-02 5.66087907e+00] [-2.62555141e-01 1.49196529e-01 9.53312747e-01 1.27586718e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.30907232899995 meters Centerline goodness : 0.750627 Centerline is valid? [False, False] Translation: X:-272.60, Y:5.68, Z:127.61 [[ 8.91632828e-01 -3.42125818e-01 2.96548184e-01 -2.72599840e+02] [ 3.70643159e-01 9.27727748e-01 -4.41007351e-02 5.68381924e+00] [-2.60027978e-01 1.49235219e-01 9.53999109e-01 1.27607797e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.339072329 meters Centerline goodness : 0.750694 Centerline is valid? [False, False] Translation: X:-272.64, Y:5.70, Z:127.62 [[ 8.91779357e-01 -3.42079798e-01 2.96160414e-01 -2.72643163e+02] [ 3.69271316e-01 9.28482501e-01 -3.94834331e-02 5.69671439e+00] [-2.61473277e-01 1.44574056e-01 9.54321784e-01 1.27623588e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.36907232899995 meters Centerline goodness : 0.750073 Centerline is valid? [False, False] Translation: X:-272.70, Y:5.72, Z:127.64 [[ 8.94648782e-01 -3.36504225e-01 2.93885118e-01 -2.72697634e+02] [ 3.64103918e-01 9.30359133e-01 -4.31302796e-02 5.71582297e+00] [-2.58905183e-01 1.45591175e-01 9.54867172e-01 1.27643215e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.399072329 meters Centerline goodness : 0.750037 Centerline is valid? [False, False] Translation: X:-272.76, Y:5.73, Z:127.66 [[ 8.96396556e-01 -3.32808831e-01 2.92765258e-01 -2.72755179e+02] [ 3.61002108e-01 9.31403590e-01 -4.65277421e-02 5.73464443e+00] [-2.57197769e-01 1.47396183e-01 9.55051660e-01 1.27662343e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.42907232899995 meters Centerline goodness : 0.750245 Centerline is valid? [False, False] Translation: X:-272.80, Y:5.75, Z:127.68 [[ 8.95884082e-01 -3.34835955e-01 2.92021565e-01 -2.72800953e+02] [ 3.61852491e-01 9.31275036e-01 -4.23034517e-02 5.74769506e+00] [-2.57787677e-01 1.43567720e-01 9.55475705e-01 1.27680005e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.459072329 meters Centerline goodness : 0.751357 Centerline is valid? [False, False] Translation: X:-272.86, Y:5.77, Z:127.70 [[ 8.97547523e-01 -3.31193609e-01 2.91065692e-01 -2.72857855e+02] [ 3.59199844e-01 9.32072552e-01 -4.70768544e-02 5.76639933e+00] [-2.55702789e-01 1.46804465e-01 9.55544103e-01 1.27699761e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.48907232899995 meters Centerline goodness : 0.750308 Centerline is valid? [False, False] Translation: X:-272.90, Y:5.78, Z:127.72 [[ 8.97510112e-01 -3.32901293e-01 2.89227122e-01 -2.72903154e+02] [ 3.59210595e-01 9.32330564e-01 -4.15628073e-02 5.77926096e+00] [-2.55818973e-01 1.41196486e-01 9.56357781e-01 1.27716720e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.519072329 meters Centerline goodness : 0.751195 Centerline is valid? [False, False] Translation: X:-272.96, Y:5.80, Z:127.73 [[ 8.99084190e-01 -3.30127443e-01 2.87512593e-01 -2.72957660e+02] [ 3.57303433e-01 9.32844090e-01 -4.62186150e-02 5.79567722e+00] [-2.52946390e-01 1.44283663e-01 9.56661042e-01 1.27733270e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.54907232899996 meters Centerline goodness : 0.749687 Centerline is valid? [False, False] Translation: X:-273.00, Y:5.81, Z:127.75 [[ 8.99374770e-01 -3.31067466e-01 2.85515947e-01 -2.73001934e+02] [ 3.56408501e-01 9.33460698e-01 -4.03001851e-02 5.80903520e+00] [-2.53175835e-01 1.38005280e-01 9.57526260e-01 1.27748573e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.579072329 meters Centerline goodness : 0.749687 Centerline is valid? [False, False] Translation: X:-273.06, Y:5.83, Z:127.77 [[ 9.00612030e-01 -3.28736604e-01 2.84306555e-01 -2.73057191e+02] [ 3.55147517e-01 9.33707373e-01 -4.53958431e-02 5.82596838e+00] [-2.50535851e-01 1.41854810e-01 9.57658081e-01 1.27765616e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.60907232899996 meters Centerline goodness : 0.750684 Centerline is valid? [False, False] Translation: X:-273.10, Y:5.84, Z:127.78 [[ 9.00116946e-01 -3.31091499e-01 2.83139371e-01 -2.73102397e+02] [ 3.56110168e-01 9.33569465e-01 -4.04178422e-02 5.83869155e+00] [-2.50948267e-01 1.37209594e-01 9.58226745e-01 1.27781091e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.639072329 meters Centerline goodness : 0.749472 Centerline is valid? [False, False] Translation: X:-273.16, Y:5.86, Z:127.80 [[ 9.02178223e-01 -3.27359234e-01 2.80909925e-01 -2.73156579e+02] [ 3.52959611e-01 9.34581756e-01 -4.44573384e-02 5.85616420e+00] [-2.47979771e-01 1.39258301e-01 9.58703895e-01 1.27798200e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.66907232899996 meters Centerline goodness : 0.750397 Centerline is valid? [False, False] Translation: X:-273.20, Y:5.87, Z:127.81 [[ 9.02532095e-01 -3.26913233e-01 2.80291910e-01 -2.73200167e+02] [ 3.51117455e-01 9.35498418e-01 -3.94872605e-02 5.86999090e+00] [-2.49303730e-01 1.34053902e-01 9.59102289e-01 1.27813302e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.699072329 meters Centerline goodness : 0.750779 Centerline is valid? [False, False] Translation: X:-273.26, Y:5.89, Z:127.83 [[ 9.04427841e-01 -3.23012041e-01 2.78699662e-01 -2.73255314e+02] [ 3.47994455e-01 9.36466317e-01 -4.39396921e-02 5.88852718e+00] [-2.46799797e-01 1.36726218e-01 9.59372608e-01 1.27831360e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.72907232899996 meters Centerline goodness : 0.749456 Centerline is valid? [False, False] Translation: X:-273.30, Y:5.90, Z:127.85 [[ 9.02295164e-01 -3.28378095e-01 2.79340767e-01 -2.73303712e+02] [ 3.52807293e-01 9.34811098e-01 -4.06844570e-02 5.90245081e+00] [-2.47770964e-01 1.35262849e-01 9.59329720e-01 1.27847121e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.759072329 meters Centerline goodness : 0.751029 Centerline is valid? [False, False] Translation: X:-273.36, Y:5.92, Z:127.86 [[ 9.03463961e-01 -3.26612102e-01 2.77628181e-01 -2.73355765e+02] [ 3.52475296e-01 9.34613901e-01 -4.75186501e-02 5.91711073e+00] [-2.43954991e-01 1.40788463e-01 9.59512674e-01 1.27862753e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.78907232899996 meters Centerline goodness : 0.750627 Centerline is valid? [False, False] Translation: X:-273.40, Y:5.93, Z:127.88 [[ 9.03065352e-01 -3.28260286e-01 2.76980424e-01 -2.73400216e+02] [ 3.53244281e-01 9.34485433e-01 -4.42205116e-02 5.92838348e+00] [-2.44318334e-01 1.37775763e-01 9.59857485e-01 1.27878880e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.819072329 meters Centerline goodness : 0.751129 Centerline is valid? [False, False] Translation: X:-273.44, Y:5.94, Z:127.89 [[ 9.03281757e-01 -3.26522274e-01 2.78325838e-01 -2.73444736e+02] [ 3.50752833e-01 9.35581239e-01 -4.07454862e-02 5.94159071e+00] [-2.47092124e-01 1.34428231e-01 9.59622078e-01 1.27894770e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.84907232899997 meters Centerline goodness : 0.752441 Centerline is valid? [False, False] Translation: X:-273.49, Y:5.95, Z:127.91 [[ 9.03625543e-01 -3.25410009e-01 2.78512485e-01 -2.73486151e+02] [ 3.48767077e-01 9.36462289e-01 -3.74153336e-02 5.95420700e+00] [-2.48641116e-01 1.30945437e-01 9.59703542e-01 1.27908834e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.879072329 meters Centerline goodness : 0.753113 Centerline is valid? [False, False] Translation: X:-273.53, Y:5.97, Z:127.92 [[ 9.04061793e-01 -3.23556085e-01 2.79255678e-01 -2.73527022e+02] [ 3.46299718e-01 9.37473871e-01 -3.49177096e-02 5.96775640e+00] [-2.50497064e-01 1.28273930e-01 9.59581690e-01 1.27922634e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.90907232899997 meters Centerline goodness : 0.753808 Centerline is valid? [False, False] Translation: X:-273.58, Y:5.99, Z:127.94 [[ 9.05172732e-01 -3.21185833e-01 2.78391787e-01 -2.73582899e+02] [ 3.45108296e-01 9.37699163e-01 -4.02559739e-02 5.98573925e+00] [-2.48118097e-01 1.32513925e-01 9.59623608e-01 1.27939684e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.939072329 meters Centerline goodness : 0.752977 Centerline is valid? [False, False] Translation: X:-273.63, Y:6.00, Z:127.95 [[ 9.05485776e-01 -3.19822384e-01 2.78942918e-01 -2.73625793e+02] [ 3.42698990e-01 9.38750606e-01 -3.61206661e-02 5.99840774e+00] [-2.50305636e-01 1.28300206e-01 9.59628129e-01 1.27953847e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.96907232899997 meters Centerline goodness : 0.752906 Centerline is valid? [False, False] Translation: X:-273.68, Y:6.02, Z:127.97 [[ 9.07574503e-01 -3.15732202e-01 2.76806247e-01 -2.73678703e+02] [ 3.39463351e-01 9.39719034e-01 -4.11432979e-02 6.01574728e+00] [-2.47129835e-01 1.31306184e-01 9.60044546e-01 1.27970959e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.99907232899994 meters Centerline goodness : 0.754407 Centerline is valid? [False, False] Translation: X:-273.72, Y:6.03, Z:127.98 [[ 9.08432088e-01 -3.14240966e-01 2.75687789e-01 -2.73716924e+02] [ 3.37029110e-01 9.40715182e-01 -3.82926333e-02 6.02731198e+00] [-2.47310574e-01 1.27701067e-01 9.60484210e-01 1.27983825e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.029072329 meters Centerline goodness : 0.755011 Centerline is valid? [False, False] Translation: X:-273.77, Y:6.05, Z:128.00 [[ 9.10296062e-01 -3.09926146e-01 2.74420961e-01 -2.73771514e+02] [ 3.33867079e-01 9.41589229e-01 -4.40737699e-02 6.04552782e+00] [-2.44732207e-01 1.31740304e-01 9.60599104e-01 1.28002905e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.05907232899995 meters Centerline goodness : 0.754838 Centerline is valid? [False, False] Translation: X:-273.81, Y:6.06, Z:128.02 [[ 9.09884729e-01 -3.11724879e-01 2.73746925e-01 -2.73813597e+02] [ 3.34705889e-01 9.41454720e-01 -4.04348593e-02 6.05650394e+00] [-2.45115783e-01 1.28415769e-01 9.60951426e-01 1.28017189e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.089072329 meters Centerline goodness : 0.754211 Centerline is valid? [False, False] Translation: X:-273.86, Y:6.07, Z:128.03 [[ 9.09371724e-01 -3.14024312e-01 2.72821917e-01 -2.73857008e+02] [ 3.36042350e-01 9.41126083e-01 -3.68406623e-02 6.06791315e+00] [-2.45190959e-01 1.25181575e-01 9.61358917e-01 1.28032507e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.11907232899995 meters Centerline goodness : 0.753571 Centerline is valid? [False, False] Translation: X:-273.90, Y:6.08, Z:128.05 [[ 9.08721306e-01 -3.16349220e-01 2.72302697e-01 -2.73898917e+02] [ 3.37736462e-01 9.40614791e-01 -3.43204939e-02 6.07784688e+00] [-2.45274683e-01 1.23154313e-01 9.61599368e-01 1.28045035e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.149072329 meters Centerline goodness : 0.753686 Centerline is valid? [False, False] Translation: X:-273.94, Y:6.09, Z:128.06 [[ 9.07471146e-01 -3.19210914e-01 2.73130942e-01 -2.73940118e+02] [ 3.40609209e-01 9.39606593e-01 -3.35383066e-02 6.08702265e+00] [-2.45929840e-01 1.23465960e-01 9.61392048e-01 1.28056138e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.17907232899995 meters Centerline goodness : 0.753317 Centerline is valid? [False, False] Translation: X:-274.00, Y:6.10, Z:128.07 [[ 9.08039698e-01 -3.18502501e-01 2.72066285e-01 -2.73995078e+02] [ 3.41197538e-01 9.39169584e-01 -3.93030982e-02 6.10135176e+00] [-2.42998244e-01 1.28517120e-01 9.61475534e-01 1.28071171e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.209072329 meters Centerline goodness : 0.755288 Centerline is valid? [False, False] Translation: X:-274.04, Y:6.11, Z:128.08 [[ 9.06742245e-01 -3.21965775e-01 2.72316986e-01 -2.74038884e+02] [ 3.44088680e-01 9.38229977e-01 -3.64347469e-02 6.11041863e+00] [-2.43765218e-01 1.26738116e-01 9.61517534e-01 1.28083962e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.23907232899995 meters Centerline goodness : 0.755450 Centerline is valid? [False, False] Translation: X:-274.08, Y:6.12, Z:128.10 [[ 9.05867575e-01 -3.23729851e-01 2.73135353e-01 -2.74078881e+02] [ 3.45759295e-01 9.37655797e-01 -3.53852510e-02 6.11910015e+00] [-2.44651685e-01 1.26493438e-01 9.61324588e-01 1.28095025e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.269072329 meters Centerline goodness : 0.755719 Centerline is valid? [False, False] Translation: X:-274.14, Y:6.13, Z:128.11 [[ 9.05822234e-01 -3.24097689e-01 2.72849351e-01 -2.74135527e+02] [ 3.47692498e-01 9.36681951e-01 -4.16755259e-02 6.13358049e+00] [-2.42066121e-01 1.32618291e-01 9.61153673e-01 1.28110848e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.29907232899996 meters Centerline goodness : 0.756719 Centerline is valid? [False, False] Translation: X:-274.18, Y:6.14, Z:128.12 [[ 9.05064751e-01 -3.25725141e-01 2.73424449e-01 -2.74176508e+02] [ 3.48862878e-01 9.36348534e-01 -3.93206822e-02 6.14227253e+00] [-2.43212847e-01 1.30975404e-01 9.61089462e-01 1.28122508e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.329072329 meters Centerline goodness : 0.756835 Centerline is valid? [False, False] Translation: X:-274.22, Y:6.15, Z:128.13 [[ 9.05238560e-01 -3.25236033e-01 2.73431295e-01 -2.74217070e+02] [ 3.47543151e-01 9.36968428e-01 -3.61098630e-02 6.15371217e+00] [-2.44452262e-01 1.27717214e-01 9.61213506e-01 1.28134698e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.35907232899996 meters Centerline goodness : 0.758782 Centerline is valid? [False, False] Translation: X:-274.26, Y:6.16, Z:128.15 [[ 9.04855129e-01 -3.26018973e-01 2.73767830e-01 -2.74258002e+02] [ 3.47860507e-01 9.36929813e-01 -3.39940164e-02 6.16392596e+00] [-2.45418547e-01 1.25992676e-01 9.61194872e-01 1.28146948e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.389072329 meters Centerline goodness : 0.758902 Centerline is valid? [False, False] Translation: X:-274.31, Y:6.18, Z:128.16 [[ 9.05822338e-01 -3.24150594e-01 2.72786150e-01 -2.74312159e+02] [ 3.47298623e-01 9.36904004e-01 -3.99318708e-02 6.18007429e+00] [-2.42630497e-01 1.30909435e-01 9.61245630e-01 1.28163031e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.41907232899996 meters Centerline goodness : 0.758215 Centerline is valid? [False, False] Translation: X:-274.35, Y:6.19, Z:128.18 [[ 9.05006306e-01 -3.24874551e-01 2.74627223e-01 -2.74354828e+02] [ 3.48045427e-01 9.36670261e-01 -3.88999143e-02 6.19034570e+00] [-2.44597560e-01 1.30787417e-01 9.60763595e-01 1.28176341e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.449072329 meters Centerline goodness : 0.759707 Centerline is valid? [False, False] Translation: X:-274.40, Y:6.20, Z:128.19 [[ 9.03009245e-01 -3.28129879e-01 2.77317661e-01 -2.74398268e+02] [ 3.51651358e-01 9.35346016e-01 -3.83295188e-02 6.19950920e+00] [-2.46810909e-01 1.32131042e-01 9.60013418e-01 1.28189317e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.47907232899996 meters Centerline goodness : 0.757995 Centerline is valid? [False, False] Translation: X:-274.44, Y:6.21, Z:128.20 [[ 9.01439301e-01 -3.30792176e-01 2.79255658e-01 -2.74444144e+02] [ 3.54179603e-01 9.34469986e-01 -3.63683003e-02 6.21041655e+00] [-2.48925681e-01 1.31690473e-01 9.59527813e-01 1.28204517e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.509072329 meters Centerline goodness : 0.759439 Centerline is valid? [False, False] Translation: X:-274.48, Y:6.22, Z:128.22 [[ 9.00679819e-01 -3.32677247e-01 2.79466837e-01 -2.74484654e+02] [ 3.55757805e-01 9.33929892e-01 -3.48043102e-02 6.22064304e+00] [-2.49423831e-01 1.30770048e-01 9.59524334e-01 1.28217577e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.53907232899996 meters Centerline goodness : 0.760747 Centerline is valid? [False, False] Translation: X:-274.53, Y:6.23, Z:128.23 [[ 8.99722060e-01 -3.35493906e-01 2.79184622e-01 -2.74527061e+02] [ 3.57921236e-01 9.33201794e-01 -3.20437293e-02 6.23107703e+00] [-2.49785114e-01 1.28756555e-01 9.59702634e-01 1.28231207e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.569072329 meters Centerline goodness : 0.758091 Centerline is valid? [False, False] Translation: X:-274.56, Y:6.24, Z:128.24 [[ 8.99556382e-01 -3.36763964e-01 2.78187612e-01 -2.74564433e+02] [ 3.58720070e-01 9.32944145e-01 -3.05799391e-02 6.24030501e+00] [-2.49235282e-01 1.27299859e-01 9.60039853e-01 1.28242976e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.59907232899997 meters Centerline goodness : 0.758064 Centerline is valid? [False, False] Translation: X:-274.62, Y:6.25, Z:128.26 [[ 8.99011518e-01 -3.38233102e-01 2.78166603e-01 -2.74620699e+02] [ 3.62230227e-01 9.31301690e-01 -3.82939119e-02 6.25474284e+00] [-2.46104759e-01 1.35187020e-01 9.59769200e-01 1.28258381e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.629072329 meters Centerline goodness : 0.757474 Centerline is valid? [False, False] Translation: X:-274.66, Y:6.26, Z:128.27 [[ 8.97984886e-01 -3.40251762e-01 2.79019503e-01 -2.74662820e+02] [ 3.63996416e-01 9.30683130e-01 -3.65447749e-02 6.26307490e+00] [-2.47244320e-01 1.34378754e-01 9.59589806e-01 1.28270830e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.65907232899997 meters Centerline goodness : 0.757535 Centerline is valid? [False, False] Translation: X:-274.71, Y:6.27, Z:128.28 [[ 8.96640463e-01 -3.43214785e-01 2.79713232e-01 -2.74706438e+02] [ 3.66680935e-01 9.29701046e-01 -3.46562724e-02 6.27376182e+00] [-2.48155139e-01 1.33639725e-01 9.59457894e-01 1.28284972e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.689072329 meters Centerline goodness : 0.757733 Centerline is valid? [False, False] Translation: X:-274.75, Y:6.29, Z:128.30 [[ 8.95248614e-01 -3.46040953e-01 2.80687689e-01 -2.74751526e+02] [ 3.69002327e-01 9.28885452e-01 -3.17663218e-02 6.28527113e+00] [-2.49734263e-01 1.32013166e-01 9.59273330e-01 1.28299628e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.71907232899997 meters Centerline goodness : 0.758658 Centerline is valid? [False, False] Translation: X:-274.79, Y:6.29, Z:128.31 [[ 8.95465065e-01 -3.44377166e-01 2.82040218e-01 -2.74789409e+02] [ 3.67465181e-01 9.29495105e-01 -3.17520072e-02 6.29365131e+00] [-2.51220336e-01 1.32072773e-01 9.58877013e-01 1.28311085e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.74907232899994 meters Centerline goodness : 0.758507 Centerline is valid? [False, False] Translation: X:-274.85, Y:6.31, Z:128.33 [[ 8.94433244e-01 -3.45368603e-01 2.84094528e-01 -2.74849798e+02] [ 3.70580755e-01 9.27998988e-01 -3.85717862e-02 6.30954908e+00] [-2.50317950e-01 1.39779852e-01 9.58020102e-01 1.28329469e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.779072329 meters Centerline goodness : 0.759366 Centerline is valid? [False, False] Translation: X:-274.89, Y:6.32, Z:128.34 [[ 8.92631540e-01 -3.49301776e-01 2.84951231e-01 -2.74893106e+02] [ 3.74295528e-01 9.26583944e-01 -3.66749660e-02 6.31902516e+00] [-2.51220605e-01 1.39393203e-01 9.57840145e-01 1.28343482e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.80907232899995 meters Centerline goodness : 0.758619 Centerline is valid? [False, False] Translation: X:-274.94, Y:6.33, Z:128.36 [[ 8.90742742e-01 -3.53167062e-01 2.86095080e-01 -2.74936320e+02] [ 3.78066622e-01 9.25112926e-01 -3.50956262e-02 6.32830928e+00] [-2.52275638e-01 1.39424175e-01 9.57558302e-01 1.28357533e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.839072329 meters Centerline goodness : 0.759013 Centerline is valid? [False, False] Translation: X:-274.98, Y:6.34, Z:128.37 [[ 8.87996475e-01 -3.58456927e-01 2.88046683e-01 -2.74980251e+02] [ 3.83986306e-01 9.22653234e-01 -3.55742445e-02 6.33570643e+00] [-2.53015369e-01 1.42195786e-01 9.56955371e-01 1.28372244e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.86907232899995 meters Centerline goodness : 0.759323 Centerline is valid? [False, False] Translation: X:-275.04, Y:6.35, Z:128.39 [[ 8.88294905e-01 -3.57649521e-01 2.88130148e-01 -2.75036577e+02] [ 3.84678119e-01 9.22124766e-01 -4.13359454e-02 6.35071162e+00] [-2.50908164e-01 1.47555873e-01 9.56698676e-01 1.28388372e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.899072329 meters Centerline goodness : 0.757860 Centerline is valid? [False, False] Translation: X:-275.08, Y:6.36, Z:128.40 [[ 8.86351343e-01 -3.61929959e-01 2.88769807e-01 -2.75079536e+02] [ 3.88787391e-01 9.20473068e-01 -3.96698220e-02 6.36025250e+00] [-2.51447133e-01 1.47431460e-01 9.56576345e-01 1.28402082e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.92907232899995 meters Centerline goodness : 0.759004 Centerline is valid? [False, False] Translation: X:-275.13, Y:6.37, Z:128.42 [[ 8.83331664e-01 -3.68728381e-01 2.89421065e-01 -2.75125039e+02] [ 3.95562518e-01 9.17644977e-01 -3.81836449e-02 6.36784674e+00] [-2.51506393e-01 1.48212948e-01 9.56439991e-01 1.28416310e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.959072329 meters Centerline goodness : 0.759311 Centerline is valid? [False, False] Translation: X:-275.17, Y:6.38, Z:128.43 [[ 8.81143472e-01 -3.73405655e-01 2.90093776e-01 -2.75168152e+02] [ 4.00090367e-01 9.15748153e-01 -3.65105246e-02 6.37792706e+00] [-2.52019603e-01 1.48234736e-01 9.56301513e-01 1.28430139e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.98907232899995 meters Centerline goodness : 0.758039 Centerline is valid? [False, False] Translation: X:-275.22, Y:6.39, Z:128.45 [[ 8.82094796e-01 -3.71861336e-01 2.89184918e-01 -2.75222180e+02] [ 3.99775190e-01 9.15650674e-01 -4.19957311e-02 6.39138577e+00] [-2.49175777e-01 1.52653172e-01 9.56351631e-01 1.28445569e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.019072329 meters Centerline goodness : 0.759192 Centerline is valid? [False, False] Translation: X:-275.27, Y:6.40, Z:128.46 [[ 8.79401051e-01 -3.77186612e-01 2.90489331e-01 -2.75265905e+02] [ 4.05298550e-01 9.13258149e-01 -4.11416950e-02 6.40032041e+00] [-2.49773652e-01 1.53914955e-01 9.55993363e-01 1.28459867e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.04907232899996 meters Centerline goodness : 0.757646 Centerline is valid? [False, False] Translation: X:-275.31, Y:6.41, Z:128.48 [[ 8.78549332e-01 -3.79204070e-01 2.90439915e-01 -2.75309722e+02] [ 4.06433910e-01 9.12910091e-01 -3.75052406e-02 6.41125433e+00] [-2.50923389e-01 1.50994834e-01 9.56157943e-01 1.28475757e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.079072329 meters Centerline goodness : 0.759017 Centerline is valid? [False, False] Translation: X:-275.35, Y:6.42, Z:128.49 [[ 8.77116258e-01 -3.82341072e-01 2.90658519e-01 -2.75350658e+02] [ 4.09491338e-01 9.11579685e-01 -3.65967452e-02 6.42212873e+00] [-2.50965962e-01 1.51121746e-01 9.56126720e-01 1.28490200e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.10907232899996 meters Centerline goodness : 0.758291 Centerline is valid? [False, False] Translation: X:-275.41, Y:6.44, Z:128.51 [[ 8.77806715e-01 -3.80945413e-01 2.90406550e-01 -2.75407909e+02] [ 4.09246512e-01 9.11485666e-01 -4.13663270e-02 6.43744506e+00] [-2.48943095e-01 1.55159507e-01 9.56008819e-01 1.28506172e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.139072329 meters Centerline goodness : 0.759547 Centerline is valid? [False, False] Translation: X:-275.45, Y:6.45, Z:128.52 [[ 8.77654138e-01 -3.82253822e-01 2.89145689e-01 -2.75448175e+02] [ 4.09621723e-01 9.11447081e-01 -3.83961129e-02 6.44854321e+00] [-2.48863934e-01 1.52138863e-01 9.56514772e-01 1.28520768e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.16907232899996 meters Centerline goodness : 0.759712 Centerline is valid? [False, False] Translation: X:-275.49, Y:6.46, Z:128.54 [[ 8.78102457e-01 -3.82319416e-01 2.87694177e-01 -2.75490455e+02] [ 4.08139906e-01 9.12310003e-01 -3.33507842e-02 6.46168724e+00] [-2.49715623e-01 1.46704880e-01 9.57141466e-01 1.28535651e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.199072329 meters Centerline goodness : 0.758847 Centerline is valid? [False, False] Translation: X:-275.53, Y:6.47, Z:128.55 [[ 8.78188341e-01 -3.82560687e-01 2.87110707e-01 -2.75529231e+02] [ 4.07808378e-01 9.12524926e-01 -3.14735770e-02 6.47272154e+00] [-2.49955124e-01 1.44725880e-01 9.57380204e-01 1.28549663e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.22907232899996 meters Centerline goodness : 0.760290 Centerline is valid? [False, False] Translation: X:-275.57, Y:6.48, Z:128.56 [[ 8.76770466e-01 -3.84927680e-01 2.88278044e-01 -2.75572529e+02] [ 4.10121717e-01 9.11530268e-01 -3.02117277e-02 6.48345069e+00] [-2.51144832e-01 1.44717837e-01 9.57070019e-01 1.28564875e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.259072329 meters Centerline goodness : 0.760640 Centerline is valid? [False, False] Translation: X:-275.63, Y:6.50, Z:128.58 [[ 8.77172826e-01 -3.83554140e-01 2.88884155e-01 -2.75626700e+02] [ 4.10899582e-01 9.10876447e-01 -3.82835638e-02 6.49913654e+00] [-2.48453954e-01 1.52283681e-01 9.56598303e-01 1.28581175e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.28907232899996 meters Centerline goodness : 0.760418 Centerline is valid? [False, False] Translation: X:-275.67, Y:6.51, Z:128.59 [[ 8.76213651e-01 -3.86043929e-01 2.88478288e-01 -2.75667191e+02] [ 4.13004057e-01 9.09989909e-01 -3.66880758e-02 6.50915897e+00] [-2.48349122e-01 1.51289296e-01 9.56783289e-01 1.28594770e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.319072329 meters Centerline goodness : 0.759997 Centerline is valid? [False, False] Translation: X:-275.71, Y:6.52, Z:128.61 [[ 8.74332061e-01 -3.89952634e-01 2.88929732e-01 -2.75710958e+02] [ 4.16610590e-01 9.08424169e-01 -3.46575558e-02 6.51944851e+00] [-2.48955946e-01 1.50673398e-01 9.56722773e-01 1.28609454e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.34907232899997 meters Centerline goodness : 0.761580 Centerline is valid? [False, False] Translation: X:-275.75, Y:6.53, Z:128.62 [[ 8.73224194e-01 -3.92212146e-01 2.89221609e-01 -2.75752774e+02] [ 4.18612957e-01 9.07559593e-01 -3.31478202e-02 6.53033046e+00] [-2.49484868e-01 1.50017391e-01 9.56688080e-01 1.28624250e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.379072329 meters Centerline goodness : 0.762501 Centerline is valid? [False, False] Translation: X:-275.80, Y:6.54, Z:128.64 [[ 8.70792838e-01 -3.96608789e-01 2.90553442e-01 -2.75798772e+02] [ 4.22945768e-01 9.05610602e-01 -3.14056565e-02 6.54108404e+00] [-2.50672518e-01 1.50236169e-01 9.56343235e-01 1.28640630e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.40907232899997 meters Centerline goodness : 0.763208 Centerline is valid? [False, False] Translation: X:-275.85, Y:6.56, Z:128.65 [[ 8.70525535e-01 -3.94789260e-01 2.93814112e-01 -2.75854004e+02] [ 4.22576442e-01 9.05645848e-01 -3.51389818e-02 6.55565395e+00] [-2.52219038e-01 1.54748303e-01 9.55216478e-01 1.28654042e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.439072329 meters Centerline goodness : 0.762205 Centerline is valid? [False, False] Translation: X:-275.91, Y:6.57, Z:128.67 [[ 8.73359425e-01 -3.90407846e-01 2.91247365e-01 -2.75906976e+02] [ 4.18296722e-01 9.07522058e-01 -3.78360592e-02 6.57132745e+00] [-2.49541913e-01 1.54872297e-01 9.55899265e-01 1.28668864e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.46907232899997 meters Centerline goodness : 0.762205 Centerline is valid? [False, False] Translation: X:-275.95, Y:6.58, Z:128.68 [[ 8.72918605e-01 -3.92085969e-01 2.90313111e-01 -2.75948741e+02] [ 4.19175258e-01 9.07225881e-01 -3.51184379e-02 6.58332464e+00] [-2.49610121e-01 1.52347611e-01 9.56287087e-01 1.28684427e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.49907232899994 meters Centerline goodness : 0.762870 Centerline is valid? [False, False] Translation: X:-275.99, Y:6.60, Z:128.70 [[ 8.73132460e-01 -3.92624728e-01 2.88938628e-01 -2.75989526e+02] [ 4.18632736e-01 9.07600236e-01 -3.17560007e-02 6.59561607e+00] [-2.49772576e-01 1.48686363e-01 9.56820791e-01 1.28699677e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.529072329 meters Centerline goodness : 0.761712 Centerline is valid? [False, False] Translation: X:-276.05, Y:6.61, Z:128.72 [[ 8.75411501e-01 -3.87941228e-01 2.88368355e-01 -2.76046193e+02] [ 4.15036607e-01 9.09052128e-01 -3.69978870e-02 6.61481576e+00] [-2.47788861e-01 1.52071799e-01 9.56804499e-01 1.28718071e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.55907232899995 meters Centerline goodness : 0.761991 Centerline is valid? [False, False] Translation: X:-276.09, Y:6.63, Z:128.73 [[ 8.74550245e-01 -3.90108701e-01 2.88057406e-01 -2.76087913e+02] [ 4.16906415e-01 9.08247132e-01 -3.57237769e-02 6.62744812e+00] [-2.47691157e-01 1.51335218e-01 9.56946572e-01 1.28733215e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.589072329 meters Centerline goodness : 0.761967 Centerline is valid? [False, False] Translation: X:-276.13, Y:6.64, Z:128.75 [[ 8.74633085e-01 -3.90569761e-01 2.87179785e-01 -2.76127651e+02] [ 4.16685137e-01 9.08430768e-01 -3.35713697e-02 6.63878239e+00] [-2.47770991e-01 1.49026179e-01 9.57288219e-01 1.28747913e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.61907232899995 meters Centerline goodness : 0.762570 Centerline is valid? [False, False] Translation: X:-276.17, Y:6.65, Z:128.77 [[ 8.71986909e-01 -3.94717060e-01 2.89546668e-01 -2.76174948e+02] [ 4.21286567e-01 9.06319218e-01 -3.32130017e-02 6.65214247e+00] [-2.49311972e-01 1.50943425e-01 9.56587489e-01 1.28765525e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.649072329 meters Centerline goodness : 0.762710 Centerline is valid? [False, False] Translation: X:-276.23, Y:6.67, Z:128.78 [[ 8.72952456e-01 -3.92280068e-01 2.89948890e-01 -2.76230650e+02] [ 4.20446022e-01 9.06458725e-01 -3.94679828e-02 6.66806874e+00] [-2.47344198e-01 1.56361530e-01 9.56227964e-01 1.28782791e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.67907232899995 meters Centerline goodness : 0.763111 Centerline is valid? [False, False] Translation: X:-276.27, Y:6.68, Z:128.80 [[ 8.72149597e-01 -3.94466948e-01 2.89397490e-01 -2.76271782e+02] [ 4.22161703e-01 9.05737064e-01 -3.76811268e-02 6.67907199e+00] [-2.47254074e-01 1.55036117e-01 9.56467054e-01 1.28797618e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.709072329 meters Centerline goodness : 0.762451 Centerline is valid? [False, False] Translation: X:-276.31, Y:6.69, Z:128.81 [[ 8.70718434e-01 -3.98257688e-01 2.88513819e-01 -2.76314595e+02] [ 4.25126529e-01 9.04476587e-01 -3.44896870e-02 6.68989976e+00] [-2.47218211e-01 1.52685684e-01 9.56854345e-01 1.28810964e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.73907232899995 meters Centerline goodness : 0.761609 Centerline is valid? [False, False] Translation: X:-276.35, Y:6.70, Z:128.83 [[ 8.70007166e-01 -4.00250305e-01 2.87901414e-01 -2.76354908e+02] [ 4.26715357e-01 9.03783052e-01 -3.30181660e-02 6.70002210e+00] [-2.46984888e-01 1.51577996e-01 9.57090684e-01 1.28825691e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.769072329 meters Centerline goodness : 0.764803 Centerline is valid? [False, False] Translation: X:-276.42, Y:6.72, Z:128.85 [[ 8.69801980e-01 -3.98937351e-01 2.90333439e-01 -2.76417509e+02] [ 4.27388031e-01 9.03212552e-01 -3.93262762e-02 6.72008239e+00] [-2.46544086e-01 1.58291110e-01 9.56117115e-01 1.28847008e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.79907232899996 meters Centerline goodness : 0.763617 Centerline is valid? [False, False] Translation: X:-276.46, Y:6.73, Z:128.86 [[ 8.69358637e-01 -3.99771112e-01 2.90514404e-01 -2.76462392e+02] [ 4.27411502e-01 9.03342160e-01 -3.59492709e-02 6.73382841e+00] [-2.48062429e-01 1.55422007e-01 9.56195080e-01 1.28863846e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.829072329 meters Centerline goodness : 0.761978 Centerline is valid? [False, False] Translation: X:-276.52, Y:6.75, Z:128.88 [[ 8.70290049e-01 -3.97554316e-01 2.90767598e-01 -2.76520769e+02] [ 4.26567537e-01 9.03506645e-01 -4.14231701e-02 6.75215411e+00] [-2.46242496e-01 1.60082191e-01 9.55896608e-01 1.28882116e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.85907232899996 meters Centerline goodness : 0.761851 Centerline is valid? [False, False] Translation: X:-276.57, Y:6.76, Z:128.90 [[ 8.69685676e-01 -3.99205422e-01 2.90313374e-01 -2.76566512e+02] [ 4.27165709e-01 9.03399493e-01 -3.74006974e-02 6.76468848e+00] [-2.47338393e-01 1.56538769e-01 9.56200467e-01 1.28898862e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.889072329 meters Centerline goodness : 0.762829 Centerline is valid? [False, False] Translation: X:-276.61, Y:6.78, Z:128.91 [[ 8.69704188e-01 -4.00199710e-01 2.88885474e-01 -2.76606558e+02] [ 4.27253760e-01 9.03466554e-01 -3.46757882e-02 6.77555899e+00] [-2.47121123e-01 1.53585083e-01 9.56735477e-01 1.28913337e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.91907232899996 meters Centerline goodness : 0.761761 Centerline is valid? [False, False] Translation: X:-276.67, Y:6.79, Z:128.93 [[ 8.71681387e-01 -3.96214855e-01 2.88418703e-01 -2.76665018e+02] [ 4.24346626e-01 9.04626314e-01 -3.97639664e-02 6.79443391e+00] [-2.45156074e-01 1.57051013e-01 9.56678357e-01 1.28932065e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.949072329 meters Centerline goodness : 0.762812 Centerline is valid? [False, False] Translation: X:-276.71, Y:6.81, Z:128.95 [[ 8.70854628e-01 -3.98161305e-01 2.88235652e-01 -2.76707801e+02] [ 4.25968710e-01 9.03925501e-01 -3.83320570e-02 6.80725558e+00] [-2.45281215e-01 1.56161018e-01 9.56791964e-01 1.28948520e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.97907232899996 meters Centerline goodness : 0.761839 Centerline is valid? [False, False] Translation: X:-276.75, Y:6.82, Z:128.96 [[ 8.70557343e-01 -3.98979417e-01 2.88002322e-01 -2.76751694e+02] [ 4.25858069e-01 9.04122479e-01 -3.47483635e-02 6.81989642e+00] [-2.46525492e-01 1.52898556e-01 9.56999067e-01 1.28964438e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.009072329 meters Centerline goodness : 0.762904 Centerline is valid? [False, False] Translation: X:-276.81, Y:6.84, Z:128.98 [[ 8.72502189e-01 -3.94881221e-01 2.87765099e-01 -2.76809125e+02] [ 4.23129162e-01 9.05148057e-01 -4.08498112e-02 6.83979588e+00] [-2.44339197e-01 1.57403355e-01 9.56829421e-01 1.28983652e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.03907232899996 meters Centerline goodness : 0.764095 Centerline is valid? [False, False] Translation: X:-276.85, Y:6.86, Z:129.00 [[ 8.72808227e-01 -3.94896343e-01 2.86814709e-01 -2.76853051e+02] [ 4.21983475e-01 9.05850851e-01 -3.69348545e-02 6.85518340e+00] [-2.45225909e-01 1.53268112e-01 9.57273806e-01 1.29000654e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.069072329 meters Centerline goodness : 0.763744 Centerline is valid? [False, False] Translation: X:-276.90, Y:6.87, Z:129.02 [[ 8.72905091e-01 -3.94379575e-01 2.87230663e-01 -2.76898316e+02] [ 4.20485202e-01 9.06701534e-01 -3.29320943e-02 6.86920439e+00] [-2.47444737e-01 1.49522836e-01 9.57295160e-01 1.29017815e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.09907232899997 meters Centerline goodness : 0.767348 Centerline is valid? [False, False] Translation: X:-276.95, Y:6.89, Z:129.04 [[ 8.74596008e-01 -3.90669484e-01 2.87157061e-01 -2.76954297e+02] [ 4.18261079e-01 9.07476123e-01 -3.93033755e-02 6.88736675e+00] [-2.45233547e-01 1.54481198e-01 9.57076834e-01 1.29036404e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.129072329 meters Centerline goodness : 0.765552 Centerline is valid? [False, False] Translation: X:-277.00, Y:6.90, Z:129.05 [[ 8.74388084e-01 -3.91558939e-01 2.86578220e-01 -2.76996599e+02] [ 4.18429830e-01 9.07505851e-01 -3.67370182e-02 6.89952509e+00] [-2.45686704e-01 1.52035287e-01 9.57352242e-01 1.29052631e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.15907232899997 meters Centerline goodness : 0.766175 Centerline is valid? [False, False] Translation: X:-277.05, Y:6.92, Z:129.07 [[ 8.77400214e-01 -3.86292314e-01 2.84512058e-01 -2.77051171e+02] [ 4.13905990e-01 9.09361156e-01 -4.17626529e-02 6.91750880e+00] [-2.42591623e-01 1.54403806e-01 9.57762376e-01 1.29070638e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.189072329 meters Centerline goodness : 0.766539 Centerline is valid? [False, False] Translation: X:-277.09, Y:6.93, Z:129.09 [[ 8.77838656e-01 -3.85688985e-01 2.83977641e-01 -2.77091988e+02] [ 4.12539767e-01 9.10096164e-01 -3.91907247e-02 6.92820430e+00] [-2.43331531e-01 1.51555203e-01 9.58029637e-01 1.29085412e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.21907232899997 meters Centerline goodness : 0.766816 Centerline is valid? [False, False] Translation: X:-277.13, Y:6.94, Z:129.10 [[ 8.78011519e-01 -3.85404714e-01 2.83829137e-01 -2.77133144e+02] [ 4.11826444e-01 9.10484606e-01 -3.76399081e-02 6.94152741e+00] [-2.43915462e-01 1.49936617e-01 9.58135825e-01 1.29101421e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.24907232899994 meters Centerline goodness : 0.769049 Centerline is valid? [False, False] Translation: X:-277.17, Y:6.95, Z:129.11 [[ 8.79858248e-01 -3.78384433e-01 2.87532058e-01 -2.77172361e+02] [ 4.05836494e-01 9.13056015e-01 -4.03169094e-02 6.95477125e+00] [-2.47277584e-01 1.52164168e-01 9.56922078e-01 1.29114220e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.279072329 meters Centerline goodness : 0.767811 Centerline is valid? [False, False] Translation: X:-277.22, Y:6.97, Z:129.13 [[ 8.80165084e-01 -3.78580766e-01 2.86332024e-01 -2.77215376e+02] [ 4.04798100e-01 9.13686516e-01 -3.62691276e-02 6.96972409e+00] [-2.47886915e-01 1.47829479e-01 9.57443744e-01 1.29130622e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.30907232899995 meters Centerline goodness : 0.769634 Centerline is valid? [False, False] Translation: X:-277.27, Y:6.99, Z:129.15 [[ 8.84346151e-01 -3.70958528e-01 2.83410754e-01 -2.77268059e+02] [ 3.97252626e-01 9.16859224e-01 -3.94906776e-02 6.99048239e+00] [-2.45198361e-01 1.47509095e-01 9.58185176e-01 1.29147374e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.339072329 meters Centerline goodness : 0.768151 Centerline is valid? [False, False] Translation: X:-277.31, Y:7.00, Z:129.16 [[ 8.85082412e-01 -3.70869864e-01 2.81219964e-01 -2.77306750e+02] [ 3.95965136e-01 9.17553305e-01 -3.61599817e-02 7.00365857e+00] [-2.44623660e-01 1.43357865e-01 9.58961828e-01 1.29161770e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.36907232899995 meters Centerline goodness : 0.765887 Centerline is valid? [False, False] Translation: X:-277.34, Y:7.02, Z:129.18 [[ 8.86143530e-01 -3.68997941e-01 2.80339373e-01 -2.77344287e+02] [ 3.93444807e-01 9.18703745e-01 -3.44182103e-02 7.01501105e+00] [-2.44848584e-01 1.40797545e-01 9.59283703e-01 1.29175501e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.399072329 meters Centerline goodness : 0.769250 Centerline is valid? [False, False] Translation: X:-277.39, Y:7.03, Z:129.19 [[ 8.86677529e-01 -3.64419748e-01 2.84607110e-01 -2.77385112e+02] [ 3.90107542e-01 9.20011583e-01 -3.73469319e-02 7.02697867e+00] [-2.48231878e-01 1.44142065e-01 9.57916489e-01 1.29188956e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.42907232899995 meters Centerline goodness : 0.769405 Centerline is valid? [False, False] Translation: X:-277.43, Y:7.04, Z:129.20 [[ 8.86411091e-01 -3.64600052e-01 2.85205505e-01 -2.77426133e+02] [ 3.90182630e-01 9.20011509e-01 -3.65559804e-02 7.03941216e+00] [-2.49064034e-01 1.43685860e-01 9.57769012e-01 1.29204356e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.459072329 meters Centerline goodness : 0.770937 Centerline is valid? [False, False] Translation: X:-277.48, Y:7.06, Z:129.22 [[ 8.89081788e-01 -3.59629002e-01 2.83197024e-01 -2.77477145e+02] [ 3.86333949e-01 9.21363343e-01 -4.28447251e-02 7.05779000e+00] [-2.45519151e-01 1.47501090e-01 9.58104261e-01 1.29220932e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.48907232899995 meters Centerline goodness : 0.769994 Centerline is valid? [False, False] Translation: X:-277.52, Y:7.07, Z:129.24 [[ 8.89398111e-01 -3.59838525e-01 2.81934809e-01 -2.77517386e+02] [ 3.85420542e-01 9.21907614e-01 -3.92091553e-02 7.07026263e+00] [-2.45808882e-01 1.43536016e-01 9.58632049e-01 1.29235178e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.519072329 meters Centerline goodness : 0.770381 Centerline is valid? [False, False] Translation: X:-277.56, Y:7.08, Z:129.25 [[ 8.90526015e-01 -3.56039600e-01 2.83194669e-01 -2.77557176e+02] [ 3.81319751e-01 9.23668966e-01 -3.78270856e-02 7.08400538e+00] [-2.48110187e-01 1.41673724e-01 9.58316175e-01 1.29250094e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.54907232899996 meters Centerline goodness : 0.770635 Centerline is valid? [False, False] Translation: X:-277.60, Y:7.10, Z:129.27 [[ 8.90203594e-01 -3.56062335e-01 2.84178070e-01 -2.77600398e+02] [ 3.80817437e-01 9.23978942e-01 -3.52277411e-02 7.09677158e+00] [-2.50031281e-01 1.39579826e-01 9.58124121e-01 1.29266269e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.579072329 meters Centerline goodness : 0.772659 Centerline is valid? [False, False] Translation: X:-277.64, Y:7.11, Z:129.28 [[ 8.89904327e-01 -3.56643331e-01 2.84386750e-01 -2.77642105e+02] [ 3.80920239e-01 9.24011871e-01 -3.31938719e-02 7.11051148e+00] [-2.50938360e-01 1.37868039e-01 9.58134825e-01 1.29281612e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.60907232899996 meters Centerline goodness : 0.773304 Centerline is valid? [False, False] Translation: X:-277.69, Y:7.12, Z:129.29 [[ 8.91421195e-01 -3.50921178e-01 2.86744801e-01 -2.77685214e+02] [ 3.75049311e-01 9.26447425e-01 -3.21431579e-02 7.12483198e+00] [-2.54374268e-01 1.36196532e-01 9.57467616e-01 1.29294365e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.639072329 meters Centerline goodness : 0.774093 Centerline is valid? [False, False] Translation: X:-277.73, Y:7.14, Z:129.31 [[ 8.93784422e-01 -3.46563188e-01 2.84681162e-01 -2.77734739e+02] [ 3.71774383e-01 9.27542724e-01 -3.80565697e-02 7.14223300e+00] [-2.50864934e-01 1.39851532e-01 9.57866553e-01 1.29309681e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.66907232899996 meters Centerline goodness : 0.773544 Centerline is valid? [False, False] Translation: X:-277.79, Y:7.16, Z:129.33 [[ 8.96893584e-01 -3.40388081e-01 2.82343501e-01 -2.77785747e+02] [ 3.66261995e-01 9.29524537e-01 -4.28519158e-02 7.16097749e+00] [-2.47858931e-01 1.41845302e-01 9.58355811e-01 1.29327335e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.699072329 meters Centerline goodness : 0.775033 Centerline is valid? [False, False] Translation: X:-277.83, Y:7.17, Z:129.34 [[ 8.96634150e-01 -3.40517799e-01 2.83010298e-01 -2.77827189e+02] [ 3.65960044e-01 9.29736775e-01 -4.07771491e-02 7.17313067e+00] [-2.49239737e-01 1.40132646e-01 9.58249652e-01 1.29342119e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.72907232899996 meters Centerline goodness : 0.776192 Centerline is valid? [False, False] Translation: X:-277.87, Y:7.19, Z:129.36 [[ 8.95283226e-01 -3.42811172e-01 2.84514403e-01 -2.77871542e+02] [ 3.68143033e-01 9.28944403e-01 -3.91535981e-02 7.18580797e+00] [-2.50875771e-01 1.39795555e-01 9.57871886e-01 1.29358219e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.759072329 meters Centerline goodness : 0.776747 Centerline is valid? [False, False] Translation: X:-277.92, Y:7.20, Z:129.37 [[ 8.93837995e-01 -3.45169573e-01 2.86202035e-01 -2.77915861e+02] [ 3.70265208e-01 9.28191106e-01 -3.69451729e-02 7.19789204e+00] [-2.52897834e-01 1.38993655e-01 9.57456761e-01 1.29374281e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.78907232899996 meters Centerline goodness : 0.776293 Centerline is valid? [False, False] Translation: X:-277.96, Y:7.21, Z:129.39 [[ 8.92653101e-01 -3.47907382e-01 2.86584883e-01 -2.77958675e+02] [ 3.72611729e-01 9.27332772e-01 -3.48486569e-02 7.20863921e+00] [-2.53635449e-01 1.37892650e-01 9.57420846e-01 1.29389500e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.819072329 meters Centerline goodness : 0.778281 Centerline is valid? [False, False] Translation: X:-278.01, Y:7.22, Z:129.40 [[ 8.92505641e-01 -3.49077514e-01 2.85619624e-01 -2.78013780e+02] [ 3.75473016e-01 9.25896037e-01 -4.16718504e-02 7.22225400e+00] [-2.49907372e-01 1.44434823e-01 9.57436623e-01 1.29404571e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.84907232899997 meters Centerline goodness : 0.776576 Centerline is valid? [False, False] Translation: X:-278.07, Y:7.24, Z:129.42 [[ 8.93214063e-01 -3.48162519e-01 2.84519768e-01 -2.78068135e+02] [ 3.75846692e-01 9.25466542e-01 -4.74441163e-02 7.23698805e+00] [-2.46795262e-01 1.49313565e-01 9.57495461e-01 1.29419881e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.879072329 meters Centerline goodness : 0.778296 Centerline is valid? [False, False] Translation: X:-278.12, Y:7.25, Z:129.43 [[ 8.93192489e-01 -3.48869039e-01 2.83720939e-01 -2.78123073e+02] [ 3.78164641e-01 9.24152864e-01 -5.41570734e-02 7.25047819e+00] [-2.43307792e-01 1.55665918e-01 9.57376332e-01 1.29434349e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.90907232899997 meters Centerline goodness : 0.779285 Centerline is valid? [False, False] Translation: X:-278.17, Y:7.26, Z:129.45 [[ 8.91378434e-01 -3.52896179e-01 2.84444676e-01 -2.78168470e+02] [ 3.81461415e-01 9.23017200e-01 -5.02636765e-02 7.26117479e+00] [-2.44809469e-01 1.53308626e-01 9.57373902e-01 1.29449040e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.939072329 meters Centerline goodness : 0.779765 Centerline is valid? [False, False] Translation: X:-278.21, Y:7.27, Z:129.46 [[ 8.89919442e-01 -3.55874653e-01 2.85300924e-01 -2.78212322e+02] [ 3.83873418e-01 9.22184292e-01 -4.70885381e-02 7.27168608e+00] [-2.46342414e-01 1.51424447e-01 9.57280550e-01 1.29463454e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.96907232899997 meters Centerline goodness : 0.780166 Centerline is valid? [False, False] Translation: X:-278.26, Y:7.28, Z:129.48 [[ 8.87919648e-01 -3.59844952e-01 2.86548964e-01 -2.78258040e+02] [ 3.87457190e-01 9.20825671e-01 -4.42381009e-02 7.28373970e+00] [-2.47942784e-01 1.50305335e-01 9.57043720e-01 1.29479217e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.99907232899994 meters Centerline goodness : 0.782370 Centerline is valid? [False, False] Translation: X:-278.30, Y:7.30, Z:129.49 [[ 8.87046222e-01 -3.62022634e-01 2.86511104e-01 -2.78301616e+02] [ 3.88732688e-01 9.20461190e-01 -4.04733970e-02 7.29591482e+00] [-2.49070066e-01 1.47278006e-01 9.57221652e-01 1.29494179e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.029072329 meters Centerline goodness : 0.782623 Centerline is valid? [False, False] Translation: X:-278.35, Y:7.31, Z:129.51 [[ 8.85431849e-01 -3.65262784e-01 2.87390916e-01 -2.78346193e+02] [ 3.91742827e-01 9.19265461e-01 -3.85819934e-02 7.30672299e+00] [-2.50095976e-01 1.46745056e-01 9.57035993e-01 1.29510262e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.05907232899995 meters Centerline goodness : 0.783130 Centerline is valid? [False, False] Translation: X:-278.39, Y:7.32, Z:129.53 [[ 8.84531172e-01 -3.67574340e-01 2.87217184e-01 -2.78387900e+02] [ 3.93651525e-01 9.18522559e-01 -3.68074115e-02 7.31900377e+00] [-2.50286003e-01 1.45620785e-01 9.57158035e-01 1.29525014e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.089072329 meters Centerline goodness : 0.784482 Centerline is valid? [False, False] Translation: X:-278.43, Y:7.33, Z:129.54 [[ 8.83415969e-01 -3.69404649e-01 2.88299203e-01 -2.78431724e+02] [ 3.95226851e-01 9.17919768e-01 -3.49147061e-02 7.33025853e+00] [-2.51737882e-01 1.44787795e-01 9.56903617e-01 1.29540935e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.11907232899995 meters Centerline goodness : 0.783265 Centerline is valid? [False, False] Translation: X:-278.48, Y:7.34, Z:129.56 [[ 8.84238836e-01 -3.63441966e-01 2.93311469e-01 -2.78475677e+02] [ 3.90293876e-01 9.19959028e-01 -3.66889335e-02 7.34455656e+00] [-2.56500235e-01 1.46919450e-01 9.55312674e-01 1.29555040e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.149072329 meters Centerline goodness : 0.784491 Centerline is valid? [False, False] Translation: X:-278.53, Y:7.36, Z:129.57 [[ 8.85397541e-01 -3.60754643e-01 2.93133557e-01 -2.78532835e+02] [ 3.88933356e-01 9.20300804e-01 -4.21577444e-02 7.36392420e+00] [-2.54562446e-01 1.51335781e-01 9.55141582e-01 1.29573572e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.17907232899995 meters Centerline goodness : 0.782328 Centerline is valid? [False, False] Translation: X:-278.57, Y:7.38, Z:129.59 [[ 8.85387964e-01 -3.61405175e-01 2.92360141e-01 -2.78572658e+02] [ 3.88689389e-01 9.20535440e-01 -3.91798789e-02 7.37650059e+00] [-2.54968060e-01 1.48326678e-01 9.55505356e-01 1.29587053e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.209072329 meters Centerline goodness : 0.783421 Centerline is valid? [False, False] Translation: X:-278.63, Y:7.39, Z:129.60 [[ 8.86377281e-01 -3.59536841e-01 2.91665177e-01 -2.78629660e+02] [ 3.87880930e-01 9.20664776e-01 -4.38720136e-02 7.39420619e+00] [-2.52752250e-01 1.52018516e-01 9.55513826e-01 1.29604025e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.23907232899995 meters Centerline goodness : 0.781285 Centerline is valid? [False, False] Translation: X:-278.67, Y:7.41, Z:129.62 [[ 8.85612141e-01 -3.61768633e-01 2.91229450e-01 -2.78670506e+02] [ 3.89551328e-01 9.20060556e-01 -4.16933655e-02 7.40522361e+00] [-2.52865378e-01 1.50372970e-01 9.55744250e-01 1.29618550e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.269072329 meters Centerline goodness : 0.783729 Centerline is valid? [False, False] Translation: X:-278.71, Y:7.41, Z:129.63 [[ 8.84515169e-01 -3.64638956e-01 2.90983415e-01 -2.78711454e+02] [ 3.92025544e-01 9.19087590e-01 -3.99246151e-02 7.41435084e+00] [-2.52881175e-01 1.49386859e-01 9.55894700e-01 1.29631991e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.29907232899996 meters Centerline goodness : 0.781625 Centerline is valid? [False, False] Translation: X:-278.77, Y:7.43, Z:129.65 [[ 8.84375683e-01 -3.62081973e-01 2.94578167e-01 -2.78766334e+02] [ 3.90803931e-01 9.19464392e-01 -4.30989586e-02 7.42988474e+00] [-2.55248779e-01 1.53237976e-01 9.54655007e-01 1.29646107e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.329072329 meters Centerline goodness : 0.781866 Centerline is valid? [False, False] Translation: X:-278.81, Y:7.44, Z:129.66 [[ 8.83303260e-01 -3.63852147e-01 2.95612863e-01 -2.78808821e+02] [ 3.92508358e-01 9.18791464e-01 -4.19456229e-02 7.43974354e+00] [-2.56344570e-01 1.53081225e-01 9.54386504e-01 1.29660876e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.35907232899996 meters Centerline goodness : 0.781866 Centerline is valid? [False, False] Translation: X:-278.85, Y:7.45, Z:129.68 [[ 8.82971993e-01 -3.65125888e-01 2.95031432e-01 -2.78849595e+02] [ 3.93061562e-01 9.18666302e-01 -3.94313969e-02 7.45177426e+00] [-2.56638011e-01 1.50782335e-01 9.54673567e-01 1.29676022e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.389072329 meters Centerline goodness : 0.781866 Centerline is valid? [False, False] Translation: X:-278.89, Y:7.46, Z:129.69 [[ 8.82659693e-01 -3.66338940e-01 2.94461622e-01 -2.78890255e+02] [ 3.93601857e-01 9.18532375e-01 -3.70925029e-02 7.46380368e+00] [-2.56884105e-01 1.48640699e-01 9.54943192e-01 1.29691083e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.41907232899996 meters Centerline goodness : 0.781258 Centerline is valid? [False, False] Translation: X:-278.95, Y:7.48, Z:129.71 [[ 8.82814413e-01 -3.65988184e-01 2.94433969e-01 -2.78945154e+02] [ 3.95308364e-01 9.17452582e-01 -4.48559538e-02 7.48043006e+00] [-2.53712457e-01 1.55991693e-01 9.54618553e-01 1.29707196e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.449072329 meters Centerline goodness : 0.781485 Centerline is valid? [False, False] Translation: X:-278.99, Y:7.49, Z:129.72 [[ 8.82070208e-01 -3.68130083e-01 2.93993859e-01 -2.78988557e+02] [ 3.96614304e-01 9.17038890e-01 -4.16745399e-02 7.49346177e+00] [-2.54262150e-01 1.53362040e-01 9.54898342e-01 1.29723091e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.47907232899996 meters Centerline goodness : 0.782219 Centerline is valid? [False, False] Translation: X:-279.03, Y:7.51, Z:129.74 [[ 8.82206565e-01 -3.67328009e-01 2.94587356e-01 -2.79029543e+02] [ 3.95202559e-01 9.17759576e-01 -3.91445682e-02 7.50522925e+00] [-2.55981471e-01 1.50955272e-01 9.54822493e-01 1.29738359e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.509072329 meters Centerline goodness : 0.780247 Centerline is valid? [False, False] Translation: X:-279.07, Y:7.52, Z:129.75 [[ 8.81634642e-01 -3.68309274e-01 2.95073951e-01 -2.79070932e+02] [ 3.95988325e-01 9.17470134e-01 -3.79710419e-02 7.51799505e+00] [-2.56736450e-01 1.50322425e-01 9.54719626e-01 1.29754423e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.53907232899996 meters Centerline goodness : 0.781334 Centerline is valid? [False, False] Translation: X:-279.11, Y:7.53, Z:129.77 [[ 8.80616525e-01 -3.71068135e-01 2.94657384e-01 -2.79113574e+02] [ 3.98067011e-01 9.16677822e-01 -3.52764228e-02 7.53203966e+00] [-2.57015933e-01 1.48358385e-01 9.54951622e-01 1.29768839e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.569072329 meters Centerline goodness : 0.779467 Centerline is valid? [False, False] Translation: X:-279.17, Y:7.55, Z:129.78 [[ 8.82687318e-01 -3.67206338e-01 2.93296104e-01 -2.79165884e+02] [ 3.95295468e-01 9.17649084e-01 -4.07633658e-02 7.55053217e+00] [-2.54174335e-01 1.51919927e-01 9.55152210e-01 1.29784838e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.59907232899997 meters Centerline goodness : 0.780459 Centerline is valid? [False, False] Translation: X:-279.21, Y:7.56, Z:129.80 [[ 8.81973226e-01 -3.69232675e-01 2.92900085e-01 -2.79208333e+02] [ 3.96609529e-01 9.17199319e-01 -3.80301283e-02 7.56352085e+00] [-2.54605792e-01 1.49708520e-01 9.55386440e-01 1.29800093e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.629072329 meters Centerline goodness : 0.780435 Centerline is valid? [False, False] Translation: X:-279.25, Y:7.58, Z:129.82 [[ 8.81813681e-01 -3.70129536e-01 2.92247768e-01 -2.79252217e+02] [ 3.96230010e-01 9.17539656e-01 -3.35075843e-02 7.57842045e+00] [-2.55746770e-01 1.45344782e-01 9.55755452e-01 1.29815360e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.65907232899997 meters Centerline goodness : 0.783118 Centerline is valid? [False, False] Translation: X:-279.29, Y:7.59, Z:129.83 [[ 8.82853333e-01 -3.66964461e-01 2.93099089e-01 -2.79289595e+02] [ 3.92917230e-01 9.18983777e-01 -3.29373246e-02 7.59041608e+00] [-2.57266480e-01 1.44242509e-01 9.55514551e-01 1.29828427e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.689072329 meters Centerline goodness : 0.773120 Centerline is valid? [False, False] Translation: X:-279.33, Y:7.60, Z:129.84 [[ 8.83875528e-01 -3.61407305e-01 2.96898653e-01 -2.79333316e+02] [ 3.87787345e-01 9.21152278e-01 -3.31580549e-02 7.60422621e+00] [-2.61505307e-01 1.44441133e-01 9.54333135e-01 1.29842995e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.71907232899997 meters Centerline goodness : 0.783986 Centerline is valid? [False, False] Translation: X:-279.37, Y:7.62, Z:129.85 [[ 8.84736889e-01 -3.56253360e-01 3.00539815e-01 -2.79371887e+02] [ 3.83714737e-01 9.22758585e-01 -3.57714236e-02 7.61700484e+00] [-2.64582005e-01 1.46969854e-01 9.53098224e-01 1.29854921e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.74907232899994 meters Centerline goodness : 0.773547 Centerline is valid? [False, False] Translation: X:-279.43, Y:7.64, Z:129.87 [[ 8.86721035e-01 -3.52006162e-01 2.99695626e-01 -2.79426884e+02] [ 3.80731977e-01 9.23753915e-01 -4.14953756e-02 7.63751454e+00] [-2.62238380e-01 1.50898531e-01 9.53132029e-01 1.29874249e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.779072329 meters Centerline goodness : 0.783121 Centerline is valid? [False, False] Translation: X:-279.46, Y:7.65, Z:129.89 [[ 8.87533541e-01 -3.48765166e-01 3.01076522e-01 -2.79464819e+02] [ 3.77535658e-01 9.25072387e-01 -4.13268175e-02 7.64906230e+00] [-2.64104223e-01 1.50346060e-01 9.52704058e-01 1.29887762e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.80907232899995 meters Centerline goodness : 0.782685 Centerline is valid? [False, False] Translation: X:-279.52, Y:7.67, Z:129.91 [[ 8.89567138e-01 -3.44715580e-01 2.99735678e-01 -2.79515931e+02] [ 3.75347488e-01 9.25560618e-01 -4.95157119e-02 7.66865948e+00] [-2.60354702e-01 1.56552584e-01 9.52736436e-01 1.29906852e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.839072329 meters Centerline goodness : 0.781405 Centerline is valid? [False, False] Translation: X:-279.56, Y:7.68, Z:129.92 [[ 8.89231623e-01 -3.45697442e-01 2.99600400e-01 -2.79559497e+02] [ 3.75422380e-01 9.25704644e-01 -4.61405407e-02 7.68281790e+00] [-2.61390815e-01 1.53506323e-01 9.52948399e-01 1.29923888e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.86907232899995 meters Centerline goodness : 0.784591 Centerline is valid? [False, False] Translation: X:-279.61, Y:7.70, Z:129.94 [[ 8.90503257e-01 -3.43417718e-01 2.98442993e-01 -2.79613001e+02] [ 3.74672410e-01 9.25651847e-01 -5.28132901e-02 7.69992135e+00] [-2.58117288e-01 1.58848762e-01 9.52965128e-01 1.29941823e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.899072329 meters Centerline goodness : 0.782395 Centerline is valid? [False, False] Translation: X:-279.66, Y:7.71, Z:129.96 [[ 8.89231429e-01 -3.46883022e-01 2.98227486e-01 -2.79657640e+02] [ 3.77152953e-01 9.24863864e-01 -4.88106817e-02 7.71225721e+00] [-2.58888229e-01 1.55881369e-01 9.53245972e-01 1.29957756e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.92907232899995 meters Centerline goodness : 0.782454 Centerline is valid? [False, False] Translation: X:-279.70, Y:7.72, Z:129.97 [[ 8.88365947e-01 -3.49547449e-01 2.97695355e-01 -2.79698983e+02] [ 3.79064449e-01 9.24227477e-01 -4.59751568e-02 7.72423553e+00] [-2.59067728e-01 1.53688489e-01 9.53553229e-01 1.29972368e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.959072329 meters Centerline goodness : 0.782866 Centerline is valid? [False, False] Translation: X:-279.74, Y:7.74, Z:129.99 [[ 8.88346857e-01 -3.51081184e-01 2.95942334e-01 -2.79739340e+02] [ 3.79173079e-01 9.24391790e-01 -4.15643452e-02 7.73694369e+00] [-2.58974204e-01 1.49136921e-01 9.54301074e-01 1.29985744e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.98907232899995 meters Centerline goodness : 0.785299 Centerline is valid? [False, False] Translation: X:-279.80, Y:7.76, Z:130.00 [[ 8.88693036e-01 -3.49835467e-01 2.96377856e-01 -2.79797202e+02] [ 3.79413238e-01 9.24034121e-01 -4.69738004e-02 7.75571702e+00] [-2.57430151e-01 1.54194972e-01 9.53914896e-01 1.30003671e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.019072329 meters Centerline goodness : 0.775585 Centerline is valid? [False, False] Translation: X:-279.84, Y:7.77, Z:130.02 [[ 8.88275221e-01 -3.50635228e-01 2.96685133e-01 -2.79839148e+02] [ 3.79727136e-01 9.24009805e-01 -4.48685008e-02 7.76833386e+00] [-2.58407495e-01 1.52514973e-01 9.53920725e-01 1.30019825e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.04907232899996 meters Centerline goodness : 0.783956 Centerline is valid? [False, False] Translation: X:-279.88, Y:7.78, Z:130.04 [[ 8.86497937e-01 -3.54128761e-01 2.97849338e-01 -2.79882329e+02] [ 3.83422335e-01 9.22506466e-01 -4.43749073e-02 7.78205123e+00] [-2.59053510e-01 1.53540353e-01 9.53580956e-01 1.30035918e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.079072329 meters Centerline goodness : 0.783433 Centerline is valid? [False, False] Translation: X:-279.94, Y:7.80, Z:130.05 [[ 8.87780547e-01 -3.51673798e-01 2.96936423e-01 -2.79935814e+02] [ 3.82418591e-01 9.22597986e-01 -5.06850877e-02 7.79898081e+00] [-2.56128329e-01 1.58551244e-01 9.53551143e-01 1.30053153e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.10907232899996 meters Centerline goodness : 0.783881 Centerline is valid? [False, False] Translation: X:-279.98, Y:7.81, Z:130.07 [[ 8.87654585e-01 -3.52250460e-01 2.96629317e-01 -2.79978319e+02] [ 3.82119569e-01 9.22889210e-01 -4.75409475e-02 7.81153209e+00] [-2.57009675e-01 1.55547807e-01 9.53808632e-01 1.30069743e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.139072329 meters Centerline goodness : 0.783923 Centerline is valid? [False, False] Translation: X:-280.02, Y:7.82, Z:130.08 [[ 8.87424023e-01 -3.53272208e-01 2.96103614e-01 -2.80019939e+02] [ 3.82102645e-01 9.23078135e-01 -4.38671297e-02 7.82431134e+00] [-2.57829734e-01 1.52070719e-01 9.54147957e-01 1.30084839e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.16907232899996 meters Centerline goodness : 0.783011 Centerline is valid? [False, False] Translation: X:-280.07, Y:7.84, Z:130.10 [[ 8.89144171e-01 -3.49806058e-01 2.95056546e-01 -2.80074157e+02] [ 3.79752238e-01 9.23780089e-01 -4.91791072e-02 7.84381514e+00] [-2.55364212e-01 1.55775700e-01 9.54213315e-01 1.30102652e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.199072329 meters Centerline goodness : 0.782269 Centerline is valid? [False, False] Translation: X:-280.11, Y:7.86, Z:130.12 [[ 8.88315825e-01 -3.51949237e-01 2.95002932e-01 -2.80114665e+02] [ 3.81594981e-01 9.23094004e-01 -4.77779295e-02 7.85555360e+00] [-2.55500032e-01 1.55013529e-01 9.54301074e-01 1.30117220e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.22907232899996 meters Centerline goodness : 0.782412 Centerline is valid? [False, False] Translation: X:-280.16, Y:7.87, Z:130.13 [[ 8.87163422e-01 -3.54710791e-01 2.95163206e-01 -2.80156193e+02] [ 3.84156403e-01 9.22095055e-01 -4.65249149e-02 7.86809963e+00] [-2.55665644e-01 1.54664038e-01 9.54313425e-01 1.30131854e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.259072329 meters Centerline goodness : 0.781911 Centerline is valid? [False, False] Translation: X:-280.20, Y:7.88, Z:130.15 [[ 8.85227229e-01 -3.58517670e-01 2.96374482e-01 -2.80200017e+02] [ 3.88099868e-01 9.20483101e-01 -4.57094464e-02 7.87963469e+00] [-2.56420058e-01 1.55486144e-01 9.53977365e-01 1.30147084e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.28907232899996 meters Centerline goodness : 0.781761 Centerline is valid? [False, False] Translation: X:-280.24, Y:7.89, Z:130.16 [[ 8.83511928e-01 -3.61913625e-01 2.97363753e-01 -2.80243921e+02] [ 3.91320008e-01 9.19205581e-01 -4.39289270e-02 7.89212980e+00] [-2.57439944e-01 1.55176117e-01 9.53753138e-01 1.30162561e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.319072329 meters Centerline goodness : 0.782477 Centerline is valid? [False, False] Translation: X:-280.30, Y:7.91, Z:130.18 [[ 8.85235536e-01 -3.57134394e-01 2.98015217e-01 -2.80296904e+02] [ 3.87111625e-01 9.20867373e-01 -4.63451352e-02 7.90924579e+00] [-2.57881048e-01 1.56391516e-01 9.53435398e-01 1.30177456e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.34907232899997 meters Centerline goodness : 0.781069 Centerline is valid? [False, False] Translation: X:-280.34, Y:7.92, Z:130.19 [[ 8.84491343e-01 -3.58911077e-01 2.98090428e-01 -2.80338392e+02] [ 3.88510474e-01 9.20362512e-01 -4.46369590e-02 7.92330956e+00] [-2.58330556e-01 1.55292257e-01 9.53493387e-01 1.30193530e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.379072329 meters Centerline goodness : 0.781532 Centerline is valid? [False, False] Translation: X:-280.38, Y:7.94, Z:130.21 [[ 8.83473817e-01 -3.60662347e-01 2.98992785e-01 -2.80384437e+02] [ 3.89320031e-01 9.20218092e-01 -4.03556134e-02 7.93783483e+00] [-2.60583820e-01 1.52057008e-01 9.53401667e-01 1.30210370e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.40907232899997 meters Centerline goodness : 0.779981 Centerline is valid? [False, False] Translation: X:-280.43, Y:7.95, Z:130.23 [[ 8.81615693e-01 -3.64142960e-01 3.00256014e-01 -2.80429400e+02] [ 3.92813158e-01 9.18786629e-01 -3.91018365e-02 7.95110414e+00] [-2.61632552e-01 1.52417306e-01 9.53056857e-01 1.30226946e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.439072329 meters Centerline goodness : 0.780789 Centerline is valid? [False, False] Translation: X:-280.49, Y:7.97, Z:130.25 [[ 8.81527075e-01 -3.63585256e-01 3.01190601e-01 -2.80486707e+02] [ 3.94366440e-01 9.17785071e-01 -4.63214139e-02 7.96780790e+00] [-2.59586454e-01 1.59613046e-01 9.52438212e-01 1.30245676e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.46907232899997 meters Centerline goodness : 0.780703 Centerline is valid? [False, False] Translation: X:-280.53, Y:7.98, Z:130.26 [[ 8.81250729e-01 -3.65055024e-01 3.00219889e-01 -2.80527993e+02] [ 3.94887304e-01 9.17711784e-01 -4.32330675e-02 7.97922690e+00] [-2.59732881e-01 1.56652195e-01 9.52889773e-01 1.30260158e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.49907232899994 meters Centerline goodness : 0.779232 Centerline is valid? [False, False] Translation: X:-280.59, Y:8.00, Z:130.28 [[ 8.80831673e-01 -3.66029176e-01 3.00263561e-01 -2.80585950e+02] [ 3.97760876e-01 9.16122094e-01 -5.00658923e-02 7.99729129e+00] [-2.56752505e-01 1.63532721e-01 9.52541443e-01 1.30277567e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.529072329 meters Centerline goodness : 0.779981 Centerline is valid? [False, False] Translation: X:-280.63, Y:8.01, Z:130.29 [[ 8.80054017e-01 -3.68181385e-01 2.99912312e-01 -2.80628810e+02] [ 3.99013499e-01 9.15758044e-01 -4.66415263e-02 8.00981490e+00] [-2.57474571e-01 1.60716124e-01 9.52825888e-01 1.30293186e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.55907232899995 meters Centerline goodness : 0.780235 Centerline is valid? [False, False] Translation: X:-280.67, Y:8.02, Z:130.31 [[ 8.78426425e-01 -3.71455721e-01 3.00645413e-01 -2.80674821e+02] [ 4.02017091e-01 9.14541743e-01 -4.46728047e-02 8.02329799e+00] [-2.58358811e-01 1.60106366e-01 9.52689181e-01 1.30311226e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.589072329 meters Centerline goodness : 0.777474 Centerline is valid? [False, False] Translation: X:-280.73, Y:8.04, Z:130.33 [[ 8.76339716e-01 -3.72584786e-01 3.05301947e-01 -2.80730875e+02] [ 4.05450891e-01 9.12753844e-01 -4.98998551e-02 8.03575973e+00] [-2.60073599e-01 1.67514171e-01 9.50947278e-01 1.30327003e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.61907232899995 meters Centerline goodness : 0.778283 Centerline is valid? [False, False] Translation: X:-280.79, Y:8.05, Z:130.34 [[ 8.77271747e-01 -3.68752292e-01 3.07271913e-01 -2.80785891e+02] [ 4.02237396e-01 9.14090549e-01 -5.14154315e-02 8.05209896e+00] [-2.61914793e-01 1.68701559e-01 9.50231774e-01 1.30342625e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.649072329 meters Centerline goodness : 0.778824 Centerline is valid? [False, False] Translation: X:-280.83, Y:8.06, Z:130.36 [[ 8.76102945e-01 -3.71522873e-01 3.07269239e-01 -2.80829022e+02] [ 4.04558096e-01 9.13179106e-01 -4.93626191e-02 8.06419833e+00] [-2.62252507e-01 1.67554994e-01 9.50341490e-01 1.30359266e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.67907232899995 meters Centerline goodness : 0.775627 Centerline is valid? [False, False] Translation: X:-280.89, Y:8.08, Z:130.38 [[ 8.75121966e-01 -3.73286554e-01 3.07926443e-01 -2.80891021e+02] [ 4.08246874e-01 9.11173559e-01 -5.56528012e-02 8.08114526e+00] [-2.59799990e-01 1.74412997e-01 9.49781065e-01 1.30379203e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.709072329 meters Centerline goodness : 0.776776 Centerline is valid? [False, False] Translation: X:-280.94, Y:8.09, Z:130.40 [[ 8.73230698e-01 -3.76972503e-01 3.08803951e-01 -2.80936066e+02] [ 4.11613584e-01 9.09797441e-01 -5.33186149e-02 8.09238859e+00] [-2.60849393e-01 1.73667352e-01 9.49630057e-01 1.30395598e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.73907232899995 meters Centerline goodness : 0.774942 Centerline is valid? [False, False] Translation: X:-280.98, Y:8.10, Z:130.41 [[ 8.70824921e-01 -3.81988674e-01 3.09432722e-01 -2.80981981e+02] [ 4.16334636e-01 9.07777657e-01 -5.10411198e-02 8.10244777e+00] [-2.61398982e-01 1.73275439e-01 9.49550522e-01 1.30412285e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.769072329 meters Centerline goodness : 0.774944 Centerline is valid? [False, False] Translation: X:-281.03, Y:8.12, Z:130.43 [[ 8.69163859e-01 -3.85489696e-01 3.09761006e-01 -2.81027479e+02] [ 4.19296409e-01 9.06562738e-01 -4.83168982e-02 8.11572375e+00] [-2.62192120e-01 1.71876979e-01 9.49586013e-01 1.30429894e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.79907232899996 meters Centerline goodness : 0.774427 Centerline is valid? [False, False] Translation: X:-281.07, Y:8.13, Z:130.45 [[ 8.68195991e-01 -3.87968810e-01 3.09379901e-01 -2.81070014e+02] [ 4.21190348e-01 9.05801450e-01 -4.60697696e-02 8.12866622e+00] [-2.62363129e-01 1.70305417e-01 9.49821906e-01 1.30446703e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.829072329 meters Centerline goodness : 0.773292 Centerline is valid? [False, False] Translation: X:-281.13, Y:8.15, Z:130.47 [[ 8.67457552e-01 -3.87318687e-01 3.12252510e-01 -2.81129150e+02] [ 4.22396773e-01 9.04980427e-01 -5.09057219e-02 8.14845722e+00] [-2.62865673e-01 1.76053006e-01 9.48634270e-01 1.30465137e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.85907232899996 meters Centerline goodness : 0.774287 Centerline is valid? [False, False] Translation: X:-281.17, Y:8.16, Z:130.48 [[ 8.65529513e-01 -3.90776266e-01 3.13293109e-01 -2.81174800e+02] [ 4.25791044e-01 9.03471493e-01 -4.94089964e-02 8.16150832e+00] [-2.63743530e-01 1.76162345e-01 9.48370275e-01 1.30482919e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.889072329 meters Centerline goodness : 0.772634 Centerline is valid? [False, False] Translation: X:-281.22, Y:8.17, Z:130.50 [[ 8.65134567e-01 -3.92060871e-01 3.12778604e-01 -2.81218417e+02] [ 4.26041806e-01 9.03540975e-01 -4.58485038e-02 8.17438873e+00] [-2.64632880e-01 1.72921887e-01 9.48718852e-01 1.30499615e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.91907232899996 meters Centerline goodness : 0.771608 Centerline is valid? [False, False] Translation: X:-281.26, Y:8.19, Z:130.52 [[ 8.64483024e-01 -3.94123376e-01 3.11986965e-01 -2.81263550e+02] [ 4.26799370e-01 9.03399122e-01 -4.13802488e-02 8.18947397e+00] [-2.65539826e-01 1.68928363e-01 9.49184813e-01 1.30515710e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.949072329 meters Centerline goodness : 0.773458 Centerline is valid? [False, False] Translation: X:-281.32, Y:8.21, Z:130.53 [[ 8.66528148e-01 -3.90454956e-01 3.10924261e-01 -2.81318727e+02] [ 4.24162918e-01 9.04397083e-01 -4.63868077e-02 8.20876131e+00] [-2.63087036e-01 1.72078016e-01 9.49302042e-01 1.30533610e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.97907232899996 meters Centerline goodness : 0.773783 Centerline is valid? [False, False] Translation: X:-281.37, Y:8.23, Z:130.55 [[ 8.65930599e-01 -3.92086704e-01 3.10535366e-01 -2.81365348e+02] [ 4.24664920e-01 9.04360853e-01 -4.23220148e-02 8.22626123e+00] [-2.64242129e-01 1.68521404e-01 9.49619204e-01 1.30552352e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.009072329 meters Centerline goodness : 0.773031 Centerline is valid? [False, False] Translation: X:-281.42, Y:8.25, Z:130.57 [[ 8.68032857e-01 -3.87668846e-01 3.10212547e-01 -2.81421592e+02] [ 4.21554075e-01 9.05534529e-01 -4.79518384e-02 8.24650768e+00] [-2.62318739e-01 1.72395134e-01 9.49457106e-01 1.30571927e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.03907232899996 meters Centerline goodness : 0.773848 Centerline is valid? [False, False] Translation: X:-281.47, Y:8.26, Z:130.59 [[ 8.67104407e-01 -3.89473512e-01 3.10548434e-01 -2.81468035e+02] [ 4.22676647e-01 9.05163823e-01 -4.49767188e-02 8.26191261e+00] [-2.63579967e-01 1.70261082e-01 9.49492899e-01 1.30590868e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.069072329 meters Centerline goodness : 0.772208 Centerline is valid? [False, False] Translation: X:-281.52, Y:8.28, Z:130.61 [[ 8.68689757e-01 -3.86070588e-01 3.10366890e-01 -2.81524697e+02] [ 4.20846689e-01 9.05678697e-01 -5.13240972e-02 8.28227268e+00] [-2.61277956e-01 1.75201596e-01 9.49230336e-01 1.30610797e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.09907232899997 meters Centerline goodness : 0.773198 Centerline is valid? [False, False] Translation: X:-281.57, Y:8.30, Z:130.63 [[ 8.68767858e-01 -3.86960759e-01 3.09036860e-01 -2.81567822e+02] [ 4.20519642e-01 9.06029512e-01 -4.76838957e-02 8.29679227e+00] [-2.61544719e-01 1.71382306e-01 9.49853918e-01 1.30627477e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.129072329 meters Centerline goodness : 0.773362 Centerline is valid? [False, False] Translation: X:-281.62, Y:8.32, Z:130.64 [[ 8.69171748e-01 -3.84303693e-01 3.11209164e-01 -2.81623907e+02] [ 4.19094926e-01 9.06505224e-01 -5.10658605e-02 8.31517468e+00] [-2.62487934e-01 1.74811185e-01 9.48968458e-01 1.30643896e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.15907232899997 meters Centerline goodness : 0.774484 Centerline is valid? [False, False] Translation: X:-281.67, Y:8.33, Z:130.66 [[ 8.68767934e-01 -3.85263101e-01 3.11150478e-01 -2.81668571e+02] [ 4.19016068e-01 9.06750523e-01 -4.72125446e-02 8.33061489e+00] [-2.63946607e-01 1.71393795e-01 9.49187208e-01 1.30661427e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.189072329 meters Centerline goodness : 0.774053 Centerline is valid? [False, False] Translation: X:-281.73, Y:8.35, Z:130.68 [[ 8.68888004e-01 -3.82633340e-01 3.14046754e-01 -2.81726395e+02] [ 4.17844719e-01 9.07093061e-01 -5.08720952e-02 8.34924454e+00] [-2.65404272e-01 1.75424931e-01 9.48043599e-01 1.30680075e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.21907232899997 meters Centerline goodness : 0.773222 Centerline is valid? [False, False] Translation: X:-281.79, Y:8.37, Z:130.70 [[ 8.69066132e-01 -3.81510231e-01 3.14919039e-01 -2.81789089e+02] [ 4.18039111e-01 9.06753399e-01 -5.51504735e-02 8.37067992e+00] [-2.64513439e-01 1.79577884e-01 9.47514867e-01 1.30702098e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.24907232899994 meters Centerline goodness : 0.773827 Centerline is valid? [False, False] Translation: X:-281.84, Y:8.39, Z:130.72 [[ 8.67731286e-01 -3.84447619e-01 3.15027688e-01 -2.81835533e+02] [ 4.19992135e-01 9.06088147e-01 -5.10967302e-02 8.38558335e+00] [-2.65798838e-01 1.76647383e-01 9.47706009e-01 1.30719784e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.279072329 meters Centerline goodness : 0.773827 Centerline is valid? [False, False] Translation: X:-281.88, Y:8.40, Z:130.74 [[ 8.67288397e-01 -3.85897834e-01 3.14473686e-01 -2.81878596e+02] [ 4.20573250e-01 9.05979854e-01 -4.81523172e-02 8.39940165e+00] [-2.66324949e-01 1.74021166e-01 9.48044121e-01 1.30736965e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.30907232899995 meters Centerline goodness : 0.774567 Centerline is valid? [False, False] Translation: X:-281.94, Y:8.42, Z:130.76 [[ 8.67640224e-01 -3.84811114e-01 3.14834637e-01 -2.81935191e+02] [ 4.21207115e-01 9.05342321e-01 -5.42203642e-02 8.41882748e+00] [-2.64168522e-01 1.79654358e-01 9.47596593e-01 1.30755667e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.339072329 meters Centerline goodness : 0.775728 Centerline is valid? [False, False] Translation: X:-281.98, Y:8.43, Z:130.77 [[ 8.66469983e-01 -3.88032795e-01 3.14102401e-01 -2.81980630e+02] [ 4.23315569e-01 9.04588265e-01 -5.02394158e-02 8.43297827e+00] [-2.64638805e-01 1.76495382e-01 9.48058903e-01 1.30772327e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.36907232899995 meters Centerline goodness : 0.780870 Centerline is valid? [False, False] Translation: X:-282.03, Y:8.45, Z:130.79 [[ 8.65707861e-01 -3.90193792e-01 3.13526241e-01 -2.82025250e+02] [ 4.24461412e-01 9.04242893e-01 -4.66615432e-02 8.44710307e+00] [-2.65296831e-01 1.73475056e-01 9.48432389e-01 1.30789824e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.399072329 meters Centerline goodness : 0.781060 Centerline is valid? [False, False] Translation: X:-282.07, Y:8.46, Z:130.81 [[ 8.64709854e-01 -3.92401003e-01 3.13525631e-01 -2.82068870e+02] [ 4.26263676e-01 9.03485805e-01 -4.48628876e-02 8.46150739e+00] [-2.65661715e-01 1.72437969e-01 9.48519372e-01 1.30807975e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.42907232899995 meters Centerline goodness : 0.776340 Centerline is valid? [False, False] Translation: X:-282.13, Y:8.48, Z:130.83 [[ 8.63960005e-01 -3.92190405e-01 3.15847741e-01 -2.82129895e+02] [ 4.28420852e-01 9.02096197e-01 -5.17496430e-02 8.48059727e+00] [-2.64629333e-01 1.80025380e-01 9.47397582e-01 1.30829033e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.459072329 meters Centerline goodness : 0.776412 Centerline is valid? [False, False] Translation: X:-282.18, Y:8.49, Z:130.85 [[ 8.62295968e-01 -3.95243541e-01 3.16588388e-01 -2.82177266e+02] [ 4.31155657e-01 9.00913063e-01 -4.96029433e-02 8.49480866e+00] [-2.65613371e-01 1.79271292e-01 9.47265190e-01 1.30848692e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.48907232899995 meters Centerline goodness : 0.775426 Centerline is valid? [False, False] Translation: X:-282.23, Y:8.51, Z:130.87 [[ 8.59662671e-01 -3.99598253e-01 3.18278695e-01 -2.82225152e+02] [ 4.35758136e-01 8.98751204e-01 -4.85913540e-02 8.50890096e+00] [-2.66636341e-01 1.80464704e-01 9.46751051e-01 1.30868028e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.519072329 meters Centerline goodness : 0.773673 Centerline is valid? [False, False] Translation: X:-282.27, Y:8.52, Z:130.89 [[ 8.56946448e-01 -4.04349885e-01 3.19599681e-01 -2.82271405e+02] [ 4.40749711e-01 8.96359933e-01 -4.77342887e-02 8.52061185e+00] [-2.67174994e-01 1.81769196e-01 9.46349556e-01 1.30886732e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.54907232899996 meters Centerline goodness : 0.776363 Centerline is valid? [False, False] Translation: X:-282.33, Y:8.54, Z:130.90 [[ 8.57715474e-01 -4.03188482e-01 3.19003470e-01 -2.82326494e+02] [ 4.41119937e-01 8.95833501e-01 -5.38102178e-02 8.53841298e+00] [-2.64078335e-01 1.86872647e-01 9.46224734e-01 1.30903762e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.579072329 meters Centerline goodness : 0.776681 Centerline is valid? [False, False] Translation: X:-282.39, Y:8.56, Z:130.92 [[ 8.56924887e-01 -4.08618593e-01 3.14182405e-01 -2.82385960e+02] [ 4.46721411e-01 8.92841992e-01 -5.72115296e-02 8.55587685e+00] [-2.57137549e-01 1.89377991e-01 9.47637197e-01 1.30923659e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.60907232899996 meters Centerline goodness : 0.775753 Centerline is valid? [False, False] Translation: X:-282.44, Y:8.57, Z:130.94 [[ 8.57704472e-01 -4.07025195e-01 3.14123431e-01 -2.82443195e+02] [ 4.46550866e-01 8.92553960e-01 -6.27674470e-02 8.57420836e+00] [-2.54824180e-01 1.94108010e-01 9.47304976e-01 1.30942190e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.639072329 meters Centerline goodness : 0.776531 Centerline is valid? [False, False] Translation: X:-282.49, Y:8.59, Z:130.96 [[ 8.57942910e-01 -4.07417254e-01 3.12961891e-01 -2.82486988e+02] [ 4.45546170e-01 8.93350059e-01 -5.84318729e-02 8.58812169e+00] [-2.55778370e-01 1.89570183e-01 9.47966545e-01 1.30960195e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.66907232899996 meters Centerline goodness : 0.775261 Centerline is valid? [False, False] Translation: X:-282.53, Y:8.60, Z:130.98 [[ 8.57818079e-01 -4.07033815e-01 3.13801876e-01 -2.82531842e+02] [ 4.44910504e-01 8.93764740e-01 -5.69142627e-02 8.60413877e+00] [-2.57299022e-01 1.88435834e-01 9.47781172e-01 1.30979422e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.699072329 meters Centerline goodness : 0.774479 Centerline is valid? [False, False] Translation: X:-282.57, Y:8.62, Z:131.00 [[ 8.58494660e-01 -4.06549982e-01 3.12576442e-01 -2.82574183e+02] [ 4.43187323e-01 8.94839922e-01 -5.33526957e-02 8.61800196e+00] [-2.58015341e-01 1.84332921e-01 9.48393093e-01 1.30997010e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.72907232899996 meters Centerline goodness : 0.774666 Centerline is valid? [False, False] Translation: X:-282.62, Y:8.63, Z:131.02 [[ 8.58609454e-01 -4.06688975e-01 3.12079930e-01 -2.82617678e+02] [ 4.42533930e-01 8.95312361e-01 -5.07887506e-02 8.63368728e+00] [-2.58753794e-01 1.81713659e-01 9.48697328e-01 1.31015500e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.759072329 meters Centerline goodness : 0.774542 Centerline is valid? [False, False] Translation: X:-282.66, Y:8.65, Z:131.03 [[ 8.61662538e-01 -3.98225756e-01 3.14569417e-01 -2.82657946e+02] [ 4.34582972e-01 8.99119487e-01 -5.21707707e-02 8.64964212e+00] [-2.62059748e-01 1.81660111e-01 9.47799711e-01 1.31029738e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.78907232899996 meters Centerline goodness : 0.773730 Centerline is valid? [False, False] Translation: X:-282.70, Y:8.67, Z:131.05 [[ 8.62136099e-01 -3.97438384e-01 3.14267527e-01 -2.82700391e+02] [ 4.32980687e-01 9.00039203e-01 -4.95697223e-02 8.66677300e+00] [-2.63152184e-01 1.78807617e-01 9.48039432e-01 1.31047963e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.819072329 meters Centerline goodness : 0.774718 Centerline is valid? [False, False] Translation: X:-282.74, Y:8.68, Z:131.07 [[ 8.62684574e-01 -3.97062983e-01 3.13235236e-01 -2.82742215e+02] [ 4.31451103e-01 9.00952584e-01 -4.61994322e-02 8.68244751e+00] [-2.63866011e-01 1.75001225e-01 9.48551158e-01 1.31065498e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.84907232899997 meters Centerline goodness : 0.772921 Centerline is valid? [False, False] Translation: X:-282.79, Y:8.70, Z:131.09 [[ 8.65590097e-01 -3.91614339e-01 3.12076904e-01 -2.82794520e+02] [ 4.27286558e-01 9.02589979e-01 -5.25121702e-02 8.70211051e+00] [-2.61112967e-01 1.78800280e-01 9.48604490e-01 1.31085339e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.879072329 meters Centerline goodness : 0.772696 Centerline is valid? [False, False] Translation: X:-282.83, Y:8.72, Z:131.10 [[ 8.66143481e-01 -3.91342030e-01 3.10880822e-01 -2.82834085e+02] [ 4.26215935e-01 9.03210724e-01 -5.05011354e-02 8.71617865e+00] [-2.61027676e-01 1.76243590e-01 9.49106290e-01 1.31102290e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.90907232899997 meters Centerline goodness : 0.772704 Centerline is valid? [False, False] Translation: X:-282.87, Y:8.73, Z:131.12 [[ 8.67465206e-01 -3.89202060e-01 3.09880417e-01 -2.82874215e+02] [ 4.23051989e-01 9.04843081e-01 -4.78122826e-02 8.73197117e+00] [-2.61784512e-01 1.72571018e-01 9.49572595e-01 1.31118845e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.939072329 meters Centerline goodness : 0.772690 Centerline is valid? [False, False] Translation: X:-282.91, Y:8.75, Z:131.13 [[ 8.68822514e-01 -3.88186373e-01 3.07341470e-01 -2.82911508e+02] [ 4.20593236e-01 9.06159655e-01 -4.44523241e-02 8.74538043e+00] [-2.61244654e-01 1.67886923e-01 9.50560473e-01 1.31133342e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.96907232899997 meters Centerline goodness : 0.772116 Centerline is valid? [False, False] Translation: X:-282.97, Y:8.76, Z:131.15 [[ 8.69802830e-01 -3.84389401e-01 3.09334489e-01 -2.82965396e+02] [ 4.18077678e-01 9.07123639e-01 -4.83503653e-02 8.76399268e+00] [-2.62019260e-01 1.71381130e-01 9.49723336e-01 1.31148539e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.99907232899994 meters Centerline goodness : 0.772567 Centerline is valid? [False, False] Translation: X:-283.00, Y:8.78, Z:131.16 [[ 8.71147078e-01 -3.83045327e-01 3.07211728e-01 -2.83002420e+02] [ 4.15502504e-01 9.08452118e-01 -4.55238290e-02 8.77810165e+00] [-2.61649455e-01 1.67305193e-01 9.50551700e-01 1.31163194e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.029072329 meters Centerline goodness : 0.771653 Centerline is valid? [False, False] Translation: X:-283.05, Y:8.79, Z:131.18 [[ 8.72289596e-01 -3.77175469e-01 3.11206566e-01 -2.83047853e+02] [ 4.10319925e-01 9.10767190e-01 -4.62675311e-02 8.79447230e+00] [-2.65985752e-01 1.68052941e-01 9.49215354e-01 1.31178698e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.05907232899995 meters Centerline goodness : 0.772926 Centerline is valid? [False, False] Translation: X:-283.09, Y:8.81, Z:131.19 [[ 8.72482705e-01 -3.73728808e-01 3.14802648e-01 -2.83093363e+02] [ 4.07514562e-01 9.12002790e-01 -4.67203556e-02 8.80877423e+00] [-2.69640150e-01 1.69049365e-01 9.48006594e-01 1.31193974e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.089072329 meters Centerline goodness : 0.770546 Centerline is valid? [False, False] Translation: X:-283.14, Y:8.82, Z:131.21 [[ 8.71533783e-01 -3.75888637e-01 3.14859647e-01 -2.83135542e+02] [ 4.09558829e-01 9.11126665e-01 -4.59321976e-02 8.82407910e+00] [-2.69611629e-01 1.68985010e-01 9.48026179e-01 1.31211447e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.11907232899995 meters Centerline goodness : 0.771126 Centerline is valid? [False, False] Translation: X:-283.17, Y:8.84, Z:131.23 [[ 8.72484579e-01 -3.75552805e-01 3.12619178e-01 -2.83174841e+02] [ 4.07689422e-01 9.12152567e-01 -4.20360608e-02 8.83872706e+00] [-2.69369625e-01 1.64127347e-01 9.48947954e-01 1.31227457e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.149072329 meters Centerline goodness : 0.770823 Centerline is valid? [False, False] Translation: X:-283.23, Y:8.86, Z:131.24 [[ 8.74350789e-01 -3.72148256e-01 3.11474516e-01 -2.83226335e+02] [ 4.05613065e-01 9.12782511e-01 -4.80221735e-02 8.85804078e+00] [-2.66437123e-01 1.68326358e-01 9.49040303e-01 1.31244424e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.17907232899995 meters Centerline goodness : 0.772351 Centerline is valid? [False, False] Translation: X:-283.28, Y:8.88, Z:131.26 [[ 8.76314031e-01 -3.67292255e-01 3.11721220e-01 -2.83277347e+02] [ 4.01272641e-01 9.14568111e-01 -5.04523285e-02 8.87754006e+00] [-2.66559538e-01 1.69297280e-01 9.48833201e-01 1.31259599e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.209072329 meters Centerline goodness : 0.770765 Centerline is valid? [False, False] Translation: X:-283.32, Y:8.89, Z:131.28 [[ 8.76262754e-01 -3.67163756e-01 3.12016606e-01 -2.83316761e+02] [ 4.01135047e-01 9.14639917e-01 -5.02443559e-02 8.89114801e+00] [-2.66934936e-01 1.69188054e-01 9.48747144e-01 1.31275903e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.23907232899995 meters Centerline goodness : 0.771576 Centerline is valid? [False, False] Translation: X:-283.36, Y:8.90, Z:131.29 [[ 8.76412023e-01 -3.65570440e-01 3.13464862e-01 -2.83355476e+02] [ 3.99912457e-01 9.15141752e-01 -5.08488016e-02 8.90418493e+00] [-2.68275964e-01 1.69923004e-01 9.48237407e-01 1.31290904e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.269072329 meters Centerline goodness : 0.770398 Centerline is valid? [False, False] Translation: X:-283.39, Y:8.91, Z:131.30 [[ 8.77890210e-01 -3.59822384e-01 3.15969352e-01 -2.83389053e+02] [ 3.95426429e-01 9.16877917e-01 -5.45236200e-02 8.91477857e+00] [-2.70086502e-01 1.72808385e-01 9.47201427e-01 1.31302932e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.29907232899996 meters Centerline goodness : 0.769981 Centerline is valid? [False, False] Translation: X:-283.43, Y:8.93, Z:131.32 [[ 8.79983026e-01 -3.51751268e-01 3.19219235e-01 -2.83433601e+02] [ 3.87274196e-01 9.20418648e-01 -5.33686261e-02 8.93289925e+00] [-2.75042855e-01 1.70588858e-01 9.46176976e-01 1.31317964e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.329072329 meters Centerline goodness : 0.770566 Centerline is valid? [False, False] Translation: X:-283.47, Y:8.95, Z:131.33 [[ 8.80368818e-01 -3.50408664e-01 3.19631839e-01 -2.83474065e+02] [ 3.85213729e-01 9.21425075e-01 -5.08548414e-02 8.94775537e+00] [-2.76696814e-01 1.67897589e-01 9.46176132e-01 1.31334533e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.35907232899996 meters Centerline goodness : 0.770110 Centerline is valid? [False, False] Translation: X:-283.52, Y:8.97, Z:131.35 [[ 8.82247062e-01 -3.43655382e-01 3.21778029e-01 -2.83517250e+02] [ 3.78253894e-01 9.24356560e-01 -4.98892971e-02 8.96584435e+00] [-2.80292907e-01 1.65728478e-01 9.45499846e-01 1.31349837e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.389072329 meters Centerline goodness : 0.770628 Centerline is valid? [False, False] Translation: X:-283.56, Y:8.98, Z:131.37 [[ 8.82602879e-01 -3.43924290e-01 3.20512465e-01 -2.83556767e+02] [ 3.77491258e-01 9.24812434e-01 -4.71414150e-02 8.98181205e+00] [-2.80200835e-01 1.62597802e-01 9.46070529e-01 1.31366780e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.41907232899996 meters Centerline goodness : 0.771491 Centerline is valid? [False, False] Translation: X:-283.59, Y:9.00, Z:131.38 [[ 8.83076437e-01 -3.43944827e-01 3.19183274e-01 -2.83593720e+02] [ 3.76807975e-01 9.25170156e-01 -4.55623967e-02 8.99568358e+00] [-2.79627889e-01 1.60505882e-01 9.46597119e-01 1.31381977e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.449072329 meters Centerline goodness : 0.771648 Centerline is valid? [False, False] Translation: X:-283.65, Y:9.02, Z:131.40 [[ 8.84905095e-01 -3.40041701e-01 3.18299566e-01 -2.83645371e+02] [ 3.75001546e-01 9.25457692e-01 -5.38692891e-02 9.01671084e+00] [-2.76254977e-01 1.67032038e-01 9.46458391e-01 1.31402452e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.47907232899996 meters Centerline goodness : 0.770977 Centerline is valid? [False, False] Translation: X:-283.69, Y:9.03, Z:131.42 [[ 8.84452984e-01 -3.42097879e-01 3.17351478e-01 -2.83685298e+02] [ 3.76435462e-01 9.24981840e-01 -5.20090288e-02 9.03091349e+00] [-2.75752175e-01 1.65461891e-01 9.46880721e-01 1.31419070e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.509072329 meters Centerline goodness : 0.769925 Centerline is valid? [False, False] Translation: X:-283.73, Y:9.05, Z:131.43 [[ 8.85343566e-01 -3.36593949e-01 3.20735534e-01 -2.83726460e+02] [ 3.71594821e-01 9.26879508e-01 -5.30251517e-02 9.04520522e+00] [-2.79435249e-01 1.66129140e-01 9.45683377e-01 1.31433447e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.53907232899996 meters Centerline goodness : 0.770438 Centerline is valid? [False, False] Translation: X:-283.77, Y:9.06, Z:131.45 [[ 8.86166557e-01 -3.36588967e-01 3.18459889e-01 -2.83765310e+02] [ 3.70109173e-01 9.27673593e-01 -4.94055173e-02 9.06018585e+00] [-2.78797477e-01 1.61646443e-01 9.46647978e-01 1.31449959e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.569072329 meters Centerline goodness : 0.770670 Centerline is valid? [False, False] Translation: X:-283.81, Y:9.08, Z:131.47 [[ 8.86447398e-01 -3.36964602e-01 3.17278849e-01 -2.83805269e+02] [ 3.69643555e-01 9.27974098e-01 -4.71986882e-02 9.07610492e+00] [-2.78522266e-01 1.59119236e-01 9.47157018e-01 1.31467179e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.59907232899997 meters Centerline goodness : 0.771035 Centerline is valid? [False, False] Translation: X:-283.84, Y:9.09, Z:131.48 [[ 8.86693382e-01 -3.36699288e-01 3.16872901e-01 -2.83844523e+02] [ 3.68708140e-01 9.28445387e-01 -4.52047727e-02 9.09063374e+00] [-2.78978768e-01 1.56916391e-01 9.47390148e-01 1.31483034e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.629072329 meters Centerline goodness : 0.770726 Centerline is valid? [False, False] Translation: X:-283.89, Y:9.11, Z:131.50 [[ 8.88244169e-01 -3.32187363e-01 3.17291429e-01 -2.83891704e+02] [ 3.66018075e-01 9.29161067e-01 -5.18698423e-02 9.10904458e+00] [-2.77584337e-01 1.62207483e-01 9.46908479e-01 1.31500248e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.65907232899997 meters Centerline goodness : 0.771519 Centerline is valid? [False, False] Translation: X:-283.93, Y:9.12, Z:131.51 [[ 8.88758233e-01 -3.33281260e-01 3.14694146e-01 -2.83928965e+02] [ 3.65799610e-01 9.29414376e-01 -4.87807614e-02 9.12289546e+00] [-2.76223549e-01 1.58469299e-01 9.47938834e-01 1.31514990e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.689072329 meters Centerline goodness : 0.771021 Centerline is valid? [False, False] Translation: X:-283.96, Y:9.14, Z:131.53 [[ 8.89894450e-01 -3.32881048e-01 3.11894335e-01 -2.83963615e+02] [ 3.64450249e-01 9.30023690e-01 -4.72435407e-02 9.13568307e+00] [-2.74342641e-01 1.55711733e-01 9.48941501e-01 1.31528889e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.71907232899997 meters Centerline goodness : 0.770521 Centerline is valid? [False, False] Translation: X:-284.01, Y:9.16, Z:131.55 [[ 8.91719155e-01 -3.29307645e-01 3.10472904e-01 -2.84014959e+02] [ 3.62191264e-01 9.30582949e-01 -5.32246405e-02 9.15585383e+00] [-2.71393509e-01 1.59912005e-01 9.49090993e-01 1.31546508e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.74907232899994 meters Centerline goodness : 0.771515 Centerline is valid? [False, False] Translation: X:-284.05, Y:9.17, Z:131.56 [[ 8.91807151e-01 -3.31158981e-01 3.08242980e-01 -2.84052475e+02] [ 3.63118977e-01 9.30342315e-01 -5.10664914e-02 9.16923172e+00] [-2.69860360e-01 1.57470338e-01 9.49936039e-01 1.31562077e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.779072329 meters Centerline goodness : 0.770958 Centerline is valid? [False, False] Translation: X:-284.09, Y:9.18, Z:131.58 [[ 8.90483399e-01 -3.33482127e-01 3.09562575e-01 -2.84094254e+02] [ 3.65576195e-01 9.29417001e-01 -5.03793923e-02 9.18272108e+00] [-2.70912093e-01 1.58030721e-01 9.49543537e-01 1.31579668e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.80907232899995 meters Centerline goodness : 0.771214 Centerline is valid? [False, False] Translation: X:-284.14, Y:9.20, Z:131.60 [[ 8.89739454e-01 -3.36332207e-01 3.08616835e-01 -2.84135022e+02] [ 3.67693947e-01 9.28710083e-01 -4.79452132e-02 9.19554656e+00] [-2.70490047e-01 1.56135290e-01 9.49977319e-01 1.31595185e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.839072329 meters Centerline goodness : 0.772922 Centerline is valid? [False, False] Translation: X:-284.17, Y:9.21, Z:131.61 [[ 8.89912310e-01 -3.37532249e-01 3.06802969e-01 -2.84172569e+02] [ 3.67971606e-01 9.28718240e-01 -4.55996425e-02 9.20823530e+00] [-2.69542163e-01 1.53474464e-01 9.50680078e-01 1.31609676e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.86907232899995 meters Centerline goodness : 0.774616 Centerline is valid? [False, False] Translation: X:-284.21, Y:9.22, Z:131.62 [[ 8.90100199e-01 -3.39045922e-01 3.04580856e-01 -2.84209378e+02] [ 3.68471304e-01 9.28639881e-01 -4.30914036e-02 9.22228857e+00] [-2.68235966e-01 1.50584972e-01 9.51511236e-01 1.31623210e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.899072329 meters Centerline goodness : 0.775321 Centerline is valid? [False, False] Translation: X:-284.25, Y:9.23, Z:131.64 [[ 8.89302993e-01 -3.41548685e-01 3.04112944e-01 -2.84247311e+02] [ 3.70853843e-01 9.27715772e-01 -4.25543565e-02 9.23435773e+00] [-2.67595990e-01 1.50625171e-01 9.51685055e-01 1.31637601e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.92907232899995 meters Centerline goodness : 0.773924 Centerline is valid? [False, False] Translation: X:-284.28, Y:9.25, Z:131.65 [[ 8.88881482e-01 -3.43211951e-01 3.03472021e-01 -2.84284313e+02] [ 3.72440597e-01 9.27086805e-01 -4.24035095e-02 9.24653499e+00] [-2.66791515e-01 1.50716995e-01 9.51896357e-01 1.31652239e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.959072329 meters Centerline goodness : 0.773748 Centerline is valid? [False, False] Translation: X:-284.33, Y:9.26, Z:131.67 [[ 8.85405737e-01 -3.49659721e-01 3.06259301e-01 -2.84329767e+02] [ 3.80124534e-01 9.23881153e-01 -4.41469595e-02 9.25658634e+00] [-2.67510783e-01 1.55504645e-01 9.50923912e-01 1.31669483e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.98907232899995 meters Centerline goodness : 0.773555 Centerline is valid? [False, False] Translation: X:-284.37, Y:9.27, Z:131.68 [[ 8.84781032e-01 -3.51035031e-01 3.06491326e-01 -2.84366849e+02] [ 3.81720998e-01 9.23201890e-01 -4.45797093e-02 9.26811202e+00] [-2.67304332e-01 1.56437456e-01 9.50828963e-01 1.31683130e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.019072329 meters Centerline goodness : 0.774208 Centerline is valid? [False, False] Translation: X:-284.40, Y:9.28, Z:131.70 [[ 8.83835238e-01 -3.53141488e-01 3.06800198e-01 -2.84404153e+02] [ 3.84145485e-01 9.22165659e-01 -4.51967202e-02 9.27931232e+00] [-2.66959770e-01 1.57802365e-01 9.50700213e-01 1.31696947e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.04907232899996 meters Centerline goodness : 0.772854 Centerline is valid? [False, False] Translation: X:-284.45, Y:9.29, Z:131.71 [[ 8.81539277e-01 -3.58276923e-01 3.07451051e-01 -2.84448246e+02] [ 3.89282124e-01 9.20066941e-01 -4.40028725e-02 9.29200494e+00] [-2.67110334e-01 1.58475458e-01 9.50545948e-01 1.31712919e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.079072329 meters Centerline goodness : 0.774141 Centerline is valid? [False, False] Translation: X:-284.48, Y:9.30, Z:131.73 [[ 8.81276364e-01 -3.60495677e-01 3.05605688e-01 -2.84484327e+02] [ 3.91035023e-01 9.19364329e-01 -4.31374750e-02 9.30328527e+00] [-2.65412095e-01 1.57518565e-01 9.51180488e-01 1.31726089e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.10907232899996 meters Centerline goodness : 0.773209 Centerline is valid? [False, False] Translation: X:-284.52, Y:9.32, Z:131.74 [[ 8.81688588e-01 -3.62024263e-01 3.02594888e-01 -2.84517223e+02] [ 3.91948989e-01 9.19002384e-01 -4.25512470e-02 9.31587476e+00] [-2.62680840e-01 1.56118709e-01 9.52168958e-01 1.31738281e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.139072329 meters Centerline goodness : 0.772186 Centerline is valid? [False, False] Translation: X:-284.56, Y:9.33, Z:131.75 [[ 8.81320577e-01 -3.63033225e-01 3.02458126e-01 -2.84558941e+02] [ 3.92430791e-01 9.18886314e-01 -4.05711352e-02 9.33034291e+00] [-2.63195962e-01 1.54450058e-01 9.52298832e-01 1.31754941e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.16907232899996 meters Centerline goodness : 0.772478 Centerline is valid? [False, False] Translation: X:-284.60, Y:9.34, Z:131.77 [[ 8.81743607e-01 -3.59578401e-01 3.05338475e-01 -2.84599420e+02] [ 3.89751942e-01 9.19955512e-01 -4.21340664e-02 9.34348032e+00] [-2.65747313e-01 1.56157707e-01 9.51311272e-01 1.31768600e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.199072329 meters Centerline goodness : 0.772478 Centerline is valid? [False, False] Translation: X:-284.64, Y:9.36, Z:131.78 [[ 8.81779723e-01 -3.60685204e-01 3.03925489e-01 -2.84636946e+02] [ 3.90403184e-01 9.19721979e-01 -4.11926683e-02 9.35685488e+00] [-2.64669366e-01 1.54976338e-01 9.51804844e-01 1.31783666e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.22907232899996 meters Centerline goodness : 0.772762 Centerline is valid? [False, False] Translation: X:-284.67, Y:9.37, Z:131.80 [[ 8.82075398e-01 -3.61104667e-01 3.02566377e-01 -2.84674283e+02] [ 3.90427169e-01 9.19741187e-01 -4.05311578e-02 9.37123397e+00] [-2.63646769e-01 1.53881671e-01 9.52266146e-01 1.31799152e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.259072329 meters Centerline goodness : 0.771461 Centerline is valid? [False, False] Translation: X:-284.71, Y:9.39, Z:131.81 [[ 8.83980953e-01 -3.60192015e-01 2.98059367e-01 -2.84707416e+02] [ 3.88001606e-01 9.20879656e-01 -3.78868485e-02 9.38571218e+00] [-2.60830267e-01 1.49138766e-01 9.53795156e-01 1.31811558e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.28907232899996 meters Centerline goodness : 0.771311 Centerline is valid? [False, False] Translation: X:-284.74, Y:9.40, Z:131.82 [[ 8.84246473e-01 -3.59654439e-01 2.97920894e-01 -2.84743126e+02] [ 3.87723806e-01 9.20950089e-01 -3.90023672e-02 9.39767259e+00] [-2.60342900e-01 1.49998729e-01 9.53793456e-01 1.31824532e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.319072329 meters Centerline goodness : 0.769899 Centerline is valid? [False, False] Translation: X:-284.78, Y:9.41, Z:131.84 [[ 8.84574961e-01 -3.56157839e-01 3.01129095e-01 -2.84783182e+02] [ 3.85330400e-01 9.21839569e-01 -4.16208043e-02 9.41052221e+00] [-2.62769140e-01 1.52850916e-01 9.52674644e-01 1.31837322e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.34907232899997 meters Centerline goodness : 0.769417 Centerline is valid? [False, False] Translation: X:-284.82, Y:9.42, Z:131.85 [[ 8.82850775e-01 -3.57314816e-01 3.04796051e-01 -2.84823404e+02] [ 3.88309959e-01 9.20391532e-01 -4.57690218e-02 9.42229341e+00] [-2.64177755e-01 1.58762558e-01 9.51317278e-01 1.31852361e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.379072329 meters Centerline goodness : 0.769454 Centerline is valid? [False, False] Translation: X:-284.86, Y:9.44, Z:131.87 [[ 8.83219459e-01 -3.53452740e-01 3.08211855e-01 -2.84864760e+02] [ 3.85431893e-01 9.21500480e-01 -4.77401429e-02 9.43631074e+00] [-2.67143488e-01 1.60959702e-01 9.50119114e-01 1.31865571e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.40907232899997 meters Centerline goodness : 0.770278 Centerline is valid? [False, False] Translation: X:-284.91, Y:9.45, Z:131.88 [[ 8.83731649e-01 -3.49008032e-01 3.11788014e-01 -2.84908417e+02] [ 3.81517179e-01 9.23111354e-01 -4.80631943e-02 9.45023025e+00] [-2.71040615e-01 1.61427449e-01 9.48935279e-01 1.31880337e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.439072329 meters Centerline goodness : 0.769253 Centerline is valid? [False, False] Translation: X:-284.95, Y:9.46, Z:131.90 [[ 8.83316166e-01 -3.49921103e-01 3.11941938e-01 -2.84947312e+02] [ 3.82316782e-01 9.22813350e-01 -4.74278283e-02 9.46383612e+00] [-2.71268187e-01 1.61154405e-01 9.48916660e-01 1.31896116e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.46907232899997 meters Centerline goodness : 0.768903 Centerline is valid? [False, False] Translation: X:-284.98, Y:9.48, Z:131.91 [[ 8.83513180e-01 -3.51096726e-01 3.10057334e-01 -2.84983358e+02] [ 3.82732420e-01 9.22726097e-01 -4.57432352e-02 9.47656456e+00] [-2.70037694e-01 1.59083745e-01 9.49616768e-01 1.31910100e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.49907232899994 meters Centerline goodness : 0.768650 Centerline is valid? [False, False] Translation: X:-285.02, Y:9.49, Z:131.92 [[ 8.84142334e-01 -3.51688339e-01 3.07583558e-01 -2.85017394e+02] [ 3.82587470e-01 9.22843710e-01 -4.45680779e-02 9.48789785e+00] [-2.68177479e-01 1.57082140e-01 9.50476744e-01 1.31922700e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.529072329 meters Centerline goodness : 0.768056 Centerline is valid? [False, False] Translation: X:-285.05, Y:9.50, Z:131.94 [[ 8.84651189e-01 -3.52676391e-01 3.04978093e-01 -2.85053681e+02] [ 3.82596069e-01 9.22937036e-01 -4.25144121e-02 9.50186755e+00] [-2.66481748e-01 1.54293845e-01 9.51409947e-01 1.31936568e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.55907232899995 meters Centerline goodness : 0.766702 Centerline is valid? [False, False] Translation: X:-285.09, Y:9.51, Z:131.95 [[ 8.85497041e-01 -3.51978437e-01 3.03325188e-01 -2.85089072e+02] [ 3.81339078e-01 9.23498025e-01 -4.16161731e-02 9.51461958e+00] [-2.65472217e-01 1.52520746e-01 9.51977901e-01 1.31950657e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.589072329 meters Centerline goodness : 0.767657 Centerline is valid? [False, False] Translation: X:-285.13, Y:9.53, Z:131.97 [[ 8.85672404e-01 -3.52942109e-01 3.01689012e-01 -2.85125633e+02] [ 3.81843738e-01 9.23326062e-01 -4.07963614e-02 9.52912977e+00] [-2.64158573e-01 1.51330272e-01 9.52533147e-01 1.31965414e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.61907232899995 meters Centerline goodness : 0.766406 Centerline is valid? [False, False] Translation: X:-285.16, Y:9.54, Z:131.98 [[ 8.85854892e-01 -3.52994954e-01 3.01090806e-01 -2.85164751e+02] [ 3.81277241e-01 9.23641521e-01 -3.89102292e-02 9.54221637e+00] [-2.64364856e-01 1.49267889e-01 9.52801302e-01 1.31979475e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.649072329 meters Centerline goodness : 0.766717 Centerline is valid? [False, False] Translation: X:-285.20, Y:9.56, Z:131.99 [[ 8.85777205e-01 -3.53643673e-01 3.00557641e-01 -2.85202716e+02] [ 3.81677183e-01 9.23504876e-01 -3.82265830e-02 9.55529909e+00] [-2.64047858e-01 1.48576230e-01 9.52997289e-01 1.31994184e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.67907232899995 meters Centerline goodness : 0.767161 Centerline is valid? [False, False] Translation: X:-285.24, Y:9.57, Z:132.01 [[ 8.86051535e-01 -3.53546387e-01 2.99862686e-01 -2.85243445e+02] [ 3.80518469e-01 9.24117647e-01 -3.48176642e-02 9.57164349e+00] [-2.64798740e-01 1.44953535e-01 9.53346789e-01 1.32010142e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.709072329 meters Centerline goodness : 0.767525 Centerline is valid? [False, False] Translation: X:-285.28, Y:9.59, Z:132.03 [[ 8.86170584e-01 -3.53443079e-01 2.99632584e-01 -2.85279994e+02] [ 3.80491160e-01 9.24112920e-01 -3.52390166e-02 9.58577315e+00] [-2.64439355e-01 1.45235329e-01 9.53403654e-01 1.32025243e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.73907232899995 meters Centerline goodness : 0.768141 Centerline is valid? [False, False] Translation: X:-285.32, Y:9.60, Z:132.04 [[ 8.86559190e-01 -3.51492462e-01 3.00775417e-01 -2.85318188e+02] [ 3.78801888e-01 9.24784088e-01 -3.58262618e-02 9.59966319e+00] [-2.65559659e-01 1.45696397e-01 9.53021840e-01 1.32039744e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.769072329 meters Centerline goodness : 0.766959 Centerline is valid? [False, False] Translation: X:-285.36, Y:9.61, Z:132.06 [[ 8.86676428e-01 -3.51474345e-01 3.00450823e-01 -2.85357254e+02] [ 3.78383854e-01 9.25002671e-01 -3.45791585e-02 9.61357454e+00] [-2.65764126e-01 1.44346265e-01 9.53170281e-01 1.32055257e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.79907232899996 meters Centerline goodness : 0.766033 Centerline is valid? [False, False] Translation: X:-285.40, Y:9.63, Z:132.07 [[ 8.88425265e-01 -3.47499398e-01 2.99907848e-01 -2.85403487e+02] [ 3.75880733e-01 9.25769215e-01 -4.08048499e-02 9.62981715e+00] [-2.63465792e-01 1.48981641e-01 9.53095088e-01 1.32068640e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.829072329 meters Centerline goodness : 0.767700 Centerline is valid? [False, False] Translation: X:-285.44, Y:9.64, Z:132.08 [[ 8.89228115e-01 -3.46491342e-01 2.98692331e-01 -2.85438574e+02] [ 3.74525362e-01 9.26335517e-01 -4.04136435e-02 9.64191417e+00] [-2.62686338e-01 1.47804802e-01 9.53493381e-01 1.32081618e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.85907232899996 meters Centerline goodness : 0.767324 Centerline is valid? [False, False] Translation: X:-285.49, Y:9.66, Z:132.09 [[ 8.90142087e-01 -3.42996892e-01 3.00000327e-01 -2.85486658e+02] [ 3.72629316e-01 9.26841224e-01 -4.59645421e-02 9.65909641e+00] [-2.62286975e-01 1.52703890e-01 9.52831079e-01 1.32094883e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.889072329 meters Centerline goodness : 0.765756 Centerline is valid? [False, False] Translation: X:-285.53, Y:9.67, Z:132.11 [[ 8.89032642e-01 -3.44217923e-01 3.01885713e-01 -2.85526001e+02] [ 3.74886384e-01 9.25807257e-01 -4.83851357e-02 9.66989236e+00] [-2.62832953e-01 1.56188808e-01 9.52115484e-01 1.32108471e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.91907232899996 meters Centerline goodness : 0.765535 Centerline is valid? [False, False] Translation: X:-285.57, Y:9.68, Z:132.12 [[ 8.88306371e-01 -3.46049396e-01 3.01929805e-01 -2.85565674e+02] [ 3.76547107e-01 9.25180736e-01 -4.74645374e-02 9.68177828e+00] [-2.62914565e-01 1.55853845e-01 9.52147841e-01 1.32123383e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.949072329 meters Centerline goodness : 0.764945 Centerline is valid? [False, False] Translation: X:-285.61, Y:9.69, Z:132.14 [[ 8.87408134e-01 -3.48144265e-01 3.02162828e-01 -2.85606912e+02] [ 3.78319194e-01 9.24539625e-01 -4.58374106e-02 9.69470441e+00] [-2.63403477e-01 1.54990489e-01 9.52153641e-01 1.32139071e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.97907232899996 meters Centerline goodness : 0.765501 Centerline is valid? [False, False] Translation: X:-285.65, Y:9.71, Z:132.15 [[ 8.86392680e-01 -3.50743906e-01 3.02136938e-01 -2.85646235e+02] [ 3.80854227e-01 9.23528379e-01 -4.52260090e-02 9.70818296e+00] [-2.63169289e-01 1.55158133e-01 9.52191094e-01 1.32154580e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.009072329 meters Centerline goodness : 0.765005 Centerline is valid? [False, False] Translation: X:-285.69, Y:9.72, Z:132.17 [[ 8.84664618e-01 -3.54900245e-01 3.02348027e-01 -2.85687469e+02] [ 3.84990085e-01 9.21852542e-01 -4.43906108e-02 9.72108096e+00] [-2.62966059e-01 1.55671795e-01 9.52163402e-01 1.32169084e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.03907232899996 meters Centerline goodness : 0.765508 Centerline is valid? [False, False] Translation: X:-285.74, Y:9.74, Z:132.18 [[ 8.85779800e-01 -3.51507503e-01 3.03045577e-01 -2.85736323e+02] [ 3.82694818e-01 9.22603767e-01 -4.84454947e-02 9.73676888e+00] [-2.62562036e-01 1.58886013e-01 9.51743879e-01 1.32181902e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.069072329 meters Centerline goodness : 0.766541 Centerline is valid? [False, False] Translation: X:-285.77, Y:9.75, Z:132.20 [[ 8.85216039e-01 -3.54046683e-01 3.01734172e-01 -2.85774050e+02] [ 3.84844244e-01 9.21759841e-01 -4.74731865e-02 9.74971644e+00] [-2.61318718e-01 1.58144685e-01 9.52209423e-01 1.32196542e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.09907232899997 meters Centerline goodness : 0.765090 Centerline is valid? [False, False] Translation: X:-285.81, Y:9.76, Z:132.21 [[ 8.85239418e-01 -3.55631005e-01 2.99796198e-01 -2.85810491e+02] [ 3.85769219e-01 9.21445695e-01 -4.60428153e-02 9.76110521e+00] [-2.59871663e-01 1.56411060e-01 9.52891546e-01 1.32210552e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.129072329 meters Centerline goodness : 0.765591 Centerline is valid? [False, False] Translation: X:-285.85, Y:9.77, Z:132.23 [[ 8.84625064e-01 -3.57621005e-01 2.99241898e-01 -2.85849783e+02] [ 3.87569961e-01 9.20721810e-01 -4.53968591e-02 9.77284007e+00] [-2.59283671e-01 1.56136370e-01 9.53096748e-01 1.32225680e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.15907232899997 meters Centerline goodness : 0.764949 Centerline is valid? [False, False] Translation: X:-285.89, Y:9.79, Z:132.24 [[ 8.84145818e-01 -3.58567111e-01 2.99525958e-01 -2.85888338e+02] [ 3.88517149e-01 9.20338064e-01 -4.50807399e-02 9.78505741e+00] [-2.59500670e-01 1.56228919e-01 9.53022522e-01 1.32240344e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.189072329 meters Centerline goodness : 0.763705 Centerline is valid? [False, False] Translation: X:-285.93, Y:9.80, Z:132.26 [[ 8.83491715e-01 -3.59942799e-01 2.99805887e-01 -2.85928846e+02] [ 3.89847755e-01 9.19801914e-01 -4.45327683e-02 9.79941086e+00] [-2.59732780e-01 1.56222984e-01 9.52960263e-01 1.32256580e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.21907232899997 meters Centerline goodness : 0.764380 Centerline is valid? [False, False] Translation: X:-285.97, Y:9.81, Z:132.27 [[ 8.82857006e-01 -3.60857040e-01 3.00575619e-01 -2.85968305e+02] [ 3.90964067e-01 9.19322164e-01 -4.46526271e-02 9.81172738e+00] [-2.60212614e-01 1.56936151e-01 9.52712150e-01 1.32271504e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.24907232899994 meters Centerline goodness : 0.764477 Centerline is valid? [False, False] Translation: X:-286.01, Y:9.82, Z:132.29 [[ 8.83068690e-01 -3.61460961e-01 2.99225104e-01 -2.86005262e+02] [ 3.90997138e-01 9.19372216e-01 -4.33124258e-02 9.82455801e+00] [-2.59443496e-01 1.55244006e-01 9.53199020e-01 1.32285862e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.279072329 meters Centerline goodness : 0.765409 Centerline is valid? [False, False] Translation: X:-286.04, Y:9.84, Z:132.30 [[ 8.83671629e-01 -3.60962163e-01 2.98044911e-01 -2.86042807e+02] [ 3.89677349e-01 9.20033927e-01 -4.10991135e-02 9.83817715e+00] [-2.59376205e-01 1.52459471e-01 9.53666658e-01 1.32300212e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.30907232899995 meters Centerline goodness : 0.764399 Centerline is valid? [False, False] Translation: X:-286.08, Y:9.85, Z:132.32 [[ 8.84062132e-01 -3.60992261e-01 2.96847999e-01 -2.86083175e+02] [ 3.88553230e-01 9.20659812e-01 -3.75752239e-02 9.85421734e+00] [-2.59731658e-01 1.48560081e-01 9.54185185e-01 1.32315670e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.339072329 meters Centerline goodness : 0.765075 Centerline is valid? [False, False] Translation: X:-286.12, Y:9.87, Z:132.33 [[ 8.84002073e-01 -3.62496731e-01 2.95188847e-01 -2.86119457e+02] [ 3.89611313e-01 9.20248301e-01 -3.66890821e-02 9.86661991e+00] [-2.58347362e-01 1.47442139e-01 9.54734233e-01 1.32328949e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.36907232899995 meters Centerline goodness : 0.765484 Centerline is valid? [False, False] Translation: X:-286.17, Y:9.88, Z:132.34 [[ 8.85086518e-01 -3.60500655e-01 2.94382631e-01 -2.86171599e+02] [ 3.89225531e-01 9.20116390e-01 -4.34662482e-02 9.88444133e+00] [-2.55196673e-01 1.53052626e-01 9.54698671e-01 1.32344337e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.399072329 meters Centerline goodness : 0.766547 Centerline is valid? [False, False] Translation: X:-286.21, Y:9.90, Z:132.36 [[ 8.84342610e-01 -3.62496357e-01 2.94167537e-01 -2.86211990e+02] [ 3.90870813e-01 9.19487137e-01 -4.19929996e-02 9.89706649e+00] [-2.55260957e-01 1.52117703e-01 9.54830900e-01 1.32359329e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.42907232899995 meters Centerline goodness : 0.765496 Centerline is valid? [False, False] Translation: X:-286.25, Y:9.91, Z:132.37 [[ 8.84070596e-01 -3.63092718e-01 2.94249654e-01 -2.86250871e+02] [ 3.91390560e-01 9.19285385e-01 -4.15669362e-02 9.91009837e+00] [-2.55406754e-01 1.51914643e-01 9.54824241e-01 1.32374306e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.459072329 meters Centerline goodness : 0.765806 Centerline is valid? [False, False] Translation: X:-286.29, Y:9.92, Z:132.39 [[ 8.83955390e-01 -3.61955178e-01 2.95992089e-01 -2.86288433e+02] [ 3.90782636e-01 9.19495273e-01 -4.26306753e-02 9.92179369e+00] [-2.56732933e-01 1.53352184e-01 9.54238602e-01 1.32388033e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.48907232899995 meters Centerline goodness : 0.764820 Centerline is valid? [False, False] Translation: X:-286.33, Y:9.93, Z:132.40 [[ 8.83691201e-01 -3.61215879e-01 2.97679275e-01 -2.86328416e+02] [ 3.90484139e-01 9.19589615e-01 -4.33252410e-02 9.93385177e+00] [-2.58093004e-01 1.54525170e-01 9.53682323e-01 1.32402377e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.519072329 meters Centerline goodness : 0.765599 Centerline is valid? [False, False] Translation: X:-286.36, Y:9.95, Z:132.42 [[ 8.84675050e-01 -3.61394013e-01 2.94524061e-01 -2.86364191e+02] [ 3.89442156e-01 9.20150377e-01 -4.07196650e-02 9.94800861e+00] [-2.56290582e-01 1.50723757e-01 9.54776145e-01 1.32416014e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.54907232899996 meters Centerline goodness : 0.766000 Centerline is valid? [False, False] Translation: X:-286.41, Y:9.97, Z:132.43 [[ 8.88104872e-01 -3.55171186e-01 2.91758745e-01 -2.86411583e+02] [ 3.83368862e-01 9.22551434e-01 -4.38995151e-02 9.96784082e+00] [-2.53570606e-01 1.50838592e-01 9.55483996e-01 1.32428953e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.579072329 meters Centerline goodness : 0.766579 Centerline is valid? [False, False] Translation: X:-286.45, Y:9.98, Z:132.44 [[ 8.88564218e-01 -3.55667443e-01 2.89748685e-01 -2.86447780e+02] [ 3.83264863e-01 9.22646484e-01 -4.27961450e-02 9.98085947e+00] [-2.52114410e-01 1.49077613e-01 9.56145486e-01 1.32442806e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.60907232899996 meters Centerline goodness : 0.766633 Centerline is valid? [False, False] Translation: X:-286.49, Y:9.99, Z:132.46 [[ 8.88971236e-01 -3.55623195e-01 2.88552049e-01 -2.86485357e+02] [ 3.82763849e-01 9.22900118e-01 -4.17996093e-02 9.99424886e+00] [-2.51439809e-01 1.47605943e-01 9.56551362e-01 1.32457344e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.639072329 meters Centerline goodness : 0.767102 Centerline is valid? [False, False] Translation: X:-286.53, Y:10.01, Z:132.47 [[ 8.88546649e-01 -3.56371392e-01 2.88936471e-01 -2.86526420e+02] [ 3.83404814e-01 9.22667703e-01 -4.10494719e-02 1.00089550e+01] [-2.51963492e-01 1.47254005e-01 9.56467802e-01 1.32473810e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.66907232899996 meters Centerline goodness : 0.766961 Centerline is valid? [False, False] Translation: X:-286.56, Y:10.02, Z:132.49 [[ 8.88746958e-01 -3.56509810e-01 2.88148573e-01 -2.86564262e+02] [ 3.83177649e-01 9.22803081e-01 -4.01168669e-02 1.00234287e+01] [-2.51602334e-01 1.46065836e-01 9.56745022e-01 1.32488643e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.699072329 meters Centerline goodness : 0.767642 Centerline is valid? [False, False] Translation: X:-286.60, Y:10.04, Z:132.50 [[ 8.88129235e-01 -3.58229216e-01 2.87920631e-01 -2.86604784e+02] [ 3.84572509e-01 9.22280308e-01 -3.87687976e-02 1.00379897e+01] [-2.51655412e-01 1.45158062e-01 9.56869213e-01 1.32503656e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.72907232899996 meters Centerline goodness : 0.766959 Centerline is valid? [False, False] Translation: X:-286.65, Y:10.05, Z:132.52 [[ 8.84340931e-01 -3.65294927e-01 2.90690100e-01 -2.86650342e+02] [ 3.92746188e-01 9.18765547e-01 -4.02529585e-02 1.00503825e+01] [-2.52371848e-01 1.49764768e-01 9.55970169e-01 1.32518782e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.759072329 meters Centerline goodness : 0.766568 Centerline is valid? [False, False] Translation: X:-286.69, Y:10.06, Z:132.53 [[ 8.83106576e-01 -3.67972212e-01 2.91065674e-01 -2.86691403e+02] [ 3.95327150e-01 9.17700937e-01 -3.92611127e-02 1.00605089e+01] [-2.52664244e-01 1.49737910e-01 9.55897138e-01 1.32533768e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.78907232899996 meters Centerline goodness : 0.766597 Centerline is valid? [False, False] Translation: X:-286.73, Y:10.07, Z:132.55 [[ 8.81543952e-01 -3.71279888e-01 2.91601622e-01 -2.86732144e+02] [ 3.98929169e-01 9.16128330e-01 -3.95524976e-02 1.00728664e+01] [-2.52459460e-01 1.51195658e-01 9.55721766e-01 1.32548344e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.819072329 meters Centerline goodness : 0.767451 Centerline is valid? [False, False] Translation: X:-286.79, Y:10.09, Z:132.56 [[ 8.79884599e-01 -3.74324285e-01 2.92719015e-01 -2.86789110e+02] [ 4.04793903e-01 9.13087159e-01 -4.91297891e-02 1.00868656e+01] [-2.48887500e-01 1.61719417e-01 9.54935517e-01 1.32564102e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.84907232899997 meters Centerline goodness : 0.767183 Centerline is valid? [False, False] Translation: X:-286.83, Y:10.10, Z:132.58 [[ 8.78334898e-01 -3.78220832e-01 2.92364171e-01 -2.86829811e+02] [ 4.08454658e-01 9.11521006e-01 -4.78983023e-02 1.00978865e+01] [-2.48379948e-01 1.61488258e-01 9.55106771e-01 1.32578153e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.879072329 meters Centerline goodness : 0.768099 Centerline is valid? [False, False] Translation: X:-286.88, Y:10.11, Z:132.59 [[ 8.75584115e-01 -3.84208053e-01 2.92808179e-01 -2.86875097e+02] [ 4.14198938e-01 9.09033799e-01 -4.57907450e-02 1.01090886e+01] [-2.48579358e-01 1.61374486e-01 9.55074122e-01 1.32592330e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.90907232899997 meters Centerline goodness : 0.768675 Centerline is valid? [False, False] Translation: X:-286.92, Y:10.12, Z:132.61 [[ 8.74385989e-01 -3.87472618e-01 2.92085797e-01 -2.86915808e+02] [ 4.17030952e-01 9.07820182e-01 -4.41327807e-02 1.01209699e+01] [-2.48061137e-01 1.60397903e-01 9.55373322e-01 1.32606848e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.939072329 meters Centerline goodness : 0.767803 Centerline is valid? [False, False] Translation: X:-286.96, Y:10.13, Z:132.62 [[ 8.73797734e-01 -3.89841500e-01 2.90690771e-01 -2.86955186e+02] [ 4.18774294e-01 9.07104491e-01 -4.23028695e-02 1.01335670e+01] [-2.47195490e-01 1.58697974e-01 9.55881448e-01 1.32620557e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.96907232899997 meters Centerline goodness : 0.768758 Centerline is valid? [False, False] Translation: X:-287.00, Y:10.15, Z:132.63 [[ 8.72646642e-01 -3.92993999e-01 2.89902665e-01 -2.86997410e+02] [ 4.21198018e-01 9.06106421e-01 -3.95396503e-02 1.01462072e+01] [-2.47143821e-01 1.56610571e-01 9.56239019e-01 1.32634239e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.99907232899994 meters Centerline goodness : 0.768455 Centerline is valid? [False, False] Translation: X:-287.05, Y:10.16, Z:132.65 [[ 8.72877877e-01 -3.90550639e-01 2.92496857e-01 -2.87051718e+02] [ 4.20696843e-01 9.06051031e-01 -4.56694082e-02 1.01637128e+01] [-2.47180862e-01 1.62916320e-01 9.55175321e-01 1.32649137e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.029072329 meters Centerline goodness : 0.769653 Centerline is valid? [False, False] Translation: X:-287.10, Y:10.18, Z:132.67 [[ 8.71118138e-01 -3.93864435e-01 2.93298476e-01 -2.87095575e+02] [ 4.24236134e-01 9.04407672e-01 -4.55023670e-02 1.01778267e+01] [-2.47339628e-01 1.64065749e-01 9.54937453e-01 1.32666124e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.05907232899995 meters Centerline goodness : 0.768921 Centerline is valid? [False, False] Translation: X:-287.14, Y:10.19, Z:132.68 [[ 8.69393451e-01 -3.95908276e-01 2.95654638e-01 -2.87138644e+02] [ 4.27290700e-01 9.02867931e-01 -4.74568936e-02 1.01891948e+01] [-2.48148515e-01 1.67589190e-01 9.54115390e-01 1.32683046e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.089072329 meters Centerline goodness : 0.768921 Centerline is valid? [False, False] Translation: X:-287.18, Y:10.20, Z:132.70 [[ 8.69052790e-01 -3.97365171e-01 2.94700133e-01 -2.87181057e+02] [ 4.28031965e-01 9.02634929e-01 -4.51533240e-02 1.02036740e+01] [-2.48064275e-01 1.65381699e-01 9.54522398e-01 1.32699498e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.11907232899995 meters Centerline goodness : 0.770708 Centerline is valid? [False, False] Translation: X:-287.22, Y:10.22, Z:132.72 [[ 8.67358684e-01 -4.00877007e-01 2.94934804e-01 -2.87224680e+02] [ 4.31570890e-01 9.00977214e-01 -4.45715823e-02 1.02181390e+01] [-2.47861815e-01 1.65944825e-01 9.54477258e-01 1.32716383e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.149072329 meters Centerline goodness : 0.768915 Centerline is valid? [False, False] Translation: X:-287.26, Y:10.23, Z:132.73 [[ 8.66374287e-01 -4.03913917e-01 2.93682044e-01 -2.87264811e+02] [ 4.34032555e-01 8.99881492e-01 -4.27672963e-02 1.02295014e+01] [-2.47004730e-01 1.64520054e-01 9.54945975e-01 1.32730725e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.17907232899995 meters Centerline goodness : 0.769042 Centerline is valid? [False, False] Translation: X:-287.32, Y:10.25, Z:132.75 [[ 8.68012478e-01 -4.00326202e-01 2.93757161e-01 -2.87323735e+02] [ 4.31875543e-01 9.00612174e-01 -4.87978235e-02 1.02515557e+01] [-2.45026228e-01 1.69223653e-01 9.54633701e-01 1.32749280e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.209072329 meters Centerline goodness : 0.770581 Centerline is valid? [False, False] Translation: X:-287.37, Y:10.27, Z:132.77 [[ 8.66473942e-01 -4.03638403e-01 2.93766824e-01 -2.87367381e+02] [ 4.35034880e-01 8.99148748e-01 -4.77093458e-02 1.02669218e+01] [-2.44882748e-01 1.69137720e-01 9.54685745e-01 1.32766210e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.23907232899995 meters Centerline goodness : 0.770924 Centerline is valid? [False, False] Translation: X:-287.41, Y:10.28, Z:132.78 [[ 8.65570545e-01 -4.06058490e-01 2.93094071e-01 -2.87411795e+02] [ 4.36687019e-01 8.98495413e-01 -4.48379269e-02 1.02821231e+01] [-2.45136857e-01 1.66800765e-01 9.55031636e-01 1.32783133e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.269072329 meters Centerline goodness : 0.771244 Centerline is valid? [False, False] Translation: X:-287.47, Y:10.30, Z:132.80 [[ 8.66373833e-01 -4.04330621e-01 2.93109417e-01 -2.87467488e+02] [ 4.36664271e-01 8.98134307e-01 -5.17598402e-02 1.03012289e+01] [-2.42323534e-01 1.72833781e-01 9.54676798e-01 1.32800448e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.29907232899996 meters Centerline goodness : 0.771437 Centerline is valid? [False, False] Translation: X:-287.51, Y:10.31, Z:132.81 [[ 8.66884138e-01 -4.04812574e-01 2.90927262e-01 -2.87506657e+02] [ 4.36011312e-01 8.98616589e-01 -4.88094381e-02 1.03142274e+01] [-2.41673390e-01 1.69159705e-01 9.55499329e-01 1.32814619e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.329072329 meters Centerline goodness : 0.771693 Centerline is valid? [False, False] Translation: X:-287.56, Y:10.33, Z:132.83 [[ 8.68122035e-01 -4.02682143e-01 2.90191702e-01 -2.87563548e+02] [ 4.35187465e-01 8.98667209e-01 -5.48554275e-02 1.03347062e+01] [-2.38696465e-01 1.73908996e-01 9.55395027e-01 1.32831722e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.35907232899996 meters Centerline goodness : 0.771684 Centerline is valid? [False, False] Translation: X:-287.61, Y:10.35, Z:132.85 [[ 8.67145545e-01 -4.05567076e-01 2.89091595e-01 -2.87605235e+02] [ 4.37491321e-01 8.97662550e-01 -5.29461089e-02 1.03481097e+01] [-2.38033499e-01 1.72387046e-01 9.55836157e-01 1.32846443e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.389072329 meters Centerline goodness : 0.770743 Centerline is valid? [False, False] Translation: X:-287.65, Y:10.36, Z:132.86 [[ 8.67829113e-01 -4.05696888e-01 2.86849553e-01 -2.87646472e+02] [ 4.36497521e-01 8.98311003e-01 -5.00725141e-02 1.03634216e+01] [-2.37365846e-01 1.68663504e-01 9.56666126e-01 1.32862594e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.41907232899996 meters Centerline goodness : 0.771643 Centerline is valid? [False, False] Translation: X:-287.69, Y:10.38, Z:132.88 [[ 8.67768678e-01 -4.06629476e-01 2.85709626e-01 -2.87690131e+02] [ 4.36366247e-01 8.98567610e-01 -4.64838552e-02 1.03788869e+01] [-2.37827710e-01 1.65011271e-01 9.57188206e-01 1.32878781e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.449072329 meters Centerline goodness : 0.771313 Centerline is valid? [False, False] Translation: X:-287.74, Y:10.40, Z:132.90 [[ 8.70877518e-01 -4.00894798e-01 2.84351382e-01 -2.87744798e+02] [ 4.31657944e-01 9.00511931e-01 -5.24374083e-02 1.04016472e+01] [-2.35039928e-01 1.68409093e-01 9.57285020e-01 1.32896327e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.47907232899996 meters Centerline goodness : 0.773290 Centerline is valid? [False, False] Translation: X:-287.79, Y:10.42, Z:132.91 [[ 8.70666177e-01 -4.01899935e-01 2.83578651e-01 -2.87787540e+02] [ 4.32105270e-01 9.00402797e-01 -5.05948431e-02 1.04171359e+01] [-2.35000946e-01 1.66587048e-01 9.57613341e-01 1.32913383e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.509072329 meters Centerline goodness : 0.772966 Centerline is valid? [False, False] Translation: X:-287.83, Y:10.43, Z:132.93 [[ 8.71964038e-01 -3.95331606e-01 2.88776101e-01 -2.87831099e+02] [ 4.27349627e-01 9.02412195e-01 -5.49957001e-02 1.04326161e+01] [-2.38853537e-01 1.71362632e-01 9.55815796e-01 1.32929301e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.53907232899996 meters Centerline goodness : 0.772586 Centerline is valid? [False, False] Translation: X:-287.87, Y:10.45, Z:132.95 [[ 8.72739750e-01 -3.93372582e-01 2.89107835e-01 -2.87872100e+02] [ 4.24932140e-01 9.03660722e-01 -5.31975149e-02 1.04479034e+01] [-2.40328951e-01 1.69278797e-01 9.55817286e-01 1.32945893e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.569072329 meters Centerline goodness : 0.773326 Centerline is valid? [False, False] Translation: X:-287.92, Y:10.46, Z:132.96 [[ 8.73990169e-01 -3.88628267e-01 2.91734906e-01 -2.87917039e+02] [ 4.20479835e-01 9.05745542e-01 -5.31198739e-02 1.04640778e+01] [-2.43593706e-01 1.69094893e-01 9.55023049e-01 1.32960296e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.59907232899997 meters Centerline goodness : 0.773224 Centerline is valid? [False, False] Translation: X:-287.96, Y:10.48, Z:132.98 [[ 8.75410172e-01 -3.87343120e-01 2.89175273e-01 -2.87958145e+02] [ 4.17572523e-01 9.07334901e-01 -4.87500285e-02 1.04820716e+01] [-2.43495829e-01 1.63427919e-01 9.56034046e-01 1.32977394e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.629072329 meters Centerline goodness : 0.773372 Centerline is valid? [False, False] Translation: X:-288.00, Y:10.50, Z:132.99 [[ 8.79186032e-01 -3.77913545e-01 2.90195234e-01 -2.87999979e+02] [ 4.07795839e-01 9.11807968e-01 -4.80498019e-02 1.04998939e+01] [-2.46443656e-01 1.60585124e-01 9.55760400e-01 1.32990107e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.65907232899997 meters Centerline goodness : 0.774291 Centerline is valid? [False, False] Translation: X:-288.04, Y:10.52, Z:133.00 [[ 8.81978338e-01 -3.69783960e-01 2.92188353e-01 -2.88044019e+02] [ 3.99509415e-01 9.15508407e-01 -4.72925265e-02 1.05178905e+01] [-2.50012876e-01 1.58442982e-01 9.55190757e-01 1.33002911e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.689072329 meters Centerline goodness : 0.774481 Centerline is valid? [False, False] Translation: X:-288.08, Y:10.53, Z:133.02 [[ 8.82996981e-01 -3.68434458e-01 2.90813312e-01 -2.88082174e+02] [ 3.97243340e-01 9.16615190e-01 -4.48811947e-02 1.05337344e+01] [-2.50028121e-01 1.55153611e-01 9.55726580e-01 1.33017734e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.71907232899997 meters Centerline goodness : 0.774923 Centerline is valid? [False, False] Translation: X:-288.12, Y:10.55, Z:133.03 [[ 8.84516810e-01 -3.63028035e-01 2.92985764e-01 -2.88124174e+02] [ 3.92117574e-01 9.18796819e-01 -4.53454880e-02 1.05504274e+01] [-2.52732705e-01 1.54993713e-01 9.55040904e-01 1.33030824e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.74907232899994 meters Centerline goodness : 0.776604 Centerline is valid? [False, False] Translation: X:-288.16, Y:10.56, Z:133.04 [[ 8.86923721e-01 -3.55886845e-01 2.94467088e-01 -2.88157244e+02] [ 3.85546380e-01 9.21460180e-01 -4.75933433e-02 1.05629796e+01] [-2.54401851e-01 1.55742385e-01 9.54475776e-01 1.33042152e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.779072329 meters Centerline goodness : 0.776116 Centerline is valid? [False, False] Translation: X:-288.20, Y:10.58, Z:133.06 [[ 8.89798742e-01 -3.46198754e-01 2.97329147e-01 -2.88197033e+02] [ 3.76427505e-01 9.25132205e-01 -4.93227928e-02 1.05827940e+01] [-2.57993280e-01 1.55810228e-01 9.53500205e-01 1.33055665e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.80907232899995 meters Centerline goodness : 0.777274 Centerline is valid? [False, False] Translation: X:-288.23, Y:10.60, Z:133.07 [[ 8.91595800e-01 -3.39545127e-01 2.99609805e-01 -2.88232129e+02] [ 3.70486090e-01 9.27409850e-01 -5.14881218e-02 1.05960971e+01] [-2.60378544e-01 1.56907858e-01 9.52671474e-01 1.33067579e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.839072329 meters Centerline goodness : 0.777464 Centerline is valid? [False, False] Translation: X:-288.26, Y:10.61, Z:133.08 [[ 8.93940994e-01 -3.31766286e-01 3.01331428e-01 -2.88262796e+02] [ 3.63556236e-01 9.29968272e-01 -5.46431666e-02 1.06085369e+01] [-2.62099907e-01 1.58398687e-01 9.51952465e-01 1.33078192e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.86907232899995 meters Centerline goodness : 0.777301 Centerline is valid? [False, False] Translation: X:-288.30, Y:10.63, Z:133.09 [[ 8.97150590e-01 -3.21841266e-01 3.02554158e-01 -2.88302744e+02] [ 3.53107599e-01 9.34054298e-01 -5.34564561e-02 1.06269763e+01] [-2.65397518e-01 1.54792663e-01 9.51631961e-01 1.33091445e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.899072329 meters Centerline goodness : 0.777454 Centerline is valid? [False, False] Translation: X:-288.34, Y:10.64, Z:133.11 [[ 8.98857384e-01 -3.21286562e-01 2.98044207e-01 -2.88336159e+02] [ 3.51134068e-01 9.34928001e-01 -5.11321681e-02 1.06429646e+01] [-2.62221796e-01 1.50614001e-01 9.53181595e-01 1.33106131e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.92907232899995 meters Centerline goodness : 0.777142 Centerline is valid? [False, False] Translation: X:-288.38, Y:10.66, Z:133.12 [[ 9.00611195e-01 -3.14209954e-01 3.00285829e-01 -2.88377545e+02] [ 3.44392921e-01 9.37381704e-01 -5.20486029e-02 1.06614842e+01] [-2.65128253e-01 1.50291868e-01 9.52428141e-01 1.33120528e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.959072329 meters Centerline goodness : 0.778039 Centerline is valid? [False, False] Translation: X:-288.41, Y:10.68, Z:133.14 [[ 9.01257575e-01 -3.15281372e-01 2.97207738e-01 -2.88414118e+02] [ 3.44580031e-01 9.37397196e-01 -5.05084050e-02 1.06773670e+01] [-2.62677341e-01 1.47932934e-01 9.53475989e-01 1.33136772e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.98907232899995 meters Centerline goodness : 0.776773 Centerline is valid? [False, False] Translation: X:-288.45, Y:10.69, Z:133.15 [[ 9.01667997e-01 -3.17022875e-01 2.94094067e-01 -2.88446220e+02] [ 3.45987654e-01 9.36859060e-01 -5.08689036e-02 1.06903207e+01] [-2.59398085e-01 1.47619779e-01 9.54421833e-01 1.33150583e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.019072329 meters Centerline goodness : 0.778443 Centerline is valid? [False, False] Translation: X:-288.49, Y:10.71, Z:133.17 [[ 9.01540875e-01 -3.16253367e-01 2.95309767e-01 -2.88490089e+02] [ 3.44748651e-01 9.37438752e-01 -4.85484745e-02 1.07057601e+01] [-2.61481200e-01 1.45576078e-01 9.54167274e-01 1.33167941e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.04907232899996 meters Centerline goodness : 0.779310 Centerline is valid? [False, False] Translation: X:-288.53, Y:10.72, Z:133.18 [[ 9.02307478e-01 -3.16861726e-01 2.92300978e-01 -2.88525527e+02] [ 3.44282747e-01 9.37726067e-01 -4.62516317e-02 1.07206980e+01] [-2.59442874e-01 1.42367377e-01 9.55207268e-01 1.33181745e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.079072329 meters Centerline goodness : 0.778758 Centerline is valid? [False, False] Translation: X:-288.56, Y:10.74, Z:133.20 [[ 9.02204151e-01 -3.18341165e-01 2.91009576e-01 -2.88564752e+02] [ 3.45014614e-01 9.37564820e-01 -4.40127787e-02 1.07353877e+01] [-2.58829261e-01 1.40111068e-01 9.55707226e-01 1.33196697e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.10907232899996 meters Centerline goodness : 0.781281 Centerline is valid? [False, False] Translation: X:-288.60, Y:10.75, Z:133.21 [[ 9.01233622e-01 -3.21953443e-01 2.90041272e-01 -2.88604793e+02] [ 3.48192261e-01 9.36462603e-01 -4.24257334e-02 1.07494071e+01] [-2.57953693e-01 1.39225624e-01 9.56073281e-01 1.33210380e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.139072329 meters Centerline goodness : 0.779269 Centerline is valid? [False, False] Translation: X:-288.65, Y:10.77, Z:133.23 [[ 9.02563558e-01 -3.19871490e-01 2.88203493e-01 -2.88653855e+02] [ 3.48029881e-01 9.36097090e-01 -5.09650883e-02 1.07678536e+01] [-2.53484173e-01 1.46302659e-01 9.56211957e-01 1.33226060e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.16907232899996 meters Centerline goodness : 0.780677 Centerline is valid? [False, False] Translation: X:-288.70, Y:10.78, Z:133.24 [[ 9.01486903e-01 -3.23007437e-01 2.88075615e-01 -2.88696742e+02] [ 3.50800062e-01 9.35155933e-01 -4.92208987e-02 1.07811584e+01] [-2.53496904e-01 1.45428939e-01 9.56341855e-01 1.33241712e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.199072329 meters Centerline goodness : 0.780735 Centerline is valid? [False, False] Translation: X:-288.74, Y:10.79, Z:133.26 [[ 9.00895945e-01 -3.24231490e-01 2.88548848e-01 -2.88736741e+02] [ 3.52003378e-01 9.34731539e-01 -4.86885193e-02 1.07931756e+01] [-2.53929357e-01 1.45433459e-01 9.56226433e-01 1.33256301e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.22907232899996 meters Centerline goodness : 0.780816 Centerline is valid? [False, False] Translation: X:-288.77, Y:10.81, Z:133.27 [[ 9.01031615e-01 -3.25067855e-01 2.87180984e-01 -2.88772783e+02] [ 3.52552368e-01 9.34544867e-01 -4.82982320e-02 1.08063640e+01] [-2.52683311e-01 1.44764570e-01 9.56657913e-01 1.33269901e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.259072329 meters Centerline goodness : 0.781193 Centerline is valid? [False, False] Translation: X:-288.81, Y:10.82, Z:133.28 [[ 8.99944812e-01 -3.28630688e-01 2.86533079e-01 -2.88814796e+02] [ 3.55636426e-01 9.33473637e-01 -4.63648836e-02 1.08207124e+01] [-2.52234151e-01 1.43627437e-01 9.56947800e-01 1.33284646e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.28907232899996 meters Centerline goodness : 0.780940 Centerline is valid? [False, False] Translation: X:-288.85, Y:10.83, Z:133.30 [[ 8.99269399e-01 -3.31434022e-01 2.85422558e-01 -2.88852205e+02] [ 3.58322541e-01 9.32454953e-01 -4.61813564e-02 1.08326340e+01] [-2.50837605e-01 1.43802817e-01 9.57288486e-01 1.33297946e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.319072329 meters Centerline goodness : 0.780324 Centerline is valid? [False, False] Translation: X:-288.89, Y:10.84, Z:133.31 [[ 8.97736823e-01 -3.35723495e-01 2.85233819e-01 -2.88890910e+02] [ 3.63001481e-01 9.30593266e-01 -4.71815468e-02 1.08448189e+01] [-2.49596717e-01 1.45896911e-01 9.57295968e-01 1.33311576e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.34907232899997 meters Centerline goodness : 0.780517 Centerline is valid? [False, False] Translation: X:-288.93, Y:10.86, Z:133.33 [[ 8.96559035e-01 -3.39151190e-01 2.84883076e-01 -2.88932710e+02] [ 3.65784786e-01 9.29637935e-01 -4.44387324e-02 1.08568478e+01] [-2.49766665e-01 1.44047842e-01 9.57531635e-01 1.33325008e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.379072329 meters Centerline goodness : 0.779835 Centerline is valid? [False, False] Translation: X:-288.97, Y:10.87, Z:133.34 [[ 8.95793504e-01 -3.41783802e-01 2.84144031e-01 -2.88971174e+02] [ 3.68219724e-01 9.28708894e-01 -4.37495716e-02 1.08689827e+01] [-2.48934194e-01 1.43818019e-01 9.57782932e-01 1.33338921e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.40907232899997 meters Centerline goodness : 0.780738 Centerline is valid? [False, False] Translation: X:-289.01, Y:10.88, Z:133.35 [[ 8.95680500e-01 -3.43643508e-01 2.82250918e-01 -2.89007285e+02] [ 3.69607048e-01 9.28202099e-01 -4.27959621e-02 1.08811875e+01] [-2.47279340e-01 1.42653437e-01 9.58385583e-01 1.33351444e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.439072329 meters Centerline goodness : 0.781126 Centerline is valid? [False, False] Translation: X:-289.06, Y:10.90, Z:133.37 [[ 8.95460344e-01 -3.44051031e-01 2.82452934e-01 -2.89060894e+02] [ 3.72427758e-01 9.26601548e-01 -5.20301571e-02 1.08996772e+01] [-2.43820297e-01 1.51784255e-01 9.57869095e-01 1.33367130e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.46907232899997 meters Centerline goodness : 0.781444 Centerline is valid? [False, False] Translation: X:-289.10, Y:10.91, Z:133.38 [[ 8.94152700e-01 -3.46508589e-01 2.83589046e-01 -2.89103485e+02] [ 3.74803708e-01 9.25719967e-01 -5.06430980e-02 1.09104767e+01] [-2.44975774e-01 1.51572889e-01 9.57607712e-01 1.33381293e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.49907232899994 meters Centerline goodness : 0.780349 Centerline is valid? [False, False] Translation: X:-289.14, Y:10.93, Z:133.40 [[ 8.93575440e-01 -3.48474932e-01 2.82998507e-01 -2.89143132e+02] [ 3.76496382e-01 9.25085143e-01 -4.96784899e-02 1.09250911e+01] [-2.44486006e-01 1.50939393e-01 9.57832915e-01 1.33395962e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.529072329 meters Centerline goodness : 0.780744 Centerline is valid? [False, False] Translation: X:-289.19, Y:10.94, Z:133.41 [[ 8.92126921e-01 -3.52090040e-01 2.83093906e-01 -2.89185283e+02] [ 3.79900353e-01 9.23766117e-01 -4.82895691e-02 1.09393029e+01] [-2.44510282e-01 1.50627899e-01 9.57875753e-01 1.33410457e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.55907232899995 meters Centerline goodness : 0.780935 Centerline is valid? [False, False] Translation: X:-289.23, Y:10.95, Z:133.42 [[ 8.91496079e-01 -3.53896542e-01 2.82828532e-01 -2.89225591e+02] [ 3.81407293e-01 9.23209808e-01 -4.70332598e-02 1.09517671e+01] [-2.44465167e-01 1.49802831e-01 9.58016646e-01 1.33424840e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.589072329 meters Centerline goodness : 0.781869 Centerline is valid? [False, False] Translation: X:-289.27, Y:10.97, Z:133.44 [[ 8.90181719e-01 -3.56567982e-01 2.83612025e-01 -2.89269598e+02] [ 3.83938224e-01 9.22231443e-01 -4.56136652e-02 1.09665199e+01] [-2.45291555e-01 1.49493948e-01 9.57853649e-01 1.33441408e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.61907232899995 meters Centerline goodness : 0.782568 Centerline is valid? [False, False] Translation: X:-289.32, Y:10.98, Z:133.46 [[ 8.87703620e-01 -3.61007831e-01 2.85754490e-01 -2.89315975e+02] [ 3.88775965e-01 9.20224002e-01 -4.51778052e-02 1.09804640e+01] [-2.46648599e-01 1.51198979e-01 9.57237346e-01 1.33458300e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.649072329 meters Centerline goodness : 0.782303 Centerline is valid? [False, False] Translation: X:-289.36, Y:10.99, Z:133.47 [[ 8.86215948e-01 -3.64587367e-01 2.85827476e-01 -2.89358321e+02] [ 3.92299092e-01 9.18765389e-01 -4.44025118e-02 1.09937276e+01] [-2.46419797e-01 1.51480073e-01 9.57251833e-01 1.33473421e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.67907232899995 meters Centerline goodness : 0.780690 Centerline is valid? [False, False] Translation: X:-289.41, Y:11.01, Z:133.49 [[ 8.85865199e-01 -3.63812011e-01 2.87895242e-01 -2.89411260e+02] [ 3.93208907e-01 9.18104106e-01 -4.97152554e-02 1.10100777e+01] [-2.46230797e-01 1.57243988e-01 9.56370599e-01 1.33485534e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.709072329 meters Centerline goodness : 0.783731 Centerline is valid? [False, False] Translation: X:-289.47, Y:11.03, Z:133.50 [[ 8.85739786e-01 -3.65343220e-01 2.86337847e-01 -2.89466838e+02] [ 3.96208368e-01 9.16431922e-01 -5.63157324e-02 1.10278670e+01] [-2.41834573e-01 1.63330536e-01 9.56472255e-01 1.33500984e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.73907232899995 meters Centerline goodness : 0.782573 Centerline is valid? [False, False] Translation: X:-289.51, Y:11.04, Z:133.52 [[ 8.83748689e-01 -3.69691451e-01 2.86908499e-01 -2.89510323e+02] [ 4.00515207e-01 9.14628617e-01 -5.51548969e-02 1.10414162e+01] [-2.42024429e-01 1.63654284e-01 9.56368888e-01 1.33516148e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.769072329 meters Centerline goodness : 0.784232 Centerline is valid? [False, False] Translation: X:-289.56, Y:11.06, Z:133.53 [[ 8.80764303e-01 -3.75773452e-01 2.88181461e-01 -2.89559699e+02] [ 4.06529184e-01 9.12090478e-01 -5.31505581e-02 1.10555201e+01] [-2.42874998e-01 1.63967288e-01 9.56099610e-01 1.33533246e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.79907232899996 meters Centerline goodness : 0.782978 Centerline is valid? [False, False] Translation: X:-289.60, Y:11.07, Z:133.55 [[ 8.79818119e-01 -3.78275456e-01 2.87798117e-01 -2.89600263e+02] [ 4.08753022e-01 9.11164048e-01 -5.19715677e-02 1.10686221e+01] [-2.42571729e-01 1.63363877e-01 9.56279875e-01 1.33547539e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.829072329 meters Centerline goodness : 0.782568 Centerline is valid? [False, False] Translation: X:-289.64, Y:11.08, Z:133.56 [[ 8.78198272e-01 -3.81856523e-01 2.88016304e-01 -2.89644597e+02] [ 4.12199757e-01 9.09676977e-01 -5.07854131e-02 1.10830178e+01] [-2.42609059e-01 1.63319912e-01 9.56277915e-01 1.33564175e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.85907232899996 meters Centerline goodness : 0.783165 Centerline is valid? [False, False] Translation: X:-289.69, Y:11.10, Z:133.58 [[ 8.76788729e-01 -3.84990623e-01 2.88138414e-01 -2.89687445e+02] [ 4.15250074e-01 9.08336257e-01 -4.99261560e-02 1.10978339e+01] [-2.42505466e-01 1.63424188e-01 9.56286376e-01 1.33579594e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.889072329 meters Centerline goodness : 0.784054 Centerline is valid? [False, False] Translation: X:-289.75, Y:11.12, Z:133.60 [[ 8.75318023e-01 -3.88023814e-01 2.88540948e-01 -2.89746635e+02] [ 4.20414059e-01 9.05497480e-01 -5.76743680e-02 1.11186473e+01] [-2.38894073e-01 1.71790085e-01 9.55728931e-01 1.33598167e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.91907232899996 meters Centerline goodness : 0.783578 Centerline is valid? [False, False] Translation: X:-289.79, Y:11.13, Z:133.61 [[ 8.73546630e-01 -3.91816266e-01 2.88784173e-01 -2.89791211e+02] [ 4.24063756e-01 9.03874578e-01 -5.63974935e-02 1.11326038e+01] [-2.38927217e-01 1.71728741e-01 9.55731670e-01 1.33614564e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.949072329 meters Centerline goodness : 0.782562 Centerline is valid? [False, False] Translation: X:-289.83, Y:11.15, Z:133.63 [[ 8.72956418e-01 -3.93784006e-01 2.87891036e-01 -2.89833351e+02] [ 4.25437953e-01 9.03350562e-01 -5.44087410e-02 1.11461259e+01] [-2.38641237e-01 1.69976233e-01 9.56116332e-01 1.33630604e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.97907232899996 meters Centerline goodness : 0.785394 Centerline is valid? [False, False] Translation: X:-289.87, Y:11.16, Z:133.65 [[ 8.74363679e-01 -3.92559111e-01 2.85281444e-01 -2.89874077e+02] [ 4.22622499e-01 9.04920304e-01 -5.00945763e-02 1.11630800e+01] [-2.38491889e-01 1.64367235e-01 9.57133758e-01 1.33646390e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.009072329 meters Centerline goodness : 0.785394 Centerline is valid? [False, False] Translation: X:-289.92, Y:11.18, Z:133.66 [[ 8.74049477e-01 -3.93860855e-01 2.84448835e-01 -2.89917377e+02] [ 4.23215559e-01 9.04774781e-01 -4.76569689e-02 1.11786944e+01] [-2.38591917e-01 1.62037721e-01 9.57505965e-01 1.33662812e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.03907232899996 meters Centerline goodness : 0.783494 Centerline is valid? [False, False] Translation: X:-289.96, Y:11.20, Z:133.68 [[ 8.74643991e-01 -3.93373960e-01 2.83292810e-01 -2.89958770e+02] [ 4.21877878e-01 9.05529422e-01 -4.51167681e-02 1.11952411e+01] [-2.38782212e-01 1.58976079e-01 9.57971639e-01 1.33679082e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.069072329 meters Centerline goodness : 0.784733 Centerline is valid? [False, False] Translation: X:-290.00, Y:11.21, Z:133.69 [[ 8.77093912e-01 -3.85930128e-01 2.85944411e-01 -2.90004071e+02] [ 4.14682174e-01 9.08835445e-01 -4.53522759e-02 1.12138145e+01] [-2.42373606e-01 1.58354255e-01 9.57172380e-01 1.33692520e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.09907232899997 meters Centerline goodness : 0.786545 Centerline is valid? [False, False] Translation: X:-290.04, Y:11.23, Z:133.71 [[ 8.77794811e-01 -3.85271719e-01 2.84678719e-01 -2.90042924e+02] [ 4.13408048e-01 9.09488720e-01 -4.38640326e-02 1.12295769e+01] [-2.42012512e-01 1.56192094e-01 9.57618908e-01 1.33707409e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.129072329 meters Centerline goodness : 0.785494 Centerline is valid? [False, False] Translation: X:-290.08, Y:11.24, Z:133.72 [[ 8.78873614e-01 -3.80580792e-01 2.87644625e-01 -2.90076355e+02] [ 4.10463735e-01 9.10537255e-01 -4.94108189e-02 1.12406517e+01] [-2.43106339e-01 1.61493552e-01 9.56461782e-01 1.33718250e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.15907232899997 meters Centerline goodness : 0.786301 Centerline is valid? [False, False] Translation: X:-290.12, Y:11.26, Z:133.73 [[ 8.79212457e-01 -3.76578638e-01 2.91845825e-01 -2.90123578e+02] [ 4.07528605e-01 9.11753113e-01 -5.12513082e-02 1.12583292e+01] [-2.46791192e-01 1.63996310e-01 9.55091262e-01 1.33734416e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.189072329 meters Centerline goodness : 0.786227 Centerline is valid? [False, False] Translation: X:-290.16, Y:11.27, Z:133.75 [[ 8.81346307e-01 -3.69583437e-01 2.94341248e-01 -2.90159116e+02] [ 4.01556615e-01 9.14213006e-01 -5.44689373e-02 1.12720452e+01] [-2.48959780e-01 1.66200672e-01 9.54146930e-01 1.33745891e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.21907232899997 meters Centerline goodness : 0.786369 Centerline is valid? [False, False] Translation: X:-290.20, Y:11.29, Z:133.76 [[ 8.82207053e-01 -3.68000528e-01 2.93745344e-01 -2.90198073e+02] [ 3.99355564e-01 9.15278018e-01 -5.27378623e-02 1.12891630e+01] [-2.49451096e-01 1.63834552e-01 9.54427782e-01 1.33762285e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.24907232899994 meters Centerline goodness : 0.789215 Centerline is valid? [False, False] Translation: X:-290.24, Y:11.31, Z:133.78 [[ 8.84987644e-01 -3.59322701e-01 2.96114955e-01 -2.90242539e+02] [ 3.90577898e-01 9.19099000e-01 -5.20185797e-02 1.13088178e+01] [-2.53467502e-01 1.61691757e-01 9.53734765e-01 1.33777115e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.279072329 meters Centerline goodness : 0.787542 Centerline is valid? [False, False] Translation: X:-290.29, Y:11.33, Z:133.79 [[ 8.85695801e-01 -3.54826058e-01 2.99401766e-01 -2.90286664e+02] [ 3.86843477e-01 9.20600963e-01 -5.33478246e-02 1.13266763e+01] [-2.56700356e-01 1.63071564e-01 9.52634553e-01 1.33792015e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.30907232899995 meters Centerline goodness : 0.786654 Centerline is valid? [False, False] Translation: X:-290.33, Y:11.34, Z:133.81 [[ 8.86167921e-01 -3.50422262e-01 3.03167700e-01 -2.90331818e+02] [ 3.83325047e-01 9.21988008e-01 -5.47724454e-02 1.13435089e+01] [-2.60323500e-01 1.64749357e-01 9.51361826e-01 1.33806607e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.339072329 meters Centerline goodness : 0.787443 Centerline is valid? [False, False] Translation: X:-290.37, Y:11.36, Z:133.82 [[ 8.87509123e-01 -3.44323033e-01 3.06217579e-01 -2.90368766e+02] [ 3.78701629e-01 9.23635198e-01 -5.90177695e-02 1.13579118e+01] [-2.62512157e-01 1.68343905e-01 9.50130358e-01 1.33820128e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.36907232899995 meters Centerline goodness : 0.786353 Centerline is valid? [False, False] Translation: X:-290.41, Y:11.37, Z:133.84 [[ 8.87436352e-01 -3.45643351e-01 3.04938345e-01 -2.90408614e+02] [ 3.79281345e-01 9.23524780e-01 -5.69880902e-02 1.13729244e+01] [-2.61920563e-01 1.66230729e-01 9.50665537e-01 1.33836108e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.399072329 meters Centerline goodness : 0.787362 Centerline is valid? [False, False] Translation: X:-290.44, Y:11.39, Z:133.85 [[ 8.88586196e-01 -3.45000398e-01 3.02306627e-01 -2.90443719e+02] [ 3.77422104e-01 9.24443414e-01 -5.43776566e-02 1.13861892e+01] [-2.60705058e-01 1.62416438e-01 9.51658433e-01 1.33849530e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.42907232899995 meters Centerline goodness : 0.787884 Centerline is valid? [False, False] Translation: X:-290.48, Y:11.40, Z:133.86 [[ 8.90121827e-01 -3.44019562e-01 2.98887393e-01 -2.90477857e+02] [ 3.75424274e-01 9.25336804e-01 -5.29944700e-02 1.14008172e+01] [-2.58340371e-01 1.59381117e-01 9.52815781e-01 1.33863149e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.459072329 meters Centerline goodness : 0.787478 Centerline is valid? [False, False] Translation: X:-290.52, Y:11.42, Z:133.88 [[ 8.90321194e-01 -3.45063623e-01 2.97084615e-01 -2.90515134e+02] [ 3.75923535e-01 9.25191592e-01 -5.19809076e-02 1.14165302e+01] [-2.56923467e-01 1.57960802e-01 9.53435219e-01 1.33878293e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.48907232899995 meters Centerline goodness : 0.787857 Centerline is valid? [False, False] Translation: X:-290.55, Y:11.43, Z:133.89 [[ 8.90716408e-01 -3.45420506e-01 2.95480886e-01 -2.90551985e+02] [ 3.75815420e-01 9.25277857e-01 -5.12216393e-02 1.14323513e+01] [-2.55708917e-01 1.56670228e-01 9.53974522e-01 1.33892864e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.519072329 meters Centerline goodness : 0.786971 Centerline is valid? [False, False] Translation: X:-290.59, Y:11.45, Z:133.91 [[ 8.90888122e-01 -3.42144165e-01 2.98756966e-01 -2.90594297e+02] [ 3.73609636e-01 9.26037530e-01 -5.35754875e-02 1.14468076e+01] [-2.58329623e-01 1.59348247e-01 9.52824193e-01 1.33906370e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.54907232899996 meters Centerline goodness : 0.788804 Centerline is valid? [False, False] Translation: X:-290.62, Y:11.46, Z:133.92 [[ 8.93874538e-01 -3.33306375e-01 2.99825234e-01 -2.90623703e+02] [ 3.65144011e-01 9.29292525e-01 -5.55450605e-02 1.14594124e+01] [-2.60111826e-01 1.59129704e-01 9.52375753e-01 1.33916374e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.579072329 meters Centerline goodness : 0.789687 Centerline is valid? [False, False] Translation: X:-290.66, Y:11.48, Z:133.93 [[ 8.96771543e-01 -3.22764699e-01 3.02694151e-01 -2.90663571e+02] [ 3.54735807e-01 9.33302022e-01 -5.57659644e-02 1.14786277e+01] [-2.64505778e-01 1.57385784e-01 9.51454890e-01 1.33931300e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.60907232899996 meters Centerline goodness : 0.789538 Centerline is valid? [False, False] Translation: X:-290.70, Y:11.49, Z:133.95 [[ 8.97764204e-01 -3.21342666e-01 3.01261224e-01 -2.90700386e+02] [ 3.52648818e-01 9.34169593e-01 -5.44608318e-02 1.14945886e+01] [-2.63928486e-01 1.55132400e-01 9.51985133e-01 1.33947374e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.639072329 meters Centerline goodness : 0.788760 Centerline is valid? [False, False] Translation: X:-290.74, Y:11.51, Z:133.96 [[ 9.00520959e-01 -3.11214176e-01 3.03657271e-01 -2.90737141e+02] [ 3.42696959e-01 9.37826974e-01 -5.51303946e-02 1.15110805e+01] [-2.67620620e-01 1.53708499e-01 9.51184998e-01 1.33961484e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.66907232899996 meters Centerline goodness : 0.790578 Centerline is valid? [False, False] Translation: X:-290.77, Y:11.53, Z:133.98 [[ 9.02443989e-01 -3.09486206e-01 2.99688396e-01 -2.90770569e+02] [ 3.39546193e-01 9.39114710e-01 -5.26492629e-02 1.15289523e+01] [-2.65147560e-01 1.49271065e-01 9.52583288e-01 1.33977411e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.699072329 meters Centerline goodness : 0.790427 Centerline is valid? [False, False] Translation: X:-290.80, Y:11.54, Z:133.99 [[ 9.03954791e-01 -3.09979398e-01 2.94581923e-01 -2.90801183e+02] [ 3.38847811e-01 9.39444814e-01 -5.12406336e-02 1.15436029e+01] [-2.60859920e-01 1.46137656e-01 9.54251480e-01 1.33990646e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.72907232899996 meters Centerline goodness : 0.789603 Centerline is valid? [False, False] Translation: X:-290.83, Y:11.56, Z:134.00 [[ 9.05694174e-01 -3.08778543e-01 2.90471814e-01 -2.90833578e+02] [ 3.36443592e-01 9.40409274e-01 -4.93569276e-02 1.15595084e+01] [-2.57922028e-01 1.42429662e-01 9.55609763e-01 1.34003459e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.759072329 meters Centerline goodness : 0.788700 Centerline is valid? [False, False] Translation: X:-290.87, Y:11.57, Z:134.02 [[ 9.06967893e-01 -3.02915044e-01 2.92663146e-01 -2.90870394e+02] [ 3.31165838e-01 9.42188100e-01 -5.10957148e-02 1.15734447e+01] [-2.60266073e-01 1.43262209e-01 9.54849470e-01 1.34015177e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.78907232899996 meters Centerline goodness : 0.790367 Centerline is valid? [False, False] Translation: X:-290.90, Y:11.59, Z:134.03 [[ 9.08897255e-01 -3.01617462e-01 2.87980356e-01 -2.90901641e+02] [ 3.28552353e-01 9.43210113e-01 -4.90717204e-02 1.15878076e+01] [-2.56825097e-01 1.39217776e-01 9.56378210e-01 1.34028283e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.819072329 meters Centerline goodness : 0.791054 Centerline is valid? [False, False] Translation: X:-290.93, Y:11.60, Z:134.04 [[ 9.11448863e-01 -2.93020755e-01 2.88790246e-01 -2.90929831e+02] [ 3.20264949e-01 9.45955667e-01 -5.09729137e-02 1.16000642e+01] [-2.58246648e-01 1.38948598e-01 9.56034495e-01 1.34038388e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.84907232899997 meters Centerline goodness : 0.790844 Centerline is valid? [False, False] Translation: X:-290.96, Y:11.62, Z:134.05 [[ 9.15137145e-01 -2.81719092e-01 2.88371911e-01 -2.90961248e+02] [ 3.08129976e-01 9.50044552e-01 -4.97118400e-02 1.16183537e+01] [-2.59961389e-01 1.34349181e-01 9.56227156e-01 1.34049770e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.879072329 meters Centerline goodness : 0.789714 Centerline is valid? [False, False] Translation: X:-290.99, Y:11.63, Z:134.06 [[ 9.17515147e-01 -2.81191745e-01 2.81242171e-01 -2.90985438e+02] [ 3.06320081e-01 9.50675707e-01 -4.88232389e-02 1.16330129e+01] [-2.53641407e-01 1.30946186e-01 9.58394038e-01 1.34060555e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.90907232899997 meters Centerline goodness : 0.788756 Centerline is valid? [False, False] Translation: X:-291.01, Y:11.65, Z:134.07 [[ 9.20531833e-01 -2.78373245e-01 2.74097577e-01 -2.91011535e+02] [ 3.01913921e-01 9.52179995e-01 -4.69173820e-02 1.16486376e+01] [-2.47929686e-01 1.25942818e-01 9.60556754e-01 1.34072611e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.939072329 meters Centerline goodness : 0.789417 Centerline is valid? [False, False] Translation: X:-291.04, Y:11.66, Z:134.08 [[ 9.22976869e-01 -2.77101863e-01 2.67073503e-01 -2.91035918e+02] [ 2.99415498e-01 9.53015884e-01 -4.59465365e-02 1.16624837e+01] [-2.41793420e-01 1.22373537e-01 9.62580209e-01 1.34083093e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.96907232899997 meters Centerline goodness : 0.789251 Centerline is valid? [False, False] Translation: X:-291.06, Y:11.68, Z:134.09 [[ 9.24545700e-01 -2.77811065e-01 2.60837615e-01 -2.91061548e+02] [ 2.99408984e-01 9.53003507e-01 -4.62447461e-02 1.16754866e+01] [-2.35731860e-01 1.20852506e-01 9.64274423e-01 1.34093473e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.99907232899994 meters Centerline goodness : 0.789507 Centerline is valid? [False, False] Translation: X:-291.09, Y:11.69, Z:134.10 [[ 9.26250729e-01 -2.77475352e-01 2.55082370e-01 -2.91089609e+02] [ 2.97994558e-01 9.53513205e-01 -4.48532126e-02 1.16893843e+01] [-2.30778747e-01 1.17558479e-01 9.65878447e-01 1.34103856e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.029072329 meters Centerline goodness : 0.787816 Centerline is valid? [False, False] Translation: X:-291.12, Y:11.70, Z:134.12 [[ 9.27733893e-01 -2.76356408e-01 2.50872397e-01 -2.91118737e+02] [ 2.96676132e-01 9.53851610e-01 -4.63721738e-02 1.17038159e+01] [-2.26479792e-01 1.17448890e-01 9.66908818e-01 1.34116188e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.05907232899995 meters Centerline goodness : 0.787592 Centerline is valid? [False, False] Translation: X:-291.15, Y:11.72, Z:134.13 [[ 9.28240387e-01 -2.77726119e-01 2.47463103e-01 -2.91149658e+02] [ 2.98037911e-01 9.53345692e-01 -4.80145380e-02 1.17182437e+01] [-2.22582992e-01 1.18322420e-01 9.67706886e-01 1.34128608e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.089072329 meters Centerline goodness : 0.788793 Centerline is valid? [False, False] Translation: X:-291.18, Y:11.73, Z:134.14 [[ 9.28663087e-01 -2.77705087e-01 2.45895821e-01 -2.91183180e+02] [ 2.97841685e-01 9.53402226e-01 -4.81095228e-02 1.17317007e+01] [-2.21077364e-01 1.17915564e-01 9.68101606e-01 1.34140018e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.11907232899995 meters Centerline goodness : 0.786949 Centerline is valid? [False, False] Translation: X:-291.22, Y:11.75, Z:134.15 [[ 9.28793279e-01 -2.77409963e-01 2.45737172e-01 -2.91220811e+02] [ 2.97473472e-01 9.53527193e-01 -4.79106114e-02 1.17478941e+01] [-2.21026195e-01 1.17599344e-01 9.68151752e-01 1.34153744e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.149072329 meters Centerline goodness : 0.786127 Centerline is valid? [False, False] Translation: X:-291.25, Y:11.76, Z:134.16 [[ 9.30113789e-01 -2.78195966e-01 2.39781869e-01 -2.91248060e+02] [ 2.97405843e-01 9.53579249e-01 -4.72903751e-02 1.17600997e+01] [-2.15495023e-01 1.15297959e-01 9.69674314e-01 1.34163187e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.17907232899995 meters Centerline goodness : 0.786594 Centerline is valid? [False, False] Translation: X:-291.28, Y:11.77, Z:134.17 [[ 9.31253432e-01 -2.78327955e-01 2.35160787e-01 -2.91279111e+02] [ 2.96747735e-01 9.53836987e-01 -4.62145453e-02 1.17736812e+01] [-2.11442256e-01 1.12820885e-01 9.70857157e-01 1.34174590e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.209072329 meters Centerline goodness : 0.786633 Centerline is valid? [False, False] Translation: X:-291.31, Y:11.79, Z:134.18 [[ 9.32983610e-01 -2.77708385e-01 2.28953352e-01 -2.91306316e+02] [ 2.94962762e-01 9.54484408e-01 -4.42321521e-02 1.17873459e+01] [-2.06248765e-01 1.08800586e-01 9.72431941e-01 1.34183811e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.23907232899995 meters Centerline goodness : 0.787332 Centerline is valid? [False, False] Translation: X:-291.33, Y:11.80, Z:134.19 [[ 9.34364289e-01 -2.77864327e-01 2.23057821e-01 -2.91333539e+02] [ 2.94325488e-01 9.54709756e-01 -4.36095056e-02 1.18001518e+01] [-2.00837952e-01 1.06398767e-01 9.73829256e-01 1.34192568e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.269072329 meters Centerline goodness : 0.786156 Centerline is valid? [False, False] Translation: X:-291.37, Y:11.81, Z:134.20 [[ 9.35188906e-01 -2.77352197e-01 2.20221409e-01 -2.91366484e+02] [ 2.93370514e-01 9.55029693e-01 -4.30351744e-02 1.18135333e+01] [-1.98382084e-01 1.04852486e-01 9.74500131e-01 1.34201594e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.29907232899996 meters Centerline goodness : 0.785671 Centerline is valid? [False, False] Translation: X:-291.40, Y:11.82, Z:134.21 [[ 9.35892830e-01 -2.76415160e-01 2.18401627e-01 -2.91397888e+02] [ 2.92415651e-01 9.55277067e-01 -4.40319428e-02 1.18248526e+01] [-1.96462970e-01 1.05073234e-01 9.74865076e-01 1.34208770e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.329072329 meters Centerline goodness : 0.785364 Centerline is valid? [False, False] Translation: X:-291.43, Y:11.84, Z:134.22 [[ 9.36010036e-01 -2.76205472e-01 2.18164501e-01 -2.91432542e+02] [ 2.92295424e-01 9.55286218e-01 -4.46276514e-02 1.18363514e+01] [-1.96083139e-01 1.05540415e-01 9.74891083e-01 1.34217016e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.35907232899996 meters Centerline goodness : 0.786414 Centerline is valid? [False, False] Translation: X:-291.47, Y:11.85, Z:134.23 [[ 9.36346299e-01 -2.75841510e-01 2.17179811e-01 -2.91466382e+02] [ 2.91788738e-01 9.55447322e-01 -4.44943406e-02 1.18489465e+01] [-1.95230483e-01 1.05032734e-01 9.75117010e-01 1.34225687e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.389072329 meters Centerline goodness : 0.785678 Centerline is valid? [False, False] Translation: X:-291.50, Y:11.86, Z:134.24 [[ 9.36004431e-01 -2.76363612e-01 2.17988208e-01 -2.91503581e+02] [ 2.92534365e-01 9.55190385e-01 -4.51106827e-02 1.18624344e+01] [-1.95753289e-01 1.05992841e-01 9.74908287e-01 1.34235482e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.41907232899996 meters Centerline goodness : 0.785648 Centerline is valid? [False, False] Translation: X:-291.54, Y:11.87, Z:134.24 [[ 9.36992718e-01 -2.71858494e-01 2.19402840e-01 -2.91538217e+02] [ 2.88015611e-01 9.56580465e-01 -4.47305334e-02 1.18736958e+01] [-1.97716096e-01 1.05103627e-01 9.74608420e-01 1.34243179e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.449072329 meters Centerline goodness : 0.786533 Centerline is valid? [False, False] Translation: X:-291.57, Y:11.89, Z:134.25 [[ 9.37568474e-01 -2.69823308e-01 2.19455550e-01 -2.91572138e+02] [ 2.86012871e-01 9.57165192e-01 -4.50714173e-02 1.18869654e+01] [-1.97893894e-01 1.05024652e-01 9.74580848e-01 1.34252793e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.47907232899996 meters Centerline goodness : 0.787107 Centerline is valid? [False, False] Translation: X:-291.60, Y:11.90, Z:134.26 [[ 9.39004583e-01 -2.67459292e-01 2.16184922e-01 -2.91604398e+02] [ 2.82942330e-01 9.58146868e-01 -4.35685418e-02 1.19019251e+01] [-1.95484094e-01 1.02078926e-01 9.75379855e-01 1.34263140e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.509072329 meters Centerline goodness : 0.786413 Centerline is valid? [False, False] Translation: X:-291.63, Y:11.91, Z:134.27 [[ 9.40294824e-01 -2.67504680e-01 2.10444507e-01 -2.91630198e+02] [ 2.82591518e-01 9.58200648e-01 -4.46492225e-02 1.19135538e+01] [-1.89704187e-01 1.01453265e-01 9.76585663e-01 1.34271489e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.53907232899996 meters Centerline goodness : 0.788713 Centerline is valid? [False, False] Translation: X:-291.66, Y:11.93, Z:134.28 [[ 9.40736063e-01 -2.68250517e-01 2.07502576e-01 -2.91662017e+02] [ 2.83054795e-01 9.58060574e-01 -4.47204554e-02 1.19268067e+01] [-1.86803752e-01 1.00804744e-01 9.77211728e-01 1.34280652e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.569072329 meters Centerline goodness : 0.786884 Centerline is valid? [False, False] Translation: X:-291.70, Y:11.94, Z:134.29 [[ 9.40873937e-01 -2.69346772e-01 2.05447199e-01 -2.91697777e+02] [ 2.83681120e-01 9.57941945e-01 -4.32695185e-02 1.19398884e+01] [-1.85151985e-01 9.89926538e-02 9.77711203e-01 1.34289913e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.59907232899997 meters Centerline goodness : 0.788225 Centerline is valid? [False, False] Translation: X:-291.73, Y:11.95, Z:134.30 [[ 9.41379275e-01 -2.69909463e-01 2.02370803e-01 -2.91728316e+02] [ 2.84039598e-01 9.57810945e-01 -4.38143881e-02 1.19502944e+01] [-1.82007052e-01 9.87272784e-02 9.78328349e-01 1.34297133e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.629072329 meters Centerline goodness : 0.787462 Centerline is valid? [False, False] Translation: X:-291.76, Y:11.96, Z:134.30 [[ 9.41036669e-01 -2.70702484e-01 2.02904293e-01 -2.91764824e+02] [ 2.84959472e-01 9.57523364e-01 -4.41260249e-02 1.19605581e+01] [-1.82340576e-01 9.93437077e-02 9.78203835e-01 1.34304874e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.65907232899997 meters Centerline goodness : 0.787705 Centerline is valid? [False, False] Translation: X:-291.80, Y:11.97, Z:134.31 [[ 9.40815781e-01 -2.71148133e-01 2.03333114e-01 -2.91802079e+02] [ 2.85348874e-01 9.57433960e-01 -4.35457497e-02 1.19723970e+01] [-1.82870680e-01 9.89894036e-02 9.78140794e-01 1.34313272e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.689072329 meters Centerline goodness : 0.786942 Centerline is valid? [False, False] Translation: X:-291.84, Y:11.98, Z:134.32 [[ 9.41067326e-01 -2.71039474e-01 2.02311373e-01 -2.91835934e+02] [ 2.85091781e-01 9.57520666e-01 -4.33226397e-02 1.19848720e+01] [-1.81975175e-01 9.84468303e-02 9.78362539e-01 1.34321688e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.71907232899997 meters Centerline goodness : 0.789128 Centerline is valid? [False, False] Translation: X:-291.87, Y:12.00, Z:134.33 [[ 9.41210098e-01 -2.70993086e-01 2.01708450e-01 -2.91870368e+02] [ 2.85007456e-01 9.57539771e-01 -4.34549872e-02 1.19969801e+01] [-1.81367862e-01 9.83886852e-02 9.78481152e-01 1.34329973e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.74907232899994 meters Centerline goodness : 0.788938 Centerline is valid? [False, False] Translation: X:-291.91, Y:12.01, Z:134.34 [[ 9.41085145e-01 -2.71481108e-01 2.01635207e-01 -2.91907250e+02] [ 2.85435948e-01 9.57426893e-01 -4.31284648e-02 1.20101687e+01] [-1.81342406e-01 9.81414941e-02 9.78510694e-01 1.34339941e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.779072329 meters Centerline goodness : 0.787471 Centerline is valid? [False, False] Translation: X:-291.94, Y:12.02, Z:134.35 [[ 9.41076077e-01 -2.70314522e-01 2.03238471e-01 -2.91942639e+02] [ 2.84567459e-01 9.57647764e-01 -4.39559043e-02 1.20212049e+01] [-1.82748948e-01 9.92009055e-02 9.78142118e-01 1.34346908e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.80907232899995 meters Centerline goodness : 0.787591 Centerline is valid? [False, False] Translation: X:-291.97, Y:12.03, Z:134.35 [[ 9.41693955e-01 -2.66517832e-01 2.05379506e-01 -2.91970691e+02] [ 2.82089981e-01 9.58076797e-01 -5.01407356e-02 1.20308623e+01] [-1.83405939e-01 1.05152729e-01 9.77397138e-01 1.34353702e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.839072329 meters Centerline goodness : 0.788227 Centerline is valid? [False, False] Translation: X:-292.01, Y:12.04, Z:134.36 [[ 9.41036054e-01 -2.67597800e-01 2.06984450e-01 -2.92011782e+02] [ 2.83111787e-01 9.57844481e-01 -4.88023277e-02 1.20426636e+01] [-1.85199517e-01 1.04524487e-01 9.77126282e-01 1.34363732e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.86907232899995 meters Centerline goodness : 0.790204 Centerline is valid? [False, False] Translation: X:-292.04, Y:12.05, Z:134.37 [[ 9.41493097e-01 -2.69139134e-01 2.02866642e-01 -2.92042124e+02] [ 2.84163549e-01 9.57552285e-01 -4.84220941e-02 1.20549119e+01] [-1.81223136e-01 1.03236372e-01 9.78008398e-01 1.34371700e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.899072329 meters Centerline goodness : 0.790204 Centerline is valid? [False, False] Translation: X:-292.07, Y:12.07, Z:134.38 [[ 9.41843475e-01 -2.69924058e-01 2.00179596e-01 -2.92074527e+02] [ 2.84472356e-01 9.57515845e-01 -4.73168597e-02 1.20669508e+01] [-1.78903177e-01 1.01510637e-01 9.78615984e-01 1.34379746e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.92907232899995 meters Centerline goodness : 0.787333 Centerline is valid? [False, False] Translation: X:-292.11, Y:12.08, Z:134.39 [[ 9.41626519e-01 -2.71511316e-01 1.99050508e-01 -2.92109309e+02] [ 2.85760906e-01 9.57187442e-01 -4.61833776e-02 1.20770051e+01] [-1.77989337e-01 1.00368346e-01 9.78900399e-01 1.34387552e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.959072329 meters Centerline goodness : 0.788652 Centerline is valid? [False, False] Translation: X:-292.14, Y:12.09, Z:134.39 [[ 9.41712904e-01 -2.73114690e-01 1.96431090e-01 -2.92142583e+02] [ 2.86955315e-01 9.56873486e-01 -4.52744896e-02 1.20869157e+01] [-1.75594574e-01 9.90025164e-02 9.79471821e-01 1.34394731e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.98907232899995 meters Centerline goodness : 0.787258 Centerline is valid? [False, False] Translation: X:-292.18, Y:12.10, Z:134.40 [[ 9.41371451e-01 -2.75089540e-01 1.95308823e-01 -2.92177297e+02] [ 2.88713522e-01 9.56379517e-01 -4.45277626e-02 1.20983511e+01] [-1.74540236e-01 9.83054625e-02 9.79730444e-01 1.34402552e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.019072329 meters Centerline goodness : 0.789173 Centerline is valid? [False, False] Translation: X:-292.22, Y:12.11, Z:134.41 [[ 9.40191492e-01 -2.78303481e-01 1.96436074e-01 -2.92216988e+02] [ 2.92147068e-01 9.55322512e-01 -4.48217401e-02 1.21093199e+01] [-1.75185757e-01 9.95292416e-02 9.79491644e-01 1.34411376e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.04907232899996 meters Centerline goodness : 0.789547 Centerline is valid? [False, False] Translation: X:-292.25, Y:12.12, Z:134.42 [[ 9.40025096e-01 -2.78915623e-01 1.96364187e-01 -2.92252061e+02] [ 2.92658145e-01 9.55193053e-01 -4.42429741e-02 1.21201162e+01] [-1.75225650e-01 9.90570846e-02 9.79532371e-01 1.34418783e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.079072329 meters Centerline goodness : 0.789874 Centerline is valid? [False, False] Translation: X:-292.29, Y:12.13, Z:134.43 [[ 9.40121007e-01 -2.79161848e-01 1.95553459e-01 -2.92285958e+02] [ 2.92799496e-01 9.55156387e-01 -4.40991178e-02 1.21308691e+01] [-1.74473344e-01 9.87164613e-02 9.79701032e-01 1.34425584e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.10907232899996 meters Centerline goodness : 0.790205 Centerline is valid? [False, False] Translation: X:-292.32, Y:12.14, Z:134.43 [[ 9.40161501e-01 -2.80385251e-01 1.93598716e-01 -2.92320651e+02] [ 2.93620645e-01 9.54961619e-01 -4.28395043e-02 1.21430800e+01] [-1.72867778e-01 9.71206325e-02 9.80145047e-01 1.34433137e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.139072329 meters Centerline goodness : 0.789074 Centerline is valid? [False, False] Translation: X:-292.36, Y:12.16, Z:134.44 [[ 9.39921037e-01 -2.81373644e-01 1.93332143e-01 -2.92355989e+02] [ 2.94592887e-01 9.54663377e-01 -4.28120152e-02 1.21555212e+01] [-1.72520943e-01 9.71941877e-02 9.80198864e-01 1.34441145e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.16907232899996 meters Centerline goodness : 0.789134 Centerline is valid? [False, False] Translation: X:-292.39, Y:12.17, Z:134.45 [[ 9.39484854e-01 -2.83307920e-01 1.92626146e-01 -2.92390666e+02] [ 2.96633168e-01 9.53993329e-01 -4.36519311e-02 1.21681408e+01] [-1.71397121e-01 9.81496321e-02 9.80300809e-01 1.34449607e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.199072329 meters Centerline goodness : 0.788524 Centerline is valid? [False, False] Translation: X:-292.43, Y:12.18, Z:134.46 [[ 9.39077167e-01 -2.84098845e-01 1.93447463e-01 -2.92427625e+02] [ 2.97553525e-01 9.53697921e-01 -4.38426237e-02 1.21795776e+01] [-1.72034804e-01 9.87325813e-02 9.80130554e-01 1.34457431e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.22907232899996 meters Centerline goodness : 0.788505 Centerline is valid? [False, False] Translation: X:-292.46, Y:12.19, Z:134.47 [[ 9.38534646e-01 -2.85124196e-01 1.94568524e-01 -2.92464718e+02] [ 2.98842598e-01 9.53259902e-01 -4.45944135e-02 1.21907304e+01] [-1.72759426e-01 9.99987652e-02 9.79874700e-01 1.34465439e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.259072329 meters Centerline goodness : 0.789078 Centerline is valid? [False, False] Translation: X:-292.50, Y:12.20, Z:134.47 [[ 9.37778787e-01 -2.86445487e-01 1.96264947e-01 -2.92502264e+02] [ 3.00720635e-01 9.52572252e-01 -4.66176440e-02 1.21997886e+01] [-1.73603129e-01 1.02737957e-01 9.79442120e-01 1.34472175e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.28907232899996 meters Centerline goodness : 0.788225 Centerline is valid? [False, False] Translation: X:-292.54, Y:12.21, Z:134.48 [[ 9.37313615e-01 -2.88300759e-01 1.95769916e-01 -2.92538125e+02] [ 3.02544157e-01 9.51996909e-01 -4.65716407e-02 1.22106797e+01] [-1.72945716e-01 1.02881277e-01 9.79543374e-01 1.34479892e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.319072329 meters Centerline goodness : 0.787839 Centerline is valid? [False, False] Translation: X:-292.58, Y:12.22, Z:134.49 [[ 9.35765006e-01 -2.92955044e-01 1.96268172e-01 -2.92575310e+02] [ 3.07601669e-01 9.50296575e-01 -4.81417986e-02 1.22195167e+01] [-1.72409589e-01 1.05421828e-01 9.79367741e-01 1.34487381e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.34907232899997 meters Centerline goodness : 0.787807 Centerline is valid? [False, False] Translation: X:-292.61, Y:12.23, Z:134.50 [[ 9.34837944e-01 -2.95821772e-01 1.96386091e-01 -2.92612503e+02] [ 3.10551928e-01 9.49328999e-01 -4.82902780e-02 1.22303233e+01] [-1.72149696e-01 1.06131664e-01 9.79336792e-01 1.34496117e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.379072329 meters Centerline goodness : 0.787433 Centerline is valid? [False, False] Translation: X:-292.65, Y:12.24, Z:134.50 [[ 9.33712346e-01 -2.99318970e-01 1.96441871e-01 -2.92649892e+02] [ 3.14050069e-01 9.48194687e-01 -4.79519432e-02 1.22415470e+01] [-1.71912212e-01 1.06465905e-01 9.79342229e-01 1.34504473e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.40907232899997 meters Centerline goodness : 0.787746 Centerline is valid? [False, False] Translation: X:-292.69, Y:12.25, Z:134.51 [[ 9.32567661e-01 -3.03187456e-01 1.95946226e-01 -2.92687879e+02] [ 3.17637257e-01 9.47080496e-01 -4.63152983e-02 1.22519130e+01] [-1.71534632e-01 1.05431971e-01 9.79520275e-01 1.34511805e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.439072329 meters Centerline goodness : 0.787900 Centerline is valid? [False, False] Translation: X:-292.72, Y:12.26, Z:134.52 [[ 9.32053773e-01 -3.05886478e-01 1.94188636e-01 -2.92721813e+02] [ 3.20081710e-01 9.46286385e-01 -4.57140820e-02 1.22625631e+01] [-1.69774743e-01 1.04764213e-01 9.79898462e-01 1.34519032e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.46907232899997 meters Centerline goodness : 0.787363 Centerline is valid? [False, False] Translation: X:-292.76, Y:12.27, Z:134.53 [[ 9.29937559e-01 -3.12165446e-01 1.94342148e-01 -2.92760501e+02] [ 3.26477839e-01 9.44097442e-01 -4.57410069e-02 1.22737224e+01] [-1.69199163e-01 1.05984685e-01 9.79866772e-01 1.34526331e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.49907232899994 meters Centerline goodness : 0.787290 Centerline is valid? [False, False] Translation: X:-292.80, Y:12.29, Z:134.54 [[ 9.28712965e-01 -3.15804098e-01 1.94319327e-01 -2.92797520e+02] [ 3.30341347e-01 9.42703496e-01 -4.67409232e-02 1.22851936e+01] [-1.68424533e-01 1.07600609e-01 9.79824109e-01 1.34535301e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.529072329 meters Centerline goodness : 0.787848 Centerline is valid? [False, False] Translation: X:-292.84, Y:12.30, Z:134.54 [[ 9.27777592e-01 -3.18079772e-01 1.95074339e-01 -2.92835328e+02] [ 3.32791048e-01 9.41825550e-01 -4.70611413e-02 1.22966690e+01] [-1.68756800e-01 1.08581266e-01 9.79658742e-01 1.34543662e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.55907232899995 meters Centerline goodness : 0.789312 Centerline is valid? [False, False] Translation: X:-292.87, Y:12.31, Z:134.55 [[ 9.26726972e-01 -3.21131866e-01 1.95067794e-01 -2.92872682e+02] [ 3.35937159e-01 9.40693774e-01 -4.73439441e-02 1.23083649e+01] [-1.68295410e-01 1.09405431e-01 9.79646419e-01 1.34552913e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.589072329 meters Centerline goodness : 0.788056 Centerline is valid? [False, False] Translation: X:-292.91, Y:12.32, Z:134.56 [[ 9.24501731e-01 -3.26929145e-01 1.95994600e-01 -2.92913341e+02] [ 3.41955391e-01 9.38514718e-01 -4.75040510e-02 1.23200913e+01] [-1.68413358e-01 1.10938988e-01 9.79453665e-01 1.34561690e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.61907232899995 meters Centerline goodness : 0.787026 Centerline is valid? [False, False] Translation: X:-292.95, Y:12.33, Z:134.57 [[ 9.23814824e-01 -3.29543990e-01 1.94851044e-01 -2.92949097e+02] [ 3.44507629e-01 9.37572047e-01 -4.76775581e-02 1.23328252e+01] [-1.66975039e-01 1.11172906e-01 9.79673375e-01 1.34570355e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.649072329 meters Centerline goodness : 0.787505 Centerline is valid? [False, False] Translation: X:-292.98, Y:12.35, Z:134.58 [[ 9.23299657e-01 -3.31880345e-01 1.93321444e-01 -2.92984834e+02] [ 3.46601637e-01 9.36830154e-01 -4.70804361e-02 1.23450890e+01] [-1.65484287e-01 1.10474880e-01 9.80005230e-01 1.34578827e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.67907232899995 meters Centerline goodness : 0.788218 Centerline is valid? [False, False] Translation: X:-293.02, Y:12.36, Z:134.59 [[ 9.22265802e-01 -3.35070607e-01 1.92752375e-01 -2.93023380e+02] [ 3.49575917e-01 9.35782692e-01 -4.59067689e-02 1.23574447e+01] [-1.64992328e-01 1.09719831e-01 9.80172990e-01 1.34587460e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.709072329 meters Centerline goodness : 0.787675 Centerline is valid? [False, False] Translation: X:-293.06, Y:12.37, Z:134.60 [[ 9.21932057e-01 -3.36880468e-01 1.91187951e-01 -2.93057904e+02] [ 3.51333466e-01 9.35094904e-01 -4.65007101e-02 1.23705583e+01] [-1.63113698e-01 1.10041221e-01 9.80451351e-01 1.34595982e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.73907232899995 meters Centerline goodness : 0.787066 Centerline is valid? [False, False] Translation: X:-293.10, Y:12.38, Z:134.60 [[ 9.22726786e-01 -3.33471699e-01 1.93318143e-01 -2.93095604e+02] [ 3.48404673e-01 9.36104086e-01 -4.82008788e-02 1.23806641e+01] [-1.64892275e-01 1.11829186e-01 9.79951412e-01 1.34602074e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.769072329 meters Centerline goodness : 0.786359 Centerline is valid? [False, False] Translation: X:-293.13, Y:12.39, Z:134.61 [[ 9.22586378e-01 -3.35014471e-01 1.91310427e-01 -2.93129133e+02] [ 3.49890524e-01 9.35501807e-01 -4.91221934e-02 1.23941539e+01] [-1.62514605e-01 1.12257172e-01 9.80299613e-01 1.34610807e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.79907232899996 meters Centerline goodness : 0.786586 Centerline is valid? [False, False] Translation: X:-293.16, Y:12.41, Z:134.62 [[ 9.22716279e-01 -3.35875661e-01 1.89161859e-01 -2.93162527e+02] [ 3.50629131e-01 9.35188259e-01 -4.98209985e-02 1.24075056e+01] [-1.60168289e-01 1.12296304e-01 9.80681222e-01 1.34619542e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.829072329 meters Centerline goodness : 0.786309 Centerline is valid? [False, False] Translation: X:-293.20, Y:12.42, Z:134.63 [[ 9.22192033e-01 -3.37661797e-01 1.88537439e-01 -2.93198638e+02] [ 3.52486921e-01 9.34449878e-01 -5.05608109e-02 1.24209489e+01] [-1.59106332e-01 1.13083758e-01 9.80763600e-01 1.34628653e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.85907232899996 meters Centerline goodness : 0.787012 Centerline is valid? [False, False] Translation: X:-293.24, Y:12.43, Z:134.64 [[ 9.22514099e-01 -3.34301887e-01 1.92898900e-01 -2.93239035e+02] [ 3.50088255e-01 9.35185601e-01 -5.35360181e-02 1.24336349e+01] [-1.62499082e-01 1.16919371e-01 9.79757066e-01 1.34636361e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.889072329 meters Centerline goodness : 0.788076 Centerline is valid? [False, False] Translation: X:-293.28, Y:12.45, Z:134.65 [[ 9.22087352e-01 -3.35438552e-01 1.92966043e-01 -2.93275297e+02] [ 3.51405104e-01 9.34636992e-01 -5.44806880e-02 1.24481496e+01] [-1.62078279e-01 1.18045206e-01 9.79691768e-01 1.34645708e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.91907232899996 meters Centerline goodness : 0.787960 Centerline is valid? [False, False] Translation: X:-293.31, Y:12.46, Z:134.65 [[ 9.22377667e-01 -3.34059964e-01 1.93967470e-01 -2.93310961e+02] [ 3.50411648e-01 9.34909690e-01 -5.61742715e-02 1.24613405e+01] [-1.62576492e-01 1.19782354e-01 9.79398321e-01 1.34653896e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.949072329 meters Centerline goodness : 0.789325 Centerline is valid? [False, False] Translation: X:-293.35, Y:12.48, Z:134.66 [[ 9.22705698e-01 -3.33015180e-01 1.94203721e-01 -2.93350093e+02] [ 3.49070298e-01 9.35521728e-01 -5.43049156e-02 1.24779924e+01] [-1.63597440e-01 1.17898206e-01 9.79456937e-01 1.34664680e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.97907232899996 meters Centerline goodness : 0.790000 Centerline is valid? [False, False] Translation: X:-293.39, Y:12.49, Z:134.67 [[ 9.22006920e-01 -3.35236884e-01 1.93699435e-01 -2.93389031e+02] [ 3.50998923e-01 9.34889977e-01 -5.27303187e-02 1.24933281e+01] [-1.63410513e-01 1.16606012e-01 9.79642814e-01 1.34674069e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.009072329 meters Centerline goodness : 0.790248 Centerline is valid? [False, False] Translation: X:-293.43, Y:12.51, Z:134.68 [[ 9.21914263e-01 -3.36752175e-01 1.91499514e-01 -2.93426947e+02] [ 3.51737172e-01 9.34789121e-01 -4.95001096e-02 1.25077591e+01] [-1.62342393e-01 1.12992355e-01 9.80243682e-01 1.34682115e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.03907232899996 meters Centerline goodness : 0.790227 Centerline is valid? [False, False] Translation: X:-293.46, Y:12.52, Z:134.69 [[ 9.22182319e-01 -3.37728007e-01 1.88466345e-01 -2.93460212e+02] [ 3.52294747e-01 9.34604659e-01 -4.90157447e-02 1.25208950e+01] [-1.59587534e-01 1.11597157e-01 9.80855695e-01 1.34690360e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.069072329 meters Centerline goodness : 0.790494 Centerline is valid? [False, False] Translation: X:-293.50, Y:12.53, Z:134.70 [[ 9.21978946e-01 -3.38705123e-01 1.87706322e-01 -2.93497267e+02] [ 3.53127474e-01 9.34312890e-01 -4.85840560e-02 1.25335798e+01] [-1.58920767e-01 1.11077736e-01 9.81022898e-01 1.34699205e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.09907232899997 meters Centerline goodness : 0.789525 Centerline is valid? [False, False] Translation: X:-293.53, Y:12.55, Z:134.71 [[ 9.24149775e-01 -3.31274983e-01 1.90273692e-01 -2.93532700e+02] [ 3.46289307e-01 9.36740303e-01 -5.10031469e-02 1.25468648e+01] [-1.61340970e-01 1.13024292e-01 9.80405325e-01 1.34705926e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.129072329 meters Centerline goodness : 0.788975 Centerline is valid? [False, False] Translation: X:-293.56, Y:12.56, Z:134.71 [[ 9.25131955e-01 -3.27498735e-01 1.92029802e-01 -2.93563763e+02] [ 3.43555402e-01 9.37439390e-01 -5.63655514e-02 1.25580470e+01] [-1.61556653e-01 1.18118448e-01 9.79769095e-01 1.34712297e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.15907232899997 meters Centerline goodness : 0.787569 Centerline is valid? [False, False] Translation: X:-293.60, Y:12.57, Z:134.72 [[ 9.24884393e-01 -3.28187813e-01 1.92045878e-01 -2.93599810e+02] [ 3.44337801e-01 9.37122141e-01 -5.68644969e-02 1.25702460e+01] [-1.61308210e-01 1.18721741e-01 9.79737112e-01 1.34720201e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.189072329 meters Centerline goodness : 0.789631 Centerline is valid? [False, False] Translation: X:-293.64, Y:12.58, Z:134.73 [[ 9.24883272e-01 -3.27910552e-01 1.92524292e-01 -2.93638140e+02] [ 3.44126711e-01 9.37195605e-01 -5.69315692e-02 1.25833081e+01] [-1.61764458e-01 1.18907807e-01 9.79639318e-01 1.34729429e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.21907232899997 meters Centerline goodness : 0.789260 Centerline is valid? [False, False] Translation: X:-293.67, Y:12.60, Z:134.74 [[ 9.24788220e-01 -3.28740916e-01 1.91562414e-01 -2.93672836e+02] [ 3.44928098e-01 9.36871847e-01 -5.74086158e-02 1.25965639e+01] [-1.60596872e-01 1.19166071e-01 9.79800027e-01 1.34738438e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.24907232899994 meters Centerline goodness : 0.788710 Centerline is valid? [False, False] Translation: X:-293.71, Y:12.61, Z:134.75 [[ 9.23973915e-01 -3.31281727e-01 1.91114159e-01 -2.93710482e+02] [ 3.47371190e-01 9.35997005e-01 -5.69461454e-02 1.26097619e+01] [-1.60017063e-01 1.19004306e-01 9.79914545e-01 1.34748010e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.279072329 meters Centerline goodness : 0.790460 Centerline is valid? [False, False] Translation: X:-293.75, Y:12.62, Z:134.76 [[ 9.22787022e-01 -3.34943549e-01 1.90465041e-01 -2.93748362e+02] [ 3.50887994e-01 9.34726236e-01 -5.62537075e-02 1.26220737e+01] [-1.59190854e-01 1.18742087e-01 9.80080909e-01 1.34756596e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.30907232899995 meters Centerline goodness : 0.791532 Centerline is valid? [False, False] Translation: X:-293.78, Y:12.64, Z:134.77 [[ 9.23654969e-01 -3.34627702e-01 1.86777403e-01 -2.93780524e+02] [ 3.50100306e-01 9.35028453e-01 -5.61388253e-02 1.26366344e+01] [-1.55856581e-01 1.17243731e-01 9.80796938e-01 1.34765915e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.339072329 meters Centerline goodness : 0.790035 Centerline is valid? [False, False] Translation: X:-293.81, Y:12.65, Z:134.77 [[ 9.24069726e-01 -3.35212143e-01 1.83651739e-01 -2.93812008e+02] [ 3.50457058e-01 9.34839702e-01 -5.70489458e-02 1.26501149e+01] [-1.52561438e-01 1.17079252e-01 9.81334528e-01 1.34774392e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.36907232899995 meters Centerline goodness : 0.791088 Centerline is valid? [False, False] Translation: X:-293.85, Y:12.66, Z:134.78 [[ 9.23627539e-01 -3.35561936e-01 1.85230547e-01 -2.93852917e+02] [ 3.50905732e-01 9.34708624e-01 -5.64354097e-02 1.26649370e+01] [-1.54199014e-01 1.17123759e-01 9.81073233e-01 1.34783994e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.399072329 meters Centerline goodness : 0.789952 Centerline is valid? [False, False] Translation: X:-293.89, Y:12.68, Z:134.79 [[ 9.22874053e-01 -3.37780250e-01 1.84954011e-01 -2.93889014e+02] [ 3.53307181e-01 9.33729322e-01 -5.76505815e-02 1.26788568e+01] [-1.53223755e-01 1.18549806e-01 9.81054751e-01 1.34793100e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.42907232899995 meters Centerline goodness : 0.790177 Centerline is valid? [False, False] Translation: X:-293.93, Y:12.69, Z:134.80 [[ 9.21841830e-01 -3.41021192e-01 1.84152616e-01 -2.93926070e+02] [ 3.56501997e-01 9.32508569e-01 -5.77416143e-02 1.26911111e+01] [-1.52032778e-01 1.18879411e-01 9.81200143e-01 1.34801537e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.459072329 meters Centerline goodness : 0.791209 Centerline is valid? [False, False] Translation: X:-293.96, Y:12.71, Z:134.81 [[ 9.21019871e-01 -3.43874207e-01 1.82956077e-01 -2.93964982e+02] [ 3.58941494e-01 9.31690988e-01 -5.57934386e-02 1.27063578e+01] [-1.51272603e-01 1.17057393e-01 9.81536635e-01 1.34809796e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.48907232899995 meters Centerline goodness : 0.791499 Centerline is valid? [False, False] Translation: X:-294.00, Y:12.72, Z:134.82 [[ 9.20305104e-01 -3.46320586e-01 1.81935615e-01 -2.94000985e+02] [ 3.61224619e-01 9.30834830e-01 -5.53470301e-02 1.27210586e+01] [-1.50184192e-01 1.16655778e-01 9.81751566e-01 1.34818479e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.519072329 meters Centerline goodness : 0.789990 Centerline is valid? [False, False] Translation: X:-294.04, Y:12.73, Z:134.83 [[ 9.20522083e-01 -3.44404993e-01 1.84456760e-01 -2.94039116e+02] [ 3.59888467e-01 9.31236303e-01 -5.72646336e-02 1.27339855e+01] [-1.52050606e-01 1.19097221e-01 9.81170966e-01 1.34825578e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.54907232899996 meters Centerline goodness : 0.790035 Centerline is valid? [False, False] Translation: X:-294.08, Y:12.75, Z:134.84 [[ 9.20080533e-01 -3.44850413e-01 1.85822512e-01 -2.94078459e+02] [ 3.60600756e-01 9.30923695e-01 -5.78633620e-02 1.27478454e+01] [-1.53032375e-01 1.20246691e-01 9.80878089e-01 1.34835296e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.579072329 meters Centerline goodness : 0.790841 Centerline is valid? [False, False] Translation: X:-294.12, Y:12.76, Z:134.85 [[ 9.19316125e-01 -3.46031615e-01 1.87403264e-01 -2.94119047e+02] [ 3.62089260e-01 9.30307391e-01 -5.84767123e-02 1.27608079e+01] [-1.54107850e-01 1.21615294e-01 9.80540917e-01 1.34845360e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.60907232899996 meters Centerline goodness : 0.790662 Centerline is valid? [False, False] Translation: X:-294.16, Y:12.77, Z:134.85 [[ 9.18028362e-01 -3.49389930e-01 1.87484939e-01 -2.94157325e+02] [ 3.65618470e-01 9.28877298e-01 -5.92460955e-02 1.27730774e+01] [-1.53450514e-01 1.22937552e-01 9.80479117e-01 1.34854904e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.639072329 meters Centerline goodness : 0.790970 Centerline is valid? [False, False] Translation: X:-294.20, Y:12.79, Z:134.86 [[ 9.16729544e-01 -3.52620087e-01 1.87792484e-01 -2.94197403e+02] [ 3.68844490e-01 9.27634115e-01 -5.87255624e-02 1.27854646e+01] [-1.53494902e-01 1.23101681e-01 9.80451575e-01 1.34864371e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.66907232899996 meters Centerline goodness : 0.789265 Centerline is valid? [False, False] Translation: X:-294.24, Y:12.79, Z:134.87 [[ 9.13742927e-01 -3.59678632e-01 1.88958051e-01 -2.94239564e+02] [ 3.76382582e-01 9.24499941e-01 -6.02993545e-02 1.27947342e+01] [-1.53003318e-01 1.26218628e-01 9.80132054e-01 1.34873571e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.699072329 meters Centerline goodness : 0.789597 Centerline is valid? [False, False] Translation: X:-294.28, Y:12.81, Z:134.88 [[ 9.12610149e-01 -3.63577340e-01 1.86960514e-01 -2.94275031e+02] [ 3.80125630e-01 9.22941933e-01 -6.06851950e-02 1.28057735e+01] [-1.50489937e-01 1.26450408e-01 9.80491241e-01 1.34880951e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.72907232899996 meters Centerline goodness : 0.787593 Centerline is valid? [False, False] Translation: X:-294.31, Y:12.82, Z:134.89 [[ 9.11927662e-01 -3.66706049e-01 1.84159208e-01 -2.94308463e+02] [ 3.83000195e-01 9.21719517e-01 -6.11880894e-02 1.28153134e+01] [-1.47305094e-01 1.26332124e-01 9.80990012e-01 1.34888074e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.759072329 meters Centerline goodness : 0.788930 Centerline is valid? [False, False] Translation: X:-294.35, Y:12.83, Z:134.90 [[ 9.09987448e-01 -3.71893970e-01 1.83351355e-01 -2.94349324e+02] [ 3.87980055e-01 9.19704386e-01 -6.01275343e-02 1.28281495e+01] [-1.46267978e-01 1.25851970e-01 9.81206890e-01 1.34895637e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.78907232899996 meters Centerline goodness : 0.789831 Centerline is valid? [False, False] Translation: X:-294.39, Y:12.84, Z:134.90 [[ 9.09745031e-01 -3.73467696e-01 1.81344588e-01 -2.94386239e+02] [ 3.89099458e-01 9.19324151e-01 -5.86917197e-02 1.28411279e+01] [-1.44794998e-01 1.23955581e-01 9.81666656e-01 1.34904291e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.819072329 meters Centerline goodness : 0.789831 Centerline is valid? [False, False] Translation: X:-294.42, Y:12.86, Z:134.91 [[ 9.09866288e-01 -3.74604313e-01 1.78367451e-01 -2.94419978e+02] [ 3.89931619e-01 9.18943983e-01 -5.91209639e-02 1.28552334e+01] [-1.41762728e-01 1.23343281e-01 9.82186217e-01 1.34913343e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.84907232899997 meters Centerline goodness : 0.789266 Centerline is valid? [False, False] Translation: X:-294.46, Y:12.87, Z:134.92 [[ 9.10182863e-01 -3.75230267e-01 1.75412095e-01 -2.94457834e+02] [ 3.89690873e-01 9.19265559e-01 -5.56044545e-02 1.28708035e+01] [-1.40385823e-01 1.18966714e-01 9.82923569e-01 1.34920842e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.879072329 meters Centerline goodness : 0.788357 Centerline is valid? [False, False] Translation: X:-294.49, Y:12.89, Z:134.93 [[ 9.09929509e-01 -3.76948987e-01 1.73025286e-01 -2.94493578e+02] [ 3.91063236e-01 9.18713632e-01 -5.50890873e-02 1.28852709e+01] [-1.38194914e-01 1.17791014e-01 9.83375535e-01 1.34929063e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.90907232899997 meters Centerline goodness : 0.788598 Centerline is valid? [False, False] Translation: X:-294.53, Y:12.90, Z:134.94 [[ 9.10026333e-01 -3.77985790e-01 1.70231652e-01 -2.94528696e+02] [ 3.91698702e-01 9.18475264e-01 -5.45464692e-02 1.28995963e+01] [-1.35735771e-01 1.16318241e-01 9.83893219e-01 1.34937224e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.939072329 meters Centerline goodness : 0.787506 Centerline is valid? [False, False] Translation: X:-294.57, Y:12.92, Z:134.95 [[ 9.09410277e-01 -3.80053019e-01 1.68916106e-01 -2.94567226e+02] [ 3.93656014e-01 9.17625884e-01 -5.47510705e-02 1.29152618e+01] [-1.34193482e-01 1.16286027e-01 9.84108566e-01 1.34946137e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.96907232899997 meters Centerline goodness : 0.787956 Centerline is valid? [False, False] Translation: X:-294.60, Y:12.93, Z:134.96 [[ 9.09141348e-01 -3.81289026e-01 1.67572933e-01 -2.94603837e+02] [ 3.94745993e-01 9.17156282e-01 -5.47718481e-02 1.29292823e+01] [-1.32806663e-01 1.15944096e-01 9.84337014e-01 1.34955068e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.99907232899994 meters Centerline goodness : 0.787437 Centerline is valid? [False, False] Translation: X:-294.64, Y:12.95, Z:134.96 [[ 9.09893295e-01 -3.77751320e-01 1.71458832e-01 -2.94644362e+02] [ 3.92255760e-01 9.17947474e-01 -5.92271348e-02 1.29455057e+01] [-1.35017074e-01 1.21146087e-01 9.83409383e-01 1.34960434e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.029072329 meters Centerline goodness : 0.789330 Centerline is valid? [False, False] Translation: X:-294.69, Y:12.96, Z:134.97 [[ 9.11981819e-01 -3.70891920e-01 1.75295023e-01 -2.94685345e+02] [ 3.86133098e-01 9.20390552e-01 -6.15017241e-02 1.29615834e+01] [-1.38529390e-01 1.23775664e-01 9.82593096e-01 1.34967795e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.05907232899995 meters Centerline goodness : 0.790343 Centerline is valid? [False, False] Translation: X:-294.72, Y:12.98, Z:134.97 [[ 9.13389081e-01 -3.65839820e-01 1.78554231e-01 -2.94718258e+02] [ 3.82372400e-01 9.21507301e-01 -6.79385204e-02 1.29757891e+01] [-1.39684411e-01 1.30328513e-01 9.81581756e-01 1.34973895e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.089072329 meters Centerline goodness : 0.789741 Centerline is valid? [False, False] Translation: X:-294.76, Y:12.99, Z:134.98 [[ 9.13634281e-01 -3.64819050e-01 1.79386345e-01 -2.94758042e+02] [ 3.81350777e-01 9.21983338e-01 -6.72183712e-02 1.29919278e+01] [-1.40868679e-01 1.29822130e-01 9.81479613e-01 1.34984037e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.11907232899995 meters Centerline goodness : 0.788845 Centerline is valid? [False, False] Translation: X:-294.80, Y:13.00, Z:134.99 [[ 9.15443012e-01 -3.59406483e-01 1.81083053e-01 -2.94795419e+02] [ 3.76170016e-01 9.24081281e-01 -6.76010753e-02 1.30043502e+01] [-1.43039195e-01 1.30002947e-01 9.81141693e-01 1.34990346e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.149072329 meters Centerline goodness : 0.789374 Centerline is valid? [False, False] Translation: X:-294.83, Y:13.02, Z:135.00 [[ 9.16183700e-01 -3.58502123e-01 1.79119112e-01 -2.94830252e+02] [ 3.74907270e-01 9.24638890e-01 -6.69885245e-02 1.30207477e+01] [-1.41604968e-01 1.28526851e-01 9.81544131e-01 1.35000207e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.17907232899995 meters Centerline goodness : 0.788036 Centerline is valid? [False, False] Translation: X:-294.87, Y:13.04, Z:135.01 [[ 9.17931194e-01 -3.53035325e-01 1.81020390e-01 -2.94866784e+02] [ 3.70180808e-01 9.26266465e-01 -7.06866662e-02 1.30356225e+01] [-1.42718227e-01 1.31895770e-01 9.80935785e-01 1.35008190e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.209072329 meters Centerline goodness : 0.788155 Centerline is valid? [False, False] Translation: X:-294.90, Y:13.05, Z:135.01 [[ 9.21094797e-01 -3.44398432e-01 1.81587705e-01 -2.94896080e+02] [ 3.61848411e-01 9.29391773e-01 -7.27781595e-02 1.30477434e+01] [-1.43701435e-01 1.32742807e-01 9.80677952e-01 1.35014504e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.23907232899995 meters Centerline goodness : 0.787827 Centerline is valid? [False, False] Translation: X:-294.91, Y:13.06, Z:135.01 [[ 9.24055427e-01 -3.34626101e-01 1.84788907e-01 -2.94911186e+02] [ 3.52813326e-01 9.32652550e-01 -7.53788892e-02 1.30567166e+01] [-1.47120102e-01 1.34850261e-01 9.79883199e-01 1.35012995e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.269072329 meters Centerline goodness : 0.788166 Centerline is valid? [False, False] Translation: X:-294.91, Y:13.06, Z:135.01 [[ 9.25352609e-01 -3.31686029e-01 1.83594461e-01 -2.94912285e+02] [ 3.49241438e-01 9.34227820e-01 -7.24485936e-02 1.30598108e+01] [-1.47488867e-01 1.31159289e-01 9.80328657e-01 1.35013981e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.29907232899996 meters Centerline goodness : 0.788206 Centerline is valid? [False, False] Translation: X:-294.92, Y:13.07, Z:135.02 [[ 9.27891121e-01 -3.25534986e-01 1.81782947e-01 -2.94916156e+02] [ 3.41877638e-01 9.37395829e-01 -6.63983487e-02 1.30657738e+01] [-1.48787591e-01 1.23757963e-01 9.81094399e-01 1.35017046e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.329072329 meters Centerline goodness : 0.789016 Centerline is valid? [False, False] Translation: X:-294.92, Y:13.07, Z:135.02 [[ 9.28908957e-01 -3.22950787e-01 1.81193099e-01 -2.94918838e+02] [ 3.38791017e-01 9.38698884e-01 -6.37577603e-02 1.30691127e+01] [-1.49495141e-01 1.20611749e-01 9.81378627e-01 1.35018903e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.35907232899996 meters Centerline goodness : 0.787422 Centerline is valid? [False, False] Translation: X:-294.92, Y:13.07, Z:135.02 [[ 9.30107079e-01 -3.19665643e-01 1.80872049e-01 -2.94924179e+02] [ 3.34926682e-01 9.40302549e-01 -6.04585377e-02 1.30736634e+01] [-1.50747932e-01 1.16811789e-01 9.81646610e-01 1.35022980e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.389072329 meters Centerline goodness : 0.789116 Centerline is valid? [False, False] Translation: X:-294.96, Y:13.09, Z:135.03 [[ 9.30365684e-01 -3.19788350e-01 1.79318444e-01 -2.94958807e+02] [ 3.34881042e-01 9.40311709e-01 -6.05687820e-02 1.30886398e+01] [-1.49246042e-01 1.16401464e-01 9.81924803e-01 1.35032536e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.41907232899996 meters Centerline goodness : 0.788691 Centerline is valid? [False, False] Translation: X:-295.00, Y:13.10, Z:135.04 [[ 9.30738076e-01 -3.18682306e-01 1.79355015e-01 -2.94995300e+02] [ 3.33718233e-01 9.40745820e-01 -6.02448669e-02 1.31018947e+01] [-1.49528508e-01 1.15926230e-01 9.81938050e-01 1.35040453e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.449072329 meters Centerline goodness : 0.787936 Centerline is valid? [False, False] Translation: X:-295.03, Y:13.12, Z:135.05 [[ 9.30756244e-01 -3.19236146e-01 1.78272537e-01 -2.95033306e+02] [ 3.33964417e-01 9.40735760e-01 -5.90254020e-02 1.31178442e+01] [-1.48864309e-01 1.14474945e-01 9.82209196e-01 1.35049973e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.47907232899996 meters Centerline goodness : 0.786344 Centerline is valid? [False, False] Translation: X:-295.07, Y:13.13, Z:135.06 [[ 9.30526290e-01 -3.20009262e-01 1.78086766e-01 -2.95068431e+02] [ 3.34959414e-01 9.40282763e-01 -6.05847813e-02 1.31316914e+01] [-1.48064226e-01 1.16027571e-01 9.82147946e-01 1.35058371e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.509072329 meters Centerline goodness : 0.787663 Centerline is valid? [False, False] Translation: X:-295.11, Y:13.14, Z:135.07 [[ 9.30381848e-01 -3.20092968e-01 1.78689982e-01 -2.95105258e+02] [ 3.35140812e-01 9.40207579e-01 -6.07481958e-02 1.31442948e+01] [-1.48560605e-01 1.16405324e-01 9.82028282e-01 1.35065859e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.53907232899996 meters Centerline goodness : 0.787250 Centerline is valid? [False, False] Translation: X:-295.14, Y:13.16, Z:135.07 [[ 9.30587391e-01 -3.19247054e-01 1.79132428e-01 -2.95140548e+02] [ 3.34548071e-01 9.40328518e-01 -6.21278208e-02 1.31579982e+01] [-1.48609206e-01 1.17743775e-01 9.81861348e-01 1.35073549e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.569072329 meters Centerline goodness : 0.787670 Centerline is valid? [False, False] Translation: X:-295.18, Y:13.17, Z:135.08 [[ 9.30238954e-01 -3.20787536e-01 1.78187667e-01 -2.95180299e+02] [ 3.35592793e-01 9.40126752e-01 -5.94908984e-02 1.31736530e+01] [-1.48435054e-01 1.15139248e-01 9.82196512e-01 1.35082886e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.59907232899997 meters Centerline goodness : 0.785178 Centerline is valid? [False, False] Translation: X:-295.21, Y:13.19, Z:135.09 [[ 9.31621358e-01 -3.16120856e-01 1.79302118e-01 -2.95214434e+02] [ 3.31211885e-01 9.41593639e-01 -6.08285032e-02 1.31873026e+01] [-1.49600575e-01 1.16056125e-01 9.81911729e-01 1.35089020e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.629072329 meters Centerline goodness : 0.786570 Centerline is valid? [False, False] Translation: X:-295.25, Y:13.20, Z:135.10 [[ 9.33086178e-01 -3.10145616e-01 1.82098547e-01 -2.95250388e+02] [ 3.25890460e-01 9.43285596e-01 -6.33063378e-02 1.32012503e+01] [-1.52136754e-01 1.18414448e-01 9.81240249e-01 1.35095882e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.65907232899997 meters Centerline goodness : 0.786356 Centerline is valid? [False, False] Translation: X:-295.25, Y:13.20, Z:135.10 [[ 9.33381596e-01 -3.09029575e-01 1.82481554e-01 -2.95254896e+02] [ 3.24557799e-01 9.43851664e-01 -6.16949936e-02 1.32029010e+01] [-1.53169941e-01 1.16810783e-01 9.81271731e-01 1.35099008e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.689072329 meters Centerline goodness : 0.787535 Centerline is valid? [False, False] Translation: X:-295.27, Y:13.21, Z:135.10 [[ 9.34811006e-01 -3.01510543e-01 1.87669325e-01 -2.95271397e+02] [ 3.17891929e-01 9.45988718e-01 -6.36401376e-02 1.32087296e+01] [-1.58344892e-01 1.19150065e-01 9.80168433e-01 1.35096714e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.71907232899997 meters Centerline goodness : 0.787233 Centerline is valid? [False, False] Translation: X:-295.30, Y:13.23, Z:135.11 [[ 9.36346552e-01 -2.99118749e-01 1.83801820e-01 -2.95304947e+02] [ 3.14501498e-01 9.47327409e-01 -6.04945216e-02 1.32255430e+01] [-1.56025457e-01 1.14449785e-01 9.81100048e-01 1.35105635e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.74907232899994 meters Centerline goodness : 0.786493 Centerline is valid? [False, False] Translation: X:-295.34, Y:13.24, Z:135.11 [[ 9.37480280e-01 -2.96163816e-01 1.82805139e-01 -2.95337791e+02] [ 3.11403722e-01 9.48346666e-01 -6.05501631e-02 1.32389317e+01] [-1.55429877e-01 1.13690785e-01 9.81282813e-01 1.35112542e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.779072329 meters Centerline goodness : 0.786823 Centerline is valid? [False, False] Translation: X:-295.38, Y:13.25, Z:135.12 [[ 9.36399368e-01 -2.98827012e-01 1.84007176e-01 -2.95377617e+02] [ 3.14328725e-01 9.47345174e-01 -6.11111583e-02 1.32527279e+01] [-1.56056645e-01 1.15063191e-01 9.81023336e-01 1.35122468e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.80907232899995 meters Centerline goodness : 0.784636 Centerline is valid? [False, False] Translation: X:-295.41, Y:13.26, Z:135.13 [[ 9.37126639e-01 -2.95106308e-01 1.86295275e-01 -2.95405956e+02] [ 3.11883475e-01 9.47710395e-01 -6.76291805e-02 1.32621888e+01] [-1.56596171e-01 1.21479524e-01 9.80163438e-01 1.35128907e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.839072329 meters Centerline goodness : 0.783515 Centerline is valid? [False, False] Translation: X:-295.41, Y:13.26, Z:135.13 [[ 9.37272800e-01 -2.94360362e-01 1.86739594e-01 -2.95409481e+02] [ 3.11066157e-01 9.48031435e-01 -6.68897878e-02 1.32634489e+01] [-1.57345303e-01 1.20782347e-01 9.80129624e-01 1.35131747e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.86907232899995 meters Centerline goodness : 0.783910 Centerline is valid? [False, False] Translation: X:-295.41, Y:13.27, Z:135.13 [[ 9.37797561e-01 -2.92502326e-01 1.87024396e-01 -2.95413713e+02] [ 3.08818302e-01 9.48939103e-01 -6.43881548e-02 1.32653181e+01] [-1.58641078e-01 1.18139611e-01 9.80242848e-01 1.35133979e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.899072329 meters Centerline goodness : 0.784697 Centerline is valid? [False, False] Translation: X:-295.45, Y:13.28, Z:135.14 [[ 9.38210004e-01 -2.91817129e-01 1.86023522e-01 -2.95450061e+02] [ 3.07635883e-01 9.49474816e-01 -6.21106852e-02 1.32799198e+01] [-1.58499688e-01 1.15500377e-01 9.80580192e-01 1.35143554e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.92907232899995 meters Centerline goodness : 0.784719 Centerline is valid? [False, False] Translation: X:-295.49, Y:13.30, Z:135.15 [[ 9.38170254e-01 -2.92488695e-01 1.85167323e-01 -2.95487468e+02] [ 3.08054948e-01 9.49402902e-01 -6.11251084e-02 1.32962177e+01] [-1.57919991e-01 1.14387469e-01 9.80804152e-01 1.35153735e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.959072329 meters Centerline goodness : 0.785813 Centerline is valid? [False, False] Translation: X:-295.52, Y:13.31, Z:135.16 [[ 9.38053493e-01 -2.93437625e-01 1.84255271e-01 -2.95522602e+02] [ 3.08888521e-01 9.49139696e-01 -6.10058905e-02 1.33091610e+01] [-1.56982568e-01 1.14141127e-01 9.80983321e-01 1.35162009e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.98907232899995 meters Centerline goodness : 0.786192 Centerline is valid? [False, False] Translation: X:-295.56, Y:13.32, Z:135.17 [[ 9.37718860e-01 -2.95627780e-01 1.82448774e-01 -2.95559634e+02] [ 3.10527154e-01 9.48750157e-01 -5.87028688e-02 1.33243131e+01] [-1.55744104e-01 1.11702086e-01 9.81461369e-01 1.35170611e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.019072329 meters Centerline goodness : 0.786101 Centerline is valid? [False, False] Translation: X:-295.59, Y:13.34, Z:135.18 [[ 9.37260461e-01 -2.97886532e-01 1.81125488e-01 -2.95594913e+02] [ 3.12522982e-01 9.48148102e-01 -5.78321912e-02 1.33375426e+01] [-1.54506357e-01 1.10809704e-01 9.81758114e-01 1.35178658e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.04907232899996 meters Centerline goodness : 0.785236 Centerline is valid? [False, False] Translation: X:-295.63, Y:13.35, Z:135.19 [[ 9.36614909e-01 -3.00388344e-01 1.80331236e-01 -2.95630915e+02] [ 3.14861424e-01 9.47413509e-01 -5.71832667e-02 1.33507778e+01] [-1.53671062e-01 1.10338050e-01 9.81942320e-01 1.35186569e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.079072329 meters Centerline goodness : 0.786048 Centerline is valid? [False, False] Translation: X:-295.67, Y:13.36, Z:135.19 [[ 9.35565245e-01 -3.04162796e-01 1.79451013e-01 -2.95669285e+02] [ 3.18413712e-01 9.46289187e-01 -5.61202598e-02 1.33646265e+01] [-1.52742858e-01 1.09643828e-01 9.82164879e-01 1.35194261e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.10907232899996 meters Centerline goodness : 0.784418 Centerline is valid? [False, False] Translation: X:-295.70, Y:13.38, Z:135.20 [[ 9.35820952e-01 -3.05141679e-01 1.76430442e-01 -2.95701654e+02] [ 3.18995328e-01 9.46119875e-01 -5.56701225e-02 1.33773507e+01] [-1.49937073e-01 1.08377754e-01 9.82737573e-01 1.35201567e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.139072329 meters Centerline goodness : 0.784437 Centerline is valid? [False, False] Translation: X:-295.74, Y:13.39, Z:135.21 [[ 9.35471190e-01 -3.07139185e-01 1.74811826e-01 -2.95736008e+02] [ 3.20835202e-01 9.45497191e-01 -5.56761601e-02 1.33921281e+01] [-1.48183760e-01 1.08169231e-01 9.83026445e-01 1.35209710e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.16907232899996 meters Centerline goodness : 0.785502 Centerline is valid? [False, False] Translation: X:-295.78, Y:13.41, Z:135.22 [[ 9.34505903e-01 -3.10115688e-01 1.74719712e-01 -2.95775612e+02] [ 3.23653180e-01 9.44606054e-01 -5.44795478e-02 1.34060015e+01] [-1.48146335e-01 1.07460049e-01 9.83109862e-01 1.35218137e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.199072329 meters Centerline goodness : 0.784896 Centerline is valid? [False, False] Translation: X:-295.81, Y:13.42, Z:135.23 [[ 9.33966776e-01 -3.12302063e-01 1.73705160e-01 -2.95811866e+02] [ 3.25752064e-01 9.43883851e-01 -5.44873324e-02 1.34194495e+01] [-1.46940989e-01 1.07474173e-01 9.83289199e-01 1.35226313e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.22907232899996 meters Centerline goodness : 0.785897 Centerline is valid? [False, False] Translation: X:-295.85, Y:13.43, Z:135.23 [[ 9.32371960e-01 -3.16685747e-01 1.74334926e-01 -2.95850488e+02] [ 3.30598544e-01 9.42060160e-01 -5.68089642e-02 1.34311784e+01] [-1.46243399e-01 1.10601958e-01 9.83046324e-01 1.35234928e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.259072329 meters Centerline goodness : 0.786003 Centerline is valid? [False, False] Translation: X:-295.89, Y:13.44, Z:135.24 [[ 9.31325909e-01 -3.19882791e-01 1.74089203e-01 -2.95887632e+02] [ 3.33983708e-01 9.40789845e-01 -5.80460975e-02 1.34442922e+01] [-1.45213407e-01 1.12202792e-01 9.83017599e-01 1.35243920e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.28907232899996 meters Centerline goodness : 0.783320 Centerline is valid? [False, False] Translation: X:-295.93, Y:13.46, Z:135.25 [[ 9.28345394e-01 -3.27470064e-01 1.75892544e-01 -2.95929604e+02] [ 3.42087254e-01 9.37776866e-01 -5.95890889e-02 1.34559456e+01] [-1.45434316e-01 1.15489854e-01 9.82604169e-01 1.35252168e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.319072329 meters Centerline goodness : 0.784589 Centerline is valid? [False, False] Translation: X:-295.96, Y:13.47, Z:135.26 [[ 9.27802303e-01 -3.30158148e-01 1.73719555e-01 -2.95963981e+02] [ 3.44552790e-01 9.36870231e-01 -5.96451645e-02 1.34675266e+01] [-1.43060342e-01 1.15194478e-01 9.82987269e-01 1.35259458e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.34907232899997 meters Centerline goodness : 0.783810 Centerline is valid? [False, False] Translation: X:-296.00, Y:13.48, Z:135.27 [[ 9.26393229e-01 -3.34490943e-01 1.72949108e-01 -2.96000992e+02] [ 3.48868923e-01 9.35257098e-01 -5.98718247e-02 1.34809028e+01] [-1.41725298e-01 1.15801422e-01 9.83109338e-01 1.35267149e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.379072329 meters Centerline goodness : 0.784787 Centerline is valid? [False, False] Translation: X:-296.04, Y:13.49, Z:135.27 [[ 9.25893914e-01 -3.36994612e-01 1.70748618e-01 -2.96035454e+02] [ 3.51086247e-01 9.34448950e-01 -5.95282037e-02 1.34935835e+01] [-1.39495183e-01 1.15064293e-01 9.83514770e-01 1.35274502e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.40907232899997 meters Centerline goodness : 0.785331 Centerline is valid? [False, False] Translation: X:-296.08, Y:13.51, Z:135.28 [[ 9.24349385e-01 -3.40870262e-01 1.71422514e-01 -2.96077255e+02] [ 3.54893325e-01 9.33091506e-01 -5.82320307e-02 1.35086984e+01] [-1.40103324e-01 1.14663448e-01 9.83475141e-01 1.35283117e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.439072329 meters Centerline goodness : 0.785565 Centerline is valid? [False, False] Translation: X:-296.11, Y:13.52, Z:135.29 [[ 9.22926494e-01 -3.44771127e-01 1.71287933e-01 -2.96114662e+02] [ 3.58991159e-01 9.31444046e-01 -5.94755119e-02 1.35237398e+01] [-1.39039686e-01 1.16382379e-01 9.83424175e-01 1.35292412e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.46907232899997 meters Centerline goodness : 0.784657 Centerline is valid? [False, False] Translation: X:-296.15, Y:13.54, Z:135.30 [[ 9.25134323e-01 -3.37287147e-01 1.74252304e-01 -2.96150005e+02] [ 3.52163183e-01 9.33879332e-01 -6.20522780e-02 1.35387911e+01] [-1.41801190e-01 1.18771938e-01 9.82743939e-01 1.35299645e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.49907232899994 meters Centerline goodness : 0.784393 Centerline is valid? [False, False] Translation: X:-296.18, Y:13.55, Z:135.31 [[ 9.26461533e-01 -3.32516247e-01 1.76357513e-01 -2.96181689e+02] [ 3.48358850e-01 9.34947454e-01 -6.72262579e-02 1.35522553e+01] [-1.42531185e-01 1.23718243e-01 9.82027829e-01 1.35305780e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.529072329 meters Centerline goodness : 0.784450 Centerline is valid? [False, False] Translation: X:-296.19, Y:13.56, Z:135.31 [[ 9.25678389e-01 -3.33194570e-01 1.79167235e-01 -2.96194424e+02] [ 3.48882034e-01 9.34997996e-01 -6.37187015e-02 1.35552790e+01] [-1.46290281e-01 1.21491254e-01 9.81753039e-01 1.35307467e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.55907232899995 meters Centerline goodness : 0.782292 Centerline is valid? [False, False] Translation: X:-296.23, Y:13.57, Z:135.32 [[ 9.25626261e-01 -3.34597892e-01 1.76805758e-01 -2.96230307e+02] [ 3.49966942e-01 9.34610087e-01 -6.34596259e-02 1.35680814e+01] [-1.44010988e-01 1.20616067e-01 9.82197841e-01 1.35316166e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.589072329 meters Centerline goodness : 0.782412 Centerline is valid? [False, False] Translation: X:-296.26, Y:13.58, Z:135.32 [[ 9.26645663e-01 -3.34457989e-01 1.71655672e-01 -2.96259905e+02] [ 3.49178315e-01 9.34911878e-01 -6.33583792e-02 1.35829233e+01] [-1.39292210e-01 1.18649205e-01 9.83117514e-01 1.35324352e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.61907232899995 meters Centerline goodness : 0.782170 Centerline is valid? [False, False] Translation: X:-296.29, Y:13.60, Z:135.33 [[ 9.27721787e-01 -3.32008511e-01 1.70594945e-01 -2.96291786e+02] [ 3.46896446e-01 9.35605036e-01 -6.56206752e-02 1.35966399e+01] [-1.37822867e-01 1.20056510e-01 9.83153748e-01 1.35331329e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.649072329 meters Centerline goodness : 0.781646 Centerline is valid? [False, False] Translation: X:-296.33, Y:13.61, Z:135.34 [[ 9.28161745e-01 -3.31257323e-01 1.69659544e-01 -2.96329723e+02] [ 3.46034019e-01 9.35919283e-01 -6.56928707e-02 1.36149290e+01] [-1.37026394e-01 1.19681583e-01 9.83310778e-01 1.35341371e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.67907232899995 meters Centerline goodness : 0.782128 Centerline is valid? [False, False] Translation: X:-296.34, Y:13.62, Z:135.34 [[ 9.31478706e-01 -3.20354716e-01 1.72395699e-01 -2.96344939e+02] [ 3.35493107e-01 9.39690005e-01 -6.65362316e-02 1.36215409e+01] [-1.40683320e-01 1.19814651e-01 9.82778028e-01 1.35339947e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.709072329 meters Centerline goodness : 0.782128 Centerline is valid? [False, False] Translation: X:-296.34, Y:13.62, Z:135.34 [[ 9.31478706e-01 -3.20354716e-01 1.72395699e-01 -2.96344939e+02] [ 3.35493107e-01 9.39690005e-01 -6.65362316e-02 1.36215409e+01] [-1.40683320e-01 1.19814651e-01 9.82778028e-01 1.35339947e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.73907232899995 meters Centerline goodness : 0.779864 Centerline is valid? [False, False] Translation: X:-296.38, Y:13.64, Z:135.35 [[ 9.35187396e-01 -3.08634985e-01 1.73692200e-01 -2.96376630e+02] [ 3.24046118e-01 9.43591122e-01 -6.80434332e-02 1.36408936e+01] [-1.42893834e-01 1.19917644e-01 9.82446493e-01 1.35347291e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.769072329 meters Centerline goodness : 0.780938 Centerline is valid? [False, False] Translation: X:-296.38, Y:13.64, Z:135.35 [[ 9.36187226e-01 -3.05964980e-01 1.73028637e-01 -2.96378935e+02] [ 3.20889538e-01 9.44854213e-01 -6.54249244e-02 1.36444407e+01] [-1.43469101e-01 1.16773058e-01 9.82741405e-01 1.35348973e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.79907232899996 meters Centerline goodness : 0.779905 Centerline is valid? [False, False] Translation: X:-296.38, Y:13.65, Z:135.35 [[ 9.37378113e-01 -3.02947267e-01 1.71887250e-01 -2.96379948e+02] [ 3.17285467e-01 9.46266507e-01 -6.25270378e-02 1.36476753e+01] [-1.43708753e-01 1.13148803e-01 9.83130278e-01 1.35350201e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.829072329 meters Centerline goodness : 0.779371 Centerline is valid? [False, False] Translation: X:-296.41, Y:13.67, Z:135.36 [[ 9.40101638e-01 -2.93363897e-01 1.73627572e-01 -2.96412835e+02] [ 3.08117971e-01 9.49152849e-01 -6.45924517e-02 1.36658181e+01] [-1.45850011e-01 1.14221245e-01 9.82690837e-01 1.35357054e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.85907232899996 meters Centerline goodness : 0.778739 Centerline is valid? [False, False] Translation: X:-296.42, Y:13.67, Z:135.36 [[ 9.40911333e-01 -2.90936513e-01 1.73325732e-01 -2.96415900e+02] [ 3.05260080e-01 9.50242413e-01 -6.20938083e-02 1.36687980e+01] [-1.46636106e-01 1.11334195e-01 9.82905158e-01 1.35359159e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.889072329 meters Centerline goodness : 0.780203 Centerline is valid? [False, False] Translation: X:-296.42, Y:13.67, Z:135.36 [[ 9.41519631e-01 -2.88900970e-01 1.73427256e-01 -2.96419726e+02] [ 3.02899099e-01 9.51133310e-01 -5.99796851e-02 1.36723591e+01] [-1.47624251e-01 1.09003011e-01 9.83018527e-01 1.35361338e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.91907232899996 meters Centerline goodness : 0.780303 Centerline is valid? [False, False] Translation: X:-296.44, Y:13.68, Z:135.36 [[ 9.44805725e-01 -2.76256291e-01 1.76138026e-01 -2.96436039e+02] [ 2.90291966e-01 9.55109745e-01 -5.91265602e-02 1.36808105e+01] [-1.51897061e-01 1.06994567e-01 9.82588136e-01 1.35361550e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.949072329 meters Centerline goodness : 0.777794 Centerline is valid? [False, False] Translation: X:-296.45, Y:13.69, Z:135.36 [[ 9.46508739e-01 -2.67508994e-01 1.80444302e-01 -2.96450979e+02] [ 2.82192646e-01 9.57426917e-01 -6.08359139e-02 1.36885756e+01] [-1.56488077e-01 1.08501779e-01 9.81702015e-01 1.35360010e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.97907232899996 meters Centerline goodness : 0.778411 Centerline is valid? [False, False] Translation: X:-296.46, Y:13.70, Z:135.37 [[ 9.48649280e-01 -2.60758168e-01 1.79080211e-01 -2.96456871e+02] [ 2.74189656e-01 9.60134165e-01 -5.44280938e-02 1.36972819e+01] [-1.57748459e-01 1.00735114e-01 9.82327777e-01 1.35365695e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.009072329 meters Centerline goodness : 0.778507 Centerline is valid? [False, False] Translation: X:-296.47, Y:13.70, Z:135.36 [[ 9.50146188e-01 -2.52047097e-01 1.83560568e-01 -2.96471965e+02] [ 2.66196654e-01 9.62254703e-01 -5.66147268e-02 1.37035513e+01] [-1.62362442e-01 1.02655476e-01 9.81376732e-01 1.35363385e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.03907232899996 meters Centerline goodness : 0.779125 Centerline is valid? [False, False] Translation: X:-296.50, Y:13.72, Z:135.37 [[ 9.51178737e-01 -2.48275473e-01 1.83352937e-01 -2.96504012e+02] [ 2.62459923e-01 9.63243179e-01 -5.72482899e-02 1.37187047e+01] [-1.62400120e-01 1.02576154e-01 9.81378792e-01 1.35371360e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.069072329 meters Centerline goodness : 0.778684 Centerline is valid? [False, False] Translation: X:-296.53, Y:13.74, Z:135.38 [[ 9.53473200e-01 -2.44271601e-01 1.76692505e-01 -2.96530166e+02] [ 2.57377034e-01 9.64736028e-01 -5.51494259e-02 1.37379665e+01] [-1.56990187e-01 9.80600925e-02 9.82719848e-01 1.35380990e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.09907232899997 meters Centerline goodness : 0.779159 Centerline is valid? [False, False] Translation: X:-296.56, Y:13.75, Z:135.39 [[ 9.54372748e-01 -2.42769049e-01 1.73884581e-01 -2.96562024e+02] [ 2.55444199e-01 9.65296840e-01 -5.43164104e-02 1.37549496e+01] [-1.54663893e-01 9.62559093e-02 9.83266942e-01 1.35389863e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.129072329 meters Centerline goodness : 0.778351 Centerline is valid? [False, False] Translation: X:-296.59, Y:13.77, Z:135.40 [[ 9.55115898e-01 -2.42125097e-01 1.70672373e-01 -2.96593028e+02] [ 2.54353761e-01 9.65629258e-01 -5.35191678e-02 1.37700620e+01] [-1.51847904e-01 9.45281681e-02 9.83873284e-01 1.35397396e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.15907232899997 meters Centerline goodness : 0.778560 Centerline is valid? [False, False] Translation: X:-296.60, Y:13.77, Z:135.40 [[ 9.55655586e-01 -2.39908106e-01 1.70782032e-01 -2.96596535e+02] [ 2.51696556e-01 9.66473696e-01 -5.07684873e-02 1.37711165e+01] [-1.52876570e-01 9.15024377e-02 9.84000030e-01 1.35399721e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.189072329 meters Centerline goodness : 0.777736 Centerline is valid? [False, False] Translation: X:-296.63, Y:13.78, Z:135.41 [[ 9.56203670e-01 -2.36139500e-01 1.72952823e-01 -2.96630501e+02] [ 2.48594683e-01 9.67102256e-01 -5.39806450e-02 1.37848372e+01] [-1.54516103e-01 9.46116429e-02 9.83449750e-01 1.35406368e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.21907232899997 meters Centerline goodness : 0.778943 Centerline is valid? [False, False] Translation: X:-296.66, Y:13.80, Z:135.41 [[ 9.57119599e-01 -2.35941744e-01 1.68087975e-01 -2.96658071e+02] [ 2.48015107e-01 9.67217812e-01 -5.45729850e-02 1.37983288e+01] [-1.49701638e-01 9.39212307e-02 9.84260241e-01 1.35413687e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.24907232899994 meters Centerline goodness : 0.779134 Centerline is valid? [False, False] Translation: X:-296.69, Y:13.81, Z:135.42 [[ 9.57528716e-01 -2.37187115e-01 1.63954355e-01 -2.96688934e+02] [ 2.48668312e-01 9.67128511e-01 -5.31649666e-02 1.38133236e+01] [-1.45954886e-01 9.16772348e-02 9.85034241e-01 1.35420692e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.279072329 meters Centerline goodness : 0.778538 Centerline is valid? [False, False] Translation: X:-296.72, Y:13.83, Z:135.43 [[ 9.58047789e-01 -2.37930321e-01 1.59792352e-01 -2.96719440e+02] [ 2.48786954e-01 9.67189135e-01 -5.14803772e-02 1.38282824e+01] [-1.42300684e-01 8.90749142e-02 9.85807372e-01 1.35428007e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.30907232899995 meters Centerline goodness : 0.778899 Centerline is valid? [False, False] Translation: X:-296.72, Y:13.83, Z:135.43 [[ 9.57780572e-01 -2.38052332e-01 1.61206276e-01 -2.96723405e+02] [ 2.49033904e-01 9.67127594e-01 -5.14425122e-02 1.38295550e+01] [-1.43661028e-01 8.94164670e-02 9.85579121e-01 1.35429051e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.339072329 meters Centerline goodness : 0.778404 Centerline is valid? [False, False] Translation: X:-296.75, Y:13.83, Z:135.43 [[ 9.56286775e-01 -2.41294682e-01 1.65204359e-01 -2.96745116e+02] [ 2.51556822e-01 9.66842538e-01 -4.39849114e-02 1.38325390e+01] [-1.49113277e-01 8.36204726e-02 9.85278056e-01 1.35429748e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.36907232899995 meters Centerline goodness : 0.778600 Centerline is valid? [False, False] Translation: X:-296.78, Y:13.84, Z:135.43 [[ 9.55858649e-01 -2.41143259e-01 1.67881420e-01 -2.96778724e+02] [ 2.52438393e-01 9.66359975e-01 -4.92265748e-02 1.38437117e+01] [-1.50363228e-01 8.94333632e-02 9.84577358e-01 1.35434967e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.399072329 meters Centerline goodness : 0.778298 Centerline is valid? [False, False] Translation: X:-296.78, Y:13.84, Z:135.44 [[ 9.55210768e-01 -2.42618351e-01 1.69436491e-01 -2.96782984e+02] [ 2.54232734e-01 9.65836121e-01 -5.02623575e-02 1.38433205e+01] [-1.51453313e-01 9.10874474e-02 9.84258590e-01 1.35436948e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.42907232899995 meters Centerline goodness : 0.778800 Centerline is valid? [False, False] Translation: X:-296.82, Y:13.86, Z:135.44 [[ 9.53083935e-01 -2.49922416e-01 1.70791682e-01 -2.96823951e+02] [ 2.61784537e-01 9.63803780e-01 -5.05087087e-02 1.38561417e+01] [-1.51986411e-01 9.28496604e-02 9.84011723e-01 1.35444348e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.459072329 meters Centerline goodness : 0.777295 Centerline is valid? [False, False] Translation: X:-296.84, Y:13.86, Z:135.44 [[ 9.51546692e-01 -2.53272211e-01 1.74390598e-01 -2.96838717e+02] [ 2.64862131e-01 9.63171390e-01 -4.63564964e-02 1.38571041e+01] [-1.56227222e-01 9.02998362e-02 9.83584767e-01 1.35443759e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.48907232899995 meters Centerline goodness : 0.776944 Centerline is valid? [False, False] Translation: X:-296.88, Y:13.87, Z:135.45 [[ 9.49940111e-01 -2.59034816e-01 1.74684716e-01 -2.96876821e+02] [ 2.70860919e-01 9.61459177e-01 -4.72293787e-02 1.38689474e+01] [-1.55718170e-01 9.21803440e-02 9.83491045e-01 1.35451665e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.519072329 meters Centerline goodness : 0.776563 Centerline is valid? [False, False] Translation: X:-296.91, Y:13.88, Z:135.46 [[ 9.49477825e-01 -2.62270440e-01 1.72354508e-01 -2.96908224e+02] [ 2.74318004e-01 9.60347201e-01 -4.98285682e-02 1.38818949e+01] [-1.52451608e-01 9.45910651e-02 9.83773875e-01 1.35458786e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.54907232899996 meters Centerline goodness : 0.776968 Centerline is valid? [False, False] Translation: X:-296.94, Y:13.90, Z:135.47 [[ 9.49029060e-01 -2.65334393e-01 1.70122024e-01 -2.96940849e+02] [ 2.77300192e-01 9.59455809e-01 -5.04891505e-02 1.38951872e+01] [-1.49828056e-01 9.50905411e-02 9.84128723e-01 1.35465677e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.579072329 meters Centerline goodness : 0.776302 Centerline is valid? [False, False] Translation: X:-296.98, Y:13.91, Z:135.47 [[ 9.47428179e-01 -2.70927339e-01 1.70229909e-01 -2.96976577e+02] [ 2.83355036e-01 9.57545854e-01 -5.30646778e-02 1.39061813e+01] [-1.48626272e-01 9.85104731e-02 9.83974552e-01 1.35471436e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.60907232899996 meters Centerline goodness : 0.775860 Centerline is valid? [False, False] Translation: X:-297.00, Y:13.91, Z:135.47 [[ 9.45445799e-01 -2.75179222e-01 1.74380725e-01 -2.96999222e+02] [ 2.87147235e-01 9.56728640e-01 -4.70826401e-02 1.39103697e+01] [-1.53878870e-01 9.45870275e-02 9.83552026e-01 1.35473438e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.639072329 meters Centerline goodness : 0.777724 Centerline is valid? [False, False] Translation: X:-297.03, Y:13.92, Z:135.48 [[ 9.44595691e-01 -2.79151766e-01 1.72665200e-01 -2.97032368e+02] [ 2.91290536e-01 9.55380352e-01 -4.89714917e-02 1.39232673e+01] [-1.51290461e-01 9.65539986e-02 9.83762432e-01 1.35480535e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.66907232899996 meters Centerline goodness : 0.777008 Centerline is valid? [False, False] Translation: X:-297.07, Y:13.93, Z:135.49 [[ 9.43184968e-01 -2.84765516e-01 1.71203732e-01 -2.97065475e+02] [ 2.97292659e-01 9.53364886e-01 -5.20813613e-02 1.39334223e+01] [-1.48388651e-01 1.00019970e-01 9.83858127e-01 1.35487048e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.699072329 meters Centerline goodness : 0.776063 Centerline is valid? [False, False] Translation: X:-297.10, Y:13.95, Z:135.49 [[ 9.43117765e-01 -2.86488543e-01 1.68680753e-01 -2.97098400e+02] [ 2.98838022e-01 9.52858414e-01 -5.25040903e-02 1.39484904e+01] [-1.45687054e-01 9.99257628e-02 9.84271367e-01 1.35494965e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.72907232899996 meters Centerline goodness : 0.777099 Centerline is valid? [False, False] Translation: X:-297.14, Y:13.96, Z:135.50 [[ 9.41938601e-01 -2.90229145e-01 1.68874853e-01 -2.97136286e+02] [ 3.03021361e-01 9.51388947e-01 -5.51101364e-02 1.39639842e+01] [-1.44671100e-01 1.03083052e-01 9.84095604e-01 1.35504760e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.759072329 meters Centerline goodness : 0.776423 Centerline is valid? [False, False] Translation: X:-297.17, Y:13.98, Z:135.51 [[ 9.42114051e-01 -2.88575301e-01 1.70720270e-01 -2.97170373e+02] [ 3.01988634e-01 9.51540165e-01 -5.80876859e-02 1.39760280e+01] [-1.45684522e-01 1.06280806e-01 9.83605821e-01 1.35509317e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.78907232899996 meters Centerline goodness : 0.778043 Centerline is valid? [False, False] Translation: X:-297.20, Y:13.99, Z:135.52 [[ 9.41284559e-01 -2.92482860e-01 1.68633197e-01 -2.97203886e+02] [ 3.05825866e-01 9.50263496e-01 -5.89052496e-02 1.39903256e+01] [-1.43017196e-01 1.07018995e-01 9.83917180e-01 1.35517089e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.819072329 meters Centerline goodness : 0.777169 Centerline is valid? [False, False] Translation: X:-297.22, Y:13.99, Z:135.52 [[ 9.39979629e-01 -2.94898565e-01 1.71677412e-01 -2.97224308e+02] [ 3.07377020e-01 9.50235951e-01 -5.07050899e-02 1.39939871e+01] [-1.48181190e-01 1.00431443e-01 9.83847478e-01 1.35516731e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.84907232899997 meters Centerline goodness : 0.776982 Centerline is valid? [False, False] Translation: X:-297.26, Y:14.01, Z:135.52 [[ 9.40783197e-01 -2.91614076e-01 1.72882059e-01 -2.97255569e+02] [ 3.04737709e-01 9.50882601e-01 -5.43802234e-02 1.40073163e+01] [-1.48532503e-01 1.03843683e-01 9.83440179e-01 1.35521133e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.879072329 meters Centerline goodness : 0.776135 Centerline is valid? [False, False] Translation: X:-297.29, Y:14.02, Z:135.53 [[ 9.40468023e-01 -2.93592212e-01 1.71241092e-01 -2.97289866e+02] [ 3.06687011e-01 9.50207277e-01 -5.52196332e-02 1.40227699e+01] [-1.46502477e-01 1.04449718e-01 9.83680477e-01 1.35529597e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.90907232899997 meters Centerline goodness : 0.777745 Centerline is valid? [False, False] Translation: X:-297.32, Y:14.04, Z:135.54 [[ 9.40483037e-01 -2.94785374e-01 1.69095358e-01 -2.97324454e+02] [ 3.07685775e-01 9.49875196e-01 -5.53766661e-02 1.40380439e+01] [-1.44295255e-01 1.04109051e-01 9.84042776e-01 1.35538119e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.939072329 meters Centerline goodness : 0.777885 Centerline is valid? [False, False] Translation: X:-297.34, Y:14.04, Z:135.53 [[ 9.41268644e-01 -2.89157213e-01 1.74360103e-01 -2.97338450e+02] [ 3.03327546e-01 9.50969555e-01 -6.04094741e-02 1.40425672e+01] [-1.48343314e-01 1.09749766e-01 9.82827172e-01 1.35534222e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.96907232899997 meters Centerline goodness : 0.776807 Centerline is valid? [False, False] Translation: X:-297.36, Y:14.05, Z:135.54 [[ 9.39904067e-01 -2.91243578e-01 1.78206406e-01 -2.97364692e+02] [ 3.04376814e-01 9.51195378e-01 -5.08144486e-02 1.40508250e+01] [-1.54709727e-01 1.02002605e-01 9.82680197e-01 1.35536431e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.99907232899994 meters Centerline goodness : 0.778751 Centerline is valid? [False, False] Translation: X:-297.38, Y:14.06, Z:135.53 [[ 9.40848762e-01 -2.85070740e-01 1.83134597e-01 -2.97379436e+02] [ 2.99514501e-01 9.52437122e-01 -5.61657513e-02 1.40562019e+01] [-1.58412976e-01 1.07694945e-01 9.81482108e-01 1.35533778e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.029072329 meters Centerline goodness : 0.775316 Centerline is valid? [False, False] Translation: X:-297.41, Y:14.07, Z:135.54 [[ 9.41194145e-01 -2.82510003e-01 1.85315080e-01 -2.97412729e+02] [ 2.97898405e-01 9.52668043e-01 -6.06641590e-02 1.40703815e+01] [-1.59405523e-01 1.12301818e-01 9.80804864e-01 1.35539775e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.05907232899995 meters Centerline goodness : 0.777201 Centerline is valid? [False, False] Translation: X:-297.44, Y:14.08, Z:135.55 [[ 9.42523562e-01 -2.76913406e-01 1.86998130e-01 -2.97444851e+02] [ 2.93043101e-01 9.53927095e-01 -6.44114797e-02 1.40848694e+01] [-1.60546180e-01 1.15507849e-01 9.80246327e-01 1.35546346e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.089072329 meters Centerline goodness : 0.776245 Centerline is valid? [False, False] Translation: X:-297.45, Y:14.09, Z:135.55 [[ 9.43042406e-01 -2.74967492e-01 1.87253570e-01 -2.97449049e+02] [ 2.90757156e-01 9.54766189e-01 -6.23040904e-02 1.40881158e+01] [-1.61651778e-01 1.13200715e-01 9.80333770e-01 1.35549002e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.11907232899995 meters Centerline goodness : 0.776388 Centerline is valid? [False, False] Translation: X:-297.45, Y:14.09, Z:135.55 [[ 9.42808339e-01 -2.75408389e-01 1.87783530e-01 -2.97451097e+02] [ 2.91399182e-01 9.54517323e-01 -6.31125652e-02 1.40892777e+01] [-1.61860903e-01 1.14223020e-01 9.80180672e-01 1.35550991e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.149072329 meters Centerline goodness : 0.777176 Centerline is valid? [False, False] Translation: X:-297.45, Y:14.09, Z:135.55 [[ 9.42802830e-01 -2.75002474e-01 1.88405052e-01 -2.97453605e+02] [ 2.91031828e-01 9.54641236e-01 -6.29331803e-02 1.40899998e+01] [-1.62552451e-01 1.14165447e-01 9.80072932e-01 1.35552756e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.17907232899995 meters Centerline goodness : 0.775535 Centerline is valid? [False, False] Translation: X:-297.46, Y:14.09, Z:135.55 [[ 9.43307536e-01 -2.73102168e-01 1.88642781e-01 -2.97457365e+02] [ 2.88699783e-01 9.55517695e-01 -6.03189050e-02 1.40917656e+01] [-1.63778292e-01 1.11360408e-01 9.80191579e-01 1.35554554e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.209072329 meters Centerline goodness : 0.777234 Centerline is valid? [False, False] Translation: X:-297.49, Y:14.11, Z:135.56 [[ 9.43586948e-01 -2.74200568e-01 1.85627905e-01 -2.97490681e+02] [ 2.89112000e-01 9.55526844e-01 -5.81610081e-02 1.41091513e+01] [-1.61424665e-01 1.08547223e-01 9.80897333e-01 1.35563097e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.23907232899995 meters Centerline goodness : 0.776669 Centerline is valid? [False, False] Translation: X:-297.52, Y:14.13, Z:135.57 [[ 9.44694783e-01 -2.73782629e-01 1.80540410e-01 -2.97519006e+02] [ 2.88211133e-01 9.55765364e-01 -5.87104016e-02 1.41252517e+01] [-1.56480383e-01 1.07497166e-01 9.81813755e-01 1.35571494e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.269072329 meters Centerline goodness : 0.774366 Centerline is valid? [False, False] Translation: X:-297.52, Y:14.13, Z:135.57 [[ 9.45186200e-01 -2.71855862e-01 1.80879623e-01 -2.97523184e+02] [ 2.85899620e-01 9.56609123e-01 -5.62173764e-02 1.41270988e+01] [-1.57748075e-01 1.04849304e-01 9.81897229e-01 1.35573688e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.29907232899996 meters Centerline goodness : 0.775939 Centerline is valid? [False, False] Translation: X:-297.54, Y:14.13, Z:135.57 [[ 9.45708884e-01 -2.66372704e-01 1.86226447e-01 -2.97538231e+02] [ 2.81895709e-01 9.57436100e-01 -6.20558145e-02 1.41323885e+01] [-1.61769948e-01 1.11183172e-01 9.80545147e-01 1.35571086e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.329072329 meters Centerline goodness : 0.776032 Centerline is valid? [False, False] Translation: X:-297.54, Y:14.13, Z:135.57 [[ 9.45728976e-01 -2.66102727e-01 1.86510166e-01 -2.97539521e+02] [ 2.81609285e-01 9.57538246e-01 -6.17795918e-02 1.41322150e+01] [-1.62150900e-01 1.10949745e-01 9.80508664e-01 1.35571915e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.35907232899996 meters Centerline goodness : 0.776728 Centerline is valid? [False, False] Translation: X:-297.54, Y:14.13, Z:135.57 [[ 9.46447314e-01 -2.63602833e-01 1.86416275e-01 -2.97542286e+02] [ 2.78520545e-01 9.58647850e-01 -5.84859451e-02 1.41330258e+01] [-1.63290500e-01 1.07274628e-01 9.80728488e-01 1.35572943e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.389072329 meters Centerline goodness : 0.775118 Centerline is valid? [False, False] Translation: X:-297.56, Y:14.14, Z:135.57 [[ 9.45574232e-01 -2.64724353e-01 1.89236329e-01 -2.97559331e+02] [ 2.78831956e-01 9.58942295e-01 -5.17920345e-02 1.41380709e+01] [-1.67756107e-01 1.01738349e-01 9.80564734e-01 1.35574060e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.41907232899996 meters Centerline goodness : 0.774109 Centerline is valid? [False, False] Translation: X:-297.59, Y:14.15, Z:135.58 [[ 9.46371893e-01 -2.60392625e-01 1.91248321e-01 -2.97588053e+02] [ 2.75638558e-01 9.59539160e-01 -5.75150851e-02 1.41510209e+01] [-1.68533750e-01 1.07146071e-01 9.79855140e-01 1.35579695e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.449072329 meters Centerline goodness : 0.773811 Centerline is valid? [False, False] Translation: X:-297.59, Y:14.15, Z:135.58 [[ 9.46193738e-01 -2.60675023e-01 1.91744472e-01 -2.97589684e+02] [ 2.76053698e-01 9.59394074e-01 -5.79427813e-02 1.41516318e+01] [-1.68854274e-01 1.07756867e-01 9.79732970e-01 1.35580859e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.47907232899996 meters Centerline goodness : 0.776808 Centerline is valid? [False, False] Translation: X:-297.61, Y:14.16, Z:135.58 [[ 9.47125228e-01 -2.53889918e-01 1.96198145e-01 -2.97605443e+02] [ 2.70724413e-01 9.60532626e-01 -6.39168736e-02 1.41576095e+01] [-1.72226870e-01 1.13652911e-01 9.78478881e-01 1.35580961e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.509072329 meters Centerline goodness : 0.775031 Centerline is valid? [False, False] Translation: X:-297.61, Y:14.16, Z:135.58 [[ 9.47603779e-01 -2.51893679e-01 1.96460306e-01 -2.97609362e+02] [ 2.68322976e-01 9.61356765e-01 -6.16112931e-02 1.41607410e+01] [-1.73348949e-01 1.11097908e-01 9.78574165e-01 1.35583283e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.53907232899996 meters Centerline goodness : 0.775006 Centerline is valid? [False, False] Translation: X:-297.62, Y:14.17, Z:135.58 [[ 9.50228411e-01 -2.39674187e-01 1.99053386e-01 -2.97622838e+02] [ 2.55912672e-01 9.64840834e-01 -5.99238702e-02 1.41674327e+01] [-1.77692630e-01 1.07881648e-01 9.78154834e-01 1.35579259e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.569072329 meters Centerline goodness : 0.776793 Centerline is valid? [False, False] Translation: X:-297.64, Y:14.18, Z:135.59 [[ 9.51713079e-01 -2.39891383e-01 1.91557668e-01 -2.97644367e+02] [ 2.55201512e-01 9.65064999e-01 -5.93442148e-02 1.41837939e+01] [-1.70629435e-01 1.05364472e-01 9.79685625e-01 1.35586267e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.59907232899997 meters Centerline goodness : 0.775689 Centerline is valid? [False, False] Translation: X:-297.66, Y:14.20, Z:135.59 [[ 9.53338049e-01 -2.40065418e-01 1.83071459e-01 -2.97662317e+02] [ 2.54521772e-01 9.65222786e-01 -5.96962419e-02 1.41969852e+01] [-1.62373741e-01 1.03506371e-01 9.81285483e-01 1.35592712e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.629072329 meters Centerline goodness : 0.775689 Centerline is valid? [False, False] Translation: X:-297.66, Y:14.20, Z:135.59 [[ 9.53338049e-01 -2.40065418e-01 1.83071459e-01 -2.97662317e+02] [ 2.54521772e-01 9.65222786e-01 -5.96962419e-02 1.41969852e+01] [-1.62373741e-01 1.03506371e-01 9.81285483e-01 1.35592712e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.65907232899997 meters Centerline goodness : 0.776887 Centerline is valid? [False, False] Translation: X:-297.68, Y:14.21, Z:135.60 [[ 9.55573968e-01 -2.37089019e-01 1.75120495e-01 -2.97682354e+02] [ 2.50692421e-01 9.66216766e-01 -5.98203305e-02 1.42128678e+01] [-1.55021615e-01 1.01064132e-01 9.82728009e-01 1.35601029e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.689072329 meters Centerline goodness : 0.775507 Centerline is valid? [False, False] Translation: X:-297.69, Y:14.22, Z:135.61 [[ 9.56773289e-01 -2.32620301e-01 1.74564226e-01 -2.97687265e+02] [ 2.45414541e-01 9.67834868e-01 -5.53838488e-02 1.42182978e+01] [-1.56065937e-01 9.58303866e-02 9.83086955e-01 1.35605700e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.71907232899997 meters Centerline goodness : 0.776296 Centerline is valid? [False, False] Translation: X:-297.70, Y:14.23, Z:135.60 [[ 9.57669771e-01 -2.24895418e-01 1.79696024e-01 -2.97703825e+02] [ 2.38434550e-01 9.69460880e-01 -5.73983279e-02 1.42265514e+01] [-1.61299644e-01 9.78143841e-02 9.82046216e-01 1.35604602e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.74907232899994 meters Centerline goodness : 0.775541 Centerline is valid? [False, False] Translation: X:-297.71, Y:14.23, Z:135.61 [[ 9.58766522e-01 -2.20426551e-01 1.79384758e-01 -2.97708329e+02] [ 2.33123605e-01 9.71011786e-01 -5.28156870e-02 1.42328680e+01] [-1.62542734e-01 9.24567340e-02 9.82360225e-01 1.35607859e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.779072329 meters Centerline goodness : 0.775445 Centerline is valid? [False, False] Translation: X:-297.73, Y:14.25, Z:135.61 [[ 9.59972389e-01 -2.21275581e-01 1.71726902e-01 -2.97728406e+02] [ 2.33377169e-01 9.70910360e-01 -5.35552910e-02 1.42485475e+01] [-1.54880951e-01 9.14887390e-02 9.83687807e-01 1.35614671e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.80907232899995 meters Centerline goodness : 0.775072 Centerline is valid? [False, False] Translation: X:-297.76, Y:14.27, Z:135.62 [[ 9.60227681e-01 -2.22347053e-01 1.68892237e-01 -2.97759723e+02] [ 2.34536551e-01 9.70506152e-01 -5.57711010e-02 1.42659555e+01] [-1.51510415e-01 9.31643578e-02 9.84055383e-01 1.35624974e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.839072329 meters Centerline goodness : 0.775286 Centerline is valid? [False, False] Translation: X:-297.78, Y:14.28, Z:135.63 [[ 9.61919435e-01 -2.20975044e-01 1.60875821e-01 -2.97779428e+02] [ 2.32396279e-01 9.71019760e-01 -5.57906341e-02 1.42789265e+01] [-1.43885263e-01 9.10530375e-02 9.85396557e-01 1.35632264e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.86907232899995 meters Centerline goodness : 0.775454 Centerline is valid? [False, False] Translation: X:-297.78, Y:14.28, Z:135.63 [[ 9.62608636e-01 -2.18141440e-01 1.60620440e-01 -2.97781659e+02] [ 2.29055884e-01 9.71987066e-01 -5.26739560e-02 1.42810456e+01] [-1.44630618e-01 8.74954619e-02 9.85609724e-01 1.35633670e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.899072329 meters Centerline goodness : 0.774503 Centerline is valid? [False, False] Translation: X:-297.79, Y:14.28, Z:135.63 [[ 9.63000959e-01 -2.16069008e-01 1.61069352e-01 -2.97785055e+02] [ 2.26624445e-01 9.72692420e-01 -5.01080490e-02 1.42837017e+01] [-1.45844141e-01 8.47563516e-02 9.85670253e-01 1.35634604e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.92907232899995 meters Centerline goodness : 0.775380 Centerline is valid? [False, False] Translation: X:-297.81, Y:14.30, Z:135.64 [[ 9.63840586e-01 -2.17599625e-01 1.53823689e-01 -2.97805613e+02] [ 2.27808747e-01 9.72317599e-01 -5.19775051e-02 1.42954498e+01] [-1.38255194e-01 8.51404109e-02 9.86730263e-01 1.35640960e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.959072329 meters Centerline goodness : 0.774584 Centerline is valid? [False, False] Translation: X:-297.81, Y:14.30, Z:135.64 [[ 9.64263383e-01 -2.15396422e-01 1.54274141e-01 -2.97809558e+02] [ 2.25262044e-01 9.73044907e-01 -4.94026322e-02 1.42980234e+01] [-1.39474517e-01 8.23892575e-02 9.86792212e-01 1.35642787e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.98907232899995 meters Centerline goodness : 0.774592 Centerline is valid? [False, False] Translation: X:-297.81, Y:14.30, Z:135.64 [[ 9.64115772e-01 -2.15732299e-01 1.54726704e-01 -2.97810808e+02] [ 2.25675756e-01 9.72935894e-01 -4.96608447e-02 1.42982711e+01] [-1.39825716e-01 8.27968695e-02 9.86708390e-01 1.35643208e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.019072329 meters Centerline goodness : 0.772823 Centerline is valid? [False, False] Translation: X:-297.84, Y:14.30, Z:135.64 [[ 9.61300311e-01 -2.24483243e-01 1.59715330e-01 -2.97836117e+02] [ 2.34513164e-01 9.70988062e-01 -4.67521085e-02 1.43037537e+01] [-1.44586613e-01 8.23981636e-02 9.86055401e-01 1.35644535e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.04907232899996 meters Centerline goodness : 0.773061 Centerline is valid? [False, False] Translation: X:-297.87, Y:14.32, Z:135.65 [[ 9.61481805e-01 -2.24761079e-01 1.58225141e-01 -2.97865109e+02] [ 2.35316823e-01 9.70567193e-01 -5.12378394e-02 1.43150822e+01] [-1.42051859e-01 8.64972878e-02 9.86072760e-01 1.35648864e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.079072329 meters Centerline goodness : 0.773087 Centerline is valid? [False, False] Translation: X:-297.87, Y:14.32, Z:135.65 [[ 9.61005252e-01 -2.25948579e-01 1.59424421e-01 -2.97868766e+02] [ 2.36807271e-01 9.70136350e-01 -5.25145514e-02 1.43164096e+01] [-1.42797837e-01 8.82196217e-02 9.85812394e-01 1.35650971e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.10907232899996 meters Centerline goodness : 0.773592 Centerline is valid? [False, False] Translation: X:-297.87, Y:14.32, Z:135.65 [[ 9.61270143e-01 -2.24474599e-01 1.59908935e-01 -2.97873035e+02] [ 2.35045761e-01 9.70679961e-01 -5.03378874e-02 1.43171596e+01] [-1.43920822e-01 8.59742257e-02 9.85847468e-01 1.35653793e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.139072329 meters Centerline goodness : 0.772952 Centerline is valid? [False, False] Translation: X:-297.89, Y:14.32, Z:135.65 [[ 9.62138991e-01 -2.17428960e-01 1.64356956e-01 -2.97886788e+02] [ 2.29011927e-01 9.71872561e-01 -5.49296183e-02 1.43219356e+01] [-1.47790726e-01 9.04896307e-02 9.84870310e-01 1.35650946e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.16907232899996 meters Centerline goodness : 0.775394 Centerline is valid? [False, False] Translation: X:-297.92, Y:14.34, Z:135.66 [[ 9.63394942e-01 -2.12407543e-01 1.63564123e-01 -2.97916620e+02] [ 2.24016053e-01 9.72979391e-01 -5.59277353e-02 1.43387341e+01] [-1.47265048e-01 9.05214865e-02 9.84946123e-01 1.35657862e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.199072329 meters Centerline goodness : 0.771583 Centerline is valid? [False, False] Translation: X:-297.92, Y:14.34, Z:135.66 [[ 9.62883475e-01 -2.13819349e-01 1.64732205e-01 -2.97919914e+02] [ 2.25719427e-01 9.72520516e-01 -5.70489745e-02 1.43385429e+01] [-1.48007275e-01 9.21147739e-02 9.84687115e-01 1.35659544e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.22907232899996 meters Centerline goodness : 0.770979 Centerline is valid? [False, False] Translation: X:-297.94, Y:14.35, Z:135.67 [[ 9.63720033e-01 -2.15625780e-01 1.57318849e-01 -2.97939512e+02] [ 2.27240059e-01 9.72001131e-01 -5.97976323e-02 1.43507937e+01] [-1.40020188e-01 9.33773206e-02 9.85735777e-01 1.35666281e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.259072329 meters Centerline goodness : 0.772680 Centerline is valid? [False, False] Translation: X:-297.94, Y:14.35, Z:135.67 [[ 9.63661980e-01 -2.15647013e-01 1.57645023e-01 -2.97940536e+02] [ 2.27266752e-01 9.72006064e-01 -5.96157341e-02 1.43494668e+01] [-1.40375963e-01 9.32768886e-02 9.85694685e-01 1.35666688e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.28907232899996 meters Centerline goodness : 0.773535 Centerline is valid? [False, False] Translation: X:-297.94, Y:14.35, Z:135.67 [[ 9.63451444e-01 -2.16229012e-01 1.58133896e-01 -2.97942404e+02] [ 2.28026692e-01 9.71773445e-01 -6.04995765e-02 1.43510036e+01] [-1.40588558e-01 9.43471536e-02 9.85562516e-01 1.35668227e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.319072329 meters Centerline goodness : 0.772116 Centerline is valid? [False, False] Translation: X:-297.95, Y:14.35, Z:135.67 [[ 9.64054700e-01 -2.13586878e-01 1.58048035e-01 -2.97945120e+02] [ 2.24919720e-01 9.72680997e-01 -5.74699717e-02 1.43527209e+01] [-1.41455488e-01 9.09523162e-02 9.85757587e-01 1.35669940e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.34907232899997 meters Centerline goodness : 0.772906 Centerline is valid? [False, False] Translation: X:-297.95, Y:14.36, Z:135.67 [[ 9.64376247e-01 -2.11770849e-01 1.58529373e-01 -2.97949351e+02] [ 2.22807088e-01 9.73297414e-01 -5.52190602e-02 1.43552354e+01] [-1.42602442e-01 8.85734181e-02 9.85808954e-01 1.35672463e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.379072329 meters Centerline goodness : 0.774567 Centerline is valid? [False, False] Translation: X:-297.95, Y:14.36, Z:135.67 [[ 9.64746847e-01 -2.09762947e-01 1.58943475e-01 -2.97953378e+02] [ 2.20464727e-01 9.73965293e-01 -5.27912217e-02 1.43574487e+01] [-1.43731786e-01 8.59715944e-02 9.85875275e-01 1.35674823e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.40907232899997 meters Centerline goodness : 0.773437 Centerline is valid? [False, False] Translation: X:-297.96, Y:14.36, Z:135.68 [[ 9.64982515e-01 -2.08235593e-01 1.59520165e-01 -2.97957398e+02] [ 2.18631148e-01 9.74502088e-01 -5.04589178e-02 1.43586338e+01] [-1.44945391e-01 8.35680501e-02 9.85904262e-01 1.35676794e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.439072329 meters Centerline goodness : 0.772189 Centerline is valid? [False, False] Translation: X:-297.98, Y:14.37, Z:135.68 [[ 9.65517165e-01 -2.10996866e-01 1.52502217e-01 -2.97977349e+02] [ 2.21008893e-01 9.73895397e-01 -5.17959948e-02 1.43700220e+01] [-1.37592414e-01 8.37142682e-02 9.86944907e-01 1.35680801e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.46907232899997 meters Centerline goodness : 0.771527 Centerline is valid? [False, False] Translation: X:-297.99, Y:14.37, Z:135.68 [[ 9.64982018e-01 -2.11331681e-01 1.55398279e-01 -2.97992716e+02] [ 2.20571253e-01 9.74348948e-01 -4.46368664e-02 1.43733109e+01] [-1.41978966e-01 7.73501666e-02 9.86842908e-01 1.35680787e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.49907232899994 meters Centerline goodness : 0.772565 Centerline is valid? [False, False] Translation: X:-298.01, Y:14.38, Z:135.68 [[ 9.64974695e-01 -2.07486732e-01 1.60540006e-01 -2.98005016e+02] [ 2.18253384e-01 9.74482839e-01 -5.24276350e-02 1.43770570e+01] [-1.45565442e-01 8.56297408e-02 9.85635962e-01 1.35676314e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.529072329 meters Centerline goodness : 0.771557 Centerline is valid? [False, False] Translation: X:-298.03, Y:14.39, Z:135.68 [[ 9.65768072e-01 -2.09125497e-01 1.53487973e-01 -2.98025752e+02] [ 2.19502117e-01 9.74121425e-01 -5.39098249e-02 1.43895092e+01] [-1.38242004e-01 8.57553227e-02 9.86678860e-01 1.35682121e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.55907232899995 meters Centerline goodness : 0.772017 Centerline is valid? [False, False] Translation: X:-298.03, Y:14.39, Z:135.68 [[ 9.65359682e-01 -2.10170363e-01 1.54625684e-01 -2.98029130e+02] [ 2.20809689e-01 9.73764965e-01 -5.49988507e-02 1.43909508e+01] [-1.39009946e-01 8.72365223e-02 9.86441090e-01 1.35683798e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.589072329 meters Centerline goodness : 0.770662 Centerline is valid? [False, False] Translation: X:-298.03, Y:14.39, Z:135.69 [[ 9.65064522e-01 -2.10853324e-01 1.55535670e-01 -2.98031844e+02] [ 2.21602252e-01 9.73576012e-01 -5.51560507e-02 1.43893685e+01] [-1.39795961e-01 8.76962024e-02 9.86289240e-01 1.35685087e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.61907232899995 meters Centerline goodness : 0.770661 Centerline is valid? [False, False] Translation: X:-298.03, Y:14.39, Z:135.69 [[ 9.64987979e-01 -2.10970080e-01 1.55851933e-01 -2.98032683e+02] [ 2.21731500e-01 9.73553327e-01 -5.50369077e-02 1.43886253e+01] [-1.40119027e-01 8.76672373e-02 9.86245970e-01 1.35685240e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.649072329 meters Centerline goodness : 0.769702 Centerline is valid? [False, False] Translation: X:-298.04, Y:14.39, Z:135.69 [[ 9.64641139e-01 -2.11825327e-01 1.56835910e-01 -2.98035431e+02] [ 2.22822727e-01 9.73248289e-01 -5.60160736e-02 1.43901765e+01] [-1.40774658e-01 8.89820143e-02 9.86034835e-01 1.35686357e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.67907232899995 meters Centerline goodness : 0.771552 Centerline is valid? [False, False] Translation: X:-298.04, Y:14.39, Z:135.69 [[ 9.64274738e-01 -2.12767163e-01 1.57811167e-01 -2.98038289e+02] [ 2.23975180e-01 9.72938022e-01 -5.68042562e-02 1.43904204e+01] [-1.41454404e-01 9.01206938e-02 9.85834120e-01 1.35687713e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.709072329 meters Centerline goodness : 0.771534 Centerline is valid? [False, False] Translation: X:-298.04, Y:14.39, Z:135.69 [[ 9.64140981e-01 -2.13032315e-01 1.58270027e-01 -2.98039378e+02] [ 2.24318593e-01 9.72845278e-01 -5.70371196e-02 1.43910525e+01] [-1.41821499e-01 9.04947344e-02 9.85747110e-01 1.35687715e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.73907232899995 meters Centerline goodness : 0.771062 Centerline is valid? [False, False] Translation: X:-298.05, Y:14.39, Z:135.69 [[ 9.63497521e-01 -2.13538114e-01 1.61474460e-01 -2.98054497e+02] [ 2.24104310e-01 9.73275719e-01 -5.01161940e-02 1.43946514e+01] [-1.46457454e-01 8.44739510e-02 9.85603554e-01 1.35687116e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.769072329 meters Centerline goodness : 0.772353 Centerline is valid? [False, False] Translation: X:-298.07, Y:14.41, Z:135.69 [[ 9.63733953e-01 -2.17574236e-01 1.54526110e-01 -2.98074360e+02] [ 2.27960710e-01 9.72237424e-01 -5.28044183e-02 1.44077257e+01] [-1.38747186e-01 8.61152925e-02 9.86576593e-01 1.35692013e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.79907232899996 meters Centerline goodness : 0.771334 Centerline is valid? [False, False] Translation: X:-298.08, Y:14.41, Z:135.69 [[ 9.63649947e-01 -2.17739669e-01 1.54816717e-01 -2.98075279e+02] [ 2.28174946e-01 9.72178776e-01 -5.29586862e-02 1.44078906e+01] [-1.38978319e-01 8.63589311e-02 9.86522763e-01 1.35692454e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.829072329 meters Centerline goodness : 0.773230 Centerline is valid? [False, False] Translation: X:-298.08, Y:14.41, Z:135.69 [[ 9.63347931e-01 -2.18486544e-01 1.55641879e-01 -2.98077934e+02] [ 2.29111910e-01 9.71915568e-01 -5.37388207e-02 1.44085863e+01] [-1.39529557e-01 8.74285899e-02 9.86350721e-01 1.35694046e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.85907232899996 meters Centerline goodness : 0.770697 Centerline is valid? [False, False] Translation: X:-298.10, Y:14.41, Z:135.69 [[ 9.62182260e-01 -2.20925649e-01 1.59364852e-01 -2.98097638e+02] [ 2.30933850e-01 9.71831218e-01 -4.70493428e-02 1.44132229e+01] [-1.44481332e-01 8.20727819e-02 9.86097968e-01 1.35694976e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.889072329 meters Centerline goodness : 0.772584 Centerline is valid? [False, False] Translation: X:-298.11, Y:14.42, Z:135.69 [[ 9.62783134e-01 -2.14765772e-01 1.64086256e-01 -2.98110977e+02] [ 2.25889520e-01 9.72752229e-01 -5.22209280e-02 1.44195650e+01] [-1.48400004e-01 8.73427945e-02 9.85062777e-01 1.35690784e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.91907232899996 meters Centerline goodness : 0.771577 Centerline is valid? [False, False] Translation: X:-298.12, Y:14.43, Z:135.69 [[ 9.63954095e-01 -2.06247352e-01 1.68090845e-01 -2.98124879e+02] [ 2.18074871e-01 9.74378964e-01 -5.50362165e-02 1.44256921e+01] [-1.52433110e-01 8.97087756e-02 9.84233957e-01 1.35687297e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.949072329 meters Centerline goodness : 0.771502 Centerline is valid? [False, False] Translation: X:-298.14, Y:14.44, Z:135.70 [[ 9.65334149e-01 -2.06281281e-01 1.59931277e-01 -2.98142785e+02] [ 2.17656329e-01 9.74358520e-01 -5.70192652e-02 1.44405969e+01] [-1.44068396e-01 8.98526986e-02 9.85479979e-01 1.35695037e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.97907232899996 meters Centerline goodness : 0.771618 Centerline is valid? [False, False] Translation: X:-298.15, Y:14.44, Z:135.70 [[ 9.65613532e-01 -2.04524247e-01 1.60500277e-01 -2.98147137e+02] [ 2.15624516e-01 9.74931335e-01 -5.49086465e-02 1.44433247e+01] [-1.45246599e-01 8.76283266e-02 9.85507332e-01 1.35697554e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.009072329 meters Centerline goodness : 0.770074 Centerline is valid? [False, False] Translation: X:-298.17, Y:14.46, Z:135.70 [[ 9.66217076e-01 -2.06994314e-01 1.53551018e-01 -2.98167965e+02] [ 2.17818809e-01 9.74311546e-01 -5.72011989e-02 1.44575067e+01] [-1.37766207e-01 8.87150750e-02 9.86483709e-01 1.35703449e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.03907232899996 meters Centerline goodness : 0.771326 Centerline is valid? [False, False] Translation: X:-298.19, Y:14.46, Z:135.70 [[ 9.65217276e-01 -2.09134327e-01 1.56902654e-01 -2.98186217e+02] [ 2.19380478e-01 9.74310133e-01 -5.09113943e-02 1.44618062e+01] [-1.42224525e-01 8.35619365e-02 9.86300962e-01 1.35704838e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.069072329 meters Centerline goodness : 0.772025 Centerline is valid? [False, False] Translation: X:-298.20, Y:14.47, Z:135.71 [[ 9.64533012e-01 -2.09987173e-01 1.59942039e-01 -2.98202188e+02] [ 2.19558561e-01 9.74582708e-01 -4.45262049e-02 1.44650377e+01] [-1.46526814e-01 7.80636385e-02 9.86121677e-01 1.35706198e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.09907232899997 meters Centerline goodness : 0.772262 Centerline is valid? [False, False] Translation: X:-298.22, Y:14.48, Z:135.71 [[ 9.65034888e-01 -2.12339400e-01 1.53686841e-01 -2.98224498e+02] [ 2.21858111e-01 9.73921715e-01 -4.74918013e-02 1.44804458e+01] [-1.39594571e-01 7.99279173e-02 9.86977651e-01 1.35712902e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.129072329 meters Centerline goodness : 0.770977 Centerline is valid? [False, False] Translation: X:-298.23, Y:14.48, Z:135.71 [[ 9.64738872e-01 -2.13039611e-01 1.54573716e-01 -2.98226708e+02] [ 2.22698860e-01 9.73708654e-01 -4.79236364e-02 1.44806811e+01] [-1.40300132e-01 8.06571853e-02 9.86818267e-01 1.35713359e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.15907232899997 meters Centerline goodness : 0.771784 Centerline is valid? [False, False] Translation: X:-298.23, Y:14.48, Z:135.71 [[ 9.64133238e-01 -2.14616282e-01 1.56163217e-01 -2.98230655e+02] [ 2.24622107e-01 9.73197113e-01 -4.93182333e-02 1.44821689e+01] [-1.41393096e-01 8.26270588e-02 9.86499246e-01 1.35714439e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.189072329 meters Centerline goodness : 0.771648 Centerline is valid? [False, False] Translation: X:-298.26, Y:14.49, Z:135.72 [[ 9.64577904e-01 -2.12135525e-01 1.56805568e-01 -2.98258472e+02] [ 2.23067522e-01 9.73218474e-01 -5.55579178e-02 1.44942439e+01] [-1.40820267e-01 8.85681694e-02 9.86065582e-01 1.35718683e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.21907232899997 meters Centerline goodness : 0.771749 Centerline is valid? [False, False] Translation: X:-298.26, Y:14.50, Z:135.72 [[ 9.64225681e-01 -2.13044506e-01 1.57736727e-01 -2.98261058e+02] [ 2.24246098e-01 9.72876450e-01 -5.67899681e-02 1.44966385e+01] [-1.41359557e-01 9.01301913e-02 9.85846856e-01 1.35719716e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.24907232899994 meters Centerline goodness : 0.770438 Centerline is valid? [False, False] Translation: X:-298.27, Y:14.50, Z:135.72 [[ 9.64458021e-01 -2.11579872e-01 1.58286711e-01 -2.98265221e+02] [ 2.22534660e-01 9.73382311e-01 -5.48197152e-02 1.44988280e+01] [-1.42474736e-01 8.80955934e-02 9.85870233e-01 1.35722085e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.279072329 meters Centerline goodness : 0.770763 Centerline is valid? [False, False] Translation: X:-298.27, Y:14.50, Z:135.73 [[ 9.64688316e-01 -2.10171733e-01 1.58758606e-01 -2.98269496e+02] [ 2.20935494e-01 9.73830775e-01 -5.33022352e-02 1.45021260e+01] [-1.43401393e-01 8.64954546e-02 9.85877567e-01 1.35725116e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.30907232899995 meters Centerline goodness : 0.770600 Centerline is valid? [False, False] Translation: X:-298.27, Y:14.50, Z:135.73 [[ 9.64837988e-01 -2.09040179e-01 1.59341960e-01 -2.98273547e+02] [ 2.19633836e-01 9.74203010e-01 -5.18601380e-02 1.45043073e+01] [-1.44390565e-01 8.50335172e-02 9.85860368e-01 1.35727679e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.339072329 meters Centerline goodness : 0.771691 Centerline is valid? [False, False] Translation: X:-298.27, Y:14.50, Z:135.73 [[ 9.64824299e-01 -2.09060881e-01 1.59397677e-01 -2.98273836e+02] [ 2.19659340e-01 9.74197351e-01 -5.18584247e-02 1.45042908e+01] [-1.44443226e-01 8.50474568e-02 9.85851452e-01 1.35727891e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.36907232899995 meters Centerline goodness : 0.770814 Centerline is valid? [False, False] Translation: X:-298.30, Y:14.52, Z:135.73 [[ 9.65256507e-01 -2.11836305e-01 1.52987762e-01 -2.98296162e+02] [ 2.22210838e-01 9.73499734e-01 -5.40426910e-02 1.45189477e+01] [-1.37485342e-01 8.61605979e-02 9.86749275e-01 1.35733622e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.399072329 meters Centerline goodness : 0.770717 Centerline is valid? [False, False] Translation: X:-298.30, Y:14.52, Z:135.73 [[ 9.65213717e-01 -2.11837354e-01 1.53256044e-01 -2.98296682e+02] [ 2.22195096e-01 9.73519359e-01 -5.37531103e-02 1.45180140e+01] [-1.37810809e-01 8.59359807e-02 9.86723461e-01 1.35733300e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.42907232899995 meters Centerline goodness : 0.770157 Centerline is valid? [False, False] Translation: X:-298.33, Y:14.53, Z:135.74 [[ 9.65811416e-01 -2.09574393e-01 1.52600402e-01 -2.98325409e+02] [ 2.20376808e-01 9.73717942e-01 -5.75102720e-02 1.45320421e+01] [-1.36537069e-01 8.91736668e-02 9.86613240e-01 1.35737845e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.459072329 meters Centerline goodness : 0.769642 Centerline is valid? [False, False] Translation: X:-298.33, Y:14.53, Z:135.74 [[ 9.66079025e-01 -2.07844262e-01 1.53271263e-01 -2.98329171e+02] [ 2.18338039e-01 9.74324214e-01 -5.49620496e-02 1.45336895e+01] [-1.37912356e-01 8.65626303e-02 9.86654495e-01 1.35738815e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.48907232899995 meters Centerline goodness : 0.770051 Centerline is valid? [False, False] Translation: X:-298.33, Y:14.54, Z:135.74 [[ 9.66476894e-01 -2.05729757e-01 1.53615369e-01 -2.98332838e+02] [ 2.15864283e-01 9.75020657e-01 -5.23194973e-02 1.45353168e+01] [-1.39014480e-01 8.37256565e-02 9.86744642e-01 1.35740749e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.519072329 meters Centerline goodness : 0.770051 Centerline is valid? [False, False] Translation: X:-298.33, Y:14.54, Z:135.74 [[ 9.66476894e-01 -2.05729757e-01 1.53615369e-01 -2.98332838e+02] [ 2.15864283e-01 9.75020657e-01 -5.23194973e-02 1.45353168e+01] [-1.39014480e-01 8.37256565e-02 9.86744642e-01 1.35740749e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.54907232899996 meters Centerline goodness : 0.770094 Centerline is valid? [False, False] Translation: X:-298.33, Y:14.54, Z:135.74 [[ 9.66386482e-01 -2.05934344e-01 1.53909758e-01 -2.98333919e+02] [ 2.16150868e-01 9.74936183e-01 -5.27090276e-02 1.45362055e+01] [-1.39197593e-01 8.42050196e-02 9.86678035e-01 1.35741457e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.579072329 meters Centerline goodness : 0.767444 Centerline is valid? [False, False] Translation: X:-298.34, Y:14.54, Z:135.74 [[ 9.66253535e-01 -2.06202424e-01 1.54384800e-01 -2.98335375e+02] [ 2.16494675e-01 9.74847485e-01 -5.29380502e-02 1.45363652e+01] [-1.39585679e-01 8.45750651e-02 9.86591555e-01 1.35742122e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.60907232899996 meters Centerline goodness : 0.769663 Centerline is valid? [False, False] Translation: X:-298.34, Y:14.54, Z:135.74 [[ 9.66223713e-01 -2.06227391e-01 1.54538021e-01 -2.98335852e+02] [ 2.16538190e-01 9.74835874e-01 -5.29738619e-02 1.45363985e+01] [-1.39724545e-01 8.46479849e-02 9.86565644e-01 1.35742270e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.639072329 meters Centerline goodness : 0.769821 Centerline is valid? [False, False] Translation: X:-298.34, Y:14.54, Z:135.74 [[ 9.66127311e-01 -2.06416976e-01 1.54887223e-01 -2.98336925e+02] [ 2.16765169e-01 9.74783342e-01 -5.30122482e-02 1.45361036e+01] [-1.40038857e-01 8.47907357e-02 9.86508819e-01 1.35742713e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.66907232899996 meters Centerline goodness : 0.768610 Centerline is valid? [False, False] Translation: X:-298.34, Y:14.54, Z:135.74 [[ 9.65953363e-01 -2.06900567e-01 1.55326287e-01 -2.98338769e+02] [ 2.17396358e-01 9.74602294e-01 -5.37512097e-02 1.45371023e+01] [-1.40260199e-01 8.56885308e-02 9.86399793e-01 1.35744403e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.699072329 meters Centerline goodness : 0.769109 Centerline is valid? [False, False] Translation: X:-298.34, Y:14.54, Z:135.75 [[ 9.65656241e-01 -2.07596629e-01 1.56242325e-01 -2.98341480e+02] [ 2.18288926e-01 9.74360104e-01 -5.45191003e-02 1.45382252e+01] [-1.40918307e-01 8.67526788e-02 9.86212961e-01 1.35745652e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.72907232899996 meters Centerline goodness : 0.768729 Centerline is valid? [False, False] Translation: X:-298.37, Y:14.56, Z:135.75 [[ 9.65110630e-01 -2.12042241e-01 1.53621480e-01 -2.98372686e+02] [ 2.22734071e-01 9.73275210e-01 -5.59007962e-02 1.45550605e+01] [-1.37662648e-01 8.81671902e-02 9.86547283e-01 1.35752578e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.759072329 meters Centerline goodness : 0.768617 Centerline is valid? [False, False] Translation: X:-298.37, Y:14.55, Z:135.75 [[ 9.64846692e-01 -2.12633786e-01 1.54459490e-01 -2.98374597e+02] [ 2.23440001e-01 9.73099563e-01 -5.61409438e-02 1.45549947e+01] [-1.38367000e-01 8.86798324e-02 9.86402788e-01 1.35752534e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.78907232899996 meters Centerline goodness : 0.768943 Centerline is valid? [False, False] Translation: X:-298.38, Y:14.56, Z:135.75 [[ 9.65096871e-01 -2.11061862e-01 1.55051344e-01 -2.98378436e+02] [ 2.21555601e-01 9.73671034e-01 -5.36454314e-02 1.45558727e+01] [-1.39646498e-01 8.61255319e-02 9.86448807e-01 1.35753966e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.819072329 meters Centerline goodness : 0.768143 Centerline is valid? [False, False] Translation: X:-298.40, Y:14.56, Z:135.75 [[ 9.64320803e-01 -2.12121277e-01 1.58398086e-01 -2.98395434e+02] [ 2.21984923e-01 9.73906386e-01 -4.72127725e-02 1.45614908e+01] [-1.44250074e-01 8.06902456e-02 9.86245913e-01 1.35754817e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.84907232899997 meters Centerline goodness : 0.767921 Centerline is valid? [False, False] Translation: X:-298.41, Y:14.57, Z:135.75 [[ 9.64607021e-01 -2.07294326e-01 1.62979621e-01 -2.98409464e+02] [ 2.18627703e-01 9.74269045e-01 -5.47882772e-02 1.45658006e+01] [-1.47428700e-01 8.84810170e-02 9.85107044e-01 1.35752216e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.879072329 meters Centerline goodness : 0.768662 Centerline is valid? [False, False] Translation: X:-298.41, Y:14.57, Z:135.75 [[ 9.65081091e-01 -2.04858834e-01 1.63252400e-01 -2.98413055e+02] [ 2.15781186e-01 9.75053215e-01 -5.20548432e-02 1.45681569e+01] [-1.48515883e-01 8.54639414e-02 9.85210103e-01 1.35754193e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.90907232899997 meters Centerline goodness : 0.767087 Centerline is valid? [False, False] Translation: X:-298.43, Y:14.59, Z:135.76 [[ 9.66174653e-01 -2.06144644e-01 1.54954591e-01 -2.98430380e+02] [ 2.16597425e-01 9.74781606e-01 -5.37249985e-02 1.45852745e+01] [-1.39971765e-01 8.54704973e-02 9.86459679e-01 1.35760001e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.939072329 meters Centerline goodness : 0.769453 Centerline is valid? [False, False] Translation: X:-298.43, Y:14.59, Z:135.76 [[ 9.66624425e-01 -2.03837436e-01 1.55201550e-01 -2.98433557e+02] [ 2.13865027e-01 9.75544665e-01 -5.07381267e-02 1.45867540e+01] [-1.41063714e-01 8.22368962e-02 9.86578999e-01 1.35761227e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.96907232899997 meters Centerline goodness : 0.768501 Centerline is valid? [False, False] Translation: X:-298.44, Y:14.59, Z:135.76 [[ 9.67049287e-01 -2.01588467e-01 1.55492017e-01 -2.98436845e+02] [ 2.11226789e-01 9.76257508e-01 -4.80054321e-02 1.45888104e+01] [-1.42122907e-01 7.92676983e-02 9.86670011e-01 1.35762608e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.99907232899994 meters Centerline goodness : 0.769644 Centerline is valid? [False, False] Translation: X:-298.46, Y:14.61, Z:135.77 [[ 9.67428526e-01 -2.03398401e-01 1.50702145e-01 -2.98464742e+02] [ 2.12931862e-01 9.75791340e-01 -4.99127491e-02 1.46095382e+01] [-1.36901674e-01 8.03763055e-02 9.87318379e-01 1.35771187e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.029072329 meters Centerline goodness : 0.769522 Centerline is valid? [False, False] Translation: X:-298.47, Y:14.61, Z:135.77 [[ 9.67311117e-01 -2.03746252e-01 1.50985652e-01 -2.98466202e+02] [ 2.13408212e-01 9.75649341e-01 -5.06487798e-02 1.46110907e+01] [-1.36989553e-01 8.12147058e-02 9.87237577e-01 1.35772756e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.05907232899995 meters Centerline goodness : 0.768478 Centerline is valid? [False, False] Translation: X:-298.47, Y:14.61, Z:135.78 [[ 9.67580744e-01 -2.02177686e-01 1.51366072e-01 -2.98470196e+02] [ 2.11576771e-01 9.76150534e-01 -4.86354286e-02 1.46130127e+01] [-1.37923073e-01 7.90842489e-02 9.87280562e-01 1.35775555e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.089072329 meters Centerline goodness : 0.767689 Centerline is valid? [False, False] Translation: X:-298.49, Y:14.63, Z:135.78 [[ 9.68483262e-01 -1.98632806e-01 1.50283663e-01 -2.98494021e+02] [ 2.08914065e-01 9.76336375e-01 -5.58766083e-02 1.46291887e+01] [-1.35628479e-01 8.55119309e-02 9.87062625e-01 1.35778968e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.11907232899995 meters Centerline goodness : 0.768403 Centerline is valid? [False, False] Translation: X:-298.51, Y:14.64, Z:135.78 [[ 9.70028352e-01 -1.98007340e-01 1.40847754e-01 -2.98508648e+02] [ 2.07384896e-01 9.76700586e-01 -5.52038891e-02 1.46411307e+01] [-1.26635309e-01 8.27590345e-02 9.88490992e-01 1.35783435e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.149072329 meters Centerline goodness : 0.768582 Centerline is valid? [False, False] Translation: X:-298.51, Y:14.65, Z:135.79 [[ 9.71097834e-01 -1.92863357e-01 1.40615508e-01 -2.98512648e+02] [ 2.01467979e-01 9.78236823e-01 -4.96323640e-02 1.46460169e+01] [-1.27983004e-01 7.65274035e-02 9.88819451e-01 1.35785458e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.17907232899995 meters Centerline goodness : 0.769332 Centerline is valid? [False, False] Translation: X:-298.52, Y:14.65, Z:135.79 [[ 9.71443607e-01 -1.90827640e-01 1.41004005e-01 -2.98516528e+02] [ 1.99159669e-01 9.78818979e-01 -4.74218530e-02 1.46487327e+01] [-1.28967996e-01 7.41499669e-02 9.88872610e-01 1.35787841e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.209072329 meters Centerline goodness : 0.769287 Centerline is valid? [False, False] Translation: X:-298.53, Y:14.66, Z:135.78 [[ 9.71781269e-01 -1.85393955e-01 1.45843227e-01 -2.98530386e+02] [ 1.94856709e-01 9.79377199e-01 -5.33962961e-02 1.46553433e+01] [-1.32936180e-01 8.03080516e-02 9.87865673e-01 1.35784151e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.23907232899995 meters Centerline goodness : 0.768928 Centerline is valid? [False, False] Translation: X:-298.53, Y:14.66, Z:135.79 [[ 9.72107189e-01 -1.83340263e-01 1.46266747e-01 -2.98534184e+02] [ 1.92497628e-01 9.79971053e-01 -5.10039151e-02 1.46576547e+01] [-1.33986107e-01 7.77372744e-02 9.87929471e-01 1.35786357e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.269072329 meters Centerline goodness : 0.768996 Centerline is valid? [False, False] Translation: X:-298.54, Y:14.66, Z:135.79 [[ 9.72519624e-01 -1.80966908e-01 1.46480573e-01 -2.98537440e+02] [ 1.89779342e-01 9.80628650e-01 -4.84897065e-02 1.46605061e+01] [-1.34868015e-01 7.49561781e-02 9.88024387e-01 1.35788361e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.29907232899996 meters Centerline goodness : 0.768225 Centerline is valid? [False, False] Translation: X:-298.54, Y:14.66, Z:135.79 [[ 9.72455503e-01 -1.81205016e-01 1.46611856e-01 -2.98538231e+02] [ 1.90119752e-01 9.80529798e-01 -4.91507454e-02 1.46622415e+01] [-1.34850932e-01 7.56707226e-02 9.87972251e-01 1.35789285e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.329072329 meters Centerline goodness : 0.769858 Centerline is valid? [False, False] Translation: X:-298.54, Y:14.67, Z:135.79 [[ 9.73060030e-01 -1.78312176e-01 1.46147002e-01 -2.98539677e+02] [ 1.86811097e-01 9.81292750e-01 -4.65419458e-02 1.46663913e+01] [-1.35113997e-01 7.25899889e-02 9.88167446e-01 1.35790853e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.35907232899996 meters Centerline goodness : 0.769137 Centerline is valid? [False, False] Translation: X:-298.55, Y:14.67, Z:135.79 [[ 9.74215540e-01 -1.69099912e-01 1.49362986e-01 -2.98553065e+02] [ 1.78179440e-01 9.82749167e-01 -4.95596765e-02 1.46738633e+01] [-1.38405813e-01 7.48952201e-02 9.87539638e-01 1.35787462e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.389072329 meters Centerline goodness : 0.769927 Centerline is valid? [False, False] Translation: X:-298.57, Y:14.69, Z:135.80 [[ 9.75659421e-01 -1.68721521e-01 1.40077629e-01 -2.98567120e+02] [ 1.77435350e-01 9.82749594e-01 -5.21529703e-02 1.46903229e+01] [-1.28861905e-01 7.57382599e-02 9.88766062e-01 1.35795075e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.41907232899996 meters Centerline goodness : 0.770723 Centerline is valid? [False, False] Translation: X:-298.57, Y:14.69, Z:135.80 [[ 9.76712891e-01 -1.62859100e-01 1.39674054e-01 -2.98570211e+02] [ 1.70631745e-01 9.84282560e-01 -4.55263699e-02 1.46933204e+01] [-1.30064352e-01 6.82990199e-02 9.89150397e-01 1.35796802e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.449072329 meters Centerline goodness : 0.768644 Centerline is valid? [False, False] Translation: X:-298.57, Y:14.69, Z:135.80 [[ 9.77050062e-01 -1.60458869e-01 1.40093284e-01 -2.98573422e+02] [ 1.67848110e-01 9.84894150e-01 -4.25502561e-02 1.46948072e+01] [-1.31149490e-01 6.50881233e-02 9.89223608e-01 1.35798123e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.47907232899996 meters Centerline goodness : 0.769835 Centerline is valid? [False, False] Translation: X:-298.58, Y:14.71, Z:135.81 [[ 9.78427029e-01 -1.60369824e-01 1.30238503e-01 -2.98584554e+02] [ 1.67711052e-01 9.84694367e-01 -4.74342382e-02 1.47088477e+01] [-1.20638100e-01 6.82533772e-02 9.90347376e-01 1.35805492e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.509072329 meters Centerline goodness : 0.769364 Centerline is valid? [False, False] Translation: X:-298.59, Y:14.71, Z:135.81 [[ 9.78265903e-01 -1.60835691e-01 1.30872855e-01 -2.98586151e+02] [ 1.68251972e-01 9.84591040e-01 -4.76629520e-02 1.47087439e+01] [-1.21190336e-01 6.86466566e-02 9.90252765e-01 1.35805648e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.53907232899996 meters Centerline goodness : 0.770305 Centerline is valid? [False, False] Translation: X:-298.60, Y:14.72, Z:135.81 [[ 9.79201811e-01 -1.61687617e-01 1.22559894e-01 -2.98603209e+02] [ 1.68691153e-01 9.84448584e-01 -4.90334705e-02 1.47240335e+01] [-1.12725809e-01 6.86884329e-02 9.91249107e-01 1.35811194e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.569072329 meters Centerline goodness : 0.768214 Centerline is valid? [False, False] Translation: X:-298.60, Y:14.72, Z:135.81 [[ 9.79146727e-01 -1.61834727e-01 1.22805567e-01 -2.98604103e+02] [ 1.68869760e-01 9.84412016e-01 -4.91526808e-02 1.47239342e+01] [-1.12936666e-01 6.88658333e-02 9.91212796e-01 1.35811730e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.59907232899997 meters Centerline goodness : 0.768481 Centerline is valid? [False, False] Translation: X:-298.61, Y:14.72, Z:135.81 [[ 9.78872060e-01 -1.62707219e-01 1.23838006e-01 -2.98606762e+02] [ 1.69894852e-01 9.84202533e-01 -4.98107759e-02 1.47244947e+01] [-1.13777107e-01 6.97978166e-02 9.91051479e-01 1.35812268e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.629072329 meters Centerline goodness : 0.768407 Centerline is valid? [False, False] Translation: X:-298.61, Y:14.72, Z:135.81 [[ 9.78844661e-01 -1.62753377e-01 1.23993820e-01 -2.98607192e+02] [ 1.69950868e-01 9.84193491e-01 -4.97983347e-02 1.47243959e+01] [-1.13929063e-01 6.98176913e-02 9.91032622e-01 1.35812293e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.65907232899997 meters Centerline goodness : 0.769028 Centerline is valid? [False, False] Translation: X:-298.61, Y:14.72, Z:135.81 [[ 9.78677210e-01 -1.63200465e-01 1.24725807e-01 -2.98609059e+02] [ 1.70470006e-01 9.84095963e-01 -4.99510983e-02 1.47240507e+01] [-1.14590121e-01 7.01480106e-02 9.90933076e-01 1.35812588e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.689072329 meters Centerline goodness : 0.769061 Centerline is valid? [False, False] Translation: X:-298.61, Y:14.72, Z:135.81 [[ 9.78611083e-01 -1.63223290e-01 1.25213842e-01 -2.98610273e+02] [ 1.70467137e-01 9.84122792e-01 -4.94296013e-02 1.47219811e+01] [-1.15157734e-01 6.97172008e-02 9.90897678e-01 1.35812533e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.71907232899997 meters Centerline goodness : 0.769249 Centerline is valid? [False, False] Translation: X:-298.61, Y:14.72, Z:135.81 [[ 9.78580773e-01 -1.63174833e-01 1.25513525e-01 -2.98610795e+02] [ 1.70393850e-01 9.84155128e-01 -4.90369242e-02 1.47209374e+01] [-1.15523188e-01 6.93733240e-02 9.90879274e-01 1.35812015e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.74907232899994 meters Centerline goodness : 0.769697 Centerline is valid? [False, False] Translation: X:-298.61, Y:14.72, Z:135.81 [[ 9.78878282e-01 -1.60978491e-01 1.26028709e-01 -2.98614242e+02] [ 1.67829378e-01 9.84756042e-01 -4.57038092e-02 1.47198298e+01] [-1.16750202e-01 6.58897861e-02 9.90973222e-01 1.35813280e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.779072329 meters Centerline goodness : 0.769737 Centerline is valid? [False, False] Translation: X:-298.62, Y:14.72, Z:135.81 [[ 9.78729801e-01 -1.61522777e-01 1.26484657e-01 -2.98615974e+02] [ 1.68512635e-01 9.84597642e-01 -4.65937353e-02 1.47219869e+01] [-1.17010545e-01 6.69169401e-02 9.90873683e-01 1.35814625e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.80907232899995 meters Centerline goodness : 0.769987 Centerline is valid? [False, False] Translation: X:-298.62, Y:14.72, Z:135.82 [[ 9.78626757e-01 -1.61773951e-01 1.26960069e-01 -2.98617569e+02] [ 1.68805477e-01 9.84544350e-01 -4.66597723e-02 1.47214659e+01] [-1.17449483e-01 6.70940568e-02 9.90809773e-01 1.35815497e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.839072329 meters Centerline goodness : 0.768022 Centerline is valid? [False, False] Translation: X:-298.63, Y:14.72, Z:135.81 [[ 9.77381502e-01 -1.65975311e-01 1.31063330e-01 -2.98628492e+02] [ 1.73158727e-01 9.83847903e-01 -4.53801616e-02 1.47204123e+01] [-1.21414396e-01 6.70484899e-02 9.90334814e-01 1.35813065e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.86907232899995 meters Centerline goodness : 0.769237 Centerline is valid? [False, False] Translation: X:-298.63, Y:14.72, Z:135.81 [[ 9.77211102e-01 -1.66395156e-01 1.31799525e-01 -2.98630408e+02] [ 1.73670636e-01 9.83743017e-01 -4.56966839e-02 1.47208099e+01] [-1.22053155e-01 6.75450141e-02 9.90222550e-01 1.35813378e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.899072329 meters Centerline goodness : 0.769712 Centerline is valid? [False, False] Translation: X:-298.63, Y:14.72, Z:135.81 [[ 9.76948882e-01 -1.67222684e-01 1.32693088e-01 -2.98633245e+02] [ 1.74646946e-01 9.83539330e-01 -4.63554830e-02 1.47209039e+01] [-1.22757183e-01 6.84613800e-02 9.90072580e-01 1.35814785e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.92907232899995 meters Centerline goodness : 0.768730 Centerline is valid? [False, False] Translation: X:-298.64, Y:14.72, Z:135.82 [[ 9.76670416e-01 -1.68124516e-01 1.33600320e-01 -2.98636281e+02] [ 1.75733218e-01 9.83301929e-01 -4.72773911e-02 1.47214874e+01] [-1.23420964e-01 6.96524435e-02 9.89906967e-01 1.35816539e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.959072329 meters Centerline goodness : 0.769078 Centerline is valid? [False, False] Translation: X:-298.64, Y:14.72, Z:135.82 [[ 9.77117579e-01 -1.65316176e-01 1.33834969e-01 -2.98638854e+02] [ 1.72483070e-01 9.84039298e-01 -4.37750006e-02 1.47221333e+01] [-1.24462153e-01 6.58575888e-02 9.90036338e-01 1.35817294e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.98907232899995 meters Centerline goodness : 0.769136 Centerline is valid? [False, False] Translation: X:-298.64, Y:14.72, Z:135.82 [[ 9.77327724e-01 -1.63402411e-01 1.34648324e-01 -2.98642832e+02] [ 1.70310394e-01 9.84519861e-01 -4.14127043e-02 1.47249550e+01] [-1.25797013e-01 6.34057931e-02 9.90027685e-01 1.35818519e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.019072329 meters Centerline goodness : 0.769944 Centerline is valid? [False, False] Translation: X:-298.65, Y:14.74, Z:135.82 [[ 9.78881574e-01 -1.62959720e-01 1.23430116e-01 -2.98649368e+02] [ 1.69756167e-01 9.84381887e-01 -4.66384322e-02 1.47367823e+01] [-1.13902184e-01 6.66065254e-02 9.91256709e-01 1.35824333e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.04907232899996 meters Centerline goodness : 0.768691 Centerline is valid? [False, False] Translation: X:-298.65, Y:14.74, Z:135.83 [[ 9.79088785e-01 -1.61124017e-01 1.24194214e-01 -2.98653123e+02] [ 1.67638521e-01 9.84872680e-01 -4.38535215e-02 1.47374067e+01] [-1.15249633e-01 6.37562254e-02 9.91288387e-01 1.35825280e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.079072329 meters Centerline goodness : 0.769176 Centerline is valid? [False, False] Translation: X:-298.65, Y:14.74, Z:135.83 [[ 9.78982090e-01 -1.61418058e-01 1.24652626e-01 -2.98654258e+02] [ 1.67982765e-01 9.84806846e-01 -4.40143971e-02 1.47374396e+01] [-1.15654041e-01 6.40287993e-02 9.91223716e-01 1.35825356e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.10907232899996 meters Centerline goodness : 0.769277 Centerline is valid? [False, False] Translation: X:-298.65, Y:14.74, Z:135.83 [[ 9.78962406e-01 -1.61457763e-01 1.24755753e-01 -2.98654949e+02] [ 1.68037464e-01 9.84794429e-01 -4.40833726e-02 1.47373666e+01] [-1.15741167e-01 6.41196048e-02 9.91207677e-01 1.35826118e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.139072329 meters Centerline goodness : 0.770061 Centerline is valid? [False, False] Translation: X:-298.66, Y:14.74, Z:135.83 [[ 9.78924315e-01 -1.61579323e-01 1.24897187e-01 -2.98655401e+02] [ 1.68201648e-01 9.84753839e-01 -4.43630816e-02 1.47383482e+01] [-1.15824828e-01 6.44360120e-02 9.91177386e-01 1.35826193e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.16907232899996 meters Centerline goodness : 0.768835 Centerline is valid? [False, False] Translation: X:-298.66, Y:14.74, Z:135.83 [[ 9.78736404e-01 -1.62221423e-01 1.25535893e-01 -2.98657660e+02] [ 1.68970930e-01 9.84590607e-01 -4.50573184e-02 1.47390604e+01] [-1.16292199e-01 6.53111544e-02 9.91065375e-01 1.35827599e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.199072329 meters Centerline goodness : 0.769485 Centerline is valid? [False, False] Translation: X:-298.66, Y:14.74, Z:135.83 [[ 9.78622572e-01 -1.62545051e-01 1.26003843e-01 -2.98659382e+02] [ 1.69370998e-01 9.84504912e-01 -4.54262398e-02 1.47395117e+01] [-1.16667592e-01 6.57965404e-02 9.90989146e-01 1.35828679e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.22907232899996 meters Centerline goodness : 0.768865 Centerline is valid? [False, False] Translation: X:-298.66, Y:14.74, Z:135.83 [[ 9.78457408e-01 -1.63059538e-01 1.26620249e-01 -2.98661430e+02] [ 1.70012986e-01 9.84361548e-01 -4.61294749e-02 1.47409264e+01] [-1.17118253e-01 6.66628131e-02 9.90878087e-01 1.35829761e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.259072329 meters Centerline goodness : 0.769130 Centerline is valid? [False, False] Translation: X:-298.67, Y:14.74, Z:135.83 [[ 9.78730878e-01 -1.61030878e-01 1.27102025e-01 -2.98665104e+02] [ 1.67677997e-01 9.84886658e-01 -4.33861698e-02 1.47417788e+01] [-1.18194576e-01 6.37755971e-02 9.90940319e-01 1.35831684e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.28907232899996 meters Centerline goodness : 0.768747 Centerline is valid? [False, False] Translation: X:-298.67, Y:14.74, Z:135.83 [[ 9.79228154e-01 -1.58027873e-01 1.27040995e-01 -2.98667063e+02] [ 1.64255841e-01 9.85603385e-01 -4.00747594e-02 1.47435651e+01] [-1.18879106e-01 6.01095581e-02 9.91087584e-01 1.35832636e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.319072329 meters Centerline goodness : 0.769872 Centerline is valid? [False, False] Translation: X:-298.68, Y:14.75, Z:135.83 [[ 9.79754935e-01 -1.51431805e-01 1.30952951e-01 -2.98679143e+02] [ 1.58508106e-01 9.86315343e-01 -4.53566458e-02 1.47516467e+01] [-1.22292466e-01 6.51955018e-02 9.90350493e-01 1.35828194e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.34907232899997 meters Centerline goodness : 0.768765 Centerline is valid? [False, False] Translation: X:-298.68, Y:14.75, Z:135.83 [[ 9.80338914e-01 -1.47998331e-01 1.30507121e-01 -2.98679717e+02] [ 1.54543524e-01 9.87114758e-01 -4.14819806e-02 1.47524592e+01] [-1.22686241e-01 6.08354302e-02 9.90579193e-01 1.35828339e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.379072329 meters Centerline goodness : 0.767855 Centerline is valid? [False, False] Translation: X:-298.69, Y:14.77, Z:135.83 [[ 9.82276381e-01 -1.43178008e-01 1.20967636e-01 -2.98689323e+02] [ 1.49657321e-01 9.87655811e-01 -4.62459213e-02 1.47680991e+01] [-1.12852989e-01 6.35299684e-02 9.91578613e-01 1.35833744e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.40907232899997 meters Centerline goodness : 0.767643 Centerline is valid? [False, False] Translation: X:-298.69, Y:14.77, Z:135.83 [[ 9.82598765e-01 -1.40564047e-01 1.21414230e-01 -2.98692343e+02] [ 1.46692446e-01 9.88244457e-01 -4.30606562e-02 1.47691621e+01] [-1.13934159e-01 6.01218979e-02 9.91667467e-01 1.35834881e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.439072329 meters Centerline goodness : 0.767643 Centerline is valid? [False, False] Translation: X:-298.69, Y:14.77, Z:135.83 [[ 9.82598765e-01 -1.40564047e-01 1.21414230e-01 -2.98692343e+02] [ 1.46692446e-01 9.88244457e-01 -4.30606562e-02 1.47691621e+01] [-1.13934159e-01 6.01218979e-02 9.91667467e-01 1.35834881e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.46907232899997 meters Centerline goodness : 0.769322 Centerline is valid? [False, False] Translation: X:-298.70, Y:14.77, Z:135.84 [[ 9.82879836e-01 -1.38165302e-01 1.21891663e-01 -2.98695510e+02] [ 1.43992883e-01 9.88756576e-01 -4.03296704e-02 1.47711882e+01] [-1.14949022e-01 5.71907518e-02 9.91723722e-01 1.35836263e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.49907232899994 meters Centerline goodness : 0.769660 Centerline is valid? [False, False] Translation: X:-298.70, Y:14.77, Z:135.84 [[ 9.83126336e-01 -1.36035421e-01 1.22298701e-01 -2.98698863e+02] [ 1.41559066e-01 9.89214291e-01 -3.76313347e-02 1.47719497e+01] [-1.15860429e-01 5.43088461e-02 9.91779668e-01 1.35838249e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.529072329 meters Centerline goodness : 0.770218 Centerline is valid? [False, False] Translation: X:-298.70, Y:14.78, Z:135.84 [[ 9.83456713e-01 -1.33459289e-01 1.22480662e-01 -2.98701752e+02] [ 1.38685955e-01 9.89712388e-01 -3.51510311e-02 1.47753206e+01] [-1.16529397e-01 5.15558650e-02 9.91848221e-01 1.35840452e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.55907232899995 meters Centerline goodness : 0.770235 Centerline is valid? [False, False] Translation: X:-298.70, Y:14.78, Z:135.84 [[ 9.83469547e-01 -1.33544172e-01 1.22284933e-01 -2.98701707e+02] [ 1.38831222e-01 9.89670610e-01 -3.57487785e-02 1.47772802e+01] [-1.16247763e-01 5.21348016e-02 9.91851007e-01 1.35841176e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.589072329 meters Centerline goodness : 0.769535 Centerline is valid? [False, False] Translation: X:-298.71, Y:14.79, Z:135.85 [[ 9.84765219e-01 -1.33730747e-01 1.11146531e-01 -2.98708458e+02] [ 1.39022293e-01 9.89428829e-01 -4.12722029e-02 1.47903164e+01] [-1.04452219e-01 5.60952755e-02 9.92946652e-01 1.35847947e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.61907232899995 meters Centerline goodness : 0.769247 Centerline is valid? [False, False] Translation: X:-298.71, Y:14.79, Z:135.85 [[ 9.85089943e-01 -1.30944022e-01 1.11586141e-01 -2.98711032e+02] [ 1.35876876e-01 9.90005136e-01 -3.77796892e-02 1.47911381e+01] [-1.05523829e-01 5.23783681e-02 9.93036368e-01 1.35848351e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.649072329 meters Centerline goodness : 0.770455 Centerline is valid? [False, False] Translation: X:-298.71, Y:14.79, Z:135.85 [[ 9.85461637e-01 -1.27945959e-01 1.11781904e-01 -2.98712761e+02] [ 1.32504315e-01 9.90588137e-01 -3.43183431e-02 1.47926719e+01] [-1.06338935e-01 4.86309952e-02 9.93139999e-01 1.35848458e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.67907232899995 meters Centerline goodness : 0.769896 Centerline is valid? [False, False] Translation: X:-298.71, Y:14.79, Z:135.85 [[ 9.85426920e-01 -1.27930518e-01 1.12105169e-01 -2.98713682e+02] [ 1.32476859e-01 9.90600759e-01 -3.40590437e-02 1.47916956e+01] [-1.06694274e-01 4.84140392e-02 9.93112487e-01 1.35848685e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.709072329 meters Centerline goodness : 0.769621 Centerline is valid? [False, False] Translation: X:-298.72, Y:14.80, Z:135.85 [[ 9.86427029e-01 -1.28715872e-01 1.01950681e-01 -2.98719671e+02] [ 1.33710156e-01 9.90054645e-01 -4.37423719e-02 1.48022177e+01] [-9.53064080e-02 5.67804994e-02 9.93827281e-01 1.35854373e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.73907232899995 meters Centerline goodness : 0.770577 Centerline is valid? [False, False] Translation: X:-298.72, Y:14.80, Z:135.85 [[ 9.86403848e-01 -1.28774794e-01 1.02100445e-01 -2.98720387e+02] [ 1.33800769e-01 9.90031845e-01 -4.39806766e-02 1.48027673e+01] [-9.54190890e-02 5.70438266e-02 9.93801388e-01 1.35854922e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.769072329 meters Centerline goodness : 0.769322 Centerline is valid? [False, False] Translation: X:-298.72, Y:14.80, Z:135.86 [[ 9.86641697e-01 -1.26478075e-01 1.02671602e-01 -2.98723779e+02] [ 1.31250257e-01 9.90496488e-01 -4.11105577e-02 1.48039298e+01] [-9.64962773e-02 5.40370646e-02 9.93865415e-01 1.35856288e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.79907232899996 meters Centerline goodness : 0.770574 Centerline is valid? [False, False] Translation: X:-298.73, Y:14.80, Z:135.86 [[ 9.86486536e-01 -1.27085183e-01 1.03410207e-01 -2.98725796e+02] [ 1.31949184e-01 9.90382671e-01 -4.16122400e-02 1.48047498e+01] [-9.71273781e-02 5.46948069e-02 9.93767956e-01 1.35856776e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.829072329 meters Centerline goodness : 0.770360 Centerline is valid? [False, False] Translation: X:-298.73, Y:14.80, Z:135.86 [[ 9.86444934e-01 -1.27170782e-01 1.03701423e-01 -2.98726738e+02] [ 1.32050844e-01 9.90369283e-01 -4.16083973e-02 1.48045256e+01] [-9.74113317e-02 5.47382531e-02 9.93737770e-01 1.35857125e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.85907232899996 meters Centerline goodness : 0.770101 Centerline is valid? [False, False] Translation: X:-298.73, Y:14.80, Z:135.86 [[ 9.86362456e-01 -1.27460721e-01 1.04129101e-01 -2.98728131e+02] [ 1.32395554e-01 9.90310431e-01 -4.19126085e-02 1.48049646e+01] [-9.77779232e-02 5.51272534e-02 9.93680262e-01 1.35857729e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.889072329 meters Centerline goodness : 0.771000 Centerline is valid? [False, False] Translation: X:-298.73, Y:14.80, Z:135.86 [[ 9.86283422e-01 -1.27700423e-01 1.04583050e-01 -2.98729492e+02] [ 1.32672508e-01 9.90268657e-01 -4.20237162e-02 1.48048465e+01] [-9.81988698e-02 5.53225901e-02 9.93627895e-01 1.35858134e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.91907232899996 meters Centerline goodness : 0.770642 Centerline is valid? [False, False] Translation: X:-298.73, Y:14.80, Z:135.86 [[ 9.86253309e-01 -1.27680857e-01 1.04890460e-01 -2.98729964e+02] [ 1.32636552e-01 9.90287753e-01 -4.16858725e-02 1.48040315e+01] [-9.85492504e-02 5.50251387e-02 9.93609722e-01 1.35857523e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.949072329 meters Centerline goodness : 0.769189 Centerline is valid? [False, False] Translation: X:-298.73, Y:14.80, Z:135.86 [[ 9.86219527e-01 -1.27686659e-01 1.05200582e-01 -2.98730657e+02] [ 1.32633964e-01 9.90298923e-01 -4.14279476e-02 1.48031731e+01] [-9.88902271e-02 5.48102210e-02 9.93587723e-01 1.35857284e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.97907232899996 meters Centerline goodness : 0.768752 Centerline is valid? [False, False] Translation: X:-298.73, Y:14.80, Z:135.86 [[ 9.85587850e-01 -1.31501434e-01 1.06414108e-01 -2.98731901e+02] [ 1.36864858e-01 9.89578721e-01 -4.47433192e-02 1.47999396e+01] [-9.94213265e-02 5.86628237e-02 9.93314690e-01 1.35856538e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.009072329 meters Centerline goodness : 0.769755 Centerline is valid? [False, False] Translation: X:-298.74, Y:14.80, Z:135.86 [[ 9.85177302e-01 -1.33478575e-01 1.07745786e-01 -2.98735951e+02] [ 1.39071260e-01 9.89206653e-01 -4.61452308e-02 1.47994812e+01] [-1.00423448e-01 6.04455761e-02 9.93106975e-01 1.35858164e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.03907232899996 meters Centerline goodness : 0.769766 Centerline is valid? [False, False] Translation: X:-298.74, Y:14.80, Z:135.86 [[ 9.84908163e-01 -1.34514224e-01 1.08912049e-01 -2.98739522e+02] [ 1.40244325e-01 9.89012679e-01 -4.67487998e-02 1.47989832e+01] [-1.01427019e-01 6.13175713e-02 9.92951517e-01 1.35859498e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.069072329 meters Centerline goodness : 0.770807 Centerline is valid? [False, False] Translation: X:-298.74, Y:14.80, Z:135.86 [[ 9.84319515e-01 -1.38216047e-01 1.09596611e-01 -2.98740131e+02] [ 1.44404086e-01 9.88221354e-01 -5.06558611e-02 1.47978110e+01] [-1.01304259e-01 6.56877511e-02 9.92684525e-01 1.35860099e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.09907232899997 meters Centerline goodness : 0.769909 Centerline is valid? [False, False] Translation: X:-298.74, Y:14.80, Z:135.86 [[ 9.84102067e-01 -1.39024072e-01 1.10523436e-01 -2.98742455e+02] [ 1.45327870e-01 9.88060471e-01 -5.11499422e-02 1.47982180e+01] [-1.02092765e-01 6.63988993e-02 9.92556423e-01 1.35860341e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.129072329 meters Centerline goodness : 0.771299 Centerline is valid? [False, False] Translation: X:-298.74, Y:14.80, Z:135.86 [[ 9.84017621e-01 -1.39213372e-01 1.11035839e-01 -2.98743172e+02] [ 1.45536397e-01 9.88037769e-01 -5.09953304e-02 1.47977571e+01] [-1.02608371e-01 6.63400597e-02 9.92507188e-01 1.35859414e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.15907232899997 meters Centerline goodness : 0.772095 Centerline is valid? [False, False] Translation: X:-298.75, Y:14.80, Z:135.86 [[ 9.82964024e-01 -1.43240818e-01 1.15168555e-01 -2.98753717e+02] [ 1.49644420e-01 9.87525907e-01 -4.89809244e-02 1.47968678e+01] [-1.06715864e-01 6.53808182e-02 9.92137628e-01 1.35855358e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.189072329 meters Centerline goodness : 0.772289 Centerline is valid? [False, False] Translation: X:-298.76, Y:14.80, Z:135.86 [[ 9.82759336e-01 -1.43869607e-01 1.16127616e-01 -2.98756447e+02] [ 1.50369178e-01 9.87402319e-01 -4.92521104e-02 1.47964319e+01] [-1.07578795e-01 6.58649855e-02 9.92012402e-01 1.35856129e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.21907232899997 meters Centerline goodness : 0.771641 Centerline is valid? [False, False] Translation: X:-298.76, Y:14.80, Z:135.86 [[ 9.82536153e-01 -1.44588869e-01 1.17118606e-01 -2.98759355e+02] [ 1.51221834e-01 9.87242848e-01 -4.98348901e-02 1.47969153e+01] [-1.08418935e-01 6.66754715e-02 9.91866783e-01 1.35857125e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.24907232899994 meters Centerline goodness : 0.771576 Centerline is valid? [False, False] Translation: X:-298.76, Y:14.80, Z:135.86 [[ 9.82544571e-01 -1.44496383e-01 1.17162117e-01 -2.98759872e+02] [ 1.51112855e-01 9.87268284e-01 -4.96612587e-02 1.47963496e+01] [-1.08494570e-01 6.64991021e-02 9.91870353e-01 1.35857785e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.279072329 meters Centerline goodness : 0.771075 Centerline is valid? [False, False] Translation: X:-298.76, Y:14.80, Z:135.86 [[ 9.82340800e-01 -1.45214550e-01 1.17980024e-01 -2.98761814e+02] [ 1.51988374e-01 9.87088377e-01 -5.05575992e-02 1.47986295e+01] [-1.09115012e-01 6.75963846e-02 9.91728109e-01 1.35857905e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.30907232899995 meters Centerline goodness : 0.771314 Centerline is valid? [False, False] Translation: X:-298.78, Y:14.80, Z:135.86 [[ 9.81353566e-01 -1.48281544e-01 1.22301929e-01 -2.98776357e+02] [ 1.54833349e-01 9.86874796e-01 -4.58777778e-02 1.48005313e+01] [-1.13893863e-01 6.39587381e-02 9.91432029e-01 1.35855198e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.339072329 meters Centerline goodness : 0.770974 Centerline is valid? [False, False] Translation: X:-298.78, Y:14.80, Z:135.85 [[ 9.81227970e-01 -1.48555400e-01 1.22975461e-01 -2.98777855e+02] [ 1.55138011e-01 9.86832771e-01 -4.57523649e-02 1.47998168e+01] [-1.14559454e-01 6.39716686e-02 9.91354506e-01 1.35854980e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.36907232899995 meters Centerline goodness : 0.772021 Centerline is valid? [False, False] Translation: X:-298.78, Y:14.80, Z:135.86 [[ 9.80892676e-01 -1.49761917e-01 1.24181020e-01 -2.98781311e+02] [ 1.56537846e-01 9.86568353e-01 -4.66774955e-02 1.48003758e+01] [-1.15522553e-01 6.52246428e-02 9.91161080e-01 1.35856145e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.399072329 meters Centerline goodness : 0.772056 Centerline is valid? [False, False] Translation: X:-298.78, Y:14.80, Z:135.86 [[ 9.80655377e-01 -1.50507713e-01 1.25149751e-01 -2.98784191e+02] [ 1.57433638e-01 9.86392757e-01 -4.73706567e-02 1.48011660e+01] [-1.16317158e-01 6.61570697e-02 9.91006337e-01 1.35857226e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.42907232899995 meters Centerline goodness : 0.771945 Centerline is valid? [False, False] Translation: X:-298.79, Y:14.80, Z:135.86 [[ 9.80038760e-01 -1.53835402e-01 1.25931325e-01 -2.98785077e+02] [ 1.61210594e-01 9.85623358e-01 -5.05741160e-02 1.47977128e+01] [-1.16340766e-01 6.98660576e-02 9.90748990e-01 1.35857970e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.459072329 meters Centerline goodness : 0.772807 Centerline is valid? [False, False] Translation: X:-298.79, Y:14.80, Z:135.86 [[ 9.80408243e-01 -1.51024305e-01 1.26456852e-01 -2.98787956e+02] [ 1.58008485e-01 9.86314060e-01 -4.70945248e-02 1.47987622e+01] [-1.17613753e-01 6.61531159e-02 9.90853557e-01 1.35858369e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.48907232899995 meters Centerline goodness : 0.772360 Centerline is valid? [False, False] Translation: X:-298.79, Y:14.80, Z:135.86 [[ 9.80095971e-01 -1.52056757e-01 1.27634757e-01 -2.98790693e+02] [ 1.59225933e-01 9.86078265e-01 -4.79245029e-02 1.48001038e+01] [-1.18570615e-01 6.72933754e-02 9.90662713e-01 1.35858504e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.519072329 meters Centerline goodness : 0.770689 Centerline is valid? [False, False] Translation: X:-298.80, Y:14.81, Z:135.86 [[ 9.81151417e-01 -1.52671228e-01 1.18462621e-01 -2.98804520e+02] [ 1.59134464e-01 9.86132190e-01 -4.71118506e-02 1.48142113e+01] [-1.09627180e-01 6.50753447e-02 9.91840250e-01 1.35861750e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.54907232899996 meters Centerline goodness : 0.771781 Centerline is valid? [False, False] Translation: X:-298.81, Y:14.81, Z:135.86 [[ 9.81700688e-01 -1.49228527e-01 1.18298798e-01 -2.98805195e+02] [ 1.55216127e-01 9.86940860e-01 -4.30777646e-02 1.48148622e+01] [-1.10325486e-01 6.06513523e-02 9.92043195e-01 1.35860871e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.579072329 meters Centerline goodness : 0.772932 Centerline is valid? [False, False] Translation: X:-298.82, Y:14.83, Z:135.87 [[ 9.83030804e-01 -1.48087080e-01 1.08261972e-01 -2.98817587e+02] [ 1.53527504e-01 9.87176308e-01 -4.37291879e-02 1.48314143e+01] [-1.00397926e-01 5.96083290e-02 9.93160160e-01 1.35865804e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.60907232899996 meters Centerline goodness : 0.771331 Centerline is valid? [False, False] Translation: X:-298.82, Y:14.83, Z:135.87 [[ 9.82970478e-01 -1.48391486e-01 1.08392837e-01 -2.98818399e+02] [ 1.53920377e-01 9.87080087e-01 -4.45131409e-02 1.48337393e+01] [-1.00387040e-01 6.04389697e-02 9.93111058e-01 1.35866724e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.639072329 meters Centerline goodness : 0.771776 Centerline is valid? [False, False] Translation: X:-298.82, Y:14.84, Z:135.87 [[ 9.83085248e-01 -1.47249812e-01 1.08907702e-01 -2.98822513e+02] [ 1.52702273e-01 9.87314419e-01 -4.35000378e-02 1.48360527e+01] [-1.01120772e-01 5.93946992e-02 9.93099622e-01 1.35869979e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.66907232899996 meters Centerline goodness : 0.772239 Centerline is valid? [False, False] Translation: X:-298.83, Y:14.84, Z:135.87 [[ 9.82969597e-01 -1.47791423e-01 1.09217522e-01 -2.98825016e+02] [ 1.53381910e-01 9.87157833e-01 -4.46475356e-02 1.48378718e+01] [-1.01216410e-01 6.06391623e-02 9.93014668e-01 1.35873087e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.699072329 meters Centerline goodness : 0.773710 Centerline is valid? [False, False] Translation: X:-298.83, Y:14.84, Z:135.87 [[ 9.83196306e-01 -1.45702680e-01 1.09980692e-01 -2.98828954e+02] [ 1.51097157e-01 9.87610138e-01 -4.23776443e-02 1.48412346e+01] [-1.02443510e-01 5.82833133e-02 9.93029900e-01 1.35874659e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.72907232899996 meters Centerline goodness : 0.772383 Centerline is valid? [False, False] Translation: X:-298.83, Y:14.84, Z:135.87 [[ 9.83079974e-01 -1.46160553e-01 1.10412220e-01 -2.98830130e+02] [ 1.51641178e-01 9.87502294e-01 -4.29438304e-02 1.48426195e+01] [-1.02755627e-01 5.89602588e-02 9.92957687e-01 1.35874895e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.759072329 meters Centerline goodness : 0.773083 Centerline is valid? [False, False] Translation: X:-298.83, Y:14.84, Z:135.87 [[ 9.83539984e-01 -1.42910552e-01 1.10569774e-01 -2.98831922e+02] [ 1.47969109e-01 9.88225027e-01 -3.89414868e-02 1.48428008e+01] [-1.03702669e-01 5.46614203e-02 9.93105173e-01 1.35874850e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.78907232899996 meters Centerline goodness : 0.772860 Centerline is valid? [False, False] Translation: X:-298.83, Y:14.84, Z:135.87 [[ 9.83279237e-01 -1.43760893e-01 1.11779912e-01 -2.98834455e+02] [ 1.48890551e-01 9.88086656e-01 -3.89405153e-02 1.48414301e+01] [-1.04850116e-01 5.49323728e-02 9.92969731e-01 1.35874231e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.819072329 meters Centerline goodness : 0.774143 Centerline is valid? [False, False] Translation: X:-298.83, Y:14.84, Z:135.87 [[ 9.83340296e-01 -1.43458288e-01 1.11631452e-01 -2.98834369e+02] [ 1.48525624e-01 9.88161098e-01 -3.84419593e-02 1.48400016e+01] [-1.04795040e-01 5.43816587e-02 9.93005858e-01 1.35874510e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.84907232899997 meters Centerline goodness : 0.771892 Centerline is valid? [False, False] Translation: X:-298.84, Y:14.84, Z:135.87 [[ 9.83068118e-01 -1.44497742e-01 1.12683084e-01 -2.98837017e+02] [ 1.49714611e-01 9.87949764e-01 -3.92530213e-02 1.48409786e+01] [-1.05653254e-01 5.54586980e-02 9.92855338e-01 1.35874948e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.879072329 meters Centerline goodness : 0.772370 Centerline is valid? [False, False] Translation: X:-298.85, Y:14.85, Z:135.87 [[ 9.83591240e-01 -1.37869831e-01 1.16362289e-01 -2.98849352e+02] [ 1.43812908e-01 9.88613503e-01 -4.42853151e-02 1.48466295e+01] [-1.08931722e-01 6.02930473e-02 9.92219043e-01 1.35870639e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.90907232899997 meters Centerline goodness : 0.773261 Centerline is valid? [False, False] Translation: X:-298.85, Y:14.85, Z:135.87 [[ 9.83963419e-01 -1.34938457e-01 1.16651626e-01 -2.98851656e+02] [ 1.40516616e-01 9.89230729e-01 -4.09590627e-02 1.48485391e+01] [-1.09868421e-01 5.66937111e-02 9.92327946e-01 1.35871237e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.93907232899994 meters Centerline goodness : 0.773057 Centerline is valid? [False, False] Translation: X:-298.87, Y:14.86, Z:135.88 [[ 9.84692049e-01 -1.36878429e-01 1.07916003e-01 -2.98865814e+02] [ 1.42247814e-01 9.88865975e-01 -4.36994614e-02 1.48648238e+01] [-1.00732950e-01 5.83813278e-02 9.93199121e-01 1.35875842e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.96907232899997 meters Centerline goodness : 0.772529 Centerline is valid? [False, False] Translation: X:-298.87, Y:14.86, Z:135.88 [[ 9.84698661e-01 -1.36744935e-01 1.08024861e-01 -2.98865908e+02] [ 1.42069291e-01 9.88913651e-01 -4.31984611e-02 1.48633488e+01] [-1.00920089e-01 5.78844822e-02 9.93209204e-01 1.35875433e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.99907232899994 meters Centerline goodness : 0.771786 Centerline is valid? [False, False] Translation: X:-298.87, Y:14.86, Z:135.88 [[ 9.84697166e-01 -1.36714677e-01 1.08076774e-01 -2.98866121e+02] [ 1.42031559e-01 9.88923527e-01 -4.30963390e-02 1.48630904e+01] [-1.00987762e-01 5.77871556e-02 9.93207993e-01 1.35875479e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.029072329 meters Centerline goodness : 0.771600 Centerline is valid? [False, False] Translation: X:-298.87, Y:14.86, Z:135.88 [[ 9.84529904e-01 -1.37301091e-01 1.08854394e-01 -2.98868499e+02] [ 1.42736958e-01 9.88791517e-01 -4.37892263e-02 1.48643976e+01] [-1.01621993e-01 5.86493479e-02 9.93092757e-01 1.35876448e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.05907232899995 meters Centerline goodness : 0.771314 Centerline is valid? [False, False] Translation: X:-298.87, Y:14.86, Z:135.88 [[ 9.84515710e-01 -1.37369603e-01 1.08896318e-01 -2.98869389e+02] [ 1.42836562e-01 9.88764846e-01 -4.40658184e-02 1.48649217e+01] [-1.01619547e-01 5.89378663e-02 9.93075926e-01 1.35877747e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.089072329 meters Centerline goodness : 0.771238 Centerline is valid? [False, False] Translation: X:-298.87, Y:14.87, Z:135.88 [[ 9.84494992e-01 -1.37507672e-01 1.08909375e-01 -2.98870210e+02] [ 1.43021181e-01 9.88718379e-01 -4.45074071e-02 1.48658981e+01] [-1.01560591e-01 5.93936668e-02 9.93054801e-01 1.35879070e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.11907232899995 meters Centerline goodness : 0.770639 Centerline is valid? [False, False] Translation: X:-298.87, Y:14.87, Z:135.88 [[ 9.84730490e-01 -1.35219658e-01 1.09642633e-01 -2.98873285e+02] [ 1.40476826e-01 9.89205547e-01 -4.16970886e-02 1.48682819e+01] [-1.02820835e-01 5.64626436e-02 9.93096091e-01 1.35879475e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.149072329 meters Centerline goodness : 0.770673 Centerline is valid? [False, False] Translation: X:-298.87, Y:14.87, Z:135.88 [[ 9.84777829e-01 -1.34938319e-01 1.09564037e-01 -2.98872606e+02] [ 1.40117799e-01 9.89285506e-01 -4.10023085e-02 1.48667694e+01] [-1.02857331e-01 5.57300361e-02 9.93133693e-01 1.35878480e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.17907232899995 meters Centerline goodness : 0.770621 Centerline is valid? [False, False] Translation: X:-298.89, Y:14.88, Z:135.88 [[ 9.85549560e-01 -1.36288107e-01 1.00586362e-01 -2.98886250e+02] [ 1.40950589e-01 9.89176863e-01 -4.07684374e-02 1.48805943e+01] [-9.39414489e-02 5.43570226e-02 9.94092711e-01 1.35880653e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.209072329 meters Centerline goodness : 0.771696 Centerline is valid? [False, False] Translation: X:-298.89, Y:14.88, Z:135.88 [[ 9.85772341e-01 -1.34203899e-01 1.01203785e-01 -2.98889969e+02] [ 1.38631758e-01 9.89613307e-01 -3.80360067e-02 1.48816037e+01] [-9.50480316e-02 5.15249018e-02 9.94138349e-01 1.35882374e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.23907232899995 meters Centerline goodness : 0.771906 Centerline is valid? [False, False] Translation: X:-298.89, Y:14.89, Z:135.88 [[ 9.85840850e-01 -1.33116331e-01 1.01969899e-01 -2.98893986e+02] [ 1.37476923e-01 9.89814778e-01 -3.69702726e-02 1.48850033e+01] [-9.60099656e-02 5.04653129e-02 9.94100266e-01 1.35884591e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.269072329 meters Centerline goodness : 0.772034 Centerline is valid? [False, False] Translation: X:-298.90, Y:14.89, Z:135.89 [[ 9.86055555e-01 -1.31090279e-01 1.02517223e-01 -2.98897533e+02] [ 1.35235214e-01 9.90210800e-01 -3.45544306e-02 1.48873293e+01] [-9.69839117e-02 4.79365269e-02 9.94130882e-01 1.35886445e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.29907232899996 meters Centerline goodness : 0.772916 Centerline is valid? [False, False] Translation: X:-298.90, Y:14.89, Z:135.89 [[ 9.86063509e-01 -1.31037262e-01 1.02508502e-01 -2.98897752e+02] [ 1.35187370e-01 9.90215250e-01 -3.46140796e-02 1.48876842e+01] [-9.69697481e-02 4.79895356e-02 9.94129706e-01 1.35886804e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.329072329 meters Centerline goodness : 0.772916 Centerline is valid? [False, False] Translation: X:-298.90, Y:14.89, Z:135.89 [[ 9.86063509e-01 -1.31037262e-01 1.02508502e-01 -2.98897752e+02] [ 1.35187370e-01 9.90215250e-01 -3.46140796e-02 1.48876842e+01] [-9.69697481e-02 4.79895356e-02 9.94129706e-01 1.35886804e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.35907232899996 meters Centerline goodness : 0.772401 Centerline is valid? [False, False] Translation: X:-298.90, Y:14.89, Z:135.89 [[ 9.85933125e-01 -1.31511998e-01 1.03152645e-01 -2.98899077e+02] [ 1.35744311e-01 9.90121502e-01 -3.51125819e-02 1.48891649e+01] [-9.75159260e-02 4.86210424e-02 9.94045592e-01 1.35886510e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.389072329 meters Centerline goodness : 0.771695 Centerline is valid? [False, False] Translation: X:-298.90, Y:14.89, Z:135.89 [[ 9.85886121e-01 -1.31527441e-01 1.03581310e-01 -2.98899997e+02] [ 1.35734091e-01 9.90139627e-01 -3.46377732e-02 1.48874253e+01] [-9.80041422e-02 4.82084149e-02 9.94017674e-01 1.35886226e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.41907232899996 meters Centerline goodness : 0.771212 Centerline is valid? [False, False] Translation: X:-298.90, Y:14.89, Z:135.89 [[ 9.85828802e-01 -1.31594354e-01 1.04040852e-01 -2.98900659e+02] [ 1.35785549e-01 9.90145965e-01 -3.42527630e-02 1.48864282e+01] [-9.85081594e-02 4.78946045e-02 9.93983023e-01 1.35885418e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.449072329 meters Centerline goodness : 0.772273 Centerline is valid? [False, False] Translation: X:-298.91, Y:14.89, Z:135.88 [[ 9.86240940e-01 -1.25619546e-01 1.07464123e-01 -2.98912898e+02] [ 1.30602082e-01 9.90602036e-01 -4.06288403e-02 1.48932516e+01] [-1.01350403e-01 5.41048639e-02 9.93378457e-01 1.35880177e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.47907232899996 meters Centerline goodness : 0.772561 Centerline is valid? [False, False] Translation: X:-298.91, Y:14.89, Z:135.88 [[ 9.86584136e-01 -1.22549285e-01 1.07858310e-01 -2.98914735e+02] [ 1.27152454e-01 9.91197943e-01 -3.68631298e-02 1.48941070e+01] [-1.02391384e-01 5.00830278e-02 9.93482609e-01 1.35879732e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.509072329 meters Centerline goodness : 0.773613 Centerline is valid? [False, False] Translation: X:-298.92, Y:14.90, Z:135.88 [[ 9.86889106e-01 -1.19740226e-01 1.08222784e-01 -2.98917422e+02] [ 1.24009635e-01 9.91712091e-01 -3.35967031e-02 1.48953096e+01] [-1.03302967e-01 4.65768883e-02 9.93558801e-01 1.35880878e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.53907232899996 meters Centerline goodness : 0.773285 Centerline is valid? [False, False] Translation: X:-298.92, Y:14.90, Z:135.88 [[ 9.86863316e-01 -1.19900053e-01 1.08280987e-01 -2.98918011e+02] [ 1.24222392e-01 9.91669255e-01 -3.40717807e-02 1.48968363e+01] [-1.03293718e-01 4.70751138e-02 9.93536281e-01 1.35881679e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.569072329 meters Centerline goodness : 0.771853 Centerline is valid? [False, False] Translation: X:-298.92, Y:14.90, Z:135.89 [[ 9.87009359e-01 -1.18240275e-01 1.08773910e-01 -2.98922028e+02] [ 1.22434262e-01 9.91937825e-01 -3.26986594e-02 1.49011519e+01] [-1.04030658e-01 4.55915362e-02 9.93528577e-01 1.35885039e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.59907232899997 meters Centerline goodness : 0.773735 Centerline is valid? [False, False] Translation: X:-298.92, Y:14.90, Z:135.89 [[ 9.87046094e-01 -1.18148537e-01 1.08540003e-01 -2.98921934e+02] [ 1.22348422e-01 9.91942995e-01 -3.28627141e-02 1.49020703e+01] [-1.03782814e-01 4.57167117e-02 9.93548745e-01 1.35885832e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.629072329 meters Centerline goodness : 0.773269 Centerline is valid? [False, False] Translation: X:-298.92, Y:14.90, Z:135.89 [[ 9.87025884e-01 -1.18201598e-01 1.08665944e-01 -2.98922501e+02] [ 1.22414604e-01 9.91932600e-01 -3.29299538e-02 1.49023839e+01] [-1.03896919e-01 4.58050153e-02 9.93532753e-01 1.35886279e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.65907232899997 meters Centerline goodness : 0.773021 Centerline is valid? [False, False] Translation: X:-298.93, Y:14.91, Z:135.89 [[ 9.88076012e-01 -1.19178282e-01 9.74798986e-02 -2.98927144e+02] [ 1.23666860e-01 9.91461560e-01 -4.13579851e-02 1.49123871e+01] [-9.17185987e-02 5.29198659e-02 9.94377789e-01 1.35891869e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.68907232899994 meters Centerline goodness : 0.773822 Centerline is valid? [False, False] Translation: X:-298.93, Y:14.91, Z:135.89 [[ 9.87900254e-01 -1.19854930e-01 9.84270473e-02 -2.98929620e+02] [ 1.24431049e-01 9.91350407e-01 -4.17286893e-02 1.49125299e+01] [-9.25743043e-02 5.34711636e-02 9.94268994e-01 1.35892300e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.71907232899997 meters Centerline goodness : 0.771825 Centerline is valid? [False, False] Translation: X:-298.93, Y:14.91, Z:135.89 [[ 9.87880714e-01 -1.19736894e-01 9.87662408e-02 -2.98930351e+02] [ 1.24286473e-01 9.91388438e-01 -4.12533357e-02 1.49112680e+01] [-9.29761629e-02 5.30286824e-02 9.94255195e-01 1.35892047e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.74907232899994 meters Centerline goodness : 0.771550 Centerline is valid? [False, False] Translation: X:-298.93, Y:14.91, Z:135.89 [[ 9.87755009e-01 -1.20107420e-01 9.95703293e-02 -2.98932328e+02] [ 1.24684146e-01 9.91346109e-01 -4.10701294e-02 1.49098807e+01] [-9.37758313e-02 5.29820675e-02 9.94182576e-01 1.35892094e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.779072329 meters Centerline goodness : 0.772330 Centerline is valid? [False, False] Translation: X:-298.95, Y:14.91, Z:135.89 [[ 9.87114929e-01 -1.21979186e-01 1.03562518e-01 -2.98945050e+02] [ 1.26229473e-01 9.91365460e-01 -3.55055697e-02 1.49109162e+01] [-9.83373625e-02 4.81207200e-02 9.93989014e-01 1.35888322e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.80907232899995 meters Centerline goodness : 0.771008 Centerline is valid? [False, False] Translation: X:-298.94, Y:14.91, Z:135.89 [[ 9.87141926e-01 -1.21770005e-01 1.03551359e-01 -2.98944606e+02] [ 1.25980024e-01 9.91411164e-01 -3.51132120e-02 1.49103460e+01] [-9.83862377e-02 4.77071265e-02 9.94004114e-01 1.35887519e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.839072329 meters Centerline goodness : 0.770374 Centerline is valid? [False, False] Translation: X:-298.95, Y:14.91, Z:135.89 [[ 9.87452368e-01 -1.18854374e-01 1.03978169e-01 -2.98946889e+02] [ 1.22733448e-01 9.91932721e-01 -3.17171468e-02 1.49116308e+01] [-9.93696260e-02 4.40807708e-02 9.94073721e-01 1.35887808e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.86907232899995 meters Centerline goodness : 0.770119 Centerline is valid? [False, False] Translation: X:-298.95, Y:14.91, Z:135.89 [[ 9.87512247e-01 -1.18570881e-01 1.03732871e-01 -2.98946440e+02] [ 1.22407369e-01 9.91982706e-01 -3.14125326e-02 1.49111464e+01] [-9.91766023e-02 4.37179284e-02 9.94109020e-01 1.35887959e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.899072329 meters Centerline goodness : 0.771109 Centerline is valid? [False, False] Translation: X:-298.95, Y:14.91, Z:135.89 [[ 9.87443754e-01 -1.18810472e-01 1.04110057e-01 -2.98947391e+02] [ 1.22697604e-01 9.91936394e-01 -3.17409480e-02 1.49121877e+01] [-9.94993977e-02 4.41164555e-02 9.94059157e-01 1.35888075e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.92907232899995 meters Centerline goodness : 0.771530 Centerline is valid? [False, False] Translation: X:-298.95, Y:14.91, Z:135.89 [[ 9.87494480e-01 -1.18512974e-01 1.03967917e-01 -2.98946807e+02] [ 1.22332802e-01 9.92000348e-01 -3.11447537e-02 1.49106578e+01] [-9.94451524e-02 4.34739589e-02 9.94092891e-01 1.35887522e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.959072329 meters Centerline goodness : 0.770585 Centerline is valid? [False, False] Translation: X:-298.94, Y:14.91, Z:135.89 [[ 9.87661784e-01 -1.17703919e-01 1.03295634e-01 -2.98944674e+02] [ 1.21418081e-01 9.92135349e-01 -3.04154230e-02 1.49104688e+01] [-9.89032353e-02 4.25821087e-02 9.94185553e-01 1.35886508e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.98907232899995 meters Centerline goodness : 0.771920 Centerline is valid? [False, False] Translation: X:-298.95, Y:14.92, Z:135.89 [[ 9.88943633e-01 -1.16008236e-01 9.23719677e-02 -2.98949164e+02] [ 1.19862187e-01 9.92089208e-01 -3.73103150e-02 1.49217854e+01] [-8.73129284e-02 4.79697045e-02 9.95025306e-01 1.35891081e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.019072329 meters Centerline goodness : 0.771487 Centerline is valid? [False, False] Translation: X:-298.95, Y:14.93, Z:135.89 [[ 9.89206389e-01 -1.13512456e-01 9.26587426e-02 -2.98952140e+02] [ 1.17173947e-01 9.92492207e-01 -3.50640265e-02 1.49260168e+01] [-8.79828762e-02 4.55427497e-02 9.95080334e-01 1.35893252e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.04907232899996 meters Centerline goodness : 0.770989 Centerline is valid? [False, False] Translation: X:-298.96, Y:14.93, Z:135.90 [[ 9.89263640e-01 -1.12492519e-01 9.32892525e-02 -2.98956288e+02] [ 1.16119540e-01 9.92639672e-01 -3.43909065e-02 1.49299155e+01] [-8.87338933e-02 4.48543785e-02 9.95044914e-01 1.35896358e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.079072329 meters Centerline goodness : 0.771345 Centerline is valid? [False, False] Translation: X:-298.96, Y:14.93, Z:135.90 [[ 9.89453565e-01 -1.10275849e-01 9.39195384e-02 -2.98959884e+02] [ 1.13692191e-01 9.93006328e-01 -3.18200876e-02 1.49319605e+01] [-8.97537088e-02 4.21624173e-02 9.95071154e-01 1.35898092e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.10907232899996 meters Centerline goodness : 0.773135 Centerline is valid? [False, False] Translation: X:-298.96, Y:14.93, Z:135.90 [[ 9.89760106e-01 -1.07168077e-01 9.42864521e-02 -2.98961689e+02] [ 1.10261534e-01 9.93501895e-01 -2.82201675e-02 1.49332237e+01] [-9.06494678e-02 3.83273648e-02 9.95145058e-01 1.35897921e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.139072329 meters Centerline goodness : 0.772093 Centerline is valid? [False, False] Translation: X:-298.96, Y:14.93, Z:135.90 [[ 9.89820182e-01 -1.06822593e-01 9.40475413e-02 -2.98960726e+02] [ 1.09870055e-01 9.93556271e-01 -2.78299704e-02 1.49328874e+01] [-9.04686548e-02 3.78796749e-02 9.95178654e-01 1.35897198e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.16907232899996 meters Centerline goodness : 0.772001 Centerline is valid? [False, False] Translation: X:-298.96, Y:14.93, Z:135.90 [[ 9.89805226e-01 -1.06792950e-01 9.42384190e-02 -2.98960966e+02] [ 1.09823678e-01 9.93568716e-01 -2.75674888e-02 1.49321657e+01] [-9.06883315e-02 3.76360543e-02 9.95167902e-01 1.35896800e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.199072329 meters Centerline goodness : 0.771472 Centerline is valid? [False, False] Translation: X:-298.97, Y:14.94, Z:135.89 [[ 9.90274858e-01 -1.00537264e-01 9.61663314e-02 -2.98973574e+02] [ 1.04315464e-01 9.93925035e-01 -3.50900157e-02 1.49404468e+01] [-9.20542701e-02 4.47803958e-02 9.94746564e-01 1.35893762e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.22907232899996 meters Centerline goodness : 0.772032 Centerline is valid? [False, False] Translation: X:-298.98, Y:14.94, Z:135.90 [[ 9.90439017e-01 -9.82820980e-02 9.68048727e-02 -2.98977026e+02] [ 1.01862810e-01 9.94258992e-01 -3.27570467e-02 1.49437268e+01] [-9.30296839e-02 4.23046735e-02 9.94764189e-01 1.35895489e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.259072329 meters Centerline goodness : 0.772192 Centerline is valid? [False, False] Translation: X:-298.98, Y:14.94, Z:135.90 [[ 9.90425064e-01 -9.82294648e-02 9.70008450e-02 -2.98977841e+02] [ 1.01805767e-01 9.94269246e-01 -3.26228824e-02 1.49432326e+01] [-9.32404287e-02 4.21857658e-02 9.94749508e-01 1.35896067e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.28907232899996 meters Centerline goodness : 0.771555 Centerline is valid? [False, False] Translation: X:-298.98, Y:14.94, Z:135.90 [[ 9.90424825e-01 -9.81592849e-02 9.70743095e-02 -2.98977834e+02] [ 1.01723924e-01 9.94282688e-01 -3.24681362e-02 1.49429991e+01] [-9.33322564e-02 4.20320278e-02 9.94747404e-01 1.35895646e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.319072329 meters Centerline goodness : 0.773640 Centerline is valid? [False, False] Translation: X:-298.98, Y:14.94, Z:135.90 [[ 9.90446050e-01 -9.79974625e-02 9.70212339e-02 -2.98977737e+02] [ 1.01533870e-01 9.94310903e-01 -3.21978440e-02 1.49422953e+01] [-9.33139637e-02 4.17411687e-02 9.94761368e-01 1.35895620e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.34907232899997 meters Centerline goodness : 0.773128 Centerline is valid? [False, False] Translation: X:-298.98, Y:14.95, Z:135.90 [[ 9.90720504e-01 -9.50224689e-02 9.71782593e-02 -2.98979769e+02] [ 9.82890796e-02 9.94723878e-01 -2.93881338e-02 1.49458578e+01] [-9.38730020e-02 3.86669884e-02 9.94833013e-01 1.35897016e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.379072329 meters Centerline goodness : 0.773429 Centerline is valid? [False, False] Translation: X:-298.98, Y:14.95, Z:135.90 [[ 9.90671569e-01 -9.53668431e-02 9.73396460e-02 -2.98980554e+02] [ 9.87053099e-02 9.94662366e-01 -3.00672393e-02 1.49479405e+01] [-9.39526649e-02 3.93946991e-02 9.94796941e-01 1.35897767e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.40907232899997 meters Centerline goodness : 0.771908 Centerline is valid? [False, False] Translation: X:-298.98, Y:14.95, Z:135.90 [[ 9.90712484e-01 -9.51449920e-02 9.71401252e-02 -2.98980020e+02] [ 9.84565301e-02 9.94692811e-01 -2.98751318e-02 1.49479402e+01] [-9.37821150e-02 3.91617457e-02 9.94822232e-01 1.35897630e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.43907232899994 meters Centerline goodness : 0.773498 Centerline is valid? [False, False] Translation: X:-298.98, Y:14.95, Z:135.90 [[ 9.90650896e-01 -9.53520484e-02 9.75642788e-02 -2.98981050e+02] [ 9.86675294e-02 9.94676229e-01 -2.97307645e-02 1.49468167e+01] [-9.42099796e-02 3.90792348e-02 9.94785049e-01 1.35897516e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.46907232899997 meters Centerline goodness : 0.771418 Centerline is valid? [False, False] Translation: X:-298.99, Y:14.96, Z:135.90 [[ 9.91159762e-01 -9.86747573e-02 8.86883185e-02 -2.98993516e+02] [ 1.01781810e-01 9.94317023e-01 -3.12109210e-02 1.49560304e+01] [-8.51045748e-02 3.99618666e-02 9.95570319e-01 1.35898839e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.49907232899994 meters Centerline goodness : 0.771329 Centerline is valid? [False, False] Translation: X:-299.00, Y:14.95, Z:135.90 [[ 9.91050947e-01 -9.90220738e-02 8.95134017e-02 -2.98995571e+02] [ 1.02140786e-01 9.94288444e-01 -3.09475317e-02 1.49543349e+01] [-8.59376521e-02 3.98135498e-02 9.95504697e-01 1.35898871e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.529072329 meters Centerline goodness : 0.771359 Centerline is valid? [False, False] Translation: X:-299.00, Y:14.95, Z:135.90 [[ 9.90925868e-01 -9.95200886e-02 9.03419981e-02 -2.98997795e+02] [ 1.02675987e-01 9.94232519e-01 -3.09732258e-02 1.49532842e+01] [-8.67384941e-02 3.99681244e-02 9.95429045e-01 1.35899298e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.55907232899995 meters Centerline goodness : 0.771472 Centerline is valid? [False, False] Translation: X:-299.00, Y:14.95, Z:135.90 [[ 9.90803922e-01 -1.00004018e-01 9.11415661e-02 -2.98999716e+02] [ 1.03227386e-01 9.94163447e-01 -3.13551817e-02 1.49539056e+01] [-8.74739693e-02 4.04751426e-02 9.95344196e-01 1.35899399e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.589072329 meters Centerline goodness : 0.770808 Centerline is valid? [False, False] Translation: X:-299.00, Y:14.95, Z:135.90 [[ 9.90717665e-01 -1.00269579e-01 9.17851776e-02 -2.99001367e+02] [ 1.03509715e-01 9.94137801e-01 -3.12373288e-02 1.49528556e+01] [-8.81149608e-02 4.04480310e-02 9.95288757e-01 1.35899560e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.61907232899995 meters Centerline goodness : 0.770739 Centerline is valid? [False, False] Translation: X:-299.00, Y:14.95, Z:135.90 [[ 9.91004182e-01 -9.69475873e-02 9.22598363e-02 -2.99003560e+02] [ 9.98153605e-02 9.94640029e-01 -2.69834492e-02 1.49513329e+01] [-8.91493459e-02 3.59496598e-02 9.95369286e-01 1.35899588e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.649072329 meters Centerline goodness : 0.770213 Centerline is valid? [False, False] Translation: X:-299.00, Y:14.95, Z:135.90 [[ 9.90949121e-01 -9.72497321e-02 9.25328575e-02 -2.99004070e+02] [ 1.00172800e-01 9.94590595e-01 -2.74764961e-02 1.49530409e+01] [-8.93602279e-02 3.64970850e-02 9.95330454e-01 1.35899447e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.67907232899995 meters Centerline goodness : 0.769416 Centerline is valid? [False, False] Translation: X:-299.00, Y:14.95, Z:135.90 [[ 9.90891436e-01 -9.74870895e-02 9.29000999e-02 -2.99004705e+02] [ 1.00436167e-01 9.94560468e-01 -2.76052725e-02 1.49533859e+01] [-8.97036092e-02 3.66843580e-02 9.95292681e-01 1.35899084e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.709072329 meters Centerline goodness : 0.771085 Centerline is valid? [False, False] Translation: X:-299.00, Y:14.95, Z:135.90 [[ 9.90978545e-01 -9.71058168e-02 9.23687410e-02 -2.99003472e+02] [ 1.00020592e-01 9.94606446e-01 -2.74572206e-02 1.49538894e+01] [-8.92042893e-02 3.64482927e-02 9.95346230e-01 1.35899135e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.73907232899995 meters Centerline goodness : 0.770416 Centerline is valid? [False, False] Translation: X:-299.00, Y:14.95, Z:135.90 [[ 9.90935410e-01 -9.72871842e-02 9.26402603e-02 -2.99004207e+02] [ 1.00225470e-01 9.94581861e-01 -2.76002931e-02 1.49542303e+01] [-8.94531678e-02 3.66350213e-02 9.95317038e-01 1.35899376e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.769072329 meters Centerline goodness : 0.768859 Centerline is valid? [False, False] Translation: X:-299.01, Y:14.95, Z:135.90 [[ 9.90817812e-01 -9.77526231e-02 9.34049661e-02 -2.99006017e+02] [ 1.00745190e-01 9.94521887e-01 -2.78679552e-02 1.49545415e+01] [-9.01691174e-02 3.70221674e-02 9.95238107e-01 1.35899414e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.79907232899996 meters Centerline goodness : 0.768639 Centerline is valid? [False, False] Translation: X:-299.00, Y:14.95, Z:135.90 [[ 9.90930087e-01 -9.68957607e-02 9.31062508e-02 -2.99004498e+02] [ 9.97530745e-02 9.94658469e-01 -2.65302688e-02 1.49519816e+01] [-9.00382502e-02 3.55772763e-02 9.95302653e-01 1.35897925e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.829072329 meters Centerline goodness : 0.771895 Centerline is valid? [False, False] Translation: X:-299.01, Y:14.95, Z:135.90 [[ 9.91279180e-01 -9.32718573e-02 9.30910689e-02 -2.99005242e+02] [ 9.57383262e-02 9.95154896e-01 -2.23809230e-02 1.49520750e+01] [-9.05525227e-02 3.10981261e-02 9.95406021e-01 1.35897552e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.85907232899996 meters Centerline goodness : 0.770129 Centerline is valid? [False, False] Translation: X:-299.01, Y:14.95, Z:135.90 [[ 9.91236084e-01 -9.35293236e-02 9.32914302e-02 -2.99005384e+02] [ 9.60406235e-02 9.95116421e-01 -2.27927241e-02 1.49535511e+01] [-9.07040460e-02 3.15527377e-02 9.95377919e-01 1.35897027e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.889072329 meters Centerline goodness : 0.770338 Centerline is valid? [False, False] Translation: X:-299.01, Y:14.96, Z:135.90 [[ 9.91930751e-01 -8.87679628e-02 9.05186947e-02 -2.99014788e+02] [ 9.20585514e-02 9.95211863e-01 -3.28415962e-02 1.49628575e+01] [-8.71699972e-02 4.09096091e-02 9.95353101e-01 1.35895310e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.91907232899996 meters Centerline goodness : 0.771306 Centerline is valid? [False, False] Translation: X:-299.02, Y:14.96, Z:135.90 [[ 9.91920243e-01 -8.88477757e-02 9.05555330e-02 -2.99015481e+02] [ 9.21647961e-02 9.95192704e-01 -3.31229763e-02 1.49635989e+01] [-8.71773030e-02 4.12013829e-02 9.95340426e-01 1.35896370e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.949072329 meters Centerline goodness : 0.772594 Centerline is valid? [False, False] Translation: X:-299.02, Y:14.97, Z:135.90 [[ 9.91799864e-01 -8.96647525e-02 9.10673524e-02 -2.99018338e+02] [ 9.31453787e-02 9.95047330e-01 -3.47094896e-02 1.49672502e+01] [-8.75041081e-02 4.29073701e-02 9.95239664e-01 1.35899269e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.97907232899996 meters Centerline goodness : 0.772509 Centerline is valid? [False, False] Translation: X:-299.02, Y:14.97, Z:135.90 [[ 9.91746170e-01 -8.99138224e-02 9.14058961e-02 -2.99019169e+02] [ 9.34358961e-02 9.95009780e-01 -3.50038629e-02 1.49682005e+01] [-8.78024295e-02 4.32555388e-02 9.95198318e-01 1.35899349e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.009072329 meters Centerline goodness : 0.771668 Centerline is valid? [False, False] Translation: X:-299.02, Y:14.97, Z:135.90 [[ 9.91724388e-01 -8.99333539e-02 9.16227545e-02 -2.99019302e+02] [ 9.34441356e-02 9.95017257e-01 -3.47685366e-02 1.49677372e+01] [-8.80393708e-02 4.30424148e-02 9.95186626e-01 1.35898649e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.03907232899996 meters Centerline goodness : 0.770743 Centerline is valid? [False, False] Translation: X:-299.02, Y:14.97, Z:135.90 [[ 9.91661979e-01 -9.00961656e-02 9.21368557e-02 -2.99020101e+02] [ 9.36125029e-02 9.95008212e-01 -3.45739518e-02 1.49669814e+01] [-8.85619475e-02 4.29108351e-02 9.95145940e-01 1.35897847e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.069072329 meters Centerline goodness : 0.771900 Centerline is valid? [False, False] Translation: X:-299.02, Y:14.97, Z:135.90 [[ 9.91581957e-01 -9.04057255e-02 9.26931866e-02 -2.99021206e+02] [ 9.39453861e-02 9.94977544e-01 -3.45535981e-02 1.49667216e+01] [-8.91037960e-02 4.29708217e-02 9.95094981e-01 1.35897511e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.09907232899997 meters Centerline goodness : 0.772407 Centerline is valid? [False, False] Translation: X:-299.02, Y:14.97, Z:135.90 [[ 9.91576141e-01 -9.03975667e-02 9.27633363e-02 -2.99021159e+02] [ 9.39412408e-02 9.94977547e-01 -3.45647747e-02 1.49672206e+01] [-8.91728653e-02 4.29879088e-02 9.95088056e-01 1.35897146e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.129072329 meters Centerline goodness : 0.771241 Centerline is valid? [False, False] Translation: X:-299.03, Y:14.97, Z:135.90 [[ 9.91715040e-01 -9.76139107e-02 8.35033210e-02 -2.99027758e+02] [ 1.00271299e-01 9.94559424e-01 -2.82350546e-02 1.49742243e+01] [-8.02928807e-02 3.63741148e-02 9.96107412e-01 1.35904708e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.15907232899997 meters Centerline goodness : 0.772033 Centerline is valid? [False, False] Translation: X:-299.03, Y:14.97, Z:135.90 [[ 9.91643028e-01 -9.77512528e-02 8.41949925e-02 -2.99029105e+02] [ 1.00405171e-01 9.94556058e-01 -2.78756100e-02 1.49727677e+01] [-8.10117641e-02 3.60962669e-02 9.96059312e-01 1.35904092e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.18907232899994 meters Centerline goodness : 0.772649 Centerline is valid? [False, False] Translation: X:-299.03, Y:14.97, Z:135.90 [[ 9.91388320e-01 -9.91917202e-02 8.54997208e-02 -2.99032628e+02] [ 1.01979999e-01 9.94367303e-01 -2.88746727e-02 1.49735323e+01] [-8.21539983e-02 3.73452747e-02 9.95919701e-01 1.35904812e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.21907232899997 meters Centerline goodness : 0.772322 Centerline is valid? [False, False] Translation: X:-299.04, Y:14.97, Z:135.91 [[ 9.91178293e-01 -1.00360193e-01 8.65645640e-02 -2.99035915e+02] [ 1.03253248e-01 9.94214389e-01 -2.96059924e-02 1.49731105e+01] [-8.30924720e-02 3.82828894e-02 9.95806237e-01 1.35906056e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.24907232899994 meters Centerline goodness : 0.772322 Centerline is valid? [False, False] Translation: X:-299.04, Y:14.97, Z:135.91 [[ 9.91178293e-01 -1.00360193e-01 8.65645640e-02 -2.99035915e+02] [ 1.03253248e-01 9.94214389e-01 -2.96059924e-02 1.49731105e+01] [-8.30924720e-02 3.82828894e-02 9.95806237e-01 1.35906056e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.279072329 meters Centerline goodness : 0.771852 Centerline is valid? [False, False] Translation: X:-299.04, Y:14.97, Z:135.91 [[ 9.91239111e-01 -9.98631014e-02 8.64429582e-02 -2.99035593e+02] [ 1.02670772e-01 9.94302529e-01 -2.86564800e-02 1.49705234e+01] [-8.30887269e-02 3.72805890e-02 9.95844577e-01 1.35905798e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.30907232899995 meters Centerline goodness : 0.770938 Centerline is valid? [False, False] Translation: X:-299.04, Y:14.97, Z:135.91 [[ 9.91233552e-01 -9.97955642e-02 8.65845924e-02 -2.99035916e+02] [ 1.02589523e-01 9.94317379e-01 -2.84313105e-02 1.49700183e+01] [-8.32552463e-02 3.70647409e-02 9.95838726e-01 1.35905722e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.339072329 meters Centerline goodness : 0.771753 Centerline is valid? [False, False] Translation: X:-299.04, Y:14.97, Z:135.91 [[ 9.91507586e-01 -9.66826728e-02 8.69779694e-02 -2.99037671e+02] [ 9.91942146e-02 9.94753431e-01 -2.50223795e-02 1.49718472e+01] [-8.41024029e-02 3.34375905e-02 9.95895935e-01 1.35905533e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.36907232899995 meters Centerline goodness : 0.772917 Centerline is valid? [False, False] Translation: X:-299.04, Y:14.97, Z:135.91 [[ 9.91467968e-01 -9.68237759e-02 8.72721279e-02 -2.99038339e+02] [ 9.93515367e-02 9.94735995e-01 -2.50913009e-02 1.49720152e+01] [-8.43832924e-02 3.35478412e-02 9.95868466e-01 1.35905536e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.399072329 meters Centerline goodness : 0.772978 Centerline is valid? [False, False] Translation: X:-299.04, Y:14.97, Z:135.91 [[ 9.91481407e-01 -9.67321904e-02 8.72210034e-02 -2.99038525e+02] [ 9.92451068e-02 9.94750424e-01 -2.49399874e-02 1.49714222e+01] [-8.43506305e-02 3.33837916e-02 9.95876746e-01 1.35905939e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.42907232899995 meters Centerline goodness : 0.771588 Centerline is valid? [False, False] Translation: X:-299.04, Y:14.97, Z:135.91 [[ 9.91482529e-01 -9.65751623e-02 8.73821099e-02 -2.99038828e+02] [ 9.90606448e-02 9.94778287e-01 -2.45590786e-02 1.49703400e+01] [-8.45540286e-02 3.30060255e-02 9.95872089e-01 1.35905713e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.459072329 meters Centerline goodness : 0.772265 Centerline is valid? [False, False] Translation: X:-299.04, Y:14.97, Z:135.91 [[ 9.91318074e-01 -9.73880050e-02 8.83405506e-02 -2.99040973e+02] [ 9.99760921e-02 9.94666842e-01 -2.53506194e-02 1.49718429e+01] [-8.54005703e-02 3.39624702e-02 9.95767690e-01 1.35905608e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.48907232899995 meters Centerline goodness : 0.771552 Centerline is valid? [False, False] Translation: X:-299.04, Y:14.97, Z:135.90 [[ 9.91509195e-01 -9.62039614e-02 8.74889356e-02 -2.99038721e+02] [ 9.86370329e-02 9.94836055e-01 -2.39156601e-02 1.49691977e+01] [-8.47363663e-02 3.23422459e-02 9.95878370e-01 1.35904985e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.519072329 meters Centerline goodness : 0.772048 Centerline is valid? [False, False] Translation: X:-299.04, Y:14.97, Z:135.90 [[ 9.91515072e-01 -9.61551942e-02 8.74759393e-02 -2.99038353e+02] [ 9.85745066e-02 9.94845962e-01 -2.37608459e-02 1.49688897e+01] [-8.47403562e-02 3.21821344e-02 9.95883217e-01 1.35904390e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.54907232899996 meters Centerline goodness : 0.772896 Centerline is valid? [False, False] Translation: X:-299.04, Y:14.98, Z:135.91 [[ 9.92822993e-01 -9.29334659e-02 7.52720153e-02 -2.99039293e+02] [ 9.52420241e-02 9.95069342e-01 -2.76760040e-02 1.49797105e+01] [-7.23288478e-02 3.46464322e-02 9.96778893e-01 1.35908494e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.579072329 meters Centerline goodness : 0.773921 Centerline is valid? [False, False] Translation: X:-299.04, Y:14.98, Z:135.91 [[ 9.92936298e-01 -9.13273385e-02 7.57418291e-02 -2.99042608e+02] [ 9.35296758e-02 9.95275617e-01 -2.60508215e-02 1.49822213e+01] [-7.30048435e-02 3.29509150e-02 9.96787104e-01 1.35910713e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.60907232899996 meters Centerline goodness : 0.770953 Centerline is valid? [False, False] Translation: X:-299.04, Y:14.98, Z:135.91 [[ 9.92985460e-01 -9.11566198e-02 7.53017029e-02 -2.99042027e+02] [ 9.33864941e-02 9.95273603e-01 -2.66349013e-02 1.49848682e+01] [-7.25178496e-02 3.34802318e-02 9.96805014e-01 1.35911641e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.639072329 meters Centerline goodness : 0.771515 Centerline is valid? [False, False] Translation: X:-299.04, Y:14.99, Z:135.91 [[ 9.92966247e-01 -9.14109327e-02 7.52467492e-02 -2.99042480e+02] [ 9.36855821e-02 9.95228334e-01 -2.72685619e-02 1.49868069e+01] [-7.23950521e-02 3.41262971e-02 9.96792031e-01 1.35912595e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.66907232899996 meters Centerline goodness : 0.772579 Centerline is valid? [False, False] Translation: X:-299.04, Y:14.99, Z:135.91 [[ 9.92885442e-01 -9.17186521e-02 7.59354178e-02 -2.99044113e+02] [ 9.40132596e-02 9.95199082e-01 -2.72083641e-02 1.49861676e+01] [-7.30753436e-02 3.41537247e-02 9.96741450e-01 1.35912538e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.699072329 meters Centerline goodness : 0.771628 Centerline is valid? [False, False] Translation: X:-299.05, Y:14.99, Z:135.91 [[ 9.92734502e-01 -9.24381971e-02 7.70284865e-02 -2.99046776e+02] [ 9.47841586e-02 9.95121525e-01 -2.73699375e-02 1.49854629e+01] [-7.41226773e-02 3.44721616e-02 9.96653149e-01 1.35912600e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.72907232899996 meters Centerline goodness : 0.770511 Centerline is valid? [False, False] Translation: X:-299.05, Y:14.99, Z:135.91 [[ 9.92767755e-01 -9.22341509e-02 7.68443036e-02 -2.99046439e+02] [ 9.45585056e-02 9.95148434e-01 -2.71713621e-02 1.49851243e+01] [-7.39653608e-02 3.42411346e-02 9.96672800e-01 1.35912690e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.759072329 meters Centerline goodness : 0.771339 Centerline is valid? [False, False] Translation: X:-299.05, Y:14.99, Z:135.91 [[ 9.92755956e-01 -9.23157722e-02 7.68986999e-02 -2.99046906e+02] [ 9.46576630e-02 9.95133298e-01 -2.73796548e-02 1.49856969e+01] [-7.39968829e-02 3.44603666e-02 9.96662904e-01 1.35913254e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.78907232899996 meters Centerline goodness : 0.771705 Centerline is valid? [False, False] Translation: X:-299.05, Y:14.99, Z:135.91 [[ 9.92719218e-01 -9.24479658e-02 7.72135157e-02 -2.99047782e+02] [ 9.48069018e-02 9.95116944e-01 -2.74575791e-02 1.49858634e+01] [-7.42980804e-02 3.45780407e-02 9.96636420e-01 1.35913401e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.819072329 meters Centerline goodness : 0.771596 Centerline is valid? [False, False] Translation: X:-299.05, Y:14.99, Z:135.91 [[ 9.92918075e-01 -8.96952311e-02 7.79003314e-02 -2.99050800e+02] [ 9.18229466e-02 9.95482028e-01 -2.41677134e-02 1.49866225e+01] [-7.53806512e-02 3.11495975e-02 9.96668179e-01 1.35914108e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.84907232899997 meters Centerline goodness : 0.770914 Centerline is valid? [False, False] Translation: X:-299.05, Y:14.99, Z:135.91 [[ 9.92940743e-01 -8.94038356e-02 7.79463583e-02 -2.99050336e+02] [ 9.14950231e-02 9.95524033e-01 -2.36761447e-02 1.49857609e+01] [-7.54807348e-02 3.06407126e-02 9.96676379e-01 1.35913075e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.879072329 meters Centerline goodness : 0.770404 Centerline is valid? [False, False] Translation: X:-299.05, Y:14.99, Z:135.91 [[ 9.92991146e-01 -8.90980703e-02 7.76538283e-02 -2.99049541e+02] [ 9.11501718e-02 9.95564820e-01 -2.32880887e-02 1.49850701e+01] [-7.52344959e-02 3.02030257e-02 9.96708356e-01 1.35912798e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.90907232899997 meters Centerline goodness : 0.770886 Centerline is valid? [False, False] Translation: X:-299.05, Y:14.99, Z:135.91 [[ 9.93107952e-01 -8.83272632e-02 7.70382418e-02 -2.99047344e+02] [ 9.03140803e-02 9.95654774e-01 -2.26922371e-02 1.49853443e+01] [-7.46991501e-02 2.94934790e-02 9.96769869e-01 1.35911645e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.93907232899994 meters Centerline goodness : 0.770624 Centerline is valid? [False, False] Translation: X:-299.05, Y:14.99, Z:135.91 [[ 9.93383185e-01 -8.50549182e-02 7.71719384e-02 -2.99049068e+02] [ 8.67804636e-02 9.96040827e-01 -1.92826862e-02 1.49869913e+01] [-7.52263141e-02 2.58521129e-02 9.96831315e-01 1.35912559e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.96907232899997 meters Centerline goodness : 0.770349 Centerline is valid? [False, False] Translation: X:-299.05, Y:14.99, Z:135.91 [[ 9.93343721e-01 -8.52676137e-02 7.74447307e-02 -2.99049990e+02] [ 8.70232721e-02 9.96013860e-01 -1.95790708e-02 1.49876370e+01] [-7.54665646e-02 2.61882409e-02 9.96804381e-01 1.35913035e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.99907232899994 meters Centerline goodness : 0.769615 Centerline is valid? [False, False] Translation: X:-299.05, Y:14.99, Z:135.91 [[ 9.93335402e-01 -8.54229091e-02 7.73802733e-02 -2.99050590e+02] [ 8.72184318e-02 9.95985945e-01 -2.01232065e-02 1.49892163e+01] [-7.53506818e-02 2.67380795e-02 9.96798550e-01 1.35914293e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.029072329 meters Centerline goodness : 0.770722 Centerline is valid? [False, False] Translation: X:-299.05, Y:14.99, Z:135.91 [[ 9.93420866e-01 -8.49820362e-02 7.67661151e-02 -2.99049122e+02] [ 8.67359529e-02 9.96034478e-01 -1.98038861e-02 1.49889195e+01] [-7.47787228e-02 2.63319759e-02 9.96852431e-01 1.35914218e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.05907232899995 meters Centerline goodness : 0.770095 Centerline is valid? [False, False] Translation: X:-299.05, Y:14.99, Z:135.91 [[ 9.93388382e-01 -8.51456465e-02 7.70048092e-02 -2.99049393e+02] [ 8.69163253e-02 9.96016102e-01 -1.99368444e-02 1.49895059e+01] [-7.50004944e-02 2.64980046e-02 9.96831371e-01 1.35913725e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.089072329 meters Centerline goodness : 0.770433 Centerline is valid? [False, False] Translation: X:-299.05, Y:14.99, Z:135.91 [[ 9.93509594e-01 -8.44323648e-02 7.62224494e-02 -2.99047098e+02] [ 8.61335273e-02 9.96096489e-01 -1.93080071e-02 1.49888962e+01] [-7.42946936e-02 2.57479988e-02 9.96903877e-01 1.35912964e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.11907232899995 meters Centerline goodness : 0.769656 Centerline is valid? [False, False] Translation: X:-299.05, Y:14.99, Z:135.91 [[ 9.93783740e-01 -8.10527162e-02 7.63173297e-02 -2.99048415e+02] [ 8.24965449e-02 9.96463626e-01 -1.59549807e-02 1.49911520e+01] [-7.47542486e-02 2.21517165e-02 9.96955919e-01 1.35913434e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.149072329 meters Centerline goodness : 0.769477 Centerline is valid? [False, False] Translation: X:-299.06, Y:15.00, Z:135.91 [[ 9.93887066e-01 -7.72477133e-02 7.88751628e-02 -2.99060389e+02] [ 7.94904726e-02 9.96504350e-01 -2.56971925e-02 1.49991322e+01] [-7.66143935e-02 3.18099312e-02 9.96553241e-01 1.35910006e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.17907232899995 meters Centerline goodness : 0.768451 Centerline is valid? [False, False] Translation: X:-299.06, Y:15.00, Z:135.91 [[ 9.93883530e-01 -7.72626982e-02 7.89050344e-02 -2.99060875e+02] [ 7.95197732e-02 9.96497530e-01 -2.58704022e-02 1.49997588e+01] [-7.66298549e-02 3.19866771e-02 9.96546395e-01 1.35910679e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.209072329 meters Centerline goodness : 0.769421 Centerline is valid? [False, False] Translation: X:-299.06, Y:15.00, Z:135.91 [[ 9.94158073e-01 -7.37275324e-02 7.88287759e-02 -2.99061570e+02] [ 7.56863488e-02 9.96885564e-01 -2.21528493e-02 1.50009792e+01] [-7.69499938e-02 2.79896962e-02 9.96642000e-01 1.35910849e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.23907232899995 meters Centerline goodness : 0.768432 Centerline is valid? [False, False] Translation: X:-299.06, Y:15.00, Z:135.91 [[ 9.94304067e-01 -7.19693779e-02 7.86119021e-02 -2.99060005e+02] [ 7.37529125e-02 9.97075551e-01 -2.00213159e-02 1.50025946e+01] [-7.69410840e-02 2.57051325e-02 9.96704227e-01 1.35908907e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.269072329 meters Centerline goodness : 0.769133 Centerline is valid? [False, False] Translation: X:-299.06, Y:15.00, Z:135.91 [[ 9.94443916e-01 -7.09389609e-02 7.77750667e-02 -2.99057269e+02] [ 7.26194532e-02 9.97178871e-01 -1.89924686e-02 1.50012851e+01] [-7.62083472e-02 2.45349277e-02 9.96790011e-01 1.35907724e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.29907232899996 meters Centerline goodness : 0.767644 Centerline is valid? [False, False] Translation: X:-299.07, Y:15.01, Z:135.91 [[ 9.95292743e-01 -6.78103499e-02 6.92395281e-02 -2.99065612e+02] [ 6.98613376e-02 9.97173717e-01 -2.76400462e-02 1.50139589e+01] [-6.71695564e-02 3.23471034e-02 9.97217085e-01 1.35910012e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.329072329 meters Centerline goodness : 0.767880 Centerline is valid? [False, False] Translation: X:-299.06, Y:15.01, Z:135.91 [[ 9.95356165e-01 -6.74380407e-02 6.86892693e-02 -2.99064442e+02] [ 6.94614311e-02 9.97205392e-01 -2.75048186e-02 1.50142314e+01] [-6.66424386e-02 3.21483457e-02 9.97258878e-01 1.35910230e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.35907232899996 meters Centerline goodness : 0.767738 Centerline is valid? [False, False] Translation: X:-299.07, Y:15.02, Z:135.91 [[ 9.95543027e-01 -6.42149298e-02 6.90689803e-02 -2.99066481e+02] [ 6.60283408e-02 9.97521855e-01 -2.42982941e-02 1.50167625e+01] [-6.73375041e-02 2.87505074e-02 9.97315932e-01 1.35911043e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.389072329 meters Centerline goodness : 0.767641 Centerline is valid? [False, False] Translation: X:-299.07, Y:15.02, Z:135.91 [[ 9.95553591e-01 -6.42452783e-02 6.88882621e-02 -2.99066234e+02] [ 6.60847396e-02 9.97506720e-01 -2.47618808e-02 1.50188580e+01] [-6.71256705e-02 2.92042422e-02 9.97317029e-01 1.35911528e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.41907232899996 meters Centerline goodness : 0.767021 Centerline is valid? [False, False] Translation: X:-299.07, Y:15.02, Z:135.91 [[ 9.95498616e-01 -6.44970811e-02 6.94451781e-02 -2.99067664e+02] [ 6.63556492e-02 9.97487911e-01 -2.47950732e-02 1.50186558e+01] [-6.76715157e-02 2.92915409e-02 9.97277580e-01 1.35911666e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.449072329 meters Centerline goodness : 0.765786 Centerline is valid? [False, False] Translation: X:-299.07, Y:15.02, Z:135.91 [[ 9.95290241e-01 -6.63049880e-02 7.07176425e-02 -2.99070693e+02] [ 6.82808836e-02 9.97329980e-01 -2.58965750e-02 1.50191722e+01] [-6.88117528e-02 3.06032715e-02 9.97160159e-01 1.35911680e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.47907232899996 meters Centerline goodness : 0.765232 Centerline is valid? [False, False] Translation: X:-299.07, Y:15.02, Z:135.91 [[ 9.95262198e-01 -6.63723710e-02 7.10483342e-02 -2.99071163e+02] [ 6.83487982e-02 9.97328981e-01 -2.57555100e-02 1.50188243e+01] [-6.91491085e-02 3.04895538e-02 9.97140305e-01 1.35911174e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.509072329 meters Centerline goodness : 0.764326 Centerline is valid? [False, False] Translation: X:-299.07, Y:15.02, Z:135.91 [[ 9.95210401e-01 -6.65299883e-02 7.16241526e-02 -2.99072582e+02] [ 6.85081403e-02 9.97324027e-01 -2.55229251e-02 1.50177111e+01] [-6.97344484e-02 3.03075180e-02 9.97105090e-01 1.35911168e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.53907232899996 meters Centerline goodness : 0.764653 Centerline is valid? [False, False] Translation: X:-299.07, Y:15.02, Z:135.91 [[ 9.94903009e-01 -7.04881184e-02 7.21070539e-02 -2.99072971e+02] [ 7.27759041e-02 9.96908824e-01 -2.96051311e-02 1.50173397e+01] [-6.97973483e-02 3.47018901e-02 9.96957426e-01 1.35911108e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.569072329 meters Centerline goodness : 0.765489 Centerline is valid? [False, False] Translation: X:-299.08, Y:15.02, Z:135.91 [[ 9.95060832e-01 -6.75547863e-02 7.27343834e-02 -2.99075753e+02] [ 6.96154607e-02 9.97230404e-01 -2.61764983e-02 1.50179325e+01] [-7.07645908e-02 3.11106458e-02 9.97007773e-01 1.35911903e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.59907232899997 meters Centerline goodness : 0.763415 Centerline is valid? [False, False] Translation: X:-299.07, Y:15.02, Z:135.91 [[ 9.95107078e-01 -6.73015309e-02 7.23353763e-02 -2.99074161e+02] [ 6.93411303e-02 9.97252507e-01 -2.60623400e-02 1.50186832e+01] [-7.03825999e-02 3.09506358e-02 9.97039792e-01 1.35910992e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.629072329 meters Centerline goodness : 0.763801 Centerline is valid? [False, False] Translation: X:-299.07, Y:15.02, Z:135.91 [[ 9.95172458e-01 -6.68798455e-02 7.18252441e-02 -2.99072698e+02] [ 6.88834798e-02 9.97291347e-01 -2.57882976e-02 1.50188068e+01] [-6.99059770e-02 3.06113763e-02 9.97083797e-01 1.35910620e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.65907232899997 meters Centerline goodness : 0.763526 Centerline is valid? [False, False] Translation: X:-299.07, Y:15.02, Z:135.91 [[ 9.95094873e-01 -6.74558287e-02 7.23595474e-02 -2.99073861e+02] [ 6.95368335e-02 9.97223788e-01 -2.66335214e-02 1.50211987e+01] [-7.03620757e-02 3.15345344e-02 9.97022944e-01 1.35910594e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.68907232899994 meters Centerline goodness : 0.764256 Centerline is valid? [False, False] Translation: X:-299.08, Y:15.02, Z:135.91 [[ 9.95303408e-01 -6.40594878e-02 7.25775954e-02 -2.99075692e+02] [ 6.58864456e-02 9.97560585e-01 -2.30619905e-02 1.50222723e+01] [-7.09232093e-02 2.77355576e-02 9.97096102e-01 1.35911580e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.71907232899997 meters Centerline goodness : 0.763022 Centerline is valid? [False, False] Translation: X:-299.08, Y:15.03, Z:135.91 [[ 9.95501642e-01 -6.08611834e-02 7.26112698e-02 -2.99077616e+02] [ 6.24770527e-02 9.97842125e-01 -2.01918511e-02 1.50251697e+01] [-7.12256839e-02 2.46375591e-02 9.97155902e-01 1.35913524e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.74907232899994 meters Centerline goodness : 0.763579 Centerline is valid? [False, False] Translation: X:-299.08, Y:15.03, Z:135.91 [[ 9.95607356e-01 -6.01123480e-02 7.17808982e-02 -2.99075357e+02] [ 6.16721997e-02 9.97901750e-01 -1.97138567e-02 1.50252577e+01] [-7.04452377e-02 2.40541467e-02 9.97225585e-01 1.35913092e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.779072329 meters Centerline goodness : 0.762710 Centerline is valid? [False, False] Translation: X:-299.07, Y:15.03, Z:135.91 [[ 9.96035009e-01 -5.48680687e-02 7.00268288e-02 -2.99071685e+02] [ 5.60955913e-02 9.98302217e-01 -1.56833923e-02 1.50286625e+01] [-6.90474209e-02 1.95494042e-02 9.97421814e-01 1.35913362e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.80907232899995 meters Centerline goodness : 0.763215 Centerline is valid? [False, False] Translation: X:-299.07, Y:15.03, Z:135.91 [[ 9.96132969e-01 -5.40910606e-02 6.92334170e-02 -2.99069681e+02] [ 5.53175111e-02 9.98341882e-01 -1.59204238e-02 1.50320100e+01] [-6.82574672e-02 1.96886794e-02 9.97473445e-01 1.35913454e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.839072329 meters Centerline goodness : 0.763873 Centerline is valid? [False, False] Translation: X:-299.07, Y:15.03, Z:135.91 [[ 9.96207235e-01 -5.38120677e-02 6.83769498e-02 -2.99067939e+02] [ 5.50442345e-02 9.98351442e-01 -1.62643874e-02 1.50339473e+01] [-6.73890062e-02 1.99664572e-02 9.97526973e-01 1.35914062e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.86907232899995 meters Centerline goodness : 0.760035 Centerline is valid? [False, False] Translation: X:-299.07, Y:15.04, Z:135.92 [[ 9.95921475e-01 -6.79042170e-02 5.94090369e-02 -2.99073675e+02] [ 6.90396697e-02 9.97464405e-01 -1.72709460e-02 1.50443484e+01] [-5.80856296e-02 2.13020863e-02 9.98084305e-01 1.35921910e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.899072329 meters Centerline goodness : 0.760914 Centerline is valid? [False, False] Translation: X:-299.07, Y:15.04, Z:135.92 [[ 9.95958018e-01 -6.73036205e-02 5.94798274e-02 -2.99073352e+02] [ 6.83712790e-02 9.97530052e-01 -1.60985566e-02 1.50408403e+01] [-5.82494241e-02 2.01001984e-02 9.98099688e-01 1.35920892e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.92907232899995 meters Centerline goodness : 0.761246 Centerline is valid? [False, False] Translation: X:-299.07, Y:15.04, Z:135.92 [[ 9.95934280e-01 -6.74729314e-02 5.96851134e-02 -2.99073836e+02] [ 6.85611776e-02 9.97512521e-01 -1.63748217e-02 1.50416607e+01] [-5.84317908e-02 2.04003280e-02 9.98082939e-01 1.35920831e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.959072329 meters Centerline goodness : 0.761351 Centerline is valid? [False, False] Translation: X:-299.07, Y:15.04, Z:135.92 [[ 9.96189602e-01 -6.37739775e-02 5.94908099e-02 -2.99074614e+02] [ 6.46363156e-02 9.97828281e-01 -1.26834237e-02 1.50429311e+01] [-5.85527401e-02 1.64803615e-02 9.98148273e-01 1.35921674e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.98907232899995 meters Centerline goodness : 0.761264 Centerline is valid? [False, False] Translation: X:-299.07, Y:15.05, Z:135.92 [[ 9.96670684e-01 -5.67860382e-02 5.85054989e-02 -2.99074987e+02] [ 5.72970268e-02 9.98331983e-01 -7.09247489e-03 1.50514092e+01] [-5.80051572e-02 1.04210529e-02 9.98261891e-01 1.35924373e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.019072329 meters Centerline goodness : 0.761731 Centerline is valid? [False, False] Translation: X:-299.09, Y:15.07, Z:135.92 [[ 9.97139876e-01 -4.80523209e-02 5.83355918e-02 -2.99088331e+02] [ 4.89177414e-02 9.98711598e-01 -1.34981130e-02 1.50660329e+01] [-5.76118164e-02 1.63131521e-02 9.98205770e-01 1.35923204e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.04907232899996 meters Centerline goodness : 0.760057 Centerline is valid? [False, False] Translation: X:-299.09, Y:15.07, Z:135.92 [[ 9.97381876e-01 -4.38857211e-02 5.74755251e-02 -2.99086735e+02] [ 4.45156771e-02 9.98961343e-01 -9.72571631e-03 1.50683583e+01] [-5.69890077e-02 1.22588151e-02 9.98299541e-01 1.35923345e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.079072329 meters Centerline goodness : 0.760450 Centerline is valid? [False, False] Translation: X:-299.08, Y:15.07, Z:135.92 [[ 9.97503980e-01 -4.24521087e-02 5.64236584e-02 -2.99083546e+02] [ 4.30215153e-02 9.99034370e-01 -8.91500206e-03 1.50687527e+01] [-5.59907134e-02 1.13201813e-02 9.98367114e-01 1.35922573e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.10907232899996 meters Centerline goodness : 0.759813 Centerline is valid? [False, False] Translation: X:-299.08, Y:15.07, Z:135.92 [[ 9.97532794e-01 -4.24203340e-02 5.59360289e-02 -2.99082591e+02] [ 4.30100869e-02 9.99030591e-01 -9.38144478e-03 1.50704820e+01] [-5.54838399e-02 1.17641123e-02 9.98390279e-01 1.35922999e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.139072329 meters Centerline goodness : 0.759813 Centerline is valid? [False, False] Translation: X:-299.08, Y:15.07, Z:135.92 [[ 9.97532794e-01 -4.24203340e-02 5.59360289e-02 -2.99082591e+02] [ 4.30100869e-02 9.99030591e-01 -9.38144478e-03 1.50704820e+01] [-5.54838399e-02 1.17641123e-02 9.98390279e-01 1.35922999e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.16907232899996 meters Centerline goodness : 0.760094 Centerline is valid? [False, False] Translation: X:-299.08, Y:15.07, Z:135.92 [[ 9.97681282e-01 -4.08683882e-02 5.44227456e-02 -2.99079861e+02] [ 4.14398137e-02 9.99096665e-01 -9.41253532e-03 1.50724764e+01] [-5.39889085e-02 1.16459787e-02 9.98473620e-01 1.35924884e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.199072329 meters Centerline goodness : 0.760496 Centerline is valid? [False, False] Translation: X:-299.08, Y:15.07, Z:135.93 [[ 9.97622380e-01 -4.15761223e-02 5.49637449e-02 -2.99081626e+02] [ 4.22121481e-02 9.99053900e-01 -1.04613778e-02 1.50749892e+01] [-5.44768001e-02 1.27566424e-02 9.98433546e-01 1.35925622e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.22907232899996 meters Centerline goodness : 0.760854 Centerline is valid? [False, False] Translation: X:-299.08, Y:15.07, Z:135.93 [[ 9.97663300e-01 -4.11372574e-02 5.45496679e-02 -2.99081098e+02] [ 4.17372635e-02 9.99079517e-01 -9.90555661e-03 1.50732642e+01] [-5.40919684e-02 1.21591642e-02 9.98461924e-01 1.35926197e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.259072329 meters Centerline goodness : 0.758945 Centerline is valid? [False, False] Translation: X:-299.09, Y:15.08, Z:135.93 [[ 9.98090027e-01 -4.40321373e-02 4.33297673e-02 -2.99087715e+02] [ 4.48765836e-02 9.98817266e-01 -1.87125744e-02 1.50840767e+01] [-4.24545651e-02 2.06213259e-02 9.98885564e-01 1.35931850e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.28907232899996 meters Centerline goodness : 0.760473 Centerline is valid? [False, False] Translation: X:-299.09, Y:15.08, Z:135.93 [[ 9.98081454e-01 -4.39806614e-02 4.35788132e-02 -2.99088089e+02] [ 4.48173683e-02 9.98825509e-01 -1.84121043e-02 1.50832126e+01] [-4.27178538e-02 2.03298675e-02 9.98880314e-01 1.35931412e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.319072329 meters Centerline goodness : 0.760245 Centerline is valid? [False, False] Translation: X:-299.09, Y:15.08, Z:135.93 [[ 9.98005771e-01 -4.46738357e-02 4.45951680e-02 -2.99090004e+02] [ 4.55264473e-02 9.98795694e-01 -1.82894804e-02 1.50817570e+01] [-4.37244005e-02 2.02832666e-02 9.98837707e-01 1.35930370e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.34907232899997 meters Centerline goodness : 0.761690 Centerline is valid? [False, False] Translation: X:-299.09, Y:15.08, Z:135.93 [[ 9.98037515e-01 -4.41726043e-02 4.43835502e-02 -2.99089083e+02] [ 4.49859189e-02 9.98834406e-01 -1.74956197e-02 1.50799870e+01] [-4.35589899e-02 1.94579196e-02 9.98861354e-01 1.35929660e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.379072329 meters Centerline goodness : 0.760629 Centerline is valid? [False, False] Translation: X:-299.09, Y:15.08, Z:135.93 [[ 9.97999672e-01 -4.44362191e-02 4.49675122e-02 -2.99089964e+02] [ 4.52643815e-02 9.98820539e-01 -1.75688965e-02 1.50801912e+01] [-4.41337795e-02 1.95691795e-02 9.98833949e-01 1.35928868e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.40907232899997 meters Centerline goodness : 0.760038 Centerline is valid? [False, False] Translation: X:-299.09, Y:15.08, Z:135.93 [[ 9.97856273e-01 -4.62317425e-02 4.63193747e-02 -2.99092894e+02] [ 4.70964990e-02 9.98732540e-01 -1.77548022e-02 1.50776485e+01] [-4.54398313e-02 1.98982212e-02 9.98768883e-01 1.35927907e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.43907232899994 meters Centerline goodness : 0.759633 Centerline is valid? [False, False] Translation: X:-299.09, Y:15.08, Z:135.93 [[ 9.97818253e-01 -4.63275236e-02 4.70371523e-02 -2.99094365e+02] [ 4.71836376e-02 9.98737169e-01 -1.72560413e-02 1.50757673e+01] [-4.61783226e-02 1.94377770e-02 9.98744079e-01 1.35927314e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.46907232899997 meters Centerline goodness : 0.759507 Centerline is valid? [False, False] Translation: X:-299.10, Y:15.07, Z:135.93 [[ 9.97785610e-01 -4.63727248e-02 4.76806782e-02 -2.99095744e+02] [ 4.72242718e-02 9.98741504e-01 -1.68901533e-02 1.50743920e+01] [-4.68374298e-02 1.91044372e-02 9.98719818e-01 1.35926946e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.49907232899994 meters Centerline goodness : 0.758512 Centerline is valid? [False, False] Translation: X:-299.10, Y:15.07, Z:135.93 [[ 9.97532242e-01 -5.07086646e-02 4.85598261e-02 -2.99097080e+02] [ 5.17817056e-02 9.98435509e-01 -2.10995325e-02 1.50740467e+01] [-4.74139256e-02 2.35619746e-02 9.98597393e-01 1.35926514e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.529072329 meters Centerline goodness : 0.758639 Centerline is valid? [False, False] Translation: X:-299.10, Y:15.07, Z:135.93 [[ 9.97412252e-01 -5.20596183e-02 4.95842202e-02 -2.99100791e+02] [ 5.31971829e-02 9.98343750e-01 -2.19046994e-02 1.50733868e+01] [-4.83617461e-02 2.44857564e-02 9.98529714e-01 1.35928044e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.55907232899995 meters Centerline goodness : 0.758551 Centerline is valid? [False, False] Translation: X:-299.10, Y:15.07, Z:135.93 [[ 9.97138349e-01 -5.61868081e-02 5.05782093e-02 -2.99103032e+02] [ 5.75383435e-02 9.98013133e-01 -2.56734381e-02 1.50711758e+01] [-4.90352086e-02 2.85101561e-02 9.98390064e-01 1.35928479e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.589072329 meters Centerline goodness : 0.758415 Centerline is valid? [False, False] Translation: X:-299.10, Y:15.07, Z:135.93 [[ 9.96837230e-01 -6.05147296e-02 5.15121749e-02 -2.99104273e+02] [ 6.21063572e-02 9.97622220e-01 -2.98781829e-02 1.50709171e+01] [-4.95816201e-02 3.29829187e-02 9.98225320e-01 1.35927848e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.61907232899995 meters Centerline goodness : 0.759454 Centerline is valid? [False, False] Translation: X:-299.11, Y:15.07, Z:135.93 [[ 9.96733493e-01 -6.12399172e-02 5.26499510e-02 -2.99106907e+02] [ 6.28477349e-02 9.97588718e-01 -2.94433678e-02 1.50682328e+01] [-5.07198877e-02 3.26561210e-02 9.98178877e-01 1.35927336e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.649072329 meters Centerline goodness : 0.758800 Centerline is valid? [False, False] Translation: X:-299.11, Y:15.06, Z:135.93 [[ 9.96076054e-01 -7.09079975e-02 5.29580126e-02 -2.99107282e+02] [ 7.20129977e-02 9.97217817e-01 -1.92549538e-02 1.50598734e+01] [-5.14453435e-02 2.29930636e-02 9.98411086e-01 1.35927051e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.67907232899995 meters Centerline goodness : 0.759683 Centerline is valid? [False, False] Translation: X:-299.11, Y:15.06, Z:135.93 [[ 9.95984270e-01 -7.14532116e-02 5.39423160e-02 -2.99109663e+02] [ 7.25763377e-02 9.97178905e-01 -1.91548208e-02 1.50584773e+01] [-5.24214662e-02 2.29928360e-02 9.98360315e-01 1.35926928e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.709072329 meters Centerline goodness : 0.760364 Centerline is valid? [False, False] Translation: X:-299.11, Y:15.06, Z:135.93 [[ 9.95837511e-01 -7.25085794e-02 5.52282248e-02 -2.99112637e+02] [ 7.36718138e-02 9.97095319e-01 -1.93232835e-02 1.50575010e+01] [-5.36667006e-02 2.33116141e-02 9.98286759e-01 1.35926602e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.73907232899995 meters Centerline goodness : 0.761353 Centerline is valid? [False, False] Translation: X:-299.11, Y:15.06, Z:135.93 [[ 9.95810017e-01 -7.26247617e-02 5.55702648e-02 -2.99113532e+02] [ 7.37952333e-02 9.97086519e-01 -1.93063986e-02 1.50574580e+01] [-5.40062393e-02 2.33263257e-02 9.98268105e-01 1.35926734e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.769072329 meters Centerline goodness : 0.760089 Centerline is valid? [False, False] Translation: X:-299.12, Y:15.06, Z:135.93 [[ 9.95739491e-01 -7.30450220e-02 5.62786974e-02 -2.99115285e+02] [ 7.42510550e-02 9.97046114e-01 -1.96424644e-02 1.50581757e+01] [-5.46776723e-02 2.37375301e-02 9.98221860e-01 1.35926809e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.79907232899996 meters Centerline goodness : 0.760452 Centerline is valid? [False, False] Translation: X:-299.12, Y:15.06, Z:135.93 [[ 9.95386330e-01 -7.70688840e-02 5.71527922e-02 -2.99116725e+02] [ 7.85020682e-02 9.96642402e-01 -2.32668921e-02 1.50556831e+01] [-5.51677427e-02 2.76461587e-02 9.98094289e-01 1.35926779e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.829072329 meters Centerline goodness : 0.761202 Centerline is valid? [False, False] Translation: X:-299.12, Y:15.06, Z:135.93 [[ 9.95352455e-01 -7.72409733e-02 5.75093243e-02 -2.99117183e+02] [ 7.86880606e-02 9.96626142e-01 -2.33350173e-02 1.50560950e+01] [-5.55128765e-02 2.77518639e-02 9.98072219e-01 1.35926154e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.85907232899996 meters Centerline goodness : 0.760524 Centerline is valid? [False, False] Translation: X:-299.12, Y:15.06, Z:135.93 [[ 9.95509603e-01 -7.46092049e-02 5.82588697e-02 -2.99120228e+02] [ 7.58756449e-02 9.96920000e-01 -1.98343110e-02 1.50557065e+01] [-5.65996102e-02 2.41656764e-02 9.98104456e-01 1.35926661e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.889072329 meters Centerline goodness : 0.760487 Centerline is valid? [False, False] Translation: X:-299.12, Y:15.06, Z:135.93 [[ 9.95394946e-01 -7.54226720e-02 5.91635115e-02 -2.99121703e+02] [ 7.67370911e-02 9.96845391e-01 -2.02653579e-02 1.50560545e+01] [-5.74484064e-02 2.47120706e-02 9.98042581e-01 1.35925608e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.91907232899996 meters Centerline goodness : 0.760681 Centerline is valid? [False, False] Translation: X:-299.12, Y:15.05, Z:135.93 [[ 9.95671334e-01 -7.15239048e-02 5.93542447e-02 -2.99122918e+02] [ 7.25766965e-02 9.97238110e-01 -1.57726309e-02 1.50548250e+01] [-5.80621946e-02 2.00120914e-02 9.98112367e-01 1.35925446e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.949072329 meters Centerline goodness : 0.760421 Centerline is valid? [False, False] Translation: X:-299.12, Y:15.06, Z:135.93 [[ 9.95720930e-01 -7.12430567e-02 5.88579360e-02 -2.99121969e+02] [ 7.22900380e-02 9.97257671e-01 -1.58520513e-02 1.50556992e+01] [-5.75671796e-02 2.00390616e-02 9.98140499e-01 1.35925827e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.97907232899996 meters Centerline goodness : 0.760834 Centerline is valid? [False, False] Translation: X:-299.12, Y:15.06, Z:135.93 [[ 9.95914504e-01 -6.83083757e-02 5.90615513e-02 -2.99124236e+02] [ 6.91914011e-02 9.97518239e-01 -1.30350322e-02 1.50586524e+01] [-5.80245728e-02 1.70683291e-02 9.98169235e-01 1.35927516e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.009072329 meters Centerline goodness : 0.759458 Centerline is valid? [False, False] Translation: X:-299.12, Y:15.06, Z:135.93 [[ 9.95964452e-01 -6.80677501e-02 5.84943728e-02 -2.99123018e+02] [ 6.89541915e-02 9.97531573e-01 -1.32695447e-02 1.50602908e+01] [-5.74467556e-02 1.72494270e-02 9.98199543e-01 1.35927858e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.03907232899996 meters Centerline goodness : 0.760449 Centerline is valid? [False, False] Translation: X:-299.13, Y:15.07, Z:135.92 [[ 9.96089262e-01 -6.39604970e-02 6.09527394e-02 -2.99133394e+02] [ 6.54034583e-02 9.97616840e-01 -2.19779062e-02 1.50664050e+01] [-5.94017614e-02 2.58784763e-02 9.97898660e-01 1.35922397e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.069072329 meters Centerline goodness : 0.760292 Centerline is valid? [False, False] Translation: X:-299.13, Y:15.07, Z:135.92 [[ 9.96307488e-01 -6.01832472e-02 6.12320649e-02 -2.99134762e+02] [ 6.13761367e-02 9.97956171e-01 -1.77890732e-02 1.50661640e+01] [-6.00363128e-02 2.14815744e-02 9.97965021e-01 1.35922369e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.09907232899997 meters Centerline goodness : 0.760713 Centerline is valid? [False, False] Translation: X:-299.13, Y:15.07, Z:135.92 [[ 9.96340388e-01 -6.00531547e-02 6.08231096e-02 -2.99133818e+02] [ 6.12483074e-02 9.97960639e-01 -1.79779965e-02 1.50673153e+01] [-5.96194339e-02 2.16375165e-02 9.97986644e-01 1.35922501e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.129072329 meters Centerline goodness : 0.760844 Centerline is valid? [False, False] Translation: X:-299.13, Y:15.07, Z:135.92 [[ 9.96392317e-01 -5.97782985e-02 6.02404005e-02 -2.99132476e+02] [ 6.09671653e-02 9.97975778e-01 -1.80928614e-02 1.50685670e+01] [-5.90369000e-02 2.17002746e-02 9.98019911e-01 1.35922650e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.15907232899997 meters Centerline goodness : 0.761426 Centerline is valid? [False, False] Translation: X:-299.13, Y:15.07, Z:135.92 [[ 9.96300788e-01 -6.06082717e-02 6.09210685e-02 -2.99134433e+02] [ 6.18841807e-02 9.97897142e-01 -1.92780087e-02 1.50716460e+01] [-5.96245534e-02 2.29767457e-02 9.97956403e-01 1.35923302e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.18907232899994 meters Centerline goodness : 0.761724 Centerline is valid? [False, False] Translation: X:-299.14, Y:15.07, Z:135.93 [[ 9.96482743e-01 -5.76936793e-02 6.07748548e-02 -2.99136082e+02] [ 5.88016918e-02 9.98131622e-01 -1.66020219e-02 1.50743791e+01] [-5.97034726e-02 2.01172926e-02 9.98013422e-01 1.35925363e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.21907232899997 meters Centerline goodness : 0.762221 Centerline is valid? [False, False] Translation: X:-299.13, Y:15.08, Z:135.93 [[ 9.96901407e-01 -5.20987068e-02 5.89347821e-02 -2.99132679e+02] [ 5.29600989e-02 9.98510060e-01 -1.31486740e-02 1.50792829e+01] [-5.81619439e-02 1.62291235e-02 9.98175237e-01 1.35926837e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.24907232899994 meters Centerline goodness : 0.762500 Centerline is valid? [False, False] Translation: X:-299.13, Y:15.09, Z:135.93 [[ 9.97542647e-01 -4.26803401e-02 5.55612799e-02 -2.99127691e+02] [ 4.32250103e-02 9.99028020e-01 -8.63795088e-03 1.50863656e+01] [-5.51386048e-02 1.10183613e-02 9.98417913e-01 1.35933219e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.279072329 meters Centerline goodness : 0.761974 Centerline is valid? [False, False] Translation: X:-299.12, Y:15.09, Z:135.94 [[ 9.98230463e-01 -4.05724755e-02 4.34720295e-02 -2.99119989e+02] [ 4.10262252e-02 9.99111983e-01 -9.59654504e-03 1.50906671e+01] [-4.30440700e-02 1.13630569e-02 9.99008553e-01 1.35937522e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.30907232899995 meters Centerline goodness : 0.761855 Centerline is valid? [False, False] Translation: X:-299.12, Y:15.09, Z:135.94 [[ 9.98281927e-01 -4.01890145e-02 4.26384579e-02 -2.99118104e+02] [ 4.06434826e-02 9.99125204e-01 -9.84549583e-03 1.50925432e+01] [-4.22054772e-02 1.15615560e-02 9.99042055e-01 1.35937885e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.339072329 meters Centerline goodness : 0.763086 Centerline is valid? [False, False] Translation: X:-299.12, Y:15.09, Z:135.94 [[ 9.98336856e-01 -3.95042740e-02 4.19872994e-02 -2.99116212e+02] [ 3.99227979e-02 9.99160631e-01 -9.17623392e-03 1.50915644e+01] [-4.15895561e-02 1.08372230e-02 9.99076005e-01 1.35937382e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.36907232899995 meters Centerline goodness : 0.760699 Centerline is valid? [False, False] Translation: X:-299.11, Y:15.09, Z:135.94 [[ 9.98445495e-01 -3.76056255e-02 4.11389142e-02 -2.99112910e+02] [ 3.79448815e-02 9.99251712e-01 -7.49680408e-03 1.50907135e+01] [-4.08262085e-02 9.04616149e-03 9.99125311e-01 1.35935707e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.399072329 meters Centerline goodness : 0.763366 Centerline is valid? [False, False] Translation: X:-299.11, Y:15.09, Z:135.94 [[ 9.98598083e-01 -3.37541237e-02 4.07741119e-02 -2.99112200e+02] [ 3.39411160e-02 9.99416216e-01 -3.90234847e-03 1.50930103e+01] [-4.06185883e-02 5.28079656e-03 9.99160770e-01 1.35935447e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.42907232899995 meters Centerline goodness : 0.762282 Centerline is valid? [False, False] Translation: X:-299.11, Y:15.09, Z:135.94 [[ 9.98611670e-01 -3.36635127e-02 4.05154315e-02 -2.99111665e+02] [ 3.38496296e-02 9.99419264e-01 -3.91633696e-03 1.50932176e+01] [-4.03600651e-02 5.28233214e-03 9.99171238e-01 1.35935562e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.459072329 meters Centerline goodness : 0.762257 Centerline is valid? [False, False] Translation: X:-299.11, Y:15.09, Z:135.94 [[ 9.98578758e-01 -3.39902399e-02 4.10503070e-02 -2.99113272e+02] [ 3.41872369e-02 9.99407010e-01 -4.10629193e-03 1.50931781e+01] [-4.08863907e-02 5.50385247e-03 9.99148643e-01 1.35935957e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.48907232899995 meters Centerline goodness : 0.762714 Centerline is valid? [False, False] Translation: X:-299.11, Y:15.09, Z:135.94 [[ 9.98415306e-01 -3.79609420e-02 4.15432653e-02 -2.99114190e+02] [ 3.83177265e-02 9.99234963e-01 -7.82567856e-03 1.50913594e+01] [-4.12144130e-02 9.40512074e-03 9.99106058e-01 1.35936037e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.519072329 meters Centerline goodness : 0.761802 Centerline is valid? [False, False] Translation: X:-299.12, Y:15.09, Z:135.94 [[ 9.98357924e-01 -3.85077116e-02 4.24100358e-02 -2.99116534e+02] [ 3.88883305e-02 9.99210029e-01 -8.18629980e-03 1.50917197e+01] [-4.20612975e-02 9.82211276e-03 9.99066751e-01 1.35936375e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.54907232899996 meters Centerline goodness : 0.762414 Centerline is valid? [False, False] Translation: X:-299.12, Y:15.09, Z:135.94 [[ 9.98166566e-01 -4.24389381e-02 4.31560409e-02 -2.99117889e+02] [ 4.29773541e-02 9.99008408e-01 -1.16253001e-02 1.50889065e+01] [-4.26198823e-02 1.34587184e-02 9.99000705e-01 1.35936146e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.579072329 meters Centerline goodness : 0.762414 Centerline is valid? [False, False] Translation: X:-299.12, Y:15.09, Z:135.94 [[ 9.98136472e-01 -4.25113679e-02 4.37763234e-02 -2.99119228e+02] [ 4.30390292e-02 9.99010813e-01 -1.11820388e-02 1.50871372e+01] [-4.32576567e-02 1.30452913e-02 9.98978776e-01 1.35935775e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.60907232899996 meters Centerline goodness : 0.762736 Centerline is valid? [False, False] Translation: X:-299.12, Y:15.09, Z:135.94 [[ 9.98080772e-01 -4.29916978e-02 4.45700172e-02 -2.99121335e+02] [ 4.35333830e-02 9.98988578e-01 -1.12545947e-02 1.50865189e+01] [-4.40410840e-02 1.31732782e-02 9.98942865e-01 1.35935913e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.639072329 meters Centerline goodness : 0.763576 Centerline is valid? [False, False] Translation: X:-299.12, Y:15.09, Z:135.94 [[ 9.98028396e-01 -4.34096769e-02 4.53312307e-02 -2.99122775e+02] [ 4.39656695e-02 9.98968675e-01 -1.13405095e-02 1.50864210e+01] [-4.47921916e-02 1.33111684e-02 9.98907640e-01 1.35935275e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.66907232899996 meters Centerline goodness : 0.763189 Centerline is valid? [False, False] Translation: X:-299.13, Y:15.08, Z:135.93 [[ 9.97755413e-01 -4.79590328e-02 4.67340035e-02 -2.99125341e+02] [ 4.86765919e-02 9.98711671e-01 -1.43383221e-02 1.50815628e+01] [-4.59861427e-02 1.65809905e-02 9.98804458e-01 1.35934263e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.699072329 meters Centerline goodness : 0.763291 Centerline is valid? [False, False] Translation: X:-299.13, Y:15.08, Z:135.93 [[ 9.97525338e-01 -5.17889752e-02 4.75510457e-02 -2.99126527e+02] [ 5.26748601e-02 9.98457151e-01 -1.75692251e-02 1.50782117e+01] [-4.65677895e-02 2.00304919e-02 9.98714284e-01 1.35933654e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.72907232899996 meters Centerline goodness : 0.762512 Centerline is valid? [False, False] Translation: X:-299.13, Y:15.07, Z:135.93 [[ 9.97189885e-01 -5.66271378e-02 4.90479317e-02 -2.99129565e+02] [ 5.76864041e-02 9.98125156e-01 -2.04560704e-02 1.50716577e+01] [-4.77976058e-02 2.32279853e-02 9.98586926e-01 1.35932915e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.759072329 meters Centerline goodness : 0.761505 Centerline is valid? [False, False] Translation: X:-299.13, Y:15.07, Z:135.93 [[ 9.97007889e-01 -5.85366295e-02 5.04849717e-02 -2.99133270e+02] [ 5.96827680e-02 9.97985814e-01 -2.15007476e-02 1.50714223e+01] [-4.91247042e-02 2.44494979e-02 9.98493358e-01 1.35933100e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.78907232899996 meters Centerline goodness : 0.761160 Centerline is valid? [False, False] Translation: X:-299.14, Y:15.07, Z:135.93 [[ 9.96869044e-01 -5.96768117e-02 5.18728079e-02 -2.99136104e+02] [ 6.08639400e-02 9.97912032e-01 -2.16138137e-02 1.50701279e+01] [-5.04746556e-02 2.47033252e-02 9.98419779e-01 1.35932155e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.819072329 meters Centerline goodness : 0.760492 Centerline is valid? [False, False] Translation: X:-299.14, Y:15.07, Z:135.93 [[ 9.96275725e-01 -6.58796437e-02 5.56287014e-02 -2.99142803e+02] [ 6.72456375e-02 9.97470171e-01 -2.30495529e-02 1.50666033e+01] [-5.39694740e-02 2.67044975e-02 9.98185437e-01 1.35926545e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.84907232899997 meters Centerline goodness : 0.760870 Centerline is valid? [False, False] Translation: X:-299.14, Y:15.07, Z:135.93 [[ 9.95930656e-01 -7.01890322e-02 5.65298822e-02 -2.99144011e+02] [ 7.18138854e-02 9.97045970e-01 -2.72414915e-02 1.50662187e+01] [-5.44508373e-02 3.11902670e-02 9.98029195e-01 1.35926108e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.879072329 meters Centerline goodness : 0.760328 Centerline is valid? [False, False] Translation: X:-299.15, Y:15.06, Z:135.92 [[ 9.95327171e-01 -7.48470534e-02 6.10060777e-02 -2.99154779e+02] [ 7.65409013e-02 9.96729607e-01 -2.59148708e-02 1.50649975e+01] [-5.88669122e-02 3.04632352e-02 9.97800921e-01 1.35922051e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.90907232899997 meters Centerline goodness : 0.761288 Centerline is valid? [False, False] Translation: X:-299.16, Y:15.07, Z:135.92 [[ 9.95439636e-01 -7.26343217e-02 6.18400118e-02 -2.99158414e+02] [ 7.41691668e-02 9.96982852e-01 -2.28938361e-02 1.50650677e+01] [-5.99905530e-02 2.73760540e-02 9.97823474e-01 1.35923195e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.93907232899994 meters Centerline goodness : 0.761039 Centerline is valid? [False, False] Translation: X:-299.16, Y:15.07, Z:135.92 [[ 9.95338506e-01 -7.32512939e-02 6.27336185e-02 -2.99160241e+02] [ 7.48411655e-02 9.96921424e-01 -2.33767733e-02 1.50660614e+01] [-6.08281094e-02 2.79628598e-02 9.97756493e-01 1.35922711e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.96907232899997 meters Centerline goodness : 0.761936 Centerline is valid? [False, False] Translation: X:-299.16, Y:15.06, Z:135.92 [[ 9.95247626e-01 -7.37053208e-02 6.36371608e-02 -2.99162128e+02] [ 7.53055526e-02 9.96892402e-01 -2.31216807e-02 1.50645898e+01] [-6.17352112e-02 2.78040294e-02 9.97705217e-01 1.35922133e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.99907232899994 meters Centerline goodness : 0.762637 Centerline is valid? [False, False] Translation: X:-299.16, Y:15.06, Z:135.92 [[ 9.95133328e-01 -7.42539363e-02 6.47766420e-02 -2.99164317e+02] [ 7.58707617e-02 9.96855479e-01 -2.28644196e-02 1.50630598e+01] [-6.28751774e-02 2.76677991e-02 9.97637813e-01 1.35921174e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.029072329 meters Centerline goodness : 0.760991 Centerline is valid? [False, False] Translation: X:-299.17, Y:15.06, Z:135.92 [[ 9.94962932e-01 -7.54371131e-02 6.60151940e-02 -2.99167565e+02] [ 7.71349740e-02 9.96742342e-01 -2.35563204e-02 1.50634263e+01] [-6.40231182e-02 2.85297458e-02 9.97540522e-01 1.35921539e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.05907232899995 meters Centerline goodness : 0.760991 Centerline is valid? [False, False] Translation: X:-299.17, Y:15.06, Z:135.92 [[ 9.94962932e-01 -7.54371131e-02 6.60151940e-02 -2.99167565e+02] [ 7.71349740e-02 9.96742342e-01 -2.35563204e-02 1.50634263e+01] [-6.40231182e-02 2.85297458e-02 9.97540522e-01 1.35921539e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.089072329 meters Centerline goodness : 0.761371 Centerline is valid? [False, False] Translation: X:-299.17, Y:15.06, Z:135.92 [[ 9.94638620e-01 -7.91615353e-02 6.65392086e-02 -2.99168773e+02] [ 8.11213633e-02 9.96330758e-01 -2.72826865e-02 1.50614705e+01] [-6.41353208e-02 3.25341649e-02 9.97410742e-01 1.35922583e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.11907232899995 meters Centerline goodness : 0.762343 Centerline is valid? [False, False] Translation: X:-299.17, Y:15.06, Z:135.92 [[ 9.94479249e-01 -8.02097695e-02 6.76565981e-02 -2.99171535e+02] [ 8.22781037e-02 9.96205950e-01 -2.83552123e-02 1.50638342e+01] [-6.51255406e-02 3.37653269e-02 9.97305654e-01 1.35922825e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.149072329 meters Centerline goodness : 0.762878 Centerline is valid? [False, False] Translation: X:-299.17, Y:15.06, Z:135.92 [[ 9.94445963e-01 -8.03224861e-02 6.80112047e-02 -2.99172191e+02] [ 8.23944630e-02 9.96200048e-01 -2.82244179e-02 1.50633553e+01] [-6.54857100e-02 3.36714052e-02 9.97285244e-01 1.35922482e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.17907232899995 meters Centerline goodness : 0.761103 Centerline is valid? [False, False] Translation: X:-299.17, Y:15.06, Z:135.92 [[ 9.94333699e-01 -8.09022328e-02 6.89588566e-02 -2.99173876e+02] [ 8.30198463e-02 9.96142795e-01 -2.84119349e-02 1.50635631e+01] [-6.63942792e-02 3.39758980e-02 9.97214840e-01 1.35921579e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.209072329 meters Centerline goodness : 0.762062 Centerline is valid? [False, False] Translation: X:-299.18, Y:15.06, Z:135.92 [[ 9.93732192e-01 -8.44664330e-02 7.32239857e-02 -2.99183097e+02] [ 8.65403597e-02 9.95918780e-01 -2.56232211e-02 1.50606105e+01] [-7.07608405e-02 3.17994497e-02 9.96986308e-01 1.35915838e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.23907232899995 meters Centerline goodness : 0.762589 Centerline is valid? [False, False] Translation: X:-299.19, Y:15.06, Z:135.92 [[ 9.93500391e-01 -8.59593012e-02 7.46188392e-02 -2.99186429e+02] [ 8.81255613e-02 9.95763836e-01 -2.62348778e-02 1.50598456e+01] [-7.20476098e-02 3.26401885e-02 9.96866972e-01 1.35915831e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.269072329 meters Centerline goodness : 0.763196 Centerline is valid? [False, False] Translation: X:-299.19, Y:15.05, Z:135.92 [[ 9.93145965e-01 -8.93296104e-02 7.53744871e-02 -2.99187471e+02] [ 9.17224014e-02 9.95365223e-01 -2.88976467e-02 1.50548631e+01] [-7.24437276e-02 3.56131102e-02 9.96736481e-01 1.35915715e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.29907232899996 meters Centerline goodness : 0.762286 Centerline is valid? [False, False] Translation: X:-299.19, Y:15.05, Z:135.92 [[ 9.93092677e-01 -8.95043812e-02 7.58676480e-02 -2.99188850e+02] [ 9.19186445e-02 9.95345768e-01 -2.89441653e-02 1.50547549e+01] [-7.29239128e-02 3.57178900e-02 9.96697715e-01 1.35916025e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.329072329 meters Centerline goodness : 0.762584 Centerline is valid? [False, False] Translation: X:-299.19, Y:15.05, Z:135.92 [[ 9.92983051e-01 -9.00197738e-02 7.66883321e-02 -2.99191165e+02] [ 9.24748577e-02 9.95290261e-01 -2.90808539e-02 1.50540668e+01] [-7.37092982e-02 3.59685377e-02 9.96630926e-01 1.35916553e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.35907232899996 meters Centerline goodness : 0.762637 Centerline is valid? [False, False] Translation: X:-299.19, Y:15.05, Z:135.92 [[ 9.92922722e-01 -9.03063094e-02 7.71313075e-02 -2.99192312e+02] [ 9.27883645e-02 9.95257042e-01 -2.92188093e-02 1.50540781e+01] [-7.41268341e-02 3.61689076e-02 9.96592706e-01 1.35916677e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.389072329 meters Centerline goodness : 0.761744 Centerline is valid? [False, False] Translation: X:-299.19, Y:15.05, Z:135.92 [[ 9.92997747e-01 -8.99629567e-02 7.65646147e-02 -2.99190795e+02] [ 9.24239324e-02 9.95290827e-01 -2.92230444e-02 1.50549981e+01] [-7.35750672e-02 3.60948200e-02 9.96636279e-01 1.35916459e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.41907232899996 meters Centerline goodness : 0.763399 Centerline is valid? [False, False] Translation: X:-299.19, Y:15.05, Z:135.92 [[ 9.92999419e-01 -8.99242749e-02 7.65883755e-02 -2.99191085e+02] [ 9.23752455e-02 9.95299621e-01 -2.90771062e-02 1.50545022e+01] [-7.36136434e-02 3.59484196e-02 9.96638722e-01 1.35916787e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.449072329 meters Centerline goodness : 0.763474 Centerline is valid? [False, False] Translation: X:-299.19, Y:15.06, Z:135.92 [[ 9.93250192e-01 -8.67862204e-02 7.69558784e-02 -2.99192672e+02] [ 8.89740994e-02 9.95708330e-01 -2.54662640e-02 1.50555773e+01] [-7.44154884e-02 3.21414516e-02 9.96709216e-01 1.35916499e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.47907232899996 meters Centerline goodness : 0.763184 Centerline is valid? [False, False] Translation: X:-299.19, Y:15.06, Z:135.92 [[ 9.93574522e-01 -8.31194672e-02 7.68168233e-02 -2.99193363e+02] [ 8.50059066e-02 9.96145913e-01 -2.16174698e-02 1.50567111e+01] [-7.47239320e-02 2.80084509e-02 9.96810845e-01 1.35916692e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.509072329 meters Centerline goodness : 0.762761 Centerline is valid? [False, False] Translation: X:-299.19, Y:15.07, Z:135.92 [[ 9.94612365e-01 -8.13193179e-02 6.42916156e-02 -2.99194115e+02] [ 8.31420790e-02 9.96193255e-01 -2.61991216e-02 1.50693042e+01] [-6.19163791e-02 3.14033089e-02 9.97587186e-01 1.35921351e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.53907232899996 meters Centerline goodness : 0.763094 Centerline is valid? [False, False] Translation: X:-299.19, Y:15.07, Z:135.92 [[ 9.94655391e-01 -8.10134469e-02 6.40115120e-02 -2.99193238e+02] [ 8.28042514e-02 9.96230961e-01 -2.58327144e-02 1.50686209e+01] [-6.16774528e-02 3.09950740e-02 9.97614754e-01 1.35920978e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.569072329 meters Centerline goodness : 0.764657 Centerline is valid? [False, False] Translation: X:-299.20, Y:15.07, Z:135.92 [[ 9.94892578e-01 -7.76244538e-02 6.45228760e-02 -2.99195242e+02] [ 7.91824318e-02 9.96618532e-01 -2.19463952e-02 1.50689292e+01] [-6.26011170e-02 2.69433839e-02 9.97674874e-01 1.35920822e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.59907232899997 meters Centerline goodness : 0.763775 Centerline is valid? [False, False] Translation: X:-299.19, Y:15.07, Z:135.92 [[ 9.95226923e-01 -7.37527233e-02 6.39054546e-02 -2.99194117e+02] [ 7.50610733e-02 9.97010696e-01 -1.83168564e-02 1.50715699e+01] [-6.23635037e-02 2.30262406e-02 9.97787846e-01 1.35920251e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.629072329 meters Centerline goodness : 0.763590 Centerline is valid? [False, False] Translation: X:-299.19, Y:15.07, Z:135.92 [[ 9.95259392e-01 -7.37500939e-02 6.34008425e-02 -2.99193162e+02] [ 7.50829340e-02 9.96998163e-01 -1.89001764e-02 1.50739874e+01] [-6.18166337e-02 2.35708993e-02 9.97809158e-01 1.35920768e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.65907232899997 meters Centerline goodness : 0.765053 Centerline is valid? [False, False] Translation: X:-299.20, Y:15.08, Z:135.92 [[ 9.95492477e-01 -7.06400570e-02 6.32827799e-02 -2.99195000e+02] [ 7.17948945e-02 9.97288469e-01 -1.61617910e-02 1.50772540e+01] [-6.19695168e-02 2.06323218e-02 9.97864764e-01 1.35922918e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.68907232899994 meters Centerline goodness : 0.765654 Centerline is valid? [False, False] Translation: X:-299.20, Y:15.09, Z:135.93 [[ 9.96237156e-01 -6.91743267e-02 5.22153323e-02 -2.99197942e+02] [ 7.04439161e-02 9.97253383e-01 -2.28767150e-02 1.50887392e+01] [-5.04894354e-02 2.64688860e-02 9.98373785e-01 1.35926050e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.71907232899997 meters Centerline goodness : 0.766934 Centerline is valid? [False, False] Translation: X:-299.20, Y:15.09, Z:135.93 [[ 9.96514835e-01 -6.53254331e-02 5.18726441e-02 -2.99197846e+02] [ 6.63950022e-02 9.97609269e-01 -1.91690080e-02 1.50907297e+01] [-5.04964068e-02 2.25462852e-02 9.98469718e-01 1.35926159e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.74907232899994 meters Centerline goodness : 0.767023 Centerline is valid? [False, False] Translation: X:-299.20, Y:15.09, Z:135.93 [[ 9.96716310e-01 -6.19178196e-02 5.21802731e-02 -2.99199659e+02] [ 6.28113221e-02 9.97902559e-01 -1.56595295e-02 1.50922220e+01] [-5.11012241e-02 1.88856204e-02 9.98514896e-01 1.35926725e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.779072329 meters Centerline goodness : 0.766802 Centerline is valid? [False, False] Translation: X:-299.20, Y:15.09, Z:135.93 [[ 9.96917539e-01 -5.84832921e-02 5.22984165e-02 -2.99200779e+02] [ 5.92053066e-02 9.98169264e-01 -1.23633567e-02 1.50949801e+01] [-5.14796221e-02 1.54215910e-02 9.98554967e-01 1.35927063e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.80907232899995 meters Centerline goodness : 0.766962 Centerline is valid? [False, False] Translation: X:-299.19, Y:15.10, Z:135.93 [[ 9.97509804e-01 -5.72358321e-02 4.12098388e-02 -2.99193990e+02] [ 5.78302161e-02 9.98236797e-01 -1.33777216e-02 1.50984484e+01] [-4.03714925e-02 1.57275823e-02 9.99060952e-01 1.35928988e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.839072329 meters Centerline goodness : 0.767108 Centerline is valid? [False, False] Translation: X:-299.21, Y:15.11, Z:135.93 [[ 9.97887792e-01 -4.82294238e-02 4.35187004e-02 -2.99205510e+02] [ 4.90580605e-02 9.98630503e-01 -1.81776083e-02 1.51118627e+01] [-4.25824061e-02 2.02741564e-02 9.98887230e-01 1.35925870e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.86907232899995 meters Centerline goodness : 0.767529 Centerline is valid? [False, False] Translation: X:-299.21, Y:15.11, Z:135.93 [[ 9.98032854e-01 -4.49089461e-02 4.37448264e-02 -2.99207451e+02] [ 4.56037831e-02 9.98846726e-01 -1.50170894e-02 1.51142298e+01] [-4.30199749e-02 1.69824781e-02 9.98929866e-01 1.35927201e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.899072329 meters Centerline goodness : 0.766259 Centerline is valid? [False, False] Translation: X:-299.21, Y:15.12, Z:135.93 [[ 9.98243427e-01 -4.08172229e-02 4.29419909e-02 -2.99206389e+02] [ 4.13511797e-02 9.99077101e-01 -1.16201094e-02 1.51173512e+01] [-4.24280592e-02 1.33753998e-02 9.99009989e-01 1.35928025e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.92907232899995 meters Centerline goodness : 0.767649 Centerline is valid? [False, False] Translation: X:-299.20, Y:15.12, Z:135.93 [[ 9.98333635e-01 -3.95641332e-02 4.20075285e-02 -2.99203272e+02] [ 4.00382922e-02 9.99142907e-01 -1.05064661e-02 1.51165279e+01] [-4.15558449e-02 1.21708682e-02 9.99062051e-01 1.35926913e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.959072329 meters Centerline goodness : 0.768002 Centerline is valid? [False, False] Translation: X:-299.20, Y:15.12, Z:135.93 [[ 9.98495179e-01 -3.56926785e-02 4.16342425e-02 -2.99202688e+02] [ 3.60106758e-02 9.99327496e-01 -6.91284797e-03 1.51187626e+01] [-4.13595052e-02 8.40172258e-03 9.99109004e-01 1.35926844e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.98907232899995 meters Centerline goodness : 0.766534 Centerline is valid? [False, False] Translation: X:-299.20, Y:15.13, Z:135.93 [[ 9.98768872e-01 -2.82462446e-02 4.07785441e-02 -2.99202239e+02] [ 2.82907238e-02 9.99599605e-01 -5.13981217e-04 1.51251321e+01] [-4.07476985e-02 1.66700297e-03 9.99168077e-01 1.35928456e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.019072329 meters Centerline goodness : 0.769213 Centerline is valid? [False, False] Translation: X:-299.21, Y:15.14, Z:135.92 [[ 9.98878949e-01 -1.97892509e-02 4.30026920e-02 -2.99213997e+02] [ 2.00649938e-02 9.99780734e-01 -5.99004614e-03 1.51371257e+01] [-4.28747244e-02 6.84617974e-03 9.99056999e-01 1.35924987e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.04907232899996 meters Centerline goodness : 0.769057 Centerline is valid? [False, False] Translation: X:-299.21, Y:15.14, Z:135.93 [[ 9.98933018e-01 -1.93147868e-02 4.19495583e-02 -2.99212016e+02] [ 1.95967676e-02 9.99787983e-01 -6.32108035e-03 1.51391417e+01] [-4.18185739e-02 7.13641162e-03 9.99099734e-01 1.35926063e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.079072329 meters Centerline goodness : 0.767681 Centerline is valid? [False, False] Translation: X:-299.21, Y:15.14, Z:135.93 [[ 9.98939366e-01 -1.96119528e-02 4.16595027e-02 -2.99211909e+02] [ 1.99276474e-02 9.99775670e-01 -7.17622894e-03 1.51417606e+01] [-4.15094173e-02 7.99879346e-03 9.99106094e-01 1.35927120e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.10907232899996 meters Centerline goodness : 0.768086 Centerline is valid? [False, False] Translation: X:-299.21, Y:15.14, Z:135.93 [[ 9.98976284e-01 -1.90870097e-02 4.10130569e-02 -2.99210201e+02] [ 1.93870834e-02 9.99788027e-01 -6.93127460e-03 1.51420421e+01] [-4.08720659e-02 7.71930249e-03 9.99134569e-01 1.35927031e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.139072329 meters Centerline goodness : 0.770077 Centerline is valid? [False, False] Translation: X:-299.21, Y:15.14, Z:135.93 [[ 9.99032394e-01 -1.83561795e-02 3.99665714e-02 -2.99207924e+02] [ 1.86404606e-02 9.99803453e-01 -6.75195106e-03 1.51426614e+01] [-3.98347761e-02 7.49041313e-03 9.99178204e-01 1.35927570e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.16907232899996 meters Centerline goodness : 0.769050 Centerline is valid? [False, False] Translation: X:-299.21, Y:15.14, Z:135.93 [[ 9.99062573e-01 -1.80560698e-02 3.93440372e-02 -2.99206423e+02] [ 1.83361641e-02 9.99808959e-01 -6.76989290e-03 1.51433371e+01] [-3.92142832e-02 7.48496534e-03 9.99202790e-01 1.35927679e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.199072329 meters Centerline goodness : 0.769240 Centerline is valid? [False, False] Translation: X:-299.21, Y:15.14, Z:135.93 [[ 9.99081885e-01 -1.79781730e-02 3.88866720e-02 -2.99205554e+02] [ 1.82641178e-02 9.99808619e-01 -7.01054989e-03 1.51444189e+01] [-3.87531929e-02 7.71434415e-03 9.99219035e-01 1.35928112e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.22907232899996 meters Centerline goodness : 0.769874 Centerline is valid? [False, False] Translation: X:-299.20, Y:15.15, Z:135.93 [[ 9.99133503e-01 -1.71706372e-02 3.79132156e-02 -2.99202914e+02] [ 1.74394741e-02 9.99824990e-01 -6.77153413e-03 1.51455341e+01] [-3.77903089e-02 7.42685316e-03 9.99258092e-01 1.35927994e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.259072329 meters Centerline goodness : 0.769964 Centerline is valid? [False, False] Translation: X:-299.20, Y:15.15, Z:135.93 [[ 9.99133879e-01 -1.71094658e-02 3.79309589e-02 -2.99202850e+02] [ 1.73736516e-02 9.99826977e-01 -6.64624449e-03 1.51451355e+01] [-3.78106823e-02 7.29948730e-03 9.99258260e-01 1.35927764e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.28907232899996 meters Centerline goodness : 0.769356 Centerline is valid? [False, False] Translation: X:-299.20, Y:15.14, Z:135.93 [[ 9.99196568e-01 -1.56380937e-02 3.69008008e-02 -2.99199552e+02] [ 1.58465449e-02 9.99860052e-01 -5.36324730e-03 1.51435944e+01] [-3.68117657e-02 5.94368849e-03 9.99304541e-01 1.35926734e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.319072329 meters Centerline goodness : 0.768114 Centerline is valid? [False, False] Translation: X:-299.20, Y:15.14, Z:135.93 [[ 9.99219071e-01 -1.53261326e-02 3.64191982e-02 -2.99197981e+02] [ 1.55287965e-02 9.99865436e-01 -5.28840457e-03 1.51441540e+01] [-3.63332467e-02 5.84982102e-03 9.99322608e-01 1.35926183e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.34907232899997 meters Centerline goodness : 0.769754 Centerline is valid? [False, False] Translation: X:-299.20, Y:15.14, Z:135.93 [[ 9.99235812e-01 -1.50772710e-02 3.60619997e-02 -2.99197267e+02] [ 1.52716398e-02 9.99870270e-01 -5.12046785e-03 1.51438479e+01] [-3.59801188e-02 5.66728072e-03 9.99336436e-01 1.35926384e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.379072329 meters Centerline goodness : 0.771341 Centerline is valid? [False, False] Translation: X:-299.19, Y:15.15, Z:135.93 [[ 9.99283931e-01 -1.44165837e-02 3.49826775e-02 -2.99194909e+02] [ 1.46122317e-02 9.99878958e-01 -5.34349236e-03 1.51458495e+01] [-3.49014082e-02 5.85084104e-03 9.99373634e-01 1.35927092e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.40907232899997 meters Centerline goodness : 0.771396 Centerline is valid? [False, False] Translation: X:-299.19, Y:15.15, Z:135.93 [[ 9.99294155e-01 -1.44806843e-02 3.46626694e-02 -2.99194524e+02] [ 1.46886511e-02 9.99875568e-01 -5.75261029e-03 1.51472792e+01] [-3.45750545e-02 6.25769770e-03 9.99382513e-01 1.35927737e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.43907232899994 meters Centerline goodness : 0.770603 Centerline is valid? [False, False] Translation: X:-299.19, Y:15.15, Z:135.93 [[ 9.99287874e-01 -1.46844634e-02 3.47579019e-02 -2.99194916e+02] [ 1.49048602e-02 9.99870368e-01 -6.09030399e-03 1.51482378e+01] [-3.46639634e-02 6.60402859e-03 9.99377204e-01 1.35927991e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.46907232899997 meters Centerline goodness : 0.770688 Centerline is valid? [False, False] Translation: X:-299.19, Y:15.15, Z:135.93 [[ 9.99306403e-01 -1.43983621e-02 3.43423955e-02 -2.99194084e+02] [ 1.46091000e-02 9.99875914e-01 -5.89334961e-03 1.51480111e+01] [-3.42532795e-02 6.39097349e-03 9.99392750e-01 1.35928281e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.49907232899994 meters Centerline goodness : 0.771967 Centerline is valid? [False, False] Translation: X:-299.19, Y:15.15, Z:135.93 [[ 9.99324419e-01 -1.43742157e-02 3.38243710e-02 -2.99192641e+02] [ 1.45933499e-02 9.99874036e-01 -6.24064306e-03 1.51497459e+01] [-3.37304060e-02 6.73003788e-03 9.99408308e-01 1.35928158e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.529072329 meters Centerline goodness : 0.772410 Centerline is valid? [False, False] Translation: X:-299.19, Y:15.15, Z:135.93 [[ 9.99329147e-01 -1.44620122e-02 3.36467795e-02 -2.99192265e+02] [ 1.46894945e-02 9.99870823e-01 -6.52353809e-03 1.51508828e+01] [-3.35480896e-02 7.01341594e-03 9.99412496e-01 1.35928336e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.55907232899995 meters Centerline goodness : 0.771955 Centerline is valid? [False, False] Translation: X:-299.19, Y:15.15, Z:135.93 [[ 9.99292140e-01 -1.54445267e-02 3.43028490e-02 -2.99194992e+02] [ 1.57108306e-02 9.99848393e-01 -7.50737464e-03 1.51521657e+01] [-3.41817006e-02 8.04098672e-03 9.99383287e-01 1.35929856e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.589072329 meters Centerline goodness : 0.772460 Centerline is valid? [False, False] Translation: X:-299.20, Y:15.15, Z:135.93 [[ 9.99273299e-01 -1.56576279e-02 3.47521627e-02 -2.99196578e+02] [ 1.59305555e-02 9.99844288e-01 -7.59057577e-03 1.51516019e+01] [-3.46279010e-02 8.13868095e-03 9.99367135e-01 1.35930462e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.61907232899995 meters Centerline goodness : 0.772546 Centerline is valid? [False, False] Translation: X:-299.20, Y:15.15, Z:135.93 [[ 9.99227624e-01 -1.91079531e-02 3.43371642e-02 -2.99195246e+02] [ 1.95035262e-02 9.99746802e-01 -1.12224515e-02 1.51507705e+01] [-3.41140320e-02 1.18834793e-02 9.99347295e-01 1.35930368e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.649072329 meters Centerline goodness : 0.772890 Centerline is valid? [False, False] Translation: X:-299.20, Y:15.15, Z:135.93 [[ 9.99188080e-01 -1.96547054e-02 3.51692058e-02 -2.99197636e+02] [ 2.00574523e-02 9.99736812e-01 -1.11357276e-02 1.51488869e+01] [-3.49410803e-02 1.18320909e-02 9.99319330e-01 1.35930595e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.67907232899995 meters Centerline goodness : 0.773838 Centerline is valid? [False, False] Translation: X:-299.20, Y:15.15, Z:135.93 [[ 9.99177627e-01 -1.97030282e-02 3.54381290e-02 -2.99198244e+02] [ 2.01031801e-02 9.99737717e-01 -1.09708787e-02 1.51482152e+01] [-3.52126746e-02 1.16742756e-02 9.99311653e-01 1.35930454e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.709072329 meters Centerline goodness : 0.772823 Centerline is valid? [False, False] Translation: X:-299.20, Y:15.15, Z:135.93 [[ 9.99190273e-01 -1.94950245e-02 3.51957663e-02 -2.99197589e+02] [ 1.98840280e-02 9.99744643e-01 -1.07365498e-02 1.51479209e+01] [-3.49774695e-02 1.14276897e-02 9.99322763e-01 1.35930364e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.73907232899995 meters Centerline goodness : 0.772920 Centerline is valid? [False, False] Translation: X:-299.20, Y:15.15, Z:135.93 [[ 9.99167206e-01 -1.98375522e-02 3.56562100e-02 -2.99198345e+02] [ 2.02367647e-02 9.99736120e-01 -1.08703157e-02 1.51480771e+01] [-3.54311606e-02 1.15828293e-02 9.99304994e-01 1.35929837e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.769072329 meters Centerline goodness : 0.774301 Centerline is valid? [False, False] Translation: X:-299.20, Y:15.15, Z:135.93 [[ 9.99166376e-01 -1.96520522e-02 3.57819909e-02 -2.99198810e+02] [ 2.00364288e-02 9.99744998e-01 -1.04154374e-02 1.51466207e+01] [-3.55681817e-02 1.11236981e-02 9.99305343e-01 1.35929992e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.79907232899996 meters Centerline goodness : 0.774033 Centerline is valid? [False, False] Translation: X:-299.20, Y:15.15, Z:135.93 [[ 9.99136041e-01 -2.01598949e-02 3.63421323e-02 -2.99200582e+02] [ 2.05676722e-02 9.99729243e-01 -1.08817516e-02 1.51472855e+01] [-3.61129175e-02 1.16198232e-02 9.99280159e-01 1.35930566e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.829072329 meters Centerline goodness : 0.773426 Centerline is valid? [False, False] Translation: X:-299.20, Y:15.15, Z:135.93 [[ 9.99110629e-01 -2.04052393e-02 3.68995458e-02 -2.99201959e+02] [ 2.08221333e-02 9.99723238e-01 -1.09492624e-02 1.51470346e+01] [-3.66659111e-02 1.17078517e-02 9.99258994e-01 1.35930499e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.85907232899996 meters Centerline goodness : 0.773867 Centerline is valid? [False, False] Translation: X:-299.20, Y:15.14, Z:135.93 [[ 9.99027651e-01 -2.39846733e-02 3.69930852e-02 -2.99201705e+02] [ 2.45267777e-02 9.99597312e-01 -1.42706163e-02 1.51444054e+01] [-3.66359124e-02 1.51640615e-02 9.99213621e-01 1.35930055e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.889072329 meters Centerline goodness : 0.773639 Centerline is valid? [False, False] Translation: X:-299.20, Y:15.14, Z:135.93 [[ 9.98938761e-01 -2.73671423e-02 3.70457884e-02 -2.99201029e+02] [ 2.80202917e-02 9.99458885e-01 -1.72279227e-02 1.51410498e+01] [-3.65542634e-02 1.82476736e-02 9.99165056e-01 1.35929122e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.91907232899996 meters Centerline goodness : 0.774529 Centerline is valid? [False, False] Translation: X:-299.20, Y:15.14, Z:135.93 [[ 9.98942579e-01 -2.71513333e-02 3.71015962e-02 -2.99200966e+02] [ 2.77906829e-02 9.99472132e-01 -1.68266473e-02 1.51400919e+01] [-3.66251455e-02 1.78399332e-02 9.99169823e-01 1.35928821e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.949072329 meters Centerline goodness : 0.774529 Centerline is valid? [False, False] Translation: X:-299.20, Y:15.14, Z:135.93 [[ 9.98942579e-01 -2.71513333e-02 3.71015962e-02 -2.99200966e+02] [ 2.77906829e-02 9.99472132e-01 -1.68266473e-02 1.51400919e+01] [-3.66251455e-02 1.78399332e-02 9.99169823e-01 1.35928821e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.97907232899996 meters Centerline goodness : 0.773784 Centerline is valid? [False, False] Translation: X:-299.20, Y:15.14, Z:135.93 [[ 9.98894507e-01 -2.77633517e-02 3.79336250e-02 -2.99202829e+02] [ 2.84337976e-02 9.99446818e-01 -1.72504150e-02 1.51407146e+01] [-3.74337115e-02 1.83099418e-02 9.99131354e-01 1.35928541e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.009072329 meters Centerline goodness : 0.774929 Centerline is valid? [False, False] Translation: X:-299.20, Y:15.14, Z:135.93 [[ 9.98794060e-01 -3.11019623e-02 3.79880773e-02 -2.99201571e+02] [ 3.18821914e-02 9.99289334e-01 -2.01085240e-02 1.51377045e+01] [-3.73356660e-02 2.12954175e-02 9.99075850e-01 1.35926917e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.03907232899996 meters Centerline goodness : 0.775190 Centerline is valid? [False, False] Translation: X:-299.20, Y:15.14, Z:135.93 [[ 9.98777359e-01 -3.11569966e-02 3.83800542e-02 -2.99202339e+02] [ 3.19354279e-02 9.99293026e-01 -1.98387658e-02 1.51366894e+01] [-3.77348041e-02 2.10401936e-02 9.99066261e-01 1.35926538e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.069072329 meters Centerline goodness : 0.775447 Centerline is valid? [False, False] Translation: X:-299.20, Y:15.14, Z:135.93 [[ 9.98731412e-01 -3.17430846e-02 3.90889045e-02 -2.99204207e+02] [ 3.25522238e-02 9.99265071e-01 -2.02403414e-02 1.51371166e+01] [-3.84176861e-02 2.14870955e-02 9.99030723e-01 1.35926694e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.09907232899997 meters Centerline goodness : 0.775640 Centerline is valid? [False, False] Translation: X:-299.20, Y:15.14, Z:135.93 [[ 9.98740921e-01 -3.15476044e-02 3.90041246e-02 -2.99204143e+02] [ 3.23448787e-02 9.99277014e-01 -1.99814246e-02 1.51366330e+01] [-3.83455591e-02 2.12178501e-02 9.99039249e-01 1.35926939e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.129072329 meters Centerline goodness : 0.775084 Centerline is valid? [False, False] Translation: X:-299.20, Y:15.14, Z:135.93 [[ 9.98732432e-01 -3.17492135e-02 3.90578554e-02 -2.99204520e+02] [ 3.25654897e-02 9.99260505e-01 -2.04434082e-02 1.51382027e+01] [-3.83799101e-02 2.16894330e-02 9.99027803e-01 1.35927360e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.15907232899997 meters Centerline goodness : 0.774985 Centerline is valid? [False, False] Translation: X:-299.20, Y:15.13, Z:135.93 [[ 9.98611443e-01 -3.82982437e-02 3.61722464e-02 -2.99195629e+02] [ 3.88683607e-02 9.99128856e-01 -1.51914636e-02 1.51297416e+01] [-3.55589288e-02 1.65763253e-02 9.99230098e-01 1.35932826e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.18907232899994 meters Centerline goodness : 0.775227 Centerline is valid? [False, False] Translation: X:-299.20, Y:15.13, Z:135.93 [[ 9.98565849e-01 -3.86413597e-02 3.70552295e-02 -2.99197541e+02] [ 3.92211506e-02 9.99117221e-01 -1.50492557e-02 1.51287712e+01] [-3.64409942e-02 1.64810216e-02 9.99199895e-01 1.35932348e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.21907232899997 meters Centerline goodness : 0.775180 Centerline is valid? [False, False] Translation: X:-299.20, Y:15.13, Z:135.93 [[ 9.98493229e-01 -3.94724079e-02 3.81208581e-02 -2.99200271e+02] [ 4.00800102e-02 9.99079204e-01 -1.53080761e-02 1.51281212e+01] [-3.74815100e-02 1.68128947e-02 9.99155875e-01 1.35932329e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.24907232899994 meters Centerline goodness : 0.774248 Centerline is valid? [False, False] Translation: X:-299.20, Y:15.13, Z:135.93 [[ 9.98467316e-01 -3.95052100e-02 3.87602656e-02 -2.99201219e+02] [ 4.01008694e-02 9.99087318e-01 -1.47123114e-02 1.51260448e+01] [-3.81436768e-02 1.62440824e-02 9.99140225e-01 1.35931277e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.279072329 meters Centerline goodness : 0.773517 Centerline is valid? [False, False] Translation: X:-299.20, Y:15.13, Z:135.93 [[ 9.98438957e-01 -3.96860998e-02 3.93021965e-02 -2.99202320e+02] [ 4.02838180e-02 9.99082558e-01 -1.45346361e-02 1.51251749e+01] [-3.86893160e-02 1.60951894e-02 9.99121655e-01 1.35930811e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.30907232899995 meters Centerline goodness : 0.773650 Centerline is valid? [False, False] Translation: X:-299.20, Y:15.12, Z:135.93 [[ 9.98436414e-01 -3.95745047e-02 3.94789198e-02 -2.99202197e+02] [ 4.01601028e-02 9.99093035e-01 -1.41517807e-02 1.51243224e+01] [-3.88830641e-02 1.57151307e-02 9.99120184e-01 1.35929901e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.339072329 meters Centerline goodness : 0.772947 Centerline is valid? [False, False] Translation: X:-299.20, Y:15.12, Z:135.93 [[ 9.98380852e-01 -4.00052851e-02 4.04382454e-02 -2.99204390e+02] [ 4.06000707e-02 9.99077454e-01 -1.39955317e-02 1.51231193e+01] [-3.98410440e-02 1.56146665e-02 9.99084017e-01 1.35929626e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.36907232899995 meters Centerline goodness : 0.774119 Centerline is valid? [False, False] Translation: X:-299.21, Y:15.12, Z:135.93 [[ 9.98300489e-01 -4.07974572e-02 4.16137171e-02 -2.99207430e+02] [ 4.14283343e-02 9.99037531e-01 -1.44119666e-02 1.51231075e+01] [-4.09856936e-02 1.61114603e-02 9.99029826e-01 1.35929801e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.399072329 meters Centerline goodness : 0.774119 Centerline is valid? [False, False] Translation: X:-299.21, Y:15.12, Z:135.93 [[ 9.98135617e-01 -4.43950208e-02 4.18852315e-02 -2.99207553e+02] [ 4.51636108e-02 9.98824814e-01 -1.75851987e-02 1.51198500e+01] [-4.10553133e-02 1.94441014e-02 9.98967661e-01 1.35929502e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.42907232899995 meters Centerline goodness : 0.775097 Centerline is valid? [False, False] Translation: X:-299.21, Y:15.12, Z:135.93 [[ 9.98277356e-01 -4.07000300e-02 4.22590473e-02 -2.99208910e+02] [ 4.13102448e-02 9.99052875e-01 -1.36680791e-02 1.51205878e+01] [-4.16627314e-02 1.53902654e-02 9.99013191e-01 1.35929429e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.459072329 meters Centerline goodness : 0.774214 Centerline is valid? [False, False] Translation: X:-299.21, Y:15.12, Z:135.93 [[ 9.98239113e-01 -4.13063784e-02 4.25729542e-02 -2.99209046e+02] [ 4.19594765e-02 9.99013179e-01 -1.45626293e-02 1.51233901e+01] [-4.19294128e-02 1.63233250e-02 9.98987224e-01 1.35928684e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.48907232899995 meters Centerline goodness : 0.775469 Centerline is valid? [False, False] Translation: X:-299.21, Y:15.12, Z:135.93 [[ 9.98228264e-01 -4.13294685e-02 4.28043063e-02 -2.99209486e+02] [ 4.19700269e-02 9.99018304e-01 -1.41754788e-02 1.51219464e+01] [-4.21764205e-02 1.59468615e-02 9.98982906e-01 1.35928367e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.519072329 meters Centerline goodness : 0.776170 Centerline is valid? [False, False] Translation: X:-299.21, Y:15.12, Z:135.93 [[ 9.98350463e-01 -3.88440647e-02 4.22787344e-02 -2.99206340e+02] [ 3.93524098e-02 9.99161969e-01 -1.12582473e-02 1.51197909e+01] [-4.18059874e-02 1.29034465e-02 9.99042422e-01 1.35925811e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.54907232899996 meters Centerline goodness : 0.775099 Centerline is valid? [False, False] Translation: X:-299.21, Y:15.12, Z:135.93 [[ 9.98364366e-01 -3.87779979e-02 4.20102342e-02 -2.99205763e+02] [ 3.92939695e-02 9.99161211e-01 -1.15264211e-02 1.51212432e+01] [-4.15280249e-02 1.31583170e-02 9.99050690e-01 1.35925987e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.579072329 meters Centerline goodness : 0.775046 Centerline is valid? [False, False] Translation: X:-299.21, Y:15.12, Z:135.93 [[ 9.98345353e-01 -3.89405789e-02 4.23106110e-02 -2.99206793e+02] [ 3.94658604e-02 9.99152991e-01 -1.16510352e-02 1.51213703e+01] [-4.18210755e-02 1.33015815e-02 9.99036569e-01 1.35926398e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.60907232899996 meters Centerline goodness : 0.775059 Centerline is valid? [False, False] Translation: X:-299.21, Y:15.12, Z:135.93 [[ 9.98315572e-01 -3.92428102e-02 4.27319643e-02 -2.99208488e+02] [ 3.97836564e-02 9.99137687e-01 -1.18804080e-02 1.51212295e+01] [-4.22288953e-02 1.35604301e-02 9.99015933e-01 1.35927295e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.639072329 meters Centerline goodness : 0.774756 Centerline is valid? [False, False] Translation: X:-299.21, Y:15.12, Z:135.93 [[ 9.98338280e-01 -3.89388160e-02 4.24787920e-02 -2.99207504e+02] [ 3.94665875e-02 9.99152893e-01 -1.16569789e-02 1.51212645e+01] [-4.19888990e-02 1.33141012e-02 9.99029362e-01 1.35926772e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.66907232899996 meters Centerline goodness : 0.775231 Centerline is valid? [False, False] Translation: X:-299.21, Y:15.12, Z:135.93 [[ 9.98393354e-01 -3.80729415e-02 4.19662020e-02 -2.99205343e+02] [ 3.85474421e-02 9.99201015e-01 -1.05558332e-02 1.51193940e+01] [-4.15307800e-02 1.21565634e-02 9.99063267e-01 1.35925422e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.699072329 meters Centerline goodness : 0.776913 Centerline is valid? [False, False] Translation: X:-299.20, Y:15.12, Z:135.93 [[ 9.98456094e-01 -3.73521260e-02 4.11126046e-02 -2.99203573e+02] [ 3.77926853e-02 9.99235653e-01 -9.99112006e-03 1.51186985e+01] [-4.07079907e-02 1.15294504e-02 9.99104565e-01 1.35925777e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.72907232899996 meters Centerline goodness : 0.774933 Centerline is valid? [False, False] Translation: X:-299.20, Y:15.12, Z:135.93 [[ 9.98505688e-01 -3.67547455e-02 4.04410733e-02 -2.99201579e+02] [ 3.71841540e-02 9.99259217e-01 -9.91741760e-03 1.51202988e+01] [-4.00466031e-02 1.14063650e-02 9.99132706e-01 1.35925444e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.759072329 meters Centerline goodness : 0.775839 Centerline is valid? [False, False] Translation: X:-299.20, Y:15.12, Z:135.93 [[ 9.98476016e-01 -3.71237151e-02 4.08347228e-02 -2.99202781e+02] [ 3.75691759e-02 9.99242013e-01 -1.01958641e-02 1.51206581e+01] [-4.04252623e-02 1.17144527e-02 9.99113892e-01 1.35925777e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.78907232899996 meters Centerline goodness : 0.775745 Centerline is valid? [False, False] Translation: X:-299.20, Y:15.12, Z:135.93 [[ 9.98449478e-01 -3.75444489e-02 4.10980969e-02 -2.99203421e+02] [ 3.80162935e-02 9.99219187e-01 -1.07599812e-02 1.51222046e+01] [-4.06620294e-02 1.23056950e-02 9.99097177e-01 1.35925828e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.819072329 meters Centerline goodness : 0.777102 Centerline is valid? [False, False] Translation: X:-299.20, Y:15.12, Z:135.93 [[ 9.98507534e-01 -3.67563389e-02 4.03940059e-02 -2.99201429e+02] [ 3.71935960e-02 9.99256765e-01 -1.01268854e-02 1.51217250e+01] [-3.99917564e-02 1.16141697e-02 9.99132509e-01 1.35925488e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.84907232899997 meters Centerline goodness : 0.777567 Centerline is valid? [False, False] Translation: X:-299.20, Y:15.12, Z:135.93 [[ 9.98441180e-01 -3.75490873e-02 4.12949923e-02 -2.99204203e+02] [ 3.80250951e-02 9.99218395e-01 -1.08023281e-02 1.51226056e+01] [-4.08570984e-02 1.23557352e-02 9.99088601e-01 1.35926349e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.879072329 meters Centerline goodness : 0.779462 Centerline is valid? [False, False] Translation: X:-299.21, Y:15.12, Z:135.93 [[ 9.98319267e-01 -3.94020003e-02 4.24985232e-02 -2.99208065e+02] [ 3.99611308e-02 9.99124441e-01 -1.23878486e-02 1.51241374e+01] [-4.19732072e-02 1.40653170e-02 9.99019728e-01 1.35927520e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.90907232899997 meters Centerline goodness : 0.778668 Centerline is valid? [False, False] Translation: X:-299.21, Y:15.12, Z:135.93 [[ 9.98264964e-01 -3.98396134e-02 4.33574339e-02 -2.99210419e+02] [ 4.04068708e-02 9.99107770e-01 -1.22861550e-02 1.51227619e+01] [-4.28292734e-02 1.40167763e-02 9.98984076e-01 1.35927749e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.93907232899994 meters Centerline goodness : 0.778349 Centerline is valid? [False, False] Translation: X:-299.21, Y:15.12, Z:135.93 [[ 9.98179532e-01 -4.08054734e-02 4.44132267e-02 -2.99213251e+02] [ 4.13876874e-02 9.99067831e-01 -1.22690182e-02 1.51206258e+01] [-4.38711830e-02 1.40848436e-02 9.98937904e-01 1.35927809e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.96907232899997 meters Centerline goodness : 0.777636 Centerline is valid? [False, False] Translation: X:-299.21, Y:15.12, Z:135.93 [[ 9.98175520e-01 -4.07484721e-02 4.45555187e-02 -2.99213197e+02] [ 4.13255217e-02 9.99072376e-01 -1.21073948e-02 1.51204927e+01] [-4.40208301e-02 1.39265852e-02 9.98933540e-01 1.35927180e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.99907232899994 meters Centerline goodness : 0.778219 Centerline is valid? [False, False] Translation: X:-299.22, Y:15.12, Z:135.93 [[ 9.98098641e-01 -4.14573708e-02 4.56112917e-02 -2.99215410e+02] [ 4.20482802e-02 9.99042638e-01 -1.20726736e-02 1.51193186e+01] [-4.50671239e-02 1.39675955e-02 9.98886310e-01 1.35926500e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.029072329 meters Centerline goodness : 0.778263 Centerline is valid? [False, False] Translation: X:-299.22, Y:15.12, Z:135.93 [[ 9.98034224e-01 -4.19785135e-02 4.65348429e-02 -2.99217582e+02] [ 4.25856217e-02 9.99019157e-01 -1.21321736e-02 1.51186327e+01] [-4.59799089e-02 1.40900397e-02 9.98842990e-01 1.35926262e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.05907232899995 meters Centerline goodness : 0.777831 Centerline is valid? [False, False] Translation: X:-299.22, Y:15.12, Z:135.93 [[ 9.97877722e-01 -4.55052165e-02 4.65760302e-02 -2.99216603e+02] [ 4.62717980e-02 9.98808401e-01 -1.55145005e-02 1.51168072e+01] [-4.58145395e-02 1.76367311e-02 9.98794260e-01 1.35925343e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.089072329 meters Centerline goodness : 0.778514 Centerline is valid? [False, False] Translation: X:-299.22, Y:15.11, Z:135.92 [[ 9.97699175e-01 -4.88909721e-02 4.69683803e-02 -2.99216461e+02] [ 4.97979512e-02 9.98590954e-01 -1.83377061e-02 1.51128913e+01] [-4.60056514e-02 2.06344434e-02 9.98728041e-01 1.35924311e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.11907232899995 meters Centerline goodness : 0.778110 Centerline is valid? [False, False] Translation: X:-299.22, Y:15.11, Z:135.92 [[ 9.97724305e-01 -4.83437313e-02 4.70010073e-02 -2.99216444e+02] [ 4.92010563e-02 9.98639794e-01 -1.72574135e-02 1.51097989e+01] [-4.61027885e-02 1.95306401e-02 9.98745757e-01 1.35924010e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.149072329 meters Centerline goodness : 0.779503 Centerline is valid? [False, False] Translation: X:-299.22, Y:15.11, Z:135.92 [[ 9.97473676e-01 -5.27516668e-02 4.75765403e-02 -2.99216228e+02] [ 5.38377312e-02 9.98310789e-01 -2.18418909e-02 1.51112139e+01] [-4.63439773e-02 2.43481242e-02 9.98628762e-01 1.35922507e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.17907232899995 meters Centerline goodness : 0.779777 Centerline is valid? [False, False] Translation: X:-299.22, Y:15.11, Z:135.92 [[ 9.97548316e-01 -5.06838770e-02 4.82545470e-02 -2.99219789e+02] [ 5.16672186e-02 9.98476820e-01 -1.93530088e-02 1.51123673e+01] [-4.72001611e-02 2.17987396e-02 9.98647565e-01 1.35924298e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.209072329 meters Centerline goodness : 0.778871 Centerline is valid? [False, False] Translation: X:-299.22, Y:15.11, Z:135.92 [[ 9.97560919e-01 -5.06717782e-02 4.80060724e-02 -2.99219360e+02] [ 5.16662382e-02 9.98469981e-01 -1.97052277e-02 1.51140742e+01] [-4.69341232e-02 2.21374582e-02 9.98652653e-01 1.35924672e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.23907232899995 meters Centerline goodness : 0.779374 Centerline is valid? [False, False] Translation: X:-299.22, Y:15.11, Z:135.93 [[ 9.97544258e-01 -5.08207256e-02 4.81944745e-02 -2.99220051e+02] [ 5.18282478e-02 9.98457910e-01 -1.98905686e-02 1.51146437e+01] [-4.71093012e-02 2.23395577e-02 9.98639904e-01 1.35925004e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.269072329 meters Centerline goodness : 0.780419 Centerline is valid? [False, False] Translation: X:-299.22, Y:15.11, Z:135.92 [[ 9.97499322e-01 -5.11054716e-02 4.88193875e-02 -2.99221315e+02] [ 5.21201269e-02 9.98445680e-01 -1.97412132e-02 1.51137439e+01] [-4.77346226e-02 2.22363195e-02 9.98612513e-01 1.35924510e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.29907232899996 meters Centerline goodness : 0.780249 Centerline is valid? [False, False] Translation: X:-299.22, Y:15.11, Z:135.92 [[ 9.97480249e-01 -5.11639617e-02 4.91467357e-02 -2.99221893e+02] [ 5.21774260e-02 9.98446183e-01 -1.95636520e-02 1.51131454e+01] [-4.80694168e-02 2.20787066e-02 9.98599951e-01 1.35924108e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.329072329 meters Centerline goodness : 0.780362 Centerline is valid? [False, False] Translation: X:-299.22, Y:15.11, Z:135.92 [[ 9.97437601e-01 -5.15156463e-02 4.96424245e-02 -2.99223009e+02] [ 5.25514642e-02 9.98422096e-01 -1.97904696e-02 1.51135528e+01] [-4.85445747e-02 2.23485407e-02 9.98570962e-01 1.35923915e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.35907232899996 meters Centerline goodness : 0.779925 Centerline is valid? [False, False] Translation: X:-299.22, Y:15.11, Z:135.92 [[ 9.97478146e-01 -5.10004736e-02 4.93588850e-02 -2.99222068e+02] [ 5.19914906e-02 9.98466657e-01 -1.90057634e-02 1.51117010e+01] [-4.83138980e-02 2.15240756e-02 9.98600261e-01 1.35923493e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.389072329 meters Centerline goodness : 0.780019 Centerline is valid? [False, False] Translation: X:-299.22, Y:15.11, Z:135.92 [[ 9.97491954e-01 -5.08345560e-02 4.92508805e-02 -2.99221626e+02] [ 5.18158655e-02 9.98478620e-01 -1.88563464e-02 1.51116810e+01] [-4.82173972e-02 2.13610308e-02 9.98608426e-01 1.35923214e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.41907232899996 meters Centerline goodness : 0.779830 Centerline is valid? [False, False] Translation: X:-299.22, Y:15.11, Z:135.92 [[ 9.97565960e-01 -4.85749533e-02 5.00262829e-02 -2.99224689e+02] [ 4.94482537e-02 9.98642542e-01 -1.63689930e-02 1.51136019e+01] [-4.91632512e-02 1.88028626e-02 9.98613753e-01 1.35924187e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.449072329 meters Centerline goodness : 0.781327 Centerline is valid? [False, False] Translation: X:-299.22, Y:15.11, Z:135.92 [[ 9.97651776e-01 -4.75929566e-02 4.92528552e-02 -2.99222853e+02] [ 4.84018654e-02 9.98709792e-01 -1.53626672e-02 1.51118573e+01] [-4.84581540e-02 1.77105223e-02 9.98668185e-01 1.35924140e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.47907232899996 meters Centerline goodness : 0.779785 Centerline is valid? [False, False] Translation: X:-299.22, Y:15.11, Z:135.92 [[ 9.97698609e-01 -4.71867807e-02 4.86918187e-02 -2.99221310e+02] [ 4.79846665e-02 9.98730132e-01 -1.53490931e-02 1.51128992e+01] [-4.79057123e-02 1.76502296e-02 9.98695906e-01 1.35923931e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.509072329 meters Centerline goodness : 0.780358 Centerline is valid? [False, False] Translation: X:-299.22, Y:15.11, Z:135.92 [[ 9.97856529e-01 -4.34844808e-02 4.89024273e-02 -2.99222503e+02] [ 4.40951527e-02 9.98961393e-01 -1.14783362e-02 1.51136144e+01] [-4.83525075e-02 1.36100928e-02 9.98737603e-01 1.35924124e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.53907232899996 meters Centerline goodness : 0.781071 Centerline is valid? [False, False] Translation: X:-299.21, Y:15.12, Z:135.93 [[ 9.98300802e-01 -3.67746531e-02 4.52010336e-02 -2.99214879e+02] [ 3.72309282e-02 9.99263469e-01 -9.29399220e-03 1.51175553e+01] [-4.48259583e-02 1.09610763e-02 9.98934677e-01 1.35928081e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.569072329 meters Centerline goodness : 0.780882 Centerline is valid? [False, False] Translation: X:-299.21, Y:15.12, Z:135.93 [[ 9.98377922e-01 -3.60521898e-02 4.40654518e-02 -2.99212279e+02] [ 3.65030512e-02 9.99288671e-01 -9.46990340e-03 1.51200332e+01] [-4.36926960e-02 1.10630659e-02 9.98983762e-01 1.35928572e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.59907232899997 meters Centerline goodness : 0.782092 Centerline is valid? [False, False] Translation: X:-299.21, Y:15.12, Z:135.93 [[ 9.98522602e-01 -3.23733158e-02 4.36415195e-02 -2.99212109e+02] [ 3.26798340e-02 9.99445837e-01 -6.32831240e-03 1.51236739e+01] [-4.34124666e-02 7.74516058e-03 9.99027212e-01 1.35929391e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.629072329 meters Centerline goodness : 0.785105 Centerline is valid? [False, False] Translation: X:-299.21, Y:15.13, Z:135.93 [[ 9.98803598e-01 -2.44725848e-02 4.23375095e-02 -2.99209679e+02] [ 2.44843308e-02 9.99700185e-01 2.41153102e-04 1.51309727e+01] [-4.23307177e-02 7.95741003e-04 9.99103337e-01 1.35930000e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.65907232899997 meters Centerline goodness : 0.784555 Centerline is valid? [False, False] Translation: X:-299.21, Y:15.14, Z:135.93 [[ 9.99315674e-01 -2.17585509e-02 2.99123487e-02 -2.99209712e+02] [ 2.18787522e-02 9.99753796e-01 -3.69700541e-03 1.51437926e+01] [-2.98245426e-02 4.34892032e-03 9.99545689e-01 1.35934376e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.68907232899994 meters Centerline goodness : 0.784349 Centerline is valid? [False, False] Translation: X:-299.20, Y:15.15, Z:135.94 [[ 9.99569878e-01 -1.43823987e-02 2.55578909e-02 -2.99200784e+02] [ 1.44737267e-02 9.99889497e-01 -3.39198095e-03 1.51482785e+01] [-2.55062819e-02 3.76043991e-03 9.99667589e-01 1.35941990e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.71907232899997 meters Centerline goodness : 0.785702 Centerline is valid? [False, False] Translation: X:-299.20, Y:15.15, Z:135.94 [[ 9.99634728e-01 -1.24152107e-02 2.40056803e-02 -2.99197530e+02] [ 1.24872557e-02 9.99917959e-01 -2.85358681e-03 1.51499149e+01] [-2.39682830e-02 3.15230955e-03 9.99707749e-01 1.35943179e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.74907232899994 meters Centerline goodness : 0.785523 Centerline is valid? [False, False] Translation: X:-299.19, Y:15.15, Z:135.94 [[ 9.99671093e-01 -1.16443992e-02 2.28497897e-02 -2.99194799e+02] [ 1.17195775e-02 9.99926334e-01 -3.15895491e-03 1.51525251e+01] [-2.28113223e-02 3.42570579e-03 9.99733919e-01 1.35943737e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.779072329 meters Centerline goodness : 0.786462 Centerline is valid? [False, False] Translation: X:-299.18, Y:15.15, Z:135.95 [[ 9.99837845e-01 -1.82625035e-03 1.79150456e-02 -2.99182609e+02] [ 1.83411278e-03 9.99998229e-01 -4.22452201e-04 1.51526398e+01] [-1.79142424e-02 4.55241912e-04 9.99839423e-01 1.35949489e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.80907232899995 meters Centerline goodness : 0.787293 Centerline is valid? [False, False] Translation: X:-299.18, Y:15.16, Z:135.95 [[ 9.99853873e-01 -1.82721048e-03 1.69968522e-02 -2.99180579e+02] [ 1.85052410e-03 9.99997368e-01 -1.35601702e-03 1.51564330e+01] [-1.69943298e-02 1.38727196e-03 9.99854624e-01 1.35950061e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.839072329 meters Centerline goodness : 0.787822 Centerline is valid? [False, False] Translation: X:-299.18, Y:15.16, Z:135.95 [[ 9.99878307e-01 -5.12001973e-04 1.55919444e-02 -2.99177039e+02] [ 5.26201446e-04 9.99999451e-01 -9.06603981e-04 1.51574980e+01] [-1.55914717e-02 9.14698158e-04 9.99878027e-01 1.35950317e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.86907232899995 meters Centerline goodness : 0.787822 Centerline is valid? [False, False] Translation: X:-299.18, Y:15.16, Z:135.95 [[ 9.99878307e-01 -5.12001973e-04 1.55919444e-02 -2.99177039e+02] [ 5.26201446e-04 9.99999451e-01 -9.06603981e-04 1.51574980e+01] [-1.55914717e-02 9.14698158e-04 9.99878027e-01 1.35950317e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.899072329 meters Centerline goodness : 0.789222 Centerline is valid? [False, False] Translation: X:-299.17, Y:15.16, Z:135.95 [[ 9.99884843e-01 3.78314813e-03 1.46965307e-02 -2.99174973e+02] [-3.82018043e-03 9.99989597e-01 2.49254270e-03 1.51609844e+01] [-1.46869482e-02 -2.54839907e-03 9.99888893e-01 1.35950768e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.92907232899995 meters Centerline goodness : 0.789047 Centerline is valid? [False, False] Translation: X:-299.17, Y:15.16, Z:135.95 [[ 9.99893465e-01 4.42688169e-03 1.39090638e-02 -2.99172754e+02] [-4.46527032e-03 9.99986304e-01 2.73013023e-03 1.51615210e+01] [-1.38967873e-02 -2.79194711e-03 9.99899537e-01 1.35950508e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.959072329 meters Centerline goodness : 0.788017 Centerline is valid? [False, False] Translation: X:-299.17, Y:15.16, Z:135.95 [[ 9.99897890e-01 4.61483851e-03 1.35245261e-02 -2.99171997e+02] [-4.65138381e-03 9.99985613e-01 2.67194108e-03 1.51620547e+01] [-1.35120010e-02 -2.73457601e-03 9.99904969e-01 1.35950769e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.98907232899995 meters Centerline goodness : 0.788798 Centerline is valid? [False, False] Translation: X:-299.17, Y:15.16, Z:135.95 [[ 9.99902501e-01 5.11074875e-03 1.29949251e-02 -2.99171164e+02] [-5.14974749e-03 