+ python -m lidar_slam --no-model /working/1fd7893b-3c51-4595-850d-6b9d8d1d7add Lidar SLAM 0.0.14 ===================================================== The recording path: /working/1fd7893b-3c51-4595-850d-6b9d8d1d7add 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 0.001652532 Adjusted end_distance from 9.223372036854776e+18 to 148.251652532 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.001652532 meters Centerline goodness : 0.092608 Centerline is valid? [0, False] SLAMing on 0.031652532 meters Centerline goodness : 0.093285 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.02, Z:0.00 [[ 0.99999173 -0.001239 0.00387278 -0.02406032] [ 0.00125372 0.99999198 -0.00380261 -0.02439601] [-0.00386804 0.00380744 0.99998527 0.0039496 ] [ 0. 0. 0. 1. ]] SLAMing on 0.061652531999999996 meters Centerline goodness : 0.091804 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.03, Z:0.00 [[ 9.99988200e-01 2.19434122e-03 4.33411502e-03 -2.60185176e-02] [-2.19321156e-03 9.99997560e-01 -2.65378759e-04 -2.53280343e-02] [-4.33468678e-03 2.55869996e-04 9.99990572e-01 4.09934663e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.091652532 meters Centerline goodness : 0.090159 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.03, Z:0.00 [[ 9.99976116e-01 3.59638143e-03 5.90206981e-03 -3.12111951e-02] [-3.60146771e-03 9.99993152e-01 8.51376571e-04 -2.83809935e-02] [-5.89896752e-03 -8.72612350e-04 9.99982220e-01 4.35957075e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.121652532 meters Centerline goodness : 0.089126 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.03, Z:0.00 [[ 0.99995454 0.00534853 0.00789391 -0.03717462] [-0.00536278 0.99998403 0.00178534 -0.03074238] [-0.00788423 -0.00182759 0.99996725 0.00414554] [ 0. 0. 0. 1. ]] SLAMing on 0.151652532 meters Centerline goodness : 0.083753 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.07, Z:0.00 [[ 9.99863305e-01 1.28955623e-02 1.03477036e-02 -7.41085610e-02] [-1.29014547e-02 9.99916646e-01 5.02885236e-04 -6.73520790e-02] [-1.03403561e-02 -6.36316923e-04 9.99946335e-01 2.67909614e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.181652532 meters Centerline goodness : 0.080293 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.08, Z:-0.00 [[ 9.99747840e-01 1.64408259e-02 1.52956146e-02 -9.12501896e-02] [-1.64051666e-02 9.99862415e-01 -2.45390921e-03 -7.83402996e-02] [-1.53338545e-02 2.20236333e-03 9.99880004e-01 -3.91217282e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.211652532 meters Centerline goodness : 0.078821 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.08, Z:-0.00 [[ 0.99970075 0.01742309 0.01717127 -0.0963976 ] [-0.01737953 0.99984537 -0.00268269 -0.07869227] [-0.01721535 0.00238346 0.99984896 -0.0021232 ] [ 0. 0. 0. 1. ]] SLAMing on 0.241652532 meters Centerline goodness : 0.060285 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.12, Z:-0.00 [[ 0.99952181 0.02541092 0.01761902 -0.13142295] [-0.02538099 0.99967601 -0.00192061 -0.11543273] [-0.01766212 0.0014725 0.99984293 -0.00233762] [ 0. 0. 0. 1. ]] SLAMing on 0.271652532 meters Centerline goodness : 0.070821 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.12, Z:-0.00 [[ 9.99446617e-01 2.72155834e-02 1.91251565e-02 -1.37494855e-01] [-2.72169624e-02 9.99629532e-01 -1.88229140e-04 -1.19659691e-01] [-1.91231940e-02 -3.32403688e-04 9.99817080e-01 -8.16593377e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.301652532 meters Centerline goodness : 0.066710 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.12, Z:-0.00 [[ 9.99377256e-01 2.85898032e-02 2.06814807e-02 -1.42626075e-01] [-2.86137569e-02 9.99590170e-01 8.63166523e-04 -1.22860146e-01] [-2.06483271e-02 -1.45440385e-03 9.99785743e-01 -4.72675565e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.33165253199999994 meters Centerline goodness : 0.447322 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.13, Z:0.00 [[ 9.99359136e-01 2.84416898e-02 2.17344782e-02 -1.46855974e-01] [-2.84678331e-02 9.99594309e-01 8.94334127e-04 -1.25791590e-01] [-2.17002243e-02 -1.51249448e-03 9.99763378e-01 4.15472608e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.36165253199999997 meters Centerline goodness : 0.065858 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.17, Z:0.00 [[ 0.9990915 0.0352891 0.02389269 -0.18228244] [-0.03534716 0.99937307 0.002012 -0.16604954] [-0.02380671 -0.00285471 0.9997125 0.00214421] [ 0. 0. 0. 1. ]] SLAMing on 0.391652532 meters Centerline goodness : 0.065326 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.17, Z:0.00 [[ 0.99896443 0.03710141 0.02633549 -0.1896554 ] [-0.03717224 0.99930644 0.00220512 -0.16888512] [-0.02623541 -0.00318178 0.99965073 0.00179793] [ 0. 0. 0. 1. ]] SLAMing on 0.42165253199999997 meters Centerline goodness : 0.470597 Centerline is valid? [False, False] Translation: X:-0.22, Y:-0.21, Z:0.01 [[ 9.97645243e-01 6.20223433e-02 2.92779567e-02 -2.24822316e-01] [-6.20723321e-02 9.98071332e-01 8.00739843e-04 -2.06826197e-01] [-2.91718255e-02 -2.61620535e-03 9.99570988e-01 6.01365197e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.45165253199999994 meters Centerline goodness : 0.472241 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.21, Z:0.00 [[ 0.99697603 0.0700576 0.03362635 -0.23613987] [-0.070281 0.99751203 0.00550696 -0.21210407] [-0.03315688 -0.0078536 0.9994193 0.00363943] [ 0. 0. 0. 1. ]] SLAMing on 0.48165253199999997 meters Centerline goodness : 0.479629 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.21, Z:0.00 [[ 0.99650034 0.07520244 0.03649197 -0.24362945] [-0.0755748 0.99710013 0.00893231 -0.21173129] [-0.03571442 -0.01165892 0.99929403 0.00299898] [ 0. 0. 0. 1. ]] SLAMing on 0.511652532 meters Centerline goodness : 0.480989 Centerline is valid? [False, False] Translation: X:-0.26, Y:-0.23, Z:0.00 [[ 0.99575222 0.08241463 0.0410529 -0.26108297] [-0.08288182 0.99651111 0.00980833 -0.2263204 ] [-0.04010132 -0.01316921 0.99910883 0.00124623] [ 0. 0. 0. 1. ]] SLAMing on 0.5416525320000001 meters Centerline goodness : 0.481771 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.24, Z:-0.00 [[ 9.95205408e-01 8.64192609e-02 4.58029130e-02 -2.79403175e-01] [-8.68664593e-02 9.96188949e-01 7.86101415e-03 -2.40543654e-01] [-4.49490127e-02 -1.18020607e-02 9.98919565e-01 -8.51470861e-06] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.571652532 meters Centerline goodness : 0.484545 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.25, Z:-0.00 [[ 0.99481185 0.08917904 0.04895397 -0.28760655] [-0.08968538 0.99593605 0.00824154 -0.24524393] [-0.04802005 -0.01258924 0.99876703 -0.00233496] [ 0. 0. 0. 1. ]] SLAMing on 0.601652532 meters Centerline goodness : 0.495669 Centerline is valid? [False, False] Translation: X:-0.32, Y:-0.29, Z:0.00 [[ 9.94460044e-01 9.30928543e-02 4.88153753e-02 -3.20988320e-01] [-9.35517650e-02 9.95588404e-01 7.19703897e-03 -2.86705793e-01] [-4.79300287e-02 -1.17239322e-02 9.98781889e-01 1.71080029e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.631652532 meters Centerline goodness : 0.499401 Centerline is valid? [False, False] Translation: X:-0.33, Y:-0.29, Z:-0.00 [[ 9.94098966e-01 9.57937630e-02 5.08999100e-02 -3.26862105e-01] [-9.63446817e-02 9.95311933e-01 8.47689118e-03 -2.91486975e-01] [-4.98492545e-02 -1.33308044e-02 9.98667783e-01 -9.76674592e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.661652532 meters Centerline goodness : 0.501215 Centerline is valid? [False, False] Translation: X:-0.34, Y:-0.31, Z:-0.00 [[ 0.99327914 0.10186537 0.05495449 -0.34331826] [-0.10246563 0.99470266 0.00821085 -0.30829192] [-0.05382698 -0.01378662 0.9984551 -0.00261861] [ 0. 0. 0. 1. ]] SLAMing on 0.691652532 meters Centerline goodness : 0.503263 Centerline is valid? [False, False] Translation: X:-0.35, Y:-0.31, Z:-0.00 [[ 0.99273043 0.10643454 0.05619588 -0.34667686] [-0.10729207 0.99414945 0.01246113 -0.31053431] [-0.05454081 -0.01839992 0.998342 -0.00257464] [ 0. 0. 0. 1. ]] SLAMing on 0.721652532 meters Centerline goodness : 0.513123 Centerline is valid? [False, False] Translation: X:-0.38, Y:-0.35, Z:0.00 [[ 0.99179698 0.11504777 0.05570238 -0.37775841] [-0.11629465 0.99301986 0.0196753 -0.34843056] [-0.05304997 -0.0259918 0.99825354 0.00382673] [ 0. 0. 0. 1. ]] SLAMing on 0.751652532 meters Centerline goodness : 0.514719 Centerline is valid? [False, False] Translation: X:-0.38, Y:-0.35, Z:0.00 [[ 0.99121336 0.11919971 0.05733672 -0.38240376] [-0.12071802 0.99240205 0.02377679 -0.35488183] [-0.05406689 -0.03048945 0.99807172 0.00417124] [ 0. 0. 0. 1. ]] SLAMing on 0.7816525320000001 meters Centerline goodness : 0.522353 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.37, Z:0.00 [[ 9.90448750e-01 1.23144145e-01 6.20225136e-02 -3.96644647e-01] [-1.24739896e-01 9.91933536e-01 2.25348199e-02 -3.67781821e-01] [-5.87471801e-02 -3.00562661e-02 9.97820319e-01 9.87246808e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.811652532 meters Centerline goodness : 0.527351 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.37, Z:0.00 [[ 0.99017426 0.12454907 0.06358033 -0.40196769] [-0.12622475 0.99173405 0.02304095 -0.37012685] [-0.06018505 -0.03083996 0.99771071 0.00122847] [ 0. 0. 0. 1. ]] SLAMing on 0.841652532 meters Centerline goodness : 0.538466 Centerline is valid? [False, False] Translation: X:-0.43, Y:-0.41, Z:0.01 [[ 0.98884078 0.13533362 0.06227936 -0.43093758] [-0.13738273 0.99006759 0.02986894 -0.41000134] [-0.05761851 -0.03809174 0.99761171 0.00560975] [ 0. 0. 0. 1. ]] SLAMing on 0.871652532 meters Centerline goodness : 0.543204 Centerline is valid? [False, False] Translation: X:-0.44, Y:-0.42, Z:0.01 [[ 0.98826903 0.13882441 0.0636561 -0.43580602] [-0.14114776 0.9894195 0.03356122 -0.41541864] [-0.05832347 -0.04215243 0.99740741 0.00742243] [ 0. 0. 0. 1. ]] SLAMing on 0.901652532 meters Centerline goodness : 0.547863 Centerline is valid? [False, False] Translation: X:-0.44, Y:-0.42, Z:0.01 [[ 0.98771368 0.14193639 0.06538913 -0.44112205] [-0.14451235 0.98883005 0.03648704 -0.42106165] [-0.0594799 -0.04548828 0.99719254 0.00842794] [ 0. 