9.99982331e-01 2.96938646e-03 1.51616338e+01] [-1.29795197e-02 -3.03601753e-03 9.99911153e-01 1.35951423e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.019072329 meters Centerline goodness : 0.787688 Centerline is valid? [False, False] Translation: X:-299.17, Y:15.16, Z:135.95 [[ 9.99903329e-01 6.92181267e-03 1.20590420e-02 -2.99168098e+02] [-6.97236560e-03 9.99967060e-01 4.15513215e-03 1.51617007e+01] [-1.20298838e-02 -4.23881052e-03 9.99918654e-01 1.35950786e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.04907232899996 meters Centerline goodness : 0.790374 Centerline is valid? [False, False] Translation: X:-299.17, Y:15.16, Z:135.95 [[ 9.99905502e-01 8.12334795e-03 1.10904909e-02 -2.99165687e+02] [-8.17565734e-03 9.99955630e-01 4.67943620e-03 1.51624258e+01] [-1.10519862e-02 -4.76966606e-03 9.99927549e-01 1.35951087e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.079072329 meters Centerline goodness : 0.789062 Centerline is valid? [False, False] Translation: X:-299.16, Y:15.16, Z:135.95 [[ 9.99934632e-01 5.10826277e-03 1.02292028e-02 -2.99163656e+02] [-5.12274052e-03 9.99985913e-01 1.38963411e-03 1.51611708e+01] [-1.02219601e-02 -1.44194482e-03 9.99946715e-01 1.35951200e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.10907232899996 meters Centerline goodness : 0.788277 Centerline is valid? [False, False] Translation: X:-299.16, Y:15.16, Z:135.95 [[ 9.99947415e-01 1.12617504e-03 1.01930965e-02 -2.99163812e+02] [-1.10132447e-03 9.99996409e-01 -2.44326466e-03 1.51599156e+01] [-1.01958114e-02 2.43191027e-03 9.99945064e-01 1.35951382e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.139072329 meters Centerline goodness : 0.787635 Centerline is valid? [False, False] Translation: X:-299.17, Y:15.16, Z:135.95 [[ 9.99940108e-01 1.00637765e-03 1.08980270e-02 -2.99165410e+02] [-9.83477365e-04 9.99997298e-01 -2.10647889e-03 1.51583708e+01] [-1.09001175e-02 2.09563476e-03 9.99938396e-01 1.35950979e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.16907232899996 meters Centerline goodness : 0.787143 Centerline is valid? [False, False] Translation: X:-299.17, Y:15.16, Z:135.95 [[ 9.99925449e-01 -3.45746745e-03 1.17108181e-02 -2.99167240e+02] [ 3.52649618e-03 9.99976501e-01 -5.87892873e-03 1.51561092e+01] [-1.16902167e-02 5.91978860e-03 9.99914144e-01 1.35950539e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.199072329 meters Centerline goodness : 0.789069 Centerline is valid? [False, False] Translation: X:-299.17, Y:15.15, Z:135.95 [[ 9.99909451e-01 -4.16603462e-03 1.27958378e-02 -2.99169996e+02] [ 4.23936987e-03 9.99974715e-01 -5.70941301e-03 1.51539694e+01] [-1.27717286e-02 5.76314232e-03 9.99901830e-01 1.35950229e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.22907232899996 meters Centerline goodness : 0.787740 Centerline is valid? [False, False] Translation: X:-299.17, Y:15.15, Z:135.95 [[ 9.99860402e-01 -8.92687645e-03 1.41239663e-02 -2.99172696e+02] [ 9.05457243e-03 9.99918476e-01 -9.00311807e-03 1.51497921e+01] [-1.40424451e-02 9.12974773e-03 9.99859719e-01 1.35948961e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.259072329 meters Centerline goodness : 0.787905 Centerline is valid? [False, False] Translation: X:-299.17, Y:15.15, Z:135.95 [[ 9.99845579e-01 -9.21315971e-03 1.49645138e-02 -2.99174871e+02] [ 9.34252855e-03 9.99919390e-01 -8.59826324e-03 1.51476164e+01] [-1.48840903e-02 8.73674188e-03 9.99851056e-01 1.35948825e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.28907232899996 meters Centerline goodness : 0.787447 Centerline is valid? [False, False] Translation: X:-299.18, Y:15.15, Z:135.95 [[ 9.99810554e-01 -1.07074266e-02 1.62544593e-02 -2.99178595e+02] [ 1.08647072e-02 9.99894712e-01 -9.61887762e-03 1.51483160e+01] [-1.61497545e-02 9.79365530e-03 9.99821619e-01 1.35949283e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.319072329 meters Centerline goodness : 0.786835 Centerline is valid? [False, False] Translation: X:-299.18, Y:15.14, Z:135.95 [[ 9.99733951e-01 -1.51410743e-02 1.74004486e-02 -2.99180701e+02] [ 1.53643831e-02 9.99800382e-01 -1.27722917e-02 1.51441473e+01] [-1.72035890e-02 1.30362408e-02 9.99767019e-01 1.35948031e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.34907232899997 meters Centerline goodness : 0.787258 Centerline is valid? [False, False] Translation: X:-299.18, Y:15.14, Z:135.95 [[ 9.99700263e-01 -1.60173589e-02 1.85156514e-02 -2.99183489e+02] [ 1.62584943e-02 9.99783995e-01 -1.29469908e-02 1.51431693e+01] [-1.83042753e-02 1.32441467e-02 9.99744740e-01 1.35947816e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.379072329 meters Centerline goodness : 0.788486 Centerline is valid? [False, False] Translation: X:-299.19, Y:15.14, Z:135.95 [[ 9.99667406e-01 -1.67444725e-02 1.96137867e-02 -2.99186125e+02] [ 1.70047895e-02 9.99768517e-01 -1.31814095e-02 1.51428990e+01] [-1.93885307e-02 1.35105538e-02 9.99720736e-01 1.35947536e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.40907232899997 meters Centerline goodness : 0.788505 Centerline is valid? [False, False] Translation: X:-299.19, Y:15.14, Z:135.95 [[ 9.99638851e-01 -1.73507614e-02 2.05211875e-02 -2.99188523e+02] [ 1.76266081e-02 9.99755665e-01 -1.33384224e-02 1.51424515e+01] [-2.02847417e-02 1.36953242e-02 9.99700439e-01 1.35947638e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.43907232899994 meters Centerline goodness : 0.790515 Centerline is valid? [False, False] Translation: X:-299.19, Y:15.14, Z:135.95 [[ 9.99600481e-01 -1.81530343e-02 2.16643804e-02 -2.99191335e+02] [ 1.84489986e-02 9.99738110e-01 -1.35405535e-02 1.51419397e+01] [-2.14129045e-02 1.39348299e-02 9.99673601e-01 1.35947541e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.46907232899997 meters Centerline goodness : 0.789600 Centerline is valid? [False, False] Translation: X:-299.19, Y:15.14, Z:135.95 [[ 9.99554785e-01 -1.91977132e-02 2.28402880e-02 -2.99194266e+02] [ 1.95207800e-02 9.99711334e-01 -1.40067231e-02 1.51419453e+01] [-2.25647978e-02 1.44463473e-02 9.99641002e-01 1.35947440e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.49907232899994 meters Centerline goodness : 0.788291 Centerline is valid? [False, False] Translation: X:-299.20, Y:15.14, Z:135.95 [[ 9.99431609e-01 -2.37132802e-02 2.39611938e-02 -2.99196481e+02] [ 2.41396156e-02 9.99552550e-01 -1.76629420e-02 1.51391737e+01] [-2.35316260e-02 1.82313166e-02 9.99556843e-01 1.35946715e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.529072329 meters Centerline goodness : 0.790464 Centerline is valid? [False, False] Translation: X:-299.20, Y:15.14, Z:135.95 [[ 9.99394670e-01 -2.42560236e-02 2.49386881e-02 -2.99198838e+02] [ 2.46971481e-02 9.99541179e-01 -1.75351543e-02 1.51377499e+01] [-2.45019126e-02 1.81404542e-02 9.99535182e-01 1.35946407e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.55907232899995 meters Centerline goodness : 0.789170 Centerline is valid? [False, False] Translation: X:-299.20, Y:15.14, Z:135.95 [[ 9.99377080e-01 -2.43451500e-02 2.55492846e-02 -2.99200147e+02] [ 2.47866538e-02 9.99546359e-01 -1.71084106e-02 1.51361895e+01] [-2.51211875e-02 1.77310347e-02 9.99527156e-01 1.35945990e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.589072329 meters Centerline goodness : 0.789465 Centerline is valid? [False, False] Translation: X:-299.20, Y:15.13, Z:135.94 [[ 9.99380491e-01 -2.40991353e-02 2.56488931e-02 -2.99199655e+02] [ 2.45284795e-02 9.99561991e-01 -1.65583865e-02 1.51349252e+01] [-2.52386158e-02 1.71772568e-02 9.99533868e-01 1.35944854e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.61907232899995 meters Centerline goodness : 0.790080 Centerline is valid? [False, False] Translation: X:-299.20, Y:15.14, Z:135.94 [[ 9.99432540e-01 -2.08572715e-02 2.64494158e-02 -2.99201742e+02] [ 2.12117105e-02 9.99687974e-01 -1.31916037e-02 1.51366381e+01] [-2.61660220e-02 1.37451553e-02 9.99563110e-01 1.35944713e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.649072329 meters Centerline goodness : 0.789131 Centerline is valid? [False, False] Translation: X:-299.20, Y:15.14, Z:135.94 [[ 9.99435755e-01 -2.09122584e-02 2.62840074e-02 -2.99200808e+02] [ 2.12733975e-02 9.99682057e-01 -1.35361612e-02 1.51383896e+01] [-2.59925788e-02 1.40876736e-02 9.99562866e-01 1.35944092e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.67907232899995 meters Centerline goodness : 0.790878 Centerline is valid? [False, False] Translation: X:-299.20, Y:15.14, Z:135.94 [[ 9.99482220e-01 -1.74944027e-02 2.70044076e-02 -2.99202663e+02] [ 1.77655438e-02 9.99793822e-01 -9.83356060e-03 1.51391422e+01] [-2.68268076e-02 1.03082170e-02 9.99586946e-01 1.35943824e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.709072329 meters Centerline goodness : 0.791114 Centerline is valid? [False, False] Translation: X:-299.20, Y:15.14, Z:135.94 [[ 9.99499126e-01 -1.70975437e-02 2.66302693e-02 -2.99201316e+02] [ 1.73559771e-02 9.99804205e-01 -9.50376306e-03 1.51390540e+01] [-2.64625642e-02 9.96119722e-03 9.99600174e-01 1.35943232e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.73907232899995 meters Centerline goodness : 0.790775 Centerline is valid? [False, False] Translation: X:-299.20, Y:15.14, Z:135.94 [[ 9.99530560e-01 -1.62469970e-02 2.59748876e-02 -2.99199097e+02] [ 1.64809893e-02 9.99825279e-01 -8.81983264e-03 1.51387221e+01] [-2.58270535e-02 9.24378411e-03 9.99623687e-01 1.35942553e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.769072329 meters Centerline goodness : 0.793428 Centerline is valid? [False, False] Translation: X:-299.20, Y:15.14, Z:135.94 [[ 9.99542983e-01 -1.63251863e-02 2.54423493e-02 -2.99198089e+02] [ 1.65810149e-02 9.99813741e-01 -9.87690216e-03 1.51432679e+01] [-2.52763681e-02 1.02942482e-02 9.99627497e-01 1.35943466e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.79907232899996 meters Centerline goodness : 0.793151 Centerline is valid? [False, False] Translation: X:-299.20, Y:15.15, Z:135.94 [[ 9.99515685e-01 -1.71494314e-02 2.59671470e-02 -2.99199886e+02] [ 1.74408942e-02 9.99786947e-01 -1.10397043e-02 1.51464001e+01] [-2.57722900e-02 1.14872479e-02 9.99601837e-01 1.35944341e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.829072329 meters Centerline goodness : 0.792502 Centerline is valid? [False, False] Translation: X:-299.20, Y:15.15, Z:135.94 [[ 9.99510398e-01 -1.72256936e-02 2.61197356e-02 -2.99200690e+02] [ 1.75219608e-02 9.99784233e-01 -1.11565106e-02 1.51467281e+01] [-2.59219212e-02 1.16087173e-02 9.99596564e-01 1.35944995e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.85907232899996 meters Centerline goodness : 0.792203 Centerline is valid? [False, False] Translation: X:-299.20, Y:15.15, Z:135.94 [[ 9.99467550e-01 -1.81371167e-02 2.71230825e-02 -2.99203287e+02] [ 1.84510000e-02 9.99765144e-01 -1.13673927e-02 1.51454533e+01] [-2.69105407e-02 1.18617881e-02 9.99567467e-01 1.35944871e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.889072329 meters Centerline goodness : 0.792126 Centerline is valid? [False, False] Translation: X:-299.20, Y:15.14, Z:135.94 [[ 9.99454514e-01 -1.80394414e-02 2.76632019e-02 -2.99204451e+02] [ 1.83418341e-02 9.99774339e-01 -1.07166997e-02 1.51430317e+01] [-2.74636361e-02 1.12182477e-02 9.99559853e-01 1.35944427e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.91907232899996 meters Centerline goodness : 0.791481 Centerline is valid? [False, False] Translation: X:-299.20, Y:15.14, Z:135.94 [[ 9.99455017e-01 -1.78506395e-02 2.77673223e-02 -2.99204318e+02] [ 1.81433151e-02 9.99782091e-01 -1.03242796e-02 1.51420853e+01] [-2.75769766e-02 1.08224443e-02 9.99561096e-01 1.35943793e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.949072329 meters Centerline goodness : 0.793041 Centerline is valid? [False, False] Translation: X:-299.20, Y:15.14, Z:135.94 [[ 9.99476355e-01 -1.73866802e-02 2.72895599e-02 -2.99202525e+02] [ 1.76712189e-02 9.99791615e-01 -1.02203331e-02 1.51434460e+01] [-2.71061755e-02 1.06972211e-02 9.99575322e-01 1.35943117e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.97907232899996 meters Centerline goodness : 0.791699 Centerline is valid? [False, False] Translation: X:-299.20, Y:15.14, Z:135.94 [[ 9.99494287e-01 -1.70161542e-02 2.68630152e-02 -2.99201161e+02] [ 1.72878794e-02 9.99801386e-01 -9.91556901e-03 1.51433677e+01] [-2.66889550e-02 1.03749591e-02 9.99589946e-01 1.35942686e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.009072329 meters Centerline goodness : 0.792371 Centerline is valid? [False, False] Translation: X:-299.20, Y:15.14, Z:135.94 [[ 9.99559310e-01 -1.29003427e-02 2.67351386e-02 -2.99201197e+02] [ 1.30617809e-02 9.99897446e-01 -5.87260845e-03 1.51441449e+01] [-2.66566381e-02 6.21922897e-03 9.99625302e-01 1.35942934e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.03907232899996 meters Centerline goodness : 0.792309 Centerline is valid? [False, False] Translation: X:-299.20, Y:15.15, Z:135.94 [[ 9.99626054e-01 -8.66276628e-03 2.59366410e-02 -2.99199709e+02] [ 8.72894990e-03 9.99958926e-01 -2.43960977e-03 1.51475096e+01] [-2.59144419e-02 2.66509712e-03 9.99660612e-01 1.35943744e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.069072329 meters Centerline goodness : 0.793248 Centerline is valid? [False, False] Translation: X:-299.20, Y:15.15, Z:135.94 [[ 9.99613958e-01 -9.16347374e-03 2.62290875e-02 -2.99200549e+02] [ 9.25028649e-03 9.99952126e-01 -3.19036818e-03 1.51495699e+01] [-2.61985969e-02 3.43176314e-03 9.99650867e-01 1.35943934e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.09907232899997 meters Centerline goodness : 0.791665 Centerline is valid? [False, False] Translation: X:-299.20, Y:15.15, Z:135.94 [[ 9.99596392e-01 -9.46142304e-03 2.67868338e-02 -2.99202319e+02] [ 9.55074591e-03 9.99949243e-01 -3.20860413e-03 1.51487570e+01] [-2.67551162e-02 3.46314335e-03 9.99636019e-01 1.35944331e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.129072329 meters Centerline goodness : 0.791827 Centerline is valid? [False, False] Translation: X:-299.20, Y:15.15, Z:135.95 [[ 9.99589250e-01 -9.66876270e-03 2.69786128e-02 -2.99203350e+02] [ 9.76293910e-03 9.99946692e-01 -3.36124394e-03 1.51484893e+01] [-2.69446755e-02 3.62325386e-03 9.99630360e-01 1.35945020e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.15907232899997 meters Centerline goodness : 0.790892 Centerline is valid? [False, False] Translation: X:-299.20, Y:15.15, Z:135.94 [[ 9.99592628e-01 -9.49434968e-03 2.69153447e-02 -2.99203211e+02] [ 9.58254548e-03 9.99949126e-01 -3.14969625e-03 1.51480083e+01] [-2.68840711e-02 3.40633067e-03 9.99632754e-01 1.35944991e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.18907232899994 meters Centerline goodness : 0.790132 Centerline is valid? [False, False] Translation: X:-299.20, Y:15.14, Z:135.94 [[ 9.99578554e-01 -1.21058047e-02 2.63849284e-02 -2.99201109e+02] [ 1.22540141e-02 9.99909995e-01 -5.46276298e-03 1.51441701e+01] [-2.63164225e-02 5.78378201e-03 9.99636931e-01 1.35943943e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.21907232899997 meters Centerline goodness : 0.789105 Centerline is valid? [False, False] Translation: X:-299.20, Y:15.14, Z:135.94 [[ 9.99565572e-01 -1.23279177e-02 2.67710703e-02 -2.99202109e+02] [ 1.24827311e-02 9.99906275e-01 -5.62345688e-03 1.51441741e+01] [-2.66992356e-02 5.95518996e-03 9.99625773e-01 1.35943865e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.24907232899994 meters Centerline goodness : 0.788984 Centerline is valid? [False, False] Translation: X:-299.20, Y:15.14, Z:135.94 [[ 9.99562765e-01 -1.22273723e-02 2.69215490e-02 -2.99202219e+02] [ 1.23760268e-02 9.99909037e-01 -5.36207939e-03 1.51434594e+01] [-2.68535360e-02 5.69291671e-03 9.99623168e-01 1.35943401e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.279072329 meters Centerline goodness : 0.789393 Centerline is valid? [False, False] Translation: X:-299.20, Y:15.14, Z:135.94 [[ 9.99530482e-01 -1.30245537e-02 2.77340478e-02 -2.99203711e+02] [ 1.31912770e-02 9.99895954e-01 -5.83704550e-03 1.51439905e+01] [-2.76551373e-02 6.20015240e-03 9.99598295e-01 1.35942634e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.30907232899995 meters Centerline goodness : 0.789577 Centerline is valid? [False, False] Translation: X:-299.20, Y:15.14, Z:135.94 [[ 9.99531984e-01 -1.27774932e-02 2.77947703e-02 -2.99203614e+02] [ 1.29319926e-02 9.99901873e-01 -5.38593387e-03 1.51429460e+01] [-2.77232242e-02 5.74285493e-03 9.99599141e-01 1.35942253e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.339072329 meters Centerline goodness : 0.788521 Centerline is valid? [False, False] Translation: X:-299.21, Y:15.14, Z:135.94 [[ 9.99503314e-01 -1.33297671e-02 2.85559506e-02 -2.99205461e+02] [ 1.35000096e-02 9.99892181e-01 -5.77723497e-03 1.51433775e+01] [-2.84758625e-02 6.15987110e-03 9.99575501e-01 1.35942109e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.36907232899995 meters Centerline goodness : 0.788300 Centerline is valid? [False, False] Translation: X:-299.20, Y:15.14, Z:135.94 [[ 9.99508254e-01 -1.31368576e-02 2.84723176e-02 -2.99204696e+02] [ 1.33029385e-02 9.99895541e-01 -5.65150661e-03 1.51436562e+01] [-2.83951003e-02 6.02749300e-03 9.99578605e-01 1.35941359e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.399072329 meters Centerline goodness : 0.788249 Centerline is valid? [False, False] Translation: X:-299.21, Y:15.14, Z:135.94 [[ 9.99507105e-01 -1.31587519e-02 2.85025202e-02 -2.99205002e+02] [ 1.33251703e-02 9.99895215e-01 -5.65667010e-03 1.51435886e+01] [-2.84250989e-02 6.03368290e-03 9.99577715e-01 1.35941685e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.42907232899995 meters Centerline goodness : 0.789119 Centerline is valid? [False, False] Translation: X:-299.20, Y:15.15, Z:135.94 [[ 9.99512334e-01 -1.33666883e-02 2.82210126e-02 -2.99204776e+02] [ 1.35519463e-02 9.99887791e-01 -6.38350732e-03 1.51461283e+01] [-2.81325196e-02 6.76284395e-03 9.99581325e-01 1.35942483e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.459072329 meters Centerline goodness : 0.790050 Centerline is valid? [False, False] Translation: X:-299.20, Y:15.15, Z:135.94 [[ 9.99524711e-01 -1.33642059e-02 2.77803778e-02 -2.99203723e+02] [ 1.35609327e-02 9.99884203e-01 -6.90519616e-03 1.51486382e+01] [-2.76848785e-02 7.27864203e-03 9.99590200e-01 1.35942743e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.48907232899995 meters Centerline goodness : 0.790255 Centerline is valid? [False, False] Translation: X:-299.20, Y:15.15, Z:135.94 [[ 9.99472849e-01 -1.72364822e-02 2.75123178e-02 -2.99202293e+02] [ 1.75489489e-02 9.99783759e-01 -1.11565671e-02 1.51502485e+01] [-2.73140685e-02 1.16334982e-02 9.99559205e-01 1.35942191e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.519072329 meters Centerline goodness : 0.789170 Centerline is valid? [False, False] Translation: X:-299.20, Y:15.15, Z:135.94 [[ 9.99451209e-01 -1.74381539e-02 2.81636482e-02 -2.99203535e+02] [ 1.77527799e-02 9.99782333e-01 -1.09601972e-02 1.51493550e+01] [-2.79663922e-02 1.14541654e-02 9.99543237e-01 1.35941557e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.54907232899996 meters Centerline goodness : 0.788065 Centerline is valid? [False, False] Translation: X:-299.20, Y:15.15, Z:135.94 [[ 9.99391107e-01 -2.06533816e-02 2.81221049e-02 -2.99202613e+02] [ 2.10496640e-02 9.99682229e-01 -1.38691043e-02 1.51464763e+01] [-2.78267247e-02 1.44526204e-02 9.99508277e-01 1.35940655e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.579072329 meters Centerline goodness : 0.789224 Centerline is valid? [False, False] Translation: X:-299.20, Y:15.15, Z:135.94 [[ 9.99411774e-01 -2.00303509e-02 2.78368796e-02 -2.99202001e+02] [ 2.04043057e-02 9.99704467e-01 -1.32152781e-02 1.51451218e+01] [-2.75639462e-02 1.37754967e-02 9.99525120e-01 1.35940717e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.60907232899996 meters Centerline goodness : 0.789028 Centerline is valid? [False, False] Translation: X:-299.20, Y:15.15, Z:135.94 [[ 9.99381618e-01 -2.05466400e-02 2.85344751e-02 -2.99203960e+02] [ 2.09438687e-02 9.99686885e-01 -1.36925873e-02 1.51459484e+01] [-2.82442039e-02 1.42817424e-02 9.99499023e-01 1.35941030e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.639072329 meters Centerline goodness : 0.788381 Centerline is valid? [False, False] Translation: X:-299.21, Y:15.15, Z:135.94 [[ 9.99345397e-01 -2.10513844e-02 2.94213771e-02 -2.99206099e+02] [ 2.14689665e-02 9.99672186e-01 -1.39500400e-02 1.51460864e+01] [-2.91180648e-02 1.45725548e-02 9.99469749e-01 1.35940921e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.66907232899996 meters Centerline goodness : 0.789008 Centerline is valid? [False, False] Translation: X:-299.21, Y:15.14, Z:135.94 [[ 9.99329672e-01 -2.09991499e-02 2.99873656e-02 -2.99207238e+02] [ 2.14126481e-02 9.99679098e-01 -1.35351454e-02 1.51446788e+01] [-2.96935161e-02 1.41681813e-02 9.99458632e-01 1.35940422e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.699072329 meters Centerline goodness : 0.789377 Centerline is valid? [False, False] Translation: X:-299.21, Y:15.14, Z:135.94 [[ 9.99301719e-01 -2.13903636e-02 3.06353955e-02 -2.99208612e+02] [ 2.18185394e-02 9.99667924e-01 -1.37110550e-02 1.51448876e+01] [-3.03319378e-02 1.43699005e-02 9.99436581e-01 1.35940006e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.72907232899996 meters Centerline goodness : 0.788669 Centerline is valid? [False, False] Translation: X:-299.21, Y:15.14, Z:135.94 [[ 9.99320591e-01 -2.08912719e-02 3.03630050e-02 -2.99207511e+02] [ 2.12965495e-02 9.99687556e-01 -1.30861849e-02 1.51439018e+01] [-3.00801312e-02 1.37239213e-02 9.99453270e-01 1.35939419e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.759072329 meters Centerline goodness : 0.788669 Centerline is valid? [False, False] Translation: X:-299.21, Y:15.14, Z:135.94 [[ 9.99320591e-01 -2.08912719e-02 3.03630050e-02 -2.99207511e+02] [ 2.12965495e-02 9.99687556e-01 -1.30861849e-02 1.51439018e+01] [-3.00801312e-02 1.37239213e-02 9.99453270e-01 1.35939419e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.78907232899996 meters Centerline goodness : 0.789444 Centerline is valid? [False, False] Translation: X:-299.21, Y:15.15, Z:135.94 [[ 9.99279299e-01 -2.16657668e-02 3.11685278e-02 -2.99209228e+02] [ 2.21013973e-02 9.99661853e-01 -1.37006239e-02 1.51451211e+01] [-3.08611538e-02 1.43796178e-02 9.99420240e-01 1.35939112e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.819072329 meters Centerline goodness : 0.788078 Centerline is valid? [False, False] Translation: X:-299.21, Y:15.15, Z:135.94 [[ 9.99223507e-01 -2.26596802e-02 3.22323122e-02 -2.99212207e+02] [ 2.31282246e-02 9.99631105e-01 -1.42386471e-02 1.51450117e+01] [-3.18977787e-02 1.49730670e-02 9.99378977e-01 1.35939468e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.84907232899997 meters Centerline goodness : 0.788778 Centerline is valid? [False, False] Translation: X:-299.21, Y:15.14, Z:135.94 [[ 9.99215570e-01 -2.25538916e-02 3.25509980e-02 -2.99213005e+02] [ 2.30161527e-02 9.99638500e-01 -1.38969523e-02 1.51440584e+01] [-3.22258005e-02 1.46352498e-02 9.99373457e-01 1.35939428e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.879072329 meters Centerline goodness : 0.787943 Centerline is valid? [False, False] Translation: X:-299.21, Y:15.14, Z:135.94 [[ 9.99185876e-01 -2.29048838e-02 3.32107181e-02 -2.99214360e+02] [ 2.33837560e-02 9.99627081e-01 -1.41031758e-02 1.51444150e+01] [-3.28753016e-02 1.48682854e-02 9.99348862e-01 1.35938956e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.90907232899997 meters Centerline goodness : 0.788742 Centerline is valid? [False, False] Translation: X:-299.22, Y:15.14, Z:135.94 [[ 9.99139862e-01 -2.35446515e-02 3.41348059e-02 -2.99216497e+02] [ 2.40369815e-02 9.99611841e-01 -1.40851532e-02 1.51430044e+01] [-3.37899261e-02 1.48935357e-02 9.99317979e-01 1.35938500e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.93907232899994 meters Centerline goodness : 0.788929 Centerline is valid? [False, False] Translation: X:-299.22, Y:15.14, Z:135.94 [[ 9.99050742e-01 -2.69291272e-02 3.42408699e-02 -2.99215845e+02] [ 2.75280701e-02 9.99474031e-01 -1.71425413e-02 1.51400324e+01] [-3.37612266e-02 1.80688537e-02 9.99266579e-01 1.35937466e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.96907232899997 meters Centerline goodness : 0.788113 Centerline is valid? [False, False] Translation: X:-299.22, Y:15.14, Z:135.94 [[ 9.99042079e-01 -2.69312989e-02 3.44910185e-02 -2.99216655e+02] [ 2.75340931e-02 9.99474205e-01 -1.71226894e-02 1.51399909e+01] [-3.40117470e-02 1.80559661e-02 9.99258317e-01 1.35937776e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.99907232899994 meters Centerline goodness : 0.787065 Centerline is valid? [False, False] Translation: X:-299.22, Y:15.14, Z:135.94 [[ 9.98969655e-01 -2.82692670e-02 3.55031922e-02 -2.99220092e+02] [ 2.89267194e-02 9.99416869e-01 -1.81429506e-02 1.51403875e+01] [-3.49696013e-02 1.91512479e-02 9.99204862e-01 1.35938936e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.029072329 meters Centerline goodness : 0.786562 Centerline is valid? [False, False] Translation: X:-299.22, Y:15.14, Z:135.94 [[ 9.98974369e-01 -2.80564085e-02 3.55393876e-02 -2.99220143e+02] [ 2.87018615e-02 9.99429813e-01 -1.77834484e-02 1.51395477e+01] [-3.50201839e-02 1.87852557e-02 9.99210038e-01 1.35938816e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.05907232899995 meters Centerline goodness : 0.787421 Centerline is valid? [False, False] Translation: X:-299.22, Y:15.14, Z:135.94 [[ 9.99013070e-01 -2.73252635e-02 3.50173595e-02 -2.99218243e+02] [ 2.79416721e-02 9.99460945e-01 -1.72360800e-02 1.51396211e+01] [-3.45275028e-02 1.81975128e-02 9.99238061e-01 1.35938064e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.089072329 meters Centerline goodness : 0.787342 Centerline is valid? [False, False] Translation: X:-299.22, Y:15.14, Z:135.94 [[ 9.99028573e-01 -2.70497348e-02 3.47882354e-02 -2.99217270e+02] [ 2.76522703e-02 9.99473766e-01 -1.69571088e-02 1.51394874e+01] [-3.43112433e-02 1.79026099e-02 9.99250837e-01 1.35937461e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.11907232899995 meters Centerline goodness : 0.786644 Centerline is valid? [False, False] Translation: X:-299.22, Y:15.14, Z:135.94 [[ 9.99065244e-01 -2.60204827e-02 3.45191514e-02 -2.99215487e+02] [ 2.65693756e-02 9.99526195e-01 -1.55387840e-02 1.51368134e+01] [-3.40984694e-02 1.64414113e-02 9.99283230e-01 1.35935862e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.149072329 meters Centerline goodness : 0.784454 Centerline is valid? [False, False] Translation: X:-299.22, Y:15.14, Z:135.94 [[ 9.99020209e-01 -2.65078114e-02 3.54394915e-02 -2.99217671e+02] [ 2.70809278e-02 9.99508519e-01 -1.57905995e-02 1.51368254e+01] [-3.50034995e-02 1.67348624e-02 9.99247066e-01 1.35935663e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.17907232899995 meters Centerline goodness : 0.785119 Centerline is valid? [False, False] Translation: X:-299.22, Y:15.14, Z:135.94 [[ 9.99024754e-01 -2.61915746e-02 3.55463502e-02 -2.99217700e+02] [ 2.67478779e-02 9.99525641e-01 -1.52657515e-02 1.51354164e+01] [-3.51296544e-02 1.62016531e-02 9.99251427e-01 1.35935213e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.209072329 meters Centerline goodness : 0.784916 Centerline is valid? [False, False] Translation: X:-299.22, Y:15.14, Z:135.93 [[ 9.99163160e-01 -2.13846539e-02 3.48665594e-02 -2.99215857e+02] [ 2.17701298e-02 9.99705595e-01 -1.07138042e-02 1.51358735e+01] [-3.46271835e-02 1.14638880e-02 9.99334547e-01 1.35934684e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.23907232899995 meters Centerline goodness : 0.784578 Centerline is valid? [False, False] Translation: X:-299.21, Y:15.14, Z:135.93 [[ 9.99227604e-01 -1.92865729e-02 3.42377411e-02 -2.99212821e+02] [ 1.95990554e-02 9.99769062e-01 -8.81478233e-03 1.51352172e+01] [-3.40598274e-02 9.47900121e-03 9.99374843e-01 1.35932934e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.269072329 meters Centerline goodness : 0.783318 Centerline is valid? [False, False] Translation: X:-299.21, Y:15.14, Z:135.93 [[ 9.99277645e-01 -1.77207773e-02 3.36178810e-02 -2.99210536e+02] [ 1.80002716e-02 9.99805740e-01 -8.02948173e-03 1.51387456e+01] [-3.34690617e-02 8.62881259e-03 9.99402504e-01 1.35932451e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.29907232899996 meters Centerline goodness : 0.783603 Centerline is valid? [False, False] Translation: X:-299.21, Y:15.14, Z:135.93 [[ 9.99307074e-01 -1.72310783e-02 3.29918549e-02 -2.99209246e+02] [ 1.75097528e-02 9.99813259e-01 -8.17654414e-03 1.51404708e+01] [-3.28448033e-02 8.74855762e-03 9.99422174e-01 1.35933032e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.329072329 meters Centerline goodness : 0.784600 Centerline is valid? [False, False] Translation: X:-299.21, Y:15.14, Z:135.93 [[ 9.99309504e-01 -1.74550929e-02 3.27999283e-02 -2.99209430e+02] [ 1.77568633e-02 9.99802440e-01 -8.93165683e-03 1.51429938e+01] [-3.26375455e-02 9.50791340e-03 9.99422028e-01 1.35934161e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.35907232899996 meters Centerline goodness : 0.784734 Centerline is valid? [False, False] Translation: X:-299.21, Y:15.15, Z:135.94 [[ 9.99320308e-01 -1.74569911e-02 3.24680734e-02 -2.99209075e+02] [ 1.77727256e-02 9.99797286e-01 -9.46139466e-03 1.51452588e+01] [-3.22963242e-02 1.00320100e-02 9.99427990e-01 1.35935036e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.389072329 meters Centerline goodness : 0.784960 Centerline is valid? [False, False] Translation: X:-299.21, Y:15.15, Z:135.94 [[ 9.99292769e-01 -1.79202053e-02 3.30579577e-02 -2.99210712e+02] [ 1.82552808e-02 9.99784718e-01 -9.86215424e-03 1.51458811e+01] [-3.28741091e-02 1.04586617e-02 9.99404778e-01 1.35935325e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.41907232899996 meters Centerline goodness : 0.783531 Centerline is valid? [False, False] Translation: X:-299.21, Y:15.14, Z:135.94 [[ 9.99291111e-01 -1.77443771e-02 3.32025838e-02 -2.99211165e+02] [ 1.80685926e-02 9.99791708e-01 -9.49031262e-03 1.51444960e+01] [-3.30272683e-02 1.00835090e-02 9.99403583e-01 1.35935325e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.449072329 meters Centerline goodness : 0.784607 Centerline is valid? [False, False] Translation: X:-299.21, Y:15.14, Z:135.93 [[ 9.99319283e-01 -1.70119331e-02 3.27347610e-02 -2.99209225e+02] [ 1.73092081e-02 9.99811286e-01 -8.81945451e-03 1.51439157e+01] [-3.25785475e-02 9.38006375e-03 9.99425161e-01 1.35934303e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.47907232899996 meters Centerline goodness : 0.784410 Centerline is valid? [False, False] Translation: X:-299.21, Y:15.14, Z:135.93 [[ 9.99375187e-01 -1.50400298e-02 3.19848949e-02 -2.99206279e+02] [ 1.52754153e-02 9.99857919e-01 -7.12767984e-03 1.51430479e+01] [-3.18731499e-02 7.61180892e-03 9.99462937e-01 1.35932995e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.509072329 meters Centerline goodness : 0.786143 Centerline is valid? [False, False] Translation: X:-299.20, Y:15.14, Z:135.93 [[ 9.99401280e-01 -1.45903550e-02 3.13719995e-02 -2.99204462e+02] [ 1.48159700e-02 9.99865936e-01 -6.97119684e-03 1.51437306e+01] [-3.12660814e-02 7.43182966e-03 9.99483467e-01 1.35932623e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.53907232899996 meters Centerline goodness : 0.786223 Centerline is valid? [False, False] Translation: X:-299.20, Y:15.15, Z:135.93 [[ 9.99486172e-01 -9.88616728e-03 3.04902636e-02 -2.99201895e+02] [ 9.97820042e-03 9.99946104e-01 -2.86776398e-03 1.51459888e+01] [-3.04602691e-02 3.17052841e-03 9.99530950e-01 1.35932190e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.569072329 meters Centerline goodness : 0.787209 Centerline is valid? [False, False] Translation: X:-299.20, Y:15.15, Z:135.93 [[ 9.99496849e-01 -9.80172244e-03 3.01657975e-02 -2.99201394e+02] [ 9.89807744e-03 9.99946372e-01 -3.04651038e-03 1.51467537e+01] [-3.01343188e-02 3.34356093e-03 9.99540266e-01 1.35932633e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.59907232899997 meters Centerline goodness : 0.785942 Centerline is valid? [False, False] Translation: X:-299.20, Y:15.15, Z:135.93 [[ 9.99506330e-01 -9.59688810e-03 2.99164978e-02 -2.99201619e+02] [ 9.69760464e-03 9.99947782e-01 -3.22331337e-03 1.51471699e+01] [-2.98840019e-02 3.51184048e-03 9.99547204e-01 1.35933816e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.629072329 meters Centerline goodness : 0.785195 Centerline is valid? [False, False] Translation: X:-299.21, Y:15.16, Z:135.94 [[ 9.99730230e-01 -8.62568730e-03 2.15653795e-02 -2.99211708e+02] [ 8.91360987e-03 9.99871942e-01 -1.32908639e-02 1.51603643e+01] [-2.14479750e-02 1.34795038e-02 9.99679092e-01 1.35935993e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.65907232899997 meters Centerline goodness : 0.784796 Centerline is valid? [False, False] Translation: X:-299.21, Y:15.16, Z:135.94 [[ 9.99715700e-01 -8.85326483e-03 2.21390679e-02 -2.99213174e+02] [ 9.14941277e-03 9.99869539e-01 -1.33113901e-02 1.51598538e+01] [-2.20183303e-02 1.35101652e-02 9.99666279e-01 1.35935907e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.68907232899994 meters Centerline goodness : 0.785580 Centerline is valid? [False, False] Translation: X:-299.21, Y:15.16, Z:135.94 [[ 9.99722245e-01 -8.57838827e-03 2.19509383e-02 -2.99212416e+02] [ 8.86805295e-03 9.99874435e-01 -1.31328635e-02 1.51600134e+01] [-2.18355232e-02 1.33238779e-02 9.99672789e-01 1.35935563e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.71907232899997 meters Centerline goodness : 0.786095 Centerline is valid? [False, False] Translation: X:-299.21, Y:15.16, Z:135.94 [[ 9.99734558e-01 -8.40220101e-03 2.14526539e-02 -2.99211335e+02] [ 8.68976470e-03 9.99873168e-01 -1.33467277e-02 1.51616495e+01] [-2.13377911e-02 1.35296035e-02 9.99680773e-01 1.35935998e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.74907232899994 meters Centerline goodness : 0.785503 Centerline is valid? [False, False] Translation: X:-299.20, Y:15.16, Z:135.94 [[ 9.99769360e-01 -1.17636766e-02 1.79678100e-02 -2.99203212e+02] [ 1.18777399e-02 9.99909895e-01 -6.25473080e-03 1.51565276e+01] [-1.78926124e-02 6.46670519e-03 9.99819002e-01 1.35943492e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.779072329 meters Centerline goodness : 0.789128 Centerline is valid? [False, False] Translation: X:-299.20, Y:15.16, Z:135.94 [[ 9.99800985e-01 -8.21227918e-03 1.81809776e-02 -2.99204199e+02] [ 8.26963356e-03 9.99961057e-01 -3.08170494e-03 1.51595454e+01] [-1.81549617e-02 3.23144166e-03 9.99829963e-01 1.35944065e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.80907232899995 meters Centerline goodness : 0.788027 Centerline is valid? [False, False] Translation: X:-299.20, Y:15.16, Z:135.94 [[ 9.99800263e-01 -8.28991024e-03 1.81854702e-02 -2.99204265e+02] [ 8.35078074e-03 9.99959772e-01 -3.27382316e-03 1.51603682e+01] [-1.81575990e-02 3.42503213e-03 9.99829271e-01 1.35944208e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.839072329 meters Centerline goodness : 0.787635 Centerline is valid? [False, False] Translation: X:-299.20, Y:15.16, Z:135.94 [[ 9.99815541e-01 -7.68562033e-03 1.76015852e-02 -2.99202443e+02] [ 7.73958369e-03 9.99965550e-01 -2.99975826e-03 1.51610409e+01] [-1.75779238e-02 3.13543387e-03 9.99840580e-01 1.35943844e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.86907232899995 meters Centerline goodness : 0.786380 Centerline is valid? [False, False] Translation: X:-299.20, Y:15.16, Z:135.94 [[ 9.99820296e-01 -7.53467052e-03 1.73955132e-02 -2.99201399e+02] [ 7.58648546e-03 9.99966975e-01 -2.91457128e-03 1.51616200e+01] [-1.73729783e-02 3.04601833e-03 9.99844439e-01 1.35943196e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.899072329 meters Centerline goodness : 0.787384 Centerline is valid? [False, False] Translation: X:-299.20, Y:15.16, Z:135.94 [[ 9.99818781e-01 -7.45045670e-03 1.75184278e-02 -2.99201582e+02] [ 7.49926525e-03 9.99968175e-01 -2.72208551e-03 1.51613377e+01] [-1.74975895e-02 2.85296756e-03 9.99842835e-01 1.35943035e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.92907232899995 meters Centerline goodness : 0.786803 Centerline is valid? [False, False] Translation: X:-299.20, Y:15.16, Z:135.94 [[ 9.99820084e-01 -7.30108949e-03 1.75069664e-02 -2.99201639e+02] [ 7.34719950e-03 9.99969704e-01 -2.57093812e-03 1.51611223e+01] [-1.74876654e-02 2.69910274e-03 9.99843436e-01 1.35943173e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.959072329 meters Centerline goodness : 0.787377 Centerline is valid? [False, False] Translation: X:-299.20, Y:15.16, Z:135.94 [[ 9.99768477e-01 -1.15879920e-02 1.81303773e-02 -2.99202794e+02] [ 1.17080226e-02 9.99910148e-01 -6.52833183e-03 1.51599569e+01] [-1.80530980e-02 6.73909124e-03 9.99814318e-01 1.35942696e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.98907232899995 meters Centerline goodness : 0.786536 Centerline is valid? [False, False] Translation: X:-299.21, Y:15.16, Z:135.94 [[ 9.99745174e-01 -1.20062546e-02 1.91164052e-02 -2.99205115e+02] [ 1.21286554e-02 9.99906599e-01 -6.29990333e-03 1.51581282e+01] [-1.90389814e-02 6.53015424e-03 9.99797417e-01 1.35942259e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.019072329 meters Centerline goodness : 0.785644 Centerline is valid? [False, False] Translation: X:-299.21, Y:15.16, Z:135.94 [[ 9.99706349e-01 -1.31352542e-02 2.03637223e-02 -2.99208202e+02] [ 1.32738988e-02 9.99889529e-01 -6.68825171e-03 1.51572919e+01] [-2.02736209e-02 6.95659368e-03 9.99770267e-01 1.35941992e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.04907232899996 meters Centerline goodness : 0.784880 Centerline is valid? [False, False] Translation: X:-299.21, Y:15.15, Z:135.94 [[ 9.99594428e-01 -1.82161354e-02 2.18895391e-02 -2.99211360e+02] [ 1.84356583e-02 9.99781340e-01 -9.86905602e-03 1.51528474e+01] [-2.17049767e-02 1.02686015e-02 9.99711683e-01 1.35940603e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.079072329 meters Centerline goodness : 0.784247 Centerline is valid? [False, False] Translation: X:-299.21, Y:15.15, Z:135.94 [[ 9.99556316e-01 -1.88562359e-02 2.30567632e-02 -2.99213799e+02] [ 1.90854521e-02 9.99770197e-01 -9.76205810e-03 1.51515163e+01] [-2.28673890e-02 1.01977756e-02 9.99686495e-01 1.35939759e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.10907232899996 meters Centerline goodness : 0.786669 Centerline is valid? [False, False] Translation: X:-299.22, Y:15.15, Z:135.94 [[ 9.99449914e-01 -2.29073528e-02 2.39817207e-02 -2.99215382e+02] [ 2.32190201e-02 9.99648467e-01 -1.27992276e-02 1.51474797e+01] [-2.36800939e-02 1.33490190e-02 9.99630460e-01 1.35938852e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.139072329 meters Centerline goodness : 0.784248 Centerline is valid? [False, False] Translation: X:-299.22, Y:15.15, Z:135.94 [[ 9.99397609e-01 -2.38836041e-02 2.51792265e-02 -2.99218454e+02] [ 2.42211841e-02 9.99619628e-01 -1.31884125e-02 1.51470324e+01] [-2.48546622e-02 1.37903386e-02 9.99595955e-01 1.35938810e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.16907232899996 meters Centerline goodness : 0.785318 Centerline is valid? [False, False] Translation: X:-299.22, Y:15.15, Z:135.94 [[ 9.99327303e-01 -2.54628006e-02 2.63929277e-02 -2.99222102e+02] [ 2.58399412e-02 9.99567379e-01 -1.40482274e-02 1.51468126e+01] [-2.60238024e-02 1.47207689e-02 9.99552930e-01 1.35939355e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.199072329 meters Centerline goodness : 0.783888 Centerline is valid? [False, False] Translation: X:-299.22, Y:15.15, Z:135.94 [[ 9.99287265e-01 -2.59164842e-02 2.74462784e-02 -2.99224314e+02] [ 2.63044496e-02 9.99557752e-01 -1.38699596e-02 1.51455297e+01] [-2.70746798e-02 1.45820333e-02 9.99527051e-01 1.35938631e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.22907232899996 meters Centerline goodness : 0.782411 Centerline is valid? [False, False] Translation: X:-299.23, Y:15.14, Z:135.94 [[ 9.99144877e-01 -2.98506858e-02 2.86085945e-02 -2.99225125e+02] [ 3.03185927e-02 9.99411199e-01 -1.60635973e-02 1.51392690e+01] [-2.81122403e-02 1.69172333e-02 9.99461610e-01 1.35935546e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.259072329 meters Centerline goodness : 0.783096 Centerline is valid? [False, False] Translation: X:-299.23, Y:15.14, Z:135.93 [[ 9.99004221e-01 -3.38029385e-02 2.91192158e-02 -2.99225393e+02] [ 3.43811996e-02 9.99216738e-01 -1.95919291e-02 1.51371006e+01] [-2.84341430e-02 2.05735734e-02 9.99383924e-01 1.35934386e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.28907232899996 meters Centerline goodness : 0.784104 Centerline is valid? [False, False] Translation: X:-299.23, Y:15.14, Z:135.93 [[ 9.98984815e-01 -3.37952187e-02 2.97862782e-02 -2.99226543e+02] [ 3.43693583e-02 9.99228981e-01 -1.89787068e-02 1.51350172e+01] [-2.91219228e-02 1.99831752e-02 9.99376099e-01 1.35933469e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.319072329 meters Centerline goodness : 0.784485 Centerline is valid? [False, False] Translation: X:-299.23, Y:15.13, Z:135.93 [[ 9.98791921e-01 -3.83355539e-02 3.07422004e-02 -2.99228171e+02] [ 3.90543457e-02 9.98969307e-01 -2.31318287e-02 1.51343968e+01] [-2.98237431e-02 2.43045001e-02 9.99259644e-01 1.35932967e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.34907232899997 meters Centerline goodness : 0.784763 Centerline is valid? [False, False] Translation: X:-299.23, Y:15.14, Z:135.93 [[ 9.98682536e-01 -4.01670207e-02 3.19343656e-02 -2.99232192e+02] [ 4.09696746e-02 9.98850318e-01 -2.48903365e-02 1.51369306e+01] [-3.08978806e-02 2.61658849e-02 9.99179998e-01 1.35934507e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.379072329 meters Centerline goodness : 0.786279 Centerline is valid? [False, False] Translation: X:-299.24, Y:15.14, Z:135.94 [[ 9.98577398e-01 -4.19618308e-02 3.28996160e-02 -2.99236397e+02] [ 4.28429354e-02 9.98728978e-01 -2.65501754e-02 1.51382603e+01] [-3.17437058e-02 2.79219212e-02 9.99105952e-01 1.35936907e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.40907232899997 meters Centerline goodness : 0.785276 Centerline is valid? [False, False] Translation: X:-299.23, Y:15.13, Z:135.95 [[ 9.98429700e-01 -4.67640017e-02 3.08425377e-02 -2.99230423e+02] [ 4.73873958e-02 9.98680318e-01 -1.98004227e-02 1.51306377e+01] [-2.98758883e-02 2.12308776e-02 9.99328115e-01 1.35945415e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.43907232899994 meters Centerline goodness : 0.784902 Centerline is valid? [False, False] Translation: X:-299.23, Y:15.13, Z:135.94 [[ 9.98344637e-01 -4.78346901e-02 3.19347587e-02 -2.99232687e+02] [ 4.85060921e-02 9.98610620e-01 -2.05909610e-02 1.51320612e+01] [-3.09054269e-02 2.21059058e-02 9.99277831e-01 1.35944894e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.46907232899997 meters Centerline goodness : 0.785632 Centerline is valid? [False, False] Translation: X:-299.24, Y:15.13, Z:135.94 [[ 9.98219841e-01 -4.93457879e-02 3.34983898e-02 -2.99235870e+02] [ 5.00324553e-02 9.98547742e-01 -1.99790066e-02 1.51279135e+01] [-3.24638617e-02 2.16194475e-02 9.99239059e-01 1.35943303e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.49907232899994 meters Centerline goodness : 0.784538 Centerline is valid? [False, False] Translation: X:-299.24, Y:15.13, Z:135.94 [[ 9.98180272e-01 -4.95887180e-02 3.43089476e-02 -2.99237950e+02] [ 5.02858887e-02 9.98539280e-01 -1.97645054e-02 1.51265899e+01] [-3.32787353e-02 2.14537953e-02 9.99215823e-01 1.35943295e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.529072329 meters Centerline goodness : 0.785784 Centerline is valid? [False, False] Translation: X:-299.24, Y:15.13, Z:135.94 [[ 9.98118110e-01 -5.01726092e-02 3.52554518e-02 -2.99240428e+02] [ 5.08943795e-02 9.98506121e-01 -1.98818743e-02 1.51258164e+01] [-3.42052589e-02 2.16387632e-02 9.99180546e-01 1.35943401e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.55907232899995 meters Centerline goodness : 0.783152 Centerline is valid? [False, False] Translation: X:-299.24, Y:15.12, Z:135.94 [[ 9.97869694e-01 -5.42529848e-02 3.62310330e-02 -2.99241211e+02] [ 5.51122166e-02 9.98211699e-01 -2.31527099e-02 1.51226620e+01] [-3.49101373e-02 2.51001601e-02 9.99075205e-01 1.35941647e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.589072329 meters Centerline goodness : 0.784814 Centerline is valid? [False, False] Translation: X:-299.24, Y:15.13, Z:135.94 [[ 9.97896271e-01 -5.29090854e-02 3.74654687e-02 -2.99244689e+02] [ 5.37391999e-02 9.98323368e-01 -2.15070271e-02 1.51254019e+01] [-3.62647357e-02 2.34751464e-02 9.99066457e-01 1.35941883e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.61907232899995 meters Centerline goodness : 0.782503 Centerline is valid? [False, False] Translation: X:-299.26, Y:15.13, Z:135.94 [[ 9.97174543e-01 -6.20209361e-02 4.23831919e-02 -2.99256347e+02] [ 6.31196083e-02 9.97690431e-01 -2.50941938e-02 1.51267437e+01] [-4.07289396e-02 2.76985017e-02 9.98786237e-01 1.35938137e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.649072329 meters Centerline goodness : 0.784184 Centerline is valid? [False, False] Translation: X:-299.26, Y:15.13, Z:135.94 [[ 9.97652119e-01 -5.39890991e-02 4.21358021e-02 -2.99257530e+02] [ 5.47390516e-02 9.98358483e-01 -1.68516042e-02 1.51275183e+01] [-4.11568326e-02 1.91185125e-02 9.98969768e-01 1.35938867e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.67907232899995 meters Centerline goodness : 0.784184 Centerline is valid? [False, False] Translation: X:-299.26, Y:15.13, Z:135.94 [[ 9.97652119e-01 -5.39890991e-02 4.21358021e-02 -2.99257530e+02] [ 5.47390516e-02 9.98358483e-01 -1.68516042e-02 1.51275183e+01] [-4.11568326e-02 1.91185125e-02 9.98969768e-01 1.35938867e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.709072329 meters Centerline goodness : 0.783763 Centerline is valid? [False, False] Translation: X:-299.26, Y:15.13, Z:135.94 [[ 9.97786955e-01 -5.11227502e-02 4.25165445e-02 -2.99259783e+02] [ 5.17775680e-02 9.98554169e-01 -1.44448841e-02 1.51323012e+01] [-4.17166105e-02 1.66143202e-02 9.98991336e-01 1.35940083e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.73907232899995 meters Centerline goodness : 0.783793 Centerline is valid? [False, False] Translation: X:-299.26, Y:15.14, Z:135.94 [[ 9.97927669e-01 -4.81020114e-02 4.27383265e-02 -2.99261465e+02] [ 4.86438228e-02 9.98747324e-01 -1.17286197e-02 1.51360955e+01] [-4.21206190e-02 1.37832697e-02 9.99017455e-01 1.35941134e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.769072329 meters Centerline goodness : 0.783982 Centerline is valid? [False, False] Translation: X:-299.26, Y:15.14, Z:135.94 [[ 9.97879066e-01 -4.86017361e-02 4.33040595e-02 -2.99262924e+02] [ 4.91668424e-02 9.98717513e-01 -1.20810328e-02 1.51366584e+01] [-4.26613634e-02 1.41845336e-02 9.98988892e-01 1.35941214e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.79907232899996 meters Centerline goodness : 0.782579 Centerline is valid? [False, False] Translation: X:-299.26, Y:15.13, Z:135.94 [[ 9.97906066e-01 -4.81145566e-02 4.32258339e-02 -2.99262222e+02] [ 4.86417045e-02 9.98753195e-01 -1.12267315e-02 1.51345193e+01] [-4.26317705e-02 1.33058017e-02 9.99002246e-01 1.35940395e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.829072329 meters Centerline goodness : 0.782164 Centerline is valid? [False, False] Translation: X:-299.26, Y:15.13, Z:135.94 [[ 9.97816219e-01 -4.90153084e-02 4.42751845e-02 -2.99264565e+02] [ 4.95722517e-02 9.98703531e-01 -1.15693542e-02 1.51340724e+01] [-4.36507076e-02 1.37389098e-02 9.98952380e-01 1.35939954e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.85907232899996 meters Centerline goodness : 0.780610 Centerline is valid? [False, False] Translation: X:-299.26, Y:15.13, Z:135.94 [[ 9.97847154e-01 -4.84487535e-02 4.42015256e-02 -2.99263970e+02] [ 4.89655260e-02 9.98743327e-01 -1.06838295e-02 1.51320387e+01] [-4.36283605e-02 1.28251798e-02 9.98965505e-01 1.35939259e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.889072329 meters Centerline goodness : 0.780737 Centerline is valid? [False, False] Translation: X:-299.27, Y:15.14, Z:135.94 [[ 9.98280825e-01 -4.88088237e-02 3.24514110e-02 -2.99267769e+02] [ 4.94178108e-02 9.98611697e-01 -1.82362091e-02 1.51419555e+01] [-3.15162707e-02 1.98085356e-02 9.99306933e-01 1.35943221e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.91907232899996 meters Centerline goodness : 0.779466 Centerline is valid? [False, False] Translation: X:-299.27, Y:15.14, Z:135.94 [[ 9.98052415e-01 -5.29364992e-02 3.30015826e-02 -2.99268672e+02] [ 5.36927747e-02 9.98304723e-01 -2.24669898e-02 1.51419682e+01] [-3.17563120e-02 2.41951799e-02 9.99202747e-01 1.35943255e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.949072329 meters Centerline goodness : 0.782238 Centerline is valid? [False, False] Translation: X:-299.27, Y:15.14, Z:135.94 [[ 9.98067236e-01 -5.26426293e-02 3.30234224e-02 -2.99269368e+02] [ 5.33822904e-02 9.98333300e-01 -2.19306505e-02 1.51401334e+01] [-3.18138951e-02 2.36511296e-02 9.99213941e-01 1.35943943e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.97907232899996 meters Centerline goodness : 0.783585 Centerline is valid? [False, False] Translation: X:-299.27, Y:15.14, Z:135.94 [[ 9.98015238e-01 -5.33558587e-02 3.34475384e-02 -2.99270573e+02] [ 5.41356630e-02 9.98271916e-01 -2.28585222e-02 1.51427062e+01] [-3.21701022e-02 2.46238581e-02 9.99179038e-01 1.35944236e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.009072329 meters Centerline goodness : 0.782308 Centerline is valid? [False, False] Translation: X:-299.27, Y:15.15, Z:135.94 [[ 9.98104530e-01 -5.09931732e-02 3.44535078e-02 -2.99273742e+02] [ 5.17165905e-02 9.98452562e-01 -2.04420073e-02 1.51461705e+01] [-3.33577903e-02 2.21850780e-02 9.99197218e-01 1.35944623e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.03907232899996 meters Centerline goodness : 0.781487 Centerline is valid? [False, False] Translation: X:-299.28, Y:15.15, Z:135.94 [[ 9.97952304e-01 -5.30358691e-02 3.57546559e-02 -2.99276800e+02] [ 5.38501214e-02 9.98302045e-01 -2.22079081e-02 1.51487916e+01] [-3.45161304e-02 2.40878256e-02 9.99113814e-01 1.35944595e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.069072329 meters Centerline goodness : 0.784464 Centerline is valid? [False, False] Translation: X:-299.28, Y:15.15, Z:135.95 [[ 9.98421938e-01 -4.44367718e-02 3.43366854e-02 -2.99275070e+02] [ 4.49562347e-02 9.98883617e-01 -1.45071541e-02 1.51525305e+01] [-3.36537014e-02 1.60279090e-02 9.99305026e-01 1.35945792e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.09907232899997 meters Centerline goodness : 0.784213 Centerline is valid? [False, False] Translation: X:-299.28, Y:15.16, Z:135.95 [[ 9.98565002e-01 -4.12557785e-02 3.41452460e-02 -2.99275248e+02] [ 4.16910969e-02 9.99056834e-01 -1.21364717e-02 1.51585250e+01] [-3.36123418e-02 1.35426086e-02 9.99343188e-01 1.35946349e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.129072329 meters Centerline goodness : 0.783895 Centerline is valid? [False, False] Translation: X:-299.28, Y:15.16, Z:135.95 [[ 9.98568838e-01 -4.05899584e-02 3.48242758e-02 -2.99278688e+02] [ 4.10323353e-02 9.99084748e-01 -1.20836121e-02 1.51646488e+01] [-3.43019295e-02 1.34952398e-02 9.99320397e-01 1.35948568e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.15907232899997 meters Centerline goodness : 0.784583 Centerline is valid? [False, False] Translation: X:-299.28, Y:15.17, Z:135.95 [[ 9.98766537e-01 -3.63557318e-02 3.38181116e-02 -2.99277459e+02] [ 3.66667651e-02 9.99290346e-01 -8.62278122e-03 1.51679751e+01] [-3.34806249e-02 9.85214609e-03 9.99390806e-01 1.35950017e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.18907232899994 meters Centerline goodness : 0.785354 Centerline is valid? [False, False] Translation: X:-299.28, Y:15.17, Z:135.95 [[ 9.98891303e-01 -3.28998412e-02 3.36714339e-02 -2.99277911e+02] [ 3.31137630e-02 9.99434671e-01 -5.81525300e-03 1.51724586e+01] [-3.34610776e-02 6.92379353e-03 9.99416038e-01 1.35950821e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.21907232899997 meters Centerline goodness : 0.781141 Centerline is valid? [False, False] Translation: X:-299.28, Y:15.17, Z:135.95 [[ 9.98917206e-01 -3.25673893e-02 3.32232104e-02 -2.99277140e+02] [ 3.27785743e-02 9.99445625e-01 -5.83167876e-03 1.51729099e+01] [-3.30148697e-02 6.91437372e-03 9.99430943e-01 1.35951278e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.24907232899994 meters Centerline goodness : 0.782952 Centerline is valid? [False, False] Translation: X:-299.28, Y:15.17, Z:135.95 [[ 9.98995026e-01 -3.12611977e-02 3.21197123e-02 -2.99275009e+02] [ 3.14348959e-02 9.99493707e-01 -4.91705277e-03 1.51720627e+01] [-3.19497373e-02 5.92179107e-03 9.99471934e-01 1.35952028e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.279072329 meters Centerline goodness : 0.781473 Centerline is valid? [False, False] Translation: X:-299.29, Y:15.18, Z:135.95 [[ 9.99110952e-01 -2.51241923e-02 3.38538205e-02 -2.99285679e+02] [ 2.55529106e-02 9.99597907e-01 -1.22911634e-02 1.51819328e+01] [-3.35314026e-02 1.31452996e-02 9.99351213e-01 1.35947123e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.30907232899995 meters Centerline goodness : 0.781499 Centerline is valid? [False, False] Translation: X:-299.29, Y:15.18, Z:135.95 [[ 9.99204919e-01 -2.11685670e-02 3.37849427e-02 -2.99285693e+02] [ 2.14635612e-02 9.99734403e-01 -8.39282654e-03 1.51831986e+01] [-3.35983054e-02 9.11129875e-03 9.99393885e-01 1.35946992e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.339072329 meters Centerline goodness : 0.781859 Centerline is valid? [False, False] Translation: X:-299.28, Y:15.18, Z:135.95 [[ 9.99268690e-01 -1.98234627e-02 3.26973470e-02 -2.99283200e+02] [ 2.00757783e-02 9.99771027e-01 -7.40650261e-03 1.51824803e+01] [-3.25430377e-02 8.05751084e-03 9.99437856e-01 1.35947255e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.36907232899995 meters Centerline goodness : 0.781667 Centerline is valid? [False, False] Translation: X:-299.28, Y:15.18, Z:135.95 [[ 9.99319491e-01 -1.85497583e-02 3.18820017e-02 -2.99280353e+02] [ 1.87719156e-02 9.99801457e-01 -6.68294821e-03 1.51832859e+01] [-3.17517047e-02 7.27688665e-03 9.99469297e-01 1.35946341e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.399072329 meters Centerline goodness : 0.779719 Centerline is valid? [False, False] Translation: X:-299.28, Y:15.18, Z:135.95 [[ 9.99384145e-01 -1.68195936e-02 3.07966079e-02 -2.99277553e+02] [ 1.69905079e-02 9.99841622e-01 -5.29650747e-03 1.51817391e+01] [-3.07026453e-02 5.81649560e-03 9.99511639e-01 1.35946140e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.42907232899995 meters Centerline goodness : 0.779943 Centerline is valid? [False, False] Translation: X:-299.28, Y:15.18, Z:135.95 [[ 9.99381808e-01 -1.70721910e-02 3.07334030e-02 -2.99277627e+02] [ 1.72638531e-02 9.99833075e-01 -5.98174748e-03 1.51840031e+01] [-3.06261513e-02 6.50862656e-03 9.99509718e-01 1.35946510e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.459072329 meters Centerline goodness : 0.778998 Centerline is valid? [False, False] Translation: X:-299.28, Y:15.18, Z:135.95 [[ 9.99363957e-01 -1.73456756e-02 3.11578120e-02 -2.99279265e+02] [ 1.75425044e-02 9.99827784e-01 -6.05492725e-03 1.51832045e+01] [-3.10474194e-02 6.59766211e-03 9.99496137e-01 1.35947152e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.48907232899995 meters Centerline goodness : 0.779673 Centerline is valid? [False, False] Translation: X:-299.29, Y:15.19, Z:135.94 [[ 9.99451430e-01 -7.46539378e-03 3.22661886e-02 -2.99291448e+02] [ 7.80565216e-03 9.99915116e-01 -1.04322866e-02 1.51940519e+01] [-3.21855686e-02 1.06784224e-02 9.99424865e-01 1.35944796e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.519072329 meters Centerline goodness : 0.778180 Centerline is valid? [False, False] Translation: X:-299.29, Y:15.19, Z:135.95 [[ 9.99474197e-01 -6.72147988e-03 3.17198967e-02 -2.99290395e+02] [ 7.03649000e-03 9.99926928e-01 -9.82983855e-03 1.51933386e+01] [-3.16515078e-02 1.00478667e-02 9.99448459e-01 1.35945193e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.54907232899996 meters Centerline goodness : 0.776981 Centerline is valid? [False, False] Translation: X:-299.29, Y:15.19, Z:135.95 [[ 9.99473560e-01 -6.77413965e-03 3.17287631e-02 -2.99291274e+02] [ 7.09701834e-03 9.99924064e-01 -1.00746738e-02 1.51937393e+01] [-3.16581064e-02 1.02945497e-02 9.99445740e-01 1.35946328e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.579072329 meters Centerline goodness : 0.777201 Centerline is valid? [False, False] Translation: X:-299.29, Y:15.20, Z:135.95 [[ 9.99457443e-01 -7.36353613e-03 3.21029263e-02 -2.99292571e+02] [ 7.71911035e-03 9.99910074e-01 -1.09662381e-02 1.51961514e+01] [-3.20192891e-02 1.12080943e-02 9.99424406e-01 1.35946912e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.60907232899996 meters Centerline goodness : 0.777131 Centerline is valid? [False, False] Translation: X:-299.29, Y:15.20, Z:135.95 [[ 9.99449526e-01 -7.56289901e-03 3.23024258e-02 -2.99293287e+02] [ 7.92448726e-03 9.99907208e-01 -1.10805243e-02 1.51961456e+01] [-3.22156275e-02 1.13304049e-02 9.99416718e-01 1.35947188e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.639072329 meters Centerline goodness : 0.777049 Centerline is valid? [False, False] Translation: X:-299.29, Y:15.20, Z:135.95 [[ 9.99454360e-01 -7.48387821e-03 3.21709953e-02 -2.99292958e+02] [ 7.84393082e-03 9.99907846e-01 -1.10802391e-02 1.51966917e+01] [-3.20851074e-02 1.13265404e-02 9.99420960e-01 1.35947219e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.66907232899996 meters Centerline goodness : 0.777531 Centerline is valid? [False, False] Translation: X:-299.30, Y:15.21, Z:135.96 [[ 9.99601788e-01 -1.46172476e-02 2.41371579e-02 -2.99300963e+02] [ 1.47307657e-02 9.99881226e-01 -4.53194621e-03 1.52075939e+01] [-2.40680465e-02 4.88570035e-03 9.99698384e-01 1.35955083e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.699072329 meters Centerline goodness : 0.775219 Centerline is valid? [False, False] Translation: X:-299.30, Y:15.21, Z:135.95 [[ 9.99583119e-01 -1.49422298e-02 2.47046245e-02 -2.99302307e+02] [ 1.50609318e-02 9.99875878e-01 -4.62577377e-03 1.52074517e+01] [-2.46324387e-02 4.99592004e-03 9.99684092e-01 1.35954902e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.72907232899996 meters Centerline goodness : 0.774937 Centerline is valid? [False, False] Translation: X:-299.30, Y:15.20, Z:135.95 [[ 9.99565559e-01 -1.49481339e-02 2.54016913e-02 -2.99303110e+02] [ 1.50500529e-02 9.99879422e-01 -3.82585202e-03 1.52047885e+01] [-2.53414390e-02 4.20648672e-03 9.99670004e-01 1.35953352e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.759072329 meters Centerline goodness : 0.773127 Centerline is valid? [False, False] Translation: X:-299.30, Y:15.20, Z:135.95 [[ 9.99560004e-01 -1.49387804e-02 2.56248022e-02 -2.99303418e+02] [ 1.50371759e-02 9.99880268e-01 -3.65145469e-03 1.52040999e+01] [-2.55671858e-02 4.03517272e-03 9.99664962e-01 1.35952886e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.78907232899996 meters Centerline goodness : 0.772965 Centerline is valid? [False, False] Translation: X:-299.30, Y:15.20, Z:135.95 [[ 9.99571286e-01 -1.44948547e-02 2.54390163e-02 -2.99302637e+02] [ 1.45773313e-02 9.99889064e-01 -3.05967372e-03 1.52028528e+01] [-2.53918447e-02 3.42919496e-03 9.99671694e-01 1.35952342e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.819072329 meters Centerline goodness : 0.773468 Centerline is valid? [False, False] Translation: X:-299.30, Y:15.20, Z:135.95 [[ 9.99559982e-01 -1.47975493e-02 2.57074927e-02 -2.99303461e+02] [ 1.48904030e-02 9.99883268e-01 -3.42425352e-03 1.52036916e+01] [-2.56538213e-02 3.80554172e-03 9.99663643e-01 1.35952582e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.84907232899997 meters Centerline goodness : 0.773490 Centerline is valid? [False, False] Translation: X:-299.31, Y:15.21, Z:135.95 [[ 9.99516609e-01 -1.60789729e-02 2.66085508e-02 -2.99306733e+02] [ 1.62083105e-02 9.99857814e-01 -4.65222257e-03 1.52052463e+01] [-2.65299644e-02 5.08125338e-03 9.99635104e-01 1.35953850e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.879072329 meters Centerline goodness : 0.773415 Centerline is valid? [False, False] Translation: X:-299.31, Y:15.21, Z:135.95 [[ 9.99488952e-01 -1.66020836e-02 2.73167692e-02 -2.99308992e+02] [ 1.67458753e-02 9.99847058e-01 -5.04352884e-03 1.52055128e+01] [-2.72288582e-02 5.49839457e-03 9.99614104e-01 1.35954465e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.90907232899997 meters Centerline goodness : 0.772372 Centerline is valid? [False, False] Translation: X:-299.31, Y:15.21, Z:135.95 [[ 9.99451585e-01 -1.74150960e-02 2.81645696e-02 -2.99311299e+02] [ 1.75851312e-02 9.99828542e-01 -5.80080630e-03 1.52068409e+01] [-2.80587190e-02 6.29290270e-03 9.99586468e-01 1.35954713e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.93907232899994 meters Centerline goodness : 0.772908 Centerline is valid? [False, False] Translation: X:-299.31, Y:15.21, Z:135.95 [[ 9.99451591e-01 -1.73374262e-02 2.82122394e-02 -2.99311573e+02] [ 1.75031196e-02 9.99830920e-01 -5.63677030e-03 1.52062697e+01] [-2.81097422e-02 6.12748124e-03 9.99586063e-01 1.35954834e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.96907232899997 meters Centerline goodness : 0.772857 Centerline is valid? [False, False] Translation: X:-299.31, Y:15.21, Z:135.96 [[ 9.99427480e-01 -1.77885912e-02 2.87798360e-02 -2.99313275e+02] [ 1.79665626e-02 9.99820960e-01 -5.93714650e-03 1.52066125e+01] [-2.86690698e-02 6.45082209e-03 9.99568142e-01 1.35955165e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.99907232899994 meters Centerline goodness : 0.769892 Centerline is valid? [False, False] Translation: X:-299.31, Y:15.21, Z:135.96 [[ 9.99411462e-01 -1.80298979e-02 2.91830688e-02 -2.99314255e+02] [ 1.82141066e-02 9.99815752e-01 -6.05868356e-03 1.52067260e+01] [-2.90684545e-02 6.58666132e-03 9.99555722e-01 1.35955049e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.029072329 meters Centerline goodness : 0.770016 Centerline is valid? [False, False] Translation: X:-299.31, Y:15.21, Z:135.95 [[ 9.99415891e-01 -1.78242995e-02 2.91576833e-02 -2.99313950e+02] [ 1.79993923e-02 9.99821443e-01 -5.75360703e-03 1.52061299e+01] [-2.90499230e-02 6.27506688e-03 9.99558265e-01 1.35954649e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.05907232899995 meters Centerline goodness : 0.769318 Centerline is valid? [False, False] Translation: X:-299.31, Y:15.21, Z:135.95 [[ 9.99399882e-01 -1.81004881e-02 2.95338459e-02 -2.99314647e+02] [ 1.82814406e-02 9.99815658e-01 -5.86845585e-03 1.52064805e+01] [-2.94221796e-02 6.40485533e-03 9.99546554e-01 1.35954211e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.089072329 meters Centerline goodness : 0.766972 Centerline is valid? [False, False] Translation: X:-299.32, Y:15.21, Z:135.95 [[ 9.99386379e-01 -1.83539636e-02 2.98328378e-02 -2.99315413e+02] [ 1.85436394e-02 9.99809482e-01 -6.09374899e-03 1.52070369e+01] [-2.97153097e-02 6.64321912e-03 9.99536327e-01 1.35954192e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.11907232899995 meters Centerline goodness : 0.767626 Centerline is valid? [False, False] Translation: X:-299.32, Y:15.21, Z:135.95 [[ 9.99353170e-01 -1.89780425e-02 3.05462908e-02 -2.99317354e+02] [ 1.91883643e-02 9.99794056e-01 -6.60697685e-03 1.52078891e+01] [-3.04146124e-02 7.18883662e-03 9.99511517e-01 1.35954356e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.149072329 meters Centerline goodness : 0.767718 Centerline is valid? [False, False] Translation: X:-299.32, Y:15.21, Z:135.95 [[ 9.99346905e-01 -1.89528139e-02 3.07661242e-02 -2.99318129e+02] [ 1.91585178e-02 9.99795942e-01 -6.40506532e-03 1.52071621e+01] [-3.06384522e-02 6.99031554e-03 9.99506088e-01 1.35954591e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.17907232899995 meters Centerline goodness : 0.765924 Centerline is valid? [False, False] Translation: X:-299.32, Y:15.21, Z:135.95 [[ 9.99364539e-01 -1.85007579e-02 3.04670320e-02 -2.99317734e+02] [ 1.86897908e-02 9.99807736e-01 -5.93143690e-03 1.52062445e+01] [-3.03514383e-02 6.49709015e-03 9.99518173e-01 1.35954970e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.209072329 meters Centerline goodness : 0.767271 Centerline is valid? [False, False] Translation: X:-299.32, Y:15.21, Z:135.95 [[ 9.99390518e-01 -1.80759368e-02 2.98639042e-02 -2.99316248e+02] [ 1.82569723e-02 9.99816502e-01 -5.80048697e-03 1.52067910e+01] [-2.97535750e-02 6.34217615e-03 9.99537144e-01 1.35954960e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.23907232899995 meters Centerline goodness : 0.769421 Centerline is valid? [False, False] Translation: X:-299.32, Y:15.21, Z:135.96 [[ 9.99463486e-01 -1.44122567e-02 2.94113499e-02 -2.99315616e+02] [ 1.45017943e-02 9.99890829e-01 -2.83327815e-03 1.52109311e+01] [-2.93673051e-02 3.25827540e-03 9.99563377e-01 1.35955483e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.269072329 meters Centerline goodness : 0.766767 Centerline is valid? [False, False] Translation: X:-299.31, Y:15.21, Z:135.96 [[ 9.99512959e-01 -1.31837394e-02 2.82848846e-02 -2.99312865e+02] [ 1.32552015e-02 9.99909407e-01 -2.34049434e-03 1.52119172e+01] [-2.82514657e-02 2.71427627e-03 9.99597163e-01 1.35955648e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.29907232899996 meters Centerline goodness : 0.766180 Centerline is valid? [False, False] Translation: X:-299.33, Y:15.23, Z:135.96 [[ 9.99630346e-01 -5.92910439e-03 2.65333379e-02 -2.99330232e+02] [ 6.17819583e-03 9.99937521e-01 -9.31575538e-03 1.52330981e+01] [-2.64764460e-02 9.47623993e-03 9.99604521e-01 1.35957693e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.329072329 meters Centerline goodness : 0.766139 Centerline is valid? [False, False] Translation: X:-299.33, Y:15.23, Z:135.96 [[ 9.99632699e-01 -5.98564569e-03 2.64317927e-02 -2.99330296e+02] [ 6.24084453e-03 9.99934606e-01 -9.58308012e-03 1.52342320e+01] [-2.63727033e-02 9.74451695e-03 9.99604684e-01 1.35958216e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.35907232899996 meters Centerline goodness : 0.764062 Centerline is valid? [False, False] Translation: X:-299.33, Y:15.24, Z:135.96 [[ 9.99639082e-01 -5.89800394e-03 2.62091426e-02 -2.99329867e+02] [ 6.15413218e-03 9.99933991e-01 -9.70258469e-03 1.52351974e+01] [-2.61501866e-02 9.86037738e-03 9.99609394e-01 1.35958437e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.389072329 meters Centerline goodness : 0.765709 Centerline is valid? [False, False] Translation: X:-299.33, Y:15.24, Z:135.96 [[ 9.99632985e-01 -5.99198604e-03 2.64195131e-02 -2.99330589e+02] [ 6.25322010e-03 9.99932265e-01 -9.81641479e-03 1.52354022e+01] [-2.63589038e-02 9.97801905e-03 9.99602745e-01 1.35958668e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.41907232899996 meters Centerline goodness : 0.764060 Centerline is valid? [False, False] Translation: X:-299.33, Y:15.23, Z:135.96 [[ 9.99627750e-01 -6.11342158e-03 2.65892414e-02 -2.99332092e+02] [ 6.37661161e-03 9.99931403e-01 -9.82486488e-03 1.52347919e+01] [-2.65273539e-02 9.99075684e-03 9.99598161e-01 1.35960048e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.449072329 meters Centerline goodness : 0.765047 Centerline is valid? [False, False] Translation: X:-299.33, Y:15.24, Z:135.96 [[ 9.99644701e-01 -5.75630734e-03 2.60256754e-02 -2.99330716e+02] [ 6.02060293e-03 9.99930987e-01 -1.00882583e-02 1.52372229e+01] [-2.59658082e-02 1.02413642e-02 9.99610370e-01 1.35960294e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.47907232899996 meters Centerline goodness : 0.762333 Centerline is valid? [False, False] Translation: X:-299.33, Y:15.24, Z:135.96 [[ 9.99635964e-01 -6.21463292e-03 2.62548731e-02 -2.99331414e+02] [ 6.49352099e-03 9.99923258e-01 -1.05504648e-02 1.52381032e+01] [-2.61872910e-02 1.07171106e-02 9.99599605e-01 1.35960337e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.509072329 meters Centerline goodness : 0.766225 Centerline is valid? [False, False] Translation: X:-299.33, Y:15.24, Z:135.96 [[ 9.99639879e-01 -5.97554378e-03 2.61611462e-02 -2.99331282e+02] [ 6.24711351e-03 9.99927323e-01 -1.03112569e-02 1.52377373e+01] [-2.60976295e-02 1.04709753e-02 9.99604558e-01 1.35960421e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.53907232899996 meters Centerline goodness : 0.763731 Centerline is valid? [False, False] Translation: X:-299.33, Y:15.24, Z:135.96 [[ 9.99658731e-01 -5.56654361e-03 2.55232169e-02 -2.99329808e+02] [ 5.83075936e-03 9.99930064e-01 -1.02892669e-02 1.52388404e+01] [-2.54641562e-02 1.04345753e-02 9.99621276e-01 1.35960660e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.569072329 meters Centerline goodness : 0.763731 Centerline is valid? [False, False] Translation: X:-299.33, Y:15.24, Z:135.96 [[ 9.99658731e-01 -5.56654361e-03 2.55232169e-02 -2.99329808e+02] [ 5.83075936e-03 9.99930064e-01 -1.02892669e-02 1.52388404e+01] [-2.54641562e-02 1.04345753e-02 9.99621276e-01 1.35960660e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.59907232899997 meters Centerline goodness : 0.763312 Centerline is valid? [False, False] Translation: X:-299.33, Y:15.24, Z:135.96 [[ 9.99667528e-01 -5.30686138e-03 2.52323292e-02 -2.99329296e+02] [ 5.56497053e-03 9.99932798e-01 -1.01701112e-02 1.52391446e+01] [-2.51766621e-02 1.03071471e-02 9.99629881e-01 1.35960964e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.629072329 meters Centerline goodness : 0.762202 Centerline is valid? [False, False] Translation: X:-299.33, Y:15.24, Z:135.96 [[ 9.99648220e-01 -5.72769958e-03 2.58965135e-02 -2.99330982e+02] [ 5.99515045e-03 9.99929374e-01 -1.02618610e-02 1.52386966e+01] [-2.58359077e-02 1.04135046e-02 9.99611957e-01 1.35960858e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.65907232899997 meters Centerline goodness : 0.760764 Centerline is valid? [False, False] Translation: X:-299.33, Y:15.24, Z:135.96 [[ 9.99625122e-01 -6.21480396e-03 2.66644355e-02 -2.99333122e+02] [ 6.49426500e-03 9.99924758e-01 -1.04068997e-02 1.52381517e+01] [-2.65977524e-02 1.05761643e-02 9.99590268e-01 1.35961007e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.68907232899994 meters Centerline goodness : 0.763085 Centerline is valid? [False, False] Translation: X:-299.34, Y:15.24, Z:135.96 [[ 9.99599082e-01 -6.71072015e-03 2.75071322e-02 -2.99335380e+02] [ 7.00013400e-03 9.99921013e-01 -1.04386535e-02 1.52371339e+01] [-2.74349086e-02 1.06270221e-02 9.99567102e-01 1.35961003e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.71907232899997 meters Centerline goodness : 0.762210 Centerline is valid? [False, False] Translation: X:-299.33, Y:15.23, Z:135.97 [[ 9.99614690e-01 -1.24851509e-02 2.47909821e-02 -2.99327740e+02] [ 1.26220959e-02 9.99905891e-01 -5.37520289e-03 1.52280843e+01] [-2.47215388e-02 5.68604592e-03 9.99678205e-01 1.35965917e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.74907232899994 meters Centerline goodness : 0.760980 Centerline is valid? [False, False] Translation: X:-299.33, Y:15.23, Z:135.96 [[ 9.99571413e-01 -1.57197386e-02 2.46957350e-02 -2.99326477e+02] [ 1.59282157e-02 9.99838954e-01 -8.26790937e-03 1.52253180e+01] [-2.45617885e-02 8.65772486e-03 9.99660824e-01 1.35964653e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.779072329 meters Centerline goodness : 0.758050 Centerline is valid? [False, False] Translation: X:-299.33, Y:15.22, Z:135.96 [[ 9.99503063e-01 -1.89949210e-02 2.51558966e-02 -2.99326196e+02] [ 1.92673389e-02 9.99757842e-01 -1.06314237e-02 1.52204500e+01] [-2.49478619e-02 1.11108278e-02 9.99627007e-01 1.35962690e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.80907232899995 meters Centerline goodness : 0.758856 Centerline is valid? [False, False] Translation: X:-299.33, Y:15.22, Z:135.96 [[ 9.99547362e-01 -1.54665621e-02 2.58041964e-02 -2.99328593e+02] [ 1.56418216e-02 9.99855850e-01 -6.60392404e-03 1.52195081e+01] [-2.56983368e-02 7.00455949e-03 9.99645203e-01 1.35963300e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.839072329 meters Centerline goodness : 0.759779 Centerline is valid? [False, False] Translation: X:-299.33, Y:15.22, Z:135.96 [[ 9.99577232e-01 -1.45006046e-02 2.52009691e-02 -2.99326359e+02] [ 1.46575485e-02 9.99874244e-01 -6.05416172e-03 1.52205964e+01] [-2.51100109e-02 6.42098665e-03 9.99664073e-01 1.35962542e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.86907232899995 meters Centerline goodness : 0.759579 Centerline is valid? [False, False] Translation: X:-299.33, Y:15.22, Z:135.96 [[ 9.99500546e-01 -1.86981588e-02 2.54762168e-02 -2.99325791e+02] [ 1.89603177e-02 9.99769344e-01 -1.00879149e-02 1.52207094e+01] [-2.52817151e-02 1.05659136e-02 9.99624528e-01 1.35961021e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.899072329 meters Centerline goodness : 0.759514 Centerline is valid? [False, False] Translation: X:-299.32, Y:15.22, Z:135.96 [[ 9.99511658e-01 -1.84075166e-02 2.52509368e-02 -2.99324961e+02] [ 1.86643374e-02 9.99776066e-01 -9.97302701e-03 1.52213290e+01] [-2.50617036e-02 1.04394488e-02 9.99631397e-01 1.35960677e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.92907232899995 meters Centerline goodness : 0.762575 Centerline is valid? [False, False] Translation: X:-299.32, Y:15.22, Z:135.96 [[ 9.99520243e-01 -1.84348839e-02 2.48885147e-02 -2.99324601e+02] [ 1.87031784e-02 9.99768990e-01 -1.05904327e-02 1.52240008e+01] [-2.46875318e-02 1.10508462e-02 9.99634135e-01 1.35961579e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.959072329 meters Centerline goodness : 0.761219 Centerline is valid? [False, False] Translation: X:-299.32, Y:15.23, Z:135.96 [[ 9.99545158e-01 -1.80122746e-02 2.41875082e-02 -2.99323198e+02] [ 1.82756453e-02 9.99775600e-01 -1.07121459e-02 1.52258465e+01] [-2.39891305e-02 1.11493159e-02 9.99650046e-01 1.35962186e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.98907232899995 meters Centerline goodness : 0.760221 Centerline is valid? [False, False] Translation: X:-299.33, Y:15.23, Z:135.96 [[ 9.99584920e-01 -1.48529882e-02 2.46855399e-02 -2.99325113e+02] [ 1.50507744e-02 9.99855948e-01 -7.84583172e-03 1.52293939e+01] [-2.45654499e-02 8.21411157e-03 9.99664477e-01 1.35962906e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.019072329 meters Centerline goodness : 0.760715 Centerline is valid? [False, False] Translation: X:-299.32, Y:15.23, Z:135.96 [[ 9.99605102e-01 -1.44851717e-02 2.40794374e-02 -2.99323321e+02] [ 1.46805746e-02 9.99860565e-01 -7.95804754e-03 1.52314590e+01] [-2.39608062e-02 8.30840490e-03 9.99678373e-01 1.35962684e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.04907232899996 meters Centerline goodness : 0.759087 Centerline is valid? [False, False] Translation: X:-299.32, Y:15.23, Z:135.96 [[ 9.99646611e-01 -1.10966490e-02 2.41560984e-02 -2.99323908e+02] [ 1.12173612e-02 9.99925237e-01 -4.86741577e-03 1.52346941e+01] [-2.41002804e-02 5.13666337e-03 9.99696349e-01 1.35963106e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.079072329 meters Centerline goodness : 0.758394 Centerline is valid? [False, False] Translation: X:-299.32, Y:15.24, Z:135.96 [[ 9.99659622e-01 -1.08751233e-02 2.37143695e-02 -2.99323007e+02] [ 1.09944491e-02 9.99927518e-01 -4.90722875e-03 1.52355612e+01] [-2.36592839e-02 5.16628487e-03 9.99706731e-01 1.35963443e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.10907232899996 meters Centerline goodness : 0.758808 Centerline is valid? [False, False] Translation: X:-299.32, Y:15.24, Z:135.96 [[ 9.99686273e-01 -1.01414419e-02 2.29020945e-02 -2.99321946e+02] [ 1.02608377e-02 9.99934341e-01 -5.10182961e-03 1.52376190e+01] [-2.28488508e-02 5.33522371e-03 9.99724695e-01 1.35964964e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.139072329 meters Centerline goodness : 0.759755 Centerline is valid? [False, False] Translation: X:-299.32, Y:15.24, Z:135.97 [[ 9.99691058e-01 -1.01832120e-02 2.26735548e-02 -2.99321761e+02] [ 1.03099163e-02 9.99931844e-01 -5.47832888e-03 1.52391813e+01] [-2.26162225e-02 5.71039885e-03 9.99727912e-01 1.35965501e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.16907232899996 meters Centerline goodness : 0.759014 Centerline is valid? [False, False] Translation: X:-299.32, Y:15.24, Z:135.97 [[ 9.99706123e-01 -9.69283698e-03 2.22197543e-02 -2.99320619e+02] [ 9.80876400e-03 9.99938814e-01 -5.11425577e-03 1.52390566e+01] [-2.21688231e-02 5.33070113e-03 9.99740030e-01 1.35965465e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.199072329 meters Centerline goodness : 0.761186 Centerline is valid? [False, False] Translation: X:-299.32, Y:15.24, Z:135.96 [[ 9.99733892e-01 -8.53030522e-03 2.14331099e-02 -2.99318315e+02] [ 8.62251156e-03 9.99953949e-01 -4.21332495e-03 1.52383561e+01] [-2.13961820e-02 4.39701099e-03 9.99761406e-01 1.35964986e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.22907232899996 meters Centerline goodness : 0.761967 Centerline is valid? [False, False] Translation: X:-299.32, Y:15.24, Z:135.97 [[ 9.99725640e-01 -8.85046315e-03 2.16867472e-02 -2.99319200e+02] [ 8.95259524e-03 9.99949266e-01 -4.61686874e-03 1.52392669e+01] [-2.16447855e-02 4.80975472e-03 9.99754155e-01 1.35965314e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.259072329 meters Centerline goodness : 0.762267 Centerline is valid? [False, False] Translation: X:-299.32, Y:15.24, Z:135.97 [[ 9.99731381e-01 -8.61946096e-03 2.15144439e-02 -2.99319090e+02] [ 8.71815516e-03 9.99951881e-01 -4.49777329e-03 1.52393210e+01] [-2.14746403e-02 4.68413136e-03 9.99758420e-01 1.35965720e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.28907232899996 meters Centerline goodness : 0.764476 Centerline is valid? [False, False] Translation: X:-299.32, Y:15.24, Z:135.97 [[ 9.99738176e-01 -8.34071566e-03 2.13075654e-02 -2.99319370e+02] [ 8.43771923e-03 9.99954426e-01 -4.46669986e-03 1.52395999e+01] [-2.12693388e-02 4.64531762e-03 9.99762990e-01 1.35966780e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.319072329 meters Centerline goodness : 0.765832 Centerline is valid? [False, False] Translation: X:-299.32, Y:15.24, Z:135.97 [[ 9.99736781e-01 -8.32859618e-03 2.13776496e-02 -2.99319844e+02] [ 8.42457292e-03 9.99954817e-01 -4.40345632e-03 1.52394685e+01] [-2.13400091e-02 4.58239481e-03 9.99761774e-01 1.35967104e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.34907232899997 meters Centerline goodness : 0.768580 Centerline is valid? [False, False] Translation: X:-299.32, Y:15.24, Z:135.97 [[ 9.99709644e-01 -9.10665372e-03 2.23091324e-02 -2.99322637e+02] [ 9.21411511e-03 9.99946415e-01 -4.71887424e-03 1.52386499e+01] [-2.22649639e-02 4.92306300e-03 9.99739984e-01 1.35967499e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.379072329 meters Centerline goodness : 0.768410 Centerline is valid? [False, False] Translation: X:-299.33, Y:15.24, Z:135.97 [[ 9.99683950e-01 -9.75201465e-03 2.31710880e-02 -2.99325058e+02] [ 9.87158417e-03 9.99938515e-01 -5.05151925e-03 1.52384410e+01] [-2.31204008e-02 5.27865806e-03 9.99718752e-01 1.35967720e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.40907232899997 meters Centerline goodness : 0.769725 Centerline is valid? [False, False] Translation: X:-299.33, Y:15.24, Z:135.97 [[ 9.99654493e-01 -1.04773244e-02 2.41064324e-02 -2.99327233e+02] [ 1.06095438e-02 9.99929333e-01 -5.36347313e-03 1.52382660e+01] [-2.40485340e-02 5.61737827e-03 9.99695010e-01 1.35967306e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.43907232899994 meters Centerline goodness : 0.769407 Centerline is valid? [False, False] Translation: X:-299.33, Y:15.24, Z:135.97 [[ 9.99660547e-01 -9.98001554e-03 2.40663876e-02 -2.99326879e+02] [ 1.00897685e-02 9.99939225e-01 -4.44331492e-03 1.52356196e+01] [-2.40205806e-02 4.68463090e-03 9.99700488e-01 1.35966734e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.46907232899997 meters Centerline goodness : 0.773037 Centerline is valid? [False, False] Translation: X:-299.32, Y:15.23, Z:135.96 [[ 9.99629421e-01 -1.28797902e-02 2.39818901e-02 -2.99324905e+02] [ 1.30501548e-02 9.99890613e-01 -6.96097694e-03 1.52325426e+01] [-2.38896109e-02 7.27136473e-03 9.99688158e-01 1.35964507e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.49907232899994 meters Centerline goodness : 0.772237 Centerline is valid? [False, False] Translation: X:-299.33, Y:15.23, Z:135.96 [[ 9.99628256e-01 -1.25549527e-02 2.42017299e-02 -2.99325610e+02] [ 1.27112844e-02 9.99899257e-01 -6.31653901e-03 1.52305792e+01] [-2.41199879e-02 6.62182595e-03 9.99687140e-01 1.35964553e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.529072329 meters Centerline goodness : 0.773054 Centerline is valid? [False, False] Translation: X:-299.33, Y:15.23, Z:135.97 [[ 9.99583401e-01 -1.40787275e-02 2.51955089e-02 -2.99329488e+02] [ 1.42810846e-02 9.99867051e-01 -7.86963002e-03 1.52328785e+01] [-2.50813648e-02 8.22617074e-03 9.99651567e-01 1.35966193e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.55907232899995 meters Centerline goodness : 0.772291 Centerline is valid? [False, False] Translation: X:-299.33, Y:15.23, Z:135.97 [[ 9.99548401e-01 -1.49960565e-02 2.60405995e-02 -2.99331586e+02] [ 1.52220642e-02 9.99847986e-01 -8.50260810e-03 1.52336689e+01] [-2.59091354e-02 8.89516001e-03 9.99624726e-01 1.35966093e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.589072329 meters Centerline goodness : 0.775168 Centerline is valid? [False, False] Translation: X:-299.33, Y:15.23, Z:135.96 [[ 9.99565942e-01 -1.43796537e-02 2.57128799e-02 -2.99329460e+02] [ 1.45835937e-02 9.99863529e-01 -7.76157039e-03 1.52328840e+01] [-2.55977621e-02 8.13318761e-03 9.99639238e-01 1.35964217e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.61907232899995 meters Centerline goodness : 0.773718 Centerline is valid? [False, False] Translation: X:-299.33, Y:15.23, Z:135.96 [[ 9.99561446e-01 -1.43147849e-02 2.59230299e-02 -2.99329565e+02] [ 1.45129855e-02 9.99866749e-01 -7.47379351e-03 1.52320942e+01] [-2.58125899e-02 7.84673640e-03 9.99636003e-01 1.35963546e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.649072329 meters Centerline goodness : 0.773678 Centerline is valid? [False, False] Translation: X:-299.33, Y:15.23, Z:135.96 [[ 9.99551608e-01 -1.44756235e-02 2.62114210e-02 -2.99330524e+02] [ 1.46795424e-02 9.99863335e-01 -7.60412631e-03 1.52324014e+01] [-2.60977643e-02 7.98548835e-03 9.99627500e-01 1.35963856e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.67907232899995 meters Centerline goodness : 0.772982 Centerline is valid? [False, False] Translation: X:-299.33, Y:15.23, Z:135.96 [[ 9.99523357e-01 -1.51424978e-02 2.69028430e-02 -2.99332776e+02] [ 1.53714517e-02 9.99847203e-01 -8.32406213e-03 1.52338056e+01] [-2.67726852e-02 8.73363028e-03 9.99603395e-01 1.35964580e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.709072329 meters Centerline goodness : 0.775605 Centerline is valid? [False, False] Translation: X:-299.34, Y:15.24, Z:135.97 [[ 9.99473418e-01 -1.67945457e-02 2.77638389e-02 -2.99336824e+02] [ 1.70806244e-02 9.99803110e-01 -1.00991447e-02 1.52359212e+01] [-2.75887620e-02 1.05680504e-02 9.99563493e-01 1.35967096e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.73907232899995 meters Centerline goodness : 0.777386 Centerline is valid? [False, False] Translation: X:-299.34, Y:15.24, Z:135.97 [[ 9.99483478e-01 -1.66201485e-02 2.75053988e-02 -2.99336834e+02] [ 1.69030135e-02 9.99806286e-01 -1.00836114e-02 1.52363317e+01] [-2.73324795e-02 1.05433271e-02 9.99570795e-01 1.35967982e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.769072329 meters Centerline goodness : 0.775933 Centerline is valid? [False, False] Translation: X:-299.34, Y:15.24, Z:135.97 [[ 9.99469024e-01 -1.68630100e-02 2.78802648e-02 -2.99337649e+02] [ 1.71561293e-02 9.99799687e-01 -1.03079236e-02 1.52370614e+01] [-2.77008574e-02 1.07807678e-02 9.99558121e-01 1.35967868e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.79907232899996 meters Centerline goodness : 0.776297 Centerline is valid? [False, False] Translation: X:-299.34, Y:15.24, Z:135.97 [[ 9.99429623e-01 -1.75429301e-02 2.88561051e-02 -2.99339845e+02] [ 1.78529292e-02 9.99785272e-01 -1.05205878e-02 1.52366769e+01] [-2.86653469e-02 1.10297531e-02 9.99528210e-01 1.35967425e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.829072329 meters Centerline goodness : 0.777172 Centerline is valid? [False, False] Translation: X:-299.34, Y:15.24, Z:135.97 [[ 9.99428804e-01 -1.72944223e-02 2.90339136e-02 -2.99339904e+02] [ 1.75892755e-02 9.99795976e-01 -9.93096570e-03 1.52350726e+01] [-2.88562397e-02 1.04359787e-02 9.99529093e-01 1.35966750e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.85907232899996 meters Centerline goodness : 0.775324 Centerline is valid? [False, False] Translation: X:-299.34, Y:15.23, Z:135.96 [[ 9.99343727e-01 -2.08459739e-02 2.96236540e-02 -2.99339722e+02] [ 2.12348857e-02 9.99691609e-01 -1.28750025e-02 1.52318243e+01] [-2.93461264e-02 1.34956079e-02 9.99478201e-01 1.35964544e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.889072329 meters Centerline goodness : 0.775113 Centerline is valid? [False, False] Translation: X:-299.34, Y:15.23, Z:135.96 [[ 9.99349544e-01 -2.03632924e-02 2.97628159e-02 -2.99339845e+02] [ 2.07256470e-02 9.99714171e-01 -1.19173502e-02 1.52291388e+01] [-2.95116324e-02 1.25264521e-02 9.99485944e-01 1.35964041e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.91907232899996 meters Centerline goodness : 0.774583 Centerline is valid? [False, False] Translation: X:-299.34, Y:15.23, Z:135.96 [[ 9.99329631e-01 -2.06713752e-02 3.02156096e-02 -2.99340951e+02] [ 2.10518407e-02 9.99702373e-01 -1.23282432e-02 1.52303681e+01] [-2.99517748e-02 1.29560730e-02 9.99467374e-01 1.35964032e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.949072329 meters Centerline goodness : 0.774750 Centerline is valid? [False, False] Translation: X:-299.34, Y:15.23, Z:135.96 [[ 9.99308140e-01 -2.07939610e-02 3.08358961e-02 -2.99342891e+02] [ 2.11740734e-02 9.99703159e-01 -1.20520363e-02 1.52287147e+01] [-3.05761332e-02 1.26966195e-02 9.99451798e-01 1.35964408e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.97907232899996 meters Centerline goodness : 0.773966 Centerline is valid? [False, False] Translation: X:-299.34, Y:15.23, Z:135.96 [[ 9.99280569e-01 -2.10400902e-02 3.15540637e-02 -2.99344638e+02] [ 2.14294091e-02 9.99697730e-01 -1.20511147e-02 1.52283505e+01] [-3.12909693e-02 1.27186297e-02 9.99429393e-01 1.35964275e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.009072329 meters Centerline goodness : 0.774989 Centerline is valid? [False, False] Translation: X:-299.35, Y:15.23, Z:135.96 [[ 9.99255854e-01 -2.11276465e-02 3.22701229e-02 -2.99345870e+02] [ 2.15123517e-02 9.99701040e-01 -1.16210643e-02 1.52267874e+01] [-3.20149497e-02 1.23066227e-02 9.99411622e-01 1.35963405e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.03907232899996 meters Centerline goodness : 0.776115 Centerline is valid? [False, False] Translation: X:-299.35, Y:15.23, Z:135.96 [[ 9.99188075e-01 -2.23249604e-02 3.35378334e-02 -2.99348655e+02] [ 2.27586472e-02 9.99661514e-01 -1.26056196e-02 1.52284072e+01] [-3.32450614e-02 1.33586605e-02 9.99357950e-01 1.35962990e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.069072329 meters Centerline goodness : 0.776121 Centerline is valid? [False, False] Translation: X:-299.35, Y:15.23, Z:135.96 [[ 9.99104643e-01 -2.42129446e-02 3.46936074e-02 -2.99352366e+02] [ 2.46974749e-02 9.99602375e-01 -1.36061070e-02 1.52270897e+01] [-3.43503684e-02 1.44507692e-02 9.99305372e-01 1.35963858e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.09907232899997 meters Centerline goodness : 0.775257 Centerline is valid? [False, False] Translation: X:-299.36, Y:15.23, Z:135.96 [[ 9.99001558e-01 -2.64675200e-02 3.59910786e-02 -2.99356083e+02] [ 2.70413205e-02 9.99513355e-01 -1.55505653e-02 1.52292607e+01] [-3.55619788e-02 1.65082853e-02 9.99231115e-01 1.35964595e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.129072329 meters Centerline goodness : 0.775638 Centerline is valid? [False, False] Translation: X:-299.36, Y:15.23, Z:135.96 [[ 9.98991341e-01 -2.63950565e-02 3.63263221e-02 -2.99357067e+02] [ 2.69602923e-02 9.99521559e-01 -1.51589947e-02 1.52277835e+01] [-3.59088196e-02 1.61230727e-02 9.99225001e-01 1.35964727e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.15907232899997 meters Centerline goodness : 0.775112 Centerline is valid? [False, False] Translation: X:-299.36, Y:15.23, Z:135.96 [[ 9.98973956e-01 -2.66737971e-02 3.65997785e-02 -2.99357913e+02] [ 2.72590772e-02 9.99506879e-01 -1.55865546e-02 1.52292018e+01] [-3.61659778e-02 1.65682383e-02 9.99208444e-01 1.35964989e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.18907232899994 meters Centerline goodness : 0.774332 Centerline is valid? [False, False] Translation: X:-299.36, Y:15.23, Z:135.97 [[ 9.98947327e-01 -2.69869738e-02 3.70936818e-02 -2.99359136e+02] [ 2.75881677e-02 9.99494622e-01 -1.57922092e-02 1.52296991e+01] [-3.66487515e-02 1.67989319e-02 9.99187002e-01 1.35965061e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.21907232899997 meters Centerline goodness : 0.774490 Centerline is valid? [False, False] Translation: X:-299.36, Y:15.23, Z:135.96 [[ 9.98915856e-01 -2.72650241e-02 3.77323742e-02 -2.99360413e+02] [ 2.78810972e-02 9.99484806e-01 -1.58986213e-02 1.52297572e+01] [-3.72794584e-02 1.69334049e-02 9.99161399e-01 1.35964566e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.24907232899994 meters Centerline goodness : 0.775193 Centerline is valid? [False, False] Translation: X:-299.36, Y:15.23, Z:135.96 [[ 9.98870847e-01 -2.75668520e-02 3.86923742e-02 -2.99362238e+02] [ 2.81759736e-02 9.99486086e-01 -1.52865678e-02 1.52268875e+01] [-3.82510870e-02 1.63595022e-02 9.99134236e-01 1.35963515e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.279072329 meters Centerline goodness : 0.774941 Centerline is valid? [False, False] Translation: X:-299.36, Y:15.23, Z:135.96 [[ 9.98834940e-01 -2.79131551e-02 3.93651960e-02 -2.99363716e+02] [ 2.85393642e-02 9.99473473e-01 -1.54363785e-02 1.52269151e+01] [-3.89135912e-02 1.65418519e-02 9.99105650e-01 1.35963186e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.30907232899995 meters Centerline goodness : 0.773940 Centerline is valid? [False, False] Translation: X:-299.36, Y:15.23, Z:135.96 [[ 9.98833363e-01 -2.77586048e-02 3.95142068e-02 -2.99363975e+02] [ 2.83755783e-02 9.99482676e-01 -1.51396106e-02 1.52263290e+01] [-3.90735106e-02 1.62431867e-02 9.99104309e-01 1.35962972e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.339072329 meters Centerline goodness : 0.775237 Centerline is valid? [False, False] Translation: X:-299.36, Y:15.23, Z:135.96 [[ 9.98839062e-01 -2.77959635e-02 3.93435104e-02 -2.99363465e+02] [ 2.84237935e-02 9.99475950e-01 -1.54891673e-02 1.52282725e+01] [-3.88923561e-02 1.65894772e-02 9.99105687e-01 1.35962963e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.36907232899995 meters Centerline goodness : 0.775787 Centerline is valid? [False, False] Translation: X:-299.36, Y:15.23, Z:135.96 [[ 9.98816745e-01 -2.81147740e-02 3.96820947e-02 -2.99364123e+02] [ 2.87638082e-02 9.99460078e-01 -1.58806903e-02 1.52295095e+01] [-3.92141875e-02 1.70033076e-02 9.99086150e-01 1.35962732e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.399072329 meters Centerline goodness : 0.774396 Centerline is valid? [False, False] Translation: X:-299.36, Y:15.23, Z:135.96 [[ 9.98807255e-01 -2.81902766e-02 3.98669769e-02 -2.99364111e+02] [ 2.88466106e-02 9.99456033e-01 -1.59847055e-02 1.52302291e+01] [-3.93946773e-02 1.71156669e-02 9.99077131e-01 1.35962055e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.42907232899995 meters Centerline goodness : 0.774798 Centerline is valid? [False, False] Translation: X:-299.36, Y:15.23, Z:135.96 [[ 9.98669561e-01 -3.21007828e-02 4.03565149e-02 -2.99364119e+02] [ 3.29103036e-02 9.99266942e-01 -1.95573741e-02 1.52285189e+01] [-3.96991242e-02 2.08594994e-02 9.98993924e-01 1.35960683e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.459072329 meters Centerline goodness : 0.773940 Centerline is valid? [False, False] Translation: X:-299.36, Y:15.23, Z:135.96 [[ 9.98680160e-01 -3.18163011e-02 4.03194928e-02 -2.99364036e+02] [ 3.26114426e-02 9.99283304e-01 -1.92190459e-02 1.52279955e+01] [-3.96791170e-02 2.05085567e-02 9.99001985e-01 1.35960679e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.48907232899995 meters Centerline goodness : 0.773940 Centerline is valid? [False, False] Translation: X:-299.36, Y:15.23, Z:135.96 [[ 9.98680160e-01 -3.18163011e-02 4.03194928e-02 -2.99364036e+02] [ 3.26114426e-02 9.99283304e-01 -1.92190459e-02 1.52279955e+01] [-3.96791170e-02 2.05085567e-02 9.99001985e-01 1.35960679e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.519072329 meters Centerline goodness : 0.772505 Centerline is valid? [False, False] Translation: X:-299.37, Y:15.23, Z:135.96 [[ 9.98638233e-01 -3.25402686e-02 4.07775629e-02 -2.99366183e+02] [ 3.33865948e-02 9.99237380e-01 -2.02483245e-02 1.52303106e+01] [-4.00875791e-02 2.15821750e-02 9.98963060e-01 1.35962238e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.54907232899996 meters Centerline goodness : 0.773398 Centerline is valid? [False, False] Translation: X:-299.37, Y:15.23, Z:135.96 [[ 9.98668435e-01 -3.05732286e-02 4.15528000e-02 -2.99370074e+02] [ 3.13522941e-02 9.99342168e-01 -1.82281306e-02 1.52330802e+01] [-4.09681725e-02 1.95066343e-02 9.98970020e-01 1.35964511e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.579072329 meters Centerline goodness : 0.773102 Centerline is valid? [False, False] Translation: X:-299.37, Y:15.23, Z:135.97 [[ 9.98669390e-01 -3.04723205e-02 4.16039322e-02 -2.99370902e+02] [ 3.12479333e-02 9.99347378e-01 -1.81213842e-02 1.52328085e+01] [-4.10245800e-02 1.93973086e-02 9.98969834e-01 1.35965471e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.60907232899996 meters Centerline goodness : 0.772061 Centerline is valid? [False, False] Translation: X:-299.37, Y:15.23, Z:135.97 [[ 9.98676440e-01 -3.03329606e-02 4.15364825e-02 -2.99370949e+02] [ 3.11059366e-02 9.99352352e-01 -1.80913369e-02 1.52331592e+01] [-4.09608177e-02 1.93594231e-02 9.98973185e-01 1.35965778e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.639072329 meters Centerline goodness : 0.773588 Centerline is valid? [False, False] Translation: X:-299.37, Y:15.23, Z:135.97 [[ 9.98695811e-01 -3.00500083e-02 4.12755952e-02 -2.99370510e+02] [ 3.08146371e-02 9.99362751e-01 -1.80152471e-02 1.52337236e+01] [-4.07079341e-02 1.92636443e-02 9.98985373e-01 1.35966120e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.66907232899996 meters Centerline goodness : 0.773193 Centerline is valid? [False, False] Translation: X:-299.37, Y:15.23, Z:135.97 [[ 9.98662662e-01 -3.03721823e-02 4.18379864e-02 -2.99372045e+02] [ 3.11554004e-02 9.99348892e-01 -1.81970605e-02 1.52338218e+01] [-4.12580609e-02 1.94762041e-02 9.98958683e-01 1.35966265e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.699072329 meters Centerline goodness : 0.772408 Centerline is valid? [False, False] Translation: X:-299.37, Y:15.23, Z:135.97 [[ 9.98652440e-01 -3.03863966e-02 4.20710249e-02 -2.99372155e+02] [ 3.11682038e-02 9.99351099e-01 -1.80533745e-02 1.52334895e+01] [-4.14951480e-02 1.93403248e-02 9.98951503e-01 1.35965503e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.72907232899996 meters Centerline goodness : 0.773089 Centerline is valid? [False, False] Translation: X:-299.37, Y:15.23, Z:135.97 [[ 9.98672646e-01 -3.00472629e-02 4.18342955e-02 -2.99371404e+02] [ 3.08068353e-02 9.99369830e-01 -1.76318439e-02 1.52327477e+01] [-4.12781442e-02 1.88972224e-02 9.98968973e-01 1.35965199e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.759072329 meters Centerline goodness : 0.770993 Centerline is valid? [False, False] Translation: X:-299.37, Y:15.23, Z:135.96 [[ 9.98666387e-01 -3.01613820e-02 4.19015235e-02 -2.99371424e+02] [ 3.09314462e-02 9.99362060e-01 -1.78526865e-02 1.52336354e+01] [-4.13363311e-02 1.91249527e-02 9.98962233e-01 1.35964991e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.78907232899996 meters Centerline goodness : 0.771510 Centerline is valid? [False, False] Translation: X:-299.37, Y:15.23, Z:135.96 [[ 9.98817534e-01 -2.55816677e-02 4.13414150e-02 -2.99370019e+02] [ 2.61485447e-02 9.99570519e-01 -1.32299310e-02 1.52335457e+01] [-4.09852160e-02 1.42953049e-02 9.99057484e-01 1.35964454e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.819072329 meters Centerline goodness : 0.770274 Centerline is valid? [False, False] Translation: X:-299.37, Y:15.23, Z:135.96 [[ 9.98879618e-01 -2.41066413e-02 4.07231991e-02 -2.99367547e+02] [ 2.46114251e-02 9.99625788e-01 -1.19398915e-02 1.52328009e+01] [-4.04201293e-02 1.29287702e-02 9.99099124e-01 1.35963266e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.84907232899997 meters Centerline goodness : 0.769015 Centerline is valid? [False, False] Translation: X:-299.36, Y:15.23, Z:135.96 [[ 9.98981599e-01 -2.14015421e-02 3.97207512e-02 -2.99364649e+02] [ 2.17944992e-02 9.99717464e-01 -9.48643369e-03 1.52308262e+01] [-3.95065043e-02 1.03424666e-02 9.99165787e-01 1.35962542e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.879072329 meters Centerline goodness : 0.768233 Centerline is valid? [False, False] Translation: X:-299.36, Y:15.23, Z:135.96 [[ 9.99020962e-01 -2.07374547e-02 3.90778229e-02 -2.99363210e+02] [ 2.11105827e-02 9.99735184e-01 -9.15996630e-03 1.52311104e+01] [-3.88775200e-02 9.97595395e-03 9.99194185e-01 1.35962768e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.90907232899997 meters Centerline goodness : 0.768237 Centerline is valid? [False, False] Translation: X:-299.36, Y:15.23, Z:135.96 [[ 9.99053425e-01 -2.03648949e-02 3.84385931e-02 -2.99362032e+02] [ 2.07304183e-02 9.99743370e-01 -9.13474646e-03 1.52318011e+01] [-3.82427004e-02 9.92294785e-03 9.99219211e-01 1.35963317e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.93907232899994 meters Centerline goodness : 0.767517 Centerline is valid? [False, False] Translation: X:-299.36, Y:15.23, Z:135.96 [[ 9.99106838e-01 -1.93623260e-02 3.75583032e-02 -2.99360165e+02] [ 1.97020438e-02 9.99768077e-01 -8.69611195e-03 1.52322162e+01] [-3.73812155e-02 9.42832025e-03 9.99256599e-01 1.35963808e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.96907232899997 meters Centerline goodness : 0.768611 Centerline is valid? [False, False] Translation: X:-299.36, Y:15.23, Z:135.96 [[ 9.99100875e-01 -1.95131961e-02 3.76387605e-02 -2.99360845e+02] [ 1.98622171e-02 9.99762923e-01 -8.92134971e-03 1.52326318e+01] [-3.74557532e-02 9.66091754e-03 9.99251587e-01 1.35964464e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.99907232899994 meters Centerline goodness : 0.767311 Centerline is valid? [False, False] Translation: X:-299.36, Y:15.24, Z:135.97 [[ 9.99164528e-01 -1.61171727e-02 3.75563917e-02 -2.99361629e+02] [ 1.63576428e-02 9.99847570e-01 -6.10443180e-03 1.52367551e+01] [-3.74522808e-02 6.71366576e-03 9.99275864e-01 1.35965750e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.029072329 meters Centerline goodness : 0.767780 Centerline is valid? [False, False] Translation: X:-299.36, Y:15.24, Z:135.97 [[ 9.99183849e-01 -1.60489796e-02 3.70683952e-02 -2.99360702e+02] [ 1.63014939e-02 9.99845864e-01 -6.51993508e-03 1.52387559e+01] [-3.69580433e-02 7.11888404e-03 9.99291461e-01 1.35966207e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.05907232899995 meters Centerline goodness : 0.768792 Centerline is valid? [False, False] Translation: X:-299.36, Y:15.24, Z:135.97 [[ 9.99171777e-01 -1.62344903e-02 3.73122254e-02 -2.99361112e+02] [ 1.64948472e-02 9.99841633e-01 -6.68055764e-03 1.52390086e+01] [-3.71978609e-02 7.29048411e-03 9.99281326e-01 1.35965876e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.089072329 meters Centerline goodness : 0.766926 Centerline is valid? [False, False] Translation: X:-299.36, Y:15.24, Z:135.97 [[ 9.99185406e-01 -1.58405013e-02 3.71160748e-02 -2.99360174e+02] [ 1.60818644e-02 9.99851373e-01 -6.21340796e-03 1.52382233e+01] [-3.70121348e-02 6.80524224e-03 9.99291644e-01 1.35965151e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.11907232899995 meters Centerline goodness : 0.769109 Centerline is valid? [False, False] Translation: X:-299.36, Y:15.24, Z:135.97 [[ 9.99192658e-01 -1.56625934e-02 3.69961428e-02 -2.99359830e+02] [ 1.58985899e-02 9.99855042e-01 -6.09337360e-03 1.52380891e+01] [-3.68953419e-02 6.67664066e-03 9.99296831e-01 1.35965010e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.149072329 meters Centerline goodness : 0.769234 Centerline is valid? [False, False] Translation: X:-299.36, Y:15.24, Z:135.97 [[ 9.99182962e-01 -1.58793754e-02 3.71652131e-02 -2.99360623e+02] [ 1.61289108e-02 9.99849284e-01 -6.42403959e-03 1.52388428e+01] [-3.70576020e-02 7.01822531e-03 9.99288486e-01 1.35965536e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.17907232899995 meters Centerline goodness : 0.768663 Centerline is valid? [False, False] Translation: X:-299.36, Y:15.24, Z:135.97 [[ 9.99242369e-01 -1.48132210e-02 3.59896590e-02 -2.99358475e+02] [ 1.50417935e-02 9.99868328e-01 -6.08860763e-03 1.52394328e+01] [-3.58947283e-02 6.62534374e-03 9.99333615e-01 1.35966636e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.209072329 meters Centerline goodness : 0.766866 Centerline is valid? [False, False] Translation: X:-299.36, Y:15.24, Z:135.97 [[ 9.99274916e-01 -1.45200507e-02 3.51967345e-02 -2.99356484e+02] [ 1.47585809e-02 9.99869785e-01 -6.52673260e-03 1.52420811e+01] [-3.50973829e-02 7.04145402e-03 9.99359090e-01 1.35966657e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.23907232899995 meters Centerline goodness : 0.767497 Centerline is valid? [False, False] Translation: X:-299.35, Y:15.24, Z:135.97 [[ 9.99321342e-01 -1.33544867e-02 3.43294700e-02 -2.99353426e+02] [ 1.35530754e-02 9.99892702e-01 -5.55859830e-03 1.52416463e+01] [-3.42515543e-02 6.02009581e-03 9.99395112e-01 1.35965545e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.269072329 meters Centerline goodness : 0.768566 Centerline is valid? [False, False] Translation: X:-299.35, Y:15.25, Z:135.97 [[ 9.99413408e-01 -8.52492928e-03 3.31687291e-02 -2.99350551e+02] [ 8.59117518e-03 9.99961374e-01 -1.85523156e-03 1.52460179e+01] [-3.31516322e-02 2.13910165e-03 9.99448044e-01 1.35965707e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.29907232899996 meters Centerline goodness : 0.768304 Centerline is valid? [False, False] Translation: X:-299.35, Y:15.25, Z:135.97 [[ 9.99441165e-01 -8.30415421e-03 3.23789711e-02 -2.99348783e+02] [ 8.38445658e-03 9.99962100e-01 -2.34508935e-03 1.52486252e+01] [-3.23582700e-02 2.61525891e-03 9.99472912e-01 1.35966124e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.329072329 meters Centerline goodness : 0.768835 Centerline is valid? [False, False] Translation: X:-299.35, Y:15.25, Z:135.97 [[ 9.99467142e-01 -7.98102103e-03 3.16501966e-02 -2.99347483e+02] [ 8.06438245e-03 9.99964340e-01 -2.50705739e-03 1.52499555e+01] [-3.16290591e-02 2.76096078e-03 9.99495863e-01 1.35966910e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.35907232899996 meters Centerline goodness : 0.767298 Centerline is valid? [False, False] Translation: X:-299.35, Y:15.25, Z:135.97 [[ 9.99456421e-01 -8.30384662e-03 3.19046918e-02 -2.99348724e+02] [ 8.40446807e-03 9.99960118e-01 -3.02100153e-03 1.52510756e+01] [-3.18783335e-02 3.28750134e-03 9.99486350e-01 1.35967752e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.389072329 meters Centerline goodness : 0.765976 Centerline is valid? [False, False] Translation: X:-299.35, Y:15.25, Z:135.97 [[ 9.99530064e-01 -2.91803590e-03 3.05145202e-02 -2.99346870e+02] [ 2.90631075e-03 9.99995685e-01 4.28594005e-04 1.52544076e+01] [-3.05156392e-02 -3.39707915e-04 9.99534232e-01 1.35970451e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.41907232899996 meters Centerline goodness : 0.767857 Centerline is valid? [False, False] Translation: X:-299.36, Y:15.27, Z:135.97 [[ 9.99611494e-01 4.25097774e-03 2.75461428e-02 -2.99358172e+02] [-4.06384768e-03 9.99968310e-01 -6.84575623e-03 1.52688097e+01] [-2.75743710e-02 6.73115329e-03 9.99597092e-01 1.35969904e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.449072329 meters Centerline goodness : 0.765779 Centerline is valid? [False, False] Translation: X:-299.35, Y:15.27, Z:135.97 [[ 9.99612562e-01 9.95002830e-03 2.59946658e-02 -2.99354345e+02] [-9.88928877e-03 9.99948064e-01 -2.46413059e-03 1.52708192e+01] [-2.60178339e-02 2.20610714e-03 9.99659045e-01 1.35970356e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.47907232899996 meters Centerline goodness : 0.767091 Centerline is valid? [False, False] Translation: X:-299.35, Y:15.27, Z:135.97 [[ 9.99629336e-01 1.11344828e-02 2.48437908e-02 -2.99351384e+02] [-1.10833938e-02 9.99936172e-01 -2.19316602e-03 1.52725036e+01] [-2.48666249e-02 1.91699957e-03 9.99688940e-01 1.35970455e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.509072329 meters Centerline goodness : 0.767002 Centerline is valid? [False, False] Translation: X:-299.36, Y:15.29, Z:135.97 [[ 9.99782541e-01 1.53646486e-02 1.40996180e-02 -2.99357448e+02] [-1.52765580e-02 9.99863242e-01 -6.33431097e-03 1.52873473e+01] [-1.41950142e-02 6.11753988e-03 9.99880532e-01 1.35974401e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.53907232899996 meters Centerline goodness : 0.768489 Centerline is valid? [False, False] Translation: X:-299.35, Y:15.29, Z:135.98 [[ 9.99706829e-01 2.15142734e-02 1.11081731e-02 -2.99351448e+02] [-2.14671482e-02 9.99760115e-01 -4.34435227e-03 1.52924992e+01] [-1.11989740e-02 4.10461784e-03 9.99928865e-01 1.35978903e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.569072329 meters Centerline goodness : 0.768082 Centerline is valid? [False, False] Translation: X:-299.35, Y:15.30, Z:135.98 [[ 9.99630831e-01 2.47319848e-02 1.12485692e-02 -2.99353143e+02] [-2.47137926e-02 9.99693030e-01 -1.75344906e-03 1.52962670e+01] [-1.12884825e-02 1.47480694e-03 9.99935195e-01 1.35981039e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.59907232899997 meters Centerline goodness : 0.766997 Centerline is valid? [False, False] Translation: X:-299.35, Y:15.30, Z:135.98 [[ 9.99621147e-01 2.55288001e-02 1.02879621e-02 -2.99350908e+02] [-2.55114819e-02 9.99672889e-01 -1.81109992e-03 1.52982986e+01] [-1.03308320e-02 1.54795262e-03 9.99945437e-01 1.35981588e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.629072329 meters Centerline goodness : 0.767031 Centerline is valid? [False, False] Translation: X:-299.35, Y:15.30, Z:135.98 [[ 9.99590605e-01 2.71040033e-02 9.16493830e-03 -2.99348924e+02] [-2.70908144e-02 9.99631759e-01 -1.56017753e-03 1.53003506e+01] [-9.20385045e-03 1.31125316e-03 9.99956784e-01 1.35983046e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.65907232899997 meters Centerline goodness : 0.768068 Centerline is valid? [False, False] Translation: X:-299.35, Y:15.31, Z:135.99 [[ 9.99614239e-01 2.75911060e-02 -3.17861804e-03 -2.99352917e+02] [-2.76038216e-02 9.99610825e-01 -4.02845664e-03 1.53131563e+01] [ 3.06623142e-03 4.11464463e-03 9.99986834e-01 1.35988765e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.68907232899994 meters Centerline goodness : 0.767394 Centerline is valid? [False, False] Translation: X:-299.34, Y:15.31, Z:135.99 [[ 9.99626663e-01 2.64279893e-02 -6.93515475e-03 -2.99342688e+02] [-2.63936656e-02 9.99639147e-01 4.99496477e-03 1.53086158e+01] [ 7.06465906e-03 -4.81005581e-03 9.99963476e-01 1.35994849e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.71907232899997 meters Centerline goodness : 0.768270 Centerline is valid? [False, False] Translation: X:-299.34, Y:15.31, Z:136.00 [[ 9.99505235e-01 3.05585383e-02 -7.44723742e-03 -2.99341345e+02] [-3.04962638e-02 9.99500112e-01 8.33693511e-03 1.53121305e+01] [ 7.69827919e-03 -8.10569737e-03 9.99937515e-01 1.35995408e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.74907232899994 meters Centerline goodness : 0.768302 Centerline is valid? [False, False] Translation: X:-299.34, Y:15.31, Z:136.00 [[ 9.99493797e-01 3.07413910e-02 -8.19248316e-03 -2.99339976e+02] [-3.06773661e-02 9.99498674e-01 7.82941952e-03 1.53146449e+01] [ 8.42906330e-03 -7.57413244e-03 9.99935790e-01 1.35996272e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.779072329 meters Centerline goodness : 0.768433 Centerline is valid? [False, False] Translation: X:-299.34, Y:15.32, Z:136.00 [[ 9.99365798e-01 3.45786855e-02 -8.50391358e-03 -2.99339870e+02] [-3.44875841e-02 9.99348530e-01 1.06358781e-02 1.53190286e+01] [ 8.86614822e-03 -1.03358534e-02 9.99907276e-01 1.35997760e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.80907232899995 meters Centerline goodness : 0.768892 Centerline is valid? [False, False] Translation: X:-299.34, Y:15.32, Z:136.00 [[ 9.99334949e-01 3.52266308e-02 -9.42037294e-03 -2.99337905e+02] [-3.51270189e-02 9.99327291e-01 1.05384173e-02 1.53208784e+01] [ 9.78526870e-03 -1.02004991e-02 9.99900094e-01 1.35998448e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.839072329 meters Centerline goodness : 0.769429 Centerline is valid? [False, False] Translation: X:-299.34, Y:15.32, Z:136.00 [[ 9.99318397e-01 3.54973736e-02 -1.01330053e-02 -2.99336272e+02] [-3.53961163e-02 9.99323297e-01 1.00031765e-02 1.53239158e+01] [ 1.04812347e-02 -9.63768931e-03 9.99898624e-01 1.35998941e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.86907232899995 meters Centerline goodness : 0.770357 Centerline is valid? [False, False] Translation: X:-299.33, Y:15.32, Z:136.00 [[ 9.99237769e-01 3.74109694e-02 -1.11490212e-02 -2.99333160e+02] [-3.72887547e-02 9.99244260e-01 1.09753501e-02 1.53249898e+01] [ 1.15511939e-02 -1.05512512e-02 9.99877613e-01 1.35998770e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.899072329 meters Centerline goodness : 0.769286 Centerline is valid? [False, False] Translation: X:-299.33, Y:15.33, Z:136.00 [[ 9.99235966e-01 3.73696971e-02 -1.14450649e-02 -2.99332831e+02] [-3.72484167e-02 9.99249469e-01 1.06327293e-02 1.53261496e+01] [ 1.18338169e-02 -1.01982949e-02 9.99877970e-01 1.35999277e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.92907232899995 meters Centerline goodness : 0.767871 Centerline is valid? [False, False] Translation: X:-299.33, Y:15.33, Z:136.00 [[ 9.99341725e-01 3.41082442e-02 -1.23589941e-02 -2.99330543e+02] [-3.40254074e-02 9.99397479e-01 6.85201043e-03 1.53270958e+01] [ 1.25852576e-02 -6.42698011e-03 9.99900148e-01 1.35999127e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.959072329 meters Centerline goodness : 0.770182 Centerline is valid? [False, False] Translation: X:-299.33, Y:15.33, Z:136.00 [[ 9.99437854e-01 3.08142042e-02 -1.32083320e-02 -2.99328662e+02] [-3.07732939e-02 9.99520977e-01 3.28948652e-03 1.53268697e+01] [ 1.33033678e-02 -2.88117347e-03 9.99907355e-01 1.35999149e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.98907232899995 meters Centerline goodness : 0.770476 Centerline is valid? [False, False] Translation: X:-299.33, Y:15.33, Z:136.00 [[ 9.99441825e-01 3.07088625e-02 -1.31530834e-02 -2.99328858e+02] [-3.06703670e-02 9.99524689e-01 3.11856254e-03 1.53273161e+01] [ 1.32425991e-02 -2.71341194e-03 9.99908631e-01 1.35999235e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.019072329 meters Centerline goodness : 0.769462 Centerline is valid? [False, False] Translation: X:-299.33, Y:15.33, Z:136.00 [[ 9.99438574e-01 3.06675575e-02 -1.34921677e-02 -2.99328170e+02] [-3.06334501e-02 9.99526965e-01 2.72743247e-03 1.53291647e+01] [ 1.35694291e-02 -2.31258957e-03 9.99905257e-01 1.35999600e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.04907232899996 meters Centerline goodness : 0.769512 Centerline is valid? [False, False] Translation: X:-299.32, Y:15.33, Z:136.01 [[ 9.99523499e-01 2.57227447e-02 -1.70620789e-02 -2.99319206e+02] [-2.55809648e-02 9.99636815e-01 8.47652429e-03 1.53250196e+01] [ 1.72739217e-02 -8.03602078e-03 9.99818501e-01 1.36007082e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.079072329 meters Centerline goodness : 0.768871 Centerline is valid? [False, False] Translation: X:-299.32, Y:15.32, Z:136.01 [[ 9.99527937e-01 2.56988203e-02 -1.68366961e-02 -2.99320121e+02] [-2.55576538e-02 9.99636814e-01 8.54668292e-03 1.53243156e+01] [ 1.70502209e-02 -8.11234189e-03 9.99821724e-01 1.36007378e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.10907232899996 meters Centerline goodness : 0.769057 Centerline is valid? [False, False] Translation: X:-299.32, Y:15.32, Z:136.01 [[ 9.99605436e-01 2.19781985e-02 -1.74909057e-02 -2.99318917e+02] [-2.19005666e-02 9.99749490e-01 4.61767413e-03 1.53245318e+01] [ 1.75880122e-02 -4.23279142e-03 9.99836359e-01 1.36007707e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.139072329 meters Centerline goodness : 0.769917 Centerline is valid? [False, False] Translation: X:-299.32, Y:15.32, Z:136.01 [[ 9.99691872e-01 1.78094017e-02 -1.72911981e-02 -2.99319587e+02] [-1.77991816e-02 9.99841305e-01 7.44786249e-04 1.53234146e+01] [ 1.73017183e-02 -4.36787584e-04 9.99850219e-01 1.36007588e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.16907232899996 meters Centerline goodness : 0.769426 Centerline is valid? [False, False] Translation: X:-299.32, Y:15.32, Z:136.01 [[ 9.99735841e-01 1.62507583e-02 -1.62530490e-02 -2.99323242e+02] [-1.62590299e-02 9.99867742e-01 -3.76912882e-04 1.53239205e+01] [ 1.62447743e-02 6.41072126e-04 9.99867839e-01 1.36008426e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.199072329 meters Centerline goodness : 0.770063 Centerline is valid? [False, False] Translation: X:-299.32, Y:15.32, Z:136.01 [[ 9.99737736e-01 1.62056240e-02 -1.61813820e-02 -2.99323561e+02] [-1.62155574e-02 9.99868403e-01 -4.82854295e-04 1.53243162e+01] [ 1.61714276e-02 7.45117788e-04 9.99868956e-01 1.36008540e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.22907232899996 meters Centerline goodness : 0.767713 Centerline is valid? [False, False] Translation: X:-299.33, Y:15.32, Z:136.01 [[ 9.99781044e-01 1.44623714e-02 -1.51229816e-02 -2.99327580e+02] [-1.44895663e-02 9.99893592e-01 -1.69022878e-03 1.53245617e+01] [ 1.50969277e-02 1.90898413e-03 9.99884213e-01 1.36009783e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.259072329 meters Centerline goodness : 0.770067 Centerline is valid? [False, False] Translation: X:-299.33, Y:15.32, Z:136.01 [[ 9.99802743e-01 1.37433203e-02 -1.43386573e-02 -2.99330325e+02] [-1.37765788e-02 9.99902627e-01 -2.22330586e-03 1.53245870e+01] [ 1.43067055e-02 2.42040494e-03 9.99894724e-01 1.36010459e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.28907232899996 meters Centerline goodness : 0.769684 Centerline is valid? [False, False] Translation: X:-299.33, Y:15.32, Z:136.01 [[ 9.99852767e-01 9.62928273e-03 -1.42028655e-02 -2.99330818e+02] [-9.71568171e-03 9.99934639e-01 -6.02680407e-03 1.53233434e+01] [ 1.41439034e-02 6.16390724e-03 9.99880971e-01 1.36010431e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.319072329 meters Centerline goodness : 0.770148 Centerline is valid? [False, False] Translation: X:-299.33, Y:15.32, Z:136.01 [[ 9.99856980e-01 9.70897093e-03 -1.38475640e-02 -2.99331504e+02] [-9.78931051e-03 9.99935576e-01 -5.74577700e-03 1.53225346e+01] [ 1.37908863e-02 5.88051334e-03 9.99887609e-01 1.36010037e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.34907232899997 meters Centerline goodness : 0.770832 Centerline is valid? [False, False] Translation: X:-299.33, Y:15.32, Z:136.01 [[ 9.99857556e-01 9.92361391e-03 -1.36524862e-02 -2.99331950e+02] [-9.99660853e-03 9.99936046e-01 -5.28880271e-03 1.53212967e+01] [ 1.35991290e-02 5.42452791e-03 9.99892813e-01 1.36009862e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.379072329 meters Centerline goodness : 0.770832 Centerline is valid? [False, False] Translation: X:-299.33, Y:15.32, Z:136.01 [[ 9.99857556e-01 9.92361391e-03 -1.36524862e-02 -2.99331950e+02] [-9.99660853e-03 9.99936046e-01 -5.28880271e-03 1.53212967e+01] [ 1.35991290e-02 5.42452791e-03 9.99892813e-01 1.36009862e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.40907232899997 meters Centerline goodness : 0.770699 Centerline is valid? [False, False] Translation: X:-299.32, Y:15.32, Z:136.02 [[ 9.99857248e-01 4.31549367e-03 -1.63358812e-02 -2.99323434e+02] [-4.30227671e-03 9.99990389e-01 8.44132285e-04 1.53156658e+01] [ 1.63393670e-02 -7.73730302e-04 9.99866204e-01 1.36016585e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.43907232899994 meters Centerline goodness : 0.768709 Centerline is valid? [False, False] Translation: X:-299.33, Y:15.31, Z:136.02 [[ 9.99885531e-01 2.85423731e-03 -1.48586021e-02 -2.99326972e+02] [-2.84459472e-03 9.99995730e-01 6.70050883e-04 1.53134932e+01] [ 1.48604512e-02 -6.27707482e-04 9.99889380e-01 1.36015666e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.46907232899997 meters Centerline goodness : 0.768697 Centerline is valid? [False, False] Translation: X:-299.33, Y:15.31, Z:136.02 [[ 9.99901990e-01 2.34466669e-03 -1.38026302e-02 -2.99329425e+02] [-2.33422472e-03 9.99996977e-01 7.72581888e-04 1.53119709e+01] [ 1.38043999e-02 -7.40287726e-04 9.99904441e-01 1.36015090e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.49907232899994 meters Centerline goodness : 0.769305 Centerline is valid? [False, False] Translation: X:-299.33, Y:15.31, Z:136.01 [[ 9.99911374e-01 -1.64365824e-03 -1.32114594e-02 -2.99330518e+02] [ 1.61130033e-03 9.99995677e-01 -2.45950138e-03 1.53085900e+01] [ 1.32154448e-02 2.43799578e-03 9.99909700e-01 1.36014318e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.529072329 meters Centerline goodness : 0.768575 Centerline is valid? [False, False] Translation: X:-299.33, Y:15.31, Z:136.02 [[ 9.99920997e-01 -3.07685959e-03 -1.21873745e-02 -2.99334211e+02] [ 3.03553991e-03 9.99989587e-01 -3.40741642e-03 1.53084469e+01] [ 1.21977318e-02 3.37015196e-03 9.99919926e-01 1.36015342e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.55907232899995 meters Centerline goodness : 0.768058 Centerline is valid? [False, False] Translation: X:-299.34, Y:15.31, Z:136.02 [[ 9.99929442e-01 -3.51035031e-03 -1.13485057e-02 -2.99336557e+02] [ 3.47012421e-03 9.99987634e-01 -3.56236578e-03 1.53081508e+01] [ 1.13608705e-02 3.52273370e-03 9.99929258e-01 1.36015520e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.589072329 meters Centerline goodness : 0.769580 Centerline is valid? [False, False] Translation: X:-299.34, Y:15.31, Z:136.02 [[ 9.99935894e-01 -5.12903760e-03 -1.00945882e-02 -2.99340201e+02] [ 5.08110077e-03 9.99975721e-01 -4.76869676e-03 1.53096221e+01] [ 1.01188020e-02 4.71709944e-03 9.99937677e-01 1.36016022e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.61907232899995 meters Centerline goodness : 0.770340 Centerline is valid? [False, False] Translation: X:-299.34, Y:15.31, Z:136.02 [[ 9.99940203e-01 -5.24547371e-03 -9.59556426e-03 -2.99341232e+02] [ 5.20147908e-03 9.99975873e-01 -4.60411768e-03 1.53089617e+01] [ 9.61948352e-03 4.55393124e-03 9.99943362e-01 1.36015681e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.649072329 meters Centerline goodness : 0.770173 Centerline is valid? [False, False] Translation: X:-299.34, Y:15.31, Z:136.01 [[ 9.99947847e-01 -5.66555999e-03 -8.49736388e-03 -2.99343692e+02] [ 5.63010075e-03 9.99975368e-01 -4.19110068e-03 1.53066316e+01] [ 8.52089950e-03 4.14304109e-03 9.99955114e-01 1.36014978e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.67907232899995 meters Centerline goodness : 0.769889 Centerline is valid? [False, False] Translation: X:-299.35, Y:15.31, Z:136.01 [[ 9.99950753e-01 -6.69113466e-03 -7.32944072e-03 -2.99346728e+02] [ 6.65615203e-03 9.99966390e-01 -4.78693274e-03 1.53070068e+01] [ 7.36122439e-03 4.73791112e-03 9.99961682e-01 1.36014907e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.709072329 meters Centerline goodness : 0.769768 Centerline is valid? [False, False] Translation: X:-299.35, Y:15.31, Z:136.01 [[ 9.99953636e-01 -7.18162603e-03 -6.41484858e-03 -2.99349197e+02] [ 7.15075375e-03 9.99962804e-01 -4.82266810e-03 1.53060391e+01] [ 6.44924457e-03 4.77657350e-03 9.99967795e-01 1.36014936e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.73907232899995 meters Centerline goodness : 0.768749 Centerline is valid? [False, False] Translation: X:-299.35, Y:15.31, Z:136.01 [[ 9.99952399e-01 -8.30284791e-03 -5.12467184e-03 -2.99352707e+02] [ 8.27587317e-03 9.99951906e-01 -5.26265217e-03 1.53054581e+01] [ 5.16812038e-03 5.21999053e-03 9.99973021e-01 1.36014982e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.769072329 meters Centerline goodness : 0.766775 Centerline is valid? [False, False] Translation: X:-299.36, Y:15.30, Z:136.01 [[ 9.99910647e-01 -1.28299603e-02 -3.75369459e-03 -2.99355254e+02] [ 1.27982934e-02 9.99883301e-01 -8.34195911e-03 1.53009828e+01] [ 3.86028354e-03 8.29317285e-03 9.99958160e-01 1.36013456e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.79907232899996 meters Centerline goodness : 0.767434 Centerline is valid? [False, False] Translation: X:-299.36, Y:15.30, Z:136.01 [[ 9.99908859e-01 -1.32229119e-02 -2.72558346e-03 -2.99357715e+02] [ 1.32006839e-02 9.99880719e-01 -8.01804702e-03 1.52988921e+01] [ 2.83128028e-03 7.98133668e-03 9.99964140e-01 1.36013004e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.829072329 meters Centerline goodness : 0.766900 Centerline is valid? [False, False] Translation: X:-299.36, Y:15.29, Z:136.01 [[ 9.99894514e-01 -1.44688205e-02 -1.27031703e-03 -2.99360558e+02] [ 1.44587607e-02 9.99866583e-01 -7.60009252e-03 1.52949912e+01] [ 1.38011192e-03 7.58092361e-03 9.99970312e-01 1.36011304e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.85907232899996 meters Centerline goodness : 0.767870 Centerline is valid? [False, False] Translation: X:-299.36, Y:15.30, Z:136.01 [[ 9.99890803e-01 -1.47655792e-02 -6.00486575e-04 -2.99361673e+02] [ 1.47605375e-02 9.99861588e-01 -7.67671033e-03 1.52950146e+01] [ 7.13754534e-04 7.66700855e-03 9.99970353e-01 1.36010427e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.889072329 meters Centerline goodness : 0.767499 Centerline is valid? [False, False] Translation: X:-299.36, Y:15.29, Z:136.01 [[ 9.99894113e-01 -1.45495418e-02 -2.72896477e-04 -2.99362228e+02] [ 1.45472637e-02 9.99869453e-01 -7.03238881e-03 1.52930999e+01] [ 3.75178886e-04 7.02767427e-03 9.99975235e-01 1.36009913e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.91907232899996 meters Centerline goodness : 0.768280 Centerline is valid? [False, False] Translation: X:-299.36, Y:15.29, Z:136.01 [[ 9.99889629e-01 -1.48569884e-02 -4.34400826e-06 -2.99363218e+02] [ 1.48565517e-02 9.99862396e-01 -7.38048722e-03 1.52938930e+01] [ 1.13995224e-04 7.37960809e-03 9.99972764e-01 1.36010320e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.949072329 meters Centerline goodness : 0.768303 Centerline is valid? [False, False] Translation: X:-299.37, Y:15.30, Z:136.01 [[ 9.99927324e-01 -1.20242755e-02 8.73505465e-04 -2.99366300e+02] [ 1.20283003e-02 9.99916334e-01 -4.75859077e-03 1.52969658e+01] [-8.16213776e-04 4.76875173e-03 9.99988296e-01 1.36011260e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.97907232899996 meters Centerline goodness : 0.767849 Centerline is valid? [False, False] Translation: X:-299.37, Y:15.30, Z:136.01 [[ 9.99951464e-01 -9.69422959e-03 1.75830869e-03 -2.99369949e+02] [ 9.69828597e-03 9.99950295e-01 -2.31331219e-03 1.52987000e+01] [-1.73579551e-03 2.33025249e-03 9.99995778e-01 1.36012695e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.009072329 meters Centerline goodness : 0.767922 Centerline is valid? [False, False] Translation: X:-299.37, Y:15.30, Z:136.01 [[ 9.99971936e-01 -7.08266275e-03 2.44197559e-03 -2.99372653e+02] [ 7.08281208e-03 9.99974915e-01 -5.25095772e-05 1.53026803e+01] [-2.44154242e-03 6.98041578e-05 9.99997017e-01 1.36013876e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.03907232899996 meters Centerline goodness : 0.769950 Centerline is valid? [False, False] Translation: X:-299.37, Y:15.30, Z:136.01 [[ 9.99968279e-01 -7.49987168e-03 2.68204505e-03 -2.99373284e+02] [ 7.50174283e-03 9.99971625e-01 -6.88282007e-04 1.53048681e+01] [-2.67680692e-03 7.08380186e-04 9.99996166e-01 1.36013995e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.069072329 meters Centerline goodness : 0.768851 Centerline is valid? [False, False] Translation: X:-299.37, Y:15.31, Z:136.01 [[ 9.99969667e-01 -7.40146449e-03 2.42549813e-03 -2.99372659e+02] [ 7.40326512e-03 9.99972326e-01 -7.34239935e-04 1.53057598e+01] [-2.41999655e-03 7.52174269e-04 9.99996789e-01 1.36014110e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.09907232899997 meters Centerline goodness : 0.769694 Centerline is valid? [False, False] Translation: X:-299.37, Y:15.31, Z:136.01 [[ 9.99963533e-01 -7.91984432e-03 3.19502174e-03 -2.99374563e+02] [ 7.92288112e-03 9.99968173e-01 -9.38945249e-04 1.53058440e+01] [-3.18748375e-03 9.64224786e-04 9.99994455e-01 1.36014075e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.129072329 meters Centerline goodness : 0.768975 Centerline is valid? [False, False] Translation: X:-299.38, Y:15.31, Z:136.01 [[ 9.99961802e-01 -8.01238761e-03 3.49241833e-03 -2.99375396e+02] [ 8.01606516e-03 9.99967330e-01 -1.04028757e-03 1.53061897e+01] [-3.48396905e-03 1.06824329e-03 9.99993360e-01 1.36014147e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.15907232899997 meters Centerline goodness : 0.769308 Centerline is valid? [False, False] Translation: X:-299.38, Y:15.30, Z:136.01 [[ 9.99956948e-01 -8.22036385e-03 4.30429582e-03 -2.99377558e+02] [ 8.22259699e-03 9.99966068e-01 -5.01377097e-04 1.53032321e+01] [-4.30002827e-03 5.36748002e-04 9.99990611e-01 1.36013992e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.18907232899994 meters Centerline goodness : 0.768495 Centerline is valid? [False, False] Translation: X:-299.38, Y:15.30, Z:136.01 [[ 9.99949288e-01 -8.67556523e-03 5.11429949e-03 -2.99379516e+02] [ 8.67911593e-03 9.99962110e-01 -6.72484653e-04 1.53029247e+01] [-5.10827153e-03 7.16838149e-04 9.99986696e-01 1.36013717e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.21907232899997 meters Centerline goodness : 0.767877 Centerline is valid? [False, False] Translation: X:-299.38, Y:15.30, Z:136.01 [[ 9.99944831e-01 -8.83278179e-03 5.68477012e-03 -2.99380896e+02] [ 8.83591852e-03 9.99960824e-01 -5.26897569e-04 1.53019992e+01] [-5.67989344e-03 5.77098666e-04 9.99983703e-01 1.36013514e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.24907232899994 meters Centerline goodness : 0.768819 Centerline is valid? [False, False] Translation: X:-299.38, Y:15.30, Z:136.01 [[ 9.99952815e-01 -8.19335718e-03 5.21889490e-03 -2.99379589e+02] [ 8.19304744e-03 9.99966433e-01 8.07272886e-05 1.53012543e+01] [-5.21938114e-03 -3.79648260e-05 9.99986378e-01 1.36013338e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.279072329 meters Centerline goodness : 0.768453 Centerline is valid? [False, False] Translation: X:-299.38, Y:15.30, Z:136.01 [[ 9.99947741e-01 -8.43259839e-03 5.77983851e-03 -2.99380313e+02] [ 8.43179581e-03 9.99964438e-01 1.63210807e-04 1.53007386e+01] [-5.78100926e-03 -1.14467860e-04 9.99983283e-01 1.36012343e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.30907232899995 meters Centerline goodness : 0.768486 Centerline is valid? [False, False] Translation: X:-299.38, Y:15.30, Z:136.01 [[ 9.99936499e-01 -9.08057348e-03 6.67386585e-03 -2.99382468e+02] [ 9.08189267e-03 9.99958745e-01 -1.67384756e-04 1.53009249e+01] [-6.67207057e-03 2.27985461e-04 9.99977716e-01 1.36012106e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.339072329 meters Centerline goodness : 0.769692 Centerline is valid? [False, False] Translation: X:-299.39, Y:15.30, Z:136.01 [[ 9.99921635e-01 -9.79962385e-03 7.79045315e-03 -2.99385287e+02] [ 9.80270272e-03 9.99951889e-01 -3.57124377e-04 1.53001948e+01] [-7.78657866e-03 4.33463887e-04 9.99969590e-01 1.36011970e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.36907232899995 meters Centerline goodness : 0.768721 Centerline is valid? [False, False] Translation: X:-299.39, Y:15.30, Z:136.01 [[ 9.99889994e-01 -1.18389589e-02 8.93528967e-03 -2.99389054e+02] [ 1.18563305e-02 9.99927918e-01 -1.89369813e-03 1.53013673e+01] [-8.91222618e-03 1.99942956e-03 9.99958286e-01 1.36012864e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.399072329 meters Centerline goodness : 0.769237 Centerline is valid? [False, False] Translation: X:-299.39, Y:15.30, Z:136.01 [[ 9.99883417e-01 -1.20135210e-02 9.42483078e-03 -2.99389910e+02] [ 1.20322758e-02 9.99925736e-01 -1.93576774e-03 1.53016306e+01] [-9.40087547e-03 2.04894423e-03 9.99953712e-01 1.36012333e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.42907232899995 meters Centerline goodness : 0.768454 Centerline is valid? [False, False] Translation: X:-299.39, Y:15.30, Z:136.01 [[ 9.99870634e-01 -1.23363109e-02 1.03213713e-02 -2.99392001e+02] [ 1.23526239e-02 9.99922551e-01 -1.51825789e-03 1.52995847e+01] [-1.03018422e-02 1.64555750e-03 9.99945581e-01 1.36011946e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.459072329 meters Centerline goodness : 0.769821 Centerline is valid? [False, False] Translation: X:-299.40, Y:15.30, Z:136.01 [[ 9.99833174e-01 -1.41133052e-02 1.15947604e-02 -2.99395544e+02] [ 1.41479140e-02 9.99895684e-01 -2.90827959e-03 1.53012331e+01] [-1.15525054e-02 3.07183608e-03 9.99928549e-01 1.36012272e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.48907232899995 meters Centerline goodness : 0.770197 Centerline is valid? [False, False] Translation: X:-299.40, Y:15.30, Z:136.01 [[ 9.99828444e-01 -1.39893855e-02 1.21400167e-02 -2.99396959e+02] [ 1.40174503e-02 9.99899265e-01 -2.22975392e-03 1.52986651e+01] [-1.21076008e-02 2.39954347e-03 9.99923821e-01 1.36012150e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.519072329 meters Centerline goodness : 0.769718 Centerline is valid? [False, False] Translation: X:-299.40, Y:15.30, Z:136.01 [[ 9.99781427e-01 -1.60133429e-02 1.34414260e-02 -2.99400796e+02] [ 1.60634728e-02 9.99864385e-01 -3.62985724e-03 1.52994568e+01] [-1.33814770e-02 3.84497983e-03 9.99903071e-01 1.36012659e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.54907232899996 meters Centerline goodness : 0.770160 Centerline is valid? [False, False] Translation: X:-299.40, Y:15.30, Z:136.01 [[ 9.99779925e-01 -1.60304778e-02 1.35324080e-02 -2.99401022e+02] [ 1.60820962e-02 9.99863776e-01 -3.71426518e-03 1.53000519e+01] [-1.34710232e-02 3.93107725e-03 9.99901534e-01 1.36012671e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.579072329 meters Centerline goodness : 0.769496 Centerline is valid? [False, False] Translation: X:-299.40, Y:15.30, Z:136.01 [[ 9.99772734e-01 -1.61256392e-02 1.39443012e-02 -2.99402022e+02] [ 1.61778611e-02 9.99862503e-01 -3.64037286e-03 1.52997396e+01] [-1.38836805e-02 3.86513449e-03 9.99896147e-01 1.36012582e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.60907232899996 meters Centerline goodness : 0.769637 Centerline is valid? [False, False] Translation: X:-299.41, Y:15.30, Z:136.01 [[ 9.99723337e-01 -1.77890339e-02 1.53882821e-02 -2.99405082e+02] [ 1.78606790e-02 9.99830219e-01 -4.53097819e-03 1.52999654e+01] [-1.53050677e-02 4.80456980e-03 9.99871327e-01 1.36011806e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.639072329 meters Centerline goodness : 0.769321 Centerline is valid? [False, False] Translation: X:-299.41, Y:15.30, Z:136.01 [[ 9.99690765e-01 -1.86887512e-02 1.64044404e-02 -2.99407538e+02] [ 1.87731830e-02 9.99811226e-01 -5.00805865e-03 1.53001452e+01] [-1.63077493e-02 5.31447354e-03 9.99852896e-01 1.36011563e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.66907232899996 meters Centerline goodness : 0.767698 Centerline is valid? [False, False] Translation: X:-299.41, Y:15.30, Z:136.01 [[ 9.99637891e-01 -2.01538054e-02 1.78300830e-02 -2.99410522e+02] [ 2.02539806e-02 9.99779982e-01 -5.45567960e-03 1.52997052e+01] [-1.77162074e-02 5.81483420e-03 9.99826147e-01 1.36010690e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.699072329 meters Centerline goodness : 0.767578 Centerline is valid? [False, False] Translation: X:-299.41, Y:15.30, Z:136.01 [[ 9.99601532e-01 -2.10166220e-02 1.88435166e-02 -2.99412593e+02] [ 2.11356914e-02 9.99757749e-01 -6.14210176e-03 1.53010029e+01] [-1.87098655e-02 6.53792508e-03 9.99803579e-01 1.36010061e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.72907232899996 meters Centerline goodness : 0.769144 Centerline is valid? [False, False] Translation: X:-299.42, Y:15.30, Z:136.01 [[ 9.99565700e-01 -2.18006966e-02 1.98278051e-02 -2.99415156e+02] [ 2.19285229e-02 9.99739990e-01 -6.25238926e-03 1.52999252e+01] [-1.96863432e-02 6.68446832e-03 9.99783860e-01 1.36010000e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.759072329 meters Centerline goodness : 0.769085 Centerline is valid? [False, False] Translation: X:-299.42, Y:15.30, Z:136.01 [[ 9.99572484e-01 -2.15698300e-02 1.97380594e-02 -2.99415015e+02] [ 2.16918301e-02 9.99746773e-01 -5.98785331e-03 1.52994812e+01] [-1.96039042e-02 6.41344804e-03 9.99787255e-01 1.36010097e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.78907232899996 meters Centerline goodness : 0.768133 Centerline is valid? [False, False] Translation: X:-299.42, Y:15.30, Z:136.01 [[ 9.99539034e-01 -2.22315447e-02 2.06755214e-02 -2.99417545e+02] [ 2.23630419e-02 9.99730995e-01 -6.15070296e-03 1.52985783e+01] [-2.05332200e-02 6.61023525e-03 9.99767319e-01 1.36010198e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.819072329 meters Centerline goodness : 0.766341 Centerline is valid? [False, False] Translation: X:-299.42, Y:15.30, Z:136.01 [[ 9.99508334e-01 -2.28396164e-02 2.14812184e-02 -2.99419604e+02] [ 2.29850847e-02 9.99714354e-01 -6.54950662e-03 1.52989256e+01] [-2.13254941e-02 7.04003408e-03 9.99747799e-01 1.36010149e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.84907232899997 meters Centerline goodness : 0.767509 Centerline is valid? [False, False] Translation: X:-299.42, Y:15.30, Z:136.01 [[ 9.99543823e-01 -2.17758622e-02 2.09274597e-02 -2.99417247e+02] [ 2.18951138e-02 9.99745221e-01 -5.48617002e-03 1.52977682e+01] [-2.08026617e-02 5.94187647e-03 9.99765944e-01 1.36008865e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.879072329 meters Centerline goodness : 0.767839 Centerline is valid? [False, False] Translation: X:-299.42, Y:15.30, Z:136.01 [[ 9.99544874e-01 -2.16938788e-02 2.09623478e-02 -2.99417074e+02] [ 2.18096767e-02 9.99748032e-01 -5.31132741e-03 1.52975507e+01] [-2.08418427e-02 5.76609211e-03 9.99766158e-01 1.36008471e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.90907232899997 meters Centerline goodness : 0.767631 Centerline is valid? [False, False] Translation: X:-299.42, Y:15.30, Z:136.01 [[ 9.99535114e-01 -2.18333679e-02 2.12805211e-02 -2.99418028e+02] [ 2.19507790e-02 9.99745007e-01 -5.29939353e-03 1.52973003e+01] [-2.11593911e-02 5.76405393e-03 9.99759499e-01 1.36008611e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.93907232899994 meters Centerline goodness : 0.766258 Centerline is valid? [False, False] Translation: X:-299.42, Y:15.30, Z:136.01 [[ 9.99546078e-01 -2.14804480e-02 2.11241277e-02 -2.99416985e+02] [ 2.15890875e-02 9.99754781e-01 -4.92835630e-03 1.52969817e+01] [-2.10130844e-02 5.38216985e-03 9.99764714e-01 1.36007702e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.96907232899997 meters Centerline goodness : 0.766725 Centerline is valid? [False, False] Translation: X:-299.42, Y:15.30, Z:136.01 [[ 9.99601549e-01 -1.80228436e-02 2.17237212e-02 -2.99419118e+02] [ 1.80599768e-02 9.99835759e-01 -1.51434688e-03 1.52987882e+01] [-2.16928604e-02 1.90607339e-03 9.99762865e-01 1.36008235e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.99907232899994 meters Centerline goodness : 0.766390 Centerline is valid? [False, False] Translation: X:-299.42, Y:15.30, Z:136.01 [[ 9.99611657e-01 -1.78862454e-02 2.13686105e-02 -2.99418754e+02] [ 1.79252494e-02 9.99837993e-01 -1.63513276e-03 1.52994732e+01] [-2.13359022e-02 2.01753544e-03 9.99770328e-01 1.36008927e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.029072329 meters Centerline goodness : 0.767273 Centerline is valid? [False, False] Translation: X:-299.42, Y:15.30, Z:136.01 [[ 9.99665763e-01 -1.60296885e-02 2.02832603e-02 -2.99415429e+02] [ 1.60473715e-02 9.99870981e-01 -7.09326807e-04 1.53009571e+01] [-2.02692731e-02 1.03458274e-03 9.99794022e-01 1.36008425e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.05907232899995 meters Centerline goodness : 0.768182 Centerline is valid? [False, False] Translation: X:-299.41, Y:15.30, Z:136.01 [[ 9.99688614e-01 -1.54921030e-02 1.95619405e-02 -2.99413420e+02] [ 1.55077540e-02 9.99879537e-01 -6.48622634e-04 1.53021178e+01] [-1.95495355e-02 9.51782422e-04 9.99808437e-01 1.36008251e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.089072329 meters Centerline goodness : 0.767015 Centerline is valid? [False, False] Translation: X:-299.41, Y:15.30, Z:136.01 [[ 9.99713931e-01 -1.48393685e-02 1.87576313e-02 -2.99411556e+02] [ 1.48488023e-02 9.99889684e-01 -3.63745674e-04 1.53025446e+01] [-1.87501643e-02 6.42169977e-04 9.99823994e-01 1.36008472e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.11907232899995 meters Centerline goodness : 0.767574 Centerline is valid? [False, False] Translation: X:-299.41, Y:15.31, Z:136.01 [[ 9.99779357e-01 -1.08879727e-02 1.79635596e-02 -2.99410448e+02] [ 1.08443294e-02 9.99938010e-01 2.52517185e-03 1.53071349e+01] [-1.79899401e-02 -2.32981193e-03 9.99835453e-01 1.36009670e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.149072329 meters Centerline goodness : 0.768242 Centerline is valid? [False, False] Translation: X:-299.41, Y:15.31, Z:136.01 [[ 9.99803233e-01 -1.00282607e-02 1.71151671e-02 -2.99408463e+02] [ 9.97786536e-03 9.99945637e-01 3.02734373e-03 1.53069005e+01] [-1.71445956e-02 -2.85597522e-03 9.99848942e-01 1.36009854e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.17907232899995 meters Centerline goodness : 0.767859 Centerline is valid? [False, False] Translation: X:-299.41, Y:15.31, Z:136.01 [[ 9.99814803e-01 -9.65369052e-03 1.66482919e-02 -2.99407711e+02] [ 9.60243731e-03 9.99948916e-01 3.15578306e-03 1.53067081e+01] [-1.66779064e-02 -2.99533444e-03 9.99856427e-01 1.36010336e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.209072329 meters Centerline goodness : 0.767522 Centerline is valid? [False, False] Translation: X:-299.41, Y:15.31, Z:136.01 [[ 9.99836188e-01 -8.78256882e-03 1.58260258e-02 -2.99405821e+02] [ 8.72729702e-03 9.99955586e-01 3.55814920e-03 1.53069170e+01] [-1.58565726e-02 -3.41944790e-03 9.99868430e-01 1.36010611e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.23907232899995 meters Centerline goodness : 0.766578 Centerline is valid? [False, False] Translation: X:-299.41, Y:15.31, Z:136.01 [[ 9.99838120e-01 -8.90870403e-03 1.56323265e-02 -2.99405465e+02] [ 8.86226051e-03 9.99956115e-01 3.03775569e-03 1.53087322e+01] [-1.56587030e-02 -2.89872618e-03 9.99873193e-01 1.36010788e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.269072329 meters Centerline goodness : 0.767067 Centerline is valid? [False, False] Translation: X:-299.40, Y:15.31, Z:136.01 [[ 9.99855071e-01 -8.32889198e-03 1.48481375e-02 -2.99404030e+02] [ 8.28439796e-03 9.99961015e-01 3.05560015e-03 1.53096457e+01] [-1.48730084e-02 -2.93214942e-03 9.99885091e-01 1.36011594e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.29907232899996 meters Centerline goodness : 0.767067 Centerline is valid? [False, False] Translation: X:-299.40, Y:15.31, Z:136.01 [[ 9.99855071e-01 -8.32889198e-03 1.48481375e-02 -2.99404030e+02] [ 8.28439796e-03 9.99961015e-01 3.05560015e-03 1.53096457e+01] [-1.48730084e-02 -2.93214942e-03 9.99885091e-01 1.36011594e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.329072329 meters Centerline goodness : 0.766517 Centerline is valid? [False, False] Translation: X:-299.41, Y:15.31, Z:136.01 [[ 9.99849475e-01 -8.61483749e-03 1.50602456e-02 -2.99405240e+02] [ 8.57498355e-03 9.99959565e-01 2.70887624e-03 1.53101888e+01] [-1.50829732e-02 -2.57932712e-03 9.99882919e-01 1.36012427e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.35907232899996 meters Centerline goodness : 0.766089 Centerline is valid? [False, False] Translation: X:-299.40, Y:15.31, Z:136.01 [[ 9.99857728e-01 -8.51806322e-03 1.45590583e-02 -2.99404321e+02] [ 8.48494171e-03 9.99961275e-01 2.33523463e-03 1.53119358e+01] [-1.45783861e-02 -2.21136963e-03 9.99891284e-01 1.36012958e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.389072329 meters Centerline goodness : 0.765269 Centerline is valid? [False, False] Translation: X:-299.40, Y:15.31, Z:136.01 [[ 9.99859363e-01 -8.60618763e-03 1.43940346e-02 -2.99404249e+02] [ 8.57742780e-03 9.99961094e-01 2.05858216e-03 1.53126693e+01] [-1.44111912e-02 -1.93482886e-03 9.99894281e-01 1.36013436e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.41907232899996 meters Centerline goodness : 0.766029 Centerline is valid? [False, False] Translation: X:-299.40, Y:15.31, Z:136.01 [[ 9.99857901e-01 -8.71237716e-03 1.44316392e-02 -2.99404246e+02] [ 8.68571636e-03 9.99960456e-01 1.90903538e-03 1.53132471e+01] [-1.44477008e-02 -1.78341499e-03 9.99894036e-01 1.36013234e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.449072329 meters Centerline goodness : 0.765777 Centerline is valid? [False, False] Translation: X:-299.40, Y:15.31, Z:136.01 [[ 9.99865010e-01 -8.35546055e-03 1.41473923e-02 -2.99402599e+02] [ 8.32445204e-03 9.99962821e-01 2.24928972e-03 1.53130944e+01] [-1.41656602e-02 -2.13121680e-03 9.99897391e-01 1.36011959e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.47907232899996 meters Centerline goodness : 0.763525 Centerline is valid? [False, False] Translation: X:-299.40, Y:15.31, Z:136.01 [[ 9.99876005e-01 -7.74806868e-03 1.37092175e-02 -2.99401325e+02] [ 7.70862369e-03 9.99966002e-01 2.92776737e-03 1.53117034e+01] [-1.37314359e-02 -2.82172514e-03 9.99901738e-01 1.36011662e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.509072329 meters Centerline goodness : 0.763761 Centerline is valid? [False, False] Translation: X:-299.40, Y:15.31, Z:136.01 [[ 9.99867081e-01 -8.11427991e-03 1.41414100e-02 -2.99402547e+02] [ 8.07902584e-03 9.99964117e-01 2.54831497e-03 1.53123485e+01] [-1.41615803e-02 -2.43372743e-03 9.99896758e-01 1.36011730e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.53907232899996 meters Centerline goodness : 0.763503 Centerline is valid? [False, False] Translation: X:-299.40, Y:15.31, Z:136.01 [[ 9.99876980e-01 -7.68695407e-03 1.36724463e-02 -2.99401548e+02] [ 7.65042480e-03 9.99967030e-01 2.72204369e-03 1.53125231e+01] [-1.36929198e-02 -2.61710880e-03 9.99902823e-01 1.36012014e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.569072329 meters Centerline goodness : 0.764334 Centerline is valid? [False, False] Translation: X:-299.40, Y:15.31, Z:136.01 [[ 9.99841256e-01 -1.15391532e-02 1.35761218e-02 -2.99402176e+02] [ 1.15574335e-02 9.99932406e-01 -1.26881580e-03 1.53119235e+01] [-1.35605630e-02 1.42551951e-03 9.99907035e-01 1.36013295e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.59907232899997 meters Centerline goodness : 0.763755 Centerline is valid? [False, False] Translation: X:-299.40, Y:15.31, Z:136.01 [[ 9.99862259e-01 -1.04635523e-02 1.28831985e-02 -2.99400122e+02] [ 1.04701536e-02 9.99945087e-01 -4.45053483e-04 1.53111855e+01] [-1.28778342e-02 5.79881249e-04 9.99916909e-01 1.36012874e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.629072329 meters Centerline goodness : 0.764921 Centerline is valid? [False, False] Translation: X:-299.40, Y:15.31, Z:136.01 [[ 9.99880274e-01 -9.46479744e-03 1.22415195e-02 -2.99397882e+02] [ 9.45991516e-03 9.99955150e-01 4.56673830e-04 1.53101181e+01] [-1.22452928e-02 -3.40815418e-04 9.99924966e-01 1.36012028e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.65907232899997 meters Centerline goodness : 0.766341 Centerline is valid? [False, False] Translation: X:-299.40, Y:15.31, Z:136.01 [[ 9.99881207e-01 -9.50837547e-03 1.21310296e-02 -2.99397701e+02] [ 9.50622656e-03 9.99954787e-01 2.34792838e-04 1.53112008e+01] [-1.21327136e-02 -1.19444631e-04 9.99926389e-01 1.36012208e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.68907232899994 meters Centerline goodness : 0.764188 Centerline is valid? [False, False] Translation: X:-299.40, Y:15.31, Z:136.01 [[ 9.99879111e-01 -9.91901779e-03 1.19740030e-02 -2.99397863e+02] [ 9.92839305e-03 9.99950450e-01 -7.23777460e-04 1.53143023e+01] [-1.19662306e-02 8.42572571e-04 9.99928047e-01 1.36013128e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.71907232899997 meters Centerline goodness : 0.764666 Centerline is valid? [False, False] Translation: X:-299.40, Y:15.31, Z:136.01 [[ 9.99886373e-01 -9.60837107e-03 1.16155286e-02 -2.99397114e+02] [ 9.61558824e-03 9.99953609e-01 -5.65650064e-04 1.53144601e+01] [-1.16095548e-02 6.77275932e-04 9.99932377e-01 1.36013363e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.74907232899994 meters Centerline goodness : 0.766346 Centerline is valid? [False, False] Translation: X:-299.40, Y:15.32, Z:136.01 [[ 9.99896279e-01 -9.15050798e-03 1.11220686e-02 -2.99395723e+02] [ 9.15583560e-03 9.99957993e-01 -4.28188830e-04 1.53151682e+01] [-1.11176833e-02 5.29976250e-04 9.99938056e-01 1.36013258e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.779072329 meters Centerline goodness : 0.766699 Centerline is valid? [False, False] Translation: X:-299.39, Y:15.32, Z:136.01 [[ 9.99905711e-01 -8.80244497e-03 1.05397042e-02 -2.99394363e+02] [ 8.80957203e-03 9.99960997e-01 -6.29974103e-04 1.53168691e+01] [-1.05337478e-02 7.22764987e-04 9.99944257e-01 1.36013593e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.80907232899995 meters Centerline goodness : 0.766822 Centerline is valid? [False, False] Translation: X:-299.39, Y:15.32, Z:136.01 [[ 9.99910919e-01 -8.55131960e-03 1.02483434e-02 -2.99393821e+02] [ 8.55696591e-03 9.99963260e-01 -5.07225761e-04 1.53171891e+01] [-1.02436295e-02 5.94875303e-04 9.99947356e-01 1.36013895e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.839072329 meters Centerline goodness : 0.768154 Centerline is valid? [False, False] Translation: X:-299.39, Y:15.32, Z:136.01 [[ 9.99919435e-01 -8.18279943e-03 9.70392223e-03 -2.99392372e+02] [ 8.18799036e-03 9.99966355e-01 -4.95322689e-04 1.53182455e+01] [-9.69954262e-03 5.74738405e-04 9.99952793e-01 1.36013884e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.86907232899995 meters Centerline goodness : 0.766984 Centerline is valid? [False, False] Translation: X:-299.39, Y:15.32, Z:136.01 [[ 9.99939487e-01 -6.81926159e-03 8.63249018e-03 -2.99389846e+02] [ 6.81773994e-03 9.99976738e-01 2.05686290e-04 1.53183159e+01] [-8.63369200e-03 -1.46819771e-04 9.99962718e-01 1.36014264e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.899072329 meters Centerline goodness : 0.766415 Centerline is valid? [False, False] Translation: X:-299.39, Y:15.32, Z:136.02 [[ 9.99947102e-01 -6.41582165e-03 8.03927360e-03 -2.99388908e+02] [ 6.41356964e-03 9.99979386e-01 3.05876468e-04 1.53185828e+01] [-8.04107032e-03 -2.54299847e-04 9.99967638e-01 1.36015029e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.92907232899995 meters Centerline goodness : 0.767364 Centerline is valid? [False, False] Translation: X:-299.39, Y:15.32, Z:136.02 [[ 9.99960131e-01 -5.55779613e-03 6.98905405e-03 -2.99386416e+02] [ 5.55720456e-03 9.99984553e-01 1.04060174e-04 1.53212221e+01] [-6.98952443e-03 -6.52164222e-05 9.99975571e-01 1.36015616e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.959072329 meters Centerline goodness : 0.766174 Centerline is valid? [False, False] Translation: X:-299.39, Y:15.32, Z:136.02 [[ 9.99961617e-01 -5.41032690e-03 6.89154737e-03 -2.99385751e+02] [ 5.40868656e-03 9.99985340e-01 2.56637498e-04 1.53210419e+01] [-6.89283484e-03 -2.19353427e-04 9.99976220e-01 1.36015034e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.98907232899995 meters Centerline goodness : 0.765961 Centerline is valid? [False, False] Translation: X:-299.39, Y:15.32, Z:136.01 [[ 9.99959028e-01 -5.52231834e-03 7.17267748e-03 -2.99386152e+02] [ 5.52046393e-03 9.99984723e-01 2.78311220e-04 1.53209445e+01] [-7.17410483e-03 -2.38703310e-04 9.99974237e-01 1.36014530e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.019072329 meters Centerline goodness : 0.765149 Centerline is valid? [False, False] Translation: X:-299.38, Y:15.32, Z:136.01 [[ 9.99968430e-01 -4.60496980e-03 6.47562550e-03 -2.99384281e+02] [ 4.59766361e-03 9.99988778e-01 1.14269483e-03 1.53196146e+01] [-6.48081490e-03 -1.11288601e-03 9.99978380e-01 1.36014333e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.04907232899996 meters Centerline goodness : 0.766803 Centerline is valid? [False, False] Translation: X:-299.38, Y:15.32, Z:136.01 [[ 9.99983095e-01 -2.57893135e-03 5.21146544e-03 -2.99381041e+02] [ 2.56800829e-03 9.99994494e-01 2.10157333e-03 1.53202004e+01] [-5.21685656e-03 -2.08815472e-03 9.99984212e-01 1.36014549e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.079072329 meters Centerline goodness : 0.766499 Centerline is valid? [False, False] Translation: X:-299.38, Y:15.32, Z:136.02 [[ 9.99983733e-01 3.36112366e-04 5.69389638e-03 -2.99383895e+02] [-3.62290512e-04 9.99989367e-01 4.59717298e-03 1.53233374e+01] [-5.69229067e-03 -4.59916105e-03 9.99973222e-01 1.36016401e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.10907232899996 meters Centerline goodness : 0.764018 Centerline is valid? [False, False] Translation: X:-299.38, Y:15.32, Z:136.02 [[ 9.99986582e-01 2.33059957e-03 4.62642114e-03 -2.99380885e+02] [-2.35749509e-03 9.99980305e-01 5.81654667e-03 1.53234669e+01] [-4.61277398e-03 -5.82737539e-03 9.99972382e-01 1.36016154e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.139072329 meters Centerline goodness : 0.765306 Centerline is valid? [False, False] Translation: X:-299.37, Y:15.33, Z:136.02 [[ 9.99943241e-01 1.06528862e-02 1.73093373e-04 -2.99371235e+02] [-1.06538841e-02 9.99915182e-01 7.49152644e-03 1.53257675e+01] [-9.32723131e-05 -7.49294535e-03 9.99971923e-01 1.36023029e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.16907232899996 meters Centerline goodness : 0.766065 Centerline is valid? [False, False] Translation: X:-299.37, Y:15.33, Z:136.02 [[ 9.99935761e-01 1.12972365e-02 -9.20465662e-04 -2.99369050e+02] [-1.12905283e-02 9.99911805e-01 6.99334765e-03 1.53289721e+01] [ 9.99389983e-04 -6.98250585e-03 9.99975123e-01 1.36024080e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.199072329 meters Centerline goodness : 0.765166 Centerline is valid? [False, False] Translation: X:-299.37, Y:15.33, Z:136.03 [[ 9.99878717e-01 1.54619812e-02 -1.86479025e-03 -2.99367878e+02] [-1.54425919e-02 9.99830762e-01 9.99867357e-03 1.53332445e+01] [ 2.01907396e-03 -9.96866371e-03 9.99948273e-01 1.36026055e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.22907232899996 meters Centerline goodness : 0.766944 Centerline is valid? [False, False] Translation: X:-299.37, Y:15.34, Z:136.03 [[ 9.99804506e-01 1.96190903e-02 -2.45800271e-03 -2.99366812e+02] [-1.95847801e-02 9.99719983e-01 1.32812379e-02 1.53367251e+01] [ 2.71788024e-03 -1.32305020e-02 9.99908779e-01 1.36026993e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.259072329 meters Centerline goodness : 0.764826 Centerline is valid? [False, False] Translation: X:-299.37, Y:15.34, Z:136.03 [[ 9.99795935e-01 1.99323566e-02 -3.28478740e-03 -2.99365210e+02] [-1.98886714e-02 9.99719817e-01 1.28346301e-02 1.53390666e+01] [ 3.53969148e-03 -1.27666809e-02 9.99912237e-01 1.36027756e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.28907232899996 meters Centerline goodness : 0.765902 Centerline is valid? [False, False] Translation: X:-299.37, Y:15.34, Z:136.03 [[ 9.99804464e-01 1.94921943e-02 -3.32998485e-03 -2.99365378e+02] [-1.94510824e-02 9.99739251e-01 1.19618417e-02 1.53417252e+01] [ 3.56227910e-03 -1.18947309e-02 9.99922910e-01 1.36028184e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.319072329 meters Centerline goodness : 0.764726 Centerline is valid? [False, False] Translation: X:-299.36, Y:15.34, Z:136.03 [[ 9.99801707e-01 1.95799023e-02 -3.62954078e-03 -2.99364923e+02] [-1.95355237e-02 9.99738534e-01 1.18838585e-02 1.53419382e+01] [ 3.86127657e-03 -1.18105970e-02 9.99922797e-01 1.36028562e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.34907232899997 meters Centerline goodness : 0.765449 Centerline is valid? [False, False] Translation: X:-299.36, Y:15.34, Z:136.03 [[ 9.99796844e-01 1.98016968e-02 -3.76356505e-03 -2.99364320e+02] [-1.97549538e-02 9.99731923e-01 1.20757654e-02 1.53417591e+01] [ 4.00167677e-03 -1.19989631e-02 9.99920003e-01 1.36028176e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.379072329 meters Centerline goodness : 0.766244 Centerline is valid? [False, False] Translation: X:-299.36, Y:15.34, Z:136.03 [[ 9.99761617e-01 2.13268499e-02 -4.67695877e-03 -2.99360854e+02] [-2.12632541e-02 9.99686105e-01 1.32501098e-02 1.53411171e+01] [ 4.95807380e-03 -1.31475039e-02 9.99901275e-01 1.36026957e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.40907232899997 meters Centerline goodness : 0.764813 Centerline is valid? [False, False] Translation: X:-299.36, Y:15.34, Z:136.03 [[ 9.99765703e-01 2.10782893e-02 -4.92386485e-03 -2.99360371e+02] [-2.10150911e-02 9.99700358e-01 1.25523303e-02 1.53434672e+01] [ 5.18697110e-03 -1.24459139e-02 9.99909093e-01 1.36027162e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.43907232899994 meters Centerline goodness : 0.764005 Centerline is valid? [False, False] Translation: X:-299.36, Y:15.34, Z:136.03 [[ 9.99747750e-01 2.17211210e-02 -5.71222989e-03 -2.99358598e+02] [-2.16476633e-02 9.99685987e-01 1.26216252e-02 1.53443394e+01] [ 5.98459202e-03 -1.24947849e-02 9.99904028e-01 1.36027571e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.46907232899997 meters Centerline goodness : 0.765260 Centerline is valid? [False, False] Translation: X:-299.36, Y:15.34, Z:136.03 [[ 9.99743586e-01 2.18286832e-02 -6.02260985e-03 -2.99358549e+02] [-2.17518275e-02 9.99684697e-01 1.25444900e-02 1.53444314e+01] [ 6.29454061e-03 -1.24102707e-02 9.99903177e-01 1.36028423e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.49907232899994 meters Centerline goodness : 0.765067 Centerline is valid? [False, False] Translation: X:-299.36, Y:15.35, Z:136.03 [[ 9.99728262e-01 2.22992478e-02 -6.79303747e-03 -2.99356858e+02] [-2.22145307e-02 9.99677544e-01 1.23012893e-02 1.53464054e+01] [ 7.06515651e-03 -1.21470424e-02 9.99901262e-01 1.36028912e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.529072329 meters Centerline goodness : 0.765421 Centerline is valid? [False, False] Translation: X:-299.36, Y:15.35, Z:136.03 [[ 9.99724977e-01 2.22983666e-02 -7.26316452e-03 -2.99356371e+02] [-2.22112402e-02 9.99682912e-01 1.18632130e-02 1.53480460e+01] [ 7.52539173e-03 -1.16986265e-02 9.99903251e-01 1.36029889e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.55907232899995 meters Centerline goodness : 0.767028 Centerline is valid? [False, False] Translation: X:-299.36, Y:15.35, Z:136.03 [[ 9.99735460e-01 2.17145952e-02 -7.58191920e-03 -2.99357354e+02] [-2.16342433e-02 9.99710563e-01 1.05237288e-02 1.53516536e+01] [ 7.80824323e-03 -1.03569157e-02 9.99915879e-01 1.36032336e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.589072329 meters Centerline goodness : 0.766922 Centerline is valid? [False, False] Translation: X:-299.36, Y:15.35, Z:136.03 [[ 9.99800016e-01 1.81713443e-02 -8.35052243e-03 -2.99355743e+02] [-1.81150826e-02 9.99813025e-01 6.76447275e-03 1.53513528e+01] [ 8.47188066e-03 -6.61184956e-03 9.99942254e-01 1.36032542e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.61907232899995 meters Centerline goodness : 0.768135 Centerline is valid? [False, False] Translation: X:-299.35, Y:15.35, Z:136.03 [[ 9.99855411e-01 1.44984834e-02 -8.88547270e-03 -2.99354585e+02] [-1.44711218e-02 9.99890370e-01 3.13596071e-03 1.53502958e+01] [ 8.92996527e-03 -3.00692453e-03 9.99955606e-01 1.36032522e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.649072329 meters Centerline goodness : 0.767476 Centerline is valid? [False, False] Translation: X:-299.35, Y:15.35, Z:136.03 [[ 9.99901596e-01 1.08128129e-02 -8.93761719e-03 -2.99354539e+02] [-1.08142658e-02 9.99941518e-01 -1.14254020e-04 1.53475919e+01] [ 8.93585909e-03 2.10896545e-04 9.99960052e-01 1.36032343e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.67907232899995 meters Centerline goodness : 0.766181 Centerline is valid? [False, False] Translation: X:-299.36, Y:15.35, Z:136.03 [[ 9.99914968e-01 1.00291046e-02 -8.33513821e-03 -2.99356980e+02] [-1.00362668e-02 9.99949301e-01 -8.17893668e-04 1.53482329e+01] [ 8.32651289e-03 9.01477791e-04 9.99964928e-01 1.36033289e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.709072329 meters Centerline goodness : 0.766725 Centerline is valid? [False, False] Translation: X:-299.35, Y:15.35, Z:136.03 [[ 9.99934595e-01 7.22827260e-03 -8.86329780e-03 -2.99354804e+02] [-7.26002146e-03 9.99967326e-01 -3.55513250e-03 1.53468922e+01] [ 8.83731073e-03 3.61924771e-03 9.99954400e-01 1.36032390e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.73907232899995 meters Centerline goodness : 0.765639 Centerline is valid? [False, False] Translation: X:-299.37, Y:15.35, Z:136.03 [[ 9.99986309e-01 2.39764169e-03 -4.65106628e-03 -2.99366356e+02] [-2.41016834e-03 9.99993479e-01 -2.68955375e-03 1.53469856e+01] [ 4.64458736e-03 2.70072678e-03 9.99985567e-01 1.36028746e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.769072329 meters Centerline goodness : 0.766049 Centerline is valid? [False, False] Translation: X:-299.37, Y:15.35, Z:136.03 [[ 9.99990082e-01 2.20414552e-03 -3.87001222e-03 -2.99368094e+02] [-2.21340473e-03 9.99994695e-01 -2.38990093e-03 1.53453962e+01] [ 3.86472400e-03 2.39844313e-03 9.99989656e-01 1.36028201e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.79907232899996 meters Centerline goodness : 0.763953 Centerline is valid? [False, False] Translation: X:-299.37, Y:15.34, Z:136.03 [[ 9.99991793e-01 2.41812759e-03 -3.25053135e-03 -2.99368383e+02] [-2.42270669e-03 9.99996077e-01 -1.40552474e-03 1.53426017e+01] [ 3.24711987e-03 1.41338829e-03 9.99993729e-01 1.36026268e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.829072329 meters Centerline goodness : 0.765495 Centerline is valid? [False, False] Translation: X:-299.37, Y:15.34, Z:136.03 [[ 9.99995218e-01 1.91629744e-03 -2.42746849e-03 -2.99369991e+02] [-1.92013594e-03 9.99996908e-01 -1.57993509e-03 1.53424731e+01] [ 2.42443336e-03 1.58458861e-03 9.99995806e-01 1.36025501e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.85907232899996 meters Centerline goodness : 0.764742 Centerline is valid? [False, False] Translation: X:-299.37, Y:15.34, Z:136.03 [[ 9.99995700e-01 1.99990642e-03 -2.14479565e-03 -2.99370465e+02] [-2.00244170e-03 9.99997298e-01 -1.18056572e-03 1.53410633e+01] [ 2.14242883e-03 1.18485547e-03 9.99997003e-01 1.36025024e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.889072329 meters Centerline goodness : 0.765393 Centerline is valid? [False, False] Translation: X:-299.37, Y:15.34, Z:136.02 [[ 9.99995351e-01 2.10229643e-03 -2.20862955e-03 -2.99370196e+02] [-2.10482392e-03 9.99997132e-01 -1.14266908e-03 1.53413101e+01] [ 2.20622099e-03 1.14731255e-03 9.99996908e-01 1.36024896e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.91907232899996 meters Centerline goodness : 0.764590 Centerline is valid? [False, False] Translation: X:-299.37, Y:15.34, Z:136.02 [[ 9.99995139e-01 2.15979254e-03 -2.24863560e-03 -2.99370141e+02] [-2.16233577e-03 9.99997025e-01 -1.12919115e-03 1.53413273e+01] [ 2.24619009e-03 1.13404796e-03 9.99996834e-01 1.36024930e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.949072329 meters Centerline goodness : 0.765705 Centerline is valid? [False, False] Translation: X:-299.37, Y:15.34, Z:136.03 [[ 9.99992102e-01 2.71235349e-03 -2.90510137e-03 -2.99368539e+02] [-2.71564281e-03 9.99995675e-01 -1.12891133e-03 1.53426296e+01] [ 2.90202680e-03 1.13679163e-03 9.99995143e-01 1.36025114e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.97907232899996 meters Centerline goodness : 0.763913 Centerline is valid? [False, False] Translation: X:-299.37, Y:15.34, Z:136.03 [[ 9.99991740e-01 2.66842539e-03 -3.06595033e-03 -2.99368208e+02] [-2.67265658e-03 9.99995481e-01 -1.37679249e-03 1.53437667e+01] [ 3.06226261e-03 1.38497535e-03 9.99994352e-01 1.36025274e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.009072329 meters Centerline goodness : 0.765225 Centerline is valid? [False, False] Translation: X:-299.37, Y:15.34, Z:136.03 [[ 9.99989111e-01 3.12113811e-03 -3.46946700e-03 -2.99367361e+02] [-3.12507962e-03 9.99994477e-01 -1.13121604e-03 1.53438530e+01] [ 3.46591716e-03 1.14204608e-03 9.99993342e-01 1.36025575e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.03907232899996 meters Centerline goodness : 0.764113 Centerline is valid? [False, False] Translation: X:-299.37, Y:15.35, Z:136.03 [[ 9.99991290e-01 2.73511101e-03 -3.15270540e-03 -2.99368297e+02] [-2.74045708e-03 9.99994812e-01 -1.69263952e-03 1.53454408e+01] [ 3.14805949e-03 1.70126463e-03 9.99993598e-01 1.36025807e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.069072329 meters Centerline goodness : 0.765397 Centerline is valid? [False, False] Translation: X:-299.37, Y:15.35, Z:136.03 [[ 9.99993163e-01 2.41159889e-03 -2.80317017e-03 -2.99369240e+02] [-2.41722358e-03 9.99995069e-01 -2.00489496e-03 1.53462147e+01] [ 2.79832134e-03 2.01165714e-03 9.99994061e-01 1.36025914e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.09907232899997 meters Centerline goodness : 0.763875 Centerline is valid? [False, False] Translation: X:-299.37, Y:15.35, Z:136.03 [[ 9.99991833e-01 2.69648150e-03 -3.01056300e-03 -2.99368376e+02] [-2.70185110e-03 9.99994764e-01 -1.78094572e-03 1.53462672e+01] [ 3.00574495e-03 1.78906527e-03 9.99993882e-01 1.36025523e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.129072329 meters Centerline goodness : 0.765474 Centerline is valid? [False, False] Translation: X:-299.37, Y:15.35, Z:136.03 [[ 9.99991338e-01 2.79178570e-03 -3.08708264e-03 -2.99368140e+02] [-2.79731550e-03 9.99994488e-01 -1.78840342e-03 1.53467442e+01] [ 3.08207279e-03 1.79702347e-03 9.99993636e-01 1.36025518e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.15907232899997 meters Centerline goodness : 0.763813 Centerline is valid? [False, False] Translation: X:-299.37, Y:15.35, Z:136.03 [[ 9.99989719e-01 2.98250778e-03 -3.41555556e-03 -2.99367472e+02] [-2.98866423e-03 9.99993916e-01 -1.79879134e-03 1.53472070e+01] [ 3.41016987e-03 1.80898080e-03 9.99992549e-01 1.36025780e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.18907232899994 meters Centerline goodness : 0.763813 Centerline is valid? [False, False] Translation: X:-299.37, Y:15.35, Z:136.03 [[ 9.99989719e-01 2.98250778e-03 -3.41555556e-03 -2.99367472e+02] [-2.98866423e-03 9.99993916e-01 -1.79879134e-03 1.53472070e+01] [ 3.41016987e-03 1.80898080e-03 9.99992549e-01 1.36025780e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.21907232899997 meters Centerline goodness : 0.763546 Centerline is valid? [False, False] Translation: X:-299.37, Y:15.35, Z:136.03 [[ 9.99996424e-01 1.22390427e-03 -2.37779120e-03 -2.99370545e+02] [-1.23260446e-03 9.99992539e-01 -3.66092429e-03 1.53509328e+01] [ 2.37329284e-03 3.66384208e-03 9.99990472e-01 1.36026479e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.24907232899994 meters Centerline goodness : 0.765465 Centerline is valid? [False, False] Translation: X:-299.37, Y:15.35, Z:136.03 [[ 9.99994321e-01 1.73789959e-03 -2.88739950e-03 -2.99369350e+02] [-1.74811758e-03 9.99992206e-01 -3.54007590e-03 1.53519870e+01] [ 2.88122470e-03 3.54510331e-03 9.99989565e-01 1.36026818e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.279072329 meters Centerline goodness : 0.766081 Centerline is valid? [False, False] Translation: X:-299.37, Y:15.35, Z:136.03 [[ 9.99988874e-01 2.85739770e-03 -3.75321507e-03 -2.99367846e+02] [-2.86895516e-03 9.99991149e-01 -3.07758249e-03 1.53525148e+01] [ 3.74438797e-03 3.08831606e-03 9.99988221e-01 1.36028021e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.30907232899995 meters Centerline goodness : 0.766119 Centerline is valid? [False, False] Translation: X:-299.37, Y:15.35, Z:136.03 [[ 9.99992710e-01 2.26194969e-03 -3.07632089e-03 -2.99369777e+02] [-2.27314215e-03 9.99990793e-01 -3.63964510e-03 1.53537025e+01] [ 3.06805987e-03 3.64661148e-03 9.99988645e-01 1.36028317e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.339072329 meters Centerline goodness : 0.766198 Centerline is valid? [False, False] Translation: X:-299.37, Y:15.35, Z:136.03 [[ 9.99992043e-01 2.50662566e-03 -3.10320445e-03 -2.99369459e+02] [-2.51705566e-03 9.99991182e-01 -3.36171168e-03 1.53532725e+01] [ 3.09475053e-03 3.36949588e-03 9.99989534e-01 1.36027950e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.36907232899995 meters Centerline goodness : 0.764887 Centerline is valid? [False, False] Translation: X:-299.37, Y:15.35, Z:136.03 [[ 9.99995461e-01 2.13508780e-03 -2.12573900e-03 -2.99370884e+02] [-2.14084764e-03 9.99994034e-01 -2.71099296e-03 1.53501390e+01] [ 2.11993811e-03 2.71553154e-03 9.99994066e-01 1.36026064e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.399072329 meters Centerline goodness : 0.766714 Centerline is valid? [False, False] Translation: X:-299.37, Y:15.35, Z:136.03 [[ 9.99996683e-01 2.05841895e-03 -1.54808884e-03 -2.99371923e+02] [-2.06218826e-03 9.99994904e-01 -2.43716824e-03 1.53489592e+01] [ 1.54306424e-03 2.44035261e-03 9.99995832e-01 1.36025329e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.42907232899995 meters Centerline goodness : 0.766092 Centerline is valid? [False, False] Translation: X:-299.37, Y:15.35, Z:136.02 [[ 9.99998851e-01 1.44151443e-03 -4.70064700e-04 -2.99374253e+02] [-1.44258212e-03 9.99996363e-01 -2.27901140e-03 1.53469238e+01] [ 4.66777762e-04 2.27968689e-03 9.99997293e-01 1.36024497e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.459072329 meters Centerline goodness : 0.764604 Centerline is valid? [False, False] Translation: X:-299.38, Y:15.35, Z:136.02 [[ 9.99999462e-01 9.49796834e-04 4.17410905e-04 -2.99376636e+02] [-9.48822666e-04 9.99996840e-01 -2.32786743e-03 1.53459103e+01] [-4.19620588e-04 2.32747013e-03 9.99997203e-01 1.36024519e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.48907232899995 meters Centerline goodness : 0.765521 Centerline is valid? [False, False] Translation: X:-299.38, Y:15.35, Z:136.02 [[ 9.99999097e-01 2.59418471e-04 1.31864916e-03 -2.99379285e+02] [-2.55935937e-04 9.99996481e-01 -2.64046893e-03 1.53455957e+01] [-1.31932951e-03 2.64012906e-03 9.99995645e-01 1.36024891e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.519072329 meters Centerline goodness : 0.766295 Centerline is valid? [False, False] Translation: X:-299.38, Y:15.35, Z:136.02 [[ 9.99998386e-01 1.52363555e-04 1.79042590e-03 -2.99380456e+02] [-1.47704493e-04 9.99996604e-01 -2.60205283e-03 1.53452689e+01] [-1.79081628e-03 2.60178417e-03 9.99995012e-01 1.36024826e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.54907232899996 meters Centerline goodness : 0.765764 Centerline is valid? [False, False] Translation: X:-299.38, Y:15.34, Z:136.02 [[ 9.99989189e-01 -4.10016380e-03 2.19318833e-03 -2.99381590e+02] [ 4.11430783e-03 9.99970515e-01 -6.48391288e-03 1.53439173e+01] [-2.16653856e-03 6.49286624e-03 9.99976574e-01 1.36024928e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.579072329 meters Centerline goodness : 0.765594 Centerline is valid? [False, False] Translation: X:-299.38, Y:15.34, Z:136.02 [[ 9.99984506e-01 -4.54032037e-03 3.22068084e-03 -2.99383898e+02] [ 4.56018254e-03 9.99970464e-01 -6.18677048e-03 1.53419815e+01] [-3.19249579e-03 6.20136151e-03 9.99975675e-01 1.36024285e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.60907232899996 meters Centerline goodness : 0.765719 Centerline is valid? [False, False] Translation: X:-299.39, Y:15.34, Z:136.02 [[ 9.99979980e-01 -4.81296151e-03 4.10791839e-03 -2.99385753e+02] [ 4.83711263e-03 9.99970957e-01 -5.88961655e-03 1.53404409e+01] [-4.07945259e-03 5.90936910e-03 9.99974218e-01 1.36023598e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.639072329 meters Centerline goodness : 0.763017 Centerline is valid? [False, False] Translation: X:-299.39, Y:15.34, Z:136.02 [[ 9.99970273e-01 -5.55850912e-03 5.34383977e-03 -2.99388471e+02] [ 5.58803547e-03 9.99969116e-01 -5.52634488e-03 1.53378494e+01] [-5.31295650e-03 5.55604216e-03 9.99970451e-01 1.36022750e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.66907232899996 meters Centerline goodness : 0.765724 Centerline is valid? [False, False] Translation: X:-299.39, Y:15.34, Z:136.02 [[ 9.99961711e-01 -6.17153291e-03 6.20394631e-03 -2.99390950e+02] [ 6.20812502e-03 9.99963345e-01 -5.89634755e-03 1.53380586e+01] [-6.16732941e-03 5.93463665e-03 9.99963371e-01 1.36023113e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.699072329 meters Centerline goodness : 0.765111 Centerline is valid? [False, False] Translation: X:-299.39, Y:15.34, Z:136.02 [[ 9.99910745e-01 -1.12655339e-02 7.18257837e-03 -2.99393341e+02] [ 1.13422956e-02 9.99878021e-01 -1.07375832e-02 1.53389097e+01] [-7.06073763e-03 1.08180918e-02 9.99916554e-01 1.36023231e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.72907232899996 meters Centerline goodness : 0.766152 Centerline is valid? [False, False] Translation: X:-299.40, Y:15.34, Z:136.02 [[ 9.99882800e-01 -1.27733051e-02 8.43972914e-03 -2.99397351e+02] [ 1.28716238e-02 9.99848707e-01 -1.16997349e-02 1.53388634e+01] [-8.28900798e-03 1.18069967e-02 9.99895938e-01 1.36024063e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.759072329 meters Centerline goodness : 0.764713 Centerline is valid? [False, False] Translation: X:-299.40, Y:15.34, Z:136.02 [[ 9.99813655e-01 -1.70371992e-02 9.07679652e-03 -2.99398922e+02] [ 1.71772893e-02 9.99730969e-01 -1.55861985e-02 1.53371180e+01] [-8.80880942e-03 1.57392088e-02 9.99837328e-01 1.36024098e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.78907232899996 meters Centerline goodness : 0.764289 Centerline is valid? [False, False] Translation: X:-299.40, Y:15.34, Z:136.02 [[ 9.99767058e-01 -1.89174232e-02 1.03904405e-02 -2.99403132e+02] [ 1.90900458e-02 9.99677056e-01 -1.67735973e-02 1.53366345e+01] [-1.00697718e-02 1.69680440e-02 9.99805324e-01 1.36024918e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.819072329 meters Centerline goodness : 0.764424 Centerline is valid? [False, False] Translation: X:-299.41, Y:15.33, Z:136.02 [[ 9.99634008e-01 -2.41205983e-02 1.22493186e-02 -2.99406787e+02] [ 2.43556249e-02 9.99514821e-01 -1.94145911e-02 1.53304613e+01] [-1.17750839e-02 1.97058254e-02 9.99736479e-01 1.36022781e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.84907232899997 meters Centerline goodness : 0.763450 Centerline is valid? [False, False] Translation: X:-299.41, Y:15.33, Z:136.02 [[ 9.99631654e-01 -2.39300674e-02 1.28026301e-02 -2.99407697e+02] [ 2.41669391e-02 9.99533426e-01 -1.86785930e-02 1.53281215e+01] [-1.23496767e-02 1.89811132e-02 9.99743569e-01 1.36021926e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.879072329 meters Centerline goodness : 0.763656 Centerline is valid? [False, False] Translation: X:-299.41, Y:15.33, Z:136.02 [[ 9.99616090e-01 -2.41294896e-02 1.36176406e-02 -2.99409183e+02] [ 2.43778836e-02 9.99533851e-01 -1.83793264e-02 1.53268580e+01] [-1.31678089e-02 1.87042397e-02 9.99738346e-01 1.36020996e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.90907232899997 meters Centerline goodness : 0.762007 Centerline is valid? [False, False] Translation: X:-299.42, Y:15.33, Z:136.01 [[ 9.99408451e-01 -2.89949179e-02 1.84944181e-02 -2.99419623e+02] [ 2.93145178e-02 9.99421374e-01 -1.72504025e-02 1.53287135e+01] [-1.79835427e-02 1.77823530e-02 9.99680139e-01 1.36014690e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.93907232899994 meters Centerline goodness : 0.763086 Centerline is valid? [False, False] Translation: X:-299.42, Y:15.33, Z:136.01 [[ 9.99361868e-01 -2.99065239e-02 1.95308917e-02 -2.99422038e+02] [ 3.02580702e-02 9.99380769e-01 -1.79590765e-02 1.53298105e+01] [-1.89817040e-02 1.85385834e-02 9.99647946e-01 1.36014489e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.96907232899997 meters Centerline goodness : 0.762583 Centerline is valid? [False, False] Translation: X:-299.42, Y:15.33, Z:136.01 [[ 9.99348972e-01 -2.98749833e-02 2.02266468e-02 -2.99423279e+02] [ 3.02266632e-02 9.99393166e-01 -1.73103675e-02 1.53275382e+01] [-1.96972257e-02 1.79104820e-02 9.99645554e-01 1.36013662e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.99907232899994 meters Centerline goodness : 0.763002 Centerline is valid? [False, False] Translation: X:-299.42, Y:15.33, Z:136.01 [[ 9.99336849e-01 -2.99848607e-02 2.06584141e-02 -2.99424037e+02] [ 3.03429485e-02 9.99390790e-01 -1.72439592e-02 1.53273759e+01] [-2.01287711e-02 1.78593611e-02 9.99637872e-01 1.36013153e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.029072329 meters Centerline goodness : 0.763501 Centerline is valid? [False, False] Translation: X:-299.42, Y:15.33, Z:136.01 [[ 9.99337114e-01 -2.99346421e-02 2.07183321e-02 -2.99423860e+02] [ 3.02937352e-02 9.99392336e-01 -1.72408677e-02 1.53276932e+01] [-2.01896432e-02 1.78570747e-02 9.99636686e-01 1.36012675e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.05907232899995 meters Centerline goodness : 0.762875 Centerline is valid? [False, False] Translation: X:-299.43, Y:15.33, Z:136.01 [[ 9.99391877e-01 -2.74162400e-02 2.15459010e-02 -2.99427088e+02] [ 2.77351790e-02 9.99508006e-01 -1.46459960e-02 1.53301148e+01] [-2.11337624e-02 1.52346689e-02 9.99660577e-01 1.36013848e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.089072329 meters Centerline goodness : 0.762744 Centerline is valid? [False, False] Translation: X:-299.43, Y:15.33, Z:136.01 [[ 9.99370804e-01 -2.78130351e-02 2.20097991e-02 -2.99428338e+02] [ 2.81476979e-02 9.99490559e-01 -1.50442756e-02 1.53311349e+01] [-2.15801594e-02 1.56543350e-02 9.99644556e-01 1.36014011e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.11907232899995 meters Centerline goodness : 0.764025 Centerline is valid? [False, False] Translation: X:-299.43, Y:15.33, Z:136.01 [[ 9.99369156e-01 -2.77993948e-02 2.21016874e-02 -2.99428595e+02] [ 2.81353944e-02 9.99490975e-01 -1.50396270e-02 1.53313438e+01] [-2.16723446e-02 1.56519790e-02 9.99642599e-01 1.36014040e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.149072329 meters Centerline goodness : 0.761770 Centerline is valid? [False, False] Translation: X:-299.43, Y:15.33, Z:136.01 [[ 9.99326971e-01 -2.85767812e-02 2.29994096e-02 -2.99430590e+02] [ 2.89372913e-02 9.99461084e-01 -1.54975673e-02 1.53316891e+01] [-2.25441443e-02 1.61526776e-02 9.99615352e-01 1.36013681e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.17907232899995 meters Centerline goodness : 0.761641 Centerline is valid? [False, False] Translation: X:-299.43, Y:15.33, Z:136.01 [[ 9.99321249e-01 -2.85383181e-02 2.32939139e-02 -2.99431444e+02] [ 2.88998194e-02 9.99464709e-01 -1.53328395e-02 1.53311947e+01] [-2.28438714e-02 1.59956223e-02 9.99611073e-01 1.36013826e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.209072329 meters Centerline goodness : 0.761115 Centerline is valid? [False, False] Translation: X:-299.43, Y:15.33, Z:136.01 [[ 9.99253052e-01 -2.98844365e-02 2.45001540e-02 -2.99434920e+02] [ 3.02861679e-02 9.99410089e-01 -1.61933019e-02 1.53316598e+01] [-2.40017734e-02 1.69232221e-02 9.99568667e-01 1.36014454e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.23907232899995 meters Centerline goodness : 0.761951 Centerline is valid? [False, False] Translation: X:-299.44, Y:15.33, Z:136.01 [[ 9.99190922e-01 -3.10175915e-02 2.56009709e-02 -2.99437889e+02] [ 3.14555510e-02 9.99362512e-01 -1.68854095e-02 1.53319938e+01] [-2.50609058e-02 1.76770406e-02 9.99529626e-01 1.36014687e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.269072329 meters Centerline goodness : 0.761525 Centerline is valid? [False, False] Translation: X:-299.44, Y:15.33, Z:136.01 [[ 9.99180966e-01 -3.09173278e-02 2.61058456e-02 -2.99438724e+02] [ 3.13506810e-02 9.99374597e-01 -1.63569358e-02 1.53303375e+01] [-2.55838062e-02 1.71619749e-02 9.99525355e-01 1.36013956e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.29907232899996 meters Centerline goodness : 0.762363 Centerline is valid? [False, False] Translation: X:-299.44, Y:15.33, Z:136.01 [[ 9.99127113e-01 -3.17705180e-02 2.71228007e-02 -2.99440584e+02] [ 3.22261828e-02 9.99343876e-01 -1.65314904e-02 1.53299034e+01] [-2.65797908e-02 1.73911246e-02 9.99495404e-01 1.36012939e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.329072329 meters Centerline goodness : 0.761962 Centerline is valid? [False, False] Translation: X:-299.44, Y:15.33, Z:136.01 [[ 9.99124900e-01 -3.17701283e-02 2.72046412e-02 -2.99440891e+02] [ 3.22269377e-02 9.99344025e-01 -1.65210059e-02 1.53301256e+01] [-2.66619212e-02 1.73832706e-02 9.99493354e-01 1.36013114e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.35907232899996 meters Centerline goodness : 0.761213 Centerline is valid? [False, False] Translation: X:-299.44, Y:15.33, Z:136.01 [[ 9.99130329e-01 -3.16476234e-02 2.71480031e-02 -2.99440917e+02] [ 3.21036011e-02 9.99347883e-01 -1.65277758e-02 1.53306175e+01] [-2.66072346e-02 1.73849507e-02 9.99494782e-01 1.36013424e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.389072329 meters Centerline goodness : 0.761399 Centerline is valid? [False, False] Translation: X:-299.44, Y:15.33, Z:136.01 [[ 9.99095833e-01 -3.21141963e-02 2.78602667e-02 -2.99442791e+02] [ 3.25907199e-02 9.99327208e-01 -1.68218882e-02 1.53309490e+01] [-2.73013011e-02 1.77146646e-02 9.99470275e-01 1.36013546e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.41907232899996 meters Centerline goodness : 0.761852 Centerline is valid? [False, False] Translation: X:-299.44, Y:15.33, Z:136.01 [[ 9.98927056e-01 -3.63183235e-02 2.87352627e-02 -2.99443588e+02] [ 3.69140333e-02 9.99108579e-01 -2.04792963e-02 1.53289560e+01] [-2.79658738e-02 2.15180577e-02 9.99377248e-01 1.36011932e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.449072329 meters Centerline goodness : 0.761896 Centerline is valid? [False, False] Translation: X:-299.44, Y:15.33, Z:136.01 [[ 9.98925156e-01 -3.61947912e-02 2.89563410e-02 -2.99443592e+02] [ 3.67853742e-02 9.99120430e-01 -2.01296282e-02 1.53281395e+01] [-2.82022842e-02 2.11731618e-02 9.99377971e-01 1.36011095e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.47907232899996 meters Centerline goodness : 0.760836 Centerline is valid? [False, False] Translation: X:-299.44, Y:15.33, Z:136.01 [[ 9.98930120e-01 -3.59005887e-02 2.91506889e-02 -2.99444294e+02] [ 3.64772557e-02 9.99144265e-01 -1.94973828e-02 1.53262356e+01] [-2.84257761e-02 2.05398601e-02 9.99384855e-01 1.36011286e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.509072329 meters Centerline goodness : 0.760236 Centerline is valid? [False, False] Translation: X:-299.45, Y:15.33, Z:136.01 [[ 9.98910900e-01 -3.61154808e-02 2.95412592e-02 -2.99445215e+02] [ 3.67060701e-02 9.99131909e-01 -1.97000489e-02 1.53268535e+01] [-2.88041380e-02 2.07629371e-02 9.99369412e-01 1.36011255e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.53907232899996 meters Centerline goodness : 0.760899 Centerline is valid? [False, False] Translation: X:-299.45, Y:15.33, Z:136.01 [[ 9.98997525e-01 -3.30078569e-02 3.02394747e-02 -2.99447849e+02] [ 3.35068819e-02 9.99308043e-01 -1.61469483e-02 1.53269724e+01] [-2.96855742e-02 1.71439919e-02 9.99412252e-01 1.36011869e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.569072329 meters Centerline goodness : 0.761584 Centerline is valid? [False, False] Translation: X:-299.45, Y:15.33, Z:136.01 [[ 9.99026095e-01 -3.25030863e-02 2.98397442e-02 -2.99446324e+02] [ 3.29867059e-02 9.99329937e-01 -1.58604833e-02 1.53272904e+01] [-2.93042350e-02 1.68293516e-02 9.99428854e-01 1.36011148e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.59907232899997 meters Centerline goodness : 0.760837 Centerline is valid? [False, False] Translation: X:-299.45, Y:15.33, Z:136.01 [[ 9.99084547e-01 -2.98834373e-02 3.06112346e-02 -2.99449272e+02] [ 3.02990426e-02 9.99453660e-01 -1.32041211e-02 1.53297698e+01] [-3.01999259e-02 1.41195245e-02 9.99444147e-01 1.36012071e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.629072329 meters Centerline goodness : 0.761023 Centerline is valid? [False, False] Translation: X:-299.45, Y:15.33, Z:136.01 [[ 9.99097066e-01 -2.97762481e-02 3.03055810e-02 -2.99448704e+02] [ 3.01909883e-02 9.99455381e-01 -1.33208624e-02 1.53307177e+01] [-2.98924307e-02 1.42237899e-02 9.99451913e-01 1.36012382e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.65907232899997 meters Centerline goodness : 0.760401 Centerline is valid? [False, False] Translation: X:-299.45, Y:15.33, Z:136.01 [[ 9.99172217e-01 -2.65089203e-02 3.08570460e-02 -2.99450279e+02] [ 2.68351181e-02 9.99587777e-01 -1.02055065e-02 1.53335791e+01] [-3.05737890e-02 1.10251111e-02 9.99471706e-01 1.36012356e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.68907232899994 meters Centerline goodness : 0.760097 Centerline is valid? [False, False] Translation: X:-299.45, Y:15.34, Z:136.01 [[ 9.99251788e-01 -2.28832416e-02 3.11804565e-02 -2.99451083e+02] [ 2.31013143e-02 9.99711001e-01 -6.65164352e-03 1.53356093e+01] [-3.10192342e-02 7.36697621e-03 9.99491638e-01 1.36012085e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.71907232899997 meters Centerline goodness : 0.762238 Centerline is valid? [False, False] Translation: X:-299.45, Y:15.34, Z:136.01 [[ 9.99246694e-01 -2.30742020e-02 3.12029770e-02 -2.99451198e+02] [ 2.33034751e-02 9.99703901e-01 -7.00415992e-03 1.53368007e+01] [-3.10321225e-02 7.72602144e-03 9.99488527e-01 1.36012203e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.74907232899994 meters Centerline goodness : 0.762277 Centerline is valid? [False, False] Translation: X:-299.45, Y:15.34, Z:136.01 [[ 9.99370666e-01 -1.83842951e-02 3.03362790e-02 -2.99449654e+02] [ 1.84783116e-02 9.99825280e-01 -2.82169050e-03 1.53381042e+01] [-3.02791039e-02 3.38047793e-03 9.99535766e-01 1.36012744e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.779072329 meters Centerline goodness : 0.762390 Centerline is valid? [False, False] Translation: X:-299.45, Y:15.36, Z:136.02 [[ 9.99705649e-01 -1.57475239e-02 1.84561792e-02 -2.99454050e+02] [ 1.58623463e-02 9.99855629e-01 -6.09155522e-03 1.53550290e+01] [-1.83575878e-02 6.38252047e-03 9.99811113e-01 1.36018263e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.80907232899995 meters Centerline goodness : 0.763679 Centerline is valid? [False, False] Translation: X:-299.45, Y:15.36, Z:136.02 [[ 9.99764521e-01 -1.17811431e-02 1.82237959e-02 -2.99454090e+02] [ 1.18284239e-02 9.99926944e-01 -2.48884162e-03 1.53570541e+01] [-1.81931432e-02 2.70381433e-03 9.99830835e-01 1.36018925e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.839072329 meters Centerline goodness : 0.763571 Centerline is valid? [False, False] Translation: X:-299.45, Y:15.36, Z:136.03 [[ 9.99885158e-01 -5.04041564e-03 1.42921554e-02 -2.99446705e+02] [ 5.06429918e-03 9.99985839e-01 -1.63539499e-03 1.53616624e+01] [-1.42837100e-02 1.70758693e-03 9.99896525e-01 1.36025723e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.86907232899995 meters Centerline goodness : 0.763963 Centerline is valid? [False, False] Translation: X:-299.44, Y:15.36, Z:136.03 [[ 9.99908306e-01 -3.90447431e-03 1.29666403e-02 -2.99444159e+02] [ 3.92694704e-03 9.99990831e-01 -1.70811058e-03 1.53642551e+01] [-1.29598522e-02 1.75887327e-03 9.99914471e-01 1.36027027e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.899072329 meters Centerline goodness : 0.765556 Centerline is valid? [False, False] Translation: X:-299.44, Y:15.37, Z:136.03 [[ 9.99953959e-01 2.61298497e-03 9.23320751e-03 -2.99436698e+02] [-2.60797358e-03 9.99996445e-01 -5.54755796e-04 1.53694678e+01] [-9.23462426e-03 5.30650293e-04 9.99957219e-01 1.36032668e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.92907232899995 meters Centerline goodness : 0.765701 Centerline is valid? [False, False] Translation: X:-299.43, Y:15.37, Z:136.03 [[ 9.99957901e-01 4.41219701e-03 8.04545275e-03 -2.99433499e+02] [-4.41523581e-03 9.99990188e-01 3.59981308e-04 1.53705932e+01] [-8.04378550e-03 -3.95488725e-04 9.99967570e-01 1.36032668e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.959072329 meters Centerline goodness : 0.764394 Centerline is valid? [False, False] Translation: X:-299.43, Y:15.37, Z:136.03 [[ 9.99959464e-01 5.73066230e-03 6.94471647e-03 -2.99430829e+02] [-5.73514279e-03 9.99983358e-01 6.25422021e-04 1.53726536e+01] [-6.94101682e-03 -6.65225610e-04 9.99975690e-01 1.36033070e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.98907232899995 meters Centerline goodness : 0.764376 Centerline is valid? [False, False] Translation: X:-299.43, Y:15.37, Z:136.03 [[ 9.99960156e-01 6.83263322e-03 5.74474667e-03 -2.99428061e+02] [-6.83744864e-03 9.99976289e-01 8.19009741e-04 1.53743102e+01] [-5.73901446e-03 -8.58256519e-04 9.99983163e-01 1.36033585e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.019072329 meters Centerline goodness : 0.765023 Centerline is valid? [False, False] Translation: X:-299.43, Y:15.38, Z:136.03 [[ 9.99919633e-01 1.16791264e-02 4.93208212e-03 -2.99425883e+02] [-1.17037636e-02 9.99919026e-01 4.99632705e-03 1.53757363e+01] [-4.87333002e-03 -5.05364944e-03 9.99975355e-01 1.36033614e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.04907232899996 meters Centerline goodness : 0.763326 Centerline is valid? [False, False] Translation: X:-299.42, Y:15.38, Z:136.03 [[ 9.99914825e-01 1.23566559e-02 4.20197715e-03 -2.99424320e+02] [-1.23784807e-02 9.99909820e-01 5.20820108e-03 1.53761664e+01] [-4.13724226e-03 -5.25977156e-03 9.99977609e-01 1.36033999e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.079072329 meters Centerline goodness : 0.762707 Centerline is valid? [False, False] Translation: X:-299.42, Y:15.38, Z:136.03 [[ 9.99956815e-01 8.65843641e-03 3.37634032e-03 -2.99422857e+02] [-8.66175581e-03 9.99962016e-01 9.69753132e-04 1.53769966e+01] [-3.36781553e-03 -9.98956288e-04 9.99993830e-01 1.36034780e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.10907232899996 meters Centerline goodness : 0.762707 Centerline is valid? [False, False] Translation: X:-299.42, Y:15.38, Z:136.03 [[ 9.99956815e-01 8.65843641e-03 3.37634032e-03 -2.99422857e+02] [-8.66175581e-03 9.99962016e-01 9.69753132e-04 1.53769966e+01] [-3.36781553e-03 -9.98956288e-04 9.99993830e-01 1.36034780e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.139072329 meters Centerline goodness : 0.763383 Centerline is valid? [False, False] Translation: X:-299.43, Y:15.38, Z:136.04 [[ 9.99962688e-01 7.75676623e-03 3.80194961e-03 -2.99425270e+02] [-7.75565956e-03 9.99969878e-01 -3.05736819e-04 1.53794635e+01] [-3.80420661e-03 2.76238784e-04 9.99992726e-01 1.36036476e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.16907232899996 meters Centerline goodness : 0.764381 Centerline is valid? [False, False] Translation: X:-299.43, Y:15.38, Z:136.04 [[ 9.99964927e-01 7.39673564e-03 3.92851102e-03 -2.99426651e+02] [-7.39359606e-03 9.99972336e-01 -8.13101387e-04 1.53802550e+01] [-3.93441664e-03 7.84027045e-04 9.99991953e-01 1.36037830e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.199072329 meters Centerline goodness : 0.763236 Centerline is valid? [False, False] Translation: X:-299.43, Y:15.38, Z:136.04 [[ 9.99965005e-01 7.29153758e-03 4.10146241e-03 -2.99427164e+02] [-7.28799935e-03 9.99973058e-01 -8.76960910e-04 1.53802229e+01] [-4.10774630e-03 8.47038765e-04 9.99991204e-01 1.36037870e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.22907232899996 meters Centerline goodness : 0.763851 Centerline is valid? [False, False] Translation: X:-299.43, Y:15.38, Z:136.04 [[ 9.99964817e-01 7.17645380e-03 4.34318508e-03 -2.99427674e+02] [-7.17280070e-03 9.99973909e-01 -8.56103758e-04 1.53798636e+01] [-4.34921555e-03 8.24920836e-04 9.99990202e-01 1.36037598e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.259072329 meters Centerline goodness : 0.764219 Centerline is valid? [False, False] Translation: X:-299.43, Y:15.38, Z:136.04 [[ 9.99964421e-01 7.38291963e-03 4.08035473e-03 -2.99426850e+02] [-7.38005688e-03 9.99972511e-01 -7.16204064e-04 1.53798138e+01] [-4.08553024e-03 6.86065332e-04 9.99991419e-01 1.36037334e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.28907232899996 meters Centerline goodness : 0.763432 Centerline is valid? [False, False] Translation: X:-299.43, Y:15.38, Z:136.04 [[ 9.99966474e-01 7.00527754e-03 4.23998630e-03 -2.99427098e+02] [-7.00041040e-03 9.99974822e-01 -1.16166821e-03 1.53808446e+01] [-4.24801735e-03 1.13194762e-03 9.99990336e-01 1.36037112e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.319072329 meters Centerline goodness : 0.763553 Centerline is valid? [False, False] Translation: X:-299.43, Y:15.38, Z:136.04 [[ 9.99966105e-01 7.06331446e-03 4.23056456e-03 -2.99427105e+02] [-7.05896126e-03 9.99974541e-01 -1.04303776e-03 1.53804095e+01] [-4.23782416e-03 1.01313901e-03 9.99990507e-01 1.36037044e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.34907232899997 meters Centerline goodness : 0.763383 Centerline is valid? [False, False] Translation: X:-299.43, Y:15.38, Z:136.04 [[ 9.99984073e-01 3.85871648e-03 4.11872148e-03 -2.99425623e+02] [-3.84309971e-03 9.99985422e-01 -3.79285904e-03 1.53774733e+01] [-4.13329701e-03 3.77696998e-03 9.99984325e-01 1.36035396e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.379072329 meters Centerline goodness : 0.763776 Centerline is valid? [False, False] Translation: X:-299.43, Y:15.38, Z:136.04 [[ 9.99982285e-01 3.12373054e-03 5.06681537e-03 -2.99428049e+02] [-3.10315952e-03 9.99986932e-01 -4.06274469e-03 1.53768760e+01] [-5.07944008e-03 4.04694958e-03 9.99978911e-01 1.36035240e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.40907232899997 meters Centerline goodness : 0.763426 Centerline is valid? [False, False] Translation: X:-299.43, Y:15.38, Z:136.03 [[ 9.99980148e-01 2.90852500e-03 5.58958065e-03 -2.99429072e+02] [-2.88546830e-03 9.99987314e-01 -4.12859001e-03 1.53768228e+01] [-5.60151785e-03 4.11237949e-03 9.99975855e-01 1.36034765e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.43907232899994 meters Centerline goodness : 0.762792 Centerline is valid? [False, False] Translation: X:-299.43, Y:15.38, Z:136.03 [[ 9.99977460e-01 2.74206820e-03 6.12861547e-03 -2.99430185e+02] [-2.71753341e-03 9.99988275e-01 -4.00806557e-03 1.53760723e+01] [-6.13953400e-03 3.99132051e-03 9.99973187e-01 1.36034321e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.46907232899997 meters Centerline goodness : 0.762040 Centerline is valid? [False, False] Translation: X:-299.43, Y:15.37, Z:136.03 [[ 9.99974562e-01 2.69708932e-03 6.60310703e-03 -2.99430977e+02] [-2.67283083e-03 9.99989657e-01 -3.67987162e-03 1.53748569e+01] [-6.61296368e-03 3.66212903e-03 9.99971428e-01 1.36033674e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.49907232899994 meters Centerline goodness : 0.763325 Centerline is valid? [False, False] Translation: X:-299.43, Y:15.38, Z:136.03 [[ 9.99972234e-01 2.34904093e-03 7.07195281e-03 -2.99431995e+02] [-2.32079700e-03 9.99989309e-01 -3.99935661e-03 1.53754643e+01] [-7.08127185e-03 3.98283300e-03 9.99966996e-01 1.36033413e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.529072329 meters Centerline goodness : 0.762254 Centerline is valid? [False, False] Translation: X:-299.43, Y:15.38, Z:136.03 [[ 9.99970336e-01 2.06222056e-03 7.42117949e-03 -2.99433405e+02] [-2.03101662e-03 9.99989076e-01 -4.20979782e-03 1.53754477e+01] [-7.42977995e-03 4.19460040e-03 9.99963601e-01 1.36034070e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.55907232899995 meters Centerline goodness : 0.763260 Centerline is valid? [False, False] Translation: X:-299.43, Y:15.38, Z:136.03 [[ 9.99970223e-01 2.09526399e-03 7.42723070e-03 -2.99433871e+02] [-2.06381266e-03 9.99988883e-01 -4.23973528e-03 1.53756364e+01] [-7.43603150e-03 4.22428061e-03 9.99963430e-01 1.36034685e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.589072329 meters Centerline goodness : 0.762720 Centerline is valid? [False, False] Translation: X:-299.44, Y:15.38, Z:136.04 [[ 9.99964451e-01 8.31429535e-04 8.39083820e-03 -2.99436881e+02] [-7.88256198e-04 9.99986442e-01 -5.14729104e-03 1.53764152e+01] [-8.39500404e-03 5.14049393e-03 9.99951548e-01 1.36035331e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.61907232899995 meters Centerline goodness : 0.764855 Centerline is valid? [False, False] Translation: X:-299.44, Y:15.38, Z:136.04 [[ 9.99967469e-01 1.45643450e-03 7.93348454e-03 -2.99435549e+02] [-1.42095067e-03 9.99988971e-01 -4.47646865e-03 1.53753542e+01] [-7.93991672e-03 4.46504993e-03 9.99958510e-01 1.36035058e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.649072329 meters Centerline goodness : 0.763768 Centerline is valid? [False, False] Translation: X:-299.43, Y:15.38, Z:136.03 [[ 9.99969637e-01 1.98743134e-03 7.53492694e-03 -2.99433833e+02] [-1.95701141e-03 9.99989914e-01 -4.04241625e-03 1.53755245e+01] [-7.54288497e-03 4.02754758e-03 9.99963441e-01 1.36034200e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.67907232899995 meters Centerline goodness : 0.764290 Centerline is valid? [False, False] Translation: X:-299.43, Y:15.38, Z:136.03 [[ 9.99972405e-01 2.17871284e-03 7.10231901e-03 -2.99432381e+02] [-2.14974636e-03 9.99989352e-01 -4.08353925e-03 1.53766094e+01] [-7.11114024e-03 4.06815838e-03 9.99966440e-01 1.36033876e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.709072329 meters Centerline goodness : 0.761945 Centerline is valid? [False, False] Translation: X:-299.43, Y:15.38, Z:136.03 [[ 9.99974765e-01 2.08382258e-03 6.79169403e-03 -2.99431568e+02] [-2.05212390e-03 9.99986986e-01 -4.67090260e-03 1.53792118e+01] [-6.80133897e-03 4.65684733e-03 9.99966027e-01 1.36034078e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.73907232899995 meters Centerline goodness : 0.762441 Centerline is valid? [False, False] Translation: X:-299.43, Y:15.38, Z:136.03 [[ 9.99972856e-01 1.79595724e-03 7.14572920e-03 -2.99432866e+02] [-1.76109289e-03 9.99986531e-01 -4.88235168e-03 1.53792732e+01] [-7.15440144e-03 4.86963486e-03 9.99962550e-01 1.36034584e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.769072329 meters Centerline goodness : 0.763224 Centerline is valid? [False, False] Translation: X:-299.43, Y:15.38, Z:136.04 [[ 9.99973060e-01 2.07612166e-03 7.04058444e-03 -2.99433120e+02] [-2.04336813e-03 9.99987073e-01 -4.65611001e-03 1.53789195e+01] [-7.05016007e-03 4.64159807e-03 9.99964375e-01 1.36035305e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.79907232899996 meters Centerline goodness : 0.764233 Centerline is valid? [False, False] Translation: X:-299.43, Y:15.38, Z:136.04 [[ 9.99973600e-01 1.95705145e-03 6.99773461e-03 -2.99433172e+02] [-1.92187682e-03 9.99985504e-01 -5.02976899e-03 1.53802592e+01] [-7.00747668e-03 5.01618742e-03 9.99962866e-01 1.36035560e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.829072329 meters Centerline goodness : 0.761985 Centerline is valid? [False, False] Translation: X:-299.43, Y:15.38, Z:136.04 [[ 9.99973415e-01 1.96345297e-03 7.02241015e-03 -2.99433253e+02] [-1.92852028e-03 9.99985751e-01 -4.97777444e-03 1.53800023e+01] [-7.03208371e-03 4.96409925e-03 9.99962953e-01 1.36035495e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.85907232899996 meters Centerline goodness : 0.763898 Centerline is valid? [False, False] Translation: X:-299.43, Y:15.38, Z:136.04 [[ 9.99958261e-01 6.48491615e-03 6.43592745e-03 -2.99431398e+02] [-6.47898621e-03 9.99978568e-01 -9.41803321e-04 1.53817165e+01] [-6.44189702e-03 9.00065726e-04 9.99978846e-01 1.36035143e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.889072329 meters Centerline goodness : 0.762988 Centerline is valid? [False, False] Translation: X:-299.43, Y:15.38, Z:136.04 [[ 9.99958590e-01 7.18386124e-03 5.58654266e-03 -2.99429263e+02] [-7.17933676e-03 9.99973884e-01 -8.29521671e-04 1.53829644e+01] [-5.59235593e-03 7.89379650e-04 9.99984051e-01 1.36035250e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.91907232899996 meters Centerline goodness : 0.765549 Centerline is valid? [False, False] Translation: X:-299.43, Y:15.38, Z:136.04 [[ 9.99960247e-01 7.00801889e-03 5.51286146e-03 -2.99429585e+02] [-7.00133156e-03 9.99974732e-01 -1.23140729e-03 1.53840353e+01] [-5.52135189e-03 1.19276097e-03 9.99984046e-01 1.36035948e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.949072329 meters Centerline goodness : 0.764447 Centerline is valid? [False, False] Translation: X:-299.43, Y:15.39, Z:136.04 [[ 9.99963628e-01 6.71593417e-03 5.25723910e-03 -2.99429754e+02] [-6.70478744e-03 9.99975243e-01 -2.13502339e-03 1.53868363e+01] [-5.27144763e-03 2.09969706e-03 9.99983901e-01 1.36037114e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.97907232899996 meters Centerline goodness : 0.763740 Centerline is valid? [False, False] Translation: X:-299.43, Y:15.39, Z:136.04 [[ 9.99964081e-01 6.87585547e-03 4.95571669e-03 -2.99429508e+02] [-6.86565474e-03 9.99974284e-01 -2.07245799e-03 1.53866280e+01] [-4.96983916e-03 2.03835931e-03 9.99985573e-01 1.36037777e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.009072329 meters Centerline goodness : 0.763538 Centerline is valid? [False, False] Translation: X:-299.43, Y:15.39, Z:136.04 [[ 9.99965078e-01 6.97814592e-03 4.59875876e-03 -2.99428871e+02] [-6.96798150e-03 9.99973253e-01 -2.22258237e-03 1.53875636e+01] [-4.61414526e-03 2.19046068e-03 9.99986956e-01 1.36038169e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.03907232899996 meters Centerline goodness : 0.764214 Centerline is valid? [False, False] Translation: X:-299.43, Y:15.39, Z:136.04 [[ 9.99964722e-01 7.40328843e-03 3.96811226e-03 -2.99427355e+02] [-7.39492324e-03 9.99970413e-01 -2.11864478e-03 1.53881373e+01] [-3.98367979e-03 2.08922616e-03 9.99989883e-01 1.36038301e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.069072329 meters Centerline goodness : 0.763039 Centerline is valid? [False, False] Translation: X:-299.43, Y:15.39, Z:136.04 [[ 9.99965369e-01 7.05619315e-03 4.41269156e-03 -2.99428505e+02] [-7.04590865e-03 9.99972435e-01 -2.34188310e-03 1.53882617e+01] [-4.42909470e-03 2.31071058e-03 9.99987522e-01 1.36038266e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.09907232899997 meters Centerline goodness : 0.762954 Centerline is valid? [False, False] Translation: X:-299.43, Y:15.39, Z:136.04 [[ 9.99966290e-01 6.48779479e-03 5.03256125e-03 -2.99430405e+02] [-6.47459619e-03 9.99975569e-01 -2.63451473e-03 1.53880995e+01] [-5.04953049e-03 2.60184212e-03 9.99983866e-01 1.36038585e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.129072329 meters Centerline goodness : 0.763893 Centerline is valid? [False, False] Translation: X:-299.43, Y:15.39, Z:136.04 [[ 9.99966248e-01 5.66703832e-03 5.94879234e-03 -2.99433073e+02] [-5.64788711e-03 9.99978830e-01 -3.23122176e-03 1.53885272e+01] [-5.96697786e-03 3.19751459e-03 9.99977085e-01 1.36038950e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.15907232899997 meters Centerline goodness : 0.763598 Centerline is valid? [False, False] Translation: X:-299.44, Y:15.39, Z:136.04 [[ 9.99964312e-01 5.19354474e-03 6.66343146e-03 -2.99435215e+02] [-5.17088297e-03 9.99980804e-01 -3.41364861e-03 1.53880898e+01] [-6.68103249e-03 3.37907096e-03 9.99971972e-01 1.36039284e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.18907232899994 meters Centerline goodness : 0.765190 Centerline is valid? [False, False] Translation: X:-299.44, Y:15.39, Z:136.04 [[ 9.99962427e-01 4.39410735e-03 7.47242452e-03 -2.99437701e+02] [-4.36669981e-03 9.99983694e-01 -3.68019354e-03 1.53873005e+01] [-7.48847384e-03 3.64742543e-03 9.99965309e-01 1.36039654e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.21907232899997 meters Centerline goodness : 0.765251 Centerline is valid? [False, False] Translation: X:-299.44, Y:15.39, Z:136.04 [[ 9.99962749e-01 4.64155819e-03 7.27715303e-03 -2.99436997e+02] [-4.61691495e-03 9.99983563e-01 -3.39953494e-03 1.53870829e+01] [-7.29281256e-03 3.36581031e-03 9.99967743e-01 1.36039384e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.24907232899994 meters Centerline goodness : 0.764479 Centerline is valid? [False, False] Translation: X:-299.44, Y:15.39, Z:136.04 [[ 9.99964549e-01 5.03006016e-03 6.75269883e-03 -2.99435687e+02] [-5.00926698e-03 9.99982671e-01 -3.09263118e-03 1.53866959e+01] [-6.76813794e-03 3.05869547e-03 9.99972418e-01 1.36039332e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.279072329 meters Centerline goodness : 0.764638 Centerline is valid? [False, False] Translation: X:-299.43, Y:15.39, Z:136.04 [[ 9.99966464e-01 5.56731929e-03 6.00628446e-03 -2.99433864e+02] [-5.54990002e-03 9.99980356e-01 -2.91295342e-03 1.53871291e+01] [-6.02238381e-03 2.87952145e-03 9.99977719e-01 1.36039405e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.30907232899995 meters Centerline goodness : 0.763492 Centerline is valid? [False, False] Translation: X:-299.43, Y:15.39, Z:136.04 [[ 9.99967795e-01 5.83106267e-03 5.51426929e-03 -2.99432654e+02] [-5.81470966e-03 9.99978663e-01 -2.97697773e-03 1.53878547e+01] [-5.53151058e-03 2.94481798e-03 9.99980365e-01 1.36039460e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.339072329 meters Centerline goodness : 0.764031 Centerline is valid? [False, False] Translation: X:-299.43, Y:15.39, Z:136.04 [[ 9.99970646e-01 5.96469072e-03 4.80939851e-03 -2.99431413e+02] [-5.94832928e-03 9.99976497e-01 -3.40912939e-03 1.53898445e+01] [-4.82961988e-03 3.38042143e-03 9.99982624e-01 1.36040269e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.36907232899995 meters Centerline goodness : 0.764945 Centerline is valid? [False, False] Translation: X:-299.43, Y:15.39, Z:136.04 [[ 9.99973635e-01 5.48241536e-03 4.76151495e-03 -2.99431586e+02] [-5.46147007e-03 9.99975402e-01 -4.40079001e-03 1.53929742e+01] [-4.78552479e-03 4.37466911e-03 9.99978980e-01 1.36040825e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.399072329 meters Centerline goodness : 0.766880 Centerline is valid? [False, False] Translation: X:-299.43, Y:15.39, Z:136.04 [[ 9.99973337e-01 5.47439668e-03 4.83286954e-03 -2.99431835e+02] [-5.45302210e-03 9.99975342e-01 -4.42490455e-03 1.53931784e+01] [-4.85697406e-03 4.39843283e-03 9.99978532e-01 1.36040825e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.42907232899995 meters Centerline goodness : 0.765840 Centerline is valid? [False, False] Translation: X:-299.43, Y:15.39, Z:136.04 [[ 9.99972576e-01 6.13165348e-03 4.15332761e-03 -2.99430203e+02] [-6.11540040e-03 9.99973638e-01 -3.91472580e-03 1.53927552e+01] [-4.17722186e-03 3.88921918e-03 9.99983712e-01 1.36040996e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.459072329 meters Centerline goodness : 0.765720 Centerline is valid? [False, False] Translation: X:-299.43, Y:15.40, Z:136.04 [[ 9.99976999e-01 4.71021803e-03 4.88010424e-03 -2.99432728e+02] [-4.68345586e-03 9.99974012e-01 -5.48092480e-03 1.53960123e+01] [-4.90579377e-03 5.45794298e-03 9.99973072e-01 1.36042023e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.48907232899995 meters Centerline goodness : 0.765696 Centerline is valid? [False, False] Translation: X:-299.43, Y:15.40, Z:136.04 [[ 9.99976209e-01 4.23295347e-03 5.44650499e-03 -2.99434308e+02] [-4.20094140e-03 9.99973914e-01 -5.87561974e-03 1.53966950e+01] [-5.47123414e-03 5.85259950e-03 9.99967906e-01 1.36042227e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.519072329 meters Centerline goodness : 0.764687 Centerline is valid? [False, False] Translation: X:-299.44, Y:15.40, Z:136.04 [[ 9.99972842e-01 3.49574276e-03 6.48803364e-03 -2.99437095e+02] [-3.45635098e-03 9.99975587e-01 -6.07276518e-03 1.53958759e+01] [-6.50910408e-03 6.05017533e-03 9.99960513e-01 1.36042180e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.54907232899996 meters Centerline goodness : 0.765869 Centerline is valid? [False, False] Translation: X:-299.44, Y:15.39, Z:136.04 [[ 9.99979307e-01 5.59358316e-04 6.40886147e-03 -2.99436337e+02] [-5.06729592e-04 9.99966164e-01 -8.21055092e-03 1.53905031e+01] [-6.41323726e-03 8.20713346e-03 9.99945755e-01 1.36041102e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.579072329 meters Centerline goodness : 0.765767 Centerline is valid? [False, False] Translation: X:-299.43, Y:15.39, Z:136.04 [[ 9.99981737e-01 1.63748830e-03 5.81757090e-03 -2.99433822e+02] [-1.59519898e-03 9.99972327e-01 -7.26645781e-03 1.53901852e+01] [-5.82930865e-03 7.25704492e-03 9.99956676e-01 1.36039919e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.60907232899996 meters Centerline goodness : 0.765231 Centerline is valid? [False, False] Translation: X:-299.43, Y:15.39, Z:136.04 [[ 9.99984065e-01 1.71952821e-03 5.37711546e-03 -2.99431897e+02] [-1.67943100e-03 9.99970818e-01 -7.45265714e-03 1.53918533e+01] [-5.38977360e-03 7.44350789e-03 9.99957771e-01 1.36038999e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.639072329 meters Centerline goodness : 0.765075 Centerline is valid? [False, False] Translation: X:-299.43, Y:15.39, Z:136.04 [[ 9.99969567e-01 5.46056149e-03 5.57196428e-03 -2.99432705e+02] [-5.43805006e-03 9.99977023e-01 -4.04730750e-03 1.53941651e+01] [-5.59393682e-03 4.01688371e-03 9.99976286e-01 1.36039479e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.66907232899996 meters Centerline goodness : 0.763308 Centerline is valid? [False, False] Translation: X:-299.43, Y:15.40, Z:136.04 [[ 9.99970622e-01 5.10483141e-03 5.71794803e-03 -2.99433233e+02] [-5.07835105e-03 9.99976358e-01 -4.63607952e-03 1.53959604e+01] [-5.74147925e-03 4.60690558e-03 9.99972906e-01 1.36039726e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.699072329 meters Centerline goodness : 0.764972 Centerline is valid? [False, False] Translation: X:-299.43, Y:15.40, Z:136.04 [[ 9.99971046e-01 5.06543568e-03 5.67884991e-03 -2.99433939e+02] [-5.03740578e-03 9.99975113e-01 -4.93932599e-03 1.53967522e+01] [-5.70372843e-03 4.91057631e-03 9.99971676e-01 1.36040841e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.72907232899996 meters Centerline goodness : 0.763468 Centerline is valid? [False, False] Translation: X:-299.43, Y:15.40, Z:136.04 [[ 9.99972314e-01 5.14115532e-03 5.37954748e-03 -2.99433358e+02] [-5.11373262e-03 9.99973925e-01 -5.09898226e-03 1.53977835e+01] [-5.40562186e-03 5.07133152e-03 9.99972530e-01 1.36041150e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.759072329 meters Centerline goodness : 0.764621 Centerline is valid? [False, False] Translation: X:-299.43, Y:15.40, Z:136.04 [[ 9.99972261e-01 5.13267398e-03 5.39748283e-03 -2.99433556e+02] [-5.10452755e-03 9.99973370e-01 -5.21564196e-03 1.53984846e+01] [-5.42410928e-03 5.18794568e-03 9.99971832e-01 1.36041422e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.78907232899996 meters Centerline goodness : 0.764367 Centerline is valid? [False, False] Translation: X:-299.43, Y:15.40, Z:136.04 [[ 9.99969077e-01 5.38574571e-03 5.73051269e-03 -2.99434397e+02] [-5.35987346e-03 9.99975417e-01 -4.52064298e-03 1.53960898e+01] [-5.75471885e-03 4.48978836e-03 9.99973362e-01 1.36041242e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.819072329 meters Centerline goodness : 0.763337 Centerline is valid? [False, False] Translation: X:-299.44, Y:15.40, Z:136.04 [[ 9.99967602e-01 4.96393794e-03 6.33679310e-03 -2.99436174e+02] [-4.93328649e-03 9.99976101e-01 -4.84356196e-03 1.53964095e+01] [-6.36068480e-03 4.81214382e-03 9.99968192e-01 1.36041414e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.84907232899997 meters Centerline goodness : 0.763361 Centerline is valid? [False, False] Translation: X:-299.44, Y:15.40, Z:136.04 [[ 9.99967525e-01 4.79628083e-03 6.47650673e-03 -2.99436373e+02] [-4.76422661e-03 9.99976371e-01 -4.95569770e-03 1.53967639e+01] [-6.50012262e-03 4.92468121e-03 9.99966747e-01 1.36041187e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.879072329 meters Centerline goodness : 0.761383 Centerline is valid? [False, False] Translation: X:-299.43, Y:15.40, Z:136.04 [[ 9.99961645e-01 6.79824271e-03 5.52198791e-03 -2.99433013e+02] [-6.77879550e-03 9.99970783e-01 -3.53289199e-03 1.53972149e+01] [-5.54584403e-03 3.49532406e-03 9.99978513e-01 1.36040362e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.90907232899997 meters Centerline goodness : 0.761950 Centerline is valid? [False, False] Translation: X:-299.43, Y:15.40, Z:136.04 [[ 9.99964087e-01 6.52627536e-03 5.40661804e-03 -2.99432875e+02] [-6.50388228e-03 9.99970242e-01 -4.14907126e-03 1.53993368e+01] [-5.43353513e-03 4.11375825e-03 9.99976777e-01 1.36040626e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.93907232899994 meters Centerline goodness : 0.760938 Centerline is valid? [False, False] Translation: X:-299.43, Y:15.40, Z:136.04 [[ 9.99963766e-01 6.46671914e-03 5.53602703e-03 -2.99433920e+02] [-6.44325285e-03 9.99970227e-01 -4.24622431e-03 1.53992374e+01] [-5.56332134e-03 4.21040043e-03 9.99975661e-01 1.36041483e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.96907232899997 meters Centerline goodness : 0.761596 Centerline is valid? [False, False] Translation: X:-299.44, Y:15.40, Z:136.04 [[ 9.99963512e-01 5.78789236e-03 6.28287529e-03 -2.99436222e+02] [-5.75764004e-03 9.99971796e-01 -4.82249894e-03 1.53997319e+01] [-6.31061019e-03 4.78614844e-03 9.99968634e-01 1.36041926e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.99907232899994 meters Centerline goodness : 0.761596 Centerline is valid? [False, False] Translation: X:-299.44, Y:15.40, Z:136.04 [[ 9.99963512e-01 5.78789236e-03 6.28287529e-03 -2.99436222e+02] [-5.75764004e-03 9.99971796e-01 -4.82249894e-03 1.53997319e+01] [-6.31061019e-03 4.78614844e-03 9.99968634e-01 1.36041926e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.029072329 meters Centerline goodness : 0.763919 Centerline is valid? [False, False] Translation: X:-299.44, Y:15.40, Z:136.04 [[ 9.99963527e-01 5.95451112e-03 6.12286047e-03 -2.99435682e+02] [-5.92595617e-03 9.99971531e-01 -4.67127722e-03 1.53997791e+01] [-6.15050133e-03 4.63482304e-03 9.99970344e-01 1.36041737e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.05907232899995 meters Centerline goodness : 0.764627 Centerline is valid? [False, False] Translation: X:-299.44, Y:15.40, Z:136.04 [[ 9.99961932e-01 5.88184562e-03 6.44509151e-03 -2.99436229e+02] [-5.85271729e-03 9.99972616e-01 -4.52903865e-03 1.53992752e+01] [-6.47155413e-03 4.49114494e-03 9.99968974e-01 1.36041312e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.089072329 meters Centerline goodness : 0.763226 Centerline is valid? [False, False] Translation: X:-299.44, Y:15.40, Z:136.04 [[ 9.99959886e-01 5.63872786e-03 6.95929646e-03 -2.99437412e+02] [-5.60727560e-03 9.99974015e-01 -4.53072646e-03 1.53988224e+01] [-6.98466316e-03 4.49152202e-03 9.99965520e-01 1.36041073e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.11907232899995 meters Centerline goodness : 0.765481 Centerline is valid? [False, False] Translation: X:-299.44, Y:15.39, Z:136.04 [[ 9.99972084e-01 2.35331197e-03 7.09174022e-03 -2.99436545e+02] [-2.30287250e-03 9.99972056e-01 -7.11221748e-03 1.53948136e+01] [-7.10827932e-03 7.09568757e-03 9.99949561e-01 1.36039282e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.149072329 meters Centerline goodness : 0.762716 Centerline is valid? [False, False] Translation: X:-299.44, Y:15.39, Z:136.04 [[ 9.99966782e-01 1.87691000e-03 7.93167816e-03 -2.99438132e+02] [-1.81873319e-03 9.99971440e-01 -7.33560025e-03 1.53948992e+01] [-7.94521989e-03 7.32093097e-03 9.99941637e-01 1.36038482e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.17907232899995 meters Centerline goodness : 0.762786 Centerline is valid? [False, False] Translation: X:-299.44, Y:15.39, Z:136.04 [[ 9.99961100e-01 1.50283929e-03 8.69135720e-03 -2.99440172e+02] [-1.44061529e-03 9.99973321e-01 -7.16113063e-03 1.53931516e+01] [-8.70188735e-03 7.14833116e-03 9.99936587e-01 1.36038405e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.209072329 meters Centerline goodness : 0.761218 Centerline is valid? [False, False] Translation: X:-299.44, Y:15.39, Z:136.04 [[ 9.99961635e-01 1.78736409e-03 8.57513551e-03 -2.99439785e+02] [-1.72823300e-03 9.99974714e-01 -6.89810611e-03 1.53928542e+01] [-8.58724811e-03 6.88302163e-03 9.99939440e-01 1.36038276e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.23907232899995 meters Centerline goodness : 0.764627 Centerline is valid? [False, False] Translation: X:-299.44, Y:15.39, Z:136.04 [[ 9.99960274e-01 -2.00188196e-03 8.68582516e-03 -2.99440033e+02] [ 2.09195423e-03 9.99944007e-01 -1.03733674e-02 1.53907513e+01] [-8.66457256e-03 1.03911256e-02 9.99908471e-01 1.36038121e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.269072329 meters Centerline goodness : 0.765167 Centerline is valid? [False, False] Translation: X:-299.44, Y:15.39, Z:136.04 [[ 9.99957387e-01 -2.02486017e-03 9.00687400e-03 -2.99440675e+02] [ 2.11783110e-03 9.99944456e-01 -1.03246867e-02 1.53907695e+01] [-8.98546768e-03 1.03433218e-02 9.99906134e-01 1.36037865e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.29907232899996 meters Centerline goodness : 0.765243 Centerline is valid? [False, False] Translation: X:-299.44, Y:15.39, Z:136.04 [[ 9.99956876e-01 -1.95655731e-03 9.07842372e-03 -2.99441468e+02] [ 2.04995698e-03 9.99944953e-01 -1.02902190e-02 1.53905795e+01] [-9.05779058e-03 1.03083856e-02 9.99905842e-01 1.36038668e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.329072329 meters Centerline goodness : 0.765468 Centerline is valid? [False, False] Translation: X:-299.44, Y:15.39, Z:136.04 [[ 9.99960461e-01 -1.73164524e-03 8.72220614e-03 -2.99440582e+02] [ 1.82131341e-03 9.99945470e-01 -1.02830160e-02 1.53913754e+01] [-8.70392398e-03 1.02984953e-02 9.99909087e-01 1.36038729e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.35907232899996 meters Centerline goodness : 0.766087 Centerline is valid? [False, False] Translation: X:-299.44, Y:15.39, Z:136.04 [[ 9.99955794e-01 -2.22460600e-03 9.13566986e-03 -2.99441798e+02] [ 2.32258815e-03 9.99939749e-01 -1.07286622e-02 1.53921988e+01] [-9.11125238e-03 1.07494063e-02 9.99900713e-01 1.36038934e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.389072329 meters Centerline goodness : 0.768106 Centerline is valid? [False, False] Translation: X:-299.44, Y:15.40, Z:136.04 [[ 9.99954421e-01 1.10331334e-03 9.48358427e-03 -2.99442679e+02] [-1.02972561e-03 9.99969354e-01 -7.76086905e-03 1.53955337e+01] [-9.49185631e-03 7.75074983e-03 9.99924912e-01 1.36039088e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.41907232899996 meters Centerline goodness : 0.768067 Centerline is valid? [False, False] Translation: X:-299.44, Y:15.40, Z:136.04 [[ 9.99956274e-01 1.46462435e-03 9.23607010e-03 -2.99442089e+02] [-1.39595129e-03 9.99971368e-01 -7.43737998e-03 1.53951501e+01] [-9.24669862e-03 7.42416167e-03 9.99929688e-01 1.36039128e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.449072329 meters Centerline goodness : 0.766648 Centerline is valid? [False, False] Translation: X:-299.44, Y:15.40, Z:136.04 [[ 9.99958813e-01 1.49320343e-03 8.95223463e-03 -2.99441604e+02] [-1.42458232e-03 9.99969595e-01 -7.66673226e-03 1.53963819e+01] [-8.96341043e-03 7.65366329e-03 9.99930537e-01 1.36039532e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.47907232899996 meters Centerline goodness : 0.768844 Centerline is valid? [False, False] Translation: X:-299.44, Y:15.40, Z:136.04 [[ 9.99960943e-01 1.37030952e-03 8.73123111e-03 -2.99441012e+02] [-1.29974080e-03 9.99966488e-01 -8.08288715e-03 1.53981840e+01] [-8.74201457e-03 8.07122312e-03 9.99929214e-01 1.36039582e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.509072329 meters Centerline goodness : 0.768782 Centerline is valid? [False, False] Translation: X:-299.44, Y:15.40, Z:136.04 [[ 9.99949124e-01 4.82631086e-03 8.85755014e-03 -2.99441695e+02] [-4.78172933e-03 9.99975829e-01 -5.04746209e-03 1.54016957e+01] [-8.88169666e-03 5.00485089e-03 9.99948032e-01 1.36040316e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.53907232899996 meters Centerline goodness : 0.768037 Centerline is valid? [False, False] Translation: X:-299.44, Y:15.40, Z:136.04 [[ 9.99944974e-01 4.02620649e-03 9.68700550e-03 -2.99444438e+02] [-3.97009730e-03 9.99975273e-01 -5.80448661e-03 1.54027875e+01] [-9.71013603e-03 5.76570886e-03 9.99936233e-01 1.36041187e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.569072329 meters Centerline goodness : 0.767491 Centerline is valid? [False, False] Translation: X:-299.45, Y:15.40, Z:136.04 [[ 9.99944232e-01 -3.23439731e-04 1.05560018e-02 -2.99447670e+02] [ 4.23465970e-04 9.99955022e-01 -9.47491039e-03 1.53993501e+01] [-1.05524624e-02 9.47885210e-03 9.99899393e-01 1.36042275e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.59907232899997 meters Centerline goodness : 0.765718 Centerline is valid? [False, False] Translation: X:-299.45, Y:15.40, Z:136.04 [[ 9.99939943e-01 -2.05851120e-04 1.09575231e-02 -2.99448663e+02] [ 3.05250563e-04 9.99958816e-01 -9.07044297e-03 1.53978200e+01] [-1.09552047e-02 9.07324302e-03 9.99898825e-01 1.36042138e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.629072329 meters Centerline goodness : 0.766151 Centerline is valid? [False, False] Translation: X:-299.45, Y:15.40, Z:136.04 [[ 9.99928008e-01 -1.27935996e-03 1.19307028e-02 -2.99451366e+02] [ 1.39503222e-03 9.99952058e-01 -9.69206636e-03 1.53977084e+01] [-1.19177312e-02 9.70801232e-03 9.99881854e-01 1.36042279e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.65907232899997 meters Centerline goodness : 0.766881 Centerline is valid? [False, False] Translation: X:-299.44, Y:15.39, Z:136.05 [[ 9.99926358e-01 -7.65235979e-03 9.41917814e-03 -2.99441627e+02] [ 7.68574074e-03 9.99964294e-01 -3.51285346e-03 1.53890525e+01] [-9.39196020e-03 3.58498813e-03 9.99949468e-01 1.36046392e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.68907232899994 meters Centerline goodness : 0.766251 Centerline is valid? [False, False] Translation: X:-299.44, Y:15.39, Z:136.05 [[ 9.99921719e-01 -7.61674031e-03 9.92678186e-03 -2.99442587e+02] [ 7.64671894e-03 9.99966307e-01 -2.98552615e-03 1.53871234e+01] [-9.90370741e-03 3.06119975e-03 9.99946271e-01 1.36045824e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.71907232899997 meters Centerline goodness : 0.766138 Centerline is valid? [False, False] Translation: X:-299.44, Y:15.38, Z:136.05 [[ 9.99934912e-01 -6.27152807e-03 9.53100250e-03 -2.99441370e+02] [ 6.28265695e-03 9.99979616e-01 -1.13815769e-03 1.53831233e+01] [-9.52367024e-03 1.19796363e-03 9.99953931e-01 1.36045389e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.74907232899994 meters Centerline goodness : 0.766365 Centerline is valid? [False, False] Translation: X:-299.44, Y:15.38, Z:136.05 [[ 9.99930237e-01 -6.60058340e-03 9.79562166e-03 -2.99441722e+02] [ 6.61709549e-03 9.99976739e-01 -1.65420839e-03 1.53848793e+01] [-9.78447506e-03 1.71891155e-03 9.99950653e-01 1.36045047e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.779072329 meters Centerline goodness : 0.766357 Centerline is valid? [False, False] Translation: X:-299.44, Y:15.39, Z:136.04 [[ 9.99883610e-01 -1.12054999e-02 1.03538889e-02 -2.99442582e+02] [ 1.12684883e-02 9.99918234e-01 -6.04536317e-03 1.53851266e+01] [-1.02853010e-02 6.16133223e-03 9.99928123e-01 1.36044496e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.80907232899995 meters Centerline goodness : 0.766166 Centerline is valid? [False, False] Translation: X:-299.44, Y:15.38, Z:136.04 [[ 9.99828073e-01 -1.51425604e-02 1.07017533e-02 -2.99443126e+02] [ 1.52453926e-02 9.99837758e-01 -9.59355957e-03 1.53826620e+01] [-1.05547460e-02 9.75506260e-03 9.99896713e-01 1.36044050e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.839072329 meters Centerline goodness : 0.765891 Centerline is valid? [False, False] Translation: X:-299.44, Y:15.38, Z:136.04 [[ 9.99823642e-01 -1.51695324e-02 1.10710972e-02 -2.99443914e+02] [ 1.52742804e-02 9.99838788e-01 -9.43896769e-03 1.53820724e+01] [-1.09261277e-02 9.60640609e-03 9.99894163e-01 1.36043811e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.86907232899995 meters Centerline goodness : 0.765969 Centerline is valid? [False, False] Translation: X:-299.45, Y:15.38, Z:136.04 [[ 9.99795403e-01 -1.61664478e-02 1.21572036e-02 -2.99446103e+02] [ 1.62862268e-02 9.99819158e-01 -9.81890477e-03 1.53820575e+01] [-1.19962683e-02 1.00148908e-02 9.99877888e-01 1.36042988e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.899072329 meters Centerline goodness : 0.765370 Centerline is valid? [False, False] Translation: X:-299.45, Y:15.38, Z:136.04 [[ 9.99785870e-01 -1.63652015e-02 1.26647058e-02 -2.99446951e+02] [ 1.64898960e-02 9.99815957e-01 -9.80484127e-03 1.53818098e+01] [-1.25019167e-02 1.00115814e-02 9.99871727e-01 1.36042351e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.92907232899995 meters Centerline goodness : 0.766620 Centerline is valid? [False, False] Translation: X:-299.45, Y:15.38, Z:136.04 [[ 9.99783285e-01 -1.63659705e-02 1.28661222e-02 -2.99447395e+02] [ 1.64902046e-02 9.99817845e-01 -9.60985490e-03 1.53812135e+01] [-1.27065040e-02 9.81993729e-03 9.99871048e-01 1.36042215e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.959072329 meters Centerline goodness : 0.766856 Centerline is valid? [False, False] Translation: X:-299.45, Y:15.38, Z:136.04 [[ 9.99797438e-01 -1.45449269e-02 1.39114707e-02 -2.99451194e+02] [ 1.46539174e-02 9.99862474e-01 -7.76499200e-03 1.53841731e+01] [-1.37966163e-02 7.96727665e-03 9.99873080e-01 1.36043499e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.98907232899995 meters Centerline goodness : 0.766844 Centerline is valid? [False, False] Translation: X:-299.45, Y:15.38, Z:136.04 [[ 9.99801295e-01 -1.42849086e-02 1.39036914e-02 -2.99451324e+02] [ 1.43893646e-02 9.99868773e-01 -7.44200268e-03 1.53834049e+01] [-1.37955585e-02 7.64058920e-03 9.99875644e-01 1.36043676e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.019072329 meters Centerline goodness : 0.766284 Centerline is valid? [False, False] Translation: X:-299.45, Y:15.38, Z:136.04 [[ 9.99804223e-01 -1.40561687e-02 1.39262505e-02 -2.99450311e+02] [ 1.41560285e-02 9.99874604e-01 -7.09817248e-03 1.53832296e+01] [-1.38247311e-02 7.29392322e-03 9.99877830e-01 1.36042232e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.04907232899996 meters Centerline goodness : 0.765879 Centerline is valid? [False, False] Translation: X:-299.45, Y:15.38, Z:136.04 [[ 9.99803285e-01 -1.39700578e-02 1.40793976e-02 -2.99450102e+02] [ 1.40675615e-02 9.99877582e-01 -6.85018954e-03 1.53828510e+01] [-1.39819765e-02 7.04690480e-03 9.99877415e-01 1.36041400e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.079072329 meters Centerline goodness : 0.765861 Centerline is valid? [False, False] Translation: X:-299.45, Y:15.38, Z:136.04 [[ 9.99804770e-01 -1.37489111e-02 1.41911520e-02 -2.99450177e+02] [ 1.38405944e-02 9.99883843e-01 -6.38272775e-03 1.53816565e+01] [-1.41017481e-02 6.57789563e-03 9.99878929e-01 1.36041051e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.10907232899996 meters Centerline goodness : 0.765912 Centerline is valid? [False, False] Translation: X:-299.45, Y:15.38, Z:136.04 [[ 9.99775212e-01 -1.47930052e-02 1.51885943e-02 -2.99452283e+02] [ 1.49073036e-02 9.99861201e-01 -7.43983730e-03 1.53838862e+01] [-1.50764286e-02 7.66458590e-03 9.99856967e-01 1.36040651e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.139072329 meters Centerline goodness : 0.764911 Centerline is valid? [False, False] Translation: X:-299.45, Y:15.38, Z:136.04 [[ 9.99687163e-01 -1.92499462e-02 1.59691800e-02 -2.99454480e+02] [ 1.94368856e-02 9.99743386e-01 -1.16348246e-02 1.53830497e+01] [-1.57411124e-02 1.19415759e-02 9.99804789e-01 1.36041194e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.16907232899996 meters Centerline goodness : 0.764613 Centerline is valid? [False, False] Translation: X:-299.46, Y:15.38, Z:136.04 [[ 9.99630146e-01 -2.12068614e-02 1.70246999e-02 -2.99458559e+02] [ 2.14352861e-02 9.99681118e-01 -1.33487942e-02 1.53846067e+01] [-1.67361850e-02 1.37087864e-02 9.99765957e-01 1.36042936e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.199072329 meters Centerline goodness : 0.766677 Centerline is valid? [False, False] Translation: X:-299.46, Y:15.39, Z:136.04 [[ 9.99506911e-01 -2.59946173e-02 1.76129258e-02 -2.99459442e+02] [ 2.63126421e-02 9.99490398e-01 -1.80718009e-02 1.53856067e+01] [-1.71341807e-02 1.85263325e-02 9.99681547e-01 1.36042463e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.22907232899996 meters Centerline goodness : 0.764976 Centerline is valid? [False, False] Translation: X:-299.46, Y:15.38, Z:136.04 [[ 9.99525345e-01 -2.53742488e-02 1.74708782e-02 -2.99458203e+02] [ 2.56739983e-02 9.99523213e-01 -1.71520468e-02 1.53839288e+01] [-1.70273280e-02 1.75924528e-02 9.99700243e-01 1.36041268e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.259072329 meters Centerline goodness : 0.764886 Centerline is valid? [False, False] Translation: X:-299.46, Y:15.38, Z:136.04 [[ 9.99510637e-01 -2.56284389e-02 1.79351708e-02 -2.99459223e+02] [ 2.59365808e-02 9.99516220e-01 -1.71644886e-02 1.53836046e+01] [-1.74865951e-02 1.76212660e-02 9.99691807e-01 1.36040996e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.28907232899996 meters Centerline goodness : 0.765023 Centerline is valid? [False, False] Translation: X:-299.46, Y:15.38, Z:136.04 [[ 9.99519721e-01 -2.53498557e-02 1.78244887e-02 -2.99458742e+02] [ 2.56483390e-02 9.99531169e-01 -1.67213643e-02 1.53826495e+01] [-1.73922478e-02 1.71705019e-02 9.99701297e-01 1.36040674e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.319072329 meters Centerline goodness : 0.764223 Centerline is valid? [False, False] Translation: X:-299.46, Y:15.38, Z:136.04 [[ 9.99579660e-01 -2.22085504e-02 1.86355353e-02 -2.99461330e+02] [ 2.24633454e-02 9.99655480e-01 -1.35764335e-02 1.53846464e+01] [-1.83276021e-02 1.39893433e-02 9.99734163e-01 1.36041078e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.34907232899997 meters Centerline goodness : 0.763970 Centerline is valid? [False, False] Translation: X:-299.46, Y:15.39, Z:136.04 [[ 9.99661754e-01 -1.82421632e-02 1.85365060e-02 -2.99461918e+02] [ 1.84278657e-02 9.99781205e-01 -9.89726233e-03 1.53862944e+01] [-1.83519028e-02 1.02355029e-02 9.99779197e-01 1.36041927e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.379072329 meters Centerline goodness : 0.764676 Centerline is valid? [False, False] Translation: X:-299.46, Y:15.39, Z:136.04 [[ 9.99679269e-01 -1.78577800e-02 1.79571260e-02 -2.99460608e+02] [ 1.80345058e-02 9.99790037e-01 -9.72823039e-03 1.53865129e+01] [-1.77796311e-02 1.00489581e-02 9.99791430e-01 1.36042085e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.40907232899997 meters Centerline goodness : 0.764649 Centerline is valid? [False, False] Translation: X:-299.46, Y:15.39, Z:136.04 [[ 9.99738080e-01 -1.40398872e-02 1.80735440e-02 -2.99460848e+02] [ 1.41525923e-02 9.99881098e-01 -6.12318029e-03 1.53887527e+01] [-1.79854263e-02 6.37736401e-03 9.99817910e-01 1.36041850e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.43907232899994 meters Centerline goodness : 0.763932 Centerline is valid? [False, False] Translation: X:-299.46, Y:15.39, Z:136.04 [[ 9.99742353e-01 -1.40721101e-02 1.78102123e-02 -2.99459450e+02] [ 1.41897465e-02 9.99878219e-01 -6.49594296e-03 1.53906665e+01] [-1.77166318e-02 6.74699170e-03 9.99820283e-01 1.36040982e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.46907232899997 meters Centerline goodness : 0.763423 Centerline is valid? [False, False] Translation: X:-299.46, Y:15.39, Z:136.04 [[ 9.99752985e-01 -1.36489154e-02 1.75406986e-02 -2.99458703e+02] [ 1.37572322e-02 9.99886944e-01 -6.06940816e-03 1.53898637e+01] [-1.74558747e-02 6.30922039e-03 9.99827728e-01 1.36040828e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.49907232899994 meters Centerline goodness : 0.763372 Centerline is valid? [False, False] Translation: X:-299.46, Y:15.39, Z:136.04 [[ 9.99757420e-01 -1.34045618e-02 1.74762594e-02 -2.99458524e+02] [ 1.35078929e-02 9.99891896e-01 -5.80807889e-03 1.53895051e+01] [-1.73965154e-02 6.04273741e-03 9.99830409e-01 1.36040795e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.529072329 meters Centerline goodness : 0.764881 Centerline is valid? [False, False] Translation: X:-299.46, Y:15.39, Z:136.04 [[ 9.99800787e-01 -9.67003678e-03 1.74607220e-02 -2.99459128e+02] [ 9.71530176e-03 9.99949657e-01 -2.50942541e-03 1.53922727e+01] [-1.74355767e-02 2.67856168e-03 9.99844401e-01 1.36041609e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.55907232899995 meters Centerline goodness : 0.765194 Centerline is valid? [False, False] Translation: X:-299.46, Y:15.39, Z:136.04 [[ 9.99817936e-01 -9.11905618e-03 1.67611767e-02 -2.99457866e+02] [ 9.15898198e-03 9.99955395e-01 -2.30682134e-03 1.53928339e+01] [-1.67393931e-02 2.45991667e-03 9.99856861e-01 1.36042408e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.589072329 meters Centerline goodness : 0.766493 Centerline is valid? [False, False] Translation: X:-299.46, Y:15.39, Z:136.04 [[ 9.99837234e-01 -8.37093563e-03 1.59822877e-02 -2.99456487e+02] [ 8.40423579e-03 9.99962648e-01 -2.01754024e-03 1.53934801e+01] [-1.59648021e-02 2.15153076e-03 9.99870240e-01 1.36043275e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.61907232899995 meters Centerline goodness : 0.766206 Centerline is valid? [False, False] Translation: X:-299.46, Y:15.39, Z:136.04 [[ 9.99823641e-01 -8.86066803e-03 1.65582733e-02 -2.99458366e+02] [ 8.90207923e-03 9.99957426e-01 -2.42890518e-03 1.53938935e+01] [-1.65360466e-02 2.57587988e-03 9.99859952e-01 1.36043874e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.649072329 meters Centerline goodness : 0.766059 Centerline is valid? [False, False] Translation: X:-299.46, Y:15.39, Z:136.04 [[ 9.99814985e-01 -9.16399052e-03 1.69120457e-02 -2.99459740e+02] [ 9.21158117e-03 9.99953823e-01 -2.73825729e-03 1.53943535e+01] [-1.68861714e-02 2.89353736e-03 9.99853232e-01 1.36044495e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.67907232899995 meters Centerline goodness : 0.764504 Centerline is valid? [False, False] Translation: X:-299.46, Y:15.39, Z:136.04 [[ 9.99802725e-01 -9.53655597e-03 1.74231109e-02 -2.99461002e+02] [ 9.58816545e-03 9.99949882e-01 -2.88099702e-03 1.53940484e+01] [-1.73947629e-02 3.04748434e-03 9.99844055e-01 1.36044354e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.709072329 meters Centerline goodness : 0.765075 Centerline is valid? [False, False] Translation: X:-299.46, Y:15.39, Z:136.04 [[ 9.99802574e-01 -9.33577854e-03 1.75401314e-02 -2.99461339e+02] [ 9.37858889e-03 9.99953235e-01 -2.36003692e-03 1.53921269e+01] [-1.75172784e-02 2.52407267e-03 9.99843375e-01 1.36044274e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.73907232899995 meters Centerline goodness : 0.763762 Centerline is valid? [False, False] Translation: X:-299.46, Y:15.39, Z:136.04 [[ 9.99819272e-01 -8.62833513e-03 1.69403124e-02 -2.99459774e+02] [ 8.65893956e-03 9.99961007e-01 -1.73408625e-03 1.53911973e+01] [-1.69246896e-02 1.88045800e-03 9.99854999e-01 1.36044097e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.769072329 meters Centerline goodness : 0.763474 Centerline is valid? [False, False] Translation: X:-299.46, Y:15.39, Z:136.04 [[ 9.99839131e-01 -7.67334710e-03 1.62120983e-02 -2.99457327e+02] [ 7.68969893e-03 9.99969986e-01 -9.46521657e-04 1.53906145e+01] [-1.62043487e-02 1.07103555e-03 9.99868127e-01 1.36043334e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.79907232899996 meters Centerline goodness : 0.762980 Centerline is valid? [False, False] Translation: X:-299.46, Y:15.39, Z:136.04 [[ 9.99847804e-01 -7.46567008e-03 1.57680708e-02 -2.99455131e+02] [ 7.48542822e-03 9.99971270e-01 -1.19439938e-03 1.53929542e+01] [-1.57587008e-02 1.31224836e-03 9.99874963e-01 1.36042103e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.829072329 meters Centerline goodness : 0.763649 Centerline is valid? [False, False] Translation: X:-299.46, Y:15.39, Z:136.04 [[ 9.99844298e-01 -7.51071587e-03 1.59677727e-02 -2.99455619e+02] [ 7.52836971e-03 9.99971115e-01 -1.04576913e-03 1.53922970e+01] [-1.59594570e-02 1.16581760e-03 9.99871960e-01 1.36042000e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.85907232899996 meters Centerline goodness : 0.762929 Centerline is valid? [False, False] Translation: X:-299.45, Y:15.39, Z:136.04 [[ 9.99875092e-01 -3.09828895e-03 1.54984053e-02 -2.99454634e+02] [ 3.05284436e-03 9.99990974e-01 2.95501004e-03 1.53938249e+01] [-1.55074209e-02 -2.90732672e-03 9.99875526e-01 1.36042282e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.889072329 meters Centerline goodness : 0.763660 Centerline is valid? [False, False] Translation: X:-299.46, Y:15.40, Z:136.04 [[ 9.99868884e-01 -3.94950230e-03 1.57040054e-02 -2.99455658e+02] [ 3.92619295e-03 9.99991145e-01 1.51484697e-03 1.53978421e+01] [-1.57098492e-02 -1.45299140e-03 9.99875537e-01 1.36043077e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.91907232899996 meters Centerline goodness : 0.763660 Centerline is valid? [False, False] Translation: X:-299.46, Y:15.40, Z:136.04 [[ 9.99868884e-01 -3.94950230e-03 1.57040054e-02 -2.99455658e+02] [ 3.92619295e-03 9.99991145e-01 1.51484697e-03 1.53978421e+01] [-1.57098492e-02 -1.45299140e-03 9.99875537e-01 1.36043077e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.949072329 meters Centerline goodness : 0.763900 Centerline is valid? [False, False] Translation: X:-299.46, Y:15.40, Z:136.04 [[ 9.99869602e-01 -3.96521091e-03 1.56542861e-02 -2.99456274e+02] [ 3.94187417e-03 9.99991074e-01 1.52133169e-03 1.53973225e+01] [-1.56601788e-02 -1.45942609e-03 9.99876307e-01 1.36044000e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.97907232899996 meters Centerline goodness : 0.764189 Centerline is valid? [False, False] Translation: X:-299.46, Y:15.40, Z:136.05 [[ 9.99873775e-01 -4.09748406e-03 1.53507415e-02 -2.99456848e+02] [ 4.08507797e-03 9.99991304e-01 8.39444252e-04 1.53992844e+01] [-1.53540476e-02 -7.76629317e-04 9.99881818e-01 1.36045908e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.009072329 meters Centerline goodness : 0.764961 Centerline is valid? [False, False] Translation: X:-299.46, Y:15.40, Z:136.05 [[ 9.99876460e-01 -4.07715154e-03 1.51803028e-02 -2.99456544e+02] [ 4.06833436e-03 9.99991537e-01 6.11665789e-04 1.54004583e+01] [-1.51826682e-02 -5.49831676e-04 9.99884585e-01 1.36046152e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.03907232899996 meters Centerline goodness : 0.764566 Centerline is valid? [False, False] Translation: X:-299.46, Y:15.40, Z:136.05 [[ 9.99882126e-01 -3.78680355e-03 1.48793119e-02 -2.99455982e+02] [ 3.77437347e-03 9.99992504e-01 8.63386857e-04 1.54001237e+01] [-1.48824699e-02 -8.07125006e-04 9.99888924e-01 1.36046376e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.069072329 meters Centerline goodness : 0.764279 Centerline is valid? [False, False] Translation: X:-299.46, Y:15.40, Z:136.05 [[ 9.99865745e-01 -4.45267763e-03 1.57691259e-02 -2.99458104e+02] [ 4.44143848e-03 9.99989857e-01 7.47680886e-04 1.53990752e+01] [-1.57722952e-02 -6.77542904e-04 9.99875380e-01 1.36046069e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.09907232899997 meters Centerline goodness : 0.765220 Centerline is valid? [False, False] Translation: X:-299.46, Y:15.40, Z:136.05 [[ 9.99840216e-01 -6.44507972e-03 1.66734289e-02 -2.99461767e+02] [ 6.46202292e-03 9.99978658e-01 -9.62503011e-04 1.53999719e+01] [-1.66668696e-02 1.07009330e-03 9.99860525e-01 1.36047561e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.129072329 meters Centerline goodness : 0.764461 Centerline is valid? [False, False] Translation: X:-299.46, Y:15.40, Z:136.05 [[ 9.99832375e-01 -6.73895558e-03 1.70237404e-02 -2.99462786e+02] [ 6.75957060e-03 9.99976488e-01 -1.15370593e-03 1.54002715e+01] [-1.70155654e-02 1.26858571e-03 9.99854420e-01 1.36047737e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.15907232899997 meters Centerline goodness : 0.764492 Centerline is valid? [False, False] Translation: X:-299.46, Y:15.40, Z:136.05 [[ 9.99844099e-01 -6.22933151e-03 1.65218825e-02 -2.99461281e+02] [ 6.24306072e-03 9.99980208e-01 -7.79523855e-04 1.54002692e+01] [-1.65166996e-02 8.82549443e-04 9.99863201e-01 1.36047441e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.18907232899994 meters Centerline goodness : 0.762732 Centerline is valid? [False, False] Translation: X:-299.46, Y:15.40, Z:136.05 [[ 9.99846333e-01 -5.96790913e-03 1.64831760e-02 -2.99460708e+02] [ 5.97373077e-03 9.99982111e-01 -3.03972565e-04 1.53993264e+01] [-1.64810671e-02 4.02391911e-04 9.99864097e-01 1.36046694e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.21907232899997 meters Centerline goodness : 0.764403 Centerline is valid? [False, False] Translation: X:-299.46, Y:15.40, Z:136.05 [[ 9.99855700e-01 -5.28412051e-03 1.61448543e-02 -2.99458700e+02] [ 5.27639810e-03 9.99985944e-01 5.20878812e-04 1.53979781e+01] [-1.61473797e-02 -4.35616971e-04 9.99869528e-01 1.36045063e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.24907232899994 meters Centerline goodness : 0.763999 Centerline is valid? [False, False] Translation: X:-299.46, Y:15.40, Z:136.04 [[ 9.99848340e-01 -5.56352420e-03 1.65028494e-02 -2.99459465e+02] [ 5.55995102e-03 9.99984509e-01 2.62391975e-04 1.53984482e+01] [-1.65040536e-02 -1.70597146e-04 9.99863784e-01 1.36044807e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.279072329 meters Centerline goodness : 0.764907 Centerline is valid? [False, False] Translation: X:-299.46, Y:15.40, Z:136.05 [[ 9.99847590e-01 -5.47118589e-03 1.65790150e-02 -2.99460054e+02] [ 5.46398791e-03 9.99984957e-01 4.79428477e-04 1.53973594e+01] [-1.65813886e-02 -3.88767870e-04 9.99862444e-01 1.36045223e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.30907232899995 meters Centerline goodness : 0.764931 Centerline is valid? [False, False] Translation: X:-299.46, Y:15.40, Z:136.05 [[ 9.99866060e-01 -4.93682073e-03 1.56041681e-02 -2.99457871e+02] [ 4.93575010e-03 9.99987813e-01 1.07122711e-04 1.53999009e+01] [-1.56045068e-02 -3.00900883e-05 9.99878242e-01 1.36045842e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.339072329 meters Centerline goodness : 0.765293 Centerline is valid? [False, False] Translation: X:-299.46, Y:15.40, Z:136.05 [[ 9.99874585e-01 -4.77194745e-03 1.51011089e-02 -2.99456828e+02] [ 4.77573476e-03 9.99988573e-01 -2.14744987e-04 1.54018147e+01] [-1.50999116e-02 2.86836946e-04 9.99885949e-01 1.36046288e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.36907232899995 meters Centerline goodness : 0.766054 Centerline is valid? [False, False] Translation: X:-299.46, Y:15.40, Z:136.05 [[ 9.99867534e-01 -5.50136495e-03 1.53182800e-02 -2.99459041e+02] [ 5.52251260e-03 9.99983855e-01 -1.33859202e-03 1.54039940e+01] [-1.53106686e-02 1.42301010e-03 9.99881772e-01 1.36048613e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.399072329 meters Centerline goodness : 0.765506 Centerline is valid? [False, False] Translation: X:-299.46, Y:15.40, Z:136.05 [[ 9.99848232e-01 -6.64504710e-03 1.61045421e-02 -2.99462057e+02] [ 6.68354310e-03 9.99974932e-01 -2.33773945e-03 1.54047958e+01] [-1.60886040e-02 2.44502006e-03 9.99867581e-01 1.36049810e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.42907232899995 meters Centerline goodness : 0.766620 Centerline is valid? [False, False] Translation: X:-299.46, Y:15.41, Z:136.05 [[ 9.99826340e-01 -7.59501866e-03 1.70178190e-02 -2.99464575e+02] [ 7.64669723e-03 9.99966342e-01 -2.97372293e-03 1.54051160e+01] [-1.69946607e-02 3.10333662e-03 9.99850764e-01 1.36049929e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.459072329 meters Centerline goodness : 0.766018 Centerline is valid? [False, False] Translation: X:-299.47, Y:15.40, Z:136.05 [[ 9.99803019e-01 -8.37395813e-03 1.79944587e-02 -2.99466330e+02] [ 8.42573438e-03 9.99960573e-01 -2.80345777e-03 1.54028684e+01] [-1.79702732e-02 2.95452207e-03 9.99834156e-01 1.36048575e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.48907232899995 meters Centerline goodness : 0.766323 Centerline is valid? [False, False] Translation: X:-299.47, Y:15.40, Z:136.05 [[ 9.99795161e-01 -8.32008483e-03 1.84502721e-02 -2.99466919e+02] [ 8.36121987e-03 9.99962726e-01 -2.15348933e-03 1.54004492e+01] [-1.84316672e-02 2.30731500e-03 9.99827460e-01 1.36047520e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.519072329 meters Centerline goodness : 0.765855 Centerline is valid? [False, False] Translation: X:-299.46, Y:15.40, Z:136.05 [[ 9.99827506e-01 -5.97746163e-03 1.75849111e-02 -2.99463294e+02] [ 5.97908743e-03 9.99982124e-01 -3.98797963e-05 1.53993009e+01] [-1.75843583e-02 1.45014638e-04 9.99845373e-01 1.36045757e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.54907232899996 meters Centerline goodness : 0.765473 Centerline is valid? [False, False] Translation: X:-299.46, Y:15.40, Z:136.05 [[ 9.99859984e-01 -7.83944956e-04 1.67151895e-02 -2.99460871e+02] [ 7.05452929e-04 9.99988700e-01 4.70122958e-03 1.53998765e+01] [-1.67186861e-02 -4.68877955e-03 9.99849239e-01 1.36045566e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.579072329 meters Centerline goodness : 0.764782 Centerline is valid? [False, False] Translation: X:-299.47, Y:15.41, Z:136.04 [[ 9.99811080e-01 5.85083201e-03 1.85357180e-02 -2.99472466e+02] [-5.81914098e-03 9.99981514e-01 -1.76320307e-03 1.54081914e+01] [-1.85456916e-02 1.65500800e-03 9.99826644e-01 1.36041582e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.60907232899996 meters Centerline goodness : 0.765073 Centerline is valid? [False, False] Translation: X:-299.47, Y:15.41, Z:136.04 [[ 9.99825504e-01 6.24530547e-03 1.76056439e-02 -2.99470940e+02] [-6.20203670e-03 9.99977614e-01 -2.51119458e-03 1.54111384e+01] [-1.76209329e-02 2.40156554e-03 9.99841855e-01 1.36043063e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.639072329 meters Centerline goodness : 0.766591 Centerline is valid? [False, False] Translation: X:-299.47, Y:15.41, Z:136.04 [[ 9.99835191e-01 7.00072261e-03 1.67505306e-02 -2.99468980e+02] [-6.96545705e-03 9.99973402e-01 -2.16275647e-03 1.54113610e+01] [-1.67652259e-02 2.04572493e-03 9.99857361e-01 1.36043351e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.66907232899996 meters Centerline goodness : 0.765543 Centerline is valid? [False, False] Translation: X:-299.47, Y:15.41, Z:136.04 [[ 9.99838817e-01 6.95296699e-03 1.65528523e-02 -2.99469212e+02] [-6.91431703e-03 9.99973237e-01 -2.39102916e-03 1.54118284e+01] [-1.65690341e-02 2.27619209e-03 9.99860133e-01 1.36044240e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.699072329 meters Centerline goodness : 0.764654 Centerline is valid? [False, False] Translation: X:-299.47, Y:15.41, Z:136.04 [[ 9.99844708e-01 7.57529644e-03 1.59114679e-02 -2.99467458e+02] [-7.54292039e-03 9.99969360e-01 -2.09379205e-03 1.54119640e+01] [-1.59268415e-02 1.97344797e-03 9.99871212e-01 1.36044055e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.72907232899996 meters Centerline goodness : 0.765534 Centerline is valid? [False, False] Translation: X:-299.47, Y:15.41, Z:136.04 [[ 9.99846603e-01 7.47250369e-03 1.58408563e-02 -2.99467469e+02] [-7.43569901e-03 9.99969520e-01 -2.38102891e-03 1.54129626e+01] [-1.58581657e-02 2.26287583e-03 9.99871691e-01 1.36044325e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.759072329 meters Centerline goodness : 0.766259 Centerline is valid? [False, False] Translation: X:-299.47, Y:15.42, Z:136.05 [[ 9.99858536e-01 8.72955491e-03 1.43771937e-02 -2.99465185e+02] [-8.69327950e-03 9.99958875e-01 -2.58368889e-03 1.54150355e+01] [-1.43991569e-02 2.45833843e-03 9.99893305e-01 1.36046755e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.78907232899996 meters Centerline goodness : 0.765694 Centerline is valid? [False, False] Translation: X:-299.47, Y:15.42, Z:136.05 [[ 9.99858385e-01 8.29487899e-03 1.46425566e-02 -2.99466636e+02] [-8.24872848e-03 9.99960828e-01 -3.20939381e-03 1.54162602e+01] [-1.46686045e-02 3.08815684e-03 9.99887641e-01 1.36047778e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.819072329 meters Centerline goodness : 0.765224 Centerline is valid? [False, False] Translation: X:-299.47, Y:15.42, Z:136.05 [[ 9.99862754e-01 8.67326626e-03 1.41155393e-02 -2.99465911e+02] [-8.63059730e-03 9.99958009e-01 -3.08095106e-03 1.54163784e+01] [-1.41416685e-02 2.95870268e-03 9.99895624e-01 1.36048551e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.84907232899997 meters Centerline goodness : 0.766736 Centerline is valid? [False, False] Translation: X:-299.46, Y:15.42, Z:136.05 [[ 9.99869967e-01 9.27254693e-03 1.31935305e-02 -2.99463479e+02] [-9.23353240e-03 9.99952825e-01 -3.01494414e-03 1.54180503e+01] [-1.32208643e-02 2.89272920e-03 9.99908416e-01 1.36048656e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.879072329 meters Centerline goodness : 0.767783 Centerline is valid? [False, False] Translation: X:-299.46, Y:15.42, Z:136.05 [[ 9.99872876e-01 9.56506463e-03 1.27570329e-02 -2.99461908e+02] [-9.52754441e-03 9.99950116e-01 -2.99868005e-03 1.54192990e+01] [-1.27850790e-02 2.87675565e-03 9.99914129e-01 1.36048118e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.90907232899997 meters Centerline goodness : 0.767454 Centerline is valid? [False, False] Translation: X:-299.46, Y:15.42, Z:136.05 [[ 9.99872691e-01 9.98480502e-03 1.24461056e-02 -2.99460658e+02] [-9.95392749e-03 9.99947231e-01 -2.54038251e-03 1.54187990e+01] [-1.24708141e-02 2.41617147e-03 9.99919317e-01 1.36047521e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.93907232899994 meters Centerline goodness : 0.767989 Centerline is valid? [False, False] Translation: X:-299.46, Y:15.42, Z:136.05 [[ 9.99870208e-01 1.02601955e-02 1.24215685e-02 -2.99459749e+02] [-1.02355080e-02 9.99945516e-01 -2.04941126e-03 1.54179924e+01] [-1.24419190e-02 1.92200420e-03 9.99920749e-01 1.36046326e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.96907232899997 meters Centerline goodness : 0.766930 Centerline is valid? [False, False] Translation: X:-299.47, Y:15.43, Z:136.05 [[ 9.99970458e-01 7.30045647e-03 2.40556451e-03 -2.99470497e+02] [-7.28687934e-03 9.99957740e-01 -5.60529138e-03 1.54338599e+01] [-2.44638404e-03 5.58759673e-03 9.99981397e-01 1.36050477e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.99907232899994 meters Centerline goodness : 0.765899 Centerline is valid? [False, False] Translation: X:-299.47, Y:15.43, Z:136.05 [[ 9.99972148e-01 6.81181755e-03 3.05002291e-03 -2.99472235e+02] [-6.79330159e-03 9.99958681e-01 -6.04051427e-03 1.54346197e+01] [-3.09104377e-03 6.01962630e-03 9.99977105e-01 1.36050597e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.029072329 meters Centerline goodness : 0.765879 Centerline is valid? [False, False] Translation: X:-299.47, Y:15.43, Z:136.06 [[ 9.99997915e-01 -1.87125170e-03 8.17717485e-04 -2.99465374e+02] [ 1.87362129e-03 9.99994020e-01 -2.90671510e-03 1.54274140e+01] [-8.12273399e-04 2.90824113e-03 9.99995441e-01 1.36057795e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.05907232899995 meters Centerline goodness : 0.766090 Centerline is valid? [False, False] Translation: X:-299.47, Y:15.43, Z:136.06 [[ 9.99996303e-01 -2.14162116e-03 1.67524788e-03 -2.99467661e+02] [ 2.14599184e-03 9.99994287e-01 -2.61154299e-03 1.54255115e+01] [-1.66964537e-03 2.61512840e-03 9.99995187e-01 1.36057714e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.089072329 meters Centerline goodness : 0.765339 Centerline is valid? [False, False] Translation: X:-299.47, Y:15.43, Z:136.06 [[ 9.99990186e-01 -3.30317350e-03 2.95260928e-03 -2.99471030e+02] [ 3.31236240e-03 9.99989670e-01 -3.11267331e-03 1.54250328e+01] [-2.94229708e-03 3.12242288e-03 9.99990797e-01 1.36057659e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.11907232899995 meters Centerline goodness : 0.765220 Centerline is valid? [False, False] Translation: X:-299.47, Y:15.42, Z:136.06 [[ 9.99953566e-01 -8.60754075e-03 4.33309165e-03 -2.99473449e+02] [ 8.63706650e-03 9.99939292e-01 -6.84205419e-03 1.54227039e+01] [-4.27393534e-03 6.87916168e-03 9.99967205e-01 1.36055585e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.149072329 meters Centerline goodness : 0.765574 Centerline is valid? [False, False] Translation: X:-299.47, Y:15.42, Z:136.05 [[ 9.99955264e-01 -8.39500543e-03 4.35820343e-03 -2.99472984e+02] [ 8.42316882e-03 9.99943499e-01 -6.48452918e-03 1.54224214e+01] [-4.30351953e-03 6.52094897e-03 9.99969478e-01 1.36054928e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.17907232899995 meters Centerline goodness : 0.766456 Centerline is valid? [False, False] Translation: X:-299.48, Y:15.42, Z:136.06 [[ 9.99939208e-01 -9.55998422e-03 5.49422096e-03 -2.99476018e+02] [ 9.59960051e-03 9.99927785e-01 -7.22997658e-03 1.54230198e+01] [-5.42470574e-03 7.28227939e-03 9.99958770e-01 1.36055012e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.209072329 meters Centerline goodness : 0.765336 Centerline is valid? [False, False] Translation: X:-299.48, Y:15.42, Z:136.05 [[ 9.99882858e-01 -1.39749503e-02 6.24270238e-03 -2.99477518e+02] [ 1.40439419e-02 9.99839233e-01 -1.11479265e-02 1.54215994e+01] [-6.08590704e-03 1.12342928e-02 9.99918373e-01 1.36054511e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.23907232899995 meters Centerline goodness : 0.766734 Centerline is valid? [False, False] Translation: X:-299.48, Y:15.42, Z:136.05 [[ 9.99866649e-01 -1.46262711e-02 7.26330315e-03 -2.99480083e+02] [ 1.47079661e-02 9.99827700e-01 -1.13245761e-02 1.54209977e+01] [-7.09641537e-03 1.14298944e-02 9.99909495e-01 1.36054331e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.269072329 meters Centerline goodness : 0.765442 Centerline is valid? [False, False] Translation: X:-299.48, Y:15.42, Z:136.05 [[ 9.99842188e-01 -1.56706502e-02 8.36836683e-03 -2.99482517e+02] [ 1.57714903e-02 9.99802123e-01 -1.21232870e-02 1.54224410e+01] [-8.17673113e-03 1.22533554e-02 9.99891492e-01 1.36053846e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.29907232899996 meters Centerline goodness : 0.766007 Centerline is valid? [False, False] Translation: X:-299.49, Y:15.42, Z:136.05 [[ 9.99747094e-01 -1.90038094e-02 1.20251232e-02 -2.99490183e+02] [ 1.91372207e-02 9.99755489e-01 -1.10783028e-02 1.54220024e+01] [-1.18116529e-02 1.13056284e-02 9.99866325e-01 1.36049257e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.329072329 meters Centerline goodness : 0.765407 Centerline is valid? [False, False] Translation: X:-299.49, Y:15.42, Z:136.05 [[ 9.99736764e-01 -1.93303195e-02 1.23588410e-02 -2.99491175e+02] [ 1.94730898e-02 9.99743804e-01 -1.15380229e-02 1.54234913e+01] [-1.21326410e-02 1.17756505e-02 9.99857056e-01 1.36049572e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.35907232899996 meters Centerline goodness : 0.766701 Centerline is valid? [False, False] Translation: X:-299.49, Y:15.42, Z:136.05 [[ 9.99713575e-01 -1.99841716e-02 1.31682051e-02 -2.99494040e+02] [ 2.01412899e-02 9.99726214e-01 -1.19090411e-02 1.54233728e+01] [-1.29266075e-02 1.21708547e-02 9.99842374e-01 1.36050673e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.389072329 meters Centerline goodness : 0.766919 Centerline is valid? [False, False] Translation: X:-299.49, Y:15.42, Z:136.05 [[ 9.99712682e-01 -1.99178247e-02 1.33353995e-02 -2.99494421e+02] [ 2.00751521e-02 9.99729195e-01 -1.17696807e-02 1.54232681e+01] [-1.30973618e-02 1.20340092e-02 9.99841808e-01 1.36050563e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.41907232899996 meters Centerline goodness : 0.767928 Centerline is valid? [False, False] Translation: X:-299.50, Y:15.42, Z:136.05 [[ 9.99685077e-01 -2.06235490e-02 1.42974373e-02 -2.99496939e+02] [ 2.07969562e-02 9.99710643e-01 -1.20878577e-02 1.54230270e+01] [-1.40440057e-02 1.23813942e-02 9.99824718e-01 1.36050534e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.449072329 meters Centerline goodness : 0.766688 Centerline is valid? [False, False] Translation: X:-299.50, Y:15.42, Z:136.05 [[ 9.99738089e-01 -1.70080940e-02 1.53127034e-02 -2.99499279e+02] [ 1.71271985e-02 9.99823816e-01 -7.68089134e-03 1.54214093e+01] [-1.51793682e-02 7.94114334e-03 9.99853252e-01 1.36049742e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.47907232899996 meters Centerline goodness : 0.767335 Centerline is valid? [False, False] Translation: X:-299.50, Y:15.42, Z:136.05 [[ 9.99707412e-01 -1.78067355e-02 1.63710512e-02 -2.99501813e+02] [ 1.79322021e-02 9.99810704e-01 -7.54933860e-03 1.54188973e+01] [-1.62335232e-02 7.84069875e-03 9.99837485e-01 1.36049237e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.509072329 meters Centerline goodness : 0.764653 Centerline is valid? [False, False] Translation: X:-299.50, Y:15.42, Z:136.05 [[ 9.99714653e-01 -1.73041603e-02 1.64674861e-02 -2.99501225e+02] [ 1.74176190e-02 9.99825371e-01 -6.77155207e-03 1.54171211e+01] [-1.63474344e-02 7.05644423e-03 9.99841471e-01 1.36047981e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.53907232899996 meters Centerline goodness : 0.763615 Centerline is valid? [False, False] Translation: X:-299.50, Y:15.41, Z:136.05 [[ 9.99688143e-01 -1.78175223e-02 1.74972055e-02 -2.99503356e+02] [ 1.79292449e-02 9.99819729e-01 -6.24918265e-03 1.54139213e+01] [-1.73827063e-02 6.56094548e-03 9.99827383e-01 1.36046999e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.569072329 meters Centerline goodness : 0.764817 Centerline is valid? [False, False] Translation: X:-299.50, Y:15.41, Z:136.05 [[ 9.99702098e-01 -1.72977213e-02 1.72193183e-02 -2.99502957e+02] [ 1.73984204e-02 9.99832300e-01 -5.71549196e-03 1.54130986e+01] [-1.71175656e-02 6.01337824e-03 9.99835401e-01 1.36047384e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.59907232899997 meters Centerline goodness : 0.765392 Centerline is valid? [False, False] Translation: X:-299.50, Y:15.42, Z:136.05 [[ 9.99774511e-01 -1.30371180e-02 1.67619082e-02 -2.99502812e+02] [ 1.30727336e-02 9.99912514e-01 -2.01697813e-03 1.54151692e+01] [-1.67341461e-02 2.23564728e-03 9.99857475e-01 1.36048684e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.629072329 meters Centerline goodness : 0.765678 Centerline is valid? [False, False] Translation: X:-299.50, Y:15.41, Z:136.05 [[ 9.99776872e-01 -1.28717813e-02 1.67488258e-02 -2.99503048e+02] [ 1.29043023e-02 9.99915052e-01 -1.83506195e-03 1.54148169e+01] [-1.67237825e-02 2.05078440e-03 9.99858045e-01 1.36049044e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.65907232899997 meters Centerline goodness : 0.765635 Centerline is valid? [False, False] Translation: X:-299.50, Y:15.42, Z:136.05 [[ 9.99779532e-01 -1.27297086e-02 1.66985673e-02 -2.99502982e+02] [ 1.27623455e-02 9.99916848e-01 -1.84936318e-03 1.54153569e+01] [-1.66736369e-02 2.06206834e-03 9.99858859e-01 1.36049161e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.68907232899994 meters Centerline goodness : 0.764278 Centerline is valid? [False, False] Translation: X:-299.50, Y:15.41, Z:136.05 [[ 9.99729615e-01 -1.61498464e-02 1.67295743e-02 -2.99502198e+02] [ 1.62329423e-02 9.99856507e-01 -4.84316624e-03 1.54122791e+01] [-1.66489573e-02 5.11342694e-03 9.99848321e-01 1.36048046e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.71907232899997 meters Centerline goodness : 0.763290 Centerline is valid? [False, False] Translation: X:-299.50, Y:15.41, Z:136.05 [[ 9.99722514e-01 -1.62696431e-02 1.70350660e-02 -2.99502538e+02] [ 1.63569007e-02 9.99853738e-01 -4.99548153e-03 1.54131048e+01] [-1.69512997e-02 5.27273624e-03 9.99842413e-01 1.36047472e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.74907232899994 meters Centerline goodness : 0.761501 Centerline is valid? [False, False] Translation: X:-299.50, Y:15.41, Z:136.05 [[ 9.99768251e-01 -1.27367007e-02 1.73557407e-02 -2.99503664e+02] [ 1.27652151e-02 9.99917346e-01 -1.53313843e-03 1.54149900e+01] [-1.73347791e-02 1.75433289e-03 9.99848202e-01 1.36047772e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.779072329 meters Centerline goodness : 0.763287 Centerline is valid? [False, False] Translation: X:-299.50, Y:15.42, Z:136.05 [[ 9.99811324e-01 -8.84599355e-03 1.72935028e-02 -2.99504476e+02] [ 8.81240601e-03 9.99959135e-01 2.01744779e-03 1.54170165e+01] [-1.73106424e-02 -1.86466977e-03 9.99848421e-01 1.36048921e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.80907232899995 meters Centerline goodness : 0.763287 Centerline is valid? [False, False] Translation: X:-299.50, Y:15.42, Z:136.05 [[ 9.99811324e-01 -8.84599355e-03 1.72935028e-02 -2.99504476e+02] [ 8.81240601e-03 9.99959135e-01 2.01744779e-03 1.54170165e+01] [-1.73106424e-02 -1.86466977e-03 9.99848421e-01 1.36048921e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.839072329 meters Centerline goodness : 0.763347 Centerline is valid? [False, False] Translation: X:-299.51, Y:15.42, Z:136.05 [[ 9.99809156e-01 -9.10850131e-03 1.72825393e-02 -2.99505069e+02] [ 9.08575213e-03 9.99957752e-01 1.39437402e-03 1.54188317e+01] [-1.72945098e-02 -1.23708305e-03 9.99849673e-01 1.36049795e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.86907232899995 meters Centerline goodness : 0.765585 Centerline is valid? [False, False] Translation: X:-299.51, Y:15.42, Z:136.05 [[ 9.99807855e-01 -9.40075728e-03 1.72011170e-02 -2.99505097e+02] [ 9.39086507e-03 9.99955690e-01 6.55774960e-04 1.54214833e+01] [-1.72065196e-02 -4.94115588e-04 9.99851835e-01 1.36050284e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.899072329 meters Centerline goodness : 0.765106 Centerline is valid? [False, False] Translation: X:-299.51, Y:15.42, Z:136.05 [[ 9.99790431e-01 -1.00968018e-02 1.78086477e-02 -2.99506660e+02] [ 1.01017783e-02 9.99948958e-01 -1.89507060e-04 1.54235225e+01] [-1.78058253e-02 3.69366357e-04 9.99841395e-01 1.36050377e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.92907232899995 meters Centerline goodness : 0.764832 Centerline is valid? [False, False] Translation: X:-299.51, Y:15.42, Z:136.05 [[ 9.99774988e-01 -1.05397261e-02 1.84088803e-02 -2.99508365e+02] [ 1.05453471e-02 9.99944375e-01 -2.08297354e-04 1.54224373e+01] [-1.84056609e-02 4.02378518e-04 9.99830521e-01 1.36050475e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.959072329 meters Centerline goodness : 0.764216 Centerline is valid? [False, False] Translation: X:-299.51, Y:15.42, Z:136.05 [[ 9.99734079e-01 -1.39738221e-02 1.83440284e-02 -2.99507073e+02] [ 1.40362526e-02 9.99896111e-01 -3.27898048e-03 1.54198007e+01] [-1.82963027e-02 3.53558995e-03 9.99826357e-01 1.36049062e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.98907232899995 meters Centerline goodness : 0.764449 Centerline is valid? [False, False] Translation: X:-299.51, Y:15.42, Z:136.05 [[ 9.99794087e-01 -9.44552352e-03 1.79601299e-02 -2.99505844e+02] [ 9.42700500e-03 9.99954943e-01 1.11547512e-03 1.54201962e+01] [-1.79698569e-02 -9.45935199e-04 9.99838082e-01 1.36048474e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.019072329 meters Centerline goodness : 0.764657 Centerline is valid? [False, False] Translation: X:-299.50, Y:15.42, Z:136.05 [[ 9.99833416e-01 -5.04732068e-03 1.75403690e-02 -2.99504085e+02] [ 4.95590598e-03 9.99973931e-01 5.25124049e-03 1.54215772e+01] [-1.75664164e-02 -5.16343730e-03 9.99832366e-01 1.36047410e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.04907232899996 meters Centerline goodness : 0.765414 Centerline is valid? [False, False] Translation: X:-299.50, Y:15.42, Z:136.05 [[ 9.99852663e-01 -7.16971125e-04 1.71504345e-02 -2.99503266e+02] [ 5.57393663e-04 9.99956529e-01 9.30754369e-03 1.54226652e+01] [-1.71563622e-02 -9.29661281e-03 9.99809598e-01 1.36047563e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.079072329 meters Centerline goodness : 0.764196 Centerline is valid? [False, False] Translation: X:-299.51, Y:15.44, Z:136.05 [[ 9.99978745e-01 2.62872959e-03 5.96643665e-03 -2.99507855e+02] [-2.65561276e-03 9.99986338e-01 4.50229132e-03 1.54379405e+01] [-5.95451984e-03 -4.51804017e-03 9.99972065e-01 1.36051690e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.10907232899996 meters Centerline goodness : 0.762957 Centerline is valid? [False, False] Translation: X:-299.51, Y:15.44, Z:136.05 [[ 9.99961001e-01 7.39785706e-03 4.82375278e-03 -2.99505984e+02] [-7.43348860e-03 9.99944908e-01 7.41107736e-03 1.54429277e+01] [-4.76866094e-03 -7.44664565e-03 9.99960903e-01 1.36053713e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.139072329 meters Centerline goodness : 0.762806 Centerline is valid? [False, False] Translation: X:-299.51, Y:15.45, Z:136.05 [[ 9.99965126e-01 7.11031455e-03 4.38064790e-03 -2.99505564e+02] [-7.13801417e-03 9.99954423e-01 6.34033057e-03 1.54463820e+01] [-4.33536650e-03 -6.37137859e-03 9.99970305e-01 1.36054731e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.16907232899996 meters Centerline goodness : 0.763737 Centerline is valid? [False, False] Translation: X:-299.50, Y:15.45, Z:136.06 [[ 9.99897840e-01 1.42886209e-02 3.80362963e-04 -2.99497785e+02] [-1.42912247e-02 9.99865344e-01 8.06562936e-03 1.54487399e+01] [-2.65065025e-04 -8.07024123e-03 9.99967400e-01 1.36061242e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.199072329 meters Centerline goodness : 0.762797 Centerline is valid? [False, False] Translation: X:-299.50, Y:15.45, Z:136.06 [[ 9.99879412e-01 1.55030245e-02 -9.04385744e-04 -2.99495074e+02] [-1.54952784e-02 9.99847765e-01 8.02144044e-03 1.54514951e+01] [ 1.02860465e-03 -8.00645944e-03 9.99967419e-01 1.36062306e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.22907232899996 meters Centerline goodness : 0.764647 Centerline is valid? [False, False] Translation: X:-299.49, Y:15.46, Z:136.06 [[ 9.99793016e-01 2.02572226e-02 -1.88954611e-03 -2.99492784e+02] [-2.02341027e-02 9.99728634e-01 1.15429187e-02 1.54553623e+01] [ 2.12286082e-03 -1.15022963e-02 9.99931593e-01 1.36063104e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.259072329 meters Centerline goodness : 0.763578 Centerline is valid? [False, False] Translation: X:-299.49, Y:15.46, Z:136.06 [[ 9.99699536e-01 2.43888782e-02 -2.45374538e-03 -2.99491475e+02] [-2.43499360e-02 9.99593729e-01 1.48140903e-02 1.54590976e+01] [ 2.81404754e-03 -1.47498907e-02 9.99887255e-01 1.36063713e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.28907232899996 meters Centerline goodness : 0.764784 Centerline is valid? [False, False] Translation: X:-299.48, Y:15.46, Z:136.07 [[ 9.99559484e-01 2.88925068e-02 -6.78680378e-03 -2.99481169e+02] [-2.87993088e-02 9.99494715e-01 1.34504565e-02 1.54614501e+01] [ 7.17199191e-03 -1.32490761e-02 9.99886506e-01 1.36068612e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.319072329 meters Centerline goodness : 0.765210 Centerline is valid? [False, False] Translation: X:-299.48, Y:15.46, Z:136.07 [[ 9.99433448e-01 3.29690350e-02 -6.76944890e-03 -2.99481219e+02] [-3.28497351e-02 9.99315086e-01 1.70368352e-02 1.54636319e+01] [ 7.32650042e-03 -1.68048084e-02 9.99831946e-01 1.36069091e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.34907232899997 meters Centerline goodness : 0.765406 Centerline is valid? [False, False] Translation: X:-299.48, Y:15.47, Z:136.07 [[ 9.99403073e-01 3.36765436e-02 -7.70641915e-03 -2.99479284e+02] [-3.35431847e-02 9.99295637e-01 1.68251052e-02 1.54659679e+01] [ 8.26760243e-03 -1.65565640e-02 9.99828749e-01 1.36069937e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.379072329 meters Centerline goodness : 0.765238 Centerline is valid? [False, False] Translation: X:-299.48, Y:15.47, Z:136.07 [[ 9.99226052e-01 3.83817802e-02 -8.61022586e-03 -2.99476707e+02] [-3.82034706e-02 9.99069878e-01 1.99968422e-02 1.54706986e+01] [ 9.36973170e-03 -1.96524252e-02 9.99762967e-01 1.36070595e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.40907232899997 meters Centerline goodness : 0.763399 Centerline is valid? [False, False] Translation: X:-299.47, Y:15.47, Z:136.07 [[ 9.99191358e-01 3.90884499e-02 -9.41926258e-03 -2.99474862e+02] [-3.88927341e-02 9.99040500e-01 2.01354095e-02 1.54716194e+01] [ 1.01972867e-02 -1.97527863e-02 9.99752891e-01 1.36071019e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.43907232899994 meters Centerline goodness : 0.765475 Centerline is valid? [False, False] Translation: X:-299.47, Y:15.47, Z:136.07 [[ 9.99124838e-01 4.04456582e-02 -1.06633332e-02 -2.99471939e+02] [-4.02218361e-02 9.98981904e-01 2.04293696e-02 1.54728883e+01] [ 1.14787563e-02 -1.99825917e-02 9.99734432e-01 1.36071757e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.46907232899997 meters Centerline goodness : 0.765058 Centerline is valid? [False, False] Translation: X:-299.47, Y:15.48, Z:136.07 [[ 9.99137195e-01 4.00912740e-02 -1.08422916e-02 -2.99472103e+02] [-3.98737844e-02 9.99012822e-01 1.95821811e-02 1.54755218e+01] [ 1.16166629e-02 -1.91329623e-02 9.99749460e-01 1.36072611e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.49907232899994 meters Centerline goodness : 0.765833 Centerline is valid? [False, False] Translation: X:-299.47, Y:15.48, Z:136.07 [[ 9.99239603e-01 3.71091116e-02 -1.19636938e-02 -2.99470141e+02] [-3.69146756e-02 9.99188996e-01 1.60828385e-02 1.54756370e+01] [ 1.25508111e-02 -1.56289732e-02 9.99799086e-01 1.36073462e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.529072329 meters Centerline goodness : 0.766351 Centerline is valid? [False, False] Translation: X:-299.47, Y:15.47, Z:136.07 [[ 9.99234377e-01 3.72485558e-02 -1.19668196e-02 -2.99470578e+02] [-3.70518152e-02 9.99181022e-01 1.62618519e-02 1.54749954e+01] [ 1.25627495e-02 -1.58060090e-02 9.99796153e-01 1.36073942e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.55907232899995 meters Centerline goodness : 0.766320 Centerline is valid? [False, False] Translation: X:-299.47, Y:15.47, Z:136.07 [[ 9.99344125e-01 3.39326996e-02 -1.26448634e-02 -2.99469133e+02] [-3.37714814e-02 9.99348220e-01 1.27523244e-02 1.54744790e+01] [ 1.30693425e-02 -1.23169247e-02 9.99838730e-01 1.36073978e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.589072329 meters Centerline goodness : 0.765555 Centerline is valid? [False, False] Translation: X:-299.47, Y:15.47, Z:136.07 [[ 9.99446382e-01 3.04823315e-02 -1.33325741e-02 -2.99467538e+02] [-3.03609280e-02 9.99496519e-01 9.21536745e-03 1.54739113e+01] [ 1.36067673e-02 -8.80547633e-03 9.99868651e-01 1.36073810e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.61907232899995 meters Centerline goodness : 0.766115 Centerline is valid? [False, False] Translation: X:-299.47, Y:15.47, Z:136.07 [[ 9.99570211e-01 2.63342580e-02 -1.28802548e-02 -2.99468845e+02] [-2.62597205e-02 9.99637611e-01 5.92227779e-03 1.54702478e+01] [ 1.30315459e-02 -5.58150057e-03 9.99899508e-01 1.36073230e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.649072329 meters Centerline goodness : 0.764927 Centerline is valid? [False, False] Translation: X:-299.47, Y:15.47, Z:136.07 [[ 9.99657302e-01 2.25785119e-02 -1.32472418e-02 -2.99468148e+02] [-2.25512608e-02 9.99743261e-01 2.20291717e-03 1.54696000e+01] [ 1.32935793e-02 -1.90342023e-03 9.99909825e-01 1.36073194e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.67907232899995 meters Centerline goodness : 0.764014 Centerline is valid? [False, False] Translation: X:-299.47, Y:15.47, Z:136.07 [[ 9.99739865e-01 1.86937867e-02 -1.30669161e-02 -2.99468862e+02] [-1.87101467e-02 9.99824310e-01 -1.13088355e-03 1.54667513e+01] [ 1.30434799e-02 1.37507329e-03 9.99913985e-01 1.36073033e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.709072329 meters Centerline goodness : 0.764464 Centerline is valid? [False, False] Translation: X:-299.46, Y:15.46, Z:136.08 [[ 9.99816078e-01 1.07616025e-02 -1.58744651e-02 -2.99461777e+02] [-1.07288808e-02 9.99940143e-01 2.14500700e-03 1.54593777e+01] [ 1.58965986e-02 -1.97429724e-03 9.99871692e-01 1.36079969e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.73907232899995 meters Centerline goodness : 0.765369 Centerline is valid? [False, False] Translation: X:-299.46, Y:15.46, Z:136.08 [[ 9.99850353e-01 7.14015263e-03 -1.57572231e-02 -2.99462489e+02] [-7.15358062e-03 9.99974096e-01 -7.95980221e-04 1.54556839e+01] [ 1.57511315e-02 9.08581671e-04 9.99875530e-01 1.36080134e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.769072329 meters Centerline goodness : 0.765090 Centerline is valid? [False, False] Translation: X:-299.46, Y:15.45, Z:136.08 [[ 9.99867929e-01 6.66331501e-03 -1.48230909e-02 -2.99464650e+02] [-6.67554644e-03 9.99977417e-01 -7.75834486e-04 1.54546653e+01] [ 1.48175865e-02 8.74684253e-04 9.99889831e-01 1.36079663e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.79907232899996 meters Centerline goodness : 0.764153 Centerline is valid? [False, False] Translation: X:-299.47, Y:15.45, Z:136.08 [[ 9.99896593e-01 4.98839929e-03 -1.34877180e-02 -2.99468582e+02] [-5.00839478e-03 9.99986408e-01 -1.44912542e-03 1.54536560e+01] [ 1.34803059e-02 1.51652739e-03 9.99907987e-01 1.36079788e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.829072329 meters Centerline goodness : 0.764407 Centerline is valid? [False, False] Translation: X:-299.47, Y:15.45, Z:136.08 [[ 9.99915993e-01 3.96382613e-03 -1.23407591e-02 -2.99471560e+02] [-3.99048785e-03 9.99989755e-01 -2.13658695e-03 1.54543384e+01] [ 1.23321636e-02 2.18565311e-03 9.99921567e-01 1.36079658e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.85907232899996 meters Centerline goodness : 0.764432 Centerline is valid? [False, False] Translation: X:-299.47, Y:15.45, Z:136.08 [[ 9.99928406e-01 -2.68921452e-04 -1.19629043e-02 -2.99472582e+02] [ 1.98098227e-04 9.99982451e-01 -5.92102767e-03 1.54526358e+01] [ 1.19642867e-02 5.91823393e-03 9.99910911e-01 1.36079490e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.889072329 meters Centerline goodness : 0.764425 Centerline is valid? [False, False] Translation: X:-299.48, Y:15.45, Z:136.07 [[ 9.99959311e-01 -5.11044174e-03 -7.43366735e-03 -2.99482874e+02] [ 5.07197242e-03 9.99973697e-01 -5.18469055e-03 1.54522205e+01] [ 7.45996788e-03 5.14677623e-03 9.99958929e-01 1.36074183e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.91907232899996 meters Centerline goodness : 0.764157 Centerline is valid? [False, False] Translation: X:-299.49, Y:15.45, Z:136.07 [[ 9.99977038e-01 -1.57290242e-03 -6.59164364e-03 -2.99485239e+02] [ 1.56353741e-03 9.99997761e-01 -1.42565232e-03 1.54525048e+01] [ 6.59387129e-03 1.41531330e-03 9.99977259e-01 1.36074279e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.949072329 meters Centerline goodness : 0.763751 Centerline is valid? [False, False] Translation: X:-299.49, Y:15.45, Z:136.07 [[ 9.99981176e-01 -2.49750540e-03 -5.60454961e-03 -2.99487673e+02] [ 2.48530249e-03 9.99994528e-01 -2.18323168e-03 1.54540399e+01] [ 5.60997158e-03 2.16926158e-03 9.99981911e-01 1.36074174e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.97907232899996 meters Centerline goodness : 0.765478 Centerline is valid? [False, False] Translation: X:-299.49, Y:15.45, Z:136.07 [[ 9.99983308e-01 -2.50043024e-03 -5.20882508e-03 -2.99488622e+02] [ 2.49044672e-03 9.99995051e-01 -1.92226149e-03 1.54530890e+01] [ 5.21360578e-03 1.90925710e-03 9.99984586e-01 1.36074018e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.009072329 meters Centerline goodness : 0.764141 Centerline is valid? [False, False] Translation: X:-299.49, Y:15.45, Z:136.07 [[ 9.99984381e-01 -4.13126069e-03 -3.76439119e-03 -2.99491976e+02] [ 4.12229917e-03 9.99988659e-01 -2.38526122e-03 1.54512403e+01] [ 3.77420263e-03 2.36970601e-03 9.99990070e-01 1.36073254e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.03907232899996 meters Centerline goodness : 0.762993 Centerline is valid? [False, False] Translation: X:-299.49, Y:15.45, Z:136.07 [[ 9.99986717e-01 -4.05875847e-03 -3.17685106e-03 -2.99493047e+02] [ 4.05291395e-03 9.99990087e-01 -1.84400119e-03 1.54493074e+01] [ 3.18430392e-03 1.83110120e-03 9.99993254e-01 1.36072540e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.069072329 meters Centerline goodness : 0.762525 Centerline is valid? [False, False] Translation: X:-299.50, Y:15.45, Z:136.07 [[ 9.99982567e-01 -5.66991008e-03 -1.64882872e-03 -2.99496067e+02] [ 5.66634330e-03 9.99981614e-01 -2.15990773e-03 1.54479444e+01] [ 1.66104489e-03 2.15052724e-03 9.99996308e-01 1.36071035e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.09907232899997 meters Centerline goodness : 0.764026 Centerline is valid? [False, False] Translation: X:-299.50, Y:15.45, Z:136.07 [[ 9.99980249e-01 -6.23597858e-03 -7.83280662e-04 -2.99498333e+02] [ 6.23407698e-03 9.99977671e-01 -2.40716592e-03 1.54479073e+01] [ 7.98274207e-04 2.40223534e-03 9.99996796e-01 1.36071043e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.129072329 meters Centerline goodness : 0.764401 Centerline is valid? [False, False] Translation: X:-299.50, Y:15.45, Z:136.07 [[ 9.99977478e-01 -6.71106398e-03 -6.77047856e-05 -2.99499967e+02] [ 6.71085888e-03 9.99973904e-01 -2.67501857e-03 1.54481640e+01] [ 8.56552396e-05 2.67450397e-03 9.99996420e-01 1.36070710e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.15907232899997 meters Centerline goodness : 0.764939 Centerline is valid? [False, False] Translation: X:-299.50, Y:15.45, Z:136.07 [[ 9.99976757e-01 -6.81581386e-03 1.73150845e-04 -2.99500658e+02] [ 6.81626159e-03 9.99973037e-01 -2.73215798e-03 1.54485613e+01] [-1.54524296e-04 2.73327471e-03 9.99996253e-01 1.36070901e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.18907232899994 meters Centerline goodness : 0.763245 Centerline is valid? [False, False] Translation: X:-299.50, Y:15.45, Z:136.07 [[ 9.99965969e-01 -8.17811672e-03 1.08548595e-03 -2.99503957e+02] [ 8.18213293e-03 9.99959500e-01 -3.74854015e-03 1.54491057e+01] [-1.05478599e-03 3.75729418e-03 9.99992385e-01 1.36071970e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.21907232899997 meters Centerline goodness : 0.764212 Centerline is valid? [False, False] Translation: X:-299.51, Y:15.45, Z:136.07 [[ 9.99985596e-01 -4.97103113e-03 2.02390579e-03 -2.99506847e+02] [ 4.97191321e-03 9.99987547e-01 -4.31035607e-04 1.54503905e+01] [-2.02173790e-03 4.41092082e-04 9.99997859e-01 1.36072445e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.24907232899994 meters Centerline goodness : 0.763820 Centerline is valid? [False, False] Translation: X:-299.51, Y:15.45, Z:136.07 [[ 9.99969192e-01 -7.10865365e-03 3.32889796e-03 -2.99510106e+02] [ 7.11575719e-03 9.99972421e-01 -2.12694236e-03 1.54523433e+01] [-3.31368646e-03 2.15056446e-03 9.99992197e-01 1.36072401e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.279072329 meters Centerline goodness : 0.762595 Centerline is valid? [False, False] Translation: X:-299.51, Y:15.45, Z:136.07 [[ 9.99954589e-01 -8.41530389e-03 4.47244932e-03 -2.99513136e+02] [ 8.42809302e-03 9.99960426e-01 -2.84842175e-03 1.54524911e+01] [-4.44830199e-03 2.88598662e-03 9.99985942e-01 1.36072388e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.30907232899995 meters Centerline goodness : 0.762864 Centerline is valid? [False, False] Translation: X:-299.52, Y:15.45, Z:136.07 [[ 9.99971752e-01 -5.31268627e-03 5.31707618e-03 -2.99516160e+02] [ 5.31054174e-03 9.99985812e-01 4.17366844e-04 1.54535185e+01] [-5.31921808e-03 -3.89118499e-04 9.99985777e-01 1.36073236e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.339072329 meters Centerline goodness : 0.763455 Centerline is valid? [False, False] Translation: X:-299.52, Y:15.45, Z:136.07 [[ 9.99963447e-01 -6.00883021e-03 6.08269529e-03 -2.99517964e+02] [ 6.00774738e-03 9.99981934e-01 1.96273383e-04 1.54531677e+01] [-6.08376478e-03 -1.59722912e-04 9.99981481e-01 1.36072958e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.36907232899995 meters Centerline goodness : 0.762117 Centerline is valid? [False, False] Translation: X:-299.52, Y:15.45, Z:136.07 [[ 9.99958621e-01 -6.26136304e-03 6.59940465e-03 -2.99518716e+02] [ 6.26054623e-03 9.99980392e-01 1.44420425e-04 1.54532163e+01] [-6.60017952e-03 -1.03098571e-04 9.99978213e-01 1.36072168e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.399072329 meters Centerline goodness : 0.762244 Centerline is valid? [False, False] Translation: X:-299.52, Y:15.45, Z:136.07 [[ 9.99958385e-01 -6.15217135e-03 6.73645689e-03 -2.99518846e+02] [ 6.14932608e-03 9.99980995e-01 4.43000639e-04 1.54523928e+01] [-6.73905428e-03 -4.01557534e-04 9.99977212e-01 1.36071771e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.42907232899995 meters Centerline goodness : 0.763005 Centerline is valid? [False, False] Translation: X:-299.52, Y:15.45, Z:136.07 [[ 9.99954381e-01 -6.32324910e-03 7.15905092e-03 -2.99519801e+02] [ 6.32048813e-03 9.99979942e-01 4.08221129e-04 1.54522190e+01] [-7.16148861e-03 -3.62953810e-04 9.99974290e-01 1.36071570e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.459072329 meters Centerline goodness : 0.763770 Centerline is valid? [False, False] Translation: X:-299.52, Y:15.45, Z:136.07 [[ 9.99949359e-01 -6.58313267e-03 7.61191769e-03 -2.99521092e+02] [ 6.58145842e-03 9.99978312e-01 2.44979114e-04 1.54523386e+01] [-7.61336533e-03 -1.94869189e-04 9.99970999e-01 1.36071731e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.48907232899995 meters Centerline goodness : 0.763289 Centerline is valid? [False, False] Translation: X:-299.52, Y:15.45, Z:136.07 [[ 9.99950435e-01 -6.52510059e-03 7.52005996e-03 -2.99521353e+02] [ 6.52447528e-03 9.99978710e-01 1.07682573e-04 1.54529929e+01] [-7.52060250e-03 -5.86127908e-05 9.99971718e-01 1.36072417e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.519072329 meters Centerline goodness : 0.763354 Centerline is valid? [False, False] Translation: X:-299.52, Y:15.45, Z:136.07 [[ 9.99945242e-01 -6.87710860e-03 7.88781820e-03 -2.99522887e+02] [ 6.88002677e-03 9.99976274e-01 -3.42884090e-04 1.54539701e+01] [-7.88527300e-03 3.97133715e-04 9.99968832e-01 1.36073206e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.54907232899996 meters Centerline goodness : 0.764103 Centerline is valid? [False, False] Translation: X:-299.52, Y:15.45, Z:136.07 [[ 9.99956217e-01 -6.13546279e-03 7.06544231e-03 -2.99521206e+02] [ 6.13591195e-03 9.99981174e-01 -4.18957157e-05 1.54545932e+01] [-7.06505225e-03 8.52468134e-05 9.99975039e-01 1.36073779e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.579072329 meters Centerline goodness : 0.763037 Centerline is valid? [False, False] Translation: X:-299.52, Y:15.46, Z:136.08 [[ 9.99976826e-01 -2.06088665e-03 6.48852111e-03 -2.99520977e+02] [ 2.03859483e-03 9.99992004e-01 3.44031878e-03 1.54569964e+01] [-6.49555934e-03 -3.42701159e-03 9.99973031e-01 1.36075397e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.60907232899996 meters Centerline goodness : 0.763980 Centerline is valid? [False, False] Translation: X:-299.52, Y:15.46, Z:136.08 [[ 9.99981771e-01 -1.94967404e-03 5.71464292e-03 -2.99519725e+02] [ 1.93364729e-03 9.99994186e-01 2.80869190e-03 1.54596118e+01] [-5.72008573e-03 -2.79759060e-03 9.99979727e-01 1.36076461e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.639072329 meters Centerline goodness : 0.764186 Centerline is valid? [False, False] Translation: X:-299.52, Y:15.46, Z:136.08 [[ 9.99986620e-01 -1.28131727e-03 5.01187143e-03 -2.99518081e+02] [ 1.26620526e-03 9.99994646e-01 3.01725636e-03 1.54603171e+01] [-5.01571066e-03 -3.01086993e-03 9.99982889e-01 1.36076651e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.66907232899996 meters Centerline goodness : 0.762660 Centerline is valid? [False, False] Translation: X:-299.52, Y:15.46, Z:136.08 [[ 9.99979782e-01 -2.45550997e-03 5.86570930e-03 -2.99520538e+02] [ 2.44270010e-03 9.99994618e-01 2.19002385e-03 1.54606414e+01] [-5.87105536e-03 -2.17565141e-03 9.99980398e-01 1.36076845e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.699072329 meters Centerline goodness : 0.762922 Centerline is valid? [False, False] Translation: X:-299.52, Y:15.46, Z:136.08 [[ 9.99983900e-01 -1.71276739e-03 5.40974578e-03 -2.99519560e+02] [ 1.69681465e-03 9.99994203e-01 2.95210331e-03 1.54590068e+01] [-5.41477069e-03 -2.94287645e-03 9.99981010e-01 1.36076891e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.72907232899996 meters Centerline goodness : 0.762922 Centerline is valid? [False, False] Translation: X:-299.52, Y:15.46, Z:136.08 [[ 9.99983900e-01 -1.71276739e-03 5.40974578e-03 -2.99519560e+02] [ 1.69681465e-03 9.99994203e-01 2.95210331e-03 1.54590068e+01] [-5.41477069e-03 -2.94287645e-03 9.99981010e-01 1.36076891e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.759072329 meters Centerline goodness : 0.764294 Centerline is valid? [False, False] Translation: X:-299.52, Y:15.46, Z:136.08 [[ 9.99984036e-01 -1.67523116e-03 5.39633895e-03 -2.99519798e+02] [ 1.65909020e-03 9.99994141e-01 2.99418359e-03 1.54584891e+01] [-5.40132329e-03 -2.98518278e-03 9.99980957e-01 1.36077104e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.78907232899996 meters Centerline goodness : 0.763679 Centerline is valid? [False, False] Translation: X:-299.52, Y:15.46, Z:136.08 [[ 9.99985239e-01 -1.60070301e-03 5.19221674e-03 -2.99519801e+02] [ 1.58550920e-03 9.99994453e-01 2.92906428e-03 1.54588542e+01] [-5.19687651e-03 -2.92078874e-03 9.99982231e-01 1.36077754e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.819072329 meters Centerline goodness : 0.764223 Centerline is valid? [False, False] Translation: X:-299.52, Y:15.46, Z:136.08 [[ 9.99982316e-01 -2.01546398e-03 5.59514716e-03 -2.99520991e+02] [ 2.00172369e-03 9.99994970e-01 2.46026608e-03 1.54596330e+01] [-5.60007760e-03 -2.44902263e-03 9.99981321e-01 1.36077871e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.84907232899997 meters Centerline goodness : 0.763090 Centerline is valid? [False, False] Translation: X:-299.52, Y:15.46, Z:136.08 [[ 9.99977215e-01 -2.60162075e-03 6.22904188e-03 -2.99522615e+02] [ 2.58656015e-03 9.99993715e-01 2.42464029e-03 1.54581967e+01] [-6.23531073e-03 -2.40847325e-03 9.99977660e-01 1.36077545e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.879072329 meters Centerline goodness : 0.762751 Centerline is valid? [False, False] Translation: X:-299.52, Y:15.46, Z:136.08 [[ 9.99975733e-01 -2.85986936e-03 6.35246899e-03 -2.99523213e+02] [ 2.84587351e-03 9.99993506e-01 2.21116141e-03 1.54583672e+01] [-6.35875137e-03 -2.19302943e-03 9.99977378e-01 1.36077816e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.90907232899997 meters Centerline goodness : 0.763249 Centerline is valid? [False, False] Translation: X:-299.52, Y:15.46, Z:136.08 [[ 9.99984574e-01 -1.28176041e-03 5.40457977e-03 -2.99520671e+02] [ 1.26421480e-03 9.99993924e-01 3.24860142e-03 1.54583781e+01] [-5.40871086e-03 -3.24171875e-03 9.99980118e-01 1.36077659e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.93907232899994 meters Centerline goodness : 0.765153 Centerline is valid? [False, False] Translation: X:-299.52, Y:15.46, Z:136.08 [[ 9.99978627e-01 -2.51754492e-03 6.03385064e-03 -2.99521866e+02] [ 2.50754855e-03 9.99995472e-01 1.66370838e-03 1.54622322e+01] [-6.03801178e-03 -1.64854265e-03 9.99980412e-01 1.36077300e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.96907232899997 meters Centerline goodness : 0.763637 Centerline is valid? [False, False] Translation: X:-299.52, Y:15.46, Z:136.08 [[ 9.99987706e-01 -7.82590050e-04 4.89643218e-03 -2.99519124e+02] [ 7.69241003e-04 9.99995984e-01 2.72756997e-03 1.54622556e+01] [-4.89854709e-03 -2.72376990e-03 9.99984293e-01 1.36077540e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.99907232899994 meters Centerline goodness : 0.763554 Centerline is valid? [False, False] Translation: X:-299.52, Y:15.46, Z:136.08 [[ 9.99983678e-01 -3.83834179e-03 4.23217768e-03 -2.99516776e+02] [ 3.84112350e-03 9.99992412e-01 -6.49343487e-04 1.54624907e+01] [-4.22965317e-03 6.65589206e-04 9.99990833e-01 1.36077003e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.029072329 meters Centerline goodness : 0.766321 Centerline is valid? [False, False] Translation: X:-299.52, Y:15.47, Z:136.08 [[ 9.99989342e-01 -4.90984770e-04 4.59082661e-03 -2.99518676e+02] [ 4.80407036e-04 9.99997228e-01 2.30492117e-03 1.54653577e+01] [-4.59194557e-03 -2.30269114e-03 9.99986806e-01 1.36078144e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.05907232899995 meters Centerline goodness : 0.765349 Centerline is valid? [False, False] Translation: X:-299.52, Y:15.47, Z:136.08 [[ 9.99992162e-01 -1.97152296e-04 3.95439426e-03 -2.99517793e+02] [ 1.88445187e-04 9.99997558e-01 2.20213351e-03 1.54663387e+01] [-3.95481876e-03 -2.20137106e-03 9.99989757e-01 1.36079093e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.089072329 meters Centerline goodness : 0.767651 Centerline is valid? [False, False] Translation: X:-299.52, Y:15.47, Z:136.08 [[ 9.99995224e-01 1.65464285e-04 3.08606520e-03 -2.99515954e+02] [-1.70186607e-04 9.99998815e-01 1.53000838e-03 1.54699916e+01] [-3.08580838e-03 -1.53052628e-03 9.99994068e-01 1.36079857e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.11907232899995 meters Centerline goodness : 0.766984 Centerline is valid? [False, False] Translation: X:-299.52, Y:15.47, Z:136.08 [[ 9.99994430e-01 5.09590672e-05 3.33719538e-03 -2.99517002e+02] [-5.59278351e-05 9.99998890e-01 1.48882890e-03 1.54696857e+01] [-3.33711581e-03 -1.48900725e-03 9.99993323e-01 1.36080342e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.149072329 meters Centerline goodness : 0.765679 Centerline is valid? [False, False] Translation: X:-299.52, Y:15.47, Z:136.08 [[ 9.99986215e-01 -3.81794067e-03 3.60461756e-03 -2.99518468e+02] [ 3.82571283e-03 9.99990367e-01 -2.15174089e-03 1.54677556e+01] [-3.59636762e-03 2.16550146e-03 9.99991188e-01 1.36081218e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.17907232899995 meters Centerline goodness : 0.764909 Centerline is valid? [False, False] Translation: X:-299.52, Y:15.47, Z:136.08 [[ 9.99977236e-01 -4.83051696e-03 4.71105282e-03 -2.99521546e+02] [ 4.84260323e-03 9.99985004e-01 -2.55748952e-03 1.54671968e+01] [-4.69862818e-03 2.58024506e-03 9.99985633e-01 1.36081402e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.209072329 meters Centerline goodness : 0.764940 Centerline is valid? [False, False] Translation: X:-299.52, Y:15.47, Z:136.08 [[ 9.99969178e-01 -5.35343836e-03 5.74317629e-03 -2.99524067e+02] [ 5.36822104e-03 9.99982310e-01 -2.56163646e-03 1.54662048e+01] [-5.72936113e-03 2.59238814e-03 9.99980227e-01 1.36081105e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.23907232899995 meters Centerline goodness : 0.764975 Centerline is valid? [False, False] Translation: X:-299.53, Y:15.46, Z:136.08 [[ 9.99952582e-01 -6.77132158e-03 6.99873390e-03 -2.99527443e+02] [ 6.79083311e-03 9.99973111e-01 -2.76787061e-03 1.54638645e+01] [-6.97980357e-03 2.81526660e-03 9.99971678e-01 1.36080910e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.269072329 meters Centerline goodness : 0.763962 Centerline is valid? [False, False] Translation: X:-299.53, Y:15.46, Z:136.08 [[ 9.99934854e-01 -7.86691541e-03 8.27038375e-03 -2.99529824e+02] [ 7.89608713e-03 9.99962698e-01 -3.50053499e-03 1.54649449e+01] [-8.24253684e-03 3.56561061e-03 9.99959673e-01 1.36079810e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.29907232899996 meters Centerline goodness : 0.766339 Centerline is valid? [False, False] Translation: X:-299.53, Y:15.46, Z:136.08 [[ 9.99937497e-01 -7.31187723e-03 8.45801208e-03 -2.99529708e+02] [ 7.33199054e-03 9.99970361e-01 -2.34946067e-03 1.54617636e+01] [-8.44058242e-03 2.41132789e-03 9.99961470e-01 1.36078784e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.329072329 meters Centerline goodness : 0.765100 Centerline is valid? [False, False] Translation: X:-299.53, Y:15.46, Z:136.08 [[ 9.99938711e-01 -6.85336714e-03 8.69519812e-03 -2.99529026e+02] [ 6.86651258e-03 9.99975326e-01 -1.48285345e-03 1.54600140e+01] [-8.68482104e-03 1.54246825e-03 9.99961097e-01 1.36076987e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.35907232899996 meters Centerline goodness : 0.765393 Centerline is valid? [False, False] Translation: X:-299.53, Y:15.46, Z:136.08 [[ 9.99921744e-01 -7.87436667e-03 9.72115535e-03 -2.99531531e+02] [ 7.89683594e-03 9.99966231e-01 -2.27516205e-03 1.54612987e+01] [-9.70291161e-03 2.35175037e-03 9.99950160e-01 1.36076849e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.389072329 meters Centerline goodness : 0.766242 Centerline is valid? [False, False] Translation: X:-299.53, Y:15.46, Z:136.08 [[ 9.99914934e-01 -8.04542937e-03 1.02662942e-02 -2.99532731e+02] [ 8.06788587e-03 9.99965147e-01 -2.14786398e-03 1.54606817e+01] [-1.02486559e-02 2.23050856e-03 9.99944993e-01 1.36076537e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.41907232899996 meters Centerline goodness : 0.766630 Centerline is valid? [False, False] Translation: X:-299.53, Y:15.46, Z:136.08 [[ 9.99863636e-01 -1.21905339e-02 1.11400204e-02 -2.99534776e+02] [ 1.22511580e-02 9.99910424e-01 -5.39006363e-03 1.54569780e+01] [-1.10733148e-02 5.52580677e-03 9.99923421e-01 1.36076205e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.449072329 meters Centerline goodness : 0.765427 Centerline is valid? [False, False] Translation: X:-299.54, Y:15.46, Z:136.08 [[ 9.99842125e-01 -1.28654801e-02 1.22557990e-02 -2.99537425e+02] [ 1.29371738e-02 9.99899556e-01 -5.78856118e-03 1.54573836e+01] [-1.21800954e-02 5.94620271e-03 9.99908140e-01 1.36075962e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.47907232899996 meters Centerline goodness : 0.764136 Centerline is valid? [False, False] Translation: X:-299.54, Y:15.46, Z:136.08 [[ 9.99809666e-01 -1.42396361e-02 1.33365660e-02 -2.99541065e+02] [ 1.43292504e-02 9.99875229e-01 -6.64816386e-03 1.54571593e+01] [-1.32402346e-02 6.83800148e-03 9.99888963e-01 1.36076894e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.509072329 meters Centerline goodness : 0.764947 Centerline is valid? [False, False] Translation: X:-299.54, Y:15.46, Z:136.08 [[ 9.99797527e-01 -1.45336526e-02 1.39168182e-02 -2.99542906e+02] [ 1.46294854e-02 9.99869798e-01 -6.80924945e-03 1.54569889e+01] [-1.38160429e-02 7.01146665e-03 9.99879971e-01 1.36077343e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.53907232899996 meters Centerline goodness : 0.764941 Centerline is valid? [False, False] Translation: X:-299.54, Y:15.46, Z:136.08 [[ 9.99781311e-01 -1.50908190e-02 1.44774866e-02 -2.99543449e+02] [ 1.51961304e-02 9.99858667e-01 -7.19192892e-03 1.54578082e+01] [-1.43669083e-02 7.41035790e-03 9.99869331e-01 1.36076176e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.569072329 meters Centerline goodness : 0.765885 Centerline is valid? [False, False] Translation: X:-299.54, Y:15.46, Z:136.08 [[ 9.99794372e-01 -1.44612657e-02 1.42156535e-02 -2.99542573e+02] [ 1.45508971e-02 9.99874771e-01 -6.22204057e-03 1.54555189e+01] [-1.41238947e-02 6.42761166e-03 9.99879593e-01 1.36075729e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.59907232899997 meters Centerline goodness : 0.766136 Centerline is valid? [False, False] Translation: X:-299.54, Y:15.46, Z:136.08 [[ 9.99830153e-01 -1.10808135e-02 1.47268561e-02 -2.99543551e+02] [ 1.11269648e-02 9.99933425e-01 -3.05558875e-03 1.54585020e+01] [-1.46920173e-02 3.21893497e-03 9.99886885e-01 1.36075288e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.629072329 meters Centerline goodness : 0.764883 Centerline is valid? [False, False] Translation: X:-299.54, Y:15.46, Z:136.08 [[ 9.99836698e-01 -1.07034879e-02 1.45606230e-02 -2.99543505e+02] [ 1.07437969e-02 9.99938658e-01 -2.69295634e-03 1.54578228e+01] [-1.45309058e-02 2.84895295e-03 9.99890362e-01 1.36075769e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.65907232899997 meters Centerline goodness : 0.764716 Centerline is valid? [False, False] Translation: X:-299.54, Y:15.46, Z:136.08 [[ 9.99854328e-01 -9.84757324e-03 1.39408790e-02 -2.99542379e+02] [ 9.87794846e-03 9.99948982e-01 -2.11168010e-03 1.54574472e+01] [-1.39193729e-02 2.24907977e-03 9.99900591e-01 1.36076325e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.68907232899994 meters Centerline goodness : 0.764781 Centerline is valid? [False, False] Translation: X:-299.54, Y:15.46, Z:136.08 [[ 9.99890438e-01 -6.10396332e-03 1.34853069e-02 -2.99541699e+02] [ 6.09461010e-03 9.99981158e-01 7.34573071e-04 1.54620792e+01] [-1.34895366e-02 -6.52304902e-04 9.99908799e-01 1.36076975e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.71907232899997 meters Centerline goodness : 0.765003 Centerline is valid? [False, False] Translation: X:-299.54, Y:15.46, Z:136.08 [[ 9.99906018e-01 -5.26993883e-03 1.26563355e-02 -2.99539206e+02] [ 5.25500293e-03 9.99985457e-01 1.21307837e-03 1.54624558e+01] [-1.26625442e-02 -1.14645528e-03 9.99919170e-01 1.36076520e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.74907232899994 meters Centerline goodness : 0.766071 Centerline is valid? [False, False] Translation: X:-299.54, Y:15.47, Z:136.08 [[ 9.99921159e-01 -1.58004802e-03 1.24571139e-02 -2.99538711e+02] [ 1.52640527e-03 9.99989527e-01 4.31452615e-03 1.54663530e+01] [-1.24638006e-02 -4.29517138e-03 9.99913099e-01 1.36076670e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.779072329 meters Centerline goodness : 0.764969 Centerline is valid? [False, False] Translation: X:-299.54, Y:15.47, Z:136.08 [[ 9.99920792e-01 -1.73384544e-03 1.24660857e-02 -2.99539232e+02] [ 1.68456282e-03 9.99990729e-01 3.96274952e-03 1.54672667e+01] [-1.24728409e-02 -3.94143573e-03 9.99914443e-01 1.36077319e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.80907232899995 meters Centerline goodness : 0.765142 Centerline is valid? [False, False] Translation: X:-299.54, Y:15.47, Z:136.08 [[ 9.99923232e-01 -1.65653254e-03 1.22795356e-02 -2.99539525e+02] [ 1.60942406e-03 9.99991312e-01 3.84523098e-03 1.54675687e+01] [-1.22857987e-02 -3.82517281e-03 9.99917210e-01 1.36078323e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.839072329 meters Centerline goodness : 0.766302 Centerline is valid? [False, False] Translation: X:-299.54, Y:15.47, Z:136.08 [[ 9.99927005e-01 -1.72858505e-03 1.19580860e-02 -2.99539339e+02] [ 1.69004058e-03 9.99993347e-01 3.23265204e-03 1.54698910e+01] [-1.19635944e-02 -3.21220643e-03 9.99923274e-01 1.36079223e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.86907232899995 meters Centerline goodness : 0.767625 Centerline is valid? [False, False] Translation: X:-299.54, Y:15.47, Z:136.08 [[ 9.99929678e-01 -1.94751257e-03 1.16980877e-02 -2.99540201e+02] [ 1.91885206e-03 9.99995131e-01 2.46074081e-03 1.54719632e+01] [-1.17028230e-02 -2.43812086e-03 9.99928547e-01 1.36081332e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.899072329 meters Centerline goodness : 0.766961 Centerline is valid? [False, False] Translation: X:-299.54, Y:15.47, Z:136.08 [[ 9.99926153e-01 -2.32328882e-03 1.19286069e-02 -2.99541390e+02] [ 2.30015501e-03 9.99995448e-01 1.95270854e-03 1.54729606e+01] [-1.19330893e-02 -1.92512670e-03 9.99926945e-01 1.36082092e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.92907232899995 meters Centerline goodness : 0.766701 Centerline is valid? [False, False] Translation: X:-299.54, Y:15.47, Z:136.08 [[ 9.99932205e-01 -2.11986456e-03 1.14495226e-02 -2.99540550e+02] [ 2.09877592e-03 9.99996080e-01 1.85358016e-03 1.54737354e+01] [-1.14534071e-02 -1.82942452e-03 9.99932734e-01 1.36082563e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.959072329 meters Centerline goodness : 0.765518 Centerline is valid? [False, False] Translation: X:-299.54, Y:15.47, Z:136.08 [[ 9.99932645e-01 -2.25503129e-03 1.13851290e-02 -2.99540278e+02] [ 2.23732545e-03 9.99996268e-01 1.56766958e-03 1.54747773e+01] [-1.13886217e-02 -1.54209175e-03 9.99933958e-01 1.36082382e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.98907232899995 meters Centerline goodness : 0.766441 Centerline is valid? [False, False] Translation: X:-299.54, Y:15.47, Z:136.08 [[ 9.99941068e-01 2.32276785e-04 1.08538779e-02 -2.99536682e+02] [-2.77266516e-04 9.99991376e-01 4.14371658e-03 1.54735217e+01] [-1.08528218e-02 -4.14648180e-03 9.99932509e-01 1.36079723e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.019072329 meters Centerline goodness : 0.767451 Centerline is valid? [False, False] Translation: X:-299.54, Y:15.47, Z:136.08 [[ 9.99945595e-01 6.17983461e-04 1.04126965e-02 -2.99535585e+02] [-6.65480320e-04 9.99989388e-01 4.55858981e-03 1.54725536e+01] [-1.04097689e-02 -4.56527124e-03 9.99935395e-01 1.36079617e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.04907232899996 meters Centerline goodness : 0.765890 Centerline is valid? [False, False] Translation: X:-299.53, Y:15.47, Z:136.08 [[ 9.99947672e-01 8.57578644e-04 1.01939872e-02 -2.99534932e+02] [-9.04974138e-04 9.99988799e-01 4.64565463e-03 1.54729455e+01] [-1.01898890e-02 -4.65463682e-03 9.99937248e-01 1.36079500e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.079072329 meters Centerline goodness : 0.767076 Centerline is valid? [False, False] Translation: X:-299.53, Y:15.48, Z:136.08 [[ 9.99956061e-01 1.69390474e-03 9.21994836e-03 -2.99533262e+02] [-1.73274077e-03 9.99989654e-01 4.20581783e-03 1.54760498e+01] [-9.21272872e-03 -4.22160881e-03 9.99948651e-01 1.36080836e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.10907232899996 meters Centerline goodness : 0.768195 Centerline is valid? [False, False] Translation: X:-299.53, Y:15.48, Z:136.08 [[ 9.99960274e-01 1.76858885e-03 8.73629383e-03 -2.99532784e+02] [-1.80283900e-03 9.99990715e-01 3.91412643e-03 1.54772533e+01] [-8.72929023e-03 -3.92972107e-03 9.99954177e-01 1.36081822e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.139072329 meters Centerline goodness : 0.768765 Centerline is valid? [False, False] Translation: X:-299.53, Y:15.48, Z:136.08 [[ 9.99945455e-01 7.09831758e-03 7.66166174e-03 -2.99530461e+02] [-7.16170216e-03 9.99940095e-01 8.27746937e-03 1.54793011e+01] [-7.60244666e-03 -8.33188841e-03 9.99936389e-01 1.36082604e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.16907232899996 meters Centerline goodness : 0.766429 Centerline is valid? [False, False] Translation: X:-299.53, Y:15.48, Z:136.08 [[ 9.99910041e-01 1.14352991e-02 7.01023397e-03 -2.99529563e+02] [-1.15176347e-02 9.99863814e-01 1.18194043e-02 1.54822416e+01] [-6.87412085e-03 -1.18990823e-02 9.99905575e-01 1.36083812e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.199072329 meters Centerline goodness : 0.767460 Centerline is valid? [False, False] Translation: X:-299.52, Y:15.49, Z:136.09 [[ 9.99806135e-01 1.94935840e-02 2.77364358e-03 -2.99519899e+02] [-1.95288753e-02 9.99720520e-01 1.33230609e-02 1.54850286e+01] [-2.51315419e-03 -1.33746442e-02 9.99907397e-01 1.36090123e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.22907232899996 meters Centerline goodness : 0.766802 Centerline is valid? [False, False] Translation: X:-299.52, Y:15.49, Z:136.09 [[ 9.99809509e-01 1.93719418e-02 2.38200269e-03 -2.99519846e+02] [-1.94005832e-02 9.99731704e-01 1.26545706e-02 1.54871860e+01] [-2.13622001e-03 -1.26983723e-02 9.99917091e-01 1.36091381e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.259072329 meters Centerline goodness : 0.767304 Centerline is valid? [False, False] Translation: X:-299.52, Y:15.49, Z:136.09 [[ 9.99807302e-01 1.95379896e-02 1.90399385e-03 -2.99519368e+02] [-1.95601708e-02 9.99731463e-01 1.24258278e-02 1.54882090e+01] [-1.66070686e-03 -1.24606759e-02 9.99920984e-01 1.36092359e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.28907232899996 meters Centerline goodness : 0.767410 Centerline is valid? [False, False] Translation: X:-299.52, Y:15.49, Z:136.09 [[ 9.99788838e-01 2.05229665e-02 1.04272412e-03 -2.99517451e+02] [-2.05347429e-02 9.99705506e-01 1.29316095e-02 1.54882057e+01] [-7.77022054e-04 -1.29502909e-02 9.99915840e-01 1.36092763e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.319072329 meters Centerline goodness : 0.768299 Centerline is valid? [False, False] Translation: X:-299.52, Y:15.49, Z:136.09 [[ 9.99770907e-01 2.14036016e-02 1.39767113e-04 -2.99515287e+02] [-2.14035752e-02 9.99683185e-01 1.32445132e-02 1.54889286e+01] [ 1.43757452e-04 -1.32444705e-02 9.99912278e-01 1.36093014e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.34907232899997 meters Centerline goodness : 0.768002 Centerline is valid? [False, False] Translation: X:-299.51, Y:15.49, Z:136.09 [[ 9.99774433e-01 2.12378934e-02 -1.85784158e-04 -2.99514382e+02] [-2.12338807e-02 9.99695504e-01 1.25706797e-02 1.54915918e+01] [ 4.52702344e-04 -1.25638993e-02 9.99920969e-01 1.36092983e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.379072329 meters Centerline goodness : 0.767181 Centerline is valid? [False, False] Translation: X:-299.51, Y:15.49, Z:136.09 [[ 9.99827974e-01 1.85063699e-02 -1.24002494e-03 -2.99512385e+02] [-1.84938320e-02 9.99784251e-01 9.45670771e-03 1.54906480e+01] [ 1.41476673e-03 -9.43214809e-03 9.99954515e-01 1.36093607e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.40907232899997 meters Centerline goodness : 0.768082 Centerline is valid? [False, False] Translation: X:-299.51, Y:15.49, Z:136.09 [[ 9.99875599e-01 1.56158367e-02 -2.22092272e-03 -2.99510215e+02] [-1.56017861e-02 9.99859006e-01 6.20901326e-03 1.54899176e+01] [ 2.31756853e-03 -6.17359049e-03 9.99978258e-01 1.36093837e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.43907232899994 meters Centerline goodness : 0.767385 Centerline is valid? [False, False] Translation: X:-299.51, Y:15.49, Z:136.09 [[ 9.99876506e-01 1.55423202e-02 -2.32591592e-03 -2.99509754e+02] [-1.55281567e-02 9.99861498e-01 5.98840109e-03 1.54909507e+01] [ 2.41866743e-03 -5.95154437e-03 9.99979364e-01 1.36093602e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.46907232899997 meters Centerline goodness : 0.767391 Centerline is valid? [False, False] Translation: X:-299.51, Y:15.49, Z:136.09 [[ 9.99862065e-01 1.63196686e-02 -3.08549917e-03 -2.99507716e+02] [-1.63001778e-02 9.99847672e-01 6.23991208e-03 1.54919372e+01] [ 3.18686246e-03 -6.18875719e-03 9.99975771e-01 1.36093605e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.49907232899994 meters Centerline goodness : 0.766441 Centerline is valid? [False, False] Translation: X:-299.51, Y:15.49, Z:136.09 [[ 9.99861446e-01 1.63224941e-02 -3.26567397e-03 -2.99507814e+02] [-1.63023559e-02 9.99848494e-01 6.10101582e-03 1.54924030e+01] [ 3.36476299e-03 -6.04693232e-03 9.99976056e-01 1.36094301e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.529072329 meters Centerline goodness : 0.768195 Centerline is valid? [False, False] Translation: X:-299.51, Y:15.49, Z:136.09 [[ 9.99859098e-01 1.64063277e-02 -3.55200653e-03 -2.99507531e+02] [-1.63854968e-02 9.99848832e-01 5.81630600e-03 1.54936914e+01] [ 3.64689381e-03 -5.75728508e-03 9.99976777e-01 1.36094899e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.55907232899995 meters Centerline goodness : 0.768117 Centerline is valid? [False, False] Translation: X:-299.51, Y:15.49, Z:136.10 [[ 9.99903886e-01 1.31150768e-02 -4.49592033e-03 -2.99505458e+02] [-1.31067108e-02 9.99912326e-01 1.88523926e-03 1.54947347e+01] [ 4.52025121e-03 -1.82613134e-03 9.99988116e-01 1.36095285e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.589072329 meters Centerline goodness : 0.768648 Centerline is valid? [False, False] Translation: X:-299.50, Y:15.50, Z:136.10 [[ 9.99894178e-01 1.35763171e-02 -5.22642859e-03 -2.99504222e+02] [-1.35665316e-02 9.99906159e-01 1.90323264e-03 1.54955324e+01] [ 5.25177703e-03 -1.83212673e-03 9.99984531e-01 1.36096130e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.61907232899995 meters Centerline goodness : 0.768648 Centerline is valid? [False, False] Translation: X:-299.50, Y:15.50, Z:136.10 [[ 9.99894178e-01 1.35763171e-02 -5.22642859e-03 -2.99504222e+02] [-1.35665316e-02 9.99906159e-01 1.90323264e-03 1.54955324e+01] [ 5.25177703e-03 -1.83212673e-03 9.99984531e-01 1.36096130e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.649072329 meters Centerline goodness : 0.767640 Centerline is valid? [False, False] Translation: X:-299.50, Y:15.50, Z:136.10 [[ 9.99887837e-01 1.38058904e-02 -5.80611006e-03 -2.99503400e+02] [-1.37970176e-02 9.99903591e-01 1.56547851e-03 1.54973955e+01] [ 5.82716312e-03 -1.48519592e-03 9.99981919e-01 1.36097119e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.67907232899995 meters Centerline goodness : 0.768739 Centerline is valid? [False, False] Translation: X:-299.50, Y:15.50, Z:136.10 [[ 9.99890452e-01 1.35854779e-02 -5.87530324e-03 -2.99504561e+02] [-1.35799172e-02 9.99907303e-01 9.85319081e-04 1.54988781e+01] [ 5.88814465e-03 -9.05425009e-04 9.99982255e-01 1.36098847e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.709072329 meters Centerline goodness : 0.767924 Centerline is valid? [False, False] Translation: X:-299.51, Y:15.50, Z:136.10 [[ 9.99898573e-01 1.32040103e-02 -5.33834091e-03 -2.99506243e+02] [-1.32008145e-02 9.99912665e-01 6.33444646e-04 1.54992393e+01] [ 5.34623869e-03 -5.62909950e-04 9.99985550e-01 1.36099079e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.73907232899995 meters Centerline goodness : 0.766541 Centerline is valid? [False, False] Translation: X:-299.50, Y:15.50, Z:136.10 [[ 9.99934826e-01 9.84159085e-03 -5.78674258e-03 -2.99504830e+02] [-9.85674124e-03 9.99948053e-01 -2.59545493e-03 1.54976889e+01] [ 5.76089857e-03 2.65232420e-03 9.99979888e-01 1.36098547e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.769072329 meters Centerline goodness : 0.766905 Centerline is valid? [False, False] Translation: X:-299.51, Y:15.50, Z:136.10 [[ 9.99938929e-01 9.69100105e-03 -5.31255385e-03 -2.99505883e+02] [-9.70458173e-03 9.99949692e-01 -2.53654640e-03 1.54971833e+01] [ 5.28770492e-03 2.58794760e-03 9.99982671e-01 1.36098205e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.79907232899996 meters Centerline goodness : 0.766333 Centerline is valid? [False, False] Translation: X:-299.51, Y:15.50, Z:136.10 [[ 9.99952187e-01 8.76015225e-03 -4.34558873e-03 -2.99508491e+02] [-8.77161411e-03 9.99958082e-01 -2.62557504e-03 1.54955716e+01] [ 4.32240613e-03 2.66356733e-03 9.99987111e-01 1.36098052e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.829072329 meters Centerline goodness : 0.766848 Centerline is valid? [False, False] Translation: X:-299.51, Y:15.49, Z:136.10 [[ 9.99977630e-01 5.06531717e-03 -4.36821245e-03 -2.99508338e+02] [-5.09137611e-03 9.99969187e-01 -5.97524132e-03 1.54935783e+01] [ 4.33781136e-03 5.99734787e-03 9.99972607e-01 1.36097781e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.85907232899996 meters Centerline goodness : 0.765963 Centerline is valid? [False, False] Translation: X:-299.52, Y:15.49, Z:136.09 [[ 9.99999983e-01 -1.13032632e-04 1.46998859e-04 -2.99519788e+02] [ 1.13725678e-04 9.99988839e-01 -4.72320462e-03 1.54921056e+01] [-1.46463342e-04 4.72322125e-03 9.99988835e-01 1.36092685e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.889072329 meters Centerline goodness : 0.766923 Centerline is valid? [False, False] Translation: X:-299.52, Y:15.49, Z:136.09 [[ 9.99998644e-01 -9.74948283e-04 1.32739248e-03 -2.99522519e+02] [ 9.81141663e-04 9.99988599e-01 -4.67319546e-03 1.54903496e+01] [-1.32282122e-03 4.67449149e-03 9.99988200e-01 1.36092031e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.91907232899996 meters Centerline goodness : 0.764797 Centerline is valid? [False, False] Translation: X:-299.52, Y:15.49, Z:136.09 [[ 9.99996255e-01 -1.41835858e-03 2.34048473e-03 -2.99524541e+02] [ 1.42913031e-03 9.99988366e-01 -4.60711551e-03 1.54895505e+01] [-2.33392296e-03 4.61044311e-03 9.99986648e-01 1.36091170e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.949072329 meters Centerline goodness : 0.766161 Centerline is valid? [False, False] Translation: X:-299.53, Y:15.49, Z:136.09 [[ 9.99979824e-01 -5.56698779e-03 3.05940575e-03 -2.99526234e+02] [ 5.59155567e-03 9.99951713e-01 -8.08127089e-03 1.54867357e+01] [-3.01426968e-03 8.09821468e-03 9.99962666e-01 1.36090815e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.97907232899996 meters Centerline goodness : 0.765719 Centerline is valid? [False, False] Translation: X:-299.53, Y:15.49, Z:136.09 [[ 9.99972904e-01 -6.09853414e-03 4.12305151e-03 -2.99528595e+02] [ 6.13197097e-03 9.99948017e-01 -8.14632019e-03 1.54860816e+01] [-4.07315657e-03 8.17138189e-03 9.99958318e-01 1.36090226e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.009072329 meters Centerline goodness : 0.766081 Centerline is valid? [False, False] Translation: X:-299.53, Y:15.48, Z:136.09 [[ 9.99959248e-01 -7.34337829e-03 5.25139959e-03 -2.99531656e+02] [ 7.38785330e-03 9.99936578e-01 -8.50052900e-03 1.54847702e+01] [-5.18864394e-03 8.53897916e-03 9.99950081e-01 1.36090267e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.03907232899996 meters Centerline goodness : 0.766600 Centerline is valid? [False, False] Translation: X:-299.53, Y:15.48, Z:136.09 [[ 9.99957577e-01 -7.39168029e-03 5.49613498e-03 -2.99532598e+02] [ 7.43776251e-03 9.99936958e-01 -8.41185074e-03 1.54842982e+01] [-5.43361078e-03 8.45237283e-03 9.99949515e-01 1.36090619e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.069072329 meters Centerline goodness : 0.767334 Centerline is valid? [False, False] Translation: X:-299.53, Y:15.48, Z:136.09 [[ 9.99955296e-01 -7.44005338e-03 5.83534897e-03 -2.99533241e+02] [ 7.48855104e-03 9.99937234e-01 -8.33366964e-03 1.54842061e+01] [-5.77297976e-03 8.37699540e-03 9.99948248e-01 1.36090272e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.09907232899997 meters Centerline goodness : 0.767026 Centerline is valid? [False, False] Translation: X:-299.54, Y:15.48, Z:136.09 [[ 9.99940582e-01 -8.45108606e-03 6.88554198e-03 -2.99535571e+02] [ 8.51031348e-03 9.99926647e-01 -8.61830027e-03 1.54833724e+01] [-6.81220291e-03 8.67638631e-03 9.99939155e-01 1.36089662e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.129072329 meters Centerline goodness : 0.765249 Centerline is valid? [False, False] Translation: X:-299.54, Y:15.48, Z:136.09 [[ 9.99944251e-01 -8.11913062e-03 6.75094552e-03 -2.99535060e+02] [ 8.17469795e-03 9.99932598e-01 -8.24459958e-03 1.54828396e+01] [-6.68355151e-03 8.29932689e-03 9.99943224e-01 1.36089362e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.15907232899997 meters Centerline goodness : 0.766695 Centerline is valid? [False, False] Translation: X:-299.54, Y:15.48, Z:136.09 [[ 9.99964460e-01 -4.35723764e-03 7.21759676e-03 -2.99536284e+02] [ 4.39000112e-03 9.99980104e-01 -4.52978208e-03 1.54841057e+01] [-7.19771582e-03 4.56130635e-03 9.99963693e-01 1.36089285e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.18907232899994 meters Centerline goodness : 0.767672 Centerline is valid? [False, False] Translation: X:-299.54, Y:15.49, Z:136.09 [[ 9.99965558e-01 -4.32205464e-03 7.08544738e-03 -2.99535949e+02] [ 4.35535936e-03 9.99979509e-01 -4.69176784e-03 1.54851659e+01] [-7.06502412e-03 4.72246591e-03 9.99963891e-01 1.36089322e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.21907232899997 meters Centerline goodness : 0.767940 Centerline is valid? [False, False] Translation: X:-299.54, Y:15.49, Z:136.09 [[ 9.99963725e-01 -4.51884227e-03 7.21998397e-03 -2.99536717e+02] [ 4.55590068e-03 9.99976491e-01 -5.12458014e-03 1.54866780e+01] [-7.19665706e-03 5.15728778e-03 9.99960804e-01 1.36090029e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.24907232899994 meters Centerline goodness : 0.767592 Centerline is valid? [False, False] Translation: X:-299.54, Y:15.49, Z:136.09 [[ 9.99955053e-01 -5.13819062e-03 7.96813892e-03 -2.99539006e+02] [ 5.18354901e-03 9.99970421e-01 -5.68230360e-03 1.54876788e+01] [-7.93870647e-03 5.72335144e-03 9.99952109e-01 1.36090555e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.279072329 meters Centerline goodness : 0.766607 Centerline is valid? [False, False] Translation: X:-299.54, Y:15.49, Z:136.09 [[ 9.99940156e-01 -6.17526824e-03 9.03052253e-03 -2.99542223e+02] [ 6.22961773e-03 9.99962579e-01 -6.00272773e-03 1.54862999e+01] [-8.99311615e-03 6.05862521e-03 9.99941207e-01 1.36090988e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.30907232899995 meters Centerline goodness : 0.766031 Centerline is valid? [False, False] Translation: X:-299.54, Y:15.49, Z:136.09 [[ 9.99931214e-01 -6.52074954e-03 9.74919183e-03 -2.99543825e+02] [ 6.58034401e-03 9.99959785e-01 -6.09322993e-03 1.54861120e+01] [-9.70906734e-03 6.15696384e-03 9.99933911e-01 1.36090594e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.339072329 meters Centerline goodness : 0.765635 Centerline is valid? [False, False] Translation: X:-299.54, Y:15.48, Z:136.09 [[ 9.99937193e-01 -5.97208289e-03 9.48385622e-03 -2.99542893e+02] [ 6.02350044e-03 9.99967266e-01 -5.40230977e-03 1.54847688e+01] [-9.45128273e-03 5.45909648e-03 9.99940434e-01 1.36090149e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.36907232899995 meters Centerline goodness : 0.766942 Centerline is valid? [False, False] Translation: X:-299.54, Y:15.49, Z:136.09 [[ 9.99933701e-01 -6.21743177e-03 9.69210229e-03 -2.99543401e+02] [ 6.27340967e-03 9.99963756e-01 -5.75595747e-03 1.54860268e+01] [-9.65596374e-03 5.81637838e-03 9.99936464e-01 1.36090138e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.399072329 meters Centerline goodness : 0.767756 Centerline is valid? [False, False] Translation: X:-299.54, Y:15.49, Z:136.09 [[ 9.99934170e-01 -6.29378592e-03 9.59399240e-03 -2.99543239e+02] [ 6.35200000e-03 9.99961528e-01 -6.04941671e-03 1.54874580e+01] [-9.55554957e-03 6.10995951e-03 9.99935678e-01 1.36090391e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.42907232899995 meters Centerline goodness : 0.765949 Centerline is valid? [False, False] Translation: X:-299.54, Y:15.49, Z:136.09 [[ 9.99935252e-01 -6.20238211e-03 9.54052896e-03 -2.99543074e+02] [ 6.25981847e-03 9.99962393e-01 -6.00221430e-03 1.54878605e+01] [-9.50294215e-03 6.06154765e-03 9.99936474e-01 1.36090367e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.459072329 meters Centerline goodness : 0.766022 Centerline is valid? [False, False] Translation: X:-299.54, Y:15.49, Z:136.09 [[ 9.99921681e-01 -6.83956990e-03 1.04810690e-02 -2.99544845e+02] [ 6.90529360e-03 9.99956643e-01 -6.24739986e-03 1.54878272e+01] [-1.04378850e-02 6.31928542e-03 9.99925556e-01 1.36089512e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.48907232899995 meters Centerline goodness : 0.764708 Centerline is valid? [False, False] Translation: X:-299.55, Y:15.49, Z:136.09 [[ 9.99906519e-01 -7.43163671e-03 1.14770948e-02 -2.99547143e+02] [ 7.50225416e-03 9.99953117e-01 -6.12215483e-03 1.54861587e+01] [-1.14310591e-02 6.20768661e-03 9.99915394e-01 1.36088964e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.519072329 meters Centerline goodness : 0.766803 Centerline is valid? [False, False] Translation: X:-299.55, Y:15.48, Z:136.09 [[ 9.99905832e-01 -7.09126398e-03 1.17491284e-02 -2.99547370e+02] [ 7.15554173e-03 9.99959613e-01 -5.43787709e-03 1.54844042e+01] [-1.17100925e-02 5.52143639e-03 9.99916190e-01 1.36088167e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.54907232899996 meters Centerline goodness : 0.764230 Centerline is valid? [False, False] Translation: X:-299.55, Y:15.48, Z:136.09 [[ 9.99880055e-01 -8.47989464e-03 1.29601910e-02 -2.99549787e+02] [ 8.54873735e-03 9.99949594e-01 -5.26572237e-03 1.54809290e+01] [-1.29148850e-02 5.37588405e-03 9.99902148e-01 1.36086808e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.579072329 meters Centerline goodness : 0.765793 Centerline is valid? [False, False] Translation: X:-299.55, Y:15.48, Z:136.09 [[ 9.99876260e-01 -8.56395821e-03 1.31955599e-02 -2.99550622e+02] [ 8.63454108e-03 9.99948669e-01 -5.30133129e-03 1.54809685e+01] [-1.31494822e-02 5.41461291e-03 9.99898881e-01 1.36087094e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.60907232899996 meters Centerline goodness : 0.765668 Centerline is valid? [False, False] Translation: X:-299.55, Y:15.48, Z:136.09 [[ 9.99875053e-01 -8.54903975e-03 1.32963202e-02 -2.99551297e+02] [ 8.62023583e-03 9.99948765e-01 -5.30650758e-03 1.54810981e+01] [-1.32502734e-02 5.42046196e-03 9.99897519e-01 1.36087675e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.639072329 meters Centerline goodness : 0.763963 Centerline is valid? [False, False] Translation: X:-299.55, Y:15.48, Z:136.09 [[ 9.99858879e-01 -9.31784459e-03 1.39785538e-02 -2.99553798e+02] [ 9.40393475e-03 9.99937141e-01 -6.10569398e-03 1.54825527e+01] [-1.39207832e-02 6.23628574e-03 9.99883653e-01 1.36088777e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.66907232899996 meters Centerline goodness : 0.764618 Centerline is valid? [False, False] Translation: X:-299.56, Y:15.48, Z:136.09 [[ 9.99846950e-01 -9.56878786e-03 1.46463202e-02 -2.99555803e+02] [ 9.65814059e-03 9.99935104e-01 -6.04216789e-03 1.54816558e+01] [-1.45875535e-02 6.18269935e-03 9.99874481e-01 1.36089164e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.699072329 meters Centerline goodness : 0.763613 Centerline is valid? [False, False] Translation: X:-299.56, Y:15.48, Z:136.09 [[ 9.99852154e-01 -9.26354188e-03 1.44864552e-02 -2.99555461e+02] [ 9.34771824e-03 9.99939755e-01 -5.75381723e-03 1.54812804e+01] [-1.44322817e-02 5.88838185e-03 9.99878511e-01 1.36089199e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.72907232899996 meters Centerline goodness : 0.765034 Centerline is valid? [False, False] Translation: X:-299.56, Y:15.48, Z:136.09 [[ 9.99831659e-01 -1.00578765e-02 1.53457482e-02 -2.99557497e+02] [ 1.01557378e-02 9.99928504e-01 -6.31254950e-03 1.54819387e+01] [-1.52811602e-02 6.46733424e-03 9.99862320e-01 1.36088963e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.759072329 meters Centerline goodness : 0.763610 Centerline is valid? [False, False] Translation: X:-299.56, Y:15.48, Z:136.09 [[ 9.99815453e-01 -1.06257280e-02 1.60048244e-02 -2.99558889e+02] [ 1.07270965e-02 9.99922861e-01 -6.26114287e-03 1.54807269e+01] [-1.59370606e-02 6.43167269e-03 9.99852311e-01 1.36088396e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.78907232899996 meters Centerline goodness : 0.763713 Centerline is valid? [False, False] Translation: X:-299.56, Y:15.48, Z:136.09 [[ 9.99832644e-01 -7.39097936e-03 1.67348869e-02 -2.99561035e+02] [ 7.44339355e-03 9.99967579e-01 -3.07191360e-03 1.54828150e+01] [-1.67116398e-02 3.19596385e-03 9.99855243e-01 1.36088653e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.819072329 meters Centerline goodness : 0.763828 Centerline is valid? [False, False] Translation: X:-299.56, Y:15.48, Z:136.09 [[ 9.99838471e-01 -7.18409465e-03 1.64748483e-02 -2.99560182e+02] [ 7.23388181e-03 9.99969441e-01 -2.96441090e-03 1.54831633e+01] [-1.64530482e-02 3.08310917e-03 9.99859886e-01 1.36088401e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.84907232899997 meters Centerline goodness : 0.763066 Centerline is valid? [False, False] Translation: X:-299.56, Y:15.48, Z:136.09 [[ 9.99861677e-01 -5.79292716e-03 1.55906409e-02 -2.99557711e+02] [ 5.82521397e-03 9.99980980e-01 -2.02629499e-03 1.54827322e+01] [-1.55786062e-02 2.11683353e-03 9.99876405e-01 1.36088149e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.879072329 meters Centerline goodness : 0.761525 Centerline is valid? [False, False] Translation: X:-299.56, Y:15.48, Z:136.09 [[ 9.99858119e-01 -5.88172452e-03 1.57843809e-02 -2.99558404e+02] [ 5.91424970e-03 9.99980481e-01 -2.01470471e-03 1.54823746e+01] [-1.57722229e-02 2.10777163e-03 9.99873389e-01 1.36088340e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.90907232899997 meters Centerline goodness : 0.761326 Centerline is valid? [False, False] Translation: X:-299.56, Y:15.48, Z:136.09 [[ 9.99869173e-01 -5.21928067e-03 1.53100215e-02 -2.99556404e+02] [ 5.24310347e-03 9.99985105e-01 -1.51630145e-03 1.54824655e+01] [-1.53018795e-02 1.59637511e-03 9.99881645e-01 1.36087363e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.93907232899994 meters Centerline goodness : 0.760833 Centerline is valid? [False, False] Translation: X:-299.56, Y:15.48, Z:136.09 [[ 9.99864805e-01 -5.35945774e-03 1.55450083e-02 -2.99556731e+02] [ 5.38533998e-03 9.99984181e-01 -1.62360438e-03 1.54827514e+01] [-1.55360608e-02 1.70710003e-03 9.99877851e-01 1.36086948e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.96907232899997 meters Centerline goodness : 0.761281 Centerline is valid? [False, False] Translation: X:-299.56, Y:15.48, Z:136.09 [[ 9.99867356e-01 -5.16243692e-03 1.54473091e-02 -2.99556243e+02] [ 5.18423863e-03 9.99985621e-01 -1.37164887e-03 1.54823665e+01] [-1.54400059e-02 1.45154947e-03 9.99879742e-01 1.36086559e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.99907232899994 meters Centerline goodness : 0.760633 Centerline is valid? [False, False] Translation: X:-299.56, Y:15.48, Z:136.09 [[ 9.99868651e-01 -5.18795942e-03 1.53546585e-02 -2.99556140e+02] [ 5.21206288e-03 9.99985246e-01 -1.53018061e-03 1.54829566e+01] [-1.53464935e-02 1.61000907e-03 9.99880939e-01 1.36086718e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.029072329 meters Centerline goodness : 0.760227 Centerline is valid? [False, False] Translation: X:-299.55, Y:15.48, Z:136.09 [[ 9.99890767e-01 -4.05886085e-03 1.42119454e-02 -2.99554707e+02] [ 4.07656242e-03 9.99990950e-01 -1.21679365e-03 1.54834465e+01] [-1.42068780e-02 1.27459662e-03 9.99898265e-01 1.36088807e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.05907232899995 meters Centerline goodness : 0.759257 Centerline is valid? [False, False] Translation: X:-299.55, Y:15.48, Z:136.09 [[ 9.99897988e-01 -3.86374175e-03 1.37508162e-02 -2.99554251e+02] [ 3.88413620e-03 9.99991396e-01 -1.45674748e-03 1.54847353e+01] [-1.37450694e-02 1.51000891e-03 9.99904392e-01 1.36089826e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.089072329 meters Centerline goodness : 0.761103 Centerline is valid? [False, False] Translation: X:-299.55, Y:15.49, Z:136.09 [[ 9.99905214e-01 -4.07990834e-03 1.31497906e-02 -2.99552735e+02] [ 4.11323463e-03 9.99988395e-01 -2.50831037e-03 1.54889982e+01] [-1.31394043e-02 2.56216080e-03 9.99910392e-01 1.36090129e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.11907232899995 meters Centerline goodness : 0.761523 Centerline is valid? [False, False] Translation: X:-299.55, Y:15.49, Z:136.09 [[ 9.99913524e-01 -3.53627754e-03 1.26664637e-02 -2.99551167e+02] [ 3.56177319e-03 9.99991675e-01 -1.99085341e-03 1.54885220e+01] [-1.26593180e-02 2.03579632e-03 9.99917795e-01 1.36089661e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.149072329 meters Centerline goodness : 0.762166 Centerline is valid? [False, False] Translation: X:-299.55, Y:15.49, Z:136.09 [[ 9.99927978e-01 -2.22219070e-03 1.17940598e-02 -2.99548219e+02] [ 2.23712374e-03 9.99996712e-01 -1.25310760e-03 1.54893965e+01] [-1.17912364e-02 1.27940213e-03 9.99929662e-01 1.36088880e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.17907232899995 meters Centerline goodness : 0.761815 Centerline is valid? [False, False] Translation: X:-299.55, Y:15.49, Z:136.09 [[ 9.99929282e-01 -2.27218282e-03 1.16734021e-02 -2.99547964e+02] [ 2.28879392e-03 9.99996387e-01 -1.40982413e-03 1.54901093e+01] [-1.16701566e-02 1.43644244e-03 9.99930870e-01 1.36088933e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.209072329 meters Centerline goodness : 0.761823 Centerline is valid? [False, False] Translation: X:-299.55, Y:15.49, Z:136.09 [[ 9.99938418e-01 -1.84481108e-03 1.09433223e-02 -2.99546617e+02] [ 1.86417537e-03 9.99996714e-01 -1.75957087e-03 1.54926606e+01] [-1.09400403e-02 1.77986278e-03 9.99938572e-01 1.36089893e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.23907232899995 meters Centerline goodness : 0.760515 Centerline is valid? [False, False] Translation: X:-299.55, Y:15.49, Z:136.09 [[ 9.99941521e-01 -1.65496691e-03 1.06871457e-02 -2.99546403e+02] [ 1.67370868e-03 9.99997077e-01 -1.74496812e-03 1.54931152e+01] [-1.06842266e-02 1.76275324e-03 9.99941368e-01 1.36090496e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.269072329 meters Centerline goodness : 0.759985 Centerline is valid? [False, False] Translation: X:-299.55, Y:15.49, Z:136.09 [[ 9.99934270e-01 -1.90989113e-03 1.13052387e-02 -2.99548287e+02] [ 1.92949212e-03 9.99996654e-01 -1.72314427e-03 1.54922445e+01] [-1.13019098e-02 1.74484438e-03 9.99934609e-01 1.36090824e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.29907232899996 meters Centerline goodness : 0.759104 Centerline is valid? [False, False] Translation: X:-299.55, Y:15.49, Z:136.09 [[ 9.99927978e-01 -2.08626702e-03 1.18188885e-02 -2.99549476e+02] [ 2.10572083e-03 9.99996448e-01 -1.63378891e-03 1.54915299e+01] [-1.18154380e-02 1.65855852e-03 9.99928820e-01 1.36090578e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.329072329 meters Centerline goodness : 0.760292 Centerline is valid? [False, False] Translation: X:-299.55, Y:15.49, Z:136.09 [[ 9.99912641e-01 -3.10709835e-03 1.28474326e-02 -2.99552370e+02] [ 3.13595020e-03 9.99992605e-01 -2.22619347e-03 1.54915546e+01] [-1.28404206e-02 2.26628790e-03 9.99914990e-01 1.36090702e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.35907232899996 meters Centerline goodness : 0.760243 Centerline is valid? [False, False] Translation: X:-299.56, Y:15.49, Z:136.09 [[ 9.99890235e-01 -5.24303372e-03 1.38574674e-02 -2.99555968e+02] [ 5.29620480e-03 9.99978743e-01 -3.80308979e-03 1.54919353e+01] [-1.38372331e-02 3.87606433e-03 9.99896748e-01 1.36091758e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.389072329 meters Centerline goodness : 0.758792 Centerline is valid? [False, False] Translation: X:-299.56, Y:15.49, Z:136.09 [[ 9.99863325e-01 -8.49084187e-03 1.41858223e-02 -2.99556355e+02] [ 8.57908801e-03 9.99944154e-01 -6.17149740e-03 1.54865662e+01] [-1.41326289e-02 6.29235532e-03 9.99880330e-01 1.36090992e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.41907232899996 meters Centerline goodness : 0.759180 Centerline is valid? [False, False] Translation: X:-299.56, Y:15.49, Z:136.09 [[ 9.99826532e-01 -1.02250277e-02 1.55677375e-02 -2.99559368e+02] [ 1.03372785e-02 9.99921026e-01 -7.14715694e-03 1.54866430e+01] [-1.54934282e-02 7.30684518e-03 9.99853271e-01 1.36090262e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.449072329 meters Centerline goodness : 0.757736 Centerline is valid? [False, False] Translation: X:-299.56, Y:15.48, Z:136.09 [[ 9.99803328e-01 -1.08827222e-02 1.65792681e-02 -2.99561559e+02] [ 1.09990535e-02 9.99915413e-01 -6.94172012e-03 1.54845970e+01] [-1.65023209e-02 7.12271114e-03 9.99838457e-01 1.36089509e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.47907232899996 meters Centerline goodness : 0.758463 Centerline is valid? [False, False] Translation: X:-299.56, Y:15.48, Z:136.09 [[ 9.99807816e-01 -1.01537138e-02 1.67700152e-02 -2.99561587e+02] [ 1.02467888e-02 9.99932520e-01 -5.47351109e-03 1.54804961e+01] [-1.67133071e-02 5.64429797e-03 9.99844392e-01 1.36088635e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.509072329 meters Centerline goodness : 0.758559 Centerline is valid? [False, False] Translation: X:-299.56, Y:15.48, Z:136.09 [[ 9.99799562e-01 -1.04392065e-02 1.70838635e-02 -2.99561822e+02] [ 1.05408012e-02 9.99927229e-01 -5.86761960e-03 1.54819497e+01] [-1.70213669e-02 6.04652112e-03 9.99836843e-01 1.36087977e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.53907232899996 meters Centerline goodness : 0.758559 Centerline is valid? [False, False] Translation: X:-299.56, Y:15.48, Z:136.09 [[ 9.99799562e-01 -1.04392065e-02 1.70838635e-02 -2.99561822e+02] [ 1.05408012e-02 9.99927229e-01 -5.86761960e-03 1.54819497e+01] [-1.70213669e-02 6.04652112e-03 9.99836843e-01 1.36087977e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.569072329 meters Centerline goodness : 0.757891 Centerline is valid? [False, False] Translation: X:-299.56, Y:15.48, Z:136.09 [[ 9.99799222e-01 -1.02970181e-02 1.71897124e-02 -2.99561716e+02] [ 1.03924193e-02 9.99931037e-01 -5.46982742e-03 1.54809921e+01] [-1.71322040e-02 5.64737190e-03 9.99837284e-01 1.36087426e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.59907232899997 meters Centerline goodness : 0.758166 Centerline is valid? [False, False] Translation: X:-299.56, Y:15.48, Z:136.09 [[ 9.99805323e-01 -1.03844385e-02 1.67773303e-02 -2.99560536e+02] [ 1.04913259e-02 9.99925146e-01 -6.29553620e-03 1.54849537e+01] [-1.67106988e-02 6.47032705e-03 9.99839431e-01 1.36087630e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.629072329 meters Centerline goodness : 0.758336 Centerline is valid? [False, False] Translation: X:-299.56, Y:15.48, Z:136.09 [[ 9.99817628e-01 -9.91477913e-03 1.63219948e-02 -2.99559671e+02] [ 1.00135121e-02 9.99931991e-01 -5.97850119e-03 1.54848578e+01] [-1.62616092e-02 6.14085137e-03 9.99848914e-01 1.36088036e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.65907232899997 meters Centerline goodness : 0.758114 Centerline is valid? [False, False] Translation: X:-299.56, Y:15.49, Z:136.09 [[ 9.99842917e-01 -6.36283906e-03 1.65425677e-02 -2.99560782e+02] [ 6.40932130e-03 9.99975656e-01 -2.75835891e-03 1.54875669e+01] [-1.65246140e-02 2.86395225e-03 9.99859358e-01 1.36088768e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.68907232899994 meters Centerline goodness : 0.758512 Centerline is valid? [False, False] Translation: X:-299.56, Y:15.49, Z:136.09 [[ 9.99849345e-01 -6.36548261e-03 1.61483395e-02 -2.99559959e+02] [ 6.41671945e-03 9.99974536e-01 -3.12305908e-03 1.54893476e+01] [-1.61280485e-02 3.22620794e-03 9.99864730e-01 1.36089100e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.71907232899997 meters Centerline goodness : 0.759257 Centerline is valid? [False, False] Translation: X:-299.56, Y:15.49, Z:136.09 [[ 9.99846069e-01 -6.71171440e-03 1.62108589e-02 -2.99560127e+02] [ 6.77335520e-03 9.99970027e-01 -3.75053151e-03 1.54915427e+01] [-1.61852006e-02 3.85975609e-03 9.99861561e-01 1.36089220e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.74907232899994 meters Centerline goodness : 0.758691 Centerline is valid? [False, False] Translation: X:-299.56, Y:15.49, Z:136.09 [[ 9.99821304e-01 -8.13144222e-03 1.70657759e-02 -2.99562892e+02] [ 8.22128594e-03 9.99952679e-01 -5.20101704e-03 1.54940285e+01] [-1.70226766e-02 5.34039026e-03 9.99840842e-01 1.36090013e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.779072329 meters Centerline goodness : 0.758669 Centerline is valid? [False, False] Translation: X:-299.56, Y:15.50, Z:136.09 [[ 9.99834324e-01 -7.75712603e-03 1.64666849e-02 -2.99561272e+02] [ 7.84410386e-03 9.99955589e-01 -5.22404853e-03 1.54954956e+01] [-1.64254300e-02 5.35234942e-03 9.99850768e-01 1.36090096e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.80907232899995 meters Centerline goodness : 0.759255 Centerline is valid? [False, False] Translation: X:-299.56, Y:15.49, Z:136.09 [[ 9.99848119e-01 -7.00267473e-03 1.59593587e-02 -2.99559612e+02] [ 7.07629626e-03 9.99964560e-01 -4.56127032e-03 1.54949314e+01] [-1.59268520e-02 4.67351070e-03 9.99862237e-01 1.36089631e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.839072329 meters Centerline goodness : 0.759431 Centerline is valid? [False, False] Translation: X:-299.56, Y:15.49, Z:136.09 [[ 9.99839926e-01 -7.19745898e-03 1.63804687e-02 -2.99560655e+02] [ 7.27444920e-03 9.99962751e-01 -4.64540240e-03 1.54948855e+01] [-1.63464234e-02 4.76381767e-03 9.99855040e-01 1.36089574e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.86907232899995 meters Centerline goodness : 0.759441 Centerline is valid? [False, False] Translation: X:-299.56, Y:15.49, Z:136.09 [[ 9.99854047e-01 -6.32494522e-03 1.58707020e-02 -2.99558992e+02] [ 6.38608282e-03 9.99972371e-01 -3.80451252e-03 1.54938633e+01] [-1.58462001e-02 3.90530886e-03 9.99866814e-01 1.36089133e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.899072329 meters Centerline goodness : 0.759752 Centerline is valid? [False, False] Translation: X:-299.56, Y:15.49, Z:136.09 [[ 9.99867267e-01 -5.53170566e-03 1.53247661e-02 -2.99557619e+02] [ 5.57589212e-03 9.99980416e-01 -2.84211071e-03 1.54918328e+01] [-1.53087442e-02 2.92718271e-03 9.99878530e-01 1.36089009e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.92907232899995 meters Centerline goodness : 0.759998 Centerline is valid? [False, False] Translation: X:-299.56, Y:15.49, Z:136.09 [[ 9.99887990e-01 -1.48883320e-03 1.48926491e-02 -2.99556641e+02] [ 1.47958399e-03 9.99998706e-01 6.32058158e-04 1.54948719e+01] [-1.48935708e-02 -6.09952436e-04 9.99888899e-01 1.36089180e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.959072329 meters Centerline goodness : 0.761681 Centerline is valid? [False, False] Translation: X:-299.55, Y:15.50, Z:136.09 [[ 9.99922664e-01 6.04337609e-03 1.08693543e-02 -2.99547864e+02] [-6.07623452e-03 9.99977062e-01 2.99255523e-03 1.54981778e+01] [-1.08510198e-02 -3.05836855e-03 9.99936449e-01 1.36094128e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.98907232899995 meters Centerline goodness : 0.759965 Centerline is valid? [False, False] Translation: X:-299.55, Y:15.50, Z:136.10 [[ 9.99929607e-01 5.73959955e-03 1.03845122e-02 -2.99547485e+02] [-5.75934757e-03 9.99981661e-01 1.87277481e-03 1.55019024e+01] [-1.03735728e-02 -1.93245100e-03 9.99944326e-01 1.36095428e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.019072329 meters Centerline goodness : 0.759006 Centerline is valid? [False, False] Translation: X:-299.55, Y:15.50, Z:136.10 [[ 9.99933260e-01 5.94401642e-03 9.90678352e-03 -2.99547002e+02] [-5.96164002e-03 9.99980697e-01 1.75036221e-03 1.55025093e+01] [-9.89618812e-03 -1.80930607e-03 9.99949395e-01 1.36096350e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.04907232899996 meters Centerline goodness : 0.757854 Centerline is valid? [False, False] Translation: X:-299.54, Y:15.50, Z:136.10 [[ 9.99936166e-01 6.87045837e-03 8.96997676e-03 -2.99544754e+02] [-6.88753782e-03 9.99974524e-01 1.87456776e-03 1.55041400e+01] [-8.95686909e-03 -1.93622915e-03 9.99958012e-01 1.36096708e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.079072329 meters Centerline goodness : 0.759806 Centerline is valid? [False, False] Translation: X:-299.54, Y:15.51, Z:136.10 [[ 9.99938994e-01 6.90986085e-03 8.61755380e-03 -2.99544086e+02] [-6.92457981e-03 9.99974615e-01 1.67935543e-03 1.55050307e+01] [-8.60573093e-03 -1.73892592e-03 9.99961458e-01 1.36096966e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.10907232899996 meters Centerline goodness : 0.758976 Centerline is valid? [False, False] Translation: X:-299.54, Y:15.50, Z:136.10 [[ 9.99960831e-01 3.36320075e-03 8.18690032e-03 -2.99543420e+02] [-3.34723564e-03 9.99992471e-01 -1.96300129e-03 1.55042922e+01] [-8.19344065e-03 1.93552091e-03 9.99964560e-01 1.36097518e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.139072329 meters Centerline goodness : 0.759886 Centerline is valid? [False, False] Translation: X:-299.54, Y:15.50, Z:136.10 [[ 9.99963896e-01 -8.29230605e-04 8.45690292e-03 -2.99544504e+02] [ 8.80558586e-04 9.99981205e-01 -6.06744274e-03 1.55037996e+01] [-8.45171267e-03 6.07467048e-03 9.99945832e-01 1.36098023e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.16907232899996 meters Centerline goodness : 0.758806 Centerline is valid? [False, False] Translation: X:-299.55, Y:15.50, Z:136.10 [[ 9.99955014e-01 -1.39505782e-03 9.38213889e-03 -2.99547298e+02] [ 1.45211498e-03 9.99980478e-01 -6.07740642e-03 1.55022909e+01] [-9.37347740e-03 6.09075696e-03 9.99937518e-01 1.36098483e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.199072329 meters Centerline goodness : 0.758004 Centerline is valid? [False, False] Translation: X:-299.55, Y:15.50, Z:136.10 [[ 9.99939430e-01 -2.98723089e-03 1.05930080e-02 -2.99550969e+02] [ 3.06325114e-03 9.99969621e-01 -7.16750760e-03 1.55028185e+01] [-1.05712751e-02 7.19952251e-03 9.99918204e-01 1.36099074e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.22907232899996 meters Centerline goodness : 0.757384 Centerline is valid? [False, False] Translation: X:-299.55, Y:15.50, Z:136.10 [[ 9.99910629e-01 -6.96061617e-03 1.14141963e-02 -2.99552161e+02] [ 7.07416696e-03 9.99925591e-01 -9.93819333e-03 1.54979813e+01] [-1.13441710e-02 1.00180511e-02 9.99885468e-01 1.36097632e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.259072329 meters Centerline goodness : 0.757753 Centerline is valid? [False, False] Translation: X:-299.55, Y:15.49, Z:136.10 [[ 9.99908429e-01 -6.46337530e-03 1.18894149e-02 -2.99552982e+02] [ 6.56737142e-03 9.99940337e-01 -8.72880340e-03 1.54940606e+01] [-1.18322880e-02 8.80608629e-03 9.99891219e-01 1.36096873e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.28907232899996 meters Centerline goodness : 0.756958 Centerline is valid? [False, False] Translation: X:-299.55, Y:15.49, Z:136.10 [[ 9.99908302e-01 -5.97925735e-03 1.21505715e-02 -2.99553432e+02] [ 6.07456088e-03 9.99950958e-01 -7.82183349e-03 1.54916099e+01] [-1.21032069e-02 7.89492562e-03 9.99895586e-01 1.36096462e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.319072329 meters Centerline goodness : 0.757445 Centerline is valid? [False, False] Translation: X:-299.56, Y:15.49, Z:136.10 [[ 9.99890530e-01 -6.66478986e-03 1.32101684e-02 -2.99555610e+02] [ 6.76887720e-03 9.99946276e-01 -7.85034691e-03 1.54902488e+01] [-1.31571378e-02 7.93890554e-03 9.99881925e-01 1.36095588e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.34907232899997 meters Centerline goodness : 0.755955 Centerline is valid? [False, False] Translation: X:-299.56, Y:15.49, Z:136.10 [[ 9.99891394e-01 -6.37261162e-03 1.32887495e-02 -2.99555523e+02] [ 6.47033657e-03 9.99952246e-01 -7.32398058e-03 1.54888471e+01] [-1.32414420e-02 7.40916783e-03 9.99884878e-01 1.36095119e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.379072329 meters Centerline goodness : 0.756956 Centerline is valid? [False, False] Translation: X:-299.56, Y:15.49, Z:136.10 [[ 9.99895159e-01 -3.22347702e-03 1.41166800e-02 -2.99557902e+02] [ 3.28378466e-03 9.99985573e-01 -4.25098980e-03 1.54910857e+01] [-1.41027734e-02 4.29690026e-03 9.99891318e-01 1.36095468e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.40907232899997 meters Centerline goodness : 0.757331 Centerline is valid? [False, False] Translation: X:-299.56, Y:15.49, Z:136.10 [[ 9.99893337e-01 -3.38174609e-03 1.42083617e-02 -2.99558299e+02] [ 3.44605580e-03 9.99983919e-01 -4.50414562e-03 1.54918887e+01] [-1.41929014e-02 4.55262800e-03 9.99888911e-01 1.36095734e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.43907232899994 meters Centerline goodness : 0.757482 Centerline is valid? [False, False] Translation: X:-299.56, Y:15.49, Z:136.10 [[ 9.99896806e-01 -3.16110628e-03 1.40137390e-02 -2.99558000e+02] [ 3.22349666e-03 9.99984984e-01 -4.43173693e-03 1.54922215e+01] [-1.39995194e-02 4.47645284e-03 9.99891982e-01 1.36096065e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.46907232899997 meters Centerline goodness : 0.758074 Centerline is valid? [False, False] Translation: X:-299.56, Y:15.49, Z:136.10 [[ 9.99883270e-01 -3.74027013e-03 1.48141050e-02 -2.99560344e+02] [ 3.81055405e-03 9.99981605e-01 -4.71900975e-03 1.54918108e+01] [-1.47961821e-02 4.77490884e-03 9.99879129e-01 1.36096406e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.49907232899994 meters Centerline goodness : 0.756692 Centerline is valid? [False, False] Translation: X:-299.56, Y:15.49, Z:136.10 [[ 9.99888157e-01 -3.42573817e-03 1.45580738e-02 -2.99559610e+02] [ 3.49195162e-03 9.99983664e-01 -4.52524621e-03 1.54920968e+01] [-1.45423336e-02 4.57557619e-03 9.99883786e-01 1.36096392e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.529072329 meters Centerline goodness : 0.757728 Centerline is valid? [False, False] Translation: X:-299.56, Y:15.49, Z:136.10 [[ 9.99877204e-01 -4.01015015e-03 1.51490865e-02 -2.99561334e+02] [ 4.08949039e-03 9.99978066e-01 -5.20995273e-03 1.54937333e+01] [-1.51278616e-02 5.27126502e-03 9.99871673e-01 1.36096763e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.55907232899995 meters Centerline goodness : 0.755478 Centerline is valid? [False, False] Translation: X:-299.56, Y:15.49, Z:136.10 [[ 9.99876986e-01 -3.96689935e-03 1.51748625e-02 -2.99561523e+02] [ 4.04495244e-03 9.99978730e-01 -5.11634836e-03 1.54935150e+01] [-1.51542437e-02 5.17710058e-03 9.99871765e-01 1.36096913e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.589072329 meters Centerline goodness : 0.758047 Centerline is valid? [False, False] Translation: X:-299.56, Y:15.49, Z:136.10 [[ 9.99860911e-01 -4.41840760e-03 1.60821806e-02 -2.99563248e+02] [ 4.49357868e-03 9.99979134e-01 -4.64105369e-03 1.54908043e+01] [-1.60613390e-02 4.71267472e-03 9.99859902e-01 1.36095867e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.61907232899995 meters Centerline goodness : 0.757035 Centerline is valid? [False, False] Translation: X:-299.56, Y:15.49, Z:136.10 [[ 9.99853613e-01 -4.43821731e-03 1.65243960e-02 -2.99564205e+02] [ 4.51121144e-03 9.99980220e-01 -4.38270356e-03 1.54897724e+01] [-1.65046178e-02 4.45660703e-03 9.99853857e-01 1.36095546e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.649072329 meters Centerline goodness : 0.757485 Centerline is valid? [False, False] Translation: X:-299.56, Y:15.49, Z:136.10 [[ 9.99853990e-01 -4.26068211e-03 1.65482487e-02 -2.99564229e+02] [ 4.32899295e-03 9.99982248e-01 -4.09435518e-03 1.54889886e+01] [-1.65305102e-02 4.16539462e-03 9.99854685e-01 1.36095421e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.67907232899995 meters Centerline goodness : 0.757662 Centerline is valid? [False, False] Translation: X:-299.57, Y:15.49, Z:136.10 [[ 9.99840114e-01 -5.01499786e-03 1.71637817e-02 -2.99566045e+02] [ 5.09984546e-03 9.99974975e-01 -4.90321452e-03 1.54906359e+01] [-1.71387625e-02 4.98996320e-03 9.99840669e-01 1.36095872e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.709072329 meters Centerline goodness : 0.757921 Centerline is valid? [False, False] Translation: X:-299.57, Y:15.49, Z:136.10 [[ 9.99842945e-01 -4.92139398e-03 1.70254146e-02 -2.99565927e+02] [ 5.00495719e-03 9.99975621e-01 -4.86902313e-03 1.54907519e+01] [-1.70010372e-02 4.95346990e-03 9.99843202e-01 1.36096150e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.73907232899995 meters Centerline goodness : 0.757808 Centerline is valid? [False, False] Translation: X:-299.57, Y:15.49, Z:136.10 [[ 9.99841932e-01 -5.10691687e-03 1.70302602e-02 -2.99565781e+02] [ 5.19729360e-03 9.99972624e-01 -5.26680204e-03 1.54923566e+01] [-1.70028969e-02 5.35448079e-03 9.99841103e-01 1.36096022e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.769072329 meters Centerline goodness : 0.758744 Centerline is valid? [False, False] Translation: X:-299.57, Y:15.49, Z:136.10 [[ 9.99835784e-01 -5.26227787e-03 1.73410729e-02 -2.99566504e+02] [ 5.35516137e-03 9.99971540e-01 -5.31419636e-03 1.54922685e+01] [-1.73126146e-02 5.40618793e-03 9.99835510e-01 1.36095907e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.79907232899996 meters Centerline goodness : 0.758477 Centerline is valid? [False, False] Translation: X:-299.57, Y:15.49, Z:136.10 [[ 9.99824218e-01 -5.74417343e-03 1.78476221e-02 -2.99567817e+02] [ 5.84695033e-03 9.99966594e-01 -5.71174137e-03 1.54929097e+01] [-1.78142167e-02 5.81509151e-03 9.99824404e-01 1.36095937e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.829072329 meters Centerline goodness : 0.757364 Centerline is valid? [False, False] Translation: X:-299.57, Y:15.49, Z:136.10 [[ 9.99830742e-01 -5.36294882e-03 1.75990149e-02 -2.99567308e+02] [ 5.45689819e-03 9.99971094e-01 -5.29465848e-03 1.54924475e+01] [-1.75701112e-02 5.38979835e-03 9.99831106e-01 1.36096145e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.85907232899996 meters Centerline goodness : 0.757966 Centerline is valid? [False, False] Translation: X:-299.57, Y:15.49, Z:136.10 [[ 9.99831538e-01 -5.27852371e-03 1.75793132e-02 -2.99567321e+02] [ 5.37085230e-03 9.99972009e-01 -5.20905149e-03 1.54924163e+01] [-1.75513251e-02 5.30258986e-03 9.99831903e-01 1.36096218e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.889072329 meters Centerline goodness : 0.757981 Centerline is valid? [False, False] Translation: X:-299.57, Y:15.49, Z:136.10 [[ 9.99831129e-01 -5.23001627e-03 1.76170689e-02 -2.99566976e+02] [ 5.32126839e-03 9.99972648e-01 -5.13686843e-03 1.54924429e+01] [-1.75897211e-02 5.22974611e-03 9.99831612e-01 1.36095569e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.91907232899996 meters Centerline goodness : 0.757848 Centerline is valid? [False, False] Translation: X:-299.57, Y:15.49, Z:136.10 [[ 9.99824931e-01 -5.27485131e-03 1.79522555e-02 -2.99567886e+02] [ 5.36583525e-03 9.99972985e-01 -5.02371692e-03 1.54917830e+01] [-1.79252712e-02 5.11916627e-03 9.99826224e-01 1.36095593e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.949072329 meters Centerline goodness : 0.758650 Centerline is valid? [False, False] Translation: X:-299.57, Y:15.49, Z:136.10 [[ 9.99817394e-01 -5.40912426e-03 1.83281302e-02 -2.99569357e+02] [ 5.50287367e-03 9.99972014e-01 -5.06848908e-03 1.54914701e+01] [-1.83002012e-02 5.16842093e-03 9.99819179e-01 1.36096263e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.97907232899996 meters Centerline goodness : 0.758089 Centerline is valid? [False, False] Translation: X:-299.57, Y:15.49, Z:136.10 [[ 9.99800337e-01 -6.15345538e-03 1.90110723e-02 -2.99571585e+02] [ 6.26812954e-03 9.99962485e-01 -5.97827906e-03 1.54934070e+01] [-1.89735720e-02 6.09624929e-03 9.99801400e-01 1.36096994e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.009072329 meters Centerline goodness : 0.757335 Centerline is valid? [False, False] Translation: X:-299.57, Y:15.49, Z:136.10 [[ 9.99812864e-01 -5.45236325e-03 1.85609534e-02 -2.99570941e+02] [ 5.54832249e-03 9.99971488e-01 -5.12238806e-03 1.54915055e+01] [-1.85324950e-02 5.22441164e-03 9.99814609e-01 1.36097543e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.03907232899996 meters Centerline goodness : 0.757805 Centerline is valid? [False, False] Translation: X:-299.57, Y:15.49, Z:136.10 [[ 9.99809304e-01 -5.66214361e-03 1.86894691e-02 -2.99571110e+02] [ 5.76648759e-03 9.99968061e-01 -5.53387406e-03 1.54931344e+01] [-1.86575385e-02 5.64059137e-03 9.99810022e-01 1.36097407e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.069072329 meters Centerline goodness : 0.756021 Centerline is valid? [False, False] Translation: X:-299.57, Y:15.49, Z:136.10 [[ 9.99805367e-01 -5.34468714e-03 1.89911140e-02 -2.99570776e+02] [ 5.43126570e-03 9.99975079e-01 -4.51024918e-03 1.54902181e+01] [-1.89665349e-02 4.61251712e-03 9.99809479e-01 1.36095698e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.09907232899997 meters Centerline goodness : 0.756052 Centerline is valid? [False, False] Translation: X:-299.57, Y:15.49, Z:136.09 [[ 9.99795488e-01 -7.06282831e-03 1.89499173e-02 -2.99569412e+02] [ 7.15962445e-03 9.99961643e-01 -5.04502523e-03 1.54876169e+01] [-1.89135583e-02 5.17966775e-03 9.99807706e-01 1.36093747e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.129072329 meters Centerline goodness : 0.756845 Centerline is valid? [False, False] Translation: X:-299.57, Y:15.49, Z:136.09 [[ 9.99802591e-01 -6.74486138e-03 1.86891685e-02 -2.99568024e+02] [ 6.83446004e-03 9.99965437e-01 -4.73443206e-03 1.54878173e+01] [-1.86565895e-02 4.86122782e-03 9.99814133e-01 1.36092850e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.15907232899997 meters Centerline goodness : 0.757730 Centerline is valid? [False, False] Translation: X:-299.57, Y:15.49, Z:136.09 [[ 9.99807601e-01 -6.53663996e-03 1.84941435e-02 -2.99567666e+02] [ 6.62162680e-03 9.99967781e-01 -4.53783934e-03 1.54876181e+01] [-1.84638854e-02 4.65942758e-03 9.99818671e-01 1.36093024e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.18907232899994 meters Centerline goodness : 0.757293 Centerline is valid? [False, False] Translation: X:-299.57, Y:15.49, Z:136.09 [[ 9.99805958e-01 -6.73327682e-03 1.85123933e-02 -2.99568150e+02] [ 6.82661117e-03 9.99964282e-01 -4.98315927e-03 1.54892277e+01] [-1.84781791e-02 5.10856924e-03 9.99816213e-01 1.36093776e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.21907232899997 meters Centerline goodness : 0.758028 Centerline is valid? [False, False] Translation: X:-299.57, Y:15.49, Z:136.09 [[ 9.99811885e-01 -6.49253137e-03 1.82768248e-02 -2.99567684e+02] [ 6.58071772e-03 9.99966975e-01 -4.76903603e-03 1.54891288e+01] [-1.82452581e-02 4.88841353e-03 9.99821591e-01 1.36093979e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.24907232899994 meters Centerline goodness : 0.757586 Centerline is valid? [False, False] Translation: X:-299.57, Y:15.49, Z:136.09 [[ 9.99804024e-01 -6.82586992e-03 1.85828345e-02 -2.99568510e+02] [ 6.92413275e-03 9.99962358e-01 -5.22863175e-03 1.54903104e+01] [-1.85464451e-02 5.35627708e-03 9.99813652e-01 1.36094066e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.279072329 meters Centerline goodness : 0.756325 Centerline is valid? [False, False] Translation: X:-299.57, Y:15.49, Z:136.09 [[ 9.99790648e-01 -7.19082885e-03 1.91559721e-02 -2.99569918e+02] [ 7.29680691e-03 9.99958427e-01 -5.46823734e-03 1.54904999e+01] [-1.91158545e-02 5.60686998e-03 9.99801554e-01 1.36093949e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.30907232899995 meters Centerline goodness : 0.755065 Centerline is valid? [False, False] Translation: X:-299.57, Y:15.49, Z:136.09 [[ 9.99807803e-01 -6.37348388e-03 1.85401266e-02 -2.99568744e+02] [ 6.46070879e-03 9.99968325e-01 -4.64856906e-03 1.54888161e+01] [-1.85099117e-02 4.76745797e-03 9.99817311e-01 1.36094311e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.339072329 meters Centerline goodness : 0.757666 Centerline is valid? [False, False] Translation: X:-299.57, Y:15.49, Z:136.09 [[ 9.99835979e-01 -2.14548700e-03 1.79836747e-02 -2.99567718e+02] [ 2.16176679e-03 9.99997271e-01 -8.85862802e-04 1.54908666e+01] [-1.79817250e-02 9.24594013e-04 9.99837888e-01 1.36094770e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.36907232899995 meters Centerline goodness : 0.756672 Centerline is valid? [False, False] Translation: X:-299.57, Y:15.49, Z:136.10 [[ 9.99850056e-01 -2.26133863e-03 1.71683223e-02 -2.99565842e+02] [ 2.29113081e-03 9.99995903e-01 -1.71582842e-03 1.54943291e+01] [-1.71643719e-02 1.75490601e-03 9.99851141e-01 1.36095192e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.399072329 meters Centerline goodness : 0.757243 Centerline is valid? [False, False] Translation: X:-299.55, Y:15.50, Z:136.10 [[ 9.99894637e-01 7.25896055e-03 1.25707064e-02 -2.99553517e+02] [-7.25831987e-03 9.99973653e-01 -9.65890728e-05 1.54972185e+01] [-1.25710764e-02 5.33668772e-06 9.99920981e-01 1.36100850e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.42907232899995 meters Centerline goodness : 0.757243 Centerline is valid? [False, False] Translation: X:-299.55, Y:15.50, Z:136.10 [[ 9.99894637e-01 7.25896055e-03 1.25707064e-02 -2.99553517e+02] [-7.25831987e-03 9.99973653e-01 -9.65890728e-05 1.54972185e+01] [-1.25710764e-02 5.33668772e-06 9.99920981e-01 1.36100850e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.459072329 meters Centerline goodness : 0.756064 Centerline is valid? [False, False] Translation: X:-299.55, Y:15.50, Z:136.10 [[ 9.99900842e-01 6.86461637e-03 1.22956302e-02 -2.99553182e+02] [-6.85357042e-03 9.99976072e-01 -9.40275059e-04 1.54997910e+01] [-1.23017906e-02 8.55912856e-04 9.99923964e-01 1.36101401e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.48907232899995 meters Centerline goodness : 0.756142 Centerline is valid? [False, False] Translation: X:-299.55, Y:15.50, Z:136.10 [[ 9.99902033e-01 6.62616828e-03 1.23295704e-02 -2.99553692e+02] [-6.61020879e-03 9.99977262e-01 -1.33471086e-03 1.55006619e+01] [-1.23381341e-02 1.25307907e-03 9.99923097e-01 1.36101946e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.519072329 meters Centerline goodness : 0.758034 Centerline is valid? [False, False] Translation: X:-299.55, Y:15.50, Z:136.10 [[ 9.99907070e-01 6.37376040e-03 1.20509571e-02 -2.99554037e+02] [-6.34943679e-03 9.99977729e-01 -2.05558041e-03 1.55027485e+01] [-1.20637905e-02 1.97887260e-03 9.99925272e-01 1.36103482e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.54907232899996 meters Centerline goodness : 0.756638 Centerline is valid? [False, False] Translation: X:-299.56, Y:15.50, Z:136.10 [[ 9.99905627e-01 5.97577349e-03 1.23704294e-02 -2.99555385e+02] [-5.94613083e-03 9.99979365e-01 -2.43164581e-03 1.55030949e+01] [-1.23847052e-02 2.35786014e-03 9.99920527e-01 1.36104172e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.579072329 meters Centerline goodness : 0.757018 Centerline is valid? [False, False] Translation: X:-299.55, Y:15.50, Z:136.10 [[ 9.99913438e-01 6.69023816e-03 1.13294642e-02 -2.99553115e+02] [-6.66626803e-03 9.99975464e-01 -2.15217774e-03 1.55036825e+01] [-1.13435848e-02 2.07646620e-03 9.99933503e-01 1.36104716e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.60907232899996 meters Centerline goodness : 0.757114 Centerline is valid? [False, False] Translation: X:-299.55, Y:15.51, Z:136.10 [[ 9.99881918e-01 1.05302993e-02 1.11920593e-02 -2.99552268e+02] [-1.05463558e-02 9.99943438e-01 1.37657795e-03 1.55062482e+01] [-1.11769305e-02 -1.49445084e-03 9.99936419e-01 1.36104229e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.639072329 meters Centerline goodness : 0.757082 Centerline is valid? [False, False] Translation: X:-299.55, Y:15.51, Z:136.10 [[ 9.99883251e-01 1.07176838e-02 1.08911087e-02 -2.99551456e+02] [-1.07344654e-02 9.99941283e-01 1.48356851e-03 1.55061427e+01] [-1.08745688e-02 -1.60030553e-03 9.99939590e-01 1.36104084e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.66907232899996 meters Centerline goodness : 0.756058 Centerline is valid? [False, False] Translation: X:-299.55, Y:15.50, Z:136.10 [[ 9.99912788e-01 8.58025592e-03 1.00396943e-02 -2.99548724e+02] [-8.57316009e-03 9.99962969e-01 -7.49601488e-04 1.55035873e+01] [-1.00457543e-02 6.63464208e-04 9.99949320e-01 1.36103186e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.699072329 meters Centerline goodness : 0.757050 Centerline is valid? [False, False] Translation: X:-299.55, Y:15.50, Z:136.10 [[ 9.99914233e-01 8.67610322e-03 9.81078158e-03 -2.99548506e+02] [-8.66895334e-03 9.99962127e-01 -7.71068904e-04 1.55037523e+01] [-9.81709989e-03 6.85953564e-04 9.99951576e-01 1.36103638e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.72907232899996 meters Centerline goodness : 0.756264 Centerline is valid? [False, False] Translation: X:-299.55, Y:15.51, Z:136.10 [[ 9.99917976e-01 8.54800129e-03 9.53792592e-03 -2.99548147e+02] [-8.53717925e-03 9.99962868e-01 -1.17477043e-03 1.55050280e+01] [-9.54761370e-03 1.09324709e-03 9.99953823e-01 1.36104092e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.759072329 meters Centerline goodness : 0.755597 Centerline is valid? [False, False] Translation: X:-299.55, Y:15.51, Z:136.10 [[ 9.99919894e-01 8.52618628e-03 9.35467523e-03 -2.99547939e+02] [-8.51383763e-03 9.99962833e-01 -1.35908224e-03 1.55055938e+01] [-9.36591534e-03 1.27932918e-03 9.99955320e-01 1.36104406e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.78907232899996 meters Centerline goodness : 0.755240 Centerline is valid? [False, False] Translation: X:-299.55, Y:15.51, Z:136.11 [[ 9.99922819e-01 8.87568016e-03 8.69357720e-03 -2.99546794e+02] [-8.86474879e-03 9.99959869e-01 -1.29513562e-03 1.55061441e+01] [-8.70472353e-03 1.21796928e-03 9.99961371e-01 1.36105121e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.819072329 meters Centerline goodness : 0.756084 Centerline is valid? [False, False] Translation: X:-299.55, Y:15.51, Z:136.11 [[ 9.99924476e-01 8.73190905e-03 8.64843866e-03 -2.99546887e+02] [-8.71825857e-03 9.99960691e-01 -1.61482003e-03 1.55071325e+01] [-8.66219916e-03 1.53929875e-03 9.99961298e-01 1.36105420e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.84907232899997 meters Centerline goodness : 0.754894 Centerline is valid? [False, False] Translation: X:-299.55, Y:15.51, Z:136.11 [[ 9.99921799e-01 8.45220387e-03 9.21714666e-03 -2.99548590e+02] [-8.43799589e-03 9.99963152e-01 -1.57927307e-03 1.55062819e+01] [-9.23015537e-03 1.50137532e-03 9.99956274e-01 1.36105669e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.879072329 meters Centerline goodness : 0.754346 Centerline is valid? [False, False] Translation: X:-299.55, Y:15.51, Z:136.11 [[ 9.99918944e-01 8.22319333e-03 9.72027047e-03 -2.99549870e+02] [-8.20771928e-03 9.99964986e-01 -1.63075869e-03 1.55060676e+01] [-9.73334017e-03 1.55084526e-03 9.99951427e-01 1.36105616e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.90907232899997 meters Centerline goodness : 0.753427 Centerline is valid? [False, False] Translation: X:-299.55, Y:15.50, Z:136.11 [[ 9.99940490e-01 -2.61853812e-03 1.05905129e-02 -2.99550766e+02] [ 2.55516878e-03 9.99978779e-01 5.99270565e-03 1.54996822e+01] [-1.06059802e-02 -5.96528848e-03 9.99925962e-01 1.36106954e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.93907232899994 meters Centerline goodness : 0.752595 Centerline is valid? [False, False] Translation: X:-299.55, Y:15.50, Z:136.11 [[ 9.99930256e-01 -3.10146123e-03 1.13958284e-02 -2.99552917e+02] [ 3.03376781e-03 9.99977681e-01 5.95268535e-03 1.54984844e+01] [-1.14140361e-02 -5.91769788e-03 9.99917347e-01 1.36106896e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.96907232899997 meters Centerline goodness : 0.752757 Centerline is valid? [False, False] Translation: X:-299.56, Y:15.49, Z:136.11 [[ 9.99895527e-01 -7.35597922e-03 1.24428193e-02 -2.99555187e+02] [ 7.31968775e-03 9.99968831e-01 2.95969043e-03 1.54934950e+01] [-1.24642028e-02 -2.86830367e-03 9.99918205e-01 1.36106027e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.99907232899994 meters Centerline goodness : 0.752672 Centerline is valid? [False, False] Translation: X:-299.55, Y:15.49, Z:136.11 [[ 9.99862656e-01 -1.10563041e-02 1.23461376e-02 -2.99554722e+02] [ 1.10631304e-02 9.99938684e-01 -4.84751164e-04 1.54915812e+01] [-1.23400211e-02 6.21271517e-04 9.99923666e-01 1.36105835e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.029072329 meters Centerline goodness : 0.753123 Centerline is valid? [False, False] Translation: X:-299.55, Y:15.49, Z:136.11 [[ 9.99870405e-01 -1.06614824e-02 1.20625966e-02 -2.99553715e+02] [ 1.06629930e-02 9.99943147e-01 -6.09210932e-05 1.54911829e+01] [-1.20612613e-02 1.89536582e-04 9.99927242e-01 1.36105471e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.05907232899995 meters Centerline goodness : 0.751948 Centerline is valid? [False, False] Translation: X:-299.56, Y:15.50, Z:136.11 [[ 9.99831020e-01 -1.26772183e-02 1.33124106e-02 -2.99557122e+02] [ 1.27063483e-02 9.99917054e-01 -2.10588665e-03 1.54952081e+01] [-1.32846096e-02 2.27468292e-03 9.99909168e-01 1.36105959e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.089072329 meters Centerline goodness : 0.753505 Centerline is valid? [False, False] Translation: X:-299.56, Y:15.49, Z:136.11 [[ 9.99755211e-01 -1.69778369e-02 1.41870408e-02 -2.99558639e+02] [ 1.70590817e-02 9.99838658e-01 -5.62543019e-03 1.54926590e+01] [-1.40892442e-02 5.86607103e-03 9.99883534e-01 1.36105163e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.11907232899995 meters Centerline goodness : 0.751362 Centerline is valid? [False, False] Translation: X:-299.56, Y:15.49, Z:136.10 [[ 9.99678303e-01 -2.07850269e-02 1.45352077e-02 -2.99558654e+02] [ 2.09166055e-02 9.99741076e-01 -8.95973325e-03 1.54901429e+01] [-1.43452159e-02 9.26087814e-03 9.99854215e-01 1.36104184e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.149072329 meters Centerline goodness : 0.751957 Centerline is valid? [False, False] Translation: X:-299.57, Y:15.49, Z:136.10 [[ 9.99468309e-01 -2.60710518e-02 1.95805736e-02 -2.99570630e+02] [ 2.62243475e-02 9.99627090e-01 -7.61338862e-03 1.54906420e+01] [-1.93747827e-02 8.12282842e-03 9.99779294e-01 1.36098515e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.17907232899995 meters Centerline goodness : 0.750403 Centerline is valid? [False, False] Translation: X:-299.57, Y:15.49, Z:136.10 [[ 9.99397654e-01 -2.77953593e-02 2.07785410e-02 -2.99574265e+02] [ 2.79821857e-02 9.99570079e-01 -8.75524563e-03 1.54910339e+01] [-2.05262527e-02 9.33140093e-03 9.99745767e-01 1.36099207e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.209072329 meters Centerline goodness : 0.750438 Centerline is valid? [False, False] Translation: X:-299.58, Y:15.49, Z:136.10 [[ 9.99382487e-01 -2.79234980e-02 2.13289417e-02 -2.99575470e+02] [ 2.81124024e-02 9.99567698e-01 -8.60877078e-03 1.54904369e+01] [-2.10793341e-02 9.20306254e-03 9.99735448e-01 1.36098942e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.23907232899995 meters Centerline goodness : 0.749174 Centerline is valid? [False, False] Translation: X:-299.58, Y:15.49, Z:136.10 [[ 9.99327785e-01 -2.89780630e-02 2.24555119e-02 -2.99578534e+02] [ 2.91900213e-02 9.99531823e-01 -9.16938271e-03 1.54904910e+01] [-2.21792878e-02 9.81869578e-03 9.99705793e-01 1.36099197e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.269072329 meters Centerline goodness : 0.750047 Centerline is valid? [False, False] Translation: X:-299.58, Y:15.49, Z:136.10 [[ 9.99273577e-01 -3.00060357e-02 2.34937602e-02 -2.99581566e+02] [ 3.02388103e-02 9.99496446e-01 -9.61608871e-03 1.54898527e+01] [-2.31933891e-02 1.03195267e-02 9.99677735e-01 1.36099705e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.29907232899996 meters Centerline goodness : 0.747686 Centerline is valid? [False, False] Translation: X:-299.58, Y:15.49, Z:136.10 [[ 9.99256605e-01 -3.02093725e-02 2.39506000e-02 -2.99582933e+02] [ 3.04499794e-02 9.99488780e-01 -9.74565200e-03 1.54900627e+01] [-2.36439460e-02 1.04677024e-02 9.99665640e-01 1.36100005e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.329072329 meters Centerline goodness : 0.748729 Centerline is valid? [False, False] Translation: X:-299.58, Y:15.49, Z:136.10 [[ 9.99242611e-01 -3.03456967e-02 2.43586456e-02 -2.99584232e+02] [ 3.05889651e-02 9.99485201e-01 -9.67716251e-03 1.54894771e+01] [-2.40524455e-02 1.04149389e-02 9.99656445e-01 1.36100334e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.35907232899996 meters Centerline goodness : 0.748009 Centerline is valid? [False, False] Translation: X:-299.59, Y:15.49, Z:136.10 [[ 9.99197946e-01 -3.10638105e-02 2.52686263e-02 -2.99586348e+02] [ 3.13263334e-02 9.99458577e-01 -1.00605461e-02 1.54895919e+01] [-2.49424263e-02 1.08440504e-02 9.99630073e-01 1.36100117e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.389072329 meters Centerline goodness : 0.747480 Centerline is valid? [False, False] Translation: X:-299.59, Y:15.49, Z:136.10 [[ 9.99280974e-01 -2.75566502e-02 2.60416387e-02 -2.99588705e+02] [ 2.77285894e-02 9.99595859e-01 -6.26452056e-03 1.54899316e+01] [-2.58584850e-02 6.98211411e-03 9.99641230e-01 1.36100195e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.41907232899996 meters Centerline goodness : 0.747386 Centerline is valid? [False, False] Translation: X:-299.59, Y:15.49, Z:136.10 [[ 9.99266610e-01 -2.77641181e-02 2.63703544e-02 -2.99589191e+02] [ 2.79420415e-02 9.99589040e-01 -6.40268115e-03 1.54903459e+01] [-2.61817525e-02 7.13482703e-03 9.99631737e-01 1.36099707e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.449072329 meters Centerline goodness : 0.746157 Centerline is valid? [False, False] Translation: X:-299.59, Y:15.49, Z:136.10 [[ 9.99296740e-01 -2.73116563e-02 2.56923725e-02 -2.99587376e+02] [ 2.74818611e-02 9.99602481e-01 -6.29505262e-03 1.54912760e+01] [-2.55102309e-02 6.99669977e-03 9.99650076e-01 1.36099648e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.47907232899996 meters Centerline goodness : 0.746114 Centerline is valid? [False, False] Translation: X:-299.59, Y:15.49, Z:136.10 [[ 9.99315644e-01 -2.70969933e-02 2.51792928e-02 -2.99586506e+02] [ 2.72640807e-02 9.99608310e-01 -6.31640948e-03 1.54918751e+01] [-2.49982746e-02 6.99857708e-03 9.99662996e-01 1.36100213e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.509072329 meters Centerline goodness : 0.746118 Centerline is valid? [False, False] Translation: X:-299.59, Y:15.50, Z:136.10 [[ 9.99405549e-01 -2.35852708e-02 2.51452565e-02 -2.99587281e+02] [ 2.36738315e-02 9.99714517e-01 -3.23007093e-03 1.54953412e+01] [-2.50618958e-02 3.82343538e-03 9.99678590e-01 1.36101167e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.53907232899996 meters Centerline goodness : 0.744285 Centerline is valid? [False, False] Translation: X:-299.59, Y:15.50, Z:136.10 [[ 9.99412037e-01 -2.36667991e-02 2.48085244e-02 -2.99586727e+02] [ 2.37626637e-02 9.99711231e-01 -3.57648519e-03 1.54967783e+01] [-2.47167165e-02 4.16389897e-03 9.99685824e-01 1.36101592e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.569072329 meters Centerline goodness : 0.745288 Centerline is valid? [False, False] Translation: X:-299.59, Y:15.50, Z:136.10 [[ 9.99419155e-01 -2.36184781e-02 2.45666540e-02 -2.99586197e+02] [ 2.37163447e-02 9.99711881e-01 -3.69997527e-03 1.54977120e+01] [-2.44721881e-02 4.28045739e-03 9.99691347e-01 1.36101746e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.59907232899997 meters Centerline goodness : 0.744773 Centerline is valid? [False, False] Translation: X:-299.58, Y:15.50, Z:136.10 [[ 9.99451831e-01 -2.29598990e-02 2.38512307e-02 -2.99584514e+02] [ 2.30454120e-02 9.99728918e-01 -3.31656704e-03 1.54979714e+01] [-2.37686170e-02 3.86441044e-03 9.99710018e-01 1.36101987e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.629072329 meters Centerline goodness : 0.743335 Centerline is valid? [False, False] Translation: X:-299.58, Y:15.50, Z:136.10 [[ 9.99468660e-01 -2.26466838e-02 2.34419778e-02 -2.99583464e+02] [ 2.27251828e-02 9.99736982e-01 -3.08765196e-03 1.54978368e+01] [-2.33658870e-02 3.61873459e-03 9.99720431e-01 1.36101919e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.65907232899997 meters Centerline goodness : 0.742725 Centerline is valid? [False, False] Translation: X:-299.58, Y:15.50, Z:136.10 [[ 9.99453744e-01 -2.29098169e-02 2.38192125e-02 -2.99584367e+02] [ 2.29957421e-02 9.99729985e-01 -3.33972238e-03 1.54983668e+01] [-2.37362686e-02 3.88563850e-03 9.99710704e-01 1.36101822e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.68907232899994 meters Centerline goodness : 0.742485 Centerline is valid? [False, False] Translation: X:-299.58, Y:15.50, Z:136.10 [[ 9.99458229e-01 -2.28635791e-02 2.36750046e-02 -2.99583935e+02] [ 2.29494243e-02 9.99730979e-01 -3.36061828e-03 1.54987225e+01] [-2.35917998e-02 3.90212532e-03 9.99714059e-01 1.36101700e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.71907232899997 meters Centerline goodness : 0.742717 Centerline is valid? [False, False] Translation: X:-299.58, Y:15.50, Z:136.10 [[ 9.99465910e-01 -2.25721696e-02 2.36303178e-02 -2.99583718e+02] [ 2.26479149e-02 9.99739172e-01 -2.94268994e-03 1.54978587e+01] [-2.35577314e-02 3.47629571e-03 9.99716434e-01 1.36101511e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.74907232899994 meters Centerline goodness : 0.743917 Centerline is valid? [False, False] Translation: X:-299.58, Y:15.50, Z:136.10 [[ 9.99470641e-01 -2.24716034e-02 2.35258174e-02 -2.99583643e+02] [ 2.25465783e-02 9.99741510e-01 -2.92650316e-03 1.54980415e+01] [-2.34539730e-02 3.45538068e-03 9.99718946e-01 1.36101758e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.779072329 meters Centerline goodness : 0.742627 Centerline is valid? [False, False] Translation: X:-299.58, Y:15.50, Z:136.10 [[ 9.99465241e-01 -2.26753631e-02 2.35597079e-02 -2.99583985e+02] [ 2.27607389e-02 9.99735288e-01 -3.36195580e-03 1.54995888e+01] [-2.34772378e-02 3.89639433e-03 9.99716779e-01 1.36102205e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.80907232899995 meters Centerline goodness : 0.742229 Centerline is valid? [False, False] Translation: X:-299.58, Y:15.50, Z:136.10 [[ 9.99462699e-01 -2.28220257e-02 2.35259222e-02 -2.99583958e+02] [ 2.29143901e-02 9.99730717e-01 -3.66396102e-03 1.55007764e+01] [-2.34359681e-02 4.20107453e-03 9.99716513e-01 1.36102334e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.839072329 meters Centerline goodness : 0.741595 Centerline is valid? [False, False] Translation: X:-299.58, Y:15.50, Z:136.10 [[ 9.99477000e-01 -2.24246662e-02 2.32993586e-02 -2.99582741e+02] [ 2.25029532e-02 9.99741960e-01 -3.10327955e-03 1.54998936e+01] [-2.32237565e-02 3.62596091e-03 9.99723717e-01 1.36101432e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.86907232899995 meters Centerline goodness : 0.742227 Centerline is valid? [False, False] Translation: X:-299.58, Y:15.50, Z:136.10 [[ 9.99475363e-01 -2.25324157e-02 2.32656087e-02 -2.99582461e+02] [ 2.26171543e-02 9.99738467e-01 -3.38549930e-03 1.55012556e+01] [-2.31832405e-02 3.90992501e-03 9.99723587e-01 1.36101217e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.899072329 meters Centerline goodness : 0.740491 Centerline is valid? [False, False] Translation: X:-299.58, Y:15.50, Z:136.10 [[ 9.99469585e-01 -2.26107214e-02 2.34372552e-02 -2.99583000e+02] [ 2.26974573e-02 9.99736457e-01 -3.44134828e-03 1.55013729e+01] [-2.33532671e-02 3.97148904e-03 9.99719387e-01 1.36101382e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.92907232899995 meters Centerline goodness : 0.740972 Centerline is valid? [False, False] Translation: X:-299.59, Y:15.50, Z:136.10 [[ 9.99438553e-01 -2.31685345e-02 2.42032783e-02 -2.99585096e+02] [ 2.32702095e-02 9.99721497e-01 -3.92767128e-03 1.55023000e+01] [-2.41055392e-02 4.48868146e-03 9.99699342e-01 1.36101629e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.959072329 meters Centerline goodness : 0.741526 Centerline is valid? [False, False] Translation: X:-299.58, Y:15.50, Z:136.10 [[ 9.99454689e-01 -2.28540999e-02 2.38330430e-02 -2.99584547e+02] [ 2.29471356e-02 9.99730063e-01 -3.63745419e-03 1.55016176e+01] [-2.37434788e-02 4.18237072e-03 9.99709335e-01 1.36102078e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.98907232899995 meters Centerline goodness : 0.742044 Centerline is valid? [False, False] Translation: X:-299.58, Y:15.51, Z:136.10 [[ 9.99531123e-01 -1.93039008e-02 2.37675046e-02 -2.99584645e+02] [ 1.93217530e-02 9.99813181e-01 -5.21677596e-04 1.55050073e+01] [-2.37529940e-02 9.80662846e-04 9.99717377e-01 1.36102207e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.019072329 meters Centerline goodness : 0.740609 Centerline is valid? [False, False] Translation: X:-299.58, Y:15.51, Z:136.10 [[ 9.99525606e-01 -1.96712219e-02 2.36982465e-02 -2.99584870e+02] [ 1.97062283e-02 9.99805039e-01 -1.24452391e-03 1.55073265e+01] [-2.36691449e-02 1.71093657e-03 9.99718382e-01 1.36102846e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.04907232899996 meters Centerline goodness : 0.741177 Centerline is valid? [False, False] Translation: X:-299.60, Y:15.52, Z:136.10 [[ 9.99584949e-01 -1.33227984e-02 2.55427641e-02 -2.99596210e+02] [ 1.35365981e-02 9.99874624e-01 -8.21569942e-03 1.55173744e+01] [-2.54301055e-02 8.55805162e-03 9.99639970e-01 1.36098713e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.079072329 meters Centerline goodness : 0.740822 Centerline is valid? [False, False] Translation: X:-299.60, Y:15.52, Z:136.10 [[ 9.99640365e-01 -9.29349059e-03 2.51549459e-02 -2.99596756e+02] [ 9.41609904e-03 9.99944338e-01 -4.76007333e-03 1.55195667e+01] [-2.51093081e-02 4.99522291e-03 9.99672231e-01 1.36100662e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.10907232899996 meters Centerline goodness : 0.739919 Centerline is valid? [False, False] Translation: X:-299.60, Y:15.52, Z:136.10 [[ 9.99620429e-01 -9.87843201e-03 2.57179666e-02 -2.99598071e+02] [ 1.00211097e-02 9.99935072e-01 -5.42482041e-03 1.55209844e+01] [-2.56627081e-02 5.68048387e-03 9.99654519e-01 1.36100494e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.139072329 meters Centerline goodness : 0.740183 Centerline is valid? [False, False] Translation: X:-299.59, Y:15.52, Z:136.10 [[ 9.99666922e-01 -7.98199716e-03 2.45424830e-02 -2.99594506e+02] [ 8.07474513e-03 9.99960619e-01 -3.68229994e-03 1.55187407e+01] [-2.45121244e-02 3.87924775e-03 9.99692006e-01 1.36099529e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.16907232899996 meters Centerline goodness : 0.740267 Centerline is valid? [False, False] Translation: X:-299.59, Y:15.52, Z:136.10 [[ 9.99721094e-01 -3.25053875e-03 2.33916480e-02 -2.99592015e+02] [ 3.24317934e-03 9.99994679e-01 3.52547090e-04 1.55206613e+01] [-2.33926695e-02 -2.76585453e-04 9.99726316e-01 1.36100030e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.199072329 meters Centerline goodness : 0.740178 Centerline is valid? [False, False] Translation: X:-299.60, Y:15.54, Z:136.10 [[ 9.99659006e-01 1.02073232e-02 2.40350411e-02 -2.99604087e+02] [-1.01773799e-02 9.99947274e-01 -1.36781832e-03 1.55366641e+01] [-2.40477356e-02 1.12273816e-03 9.99710181e-01 1.36098145e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.22907232899996 meters Centerline goodness : 0.738963 Centerline is valid? [False, False] Translation: X:-299.60, Y:15.54, Z:136.10 [[ 9.99680930e-01 1.04251177e-02 2.30077073e-02 -2.99601701e+02] [-1.03736117e-02 9.99943415e-01 -2.35686264e-03 1.55414126e+01] [-2.30309760e-02 2.11743762e-03 9.99732510e-01 1.36098772e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.259072329 meters Centerline goodness : 0.741114 Centerline is valid? [False, False] Translation: X:-299.60, Y:15.55, Z:136.10 [[ 9.99698182e-01 1.13345194e-02 2.17961623e-02 -2.99599634e+02] [-1.12651771e-02 9.99931095e-01 -3.30155885e-03 1.55456816e+01] [-2.18320820e-02 3.05502475e-03 9.99756984e-01 1.36100553e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.28907232899996 meters Centerline goodness : 0.740412 Centerline is valid? [False, False] Translation: X:-299.60, Y:15.55, Z:136.10 [[ 9.99710289e-01 1.26439472e-02 2.04809349e-02 -2.99597224e+02] [-1.25903215e-02 9.99916971e-01 -2.74515806e-03 1.55461010e+01] [-2.05139440e-02 2.48650120e-03 9.99786475e-01 1.36101725e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.319072329 meters Centerline goodness : 0.739133 Centerline is valid? [False, False] Translation: X:-299.59, Y:15.55, Z:136.10 [[ 9.99718847e-01 1.39917620e-02 1.91431067e-02 -2.99594352e+02] [-1.39435728e-02 9.99899276e-01 -2.64848388e-03 1.55485526e+01] [-1.91782354e-02 2.38081595e-03 9.99813246e-01 1.36102770e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.34907232899997 meters Centerline goodness : 0.739133 Centerline is valid? [False, False] Translation: X:-299.59, Y:15.55, Z:136.10 [[ 9.99718847e-01 1.39917620e-02 1.91431067e-02 -2.99594352e+02] [-1.39435728e-02 9.99899276e-01 -2.64848388e-03 1.55485526e+01] [-1.91782354e-02 2.38081595e-03 9.99813246e-01 1.36102770e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.379072329 meters Centerline goodness : 0.739720 Centerline is valid? [False, False] Translation: X:-299.59, Y:15.55, Z:136.11 [[ 9.99567766e-01 2.51108161e-02 1.52881919e-02 -2.99586383e+02] [-2.51456599e-02 9.99681611e-01 2.09115589e-03 1.55533407e+01] [-1.52308137e-02 -2.47468369e-03 9.99880942e-01 1.36109990e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.40907232899997 meters Centerline goodness : 0.740381 Centerline is valid? [False, False] Translation: X:-299.59, Y:15.56, Z:136.11 [[ 9.99580622e-01 2.48106893e-02 1.49335180e-02 -2.99586259e+02] [-2.48317855e-02 9.99690888e-01 1.22888485e-03 1.55558470e+01] [-1.48984124e-02 -1.59919540e-03 9.99887734e-01 1.36111063e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.43907232899994 meters Centerline goodness : 0.740273 Centerline is valid? [False, False] Translation: X:-299.59, Y:15.56, Z:136.11 [[ 9.99586918e-01 2.46260681e-02 1.48171997e-02 -2.99586560e+02] [-2.46402423e-02 9.99696083e-01 7.74778733e-04 1.55570195e+01] [-1.47936167e-02 -1.13955808e-03 9.99889919e-01 1.36111845e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.46907232899997 meters Centerline goodness : 0.738085 Centerline is valid? [False, False] Translation: X:-299.59, Y:15.56, Z:136.11 [[ 9.99593203e-01 2.46738958e-02 1.43047911e-02 -2.99585544e+02] [-2.46840379e-02 9.99695161e-01 5.32851449e-04 1.55580320e+01] [-1.42872829e-02 -8.85734693e-04 9.99897539e-01 1.36112197e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.49907232899994 meters Centerline goodness : 0.738339 Centerline is valid? [False, False] Translation: X:-299.59, Y:15.56, Z:136.11 [[ 9.99594280e-01 2.45937226e-02 1.43675026e-02 -2.99585661e+02] [-2.46029575e-02 9.99697193e-01 4.66341034e-04 1.55580855e+01] [-1.43516830e-02 -8.19634887e-04 9.99896673e-01 1.36112012e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.529072329 meters Centerline goodness : 0.738353 Centerline is valid? [False, False] Translation: X:-299.59, Y:15.57, Z:136.12 [[ 9.99722001e-01 2.34090064e-02 2.81776445e-03 -2.99592632e+02] [-2.34031364e-02 9.99723907e-01 -2.09845713e-03 1.55709328e+01] [-2.86610928e-03 2.03192923e-03 9.99993828e-01 1.36116565e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.55907232899995 meters Centerline goodness : 0.737239 Centerline is valid? [False, False] Translation: X:-299.59, Y:15.57, Z:136.12 [[ 9.99699787e-01 2.44228211e-02 1.96509442e-03 -2.99590075e+02] [-2.44205660e-02 9.99701096e-01 -1.16351829e-03 1.55696730e+01] [-1.99292345e-03 1.11518027e-03 9.99997392e-01 1.36116065e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.589072329 meters Centerline goodness : 0.737719 Centerline is valid? [False, False] Translation: X:-299.59, Y:15.57, Z:136.12 [[ 9.99680246e-01 2.52555265e-02 1.25065086e-03 -2.99587805e+02] [-2.52542033e-02 9.99680497e-01 -1.06274347e-03 1.55716518e+01] [-1.27709142e-03 1.03081946e-03 9.99998653e-01 1.36115817e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.61907232899995 meters Centerline goodness : 0.738201 Centerline is valid? [False, False] Translation: X:-299.59, Y:15.57, Z:136.12 [[ 9.99675637e-01 2.54555467e-02 7.97440296e-04 -2.99586976e+02] [-2.54546731e-02 9.99675386e-01 -1.08714447e-03 1.55722965e+01] [-8.24855293e-04 1.06649326e-03 9.99999091e-01 1.36116330e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.649072329 meters Centerline goodness : 0.737422 Centerline is valid? [False, False] Translation: X:-299.58, Y:15.57, Z:136.12 [[ 9.99686291e-01 2.48609254e-02 -3.04214592e-03 -2.99577649e+02] [-2.48357328e-02 9.99659083e-01 8.05625089e-03 1.55702544e+01] [ 3.24139466e-03 -7.97816965e-03 9.99962920e-01 1.36123473e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.67907232899995 meters Centerline goodness : 0.737018 Centerline is valid? [False, False] Translation: X:-299.58, Y:15.57, Z:136.12 [[ 9.99687640e-01 2.48097106e-02 -3.01676302e-03 -2.99577799e+02] [-2.47849353e-02 9.99660877e-01 7.98987546e-03 1.55706620e+01] [ 3.21396646e-03 -7.91260947e-03 9.99963530e-01 1.36123594e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.709072329 meters Centerline goodness : 0.736612 Centerline is valid? [False, False] Translation: X:-299.58, Y:15.57, Z:136.12 [[ 9.99688782e-01 2.47410639e-02 -3.19659711e-03 -2.99577694e+02] [-2.47157958e-02 9.99664739e-01 7.71613108e-03 1.55714726e+01] [ 3.38643071e-03 -7.63472325e-03 9.99965121e-01 1.36124002e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.73907232899995 meters Centerline goodness : 0.737371 Centerline is valid? [False, False] Translation: X:-299.58, Y:15.57, Z:136.12 [[ 9.99761523e-01 2.14413905e-02 -4.14284283e-03 -2.99575681e+02] [-2.14237059e-02 9.99761380e-01 4.26696361e-03 1.55705356e+01] [ 4.23334390e-03 -4.17719100e-03 9.99982315e-01 1.36124189e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.769072329 meters Centerline goodness : 0.735282 Centerline is valid? [False, False] Translation: X:-299.58, Y:15.57, Z:136.13 [[ 9.99765609e-01 2.11954096e-02 -4.41384416e-03 -2.99575831e+02] [-2.11794577e-02 9.99769100e-01 3.62998343e-03 1.55723724e+01] [ 4.48976399e-03 -3.53564976e-03 9.99983670e-01 1.36125360e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.79907232899996 meters Centerline goodness : 0.735105 Centerline is valid? [False, False] Translation: X:-299.57, Y:15.57, Z:136.13 [[ 9.99750344e-01 2.17261550e-02 -5.21763401e-03 -2.99574330e+02] [-2.17074526e-02 9.99757831e-01 3.61475443e-03 1.55736279e+01] [ 5.29490517e-03 -3.50059044e-03 9.99979855e-01 1.36126218e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.829072329 meters Centerline goodness : 0.735980 Centerline is valid? [False, False] Translation: X:-299.57, Y:15.57, Z:136.13 [[ 9.99829365e-01 1.75833220e-02 -5.66276414e-03 -2.99574366e+02] [-1.75880767e-02 9.99845005e-01 -7.90933681e-04 1.55744029e+01] [ 5.64797919e-03 8.90395850e-04 9.99983654e-01 1.36127573e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.85907232899996 meters Centerline goodness : 0.733344 Centerline is valid? [False, False] Translation: X:-299.58, Y:15.57, Z:136.13 [[ 9.99830183e-01 1.76670734e-02 -5.24201987e-03 -2.99575525e+02] [-1.76697368e-02 9.99843771e-01 -4.62204504e-04 1.55730266e+01] [ 5.23303511e-03 5.54751125e-04 9.99986154e-01 1.36127544e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.889072329 meters Centerline goodness : 0.734337 Centerline is valid? [False, False] Translation: X:-299.58, Y:15.57, Z:136.13 [[ 9.99833471e-01 1.75669528e-02 -4.94292263e-03 -2.99576348e+02] [-1.75692210e-02 9.99845563e-01 -4.15824057e-04 1.55724885e+01] [ 4.93485450e-03 5.02598110e-04 9.99987697e-01 1.36127488e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.91907232899996 meters Centerline goodness : 0.733583 Centerline is valid? [False, False] Translation: X:-299.57, Y:15.57, Z:136.13 [[ 9.99886399e-01 1.41925537e-02 -5.07541981e-03 -2.99574681e+02] [-1.42094269e-02 9.99893582e-01 -3.30404115e-03 1.55699878e+01] [ 5.02798691e-03 3.37578462e-03 9.99981662e-01 1.36125568e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.949072329 meters Centerline goodness : 0.732830 Centerline is valid? [False, False] Translation: X:-299.58, Y:15.57, Z:136.13 [[ 9.99888191e-01 1.42109921e-02 -4.65334351e-03 -2.99575552e+02] [-1.42251202e-02 9.99894266e-01 -3.01720986e-03 1.55688683e+01] [ 4.60997395e-03 3.08306688e-03 9.99984621e-01 1.36125176e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.97907232899996 meters Centerline goodness : 0.733655 Centerline is valid? [False, False] Translation: X:-299.58, Y:15.57, Z:136.13 [[ 9.99894660e-01 1.39159964e-02 -4.12473488e-03 -2.99577130e+02] [-1.39292343e-02 9.99897869e-01 -3.19823522e-03 1.55688587e+01] [ 4.07980699e-03 3.25535271e-03 9.99986379e-01 1.36125409e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.009072329 meters Centerline goodness : 0.732207 Centerline is valid? [False, False] Translation: X:-299.58, Y:15.57, Z:136.13 [[ 9.99899610e-01 1.36854091e-02 -3.67132871e-03 -2.99578386e+02] [-1.36977560e-02 9.99900539e-01 -3.35923941e-03 1.55688976e+01] [ 3.62499099e-03 3.40919114e-03 9.99987618e-01 1.36125529e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.03907232899996 meters Centerline goodness : 0.732426 Centerline is valid? [False, False] Translation: X:-299.58, Y:15.57, Z:136.13 [[ 9.99907394e-01 1.33043942e-02 -2.86305344e-03 -2.99581012e+02] [-1.33137943e-02 9.99905956e-01 -3.28962730e-03 1.55675059e+01] [ 2.81901769e-03 3.32744077e-03 9.99990491e-01 1.36126113e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.069072329 meters Centerline goodness : 0.732462 Centerline is valid? [False, False] Translation: X:-299.58, Y:15.57, Z:136.13 [[ 9.99948871e-01 9.60334528e-03 -3.16723881e-03 -2.99579868e+02] [-9.62451108e-03 9.99930991e-01 -6.73659816e-03 1.55661100e+01] [ 3.10232636e-03 6.76673684e-03 9.99972293e-01 1.36125521e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.09907232899997 meters Centerline goodness : 0.731581 Centerline is valid? [False, False] Translation: X:-299.57, Y:15.56, Z:136.13 [[ 9.99982255e-01 3.02395557e-03 -5.13268024e-03 -2.99572181e+02] [-3.02359630e-03 9.99995426e-01 7.77543602e-05 1.55556845e+01] [ 5.13289189e-03 -6.22338274e-05 9.99986825e-01 1.36130075e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.129072329 meters Centerline goodness : 0.730597 Centerline is valid? [False, False] Translation: X:-299.58, Y:15.56, Z:136.13 [[ 9.99991339e-01 1.29744437e-03 -3.95455834e-03 -2.99576019e+02] [-1.30106133e-03 9.99998738e-01 -9.12193289e-04 1.55554054e+01] [ 3.95336983e-03 9.17330512e-04 9.99991765e-01 1.36130814e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.15907232899997 meters Centerline goodness : 0.729214 Centerline is valid? [False, False] Translation: X:-299.58, Y:15.55, Z:136.13 [[ 9.99995567e-01 7.00431030e-04 -2.89396349e-03 -2.99579050e+02] [-7.03243415e-04 9.99999281e-01 -9.70907671e-04 1.55540961e+01] [ 2.89328135e-03 9.72938528e-04 9.99995341e-01 1.36131081e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.18907232899994 meters Centerline goodness : 0.728077 Centerline is valid? [False, False] Translation: X:-299.58, Y:15.55, Z:136.13 [[ 9.99991174e-01 -3.69746435e-03 -1.99506949e-03 -2.99581100e+02] [ 3.68821440e-03 9.99982525e-01 -4.62033385e-03 1.55516938e+01] [ 2.01211815e-03 4.61293483e-03 9.99987336e-01 1.36130700e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.21907232899997 meters Centerline goodness : 0.727941 Centerline is valid? [False, False] Translation: X:-299.58, Y:15.55, Z:136.13 [[ 9.99992055e-01 -3.75182313e-03 -1.34672446e-03 -2.99582743e+02] [ 3.74604805e-03 9.99983886e-01 -4.26545572e-03 1.55502399e+01] [ 1.36270600e-03 4.26037693e-03 9.99989996e-01 1.36130609e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.24907232899994 meters Centerline goodness : 0.725761 Centerline is valid? [False, False] Translation: X:-299.59, Y:15.55, Z:136.13 [[ 9.99989775e-01 -4.51954892e-03 -1.51453932e-04 -2.99585277e+02] [ 4.51879961e-03 9.99979080e-01 -4.62822812e-03 1.55505225e+01] [ 1.72368267e-04 4.62749641e-03 9.99989278e-01 1.36129935e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.279072329 meters Centerline goodness : 0.724809 Centerline is valid? [False, False] Translation: X:-299.59, Y:15.55, Z:136.13 [[ 9.99982406e-01 -5.81112340e-03 1.19062153e-03 -2.99588155e+02] [ 5.81645722e-03 9.99972840e-01 -4.52648154e-03 1.55482401e+01] [-1.16428524e-03 4.53332711e-03 9.99989047e-01 1.36128831e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.30907232899995 meters Centerline goodness : 0.723199 Centerline is valid? [False, False] Translation: X:-299.59, Y:15.55, Z:136.13 [[ 9.99995750e-01 -2.15380131e-03 1.96492660e-03 -2.99590582e+02] [ 2.15496759e-03 9.99997503e-01 -5.91628259e-04 1.55480095e+01] [-1.96364745e-03 5.95860098e-04 9.99997895e-01 1.36129241e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.339072329 meters Centerline goodness : 0.720259 Centerline is valid? [False, False] Translation: X:-299.59, Y:15.55, Z:136.13 [[ 9.99993245e-01 -2.65402748e-03 2.54288247e-03 -2.99591923e+02] [ 2.65691632e-03 9.99995828e-01 -1.13334580e-03 1.55495736e+01] [-2.53986393e-03 1.14009437e-03 9.99996125e-01 1.36129136e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.36907232899995 meters Centerline goodness : 0.724876 Centerline is valid? [False, False] Translation: X:-299.59, Y:15.55, Z:136.13 [[ 9.99995053e-01 -2.31044257e-03 2.13444079e-03 -2.99590860e+02] [ 2.31233974e-03 9.99996933e-01 -8.86798450e-04 1.55494769e+01] [-2.13238535e-03 8.91729615e-04 9.99997329e-01 1.36129142e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.399072329 meters Centerline goodness : 0.721056 Centerline is valid? [False, False] Translation: X:-299.59, Y:15.55, Z:136.13 [[ 9.99990856e-01 -3.06080084e-03 2.98660954e-03 -2.99593295e+02] [ 3.06501351e-03 9.99994313e-01 -1.40696529e-03 1.55498375e+01] [-2.98228611e-03 1.41610642e-03 9.99994550e-01 1.36129462e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.42907232899995 meters Centerline goodness : 0.721550 Centerline is valid? [False, False] Translation: X:-299.60, Y:15.55, Z:136.13 [[ 9.99986899e-01 -3.50575559e-03 3.72968104e-03 -2.99595460e+02] [ 3.51172613e-03 9.99992561e-01 -1.59547599e-03 1.55496433e+01] [-3.72405995e-03 1.60855270e-03 9.99991772e-01 1.36129797e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.459072329 meters Centerline goodness : 0.718630 Centerline is valid? [False, False] Translation: X:-299.60, Y:15.55, Z:136.13 [[ 9.99984587e-01 -3.81008160e-03 4.03832793e-03 -2.99596715e+02] [ 3.81784933e-03 9.99990873e-01 -1.91753999e-03 1.55504176e+01] [-4.03098509e-03 1.93292817e-03 9.99990007e-01 1.36130458e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.48907232899995 meters Centerline goodness : 0.718227 Centerline is valid? [False, False] Translation: X:-299.60, Y:15.55, Z:136.13 [[ 9.99983704e-01 -3.84728079e-03 4.21789847e-03 -2.99596932e+02] [ 3.85535061e-03 9.99990750e-01 -1.90677582e-03 1.55506468e+01] [-4.21052356e-03 1.92300622e-03 9.99989287e-01 1.36130170e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.519072329 meters Centerline goodness : 0.716513 Centerline is valid? [False, False] Translation: X:-299.60, Y:15.55, Z:136.13 [[ 9.99984421e-01 -3.61827961e-03 4.25038428e-03 -2.99596952e+02] [ 3.62466350e-03 9.99992313e-01 -1.49521202e-03 1.55495677e+01] [-4.24494152e-03 1.51059494e-03 9.99989849e-01 1.36130034e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.54907232899996 meters Centerline goodness : 0.718031 Centerline is valid? [False, False] Translation: X:-299.60, Y:15.55, Z:136.13 [[ 9.99982015e-01 -3.75309770e-03 4.67806701e-03 -2.99598152e+02] [ 3.75980779e-03 9.99991915e-01 -1.42640400e-03 1.55491599e+01] [-4.67267576e-03 1.44396698e-03 9.99988040e-01 1.36130177e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.579072329 meters Centerline goodness : 0.716808 Centerline is valid? [False, False] Translation: X:-299.60, Y:15.55, Z:136.13 [[ 9.99975529e-01 -4.30259297e-03 5.51619093e-03 -2.99600048e+02] [ 4.31305488e-03 9.99988920e-01 -1.88609077e-03 1.55500964e+01] [-5.50801473e-03 1.90983625e-03 9.99983007e-01 1.36129917e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.60907232899996 meters Centerline goodness : 0.716596 Centerline is valid? [False, False] Translation: X:-299.60, Y:15.55, Z:136.13 [[ 9.99972064e-01 -4.32942644e-03 6.09316938e-03 -2.99601430e+02] [ 4.33869777e-03 9.99989449e-01 -1.50920029e-03 1.55485136e+01] [-6.08657111e-03 1.53559455e-03 9.99980298e-01 1.36129740e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.639072329 meters Centerline goodness : 0.714217 Centerline is valid? [False, False] Translation: X:-299.60, Y:15.55, Z:136.13 [[ 9.99956040e-01 -5.71139348e-03 7.43632979e-03 -2.99604574e+02] [ 5.72726876e-03 9.99981362e-01 -2.11528434e-03 1.55482614e+01] [-7.42410997e-03 2.15778121e-03 9.99970113e-01 1.36129309e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.66907232899996 meters Centerline goodness : 0.713895 Centerline is valid? [False, False] Translation: X:-299.61, Y:15.55, Z:136.13 [[ 9.99933393e-01 -7.68845544e-03 8.60794047e-03 -2.99608222e+02] [ 7.71943134e-03 9.99963828e-01 -3.57110280e-03 1.55494686e+01] [-8.58017284e-03 3.63731335e-03 9.99956574e-01 1.36130025e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.699072329 meters Centerline goodness : 0.713001 Centerline is valid? [False, False] Translation: X:-299.61, Y:15.55, Z:136.13 [[ 9.99933968e-01 -7.50920298e-03 8.69889395e-03 -2.99608245e+02] [ 7.53717322e-03 9.99966516e-01 -3.18707032e-03 1.55486420e+01] [-8.67467032e-03 3.25242495e-03 9.99957085e-01 1.36129748e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.72907232899996 meters Centerline goodness : 0.711754 Centerline is valid? [False, False] Translation: X:-299.61, Y:15.55, Z:136.13 [[ 9.99932540e-01 -7.51861819e-03 8.85360072e-03 -2.99609125e+02] [ 7.54681715e-03 9.99966542e-01 -3.15593710e-03 1.55484404e+01] [-8.82957621e-03 3.22254070e-03 9.99955826e-01 1.36130451e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.759072329 meters Centerline goodness : 0.709847 Centerline is valid? [False, False] Translation: X:-299.61, Y:15.55, Z:136.13 [[ 9.99933137e-01 -7.49610149e-03 8.80508443e-03 -2.99609323e+02] [ 7.52418998e-03 9.99966696e-01 -3.16124793e-03 1.55486333e+01] [-8.78109415e-03 3.22728769e-03 9.99956238e-01 1.36130905e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.78907232899996 meters Centerline goodness : 0.711492 Centerline is valid? [False, False] Translation: X:-299.61, Y:15.55, Z:136.13 [[ 9.99929003e-01 -7.80178877e-03 9.00671262e-03 -2.99609690e+02] [ 7.83492255e-03 9.99962647e-01 -3.64938224e-03 1.55502946e+01] [-8.97790449e-03 3.71969004e-03 9.99952779e-01 1.36130795e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.819072329 meters Centerline goodness : 0.708723 Centerline is valid? [False, False] Translation: X:-299.61, Y:15.55, Z:136.13 [[ 9.99921423e-01 -8.10733550e-03 9.56132684e-03 -2.99611144e+02] [ 8.14346803e-03 9.99959824e-01 -3.74617009e-03 1.55502193e+01] [-9.53057125e-03 3.82373808e-03 9.99947272e-01 1.36130870e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.84907232899997 meters Centerline goodness : 0.708732 Centerline is valid? [False, False] Translation: X:-299.61, Y:15.55, Z:136.13 [[ 9.99910685e-01 -8.49764916e-03 1.03155718e-02 -2.99613560e+02] [ 8.53683538e-03 9.99956489e-01 -3.76067368e-03 1.55492781e+01] [-1.02831661e-02 3.84840014e-03 9.99939721e-01 1.36131522e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.879072329 meters Centerline goodness : 0.705834 Centerline is valid? [False, False] Translation: X:-299.62, Y:15.55, Z:136.13 [[ 9.99900709e-01 -8.85892157e-03 1.09586751e-02 -2.99615215e+02] [ 8.90377583e-03 9.99952155e-01 -4.05104112e-03 1.55497487e+01] [-1.09222629e-02 4.14821247e-03 9.99931746e-01 1.36131578e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.90907232899997 meters Centerline goodness : 0.706043 Centerline is valid? [False, False] Translation: X:-299.62, Y:15.55, Z:136.13 [[ 9.99894572e-01 -8.87094519e-03 1.14956690e-02 -2.99616515e+02] [ 8.91318706e-03 9.99953693e-01 -3.62858042e-03 1.55480265e+01] [-1.14629477e-02 3.73066091e-03 9.99927339e-01 1.36131371e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.93907232899994 meters Centerline goodness : 0.705323 Centerline is valid? [False, False] Translation: X:-299.62, Y:15.55, Z:136.13 [[ 9.99893790e-01 -8.66678074e-03 1.17173330e-02 -2.99616708e+02] [ 8.70336460e-03 9.99957398e-01 -3.07482151e-03 1.55464257e+01] [-1.16901850e-02 3.17647516e-03 9.99926622e-01 1.36130783e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.96907232899997 meters Centerline goodness : 0.705556 Centerline is valid? [False, False] Translation: X:-299.62, Y:15.55, Z:136.13 [[ 9.99890984e-01 -8.51991892e-03 1.20595147e-02 -2.99617323e+02] [ 8.55208916e-03 9.99960002e-01 -2.61857159e-03 1.55450226e+01] [-1.20367224e-02 2.72142017e-03 9.99923853e-01 1.36130385e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.99907232899994 meters Centerline goodness : 0.705924 Centerline is valid? [False, False] Translation: X:-299.62, Y:15.54, Z:136.13 [[ 9.99888978e-01 -8.32662527e-03 1.23571795e-02 -2.99617791e+02] [ 8.35376518e-03 9.99962803e-01 -2.14629668e-03 1.55436598e+01] [-1.23388484e-02 2.24928736e-03 9.99921344e-01 1.36129937e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.029072329 meters Centerline goodness : 0.706838 Centerline is valid? [False, False] Translation: X:-299.62, Y:15.54, Z:136.13 [[ 9.99871237e-01 -9.11562554e-03 1.32066028e-02 -2.99620498e+02] [ 9.14991734e-03 9.99954917e-01 -2.53847215e-03 1.55432902e+01] [-1.31828677e-02 2.65898462e-03 9.99909567e-01 1.36130593e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.05907232899995 meters Centerline goodness : 0.705665 Centerline is valid? [False, False] Translation: X:-299.62, Y:15.54, Z:136.13 [[ 9.99882530e-01 -8.56992102e-03 1.27076144e-02 -2.99619068e+02] [ 8.59669438e-03 9.99960939e-01 -2.05374910e-03 1.55429290e+01] [-1.26895176e-02 2.16275133e-03 9.99917146e-01 1.36130385e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.089072329 meters Centerline goodness : 0.707371 Centerline is valid? [False, False] Translation: X:-299.62, Y:15.55, Z:136.13 [[ 9.99865289e-01 -9.46674817e-03 1.34083585e-02 -2.99620222e+02] [ 9.50692417e-03 9.99950499e-01 -2.93577562e-03 1.55451855e+01] [-1.33799025e-02 3.06285239e-03 9.99905794e-01 1.36129750e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.11907232899995 meters Centerline goodness : 0.707527 Centerline is valid? [False, False] Translation: X:-299.62, Y:15.54, Z:136.13 [[ 9.99883866e-01 -8.52560072e-03 1.26320237e-02 -2.99618826e+02] [ 8.54878747e-03 9.99961869e-01 -1.78269443e-03 1.55426995e+01] [-1.26163435e-02 1.89047589e-03 9.99918624e-01 1.36130330e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.149072329 meters Centerline goodness : 0.708264 Centerline is valid? [False, False] Translation: X:-299.62, Y:15.55, Z:136.13 [[ 9.99907849e-01 -4.78854135e-03 1.27029095e-02 -2.99619249e+02] [ 4.76893821e-03 9.99987391e-01 1.57304305e-03 1.55454886e+01] [-1.27102819e-02 -1.51231870e-03 9.99918077e-01 1.36130625e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.17907232899995 meters Centerline goodness : 0.709153 Centerline is valid? [False, False] Translation: X:-299.62, Y:15.55, Z:136.13 [[ 9.99883773e-01 -6.39065549e-03 1.38419792e-02 -2.99622072e+02] [ 6.39141576e-03 9.99979575e-01 -1.06880122e-05 1.55484443e+01] [-1.38416282e-02 9.91566141e-05 9.99904195e-01 1.36130675e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.209072329 meters Centerline goodness : 0.710284 Centerline is valid? [False, False] Translation: X:-299.62, Y:15.55, Z:136.13 [[ 9.99865492e-01 -6.97758493e-03 1.48428823e-02 -2.99624747e+02] [ 6.97898248e-03 9.99975646e-01 -4.23604145e-05 1.55468901e+01] [-1.48422252e-02 1.45942932e-04 9.99889837e-01 1.36130669e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.23907232899995 meters Centerline goodness : 0.710284 Centerline is valid? [False, False] Translation: X:-299.62, Y:15.55, Z:136.13 [[ 9.99865492e-01 -6.97758493e-03 1.48428823e-02 -2.99624747e+02] [ 6.97898248e-03 9.99975646e-01 -4.23604145e-05 1.55468901e+01] [-1.48422252e-02 1.45942932e-04 9.99889837e-01 1.36130669e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.269072329 meters Centerline goodness : 0.712144 Centerline is valid? [False, False] Translation: X:-299.63, Y:15.55, Z:136.13 [[ 9.99864147e-01 -6.85207563e-03 1.49912435e-02 -2.99625757e+02] [ 6.84821030e-03 9.99976503e-01 3.09159653e-04 1.55453086e+01] [-1.49930096e-02 -2.06454464e-04 9.99887577e-01 1.36131384e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.29907232899996 meters Centerline goodness : 0.712780 Centerline is valid? [False, False] Translation: X:-299.62, Y:15.55, Z:136.13 [[ 9.99873207e-01 -6.67864673e-03 1.44556503e-02 -2.99624374e+02] [ 6.67778852e-03 9.99977698e-01 1.07636952e-04 1.55468800e+01] [-1.44560468e-02 -1.10915289e-05 9.99895506e-01 1.36131379e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.329072329 meters Centerline goodness : 0.712620 Centerline is valid? [False, False] Translation: X:-299.63, Y:15.55, Z:136.13 [[ 9.99857473e-01 -7.45618448e-03 1.51472436e-02 -2.99625314e+02] [ 7.46391734e-03 9.99972042e-01 -4.54043393e-04 1.55480033e+01] [-1.51434347e-02 5.67036454e-04 9.99885171e-01 1.36130386e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.35907232899996 meters Centerline goodness : 0.714726 Centerline is valid? [False, False] Translation: X:-299.63, Y:15.55, Z:136.13 [[ 9.99852147e-01 -7.50013639e-03 1.54735631e-02 -2.99626027e+02] [ 7.50499051e-03 9.99971804e-01 -2.55658904e-04 1.55471824e+01] [-1.54712094e-02 3.71750049e-04 9.99880245e-01 1.36130138e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.389072329 meters Centerline goodness : 0.714103 Centerline is valid? [False, False] Translation: X:-299.62, Y:15.55, Z:136.13 [[ 9.99861583e-01 -7.13457750e-03 1.50303916e-02 -2.99624891e+02] [ 7.13463870e-03 9.99974547e-01 4.95504539e-05 1.55469157e+01] [-1.50303626e-02 5.76928183e-05 9.99887036e-01 1.36130080e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.41907232899996 meters Centerline goodness : 0.715309 Centerline is valid? [False, False] Translation: X:-299.62, Y:15.55, Z:136.13 [[ 9.99882020e-01 -6.34990487e-03 1.39865905e-02 -2.99622581e+02] [ 6.34635275e-03 9.99979817e-01 2.98336081e-04 1.55476789e+01] [-1.39882026e-02 -2.09537046e-04 9.99902138e-01 1.36130616e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.449072329 meters Centerline goodness : 0.715100 Centerline is valid? [False, False] Translation: X:-299.62, Y:15.55, Z:136.13 [[ 9.99879423e-01 -6.52801605e-03 1.40898847e-02 -2.99623243e+02] [ 6.52933324e-03 9.99978683e-01 -4.74858450e-05 1.55485426e+01] [-1.40892743e-02 1.39477672e-04 9.99900732e-01 1.36131160e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.47907232899996 meters Centerline goodness : 0.717694 Centerline is valid? [False, False] Translation: X:-299.62, Y:15.55, Z:136.13 [[ 9.99875297e-01 -6.35963853e-03 1.44549557e-02 -2.99623932e+02] [ 6.35441931e-03 9.99979728e-01 4.06967890e-04 1.55471182e+01] [-1.44572508e-02 -3.15064290e-04 9.99895439e-01 1.36130704e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.509072329 meters Centerline goodness : 0.717311 Centerline is valid? [False, False] Translation: X:-299.62, Y:15.55, Z:136.13 [[ 9.99882207e-01 -6.05480301e-03 1.41035856e-02 -2.99623276e+02] [ 6.04577767e-03 9.99981491e-01 6.82480425e-04 1.55466436e+01] [-1.41074568e-02 -5.97132891e-04 9.99900307e-01 1.36130952e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.53907232899996 meters Centerline goodness : 0.719217 Centerline is valid? [False, False] Translation: X:-299.62, Y:15.55, Z:136.13 [[ 9.99900957e-01 -1.82464728e-03 1.39551481e-02 -2.99623683e+02] [ 1.75767356e-03 9.99986887e-01 4.80997282e-03 1.55471442e+01] [-1.39637416e-02 -4.78496783e-03 9.99891053e-01 1.36131905e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.569072329 meters Centerline goodness : 0.720593 Centerline is valid? [False, False] Translation: X:-299.62, Y:15.55, Z:136.13 [[ 9.99915474e-01 -1.31675735e-03 1.29349138e-02 -2.99621621e+02] [ 1.25750938e-03 9.99988687e-01 4.58753452e-03 1.55491131e+01] [-1.29408081e-02 -4.57088098e-03 9.99905817e-01 1.36132686e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.59907232899997 meters Centerline goodness : 0.722491 Centerline is valid? [False, False] Translation: X:-299.62, Y:15.55, Z:136.13 [[ 9.99933397e-01 -5.47563609e-04 1.15283421e-02 -2.99619227e+02] [ 4.99805948e-04 9.99991284e-01 4.14510407e-03 1.55519073e+01] [-1.15305113e-02 -4.13906606e-03 9.99924955e-01 1.36134370e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.629072329 meters Centerline goodness : 0.723114 Centerline is valid? [False, False] Translation: X:-299.62, Y:15.55, Z:136.13 [[ 9.99935668e-01 -8.24817764e-04 1.13127775e-02 -2.99618962e+02] [ 7.85634338e-04 9.99993679e-01 3.46765005e-03 1.55540302e+01] [-1.13155662e-02 -3.45853927e-03 9.99929996e-01 1.36134724e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.65907232899997 meters Centerline goodness : 0.723075 Centerline is valid? [False, False] Translation: X:-299.62, Y:15.55, Z:136.14 [[ 9.99941787e-01 -5.44506792e-04 1.07761726e-02 -2.99618056e+02] [ 5.05189205e-04 9.99993208e-01 3.65095275e-03 1.55535858e+01] [-1.07780874e-02 -3.64529621e-03 9.99935270e-01 1.36135178e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.68907232899994 meters Centerline goodness : 0.722715 Centerline is valid? [False, False] Translation: X:-299.62, Y:15.55, Z:136.13 [[ 9.99950169e-01 -9.18309077e-05 9.98255637e-03 -2.99615926e+02] [ 5.47661993e-05 9.99993105e-01 3.71315752e-03 1.55543507e+01] [-9.98282852e-03 -3.71242578e-03 9.99943279e-01 1.36134951e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.71907232899997 meters Centerline goodness : 0.722361 Centerline is valid? [False, False] Translation: X:-299.62, Y:15.56, Z:136.14 [[ 9.99946676e-01 3.57159623e-03 9.68962177e-03 -2.99615405e+02] [-3.63757037e-03 9.99970266e-01 6.79968438e-03 1.55582352e+01] [-9.66504793e-03 -6.83456848e-03 9.99929935e-01 1.36135363e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.74907232899994 meters Centerline goodness : 0.720708 Centerline is valid? [False, False] Translation: X:-299.61, Y:15.56, Z:136.14 [[ 9.99922653e-01 1.10090966e-02 5.78679615e-03 -2.99606555e+02] [-1.10513065e-02 9.99912187e-01 7.31352429e-03 1.55644059e+01] [-5.70577270e-03 -7.37691027e-03 9.99956512e-01 1.36141787e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.779072329 meters Centerline goodness : 0.723145 Centerline is valid? [False, False] Translation: X:-299.60, Y:15.56, Z:136.14 [[ 9.99952947e-01 8.44927697e-03 4.76583900e-03 -2.99603544e+02] [-8.47013131e-03 9.99954567e-01 4.37271760e-03 1.55637966e+01] [-4.72867617e-03 -4.41287914e-03 9.99979083e-01 1.36141273e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.80907232899995 meters Centerline goodness : 0.720884 Centerline is valid? [False, False] Translation: X:-299.60, Y:15.56, Z:136.14 [[ 9.99975123e-01 5.88486533e-03 3.88879385e-03 -2.99600647e+02] [-5.89126429e-03 9.99981308e-01 1.63608551e-03 1.55619898e+01] [-3.87909302e-03 -1.65895472e-03 9.99991100e-01 1.36140331e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.839072329 meters Centerline goodness : 0.722649 Centerline is valid? [False, False] Translation: X:-299.60, Y:15.56, Z:136.14 [[ 9.99973732e-01 6.05977067e-03 3.97676704e-03 -2.99601200e+02] [-6.06814674e-03 9.99979389e-01 2.09757575e-03 1.55600642e+01] [-3.96397425e-03 -2.12165226e-03 9.99989893e-01 1.36140514e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.86907232899995 meters Centerline goodness : 0.721888 Centerline is valid? [False, False] Translation: X:-299.60, Y:15.56, Z:136.14 [[ 9.99941465e-01 1.02490495e-02 3.46744395e-03 -2.99600181e+02] [-1.02691516e-02 9.99930275e-01 5.83011704e-03 1.55621436e+01] [-3.40744902e-03 -5.86538349e-03 9.99976993e-01 1.36140988e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.899072329 meters Centerline goodness : 0.722627 Centerline is valid? [False, False] Translation: X:-299.60, Y:15.56, Z:136.14 [[ 9.99944150e-01 1.00047807e-02 3.40610946e-03 -2.99599906e+02] [-1.00228901e-02 9.99935501e-01 5.34183215e-03 1.55639528e+01] [-3.35244591e-03 -5.37567287e-03 9.99979931e-01 1.36140836e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.92907232899995 meters Centerline goodness : 0.722057 Centerline is valid? [False, False] Translation: X:-299.60, Y:15.56, Z:136.14 [[ 9.99943521e-01 1.01842969e-02 3.03883304e-03 -2.99599368e+02] [-1.02006841e-02 9.99933246e-01 5.42672385e-03 1.55639353e+01] [-2.98336282e-03 -5.45741554e-03 9.99980658e-01 1.36141309e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.959072329 meters Centerline goodness : 0.723656 Centerline is valid? [False, False] Translation: X:-299.60, Y:15.57, Z:136.14 [[ 9.99945748e-01 1.00381211e-02 2.78147386e-03 -2.99600082e+02] [-1.00515230e-02 9.99937735e-01 4.84695164e-03 1.55655753e+01] [-2.73264639e-03 -4.87464673e-03 9.99984385e-01 1.36143177e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.98907232899995 meters Centerline goodness : 0.725439 Centerline is valid? [False, False] Translation: X:-299.60, Y:15.57, Z:136.14 [[ 9.99978990e-01 6.06299879e-03 2.29356351e-03 -2.99599411e+02] [-6.06481465e-03 9.99981300e-01 7.85595565e-04 1.55653868e+01] [-2.28875756e-03 -7.99489097e-04 9.99997061e-01 1.36143826e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.019072329 meters Centerline goodness : 0.726778 Centerline is valid? [False, False] Translation: X:-299.60, Y:15.56, Z:136.14 [[ 9.99977923e-01 6.15886311e-03 2.49426948e-03 -2.99600335e+02] [-6.16153504e-03 9.99980450e-01 1.06496384e-03 1.55640256e+01] [-2.48766175e-03 -1.08030886e-03 9.99996322e-01 1.36144210e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.04907232899996 meters Centerline goodness : 0.727347 Centerline is valid? [False, False] Translation: X:-299.60, Y:15.56, Z:136.14 [[ 9.99977008e-01 6.02355977e-03 3.11464540e-03 -2.99601292e+02] [-6.02781697e-03 9.99980909e-01 1.35925867e-03 1.55626058e+01] [-3.10639836e-03 -1.37800193e-03 9.99994226e-01 1.36143082e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.079072329 meters Centerline goodness : 0.725877 Centerline is valid? [False, False] Translation: X:-299.60, Y:15.56, Z:136.14 [[ 9.99977540e-01 5.72513281e-03 3.48449784e-03 -2.99601850e+02] [-5.72907917e-03 9.99982957e-01 1.12362316e-03 1.55630474e+01] [-3.47800556e-03 -1.14356089e-03 9.99993298e-01 1.36142465e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.10907232899996 meters Centerline goodness : 0.726493 Centerline is valid? [False, False] Translation: X:-299.60, Y:15.56, Z:136.14 [[ 9.99976774e-01 5.98280826e-03 3.26455116e-03 -2.99601309e+02] [-5.98758244e-03 9.99981016e-01 1.45462379e-03 1.55622959e+01] [-3.25578645e-03 -1.47413677e-03 9.99993613e-01 1.36142350e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.139072329 meters Centerline goodness : 0.727576 Centerline is valid? [False, False] Translation: X:-299.60, Y:15.56, Z:136.14 [[ 9.99978038e-01 5.85811528e-03 3.09935437e-03 -2.99601550e+02] [-5.86162052e-03 9.99982190e-01 1.12308578e-03 1.55632142e+01] [-3.09272000e-03 -1.14122836e-03 9.99994566e-01 1.36143239e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.16907232899996 meters Centerline goodness : 0.726981 Centerline is valid? [False, False] Translation: X:-299.60, Y:15.56, Z:136.14 [[ 9.99979809e-01 5.52801790e-03 3.13414764e-03 -2.99602048e+02] [-5.52976465e-03 9.99984560e-01 5.48939454e-04 1.55648968e+01] [-3.13106470e-03 -5.66259469e-04 9.99994938e-01 1.36143808e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.199072329 meters Centerline goodness : 0.725784 Centerline is valid? [False, False] Translation: X:-299.60, Y:15.57, Z:136.14 [[ 9.99981801e-01 4.68372846e-03 3.80277480e-03 -2.99604097e+02] [-4.68280101e-03 9.99989004e-01 -2.52755037e-04 1.55661054e+01] [-3.80391682e-03 2.34942799e-04 9.99992737e-01 1.36144177e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.22907232899996 meters Centerline goodness : 0.723856 Centerline is valid? [False, False] Translation: X:-299.60, Y:15.57, Z:136.14 [[ 9.99991921e-01 5.73911877e-04 3.97855374e-03 -2.99603818e+02] [-5.57381521e-04 9.99991214e-01 -4.15472979e-03 1.55654814e+01] [-3.98090324e-03 4.15247865e-03 9.99983455e-01 1.36143160e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.259072329 meters Centerline goodness : 0.725129 Centerline is valid? [False, False] Translation: X:-299.60, Y:15.56, Z:136.14 [[ 9.99991552e-01 1.16554391e-03 3.94168580e-03 -2.99603541e+02] [-1.15310216e-03 9.99994351e-01 -3.15725608e-03 1.55628597e+01] [-3.94534345e-03 3.15268424e-03 9.99987247e-01 1.36142774e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.28907232899996 meters Centerline goodness : 0.726312 Centerline is valid? [False, False] Translation: X:-299.61, Y:15.56, Z:136.14 [[ 9.99987931e-01 7.13349249e-04 4.86103208e-03 -2.99606314e+02] [-6.98900892e-04 9.99995335e-01 -2.97333252e-03 1.55606661e+01] [-4.86313043e-03 2.96989925e-03 9.99983765e-01 1.36143091e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.319072329 meters Centerline goodness : 0.727532 Centerline is valid? [False, False] Translation: X:-299.61, Y:15.56, Z:136.14 [[ 9.99985456e-01 5.18824109e-04 5.36831047e-03 -2.99607672e+02] [-5.02682639e-04 9.99995350e-01 -3.00771896e-03 1.55602980e+01] [-5.36984599e-03 3.00497666e-03 9.99981067e-01 1.36143118e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.34907232899997 meters Centerline goodness : 0.727845 Centerline is valid? [False, False] Translation: X:-299.61, Y:15.56, Z:136.14 [[ 9.99985380e-01 6.54399065e-04 5.36762273e-03 -2.99607567e+02] [-6.39634045e-04 9.99996009e-01 -2.75201149e-03 1.55597965e+01] [-5.36940222e-03 2.74853795e-03 9.99981807e-01 1.36142906e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.379072329 meters Centerline goodness : 0.725070 Centerline is valid? [False, False] Translation: X:-299.61, Y:15.56, Z:136.14 [[ 9.99983423e-01 6.70698052e-04 5.71878241e-03 -2.99608289e+02] [-6.56082309e-04 9.99996515e-01 -2.55723688e-03 1.55592045e+01] [-5.72047762e-03 2.55344250e-03 9.99980378e-01 1.36142621e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.40907232899997 meters Centerline goodness : 0.725555 Centerline is valid? [False, False] Translation: X:-299.61, Y:15.56, Z:136.14 [[ 9.99978711e-01 -2.28230969e-04 6.52121550e-03 -2.99610575e+02] [ 2.48237639e-04 9.99995265e-01 -3.06729114e-03 1.55591791e+01] [-6.52048457e-03 3.06884465e-03 9.99974032e-01 1.36142812e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.43907232899994 meters Centerline goodness : 0.725406 Centerline is valid? [False, False] Translation: X:-299.61, Y:15.56, Z:136.14 [[ 9.99977514e-01 -3.31124223e-04 6.69792336e-03 -2.99610736e+02] [ 3.52484899e-04 9.99994855e-01 -3.18822007e-03 1.55597336e+01] [-6.69683320e-03 3.19050929e-03 9.99972486e-01 1.36142404e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.46907232899997 meters Centerline goodness : 0.726256 Centerline is valid? [False, False] Translation: X:-299.61, Y:15.56, Z:136.14 [[ 9.99965156e-01 -2.55266884e-03 7.94803226e-03 -2.99613935e+02] [ 2.59258254e-03 9.99984061e-01 -5.01558743e-03 1.55618610e+01] [-7.93510244e-03 5.03601859e-03 9.99955835e-01 1.36142433e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.49907232899994 meters Centerline goodness : 0.725877 Centerline is valid? [False, False] Translation: X:-299.61, Y:15.56, Z:136.14 [[ 9.99969483e-01 -2.07975389e-03 7.53049596e-03 -2.99612848e+02] [ 2.11377600e-03 9.99987583e-01 -4.51277405e-03 1.55610477e+01] [-7.52101699e-03 4.52855412e-03 9.99961463e-01 1.36142319e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.529072329 meters Centerline goodness : 0.725808 Centerline is valid? [False, False] Translation: X:-299.61, Y:15.56, Z:136.14 [[ 9.99970084e-01 -1.94669387e-03 7.48615244e-03 -2.99612387e+02] [ 1.97904727e-03 9.99988724e-01 -4.31678865e-03 1.55609319e+01] [-7.47766456e-03 4.33147496e-03 9.99962661e-01 1.36141840e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.55907232899995 meters Centerline goodness : 0.726246 Centerline is valid? [False, False] Translation: X:-299.61, Y:15.56, Z:136.14 [[ 9.99974261e-01 -1.49815567e-03 7.01662909e-03 -2.99611088e+02] [ 1.52609304e-03 9.99990923e-01 -3.97793406e-03 1.55608108e+01] [-7.01060584e-03 3.98853970e-03 9.99967471e-01 1.36141727e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.589072329 meters Centerline goodness : 0.724874 Centerline is valid? [False, False] Translation: X:-299.61, Y:15.56, Z:136.14 [[ 9.99974985e-01 -1.60152671e-03 6.88943861e-03 -2.99611086e+02] [ 1.63102538e-03 9.99989518e-01 -4.27823738e-03 1.55620696e+01] [-6.88251468e-03 4.28936721e-03 9.99967116e-01 1.36142256e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.61907232899995 meters Centerline goodness : 0.728838 Centerline is valid? [False, False] Translation: X:-299.61, Y:15.56, Z:136.14 [[ 9.99972885e-01 -1.64401379e-03 7.17821198e-03 -2.99612165e+02] [ 1.67395767e-03 9.99989915e-01 -4.16748189e-03 1.55616452e+01] [-7.17128819e-03 4.17938491e-03 9.99965552e-01 1.36142718e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.649072329 meters Centerline goodness : 0.727693 Centerline is valid? [False, False] Translation: X:-299.61, Y:15.56, Z:136.14 [[ 9.99972249e-01 -1.56072354e-03 7.28455097e-03 -2.99612614e+02] [ 1.59007348e-03 9.99990635e-01 -4.02501429e-03 1.55613703e+01] [-7.27820082e-03 4.03648556e-03 9.99965367e-01 1.36142940e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.67907232899995 meters Centerline goodness : 0.727440 Centerline is valid? [False, False] Translation: X:-299.61, Y:15.56, Z:136.14 [[ 9.99975209e-01 -1.42094850e-03 6.89651555e-03 -2.99610965e+02] [ 1.45060364e-03 9.99989716e-01 -4.29692236e-03 1.55636083e+01] [-6.89033892e-03 4.30681995e-03 9.99966987e-01 1.36142192e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.709072329 meters Centerline goodness : 0.727183 Centerline is valid? [False, False] Translation: X:-299.61, Y:15.56, Z:136.14 [[ 9.99975655e-01 -1.11671001e-03 6.88777351e-03 -2.99610663e+02] [ 1.14248401e-03 9.99992357e-01 -3.73919299e-03 1.55621779e+01] [-6.88354527e-03 3.74697113e-03 9.99969288e-01 1.36141712e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.73907232899995 meters Centerline goodness : 0.727455 Centerline is valid? [False, False] Translation: X:-299.61, Y:15.56, Z:136.14 [[ 9.99970010e-01 -1.46507858e-03 7.60484194e-03 -2.99612290e+02] [ 1.49486647e-03 9.99991228e-01 -3.91275965e-03 1.55622723e+01] [-7.59904273e-03 3.92401053e-03 9.99963428e-01 1.36141408e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.769072329 meters Centerline goodness : 0.726951 Centerline is valid? [False, False] Translation: X:-299.61, Y:15.56, Z:136.14 [[ 9.99969659e-01 3.13668375e-03 7.13033775e-03 -2.99611728e+02] [-3.14020794e-03 9.99994953e-01 4.83111571e-04 1.55620808e+01] [-7.12878639e-03 -5.05487656e-04 9.99974462e-01 1.36142087e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.79907232899996 meters Centerline goodness : 0.726978 Centerline is valid? [False, False] Translation: X:-299.61, Y:15.56, Z:136.14 [[ 9.99971489e-01 3.26199758e-03 6.81030715e-03 -2.99611204e+02] [-3.26521999e-03 9.99994562e-01 4.62101078e-04 1.55622785e+01] [-6.80876275e-03 -4.84325054e-04 9.99976703e-01 1.36142392e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.829072329 meters Centerline goodness : 0.726993 Centerline is valid? [False, False] Translation: X:-299.61, Y:15.57, Z:136.14 [[ 9.99968760e-01 1.82954473e-03 7.68967256e-03 -2.99613532e+02] [-1.82140325e-03 9.99997773e-01 -1.06562397e-03 1.55653056e+01] [-7.69160505e-03 1.05158469e-03 9.99969866e-01 1.36142540e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.85907232899996 meters Centerline goodness : 0.727396 Centerline is valid? [False, False] Translation: X:-299.61, Y:15.57, Z:136.14 [[ 9.99974318e-01 2.43433725e-03 6.74066109e-03 -2.99611780e+02] [-2.42957015e-03 9.99996793e-01 -7.15313959e-04 1.55650937e+01] [-6.74238078e-03 6.98918679e-04 9.99977026e-01 1.36143325e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.889072329 meters Centerline goodness : 0.727894 Centerline is valid? [False, False] Translation: X:-299.61, Y:15.57, Z:136.14 [[ 9.99978649e-01 3.05289150e-03 5.77766433e-03 -2.99609558e+02] [-3.04811674e-03 9.99995006e-01 -8.35042614e-04 1.55670784e+01] [-5.78018477e-03 8.17413790e-04 9.99982961e-01 1.36143760e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.91907232899996 meters Centerline goodness : 0.726090 Centerline is valid? [False, False] Translation: X:-299.61, Y:15.57, Z:136.14 [[ 9.99981353e-01 3.20322901e-03 5.19936689e-03 -2.99608750e+02] [-3.19779479e-03 9.99994332e-01 -1.05314700e-03 1.55681445e+01] [-5.20271089e-03 1.03650086e-03 9.99985929e-01 1.36144661e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.949072329 meters Centerline goodness : 0.728607 Centerline is valid? [False, False] Translation: X:-299.61, Y:15.57, Z:136.14 [[ 9.99980518e-01 2.88561349e-03 5.53506131e-03 -2.99609732e+02] [-2.87757133e-03 9.99994793e-01 -1.46036216e-03 1.55691627e+01] [-5.53924654e-03 1.44440617e-03 9.99983615e-01 1.36144804e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.97907232899996 meters Centerline goodness : 0.726426 Centerline is valid? [False, False] Translation: X:-299.61, Y:15.57, Z:136.14 [[ 9.99978790e-01 2.89257775e-03 5.83549837e-03 -2.99610209e+02] [-2.88517450e-03 9.99995023e-01 -1.27667621e-03 1.55684983e+01] [-5.83916221e-03 1.25981270e-03 9.99982158e-01 1.36144330e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.009072329 meters Centerline goodness : 0.726600 Centerline is valid? [False, False] Translation: X:-299.61, Y:15.57, Z:136.14 [[ 9.99977259e-01 3.14482071e-03 5.96589947e-03 -2.99609878e+02] [-3.14041544e-03 9.99994789e-01 -7.47631508e-04 1.55671033e+01] [-5.96821955e-03 7.28879103e-04 9.99981924e-01 1.36143242e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.03907232899996 meters Centerline goodness : 0.726018 Centerline is valid? [False, False] Translation: X:-299.61, Y:15.57, Z:136.14 [[ 9.99978582e-01 4.09826625e-03 5.10291635e-03 -2.99607452e+02] [-4.09822454e-03 9.99991602e-01 -1.86316126e-05 1.55665464e+01] [-5.10294986e-03 -2.28168349e-06 9.99986980e-01 1.36142882e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.069072329 meters Centerline goodness : 0.726605 Centerline is valid? [False, False] Translation: X:-299.61, Y:15.57, Z:136.14 [[ 9.99980143e-01 4.29567346e-03 4.61093429e-03 -2.99606353e+02] [-4.29476290e-03 9.99990756e-01 -2.07361528e-04 1.55678539e+01] [-4.61178242e-03 1.87554541e-04 9.99989348e-01 1.36143082e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.09907232899997 meters Centerline goodness : 0.726470 Centerline is valid? [False, False] Translation: X:-299.61, Y:15.57, Z:136.14 [[ 9.99980738e-01 4.25675831e-03 4.51713481e-03 -2.99606545e+02] [-4.25531625e-03 9.99990892e-01 -3.28805326e-04 1.55680654e+01] [-4.51849332e-03 3.09577155e-04 9.99989744e-01 1.36143596e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.129072329 meters Centerline goodness : 0.728582 Centerline is valid? [False, False] Translation: X:-299.61, Y:15.57, Z:136.14 [[ 9.99981841e-01 3.96903858e-03 4.53476611e-03 -2.99607033e+02] [-3.96522573e-03 9.99991778e-01 -8.49485987e-04 1.55694688e+01] [-4.53810047e-03 8.31489190e-04 9.99989357e-01 1.36144127e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.15907232899997 meters Centerline goodness : 0.728582 Centerline is valid? [False, False] Translation: X:-299.61, Y:15.57, Z:136.14 [[ 9.99981841e-01 3.96903858e-03 4.53476611e-03 -2.99607033e+02] [-3.96522573e-03 9.99991778e-01 -8.49485987e-04 1.55694688e+01] [-4.53810047e-03 8.31489190e-04 9.99989357e-01 1.36144127e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.18907232899994 meters Centerline goodness : 0.726151 Centerline is valid? [False, False] Translation: X:-299.61, Y:15.57, Z:136.14 [[ 9.99982585e-01 4.22061374e-03 4.12517878e-03 -2.99605908e+02] [-4.21778568e-03 9.99990864e-01 -6.94020953e-04 1.55696303e+01] [-4.12807028e-03 6.76609746e-04 9.99991251e-01 1.36144014e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.21907232899997 meters Centerline goodness : 0.726370 Centerline is valid? [False, False] Translation: X:-299.61, Y:15.57, Z:136.14 [[ 9.99983483e-01 4.32525334e-03 3.78507132e-03 -2.99605178e+02] [-4.32245144e-03 9.99990378e-01 -7.48116075e-04 1.55700970e+01] [-3.78827070e-03 7.31742931e-04 9.99992557e-01 1.36144154e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.24907232899994 meters Centerline goodness : 0.724749 Centerline is valid? [False, False] Translation: X:-299.61, Y:15.57, Z:136.14 [[ 9.99983577e-01 3.94229607e-03 4.15974115e-03 -2.99606111e+02] [-3.93731788e-03 9.99991524e-01 -1.20426682e-03 1.55713015e+01] [-4.16445346e-03 1.18786882e-03 9.99990623e-01 1.36144139e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.279072329 meters Centerline goodness : 0.725534 Centerline is valid? [False, False] Translation: X:-299.61, Y:15.57, Z:136.14 [[ 9.99982235e-01 3.06637796e-03 5.11154682e-03 -2.99609017e+02] [-3.05767357e-03 9.99993864e-01 -1.70983306e-03 1.55711168e+01] [-5.11675845e-03 1.69417324e-03 9.99985474e-01 1.36144569e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.30907232899995 meters Centerline goodness : 0.725218 Centerline is valid? [False, False] Translation: X:-299.61, Y:15.57, Z:136.14 [[ 9.99986653e-01 -6.95175415e-04 5.11956692e-03 -2.99608859e+02] [ 7.21499310e-04 9.99986521e-01 -5.14177009e-03 1.55691409e+01] [-5.11592348e-03 5.14539523e-03 9.99973676e-01 1.36144290e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.339072329 meters Centerline goodness : 0.728080 Centerline is valid? [False, False] Translation: X:-299.61, Y:15.57, Z:136.14 [[ 9.99985154e-01 -7.54731459e-04 5.39657745e-03 -2.99609668e+02] [ 7.82687348e-04 9.99986277e-01 -5.18006589e-03 1.55691997e+01] [-5.39259383e-03 5.18421282e-03 9.99972022e-01 1.36144423e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.36907232899995 meters Centerline goodness : 0.728226 Centerline is valid? [False, False] Translation: X:-299.61, Y:15.57, Z:136.14 [[ 9.99978663e-01 -1.46991256e-03 6.36490019e-03 -2.99612253e+02] [ 1.50521096e-03 9.99983496e-01 -5.54455675e-03 1.55691571e+01] [-6.35664513e-03 5.55401896e-03 9.99964372e-01 1.36144513e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.399072329 meters Centerline goodness : 0.728372 Centerline is valid? [False, False] Translation: X:-299.61, Y:15.57, Z:136.14 [[ 9.99975577e-01 -1.35536105e-03 6.85621039e-03 -2.99613211e+02] [ 1.39027932e-03 9.99986076e-01 -5.09074045e-03 1.55677053e+01] [-6.84921513e-03 5.10014816e-03 9.99963538e-01 1.36144011e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.42907232899995 meters Centerline goodness : 0.730408 Centerline is valid? [False, False] Translation: X:-299.62, Y:15.57, Z:136.14 [[ 9.99968633e-01 -2.00592672e-03 7.66224928e-03 -2.99615303e+02] [ 2.04901869e-03 9.99982107e-01 -5.62022798e-03 1.55686041e+01] [-7.65083841e-03 5.63575178e-03 9.99954850e-01 1.36144031e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.459072329 meters Centerline goodness : 0.730263 Centerline is valid? [False, False] Translation: X:-299.62, Y:15.57, Z:136.14 [[ 9.99963095e-01 -2.46779396e-03 8.22908226e-03 -2.99616396e+02] [ 2.51652380e-03 9.99979330e-01 -5.91657496e-03 1.55692574e+01] [-8.21431128e-03 5.93706529e-03 9.99948637e-01 1.36143552e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.48907232899995 meters Centerline goodness : 0.728774 Centerline is valid? [False, False] Translation: X:-299.62, Y:15.57, Z:136.14 [[ 9.99965900e-01 -2.14937572e-03 7.97365364e-03 -2.99615588e+02] [ 2.19339693e-03 9.99982380e-01 -5.51620253e-03 1.55686900e+01] [-7.96165676e-03 5.53350381e-03 9.99952995e-01 1.36143331e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.519072329 meters Centerline goodness : 0.730285 Centerline is valid? [False, False] Translation: X:-299.62, Y:15.57, Z:136.14 [[ 9.99955120e-01 -2.96647633e-03 8.99772035e-03 -2.99618076e+02] [ 3.02221618e-03 9.99976289e-01 -6.18762768e-03 1.55697868e+01] [-8.97915156e-03 6.21454303e-03 9.99940375e-01 1.36143195e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.54907232899996 meters Centerline goodness : 0.730805 Centerline is valid? [False, False] Translation: X:-299.62, Y:15.57, Z:136.14 [[ 9.99941587e-01 -3.84504192e-03 1.01014193e-02 -2.99620906e+02] [ 3.91060916e-03 9.99971363e-01 -6.47917998e-03 1.55692418e+01] [-1.00762173e-02 6.51830421e-03 9.99927988e-01 1.36143052e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.579072329 meters Centerline goodness : 0.730972 Centerline is valid? [False, False] Translation: X:-299.62, Y:15.57, Z:136.14 [[ 9.99928705e-01 -4.41087235e-03 1.10963762e-02 -2.99622662e+02] [ 4.48510853e-03 9.99967669e-01 -6.67416234e-03 1.55693522e+01] [-1.10665786e-02 6.72345496e-03 9.99916159e-01 1.36142010e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.60907232899996 meters Centerline goodness : 0.728064 Centerline is valid? [False, False] Translation: X:-299.62, Y:15.57, Z:136.14 [[ 9.99926227e-01 -4.31005661e-03 1.13562507e-02 -2.99623016e+02] [ 4.38159580e-03 9.99970667e-01 -6.28221105e-03 1.55682799e+01] [-1.13288409e-02 6.33150609e-03 9.99915781e-01 1.36141491e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.639072329 meters Centerline goodness : 0.730372 Centerline is valid? [False, False] Translation: X:-299.62, Y:15.57, Z:136.14 [[ 9.99928055e-01 -3.91670463e-03 1.13377284e-02 -2.99622095e+02] [ 3.98116125e-03 9.99976011e-01 -5.66816829e-03 1.55672402e+01] [-1.13152558e-02 5.71289782e-03 9.99919661e-01 1.36140274e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.66907232899996 meters Centerline goodness : 0.729807 Centerline is valid? [False, False] Translation: X:-299.62, Y:15.57, Z:136.14 [[ 9.99933033e-01 -3.51806799e-03 1.10251290e-02 -2.99621055e+02] [ 3.57707851e-03 9.99979359e-01 -5.33722488e-03 1.55672217e+01] [-1.10061247e-02 