0. 0. 1. ]] SLAMing on 0.931652532 meters Centerline goodness : 0.551058 Centerline is valid? [False, False] Translation: X:-0.45, Y:-0.43, Z:0.01 [[ 0.98723451 0.14438317 0.06724228 -0.44649323] [-0.14715652 0.98837242 0.03827434 -0.42538071] [-0.06093424 -0.04768089 0.99700228 0.00845675] [ 0. 0. 0. 1. ]] SLAMing on 0.961652532 meters Centerline goodness : 0.547901 Centerline is valid? [False, False] Translation: X:-0.46, Y:-0.45, Z:0.01 [[ 0.98681888 0.15023536 0.0601485 -0.46381285] [-0.15267713 0.98753476 0.03827254 -0.44978909] [-0.05364884 -0.04695137 0.99745545 0.00737318] [ 0. 0. 0. 1. ]] SLAMing on 0.991652532 meters Centerline goodness : 0.555006 Centerline is valid? [False, False] Translation: X:-0.47, Y:-0.45, Z:0.01 [[ 0.98677886 0.15004365 0.06127304 -0.46963153] [-0.15248822 0.98759886 0.03736096 -0.45394964] [-0.05490741 -0.04621042 0.99742156 0.00862904] [ 0. 0. 0. 1. ]] SLAMing on 1.021652532 meters Centerline goodness : 0.555006 Centerline is valid? [False, False] Translation: X:-0.47, Y:-0.45, Z:0.01 [[ 0.98677886 0.15004365 0.06127304 -0.46963153] [-0.15248822 0.98759886 0.03736096 -0.45394964] [-0.05490741 -0.04621042 0.99742156 0.00862904] [ 0. 0. 0. 1. ]] SLAMing on 1.051652532 meters Centerline goodness : 0.561068 Centerline is valid? [False, False] Translation: X:-0.47, Y:-0.46, Z:0.01 [[ 0.9866158 0.1507026 0.06227357 -0.47414138] [-0.1532265 0.9874626 0.03793749 -0.4569399 ] [-0.05577554 -0.04697168 0.99733783 0.01000805] [ 0. 0. 0. 1. ]] SLAMing on 1.081652532 meters Centerline goodness : 0.567667 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.49, Z:0.01 [[ 0.98672632 0.1515285 0.05839767 -0.49698926] [-0.1545617 0.98664148 0.05147113 -0.49299318] [-0.04981822 -0.05981396 0.99696561 0.01432316] [ 0. 0. 0. 1. ]] SLAMing on 1.111652532 meters Centerline goodness : 0.572673 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.50, Z:0.02 [[ 0.98670959 0.15138954 0.05903712 -0.50192343] [-0.15449454 0.98661731 0.0521317 -0.50142869] [-0.05035485 -0.06055976 0.99689363 0.01731057] [ 0. 0. 0. 1. ]] SLAMing on 1.141652532 meters Centerline goodness : 0.573194 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.51, Z:0.02 [[ 0.98684233 0.15042819 0.05927539 -0.50596382] [-0.15353941 0.98677506 0.05196757 -0.50993987] [-0.05067409 -0.06038491 0.99688806 0.01992922] [ 0. 0. 0. 1. ]] SLAMing on 1.171652532 meters Centerline goodness : 0.581043 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.52, Z:0.02 [[ 0.98706693 0.14891554 0.05935518 -0.50940264] [-0.15198667 0.98706142 0.05108626 -0.51805478] [-0.05097967 -0.05944676 0.99692886 0.02188146] [ 0. 0. 0. 1. ]] SLAMing on 1.201652532 meters Centerline goodness : 0.585597 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.53, Z:0.02 [[ 0.98765995 0.1449744 0.05924738 -0.51449947] [-0.14786426 0.9878571 0.04769179 -0.52862813] [-0.05161386 -0.05586384 0.99710343 0.02446816] [ 0. 0. 0. 1. ]] SLAMing on 1.231652532 meters Centerline goodness : 0.591400 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.54, Z:0.03 [[ 0.98816367 0.14147814 0.05930001 -0.51852341] [-0.14421575 0.98853461 0.04473405 -0.53523516] [-0.05229122 -0.05275655 0.99723737 0.02652878] [ 0. 0. 0. 1. ]] SLAMing on 1.261652532 meters Centerline goodness : 0.595718 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.54, Z:0.03 [[ 0.98854946 0.13874095 0.05933737 -0.52252358] [-0.14137954 0.98902812 0.04283926 -0.54371538] [-0.05274277 -0.05073782 0.99731834 0.02876501] [ 0. 0. 0. 1. ]] SLAMing on 1.291652532 meters Centerline goodness : 0.602233 Centerline is valid? [False, False] Translation: X:-0.53, Y:-0.55, Z:0.03 [[ 0.98871144 0.13763728 0.05920865 -0.52658066] [-0.140258 0.98919661 0.0426351 -0.55363507] [-0.05270082 -0.0504583 0.99733474 0.03170222] [ 0. 0. 0. 1. ]] SLAMing on 1.3216525319999999 meters Centerline goodness : 0.602406 Centerline is valid? [False, False] Translation: X:-0.53, Y:-0.56, Z:0.03 [[ 0.98861628 0.13813523 0.05963647 -0.5290308 ] [-0.1408202 0.98908212 0.04343076 -0.55719428] [-0.05298605 -0.05133438 0.99727492 0.0326052 ] [ 0. 0. 0. 1. ]] SLAMing on 1.351652532 meters Centerline goodness : 0.605885 Centerline is valid? [False, False] Translation: X:-0.53, Y:-0.56, Z:0.03 [[ 0.98853022 0.13856315 0.06006877 -0.53124282] [-0.14130278 0.9889867 0.0440321 -0.56009274] [-0.05330599 -0.05201495 0.9972226 0.03315138] [ 0. 0. 0. 1. ]] SLAMing on 1.381652532 meters Centerline goodness : 0.607787 Centerline is valid? [False, False] Translation: X:-0.54, Y:-0.57, Z:0.03 [[ 0.98915736 0.13416353 0.05973168 -0.54070086] [-0.13721252 0.98926641 0.05024631 -0.57133238] [-0.05234933 -0.05789744 0.99694906 0.02771942] [ 0. 0. 0. 1. ]] SLAMing on 1.411652532 meters Centerline goodness : 0.611453 Centerline is valid? [False, False] Translation: X:-0.55, Y:-0.58, Z:0.03 [[ 0.98977692 0.12973557 0.05924806 -0.54551284] [-0.13257796 0.99006453 0.04685411 -0.58270191] [-0.05258076 -0.0542301 0.9971431 0.03184041] [ 0. 0. 0. 1. ]] SLAMing on 1.441652532 meters Centerline goodness : 0.618952 Centerline is valid? [False, False] Translation: X:-0.55, Y:-0.59, Z:0.03 [[ 0.99015517 0.12690199 0.05906462 -0.54815649] [-0.12961456 0.99056083 0.04460174 -0.58979497] [-0.05284705 -0.05181828 0.99725727 0.033453 ] [ 0. 0. 0. 1. ]] SLAMing on 1.471652532 meters Centerline goodness : 0.628469 Centerline is valid? [False, False] Translation: X:-0.56, Y:-0.60, Z:0.03 [[ 0.99127252 0.11956221 0.05553071 -0.55807485] [-0.12237312 0.9912079 0.05031628 -0.60422972] [-0.04902655 -0.05667262 0.99718835 0.03094475] [ 0. 0. 0. 1. ]] SLAMing on 1.501652532 meters Centerline goodness : 0.629602 Centerline is valid? [False, False] Translation: X:-0.56, Y:-0.61, Z:0.03 [[ 0.99166043 0.11629962 0.05553374 -0.56067991] [-0.11896792 0.99176463 0.04742935 -0.60894852] [-0.04956039 -0.05364054 0.99732966 0.0324218 ] [ 0. 0. 0. 1. ]] SLAMing on 1.531652532 meters Centerline goodness : 0.625920 Centerline is valid? [False, False] Translation: X:-0.56, Y:-0.62, Z:0.03 [[ 0.99208158 0.11260615 0.0556237 -0.56435528] [-0.11513157 0.99235335 0.04449223 -0.6154369 ] [-0.05018827 -0.05054397 0.99746 0.03480436] [ 0. 0. 0. 1. ]] SLAMing on 1.561652532 meters Centerline goodness : 0.627922 Centerline is valid? [False, False] Translation: X:-0.57, Y:-0.62, Z:0.04 [[ 0.99241321 0.10964757 0.05561861 -0.56725072] [-0.11205821 0.99280328 0.04224459 -0.62243733] [-0.05058632 -0.04815661 0.997558 0.03652768] [ 0. 0. 0. 1. ]] SLAMing on 1.591652532 meters Centerline goodness : 0.640763 Centerline is valid? [False, False] Translation: X:-0.57, Y:-0.64, Z:0.04 [[ 0.99276848 0.10660991 0.05518225 -0.57268457] [-0.10894158 0.9931973 0.04111993 -0.63735448] [-0.05042307 -0.04683421 0.99762922 0.04234857] [ 0. 0. 0. 1. ]] SLAMing on 1.621652532 meters Centerline goodness : 0.666061 Centerline is valid? [False, False] Translation: X:-0.58, Y:-0.65, Z:0.05 [[ 0.99297359 0.10493677 0.05469667 -0.57511365] [-0.10721729 0.9934076 0.04056832 -0.64539233] [-0.05007897 -0.0461477 0.99767855 0.04571907] [ 0. 0. 0. 1. ]] SLAMing on 1.651652532 meters Centerline goodness : 0.643962 Centerline is valid? [False, False] Translation: X:-0.58, Y:-0.66, Z:0.04 [[ 0.99400278 0.09678663 0.05090018 -0.58493066] [-0.09917516 0.99397353 0.04670011 -0.66251963] [-0.04607348 -0.05146807 0.99761128 0.04446176] [ 0. 0. 0. 1. ]] SLAMing on 1.681652532 meters Centerline goodness : 0.651331 Centerline is valid? [False, False] Translation: X:-0.59, Y:-0.68, Z:0.05 [[ 0.99493511 0.0874502 0.04956391 -0.58825581] [-0.08942096 0.99522838 0.03904317 -0.67577455] [-0.04591308 -0.04327747 0.99800754 0.04897412] [ 0. 0. 0. 1. ]] SLAMing on 1.711652532 meters Centerline goodness : 0.651426 Centerline is valid? [False, False] Translation: X:-0.59, Y:-0.68, Z:0.05 [[ 0.99534405 0.08319848 0.04866451 -0.58844195] [-0.0849501 0.99576665 0.03510367 -0.6784131 ] [-0.04553793 -0.03907428 0.99819813 0.05046628] [ 0. 0. 0. 1. ]] SLAMing on 1.741652532 meters Centerline goodness : 0.656462 Centerline is valid? [False, False] Translation: X:-0.59, Y:-0.68, Z:0.05 [[ 0.99563729 0.0797828 0.04838481 -0.59001411] [-0.08138684 0.99616431 0.03213798 -0.68312314] [-0.04563516 -0.03593566 0.9983116 0.05192776] [ 0. 0. 0. 1. ]] SLAMing on 1.771652532 meters Centerline goodness : 0.685266 Centerline is valid? [False, False] Translation: X:-0.59, Y:-0.69, Z:0.05 [[ 0.99584825 0.07703554 0.04849534 -0.59273655] [-0.07855012 0.99645448 0.03013877 -0.6900828 ] [-0.04600164 -0.03382296 0.9983686 0.05361236] [ 0. 0. 0. 1. ]] SLAMing on 1.8016525319999999 meters Centerline goodness : 0.660422 Centerline is valid? [False, False] Translation: X:-0.60, Y:-0.71, Z:0.05 [[ 0.99675068 0.06692176 0.04482815 -0.60390322] [-0.06844289 0.99709906 0.03330218 -0.70636552] [-0.04246947 -0.03626214 0.99843948 0.05140646] [ 0. 0. 0. 1. ]] SLAMing on 1.8316525319999999 meters Centerline goodness : 0.685172 Centerline is valid? [False, False] Translation: X:-0.61, Y:-0.71, Z:0.05 [[ 0.9969118 0.06423789 0.04517032 -0.60693768] [-0.06567093 0.99735999 0.03098991 -0.7114814 ] [-0.04306035 -0.03386059 0.99849851 0.05308812] [ 0. 0. 0. 1. ]] SLAMing on 1.861652532 meters Centerline goodness : 0.697536 Centerline is valid? [False, False] Translation: X:-0.61, Y:-0.72, Z:0.06 [[ 0.99709962 0.06115501 0.04530363 -0.60976407] [-0.06247586 0.99764415 0.0283357 -0.71607835] [-0.04346404 -0.0310839 0.99857131 0.05529979] [ 0. 0. 0. 1. ]] SLAMing on 1.891652532 meters Centerline goodness : 0.675655 Centerline is valid? [False, False] Translation: X:-0.61, Y:-0.72, Z:0.06 [[ 0.99727419 0.05817836 0.04538129 -0.61188484] [-0.05938876 0.9979016 0.02579479 -0.72122173] [-0.04378537 -0.02841962 0.99863665 0.05671965] [ 0. 0. 0. 