5.37630521e-03 9.99924977e-01 1.36139995e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.699072329 meters Centerline goodness : 0.730455 Centerline is valid? [False, False] Translation: X:-299.62, Y:15.57, Z:136.14 [[ 9.99920643e-01 -4.20433337e-03 1.18757011e-02 -2.99623470e+02] [ 4.27457737e-03 9.99973484e-01 -5.89575886e-03 1.55679341e+01] [-1.18505984e-02 5.94605459e-03 9.99912100e-01 1.36140357e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.72907232899996 meters Centerline goodness : 0.731651 Centerline is valid? [False, False] Translation: X:-299.63, Y:15.57, Z:136.14 [[ 9.99907507e-01 -4.86807356e-03 1.26995466e-02 -2.99626029e+02] [ 4.94923289e-03 9.99967482e-01 -6.36714547e-03 1.55682121e+01] [-1.26681379e-02 6.42940957e-03 9.99899085e-01 1.36140936e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.759072329 meters Centerline goodness : 0.731507 Centerline is valid? [False, False] Translation: X:-299.63, Y:15.57, Z:136.14 [[ 9.99905166e-01 -4.85211629e-03 1.28886129e-02 -2.99626644e+02] [ 4.93315779e-03 9.99968216e-01 -6.26350524e-03 1.55679327e+01] [-1.28578119e-02 6.32649281e-03 9.99897321e-01 1.36141121e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.78907232899996 meters Centerline goodness : 0.734511 Centerline is valid? [False, False] Translation: X:-299.63, Y:15.57, Z:136.14 [[ 9.99907292e-01 -4.40406940e-03 1.28845284e-02 -2.99626069e+02] [ 4.47508188e-03 9.99974928e-01 -5.48782369e-03 1.55660532e+01] [-1.28600366e-02 5.54497424e-03 9.99901932e-01 1.36140203e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.819072329 meters Centerline goodness : 0.733561 Centerline is valid? [False, False] Translation: X:-299.63, Y:15.57, Z:136.14 [[ 9.99916720e-01 -6.76439832e-04 1.28877739e-02 -2.99625902e+02] [ 7.03841016e-04 9.99997501e-01 -2.12172083e-03 1.55691592e+01] [-1.28863065e-02 2.13061508e-03 9.99914698e-01 1.36140002e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.84907232899997 meters Centerline goodness : 0.731312 Centerline is valid? [False, False] Translation: X:-299.62, Y:15.57, Z:136.14 [[ 9.99923951e-01 -7.81921256e-04 1.23077820e-02 -2.99624454e+02] [ 8.16348122e-04 9.99995768e-01 -2.79238720e-03 1.55720293e+01] [-1.23055464e-02 2.80222228e-03 9.99920357e-01 1.36140187e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.879072329 meters Centerline goodness : 0.730554 Centerline is valid? [False, False] Translation: X:-299.63, Y:15.57, Z:136.14 [[ 9.99919335e-01 -1.21351336e-03 1.26431865e-02 -2.99625769e+02] [ 1.25666089e-03 9.99993412e-01 -3.40532517e-03 1.55736512e+01] [-1.26389708e-02 3.42093868e-03 9.99914273e-01 1.36140903e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.90907232899997 meters Centerline goodness : 0.729868 Centerline is valid? [False, False] Translation: X:-299.62, Y:15.58, Z:136.14 [[ 9.99933666e-01 4.67984323e-05 1.15178380e-02 -2.99623094e+02] [-1.32136762e-05 9.99995749e-01 -2.91594948e-03 1.55750497e+01] [-1.15179255e-02 2.91560386e-03 9.99929416e-01 1.36141352e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.93907232899994 meters Centerline goodness : 0.731381 Centerline is valid? [False, False] Translation: X:-299.62, Y:15.58, Z:136.14 [[ 9.99942592e-01 1.26962040e-04 1.07143426e-02 -2.99621127e+02] [-8.86069189e-05 9.99993587e-01 -3.58019108e-03 1.55782605e+01] [-1.07147285e-02 3.57903619e-03 9.99936191e-01 1.36141642e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.96907232899997 meters Centerline goodness : 0.730487 Centerline is valid? [False, False] Translation: X:-299.62, Y:15.58, Z:136.14 [[ 9.99934917e-01 4.24399922e-03 1.05901098e-02 -2.99620858e+02] [-4.24696940e-03 9.99990948e-01 2.57993915e-04 1.55798569e+01] [-1.05889190e-02 -3.02952997e-04 9.99943890e-01 1.36141745e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.99907232899994 meters Centerline goodness : 0.731077 Centerline is valid? [False, False] Translation: X:-299.62, Y:15.58, Z:136.14 [[ 9.99942330e-01 4.67532619e-03 9.66840119e-03 -2.99618932e+02] [-4.67750678e-03 9.99989040e-01 2.02938244e-04 1.55808393e+01] [-9.66734642e-03 -2.48150553e-04 9.99953239e-01 1.36142283e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.029072329 meters Centerline goodness : 0.729623 Centerline is valid? [False, False] Translation: X:-299.62, Y:15.58, Z:136.14 [[ 9.99947191e-01 5.73451306e-03 8.52825795e-03 -2.99615930e+02] [-5.73634089e-03 9.99983529e-01 1.89880128e-04 1.55833796e+01] [-8.52702861e-03 -2.38791095e-04 9.99963616e-01 1.36142451e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.05907232899995 meters Centerline goodness : 0.730723 Centerline is valid? [False, False] Translation: X:-299.62, Y:15.58, Z:136.14 [[ 9.99915759e-01 1.00039610e-02 8.27017577e-03 -2.99615805e+02] [-1.00393569e-02 9.99940574e-01 4.24956566e-03 1.55840061e+01] [-8.22717182e-03 -4.33223492e-03 9.99956772e-01 1.36143265e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.089072329 meters Centerline goodness : 0.729395 Centerline is valid? [False, False] Translation: X:-299.61, Y:15.58, Z:136.14 [[ 9.99912484e-01 1.11462407e-02 7.12641063e-03 -2.99613437e+02] [-1.11797682e-02 9.99926542e-01 4.68229499e-03 1.55847085e+01] [-7.07369715e-03 -4.76155683e-03 9.99963645e-01 1.36144079e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.11907232899995 meters Centerline goodness : 0.732162 Centerline is valid? [False, False] Translation: X:-299.61, Y:15.58, Z:136.15 [[ 9.99910274e-01 1.15051436e-02 6.86119571e-03 -2.99613620e+02] [-1.15380498e-02 9.99922029e-01 4.77584734e-03 1.55842870e+01] [-6.80571393e-03 -4.85458364e-03 9.99965057e-01 1.36145138e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.149072329 meters Centerline goodness : 0.735767 Centerline is valid? [False, False] Translation: X:-299.61, Y:15.58, Z:136.15 [[ 9.99947555e-01 8.26032908e-03 6.05434261e-03 -2.99611694e+02] [-8.26862976e-03 9.99964907e-01 1.34728198e-03 1.55830353e+01] [-6.04300115e-03 -1.39727244e-03 9.99980765e-01 1.36145086e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.17907232899995 meters Centerline goodness : 0.736501 Centerline is valid? [False, False] Translation: X:-299.61, Y:15.58, Z:136.15 [[ 9.99944054e-01 8.73099013e-03 5.97153644e-03 -2.99611844e+02] [-8.74332347e-03 9.99959691e-01 2.04237584e-03 1.55806017e+01] [-5.95346377e-03 -2.09447265e-03 9.99980085e-01 1.36145326e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.209072329 meters Centerline goodness : 0.737342 Centerline is valid? [False, False] Translation: X:-299.61, Y:15.58, Z:136.15 [[ 9.99942030e-01 8.71490580e-03 6.32356165e-03 -2.99612878e+02] [-8.72935436e-03 9.99959343e-01 2.26088439e-03 1.55794450e+01] [-6.30360116e-03 -2.31595394e-03 9.99977450e-01 1.36145335e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.23907232899995 meters Centerline goodness : 0.737792 Centerline is valid? [False, False] Translation: X:-299.61, Y:15.58, Z:136.14 [[ 9.99961599e-01 6.78310356e-03 5.54882976e-03 -2.99609724e+02] [-6.78490421e-03 9.99976936e-01 3.05749944e-04 1.55770544e+01] [-5.54662785e-03 -3.43386481e-04 9.99984558e-01 1.36143840e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.269072329 meters Centerline goodness : 0.738963 Centerline is valid? [False, False] Translation: X:-299.61, Y:15.58, Z:136.14 [[ 9.99960805e-01 6.37375649e-03 6.14517885e-03 -2.99611209e+02] [-6.37412814e-03 9.99979684e-01 4.08945452e-05 1.55772945e+01] [-6.14479335e-03 -8.00630998e-05 9.99981117e-01 1.36143657e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.29907232899996 meters Centerline goodness : 0.737596 Centerline is valid? [False, False] Translation: X:-299.61, Y:15.57, Z:136.14 [[ 9.99973253e-01 2.03341748e-03 7.02558214e-03 -2.99612852e+02] [-2.00899966e-03 9.99991924e-01 -3.48086916e-03 1.55745364e+01] [-7.03260346e-03 3.46666167e-03 9.99969262e-01 1.36142540e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.329072329 meters Centerline goodness : 0.738939 Centerline is valid? [False, False] Translation: X:-299.61, Y:15.57, Z:136.14 [[ 9.99975102e-01 2.63089308e-03 6.54779532e-03 -2.99611524e+02] [-2.61279309e-03 9.99992747e-01 -2.77130772e-03 1.55731063e+01] [-6.55503884e-03 2.75413069e-03 9.99974723e-01 1.36142302e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.35907232899996 meters Centerline goodness : 0.738994 Centerline is valid? [False, False] Translation: X:-299.61, Y:15.57, Z:136.14 [[ 9.99972602e-01 2.23467554e-03 7.05699395e-03 -2.99612722e+02] [-2.21248093e-03 9.99992587e-01 -3.15129345e-03 1.55740096e+01] [-7.06398375e-03 3.13559365e-03 9.99970134e-01 1.36142143e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.389072329 meters Centerline goodness : 0.738728 Centerline is valid? [False, False] Translation: X:-299.61, Y:15.57, Z:136.14 [[ 9.99970759e-01 2.59739484e-03 7.19262792e-03 -2.99612401e+02] [-2.57996504e-03 9.99993716e-01 -2.43150653e-03 1.55721223e+01] [-7.19889831e-03 2.41287870e-03 9.99971177e-01 1.36141107e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.41907232899996 meters Centerline goodness : 0.740398 Centerline is valid? [False, False] Translation: X:-299.61, Y:15.57, Z:136.14 [[ 9.99967960e-01 2.41395932e-03 7.63231141e-03 -2.99613199e+02] [-2.39556418e-03 9.99994206e-01 -2.41839104e-03 1.55719153e+01] [-7.63810509e-03 2.40002987e-03 9.99967949e-01 1.36140602e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.449072329 meters Centerline goodness : 0.740055 Centerline is valid? [False, False] Translation: X:-299.61, Y:15.57, Z:136.14 [[ 9.99964873e-01 2.40186196e-03 8.03020004e-03 -2.99613963e+02] [-2.38443660e-03 9.99994784e-01 -2.17884798e-03 1.55710466e+01] [-8.03539144e-03 2.15962394e-03 9.99965384e-01 1.36140149e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.47907232899996 meters Centerline goodness : 0.738306 Centerline is valid? [False, False] Translation: X:-299.62, Y:15.57, Z:136.14 [[ 9.99958413e-01 -1.96503143e-03 8.90563438e-03 -2.99615661e+02] [ 2.01774489e-03 9.99980476e-01 -5.91399932e-03 1.55690370e+01] [-8.89383931e-03 5.93172267e-03 9.99942856e-01 1.36139345e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.509072329 meters Centerline goodness : 0.741376 Centerline is valid? [False, False] Translation: X:-299.62, Y:15.57, Z:136.14 [[ 9.99944920e-01 -3.17923722e-03 1.00025042e-02 -2.99619233e+02] [ 3.24515966e-03 9.99973077e-01 -6.58128102e-03 1.55686179e+01] [-9.98131144e-03 6.61337825e-03 9.99928316e-01 1.36140116e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.53907232899996 meters Centerline goodness : 0.740262 Centerline is valid? [False, False] Translation: X:-299.62, Y:15.57, Z:136.14 [[ 9.99929353e-01 -4.15251574e-03 1.11375434e-02 -2.99622337e+02] [ 4.23436775e-03 9.99964128e-01 -7.33571342e-03 1.55694989e+01] [-1.11066822e-02 7.38235563e-03 9.99911067e-01 1.36140378e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.569072329 meters Centerline goodness : 0.740662 Centerline is valid? [False, False] Translation: X:-299.62, Y:15.57, Z:136.14 [[ 9.99896570e-01 -8.41459429e-03 1.16637614e-02 -2.99623384e+02] [ 8.54643818e-03 9.99899625e-01 -1.13003463e-02 1.55687700e+01] [-1.15675029e-02 1.13988611e-02 9.99868121e-01 1.36140099e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.59907232899997 meters Centerline goodness : 0.740182 Centerline is valid? [False, False] Translation: X:-299.63, Y:15.57, Z:136.14 [[ 9.99882925e-01 -8.79913700e-03 1.25184752e-02 -2.99625151e+02] [ 8.93941219e-03 9.99897386e-01 -1.11939766e-02 1.55679630e+01] [-1.24186933e-02 1.13045739e-02 9.99858981e-01 1.36139430e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.629072329 meters Centerline goodness : 0.738231 Centerline is valid? [False, False] Translation: X:-299.63, Y:15.57, Z:136.14 [[ 9.99865885e-01 -9.21927412e-03 1.35357897e-02 -2.99626473e+02] [ 9.36293896e-03 9.99900100e-01 -1.05889745e-02 1.55658981e+01] [-1.34368148e-02 1.07142891e-02 9.99852317e-01 1.36137457e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.65907232899997 meters Centerline goodness : 0.738508 Centerline is valid? [False, False] Translation: X:-299.63, Y:15.56, Z:136.14 [[ 9.99855331e-01 -9.36068234e-03 1.42019072e-02 -2.99627731e+02] [ 9.50715966e-03 9.99901945e-01 -1.02817025e-02 1.55646158e+01] [-1.41042709e-02 1.04152349e-02 9.99846284e-01 1.36136744e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.68907232899994 meters Centerline goodness : 0.738496 Centerline is valid? [False, False] Translation: X:-299.63, Y:15.57, Z:136.14 [[ 9.99820319e-01 -1.11834568e-02 1.53055767e-02 -2.99631422e+02] [ 1.13629599e-02 9.99867085e-01 -1.16916771e-02 1.55654447e+01] [-1.51727890e-02 1.18634930e-02 9.99814505e-01 1.36137690e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.71907232899997 meters Centerline goodness : 0.739805 Centerline is valid? [False, False] Translation: X:-299.63, Y:15.56, Z:136.14 [[ 9.99817455e-01 -1.10533765e-02 1.55845768e-02 -2.99632493e+02] [ 1.12304252e-02 9.99872869e-01 -1.13191307e-02 1.55639880e+01] [-1.54574809e-02 1.14920859e-02 9.99814482e-01 1.36138128e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.74907232899994 meters Centerline goodness : 0.740596 Centerline is valid? [False, False] Translation: X:-299.64, Y:15.57, Z:136.14 [[ 9.99786313e-01 -1.22936308e-02 1.66191123e-02 -2.99635587e+02] [ 1.24997096e-02 9.99845561e-01 -1.23536316e-02 1.55653241e+01] [-1.64646747e-02 1.25587259e-02 9.99785573e-01 1.36138725e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.779072329 meters Centerline goodness : 0.739862 Centerline is valid? [False, False] Translation: X:-299.64, Y:15.57, Z:136.14 [[ 9.99813317e-01 -8.69880412e-03 1.72529053e-02 -2.99637324e+02] [ 8.84934058e-03 9.99923273e-01 -8.66821384e-03 1.55663930e+01] [-1.71761784e-02 8.81927246e-03 9.99813582e-01 1.36138729e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.80907232899995 meters Centerline goodness : 0.739174 Centerline is valid? [False, False] Translation: X:-299.64, Y:15.57, Z:136.14 [[ 9.99797030e-01 -9.34012110e-03 1.78510579e-02 -2.99638497e+02] [ 9.50873436e-03 9.99910757e-01 -9.38413920e-03 1.55682991e+01] [-1.77618158e-02 9.55197547e-03 9.99796618e-01 1.36138344e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.839072329 meters Centerline goodness : 0.738669 Centerline is valid? [False, False] Translation: X:-299.64, Y:15.57, Z:136.14 [[ 9.99805452e-01 -8.93138909e-03 1.75866147e-02 -2.99637844e+02] [ 9.08957969e-03 9.99918764e-01 -8.93564762e-03 1.55675379e+01] [-1.75053782e-02 9.09376414e-03 9.99805414e-01 1.36138364e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.86907232899995 meters Centerline goodness : 0.739418 Centerline is valid? [False, False] Translation: X:-299.64, Y:15.57, Z:136.14 [[ 9.99807795e-01 -8.74143667e-03 1.75487745e-02 -2.99637814e+02] [ 8.89635984e-03 9.99921972e-01 -8.76957679e-03 1.55673037e+01] [-1.74707465e-02 8.92401145e-03 9.99807549e-01 1.36138425e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.899072329 meters Centerline goodness : 0.741458 Centerline is valid? [False, False] Translation: X:-299.64, Y:15.57, Z:136.14 [[ 9.99810597e-01 -8.52332591e-03 1.74963837e-02 -2.99637753e+02] [ 8.67221923e-03 9.99926677e-01 -8.45178813e-03 1.55664752e+01] [-1.74230635e-02 8.60191981e-03 9.99811204e-01 1.36138459e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.92907232899995 meters Centerline goodness : 0.741942 Centerline is valid? [False, False] Translation: X:-299.64, Y:15.57, Z:136.14 [[ 9.99828009e-01 -7.43640580e-03 1.69897795e-02 -2.99635180e+02] [ 7.56428802e-03 9.99943450e-01 -7.47518616e-03 1.55661131e+01] [-1.69332302e-02 7.60241608e-03 9.99827720e-01 1.36136910e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.959072329 meters Centerline goodness : 0.743903 Centerline is valid? [False, False] Translation: X:-299.64, Y:15.57, Z:136.14 [[ 9.99820085e-01 -7.77903249e-03 1.72998160e-02 -2.99635724e+02] [ 7.91627548e-03 9.99937626e-01 -7.87892453e-03 1.55672869e+01] [-1.72374465e-02 8.01445711e-03 9.99819303e-01 1.36136581e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.98907232899995 meters Centerline goodness : 0.741769 Centerline is valid? [False, False] Translation: X:-299.64, Y:15.57, Z:136.14 [[ 9.99836855e-01 -4.28028884e-03 1.75482652e-02 -2.99636734e+02] [ 4.36264585e-03 9.99979637e-01 -4.65757872e-03 1.55701438e+01] [-1.75279721e-02 4.73337573e-03 9.99835169e-01 1.36137113e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.019072329 meters Centerline goodness : 0.741917 Centerline is valid? [False, False] Translation: X:-299.64, Y:15.57, Z:136.14 [[ 9.99826811e-01 -4.96211882e-03 1.79366812e-02 -2.99638021e+02] [ 5.06554329e-03 9.99970780e-01 -5.72526054e-03 1.55732168e+01] [-1.79077477e-02 5.81512803e-03 9.99822733e-01 1.36137671e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.04907232899996 meters Centerline goodness : 0.741917 Centerline is valid? [False, False] Translation: X:-299.64, Y:15.57, Z:136.14 [[ 9.99826811e-01 -4.96211882e-03 1.79366812e-02 -2.99638021e+02] [ 5.06554329e-03 9.99970780e-01 -5.72526054e-03 1.55732168e+01] [-1.79077477e-02 5.81512803e-03 9.99822733e-01 1.36137671e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.079072329 meters Centerline goodness : 0.741376 Centerline is valid? [False, False] Translation: X:-299.64, Y:15.57, Z:136.14 [[ 9.99813773e-01 -5.51154619e-03 1.84943710e-02 -2.99639640e+02] [ 5.62829532e-03 9.99964525e-01 -6.26658276e-03 1.55743860e+01] [-1.84591764e-02 6.36950753e-03 9.99809326e-01 1.36137979e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.10907232899996 meters Centerline goodness : 0.742317 Centerline is valid? [False, False] Translation: X:-299.64, Y:15.58, Z:136.14 [[ 9.99830486e-01 2.45888665e-03 1.82470061e-02 -2.99639583e+02] [-2.48133144e-03 9.99996192e-01 1.20751529e-03 1.55777366e+01] [-1.82439674e-02 -1.25258747e-03 9.99832780e-01 1.36138812e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.139072329 meters Centerline goodness : 0.740145 Centerline is valid? [False, False] Translation: X:-299.64, Y:15.58, Z:136.14 [[ 9.99836596e-01 2.61485090e-03 1.78869964e-02 -2.99638474e+02] [-2.63570935e-03 9.99995874e-01 1.14264865e-03 1.55785488e+01] [-1.78839347e-02 -1.18960686e-03 9.99839362e-01 1.36138489e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.16907232899996 meters Centerline goodness : 0.738395 Centerline is valid? [False, False] Translation: X:-299.64, Y:15.58, Z:136.14 [[ 9.99837734e-01 2.57330676e-03 1.78292786e-02 -2.99638581e+02] [-2.59335425e-03 9.99996031e-01 1.10138435e-03 1.55783327e+01] [-1.78263736e-02 -1.14744327e-03 9.99840439e-01 1.36138722e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.199072329 meters Centerline goodness : 0.742180 Centerline is valid? [False, False] Translation: X:-299.64, Y:15.58, Z:136.14 [[ 9.99829159e-01 7.82095220e-03 1.67477315e-02 -2.99635761e+02] [-7.91836746e-03 9.99952070e-01 5.75823260e-03 1.55789732e+01] [-1.67018939e-02 -5.88986355e-03 9.99843166e-01 1.36138737e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.22907232899996 meters Centerline goodness : 0.740831 Centerline is valid? [False, False] Translation: X:-299.65, Y:15.60, Z:136.14 [[ 9.99790468e-01 1.42656330e-02 1.46803507e-02 -2.99652099e+02] [-1.42328147e-02 9.99895976e-01 -2.33758619e-03 1.56006649e+01] [-1.47121708e-02 2.12815367e-03 9.99889505e-01 1.36140920e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.259072329 meters Centerline goodness : 0.742520 Centerline is valid? [False, False] Translation: X:-299.65, Y:15.60, Z:136.14 [[ 9.99730634e-01 1.84044034e-02 1.41399567e-02 -2.99651286e+02] [-1.84211501e-02 9.99829760e-01 1.05501217e-03 1.56037442e+01] [-1.41181326e-02 -1.31520225e-03 9.99899469e-01 1.36142017e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.28907232899996 meters Centerline goodness : 0.742933 Centerline is valid? [False, False] Translation: X:-299.65, Y:15.61, Z:136.14 [[ 9.99651275e-01 2.28237152e-02 1.32818030e-02 -2.99649140e+02] [-2.28798691e-02 9.99729850e-01 4.09138261e-03 1.56088187e+01] [-1.31848343e-02 -4.39384176e-03 9.99903422e-01 1.36142727e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.319072329 meters Centerline goodness : 0.743416 Centerline is valid? [False, False] Translation: X:-299.65, Y:15.61, Z:136.14 [[ 9.99632122e-01 2.42328048e-02 1.21816524e-02 -2.99646279e+02] [-2.42916230e-02 9.99693849e-01 4.70385456e-03 1.56098013e+01] [-1.20639354e-02 -4.99803622e-03 9.99914737e-01 1.36142925e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.34907232899997 meters Centerline goodness : 0.742681 Centerline is valid? [False, False] Translation: X:-299.64, Y:15.61, Z:136.14 [[ 9.99635334e-01 2.44454348e-02 1.14725828e-02 -2.99644714e+02] [-2.44962716e-02 9.99690623e-01 4.31173230e-03 1.56119746e+01] [-1.13636313e-02 -4.59119546e-03 9.99924892e-01 1.36143411e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.379072329 meters Centerline goodness : 0.744334 Centerline is valid? [False, False] Translation: X:-299.64, Y:15.61, Z:136.15 [[ 9.99628543e-01 2.50510580e-02 1.07340762e-02 -2.99644095e+02] [-2.51008558e-02 9.99674661e-01 4.52987601e-03 1.56118098e+01] [-1.06171058e-02 -4.79762786e-03 9.99932128e-01 1.36145028e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.40907232899997 meters Centerline goodness : 0.744761 Centerline is valid? [False, False] Translation: X:-299.64, Y:15.61, Z:136.15 [[ 9.99604099e-01 2.63986107e-02 9.73438618e-03 -2.99641707e+02] [-2.64500949e-02 9.99636617e-01 5.19862091e-03 1.56120365e+01] [-9.59361250e-03 -5.45403821e-03 9.99939106e-01 1.36145417e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.43907232899994 meters Centerline goodness : 0.744294 Centerline is valid? [False, False] Translation: X:-299.64, Y:15.61, Z:136.15 [[ 9.99604147e-01 2.65731057e-02 9.24221158e-03 -2.99641139e+02] [-2.66210992e-02 9.99632539e-01 5.10916807e-03 1.56125380e+01] [-9.10304897e-03 -5.35318342e-03 9.99944237e-01 1.36146336e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.46907232899997 meters Centerline goodness : 0.743200 Centerline is valid? [False, False] Translation: X:-299.64, Y:15.61, Z:136.15 [[ 9.99603612e-01 2.65068539e-02 9.48710251e-03 -2.99642095e+02] [-2.65559574e-02 9.99634381e-01 5.08780450e-03 1.56120591e+01] [-9.34877215e-03 -5.33772685e-03 9.99942053e-01 1.36146628e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.49907232899994 meters Centerline goodness : 0.744521 Centerline is valid? [False, False] Translation: X:-299.64, Y:15.61, Z:136.15 [[ 9.99610587e-01 2.60315116e-02 1.00515613e-02 -2.99643768e+02] [-2.60803343e-02 9.99648531e-01 4.75706986e-03 1.56121145e+01] [-9.92419474e-03 -5.01736547e-03 9.99938166e-01 1.36146727e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.529072329 meters Centerline goodness : 0.744417 Centerline is valid? [False, False] Translation: X:-299.64, Y:15.61, Z:136.15 [[ 9.99608896e-01 2.59846281e-02 1.03370170e-02 -2.99644503e+02] [-2.60357013e-02 9.99649310e-01 4.83728761e-03 1.56115515e+01] [-1.02076968e-02 -5.10452722e-03 9.99934871e-01 1.36146628e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.55907232899995 meters Centerline goodness : 0.743377 Centerline is valid? [False, False] Translation: X:-299.64, Y:15.61, Z:136.15 [[ 9.99704503e-01 2.22909675e-02 9.69632355e-03 -2.99643358e+02] [-2.23021202e-02 9.99750732e-01 1.04358131e-03 1.56108426e+01] [-9.67064413e-03 -1.25952151e-03 9.99952445e-01 1.36146959e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.589072329 meters Centerline goodness : 0.742750 Centerline is valid? [False, False] Translation: X:-299.64, Y:15.61, Z:136.15 [[ 9.99781995e-01 1.82689770e-02 1.01097714e-02 -2.99644515e+02] [-1.82445055e-02 9.99830411e-01 -2.50753489e-03 1.56084668e+01] [-1.01538670e-02 2.32254045e-03 9.99945751e-01 1.36146707e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.61907232899995 meters Centerline goodness : 0.743415 Centerline is valid? [False, False] Translation: X:-299.65, Y:15.61, Z:136.15 [[ 9.99784144e-01 1.75288279e-02 1.11537020e-02 -2.99647176e+02] [-1.74992654e-02 9.99843115e-01 -2.74257633e-03 1.56077485e+01] [-1.12000263e-02 2.54680274e-03 9.99934034e-01 1.36146506e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.649072329 meters Centerline goodness : 0.740549 Centerline is valid? [False, False] Translation: X:-299.65, Y:15.61, Z:136.15 [[ 9.99964121e-01 8.26764520e-03 1.84441179e-03 -2.99649851e+02] [-8.27551265e-03 9.99956514e-01 4.29950743e-03 1.56103730e+01] [-1.80878478e-03 -4.31461662e-03 9.99989056e-01 1.36153188e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.67907232899995 meters Centerline goodness : 0.739633 Centerline is valid? [False, False] Translation: X:-299.65, Y:15.61, Z:136.15 [[ 9.99987004e-01 4.90518322e-03 1.38946026e-03 -2.99647838e+02] [-4.90655597e-03 9.99987476e-01 9.86291400e-04 1.56093517e+01] [-1.38460492e-03 -9.93096047e-04 9.99998548e-01 1.36152005e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.709072329 meters Centerline goodness : 0.737829 Centerline is valid? [False, False] Translation: X:-299.65, Y:15.61, Z:136.15 [[ 9.99987377e-01 4.67701573e-03 1.83610517e-03 -2.99648445e+02] [-4.67897289e-03 9.99988488e-01 1.06308399e-03 1.56087998e+01] [-1.83111197e-03 -1.07166166e-03 9.99997749e-01 1.36151127e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.73907232899995 meters Centerline goodness : 0.737562 Centerline is valid? [False, False] Translation: X:-299.65, Y:15.61, Z:136.15 [[ 9.99987711e-01 4.01224273e-03 2.91197506e-03 -2.99650570e+02] [-4.01567688e-03 9.99991247e-01 1.17443150e-03 1.56072112e+01] [-2.90723746e-03 -1.18611062e-03 9.99995071e-01 1.36149949e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.769072329 meters Centerline goodness : 0.736767 Centerline is valid? [False, False] Translation: X:-299.65, Y:15.61, Z:136.15 [[ 9.99996637e-01 5.39245460e-04 2.53669342e-03 -2.99649558e+02] [-5.33850203e-04 9.99997595e-01 -2.12708239e-03 1.56051215e+01] [-2.53783434e-03 2.12572102e-03 9.99994520e-01 1.36149750e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.79907232899996 meters Centerline goodness : 0.737499 Centerline is valid? [False, False] Translation: X:-299.65, Y:15.60, Z:136.15 [[ 9.99995180e-01 4.51014033e-04 3.07193615e-03 -2.99650939e+02] [-4.44656077e-04 9.99997759e-01 -2.07005865e-03 1.56046541e+01] [-3.07286289e-03 2.06868271e-03 9.99993139e-01 1.36149714e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.829072329 meters Centerline goodness : 0.738301 Centerline is valid? [False, False] Translation: X:-299.65, Y:15.60, Z:136.15 [[ 9.99993403e-01 3.79800326e-04 3.61231235e-03 -2.99652495e+02] [-3.73077156e-04 9.99998197e-01 -1.86167335e-03 1.56035103e+01] [-3.61301291e-03 1.86031340e-03 9.99991743e-01 1.36149891e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.85907232899996 meters Centerline goodness : 0.739686 Centerline is valid? [False, False] Translation: X:-299.65, Y:15.60, Z:136.15 [[ 9.99994264e-01 4.79446736e-04 3.35298179e-03 -2.99652579e+02] [-4.72208225e-04 9.99997557e-01 -2.15928658e-03 1.56048736e+01] [-3.35400886e-03 2.15769089e-03 9.99992047e-01 1.36151029e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.889072329 meters Centerline goodness : 0.739663 Centerline is valid? [False, False] Translation: X:-299.65, Y:15.61, Z:136.15 [[ 9.99993704e-01 2.40632109e-04 3.54031245e-03 -2.99653465e+02] [-2.31829386e-04 9.99996881e-01 -2.48662567e-03 1.56056824e+01] [-3.54089977e-03 2.48578927e-03 9.99990641e-01 1.36151611e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.91907232899996 meters Centerline goodness : 0.740564 Centerline is valid? [False, False] Translation: X:-299.65, Y:15.61, Z:136.15 [[ 9.99995489e-01 1.24474457e-03 2.73363226e-03 -2.99650804e+02] [-1.23983698e-03 9.99997618e-01 -1.79622410e-03 1.56059470e+01] [-2.73586159e-03 1.79282674e-03 9.99994650e-01 1.36151074e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.949072329 meters Centerline goodness : 0.737794 Centerline is valid? [False, False] Translation: X:-299.65, Y:15.61, Z:136.15 [[ 9.99994301e-01 7.96415841e-04 3.28085868e-03 -2.99651575e+02] [-7.89611598e-04 9.99997536e-01 -2.07469487e-03 1.56066428e+01] [-3.28250291e-03 2.07209244e-03 9.99992466e-01 1.36150098e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.97907232899996 meters Centerline goodness : 0.738573 Centerline is valid? [False, False] Translation: X:-299.65, Y:15.60, Z:136.15 [[ 9.99993786e-01 1.41781550e-03 3.22774925e-03 -2.99651108e+02] [-1.41444278e-03 9.99998452e-01 -1.04695637e-03 1.56037598e+01] [-3.22922864e-03 1.04238440e-03 9.99994243e-01 1.36149484e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.009072329 meters Centerline goodness : 0.740005 Centerline is valid? [False, False] Translation: X:-299.65, Y:15.60, Z:136.15 [[ 9.99994229e-01 1.67072909e-03 2.95808779e-03 -2.99650433e+02] [-1.66805916e-03 9.99998199e-01 -9.04822089e-04 1.56036622e+01] [-2.95959418e-03 8.99882602e-04 9.99995215e-01 1.36149430e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.03907232899996 meters Centerline goodness : 0.740709 Centerline is valid? [False, False] Translation: X:-299.65, Y:15.60, Z:136.15 [[ 9.99991453e-01 1.64833035e-04 4.13115977e-03 -2.99653412e+02] [-1.57053587e-04 9.99998214e-01 -1.88336848e-03 1.56044091e+01] [-4.13146283e-03 1.88270357e-03 9.99989693e-01 1.36149231e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.069072329 meters Centerline goodness : 0.737419 Centerline is valid? [False, False] Translation: X:-299.65, Y:15.60, Z:136.15 [[ 9.99988514e-01 -1.19022072e-04 4.79145802e-03 -2.99654842e+02] [ 1.28135031e-04 9.99998184e-01 -1.90165571e-03 1.56039847e+01] [-4.79122297e-03 1.90224782e-03 9.99986713e-01 1.36148783e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.09907232899997 meters Centerline goodness : 0.739881 Centerline is valid? [False, False] Translation: X:-299.66, Y:15.60, Z:136.15 [[ 9.99984331e-01 -3.07242436e-04 5.58964470e-03 -2.99656007e+02] [ 3.14834317e-04 9.99999029e-01 -1.35737525e-03 1.56018788e+01] [-5.58922223e-03 1.35911379e-03 9.99983457e-01 1.36147332e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.129072329 meters Centerline goodness : 0.738251 Centerline is valid? [False, False] Translation: X:-299.66, Y:15.60, Z:136.15 [[ 9.99983917e-01 -2.58974534e-04 5.66562881e-03 -2.99656020e+02] [ 2.66085549e-04 9.99999178e-01 -1.25439710e-03 1.56016857e+01] [-5.66529929e-03 1.25588447e-03 9.99983163e-01 1.36147042e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.15907232899997 meters Centerline goodness : 0.738938 Centerline is valid? [False, False] Translation: X:-299.66, Y:15.60, Z:136.15 [[ 9.99983522e-01 -4.39777397e-04 5.72382360e-03 -2.99656326e+02] [ 4.48804950e-04 9.99998657e-01 -1.57600030e-03 1.56027266e+01] [-5.72312283e-03 1.57854321e-03 9.99982377e-01 1.36147259e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.18907232899994 meters Centerline goodness : 0.739031 Centerline is valid? [False, False] Translation: X:-299.66, Y:15.60, Z:136.15 [[ 9.99983732e-01 -5.91314649e-04 5.67330369e-03 -2.99656736e+02] [ 6.02571391e-04 9.99997853e-01 -1.98265594e-03 1.56041128e+01] [-5.67211913e-03 1.98604226e-03 9.99981941e-01 1.36148103e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.21907232899997 meters Centerline goodness : 0.738624 Centerline is valid? [False, False] Translation: X:-299.66, Y:15.60, Z:136.15 [[ 9.99982729e-01 -7.39870630e-04 5.83048815e-03 -2.99657399e+02] [ 7.52785462e-04 9.99997268e-01 -2.21316843e-03 1.56047157e+01] [-5.82883476e-03 2.21751931e-03 9.99980553e-01 1.36148476e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.24907232899994 meters Centerline goodness : 0.739652 Centerline is valid? [False, False] Translation: X:-299.66, Y:15.60, Z:136.15 [[ 9.99984167e-01 -4.25122232e-04 5.61122755e-03 -2.99656833e+02] [ 4.35300657e-04 9.99998262e-01 -1.81284243e-03 1.56040115e+01] [-5.61044712e-03 1.81525630e-03 9.99982614e-01 1.36148442e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.279072329 meters Centerline goodness : 0.738563 Centerline is valid? [False, False] Translation: X:-299.66, Y:15.60, Z:136.15 [[ 9.99985741e-01 -3.78562366e-05 5.34004399e-03 -2.99655743e+02] [ 4.57109214e-05 9.99998917e-01 -1.47078826e-03 1.56037576e+01] [-5.33998253e-03 1.47101139e-03 9.99984660e-01 1.36147898e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.30907232899995 meters Centerline goodness : 0.738776 Centerline is valid? [False, False] Translation: X:-299.66, Y:15.60, Z:136.15 [[ 9.99984778e-01 3.01162541e-04 5.50931044e-03 -2.99656017e+02] [-2.96929581e-04 9.99999660e-01 -7.69130229e-04 1.56016210e+01] [-5.50954020e-03 7.67482644e-04 9.99984528e-01 1.36147503e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.339072329 meters Centerline goodness : 0.737996 Centerline is valid? [False, False] Translation: X:-299.66, Y:15.60, Z:136.15 [[ 9.99982235e-01 2.09430662e-05 5.96069990e-03 -2.99657273e+02] [-1.49709984e-05 9.99999498e-01 -1.00195001e-03 1.56018659e+01] [-5.96071789e-03 1.00184297e-03 9.99981733e-01 1.36147513e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.36907232899995 meters Centerline goodness : 0.738083 Centerline is valid? [False, False] Translation: X:-299.66, Y:15.60, Z:136.15 [[ 9.99978923e-01 -1.92117009e-04 6.48966108e-03 -2.99658820e+02] [ 1.98820346e-04 9.99999447e-01 -1.03229612e-03 1.56013925e+01] [-6.48945918e-03 1.03356464e-03 9.99978409e-01 1.36147670e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.399072329 meters Centerline goodness : 0.738603 Centerline is valid? [False, False] Translation: X:-299.66, Y:15.60, Z:136.15 [[ 9.99971745e-01 -1.28898876e-03 7.40588448e-03 -2.99661255e+02] [ 1.30381745e-03 9.99997154e-01 -1.99780671e-03 1.56030852e+01] [-7.40328825e-03 2.00740618e-03 9.99970580e-01 1.36147748e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.42907232899995 meters Centerline goodness : 0.738857 Centerline is valid? [False, False] Translation: X:-299.66, Y:15.60, Z:136.15 [[ 9.99974003e-01 -1.06670311e-03 7.13131327e-03 -2.99660174e+02] [ 1.08003326e-03 9.99997676e-01 -1.86565222e-03 1.56034538e+01] [-7.12930660e-03 1.87330577e-03 9.99972831e-01 1.36147281e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.459072329 meters Centerline goodness : 0.740004 Centerline is valid? [False, False] Translation: X:-299.66, Y:15.61, Z:136.15 [[ 9.99968521e-01 1.07849856e-03 7.86091866e-03 -2.99663165e+02] [-1.07898331e-03 9.99999416e-01 5.74248915e-05 1.56074692e+01] [-7.86085214e-03 -6.59048839e-05 9.99969101e-01 1.36148665e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.48907232899995 meters Centerline goodness : 0.741138 Centerline is valid? [False, False] Translation: X:-299.66, Y:15.61, Z:136.15 [[ 9.99965031e-01 7.39390230e-04 8.33006330e-03 -2.99664589e+02] [-7.38008830e-04 9.99999713e-01 -1.68905779e-04 1.56074783e+01] [-8.33018580e-03 1.62752213e-04 9.99965290e-01 1.36148862e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.519072329 meters Centerline goodness : 0.741264 Centerline is valid? [False, False] Translation: X:-299.66, Y:15.61, Z:136.15 [[ 9.99964218e-01 8.36606698e-04 8.41803427e-03 -2.99664991e+02] [-8.36859209e-04 9.99999649e-01 2.64740332e-05 1.56067348e+01] [-8.41800917e-03 -3.35177954e-05 9.99964567e-01 1.36149022e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.54907232899996 meters Centerline goodness : 0.740883 Centerline is valid? [False, False] Translation: X:-299.67, Y:15.61, Z:136.15 [[ 9.99959760e-01 2.94361617e-04 8.96619860e-03 -2.99666552e+02] [-2.88889289e-04 9.99999771e-01 -6.11617727e-04 1.56082250e+01] [-8.96637658e-03 6.09002876e-04 9.99959616e-01 1.36149225e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.579072329 meters Centerline goodness : 0.740589 Centerline is valid? [False, False] Translation: X:-299.67, Y:15.60, Z:136.15 [[ 9.99958353e-01 -1.18573265e-03 9.04914854e-03 -2.99666313e+02] [ 1.19251991e-03 9.99999012e-01 -7.44684538e-04 1.56045119e+01] [-9.04825660e-03 7.55444814e-04 9.99958778e-01 1.36148013e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.60907232899996 meters Centerline goodness : 0.740796 Centerline is valid? [False, False] Translation: X:-299.67, Y:15.61, Z:136.15 [[ 9.99960983e-01 -9.16885572e-04 8.78585808e-03 -2.99665387e+02] [ 9.22785667e-04 9.99999351e-01 -6.67514212e-04 1.56051545e+01] [-8.78524035e-03 6.75595632e-04 9.99961181e-01 1.36147691e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.639072329 meters Centerline goodness : 0.741709 Centerline is valid? [False, False] Translation: X:-299.67, Y:15.60, Z:136.15 [[ 9.99957905e-01 -1.02724250e-03 9.11771067e-03 -2.99666017e+02] [ 1.03252615e-03 9.99999302e-01 -5.74805113e-04 1.56045789e+01] [-9.11711384e-03 5.84195191e-04 9.99958268e-01 1.36147218e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.66907232899996 meters Centerline goodness : 0.742185 Centerline is valid? [False, False] Translation: X:-299.67, Y:15.60, Z:136.15 [[ 9.99953684e-01 -1.18903589e-03 9.55074394e-03 -2.99667236e+02] [ 1.19456592e-03 9.99999122e-01 -5.73331723e-04 1.56040421e+01] [-9.55005385e-03 5.84714161e-04 9.99954226e-01 1.36147246e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.699072329 meters Centerline goodness : 0.742068 Centerline is valid? [False, False] Translation: X:-299.67, Y:15.60, Z:136.15 [[ 9.99949294e-01 -1.43026832e-03 9.96813928e-03 -2.99668510e+02] [ 1.43741433e-03 9.99998715e-01 -7.09757399e-04 1.56039536e+01] [-9.96711132e-03 7.24049757e-04 9.99950065e-01 1.36147469e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.72907232899996 meters Centerline goodness : 0.742638 Centerline is valid? [False, False] Translation: X:-299.67, Y:15.60, Z:136.15 [[ 9.99938994e-01 -2.18050967e-03 1.08283496e-02 -2.99671018e+02] [ 2.19241254e-03 9.99997005e-01 -1.08748385e-03 1.56036847e+01] [-1.08259459e-02 1.11115771e-03 9.99940780e-01 1.36147761e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.759072329 meters Centerline goodness : 0.741423 Centerline is valid? [False, False] Translation: X:-299.67, Y:15.60, Z:136.15 [[ 9.99928179e-01 -2.79166134e-03 1.16551662e-02 -2.99673104e+02] [ 2.80918591e-03 9.99994948e-01 -1.48748727e-03 1.56042029e+01] [-1.16509547e-02 1.52012197e-03 9.99930970e-01 1.36147697e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.78907232899996 meters Centerline goodness : 0.742472 Centerline is valid? [False, False] Translation: X:-299.68, Y:15.61, Z:136.15 [[ 9.99908625e-01 -4.08607995e-03 1.28858838e-02 -2.99676087e+02] [ 4.11744944e-03 9.99988622e-01 -2.40881755e-03 1.56053269e+01] [-1.28758946e-02 2.46165442e-03 9.99914072e-01 1.36147536e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.819072329 meters Centerline goodness : 0.741866 Centerline is valid? [False, False] Translation: X:-299.68, Y:15.60, Z:136.15 [[ 9.99894048e-01 -4.54905090e-03 1.38274832e-02 -2.99678398e+02] [ 4.58123747e-03 9.99986868e-01 -2.29694167e-03 1.56039027e+01] [-1.38168527e-02 2.36004528e-03 9.99901758e-01 1.36147236e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.84907232899997 meters Centerline goodness : 0.741649 Centerline is valid? [False, False] Translation: X:-299.68, Y:15.60, Z:136.15 [[ 9.99883912e-01 -4.77799993e-03 1.44683479e-02 -2.99679930e+02] [ 4.81018174e-03 9.99986032e-01 -2.19030789e-03 1.56030423e+01] [-1.44576805e-02 2.25964901e-03 9.99892929e-01 1.36146986e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.879072329 meters Centerline goodness : 0.742213 Centerline is valid? [False, False] Translation: X:-299.68, Y:15.60, Z:136.14 [[ 9.99870324e-01 -6.46254294e-03 1.47502936e-02 -2.99678854e+02] [ 6.50242516e-03 9.99975328e-01 -2.65746982e-03 1.56012646e+01] [-1.47327556e-02 2.75303789e-03 9.99887677e-01 1.36144398e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.90907232899997 meters Centerline goodness : 0.740998 Centerline is valid? [False, False] Translation: X:-299.68, Y:15.60, Z:136.14 [[ 9.99841717e-01 -7.90625831e-03 1.59383552e-02 -2.99681783e+02] [ 7.96566085e-03 9.99961550e-01 -3.66698530e-03 1.56020663e+01] [-1.59087503e-02 3.79336441e-03 9.99866252e-01 1.36144219e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.93907232899994 meters Centerline goodness : 0.741300 Centerline is valid? [False, False] Translation: X:-299.68, Y:15.60, Z:136.14 [[ 9.99814965e-01 -8.93900012e-03 1.70331933e-02 -2.99684952e+02] [ 9.00767186e-03 9.99951592e-01 -3.95919417e-03 1.56006505e+01] [-1.69969775e-02 4.11189100e-03 9.99847086e-01 1.36144506e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.96907232899997 meters Centerline goodness : 0.741300 Centerline is valid? [False, False] Translation: X:-299.68, Y:15.60, Z:136.14 [[ 9.99814965e-01 -8.93900012e-03 1.70331933e-02 -2.99684952e+02] [ 9.00767186e-03 9.99951592e-01 -3.95919417e-03 1.56006505e+01] [-1.69969775e-02 4.11189100e-03 9.99847086e-01 1.36144506e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.99907232899994 meters Centerline goodness : 0.742385 Centerline is valid? [False, False] Translation: X:-299.69, Y:15.60, Z:136.14 [[ 9.99743034e-01 -1.36174905e-02 1.81226593e-02 -2.99687511e+02] [ 1.37669158e-02 9.99872048e-01 -8.14615814e-03 1.55996540e+01] [-1.80094102e-02 8.39355798e-03 9.99802585e-01 1.36144391e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.029072329 meters Centerline goodness : 0.742876 Centerline is valid? [False, False] Translation: X:-299.69, Y:15.60, Z:136.14 [[ 9.99711650e-01 -1.45083624e-02 1.91343536e-02 -2.99690266e+02] [ 1.46807853e-02 9.99852606e-01 -8.90169393e-03 1.56008421e+01] [-1.90023843e-02 9.18003447e-03 9.99777293e-01 1.36144667e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.05907232899995 meters Centerline goodness : 0.742328 Centerline is valid? [False, False] Translation: X:-299.69, Y:15.60, Z:136.15 [[ 9.99655209e-01 -1.66326171e-02 2.03179296e-02 -2.99694436e+02] [ 1.68471552e-02 9.99803634e-01 -1.04339095e-02 1.56015328e+01] [-2.01403967e-02 1.07726113e-02 9.99739124e-01 1.36145970e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.089072329 meters Centerline goodness : 0.741598 Centerline is valid? [False, False] Translation: X:-299.70, Y:15.60, Z:136.14 [[ 9.99532774e-01 -2.14687455e-02 2.17560766e-02 -2.99696800e+02] [ 2.17772528e-02 9.99664203e-01 -1.40439627e-02 1.55984747e+01] [-2.14472647e-02 1.45111886e-02 9.99664664e-01 1.36144292e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.11907232899995 meters Centerline goodness : 0.743268 Centerline is valid? [False, False] Translation: X:-299.70, Y:15.60, Z:136.14 [[ 9.99417304e-01 -2.55942309e-02 2.25828962e-02 -2.99697650e+02] [ 2.59903735e-02 9.99510296e-01 -1.74260934e-02 1.55956356e+01] [-2.21258298e-02 1.80028772e-02 9.99593089e-01 1.36142743e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.149072329 meters Centerline goodness : 0.741105 Centerline is valid? [False, False] Translation: X:-299.70, Y:15.59, Z:136.14 [[ 9.99378268e-01 -2.59760742e-02 2.38394895e-02 -2.99699841e+02] [ 2.63774223e-02 9.99512915e-01 -1.66782522e-02 1.55925130e+01] [-2.33946421e-02 1.72967071e-02 9.99576668e-01 1.36141079e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.17907232899995 meters Centerline goodness : 0.743331 Centerline is valid? [False, False] Translation: X:-299.69, Y:15.58, Z:136.14 [[ 9.99124182e-01 -3.52834112e-02 2.24933495e-02 -2.99690652e+02] [ 3.55585680e-02 9.99296117e-01 -1.19523932e-02 1.55795354e+01] [-2.20557956e-02 1.27417564e-02 9.99675542e-01 1.36143783e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.209072329 meters Centerline goodness : 0.744276 Centerline is valid? [False, False] Translation: X:-299.69, Y:15.58, Z:136.14 [[ 9.99070709e-01 -3.61421758e-02 2.34832099e-02 -2.99692722e+02] [ 3.64439348e-02 9.99256873e-01 -1.25515314e-02 1.55805701e+01] [-2.30121193e-02 1.33956880e-02 9.99645436e-01 1.36143225e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.23907232899995 meters Centerline goodness : 0.743814 Centerline is valid? [False, False] Translation: X:-299.70, Y:15.58, Z:136.14 [[ 9.99009798e-01 -3.70859008e-02 2.45776089e-02 -2.99695407e+02] [ 3.74178902e-02 9.99212675e-01 -1.31882974e-02 1.55815024e+01] [-2.40691585e-02 1.40948806e-02 9.99610929e-01 1.36143107e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.269072329 meters Centerline goodness : 0.743876 Centerline is valid? [False, False] Translation: X:-299.70, Y:15.58, Z:136.14 [[ 9.98910936e-01 -3.87483037e-02 2.59905888e-02 -2.99698860e+02] [ 3.91185730e-02 9.99138000e-01 -1.38922473e-02 1.55806982e+01] [-2.54298839e-02 1.48938325e-02 9.99565653e-01 1.36142838e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.29907232899996 meters Centerline goodness : 0.743181 Centerline is valid? [False, False] Translation: X:-299.70, Y:15.58, Z:136.14 [[ 9.98906652e-01 -3.86773523e-02 2.62595324e-02 -2.99699195e+02] [ 3.90452750e-02 9.99144264e-01 -1.36457187e-02 1.55802044e+01] [-2.57092809e-02 1.46561099e-02 9.99562020e-01 1.36142346e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.329072329 meters Centerline goodness : 0.743833 Centerline is valid? [False, False] Translation: X:-299.70, Y:15.58, Z:136.14 [[ 9.98976122e-01 -3.61268685e-02 2.72315521e-02 -2.99702486e+02] [ 3.64339586e-02 9.99276984e-01 -1.08663083e-02 1.55823749e+01] [-2.68192975e-02 1.18473357e-02 9.99570091e-01 1.36142899e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.35907232899996 meters Centerline goodness : 0.744327 Centerline is valid? [False, False] Translation: X:-299.70, Y:15.58, Z:136.14 [[ 9.98964106e-01 -3.63379697e-02 2.73910015e-02 -2.99702560e+02] [ 3.66531375e-02 9.99266475e-01 -1.10931998e-02 1.55831739e+01] [-2.69678052e-02 1.20856746e-02 9.99563242e-01 1.36142406e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.389072329 meters Centerline goodness : 0.744825 Centerline is valid? [False, False] Translation: X:-299.71, Y:15.59, Z:136.14 [[ 9.99053820e-01 -3.33295793e-02 2.79392918e-02 -2.99705128e+02] [ 3.35694295e-02 9.99403076e-01 -8.15993285e-03 1.55858233e+01] [-2.76506471e-02 9.09011817e-03 9.99576316e-01 1.36143465e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.41907232899996 meters Centerline goodness : 0.745544 Centerline is valid? [False, False] Translation: X:-299.70, Y:15.59, Z:136.14 [[ 9.99071036e-01 -3.31093429e-02 2.75832614e-02 -2.99704512e+02] [ 3.33486200e-02 9.99409645e-01 -8.26021540e-03 1.55869291e+01] [-2.72934872e-02 9.17240566e-03 9.99585380e-01 1.36143967e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.449072329 meters Centerline goodness : 0.746333 Centerline is valid? [False, False] Translation: X:-299.70, Y:15.59, Z:136.14 [[ 9.99067945e-01 -3.32818231e-02 2.74874656e-02 -2.99704587e+02] [ 3.35394034e-02 9.99397201e-01 -8.96343154e-03 1.55895034e+01] [-2.71725769e-02 9.87699033e-03 9.99581961e-01 1.36144480e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.47907232899996 meters Centerline goodness : 0.747028 Centerline is valid? [False, False] Translation: X:-299.70, Y:15.59, Z:136.14 [[ 9.99102842e-01 -3.27079045e-02 2.69017339e-02 -2.99703226e+02] [ 3.29459890e-02 9.99421371e-01 -8.45493727e-03 1.55888153e+01] [-2.66096245e-02 9.33365609e-03 9.99602326e-01 1.36144581e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.509072329 meters Centerline goodness : 0.747446 Centerline is valid? [False, False] Translation: X:-299.70, Y:15.59, Z:136.14 [[ 9.99114995e-01 -3.26538144e-02 2.65132940e-02 -2.99702100e+02] [ 3.28978379e-02 9.99419799e-01 -8.82027441e-03 1.55910521e+01] [-2.62098953e-02 9.68469848e-03 9.99609548e-01 1.36144477e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.53907232899996 meters Centerline goodness : 0.746900 Centerline is valid? [False, False] Translation: X:-299.70, Y:15.59, Z:136.14 [[ 9.99145782e-01 -3.20418819e-02 2.60964271e-02 -2.99700950e+02] [ 3.22649439e-02 9.99445944e-01 -8.17175923e-03 1.55900377e+01] [-2.58201296e-02 9.00677853e-03 9.99626029e-01 1.36144337e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.569072329 meters Centerline goodness : 0.748080 Centerline is valid? [False, False] Translation: X:-299.70, Y:15.59, Z:136.14 [[ 9.99121872e-01 -3.24099439e-02 2.65533649e-02 -2.99701833e+02] [ 3.26477431e-02 9.99430166e-01 -8.57136624e-03 1.55913358e+01] [-2.62604364e-02 9.43074691e-03 9.99610649e-01 1.36143991e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.59907232899997 meters Centerline goodness : 0.746290 Centerline is valid? [False, False] Translation: X:-299.70, Y:15.59, Z:136.14 [[ 9.99136367e-01 -3.21075389e-02 2.63747362e-02 -2.99701272e+02] [ 3.23344863e-02 9.99443271e-01 -8.22368514e-03 1.55907283e+01] [-2.60960103e-02 9.06939644e-03 9.99618299e-01 1.36143815e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.629072329 meters Centerline goodness : 0.746063 Centerline is valid? [False, False] Translation: X:-299.70, Y:15.59, Z:136.14 [[ 9.99139466e-01 -3.22589584e-02 2.60707999e-02 -2.99700589e+02] [ 3.24961706e-02 9.99433761e-01 -8.72678825e-03 1.55928976e+01] [-2.57745205e-02 9.56647971e-03 9.99622007e-01 1.36144038e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.65907232899997 meters Centerline goodness : 0.746742 Centerline is valid? [False, False] Translation: X:-299.70, Y:15.60, Z:136.14 [[ 9.99153101e-01 -3.21517469e-02 2.56777345e-02 -2.99699194e+02] [ 3.23929585e-02 9.99434385e-01 -9.03364563e-03 1.55951393e+01] [-2.53727633e-02 9.85777283e-03 9.99629455e-01 1.36143566e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.68907232899994 meters Centerline goodness : 0.746241 Centerline is valid? [False, False] Translation: X:-299.70, Y:15.60, Z:136.14 [[ 9.99002141e-01 -3.62990240e-02 2.60211883e-02 -2.99698304e+02] [ 3.66490156e-02 9.99242309e-01 -1.31018012e-02 1.55951752e+01] [-2.55258897e-02 1.40423784e-02 9.99575530e-01 1.36141641e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.71907232899997 meters Centerline goodness : 0.745745 Centerline is valid? [False, False] Translation: X:-299.70, Y:15.60, Z:136.14 [[ 9.99026265e-01 -3.59437290e-02 2.55845601e-02 -2.99697213e+02] [ 3.62811567e-02 9.99259017e-01 -1.28488890e-02 1.55950473e+01] [-2.51037654e-02 1.37646151e-02 9.99590084e-01 1.36141679e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.74907232899994 meters Centerline goodness : 0.746039 Centerline is valid? [False, False] Translation: X:-299.70, Y:15.60, Z:136.14 [[ 9.99024457e-01 -3.60335729e-02 2.55287196e-02 -2.99697225e+02] [ 3.63784471e-02 9.99251220e-01 -1.31760113e-02 1.55964390e+01] [-2.50348254e-02 1.40918527e-02 9.99587253e-01 1.36141957e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.779072329 meters Centerline goodness : 0.746510 Centerline is valid? [False, False] Translation: X:-299.70, Y:15.60, Z:136.14 [[ 9.99117999e-01 -3.28296703e-02 2.61808365e-02 -2.99700038e+02] [ 3.30971347e-02 9.99403612e-01 -9.84888074e-03 1.55976259e+01] [-2.58418870e-02 1.07067047e-02 9.99608705e-01 1.36142993e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.80907232899995 meters Centerline goodness : 0.747026 Centerline is valid? [False, False] Translation: X:-299.70, Y:15.60, Z:136.15 [[ 9.99186718e-01 -3.02721190e-02 2.66364851e-02 -2.99702919e+02] [ 3.04891278e-02 9.99504828e-01 -7.77889380e-03 1.56022743e+01] [-2.63878119e-02 8.58469056e-03 9.99614919e-01 1.36145014e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.839072329 meters Centerline goodness : 0.748332 Centerline is valid? [False, False] Translation: X:-299.70, Y:15.60, Z:136.15 [[ 9.99169195e-01 -3.06997358e-02 2.68038288e-02 -2.99703568e+02] [ 3.09375354e-02 9.99485155e-01 -8.50259533e-03 1.56046685e+01] [-2.65290016e-02 9.32477573e-03 9.99604552e-01 1.36145410e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.86907232899995 meters Centerline goodness : 0.747563 Centerline is valid? [False, False] Translation: X:-299.70, Y:15.61, Z:136.15 [[ 9.99260531e-01 -2.72419403e-02 2.71342491e-02 -2.99704523e+02] [ 2.73910789e-02 9.99611580e-01 -5.13981895e-03 1.56069596e+01] [-2.69836909e-02 5.87925457e-03 9.99618585e-01 1.36145211e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.899072329 meters Centerline goodness : 0.748842 Centerline is valid? [False, False] Translation: X:-299.70, Y:15.60, Z:136.14 [[ 9.99308635e-01 -2.60784051e-02 2.64984792e-02 -2.99701906e+02] [ 2.61869478e-02 9.99650002e-01 -3.75739894e-03 1.56044605e+01] [-2.63912178e-02 4.44871550e-03 9.99641792e-01 1.36143805e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.92907232899995 meters Centerline goodness : 0.747065 Centerline is valid? [False, False] Translation: X:-299.71, Y:15.61, Z:136.14 [[ 9.99461385e-01 -1.67853843e-02 2.81991107e-02 -2.99712185e+02] [ 1.69968152e-02 9.99829078e-01 -7.27488205e-03 1.56142210e+01] [-2.80721792e-02 7.75025877e-03 9.99575853e-01 1.36137975e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.959072329 meters Centerline goodness : 0.748442 Centerline is valid? [False, False] Translation: X:-299.71, Y:15.62, Z:136.14 [[ 9.99535443e-01 -1.29642974e-02 2.75830503e-02 -2.99712640e+02] [ 1.30928549e-02 9.99904225e-01 -4.48524476e-03 1.56181986e+01] [-2.75222605e-02 4.84430199e-03 9.99609453e-01 1.36140591e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.98907232899995 meters Centerline goodness : 0.748865 Centerline is valid? [False, False] Translation: X:-299.71, Y:15.62, Z:136.14 [[ 9.99567955e-01 -1.22320661e-02 2.67260279e-02 -2.99710976e+02] [ 1.23474240e-02 9.99915133e-01 -4.15555244e-03 1.56183839e+01] [-2.66729287e-02 4.48375465e-03 9.99634158e-01 1.36141335e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.019072329 meters Centerline goodness : 0.749357 Centerline is valid? [False, False] Translation: X:-299.71, Y:15.62, Z:136.14 [[ 9.99568246e-01 -1.22477919e-02 2.67079367e-02 -2.99711206e+02] [ 1.23664780e-02 9.99914358e-01 -4.28321330e-03 1.56188503e+01] [-2.66531895e-02 4.61164712e-03 9.99634103e-01 1.36141704e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.04907232899996 meters Centerline goodness : 0.749199 Centerline is valid? [False, False] Translation: X:-299.71, Y:15.62, Z:136.14 [[ 9.99600526e-01 -1.12345332e-02 2.59340424e-02 -2.99708621e+02] [ 1.13272992e-02 9.99929951e-01 -3.43286305e-03 1.56180108e+01] [-2.58936591e-02 3.72525437e-03 9.99657762e-01 1.36140873e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.079072329 meters Centerline goodness : 0.749461 Centerline is valid? [False, False] Translation: X:-299.71, Y:15.62, Z:136.14 [[ 9.99610342e-01 -1.08335490e-02 2.57254306e-02 -2.99707716e+02] [ 1.09108977e-02 9.99936361e-01 -2.86823714e-03 1.56166561e+01] [-2.56927203e-02 3.14780705e-03 9.99664932e-01 1.36140247e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.10907232899996 meters Centerline goodness : 0.749979 Centerline is valid? [False, False] Translation: X:-299.71, Y:15.62, Z:136.14 [[ 9.99609815e-01 -1.09382924e-02 2.57015743e-02 -2.99707958e+02] [ 1.10226135e-02 9.99934315e-01 -3.14139209e-03 1.56175003e+01] [-2.56655246e-02 3.42346489e-03 9.99664724e-01 1.36140676e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.139072329 meters Centerline goodness : 0.749497 Centerline is valid? [False, False] Translation: X:-299.71, Y:15.62, Z:136.14 [[ 9.99586392e-01 -1.15240012e-02 2.63484756e-02 -2.99710150e+02] [ 1.16257260e-02 9.99925533e-01 -3.71082112e-03 1.56184022e+01] [-2.63037500e-02 4.01560646e-03 9.99645931e-01 1.36141513e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.16907232899996 meters Centerline goodness : 0.749534 Centerline is valid? [False, False] Translation: X:-299.71, Y:15.62, Z:136.14 [[ 9.99539720e-01 -1.52347802e-02 2.62345136e-02 -2.99709783e+02] [ 1.54333308e-02 9.99853645e-01 -7.38251274e-03 1.56172132e+01] [-2.61182031e-02 7.78400064e-03 9.99628555e-01 1.36141649e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.199072329 meters Centerline goodness : 0.750445 Centerline is valid? [False, False] Translation: X:-299.71, Y:15.62, Z:136.14 [[ 9.99507702e-01 -1.57966158e-02 2.71075751e-02 -2.99712212e+02] [ 1.60101173e-02 9.99842356e-01 -7.67719073e-03 1.56171964e+01] [-2.69820281e-02 8.10740672e-03 9.99603041e-01 1.36141910e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.22907232899996 meters Centerline goodness : 0.750543 Centerline is valid? [False, False] Translation: X:-299.71, Y:15.62, Z:136.14 [[ 9.99388632e-01 -2.05079544e-02 2.83158339e-02 -2.99714679e+02] [ 2.08499822e-02 9.99712540e-01 -1.18370547e-02 1.56160457e+01] [-2.80649404e-02 1.24202025e-02 9.99528938e-01 1.36141352e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.259072329 meters Centerline goodness : 0.750151 Centerline is valid? [False, False] Translation: X:-299.71, Y:15.61, Z:136.14 [[ 9.99330752e-01 -2.33121972e-02 2.81884652e-02 -2.99712776e+02] [ 2.37197482e-02 9.99617635e-01 -1.42111461e-02 1.56126433e+01] [-2.78463939e-02 1.48702586e-02 9.99501603e-01 1.36139560e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.28907232899996 meters Centerline goodness : 0.749760 Centerline is valid? [False, False] Translation: X:-299.71, Y:15.61, Z:136.14 [[ 9.99228077e-01 -2.66801341e-02 2.88343539e-02 -2.99712505e+02] [ 2.71673212e-02 9.99492421e-01 -1.66384253e-02 1.56078679e+01] [-2.83758028e-02 1.74089339e-02 9.99445718e-01 1.36137172e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.319072329 meters Centerline goodness : 0.750991 Centerline is valid? [False, False] Translation: X:-299.72, Y:15.61, Z:136.14 [[ 9.99164751e-01 -2.77075439e-02 3.00348610e-02 -2.99715305e+02] [ 2.82313042e-02 9.99454169e-01 -1.71568546e-02 1.56079292e+01] [-2.95430927e-02 1.79904477e-02 9.99401596e-01 1.36136762e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.34907232899997 meters Centerline goodness : 0.749260 Centerline is valid? [False, False] Translation: X:-299.72, Y:15.61, Z:136.14 [[ 9.99112564e-01 -2.83236238e-02 3.11746087e-02 -2.99717823e+02] [ 2.88700036e-02 9.99434871e-01 -1.72180526e-02 1.56071935e+01] [-3.06693134e-02 1.81027838e-02 9.99365640e-01 1.36136160e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.379072329 meters Centerline goodness : 0.750031 Centerline is valid? [False, False] Translation: X:-299.72, Y:15.60, Z:136.14 [[ 9.98957845e-01 -3.24640551e-02 3.20828588e-02 -2.99719387e+02] [ 3.31423070e-02 9.99233351e-01 -2.08398201e-02 1.56049660e+01] [-3.13817175e-02 2.18814017e-02 9.99267928e-01 1.36135603e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.40907232899997 meters Centerline goodness : 0.750406 Centerline is valid? [False, False] Translation: X:-299.72, Y:15.61, Z:136.14 [[ 9.98918562e-01 -3.28754552e-02 3.28772007e-02 -2.99721417e+02] [ 3.35773272e-02 9.99214866e-01 -2.10289154e-02 1.56050630e+01] [-3.21600525e-02 2.21101024e-02 9.99238147e-01 1.36135619e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.43907232899994 meters Centerline goodness : 0.751945 Centerline is valid? [False, False] Translation: X:-299.71, Y:15.59, Z:136.14 [[ 9.98630982e-01 -4.09342336e-02 3.25660792e-02 -2.99712848e+02] [ 4.14232586e-02 9.99036672e-01 -1.44858974e-02 1.55942726e+01] [-3.19417383e-02 1.58150590e-02 9.99364603e-01 1.36138119e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.46907232899997 meters Centerline goodness : 0.749943 Centerline is valid? [False, False] Translation: X:-299.72, Y:15.59, Z:136.14 [[ 9.98587844e-01 -4.12127117e-02 3.35235691e-02 -2.99715129e+02] [ 4.17105065e-02 9.99027577e-01 -1.42875372e-02 1.55930113e+01] [-3.29021419e-02 1.56656460e-02 9.99335798e-01 1.36137856e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.49907232899994 meters Centerline goodness : 0.751561 Centerline is valid? [False, False] Translation: X:-299.72, Y:15.59, Z:136.14 [[ 9.98502132e-01 -4.24820657e-02 3.44784825e-02 -2.99718481e+02] [ 4.30284140e-02 9.98957277e-01 -1.52615322e-02 1.55934973e+01] [-3.37941896e-02 1.67222268e-02 9.99288907e-01 1.36139043e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.529072329 meters Centerline goodness : 0.751072 Centerline is valid? [False, False] Translation: X:-299.72, Y:15.59, Z:136.14 [[ 9.98454306e-01 -4.29727634e-02 3.52468548e-02 -2.99720717e+02] [ 4.35427431e-02 9.98930296e-01 -1.55657604e-02 1.55938693e+01] [-3.45402474e-02 1.70764452e-02 9.99257407e-01 1.36139498e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.55907232899995 meters Centerline goodness : 0.754968 Centerline is valid? [False, False] Translation: X:-299.72, Y:15.60, Z:136.14 [[ 9.98777692e-01 -3.54870213e-02 3.44062948e-02 -2.99721814e+02] [ 3.58114248e-02 9.99319303e-01 -8.85846047e-03 1.55986622e+01] [-3.40685141e-02 1.00797711e-02 9.99368668e-01 1.36142877e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.589072329 meters Centerline goodness : 0.751998 Centerline is valid? [False, False] Translation: X:-299.72, Y:15.60, Z:136.14 [[ 9.98791076e-01 -3.53313260e-02 3.41772426e-02 -2.99721092e+02] [ 3.56519487e-02 9.99325368e-01 -8.81750139e-03 1.55991053e+01] [-3.38426515e-02 1.00253270e-02 9.99376890e-01 1.36142653e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.61907232899995 meters Centerline goodness : 0.752378 Centerline is valid? [False, False] Translation: X:-299.72, Y:15.60, Z:136.15 [[ 9.99154622e-01 -3.56536921e-02 2.04659591e-02 -2.99718082e+02] [ 3.59233915e-02 9.99270443e-01 -1.29650409e-02 1.56040782e+01] [-1.99887764e-02 1.36892872e-02 9.99706483e-01 1.36146095e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.649072329 meters Centerline goodness : 0.753454 Centerline is valid? [False, False] Translation: X:-299.72, Y:15.60, Z:136.15 [[ 9.99162812e-01 -3.52338121e-02 2.07906903e-02 -2.99718407e+02] [ 3.54904388e-02 9.99296688e-01 -1.21061319e-02 1.56015795e+01] [-2.03495227e-02 1.28338676e-02 9.99710552e-01 1.36145314e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.67907232899995 meters Centerline goodness : 0.752975 Centerline is valid? [False, False] Translation: X:-299.72, Y:15.60, Z:136.15 [[ 9.99273218e-01 -3.14355702e-02 2.15601494e-02 -2.99720675e+02] [ 3.16094588e-02 9.99470076e-01 -7.77238772e-03 1.56000322e+01] [-2.13043947e-02 8.44824354e-03 9.99737340e-01 1.36145115e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.709072329 meters Centerline goodness : 0.752611 Centerline is valid? [False, False] Translation: X:-299.72, Y:15.60, Z:136.15 [[ 9.99275396e-01 -3.13833527e-02 2.15352579e-02 -2.99720777e+02] [ 3.15577380e-02 9.99471447e-01 -7.80609221e-03 1.56002921e+01] [-2.12788940e-02 8.48003991e-03 9.99737614e-01 1.36145313e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.73907232899995 meters Centerline goodness : 0.754785 Centerline is valid? [False, False] Translation: X:-299.72, Y:15.60, Z:136.15 [[ 9.99365296e-01 -2.81458613e-02 2.18360992e-02 -2.99722457e+02] [ 2.82554084e-02 9.99589571e-01 -4.72452515e-03 1.56025849e+01] [-2.16941613e-02 5.33851437e-03 9.99750401e-01 1.36146029e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.769072329 meters Centerline goodness : 0.753572 Centerline is valid? [False, False] Translation: X:-299.72, Y:15.61, Z:136.15 [[ 9.99477403e-01 -2.44196125e-02 2.11802641e-02 -2.99721329e+02] [ 2.44636129e-02 9.99699063e-01 -1.82077934e-03 1.56075330e+01] [-2.11294274e-02 2.33797359e-03 9.99774015e-01 1.36146495e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.79907232899996 meters Centerline goodness : 0.753213 Centerline is valid? [False, False] Translation: X:-299.72, Y:15.61, Z:136.15 [[ 9.99489233e-01 -2.44383082e-02 2.05923078e-02 -2.99719852e+02] [ 2.44907925e-02 9.99697409e-01 -2.30037418e-03 1.56099768e+01] [-2.05298595e-02 2.80352116e-03 9.99785310e-01 1.36146646e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.829072329 meters Centerline goodness : 0.753605 Centerline is valid? [False, False] Translation: X:-299.72, Y:15.62, Z:136.15 [[ 9.99524285e-01 -2.27667702e-02 2.08057116e-02 -2.99722985e+02] [ 2.28040675e-02 9.99738741e-01 -1.55712380e-03 1.56166718e+01] [-2.07648253e-02 2.03083790e-03 9.99782325e-01 1.36149916e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.85907232899996 meters Centerline goodness : 0.753605 Centerline is valid? [False, False] Translation: X:-299.72, Y:15.62, Z:136.15 [[ 9.99524285e-01 -2.27667702e-02 2.08057116e-02 -2.99722985e+02] [ 2.28040675e-02 9.99738741e-01 -1.55712380e-03 1.56166718e+01] [-2.07648253e-02 2.03083790e-03 9.99782325e-01 1.36149916e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.889072329 meters Centerline goodness : 0.752347 Centerline is valid? [False, False] Translation: X:-299.72, Y:15.62, Z:136.15 [[ 9.99556990e-01 -2.19972385e-02 2.00485594e-02 -2.99721097e+02] [ 2.20253425e-02 9.99756714e-01 -1.18204197e-03 1.56171727e+01] [-2.00176803e-02 1.62309470e-03 9.99798309e-01 1.36150045e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.91907232899996 meters Centerline goodness : 0.753959 Centerline is valid? [False, False] Translation: X:-299.72, Y:15.62, Z:136.15 [[ 9.99563006e-01 -2.18904750e-02 1.98646295e-02 -2.99721055e+02] [ 2.19185820e-02 9.99759041e-01 -1.19828509e-03 1.56175151e+01] [-1.98336119e-02 1.63316596e-03 9.99801961e-01 1.36150637e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.949072329 meters Centerline goodness : 0.754565 Centerline is valid? [False, False] Translation: X:-299.73, Y:15.62, Z:136.14 [[ 9.99645608e-01 -1.54776331e-02 2.16587468e-02 -2.99730291e+02] [ 1.56322218e-02 9.99853401e-01 -6.98645126e-03 1.56238375e+01] [-2.15474379e-02 7.32254965e-03 9.99741011e-01 1.36143432e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.97907232899996 meters Centerline goodness : 0.753486 Centerline is valid? [False, False] Translation: X:-299.73, Y:15.62, Z:136.14 [[ 9.99668182e-01 -1.46015804e-02 2.12207519e-02 -2.99728642e+02] [ 1.47311810e-02 9.99873705e-01 -5.96381789e-03 1.56220608e+01] [-2.11309906e-02 6.27444573e-03 9.99757027e-01 1.36142722e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.009072329 meters Centerline goodness : 0.755184 Centerline is valid? [False, False] Translation: X:-299.73, Y:15.62, Z:136.14 [[ 9.99671714e-01 -1.44809129e-02 2.11368638e-02 -2.99728434e+02] [ 1.46098194e-02 9.99875526e-01 -5.95702163e-03 1.56225468e+01] [-2.10479697e-02 6.26387179e-03 9.99758844e-01 1.36142766e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.03907232899996 meters Centerline goodness : 0.753067 Centerline is valid? [False, False] Translation: X:-299.73, Y:15.62, Z:136.14 [[ 9.99663850e-01 -1.46051860e-02 2.14214017e-02 -2.99730280e+02] [ 1.47395358e-02 9.99872593e-01 -6.12732499e-03 1.56223094e+01] [-2.13291817e-02 6.44100681e-03 9.99751759e-01 1.36144250e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.069072329 meters Centerline goodness : 0.753643 Centerline is valid? [False, False] Translation: X:-299.73, Y:15.62, Z:136.14 [[ 9.99663825e-01 -1.46949759e-02 2.13610662e-02 -2.99730543e+02] [ 1.48366085e-02 9.99868888e-01 -6.48711113e-03 1.56235547e+01] [-2.12629375e-02 6.80185610e-03 9.99750780e-01 1.36144835e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.09907232899997 meters Centerline goodness : 0.754464 Centerline is valid? [False, False] Translation: X:-299.73, Y:15.63, Z:136.15 [[ 9.99732084e-01 -1.04986804e-02 2.06285493e-02 -2.99729201e+02] [ 1.05605202e-02 9.99940057e-01 -2.89113210e-03 1.56262888e+01] [-2.05969596e-02 3.10820573e-03 9.99783029e-01 1.36145398e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.129072329 meters Centerline goodness : 0.756142 Centerline is valid? [False, False] Translation: X:-299.73, Y:15.63, Z:136.15 [[ 9.99759452e-01 -9.74837426e-03 1.96470824e-02 -2.99726953e+02] [ 9.80152396e-03 9.99948556e-01 -2.61074152e-03 1.56268580e+01] [-1.96206212e-02 2.80268486e-03 9.99803569e-01 1.36145704e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.15907232899997 meters Centerline goodness : 0.753958 Centerline is valid? [False, False] Translation: X:-299.73, Y:15.63, Z:136.15 [[ 9.99770033e-01 -9.64277284e-03 1.91545714e-02 -2.99725744e+02] [ 9.70049034e-03 9.99948678e-01 -2.92262303e-03 1.56287462e+01] [-1.91254061e-02 3.10775966e-03 9.99812263e-01 1.36145842e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.18907232899994 meters Centerline goodness : 0.754336 Centerline is valid? [False, False] Translation: X:-299.73, Y:15.63, Z:136.15 [[ 9.99801876e-01 -6.02126396e-03 1.89724446e-02 -2.99726428e+02] [ 6.02007360e-03 9.99981872e-01 1.19854461e-04 1.56323065e+01] [-1.89728223e-02 -5.61520237e-06 9.99820000e-01 1.36147408e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.21907232899997 meters Centerline goodness : 0.753449 Centerline is valid? [False, False] Translation: X:-299.73, Y:15.63, Z:136.15 [[ 9.99810836e-01 -5.94581286e-03 1.85186510e-02 -2.99725592e+02] [ 5.94852628e-03 9.99982303e-01 -9.14429305e-05 1.56333548e+01] [-1.85177795e-02 2.01584315e-04 9.99828511e-01 1.36147855e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.24907232899994 meters Centerline goodness : 0.754316 Centerline is valid? [False, False] Translation: X:-299.74, Y:15.64, Z:136.14 [[ 9.99817514e-01 4.07870978e-03 1.86628950e-02 -2.99735691e+02] [-4.01009549e-03 9.99985068e-01 -3.71245611e-03 1.56434763e+01] [-1.86777583e-02 3.63693864e-03 9.99818941e-01 1.36143191e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.279072329 meters Centerline goodness : 0.753215 Centerline is valid? [False, False] Translation: X:-299.73, Y:15.65, Z:136.14 [[ 9.99829478e-01 4.17190854e-03 1.79891781e-02 -2.99734055e+02] [-4.09979164e-03 9.99983419e-01 -4.04392189e-03 1.56451642e+01] [-1.80057507e-02 3.96948042e-03 9.99830004e-01 1.36143332e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.30907232899995 meters Centerline goodness : 0.753574 Centerline is valid? [False, False] Translation: X:-299.73, Y:15.65, Z:136.14 [[ 9.99814588e-01 8.83336727e-03 1.71102542e-02 -2.99731651e+02] [-8.83187125e-03 9.99960985e-01 -1.62997108e-04 1.56477140e+01] [-1.71110265e-02 1.18513240e-05 9.99853596e-01 1.36143328e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.339072329 meters Centerline goodness : 0.754224 Centerline is valid? [False, False] Translation: X:-299.73, Y:15.65, Z:136.14 [[ 9.99823543e-01 8.91203658e-03 1.65365928e-02 -2.99730767e+02] [-8.90294277e-03 9.99960174e-01 -6.23457176e-04 1.56495856e+01] [-1.65414905e-02 4.76122823e-04 9.99863067e-01 1.36144135e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.36907232899995 meters Centerline goodness : 0.754361 Centerline is valid? [False, False] Translation: X:-299.73, Y:15.65, Z:136.15 [[ 9.99836749e-01 8.68882554e-03 1.58423457e-02 -2.99729904e+02] [-8.66531640e-03 9.99961251e-01 -1.55198474e-03 1.56527492e+01] [-1.58552168e-02 1.41445244e-03 9.99873298e-01 1.36145469e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.399072329 meters Centerline goodness : 0.755250 Centerline is valid? [False, False] Translation: X:-299.73, Y:15.66, Z:136.15 [[ 9.99811964e-01 1.21274926e-02 1.51314747e-02 -2.99730421e+02] [-1.21361773e-02 9.99926238e-01 4.82254074e-04 1.56589946e+01] [-1.51245100e-02 -6.65801653e-04 9.99885396e-01 1.36149054e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.42907232899995 meters Centerline goodness : 0.754611 Centerline is valid? [False, False] Translation: X:-299.73, Y:15.66, Z:136.15 [[ 9.99820462e-01 1.20545407e-02 1.46195926e-02 -2.99729855e+02] [-1.20560678e-02 9.99927323e-01 1.63247795e-05 1.56604698e+01] [-1.46183333e-02 -1.92576648e-04 9.99893128e-01 1.36150057e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.459072329 meters Centerline goodness : 0.754431 Centerline is valid? [False, False] Translation: X:-299.73, Y:15.66, Z:136.15 [[ 9.99824682e-01 1.24161175e-02 1.40158767e-02 -2.99728975e+02] [-1.24169351e-02 9.99922906e-01 -2.86896467e-05 1.56611321e+01] [-1.40151524e-02 -1.45349615e-04 9.99901772e-01 1.36150907e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.48907232899995 meters Centerline goodness : 0.755223 Centerline is valid? [False, False] Translation: X:-299.73, Y:15.67, Z:136.16 [[ 9.99949665e-01 9.96830990e-03 1.14054746e-03 -2.99731352e+02] [-9.96125843e-03 9.99932206e-01 -6.02963268e-03 1.56707269e+01] [-1.20057539e-03 6.01796789e-03 9.99981171e-01 1.36155929e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.519072329 meters Centerline goodness : 0.755111 Centerline is valid? [False, False] Translation: X:-299.73, Y:15.67, Z:136.16 [[ 9.99947738e-01 1.01543358e-02 1.18775478e-03 -2.99731167e+02] [-1.01473903e-02 9.99932186e-01 -5.71431186e-03 1.56700093e+01] [-1.24569928e-03 5.70196061e-03 9.99982968e-01 1.36155429e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.54907232899996 meters Centerline goodness : 0.753383 Centerline is valid? [False, False] Translation: X:-299.73, Y:15.67, Z:136.15 [[ 9.99948364e-01 1.00141441e-02 1.72806198e-03 -2.99731860e+02] [-1.00045358e-02 9.99934926e-01 -5.48201249e-03 1.56689220e+01] [-1.78284720e-03 5.46444096e-03 9.99983481e-01 1.36154361e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.579072329 meters Centerline goodness : 0.754362 Centerline is valid? [False, False] Translation: X:-299.73, Y:15.67, Z:136.15 [[ 9.99947017e-01 1.01161326e-02 1.90467058e-03 -2.99732100e+02] [-1.01061743e-02 9.99935580e-01 -5.16733419e-03 1.56678448e+01] [-1.95682132e-03 5.14781148e-03 9.99984835e-01 1.36153976e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.60907232899996 meters Centerline goodness : 0.755086 Centerline is valid? [False, False] Translation: X:-299.73, Y:15.67, Z:136.15 [[ 9.99949858e-01 9.83655989e-03 1.87714572e-03 -2.99731818e+02] [-9.82565914e-03 9.99935307e-01 -5.73054485e-03 1.56698079e+01] [-1.93339313e-03 5.71181332e-03 9.99981818e-01 1.36153755e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.639072329 meters Centerline goodness : 0.753035 Centerline is valid? [False, False] Translation: X:-299.73, Y:15.67, Z:136.15 [[ 9.99951183e-01 9.73343738e-03 1.70069039e-03 -2.99731607e+02] [-9.72303420e-03 9.99934598e-01 -6.02181495e-03 1.56710121e+01] [-1.75919212e-03 6.00498511e-03 9.99980423e-01 1.36154165e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.66907232899996 meters Centerline goodness : 0.753357 Centerline is valid? [False, False] Translation: X:-299.73, Y:15.67, Z:136.15 [[ 9.99949263e-01 9.96394301e-03 1.48011359e-03 -2.99731113e+02] [-9.95512935e-03 9.99933350e-01 -5.84729007e-03 1.56711222e+01] [-1.53827700e-03 5.83225868e-03 9.99981809e-01 1.36154280e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.699072329 meters Centerline goodness : 0.754144 Centerline is valid? [False, False] Translation: X:-299.72, Y:15.66, Z:136.16 [[ 9.99987632e-01 4.76142289e-03 -1.43662975e-03 -2.99722869e+02] [-4.76211547e-03 9.99988546e-01 -4.79046853e-04 1.56645885e+01] [ 1.43433235e-03 4.85882325e-04 9.99998853e-01 1.36160796e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.72907232899996 meters Centerline goodness : 0.755232 Centerline is valid? [False, False] Translation: X:-299.72, Y:15.67, Z:136.16 [[ 9.99984237e-01 5.17984910e-03 -2.16658432e-03 -2.99721421e+02] [-5.18085714e-03 9.99986474e-01 -4.59914085e-04 1.56654919e+01] [ 2.16417273e-03 4.71131600e-04 9.99997547e-01 1.36161360e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.759072329 meters Centerline goodness : 0.752520 Centerline is valid? [False, False] Translation: X:-299.72, Y:15.67, Z:136.16 [[ 9.99985018e-01 4.67555310e-03 -2.84649187e-03 -2.99719666e+02] [-4.68108676e-03 9.99987161e-01 -1.94047951e-03 1.56714756e+01] [ 2.83738251e-03 1.95377511e-03 9.99994066e-01 1.36161735e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.78907232899996 meters Centerline goodness : 0.751424 Centerline is valid? [False, False] Translation: X:-299.72, Y:15.67, Z:136.16 [[ 9.99981296e-01 5.10625469e-03 -3.36671218e-03 -2.99718505e+02] [-5.11176188e-03 9.99985608e-01 -1.62920545e-03 1.56711753e+01] [ 3.35834458e-03 1.64638480e-03 9.99993005e-01 1.36161935e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.819072329 meters Centerline goodness : 0.753471 Centerline is valid? [False, False] Translation: X:-299.72, Y:15.67, Z:136.16 [[ 9.99985199e-01 4.80769063e-03 -2.54714701e-03 -2.99720711e+02] [-4.81144116e-03 9.99987347e-01 -1.46836970e-03 1.56693520e+01] [ 2.54005532e-03 1.48060342e-03 9.99995678e-01 1.36161850e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.84907232899997 meters Centerline goodness : 0.754338 Centerline is valid? [False, False] Translation: X:-299.72, Y:15.67, Z:136.16 [[ 9.99988359e-01 4.34073932e-03 -2.10718595e-03 -2.99722684e+02] [-4.34461515e-03 9.99988873e-01 -1.83825718e-03 1.56693353e+01] [ 2.09918311e-03 1.84739069e-03 9.99996090e-01 1.36162795e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.879072329 meters Centerline goodness : 0.753513 Centerline is valid? [False, False] Translation: X:-299.72, Y:15.67, Z:136.16 [[ 9.99982087e-01 5.23648391e-03 -2.89926858e-03 -2.99720282e+02] [-5.24093762e-03 9.99985095e-01 -1.53068896e-03 1.56708298e+01] [ 2.89120993e-03 1.54585643e-03 9.99994626e-01 1.36162505e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.90907232899997 meters Centerline goodness : 0.755205 Centerline is valid? [False, False] Translation: X:-299.72, Y:15.67, Z:136.16 [[ 9.99987952e-01 4.48789661e-03 -1.98873779e-03 -2.99722952e+02] [-4.49175589e-03 9.99988029e-01 -1.94036844e-03 1.56708123e+01] [ 1.98000581e-03 1.94927799e-03 9.99996140e-01 1.36162770e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.93907232899994 meters Centerline goodness : 0.755590 Centerline is valid? [False, False] Translation: X:-299.72, Y:15.67, Z:136.16 [[ 9.99989310e-01 4.40827319e-03 -1.39541497e-03 -2.99724393e+02] [-4.41054885e-03 9.99988942e-01 -1.63195695e-03 1.56692758e+01] [ 1.38820543e-03 1.63809405e-03 9.99997695e-01 1.36162553e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.96907232899997 meters Centerline goodness : 0.755919 Centerline is valid? [False, False] Translation: X:-299.73, Y:15.67, Z:136.16 [[ 9.99991103e-01 4.15856230e-03 -7.07417582e-04 -2.99726091e+02] [-4.15963875e-03 9.99990183e-01 -1.52706737e-03 1.56681999e+01] [ 7.01060232e-04 1.52999639e-03 9.99998584e-01 1.36162302e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.99907232899994 meters Centerline goodness : 0.755879 Centerline is valid? [False, False] Translation: X:-299.73, Y:15.67, Z:136.16 [[ 9.99995824e-01 2.83080827e-03 5.81227257e-04 -2.99728964e+02] [-2.82978578e-03 9.99994460e-01 -1.75254811e-03 1.56659841e+01] [-5.86185165e-04 1.75089604e-03 9.99998295e-01 1.36161419e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.029072329 meters Centerline goodness : 0.756781 Centerline is valid? [False, False] Translation: X:-299.73, Y:15.66, Z:136.16 [[ 9.99999041e-01 -1.18411369e-03 7.18671792e-04 -2.99728901e+02] [ 1.18798438e-03 9.99984662e-01 -5.40958059e-03 1.56642767e+01] [-7.12255211e-04 5.41042917e-03 9.99985110e-01 1.36160773e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.05907232899995 meters Centerline goodness : 0.754869 Centerline is valid? [False, False] Translation: X:-299.73, Y:15.66, Z:136.16 [[ 9.99999498e-01 -7.59664672e-04 6.53779559e-04 -2.99728230e+02] [ 7.62777102e-04 9.99988315e-01 -4.77366339e-03 1.56630670e+01] [-6.50145536e-04 4.77415968e-03 9.99988392e-01 1.36160075e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.089072329 meters Centerline goodness : 0.755105 Centerline is valid? [False, False] Translation: X:-299.73, Y:15.66, Z:136.16 [[ 9.99989808e-01 -4.39862808e-03 1.01787295e-03 -2.99728472e+02] [ 4.40628916e-03 9.99961024e-01 -7.65087881e-03 1.56590213e+01] [-9.84179908e-04 7.65528587e-03 9.99970214e-01 1.36158917e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.11907232899995 meters Centerline goodness : 0.756753 Centerline is valid? [False, False] Translation: X:-299.73, Y:15.66, Z:136.16 [[ 9.99985836e-01 -4.95771708e-03 1.93621168e-03 -2.99731042e+02] [ 4.97289548e-03 9.99956313e-01 -7.91470881e-03 1.56588183e+01] [-1.89688820e-03 7.92422529e-03 9.99966804e-01 1.36159140e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.149072329 meters Centerline goodness : 0.757736 Centerline is valid? [False, False] Translation: X:-299.73, Y:15.66, Z:136.16 [[ 9.99979382e-01 -5.77073862e-03 2.81685269e-03 -2.99733889e+02] [ 5.79467932e-03 9.99946519e-01 -8.56624370e-03 1.56594111e+01] [-2.76726849e-03 8.58238984e-03 9.99959342e-01 1.36159864e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.17907232899995 meters Centerline goodness : 0.757228 Centerline is valid? [False, False] Translation: X:-299.74, Y:15.66, Z:136.16 [[ 9.99941184e-01 -1.03128400e-02 3.35774680e-03 -2.99736103e+02] [ 1.03556182e-02 9.99862101e-01 -1.29823113e-02 1.56592037e+01] [-3.22339927e-03 1.30163193e-02 9.99910089e-01 1.36161057e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.209072329 meters Centerline goodness : 0.759482 Centerline is valid? [False, False] Translation: X:-299.74, Y:15.66, Z:136.16 [[ 9.99936926e-01 -1.04958722e-02 3.99766844e-03 -2.99737328e+02] [ 1.05464731e-02 9.99861762e-01 -1.28541459e-02 1.56586972e+01] [-3.86220034e-03 1.28954964e-02 9.99909391e-01 1.36160451e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.23907232899995 meters Centerline goodness : 0.758876 Centerline is valid? [False, False] Translation: X:-299.74, Y:15.66, Z:136.16 [[ 9.99921132e-01 -1.14307702e-02 5.20257281e-03 -2.99740123e+02] [ 1.14982685e-02 9.99847626e-01 -1.31345146e-02 1.56580202e+01] [-5.05164245e-03 1.31932993e-02 9.99900204e-01 1.36159901e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.269072329 meters Centerline goodness : 0.757049 Centerline is valid? [False, False] Translation: X:-299.75, Y:15.66, Z:136.15 [[ 9.99835732e-01 -1.52326536e-02 9.82215105e-03 -2.99749284e+02] [ 1.53446906e-02 9.99816886e-01 -1.14339158e-02 1.56565071e+01] [-9.64618360e-03 1.15827554e-02 9.99886389e-01 1.36153651e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.29907232899996 meters Centerline goodness : 0.757940 Centerline is valid? [False, False] Translation: X:-299.75, Y:15.66, Z:136.15 [[ 9.99813189e-01 -1.59837377e-02 1.08676850e-02 -2.99751811e+02] [ 1.61095955e-02 9.99803014e-01 -1.15937225e-02 1.56556815e+01] [-1.06802332e-02 1.17666307e-02 9.99873732e-01 1.36153318e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.329072329 meters Centerline goodness : 0.758129 Centerline is valid? [False, False] Translation: X:-299.75, Y:15.66, Z:136.15 [[ 9.99790922e-01 -1.66253183e-02 1.19042822e-02 -2.99754093e+02] [ 1.67652370e-02 9.99790388e-01 -1.17519294e-02 1.56553153e+01] [-1.17064074e-02 1.19490504e-02 9.99860080e-01 1.36152702e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.35907232899996 meters Centerline goodness : 0.761803 Centerline is valid? [False, False] Translation: X:-299.76, Y:15.65, Z:136.15 [[ 9.99765340e-01 -1.73393677e-02 1.29850041e-02 -2.99756369e+02] [ 1.74944437e-02 9.99775834e-01 -1.19258798e-02 1.56548646e+01] [-1.27753061e-02 1.21502467e-02 9.99844569e-01 1.36151956e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.389072329 meters Centerline goodness : 0.763095 Centerline is valid? [False, False] Translation: X:-299.76, Y:15.65, Z:136.15 [[ 9.99747972e-01 -1.75460633e-02 1.40045488e-02 -2.99757870e+02] [ 1.77048969e-02 9.99779407e-01 -1.12993262e-02 1.56525722e+01] [-1.38032008e-02 1.15444276e-02 9.99838086e-01 1.36150353e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.41907232899996 meters Centerline goodness : 0.761793 Centerline is valid? [False, False] Translation: X:-299.76, Y:15.65, Z:136.15 [[ 9.99735326e-01 -1.78248180e-02 1.45449207e-02 -2.99759071e+02] [ 1.79905652e-02 9.99773785e-01 -1.13453896e-02 1.56523627e+01] [-1.43394009e-02 1.16040581e-02 9.99829849e-01 1.36150055e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.449072329 meters Centerline goodness : 0.761739 Centerline is valid? [False, False] Translation: X:-299.76, Y:15.65, Z:136.15 [[ 9.99720292e-01 -1.81698021e-02 1.51391976e-02 -2.99760540e+02] [ 1.83446606e-02 9.99765672e-01 -1.14923573e-02 1.56523144e+01] [-1.49268362e-02 1.17668662e-02 9.99819349e-01 1.36149963e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.47907232899996 meters Centerline goodness : 0.762838 Centerline is valid? [False, False] Translation: X:-299.76, Y:15.65, Z:136.15 [[ 9.99783730e-01 -1.41433323e-02 1.52466057e-02 -2.99761032e+02] [ 1.42597554e-02 9.99869786e-01 -7.55452101e-03 1.56533649e+01] [-1.51377743e-02 7.77030006e-03 9.99855225e-01 1.36149983e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.509072329 meters Centerline goodness : 0.761510 Centerline is valid? [False, False] Translation: X:-299.76, Y:15.66, Z:136.15 [[ 9.99816816e-01 -1.09515705e-02 1.56970348e-02 -2.99763365e+02] [ 1.10231511e-02 9.99929203e-01 -4.48088801e-03 1.56552754e+01] [-1.56468507e-02 4.65309797e-03 9.99866753e-01 1.36151334e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.53907232899996 meters Centerline goodness : 0.762714 Centerline is valid? [False, False] Translation: X:-299.76, Y:15.66, Z:136.15 [[ 9.99806588e-01 -1.12278261e-02 1.61468861e-02 -2.99764750e+02] [ 1.13058949e-02 9.99924796e-01 -4.75177925e-03 1.56557039e+01] [-1.60923196e-02 4.93341520e-03 9.99858339e-01 1.36151645e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.569072329 meters Centerline goodness : 0.761857 Centerline is valid? [False, False] Translation: X:-299.76, Y:15.65, Z:136.15 [[ 9.99818621e-01 -1.07119840e-02 1.57473156e-02 -2.99763878e+02] [ 1.07803401e-02 9.99932806e-01 -4.26234754e-03 1.56549037e+01] [-1.57005992e-02 4.43133586e-03 9.99866918e-01 1.36151749e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.59907232899997 meters Centerline goodness : 0.761956 Centerline is valid? [False, False] Translation: X:-299.76, Y:15.66, Z:136.15 [[ 9.99805810e-01 -1.12760335e-02 1.61614839e-02 -2.99764485e+02] [ 1.13557333e-02 9.99923768e-01 -4.84820837e-03 1.56565544e+01] [-1.61055833e-02 5.03079240e-03 9.99857641e-01 1.36151251e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.629072329 meters Centerline goodness : 0.762048 Centerline is valid? [False, False] Translation: X:-299.77, Y:15.66, Z:136.15 [[ 9.99789950e-01 -1.16933859e-02 1.68321113e-02 -2.99766236e+02] [ 1.17809291e-02 9.99917539e-01 -5.11123067e-03 1.56567877e+01] [-1.67709557e-02 5.30845497e-03 9.99845266e-01 1.36151266e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.65907232899997 meters Centerline goodness : 0.763027 Centerline is valid? [False, False] Translation: X:-299.77, Y:15.66, Z:136.15 [[ 9.99790183e-01 -1.15541383e-02 1.69142570e-02 -2.99765998e+02] [ 1.16387857e-02 9.99920189e-01 -4.91464470e-03 1.56566867e+01] [-1.68561226e-02 5.11047494e-03 9.99844865e-01 1.36150663e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.68907232899994 meters Centerline goodness : 0.762445 Centerline is valid? [False, False] Translation: X:-299.77, Y:15.66, Z:136.15 [[ 9.99778530e-01 -1.17978070e-02 1.74270883e-02 -2.99767009e+02] [ 1.18857527e-02 9.99917102e-01 -4.95156591e-03 1.56566238e+01] [-1.73672260e-02 5.15760334e-03 9.99835876e-01 1.36150190e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.71907232899997 meters Centerline goodness : 0.761685 Centerline is valid? [False, False] Translation: X:-299.77, Y:15.66, Z:136.15 [[ 9.99781365e-01 -1.17712266e-02 1.72818068e-02 -2.99766766e+02] [ 1.18603360e-02 9.99916847e-01 -5.06284613e-03 1.56574006e+01] [-1.72207739e-02 5.26670725e-03 9.99837840e-01 1.36150436e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.74907232899994 meters Centerline goodness : 0.762070 Centerline is valid? [False, False] Translation: X:-299.76, Y:15.66, Z:136.15 [[ 9.99801352e-01 -1.10228294e-02 1.66058330e-02 -2.99764797e+02] [ 1.11008131e-02 9.99927751e-01 -4.61132671e-03 1.56576395e+01] [-1.65538033e-02 4.79474892e-03 9.99851480e-01 1.36150193e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.779072329 meters Centerline goodness : 0.762070 Centerline is valid? [False, False] Translation: X:-299.76, Y:15.66, Z:136.15 [[ 9.99801352e-01 -1.10228294e-02 1.66058330e-02 -2.99764797e+02] [ 1.11008131e-02 9.99927751e-01 -4.61132671e-03 1.56576395e+01] [-1.65538033e-02 4.79474892e-03 9.99851480e-01 1.36150193e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.80907232899995 meters Centerline goodness : 0.761665 Centerline is valid? [False, False] Translation: X:-299.77, Y:15.66, Z:136.15 [[ 9.99798026e-01 -1.11715603e-02 1.67063875e-02 -2.99765184e+02] [ 1.12543134e-02 9.99924821e-01 -4.86759297e-03 1.56585401e+01] [-1.66507529e-02 5.05462877e-03 9.99848590e-01 1.36150391e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.839072329 meters Centerline goodness : 0.761356 Centerline is valid? [False, False] Translation: X:-299.77, Y:15.66, Z:136.15 [[ 9.99831383e-01 -7.46266765e-03 1.67783865e-02 -2.99765844e+02] [ 7.48774327e-03 9.99970941e-01 -1.43219478e-03 1.56608615e+01] [-1.67672109e-02 1.55758553e-03 9.99858207e-01 1.36150912e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.86907232899995 meters Centerline goodness : 0.762233 Centerline is valid? [False, False] Translation: X:-299.76, Y:15.66, Z:136.15 [[ 9.99846799e-01 -6.77732861e-03 1.61383791e-02 -2.99763909e+02] [ 6.79442086e-03 9.99976413e-01 -1.00451192e-03 1.56608415e+01] [-1.61311905e-02 1.11400897e-03 9.99869263e-01 1.36150526e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.899072329 meters Centerline goodness : 0.764191 Centerline is valid? [False, False] Translation: X:-299.76, Y:15.66, Z:136.15 [[ 9.99879836e-01 -2.41094192e-03 1.53133932e-02 -2.99763033e+02] [ 2.36976577e-03 9.99993530e-01 2.70647421e-03 1.56628958e+01] [-1.53198193e-02 -2.66985983e-03 9.99879080e-01 1.36152100e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.92907232899995 meters Centerline goodness : 0.764198 Centerline is valid? [False, False] Translation: X:-299.76, Y:15.66, Z:136.15 [[ 9.99893338e-01 -2.18864194e-03 1.44402834e-02 -2.99761564e+02] [ 2.15593179e-03 9.99995076e-01 2.28037918e-03 1.56649432e+01] [-1.44452033e-02 -2.24900369e-03 9.99893133e-01 1.36153111e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.959072329 meters Centerline goodness : 0.763428 Centerline is valid? [False, False] Translation: X:-299.76, Y:15.67, Z:136.15 [[ 9.99911344e-01 -1.02763450e-03 1.32758730e-02 -2.99758800e+02] [ 9.90288137e-04 9.99995535e-01 2.81936797e-03 1.56652300e+01] [-1.32787110e-02 -2.80597107e-03 9.99907897e-01 1.36153400e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.98907232899995 meters Centerline goodness : 0.763465 Centerline is valid? [False, False] Translation: X:-299.76, Y:15.67, Z:136.15 [[ 9.99921918e-01 -5.54523803e-04 1.24840215e-02 -2.99757259e+02] [ 5.20307721e-04 9.99996100e-01 2.74387114e-03 1.56663826e+01] [-1.24854944e-02 -2.73716136e-03 9.99918307e-01 1.36154036e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.019072329 meters Centerline goodness : 0.763531 Centerline is valid? [False, False] Translation: X:-299.75, Y:15.67, Z:136.16 [[ 9.99936032e-01 3.32974118e-04 1.13057562e-02 -2.99754966e+02] [-3.63497193e-04 9.99996295e-01 2.69783429e-03 1.56680720e+01] [-1.13048160e-02 -2.70177133e-03 9.99932449e-01 1.36155034e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.04907232899996 meters Centerline goodness : 0.762570 Centerline is valid? [False, False] Translation: X:-299.75, Y:15.67, Z:136.16 [[ 9.99938621e-01 3.13248738e-04 1.10750145e-02 -2.99754648e+02] [-3.40941882e-04 9.99996820e-01 2.49870674e-03 1.56688036e+01] [-1.10741965e-02 -2.50232931e-03 9.99935548e-01 1.36155384e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.079072329 meters Centerline goodness : 0.762770 Centerline is valid? [False, False] Translation: X:-299.76, Y:15.67, Z:136.16 [[ 9.99936262e-01 -1.29864687e-04 1.12896150e-02 -2.99755261e+02] [ 1.07946737e-04 9.99998108e-01 1.94201353e-03 1.56701215e+01] [-1.12898458e-02 -1.94067107e-03 9.99934384e-01 1.36155485e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.10907232899996 meters Centerline goodness : 0.762835 Centerline is valid? [False, False] Translation: X:-299.76, Y:15.67, Z:136.16 [[ 9.99936077e-01 -1.57360526e-04 1.13056095e-02 -2.99755552e+02] [ 1.35952360e-04 9.99998197e-01 1.89433147e-03 1.56701458e+01] [-1.13058872e-02 -1.89267335e-03 9.99934295e-01 1.36155751e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.139072329 meters Centerline goodness : 0.762652 Centerline is valid? [False, False] Translation: X:-299.76, Y:15.67, Z:136.16 [[ 9.99932019e-01 -4.17823501e-04 1.16526123e-02 -2.99756483e+02] [ 3.98196125e-04 9.99998498e-01 1.68664486e-03 1.56704463e+01] [-1.16532995e-02 -1.68189018e-03 9.99930684e-01 1.36155763e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.16907232899996 meters Centerline goodness : 0.763020 Centerline is valid? [False, False] Translation: X:-299.76, Y:15.67, Z:136.16 [[ 9.99929821e-01 -7.49573298e-04 1.18233072e-02 -2.99756825e+02] [ 7.35350022e-04 9.99999001e-01 1.20728767e-03 1.56717331e+01] [-1.18242003e-02 -1.19850867e-03 9.99929373e-01 1.36155628e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.199072329 meters Centerline goodness : 0.762257 Centerline is valid? [False, False] Translation: X:-299.76, Y:15.67, Z:136.16 [[ 9.99919136e-01 -1.47866286e-03 1.26307496e-02 -2.99758788e+02] [ 1.46906940e-03 9.99998625e-01 7.68776157e-04 1.56719693e+01] [-1.26318690e-02 -7.50158542e-04 9.99919933e-01 1.36155411e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.22907232899996 meters Centerline goodness : 0.763601 Centerline is valid? [False, False] Translation: X:-299.76, Y:15.67, Z:136.16 [[ 9.99916068e-01 -1.54155134e-03 1.28639221e-02 -2.99759449e+02] [ 1.53105824e-03 9.99998487e-01 8.25508025e-04 1.56715296e+01] [-1.28651752e-02 -8.05743325e-04 9.99916916e-01 1.36155458e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.259072329 meters Centerline goodness : 0.763323 Centerline is valid? [False, False] Translation: X:-299.76, Y:15.67, Z:136.16 [[ 9.99903344e-01 -2.44024281e-03 1.36875433e-02 -2.99762107e+02] [ 2.43758992e-03 9.99997007e-01 2.10497246e-04 1.56716271e+01] [-1.36880160e-02 -1.77112282e-04 9.99906299e-01 1.36156060e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.28907232899996 meters Centerline goodness : 0.762266 Centerline is valid? [False, False] Translation: X:-299.76, Y:15.67, Z:136.16 [[ 9.99896319e-01 -2.72671276e-03 1.41391626e-02 -2.99763663e+02] [ 2.72666027e-03 9.99996282e-01 2.29896759e-05 1.56716242e+01] [-1.41391728e-02 1.55654007e-05 9.99900037e-01 1.36156599e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.319072329 meters Centerline goodness : 0.763002 Centerline is valid? [False, False] Translation: X:-299.76, Y:15.67, Z:136.16 [[ 9.99887324e-01 -3.17986045e-03 1.46706649e-02 -2.99764980e+02] [ 3.18645352e-03 9.99994832e-01 -4.26052083e-04 1.56724113e+01] [-1.46692343e-02 4.72751469e-04 9.99892289e-01 1.36156510e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.34907232899997 meters Centerline goodness : 0.761131 Centerline is valid? [False, False] Translation: X:-299.76, Y:15.67, Z:136.16 [[ 9.99867970e-01 -6.80306491e-03 1.47567454e-02 -2.99764159e+02] [ 6.85847588e-03 9.99969607e-01 -3.70760633e-03 1.56699944e+01] [-1.47310738e-02 3.80832560e-03 9.99884239e-01 1.36155107e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.379072329 meters Centerline goodness : 0.761377 Centerline is valid? [False, False] Translation: X:-299.76, Y:15.67, Z:136.16 [[ 9.99873710e-01 -6.30679063e-03 1.45872700e-02 -2.99763791e+02] [ 6.35147895e-03 9.99975271e-01 -3.01921816e-03 1.56682519e+01] [-1.45678677e-02 3.11148760e-03 9.99889042e-01 1.36155091e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.40907232899997 meters Centerline goodness : 0.760003 Centerline is valid? [False, False] Translation: X:-299.76, Y:15.67, Z:136.15 [[ 9.99891695e-01 -5.46283846e-03 1.36658358e-02 -2.99761087e+02] [ 5.50254288e-03 9.99980744e-01 -2.86946699e-03 1.56699061e+01] [-1.36498972e-02 2.94435307e-03 9.99902501e-01 1.36154794e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.43907232899994 meters Centerline goodness : 0.761943 Centerline is valid? [False, False] Translation: X:-299.76, Y:15.67, Z:136.15 [[ 9.99908505e-01 -1.21734086e-03 1.34721942e-02 -2.99760773e+02] [ 1.20086472e-03 9.99998521e-01 1.23099584e-03 1.56705826e+01] [-1.34736728e-02 -1.21470493e-03 9.99908488e-01 1.36154903e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.46907232899997 meters Centerline goodness : 0.760983 Centerline is valid? [False, False] Translation: X:-299.76, Y:15.67, Z:136.16 [[ 9.99919311e-01 -9.35910197e-04 1.26686605e-02 -2.99758997e+02] [ 9.24604952e-04 9.99999169e-01 8.98206445e-04 1.56727154e+01] [-1.26694906e-02 -8.86420464e-04 9.99919346e-01 1.36155363e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.49907232899994 meters Centerline goodness : 0.763384 Centerline is valid? [False, False] Translation: X:-299.76, Y:15.67, Z:136.16 [[ 9.99934142e-01 3.33808495e-04 1.14716864e-02 -2.99756536e+02] [-3.51619955e-04 9.99998736e-01 1.55066349e-03 1.56727960e+01] [-1.14711543e-02 -1.55459504e-03 9.99932996e-01 1.36156115e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.529072329 meters Centerline goodness : 0.762143 Centerline is valid? [False, False] Translation: X:-299.76, Y:15.68, Z:136.16 [[ 9.99933264e-01 4.25049085e-03 1.07424850e-02 -2.99755260e+02] [-4.29808771e-03 9.99981032e-01 4.41151633e-03 1.56776693e+01] [-1.07235301e-02 -4.45739406e-03 9.99932566e-01 1.36157100e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.55907232899995 meters Centerline goodness : 0.763251 Centerline is valid? [False, False] Translation: X:-299.76, Y:15.68, Z:136.16 [[ 9.99936676e-01 3.83754935e-03 1.05790907e-02 -2.99755064e+02] [-3.87561218e-03 9.99986082e-01 3.57978049e-03 1.56803239e+01] [-1.05652059e-02 -3.62055425e-03 9.99937632e-01 1.36157414e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.589072329 meters Centerline goodness : 0.762414 Centerline is valid? [False, False] Translation: X:-299.75, Y:15.68, Z:136.16 [[ 9.99954089e-01 9.44692033e-04 9.53553956e-03 -2.99752234e+02] [-9.48014623e-04 9.99999491e-01 3.43928761e-04 1.56797724e+01] [-9.53520981e-03 -3.52952802e-04 9.99954477e-01 1.36157249e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.61907232899995 meters Centerline goodness : 0.762043 Centerline is valid? [False, False] Translation: X:-299.75, Y:15.68, Z:136.16 [[ 9.99948586e-01 -6.71977748e-05 1.01400841e-02 -2.99754229e+02] [ 7.51987027e-05 9.99999686e-01 -7.88660381e-04 1.56817313e+01] [-1.01400280e-02 7.89382354e-04 9.99948277e-01 1.36157817e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.649072329 meters Centerline goodness : 0.763448 Centerline is valid? [False, False] Translation: X:-299.75, Y:15.68, Z:136.16 [[ 9.99950933e-01 3.77544160e-04 9.89897254e-03 -2.99754007e+02] [-3.75483845e-04 9.99999907e-01 -2.09991913e-04 1.56802062e+01] [-9.89905090e-03 2.06264705e-04 9.99950982e-01 1.36158249e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.67907232899995 meters Centerline goodness : 0.763679 Centerline is valid? [False, False] Translation: X:-299.75, Y:15.68, Z:136.16 [[ 9.99956024e-01 8.44219250e-04 9.34012445e-03 -2.99752795e+02] [-8.43975692e-04 9.99999643e-01 -3.00180131e-05 1.56805312e+01] [-9.34014646e-03 2.21338550e-05 9.99956380e-01 1.36158554e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.709072329 meters Centerline goodness : 0.764446 Centerline is valid? [False, False] Translation: X:-299.75, Y:15.68, Z:136.16 [[ 9.99951011e-01 2.67681621e-04 9.89462911e-03 -2.99753807e+02] [-2.62325901e-04 9.99999818e-01 -5.42569364e-04 1.56812964e+01] [-9.89477255e-03 5.39947167e-04 9.99950900e-01 1.36157931e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.73907232899995 meters Centerline goodness : 0.764831 Centerline is valid? [False, False] Translation: X:-299.75, Y:15.68, Z:136.16 [[ 9.99948241e-01 1.44329462e-05 1.01742737e-02 -2.99754369e+02] [-6.62022387e-06 9.99999705e-01 -7.67923190e-04 1.56816911e+01] [-1.01742818e-02 7.67816087e-04 9.99947946e-01 1.36157641e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.769072329 meters Centerline goodness : 0.763970 Centerline is valid? [False, False] Translation: X:-299.75, Y:15.68, Z:136.16 [[ 9.99957719e-01 1.04832297e-03 9.13570356e-03 -2.99751661e+02] [-1.04662482e-03 9.99999434e-01 -1.90659919e-04 1.56818630e+01] [-9.13589826e-03 1.81090203e-04 9.99958250e-01 1.36157631e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.79907232899996 meters Centerline goodness : 0.764778 Centerline is valid? [False, False] Translation: X:-299.75, Y:15.69, Z:136.16 [[ 9.99951164e-01 5.05188531e-03 8.49396101e-03 -2.99750812e+02] [-5.07858444e-03 9.99982222e-01 3.12468180e-03 1.56851610e+01] [-8.47802447e-03 -3.16766650e-03 9.99959044e-01 1.36158790e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.829072329 meters Centerline goodness : 0.765451 Centerline is valid? [False, False] Translation: X:-299.74, Y:15.69, Z:136.16 [[ 9.99877175e-01 1.52209856e-02 3.73582160e-03 -2.99737712e+02] [-1.52388050e-02 9.99872415e-01 4.78869247e-03 1.56889152e+01] [-3.66245634e-03 -4.84503376e-03 9.99981556e-01 1.36164710e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.85907232899996 meters Centerline goodness : 0.763182 Centerline is valid? [False, False] Translation: X:-299.73, Y:15.69, Z:136.17 [[ 9.99867494e-01 1.60816565e-02 2.52472193e-03 -2.99734816e+02] [-1.60925963e-02 9.99860938e-01 4.37423967e-03 1.56926666e+01] [-2.45402581e-03 -4.41428939e-03 9.99987246e-01 1.36165322e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.889072329 meters Centerline goodness : 0.764011 Centerline is valid? [False, False] Translation: X:-299.73, Y:15.70, Z:136.17 [[ 9.99763582e-01 2.17218361e-02 9.70787789e-04 -2.99731179e+02] [-2.17289152e-02 9.99731897e-01 7.99930477e-03 1.56963668e+01] [-7.96767930e-04 -8.01850776e-03 9.99967534e-01 1.36166709e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.91907232899996 meters Centerline goodness : 0.764292 Centerline is valid? [False, False] Translation: X:-299.73, Y:15.70, Z:136.17 [[ 9.99745444e-01 2.25603087e-02 -2.81548448e-04 -2.99728497e+02] [-2.25573681e-02 9.99714099e-01 7.93003467e-03 1.56984957e+01] [ 4.60371983e-04 -7.92166504e-03 9.99968517e-01 1.36167588e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.949072329 meters Centerline goodness : 0.765486 Centerline is valid? [False, False] Translation: X:-299.73, Y:15.71, Z:136.17 [[ 9.99646784e-01 2.65540107e-02 -1.09158286e-03 -2.99728374e+02] [-2.65419318e-02 9.99598746e-01 9.89303446e-03 1.57054326e+01] [ 1.35384460e-03 -9.86056737e-03 9.99950467e-01 1.36171068e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.97907232899996 meters Centerline goodness : 0.765063 Centerline is valid? [False, False] Translation: X:-299.73, Y:15.71, Z:136.17 [[ 9.99648751e-01 2.64624449e-02 -1.45406747e-03 -2.99728582e+02] [-2.64477765e-02 9.99606750e-01 9.31993716e-03 1.57071854e+01] [ 1.70012398e-03 -9.27820669e-03 9.99955511e-01 1.36172581e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.009072329 meters Centerline goodness : 0.765757 Centerline is valid? [False, False] Translation: X:-299.73, Y:15.71, Z:136.17 [[ 9.99723969e-01 2.33436085e-02 -2.65750445e-03 -2.99726392e+02] [-2.33282140e-02 9.99711704e-01 5.68351488e-03 1.57071698e+01] [ 2.78941205e-03 -5.61995122e-03 9.99980317e-01 1.36173396e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.03907232899996 meters Centerline goodness : 0.765109 Centerline is valid? [False, False] Translation: X:-299.72, Y:15.71, Z:136.17 [[ 9.99773201e-01 2.09731819e-02 -3.69767378e-03 -2.99723390e+02] [-2.09621157e-02 9.99775750e-01 3.00651163e-03 1.57057963e+01] [ 3.75990069e-03 -2.92831868e-03 9.99988644e-01 1.36172783e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.069072329 meters Centerline goodness : 0.764456 Centerline is valid? [False, False] Translation: X:-299.72, Y:15.71, Z:136.17 [[ 9.99772152e-01 2.10031597e-02 -3.80947061e-03 -2.99723344e+02] [-2.09918040e-02 9.99775156e-01 2.99679620e-03 1.57057448e+01] [ 3.87155626e-03 -2.91614573e-03 9.99988254e-01 1.36173025e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.09907232899997 meters Centerline goodness : 0.763793 Centerline is valid? [False, False] Translation: X:-299.72, Y:15.71, Z:136.17 [[ 9.99668782e-01 2.54372414e-02 -3.90810996e-03 -2.99722806e+02] [-2.54083107e-02 9.99650633e-01 7.28215584e-03 1.57060278e+01] [ 4.09198255e-03 -7.18044538e-03 9.99965848e-01 1.36172947e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.129072329 meters Centerline goodness : 0.763190 Centerline is valid? [False, False] Translation: X:-299.72, Y:15.71, Z:136.17 [[ 9.99758097e-01 2.15310873e-02 -4.48999290e-03 -2.99721049e+02] [-2.15168547e-02 9.99763382e-01 3.19442884e-03 1.57065516e+01] [ 4.55771002e-03 -3.09704557e-03 9.99984818e-01 1.36172282e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.15907232899997 meters Centerline goodness : 0.764359 Centerline is valid? [False, False] Translation: X:-299.72, Y:15.70, Z:136.17 [[ 9.99745729e-01 2.20463294e-02 -4.73666745e-03 -2.99720314e+02] [-2.20281752e-02 9.99749932e-01 3.85128297e-03 1.57048387e+01] [ 4.82038961e-03 -3.74596356e-03 9.99981366e-01 1.36171975e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.18907232899994 meters Centerline goodness : 0.765755 Centerline is valid? [False, False] Translation: X:-299.72, Y:15.70, Z:136.17 [[ 9.99732436e-01 2.25086045e-02 -5.33094585e-03 -2.99718757e+02] [-2.24867355e-02 9.99738622e-01 4.12729081e-03 1.57047199e+01] [ 5.42245201e-03 -4.00631093e-03 9.99977273e-01 1.36171910e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.21907232899997 meters Centerline goodness : 0.764583 Centerline is valid? [False, False] Translation: X:-299.72, Y:15.71, Z:136.17 [[ 9.99720680e-01 2.28598620e-02 -5.99907488e-03 -2.99716734e+02] [-2.28357406e-02 9.99730990e-01 4.05903029e-03 1.57061290e+01] [ 6.09024994e-03 -3.92090320e-03 9.99973767e-01 1.36171609e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.24907232899994 meters Centerline goodness : 0.763537 Centerline is valid? [False, False] Translation: X:-299.72, Y:15.71, Z:136.17 [[ 9.99724037e-01 2.27493479e-02 -5.85807701e-03 -2.99717240e+02] [-2.27267231e-02 9.99734107e-01 3.90019490e-03 1.57063582e+01] [ 5.94524627e-03 -3.76598370e-03 9.99975235e-01 1.36171709e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.279072329 meters Centerline goodness : 0.763929 Centerline is valid? [False, False] Translation: X:-299.72, Y:15.71, Z:136.17 [[ 9.99801873e-01 1.88823405e-02 -6.29854362e-03 -2.99716498e+02] [-1.88824182e-02 9.99821710e-01 4.71263807e-05 1.57056740e+01] [ 6.29831051e-03 7.18146910e-05 9.99980163e-01 1.36171899e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.30907232899995 meters Centerline goodness : 0.762539 Centerline is valid? [False, False] Translation: X:-299.71, Y:15.70, Z:136.18 [[ 9.99931485e-01 8.62894037e-03 -7.90997143e-03 -2.99709081e+02] [-8.61052975e-03 9.99960147e-01 2.35862820e-03 1.56970695e+01] [ 7.93000866e-03 -2.29035756e-03 9.99965934e-01 1.36177994e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.339072329 meters Centerline goodness : 0.763254 Centerline is valid? [False, False] Translation: X:-299.71, Y:15.69, Z:136.18 [[ 9.99961266e-01 4.79299017e-03 -7.38204786e-03 -2.99710451e+02] [-4.79827576e-03 9.99988244e-01 -6.98460590e-04 1.56931072e+01] [ 7.37861337e-03 7.33854637e-04 9.99972508e-01 1.36177697e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.36907232899995 meters Centerline goodness : 0.762749 Centerline is valid? [False, False] Translation: X:-299.73, Y:15.69, Z:136.17 [[ 9.99972073e-01 -7.19442661e-03 -2.02301049e-03 -2.99725660e+02] [ 7.18436752e-03 9.99962008e-01 -4.93640337e-03 1.56947537e+01] [ 2.05844822e-03 4.92173146e-03 9.99985770e-01 1.36172944e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.399072329 meters Centerline goodness : 0.764418 Centerline is valid? [False, False] Translation: X:-299.73, Y:15.70, Z:136.17 [[ 9.99960230e-01 -8.89529323e-03 -6.42469976e-04 -2.99729127e+02] [ 8.89116681e-03 9.99941481e-01 -6.16290403e-03 1.56962395e+01] [ 6.97253218e-04 6.15694662e-03 9.99980803e-01 1.36172867e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.42907232899995 meters Centerline goodness : 0.764841 Centerline is valid? [False, False] Translation: X:-299.74, Y:15.70, Z:136.17 [[ 9.99905797e-01 -1.32180065e-02 3.69876460e-03 -2.99738937e+02] [ 1.32384281e-02 9.99896953e-01 -5.55227498e-03 1.56970668e+01] [-3.62499344e-03 5.60071777e-03 9.99977745e-01 1.36168236e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.459072329 meters Centerline goodness : 0.764036 Centerline is valid? [False, False] Translation: X:-299.74, Y:15.70, Z:136.17 [[ 9.99893217e-01 -1.38186448e-02 4.75400269e-03 -2.99741284e+02] [ 1.38442753e-02 9.99889575e-01 -5.40136387e-03 1.56957706e+01] [-4.67883820e-03 5.46660282e-03 9.99974112e-01 1.36167630e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.48907232899995 meters Centerline goodness : 0.764136 Centerline is valid? [False, False] Translation: X:-299.75, Y:15.70, Z:136.16 [[ 9.99763043e-01 -1.94800681e-02 9.71523314e-03 -2.99753196e+02] [ 1.95275347e-02 9.99797725e-01 -4.81509504e-03 1.56963234e+01] [-9.61946960e-03 5.00366862e-03 9.99941213e-01 1.36162608e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.519072329 meters Centerline goodness : 0.766261 Centerline is valid? [False, False] Translation: X:-299.76, Y:15.70, Z:136.16 [[ 9.99748301e-01 -1.98246527e-02 1.05032287e-02 -2.99755119e+02] [ 1.98768777e-02 9.99790470e-01 -4.89144284e-03 1.56959973e+01] [-1.04040568e-02 5.09898307e-03 9.99932876e-01 1.36162484e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.54907232899996 meters Centerline goodness : 0.766419 Centerline is valid? [False, False] Translation: X:-299.76, Y:15.70, Z:136.16 [[ 9.99693537e-01 -2.17279172e-02 1.18629417e-02 -2.99758975e+02] [ 2.17993185e-02 9.99744821e-01 -5.92307645e-03 1.56956995e+01] [-1.17312184e-02 6.17986529e-03 9.99912090e-01 1.36162762e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.579072329 meters Centerline goodness : 0.763780 Centerline is valid? [False, False] Translation: X:-299.76, Y:15.69, Z:136.16 [[ 9.99656534e-01 -2.26676217e-02 1.31526774e-02 -2.99761599e+02] [ 2.27497573e-02 9.99722403e-01 -6.12911210e-03 1.56948033e+01] [-1.30100938e-02 6.42622717e-03 9.99894715e-01 1.36161703e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.60907232899996 meters Centerline goodness : 0.765450 Centerline is valid? [False, False] Translation: X:-299.76, Y:15.69, Z:136.16 [[ 9.99640098e-01 -2.28984425e-02 1.39762283e-02 -2.99763054e+02] [ 2.29820705e-02 9.99718746e-01 -5.85258155e-03 1.56933820e+01] [-1.38382824e-02 6.17167786e-03 9.99885200e-01 1.36160670e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.639072329 meters Centerline goodness : 0.763620 Centerline is valid? [False, False] Translation: X:-299.77, Y:15.69, Z:136.16 [[ 9.99686963e-01 -2.00540371e-02 1.49603529e-02 -2.99766195e+02] [ 2.00943135e-02 9.99794845e-01 -2.54675302e-03 1.56935104e+01] [-1.49062110e-02 2.84657381e-03 9.99884844e-01 1.36161080e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.66907232899996 meters Centerline goodness : 0.763620 Centerline is valid? [False, False] Translation: X:-299.77, Y:15.69, Z:136.16 [[ 9.99686963e-01 -2.00540371e-02 1.49603529e-02 -2.99766195e+02] [ 2.00943135e-02 9.99794845e-01 -2.54675302e-03 1.56935104e+01] [-1.49062110e-02 2.84657381e-03 9.99884844e-01 1.36161080e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.699072329 meters Centerline goodness : 0.764582 Centerline is valid? [False, False] Translation: X:-299.77, Y:15.69, Z:136.16 [[ 9.99686415e-01 -2.00527545e-02 1.49986237e-02 -2.99766620e+02] [ 2.00932049e-02 9.99794856e-01 -2.55111338e-03 1.56935311e+01] [-1.49443900e-02 2.85168381e-03 9.99884260e-01 1.36161518e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.72907232899996 meters Centerline goodness : 0.763184 Centerline is valid? [False, False] Translation: X:-299.77, Y:15.69, Z:136.16 [[ 9.99634764e-01 -2.17498559e-02 1.60400472e-02 -2.99770362e+02] [ 2.18160876e-02 9.99754135e-01 -3.96577266e-03 1.56948057e+01] [-1.59498485e-02 4.31425529e-03 9.99863485e-01 1.36162863e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.759072329 meters Centerline goodness : 0.765414 Centerline is valid? [False, False] Translation: X:-299.77, Y:15.69, Z:136.16 [[ 9.99629321e-01 -2.16848344e-02 1.64617186e-02 -2.99771319e+02] [ 2.17465585e-02 9.99757106e-01 -3.57983742e-03 1.56933280e+01] [-1.63800920e-02 3.93649618e-03 9.99858088e-01 1.36162608e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.78907232899996 meters Centerline goodness : 0.764259 Centerline is valid? [False, False] Translation: X:-299.77, Y:15.69, Z:136.16 [[ 9.99633801e-01 -2.13676606e-02 1.66038006e-02 -2.99771593e+02] [ 2.14195226e-02 9.99766218e-01 -2.95194994e-03 1.56914146e+01] [-1.65368427e-02 3.30651442e-03 9.99857790e-01 1.36162323e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.819072329 meters Centerline goodness : 0.765188 Centerline is valid? [False, False] Translation: X:-299.77, Y:15.69, Z:136.16 [[ 9.99620436e-01 -2.16811374e-02 1.69974088e-02 -2.99771992e+02] [ 2.17389737e-02 9.99758478e-01 -3.22528562e-03 1.56922560e+01] [-1.69233757e-02 3.59356765e-03 9.99850332e-01 1.36161515e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.84907232899997 meters Centerline goodness : 0.764539 Centerline is valid? [False, False] Translation: X:-299.77, Y:15.69, Z:136.16 [[ 9.99535575e-01 -2.52504028e-02 1.70602042e-02 -2.99770973e+02] [ 2.53636002e-02 9.99657473e-01 -6.45166807e-03 1.56900020e+01] [-1.68914534e-02 6.88137996e-03 9.99833649e-01 1.36160289e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.879072329 meters Centerline goodness : 0.764206 Centerline is valid? [False, False] Translation: X:-299.77, Y:15.69, Z:136.16 [[ 9.99526922e-01 -2.53022208e-02 1.74851542e-02 -2.99772551e+02] [ 2.54129577e-02 9.99658181e-01 -6.14025573e-03 1.56884822e+01] [-1.73238154e-02 6.58170039e-03 9.99828269e-01 1.36160898e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.90907232899997 meters Centerline goodness : 0.765336 Centerline is valid? [False, False] Translation: X:-299.77, Y:15.69, Z:136.16 [[ 9.99611911e-01 -2.17409399e-02 1.74172271e-02 -2.99772561e+02] [ 2.17993647e-02 9.99757335e-01 -3.17159676e-03 1.56928549e+01] [-1.73440470e-02 3.55005038e-03 9.99843278e-01 1.36161056e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.93907232899994 meters Centerline goodness : 0.764115 Centerline is valid? [False, False] Translation: X:-299.77, Y:15.70, Z:136.16 [[ 9.99607369e-01 -2.19940613e-02 1.73599876e-02 -2.99772341e+02] [ 2.20621685e-02 9.99749600e-01 -3.74148775e-03 1.56951288e+01] [-1.72733502e-02 4.12301770e-03 9.99842304e-01 1.36161068e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.96907232899997 meters Centerline goodness : 0.764288 Centerline is valid? [False, False] Translation: X:-299.77, Y:15.70, Z:136.16 [[ 9.99596928e-01 -2.22715242e-02 1.76057142e-02 -2.99772975e+02] [ 2.23472401e-02 9.99741798e-01 -4.11565133e-03 1.56963375e+01] [-1.75095065e-02 4.50743155e-03 9.99836537e-01 1.36161118e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.99907232899994 meters Centerline goodness : 0.763574 Centerline is valid? [False, False] Translation: X:-299.77, Y:15.70, Z:136.16 [[ 9.99600916e-01 -2.21765115e-02 1.74988794e-02 -2.99772469e+02] [ 2.22514629e-02 9.99743998e-01 -4.10017289e-03 1.56968991e+01] [-1.74034721e-02 4.48791225e-03 9.99838476e-01 1.36160832e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.029072329 meters Centerline goodness : 0.763475 Centerline is valid? [False, False] Translation: X:-299.77, Y:15.70, Z:136.16 [[ 9.99629762e-01 -2.13644873e-02 1.68492629e-02 -2.99770791e+02] [ 2.14245436e-02 9.99764714e-01 -3.39188779e-03 1.56959204e+01] [-1.67728325e-02 3.75161975e-03 9.99852288e-01 1.36160761e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.05907232899995 meters Centerline goodness : 0.764763 Centerline is valid? [False, False] Translation: X:-299.77, Y:15.70, Z:136.16 [[ 9.99692309e-01 -1.78156920e-02 1.72594325e-02 -2.99772416e+02] [ 1.78188829e-02 9.99841231e-01 -3.11001446e-05 1.56980931e+01] [-1.72561382e-02 3.38634382e-04 9.99851044e-01 1.36161281e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.089072329 meters Centerline goodness : 0.763573 Centerline is valid? [False, False] Translation: X:-299.77, Y:15.70, Z:136.16 [[ 9.99692759e-01 -1.79419803e-02 1.71018281e-02 -2.99772277e+02] [ 1.79523976e-02 9.99838739e-01 -4.55796810e-04 1.56997482e+01] [-1.70908924e-02 7.62675590e-04 9.99853649e-01 1.36161688e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.11907232899995 meters Centerline goodness : 0.761616 Centerline is valid? [False, False] Translation: X:-299.78, Y:15.70, Z:136.16 [[ 9.99625953e-01 -2.05100147e-02 1.80912569e-02 -2.99776144e+02] [ 2.05697841e-02 9.99783539e-01 -3.12388200e-03 1.57032688e+01] [-1.80232700e-02 3.49484677e-03 9.99831460e-01 1.36163475e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.149072329 meters Centerline goodness : 0.760525 Centerline is valid? [False, False] Translation: X:-299.78, Y:15.70, Z:136.16 [[ 9.99623846e-01 -2.03443355e-02 1.83922147e-02 -2.99776757e+02] [ 2.03964869e-02 9.99788452e-01 -2.65237618e-03 1.57018024e+01] [-1.83343630e-02 3.02651504e-03 9.99827331e-01 1.36163205e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.17907232899995 meters Centerline goodness : 0.760955 Centerline is valid? [False, False] Translation: X:-299.78, Y:15.70, Z:136.16 [[ 9.99606547e-01 -2.05668974e-02 1.90723576e-02 -2.99778138e+02] [ 2.06198734e-02 9.99784046e-01 -2.58512871e-03 1.57012298e+01] [-1.90150707e-02 2.97738118e-03 9.99814764e-01 1.36162679e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.209072329 meters Centerline goodness : 0.761269 Centerline is valid? [False, False] Translation: X:-299.78, Y:15.70, Z:136.16 [[ 9.99611771e-01 -1.99925807e-02 1.94062748e-02 -2.99778431e+02] [ 2.00222227e-02 9.99798645e-01 -1.33432749e-03 1.56974588e+01] [-1.93756906e-02 1.72236622e-03 9.99810790e-01 1.36161754e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.23907232899995 meters Centerline goodness : 0.760216 Centerline is valid? [False, False] Translation: X:-299.78, Y:15.70, Z:136.16 [[ 9.99605934e-01 -1.99376511e-02 1.97602523e-02 -2.99779370e+02] [ 1.99624552e-02 9.99800170e-01 -1.05878038e-03 1.56964150e+01] [-1.97351940e-02 1.45282630e-03 9.99804187e-01 1.36161753e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.269072329 meters Centerline goodness : 0.760567 Centerline is valid? [False, False] Translation: X:-299.78, Y:15.70, Z:136.16 [[ 9.99618036e-01 -1.97974403e-02 1.92832682e-02 -2.99779011e+02] [ 1.98251035e-02 9.99802689e-01 -1.24444399e-03 1.56974294e+01] [-1.92548266e-02 1.62626144e-03 9.99813286e-01 1.36163023e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.29907232899996 meters Centerline goodness : 0.762358 Centerline is valid? [False, False] Translation: X:-299.78, Y:15.70, Z:136.16 [[ 9.99625976e-01 -1.96028278e-02 1.90692563e-02 -2.99778603e+02] [ 1.96280199e-02 9.99806708e-01 -1.13480272e-03 1.56976941e+01] [-1.90433250e-02 1.50867002e-03 9.99817521e-01 1.36163245e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.329072329 meters Centerline goodness : 0.763236 Centerline is valid? [False, False] Translation: X:-299.78, Y:15.70, Z:136.16 [[ 9.99620199e-01 -1.97005872e-02 1.92703138e-02 -2.99779235e+02] [ 1.97274327e-02 9.99804670e-01 -1.20397987e-03 1.56978624e+01] [-1.92428307e-02 1.58367642e-03 9.99813585e-01 1.36163384e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.35907232899996 meters Centerline goodness : 0.762794 Centerline is valid? [False, False] Translation: X:-299.78, Y:15.70, Z:136.16 [[ 9.99600455e-01 -2.00150370e-02 1.99581700e-02 -2.99780691e+02] [ 2.00431177e-02 9.99798387e-01 -1.20791688e-03 1.56973863e+01] [-1.99299697e-02 1.60745821e-03 9.99800086e-01 1.36162958e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.389072329 meters Centerline goodness : 0.762225 Centerline is valid? [False, False] Translation: X:-299.78, Y:15.70, Z:136.16 [[ 9.99557239e-01 -2.10272404e-02 2.10518601e-02 -2.99783655e+02] [ 2.10697601e-02 9.99776388e-01 -1.79997595e-03 1.56975249e+01] [-2.10093041e-02 2.24273663e-03 9.99776765e-01 1.36163156e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.41907232899996 meters Centerline goodness : 0.762208 Centerline is valid? [False, False] Translation: X:-299.78, Y:15.70, Z:136.16 [[ 9.99543544e-01 -2.11629163e-02 2.15600366e-02 -2.99784916e+02] [ 2.12048759e-02 9.99773673e-01 -1.71939294e-03 1.56969302e+01] [-2.15187696e-02 2.17578601e-03 9.99766077e-01 1.36163061e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.449072329 meters Centerline goodness : 0.760463 Centerline is valid? [False, False] Translation: X:-299.79, Y:15.70, Z:136.16 [[ 9.99512223e-01 -2.17713882e-02 2.23902153e-02 -2.99786907e+02] [ 2.18197076e-02 9.99760086e-01 -1.91599478e-03 1.56964419e+01] [-2.23431298e-02 2.40360816e-03 9.99747472e-01 1.36162852e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.47907232899996 meters Centerline goodness : 0.762501 Centerline is valid? [False, False] Translation: X:-299.79, Y:15.70, Z:136.16 [[ 9.99535466e-01 -2.11634466e-02 2.19308276e-02 -2.99785854e+02] [ 2.11961023e-02 9.99774546e-01 -1.25762801e-03 1.56951726e+01] [-2.18992675e-02 1.72189186e-03 9.99758699e-01 1.36162923e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.509072329 meters Centerline goodness : 0.761521 Centerline is valid? [False, False] Translation: X:-299.79, Y:15.70, Z:136.16 [[ 9.99528384e-01 -2.13294214e-02 2.20921996e-02 -2.99786292e+02] [ 2.13679649e-02 9.99770539e-01 -1.51004817e-03 1.56960580e+01] [-2.20549218e-02 1.98140135e-03 9.99754797e-01 1.36162947e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.53907232899996 meters Centerline goodness : 0.761771 Centerline is valid? [False, False] Translation: X:-299.79, Y:15.70, Z:136.16 [[ 9.99511176e-01 -2.16185244e-02 2.25842435e-02 -2.99786968e+02] [ 2.16579169e-02 9.99764313e-01 -1.50108347e-03 1.56956376e+01] [-2.25464695e-02 1.98947738e-03 9.99743817e-01 1.36162097e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.569072329 meters Centerline goodness : 0.762689 Centerline is valid? [False, False] Translation: X:-299.79, Y:15.70, Z:136.16 [[ 9.99494114e-01 -2.19460639e-02 2.30192471e-02 -2.99788012e+02] [ 2.19929105e-02 9.99756535e-01 -1.78389000e-03 1.56961915e+01] [-2.29744933e-02 2.28924780e-03 9.99733430e-01 1.36161989e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.59907232899997 meters Centerline goodness : 0.762155 Centerline is valid? [False, False] Translation: X:-299.80, Y:15.71, Z:136.16 [[ 9.99606157e-01 -1.42946903e-02 2.41493861e-02 -2.99799458e+02] [ 1.44846470e-02 9.99865371e-01 -7.70936720e-03 1.57056624e+01] [-2.40359319e-02 8.05612626e-03 9.99678635e-01 1.36158281e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.629072329 meters Centerline goodness : 0.762870 Centerline is valid? [False, False] Translation: X:-299.80, Y:15.70, Z:136.16 [[ 9.99628988e-01 -1.34119840e-02 2.37066492e-02 -2.99798716e+02] [ 1.35756426e-02 9.99885022e-01 -6.75607917e-03 1.57036975e+01] [-2.36133110e-02 7.07540558e-03 9.99696129e-01 1.36158679e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.65907232899997 meters Centerline goodness : 0.763106 Centerline is valid? [False, False] Translation: X:-299.80, Y:15.70, Z:136.16 [[ 9.99656316e-01 -1.24882328e-02 2.30498033e-02 -2.99797540e+02] [ 1.26281498e-02 9.99902650e-01 -5.93465452e-03 1.57025480e+01] [-2.29734460e-02 6.22369124e-03 9.99716703e-01 1.36159259e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.68907232899994 meters Centerline goodness : 0.762707 Centerline is valid? [False, False] Translation: X:-299.80, Y:15.71, Z:136.16 [[ 9.99610358e-01 -1.43770985e-02 2.39255541e-02 -2.99799235e+02] [ 1.45796922e-02 9.99859138e-01 -8.31487643e-03 1.57077495e+01] [-2.38026401e-02 8.66046382e-03 9.99679164e-01 1.36158944e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.71907232899997 meters Centerline goodness : 0.762839 Centerline is valid? [False, False] Translation: X:-299.80, Y:15.71, Z:136.16 [[ 9.99644229e-01 -1.32496996e-02 2.31486738e-02 -2.99796923e+02] [ 1.34140267e-02 9.99885819e-01 -6.95796163e-03 1.57050743e+01] [-2.30538398e-02 7.26600312e-03 9.99707820e-01 1.36158312e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.74907232899994 meters Centerline goodness : 0.761453 Centerline is valid? [False, False] Translation: X:-299.79, Y:15.71, Z:136.16 [[ 9.99677643e-01 -1.17849060e-02 2.24883342e-02 -2.99794132e+02] [ 1.19201048e-02 9.99911621e-01 -5.88740276e-03 1.57054370e+01] [-2.24169642e-02 6.15356822e-03 9.99729770e-01 1.36157043e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.779072329 meters Centerline goodness : 0.763120 Centerline is valid? [False, False] Translation: X:-299.79, Y:15.71, Z:136.16 [[ 9.99743232e-01 -7.35723617e-03 2.14322624e-02 -2.99792271e+02] [ 7.41150530e-03 9.99969524e-01 -2.45379166e-03 1.57090118e+01] [-2.14135561e-02 2.61200693e-03 9.99767291e-01 1.36158241e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.80907232899995 meters Centerline goodness : 0.763100 Centerline is valid? [False, False] Translation: X:-299.79, Y:15.71, Z:136.16 [[ 9.99768368e-01 -6.61884557e-03 2.04792875e-02 -2.99790360e+02] [ 6.66872912e-03 9.99974959e-01 -2.36847101e-03 1.57104957e+01] [-2.04630981e-02 2.50449322e-03 9.99787472e-01 1.36159050e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.839072329 meters Centerline goodness : 0.761587 Centerline is valid? [False, False] Translation: X:-299.79, Y:15.71, Z:136.16 [[ 9.99785442e-01 -6.45276241e-03 1.96832774e-02 -2.99789126e+02] [ 6.51193417e-03 9.99974465e-01 -2.94358215e-03 1.57131900e+01] [-1.96637806e-02 3.07112679e-03 9.99801932e-01 1.36160247e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.86907232899995 meters Centerline goodness : 0.762412 Centerline is valid? [False, False] Translation: X:-299.79, Y:15.72, Z:136.16 [[ 9.99811263e-01 -5.37349209e-03 1.86698608e-02 -2.99785994e+02] [ 5.42288912e-03 9.99981926e-01 -2.59619782e-03 1.57153506e+01] [-1.86555727e-02 2.69695240e-03 9.99822332e-01 1.36159857e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.899072329 meters Centerline goodness : 0.762258 Centerline is valid? [False, False] Translation: X:-299.78, Y:15.72, Z:136.16 [[ 9.99824629e-01 -4.87527737e-03 1.80815819e-02 -2.99783867e+02] [ 4.91826669e-03 9.99985182e-01 -2.33381360e-03 1.57158692e+01] [-1.80699360e-02 2.42233436e-03 9.99833791e-01 1.36158988e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.92907232899995 meters Centerline goodness : 0.762378 Centerline is valid? [False, False] Translation: X:-299.78, Y:15.71, Z:136.16 [[ 9.99846928e-01 -3.45351150e-03 1.71520663e-02 -2.99781688e+02] [ 3.46849872e-03 9.99993628e-01 -8.44114016e-04 1.57127834e+01] [-1.71490418e-02 9.03476726e-04 9.99852536e-01 1.36159008e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.959072329 meters Centerline goodness : 0.762598 Centerline is valid? [False, False] Translation: X:-299.78, Y:15.71, Z:136.16 [[ 9.99868292e-01 -2.27933451e-03 1.60687155e-02 -2.99779660e+02] [ 2.28584130e-03 9.99997313e-01 -3.86580243e-04 1.57132290e+01] [-1.60677912e-02 4.23259861e-04 9.99870815e-01 1.36160047e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.98907232899995 meters Centerline goodness : 0.761755 Centerline is valid? [False, False] Translation: X:-299.78, Y:15.71, Z:136.16 [[ 9.99887661e-01 -1.34902241e-03 1.49280028e-02 -2.99777294e+02] [ 1.35180822e-03 9.99999071e-01 -1.76527187e-04 1.57144107e+01] [-1.49277508e-02 1.96687153e-04 9.99888556e-01 1.36160827e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.019072329 meters Centerline goodness : 0.762511 Centerline is valid? [False, False] Translation: X:-299.78, Y:15.72, Z:136.16 [[ 9.99900458e-01 3.36519293e-03 1.37022019e-02 -2.99775083e+02] [-3.40670511e-03 9.99989675e-01 3.00738622e-03 1.57189766e+01] [-1.36919400e-02 -3.05376622e-03 9.99901598e-01 1.36162472e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.04907232899996 meters Centerline goodness : 0.762969 Centerline is valid? [False, False] Translation: X:-299.77, Y:15.72, Z:136.16 [[ 9.99909372e-01 3.95654894e-03 1.28683469e-02 -2.99773296e+02] [-3.99811998e-03 9.99986867e-01 3.20636783e-03 1.57193857e+01] [-1.28554917e-02 -3.25752643e-03 9.99912059e-01 1.36162892e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.079072329 meters Centerline goodness : 0.762901 Centerline is valid? [False, False] Translation: X:-299.77, Y:15.72, Z:136.16 [[ 9.99911929e-01 3.76019685e-03 1.27276947e-02 -2.99773079e+02] [-3.79411609e-03 9.99989312e-01 2.64189820e-03 1.57211956e+01] [-1.27176246e-02 -2.68995588e-03 9.99915510e-01 1.36163081e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.10907232899996 meters Centerline goodness : 0.762993 Centerline is valid? [False, False] Translation: X:-299.77, Y:15.72, Z:136.16 [[ 9.99909472e-01 3.55195912e-03 1.29780998e-02 -2.99773901e+02] [-3.58402300e-03 9.99990581e-01 2.44819181e-03 1.57211516e+01] [-1.29692817e-02 -2.49448399e-03 9.99912784e-01 1.36163244e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.139072329 meters Centerline goodness : 0.764819 Centerline is valid? [False, False] Translation: X:-299.78, Y:15.72, Z:136.16 [[ 9.99905869e-01 3.55334318e-03 1.32524637e-02 -2.99775062e+02] [-3.58761926e-03 9.99990279e-01 2.56351644e-03 1.57202392e+01] [-1.32432258e-02 -2.61081993e-03 9.99908896e-01 1.36163705e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.16907232899996 meters Centerline goodness : 0.762538 Centerline is valid? [False, False] Translation: X:-299.77, Y:15.72, Z:136.16 [[ 9.99914570e-01 4.04381108e-03 1.24298444e-02 -2.99773296e+02] [-4.07404920e-03 9.99988801e-01 2.40834584e-03 1.57218942e+01] [-1.24199663e-02 -2.45877990e-03 9.99919846e-01 1.36164238e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.199072329 meters Centerline goodness : 0.762362 Centerline is valid? [False, False] Translation: X:-299.77, Y:15.72, Z:136.16 [[ 9.99921583e-01 4.18673897e-03 1.18025167e-02 -2.99772127e+02] [-4.21276666e-03 9.99988747e-01 2.18126804e-03 1.57231666e+01] [-1.17932515e-02 -2.23081824e-03 9.99927969e-01 1.36164814e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.22907232899996 meters Centerline goodness : 0.762817 Centerline is valid? [False, False] Translation: X:-299.77, Y:15.72, Z:136.17 [[ 9.99925467e-01 4.10256459e-03 1.14991061e-02 -2.99771584e+02] [-4.12303276e-03 9.99989957e-01 1.75683897e-03 1.57248092e+01] [-1.14917830e-02 -1.80411922e-03 9.99932340e-01 1.36165145e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.259072329 meters Centerline goodness : 0.763153 Centerline is valid? [False, False] Translation: X:-299.77, Y:15.72, Z:136.17 [[ 9.99920469e-01 3.64643534e-03 1.20731086e-02 -2.99773294e+02] [-3.66553455e-03 9.99992065e-01 1.56021288e-03 1.57246091e+01] [-1.20673236e-02 -1.60434319e-03 9.99925900e-01 1.36165389e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.28907232899996 meters Centerline goodness : 0.764384 Centerline is valid? [False, False] Translation: X:-299.77, Y:15.72, Z:136.17 [[ 9.99915564e-01 3.57474572e-03 1.24934748e-02 -2.99774671e+02] [-3.59634381e-03 9.99992077e-01 1.70671148e-03 1.57235255e+01] [-1.24872747e-02 -1.75149820e-03 9.99920497e-01 1.36165706e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.319072329 meters Centerline goodness : 0.763538 Centerline is valid? [False, False] Translation: X:-299.78, Y:15.72, Z:136.17 [[ 9.99910177e-01 -5.89735386e-04 1.33899568e-02 -2.99777323e+02] [ 6.12906534e-04 9.99998322e-01 -1.72644950e-03 1.57198757e+01] [-1.33889162e-02 1.73450121e-03 9.99908860e-01 1.36165961e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.34907232899997 meters Centerline goodness : 0.762036 Centerline is valid? [False, False] Translation: X:-299.78, Y:15.72, Z:136.16 [[ 9.99900402e-01 -4.34434844e-03 1.34280558e-02 -2.99776620e+02] [ 4.41575812e-03 9.99976243e-01 -5.29288006e-03 1.57184038e+01] [-1.34047427e-02 5.35164795e-03 9.99895831e-01 1.36164895e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.379072329 meters Centerline goodness : 0.762989 Centerline is valid? [False, False] Translation: X:-299.78, Y:15.72, Z:136.17 [[ 9.99877955e-01 -5.93187030e-03 1.44529317e-02 -2.99779630e+02] [ 6.02123883e-03 9.99962974e-01 -6.14777043e-03 1.57178214e+01] [-1.44159288e-02 6.23404468e-03 9.99876651e-01 1.36165028e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.40907232899997 meters Centerline goodness : 0.764231 Centerline is valid? [False, False] Translation: X:-299.78, Y:15.72, Z:136.17 [[ 9.99897608e-01 -2.16515547e-03 1.41451373e-02 -2.99779134e+02] [ 2.20822449e-03 9.99992972e-01 -3.02988482e-03 1.57218745e+01] [-1.41384778e-02 3.06081022e-03 9.99895362e-01 1.36165608e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.43907232899994 meters Centerline goodness : 0.764765 Centerline is valid? [False, False] Translation: X:-299.78, Y:15.72, Z:136.17 [[ 9.99900957e-01 -2.04217932e-03 1.39250183e-02 -2.99778739e+02] [ 2.08342907e-03 9.99993483e-01 -2.94841303e-03 1.57219177e+01] [-1.39189064e-02 2.97713280e-03 9.99898695e-01 1.36165837e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.46907232899997 meters Centerline goodness : 0.764934 Centerline is valid? [False, False] Translation: X:-299.78, Y:15.72, Z:136.17 [[ 9.99903142e-01 -1.95946911e-03 1.37792530e-02 -2.99778308e+02] [ 2.00257210e-03 9.99993143e-01 -3.11500638e-03 1.57230970e+01] [-1.37730548e-02 3.14229861e-03 9.99900209e-01 1.36165848e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.49907232899994 meters Centerline goodness : 0.765093 Centerline is valid? [False, False] Translation: X:-299.78, Y:15.72, Z:136.17 [[ 9.99911191e-01 -1.45311975e-03 1.32476196e-02 -2.99776864e+02] [ 1.49103940e-03 9.99994819e-01 -2.85294675e-03 1.57235724e+01] [-1.32434053e-02 2.87244611e-03 9.99908176e-01 1.36165850e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.529072329 meters Centerline goodness : 0.763284 Centerline is valid? [False, False] Translation: X:-299.78, Y:15.73, Z:136.17 [[ 9.99899084e-01 -2.27058515e-03 1.40237931e-02 -2.99778610e+02] [ 2.32226221e-03 9.99990570e-01 -3.66977161e-03 1.57252144e+01] [-1.40153283e-02 3.70196819e-03 9.99894927e-01 1.36165552e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.55907232899995 meters Centerline goodness : 0.763863 Centerline is valid? [False, False] Translation: X:-299.78, Y:15.73, Z:136.17 [[ 9.99902801e-01 1.88184346e-03 1.38147804e-02 -2.99777837e+02] [-1.88483711e-03 9.99998203e-01 2.03682413e-04 1.57269221e+01] [-1.38143723e-02 -2.29701226e-04 9.99904551e-01 1.36165309e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.589072329 meters Centerline goodness : 0.763863 Centerline is valid? [False, False] Translation: X:-299.78, Y:15.73, Z:136.17 [[ 9.99902801e-01 1.88184346e-03 1.38147804e-02 -2.99777837e+02] [-1.88483711e-03 9.99998203e-01 2.03682413e-04 1.57269221e+01] [-1.38143723e-02 -2.29701226e-04 9.99904551e-01 1.36165309e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.61907232899995 meters Centerline goodness : 0.763863 Centerline is valid? [False, False] Translation: X:-299.78, Y:15.73, Z:136.17 [[ 9.99902801e-01 1.88184346e-03 1.38147804e-02 -2.99777837e+02] [-1.88483711e-03 9.99998203e-01 2.03682413e-04 1.57269221e+01] [-1.38143723e-02 -2.29701226e-04 9.99904551e-01 1.36165309e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.649072329 meters Centerline goodness : 0.763723 Centerline is valid? [False, False] Translation: X:-299.78, Y:15.73, Z:136.17 [[ 9.99910510e-01 2.73445963e-03 1.30955648e-02 -2.99775909e+02] [-2.74701748e-03 9.99995784e-01 9.41047252e-04 1.57258829e+01] [-1.30929363e-02 -9.76936783e-04 9.99913807e-01 1.36165088e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.67907232899995 meters Centerline goodness : 0.763893 Centerline is valid? [False, False] Translation: X:-299.77, Y:15.73, Z:136.17 [[ 9.99917201e-01 3.32818964e-03 1.24303897e-02 -2.99774359e+02] [-3.34289276e-03 9.99993737e-01 1.16224655e-03 1.57262119e+01] [-1.24264437e-02 -1.20370378e-03 9.99922064e-01 1.36165260e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.709072329 meters Centerline goodness : 0.764955 Centerline is valid? [False, False] Translation: X:-299.77, Y:15.73, Z:136.17 [[ 9.99921937e-01 3.55787947e-03 1.19775233e-02 -2.99774313e+02] [-3.56974153e-03 9.99993159e-01 9.69127028e-04 1.57267782e+01] [-1.19739933e-02 -1.01180804e-03 9.99927797e-01 1.36166759e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.73907232899995 meters Centerline goodness : 0.763774 Centerline is valid? [False, False] Translation: X:-299.78, Y:15.73, Z:136.17 [[ 9.99922210e-01 3.28456044e-03 1.20326663e-02 -2.99775231e+02] [-3.28984188e-03 9.99994501e-01 4.19157496e-04 1.57281751e+01] [-1.20312234e-02 -4.58710459e-04 9.99927517e-01 1.36167805e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.769072329 meters Centerline goodness : 0.763834 Centerline is valid? [False, False] Translation: X:-299.78, Y:15.73, Z:136.17 [[ 9.99923953e-01 3.16729903e-03 1.19187559e-02 -2.99775602e+02] [-3.16876059e-03 9.99994974e-01 1.03743713e-04 1.57290198e+01] [-1.19183674e-02 -1.41503507e-04 9.99928964e-01 1.36168714e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.79907232899996 meters Centerline goodness : 0.765050 Centerline is valid? [False, False] Translation: X:-299.77, Y:15.73, Z:136.17 [[ 9.99931817e-01 3.74178510e-03 1.10616241e-02 -2.99773459e+02] [-3.74311749e-03 9.99992990e-01 9.97505710e-05 1.57304637e+01] [-1.10611733e-02 -1.41148728e-04 9.99938813e-01 1.36168819e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.829072329 meters Centerline goodness : 0.763629 Centerline is valid? [False, False] Translation: X:-299.77, Y:15.73, Z:136.17 [[ 9.99936951e-01 4.03419191e-03 1.04794854e-02 -2.99771751e+02] [-4.03387967e-03 9.99991863e-01 -5.09320454e-05 1.57320914e+01] [-1.04796056e-02 8.65585099e-06 9.99945087e-01 1.36168622e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.85907232899996 meters Centerline goodness : 0.762429 Centerline is valid? [False, False] Translation: X:-299.77, Y:15.73, Z:136.17 [[ 9.99941097e-01 4.77972537e-03 9.74457121e-03 -2.99769873e+02] [-4.78442168e-03 9.99988449e-01 4.58685960e-04 1.57317444e+01] [-9.74226626e-03 -5.05281079e-04 9.99952415e-01 1.36168556e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.889072329 meters Centerline goodness : 0.763847 Centerline is valid? [False, False] Translation: X:-299.77, Y:15.73, Z:136.17 [[ 9.99943551e-01 5.37369033e-03 9.16617466e-03 -2.99768914e+02] [-5.38212935e-03 9.99985115e-01 8.96251458e-04 1.57310676e+01] [-9.16122204e-03 -9.45534403e-04 9.99957588e-01 1.36169170e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.91907232899996 meters Centerline goodness : 0.763870 Centerline is valid? [False, False] Translation: X:-299.77, Y:15.73, Z:136.17 [[ 9.99942924e-01 4.84742161e-03 9.52106382e-03 -2.99770742e+02] [-4.84996424e-03 9.99988209e-01 2.43982137e-04 1.57318396e+01] [-9.51976887e-03 -2.90145030e-04 9.99954644e-01 1.36170258e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.949072329 meters Centerline goodness : 0.763545 Centerline is valid? [False, False] Translation: X:-299.77, Y:15.73, Z:136.17 [[ 9.99958007e-01 3.10205885e-03 8.62336024e-03 -2.99768050e+02] [-3.08509797e-03 9.99993282e-01 -1.97945925e-03 1.57306537e+01] [-8.62944271e-03 1.95277222e-03 9.99960859e-01 1.36169851e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.97907232899996 meters Centerline goodness : 0.764641 Centerline is valid? [False, False] Translation: X:-299.77, Y:15.73, Z:136.17 [[ 9.99959007e-01 3.12540622e-03 8.49805823e-03 -2.99768051e+02] [-3.10816240e-03 9.99993086e-01 -2.04159836e-03 1.57308541e+01] [-8.50438029e-03 2.01510132e-03 9.99961807e-01 1.36170210e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.009072329 meters Centerline goodness : 0.764712 Centerline is valid? [False, False] Translation: X:-299.77, Y:15.73, Z:136.17 [[ 9.99960836e-01 3.21399127e-03 8.24600308e-03 -2.99767799e+02] [-3.19742202e-03 9.99992844e-01 -2.02176440e-03 1.57307666e+01] [-8.25244201e-03 1.99531927e-03 9.99963957e-01 1.36170675e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.03907232899996 meters Centerline goodness : 0.764883 Centerline is valid? [False, False] Translation: X:-299.77, Y:15.73, Z:136.17 [[ 9.99965319e-01 4.36286107e-03 7.09410727e-03 -2.99765277e+02] [-4.35196575e-03 9.99989328e-01 -1.55053980e-03 1.57312734e+01] [-7.10079636e-03 1.51961271e-03 9.99973634e-01 1.36171306e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.069072329 meters Centerline goodness : 0.765173 Centerline is valid? [False, False] Translation: X:-299.77, Y:15.73, Z:136.17 [[ 9.99966125e-01 3.96417971e-03 7.21353428e-03 -2.99765841e+02] [-3.94822229e-03 9.99989730e-01 -2.22504758e-03 1.57332259e+01] [-7.22228069e-03 2.19649157e-03 9.99971507e-01 1.36171719e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.09907232899997 meters Centerline goodness : 0.764582 Centerline is valid? [False, False] Translation: X:-299.77, Y:15.73, Z:136.17 [[ 9.99967636e-01 4.47715382e-03 6.68439784e-03 -2.99765069e+02] [-4.46560234e-03 9.99988512e-01 -1.74205268e-03 1.57321595e+01] [-6.69212048e-03 1.71214644e-03 9.99976142e-01 1.36172443e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.129072329 meters Centerline goodness : 0.764075 Centerline is valid? [False, False] Translation: X:-299.77, Y:15.73, Z:136.17 [[ 9.99964582e-01 3.92725851e-03 7.44384885e-03 -2.99767063e+02] [-3.91276224e-03 9.99990422e-01 -1.96098035e-03 1.57317020e+01] [-7.45147883e-03 1.93178489e-03 9.99970371e-01 1.36172344e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.15907232899997 meters Centerline goodness : 0.765037 Centerline is valid? [False, False] Translation: X:-299.77, Y:15.73, Z:136.17 [[ 9.99961858e-01 4.01223499e-03 7.75782532e-03 -2.99767483e+02] [-3.99992349e-03 9.99990717e-01 -1.60184273e-03 1.57305037e+01] [-7.76418028e-03 1.57075092e-03 9.99968625e-01 1.36171705e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.18907232899994 meters Centerline goodness : 0.763767 Centerline is valid? [False, False] Translation: X:-299.77, Y:15.73, Z:136.17 [[ 9.99966145e-01 2.36733821e-04 8.22512054e-03 -2.99767715e+02] [-1.98225670e-04 9.99989018e-01 -4.68227327e-03 1.57271955e+01] [-8.22613867e-03 4.68048432e-03 9.99955211e-01 1.36170212e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.21907232899997 meters Centerline goodness : 0.763389 Centerline is valid? [False, False] Translation: X:-299.77, Y:15.73, Z:136.17 [[ 9.99960000e-01 9.00646340e-06 8.94415786e-03 -2.99769277e+02] [ 3.07634917e-05 9.99990115e-01 -4.44632532e-03 1.57257875e+01] [-8.94410949e-03 4.44642262e-03 9.99950115e-01 1.36169702e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.24907232899994 meters Centerline goodness : 0.763226 Centerline is valid? [False, False] Translation: X:-299.77, Y:15.72, Z:136.17 [[ 9.99951799e-01 -7.66233379e-05 9.81805115e-03 -2.99770685e+02] [ 1.15092143e-04 9.99992319e-01 -3.91766604e-03 1.57237976e+01] [-9.81767555e-03 3.91860719e-03 9.99944127e-01 1.36168454e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.279072329 meters Centerline goodness : 0.763848 Centerline is valid? [False, False] Translation: X:-299.77, Y:15.72, Z:136.17 [[ 9.99943953e-01 -4.84904654e-04 1.05762025e-02 -2.99772676e+02] [ 5.27931781e-04 9.99991595e-01 -4.06588409e-03 1.57235916e+01] [-1.05741420e-02 4.07123972e-03 9.99935804e-01 1.36168488e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.30907232899995 meters Centerline goodness : 0.763735 Centerline is valid? [False, False] Translation: X:-299.77, Y:15.72, Z:136.17 [[ 9.99939085e-01 -7.68783809e-04 1.10106732e-02 -2.99774217e+02] [ 8.16029457e-04 9.99990478e-01 -4.28704581e-03 1.57238370e+01] [-1.10072725e-02 4.29576970e-03 9.99930191e-01 1.36169076e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.339072329 meters Centerline goodness : 0.763180 Centerline is valid? [False, False] Translation: X:-299.78, Y:15.73, Z:136.17 [[ 9.99926656e-01 -1.86029135e-03 1.19675370e-02 -2.99776766e+02] [ 1.92357252e-03 9.99984219e-01 -5.27840004e-03 1.57255661e+01] [-1.19575288e-02 5.30103332e-03 9.99914455e-01 1.36169326e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.36907232899995 meters Centerline goodness : 0.765842 Centerline is valid? [False, False] Translation: X:-299.78, Y:15.72, Z:136.17 [[ 9.99927129e-01 -1.55503178e-03 1.19716061e-02 -2.99776550e+02] [ 1.61265308e-03 9.99987156e-01 -4.80501644e-03 1.57246362e+01] [-1.19639804e-02 4.82397234e-03 9.99916793e-01 1.36168992e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.399072329 meters Centerline goodness : 0.764745 Centerline is valid? [False, False] Translation: X:-299.78, Y:15.73, Z:136.17 [[ 9.99908873e-01 -3.17455084e-03 1.31212680e-02 -2.99779238e+02] [ 3.25700922e-03 9.99975053e-01 -6.26774597e-03 1.57271499e+01] [-1.31010434e-02 6.30991090e-03 9.99894268e-01 1.36168792e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.42907232899995 meters Centerline goodness : 0.762969 Centerline is valid? [False, False] Translation: X:-299.78, Y:15.73, Z:136.17 [[ 9.99896334e-01 -3.64653125e-03 1.39292363e-02 -2.99780866e+02] [ 3.73251918e-03 9.99974109e-01 -6.15219756e-03 1.57259398e+01] [-1.39064414e-02 6.20355093e-03 9.99884057e-01 1.36168085e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.459072329 meters Centerline goodness : 0.764577 Centerline is valid? [False, False] Translation: X:-299.78, Y:15.72, Z:136.17 [[ 9.99885283e-01 -3.87481019e-03 1.46426102e-02 -2.99782543e+02] [ 3.96211942e-03 9.99974518e-01 -5.93838486e-03 1.57247162e+01] [-1.46192270e-02 5.99571940e-03 9.99875157e-01 1.36167829e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.48907232899995 meters Centerline goodness : 0.763978 Centerline is valid? [False, False] Translation: X:-299.78, Y:15.72, Z:136.17 [[ 9.99862874e-01 -7.52537752e-03 1.47513429e-02 -2.99782379e+02] [ 7.66327350e-03 9.99927260e-01 -9.31390069e-03 1.57225957e+01] [-1.46801793e-02 9.42566709e-03 9.99847813e-01 1.36167266e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.519072329 meters Centerline goodness : 0.761946 Centerline is valid? [False, False] Translation: X:-299.78, Y:15.72, Z:136.17 [[ 9.99857781e-01 -7.64774962e-03 1.50309549e-02 -2.99783124e+02] [ 7.78923065e-03 9.99925699e-01 -9.37674835e-03 1.57226803e+01] [-1.49581271e-02 9.49249437e-03 9.99843061e-01 1.36167290e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.54907232899996 meters Centerline goodness : 0.764252 Centerline is valid? [False, False] Translation: X:-299.78, Y:15.72, Z:136.17 [[ 9.99856058e-01 -7.65118460e-03 1.51433848e-02 -2.99783590e+02] [ 7.79261009e-03 9.99926369e-01 -9.30222440e-03 1.57224909e+01] [-1.50710968e-02 9.41889192e-03 9.99842061e-01 1.36167486e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.579072329 meters Centerline goodness : 0.764616 Centerline is valid? [False, False] Translation: X:-299.78, Y:15.72, Z:136.17 [[ 9.99864410e-01 -7.21577260e-03 1.48018179e-02 -2.99782467e+02] [ 7.34822109e-03 9.99933276e-01 -8.91333808e-03 1.57223128e+01] [-1.47365136e-02 9.02089656e-03 9.99850718e-01 1.36167211e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.60907232899996 meters Centerline goodness : 0.764316 Centerline is valid? [False, False] Translation: X:-299.78, Y:15.72, Z:136.17 [[ 9.99852458e-01 -7.59992271e-03 1.54046568e-02 -2.99783988e+02] [ 7.74168076e-03 9.99928044e-01 -9.16363723e-03 1.57226784e+01] [-1.53339054e-02 9.28154314e-03 9.99839349e-01 1.36167153e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.639072329 meters Centerline goodness : 0.764252 Centerline is valid? [False, False] Translation: X:-299.78, Y:15.72, Z:136.17 [[ 9.99850871e-01 -7.52159453e-03 1.55454346e-02 -2.99784469e+02] [ 7.66223788e-03 9.99930074e-01 -9.00757310e-03 1.57221755e+01] [-1.54765963e-02 9.12534263e-03 9.99838589e-01 1.36167305e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.66907232899996 meters Centerline goodness : 0.764344 Centerline is valid? [False, False] Translation: X:-299.78, Y:15.72, Z:136.17 [[ 9.99851277e-01 -7.38193899e-03 1.55862637e-02 -2.99784659e+02] [ 7.51895449e-03 9.99933444e-01 -8.75056175e-03 1.57215304e+01] [-1.55206303e-02 8.86645274e-03 9.99840235e-01 1.36167353e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.699072329 meters Centerline goodness : 0.764714 Centerline is valid? [False, False] Translation: X:-299.79, Y:15.72, Z:136.17 [[ 9.99838104e-01 -7.73084641e-03 1.62480616e-02 -2.99786196e+02] [ 7.87700391e-03 9.99928916e-01 -8.95071550e-03 1.57217895e+01] [-1.61777101e-02 9.07725246e-03 9.99827928e-01 1.36167160e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.72907232899996 meters Centerline goodness : 0.763091 Centerline is valid? [False, False] Translation: X:-299.79, Y:15.72, Z:136.17 [[ 9.99829489e-01 -7.70488378e-03 1.67817536e-02 -2.99787302e+02] [ 7.84923747e-03 9.99932615e-01 -8.55300928e-03 1.57203547e+01] [-1.67147228e-02 8.68327487e-03 9.99822594e-01 1.36166688e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.759072329 meters Centerline goodness : 0.763702 Centerline is valid? [False, False] Translation: X:-299.79, Y:15.72, Z:136.17 [[ 9.99790113e-01 -1.13569362e-02 1.70513907e-02 -2.99787069e+02] [ 1.15579007e-02 9.99864356e-01 -1.17338911e-02 1.57176798e+01] [-1.69158168e-02 1.19285065e-02 9.99785760e-01 1.36165449e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.78907232899996 meters Centerline goodness : 0.762647 Centerline is valid? [False, False] Translation: X:-299.79, Y:15.72, Z:136.16 [[ 9.99780228e-01 -1.15887432e-02 1.74698921e-02 -2.99787806e+02] [ 1.17970840e-02 9.99859954e-01 -1.18701980e-02 1.57181605e+01] [-1.73298849e-02 1.20736831e-02 9.99776926e-01 1.36164980e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.819072329 meters Centerline goodness : 0.763678 Centerline is valid? [False, False] Translation: X:-299.79, Y:15.72, Z:136.16 [[ 9.99763091e-01 -1.22250199e-02 1.80086037e-02 -2.99788950e+02] [ 1.24489389e-02 9.99845932e-01 -1.23748215e-02 1.57192480e+01] [-1.78545467e-02 1.25960778e-02 9.99761248e-01 1.36164726e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.84907232899997 meters Centerline goodness : 0.764018 Centerline is valid? [False, False] Translation: X:-299.79, Y:15.72, Z:136.17 [[ 9.99770406e-01 -1.20204524e-02 1.77382026e-02 -2.99788486e+02] [ 1.22375080e-02 9.99850944e-01 -1.21792302e-02 1.57190037e+01] [-1.75891588e-02 1.23935053e-02 9.99768484e-01 1.36165022e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.879072329 meters Centerline goodness : 0.764811 Centerline is valid? [False, False] Translation: X:-299.79, Y:15.72, Z:136.17 [[ 9.99758843e-01 -1.23124142e-02 1.81840743e-02 -2.99789812e+02] [ 1.25394979e-02 9.99844150e-01 -1.24272824e-02 1.57196358e+01] [-1.80282304e-02 1.26523047e-02 9.99757422e-01 1.36165339e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.90907232899997 meters Centerline goodness : 0.764493 Centerline is valid? [False, False] Translation: X:-299.79, Y:15.72, Z:136.17 [[ 9.99734491e-01 -1.31854169e-02 1.88968915e-02 -2.99792104e+02] [ 1.34379718e-02 9.99821239e-01 -1.33008137e-02 1.57212739e+01] [-1.87181367e-02 1.35512181e-02 9.99732962e-01 1.36166048e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.93907232899994 meters Centerline goodness : 0.765163 Centerline is valid? [False, False] Translation: X:-299.79, Y:15.72, Z:136.17 [[ 9.99722603e-01 -1.35625582e-02 1.92555131e-02 -2.99792983e+02] [ 1.38286083e-02 9.99809814e-01 -1.37515693e-02 1.57226719e+01] [-1.90653445e-02 1.40140316e-02 9.99720021e-01 1.36166026e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.96907232899997 meters Centerline goodness : 0.764848 Centerline is valid? [False, False] Translation: X:-299.79, Y:15.72, Z:136.17 [[ 9.99738472e-01 -1.30404076e-02 1.87865943e-02 -2.99791588e+02] [ 1.32894493e-02 9.99824651e-01 -1.31930647e-02 1.57218982e+01] [-1.86112571e-02 1.34392779e-02 9.99736469e-01 1.36165696e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.99907232899994 meters Centerline goodness : 0.763006 Centerline is valid? [False, False] Translation: X:-299.79, Y:15.72, Z:136.16 [[ 9.99729871e-01 -1.30469527e-02 1.92344138e-02 -2.99791889e+02] [ 1.32960307e-02 9.99828658e-01 -1.28790978e-02 1.57210269e+01] [-1.90630851e-02 1.31313602e-02 9.99732047e-01 1.36164487e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.029072329 meters Centerline goodness : 0.761873 Centerline is valid? [False, False] Translation: X:-299.79, Y:15.72, Z:136.16 [[ 9.99737484e-01 -1.26840589e-02 1.90808157e-02 -2.99791298e+02] [ 1.29250876e-02 9.99837554e-01 -1.25621500e-02 1.57208540e+01] [-1.89183770e-02 1.28054734e-02 9.99739023e-01 1.36164191e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.05907232899995 meters Centerline goodness : 0.762369 Centerline is valid? [False, False] Translation: X:-299.79, Y:15.72, Z:136.16 [[ 9.99736271e-01 -1.24593423e-02 1.92912498e-02 -2.99792008e+02] [ 1.26933405e-02 9.99846764e-01 -1.20552011e-02 1.57192390e+01] [-1.91380938e-02 1.22968922e-02 9.99741226e-01 1.36164280e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.089072329 meters Centerline goodness : 0.761785 Centerline is valid? [False, False] Translation: X:-299.79, Y:15.72, Z:136.16 [[ 9.99739063e-01 -1.23156731e-02 1.92387441e-02 -2.99792019e+02] [ 1.25467291e-02 9.99850048e-01 -1.19357485e-02 1.57192088e+01] [-1.90888625e-02 1.21740174e-02 9.99743671e-01 1.36164446e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.11907232899995 meters Centerline goodness : 0.762310 Centerline is valid? [False, False] Translation: X:-299.79, Y:15.72, Z:136.16 [[ 9.99738446e-01 -1.21491337e-02 1.93762407e-02 -2.99792075e+02] [ 1.23752446e-02 9.99856222e-01 -1.15925908e-02 1.57185029e+01] [-1.92326149e-02 1.18293444e-02 9.99745054e-01 1.36164011e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.149072329 meters Centerline goodness : 0.761783 Centerline is valid? [False, False] Translation: X:-299.79, Y:15.72, Z:136.16 [[ 9.99729471e-01 -1.22300853e-02 1.97840798e-02 -2.99792874e+02] [ 1.24569851e-02 9.99857575e-01 -1.13865103e-02 1.57176405e+01] [-1.96420040e-02 1.16298799e-02 9.99739435e-01 1.36163586e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.17907232899995 meters Centerline goodness : 0.761741 Centerline is valid? [False, False] Translation: X:-299.79, Y:15.72, Z:136.16 [[ 9.99762364e-01 -8.26966960e-03 2.01699623e-02 -2.99793702e+02] [ 8.41636927e-03 9.99938667e-01 -7.19916271e-03 1.57175106e+01] [-2.01091905e-02 7.36720979e-03 9.99770646e-01 1.36163098e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.209072329 meters Centerline goodness : 0.761101 Centerline is valid? [False, False] Translation: X:-299.79, Y:15.72, Z:136.16 [[ 9.99768001e-01 -8.08994399e-03 1.99623842e-02 -2.99793186e+02] [ 8.23378170e-03 9.99940655e-01 -7.13379614e-03 1.57179845e+01] [-1.99034875e-02 7.29650702e-03 9.99775281e-01 1.36163141e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.23907232899995 meters Centerline goodness : 0.761370 Centerline is valid? [False, False] Translation: X:-299.80, Y:15.72, Z:136.16 [[ 9.99746615e-01 -9.20819254e-03 2.05405511e-02 -2.99795568e+02] [ 9.38187422e-03 9.99920915e-01 -8.37527125e-03 1.57201812e+01] [-2.04618056e-02 8.56585795e-03 9.99753940e-01 1.36164383e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.269072329 meters Centerline goodness : 0.760634 Centerline is valid? [False, False] Translation: X:-299.80, Y:15.72, Z:136.16 [[ 9.99751468e-01 -9.02778497e-03 2.03838629e-02 -2.99795473e+02] [ 9.19706519e-03 9.99923869e-01 -8.22620072e-03 1.57200744e+01] [-2.03080467e-02 8.41162796e-03 9.99758385e-01 1.36164756e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.29907232899996 meters Centerline goodness : 0.761265 Centerline is valid? [False, False] Translation: X:-299.80, Y:15.72, Z:136.17 [[ 9.99746163e-01 -9.20287371e-03 2.05649278e-02 -2.99796139e+02] [ 9.38042799e-03 9.99919414e-01 -8.55411731e-03 1.57210614e+01] [-2.04845481e-02 8.74485378e-03 9.99751925e-01 1.36165078e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.329072329 meters Centerline goodness : 0.762736 Centerline is valid? [False, False] Translation: X:-299.79, Y:15.72, Z:136.16 [[ 9.99762315e-01 -8.68021656e-03 1.99992014e-02 -2.99794633e+02] [ 8.84423205e-03 9.99927861e-01 -8.12730074e-03 1.57208913e+01] [-1.99272119e-02 8.30224657e-03 9.99766962e-01 1.36164947e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.35907232899996 meters Centerline goodness : 0.761221 Centerline is valid? [False, False] Translation: X:-299.80, Y:15.72, Z:136.16 [[ 9.99746848e-01 -9.31192144e-03 2.04823769e-02 -2.99795456e+02] [ 9.49368870e-03 9.99916255e-01 -8.79506060e-03 1.57226224e+01] [-2.03987627e-02 8.98728742e-03 9.99751529e-01 1.36164482e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.389072329 meters Centerline goodness : 0.761719 Centerline is valid? [False, False] Translation: X:-299.80, Y:15.72, Z:136.16 [[ 9.99741600e-01 -9.19859558e-03 2.07874932e-02 -2.99795790e+02] [ 9.37307070e-03 9.99921529e-01 -8.31148470e-03 1.57212417e+01] [-2.07094080e-02 8.50417965e-03 9.99749368e-01 1.36163816e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.41907232899996 meters Centerline goodness : 0.761796 Centerline is valid? [False, False] Translation: X:-299.80, Y:15.72, Z:136.16 [[ 9.99699644e-01 -1.09568944e-02 2.19218893e-02 -2.99799324e+02] [ 1.11613231e-02 9.99895158e-01 -9.22480173e-03 1.57202691e+01] [-2.18185158e-02 9.46670830e-03 9.99717127e-01 1.36164396e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.449072329 meters Centerline goodness : 0.761411 Centerline is valid? [False, False] Translation: X:-299.80, Y:15.72, Z:136.16 [[ 9.99670633e-01 -1.16626716e-02 2.28605968e-02 -2.99802052e+02] [ 1.18807738e-02 9.99884973e-01 -9.42803966e-03 1.57194457e+01] [-2.27480111e-02 9.69653595e-03 9.99694206e-01 1.36164741e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.47907232899996 meters Centerline goodness : 0.761411 Centerline is valid? [False, False] Translation: X:-299.80, Y:15.72, Z:136.16 [[ 9.99670633e-01 -1.16626716e-02 2.28605968e-02 -2.99802052e+02] [ 1.18807738e-02 9.99884973e-01 -9.42803966e-03 1.57194457e+01] [-2.27480111e-02 9.69653595e-03 9.99694206e-01 1.36164741e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.509072329 meters Centerline goodness : 0.762182 Centerline is valid? [False, False] Translation: X:-299.80, Y:15.72, Z:136.16 [[ 9.99624343e-01 -1.52138413e-02 2.27971741e-02 -2.99801468e+02] [ 1.55074408e-02 9.99798359e-01 -1.27577996e-02 1.57172495e+01] [-2.25984821e-02 1.31065329e-02 9.99658705e-01 1.36164224e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.53907232899996 meters Centerline goodness : 0.762104 Centerline is valid? [False, False] Translation: X:-299.80, Y:15.72, Z:136.16 [[ 9.99651004e-01 -1.43155299e-02 2.22021801e-02 -2.99799470e+02] [ 1.45803042e-02 9.99823955e-01 -1.18099215e-02 1.57159319e+01] [-2.20292062e-02 1.21295145e-02 9.99683744e-01 1.36163496e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.569072329 meters Centerline goodness : 0.760940 Centerline is valid? [False, False] Translation: X:-299.80, Y:15.72, Z:136.16 [[ 9.99656558e-01 -1.42630275e-02 2.19848272e-02 -2.99798745e+02] [ 1.45270608e-02 9.99823695e-01 -1.18972393e-02 1.57168327e+01] [-2.18112605e-02 1.22125282e-02 9.99687513e-01 1.36163275e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.59907232899997 meters Centerline goodness : 0.759932 Centerline is valid? [False, False] Translation: X:-299.80, Y:15.72, Z:136.16 [[ 9.99666418e-01 -1.40111440e-02 2.16965366e-02 -2.99797553e+02] [ 1.42680163e-02 9.99829399e-01 -1.17301236e-02 1.57172276e+01] [-2.15284827e-02 1.20357772e-02 9.99695786e-01 1.36162632e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.629072329 meters Centerline goodness : 0.760857 Centerline is valid? [False, False] Translation: X:-299.80, Y:15.72, Z:136.16 [[ 9.99649099e-01 -1.44120391e-02 2.22254858e-02 -2.99798637e+02] [ 1.46805708e-02 9.99820623e-01 -1.19666915e-02 1.57175980e+01] [-2.20490346e-02 1.22887752e-02 9.99681362e-01 1.36162246e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.65907232899997 meters Centerline goodness : 0.759788 Centerline is valid? [False, False] Translation: X:-299.80, Y:15.72, Z:136.16 [[ 9.99620775e-01 -1.49613328e-02 2.31184887e-02 -2.99801088e+02] [ 1.52451396e-02 9.99809975e-01 -1.21490865e-02 1.57171194e+01] [-2.29323290e-02 1.24969239e-02 9.99658909e-01 1.36162429e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.68907232899994 meters Centerline goodness : 0.761057 Centerline is valid? [False, False] Translation: X:-299.80, Y:15.72, Z:136.16 [[ 9.99621834e-01 -1.46938125e-02 2.32439453e-02 -2.99801525e+02] [ 1.49674551e-02 9.99820194e-01 -1.16427938e-02 1.57156607e+01] [-2.30686888e-02 1.19862936e-02 9.99662025e-01 1.36162489e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.71907232899997 meters Centerline goodness : 0.760033 Centerline is valid? [False, False] Translation: X:-299.80, Y:15.72, Z:136.16 [[ 9.99590668e-01 -1.54314802e-02 2.40907908e-02 -2.99804197e+02] [ 1.57234937e-02 9.99804614e-01 -1.19793683e-02 1.57152104e+01] [-2.39012244e-02 1.23532561e-02 9.99637999e-01 1.36163189e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.74907232899994 meters Centerline goodness : 0.761261 Centerline is valid? [False, False] Translation: X:-299.81, Y:15.72, Z:136.16 [[ 9.99566722e-01 -1.59069623e-02 2.47656329e-02 -2.99805712e+02] [ 1.62184490e-02 9.99791235e-01 -1.24277258e-02 1.57161748e+01] [-2.45627754e-02 1.28240013e-02 9.99616034e-01 1.36162931e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.779072329 meters Centerline goodness : 0.759802 Centerline is valid? [False, False] Translation: X:-299.81, Y:15.71, Z:136.16 [[ 9.99493805e-01 -1.95757528e-02 2.50783437e-02 -2.99805691e+02] [ 1.99706497e-02 9.99678948e-01 -1.55940403e-02 1.57132314e+01] [-2.47650272e-02 1.60869775e-02 9.99563856e-01 1.36161912e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.80907232899995 meters Centerline goodness : 0.760960 Centerline is valid? [False, False] Translation: X:-299.81, Y:15.71, Z:136.16 [[ 9.99477245e-01 -1.97502947e-02 2.55961377e-02 -2.99806599e+02] [ 2.01509536e-02 9.99676934e-01 -1.54908373e-02 1.57127837e+01] [-2.52819198e-02 1.59985259e-02 9.99552336e-01 1.36161308e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.839072329 meters Centerline goodness : 0.759644 Centerline is valid? [False, False] Translation: X:-299.81, Y:15.71, Z:136.16 [[ 9.99450812e-01 -2.02503455e-02 2.62297050e-02 -2.99808042e+02] [ 2.06685943e-02 9.99661940e-01 -1.57738598e-02 1.57130972e+01] [-2.59014117e-02 1.63073281e-02 9.99531484e-01 1.36161065e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.86907232899995 meters Centerline goodness : 0.760385 Centerline is valid? [False, False] Translation: X:-299.81, Y:15.71, Z:136.16 [[ 9.99441141e-01 -2.02600586e-02 2.65882541e-02 -2.99808657e+02] [ 2.06753805e-02 9.99667017e-01 -1.54396592e-02 1.57120214e+01] [-2.62665923e-02 1.59807529e-02 9.99527229e-01 1.36160599e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.899072329 meters Centerline goodness : 0.760243 Centerline is valid? [False, False] Translation: X:-299.81, Y:15.71, Z:136.16 [[ 9.99436481e-01 -2.01181884e-02 2.68696609e-02 -2.99808866e+02] [ 2.05264538e-02 9.99676692e-01 -1.50058747e-02 1.57109384e+01] [-2.65590827e-02 1.55489574e-02 9.99526310e-01 1.36159836e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.92907232899995 meters Centerline goodness : 0.760098 Centerline is valid? [False, False] Translation: X:-299.81, Y:15.71, Z:136.16 [[ 9.99427889e-01 -2.00490907e-02 2.72383546e-02 -2.99809180e+02] [ 2.04538625e-02 9.99683255e-01 -1.46638970e-02 1.57099705e+01] [-2.69357292e-02 1.52126371e-02 9.99521407e-01 1.36158870e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.959072329 meters Centerline goodness : 0.759677 Centerline is valid? [False, False] Translation: X:-299.81, Y:15.71, Z:136.16 [[ 9.99424665e-01 -1.98418465e-02 2.75071055e-02 -2.99809677e+02] [ 2.02350661e-02 9.99695943e-01 -1.40912953e-02 1.57080920e+01] [-2.72191445e-02 1.46397961e-02 9.99522283e-01 1.36158476e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.98907232899995 meters Centerline goodness : 0.760561 Centerline is valid? [False, False] Translation: X:-299.81, Y:15.71, Z:136.16 [[ 9.99454157e-01 -1.92323256e-02 2.68608414e-02 -2.99808156e+02] [ 1.96084366e-02 9.99712359e-01 -1.38096910e-02 1.57085744e+01] [-2.65875227e-02 1.43288522e-02 9.99543790e-01 1.36158679e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.019072329 meters Centerline goodness : 0.761441 Centerline is valid? [False, False] Translation: X:-299.81, Y:15.71, Z:136.16 [[ 9.99461303e-01 -1.93894213e-02 2.64793004e-02 -2.99807921e+02] [ 1.97783972e-02 9.99699125e-01 -1.45077528e-02 1.57111944e+01] [-2.61900365e-02 1.50236556e-02 9.99544082e-01 1.36159854e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.04907232899996 meters Centerline goodness : 0.761819 Centerline is valid? [False, False] Translation: X:-299.81, Y:15.71, Z:136.16 [[ 9.99504114e-01 -1.62196056e-02 2.69898214e-02 -2.99810106e+02] [ 1.65382343e-02 9.99795659e-01 -1.16244535e-02 1.57144286e+01] [-2.67957622e-02 1.20650531e-02 9.99568118e-01 1.36160928e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.079072329 meters Centerline goodness : 0.761617 Centerline is valid? [False, False] Translation: X:-299.81, Y:15.71, Z:136.16 [[ 9.99533254e-01 -1.56303717e-02 2.62481378e-02 -2.99808474e+02] [ 1.59302983e-02 9.99809739e-01 -1.12566125e-02 1.57144442e+01] [-2.60671988e-02 1.16694992e-02 9.99592079e-01 1.36161277e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.10907232899996 meters Centerline goodness : 0.761151 Centerline is valid? [False, False] Translation: X:-299.81, Y:15.72, Z:136.16 [[ 9.99532027e-01 -1.61055324e-02 2.60065112e-02 -2.99807285e+02] [ 1.64321597e-02 9.99788152e-01 -1.23949523e-02 1.57184947e+01] [-2.58013745e-02 1.28164950e-02 9.99584927e-01 1.36160721e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.139072329 meters Centerline goodness : 0.760943 Centerline is valid? [False, False] Translation: X:-299.81, Y:15.72, Z:136.16 [[ 9.99569086e-01 -1.53241571e-02 2.50362295e-02 -2.99805045e+02] [ 1.56251621e-02 9.99807440e-01 -1.18717043e-02 1.57182272e+01] [-2.48494847e-02 1.22577838e-02 9.99616051e-01 1.36160948e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.16907232899996 meters Centerline goodness : 0.762706 Centerline is valid? [False, False] Translation: X:-299.80, Y:15.73, Z:136.16 [[ 9.99659678e-01 -8.57285404e-03 2.46380727e-02 -2.99803661e+02] [ 8.72991325e-03 9.99942210e-01 -6.27417791e-03 1.57268998e+01] [-2.45828612e-02 6.48713091e-03 9.99676748e-01 1.36160754e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.199072329 meters Centerline goodness : 0.763774 Centerline is valid? [False, False] Translation: X:-299.80, Y:15.73, Z:136.16 [[ 9.99679188e-01 -8.40456517e-03 2.38932063e-02 -2.99802013e+02] [ 8.56505159e-03 9.99941390e-01 -6.62243604e-03 1.57288512e+01] [-2.38361473e-02 6.82495802e-03 9.99692582e-01 1.36161140e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.22907232899996 meters Centerline goodness : 0.763502 Centerline is valid? [False, False] Translation: X:-299.80, Y:15.73, Z:136.16 [[ 9.99708141e-01 -7.24931802e-03 2.30451868e-02 -2.99798959e+02] [ 7.39134508e-03 9.99954177e-01 -6.08378730e-03 1.57305565e+01] [-2.30000275e-02 6.25234662e-03 9.99715913e-01 1.36160288e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.259072329 meters Centerline goodness : 0.763947 Centerline is valid? [False, False] Translation: X:-299.80, Y:15.73, Z:136.16 [[ 9.99726818e-01 -6.98429736e-03 2.23048877e-02 -2.99797807e+02] [ 7.13728858e-03 9.99951498e-01 -6.78686251e-03 1.57341130e+01] [-2.22564044e-02 6.94420488e-03 9.99728178e-01 1.36161627e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.28907232899996 meters Centerline goodness : 0.761867 Centerline is valid? [False, False] Translation: X:-299.80, Y:15.73, Z:136.16 [[ 9.99715907e-01 -7.06637923e-03 2.27633670e-02 -2.99799302e+02] [ 7.21806355e-03 9.99952246e-01 -6.58826832e-03 1.57328751e+01] [-2.27157248e-02 6.75070407e-03 9.99719172e-01 1.36161992e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.319072329 meters Centerline goodness : 0.761496 Centerline is valid? [False, False] Translation: X:-299.80, Y:15.73, Z:136.16 [[ 9.99704634e-01 -7.17507567e-03 2.32198784e-02 -2.99800462e+02] [ 7.32868324e-03 9.99951778e-01 -6.53702485e-03 1.57324019e+01] [-2.31718550e-02 6.70526517e-03 9.99709010e-01 1.36161928e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.34907232899997 meters Centerline goodness : 0.762655 Centerline is valid? [False, False] Translation: X:-299.80, Y:15.73, Z:136.16 [[ 9.99717686e-01 -6.67937301e-03 2.28020524e-02 -2.99798849e+02] [ 6.81889219e-03 9.99958471e-01 -6.04645136e-03 1.57319274e+01] [-2.27607189e-02 6.20022910e-03 9.99721715e-01 1.36161155e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.379072329 meters Centerline goodness : 0.763069 Centerline is valid? [False, False] Translation: X:-299.80, Y:15.73, Z:136.16 [[ 9.99735143e-01 -5.88146641e-03 2.22497879e-02 -2.99796651e+02] [ 5.99749187e-03 9.99968745e-01 -5.15154592e-03 1.57304434e+01] [-2.22187939e-02 5.28362442e-03 9.99739170e-01 1.36160011e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.40907232899997 meters Centerline goodness : 0.763036 Centerline is valid? [False, False] Translation: X:-299.79, Y:15.72, Z:136.16 [[ 9.99736316e-01 -7.49007860e-03 2.17070660e-02 -2.99794882e+02] [ 7.62748775e-03 9.99951351e-01 -6.25428990e-03 1.57244878e+01] [-2.16591649e-02 6.41821112e-03 9.99744811e-01 1.36159292e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.43907232899994 meters Centerline goodness : 0.762877 Centerline is valid? [False, False] Translation: X:-299.80, Y:15.73, Z:136.16 [[ 9.99760777e-01 -3.44654360e-03 2.15988432e-02 -2.99795763e+02] [ 3.49994360e-03 9.99990910e-01 -2.43504086e-03 1.57254600e+01] [-2.15902544e-02 2.51005307e-03 9.99763752e-01 1.36160726e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.46907232899997 meters Centerline goodness : 0.764714 Centerline is valid? [False, False] Translation: X:-299.80, Y:15.73, Z:136.16 [[ 9.99766257e-01 -3.49836909e-03 2.13352631e-02 -2.99796147e+02] [ 3.56160471e-03 9.99989375e-01 -2.92662374e-03 1.57269688e+01] [-2.13247980e-02 3.00192743e-03 9.99768094e-01 1.36162221e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.49907232899994 meters Centerline goodness : 0.764292 Centerline is valid? [False, False] Translation: X:-299.80, Y:15.73, Z:136.16 [[ 9.99774817e-01 -3.34381952e-03 2.09555078e-02 -2.99795756e+02] [ 3.40814761e-03 9.99989587e-01 -3.03478451e-03 1.57275143e+01] [-2.09451419e-02 3.10552059e-03 9.99775803e-01 1.36163011e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.529072329 meters Centerline goodness : 0.762741 Centerline is valid? [False, False] Translation: X:-299.80, Y:15.72, Z:136.16 [[ 9.99781710e-01 -2.63024137e-03 2.07271177e-02 -2.99795003e+02] [ 2.67361824e-03 9.99994293e-01 -2.06532638e-03 1.57249514e+01] [-2.07215671e-02 2.12029194e-03 9.99783037e-01 1.36162559e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.55907232899995 meters Centerline goodness : 0.763257 Centerline is valid? [False, False] Translation: X:-299.80, Y:15.72, Z:136.16 [[ 9.99776173e-01 -2.52316051e-03 2.10056573e-02 -2.99795298e+02] [ 2.55772308e-03 9.99995419e-01 -1.61868952e-03 1.57234277e+01] [-2.10014768e-02 1.67205387e-03 9.99778046e-01 1.36161849e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.589072329 meters Centerline goodness : 0.761957 Centerline is valid? [False, False] Translation: X:-299.79, Y:15.72, Z:136.16 [[ 9.99778110e-01 -5.60376928e-03 2.03058840e-02 -2.99793291e+02] [ 5.70018925e-03 9.99972739e-01 -4.69361124e-03 1.57211516e+01] [-2.02790285e-02 4.80831716e-03 9.99782797e-01 1.36161458e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.61907232899995 meters Centerline goodness : 0.763574 Centerline is valid? [False, False] Translation: X:-299.79, Y:15.72, Z:136.16 [[ 9.99795865e-01 -5.12075432e-03 1.95449605e-02 -2.99792017e+02] [ 5.21081217e-03 9.99976029e-01 -4.55958453e-03 1.57215839e+01] [-1.95211435e-02 4.66049888e-03 9.99798582e-01 1.36162446e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.649072329 meters Centerline goodness : 0.764163 Centerline is valid? [False, False] Translation: X:-299.79, Y:15.72, Z:136.16 [[ 9.99805238e-01 -5.00167757e-03 1.90910769e-02 -2.99791174e+02] [ 5.09523697e-03 9.99975233e-01 -4.85519627e-03 1.57231838e+01] [-1.90663200e-02 4.95152422e-03 9.99805960e-01 1.36162954e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.67907232899995 meters Centerline goodness : 0.762838 Centerline is valid? [False, False] Translation: X:-299.79, Y:15.72, Z:136.16 [[ 9.99801068e-01 -5.20387248e-03 1.92547202e-02 -2.99791938e+02] [ 5.30433676e-03 9.99972566e-01 -5.17025615e-03 1.57240044e+01] [-1.92272866e-02 5.27136114e-03 9.99801242e-01 1.36163471e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.709072329 meters Centerline goodness : 0.761025 Centerline is valid? [False, False] Translation: X:-299.79, Y:15.73, Z:136.16 [[ 9.99773912e-01 -6.50176163e-03 2.02447919e-02 -2.99794896e+02] [ 6.63511719e-03 9.99956686e-01 -6.52696562e-03 1.57264491e+01] [-2.02014782e-02 6.65981652e-03 9.99773748e-01 1.36164133e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.73907232899995 meters Centerline goodness : 0.760929 Centerline is valid? [False, False] Translation: X:-299.80, Y:15.73, Z:136.16 [[ 9.99763291e-01 -6.85566456e-03 2.06485178e-02 -2.99796249e+02] [ 6.99486485e-03 9.99953245e-01 -6.67675393e-03 1.57262305e+01] [-2.06017788e-02 6.81960708e-03 9.99764502e-01 1.36164532e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.769072329 meters Centerline goodness : 0.761205 Centerline is valid? [False, False] Translation: X:-299.80, Y:15.73, Z:136.16 [[ 9.99764466e-01 -6.61874323e-03 2.06689363e-02 -2.99795802e+02] [ 6.74827898e-03 9.99957986e-01 -6.20372413e-03 1.57250633e+01] [-2.06270070e-02 6.34174269e-03 9.99767127e-01 1.36163771e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.79907232899996 meters Centerline goodness : 0.761072 Centerline is valid? [False, False] Translation: X:-299.79, Y:15.72, Z:136.16 [[ 9.99783320e-01 -5.61059576e-03 2.00457819e-02 -2.99793587e+02] [ 5.70904736e-03 9.99971905e-01 -4.85749032e-03 1.57219214e+01] [-2.00179653e-02 4.97088012e-03 9.99787263e-01 1.36162683e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.829072329 meters Centerline goodness : 0.761026 Centerline is valid? [False, False] Translation: X:-299.79, Y:15.72, Z:136.16 [[ 9.99798504e-01 -4.59462729e-03 1.95407457e-02 -2.99791267e+02] [ 4.67001379e-03 9.99981822e-01 -3.81403201e-03 1.57204997e+01] [-1.95228664e-02 3.90451905e-03 9.99801787e-01 1.36161314e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.85907232899996 meters Centerline goodness : 0.760523 Centerline is valid? [False, False] Translation: X:-299.79, Y:15.72, Z:136.16 [[ 9.99798173e-01 -4.43806843e-03 1.95937741e-02 -2.99791503e+02] [ 4.50786309e-03 9.99983647e-01 -3.51935397e-03 1.57193617e+01] [-1.95778346e-02 3.60696972e-03 9.99801829e-01 1.36161313e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.889072329 meters Centerline goodness : 0.761586 Centerline is valid? [False, False] Translation: X:-299.79, Y:15.72, Z:136.16 [[ 9.99795974e-01 -4.32435989e-03 1.97309455e-02 -2.99791997e+02] [ 4.38986647e-03 9.99984992e-01 -3.27788829e-03 1.57183853e+01] [-1.97164746e-02 3.36383573e-03 9.99799953e-01 1.36161408e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.91907232899996 meters Centerline goodness : 0.761884 Centerline is valid? [False, False] Translation: X:-299.79, Y:15.72, Z:136.16 [[ 9.99794183e-01 -4.34672075e-03 1.98166046e-02 -2.99792428e+02] [ 4.41356273e-03 9.99984714e-01 -3.33054228e-03 1.57185499e+01] [-1.98018248e-02 3.41731863e-03 9.99798084e-01 1.36161723e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.949072329 meters Centerline goodness : 0.761226 Centerline is valid? [False, False] Translation: X:-299.79, Y:15.72, Z:136.16 [[ 9.99782883e-01 -4.66733410e-03 2.03077216e-02 -2.99793828e+02] [ 4.74169266e-03 9.99982224e-01 -3.61498080e-03 1.57190857e+01] [-2.02904883e-02 3.71048890e-03 9.99787242e-01 1.36161950e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.97907232899996 meters Centerline goodness : 0.761979 Centerline is valid? [False, False] Translation: X:-299.80, Y:15.72, Z:136.16 [[ 9.99724530e-01 -9.51053744e-03 2.14572761e-02 -2.99796366e+02] [ 9.67952469e-03 9.99922844e-01 -7.78545336e-03 1.57175869e+01] [-2.13815767e-02 7.99100493e-03 9.99739452e-01 1.36161478e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.009072329 meters Centerline goodness : 0.763091 Centerline is valid? [False, False] Translation: X:-299.80, Y:15.72, Z:136.16 [[ 9.99700504e-01 -1.00658879e-02 2.23065271e-02 -2.99798611e+02] [ 1.02460034e-02 9.99915706e-01 -7.97503769e-03 1.57171089e+01] [-2.22243710e-02 8.20120194e-03 9.99719369e-01 1.36161560e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.03907232899996 meters Centerline goodness : 0.761186 Centerline is valid? [False, False] Translation: X:-299.80, Y:15.72, Z:136.16 [[ 9.99674635e-01 -1.07272303e-02 2.31419791e-02 -2.99800975e+02] [ 1.09220428e-02 9.99905837e-01 -8.30823008e-03 1.57169773e+01] [-2.30506756e-02 8.55828455e-03 9.99697665e-01 1.36161866e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.069072329 meters Centerline goodness : 0.762526 Centerline is valid? [False, False] Translation: X:-299.80, Y:15.72, Z:136.16 [[ 9.99677180e-01 -1.06041863e-02 2.30886984e-02 -2.99800788e+02] [ 1.07940051e-02 9.99908836e-01 -8.11223542e-03 1.57167040e+01] [-2.30005699e-02 8.35883615e-03 9.99700507e-01 1.36161816e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.09907232899997 meters Centerline goodness : 0.763099 Centerline is valid? [False, False] Translation: X:-299.80, Y:15.71, Z:136.16 [[ 9.99628073e-01 -1.41424740e-02 2.33175265e-02 -2.99799854e+02] [ 1.44047104e-02 9.99834445e-01 -1.11169683e-02 1.57138698e+01] [-2.31564447e-02 1.14487159e-02 9.99666297e-01 1.36159889e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.129072329 meters Centerline goodness : 0.762471 Centerline is valid? [False, False] Translation: X:-299.80, Y:15.71, Z:136.16 [[ 9.99587552e-01 -1.51515522e-02 2.43958378e-02 -2.99802393e+02] [ 1.54321120e-02 9.99816458e-01 -1.13534040e-02 1.57128133e+01] [-2.42193385e-02 1.17252006e-02 9.99637906e-01 1.36159463e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.15907232899997 meters Centerline goodness : 0.762723 Centerline is valid? [False, False] Translation: X:-299.80, Y:15.71, Z:136.16 [[ 9.99580898e-01 -1.50467843e-02 2.47309871e-02 -2.99802756e+02] [ 1.53222779e-02 9.99822229e-01 -1.09881137e-02 1.57118571e+01] [-2.45612548e-02 1.13624436e-02 9.99633753e-01 1.36158752e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.18907232899994 meters Centerline goodness : 0.762698 Centerline is valid? [False, False] Translation: X:-299.81, Y:15.71, Z:136.16 [[ 9.99553268e-01 -1.57670934e-02 2.53902347e-02 -2.99805519e+02] [ 1.60595827e-02 9.99806532e-01 -1.13573338e-02 1.57113558e+01] [-2.52062503e-02 1.17600167e-02 9.99613099e-01 1.36160253e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.21907232899997 meters Centerline goodness : 0.762357 Centerline is valid? [False, False] Translation: X:-299.81, Y:15.71, Z:136.16 [[ 9.99524334e-01 -1.66003050e-02 2.59910862e-02 -2.99806991e+02] [ 1.69295720e-02 9.99778544e-01 -1.25000701e-02 1.57145181e+01] [-2.57778254e-02 1.29341422e-02 9.99584019e-01 1.36160410e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.24907232899994 meters Centerline goodness : 0.764155 Centerline is valid? [False, False] Translation: X:-299.81, Y:15.72, Z:136.16 [[ 9.99457670e-01 -2.05941927e-02 2.56952538e-02 -2.99805639e+02] [ 2.10278242e-02 9.99639047e-01 -1.67214176e-02 1.57152861e+01] [-2.53416150e-02 1.72526643e-02 9.99529964e-01 1.36159997e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.279072329 meters Centerline goodness : 0.763194 Centerline is valid? [False, False] Translation: X:-299.81, Y:15.72, Z:136.16 [[ 9.99431586e-01 -2.09883094e-02 2.63817174e-02 -2.99806823e+02] [ 2.14359177e-02 9.99629064e-01 -1.67998599e-02 1.57152541e+01] [-2.60193308e-02 1.73558270e-02 9.99510765e-01 1.36159208e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.30907232899995 meters Centerline goodness : 0.763140 Centerline is valid? [False, False] Translation: X:-299.81, Y:15.72, Z:136.16 [[ 9.99403463e-01 -2.15010257e-02 2.70263665e-02 -2.99807840e+02] [ 2.19690802e-02 9.99611672e-01 -1.71424652e-02 1.57158169e+01] [-2.66472909e-02 1.77259835e-02 9.99487724e-01 1.36158368e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.339072329 meters Centerline goodness : 0.764405 Centerline is valid? [False, False] Translation: X:-299.80, Y:15.71, Z:136.16 [[ 9.99351872e-01 -2.63770769e-02 2.44966422e-02 -2.99800305e+02] [ 2.66830002e-02 9.99568927e-01 -1.22465694e-02 1.57063288e+01] [-2.41630536e-02 1.28922760e-02 9.99624898e-01 1.36161824e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.36907232899995 meters Centerline goodness : 0.765010 Centerline is valid? [False, False] Translation: X:-299.80, Y:15.70, Z:136.16 [[ 9.99396983e-01 -2.52103408e-02 2.38769540e-02 -2.99798404e+02] [ 2.54784120e-02 9.99614958e-01 -1.09902773e-02 1.57040856e+01] [-2.35906917e-02 1.15919968e-02 9.99654493e-01 1.36161343e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.399072329 meters Centerline goodness : 0.765010 Centerline is valid? [False, False] Translation: X:-299.80, Y:15.70, Z:136.16 [[ 9.99396983e-01 -2.52103408e-02 2.38769540e-02 -2.99798404e+02] [ 2.54784120e-02 9.99614958e-01 -1.09902773e-02 1.57040856e+01] [-2.35906917e-02 1.15919968e-02 9.99654493e-01 1.36161343e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.42907232899995 meters Centerline goodness : 0.766346 Centerline is valid? [False, False] Translation: X:-299.80, Y:15.71, Z:136.16 [[ 9.99464798e-01 -2.19601023e-02 2.42460694e-02 -2.99800703e+02] [ 2.21592391e-02 9.99722643e-01 -7.97522739e-03 1.57065354e+01] [-2.40642078e-02 8.50823348e-03 9.99674209e-01 1.36162951e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.459072329 meters Centerline goodness : 0.767035 Centerline is valid? [False, False] Translation: X:-299.80, Y:15.71, Z:136.16 [[ 9.99469415e-01 -2.20502620e-02 2.39723732e-02 -2.99800640e+02] [ 2.22602396e-02 9.99715838e-01 -8.52783805e-03 1.57085354e+01] [-2.37775201e-02 9.05694408e-03 9.99676248e-01 1.36163929e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.48907232899995 meters Centerline goodness : 0.765478 Centerline is valid? [False, False] Translation: X:-299.80, Y:15.71, Z:136.16 [[ 9.99454684e-01 -2.23023610e-02 2.43503268e-02 -2.99801831e+02] [ 2.25210802e-02 9.99708119e-01 -8.74517035e-03 1.57088285e+01] [-2.41481814e-02 9.28879714e-03 9.99665236e-01 1.36164259e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.519072329 meters Centerline goodness : 0.767011 Centerline is valid? [False, False] Translation: X:-299.80, Y:15.71, Z:136.16 [[ 9.99464044e-01 -2.18503744e-02 2.43759105e-02 -2.99801403e+02] [ 2.20503127e-02 9.99725143e-01 -7.96384813e-03 1.57067476e+01] [-2.41951976e-02 8.49707632e-03 9.99671142e-01 1.36163441e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.54907232899996 meters Centerline goodness : 0.767599 Centerline is valid? [False, False] Translation: X:-299.80, Y:15.70, Z:136.16 [[ 9.99501804e-01 -2.09270219e-02 2.36263489e-02 -2.99799246e+02] [ 2.10963401e-02 9.99753359e-01 -6.94011339e-03 1.57048699e+01] [-2.34752858e-02 7.43508534e-03 9.99696769e-01 1.36162980e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.579072329 meters Centerline goodness : 0.766826 Centerline is valid? [False, False] Translation: X:-299.80, Y:15.71, Z:136.16 [[ 9.99517785e-01 -2.06139742e-02 2.32220239e-02 -2.99797684e+02] [ 2.07793409e-02 9.99760259e-01 -6.90244122e-03 1.57060205e+01] [-2.30741699e-02 7.38165111e-03 9.99706504e-01 1.36162299e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.60907232899996 meters Centerline goodness : 0.766561 Centerline is valid? [False, False] Translation: X:-299.80, Y:15.71, Z:136.16 [[ 9.99505817e-01 -2.07037383e-02 2.36532546e-02 -2.99798500e+02] [ 2.08688527e-02 9.99759400e-01 -6.75520743e-03 1.57051649e+01] [-2.35077056e-02 7.24548541e-03 9.99697400e-01 1.36161841e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.639072329 meters Centerline goodness : 0.767034 Centerline is valid? [False, False] Translation: X:-299.80, Y:15.70, Z:136.16 [[ 9.99504251e-01 -2.05958157e-02 2.38131121e-02 -2.99799200e+02] [ 2.07568263e-02 9.99763202e-01 -6.53410828e-03 1.57045032e+01] [-2.36728980e-02 7.02515363e-03 9.99695074e-01 1.36162235e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.66907232899996 meters Centerline goodness : 0.768771 Centerline is valid? [False, False] Translation: X:-299.80, Y:15.71, Z:136.16 [[ 9.99549785e-01 -1.92490075e-02 2.30152899e-02 -2.99796581e+02] [ 1.93850330e-02 9.99795834e-01 -5.70177778e-03 1.57050743e+01] [-2.29008374e-02 6.14536291e-03 9.99718854e-01 1.36161682e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.699072329 meters Centerline goodness : 0.767068 Centerline is valid? [False, False] Translation: X:-299.79, Y:15.71, Z:136.16 [[ 9.99576459e-01 -1.87320582e-02 2.22713581e-02 -2.99794186e+02] [ 1.88628056e-02 9.99805975e-01 -5.67512080e-03 1.57071093e+01] [-2.21607302e-02 6.09281745e-03 9.99735855e-01 1.36161226e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.72907232899996 meters Centerline goodness : 0.768089 Centerline is valid? [False, False] Translation: X:-299.79, Y:15.71, Z:136.16 [[ 9.99588457e-01 -1.84483460e-02 2.19676035e-02 -2.99793309e+02] [ 1.85719054e-02 9.99812761e-01 -5.43393158e-03 1.57070563e+01] [-2.18632432e-02 5.83967553e-03 9.99743916e-01 1.36161093e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.759072329 meters Centerline goodness : 0.768765 Centerline is valid? [False, False] Translation: X:-299.79, Y:15.71, Z:136.16 [[ 9.99601801e-01 -1.80071998e-02 2.17251066e-02 -2.99792293e+02] [ 1.81187494e-02 9.99823595e-01 -4.94871085e-03 1.57062924e+01] [-2.16321617e-02 5.34037204e-03 9.99751734e-01 1.36160479e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.78907232899996 meters Centerline goodness : 0.768985 Centerline is valid? [False, False] Translation: X:-299.79, Y:15.71, Z:136.16 [[ 9.99617526e-01 -1.77564334e-02 2.12016528e-02 -2.99791039e+02] [ 1.78667860e-02 9.99827739e-01 -5.02686004e-03 1.57072038e+01] [-2.11087415e-02 5.40374279e-03 9.99762582e-01 1.36160623e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.819072329 meters Centerline goodness : 0.769541 Centerline is valid? [False, False] Translation: X:-299.79, Y:15.71, Z:136.16 [[ 9.99660826e-01 -1.62468903e-02 2.03536439e-02 -2.99788300e+02] [ 1.63257632e-02 9.99859824e-01 -3.71496462e-03 1.57060859e+01] [-2.02904342e-02 4.04599338e-03 9.99785941e-01 1.36159901e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.84907232899997 meters Centerline goodness : 0.768329 Centerline is valid? [False, False] Translation: X:-299.79, Y:15.71, Z:136.16 [[ 9.99725776e-01 -1.23516232e-02 1.98949737e-02 -2.99787934e+02] [ 1.23643019e-02 9.99923427e-01 -5.14397899e-04 1.57094468e+01] [-1.98870967e-02 7.60244301e-04 9.99801943e-01 1.36160871e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.879072329 meters Centerline goodness : 0.769421 Centerline is valid? [False, False] Translation: X:-299.79, Y:15.71, Z:136.16 [[ 9.99752445e-01 -1.15902657e-02 1.89924882e-02 -2.99785819e+02] [ 1.15971784e-02 9.99932718e-01 -2.53870690e-04 1.57101012e+01] [-1.89882680e-02 4.74067117e-04 9.99819594e-01 1.36161153e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.90907232899997 meters Centerline goodness : 0.770556 Centerline is valid? [False, False] Translation: X:-299.78, Y:15.71, Z:136.16 [[ 9.99781483e-01 -1.08385720e-02 1.78748856e-02 -2.99783975e+02] [ 1.08446259e-02 9.99941166e-01 -2.41784964e-04 1.57112083e+01] [-1.78712134e-02 4.35578578e-04 9.99840202e-01 1.36162541e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.93907232899994 meters Centerline goodness : 0.769535 Centerline is valid? [False, False] Translation: X:-299.78, Y:15.71, Z:136.16 [[ 9.99813511e-01 -9.73704418e-03 1.66773344e-02 -2.99781205e+02] [ 9.73469652e-03 9.99952592e-01 2.21945539e-04 1.57116817e+01] [-1.66787048e-02 -5.95553591e-05 9.99860899e-01 1.36162934e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.96907232899997 meters Centerline goodness : 0.770332 Centerline is valid? [False, False] Translation: X:-299.78, Y:15.71, Z:136.16 [[ 9.99819213e-01 -9.82652524e-03 1.62782424e-02 -2.99780428e+02] [ 9.83177488e-03 9.99951638e-01 -2.42496107e-04 1.57134260e+01] [-1.62750723e-02 4.02496282e-04 9.99867471e-01 1.36163282e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.99907232899994 meters Centerline goodness : 0.771093 Centerline is valid? [False, False] Translation: X:-299.78, Y:15.72, Z:136.16 [[ 9.99864788e-01 -5.73054141e-03 1.54132262e-02 -2.99779102e+02] [ 5.68528916e-03 9.99979404e-01 2.97815321e-03 1.57172942e+01] [-1.54299751e-02 -2.89012188e-03 9.99876774e-01 1.36164540e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.029072329 meters Centerline goodness : 0.771424 Centerline is valid? [False, False] Translation: X:-299.78, Y:15.72, Z:136.16 [[ 9.99869728e-01 -5.73343533e-03 1.50882113e-02 -2.99778535e+02] [ 5.69290647e-03 9.99980075e-01 2.72770880e-03 1.57182720e+01] [-1.51035498e-02 -2.64145768e-03 9.99882446e-01 1.36164863e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.05907232899995 meters Centerline goodness : 0.772050 Centerline is valid? [False, False] Translation: X:-299.78, Y:15.72, Z:136.16 [[ 9.99870013e-01 -5.86916171e-03 1.50170075e-02 -2.99778360e+02] [ 5.83335383e-03 9.99980040e-01 2.42718113e-03 1.57190577e+01] [-1.50309533e-02 -2.33926610e-03 9.99884292e-01 1.36164811e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.089072329 meters Centerline goodness : 0.770968 Centerline is valid? [False, False] Translation: X:-299.78, Y:15.72, Z:136.16 [[ 9.99871842e-01 -5.77280673e-03 1.49323538e-02 -2.99778325e+02] [ 5.73494866e-03 9.99980235e-01 2.57688450e-03 1.57185410e+01] [-1.49469345e-02 -2.49091797e-03 9.99885186e-01 1.36164996e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.11907232899995 meters Centerline goodness : 0.772328 Centerline is valid? [False, False] Translation: X:-299.78, Y:15.72, Z:136.17 [[ 9.99873598e-01 -6.07095157e-03 1.46946341e-02 -2.99778062e+02] [ 6.04453098e-03 9.99980036e-01 1.84172204e-03 1.57208407e+01] [-1.47055217e-02 -1.75266707e-03 9.99890332e-01 1.36165469e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.149072329 meters Centerline goodness : 0.771986 Centerline is valid? [False, False] Translation: X:-299.78, Y:15.72, Z:136.17 [[ 9.99869036e-01 -6.23572388e-03 1.49340756e-02 -2.99779052e+02] [ 6.21059252e-03 9.99979220e-01 1.72860658e-03 1.57207747e+01] [-1.49445443e-02 -1.63563074e-03 9.99886986e-01 1.36165964e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.17907232899995 meters Centerline goodness : 0.772310 Centerline is valid? [False, False] Translation: X:-299.78, Y:15.72, Z:136.17 [[ 9.99863279e-01 -6.54605097e-03 1.51846233e-02 -2.99780587e+02] [ 6.52684010e-03 9.99977836e-01 1.31436543e-03 1.57213376e+01] [-1.51928906e-02 -1.21507812e-03 9.99883843e-01 1.36167173e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.209072329 meters Centerline goodness : 0.772318 Centerline is valid? [False, False] Translation: X:-299.78, Y:15.72, Z:136.17 [[ 9.99848843e-01 -7.07228889e-03 1.58831205e-02 -2.99782378e+02] [ 7.05922764e-03 9.99974698e-01 8.78249828e-04 1.57219788e+01] [-1.58889299e-02 -7.65994511e-04 9.99873470e-01 1.36167165e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.23907232899995 meters Centerline goodness : 0.771828 Centerline is valid? [False, False] Translation: X:-299.78, Y:15.72, Z:136.17 [[ 9.99850961e-01 -6.93968242e-03 1.58081338e-02 -2.99782191e+02] [ 6.92289531e-03 9.99975413e-01 1.11640416e-03 1.57212828e+01] [-1.58154926e-02 -1.00679972e-03 9.99874420e-01 1.36167098e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.269072329 meters Centerline goodness : 0.773796 Centerline is valid? [False, False] Translation: X:-299.78, Y:15.72, Z:136.17 [[ 9.99864902e-01 -6.47439892e-03 1.51082783e-02 -2.99780413e+02] [ 6.45448868e-03 9.99978236e-01 1.36622588e-03 1.57215027e+01] [-1.51167950e-02 -1.26852510e-03 9.99884930e-01 1.36167106e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.29907232899996 meters Centerline goodness : 0.772208 Centerline is valid? [False, False] Translation: X:-299.78, Y:15.72, Z:136.17 [[ 9.99851403e-01 -6.89473256e-03 1.57998061e-02 -2.99782172e+02] [ 6.87719946e-03 9.99975675e-01 1.16376872e-03 1.57214779e+01] [-1.58074456e-02 -1.05493737e-03 9.99874498e-01 1.36167075e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.329072329 meters Centerline goodness : 0.774167 Centerline is valid? [False, False] Translation: X:-299.78, Y:15.72, Z:136.17 [[ 9.99825657e-01 -1.05219616e-02 1.54253994e-02 -2.99780907e+02] [ 1.05615501e-02 9.99941132e-01 -2.48723602e-03 1.57205210e+01] [-1.53983207e-02 2.64971851e-03 9.99877928e-01 1.36166804e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.35907232899996 meters Centerline goodness : 0.774068 Centerline is valid? [False, False] Translation: X:-299.78, Y:15.72, Z:136.17 [[ 9.99813395e-01 -1.07345975e-02 1.60605932e-02 -2.99782649e+02] [ 1.07730085e-02 9.99939308e-01 -2.30702427e-03 1.57192867e+01] [-1.60348535e-02 2.47961468e-03 9.99868359e-01 1.36166900e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.389072329 meters Centerline goodness : 0.774450 Centerline is valid? [False, False] Translation: X:-299.78, Y:15.72, Z:136.17 [[ 9.99748644e-01 -1.48619260e-02 1.67860481e-02 -2.99783890e+02] [ 1.49606459e-02 9.99871430e-01 -5.77088314e-03 1.57164957e+01] [-1.66981235e-02 6.02056272e-03 9.99842450e-01 1.36166158e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.41907232899996 meters Centerline goodness : 0.774958 Centerline is valid? [False, False] Translation: X:-299.78, Y:15.72, Z:136.17 [[ 9.99744565e-01 -1.48653972e-02 1.70242518e-02 -2.99784151e+02] [ 1.49633298e-02 9.99872138e-01 -5.63966956e-03 1.57163538e+01] [-1.69382391e-02 5.89296848e-03 9.99839172e-01 1.36165685e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.449072329 meters Centerline goodness : 0.774252 Centerline is valid? [False, False] Translation: X:-299.79, Y:15.72, Z:136.17 [[ 9.99650332e-01 -1.94661762e-02 1.78963995e-02 -2.99786031e+02] [ 1.96452977e-02 9.99758115e-01 -9.88806565e-03 1.57156978e+01] [-1.76995878e-02 1.02361882e-02 9.99790951e-01 1.36165520e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.47907232899996 meters Centerline goodness : 0.776745 Centerline is valid? [False, False] Translation: X:-299.79, Y:15.72, Z:136.17 [[ 9.99616917e-01 -2.02029727e-02 1.89171430e-02 -2.99788821e+02] [ 2.03984862e-02 9.99739897e-01 -1.01999573e-02 1.57153493e+01] [-1.87061531e-02 1.05819309e-02 9.99769025e-01 1.36165777e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.509072329 meters Centerline goodness : 0.775025 Centerline is valid? [False, False] Translation: X:-299.79, Y:15.72, Z:136.17 [[ 9.99581002e-01 -2.10239165e-02 1.98951007e-02 -2.99791260e+02] [ 2.12425404e-02 9.99715562e-01 -1.08420300e-02 1.57163518e+01] [-1.96614999e-02 1.12601097e-02 9.99743285e-01 1.36165789e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.53907232899996 meters Centerline goodness : 0.775426 Centerline is valid? [False, False] Translation: X:-299.79, Y:15.72, Z:136.17 [[ 9.99509563e-01 -2.31129720e-02 2.11287685e-02 -2.99794983e+02] [ 2.33715291e-02 9.99653944e-01 -1.20732657e-02 1.57160209e+01] [-2.08424078e-02 1.25611561e-02 9.99703862e-01 1.36166442e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.569072329 meters Centerline goodness : 0.774755 Centerline is valid? [False, False] Translation: X:-299.80, Y:15.72, Z:136.17 [[ 9.99439506e-01 -2.49829694e-02 2.22828360e-02 -2.99798135e+02] [ 2.52843637e-02 9.99591179e-01 -1.33482158e-02 1.57167664e+01] [-2.19402483e-02 1.39041416e-02 9.99662593e-01 1.36166709e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.59907232899997 meters Centerline goodness : 0.775131 Centerline is valid? [False, False] Translation: X:-299.80, Y:15.71, Z:136.16 [[ 9.99383960e-01 -2.58234420e-02 2.37665804e-02 -2.99800536e+02] [ 2.61232441e-02 9.99581925e-01 -1.23915717e-02 1.57129917e+01] [-2.34366512e-02 1.30047981e-02 9.99640735e-01 1.36164368e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.629072329 meters Centerline goodness : 0.775503 Centerline is valid? [False, False] Translation: X:-299.80, Y:15.71, Z:136.16 [[ 9.99343225e-01 -2.64087148e-02 2.48132741e-02 -2.99802703e+02] [ 2.67262676e-02 9.99563952e-01 -1.25543739e-02 1.57127288e+01] [-2.44709094e-02 1.32092947e-02 9.99613270e-01 1.36163676e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.65907232899997 meters Centerline goodness : 0.775567 Centerline is valid? [False, False] Translation: X:-299.80, Y:15.71, Z:136.16 [[ 9.99307505e-01 -2.68312130e-02 2.57797695e-02 -2.99804677e+02] [ 2.71615586e-02 9.99552267e-01 -1.25505223e-02 1.57121240e+01] [-2.54314813e-02 1.32420499e-02 9.99588859e-01 1.36162993e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.68907232899994 meters Centerline goodness : 0.776604 Centerline is valid? [False, False] Translation: X:-299.81, Y:15.71, Z:136.16 [[ 9.99162592e-01 -3.10912513e-02 2.65979191e-02 -2.99806108e+02] [ 3.15319822e-02 9.99369590e-01 -1.63142798e-02 1.57100780e+01] [-2.60739201e-02 1.71393032e-02 9.99513079e-01 1.36162478e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.71907232899997 meters Centerline goodness : 0.776900 Centerline is valid? [False, False] Translation: X:-299.81, Y:15.71, Z:136.16 [[ 9.99084029e-01 -3.26402107e-02 2.76716514e-02 -2.99809270e+02] [ 3.31325982e-02 9.99297287e-01 -1.75260849e-02 1.57113058e+01] [-2.70801510e-02 1.84268652e-02 9.99463414e-01 1.36163065e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.74907232899994 meters Centerline goodness : 0.779009 Centerline is valid? [False, False] Translation: X:-299.81, Y:15.71, Z:136.16 [[ 9.99011600e-01 -3.39815711e-02 2.86544233e-02 -2.99811301e+02] [ 3.45246508e-02 9.99229335e-01 -1.86757880e-02 1.57135366e+01] [-2.79977077e-02 1.96466129e-02 9.99414898e-01 1.36162637e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.779072329 meters Centerline goodness : 0.777660 Centerline is valid? [False, False] Translation: X:-299.81, Y:15.71, Z:136.16 [[ 9.99008627e-01 -3.41074099e-02 2.86085338e-02 -2.99810930e+02] [ 3.46562983e-02 9.99220281e-01 -1.89148213e-02 1.57147490e+01] [-2.79410916e-02 1.98875355e-02 9.99411718e-01 1.36162340e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.80907232899995 meters Centerline goodness : 0.779209 Centerline is valid? [False, False] Translation: X:-299.81, Y:15.72, Z:136.16 [[ 9.98997988e-01 -3.43753258e-02 2.86593199e-02 -2.99810782e+02] [ 3.49365591e-02 9.99202815e-01 -1.93176248e-02 1.57163505e+01] [-2.79724234e-02 2.02995263e-02 9.99402558e-01 1.36162121e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.839072329 meters Centerline goodness : 0.780909 Centerline is valid? [False, False] Translation: X:-299.81, Y:15.72, Z:136.16 [[ 9.98951972e-01 -3.50006026e-02 2.94943396e-02 -2.99813139e+02] [ 3.55877078e-02 9.99173916e-01 -1.96214484e-02 1.57162895e+01] [-2.87832122e-02 2.06505205e-02 9.99372344e-01 1.36162435e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.86907232899995 meters Centerline goodness : 0.779497 Centerline is valid? [False, False] Translation: X:-299.81, Y:15.72, Z:136.16 [[ 9.98927943e-01 -3.53426294e-02 2.98975302e-02 -2.99813941e+02] [ 3.59496443e-02 9.99153149e-01 -2.00151934e-02 1.57174769e+01] [-2.91648219e-02 2.10685416e-02 9.99352555e-01 1.36162197e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.899072329 meters Centerline goodness : 0.778603 Centerline is valid? [False, False] Translation: X:-299.82, Y:15.72, Z:136.16 [[ 9.99039892e-01 -3.16088641e-02 3.03343802e-02 -2.99815517e+02] [ 3.21052806e-02 9.99356104e-01 -1.60196047e-02 1.57175399e+01] [-2.98084865e-02 1.69781180e-02 9.99411426e-01 1.36162267e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.92907232899995 meters Centerline goodness : 0.779390 Centerline is valid? [False, False] Translation: X:-299.81, Y:15.72, Z:136.16 [[ 9.99063227e-01 -3.12208213e-02 2.99654581e-02 -2.99814630e+02] [ 3.16991420e-02 9.99375360e-01 -1.56222393e-02 1.57168230e+01] [-2.94590014e-02 1.65574841e-02 9.99428845e-01 1.36162217e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.959072329 meters Centerline goodness : 0.780283 Centerline is valid? [False, False] Translation: X:-299.81, Y:15.72, Z:136.16 [[ 9.99098453e-01 -3.06132970e-02 2.94126932e-02 -2.99813008e+02] [ 3.10668401e-02 9.99403414e-01 -1.50886670e-02 1.57162938e+01] [-2.89332321e-02 1.59888233e-02 9.99453463e-01 1.36161916e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.98907232899995 meters Centerline goodness : 0.778188 Centerline is valid? [False, False] Translation: X:-299.81, Y:15.72, Z:136.16 [[ 9.99118661e-01 -3.03537701e-02 2.89922473e-02 -2.99811747e+02] [ 3.07973665e-02 9.99413412e-01 -1.49784389e-02 1.57167690e+01] [-2.85205887e-02 1.58581227e-02 9.99467406e-01 1.36161657e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.019072329 meters Centerline goodness : 0.779460 Centerline is valid? [False, False] Translation: X:-299.81, Y:15.72, Z:136.16 [[ 9.99125777e-01 -3.02186768e-02 2.88879501e-02 -2.99811464e+02] [ 3.06561439e-02 9.99420079e-01 -1.48224873e-02 1.57166114e+01] [-2.84232814e-02 1.56951222e-02 9.99472751e-01 1.36161624e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.04907232899996 meters Centerline goodness : 0.779067 Centerline is valid? [False, False] Translation: X:-299.81, Y:15.72, Z:136.16 [[ 9.99120841e-01 -3.02118652e-02 2.90652425e-02 -2.99811754e+02] [ 3.06501559e-02 9.99421276e-01 -1.47540028e-02 1.57165761e+01] [-2.86026758e-02 1.56318859e-02 9.99468624e-01 1.36161380e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.079072329 meters Centerline goodness : 0.778796 Centerline is valid? [False, False] Translation: X:-299.81, Y:15.72, Z:136.16 [[ 9.99095550e-01 -3.03398164e-02 2.97922399e-02 -2.99813384e+02] [ 3.07802358e-02 9.99421904e-01 -1.44373013e-02 1.57151174e+01] [-2.93369920e-02 1.53412556e-02 9.99451843e-01 1.36161020e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.10907232899996 meters Centerline goodness : 0.780153 Centerline is valid? [False, False] Translation: X:-299.82, Y:15.71, Z:136.16 [[ 9.99033102e-01 -3.12454844e-02 3.09286398e-02 -2.99816455e+02] [ 3.17159170e-02 9.99386775e-01 -1.48382553e-02 1.57146988e+01] [-3.04460451e-02 1.58048384e-02 9.99411450e-01 1.36161228e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.139072329 meters Centerline goodness : 0.780350 Centerline is valid? [False, False] Translation: X:-299.82, Y:15.71, Z:136.16 [[ 9.99012444e-01 -3.12898777e-02 3.15448930e-02 -2.99817643e+02] [ 3.17565788e-02 9.99391839e-01 -1.44038843e-02 1.57131438e+01] [-3.10750128e-02 1.53914175e-02 9.99398543e-01 1.36160656e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.16907232899996 meters Centerline goodness : 0.780406 Centerline is valid? [False, False] Translation: X:-299.82, Y:15.71, Z:136.16 [[ 9.98996831e-01 -3.14665332e-02 3.18620453e-02 -2.99818317e+02] [ 3.19436239e-02 9.99383370e-01 -1.45768723e-02 1.57137222e+01] [-3.13837146e-02 1.55800384e-02 9.99385974e-01 1.36160500e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.199072329 meters Centerline goodness : 0.779510 Centerline is valid? [False, False] Translation: X:-299.82, Y:15.71, Z:136.16 [[ 9.98944136e-01 -3.22523098e-02 3.27170045e-02 -2.99820771e+02] [ 3.27655577e-02 9.99346341e-01 -1.52744406e-02 1.57149584e+01] [-3.22029827e-02 1.63303038e-02 9.99347932e-01 1.36160968e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.22907232899996 meters Centerline goodness : 0.781885 Centerline is valid? [False, False] Translation: X:-299.82, Y:15.72, Z:136.16 [[ 9.98900733e-01 -3.29605554e-02 3.33305849e-02 -2.99822725e+02] [ 3.35066841e-02 9.99311030e-01 -1.59614600e-02 1.57163790e+01] [-3.27815226e-02 1.70607115e-02 9.99316919e-01 1.36161658e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.259072329 meters Centerline goodness : 0.784117 Centerline is valid? [False, False] Translation: X:-299.82, Y:15.72, Z:136.16 [[ 9.98891114e-01 -3.30759591e-02 3.35040815e-02 -2.99822761e+02] [ 3.36278079e-02 9.99305646e-01 -1.60435926e-02 1.57169478e+01] [-3.29501606e-02 1.71524709e-02 9.99309802e-01 1.36161127e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.28907232899996 meters Centerline goodness : 0.784117 Centerline is valid? [False, False] Translation: X:-299.82, Y:15.72, Z:136.16 [[ 9.98891114e-01 -3.30759591e-02 3.35040815e-02 -2.99822761e+02] [ 3.36278079e-02 9.99305646e-01 -1.60435926e-02 1.57169478e+01] [-3.29501606e-02 1.71524709e-02 9.99309802e-01 1.36161127e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.319072329 meters Centerline goodness : 0.782665 Centerline is valid? [False, False] Translation: X:-299.82, Y:15.72, Z:136.16 [[ 9.98798508e-01 -3.45472230e-02 3.47567297e-02 -2.99824913e+02] [ 3.51419086e-02 9.99243677e-01 -1.66468987e-02 1.57168046e+01] [-3.41553383e-02 1.78483154e-02 9.99257149e-01 1.36159792e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.34907232899997 meters Centerline goodness : 0.784276 Centerline is valid? [False, False] Translation: X:-299.83, Y:15.72, Z:136.16 [[ 9.98778759e-01 -3.45350347e-02 3.53315887e-02 -2.99826048e+02] [ 3.51225634e-02 9.99252584e-01 -1.61455419e-02 1.57150740e+01] [-3.47475945e-02 1.73667603e-02 9.99245215e-01 1.36159258e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.379072329 meters Centerline goodness : 0.784243 Centerline is valid? [False, False] Translation: X:-299.83, Y:15.71, Z:136.16 [[ 9.98718994e-01 -3.51775106e-02 3.63718795e-02 -2.99828688e+02] [ 3.57902167e-02 9.99225834e-01 -1.63338253e-02 1.57146388e+01] [-3.57691383e-02 1.76146591e-02 9.99204830e-01 1.36159283e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.40907232899997 meters Centerline goodness : 0.784618 Centerline is valid? [False, False] Translation: X:-299.83, Y:15.71, Z:136.16 [[ 9.98659258e-01 -3.57525951e-02 3.74357914e-02 -2.99831313e+02] [ 3.63897957e-02 9.99201774e-01 -1.64802142e-02 1.57141489e+01] [-3.68166988e-02 1.78203993e-02 9.99163132e-01 1.36159203e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.43907232899994 meters Centerline goodness : 0.784424 Centerline is valid? [False, False] Translation: X:-299.83, Y:15.71, Z:136.16 [[ 9.98537939e-01 -3.89989670e-02 3.74308070e-02 -2.99830767e+02] [ 3.97458500e-02 9.99021064e-01 -1.94211594e-02 1.57109645e+01] [-3.66367595e-02 2.08804837e-02 9.99110481e-01 1.36158811e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.46907232899997 meters Centerline goodness : 0.783561 Centerline is valid? [False, False] Translation: X:-299.83, Y:15.71, Z:136.16 [[ 9.98485461e-01 -3.94990500e-02 3.82963347e-02 -2.99832692e+02] [ 4.02659276e-02 9.98999395e-01 -1.94644266e-02 1.57102564e+01] [-3.74891888e-02 2.09769844e-02 9.99076837e-01 1.36158370e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.49907232899994 meters Centerline goodness : 0.783917 Centerline is valid? [False, False] Translation: X:-299.83, Y:15.71, Z:136.16 [[ 9.98594589e-01 -3.70745491e-02 3.78724671e-02 -2.99829451e+02] [ 3.77183891e-02 9.99153342e-01 -1.64293397e-02 1.57064167e+01] [-3.72312917e-02 1.78347382e-02 9.99147513e-01 1.36155277e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.529072329 meters Centerline goodness : 0.783235 Centerline is valid? [False, False] Translation: X:-299.83, Y:15.71, Z:136.16 [[ 9.98661722e-01 -3.43144737e-02 3.86947222e-02 -2.99831874e+02] [ 3.48647395e-02 9.99299002e-01 -1.36365248e-02 1.57094325e+01] [-3.81996671e-02 1.49673568e-02 9.99158027e-01 1.36155388e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.55907232899995 meters Centerline goodness : 0.783710 Centerline is valid? [False, False] Translation: X:-299.83, Y:15.71, Z:136.16 [[ 9.98800605e-01 -3.01696355e-02 3.85635221e-02 -2.99832778e+02] [ 3.05549204e-02 9.99488504e-01 -9.44076534e-03 1.57095208e+01] [-3.82589725e-02 1.06077475e-02 9.99211553e-01 1.36156634e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.589072329 meters Centerline goodness : 0.783681 Centerline is valid? [False, False] Translation: X:-299.83, Y:15.71, Z:136.16 [[ 9.98790060e-01 -3.07000917e-02 3.84177188e-02 -2.99834205e+02] [ 3.11365342e-02 9.99456639e-01 -1.08140316e-02 1.57128946e+01] [-3.80648524e-02 1.19971419e-02 9.99203250e-01 1.36159348e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.61907232899995 meters Centerline goodness : 0.783605 Centerline is valid? [False, False] Translation: X:-299.83, Y:15.71, Z:136.16 [[ 9.98927957e-01 -2.66364599e-02 3.78607506e-02 -2.99833868e+02] [ 2.69224785e-02 9.99612560e-01 -7.06474484e-03 1.57147629e+01] [-3.76579020e-02 8.07647637e-03 9.99258051e-01 1.36160467e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.649072329 meters Centerline goodness : 0.784795 Centerline is valid? [False, False] Translation: X:-299.83, Y:15.72, Z:136.16 [[ 9.98964122e-01 -2.64278637e-02 3.70439183e-02 -2.99832158e+02] [ 2.67231777e-02 9.99614740e-01 -7.49957400e-03 1.57168626e+01] [-3.68314490e-02 8.48173657e-03 9.99285497e-01 1.36160980e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.67907232899995 meters Centerline goodness : 0.782244 Centerline is valid? [False, False] Translation: X:-299.83, Y:15.72, Z:136.16 [[ 9.98998541e-01 -2.60695267e-02 3.63633634e-02 -2.99830524e+02] [ 2.63505041e-02 9.99626336e-01 -7.26911994e-03 1.57166929e+01] [-3.61602732e-02 8.22003317e-03 9.99312196e-01 1.36161001e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.709072329 meters Centerline goodness : 0.784181 Centerline is valid? [False, False] Translation: X:-299.83, Y:15.73, Z:136.17 [[ 9.99523879e-01 -2.01413134e-02 2.33739577e-02 -2.99830644e+02] [ 2.03174628e-02 9.99766758e-01 -7.32326015e-03 1.57307986e+01] [-2.32210058e-02 7.79467291e-03 9.99699969e-01 1.36165429e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.73907232899995 meters Centerline goodness : 0.784664 Centerline is valid? [False, False] Translation: X:-299.83, Y:15.73, Z:136.17 [[ 9.99610400e-01 -1.59652342e-02 2.28945413e-02 -2.99830234e+02] [ 1.60472708e-02 9.99865440e-01 -3.40399561e-03 1.57320598e+01] [-2.28371150e-02 3.77006432e-03 9.99732091e-01 1.36166260e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.769072329 meters Centerline goodness : 0.785865 Centerline is valid? [False, False] Translation: X:-299.82, Y:15.74, Z:136.17 [[ 9.99817315e-01 -7.07862278e-03 1.77547225e-02 -2.99818271e+02] [ 7.11201384e-03 9.99973056e-01 -1.81825044e-03 1.57350453e+01] [-1.77413734e-02 1.94419011e-03 9.99840719e-01 1.36172399e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.79907232899996 meters Centerline goodness : 0.784364 Centerline is valid? [False, False] Translation: X:-299.82, Y:15.74, Z:136.17 [[ 9.99842606e-01 -6.28813333e-03 1.65898043e-02 -2.99815439e+02] [ 6.32049665e-03 9.99978222e-01 -1.89908530e-03 1.57373212e+01] [-1.65775013e-02 2.00364220e-03 9.99860576e-01 1.36172733e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.829072329 meters Centerline goodness : 0.783946 Centerline is valid? [False, False] Translation: X:-299.82, Y:15.74, Z:136.17 [[ 9.99865328e-01 -2.64114676e-03 1.61972019e-02 -2.99815155e+02] [ 2.62671959e-03 9.99996134e-01 9.11929080e-04 1.57419189e+01] [-1.61995478e-02 -8.69260761e-04 9.99868401e-01 1.36173795e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.85907232899996 meters Centerline goodness : 0.785154 Centerline is valid? [False, False] Translation: X:-299.81, Y:15.75, Z:136.17 [[ 9.99886308e-01 -1.59220738e-03 1.49945226e-02 -2.99812378e+02] [ 1.58528722e-03 9.99998631e-01 4.73387510e-04 1.57457034e+01] [-1.49952558e-02 -4.49563065e-04 9.99887464e-01 1.36174580e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.889072329 meters Centerline goodness : 0.784130 Centerline is valid? [False, False] Translation: X:-299.81, Y:15.75, Z:136.17 [[ 9.99895925e-01 -1.37551346e-03 1.43613264e-02 -2.99810896e+02] [ 1.36971639e-03 9.99998976e-01 4.13486534e-04 1.57465322e+01] [-1.43618804e-02 -3.93772556e-04 9.99896785e-01 1.36174739e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.91907232899996 meters Centerline goodness : 0.785460 Centerline is valid? [False, False] Translation: X:-299.81, Y:15.75, Z:136.17 [[ 9.99899502e-01 2.62975720e-03 1.39309066e-02 -2.99809846e+02] [-2.68476064e-03 9.99988669e-01 3.93107388e-03 1.57492193e+01] [-1.39204110e-02 -3.96807997e-03 9.99895233e-01 1.36174867e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.949072329 meters Centerline goodness : 0.784907 Centerline is valid? [False, False] Translation: X:-299.81, Y:15.75, Z:136.18 [[ 9.99903907e-01 2.71703390e-03 1.35938856e-02 -2.99809399e+02] [-2.76986891e-03 9.99988678e-01 3.86935836e-03 1.57495233e+01] [-1.35832186e-02 -3.90663982e-03 9.99900112e-01 1.36175376e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.97907232899996 meters Centerline goodness : 0.783654 Centerline is valid? [False, False] Translation: X:-299.81, Y:15.75, Z:136.18 [[ 9.99909002e-01 3.08235148e-03 1.31334266e-02 -2.99808866e+02] [-3.13623998e-03 9.99986740e-01 4.08453809e-03 1.57490732e+01] [-1.31206624e-02 -4.12535598e-03 9.99905410e-01 1.36176131e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.009072329 meters Centerline goodness : 0.782641 Centerline is valid? [False, False] Translation: X:-299.81, Y:15.75, Z:136.18 [[ 9.99925511e-01 2.20524564e-04 1.22034163e-02 -2.99806887e+02] [-2.32923706e-04 9.99999458e-01 1.01462664e-03 1.57472242e+01] [-1.22031859e-02 -1.01739353e-03 9.99925021e-01 1.36176470e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.03907232899996 meters Centerline goodness : 0.784347 Centerline is valid? [False, False] Translation: X:-299.81, Y:15.75, Z:136.18 [[ 9.99917057e-01 -3.96051024e-04 1.28733210e-02 -2.99808899e+02] [ 3.91934182e-04 9.99999871e-01 3.22317719e-04 1.57486168e+01] [-1.28734470e-02 -3.17245490e-04 9.99917083e-01 1.36176924e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.069072329 meters Centerline goodness : 0.783139 Centerline is valid? [False, False] Translation: X:-299.81, Y:15.75, Z:136.18 [[ 9.99914579e-01 -3.68232857e-03 1.25409700e-02 -2.99809040e+02] [ 3.71657467e-03 9.99989425e-01 -2.70852758e-03 1.57454998e+01] [-1.25308637e-02 2.75490566e-03 9.99917691e-01 1.36178077e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.09907232899997 meters Centerline goodness : 0.783133 Centerline is valid? [False, False] Translation: X:-299.81, Y:15.75, Z:136.18 [[ 9.99894166e-01 -4.92926114e-03 1.36879054e-02 -2.99812384e+02] [ 4.97594581e-03 9.99981912e-01 -3.37869095e-03 1.57451727e+01] [-1.36710033e-02 3.44644364e-03 9.99900608e-01 1.36178498e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.12907232899994 meters Centerline goodness : 0.783523 Centerline is valid? [False, False] Translation: X:-299.81, Y:15.74, Z:136.18 [[ 9.99885759e-01 -4.77571039e-03 1.43409380e-02 -2.99813583e+02] [ 4.81430307e-03 9.99984879e-01 -2.65776889e-03 1.57425995e+01] [-1.43280284e-02 2.72650688e-03 9.99893631e-01 1.36177716e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.15907232899997 meters Centerline goodness : 0.782312 Centerline is valid? [False, False] Translation: X:-299.82, Y:15.74, Z:136.18 [[ 9.99872840e-01 -5.03600608e-03 1.51308742e-02 -2.99815439e+02] [ 5.07194224e-03 9.99984405e-01 -2.33758818e-03 1.57407514e+01] [-1.51188661e-02 2.41403385e-03 9.99882789e-01 1.36177335e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.18907232899994 meters Centerline goodness : 0.780765 Centerline is valid? [False, False] Translation: X:-299.81, Y:15.74, Z:136.17 [[ 9.99860014e-01 -7.14009991e-03 1.51317994e-02 -2.99812779e+02] [ 7.19506355e-03 9.99967703e-01 -3.58100439e-03 1.57356362e+01] [-1.51057420e-02 3.68937736e-03 9.99879095e-01 1.36173915e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.21907232899997 meters Centerline goodness : 0.781663 Centerline is valid? [False, False] Translation: X:-299.81, Y:15.74, Z:136.17 [[ 9.99841772e-01 -7.73772937e-03 1.60174455e-02 -2.99814631e+02] [ 7.79999735e-03 9.99962250e-01 -3.82869485e-03 1.57355691e+01] [-1.59872155e-02 3.95302507e-03 9.99864382e-01 1.36173295e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.24907232899994 meters Centerline goodness : 0.780582 Centerline is valid? [False, False] Translation: X:-299.82, Y:15.73, Z:136.17 [[ 9.99840166e-01 -7.58654300e-03 1.61890888e-02 -2.99815121e+02] [ 7.64474543e-03 9.99964526e-01 -3.53631172e-03 1.57346803e+01] [-1.61616862e-02 3.65950796e-03 9.99862695e-01 1.36173351e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.279072329 meters Centerline goodness : 0.779487 Centerline is valid? [False, False] Translation: X:-299.81, Y:15.74, Z:136.17 [[ 9.99854935e-01 -7.13435835e-03 1.54664183e-02 -2.99813564e+02] [ 7.18909061e-03 9.99968082e-01 -3.48607490e-03 1.57356916e+01] [-1.54410538e-02 3.59675867e-03 9.99874311e-01 1.36173828e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.30907232899995 meters Centerline goodness : 0.781518 Centerline is valid? [False, False] Translation: X:-299.81, Y:15.74, Z:136.17 [[ 9.99860244e-01 -7.22584108e-03 1.50758148e-02 -2.99812924e+02] [ 7.28702874e-03 9.99965418e-01 -4.00768661e-03 1.57378375e+01] [-1.50463345e-02 4.11698441e-03 9.99878322e-01 1.36174429e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.339072329 meters Centerline goodness : 0.781798 Centerline is valid? [False, False] Translation: X:-299.81, Y:15.74, Z:136.18 [[ 9.99869405e-01 -7.11031406e-03 1.45126130e-02 -2.99811809e+02] [ 7.17447061e-03 9.99964699e-01 -4.37347841e-03 1.57398723e+01] [-1.44810039e-02 4.47702757e-03 9.99885122e-01 1.36175088e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.36907232899995 meters Centerline goodness : 0.781011 Centerline is valid? [False, False] Translation: X:-299.81, Y:15.74, Z:136.18 [[ 9.99863445e-01 -7.16714486e-03 1.48903693e-02 -2.99812725e+02] [ 7.23143299e-03 9.99964744e-01 -4.26808250e-03 1.57394517e+01] [-1.48592544e-02 4.37517838e-03 9.99880023e-01 1.36175003e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.399072329 meters Centerline goodness : 0.781280 Centerline is valid? [False, False] Translation: X:-299.81, Y:15.74, Z:136.17 [[ 9.99859451e-01 -7.08957533e-03 1.51926515e-02 -2.99813112e+02] [ 7.15013189e-03 9.99966694e-01 -3.93530703e-03 1.57385147e+01] [-1.51642458e-02 4.04338339e-03 9.99876841e-01 1.36174431e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.42907232899995 meters Centerline goodness : 0.780523 Centerline is valid? [False, False] Translation: X:-299.81, Y:15.74, Z:136.17 [[ 9.99855182e-01 -7.01343322e-03 1.55056884e-02 -2.99813468e+02] [ 7.07032708e-03 9.99968462e-01 -3.61745597e-03 1.57376603e+01] [-1.54798286e-02 3.72656238e-03 9.99873236e-01 1.36173823e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.459072329 meters Centerline goodness : 0.780356 Centerline is valid? [False, False] Translation: X:-299.81, Y:15.74, Z:136.17 [[ 9.99852429e-01 -6.85984278e-03 1.57500041e-02 -2.99813850e+02] [ 6.91084472e-03 9.99971044e-01 -3.18607738e-03 1.57363564e+01] [-1.57276921e-02 3.29445305e-03 9.99870885e-01 1.36173476e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.48907232899995 meters Centerline goodness : 0.780069 Centerline is valid? [False, False] Translation: X:-299.82, Y:15.73, Z:136.17 [[ 9.99827590e-01 -7.71451051e-03 1.68901061e-02 -2.99816777e+02] [ 7.76660054e-03 9.99965277e-01 -3.02063593e-03 1.57333437e+01] [-1.68662169e-02 3.15129385e-03 9.99852789e-01 1.36173249e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.519072329 meters Centerline goodness : 0.780081 Centerline is valid? [False, False] Translation: X:-299.82, Y:15.73, Z:136.17 [[ 9.99810980e-01 -8.19806015e-03 1.76294182e-02 -2.99818527e+02] [ 8.25895815e-03 9.99960167e-01 -3.38431100e-03 1.57338200e+01] [-1.76009712e-02 3.52927192e-03 9.99838862e-01 1.36173070e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.54907232899996 meters Centerline goodness : 0.781142 Centerline is valid? [False, False] Translation: X:-299.82, Y:15.73, Z:136.17 [[ 9.99806403e-01 -8.33115122e-03 1.78254830e-02 -2.99819276e+02] [ 8.39443015e-03 9.99958718e-01 -3.47803886e-03 1.57339407e+01] [-1.77957710e-02 3.62700030e-03 9.99835064e-01 1.36173429e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.579072329 meters Centerline goodness : 0.780548 Centerline is valid? [False, False] Translation: X:-299.82, Y:15.74, Z:136.17 [[ 9.99808096e-01 -8.44394935e-03 1.76768685e-02 -2.99819076e+02] [ 8.51231965e-03 9.99956564e-01 -3.79612014e-03 1.57352335e+01] [-1.76440464e-02 3.94586281e-03 9.99836546e-01 1.36173715e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.60907232899996 meters Centerline goodness : 0.780230 Centerline is valid? [False, False] Translation: X:-299.82, Y:15.74, Z:136.17 [[ 9.99812400e-01 -8.35264178e-03 1.74756195e-02 -2.99818448e+02] [ 8.42020217e-03 9.99957344e-01 -3.79597757e-03 1.57358082e+01] [-1.74431676e-02 3.94241370e-03 9.99840084e-01 1.36173644e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.639072329 meters Centerline goodness : 0.781577 Centerline is valid? [False, False] Translation: X:-299.82, Y:15.74, Z:136.17 [[ 9.99803283e-01 -8.53920640e-03 1.79018933e-02 -2.99819345e+02] [ 8.60923811e-03 9.99955572e-01 -3.83856092e-03 1.57357647e+01] [-1.78683197e-02 3.99192747e-03 9.99832380e-01 1.36173349e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.66907232899996 meters Centerline goodness : 0.781691 Centerline is valid? [False, False] Translation: X:-299.82, Y:15.74, Z:136.17 [[ 9.99788540e-01 -9.02969008e-03 1.84753894e-02 -2.99820543e+02] [ 9.10779681e-03 9.99949920e-01 -4.14784213e-03 1.57358193e+01] [-1.84370104e-02 4.31523512e-03 9.99820712e-01 1.36172880e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.699072329 meters Centerline goodness : 0.780984 Centerline is valid? [False, False] Translation: X:-299.82, Y:15.73, Z:136.17 [[ 9.99782040e-01 -8.95488536e-03 1.88595538e-02 -2.99821271e+02] [ 9.02628140e-03 9.99952402e-01 -3.70395333e-03 1.57342243e+01] [-1.88254876e-02 3.87337766e-03 9.99815282e-01 1.36172437e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.72907232899996 meters Centerline goodness : 0.780456 Centerline is valid? [False, False] Translation: X:-299.82, Y:15.73, Z:136.17 [[ 9.99787708e-01 -8.59025281e-03 1.87282080e-02 -2.99820529e+02] [ 8.65302069e-03 9.99957205e-01 -3.27305917e-03 1.57335664e+01] [-1.86992901e-02 3.43441990e-03 9.99819254e-01 1.36171869e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.759072329 meters Centerline goodness : 0.780893 Centerline is valid? [False, False] Translation: X:-299.82, Y:15.74, Z:136.17 [[ 9.99772732e-01 -9.28104547e-03 1.91923736e-02 -2.99821014e+02] [ 9.36443147e-03 9.99947081e-01 -4.25944754e-03 1.57363084e+01] [-1.91518258e-02 4.43820517e-03 9.99806736e-01 1.36171096e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.78907232899996 meters Centerline goodness : 0.780522 Centerline is valid? [False, False] Translation: X:-299.82, Y:15.74, Z:136.17 [[ 9.99755152e-01 -9.99184251e-03 1.97433297e-02 -2.99822924e+02] [ 1.00913225e-02 9.99936852e-01 -4.94547554e-03 1.57374465e+01] [-1.96926685e-02 5.14350096e-03 9.99792850e-01 1.36171780e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.819072329 meters Centerline goodness : 0.781371 Centerline is valid? [False, False] Translation: X:-299.82, Y:15.74, Z:136.17 [[ 9.99781297e-01 -8.83430229e-03 1.89555811e-02 -2.99820412e+02] [ 8.91788842e-03 9.99950862e-01 -4.32958848e-03 1.57386261e+01] [-1.89164008e-02 4.49768534e-03 9.99810952e-01 1.36171430e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.84907232899997 meters Centerline goodness : 0.782068 Centerline is valid? [False, False] Translation: X:-299.82, Y:15.74, Z:136.17 [[ 9.99802139e-01 -5.94126318e-03 1.89837640e-02 -2.99822112e+02] [ 5.98333587e-03 9.99979766e-01 -2.16021624e-03 1.57438602e+01] [-1.89705455e-02 2.27337505e-03 9.99817458e-01 1.36173638e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.87907232899994 meters Centerline goodness : 0.780486 Centerline is valid? [False, False] Translation: X:-299.82, Y:15.75, Z:136.17 [[ 9.99802360e-01 -6.17463102e-03 1.88974883e-02 -2.99822187e+02] [ 6.22433898e-03 9.99977319e-01 -2.57271401e-03 1.57451436e+01] [-1.88811741e-02 2.68982992e-03 9.99818116e-01 1.36174103e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.90907232899997 meters Centerline goodness : 0.781446 Centerline is valid? [False, False] Translation: X:-299.82, Y:15.75, Z:136.17 [[ 9.99816811e-01 -5.75941890e-03 1.82530535e-02 -2.99820392e+02] [ 5.80422173e-03 9.99980269e-01 -2.40251280e-03 1.57455537e+01] [-1.82388562e-02 2.50801745e-03 9.99830513e-01 1.36173898e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.93907232899994 meters Centerline goodness : 0.780560 Centerline is valid? [False, False] Translation: X:-299.82, Y:15.74, Z:136.17 [[ 9.99827576e-01 -5.33771094e-03 1.77855965e-02 -2.99819161e+02] [ 5.37278257e-03 9.99983714e-01 -1.92471243e-03 1.57445644e+01] [-1.77750333e-02 2.01993871e-03 9.99839971e-01 1.36173746e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.96907232899997 meters Centerline goodness : 0.780856 Centerline is valid? [False, False] Translation: X:-299.82, Y:15.75, Z:136.17 [[ 9.99850611e-01 -1.14260485e-03 1.72467494e-02 -2.99817797e+02] [ 1.11163270e-03 9.99997753e-01 1.80530492e-03 1.57468926e+01] [-1.72487734e-02 -1.78586318e-03 9.99849634e-01 1.36173733e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.99907232899994 meters Centerline goodness : 0.778456 Centerline is valid? [False, False] Translation: X:-299.81, Y:15.75, Z:136.18 [[ 9.99914655e-01 3.23650601e-03 1.26573071e-02 -2.99807853e+02] [-3.24972948e-03 9.99994195e-01 1.02430238e-03 1.57462448e+01] [-1.26539184e-02 -1.06534778e-03 9.99919368e-01 1.36178938e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.029072329 meters Centerline goodness : 0.779839 Centerline is valid? [False, False] Translation: X:-299.81, Y:15.75, Z:136.18 [[ 9.99900236e-01 7.02981145e-03 1.22515514e-02 -2.99807789e+02] [-7.07917187e-03 9.99966981e-01 3.99021201e-03 1.57501580e+01] [-1.22230964e-02 -4.07654476e-03 9.99916985e-01 1.36180399e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.05907232899995 meters Centerline goodness : 0.779222 Centerline is valid? [False, False] Translation: X:-299.80, Y:15.75, Z:136.19 [[ 9.99909144e-01 1.08863287e-02 7.94927891e-03 -2.99798490e+02] [-1.08894529e-02 9.99940647e-01 3.49841606e-04 1.57548151e+01] [-7.94499860e-03 -4.36373119e-04 9.99968343e-01 1.36187954e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.089072329 meters Centerline goodness : 0.779227 Centerline is valid? [False, False] Translation: X:-299.80, Y:15.76, Z:136.19 [[ 9.99910693e-01 1.15430526e-02 6.73522927e-03 -2.99796543e+02] [-1.15453249e-02 9.99933306e-01 2.98583007e-04 1.57561399e+01] [-6.73133352e-03 -3.76316752e-04 9.99977274e-01 1.36189462e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.11907232899995 meters Centerline goodness : 0.779042 Centerline is valid? [False, False] Translation: X:-299.79, Y:15.76, Z:136.19 [[ 9.99909319e-01 1.21238833e-02 5.86215459e-03 -2.99794433e+02] [-1.21259157e-02 9.99926430e-01 3.11290102e-04 1.57574303e+01] [-5.85794927e-03 -3.82345867e-04 9.99982769e-01 1.36189749e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.149072329 meters Centerline goodness : 0.777673 Centerline is valid? [False, False] Translation: X:-299.79, Y:15.76, Z:136.19 [[ 9.99901234e-01 1.31940914e-02 4.84135644e-03 -2.99791876e+02] [-1.32002033e-02 9.99912114e-01 1.23264939e-03 1.57559874e+01] [-4.82466726e-03 -1.29643454e-03 9.99987521e-01 1.36189638e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.17907232899995 meters Centerline goodness : 0.776014 Centerline is valid? [False, False] Translation: X:-299.79, Y:15.76, Z:136.19 [[ 9.99899846e-01 1.35033734e-02 4.23751725e-03 -2.99790656e+02] [-1.35089005e-02 9.99907933e-01 1.27840600e-03 1.57563732e+01] [-4.21986432e-03 -1.33552216e-03 9.99990205e-01 1.36189985e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.209072329 meters Centerline goodness : 0.776014 Centerline is valid? [False, False] Translation: X:-299.79, Y:15.76, Z:136.19 [[ 9.99899846e-01 1.35033734e-02 4.23751725e-03 -2.99790656e+02] [-1.35089005e-02 9.99907933e-01 1.27840600e-03 1.57563732e+01] [-4.21986432e-03 -1.33552216e-03 9.99990205e-01 1.36189985e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.23907232899995 meters Centerline goodness : 0.777924 Centerline is valid? [False, False] Translation: X:-299.79, Y:15.76, Z:136.19 [[ 9.99897099e-01 1.37858607e-02 3.96743906e-03 -2.99790362e+02] [-1.37922423e-02 9.99903625e-01 1.58564414e-03 1.57554903e+01] [-3.94519723e-03 -1.64020085e-03 9.99990873e-01 1.36190390e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.269072329 meters Centerline goodness : 0.776228 Centerline is valid? [False, False] Translation: X:-299.79, Y:15.76, Z:136.19 [[ 9.99892958e-01 1.42780914e-02 3.19522528e-03 -2.99788612e+02] [-1.42833184e-02 9.99896677e-01 1.61906349e-03 1.57564268e+01] [-3.17177801e-03 -1.66452860e-03 9.99993585e-01 1.36190697e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.29907232899996 meters Centerline goodness : 0.776738 Centerline is valid? [False, False] Translation: X:-299.79, Y:15.76, Z:136.19 [[ 9.99894506e-01 1.41659086e-02 3.20982943e-03 -2.99789012e+02] [-1.41705381e-02 9.99898579e-01 1.42416581e-03 1.57568540e+01] [-3.18932928e-03 -1.46950058e-03 9.99993834e-01 1.36191117e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.329072329 meters Centerline goodness : 0.775424 Centerline is valid? [False, False] Translation: X:-299.79, Y:15.76, Z:136.19 [[ 9.99892359e-01 1.43804598e-02 2.91068784e-03 -2.99788234e+02] [-1.43850771e-02 9.99895294e-01 1.57165814e-03 1.57567221e+01] [-2.88778191e-03 -1.61335944e-03 9.99994529e-01 1.36191012e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.35907232899996 meters Centerline goodness : 0.775435 Centerline is valid? [False, False] Translation: X:-299.79, Y:15.76, Z:136.19 [[ 9.99890594e-01 1.44999722e-02 2.92402750e-03 -2.99788287e+02] [-1.45051214e-02 9.99893268e-01 1.74756308e-03 1.57561678e+01] [-2.89837580e-03 -1.78978526e-03 9.99994198e-01 1.36190927e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.389072329 meters Centerline goodness : 0.776200 Centerline is valid? [False, False] Translation: X:-299.79, Y:15.75, Z:136.19 [[ 9.99922881e-01 1.23009431e-02 1.70826849e-03 -2.99785393e+02] [-1.22994065e-02 9.99923948e-01 -9.07100497e-04 1.57547790e+01] [-1.71929677e-03 8.86019854e-04 9.99998129e-01 1.36191064e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.41907232899996 meters Centerline goodness : 0.774732 Centerline is valid? [False, False] Translation: X:-299.78, Y:15.76, Z:136.19 [[ 9.99923417e-01 1.23281510e-02 1.08468728e-03 -2.99784596e+02] [-1.23266890e-02 9.99923120e-01 -1.34440533e-03 1.57564518e+01] [-1.10117792e-03 1.33093177e-03 9.99998508e-01 1.36192147e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.449072329 meters Centerline goodness : 0.774618 Centerline is valid? [False, False] Translation: X:-299.78, Y:15.76, Z:136.19 [[ 9.99925030e-01 1.22300312e-02 6.01091050e-04 -2.99783900e+02] [-1.22288799e-02 9.99923451e-01 -1.88306850e-03 1.57584737e+01] [-6.24075024e-04 1.87557665e-03 9.99998046e-01 1.36192961e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.47907232899996 meters Centerline goodness : 0.777088 Centerline is valid? [False, False] Translation: X:-299.78, Y:15.76, Z:136.19 [[ 9.99923485e-01 1.23685283e-02 -2.11174792e-04 -2.99782305e+02] [-1.23689631e-02 9.99921082e-01 -2.19957813e-03 1.57600899e+01] [ 1.83952582e-04 2.20202184e-03 9.99997559e-01 1.36193681e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.509072329 meters Centerline goodness : 0.775380 Centerline is valid? [False, False] Translation: X:-299.78, Y:15.76, Z:136.19 [[ 9.99921351e-01 1.25267442e-02 -6.10913657e-04 -2.99781393e+02] [-1.25280979e-02 9.99918955e-01 -2.26479035e-03 1.57606077e+01] [ 5.82493696e-04 2.27226581e-03 9.99997249e-01 1.36193764e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.53907232899996 meters Centerline goodness : 0.773415 Centerline is valid? [False, False] Translation: X:-299.78, Y:15.76, Z:136.19 [[ 9.99912894e-01 1.31506628e-02 -1.12470337e-03 -2.99780662e+02] [-1.31526920e-02 9.99911850e-01 -1.81624296e-03 1.57597543e+01] [ 1.10071943e-03 1.83087763e-03 9.99997718e-01 1.36194395e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.569072329 meters Centerline goodness : 0.773104 Centerline is valid? [False, False] Translation: X:-299.78, Y:15.76, Z:136.19 [[ 9.99908054e-01 1.34635937e-02 -1.61744669e-03 -2.99779745e+02] [-1.34663617e-02 9.99907857e-01 -1.71283694e-03 1.57597451e+01] [ 1.59423671e-03 1.73446058e-03 9.99997225e-01 1.36194771e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.59907232899997 meters Centerline goodness : 0.772110 Centerline is valid? [False, False] Translation: X:-299.78, Y:15.76, Z:136.19 [[ 9.99905466e-01 1.35891102e-02 -2.09666245e-03 -2.99778697e+02] [-1.35930668e-02 9.99905834e-01 -1.88451470e-03 1.57607624e+01] [ 2.07085614e-03 1.91283662e-03 9.99996026e-01 1.36194991e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.62907232899994 meters Centerline goodness : 0.773633 Centerline is valid? [False, False] Translation: X:-299.78, Y:15.76, Z:136.20 [[ 9.99880060e-01 1.51376874e-02 -3.27351140e-03 -2.99775495e+02] [-1.51420735e-02 9.99884482e-01 -1.31924578e-03 1.57628163e+01] [ 3.25316292e-03 1.36865530e-03 9.99993772e-01 1.36195095e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.65907232899997 meters Centerline goodness : 0.772365 Centerline is valid? [False, False] Translation: X:-299.77, Y:15.76, Z:136.20 [[ 9.99871717e-01 1.55041650e-02 -4.02136219e-03 -2.99773942e+02] [-1.55098433e-02 9.99878756e-01 -1.38470812e-03 1.57638845e+01] [ 3.99940588e-03 1.44690118e-03 9.99990956e-01 1.36195630e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.68907232899994 meters Centerline goodness : 0.773326 Centerline is valid? [False, False] Translation: X:-299.77, Y:15.77, Z:136.20 [[ 9.99872581e-01 1.53418704e-02 -4.41015184e-03 -2.99773616e+02] [-1.53506961e-02 9.99880222e-01 -1.97438001e-03 1.57657942e+01] [ 4.37933292e-03 2.04182734e-03 9.99988326e-01 1.36196626e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.71907232899997 meters Centerline goodness : 0.772195 Centerline is valid? [False, False] Translation: X:-299.77, Y:15.77, Z:136.20 [[ 9.99870980e-01 1.53338480e-02 -4.78510302e-03 -2.99773160e+02] [-1.53453045e-02 9.99879453e-01 -2.36673543e-03 1.57672690e+01] [ 4.74823503e-03 2.43985893e-03 9.99985751e-01 1.36197329e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.74907232899994 meters Centerline goodness : 0.773563 Centerline is valid? [False, False] Translation: X:-299.77, Y:15.77, Z:136.20 [[ 9.99869330e-01 1.53436701e-02 -5.08874683e-03 -2.99772984e+02] [-1.53569197e-02 9.99878760e-01 -2.57493267e-03 1.57679186e+01] [ 5.04862095e-03 2.65274368e-03 9.99983737e-01 1.36198093e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.779072329 meters Centerline goodness : 0.773200 Centerline is valid? [False, False] Translation: X:-299.77, Y:15.77, Z:136.20 [[ 9.99873326e-01 1.50821427e-02 -5.08527572e-03 -2.99773147e+02] [-1.50977621e-02 9.99881379e-01 -3.04722660e-03 1.57694170e+01] [ 5.03871379e-03 3.12361688e-03 9.99982427e-01 1.36198361e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.80907232899995 meters Centerline goodness : 0.774078 Centerline is valid? [False, False] Translation: X:-299.77, Y:15.77, Z:136.20 [[ 9.99871132e-01 1.51146467e-02 -5.40987584e-03 -2.99771990e+02] [-1.51314448e-02 9.99880776e-01 -3.07772205e-03 1.57698837e+01] [ 5.36271217e-03 3.15918467e-03 9.99980630e-01 1.36197954e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.839072329 meters Centerline goodness : 0.773034 Centerline is valid? [False, False] Translation: X:-299.77, Y:15.77, Z:136.20 [[ 9.99862631e-01 1.54284666e-02 -6.05646342e-03 -2.99770272e+02] [-1.54469520e-02 9.99876136e-01 -3.01734629e-03 1.57706421e+01] [ 6.00916022e-03 3.11048570e-03 9.99977107e-01 1.36197929e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.86907232899995 meters Centerline goodness : 0.773652 Centerline is valid? [False, False] Translation: X:-299.77, Y:15.77, Z:136.20 [[ 9.99854690e-01 1.56638290e-02 -6.72638845e-03 -2.99769125e+02] [-1.56855323e-02 9.99871898e-01 -3.18604554e-03 1.57719094e+01] [ 6.67562112e-03 3.29108956e-03 9.99972302e-01 1.36198799e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.899072329 meters Centerline goodness : 0.772873 Centerline is valid? [False, False] Translation: X:-299.77, Y:15.77, Z:136.20 [[ 9.99855514e-01 1.54574678e-02 -7.07230627e-03 -2.99769115e+02] [-1.54848661e-02 9.99872745e-01 -3.83580021e-03 1.57740516e+01] [ 7.01211452e-03 3.94475971e-03 9.99967634e-01 1.36200059e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.92907232899995 meters Centerline goodness : 0.773767 Centerline is valid? [False, False] Translation: X:-299.76, Y:15.77, Z:136.21 [[ 9.99858533e-01 1.31981489e-02 -1.04270228e-02 -2.99760072e+02] [-1.31521364e-02 9.99903519e-01 4.46912897e-03 1.57698404e+01] [ 1.04850010e-02 -4.33135911e-03 9.99935650e-01 1.36206985e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.959072329 meters Centerline goodness : 0.772509 Centerline is valid? [False, False] Translation: X:-299.76, Y:15.77, Z:136.21 [[ 9.99788813e-01 1.76383727e-02 -1.05459755e-02 -2.99759031e+02] [-1.75468919e-02 9.99808147e-01 8.70498389e-03 1.57704180e+01] [ 1.06974940e-02 -8.51809641e-03 9.99906498e-01 1.36206177e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.98907232899995 meters Centerline goodness : 0.772237 Centerline is valid? [False, False] Translation: X:-299.76, Y:15.77, Z:136.21 [[ 9.99773582e-01 1.80697833e-02 -1.12368487e-02 -2.99756988e+02] [-1.79702596e-02 9.99798948e-01 8.89569515e-03 1.57707301e+01] [ 1.13953328e-02 -8.69175192e-03 9.99897295e-01 1.36205790e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.019072329 meters Centerline goodness : 0.771263 Centerline is valid? [False, False] Translation: X:-299.76, Y:15.77, Z:136.21 [[ 9.99758269e-01 1.84257043e-02 -1.19957096e-02 -2.99755279e+02] [-1.83192686e-02 9.99792370e-01 8.92305191e-03 1.57714765e+01] [ 1.21576324e-02 -8.70114231e-03 9.99888235e-01 1.36206139e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.04907232899996 meters Centerline goodness : 0.772067 Centerline is valid? [False, False] Translation: X:-299.76, Y:15.77, Z:136.21 [[ 9.99754198e-01 1.82836104e-02 -1.25400501e-02 -2.99755085e+02] [-1.81825781e-02 9.99801677e-01 8.12401902e-03 1.57740787e+01] [ 1.26860995e-02 -7.89401168e-03 9.99888367e-01 1.36207845e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.079072329 meters Centerline goodness : 0.771349 Centerline is valid? [False, False] Translation: X:-299.76, Y:15.78, Z:136.21 [[ 9.99755104e-01 1.81250307e-02 -1.26970967e-02 -2.99755581e+02] [-1.80279293e-02 9.99807674e-01 7.72070388e-03 1.57750936e+01] [ 1.28345927e-02 -7.48991075e-03 9.99889581e-01 1.36208992e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.10907232899996 meters Centerline goodness : 0.771470 Centerline is valid? [False, False] Translation: X:-299.76, Y:15.78, Z:136.21 [[ 9.99754069e-01 1.79580753e-02 -1.30118594e-02 -2.99755525e+02] [-1.78658969e-02 9.99814711e-01 7.16613565e-03 1.57768312e+01] [ 1.31381385e-02 -6.93190474e-03 9.99889663e-01 1.36209998e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.139072329 meters Centerline goodness : 0.771662 Centerline is valid? [False, False] Translation: X:-299.76, Y:15.78, Z:136.21 [[ 9.99817772e-01 1.36921826e-02 -1.33021659e-02 -2.99755235e+02] [-1.36558680e-02 9.99902786e-01 2.81698307e-03 1.57773493e+01] [ 1.33394434e-02 -2.63481712e-03 9.99907554e-01 1.36210403e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.16907232899996 meters Centerline goodness : 0.770269 Centerline is valid? [False, False] Translation: X:-299.76, Y:15.78, Z:136.21 [[ 9.99832236e-01 1.32198014e-02 -1.26782306e-02 -2.99757263e+02] [-1.31880530e-02 9.99909694e-01 2.58450901e-03 1.57768410e+01] [ 1.27112524e-02 -2.41687424e-03 9.99916288e-01 1.36210747e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.199072329 meters Centerline goodness : 0.770333 Centerline is valid? [False, False] Translation: X:-299.76, Y:15.78, Z:136.21 [[ 9.99853810e-01 1.23400529e-02 -1.18356162e-02 -2.99759837e+02] [-1.23182931e-02 9.99922303e-01 1.90964899e-03 1.57773304e+01] [ 1.18582617e-02 -1.76357523e-03 9.99928133e-01 1.36211028e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.22907232899996 meters Centerline goodness : 0.770876 Centerline is valid? [False, False] Translation: X:-299.76, Y:15.78, Z:136.21 [[ 9.99886796e-01 8.62317905e-03 -1.23303107e-02 -2.99758752e+02] [-8.64483874e-03 9.99961180e-01 -1.70440179e-03 1.57761492e+01] [ 1.23151347e-02 1.81080240e-03 9.99922526e-01 1.36211161e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.259072329 meters Centerline goodness : 0.772824 Centerline is valid? [False, False] Translation: X:-299.76, Y:15.78, Z:136.21 [[ 9.99880577e-01 8.85957367e-03 -1.26625065e-02 -2.99758406e+02] [-8.88079549e-03 9.99959252e-01 -1.62071084e-03 1.57763007e+01] [ 1.26476317e-02 1.73297042e-03 9.99918514e-01 1.36211815e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.28907232899996 meters Centerline goodness : 0.770775 Centerline is valid? [False, False] Translation: X:-299.76, Y:15.78, Z:136.21 [[ 9.99884282e-01 8.45048812e-03 -1.26495858e-02 -2.99758641e+02] [-8.48056194e-03 9.99961335e-01 -2.32570517e-03 1.57785370e+01] [ 1.26294434e-02 2.43271164e-03 9.99917286e-01 1.36212143e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.319072329 meters Centerline goodness : 0.770793 Centerline is valid? [False, False] Translation: X:-299.76, Y:15.78, Z:136.21 [[ 9.99881064e-01 8.48429002e-03 -1.28791961e-02 -2.99758034e+02] [-8.51619342e-03 9.99960798e-01 -2.42430682e-03 1.57793149e+01] [ 1.28581227e-02 2.53370021e-03 9.99914121e-01 1.36212174e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.34907232899997 meters Centerline goodness : 0.770422 Centerline is valid? [False, False] Translation: X:-299.76, Y:15.78, Z:136.21 [[ 9.99832901e-01 1.27712207e-02 -1.30792422e-02 -2.99757380e+02] [-1.27521408e-02 9.99917500e-01 1.54115465e-03 1.57804119e+01] [ 1.30978456e-02 -1.37410878e-03 9.99913275e-01 1.36212093e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.37907232899994 meters Centerline goodness : 0.770875 Centerline is valid? [False, False] Translation: X:-299.76, Y:15.78, Z:136.21 [[ 9.99819328e-01 1.30979473e-02 -1.37751853e-02 -2.99756015e+02] [-1.30772505e-02 9.99913223e-01 1.59147612e-03 1.57808430e+01] [ 1.37948350e-02 -1.41104703e-03 9.99903851e-01 1.36212620e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.40907232899997 meters Centerline goodness : 0.771411 Centerline is valid? [False, False] Translation: X:-299.75, Y:15.78, Z:136.21 [[ 9.99802716e-01 1.35522904e-02 -1.45211809e-02 -2.99754422e+02] [-1.35305861e-02 9.99907190e-01 1.59186911e-03 1.57818755e+01] [ 1.45414066e-02 -1.39507497e-03 9.99893295e-01 1.36213073e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.43907232899994 meters Centerline goodness : 0.769937 Centerline is valid? [False, False] Translation: X:-299.76, Y:15.78, Z:136.22 [[ 9.99822129e-01 1.26297531e-02 -1.40071414e-02 -2.99757619e+02] [-1.26236891e-02 9.99920182e-01 5.21258029e-04 1.57828223e+01] [ 1.40126068e-02 -3.44343513e-04 9.99901759e-01 1.36215167e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.46907232899997 meters Centerline goodness : 0.769260 Centerline is valid? [False, False] Translation: X:-299.76, Y:15.78, Z:136.22 [[ 9.99830317e-01 1.23526468e-02 -1.36655958e-02 -2.99759259e+02] [-1.23510883e-02 9.99923703e-01 1.98440859e-04 1.57830711e+01] [ 1.36670044e-02 -2.96222062e-05 9.99906602e-01 1.36216073e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.49907232899994 meters Centerline goodness : 0.770561 Centerline is valid? [False, False] Translation: X:-299.76, Y:15.78, Z:136.22 [[ 9.99847643e-01 1.15935718e-02 -1.30491396e-02 -2.99761409e+02] [-1.16020758e-02 9.99932528e-01 -5.76177098e-04 1.57843254e+01] [ 1.30415792e-02 7.27486421e-04 9.99914690e-01 1.36216649e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.529072329 meters Centerline goodness : 0.768063 Centerline is valid? [False, False] Translation: X:-299.76, Y:15.78, Z:136.22 [[ 9.99883432e-01 7.99678025e-03 -1.30067129e-02 -2.99760555e+02] [-8.04275675e-03 9.99961579e-01 -3.48636969e-03 1.57810289e+01] [ 1.29783334e-02 3.59057312e-03 9.99909331e-01 1.36215193e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.55907232899995 meters Centerline goodness : 0.769033 Centerline is valid? [False, False] Translation: X:-299.76, Y:15.78, Z:136.22 [[ 9.99906005e-01 6.96305490e-03 -1.18108488e-02 -2.99763678e+02] [-7.01213877e-03 9.99966929e-01 -4.11952059e-03 1.57814153e+01] [ 1.17817737e-02 4.20195269e-03 9.99921764e-01 1.36215120e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.589072329 meters Centerline goodness : 0.768597 Centerline is valid? [False, False] Translation: X:-299.77, Y:15.78, Z:136.22 [[ 9.99918402e-01 6.59228481e-03 -1.09421802e-02 -2.99766141e+02] [-6.63753218e-03 9.99969550e-01 -4.10398064e-03 1.57803378e+01] [ 1.09147924e-02 4.17627484e-03 9.99931711e-01 1.36215306e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.61907232899995 meters Centerline goodness : 0.768942 Centerline is valid? [False, False] Translation: X:-299.77, Y:15.78, Z:136.22 [[ 9.99939120e-01 2.31854888e-03 -1.07880010e-02 -2.99767781e+02] [-2.40763197e-03 9.99963054e-01 -8.25196200e-03 1.57793915e+01] [ 1.07684698e-02 8.27743316e-03 9.99907758e-01 1.36216764e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.649072329 meters Centerline goodness : 0.767843 Centerline is valid? [False, False] Translation: X:-299.77, Y:15.78, Z:136.22 [[ 9.99946750e-01 2.08913563e-03 -1.01060364e-02 -2.99769478e+02] [-2.17271927e-03 9.99963469e-01 -8.26676790e-03 1.57790239e+01] [ 1.00883968e-02 8.28828528e-03 9.99914761e-01 1.36216640e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.67907232899995 meters Centerline goodness : 0.767564 Centerline is valid? [False, False] Translation: X:-299.77, Y:15.78, Z:136.22 [[ 9.99951924e-01 2.01490136e-03 -9.59631557e-03 -2.99770403e+02] [-2.09194516e-03 9.99965609e-01 -8.02521745e-03 1.57781394e+01] [ 9.57981553e-03 8.04490659e-03 9.99921750e-01 1.36216076e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.709072329 meters Centerline goodness : 0.768166 Centerline is valid? [False, False] Translation: X:-299.78, Y:15.78, Z:136.21 [[ 9.99981040e-01 -3.76799379e-03 -4.87057939e-03 -2.99781344e+02] [ 3.73393926e-03 9.99968653e-01 -6.98216926e-03 1.57805916e+01] [ 4.89673549e-03 6.96385043e-03 9.99963763e-01 1.36209359e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.73907232899995 meters Centerline goodness : 0.767988 Centerline is valid? [False, False] Translation: X:-299.78, Y:15.78, Z:136.21 [[ 9.99984280e-01 -3.45768021e-03 -4.41406130e-03 -2.99781938e+02] [ 3.43064290e-03 9.99975399e-01 -6.11821500e-03 1.57778347e+01] [ 4.43510754e-03 6.10297575e-03 9.99971541e-01 1.36208409e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.769072329 meters Centerline goodness : 0.767466 Centerline is valid? [False, False] Translation: X:-299.79, Y:15.78, Z:136.21 [[ 9.99981698e-01 -5.19181806e-03 -3.10628311e-03 -2.99785968e+02] [ 5.17038505e-03 9.99963044e-01 -6.86858718e-03 1.57757944e+01] [ 3.14182877e-03 6.85240079e-03 9.99971586e-01 1.36208759e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.79907232899996 meters Centerline goodness : 0.766755 Centerline is valid? [False, False] Translation: X:-299.79, Y:15.78, Z:136.21 [[ 9.99973807e-01 -7.00203259e-03 -1.83238911e-03 -2.99789856e+02] [ 6.98624596e-03 9.99939602e-01 -8.48439139e-03 1.57778793e+01] [ 1.89168642e-03 8.47136763e-03 9.99962328e-01 1.36209502e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.829072329 meters Centerline goodness : 0.765441 Centerline is valid? [False, False] Translation: X:-299.79, Y:15.78, Z:136.21 [[ 9.99962239e-01 -8.64372721e-03 -8.98473087e-04 -2.99793475e+02] [ 8.63492932e-03 9.99918783e-01 -9.37361977e-03 1.57763440e+01] [ 9.79423128e-04 9.36550756e-03 9.99955663e-01 1.36210620e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.85907232899996 meters Centerline goodness : 0.765459 Centerline is valid? [False, False] Translation: X:-299.79, Y:15.77, Z:136.21 [[ 9.99963754e-01 -8.49626478e-03 -5.50768393e-04 -2.99794160e+02] [ 8.49102899e-03 9.99924359e-01 -8.89825657e-03 1.57748630e+01] [ 6.26328676e-04 8.89325745e-03 9.99960258e-01 1.36210230e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.889072329 meters Centerline goodness : 0.765572 Centerline is valid? [False, False] Translation: X:-299.80, Y:15.77, Z:136.21 [[ 9.99962194e-01 -8.69541506e-03 -1.48019530e-05 -2.99795237e+02] [ 8.69494326e-03 9.99923007e-01 -8.85310276e-03 1.57744497e+01] [ 9.17822165e-05 8.85263936e-03 9.99960810e-01 1.36209804e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.91907232899996 meters Centerline goodness : 0.765866 Centerline is valid? [False, False] Translation: X:-299.80, Y:15.77, Z:136.21 [[ 9.99962219e-01 -8.68866552e-03 2.61322718e-04 -2.99795660e+02] [ 8.69059395e-03 9.99925155e-01 -8.61155608e-03 1.57737352e+01] [-1.86480229e-04 8.61350177e-03 9.99962886e-01 1.36209415e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.949072329 meters Centerline goodness : 0.766563 Centerline is valid? [False, False] Translation: X:-299.80, Y:15.77, Z:136.21 [[ 9.99963334e-01 -8.55842901e-03 2.88057537e-04 -2.99795830e+02] [ 8.56054431e-03 9.99928181e-01 -8.38749812e-03 1.57731699e+01] [-2.16253042e-04 8.38965651e-03 9.99964783e-01 1.36209519e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.97907232899996 meters Centerline goodness : 0.766915 Centerline is valid? [False, False] Translation: X:-299.80, Y:15.77, Z:136.21 [[ 9.99960266e-01 -8.89711662e-03 5.53869196e-04 -2.99796108e+02] [ 8.90159555e-03 9.99922609e-01 -8.69122519e-03 1.57741385e+01] [-4.76499487e-04 8.69581018e-03 9.99962077e-01 1.36209060e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.009072329 meters Centerline goodness : 0.767787 Centerline is valid? [False, False] Translation: X:-299.80, Y:15.78, Z:136.21 [[ 9.99974484e-01 -6.95293548e-03 1.63976548e-03 -2.99799878e+02] [ 6.96367450e-03 9.99953728e-01 -6.63696003e-03 1.57767574e+01] [-1.59354325e-03 6.64820948e-03 9.99976631e-01 1.36210219e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.03907232899996 meters Centerline goodness : 0.767249 Centerline is valid? [False, False] Translation: X:-299.80, Y:15.78, Z:136.21 [[ 9.99973745e-01 -6.99210640e-03 1.90240508e-03 -2.99800539e+02] [ 7.00451761e-03 9.99953704e-01 -6.59744753e-03 1.57767047e+01] [-1.85618695e-03 6.61059975e-03 9.99976427e-01 1.36210234e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.069072329 meters Centerline goodness : 0.767801 Centerline is valid? [False, False] Translation: X:-299.80, Y:15.78, Z:136.21 [[ 9.99972556e-01 -7.16518343e-03 1.88339395e-03 -2.99801046e+02] [ 7.17810171e-03 9.99950125e-01 -6.94419070e-03 1.57778217e+01] [-1.83354361e-03 6.95751932e-03 9.99974115e-01 1.36211065e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.09907232899997 meters Centerline goodness : 0.767801 Centerline is valid? [False, False] Translation: X:-299.80, Y:15.78, Z:136.21 [[ 9.99972556e-01 -7.16518343e-03 1.88339395e-03 -2.99801046e+02] [ 7.17810171e-03 9.99950125e-01 -6.94419070e-03 1.57778217e+01] [-1.83354361e-03 6.95751932e-03 9.99974115e-01 1.36211065e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.12907232899994 meters Centerline goodness : 0.767350 Centerline is valid? [False, False] Translation: X:-299.80, Y:15.78, Z:136.21 [[ 9.99968218e-01 -7.63518953e-03 2.29507932e-03 -2.99802132e+02] [ 7.65221190e-03 9.99942581e-01 -7.50195240e-03 1.57793662e+01] [-2.23766871e-03 7.51927641e-03 9.99969226e-01 1.36211140e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.15907232899997 meters Centerline goodness : 0.767843 Centerline is valid? [False, False] Translation: X:-299.80, Y:15.78, Z:136.21 [[ 9.99966144e-01 -7.71169848e-03 2.87067493e-03 -2.99802790e+02] [ 7.73192455e-03 9.99944883e-01 -7.10262995e-03 1.57780957e+01] [-2.81574337e-03 7.12458532e-03 9.99970656e-01 1.36209958e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.18907232899994 meters Centerline goodness : 0.766311 Centerline is valid? [False, False] Translation: X:-299.80, Y:15.78, Z:136.21 [[ 9.99964274e-01 -7.75884613e-03 3.35413733e-03 -2.99803439e+02] [ 7.78163108e-03 9.99946368e-01 -6.83426689e-03 1.57772864e+01] [-3.30093141e-03 6.86012339e-03 9.99971021e-01 1.36209101e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.21907232899997 meters Centerline goodness : 0.767087 Centerline is valid? [False, False] Translation: X:-299.81, Y:15.78, Z:136.21 [[ 9.99976023e-01 -5.29157684e-03 4.46688236e-03 -2.99806194e+02] [ 5.31037059e-03 9.99977054e-01 -4.20602976e-03 1.57795112e+01] [-4.44452333e-03 4.22964971e-03 9.99981178e-01 1.36208969e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.24907232899994 meters Centerline goodness : 0.768710 Centerline is valid? [False, False] Translation: X:-299.81, Y:15.78, Z:136.21 [[ 9.99980085e-01 -4.76730916e-03 4.13545613e-03 -2.99805634e+02] [ 4.78247586e-03 9.99981846e-01 -3.66537801e-03 1.57783892e+01] [-4.11790707e-03 3.68508274e-03 9.99984731e-01 1.36209339e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.279072329 meters Centerline goodness : 0.768713 Centerline is valid? [False, False] Translation: X:-299.81, Y:15.78, Z:136.21 [[ 9.99977273e-01 -5.07785168e-03 4.43491104e-03 -2.99806916e+02] [ 5.09602296e-03 9.99978628e-01 -4.09568454e-03 1.57793716e+01] [-4.41401898e-03 4.11819187e-03 9.99981778e-01 1.36210046e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.30907232899995 meters Centerline goodness : 0.767801 Centerline is valid? [False, False] Translation: X:-299.81, Y:15.78, Z:136.21 [[ 9.99979625e-01 -4.84807189e-03 4.15280325e-03 -2.99806447e+02] [ 4.86461753e-03 9.99980234e-01 -3.98341888e-03 1.57794641e+01] [-4.13340926e-03 4.00353952e-03 9.99983443e-01 1.36210402e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.339072329 meters Centerline goodness : 0.768647 Centerline is valid? [False, False] Translation: X:-299.80, Y:15.78, Z:136.21 [[ 9.99984538e-01 -4.27757321e-03 3.55326625e-03 -2.99804908e+02] [ 4.29003626e-03 9.99984647e-01 -3.50730389e-03 1.57790724e+01] [-3.53820895e-03 3.52249330e-03 9.99987536e-01 1.36210391e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.36907232899995 meters Centerline goodness : 0.769153 Centerline is valid? [False, False] Translation: X:-299.80, Y:15.78, Z:136.21 [[ 9.99985434e-01 -4.38664519e-03 3.14462707e-03 -2.99803619e+02] [ 4.39961112e-03 9.99981800e-01 -4.12820855e-03 1.57821329e+01] [-3.12646086e-03 4.14198355e-03 9.99986535e-01 1.36210275e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.399072329 meters Centerline goodness : 0.770141 Centerline is valid? [False, False] Translation: X:-299.80, Y:15.78, Z:136.21 [[ 9.99985740e-01 -4.45973204e-03 2.93764294e-03 -2.99803079e+02] [ 4.47228647e-03 9.99980836e-01 -4.28102410e-03 1.57830599e+01] [-2.91849442e-03 4.29410104e-03 9.99986521e-01 1.36210326e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.42907232899995 meters Centerline goodness : 0.770460 Centerline is valid? [False, False] Translation: X:-299.80, Y:15.78, Z:136.21 [[ 9.99989609e-01 -3.98354375e-03 2.21655044e-03 -2.99801412e+02] [ 3.99274773e-03 9.99983361e-01 -4.16357516e-03 1.57840940e+01] [-2.19992777e-03 4.17238202e-03 9.99988876e-01 1.36210731e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.459072329 meters Centerline goodness : 0.770291 Centerline is valid? [False, False] Translation: X:-299.80, Y:15.78, Z:136.21 [[ 9.99990083e-01 -3.86309232e-03 2.21577127e-03 -2.99801308e+02] [ 3.87209330e-03 9.99984211e-01 -4.07243364e-03 1.57843139e+01] [-2.20000410e-03 4.08097293e-03 9.99989253e-01 1.36210677e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.48907232899995 meters Centerline goodness : 0.769326 Centerline is valid? [False, False] Translation: X:-299.80, Y:15.78, Z:136.21 [[ 9.99987285e-01 -4.16658697e-03 2.84068345e-03 -2.99803095e+02] [ 4.17873425e-03 9.99982094e-01 -4.28374230e-03 1.57844871e+01] [-2.82278399e-03 4.29555829e-03 9.99986790e-01 1.36210951e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.519072329 meters Centerline goodness : 0.769925 Centerline is valid? [False, False] Translation: X:-299.81, Y:15.79, Z:136.21 [[ 9.99978324e-01 -5.32512846e-03 3.87226788e-03 -2.99806421e+02] [ 5.34560692e-03 9.99971680e-01 -5.29751387e-03 1.57857413e+01] [-3.84394827e-03 5.31809867e-03 9.99978471e-01 1.36211789e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.54907232899996 meters Centerline goodness : 0.768965 Centerline is valid? [False, False] Translation: X:-299.81, Y:15.79, Z:136.21 [[ 9.99970603e-01 -5.96624024e-03 4.81628510e-03 -2.99809086e+02] [ 5.99348545e-03 9.99966007e-01 -5.66242123e-03 1.57858010e+01] [-4.78233801e-03 5.69112111e-03 9.99972370e-01 1.36212085e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.579072329 meters Centerline goodness : 0.767875 Centerline is valid? [False, False] Translation: X:-299.81, Y:15.78, Z:136.21 [[ 9.99929654e-01 -1.03784964e-02 5.74223069e-03 -2.99810988e+02] [ 1.04312438e-02 9.99902961e-01 -9.23348426e-03 1.57830919e+01] [-5.64584378e-03 9.29273333e-03 9.99940883e-01 1.36211411e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.60907232899996 meters Centerline goodness : 0.769338 Centerline is valid? [False, False] Translation: X:-299.81, Y:15.78, Z:136.21 [[ 9.99921905e-01 -1.05778115e-02 6.65542929e-03 -2.99813005e+02] [ 1.06354604e-02 9.99905707e-01 -8.68700450e-03 1.57805993e+01] [-6.56291223e-03 8.75710964e-03 9.99940119e-01 1.36210795e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.639072329 meters Centerline goodness : 0.768133 Centerline is valid? [False, False] Translation: X:-299.82, Y:15.78, Z:136.21 [[ 9.99906715e-01 -1.11596673e-02 7.87541879e-03 -2.99815659e+02] [ 1.12237046e-02 9.99903925e-01 -8.13447892e-03 1.57772528e+01] [-7.78388408e-03 8.22211148e-03 9.99935902e-01 1.36209845e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.66907232899996 meters Centerline goodness : 0.767925 Centerline is valid? [False, False] Translation: X:-299.82, Y:15.78, Z:136.21 [[ 9.99896392e-01 -1.15510134e-02 8.58954356e-03 -2.99817418e+02] [ 1.16217813e-02 9.99898554e-01 -8.23507365e-03 1.57767934e+01] [-8.49354874e-03 8.33404623e-03 9.99929199e-01 1.36209711e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.699072329 meters Centerline goodness : 0.768440 Centerline is valid? [False, False] Translation: X:-299.82, Y:15.78, Z:136.21 [[ 9.99926712e-01 -7.94318539e-03 9.13654439e-03 -2.99818777e+02] [ 7.98575816e-03 9.99957382e-01 -4.63260775e-03 1.57781445e+01] [-9.09935735e-03 4.70523047e-03 9.99947530e-01 1.36209523e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.72907232899996 meters Centerline goodness : 0.768060 Centerline is valid? [False, False] Translation: X:-299.82, Y:15.78, Z:136.21 [[ 9.99929705e-01 -7.77222136e-03 8.95421160e-03 -2.99818393e+02] [ 7.81240091e-03 9.99959532e-01 -4.46101829e-03 1.57779547e+01] [-8.91917722e-03 4.53065860e-03 9.99949959e-01 1.36209615e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.759072329 meters Centerline goodness : 0.768126 Centerline is valid? [False, False] Translation: X:-299.82, Y:15.78, Z:136.21 [[ 9.99936049e-01 -7.50224873e-03 8.46249802e-03 -2.99817294e+02] [ 7.54017432e-03 9.99961632e-01 -4.45864092e-03 1.57787423e+01] [-8.42872350e-03 4.52216450e-03 9.99954252e-01 1.36209905e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.78907232899996 meters Centerline goodness : 0.767463 Centerline is valid? [False, False] Translation: X:-299.82, Y:15.78, Z:136.21 [[ 9.99935087e-01 -7.66801526e-03 8.42758031e-03 -2.99817474e+02] [ 7.70891617e-03 9.99958614e-01 -4.83149913e-03 1.57800300e+01] [-8.39018352e-03 4.89615301e-03 9.99952815e-01 1.36210295e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.819072329 meters Centerline goodness : 0.766322 Centerline is valid? [False, False] Translation: X:-299.82, Y:15.78, Z:136.21 [[ 9.99926814e-01 -8.14981463e-03 8.94136432e-03 -2.99818925e+02] [ 8.19666845e-03 9.99952803e-01 -5.21604813e-03 1.57805818e+01] [-8.89843248e-03 5.28895578e-03 9.99946421e-01 1.36210515e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.84907232899997 meters Centerline goodness : 0.766644 Centerline is valid? [False, False] Translation: X:-299.82, Y:15.78, Z:136.21 [[ 9.99938575e-01 -7.44305309e-03 8.21260661e-03 -2.99817243e+02] [ 7.48053994e-03 9.99961699e-01 -4.54331273e-03 1.57797063e+01] [-8.17847595e-03 4.60446839e-03 9.99955955e-01 1.36210673e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.87907232899994 meters Centerline goodness : 0.769875 Centerline is valid? [False, False] Translation: X:-299.82, Y:15.78, Z:136.21 [[ 9.99956201e-01 -4.02619242e-03 8.44902641e-03 -2.99817993e+02] [ 4.03944101e-03 9.99990638e-01 -1.55158318e-03 1.57834373e+01] [-8.44270033e-03 1.58564456e-03 9.99963103e-01 1.36210999e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.90907232899997 meters Centerline goodness : 0.768781 Centerline is valid? [False, False] Translation: X:-299.82, Y:15.79, Z:136.21 [[ 9.99955845e-01 -4.19532517e-03 8.40872895e-03 -2.99817876e+02] [ 4.21188980e-03 9.99989222e-01 -1.95319387e-03 1.57850453e+01] [-8.40044404e-03 1.98852426e-03 9.99962738e-01 1.36211081e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.93907232899994 meters Centerline goodness : 0.767850 Centerline is valid? [False, False] Translation: X:-299.82, Y:15.78, Z:136.21 [[ 9.99951294e-01 -4.32419875e-03 8.87194911e-03 -2.99819257e+02] [ 4.34082676e-03 9.99988857e-01 -1.85582397e-03 1.57843413e+01] [-8.86382530e-03 1.89424517e-03 9.99958921e-01 1.36211324e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.96907232899997 meters Centerline goodness : 0.766188 Centerline is valid? [False, False] Translation: X:-299.82, Y:15.78, Z:136.21 [[ 9.99951010e-01 -4.13192655e-03 8.99470919e-03 -2.99819525e+02] [ 4.14591180e-03 9.99990225e-01 -1.53674038e-03 1.57835740e+01] [-8.98827157e-03 1.57395637e-03 9.99958366e-01 1.36211234e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.99907232899994 meters Centerline goodness : 0.767374 Centerline is valid? [False, False] Translation: X:-299.82, Y:15.78, Z:136.21 [[ 9.99949100e-01 -4.17376730e-03 9.18565951e-03 -2.99819912e+02] [ 4.18794299e-03 9.99990068e-01 -1.52454795e-03 1.57835498e+01] [-9.17920517e-03 1.56293937e-03 9.99956649e-01 1.36211090e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.029072329 meters Centerline goodness : 0.767136 Centerline is valid? [False, False] Translation: X:-299.82, Y:15.78, Z:136.21 [[ 9.99948389e-01 -4.27429874e-03 9.21677338e-03 -2.99820078e+02] [ 4.29053061e-03 9.99989278e-01 -1.74207048e-03 1.57843882e+01] [-9.20922843e-03 1.78152542e-03 9.99956007e-01 1.36211208e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.05907232899995 meters Centerline goodness : 0.767052 Centerline is valid? [False, False] Translation: X:-299.82, Y:15.78, Z:136.21 [[ 9.99953620e-01 -3.99151319e-03 8.76501780e-03 -2.99819109e+02] [ 4.00576612e-03 9.99990682e-01 -1.60916213e-03 1.57845397e+01] [-8.75851314e-03 1.64419811e-03 9.99960292e-01 1.36211446e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.089072329 meters Centerline goodness : 0.768321 Centerline is valid? [False, False] Translation: X:-299.82, Y:15.78, Z:136.21 [[ 9.99966491e-01 -2.82206468e-03 7.68454546e-03 -2.99816787e+02] [ 2.82856943e-03 9.99995650e-01 -8.35735204e-04 1.57839613e+01] [-7.68215353e-03 8.57443470e-04 9.99970124e-01 1.36211982e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.11907232899995 meters Centerline goodness : 0.767612 Centerline is valid? [False, False] Translation: X:-299.81, Y:15.78, Z:136.21 [[ 9.99975174e-01 -1.99471039e-03 6.75813275e-03 -2.99814685e+02] [ 1.99741836e-03 9.99997928e-01 -3.93971285e-04 1.57841642e+01] [-6.75733289e-03 4.07460323e-04 9.99977086e-01 1.36212291e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.149072329 meters Centerline goodness : 0.766294 Centerline is valid? [False, False] Translation: X:-299.81, Y:15.79, Z:136.21 [[ 9.99982583e-01 -1.06950438e-03 5.80426953e-03 -2.99811973e+02] [ 1.07019715e-03 9.99999421e-01 -1.16249423e-04 1.57856191e+01] [-5.80414184e-03 1.22459111e-04 9.99983148e-01 1.36212071e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.17907232899995 meters Centerline goodness : 0.767362 Centerline is valid? [False, False] Translation: X:-299.81, Y:15.79, Z:136.21 [[ 9.99987789e-01 -3.95850887e-04 4.92595054e-03 -2.99809780e+02] [ 3.94514045e-04 9.99999885e-01 2.72356401e-04 1.57856401e+01] [-4.92605779e-03 -2.70409718e-04 9.99987830e-01 1.36212024e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.209072329 meters Centerline goodness : 0.767795 Centerline is valid? [False, False] Translation: X:-299.81, Y:15.79, Z:136.21 [[ 9.99986926e-01 -5.31464849e-04 5.08583053e-03 -2.99810031e+02] [ 5.30508464e-04 9.99999841e-01 1.89396013e-04 1.57856860e+01] [-5.08593039e-03 -1.86695460e-04 9.99987049e-01 1.36211732e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.23907232899995 meters Centerline goodness : 0.766645 Centerline is valid? [False, False] Translation: X:-299.81, Y:15.79, Z:136.21 [[ 9.99989713e-01 -2.76550833e-04 4.52739771e-03 -2.99808339e+02] [ 2.76114338e-04 9.99999957e-01 9.70367685e-05 1.57867753e+01] [-4.52742435e-03 -9.57856909e-05 9.99989747e-01 1.36211353e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.269072329 meters Centerline goodness : 0.767097 Centerline is valid? [False, False] Translation: X:-299.81, Y:15.79, Z:136.21 [[ 9.99993177e-01 1.65416989e-04 3.69042671e-03 -2.99806794e+02] [-1.65873213e-04 9.99999979e-01 1.23317754e-04 1.57875224e+01] [-3.69040624e-03 -1.23929056e-04 9.99993183e-01 1.36212150e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.29907232899996 meters Centerline goodness : 0.767892 Centerline is valid? [False, False] Translation: X:-299.81, Y:15.79, Z:136.21 [[ 9.99993225e-01 -3.13845682e-04 3.66752223e-03 -2.99807182e+02] [ 3.16839877e-04 9.99999617e-01 -8.15855768e-04 1.57903908e+01] [-3.66726477e-03 8.17012258e-04 9.99992942e-01 1.36212859e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.329072329 meters Centerline goodness : 0.767690 Centerline is valid? [False, False] Translation: X:-299.81, Y:15.79, Z:136.21 [[ 9.99996850e-01 3.14925435e-04 2.49016917e-03 -2.99805250e+02] [-3.12517404e-04 9.99999483e-01 -9.67344899e-04 1.57922404e+01] [-2.49047253e-03 9.66563630e-04 9.99996432e-01 1.36214402e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.35907232899996 meters Centerline goodness : 0.769851 Centerline is valid? [False, False] Translation: X:-299.80, Y:15.79, Z:136.21 [[ 9.99998361e-01 6.25404780e-04 1.69936781e-03 -2.99803287e+02] [-6.23349455e-04 9.99999074e-01 -1.20972512e-03 1.57942035e+01] [-1.70012280e-03 1.20866384e-03 9.99997824e-01 1.36214638e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.389072329 meters Centerline goodness : 0.768905 Centerline is valid? [False, False] Translation: X:-299.80, Y:15.80, Z:136.22 [[ 9.99987239e-01 5.03096718e-03 4.59411807e-04 -2.99800994e+02] [-5.03189154e-03 9.99985272e-01 2.03355008e-03 1.57983985e+01] [-4.49174317e-04 -2.03583584e-03 9.99997827e-01 1.36216044e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.41907232899996 meters Centerline goodness : 0.769313 Centerline is valid? [False, False] Translation: X:-299.80, Y:15.80, Z:136.22 [[ 9.99981736e-01 5.99076577e-03 -7.99553355e-04 -2.99798200e+02] [-5.98896150e-03 9.99979557e-01 2.24022641e-03 1.57995413e+01] [ 8.12957681e-04 -2.23539700e-03 9.99997171e-01 1.36216672e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.449072329 meters Centerline goodness : 0.770115 Centerline is valid? [False, False] Translation: X:-299.80, Y:15.80, Z:136.22 [[ 9.99972860e-01 7.12429047e-03 -1.87737133e-03 -2.99795404e+02] [-7.11919385e-03 9.99970993e-01 2.70760941e-03 1.58002695e+01] [ 1.89660667e-03 -2.69417055e-03 9.99994572e-01 1.36216718e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.47907232899996 meters Centerline goodness : 0.767960 Centerline is valid? [False, False] Translation: X:-299.79, Y:15.80, Z:136.22 [[ 9.99918594e-01 1.12484882e-02 -6.02303719e-03 -2.99786073e+02] [-1.12367768e-02 9.99934915e-01 1.97476035e-03 1.58000594e+01] [ 6.04485825e-03 -1.90692007e-03 9.99979911e-01 1.36221308e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.509072329 meters Centerline goodness : 0.769319 Centerline is valid? [False, False] Translation: X:-299.78, Y:15.80, Z:136.22 [[ 9.99909151e-01 1.16087537e-02 -6.85029761e-03 -2.99784576e+02] [-1.15963126e-02 9.99931043e-01 1.85307411e-03 1.58011880e+01] [ 6.87133712e-03 -1.77346757e-03 9.99974819e-01 1.36222131e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.53907232899996 meters Centerline goodness : 0.769984 Centerline is valid? [False, False] Translation: X:-299.78, Y:15.80, Z:136.22 [[ 9.99893018e-01 1.23153200e-02 -7.89211632e-03 -2.99782470e+02] [-1.23003201e-02 9.99922454e-01 1.94635116e-03 1.58023351e+01] [ 7.91547425e-03 -1.84906737e-03 9.99966963e-01 1.36222937e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.569072329 meters Centerline goodness : 0.769584 Centerline is valid? [False, False] Translation: X:-299.78, Y:15.80, Z:136.22 [[ 9.99878561e-01 1.27653045e-02 -8.93925683e-03 -2.99781003e+02] [-1.27515202e-02 9.99917420e-01 1.59729656e-03 1.58040770e+01] [ 8.95890860e-03 -1.48311347e-03 9.99958768e-01 1.36224658e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.59907232899997 meters Centerline goodness : 0.770892 Centerline is valid? [False, False] Translation: X:-299.78, Y:15.81, Z:136.23 [[ 9.99870676e-01 1.29065899e-02 -9.59435565e-03 -2.99780023e+02] [-1.28951799e-02 9.99916072e-01 1.25015191e-03 1.58055231e+01] [ 9.60968562e-03 -1.12626930e-03 9.99953192e-01 1.36225614e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.62907232899994 meters Centerline goodness : 0.771165 Centerline is valid? [False, False] Translation: X:-299.78, Y:15.81, Z:136.23 [[ 9.99859466e-01 1.31680696e-02 -1.03754406e-02 -2.99778610e+02] [-1.31581560e-02 9.99912904e-01 1.02317579e-03 1.58068055e+01] [ 1.03880102e-02 -8.86510331e-04 9.99945650e-01 1.36226364e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.65907232899997 meters Centerline goodness : 0.769298 Centerline is valid? [False, False] Translation: X:-299.78, Y:15.81, Z:136.23 [[ 9.99853450e-01 1.32547461e-02 -1.08347055e-02 -2.99777683e+02] [-1.32461732e-02 9.99911894e-01 8.62628853e-04 1.58076602e+01] [ 1.08451848e-02 -7.18984049e-04 9.99940931e-01 1.36226643e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.68907232899994 meters Centerline goodness : 0.771445 Centerline is valid? [False, False] Translation: X:-299.78, Y:15.81, Z:136.23 [[ 9.99889207e-01 9.50333770e-03 -1.14569036e-02 -2.99775972e+02] [-9.53758874e-03 9.99950198e-01 -2.93863149e-03 1.58076482e+01] [ 1.14284062e-02 3.04757714e-03 9.99930049e-01 1.36226448e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.71907232899997 meters Centerline goodness : 0.770887 Centerline is valid? [False, False] Translation: X:-299.78, Y:15.81, Z:136.23 [[ 9.99911331e-01 8.42972451e-03 -1.03087075e-02 -2.99779086e+02] [-8.46310796e-03 9.99959070e-01 -3.19904947e-03 1.58064546e+01] [ 1.02813185e-02 3.28600952e-03 9.99941747e-01 1.36226255e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.74907232899994 meters Centerline goodness : 0.770643 Centerline is valid? [False, False] Translation: X:-299.78, Y:15.81, Z:136.23 [[ 9.99921733e-01 7.92152449e-03 -9.68384632e-03 -2.99780974e+02] [-7.95760546e-03 9.99961518e-01 -3.69305590e-03 1.58073852e+01] [ 9.65421903e-03 3.76982709e-03 9.99946291e-01 1.36226600e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.779072329 meters Centerline goodness : 0.771126 Centerline is valid? [False, False] Translation: X:-299.78, Y:15.81, Z:136.23 [[ 9.99928278e-01 7.66383291e-03 -9.20348219e-03 -2.99782390e+02] [-7.69894158e-03 9.99963198e-01 -3.78536434e-03 1.58071291e+01] [ 9.17413309e-03 3.85594992e-03 9.99950482e-01 1.36226789e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.80907232899995 meters Centerline goodness : 0.770456 Centerline is valid? [False, False] Translation: X:-299.79, Y:15.81, Z:136.23 [[ 9.99947602e-01 6.33518121e-03 -8.04101447e-03 -2.99785373e+02] [-6.37268937e-03 9.99968894e-01 -4.64758650e-03 1.58082344e+01] [ 8.01132104e-03 4.69858587e-03 9.99956870e-01 1.36226692e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.839072329 meters Centerline goodness : 0.770135 Centerline is valid? [False, False] Translation: X:-299.79, Y:15.81, Z:136.23 [[ 9.99958455e-01 5.80249690e-03 -7.02992069e-03 -2.99787672e+02] [-5.83547478e-03 9.99972024e-01 -4.67967951e-03 1.58075971e+01] [ 7.00257019e-03 4.72050801e-03 9.99964340e-01 1.36226176e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.86907232899995 meters Centerline goodness : 0.771493 Centerline is valid? [False, False] Translation: X:-299.79, Y:15.81, Z:136.23 [[ 9.99969616e-01 5.17993976e-03 -5.82538837e-03 -2.99790214e+02] [-5.20759084e-03 9.99975199e-01 -4.74154118e-03 1.58067772e+01] [ 5.80068300e-03 4.77173335e-03 9.99971791e-01 1.36225344e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.899072329 meters Centerline goodness : 0.769650 Centerline is valid? [False, False] Translation: X:-299.80, Y:15.80, Z:136.22 [[ 9.99994692e-01 2.44583669e-03 -2.15253926e-03 -2.99798024e+02] [-2.45212611e-03 9.99992718e-01 -2.92408912e-03 1.58047135e+01] [ 2.14537174e-03 2.92935189e-03 9.99993408e-01 1.36220497e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.92907232899995 meters Centerline goodness : 0.768947 Centerline is valid? [False, False] Translation: X:-299.80, Y:15.80, Z:136.22 [[ 9.99996471e-01 2.15832163e-03 -1.54932804e-03 -2.99799530e+02] [-2.16285711e-03 9.99993364e-01 -2.93170020e-03 1.58042107e+01] [ 1.54299021e-03 2.93504083e-03 9.99994502e-01 1.36220384e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.959072329 meters Centerline goodness : 0.770561 Centerline is valid? [False, False] Translation: X:-299.80, Y:15.81, Z:136.22 [[ 9.99994047e-01 2.68474577e-03 -2.16747725e-03 -2.99797948e+02] [-2.69077720e-03 9.99992503e-01 -2.78458994e-03 1.58052707e+01] [ 2.15998508e-03 2.79040556e-03 9.99993774e-01 1.36220544e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.98907232899995 meters Centerline goodness : 0.769634 Centerline is valid? [False, False] Translation: X:-299.80, Y:15.81, Z:136.22 [[ 9.99992059e-01 3.00194393e-03 -2.62096744e-03 -2.99796874e+02] [-3.00890788e-03 9.99991943e-01 -2.65712604e-03 1.58056166e+01] [ 2.61296978e-03 2.66499119e-03 9.99993035e-01 1.36220702e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.019072329 meters Centerline goodness : 0.769634 Centerline is valid? [False, False] Translation: X:-299.80, Y:15.81, Z:136.22 [[ 9.99992059e-01 3.00194393e-03 -2.62096744e-03 -2.99796874e+02] [-3.00890788e-03 9.99991943e-01 -2.65712604e-03 1.58056166e+01] [ 2.61296978e-03 2.66499119e-03 9.99993035e-01 1.36220702e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.04907232899996 meters Centerline goodness : 0.768752 Centerline is valid? [False, False] Translation: X:-299.80, Y:15.81, Z:136.22 [[ 9.99989938e-01 3.37237105e-03 -2.95827326e-03 -2.99796047e+02] [-3.37925778e-03 9.99991585e-01 -2.32605398e-03 1.58052512e+01] [ 2.95040405e-03 2.33602735e-03 9.99992919e-01 1.36220725e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.079072329 meters Centerline goodness : 0.768271 Centerline is valid? [False, False] Translation: X:-299.80, Y:15.81, Z:136.22 [[ 9.99989457e-01 3.41293910e-03 -3.07208678e-03 -2.99795709e+02] [-3.42024372e-03 9.99991329e-01 -2.37563394e-03 1.58057182e+01] [ 3.06395225e-03 2.38611618e-03 9.99992459e-01 1.36220624e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.10907232899996 meters Centerline goodness : 0.767870 Centerline is valid? [False, False] Translation: X:-299.80, Y:15.81, Z:136.22 [[ 9.99991201e-01 3.15335502e-03 -2.76654660e-03 -2.99796492e+02] [-3.16069512e-03 9.99991486e-01 -2.65281376e-03 1.58064246e+01] [ 2.75815779e-03 2.66153463e-03 9.99992654e-01 1.36220631e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.139072329 meters Centerline goodness : 0.767637 Centerline is valid? [False, False] Translation: X:-299.80, Y:15.81, Z:136.22 [[ 9.99990332e-01 3.21669138e-03 -2.99802711e-03 -2.99795974e+02] [-3.22498584e-03 9.99990975e-01 -2.76592374e-03 1.58072628e+01] [ 2.98910293e-03 2.77556559e-03 9.99991681e-01 1.36220782e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.16907232899996 meters Centerline goodness : 0.768955 Centerline is valid? [False, False] Translation: X:-299.80, Y:15.81, Z:136.22 [[ 9.99994933e-01 2.29302554e-03 -2.20828278e-03 -2.99798338e+02] [-2.30096349e-03 9.99990877e-01 -3.59881893e-03 1.58086744e+01] [ 2.20001045e-03 3.60388187e-03 9.99991086e-01 1.36221244e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.199072329 meters Centerline goodness : 0.768723 Centerline is valid? [False, False] Translation: X:-299.80, Y:15.81, Z:136.22 [[ 9.99996354e-01 2.01555131e-03 -1.79685230e-03 -2.99799094e+02] [-2.02207706e-03 9.99991340e-01 -3.63737440e-03 1.58087894e+01] [ 1.78950542e-03 3.64099451e-03 9.99991770e-01 1.36220921e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.22907232899996 meters Centerline goodness : 0.768590 Centerline is valid? [False, False] Translation: X:-299.80, Y:15.81, Z:136.22 [[ 9.99997248e-01 2.02553091e-03 -1.18357099e-03 -2.99800234e+02] [-2.02926106e-03 9.99992952e-01 -3.15895116e-03 1.58070861e+01] [ 1.17716410e-03 3.16134424e-03 9.99994310e-01 1.36220241e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.259072329 meters Centerline goodness : 0.770227 Centerline is valid? [False, False] Translation: X:-299.80, Y:15.80, Z:136.22 [[ 9.99996470e-01 2.45283680e-03 -1.02171052e-03 -2.99800371e+02] [-2.45511754e-03 9.99994484e-01 -2.23703836e-03 1.58044366e+01] [ 1.01621779e-03 2.23953888e-03 9.99996976e-01 1.36219700e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.28907232899996 meters Centerline goodness : 0.769187 Centerline is valid? [False, False] Translation: X:-299.80, Y:15.81, Z:136.22 [[ 9.99995907e-01 2.59276399e-03 -1.20967651e-03 -2.99799932e+02] [-2.59550881e-03 9.99994048e-01 -2.27303449e-03 1.58051563e+01] [ 1.20377586e-03 2.27616491e-03 9.99996685e-01 1.36219840e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.319072329 meters Centerline goodness : 0.769760 Centerline is valid? [False, False] Translation: X:-299.80, Y:15.81, Z:136.22 [[ 9.99996613e-01 2.41936690e-03 -9.59290928e-04 -2.99800963e+02] [-2.42168619e-03 9.99994130e-01 -2.42396090e-03 1.58052414e+01] [ 9.53420846e-04 2.42627580e-03 9.99996602e-01 1.36220343e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.34907232899997 meters Centerline goodness : 0.770022 Centerline is valid? [False, False] Translation: X:-299.80, Y:15.81, Z:136.22 [[ 9.99995077e-01 2.74185894e-03 -1.52556271e-03 -2.99800203e+02] [-2.74558955e-03 9.99993233e-01 -2.44869877e-03 1.58059024e+01] [ 1.51883840e-03 2.45287529e-03 9.99995838e-01 1.36221321e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.37907232899994 meters Centerline goodness : 0.769933 Centerline is valid? [False, False] Translation: X:-299.80, Y:15.81, Z:136.22 [[ 9.99992204e-01 3.20306106e-03 -2.30920524e-03 -2.99798388e+02] [-3.20869727e-03 9.99991872e-01 -2.44119577e-03 1.58069823e+01] [ 2.30136717e-03 2.44858628e-03 9.99994354e-01 1.36221607e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.40907232899997 meters Centerline goodness : 0.771413 Centerline is valid? [False, False] Translation: X:-299.80, Y:15.81, Z:136.22 [[ 9.99988437e-01 3.67105444e-03 -3.10625669e-03 -2.99796595e+02] [-3.67821577e-03 9.99990584e-01 -2.30288805e-03 1.58076134e+01] [ 3.09777342e-03 2.31428691e-03 9.99992524e-01 1.36221894e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.43907232899994 meters Centerline goodness : 0.771448 Centerline is valid? [False, False] Translation: X:-299.80, Y:15.81, Z:136.22 [[ 9.99989357e-01 3.44965487e-03 -3.06377383e-03 -2.99796029e+02] [-3.45758236e-03 9.99990679e-01 -2.58597797e-03 1.58090679e+01] [ 3.05482455e-03 2.59654370e-03 9.99991963e-01 1.36221110e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.46907232899997 meters Centerline goodness : 0.772294 Centerline is valid? [False, False] Translation: X:-299.80, Y:15.81, Z:136.22 [[ 9.99991324e-01 3.30336759e-03 -2.53763250e-03 -2.99797250e+02] [-3.30959795e-03 9.99991510e-01 -2.45492297e-03 1.58083599e+01] [ 2.52950145e-03 2.46330022e-03 9.99993767e-01 1.36220865e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.49907232899994 meters Centerline goodness : 0.772696 Centerline is valid? [False, False] Translation: X:-299.80, Y:15.81, Z:136.22 [[ 9.99993861e-01 3.06266990e-03 -1.70217803e-03 -2.99799552e+02] [-3.06620990e-03 9.99993134e-01 -2.08098477e-03 1.58063120e+01] [ 1.69579298e-03 2.08619123e-03 9.99996386e-01 1.36220913e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.529072329 meters Centerline goodness : 0.772802 Centerline is valid? [False, False] Translation: X:-299.80, Y:15.81, Z:136.22 [[ 9.99996828e-01 2.36253630e-03 -8.72644386e-04 -2.99801594e+02] [-2.36496112e-03 9.99993316e-01 -2.78820293e-03 1.58078707e+01] [ 8.66051323e-04 2.79025785e-03 9.99995732e-01 1.36220869e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.55907232899995 meters Centerline goodness : 0.772209 Centerline is valid? [False, False] Translation: X:-299.80, Y:15.81, Z:136.22 [[ 9.99997895e-01 2.05075503e-03 -6.86059951e-05 -2.99803823e+02] [-2.05092320e-03 9.99994650e-01 -2.54835423e-03 1.58060778e+01] [ 6.33795778e-05 2.54848957e-03 9.99996751e-01 1.36220958e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.589072329 meters Centerline goodness : 0.772478 Centerline is valid? [False, False] Translation: X:-299.81, Y:15.80, Z:136.22 [[ 9.99996593e-01 -2.49471877e-03 7.68922050e-04 -2.99805626e+02] [ 2.49973687e-03 9.99975123e-01 -6.59579024e-03 1.58048658e+01] [-7.52448280e-04 6.59768987e-03 9.99977952e-01 1.36220442e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.61907232899995 meters Centerline goodness : 0.773830 Centerline is valid? [False, False] Translation: X:-299.81, Y:15.81, Z:136.22 [[ 9.99987774e-01 -4.50434289e-03 2.04037302e-03 -2.99809378e+02] [ 4.52025529e-03 9.99958874e-01 -7.86247298e-03 1.58050500e+01] [-2.00487383e-03 7.87159986e-03 9.99967009e-01 1.36220791e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.649072329 meters Centerline goodness : 0.772663 Centerline is valid? [False, False] Translation: X:-299.81, Y:15.80, Z:136.22 [[ 9.99983658e-01 -4.91414979e-03 2.92150489e-03 -2.99811083e+02] [ 4.93694572e-03 9.99957021e-01 -7.84748457e-03 1.58044781e+01] [-2.88281561e-03 7.86177964e-03 9.99964940e-01 1.36219962e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.67907232899995 meters Centerline goodness : 0.771670 Centerline is valid? [False, False] Translation: X:-299.81, Y:15.80, Z:136.22 [[ 9.99976917e-01 -5.45061874e-03 4.05666292e-03 -2.99813721e+02] [ 5.48097525e-03 9.99956778e-01 -7.51000865e-03 1.58020313e+01] [-4.01555339e-03 7.53206976e-03 9.99963571e-01 1.36219342e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.709072329 meters Centerline goodness : 0.772532 Centerline is valid? [False, False] Translation: X:-299.82, Y:15.80, Z:136.22 [[ 9.99972965e-01 -5.64026147e-03 4.71778861e-03 -2.99815380e+02] [ 5.67469654e-03 9.99957123e-01 -7.31772841e-03 1.58008319e+01] [-4.67631243e-03 7.34430259e-03 9.99962096e-01 1.36219170e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.73907232899995 meters Centerline goodness : 0.772758 Centerline is valid? [False, False] Translation: X:-299.82, Y:15.80, Z:136.22 [[ 9.99963146e-01 -6.37118714e-03 5.75451212e-03 -2.99817859e+02] [ 6.41557230e-03 9.99949559e-01 -7.72786346e-03 1.58011373e+01] [-5.70498619e-03 7.76449714e-03 9.99953582e-01 1.36218957e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.769072329 meters Centerline goodness : 0.772154 Centerline is valid? [False, False] Translation: X:-299.82, Y:15.80, Z:136.22 [[ 9.99953252e-01 -6.95621788e-03 6.71604015e-03 -2.99820422e+02] [ 7.00789396e-03 9.99945784e-01 -7.70180182e-03 1.57996571e+01] [-6.66210063e-03 7.74850708e-03 9.99947787e-01 1.36218932e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.79907232899996 meters Centerline goodness : 0.772401 Centerline is valid? [False, False] Translation: X:-299.82, Y:15.80, Z:136.22 [[ 9.99949956e-01 -6.98931802e-03 7.15787095e-03 -2.99821246e+02] [ 7.04311354e-03 9.99946935e-01 -7.51815000e-03 1.57988786e+01] [-7.10494437e-03 7.56818746e-03 9.99946120e-01 1.36218448e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.829072329 meters Centerline goodness : 0.770968 Centerline is valid? [False, False] Translation: X:-299.82, Y:15.80, Z:136.22 [[ 9.99940857e-01 -7.43678096e-03 7.93580955e-03 -2.99823113e+02] [ 7.49738991e-03 9.99942745e-01 -7.63517884e-03 1.57985063e+01] [-7.87857404e-03 7.69422513e-03 9.99939362e-01 1.36218206e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.85907232899996 meters Centerline goodness : 0.774447 Centerline is valid? [False, False] Translation: X:-299.82, Y:15.80, Z:136.22 [[ 9.99934972e-01 -7.74168980e-03 8.37367460e-03 -2.99823909e+02] [ 7.80632350e-03 9.99939778e-01 -7.71373224e-03 1.57986547e+01] [-8.31345300e-03 7.77859824e-03 9.99935188e-01 1.36217772e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.889072329 meters Centerline goodness : 0.774975 Centerline is valid? [False, False] Translation: X:-299.82, Y:15.80, Z:136.22 [[ 9.99932379e-01 -7.93154383e-03 8.50463130e-03 -2.99824021e+02] [ 7.99975823e-03 9.99935863e-01 -8.01706064e-03 1.58000163e+01] [-8.44049817e-03 8.08455351e-03 9.99931697e-01 1.36217562e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.91907232899996 meters Centerline goodness : 0.774676 Centerline is valid? [False, False] Translation: X:-299.83, Y:15.80, Z:136.22 [[ 9.99922315e-01 -8.34554302e-03 9.25830591e-03 -2.99825772e+02] [ 8.42054438e-03 9.99931806e-01 -8.09179657e-03 1.57996672e+01] [-9.19014412e-03 8.16912794e-03 9.99924400e-01 1.36217270e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.949072329 meters Centerline goodness : 0.773947 Centerline is valid? [False, False] Translation: X:-299.83, Y:15.80, Z:136.22 [[ 9.99908574e-01 -8.90839216e-03 1.01727503e-02 -2.99827912e+02] [ 8.99306818e-03 9.99925043e-01 -8.30862477e-03 1.57996013e+01] [-1.00979713e-02 8.39934939e-03 9.99913737e-01 1.36216984e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.97907232899996 meters Centerline goodness : 0.773242 Centerline is valid? [False, False] Translation: X:-299.83, Y:15.80, Z:136.22 [[ 9.99882443e-01 -1.04910404e-02 1.11820411e-02 -2.99831286e+02] [ 1.05916065e-02 9.99903651e-01 -8.97257815e-03 1.57970454e+01] [-1.10868320e-02 9.08995914e-03 9.99897222e-01 1.36217551e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.009072329 meters Centerline goodness : 0.773871 Centerline is valid? [False, False] Translation: X:-299.83, Y:15.80, Z:136.22 [[ 9.99868975e-01 -1.10395242e-02 1.18389700e-02 -2.99833803e+02] [ 1.11502429e-02 9.99894332e-01 -9.32719080e-03 1.57967854e+01] [-1.17347513e-02 9.45797610e-03 9.99886415e-01 1.36218649e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.03907232899996 meters Centerline goodness : 0.774097 Centerline is valid? [False, False] Translation: X:-299.83, Y:15.80, Z:136.22 [[ 9.99860355e-01 -1.13486833e-02 1.22669592e-02 -2.99834862e+02] [ 1.14667933e-02 9.99888158e-01 -9.60123700e-03 1.57974666e+01] [-1.21566258e-02 9.74055892e-03 9.99878662e-01 1.36218628e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.069072329 meters Centerline goodness : 0.773917 Centerline is valid? [False, False] Translation: X:-299.83, Y:15.80, Z:136.22 [[ 9.99868982e-01 -1.09794667e-02 1.18940982e-02 -2.99833368e+02] [ 1.10905032e-02 9.99895156e-01 -9.31004876e-03 1.57976704e+01] [-1.17906318e-02 9.44074051e-03 9.99885920e-01 1.36217915e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.09907232899997 meters Centerline goodness : 0.774215 Centerline is valid? [False, False] Translation: X:-299.83, Y:15.80, Z:136.22 [[ 9.99923475e-01 -5.40220201e-03 1.11292872e-02 -2.99829759e+02] [ 5.44337734e-03 9.99978440e-01 -3.67276405e-03 1.57964974e+01] [-1.11092062e-02 3.73306390e-03 9.99931323e-01 1.36215659e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.12907232899994 meters Centerline goodness : 0.774971 Centerline is valid? [False, False] Translation: X:-299.83, Y:15.80, Z:136.21 [[ 9.99936582e-01 -4.54320712e-03 1.03049319e-02 -2.99827063e+02] [ 4.57352088e-03 9.99985278e-01 -2.92001911e-03 1.57958996e+01] [-1.02915139e-02 2.96696375e-03 9.99942639e-01 1.36214914e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.15907232899997 meters Centerline goodness : 0.775452 Centerline is valid? [False, False] Translation: X:-299.82, Y:15.80, Z:136.21 [[ 9.99948938e-01 -3.58638532e-03 9.44770841e-03 -2.99824132e+02] [ 3.61044093e-03 9.99990281e-01 -2.53036082e-03 1.57973665e+01] [-9.43854174e-03 2.56434200e-03 9.99952168e-01 1.36214230e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.18907232899994 meters Centerline goodness : 0.775639 Centerline is valid? [False, False] Translation: X:-299.82, Y:15.80, Z:136.22 [[ 9.99957673e-01 -3.06287699e-03 8.67591240e-03 -2.99822906e+02] [ 3.08402562e-03 9.99992303e-01 -2.42529695e-03 1.57979995e+01] [-8.66841724e-03 2.45195103e-03 9.99959422e-01 1.36215252e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.21907232899997 meters Centerline goodness : 0.775934 Centerline is valid? [False, False] Translation: X:-299.82, Y:15.80, Z:136.22 [[ 9.99956984e-01 -3.65235332e-03 8.52587855e-03 -2.99823950e+02] [ 3.68507855e-03 9.99985892e-01 -3.82579179e-03 1.58018748e+01] [-8.51178512e-03 3.85704575e-03 9.99956335e-01 1.36217379e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.24907232899994 meters Centerline goodness : 0.774840 Centerline is valid? [False, False] Translation: X:-299.82, Y:15.80, Z:136.22 [[ 9.99956378e-01 -3.83438191e-03 8.51705367e-03 -2.99824113e+02] [ 3.87057368e-03 9.99983533e-01 -4.23691937e-03 1.58033992e+01] [-8.50066746e-03 4.26970043e-03 9.99954753e-01 1.36217684e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.279072329 meters Centerline goodness : 0.774834 Centerline is valid? [False, False] Translation: X:-299.82, Y:15.80, Z:136.22 [[ 9.99964505e-01 -2.99687683e-03 7.87442430e-03 -2.99821929e+02] [ 3.02418065e-03 9.99989449e-01 -3.45778852e-03 1.58027821e+01] [-7.86397865e-03 3.48147947e-03 9.99963018e-01 1.36217068e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.30907232899995 meters Centerline goodness : 0.777530 Centerline is valid? [False, False] Translation: X:-299.82, Y:15.80, Z:136.22 [[ 9.99964770e-01 -2.98706175e-03 7.84451358e-03 -2.99821986e+02] [ 3.01433066e-03 9.99989448e-01 -3.46665700e-03 1.58030159e+01] [-7.83407568e-03 3.49018083e-03 9.99963222e-01 1.36217269e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.339072329 meters Centerline goodness : 0.776055 Centerline is valid? [False, False] Translation: X:-299.82, Y:15.80, Z:136.22 [[ 9.99959673e-01 -3.37118021e-03 8.32387260e-03 -2.99823153e+02] [ 3.40348798e-03 9.99986719e-01 -3.87022954e-03 1.58040444e+01] [-8.31071481e-03 3.89840367e-03 9.99957866e-01 1.36217237e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.36907232899995 meters Centerline goodness : 0.774583 Centerline is valid? [False, False] Translation: X:-299.82, Y:15.80, Z:136.22 [[ 9.99953284e-01 -3.59063176e-03 8.97426916e-03 -2.99824721e+02] [ 3.62354733e-03 9.99986758e-01 -3.65420609e-03 1.58025541e+01] [-8.96102942e-03 3.68655407e-03 9.99953054e-01 1.36216940e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.399072329 meters Centerline goodness : 0.775879 Centerline is valid? [False, False] Translation: X:-299.83, Y:15.80, Z:136.22 [[ 9.99952227e-01 -8.05666132e-04 9.74134367e-03 -2.99827699e+02] [ 8.13299356e-04 9.99999365e-01 -7.79654426e-04 1.58040155e+01] [-9.74070935e-03 7.87539808e-04 9.99952248e-01 1.36217973e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.42907232899995 meters Centerline goodness : 0.775594 Centerline is valid? [False, False] Translation: X:-299.83, Y:15.81, Z:136.22 [[ 9.99954697e-01 -9.29002211e-04 9.47312344e-03 -2.99826492e+02] [ 9.40508266e-04 9.99998825e-01 -1.21021743e-03 1.58060140e+01] [-9.47198802e-03 1.21907216e-03 9.99954397e-01 1.36217311e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.459072329 meters Centerline goodness : 0.775658 Centerline is valid? [False, False] Translation: X:-299.82, Y:15.81, Z:136.22 [[ 9.99964748e-01 5.91528450e-05 8.39641808e-03 -2.99823558e+02] [-5.39609680e-05 9.99999807e-01 -6.18569468e-04 1.58062114e+01] [-8.39645305e-03 6.18094583e-04 9.99964558e-01 1.36217149e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.48907232899995 meters Centerline goodness : 0.776693 Centerline is valid? [False, False] Translation: X:-299.82, Y:15.81, Z:136.22 [[ 9.99971349e-01 5.21837446e-04 7.55176451e-03 -2.99821770e+02] [-5.17861576e-04 9.99999726e-01 -5.28428034e-04 1.58068786e+01] [-7.55203819e-03 5.24502125e-04 9.99971345e-01 1.36217655e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.519072329 meters Centerline goodness : 0.776246 Centerline is valid? [False, False] Translation: X:-299.82, Y:15.81, Z:136.22 [[ 9.99969445e-01 3.27488354e-05 7.81709846e-03 -2.99822883e+02] [-2.29538521e-05 9.99999215e-01 -1.25310676e-03 1.58087488e+01] [-7.81713336e-03 1.25288904e-03 9.99968661e-01 1.36218282e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.54907232899996 meters Centerline goodness : 0.777912 Centerline is valid? [False, False] Translation: X:-299.82, Y:15.81, Z:136.22 [[ 9.99973178e-01 2.06780832e-04 7.32128024e-03 -2.99822286e+02] [-1.95727263e-04 9.99998840e-01 -1.51047072e-03 1.58099447e+01] [-7.32158408e-03 1.50899723e-03 9.99972058e-01 1.36219182e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.579072329 meters Centerline goodness : 0.777530 Centerline is valid? [False, False] Translation: X:-299.82, Y:15.81, Z:136.22 [[ 9.99975613e-01 1.04649648e-04 6.98302892e-03 -2.99821865e+02] [-9.06430513e-05 9.99997984e-01 -2.00609171e-03 1.58116990e+01] [-6.98322478e-03 2.00540983e-03 9.99973606e-01 1.36219809e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.60907232899996 meters Centerline goodness : 0.779683 Centerline is valid? [False, False] Translation: X:-299.82, Y:15.81, Z:136.22 [[ 9.99977534e-01 1.66474894e-04 6.70106737e-03 -2.99821414e+02] [-1.52497145e-04 9.99997812e-01 -2.08635573e-03 1.58122613e+01] [-6.70140003e-03 2.08528696e-03 9.99975371e-01 1.36220187e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.639072329 meters Centerline goodness : 0.778299 Centerline is valid? [False, False] Translation: X:-299.82, Y:15.81, Z:136.22 [[ 9.99982116e-01 1.73407555e-03 5.72377486e-03 -2.99818356e+02] [-1.72938996e-03 9.99998166e-01 -8.23467840e-04 1.58113227e+01] [-5.72519232e-03 8.13554474e-04 9.99983280e-01 1.36219507e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.66907232899996 meters Centerline goodness : 0.779062 Centerline is valid? [False, False] Translation: X:-299.82, Y:15.81, Z:136.22 [[ 9.99981646e-01 1.57351604e-03 5.85083541e-03 -2.99818683e+02] [-1.56755969e-03 9.99998249e-01 -1.02248173e-03 1.58117409e+01] [-5.85243406e-03 1.01329143e-03 9.99982361e-01 1.36219424e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.699072329 meters Centerline goodness : 0.778149 Centerline is valid? [False, False] Translation: X:-299.82, Y:15.81, Z:136.22 [[ 9.99976775e-01 1.78680116e-04 6.81300588e-03 -2.99821748e+02] [-1.66530441e-04 9.99998395e-01 -1.78383156e-03 1.58109705e+01] [-6.81331368e-03 1.78265556e-03 9.99975200e-01 1.36219902e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.72907232899996 meters Centerline goodness : 0.778678 Centerline is valid? [False, False] Translation: X:-299.82, Y:15.81, Z:136.22 [[ 9.99971359e-01 -1.99095445e-04 7.56585296e-03 -2.99823794e+02] [ 2.12255263e-04 9.99998466e-01 -1.73860687e-03 1.58096859e+01] [-7.56549520e-03 1.74016296e-03 9.99969867e-01 1.36219935e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.759072329 meters Centerline goodness : 0.778378 Centerline is valid? [False, False] Translation: X:-299.83, Y:15.81, Z:136.22 [[ 9.99966507e-01 -4.44705551e-04 8.17233106e-03 -2.99825464e+02] [ 4.59163407e-04 9.99998333e-01 -1.76733156e-03 1.58091865e+01] [-8.17153149e-03 1.77102481e-03 9.99965044e-01 1.36220037e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.78907232899996 meters Centerline goodness : 0.778063 Centerline is valid? [False, False] Translation: X:-299.83, Y:15.81, Z:136.22 [[ 9.99957847e-01 -1.07911783e-03 9.11810337e-03 -2.99827683e+02] [ 1.09814841e-03 9.99997229e-01 -2.08237109e-03 1.58092128e+01] [-9.11583098e-03 2.09229634e-03 9.99956261e-01 1.36219682e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.819072329 meters Centerline goodness : 0.778672 Centerline is valid? [False, False] Translation: X:-299.83, Y:15.81, Z:136.22 [[ 9.99956115e-01 -9.04742177e-04 9.32471555e-03 -2.99827855e+02] [ 9.19583964e-04 9.99998317e-01 -1.58749647e-03 1.58076404e+01] [-9.32326358e-03 1.59600166e-03 9.99955264e-01 1.36219100e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.84907232899997 meters Centerline goodness : 0.779279 Centerline is valid? [False, False] Translation: X:-299.83, Y:15.81, Z:136.22 [[ 9.99953437e-01 -9.79117792e-04 9.60028605e-03 -2.99827572e+02] [ 9.92035071e-04 9.99998609e-01 -1.34084011e-03 1.58069463e+01] [-9.59895985e-03 1.35030149e-03 9.99953017e-01 1.36217634e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.87907232899994 meters Centerline goodness : 0.778796 Centerline is valid? [False, False] Translation: X:-299.83, Y:15.81, Z:136.22 [[ 9.99958276e-01 -7.09067859e-04 9.10732172e-03 -2.99826081e+02] [ 7.20296862e-04 9.99998984e-01 -1.22974346e-03 1.58073865e+01] [-9.10644050e-03 1.23625212e-03 9.99957771e-01 1.36217313e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.90907232899997 meters Centerline goodness : 0.778796 Centerline is valid? [False, False] Translation: X:-299.83, Y:15.81, Z:136.22 [[ 9.99958276e-01 -7.09067859e-04 9.10732172e-03 -2.99826081e+02] [ 7.20296862e-04 9.99998984e-01 -1.22974346e-03 1.58073865e+01] [-9.10644050e-03 1.23625212e-03 9.99957771e-01 1.36217313e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.93907232899994 meters Centerline goodness : 0.779290 Centerline is valid? [False, False] Translation: X:-299.83, Y:15.81, Z:136.22 [[ 9.99961788e-01 -6.68149101e-04 8.71642589e-03 -2.99825276e+02] [ 6.80673974e-04 9.99998740e-01 -1.43404012e-03 1.58085156e+01] [-8.71545676e-03 1.43991837e-03 9.99960983e-01 1.36217616e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.96907232899997 meters Centerline goodness : 0.778152 Centerline is valid? [False, False] Translation: X:-299.83, Y:15.81, Z:136.22 [[ 9.99956554e-01 -1.36587843e-03 9.22090833e-03 -2.99826629e+02] [ 1.38702245e-03 9.99996423e-01 -2.28704601e-03 1.58106902e+01] [-9.21775152e-03 2.29973626e-03 9.99954871e-01 1.36217766e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.99907232899994 meters Centerline goodness : 0.777271 Centerline is valid? [False, False] Translation: X:-299.83, Y:15.81, Z:136.22 [[ 9.99955233e-01 -1.29652859e-03 9.37288603e-03 -2.99826988e+02] [ 1.31592943e-03 9.99997004e-01 -2.06401921e-03 1.58100408e+01] [-9.37018189e-03 2.07626086e-03 9.99953943e-01 1.36217717e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.029072329 meters Centerline goodness : 0.777403 Centerline is valid? [False, False] Translation: X:-299.83, Y:15.81, Z:136.22 [[ 9.99956007e-01 -1.16944642e-03 9.30676090e-03 -2.99826860e+02] [ 1.18771901e-03 9.99997378e-01 -1.95808280e-03 1.58099793e+01] [-9.30444662e-03 1.96905048e-03 9.99954774e-01 1.36217752e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.05907232899995 meters Centerline goodness : 0.776479 Centerline is valid? [False, False] Translation: X:-299.83, Y:15.81, Z:136.22 [[ 9.99952132e-01 -1.32419552e-03 9.69429153e-03 -2.99827849e+02] [ 1.34363218e-03 9.99997100e-01 -1.99872073e-03 1.58098482e+01] [-9.69161672e-03 2.01165061e-03 9.99951012e-01 1.36217724e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.089072329 meters Centerline goodness : 0.777213 Centerline is valid? [False, False] Translation: X:-299.83, Y:15.81, Z:136.22 [[ 9.99945817e-01 -1.72385059e-03 1.02660304e-02 -2.99829756e+02] [ 1.74731354e-03 9.99995881e-01 -2.27696342e-03 1.58099862e+01] [-1.02620630e-02 2.29477802e-03 9.99944711e-01 1.36218352e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.11907232899995 meters Centerline goodness : 0.776790 Centerline is valid? [False, False] Translation: X:-299.83, Y:15.81, Z:136.22 [[ 9.99938096e-01 -2.03196653e-03 1.09396015e-02 -2.99831611e+02] [ 2.05770456e-03 9.99995140e-01 -2.34199830e-03 1.58095317e+01] [-1.09347895e-02 2.36436379e-03 9.99937418e-01 1.36218473e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.149072329 meters Centerline goodness : 0.778080 Centerline is valid? [False, False] Translation: X:-299.83, Y:15.81, Z:136.22 [[ 9.99932504e-01 -2.19265747e-03 1.14096692e-02 -2.99832820e+02] [ 2.21919057e-03 9.99994862e-01 -2.31335232e-03 1.58090303e+01] [-1.14045382e-02 2.33851640e-03 9.99932232e-01 1.36218435e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.17907232899995 meters Centerline goodness : 0.776098 Centerline is valid? [False, False] Translation: X:-299.83, Y:15.81, Z:136.22 [[ 9.99936071e-01 -1.92594876e-03 1.11419931e-02 -2.99832227e+02] [ 1.94871559e-03 9.99996035e-01 -2.03284001e-03 1.58085934e+01] [-1.11380337e-02 2.05442263e-03 9.99935860e-01 1.36218506e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.209072329 meters Centerline goodness : 0.777148 Centerline is valid? [False, False] Translation: X:-299.83, Y:15.81, Z:136.22 [[ 9.99927021e-01 -2.61852959e-03 1.17938746e-02 -2.99833765e+02] [ 2.65089194e-03 9.99992762e-01 -2.72919982e-03 1.58099942e+01] [-1.17866428e-02 2.76026494e-03 9.99926725e-01 1.36218400e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.23907232899995 meters Centerline goodness : 0.778421 Centerline is valid? [False, False] Translation: X:-299.84, Y:15.81, Z:136.22 [[ 9.99916923e-01 -3.17665326e-03 1.24922023e-02 -2.99835425e+02] [ 3.21305766e-03 9.99990647e-01 -2.89518071e-03 1.58096033e+01] [-1.24828885e-02 2.93507836e-03 9.99917778e-01 1.36218162e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.269072329 meters Centerline goodness : 0.777896 Centerline is valid? [False, False] Translation: X:-299.84, Y:15.81, Z:136.22 [[ 9.99910929e-01 -3.30183465e-03 1.29318154e-02 -2.99835648e+02] [ 3.33663122e-03 9.99990869e-01 -2.67012219e-03 1.58088954e+01] [-1.29228811e-02 2.71303306e-03 9.99912815e-01 1.36216880e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.29907232899996 meters Centerline goodness : 0.778022 Centerline is valid? [False, False] Translation: X:-299.84, Y:15.81, Z:136.22 [[ 9.99911514e-01 -3.19720198e-03 1.29128877e-02 -2.99835115e+02] [ 3.22976416e-03 9.99991655e-01 -2.50161502e-03 1.58087949e+01] [-1.29047817e-02 2.54309925e-03 9.99913496e-01 1.36216186e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.329072329 meters Centerline goodness : 0.777894 Centerline is valid? [False, False] Translation: X:-299.83, Y:15.81, Z:136.22 [[ 9.99916064e-01 -2.85445762e-03 1.26378880e-02 -2.99834260e+02] [ 2.88050702e-03 9.99993763e-01 -2.04349218e-03 1.58078009e+01] [-1.26319761e-02 2.07972418e-03 9.99918051e-01 1.36215887e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.35907232899996 meters Centerline goodness : 0.777143 Centerline is valid? [False, False] Translation: X:-299.83, Y:15.81, Z:136.22 [[ 9.99917682e-01 -2.74103587e-03 1.25346074e-02 -2.99833810e+02] [ 2.76639732e-03 9.99994161e-01 -2.00642334e-03 1.58081959e+01] [-1.25290346e-02 2.04093388e-03 9.99919426e-01 1.36215694e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.389072329 meters Centerline goodness : 0.778110 Centerline is valid? [False, False] Translation: X:-299.84, Y:15.81, Z:136.22 [[ 9.99910127e-01 -3.29605940e-03 1.29951298e-02 -2.99835077e+02] [ 3.33195597e-03 9.99990691e-01 -2.74162786e-03 1.58100981e+01] [-1.29859722e-02 2.78468067e-03 9.99911801e-01 1.36215900e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.41907232899996 meters Centerline goodness : 0.778693 Centerline is valid? [False, False] Translation: X:-299.84, Y:15.81, Z:136.22 [[ 9.99902486e-01 -3.58985241e-03 1.34955771e-02 -2.99836604e+02] [ 3.62844078e-03 9.99989396e-01 -2.83593781e-03 1.58098346e+01] [-1.34852534e-02 2.88462917e-03 9.99904909e-01 1.36216251e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.449072329 meters Centerline goodness : 0.778449 Centerline is valid? [False, False] Translation: X:-299.84, Y:15.81, Z:136.22 [[ 9.99891332e-01 -4.08663276e-03 1.41641417e-02 -2.99838362e+02] [ 4.13468075e-03 9.99985792e-01 -3.36460532e-03 1.58109088e+01] [-1.41501906e-02 3.42280390e-03 9.99894023e-01 1.36216349e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.47907232899996 meters Centerline goodness : 0.777583 Centerline is valid? [False, False] Translation: X:-299.84, Y:15.81, Z:136.22 [[ 9.99872990e-01 -5.32842448e-03 1.50203654e-02 -2.99841715e+02] [ 5.39305268e-03 9.99976360e-01 -4.26548842e-03 1.58109633e+01] [-1.49972820e-02 4.34595229e-03 9.99878090e-01 1.36217750e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.509072329 meters Centerline goodness : 0.776415 Centerline is valid? [False, False] Translation: X:-299.84, Y:15.81, Z:136.22 [[ 9.99864518e-01 -5.53680730e-03 1.55012942e-02 -2.99842865e+02] [ 5.60425309e-03 9.99975004e-01 -4.31092458e-03 1.58107892e+01] [-1.54770380e-02 4.39721370e-03 9.99870555e-01 1.36217627e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.53907232899996 meters Centerline goodness : 0.778005 Centerline is valid? [False, False] Translation: X:-299.84, Y:15.81, Z:136.22 [[ 9.99835345e-01 -9.16596369e-03 1.56610255e-02 -2.99842031e+02] [ 9.28271612e-03 9.99929543e-01 -7.39860823e-03 1.58080685e+01] [-1.55921067e-02 7.54276687e-03 9.99849985e-01 1.36215988e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.569072329 meters Centerline goodness : 0.777413 Centerline is valid? [False, False] Translation: X:-299.84, Y:15.81, Z:136.22 [[ 9.99822012e-01 -9.41243892e-03 1.63508378e-02 -2.99843373e+02] [ 9.53124428e-03 9.99928631e-01 -7.20334156e-03 1.58070107e+01] [-1.62818698e-02 7.35790328e-03 9.99840368e-01 1.36215323e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.59907232899997 meters Centerline goodness : 0.777622 Centerline is valid? [False, False] Translation: X:-299.85, Y:15.81, Z:136.21 [[ 9.99793458e-01 -1.04495265e-02 1.74312540e-02 -2.99845871e+02] [ 1.05842998e-02 9.99914664e-01 -7.65744879e-03 1.58067065e+01] [-1.73497498e-02 7.84036483e-03 9.99818741e-01 1.36214913e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.62907232899994 meters Centerline goodness : 0.777796 Centerline is valid? [False, False] Translation: X:-299.85, Y:15.81, Z:136.21 [[ 9.99782177e-01 -1.06065289e-02 1.79750029e-02 -2.99847367e+02] [ 1.07440901e-02 9.99913598e-01 -7.57370392e-03 1.58059233e+01] [-1.78931192e-02 7.76517924e-03 9.99809751e-01 1.36214995e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.65907232899997 meters Centerline goodness : 0.775432 Centerline is valid? [False, False] Translation: X:-299.85, Y:15.81, Z:136.21 [[ 9.99768949e-01 -1.08148142e-02 1.85765622e-02 -2.99848452e+02] [ 1.09578996e-02 9.99910941e-01 -7.61802511e-03 1.58059603e+01] [-1.84925203e-02 7.81982506e-03 9.99798418e-01 1.36214374e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.68907232899994 meters Centerline goodness : 0.774295 Centerline is valid? [False, False] Translation: X:-299.85, Y:15.81, Z:136.21 [[ 9.99735661e-01 -1.19022687e-02 1.96708750e-02 -2.99851001e+02] [ 1.20673355e-02 9.99892788e-01 -8.29414054e-03 1.58064595e+01] [-1.95700470e-02 8.52932313e-03 9.99772106e-01 1.36214014e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.71907232899997 meters Centerline goodness : 0.776002 Centerline is valid? [False, False] Translation: X:-299.85, Y:15.81, Z:136.21 [[ 9.99738121e-01 -1.16095970e-02 1.97207403e-02 -2.99850862e+02] [ 1.17647317e-02 9.99900613e-01 -7.76886014e-03 1.58051754e+01] [-1.96285870e-02 7.99883485e-03 9.99775343e-01 1.36213576e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.74907232899994 meters Centerline goodness : 0.775915 Centerline is valid? [False, False] Translation: X:-299.85, Y:15.81, Z:136.21 [[ 9.99720047e-01 -1.19949649e-02 2.03948171e-02 -2.99852364e+02] [ 1.21592998e-02 9.99894446e-01 -7.95285302e-03 1.58053577e+01] [-2.02972702e-02 8.19861329e-03 9.99760373e-01 1.36213324e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.779072329 meters Centerline goodness : 0.774645 Centerline is valid? [False, False] Translation: X:-299.85, Y:15.80, Z:136.21 [[ 9.99659303e-01 -1.58340495e-02 2.07499781e-02 -2.99852841e+02] [ 1.60723474e-02 9.99806203e-01 -1.13682379e-02 1.58030127e+01] [-2.05659516e-02 1.16978656e-02 9.99720062e-01 1.36212896e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.80907232899995 meters Centerline goodness : 0.775464 Centerline is valid? [False, False] Translation: X:-299.85, Y:15.80, Z:136.21 [[ 9.99652162e-01 -1.58656361e-02 2.10674250e-02 -2.99853440e+02] [ 1.61059733e-02 9.99806574e-01 -1.12877452e-02 1.58028420e+01] [-2.08842628e-02 1.16231303e-02 9.99714334e-01 1.36212622e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.839072329 meters Centerline goodness : 0.775695 Centerline is valid? [False, False] Translation: X:-299.85, Y:15.80, Z:136.21 [[ 9.99642332e-01 -1.59988471e-02 2.14299865e-02 -2.99854253e+02] [ 1.62437796e-02 9.99804154e-01 -1.13045290e-02 1.58027594e+01] [-2.12449301e-02 1.16485897e-02 9.99706439e-01 1.36212455e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.86907232899995 meters Centerline goodness : 0.774921 Centerline is valid? [False, False] Translation: X:-299.86, Y:15.80, Z:136.21 [[ 9.99620698e-01 -1.64347150e-02 2.20988618e-02 -2.99855840e+02] [ 1.66941391e-02 9.99793277e-01 -1.16064558e-02 1.58032672e+01] [-2.19035447e-02 1.19709749e-02 9.99688417e-01 1.36212316e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.899072329 meters Centerline goodness : 0.775369 Centerline is valid? [False, False] Translation: X:-299.86, Y:15.80, Z:136.21 [[ 9.99619600e-01 -1.63892690e-02 2.21821540e-02 -2.99855526e+02] [ 1.66461779e-02 9.99795913e-01 -1.14471111e-02 1.58031619e+01] [-2.19900171e-02 1.18120047e-02 9.99688409e-01 1.36211590e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.92907232899995 meters Centerline goodness : 0.775650 Centerline is valid? [False, False] Translation: X:-299.86, Y:15.80, Z:136.21 [[ 9.99622368e-01 -1.62264201e-02 2.21771325e-02 -2.99855469e+02] [ 1.64767297e-02 9.99802066e-01 -1.11510914e-02 1.58024223e+01] [-2.19918006e-02 1.15122870e-02 9.99691867e-01 1.36211489e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.959072329 meters Centerline goodness : 0.775817 Centerline is valid? [False, False] Translation: X:-299.86, Y:15.80, Z:136.21 [[ 9.99631318e-01 -1.61940130e-02 2.17940794e-02 -2.99855323e+02] [ 1.64494872e-02 9.99797472e-01 -1.15944022e-02 1.58043439e+01] [-2.16019056e-02 1.19486289e-02 9.99695248e-01 1.36212803e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.98907232899995 meters Centerline goodness : 0.774194 Centerline is valid? [False, False] Translation: X:-299.86, Y:15.81, Z:136.21 [[ 9.99630876e-01 -1.62683399e-02 2.17589811e-02 -2.99855540e+02] [ 1.65281494e-02 9.99793600e-01 -1.18142653e-02 1.58051385e+01] [-2.15622916e-02 1.21695400e-02 9.99693438e-01 1.36213283e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.019072329 meters Centerline goodness : 0.774998 Centerline is valid? [False, False] Translation: X:-299.85, Y:15.80, Z:136.21 [[ 9.99655775e-01 -1.55704341e-02 2.11161725e-02 -2.99853921e+02] [ 1.58093747e-02 9.99812337e-01 -1.11961869e-02 1.58042042e+01] [-2.09378803e-02 1.15261664e-02 9.99714336e-01 1.36213214e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.04907232899996 meters Centerline goodness : 0.773488 Centerline is valid? [False, False] Translation: X:-299.85, Y:15.80, Z:136.21 [[ 9.99690142e-01 -1.44366284e-02 2.02781795e-02 -2.99851497e+02] [ 1.46429493e-02 9.99842146e-01 -1.00631607e-02 1.58025413e+01] [-2.01297004e-02 1.03569749e-02 9.99743731e-01 1.36212744e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.079072329 meters Centerline goodness : 0.773396 Centerline is valid? [False, False] Translation: X:-299.84, Y:15.80, Z:136.22 [[ 9.99852191e-01 -6.02657726e-03 1.61020411e-02 -2.99841261e+02] [ 6.12373835e-03 9.99963300e-01 -5.99160825e-03 1.58029545e+01] [-1.60653413e-02 6.08932732e-03 9.99852402e-01 1.36215462e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.10907232899996 meters Centerline goodness : 0.773369 Centerline is valid? [False, False] Translation: X:-299.84, Y:15.81, Z:136.22 [[ 9.99872063e-01 -2.41119933e-03 1.58127482e-02 -2.99841032e+02] [ 2.45893394e-03 9.99992477e-01 -2.99999520e-03 1.58069248e+01] [-1.58053957e-02 3.03849390e-03 9.99870470e-01 1.36216146e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.139072329 meters Centerline goodness : 0.772792 Centerline is valid? [False, False] Translation: X:-299.84, Y:15.81, Z:136.22 [[ 9.99879181e-01 1.19340818e-03 1.54983809e-02 -2.99840632e+02] [-1.19237488e-03 9.99999286e-01 -7.59118107e-05 1.58110760e+01] [-1.54984604e-02 5.74227590e-05 9.99879890e-01 1.36216770e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.16907232899996 meters Centerline goodness : 0.774112 Centerline is valid? [False, False] Translation: X:-299.83, Y:15.81, Z:136.22 [[ 9.99900930e-01 9.15122857e-03 1.06951331e-02 -2.99830050e+02] [-9.16959390e-03 9.99956565e-01 1.66939271e-03 1.58141245e+01] [-1.06793916e-02 -1.76729735e-03 9.99941412e-01 1.36222741e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.199072329 meters Centerline goodness : 0.773314 Centerline is valid? [False, False] Translation: X:-299.83, Y:15.82, Z:136.22 [[ 9.99861390e-01 1.31390862e-02 1.02256840e-02 -2.99829183e+02] [-1.31903948e-02 9.99900669e-01 4.96645321e-03 1.58175493e+01] [-1.01594136e-02 -5.10064562e-03 9.99935383e-01 1.36223446e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.22907232899996 meters Centerline goodness : 0.771639 Centerline is valid? [False, False] Translation: X:-299.82, Y:15.82, Z:136.23 [[ 9.99779181e-01 2.01017155e-02 6.12461655e-03 -2.99821060e+02] [-2.01319934e-02 9.99785212e-01 4.92274655e-03 1.58234197e+01] [-6.02434540e-03 -5.04496025e-03 9.99969127e-01 1.36231301e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.259072329 meters Centerline goodness : 0.770940 Centerline is valid? [False, False] Translation: X:-299.82, Y:15.83, Z:136.23 [[ 9.99766476e-01 2.10302338e-02 4.97229308e-03 -2.99819047e+02] [-2.10528968e-02 9.99768008e-01 4.55029574e-03 1.58265488e+01] [-4.87544577e-03 -4.65391430e-03 9.99977285e-01 1.36232838e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.28907232899996 meters Centerline goodness : 0.770183 Centerline is valid? [False, False] Translation: X:-299.82, Y:15.83, Z:136.23 [[ 9.99776460e-01 2.06997036e-02 4.30732848e-03 -2.99818307e+02] [-2.07146597e-02 9.99779451e-01 3.45708369e-03 1.58302733e+01] [-4.23481789e-03 -3.54553574e-03 9.99984748e-01 1.36234256e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.319072329 meters Centerline goodness : 0.772466 Centerline is valid? [False, False] Translation: X:-299.82, Y:15.83, Z:136.23 [[ 9.99745358e-01 2.23531027e-02 3.09172283e-03 -2.99815342e+02] [-2.23661046e-02 9.99740870e-01 4.23676696e-03 1.58312768e+01] [-2.99621679e-03 -4.30483789e-03 9.99986245e-01 1.36234633e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.34907232899997 meters Centerline goodness : 0.773241 Centerline is valid? [False, False] Translation: X:-299.81, Y:15.83, Z:136.23 [[ 9.99650506e-01 2.62945402e-02 2.73173924e-03 -2.99814295e+02] [-2.63146892e-02 9.99624649e-01 7.62219552e-03 1.58344864e+01] [-2.53029175e-03 -7.69141648e-03 9.99967219e-01 1.36234941e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.37907232899994 meters Centerline goodness : 0.772520 Centerline is valid? [False, False] Translation: X:-299.81, Y:15.84, Z:136.24 [[ 9.99645328e-01 2.65489626e-02 2.09084380e-03 -2.99812884e+02] [-2.65641266e-02 9.99618270e-01 7.59356738e-03 1.58352422e+01] [-1.88844433e-03 -7.64641559e-03 9.99968983e-01 1.36235248e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.40907232899997 meters Centerline goodness : 0.773021 Centerline is valid? [False, False] Translation: X:-299.81, Y:15.84, Z:136.24 [[ 9.99626575e-01 2.73059038e-02 1.04807935e-03 -2.99810862e+02] [-2.73131642e-02 9.99597383e-01 7.68525771e-03 1.58363674e+01] [-8.37804470e-04 -7.71101420e-03 9.99969919e-01 1.36236159e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.43907232899994 meters Centerline goodness : 0.772001 Centerline is valid? [False, False] Translation: X:-299.81, Y:15.84, Z:136.24 [[ 9.99629099e-01 2.72236498e-02 7.33185902e-04 -2.99810612e+02] [-2.72282734e-02 9.99602704e-01 7.28388253e-03 1.58376531e+01] [-5.34600743e-04 -7.30114431e-03 9.99973203e-01 1.36236898e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.46907232899997 meters Centerline goodness : 0.773142 Centerline is valid? [False, False] Translation: X:-299.81, Y:15.84, Z:136.24 [[ 9.99713776e-01 2.39190702e-02 -4.94578648e-04 -2.99808387e+02] [-2.39171283e-02 9.99707401e-01 3.61700147e-03 1.58374609e+01] [ 5.80949247e-04 -3.60413729e-03 9.99993336e-01 1.36237685e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.49907232899994 meters Centerline goodness : 0.772640 Centerline is valid? [False, False] Translation: X:-299.81, Y:15.84, Z:136.24 [[ 9.99666686e-01 2.57766146e-02 -1.44346871e-03 -2.99805079e+02] [-2.57693362e-02 9.99656139e-01 4.85225307e-03 1.58375845e+01] [ 1.56804702e-03 -4.81343851e-03 9.99987186e-01 1.36236879e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.529072329 meters Centerline goodness : 0.771962 Centerline is valid? [False, False] Translation: X:-299.81, Y:15.84, Z:136.24 [[ 9.99671940e-01 2.55767241e-02 -1.35756633e-03 -2.99805140e+02] [-2.55703320e-02 9.99662745e-01 4.53366797e-03 1.58385405e+01] [ 1.47306486e-03 -4.49746723e-03 9.99988801e-01 1.36236673e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.55907232899995 meters Centerline goodness : 0.770816 Centerline is valid? [False, False] Translation: X:-299.80, Y:15.84, Z:136.24 [[ 9.99736544e-01 2.28484712e-02 -2.18846592e-03 -2.99802620e+02] [-2.28445739e-02 9.99737427e-01 1.78956410e-03 1.58366141e+01] [ 2.22878009e-03 -1.73909806e-03 9.99996004e-01 1.36235863e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.589072329 meters Centerline goodness : 0.771717 Centerline is valid? [False, False] Translation: X:-299.80, Y:15.84, Z:136.24 [[ 9.99740466e-01 2.26973831e-02 -1.95669761e-03 -2.99803239e+02] [-2.26941022e-02 9.99741039e-01 1.68295074e-03 1.58365269e+01] [ 1.99438948e-03 -1.63810847e-03 9.99996670e-01 1.36235786e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.61907232899995 meters Centerline goodness : 0.770766 Centerline is valid? [False, False] Translation: X:-299.80, Y:15.84, Z:136.24 [[ 9.99744265e-01 2.25488985e-02 -1.71788878e-03 -2.99803856e+02] [-2.25461963e-02 9.99744559e-01 1.57642732e-03 1.58365691e+01] [ 1.75299666e-03 -1.53729232e-03 9.99997282e-01 1.36235731e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.649072329 meters Centerline goodness : 0.770328 Centerline is valid? [False, False] Translation: X:-299.79, Y:15.83, Z:136.24 [[ 9.99831549e-01 1.76243026e-02 -5.12415641e-03 -2.99794485e+02] [-1.75856746e-02 9.99817319e-01 7.48818744e-03 1.58301442e+01] [ 5.25519440e-03 -7.39681430e-03 9.99958834e-01 1.36241997e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.67907232899995 meters Centerline goodness : 0.771243 Centerline is valid? [False, False] Translation: X:-299.80, Y:15.83, Z:136.24 [[ 9.99845951e-01 1.69085482e-02 -4.70900277e-03 -2.99796598e+02] [-1.68773686e-02 9.99835888e-01 6.58412664e-03 1.58318511e+01] [ 4.81955800e-03 -6.50363678e-03 9.99967237e-01 1.36243240e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.709072329 meters Centerline goodness : 0.770394 Centerline is valid? [False, False] Translation: X:-299.80, Y:15.83, Z:136.24 [[ 9.99850922e-01 1.66208752e-02 -4.67760930e-03 -2.99797671e+02] [-1.65921278e-02 9.99843618e-01 6.11887399e-03 1.58328951e+01] [ 4.77857885e-03 -6.04035031e-03 9.99970339e-01 1.36244551e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.73907232899995 meters Centerline goodness : 0.772125 Centerline is valid? [False, False] Translation: X:-299.80, Y:15.83, Z:136.25 [[ 9.99837970e-01 1.71573519e-02 -5.44593148e-03 -2.99796880e+02] [-1.71228336e-02 9.99833401e-01 6.32293288e-03 1.58333673e+01] [ 5.55350897e-03 -6.22865860e-03 9.99965181e-01 1.36246185e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.769072329 meters Centerline goodness : 0.770923 Centerline is valid? [False, False] Translation: X:-299.79, Y:15.83, Z:136.25 [[ 9.99867011e-01 1.49985224e-02 -6.40342476e-03 -2.99793983e+02] [-1.49735275e-02 9.99880153e-01 3.93362842e-03 1.58317574e+01] [ 6.46165594e-03 -3.83722344e-03 9.99971761e-01 1.36245585e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.79907232899996 meters Centerline goodness : 0.771881 Centerline is valid? [False, False] Translation: X:-299.79, Y:15.83, Z:136.25 [[ 9.99910680e-01 1.14067674e-02 -6.96540669e-03 -2.99792994e+02] [-1.14037867e-02 9.99934865e-01 4.67499117e-04 1.58300082e+01] [ 6.97028566e-03 -3.88025348e-04 9.99975632e-01 1.36245884e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.829072329 meters Centerline goodness : 0.771881 Centerline is valid? [False, False] Translation: X:-299.79, Y:15.83, Z:136.25 [[ 9.99910680e-01 1.14067674e-02 -6.96540669e-03 -2.99792994e+02] [-1.14037867e-02 9.99934865e-01 4.67499117e-04 1.58300082e+01] [ 6.97028566e-03 -3.88025348e-04 9.99975632e-01 1.36245884e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.85907232899996 meters Centerline goodness : 0.770087 Centerline is valid? [False, False] Translation: X:-299.80, Y:15.83, Z:136.25 [[ 9.99954138e-01 7.37538918e-03 -6.10946221e-03 -2.99795008e+02] [-7.39116883e-03 9.99969397e-01 -2.56428303e-03 1.58254595e+01] [ 6.09036265e-03 2.60932150e-03 9.99978049e-01 1.36245227e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.889072329 meters Centerline goodness : 0.770612 Centerline is valid? [False, False] Translation: X:-299.80, Y:15.82, Z:136.25 [[ 9.99963551e-01 6.80087647e-03 -5.16191236e-03 -2.99797530e+02] [-6.81461357e-03 9.99973273e-01 -2.64833635e-03 1.58243479e+01] [ 5.14376339e-03 2.68341626e-03 9.99983170e-01 1.36245196e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.91907232899996 meters Centerline goodness : 0.770230 Centerline is valid? [False, False] Translation: X:-299.80, Y:15.82, Z:136.24 [[ 9.99969552e-01 6.45251967e-03 -4.38854088e-03 -2.99799328e+02] [-6.46428677e-03 9.99975535e-01 -2.67244569e-03 1.58236446e+01] [ 4.37118951e-03 2.70073311e-03 9.99986799e-01 1.36244874e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.949072329 meters Centerline goodness : 0.769553 Centerline is valid? [False, False] Translation: X:-299.81, Y:15.82, Z:136.24 [[ 9.99994024e-01 3.39916973e-03 -6.30518041e-04 -2.99807104e+02] [-3.39999398e-03 9.99993361e-01 -1.31082771e-03 1.58216456e+01] [ 6.26058129e-04 1.31296363e-03 9.99998942e-01 1.36239997e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.97907232899996 meters Centerline goodness : 0.769253 Centerline is valid? [False, False] Translation: X:-299.81, Y:15.82, Z:136.24 [[ 9.99995508e-01 2.99534933e-03 1.08432826e-04 -2.99808826e+02] [-2.99521053e-03 9.99994723e-01 -1.25836486e-03 1.58204894e+01] [-1.12201496e-04 1.25803443e-03 9.99999202e-01 1.36239621e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.009072329 meters Centerline goodness : 0.769622 Centerline is valid? [False, False] Translation: X:-299.81, Y:15.82, Z:136.24 [[ 9.99999247e-01 1.20897627e-03 -2.11245934e-04 -2.99805684e+02] [-1.20947350e-03 9.99996461e-01 -2.36973342e-03 1.58174717e+01] [ 2.08380235e-04 2.36998713e-03 9.99997170e-01 1.36236905e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.03907232899996 meters Centerline goodness : 0.768716 Centerline is valid? [False, False] Translation: X:-299.81, Y:15.82, Z:136.24 [[ 9.99999564e-01 6.41463405e-04 6.78662418e-04 -2.99807741e+02] [-6.39590722e-04 9.99995998e-01 -2.75600063e-03 1.58180691e+01] [-6.80427576e-04 2.75556536e-03 9.99995972e-01 1.36236631e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.069072329 meters Centerline goodness : 0.769540 Centerline is valid? [False, False] Translation: X:-299.81, Y:15.82, Z:136.24 [[ 9.99998945e-01 2.85146061e-04 1.42399013e-03 -2.99809703e+02] [-2.81190638e-04 9.99996104e-01 -2.77713188e-03 1.58173637e+01] [-1.42477647e-03 2.77672854e-03 9.99995130e-01 1.36236658e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.09907232899997 meters Centerline goodness : 0.768508 Centerline is valid? [False, False] Translation: X:-299.81, Y:15.82, Z:136.24 [[ 9.99989225e-01 -4.13566502e-03 2.10859785e-03 -2.99811796e+02] [ 4.14983400e-03 9.99968539e-01 -6.76012026e-03 1.58157402e+01] [-2.08057392e-03 6.76879775e-03 9.99974927e-01 1.36237083e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.12907232899994 meters Centerline goodness : 0.768621 Centerline is valid? [False, False] Translation: X:-299.81, Y:15.82, Z:136.24 [[ 9.99986994e-01 -4.38881278e-03 2.59814665e-03 -2.99813213e+02] [ 4.40671786e-03 9.99966303e-01 -6.92634209e-03 1.58159433e+01] [-2.56766068e-03 6.93770131e-03 9.99972637e-01 1.36237337e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.15907232899997 meters Centerline goodness : 0.768916 Centerline is valid? [False, False] Translation: X:-299.82, Y:15.82, Z:136.24 [[ 9.99977370e-01 -5.64533643e-03 3.65911259e-03 -2.99816416e+02] [ 5.67354317e-03 9.99953915e-01 -7.74464179e-03 1.58165599e+01] [-3.61522285e-03 7.76522666e-03 9.99963315e-01 1.36237899e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.18907232899994 meters Centerline goodness : 0.768890 Centerline is valid? [False, False] Translation: X:-299.82, Y:15.81, Z:136.24 [[ 9.99970478e-01 -6.07027034e-03 4.71112714e-03 -2.99818929e+02] [ 6.10455261e-03 9.99954744e-01 -7.29693008e-03 1.58141591e+01] [-4.66661960e-03 7.32547399e-03 9.99962279e-01 1.36237531e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.21907232899997 meters Centerline goodness : 0.768930 Centerline is valid? [False, False] Translation: X:-299.82, Y:15.81, Z:136.24 [[ 9.99966423e-01 -6.14065275e-03 5.42636941e-03 -2.99820537e+02] [ 6.17845266e-03 9.99956574e-01 -6.97687741e-03 1.58127679e+01] [-5.38329118e-03 7.01016972e-03 9.99960938e-01 1.36237164e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.24907232899994 meters Centerline goodness : 0.767544 Centerline is valid? [False, False] Translation: X:-299.82, Y:15.81, Z:136.24 [[ 9.99954788e-01 -6.89931074e-03 6.54387326e-03 -2.99823233e+02] [ 6.94529878e-03 9.99951162e-01 -7.03115296e-03 1.58116013e+01] [-6.49504355e-03 7.07628422e-03 9.99953869e-01 1.36236814e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.279072329 meters Centerline goodness : 0.768198 Centerline is valid? [False, False] Translation: X:-299.82, Y:15.81, Z:136.24 [[ 9.99952731e-01 -6.59655702e-03 7.14295312e-03 -2.99823837e+02] [ 6.63933659e-03 9.99960067e-01 -5.98200145e-03 1.58082210e+01] [-7.10320727e-03 6.02914316e-03 9.99956596e-01 1.36235387e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.30907232899995 meters Centerline goodness : 0.769581 Centerline is valid? [False, False] Translation: X:-299.83, Y:15.81, Z:136.24 [[ 9.99961926e-01 -3.26460004e-03 8.09252697e-03 -2.99826053e+02] [ 3.28486241e-03 9.99991500e-01 -2.49181033e-03 1.58094084e+01] [-8.08432342e-03 2.51829830e-03 9.99964150e-01 1.36235044e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.339072329 meters Centerline goodness : 0.769199 Centerline is valid? [False, False] Translation: X:-299.82, Y:15.81, Z:136.23 [[ 9.99969807e-01 -2.53095780e-03 7.34708518e-03 -2.99823849e+02] [ 2.54536609e-03 9.99994855e-01 -1.95240249e-03 1.58092970e+01] [-7.34210593e-03 1.97104456e-03 9.99971104e-01 1.36234676e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.36907232899995 meters Centerline goodness : 0.768917 Centerline is valid? [False, False] Translation: X:-299.82, Y:15.81, Z:136.23 [[ 9.99977562e-01 -1.45843083e-03 6.53820481e-03 -2.99821330e+02] [ 1.46600270e-03 9.99998260e-01 -1.15345348e-03 1.58087741e+01] [-6.53651120e-03 1.16301262e-03 9.99977960e-01 1.36234148e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.399072329 meters Centerline goodness : 0.768433 Centerline is valid? [False, False] Translation: X:-299.82, Y:15.81, Z:136.23 [[ 9.99977278e-01 -1.53606212e-03 6.56385885e-03 -2.99821650e+02] [ 1.54466443e-03 9.99997955e-01 -1.30568900e-03 1.58092964e+01] [-6.56183980e-03 1.31579829e-03 9.99977605e-01 1.36234514e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.42907232899995 meters Centerline goodness : 0.769273 Centerline is valid? [False, False] Translation: X:-299.82, Y:15.81, Z:136.23 [[ 9.99982021e-01 -1.19931454e-03 5.87524094e-03 -2.99820145e+02] [ 1.20729666e-03 9.99998353e-01 -1.35524409e-03 1.58104209e+01] [-5.87360590e-03 1.36231289e-03 9.99981822e-01 1.36234899e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.459072329 meters Centerline goodness : 0.770741 Centerline is valid? [False, False] Translation: X:-299.82, Y:15.81, Z:136.24 [[ 9.99988231e-01 -5.67469609e-04 4.81825966e-03 -2.99818133e+02] [ 5.74580572e-04 9.99998748e-01 -1.47458033e-03 1.58126126e+01] [-4.81741685e-03 1.47733145e-03 9.99987305e-01 1.36235983e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.48907232899995 meters Centerline goodness : 0.769909 Centerline is valid? [False, False] Translation: X:-299.82, Y:15.81, Z:136.24 [[ 9.99987879e-01 -8.46324293e-04 4.85033952e-03 -2.99818386e+02] [ 8.55963318e-04 9.99997662e-01 -1.98555760e-03 1.58144051e+01] [-4.84864775e-03 1.98968525e-03 9.99986266e-01 1.36236304e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.519072329 meters Centerline goodness : 0.770176 Centerline is valid? [False, False] Translation: X:-299.82, Y:15.81, Z:136.24 [[ 9.99989578e-01 -5.85244642e-04 4.52779777e-03 -2.99818111e+02] [ 5.93638777e-04 9.99998107e-01 -1.85278947e-03 1.58145074e+01] [-4.52670486e-03 1.85545804e-03 9.99988033e-01 1.36237072e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.54907232899996 meters Centerline goodness : 0.769380 Centerline is valid? [False, False] Translation: X:-299.82, Y:15.81, Z:136.24 [[ 9.99990032e-01 -5.38043094e-04 4.43245136e-03 -2.99818207e+02] [ 5.46121093e-04 9.99998192e-01 -1.82145887e-03 1.58145404e+01] [-4.43146332e-03 1.82386137e-03 9.99988518e-01 1.36237520e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.579072329 meters Centerline goodness : 0.769097 Centerline is valid? [False, False] Translation: X:-299.82, Y:15.81, Z:136.24 [[ 9.99988945e-01 -6.65014303e-04 4.65493016e-03 -2.99818961e+02] [ 6.73879325e-04 9.99997962e-01 -1.90312803e-03 1.58148072e+01] [-4.65365507e-03 1.90624385e-03 9.99987355e-01 1.36237811e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.60907232899996 meters Centerline goodness : 0.769474 Centerline is valid? [False, False] Translation: X:-299.82, Y:15.82, Z:136.24 [[ 9.99984286e-01 -1.34036603e-03 5.44344393e-03 -2.99821034e+02] [ 1.35452069e-03 9.99995709e-01 -2.59746068e-03 1.58162539e+01] [-5.43993903e-03 2.60479312e-03 9.99981811e-01 1.36237937e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.639072329 meters Centerline goodness : 0.769268 Centerline is valid? [False, False] Translation: X:-299.82, Y:15.81, Z:136.24 [[ 9.99984025e-01 -1.10131827e-03 5.54400060e-03 -2.99821291e+02] [ 1.11308824e-03 9.99997133e-01 -2.12037213e-03 1.58149479e+01] [-5.54164949e-03 2.12650922e-03 9.99982384e-01 1.36237873e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.66907232899996 meters Centerline goodness : 0.769512 Centerline is valid? [False, False] Translation: X:-299.82, Y:15.81, Z:136.24 [[ 9.99980683e-01 -1.30621939e-03 6.07677673e-03 -2.99822365e+02] [ 1.31897114e-03 9.99996936e-01 -2.09490482e-03 1.58146496e+01] [-6.07402171e-03 2.10287945e-03 9.99979342e-01 1.36237412e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.699072329 meters Centerline goodness : 0.768478 Centerline is valid? [False, False] Translation: X:-299.82, Y:15.81, Z:136.24 [[ 9.99974793e-01 -1.52843091e-03 6.93371598e-03 -2.99823555e+02] [ 1.53898974e-03 9.99997664e-01 -1.51774409e-03 1.58122137e+01] [-6.93138002e-03 1.52837675e-03 9.99974810e-01 1.36235851e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.72907232899996 meters Centerline goodness : 0.768808 Centerline is valid? [False, False] Translation: X:-299.82, Y:15.81, Z:136.24 [[ 9.99972946e-01 -1.49842818e-03 7.20154003e-03 -2.99824064e+02] [ 1.50786513e-03 9.99998011e-01 -1.30515616e-03 1.58115688e+01] [-7.19957002e-03 1.31597980e-03 9.99973217e-01 1.36235556e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.759072329 meters Centerline goodness : 0.768348 Centerline is valid? [False, False] Translation: X:-299.83, Y:15.81, Z:136.24 [[ 9.99970280e-01 -1.56279538e-03 7.54963124e-03 -2.99825010e+02] [ 1.57154599e-03 9.99998100e-01 -1.15328454e-03 1.58107604e+01] [-7.54781455e-03 1.16511486e-03 9.99970836e-01 1.36235563e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.78907232899996 meters Centerline goodness : 0.768026 Centerline is valid? [False, False] Translation: X:-299.83, Y:15.81, Z:136.23 [[ 9.99962174e-01 -1.94975202e-03 8.47632663e-03 -2.99826945e+02] [ 1.95884614e-03 9.99997515e-01 -1.06471484e-03 1.58095488e+01] [-8.47422963e-03 1.08127839e-03 9.99963508e-01 1.36234888e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.819072329 meters Centerline goodness : 0.768364 Centerline is valid? [False, False] Translation: X:-299.83, Y:15.81, Z:136.23 [[ 9.99961033e-01 -1.68678712e-03 8.66528534e-03 -2.99827365e+02] [ 1.69123903e-03 9.99998442e-01 -5.06461185e-04 1.58077430e+01] [-8.66441754e-03 5.21096519e-04 9.99962327e-01 1.36234665e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.84907232899997 meters Centerline goodness : 0.769072 Centerline is valid? [False, False] Translation: X:-299.83, Y:15.81, Z:136.23 [[ 9.99958718e-01 -1.70917428e-03 8.92417808e-03 -2.99827824e+02] [ 1.71359080e-03 9.99998413e-01 -4.87270750e-04 1.58078686e+01] [-8.92333109e-03 5.02543024e-04 9.99960060e-01 1.36234388e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.87907232899994 meters Centerline goodness : 0.768340 Centerline is valid? [False, False] Translation: X:-299.83, Y:15.81, Z:136.23 [[ 9.99950701e-01 -5.26704594e-03 8.41747003e-03 -2.99826207e+02] [ 5.30002733e-03 9.99978347e-01 -3.90071474e-03 1.58063746e+01] [-8.39674252e-03 3.94513526e-03 9.99956964e-01 1.36234034e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.90907232899997 meters Centerline goodness : 0.770007 Centerline is valid? [False, False] Translation: X:-299.82, Y:15.81, Z:136.23 [[ 9.99958902e-01 -4.65555241e-03 7.77953021e-03 -2.99824613e+02] [ 4.68224531e-03 9.99983202e-01 -3.41648831e-03 1.58060451e+01] [-7.76349389e-03 3.45277357e-03 9.99963903e-01 1.36234090e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.93907232899994 meters Centerline goodness : 0.768306 Centerline is valid? [False, False] Translation: X:-299.83, Y:15.81, Z:136.23 [[ 9.99951795e-01 -5.18656003e-03 8.33712558e-03 -2.99826346e+02] [ 5.21976897e-03 9.99978510e-01 -3.96644863e-03 1.58072454e+01] [-8.31637420e-03 4.00977529e-03 9.99957379e-01 1.36234551e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.96907232899997 meters Centerline goodness : 0.770785 Centerline is valid? [False, False] Translation: X:-299.83, Y:15.81, Z:136.24 [[ 9.99935618e-01 -6.58570513e-03 9.24059639e-03 -2.99829770e+02] [ 6.63346553e-03 9.99964750e-01 -5.14744543e-03 1.58086160e+01] [-9.20637110e-03 5.20841120e-03 9.99944056e-01 1.36235973e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.99907232899994 meters Centerline goodness : 0.769447 Centerline is valid? [False, False] Translation: X:-299.83, Y:15.81, Z:136.24 [[ 9.99923883e-01 -7.20533769e-03 1.00155268e-02 -2.99831781e+02] [ 7.26259156e-03 9.99957427e-01 -5.69194422e-03 1.58098417e+01] [-9.97408806e-03 5.76424965e-03 9.99933643e-01 1.36236070e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.029072329 meters Centerline goodness : 0.767932 Centerline is valid? [False, False] Translation: X:-299.83, Y:15.81, Z:136.24 [[ 9.99914781e-01 -7.40602142e-03 1.07509135e-02 -2.99833594e+02] [ 7.46570738e-03 9.99956883e-01 -5.52223340e-03 1.58088593e+01] [-1.07095522e-02 5.60202598e-03 9.99926959e-01 1.36235948e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.05907232899995 meters Centerline goodness : 0.768408 Centerline is valid? [False, False] Translation: X:-299.83, Y:15.81, Z:136.23 [[ 9.99875982e-01 -1.10652409e-02 1.12063234e-02 -2.99833691e+02] [ 1.11599962e-02 9.99902202e-01 -8.42858181e-03 1.58051560e+01] [-1.11119631e-02 8.55259904e-03 9.99901684e-01 1.36234524e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.089072329 meters Centerline goodness : 0.768493 Centerline is valid? [False, False] Translation: X:-299.84, Y:15.80, Z:136.23 [[ 9.99843261e-01 -1.25960865e-02 1.24415731e-02 -2.99836945e+02] [ 1.27061854e-02 9.99880459e-01 -8.81022659e-03 1.58033654e+01] [-1.23291115e-02 8.96693062e-03 9.99883787e-01 1.36234327e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.11907232899995 meters Centerline goodness : 0.768583 Centerline is valid? [False, False] Translation: X:-299.84, Y:15.80, Z:136.23 [[ 9.99800145e-01 -1.44222208e-02 1.38444829e-02 -2.99840162e+02] [ 1.45552393e-02 9.99848404e-01 -9.55585321e-03 1.58017073e+01] [-1.37045675e-02 9.75545318e-03 9.99858498e-01 1.36233697e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.149072329 meters Centerline goodness : 0.769330 Centerline is valid? [False, False] Translation: X:-299.84, Y:15.80, Z:136.23 [[ 9.99792734e-01 -1.43859301e-02 1.44060218e-02 -2.99841306e+02] [ 1.45186522e-02 9.99852722e-01 -9.15114749e-03 1.58002311e+01] [-1.42722523e-02 9.35840679e-03 9.99854351e-01 1.36233239e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.17907232899995 meters Centerline goodness : 0.768354 Centerline is valid? [False, False] Translation: X:-299.84, Y:15.80, Z:136.23 [[ 9.99793715e-01 -1.41983239e-02 1.45235702e-02 -2.99841436e+02] [ 1.43263250e-02 9.99859108e-01 -8.74759199e-03 1.57991858e+01] [-1.43973228e-02 8.95385688e-03 9.99856262e-01 1.36232954e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.209072329 meters Centerline goodness : 0.769643 Centerline is valid? [False, False] Translation: X:-299.84, Y:15.80, Z:136.23 [[ 9.99819660e-01 -1.10361525e-02 1.54547861e-02 -2.99843598e+02] [ 1.11195722e-02 9.99924012e-01 -5.32216858e-03 1.58004772e+01] [-1.53948755e-02 5.49305939e-03 9.99866403e-01 1.36232546e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.23907232899995 meters Centerline goodness : 0.768879 Centerline is valid? [False, False] Translation: X:-299.85, Y:15.80, Z:136.23 [[ 9.99790308e-01 -1.21102235e-02 1.65131104e-02 -2.99846042e+02] [ 1.22118639e-02 9.99907019e-01 -6.06825040e-03 1.58014094e+01] [-1.64380871e-02 6.26863380e-03 9.99845235e-01 1.36232235e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.269072329 meters Centerline goodness : 0.769012 Centerline is valid? [False, False] Translation: X:-299.85, Y:15.80, Z:136.23 [[ 9.99788484e-01 -1.19683105e-02 1.67256142e-02 -2.99846014e+02] [ 1.20657706e-02 9.99910741e-01 -5.73828588e-03 1.58008037e+01] [-1.66554437e-02 5.93887957e-03 9.99843651e-01 1.36231413e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.29907232899996 meters Centerline goodness : 0.767873 Centerline is valid? [False, False] Translation: X:-299.85, Y:15.80, Z:136.23 [[ 9.99756400e-01 -1.29106585e-02 1.79012978e-02 -2.99848369e+02] [ 1.30194706e-02 9.99897389e-01 -5.97528293e-03 1.57999884e+01] [-1.78223161e-02 6.20689277e-03 9.99821904e-01 1.36230472e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.329072329 meters Centerline goodness : 0.769597 Centerline is valid? [False, False] Translation: X:-299.85, Y:15.80, Z:136.23 [[ 9.99762670e-01 -1.26400520e-02 1.77435350e-02 -2.99847967e+02] [ 1.27413266e-02 9.99903109e-01 -5.60629017e-03 1.57993315e+01] [-1.76709521e-02 5.83103581e-03 9.99826853e-01 1.36230455e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.35907232899996 meters Centerline goodness : 0.769059 Centerline is valid? [False, False] Translation: X:-299.85, Y:15.80, Z:136.23 [[ 9.99767697e-01 -1.25210309e-02 1.75435540e-02 -2.99847568e+02] [ 1.26210809e-02 9.99904648e-01 -5.60388394e-03 1.58000455e+01] [-1.74717148e-02 5.82400075e-03 9.99830396e-01 1.36230676e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.389072329 meters Centerline goodness : 0.769385 Centerline is valid? [False, False] Translation: X:-299.85, Y:15.80, Z:136.23 [[ 9.99745891e-01 -1.31227549e-02 1.83288585e-02 -2.99849652e+02] [ 1.32382707e-02 9.99893177e-01 -6.19534865e-03 1.58013663e+01] [-1.82456005e-02 6.43641674e-03 9.99812818e-01 1.36230845e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.41907232899996 meters Centerline goodness : 0.768207 Centerline is valid? [False, False] Translation: X:-299.85, Y:15.80, Z:136.23 [[ 9.99747434e-01 -1.29560112e-02 1.83632900e-02 -2.99850371e+02] [ 1.30664037e-02 9.99897198e-01 -5.90440288e-03 1.58004257e+01] [-1.82849047e-02 6.14285378e-03 9.99813946e-01 1.36231651e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.449072329 meters Centerline goodness : 0.767308 Centerline is valid? [False, False] Translation: X:-299.85, Y:15.80, Z:136.23 [[ 9.99683924e-01 -1.61206936e-02 1.92918613e-02 -2.99854042e+02] [ 1.63018393e-02 9.99824147e-01 -9.26960502e-03 1.58038337e+01] [-1.91390363e-02 9.58116794e-03 9.99770923e-01 1.36233492e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.47907232899996 meters Centerline goodness : 0.767261 Centerline is valid? [False, False] Translation: X:-299.86, Y:15.80, Z:136.23 [[ 9.99674750e-01 -1.61827668e-02 1.97106893e-02 -2.99855035e+02] [ 1.63661495e-02 9.99823939e-01 -9.17820625e-03 1.58034092e+01] [-1.95586903e-02 9.49780913e-03 9.99763597e-01 1.36233331e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.509072329 meters Centerline goodness : 0.766077 Centerline is valid? [False, False] Translation: X:-299.86, Y:15.80, Z:136.23 [[ 9.99661924e-01 -1.62901395e-02 2.02649781e-02 -2.99856080e+02] [ 1.64745491e-02 9.99824080e-01 -8.96648806e-03 1.58025724e+01] [-2.01153478e-02 9.29731308e-03 9.99754436e-01 1.36232716e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.53907232899996 meters Centerline goodness : 0.766269 Centerline is valid? [False, False] Translation: X:-299.85, Y:15.80, Z:136.23 [[ 9.99706086e-01 -1.38677974e-02 1.98853401e-02 -2.99852728e+02] [ 1.39885093e-02 9.99884487e-01 -5.94419331e-03 1.57985488e+01] [-1.98006102e-02 6.22061249e-03 9.99784597e-01 1.36229501e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.569072329 meters Centerline goodness : 0.766665 Centerline is valid? [False, False] Translation: X:-299.85, Y:15.80, Z:136.23 [[ 9.99736698e-01 -1.25600863e-02 1.92035981e-02 -2.99850034e+02] [ 1.26450861e-02 9.99910754e-01 -4.31123775e-03 1.57955636e+01] [-1.91477347e-02 4.55293374e-03 9.99806299e-01 1.36228130e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.59907232899997 meters Centerline goodness : 0.766335 Centerline is valid? [False, False] Translation: X:-299.85, Y:15.80, Z:136.23 [[ 9.99762383e-01 -1.14520371e-02 1.85480206e-02 -2.99847213e+02] [ 1.15171501e-02 9.99927870e-01 -3.40749710e-03 1.57956314e+01] [-1.85076599e-02 3.62030776e-03 9.99822164e-01 1.36226785e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.62907232899994 meters Centerline goodness : 0.765938 Centerline is valid? [False, False] Translation: X:-299.85, Y:15.80, Z:136.23 [[ 9.99799912e-01 -7.88696571e-03 1.83828937e-02 -2.99848180e+02] [ 7.89544980e-03 9.99968755e-01 -3.88988590e-04 1.57987270e+01] [-1.83792514e-02 5.34051973e-04 9.99830945e-01 1.36228549e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.65907232899997 meters Centerline goodness : 0.767168 Centerline is valid? [False, False] Translation: X:-299.85, Y:15.80, Z:136.23 [[ 9.99809115e-01 -7.90609528e-03 1.78669346e-02 -2.99847486e+02] [ 7.92202708e-03 9.99968283e-01 -8.21089954e-04 1.58004525e+01] [-1.78598763e-02 9.62475560e-04 9.99840036e-01 1.36229417e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.68907232899994 meters Centerline goodness : 0.766621 Centerline is valid? [False, False] Translation: X:-299.85, Y:15.80, Z:136.23 [[ 9.99813797e-01 -8.09225746e-03 1.75181770e-02 -2.99847231e+02] [ 8.11937183e-03 9.99965946e-01 -1.47721368e-03 1.58026805e+01] [-1.75056264e-02 1.61917521e-03 9.99845454e-01 1.36230319e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.71907232899997 meters Centerline goodness : 0.766621 Centerline is valid? [False, False] Translation: X:-299.85, Y:15.80, Z:136.23 [[ 9.99813797e-01 -8.09225746e-03 1.75181770e-02 -2.99847231e+02] [ 8.11937183e-03 9.99965946e-01 -1.47721368e-03 1.58026805e+01] [-1.75056264e-02 1.61917521e-03 9.99845454e-01 1.36230319e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.74907232899994 meters Centerline goodness : 0.767084 Centerline is valid? [False, False] Translation: X:-299.84, Y:15.80, Z:136.24 [[ 9.99897193e-01 -4.67464112e-03 1.35555041e-02 -2.99839094e+02] [ 4.70745711e-03 9.99986064e-01 -2.38996459e-03 1.58029765e+01] [-1.35441430e-02 2.45353084e-03 9.99905264e-01 1.36235090e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.779072329 meters Centerline goodness : 0.767997 Centerline is valid? [False, False] Translation: X:-299.84, Y:15.81, Z:136.24 [[ 9.99906086e-01 -1.08302450e-03 1.36618481e-02 -2.99839860e+02] [ 1.07212292e-03 9.99999101e-01 8.05257129e-04 1.58058721e+01] [-1.36627079e-02 -7.90534323e-04 9.99906348e-01 1.36235729e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.80907232899995 meters Centerline goodness : 0.766404 Centerline is valid? [False, False] Translation: X:-299.84, Y:15.81, Z:136.24 [[ 9.99922949e-01 -8.93642566e-05 1.24132313e-02 -2.99837026e+02] [ 7.46519713e-05 9.99999294e-01 1.18566825e-03 1.58065421e+01] [-1.24133285e-02 -1.18465022e-03 9.99922250e-01 1.36236226e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.839072329 meters Centerline goodness : 0.766407 Centerline is valid? [False, False] Translation: X:-299.84, Y:15.81, Z:136.24 [[ 9.99920858e-01 3.75703515e-03 1.20067550e-02 -2.99836399e+02] [-3.81011265e-03 9.99983058e-01 4.40082407e-03 1.58100578e+01] [-1.19900176e-02 -4.44622287e-03 9.99918232e-01 1.36236845e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.86907232899995 meters Centerline goodness : 0.766607 Centerline is valid? [False, False] Translation: X:-299.84, Y:15.81, Z:136.24 [[ 9.99924274e-01 3.49312977e-03 1.18002022e-02 -2.99836139e+02] [-3.53800532e-03 9.99986581e-01 3.78421580e-03 1.58119965e+01] [-1.17868251e-02 -3.82567842e-03 9.99923215e-01 1.36237196e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.899072329 meters Centerline goodness : 0.767301 Centerline is valid? [False, False] Translation: X:-299.84, Y:15.81, Z:136.24 [[ 9.99928682e-01 3.57076828e-03 1.13965317e-02 -2.99835565e+02] [-3.61264561e-03 9.99986791e-01 3.65609993e-03 1.58125513e+01] [-1.13833261e-02 -3.69701082e-03 9.99928373e-01 1.36237721e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.92907232899995 meters Centerline goodness : 0.765965 Centerline is valid? [False, False] Translation: X:-299.84, Y:15.81, Z:136.24 [[ 9.99930185e-01 3.76750100e-03 1.11995576e-02 -2.99835721e+02] [-3.80985507e-03 9.99985663e-01 3.76283622e-03 1.58121256e+01] [-1.11852206e-02 -3.80524222e-03 9.99930203e-01 1.36238442e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.959072329 meters Centerline goodness : 0.765877 Centerline is valid? [False, False] Translation: X:-299.83, Y:15.81, Z:136.24 [[ 9.99936680e-01 4.00942777e-03 1.05147650e-02 -2.99834363e+02] [-4.04761486e-03 9.99985281e-01 3.61299636e-03 1.58130931e+01] [-1.05001242e-02 -3.65532730e-03 9.99938191e-01 1.36238886e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.98907232899995 meters Centerline goodness : 0.767001 Centerline is valid? [False, False] Translation: X:-299.83, Y:15.82, Z:136.24 [[ 9.99918143e-01 8.59789339e-03 9.47537464e-03 -2.99831839e+02] [-8.66880205e-03 9.99934538e-01 7.46797819e-03 1.58155229e+01] [-9.41054549e-03 -7.54950703e-03 9.99927221e-01 1.36239179e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.019072329 meters Centerline goodness : 0.766783 Centerline is valid? [False, False] Translation: X:-299.83, Y:15.81, Z:136.24 [[ 9.99912057e-01 1.02812148e-02 8.37705567e-03 -2.99828348e+02] [-1.03549381e-02 9.99907617e-01 8.80529838e-03 1.58148735e+01] [-8.28575260e-03 -8.89126791e-03 9.99926143e-01 1.36238375e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.04907232899996 meters Centerline goodness : 0.766835 Centerline is valid? [False, False] Translation: X:-299.83, Y:15.82, Z:136.24 [[ 9.99915608e-01 1.04173606e-02 7.76243855e-03 -2.99826590e+02] [-1.04829768e-02 9.99909256e-01 8.46085487e-03 1.58167772e+01] [-7.67359438e-03 -8.54151430e-03 9.99934077e-01 1.36238087e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.079072329 meters Centerline goodness : 0.767244 Centerline is valid? [False, False] Translation: X:-299.82, Y:15.82, Z:136.24 [[ 9.99913966e-01 1.10462837e-02 7.07389716e-03 -2.99824703e+02] [-1.11101464e-02 9.99897297e-01 9.05319627e-03 1.58158430e+01] [-6.97316648e-03 -9.13100942e-03 9.99933998e-01 1.36237810e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.10907232899996 meters Centerline goodness : 0.766201 Centerline is valid? [False, False] Translation: X:-299.82, Y:15.82, Z:136.24 [[ 9.99911606e-01 1.18857691e-02 5.95888911e-03 -2.99822113e+02] [-1.19404297e-02 9.99886176e-01 9.22287405e-03 1.58169850e+01] [-5.84858990e-03 -9.29321051e-03 9.99939713e-01 1.36238210e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.139072329 meters Centerline goodness : 0.765553 Centerline is valid? [False, False] Translation: X:-299.82, Y:15.82, Z:136.24 [[ 9.99907359e-01 1.26012529e-02 5.14597958e-03 -2.99819949e+02] [-1.26489875e-02 9.99876270e-01 9.35135719e-03 1.58180537e+01] [-5.02750405e-03 -9.41558230e-03 9.99943034e-01 1.36238100e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.16907232899996 meters Centerline goodness : 0.766203 Centerline is valid? [False, False] Translation: X:-299.82, Y:15.82, Z:136.24 [[ 9.99908577e-01 1.26772087e-02 4.70392381e-03 -2.99819272e+02] [-1.27200914e-02 9.99876760e-01 9.20128023e-03 1.58187066e+01] [-4.58669755e-03 -9.26027336e-03 9.99946603e-01 1.36238678e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.199072329 meters Centerline goodness : 0.766770 Centerline is valid? [False, False] Translation: X:-299.82, Y:15.82, Z:136.24 [[ 9.99906026e-01 1.32367221e-02 3.56756839e-03 -2.99817043e+02] [-1.32681148e-02 9.99872148e-01 8.92433777e-03 1.58210852e+01] [-3.44898330e-03 -8.97083403e-03 9.99953813e-01 1.36239745e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.22907232899996 meters Centerline goodness : 0.768324 Centerline is valid? [False, False] Translation: X:-299.81, Y:15.82, Z:136.24 [[ 9.99895072e-01 1.42778001e-02 2.44749909e-03 -2.99814273e+02] [-1.42994683e-02 9.99856556e-01 9.07699063e-03 1.58231289e+01] [-2.31754856e-03 -9.11103613e-03 9.99955808e-01 1.36240127e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.259072329 meters Centerline goodness : 0.765736 Centerline is valid? [False, False] Translation: X:-299.81, Y:15.83, Z:136.24 [[ 9.99895472e-01 1.43883538e-02 1.42123739e-03 -2.99812632e+02] [-1.43995023e-02 9.99862919e-01 8.17297316e-03 1.58269334e+01] [-1.30344694e-03 -8.19258397e-03 9.99965591e-01 1.36241716e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.28907232899996 meters Centerline goodness : 0.767374 Centerline is valid? [False, False] Translation: X:-299.81, Y:15.83, Z:136.24 [[ 9.99902199e-01 1.39281223e-02 1.26494841e-03 -2.99813255e+02] [-1.39369380e-02 9.99876588e-01 7.25054565e-03 1.58293609e+01] [-1.16380582e-03 -7.26746604e-03 9.99972914e-01 1.36243068e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.319072329 meters Centerline goodness : 0.767693 Centerline is valid? [False, False] Translation: X:-299.81, Y:15.83, Z:136.24 [[ 9.99904420e-01 1.37970847e-02 8.89637254e-04 -2.99812966e+02] [-1.38027607e-02 9.99882120e-01 6.72532963e-03 1.58310566e+01] [-7.96742441e-04 -6.73696627e-03 9.99976989e-01 1.36243974e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.34907232899997 meters Centerline goodness : 0.766806 Centerline is valid? [False, False] Translation: X:-299.81, Y:15.83, Z:136.24 [[ 9.99886444e-01 1.50653978e-02 -3.65457889e-04 -2.99809955e+02] [-1.50624925e-02 9.99862359e-01 6.95584835e-03 1.58332226e+01] [ 4.70200210e-04 -6.94955376e-03 9.99975741e-01 1.36244471e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.37907232899994 meters Centerline goodness : 0.767661 Centerline is valid? [False, False] Translation: X:-299.81, Y:15.83, Z:136.24 [[ 9.99870074e-01 1.60551706e-02 -1.43744165e-03 -2.99807036e+02] [-1.60443506e-02 9.99845022e-01 7.24645425e-03 1.58346821e+01] [ 1.55356194e-03 -7.22244993e-03 9.99972711e-01 1.36244388e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.40907232899997 meters Centerline goodness : 0.766290 Centerline is valid? [False, False] Translation: X:-299.80, Y:15.84, Z:136.24 [[ 9.99854044e-01 1.68994611e-02 -2.50981005e-03 -2.99804265e+02] [-1.68799969e-02 9.99828761e-01 7.58387695e-03 1.58355026e+01] [ 2.63754371e-03 -7.54040445e-03 9.99968092e-01 1.36244406e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.43907232899994 meters Centerline goodness : 0.769148 Centerline is valid? [False, False] Translation: X:-299.80, Y:15.84, Z:136.24 [[ 9.99773667e-01 2.10753333e-02 -2.90592909e-03 -2.99803104e+02] [-2.10416841e-02 9.99716302e-01 1.11608178e-02 1.58382740e+01] [ 3.14032264e-03 -1.10971461e-02 9.99933494e-01 1.36244587e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.46907232899997 meters Centerline goodness : 0.767249 Centerline is valid? [False, False] Translation: X:-299.80, Y:15.84, Z:136.24 [[ 9.99772537e-01 2.11240211e-02 -2.94105811e-03 -2.99803124e+02] [-2.10901027e-02 9.99715714e-01 1.11219551e-02 1.58385262e+01] [ 3.17516243e-03 -1.10573981e-02 9.99933824e-01 1.36244722e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.49907232899994 meters Centerline goodness : 0.767063 Centerline is valid? [False, False] Translation: X:-299.80, Y:15.84, Z:136.24 [[ 9.99769410e-01 2.12665128e-02 -2.97703692e-03 -2.99803209e+02] [-2.12316839e-02 9.99710959e-01 1.12789355e-02 1.58380345e+01] [ 3.21604006e-03 -1.12131272e-02 9.99931959e-01 1.36244910e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.529072329 meters Centerline goodness : 0.767267 Centerline is valid? [False, False] Translation: X:-299.80, Y:15.84, Z:136.25 [[ 9.99839174e-01 1.75430810e-02 -3.72381183e-03 -2.99802361e+02] [-1.75157328e-02 9.99820274e-01 7.25391565e-03 1.58379442e+01] [ 3.85039860e-03 -7.18752374e-03 9.99966756e-01 1.36246035e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.55907232899995 meters Centerline goodness : 0.768037 Centerline is valid? [False, False] Translation: X:-299.80, Y:15.84, Z:136.25 [[ 9.99881646e-01 1.46235244e-02 -4.77970352e-03 -2.99800337e+02] [-1.46043096e-02 9.99885228e-01 4.03056545e-03 1.58370251e+01] [ 4.83809601e-03 -3.96028415e-03 9.99980454e-01 1.36246678e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.589072329 meters Centerline goodness : 0.767212 Centerline is valid? [False, False] Translation: X:-299.80, Y:15.84, Z:136.25 [[ 9.99892398e-01 1.40120709e-02 -4.34210496e-03 -2.99802214e+02] [-1.39975762e-02 9.99896415e-01 3.35078558e-03 1.58381491e+01] [ 4.38860662e-03 -3.28964609e-03 9.99984959e-01 1.36247570e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.61907232899995 meters Centerline goodness : 0.768325 Centerline is valid? [False, False] Translation: X:-299.80, Y:15.84, Z:136.25 [[ 9.99889556e-01 1.41877997e-02 -4.42516960e-03 -2.99802173e+02] [-1.41716610e-02 9.99892888e-01 3.65729883e-03 1.58371866e+01] [ 4.47658464e-03 -3.59418290e-03 9.99983521e-01 1.36247712e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.649072329 meters Centerline goodness : 0.767845 Centerline is valid? [False, False] Translation: X:-299.80, Y:15.84, Z:136.25 [[ 9.99889162e-01 1.42433986e-02 -4.33459921e-03 -2.99802317e+02] [-1.42269279e-02 9.99891544e-01 3.80721791e-03 1.58368551e+01] [ 4.38835681e-03 -3.74512789e-03 9.99983358e-01 1.36247574e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.67907232899995 meters Centerline goodness : 0.768564 Centerline is valid? [False, False] Translation: X:-299.80, Y:15.84, Z:136.25 [[ 9.99926953e-01 1.09086618e-02 -5.20476533e-03 -2.99800349e+02] [-1.09078718e-02 9.99940491e-01 1.80145215e-04 1.58366589e+01] [ 5.20642075e-03 -1.23359143e-04 9.99986439e-01 1.36247789e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.709072329 meters Centerline goodness : 0.766628 Centerline is valid? [False, False] Translation: X:-299.80, Y:15.83, Z:136.25 [[ 9.99967185e-01 6.74142946e-03 -4.49250073e-03 -2.99801584e+02] [-6.75559842e-03 9.99972231e-01 -3.14623986e-03 1.58336098e+01] [ 4.47116583e-03 3.17648614e-03 9.99984959e-01 1.36246703e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.73907232899995 meters Centerline goodness : 0.767592 Centerline is valid? [False, False] Translation: X:-299.80, Y:15.83, Z:136.25 [[ 9.99972912e-01 6.41367588e-03 -3.61123561e-03 -2.99803456e+02] [-6.42459557e-03 9.99974801e-01 -3.02037405e-03 1.58326437e+01] [ 3.59177291e-03 3.04349296e-03 9.99988918e-01 1.36246033e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.769072329 meters Centerline goodness : 0.765948 Centerline is valid? [False, False] Translation: X:-299.81, Y:15.83, Z:136.25 [[ 9.99982698e-01 5.35321329e-03 -2.43855277e-03 -2.99805739e+02] [-5.36196222e-03 9.99979161e-01 -3.59545718e-03 1.58332170e+01] [ 2.41925470e-03 3.60847040e-03 9.99990563e-01 1.36245048e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.79907232899996 meters Centerline goodness : 0.765800 Centerline is valid? [False, False] Translation: X:-299.81, Y:15.83, Z:136.24 [[ 9.99989166e-01 4.51647182e-03 -1.12676538e-03 -2.99808798e+02] [-4.52018203e-03 9.99984298e-01 -3.31227329e-03 1.58310841e+01] [ 1.11178790e-03 3.31733059e-03 9.99993880e-01 1.36244370e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.829072329 meters Centerline goodness : 0.765525 Centerline is valid? [False, False] Translation: X:-299.81, Y:15.83, Z:136.24 [[ 9.99991116e-01 4.20626543e-03 -2.72735381e-04 -2.99810905e+02] [-4.20713737e-03 9.99985773e-01 -3.27939396e-03 1.58302530e+01] [ 2.58937499e-04 3.28051226e-03 9.99994586e-01 1.36244195e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.85907232899996 meters Centerline goodness : 0.767137 Centerline is valid? [False, False] Translation: X:-299.81, Y:15.83, Z:136.24 [[ 9.99996440e-01 2.51748601e-03 8.83986346e-04 -2.99814343e+02] [-2.51356341e-03 9.99987113e-01 -4.41082058e-03 1.58303340e+01] [-8.95079133e-04 4.40858292e-03 9.99989882e-01 1.36244609e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.889072329 meters Centerline goodness : 0.765717 Centerline is valid? [False, False] Translation: X:-299.81, Y:15.83, Z:136.24 [[ 9.99996120e-01 2.62911587e-03 9.20974231e-04 -2.99814396e+02] [-2.62520645e-03 9.99987647e-01 -4.22066755e-03 1.58299440e+01] [-9.32059478e-04 4.21823342e-03 9.99990669e-01 1.36244508e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.91907232899996 meters Centerline goodness : 0.766712 Centerline is valid? [False, False] Translation: X:-299.82, Y:15.83, Z:136.24 [[ 9.99996492e-01 2.04285717e-03 1.68583733e-03 -2.99816355e+02] [-2.03518872e-03 9.99987632e-01 -4.53799674e-03 1.58299749e+01] [-1.69508696e-03 4.53454983e-03 9.99988282e-01 1.36244450e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.949072329 meters Centerline goodness : 0.766569 Centerline is valid? [False, False] Translation: X:-299.81, Y:15.83, Z:136.24 [[ 9.99995608e-01 2.73073995e-03 1.15214908e-03 -2.99814905e+02] [-2.72633806e-03 9.99989044e-01 -3.80502046e-03 1.58287401e+01] [-1.16252698e-03 3.80186260e-03 9.99992097e-01 1.36244282e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.97907232899996 meters Centerline goodness : 0.766419 Centerline is valid? [False, False] Translation: X:-299.81, Y:15.83, Z:136.25 [[ 9.99994773e-01 3.22499870e-03 2.30270052e-04 -2.99812866e+02] [-3.22406175e-03 9.99986964e-01 -3.95949468e-03 1.58305810e+01] [-2.43036415e-04 3.95873158e-03 9.99992135e-01 1.36245007e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.009072329 meters Centerline goodness : 0.767546 Centerline is valid? [False, False] Translation: X:-299.81, Y:15.83, Z:136.25 [[ 9.99990400e-01 4.28600319e-03 -9.11618274e-04 -2.99810298e+02] [-4.28891777e-03 9.99985620e-01 -3.21959461e-03 1.58300928e+01] [ 8.97805972e-04 3.22347356e-03 9.99994402e-01 1.36245494e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.03907232899996 meters Centerline goodness : 0.767268 Centerline is valid? [False, False] Translation: X:-299.81, Y:15.83, Z:136.25 [[ 9.99989090e-01 4.39661272e-03 -1.57784284e-03 -2.99808923e+02] [-4.40243319e-03 9.99983447e-01 -3.70456443e-03 1.58324435e+01] [ 1.56152919e-03 3.71147036e-03 9.99991893e-01 1.36246046e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.069072329 meters Centerline goodness : 0.768233 Centerline is valid? [False, False] Translation: X:-299.81, Y:15.83, Z:136.25 [[ 9.99978303e-01 6.00474036e-03 -2.70876308e-03 -2.99805659e+02] [-6.01115154e-03 9.99979136e-01 -2.36492984e-03 1.58308647e+01] [ 2.69450577e-03 2.38116131e-03 9.99993535e-01 1.36245490e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.09907232899997 meters Centerline goodness : 0.766096 Centerline is valid? [False, False] Translation: X:-299.80, Y:15.83, Z:136.25 [[ 9.99974436e-01 6.35853411e-03 -3.27060313e-03 -2.99804023e+02] [-6.36617052e-03 9.99977022e-01 -2.32977528e-03 1.58316135e+01] [ 3.25571402e-03 2.35053693e-03 9.99991938e-01 1.36245268e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.12907232899994 meters Centerline goodness : 0.767420 Centerline is valid? [False, False] Translation: X:-299.80, Y:15.83, Z:136.25 [[ 9.99966835e-01 7.04987539e-03 -4.07771049e-03 -2.99802212e+02] [-7.05746384e-03 9.99973385e-01 -1.84957198e-03 1.58311038e+01] [ 4.06456272e-03 1.87828893e-03 9.99989976e-01 1.36245521e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.15907232899997 meters Centerline goodness : 0.766453 Centerline is valid? [False, False] Translation: X:-299.80, Y:15.83, Z:136.25 [[ 9.99955832e-01 7.87006354e-03 -5.13764726e-03 -2.99799475e+02] [-7.88038399e-03 9.99966966e-01 -1.99164459e-03 1.58337751e+01] [ 5.12180317e-03 2.03204326e-03 9.99984819e-01 1.36245808e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.18907232899994 meters Centerline goodness : 0.767212 Centerline is valid? [False, False] Translation: X:-299.80, Y:15.83, Z:136.25 [[ 9.99941417e-01 8.86851695e-03 -6.20586723e-03 -2.99796813e+02] [-8.87843169e-03 9.99959350e-01 -1.57191662e-03 1.58344035e+01] [ 6.19167440e-03 1.62692290e-03 9.99979508e-01 1.36245994e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.21907232899997 meters Centerline goodness : 0.766584 Centerline is valid? [False, False] Translation: X:-299.79, Y:15.84, Z:136.25 [[ 9.99920246e-01 1.03734346e-02 -7.20377143e-03 -2.99794008e+02] [-1.03794778e-02 9.99945810e-01 -8.02010693e-04 1.58352909e+01] [ 7.19506146e-03 8.76718115e-04 9.99973731e-01 1.36245959e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.24907232899994 meters Centerline goodness : 0.767772 Centerline is valid? [False, False] Translation: X:-299.79, Y:15.84, Z:136.25 [[ 9.99912167e-01 1.06121574e-02 -7.93983725e-03 -2.99792418e+02] [-1.06223774e-02 9.99942805e-01 -1.24612262e-03 1.58377018e+01] [ 7.92615907e-03 1.33035312e-03 9.99967703e-01 1.36246525e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.279072329 meters Centerline goodness : 0.766912 Centerline is valid? [False, False] Translation: X:-299.79, Y:15.84, Z:136.25 [[ 9.99908137e-01 1.07329782e-02 -8.27776253e-03 -2.99791673e+02] [-1.07448779e-02 9.99941300e-01 -1.39442596e-03 1.58385593e+01] [ 8.26231028e-03 1.48324141e-03 9.99964766e-01 1.36246680e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.30907232899995 meters Centerline goodness : 0.768164 Centerline is valid? [False, False] Translation: X:-299.79, Y:15.84, Z:136.25 [[ 9.99898296e-01 1.11791356e-02 -8.85574316e-03 -2.99790533e+02] [-1.11915203e-02 9.99936461e-01 -1.35017173e-03 1.58391165e+01] [ 8.84008673e-03 1.44914364e-03 9.99959876e-01 1.36247118e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.339072329 meters Centerline goodness : 0.768303 Centerline is valid? [False, False] Translation: X:-299.79, Y:15.84, Z:136.25 [[ 9.99891120e-01 1.13470239e-02 -9.43358547e-03 -2.99789291e+02] [-1.13631088e-02 9.99934071e-01 -1.65321865e-03 1.58408523e+01] [ 9.41420442e-03 1.76023351e-03 9.99954136e-01 1.36247536e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.36907232899995 meters Centerline goodness : 0.767675 Centerline is valid? [False, False] Translation: X:-299.79, Y:15.84, Z:136.25 [[ 9.99897149e-01 1.09018829e-02 -9.31883451e-03 -2.99789941e+02] [-1.09235983e-02 9.99937731e-01 -2.28255682e-03 1.58424564e+01] [ 9.29337006e-03 2.38411726e-03 9.99953974e-01 1.36248001e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.399072329 meters Centerline goodness : 0.767436 Centerline is valid? [False, False] Translation: X:-299.79, Y:15.84, Z:136.25 [[ 9.99886004e-01 1.13539792e-02 -9.95317868e-03 -2.99788553e+02] [-1.13757879e-02 9.99933010e-01 -2.13725968e-03 1.58428589e+01] [ 9.92824551e-03 2.25024129e-03 9.99948182e-01 1.36248354e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.42907232899995 meters Centerline goodness : 0.768831 Centerline is valid? [False, False] Translation: X:-299.79, Y:15.84, Z:136.25 [[ 9.99896658e-01 1.08369153e-02 -9.44638363e-03 -2.99790482e+02] [-1.08620163e-02 9.99937600e-01 -2.60997252e-03 1.58434818e+01] [ 9.41751013e-03 2.71230957e-03 9.99951976e-01 1.36249102e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.459072329 meters Centerline goodness : 0.768392 Centerline is valid? [False, False] Translation: X:-299.79, Y:15.84, Z:136.25 [[ 9.99910748e-01 1.01632807e-02 -8.67201727e-03 -2.99792938e+02] [-1.01914329e-02 9.99942919e-01 -3.20833522e-03 1.58442201e+01] [ 8.63891506e-03 3.29642915e-03 9.99957250e-01 1.36249589e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.48907232899995 meters Centerline goodness : 0.768521 Centerline is valid? [False, False] Translation: X:-299.79, Y:15.84, Z:136.25 [[ 9.99917168e-01 9.93794180e-03 -8.17892659e-03 -2.99794341e+02] [-9.96483705e-03 9.99945055e-01 -3.25420258e-03 1.58439838e+01] [ 8.14613712e-03 3.33543470e-03 9.99961257e-01 1.36249705e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.519072329 meters Centerline goodness : 0.767587 Centerline is valid? [False, False] Translation: X:-299.80, Y:15.84, Z:136.25 [[ 9.99936833e-01 8.76685033e-03 -7.03370892e-03 -2.99797712e+02] [-8.79382300e-03 9.99954064e-01 -3.81305384e-03 1.58436422e+01] [ 6.99995734e-03 3.87466617e-03 9.99967993e-01 1.36250022e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.54907232899996 meters Centerline goodness : 0.768804 Centerline is valid? [False, False] Translation: X:-299.80, Y:15.84, Z:136.25 [[ 9.99942230e-01 8.61678803e-03 -6.42551907e-03 -2.99799289e+02] [-8.63996411e-03 9.99956238e-01 -3.58788685e-03 1.58423880e+01] [ 6.39432181e-03 3.64319583e-03 9.99972920e-01 1.36249895e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.579072329 meters Centerline goodness : 0.767984 Centerline is valid? [False, False] Translation: X:-299.80, Y:15.84, Z:136.25 [[ 9.99946458e-01 8.44048403e-03 -5.98658383e-03 -2.99800284e+02] [-8.46214990e-03 9.99957704e-01 -3.60302150e-03 1.58421930e+01] [ 5.95591938e-03 3.65348795e-03 9.99975589e-01 1.36249650e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.60907232899996 meters Centerline goodness : 0.768553 Centerline is valid? [False, False] Translation: X:-299.80, Y:15.84, Z:136.25 [[ 9.99939731e-01 8.97141411e-03 -6.32836263e-03 -2.99799232e+02] [-8.99023650e-03 9.99955229e-01 -2.95214030e-03 1.58409263e+01] [ 6.30159443e-03 3.00885585e-03 9.99975618e-01 1.36249357e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.639072329 meters Centerline goodness : 0.768553 Centerline is valid? [False, False] Translation: X:-299.80, Y:15.84, Z:136.25 [[ 9.99939731e-01 8.97141411e-03 -6.32836263e-03 -2.99799232e+02] [-8.99023650e-03 9.99955229e-01 -2.95214030e-03 1.58409263e+01] [ 6.30159443e-03 3.00885585e-03 9.99975618e-01 1.36249357e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.66907232899996 meters Centerline goodness : 0.768789 Centerline is valid? [False, False] Translation: X:-299.80, Y:15.84, Z:136.25 [[ 9.99940528e-01 8.87938732e-03 -6.33216454e-03 -2.99799234e+02] [-8.89916928e-03 9.99955588e-01 -3.10274071e-03 1.58415805e+01] [ 6.30433288e-03 3.15890719e-03 9.99975138e-01 1.36249343e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.699072329 meters Centerline goodness : 0.768375 Centerline is valid? [False, False] Translation: X:-299.80, Y:15.84, Z:136.25 [[ 9.99942782e-01 8.72819151e-03 -6.18470131e-03 -2.99799684e+02] [-8.74904018e-03 9.99956108e-01 -3.35200882e-03 1.58424209e+01] [ 6.15517288e-03 3.40592723e-03 9.99975256e-01 1.36249466e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.72907232899996 meters Centerline goodness : 0.768821 Centerline is valid? [False, False] Translation: X:-299.80, Y:15.84, Z:136.25 [[ 9.99942551e-01 8.85451800e-03 -6.04079866e-03 -2.99800119e+02] [-8.87305390e-03 9.99955987e-01 -3.04858286e-03 1.58414317e+01] [ 6.01353905e-03 3.10200805e-03 9.99977107e-01 1.36249441e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.759072329 meters Centerline goodness : 0.767401 Centerline is valid? [False, False] Translation: X:-299.80, Y:15.84, Z:136.25 [[ 9.99949391e-01 8.47360740e-03 -5.42337876e-03 -2.99801651e+02] [-8.49177529e-03 9.99958381e-01 -3.33570768e-03 1.58418956e+01] [ 5.39488756e-03 3.38159298e-03 9.99979730e-01 1.36249332e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.78907232899996 meters Centerline goodness : 0.769139 Centerline is valid? [False, False] Translation: X:-299.80, Y:15.84, Z:136.25 [[ 9.99952080e-01 8.33546004e-03 -5.13406523e-03 -2.99802368e+02] [-8.35263473e-03 9.99959562e-01 -3.33293404e-03 1.58416905e+01] [ 5.10607608e-03 3.37565730e-03 9.99981266e-01 1.36249237e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.819072329 meters Centerline goodness : 0.769564 Centerline is valid? [False, False] Translation: X:-299.80, Y:15.84, Z:136.25 [[ 9.99964857e-01 7.28082867e-03 -4.15618323e-03 -2.99804836e+02] [-7.29638234e-03 9.99966389e-01 -3.73948239e-03 1.58415231e+01] [ 4.12881701e-03 3.76967608e-03 9.99984371e-01 1.36249061e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.84907232899997 meters Centerline goodness : 0.770963 Centerline is valid? [False, False] Translation: X:-299.81, Y:15.84, Z:136.25 [[ 9.99964649e-01 7.34470580e-03 -4.09339103e-03 -2.99805009e+02] [-7.35956997e-03 9.99966336e-01 -3.62810450e-03 1.58415253e+01] [ 4.06660587e-03 3.65810184e-03 9.99985040e-01 1.36249109e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.87907232899994 meters Centerline goodness : 0.769734 Centerline is valid? [False, False] Translation: X:-299.81, Y:15.84, Z:136.25 [[ 9.99980080e-01 5.50726529e-03 -3.08374635e-03 -2.99809047e+02] [-5.52265137e-03 9.99972233e-01 -5.00332560e-03 1.58419567e+01] [ 3.05610608e-03 5.02025639e-03 9.99982728e-01 1.36250619e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.90907232899997 meters Centerline goodness : 0.768904 Centerline is valid? [False, False] Translation: X:-299.81, Y:15.84, Z:136.25 [[ 9.99994060e-01 -2.44705852e-03 -2.42711521e-03 -2.99811118e+02] [ 2.41776511e-03 9.99925079e-01 -1.19996099e-02 1.58369242e+01] [ 2.45629712e-03 1.19936704e-02 9.99925056e-01 1.36250830e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.93907232899994 meters Centerline goodness : 0.769630 Centerline is valid? [False, False] Translation: X:-299.81, Y:15.83, Z:136.25 [[ 9.99976513e-01 -6.59598173e-03 -1.86180257e-03 -2.99812536e+02] [ 6.56591149e-03 9.99854877e-01 -1.57198355e-02 1.58348934e+01] [ 1.96522013e-03 1.57072418e-02 9.99874702e-01 1.36250700e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.96907232899997 meters Centerline goodness : 0.770362 Centerline is valid? [False, False] Translation: X:-299.82, Y:15.83, Z:136.25 [[ 9.99964329e-01 -8.42725509e-03 -5.67686723e-04 -2.99816566e+02] [ 8.41669597e-03 9.99827347e-01 -1.65660981e-02 1.58335408e+01] [ 7.07195445e-04 1.65607292e-02 9.99862612e-01 1.36251129e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.99907232899994 meters Centerline goodness : 0.770459 Centerline is valid? [False, False] Translation: X:-299.82, Y:15.83, Z:136.25 [[ 9.99817323e-01 -1.91085382e-02 4.29036375e-04 -2.99819118e+02] [ 1.91112950e-02 9.99787200e-01 -7.76613676e-03 1.58274251e+01] [-2.80545555e-04 7.77291751e-03 9.99969751e-01 1.36251768e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.029072329 meters Centerline goodness : 0.768988 Centerline is valid? [False, False] Translation: X:-299.82, Y:15.82, Z:136.25 [[ 9.99730189e-01 -2.32076422e-02 9.77327771e-04 -2.99819669e+02] [ 2.32171563e-02 9.99667463e-01 -1.12217195e-02 1.58248839e+01] [-7.16573123e-04 1.12413825e-02 9.99936557e-01 1.36250781e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.05907232899995 meters Centerline goodness : 0.769494 Centerline is valid? [False, False] Translation: X:-299.83, Y:15.82, Z:136.24 [[ 9.99534174e-01 -3.00674949e-02 5.23261253e-03 -2.99827964e+02] [ 3.01226183e-02 9.99487911e-01 -1.07955082e-02 1.58203863e+01] [-4.90533908e-03 1.09480993e-02 9.99928036e-01 1.36242640e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.089072329 meters Centerline goodness : 0.769668 Centerline is valid? [False, False] Translation: X:-299.83, Y:15.82, Z:136.24 [[ 9.99534172e-01 -2.99349114e-02 5.94470799e-03 -2.99828801e+02] [ 2.99933176e-02 9.99500160e-01 -9.99159041e-03 1.58179675e+01] [-5.64263921e-03 1.01652376e-02 9.99932412e-01 1.36241157e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.11907232899995 meters Centerline goodness : 0.770888 Centerline is valid? [False, False] Translation: X:-299.83, Y:15.82, Z:136.24 [[ 9.99504236e-01 -3.06578900e-02 7.16763712e-03 -2.99831195e+02] [ 3.07284588e-02 9.99478225e-01 -9.95185087e-03 1.58168842e+01] [-6.85879448e-03 1.01671675e-02 9.99924790e-01 1.36240066e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.149072329 meters Centerline goodness : 0.769998 Centerline is valid? [False, False] Translation: X:-299.83, Y:15.82, Z:136.24 [[ 9.99491049e-01 -3.08590232e-02 8.08480147e-03 -2.99833080e+02] [ 3.09362652e-02 9.99475162e-01 -9.60974177e-03 1.58153719e+01] [-7.78401102e-03 9.85496444e-03 9.99921141e-01 1.36239384e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.17907232899995 meters Centerline goodness : 0.769134 Centerline is valid? [False, False] Translation: X:-299.83, Y:15.81, Z:136.24 [[ 9.99481806e-01 -3.09930955e-02 8.69178486e-03 -2.99834829e+02] [ 3.10749916e-02 9.99472373e-01 -9.45100313e-03 1.58142926e+01] [-8.39428299e-03 9.71620282e-03 9.99917562e-01 1.36239627e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.209072329 meters Centerline goodness : 0.770119 Centerline is valid? [False, False] Translation: X:-299.84, Y:15.81, Z:136.24 [[ 9.99459138e-01 -3.14821634e-02 9.50285786e-03 -2.99837018e+02] [ 3.15751699e-02 9.99453323e-01 -9.80117718e-03 1.58147111e+01] [-9.18910061e-03 1.00959304e-02 9.99906812e-01 1.36239791e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.23907232899995 meters Centerline goodness : 0.769825 Centerline is valid? [False, False] Translation: X:-299.84, Y:15.81, Z:136.24 [[ 9.99431530e-01 -3.20678800e-02 1.04051873e-02 -2.99839714e+02] [ 3.21722014e-02 9.99432130e-01 -1.00183570e-02 1.58141776e+01] [-1.00780110e-02 1.03474197e-02 9.99895677e-01 1.36240290e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.269072329 meters Centerline goodness : 0.769810 Centerline is valid? [False, False] Translation: X:-299.84, Y:15.81, Z:136.24 [[ 9.99377959e-01 -3.33392454e-02 1.14973500e-02 -2.99843206e+02] [ 3.34641819e-02 9.99381011e-01 -1.08509386e-02 1.58144280e+01] [-1.11284711e-02 1.12289383e-02 9.99875026e-01 1.36241200e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.29907232899996 meters Centerline goodness : 0.769792 Centerline is valid? [False, False] Translation: X:-299.85, Y:15.81, Z:136.24 [[ 9.99337851e-01 -3.41298886e-02 1.26099601e-02 -2.99846091e+02] [ 3.42706536e-02 9.99350714e-01 -1.11207898e-02 1.58139904e+01] [-1.22222213e-02 1.15455777e-02 9.99858648e-01 1.36241233e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.329072329 meters Centerline goodness : 0.770009 Centerline is valid? [False, False] Translation: X:-299.85, Y:15.81, Z:136.24 [[ 9.99290293e-01 -3.50618301e-02 1.37687395e-02 -2.99849119e+02] [ 3.52202102e-02 9.99314166e-01 -1.14339201e-02 1.58133467e+01] [-1.33584022e-02 1.19107433e-02 9.99839831e-01 1.36241268e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.35907232899996 meters Centerline goodness : 0.770193 Centerline is valid? [False, False] Translation: X:-299.85, Y:15.81, Z:136.24 [[ 9.99111012e-01 -3.94389744e-02 1.48913574e-02 -2.99851246e+02] [ 3.96636848e-02 9.99098852e-01 -1.51087773e-02 1.58109889e+01] [-1.42820634e-02 1.56859918e-02 9.99774961e-01 1.36240741e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.389072329 meters Centerline goodness : 0.770074 Centerline is valid? [False, False] Translation: X:-299.85, Y:15.81, Z:136.24 [[ 9.99110180e-01 -3.93430991e-02 1.51976465e-02 -2.99852151e+02] [ 3.95674597e-02 9.99107948e-01 -1.47554931e-02 1.58096551e+01] [-1.46035626e-02 1.53436956e-02 9.99775628e-01 1.36240805e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.41907232899996 meters Centerline goodness : 0.768942 Centerline is valid? [False, False] Translation: X:-299.85, Y:15.81, Z:136.24 [[ 9.99045587e-01 -4.04706963e-02 1.64328370e-02 -2.99854696e+02] [ 4.07273240e-02 9.99048597e-01 -1.55944468e-02 1.58109923e+01] [-1.57860846e-02 1.62488287e-02 9.99743355e-01 1.36240131e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.449072329 meters Centerline goodness : 0.769090 Centerline is valid? [False, False] Translation: X:-299.86, Y:15.81, Z:136.24 [[ 9.99162761e-01 -3.70576878e-02 1.73350616e-02 -2.99856975e+02] [ 3.72568649e-02 9.99241701e-01 -1.13114694e-02 1.58093774e+01] [-1.69027395e-02 1.19478491e-02 9.99785750e-01 1.36239373e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.47907232899996 meters Centerline goodness : 0.768906 Centerline is valid? [False, False] Translation: X:-299.86, Y:15.81, Z:136.24 [[ 9.99218531e-01 -3.50069805e-02 1.83531615e-02 -2.99860382e+02] [ 3.51750914e-02 9.99341371e-01 -8.91831274e-03 1.58113081e+01] [-1.80288704e-02 9.55691749e-03 9.99791791e-01 1.36239985e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.509072329 meters Centerline goodness : 0.770265 Centerline is valid? [False, False] Translation: X:-299.86, Y:15.81, Z:136.24 [[ 9.99408155e-01 -2.96540840e-02 1.74348993e-02 -2.99857185e+02] [ 2.97248471e-02 9.99550844e-01 -3.81360869e-03 1.58114751e+01] [-1.73139792e-02 4.32960134e-03 9.99840728e-01 1.36238355e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.53907232899996 meters Centerline goodness : 0.770513 Centerline is valid? [False, False] Translation: X:-299.87, Y:15.82, Z:136.23 [[ 9.99534713e-01 -2.30703318e-02 1.99528975e-02 -2.99866466e+02] [ 2.32545902e-02 9.99688590e-01 -9.05245338e-03 1.58190530e+01] [-1.97378409e-02 9.51223784e-03 9.99759939e-01 1.36231948e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.569072329 meters Centerline goodness : 0.770144 Centerline is valid? [False, False] Translation: X:-299.87, Y:15.82, Z:136.23 [[ 9.99628085e-01 -1.89597184e-02 1.96015394e-02 -2.99865835e+02] [ 1.90667884e-02 9.99804218e-01 -5.28992699e-03 1.58212622e+01] [-1.94974062e-02 5.66169799e-03 9.99793877e-01 1.36232026e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.59907232899997 meters Centerline goodness : 0.768689 Centerline is valid? [False, False] Translation: X:-299.86, Y:15.82, Z:136.23 [[ 9.99666372e-01 -1.77425159e-02 1.87709242e-02 -2.99863022e+02] [ 1.78278564e-02 9.99831438e-01 -4.38887736e-03 1.58212528e+01] [-1.86898904e-02 4.72205845e-03 9.99814178e-01 1.36231217e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.62907232899994 meters Centerline goodness : 0.769097 Centerline is valid? [False, False] Translation: X:-299.86, Y:15.83, Z:136.23 [[ 9.99762728e-01 -1.30336805e-02 1.74530949e-02 -2.99860838e+02] [ 1.30654599e-02 9.99913184e-01 -1.70805414e-03 1.58266503e+01] [-1.74293175e-02 1.93568158e-03 9.99846224e-01 1.36233094e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.65907232899997 meters Centerline goodness : 0.768972 Centerline is valid? [False, False] Translation: X:-299.86, Y:15.83, Z:136.23 [[ 9.99789284e-01 -1.22858351e-02 1.64452657e-02 -2.99858698e+02] [ 1.23123121e-02 9.99923061e-01 -1.50972436e-03 1.58274990e+01] [-1.64254522e-02 1.71188548e-03 9.99863628e-01 1.36233711e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.68907232899994 meters Centerline goodness : 0.769527 Centerline is valid? [False, False] Translation: X:-299.86, Y:15.83, Z:136.23 [[ 9.99819195e-01 -1.12218750e-02 1.53507902e-02 -2.99855769e+02] [ 1.12418118e-02 9.99936073e-01 -1.21306791e-03 1.58290560e+01] [-1.53361960e-02 1.38541927e-03 9.99881434e-01 1.36233720e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.71907232899997 meters Centerline goodness : 0.770237 Centerline is valid? [False, False] Translation: X:-299.86, Y:15.83, Z:136.23 [[ 9.99862444e-01 -7.29874331e-03 1.48936501e-02 -2.99855286e+02] [ 7.26741172e-03 9.99971266e-01 2.15672724e-03 1.58318816e+01] [-1.49089636e-02 -2.04819229e-03 9.99886757e-01 1.36234491e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.74907232899994 meters Centerline goodness : 0.769007 Centerline is valid? [False, False] Translation: X:-299.85, Y:15.83, Z:136.23 [[ 9.99878908e-01 -6.75469143e-03 1.40194238e-02 -2.99853198e+02] [ 6.72512856e-03 9.99975064e-01 2.15478178e-03 1.58331799e+01] [-1.40336291e-02 -2.06023843e-03 9.99899401e-01 1.36234726e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.779072329 meters Centerline goodness : 0.768879 Centerline is valid? [False, False] Translation: X:-299.85, Y:15.83, Z:136.24 [[ 9.99894974e-01 -6.25168243e-03 1.30750574e-02 -2.99851267e+02] [ 6.22668721e-03 9.99978710e-01 1.95150873e-03 1.58347458e+01] [-1.30869793e-02 -1.86988948e-03 9.99912613e-01 1.36235463e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.80907232899995 meters Centerline goodness : 0.768612 Centerline is valid? [False, False] Translation: X:-299.85, Y:15.84, Z:136.24 [[ 9.99903377e-01 -6.07585213e-03 1.25027988e-02 -2.99850218e+02] [ 6.05255408e-03 9.99979877e-01 1.90042233e-03 1.58351801e+01] [-1.25140939e-02 -1.82456484e-03 9.99920031e-01 1.36235954e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.839072329 meters Centerline goodness : 0.768956 Centerline is valid? [False, False] Translation: X:-299.85, Y:15.84, Z:136.24 [[ 9.99920594e-01 -5.08854582e-03 1.15287945e-02 -2.99847541e+02] [ 5.06101540e-03 9.99984275e-01 2.41588850e-03 1.58354635e+01] [-1.15409066e-02 -2.35734926e-03 9.99930623e-01 1.36235687e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.86907232899995 meters Centerline goodness : 0.767810 Centerline is valid? [False, False] Translation: X:-299.85, Y:15.84, Z:136.24 [[ 9.99930318e-01 -4.69059769e-03 1.08331458e-02 -2.99845755e+02] [ 4.66373964e-03 9.99985992e-01 2.50318143e-03 1.58360022e+01] [-1.08447355e-02 -2.45248403e-03 9.99938187e-01 1.36235581e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.899072329 meters Centerline goodness : 0.768806 Centerline is valid? [False, False] Translation: X:-299.84, Y:15.84, Z:136.23 [[ 9.99949390e-01 -2.68099955e-03 9.69690783e-03 -2.99842105e+02] [ 2.64372997e-03 9.99989078e-01 3.85422840e-03 1.58358210e+01] [-9.70713510e-03 -3.82839733e-03 9.99945556e-01 1.36234790e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.92907232899995 meters Centerline goodness : 0.769654 Centerline is valid? [False, False] Translation: X:-299.84, Y:15.84, Z:136.24 [[ 9.99958237e-01 -2.40084976e-03 8.81816866e-03 -2.99840531e+02] [ 2.36996985e-03 9.99991029e-01 3.51063225e-03 1.58376490e+01] [-8.82651805e-03 -3.48958684e-03 9.99954957e-01 1.36235692e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.959072329 meters Centerline goodness : 0.770008 Centerline is valid? [False, False] Translation: X:-299.84, Y:15.84, Z:136.24 [[ 9.99969710e-01 -9.45439978e-04 7.72562266e-03 -2.99837806e+02] [ 9.15020636e-04 9.99991819e-01 3.94004799e-03 1.58397215e+01] [-7.72928453e-03 -3.93285954e-03 9.99962395e-01 1.36235999e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.98907232899995 meters Centerline goodness : 0.770579 Centerline is valid? [False, False] Translation: X:-299.83, Y:15.84, Z:136.24 [[ 9.99988932e-01 2.59110483e-03 3.92710526e-03 -2.99829777e+02] [-2.60075207e-03 9.99993608e-01 2.45346534e-03 1.58428216e+01] [-3.92072297e-03 -2.46365161e-03 9.99989279e-01 1.36240975e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.019072329 meters Centerline goodness : 0.770017 Centerline is valid? [False, False] Translation: X:-299.83, Y:15.84, Z:136.24 [[ 9.99990960e-01 2.65152055e-03 3.32401773e-03 -2.99828560e+02] [-2.65821323e-03 9.99994446e-01 2.01063074e-03 1.58447499e+01] [-3.31866804e-03 -2.01944851e-03 9.99992454e-01 1.36241423e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.04907232899996 meters Centerline goodness : 0.770208 Centerline is valid? [False, False] Translation: X:-299.83, Y:15.85, Z:136.24 [[ 9.99992644e-01 2.58273089e-03 2.83571484e-03 -2.99827916e+02] [-2.58709615e-03 9.99995473e-01 1.53679768e-03 1.58462830e+01] [-2.83173286e-03 -1.54412264e-03 9.99994798e-01 1.36242217e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.079072329 meters Centerline goodness : 0.769741 Centerline is valid? [False, False] Translation: X:-299.83, Y:15.85, Z:136.24 [[ 9.99974446e-01 6.76566951e-03 2.30950116e-03 -2.99827218e+02] [-6.77691648e-03 9.99965044e-01 4.89728423e-03 1.58494314e+01] [-2.27628703e-03 -4.91281038e-03 9.99985341e-01 1.36243255e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.10907232899996 meters Centerline goodness : 0.769967 Centerline is valid? [False, False] Translation: X:-299.82, Y:15.85, Z:136.24 [[ 9.99967522e-01 7.96851143e-03 1.20744607e-03 -2.99824499e+02] [-7.97454218e-03 9.99955325e-01 5.07496253e-03 1.58514328e+01] [-1.16695223e-03 -5.08442653e-03 9.99986393e-01 1.36243600e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.139072329 meters Centerline goodness : 0.770696 Centerline is valid? [False, False] Translation: X:-299.82, Y:15.85, Z:136.24 [[ 9.99955186e-01 9.46699226e-03 -5.02867899e-05 -2.99821782e+02] [-9.46656609e-03 9.99939719e-01 5.56265238e-03 1.58527978e+01] [ 1.02945346e-04 -5.56192705e-03 9.99984527e-01 1.36244358e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.16907232899996 meters Centerline goodness : 0.770914 Centerline is valid? [False, False] Translation: X:-299.82, Y:15.86, Z:136.25 [[ 9.99911362e-01 1.33025431e-02 -5.57299931e-04 -2.99821539e+02] [-1.32975008e-02 9.99877620e-01 8.24149886e-03 1.58576260e+01] [ 6.66864622e-04 -8.23335765e-03 9.99965883e-01 1.36246086e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.199072329 meters Centerline goodness : 0.770650 Centerline is valid? [False, False] Translation: X:-299.82, Y:15.86, Z:136.25 [[ 9.99912139e-01 1.32037214e-02 -1.17305100e-03 -2.99820674e+02] [-1.31945870e-02 9.99884967e-01 7.48034061e-03 1.58603568e+01] [ 1.27168440e-03 -7.46420546e-03 9.99971334e-01 1.36247113e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.22907232899996 meters Centerline goodness : 0.769379 Centerline is valid? [False, False] Translation: X:-299.82, Y:15.86, Z:136.25 [[ 9.99911144e-01 1.32178660e-02 -1.72988273e-03 -2.99820000e+02] [-1.32052563e-02 9.99887540e-01 7.10830687e-03 1.58616317e+01] [ 1.82364483e-03 -7.08483171e-03 9.99973239e-01 1.36248119e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.259072329 meters Centerline goodness : 0.770751 Centerline is valid? [False, False] Translation: X:-299.82, Y:15.86, Z:136.25 [[ 9.99909187e-01 1.32553981e-02 -2.43149406e-03 -2.99818825e+02] [-1.32392999e-02 9.99891090e-01 6.52143767e-03 1.58642429e+01] [ 2.51767350e-03 -6.48865416e-03 9.99975779e-01 1.36249064e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.28907232899996 meters Centerline goodness : 0.772185 Centerline is valid? [False, False] Translation: X:-299.82, Y:15.87, Z:136.25 [[ 9.99897400e-01 1.39426123e-02 -3.28529906e-03 -2.99816753e+02] [-1.39205788e-02 9.99881079e-01 6.63673811e-03 1.58654122e+01] [ 3.37744183e-03 -6.59032392e-03 9.99972580e-01 1.36249277e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.319072329 meters Centerline goodness : 0.771722 Centerline is valid? [False, False] Translation: X:-299.81, Y:15.86, Z:136.25 [[ 9.99918520e-01 1.21137450e-02 -4.02610874e-03 -2.99813642e+02] [-1.20950424e-02 9.99916097e-01 4.63766267e-03 1.58643123e+01] [ 4.08195040e-03 -4.58858884e-03 9.99981141e-01 1.36247871e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.34907232899997 meters Centerline goodness : 0.770932 Centerline is valid? [False, False] Translation: X:-299.81, Y:15.86, Z:136.25 [[ 9.99945719e-01 9.16155975e-03 -4.96244510e-03 -2.99811159e+02] [-9.15518849e-03 9.99957239e-01 1.30509342e-03 1.58640657e+01] [ 4.97418959e-03 -1.25959045e-03 9.99986835e-01 1.36247742e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.37907232899994 meters Centerline goodness : 0.771624 Centerline is valid? [False, False] Translation: X:-299.81, Y:15.86, Z:136.25 [[ 9.99952071e-01 8.68573939e-03 -4.51824929e-03 -2.99812952e+02] [-8.68208975e-03 9.99961968e-01 8.26742463e-04 1.58645882e+01] [ 4.52525832e-03 -7.87474991e-04 9.99989451e-01 1.36248503e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.40907232899997 meters Centerline goodness : 0.770378 Centerline is valid? [False, False] Translation: X:-299.81, Y:15.86, Z:136.25 [[ 9.99956018e-01 8.43924746e-03 -4.09170986e-03 -2.99814244e+02] [-8.43672645e-03 9.99964210e-01 6.32995152e-04 1.58646771e+01] [ 4.09690542e-03 -5.98446674e-04 9.99991429e-01 1.36248746e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.43907232899994 meters Centerline goodness : 0.771417 Centerline is valid? [False, False] Translation: X:-299.82, Y:15.86, Z:136.25 [[ 9.99960917e-01 8.01880025e-03 -3.72340257e-03 -2.99815938e+02] [-8.01800520e-03 9.99967829e-01 2.28406259e-04 1.58648455e+01] [ 3.72511433e-03 -1.98543071e-04 9.99993042e-01 1.36249597e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.46907232899997 meters Centerline goodness : 0.771569 Centerline is valid? [False, False] Translation: X:-299.82, Y:15.86, Z:136.25 [[ 9.99963563e-01 7.82611463e-03 -3.40959927e-03 -2.99817247e+02] [-7.82568481e-03 9.99969369e-01 1.39383055e-04 1.58644129e+01] [ 3.41058565e-03 -1.12695527e-04 9.99994178e-01 1.36250134e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.49907232899994 meters Centerline goodness : 0.770856 Centerline is valid? [False, False] Translation: X:-299.82, Y:15.86, Z:136.25 [[ 9.99965695e-01 7.67793242e-03 -3.10781712e-03 -2.99818166e+02] [-7.67779626e-03 9.99970524e-01 5.57409676e-05 1.58641406e+01] [ 3.10815348e-03 -3.18778688e-05 9.99995169e-01 1.36250190e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.529072329 meters Centerline goodness : 0.770856 Centerline is valid? [False, False] Translation: X:-299.82, Y:15.86, Z:136.25 [[ 9.99965695e-01 7.67793242e-03 -3.10781712e-03 -2.99818166e+02] [-7.67779626e-03 9.99970524e-01 5.57409676e-05 1.58641406e+01] [ 3.10815348e-03 -3.18778688e-05 9.99995169e-01 1.36250190e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.55907232899995 meters Centerline goodness : 0.771278 Centerline is valid? [False, False] Translation: X:-299.82, Y:15.86, Z:136.25 [[ 9.99967938e-01 7.59686958e-03 -2.53177528e-03 -2.99819383e+02] [-7.59584193e-03 9.99971065e-01 4.15271963e-04 1.58624570e+01] [ 2.53485679e-03 -3.96027684e-04 9.99996709e-01 1.36249623e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.589072329 meters Centerline goodness : 0.770624 Centerline is valid? [False, False] Translation: X:-299.82, Y:15.86, Z:136.25 [[ 9.99968691e-01 7.50749838e-03 -2.50072859e-03 -2.99819695e+02] [-7.50682409e-03 9.99971785e-01 2.78914856e-04 1.58627036e+01] [ 2.50275198e-03 -2.60133594e-04 9.99996834e-01 1.36249895e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.61907232899995 meters Centerline goodness : 0.768821 Centerline is valid? [False, False] Translation: X:-299.82, Y:15.86, Z:136.25 [[ 9.99973288e-01 7.03757773e-03 -1.97380385e-03 -2.99821419e+02] [-7.03788463e-03 9.99975223e-01 -1.48581359e-04 1.58631739e+01] [ 1.97270929e-03 1.62468794e-04 9.99998041e-01 1.36250337e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.649072329 meters Centerline goodness : 0.768155 Centerline is valid? [False, False] Translation: X:-299.82, Y:15.86, Z:136.25 [[ 9.99993900e-01 3.08127556e-03 -1.64514984e-03 -2.99821945e+02] [-3.08734848e-03 9.99988383e-01 -3.70171773e-03 1.58613779e+01] [ 1.63372471e-03 3.70677430e-03 9.99991795e-01 1.36249815e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.67907232899995 meters Centerline goodness : 0.768294 Centerline is valid? [False, False] Translation: X:-299.82, Y:15.86, Z:136.25 [[ 9.99995785e-01 2.76611533e-03 -8.82267341e-04 -2.99823925e+02] [-2.76924074e-03 9.99989825e-01 -3.56115468e-03 1.58601726e+01] [ 8.72407799e-04 3.56358288e-03 9.99993270e-01 1.36249747e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.709072329 meters Centerline goodness : 0.768142 Centerline is valid? [False, False] Translation: X:-299.83, Y:15.86, Z:136.25 [[ 9.99998075e-01 1.96167810e-03 3.50697056e-05 -2.99826484e+02] [-1.96151242e-03 9.99989151e-01 -4.22500290e-03 1.58612316e+01] [-4.33574208e-05 4.22492598e-03 9.99991074e-01 1.36250062e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.73907232899995 meters Centerline goodness : 0.770471 Centerline is valid? [False, False] Translation: X:-299.83, Y:15.86, Z:136.25 [[ 9.99998729e-01 1.32853180e-03 8.81429109e-04 -2.99828422e+02] [-1.32451130e-03 9.99988788e-01 -4.54634728e-03 1.58615962e+01] [-8.87459193e-04 4.54517404e-03 9.99989277e-01 1.36249809e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.769072329 meters Centerline goodness : 0.768106 Centerline is valid? [False, False] Translation: X:-299.83, Y:15.86, Z:136.25 [[ 9.99998042e-01 6.75450261e-04 1.85986919e-03 -2.99830500e+02] [-6.66779777e-04 9.99988927e-01 -4.65855847e-03 1.58610192e+01] [-1.86299522e-03 4.65730923e-03 9.99987419e-01 1.36249132e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.79907232899996 meters Centerline goodness : 0.767539 Centerline is valid? [False, False] Translation: X:-299.83, Y:15.86, Z:136.25 [[ 9.99997926e-01 1.13849440e-03 1.68875436e-03 -2.99829392e+02] [-1.13171238e-03 9.99991313e-01 -4.01152262e-03 1.58599356e+01] [-1.69330679e-03 4.00960311e-03 9.99990528e-01 1.36248243e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.829072329 meters Centerline goodness : 0.767760 Centerline is valid? [False, False] Translation: X:-299.83, Y:15.86, Z:136.25 [[ 9.99997348e-01 1.45255408e-03 1.78722972e-03 -2.99829264e+02] [-1.44630435e-03 9.99992853e-01 -3.49321841e-03 1.58589073e+01] [-1.79229104e-03 3.49062427e-03 9.99992302e-01 1.36247625e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.85907232899996 meters Centerline goodness : 0.766201 Centerline is valid? [False, False] Translation: X:-299.83, Y:15.86, Z:136.25 [[ 9.99995935e-01 5.56239016e-04 2.79639960e-03 -2.99832030e+02] [-5.44464799e-04 9.99990992e-01 -4.20949136e-03 1.58597197e+01] [-2.79871589e-03 4.20795171e-03 9.99987230e-01 1.36247843e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.889072329 meters Centerline goodness : 0.766885 Centerline is valid? [False, False] Translation: X:-299.83, Y:15.86, Z:136.25 [[ 9.99996690e-01 1.49750081e-03 2.09234228e-03 -2.99830429e+02] [-1.49038916e-03 9.99993122e-01 -3.39633300e-03 1.58584215e+01] [-2.09741390e-03 3.39320336e-03 9.99992043e-01 1.36248006e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.91907232899996 meters Centerline goodness : 0.766848 Centerline is valid? [False, False] Translation: X:-299.83, Y:15.86, Z:136.25 [[ 9.99996980e-01 1.05409360e-03 2.21999585e-03 -2.99831183e+02] [-1.04469148e-03 9.99990499e-01 -4.23210786e-03 1.58605637e+01] [-2.22443580e-03 4.22977587e-03 9.99988580e-01 1.36248647e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.949072329 meters Centerline goodness : 0.765815 Centerline is valid? [False, False] Translation: X:-299.83, Y:15.86, Z:136.25 [[ 9.99997214e-01 1.10266388e-03 2.08697524e-03 -2.99830859e+02] [-1.09352752e-03 9.99989837e-01 -4.37388982e-03 1.58614269e+01] [-2.09177696e-03 4.37159547e-03 9.99988257e-01 1.36248690e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.97907232899996 meters Centerline goodness : 0.766497 Centerline is valid? [False, False] Translation: X:-299.83, Y:15.86, Z:136.25 [[ 9.99997550e-01 1.36883734e-03 1.73964587e-03 -2.99830084e+02] [-1.36151792e-03 9.99990246e-01 -4.20166334e-03 1.58616326e+01] [-1.74538029e-03 4.19928449e-03 9.99989660e-01 1.36248882e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.009072329 meters Centerline goodness : 0.766078 Centerline is valid? [False, False] Translation: X:-299.83, Y:15.86, Z:136.25 [[ 9.99997907e-01 9.87203635e-04 1.79200668e-03 -2.99830244e+02] [-9.78434393e-04 9.99987576e-01 -4.88783077e-03 1.58640667e+01] [-1.79680970e-03 4.88606718e-03 9.99986449e-01 1.36249129e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.03907232899996 meters Centerline goodness : 0.765333 Centerline is valid? [False, False] Translation: X:-299.83, Y:15.87, Z:136.25 [[ 9.99995298e-01 -4.47301826e-04 3.03380055e-03 -2.99833482e+02] [ 4.65750940e-04 9.99981389e-01 -6.08321095e-03 1.58658019e+01] [-3.03102306e-03 6.08459535e-03 9.99976895e-01 1.36249265e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.069072329 meters Centerline goodness : 0.765447 Centerline is valid? [False, False] Translation: X:-299.84, Y:15.86, Z:136.25 [[ 9.99992683e-01 -7.20063745e-04 3.75710938e-03 -2.99835303e+02] [ 7.41811357e-04 9.99982961e-01 -5.79021021e-03 1.58640569e+01] [-3.75287604e-03 5.79295491e-03 9.99976179e-01 1.36249089e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.09907232899997 meters Centerline goodness : 0.764887 Centerline is valid? [False, False] Translation: X:-299.84, Y:15.86, Z:136.25 [[ 9.99992453e-01 -6.37210768e-04 3.83246940e-03 -2.99835246e+02] [ 6.58779448e-04 9.99983939e-01 -5.62925366e-03 1.58638918e+01] [-3.82882082e-03 5.63173592e-03 9.99976812e-01 1.36248737e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.12907232899994 meters Centerline goodness : 0.763633 Centerline is valid? [False, False] Translation: X:-299.84, Y:15.86, Z:136.25 [[ 9.99989705e-01 -7.96248443e-04 4.46724764e-03 -2.99836621e+02] [ 8.20325355e-04 9.99985135e-01 -5.39041151e-03 1.58627162e+01] [-4.46288913e-03 5.39402062e-03 9.99975493e-01 1.36248349e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.15907232899997 meters Centerline goodness : 0.763100 Centerline is valid? [False, False] Translation: X:-299.84, Y:15.86, Z:136.25 [[ 9.99985469e-01 -1.07004381e-03 5.28358640e-03 -2.99838493e+02] [ 1.09800314e-03 9.99985396e-01 -5.29167199e-03 1.58618091e+01] [-5.27784692e-03 5.29739649e-03 9.99972041e-01 1.36248019e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.18907232899994 meters Centerline goodness : 0.764053 Centerline is valid? [False, False] Translation: X:-299.84, Y:15.86, Z:136.25 [[ 9.99980075e-01 -1.40590196e-03 6.15418179e-03 -2.99841112e+02] [ 1.43680434e-03 9.99986368e-01 -5.01982446e-03 1.58596600e+01] [-6.14704051e-03 5.02856680e-03 9.99968463e-01 1.36248402e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.21907232899997 meters Centerline goodness : 0.764856 Centerline is valid? [False, False] Translation: X:-299.84, Y:15.86, Z:136.25 [[ 9.99979381e-01 -1.44711110e-03 6.25653474e-03 -2.99841628e+02] [ 1.47873763e-03 9.99986139e-01 -5.05329238e-03 1.58597302e+01] [-6.24913534e-03 5.06243996e-03 9.99967659e-01 1.36248757e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.24907232899994 meters Centerline goodness : 0.764335 Centerline is valid? [False, False] Translation: X:-299.84, Y:15.86, Z:136.25 [[ 9.99977307e-01 -1.62726978e-03 6.53746188e-03 -2.99842014e+02] [ 1.66124912e-03 9.99985123e-01 -5.19557223e-03 1.58602970e+01] [-6.52891003e-03 5.20631467e-03 9.99965133e-01 1.36248318e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.279072329 meters Centerline goodness : 0.763051 Centerline is valid? [False, False] Translation: X:-299.84, Y:15.86, Z:136.25 [[ 9.99965751e-01 -4.93039101e-03 6.64748522e-03 -2.99840482e+02] [ 4.98233856e-03 9.99957004e-01 -7.82083542e-03 1.58568369e+01] [-6.60863963e-03 7.85368758e-03 9.99947321e-01 1.36245875e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.30907232899995 meters Centerline goodness : 0.764650 Centerline is valid? [False, False] Translation: X:-299.84, Y:15.86, Z:136.25 [[ 9.99961599e-01 -4.99841967e-03 7.19836655e-03 -2.99841491e+02] [ 5.05317837e-03 9.99958283e-01 -7.60911188e-03 1.58560081e+01] [-7.16003272e-03 7.64519431e-03 9.99945141e-01 1.36245254e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.339072329 meters Centerline goodness : 0.763421 Centerline is valid? [False, False] Translation: X:-299.84, Y:15.85, Z:136.24 [[ 9.99950835e-01 -5.43358290e-03 8.29479007e-03 -2.99843688e+02] [ 5.49464657e-03 9.99957843e-01 -7.35673740e-03 1.58544012e+01] [-8.25446694e-03 7.40195265e-03 9.99938536e-01 1.36244303e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.36907232899995 meters Centerline goodness : 0.763403 Centerline is valid? [False, False] Translation: X:-299.85, Y:15.85, Z:136.24 [[ 9.99944977e-01 -5.59509594e-03 8.87345331e-03 -2.99845207e+02] [ 5.65922817e-03 9.99957930e-01 -7.21886091e-03 1.58534833e+01] [-8.83268978e-03 7.26868061e-03 9.99934573e-01 1.36244334e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.399072329 meters Centerline goodness : 0.762300 Centerline is valid? [False, False] Translation: X:-299.85, Y:15.85, Z:136.24 [[ 9.99936173e-01 -6.04141632e-03 9.54733712e-03 -2.99846888e+02] [ 6.11399212e-03 9.99952498e-01 -7.59086474e-03 1.58543026e+01] [-9.50102402e-03 7.64875258e-03 9.99925611e-01 1.36244349e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.42907232899995 meters Centerline goodness : 0.762682 Centerline is valid? [False, False] Translation: X:-299.85, Y:15.85, Z:136.24 [[ 9.99929932e-01 -6.24039877e-03 1.00592837e-02 -2.99848307e+02] [ 6.31720147e-03 9.99951002e-01 -7.62139999e-03 1.58539808e+01] [-1.00112303e-02 7.68441250e-03 9.99920359e-01 1.36244477e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.459072329 meters Centerline goodness : 0.763963 Centerline is valid? [False, False] Translation: X:-299.85, Y:15.85, Z:136.25 [[ 9.99912192e-01 -7.27343805e-03 1.10772583e-02 -2.99851458e+02] [ 7.36515414e-03 9.99938749e-01 -8.26150890e-03 1.58541760e+01] [-1.10164903e-02 8.34236919e-03 9.99904516e-01 1.36245198e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.48907232899995 meters Centerline goodness : 0.762420 Centerline is valid? [False, False] Translation: X:-299.85, Y:15.85, Z:136.25 [[ 9.99903803e-01 -7.40019890e-03 1.17312380e-02 -2.99853085e+02] [ 7.49511073e-03 9.99939369e-01 -8.06730712e-03 1.58532922e+01] [-1.16708271e-02 8.15445800e-03 9.99898643e-01 1.36245124e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.519072329 meters Centerline goodness : 0.763982 Centerline is valid? [False, False] Translation: X:-299.86, Y:15.85, Z:136.25 [[ 9.99885420e-01 -8.10312755e-03 1.27861632e-02 -2.99855788e+02] [ 8.20664960e-03 9.99933803e-01 -8.06482271e-03 1.58518807e+01] [-1.27199665e-02 8.16883021e-03 9.99885730e-01 1.36245075e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.54907232899996 meters Centerline goodness : 0.762735 Centerline is valid? [False, False] Translation: X:-299.86, Y:15.85, Z:136.24 [[ 9.99876809e-01 -8.30937801e-03 1.33162209e-02 -2.99856899e+02] [ 8.41721264e-03 9.99932071e-01 -8.06250880e-03 1.58516483e+01] [-1.32483219e-02 8.17360103e-03 9.99878830e-01 1.36244730e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.579072329 meters Centerline goodness : 0.761999 Centerline is valid? [False, False] Translation: X:-299.86, Y:15.85, Z:136.24 [[ 9.99856966e-01 -9.02645844e-03 1.43027960e-02 -2.99859099e+02] [ 9.14592116e-03 9.99923652e-01 -8.30912292e-03 1.58513647e+01] [-1.42267021e-02 8.43874668e-03 9.99863185e-01 1.36244258e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.60907232899996 meters Centerline goodness : 0.763650 Centerline is valid? [False, False] Translation: X:-299.86, Y:15.85, Z:136.24 [[ 9.99852294e-01 -8.82729724e-03 1.47468282e-02 -2.99859711e+02] [ 8.93928699e-03 9.99931574e-01 -7.54558070e-03 1.58489575e+01] [-1.46792121e-02 7.67629230e-03 9.99862788e-01 1.36243433e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.639072329 meters Centerline goodness : 0.762699 Centerline is valid? [False, False] Translation: X:-299.86, Y:15.85, Z:136.24 [[ 9.99853433e-01 -8.48183055e-03 1.48717944e-02 -2.99859682e+02] [ 8.58544676e-03 9.99939218e-01 -6.91735026e-03 1.58472189e+01] [-1.48122187e-02 7.04401740e-03 9.99865481e-01 1.36242870e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.66907232899996 meters Centerline goodness : 0.762415 Centerline is valid? [False, False] Translation: X:-299.86, Y:15.85, Z:136.24 [[ 9.99852850e-01 -8.27539324e-03 1.50265392e-02 -2.99860026e+02] [ 8.37339722e-03 9.99944005e-01 -6.47089903e-03 1.58459345e+01] [-1.49721486e-02 6.59577002e-03 9.99866156e-01 1.36242726e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.699072329 meters Centerline goodness : 0.761988 Centerline is valid? [False, False] Translation: X:-299.86, Y:15.85, Z:136.24 [[ 9.99839576e-01 -8.69625822e-03 1.56587901e-02 -2.99861329e+02] [ 8.80301047e-03 9.99938393e-01 -6.76142800e-03 1.58465859e+01] [-1.55990263e-02 6.89818779e-03 9.99854532e-01 1.36242391e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.72907232899996 meters Centerline goodness : 0.762044 Centerline is valid? [False, False] Translation: X:-299.86, Y:15.85, Z:136.24 [[ 9.99832123e-01 -8.81150130e-03 1.60649483e-02 -2.99862291e+02] [ 8.92069445e-03 9.99937508e-01 -6.73803758e-03 1.58462723e+01] [-1.60045721e-02 6.88021692e-03 9.99848247e-01 1.36242258e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.759072329 meters Centerline goodness : 0.762448 Centerline is valid? [False, False] Translation: X:-299.86, Y:15.85, Z:136.24 [[ 9.99825196e-01 -8.81713958e-03 1.64874375e-02 -2.99862870e+02] [ 8.92468348e-03 9.99939303e-01 -6.46061554e-03 1.58453594e+01] [-1.64294726e-02 6.60663136e-03 9.99843200e-01 1.36241520e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.78907232899996 meters Centerline goodness : 0.762941 Centerline is valid? [False, False] Translation: X:-299.86, Y:15.84, Z:136.24 [[ 9.99818366e-01 -8.85165430e-03 1.68784580e-02 -2.99863284e+02] [ 8.95828127e-03 9.99940328e-01 -6.25223286e-03 1.58449507e+01] [-1.68221082e-02 6.40229922e-03 9.99838000e-01 1.36240720e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.819072329 meters Centerline goodness : 0.762808 Centerline is valid? [False, False] Translation: X:-299.86, Y:15.84, Z:136.24 [[ 9.99808900e-01 -8.95457892e-03 1.73775716e-02 -2.99864298e+02] [ 9.06132639e-03 9.99940499e-01 -6.07384391e-03 1.58442908e+01] [-1.73221489e-02 6.23014704e-03 9.99830550e-01 1.36240379e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.84907232899997 meters Centerline goodness : 0.763025 Centerline is valid? [False, False] Translation: X:-299.86, Y:15.84, Z:136.24 [[ 9.99810429e-01 -8.85274921e-03 1.73417113e-02 -2.99864362e+02] [ 8.95872851e-03 9.99941609e-01 -6.04311165e-03 1.58444539e+01] [-1.72872005e-02 6.19732573e-03 9.99831359e-01 1.36240610e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.87907232899994 meters Centerline goodness : 0.762629 Centerline is valid? [False, False] Translation: X:-299.87, Y:15.85, Z:136.24 [[ 9.99795755e-01 -9.38166868e-03 1.79006521e-02 -2.99866137e+02] [ 9.50248703e-03 9.99932563e-01 -6.67630351e-03 1.58459203e+01] [-1.78368100e-02 6.84504062e-03 9.99817480e-01 1.36241216e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.90907232899997 meters Centerline goodness : 0.763240 Centerline is valid? [False, False] Translation: X:-299.87, Y:15.85, Z:136.24 [[ 9.99800636e-01 -9.27240102e-03 1.76836057e-02 -2.99865758e+02] [ 9.39179220e-03 9.99933581e-01 -6.68046265e-03 1.58463943e+01] [-1.76204873e-02 6.84521156e-03 9.99821315e-01 1.36241511e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.93907232899994 meters Centerline goodness : 0.762083 Centerline is valid? [False, False] Translation: X:-299.86, Y:15.85, Z:136.24 [[ 9.99818058e-01 -8.48248667e-03 1.70850108e-02 -2.99863620e+02] [ 8.58731423e-03 9.99944695e-01 -6.07165506e-03 1.58466810e+01] [-1.70325632e-02 6.21726473e-03 9.99835605e-01 1.36240877e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.96907232899997 meters Centerline goodness : 0.763180 Centerline is valid? [False, False] Translation: X:-299.86, Y:15.85, Z:136.24 [[ 9.99829564e-01 -7.99687767e-03 1.66400813e-02 -2.99862838e+02] [ 8.09072465e-03 9.99951700e-01 -5.58015797e-03 1.58457540e+01] [-1.65946537e-02 5.71383723e-03 9.99845973e-01 1.36241273e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.99907232899994 meters Centerline goodness : 0.763110 Centerline is valid? [False, False] Translation: X:-299.86, Y:15.85, Z:136.24 [[ 9.99824821e-01 -8.35742793e-03 1.67475754e-02 -2.99863391e+02] [ 8.46421939e-03 9.99944232e-01 -6.31582609e-03 1.58480934e+01] [-1.66938574e-02 6.45647484e-03 9.99839802e-01 1.36241811e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.029072329 meters Centerline goodness : 0.762982 Centerline is valid? [False, False] Translation: X:-299.86, Y:15.85, Z:136.24 [[ 9.99834115e-01 -8.11994862e-03 1.63036322e-02 -2.99862883e+02] [ 8.22301757e-03 9.99946566e-01 -6.26478569e-03 1.58483291e+01] [-1.62518913e-02 6.39781151e-03 9.99847460e-01 1.36242644e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.05907232899995 meters Centerline goodness : 0.761219 Centerline is valid? [False, False] Translation: X:-299.86, Y:15.85, Z:136.24 [[ 9.99831048e-01 -8.40309222e-03 1.63482051e-02 -2.99863306e+02] [ 8.51551525e-03 9.99940489e-01 -6.81936595e-03 1.58500105e+01] [-1.62899285e-02 6.95742719e-03 9.99843104e-01 1.36243154e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.089072329 meters Centerline goodness : 0.762362 Centerline is valid? [False, False] Translation: X:-299.86, Y:15.85, Z:136.24 [[ 9.99849156e-01 -7.26749413e-03 1.57749109e-02 -2.99860626e+02] [ 7.35622362e-03 9.99957407e-01 -5.57400223e-03 1.58486313e+01] [-1.57337299e-02 5.68920520e-03 9.99860032e-01 1.36241617e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.11907232899995 meters Centerline goodness : 0.762479 Centerline is valid? [False, False] Translation: X:-299.86, Y:15.85, Z:136.24 [[ 9.99861591e-01 -6.50502131e-03 1.53128770e-02 -2.99858572e+02] [ 6.57777305e-03 9.99967295e-01 -4.70545551e-03 1.58475594e+01] [-1.52817671e-02 4.80552886e-03 9.99871679e-01 1.36240485e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.149072329 meters Centerline goodness : 0.763445 Centerline is valid? [False, False] Translation: X:-299.86, Y:15.85, Z:136.24 [[ 9.99865462e-01 -6.36362589e-03 1.51182510e-02 -2.99857713e+02] [ 6.43530576e-03 9.99968260e-01 -4.69737251e-03 1.58482131e+01] [-1.50878789e-02 4.79403111e-03 9.99874679e-01 1.36240022e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.17907232899995 meters Centerline goodness : 0.764930 Centerline is valid? [False, False] Translation: X:-299.86, Y:15.85, Z:136.24 [[ 9.99863934e-01 -6.41611480e-03 1.51969555e-02 -2.99858268e+02] [ 6.48903134e-03 9.99967647e-01 -4.75366135e-03 1.58483237e+01] [-1.51659638e-02 4.85162805e-03 9.99873220e-01 1.36240527e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.209072329 meters Centerline goodness : 0.764406 Centerline is valid? [False, False] Translation: X:-299.86, Y:15.85, Z:136.24 [[ 9.99864496e-01 -6.38711828e-03 1.51721693e-02 -2.99858605e+02] [ 6.46065292e-03 9.99967597e-01 -4.80261923e-03 1.58485460e+01] [-1.51410028e-02 4.89999057e-03 9.99873362e-01 1.36241103e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.23907232899995 meters Centerline goodness : 0.764171 Centerline is valid? [False, False] Translation: X:-299.86, Y:15.85, Z:136.24 [[ 9.99872763e-01 -6.00205554e-03 1.47794647e-02 -2.99857757e+02] [ 6.06866392e-03 9.99971612e-01 -4.46610269e-03 1.58481612e+01] [-1.47522394e-02 4.55522604e-03 9.99880804e-01 1.36241249e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.269072329 meters Centerline goodness : 0.764831 Centerline is valid? [False, False] Translation: X:-299.86, Y:15.85, Z:136.24 [[ 9.99882585e-01 -5.59755798e-03 1.42648001e-02 -2.99855966e+02] [ 5.66209508e-03 9.99973900e-01 -4.48785706e-03 1.58496883e+01] [-1.42393067e-02 4.56809877e-03 9.99888181e-01 1.36240718e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.29907232899996 meters Centerline goodness : 0.765557 Centerline is valid? [False, False] Translation: X:-299.86, Y:15.85, Z:136.24 [[ 9.99900569e-01 -1.85041979e-03 1.39795676e-02 -2.99855797e+02] [ 1.86945573e-03 9.99997343e-01 -1.34875238e-03 1.58531390e+01] [-1.39770347e-02 1.37475245e-03 9.99901371e-01 1.36241543e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.329072329 meters Centerline goodness : 0.763873 Centerline is valid? [False, False] Translation: X:-299.85, Y:15.85, Z:136.24 [[ 9.99912083e-01 -1.47323060e-03 1.31778390e-02 -2.99854185e+02] [ 1.49025499e-03 9.99998068e-01 -1.28216936e-03 1.58536787e+01] [-1.31759246e-02 1.30169498e-03 9.99912346e-01 1.36242107e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.35907232899996 meters Centerline goodness : 0.764824 Centerline is valid? [False, False] Translation: X:-299.85, Y:15.85, Z:136.24 [[ 9.99922804e-01 -1.00334530e-03 1.23846707e-02 -2.99852671e+02] [ 1.01811426e-03 9.99998778e-01 -1.18627227e-03 1.58542327e+01] [-1.23834654e-02 1.19878970e-03 9.99922603e-01 1.36242810e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.389072329 meters Centerline goodness : 0.765856 Centerline is valid? [False, False] Translation: X:-299.85, Y:15.86, Z:136.24 [[ 9.99929706e-01 3.62997992e-03 1.12874317e-02 -2.99850462e+02] [-3.65843658e-03 9.99990179e-01 2.50146767e-03 1.58569750e+01] [-1.12782406e-02 -2.54258618e-03 9.99933166e-01 1.36243720e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.41907232899996 meters Centerline goodness : 0.766469 Centerline is valid? [False, False] Translation: X:-299.85, Y:15.86, Z:136.24 [[ 9.99939655e-01 4.05350817e-03 1.02105849e-02 -2.99848154e+02] [-4.07509312e-03 9.99989504e-01 2.09406028e-03 1.58596194e+01] [-1.02019895e-02 -2.13554300e-03 9.99945678e-01 1.36244410e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.449072329 meters Centerline goodness : 0.766469 Centerline is valid? [False, False] Translation: X:-299.85, Y:15.86, Z:136.24 [[ 9.99939655e-01 4.05350817e-03 1.02105849e-02 -2.99848154e+02] [-4.07509312e-03 9.99989504e-01 2.09406028e-03 1.58596194e+01] [-1.02019895e-02 -2.13554300e-03 9.99945678e-01 1.36244410e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.47907232899996 meters Centerline goodness : 0.765724 Centerline is valid? [False, False] Translation: X:-299.85, Y:15.86, Z:136.24 [[ 9.99921868e-01 8.19883375e-03 9.43596486e-03 -2.99846015e+02] [-8.24991525e-03 9.99951456e-01 5.38735691e-03 1.58637235e+01] [-9.39133676e-03 -5.46478190e-03 9.99940968e-01 1.36244421e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.509072329 meters Centerline goodness : 0.764620 Centerline is valid? [False, False] Translation: X:-299.84, Y:15.86, Z:136.24 [[ 9.99926881e-01 8.40756642e-03 8.69164552e-03 -2.99844466e+02] [-8.45352625e-03 9.99950409e-01 5.26467224e-03 1.58647180e+01] [-8.64695141e-03 -5.33776235e-03 9.99948368e-01 1.36244829e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.53907232899996 meters Centerline goodness : 0.764620 Centerline is valid? [False, False] Translation: X:-299.84, Y:15.87, Z:136.24 [[ 9.99919503e-01 1.00440302e-02 7.75277864e-03 -2.99841194e+02] [-1.00925223e-02 9.99929592e-01 6.24123012e-03 1.58655319e+01] [-7.68954568e-03 -6.31897281e-03 9.99950470e-01 1.36244015e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.569072329 meters Centerline goodness : 0.768165 Centerline is valid? [False, False] Translation: X:-299.84, Y:15.87, Z:136.24 [[ 9.99869744e-01 1.46185581e-02 6.84053496e-03 -2.99838991e+02] [-1.46856365e-02 9.99843537e-01 9.86074872e-03 1.58685833e+01] [-6.69531474e-03 -9.95992191e-03 9.99927984e-01 1.36244504e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.59907232899997 meters Centerline goodness : 0.766872 Centerline is valid? [False, False] Translation: X:-299.84, Y:15.87, Z:136.25 [[ 9.99872139e-01 1.47857517e-02 6.08984805e-03 -2.99837568e+02] [-1.48428260e-02 9.99845315e-01 9.43596895e-03 1.58706363e+01] [-5.94938814e-03 -9.52515302e-03 9.99936936e-01 1.36245227e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.62907232899994 meters Centerline goodness : 0.766869 Centerline is valid? [False, False] Translation: X:-299.84, Y:15.87, Z:136.25 [[ 9.99872850e-01 1.50184173e-02 5.36005230e-03 -2.99836259e+02] [-1.50674401e-02 9.99843916e-01 9.22587531e-03 1.58719654e+01] [-5.22065764e-03 -9.30546451e-03 9.99943075e-01 1.36245986e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.65907232899997 meters Centerline goodness : 0.767250 Centerline is valid? [False, False] Translation: X:-299.84, Y:15.87, Z:136.25 [[ 9.99878912e-01 1.47410992e-02 4.98617005e-03 -2.99835725e+02] [-1.47828721e-02 9.99855045e-01 8.44728818e-03 1.58746053e+01] [-4.86092496e-03 -8.51997523e-03 9.99951890e-01 1.36246607e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.68907232899994 meters Centerline goodness : 0.766869 Centerline is valid? [False, False] Translation: X:-299.83, Y:15.88, Z:136.25 [[ 9.99832868e-01 1.82447772e-02 1.16809480e-03 -2.99826957e+02] [-1.82519850e-02 9.99812355e-01 6.48999605e-03 1.58770144e+01] [-1.04946708e-03 -6.51023141e-03 9.99978258e-01 1.36251935e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.71907232899997 meters Centerline goodness : 0.767726 Centerline is valid? [False, False] Translation: X:-299.83, Y:15.88, Z:136.25 [[ 9.99835990e-01 1.80674321e-02 1.24933223e-03 -2.99827574e+02] [-1.80749214e-02 9.99816985e-01 6.26843068e-03 1.58772173e+01] [-1.13584913e-03 -6.28998418e-03 9.99979573e-01 1.36252364e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.74907232899994 meters Centerline goodness : 0.767789 Centerline is valid? [False, False] Translation: X:-299.83, Y:15.88, Z:136.25 [[ 9.99817851e-01 1.90827483e-02 3.35674014e-04 -2.99825256e+02] [-1.90846163e-02 9.99793877e-01 6.92682564e-03 1.58764337e+01] [-2.03421954e-04 -6.93197014e-03 9.99975953e-01 1.36252269e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.779072329 meters Centerline goodness : 0.766743 Centerline is valid? [False, False] Translation: X:-299.82, Y:15.88, Z:136.25 [[ 9.99812654e-01 1.93539774e-02 -2.82088836e-04 -2.99823959e+02] [-1.93516106e-02 9.99789578e-01 6.80546919e-03 1.58773726e+01] [ 4.13742375e-04 -6.79873534e-03 9.99976803e-01 1.36252629e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.80907232899995 meters Centerline goodness : 0.767786 Centerline is valid? [False, False] Translation: X:-299.82, Y:15.88, Z:136.25 [[ 9.99805524e-01 1.96899336e-02 -1.10529395e-03 -2.99822270e+02] [-1.96821679e-02 9.99784206e-01 6.64479156e-03 1.58785921e+01] [ 1.23589094e-03 -6.62174472e-03 9.99977312e-01 1.36253199e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.839072329 meters Centerline goodness : 0.766817 Centerline is valid? [False, False] Translation: X:-299.82, Y:15.88, Z:136.25 [[ 9.99785101e-01 2.06197366e-02 -2.13948856e-03 -2.99819693e+02] [-2.06048752e-02 9.99764910e-01 6.75015347e-03 1.58806660e+01] [ 2.27817198e-03 -6.70461897e-03 9.99974929e-01 1.36253540e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.86907232899995 meters Centerline goodness : 0.767293 Centerline is valid? [False, False] Translation: X:-299.82, Y:15.88, Z:136.25 [[ 9.99788230e-01 2.04614209e-02 -2.19662689e-03 -2.99819778e+02] [-2.04469683e-02 9.99770379e-01 6.41178884e-03 1.58817043e+01] [ 2.32731681e-03 -6.36551665e-03 9.99977032e-01 1.36253844e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.899072329 meters Centerline goodness : 0.766997 Centerline is valid? [False, False] Translation: X:-299.82, Y:15.88, Z:136.25 [[ 9.99788211e-01 2.04600497e-02 -2.21786709e-03 -2.99819889e+02] [-2.04454007e-02 9.99770244e-01 6.43782011e-03 1.58815842e+01] [ 2.34907564e-03 -6.39111148e-03 9.99976818e-01 1.36254027e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.92907232899995 meters Centerline goodness : 0.766432 Centerline is valid? [False, False] Translation: X:-299.82, Y:15.88, Z:136.25 [[ 9.99851898e-01 1.69361897e-02 -3.05735720e-03 -2.99818045e+02] [-1.69284831e-02 9.99853504e-01 2.52919149e-03 1.58822367e+01] [ 3.09974418e-03 -2.47706049e-03 9.99992128e-01 1.36254283e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.959072329 meters Centerline goodness : 0.766727 Centerline is valid? [False, False] Translation: X:-299.82, Y:15.88, Z:136.25 [[ 9.99909403e-01 1.30221630e-02 -3.40728466e-03 -2.99817635e+02] [-1.30268640e-02 9.99914220e-01 -1.36116403e-03 1.58815170e+01] [ 3.38926709e-03 1.40542695e-03 9.99993269e-01 1.36254667e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.98907232899995 meters Centerline goodness : 0.766571 Centerline is valid? [False, False] Translation: X:-299.82, Y:15.88, Z:136.25 [[ 9.99919827e-01 1.23938472e-02 -2.59467096e-03 -2.99819861e+02] [-1.23982344e-02 9.99921725e-01 -1.68164860e-03 1.58812301e+01] [ 2.57362577e-03 1.71368311e-03 9.99995220e-01 1.36254679e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.019072329 meters Centerline goodness : 0.764105 Centerline is valid? [False, False] Translation: X:-299.82, Y:15.88, Z:136.25 [[ 9.99958677e-01 8.80119138e-03 -2.27656326e-03 -2.99820154e+02] [-8.81134529e-03 9.99951102e-01 -4.48929542e-03 1.58774170e+01] [ 2.23694079e-03 4.50916949e-03 9.99987332e-01 1.36253651e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.04907232899996 meters Centerline goodness : 0.764186 Centerline is valid? [False, False] Translation: X:-299.82, Y:15.88, Z:136.25 [[ 9.99973574e-01 7.17254231e-03 -1.18546367e-03 -2.99823939e+02] [-7.17890082e-03 9.99959383e-01 -5.44945566e-03 1.58769118e+01] [ 1.14632907e-03 5.45782198e-03 9.99984449e-01 1.36254482e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.079072329 meters Centerline goodness : 0.763759 Centerline is valid? [False, False] Translation: X:-299.83, Y:15.88, Z:136.25 [[ 9.99977943e-01 6.63769550e-03 -2.33587176e-04 -2.99826447e+02] [-6.63886257e-03 9.99963319e-01 -5.41174736e-03 1.58756909e+01] [ 1.97657077e-04 5.41317874e-03 9.99985329e-01 1.36254404e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.10907232899996 meters Centerline goodness : 0.764125 Centerline is valid? [False, False] Translation: X:-299.83, Y:15.87, Z:136.25 [[ 9.99997150e-01 2.23353276e-03 8.43864452e-04 -2.99828728e+02] [-2.22611091e-03 9.99959712e-01 -8.69596142e-03 1.58719213e+01] [-8.63253168e-04 8.69405809e-03 9.99961833e-01 1.36253401e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.139072329 meters Centerline goodness : 0.762424 Centerline is valid? [False, False] Translation: X:-299.83, Y:15.87, Z:136.25 [[ 9.99996777e-01 1.47432855e-03 2.06692835e-03 -2.99831436e+02] [-1.45732332e-03 9.99965278e-01 -8.20480190e-03 1.58687450e+01] [-2.07895316e-03 8.20176327e-03 9.99964204e-01 1.36252361e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.16907232899996 meters Centerline goodness : 0.763251 Centerline is valid? [False, False] Translation: X:-299.83, Y:15.87, Z:136.25 [[ 9.99994027e-01 -1.14160265e-04 3.45434452e-03 -2.99834636e+02] [ 1.43567743e-04 9.99963744e-01 -8.51413616e-03 1.58667105e+01] [-3.45324730e-03 8.51458124e-03 9.99957788e-01 1.36251512e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.199072329 meters Centerline goodness : 0.763245 Centerline is valid? [False, False] Translation: X:-299.84, Y:15.86, Z:136.25 [[ 9.99976500e-01 -4.70658562e-03 4.98466228e-03 -2.99837161e+02] [ 4.75983384e-03 9.99931157e-01 -1.07249746e-02 1.58602664e+01] [-4.93384111e-03 1.07484487e-02 9.99930062e-01 1.36248675e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.22907232899996 meters Centerline goodness : 0.762803 Centerline is valid? [False, False] Translation: X:-299.84, Y:15.86, Z:136.25 [[ 9.99959909e-01 -6.38866996e-03 6.27420924e-03 -2.99840902e+02] [ 6.46007206e-03 9.99913845e-01 -1.14267026e-02 1.58589546e+01] [-6.20066725e-03 1.14667764e-02 9.99915029e-01 1.36248828e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.259072329 meters Centerline goodness : 0.763217 Centerline is valid? [False, False] Translation: X:-299.84, Y:15.86, Z:136.25 [[ 9.99937992e-01 -8.17233432e-03 7.56478127e-03 -2.99844954e+02] [ 8.26571346e-03 9.99889001e-01 -1.23960905e-02 1.58581154e+01] [-7.46263659e-03 1.24578502e-02 9.99894550e-01 1.36249401e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.28907232899996 meters Centerline goodness : 0.762502 Centerline is valid? [False, False] Translation: X:-299.86, Y:15.85, Z:136.24 [[ 9.99785799e-01 -1.66258198e-02 1.23263574e-02 -2.99856094e+02] [ 1.67969248e-02 9.99762157e-01 -1.39101438e-02 1.58544586e+01] [-1.20921582e-02 1.41142092e-02 9.99827269e-01 1.36243461e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.319072329 meters Centerline goodness : 0.762650 Centerline is valid? [False, False] Translation: X:-299.86, Y:15.85, Z:136.24 [[ 9.99760782e-01 -1.72426533e-02 1.34562182e-02 -2.99858883e+02] [ 1.74274271e-02 9.99753757e-01 -1.37372012e-02 1.58526647e+01] [-1.32160389e-02 1.39684222e-02 9.99815093e-01 1.36243144e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.34907232899997 meters Centerline goodness : 0.761641 Centerline is valid? [False, False] Translation: X:-299.86, Y:15.85, Z:136.24 [[ 9.99723607e-01 -1.82994966e-02 1.47593485e-02 -2.99861760e+02] [ 1.85104843e-02 9.99726576e-01 -1.42875614e-02 