1. ]] SLAMing on 1.921652532 meters Centerline goodness : 0.676551 Centerline is valid? [False, False] Translation: X:-0.62, Y:-0.74, Z:0.06 [[ 0.9980393 0.04760761 0.04063326 -0.62458624] [-0.04880127 0.99839009 0.02890798 -0.74330583] [-0.03919161 -0.03083425 0.99875586 0.05726575] [ 0. 0. 0. 1. ]] SLAMing on 1.951652532 meters Centerline goodness : 0.675123 Centerline is valid? [False, False] Translation: X:-0.63, Y:-0.75, Z:0.06 [[ 0.99814445 0.04527728 0.04071389 -0.62710984] [-0.04640436 0.99855297 0.02717708 -0.74976641] [-0.03942447 -0.02901596 0.99880117 0.05936388] [ 0. 0. 0. 1. ]] SLAMing on 1.981652532 meters Centerline goodness : 0.676667 Centerline is valid? [False, False] Translation: X:-0.63, Y:-0.76, Z:0.06 [[ 0.99824695 0.04324403 0.04041011 -0.630921 ] [-0.04434617 0.99865703 0.02678726 -0.75976143] [-0.03919745 -0.02853233 0.99882404 0.06431232] [ 0. 0. 0. 1. ]] SLAMing on 2.011652532 meters Centerline goodness : 0.685970 Centerline is valid? [False, False] Translation: X:-0.63, Y:-0.76, Z:0.07 [[ 0.9982585 0.04310952 0.0402684 -0.63160622] [-0.04421109 0.99866059 0.02687759 -0.76111692] [-0.03905578 -0.02861109 0.99882734 0.06535017] [ 0. 0. 0. 1. ]] SLAMing on 2.041652532 meters Centerline goodness : 0.684473 Centerline is valid? [False, False] Translation: X:-0.63, Y:-0.76, Z:0.06 [[ 0.99826138 0.04303172 0.04028005 -0.63175989] [-0.04413002 0.99866663 0.02678632 -0.76160234] [-0.03907368 -0.02851731 0.99882932 0.06496868] [ 0. 0. 0. 1. ]] SLAMing on 2.071652532 meters Centerline goodness : 0.679139 Centerline is valid? [False, False] Translation: X:-0.63, Y:-0.76, Z:0.06 [[ 0.99824743 0.04317691 0.04047002 -0.6323059 ] [-0.04428402 0.99865754 0.02687091 -0.7625228 ] [-0.03925549 -0.02861599 0.99881937 0.06442715] [ 0. 0. 0. 1. ]] SLAMing on 2.101652532 meters Centerline goodness : 0.680147 Centerline is valid? [False, False] Translation: X:-0.63, Y:-0.76, Z:0.06 [[ 0.99823126 0.04324438 0.04079564 -0.63365077] [-0.04436075 0.99865421 0.02686818 -0.76315573] [-0.03957884 -0.02863038 0.9988062 0.06465518] [ 0. 0. 0. 1. ]] SLAMing on 2.131652532 meters Centerline goodness : 0.679493 Centerline is valid? [False, False] Translation: X:-0.64, Y:-0.76, Z:0.06 [[ 0.99798858 0.04762709 0.04183834 -0.63631376] [-0.04894218 0.99832069 0.03099149 -0.76304757] [-0.04029204 -0.03297681 0.99864362 0.06459654] [ 0. 0. 0. 1. ]] SLAMing on 2.161652532 meters Centerline goodness : 0.739734 Centerline is valid? [False, False] Translation: X:-0.64, Y:-0.76, Z:0.06 [[ 0.99782369 0.04940478 0.04366986 -0.64005351] [-0.05081307 0.9982034 0.03174893 -0.76353848] [-0.04202286 -0.03389883 0.99854141 0.06290622] [ 0. 0. 0. 1. ]] SLAMing on 2.191652532 meters Centerline goodness : 0.738652 Centerline is valid? [False, False] Translation: X:-0.64, Y:-0.76, Z:0.06 [[ 0.9976934 0.05035666 0.04552023 -0.6440045 ] [-0.05181407 0.99816222 0.03142437 -0.76200074] [-0.04385415 -0.03371047 0.99846904 0.0611586 ] [ 0. 0. 0. 1. ]] SLAMing on 2.221652532 meters Centerline goodness : 0.738831 Centerline is valid? [False, False] Translation: X:-0.65, Y:-0.76, Z:0.06 [[ 0.99755285 0.05173912 0.04702536 -0.64751069] [-0.05326504 0.99807407 0.03179615 -0.76106653] [-0.04528969 -0.03422315 0.99838751 0.06023722] [ 0. 0. 0. 1. ]] SLAMing on 2.251652532 meters Centerline goodness : 0.741653 Centerline is valid? [False, False] Translation: X:-0.66, Y:-0.79, Z:0.06 [[ 0.99746143 0.05990481 0.03849809 -0.65995268] [-0.06128548 0.99748008 0.03574335 -0.78562718] [-0.03625988 -0.03801198 0.9986192 0.06151458] [ 0. 0. 0. 1. ]] SLAMing on 2.281652532 meters Centerline goodness : 0.741658 Centerline is valid? [False, False] Translation: X:-0.66, Y:-0.79, Z:0.06 [[ 0.99719098 0.06392447 0.03903611 -0.6612362 ] [-0.06547244 0.99706216 0.03975441 -0.78523556] [-0.03638015 -0.04219853 0.99844668 0.06173569] [ 0. 0. 0. 1. ]] SLAMing on 2.311652532 meters Centerline goodness : 0.741369 Centerline is valid? [False, False] Translation: X:-0.66, Y:-0.79, Z:0.06 [[ 0.9968323 0.06855523 0.04031808 -0.66419501] [-0.07032883 0.99653738 0.04435216 -0.78622962] [-0.0371379 -0.04704718 0.99820205 0.06177441] [ 0. 0. 0. 1. ]] SLAMing on 2.341652532 meters Centerline goodness : 0.741894 Centerline is valid? [False, False] Translation: X:-0.67, Y:-0.79, Z:0.06 [[ 0.99647598 0.0728995 0.04148835 -0.66640885] [-0.07488819 0.99600752 0.04858791 -0.78635164] [-0.03778067 -0.05152367 0.99795688 0.06127404] [ 0. 0. 0. 1. ]] SLAMing on 2.371652532 meters Centerline goodness : 0.745344 Centerline is valid? [False, False] Translation: X:-0.67, Y:-0.80, Z:0.07 [[ 0.99571971 0.08519554 0.03583253 -0.66967814] [-0.08671918 0.99528856 0.04336442 -0.79668827] [-0.03196925 -0.04628617 0.99841652 0.06511472] [ 0. 0. 0. 1. ]] SLAMing on 2.401652532 meters Centerline goodness : 0.746198 Centerline is valid? [False, False] Translation: X:-0.67, Y:-0.80, Z:0.06 [[ 0.99560297 0.08618317 0.03670408 -0.67129598] [-0.08776071 0.99517875 0.04378707 -0.79752325] [-0.03275341 -0.04681572 0.99836642 0.06367074] [ 0. 0. 0. 1. ]] SLAMing on 2.4316525319999998 meters Centerline goodness : 0.748631 Centerline is valid? [False, False] Translation: X:-0.67, Y:-0.80, Z:0.06 [[ 0.99546038 0.0875648 0.03729651 -0.67290594] [-0.08920882 0.99499738 0.04496661 -0.80011301] [-0.03317244 -0.04808965 0.99829203 0.0632731 ] [ 0. 0. 0. 1. ]] SLAMing on 2.461652532 meters Centerline goodness : 0.749894 Centerline is valid? [False, False] Translation: X:-0.68, Y:-0.80, Z:0.06 [[ 0.99525342 0.08957528 0.03803818 -0.67525755] [-0.09132416 0.9947096 0.04703948 -0.80441838] [-0.03362337 -0.05029001 0.99816852 0.06363883] [ 0. 0. 0. 1. ]] SLAMing on 2.491652532 meters Centerline goodness : 0.752082 Centerline is valid? [False, False] Translation: X:-0.68, Y:-0.81, Z:0.06 [[ 0.9950337 0.09159175 0.03897287 -0.6783971 ] [-0.09345999 0.9944082 0.04916879 -0.80905085] [-0.03425149 -0.05256701 0.99802983 0.06449953] [ 0. 0. 0. 1. ]] SLAMing on 2.521652532 meters Centerline goodness : 0.752791 Centerline is valid? [False, False] Translation: X:-0.68, Y:-0.81, Z:0.06 [[ 0.99498747 0.09198397 0.03922854 -0.67932718] [-0.09388251 0.9943438 0.04966374 -0.81082601] [-0.03443839 -0.05309767 0.99799531 0.06446246] [ 0. 0. 0. 1. ]] SLAMing on 2.551652532 meters Centerline goodness : 0.753607 Centerline is valid? [False, False] Translation: X:-0.68, Y:-0.81, Z:0.06 [[ 0.99498502 0.09199994 0.03925322 -0.67983569] [-0.09390313 0.994337 0.04976077 -0.81161968] [-0.03445294 -0.05319722 0.9979895 0.06467567] [ 0. 0. 0. 1. ]] SLAMing on 2.581652532 meters Centerline goodness : 0.753100 Centerline is valid? [False, False] Translation: X:-0.68, Y:-0.81, Z:0.07 [[ 0.99494695 0.09228306 0.03955255 -0.68111871] [-0.09421706 0.99428558 0.05019301 -0.81349721] [-0.03469456 -0.05366591 0.99795604 0.06512954] [ 0. 0. 0. 1. ]] SLAMing on 2.611652532 meters Centerline goodness : 0.752494 Centerline is valid? [False, False] Translation: X:-0.69, Y:-0.82, Z:0.07 [[ 0.99489035 0.09246912 0.04052975 -0.68560039] [-0.09448874 0.99421243 0.05112269 -0.82100162] [-0.03556791 -0.05469107 0.99786964 0.06702047] [ 0. 0. 0. 1. ]] SLAMing on 2.6416525319999997 meters Centerline goodness : 0.749181 Centerline is valid? [False, False] Translation: X:-0.69, Y:-0.82, Z:0.07 [[ 0.99490553 0.09233712 0.04045797 -0.68563478] [-0.09435167 0.99422723 0.05108804 -0.82152244] [-0.0355071 -0.05464505 0.99787432 0.06698064] [ 0. 0. 0. 1. ]] SLAMing on 2.671652532 meters Centerline goodness : 0.749590 Centerline is valid? [False, False] Translation: X:-0.69, Y:-0.83, Z:0.07 [[ 0.99498747 0.09134245 0.04070002 -0.68831257] [-0.09335146 0.99434933 0.05054622 -0.82762308] [-0.03585302 -0.05409226 0.99789207 0.06861116] [ 0. 0. 0. 1. ]] SLAMing on 2.7016525319999998 meters Centerline goodness : 0.747600 Centerline is valid? [False, False] Translation: X:-0.69, Y:-0.83, Z:0.07 [[ 0.99505507 0.09039705 0.04115553 -0.69178898] [-0.09241531 0.99445902 0.05010655 -0.83334371] [-0.036398 -0.05366218 0.99789556 0.07059026] [ 0. 0. 0. 1. ]] SLAMing on 2.731652532 meters Centerline goodness : 0.749030 Centerline is valid? [False, False] Translation: X:-0.70, Y:-0.84, Z:0.07 [[ 0.9952761 0.0875536 0.0419506 -0.69578215] [-0.08951083 0.9948621 0.04729916 -0.83655705] [-0.03759385 -0.05083076 0.99799947 0.07201701] [ 0. 0. 0. 1. ]] SLAMing on 2.761652532 meters Centerline goodness : 0.747473 Centerline is valid? [False, False] Translation: X:-0.70, Y:-0.84, Z:0.07 [[ 0.99552113 0.08433291 0.04272746 -0.70011588] [-0.08620104 0.99530802 0.04394692 -0.83838999] [-0.03882081 -0.04743324 0.99811975 0.07401058] [ 0. 0. 0. 1. ]] SLAMing on 2.791652532 meters Centerline goodness : 0.748060 Centerline is valid? [False, False] Translation: X:-0.70, Y:-0.84, Z:0.08 [[ 0.99571662 0.08157125 0.04352639 -0.70393703] [-0.0833663 0.99566885 0.04115334 -0.84177969] [-0.03998094 -0.0446057 0.99820432 0.07525336] [ 0. 0. 0. 1. ]] SLAMing on 2.821652532 meters Centerline goodness : 0.747154 Centerline is valid? [False, False] Translation: X:-0.71, Y:-0.85, Z:0.08 [[ 0.99585168 0.07949532 0.0442711 -0.70735843] [-0.0812421 0.99592473 0.03916176 -0.84651229] [-0.04097751 -0.04259599 0.99825168 0.07621612] [ 0. 0. 0. 1. ]] SLAMing on 2.851652532 meters Centerline goodness : 0.750803 Centerline is valid? [False, False] Translation: X:-0.71, Y:-0.85, Z:0.08 [[ 0.99588941 0.07923808 0.0438817 -0.7069798 ] [-0.08096543 0.99594999 0.0390925 -0.84711093] [-0.04060636 -0.04248471 0.99827159 0.07679584] [ 0. 0. 0. 1. ]] SLAMing on 2.881652532 meters Centerline goodness : 0.750339 Centerline is valid? [False, False] Translation: X:-0.71, Y:-0.85, Z:0.08 [[ 0.99598126 0.07823859 0.04358967 -0.70959484] [-0.07995317 0.99603205 0.0390852 -0.85476338] [-0.04035874 -0.04241326 0.99828467 0.08015067] [ 0. 0. 0. 1. ]] SLAMing on 2.9116525319999997 meters Centerline goodness : 0.750339 Centerline is valid? [False, False] Translation: X:-0.71, Y:-0.85, Z:0.08 [[ 0.99598126 0.07823859 0.04358967 -0.70959484] [-0.07995317 0.99603205 0.0390852 -0.85476338] [-0.04035874 -0.04241326 0.99828467 0.08015067] [ 0. 