1.58529898e+01] [-1.44938578e-02 1.45568151e-02 9.99788991e-01 1.36242585e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.37907232899994 meters Centerline goodness : 0.761245 Centerline is valid? [False, False] Translation: X:-299.87, Y:15.85, Z:136.24 [[ 9.99669125e-01 -1.98264428e-02 1.63875986e-02 -2.99865517e+02] [ 2.00616401e-02 9.99696266e-01 -1.43145649e-02 1.58512073e+01] [-1.60988142e-02 1.46385907e-02 9.99763242e-01 1.36241748e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.40907232899997 meters Centerline goodness : 0.761308 Centerline is valid? [False, False] Translation: X:-299.87, Y:15.85, Z:136.24 [[ 9.99623896e-01 -2.09695887e-02 1.76732344e-02 -2.99868599e+02] [ 2.12318075e-02 9.99665290e-01 -1.47823631e-02 1.58510067e+01] [-1.73573390e-02 1.51520381e-02 9.99734534e-01 1.36241449e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.43907232899994 meters Centerline goodness : 0.762161 Centerline is valid? [False, False] Translation: X:-299.87, Y:15.85, Z:136.24 [[ 9.99581613e-01 -2.18053699e-02 1.90033078e-02 -2.99871397e+02] [ 2.20917670e-02 9.99643510e-01 -1.49935827e-02 1.58505686e+01] [-1.86695927e-02 1.54071262e-02 9.99706990e-01 1.36240621e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.46907232899997 meters Centerline goodness : 0.761316 Centerline is valid? [False, False] Translation: X:-299.88, Y:15.85, Z:136.23 [[ 9.99236246e-01 -3.07423094e-02 2.41212690e-02 -2.99882911e+02] [ 3.11633744e-02 9.99364942e-01 -1.72788171e-02 1.58501056e+01] [-2.35747599e-02 1.80173205e-02 9.99559707e-01 1.36234507e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.49907232899994 meters Centerline goodness : 0.760792 Centerline is valid? [False, False] Translation: X:-299.89, Y:15.85, Z:136.23 [[ 9.99162764e-01 -3.19913059e-02 2.55015273e-02 -2.99886440e+02] [ 3.24403890e-02 9.99322285e-01 -1.73951898e-02 1.58482921e+01] [-2.49277497e-02 1.82079054e-02 9.99523426e-01 1.36234294e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.529072329 meters Centerline goodness : 0.760437 Centerline is valid? [False, False] Translation: X:-299.89, Y:15.85, Z:136.23 [[ 9.98998505e-01 -3.62094424e-02 2.62842599e-02 -2.99887966e+02] [ 3.67712777e-02 9.99098466e-01 -2.12162399e-02 1.58466502e+01] [-2.54923355e-02 2.21614978e-02 9.99429342e-01 1.36234072e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.55907232899995 meters Centerline goodness : 0.760122 Centerline is valid? [False, False] Translation: X:-299.89, Y:15.85, Z:136.23 [[ 9.98911441e-01 -3.74877697e-02 2.77596718e-02 -2.99891644e+02] [ 3.80874957e-02 9.99045235e-01 -2.14000188e-02 1.58450243e+01] [-2.69309288e-02 2.24340200e-02 9.99385531e-01 1.36233851e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.589072329 meters Centerline goodness : 0.760670 Centerline is valid? [False, False] Translation: X:-299.89, Y:15.84, Z:136.23 [[ 9.98660341e-01 -4.23698176e-02 2.97039099e-02 -2.99894979e+02] [ 4.30891701e-02 9.98782669e-01 -2.40104996e-02 1.58393425e+01] [-2.86504299e-02 2.52582506e-02 9.99270321e-01 1.36231576e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.61907232899995 meters Centerline goodness : 0.759160 Centerline is valid? [False, False] Translation: X:-299.90, Y:15.84, Z:136.23 [[ 9.98363369e-01 -4.61125719e-02 3.38262408e-02 -2.99903678e+02] [ 4.69120501e-02 9.98628772e-01 -2.32343690e-02 1.58400931e+01] [-3.27084608e-02 2.47832012e-02 9.99157620e-01 1.36226936e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.649072329 meters Centerline goodness : 0.758901 Centerline is valid? [False, False] Translation: X:-299.91, Y:15.83, Z:136.22 [[ 9.98071031e-01 -4.91586387e-02 3.79162924e-02 -2.99912114e+02] [ 4.99415484e-02 9.98552178e-01 -1.99847330e-02 1.58344392e+01] [-3.68789741e-02 2.18397814e-02 9.99081060e-01 1.36220925e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.67907232899995 meters Centerline goodness : 0.758675 Centerline is valid? [False, False] Translation: X:-299.91, Y:15.83, Z:136.22 [[ 9.98071658e-01 -4.89407082e-02 3.81807960e-02 -2.99912543e+02] [ 4.97087128e-02 9.98574718e-01 -1.94313246e-02 1.58329404e+01] [-3.71753948e-02 2.12917725e-02 9.99081904e-01 1.36220544e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.709072329 meters Centerline goodness : 0.758005 Centerline is valid? [False, False] Translation: X:-299.91, Y:15.83, Z:136.22 [[ 9.97783800e-01 -5.36100100e-02 3.94138936e-02 -2.99914648e+02] [ 5.45736850e-02 9.98226201e-01 -2.37942048e-02 1.58326998e+01] [-3.80683737e-02 2.58924335e-02 9.98939628e-01 1.36219904e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.73907232899995 meters Centerline goodness : 0.759425 Centerline is valid? [False, False] Translation: X:-299.92, Y:15.83, Z:136.22 [[ 9.97691266e-01 -5.44557108e-02 4.05797072e-02 -2.99917127e+02] [ 5.54742330e-02 9.98161689e-01 -2.44100692e-02 1.58337960e+01] [-3.91758415e-02 2.66048410e-02 9.98878089e-01 1.36219383e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.769072329 meters Centerline goodness : 0.756561 Centerline is valid? [False, False] Translation: X:-299.92, Y:15.83, Z:136.22 [[ 9.97632536e-01 -5.49113933e-02 4.14012404e-02 -2.99919042e+02] [ 5.59513440e-02 9.98135494e-01 -2.43922749e-02 1.58329488e+01] [-3.99846337e-02 2.66509821e-02 9.98844810e-01 1.36219102e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.79907232899996 meters Centerline goodness : 0.757789 Centerline is valid? [False, False] Translation: X:-299.92, Y:15.83, Z:136.22 [[ 9.97786342e-01 -5.15314296e-02 4.20348249e-02 -2.99920954e+02] [ 5.24335044e-02 9.98410953e-01 -2.06469489e-02 1.58337114e+01] [-4.09040628e-02 2.28052768e-02 9.98902787e-01 1.36218830e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.829072329 meters Centerline goodness : 0.756780 Centerline is valid? [False, False] Translation: X:-299.92, Y:15.84, Z:136.22 [[ 9.97716487e-01 -5.23776559e-02 4.26426269e-02 -2.99922787e+02] [ 5.33354596e-02 9.98342114e-01 -2.16414340e-02 1.58360367e+01] [-4.14384027e-02 2.38663796e-02 9.98855973e-01 1.36219397e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.85907232899996 meters Centerline goodness : 0.757051 Centerline is valid? [False, False] Translation: X:-299.92, Y:15.84, Z:136.22 [[ 9.97942705e-01 -4.83019984e-02 4.21577437e-02 -2.99922458e+02] [ 4.90851552e-02 9.98636986e-01 -1.77431313e-02 1.58376318e+01] [-4.12432534e-02 1.97759479e-02 9.98953405e-01 1.36219878e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.889072329 meters Centerline goodness : 0.759219 Centerline is valid? [False, False] Translation: X:-299.92, Y:15.84, Z:136.22 [[ 9.97943267e-01 -4.85799414e-02 4.18237377e-02 -2.99921688e+02] [ 4.93939705e-02 9.98605150e-01 -1.86544938e-02 1.58412248e+01] [-4.08591656e-02 2.06819669e-02 9.98950842e-01 1.36220086e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.91907232899996 meters Centerline goodness : 0.758609 Centerline is valid? [False, False] Translation: X:-299.92, Y:15.84, Z:136.22 [[ 9.97998099e-01 -4.81110058e-02 4.10502869e-02 -2.99919825e+02] [ 4.89082909e-02 9.98629259e-01 -1.86435546e-02 1.58423793e+01] [-4.00970575e-02 2.06139314e-02 9.98983129e-01 1.36220182e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.949072329 meters Centerline goodness : 0.757278 Centerline is valid? [False, False] Translation: X:-299.92, Y:15.84, Z:136.22 [[ 9.98185996e-01 -4.42841929e-02 4.07875947e-02 -2.99920271e+02] [ 4.49305163e-02 9.98876476e-01 -1.50676594e-02 1.58444960e+01] [-4.00745097e-02 1.68729343e-02 9.99054222e-01 1.36221098e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.97907232899996 meters Centerline goodness : 0.757709 Centerline is valid? [False, False] Translation: X:-299.92, Y:15.85, Z:136.22 [[ 9.98338846e-01 -4.08795518e-02 4.06006262e-02 -2.99920819e+02] [ 4.14067231e-02 9.99067532e-01 -1.22290540e-02 1.58488687e+01] [-4.00628492e-02 1.38898786e-02 9.99100615e-01 1.36221983e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.009072329 meters Centerline goodness : 0.758291 Centerline is valid? [False, False] Translation: X:-299.92, Y:15.85, Z:136.22 [[ 9.98635317e-01 -3.52241602e-02 3.85585639e-02 -2.99917069e+02] [ 3.55804115e-02 9.99329880e-01 -8.59211691e-03 1.58532007e+01] [-3.82300750e-02 9.95232097e-03 9.99219402e-01 1.36223708e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.03907232899996 meters Centerline goodness : 0.758160 Centerline is valid? [False, False] Translation: X:-299.93, Y:15.87, Z:136.22 [[ 9.99059428e-01 -2.68267400e-02 3.40673778e-02 -2.99929128e+02] [ 2.73069663e-02 9.99533072e-01 -1.37101335e-02 1.58687604e+01] [-3.36836726e-02 1.46275149e-02 9.99325496e-01 1.36224352e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.069072329 meters Centerline goodness : 0.758984 Centerline is valid? [False, False] Translation: X:-299.93, Y:15.87, Z:136.23 [[ 9.99188523e-01 -2.26710876e-02 3.32913940e-02 -2.99928041e+02] [ 2.30209184e-02 9.99683329e-01 -1.01626622e-02 1.58717760e+01] [-3.30504529e-02 1.09208139e-02 9.99394018e-01 1.36225294e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.09907232899997 meters Centerline goodness : 0.758823 Centerline is valid? [False, False] Translation: X:-299.93, Y:15.88, Z:136.23 [[ 9.99324110e-01 -1.83088961e-02 3.18764271e-02 -2.99926187e+02] [ 1.85640694e-02 9.99797809e-01 -7.72759008e-03 1.58776377e+01] [-3.17284984e-02 8.31412328e-03 9.99461944e-01 1.36227842e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.12907232899994 meters Centerline goodness : 0.759272 Centerline is valid? [False, False] Translation: X:-299.92, Y:15.88, Z:136.23 [[ 9.99431276e-01 -1.37220998e-02 3.08030579e-02 -2.99924338e+02] [ 1.38543360e-02 9.99895685e-01 -4.08363073e-03 1.58804177e+01] [-3.07438087e-02 4.50806418e-03 9.99517131e-01 1.36228922e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.15907232899997 meters Centerline goodness : 0.759930 Centerline is valid? [False, False] Translation: X:-299.91, Y:15.88, Z:136.23 [[ 9.99643059e-01 -5.78409172e-03 2.60825486e-02 -2.99913828e+02] [ 5.86028338e-03 9.99978779e-01 -2.84568145e-03 1.58841003e+01] [-2.60655354e-02 2.99751683e-03 9.99655742e-01 1.36234939e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.18907232899994 meters Centerline goodness : 0.758675 Centerline is valid? [False, False] Translation: X:-299.91, Y:15.89, Z:136.24 [[ 9.99685376e-01 -4.29139316e-03 2.47129960e-02 -2.99910406e+02] [ 4.35259256e-03 9.99987592e-01 -2.42314690e-03 1.58857710e+01] [-2.47022906e-02 2.52995012e-03 9.99691651e-01 1.36235137e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.21907232899997 meters Centerline goodness : 0.759076 Centerline is valid? [False, False] Translation: X:-299.92, Y:15.90, Z:136.24 [[ 9.99911262e-01 -1.10648549e-04 1.33212933e-02 -2.99915922e+02] [ 1.67521549e-04 9.99990877e-01 -4.26829008e-03 1.59022272e+01] [-1.33206995e-02 4.27014292e-03 9.99902158e-01 1.36240285e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.24907232899994 meters Centerline goodness : 0.758960 Centerline is valid? [False, False] Translation: X:-299.91, Y:15.91, Z:136.24 [[ 9.99911091e-01 3.92390568e-03 1.27441138e-02 -2.99914924e+02] [-3.91321441e-03 9.99991970e-01 -8.63746330e-04 1.59052728e+01] [-1.27474007e-02 8.13799085e-04 9.99918417e-01 1.36240983e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.279072329 meters Centerline goodness : 0.759331 Centerline is valid? [False, False] Translation: X:-299.90, Y:15.91, Z:136.25 [[ 9.99866925e-01 1.42580840e-02 7.92710888e-03 -2.99902014e+02] [-1.42686986e-02 9.99897372e-01 1.28407697e-03 1.59082932e+01] [-7.90798686e-03 -1.39701562e-03 9.99967756e-01 1.36246885e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.30907232899995 meters Centerline goodness : 0.759865 Centerline is valid? [False, False] Translation: X:-299.90, Y:15.91, Z:136.25 [[ 9.99811924e-01 1.79859363e-02 7.25417102e-03 -2.99900875e+02] [-1.80135600e-02 9.99830670e-01 3.76077525e-03 1.59142449e+01] [-7.18530161e-03 -3.89074139e-03 9.99966616e-01 1.36248130e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.339072329 meters Centerline goodness : 0.759865 Centerline is valid? [False, False] Translation: X:-299.90, Y:15.91, Z:136.25 [[ 9.99811924e-01 1.79859363e-02 7.25417102e-03 -2.99900875e+02] [-1.80135600e-02 9.99830670e-01 3.76077525e-03 1.59142449e+01] [-7.18530161e-03 -3.89074139e-03 9.99966616e-01 1.36248130e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.36907232899995 meters Centerline goodness : 0.760102 Centerline is valid? [False, False] Translation: X:-299.90, Y:15.92, Z:136.25 [[ 9.99606336e-01 2.76264311e-02 4.89430405e-03 -2.99895973e+02] [-2.76708147e-02 9.99574333e-01 9.24547665e-03 1.59221753e+01] [-4.63680118e-03 -9.37726641e-03 9.99945282e-01 1.36252101e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.399072329 meters Centerline goodness : 0.760773 Centerline is valid? [False, False] Translation: X:-299.89, Y:15.93, Z:136.25 [[ 9.99472223e-01 3.22231772e-02 4.11618766e-03 -2.99893727e+02] [-3.22736259e-02 9.99396566e-01 1.28419789e-02 1.59254265e+01] [-3.69989445e-03 -1.29680455e-02 9.99909066e-01 1.36252388e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.42907232899995 meters Centerline goodness : 0.760293 Centerline is valid? [False, False] Translation: X:-299.88, Y:15.93, Z:136.26 [[ 9.99317425e-01 3.69416158e-02 1.51453510e-05 -2.99883775e+02] [-3.69389838e-02 9.99241161e-01 1.23537170e-02 1.59264634e+01] [ 4.41232410e-04 -1.23458442e-02 9.99923690e-01 1.36256596e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.459072329 meters Centerline goodness : 0.761623 Centerline is valid? [False, False] Translation: X:-299.87, Y:15.93, Z:136.26 [[ 9.98665268e-01 5.14633989e-02 -4.38193290e-03 -2.99869912e+02] [-5.13804837e-02 9.98529298e-01 1.72999200e-02 1.59315966e+01] [ 5.26580107e-03 -1.70516834e-02 9.99840743e-01 1.36263044e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.48907232899995 meters Centerline goodness : 0.762100 Centerline is valid? [False, False] Translation: X:-299.86, Y:15.94, Z:136.27 [[ 9.98301866e-01 5.77501926e-02 -7.63544717e-03 -2.99862814e+02] [-5.76020138e-02 9.98170426e-01 1.83795941e-02 1.59377400e+01] [ 8.68290265e-03 -1.79085659e-02 9.99801926e-01 1.36268472e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.519072329 meters Centerline goodness : 0.762660 Centerline is valid? [False, False] Translation: X:-299.86, Y:15.94, Z:136.27 [[ 9.97963790e-01 6.31668568e-02 -8.84433444e-03 -2.99859504e+02] [-6.29636620e-02 9.97781490e-01 2.16257906e-02 1.59429483e+01] [ 1.01907464e-02 -2.10248843e-02 9.99727014e-01 1.36269997e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.54907232899996 meters Centerline goodness : 0.762735 Centerline is valid? [False, False] Translation: X:-299.85, Y:15.95, Z:136.28 [[ 9.96905699e-01 7.77700051e-02 -1.14391660e-02 -2.99851801e+02] [-7.74014345e-02 9.96556215e-01 2.97443737e-02 1.59532998e+01] [ 1.37129921e-02 -2.87669277e-02 9.99492080e-01 1.36275401e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.579072329 meters Centerline goodness : 0.762594 Centerline is valid? [False, False] Translation: X:-299.86, Y:15.97, Z:136.28 [[ 9.96139156e-01 8.56041118e-02 -1.94606872e-02 -2.99857966e+02] [-8.51221540e-02 9.96072301e-01 2.43760102e-02 1.59694676e+01] [ 2.14709382e-02 -2.26253626e-02 9.99513428e-01 1.36276900e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.60907232899996 meters Centerline goodness : 0.762730 Centerline is valid? [False, False] Translation: X:-299.85, Y:15.98, Z:136.28 [[ 9.94820703e-01 9.89485559e-02 -2.32583808e-02 -2.99845279e+02] [-9.82798871e-02 9.94755657e-01 2.83239548e-02 1.59769340e+01] [ 2.59390203e-02 -2.58914256e-02 9.99328175e-01 1.36284103e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.639072329 meters Centerline goodness : 0.764050 Centerline is valid? [False, False] Translation: X:-299.84, Y:15.98, Z:136.29 [[ 9.94371133e-01 1.03237640e-01 -2.38335856e-02 -2.99843578e+02] [-1.02486502e-01 9.94256189e-01 3.08406883e-02 1.59827807e+01] [ 2.68806099e-02 -2.82244693e-02 9.99240117e-01 1.36285867e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.66907232899996 meters Centerline goodness : 0.764915 Centerline is valid? [False, False] Translation: X:-299.85, Y:16.00, Z:136.29 [[ 9.93373150e-01 1.10543667e-01 -3.14623994e-02 -2.99852334e+02] [-1.09732869e-01 9.93609644e-01 2.64305387e-02 1.60003529e+01] [ 3.41830722e-02 -2.28029282e-02 9.99155415e-01 1.36288255e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.699072329 meters Centerline goodness : 0.764495 Centerline is valid? [False, False] Translation: X:-299.86, Y:16.03, Z:136.29 [[ 9.91204664e-01 1.26304988e-01 -3.95014473e-02 -2.99857946e+02] [-1.25316146e-01 9.91760471e-01 2.65900547e-02 1.60258441e+01] [ 4.25344305e-02 -2.14060171e-02 9.98865659e-01 1.36293978e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.72907232899996 meters Centerline goodness : 0.763188 Centerline is valid? [False, False] Translation: X:-299.86, Y:16.03, Z:136.29 [[ 9.90613181e-01 1.30722423e-01 -3.99646604e-02 -2.99855382e+02] [-1.29607531e-01 9.91131482e-01 2.93304252e-02 1.60318703e+01] [ 4.34443773e-02 -2.38753849e-02 9.98770520e-01 1.36294897e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.759072329 meters Centerline goodness : 0.764188 Centerline is valid? [False, False] Translation: X:-299.86, Y:16.05, Z:136.30 [[ 9.89227481e-01 1.38235116e-01 -4.81668308e-02 -2.99864504e+02] [-1.37037586e-01 9.90188164e-01 2.73514012e-02 1.60504320e+01] [ 5.14751499e-02 -2.04560915e-02 9.98464750e-01 1.36297750e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.78907232899996 meters Centerline goodness : 0.764650 Centerline is valid? [False, False] Translation: X:-299.87, Y:16.07, Z:136.30 [[ 9.86922247e-01 1.51211537e-01 -5.58529199e-02 -2.99873404e+02] [-1.49819450e-01 9.88306927e-01 2.83469761e-02 1.60745238e+01] [ 5.94862174e-02 -1.96084076e-02 9.98036523e-01 1.36303017e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.819072329 meters Centerline goodness : 0.764608 Centerline is valid? [False, False] Translation: X:-299.87, Y:16.08, Z:136.30 [[ 9.86381116e-01 1.54718150e-01 -5.58084997e-02 -2.99872598e+02] [-1.53192552e-01 9.87720111e-01 3.06761220e-02 1.60802674e+01] [ 5.98693304e-02 -2.17089009e-02 9.97970133e-01 1.36304260e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.84907232899997 meters Centerline goodness : 0.764905 Centerline is valid? [False, False] Translation: X:-299.87, Y:16.09, Z:136.31 [[ 9.85263415e-01 1.62105307e-01 -5.45698931e-02 -2.99874023e+02] [-1.60255435e-01 9.86391223e-01 3.67498435e-02 1.60852841e+01] [ 5.97846083e-02 -2.74631543e-02 9.97833441e-01 1.36305938e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.87907232899994 meters Centerline goodness : 0.765559 Centerline is valid? [False, False] Translation: X:-299.88, Y:16.09, Z:136.31 [[ 9.84120290e-01 1.69359573e-01 -5.31468768e-02 -2.99875693e+02] [-1.67201153e-01 9.84995290e-01 4.27557465e-02 1.60902907e+01] [ 5.95905183e-02 -3.31905786e-02 9.97670966e-01 1.36307431e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.90907232899997 meters Centerline goodness : 0.766285 Centerline is valid? [False, False] Translation: X:-299.88, Y:16.11, Z:136.31 [[ 9.81763936e-01 1.79867127e-01 -6.15417745e-02 -2.99883534e+02] [-1.77504907e-01 9.83225202e-01 4.19548491e-02 1.61139173e+01] [ 6.80557219e-02 -3.02657909e-02 9.97222343e-01 1.36313469e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.93907232899994 meters Centerline goodness : 0.765894 Centerline is valid? [False, False] Translation: X:-299.84, Y:16.09, Z:136.32 [[ 9.80964373e-01 1.82912485e-01 -6.52067563e-02 -2.99844015e+02] [-1.80525565e-01 9.82722078e-01 4.08391712e-02 1.60930239e+01] [ 7.15501133e-02 -2.82902854e-02 9.97035727e-01 1.36319365e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.96907232899997 meters Centerline goodness : 0.766758 Centerline is valid? [False, False] Translation: X:-299.84, Y:16.10, Z:136.32 [[ 9.80127954e-01 1.87268547e-01 -6.54193069e-02 -2.99841839e+02] [-1.84723109e-01 9.81846960e-01 4.30571781e-02 1.60997758e+01] [ 7.22950028e-02 -3.01170861e-02 9.96928480e-01 1.36321214e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.99907232899994 meters Centerline goodness : 0.765949 Centerline is valid? [False, False] Translation: X:-299.84, Y:16.10, Z:136.32 [[ 9.79909405e-01 1.88155210e-01 -6.61451113e-02 -2.99839428e+02] [-1.85625209e-01 9.81698105e-01 4.25689118e-02 1.61040081e+01] [ 7.29440930e-02 -2.94354769e-02 9.96901556e-01 1.36322051e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.029072329 meters Centerline goodness : 0.766608 Centerline is valid? [False, False] Translation: X:-299.84, Y:16.11, Z:136.32 [[ 9.79717999e-01 1.88854917e-01 -6.69810591e-02 -2.99836950e+02] [-1.86316011e-01 9.81575674e-01 4.23738034e-02 1.61065009e+01] [ 7.37494793e-02 -2.90347341e-02 9.96854051e-01 1.36322636e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.05907232899995 meters Centerline goodness : 0.767302 Centerline is valid? [False, False] Translation: X:-299.83, Y:16.11, Z:136.32 [[ 9.79618999e-01 1.89117768e-01 -6.76837265e-02 -2.99834894e+02] [-1.86600712e-01 9.81545609e-01 4.18137645e-02 1.61093529e+01] [ 7.43423904e-02 -2.83317265e-02 9.96830237e-01 1.36323037e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.089072329 meters Centerline goodness : 0.766504 Centerline is valid? [False, False] Translation: X:-299.83, Y:16.11, Z:136.32 [[ 9.80014154e-01 1.86632099e-01 -6.88528634e-02 -2.99832246e+02] [-1.84302807e-01 9.82102770e-01 3.88152621e-02 1.61100425e+01] [ 7.48647617e-02 -2.53497303e-02 9.96871435e-01 1.36322635e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.11907232899995 meters Centerline goodness : 0.766865 Centerline is valid? [False, False] Translation: X:-299.83, Y:16.11, Z:136.32 [[ 9.80001585e-01 1.86623905e-01 -6.90536906e-02 -2.99832103e+02] [-1.84303170e-01 9.82109872e-01 3.86334187e-02 1.61107756e+01] [ 7.50282307e-02 -2.51339974e-02 9.96864608e-01 1.36323154e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.149072329 meters Centerline goodness : 0.766697 Centerline is valid? [False, False] Translation: X:-299.83, Y:16.11, Z:136.32 [[ 9.80589312e-01 1.82977319e-01 -7.04549696e-02 -2.99830193e+02] [-1.80898336e-01 9.82882694e-01 3.48913001e-02 1.61114902e+01] [ 7.56332868e-02 -2.14688492e-02 9.96904556e-01 1.36323519e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.17907232899995 meters Centerline goodness : 0.766240 Centerline is valid? [False, False] Translation: X:-299.83, Y:16.11, Z:136.32 [[ 9.81146728e-01 1.79440386e-01 -7.17791526e-02 -2.99828278e+02] [-1.77595857e-01 9.83603859e-01 3.13553768e-02 1.61116740e+01] [ 7.62286724e-02 -1.80165452e-02 9.96927577e-01 1.36323685e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.209072329 meters Centerline goodness : 0.764862 Centerline is valid? [False, False] Translation: X:-299.83, Y:16.11, Z:136.32 [[ 9.81826694e-01 1.75265395e-01 -7.27900009e-02 -2.99827857e+02] [-1.73685703e-01 9.84415924e-01 2.75420437e-02 1.61110907e+01] [ 7.64828032e-02 -1.43989312e-02 9.96966926e-01 1.36324080e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.23907232899995 meters Centerline goodness : 0.763769 Centerline is valid? [False, False] Translation: X:-299.82, Y:16.10, Z:136.33 [[ 9.82906445e-01 1.67047550e-01 -7.73953313e-02 -2.99820855e+02] [-1.65195910e-01 9.85810935e-01 2.97844325e-02 1.61031703e+01] [ 8.12725803e-02 -1.64899185e-02 9.96555493e-01 1.36330115e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.269072329 meters Centerline goodness : 0.765401 Centerline is valid? [False, False] Translation: X:-299.82, Y:16.10, Z:136.33 [[ 9.83539914e-01 1.63019581e-01 -7.79349370e-02 -2.99821064e+02] [-1.61422433e-01 9.86531844e-01 2.64143599e-02 1.61009218e+01] [ 8.11913550e-02 -1.33991300e-02 9.96608462e-01 1.36329771e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.29907232899996 meters Centerline goodness : 0.763389 Centerline is valid? [False, False] Translation: X:-299.84, Y:16.11, Z:136.33 [[ 9.84799828e-01 1.56701283e-01 -7.49266804e-02 -2.99841012e+02] [-1.54762488e-01 9.87463546e-01 3.10534656e-02 1.61051744e+01] [ 7.88534835e-02 -1.89856081e-02 9.96705410e-01 1.36326883e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.329072329 meters Centerline goodness : 0.764405 Centerline is valid? [False, False] Translation: X:-299.84, Y:16.10, Z:136.33 [[ 9.85445830e-01 1.52572112e-01 -7.49551041e-02 -2.99842810e+02] [-1.50891073e-01 9.88164081e-01 2.76339058e-02 1.61020676e+01] [ 7.82841049e-02 -1.59216611e-02 9.96803942e-01 1.36326635e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.35907232899996 meters Centerline goodness : 0.764379 Centerline is valid? [False, False] Translation: X:-299.84, Y:16.10, Z:136.33 [[ 9.86036872e-01 1.48581465e-01 -7.51986457e-02 -2.99843979e+02] [-1.47145410e-01 9.88815817e-01 2.43209585e-02 1.60991880e+01] [ 7.79712539e-02 -1.29162263e-02 9.96871935e-01 1.36326531e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.389072329 meters Centerline goodness : 0.766349 Centerline is valid? [False, False] Translation: X:-299.85, Y:16.10, Z:136.33 [[ 9.86683716e-01 1.44309063e-01 -7.50342534e-02 -2.99846425e+02] [-1.43126193e-01 9.89482941e-01 2.09380641e-02 1.60955533e+01] [ 7.72666661e-02 -9.91987988e-03 9.96961112e-01 1.36326419e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.41907232899996 meters Centerline goodness : 0.765947 Centerline is valid? [False, False] Translation: X:-299.84, Y:16.08, Z:136.33 [[ 9.88140028e-01 1.31435460e-01 -7.93977688e-02 -2.99838477e+02] [-1.30125002e-01 9.91264851e-01 2.14820645e-02 1.60834804e+01] [ 8.15277225e-02 -1.08956530e-02 9.96611517e-01 1.36331604e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.449072329 meters Centerline goodness : 0.765517 Centerline is valid? [False, False] Translation: X:-299.86, Y:16.09, Z:136.33 [[ 9.89092303e-01 1.26621658e-01 -7.52553824e-02 -2.99856217e+02] [-1.25003120e-01 9.91819254e-01 2.58609337e-02 1.60873442e+01] [ 7.79142915e-02 -1.61716929e-02 9.96828892e-01 1.36327462e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.47907232899996 meters Centerline goodness : 0.764442 Centerline is valid? [False, False] Translation: X:-299.84, Y:16.06, Z:136.33 [[ 9.90813071e-01 1.13748386e-01 -7.31489096e-02 -2.99839151e+02] [-1.12236469e-01 9.93380161e-01 2.44710385e-02 1.60646014e+01] [ 7.54482167e-02 -1.60362495e-02 9.97020765e-01 1.36326207e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.509072329 meters Centerline goodness : 0.765913 Centerline is valid? [False, False] Translation: X:-299.83, Y:16.06, Z:136.33 [[ 9.91545848e-01 1.04293516e-01 -7.71990569e-02 -2.99830917e+02] [-1.02520344e-01 9.94375268e-01 2.65970976e-02 1.60553172e+01] [ 7.95387377e-02 -1.84577678e-02 9.96660875e-01 1.36331622e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.53907232899996 meters Centerline goodness : 0.765781 Centerline is valid? [False, False] Translation: X:-299.85, Y:16.06, Z:136.33 [[ 9.92195367e-01 1.01002416e-01 -7.31222640e-02 -2.99846403e+02] [-9.89418087e-02 9.94601351e-01 3.12837101e-02 1.60574898e+01] [ 7.58872329e-02 -2.38047032e-02 9.96832215e-01 1.36327253e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.569072329 meters Centerline goodness : 0.765611 Centerline is valid? [False, False] Translation: X:-299.83, Y:16.03, Z:136.33 [[ 9.93425266e-01 8.91228693e-02 -7.18564924e-02 -2.99825392e+02] [-8.72536237e-02 9.95771119e-01 2.87520988e-02 1.60325544e+01] [ 7.41150894e-02 -2.22933221e-02 9.97000482e-01 1.36326484e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.59907232899997 meters Centerline goodness : 0.765685 Centerline is valid? [False, False] Translation: X:-299.83, Y:16.03, Z:136.33 [[ 9.93892429e-01 8.41285283e-02 -7.14159024e-02 -2.99828312e+02] [-8.25673728e-02 9.96283230e-01 2.45429255e-02 1.60306544e+01] [ 7.32152261e-02 -1.84964044e-02 9.97144630e-01 1.36326960e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.62907232899994 meters Centerline goodness : 0.766376 Centerline is valid? [False, False] Translation: X:-299.83, Y:16.03, Z:136.33 [[ 9.94194356e-01 8.01590487e-02 -7.17781967e-02 -2.99828338e+02] [-7.88250623e-02 9.96662313e-01 2.12330618e-02 1.60279448e+01] [ 7.32406456e-02 -1.54518694e-02 9.97194589e-01 1.36326889e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.65907232899997 meters Centerline goodness : 0.766221 Centerline is valid? [False, False] Translation: X:-299.83, Y:16.02, Z:136.33 [[ 9.94704877e-01 7.45507604e-02 -7.07417324e-02 -2.99832800e+02] [-7.34961090e-02 9.97143707e-01 1.73996819e-02 1.60241710e+01] [ 7.18368328e-02 -1.21083063e-02 9.97342899e-01 1.36326860e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.68907232899994 meters Centerline goodness : 0.765329 Centerline is valid? [False, False] Translation: X:-299.84, Y:16.02, Z:136.33 [[ 9.95140792e-01 6.92379379e-02 -7.00065157e-02 -2.99836360e+02] [-6.84813582e-02 9.97565688e-01 1.31530346e-02 1.60220582e+01] [ 7.07467870e-02 -8.29498001e-03 9.97459816e-01 1.36327191e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.71907232899997 meters Centerline goodness : 0.765543 Centerline is valid? [False, False] Translation: X:-299.84, Y:16.02, Z:136.33 [[ 9.95491866e-01 6.46811104e-02 -6.93707315e-02 -2.99839014e+02] [-6.41621439e-02 9.97892483e-01 9.68566277e-03 1.60183782e+01] [ 6.98510109e-02 -5.19102365e-03 9.97543929e-01 1.36326997e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.74907232899994 meters Centerline goodness : 0.765986 Centerline is valid? [False, False] Translation: X:-299.85, Y:16.02, Z:136.32 [[ 9.96330083e-01 5.52321696e-02 -6.53893948e-02 -2.99851789e+02] [-5.48631439e-02 9.98466260e-01 7.42715307e-03 1.60151578e+01] [ 6.56993222e-02 -3.81242826e-03 9.97832183e-01 1.36322251e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.779072329 meters Centerline goodness : 0.766431 Centerline is valid? [False, False] Translation: X:-299.86, Y:16.01, Z:136.32 [[ 9.96483285e-01 5.38548767e-02 -6.41927978e-02 -2.99855879e+02] [-5.35224840e-02 9.98542890e-01 6.88774400e-03 1.60138348e+01] [ 6.44702004e-02 -3.42776378e-03 9.97913746e-01 1.36322597e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.80907232899995 meters Centerline goodness : 0.764244 Centerline is valid? [False, False] Translation: X:-299.86, Y:16.01, Z:136.32 [[ 9.96655717e-01 5.19014150e-02 -6.31159575e-02 -2.99859963e+02] [-5.16186304e-02 9.98648216e-01 6.10388134e-03 1.60119431e+01] [ 6.33474385e-02 -2.82550895e-03 9.97987534e-01 1.36322989e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.839072329 meters Centerline goodness : 0.763108 Centerline is valid? [False, False] Translation: X:-299.85, Y:16.00, Z:136.32 [[ 9.96930275e-01 4.28290002e-02 -6.55416226e-02 -2.99849980e+02] [-4.21167958e-02 9.99038077e-01 1.22104588e-02 1.59973895e+01] [ 6.60015384e-02 -9.41257291e-03 9.97775125e-01 1.36324365e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.86907232899995 meters Centerline goodness : 0.761531 Centerline is valid? [False, False] Translation: X:-299.85, Y:16.00, Z:136.32 [[ 9.97094932e-01 4.08713476e-02 -6.42746397e-02 -2.99854274e+02] [-4.02538749e-02 9.99130322e-01 1.08731534e-02 1.59980887e+01] [ 6.46631419e-02 -8.25426282e-03 9.97873011e-01 1.36324868e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.899072329 meters Centerline goodness : 0.761397 Centerline is valid? [False, False] Translation: X:-299.86, Y:16.00, Z:136.33 [[ 9.97205956e-01 3.97081029e-02 -6.32735904e-02 -2.99857904e+02] [-3.91147507e-02 9.99178614e-01 1.05893287e-02 1.59960351e+01] [ 6.36421005e-02 -8.08481096e-03 9.97940038e-01 1.36325321e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.92907232899995 meters Centerline goodness : 0.761912 Centerline is valid? [False, False] Translation: X:-299.86, Y:15.99, Z:136.33 [[ 9.97467096e-01 3.46016192e-02 -6.21459616e-02 -2.99861480e+02] [-3.42427327e-02 9.99390200e-01 6.83101438e-03 1.59931698e+01] [ 6.23444292e-02 -4.68566453e-03 9.98043695e-01 1.36325111e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.959072329 meters Centerline goodness : 0.761691 Centerline is valid? [False, False] Translation: X:-299.87, Y:15.99, Z:136.32 [[ 9.98331052e-01 3.16353775e-02 -4.83147265e-02 -2.99873795e+02] [-3.13084281e-02 9.99481563e-01 7.50910959e-03 1.59913964e+01] [ 4.85272319e-02 -5.98391913e-03 9.98803935e-01 1.36319027e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.98907232899995 meters Centerline goodness : 0.763168 Centerline is valid? [False, False] Translation: X:-299.88, Y:15.99, Z:136.32 [[ 9.98421335e-01 3.04720003e-02 -4.71836328e-02 -2.99877780e+02] [-3.01687713e-02 9.99519420e-01 7.12558732e-03 1.59897492e+01] [ 4.73780882e-02 -5.69086618e-03 9.98860817e-01 1.36319667e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.019072329 meters Centerline goodness : 0.761999 Centerline is valid? [False, False] Translation: X:-299.88, Y:15.98, Z:136.32 [[ 9.98627976e-01 2.50834780e-02 -4.59672037e-02 -2.99881618e+02] [-2.49390982e-02 9.99682081e-01 3.71182905e-03 1.59845158e+01] [ 4.60456955e-02 -2.56035573e-03 9.98936053e-01 1.36319158e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.04907232899996 meters Centerline goodness : 0.760450 Centerline is valid? [False, False] Translation: X:-299.89, Y:15.98, Z:136.32 [[ 9.98736410e-01 2.31701497e-02 -4.45951581e-02 -2.99885675e+02] [-2.30751278e-02 9.99730236e-01 2.64443494e-03 1.59843414e+01] [ 4.46443999e-02 -1.61205448e-03 9.99001641e-01 1.36319146e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.079072329 meters Centerline goodness : 0.758833 Centerline is valid? [False, False] Translation: X:-299.89, Y:15.98, Z:136.32 [[ 9.98942786e-01 1.99715576e-02 -4.14058911e-02 -2.99893341e+02] [-1.98369809e-02 9.99796534e-01 3.65854064e-03 1.59806656e+01] [ 4.14705331e-02 -2.83330490e-03 9.99135710e-01 1.36315533e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.10907232899996 meters Centerline goodness : 0.757954 Centerline is valid? [False, False] Translation: X:-299.90, Y:15.98, Z:136.32 [[ 9.98978597e-01 1.97109068e-02 -4.06600908e-02 -2.99895137e+02] [-1.95723908e-02 9.99801213e-01 3.80198404e-03 1.59796303e+01] [ 4.07269487e-02 -3.00228549e-03 9.99165803e-01 1.36315203e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.139072329 meters Centerline goodness : 0.759727 Centerline is valid? [False, False] Translation: X:-299.90, Y:15.98, Z:136.32 [[ 9.99037317e-01 1.89286224e-02 -3.95745699e-02 -2.99898090e+02] [-1.88052712e-02 9.99817085e-01 3.48689495e-03 1.59792075e+01] [ 3.96333332e-02 -2.73932765e-03 9.99210536e-01 1.36315111e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.16907232899996 meters Centerline goodness : 0.759366 Centerline is valid? [False, False] Translation: X:-299.89, Y:15.97, Z:136.31 [[ 9.99423572e-01 1.17441859e-02 -3.18527393e-02 -2.99891798e+02] [-1.14619414e-02 9.99893544e-01 9.02909250e-03 1.59659574e+01] [ 3.19553877e-02 -8.65879365e-03 9.99451789e-01 1.36314980e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.199072329 meters Centerline goodness : 0.758819 Centerline is valid? [False, False] Translation: X:-299.90, Y:15.97, Z:136.32 [[ 9.99468941e-01 1.05478372e-02 -3.08314533e-02 -2.99895288e+02] [-1.03007970e-02 9.99913646e-01 8.16048612e-03 1.59663348e+01] [ 3.09148664e-02 -7.83856389e-03 9.99491285e-01 1.36315684e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.22907232899996 meters Centerline goodness : 0.759173 Centerline is valid? [False, False] Translation: X:-299.90, Y:15.97, Z:136.32 [[ 9.99500601e-01 1.01011897e-02 -2.99418663e-02 -2.99897440e+02] [-9.85947177e-03 9.99917693e-01 8.20958664e-03 1.59651448e+01] [ 3.00223285e-02 -7.91027579e-03 9.99517927e-01 1.36315308e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.259072329 meters Centerline goodness : 0.759173 Centerline is valid? [False, False] Translation: X:-299.90, Y:15.97, Z:136.32 [[ 9.99500601e-01 1.01011897e-02 -2.99418663e-02 -2.99897440e+02] [-9.85947177e-03 9.99917693e-01 8.20958664e-03 1.59651448e+01] [ 3.00223285e-02 -7.91027579e-03 9.99517927e-01 1.36315308e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.28907232899996 meters Centerline goodness : 0.758008 Centerline is valid? [False, False] Translation: X:-299.90, Y:15.96, Z:136.32 [[ 9.99537796e-01 9.28642780e-03 -2.89474742e-02 -2.99900534e+02] [-9.05947335e-03 9.99927267e-01 7.96153553e-03 1.59639966e+01] [ 2.90193030e-02 -7.69560681e-03 9.99549227e-01 1.36315602e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.319072329 meters Centerline goodness : 0.758294 Centerline is valid? [False, False] Translation: X:-299.90, Y:15.96, Z:136.32 [[ 9.99548763e-01 9.14798859e-03 -2.86109115e-02 -2.99901520e+02] [-8.92427576e-03 9.99928677e-01 7.93708835e-03 1.59636505e+01] [ 2.86814792e-02 -7.67817518e-03 9.99559112e-01 1.36315632e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.34907232899997 meters Centerline goodness : 0.757507 Centerline is valid? [False, False] Translation: X:-299.90, Y:15.96, Z:136.32 [[ 9.99560345e-01 8.82932123e-03 -2.83047764e-02 -2.99902626e+02] [-8.61593339e-03 9.99933604e-01 7.65205324e-03 1.59640577e+01] [ 2.83704595e-02 -7.40481691e-03 9.99570050e-01 1.36315952e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.37907232899994 meters Centerline goodness : 0.757848 Centerline is valid? [False, False] Translation: X:-299.90, Y:15.97, Z:136.32 [[ 9.99553136e-01 8.96817597e-03 -2.85149162e-02 -2.99902230e+02] [-8.75690723e-03 9.99933341e-01 7.52532730e-03 1.59654082e+01] [ 2.85805039e-02 -7.27226203e-03 9.99565040e-01 1.36316273e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.40907232899997 meters Centerline goodness : 0.758873 Centerline is valid? [False, False] Translation: X:-299.90, Y:15.97, Z:136.32 [[ 9.99562775e-01 8.79576723e-03 -2.82293139e-02 -2.99903279e+02] [-8.58985149e-03 9.99935670e-01 7.40739291e-03 1.59652795e+01] [ 2.82926516e-02 -7.16166859e-03 9.99574027e-01 1.36316545e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.43907232899994 meters Centerline goodness : 0.757772 Centerline is valid? [False, False] Translation: X:-299.90, Y:15.96, Z:136.32 [[ 9.99580493e-01 5.41429285e-03 -2.84521421e-02 -2.99902026e+02] [-5.28623813e-03 9.99975567e-01 4.57399823e-03 1.59619338e+01] [ 2.84762119e-02 -4.42167461e-03 9.99584691e-01 1.36315462e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.46907232899997 meters Centerline goodness : 0.757055 Centerline is valid? [False, False] Translation: X:-299.90, Y:15.96, Z:136.32 [[ 9.99580570e-01 5.41931795e-03 -2.84484493e-02 -2.99902278e+02] [-5.29298557e-03 9.99975803e-01 4.51417530e-03 1.59622320e+01] [ 2.84722247e-02 -4.36170469e-03 9.99585068e-01 1.36315721e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.49907232899994 meters Centerline goodness : 0.757464 Centerline is valid? [False, False] Translation: X:-299.90, Y:15.96, Z:136.32 [[ 9.99580741e-01 5.54911246e-03 -2.84174195e-02 -2.99902299e+02] [-5.41817983e-03 9.99974359e-01 4.68240874e-03 1.59618489e+01] [ 2.84426740e-02 -4.52647490e-03 9.99585177e-01 1.36315573e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.529072329 meters Centerline goodness : 0.757862 Centerline is valid? [False, False] Translation: X:-299.90, Y:15.96, Z:136.32 [[ 9.99585668e-01 5.51630198e-03 -2.82500019e-02 -2.99902776e+02] [-5.38454135e-03 9.99974279e-01 4.73804311e-03 1.59616635e+01] [ 2.82754117e-02 -4.58396668e-03 9.99589660e-01 1.36315565e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.55907232899995 meters Centerline goodness : 0.757074 Centerline is valid? [False, False] Translation: X:-299.90, Y:15.96, Z:136.31 [[ 9.99586576e-01 5.65176348e-03 -2.81910530e-02 -2.99902467e+02] [-5.51604863e-03 9.99972832e-01 4.88955773e-03 1.59618752e+01] [ 2.82179217e-02 -4.73203305e-03 9.99590595e-01 1.36314946e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.589072329 meters Centerline goodness : 0.758296 Centerline is valid? [False, False] Translation: X:-299.90, Y:15.96, Z:136.31 [[ 9.99614999e-01 4.94990162e-03 -2.73011473e-02 -2.99904752e+02] [-4.82382940e-03 9.99977406e-01 4.68176510e-03 1.59612584e+01] [ 2.73237047e-02 -4.54826654e-03 9.99616291e-01 1.36314698e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.61907232899995 meters Centerline goodness : 0.756471 Centerline is valid? [False, False] Translation: X:-299.91, Y:15.96, Z:136.31 [[ 9.99640045e-01 4.58834071e-03 -2.64334559e-02 -2.99906722e+02] [-4.46583739e-03 9.99979022e-01 4.69157609e-03 1.59604711e+01] [ 2.64544279e-02 -4.57183982e-03 9.99639566e-01 1.36314234e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.649072329 meters Centerline goodness : 0.756743 Centerline is valid? [False, False] Translation: X:-299.91, Y:15.96, Z:136.31 [[ 9.99644807e-01 4.56578107e-03 -2.62566960e-02 -2.99907787e+02] [-4.44333265e-03 9.99978989e-01 4.71996665e-03 1.59600653e+01] [ 2.62776946e-02 -4.60162291e-03 9.99644091e-01 1.36314881e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.67907232899995 meters Centerline goodness : 0.757133 Centerline is valid? [False, False] Translation: X:-299.91, Y:15.96, Z:136.32 [[ 9.99658876e-01 3.96939767e-03 -2.58142695e-02 -2.99909633e+02] [-3.86874920e-03 9.99984724e-01 3.94772204e-03 1.59618377e+01] [ 2.58295452e-02 -3.84650644e-03 9.99658961e-01 1.36315777e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.709072329 meters Centerline goodness : 0.758724 Centerline is valid? [False, False] Translation: X:-299.91, Y:15.96, Z:136.32 [[ 9.99660808e-01 3.93001160e-03 -2.57453762e-02 -2.99910584e+02] [-3.83163383e-03 9.99985173e-01 3.86940005e-03 1.59619306e+01] [ 2.57602012e-02 -3.76944073e-03 9.99661044e-01 1.36316713e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.73907232899995 meters Centerline goodness : 0.758689 Centerline is valid? [False, False] Translation: X:-299.91, Y:15.96, Z:136.32 [[ 9.99668140e-01 3.74024932e-03 -2.54876625e-02 -2.99911251e+02] [-3.64831945e-03 9.99986675e-01 3.65238499e-03 1.59625597e+01] [ 2.55009837e-02 -3.55818578e-03 9.99668465e-01 1.36316673e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.769072329 meters Centerline goodness : 0.759540 Centerline is valid? [False, False] Translation: X:-299.91, Y:15.96, Z:136.32 [[ 9.99671710e-01 3.74588719e-03 -2.53464130e-02 -2.99911471e+02] [-3.65299421e-03 9.99986445e-01 3.71024656e-03 1.59625296e+01] [ 2.53599676e-02 -3.61643822e-03 9.99671843e-01 1.36316446e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.79907232899996 meters Centerline goodness : 0.758512 Centerline is valid? [False, False] Translation: X:-299.91, Y:15.96, Z:136.32 [[ 9.99665773e-01 4.15313301e-03 -2.55165378e-02 -2.99910737e+02] [-4.04606996e-03 9.99982800e-01 4.24602780e-03 1.59614936e+01] [ 2.55337332e-02 -4.14136697e-03 9.99665383e-01 1.36316046e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.829072329 meters Centerline goodness : 0.758612 Centerline is valid? [False, False] Translation: X:-299.91, Y:15.96, Z:136.32 [[ 9.99671056e-01 3.86430891e-03 -2.53544451e-02 -2.99911455e+02] [-3.76767307e-03 9.99985460e-01 3.85806140e-03 1.59624801e+01] [ 2.53689852e-02 -3.76126505e-03 9.99671080e-01 1.36316393e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.85907232899996 meters Centerline goodness : 0.759275 Centerline is valid? [False, False] Translation: X:-299.91, Y:15.96, Z:136.32 [[ 9.99680065e-01 3.80792955e-03 -2.50053276e-02 -2.99912339e+02] [-3.70975156e-03 9.99985232e-01 3.97149904e-03 1.59620048e+01] [ 2.50200815e-02 -3.87746486e-03 9.99679429e-01 1.36316256e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.889072329 meters Centerline goodness : 0.756762 Centerline is valid? [False, False] Translation: X:-299.91, Y:15.96, Z:136.32 [[ 9.99676383e-01 4.14183217e-03 -2.50992926e-02 -2.99912235e+02] [-4.03397241e-03 9.99982418e-01 4.34643302e-03 1.59612034e+01] [ 2.51168535e-02 -4.24377658e-03 9.99675514e-01 1.36316383e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.91907232899996 meters Centerline goodness : 0.758795 Centerline is valid? [False, False] Translation: X:-299.91, Y:15.96, Z:136.32 [[ 9.99659162e-01 4.67983494e-03 -2.56838292e-02 -2.99910805e+02] [-4.56370931e-03 9.99979107e-01 4.57810798e-03 1.59617244e+01] [ 2.57047174e-02 -4.45933405e-03 9.99659633e-01 1.36316520e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.949072329 meters Centerline goodness : 0.759312 Centerline is valid? [False, False] Translation: X:-299.91, Y:15.97, Z:136.32 [[ 9.99666762e-01 7.12873104e-03 -2.48101990e-02 -2.99913215e+02] [-6.96097542e-03 9.99952369e-01 6.84136897e-03 1.59654607e+01] [ 2.48577876e-02 -6.66638598e-03 9.99668770e-01 1.36316874e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.97907232899996 meters Centerline goodness : 0.758030 Centerline is valid? [False, False] Translation: X:-299.91, Y:15.97, Z:136.32 [[ 9.99653362e-01 7.34697716e-03 -2.52819801e-02 -2.99912408e+02] [-7.17980492e-03 9.99951801e-01 6.69674290e-03 1.59666160e+01] [ 2.53299624e-02 -6.51290187e-03 9.99657929e-01 1.36317435e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.009072329 meters Centerline goodness : 0.757797 Centerline is valid? [False, False] Translation: X:-299.91, Y:15.97, Z:136.32 [[ 9.99623336e-01 8.32190234e-03 -2.61521135e-02 -2.99910730e+02] [-8.13383144e-03 9.99940350e-01 7.28959130e-03 1.59661359e+01] [ 2.62112168e-02 -7.07412868e-03 9.99631396e-01 1.36318087e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.03907232899996 meters Centerline goodness : 0.759698 Centerline is valid? [False, False] Translation: X:-299.91, Y:15.97, Z:136.32 [[ 9.99609212e-01 8.54473521e-03 -2.66159887e-02 -2.99910160e+02] [-8.35653281e-03 9.99939347e-01 7.17425069e-03 1.59670074e+01] [ 2.66756765e-02 -6.94902970e-03 9.99619987e-01 1.36318831e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.069072329 meters Centerline goodness : 0.758050 Centerline is valid? [False, False] Translation: X:-299.91, Y:15.97, Z:136.32 [[ 9.99412952e-01 2.08840421e-02 -2.71589424e-02 -2.99907223e+02] [-2.08783976e-02 9.99781902e-01 4.91416235e-04 1.59708842e+01] [ 2.71632819e-02 7.59074471e-05 9.99631007e-01 1.36316692e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.09907232899997 meters Centerline goodness : 0.759870 Centerline is valid? [False, False] Translation: X:-299.91, Y:15.97, Z:136.32 [[ 9.99314359e-01 2.50009832e-02 -2.73086680e-02 -2.99907123e+02] [-2.48988200e-02 9.99681672e-01 4.07476227e-03 1.59729214e+01] [ 2.74018480e-02 -3.39201484e-03 9.99618744e-01 1.36317361e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.12907232899994 meters Centerline goodness : 0.758577 Centerline is valid? [False, False] Translation: X:-299.91, Y:15.98, Z:136.32 [[ 9.99194338e-01 2.90773045e-02 -2.76619855e-02 -2.99906647e+02] [-2.88886215e-02 9.99556731e-01 7.19646080e-03 1.59765940e+01] [ 2.78589774e-02 -6.39154626e-03 9.99591429e-01 1.36318400e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.15907232899997 meters Centerline goodness : 0.758184 Centerline is valid? [False, False] Translation: X:-299.91, Y:15.98, Z:136.32 [[ 9.99206174e-01 2.86368348e-02 -2.76939096e-02 -2.99907120e+02] [-2.84701142e-02 9.99574182e-01 6.39587536e-03 1.59788184e+01] [ 2.78652747e-02 -5.60234938e-03 9.99595988e-01 1.36319101e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.18907232899994 meters Centerline goodness : 0.759185 Centerline is valid? [False, False] Translation: X:-299.91, Y:15.98, Z:136.32 [[ 9.99187824e-01 2.87901667e-02 -2.81925350e-02 -2.99906380e+02] [-2.86254980e-02 9.99570809e-01 6.22722028e-03 1.59795153e+01] [ 2.83597177e-02 -5.41513732e-03 9.99583114e-01 1.36319742e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.21907232899997 meters Centerline goodness : 0.759232 Centerline is valid? [False, False] Translation: X:-299.90, Y:15.98, Z:136.32 [[ 9.99137722e-01 2.96000036e-02 -2.91144818e-02 -2.99904326e+02] [-2.94302463e-02 9.99547346e-01 6.24210890e-03 1.59812822e+01] [ 2.92860695e-02 -5.37988009e-03 9.99556593e-01 1.36320390e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.24907232899994 meters Centerline goodness : 0.758146 Centerline is valid? [False, False] Translation: X:-299.90, Y:15.98, Z:136.32 [[ 9.99112039e-01 2.97837517e-02 -2.98003701e-02 -2.99902853e+02] [-2.96226827e-02 9.99544138e-01 5.83199245e-03 1.59835576e+01] [ 2.99604838e-02 -4.94404696e-03 9.99538857e-01 1.36320927e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.279072329 meters Centerline goodness : 0.757931 Centerline is valid? [False, False] Translation: X:-299.90, Y:15.99, Z:136.32 [[ 9.99071779e-01 3.03293258e-02 -3.05894083e-02 -2.99901103e+02] [-3.01711127e-02 9.99528945e-01 5.62063185e-03 1.59857353e+01] [ 3.07454690e-02 -4.69249818e-03 9.99516231e-01 1.36321556e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.30907232899995 meters Centerline goodness : 0.758496 Centerline is valid? [False, False] Translation: X:-299.90, Y:15.99, Z:136.32 [[ 9.99072270e-01 3.01670940e-02 -3.07334535e-02 -2.99901388e+02] [-3.00204190e-02 9.99535640e-01 5.22289132e-03 1.59867600e+01] [ 3.08767416e-02 -4.29541474e-03 9.99513970e-01 1.36322342e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.339072329 meters Centerline goodness : 0.757536 Centerline is valid? [False, False] Translation: X:-299.90, Y:15.99, Z:136.32 [[ 9.99066340e-01 3.01284974e-02 -3.09632259e-02 -2.99901506e+02] [-2.99906972e-02 9.99538141e-01 4.90537199e-03 1.59878667e+01] [ 3.10967167e-02 -3.97218331e-03 9.99508487e-01 1.36323272e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.36907232899995 meters Centerline goodness : 0.757720 Centerline is valid? [False, False] Translation: X:-299.90, Y:15.99, Z:136.33 [[ 9.98996159e-01 3.28260379e-02 -3.04815763e-02 -2.99904044e+02] [-3.26291593e-02 9.99443473e-01 6.93417240e-03 1.59923486e+01] [ 3.06922339e-02 -5.93262338e-03 9.99511276e-01 1.36325136e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.399072329 meters Centerline goodness : 0.757621 Centerline is valid? [False, False] Translation: X:-299.90, Y:15.99, Z:136.33 [[ 9.98962171e-01 3.32284549e-02 -3.11520432e-02 -2.99902581e+02] [-3.30250985e-02 9.99429869e-01 7.01996407e-03 1.59928622e+01] [ 3.13675450e-02 -5.98387926e-03 9.99490005e-01 1.36325488e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.42907232899995 meters Centerline goodness : 0.757523 Centerline is valid? [False, False] Translation: X:-299.90, Y:15.99, Z:136.32 [[ 9.98873889e-01 3.49527323e-02 -3.20820746e-02 -2.99898935e+02] [-3.47093686e-02 9.99364528e-01 8.11165888e-03 1.59932489e+01] [ 3.23452120e-02 -6.98897571e-03 9.99452321e-01 1.36324390e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.459072329 meters Centerline goodness : 0.756692 Centerline is valid? [False, False] Translation: X:-299.90, Y:15.99, Z:136.32 [[ 9.98824366e-01 3.56376347e-02 -3.28609863e-02 -2.99896873e+02] [-3.53828449e-02 9.99339340e-01 8.30293632e-03 1.59940044e+01] [ 3.31351734e-02 -7.13045993e-03 9.99425443e-01 1.36324420e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.48907232899995 meters Centerline goodness : 0.757035 Centerline is valid? [False, False] Translation: X:-299.90, Y:16.00, Z:136.32 [[ 9.98805011e-01 3.57323679e-02 -3.33428921e-02 -2.99896018e+02] [-3.54831226e-02 9.99337955e-01 8.03742061e-03 1.59951724e+01] [ 3.36080136e-02 -6.84470605e-03 9.99411653e-01 1.36324903e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.519072329 meters Centerline goodness : 0.758695 Centerline is valid? [False, False] Translation: X:-299.89, Y:16.00, Z:136.33 [[ 9.98779900e-01 3.57938123e-02 -3.40222771e-02 -2.99894921e+02] [-3.55571465e-02 9.99339229e-01 7.53616915e-03 1.59972608e+01] [ 3.42695445e-02 -6.31723918e-03 9.99392661e-01 1.36325829e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.54907232899996 meters Centerline goodness : 0.759459 Centerline is valid? [False, False] Translation: X:-299.89, Y:16.00, Z:136.33 [[ 9.98618302e-01 3.98892286e-02 -3.42101933e-02 -2.99894714e+02] [-3.95403155e-02 9.99159436e-01 1.08159728e-02 1.60002455e+01] [ 3.46128783e-02 -9.44834651e-03 9.99356131e-01 1.36326760e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.579072329 meters Centerline goodness : 0.757580 Centerline is valid? [False, False] Translation: X:-299.89, Y:16.00, Z:136.33 [[ 9.98584512e-01 4.01929723e-02 -3.48352756e-02 -2.99893399e+02] [-3.98409489e-02 9.99148296e-01 1.07415611e-02 1.60011674e+01] [ 3.52373415e-02 -9.33848615e-03 9.99335340e-01 1.36327183e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.60907232899996 meters Centerline goodness : 0.757368 Centerline is valid? [False, False] Translation: X:-299.89, Y:16.00, Z:136.33 [[ 9.98579417e-01 3.99989941e-02 -3.52026762e-02 -2.99893020e+02] [-3.96650109e-02 9.99161628e-01 1.01354954e-02 1.60033911e+01] [ 3.55785728e-02 -8.72478255e-03 9.99328796e-01 1.36327983e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.639072329 meters Centerline goodness : 0.757107 Centerline is valid? [False, False] Translation: X:-299.89, Y:16.01, Z:136.33 [[ 9.98580781e-01 3.97218293e-02 -3.54767587e-02 -2.99892988e+02] [-3.94104739e-02 9.99178577e-01 9.43319139e-03 1.60057396e+01] [ 3.58223210e-02 -8.02164775e-03 9.99325980e-01 1.36328960e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.66907232899996 meters Centerline goodness : 0.757996 Centerline is valid? [False, False] Translation: X:-299.89, Y:16.01, Z:136.33 [[ 9.98596282e-01 3.94703954e-02 -3.53207148e-02 -2.99893931e+02] [-3.91702686e-02 9.99190661e-01 9.14947277e-03 1.60059846e+01] [ 3.56532617e-02 -7.75310761e-03 9.99334145e-01 1.36329499e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.699072329 meters Centerline goodness : 0.757816 Centerline is valid? [False, False] Translation: X:-299.89, Y:16.01, Z:136.33 [[ 9.98612161e-01 3.93335818e-02 -3.50231469e-02 -2.99894850e+02] [-3.90359615e-02 9.99195988e-01 9.14170658e-03 1.60056312e+01] [ 3.53545639e-02 -7.76185715e-03 9.99344689e-01 1.36329527e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.72907232899996 meters Centerline goodness : 0.758630 Centerline is valid? [False, False] Translation: X:-299.90, Y:16.01, Z:136.33 [[ 9.98644280e-01 3.88831532e-02 -3.46078307e-02 -2.99896348e+02] [-3.86018655e-02 9.99216276e-01 8.75950283e-03 1.60057996e+01] [ 3.49213049e-02 -7.41170057e-03 9.99362581e-01 1.36329835e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.759072329 meters Centerline goodness : 0.758206 Centerline is valid? [False, False] Translation: X:-299.90, Y:16.01, Z:136.33 [[ 9.98642127e-01 3.88816406e-02 -3.46716123e-02 -2.99896272e+02] [-3.86030709e-02 9.99217025e-01 8.66831451e-03 1.60061561e+01] [ 3.49815036e-02 -7.31811333e-03 9.99361166e-01 1.36329896e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.78907232899996 meters Centerline goodness : 0.757465 Centerline is valid? [False, False] Translation: X:-299.90, Y:16.01, Z:136.33 [[ 9.98630303e-01 3.90642777e-02 -3.48066210e-02 -2.99896109e+02] [-3.87786178e-02 9.99208680e-01 8.84494006e-03 1.60057044e+01] [ 3.51245990e-02 -7.48307251e-03 9.99354925e-01 1.36330045e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.819072329 meters Centerline goodness : 0.758629 Centerline is valid? [False, False] Translation: X:-299.90, Y:16.01, Z:136.33 [[ 9.98676382e-01 3.83830977e-02 -3.42377384e-02 -2.99897805e+02] [-3.81218229e-02 9.99239027e-01 8.25186056e-03 1.60066331e+01] [ 3.45284164e-02 -6.93573324e-03 9.99379650e-01 1.36330180e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.84907232899997 meters Centerline goodness : 0.758183 Centerline is valid? [False, False] Translation: X:-299.90, Y:16.01, Z:136.33 [[ 9.98690060e-01 3.82194393e-02 -3.40211472e-02 -2.99898811e+02] [-3.79631491e-02 9.99245922e-01 8.14784989e-03 1.60063849e+01] [ 3.43068988e-02 -6.84562681e-03 9.99387900e-01 1.36330601e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.87907232899994 meters Centerline goodness : 0.758260 Centerline is valid? [False, False] Translation: X:-299.90, Y:16.01, Z:136.33 [[ 9.98694785e-01 3.82385259e-02 -3.38606095e-02 -2.99899889e+02] [-3.79802849e-02 9.99244536e-01 8.23746651e-03 1.60053806e+01] [ 3.41500176e-02 -6.94067925e-03 9.99392617e-01 1.36331218e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.90907232899997 meters Centerline goodness : 0.756831 Centerline is valid? [False, False] Translation: X:-299.90, Y:16.01, Z:136.33 [[ 9.98677540e-01 3.83332033e-02 -3.42598279e-02 -2.99899259e+02] [-3.80769030e-02 9.99241960e-01 8.10270763e-03 1.60061746e+01] [ 3.45444604e-02 -6.78748398e-03 9.99380113e-01 1.36331728e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.93907232899994 meters Centerline goodness : 0.757747 Centerline is valid? [False, False] Translation: X:-299.90, Y:16.01, Z:136.33 [[ 9.98757264e-01 3.68565522e-02 -3.35487971e-02 -2.99902368e+02] [-3.66528373e-02 9.99305817e-01 6.66728682e-03 1.60080841e+01] [ 3.37712413e-02 -5.42934254e-03 9.99414842e-01 1.36332938e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.96907232899997 meters Centerline goodness : 0.758877 Centerline is valid? [False, False] Translation: X:-299.90, Y:16.01, Z:136.33 [[ 9.98684807e-01 3.79566941e-02 -3.44665907e-02 -2.99900234e+02] [-3.77231807e-02 9.99260824e-01 7.40049771e-03 1.60073608e+01] [ 3.47220123e-02 -6.09057519e-03 9.99378450e-01 1.36333230e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.99907232899994 meters Centerline goodness : 0.759223 Centerline is valid? [False, False] Translation: X:-299.90, Y:16.01, Z:136.33 [[ 9.98675232e-01 3.78127746e-02 -3.48995017e-02 -2.99899411e+02] [-3.75988908e-02 9.99270013e-01 6.76487608e-03 1.60099505e+01] [ 3.51298243e-02 -5.44373164e-03 9.99367931e-01 1.36333698e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.029072329 meters Centerline goodness : 0.757808 Centerline is valid? [False, False] Translation: X:-299.90, Y:16.01, Z:136.33 [[ 9.98646294e-01 3.79811611e-02 -3.55388557e-02 -2.99898236e+02] [-3.77711742e-02 9.99264871e-01 6.56174561e-03 1.60111680e+01] [ 3.57619528e-02 -5.21051863e-03 9.99346753e-01 1.36334379e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.05907232899995 meters Centerline goodness : 0.757488 Centerline is valid? [False, False] Translation: X:-299.90, Y:16.02, Z:136.34 [[ 9.98541062e-01 4.10839220e-02 -3.50408261e-02 -2.99900216e+02] [-4.07923074e-02 9.99127139e-01 8.99714574e-03 1.60151350e+01] [ 3.53798783e-02 -7.55462331e-03 9.99345382e-01 1.36335679e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.089072329 meters Centerline goodness : 0.757510 Centerline is valid? [False, False] Translation: X:-299.90, Y:16.02, Z:136.34 [[ 9.98548654e-01 4.07643780e-02 -3.51973150e-02 -2.99900256e+02] [-4.04967038e-02 9.99145323e-01 8.28496641e-03 1.60173558e+01] [ 3.55049642e-02 -6.84756682e-03 9.99346040e-01 1.36336294e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.11907232899995 meters Centerline goodness : 0.756598 Centerline is valid? [False, False] Translation: X:-299.90, Y:16.02, Z:136.34 [[ 9.98554855e-01 4.05236895e-02 -3.52991874e-02 -2.99900622e+02] [-4.02690443e-02 9.99157678e-01 7.89552934e-03 1.60182313e+01] [ 3.55894101e-02 -6.46265462e-03 9.99345600e-01 1.36337048e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.149072329 meters Centerline goodness : 0.756598 Centerline is valid? [False, False] Translation: X:-299.90, Y:16.02, Z:136.34 [[ 9.98554855e-01 4.05236895e-02 -3.52991874e-02 -2.99900622e+02] [-4.02690443e-02 9.99157678e-01 7.89552934e-03 1.60182313e+01] [ 3.55894101e-02 -6.46265462e-03 9.99345600e-01 1.36337048e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.17907232899995 meters Centerline goodness : 0.757688 Centerline is valid? [False, False] Translation: X:-299.90, Y:16.02, Z:136.34 [[ 9.98500662e-01 4.11332419e-02 -3.61176549e-02 -2.99898778e+02] [-4.08733354e-02 9.99133061e-01 7.90553745e-03 1.60195647e+01] [ 3.64115234e-02 -6.41743535e-03 9.99316275e-01 1.36337584e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.209072329 meters Centerline goodness : 0.757907 Centerline is valid? [False, False] Translation: X:-299.90, Y:16.02, Z:136.34 [[ 9.98496263e-01 4.10161583e-02 -3.63715332e-02 -2.99898557e+02] [-4.07670356e-02 9.99140039e-01 7.56507616e-03 1.60206718e+01] [ 3.66505455e-02 -6.07094068e-03 9.99309702e-01 1.36338131e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.23907232899995 meters Centerline goodness : 0.757763 Centerline is valid? [False, False] Translation: X:-299.90, Y:16.02, Z:136.34 [[ 9.98469450e-01 4.11867724e-02 -3.69108114e-02 -2.99897346e+02] [-4.09444687e-02 9.99134778e-01 7.29692761e-03 1.60222705e+01] [ 3.71794122e-02 -5.77446574e-03 9.99291923e-01 1.36338475e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.269072329 meters Centerline goodness : 0.756442 Centerline is valid? [False, False] Translation: X:-299.90, Y:16.02, Z:136.34 [[ 9.98463272e-01 4.09995461e-02 -3.72844711e-02 -2.99897235e+02] [-4.07824108e-02 9.99146477e-01 6.56607563e-03 1.60246975e+01] [ 3.75218541e-02 -5.03543474e-03 9.99283120e-01 1.36339674e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.29907232899996 meters Centerline goodness : 0.757246 Centerline is valid? [False, False] Translation: X:-299.90, Y:16.03, Z:136.34 [[ 9.98464760e-01 4.08297471e-02 -3.74306754e-02 -2.99897650e+02] [-4.06255652e-02 9.99155207e-01 6.19970635e-03 1.60256288e+01] [ 3.76521867e-02 -4.66954597e-03 9.99279995e-01 1.36340639e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.329072329 meters Centerline goodness : 0.757213 Centerline is valid? [False, False] Translation: X:-299.90, Y:16.03, Z:136.34 [[ 9.98305792e-01 4.46992054e-02 -3.72495206e-02 -2.99898662e+02] [-4.43772288e-02 9.98970370e-01 9.42662398e-03 1.60282462e+01] [ 3.76325300e-02 -7.75762282e-03 9.99261533e-01 1.36341866e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.35907232899996 meters Centerline goodness : 0.757186 Centerline is valid? [False, False] Translation: X:-299.90, Y:16.03, Z:136.34 [[ 9.98339142e-01 4.41545847e-02 -3.70044691e-02 -2.99899655e+02] [-4.38633868e-02 9.99000135e-01 8.64490766e-03 1.60302144e+01] [ 3.73491819e-02 -7.00740835e-03 9.99277707e-01 1.36342271e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.389072329 meters Centerline goodness : 0.757934 Centerline is valid? [False, False] Translation: X:-299.90, Y:16.03, Z:136.34 [[ 9.98322193e-01 4.44013894e-02 -3.71660586e-02 -2.99899360e+02] [-4.40994082e-02 9.98987447e-01 8.90631807e-03 1.60294331e+01] [ 3.75238789e-02 -7.25237379e-03 9.99269414e-01 1.36342318e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.41907232899996 meters Centerline goodness : 0.757552 Centerline is valid? [False, False] Translation: X:-299.90, Y:16.03, Z:136.34 [[ 9.98306638e-01 4.44999585e-02 -3.74647954e-02 -2.99898958e+02] [-4.41963455e-02 9.98983274e-01 8.89392575e-03 1.60295106e+01] [ 3.78224832e-02 -7.22305807e-03 9.99258369e-01 1.36342692e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.449072329 meters Centerline goodness : 0.755608 Centerline is valid? [False, False] Translation: X:-299.90, Y:16.03, Z:136.34 [[ 9.98257116e-01 4.50060111e-02 -3.81731393e-02 -2.99896999e+02] [-4.47054140e-02 9.98962396e-01 8.69236891e-03 1.60314017e+01] [ 3.85247395e-02 -6.97067312e-03 9.99233333e-01 1.36342737e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.47907232899996 meters Centerline goodness : 0.756142 Centerline is valid? [False, False] Translation: X:-299.90, Y:16.03, Z:136.34 [[ 9.98295092e-01 4.43666906e-02 -3.79276306e-02 -2.99898299e+02] [-4.40960186e-02 9.98995713e-01 7.94393756e-03 1.60327238e+01] [ 3.82419866e-02 -6.25793637e-03 9.99248912e-01 1.36343441e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.509072329 meters Centerline goodness : 0.756270 Centerline is valid? [False, False] Translation: X:-299.90, Y:16.04, Z:136.34 [[ 9.98138479e-01 4.79602926e-02 -3.76747452e-02 -2.99899419e+02] [-4.75846892e-02 9.98808772e-01 1.08043635e-02 1.60363278e+01] [ 3.81480464e-02 -8.99150996e-03 9.99231644e-01 1.36344639e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.53907232899996 meters Centerline goodness : 0.755133 Centerline is valid? [False, False] Translation: X:-299.90, Y:16.04, Z:136.35 [[ 9.98156412e-01 4.76165628e-02 -3.76356173e-02 -2.99900047e+02] [-4.72606599e-02 9.98829580e-01 1.02908008e-02 1.60375266e+01] [ 3.80815804e-02 -8.49314472e-03 9.99238540e-01 1.36345254e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.569072329 meters Centerline goodness : 0.755368 Centerline is valid? [False, False] Translation: X:-299.90, Y:16.04, Z:136.35 [[ 9.98147897e-01 4.75512870e-02 -3.79427328e-02 -2.99899869e+02] [-4.72047587e-02 9.98835401e-01 9.97761869e-03 1.60385491e+01] [ 3.83729933e-02 -8.16806156e-03 9.99230102e-01 1.36346014e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.59907232899997 meters Centerline goodness : 0.754282 Centerline is valid? [False, False] Translation: X:-299.90, Y:16.04, Z:136.35 [[ 9.98165247e-01 4.72277156e-02 -3.78904117e-02 -2.99900749e+02] [-4.69015974e-02 9.98854808e-01 9.45057709e-03 1.60398007e+01] [ 3.82933490e-02 -7.65611678e-03 9.99237211e-01 1.36346922e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.62907232899994 meters Centerline goodness : 0.754690 Centerline is valid? [False, False] Translation: X:-299.90, Y:16.04, Z:136.35 [[ 9.98246365e-01 4.60424887e-02 -3.72059585e-02 -2.99903803e+02] [-4.57638715e-02 9.98917752e-01 8.30622071e-03 1.60409319e+01] [ 3.75481315e-02 -6.58896593e-03 9.99273097e-01 1.36348094e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.65907232899997 meters Centerline goodness : 0.754601 Centerline is valid? [False, False] Translation: X:-299.90, Y:16.04, Z:136.35 [[ 9.98230940e-01 4.61452190e-02 -3.74914479e-02 -2.99903379e+02] [-4.58648161e-02 9.98913128e-01 8.30553452e-03 1.60410329e+01] [ 3.78339602e-02 -6.57130317e-03 9.99262433e-01 1.36348456e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.68907232899994 meters Centerline goodness : 0.755551 Centerline is valid? [False, False] Translation: X:-299.90, Y:16.04, Z:136.35 [[ 9.98267453e-01 4.57099736e-02 -3.70498432e-02 -2.99904695e+02] [-4.54485445e-02 9.98935693e-01 7.86835671e-03 1.60418239e+01] [ 3.73700732e-02 -6.17086296e-03 9.99282442e-01 1.36348570e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.71907232899997 meters Centerline goodness : 0.754017 Centerline is valid? [False, False] Translation: X:-299.91, Y:16.04, Z:136.35 [[ 9.98339943e-01 4.46039378e-02 -3.64396448e-02 -2.99908085e+02] [-4.43794037e-02 9.98990587e-01 6.94799884e-03 1.60414454e+01] [ 3.67127703e-02 -5.31929505e-03 9.99311702e-01 1.36350221e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.74907232899994 meters Centerline goodness : 0.755024 Centerline is valid? [False, False] Translation: X:-299.91, Y:16.04, Z:136.35 [[ 9.98392246e-01 4.39861918e-02 -3.57510534e-02 -2.99910454e+02] [-4.37831508e-02 9.99020283e-01 6.44287311e-03 1.60418148e+01] [ 3.59994249e-02 -4.86722080e-03 9.99339958e-01 1.36350732e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.779072329 meters Centerline goodness : 0.755364 Centerline is valid? [False, False] Translation: X:-299.91, Y:16.04, Z:136.35 [[ 9.98493331e-01 4.23467243e-02 -3.48973178e-02 -2.99914245e+02] [-4.21914919e-02 9.99096150e-01 5.17306237e-03 1.60421183e+01] [ 3.50848381e-02 -3.69289838e-03 9.99377515e-01 1.36352042e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.80907232899995 meters Centerline goodness : 0.754948 Centerline is valid? [False, False] Translation: X:-299.91, Y:16.04, Z:136.35 [[ 9.98488421e-01 4.25064900e-02 -3.48435176e-02 -2.99914543e+02] [-4.23408215e-02 9.99088201e-01 5.47914174e-03 1.60411124e+01] [ 3.50446464e-02 -3.99555643e-03 9.99377761e-01 1.36352102e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.839072329 meters Centerline goodness : 0.753941 Centerline is valid? [False, False] Translation: X:-299.91, Y:16.03, Z:136.36 [[ 9.98775372e-01 3.22126694e-02 -3.75512913e-02 -2.99905974e+02] [-3.19188411e-02 9.99455180e-01 8.39829717e-03 1.60319367e+01] [ 3.78013642e-02 -7.18941869e-03 9.99259410e-01 1.36357399e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.86907232899995 meters Centerline goodness : 0.754185 Centerline is valid? [False, False] Translation: X:-299.91, Y:16.03, Z:136.36 [[ 9.98813403e-01 3.18111278e-02 -3.68759783e-02 -2.99907905e+02] [-3.15280797e-02 9.99468965e-01 8.23209151e-03 1.60314204e+01] [ 3.71182680e-02 -7.05969455e-03 9.99285943e-01 1.36357402e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.899072329 meters Centerline goodness : 0.754132 Centerline is valid? [False, False] Translation: X:-299.91, Y:16.03, Z:136.36 [[ 9.98927763e-01 2.79773789e-02 -3.68861712e-02 -2.99907929e+02] [-2.78132896e-02 9.99600858e-01 4.95428826e-03 1.60287245e+01] [ 3.70100564e-02 -3.92305033e-03 9.99307193e-01 1.36356901e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.92907232899995 meters Centerline goodness : 0.753573 Centerline is valid? [False, False] Translation: X:-299.91, Y:16.03, Z:136.36 [[ 9.99001586e-01 2.66289047e-02 -3.58710644e-02 -2.99911445e+02] [-2.65051137e-02 9.99640983e-01 3.92220911e-03 1.60296863e+01] [ 3.59626302e-02 -2.96752648e-03 9.99348729e-01 1.36357618e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.959072329 meters Centerline goodness : 0.753748 Centerline is valid? [False, False] Translation: X:-299.91, Y:16.03, Z:136.36 [[ 9.99029766e-01 2.63412854e-02 -3.52939657e-02 -2.99913077e+02] [-2.62203225e-02 9.99648636e-01 3.88585817e-03 1.60292110e+01] [ 3.53839232e-02 -2.95666882e-03 9.99369419e-01 1.36357683e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.98907232899995 meters Centerline goodness : 0.755093 Centerline is valid? [False, False] Translation: X:-299.92, Y:16.03, Z:136.36 [[ 9.99112091e-01 2.48055221e-02 -3.40546106e-02 -2.99916442e+02] [-2.47091370e-02 9.99689405e-01 3.24831796e-03 1.60289938e+01] [ 3.41246097e-02 -2.40397371e-03 9.99414695e-01 1.36357392e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.019072329 meters Centerline goodness : 0.752729 Centerline is valid? [False, False] Translation: X:-299.92, Y:16.03, Z:136.36 [[ 9.99129121e-01 2.47774538e-02 -3.35719762e-02 -2.99917606e+02] [-2.46726315e-02 9.99689341e-01 3.53306052e-03 1.60276172e+01] [ 3.36490870e-02 -2.70167465e-03 9.99430058e-01 1.36357082e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.04907232899996 meters Centerline goodness : 0.754168 Centerline is valid? [False, False] Translation: X:-299.92, Y:16.03, Z:136.36 [[ 9.99146664e-01 2.45832487e-02 -3.31904680e-02 -2.99918665e+02] [-2.44829293e-02 9.99694379e-01 3.42563307e-03 1.60275878e+01] [ 3.32645375e-02 -2.61010998e-03 9.99443174e-01 1.36357074e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.079072329 meters Centerline goodness : 0.754772 Centerline is valid? [False, False] Translation: X:-299.92, Y:16.03, Z:136.36 [[ 9.99180572e-01 2.38633759e-02 -3.26913342e-02 -2.99921395e+02] [-2.37849534e-02 9.99713217e-01 2.78572340e-03 1.60277431e+01] [ 3.27484357e-02 -2.00587884e-03 9.99461613e-01 1.36358594e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.10907232899996 meters Centerline goodness : 0.756278 Centerline is valid? [False, False] Translation: X:-299.92, Y:16.03, Z:136.36 [[ 9.99181777e-01 2.38028538e-02 -3.26986401e-02 -2.99921630e+02] [-2.37325069e-02 9.99715123e-01 2.53785754e-03 1.60287332e+01] [ 3.27497333e-02 -1.75976030e-03 9.99462034e-01 1.36358927e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.139072329 meters Centerline goodness : 0.754687 Centerline is valid? [False, False] Translation: X:-299.93, Y:16.03, Z:136.35 [[ 9.99575869e-01 2.20474391e-02 -1.90260987e-02 -2.99928334e+02] [-2.19769061e-02 9.99750839e-01 3.90835337e-03 1.60254445e+01] [ 1.91075273e-02 -3.48856093e-03 9.99811348e-01 1.36354678e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.16907232899996 meters Centerline goodness : 0.755454 Centerline is valid? [False, False] Translation: X:-299.93, Y:16.03, Z:136.36 [[ 9.99579994e-01 2.18757081e-02 -1.90075967e-02 -2.99928728e+02] [-2.18105644e-02 9.99755539e-01 3.62783835e-03 1.60260584e+01] [ 1.90823116e-02 -3.21174823e-03 9.99812757e-01 1.36355067e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.199072329 meters Centerline goodness : 0.755833 Centerline is valid? [False, False] Translation: X:-299.93, Y:16.03, Z:136.36 [[ 9.99596078e-01 2.13863791e-02 -1.87164121e-02 -2.99930557e+02] [-2.13282730e-02 9.99767085e-01 3.29870248e-03 1.60256473e+01] [ 1.87826001e-02 -2.89818132e-03 9.99819391e-01 1.36356181e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.22907232899996 meters Centerline goodness : 0.754581 Centerline is valid? [False, False] Translation: X:-299.93, Y:16.03, Z:136.36 [[ 9.99604256e-01 2.11076552e-02 -1.85956670e-02 -2.99931222e+02] [-2.10572259e-02 9.99774056e-01 2.90354854e-03 1.60264496e+01] [ 1.86527525e-02 -2.51082632e-03 9.99822870e-01 1.36356555e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.259072329 meters Centerline goodness : 0.754231 Centerline is valid? [False, False] Translation: X:-299.93, Y:16.03, Z:136.36 [[ 9.99615734e-01 2.07725518e-02 -1.83544442e-02 -2.99932323e+02] [-2.07274672e-02 9.99781669e-01 2.64318482e-03 1.60263581e+01] [ 1.84053426e-02 -2.26172799e-03 9.99828049e-01 1.36357011e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.28907232899996 meters Centerline goodness : 0.753459 Centerline is valid? [False, False] Translation: X:-299.93, Y:16.03, Z:136.36 [[ 9.99605674e-01 2.09572629e-02 -1.86892707e-02 -2.99931797e+02] [-2.09111379e-02 9.99777800e-01 2.66003653e-03 1.60265484e+01] [ 1.87408650e-02 -2.26817369e-03 9.99821802e-01 1.36357414e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.319072329 meters Centerline goodness : 0.754343 Centerline is valid? [False, False] Translation: X:-299.93, Y:16.03, Z:136.36 [[ 9.99581637e-01 2.15105251e-02 -1.93351675e-02 -2.99930402e+02] [-2.14580302e-02 9.99765490e-01 2.91840079e-03 1.60266188e+01] [ 1.93934096e-02 -2.50228523e-03 9.99808799e-01 1.36357759e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.34907232899997 meters Centerline goodness : 0.754079 Centerline is valid? [False, False] Translation: X:-299.93, Y:16.03, Z:136.36 [[ 9.99592209e-01 2.11647400e-02 -1.91694799e-02 -2.99930941e+02] [-2.11218916e-02 9.99773943e-01 2.43497734e-03 1.60278981e+01] [ 1.92166822e-02 -2.02908870e-03 9.99813284e-01 1.36357873e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.37907232899994 meters Centerline goodness : 0.756046 Centerline is valid? [False, False] Translation: X:-299.93, Y:16.03, Z:136.36 [[ 9.99598805e-01 2.08341428e-02 -1.91876953e-02 -2.99931085e+02] [-2.08011114e-02 9.99781791e-01 1.91948244e-03 1.60293285e+01] [ 1.92234991e-02 -1.51958697e-03 9.99814057e-01 1.36358104e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.40907232899997 meters Centerline goodness : 0.754688 Centerline is valid? [False, False] Translation: X:-299.93, Y:16.03, Z:136.36 [[ 9.99606438e-01 2.05620913e-02 -1.90832200e-02 -2.99931705e+02] [-2.05362703e-02 9.99787910e-01 1.54807790e-03 1.60299826e+01] [ 1.91110043e-02 -1.15557048e-03 9.99816700e-01 1.36358464e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.43907232899994 meters Centerline goodness : 0.756104 Centerline is valid? [False, False] Translation: X:-299.93, Y:16.03, Z:136.36 [[ 9.99601580e-01 2.05128810e-02 -1.93882291e-02 -2.99931595e+02] [-2.04938416e-02 9.99789283e-01 1.18020688e-03 1.60312278e+01] [ 1.94083532e-02 -7.82397369e-04 9.99811334e-01 1.36359361e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.46907232899997 meters Centerline goodness : 0.755450 Centerline is valid? [False, False] Translation: X:-299.93, Y:16.03, Z:136.36 [[ 9.99602699e-01 2.03127008e-02 -1.95406709e-02 -2.99931567e+02] [-2.03027299e-02 9.99793627e-01 7.08532064e-04 1.60327997e+01] [ 1.95510304e-02 -3.11521599e-04 9.99808812e-01 1.36359879e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.49907232899994 meters Centerline goodness : 0.755078 Centerline is valid? [False, False] Translation: X:-299.93, Y:16.03, Z:136.36 [[ 9.99589172e-01 2.04793137e-02 -2.00520316e-02 -2.99930900e+02] [-2.04732470e-02 9.99790272e-01 5.07808754e-04 1.60340486e+01] [ 2.00582257e-02 -9.70699370e-05 9.99798809e-01 1.36360771e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.529072329 meters Centerline goodness : 0.756482 Centerline is valid? [False, False] Translation: X:-299.93, Y:16.03, Z:136.36 [[ 9.99565949e-01 2.10104499e-02 -2.06512679e-02 -2.99929596e+02] [-2.09975424e-02 9.99779173e-01 8.41680012e-04 1.60339304e+01] [ 2.06643917e-02 -4.07688805e-04 9.99786386e-01 1.36361060e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.55907232899995 meters Centerline goodness : 0.756952 Centerline is valid? [False, False] Translation: X:-299.93, Y:16.03, Z:136.36 [[ 9.99580043e-01 2.07045094e-02 -2.02746523e-02 -2.99930378e+02] [-2.06974387e-02 9.99785629e-01 5.58544072e-04 1.60347087e+01] [ 2.02818703e-02 -1.38676134e-04 9.99794292e-01 1.36360810e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.589072329 meters Centerline goodness : 0.756915 Centerline is valid? [False, False] Translation: X:-299.93, Y:16.04, Z:136.36 [[ 9.99590093e-01 2.04808654e-02 -2.00044923e-02 -2.99930944e+02] [-2.04781278e-02 9.99790243e-01 3.41708663e-04 1.60351776e+01] [ 2.00072947e-02 6.80859550e-05 9.99799832e-01 1.36360589e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.61907232899995 meters Centerline goodness : 0.756208 Centerline is valid? [False, False] Translation: X:-299.93, Y:16.04, Z:136.36 [[ 9.99622721e-01 1.96369120e-02 -1.92043642e-02 -2.99933698e+02] [-1.96470236e-02 9.99806921e-01 -3.37975628e-04 1.60355415e+01] [ 1.91940195e-02 7.15156714e-04 9.99815522e-01 1.36361252e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.649072329 meters Centerline goodness : 0.755697 Centerline is valid? [False, False] Translation: X:-299.94, Y:16.04, Z:136.36 [[ 9.99645290e-01 1.91347899e-02 -1.85244350e-02 -2.99935799e+02] [-1.91508809e-02 9.99816366e-01 -6.91613587e-04 1.60353923e+01] [ 1.85077994e-02 1.04612751e-03 9.99828169e-01 1.36361538e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.67907232899995 meters Centerline goodness : 0.755173 Centerline is valid? [False, False] Translation: X:-299.94, Y:16.03, Z:136.36 [[ 9.99634338e-01 1.94397387e-02 -1.87959219e-02 -2.99935256e+02] [-1.94501168e-02 9.99810760e-01 -3.69475582e-04 1.60346805e+01] [ 1.87851825e-02 7.34923355e-04 9.99823273e-01 1.36361636e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.709072329 meters Centerline goodness : 0.756130 Centerline is valid? [False, False] Translation: X:-299.93, Y:16.04, Z:136.36 [[ 9.99532512e-01 2.37885385e-02 -1.92057993e-02 -2.99933880e+02] [-2.37296564e-02 9.99713005e-01 3.28797395e-03 1.60373215e+01] [ 1.92785034e-02 -2.83068985e-03 9.99810145e-01 1.36361697e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.73907232899995 meters Centerline goodness : 0.756564 Centerline is valid? [False, False] Translation: X:-299.93, Y:16.04, Z:136.36 [[ 9.99549690e-01 2.30856179e-02 -1.91695359e-02 -2.99934306e+02] [-2.30481087e-02 9.99731990e-01 2.17537136e-03 1.60404215e+01] [ 1.92146181e-02 -1.73257022e-03 9.99813881e-01 1.36362215e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.769072329 meters Centerline goodness : 0.756898 Centerline is valid? [False, False] Translation: X:-299.93, Y:16.04, Z:136.36 [[ 9.99390498e-01 2.82659883e-02 -2.04857671e-02 -2.99931720e+02] [-2.81575787e-02 9.99588027e-01 5.56126894e-03 1.60447352e+01] [ 2.06345223e-02 -4.98104974e-03 9.99774677e-01 1.36364254e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.79907232899996 meters Centerline goodness : 0.755086 Centerline is valid? [False, False] Translation: X:-299.93, Y:16.05, Z:136.37 [[ 9.99378183e-01 2.81420341e-02 -2.12432062e-02 -2.99930591e+02] [-2.80525788e-02 9.99596332e-01 4.49738258e-03 1.60486417e+01] [ 2.13611965e-02 -3.89865931e-03 9.99764222e-01 1.36365563e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.829072329 meters Centerline goodness : 0.754963 Centerline is valid? [False, False] Translation: X:-299.93, Y:16.05, Z:136.37 [[ 9.99372875e-01 2.79372390e-02 -2.17570111e-02 -2.99930060e+02] [-2.78605459e-02 9.99604520e-01 3.82021605e-03 1.60508217e+01] [ 2.18551329e-02 -3.21165809e-03 9.99755989e-01 1.36366621e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.85907232899996 meters Centerline goodness : 0.756089 Centerline is valid? [False, False] Translation: X:-299.93, Y:16.06, Z:136.37 [[ 9.99231036e-01 3.22066117e-02 -2.23622477e-02 -2.99928710e+02] [-3.20581075e-02 9.99461718e-01 6.96797202e-03 1.60550531e+01] [ 2.25746253e-02 -6.24572257e-03 9.99725651e-01 1.36367589e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.889072329 meters Centerline goodness : 0.757423 Centerline is valid? [False, False] Translation: X:-299.93, Y:16.06, Z:136.37 [[ 9.99228675e-01 3.20159598e-02 -2.27383857e-02 -2.99928046e+02] [-3.18778616e-02 9.99471216e-01 6.41016856e-03 1.60569552e+01] [ 2.29315897e-02 -5.68037312e-03 9.99720899e-01 1.36368067e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.91907232899996 meters Centerline goodness : 0.754957 Centerline is valid? [False, False] Translation: X:-299.93, Y:16.06, Z:136.37 [[ 9.99107177e-01 3.56016940e-02 -2.27457423e-02 -2.99928509e+02] [-3.54009048e-02 9.99331118e-01 9.17018275e-03 1.60610048e+01] [ 2.30570022e-02 -8.35677554e-03 9.99699224e-01 1.36369249e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.949072329 meters Centerline goodness : 0.754843 Centerline is valid? [False, False] Translation: X:-299.93, Y:16.06, Z:136.37 [[ 9.99051884e-01 3.65245893e-02 -2.36914965e-02 -2.99926181e+02] [-3.63106750e-02 9.99296363e-01 9.39750374e-03 1.60622018e+01] [ 2.40180663e-02 -8.52833959e-03 9.99675147e-01 1.36369622e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.97907232899996 meters Centerline goodness : 0.754083 Centerline is valid? [False, False] Translation: X:-299.93, Y:16.06, Z:136.37 [[ 9.99054746e-01 3.63703324e-02 -2.38078247e-02 -2.99926346e+02] [-3.61637162e-02 9.99304878e-01 9.05241256e-03 1.60630823e+01] [ 2.41205146e-02 -8.18287632e-03 9.99675568e-01 1.36370182e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.009072329 meters Centerline goodness : 0.754427 Centerline is valid? [False, False] Translation: X:-299.92, Y:16.06, Z:136.37 [[ 9.98987579e-01 3.76510584e-02 -2.46214221e-02 -2.99923353e+02] [-3.74156372e-02 9.99250217e-01 9.95358528e-03 1.60627697e+01] [ 2.49777244e-02 -9.02228187e-03 9.99647294e-01 1.36369275e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.03907232899996 meters Centerline goodness : 0.755128 Centerline is valid? [False, False] Translation: X:-299.92, Y:16.06, Z:136.37 [[ 9.98941810e-01 3.82977791e-02 -2.54664464e-02 -2.99921302e+02] [-3.80516108e-02 9.99224915e-01 1.00818993e-02 1.60638852e+01] [ 2.58328221e-02 -9.10219145e-03 9.99624837e-01 1.36369597e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.069072329 meters Centerline goodness : 0.755128 Centerline is valid? [False, False] Translation: X:-299.92, Y:16.06, Z:136.37 [[ 9.98941810e-01 3.82977791e-02 -2.54664464e-02 -2.99921302e+02] [-3.80516108e-02 9.99224915e-01 1.00818993e-02 1.60638852e+01] [ 2.58328221e-02 -9.10219145e-03 9.99624837e-01 1.36369597e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.09907232899997 meters Centerline goodness : 0.755547 Centerline is valid? [False, False] Translation: X:-299.92, Y:16.06, Z:136.37 [[ 9.98936921e-01 3.82930188e-02 -2.56646156e-02 -2.99921137e+02] [-3.80522825e-02 9.99227655e-01 9.80390347e-03 1.60649014e+01] [ 2.60202148e-02 -8.81688394e-03 9.99622534e-01 1.36370081e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.12907232899994 meters Centerline goodness : 0.754280 Centerline is valid? [False, False] Translation: X:-299.92, Y:16.07, Z:136.37 [[ 9.98946758e-01 3.81604287e-02 -2.54785492e-02 -2.99921810e+02] [-3.79265903e-02 9.99234423e-01 9.59903678e-03 1.60652668e+01] [ 2.58253467e-02 -8.62261218e-03 9.99629282e-01 1.36370292e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.15907232899997 meters Centerline goodness : 0.753350 Centerline is valid? [False, False] Translation: X:-299.92, Y:16.06, Z:136.37 [[ 9.99037661e-01 3.50138226e-02 -2.64156197e-02 -2.99919826e+02] [-3.48596526e-02 9.99372520e-01 6.27455706e-03 1.60642576e+01] [ 2.66187407e-02 -5.34767948e-03 9.99631355e-01 1.36370461e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.18907232899994 meters Centerline goodness : 0.754568 Centerline is valid? [False, False] Translation: X:-299.92, Y:16.06, Z:136.37 [[ 9.99046283e-01 3.48698335e-02 -2.62796385e-02 -2.99920743e+02] [-3.47207918e-02 9.99378395e-01 6.10663741e-03 1.60643303e+01] [ 2.64762404e-02 -5.18836355e-03 9.99635979e-01 1.36371111e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.21907232899997 meters Centerline goodness : 0.755115 Centerline is valid? [False, False] Translation: X:-299.92, Y:16.06, Z:136.37 [[ 9.99054083e-01 3.47667553e-02 -2.61191825e-02 -2.99921480e+02] [-3.46199634e-02 9.99382228e-01 6.05155154e-03 1.60641109e+01] [ 2.63134396e-02 -5.14158213e-03 9.99640519e-01 1.36371401e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.24907232899994 meters Centerline goodness : 0.755052 Centerline is valid? [False, False] Translation: X:-299.92, Y:16.06, Z:136.37 [[ 9.99076716e-01 3.44010060e-02 -2.57349304e-02 -2.99923095e+02] [-3.42629925e-02 9.99396109e-01 5.78488048e-03 1.60640182e+01] [ 2.59183950e-02 -4.89778366e-03 9.99652064e-01 1.36372054e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.279072329 meters Centerline goodness : 0.755601 Centerline is valid? [False, False] Translation: X:-299.92, Y:16.06, Z:136.37 [[ 9.99073884e-01 3.43613467e-02 -2.58973353e-02 -2.99922983e+02] [-3.42287763e-02 9.99398640e-01 5.54522922e-03 1.60647678e+01] [ 2.60723032e-02 -4.65365960e-03 9.99649228e-01 1.36372428e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.30907232899995 meters Centerline goodness : 0.754570 Centerline is valid? [False, False] Translation: X:-299.92, Y:16.07, Z:136.37 [[ 9.99095029e-01 3.39660683e-02 -2.56013454e-02 -2.99924170e+02] [-3.38474620e-02 9.99414241e-01 5.05212967e-03 1.60656890e+01] [ 2.57579501e-02 -4.18101707e-03 9.99659466e-01 1.36372896e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.339072329 meters Centerline goodness : 0.755578 Centerline is valid? [False, False] Translation: X:-299.92, Y:16.07, Z:136.37 [[ 9.99089360e-01 3.40063590e-02 -2.57685501e-02 -2.99924246e+02] [-3.38878832e-02 9.99413030e-01 5.02064443e-03 1.60656303e+01] [ 2.59241586e-02 -4.14283081e-03 9.99655328e-01 1.36373492e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.36907232899995 meters Centerline goodness : 0.755327 Centerline is valid? [False, False] Translation: X:-299.92, Y:16.07, Z:136.37 [[ 9.99101158e-01 3.37204187e-02 -2.56867439e-02 -2.99924519e+02] [-3.36148885e-02 9.99424597e-01 4.52925542e-03 1.60670777e+01] [ 2.58246921e-02 -3.66172730e-03 9.99659781e-01 1.36373595e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.399072329 meters Centerline goodness : 0.754069 Centerline is valid? [False, False] Translation: X:-299.92, Y:16.06, Z:136.38 [[ 9.99232164e-01 2.66561258e-02 -2.87146960e-02 -2.99915154e+02] [-2.63804575e-02 9.99602587e-01 9.93674686e-03 1.60599264e+01] [ 2.89681596e-02 -9.17161025e-03 9.99538257e-01 1.36379154e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.42907232899995 meters Centerline goodness : 0.753954 Centerline is valid? [False, False] Translation: X:-299.91, Y:16.06, Z:136.38 [[ 9.99227752e-01 2.67483144e-02 -2.87824127e-02 -2.99914859e+02] [-2.64698006e-02 9.99599450e-01 1.00144841e-02 1.60599079e+01] [ 2.90387545e-02 -9.24488570e-03 9.99535534e-01 1.36378955e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.459072329 meters Centerline goodness : 0.753270 Centerline is valid? [False, False] Translation: X:-299.91, Y:16.06, Z:136.38 [[ 9.99314317e-01 2.29481002e-02 -2.90565130e-02 -2.99914141e+02] [-2.27648922e-02 9.99718925e-01 6.62045475e-03 1.60577875e+01] [ 2.92002728e-02 -5.95444683e-03 9.99555846e-01 1.36378505e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.48907232899995 meters Centerline goodness : 0.753686 Centerline is valid? [False, False] Translation: X:-299.92, Y:16.06, Z:136.38 [[ 9.99327849e-01 2.27322209e-02 -2.87592871e-02 -2.99915082e+02] [-2.25558382e-02 9.99724825e-01 6.44272914e-03 1.60578261e+01] [ 2.88978308e-02 -5.78970883e-03 9.99565603e-01 1.36378631e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.519072329 meters Centerline goodness : 0.753946 Centerline is valid? [False, False] Translation: X:-299.92, Y:16.06, Z:136.38 [[ 9.99379972e-01 2.13806646e-02 -2.79738974e-02 -2.99918608e+02] [-2.12443346e-02 9.99760989e-01 5.16166437e-03 1.60591474e+01] [ 2.80775711e-02 -4.56417716e-03 9.99595327e-01 1.36380170e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.54907232899996 meters Centerline goodness : 0.754769 Centerline is valid? [False, False] Translation: X:-299.92, Y:16.06, Z:136.38 [[ 9.99379155e-01 2.14336412e-02 -2.79625307e-02 -2.99918911e+02] [-2.12939199e-02 9.99759290e-01 5.28501069e-03 1.60585630e+01] [ 2.80690768e-02 -4.68629763e-03 9.99595001e-01 1.36380421e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.579072329 meters Centerline goodness : 0.755932 Centerline is valid? [False, False] Translation: X:-299.92, Y:16.06, Z:136.38 [[ 9.99389101e-01 2.11965266e-02 -2.77872664e-02 -2.99919800e+02] [-2.10651653e-02 9.99765544e-01 5.01165889e-03 1.60589311e+01] [ 2.78869813e-02 -4.42325391e-03 9.99601296e-01 1.36380919e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.60907232899996 meters Centerline goodness : 0.754985 Centerline is valid? [False, False] Translation: X:-299.92, Y:16.06, Z:136.38 [[ 9.99380724e-01 2.13346102e-02 -2.79821889e-02 -2.99919482e+02] [-2.12017633e-02 9.99762535e-01 5.03571737e-03 1.60592586e+01] [ 2.80829792e-02 -4.43932713e-03 9.99595738e-01 1.36381127e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.639072329 meters Centerline goodness : 0.755088 Centerline is valid? [False, False] Translation: X:-299.92, Y:16.06, Z:136.38 [[ 9.99409776e-01 2.09338591e-02 -2.72373525e-02 -2.99921437e+02] [-2.08038920e-02 9.99770840e-01 5.04633748e-03 1.60581935e+01] [ 2.73367501e-02 -4.47671607e-03 9.99616257e-01 1.36380989e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.66907232899996 meters Centerline goodness : 0.756184 Centerline is valid? [False, False] Translation: X:-299.92, Y:16.06, Z:136.38 [[ 9.99458653e-01 1.96582347e-02 -2.63809435e-02 -2.99924865e+02] [-1.95607052e-02 9.99800868e-01 3.94997644e-03 1.60588445e+01] [ 2.64533398e-02 -3.43180827e-03 9.99644158e-01 1.36382102e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.699072329 meters Centerline goodness : 0.755969 Centerline is valid? [False, False] Translation: X:-299.93, Y:16.06, Z:136.38 [[ 9.99477702e-01 1.95080306e-02 -2.57635407e-02 -2.99926725e+02] [-1.94072626e-02 9.99803025e-01 4.15555488e-03 1.60571789e+01] [ 2.58395326e-02 -3.65338464e-03 9.99659428e-01 1.36382181e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.72907232899996 meters Centerline goodness : 0.754618 Centerline is valid? [False, False] Translation: X:-299.93, Y:16.06, Z:136.38 [[ 9.99504154e-01 1.91050221e-02 -2.50288865e-02 -2.99928639e+02] [-1.90087095e-02 9.99810992e-01 4.08036655e-03 1.60563425e+01] [ 2.51021113e-02 -3.60257648e-03 9.99678401e-01 1.36381969e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.759072329 meters Centerline goodness : 0.755452 Centerline is valid? [False, False] Translation: X:-299.93, Y:16.06, Z:136.38 [[ 9.99511250e-01 1.90776457e-02 -2.47650019e-02 -2.99929177e+02] [-1.89787439e-02 9.99810971e-01 4.22254628e-03 1.60556355e+01] [ 2.48408768e-02 -3.75047388e-03 9.99684383e-01 1.36381633e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.78907232899996 meters Centerline goodness : 0.752892 Centerline is valid? [False, False] Translation: X:-299.93, Y:16.06, Z:136.38 [[ 9.99546378e-01 1.82681283e-02 -2.39439643e-02 -2.99931574e+02] [-1.81810774e-02 9.99827305e-01 3.84829353e-03 1.60552491e+01] [ 2.40101304e-02 -3.41122080e-03 9.99705895e-01 1.36381720e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.819072329 meters Centerline goodness : 0.755555 Centerline is valid? [False, False] Translation: X:-299.93, Y:16.06, Z:136.38 [[ 9.99534064e-01 1.84941294e-02 -2.42821348e-02 -2.99931086e+02] [-1.84061784e-02 9.99823216e-01 3.84058297e-03 1.60557246e+01] [ 2.43488704e-02 -3.39185220e-03 9.99697768e-01 1.36382189e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.84907232899997 meters Centerline goodness : 0.755975 Centerline is valid? [False, False] Translation: X:-299.93, Y:16.06, Z:136.38 [[ 9.99542287e-01 1.79317448e-02 -2.43653438e-02 -2.99932143e+02] [-1.78680685e-02 9.99836352e-01 2.82861556e-03 1.60585601e+01] [ 2.44120785e-02 -2.39195923e-03 9.99699119e-01 1.36383916e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.87907232899994 meters Centerline goodness : 0.754547 Centerline is valid? [False, False] Translation: X:-299.93, Y:16.06, Z:136.38 [[ 9.99556698e-01 1.75889549e-02 -2.40215963e-02 -2.99933354e+02] [-1.75350944e-02 9.99843244e-01 2.45098948e-03 1.60594599e+01] [ 2.40609411e-02 -2.02868199e-03 9.99708435e-01 1.36384314e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.90907232899997 meters Centerline goodness : 0.755762 Centerline is valid? [False, False] Translation: X:-299.93, Y:16.06, Z:136.38 [[ 9.99564999e-01 1.75718806e-02 -2.36863038e-02 -2.99934326e+02] [-1.75144579e-02 9.99843152e-01 2.62959592e-03 1.60585566e+01] [ 2.37287956e-02 -2.21359927e-03 9.99715982e-01 1.36384315e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.93907232899994 meters Centerline goodness : 0.755737 Centerline is valid? [False, False] Translation: X:-299.94, Y:16.05, Z:136.38 [[ 9.99867592e-01 1.27059142e-02 -1.01665144e-02 -2.99940933e+02] [-1.26785223e-02 9.99915831e-01 2.75425747e-03 1.60510738e+01] [ 1.02006540e-02 -2.62499641e-03 9.99944526e-01 1.36379161e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.96907232899997 meters Centerline goodness : 0.755536 Centerline is valid? [False, False] Translation: X:-299.94, Y:16.05, Z:136.38 [[ 9.99885202e-01 1.18616824e-02 -9.42783507e-03 -2.99943888e+02] [-1.18432222e-02 9.99927843e-01 2.01148080e-03 1.60513248e+01] [ 9.45101433e-03 -1.89959394e-03 9.99953534e-01 1.36380198e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.99907232899994 meters Centerline goodness : 0.755825 Centerline is valid? [False, False] Translation: X:-299.94, Y:16.05, Z:136.38 [[ 9.99926812e-01 7.87879121e-03 -9.18122620e-03 -2.99944243e+02] [-7.89228251e-03 9.99967827e-01 -1.43414035e-03 1.60490934e+01] [ 9.16963152e-03 1.50649622e-03 9.99956823e-01 1.36379589e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.029072329 meters Centerline goodness : 0.755290 Centerline is valid? [False, False] Translation: X:-299.95, Y:16.05, Z:136.38 [[ 9.99934253e-01 7.68151219e-03 -8.51370725e-03 -2.99945957e+02] [-7.69183263e-03 9.99969721e-01 -1.18013370e-03 1.60475471e+01] [ 8.50438425e-03 1.24554212e-03 9.99963061e-01 1.36379394e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.05907232899995 meters Centerline goodness : 0.754288 Centerline is valid? [False, False] Translation: X:-299.95, Y:16.05, Z:136.38 [[ 9.99947890e-01 6.87270990e-03 -7.54877087e-03 -2.99948593e+02] [-6.88566084e-03 9.99974864e-01 -1.69098767e-03 1.60478737e+01] [ 7.53695945e-03 1.74287783e-03 9.99970078e-01 1.36379489e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.089072329 meters Centerline goodness : 0.755408 Centerline is valid? [False, False] Translation: X:-299.95, Y:16.05, Z:136.38 [[ 9.99957936e-01 6.32704371e-03 -6.64032829e-03 -2.99950832e+02] [-6.33915881e-03 9.99978278e-01 -1.80501488e-03 1.60473563e+01] [ 6.62876365e-03 1.84703305e-03 9.99976324e-01 1.36379242e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.11907232899995 meters Centerline goodness : 0.753410 Centerline is valid? [False, False] Translation: X:-299.95, Y:16.05, Z:136.38 [[ 9.99965612e-01 5.83856351e-03 -5.88943938e-03 -2.99952873e+02] [-5.84817626e-03 9.99981593e-01 -1.61630214e-03 1.60454874e+01] [ 5.87989409e-03 1.65068904e-03 9.99981351e-01 1.36379158e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.149072329 meters Centerline goodness : 0.755586 Centerline is valid? [False, False] Translation: X:-299.95, Y:16.05, Z:136.38 [[ 9.99964821e-01 5.87743379e-03 -5.98432650e-03 -2.99952712e+02] [-5.88772771e-03 9.99981215e-01 -1.70398514e-03 1.60461433e+01] [ 5.97419903e-03 1.73915928e-03 9.99980642e-01 1.36379302e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.17907232899995 meters Centerline goodness : 0.754196 Centerline is valid? [False, False] Translation: X:-299.95, Y:16.05, Z:136.38 [[ 9.99961706e-01 6.10429570e-03 -6.27083814e-03 -2.99952080e+02] [-6.11442304e-03 9.99980031e-01 -1.59709034e-03 1.60462951e+01] [ 6.26096381e-03 1.63537174e-03 9.99979063e-01 1.36379393e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.209072329 meters Centerline goodness : 0.754063 Centerline is valid? [False, False] Translation: X:-299.95, Y:16.05, Z:136.38 [[ 9.99967509e-01 5.76175174e-03 -5.63764721e-03 -2.99953326e+02] [-5.77174887e-03 9.99981797e-01 -1.75862032e-03 1.60464170e+01] [ 5.62741185e-03 1.79110227e-03 9.99982562e-01 1.36378848e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.23907232899995 meters Centerline goodness : 0.754116 Centerline is valid? [False, False] Translation: X:-299.95, Y:16.05, Z:136.38 [[ 9.99969299e-01 5.81062868e-03 -5.25723189e-03 -2.99954123e+02] [-5.81802343e-03 9.99982106e-01 -1.39238854e-03 1.60450536e+01] [ 5.24904717e-03 1.42293249e-03 9.99985211e-01 1.36378462e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.269072329 meters Centerline goodness : 0.753304 Centerline is valid? [False, False] Translation: X:-299.96, Y:16.04, Z:136.38 [[ 9.99977678e-01 5.22840857e-03 -4.16008980e-03 -2.99956998e+02] [-5.23346212e-03 9.99985580e-01 -1.20481167e-03 1.60430074e+01] [ 4.15373056e-03 1.22655645e-03 9.99990621e-01 1.36378169e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.29907232899996 meters Centerline goodness : 0.753184 Centerline is valid? [False, False] Translation: X:-299.95, Y:16.04, Z:136.38 [[ 9.99985932e-01 2.35743284e-03 -4.75164969e-03 -2.99954825e+02] [-2.37545271e-03 9.99989995e-01 -3.79027143e-03 1.60401592e+01] [ 4.74266684e-03 3.80150543e-03 9.99981528e-01 1.36377284e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.329072329 meters Centerline goodness : 0.754724 Centerline is valid? [False, False] Translation: X:-299.95, Y:16.04, Z:136.38 [[ 9.99984896e-01 2.63209960e-03 -4.82483969e-03 -2.99954739e+02] [-2.64893503e-03 9.99990415e-01 -3.48626196e-03 1.60396397e+01] [ 4.81561725e-03 3.49898999e-03 9.99982283e-01 1.36377415e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.35907232899996 meters Centerline goodness : 0.754836 Centerline is valid? [False, False] Translation: X:-299.96, Y:16.04, Z:136.38 [[ 9.99987991e-01 2.15007071e-03 -4.40397590e-03 -2.99956322e+02] [-2.16753853e-03 9.99989788e-01 -3.96545092e-03 1.60403372e+01] [ 4.39540493e-03 3.97494909e-03 9.99982440e-01 1.36378062e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.389072329 meters Centerline goodness : 0.755038 Centerline is valid? [False, False] Translation: X:-299.96, Y:16.04, Z:136.38 [[ 9.99986569e-01 2.13299360e-03 -4.72356028e-03 -2.99955812e+02] [-2.15356687e-03 9.99988199e-01 -4.35466324e-03 1.60421209e+01] [ 4.71421607e-03 4.36477726e-03 9.99979362e-01 1.36378594e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.41907232899996 meters Centerline goodness : 0.755272 Centerline is valid? [False, False] Translation: X:-299.95, Y:16.04, Z:136.38 [[ 9.99978420e-01 3.53205444e-03 -5.53923706e-03 -2.99952696e+02] [-3.55192506e-03 9.99987278e-01 -3.58152185e-03 1.60441483e+01] [ 5.52651646e-03 3.60111952e-03 9.99978245e-01 1.36377763e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.449072329 meters Centerline goodness : 0.753727 Centerline is valid? [False, False] Translation: X:-299.95, Y:16.05, Z:136.38 [[ 9.99977198e-01 3.53646984e-03 -5.75292834e-03 -2.99952166e+02] [-3.55808237e-03 9.99986635e-01 -3.75090200e-03 1.60452065e+01] [ 5.73958650e-03 3.77128587e-03 9.99976417e-01 1.36377860e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.47907232899996 meters Centerline goodness : 0.754343 Centerline is valid? [False, False] Translation: X:-299.95, Y:16.05, Z:136.38 [[ 9.99962012e-01 5.54863872e-03 -6.72220833e-03 -2.99948926e+02] [-5.56556699e-03 9.99981382e-01 -2.50217624e-03 1.60456683e+01] [ 6.70819951e-03 2.53949409e-03 9.99974275e-01 1.36377245e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.509072329 meters Centerline goodness : 0.751225 Centerline is valid? [False, False] Translation: X:-299.95, Y:16.05, Z:136.38 [[ 9.99955050e-01 5.89464554e-03 -7.42633985e-03 -2.99947206e+02] [-5.91553409e-03 9.99978600e-01 -2.79394546e-03 1.60477707e+01] [ 7.40971161e-03 2.83775064e-03 9.99968521e-01 1.36377497e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.53907232899996 meters Centerline goodness : 0.751456 Centerline is valid? [False, False] Translation: X:-299.95, Y:16.05, Z:136.38 [[ 9.99947092e-01 6.36690520e-03 -8.07929991e-03 -2.99945605e+02] [-6.38958228e-03 9.99975711e-01 -2.78411115e-03 1.60488840e+01] [ 8.06137750e-03 2.83558720e-03 9.99963486e-01 1.36377641e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.569072329 meters Centerline goodness : 0.751315 Centerline is valid? [False, False] Translation: X:-299.94, Y:16.05, Z:136.38 [[ 9.99938299e-01 6.86911523e-03 -8.73005635e-03 -2.99943831e+02] [-6.89355705e-03 9.99972395e-01 -2.77273102e-03 1.60502635e+01] [ 8.71076915e-03 2.83274108e-03 9.99958048e-01 1.36377650e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.59907232899997 meters Centerline goodness : 0.751057 Centerline is valid? [False, False] Translation: X:-299.95, Y:16.05, Z:136.38 [[ 9.99943491e-01 6.65936915e-03 -8.28663586e-03 -2.99945043e+02] [-6.68358807e-03 9.99973464e-01 -2.89839522e-03 1.60502716e+01] [ 8.26711448e-03 2.95361589e-03 9.99961465e-01 1.36377693e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.62907232899994 meters Centerline goodness : 0.751143 Centerline is valid? [False, False] Translation: X:-299.95, Y:16.05, Z:136.38 [[ 9.99946034e-01 6.54752503e-03 -8.06587628e-03 -2.99945987e+02] [-6.57187082e-03 9.99973918e-01 -2.99557059e-03 1.60502888e+01] [ 8.04605233e-03 3.04841683e-03 9.99962983e-01 1.36378164e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.65907232899997 meters Centerline goodness : 0.750718 Centerline is valid? [False, False] Translation: X:-299.95, Y:16.05, Z:136.38 [[ 9.99943307e-01 6.52763645e-03 -8.41265480e-03 -2.99945315e+02] [-6.55705470e-03 9.99972468e-01 -3.47407895e-03 1.60526954e+01] [ 8.38974566e-03 3.52904423e-03 9.99958578e-01 1.36378661e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.68907232899994 meters Centerline goodness : 0.750424 Centerline is valid? [False, False] Translation: X:-299.95, Y:16.05, Z:136.38 [[ 9.99945041e-01 6.50405379e-03 -8.22263043e-03 -2.99945648e+02] [-6.53242676e-03 9.99972786e-01 -3.42845957e-03 1.60525513e+01] [ 8.20010778e-03 3.48198488e-03 9.99960316e-01 1.36378404e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.71907232899997 meters Centerline goodness : 0.750341 Centerline is valid? [False, False] Translation: X:-299.95, Y:16.05, Z:136.38 [[ 9.99946500e-01 6.59418235e-03 -7.96960194e-03 -2.99946349e+02] [-6.61941610e-03 9.99973149e-01 -3.14403004e-03 1.60515764e+01] [ 7.94865564e-03 3.19661595e-03 9.99963300e-01 1.36378341e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.74907232899994 meters Centerline goodness : 0.750634 Centerline is valid? [False, False] Translation: X:-299.94, Y:16.05, Z:136.38 [[ 9.99937231e-01 7.24254270e-03 -8.54863125e-03 -2.99944717e+02] [-7.26603281e-03 9.99969903e-01 -2.71996867e-03 1.60515704e+01] [ 8.52867447e-03 2.78191258e-03 9.99959761e-01 1.36378141e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.779072329 meters Centerline goodness : 0.750834 Centerline is valid? [False, False] Translation: X:-299.94, Y:16.05, Z:136.38 [[ 9.99934610e-01 7.43765371e-03 -8.68660631e-03 -2.99944308e+02] [-7.46028334e-03 9.99968855e-01 -2.57562710e-03 1.60513647e+01] [ 8.66717914e-03 2.64026323e-03 9.99958954e-01 1.36377977e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.80907232899995 meters Centerline goodness : 0.751185 Centerline is valid? [False, False] Translation: X:-299.94, Y:16.05, Z:136.38 [[ 9.99926606e-01 7.96814959e-03 -9.12637300e-03 -2.99942781e+02] [-7.98892258e-03 9.99965575e-01 -2.24196003e-03 1.60513558e+01] [ 9.10819455e-03 2.31470537e-03 9.99955840e-01 1.36377378e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.839072329 meters Centerline goodness : 0.750787 Centerline is valid? [False, False] Translation: X:-299.94, Y:16.05, Z:136.38 [[ 9.99928099e-01 7.86837266e-03 -9.04900853e-03 -2.99943061e+02] [-7.89053317e-03 9.99965951e-01 -2.41585375e-03 1.60519010e+01] [ 9.02969158e-03 2.48708155e-03 9.99956139e-01 1.36377436e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.86907232899995 meters Centerline goodness : 0.751544 Centerline is valid? [False, False] Translation: X:-299.94, Y:16.05, Z:136.38 [[ 9.99920417e-01 8.24671973e-03 -9.54732350e-03 -2.99942018e+02] [-8.26944237e-03 9.99963063e-01 -2.34297544e-03 1.60523523e+01] [ 9.52764899e-03 2.42174002e-03 9.99951678e-01 1.36377769e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.899072329 meters Centerline goodness : 0.752873 Centerline is valid? [False, False] Translation: X:-299.94, Y:16.05, Z:136.38 [[ 9.99923797e-01 8.06995860e-03 -9.34212885e-03 -2.99942941e+02] [-8.09463571e-03 9.99963840e-01 -2.60669542e-03 1.60528856e+01] [ 9.32075512e-03 2.68211792e-03 9.99952964e-01 1.36378229e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.92907232899995 meters Centerline goodness : 0.754602 Centerline is valid? [False, False] Translation: X:-299.94, Y:16.05, Z:136.38 [[ 9.99930439e-01 7.62565410e-03 -8.99811985e-03 -2.99944389e+02] [-7.65479976e-03 9.99965552e-01 -3.20910046e-03 1.60542362e+01] [ 8.97333840e-03 3.27775604e-03 9.99954367e-01 1.36378996e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.959072329 meters Centerline goodness : 0.754602 Centerline is valid? [False, False] Translation: X:-299.94, Y:16.05, Z:136.38 [[ 9.99930439e-01 7.62565410e-03 -8.99811985e-03 -2.99944389e+02] [-7.65479976e-03 9.99965552e-01 -3.20910046e-03 1.60542362e+01] [ 8.97333840e-03 3.27775604e-03 9.99954367e-01 1.36378996e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.98907232899995 meters Centerline goodness : 0.755930 Centerline is valid? [False, False] Translation: X:-299.94, Y:16.06, Z:136.38 [[ 9.99923078e-01 7.85068079e-03 -9.60229928e-03 -2.99943177e+02] [-7.88573347e-03 9.99962362e-01 -3.61804859e-03 1.60568909e+01] [ 9.57353372e-03 3.69349146e-03 9.99947351e-01 1.36379711e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.019072329 meters Centerline goodness : 0.754690 Centerline is valid? [False, False] Translation: X:-299.94, Y:16.06, Z:136.38 [[ 9.99924857e-01 7.64291896e-03 -9.58471522e-03 -2.99943550e+02] [-7.68175135e-03 9.99962409e-01 -4.02124169e-03 1.60583644e+01] [ 9.55362090e-03 4.09456692e-03 9.99945980e-01 1.36380217e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.04907232899996 meters Centerline goodness : 0.754482 Centerline is valid? [False, False] Translation: X:-299.94, Y:16.06, Z:136.38 [[ 9.99903044e-01 9.11308900e-03 -1.05287407e-02 -2.99940947e+02] [-9.14551571e-03 9.99953571e-01 -3.03579628e-03 1.60579692e+01] [ 1.05005863e-02 3.13179270e-03 9.99939963e-01 1.36380062e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.079072329 meters Centerline goodness : 0.756429 Centerline is valid? [False, False] Translation: X:-299.94, Y:16.06, Z:136.38 [[ 9.99895400e-01 9.37765480e-03 -1.10112962e-02 -2.99939826e+02] [-9.41217397e-03 9.99950939e-01 -3.08726051e-03 1.60588205e+01] [ 1.09818048e-02 3.19057782e-03 9.99934608e-01 1.36380213e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.10907232899996 meters Centerline goodness : 0.756723 Centerline is valid? [False, False] Translation: X:-299.94, Y:16.06, Z:136.38 [[ 9.99872699e-01 1.06518699e-02 -1.18795352e-02 -2.99937553e+02] [-1.06861405e-02 9.99938911e-01 -2.82510058e-03 1.60608902e+01] [ 1.18487169e-02 2.95168733e-03 9.99925445e-01 1.36380533e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.139072329 meters Centerline goodness : 0.757830 Centerline is valid? [False, False] Translation: X:-299.94, Y:16.06, Z:136.38 [[ 9.99869885e-01 1.05364952e-02 -1.22145349e-02 -2.99936964e+02] [-1.05788919e-02 9.99938222e-01 -3.41159956e-03 1.60631934e+01] [ 1.21778340e-02 3.54037190e-03 9.99919580e-01 1.36380980e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.16907232899996 meters Centerline goodness : 0.758994 Centerline is valid? [False, False] Translation: X:-299.94, Y:16.06, Z:136.38 [[ 9.99875432e-01 1.02111541e-02 -1.20354514e-02 -2.99937541e+02] [-1.02592251e-02 9.99939614e-01 -3.93917145e-03 1.60646558e+01] [ 1.19945011e-02 4.06215516e-03 9.99919812e-01 1.36381137e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.199072329 meters Centerline goodness : 0.759538 Centerline is valid? [False, False] Translation: X:-299.94, Y:16.06, Z:136.38 [[ 9.99875512e-01 1.02496374e-02 -1.19960707e-02 -2.99937938e+02] [-1.02968150e-02 9.99939468e-01 -3.87761744e-03 1.60643458e+01] [ 1.19556004e-02 4.00065604e-03 9.99920526e-01 1.36381445e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.22907232899996 meters Centerline goodness : 0.759647 Centerline is valid? [False, False] Translation: X:-299.94, Y:16.07, Z:136.38 [[ 9.99879696e-01 9.98963289e-03 -1.18659816e-02 -2.99938499e+02] [-1.00419147e-02 9.99940097e-01 -4.35464637e-03 1.60658500e+01] [ 1.18217695e-02 4.47327966e-03 9.99920115e-01 1.36381807e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.259072329 meters Centerline goodness : 0.759629 Centerline is valid? [False, False] Translation: X:-299.94, Y:16.06, Z:136.38 [[ 9.99892306e-01 9.65131061e-03 -1.10556953e-02 -2.99940891e+02] [-9.69787784e-03 9.99944295e-01 -4.16621896e-03 1.60640934e+01] [ 1.10148700e-02 4.27298707e-03 9.99930205e-01 1.36381950e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.28907232899996 meters Centerline goodness : 0.760444 Centerline is valid? [False, False] Translation: X:-299.94, Y:16.06, Z:136.38 [[ 9.99901369e-01 9.37989521e-03 -1.04532577e-02 -2.99942644e+02] [-9.42377109e-03 9.99946959e-01 -4.15601754e-03 1.60633662e+01] [ 1.04137203e-02 4.25411674e-03 9.99936726e-01 1.36382081e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.319072329 meters Centerline goodness : 0.760726 Centerline is valid? [False, False] Translation: X:-299.94, Y:16.06, Z:136.38 [[ 9.99864768e-01 1.21367576e-02 -1.10970483e-02 -2.99939461e+02] [-1.21531915e-02 9.99925146e-01 -1.41469041e-03 1.60612314e+01] [ 1.10790479e-02 1.54936365e-03 9.99937425e-01 1.36380248e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.34907232899997 meters Centerline goodness : 0.761333 Centerline is valid? [False, False] Translation: X:-299.94, Y:16.06, Z:136.38 [[ 9.99869514e-01 1.18197931e-02 -1.10112781e-02 -2.99939665e+02] [-1.18413730e-02 9.99928090e-01 -1.89666595e-03 1.60626568e+01] [ 1.09880681e-02 2.02680711e-03 9.99937575e-01 1.36380198e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.37907232899994 meters Centerline goodness : 0.760582 Centerline is valid? [False, False] Translation: X:-299.94, Y:16.06, Z:136.38 [[ 9.99853496e-01 1.24600290e-02 -1.17360112e-02 -2.99937924e+02] [-1.24783730e-02 9.99921030e-01 -1.49112640e-03 1.60623992e+01] [ 1.17165049e-02 1.63735427e-03 9.99930019e-01 1.36380270e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.40907232899997 meters Centerline goodness : 0.762908 Centerline is valid? [False, False] Translation: X:-299.94, Y:16.07, Z:136.38 [[ 9.99856019e-01 1.20955051e-02 -1.19012749e-02 -2.99937507e+02] [-1.21250679e-02 9.99923572e-01 -2.41499710e-03 1.60654138e+01] [ 1.18711547e-02 2.55895315e-03 9.99926261e-01 1.36380390e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.43907232899994 meters Centerline goodness : 0.763083 Centerline is valid? [False, False] Translation: X:-299.94, Y:16.07, Z:136.38 [[ 9.99840130e-01 1.26906650e-02 -1.25960915e-02 -2.99935888e+02] [-1.27201953e-02 9.99916525e-01 -2.26705377e-03 1.60661493e+01] [ 1.25662696e-02 2.42691608e-03 9.99918096e-01 1.36380651e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.46907232899997 meters Centerline goodness : 0.765215 Centerline is valid? [False, False] Translation: X:-299.94, Y:16.07, Z:136.38 [[ 9.99831796e-01 1.27662967e-02 -1.31682198e-02 -2.99935042e+02] [-1.28067045e-02 9.99913524e-01 -2.98884037e-03 1.60691746e+01] [ 1.31289246e-02 3.15697913e-03 9.99908828e-01 1.36381702e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.49907232899994 meters Centerline goodness : 0.765988 Centerline is valid? [False, False] Translation: X:-299.93, Y:16.07, Z:136.38 [[ 9.99828819e-01 1.28348253e-02 -1.33266556e-02 -2.99934812e+02] [-1.28771400e-02 9.99912299e-01 -3.09425084e-03 1.60697638e+01] [ 1.32857727e-02 3.26533037e-03 9.99906409e-01 1.36381943e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.529072329 meters Centerline goodness : 0.765936 Centerline is valid? [False, False] Translation: X:-299.94, Y:16.07, Z:136.38 [[ 9.99844455e-01 1.23316525e-02 -1.26093296e-02 -2.99936946e+02] [-1.23757925e-02 9.99917539e-01 -3.42856727e-03 1.60698794e+01] [ 1.25660099e-02 3.58408443e-03 9.99914621e-01 1.36382211e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.55907232899995 meters Centerline goodness : 0.766533 Centerline is valid? [False, False] Translation: X:-299.94, Y:16.07, Z:136.38 [[ 9.99855996e-01 1.20447519e-02 -1.19545151e-02 -2.99938820e+02] [-1.20871842e-02 9.99920879e-01 -3.48359569e-03 1.60692759e+01] [ 1.19116102e-02 3.62759047e-03 9.99922474e-01 1.36382364e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.589072329 meters Centerline goodness : 0.765583 Centerline is valid? [False, False] Translation: X:-299.93, Y:16.06, Z:136.39 [[ 9.99879382e-01 3.87932861e-03 -1.50390027e-02 -2.99930879e+02] [-3.87473716e-03 9.99992437e-01 3.34428426e-04 1.60615783e+01] [ 1.50401863e-02 -2.76115905e-04 9.99886852e-01 1.36389022e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.61907232899995 meters Centerline goodness : 0.767297 Centerline is valid? [False, False] Translation: X:-299.93, Y:16.06, Z:136.39 [[ 9.99892050e-01 3.41822654e-03 -1.42899803e-02 -2.99932916e+02] [-3.41537928e-03 9.99994143e-01 2.23648214e-04 1.60609275e+01] [ 1.42906611e-02 -1.74818369e-04 9.99897868e-01 1.36389045e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.649072329 meters Centerline goodness : 0.766671 Centerline is valid? [False, False] Translation: X:-299.94, Y:16.06, Z:136.39 [[ 9.99909899e-01 2.93846168e-03 -1.30980333e-02 -2.99935455e+02] [-2.92617073e-03 9.99995260e-01 9.57446848e-04 1.60578069e+01] [ 1.31007846e-02 -9.19033500e-04 9.99913759e-01 1.36387859e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.67907232899995 meters Centerline goodness : 0.767689 Centerline is valid? [False, False] Translation: X:-299.94, Y:16.06, Z:136.39 [[ 9.99924711e-01 1.96442085e-03 -1.21125360e-02 -2.99938175e+02] [-1.96221082e-03 9.99998056e-01 1.94339989e-04 1.60587968e+01] [ 1.21128942e-02 -1.70558008e-04 9.99926622e-01 1.36388042e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.709072329 meters Centerline goodness : 0.767292 Centerline is valid? [False, False] Translation: X:-299.94, Y:16.06, Z:136.39 [[ 9.99927860e-01 1.79242647e-03 -1.18769471e-02 -2.99938987e+02] [-1.79122393e-03 9.99998389e-01 1.11886863e-04 1.60588344e+01] [ 1.18771285e-02 -9.06045196e-05 9.99929460e-01 1.36388288e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.73907232899995 meters Centerline goodness : 0.767076 Centerline is valid? [False, False] Translation: X:-299.94, Y:16.06, Z:136.39 [[ 9.99937282e-01 1.11200021e-03 -1.11443195e-02 -2.99941140e+02] [-1.11679762e-03 9.99999286e-01 -4.24265876e-04 1.60597751e+01] [ 1.11438397e-02 4.36685216e-04 9.99937810e-01 1.36388708e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.769072329 meters Centerline goodness : 0.767888 Centerline is valid? [False, False] Translation: X:-299.94, Y:16.06, Z:136.39 [[ 9.99945803e-01 5.27129099e-04 -1.03977088e-02 -2.99943495e+02] [-5.36281730e-04 9.99999471e-01 -8.77486175e-04 1.60601786e+01] [ 1.03972408e-02 8.83014719e-04 9.99945557e-01 1.36389257e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.79907232899996 meters Centerline goodness : 0.766725 Centerline is valid? [False, False] Translation: X:-299.95, Y:16.06, Z:136.39 [[ 9.99955354e-01 -5.33567126e-05 -9.44923692e-03 -2.99946197e+02] [ 4.54845243e-05 9.99999652e-01 -8.33316015e-04 1.60585599e+01] [ 9.44927810e-03 8.32849016e-04 9.99955008e-01 1.36389392e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.829072329 meters Centerline goodness : 0.767373 Centerline is valid? [False, False] Translation: X:-299.95, Y:16.06, Z:136.39 [[ 9.99963124e-01 -4.41073241e-04 -8.57644959e-03 -2.99948517e+02] [ 4.35794386e-04 9.99999714e-01 -6.17364940e-04 1.60567320e+01] [ 8.57671945e-03 6.13604606e-04 9.99963031e-01 1.36389302e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.85907232899996 meters Centerline goodness : 0.767156 Centerline is valid? [False, False] Translation: X:-299.95, Y:16.06, Z:136.39 [[ 9.99968185e-01 -5.21950446e-04 -7.95972622e-03 -2.99949800e+02] [ 5.18733241e-04 9.99999783e-01 -4.06244503e-04 1.60557265e+01] [ 7.95993653e-03 4.02102603e-04 9.99968238e-01 1.36388836e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.889072329 meters Centerline goodness : 0.765876 Centerline is valid? [False, False] Translation: X:-299.95, Y:16.05, Z:136.39 [[ 9.99970867e-01 -4.43904258e-05 -7.63298935e-03 -2.99950079e+02] [ 4.91706499e-05 9.99999803e-01 6.26071925e-04 1.60526922e+01] [ 7.63296005e-03 -6.26429005e-04 9.99970672e-01 1.36387858e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.91907232899996 meters Centerline goodness : 0.766767 Centerline is valid? [False, False] Translation: X:-299.95, Y:16.05, Z:136.39 [[ 9.99974628e-01 -2.70962768e-04 -7.11824520e-03 -2.99951134e+02] [ 2.76187705e-04 9.99999693e-01 7.33047744e-04 1.60519341e+01] [ 7.11804439e-03 -7.34995118e-04 9.99974396e-01 1.36387383e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.949072329 meters Centerline goodness : 0.764681 Centerline is valid? [False, False] Translation: X:-299.95, Y:16.05, Z:136.39 [[ 9.99975540e-01 -3.54110608e-04 -6.98533062e-03 -2.99951448e+02] [ 3.58805428e-04 9.99999711e-01 6.70855197e-04 1.60522229e+01] [ 6.98509104e-03 -6.73345162e-04 9.99975377e-01 1.36387336e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.97907232899996 meters Centerline goodness : 0.767909 Centerline is valid? [False, False] Translation: X:-299.95, Y:16.05, Z:136.39 [[ 9.99977827e-01 -8.08772497e-04 -6.60990592e-03 -2.99953103e+02] [ 8.08461140e-04 9.99999672e-01 -4.97763692e-05 1.60540322e+01] [ 6.60994401e-03 4.44314134e-05 9.99978153e-01 1.36388347e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.009072329 meters Centerline goodness : 0.766798 Centerline is valid? [False, False] Translation: X:-299.96, Y:16.06, Z:136.39 [[ 9.99974565e-01 -4.09615698e-03 -5.83873244e-03 -2.99957915e+02] [ 4.07576758e-03 9.99985570e-01 -3.49972582e-03 1.60569756e+01] [ 5.85298361e-03 3.47583949e-03 9.99976830e-01 1.36391723e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.03907232899996 meters Centerline goodness : 0.768043 Centerline is valid? [False, False] Translation: X:-299.96, Y:16.06, Z:136.39 [[ 9.99975424e-01 -4.03532353e-03 -5.73297050e-03 -2.99959533e+02] [ 4.01575716e-03 9.99986087e-01 -3.42037677e-03 1.60564863e+01] [ 5.74669306e-03 3.39727049e-03 9.99977717e-01 1.36393519e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.069072329 meters Centerline goodness : 0.766937 Centerline is valid? [False, False] Translation: X:-299.96, Y:16.06, Z:136.39 [[ 9.99975672e-01 -4.28060726e-03 -5.50738299e-03 -2.99960184e+02] [ 4.26004638e-03 9.99983933e-01 -3.73965980e-03 1.60575153e+01] [ 5.52330251e-03 3.71610711e-03 9.99977842e-01 1.36393686e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.09907232899997 meters Centerline goodness : 0.766364 Centerline is valid? [False, False] Translation: X:-299.96, Y:16.06, Z:136.39 [[ 9.99976069e-01 -4.96791176e-03 -4.81465347e-03 -2.99961580e+02] [ 4.94825476e-03 9.99979409e-01 -4.08609306e-03 1.60580986e+01] [ 4.83485368e-03 4.06217114e-03 9.99980061e-01 1.36393250e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.12907232899994 meters Centerline goodness : 0.764857 Centerline is valid? [False, False] Translation: X:-299.96, Y:16.06, Z:136.39 [[ 9.99974544e-01 -6.07540304e-03 -3.74177700e-03 -2.99964371e+02] [ 6.05722325e-03 9.99969889e-01 -4.85091708e-03 1.60589001e+01] [ 3.77113561e-03 4.82812882e-03 9.99981234e-01 1.36393263e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.15907232899997 meters Centerline goodness : 0.764600 Centerline is valid? [False, False] Translation: X:-299.97, Y:16.06, Z:136.39 [[ 9.99971871e-01 -7.08404807e-03 -2.46444588e-03 -2.99966933e+02] [ 7.07273586e-03 9.99964550e-01 -4.56899275e-03 1.60564714e+01] [ 2.49672548e-03 4.55143385e-03 9.99986525e-01 1.36391935e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.18907232899994 meters Centerline goodness : 0.765093 Centerline is valid? [False, False] Translation: X:-299.97, Y:16.05, Z:136.39 [[ 9.99971587e-01 -7.33456663e-03 -1.74061088e-03 -2.99968457e+02] [ 7.32698726e-03 9.99963819e-01 -4.32157165e-03 1.60549652e+01] [ 1.77224476e-03 4.30869542e-03 9.99989147e-01 1.36391315e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.21907232899997 meters Centerline goodness : 0.764680 Centerline is valid? [False, False] Translation: X:-299.97, Y:16.05, Z:136.39 [[ 9.99972991e-01 -7.22811655e-03 -1.33116060e-03 -2.99969216e+02] [ 7.22309080e-03 9.99966910e-01 -3.74234614e-03 1.60529353e+01] [ 1.35816667e-03 3.73262997e-03 9.99992111e-01 1.36390754e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.24907232899994 meters Centerline goodness : 0.766330 Centerline is valid? [False, False] Translation: X:-299.97, Y:16.05, Z:136.39 [[ 9.99993437e-01 -3.58274990e-03 -5.37617676e-04 -2.99971146e+02] [ 3.58278510e-03 9.99993580e-01 6.45155608e-05 1.60533598e+01] [ 5.37383081e-04 -6.64413060e-05 9.99999853e-01 1.36390484e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.279072329 meters Centerline goodness : 0.764681 Centerline is valid? [False, False] Translation: X:-299.97, Y:16.05, Z:136.39 [[ 9.99991088e-01 -4.22140489e-03 -6.57155557e-05 -2.99971975e+02] [ 4.22136422e-03 9.99990906e-01 -6.07196644e-04 1.60549108e+01] [ 6.82781809e-05 6.06913824e-04 9.99999813e-01 1.36390036e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.30907232899995 meters Centerline goodness : 0.765410 Centerline is valid? [False, False] Translation: X:-299.97, Y:16.05, Z:136.39 [[ 9.99992519e-01 -3.86352178e-03 -1.86402475e-04 -2.99971048e+02] [ 3.86346588e-03 9.99992492e-01 -2.99353474e-04 1.60548124e+01] [ 1.87557634e-04 2.98631075e-04 9.99999938e-01 1.36389214e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.339072329 meters Centerline goodness : 0.766911 Centerline is valid? [False, False] Translation: X:-299.97, Y:16.05, Z:136.39 [[ 9.99994750e-01 -3.13029878e-03 -8.37721780e-04 -2.99969427e+02] [ 3.13048281e-03 9.99995076e-01 2.18464119e-04 1.60543941e+01] [ 8.37033797e-04 -2.21085446e-04 9.99999625e-01 1.36389223e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.36907232899995 meters Centerline goodness : 0.766733 Centerline is valid? [False, False] Translation: X:-299.97, Y:16.05, Z:136.39 [[ 9.99995333e-01 -2.83997615e-03 -1.12670516e-03 -2.99968552e+02] [ 2.84039061e-03 9.99995899e-01 3.66424639e-04 1.60547655e+01] [ 1.12565990e-03 -3.69623212e-04 9.99999298e-01 1.36389094e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.399072329 meters Centerline goodness : 0.767354 Centerline is valid? [False, False] Translation: X:-299.97, Y:16.05, Z:136.39 [[ 9.99995687e-01 -2.47740188e-03 -1.57717370e-03 -2.99967521e+02] [ 2.47825402e-03 9.99996784e-01 5.38572703e-04 1.60549253e+01] [ 1.57583437e-03 -5.42479018e-04 9.99998611e-01 1.36389255e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.42907232899995 meters Centerline goodness : 0.769927 Centerline is valid? [False, False] Translation: X:-299.97, Y:16.06, Z:136.39 [[ 9.99995895e-01 -1.57664602e-03 -2.39245687e-03 -2.99965206e+02] [ 1.57821231e-03 9.99998541e-01 6.52931278e-04 1.60563821e+01] [ 2.39142394e-03 -6.56704403e-04 9.99996925e-01 1.36389116e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.459072329 meters Centerline goodness : 0.766502 Centerline is valid? [False, False] Translation: X:-299.96, Y:16.06, Z:136.39 [[ 9.99995092e-01 -1.37743418e-03 -2.81407351e-03 -2.99964036e+02] [ 1.37868910e-03 9.99998951e-01 4.44056341e-04 1.60580329e+01] [ 2.81345890e-03 -4.47933894e-04 9.99995942e-01 1.36389146e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.48907232899995 meters Centerline goodness : 0.766695 Centerline is valid? [False, False] Translation: X:-299.96, Y:16.06, Z:136.39 [[ 9.99993465e-01 -1.38232719e-03 -3.34057399e-03 -2.99963083e+02] [ 1.38168253e-03 9.99999026e-01 -1.95278022e-04 1.60608929e+01] [ 3.34084067e-03 1.90661133e-04 9.99994401e-01 1.36389877e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.519072329 meters Centerline goodness : 0.767675 Centerline is valid? [False, False] Translation: X:-299.96, Y:16.06, Z:136.39 [[ 9.99992978e-01 -1.28621567e-03 -3.51999433e-03 -2.99962656e+02] [ 1.28543407e-03 9.99999149e-01 -2.24300098e-04 1.60615359e+01] [ 3.52027983e-03 2.19773802e-04 9.99993780e-01 1.36390002e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.54907232899996 meters Centerline goodness : 0.767911 Centerline is valid? [False, False] Translation: X:-299.96, Y:16.06, Z:136.39 [[ 9.99992972e-01 -1.17093857e-03 -3.56168820e-03 -2.99962754e+02] [ 1.17057940e-03 9.99999310e-01 -1.02925095e-04 1.60613711e+01] [ 3.56180626e-03 9.87551326e-05 9.99993652e-01 1.36390292e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.579072329 meters Centerline goodness : 0.766967 Centerline is valid? [False, False] Translation: X:-299.96, Y:16.06, Z:136.39 [[ 9.99993325e-01 -1.16572125e-03 -3.46267833e-03 -2.99963615e+02] [ 1.16515166e-03 9.99999307e-01 -1.66505600e-04 1.60615068e+01] [ 3.46287003e-03 1.62469944e-04 9.99993991e-01 1.36391194e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.60907232899996 meters Centerline goodness : 0.769171 Centerline is valid? [False, False] Translation: X:-299.97, Y:16.06, Z:136.39 [[ 9.99994367e-01 -1.67122160e-03 -2.91077016e-03 -2.99965112e+02] [ 1.66907867e-03 9.99998334e-01 -7.38478678e-04 1.60628790e+01] [ 2.91199948e-03 7.33616214e-04 9.99995491e-01 1.36391360e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.639072329 meters Centerline goodness : 0.768741 Centerline is valid? [False, False] Translation: X:-299.96, Y:16.06, Z:136.39 [[ 9.99992348e-01 -2.65776320e-04 -3.90311366e-03 -2.99962948e+02] [ 2.66950496e-04 9.99999919e-01 3.00312608e-04 1.60616759e+01] [ 3.90303353e-03 -3.01352248e-04 9.99992338e-01 1.36391707e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.66907232899996 meters Centerline goodness : 0.768073 Centerline is valid? [False, False] Translation: X:-299.96, Y:16.06, Z:136.39 [[ 9.99983114e-01 4.02670011e-03 -4.19009605e-03 -2.99961931e+02] [-4.00987923e-03 9.99983900e-01 4.01512285e-03 1.60639183e+01] [ 4.20619628e-03 -3.99825328e-03 9.99983161e-01 1.36391421e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.699072329 meters Centerline goodness : 0.767278 Centerline is valid? [False, False] Translation: X:-299.96, Y:16.06, Z:136.39 [[ 9.99982329e-01 3.96102127e-03 -4.43309300e-03 -2.99961531e+02] [-3.94459750e-03 9.99985347e-01 3.70744243e-03 1.60649002e+01] [ 4.44771330e-03 -3.68989015e-03 9.99983301e-01 1.36391675e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.72907232899996 meters Centerline goodness : 0.768090 Centerline is valid? [False, False] Translation: X:-299.96, Y:16.07, Z:136.39 [[ 9.99981607e-01 3.77451598e-03 -4.74742254e-03 -2.99960970e+02] [-3.75986359e-03 9.99988153e-01 3.09153660e-03 1.60669676e+01] [ 4.75903535e-03 -3.07363008e-03 9.99983952e-01 1.36392063e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.759072329 meters Centerline goodness : 0.769602 Centerline is valid? [False, False] Translation: X:-299.96, Y:16.07, Z:136.39 [[ 9.99980347e-01 3.79728303e-03 -4.98863773e-03 -2.99960737e+02] [-3.78352876e-03 9.99989023e-01 2.76366956e-03 1.60681723e+01] [ 4.99907741e-03 -2.74474059e-03 9.99983738e-01 1.36392586e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.78907232899996 meters Centerline goodness : 0.768407 Centerline is valid? [False, False] Translation: X:-299.96, Y:16.07, Z:136.39 [[ 9.99980088e-01 3.79455802e-03 -5.04239410e-03 -2.99960842e+02] [-3.78120119e-03 9.99989325e-01 2.65580408e-03 1.60684782e+01] [ 5.05241787e-03 -2.63668489e-03 9.99983760e-01 1.36392848e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.819072329 meters Centerline goodness : 0.768290 Centerline is valid? [False, False] Translation: X:-299.96, Y:16.07, Z:136.39 [[ 9.99975684e-01 4.12576507e-03 -5.62217472e-03 -2.99959486e+02] [-4.11123570e-03 9.99988186e-01 2.59340840e-03 1.60693677e+01] [ 5.63280809e-03 -2.57023126e-03 9.99980833e-01 1.36393048e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.84907232899997 meters Centerline goodness : 0.769115 Centerline is valid? [False, False] Translation: X:-299.96, Y:16.07, Z:136.39 [[ 9.99974713e-01 4.05657918e-03 -5.84109855e-03 -2.99959080e+02] [-4.04348784e-03 9.99989291e-01 2.25131476e-03 1.60707926e+01] [ 5.85016863e-03 -2.22763942e-03 9.99980406e-01 1.36393285e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.87907232899994 meters Centerline goodness : 0.769115 Centerline is valid? [False, False] Translation: X:-299.96, Y:16.07, Z:136.39 [[ 9.99974713e-01 4.05657918e-03 -5.84109855e-03 -2.99959080e+02] [-4.04348784e-03 9.99989291e-01 2.25131476e-03 1.60707926e+01] [ 5.85016863e-03 -2.22763942e-03 9.99980406e-01 1.36393285e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.90907232899997 meters Centerline goodness : 0.767460 Centerline is valid? [False, False] Translation: X:-299.96, Y:16.07, Z:136.39 [[ 9.99967721e-01 4.62030604e-03 -6.57343760e-03 -2.99957522e+02] [-4.60376195e-03 9.99986203e-01 2.52971868e-03 1.60709078e+01] [ 6.58503498e-03 -2.49937448e-03 9.99975195e-01 1.36393702e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.93907232899994 meters Centerline goodness : 0.769161 Centerline is valid? [False, False] Translation: X:-299.96, Y:16.07, Z:136.39 [[ 9.99961895e-01 5.00257209e-03 -7.15422887e-03 -2.99956467e+02] [-4.98571529e-03 9.99984758e-01 2.37209834e-03 1.60720630e+01] [ 7.16598642e-03 -2.33633901e-03 9.99971595e-01 1.36394359e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.96907232899997 meters Centerline goodness : 0.769269 Centerline is valid? [False, False] Translation: X:-299.96, Y:16.07, Z:136.40 [[ 9.99965719e-01 4.55315525e-03 -6.91584019e-03 -2.99957697e+02] [-4.54104152e-03 9.99988130e-01 1.76628632e-03 1.60732057e+01] [ 6.92380027e-03 -1.73482066e-03 9.99974525e-01 1.36395119e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.99907232899994 meters Centerline goodness : 0.768913 Centerline is valid? [False, False] Translation: X:-299.96, Y:16.07, Z:136.40 [[ 9.99969908e-01 3.90558390e-03 -6.70302151e-03 -2.99959229e+02] [-3.89990952e-03 9.99992026e-01 8.59403065e-04 1.60749733e+01] [ 6.70632453e-03 -8.33236026e-04 9.99977165e-01 1.36396363e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.029072329 meters Centerline goodness : 0.769247 Centerline is valid? [False, False] Translation: X:-299.96, Y:16.08, Z:136.40 [[ 9.99969571e-01 3.74968284e-03 -6.84086327e-03 -2.99959163e+02] [-3.74658372e-03 9.99992873e-01 4.65788420e-04 1.60762987e+01] [ 6.84256108e-03 -4.40144379e-04 9.99976493e-01 1.36396779e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.05907232899995 meters Centerline goodness : 0.768001 Centerline is valid? [False, False] Translation: X:-299.96, Y:16.08, Z:136.40 [[ 9.99965084e-01 4.01644429e-03 -7.32795376e-03 -2.99958033e+02] [-4.01293624e-03 9.99991826e-01 4.93362381e-04 1.60768717e+01] [ 7.32987542e-03 -4.63938544e-04 9.99973028e-01 1.36396941e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.089072329 meters Centerline goodness : 0.770053 Centerline is valid? [False, False] Translation: X:-299.96, Y:16.08, Z:136.40 [[ 9.99959128e-01 4.24633296e-03 -7.98189944e-03 -2.99956533e+02] [-4.24620140e-03 9.99990984e-01 3.34289887e-05 1.60796634e+01] [ 7.98196943e-03 4.65130224e-07 9.99968144e-01 1.36397426e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.11907232899995 meters Centerline goodness : 0.768411 Centerline is valid? [False, False] Translation: X:-299.96, Y:16.08, Z:136.40 [[ 9.99963327e-01 3.97849082e-03 -7.58388672e-03 -2.99957782e+02] [-3.97950683e-03 9.99992075e-01 -1.18883762e-04 1.60795286e+01] [ 7.58335364e-03 1.49059531e-04 9.99971235e-01 1.36397661e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.149072329 meters Centerline goodness : 0.769139 Centerline is valid? [False, False] Translation: X:-299.96, Y:16.08, Z:136.40 [[ 9.99971086e-01 3.59017354e-03 -6.70352300e-03 -2.99959901e+02] [-3.58917942e-03 9.99993546e-01 1.60322547e-04 1.60773893e+01] [ 6.70405532e-03 -1.36257765e-04 9.99977518e-01 1.36397109e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.17907232899995 meters Centerline goodness : 0.767968 Centerline is valid? [False, False] Translation: X:-299.96, Y:16.08, Z:136.40 [[ 9.99968957e-01 3.89500272e-03 -6.84939737e-03 -2.99959301e+02] [-3.89215002e-03 9.99992333e-01 4.29768163e-04 1.60769764e+01] [ 6.85101880e-03 -4.03095940e-04 9.99976450e-01 1.36396720e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.209072329 meters Centerline goodness : 0.769381 Centerline is valid? [False, False] Translation: X:-299.96, Y:16.08, Z:136.40 [[ 9.99975087e-01 3.44016861e-03 -6.16372542e-03 -2.99961010e+02] [-3.43826829e-03 9.99994038e-01 3.18876155e-04 1.60763569e+01] [ 6.16478567e-03 -2.97675669e-04 9.99980953e-01 1.36396461e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.23907232899995 meters Centerline goodness : 0.767843 Centerline is valid? [False, False] Translation: X:-299.96, Y:16.08, Z:136.40 [[ 9.99981604e-01 2.85964171e-03 -5.34927675e-03 -2.99963350e+02] [-2.85844145e-03 9.99995888e-01 2.32010641e-04 1.60753422e+01] [ 5.34991822e-03 -2.16715779e-04 9.99985666e-01 1.36396592e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.269072329 meters Centerline goodness : 0.770304 Centerline is valid? [False, False] Translation: X:-299.96, Y:16.07, Z:136.40 [[ 9.99984422e-01 2.65217387e-03 -4.91146995e-03 -2.99964547e+02] [-2.65113274e-03 9.99996462e-01 2.18476686e-04 1.60749265e+01] [ 4.91203201e-03 -2.05452324e-04 9.99987915e-01 1.36396613e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.29907232899996 meters Centerline goodness : 0.770064 Centerline is valid? [False, False] Translation: X:-299.97, Y:16.07, Z:136.40 [[ 9.99991867e-01 1.37247230e-03 -3.79228519e-03 -2.99968059e+02] [-1.37453528e-03 9.99998909e-01 -5.41442651e-04 1.60749789e+01] [ 3.79153793e-03 5.46650878e-04 9.99992663e-01 1.36397272e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.329072329 meters Centerline goodness : 0.770126 Centerline is valid? [False, False] Translation: X:-299.97, Y:16.07, Z:136.40 [[ 9.99993729e-01 1.12036224e-03 -3.35965606e-03 -2.99969167e+02] [-1.12233975e-03 9.99999198e-01 -5.86777324e-04 1.60746823e+01] [ 3.35899596e-03 5.90544320e-04 9.99994184e-01 1.36397224e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.35907232899996 meters Centerline goodness : 0.770898 Centerline is valid? [False, False] Translation: X:-299.97, Y:16.07, Z:136.40 [[ 9.99994791e-01 9.68354648e-04 -3.07913278e-03 -2.99969862e+02] [-9.70458933e-04 9.99999297e-01 -6.81981232e-04 1.60749423e+01] [ 3.07847022e-03 6.84965851e-04 9.99995027e-01 1.36397202e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.389072329 meters Centerline goodness : 0.772616 Centerline is valid? [False, False] Translation: X:-299.97, Y:16.08, Z:136.40 [[ 9.99997433e-01 9.73361586e-05 -2.26358757e-03 -2.99971653e+02] [-1.00200279e-04 9.99999195e-01 -1.26522220e-03 1.60759621e+01] [ 2.26346260e-03 1.26544576e-03 9.99996638e-01 1.36396841e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.41907232899996 meters Centerline goodness : 0.772183 Centerline is valid? [False, False] Translation: X:-299.97, Y:16.08, Z:136.40 [[ 9.99998116e-01 2.55465383e-05 -1.94093917e-03 -2.99972483e+02] [-2.77504624e-05 9.99999355e-01 -1.13547520e-03 1.60754345e+01] [ 1.94090891e-03 1.13552693e-03 9.99997472e-01 1.36396813e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.449072329 meters Centerline goodness : 0.772349 Centerline is valid? [False, False] Translation: X:-299.97, Y:16.08, Z:136.40 [[ 9.99999093e-01 -9.07340912e-04 -9.95033914e-04 -2.99974797e+02] [ 9.05655445e-04 9.99998157e-01 -1.69302403e-03 1.60758435e+01] [ 9.96568230e-04 1.69212134e-03 9.99998072e-01 1.36396639e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.47907232899996 meters Centerline goodness : 0.772846 Centerline is valid? [False, False] Translation: X:-299.98, Y:16.07, Z:136.40 [[ 9.99999403e-01 -1.03907986e-03 -3.37204282e-04 -2.99976523e+02] [ 1.03857010e-03 9.99998323e-01 -1.50839884e-03 1.60747661e+01] [ 3.38771063e-04 1.50804773e-03 9.99998806e-01 1.36396617e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.509072329 meters Centerline goodness : 0.773422 Centerline is valid? [False, False] Translation: X:-299.98, Y:16.07, Z:136.40 [[ 9.99998921e-01 -1.34906434e-03 5.80662034e-04 -2.99978728e+02] [ 1.34980588e-03 9.99998272e-01 -1.27856977e-03 1.60731419e+01] [-5.78936158e-04 1.27935217e-03 9.99999014e-01 1.36396263e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.53907232899996 meters Centerline goodness : 0.771825 Centerline is valid? [False, False] Translation: X:-299.98, Y:16.07, Z:136.40 [[ 9.99993596e-01 -3.16507875e-03 1.67020797e-03 -2.99982570e+02] [ 3.16864450e-03 9.99992697e-01 -2.13660454e-03 1.60709290e+01] [-1.66343325e-03 2.14188315e-03 9.99996323e-01 1.36396991e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.569072329 meters Centerline goodness : 0.770659 Centerline is valid? [False, False] Translation: X:-299.98, Y:16.07, Z:136.40 [[ 9.99992449e-01 -3.20822137e-03 2.19300451e-03 -2.99983785e+02] [ 3.21212275e-03 9.99993261e-01 -1.77781104e-03 1.60693996e+01] [-2.18728611e-03 1.78484182e-03 9.99996015e-01 1.36396702e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.59907232899997 meters Centerline goodness : 0.770233 Centerline is valid? [False, False] Translation: X:-299.98, Y:16.07, Z:136.40 [[ 9.99989988e-01 -3.40682911e-03 2.90129456e-03 -2.99984818e+02] [ 3.41037427e-03 9.99993443e-01 -1.21785571e-03 1.60672577e+01] [-2.89712651e-03 1.22773802e-03 9.99995050e-01 1.36395431e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.62907232899994 meters Centerline goodness : 0.772232 Centerline is valid? [False, False] Translation: X:-299.98, Y:16.07, Z:136.39 [[ 9.99996608e-01 -1.77610013e-03 1.90494242e-03 -2.99981769e+02] [ 1.77621199e-03 9.99998421e-01 -5.70321368e-05 1.60670191e+01] [-1.90483811e-03 6.04155249e-05 9.99998184e-01 1.36394893e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.65907232899997 meters Centerline goodness : 0.771963 Centerline is valid? [False, False] Translation: X:-299.98, Y:16.07, Z:136.39 [[ 9.99996459e-01 -1.95120744e-03 1.80964578e-03 -2.99981398e+02] [ 1.95230902e-03 9.99997910e-01 -6.07159954e-04 1.60693972e+01] [-1.80845730e-03 6.10690792e-04 9.99998178e-01 1.36394854e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.68907232899994 meters Centerline goodness : 0.771352 Centerline is valid? [False, False] Translation: X:-299.98, Y:16.07, Z:136.40 [[ 9.99998694e-01 -1.30526179e-03 9.52605767e-04 -2.99980082e+02] [ 1.30604408e-03 9.99998810e-01 -8.21051102e-04 1.60716717e+01] [-9.51532947e-04 8.22294176e-04 9.99999209e-01 1.36396181e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.71907232899997 meters Centerline goodness : 0.774510 Centerline is valid? [False, False] Translation: X:-299.98, Y:16.07, Z:136.40 [[ 9.99999985e-01 -1.30939665e-04 -1.17140259e-04 -2.99977444e+02] [ 1.30894205e-04 9.99999916e-01 -3.88004577e-04 1.60728056e+01] [ 1.17191055e-04 3.87989238e-04 9.99999918e-01 1.36396481e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.74907232899994 meters Centerline goodness : 0.774597 Centerline is valid? [False, False] Translation: X:-299.98, Y:16.07, Z:136.40 [[ 9.99999898e-01 -3.74638772e-04 -2.52700957e-04 -2.99977388e+02] [ 3.74391962e-04 9.99999454e-01 -9.76028662e-04 1.60748305e+01] [ 2.53066477e-04 9.75933953e-04 9.99999492e-01 1.36396942e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.779072329 meters Centerline goodness : 0.772693 Centerline is valid? [False, False] Translation: X:-299.97, Y:16.08, Z:136.40 [[ 9.99998596e-01 7.94152957e-04 -1.47566317e-03 -2.99974346e+02] [-7.95861616e-04 9.99999013e-01 -1.15766663e-03 1.60778584e+01] [ 1.47474235e-03 1.15883942e-03 9.99998241e-01 1.36397467e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.80907232899995 meters Centerline goodness : 0.773983 Centerline is valid? [False, False] Translation: X:-299.97, Y:16.08, Z:136.40 [[ 9.99997099e-01 1.23848068e-03 -2.06586798e-03 -2.99972961e+02] [-1.24063326e-03 9.99998689e-01 -1.04102056e-03 1.60783870e+01] [ 2.06457599e-03 1.04358052e-03 9.99997324e-01 1.36397611e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.839072329 meters Centerline goodness : 0.775012 Centerline is valid? [False, False] Translation: X:-299.97, Y:16.08, Z:136.40 [[ 9.99994602e-01 1.84606946e-03 -2.71795865e-03 -2.99971614e+02] [-1.84877501e-03 9.99997798e-01 -9.93260798e-04 1.60793776e+01] [ 2.71611904e-03 9.98280331e-04 9.99995813e-01 1.36398120e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.86907232899995 meters Centerline goodness : 0.775135 Centerline is valid? [False, False] Translation: X:-299.97, Y:16.08, Z:136.40 [[ 9.99994840e-01 1.70130204e-03 -2.72483526e-03 -2.99971936e+02] [-1.70508938e-03 9.99997583e-01 -1.38821543e-03 1.60807133e+01] [ 2.72246690e-03 1.39285436e-03 9.99995324e-01 1.36398654e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.899072329 meters Centerline goodness : 0.774823 Centerline is valid? [False, False] Translation: X:-299.97, Y:16.08, Z:136.40 [[ 9.99994191e-01 1.78514254e-03 -2.90357914e-03 -2.99971893e+02] [-1.78929849e-03 9.99997378e-01 -1.42935426e-03 1.60810717e+01] [ 2.90101992e-03 1.43454133e-03 9.99994763e-01 1.36399251e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.92907232899995 meters Centerline goodness : 0.776883 Centerline is valid? [False, False] Translation: X:-299.97, Y:16.08, Z:136.40 [[ 9.99995103e-01 1.72728414e-03 -2.60983613e-03 -2.99972387e+02] [-1.73010791e-03 9.99997920e-01 -1.08010257e-03 1.60799262e+01] [ 2.60796505e-03 1.08461258e-03 9.99996011e-01 1.36398750e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.959072329 meters Centerline goodness : 0.774958 Centerline is valid? [False, False] Translation: X:-299.97, Y:16.08, Z:136.40 [[ 9.99996996e-01 1.45462157e-03 -1.97272762e-03 -2.99973812e+02] [-1.45677738e-03 9.99998343e-01 -1.09181028e-03 1.60794180e+01] [ 1.97113618e-03 1.09468082e-03 9.99997458e-01 1.36398332e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.98907232899995 meters Centerline goodness : 0.777598 Centerline is valid? [False, False] Translation: X:-299.98, Y:16.08, Z:136.40 [[ 9.99999176e-01 9.01615151e-04 -9.13818960e-04 -2.99976157e+02] [-9.01869018e-04 9.99999555e-01 -2.77434960e-04 1.60753468e+01] [ 9.13568414e-04 2.78258876e-04 9.99999544e-01 1.36397188e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.019072329 meters Centerline goodness : 0.774531 Centerline is valid? [False, False] Translation: X:-299.98, Y:16.07, Z:136.40 [[ 9.99999579e-01 8.49790578e-04 -3.46902557e-04 -2.99977398e+02] [-8.49775492e-04 9.99999638e-01 4.36327107e-05 1.60738852e+01] [ 3.46939510e-04 -4.33379030e-05 9.99999939e-01 1.36396740e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.04907232899996 meters Centerline goodness : 0.773663 Centerline is valid? [False, False] Translation: X:-299.98, Y:16.07, Z:136.40 [[ 9.99999809e-01 5.57473416e-04 2.67242219e-04 -2.99978988e+02] [-5.57519438e-04 9.99999830e-01 1.72169813e-04 1.60727035e+01] [-2.67146193e-04 -1.72318773e-04 9.99999949e-01 1.36396623e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.079072329 meters Centerline goodness : 0.774707 Centerline is valid? [False, False] Translation: X:-299.98, Y:16.07, Z:136.40 [[ 9.99998480e-01 -8.06131688e-04 1.54575538e-03 -2.99981801e+02] [ 8.06217486e-04 9.99999674e-01 -5.48829825e-05 1.60712494e+01] [-1.54571063e-03 5.61291141e-05 9.99998804e-01 1.36395658e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.10907232899996 meters Centerline goodness : 0.773779 Centerline is valid? [False, False] Translation: X:-299.98, Y:16.07, Z:136.40 [[ 9.99997467e-01 -9.47317548e-04 2.04157321e-03 -2.99982854e+02] [ 9.47006495e-04 9.99999540e-01 1.53321126e-04 1.60703497e+01] [-2.04171752e-03 -1.51387355e-04 9.99997904e-01 1.36395261e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.139072329 meters Centerline goodness : 0.772679 Centerline is valid? [False, False] Translation: X:-299.98, Y:16.07, Z:136.40 [[ 9.99995697e-01 -1.22447138e-03 2.66598473e-03 -2.99984585e+02] [ 1.22364183e-03 9.99999202e-01 3.12768974e-04 1.60689075e+01] [-2.66636558e-03 -3.09505418e-04 9.99996397e-01 1.36395274e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.16907232899996 meters Centerline goodness : 0.774042 Centerline is valid? [False, False] Translation: X:-299.99, Y:16.07, Z:136.40 [[ 9.99993072e-01 -1.69769183e-03 3.31265185e-03 -2.99986438e+02] [ 1.69779419e-03 9.99998558e-01 -2.80876403e-05 1.60695141e+01] [-3.31259939e-03 3.37116467e-05 9.99994513e-01 1.36395581e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.199072329 meters Centerline goodness : 0.774958 Centerline is valid? [False, False] Translation: X:-299.99, Y:16.07, Z:136.40 [[ 9.99984640e-01 -3.54852014e-03 4.25770016e-03 -2.99990251e+02] [ 3.55517713e-03 9.99992468e-01 -1.55696746e-03 1.60707178e+01] [-4.25214316e-03 1.57208042e-03 9.99989724e-01 1.36397176e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.22907232899996 meters Centerline goodness : 0.775108 Centerline is valid? [False, False] Translation: X:-299.99, Y:16.07, Z:136.40 [[ 9.99976590e-01 -4.34126800e-03 5.28891605e-03 -2.99992799e+02] [ 4.34952756e-03 9.99989338e-01 -1.55117238e-03 1.60694431e+01] [-5.28212561e-03 1.57414036e-03 9.99984811e-01 1.36396800e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.259072329 meters Centerline goodness : 0.776339 Centerline is valid? [False, False] Translation: X:-299.99, Y:16.07, Z:136.40 [[ 9.99977306e-01 -4.16364493e-03 5.29631882e-03 -2.99992515e+02] [ 4.17105801e-03 9.99990336e-01 -1.38939295e-03 1.60695279e+01] [-5.29048270e-03 1.41145268e-03 9.99985009e-01 1.36396403e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.28907232899996 meters Centerline goodness : 0.775643 Centerline is valid? [False, False] Translation: X:-299.99, Y:16.07, Z:136.40 [[ 9.99970495e-01 -4.75350185e-03 6.03428003e-03 -2.99994332e+02] [ 4.76370009e-03 9.99987248e-01 -1.67680381e-03 1.60696885e+01] [-6.02623239e-03 1.70549984e-03 9.99980388e-01 1.36396291e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.319072329 meters Centerline goodness : 0.777438 Centerline is valid? [False, False] Translation: X:-300.00, Y:16.07, Z:136.40 [[ 9.99964607e-01 -5.18513544e-03 6.62557294e-03 -2.99995747e+02] [ 5.19852670e-03 9.99984476e-01 -2.00552615e-03 1.60705345e+01] [-6.61507116e-03 2.03989839e-03 9.99976040e-01 1.36396194e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.34907232899997 meters Centerline goodness : 0.776680 Centerline is valid? [False, False] Translation: X:-300.00, Y:16.07, Z:136.40 [[ 9.99955158e-01 -5.76778488e-03 7.51100505e-03 -2.99998036e+02] [ 5.78460812e-03 9.99980805e-01 -2.22001582e-03 1.60701840e+01] [-7.49805630e-03 2.26336449e-03 9.99969328e-01 1.36396145e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.37907232899994 meters Centerline goodness : 0.778208 Centerline is valid? [False, False] Translation: X:-300.00, Y:16.07, Z:136.40 [[ 9.99946932e-01 -6.00959405e-03 8.36764663e-03 -2.99999989e+02] [ 6.02329879e-03 9.99980558e-01 -1.61358791e-03 1.60672061e+01] [-8.35778694e-03 1.66390312e-03 9.99963689e-01 1.36395513e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.40907232899997 meters Centerline goodness : 0.776142 Centerline is valid? [False, False] Translation: X:-300.00, Y:16.07, Z:136.40 [[ 9.99938320e-01 -6.37231530e-03 9.09666751e-03 -3.00001816e+02] [ 6.38867411e-03 9.99978025e-01 -1.77040491e-03 1.60669883e+01] [-9.08518603e-03 1.82841135e-03 9.99957057e-01 1.36395404e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.43907232899994 meters Centerline goodness : 0.776761 Centerline is valid? [False, False] Translation: X:-300.00, Y:16.07, Z:136.40 [[ 9.99933939e-01 -6.47892742e-03 9.49430418e-03 -3.00002950e+02] [ 6.49519317e-03 9.99977489e-01 -1.68337954e-03 1.60664281e+01] [-9.48318396e-03 1.74493567e-03 9.99953511e-01 1.36395518e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.46907232899997 meters Centerline goodness : 0.778571 Centerline is valid? [False, False] Translation: X:-300.00, Y:16.07, Z:136.40 [[ 9.99932956e-01 -6.49052810e-03 9.58944746e-03 -3.00002903e+02] [ 6.50747614e-03 9.99977317e-01 -1.73721954e-03 1.60671226e+01] [-9.57795447e-03 1.79950617e-03 9.99952511e-01 1.36395206e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.49907232899994 meters Centerline goodness : 0.777218 Centerline is valid? [False, False] Translation: X:-300.00, Y:16.07, Z:136.39 [[ 9.99934470e-01 -6.29272343e-03 9.56335749e-03 -3.00002479e+02] [ 6.30667326e-03 9.99979091e-01 -1.42921837e-03 1.60667687e+01] [-9.55416386e-03 1.48943769e-03 9.99953249e-01 1.36394698e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.529072329 meters Centerline goodness : 0.777666 Centerline is valid? [False, False] Translation: X:-300.00, Y:16.07, Z:136.39 [[ 9.99930919e-01 -6.24766024e-03 9.95608444e-03 -3.00003028e+02] [ 6.25868707e-03 9.99979834e-01 -1.07677469e-03 1.60658054e+01] [-9.94915635e-03 1.13901232e-03 9.99949857e-01 1.36394023e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.55907232899995 meters Centerline goodness : 0.777568 Centerline is valid? [False, False] Translation: X:-300.00, Y:16.06, Z:136.39 [[ 9.99928071e-01 -6.12795592e-03 1.03102214e-02 -3.00003829e+02] [ 6.13557699e-03 9.99980927e-01 -7.07708650e-04 1.60646457e+01] [-1.03056880e-02 7.70916903e-04 9.99946598e-01 1.36393799e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.589072329 meters Centerline goodness : 0.778169 Centerline is valid? [False, False] Translation: X:-300.00, Y:16.06, Z:136.39 [[ 9.99926824e-01 -6.08017834e-03 1.04583683e-02 -3.00003986e+02] [ 6.08780127e-03 9.99981226e-01 -6.97202307e-04 1.60649849e+01] [-1.04539328e-02 7.60819756e-04 9.99945067e-01 1.36393507e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.61907232899995 meters Centerline goodness : 0.778292 Centerline is valid? [False, False] Translation: X:-300.01, Y:16.07, Z:136.39 [[ 9.99911328e-01 -7.01562689e-03 1.13188407e-02 -3.00006059e+02] [ 7.03243852e-03 9.99974226e-01 -1.44616147e-03 1.60661674e+01] [-1.13084032e-02 1.52563229e-03 9.99934894e-01 1.36393370e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.649072329 meters Centerline goodness : 0.779323 Centerline is valid? [False, False] Translation: X:-300.01, Y:16.07, Z:136.39 [[ 9.99916181e-01 -6.77086001e-03 1.10357049e-02 -3.00005575e+02] [ 6.78581745e-03 9.99976107e-01 -1.31848716e-03 1.60662653e+01] [-1.10265139e-02 1.39326292e-03 9.99938235e-01 1.36393686e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.67907232899995 meters Centerline goodness : 0.780166 Centerline is valid? [False, False] Translation: X:-300.01, Y:16.07, Z:136.39 [[ 9.99918719e-01 -6.83670071e-03 1.07617176e-02 -3.00005139e+02] [ 6.85724342e-03 9.99974734e-01 -1.87312809e-03 1.60687383e+01] [-1.07486397e-02 1.94677155e-03 9.99940337e-01 1.36394183e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.709072329 meters Centerline goodness : 0.780120 Centerline is valid? [False, False] Translation: X:-300.00, Y:16.07, Z:136.39 [[ 9.99934164e-01 -5.88662498e-03 9.84968300e-03 -3.00003149e+02] [ 5.90487328e-03 9.99980901e-01 -1.82462397e-03 1.60704257e+01] [-9.83875400e-03 1.88266497e-03 9.99949826e-01 1.36394952e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.73907232899995 meters Centerline goodness : 0.780304 Centerline is valid? [False, False] Translation: X:-300.00, Y:16.07, Z:136.40 [[ 9.99936460e-01 -5.71182550e-03 9.71856212e-03 -3.00003006e+02] [ 5.72872506e-03 9.99982125e-01 -1.71194662e-03 1.60703156e+01] [-9.70861006e-03 1.76751281e-03 9.99951308e-01 1.36395214e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.769072329 meters Centerline goodness : 0.780304 Centerline is valid? [False, False] Translation: X:-300.00, Y:16.07, Z:136.40 [[ 9.99936460e-01 -5.71182550e-03 9.71856212e-03 -3.00003006e+02] [ 5.72872506e-03 9.99982125e-01 -1.71194662e-03 1.60703156e+01] [-9.70861006e-03 1.76751281e-03 9.99951308e-01 1.36395214e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.79907232899996 meters Centerline goodness : 0.780883 Centerline is valid? [False, False] Translation: X:-300.00, Y:16.07, Z:136.40 [[ 9.99946544e-01 -5.03866514e-03 9.02888769e-03 -3.00001510e+02] [ 5.05385014e-03 9.99985852e-01 -1.65979776e-03 1.60713417e+01] [-9.02039678e-03 1.70533968e-03 9.99957861e-01 1.36395716e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.829072329 meters Centerline goodness : 0.780774 Centerline is valid? [False, False] Translation: X:-300.00, Y:16.07, Z:136.40 [[ 9.99955783e-01 -4.31650472e-03 8.35468513e-03 -2.99999931e+02] [ 4.32776186e-03 9.99989751e-01 -1.32979403e-03 1.60717187e+01] [-8.34885944e-03 1.36589231e-03 9.99964215e-01 1.36395955e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.85907232899996 meters Centerline goodness : 0.781272 Centerline is valid? [False, False] Translation: X:-300.00, Y:16.07, Z:136.40 [[ 9.99960257e-01 -4.08605620e-03 7.92389672e-03 -2.99998925e+02] [ 4.09751075e-03 9.99990583e-01 -1.42987443e-03 1.60727949e+01] [-7.91797955e-03 1.46228586e-03 9.99967583e-01 1.36396147e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.889072329 meters Centerline goodness : 0.782707 Centerline is valid? [False, False] Translation: X:-300.00, Y:16.08, Z:136.40 [[ 9.99972490e-01 1.30627320e-04 7.41632583e-03 -2.99997468e+02] [-1.46011247e-04 9.99997839e-01 2.07382920e-03 1.60758646e+01] [-7.41603891e-03 -2.07485502e-03 9.99970348e-01 1.36396062e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.91907232899996 meters Centerline goodness : 0.783552 Centerline is valid? [False, False] Translation: X:-300.00, Y:16.08, Z:136.40 [[ 9.99978312e-01 7.48123300e-04 6.54342096e-03 -2.99995579e+02] [-7.61902880e-04 9.99997497e-01 2.10362874e-03 1.60770133e+01] [-6.54183081e-03 -2.10856857e-03 9.99976379e-01 1.36396538e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.949072329 meters Centerline goodness : 0.782197 Centerline is valid? [False, False] Translation: X:-299.99, Y:16.08, Z:136.40 [[ 9.99981237e-01 8.94185232e-04 6.06014931e-03 -2.99994716e+02] [-9.04760722e-04 9.99998072e-01 1.74257055e-03 1.60786925e+01] [-6.05857945e-03 -1.74802084e-03 9.99980119e-01 1.36397090e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.97907232899996 meters Centerline goodness : 0.782898 Centerline is valid? [False, False] Translation: X:-299.99, Y:16.08, Z:136.40 [[ 9.99984725e-01 1.81327856e-03 5.22120977e-03 -2.99992841e+02] [-1.82371722e-03 9.99996347e-01 1.99521406e-03 1.60790449e+01] [-5.21757282e-03 -2.00470559e-03 9.99984379e-01 1.36397457e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.009072329 meters Centerline goodness : 0.783804 Centerline is valid? [False, False] Translation: X:-299.99, Y:16.08, Z:136.40 [[ 9.99984496e-01 1.43132213e-03 5.38141784e-03 -2.99993704e+02] [-1.43882561e-03 9.99997998e-01 1.39071711e-03 1.60803345e+01] [-5.37941651e-03 -1.39843847e-03 9.99984553e-01 1.36398039e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.03907232899996 meters Centerline goodness : 0.782589 Centerline is valid? [False, False] Translation: X:-299.99, Y:16.08, Z:136.40 [[ 9.99986788e-01 1.80115243e-03 4.81446309e-03 -2.99992447e+02] [-1.80714489e-03 9.99997598e-01 1.24061811e-03 1.60815529e+01] [-4.81221698e-03 -1.24930215e-03 9.99987641e-01 1.36398365e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.069072329 meters Centerline goodness : 0.783331 Centerline is valid? [False, False] Translation: X:-299.99, Y:16.08, Z:136.40 [[ 9.99987427e-01 1.68723849e-03 4.72219096e-03 -2.99992431e+02] [-1.69170898e-03 9.99998125e-01 9.42863636e-04 1.60824747e+01] [-4.72059127e-03 -9.50840354e-04 9.99988406e-01 1.36398661e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.09907232899997 meters Centerline goodness : 0.782975 Centerline is valid? [False, False] Translation: X:-299.99, Y:16.08, Z:136.40 [[ 9.99989095e-01 1.90262138e-03 4.26491013e-03 -2.99991738e+02] [-1.90641775e-03 9.99997790e-01 8.86252992e-04 1.60830889e+01] [-4.26321450e-03 -8.94374028e-04 9.99990513e-01 1.36399327e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.12907232899994 meters Centerline goodness : 0.783532 Centerline is valid? [False, False] Translation: X:-299.99, Y:16.08, Z:136.40 [[ 9.99988847e-01 1.48201919e-03 4.48435999e-03 -2.99992734e+02] [-1.48303478e-03 9.99998875e-01 2.23156753e-04 1.60846988e+01] [-4.48402422e-03 -2.29804726e-04 9.99989920e-01 1.36399965e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.15907232899997 meters Centerline goodness : 0.783727 Centerline is valid? [False, False] Translation: X:-299.99, Y:16.09, Z:136.40 [[ 9.99985908e-01 7.27852014e-04 5.25863277e-03 -2.99994722e+02] [-7.26105723e-04 9.99999681e-01 -3.33982404e-04 1.60853117e+01] [-5.25887418e-03 3.30159375e-04 9.99986118e-01 1.36399929e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.18907232899994 meters Centerline goodness : 0.783938 Centerline is valid? [False, False] Translation: X:-299.99, Y:16.08, Z:136.40 [[ 9.99986168e-01 1.05747755e-03 5.15230103e-03 -2.99994471e+02] [-1.05840247e-03 9.99999424e-01 1.76792544e-04 1.60837499e+01] [-5.15211111e-03 -1.82243307e-04 9.99986711e-01 1.36399808e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.21907232899997 meters Centerline goodness : 0.784768 Centerline is valid? [False, False] Translation: X:-299.99, Y:16.08, Z:136.40 [[ 9.99987111e-01 2.58119292e-03 4.37210188e-03 -2.99991551e+02] [-2.58572261e-03 9.99996126e-01 1.03070739e-03 1.60848033e+01] [-4.36942449e-03 -1.04199915e-03 9.99989911e-01 1.36398920e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.24907232899994 meters Centerline goodness : 0.784717 Centerline is valid? [False, False] Translation: X:-299.99, Y:16.09, Z:136.40 [[ 9.99989157e-01 2.49686519e-03 3.93079071e-03 -2.99990771e+02] [-2.49832569e-03 9.99996812e-01 3.66687200e-04 1.60873893e+01] [-3.92986261e-03 -3.76503619e-04 9.99992207e-01 1.36399502e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.279072329 meters Centerline goodness : 0.785596 Centerline is valid? [False, False] Translation: X:-299.99, Y:16.09, Z:136.40 [[ 9.99990604e-01 2.37122590e-03 3.62905509e-03 -2.99990430e+02] [-2.36975528e-03 9.99997108e-01 -4.09480683e-04 1.60900357e+01] [-3.63001556e-03 4.00876863e-04 9.99993331e-01 1.36400259e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.30907232899995 meters Centerline goodness : 0.785109 Centerline is valid? [False, False] Translation: X:-299.99, Y:16.09, Z:136.40 [[ 9.99991714e-01 2.38824693e-03 3.29658604e-03 -2.99989991e+02] [-2.38579055e-03 9.99996874e-01 -7.48860619e-04 1.60913994e+01] [-3.29836420e-03 7.40989450e-04 9.99994286e-01 1.36400875e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.339072329 meters Centerline goodness : 0.785914 Centerline is valid? [False, False] Translation: X:-299.99, Y:16.09, Z:136.40 [[ 9.99992650e-01 2.75993465e-03 2.66128797e-03 -2.99988589e+02] [-2.75735741e-03 9.99995726e-01 -9.71599858e-04 1.60931289e+01] [-2.66395815e-03 9.64254594e-04 9.99995987e-01 1.36401272e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.36907232899995 meters Centerline goodness : 0.786876 Centerline is valid? [False, False] Translation: X:-299.99, Y:16.09, Z:136.40 [[ 9.99993346e-01 2.76408245e-03 2.38082730e-03 -2.99988120e+02] [-2.76125204e-03 9.99995478e-01 -1.19130527e-03 1.60941543e+01] [-2.38410940e-03 1.18472328e-03 9.99996456e-01 1.36401683e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.399072329 meters Centerline goodness : 0.786757 Centerline is valid? [False, False] Translation: X:-299.99, Y:16.10, Z:136.40 [[ 9.99974439e-01 6.81012830e-03 2.17795245e-03 -2.99987704e+02] [-6.81504331e-03 9.99974230e-01 2.25730833e-03 1.60968208e+01] [-2.16252377e-03 -2.27209347e-03 9.99995081e-01 1.36401942e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.42907232899995 meters Centerline goodness : 0.787074 Centerline is valid? [False, False] Translation: X:-299.99, Y:16.10, Z:136.40 [[ 9.99973735e-01 7.05704218e-03 1.65131662e-03 -2.99986613e+02] [-7.06054258e-03 9.99972819e-01 2.12362399e-03 1.60978593e+01] [-1.63628523e-03 -2.13522741e-03 9.99996382e-01 1.36402299e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.459072329 meters Centerline goodness : 0.787171 Centerline is valid? [False, False] Translation: X:-299.99, Y:16.10, Z:136.40 [[ 9.99971847e-01 7.43318189e-03 1.02648204e-03 -2.99985157e+02] [-7.43518335e-03 9.99970438e-01 1.95996866e-03 1.60993962e+01] [-1.01188289e-03 -1.96754556e-03 9.99997552e-01 1.36402576e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.48907232899995 meters Centerline goodness : 0.785738 Centerline is valid? [False, False] Translation: X:-299.99, Y:16.10, Z:136.40 [[ 9.99974637e-01 7.03824885e-03 1.09005556e-03 -2.99985715e+02] [-7.03953484e-03 9.99974525e-01 1.18044059e-03 1.61016905e+01] [-1.08171956e-03 -1.18808414e-03 9.99998709e-01 1.36403112e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.519072329 meters Centerline goodness : 0.787062 Centerline is valid? [False, False] Translation: X:-299.99, Y:16.10, Z:136.40 [[ 9.99975992e-01 6.82610606e-03 1.19132746e-03 -2.99986407e+02] [-6.82720938e-03 9.99976267e-01 9.24523168e-04 1.61020100e+01] [-1.18498829e-03 -9.32634414e-04 9.99998863e-01 1.36403627e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.54907232899996 meters Centerline goodness : 0.788275 Centerline is valid? [False, False] Translation: X:-299.99, Y:16.10, Z:136.40 [[ 9.99977891e-01 6.49919501e-03 1.40632782e-03 -2.99987798e+02] [-6.49980038e-03 9.99978785e-01 4.26323281e-04 1.61029309e+01] [-1.40352722e-03 -4.35454706e-04 9.99998920e-01 1.36404739e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.579072329 meters Centerline goodness : 0.788750 Centerline is valid? [False, False] Translation: X:-299.99, Y:16.10, Z:136.41 [[ 9.99978060e-01 6.51791480e-03 1.18181306e-03 -2.99987615e+02] [-6.51810994e-03 9.99978744e-01 1.61345348e-04 1.61040009e+01] [-1.18073631e-03 -1.69044996e-04 9.99999289e-01 1.36405266e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.60907232899996 meters Centerline goodness : 0.788747 Centerline is valid? [False, False] Translation: X:-299.99, Y:16.10, Z:136.41 [[ 9.99979314e-01 6.32390837e-03 1.17420563e-03 -2.99987895e+02] [-6.32371381e-03 9.99979991e-01 -1.69337703e-04 1.61048298e+01] [-1.17525301e-03 1.61908859e-04 9.99999296e-01 1.36405652e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.639072329 meters Centerline goodness : 0.788223 Centerline is valid? [False, False] Translation: X:-299.99, Y:16.11, Z:136.41 [[ 9.99979661e-01 6.29298817e-03 1.03695558e-03 -2.99987911e+02] [-6.29244561e-03 9.99980064e-01 -5.25657406e-04 1.61061060e+01] [-1.04024287e-03 5.19121728e-04 9.99999324e-01 1.36406206e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.66907232899996 meters Centerline goodness : 0.789101 Centerline is valid? [False, False] Translation: X:-299.99, Y:16.11, Z:136.41 [[ 9.99981463e-01 5.89032723e-03 1.54194523e-03 -2.99989690e+02] [-5.88924477e-03 9.99982409e-01 -7.05612157e-04 1.61055007e+01] [-1.54607439e-03 6.96518184e-04 9.99998562e-01 1.36406696e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.699072329 meters Centerline goodness : 0.788707 Centerline is valid? [False, False] Translation: X:-299.99, Y:16.11, Z:136.41 [[ 9.99981412e-01 5.86251771e-03 1.67533566e-03 -2.99990308e+02] [-5.86135458e-03 9.99982578e-01 -6.98333217e-04 1.61051522e+01] [-1.67940046e-03 6.88500500e-04 9.99998353e-01 1.36406969e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.72907232899996 meters Centerline goodness : 0.789142 Centerline is valid? [False, False] Translation: X:-299.99, Y:16.11, Z:136.41 [[ 9.99981244e-01 5.90102849e-03 1.63984984e-03 -2.99990372e+02] [-5.89971043e-03 9.99982271e-01 -8.07445704e-04 1.61056117e+01] [-1.64458552e-03 7.97755921e-04 9.99998329e-01 1.36407126e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.759072329 meters Centerline goodness : 0.789825 Centerline is valid? [False, False] Translation: X:-299.99, Y:16.11, Z:136.41 [[ 9.99983085e-01 5.42538374e-03 2.09661428e-03 -2.99991936e+02] [-5.42295765e-03 9.99984622e-01 -1.16110530e-03 1.61056206e+01] [-2.10288147e-03 1.14971580e-03 9.99997128e-01 1.36407536e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.78907232899996 meters Centerline goodness : 0.790971 Centerline is valid? [False, False] Translation: X:-299.99, Y:16.11, Z:136.41 [[ 9.99977382e-01 6.61323075e-03 1.22495848e-03 -2.99989985e+02] [-6.61242560e-03 9.99977920e-01 -6.60177361e-04 1.61059920e+01] [-1.22929734e-03 6.52062482e-04 9.99999032e-01 1.36408014e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.819072329 meters Centerline goodness : 0.790496 Centerline is valid? [False, False] Translation: X:-299.99, Y:16.11, Z:136.41 [[ 9.99978578e-01 6.47919951e-03 9.28795579e-04 -2.99989226e+02] [-6.47806689e-03 9.99978276e-01 -1.21731394e-03 1.61081331e+01] [-9.36662622e-04 1.21127106e-03 9.99998828e-01 1.36408059e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.84907232899997 meters Centerline goodness : 0.790480 Centerline is valid? [False, False] Translation: X:-299.99, Y:16.11, Z:136.41 [[ 9.99975927e-01 6.93402809e-03 2.54510133e-04 -2.99987612e+02] [-6.93374273e-03 9.99975350e-01 -1.10546582e-03 1.61086409e+01] [-2.62169190e-04 1.10367450e-03 9.99999357e-01 1.36408178e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.87907232899994 meters Centerline goodness : 0.791523 Centerline is valid? [False, False] Translation: X:-299.99, Y:16.11, Z:136.41 [[ 9.99970434e-01 7.66856556e-03 -5.68789141e-04 -2.99985512e+02] [-7.66931898e-03 9.99969700e-01 -1.33448144e-03 1.61111443e+01] [ 5.58538348e-04 1.33880421e-03 9.99998948e-01 1.36408450e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.90907232899997 meters Centerline goodness : 0.793097 Centerline is valid? [False, False] Translation: X:-299.98, Y:16.11, Z:136.41 [[ 9.99964293e-01 8.33895693e-03 -1.36900602e-03 -2.99983783e+02] [-8.34066768e-03 9.99964436e-01 -1.24870588e-03 1.61123169e+01] [ 1.35854442e-03 1.26007972e-03 9.99998283e-01 1.36408975e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.93907232899994 meters Centerline goodness : 0.792195 Centerline is valid? [False, False] Translation: X:-299.98, Y:16.11, Z:136.41 [[ 9.99965163e-01 8.22745998e-03 -1.40757384e-03 -2.99983691e+02] [-8.22974614e-03 9.99964813e-01 -1.62617917e-03 1.61135792e+01] [ 1.39414498e-03 1.63770649e-03 9.99997687e-01 1.36408988e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.96907232899997 meters Centerline goodness : 0.793213 Centerline is valid? [False, False] Translation: X:-299.98, Y:16.11, Z:136.41 [[ 9.99965380e-01 8.18544798e-03 -1.49567149e-03 -2.99983786e+02] [-8.18812765e-03 9.99964867e-01 -1.79436575e-03 1.61141234e+01] [ 1.48093125e-03 1.80655038e-03 9.99997272e-01 1.36409354e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.99907232899994 meters Centerline goodness : 0.792500 Centerline is valid? [False, False] Translation: X:-299.98, Y:16.12, Z:136.41 [[ 9.99964726e-01 8.21150356e-03 -1.76593034e-03 -2.99983361e+02] [-8.21519514e-03 9.99964063e-01 -2.09345308e-03 1.61154518e+01] [ 1.74867648e-03 2.10788670e-03 9.99996249e-01 1.36409745e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.029072329 meters Centerline goodness : 0.791029 Centerline is valid? [False, False] Translation: X:-299.98, Y:16.12, Z:136.41 [[ 9.99961360e-01 8.52871571e-03 -2.13061050e-03 -2.99982568e+02] [-8.53315726e-03 9.99961420e-01 -2.08431832e-03 1.61163026e+01] [ 2.11275174e-03 2.10241861e-03 9.99995558e-01 1.36409993e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.05907232899995 meters Centerline goodness : 0.791245 Centerline is valid? [False, False] Translation: X:-299.99, Y:16.12, Z:136.41 [[ 9.99976603e-01 6.72494841e-03 -1.25261657e-03 -2.99986096e+02] [-6.72956871e-03 9.99970431e-01 -3.72157188e-03 1.61178931e+01] [ 1.22755215e-03 3.72991438e-03 9.99992290e-01 1.36411431e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.089072329 meters Centerline goodness : 0.790260 Centerline is valid? [False, False] Translation: X:-299.99, Y:16.12, Z:136.41 [[ 9.99981269e-01 6.09698691e-03 -5.37832872e-04 -2.99988228e+02] [-6.09909711e-03 9.99973347e-01 -4.01325546e-03 1.61173916e+01] [ 5.13349771e-04 4.01646058e-03 9.99991802e-01 1.36411673e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.11907232899995 meters Centerline goodness : 0.790927 Centerline is valid? [False, False] Translation: X:-299.99, Y:16.12, Z:136.41 [[ 9.99979255e-01 6.40584649e-03 -6.74598896e-04 -2.99987890e+02] [-6.40836696e-03 9.99972235e-01 -3.80283646e-03 1.61173085e+01] [ 6.50219780e-04 3.80708065e-03 9.99992542e-01 1.36411655e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.149072329 meters Centerline goodness : 0.790934 Centerline is valid? [False, False] Translation: X:-299.99, Y:16.12, Z:136.41 [[ 9.99982885e-01 5.85043242e-03 4.63718211e-05 -2.99989904e+02] [-5.85019784e-03 9.99974755e-01 -4.03288004e-03 1.61169374e+01] [-6.99647426e-05 4.03253973e-03 9.99991867e-01 1.36411769e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.17907232899995 meters Centerline goodness : 0.792235 Centerline is valid? [False, False] Translation: X:-299.99, Y:16.12, Z:136.41 [[ 9.99982120e-01 5.97768248e-03 1.63119967e-04 -2.99989762e+02] [-5.97702377e-03 9.99975003e-01 -3.77734337e-03 1.61165561e+01] [-1.85695649e-04 3.77630086e-03 9.99992853e-01 1.36411127e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.209072329 meters Centerline goodness : 0.790793 Centerline is valid? [False, False] Translation: X:-299.99, Y:16.12, Z:136.41 [[ 9.99984193e-01 5.57436938e-03 7.35284867e-04 -2.99991066e+02] [-5.57139981e-03 9.99976556e-01 -3.98070312e-03 1.61168454e+01] [-7.57457538e-04 3.97654363e-03 9.99991807e-01 1.36410842e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.23907232899995 meters Centerline goodness : 0.791561 Centerline is valid? [False, False] Translation: X:-299.99, Y:16.12, Z:136.41 [[ 9.99981317e-01 6.10478711e-03 3.12012442e-04 -2.99989884e+02] [-6.10365294e-03 9.99975194e-01 -3.51513811e-03 1.61164401e+01] [-3.33463872e-04 3.51316802e-03 9.99993773e-01 1.36410668e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.269072329 meters Centerline goodness : 0.790598 Centerline is valid? [False, False] Translation: X:-299.99, Y:16.12, Z:136.41 [[ 9.99984011e-01 5.61374532e-03 6.80850272e-04 -2.99990834e+02] [-5.61092809e-03 9.99975970e-01 -4.07144182e-03 1.61177631e+01] [-7.03689949e-04 4.06755652e-03 9.99991480e-01 1.36410705e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.29907232899996 meters Centerline goodness : 0.791825 Centerline is valid? [False, False] Translation: X:-299.99, Y:16.12, Z:136.41 [[ 9.99980976e-01 6.16605552e-03 1.64488292e-04 -2.99989976e+02] [-6.16536843e-03 9.99973414e-01 -3.89359472e-03 1.61182436e+01] [-1.88492040e-04 3.89250652e-03 9.99992406e-01 1.36411359e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.329072329 meters Centerline goodness : 0.790437 Centerline is valid? [False, False] Translation: X:-299.99, Y:16.12, Z:136.41 [[ 9.99986594e-01 5.12270721e-03 7.54746427e-04 -2.99991963e+02] [-5.11872557e-03 9.99973451e-01 -5.18619178e-03 1.61212965e+01] [-7.81293731e-04 5.18225891e-03 9.99986267e-01 1.36412099e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.35907232899996 meters Centerline goodness : 0.792422 Centerline is valid? [False, False] Translation: X:-299.99, Y:16.12, Z:136.41 [[ 9.99985830e-01 5.27931386e-03 6.85159247e-04 -2.99992151e+02] [-5.27574911e-03 9.99973056e-01 -5.10430671e-03 1.61212253e+01] [-7.12088023e-04 5.10061965e-03 9.99986738e-01 1.36412589e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.389072329 meters Centerline goodness : 0.790396 Centerline is valid? [False, False] Translation: X:-299.99, Y:16.12, Z:136.41 [[ 9.99984522e-01 5.53736206e-03 5.41498501e-04 -2.99992001e+02] [-5.53460153e-03 9.99972318e-01 -4.97306477e-03 1.61214015e+01] [-5.69021171e-04 4.96999082e-03 9.99987488e-01 1.36412895e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.41907232899996 meters Centerline goodness : 0.788680 Centerline is valid? [False, False] Translation: X:-299.99, Y:16.12, Z:136.41 [[ 9.99984458e-01 5.50046556e-03 9.09937564e-04 -2.99993053e+02] [-5.49609626e-03 9.99973679e-01 -4.73652287e-03 1.61202572e+01] [-9.35966694e-04 4.73144816e-03 9.99988369e-01 1.36412904e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.449072329 meters Centerline goodness : 0.789435 Centerline is valid? [False, False] Translation: X:-299.99, Y:16.12, Z:136.41 [[ 9.99978808e-01 6.50772050e-03 1.79937671e-04 -2.99991050e+02] [-6.50689190e-03 9.99969692e-01 -4.27508363e-03 1.61211041e+01] [-2.07753267e-04 4.27382220e-03 9.99990846e-01 1.36412881e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.47907232899996 meters Centerline goodness : 0.787299 Centerline is valid? [False, False] Translation: X:-299.99, Y:16.12, Z:136.41 [[ 9.99980551e-01 6.22100168e-03 4.42611449e-04 -2.99992144e+02] [-6.21895684e-03 9.99970625e-01 -4.48034550e-03 1.61212148e+01] [-4.70470685e-04 4.47750578e-03 9.99989865e-01 1.36413375e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.509072329 meters Centerline goodness : 0.788763 Centerline is valid? [False, False] Translation: X:-299.99, Y:16.12, Z:136.41 [[ 9.99976680e-01 6.82639607e-03 -1.98629888e-04 -2.99990496e+02] [-6.82720279e-03 9.99967048e-01 -4.39234284e-03 1.61225069e+01] [ 1.68639471e-04 4.39359650e-03 9.99990334e-01 1.36413493e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.53907232899996 meters Centerline goodness : 0.789711 Centerline is valid? [False, False] Translation: X:-299.99, Y:16.12, Z:136.41 [[ 9.99977207e-01 6.74278999e-03 -3.47566466e-04 -2.99989960e+02] [-6.74434772e-03 9.99966237e-01 -4.69454251e-03 1.61241607e+01] [ 3.15900416e-04 4.69677962e-03 9.99988920e-01 1.36413369e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.569072329 meters Centerline goodness : 0.789408 Centerline is valid? [False, False] Translation: X:-299.99, Y:16.13, Z:136.41 [[ 9.99971952e-01 7.42795640e-03 -9.59018549e-04 -2.99987844e+02] [-7.43218966e-03 9.99962306e-01 -4.48875747e-03 1.61259681e+01] [ 9.25640105e-04 4.49575918e-03 9.99989466e-01 1.36412881e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.59907232899997 meters Centerline goodness : 0.788609 Centerline is valid? [False, False] Translation: X:-299.99, Y:16.13, Z:136.41 [[ 9.99968836e-01 7.77615762e-03 -1.36331446e-03 -2.99986801e+02] [-7.78213527e-03 9.99959881e-01 -4.43558517e-03 1.61267726e+01] [ 1.32876795e-03 4.44605644e-03 9.99989233e-01 1.36412941e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.62907232899994 meters Centerline goodness : 0.787380 Centerline is valid? [False, False] Translation: X:-299.99, Y:16.13, Z:136.41 [[ 9.99970296e-01 7.60421695e-03 -1.25826074e-03 -2.99987304e+02] [-7.61005912e-03 9.99959973e-01 -4.70530573e-03 1.61274858e+01] [ 1.22243021e-03 4.71474140e-03 9.99988138e-01 1.36413223e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.65907232899997 meters Centerline goodness : 0.786515 Centerline is valid? [False, False] Translation: X:-299.99, Y:16.13, Z:136.41 [[ 9.99967222e-01 7.95567746e-03 -1.50383103e-03 -2.99986806e+02] [-7.96247013e-03 9.99957873e-01 -4.56622335e-03 1.61277965e+01] [ 1.46744028e-03 4.57804789e-03 9.99988444e-01 1.36413404e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.68907232899994 meters Centerline goodness : 0.786515 Centerline is valid? [False, False] Translation: X:-299.99, Y:16.13, Z:136.41 [[ 9.99967222e-01 7.95567746e-03 -1.50383103e-03 -2.99986806e+02] [-7.96247013e-03 9.99957873e-01 -4.56622335e-03 1.61277965e+01] [ 1.46744028e-03 4.57804789e-03 9.99988444e-01 1.36413404e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.71907232899997 meters Centerline goodness : 0.786540 Centerline is valid? [False, False] Translation: X:-299.99, Y:16.13, Z:136.41 [[ 9.99974804e-01 7.05875369e-03 -7.51684147e-04 -2.99989561e+02] [-7.06267071e-03 9.99960788e-01 -5.34248192e-03 1.61285999e+01] [ 7.13943408e-04 5.34765621e-03 9.99985446e-01 1.36414339e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.74907232899994 meters Centerline goodness : 0.784759 Centerline is valid? [False, False] Translation: X:-299.99, Y:16.13, Z:136.42 [[ 9.99967330e-01 7.93369206e-03 -1.54804740e-03 -2.99988007e+02] [-7.94163414e-03 9.99954978e-01 -5.19351790e-03 1.61299090e+01] [ 1.50677393e-03 5.20564226e-03 9.99985315e-01 1.36415170e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.779072329 meters Centerline goodness : 0.785608 Centerline is valid? [False, False] Translation: X:-299.99, Y:16.13, Z:136.42 [[ 9.99966622e-01 8.02005416e-03 -1.56006639e-03 -2.99988179e+02] [-8.02789052e-03 9.99954855e-01 -5.08342140e-03 1.61297006e+01] [ 1.51922664e-03 5.09577577e-03 9.99985862e-01 1.36415377e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.80907232899995 meters Centerline goodness : 0.785206 Centerline is valid? [False, False] Translation: X:-299.99, Y:16.13, Z:136.42 [[ 9.99965998e-01 8.08769797e-03 -1.60973933e-03 -2.99988297e+02] [-8.09599359e-03 9.99953626e-01 -5.21537799e-03 1.61305682e+01] [ 1.56748427e-03 5.22823310e-03 9.99985104e-01 1.36415757e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.839072329 meters Centerline goodness : 0.785427 Centerline is valid? [False, False] Translation: X:-299.99, Y:16.13, Z:136.42 [[ 9.99974788e-01 7.06832123e-03 -6.79932631e-04 -2.99991177e+02] [-7.07209427e-03 9.99958651e-01 -5.71675822e-03 1.61299929e+01] [ 6.39496634e-04 5.72142263e-03 9.99983428e-01 1.36416103e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.86907232899995 meters Centerline goodness : 0.784685 Centerline is valid? [False, False] Translation: X:-299.99, Y:16.13, Z:136.42 [[ 9.99980044e-01 6.30984476e-03 3.13127879e-04 -2.99993496e+02] [-6.30803680e-03 9.99965126e-01 -5.47315682e-03 1.61275437e+01] [-3.47651729e-04 5.47107237e-03 9.99984973e-01 1.36415306e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.899072329 meters Centerline goodness : 0.783856 Centerline is valid? [False, False] Translation: X:-299.99, Y:16.13, Z:136.41 [[ 9.99981427e-01 6.03703343e-03 8.37119317e-04 -2.99994526e+02] [-6.03227475e-03 9.99966264e-01 -5.57513875e-03 1.61276633e+01] [-8.70748375e-04 5.56998547e-03 9.99984108e-01 1.36414857e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.92907232899995 meters Centerline goodness : 0.784273 Centerline is valid? [False, False] Translation: X:-300.00, Y:16.13, Z:136.41 [[ 9.99981832e-01 5.83055138e-03 1.52994114e-03 -2.99995901e+02] [-5.82260528e-03 9.99969798e-01 -5.14777610e-03 1.61260895e+01] [-1.55990930e-03 5.13877433e-03 9.99985580e-01 1.36414111e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.959072329 meters Centerline goodness : 0.784306 Centerline is valid? [False, False] Translation: X:-300.00, Y:16.13, Z:136.41 [[ 9.99986159e-01 4.58785819e-03 2.57534934e-03 -2.99998773e+02] [-4.57185416e-03 9.99970414e-01 -6.18617740e-03 1.61276632e+01] [-2.60365445e-03 6.17431766e-03 9.99977549e-01 1.36414369e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.98907232899995 meters Centerline goodness : 0.784222 Centerline is valid? [False, False] Translation: X:-300.00, Y:16.13, Z:136.41 [[ 9.99985312e-01 4.69332159e-03 2.71092050e-03 -2.99999160e+02] [-4.67723350e-03 9.99971593e-01 -5.91071092e-03 1.61269227e+01] [-2.73858436e-03 5.89794450e-03 9.99978857e-01 1.36414363e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.019072329 meters Centerline goodness : 0.784108 Centerline is valid? [False, False] Translation: X:-300.00, Y:16.13, Z:136.41 [[ 9.99987081e-01 3.42569888e-03 3.75526605e-03 -3.00002129e+02] [-3.40238010e-03 9.99975001e-01 -6.19851994e-03 1.61250948e+01] [-3.77640644e-03 6.18566302e-03 9.99973738e-01 1.36414287e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.04907232899996 meters Centerline goodness : 0.785373 Centerline is valid? [False, False] Translation: X:-300.00, Y:16.12, Z:136.41 [[ 9.99985247e-01 2.95877207e-03 4.55537697e-03 -3.00004089e+02] [-2.93060198e-03 9.99976620e-01 -6.17822727e-03 1.61241641e+01] [-4.57355044e-03 6.16478613e-03 9.99970539e-01 1.36414023e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.079072329 meters Centerline goodness : 0.786388 Centerline is valid? [False, False] Translation: X:-300.00, Y:16.12, Z:136.41 [[ 9.99983860e-01 2.94292470e-03 4.85995302e-03 -3.00004857e+02] [-2.91371005e-03 9.99977710e-01 -6.00748356e-03 1.61235643e+01] [-4.87752426e-03 5.99322611e-03 9.99970145e-01 1.36413942e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.10907232899996 meters Centerline goodness : 0.785651 Centerline is valid? [False, False] Translation: X:-300.01, Y:16.12, Z:136.41 [[ 9.99984481e-01 -1.33321454e-03 5.40920322e-03 -3.00006011e+02] [ 1.38612390e-03 9.99951122e-01 -9.78942971e-03 1.61220472e+01] [-5.39588741e-03 9.79677562e-03 9.99937452e-01 1.36413493e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.139072329 meters Centerline goodness : 0.785982 Centerline is valid? [False, False] Translation: X:-300.01, Y:16.12, Z:136.41 [[ 9.99985792e-01 -7.01713136e-04 5.28433943e-03 -3.00005425e+02] [ 7.48546619e-04 9.99960417e-01 -8.86593761e-03 1.61200028e+01] [-5.27790892e-03 8.86976721e-03 9.99946734e-01 1.36412988e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.16907232899996 meters Centerline goodness : 0.784908 Centerline is valid? [False, False] Translation: X:-300.01, Y:16.12, Z:136.41 [[ 9.99981236e-01 -7.50370375e-04 6.07981648e-03 -3.00006988e+02] [ 8.00043078e-04 9.99966290e-01 -8.17179045e-03 1.61172115e+01] [-6.07347967e-03 8.17650123e-03 9.99948127e-01 1.36412045e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.199072329 meters Centerline goodness : 0.784841 Centerline is valid? [False, False] Translation: X:-300.01, Y:16.12, Z:136.41 [[ 9.99979693e-01 -5.03865342e-04 6.35289413e-03 -3.00007827e+02] [ 5.51611536e-04 9.99971601e-01 -7.51614946e-03 1.61150113e+01] [-6.34892659e-03 7.51950116e-03 9.99951573e-01 1.36412044e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.22907232899996 meters Centerline goodness : 0.785148 Centerline is valid? [False, False] Translation: X:-300.01, Y:16.12, Z:136.41 [[ 9.99975133e-01 -8.12094815e-04 7.00524848e-03 -3.00009476e+02] [ 8.65932472e-04 9.99970089e-01 -7.68572516e-03 1.61150418e+01] [-6.99879741e-03 7.69160011e-03 9.99945927e-01 1.36411977e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.259072329 meters Centerline goodness : 0.783852 Centerline is valid? [False, False] Translation: X:-300.01, Y:16.11, Z:136.41 [[ 9.99954977e-01 -5.38071201e-03 7.81613453e-03 -3.00011473e+02] [ 5.47115338e-03 9.99917794e-01 -1.15961878e-02 1.61129859e+01] [-7.75309625e-03 1.16384290e-02 9.99902213e-01 1.36411676e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.28907232899996 meters Centerline goodness : 0.783744 Centerline is valid? [False, False] Translation: X:-300.01, Y:16.11, Z:136.41 [[ 9.99951459e-01 -5.48588060e-03 8.18445614e-03 -3.00012587e+02] [ 5.57956472e-03 9.99918673e-01 -1.14680110e-02 1.61122812e+01] [-8.12087838e-03 1.15131200e-02 9.99900745e-01 1.36411809e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.319072329 meters Centerline goodness : 0.784117 Centerline is valid? [False, False] Translation: X:-300.02, Y:16.11, Z:136.41 [[ 9.99951001e-01 -4.00115651e-03 9.05464318e-03 -3.00016086e+02] [ 4.09049893e-03 9.99942923e-01 -9.87011373e-03 1.61140281e+01] [-9.01463449e-03 9.90666811e-03 9.99910293e-01 1.36413276e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.34907232899997 meters Centerline goodness : 0.785705 Centerline is valid? [False, False] Translation: X:-300.02, Y:16.11, Z:136.41 [[ 9.99953097e-01 -3.84309004e-03 8.89016432e-03 -3.00015640e+02] [ 3.93076923e-03 9.99943603e-01 -9.86613565e-03 1.61149542e+01] [-8.85174649e-03 9.90061808e-03 9.99911808e-01 1.36413310e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.37907232899994 meters Centerline goodness : 0.786683 Centerline is valid? [False, False] Translation: X:-300.02, Y:16.12, Z:136.41 [[ 9.99950194e-01 -3.92956544e-03 9.17436052e-03 -3.00016188e+02] [ 4.02020823e-03 9.99943085e-01 -9.88256468e-03 1.61151027e+01] [-9.13500418e-03 9.91895530e-03 9.99909079e-01 1.36413034e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.40907232899997 meters Centerline goodness : 0.785812 Centerline is valid? [False, False] Translation: X:-300.02, Y:16.12, Z:136.41 [[ 9.99943959e-01 -4.21653575e-03 9.71082781e-03 -3.00016933e+02] [ 4.31346924e-03 9.99940867e-01 -9.98278422e-03 1.61152853e+01] [-9.66816081e-03 1.00241121e-02 9.99903017e-01 1.36412141e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.43907232899994 meters Centerline goodness : 0.785747 Centerline is valid? [False, False] Translation: X:-300.02, Y:16.11, Z:136.41 [[ 9.99942835e-01 -3.97056560e-03 9.92775851e-03 -3.00017398e+02] [ 4.06277534e-03 9.99948638e-01 -9.28522094e-03 1.61130995e+01] [-9.89038102e-03 9.32502441e-03 9.99907608e-01 1.36411831e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.46907232899997 meters Centerline goodness : 0.784962 Centerline is valid? [False, False] Translation: X:-300.02, Y:16.11, Z:136.41 [[ 9.99943423e-01 -3.22417353e-04 1.06323232e-02 -3.00019292e+02] [ 3.81646497e-04 9.99984420e-01 -5.56910975e-03 1.61138348e+01] [-1.06303620e-02 5.57285246e-03 9.99927967e-01 1.36411863e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.49907232899994 meters Centerline goodness : 0.784859 Centerline is valid? [False, False] Translation: X:-300.02, Y:16.11, Z:136.41 [[ 9.99936151e-01 -8.57591686e-04 1.12675928e-02 -3.00020853e+02] [ 9.23748123e-04 9.99982359e-01 -5.86749864e-03 1.61139694e+01] [-1.12623621e-02 5.87753243e-03 9.99919304e-01 1.36411721e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.529072329 meters Centerline goodness : 0.785611 Centerline is valid? [False, False] Translation: X:-300.02, Y:16.12, Z:136.41 [[ 9.99927254e-01 -1.48030801e-03 1.19705882e-02 -3.00022595e+02] [ 1.55814738e-03 9.99977688e-01 -6.49584202e-03 1.61153589e+01] [-1.19607052e-02 6.51402142e-03 9.99907250e-01 1.36411694e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.55907232899995 meters Centerline goodness : 0.784634 Centerline is valid? [False, False] Translation: X:-300.02, Y:16.11, Z:136.41 [[ 9.99929525e-01 -1.13660988e-03 1.18174935e-02 -3.00022387e+02] [ 1.20857839e-03 9.99980758e-01 -6.08464147e-03 1.61145846e+01] [-1.18103502e-02 6.09849502e-03 9.99911658e-01 1.36411880e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.589072329 meters Centerline goodness : 0.783403 Centerline is valid? [False, False] Translation: X:-300.02, Y:16.11, Z:136.41 [[ 9.99920976e-01 -1.65556400e-03 1.24619500e-02 -3.00024232e+02] [ 1.73486008e-03 9.99978302e-01 -6.35493723e-03 1.61144304e+01] [-1.24511586e-02 6.37605478e-03 9.99902153e-01 1.36412054e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.61907232899995 meters Centerline goodness : 0.784618 Centerline is valid? [False, False] Translation: X:-300.02, Y:16.11, Z:136.41 [[ 9.99924604e-01 -1.29036690e-03 1.22114845e-02 -3.00023550e+02] [ 1.36554373e-03 9.99980157e-01 -6.14990571e-03 1.61148092e+01] [-1.22033066e-02 6.16611735e-03 9.99906525e-01 1.36412044e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.649072329 meters Centerline goodness : 0.783332 Centerline is valid? [False, False] Translation: X:-300.02, Y:16.11, Z:136.41 [[ 9.99926521e-01 -8.68569506e-04 1.20912788e-02 -3.00022779e+02] [ 9.36784866e-04 9.99983672e-01 -5.63717936e-03 1.61141658e+01] [-1.20861851e-02 5.64809207e-03 9.99911008e-01 1.36411372e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.67907232899995 meters Centerline goodness : 0.784589 Centerline is valid? [False, False] Translation: X:-300.02, Y:16.11, Z:136.41 [[ 9.99918395e-01 -1.40275176e-03 1.26978452e-02 -3.00024076e+02] [ 1.47928767e-03 9.99980785e-01 -6.02008803e-03 1.61148245e+01] [-1.26891565e-02 6.03838053e-03 9.99901257e-01 1.36411006e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.709072329 meters Centerline goodness : 0.783051 Centerline is valid? [False, False] Translation: X:-300.02, Y:16.11, Z:136.41 [[ 9.99919474e-01 -1.14250086e-03 1.26388480e-02 -3.00023766e+02] [ 1.21452475e-03 9.99983061e-01 -5.69240509e-03 1.61142709e+01] [-1.26321303e-02 5.70729690e-03 9.99903923e-01 1.36410734e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.73907232899995 meters Centerline goodness : 0.782529 Centerline is valid? [False, False] Translation: X:-300.02, Y:16.11, Z:136.41 [[ 9.99928786e-01 -7.85436408e-05 1.19338452e-02 -3.00021440e+02] [ 1.37933674e-04 9.99987611e-01 -4.97586336e-03 1.61143803e+01] [-1.19333065e-02 4.97715509e-03 9.99916409e-01 1.36410143e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.769072329 meters Centerline goodness : 0.783267 Centerline is valid? [False, False] Translation: X:-300.02, Y:16.12, Z:136.41 [[ 9.99935452e-01 5.61103598e-04 1.13479945e-02 -3.00019791e+02] [-5.08187538e-04 9.99988988e-01 -4.66537797e-03 1.61150815e+01] [-1.13504873e-02 4.65930992e-03 9.99924726e-01 1.36410051e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.79907232899996 meters Centerline goodness : 0.784042 Centerline is valid? [False, False] Translation: X:-300.02, Y:16.12, Z:136.41 [[ 9.99939026e-01 8.09122255e-04 1.10131132e-02 -3.00018897e+02] [-7.56287712e-04 9.99988190e-01 -4.80074073e-03 1.61167471e+01] [-1.10168676e-02 4.79211893e-03 9.99927830e-01 1.36410127e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.829072329 meters Centerline goodness : 0.785484 Centerline is valid? [False, False] Translation: X:-300.02, Y:16.12, Z:136.41 [[ 9.99938904e-01 7.87800074e-04 1.10258090e-02 -3.00019016e+02] [-7.32431704e-04 9.99987107e-01 -5.02484326e-03 1.61178930e+01] [-1.10296254e-02 5.01646060e-03 9.99926589e-01 1.36410296e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.85907232899996 meters Centerline goodness : 0.785477 Centerline is valid? [False, False] Translation: X:-300.02, Y:16.12, Z:136.41 [[ 9.99944975e-01 1.43124965e-03 1.03922250e-02 -3.00017954e+02] [-1.37838266e-03 9.99986083e-01 -5.09254915e-03 1.61198275e+01] [-1.03993691e-02 5.07794447e-03 9.99933032e-01 1.36411310e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.889072329 meters Centerline goodness : 0.785592 Centerline is valid? [False, False] Translation: X:-300.02, Y:16.12, Z:136.41 [[ 9.99945131e-01 1.41466881e-03 1.03794961e-02 -3.00018183e+02] [-1.35991258e-03 9.99985133e-01 -5.28058594e-03 1.61207166e+01] [-1.03868121e-02 5.26618099e-03 9.99932188e-01 1.36411712e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.91907232899996 meters Centerline goodness : 0.783965 Centerline is valid? [False, False] Translation: X:-300.02, Y:16.12, Z:136.41 [[ 9.99946595e-01 1.71096771e-03 1.01921585e-02 -3.00017585e+02] [-1.65970633e-03 9.99985943e-01 -5.03582926e-03 1.61206119e+01] [-1.02006314e-02 5.01864433e-03 9.99935378e-01 1.36411539e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.949072329 meters Centerline goodness : 0.784116 Centerline is valid? [False, False] Translation: X:-300.02, Y:16.12, Z:136.41 [[ 9.99945776e-01 1.83082269e-03 1.02514792e-02 -3.00017422e+02] [-1.78150852e-03 9.99986809e-01 -4.81751200e-03 1.61202775e+01] [-1.02601640e-02 4.79898768e-03 9.99935847e-01 1.36411028e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.97907232899996 meters Centerline goodness : 0.784283 Centerline is valid? [False, False] Translation: X:-300.01, Y:16.12, Z:136.41 [[ 9.99948724e-01 2.89280431e-03 9.70466961e-03 -3.00014999e+02] [-2.85522725e-03 9.99988382e-01 -3.88368250e-03 1.61197146e+01] [-9.71579160e-03 3.85577432e-03 9.99945367e-01 1.36409785e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.009072329 meters Centerline goodness : 0.782366 Centerline is valid? [False, False] Translation: X:-300.01, Y:16.12, Z:136.41 [[ 9.99951283e-01 3.12243329e-03 9.36390627e-03 -3.00014125e+02] [-3.08613510e-03 9.99987678e-01 -3.88834058e-03 1.61205781e+01] [-9.37593198e-03 3.85925287e-03 9.99948598e-01 1.36409767e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.03907232899996 meters Centerline goodness : 0.782418 Centerline is valid? [False, False] Translation: X:-300.01, Y:16.12, Z:136.41 [[ 9.99949509e-01 3.14754913e-03 9.54313555e-03 -3.00014076e+02] [-3.11198005e-03 9.99988165e-01 -3.73975211e-03 1.61203314e+01] [-9.55479366e-03 3.70986524e-03 9.99947470e-01 1.36408989e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.069072329 meters Centerline goodness : 0.784494 Centerline is valid? [False, False] Translation: X:-300.01, Y:16.12, Z:136.41 [[ 9.99950547e-01 3.27359053e-03 9.39078690e-03 -3.00013830e+02] [-3.23859818e-03 9.99987765e-01 -3.73903225e-03 1.61207068e+01] [-9.40291206e-03 3.70843436e-03 9.99948915e-01 1.36409177e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.09907232899997 meters Centerline goodness : 0.782109 Centerline is valid? [False, False] Translation: X:-300.01, Y:16.12, Z:136.41 [[ 9.99951092e-01 3.35998994e-03 9.30184739e-03 -3.00013673e+02] [-3.32407861e-03 9.99986973e-01 -3.87343886e-03 1.61215857e+01] [-9.31474094e-03 3.84232935e-03 9.99949235e-01 1.36409336e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.12907232899994 meters Centerline goodness : 0.781785 Centerline is valid? [False, False] Translation: X:-300.01, Y:16.12, Z:136.41 [[ 9.99953175e-01 3.84094575e-03 8.88230154e-03 -3.00012634e+02] [-3.80916213e-03 9.99986292e-01 -3.59246185e-03 1.61216663e+01] [-8.89597824e-03 3.55845950e-03 9.99954098e-01 1.36409333e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.15907232899997 meters Centerline goodness : 0.781440 Centerline is valid? [False, False] Translation: X:-300.01, Y:16.12, Z:136.41 [[ 9.99955451e-01 4.36984694e-03 8.36657007e-03 -3.00011688e+02] [-4.34229954e-03 9.99985101e-01 -3.30789547e-03 1.61216028e+01] [-8.38090041e-03 3.27141795e-03 9.99959528e-01 1.36409798e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.18907232899994 meters Centerline goodness : 0.783601 Centerline is valid? [False, False] Translation: X:-300.01, Y:16.12, Z:136.41 [[ 9.99955333e-01 6.04682361e-03 7.26416661e-03 -3.00009179e+02] [-6.02727621e-03 9.99978164e-01 -2.70981939e-03 1.61229966e+01] [-7.28039379e-03 2.66591521e-03 9.99969944e-01 1.36410600e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.21907232899997 meters Centerline goodness : 0.783353 Centerline is valid? [False, False] Translation: X:-300.01, Y:16.12, Z:136.41 [[ 9.99957142e-01 6.03996388e-03 7.01655736e-03 -3.00008793e+02] [-6.01904745e-03 9.99977390e-01 -2.99831291e-03 1.61243186e+01] [-7.03450842e-03 2.95595142e-03 9.99970889e-01 1.36410976e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.24907232899994 meters Centerline goodness : 0.783581 Centerline is valid? [False, False] Translation: X:-300.01, Y:16.13, Z:136.41 [[ 9.99958513e-01 6.13891494e-03 6.72947721e-03 -3.00008089e+02] [-6.11704144e-03 9.99975957e-01 -3.26617941e-03 1.61258609e+01] [-6.74936621e-03 3.22487942e-03 9.99972023e-01 1.36411119e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.279072329 meters Centerline goodness : 0.781459 Centerline is valid? [False, False] Translation: X:-300.01, Y:16.13, Z:136.41 [[ 9.99957865e-01 6.11737834e-03 6.84447585e-03 -3.00008534e+02] [-6.09582966e-03 9.99976412e-01 -3.16477620e-03 1.61253244e+01] [-6.86367454e-03 3.12292009e-03 9.99971568e-01 1.36411213e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.30907232899995 meters Centerline goodness : 0.780773 Centerline is valid? [False, False] Translation: X:-300.01, Y:16.12, Z:136.41 [[ 9.99956016e-01 6.00012970e-03 7.20864080e-03 -3.00009588e+02] [-5.97830675e-03 9.99977493e-01 -3.04507588e-03 1.61244463e+01] [-7.22674941e-03 3.00184648e-03 9.99969381e-01 1.36411238e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.339072329 meters Centerline goodness : 0.781456 Centerline is valid? [False, False] Translation: X:-300.01, Y:16.12, Z:136.41 [[ 9.99956036e-01 6.33063650e-03 6.91726088e-03 -3.00008662e+02] [-6.31029678e-03 9.99975714e-01 -2.95830950e-03 1.61249838e+01] [-6.93582087e-03 2.91452947e-03 9.99971700e-01 1.36411021e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.36907232899995 meters Centerline goodness : 0.781564 Centerline is valid? [False, False] Translation: X:-300.01, Y:16.12, Z:136.41 [[ 9.99955285e-01 6.88991018e-03 6.47750152e-03 -3.00007838e+02] [-6.87419778e-03 9.99973384e-01 -2.44483227e-03 1.61239594e+01] [-6.49417379e-03 2.40019533e-03 9.99976032e-01 1.36411276e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.399072329 meters Centerline goodness : 0.782200 Centerline is valid? [False, False] Translation: X:-300.01, Y:16.12, Z:136.41 [[ 9.99975201e-01 3.15929106e-03 6.29415177e-03 -3.00006716e+02] [-3.12015355e-03 9.99975799e-01 -6.21822194e-03 1.61240691e+01] [-6.31364462e-03 6.19842902e-03 9.99960858e-01 1.36410446e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.42907232899995 meters Centerline goodness : 0.782569 Centerline is valid? [False, False] Translation: X:-300.01, Y:16.12, Z:136.41 [[ 9.99974365e-01 3.89087925e-03 6.01093873e-03 -3.00005671e+02] [-3.85825135e-03 9.99977813e-01 -5.43017975e-03 1.61229811e+01] [-6.03193354e-03 5.40684883e-03 9.99967190e-01 1.36409978e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.459072329 meters Centerline goodness : 0.781481 Centerline is valid? [False, False] Translation: X:-300.01, Y:16.12, Z:136.41 [[ 9.99971576e-01 3.74566467e-03 6.54345479e-03 -3.00006999e+02] [-3.71120988e-03 9.99979228e-01 -5.26976498e-03 1.61219307e+01] [-6.56305764e-03 5.24533106e-03 9.99964706e-01 1.36409777e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.48907232899995 meters Centerline goodness : 0.781127 Centerline is valid? [False, False] Translation: X:-300.01, Y:16.12, Z:136.41 [[ 9.99968202e-01 3.32381651e-03 7.24898997e-03 -3.00008978e+02] [-3.28539200e-03 9.99980525e-01 -5.30615377e-03 1.61211942e+01] [-7.26648548e-03 5.28216927e-03 9.99959648e-01 1.36409866e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.519072329 meters Centerline goodness : 0.780065 Centerline is valid? [False, False] Translation: X:-300.01, Y:16.12, Z:136.41 [[ 9.99962444e-01 2.41635217e-03 8.32291479e-03 -3.00011991e+02] [-2.37026523e-03 9.99981830e-01 -5.54277515e-03 1.61199307e+01] [-8.33615686e-03 5.52283948e-03 9.99950002e-01 1.36409937e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.54907232899996 meters Centerline goodness : 0.781390 Centerline is valid? [False, False] Translation: X:-300.02, Y:16.12, Z:136.41 [[ 9.99956256e-01 6.54137514e-04 9.33046704e-03 -3.00015697e+02] [-5.93883654e-04 9.99978964e-01 -6.45906341e-03 1.61188761e+01] [-9.33449588e-03 6.45323965e-03 9.99935609e-01 1.36411014e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.579072329 meters Centerline goodness : 0.781390 Centerline is valid? [False, False] Translation: X:-300.02, Y:16.12, Z:136.41 [[ 9.99956256e-01 6.54137514e-04 9.33046704e-03 -3.00015697e+02] [-5.93883654e-04 9.99978964e-01 -6.45906341e-03 1.61188761e+01] [-9.33449588e-03 6.45323965e-03 9.99935609e-01 1.36411014e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.60907232899996 meters Centerline goodness : 0.781546 Centerline is valid? [False, False] Translation: X:-300.02, Y:16.12, Z:136.41 [[ 9.99948628e-01 3.24832044e-04 1.01309743e-02 -3.00017667e+02] [-2.61352594e-04 9.99980331e-01 -6.26657274e-03 1.61173912e+01] [-1.01328106e-02 6.26360305e-03 9.99929044e-01 1.36410767e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.639072329 meters Centerline goodness : 0.782532 Centerline is valid? [False, False] Translation: X:-300.02, Y:16.12, Z:136.41 [[ 9.99942546e-01 1.75647430e-04 1.07179591e-02 -3.00019039e+02] [-1.11077135e-04 9.99981845e-01 -6.02479325e-03 1.61162321e+01] [-1.07188228e-02 6.02325658e-03 9.99924411e-01 1.36410441e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.66907232899996 meters Centerline goodness : 0.782002 Centerline is valid? [False, False] Translation: X:-300.02, Y:16.12, Z:136.41 [[ 9.99935423e-01 -1.00608389e-04 1.13639723e-02 -3.00020548e+02] [ 1.68910759e-04 9.99981928e-01 -6.00963099e-03 1.61157020e+01] [-1.13631623e-02 6.01116240e-03 9.99917369e-01 1.36410209e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.699072329 meters Centerline goodness : 0.781945 Centerline is valid? [False, False] Translation: X:-300.02, Y:16.12, Z:136.41 [[ 9.99924809e-01 -6.85116521e-04 1.22436903e-02 -3.00022644e+02] [ 7.60386312e-04 9.99980836e-01 -6.14404189e-03 1.61152756e+01] [-1.22392463e-02 6.15288985e-03 9.99906167e-01 1.36409911e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.72907232899996 meters Centerline goodness : 0.780394 Centerline is valid? [False, False] Translation: X:-300.03, Y:16.11, Z:136.41 [[ 9.99913455e-01 -1.38564154e-03 1.30829333e-02 -3.00025049e+02] [ 1.46841452e-03 9.99978955e-01 -6.31930564e-03 1.61143636e+01] [-1.30739017e-02 6.33796990e-03 9.99894446e-01 1.36410101e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.759072329 meters Centerline goodness : 0.779197 Centerline is valid? [False, False] Translation: X:-300.03, Y:16.11, Z:136.41 [[ 9.99902959e-01 -1.53023293e-03 1.38467079e-02 -3.00026703e+02] [ 1.60613924e-03 9.99983736e-01 -5.47244405e-03 1.61105022e+01] [-1.38381086e-02 5.49415273e-03 9.99889154e-01 1.36409215e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.78907232899996 meters Centerline goodness : 0.780296 Centerline is valid? [False, False] Translation: X:-300.03, Y:16.11, Z:136.41 [[ 9.99903495e-01 -1.38027965e-03 1.38237293e-02 -3.00026529e+02] [ 1.45467684e-03 9.99984506e-01 -5.37323835e-03 1.61108205e+01] [-1.38160985e-02 5.39282886e-03 9.99890010e-01 1.36409079e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.819072329 meters Centerline goodness : 0.778778 Centerline is valid? [False, False] Translation: X:-300.03, Y:16.11, Z:136.41 [[ 9.99900005e-01 -1.39153268e-03 1.40727655e-02 -3.00027218e+02] [ 1.46422209e-03 9.99985634e-01 -5.15627048e-03 1.61100310e+01] [-1.40653882e-02 5.17636053e-03 9.99887679e-01 1.36409087e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.84907232899997 meters Centerline goodness : 0.777785 Centerline is valid? [False, False] Translation: X:-300.03, Y:16.11, Z:136.41 [[ 9.99886206e-01 -2.13457866e-03 1.49337880e-02 -3.00029510e+02] [ 2.22155041e-03 9.99980656e-01 -5.80966100e-03 1.61111130e+01] [-1.49210979e-02 5.84217606e-03 9.99871607e-01 1.36409239e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.87907232899994 meters Centerline goodness : 0.778595 Centerline is valid? [False, False] Translation: X:-300.03, Y:16.11, Z:136.41 [[ 9.99885572e-01 -1.99449183e-03 1.49954982e-02 -3.00029919e+02] [ 2.07739759e-03 9.99982634e-01 -5.51516700e-03 1.61102701e+01] [-1.49842379e-02 5.54568752e-03 9.99872351e-01 1.36409554e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.90907232899997 meters Centerline goodness : 0.778756 Centerline is valid? [False, False] Translation: X:-300.03, Y:16.11, Z:136.41 [[ 9.99885510e-01 -1.86222046e-03 1.50166053e-02 -3.00030130e+02] [ 1.94389741e-03 9.99983388e-01 -5.42634796e-03 1.61104146e+01] [-1.50062508e-02 5.45491744e-03 9.99872520e-01 1.36409765e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.93907232899994 meters Centerline goodness : 0.777843 Centerline is valid? [False, False] Translation: X:-300.03, Y:16.11, Z:136.41 [[ 9.99878605e-01 -5.14495498e-03 1.47072887e-02 -3.00028714e+02] [ 5.27045109e-03 9.99949926e-01 -8.50693418e-03 1.61084555e+01] [-1.46627845e-02 8.58341553e-03 9.99855653e-01 1.36408906e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.96907232899997 meters Centerline goodness : 0.778616 Centerline is valid? [False, False] Translation: X:-300.03, Y:16.11, Z:136.41 [[ 9.99881804e-01 -1.30684330e-03 1.53189789e-02 -3.00030064e+02] [ 1.37424095e-03 9.99989420e-01 -4.38991669e-03 1.61080842e+01] [-1.53130799e-02 4.41044979e-03 9.99873021e-01 1.36408414e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.99907232899994 meters Centerline goodness : 0.778048 Centerline is valid? [False, False] Translation: X:-300.03, Y:16.11, Z:136.41 [[ 9.99885500e-01 -8.77369685e-04 1.51068787e-02 -3.00028719e+02] [ 9.37003472e-04 9.99991796e-01 -3.94083374e-03 1.61077025e+01] [-1.51032972e-02 3.95453771e-03 9.99878119e-01 1.36407300e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.029072329 meters Centerline goodness : 0.777163 Centerline is valid? [False, False] Translation: X:-300.03, Y:16.11, Z:136.41 [[ 9.99889612e-01 -6.45061897e-04 1.48441332e-02 -3.00028104e+02] [ 7.01587432e-04 9.99992522e-01 -3.80304538e-03 1.61078729e+01] [-1.48415690e-02 3.81304003e-03 9.99882587e-01 1.36407368e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.05907232899995 meters Centerline goodness : 0.776477 Centerline is valid? [False, False] Translation: X:-300.03, Y:16.11, Z:136.41 [[ 9.99890110e-01 -6.91837310e-04 1.48084008e-02 -3.00027933e+02] [ 7.52945051e-04 9.99991224e-01 -4.12138171e-03 1.61095030e+01] [-1.48054195e-02 4.13207872e-03 9.99881856e-01 1.36407354e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.089072329 meters Centerline goodness : 0.777021 Centerline is valid? [False, False] Translation: X:-300.03, Y:16.11, Z:136.41 [[ 9.99894869e-01 -5.10643459e-04 1.44910506e-02 -3.00027591e+02] [ 5.73329088e-04 9.99990496e-01 -4.32199221e-03 1.61109344e+01] [-1.44887058e-02 4.32984598e-03 9.99885658e-01 1.36408148e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.11907232899995 meters Centerline goodness : 0.777240 Centerline is valid? [False, False] Translation: X:-300.03, Y:16.11, Z:136.41 [[ 9.99890437e-01 -6.70921544e-04 1.47872900e-02 -3.00028927e+02] [ 7.35684574e-04 9.99990161e-01 -4.37463714e-03 1.61106104e+01] [-1.47842094e-02 4.38503662e-03 9.99881092e-01 1.36408910e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.149072329 meters Centerline goodness : 0.778346 Centerline is valid? [False, False] Translation: X:-300.03, Y:16.11, Z:136.41 [[ 9.99898014e-01 -2.36477416e-05 1.42814612e-02 -3.00027570e+02] [ 8.26577754e-05 9.99991462e-01 -4.13135639e-03 1.61115102e+01] [-1.42812415e-02 4.13211552e-03 9.99889480e-01 1.36408947e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.17907232899995 meters Centerline goodness : 0.777105 Centerline is valid? [False, False] Translation: X:-300.03, Y:16.11, Z:136.41 [[ 9.99883978e-01 -1.38665718e-03 1.51693265e-02 -3.00030746e+02] [ 1.46790840e-03 9.99984630e-01 -5.34646206e-03 1.61126620e+01] [-1.51616797e-02 5.36810893e-03 9.99870645e-01 1.36410007e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.209072329 meters Centerline goodness : 0.775234 Centerline is valid? [False, False] Translation: X:-300.03, Y:16.11, Z:136.41 [[ 9.99888990e-01 -6.65704223e-04 1.48850224e-02 -3.00029573e+02] [ 7.33072780e-04 9.99989512e-01 -4.52093113e-03 1.61111822e+01] [-1.48818566e-02 4.53134107e-03 9.99878991e-01 1.36409272e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.23907232899995 meters Centerline goodness : 0.776206 Centerline is valid? [False, False] Translation: X:-300.03, Y:16.11, Z:136.41 [[ 9.99892582e-01 -3.44716192e-04 1.46528095e-02 -3.00028706e+02] [ 4.06176660e-04 9.99991132e-01 -4.19168044e-03 1.61106855e+01] [-1.46512346e-02 4.19718181e-03 9.99883856e-01 1.36408858e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.269072329 meters Centerline goodness : 0.775800 Centerline is valid? [False, False] Translation: X:-300.03, Y:16.11, Z:136.41 [[ 9.99888833e-01 -5.70837142e-04 1.48995454e-02 -3.00029267e+02] [ 6.35848280e-04 9.99990298e-01 -4.35892430e-03 1.61110317e+01] [-1.48969126e-02 4.36791358e-03 9.99879494e-01 1.36408820e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.29907232899996 meters Centerline goodness : 0.776333 Centerline is valid? [False, False] Translation: X:-300.03, Y:16.11, Z:136.41 [[ 9.99885924e-01 -6.94370786e-04 1.50883054e-02 -3.00029983e+02] [ 7.62555323e-04 9.99989522e-01 -4.51374898e-03 1.61114120e+01] [-1.50850131e-02 4.52473974e-03 9.99875977e-01 1.36409153e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.329072329 meters Centerline goodness : 0.776403 Centerline is valid? [False, False] Translation: X:-300.03, Y:16.11, Z:136.41 [[ 9.99884130e-01 -7.19529680e-04 1.52055811e-02 -3.00030651e+02] [ 7.89003246e-04 9.99989276e-01 -4.56344678e-03 1.61115487e+01] [-1.52021345e-02 4.57491527e-03 9.99873975e-01 1.36409637e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.35907232899996 meters Centerline goodness : 0.775249 Centerline is valid? [False, False] Translation: X:-300.03, Y:16.11, Z:136.41 [[ 9.99875140e-01 -4.38367964e-03 1.51818365e-02 -3.00030341e+02] [ 4.50705437e-03 9.99957023e-01 -8.10181149e-03 1.61100913e+01] [-1.51456683e-02 8.16922526e-03 9.99851925e-01 1.36409310e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.389072329 meters Centerline goodness : 0.775129 Centerline is valid? [False, False] Translation: X:-300.03, Y:16.11, Z:136.41 [[ 9.99855821e-01 -5.12110743e-03 1.61898661e-02 -3.00033097e+02] [ 5.25719542e-03 9.99951114e-01 -8.37439629e-03 1.61095727e+01] [-1.61461885e-02 8.45830217e-03 9.99833865e-01 1.36409449e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.41907232899996 meters Centerline goodness : 0.775962 Centerline is valid? [False, False] Translation: X:-300.03, Y:16.11, Z:136.41 [[ 9.99820323e-01 -9.07047076e-03 1.66447678e-02 -3.00034111e+02] [ 9.26726726e-03 9.99887615e-01 -1.17845301e-02 1.61071707e+01] [-1.65360059e-02 1.19366642e-02 9.99792017e-01 1.36409251e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.449072329 meters Centerline goodness : 0.775257 Centerline is valid? [False, False] Translation: X:-300.04, Y:16.11, Z:136.41 [[ 9.99806467e-01 -9.38507441e-03 1.72901350e-02 -3.00035475e+02] [ 9.59026161e-03 9.99884117e-01 -1.18228537e-02 1.61068547e+01] [-1.71771730e-02 1.19863825e-02 9.99780612e-01 1.36408836e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.47907232899996 meters Centerline goodness : 0.775210 Centerline is valid? [False, False] Translation: X:-300.04, Y:16.11, Z:136.41 [[ 9.99789601e-01 -9.69074085e-03 1.80788123e-02 -3.00037332e+02] [ 9.90248915e-03 9.99882986e-01 -1.16599904e-02 1.61057964e+01] [-1.79637029e-02 1.18365624e-02 9.99768574e-01 1.36408521e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.509072329 meters Centerline goodness : 0.772784 Centerline is valid? [False, False] Translation: X:-300.03, Y:16.10, Z:136.41 [[ 9.99722214e-01 -1.82389639e-02 1.49276428e-02 -3.00028558e+02] [ 1.83724301e-02 9.99792017e-01 -8.85310290e-03 1.60970768e+01] [-1.47630666e-02 9.12490071e-03 9.99849383e-01 1.36413528e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.53907232899996 meters Centerline goodness : 0.773819 Centerline is valid? [False, False] Translation: X:-300.03, Y:16.10, Z:136.41 [[ 9.99691087e-01 -1.90381584e-02 1.59774571e-02 -3.00031230e+02] [ 1.91834994e-02 9.99775533e-01 -8.99319676e-03 1.60961129e+01] [-1.58026568e-02 9.29692218e-03 9.99831908e-01 1.36413395e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.569072329 meters Centerline goodness : 0.774121 Centerline is valid? [False, False] Translation: X:-300.03, Y:16.10, Z:136.41 [[ 9.99633107e-01 -2.09822705e-02 1.71287967e-02 -3.00034611e+02] [ 2.11553708e-02 9.99726308e-01 -9.98792794e-03 1.60950901e+01] [-1.69145393e-02 1.03466295e-02 9.99803403e-01 1.36413636e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.59907232899997 meters Centerline goodness : 0.775273 Centerline is valid? [False, False] Translation: X:-300.04, Y:16.09, Z:136.41 [[ 9.99623385e-01 -2.11328993e-02 1.75068028e-02 -3.00035636e+02] [ 2.13096105e-02 9.99723216e-01 -9.96954695e-03 1.60949723e+01] [-1.72912718e-02 1.03388554e-02 9.99797039e-01 1.36413722e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.62907232899994 meters Centerline goodness : 0.774035 Centerline is valid? [False, False] Translation: X:-300.04, Y:16.10, Z:136.41 [[ 9.99600120e-01 -2.16547620e-02 1.81843744e-02 -3.00037462e+02] [ 2.18468587e-02 9.99706896e-01 -1.04324563e-02 1.60959150e+01] [-1.79531321e-02 1.08255560e-02 9.99780222e-01 1.36413910e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.65907232899997 meters Centerline goodness : 0.774968 Centerline is valid? [False, False] Translation: X:-300.04, Y:16.10, Z:136.41 [[ 9.99577775e-01 -2.20817739e-02 1.88856264e-02 -3.00038943e+02] [ 2.22816423e-02 9.99697233e-01 -1.04389530e-02 1.60954804e+01] [-1.86493979e-02 1.08553482e-02 9.99767154e-01 1.36413517e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.68907232899994 meters Centerline goodness : 0.772707 Centerline is valid? [False, False] Translation: X:-300.04, Y:16.09, Z:136.41 [[ 