0. 0. 1. ]] SLAMing on 2.941652532 meters Centerline goodness : 0.749707 Centerline is valid? [False, False] Translation: X:-0.71, Y:-0.86, Z:0.08 [[ 0.99596614 0.07843375 0.04358436 -0.70994939] [-0.08016831 0.99599501 0.03958518 -0.85681846] [-0.04030499 -0.04291958 0.9982652 0.08050218] [ 0. 0. 0. 1. ]] SLAMing on 2.971652532 meters Centerline goodness : 0.749090 Centerline is valid? [False, False] Translation: X:-0.71, Y:-0.86, Z:0.08 [[ 0.9959747 0.0785377 0.04319989 -0.7095674 ] [-0.08027662 0.99596537 0.04010787 -0.85898839] [-0.03987562 -0.04341437 0.99826105 0.08113637] [ 0. 0. 0. 1. ]] SLAMing on 3.001652532 meters Centerline goodness : 0.749681 Centerline is valid? [False, False] Translation: X:-0.71, Y:-0.87, Z:0.08 [[ 0.99606595 0.07740329 0.04314342 -0.71174493] [-0.07912557 0.99607173 0.03975251 -0.86630881] [-0.03989696 -0.04300987 0.99827771 0.08317571] [ 0. 0. 0. 1. ]] SLAMing on 3.031652532 meters Centerline goodness : 0.750789 Centerline is valid? [False, False] Translation: X:-0.71, Y:-0.87, Z:0.08 [[ 0.99627887 0.07497012 0.04251937 -0.71199247] [-0.07660687 0.99632678 0.03826655 -0.87401669] [-0.03949434 -0.04138143 0.99836255 0.08462328] [ 0. 0. 0. 1. ]] SLAMing on 3.061652532 meters Centerline goodness : 0.749520 Centerline is valid? [False, False] Translation: X:-0.71, Y:-0.88, Z:0.09 [[ 0.99640609 0.07334655 0.04236965 -0.71390896] [-0.07494032 0.99648876 0.03733753 -0.88095694] [-0.0394823 -0.04037853 0.99840409 0.08652141] [ 0. 0. 0. 1. ]] SLAMing on 3.091652532 meters Centerline goodness : 0.753365 Centerline is valid? [False, False] Translation: X:-0.72, Y:-0.89, Z:0.09 [[ 0.99654774 0.07134633 0.0424535 -0.71644886] [-0.07288882 0.99669134 0.03596668 -0.88766578] [-0.03974694 -0.0389369 0.99845085 0.08852816] [ 0. 0. 0. 1. ]] SLAMing on 3.121652532 meters Centerline goodness : 0.751243 Centerline is valid? [False, False] Translation: X:-0.72, Y:-0.89, Z:0.09 [[ 0.99674139 0.06866812 0.04232373 -0.71841555] [-0.07012446 0.99696064 0.03394164 -0.89340122] [-0.03986439 -0.03679897 0.99852725 0.09075137] [ 0. 0. 0. 1. ]] SLAMing on 3.151652532 meters Centerline goodness : 0.753458 Centerline is valid? [False, False] Translation: X:-0.73, Y:-0.91, Z:0.09 [[ 0.99758037 0.05812146 0.03814848 -0.727027 ] [-0.0595897 0.99747832 0.03854966 -0.90951618] [-0.03581171 -0.04072964 0.99852823 0.09060112] [ 0. 0. 0. 1. ]] SLAMing on 3.1816525319999998 meters Centerline goodness : 0.751786 Centerline is valid? [False, False] Translation: X:-0.73, Y:-0.92, Z:0.10 [[ 0.99792249 0.05233969 0.03756688 -0.73030829] [-0.05361936 0.99798567 0.03390513 -0.91665511] [-0.03571662 -0.03584901 0.99871877 0.09549594] [ 0. 0. 0. 1. ]] SLAMing on 3.211652532 meters Centerline goodness : 0.752886 Centerline is valid? [False, False] Translation: X:-0.73, Y:-0.92, Z:0.10 [[ 0.99814235 0.04843595 0.03695672 -0.73020117] [-0.04957308 0.99830472 0.03049917 -0.92005052] [-0.03541682 -0.03227457 0.99885134 0.09675785] [ 0. 0. 0. 1. ]] SLAMing on 3.241652532 meters Centerline goodness : 0.754158 Centerline is valid? [False, False] Translation: X:-0.73, Y:-0.92, Z:0.10 [[ 0.99830881 0.04482932 0.03701137 -0.73050192] [-0.04583993 0.99858591 0.02692345 -0.92222783] [-0.03575208 -0.02857452 0.99895209 0.09613062] [ 0. 0. 0. 1. ]] SLAMing on 3.271652532 meters Centerline goodness : 0.750328 Centerline is valid? [False, False] Translation: X:-0.73, Y:-0.92, Z:0.10 [[ 0.99835451 0.04422648 0.03650066 -0.72863188] [-0.04519386 0.99863676 0.02611756 -0.92020074] [-0.03529581 -0.02772419 0.99899228 0.09504711] [ 0. 0. 0. 1. ]] SLAMing on 3.301652532 meters Centerline goodness : 0.750612 Centerline is valid? [False, False] Translation: X:-0.73, Y:-0.92, Z:0.10 [[ 0.99828452 0.04539436 0.03697793 -0.73063243] [-0.046432 0.99853724 0.02770273 -0.92416116] [-0.03566629 -0.02937217 0.99893203 0.09606031] [ 0. 0. 0. 1. ]] SLAMing on 3.331652532 meters Centerline goodness : 0.749914 Centerline is valid? [False, False] Translation: X:-0.73, Y:-0.93, Z:0.10 [[ 0.99820302 0.04688183 0.03732053 -0.73257418] [-0.04800885 0.99839936 0.02989753 -0.92965736] [-0.03585914 -0.03163552 0.998856 0.09754784] [ 0. 0. 0. 1. ]] SLAMing on 3.361652532 meters Centerline goodness : 0.748012 Centerline is valid? [False, False] Translation: X:-0.74, Y:-0.93, Z:0.10 [[ 0.99821168 0.04629808 0.03781439 -0.73548979] [-0.04744877 0.99841941 0.03012121 -0.93442815] [-0.03636007 -0.03186159 0.99883071 0.09967541] [ 0. 0. 0. 1. ]] SLAMing on 3.3916525319999997 meters Centerline goodness : 0.749354 Centerline is valid? [False, False] Translation: X:-0.73, Y:-0.93, Z:0.10 [[ 0.99830347 0.04441856 0.03764547 -0.73338591] [-0.04546801 0.99858734 0.02749501 -0.92910789] [-0.036371 -0.02916002 0.99891283 0.09742523] [ 0. 0. 0. 1. ]] SLAMing on 3.421652532 meters Centerline goodness : 0.746053 Centerline is valid? [False, False] Translation: X:-0.73, Y:-0.93, Z:0.10 [[ 0.99833363 0.0436817 0.03770782 -0.73242159] [-0.044684 0.9986586 0.02615989 -0.92598279] [-0.03651453 -0.02780123 0.99894634 0.0955617 ] [ 0. 0. 0. 1. ]] SLAMing on 3.4516525319999998 meters Centerline goodness : 0.746229 Centerline is valid? [False, False] Translation: X:-0.73, Y:-0.93, Z:0.09 [[ 0.99830527 0.04396428 0.03812789 -0.73299254] [-0.04497469 0.99864815 0.02606048 -0.92508701] [-0.03693061 -0.0277311 0.99893299 0.09467813] [ 0. 0. 0. 1. ]] SLAMing on 3.481652532 meters Centerline goodness : 0.744171 Centerline is valid? [False, False] Translation: X:-0.73, Y:-0.93, Z:0.09 [[ 0.99805916 0.04881365 0.03866717 -0.73392413] [-0.05002583 0.99826585 0.03102744 -0.92643479] [-0.03708555 -0.03290158 0.99877032 0.09465906] [ 0. 0. 0. 1. ]] SLAMing on 3.511652532 meters Centerline goodness : 0.742930 Centerline is valid? [False, False] Translation: X:-0.74, Y:-0.93, Z:0.10 [[ 0.99801743 0.04940645 0.03898991 -0.73527027] [-0.05066549 0.99820314 0.03199206 -0.9297358 ] [-0.03733924 -0.03390408 0.99872734 0.0954062 ] [ 0. 0. 0. 1. ]] SLAMing on 3.541652532 meters Centerline goodness : 0.741735 Centerline is valid? [False, False] Translation: X:-0.74, Y:-0.93, Z:0.10 [[ 0.99808028 0.04847245 0.03855107 -0.73517833] [-0.04968864 0.99827604 0.0312409 -0.92892671] [-0.03697029 -0.03309647 0.99876815 0.09686355] [ 0. 0. 0. 1. ]] SLAMing on 3.571652532 meters Centerline goodness : 0.745028 Centerline is valid? [False, False] Translation: X:-0.74, Y:-0.93, Z:0.10 [[ 0.99808506 0.04830505 0.03863733 -0.73574112] [-0.04952043 0.99828746 0.03114279 -0.92916752] [-0.0370668 -0.03299649 0.99876788 0.09738862] [ 0. 0. 0. 1. ]] SLAMing on 3.6016525319999997 meters Centerline goodness : 0.739143 Centerline is valid? [False, False] Translation: X:-0.73, Y:-0.93, Z:0.10 [[ 0.99812467 0.04753945 0.03856344 -0.73391134] [-0.0487139 0.99835884 0.03010945 -0.92707927] [-0.03706876 -0.03193156 0.99880242 0.09516341] [ 0. 0. 0. 1. ]] SLAMing on 3.631652532 meters Centerline goodness : 0.740970 Centerline is valid? [False, False] Translation: X:-0.74, Y:-0.93, Z:0.10 [[ 0.99827287 0.04389672 0.03904299 -0.73576915] [-0.04493535 0.99864799 0.0261345 -0.9275967 ] [-0.03784299 -0.02784377 0.99889571 0.09523925] [ 0. 0. 0. 1. ]] SLAMing on 3.6616525319999997 meters Centerline goodness : 0.739841 Centerline is valid? [False, False] Translation: X:-0.73, Y:-0.93, Z:0.10 [[ 0.99831764 0.04345437 0.03838751 -0.73455502] [-0.04445988 0.99867952 0.02573981 -0.92702947] [-0.03721831 -0.02740321 0.99893136 0.09573904] [ 0. 0. 0. 1. ]] SLAMing on 3.691652532 meters Centerline goodness : 0.742826 Centerline is valid? [False, False] Translation: X:-0.73, Y:-0.93, Z:0.10 [[ 0.9983137 0.04379275 0.03810436 -0.73456566] [-0.04481845 0.99864378 0.02649344 -0.92966597] [-0.03689246 -0.02815655 0.9989225 0.09667528] [ 0. 0. 0. 1. ]] SLAMing on 3.721652532 meters Centerline goodness : 0.742423 Centerline is valid? [False, False] Translation: X:-0.74, Y:-0.93, Z:0.10 [[ 0.99811058 0.04795214 0.03841685 -0.73568642] [-0.04915249 0.99831211 0.03093475 -0.930264 ] [-0.03686862 -0.03276458 0.99878285 0.09782533] [ 0. 0. 0. 1. ]] SLAMing on 3.751652532 meters Centerline goodness : 0.743059 Centerline is valid? [False, False] Translation: X:-0.74, Y:-0.93, Z:0.10 [[ 0.99797921 0.04954295 0.03978675 -0.73939024] [-0.05083889 0.99818607 0.03224873 -0.93221699] [-0.03811688 -0.03420628 0.99868766 0.09811505] [ 0. 0. 0. 1. ]] SLAMing on 3.781652532 meters Centerline goodness : 0.740420 Centerline is valid? [False, False] Translation: X:-0.74, Y:-0.93, Z:0.10 [[ 0.99783674 0.05212123 0.04006521 -0.73816492] [-0.05350414 0.99797989 0.03425555 -0.92735137] [-0.03819883 -0.0363251 0.9986097 0.09606437] [ 0. 0. 0. 1. ]] SLAMing on 3.811652532 meters Centerline goodness : 0.738397 Centerline is valid? [False, False] Translation: X:-0.74, Y:-0.93, Z:0.10 [[ 0.99775476 0.05295761 0.04099907 -0.73992823] [-0.05439025 0.99791825 0.03465346 -0.92745256] [-0.03907856 -0.03680561 0.99855807 0.09514825] [ 0. 0. 0. 1. ]] SLAMing on 3.841652532 meters Centerline goodness : 0.742929 Centerline is valid? [False, False] Translation: X:-0.74, Y:-0.92, Z:0.09 [[ 0.99750427 0.05697822 0.04169779 -0.73988379] [-0.05855719 0.99757273 0.03767908 -0.92407166] [-0.03944969 -0.04002675 0.99841954 0.09300019] [ 0. 0. 0. 1. ]] SLAMing on 3.8716525319999997 meters Centerline goodness : 0.742760 Centerline is valid? [False, False] Translation: X:-0.74, Y:-0.92, Z:0.09 [[ 0.99741003 0.05783803 0.04275497 -0.7424221 ] [-0.05947788 0.99750103 0.03813226 -0.92447098] [-0.04044263 -0.04057647 0.99835762 0.09270113] [ 0. 0. 0. 1. ]] SLAMing on 3.901652532 meters Centerline goodness : 0.741994 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.93, Z:0.09 [[ 0.99728433 0.0590682 0.0439877 -0.7457409 ] [-0.06079496 0.99738768 0.03901009 -0.92568394] [-0.04156853 -0.04157838 0.99827015 0.0929099 ] [ 0. 0. 0. 1. ]] SLAMing on 3.9316525319999998 meters Centerline goodness : 0.743055 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.92, Z:0.09 [[ 0.99699596 0.06305397 0.04498052 -0.74700889] [-0.06498013 0.99697137 0.04272794 -0.92385115] [-0.04215012 -0.04552243 0.99807368 0.09205645] [ 0. 0. 0. 1. ]] SLAMing on 3.961652532 meters Centerline goodness : 0.735671 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.93, Z:0.09 [[ 0.99694466 0.06354171 0.0454291 -0.74798883] [-0.06551584 0.99690845 0.04337309 -0.92598725] [-0.04253265 -0.0462169 0.99802554 0.09180635] [ 0. 0. 0. 1. ]] SLAMing on 3.991652532 meters Centerline goodness : 0.737311 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.93, Z:0.09 [[ 0.99702784 0.06274295 0.04470804 -0.74648587] [-0.06466293 0.99698561 0.04287656 -0.92583859] [-0.04188307 -0.04564007 0.99807955 0.09225522] [ 0. 0. 0. 1. ]] SLAMing on 4.021652531999999 meters Centerline goodness : 0.736228 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.93, Z:0.09 [[ 0.99710365 0.06215944 0.04382375 -0.74507976] [-0.0640385 0.9970265 0.04286286 -0.92729233] [-0.0410291 -0.04554512 0.99811936 0.09348896] [ 0. 0. 0. 1. ]] SLAMing on 4.051652531999999 meters Centerline goodness : 0.738036 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.94, Z:0.10 [[ 0.99728786 0.05977796 0.04293634 -0.74550475] [-0.06157737 0.99722306 0.04188545 -0.93610522] [-0.04031328 -0.04441576 0.99819942 0.09668785] [ 0. 0. 0. 1. ]] SLAMing on 4.081652532 meters Centerline goodness : 0.742363 Centerline is valid? [False, False] Translation: X:-0.74, Y:-0.94, Z:0.10 [[ 0.99732976 0.05947935 0.04237394 -0.7446684 ] [-0.06125086 0.99724625 0.04181213 -0.9365274 ] [-0.03977029 -0.04429592 0.99822653 0.09754723] [ 0. 0. 0. 1. ]] SLAMing on 4.111652531999999 meters Centerline goodness : 0.741106 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.94, Z:0.10 [[ 0.99731148 0.05963466 0.04258551 -0.74528605] [-0.06142226 0.99722866 0.04197975 -0.93713437] [-0.03996404 -0.04448258 0.99821049 0.0975669 ] [ 0. 0. 0. 1. ]] SLAMing on 4.141652531999999 meters Centerline goodness : 0.738196 Centerline is valid? [False, False] Translation: X:-0.74, Y:-0.93, Z:0.09 [[ 0.99724126 0.06023627 0.04337583 -0.74424875] [-0.06202749 0.99722347 0.04120611 -0.92897685] [-0.04077329 -0.04378292 0.99820869 0.0938964 ] [ 0. 0. 0. 1. ]] SLAMing on 4.1716525319999995 meters Centerline goodness : 0.735325 Centerline is valid? [False, False] Translation: X:-0.74, Y:-0.93, Z:0.09 [[ 0.99724027 0.0599616 0.04377726 -0.7445045 ] [-0.06173985 0.99727165 0.04046539 -0.92670682] [-0.04123145 -0.04305652 0.99822147 0.09272127] [ 0. 0. 0. 1. ]] SLAMing on 4.201652532 meters Centerline goodness : 0.733406 Centerline is valid? [False, False] Translation: X:-0.74, Y:-0.92, Z:0.09 [[ 0.99725707 0.05952007 0.04399658 -0.74482139] [-0.06127368 0.99733333 0.03964537 -0.92417822] [-0.04151956 -0.04223246 0.99824473 0.09234751] [ 0. 0. 0. 1. ]] SLAMing on 4.231652531999999 meters Centerline goodness : 0.731685 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.92, Z:0.09 [[ 0.99723046 0.05971122 0.04433934 -0.74632149] [-0.0614879 0.99731202 0.03984931 -0.92477144] [-0.04184071 -0.04246527 0.99822145 0.09321915] [ 0. 0. 0. 1. ]] SLAMing on 4.261652531999999 meters Centerline goodness : 0.731160 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.93, Z:0.09 [[ 0.99716166 0.06051868 0.04478964 -0.74836891] [-0.06236517 0.99720906 0.0410447 -0.92813233] [-0.04218066 -0.04372151 0.9981529 0.09455594] [ 0. 0. 0. 1. ]] SLAMing on 4.291652532 meters Centerline goodness : 0.729212 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.94, Z:0.10 [[ 0.997059 0.06222198 0.04474109 -0.74960748] [-0.06418631 0.99697205 0.043896 -0.93525161] [-0.04187432 -0.04663867 0.99803375 0.09689929] [ 0. 0. 0. 1. ]] SLAMing on 4.321652532 meters Centerline goodness : 0.728568 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.94, Z:0.10 [[ 0.99704316 0.06259431 0.04457453 -0.74982782] [-0.06458506 0.99690984 0.04471619 -0.93810876] [-0.04163781 -0.04746282 0.9980048 0.09782219] [ 0. 0. 0. 1. ]] SLAMing on 4.351652531999999 meters Centerline goodness : 0.726483 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.94, Z:0.10 [[ 0.99706608 0.06240782 0.04432259 -0.74943992] [-0.06438417 0.99692548 0.04465727 -0.93840094] [-0.04139935 -0.04737992 0.99801866 0.0981946 ] [ 0. 0. 0. 1. ]] SLAMing on 4.3816525319999995 meters Centerline goodness : 0.730256 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.94, Z:0.10 [[ 0.9971095 0.06187731 0.04408911 -0.74847218] [-0.06381398 0.996993 0.04396282 -0.93681934] [-0.04123624 -0.04664924 0.99805983 0.09769139] [ 0. 0. 0. 1. ]] SLAMing on 4.411652532 meters Centerline goodness : 0.727419 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.94, Z:0.10 [[ 0.99718874 0.06104177 0.04345716 -0.74660668] [-0.06291195 0.99709004 0.04305282 -0.93506458] [-0.04070268 -0.04566576 0.99812721 0.09718665] [ 0. 0. 0. 1. ]] SLAMing on 4.441652531999999 meters Centerline goodness : 0.730737 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.93, Z:0.10 [[ 0.99725165 0.06025576 0.04310894 -0.74522525] [-0.06206296 0.99719282 0.04188866 -0.93212931] [-0.04046389 -0.044449 0.99819185 0.09633946] [ 0. 0. 0. 1. ]] SLAMing on 4.471652531999999 meters Centerline goodness : 0.732284 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.93, Z:0.10 [[ 0.99724706 0.06026042 0.04320863 -0.74522853] [-0.06206567 0.99719925 0.04173148 -0.93166052] [-0.04057285 -0.04429837 0.99819412 0.09593612] [ 0. 0. 0. 1. ]] SLAMing on 4.501652532 meters Centerline goodness : 0.733622 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.93, Z:0.10 [[ 0.9971924 0.06082706 0.04367358 -0.74666006] [-0.06267211 0.99714167 0.04219837 -0.93259873] [-0.04098194 -0.04481701 0.99815425 0.09616964] [ 0. 0. 0. 1. ]] SLAMing on 4.531652532 meters Centerline goodness : 0.733493 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.93, Z:0.10 [[ 0.99710806 0.0615903 0.04452146 -0.74913049] [-0.06350498 0.99705678 0.04295232 -0.93461603] [-0.04174498 -0.04565544 0.99808463 0.09657899] [ 0. 0. 0. 1. ]] SLAMing on 4.561652531999999 meters Centerline goodness : 0.732683 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.94, Z:0.10 [[ 0.9969155 0.0635588 0.04604095 -0.75219501] [-0.06562271 0.9968385 0.04479576 -0.93770221] [-0.04304823 -0.04767892 0.99793465 0.09613262] [ 0. 0. 0. 1. ]] SLAMing on 4.5916525319999995 meters Centerline goodness : 0.732247 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.94, Z:0.10 [[ 0.99690931 0.06357971 0.0461459 -0.75217406] [-0.06564451 0.99684135 0.04470036 -0.937487 ] [-0.04315811 -0.04759143 0.99793408 0.09565545] [ 0. 0. 0. 1. ]] SLAMing on 4.621652532 meters Centerline goodness : 0.733762 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.94, Z:0.10 [[ 0.99690366 0.06347072 0.04641726 -0.75250104] [-0.06552394 0.99687438 0.04413717 -0.93551191] [-0.04347076 -0.04704194 0.99794657 0.09509548] [ 0. 0. 0. 1. ]] SLAMing on 4.651652531999999 meters Centerline goodness : 0.731904 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.94, Z:0.10 [[ 0.99685506 0.06391173 0.04685386 -0.75377205] [-0.0660112 0.99681621 0.04472091 -0.93736479] [-0.0438465 -0.04767315 0.99790017 0.0952701 ] [ 0. 0. 0. 1. ]] SLAMing on 4.681652531999999 meters Centerline goodness : 0.730968 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.94, Z:0.10 [[ 0.99685188 0.06373526 0.04716095 -0.75467237] [-0.06583762 0.9968396 0.04445461 -0.93678178] [-0.04417858 -0.04741963 0.99789761 0.09551081] [ 0. 0. 0. 1. ]] SLAMing on 4.711652532 meters Centerline goodness : 0.728739 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.94, Z:0.10 [[ 0.99685369 0.06362978 0.04726491 -0.75479482] [-0.06573107 0.99685266 0.04431919 -0.93658661] [-0.04429613 -0.04728653 0.99789871 0.09531934] [ 0. 0. 0. 1. ]] SLAMing on 4.741652532 meters Centerline goodness : 0.727899 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.94, Z:0.09 [[ 0.99686595 0.06348482 0.04720119 -0.75438664] [-0.06557556 0.99687045 0.04414914 -0.93632922] [-0.04425068 -0.04710602 0.99790926 0.09490373] [ 0. 0. 0. 1. ]] SLAMing on 4.771652531999999 meters Centerline goodness : 0.727163 Centerline is valid? [False, False] Translation: X:-0.76, Y:-0.94, Z:0.10 [[ 0.99704075 0.06051026 0.0474158 -0.75597389] [-0.06248079 0.99719376 0.04124024 -0.93918711] [-0.04478729 -0.04408078 0.99802354 0.09557809] [ 0. 0. 0. 1. ]] SLAMing on 4.801652531999999 meters Centerline goodness : 0.728334 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.94, Z:0.10 [[ 0.99711346 0.05974535 0.0468535 -0.75471451] [-0.06166265 0.99727086 0.04060243 -0.93837287] [-0.04429982 -0.04337434 0.99807625 0.09581203] [ 0. 0. 0. 1. ]] SLAMing on 4.831652532 meters Centerline goodness : 0.728334 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.94, Z:0.10 [[ 0.99711346 0.05974535 0.0468535 -0.75471451] [-0.06166265 0.99727086 0.04060243 -0.93837287] [-0.04429982 -0.04337434 0.99807625 0.09581203] [ 0. 0. 0. 1. ]] SLAMing on 4.861652531999999 meters Centerline goodness : 0.729134 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.94, Z:0.10 [[ 0.99715093 0.05955248 0.04629821 -0.75354998] [-0.06144949 0.99728043 0.0406904 -0.9393367 ] [-0.04374908 -0.04341947 0.99809858 0.09616865] [ 0. 0. 0. 1. ]] SLAMing on 4.891652531999999 meters Centerline goodness : 0.730566 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.94, Z:0.10 [[ 0.99745066 0.05460158 0.04594405 -0.7540484 ] [-0.05627026 0.9977719 0.03584542 -0.93929222] [-0.04388446 -0.03833932 0.99830068 0.09765457] [ 0. 0. 0. 1. ]] SLAMing on 4.9216525319999995 meters Centerline goodness : 0.731255 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.94, Z:0.10 [[ 0.99748417 0.0544346 0.04541148 -0.75269219] [-0.05608259 0.99778262 0.03584108 -0.93978966] [-0.04335979 -0.03829771 0.9983252 0.09759236] [ 0. 0. 0. 1. ]] SLAMing on 4.951652532 meters Centerline goodness : 0.734322 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.94, Z:0.10 [[ 0.99743166 0.0551538 0.04569611 -0.75349406] [-0.05685298 0.99770565 0.03675819 -0.94236635] [-0.04356392 -0.03926174 0.99827887 0.09756499] [ 0. 