9.99567838e-01 -2.20500873e-02 1.94404342e-02 -3.00039954e+02] [ 2.22460075e-02 9.99703311e-01 -9.91996337e-03 1.60936927e+01] [-1.92159304e-02 1.03481484e-02 9.99761804e-01 1.36412837e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.71907232899997 meters Centerline goodness : 0.773356 Centerline is valid? [False, False] Translation: X:-300.04, Y:16.09, Z:136.41 [[ 9.99476674e-01 -2.56256878e-02 1.97409001e-02 -3.00040445e+02] [ 2.58852003e-02 9.99580332e-01 -1.30044924e-02 1.60902573e+01] [-1.93993664e-02 1.35086839e-02 9.99720551e-01 1.36412575e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.74907232899994 meters Centerline goodness : 0.772990 Centerline is valid? [False, False] Translation: X:-300.04, Y:16.09, Z:136.41 [[ 9.99439111e-01 -2.63886083e-02 2.06180669e-02 -3.00043064e+02] [ 2.66749871e-02 9.99549723e-01 -1.37403420e-02 1.60916327e+01] [-2.02461945e-02 1.42826219e-02 9.99693002e-01 1.36413137e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.779072329 meters Centerline goodness : 0.773566 Centerline is valid? [False, False] Translation: X:-300.05, Y:16.09, Z:136.41 [[ 9.99410193e-01 -2.69199887e-02 2.13209081e-02 -3.00045156e+02] [ 2.72230974e-02 9.99530554e-01 -1.40561472e-02 1.60917107e+01] [-2.09325077e-02 1.46282780e-02 9.99673869e-01 1.36413570e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.80907232899995 meters Centerline goodness : 0.773333 Centerline is valid? [False, False] Translation: X:-300.05, Y:16.09, Z:136.41 [[ 9.99397281e-01 -2.71524464e-02 2.16291559e-02 -3.00046186e+02] [ 2.74643638e-02 9.99521109e-01 -1.42570115e-02 1.60921118e+01] [-2.12316851e-02 1.48424496e-02 9.99664402e-01 1.36413894e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.839072329 meters Centerline goodness : 0.773303 Centerline is valid? [False, False] Translation: X:-300.05, Y:16.09, Z:136.41 [[ 9.99459849e-01 -2.39838009e-02 2.24674940e-02 -3.00048816e+02] [ 2.42328355e-02 9.99647154e-01 -1.08782879e-02 1.60934213e+01] [-2.21986638e-02 1.14168631e-02 9.99688389e-01 1.36414215e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.86907232899995 meters Centerline goodness : 0.772953 Centerline is valid? [False, False] Translation: X:-300.05, Y:16.09, Z:136.41 [[ 9.99424189e-01 -2.46668042e-02 2.32989215e-02 -3.00050742e+02] [ 2.49337233e-02 9.99625960e-01 -1.12360700e-02 1.60936184e+01] [-2.30130488e-02 1.18105290e-02 9.99665400e-01 1.36414025e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.899072329 meters Centerline goodness : 0.771617 Centerline is valid? [False, False] Translation: X:-300.05, Y:16.09, Z:136.41 [[ 9.99394846e-01 -2.50714042e-02 2.41115262e-02 -3.00052662e+02] [ 2.53479615e-02 9.99615571e-01 -1.12334662e-02 1.60929280e+01] [-2.38206182e-02 1.18378463e-02 9.99646159e-01 1.36413749e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.92907232899995 meters Centerline goodness : 0.771834 Centerline is valid? [False, False] Translation: X:-300.05, Y:16.09, Z:136.41 [[ 9.99367400e-01 -2.54946335e-02 2.47956318e-02 -3.00053966e+02] [ 2.57838935e-02 9.99602345e-01 -1.14168143e-02 1.60930999e+01] [-2.44947042e-02 1.20489199e-02 9.99627347e-01 1.36413117e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.959072329 meters Centerline goodness : 0.771997 Centerline is valid? [False, False] Translation: X:-300.05, Y:16.09, Z:136.41 [[ 9.99376717e-01 -2.51378827e-02 2.47843588e-02 -3.00053533e+02] [ 2.54118120e-02 9.99618726e-01 -1.08001575e-02 1.60916791e+01] [-2.45034161e-02 1.14232415e-02 9.99634479e-01 1.36412445e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.98907232899995 meters Centerline goodness : 0.772673 Centerline is valid? [False, False] Translation: X:-300.06, Y:16.09, Z:136.41 [[ 9.99328781e-01 -2.60165478e-02 2.57900353e-02 -3.00055847e+02] [ 2.63123897e-02 9.99591038e-01 -1.11989123e-02 1.60915018e+01] [-2.54881311e-02 1.18699928e-02 9.99604651e-01 1.36412068e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.019072329 meters Centerline goodness : 0.771719 Centerline is valid? [False, False] Translation: X:-300.06, Y:16.09, Z:136.41 [[ 9.99332404e-01 -2.59300451e-02 2.57367166e-02 -3.00055951e+02] [ 2.62259228e-02 9.99593005e-01 -1.12260904e-02 1.60921267e+01] [-2.54351488e-02 1.18935651e-02 9.99605720e-01 1.36412440e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.04907232899996 meters Centerline goodness : 0.772971 Centerline is valid? [False, False] Translation: X:-300.06, Y:16.09, Z:136.41 [[ 9.99327720e-01 -2.61188719e-02 2.57276692e-02 -3.00057076e+02] [ 2.64293558e-02 9.99581003e-01 -1.18028467e-02 1.60939258e+01] [-2.54086124e-02 1.24748776e-02 9.99599310e-01 1.36414121e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.079072329 meters Centerline goodness : 0.772220 Centerline is valid? [False, False] Translation: X:-300.06, Y:16.09, Z:136.41 [[ 9.99313044e-01 -2.63495658e-02 2.60603287e-02 -3.00058104e+02] [ 2.66717834e-02 9.99571073e-01 -1.20949102e-02 1.60949698e+01] [-2.57304551e-02 1.27816770e-02 9.99587201e-01 1.36414417e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.10907232899996 meters Centerline goodness : 0.771457 Centerline is valid? [False, False] Translation: X:-300.06, Y:16.10, Z:136.42 [[ 9.99232485e-01 -2.82453823e-02 2.71410859e-02 -3.00061917e+02] [ 2.86192065e-02 9.99499423e-01 -1.34849995e-02 1.60953584e+01] [-2.67466108e-02 1.42514059e-02 9.99540653e-01 1.36415720e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.139072329 meters Centerline goodness : 0.772308 Centerline is valid? [False, False] Translation: X:-300.06, Y:16.09, Z:136.42 [[ 9.99129874e-01 -3.16162705e-02 2.72012057e-02 -3.00062448e+02] [ 3.20743360e-02 9.99348097e-01 -1.65716004e-02 1.60920848e+01] [-2.66595409e-02 1.74296416e-02 9.99492610e-01 1.36416386e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.16907232899996 meters Centerline goodness : 0.771817 Centerline is valid? [False, False] Translation: X:-300.06, Y:16.09, Z:136.42 [[ 9.99135626e-01 -3.14128211e-02 2.72256410e-02 -3.00062375e+02] [ 3.18631685e-02 9.99359835e-01 -1.62683069e-02 1.60916127e+01] [-2.66971787e-02 1.71217402e-02 9.99496927e-01 1.36416119e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.199072329 meters Centerline goodness : 0.773609 Centerline is valid? [False, False] Translation: X:-300.06, Y:16.09, Z:136.42 [[ 9.99079630e-01 -3.23035178e-02 2.82201112e-02 -3.00064500e+02] [ 3.27796765e-02 9.99325129e-01 -1.65764735e-02 1.60911910e+01] [-2.76655879e-02 1.74862632e-02 9.99464279e-01 1.36415574e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.22907232899996 meters Centerline goodness : 0.771711 Centerline is valid? [False, False] Translation: X:-300.06, Y:16.09, Z:136.42 [[ 9.99087888e-01 -3.19868072e-02 2.82884414e-02 -3.00064543e+02] [ 3.24462845e-02 9.99346437e-01 -1.59354138e-02 1.60894029e+01] [-2.77602301e-02 1.68387337e-02 9.99472774e-01 1.36415247e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.259072329 meters Centerline goodness : 0.773062 Centerline is valid? [False, False] Translation: X:-300.07, Y:16.09, Z:136.42 [[ 9.99069754e-01 -3.21692305e-02 2.87187516e-02 -3.00065466e+02] [ 3.26379753e-02 9.99339082e-01 -1.60050355e-02 1.60895717e+01] [-2.81849012e-02 1.69274688e-02 9.99459390e-01 1.36415020e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.28907232899996 meters Centerline goodness : 0.771534 Centerline is valid? [False, False] Translation: X:-300.07, Y:16.09, Z:136.41 [[ 9.99075392e-01 -3.18305679e-02 2.88994159e-02 -3.00065595e+02] [ 3.22805613e-02 9.99362647e-01 -1.52402335e-02 1.60873178e+01] [-2.83958915e-02 1.61590316e-02 9.99466137e-01 1.36414408e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.319072329 meters Centerline goodness : 0.772899 Centerline is valid? [False, False] Translation: X:-300.07, Y:16.09, Z:136.42 [[ 9.99097524e-01 -3.02719029e-02 2.97951181e-02 -3.00068968e+02] [ 3.06841495e-02 9.99438264e-01 -1.34773665e-02 1.60895380e+01] [-2.93703956e-02 1.43794414e-02 9.99465163e-01 1.36415579e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.34907232899997 meters Centerline goodness : 0.772328 Centerline is valid? [False, False] Translation: X:-300.07, Y:16.09, Z:136.42 [[ 9.99112279e-01 -3.00765472e-02 2.94966995e-02 -3.00068433e+02] [ 3.04864729e-02 9.99443366e-01 -1.35474096e-02 1.60904353e+01] [-2.90728214e-02 1.44346336e-02 9.99473067e-01 1.36415968e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.37907232899994 meters Centerline goodness : 0.772213 Centerline is valid? [False, False] Translation: X:-300.07, Y:16.09, Z:136.42 [[ 9.99166752e-01 -2.74739115e-02 3.01825418e-02 -3.00071593e+02] [ 2.78159668e-02 9.99552844e-01 -1.09720007e-02 1.60931653e+01] [-2.98676017e-02 1.18024149e-02 9.99484182e-01 1.36417526e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.40907232899997 meters Centerline goodness : 0.772533 Centerline is valid? [False, False] Translation: X:-300.07, Y:16.10, Z:136.42 [[ 9.99222349e-01 -2.45170321e-02 3.08806059e-02 -3.00074230e+02] [ 2.47812218e-02 9.99659254e-01 -8.20167368e-03 1.60964975e+01] [-3.06690027e-02 8.96055479e-03 9.99489430e-01 1.36418484e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.43907232899994 meters Centerline goodness : 0.773268 Centerline is valid? [False, False] Translation: X:-300.07, Y:16.10, Z:136.42 [[ 9.99256300e-01 -2.38995409e-02 3.02598513e-02 -3.00072526e+02] [ 2.41477863e-02 9.99677461e-01 -7.86504998e-03 1.60969989e+01] [-3.00621203e-02 8.58990916e-03 9.99511122e-01 1.36418317e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.46907232899997 meters Centerline goodness : 0.772422 Centerline is valid? [False, False] Translation: X:-300.07, Y:16.10, Z:136.42 [[ 9.99273610e-01 -2.34981312e-02 3.00015057e-02 -3.00071997e+02] [ 2.37291749e-02 9.99691269e-01 -7.36835439e-03 1.60959740e+01] [-2.98191007e-02 8.07491307e-03 9.99522695e-01 1.36418383e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.49907232899994 meters Centerline goodness : 0.772422 Centerline is valid? [False, False] Translation: X:-300.07, Y:16.10, Z:136.42 [[ 9.99273610e-01 -2.34981312e-02 3.00015057e-02 -3.00071997e+02] [ 2.37291749e-02 9.99691269e-01 -7.36835439e-03 1.60959740e+01] [-2.98191007e-02 8.07491307e-03 9.99522695e-01 1.36418383e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.529072329 meters Centerline goodness : 0.771937 Centerline is valid? [False, False] Translation: X:-300.07, Y:16.10, Z:136.42 [[ 9.99251302e-01 -2.38846163e-02 3.04361785e-02 -3.00073480e+02] [ 2.41320043e-02 9.99678454e-01 -7.78680057e-03 1.60966196e+01] [-3.02404071e-02 8.51545659e-03 9.99506381e-01 1.36418940e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.55907232899995 meters Centerline goodness : 0.772215 Centerline is valid? [False, False] Translation: X:-300.07, Y:16.10, Z:136.42 [[ 9.99231688e-01 -2.42066926e-02 3.08232013e-02 -3.00074999e+02] [ 2.44679230e-02 9.99667587e-01 -8.12628304e-03 1.60972358e+01] [-3.06162448e-02 8.87421924e-03 9.99491818e-01 1.36419666e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.589072329 meters Centerline goodness : 0.772695 Centerline is valid? [False, False] Translation: X:-300.07, Y:16.10, Z:136.42 [[ 9.99242071e-01 -2.39686724e-02 3.06722452e-02 -3.00074920e+02] [ 2.42218270e-02 9.99675325e-01 -7.90872028e-03 1.60970521e+01] [-3.04727251e-02 8.64566384e-03 9.99498207e-01 1.36420052e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.61907232899995 meters Centerline goodness : 0.773286 Centerline is valid? [False, False] Translation: X:-300.07, Y:16.10, Z:136.42 [[ 9.99238814e-01 -2.40431091e-02 3.07200515e-02 -3.00074742e+02] [ 2.42992914e-02 9.99672773e-01 -7.99326773e-03 1.60974474e+01] [-3.05178161e-02 8.73365885e-03 9.99496066e-01 1.36419682e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.649072329 meters Centerline goodness : 0.773241 Centerline is valid? [False, False] Translation: X:-300.07, Y:16.10, Z:136.42 [[ 9.99233958e-01 -2.40185246e-02 3.08967349e-02 -3.00074708e+02] [ 2.42719544e-02 9.99674543e-01 -7.85369272e-03 1.60974248e+01] [-3.06980452e-02 8.59760060e-03 9.99491726e-01 1.36418998e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.67907232899995 meters Centerline goodness : 0.772896 Centerline is valid? [False, False] Translation: X:-300.08, Y:16.10, Z:136.42 [[ 9.99203669e-01 -2.43673980e-02 3.15952176e-02 -3.00075625e+02] [ 2.46170834e-02 9.99668535e-01 -7.53781743e-03 1.60957069e+01] [-3.14010679e-02 8.30959694e-03 9.99472323e-01 1.36417702e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.709072329 meters Centerline goodness : 0.773273 Centerline is valid? [False, False] Translation: X:-300.07, Y:16.10, Z:136.42 [[ 9.99231107e-01 -2.37780109e-02 3.11737269e-02 -3.00074201e+02] [ 2.40109819e-02 9.99686338e-01 -7.12033497e-03 1.60959259e+01] [-3.09946415e-02 7.86337198e-03 9.99488619e-01 1.36417205e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.73907232899995 meters Centerline goodness : 0.771987 Centerline is valid? [False, False] Translation: X:-300.07, Y:16.10, Z:136.42 [[ 9.99221798e-01 -2.39667367e-02 3.13272000e-02 -3.00074676e+02] [ 2.42086169e-02 9.99679801e-01 -7.36469032e-03 1.60967474e+01] [-3.11406615e-02 8.11734729e-03 9.99482050e-01 1.36417353e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.769072329 meters Centerline goodness : 0.772140 Centerline is valid? [False, False] Translation: X:-300.07, Y:16.10, Z:136.42 [[ 9.99217616e-01 -2.40713211e-02 3.13803611e-02 -3.00074875e+02] [ 2.43203039e-02 9.99675504e-01 -7.57690732e-03 1.60976813e+01] [-3.11877922e-02 8.33415919e-03 9.99478796e-01 1.36417493e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.79907232899996 meters Centerline goodness : 0.772995 Centerline is valid? [False, False] Translation: X:-300.08, Y:16.10, Z:136.42 [[ 9.99210096e-01 -2.41388514e-02 3.15673995e-02 -3.00075651e+02] [ 2.43932825e-02 9.99672787e-01 -7.69975899e-03 1.60979639e+01] [-3.13712069e-02 8.46370941e-03 9.99471967e-01 1.36417976e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.829072329 meters Centerline goodness : 0.774272 Centerline is valid? [False, False] Translation: X:-300.07, Y:16.10, Z:136.42 [[ 9.99250827e-01 -2.33390061e-02 3.08719057e-02 -3.00074398e+02] [ 2.35669936e-02 9.99697459e-01 -7.04176566e-03 1.60970708e+01] [-3.06982179e-02 7.76404817e-03 9.99498544e-01 1.36418515e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.85907232899996 meters Centerline goodness : 0.772808 Centerline is valid? [False, False] Translation: X:-300.07, Y:16.10, Z:136.42 [[ 9.99286323e-01 -2.26015716e-02 3.02657228e-02 -3.00072778e+02] [ 2.28136575e-02 9.99717414e-01 -6.68053635e-03 1.60974949e+01] [-3.01061795e-02 7.36624044e-03 9.99519563e-01 1.36418441e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.889072329 meters Centerline goodness : 0.772953 Centerline is valid? [False, False] Translation: X:-300.07, Y:16.10, Z:136.42 [[ 9.99298248e-01 -2.24671729e-02 2.99706158e-02 -3.00072050e+02] [ 2.26797488e-02 9.99719847e-01 -6.77178675e-03 1.60984422e+01] [-2.98100766e-02 7.44676068e-03 9.99527841e-01 1.36418460e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.91907232899996 meters Centerline goodness : 0.773742 Centerline is valid? [False, False] Translation: X:-300.07, Y:16.10, Z:136.42 [[ 9.99316831e-01 -2.21020048e-02 2.96204820e-02 -3.00071276e+02] [ 2.23019318e-02 9.99730563e-01 -6.43629176e-03 1.60980138e+01] [-2.94702462e-02 7.09248865e-03 9.99540495e-01 1.36418565e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.949072329 meters Centerline goodness : 0.772648 Centerline is valid? [False, False] Translation: X:-300.07, Y:16.10, Z:136.42 [[ 9.99360141e-01 -2.12052901e-02 2.88035511e-02 -3.00068749e+02] [ 2.13865377e-02 9.99753283e-01 -5.99908461e-03 1.60989757e+01] [-2.86692325e-02 6.61125428e-03 9.99567090e-01 1.36418134e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.97907232899996 meters Centerline goodness : 0.773450 Centerline is valid? [False, False] Translation: X:-300.07, Y:16.10, Z:136.42 [[ 9.99383883e-01 -2.07979865e-02 2.82718442e-02 -3.00067705e+02] [ 2.09683450e-02 9.99763647e-01 -5.74264674e-03 1.60989895e+01] [-2.81457266e-02 6.33192239e-03 9.99583776e-01 1.36418502e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.009072329 meters Centerline goodness : 0.773567 Centerline is valid? [False, False] Translation: X:-300.07, Y:16.10, Z:136.42 [[ 9.99426293e-01 -1.98527850e-02 2.74399785e-02 -3.00065356e+02] [ 2.00039751e-02 9.99786136e-01 -5.24633995e-03 1.60998524e+01] [-2.73299556e-02 5.79223873e-03 9.99609686e-01 1.36418307e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.03907232899996 meters Centerline goodness : 0.773507 Centerline is valid? [False, False] Translation: X:-300.06, Y:16.10, Z:136.42 [[ 9.99525004e-01 -1.55319523e-02 2.66181322e-02 -3.00064192e+02] [ 1.55829547e-02 9.99877117e-01 -1.70970474e-03 1.61029012e+01] [-2.65883062e-02 2.12368178e-03 9.99644213e-01 1.36419504e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.069072329 meters Centerline goodness : 0.771587 Centerline is valid? [False, False] Translation: X:-300.07, Y:16.12, Z:136.42 [[ 9.99760442e-01 -1.54040135e-02 1.55490984e-02 -3.00070259e+02] [ 1.55263480e-02 9.99849208e-01 -7.77780272e-03 1.61184221e+01] [-1.54269443e-02 8.01736020e-03 9.99848854e-01 1.36424618e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.09907232899997 meters Centerline goodness : 0.772929 Centerline is valid? [False, False] Translation: X:-300.07, Y:16.12, Z:136.43 [[ 9.99817520e-01 -1.14951713e-02 1.52573893e-02 -3.00070234e+02] [ 1.15639648e-02 9.99923329e-01 -4.42832487e-03 1.61211495e+01] [-1.52053151e-02 4.60395270e-03 9.99873793e-01 1.36425512e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.12907232899994 meters Centerline goodness : 0.773416 Centerline is valid? [False, False] Translation: X:-300.07, Y:16.12, Z:136.43 [[ 9.99829657e-01 -1.11426869e-02 1.47138238e-02 -3.00069038e+02] [ 1.12074748e-02 9.99927827e-01 -4.32811090e-03 1.61216748e+01] [-1.46645351e-02 4.49227845e-03 9.99882379e-01 1.36425775e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.15907232899997 meters Centerline goodness : 0.774704 Centerline is valid? [False, False] Translation: X:-300.07, Y:16.13, Z:136.43 [[ 9.99846295e-01 -8.33026294e-03 1.54270288e-02 -3.00071504e+02] [ 8.35846120e-03 9.99963511e-01 -1.76427312e-03 1.61252734e+01] [-1.54117690e-02 1.89294817e-03 9.99879440e-01 1.36426564e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.18907232899994 meters Centerline goodness : 0.773339 Centerline is valid? [False, False] Translation: X:-300.07, Y:16.13, Z:136.43 [[ 9.99867526e-01 -7.35102594e-03 1.45221681e-02 -3.00068677e+02] [ 7.37158555e-03 9.99971901e-01 -1.36271791e-03 1.61262755e+01] [-1.45117427e-02 1.46958879e-03 9.99893619e-01 1.36426078e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.21907232899997 meters Centerline goodness : 0.774612 Centerline is valid? [False, False] Translation: X:-300.07, Y:16.13, Z:136.43 [[ 9.99877063e-01 -6.91381593e-03 1.40733360e-02 -3.00067987e+02] [ 6.92792290e-03 9.99975547e-01 -9.53884147e-04 1.61252446e+01] [-1.40663969e-02 1.05126587e-03 9.99900511e-01 1.36426564e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.24907232899994 meters Centerline goodness : 0.773869 Centerline is valid? [False, False] Translation: X:-300.07, Y:16.13, Z:136.43 [[ 9.99898067e-01 -5.68055873e-03 1.30990957e-02 -3.00065336e+02] [ 5.68528570e-03 9.99983786e-01 -3.23651930e-04 1.61257778e+01] [-1.30970448e-02 3.98091041e-04 9.99914151e-01 1.36426460e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.279072329 meters Centerline goodness : 0.775747 Centerline is valid? [False, False] Translation: X:-300.06, Y:16.13, Z:136.43 [[ 9.99926397e-01 -8.18321293e-04 1.21050179e-02 -3.00063473e+02] [ 7.73014590e-04 9.99992681e-01 3.74700896e-03 1.61273049e+01] [-1.21079955e-02 -3.73737581e-03 9.99919711e-01 1.36427384e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.30907232899995 meters Centerline goodness : 0.775080 Centerline is valid? [False, False] Translation: X:-300.06, Y:16.13, Z:136.43 [[ 9.99935017e-01 1.06706875e-03 1.13500243e-02 -3.00060823e+02] [-1.11975270e-03 9.99988625e-01 4.63640602e-03 1.61295436e+01] [-1.13449479e-02 -4.64881395e-03 9.99924838e-01 1.36426893e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.339072329 meters Centerline goodness : 0.774444 Centerline is valid? [False, False] Translation: X:-300.06, Y:16.13, Z:136.43 [[ 9.99930530e-01 3.91255563e-05 1.17870239e-02 -3.00062807e+02] [-7.71630308e-05 9.99994791e-01 3.22662599e-03 1.61324829e+01] [-1.17868363e-02 -3.22731136e-03 9.99925325e-01 1.36428107e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.36907232899995 meters Centerline goodness : 0.775756 Centerline is valid? [False, False] Translation: X:-300.06, Y:16.13, Z:136.43 [[ 9.99935442e-01 2.16187101e-04 1.13607243e-02 -3.00062449e+02] [-2.52741814e-04 9.99994796e-01 3.21630211e-03 1.61325584e+01] [-1.13599699e-02 -3.21896580e-03 9.99930292e-01 1.36428998e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.399072329 meters Centerline goodness : 0.775466 Centerline is valid? [False, False] Translation: X:-300.06, Y:16.14, Z:136.43 [[ 9.99938845e-01 -2.86719667e-05 1.10591922e-02 -3.00062332e+02] [ 1.62460900e-06 9.99997009e-01 2.44569140e-03 1.61350831e+01] [-1.10592293e-02 -2.44552387e-03 9.99935854e-01 1.36429987e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.42907232899995 meters Centerline goodness : 0.775747 Centerline is valid? [False, False] Translation: X:-300.06, Y:16.14, Z:136.43 [[ 9.99945555e-01 1.83032802e-04 1.04332692e-02 -3.00061144e+02] [-2.07464667e-04 9.99997239e-01 2.34069247e-03 1.61359666e+01] [-1.04328120e-02 -2.34272956e-03 9.99942832e-01 1.36430568e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.459072329 meters Centerline goodness : 0.776399 Centerline is valid? [False, False] Translation: X:-300.06, Y:16.14, Z:136.43 [[ 9.99945789e-01 -1.10715033e-04 1.04118380e-02 -3.00061472e+02] [ 9.14911434e-05 9.99998290e-01 1.84680747e-03 1.61372458e+01] [-1.04120246e-02 -1.84575477e-03 9.99944090e-01 1.36431068e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.48907232899995 meters Centerline goodness : 0.775508 Centerline is valid? [False, False] Translation: X:-300.06, Y:16.14, Z:136.43 [[ 9.99939790e-01 3.95791640e-03 1.02348533e-02 -3.00061207e+02] [-4.01474094e-03 9.99976609e-01 5.53748885e-03 1.61391214e+01] [-1.02126970e-02 -5.57824572e-03 9.99932290e-01 1.36431409e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.519072329 meters Centerline goodness : 0.774981 Centerline is valid? [False, False] Translation: X:-300.06, Y:16.14, Z:136.43 [[ 9.99941452e-01 4.15319383e-03 9.99221733e-03 -3.00060787e+02] [-4.20909453e-03 9.99975574e-01 5.57991337e-03 1.61392140e+01] [-9.96879880e-03 -5.62164486e-03 9.99934508e-01 1.36431592e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.54907232899996 meters Centerline goodness : 0.775092 Centerline is valid? [False, False] Translation: X:-300.06, Y:16.14, Z:136.43 [[ 9.99956942e-01 1.33162375e-03 9.18369710e-03 -3.00058208e+02] [-1.35387606e-03 9.99996162e-01 2.41723224e-03 1.61385137e+01] [-9.18044301e-03 -2.42956175e-03 9.99954907e-01 1.36430920e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.579072329 meters Centerline goodness : 0.774851 Centerline is valid? [False, False] Translation: X:-300.06, Y:16.14, Z:136.43 [[ 9.99957200e-01 1.32709830e-03 9.15625035e-03 -3.00058485e+02] [-1.34957401e-03 9.99996091e-01 2.44894287e-03 1.61379987e+01] [-9.15296456e-03 -2.46119509e-03 9.99955082e-01 1.36431218e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.60907232899996 meters Centerline goodness : 0.773622 Centerline is valid? [False, False] Translation: X:-300.06, Y:16.14, Z:136.43 [[ 9.99965579e-01 2.09483875e-03 8.02826528e-03 -3.00055950e+02] [-2.11212646e-03 9.99995468e-01 2.14548202e-03 1.61407228e+01] [-8.02373446e-03 -2.16236488e-03 9.99965471e-01 1.36431939e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.639072329 meters Centerline goodness : 0.774419 Centerline is valid? [False, False] Translation: X:-300.05, Y:16.14, Z:136.43 [[ 9.99970840e-01 2.58336103e-03 7.18643284e-03 -3.00054083e+02] [-2.59814617e-03 9.99994526e-01 2.04879436e-03 1.61422319e+01] [-7.18110073e-03 -2.06740602e-03 9.99972078e-01 1.36432376e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.66907232899996 meters Centerline goodness : 0.776420 Centerline is valid? [False, False] Translation: X:-300.05, Y:16.14, Z:136.43 [[ 9.99952154e-01 7.64799343e-03 6.09903950e-03 -3.00051702e+02] [-7.68472541e-03 9.99952339e-01 6.02206362e-03 1.61447793e+01] [-6.05269211e-03 -6.06864493e-03 9.99963268e-01 1.36433277e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.699072329 meters Centerline goodness : 0.776407 Centerline is valid? [False, False] Translation: X:-300.05, Y:16.15, Z:136.43 [[ 9.99956099e-01 7.32568717e-03 5.84248262e-03 -3.00051416e+02] [-7.35547764e-03 9.99959974e-01 5.09385714e-03 1.61478566e+01] [-5.80493277e-03 -5.13660776e-03 9.99969959e-01 1.36433847e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.72907232899996 meters Centerline goodness : 0.775970 Centerline is valid? [False, False] Translation: X:-300.05, Y:16.15, Z:136.43 [[ 9.99957671e-01 7.51569793e-03 5.30764076e-03 -3.00050885e+02] [-7.54240765e-03 9.99958903e-01 5.03035659e-03 1.61482564e+01] [-5.26961599e-03 -5.07017605e-03 9.99973262e-01 1.36434884e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.759072329 meters Centerline goodness : 0.776294 Centerline is valid? [False, False] Translation: X:-300.05, Y:16.15, Z:136.44 [[ 9.99958427e-01 7.88937638e-03 4.57191795e-03 -3.00049805e+02] [-7.90953001e-03 9.99959008e-01 4.40694851e-03 1.61509805e+01] [-4.53696247e-03 -4.44292702e-03 9.99979838e-01 1.36436167e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.78907232899996 meters Centerline goodness : 0.777771 Centerline is valid? [False, False] Translation: X:-300.05, Y:16.15, Z:136.44 [[ 9.99960081e-01 7.69086777e-03 4.54832185e-03 -3.00050166e+02] [-7.70924669e-03 9.99962134e-01 4.03718237e-03 1.61518910e+01] [-4.51710019e-03 -4.07208535e-03 9.99981507e-01 1.36436700e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.819072329 meters Centerline goodness : 0.777649 Centerline is valid? [False, False] Translation: X:-300.05, Y:16.15, Z:136.44 [[ 9.99961217e-01 7.55242263e-03 4.53046858e-03 -3.00050361e+02] [-7.56953202e-03 9.99964239e-01 3.77133298e-03 1.61525149e+01] [-4.50182386e-03 -3.80548024e-03 9.99982626e-01 1.36437009e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.84907232899997 meters Centerline goodness : 0.779193 Centerline is valid? [False, False] Translation: X:-300.05, Y:16.15, Z:136.44 [[ 9.99983258e-01 4.55878949e-03 3.56400100e-03 -3.00048488e+02] [-4.56060098e-03 9.99989475e-01 5.00313358e-04 1.61512334e+01] [-3.56168266e-03 -5.16558968e-04 9.99993524e-01 1.36437589e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.87907232899994 meters Centerline goodness : 0.779190 Centerline is valid? [False, False] Translation: X:-300.05, Y:16.15, Z:136.44 [[ 9.99983444e-01 4.52013586e-03 3.56098773e-03 -3.00048662e+02] [-4.52132097e-03 9.99989726e-01 3.24826168e-04 1.61519748e+01] [-3.55948289e-03 -3.40921158e-04 9.99993607e-01 1.36437820e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.90907232899997 meters Centerline goodness : 0.780377 Centerline is valid? [False, False] Translation: X:-300.05, Y:16.15, Z:136.44 [[ 9.99993371e-01 5.66036168e-04 3.59695000e-03 -3.00048721e+02] [-5.54352550e-04 9.99994570e-01 -3.24836881e-03 1.61501306e+01] [-3.59876916e-03 3.24635330e-03 9.99988255e-01 1.36437682e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.93907232899994 meters Centerline goodness : 0.778686 Centerline is valid? [False, False] Translation: X:-300.05, Y:16.15, Z:136.44 [[ 9.99994291e-01 1.03466193e-03 3.21667626e-03 -3.00047879e+02] [-1.02540947e-03 9.99995336e-01 -2.87672273e-03 1.61499072e+01] [-3.21963770e-03 2.87340790e-03 9.99990689e-01 1.36437796e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.96907232899997 meters Centerline goodness : 0.780275 Centerline is valid? [False, False] Translation: X:-300.05, Y:16.15, Z:136.44 [[ 9.99995263e-01 1.19842015e-03 2.83499739e-03 -3.00046829e+02] [-1.19004398e-03 9.99994928e-01 -2.95440345e-03 1.61511584e+01] [-2.83852363e-03 2.95101569e-03 9.99991617e-01 1.36437849e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.99907232899994 meters Centerline goodness : 0.779458 Centerline is valid? [False, False] Translation: X:-300.05, Y:16.15, Z:136.44 [[ 9.99993994e-01 7.20262019e-04 3.39004410e-03 -3.00048227e+02] [-7.08800228e-04 9.99994033e-01 -3.38100347e-03 1.61521027e+01] [-3.39245908e-03 3.37858030e-03 9.99988538e-01 1.36437846e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.029072329 meters Centerline goodness : 0.778576 Centerline is valid? [False, False] Translation: X:-300.05, Y:16.15, Z:136.44 [[ 9.99991596e-01 5.09537720e-04 4.06784866e-03 -3.00049890e+02] [-4.96700168e-04 9.99994896e-01 -3.15624460e-03 1.61504918e+01] [-4.06943612e-03 3.15419758e-03 9.99986745e-01 1.36437622e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.05907232899995 meters Centerline goodness : 0.781707 Centerline is valid? [False, False] Translation: X:-300.05, Y:16.15, Z:136.44 [[ 9.99990839e-01 7.01506469e-04 4.22245234e-03 -3.00050263e+02] [-6.89734933e-04 9.99995874e-01 -2.78865434e-03 1.61493406e+01] [-4.22439118e-03 2.78571642e-03 9.99987197e-01 1.36437485e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.089072329 meters Centerline goodness : 0.779181 Centerline is valid? [False, False] Translation: X:-300.05, Y:16.15, Z:136.44 [[ 9.99990520e-01 6.89408535e-04 4.29944392e-03 -3.00051073e+02] [-6.77592437e-04 9.99995992e-01 -2.74913639e-03 1.61490577e+01] [-4.30132197e-03 2.74619706e-03 9.99986978e-01 1.36438266e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.11907232899995 meters Centerline goodness : 0.778985 Centerline is valid? [False, False] Translation: X:-300.05, Y:16.15, Z:136.44 [[ 9.99990627e-01 8.16057744e-04 4.25196360e-03 -3.00051214e+02] [-8.05034148e-04 9.99996312e-01 -2.59365639e-03 1.61488299e+01] [-4.25406450e-03 2.59020910e-03 9.99987597e-01 1.36438637e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.149072329 meters Centerline goodness : 0.777459 Centerline is valid? [False, False] Translation: X:-300.05, Y:16.15, Z:136.44 [[ 9.99986597e-01 -1.10943032e-04 5.17619209e-03 -3.00053803e+02] [ 1.27797806e-04 9.99994691e-01 -3.25599380e-03 1.61495551e+01] [-5.17580338e-03 3.25661166e-03 9.99981303e-01 1.36438889e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.17907232899995 meters Centerline goodness : 0.778306 Centerline is valid? [False, False] Translation: X:-300.06, Y:16.15, Z:136.44 [[ 9.99980932e-01 -9.08921580e-04 6.10820779e-03 -3.00056344e+02] [ 9.30115394e-04 9.99993555e-01 -3.46778265e-03 1.61483794e+01] [-6.10501648e-03 3.47339787e-03 9.99975332e-01 1.36438928e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.209072329 meters Centerline goodness : 0.778381 Centerline is valid? [False, False] Translation: X:-300.06, Y:16.15, Z:136.44 [[ 9.99973208e-01 -1.58602971e-03 7.14624146e-03 -3.00058943e+02] [ 1.60896664e-03 9.99993569e-01 -3.20504546e-03 1.61457585e+01] [-7.14111221e-03 3.21645765e-03 9.99969329e-01 1.36438507e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.23907232899995 meters Centerline goodness : 0.777713 Centerline is valid? [False, False] Translation: X:-300.06, Y:16.14, Z:136.44 [[ 9.99965759e-01 -1.79951480e-03 8.07732167e-03 -3.00060708e+02] [ 1.81892724e-03 9.99995474e-01 -2.39662347e-03 1.61423574e+01] [-8.07297235e-03 2.41123346e-03 9.99964506e-01 1.36437319e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.269072329 meters Centerline goodness : 0.777587 Centerline is valid? [False, False] Translation: X:-300.06, Y:16.14, Z:136.44 [[ 9.99959223e-01 -2.16402984e-03 8.76746158e-03 -3.00062287e+02] [ 2.18422351e-03 9.99994983e-01 -2.29433137e-03 1.61413444e+01] [-8.76245259e-03 2.31338791e-03 9.99958933e-01 1.36436982e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.29907232899996 meters Centerline goodness : 0.778018 Centerline is valid? [False, False] Translation: X:-300.07, Y:16.14, Z:136.44 [[ 9.99946257e-01 -3.22019681e-03 9.85462989e-03 -3.00065098e+02] [ 3.24762564e-03 9.99990894e-01 -2.76860957e-03 1.61411352e+01] [-9.84562468e-03 2.80046492e-03 9.99947609e-01 1.36436955e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.329072329 meters Centerline goodness : 0.779506 Centerline is valid? [False, False] Translation: X:-300.07, Y:16.14, Z:136.44 [[ 9.99930017e-01 -4.67789021e-03 1.08663835e-02 -3.00068734e+02] [ 4.72018133e-03 9.99981373e-01 -3.86954117e-03 1.61418262e+01] [-1.08480798e-02 3.92056167e-03 9.99933472e-01 1.36438222e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.35907232899996 meters Centerline goodness : 0.779819 Centerline is valid? [False, False] Translation: X:-300.07, Y:16.14, Z:136.44 [[ 9.99926985e-01 -4.60580342e-03 1.11719199e-02 -3.00069611e+02] [ 4.64590982e-03 9.99982847e-01 -3.56663602e-03 1.61408621e+01] [-1.11553011e-02 3.61827933e-03 9.99931231e-01 1.36438321e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.389072329 meters Centerline goodness : 0.779819 Centerline is valid? [False, False] Translation: X:-300.07, Y:16.14, Z:136.44 [[ 9.99926985e-01 -4.60580342e-03 1.11719199e-02 -3.00069611e+02] [ 4.64590982e-03 9.99982847e-01 -3.56663602e-03 1.61408621e+01] [-1.11553011e-02 3.61827933e-03 9.99931231e-01 1.36438321e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.41907232899996 meters Centerline goodness : 0.778347 Centerline is valid? [False, False] Translation: X:-300.07, Y:16.14, Z:136.44 [[ 9.99879667e-01 -9.46247415e-03 1.22927694e-02 -3.00072023e+02] [ 9.55343299e-03 9.99927265e-01 -7.36184802e-03 1.61382456e+01] [-1.22222140e-02 7.47840030e-03 9.99897340e-01 1.36437600e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.449072329 meters Centerline goodness : 0.777527 Centerline is valid? [False, False] Translation: X:-300.08, Y:16.14, Z:136.44 [[ 9.99850217e-01 -1.07986101e-02 1.35252982e-02 -3.00075143e+02] [ 1.08989160e-02 9.99913485e-01 -7.36454642e-03 1.61353614e+01] [-1.34446012e-02 7.51085442e-03 9.99881408e-01 1.36437096e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.47907232899996 meters Centerline goodness : 0.776618 Centerline is valid? [False, False] Translation: X:-300.08, Y:16.13, Z:136.44 [[ 9.99813122e-01 -1.24300547e-02 1.48058904e-02 -3.00078839e+02] [ 1.25494725e-02 9.99889248e-01 -8.00013998e-03 1.61337781e+01] [-1.47048085e-02 8.18445105e-03 9.99858382e-01 1.36437250e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.509072329 meters Centerline goodness : 0.775345 Centerline is valid? [False, False] Translation: X:-300.08, Y:16.13, Z:136.44 [[ 9.99748044e-01 -1.63356682e-02 1.53946032e-02 -3.00079592e+02] [ 1.65098208e-02 9.99800364e-01 -1.12542060e-02 1.61307098e+01] [-1.52076849e-02 1.15055326e-02 9.99818158e-01 1.36436302e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.53907232899996 meters Centerline goodness : 0.775470 Centerline is valid? [False, False] Translation: X:-300.09, Y:16.13, Z:136.43 [[ 9.99566903e-01 -2.16734509e-02 1.99064913e-02 -3.00090811e+02] [ 2.18763503e-02 9.99710350e-01 -1.00320280e-02 1.61294523e+01] [-1.96832967e-02 1.04631645e-02 9.99751514e-01 1.36431085e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.569072329 meters Centerline goodness : 0.774998 Centerline is valid? [False, False] Translation: X:-300.09, Y:16.13, Z:136.43 [[ 9.99547538e-01 -2.18832597e-02 2.06359460e-02 -3.00092440e+02] [ 2.20845854e-02 9.99710214e-01 -9.57914643e-03 1.61272696e+01] [-2.04203430e-02 1.00305485e-02 9.99741165e-01 1.36430602e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.59907232899997 meters Centerline goodness : 0.775319 Centerline is valid? [False, False] Translation: X:-300.09, Y:16.13, Z:136.43 [[ 9.99508799e-01 -2.26346337e-02 2.16756386e-02 -3.00094261e+02] [ 2.28415716e-02 9.99695397e-01 -9.34748685e-03 1.61254868e+01] [-2.14574592e-02 9.83800101e-03 9.99721357e-01 1.36429221e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.62907232899994 meters Centerline goodness : 0.774296 Centerline is valid? [False, False] Translation: X:-300.09, Y:16.13, Z:136.43 [[ 9.99493444e-01 -2.28916832e-02 2.21094208e-02 -3.00094962e+02] [ 2.31064733e-02 9.99687789e-01 -9.50872499e-03 1.61259683e+01] [-2.18848473e-02 1.00147790e-02 9.99710337e-01 1.36428669e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.65907232899997 meters Centerline goodness : 0.774755 Centerline is valid? [False, False] Translation: X:-300.10, Y:16.13, Z:136.43 [[ 9.99470187e-01 -2.33820064e-02 2.26412876e-02 -3.00096333e+02] [ 2.36104020e-02 9.99672480e-01 -9.87331539e-03 1.61266105e+01] [-2.24030142e-02 1.04026543e-02 9.99694898e-01 1.36428700e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.68907232899994 meters Centerline goodness : 0.775966 Centerline is valid? [False, False] Translation: X:-300.10, Y:16.13, Z:136.43 [[ 9.99478483e-01 -2.32026807e-02 2.24587879e-02 -3.00096176e+02] [ 2.34255945e-02 9.99678391e-01 -9.71375395e-03 1.61264381e+01] [-2.22261798e-02 1.02347985e-02 9.99700578e-01 1.36429083e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.71907232899997 meters Centerline goodness : 0.776167 Centerline is valid? [False, False] Translation: X:-300.10, Y:16.13, Z:136.43 [[ 9.99474855e-01 -2.33801678e-02 2.24361601e-02 -3.00096454e+02] [ 2.36132527e-02 9.99669329e-01 -1.01806951e-02 1.61281514e+01] [-2.21907148e-02 1.07051395e-02 9.99696440e-01 1.36429627e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.74907232899994 meters Centerline goodness : 0.777964 Centerline is valid? [False, False] Translation: X:-300.10, Y:16.13, Z:136.43 [[ 9.99541585e-01 -1.98772955e-02 2.28366449e-02 -3.00098187e+02] [ 2.00314837e-02 9.99777940e-01 -6.54296831e-03 1.61287963e+01] [-2.27015172e-02 6.99742080e-03 9.99717799e-01 1.36430245e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.779072329 meters Centerline goodness : 0.777069 Centerline is valid? [False, False] Translation: X:-300.10, Y:16.13, Z:136.43 [[ 9.99546932e-01 -1.97888638e-02 2.26788794e-02 -3.00097965e+02] [ 1.99444287e-02 9.99778948e-01 -6.65390697e-03 1.61295599e+01] [-2.25421930e-02 7.10320959e-03 9.99720658e-01 1.36430532e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.80907232899995 meters Centerline goodness : 0.777287 Centerline is valid? [False, False] Translation: X:-300.10, Y:16.13, Z:136.43 [[ 9.99565648e-01 -1.93102140e-02 2.22627786e-02 -3.00097176e+02] [ 1.94557384e-02 9.99790626e-01 -6.33868844e-03 1.61293398e+01] [-2.21357159e-02 6.76907402e-03 9.99732059e-01 1.36430820e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.839072329 meters Centerline goodness : 0.776946 Centerline is valid? [False, False] Translation: X:-300.10, Y:16.13, Z:136.43 [[ 9.99566655e-01 -1.92151131e-02 2.22998029e-02 -3.00097083e+02] [ 1.93594402e-02 9.99792901e-01 -6.27436763e-03 1.61295610e+01] [-2.21746219e-02 6.70336036e-03 9.99731640e-01 1.36430583e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.86907232899995 meters Centerline goodness : 0.776890 Centerline is valid? [False, False] Translation: X:-300.10, Y:16.13, Z:136.43 [[ 9.99591202e-01 -1.85582442e-02 2.17490204e-02 -3.00095366e+02] [ 1.86875574e-02 9.99808794e-01 -5.75760368e-03 1.61292495e+01] [-2.16380108e-02 6.16168605e-03 9.99746883e-01 1.36430070e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.899072329 meters Centerline goodness : 0.777114 Centerline is valid? [False, False] Translation: X:-300.09, Y:16.13, Z:136.43 [[ 9.99605355e-01 -1.81677736e-02 2.14258212e-02 -3.00094378e+02] [ 1.82865685e-02 9.99818411e-01 -5.36162827e-03 1.61288136e+01] [-2.13245217e-02 5.75131708e-03 9.99756064e-01 1.36429735e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.92907232899995 meters Centerline goodness : 0.777764 Centerline is valid? [False, False] Translation: X:-300.09, Y:16.13, Z:136.43 [[ 9.99663344e-01 -1.43049090e-02 2.16464598e-02 -3.00094684e+02] [ 1.43412848e-02 9.99895994e-01 -1.52613760e-03 1.61300281e+01] [-2.16223771e-02 1.83606186e-03 9.99764523e-01 1.36429117e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.959072329 meters Centerline goodness : 0.777710 Centerline is valid? [False, False] Translation: X:-300.10, Y:16.13, Z:136.43 [[ 9.99655825e-01 -1.44835926e-02 2.18736393e-02 -3.00095203e+02] [ 1.45258612e-02 9.99892919e-01 -1.77474384e-03 1.61307615e+01] [-2.18455924e-02 2.09186646e-03 9.99759168e-01 1.36429012e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.98907232899995 meters Centerline goodness : 0.778574 Centerline is valid? [False, False] Translation: X:-300.09, Y:16.13, Z:136.43 [[ 9.99687308e-01 -1.36323536e-02 2.09629277e-02 -3.00093169e+02] [ 1.36704404e-02 9.99905153e-01 -1.67463069e-03 1.61322889e+01] [-2.09381103e-02 1.96067950e-03 9.99778851e-01 1.36429529e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.019072329 meters Centerline goodness : 0.777617 Centerline is valid? [False, False] Translation: X:-300.09, Y:16.13, Z:136.43 [[ 9.99684634e-01 -1.38747537e-02 2.09314133e-02 -3.00093227e+02] [ 1.39252214e-02 9.99900469e-01 -2.26726745e-03 1.61345436e+01] [-2.08978722e-02 2.55802700e-03 9.99778343e-01 1.36429807e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.04907232899996 meters Centerline goodness : 0.778328 Centerline is valid? [False, False] Translation: X:-300.09, Y:16.13, Z:136.43 [[ 9.99711239e-01 -1.30722737e-02 2.01631745e-02 -3.00091755e+02] [ 1.31073931e-02 9.99912797e-01 -1.61057865e-03 1.61335058e+01] [-2.01403623e-02 1.87440023e-03 9.99795405e-01 1.36430268e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.079072329 meters Centerline goodness : 0.779688 Centerline is valid? [False, False] Translation: X:-300.09, Y:16.13, Z:136.43 [[ 9.99719573e-01 -1.28812370e-02 1.98707913e-02 -3.00090698e+02] [ 1.29183731e-02 9.99915038e-01 -1.74164463e-03 1.61348224e+01] [-1.98466685e-02 1.99785452e-03 9.99801039e-01 1.36429840e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.10907232899996 meters Centerline goodness : 0.778878 Centerline is valid? [False, False] Translation: X:-300.09, Y:16.14, Z:136.43 [[ 9.99727311e-01 -1.27885793e-02 1.95385965e-02 -3.00089909e+02] [ 1.28305408e-02 9.99915637e-01 -2.02376906e-03 1.61364768e+01] [-1.95110670e-02 2.27390796e-03 9.99807055e-01 1.36429976e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.139072329 meters Centerline goodness : 0.781613 Centerline is valid? [False, False] Translation: X:-300.09, Y:16.14, Z:136.43 [[ 9.99713718e-01 -1.33825518e-02 1.98340299e-02 -3.00091196e+02] [ 1.34430043e-02 9.99905382e-01 -2.91772462e-03 1.61388157e+01] [-1.97931066e-02 3.18351827e-03 9.99799029e-01 1.36430854e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.16907232899996 meters Centerline goodness : 0.780618 Centerline is valid? [False, False] Translation: X:-300.09, Y:16.14, Z:136.43 [[ 9.99713672e-01 -1.33368416e-02 1.98671326e-02 -3.00091379e+02] [ 1.33961393e-02 9.99906193e-01 -2.85462156e-03 1.61387518e+01] [-1.98271973e-02 3.11994708e-03 9.99798554e-01 1.36430968e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.199072329 meters Centerline goodness : 0.782498 Centerline is valid? [False, False] Translation: X:-300.09, Y:16.14, Z:136.43 [[ 9.99702300e-01 -1.34692578e-02 2.03442860e-02 -3.00092542e+02] [ 1.35271922e-02 9.99904823e-01 -2.71276644e-03 1.61379053e+01] [-2.03058108e-02 2.98715992e-03 9.99789353e-01 1.36430780e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.22907232899996 meters Centerline goodness : 0.779561 Centerline is valid? [False, False] Translation: X:-300.09, Y:16.14, Z:136.43 [[ 9.99689217e-01 -1.35242090e-02 2.09419693e-02 -3.00093389e+02] [ 1.35735966e-02 9.99905415e-01 -2.21795634e-03 1.61360189e+01] [-2.09099924e-02 2.50152488e-03 9.99778233e-01 1.36429680e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.259072329 meters Centerline goodness : 0.780316 Centerline is valid? [False, False] Translation: X:-300.09, Y:16.14, Z:136.43 [[ 9.99672378e-01 -1.37693376e-02 2.15764139e-02 -3.00094997e+02] [ 1.38191840e-02 9.99902171e-01 -2.16282120e-03 1.61353008e+01] [-2.15445225e-02 2.46028105e-03 9.99764863e-01 1.36429618e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.28907232899996 meters Centerline goodness : 0.780930 Centerline is valid? [False, False] Translation: X:-300.10, Y:16.13, Z:136.43 [[ 9.99650877e-01 -1.40329852e-02 2.23874676e-02 -3.00096241e+02] [ 1.40765571e-02 9.99899318e-01 -1.78985420e-03 1.61334462e+01] [-2.23600966e-02 2.10436779e-03 9.99747767e-01 1.36428283e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.319072329 meters Centerline goodness : 0.780619 Centerline is valid? [False, False] Translation: X:-300.10, Y:16.13, Z:136.43 [[ 9.99632556e-01 -1.42681939e-02 2.30471822e-02 -3.00097756e+02] [ 1.43114180e-02 9.99896121e-01 -1.71160450e-03 1.61325677e+01] [-2.30203666e-02 2.04081344e-03 9.99732913e-01 1.36427954e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.34907232899997 meters Centerline goodness : 0.779453 Centerline is valid? [False, False] Translation: X:-300.10, Y:16.13, Z:136.43 [[ 9.99616162e-01 -1.45439589e-02 2.35796933e-02 -3.00099286e+02] [ 1.45897961e-02 9.99891991e-01 -1.77305126e-03 1.61319977e+01] [-2.35513593e-02 2.11639361e-03 9.99720388e-01 1.36428133e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.37907232899994 meters Centerline goodness : 0.779617 Centerline is valid? [False, False] Translation: X:-300.10, Y:16.13, Z:136.43 [[ 9.99575458e-01 -1.56628027e-02 2.45678600e-02 -3.00102414e+02] [ 1.57280212e-02 9.99873272e-01 -2.46363401e-03 1.61319252e+01] [-2.45261592e-02 2.84899191e-03 9.99695129e-01 1.36428903e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.40907232899997 meters Centerline goodness : 0.779546 Centerline is valid? [False, False] Translation: X:-300.11, Y:16.13, Z:136.43 [[ 9.99521370e-01 -1.72047927e-02 2.57104354e-02 -3.00106010e+02] [ 1.73097520e-02 9.99842703e-01 -3.86538082e-03 1.61339595e+01] [-2.56398882e-02 4.30857200e-03 9.99661959e-01 1.36429868e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.43907232899994 meters Centerline goodness : 0.780140 Centerline is valid? [False, False] Translation: X:-300.11, Y:16.13, Z:136.43 [[ 9.99432408e-01 -2.13253486e-02 2.60785440e-02 -3.00107384e+02] [ 2.15395326e-02 9.99736310e-01 -7.95986305e-03 1.61334032e+01] [-2.59019205e-02 8.51706474e-03 9.99628206e-01 1.36430873e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.46907232899997 meters Centerline goodness : 0.781058 Centerline is valid? [False, False] Translation: X:-300.11, Y:16.13, Z:136.43 [[ 9.99387605e-01 -2.21213255e-02 2.71120090e-02 -3.00110374e+02] [ 2.23554648e-02 9.99715102e-01 -8.36349960e-03 1.61331896e+01] [-2.69192732e-02 8.96447940e-03 9.99597414e-01 1.36431395e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.49907232899994 meters Centerline goodness : 0.780955 Centerline is valid? [False, False] Translation: X:-300.11, Y:16.13, Z:136.43 [[ 9.99367057e-01 -2.22284588e-02 2.77737364e-02 -3.00111988e+02] [ 2.24598110e-02 9.99715370e-01 -8.04584935e-03 1.61316668e+01] [-2.75869843e-02 8.66454966e-03 9.99581855e-01 1.36431218e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.529072329 meters Centerline goodness : 0.779759 Centerline is valid? [False, False] Translation: X:-300.11, Y:16.13, Z:136.43 [[ 9.99302979e-01 -2.47607325e-02 2.79367463e-02 -3.00109830e+02] [ 2.50399012e-02 9.99639511e-01 -9.68764769e-03 1.61269084e+01] [-2.76868022e-02 1.03804286e-02 9.99562748e-01 1.36427805e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.55907232899995 meters Centerline goodness : 0.778982 Centerline is valid? [False, False] Translation: X:-300.11, Y:16.13, Z:136.43 [[ 9.99319285e-01 -2.42266654e-02 2.78214869e-02 -3.00108734e+02] [ 2.44823656e-02 9.99660759e-01 -8.88713530e-03 1.61254751e+01] [-2.75967430e-02 9.56222150e-03 9.99573401e-01 1.36426574e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.589072329 meters Centerline goodness : 0.779533 Centerline is valid? [False, False] Translation: X:-300.11, Y:16.13, Z:136.43 [[ 9.99301358e-01 -2.44840324e-02 2.82369894e-02 -3.00109075e+02] [ 2.47451867e-02 9.99653847e-01 -8.93655601e-03 1.61258079e+01] [-2.80084121e-02 9.62904213e-03 9.99561309e-01 1.36425632e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.61907232899995 meters Centerline goodness : 0.779225 Centerline is valid? [False, False] Translation: X:-300.11, Y:16.13, Z:136.43 [[ 9.99272797e-01 -2.49026163e-02 2.88745009e-02 -3.00110864e+02] [ 2.51766689e-02 9.99640989e-01 -9.16671909e-03 1.61258528e+01] [-2.86358594e-02 9.88701677e-03 9.99541012e-01 1.36425857e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.649072329 meters Centerline goodness : 0.779409 Centerline is valid? [False, False] Translation: X:-300.11, Y:16.13, Z:136.43 [[ 9.99244920e-01 -2.52270302e-02 2.95497270e-02 -3.00112762e+02] [ 2.55099597e-02 9.99631891e-01 -9.23709790e-03 1.61254335e+01] [-2.93058250e-02 9.98393550e-03 9.99520630e-01 1.36426106e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.67907232899995 meters Centerline goodness : 0.780509 Centerline is valid? [False, False] Translation: X:-300.12, Y:16.13, Z:136.43 [[ 9.99202871e-01 -2.57704515e-02 3.04878126e-02 -3.00115011e+02] [ 2.60711921e-02 9.99614870e-01 -9.50817692e-03 1.61255833e+01] [-3.02310408e-02 1.02954513e-02 9.99489914e-01 1.36425969e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.709072329 meters Centerline goodness : 0.779531 Centerline is valid? [False, False] Translation: X:-300.12, Y:16.12, Z:136.43 [[ 9.99081648e-01 -2.95969986e-02 3.09819066e-02 -3.00115340e+02] [ 3.00066456e-02 9.99467204e-01 -1.28416739e-02 1.61231164e+01] [-3.05853246e-02 1.37595438e-02 9.99437448e-01 1.36425018e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.73907232899995 meters Centerline goodness : 0.778952 Centerline is valid? [False, False] Translation: X:-300.12, Y:16.12, Z:136.42 [[ 9.99021992e-01 -3.04550854e-02 3.20553683e-02 -3.00117986e+02] [ 3.08911802e-02 9.99435613e-01 -1.31981463e-02 1.61229273e+01] [-3.16353260e-02 1.41754666e-02 9.99398951e-01 1.36424847e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.769072329 meters Centerline goodness : 0.777368 Centerline is valid? [False, False] Translation: X:-300.12, Y:16.12, Z:136.42 [[ 9.98957618e-01 -3.13323956e-02 3.31957524e-02 -3.00120749e+02] [ 3.17924557e-02 9.99404355e-01 -1.34228977e-02 1.61223170e+01] [-3.27554080e-02 1.44642804e-02 9.99358728e-01 1.36424693e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.79907232899996 meters Centerline goodness : 0.781153 Centerline is valid? [False, False] Translation: X:-300.12, Y:16.12, Z:136.42 [[ 9.98938950e-01 -3.15272999e-02 3.35708698e-02 -3.00121794e+02] [ 3.19952977e-02 9.99396901e-01 -1.34957268e-02 1.61223510e+01] [-3.31251394e-02 1.45555171e-02 9.99345217e-01 1.36424839e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.829072329 meters Centerline goodness : 0.779842 Centerline is valid? [False, False] Translation: X:-300.12, Y:16.12, Z:136.43 [[ 9.98873155e-01 -3.24837240e-02 3.46009762e-02 -3.00124636e+02] [ 3.29969206e-02 9.99352209e-01 -1.43653996e-02 1.61238933e+01] [-3.41119204e-02 1.54909377e-02 9.99297957e-01 1.36425281e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.85907232899996 meters Centerline goodness : 0.778594 Centerline is valid? [False, False] Translation: X:-300.13, Y:16.12, Z:136.43 [[ 9.98700828e-01 -3.67072264e-02 3.53445202e-02 -3.00126559e+02] [ 3.73638117e-02 9.99137819e-01 -1.80987472e-02 1.61216621e+01] [-3.46496920e-02 1.93958399e-02 9.99211289e-01 1.36425766e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.889072329 meters Centerline goodness : 0.778810 Centerline is valid? [False, False] Translation: X:-300.13, Y:16.12, Z:136.43 [[ 9.98709217e-01 -3.63614302e-02 3.54647139e-02 -3.00126738e+02] [ 3.69961462e-02 9.99163774e-01 -1.74079598e-02 1.61199139e+01] [-3.48020791e-02 1.86975476e-02 9.99219304e-01 1.36425486e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.91907232899996 meters Centerline goodness : 0.778957 Centerline is valid? [False, False] Translation: X:-300.13, Y:16.12, Z:136.43 [[ 9.98627726e-01 -3.73403702e-02 3.67200397e-02 -3.00129637e+02] [ 3.80077079e-02 9.99121622e-01 -1.76464841e-02 1.61191753e+01] [-3.60288594e-02 1.90179129e-02 9.99169776e-01 1.36425040e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.949072329 meters Centerline goodness : 0.776943 Centerline is valid? [False, False] Translation: X:-300.13, Y:16.12, Z:136.42 [[ 9.98378394e-01 -4.21397162e-02 3.82730493e-02 -3.00132182e+02] [ 4.29658540e-02 9.98855281e-01 -2.10252982e-02 1.61152011e+01] [-3.73432373e-02 2.26356377e-02 9.99046100e-01 1.36423273e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.97907232899996 meters Centerline goodness : 0.776509 Centerline is valid? [False, False] Translation: X:-300.13, Y:16.11, Z:136.42 [[ 9.98322440e-01 -4.25592422e-02 3.92557906e-02 -3.00134433e+02] [ 4.33929537e-02 9.98844940e-01 -2.06358250e-02 1.61129187e+01] [-3.83322027e-02 2.23046319e-02 9.99016089e-01 1.36422780e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.009072329 meters Centerline goodness : 0.776514 Centerline is valid? [False, False] Translation: X:-300.14, Y:16.11, Z:136.42 [[ 9.98285962e-01 -4.27607568e-02 3.99581648e-02 -3.00135851e+02] [ 4.36003447e-02 9.98841130e-01 -2.03815516e-02 1.61117438e+01] [-3.90403279e-02 2.20888066e-02 9.98993462e-01 1.36422160e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.03907232899996 meters Centerline goodness : 0.777596 Centerline is valid? [False, False] Translation: X:-300.14, Y:16.11, Z:136.42 [[ 9.98254675e-01 -4.30411175e-02 4.04359409e-02 -3.00137068e+02] [ 4.38935110e-02 9.98827221e-01 -2.04338719e-02 1.61115902e+01] [-3.95090218e-02 2.21730836e-02 9.98973169e-01 1.36422148e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.069072329 meters Centerline goodness : 0.777515 Centerline is valid? [False, False] Translation: X:-300.14, Y:16.11, Z:136.42 [[ 9.98238482e-01 -4.31765560e-02 4.06905089e-02 -3.00137632e+02] [ 4.40393469e-02 9.98818397e-01 -2.05510412e-02 1.61121162e+01] [-3.97551057e-02 2.23068237e-02 9.98960428e-01 1.36422040e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.09907232899997 meters Centerline goodness : 0.777002 Centerline is valid? [False, False] Translation: X:-300.14, Y:16.11, Z:136.42 [[ 9.98207788e-01 -4.33921171e-02 4.12108632e-02 -3.00138909e+02] [ 4.42658773e-02 9.98808788e-01 -2.05313725e-02 1.61117665e+01] [-4.02708726e-02 2.23188109e-02 9.98939501e-01 1.36421935e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.12907232899994 meters Centerline goodness : 0.778117 Centerline is valid? [False, False] Translation: X:-300.14, Y:16.11, Z:136.42 [[ 9.98216753e-01 -4.33428380e-02 4.10452596e-02 -3.00138103e+02] [ 4.42187641e-02 9.98807845e-01 -2.06782595e-02 1.61128989e+01] [-4.01000728e-02 2.24563557e-02 9.98943290e-01 1.36421339e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.15907232899997 meters Centerline goodness : 0.778996 Centerline is valid? [False, False] Translation: X:-300.14, Y:16.12, Z:136.42 [[ 9.98201540e-01 -4.35796332e-02 4.11643232e-02 -3.00138127e+02] [ 4.44778150e-02 9.98786227e-01 -2.11611872e-02 1.61150157e+01] [-4.01921623e-02 2.29540288e-02 9.98928277e-01 1.36421029e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.18907232899994 meters Centerline goodness : 0.778390 Centerline is valid? [False, False] Translation: X:-300.14, Y:16.12, Z:136.42 [[ 9.98215651e-01 -4.34748893e-02 4.09322499e-02 -3.00137779e+02] [ 4.43723870e-02 9.98788415e-01 -2.12789523e-02 1.61158237e+01] [-3.99575569e-02 2.30572448e-02 9.98935312e-01 1.36421391e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.21907232899997 meters Centerline goodness : 0.778056 Centerline is valid? [False, False] Translation: X:-300.14, Y:16.12, Z:136.42 [[ 9.98287197e-01 -4.09968609e-02 4.17364237e-02 -3.00141209e+02] [ 4.18089397e-02 9.98949229e-01 -1.87736898e-02 1.61185312e+01] [-4.09229059e-02 2.04864898e-02 9.98952261e-01 1.36422764e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.24907232899994 meters Centerline goodness : 0.777511 Centerline is valid? [False, False] Translation: X:-300.14, Y:16.12, Z:136.42 [[ 9.98546224e-01 -3.55377074e-02 4.05279023e-02 -3.00138498e+02] [ 3.61146170e-02 9.99255212e-01 -1.35924901e-02 1.61185419e+01] [-4.00146716e-02 1.50363793e-02 9.99085949e-01 1.36422637e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.279072329 meters Centerline goodness : 0.777936 Centerline is valid? [False, False] Translation: X:-300.14, Y:16.12, Z:136.42 [[ 9.98715741e-01 -3.12890304e-02 3.98480245e-02 -3.00137534e+02] [ 3.17086056e-02 9.99447717e-01 -9.94110873e-03 1.61214627e+01] [-3.95149695e-02 1.11918671e-02 9.99156299e-01 1.36423263e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.30907232899995 meters Centerline goodness : 0.777936 Centerline is valid? [False, False] Translation: X:-300.14, Y:16.12, Z:136.42 [[ 9.98715741e-01 -3.12890304e-02 3.98480245e-02 -3.00137534e+02] [ 3.17086056e-02 9.99447717e-01 -9.94110873e-03 1.61214627e+01] [-3.95149695e-02 1.11918671e-02 9.99156299e-01 1.36423263e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.339072329 meters Centerline goodness : 0.777536 Centerline is valid? [False, False] Translation: X:-300.14, Y:16.12, Z:136.42 [[ 9.98890956e-01 -2.66412253e-02 3.88214354e-02 -3.00136270e+02] [ 2.68857196e-02 9.99621749e-01 -5.78942772e-03 1.61227862e+01] [-3.86525137e-02 6.82674922e-03 9.99229392e-01 1.36424554e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.36907232899995 meters Centerline goodness : 0.777571 Centerline is valid? [False, False] Translation: X:-300.14, Y:16.14, Z:136.43 [[ 9.99244188e-01 -9.73920696e-03 3.76324463e-02 -3.00140684e+02] [ 1.00830832e-02 9.99909032e-01 -8.95879324e-03 1.61402952e+01] [-3.75417714e-02 9.33147317e-03 9.99251489e-01 1.36426121e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.399072329 meters Centerline goodness : 0.776286 Centerline is valid? [False, False] Translation: X:-300.14, Y:16.15, Z:136.43 [[ 9.99239237e-01 -1.06841911e-02 3.75072764e-02 -3.00140573e+02] [ 1.10979269e-02 9.99879658e-01 -1.08399943e-02 1.61458063e+01] [-3.73869461e-02 1.12480006e-02 9.99237559e-01 1.36426555e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.42907232899995 meters Centerline goodness : 0.774930 Centerline is valid? [False, False] Translation: X:-300.14, Y:16.15, Z:136.43 [[ 9.99313203e-01 -6.27000486e-03 3.65213443e-02 -3.00139049e+02] [ 6.54357462e-03 9.99951387e-01 -7.37597325e-03 1.61487394e+01] [-3.64733215e-02 7.60988759e-03 9.99305652e-01 1.36427817e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.459072329 meters Centerline goodness : 0.776302 Centerline is valid? [False, False] Translation: X:-300.14, Y:16.15, Z:136.43 [[ 9.99343408e-01 -2.40258720e-03 3.61521852e-02 -3.00138723e+02] [ 2.54872638e-03 9.99988765e-01 -3.99679012e-03 1.61516910e+01] [-3.61421764e-02 4.08630789e-03 9.99338304e-01 1.36428631e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.48907232899995 meters Centerline goodness : 0.777229 Centerline is valid? [False, False] Translation: X:-300.14, Y:16.16, Z:136.43 [[ 9.99374284e-01 -2.08676337e-03 3.53084261e-02 -3.00136792e+02] [ 2.25064806e-03 9.99986876e-01 -4.60240893e-03 1.61551339e+01] [-3.52983586e-02 4.67899597e-03 9.99365865e-01 1.36429042e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.519072329 meters Centerline goodness : 0.776570 Centerline is valid? [False, False] Translation: X:-300.13, Y:16.16, Z:136.43 [[ 9.99405729e-01 -1.23981960e-03 3.44478053e-02 -3.00134254e+02] [ 1.38952989e-03 9.99989693e-01 -4.32240345e-03 1.61565444e+01] [-3.44420913e-02 4.36770103e-03 9.99397151e-01 1.36428628e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.54907232899996 meters Centerline goodness : 0.778764 Centerline is valid? [False, False] Translation: X:-300.13, Y:16.16, Z:136.43 [[ 9.99420467e-01 -1.14749625e-03 3.40207768e-02 -3.00133899e+02] [ 1.30610875e-03 9.99988380e-01 -4.64036715e-03 1.61577962e+01] [-3.40150567e-02 4.68211274e-03 9.99410353e-01 1.36429638e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.579072329 meters Centerline goodness : 0.778679 Centerline is valid? [False, False] Translation: X:-300.13, Y:16.16, Z:136.43 [[ 9.99424741e-01 -1.19742891e-03 3.38932755e-02 -3.00134400e+02] [ 1.36304359e-03 9.99987243e-01 -4.86367418e-03 1.61581028e+01] [-3.38870192e-02 4.90707432e-03 9.99413623e-01 1.36430671e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.60907232899996 meters Centerline goodness : 0.777768 Centerline is valid? [False, False] Translation: X:-300.13, Y:16.16, Z:136.43 [[ 9.99432794e-01 -9.47868024e-04 3.36629110e-02 -3.00134353e+02] [ 1.10688914e-03 9.99988316e-01 -4.70560481e-03 1.61576658e+01] [-3.36580574e-02 4.74019688e-03 9.99422166e-01 1.36431303e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.639072329 meters Centerline goodness : 0.778750 Centerline is valid? [False, False] Translation: X:-300.14, Y:16.16, Z:136.43 [[ 9.99426560e-01 2.66256080e-03 3.37559217e-02 -3.00135286e+02] [-2.61416440e-03 9.99995491e-01 -1.47776902e-03 1.61606551e+01] [-3.37597042e-02 1.38867807e-03 9.99429014e-01 1.36432297e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.66907232899996 meters Centerline goodness : 0.780450 Centerline is valid? [False, False] Translation: X:-300.14, Y:16.18, Z:136.44 [[ 9.99764077e-01 -1.12995315e-03 2.16913314e-02 -3.00139361e+02] [ 1.33048003e-03 9.99956496e-01 -9.23235872e-03 1.61754511e+01] [-2.16799556e-02 9.25904048e-03 9.99722086e-01 1.36438468e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.699072329 meters Centerline goodness : 0.779191 Centerline is valid? [False, False] Translation: X:-300.14, Y:16.17, Z:136.44 [[ 9.99758607e-01 -1.33033493e-03 2.19307505e-02 -3.00140472e+02] [ 1.53326567e-03 9.99956144e-01 -9.23903440e-03 1.61749557e+01] [-2.19174977e-02 9.27042983e-03 9.99716801e-01 1.36439034e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.72907232899996 meters Centerline goodness : 0.781283 Centerline is valid? [False, False] Translation: X:-300.14, Y:16.17, Z:136.44 [[ 9.99751470e-01 -1.26168719e-03 2.22577135e-02 -3.00141417e+02] [ 1.45929815e-03 9.99959646e-01 -8.86430667e-03 1.61736993e+01] [-2.22456313e-02 8.89458427e-03 9.99712968e-01 1.36439063e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.759072329 meters Centerline goodness : 0.780056 Centerline is valid? [False, False] Translation: X:-300.16, Y:16.18, Z:136.44 [[ 9.99680225e-01 -3.77722800e-03 2.50036228e-02 -3.00160570e+02] [ 3.89002176e-03 9.99982470e-01 -4.46399499e-03 1.61847098e+01] [-2.49863229e-02 4.55983215e-03 9.99677394e-01 1.36442362e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.78907232899996 meters Centerline goodness : 0.779079 Centerline is valid? [False, False] Translation: X:-300.16, Y:16.19, Z:136.44 [[ 9.99676669e-01 -3.79756354e-03 2.51423291e-02 -3.00160904e+02] [ 3.91192240e-03 9.99982220e-01 -4.50083728e-03 1.61850341e+01] [-2.51247898e-02 4.59773686e-03 9.99673750e-01 1.36442297e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.819072329 meters Centerline goodness : 0.778514 Centerline is valid? [False, False] Translation: X:-300.16, Y:16.18, Z:136.44 [[ 9.99657261e-01 -7.72782465e-03 2.50128169e-02 -3.00160603e+02] [ 7.94407338e-03 9.99931826e-01 -8.55772528e-03 1.61849121e+01] [-2.49449790e-02 8.75349586e-03 9.99650501e-01 1.36442360e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.84907232899997 meters Centerline goodness : 0.777376 Centerline is valid? [False, False] Translation: X:-300.16, Y:16.18, Z:136.44 [[ 9.99626454e-01 -1.09599094e-02 2.50366411e-02 -3.00159461e+02] [ 1.12471137e-02 9.99872224e-01 -1.13594860e-02 1.61820487e+01] [-2.49089431e-02 1.16368327e-02 9.99621993e-01 1.36440789e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.87907232899994 meters Centerline goodness : 0.777067 Centerline is valid? [False, False] Translation: X:-300.16, Y:16.18, Z:136.44 [[ 9.99614430e-01 -1.10041124e-02 2.54931548e-02 -3.00160345e+02] [ 1.12885922e-02 9.99875312e-01 -1.10421511e-02 1.61808727e+01] [-2.53684671e-02 1.13256754e-02 9.99614010e-01 1.36440215e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.90907232899997 meters Centerline goodness : 0.777857 Centerline is valid? [False, False] Translation: X:-300.16, Y:16.18, Z:136.44 [[ 9.99573544e-01 -1.18822929e-02 2.66747208e-02 -3.00162917e+02] [ 1.21751430e-02 9.99867087e-01 -1.08431225e-02 1.61786422e+01] [-2.65423342e-02 1.11632669e-02 9.99585357e-01 1.36439333e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.93907232899994 meters Centerline goodness : 0.779108 Centerline is valid? [False, False] Translation: X:-300.17, Y:16.18, Z:136.44 [[ 9.99539442e-01 -1.25726816e-02 2.76194091e-02 -3.00165585e+02] [ 1.28838867e-02 9.99855179e-01 -1.11187075e-02 1.61783806e+01] [-2.74756172e-02 1.14694320e-02 9.99556673e-01 1.36439598e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.96907232899997 meters Centerline goodness : 0.777606 Centerline is valid? [False, False] Translation: X:-300.17, Y:16.18, Z:136.44 [[ 9.99497472e-01 -1.34322519e-02 2.87119749e-02 -3.00168224e+02] [ 1.37707232e-02 9.99837618e-01 -1.16234535e-02 1.61788703e+01] [-2.85511835e-02 1.20129971e-02 9.99520144e-01 1.36439357e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.99907232899994 meters Centerline goodness : 0.778425 Centerline is valid? [False, False] Translation: X:-300.16, Y:16.17, Z:136.44 [[ 9.99407017e-01 -2.23000073e-02 2.62359449e-02 -3.00159469e+02] [ 2.25172568e-02 9.99714330e-01 -8.01448711e-03 1.61689109e+01] [-2.60497270e-02 8.60049616e-03 9.99623651e-01 1.36444432e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.029072329 meters Centerline goodness : 0.779523 Centerline is valid? [False, False] Translation: X:-300.16, Y:16.17, Z:136.44 [[ 9.99357234e-01 -2.31536881e-02 2.73683249e-02 -3.00162331e+02] [ 2.33872492e-02 9.99692482e-01 -8.24488651e-03 1.61684274e+01] [-2.71690091e-02 8.87965681e-03 9.99591415e-01 1.36444279e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.05907232899995 meters Centerline goodness : 0.777829 Centerline is valid? [False, False] Translation: X:-300.16, Y:16.17, Z:136.44 [[ 9.99206609e-01 -2.78137279e-02 2.85052293e-02 -3.00164778e+02] [ 2.81735668e-02 9.99527361e-01 -1.23006254e-02 1.61670953e+01] [-2.81496304e-02 1.30939602e-02 9.99517957e-01 1.36444024e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.089072329 meters Centerline goodness : 0.779254 Centerline is valid? [False, False] Translation: X:-300.17, Y:16.17, Z:136.44 [[ 9.99109712e-01 -2.97822413e-02 2.98797888e-02 -3.00169119e+02] [ 3.01982961e-02 9.99451796e-01 -1.35709240e-02 1.61675060e+01] [-2.94592360e-02 1.44611607e-02 9.99461369e-01 1.36444996e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.11907232899995 meters Centerline goodness : 0.779907 Centerline is valid? [False, False] Translation: X:-300.17, Y:16.17, Z:136.45 [[ 9.99005921e-01 -3.17347527e-02 3.13061487e-02 -3.00173256e+02] [ 3.22060648e-02 9.99373625e-01 -1.46672335e-02 1.61672869e+01] [-3.08210783e-02 1.56609010e-02 9.99402220e-01 1.36445512e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.149072329 meters Centerline goodness : 0.782183 Centerline is valid? [False, False] Translation: X:-300.18, Y:16.16, Z:136.45 [[ 9.98931185e-01 -3.27422805e-02 3.26256168e-02 -3.00176523e+02] [ 3.32290848e-02 9.99342689e-01 -1.44919982e-02 1.61648357e+01] [-3.21296706e-02 1.55606284e-02 9.99362572e-01 1.36445113e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.17907232899995 meters Centerline goodness : 0.781753 Centerline is valid? [False, False] Translation: X:-300.18, Y:16.16, Z:136.44 [[ 9.98766227e-01 -3.66228561e-02 3.35378778e-02 -3.00177766e+02] [ 3.72182939e-02 9.99157309e-01 -1.73052280e-02 1.61602543e+01] [-3.28758489e-02 1.85320999e-02 9.99287616e-01 1.36443834e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.209072329 meters Centerline goodness : 0.780495 Centerline is valid? [False, False] Translation: X:-300.18, Y:16.16, Z:136.44 [[ 9.98690909e-01 -3.74984348e-02 3.47898880e-02 -3.00180886e+02] [ 3.81279095e-02 9.99117687e-01 -1.76099208e-02 1.61598630e+01] [-3.40988480e-02 1.89133336e-02 9.99239488e-01 1.36443701e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.23907232899995 meters Centerline goodness : 0.780262 Centerline is valid? [False, False] Translation: X:-300.18, Y:16.16, Z:136.44 [[ 9.98538785e-01 -4.09613468e-02 3.52485874e-02 -3.00181478e+02] [ 4.17017456e-02 9.98919108e-01 -2.05324080e-02 1.61561023e+01] [-3.43694524e-02 2.19723333e-02 9.99167632e-01 1.36443190e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.269072329 meters Centerline goodness : 0.778667 Centerline is valid? [False, False] Translation: X:-300.18, Y:16.16, Z:136.44 [[ 9.98469418e-01 -4.17435116e-02 3.62808490e-02 -3.00183927e+02] [ 4.25126172e-02 9.98881635e-01 -2.06919360e-02 1.61554350e+01] [-3.53765197e-02 2.22026591e-02 9.99127391e-01 1.36442845e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.29907232899996 meters Centerline goodness : 0.779537 Centerline is valid? [False, False] Translation: X:-300.18, Y:16.15, Z:136.44 [[ 9.98479657e-01 -4.14144787e-02 3.63760256e-02 -3.00183491e+02] [ 4.21650098e-02 9.98908187e-01 -2.01133227e-02 1.61543409e+01] [-3.55033270e-02 2.16165390e-02 9.99135746e-01 1.36441738e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.329072329 meters Centerline goodness : 0.780076 Centerline is valid? [False, False] Translation: X:-300.19, Y:16.15, Z:136.44 [[ 9.98407191e-01 -4.21305964e-02 3.75245817e-02 -3.00185307e+02] [ 4.28971688e-02 9.98882024e-01 -1.98628821e-02 1.61528725e+01] [-3.66457951e-02 2.14409426e-02 9.99098279e-01 1.36440119e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.35907232899996 meters Centerline goodness : 0.778881 Centerline is valid? [False, False] Translation: X:-300.19, Y:16.15, Z:136.44 [[ 9.98355929e-01 -4.26154325e-02 3.83322743e-02 -3.00187264e+02] [ 4.34108993e-02 9.98853791e-01 -2.01642736e-02 1.61534189e+01] [-3.74290283e-02 2.17951606e-02 9.99061579e-01 1.36440000e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.389072329 meters Centerline goodness : 0.779129 Centerline is valid? [False, False] Translation: X:-300.19, Y:16.15, Z:136.44 [[ 9.98129723e-01 -4.71232551e-02 3.89416759e-02 -3.00188880e+02] [ 4.81126801e-02 9.98532166e-01 -2.48733539e-02 1.61544255e+01] [-3.77124026e-02 2.67004223e-02 9.98931861e-01 1.36440853e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.41907232899996 meters Centerline goodness : 0.780994 Centerline is valid? [False, False] Translation: X:-300.19, Y:16.16, Z:136.44 [[ 9.98038300e-01 -4.82047575e-02 3.99481209e-02 -3.00192348e+02] [ 4.92585161e-02 9.98452081e-01 -2.58271284e-02 1.61556599e+01] [-3.86412940e-02 2.77442485e-02 9.98867913e-01 1.36442177e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.449072329 meters Centerline goodness : 0.781001 Centerline is valid? [False, False] Translation: X:-300.20, Y:16.16, Z:136.44 [[ 9.97959008e-01 -4.90174649e-02 4.09280602e-02 -3.00195290e+02] [ 5.01232404e-02 9.98392931e-01 -2.64427083e-02 1.61563699e+01] [-3.95661314e-02 2.84401860e-02 9.98812133e-01 1.36442927e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.47907232899996 meters Centerline goodness : 0.780299 Centerline is valid? [False, False] Translation: X:-300.20, Y:16.15, Z:136.44 [[ 9.97843932e-01 -5.02568043e-02 4.22106647e-02 -3.00198714e+02] [ 5.14099749e-02 9.98320848e-01 -2.66926848e-02 1.61543094e+01] [-4.07982975e-02 2.88051827e-02 9.98752102e-01 1.36442985e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.509072329 meters Centerline goodness : 0.779914 Centerline is valid? [False, False] Translation: X:-300.20, Y:16.15, Z:136.44 [[ 9.97837245e-01 -5.01745443e-02 4.24658465e-02 -3.00199109e+02] [ 5.13205673e-02 9.98334797e-01 -2.63406967e-02 1.61533875e+01] [-4.10734998e-02 2.84630995e-02 9.98750629e-01 1.36442532e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.53907232899996 meters Centerline goodness : 0.781158 Centerline is valid? [False, False] Translation: X:-300.20, Y:16.16, Z:136.44 [[ 9.97910094e-01 -4.79477323e-02 4.33181151e-02 -3.00201967e+02] [ 4.90054604e-02 9.98517421e-01 -2.36944202e-02 1.61552243e+01] [-4.21177988e-02 2.57677252e-02 9.98780314e-01 1.36442946e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.569072329 meters Centerline goodness : 0.781300 Centerline is valid? [False, False] Translation: X:-300.20, Y:16.16, Z:136.44 [[ 9.97906498e-01 -4.79698968e-02 4.33763708e-02 -3.00202323e+02] [ 4.90324568e-02 9.98514230e-01 -2.37729130e-02 1.61557250e+01] [-4.21715393e-02 2.58499944e-02 9.98775920e-01 1.36443271e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.59907232899997 meters Centerline goodness : 0.780228 Centerline is valid? [False, False] Translation: X:-300.20, Y:16.16, Z:136.44 [[ 9.97895554e-01 -4.79845521e-02 4.36112982e-02 -3.00203675e+02] [ 4.90507989e-02 9.98514677e-01 -2.37162081e-02 1.61552568e+01] [-4.24085097e-02 2.58054676e-02 9.98767038e-01 1.36444260e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.62907232899994 meters Centerline goodness : 0.780272 Centerline is valid? [False, False] Translation: X:-300.20, Y:16.16, Z:136.44 [[ 9.97885958e-01 -4.80008745e-02 4.38124612e-02 -3.00204074e+02] [ 4.90699191e-02 9.98515080e-01 -2.36596191e-02 1.61552239e+01] [-4.26117208e-02 2.57594756e-02 9.98759576e-01 1.36444043e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.65907232899997 meters Centerline goodness : 0.778772 Centerline is valid? [False, False] Translation: X:-300.20, Y:16.15, Z:136.44 [[ 9.97895652e-01 -4.78145861e-02 4.37953478e-02 -3.00203710e+02] [ 4.88710614e-02 9.98531464e-01 -2.33780757e-02 1.61548724e+01] [-4.26132197e-02 2.54692052e-02 9.98766956e-01 1.36443456e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.68907232899994 meters Centerline goodness : 0.780291 Centerline is valid? [False, False] Translation: X:-300.20, Y:16.15, Z:136.44 [[ 9.98079108e-01 -4.37283581e-02 4.38853704e-02 -3.00203547e+02] [ 4.45945027e-02 9.98825328e-01 -1.89550612e-02 1.61546848e+01] [-4.30049458e-02 2.08756969e-02 9.98856736e-01 1.36442061e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.71907232899997 meters Centerline goodness : 0.779707 Centerline is valid? [False, False] Translation: X:-300.20, Y:16.15, Z:136.44 [[ 9.98122190e-01 -4.32136208e-02 4.34128603e-02 -3.00202095e+02] [ 4.40524470e-02 9.98856904e-01 -1.85544420e-02 1.61546697e+01] [-4.25614306e-02 2.04320430e-02 9.98884906e-01 1.36441596e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.74907232899994 meters Centerline goodness : 0.779575 Centerline is valid? [False, False] Translation: X:-300.20, Y:16.16, Z:136.44 [[ 9.98241458e-01 -3.99504553e-02 4.37944274e-02 -3.00203533e+02] [ 4.06590381e-02 9.99054242e-01 -1.54098523e-02 1.61574031e+01] [-4.31373778e-02 1.71633927e-02 9.98921711e-01 1.36441786e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.779072329 meters Centerline goodness : 0.779357 Centerline is valid? [False, False] Translation: X:-300.20, Y:16.16, Z:136.44 [[ 9.98269647e-01 -3.96598727e-02 4.34143665e-02 -3.00202476e+02] [ 4.03620119e-02 9.99066171e-01 -1.54173445e-02 1.61585866e+01] [-4.27623749e-02 1.71429582e-02 9.98938185e-01 1.36441654e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.80907232899995 meters Centerline goodness : 0.780284 Centerline is valid? [False, False] Translation: X:-300.20, Y:16.16, Z:136.44 [[ 9.98396245e-01 -3.60903623e-02 4.36167818e-02 -3.00203716e+02] [ 3.66425501e-02 9.99257256e-01 -1.19272432e-02 1.61605541e+01] [-4.31539272e-02 1.35063450e-02 9.98977135e-01 1.36442139e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.839072329 meters Centerline goodness : 0.780461 Centerline is valid? [False, False] Translation: X:-300.20, Y:16.16, Z:136.44 [[ 9.98461012e-01 -3.52607700e-02 4.28051989e-02 -3.00202113e+02] [ 3.57995103e-02 9.99288318e-01 -1.18849991e-02 1.61624102e+01] [-4.23556610e-02 1.33991133e-02 9.99012744e-01 1.36442824e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.86907232899995 meters Centerline goodness : 0.779745 Centerline is valid? [False, False] Translation: X:-300.20, Y:16.16, Z:136.44 [[ 9.98494688e-01 -3.48351156e-02 4.23659345e-02 -3.00201594e+02] [ 3.53606563e-02 9.99305902e-01 -1.17191040e-02 1.61627167e+01] [-4.19282921e-02 1.31995504e-02 9.99033428e-01 1.36443669e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.899072329 meters Centerline goodness : 0.779854 Centerline is valid? [False, False] Translation: X:-300.20, Y:16.17, Z:136.45 [[ 9.98604135e-01 -3.15504607e-02 4.23597668e-02 -3.00203004e+02] [ 3.19562161e-02 9.99449323e-01 -8.93590608e-03 1.61664906e+01] [-4.20545084e-02 1.02770906e-02 9.99062460e-01 1.36445312e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.92907232899995 meters Centerline goodness : 0.779400 Centerline is valid? [False, False] Translation: X:-300.20, Y:16.17, Z:136.45 [[ 9.98636582e-01 -3.12383162e-02 4.18227686e-02 -3.00201673e+02] [ 3.16448594e-02 9.99457804e-01 -9.09397806e-03 1.61681448e+01] [-4.15160119e-02 1.04050548e-02 9.99083658e-01 1.36445397e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.959072329 meters Centerline goodness : 0.779600 Centerline is valid? [False, False] Translation: X:-300.20, Y:16.17, Z:136.45 [[ 9.98686698e-01 -3.06420478e-02 4.10602522e-02 -3.00199826e+02] [ 3.10287270e-02 9.99479637e-01 -8.81324626e-03 1.61686241e+01] [-4.07688301e-02 1.00757192e-02 9.99117802e-01 1.36445444e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.98907232899995 meters Centerline goodness : 0.780517 Centerline is valid? [False, False] Translation: X:-300.20, Y:16.17, Z:136.45 [[ 9.98855367e-01 -2.61735329e-02 4.00362472e-02 -3.00197849e+02] [ 2.63885805e-02 9.99639985e-01 -4.85223358e-03 1.61706418e+01] [-3.98948335e-02 5.90317929e-03 9.99186446e-01 1.36445805e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.019072329 meters Centerline goodness : 0.781674 Centerline is valid? [False, False] Translation: X:-300.20, Y:16.18, Z:136.45 [[ 9.99017925e-01 -2.12858541e-02 3.88599759e-02 -3.00195269e+02] [ 2.13480863e-02 9.99771399e-01 -1.18715198e-03 1.61751597e+01] [-3.88258229e-02 2.01557223e-03 9.99243961e-01 1.36446223e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.04907232899996 meters Centerline goodness : 0.783493 Centerline is valid? [False, False] Translation: X:-300.18, Y:16.18, Z:136.45 [[ 9.99345521e-01 -1.18073854e-02 3.41923228e-02 -3.00182649e+02] [ 1.18382907e-02 9.99929679e-01 -7.01554189e-04 1.61806491e+01] [-3.41816349e-02 1.10587370e-03 9.99415025e-01 1.36452536e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.079072329 meters Centerline goodness : 0.785803 Centerline is valid? [False, False] Translation: X:-300.19, Y:16.20, Z:136.45 [[ 9.99365889e-01 3.05776250e-03 3.54749218e-02 -3.00192921e+02] [-2.99478525e-03 9.99993844e-01 -1.82826209e-03 1.61962968e+01] [-3.54802938e-02 1.72086300e-03 9.99368895e-01 1.36451873e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.10907232899996 meters Centerline goodness : 0.785307 Centerline is valid? [False, False] Translation: X:-300.18, Y:16.20, Z:136.46 [[ 9.99456776e-01 1.06198226e-02 3.11989055e-02 -3.00183697e+02] [-1.05911966e-02 9.99943326e-01 -1.08265164e-03 1.62014137e+01] [-3.12086349e-02 7.51629780e-04 9.99512609e-01 1.36458710e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.139072329 meters Centerline goodness : 0.785478 Centerline is valid? [False, False] Translation: X:-300.17, Y:16.21, Z:136.47 [[ 9.99353491e-01 2.44608646e-02 2.63489396e-02 -3.00170508e+02] [-2.45607220e-02 9.99692308e-01 3.47281988e-03 1.62065894e+01] [-2.62558841e-02 -4.11772365e-03 9.99646774e-01 1.36465831e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.16907232899996 meters Centerline goodness : 0.786645 Centerline is valid? [False, False] Translation: X:-300.18, Y:16.22, Z:136.46 [[ 9.98996059e-01 3.49809172e-02 2.79858911e-02 -3.00181221e+02] [-3.49709044e-02 9.99387972e-01 -8.47293714e-04 1.62194033e+01] [-2.79984021e-02 -1.32248842e-04 9.99607959e-01 1.36463079e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.199072329 meters Centerline goodness : 0.786645 Centerline is valid? [False, False] Translation: X:-300.18, Y:16.22, Z:136.46 [[ 9.98996059e-01 3.49809172e-02 2.79858911e-02 -3.00181221e+02] [-3.49709044e-02 9.99387972e-01 -8.47293714e-04 1.62194033e+01] [-2.79984021e-02 -1.32248842e-04 9.99607959e-01 1.36463079e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.22907232899996 meters Centerline goodness : 0.786603 Centerline is valid? [False, False] Translation: X:-300.18, Y:16.22, Z:136.46 [[ 9.98856568e-01 3.92917196e-02 2.72344840e-02 -3.00179825e+02] [-3.93738853e-02 9.99221453e-01 2.48709696e-03 1.62228823e+01] [-2.71155583e-02 -3.55658059e-03 9.99625979e-01 1.36464524e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.259072329 meters Centerline goodness : 0.788870 Centerline is valid? [False, False] Translation: X:-300.17, Y:16.23, Z:136.47 [[ 9.98390434e-01 5.16235105e-02 2.34852171e-02 -3.00169477e+02] [-5.17914483e-02 9.98636118e-01 6.59923223e-03 1.62301307e+01] [-2.31125105e-02 -7.80494374e-03 9.99702403e-01 1.36471497e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.28907232899996 meters Centerline goodness : 0.789411 Centerline is valid? [False, False] Translation: X:-300.18, Y:16.25, Z:136.47 [[ 9.97974514e-01 6.06479299e-02 1.92015161e-02 -3.00181423e+02] [-6.06958060e-02 9.98154464e-01 1.91992665e-03 1.62491485e+01] [-1.90496395e-02 -3.08148936e-03 9.99813790e-01 1.36473057e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.319072329 meters Centerline goodness : 0.784163 Centerline is valid? [False, False] Translation: X:-300.18, Y:16.25, Z:136.47 [[ 9.98023759e-01 5.99973136e-02 1.86788323e-02 -3.00180786e+02] [-6.00078721e-02 9.98197904e-01 4.78872348e-06 1.62543835e+01] [-1.86448839e-02 -1.12565624e-03 9.99825535e-01 1.36474206e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.34907232899997 meters Centerline goodness : 0.785794 Centerline is valid? [False, False] Translation: X:-300.19, Y:16.27, Z:136.48 [[ 9.97925419e-01 6.36103659e-02 9.92875289e-03 -3.00190295e+02] [-6.35438002e-02 9.97955321e-01 -6.88200290e-03 1.62684511e+01] [-1.03462185e-02 6.23681493e-03 9.99927026e-01 1.36476881e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.37907232899994 meters Centerline goodness : 0.785085 Centerline is valid? [False, False] Translation: X:-300.19, Y:16.27, Z:136.48 [[ 9.97693851e-01 6.70646756e-02 1.04550618e-02 -3.00191172e+02] [-6.70274173e-02 9.97743611e-01 -3.87462801e-03 1.62714484e+01] [-1.06913217e-02 3.16491676e-03 9.99937838e-01 1.36477199e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.40907232899997 meters Centerline goodness : 0.785275 Centerline is valid? [False, False] Translation: X:-300.19, Y:16.28, Z:136.48 [[ 9.97426463e-01 7.09717444e-02 1.01716438e-02 -3.00189701e+02] [-7.09669117e-02 9.97478320e-01 -8.35726171e-04 1.62753414e+01] [-1.02053071e-02 1.11725255e-04 9.99947918e-01 1.36477413e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.43907232899994 meters Centerline goodness : 0.784739 Centerline is valid? [False, False] Translation: X:-300.19, Y:16.28, Z:136.48 [[ 9.97144024e-01 7.48106932e-02 1.03515856e-02 -3.00189632e+02] [-7.48415274e-02 9.97191989e-01 2.62355104e-03 1.62776516e+01] [-1.01262486e-02 -3.39078672e-03 9.99942979e-01 1.36477819e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.46907232899997 meters Centerline goodness : 0.787639 Centerline is valid? [False, False] Translation: X:-300.19, Y:16.28, Z:136.48 [[ 9.96755137e-01 7.99399477e-02 9.42343104e-03 -3.00186280e+02] [-7.99982435e-02 9.96777066e-01 5.98017458e-03 1.62829492e+01] [-8.91500510e-03 -6.71462767e-03 9.99937716e-01 1.36478740e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.49907232899994 meters Centerline goodness : 0.786378 Centerline is valid? [False, False] Translation: X:-300.18, Y:16.29, Z:136.48 [[ 9.96737240e-01 8.02429205e-02 8.71476953e-03 -3.00184629e+02] [-8.02942885e-02 9.96754828e-01 5.71319731e-03 1.62851870e+01] [-8.22804496e-03 -6.39430274e-03 9.99945705e-01 1.36479296e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.529072329 meters Centerline goodness : 0.788152 Centerline is valid? [False, False] Translation: X:-300.18, Y:16.29, Z:136.48 [[ 9.96738758e-01 8.02769098e-02 8.21380469e-03 -3.00183880e+02] [-8.03205236e-02 9.96755913e-01 5.12484279e-03 1.62876208e+01] [-7.77575185e-03 -5.76786653e-03 9.99953134e-01 1.36480205e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.55907232899995 meters Centerline goodness : 0.787374 Centerline is valid? [False, False] Translation: X:-300.18, Y:16.29, Z:136.48 [[ 9.96730425e-01 8.04000316e-02 8.01839349e-03 -3.00183501e+02] [-8.04424560e-02 9.96746124e-01 5.11618213e-03 1.62880366e+01] [-7.58096143e-03 -5.74447365e-03 9.99954764e-01 1.36480408e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.589072329 meters Centerline goodness : 0.789489 Centerline is valid? [False, False] Translation: X:-300.18, Y:16.29, Z:136.48 [[ 9.96722015e-01 8.05385304e-02 7.66619661e-03 -3.00183074e+02] [-8.05768732e-02 9.96736690e-01 4.83096434e-03 1.62893437e+01] [-7.25210067e-03 -5.43284666e-03 9.99958945e-01 1.36481170e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.61907232899995 meters Centerline goodness : 0.790397 Centerline is valid? [False, False] Translation: X:-300.18, Y:16.29, Z:136.48 [[ 9.96734836e-01 8.04087954e-02 7.35471443e-03 -3.00182698e+02] [-8.04417182e-02 9.96750059e-01 4.29538097e-03 1.62914150e+01] [-6.98542563e-03 -4.87298172e-03 9.99963728e-01 1.36481903e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.649072329 meters Centerline goodness : 0.789427 Centerline is valid? [False, False] Translation: X:-300.18, Y:16.29, Z:136.48 [[ 9.96765388e-01 8.00026657e-02 7.63769150e-03 -3.00184016e+02] [-8.00336412e-02 9.96784768e-01 3.83947670e-03 1.62921149e+01] [-7.30596618e-03 -4.43832974e-03 9.99963461e-01 1.36482538e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.67907232899995 meters Centerline goodness : 0.790834 Centerline is valid? [False, False] Translation: X:-300.20, Y:16.30, Z:136.48 [[ 9.96982008e-01 7.70447353e-02 9.53857675e-03 -3.00198066e+02] [-7.71091763e-02 9.97000925e-01 6.58265397e-03 1.63020258e+01] [-9.00281101e-03 -7.29829937e-03 9.99932840e-01 1.36484794e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.709072329 meters Centerline goodness : 0.788711 Centerline is valid? [False, False] Translation: X:-300.20, Y:16.30, Z:136.49 [[ 9.97038297e-01 7.62264365e-02 1.02061446e-02 -3.00200900e+02] [-7.62900124e-02 9.97067670e-01 5.99135265e-03 1.63016017e+01] [-9.71951733e-03 -6.75223494e-03 9.99929967e-01 1.36485783e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.73907232899995 meters Centerline goodness : 0.788237 Centerline is valid? [False, False] Translation: X:-300.21, Y:16.31, Z:136.48 [[ 9.97425304e-01 7.03736617e-02 1.37953061e-02 -3.00214973e+02] [-7.04646498e-02 9.97494861e-01 6.22377526e-03 1.63056627e+01] [-1.33227571e-02 -7.17983235e-03 9.99885471e-01 1.36484332e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.769072329 meters Centerline goodness : 0.787888 Centerline is valid? [False, False] Translation: X:-300.23, Y:16.31, Z:136.49 [[ 9.97782404e-01 6.44572146e-02 1.65994576e-02 -3.00233586e+02] [-6.46057117e-02 9.97874068e-01 8.57011970e-03 1.63136033e+01] [-1.60117623e-02 -9.62353441e-03 9.99825490e-01 1.36485604e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.79907232899996 meters Centerline goodness : 0.787322 Centerline is valid? [False, False] Translation: X:-300.24, Y:16.32, Z:136.49 [[ 9.98149052e-01 6.04299182e-02 6.83341179e-03 -3.00244748e+02] [-6.04781584e-02 9.98144355e-01 7.08793642e-03 1.63244209e+01] [-6.39240798e-03 -7.48808917e-03 9.99951532e-01 1.36488000e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.829072329 meters Centerline goodness : 0.787133 Centerline is valid? [False, False] Translation: X:-300.26, Y:16.34, Z:136.49 [[ 9.98329283e-01 5.77074424e-02 -2.91432807e-03 -3.00255399e+02] [-5.76867458e-02 9.98311938e-01 6.74637155e-03 1.63362268e+01] [ 3.29872435e-03 -6.56698217e-03 9.99972996e-01 1.36490231e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.85907232899996 meters Centerline goodness : 0.787834 Centerline is valid? [False, False] Translation: X:-300.26, Y:16.34, Z:136.50 [[ 9.98758481e-01 4.85208512e-02 -1.12793563e-02 -3.00259731e+02] [-4.83623026e-02 9.98732741e-01 1.39283534e-02 1.63420418e+01] [ 1.19408780e-02 -1.33655654e-02 9.99839376e-01 1.36498001e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.889072329 meters Centerline goodness : 0.788916 Centerline is valid? [False, False] Translation: X:-300.26, Y:16.34, Z:136.50 [[ 9.98895493e-01 4.53668914e-02 -1.22326903e-02 -3.00257961e+02] [-4.52375295e-02 9.98919463e-01 1.06523175e-02 1.63408303e+01] [ 1.27027349e-02 -1.00871752e-02 9.99868436e-01 1.36498281e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.91907232899996 meters Centerline goodness : 0.787551 Centerline is valid? [False, False] Translation: X:-300.26, Y:16.34, Z:136.50 [[ 9.99060609e-01 4.13997412e-02 -1.28046876e-02 -3.00256904e+02] [-4.13195418e-02 9.99125062e-01 6.46578383e-03 1.63417853e+01] [ 1.30611661e-02 -5.93062611e-03 9.99897112e-01 1.36498362e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.949072329 meters Centerline goodness : 0.788375 Centerline is valid? [False, False] Translation: X:-300.25, Y:16.34, Z:136.50 [[ 9.99153817e-01 3.75228365e-02 -1.68429909e-02 -3.00247503e+02] [-3.73178818e-02 9.99227470e-01 1.23223300e-02 1.63362243e+01] [ 1.72923480e-02 -1.16833583e-02 9.99782213e-01 1.36504561e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.97907232899996 meters Centerline goodness : 0.788490 Centerline is valid? [False, False] Translation: X:-300.25, Y:16.34, Z:136.50 [[ 9.99265730e-01 3.40505432e-02 -1.75659124e-02 -3.00246173e+02] [-3.39005283e-02 9.99386746e-01 8.76842480e-03 1.63353464e+01] [ 1.78537097e-02 -8.16649270e-03 9.99807258e-01 1.36504795e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.009072329 meters Centerline goodness : 0.786929 Centerline is valid? [False, False] Translation: X:-300.24, Y:16.33, Z:136.51 [[ 9.99352502e-01 3.09028901e-02 -1.84279253e-02 -3.00244797e+02] [-3.08062700e-02 9.99510219e-01 5.50422188e-03 1.63338315e+01] [ 1.85889961e-02 -4.93296226e-03 9.99815040e-01 1.36505359e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.03907232899996 meters Centerline goodness : 0.787239 Centerline is valid? [False, False] Translation: X:-300.25, Y:16.33, Z:136.51 [[ 9.99359042e-01 3.07439189e-02 -1.83389121e-02 -3.00245463e+02] [-3.06538268e-02 9.99516671e-01 5.17372145e-03 1.63346779e+01] [ 1.84891088e-02 -4.60824748e-03 9.99818442e-01 1.36505851e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.069072329 meters Centerline goodness : 0.787325 Centerline is valid? [False, False] Translation: X:-300.25, Y:16.34, Z:136.51 [[ 9.99373667e-01 3.04199824e-02 -1.80803434e-02 -3.00246678e+02] [-3.03369730e-02 9.99527972e-01 4.84788333e-03 1.63350119e+01] [ 1.82192815e-02 -4.29634405e-03 9.99824784e-01 1.36506441e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.09907232899997 meters Centerline goodness : 0.787829 Centerline is valid? [False, False] Translation: X:-300.25, Y:16.34, Z:136.51 [[ 9.99366262e-01 3.04878113e-02 -1.83730194e-02 -3.00246382e+02] [-3.04081966e-02 9.99526992e-01 4.59720551e-03 1.63361614e+01] [ 1.85044876e-02 -4.03560170e-03 9.99820633e-01 1.36507077e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.12907232899994 meters Centerline goodness : 0.787360 Centerline is valid? [False, False] Translation: X:-300.25, Y:16.34, Z:136.51 [[ 9.99372882e-01 3.03347917e-02 -1.82659099e-02 -3.00246909e+02] [-3.02584669e-02 9.99532244e-01 4.44057470e-03 1.63362986e+01] [ 1.83920698e-02 -3.88509151e-03 9.99823303e-01 1.36507336e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.15907232899997 meters Centerline goodness : 0.788251 Centerline is valid? [False, False] Translation: X:-300.25, Y:16.34, Z:136.51 [[ 9.99400721e-01 2.97225980e-02 -1.77416602e-02 -3.00248786e+02] [-2.96582975e-02 9.99552579e-01 3.87650141e-03 1.63368942e+01] [ 1.78489419e-02 -3.34799087e-03 9.99835090e-01 1.36507796e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.18907232899994 meters Centerline goodness : 0.789451 Centerline is valid? [False, False] Translation: X:-300.25, Y:16.34, Z:136.51 [[ 9.99411442e-01 2.95363165e-02 -1.74463356e-02 -3.00250147e+02] [-2.94725814e-02 9.99557984e-01 3.89914758e-03 1.63359147e+01] [ 1.75537905e-02 -3.38266417e-03 9.99840198e-01 1.36508364e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.21907232899997 meters Centerline goodness : 0.789059 Centerline is valid? [False, False] Translation: X:-300.24, Y:16.33, Z:136.52 [[ 9.99471937e-01 2.47605099e-02 -2.10419866e-02 -3.00240667e+02] [-2.45542251e-02 9.99648423e-01 1.00059803e-02 1.63309487e+01] [ 2.12823419e-02 -9.48402681e-03 9.99728521e-01 1.36515139e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.24907232899994 meters Centerline goodness : 0.787500 Centerline is valid? [False, False] Translation: X:-300.24, Y:16.33, Z:136.52 [[ 9.99566030e-01 2.05703077e-02 -2.10858677e-02 -3.00240829e+02] [-2.04456446e-02 9.99772291e-01 6.11081875e-03 1.63300169e+01] [ 2.12067677e-02 -5.67705268e-03 9.99758993e-01 1.36515121e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.279072329 meters Centerline goodness : 0.788451 Centerline is valid? [False, False] Translation: X:-300.24, Y:16.33, Z:136.52 [[ 9.99576978e-01 2.03923607e-02 -2.07368423e-02 -3.00242055e+02] [-2.02685793e-02 9.99775582e-01 6.16193305e-03 1.63291239e+01] [ 2.08578450e-02 -5.73902008e-03 9.99765980e-01 1.36515287e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.30907232899995 meters Centerline goodness : 0.788212 Centerline is valid? [False, False] Translation: X:-300.24, Y:16.33, Z:136.52 [[ 9.99597714e-01 1.98634859e-02 -2.02448282e-02 -3.00243579e+02] [-1.97536324e-02 9.99789128e-01 5.61187541e-03 1.63300388e+01] [ 2.03520305e-02 -5.20970893e-03 9.99779303e-01 1.36515493e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.339072329 meters Centerline goodness : 0.787136 Centerline is valid? [False, False] Translation: X:-300.25, Y:16.33, Z:136.52 [[ 9.99622859e-01 1.89224857e-02 -1.99017576e-02 -3.00245802e+02] [-1.88353288e-02 9.99812211e-01 4.55773897e-03 1.63314628e+01] [ 1.99842641e-02 -4.18116390e-03 9.99791552e-01 1.36517004e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.36907232899995 meters Centerline goodness : 0.789636 Centerline is valid? [False, False] Translation: X:-300.25, Y:16.33, Z:136.52 [[ 9.99642459e-01 1.82076686e-02 -1.95814886e-02 -3.00247615e+02] [-1.81379580e-02 9.99828529e-01 3.73177008e-03 1.63328720e+01] [ 1.96460778e-02 -3.37526760e-03 9.99801300e-01 1.36518117e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.399072329 meters Centerline goodness : 0.787613 Centerline is valid? [False, False] Translation: X:-300.25, Y:16.33, Z:136.52 [[ 9.99664990e-01 1.75149204e-02 -1.90561292e-02 -3.00249440e+02] [-1.74570902e-02 9.99842503e-01 3.19687004e-03 1.63331741e+01] [ 1.91091208e-02 -2.86313448e-03 9.99813305e-01 1.36518512e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.42907232899995 meters Centerline goodness : 0.786254 Centerline is valid? [False, False] Translation: X:-300.25, Y:16.33, Z:136.52 [[ 9.99653485e-01 1.78748196e-02 -1.93235600e-02 -3.00248918e+02] [-1.78115066e-02 9.99835432e-01 3.44363404e-03 1.63328998e+01] [ 1.93819343e-02 -3.09825905e-03 9.99807352e-01 1.36518625e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.459072329 meters Centerline goodness : 0.786949 Centerline is valid? [False, False] Translation: X:-300.25, Y:16.33, Z:136.52 [[ 9.99674209e-01 1.71745746e-02 -1.88814594e-02 -3.00250670e+02] [-1.71251499e-02 9.99849500e-01 2.77622235e-03 1.63338130e+01] [ 1.89262982e-02 -2.45197006e-03 9.99817875e-01 1.36519193e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.48907232899995 meters Centerline goodness : 0.788859 Centerline is valid? [False, False] Translation: X:-300.25, Y:16.33, Z:136.52 [[ 9.99661310e-01 1.74724968e-02 -1.92866861e-02 -3.00249929e+02] [-1.74215066e-02 9.99844289e-01 2.80867624e-03 1.63343043e+01] [ 1.93327576e-02 -2.47172184e-03 9.99810049e-01 1.36519581e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.519072329 meters Centerline goodness : 0.788790 Centerline is valid? [False, False] Translation: X:-300.25, Y:16.34, Z:136.52 [[ 9.99677790e-01 1.68197576e-02 -1.90108423e-02 -3.00251395e+02] [-1.67854945e-02 9.99857192e-01 1.96043716e-03 1.63361274e+01] [ 1.90411014e-02 -1.64069910e-03 9.99817356e-01 1.36520512e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.54907232899996 meters Centerline goodness : 0.788098 Centerline is valid? [False, False] Translation: X:-300.25, Y:16.34, Z:136.52 [[ 9.99686027e-01 1.65289197e-02 -1.88319414e-02 -3.00252072e+02] [-1.65027971e-02 9.99862631e-01 1.54171008e-03 1.63371256e+01] [ 1.88548372e-02 -1.23044632e-03 9.99821475e-01 1.36520729e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.579072329 meters Centerline goodness : 0.786707 Centerline is valid? [False, False] Translation: X:-300.25, Y:16.34, Z:136.52 [[ 9.99695392e-01 1.63315853e-02 -1.85041486e-02 -3.00253163e+02] [-1.63063947e-02 9.99865900e-01 1.51142333e-03 1.63366312e+01] [ 1.85263512e-02 -1.20922698e-03 9.99827641e-01 1.36520901e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.60907232899996 meters Centerline goodness : 0.789396 Centerline is valid? [False, False] Translation: X:-300.25, Y:16.34, Z:136.52 [[ 9.99689165e-01 1.64660036e-02 -1.87201263e-02 -3.00253036e+02] [-1.64414188e-02 9.99863755e-01 1.46644416e-03 1.63369823e+01] [ 1.87417222e-02 -1.15820290e-03 9.99823688e-01 1.36521409e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.639072329 meters Centerline goodness : 0.788047 Centerline is valid? [False, False] Translation: X:-300.25, Y:16.34, Z:136.52 [[ 9.99703458e-01 1.60777622e-02 -1.82893642e-02 -3.00254488e+02] [-1.60592721e-02 9.99870372e-01 1.15740864e-03 1.63373368e+01] [ 1.83056019e-02 -8.63351541e-04 9.99832066e-01 1.36521722e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.66907232899996 meters Centerline goodness : 0.788972 Centerline is valid? [False, False] Translation: X:-300.25, Y:16.34, Z:136.52 [[ 9.99689114e-01 1.65284584e-02 -1.86677588e-02 -3.00253450e+02] [-1.65067937e-02 9.99862890e-01 1.31404185e-03 1.63377397e+01] [ 1.86869184e-02 -1.00548848e-03 9.99824879e-01 1.36521622e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.699072329 meters Centerline goodness : 0.788077 Centerline is valid? [False, False] Translation: X:-300.25, Y:16.34, Z:136.52 [[ 9.99701631e-01 1.60109798e-02 -1.84471696e-02 -3.00254483e+02] [-1.60010646e-02 9.99871740e-01 6.84979041e-04 1.63390424e+01] [ 1.84557707e-02 -3.89600314e-04 9.99829602e-01 1.36522123e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.72907232899996 meters Centerline goodness : 0.788512 Centerline is valid? [False, False] Translation: X:-300.25, Y:16.34, Z:136.52 [[ 9.99698765e-01 1.59989446e-02 -1.86121526e-02 -3.00254448e+02] [-1.59943595e-02 9.99872004e-01 3.95190370e-04 1.63402585e+01] [ 1.86160929e-02 -9.73818665e-05 9.99826701e-01 1.36522664e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.759072329 meters Centerline goodness : 0.788592 Centerline is valid? [False, False] Translation: X:-300.25, Y:16.34, Z:136.52 [[ 9.99685528e-01 1.62624822e-02 -1.90886406e-02 -3.00253603e+02] [-1.62624889e-02 9.99867745e-01 1.54886690e-04 1.63420131e+01] [ 1.90886348e-02 1.55590823e-04 9.99817783e-01 1.36523330e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.78907232899996 meters Centerline goodness : 0.788620 Centerline is valid? [False, False] Translation: X:-300.25, Y:16.34, Z:136.52 [[ 9.99680554e-01 1.63173854e-02 -1.93011319e-02 -3.00253271e+02] [-1.63215491e-02 9.99866793e-01 -5.82058146e-05 1.63432459e+01] [ 1.92976111e-02 3.73211594e-04 9.99813714e-01 1.36523613e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.819072329 meters Centerline goodness : 0.788322 Centerline is valid? [False, False] Translation: X:-300.25, Y:16.34, Z:136.52 [[ 9.99665742e-01 1.66748847e-02 -1.97573338e-02 -3.00251897e+02] [-1.66813644e-02 9.99860843e-01 -1.63194903e-04 1.63447847e+01] [ 1.97518632e-02 4.92719639e-04 9.99804792e-01 1.36523523e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.84907232899997 meters Centerline goodness : 0.787936 Centerline is valid? [False, False] Translation: X:-300.25, Y:16.35, Z:136.52 [[ 9.99664350e-01 1.67271300e-02 -1.97835694e-02 -3.00251971e+02] [-1.67339410e-02 9.99859962e-01 -1.78769921e-04 1.63452382e+01] [ 1.97778086e-02 5.09767000e-04 9.99804270e-01 1.36523683e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.87907232899994 meters Centerline goodness : 0.787395 Centerline is valid? [False, False] Translation: X:-300.25, Y:16.35, Z:136.52 [[ 9.99662948e-01 1.67169686e-02 -1.98628497e-02 -3.00252165e+02] [-1.67280391e-02 9.99860000e-01 -3.91316021e-04 1.63461872e+01] [ 1.98535273e-02 7.23450653e-04 9.99802638e-01 1.36524173e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.90907232899997 meters Centerline goodness : 0.787201 Centerline is valid? [False, False] Translation: X:-300.25, Y:16.35, Z:136.52 [[ 9.99658593e-01 1.69062842e-02 -1.99217282e-02 -3.00252311e+02] [-1.69159315e-02 9.99856866e-01 -3.15835917e-04 1.63462728e+01] [ 1.99135371e-02 6.52722679e-04 9.99801493e-01 1.36524531e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.93907232899994 meters Centerline goodness : 0.788123 Centerline is valid? [False, False] Translation: X:-300.25, Y:16.35, Z:136.53 [[ 9.99677611e-01 1.63501466e-02 -1.94254237e-02 -3.00254148e+02] [-1.63678626e-02 9.99865754e-01 -7.53349016e-04 1.63467503e+01] [ 1.94104986e-02 1.07105881e-03 9.99811025e-01 1.36525069e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.96907232899997 meters Centerline goodness : 0.788735 Centerline is valid? [False, False] Translation: X:-300.25, Y:16.35, Z:136.53 [[ 9.99680935e-01 1.62490293e-02 -1.93389917e-02 -3.00254680e+02] [-1.62687085e-02 9.99867285e-01 -8.60689685e-04 1.63471537e+01] [ 1.93224398e-02 1.17503549e-03 9.99812614e-01 1.36525415e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.99907232899994 meters Centerline goodness : 0.788065 Centerline is valid? [False, False] Translation: X:-300.26, Y:16.35, Z:136.53 [[ 9.99682830e-01 1.61889146e-02 -1.92914117e-02 -3.00255210e+02] [-1.62121090e-02 9.99868027e-01 -1.04652221e-03 1.63478839e+01] [ 1.92719237e-02 1.35894475e-03 9.99813356e-01 1.36525878e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.029072329 meters Centerline goodness : 0.787998 Centerline is valid? [False, False] Translation: X:-300.26, Y:16.35, Z:136.53 [[ 9.99689310e-01 1.59066319e-02 -1.91901579e-02 -3.00256226e+02] [-1.59359936e-02 9.99872064e-01 -1.37808164e-03 1.63482096e+01] [ 1.91657822e-02 1.68346771e-03 9.99814902e-01 1.36526690e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.05907232899995 meters Centerline goodness : 0.789106 Centerline is valid? [False, False] Translation: X:-300.26, Y:16.35, Z:136.53 [[ 9.99639151e-01 1.92902444e-02 -1.86936997e-02 -3.00257769e+02] [-1.92623590e-02 9.99813068e-01 1.67062517e-03 1.63507619e+01] [ 1.87224320e-02 -1.30993757e-03 9.99823862e-01 1.36527163e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.089072329 meters Centerline goodness : 0.789275 Centerline is valid? [False, False] Translation: X:-300.26, Y:16.35, Z:136.53 [[ 9.99640595e-01 1.90705972e-02 -1.88412700e-02 -3.00257506e+02] [-1.90531141e-02 9.99817860e-01 1.10700432e-03 1.63528671e+01] [ 1.88589494e-02 -7.47621587e-04 9.99821875e-01 1.36527353e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.11907232899995 meters Centerline goodness : 0.789275 Centerline is valid? [False, False] Translation: X:-300.26, Y:16.35, Z:136.53 [[ 9.99640595e-01 1.90705972e-02 -1.88412700e-02 -3.00257506e+02] [-1.90531141e-02 9.99817860e-01 1.10700432e-03 1.63528671e+01] [ 1.88589494e-02 -7.47621587e-04 9.99821875e-01 1.36527353e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.149072329 meters Centerline goodness : 0.789753 Centerline is valid? [False, False] Translation: X:-300.25, Y:16.35, Z:136.53 [[ 9.99590446e-01 2.05955431e-02 -1.98686835e-02 -3.00254679e+02] [-2.05593668e-02 9.99786586e-01 2.02333824e-03 1.63528727e+01] [ 1.99061150e-02 -1.61402202e-03 9.99800551e-01 1.36527319e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.17907232899995 meters Centerline goodness : 0.790240 Centerline is valid? [False, False] Translation: X:-300.25, Y:16.36, Z:136.53 [[ 9.99586359e-01 2.04836874e-02 -2.01873762e-02 -3.00254264e+02] [-2.04582507e-02 9.99789634e-01 1.46576658e-03 1.63550135e+01] [ 2.02131537e-02 -1.05216187e-03 9.99795140e-01 1.36527909e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.209072329 meters Centerline goodness : 0.790063 Centerline is valid? [False, False] Translation: X:-300.25, Y:16.36, Z:136.53 [[ 9.99575739e-01 2.05736252e-02 -2.06171809e-02 -3.00253587e+02] [-2.05531464e-02 9.99788036e-01 1.20471540e-03 1.63564227e+01] [ 2.06375961e-02 -7.80456347e-04 9.99786718e-01 1.36528510e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.23907232899995 meters Centerline goodness : 0.789750 Centerline is valid? [False, False] Translation: X:-300.25, Y:16.36, Z:136.53 [[ 9.99574800e-01 2.04464896e-02 -2.07884691e-02 -3.00254196e+02] [-2.04387627e-02 9.99790936e-01 5.84114945e-04 1.63582207e+01] [ 2.07960661e-02 -1.58975993e-04 9.99783726e-01 1.36529908e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.269072329 meters Centerline goodness : 0.791454 Centerline is valid? [False, False] Translation: X:-300.25, Y:16.36, Z:136.53 [[ 9.99576398e-01 2.03756283e-02 -2.07812156e-02 -3.00254766e+02] [-2.03721107e-02 9.99792394e-01 3.80981220e-04 1.63586151e+01] [ 2.07846640e-02 4.25373877e-05 9.99783975e-01 1.36530540e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.29907232899996 meters Centerline goodness : 0.789634 Centerline is valid? [False, False] Translation: X:-300.26, Y:16.36, Z:136.53 [[ 9.99580562e-01 2.02341948e-02 -2.07190216e-02 -3.00255151e+02] [-2.02351203e-02 9.99795235e-01 1.65000926e-04 1.63592730e+01] [ 2.07181177e-02 2.54320175e-04 9.99785324e-01 1.36530757e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.329072329 meters Centerline goodness : 0.789830 Centerline is valid? [False, False] Translation: X:-300.25, Y:16.36, Z:136.53 [[ 9.99580803e-01 2.02685089e-02 -2.06737844e-02 -3.00254990e+02] [-2.02664496e-02 9.99794567e-01 3.09141707e-04 1.63591764e+01] [ 2.06758032e-02 1.09972094e-04 9.99786227e-01 1.36530331e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.35907232899996 meters Centerline goodness : 0.790155 Centerline is valid? [False, False] Translation: X:-300.26, Y:16.36, Z:136.53 [[ 9.99596257e-01 1.98573362e-02 -2.03226385e-02 -3.00256172e+02] [-1.98626580e-02 9.99802716e-01 -6.00245008e-05 1.63599479e+01] [ 2.03174373e-02 4.63661884e-04 9.99793472e-01 1.36530599e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.389072329 meters Centerline goodness : 0.790380 Centerline is valid? [False, False] Translation: X:-300.26, Y:16.36, Z:136.53 [[ 9.99606050e-01 1.96993840e-02 -1.99919547e-02 -3.00256845e+02] [-1.97046887e-02 9.99805841e-01 -6.83692476e-05 1.63600645e+01] [ 1.99867263e-02 4.62277557e-04 9.99800139e-01 1.36530338e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.41907232899996 meters Centerline goodness : 0.791114 Centerline is valid? [False, False] Translation: X:-300.26, Y:16.36, Z:136.53 [[ 9.99607797e-01 1.95743283e-02 -2.00274515e-02 -3.00257034e+02] [-1.95835301e-02 9.99808190e-01 -2.63421779e-04 1.63607624e+01] [ 2.00184537e-02 6.55526663e-04 9.99799396e-01 1.36530641e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.449072329 meters Centerline goodness : 0.791263 Centerline is valid? [False, False] Translation: X:-300.26, Y:16.36, Z:136.53 [[ 9.99610942e-01 1.95005073e-02 -1.99422650e-02 -3.00257517e+02] [-1.95123956e-02 9.99809534e-01 -4.01711635e-04 1.63611414e+01] [ 1.99306331e-02 7.90676709e-04 9.99801053e-01 1.36530888e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.47907232899996 meters Centerline goodness : 0.791175 Centerline is valid? [False, False] Translation: X:-300.26, Y:16.36, Z:136.53 [[ 9.99617932e-01 1.92827925e-02 -1.98031101e-02 -3.00258171e+02] [-1.93025426e-02 9.99813363e-01 -8.06642990e-04 1.63624141e+01] [ 1.97838597e-02 1.18858517e-03 9.99803574e-01 1.36531255e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.509072329 meters Centerline goodness : 0.791997 Centerline is valid? [False, False] Translation: X:-300.26, Y:16.36, Z:136.53 [[ 9.99595977e-01 1.98323418e-02 -2.03607538e-02 -3.00257169e+02] [-1.98470646e-02 9.99802892e-01 -5.21261656e-04 1.63623791e+01] [ 2.03464027e-02 9.25152251e-04 9.99792562e-01 1.36531785e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.53907232899996 meters Centerline goodness : 0.791414 Centerline is valid? [False, False] Translation: X:-300.26, Y:16.37, Z:136.53 [[ 9.99583978e-01 1.99184245e-02 -2.08597105e-02 -3.00256255e+02] [-1.99458693e-02 9.99800447e-01 -1.10843449e-03 1.63650630e+01] [ 2.08334696e-02 1.52403842e-03 9.99781798e-01 1.36532456e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.569072329 meters Centerline goodness : 0.791540 Centerline is valid? [False, False] Translation: X:-300.26, Y:16.37, Z:136.53 [[ 9.99575498e-01 2.00723424e-02 -2.11169106e-02 -3.00255813e+02] [-2.01042796e-02 9.99797042e-01 -1.30117588e-03 1.63664898e+01] [ 2.10865072e-02 1.72516380e-03 9.99776166e-01 1.36532844e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.59907232899997 meters Centerline goodness : 0.791933 Centerline is valid? [False, False] Translation: X:-300.25, Y:16.36, Z:136.54 [[ 9.99745403e-01 1.77903301e-02 -1.38792733e-02 -3.00251593e+02] [-1.76716811e-02 9.99806642e-01 8.62496307e-03 1.63592987e+01] [ 1.40300305e-02 -8.37749708e-03 9.99866479e-01 1.36535164e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.62907232899994 meters Centerline goodness : 0.791054 Centerline is valid? [False, False] Translation: X:-300.25, Y:16.36, Z:136.54 [[ 9.99749703e-01 1.76038637e-02 -1.38070496e-02 -3.00252450e+02] [-1.74897441e-02 9.99812234e-01 8.34296844e-03 1.63597916e+01] [ 1.39513256e-02 -8.09939846e-03 9.99869872e-01 1.36535941e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.65907232899997 meters Centerline goodness : 0.790570 Centerline is valid? [False, False] Translation: X:-300.25, Y:16.36, Z:136.54 [[ 9.99801140e-01 1.37514103e-02 -1.44422471e-02 -3.00251321e+02] [-1.36920956e-02 9.99897447e-01 4.19791378e-03 1.63605224e+01] [ 1.44984932e-02 -3.99933436e-03 9.99886893e-01 1.36536430e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.68907232899994 meters Centerline goodness : 0.791791 Centerline is valid? [False, False] Translation: X:-300.25, Y:16.36, Z:136.54 [[ 9.99809083e-01 1.34895541e-02 -1.41361273e-02 -3.00252556e+02] [-1.34332589e-02 9.99901487e-01 4.06977962e-03 1.63601149e+01] [ 1.41896342e-02 -3.87910837e-03 9.99891798e-01 1.36536804e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.71907232899997 meters Centerline goodness : 0.790650 Centerline is valid? [False, False] Translation: X:-300.25, Y:16.36, Z:136.54 [[ 9.99826552e-01 1.10074345e-02 -1.50233734e-02 -3.00249579e+02] [-1.09847310e-02 9.99938397e-01 1.59289527e-03 1.63581239e+01] [ 1.50399816e-02 -1.42759127e-03 9.99885874e-01 1.36535803e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.74907232899994 meters Centerline goodness : 0.791449 Centerline is valid? [False, False] Translation: X:-300.25, Y:16.36, Z:136.54 [[ 9.99837120e-01 1.06017766e-02 -1.46060314e-02 -3.00250534e+02] [-1.05820803e-02 9.99942993e-01 1.42512899e-03 1.63581274e+01] [ 1.46203076e-02 -1.27033467e-03 9.99892311e-01 1.36535499e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.779072329 meters Centerline goodness : 0.791227 Centerline is valid? [False, False] Translation: X:-300.25, Y:16.36, Z:136.54 [[ 9.99861124e-01 9.36711197e-03 -1.37837092e-02 -3.00253690e+02] [-9.36115119e-03 9.99956060e-01 4.96907925e-04 1.63584871e+01] [ 1.37877581e-02 -3.67807531e-04 9.99904877e-01 1.36536462e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.80907232899995 meters Centerline goodness : 0.791928 Centerline is valid? [False, False] Translation: X:-300.25, Y:16.36, Z:136.54 [[ 9.99859977e-01 9.50656618e-03 -1.37713829e-02 -3.00253879e+02] [-9.49749857e-03 9.99954636e-01 7.23690600e-04 1.63578079e+01] [ 1.37776380e-02 -5.92795578e-04 9.99904908e-01 1.36536502e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.839072329 meters Centerline goodness : 0.791061 Centerline is valid? [False, False] Translation: X:-300.26, Y:16.36, Z:136.54 [[ 9.99868921e-01 9.14919153e-03 -1.33579213e-02 -3.00255297e+02] [-9.14508238e-03 9.99958115e-01 3.68670070e-04 1.63583681e+01] [ 1.33607348e-02 -2.46462454e-04 9.99910711e-01 1.36536866e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.86907232899995 meters Centerline goodness : 0.790017 Centerline is valid? [False, False] Translation: X:-300.26, Y:16.36, Z:136.54 [[ 9.99899413e-01 5.10505283e-03 -1.32326150e-02 -3.00255895e+02] [-5.15062531e-03 9.99980914e-01 -3.41216193e-03 1.63572380e+01] [ 1.32149432e-02 3.47997495e-03 9.99906623e-01 1.36537020e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.899072329 meters Centerline goodness : 0.790469 Centerline is valid? [False, False] Translation: X:-300.26, Y:16.36, Z:136.54 [[ 9.99919003e-01 3.71754120e-03 -1.21723940e-02 -3.00259555e+02] [-3.76973844e-03 9.99983786e-01 -4.26803233e-03 1.63572120e+01] [ 1.21563301e-02 4.31357338e-03 9.99916805e-01 1.36537822e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.92907232899995 meters Centerline goodness : 0.790210 Centerline is valid? [False, False] Translation: X:-300.26, Y:16.36, Z:136.54 [[ 9.99930987e-01 -5.62625288e-04 -1.17347979e-02 -3.00260634e+02] [ 4.68975124e-04 9.99968035e-01 -7.98177745e-03 1.63554365e+01] [ 1.17389135e-02 7.97572327e-03 9.99899288e-01 1.36537547e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.959072329 meters Centerline goodness : 0.789180 Centerline is valid? [False, False] Translation: X:-300.26, Y:16.36, Z:136.54 [[ 9.99939959e-01 -9.80695443e-04 -1.09140429e-02 -3.00262395e+02] [ 8.93070266e-04 9.99967355e-01 -8.03064309e-03 1.63552017e+01] [ 1.09215622e-02 8.02041391e-03 9.99908192e-01 1.36536980e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.98907232899995 meters Centerline goodness : 0.790442 Centerline is valid? [False, False] Translation: X:-300.27, Y:16.35, Z:136.54 [[ 9.99950010e-01 -1.82282772e-03 -9.83131140e-03 -3.00265029e+02] [ 1.74261794e-03 9.99965180e-01 -8.16100962e-03 1.63544198e+01] [ 9.84584519e-03 8.14346943e-03 9.99918368e-01 1.36536540e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.019072329 meters Centerline goodness : 0.790430 Centerline is valid? [False, False] Translation: X:-300.28, Y:16.35, Z:136.53 [[ 9.99966419e-01 -5.98656670e-03 -5.59656319e-03 -3.00275499e+02] [ 5.95194507e-03 9.99963175e-01 -6.18255168e-03 1.63534478e+01] [ 5.63336935e-03 6.14903363e-03 9.99965227e-01 1.36531061e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.04907232899996 meters Centerline goodness : 0.788641 Centerline is valid? [False, False] Translation: X:-300.28, Y:16.35, Z:136.53 [[ 9.99968378e-01 -6.46052670e-03 -4.63731914e-03 -3.00277597e+02] [ 6.43254952e-03 9.99961173e-01 -6.02282307e-03 1.63520584e+01] [ 4.67604970e-03 5.99280283e-03 9.99971110e-01 1.36530365e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.079072329 meters Centerline goodness : 0.789537 Centerline is valid? [False, False] Translation: X:-300.28, Y:16.35, Z:136.53 [[ 9.99970049e-01 -6.62126486e-03 -4.00749935e-03 -3.00278890e+02] [ 6.59819496e-03 9.99961741e-01 -5.74278238e-03 1.63508002e+01] [ 4.04537051e-03 5.71616812e-03 9.99975480e-01 1.36529768e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.10907232899996 meters Centerline goodness : 0.788898 Centerline is valid? [False, False] Translation: X:-300.28, Y:16.35, Z:136.53 [[ 9.99969946e-01 -7.07274702e-03 -3.17534796e-03 -3.00280987e+02] [ 7.05470374e-03 9.99959108e-01 -5.65798767e-03 1.63495404e+01] [ 3.21523563e-03 5.63541649e-03 9.99978952e-01 1.36529483e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.139072329 meters Centerline goodness : 0.790396 Centerline is valid? [False, False] Translation: X:-300.28, Y:16.35, Z:136.53 [[ 9.99960098e-01 -8.73859536e-03 -1.85476219e-03 -3.00284383e+02] [ 8.72635942e-03 9.99940762e-01 -6.50567413e-03 1.63495021e+01] [ 1.91150277e-03 6.48922921e-03 9.99977118e-01 1.36529272e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.16907232899996 meters Centerline goodness : 0.789555 Centerline is valid? [False, False] Translation: X:-300.29, Y:16.35, Z:136.53 [[ 9.99977766e-01 -6.63509017e-03 -6.64908408e-04 -3.00288380e+02] [ 6.63243806e-03 9.99970343e-01 -3.91450950e-03 1.63505396e+01] [ 6.90861813e-04 3.91001250e-03 9.99992117e-01 1.36530132e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.199072329 meters Centerline goodness : 0.789119 Centerline is valid? [False, False] Translation: X:-300.29, Y:16.35, Z:136.53 [[ 9.99974275e-01 -7.17208434e-03 1.06903858e-04 -3.00290613e+02] [ 7.17245385e-03 9.99966316e-01 -3.99028338e-03 1.63499276e+01] [-7.82816084e-05 3.99094749e-03 9.99992033e-01 1.36530319e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.22907232899996 meters Centerline goodness : 0.789814 Centerline is valid? [False, False] Translation: X:-300.29, Y:16.35, Z:136.53 [[ 9.99972727e-01 -7.36781038e-03 5.11090414e-04 -3.00291685e+02] [ 7.36983318e-03 9.99964536e-01 -4.07577782e-03 1.63499860e+01] [-4.81042730e-04 4.07943331e-03 9.99991563e-01 1.36530307e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.259072329 meters Centerline goodness : 0.790366 Centerline is valid? [False, False] Translation: X:-300.29, Y:16.35, Z:136.53 [[ 9.99986261e-01 -5.03122229e-03 1.47143302e-03 -3.00294491e+02] [ 5.03393687e-03 9.99985624e-01 -1.84700867e-03 1.63536785e+01] [-1.46211916e-03 1.85439039e-03 9.99997212e-01 1.36530755e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.28907232899996 meters Centerline goodness : 0.789236 Centerline is valid? [False, False] Translation: X:-300.29, Y:16.35, Z:136.53 [[ 9.99988761e-01 -4.54567145e-03 1.34695077e-03 -3.00293963e+02] [ 4.54725255e-03 9.99988973e-01 -1.17310616e-03 1.63522634e+01] [-1.34160336e-03 1.17921790e-03 9.99998405e-01 1.36530386e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.319072329 meters Centerline goodness : 0.788783 Centerline is valid? [False, False] Translation: X:-300.29, Y:16.35, Z:136.53 [[ 9.99987942e-01 -4.58053057e-03 1.77061290e-03 -3.00294999e+02] [ 4.58223240e-03 9.99989042e-01 -9.58294036e-04 1.63514439e+01] [-1.76620400e-03 9.66395840e-04 9.99997973e-01 1.36530210e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.34907232899997 meters Centerline goodness : 0.787902 Centerline is valid? [False, False] Translation: X:-300.30, Y:16.35, Z:136.53 [[ 9.99983841e-01 -5.02334988e-03 2.66166227e-03 -3.00297005e+02] [ 5.02565173e-03 9.99987003e-01 -8.58838638e-04 1.63501665e+01] [-2.65731343e-03 8.72201347e-04 9.99996089e-01 1.36529694e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.37907232899994 meters Centerline goodness : 0.786379 Centerline is valid? [False, False] Translation: X:-300.30, Y:16.35, Z:136.53 [[ 9.99985736e-01 -4.68966485e-03 2.55614712e-03 -3.00296695e+02] [ 4.69086978e-03 9.99988889e-01 -4.65593173e-04 1.63495401e+01] [-2.55393524e-03 4.77577086e-04 9.99996625e-01 1.36529570e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.40907232899997 meters Centerline goodness : 0.787283 Centerline is valid? [False, False] Translation: X:-300.30, Y:16.35, Z:136.53 [[ 9.99978993e-01 -5.52173972e-03 3.39481297e-03 -3.00299085e+02] [ 5.52597732e-03 9.99983963e-01 -1.24014782e-03 1.63509965e+01] [-3.38791075e-03 1.25888143e-03 9.99993469e-01 1.36529883e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.43907232899994 meters Centerline goodness : 0.786985 Centerline is valid? [False, False] Translation: X:-300.30, Y:16.35, Z:136.53 [[ 9.99981384e-01 -5.16460555e-03 3.24948964e-03 -3.00299067e+02] [ 5.16707545e-03 9.99986368e-01 -7.52154111e-04 1.63498369e+01] [-3.24556076e-03 7.68930467e-04 9.99994438e-01 1.36530239e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.46907232899997 meters Centerline goodness : 0.786258 Centerline is valid? [False, False] Translation: X:-300.30, Y:16.35, Z:136.53 [[ 9.99985064e-01 -4.63851272e-03 2.89054946e-03 -3.00297880e+02] [ 4.63940393e-03 9.99989192e-01 -3.01690864e-04 1.63496080e+01] [-2.88911883e-03 3.15096785e-04 9.99995777e-01 1.36529862e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.49907232899994 meters Centerline goodness : 0.787969 Centerline is valid? [False, False] Translation: X:-300.30, Y:16.35, Z:136.53 [[ 9.99979871e-01 -5.24373733e-03 3.57233465e-03 -3.00298899e+02] [ 5.24607625e-03 9.99986031e-01 -6.45677072e-04 1.63503501e+01] [-3.56889898e-03 6.64404815e-04 9.99993411e-01 1.36528891e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.529072329 meters Centerline goodness : 0.788297 Centerline is valid? [False, False] Translation: X:-300.30, Y:16.35, Z:136.53 [[ 9.99971162e-01 -6.09853113e-03 4.52577300e-03 -3.00301353e+02] [ 6.10345803e-03 9.99980795e-01 -1.07561930e-03 1.63504816e+01] [-4.51912639e-03 1.10321115e-03 9.99989180e-01 1.36528792e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.55907232899995 meters Centerline goodness : 0.788264 Centerline is valid? [False, False] Translation: X:-300.30, Y:16.35, Z:136.53 [[ 9.99969512e-01 -6.17244133e-03 4.78283639e-03 -3.00301722e+02] [ 6.17780733e-03 9.99980303e-01 -1.10796769e-03 1.63508659e+01] [-4.77590331e-03 1.13748135e-03 9.99987948e-01 1.36528405e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.589072329 meters Centerline goodness : 0.787542 Centerline is valid? [False, False] Translation: X:-300.30, Y:16.35, Z:136.53 [[ 9.99965354e-01 -6.45016837e-03 5.26171376e-03 -3.00302884e+02] [ 6.45631504e-03 9.99978494e-01 -1.15204039e-03 1.63506922e+01] [-5.25416975e-03 1.18597176e-03 9.99985493e-01 1.36528245e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.61907232899995 meters Centerline goodness : 0.787864 Centerline is valid? [False, False] Translation: X:-300.30, Y:16.35, Z:136.53 [[ 9.99963468e-01 -6.45506137e-03 5.60306970e-03 -3.00303501e+02] [ 6.46049291e-03 9.99978678e-01 -9.51829617e-04 1.63502000e+01] [-5.59680612e-03 9.87993437e-04 9.99983850e-01 1.36527861e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.649072329 meters Centerline goodness : 0.786838 Centerline is valid? [False, False] Translation: X:-300.30, Y:16.35, Z:136.53 [[ 9.99965016e-01 -6.20886364e-03 5.60512099e-03 -3.00303526e+02] [ 6.21347624e-03 9.99980371e-01 -8.05886199e-04 1.63501874e+01] [-5.60000734e-03 8.40685292e-04 9.99983966e-01 1.36527873e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.67907232899995 meters Centerline goodness : 0.786375 Centerline is valid? [False, False] Translation: X:-300.30, Y:16.35, Z:136.53 [[ 9.99959450e-01 -6.64424709e-03 6.07891558e-03 -3.00304895e+02] [ 6.65154903e-03 9.99977180e-01 -1.18176303e-03 1.63508737e+01] [-6.07092494e-03 1.22214931e-03 9.99980825e-01 1.36528032e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.709072329 meters Centerline goodness : 0.788641 Centerline is valid? [False, False] Translation: X:-300.30, Y:16.35, Z:136.53 [[ 9.99963646e-01 -6.25291734e-03 5.79725269e-03 -3.00304164e+02] [ 6.25861117e-03 9.99979950e-01 -9.64538859e-04 1.63512598e+01] [-5.79110528e-03 1.00078654e-03 9.99982731e-01 1.36528064e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.73907232899995 meters Centerline goodness : 0.788148 Centerline is valid? [False, False] Translation: X:-300.30, Y:16.35, Z:136.53 [[ 9.99962174e-01 -6.44085541e-03 5.84523249e-03 -3.00304353e+02] [ 6.44876440e-03 9.99978315e-01 -1.33522849e-03 1.63528053e+01] [-5.83650572e-03 1.37287251e-03 9.99982025e-01 1.36528184e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.769072329 meters Centerline goodness : 0.787742 Centerline is valid? [False, False] Translation: X:-300.31, Y:16.35, Z:136.53 [[ 9.99959100e-01 -6.62056487e-03 6.16170220e-03 -3.00305042e+02] [ 6.62929455e-03 9.99977050e-01 -1.39741963e-03 1.63527738e+01] [-6.15230908e-03 1.43821021e-03 9.99980040e-01 1.36527992e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.79907232899996 meters Centerline goodness : 0.786007 Centerline is valid? [False, False] Translation: X:-300.31, Y:16.35, Z:136.53 [[ 9.99946769e-01 -7.51604362e-03 7.06881194e-03 -3.00307590e+02] [ 7.52926168e-03 9.99969952e-01 -1.84516284e-03 1.63524960e+01] [-7.05473122e-03 1.89828755e-03 9.99973313e-01 1.36528142e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.829072329 meters Centerline goodness : 0.786585 Centerline is valid? [False, False] Translation: X:-300.31, Y:16.35, Z:136.53 [[ 9.99942349e-01 -7.76310473e-03 7.41835712e-03 -3.00308341e+02] [ 7.77808038e-03 9.99967766e-01 -1.99201384e-03 1.63527266e+01] [-7.40265379e-03 2.04959958e-03 9.99970499e-01 1.36527922e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.85907232899996 meters Centerline goodness : 0.787603 Centerline is valid? [False, False] Translation: X:-300.31, Y:16.35, Z:136.53 [[ 9.99953828e-01 -6.73965004e-03 6.84970544e-03 -3.00306385e+02] [ 6.74788800e-03 9.99976536e-01 -1.18027493e-03 1.63523881e+01] [-6.84159008e-03 1.22644148e-03 9.99975844e-01 1.36527322e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.889072329 meters Centerline goodness : 0.786902 Centerline is valid? [False, False] Translation: X:-300.31, Y:16.35, Z:136.53 [[ 9.99953820e-01 -6.76073220e-03 6.83016313e-03 -3.00306048e+02] [ 6.77002538e-03 9.99976187e-01 -1.33840539e-03 1.63533004e+01] [-6.82095189e-03 1.38458396e-03 9.99975778e-01 1.36526987e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.91907232899996 meters Centerline goodness : 0.787284 Centerline is valid? [False, False] Translation: X:-300.31, Y:16.35, Z:136.53 [[ 9.99955114e-01 -6.64584664e-03 6.75292196e-03 -3.00305877e+02] [ 6.65544505e-03 9.99976872e-01 -1.39989438e-03 1.63542209e+01] [-6.74346230e-03 1.44477525e-03 9.99976219e-01 1.36527096e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.949072329 meters Centerline goodness : 0.787357 Centerline is valid? [False, False] Translation: X:-300.31, Y:16.36, Z:136.53 [[ 9.99952080e-01 -6.82391816e-03 7.01933817e-03 -3.00306755e+02] [ 6.83545944e-03 9.99975323e-01 -1.62153766e-03 1.63550759e+01] [-7.00809971e-03 1.66944035e-03 9.99974049e-01 1.36527423e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.97907232899996 meters Centerline goodness : 0.789773 Centerline is valid? [False, False] Translation: X:-300.31, Y:16.36, Z:136.53 [[ 9.99950073e-01 -6.93728843e-03 7.19203263e-03 -3.00307522e+02] [ 6.95053970e-03 9.99974190e-01 -1.81913809e-03 1.63558294e+01] [-7.17922712e-03 1.86903577e-03 9.99972482e-01 1.36527950e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.009072329 meters Centerline goodness : 0.789773 Centerline is valid? [False, False] Translation: X:-300.31, Y:16.36, Z:136.53 [[ 9.99950073e-01 -6.93728843e-03 7.19203263e-03 -3.00307522e+02] [ 6.95053970e-03 9.99974190e-01 -1.81913809e-03 1.63558294e+01] [-7.17922712e-03 1.86903577e-03 9.99972482e-01 1.36527950e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.03907232899996 meters Centerline goodness : 0.788473 Centerline is valid? [False, False] Translation: X:-300.31, Y:16.36, Z:136.53 [[ 9.99948209e-01 -6.99872760e-03 7.38902161e-03 -3.00307948e+02] [ 7.01236327e-03 9.99973755e-01 -1.82110302e-03 1.63560532e+01] [-7.37608228e-03 1.87282320e-03 9.99971043e-01 1.36527850e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.069072329 meters Centerline goodness : 0.787699 Centerline is valid? [False, False] Translation: X:-300.31, Y:16.35, Z:136.53 [[ 9.99935802e-01 -7.60652186e-03 8.39839057e-03 -3.00309815e+02] [ 7.62135800e-03 9.99969450e-01 -1.73595649e-03 1.63549767e+01] [-8.38492941e-03 1.79985218e-03 9.99963226e-01 1.36526742e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.09907232899997 meters Centerline goodness : 0.788384 Centerline is valid? [False, False] Translation: X:-300.31, Y:16.35, Z:136.53 [[ 9.99919676e-01 -8.39477743e-03 9.49572757e-03 -3.00312653e+02] [ 8.41233871e-03 9.99962976e-01 -1.81095983e-03 1.63536857e+01] [-9.48017339e-03 1.89069564e-03 9.99953275e-01 1.36526540e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.12907232899994 meters Centerline goodness : 0.787915 Centerline is valid? [False, False] Translation: X:-300.32, Y:16.35, Z:136.53 [[ 9.99894851e-01 -9.80480805e-03 1.06842402e-02 -3.00316417e+02] [ 9.83411259e-03 9.99948016e-01 -2.69370376e-03 1.63536456e+01] [-1.06572735e-02 2.79849054e-03 9.99939294e-01 1.36527257e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.15907232899997 meters Centerline goodness : 0.788163 Centerline is valid? [False, False] Translation: X:-300.32, Y:16.35, Z:136.53 [[ 9.99881368e-01 -1.01594512e-02 1.15773985e-02 -3.00318757e+02] [ 1.01883871e-02 9.99945112e-01 -2.44311314e-03 1.63518900e+01] [-1.15519423e-02 2.56077832e-03 9.99929995e-01 1.36527148e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.18907232899994 meters Centerline goodness : 0.787428 Centerline is valid? [False, False] Translation: X:-300.32, Y:16.35, Z:136.53 [[ 9.99818337e-01 -1.43643911e-02 1.25282216e-02 -3.00320580e+02] [ 1.44374978e-02 9.99879157e-01 -5.76456653e-03 1.63484489e+01] [-1.24439032e-02 5.94439550e-03 9.99904902e-01 1.36526281e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.21907232899997 meters Centerline goodness : 0.789112 Centerline is valid? [False, False] Translation: X:-300.32, Y:16.35, Z:136.53 [[ 9.99796359e-01 -1.49351078e-02 1.35714265e-02 -3.00323169e+02] [ 1.50112654e-02 9.99872048e-01 -5.52717544e-03 1.63464779e+01] [-1.34871410e-02 5.72977417e-03 9.99892628e-01 1.36525943e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.24907232899994 meters Centerline goodness : 0.788159 Centerline is valid? [False, False] Translation: X:-300.33, Y:16.34, Z:136.52 [[ 9.99753996e-01 -1.62164916e-02 1.51318708e-02 -3.00326178e+02] [ 1.62966348e-02 9.99853741e-01 -5.18812288e-03 1.63435961e+01] [-1.50455245e-02 5.43344515e-03 9.99872047e-01 1.36524227e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.279072329 meters Centerline goodness : 0.787155 Centerline is valid? [False, False] Translation: X:-300.33, Y:16.34, Z:136.52 [[ 9.99721630e-01 -1.70656548e-02 1.62919111e-02 -3.00329224e+02] [ 1.71548911e-02 9.99838512e-01 -5.35337807e-03 1.63425240e+01] [-1.61979212e-02 5.63137381e-03 9.99852947e-01 1.36524183e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.30907232899995 meters Centerline goodness : 0.787264 Centerline is valid? [False, False] Translation: X:-300.33, Y:16.34, Z:136.52 [[ 9.99705971e-01 -1.73155982e-02 1.69747616e-02 -3.00330798e+02] [ 1.74082344e-02 9.99834286e-01 -5.32479034e-03 1.63421039e+01] [-1.68797467e-02 5.61872532e-03 9.99841740e-01 1.36523931e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.339072329 meters Centerline goodness : 0.788077 Centerline is valid? [False, False] Translation: X:-300.33, Y:16.34, Z:136.52 [[ 9.99690140e-01 -1.75029583e-02 1.76994370e-02 -3.00332603e+02] [ 1.75929143e-02 9.99833031e-01 -4.93954109e-03 1.63404756e+01] [-1.76100251e-02 5.24939521e-03 9.99831151e-01 1.36523813e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.36907232899995 meters Centerline goodness : 0.787578 Centerline is valid? [False, False] Translation: X:-300.33, Y:16.34, Z:136.52 [[ 9.99690561e-01 -1.73108719e-02 1.78638412e-02 -3.00332802e+02] [ 1.73959127e-02 9.99838024e-01 -4.61612826e-03 1.63400078e+01] [-1.77810384e-02 4.92545767e-03 9.99829773e-01 1.36523526e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.399072329 meters Centerline goodness : 0.787447 Centerline is valid? [False, False] Translation: X:-300.33, Y:16.34, Z:136.52 [[ 9.99688732e-01 -1.72041828e-02 1.80680461e-02 -3.00333380e+02] [ 1.72852360e-02 9.99841182e-01 -4.33943888e-03 1.63392809e+01] [-1.79905201e-02 4.65039859e-03 9.99827343e-01 1.36523567e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.42907232899995 meters Centerline goodness : 0.789443 Centerline is valid? [False, False] Translation: X:-300.34, Y:16.34, Z:136.52 [[ 9.99657047e-01 -1.79352738e-02 1.90818056e-02 -3.00335584e+02] [ 1.80235000e-02 9.99827609e-01 -4.46167524e-03 1.63384656e+01] [-1.89984947e-02 4.80406601e-03 9.99807971e-01 1.36523001e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.459072329 meters Centerline goodness : 0.788199 Centerline is valid? [False, False] Translation: X:-300.34, Y:16.34, Z:136.52 [[ 9.99636223e-01 -1.83133607e-02 1.98000710e-02 -3.00337540e+02] [ 1.84076170e-02 9.99820036e-01 -4.58865989e-03 1.63381574e+01] [-1.97124739e-02 4.95146276e-03 9.99793429e-01 1.36523142e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.48907232899995 meters Centerline goodness : 0.787114 Centerline is valid? [False, False] Translation: X:-300.34, Y:16.34, Z:136.52 [[ 9.99600910e-01 -1.92229863e-02 2.07001698e-02 -3.00339959e+02] [ 1.93290305e-02 9.99800997e-01 -4.93501613e-03 1.63372084e+01] [-2.06011847e-02 5.33316083e-03 9.99773549e-01 1.36523174e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.519072329 meters Centerline goodness : 0.786246 Centerline is valid? [False, False] Translation: X:-300.34, Y:16.34, Z:136.52 [[ 9.99608350e-01 -1.88124450e-02 2.07180589e-02 -3.00339781e+02] [ 1.89049942e-02 9.99812122e-01 -4.28030240e-03 1.63357001e+01] [-2.06336434e-02 4.67030080e-03 9.99776195e-01 1.36522746e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.54907232899996 meters Centerline goodness : 0.787024 Centerline is valid? [False, False] Translation: X:-300.34, Y:16.34, Z:136.52 [[ 9.99607636e-01 -1.87222997e-02 2.08338797e-02 -3.00339945e+02] [ 1.88122381e-02 9.99814507e-01 -4.12933084e-03 1.63354610e+01] [-2.07527046e-02 4.51964254e-03 9.99774424e-01 1.36522515e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.579072329 meters Centerline goodness : 0.787358 Centerline is valid? [False, False] Translation: X:-300.34, Y:16.34, Z:136.52 [[ 9.99670868e-01 -1.48880651e-02 2.08926043e-02 -3.00340325e+02] [ 1.49008371e-02 9.99888872e-01 -4.55763663e-04 1.63369929e+01] [-2.08834971e-02 7.66930949e-04 9.99781622e-01 1.36522623e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.60907232899996 meters Centerline goodness : 0.787534 Centerline is valid? [False, False] Translation: X:-300.34, Y:16.34, Z:136.52 [[ 9.99691051e-01 -1.43867127e-02 2.02688139e-02 -3.00338634e+02] [ 1.43959641e-02 9.99896325e-01 -3.10592192e-04 1.63378628e+01] [-2.02622441e-02 6.02285352e-04 9.99794518e-01 1.36522532e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.639072329 meters Centerline goodness : 0.787343 Centerline is valid? [False, False] Translation: X:-300.34, Y:16.34, Z:136.52 [[ 9.99700564e-01 -1.42012136e-02 1.99275815e-02 -3.00337574e+02] [ 1.42144349e-02 9.99898834e-01 -5.21969468e-04 1.63394979e+01] [-1.99181529e-02 8.05072481e-04 9.99801290e-01 1.36522396e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.66907232899996 meters Centerline goodness : 0.787379 Centerline is valid? [False, False] Translation: X:-300.34, Y:16.34, Z:136.52 [[ 9.99720210e-01 -1.36102577e-02 1.93458425e-02 -3.00336381e+02] [ 1.36155983e-02 9.99907293e-01 -1.44364049e-04 1.63392723e+01] [-1.93420842e-02 4.07728877e-04 9.99812841e-01 1.36522722e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.699072329 meters Centerline goodness : 0.787754 Centerline is valid? [False, False] Translation: X:-300.34, Y:16.34, Z:136.52 [[ 9.99719776e-01 -1.36852366e-02 1.93153913e-02 -3.00336498e+02] [ 1.36958375e-02 9.99906121e-01 -4.16653630e-04 1.63401518e+01] [-1.93078760e-02 6.81077335e-04 9.99813354e-01 1.36523020e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.72907232899996 meters Centerline goodness : 0.787974 Centerline is valid? [False, False] Translation: X:-300.34, Y:16.34, Z:136.52 [[ 9.99733640e-01 -1.32387713e-02 1.89045775e-02 -3.00335300e+02] [ 1.32449496e-02 9.99912261e-01 -2.01639739e-04 1.63405314e+01] [-1.89002493e-02 4.51976206e-04 9.99821272e-01 1.36522861e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.759072329 meters Centerline goodness : 0.788831 Centerline is valid? [False, False] Translation: X:-300.33, Y:16.34, Z:136.52 [[ 9.99768259e-01 -1.20271191e-02 1.78543320e-02 -3.00332521e+02] [ 1.20235523e-02 9.99927667e-01 3.07108646e-04 1.63412761e+01] [-1.78567342e-02 -9.23649814e-05 9.99840552e-01 1.36522854e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.78907232899996 meters Centerline goodness : 0.787574 Centerline is valid? [False, False] Translation: X:-300.33, Y:16.34, Z:136.52 [[ 9.99790883e-01 -1.12152648e-02 1.70999684e-02 -3.00330836e+02] [ 1.12023529e-02 9.99936890e-01 8.50685244e-04 1.63410037e+01] [-1.71084299e-02 -6.58947471e-04 9.99853423e-01 1.36523133e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.819072329 meters Centerline goodness : 0.788658 Centerline is valid? [False, False] Translation: X:-300.33, Y:16.35, Z:136.52 [[ 9.99833499e-01 -7.48928538e-03 1.66398385e-02 -3.00330752e+02] [ 7.42990970e-03 9.99965819e-01 3.62724529e-03 1.63452864e+01] [-1.66664352e-02 -3.50300885e-03 9.99854969e-01 1.36524646e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.84907232899997 meters Centerline goodness : 0.786964 Centerline is valid? [False, False] Translation: X:-300.33, Y:16.35, Z:136.52 [[ 9.99844871e-01 -7.15640323e-03 1.60941005e-02 -3.00329486e+02] [ 7.10206207e-03 9.99968894e-01 3.43108882e-03 1.63468715e+01] [-1.61181542e-02 -3.31625525e-03 9.99864595e-01 1.36524867e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.87907232899994 meters Centerline goodness : 0.787480 Centerline is valid? [False, False] Translation: X:-300.33, Y:16.35, Z:136.53 [[ 9.99870666e-01 -6.06034643e-03 1.48971090e-02 -3.00326691e+02] [ 6.00838443e-03 9.99975718e-01 3.53034510e-03 1.63484915e+01] [-1.49181424e-02 -3.44038095e-03 9.99882800e-01 1.36525408e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.90907232899997 meters Centerline goodness : 0.787692 Centerline is valid? [False, False] Translation: X:-300.32, Y:16.35, Z:136.53 [[ 9.99895936e-01 -4.46601087e-03 1.37175510e-02 -3.00323761e+02] [ 4.40363083e-03 9.99979842e-01 4.57430591e-03 1.63480532e+01] [-1.37377034e-02 -4.51342286e-03 9.99895447e-01 1.36525512e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.93907232899994 meters Centerline goodness : 0.787983 Centerline is valid? [False, False] Translation: X:-300.32, Y:16.35, Z:136.53 [[ 9.99908925e-01 -3.95486699e-03 1.29035274e-02 -3.00321886e+02] [ 3.90197341e-03 9.99983893e-01 4.12176060e-03 1.63511695e+01] [-1.29196206e-02 -4.07103599e-03 9.99908251e-01 1.36525975e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.96907232899997 meters Centerline goodness : 0.787002 Centerline is valid? [False, False] Translation: X:-300.32, Y:16.36, Z:136.53 [[ 9.99920935e-01 -4.18269366e-04 1.25677332e-02 -3.00322076e+02] [ 3.34080658e-04 9.99977498e-01 6.70015093e-03 1.63560693e+01] [-1.25702529e-02 -6.69542255e-03 9.99898575e-01 1.36527636e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.99907232899994 meters Centerline goodness : 0.789360 Centerline is valid? [False, False] Translation: X:-300.32, Y:16.36, Z:136.53 [[ 9.99929464e-01 -1.13341398e-04 1.18766070e-02 -3.00321083e+02] [ 3.70201214e-05 9.99979351e-01 6.42620807e-03 1.63575031e+01] [-1.18770901e-02 -6.42531512e-03 9.99908821e-01 1.36528704e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.029072329 meters Centerline goodness : 0.789288 Centerline is valid? [False, False] Translation: X:-300.32, Y:16.36, Z:136.53 [[ 9.99940337e-01 7.31204814e-04 1.08989582e-02 -3.00319058e+02] [-7.98784801e-04 9.99980476e-01 6.19752865e-03 1.63597962e+01] [-1.08942137e-02 -6.20586481e-03 9.99921399e-01 1.36529646e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.05907232899995 meters Centerline goodness : 0.790275 Centerline is valid? [False, False] Translation: X:-300.32, Y:16.36, Z:136.53 [[ 9.99943696e-01 7.94442382e-04 1.05817568e-02 -3.00318570e+02] [-8.57211473e-04 9.99982058e-01 5.92860726e-03 1.63609577e+01] [-1.05768570e-02 -5.93734425e-03 9.99926436e-01 1.36530067e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.089072329 meters Centerline goodness : 0.790092 Centerline is valid? [False, False] Translation: X:-300.32, Y:16.36, Z:136.53 [[ 9.99943293e-01 4.85387491e-04 1.06383453e-02 -3.00319120e+02] [-5.42601815e-04 9.99985403e-01 5.37589621e-03 1.63625676e+01] [-1.06355807e-02 -5.38136375e-03 9.99928960e-01 1.36530606e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.11907232899995 meters Centerline goodness : 0.790909 Centerline is valid? [False, False] Translation: X:-300.32, Y:16.36, Z:136.53 [[ 9.99945653e-01 3.69196504e-05 1.04253936e-02 -3.00320139e+02] [-8.25974609e-05 9.99990400e-01 4.38100257e-03 1.63648715e+01] [-1.04251317e-02 -4.38162559e-03 9.99936057e-01 1.36532798e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.149072329 meters Centerline goodness : 0.791283 Centerline is valid? [False, False] Translation: X:-300.32, Y:16.37, Z:136.53 [[ 9.99941699e-01 -4.07753721e-04 1.07903870e-02 -3.00321831e+02] [ 3.66175800e-04 9.99992503e-01 3.85493235e-03 1.63656811e+01] [-1.07918780e-02 -3.85075642e-03 9.99934351e-01 1.36533772e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.17907232899995 meters Centerline goodness : 0.791148 Centerline is valid? [False, False] Translation: X:-300.32, Y:16.37, Z:136.53 [[ 9.99933451e-01 -9.85212429e-04 1.14945042e-02 -3.00324208e+02] [ 9.44962115e-04 9.99993405e-01 3.50660651e-03 1.63653505e+01] [-1.14978831e-02 -3.49551127e-03 9.99927787e-01 1.36534377e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.209072329 meters Centerline goodness : 0.787614 Centerline is valid? [False, False] Translation: X:-300.32, Y:16.36, Z:136.53 [[ 9.99920603e-01 -4.47810970e-03 1.17785885e-02 -3.00324469e+02] [ 4.47053258e-03 9.99989783e-01 6.69547251e-04 1.63613302e+01] [-1.17814665e-02 -6.16837527e-04 9.99930406e-01 1.36533495e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.23907232899995 meters Centerline goodness : 0.788143 Centerline is valid? [False, False] Translation: X:-300.33, Y:16.36, Z:136.53 [[ 9.99899963e-01 -5.72581080e-03 1.29336145e-02 -3.00327600e+02] [ 5.72532733e-03 9.99983607e-01 7.44071847e-05 1.63608277e+01] [-1.29338285e-02 -3.50564828e-07 9.99916355e-01 1.36533503e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.269072329 meters Centerline goodness : 0.788866 Centerline is valid? [False, False] Translation: X:-300.33, Y:16.36, Z:136.53 [[ 9.99865410e-01 -9.46255366e-03 1.34023266e-02 -3.00327745e+02] [ 9.49957545e-03 9.99951229e-01 -2.70137731e-03 1.63565946e+01] [-1.33761111e-02 2.82833015e-03 9.99906536e-01 1.36531873e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.29907232899996 meters Centerline goodness : 0.787537 Centerline is valid? [False, False] Translation: X:-300.33, Y:16.36, Z:136.53 [[ 9.99851002e-01 -9.82453553e-03 1.41933771e-02 -3.00329535e+02] [ 9.86290477e-03 9.99947886e-01 -2.63585518e-03 1.63557769e+01] [-1.41667414e-02 2.77545037e-03 9.99895795e-01 1.36531476e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.329072329 meters Centerline goodness : 0.789037 Centerline is valid? [False, False] Translation: X:-300.33, Y:16.36, Z:136.53 [[ 9.99841441e-01 -1.00103085e-02 1.47270897e-02 -3.00330706e+02] [ 1.00478709e-02 9.99946447e-01 -2.47878473e-03 1.63550683e+01] [-1.47014876e-02 2.62636759e-03 9.99888478e-01 1.36531148e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.35907232899996 meters Centerline goodness : 0.788430 Centerline is valid? [False, False] Translation: X:-300.33, Y:16.35, Z:136.53 [[ 9.99815867e-01 -1.08982645e-02 1.57942836e-02 -3.00333249e+02] [ 1.09405604e-02 9.99936786e-01 -2.59399371e-03 1.63538844e+01] [-1.57650152e-02 2.76631439e-03 9.99871898e-01 1.36530796e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.389072329 meters Centerline goodness : 0.789062 Centerline is valid? [False, False] Translation: X:-300.33, Y:16.35, Z:136.53 [[ 9.99815028e-01 -1.07436467e-02 1.59525744e-02 -3.00333771e+02] [ 1.07810684e-02 9.99939325e-01 -2.26166786e-03 1.63529656e+01] [-1.59273079e-02 2.43323531e-03 9.99870192e-01 1.36530855e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.41907232899996 meters Centerline goodness : 0.790373 Centerline is valid? [False, False] Translation: X:-300.33, Y:16.36, Z:136.53 [[ 9.99845005e-01 -9.35896527e-03 1.49122543e-02 -3.00331099e+02] [ 9.39620451e-03 9.99952904e-01 -2.42911941e-03 1.63569927e+01] [-1.48888179e-02 2.56886150e-03 9.99885856e-01 1.36531499e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.449072329 meters Centerline goodness : 0.788089 Centerline is valid? [False, False] Translation: X:-300.33, Y:16.36, Z:136.53 [[ 9.99849187e-01 -9.10423615e-03 1.47890401e-02 -3.00331371e+02] [ 9.13711629e-03 9.99955929e-01 -2.15723117e-03 1.63562055e+01] [-1.47687484e-02 2.29203501e-03 9.99888309e-01 1.36532152e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.47907232899996 meters Centerline goodness : 0.788131 Centerline is valid? [False, False] Translation: X:-300.33, Y:16.36, Z:136.53 [[ 9.99866550e-01 -8.16021002e-03 1.41524865e-02 -3.00329697e+02] [ 8.18186260e-03 9.99965444e-01 -1.47272364e-03 1.63556617e+01] [-1.41399797e-02 1.58832081e-03 9.99898764e-01 1.36532071e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.509072329 meters Centerline goodness : 0.789116 Centerline is valid? [False, False] Translation: X:-300.33, Y:16.36, Z:136.53 [[ 9.99883447e-01 -5.01367731e-03 1.44206601e-02 -3.00330877e+02] [ 4.99720443e-03 9.99986820e-01 1.17811778e-03 1.63593754e+01] [-1.44263767e-02 -1.10591748e-03 9.99895323e-01 1.36532737e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.53907232899996 meters Centerline goodness : 0.788615 Centerline is valid? [False, False] Translation: X:-300.33, Y:16.36, Z:136.53 [[ 9.99896002e-01 -4.39491477e-03 1.37357108e-02 -3.00329317e+02] [ 4.37554860e-03 9.99989391e-01 1.43964818e-03 1.63597993e+01] [-1.37418922e-02 -1.37939719e-03 9.99904624e-01 1.36532972e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.569072329 meters Centerline goodness : 0.787471 Centerline is valid? [False, False] Translation: X:-300.33, Y:16.36, Z:136.53 [[ 9.99910285e-01 -3.56811406e-03 1.29108479e-02 -3.00327258e+02] [ 3.54432631e-03 9.99991980e-01 1.86487468e-03 1.63598576e+01] [-1.29173984e-02 -1.81894711e-03 9.99914913e-01 1.36533068e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.59907232899997 meters Centerline goodness : 0.787672 Centerline is valid? [False, False] Translation: X:-300.33, Y:16.36, Z:136.53 [[ 9.99908194e-01 -3.79103726e-03 1.30088829e-02 -3.00327756e+02] [ 3.77133696e-03 9.99991705e-01 1.53857054e-03 1.63605969e+01] [-1.30146077e-02 -1.48936841e-03 9.99914197e-01 1.36533389e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.62907232899994 meters Centerline goodness : 0.786307 Centerline is valid? [False, False] Translation: X:-300.33, Y:16.36, Z:136.53 [[ 9.99914608e-01 -3.37561840e-03 1.26246553e-02 -3.00326674e+02] [ 3.35415920e-03 9.99992895e-01 1.72057276e-03 1.63609401e+01] [-1.26303736e-02 -1.67808073e-03 9.99918826e-01 1.36533211e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.65907232899997 meters Centerline goodness : 0.788695 Centerline is valid? [False, False] Translation: X:-300.33, Y:16.36, Z:136.53 [[ 9.99922701e-01 -3.08067699e-03 1.20458438e-02 -3.00325639e+02] [ 3.06131482e-03 9.99993993e-01 1.62548234e-03 1.63618781e+01] [-1.20507790e-02 -1.58848057e-03 9.99926125e-01 1.36533878e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.68907232899994 meters Centerline goodness : 0.789825 Centerline is valid? [False, False] Translation: X:-300.32, Y:16.36, Z:136.53 [[ 9.99932681e-01 -2.40187169e-03 1.13518456e-02 -3.00324018e+02] [ 2.38243993e-03 9.99995674e-01 1.72498438e-03 1.63632535e+01] [-1.13559397e-02 -1.69782316e-03 9.99934078e-01 1.36534181e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.71907232899997 meters Centerline goodness : 0.788261 Centerline is valid? [False, False] Translation: X:-300.32, Y:16.36, Z:136.53 [[ 9.99929624e-01 -2.82413910e-03 1.15226533e-02 -3.00324723e+02] [ 2.81116693e-03 9.99995397e-01 1.14183884e-03 1.63647140e+01] [-1.15258250e-02 -1.10936638e-03 9.99932960e-01 1.36534522e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.74907232899994 meters Centerline goodness : 0.788466 Centerline is valid? [False, False] Translation: X:-300.32, Y:16.37, Z:136.53 [[ 9.99941276e-01 -2.11446889e-03 1.06288676e-02 -3.00322411e+02] [ 2.10019231e-03 9.99996878e-01 1.35417087e-03 1.63655342e+01] [-1.06316977e-02 -1.33176868e-03 9.99942595e-01 1.36534538e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.779072329 meters Centerline goodness : 0.788038 Centerline is valid? [False, False] Translation: X:-300.32, Y:16.37, Z:136.53 [[ 9.99949070e-01 -1.51808248e-03 9.97763968e-03 -3.00320894e+02] [ 1.50261041e-03 9.99997657e-01 1.55798751e-03 1.63662669e+01] [-9.97998146e-03 -1.54291566e-03 9.99949008e-01 1.36534776e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.80907232899995 meters Centerline goodness : 0.789839 Centerline is valid? [False, False] Translation: X:-300.32, Y:16.37, Z:136.54 [[ 9.99950817e-01 -1.61562794e-03 9.78534896e-03 -3.00320999e+02] [ 1.60484423e-03 9.99998096e-01 1.10977825e-03 1.63676337e+01] [-9.78712332e-03 -1.09401971e-03 9.99951506e-01 1.36535610e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.839072329 meters Centerline goodness : 0.790863 Centerline is valid? [False, False] Translation: X:-300.32, Y:16.37, Z:136.54 [[ 9.99955567e-01 -1.47413183e-03 9.31077162e-03 -3.00320207e+02] [ 1.46773481e-03 9.99998682e-01 6.93851263e-04 1.63696624e+01] [-9.31178217e-03 -6.80154689e-04 9.99956413e-01 1.36536292e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.86907232899995 meters Centerline goodness : 0.790625 Centerline is valid? [False, False] Translation: X:-300.32, Y:16.37, Z:136.54 [[ 9.99956907e-01 -1.51480954e-03 9.15906863e-03 -3.00320486e+02] [ 1.51141363e-03 9.99998786e-01 3.77680966e-04 1.63705585e+01] [-9.15962963e-03 -3.63821550e-04 9.99957984e-01 1.36537173e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.899072329 meters Centerline goodness : 0.788904 Centerline is valid? [False, False] Translation: X:-300.32, Y:16.37, Z:136.54 [[ 9.99954675e-01 -1.71045864e-03 9.36603658e-03 -3.00321554e+02] [ 1.70871604e-03 9.99998521e-01 1.94054329e-04 1.63705583e+01] [-9.36635465e-03 -1.78041637e-04 9.99956119e-01 1.36537856e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.92907232899995 meters Centerline goodness : 0.788904 Centerline is valid? [False, False] Translation: X:-300.32, Y:16.37, Z:136.54 [[ 9.99954675e-01 -1.71045864e-03 9.36603658e-03 -3.00321554e+02] [ 1.70871604e-03 9.99998521e-01 1.94054329e-04 1.63705583e+01] [-9.36635465e-03 -1.78041637e-04 9.99956119e-01 1.36537856e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.959072329 meters Centerline goodness : 0.788337 Centerline is valid? [False, False] Translation: X:-300.32, Y:16.37, Z:136.54 [[ 9.99955201e-01 2.84345126e-03 9.02832136e-03 -3.00320590e+02] [-2.88326721e-03 9.99986163e-01 4.40016877e-03 1.63714854e+01] [-9.01568477e-03 -4.42600271e-03 9.99949563e-01 1.36537727e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.98907232899995 meters Centerline goodness : 0.789387 Centerline is valid? [False, False] Translation: X:-300.32, Y:16.37, Z:136.54 [[ 9.99957734e-01 3.08944983e-03 8.65939388e-03 -3.00319587e+02] [-3.12789324e-03 9.99985298e-01 4.42948114e-03 1.63722138e+01] [-8.64558191e-03 -4.45637959e-03 9.99952696e-01 1.36537611e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.019072329 meters Centerline goodness : 0.788467 Centerline is valid? [False, False] Translation: X:-300.32, Y:16.37, Z:136.54 [[ 9.99958622e-01 3.07665812e-03 8.56091716e-03 -3.00319319e+02] [-3.11222347e-03 9.99986570e-01 4.14416945e-03 1.63732602e+01] [-8.54805199e-03 -4.17064146e-03 9.99954767e-01 1.36537555e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.04907232899996 meters Centerline goodness : 0.787271 Centerline is valid? [False, False] Translation: X:-300.32, Y:16.37, Z:136.54 [[ 9.99960182e-01 3.42916412e-03 8.23860804e-03 -3.00318843e+02] [-3.46579259e-03 9.99984156e-01 4.43579776e-03 1.63727579e+01] [-8.22326643e-03 -4.46417444e-03 9.99956224e-01 1.36537881e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.079072329 meters Centerline goodness : 0.785661 Centerline is valid? [False, False] Translation: X:-300.32, Y:16.37, Z:136.54 [[ 9.99959473e-01 2.94666879e-03 8.50706097e-03 -3.00320199e+02] [-2.97854703e-03 9.99988581e-01 3.73703355e-03 1.63743581e+01] [-8.49595203e-03 -3.76222078e-03 9.99956831e-01 1.36538790e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.10907232899996 meters Centerline goodness : 0.787920 Centerline is valid? [False, False] Translation: X:-300.32, Y:16.37, Z:136.54 [[ 9.99958783e-01 2.69378141e-03 8.67034562e-03 -3.00321834e+02] [-2.72331823e-03 9.99990523e-01 3.39664650e-03 1.63746646e+01] [-8.66111363e-03 -3.42011861e-03 9.99956643e-01 1.36540391e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.139072329 meters Centerline goodness : 0.788731 Centerline is valid? [False, False] Translation: X:-300.32, Y:16.38, Z:136.54 [[ 9.99954869e-01 1.61223404e-03 9.36273930e-03 -3.00324466e+02] [-1.63233671e-03 9.99996378e-01 2.13984890e-03 1.63770174e+01] [-9.35925545e-03 -2.15503547e-03 9.99953879e-01 1.36541465e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.16907232899996 meters Centerline goodness : 0.788772 Centerline is valid? [False, False] Translation: X:-300.33, Y:16.38, Z:136.54 [[ 9.99950878e-01 1.52248709e-03 9.79406991e-03 -3.00325617e+02] [-1.54682498e-03 9.99995734e-01 2.47786660e-03 1.63753061e+01] [-9.79025560e-03 -2.49289459e-03 9.99948967e-01 1.36541339e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.199072329 meters Centerline goodness : 0.787849 Centerline is valid? [False, False] Translation: X:-300.33, Y:16.38, Z:136.54 [[ 9.99943005e-01 8.40301672e-04 1.06433127e-02 -3.00327643e+02] [-8.62901792e-04 9.99997383e-01 2.11899618e-03 1.63753077e+01] [-1.06415042e-02 -2.12805954e-03 9.99941113e-01 1.36540987e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.22907232899996 meters Centerline goodness : 0.787092 Centerline is valid? [False, False] Translation: X:-300.33, Y:16.37, Z:136.54 [[ 9.99941113e-01 -2.75774915e-03 1.04959415e-02 -3.00327339e+02] [ 2.76942403e-03 9.99995562e-01 -1.09795102e-03 1.63725008e+01] [-1.04928670e-02 1.12695408e-03 9.99944313e-01 1.36540914e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.259072329 meters Centerline goodness : 0.787941 Centerline is valid? [False, False] Translation: X:-300.32, Y:16.37, Z:136.54 [[ 9.99953956e-01 -1.29714544e-03 9.50803791e-03 -3.00324577e+02] [ 1.30105361e-03 9.99999072e-01 -4.04864548e-04 1.63737543e+01] [-9.50750392e-03 4.17216374e-04 9.99954716e-01 1.36540760e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.28907232899996 meters Centerline goodness : 0.787541 Centerline is valid? [False, False] Translation: X:-300.32, Y:16.38, Z:136.54 [[ 9.99957176e-01 -1.23970904e-03 9.17105969e-03 -3.00323932e+02] [ 1.24642850e-03 9.99998959e-01 -7.27001249e-04 1.63753537e+01] [-9.17014887e-03 7.38401186e-04 9.99957681e-01 1.36541187e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.319072329 meters Centerline goodness : 0.787973 Centerline is valid? [False, False] Translation: X:-300.33, Y:16.38, Z:136.54 [[ 9.99951632e-01 -1.81914041e-03 9.66560350e-03 -3.00325354e+02] [ 1.83287003e-03 9.99997324e-01 -1.41179262e-03 1.63769395e+01] [-9.66300938e-03 1.42944013e-03 9.99952290e-01 1.36541429e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.34907232899997 meters Centerline goodness : 0.787648 Centerline is valid? [False, False] Translation: X:-300.33, Y:16.38, Z:136.54 [[ 9.99952803e-01 -1.62798462e-03 9.57815737e-03 -3.00325197e+02] [ 1.63958722e-03 9.99997932e-01 -1.20363254e-03 1.63765493e+01] [-9.57617806e-03 1.21927996e-03 9.99953404e-01 1.36541458e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.37907232899994 meters Centerline goodness : 0.787473 Centerline is valid? [False, False] Translation: X:-300.32, Y:16.38, Z:136.54 [[ 9.99957672e-01 -1.23204538e-03 9.11786440e-03 -3.00324164e+02] [ 1.24150482e-03 9.99998697e-01 -1.03187445e-03 1.63767573e+01] [-9.11658120e-03 1.04315065e-03 9.99957899e-01 1.36541670e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.40907232899997 meters Centerline goodness : 0.786703 Centerline is valid? [False, False] Translation: X:-300.32, Y:16.38, Z:136.54 [[ 9.99961013e-01 -1.00639989e-03 8.77269186e-03 -3.00323356e+02] [ 1.01531771e-03 9.99998972e-01 -1.01214900e-03 1.63773823e+01] [-8.77166422e-03 1.02101661e-03 9.99961007e-01 1.36541774e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.43907232899994 meters Centerline goodness : 0.786708 Centerline is valid? [False, False] Translation: X:-300.32, Y:16.38, Z:136.54 [[ 9.99959432e-01 -1.16360034e-03 8.93198121e-03 -3.00324007e+02] [ 1.17402636e-03 9.99998636e-01 -1.16211307e-03 1.63774796e+01] [-8.93061679e-03 1.17255230e-03 9.99959434e-01 1.36542116e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.46907232899997 meters Centerline goodness : 0.786013 Centerline is valid? [False, False] Translation: X:-300.32, Y:16.38, Z:136.54 [[ 9.99956572e-01 -1.28647773e-03 9.23036667e-03 -3.00324872e+02] [ 1.29687149e-03 9.99998532e-01 -1.12014270e-03 1.63769529e+01] [-9.22891208e-03 1.13206466e-03 9.99956772e-01 1.36542184e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.49907232899994 meters Centerline goodness : 0.786874 Centerline is valid? [False, False] Translation: X:-300.32, Y:16.38, Z:136.54 [[ 9.99957639e-01 -1.12131932e-03 9.13575241e-03 -3.00324941e+02] [ 1.13115003e-03 9.99998787e-01 -1.07097335e-03 1.63771139e+01] [-9.13454043e-03 1.08126189e-03 9.99957695e-01 1.36542563e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.529072329 meters Centerline goodness : 0.786660 Centerline is valid? [False, False] Translation: X:-300.33, Y:16.38, Z:136.54 [[ 9.99950750e-01 -1.61274692e-03 9.79267033e-03 -3.00326855e+02] [ 1.62556806e-03 9.99997832e-01 -1.30144059e-03 1.63769113e+01] [-9.79055020e-03 1.31729515e-03 9.99951204e-01 1.36542798e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.55907232899995 meters Centerline goodness : 0.787584 Centerline is valid? [False, False] Translation: X:-300.33, Y:16.38, Z:136.54 [[ 9.99949792e-01 -1.65378902e-03 9.88320317e-03 -3.00327272e+02] [ 1.66779592e-03 9.99997616e-01 -1.40916957e-03 1.63774605e+01] [-9.88084914e-03 1.42558199e-03 9.99950167e-01 1.36543159e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.589072329 meters Centerline goodness : 0.789829 Centerline is valid? [False, False] Translation: X:-300.33, Y:16.38, Z:136.54 [[ 9.99946078e-01 -1.92191005e-03 1.02052817e-02 -3.00328196e+02] [ 1.93816969e-03 9.99996868e-01 -1.58360691e-03 1.63777540e+01] [-1.02022062e-02 1.60330109e-03 9.99946671e-01 1.36543310e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.61907232899995 meters Centerline goodness : 0.788120 Centerline is valid? [False, False] Translation: X:-300.33, Y:16.38, Z:136.54 [[ 9.99941508e-01 -1.99493988e-03 1.06302234e-02 -3.00329217e+02] [ 2.00809423e-03 9.99997231e-01 -1.22691837e-03 1.63763903e+01] [-1.06277464e-02 1.24819309e-03 9.99942745e-01 1.36543122e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.649072329 meters Centerline goodness : 0.790144 Centerline is valid? [False, False] Translation: X:-300.33, Y:16.38, Z:136.54 [[ 9.99939034e-01 -2.06898728e-03 1.08465393e-02 -3.00329547e+02] [ 2.08301822e-03 9.99997008e-01 -1.28244912e-03 1.63766515e+01] [-1.08438534e-02 1.30496448e-03 9.99940352e-01 1.36542790e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.67907232899995 meters Centerline goodness : 0.789464 Centerline is valid? [False, False] Translation: X:-300.33, Y:16.38, Z:136.54 [[ 9.99929903e-01 -2.62196641e-03 1.15461492e-02 -3.00331370e+02] [ 2.63966216e-03 9.99995364e-01 -1.51763745e-03 1.63764451e+01] [-1.15421165e-02 1.54800900e-03 9.99932189e-01 1.36542755e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.709072329 meters Centerline goodness : 0.787191 Centerline is valid? [False, False] Translation: X:-300.33, Y:16.38, Z:136.54 [[ 9.99922030e-01 -2.89130199e-03 1.21479756e-02 -3.00332443e+02] [ 2.90804723e-03 9.99994845e-01 -1.36100020e-03 1.63755230e+01] [-1.21439779e-02 1.39622097e-03 9.99925284e-01 1.36542064e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.73907232899995 meters Centerline goodness : 0.788731 Centerline is valid? [False, False] Translation: X:-300.33, Y:16.38, Z:136.54 [[ 9.99913974e-01 -3.28854075e-03 1.26976733e-02 -3.00333518e+02] [ 3.30982260e-03 9.99993152e-01 -1.65539242e-03 1.63761393e+01] [-1.26921426e-02 1.69727706e-03 9.99918011e-01 1.36541608e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.769072329 meters Centerline goodness : 0.788937 Centerline is valid? [False, False] Translation: X:-300.33, Y:16.37, Z:136.54 [[ 9.99912880e-01 -3.11866744e-03 1.28260288e-02 -3.00333892e+02] [ 3.13484224e-03 9.99994316e-01 -1.24118025e-03 1.63748306e+01] [-1.28220851e-02 1.28127970e-03 9.99916973e-01 1.36541591e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.79907232899996 meters Centerline goodness : 0.786516 Centerline is valid? [False, False] Translation: X:-300.33, Y:16.37, Z:136.54 [[ 9.99909528e-01 -3.19221382e-03 1.30669992e-02 -3.00334961e+02] [ 3.20987593e-03 9.99993963e-01 -1.33090795e-03 1.63749306e+01] [-1.30626718e-02 1.37273099e-03 9.99913737e-01 1.36542211e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.829072329 meters Centerline goodness : 0.787292 Centerline is valid? [False, False] Translation: X:-300.34, Y:16.38, Z:136.54 [[ 9.99895702e-01 -4.14048150e-03 1.38362151e-02 -3.00337765e+02] [ 4.17083698e-03 9.99988957e-01 -2.16577963e-03 1.63758851e+01] [-1.38270950e-02 2.22326234e-03 9.99901929e-01 1.36543286e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.85907232899996 meters Centerline goodness : 0.786735 Centerline is valid? [False, False] Translation: X:-300.34, Y:16.38, Z:136.54 [[ 9.99883098e-01 -4.65834025e-03 1.45633484e-02 -3.00339712e+02] [ 4.69261880e-03 9.99986297e-01 -2.32046909e-03 1.63753700e+01] [-1.45523393e-02 2.38853806e-03 9.99891256e-01 1.36543359e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.889072329 meters Centerline goodness : 0.785514 Centerline is valid? [False, False] Translation: X:-300.34, Y:16.37, Z:136.54 [[ 9.99877988e-01 -4.61942176e-03 1.49221048e-02 -3.00340283e+02] [ 4.64924574e-03 9.99987262e-01 -1.96457220e-03 1.63743137e+01] [-1.49128396e-02 2.03370904e-03 9.99886729e-01 1.36542834e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.91907232899996 meters Centerline goodness : 0.786522 Centerline is valid? [False, False] Translation: X:-300.34, Y:16.37, Z:136.54 [[ 9.99871801e-01 -4.70800551e-03 1.53041508e-02 -3.00340864e+02] [ 4.73562458e-03 9.99987222e-01 -1.76893996e-03 1.63735561e+01] [-1.52956271e-02 1.84118790e-03 9.99881320e-01 1.36542245e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.949072329 meters Centerline goodness : 0.786060 Centerline is valid? [False, False] Translation: X:-300.34, Y:16.37, Z:136.54 [[ 9.99856660e-01 -5.34514206e-03 1.60651376e-02 -3.00342341e+02] [ 5.37471102e-03 9.99983940e-01 -1.79795521e-03 1.63726352e+01] [-1.60552693e-02 1.88404297e-03 9.99869331e-01 1.36541529e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.97907232899996 meters Centerline goodness : 0.786630 Centerline is valid? [False, False] Translation: X:-300.34, Y:16.37, Z:136.54 [[ 9.99850122e-01 -5.46779611e-03 1.64266789e-02 -3.00343121e+02] [ 5.49788639e-03 9.99983289e-01 -1.78719282e-03 1.63725892e+01] [-1.64166323e-02 1.87723697e-03 9.99863476e-01 1.36541332e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.009072329 meters Centerline goodness : 0.786872 Centerline is valid? [False, False] Translation: X:-300.35, Y:16.37, Z:136.54 [[ 9.99823398e-01 -6.81448853e-03 1.75138681e-02 -3.00346241e+02] [ 6.86164406e-03 9.99972990e-01 -2.63378759e-03 1.63728960e+01] [-1.74954471e-02 2.75349638e-03 9.99843151e-01 1.36541691e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.03907232899996 meters Centerline goodness : 0.787325 Centerline is valid? [False, False] Translation: X:-300.35, Y:16.37, Z:136.54 [[ 9.99815577e-01 -6.91007193e-03 1.79182066e-02 -3.00347124e+02] [ 6.95498286e-03 9.99972824e-01 -2.44533741e-03 1.63721410e+01] [-1.79008222e-02 2.56950725e-03 9.99836466e-01 1.36541436e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.069072329 meters Centerline goodness : 0.784808 Centerline is valid? [False, False] Translation: X:-300.35, Y:16.37, Z:136.54 [[ 9.99787619e-01 -7.92117152e-03 1.90255491e-02 -3.00349982e+02] [ 7.96884167e-03 9.99965293e-01 -2.43108045e-03 1.63697718e+01] [-1.90056318e-02 2.58217573e-03 9.99816042e-01 1.36541264e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.09907232899997 meters Centerline goodness : 0.785441 Centerline is valid? [False, False] Translation: X:-300.35, Y:16.37, Z:136.54 [[ 9.99773797e-01 -8.29378131e-03 1.95848892e-02 -3.00351980e+02] [ 8.34592969e-03 9.99961837e-01 -2.58245124e-03 1.63692003e+01] [-1.95627236e-02 2.74532119e-03 9.99804862e-01 1.36541927e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.12907232899994 meters Centerline goodness : 0.786666 Centerline is valid? [False, False] Translation: X:-300.35, Y:16.37, Z:136.54 [[ 9.99753611e-01 -8.90157418e-03 2.03342084e-02 -3.00354294e+02] [ 8.96214433e-03 9.99955664e-01 -2.88954616e-03 1.63688956e+01] [-2.03075854e-02 3.07107232e-03 9.99789063e-01 1.36542492e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.15907232899997 meters Centerline goodness : 0.787251 Centerline is valid? [False, False] Translation: X:-300.36, Y:16.37, Z:136.54 [[ 9.99737886e-01 -9.27053052e-03 2.09336155e-02 -3.00355910e+02] [ 9.33592431e-03 9.99951834e-01 -3.02829887e-03 1.63684867e+01] [-2.09045333e-02 3.22293976e-03 9.99776282e-01 1.36542539e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.18907232899994 meters Centerline goodness : 0.787532 Centerline is valid? [False, False] Translation: X:-300.36, Y:16.37, Z:136.54 [[ 9.99725737e-01 -9.52620841e-03 2.13939612e-02 -3.00356841e+02] [ 9.59491736e-03 9.99949128e-01 -3.11125359e-03 1.63683923e+01] [-2.13632344e-02 3.31567358e-03 9.99766282e-01 1.36542174e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.21907232899997 meters Centerline goodness : 0.787547 Centerline is valid? [False, False] Translation: X:-300.37, Y:16.38, Z:136.54 [[ 9.99838853e-01 -1.24183402e-02 1.29635568e-02 -3.00371397e+02] [ 1.25005433e-02 9.99902148e-01 -6.27943488e-03 1.63842296e+01] [-1.28843082e-02 6.44047446e-03 9.99896252e-01 1.36544487e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.24907232899994 meters Centerline goodness : 0.787749 Centerline is valid? [False, False] Translation: X:-300.37, Y:16.38, Z:136.54 [[ 9.99831685e-01 -1.25345522e-02 1.33972322e-02 -3.00372318e+02] [ 1.26200530e-02 9.99900412e-01 -6.31660111e-03 1.63844348e+01] [-1.33167222e-02 6.48461172e-03 9.99890301e-01 1.36544260e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.279072329 meters Centerline goodness : 0.788421 Centerline is valid? [False, False] Translation: X:-300.37, Y:16.38, Z:136.54 [[ 9.99816283e-01 -1.30092910e-02 1.40768512e-02 -3.00374429e+02] [ 1.31037534e-02 9.99892101e-01 -6.63918001e-03 1.63845684e+01] [-1.39889613e-02 6.82241987e-03 9.99878874e-01 1.36544818e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.30907232899995 meters Centerline goodness : 0.788382 Centerline is valid? [False, False] Translation: X:-300.38, Y:16.38, Z:136.55 [[ 9.99796654e-01 -1.34873655e-02 1.49914042e-02 -3.00377349e+02] [ 1.35914199e-02 9.99884094e-01 -6.86085914e-03 1.63842789e+01] [-1.48971317e-02 7.06321848e-03 9.99864084e-01 1.36545676e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.339072329 meters Centerline goodness : 0.789101 Centerline is valid? [False, False] Translation: X:-300.38, Y:16.38, Z:136.55 [[ 9.99781785e-01 -1.37523265e-02 1.57243941e-02 -3.00379391e+02] [ 1.38605771e-02 9.99880842e-01 -6.79611443e-03 1.63834321e+01] [-1.56290581e-02 7.01258059e-03 9.99853267e-01 1.36545955e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.36907232899995 meters Centerline goodness : 0.787747 Centerline is valid? [False, False] Translation: X:-300.38, Y:16.38, Z:136.55 [[ 9.99762895e-01 -1.41296244e-02 1.65682811e-02 -3.00381450e+02] [ 1.42440960e-02 9.99875347e-01 -6.81154691e-03 1.63828735e+01] [-1.64699712e-02 7.04593205e-03 9.99839535e-01 1.36545880e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.399072329 meters Centerline goodness : 0.787515 Centerline is valid? [False, False] Translation: X:-300.38, Y:16.38, Z:136.55 [[ 9.99730640e-01 -1.48194535e-02 1.78614284e-02 -3.00384425e+02] [ 1.49389003e-02 9.99866806e-01 -6.57263975e-03 1.63806866e+01] [-1.77616464e-02 6.83769944e-03 9.99818868e-01 1.36545344e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.42907232899995 meters Centerline goodness : 0.788086 Centerline is valid? [False, False] Translation: X:-300.39, Y:16.38, Z:136.55 [[ 9.99701243e-01 -1.55035407e-02 1.88961646e-02 -3.00386990e+02] [ 1.56260402e-02 9.99857727e-01 -6.35244760e-03 1.63785472e+01] [-1.87949908e-02 6.64582199e-03 9.99801271e-01 1.36545108e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.459072329 meters Centerline goodness : 0.786641 Centerline is valid? [False, False] Translation: X:-300.39, Y:16.38, Z:136.54 [[ 9.99701078e-01 -1.52549216e-02 1.91060738e-02 -3.00387162e+02] [ 1.53698987e-02 9.99864554e-01 -5.88550512e-03 1.63776362e+01] [-1.90137031e-02 6.17740423e-03 9.99800139e-01 1.36544558e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.48907232899995 meters Centerline goodness : 0.787930 Centerline is valid? [False, False] Translation: X:-300.39, Y:16.38, Z:136.54 [[ 9.99609470e-01 -1.95567252e-02 1.99609935e-02 -3.00388991e+02] [ 1.97502870e-02 9.99759368e-01 -9.54635191e-03 1.63752526e+01] [-1.97694949e-02 9.93685913e-03 9.99755183e-01 1.36544233e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.519072329 meters Centerline goodness : 0.787463 Centerline is valid? [False, False] Translation: X:-300.39, Y:16.38, Z:136.55 [[ 9.99548816e-01 -2.12921243e-02 2.11851491e-02 -3.00392894e+02] [ 2.15263017e-02 9.99708994e-01 -1.08878687e-02 1.63760456e+01] [-2.09471582e-02 1.13389942e-02 9.99716282e-01 1.36545309e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.54907232899996 meters Centerline goodness : 0.789252 Centerline is valid? [False, False] Translation: X:-300.40, Y:16.38, Z:136.55 [[ 9.99502084e-01 -2.24135640e-02 2.22084711e-02 -3.00396358e+02] [ 2.26701636e-02 9.99678336e-01 -1.13705000e-02 1.63750258e+01] [-2.19464740e-02 1.18683081e-02 9.99688699e-01 1.36546442e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.579072329 meters Centerline goodness : 0.786985 Centerline is valid? [False, False] Translation: X:-300.40, Y:16.38, Z:136.55 [[ 9.99492395e-01 -2.24764877e-02 2.25778459e-02 -3.00396993e+02] [ 2.27376516e-02 9.99676719e-01 -1.13778983e-02 1.63753275e+01] [-2.23148117e-02 1.18854900e-02 9.99680341e-01 1.36546031e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.60907232899996 meters Centerline goodness : 0.789828 Centerline is valid? [False, False] Translation: X:-300.40, Y:16.38, Z:136.55 [[ 9.99453151e-01 -2.32146029e-02 2.35474097e-02 -3.00399145e+02] [ 2.34947070e-02 9.99655621e-01 -1.16892108e-02 1.63753001e+01] [-2.32679401e-02 1.22360580e-02 9.99654381e-01 1.36545648e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.639072329 meters Centerline goodness : 0.788168 Centerline is valid? [False, False] Translation: X:-300.40, Y:16.37, Z:136.55 [[ 9.99446406e-01 -2.31330028e-02 2.39112216e-02 -3.00399641e+02] [ 2.34096209e-02 9.99661480e-01 -1.13540664e-02 1.63745890e+01] [-2.36404735e-02 1.19075335e-02 9.99649608e-01 1.36545033e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.66907232899996 meters Centerline goodness : 0.786666 Centerline is valid? [False, False] Translation: X:-300.40, Y:16.37, Z:136.54 [[ 9.99421329e-01 -2.33310834e-02 2.47521205e-02 -3.00401435e+02] [ 2.36094103e-02 9.99660602e-01 -1.10125250e-02 1.63731656e+01] [-2.44867856e-02 1.15905354e-02 9.99632961e-01 1.36544572e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.699072329 meters Centerline goodness : 0.786078 Centerline is valid? [False, False] Translation: X:-300.40, Y:16.37, Z:136.54 [[ 9.99391648e-01 -2.36646217e-02 2.56187372e-02 -3.00403266e+02] [ 2.39514673e-02 9.99653171e-01 -1.09483276e-02 1.63724813e+01] [-2.53507639e-02 1.15552735e-02 9.99611832e-01 1.36544082e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.72907232899996 meters Centerline goodness : 0.783521 Centerline is valid? [False, False] Translation: X:-300.40, Y:16.37, Z:136.54 [[ 9.99380531e-01 -2.36037150e-02 2.61040069e-02 -3.00404349e+02] [ 2.38846164e-02 9.99659560e-01 -1.05018856e-02 1.63711385e+01] [-2.58472365e-02 1.11188642e-02 9.99604067e-01 1.36543820e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.759072329 meters Centerline goodness : 0.784344 Centerline is valid? [False, False] Translation: X:-300.41, Y:16.37, Z:136.54 [[ 9.99370955e-01 -2.37252154e-02 2.63592267e-02 -3.00405075e+02] [ 2.40146867e-02 9.99654128e-01 -1.07200007e-02 1.63718350e+01] [-2.60957755e-02 1.13462659e-02 9.99595054e-01 1.36543987e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.78907232899996 meters Centerline goodness : 0.783466 Centerline is valid? [False, False] Translation: X:-300.41, Y:16.37, Z:136.54 [[ 9.99334543e-01 -2.43141728e-02 2.71899201e-02 -3.00407179e+02] [ 2.46204334e-02 9.99636502e-01 -1.09862364e-02 1.63717402e+01] [-2.69129154e-02 1.16483531e-02 9.99569913e-01 1.36544062e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.819072329 meters Centerline goodness : 0.783466 Centerline is valid? [False, False] Translation: X:-300.41, Y:16.37, Z:136.54 [[ 9.99334543e-01 -2.43141728e-02 2.71899201e-02 -3.00407179e+02] [ 2.46204334e-02 9.99636502e-01 -1.09862364e-02 1.63717402e+01] [-2.69129154e-02 1.16483531e-02 9.99569913e-01 1.36544062e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.84907232899997 meters Centerline goodness : 0.750071 Centerline is valid? [False, False] Translation: X:-300.41, Y:16.37, Z:136.54 [[ 9.99325776e-01 -2.42888076e-02 2.75326600e-02 -3.00407975e+02] [ 2.45967859e-02 9.99637996e-01 -1.09029495e-02 1.63715891e+01] [-2.72578735e-02 1.15728134e-02 9.99561443e-01 1.36544075e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.87907232899994 meters Centerline goodness : 0.751184 Centerline is valid? [False, False] Translation: X:-300.41, Y:16.37, Z:136.54 [[ 9.99305160e-01 -2.46071986e-02 2.79943353e-02 -3.00409105e+02] [ 2.49266210e-02 9.99627446e-01 -1.11190302e-02 1.63718770e+01] [-2.77102977e-02 1.18091084e-02 9.99546239e-01 1.36544063e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.90907232899997 meters Centerline goodness : 0.750044 Centerline is valid? [False, False] Translation: X:-300.41, Y:16.37, Z:136.54 [[ 9.99311484e-01 -2.43632599e-02 2.79819513e-02 -3.00409157e+02] [ 2.46749273e-02 9.99636675e-01 -1.08473509e-02 1.63716060e+01] [-2.77075080e-02 1.15303350e-02 9.99549571e-01 1.36544142e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.93907232899994 meters Centerline goodness : 0.742450 Centerline is valid? [False, False] Translation: X:-300.41, Y:16.37, Z:136.54 [[ 9.99347504e-01 -2.34953086e-02 2.74323915e-02 -3.00407578e+02] [ 2.37797082e-02 9.99666329e-01 -1.00874620e-02 1.63711313e+01] [-2.71862300e-02 1.07332142e-02 9.99572762e-01 1.36543769e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.96907232899997 meters Centerline goodness : 0.743017 Centerline is valid? [False, False] Translation: X:-300.41, Y:16.37, Z:136.54 [[ 9.99390111e-01 -2.22809814e-02 2.68879789e-02 -3.00405482e+02] [ 2.25315086e-02 9.99705165e-01 -9.05068905e-03 1.63705523e+01] [-2.66783931e-02 9.65099586e-03 9.99597480e-01 1.36542893e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.99907232899994 meters Centerline goodness : 0.718007 Centerline is valid? [False, False] Translation: X:-300.40, Y:16.37, Z:136.54 [[ 9.99452355e-01 -2.06378983e-02 2.58663248e-02 -3.00402960e+02] [ 2.08583465e-02 9.99748138e-01 -8.28193018e-03 1.63710434e+01] [-2.56888884e-02 8.81692339e-03 9.99631103e-01 1.36542930e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.029072329 meters Centerline goodness : 0.735488 Centerline is valid? [False, False] Translation: X:-300.43, Y:16.39, Z:136.54 [[ 9.99486263e-01 -2.14682636e-02 2.37975433e-02 -3.00429088e+02] [ 2.16570534e-02 9.99735775e-01 -7.70399903e-03 1.63946195e+01] [-2.36258639e-02 8.21542587e-03 9.99687114e-01 1.36544694e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.05907232899995 meters Centerline goodness : 0.612691 Centerline is valid? [False, False] Translation: X:-300.41, Y:16.38, Z:136.54 [[ 9.99426755e-01 -2.18031238e-02 2.58995318e-02 -3.00407443e+02] [ 2.18271717e-02 9.99761550e-01 -6.46133800e-04 1.63757809e+01] [-2.58792684e-02 1.21107694e-03 9.99664342e-01 1.36544741e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.089072329 meters Centerline goodness : 0.722002 Centerline is valid? [False, False] Translation: X:-300.45, Y:16.42, Z:136.55 [[ 9.99675814e-01 -1.44309681e-02 2.09764969e-02 -3.00450160e+02] [ 1.45145373e-02 9.99887296e-01 -3.83716455e-03 1.64199797e+01] [-2.09187588e-02 4.14038474e-03 9.99772606e-01 1.36547457e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.11907232899995 meters Centerline goodness : 0.699840 Centerline is valid? [False, False] Translation: X:-300.45, Y:16.42, Z:136.55 [[ 9.99730953e-01 -1.02335131e-02 2.08157681e-02 -3.00450375e+02] [ 1.02315621e-02 9.99947636e-01 2.00225755e-04 1.64207429e+01] [-2.08167272e-02 1.28059396e-05 9.99783308e-01 1.36548073e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.149072329 meters Centerline goodness : 0.688919 Centerline is valid? [False, False] Translation: X:-300.45, Y:16.42, Z:136.55 [[ 9.99769729e-01 -6.23716143e-03 2.05325952e-02 -3.00450113e+02] [ 6.17056363e-03 9.99975499e-01 3.30527590e-03 1.64246479e+01] [-2.05527076e-02 -3.17781711e-03 9.99783720e-01 1.36548706e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.17907232899995 meters Centerline goodness : 0.661857 Centerline is valid? [False, False] Translation: X:-300.45, Y:16.43, Z:136.55 [[ 9.99791108e-01 -2.77293602e-03 2.02497143e-02 -3.00451292e+02] [ 2.66016127e-03 9.99980815e-01 5.59401654e-03 1.64302825e+01] [-2.02648377e-02 -5.53898049e-03 9.99779304e-01 1.36550967e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.209072329 meters Centerline goodness : 0.652888 Centerline is valid? [False, False] Translation: X:-300.45, Y:16.44, Z:136.56 [[ 9.99975947e-01 -1.38861874e-03 6.79541125e-03 -3.00452189e+02] [ 1.36694883e-03 9.99993970e-01 3.19251072e-03 1.64430188e+01] [-6.79980345e-03 -3.18314495e-03 9.99971815e-01 1.36556378e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.23907232899995 meters Centerline goodness : 0.558255 Centerline is valid? [False, False] Translation: X:-300.45, Y:16.45, Z:136.56 [[ 9.99958512e-01 6.47474523e-03 6.40722557e-03 -3.00453344e+02] [-6.53774093e-03 9.99930013e-01 9.86036883e-03 1.64484797e+01] [-6.34293378e-03 -9.90184852e-03 9.99930858e-01 1.36558687e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.269072329 meters Centerline goodness : 0.546806 Centerline is valid? [False, False] Translation: X:-300.45, Y:16.45, Z:136.56 [[ 9.99921721e-01 1.10463917e-02 5.87616015e-03 -3.00452549e+02] [-1.11250812e-02 9.99846553e-01 1.35315866e-02 1.64514875e+01] [-5.72578326e-03 -1.35959001e-02 9.99891178e-01 1.36559420e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.29907232899996 meters Centerline goodness : 0.559289 Centerline is valid? [False, False] Translation: X:-300.45, Y:16.45, Z:136.56 [[ 9.99872862e-01 1.48072102e-02 5.91669534e-03 -3.00453498e+02] [-1.49045927e-02 9.99748303e-01 1.67685581e-02 1.64546723e+01] [-5.66691056e-03 -1.68546121e-02 9.99841892e-01 1.36560333e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.329072329 meters Centerline goodness : 0.538070 Centerline is valid? [False, False] Translation: X:-300.45, Y:16.46, Z:136.56 [[ 9.99871356e-01 1.51039638e-02 5.39838094e-03 -3.00452817e+02] [-1.51889321e-02 9.99755635e-01 1.60613397e-02 1.64584191e+01] [-5.15447187e-03 -1.61412691e-02 9.99856435e-01 1.36561104e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.35907232899996 meters Centerline goodness : 0.516530 Centerline is valid? [False, False] Translation: X:-300.45, Y:16.46, Z:136.56 [[ 9.99812423e-01 1.86801196e-02 5.11586930e-03 -3.00454230e+02] [-1.87711600e-02 9.99655092e-01 1.83668207e-02 1.64648767e+01] [-4.77101039e-03 -1.84594063e-02 9.99818227e-01 1.36563561e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.389072329 meters Centerline goodness : 0.517535 Centerline is valid? [False, False] Translation: X:-300.45, Y:16.47, Z:136.56 [[ 9.99810959e-01 1.88826119e-02 4.63612890e-03 -3.00453867e+02] [-1.89617288e-02 9.99664239e-01 1.76596295e-02 1.64684893e+01] [-4.30111234e-03 -1.77442002e-02 9.99833308e-01 1.36564567e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.41907232899996 meters Centerline goodness : 0.507997 Centerline is valid? [False, False] Translation: X:-300.46, Y:16.47, Z:136.57 [[ 9.99735190e-01 2.25463507e-02 4.60554662e-03 -3.00455605e+02] [-2.26353730e-02 9.99537866e-01 2.02902454e-02 1.64743182e+01] [-4.14594725e-03 -2.03891206e-02 9.99783524e-01 1.36566543e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.449072329 meters Centerline goodness : 0.501755 Centerline is valid? [False, False] Translation: X:-300.46, Y:16.48, Z:136.57 [[ 9.99741401e-01 2.23088284e-02 4.40999699e-03 -3.00456356e+02] [-2.23905707e-02 9.99560124e-01 1.94479217e-02 1.64774872e+01] [-3.97419679e-03 -1.95416348e-02 9.99801145e-01 1.36567829e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.47907232899996 meters Centerline goodness : 0.506450 Centerline is valid? [False, False] Translation: X:-300.46, Y:16.48, Z:136.57 [[ 9.99737651e-01 2.25499195e-02 4.01635885e-03 -3.00456648e+02] [-2.26224682e-02 9.99562745e-01 1.90405768e-02 1.64796254e+01] [-3.58523920e-03 -1.91264415e-02 9.99810645e-01 1.36569273e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.509072329 meters Centerline goodness : 0.489510 Centerline is valid? [False, False] Translation: X:-300.46, Y:16.48, Z:136.57 [[ 9.99629965e-01 2.69241940e-02 3.87570161e-03 -3.00458225e+02] [-2.70038247e-02 9.99388423e-01 2.22165059e-02 1.64847277e+01] [-3.27516981e-03 -2.23129437e-02 9.99745671e-01 1.36571329e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.53907232899996 meters Centerline goodness : 0.138146 Centerline is valid? [False, False] Translation: X:-300.46, Y:16.49, Z:136.57 [[ 9.99544530e-01 2.98669093e-02 4.32432645e-03 -3.00460700e+02] [-2.99645837e-02 9.99247499e-01 2.46284192e-02 1.64892391e+01] [-3.58549763e-03 -2.47467783e-02 9.99687322e-01 1.36572557e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.569072329 meters Centerline goodness : 0.140766 Centerline is valid? [False, False] Translation: X:-300.46, Y:16.49, Z:136.57 [[ 9.99519827e-01 3.07250382e-02 4.01081757e-03 -3.00461125e+02] [-3.08133095e-02 9.99232112e-01 2.42017935e-02 1.64933687e+01] [-3.26413668e-03 -2.43137590e-02 9.99699048e-01 1.36573902e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.59907232899997 meters Centerline goodness : 0.139382 Centerline is valid? [False, False] Translation: X:-300.46, Y:16.50, Z:136.58 [[ 9.99524433e-01 3.05841405e-02 3.93927821e-03 -3.00462141e+02] [-3.06690359e-02 9.99249088e-01 2.36784984e-02 1.64951678e+01] [-3.21213363e-03 -2.37880516e-02 9.99711864e-01 1.36575130e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.62907232899994 meters Centerline goodness : 0.480961 Centerline is valid? [False, False] Translation: X:-300.46, Y:16.50, Z:136.58 [[ 9.99522735e-01 3.06547859e-02 3.81927388e-03 -3.00462927e+02] [-3.07358122e-02 9.99254599e-01 2.33571432e-02 1.64966171e+01] [-3.10041876e-03 -2.34633841e-02 9.99719889e-01 1.36576243e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.65907232899997 meters Centerline goodness : 0.473100 Centerline is valid? [False, False] Translation: X:-300.46, Y:16.50, Z:136.58 [[ 9.99527258e-01 3.05140515e-02 3.76207604e-03 -3.00464336e+02] [-3.05920812e-02 9.99271801e-01 2.28033286e-02 1.64984944e+01] [-3.06351456e-03 -2.29076383e-02 9.99732892e-01 1.36577765e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.68907232899994 meters Centerline goodness : 0.447985 Centerline is valid? [False, False] Translation: X:-300.47, Y:16.50, Z:136.58 [[ 9.99531718e-01 3.03710139e-02 3.73437238e-03 -3.00467768e+02] [-3.04454421e-02 9.99298232e-01 2.18201528e-02 1.65019657e+01] [-3.06905155e-03 -2.19236294e-02 9.99754938e-01 1.36581092e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.71907232899997 meters Centerline goodness : 0.430274 Centerline is valid? [False, False] Translation: X:-300.47, Y:16.50, Z:136.58 [[ 9.99545963e-01 2.98967219e-02 3.74877704e-03 -3.00470084e+02] [-2.99689885e-02 9.99330476e-01 2.09871328e-02 1.65042919e+01] [-3.11882067e-03 -2.10899509e-02 9.99772718e-01 1.36583159e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.74907232899994 meters Centerline goodness : 0.409569 Centerline is valid? [False, False] Translation: X:-300.47, Y:16.51, Z:136.59 [[ 9.99445006e-01 3.30326271e-02 4.30404020e-03 -3.00474905e+02] [-3.31242751e-02 9.99179083e-01 2.33225637e-02 1.65117198e+01] [-3.53010139e-03 -2.34521881e-02 9.99718727e-01 1.36586080e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.779072329 meters Centerline goodness : 0.099479 Centerline is valid? [False, False] Translation: X:-300.48, Y:16.51, Z:136.59 [[ 9.99466704e-01 3.23364639e-02 4.54530590e-03 -3.00477840e+02] [-3.24302304e-02 9.99224227e-01 2.23433482e-02 1.65147009e+01] [-3.81927490e-03 -2.24788379e-02 9.99740024e-01 1.36587864e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.80907232899995 meters Centerline goodness : 0.097730 Centerline is valid? [False, False] Translation: X:-300.48, Y:16.52, Z:136.59 [[ 9.99478779e-01 3.19481801e-02 4.63499579e-03 -3.00480198e+02] [-3.20413923e-02 9.99251703e-01 2.16652393e-02 1.65169639e+01] [-3.93936247e-03 -2.18024587e-02 9.99754537e-01 1.36589681e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.839072329 meters Centerline goodness : 0.122492 Centerline is valid? [False, False] Translation: X:-300.48, Y:16.52, Z:136.59 [[ 9.99487795e-01 3.16543610e-02 4.70635305e-03 -3.00482401e+02] [-3.17469099e-02 9.99273248e-01 2.10976168e-02 1.65188925e+01] [-4.03510112e-03 -2.12362226e-02 9.99766343e-01 1.36591423e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.86907232899995 meters Centerline goodness : 0.123237 Centerline is valid? [False, False] Translation: X:-300.49, Y:16.53, Z:136.60 [[ 9.99403443e-01 3.41029050e-02 5.45436584e-03 -3.00489025e+02] [-3.42204575e-02 9.99146214e-01 2.31474470e-02 1.65256529e+01] [-4.66031379e-03 -2.33202891e-02 9.99717183e-01 1.36595359e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.899072329 meters Centerline goodness : 0.359230 Centerline is valid? [False, False] Translation: X:-300.49, Y:16.53, Z:136.60 [[ 9.99406271e-01 3.40207759e-02 5.44909119e-03 -3.00490056e+02] [-3.41354945e-02 9.99162507e-01 2.25622098e-02 1.65295177e+01] [-4.67694373e-03 -2.27348214e-02 9.99730591e-01 1.36596262e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.92907232899995 meters Centerline goodness : 0.355996 Centerline is valid? [False, False] Translation: X:-300.50, Y:16.54, Z:136.60 [[ 9.99438764e-01 3.27760863e-02 6.91990866e-03 -3.00499856e+02] [-3.29271351e-02 9.99193603e-01 2.29771014e-02 1.65370345e+01] [-6.16122901e-03 -2.31920586e-02 9.99712042e-01 1.36599604e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.959072329 meters Centerline goodness : 0.341659 Centerline is valid? [False, False] Translation: X:-300.52, Y:16.55, Z:136.60 [[ 9.99514959e-01 2.91709962e-02 1.09041519e-02 -3.00524086e+02] [-2.94445495e-02 9.99232614e-01 2.58302416e-02 1.65524524e+01] [-1.01422904e-02 -2.61387807e-02 9.99606872e-01 1.36603599e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.98907232899995 meters Centerline goodness : 0.110357 Centerline is valid? [False, False] Translation: X:-300.53, Y:16.55, Z:136.60 [[ 9.99524379e-01 2.86222520e-02 1.14796455e-02 -3.00527581e+02] [-2.89066658e-02 9.99258683e-01 2.54261601e-02 1.65544405e+01] [-1.07433815e-02 -2.57459052e-02 9.99610788e-01 1.36604865e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.019072329 meters Centerline goodness : 0.378059 Centerline is valid? [False, False] Translation: X:-300.55, Y:16.57, Z:136.61 [[ 9.99672478e-01 2.55071236e-02 2.07943137e-03 -3.00545828e+02] [-2.55546353e-02 9.99296354e-01 2.74546432e-02 1.65732783e+01] [-1.37767921e-03 -2.74987903e-02 9.99620887e-01 1.36606121e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.04907232899996 meters Centerline goodness : 0.368181 Centerline is valid? [False, False] Translation: X:-300.55, Y:16.58, Z:136.61 [[ 9.99697136e-01 2.44656870e-02 2.65822425e-03 -3.00550391e+02] [-2.45277099e-02 9.99346450e-01 2.65530313e-02 1.65759404e+01] [-2.00684882e-03 -2.66101895e-02 9.99643872e-01 1.36608370e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.079072329 meters Centerline goodness : 0.413102 Centerline is valid? [False, False] Translation: X:-300.57, Y:16.59, Z:136.60 [[ 9.99615252e-01 2.74125102e-02 4.23119257e-03 -3.00572097e+02] [-2.74987186e-02 9.99382466e-01 2.18747940e-02 1.65886771e+01] [-3.62893665e-03 -2.19827301e-02 9.99751764e-01 1.36604524e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.10907232899996 meters Centerline goodness : 0.369941 Centerline is valid? [False, False] Translation: X:-300.60, Y:16.61, Z:136.61 [[ 9.99659863e-01 2.48653606e-02 7.86588085e-03 -3.00597930e+02] [-2.50548222e-02 9.99373872e-01 2.49823751e-02 1.66083698e+01] [-7.23976004e-03 -2.51709559e-02 9.99656946e-01 1.36610958e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.139072329 meters Centerline goodness : 0.153244 Centerline is valid? [False, False] Translation: X:-300.60, Y:16.61, Z:136.61 [[ 9.99665911e-01 2.45972191e-02 7.93996693e-03 -3.00599736e+02] [-2.47843702e-02 9.99394948e-01 2.44023047e-02 1.66116130e+01] [-7.33493400e-03 -2.45909392e-02 9.99670688e-01 1.36612311e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.16907232899996 meters Centerline goodness : 0.159199 Centerline is valid? [False, False] Translation: X:-300.61, Y:16.62, Z:136.62 [[ 9.99643400e-01 2.53887987e-02 8.27538475e-03 -3.00605224e+02] [-2.55859123e-02 9.99368573e-01 2.46539381e-02 1.66193839e+01] [-7.64422557e-03 -2.48568797e-02 9.99661793e-01 1.36616287e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.199072329 meters Centerline goodness : 0.347554 Centerline is valid? [False, False] Translation: X:-300.62, Y:16.63, Z:136.62 [[ 9.99610613e-01 2.57570237e-02 1.07330794e-02 -3.00622256e+02] [-2.60603661e-02 9.99235209e-01 2.91522686e-02 1.66325210e+01] [-9.97399517e-03 -2.94206250e-02 9.99517357e-01 1.36619054e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.22907232899996 meters Centerline goodness : 0.327045 Centerline is valid? [False, False] Translation: X:-300.63, Y:16.64, Z:136.62 [[ 9.99618487e-01 2.52204051e-02 1.12610633e-02 -3.00625983e+02] [-2.55361999e-02 9.99257798e-01 2.88401849e-02 1.66354729e+01] [-1.05253442e-02 -2.91167467e-02 9.99520601e-01 1.36620581e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.259072329 meters Centerline goodness : 0.528903 Centerline is valid? [False, False] Translation: X:-300.64, Y:16.65, Z:136.62 [[ 9.99777417e-01 2.09863686e-02 2.16554448e-03 -3.00644715e+02] [-2.10417194e-02 9.99332384e-01 2.98669194e-02 1.66548160e+01] [-1.53730055e-03 -2.99058383e-02 9.99551538e-01 1.36621487e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.28907232899996 meters Centerline goodness : 0.328119 Centerline is valid? [False, False] Translation: X:-300.67, Y:16.67, Z:136.62 [[ 9.99774313e-01 2.06559710e-02 4.96530831e-03 -3.00668356e+02] [-2.07646023e-02 9.99521530e-01 2.29247149e-02 1.66702768e+01] [-4.48940031e-03 -2.30226438e-02 9.99724864e-01 1.36616556e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.319072329 meters Centerline goodness : 0.334213 Centerline is valid? [False, False] Translation: X:-300.69, Y:16.68, Z:136.61 [[ 9.99756423e-01 2.05371112e-02 8.08217474e-03 -3.00694912e+02] [-2.06676636e-02 9.99651629e-01 1.64154787e-02 1.66848654e+01] [-7.74223264e-03 -1.65785199e-02 9.99832591e-01 1.36613250e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.34907232899997 meters Centerline goodness : 0.179535 Centerline is valid? [False, False] Translation: X:-300.73, Y:16.70, Z:136.62 [[ 9.99857700e-01 1.03328937e-02 1.33345907e-02 -3.00727172e+02] [-1.05434835e-02 9.99819260e-01 1.58202901e-02 1.67023042e+01] [-1.31687113e-02 -1.59586319e-02 9.99785931e-01 1.36617559e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.37907232899994 meters Centerline goodness : 0.498733 Centerline is valid? [False, False] Translation: X:-300.73, Y:16.70, Z:136.62 [[ 9.99861781e-01 9.13803817e-03 1.38893585e-02 -3.00732270e+02] [-9.35024497e-03 9.99839366e-01 1.52910084e-02 1.67029507e+01] [-1.37473976e-02 -1.54187638e-02 9.99786613e-01 1.36619871e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.40907232899997 meters Centerline goodness : 0.325115 Centerline is valid? [False, False] Translation: X:-300.74, Y:16.71, Z:136.62 [[ 9.99856638e-01 8.45296604e-03 1.46714494e-02 -3.00739876e+02] [-8.66937625e-03 9.99853628e-01 1.47500503e-02 1.67093605e+01] [-1.45446203e-02 -1.48751280e-02 9.99783569e-01 1.36624274e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.43907232899994 meters Centerline goodness : 0.324001 Centerline is valid? [False, False] Translation: X:-300.76, Y:16.73, Z:136.63 [[ 9.99937403e-01 1.01193410e-02 4.77378591e-03 -3.00755098e+02] [-1.02109631e-02 9.99756237e-01 1.95755840e-02 1.67268896e+01] [-4.57453022e-03 -1.96231036e-02 9.99796983e-01 1.36625840e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.46907232899997 meters Centerline goodness : 0.310489 Centerline is valid? [False, False] Translation: X:-300.78, Y:16.74, Z:136.62 [[ 9.99884899e-01 1.29758116e-02 7.86239211e-03 -3.00775449e+02] [-1.30990413e-02 9.99788892e-01 1.58299468e-02 1.67424518e+01] [-7.65532588e-03 -1.59311146e-02 9.99843786e-01 1.36620401e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.49907232899994 meters Centerline goodness : 0.110165 Centerline is valid? [False, False] Translation: X:-300.79, Y:16.76, Z:136.62 [[ 9.99916370e-01 1.28896228e-02 -1.05394336e-03 -3.00793605e+02] [-1.28662420e-02 9.99721251e-01 1.97959785e-02 1.67644661e+01] [ 1.30881227e-03 -1.97807627e-02 9.99803485e-01 1.36621275e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.529072329 meters Centerline goodness : 0.549019 Centerline is valid? [False, False] Translation: X:-300.81, Y:16.78, Z:136.62 [[ 9.99886170e-01 1.50508517e-02 1.05782506e-03 -3.00810246e+02] [-1.50635452e-02 9.99798872e-01 1.32402967e-02 1.67762267e+01] [-8.58334560e-04 -1.32547242e-02 9.99911784e-01 1.36615020e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.55907232899995 meters Centerline goodness : 0.108270 Centerline is valid? [False, False] Translation: X:-300.82, Y:16.78, Z:136.62 [[ 9.99876836e-01 1.56361819e-02 1.34970688e-03 -3.00816471e+02] [-1.56521491e-02 9.99796011e-01 1.27650439e-02 1.67841814e+01] [-1.14983500e-03 -1.27845976e-02 9.99917613e-01 1.36619989e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.589072329 meters Centerline goodness : 0.516972 Centerline is valid? [False, False] Translation: X:-300.84, Y:16.80, Z:136.63 [[ 9.99854782e-01 1.65355839e-02 4.12175172e-03 -3.00836391e+02] [-1.65978441e-02 9.99741184e-01 1.55587944e-02 1.68027559e+01] [-3.86341119e-03 -1.56249472e-02 9.99870459e-01 1.36627033e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.61907232899995 meters Centerline goodness : 0.574650 Centerline is valid? [False, False] Translation: X:-300.84, Y:16.81, Z:136.63 [[ 9.99858912e-01 1.62089058e-02 4.40760935e-03 -3.00839339e+02] [-1.62722524e-02 9.99758980e-01 1.47375854e-02 1.68081035e+01] [-4.16766690e-03 -1.48072278e-02 9.99881681e-01 1.36628883e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.649072329 meters Centerline goodness : 0.108698 Centerline is valid? [False, False] Translation: X:-300.88, Y:16.83, Z:136.63 [[ 9.99766851e-01 1.90202193e-02 1.02213447e-02 -3.00877091e+02] [-1.91693918e-02 9.99708180e-01 1.46999947e-02 1.68340786e+01] [-9.93876482e-03 -1.48925044e-02 9.99839704e-01 1.36625713e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.67907232899995 meters Centerline goodness : 0.506243 Centerline is valid? [False, False] Translation: X:-300.89, Y:16.85, Z:136.63 [[ 9.99749655e-01 1.81967555e-02 1.30194241e-02 -3.00892830e+02] [-1.84167418e-02 9.99686181e-01 1.69812643e-02 1.68470025e+01] [-1.27063345e-02 -1.72167885e-02 9.99771039e-01 1.36629521e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.709072329 meters Centerline goodness : 0.508892 Centerline is valid? [False, False] Translation: X:-300.91, Y:16.87, Z:136.63 [[ 9.99820191e-01 1.86402271e-02 3.48240580e-03 -3.00910161e+02] [-1.87092323e-02 9.99605188e-01 2.09626695e-02 1.68670511e+01] [-3.09028199e-03 -2.10240533e-02 9.99774194e-01 1.36630994e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.73907232899995 meters Centerline goodness : 0.508892 Centerline is valid? [False, False] Translation: X:-300.91, Y:16.87, Z:136.63 [[ 9.99820191e-01 1.86402271e-02 3.48240580e-03 -3.00910161e+02] [-1.87092323e-02 9.99605188e-01 2.09626695e-02 1.68670511e+01] [-3.09028199e-03 -2.10240533e-02 9.99774194e-01 1.36630994e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.769072329 meters Centerline goodness : 0.494053 Centerline is valid? [False, False] Translation: X:-300.92, Y:16.87, Z:136.64 [[ 9.99810895e-01 1.90520663e-02 3.89787499e-03 -3.00916345e+02] [-1.91281670e-02 9.99606461e-01 2.05191629e-02 1.68733925e+01] [-3.50540858e-03 -2.05898418e-02 9.99781861e-01 1.36635599e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.79907232899996 meters Centerline goodness : 0.478405 Centerline is valid? [False, False] Translation: X:-300.94, Y:16.89, Z:136.63 [[ 9.99774274e-01 2.01431283e-02 6.75691796e-03 -3.00935498e+02] [-2.02324949e-02 9.99705109e-01 1.34291516e-02 1.68860035e+01] [-6.48442027e-03 -1.35628296e-02 9.99886995e-01 1.36630391e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.829072329 meters Centerline goodness : 0.479311 Centerline is valid? [False, False] Translation: X:-300.94, Y:16.89, Z:136.64 [[ 9.99774091e-01 1.98956056e-02 7.47881698e-03 -3.00942871e+02] [-1.99892722e-02 9.99719969e-01 1.26654063e-02 1.68933753e+01] [-7.22473675e-03 -1.28120412e-02 9.99891822e-01 1.36635146e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.85907232899996 meters Centerline goodness : 0.292494 Centerline is valid? [False, False] Translation: X:-300.97, Y:16.91, Z:136.64 [[ 9.99775797e-01 1.76036755e-02 1.17671592e-02 -3.00969359e+02] [-1.77830741e-02 9.99724507e-01 1.53190133e-02 1.69120401e+01] [-1.14942465e-02 -1.55248350e-02 9.99813413e-01 1.36640764e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.889072329 meters Centerline goodness : 0.544275 Centerline is valid? [False, False] Translation: X:-300.98, Y:16.92, Z:136.64 [[ 9.99861774e-01 1.66200749e-02 4.54033839e-04 -3.00976161e+02] [-1.66254922e-02 9.99706877e-01 1.75998093e-02 1.69231398e+01] [-1.61390602e-04 -1.76049251e-02 9.99845008e-01 1.36640183e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.91907232899996 meters Centerline goodness : 0.239610 Centerline is valid? [False, False] Translation: X:-300.98, Y:16.93, Z:136.64 [[ 9.99866229e-01 1.63181042e-02 1.11510600e-03 -3.00983112e+02] [-1.63346218e-02 9.99723845e-01 1.68941705e-02 1.69291143e+01] [-8.39117221e-04 -1.69101254e-02 9.99856661e-01 1.36644714e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.949072329 meters Centerline goodness : 0.295012 Centerline is valid? [False, False] Translation: X:-301.00, Y:16.95, Z:136.65 [[ 9.99896807e-01 1.38333020e-02 3.87493721e-03 -3.01003266e+02] [-1.38922788e-02 9.99781317e-01 1.56307996e-02 1.69453436e+01] [-3.65786426e-03 -1.56830184e-02 9.99870323e-01 1.36652190e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.97907232899996 meters Centerline goodness : 0.304015 Centerline is valid? [False, False] Translation: X:-301.01, Y:16.95, Z:136.66 [[ 9.99900414e-01 1.33358150e-02 4.61720239e-03 -3.01010752e+02] [-1.34027815e-02 9.99800791e-01 1.47900010e-02 1.69508570e+01] [-4.41904589e-03 -1.48504115e-02 9.99879961e-01 1.36657144e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.009072329 meters Centerline goodness : 0.157183 Centerline is valid? [False, False] Translation: X:-301.02, Y:16.96, Z:136.66 [[ 9.99902370e-01 1.28718693e-02 5.43737710e-03 -3.01017917e+02] [-1.29469046e-02 9.99818203e-01 1.39978095e-02 1.69572021e+01] [-5.25621062e-03 -1.40668401e-02 9.99887242e-01 1.36661344e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.03907232899996 meters Centerline goodness : 0.293676 Centerline is valid? [False, False] Translation: X:-301.04, Y:16.97, Z:136.67 [[ 9.99894072e-01 1.07440514e-02 9.81889830e-03 -3.01044562e+02] [-1.09088845e-02 9.99797827e-01 1.68908642e-02 1.69746462e+01] [-9.63543687e-03 -1.69961882e-02 9.99809126e-01 1.36666658e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.069072329 meters Centerline goodness : 0.292867 Centerline is valid? [False, False] Translation: X:-301.06, Y:16.98, Z:136.67 [[ 9.99894585e-01 8.07983305e-03 1.20637604e-02 -3.01057957e+02] [-8.26943479e-03 9.99841759e-01 1.57503609e-02 1.69845958e+01] [-1.19345911e-02 -1.58484611e-02 9.99803177e-01 1.36670211e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.09907232899997 meters Centerline goodness : 0.290208 Centerline is valid? [False, False] Translation: X:-301.08, Y:17.01, Z:136.67 [[ 9.99974373e-01 5.97392287e-03 3.94526737e-03 -3.01081302e+02] [-6.04978513e-03 9.99791453e-01 1.95051592e-02 1.70082575e+01] [-3.82792228e-03 -1.95285274e-02 9.99801972e-01 1.36670467e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.12907232899994 meters Centerline goodness : 0.289955 Centerline is valid? [False, False] Translation: X:-301.09, Y:17.02, Z:136.68 [[ 9.99937067e-01 1.02003427e-02 4.67057568e-03 -3.01088748e+02] [-1.03049404e-02 9.99683566e-01 2.29472610e-02 1.70175040e+01] [-4.43502782e-03 -2.29939469e-02 9.99725767e-01 1.36675371e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.15907232899997 meters Centerline goodness : 0.070516 Centerline is valid? [False, False] Translation: X:-301.09, Y:17.03, Z:136.68 [[ 9.99884698e-01 1.42632726e-02 5.21047447e-03 -3.01094434e+02] [-1.43949915e-02 9.99553509e-01 2.61833277e-02 1.70256188e+01] [-4.83468810e-03 -2.62553134e-02 9.99643579e-01 1.36679484e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.18907232899994 meters Centerline goodness : 0.064633 Centerline is valid? [False, False] Translation: X:-301.12, Y:17.05, Z:136.67 [[ 9.99747661e-01 2.01480303e-02 9.93332516e-03 -3.01122551e+02] [-2.03985846e-02 9.99458907e-01 2.58029331e-02 1.70484673e+01] [-9.40807203e-03 -2.59990478e-02 9.99617696e-01 1.36674318e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.21907232899997 meters Centerline goodness : 0.073858 Centerline is valid? [False, False] Translation: X:-301.13, Y:17.06, Z:136.68 [[ 9.99637524e-01 2.48843230e-02 1.02757860e-02 -3.01127522e+02] [-2.51746408e-02 9.99257621e-01 2.91623620e-02 1.70560593e+01] [-9.54247182e-03 -2.94104806e-02 9.99521868e-01 1.36678660e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.24907232899994 meters Centerline goodness : 0.101875 Centerline is valid? [False, False] Translation: X:-301.13, Y:17.06, Z:136.68 [[ 9.99534189e-01 2.87086714e-02 1.03545721e-02 -3.01128813e+02] [-2.90285456e-02 9.99060060e-01 3.21922313e-02 1.70625112e+01] [-9.42064323e-03 -3.24778139e-02 9.99428058e-01 1.36680296e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.279072329 meters Centerline goodness : 0.544878 Centerline is valid? [False, False] Translation: X:-301.13, Y:17.08, Z:136.69 [[ 9.99233281e-01 3.76432288e-02 1.07627706e-02 -3.01134759e+02] [-3.80325117e-02 9.98530752e-01 3.85987836e-02 1.70757581e+01] [-9.29397454e-03 -3.89785244e-02 9.99196826e-01 1.36686553e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.30907232899995 meters Centerline goodness : 0.539961 Centerline is valid? [False, False] Translation: X:-301.14, Y:17.08, Z:136.69 [[ 9.99185663e-01 3.88792626e-02 1.07894963e-02 -3.01138481e+02] [-3.92624001e-02 9.98509199e-01 3.79189160e-02 1.70841773e+01] [-9.29915178e-03 -3.83116588e-02 9.99222569e-01 1.36690804e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.339072329 meters Centerline goodness : 0.540425 Centerline is valid? [False, False] Translation: X:-301.14, Y:17.09, Z:136.69 [[ 9.99037225e-01 4.24323359e-02 1.11409352e-02 -3.01141566e+02] [-4.28522400e-02 9.98254755e-01 4.06341008e-02 1.70912278e+01] [-9.39729168e-03 -4.10723933e-02 9.99111980e-01 1.36693551e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.36907232899995 meters Centerline goodness : 0.539727 Centerline is valid? [False, False] Translation: X:-301.14, Y:17.10, Z:136.69 [[ 9.99044076e-01 4.23194081e-02 1.09545406e-02 -3.01141986e+02] [-4.27258873e-02 9.98285782e-01 3.99999624e-02 1.70951335e+01] [-9.24298737e-03 -4.04297679e-02 9.99139630e-01 1.36694876e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.399072329 meters Centerline goodness : 0.541237 Centerline is valid? [False, False] Translation: X:-301.15, Y:17.10, Z:136.70 [[ 9.98989113e-01 4.35555264e-02 1.11206377e-02 -3.01146179e+02] [-4.39638520e-02 9.98248751e-01 3.95804359e-02 1.71026373e+01] [-9.37721597e-03 -4.00293306e-02 9.99154503e-01 1.36699170e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.42907232899995 meters Centerline goodness : 0.236908 Centerline is valid? [False, False] Translation: X:-301.15, Y:17.11, Z:136.70 [[ 9.98955946e-01 4.41594655e-02 1.17029771e-02 -3.01153248e+02] [-4.45839653e-02 9.98247708e-01 3.89073719e-02 1.71105371e+01] [-9.96434131e-03 -3.93885157e-02 9.99174287e-01 1.36704559e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.459072329 meters Centerline goodness : 0.130164 Centerline is valid? [False, False] Translation: X:-301.14, Y:17.11, Z:136.71 [[ 9.99061153e-01 4.32586673e-02 -2.34505322e-03 -3.01142021e+02] [-4.31341963e-02 9.98304810e-01 3.90761660e-02 1.71121341e+01] [ 4.03146078e-03 -3.89383275e-02 9.99233483e-01 1.36708663e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.48907232899995 meters Centerline goodness : 0.130793 Centerline is valid? [False, False] Translation: X:-301.14, Y:17.11, Z:136.71 [[ 9.99073092e-01 4.29887548e-02 -2.21882262e-03 -3.01143506e+02] [-4.28707901e-02 9.98330039e-01 3.87198629e-02 1.71143350e+01] [ 3.87963597e-03 -3.85888504e-02 9.99247642e-01 1.36709685e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.519072329 meters Centerline goodness : 0.122208 Centerline is valid? [False, False] Translation: X:-301.15, Y:17.12, Z:136.71 [[ 9.99041273e-01 4.37443344e-02 -1.72268934e-03 -3.01149880e+02] [-4.36464338e-02 9.98313150e-01 3.82863245e-02 1.71231601e+01] [ 3.39459320e-03 -3.81744291e-02 9.99265325e-01 1.36714659e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.54907232899996 meters Centerline goodness : 0.126161 Centerline is valid? [False, False] Translation: X:-301.15, Y:17.13, Z:136.72 [[ 9.99042734e-01 4.37020791e-02 -1.93483955e-03 -3.01149920e+02] [-4.35979776e-02 9.98335034e-01 3.77674017e-02 1.71269285e+01] [ 3.58213208e-03 -3.76468931e-02 9.99284684e-01 1.36715744e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.579072329 meters Centerline goodness : 0.132767 Centerline is valid? [False, False] Translation: X:-301.15, Y:17.13, Z:136.72 [[ 9.98866118e-01 4.75784685e-02 -1.66373852e-03 -3.01151641e+02] [-4.74698700e-02 9.98024934e-01 4.11441599e-02 1.71316642e+01] [ 3.61802864e-03 -4.10185298e-02 9.99151835e-01 1.36717208e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.60907232899996 meters Centerline goodness : 0.127620 Centerline is valid? [False, False] Translation: X:-301.15, Y:17.13, Z:136.72 [[ 9.98670356e-01 5.15293065e-02 -1.50006353e-03 -3.01151994e+02] [-5.14104855e-02 9.97671915e-01 4.48075022e-02 1.71346552e+01] [ 3.80547078e-03 -4.46708052e-02 9.98994513e-01 1.36717758e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.639072329 meters Centerline goodness : 0.126546 Centerline is valid? [False, False] Translation: X:-301.15, Y:17.14, Z:136.72 [[ 9.98455175e-01 5.55438911e-02 -1.46309490e-03 -3.01151808e+02] [-5.54080708e-02 9.97289092e-01 4.84191331e-02 1.71379802e+01] [ 4.14851564e-03 -4.82632667e-02 9.98826034e-01 1.36718376e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.66907232899996 meters Centerline goodness : 0.336729 Centerline is valid? [False, False] Translation: X:-301.15, Y:17.15, Z:136.72 [[ 9.98064256e-01 6.21646342e-02 -1.81620931e-03 -3.01151784e+02] [-6.19870442e-02 9.96728365e-01 5.18668754e-02 1.71467734e+01] [ 5.03455267e-03 -5.16538930e-02 9.98652356e-01 1.36721869e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.699072329 meters Centerline goodness : 0.110896 Centerline is valid? [False, False] Translation: X:-301.15, Y:17.15, Z:136.72 [[ 9.97954213e-01 6.38995716e-02 -2.05749059e-03 -3.01151789e+02] [-6.37092546e-02 9.96639640e-01 5.14835768e-02 1.71521171e+01] [ 5.34035519e-03 -5.12471712e-02 9.98671722e-01 1.36723596e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.72907232899996 meters Centerline goodness : 0.419221 Centerline is valid? [False, False] Translation: X:-301.15, Y:17.16, Z:136.73 [[ 9.97852209e-01 6.54670149e-02 -2.24482142e-03 -3.01153305e+02] [-6.52675334e-02 9.96561746e-01 5.10375829e-02 1.71581187e+01] [ 5.57838136e-03 -5.07814509e-02 9.98694210e-01 1.36726772e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.759072329 meters Centerline goodness : 0.504399 Centerline is valid? [False, False] Translation: X:-301.15, Y:17.16, Z:136.73 [[ 9.97555114e-01 6.98410489e-02 -2.45425073e-03 -3.01152302e+02] [-6.96059011e-02 9.96101072e-01 5.42002957e-02 1.71628632e+01] [ 6.23008729e-03 -5.38969518e-02 9.98527068e-01 1.36728043e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.78907232899996 meters Centerline goodness : 0.369010 Centerline is valid? [False, False] Translation: X:-301.15, Y:17.17, Z:136.73 [[ 9.97556861e-01 6.98048053e-02 -2.75656299e-03 -3.01151678e+02] [-6.95566202e-02 9.96131098e-01 5.37095214e-02 1.71658019e+01] [ 6.49508080e-03 -5.33865644e-02 9.98552797e-01 1.36728804e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.819072329 meters Centerline goodness : 0.404070 Centerline is valid? [False, False] Translation: X:-301.15, Y:17.17, Z:136.73 [[ 9.97861383e-01 6.52914409e-02 -3.11271909e-03 -3.01152690e+02] [-6.50612280e-02 9.96678277e-01 4.89841603e-02 1.71683236e+01] [ 6.30062591e-03 -4.86768846e-02 9.98794705e-01 1.36730367e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.84907232899997 meters Centerline goodness : 0.370545 Centerline is valid? [False, False] Translation: X:-301.15, Y:17.17, Z:136.73 [[ 9.98146157e-01 6.07736826e-02 -3.28772755e-03 -3.01153561e+02] [-6.05671177e-02 9.97166804e-01 4.46092862e-02 1.71696368e+01] [ 5.98948338e-03 -4.43274594e-02 9.98999100e-01 1.36730955e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.87907232899994 meters Centerline goodness : 0.113611 Centerline is valid? [False, False] Translation: X:-301.16, Y:17.17, Z:136.73 [[ 9.98369075e-01 5.70021125e-02 -3.15410422e-03 -3.01158361e+02] [-5.68279018e-02 9.97560775e-01 4.05350438e-02 1.71728558e+01] [ 5.45699378e-03 -4.02896931e-02 9.99173139e-01 1.36734843e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.90907232899997 meters Centerline goodness : 0.170309 Centerline is valid? [False, False] Translation: X:-301.17, Y:17.17, Z:136.74 [[ 9.98815067e-01 4.86069348e-02 -2.41416969e-03 -3.01167513e+02] [-4.85020337e-02 9.98286045e-01 3.27494158e-02 1.71740641e+01] [ 4.00188063e-03 -3.25935178e-02 9.99460678e-01 1.36739400e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.93907232899994 meters Centerline goodness : 0.409169 Centerline is valid? [False, False] Translation: X:-301.17, Y:17.18, Z:136.74 [[ 9.98991651e-01 4.48485200e-02 -2.07137324e-03 -3.01173131e+02] [-4.47702144e-02 9.98580349e-01 2.88602594e-02 1.71753708e+01] [ 3.36277253e-03 -2.87384224e-02 9.99581310e-01 1.36743215e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.96907232899997 meters Centerline goodness : 0.169038 Centerline is valid? [False, False] Translation: X:-301.17, Y:17.18, Z:136.74 [[ 9.99145285e-01 4.12754500e-02 -2.24436199e-03 -3.01173588e+02] [-4.12061521e-02 9.98834484e-01 2.51341916e-02 1.71765523e+01] [ 3.27917122e-03 -2.50202275e-02 9.99681567e-01 1.36743723e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.99907232899994 meters Centerline goodness : 0.363244 Centerline is valid? [False, False] Translation: X:-301.18, Y:17.18, Z:136.75 [[ 9.99310723e-01 3.70892297e-02 -1.57099610e-03 -3.01180941e+02] [-3.70483235e-02 9.99094546e-01 2.09167435e-02 1.71792033e+01] [ 2.34535954e-03 -2.08441233e-02 9.99779987e-01 1.36748134e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 52457.97 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%| | 0/15056 [00:00