0. 0. 1. ]] SLAMing on 4.981652531999999 meters Centerline goodness : 0.731997 Centerline is valid? [False, False] Translation: X:-0.76, Y:-0.94, Z:0.10 [[ 0.99728797 0.05689849 0.04668262 -0.75682065] [-0.0587145 0.99753221 0.03849793 -0.9447814 ] [-0.04437695 -0.04113447 0.99816764 0.09891429] [ 0. 0. 0. 1. ]] SLAMing on 5.011652531999999 meters Centerline goodness : 0.734545 Centerline is valid? [False, False] Translation: X:-0.76, Y:-0.95, Z:0.10 [[ 0.99724582 0.05736417 0.04701188 -0.75771118] [-0.05922025 0.9974794 0.03908726 -0.94644961] [-0.04465118 -0.04176366 0.99812928 0.09891289] [ 0. 0. 0. 1. ]] SLAMing on 5.041652532 meters Centerline goodness : 0.731577 Centerline is valid? [False, False] Translation: X:-0.76, Y:-0.95, Z:0.10 [[ 0.99722085 0.05734695 0.04755942 -0.75906634] [-0.05921463 0.99748949 0.0388375 -0.94565347] [-0.04521281 -0.04154578 0.99811309 0.09888682] [ 0. 0. 0. 1. ]] SLAMing on 5.071652531999999 meters Centerline goodness : 0.734956 Centerline is valid? [False, False] Translation: X:-0.76, Y:-0.95, Z:0.10 [[ 0.99718644 0.05758223 0.0479946 -0.76006432] [-0.05947669 0.99746657 0.03902508 -0.94628119] [-0.04562586 -0.04176984 0.99808495 0.09868278] [ 0. 0. 0. 1. ]] SLAMing on 5.101652531999999 meters Centerline goodness : 0.732126 Centerline is valid? [False, False] Translation: X:-0.76, Y:-0.95, Z:0.10 [[ 0.99718376 0.05767305 0.0479414 -0.7598761 ] [-0.05957808 0.99744953 0.03930502 -0.94751771] [-0.04555229 -0.04205059 0.99807652 0.09855318] [ 0. 0. 0. 1. ]] SLAMing on 5.1316525319999995 meters Centerline goodness : 0.729909 Centerline is valid? [False, False] Translation: X:-0.76, Y:-0.95, Z:0.10 [[ 0.99739348 0.05403389 0.04781822 -0.76073557] [-0.05578069 0.99779449 0.03598166 -0.95052889] [-0.04576853 -0.0385552 0.99820776 0.09960816] [ 0. 0. 0. 1. ]] SLAMing on 5.161652532 meters Centerline goodness : 0.732075 Centerline is valid? [False, False] Translation: X:-0.76, Y:-0.95, Z:0.10 [[ 0.99752581 0.05119669 0.04817839 -0.76295991] [-0.05283661 0.99804435 0.03340315 -0.9547675 ] [-0.04637404 -0.03586608 0.99828006 0.10079333] [ 0. 0. 0. 1. ]] SLAMing on 5.191652531999999 meters Centerline goodness : 0.730719 Centerline is valid? [False, False] Translation: X:-0.76, Y:-0.95, Z:0.10 [[ 0.9975869 0.05066131 0.04747421 -0.76115598] [-0.05226299 0.99808378 0.03312613 -0.95494857] [-0.04570503 -0.03552734 0.99832302 0.10072891] [ 0. 0. 0. 1. ]] SLAMing on 5.221652531999999 meters Centerline goodness : 0.729299 Centerline is valid? [False, False] Translation: X:-0.76, Y:-0.96, Z:0.10 [[ 0.9976589 0.04998585 0.0466705 -0.75928284] [-0.05154329 0.99813245 0.03278566 -0.95517918] [-0.04494452 -0.03511446 0.99837216 0.10089079] [ 0. 0. 0. 1. ]] SLAMing on 5.251652532 meters Centerline goodness : 0.729441 Centerline is valid? [False, False] Translation: X:-0.76, Y:-0.96, Z:0.10 [[ 0.9977905 0.04689268 0.04706584 -0.76167856] [-0.04833043 0.99838412 0.02988859 -0.95842315] [-0.04558823 -0.03209726 0.99844453 0.10231308] [ 0. 0. 0. 1. ]] SLAMing on 5.281652531999999 meters Centerline goodness : 0.730911 Centerline is valid? [False, False] Translation: X:-0.76, Y:-0.96, Z:0.10 [[ 0.99799752 0.04290101 0.04648066 -0.76232212] [-0.04416801 0.99867038 0.02658305 -0.96167472] [-0.04527842 -0.02858278 0.99856542 0.10498099] [ 0. 0. 0. 1. ]] SLAMing on 5.311652531999999 meters Centerline goodness : 0.729871 Centerline is valid? [False, False] Translation: X:-0.76, Y:-0.96, Z:0.11 [[ 0.99805878 0.04218108 0.0458196 -0.76123924] [-0.04341206 0.99871336 0.02621095 -0.96190179] [-0.04465504 -0.02814919 0.9986058 0.10586028] [ 0. 0. 0. 1. ]] SLAMing on 5.3416525319999995 meters Centerline goodness : 0.730077 Centerline is valid? [False, False] Translation: X:-0.76, Y:-0.96, Z:0.11 [[ 0.99810311 0.04180177 0.04519725 -0.75992909] [-0.04301085 0.99873316 0.02611779 -0.96245101] [-0.04404822 -0.02801222 0.99863661 0.1062707 ] [ 0. 0. 0. 1. ]] SLAMing on 5.371652532 meters Centerline goodness : 0.730626 Centerline is valid? [False, False] Translation: X:-0.76, Y:-0.96, Z:0.11 [[ 0.99815864 0.04115009 0.04456445 -0.75861211] [-0.04231893 0.99877588 0.02560975 -0.96189578] [-0.04345606 -0.02744851 0.9986782 0.10667999] [ 0. 0. 0. 1. ]] SLAMing on 5.401652531999999 meters Centerline goodness : 0.731268 Centerline is valid? [False, False] Translation: X:-0.76, Y:-0.96, Z:0.11 [[ 0.99823855 0.04010002 0.04372402 -0.75638451] [-0.04120294 0.99884737 0.02462195 -0.96006263] [-0.04268628 -0.02638014 0.99874019 0.10660705] [ 0. 0. 0. 1. ]] SLAMing on 5.431652531999999 meters Centerline goodness : 0.732476 Centerline is valid? [False, False] Translation: X:-0.76, Y:-0.96, Z:0.11 [[ 0.99826479 0.03981806 0.04338134 -0.75595749] [-0.04090754 0.99886197 0.0245223 -0.96039852] [-0.04235554 -0.02625437 0.99875759 0.10724012] [ 0. 0. 0. 1. ]] SLAMing on 5.461652532 meters Centerline goodness : 0.731297 Centerline is valid? [False, False] Translation: X:-0.76, Y:-0.96, Z:0.11 [[ 0.99827463 0.0397118 0.043252 -0.75578923] [-0.04079699 0.99886696 0.02450293 -0.9606901 ] [-0.04222994 -0.0262252 0.99876367 0.10748298] [ 0. 0. 0. 1. ]] SLAMing on 5.491652532 meters Centerline goodness : 0.731844 Centerline is valid? [False, False] Translation: X:-0.76, Y:-0.95, Z:0.11 [[ 0.99835011 0.03765568 0.04334859 -0.75508515] [-0.03861873 0.9990206 0.02159728 -0.95414845] [-0.04249287 -0.02323572 0.99882654 0.10625524] [ 0. 0. 0. 1. ]] SLAMing on 5.521652531999999 meters Centerline goodness : 0.732975 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.95, Z:0.11 [[ 0.99835091 0.03763439 0.04334867 -0.75487196] [-0.03859146 0.99902467 0.02145704 -0.95380886] [-0.04249887 -0.02309455 0.99882956 0.10585512] [ 0. 0. 0. 1. ]] SLAMing on 5.551652531999999 meters Centerline goodness : 0.733306 Centerline is valid? [False, False] Translation: X:-0.76, Y:-0.95, Z:0.11 [[ 0.99832583 0.03784193 0.04374382 -0.75592745] [-0.03881653 0.99901181 0.02164905 -0.9544622 ] [-0.04288135 -0.02331079 0.99880819 0.10591855] [ 0. 0. 0. 1. ]] SLAMing on 5.581652532 meters Centerline goodness : 0.733226 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.95, Z:0.11 [[ 0.99820978 0.04114477 0.04340895 -0.7542608 ] [-0.04225764 0.99879297 0.02503805 -0.9526386 ] [-0.04232637 -0.02682759 0.99874359 0.10533344] [ 0. 0. 0. 1. ]] SLAMing on 5.611652531999999 meters Centerline goodness : 0.729154 Centerline is valid? [False, False] Translation: X:-0.76, Y:-0.95, Z:0.10 [[ 0.99816309 0.04176429 0.04388836 -0.75516201] [-0.04291736 0.99874887 0.02566694 -0.95393099] [-0.04276149 -0.02750336 0.99870667 0.10475907] [ 0. 0. 0. 1. ]] SLAMing on 5.641652531999999 meters Centerline goodness : 0.733123 Centerline is valid? [False, False] Translation: X:-0.76, Y:-0.95, Z:0.10 [[ 0.99813918 0.04177322 0.04442049 -0.75650863] [-0.04292411 0.99875849 0.02527839 -0.95240218] [-0.04330938 -0.02713806 0.99869306 0.10478617] [ 0. 0. 0. 1. ]] SLAMing on 5.6716525319999995 meters Centerline goodness : 0.732129 Centerline is valid? [False, False] Translation: X:-0.76, Y:-0.95, Z:0.11 [[ 0.99808841 0.04247417 0.04489403 -0.75827383] [-0.04367439 0.99870482 0.02610024 -0.95446933] [-0.0437273 -0.02801107 0.99865074 0.10546459] [ 0. 0. 0. 1. ]] SLAMing on 5.701652532 meters Centerline goodness : 0.732390 Centerline is valid? [False, False] Translation: X:-0.76, Y:-0.96, Z:0.11 [[ 0.99802339 0.04363542 0.04522452 -0.75977226] [-0.04491759 0.99860566 0.02773348 -0.95892125] [-0.0439513 -0.02971003 0.99859181 0.10630552] [ 0. 0. 0. 1. ]] SLAMing on 5.731652531999999 meters Centerline goodness : 0.732141 Centerline is valid? [False, False] Translation: X:-0.76, Y:-0.97, Z:0.11 [[ 0.99795666 0.04526566 0.04509465 -0.76006892] [-0.04666404 0.99844627 0.03045506 -0.96620383] [-0.04364601 -0.03249713 0.99851838 0.10749555] [ 0. 0. 0. 1. ]] SLAMing on 5.761652531999999 meters Centerline goodness : 0.730836 Centerline is valid? [False, False] Translation: X:-0.76, Y:-0.97, Z:0.11 [[ 0.99812744 0.04148543 0.04495082 -0.76069641] [-0.04272522 0.99872249 0.02698031 -0.96914298] [-0.04377411 -0.02885032 0.9986248 0.10837643] [ 0. 0. 0. 1. ]] SLAMing on 5.791652532 meters Centerline goodness : 0.731199 Centerline is valid? [False, False] Translation: X:-0.76, Y:-0.97, Z:0.11 [[ 0.99836259 0.03624602 0.04425339 -0.75932826] [-0.0372297 0.99907304 0.02161021 -0.96760639] [-0.04342908 -0.02322236 0.99878658 0.10844391] [ 0. 0. 0. 1. ]] SLAMing on 5.821652531999999 meters Centerline goodness : 0.733938 Centerline is valid? [False, False] Translation: X:-0.76, Y:-0.97, Z:0.11 [[ 0.99849328 0.03247827 0.04423033 -0.75933984] [-0.03329287 0.999287 0.01780655 -0.96921103] [-0.04362047 -0.01925227 0.99886266 0.10786263] [ 0. 0. 0. 1. ]] SLAMing on 5.851652531999999 meters Centerline goodness : 0.735207 Centerline is valid? [False, False] Translation: X:-0.76, Y:-0.96, Z:0.11 [[ 0.9985701 0.03080536 0.04368971 -0.75691595] [-0.03150626 0.99938421 0.01544556 -0.9637155 ] [-0.043187 -0.01679998 0.99892574 0.10626785] [ 0. 0. 0. 1. ]] SLAMing on 5.8816525319999995 meters Centerline goodness : 0.734655 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.97, Z:0.11 [[ 0.99895388 0.03470898 0.02977285 -0.75064962] [-0.03530789 0.99917969 0.01983166 -0.96655822] [-0.02906009 -0.02086213 0.99935994 0.10712526] [ 0. 0. 0. 1. ]] SLAMing on 5.911652532 meters Centerline goodness : 0.734238 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.97, Z:0.11 [[ 0.99880814 0.03871446 0.02972359 -0.75001525] [-0.03943264 0.99893473 0.02396812 -0.96632848] [-0.02876401 -0.02511163 0.99927075 0.10677651] [ 0. 0. 0. 1. ]] SLAMing on 5.941652531999999 meters Centerline goodness : 0.731300 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.97, Z:0.11 [[ 0.99867418 0.04133886 0.03067546 -0.75347731] [-0.04216233 0.9987539 0.0267016 -0.96927531] [-0.02953342 -0.02795955 0.99917268 0.10819654] [ 0. 0. 0. 1. ]] SLAMing on 5.971652531999999 meters Centerline goodness : 0.727897 Centerline is valid? [False, False] Translation: X:-0.76, Y:-0.97, Z:0.11 [[ 0.99844291 0.04581691 0.03182091 -0.75588931] [-0.04680565 0.99842116 0.03105497 -0.96908896] [-0.03034782 -0.03249601 0.99901102 0.10821498] [ 0. 0. 0. 1. ]] SLAMing on 6.001652532 meters Centerline goodness : 0.726603 Centerline is valid? [False, False] Translation: X:-0.76, Y:-0.97, Z:0.11 [[ 0.99851598 0.04342264 0.03286809 -0.7591743 ] [-0.04436339 0.99861013 0.02845516 -0.97208735] [-0.03158681 -0.02987107 0.99905455 0.10860278] [ 0. 0. 0. 1. ]] SLAMing on 6.031652531999999 meters Centerline goodness : 0.728733 Centerline is valid? [False, False] Translation: X:-0.76, Y:-0.97, Z:0.11 [[ 0.99854531 0.04282806 0.032757 -0.75814659] [-0.04373877 0.99866141 0.02760977 -0.97023942] [-0.03153068 -0.02900235 0.99908192 0.10756865] [ 0. 0. 0. 1. ]] SLAMing on 6.061652531999999 meters Centerline goodness : 0.728620 Centerline is valid? [False, False] Translation: X:-0.76, Y:-0.97, Z:0.11 [[ 0.99855866 0.04261771 0.03262419 -0.7575063 ] [-0.04351142 0.99868279 0.02719262 -0.96903681] [-0.03142233 -0.02857296 0.9990977 0.10707177] [ 0. 0. 0. 1. ]] SLAMing on 6.0916525319999995 meters Centerline goodness : 0.731199 Centerline is valid? [False, False] Translation: X:-0.76, Y:-0.97, Z:0.11 [[ 0.99847706 0.04392858 0.03337413 -0.75967277] [-0.04488889 0.99858277 0.02859098 -0.9721867 ] [-0.03207087 -0.03004557 0.99903389 0.10731157] [ 0. 0. 0. 1. ]] SLAMing on 6.121652532 meters Centerline goodness : 0.729935 Centerline is valid? [False, False] Translation: X:-0.76, Y:-0.98, Z:0.11 [[ 0.99834062 0.04620228 0.03437072 -0.76203318] [-0.04726693 0.99840622 0.03083597 -0.97586349] [-0.03289125 -0.0324094 0.99893333 0.10731972] [ 0. 0. 0. 1. ]] SLAMing on 6.151652531999999 meters Centerline goodness : 0.729613 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.98, Z:0.11 [[ 0.99822619 0.04768921 0.03563992 -0.76522744] [-0.0488411 0.99828803 0.0321802 -0.978362 ] [-0.03404425 -0.03386381 0.99884645 0.10733308] [ 0. 0. 0. 1. ]] SLAMing on 6.181652531999999 meters Centerline goodness : 0.726647 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.98, Z:0.11 [[ 0.99796367 0.05230051 0.0365127 -0.76655649] [-0.05364143 0.99788322 0.03676515 -0.97889491] [-0.03451257 -0.03864888 0.99865667 0.10687056] [ 0. 0. 0. 1. ]] SLAMing on 6.211652532 meters Centerline goodness : 0.726722 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.98, Z:0.11 [[ 0.99789658 0.05309092 0.03719908 -0.76876104] [-0.05449216 0.99780128 0.03772556 -0.9817917 ] [-0.0351144 -0.03967327 0.99859552 0.10744869] [ 0. 0. 0. 1. ]] SLAMing on 6.241652532 meters Centerline goodness : 0.727700 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.98, Z:0.11 [[ 0.99783959 0.05386414 0.03761395 -0.76989726] [-0.05531571 0.99771942 0.0386799 -0.98456218] [-0.03544471 -0.04067698 0.99854347 0.10754956] [ 0. 0. 0. 1. ]] SLAMing on 6.271652531999999 meters Centerline goodness : 0.730207 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.99, Z:0.11 [[ 0.99780324 0.05438762 0.03782439 -0.77029389] [-0.05586924 0.99766498 0.03928386 -0.98621031] [-0.03559951 -0.04131078 0.99851194 0.10727031] [ 0. 0. 0. 1. ]] SLAMing on 6.301652531999999 meters Centerline goodness : 0.731900 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.98, Z:0.11 [[ 0.99777767 0.05450304 0.03832939 -0.77084704] [-0.05598126 0.9976849 0.03861257 -0.98374989] [-0.03613615 -0.04067249 0.99851887 0.10600157] [ 0. 0. 0. 1. ]] SLAMing on 6.331652532 meters Centerline goodness : 0.730941 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.98, Z:0.10 [[ 0.9977351 0.05484421 0.03894589 -0.7717554 ] [-0.05634927 0.99766236 0.03865977 -0.98361551] [-0.03673458 -0.04076678 0.99849318 0.10487891] [ 0. 0. 0. 1. ]] SLAMing on 6.361652531999999 meters Centerline goodness : 0.732686 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.98, Z:0.10 [[ 0.99768254 0.05517362 0.03981741 -0.77360428] [-0.05671528 0.99764058 0.03868668 -0.98356889] [-0.03758898 -0.04085528 0.99845777 0.10430715] [ 0. 0. 0. 1. ]] SLAMing on 6.391652531999999 meters Centerline goodness : 0.727438 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.98, Z:0.10 [[ 0.99766584 0.05526125 0.04011309 -0.77374668] [-0.0568151 0.9976348 0.0386892 -0.98359263] [-0.0378802 -0.04087793 0.99844583 0.1034606 ] [ 0. 0. 0. 1. ]] SLAMing on 6.4216525319999995 meters Centerline goodness : 0.726041 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.99, Z:0.10 [[ 0.99784075 0.05170491 0.04050227 -0.7759804 ] [-0.05314382 0.99796297 0.03529382 -0.98637011] [-0.0385949 -0.03737006 0.99855591 0.104545 ] [ 0. 0. 0. 1. ]] SLAMing on 6.451652532 meters Centerline goodness : 0.726922 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.99, Z:0.11 [[ 0.99804517 0.04760484 0.04049217 -0.77684644] [-0.0488828 0.99831777 0.03117846 -0.98735452] [-0.03893981 -0.03309688 0.99869329 0.10518115] [ 0. 0. 0. 1. ]] SLAMing on 6.481652531999999 meters Centerline goodness : 0.725611 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.99, Z:0.11 [[ 0.99832259 0.04215437 0.03968649 -0.77544012] [-0.04320445 0.99872829 0.02598428 -0.98682362] [-0.03854067 -0.02765532 0.99887427 0.10549581] [ 0. 0. 0. 1. ]] SLAMing on 6.511652531999999 meters Centerline goodness : 0.730314 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.99, Z:0.11 [[ 0.99859796 0.03494227 0.03976378 -0.77827133] [-0.03571482 0.99918354 0.01888683 -0.98938528] [-0.03907136 -0.0202805 0.9990306 0.10810858] [ 0. 0. 0. 1. ]] SLAMing on 6.541652532 meters Centerline goodness : 0.731364 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.99, Z:0.11 [[ 0.99854883 0.03574212 0.04028331 -0.77983645] [-0.03656322 0.99913449 0.01983411 -0.99176319] [-0.03953953 -0.02127821 0.99899142 0.10830659] [ 0. 0. 0. 1. ]] SLAMing on 6.571652531999999 meters Centerline goodness : 0.731143 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.99, Z:0.11 [[ 0.99840622 0.03970488 0.04010671 -0.77924061] [-0.04069177 0.99888113 0.02409719 -0.99209775] [-0.03910506 -0.02569079 0.99890479 0.10862086] [ 0. 0. 0. 1. ]] SLAMing on 6.601652531999999 meters Centerline goodness : 0.729908 Centerline is valid? [False, False] Translation: X:-0.78, Y:-1.00, Z:0.11 [[ 0.9983021 0.04199176 0.04036833 -0.78249602] [-0.04310276 0.99870421 0.02705651 -0.99601863] [-0.03917987 -0.02875056 0.99881847 0.11179485] [ 0. 0. 0. 1. ]] SLAMing on 6.6316525319999995 meters Centerline goodness : 0.729847 Centerline is valid? [False, False] Translation: X:-0.78, Y:-1.00, Z:0.11 [[ 0.99806054 0.04669558 0.04116661 -0.78400384] [-0.04802196 0.99833861 0.03184184 -0.99707887] [-0.03961134 -0.03375699 0.99864479 0.11184096] [ 0. 0. 0. 1. ]] SLAMing on 6.661652532 meters Centerline goodness : 0.731532 Centerline is valid? [False, False] Translation: X:-0.79, Y:-1.00, Z:0.11 [[ 0.99795035 0.04834377 0.04192828 -0.78507878] [-0.04975618 0.99820533 0.03332327 -0.9995206 ] [-0.04024206 -0.03534116 0.99856476 0.1107369 ] [ 0. 0. 0. 1. ]] SLAMing on 6.691652531999999 meters Centerline goodness : 0.732132 Centerline is valid? [False, False] Translation: X:-0.78, Y:-1.00, Z:0.11 [[ 0.99783602 0.05078158 0.04176731 -0.78219126] [-0.05226751 0.99800943 0.0352887 -0.99602497] [-0.03989215 -0.03739541 0.99850398 0.10788952] [ 0. 0. 0. 1. ]] SLAMing on 6.721652531999999 meters Centerline goodness : 0.732132 Centerline is valid? [False, False] Translation: X:-0.78, Y:-1.00, Z:0.11 [[ 0.99783602 0.05078158 0.04176731 -0.78219126] [-0.05226751 0.99800943 0.0352887 -0.99602497] [-0.03989215 -0.03739541 0.99850398 0.10788952] [ 0. 0. 0. 1. ]] SLAMing on 6.751652532 meters Centerline goodness : 0.729608 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.99, Z:0.11 [[ 0.99784059 0.0504246 0.04208931 -0.78219871] [-0.05188669 0.99806034 0.03439946 -0.99318339] [-0.04027309 -0.03650905 0.99852149 0.10664491] [ 0. 0. 0. 1. ]] SLAMing on 6.781652531999999 meters Centerline goodness : 0.732644 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.99, Z:0.11 [[ 0.99783952 0.05036996 0.04218005 -0.78269205] [-0.05183415 0.9980641 0.03436959 -0.99344219] [-0.0403672 -0.03648171 0.99851869 0.10704909] [ 0. 0. 0. 1. ]] SLAMing on 6.811652531999999 meters Centerline goodness : 0.735871 Centerline is valid? [False, False] Translation: X:-0.78, Y:-1.00, Z:0.11 [[ 0.9977798 0.0513058 0.04246397 -0.783808 ] [-0.05283571 0.99796395 0.035726 -0.99760158] [-0.04054456 -0.03789029 0.99845904 0.10752436] [ 0. 0. 0. 1. ]] SLAMing on 6.8416525319999995 meters Centerline goodness : 0.735772 Centerline is valid? [False, False] Translation: X:-0.78, Y:-1.00, Z:0.11 [[ 0.99775408 0.05163863 0.04266437 -0.78433164] [-0.05319747 0.99792594 0.03624714 -0.99948702] [-0.04070413 -0.03843537 0.99843172 0.10751329] [ 0. 0. 0. 1. ]] SLAMing on 6.871652532 meters Centerline goodness : 0.734915 Centerline is valid? [False, False] Translation: X:-0.78, Y:-1.00, Z:0.11 [[ 0.99769112 0.05258867 0.0429752 -0.78454551] [-0.05420258 0.99783328 0.03729375 -1.00185252] [-0.04092085 -0.03953701 0.99837984 0.10674451] [ 0. 0. 0. 1. ]] SLAMing on 6.901652531999999 meters Centerline goodness : 0.738323 Centerline is valid? [False, False] Translation: X:-0.78, Y:-1.00, Z:0.11 [[ 0.99771115 0.05231673 0.04284172 -0.78401703] [-0.05390517 0.99786769 0.03680092 -1.00037475] [-0.04082507 -0.03902608 0.99840387 0.10637628] [ 0. 0. 0. 1. ]] SLAMing on 6.931652531999999 meters Centerline goodness : 0.739810 Centerline is valid? [False, False] Translation: X:-0.78, Y:-1.00, Z:0.11 [[ 0.99768476 0.05259823 0.04311085 -0.7847926 ] [-0.05420944 0.99784023 0.03709738 -1.00119929] [-0.04106648 -0.03934851 0.99838131 0.10637046] [ 0. 0. 0. 1. ]] SLAMing on 6.961652532 meters Centerline goodness : 0.734941 Centerline is valid? [False, False] Translation: X:-0.79, Y:-1.00, Z:0.11 [[ 0.99763635 0.05319415 0.04349829 -0.78611897] [-0.05485641 0.99777251 0.03795773 -1.00376457] [-0.04138227 -0.04025418 0.99833216 0.10676803] [ 0. 0. 0. 1. ]] SLAMing on 6.991652531999999 meters Centerline goodness : 0.735247 Centerline is valid? [False, False] Translation: X:-0.79, Y:-1.01, Z:0.11 [[ 0.99764256 0.05323361 0.04330701 -0.7863529 ] [-0.054917 0.99774233 0.03865693 -1.00659692] [-0.04115139 -0.04094409 0.99831365 0.10801972] [ 0. 0. 0. 1. ]] SLAMing on 7.021652531999999 meters Centerline goodness : 0.732879 Centerline is valid? [False, False] Translation: X:-0.79, Y:-1.01, Z:0.11 [[ 0.99763856 0.0532325 0.04340061 -0.78681579] [-0.05492402 0.99773792 0.0387607 -1.00722533] [-0.0412391 -0.0410529 0.99830556 0.1084027 ] [ 0. 0. 0. 1. ]] SLAMing on 7.051652531999999 meters Centerline goodness : 0.729787 Centerline is valid? [False, False] Translation: X:-0.79, Y:-1.01, Z:0.11 [[ 0.99765455 0.05302679 0.0432847 -0.78619074] [-0.05470591 0.99775707 0.03857584 -1.00720561] [-0.04114207 -0.04085329 0.99831775 0.10794803] [ 0. 0. 0. 1. ]] SLAMing on 7.081652532 meters Centerline goodness : 0.733682 Centerline is valid? [False, False] Translation: X:-0.78, Y:-1.01, Z:0.11 [[ 0.99772407 0.05219819 0.04268527 -0.78444344] [-0.05381604 0.99783992 0.03767393 -1.00545118] [-0.04062656 -0.03988534 0.99837801 0.10747408] [ 0. 0. 0. 1. ]] SLAMing on 7.111652531999999 meters Centerline goodness : 0.734079 Centerline is valid? [False, False] Translation: X:-0.79, Y:-1.01, Z:0.11 [[ 0.99782959 0.04987896 0.04299065 -0.78631682] [-0.05141841 0.99804678 0.03547931 -1.00956865] [-0.04113701 -0.03761282 0.9984453 0.10833617] [ 0. 0. 0. 1. ]] SLAMing on 7.141652531999999 meters Centerline goodness : 0.737581 Centerline is valid? [False, False] Translation: X:-0.79, Y:-1.01, Z:0.11 [[ 0.99781252 0.0500533 0.04318391 -0.78720037] [-0.05161451 0.99802418 0.03582834 -1.01085965] [-0.04130526 -0.03797888 0.9984245 0.10891596] [ 0. 0. 0. 1. ]] SLAMing on 7.1716525319999995 meters Centerline goodness : 0.731102 Centerline is valid? [False, False] Translation: X:-0.79, Y:-1.01, Z:0.11 [[ 0.99780165 0.05027442 0.04317802 -0.78785861] [-0.05186019 0.9979898 0.03642637 -1.01293824] [-0.0412599 -0.03858551 0.99840311 0.10990608] [ 0. 0. 0. 1. ]] SLAMing on 7.201652531999999 meters Centerline goodness : 0.731057 Centerline is valid? [False, False] Translation: X:-0.79, Y:-1.01, Z:0.11 [[ 0.99781113 0.05029222 0.04293769 -0.78753231] [-0.05188411 0.99797479 0.03680161 -1.01463021] [-0.0409999 -0.03894884 0.99839972 0.11035172] [ 0. 0. 0. 1. ]] SLAMing on 7.231652531999999 meters Centerline goodness : 0.730602 Centerline is valid? [False, False] Translation: X:-0.79, Y:-1.02, Z:0.11 [[ 0.9981941 0.0426441 0.04230864 -0.78800195] [-0.04392325 0.99859098 0.02977933 -1.01954198] [-0.04097912 -0.03158389 0.99866069 0.11223468] [ 0. 0. 0. 1. ]] SLAMing on 7.261652531999999 meters Centerline goodness : 0.736431 Centerline is valid? [False, False] Translation: X:-0.79, Y:-1.02, Z:0.11 [[ 0.99830721 0.03975775 0.04245044 -0.7894513 ] [-0.04093406 0.99879128 0.02720992 -1.02429717] [-0.04131733 -0.02890153 0.99872798 0.11302655] [ 0. 0. 0. 1. ]] SLAMing on 7.291652532 meters Centerline goodness : 0.736828 Centerline is valid? [False, False] Translation: X:-0.79, Y:-1.03, Z:0.11 [[ 0.99833102 0.03974124 0.04190241 -0.78810554] [-0.04091046 0.99878637 0.0274248 -1.02529938] [-0.04076166 -0.02909328 0.99874525 0.11299092] [ 0. 0. 0. 1. ]] SLAMing on 7.321652531999999 meters Centerline goodness : 0.737777 Centerline is valid? [False, False] Translation: X:-0.79, Y:-1.03, Z:0.11 [[ 0.99834073 0.03954861 0.04185319 -0.78853006] [-0.04071278 0.99879682 0.02733834 -1.02540761] [-0.04072164 -0.02899694 0.99874968 0.11377953] [ 0. 0. 0. 1. ]] SLAMing on 7.351652531999999 meters Centerline goodness : 0.737196 Centerline is valid? [False, False] Translation: X:-0.79, Y:-1.03, Z:0.12 [[ 0.99832129 0.04006316 0.04182758 -0.78936449] [-0.04126606 0.99874726 0.02830218 -1.02821285] [-0.04064131 -0.02998073 0.99872391 0.1151091 ] [ 0. 0. 0. 1. ]] SLAMing on 7.3816525319999995 meters Centerline goodness : 0.736885 Centerline is valid? [False, False] Translation: X:-0.79, Y:-1.03, Z:0.12 [[ 0.99831626 0.04009322 0.04191874 -0.78960159] [-0.04130127 0.99874414 0.0283611 -1.02865375] [-0.04072901 -0.03004464 0.99871841 0.11513491] [ 0. 0. 0. 1. ]] SLAMing on 7.411652532 meters Centerline goodness : 0.738692 Centerline is valid? [False, False] Translation: X:-0.79, Y:-1.03, Z:0.11 [[ 0.9982947 0.04027542 0.04225624 -0.79007295] [-0.04149683 0.99873388 0.02843692 -1.02886779] [-0.04105743 -0.03014193 0.99870203 0.11452279] [ 0. 0. 0. 1. ]] SLAMing on 7.441652531999999 meters Centerline goodness : 0.738952 Centerline is valid? [False, False] Translation: X:-0.79, Y:-1.02, Z:0.11 [[ 0.99817913 0.04278292 0.04252103 -0.78856038] [-0.0440893 0.99856875 0.03027513 -1.02357722] [-0.04116492 -0.03209472 0.99863676 0.11203407] [ 0. 0. 0. 1. ]] SLAMing on 7.471652531999999 meters Centerline goodness : 0.736788 Centerline is valid? [False, False] Translation: X:-0.79, Y:-1.02, Z:0.11 [[ 0.99818801 0.04218663 0.04290663 -0.78969393] [-0.04346451 0.99862526 0.02929887 -1.02093595] [-0.04161162 -0.0311107 0.99864939 0.11233031] [ 0. 0. 0. 1. ]] SLAMing on 7.501652532 meters Centerline goodness : 0.736551 Centerline is valid? [False, False] Translation: X:-0.79, Y:-1.02, Z:0.11 [[ 0.99820341 0.04195313 0.0427772 -0.78949784] [-0.04321883 0.99864158 0.02910537 -1.02070546] [-0.04149803 -0.03090186 0.9986606 0.11263058] [ 0. 0. 0. 1. ]] SLAMing on 7.531652531999999 meters Centerline goodness : 0.739328 Centerline is valid? [False, False] Translation: X:-0.79, Y:-1.02, Z:0.11 [[ 0.99819503 0.04220936 0.04272064 -0.78959201] [-0.04349587 0.99861364 0.02964643 -1.02271373] [-0.04141006 -0.03145109 0.9986471 0.11294687] [ 0. 0. 0. 1. ]] SLAMing on 7.561652531999999 meters Centerline goodness : 0.736212 Centerline is valid? [False, False] Translation: X:-0.79, Y:-1.03, Z:0.11 [[ 0.99814401 0.04326017 0.04286132 -0.79101745] [-0.04462647 0.99850857 0.0314503 -1.02740071] [-0.04143685 -0.03330468 0.99858589 0.11470919] [ 0. 0. 0. 1. ]] SLAMing on 7.5916525319999995 meters Centerline goodness : 0.736212 Centerline is valid? [False, False] Translation: X:-0.79, Y:-1.03, Z:0.11 [[ 0.99814401 0.04326017 0.04286132 -0.79101745] [-0.04462647 0.99850857 0.0314503 -1.02740071] [-0.04143685 -0.03330468 0.99858589 0.11470919] [ 0. 0. 0. 1. ]] SLAMing on 7.621652532 meters Centerline goodness : 0.734712 Centerline is valid? [False, False] Translation: X:-0.79, Y:-1.03, Z:0.12 [[ 0.99813918 0.04342515 0.04280689 -0.79125068] [-0.04480965 0.99848507 0.03193198 -1.02936826] [-0.04135539 -0.03379072 0.99857294 0.1152919 ] [ 0. 0. 0. 1. ]] SLAMing on 7.651652531999999 meters Centerline goodness : 0.740613 Centerline is valid? [False, False] Translation: X:-0.79, Y:-1.03, Z:0.12 [[ 0.99820376 0.04264942 0.04207473 -0.78962092] [-0.04397848 0.99854565 0.03118467 -1.02812908] [-0.04068353 -0.03297904 0.99862768 0.11568404] [ 0. 0. 0. 1. ]] SLAMing on 7.681652531999999 meters Centerline goodness : 0.741610 Centerline is valid? [False, False] Translation: X:-0.79, Y:-1.03, Z:0.12 [[ 0.99823612 0.04236318 0.04159346 -0.78808622] [-0.04366385 0.99856902 0.03087672 -1.02758155] [-0.0402259 -0.03263839 0.9986574 0.11517198] [ 0. 0. 0. 1. ]] SLAMing on 7.711652532 meters Centerline goodness : 0.744079 Centerline is valid? [False, False] Translation: X:-0.79, Y:-1.03, Z:0.11 [[ 0.99826988 0.04194372 0.04120651 -0.78670543] [-0.04321203 0.99860372 0.03038629 -1.02659564] [-0.03987446 -0.03211434 0.99868849 0.11454832] [ 0. 0. 0. 1. ]] SLAMing on 7.741652531999999 meters Centerline goodness : 0.745778 Centerline is valid? [False, False] Translation: X:-0.79, Y:-1.03, Z:0.11 [[ 0.99828779 0.04151267 0.04120912 -0.78660762] [-0.0427555 0.99864253 0.02975007 -1.02504699] [-0.03991818 -0.03146105 0.99870754 0.11441083] [ 0. 0. 0. 1. ]] SLAMing on 7.771652531999999 meters Centerline goodness : 0.746815 Centerline is valid? [False, False] Translation: X:-0.79, Y:-1.02, Z:0.11 [[ 0.99825094 0.04154877 0.04205667 -0.78805459] [-0.04280344 0.99865128 0.02938517 -1.02372292] [-0.04077903 -0.03113394 0.99868301 0.11348729] [ 0. 0. 0. 1. ]] SLAMing on 7.801652531999999 meters Centerline goodness : 0.744418 Centerline is valid? [False, False] Translation: X:-0.79, Y:-1.02, Z:0.11 [[ 0.99822527 0.04187534 0.04234106 -0.78832454] [-0.04315254 0.99862652 0.02971403 -1.02467167] [-0.04103862 -0.03148842 0.99866126 0.11273684] [ 0. 0. 0. 1. ]] SLAMing on 7.831652532 meters Centerline goodness : 0.743555 Centerline is valid? [False, False] Translation: X:-0.79, Y:-1.02, Z:0.11 [[ 0.99825564 0.04123055 0.04225778 -0.78779135] [-0.0424702 0.99868054 0.0288698 -1.0227135 ] [-0.0410117 -0.03061414 0.99868955 0.11231305] [ 0. 0. 0. 1. ]] SLAMing on 7.861652531999999 meters Centerline goodness : 0.745916 Centerline is valid? [False, False] Translation: X:-0.79, Y:-1.02, Z:0.11 [[ 0.99825452 0.04109349 0.04241746 -0.78767745] [-0.04231947 0.99869981 0.02842083 -1.02129714] [-0.0411944 -0.03016631 0.99869566 0.11163421] [ 0. 0. 0. 1. ]] SLAMing on 7.891652531999999 meters Centerline goodness : 0.746143 Centerline is valid? [False, False] Translation: X:-0.79, Y:-1.02, Z:0.11 [[ 0.99819354 0.04203057 0.04293122 -0.78925245] [-0.04332256 0.99862194 0.02962068 -1.02470764] [-0.04162708 -0.03142706 0.99863884 0.11190348] [ 0. 0. 0. 1. ]] SLAMing on 7.9216525319999995 meters Centerline goodness : 0.745859 Centerline is valid? [False, False] Translation: X:-0.79, Y:-1.03, Z:0.11 [[ 0.99805749 0.04485516 0.04323497 -0.79187234] [-0.04630476 0.99837779 0.03313086 -1.0283199 ] [-0.04167875 -0.03506848 0.99851544 0.1145853 ] [ 0. 0. 0. 1. ]] SLAMing on 7.951652531999999 meters Centerline goodness : 0.745956 Centerline is valid? [False, False] Translation: X:-0.79, Y:-1.03, Z:0.11 [[ 0.99811297 0.04427329 0.0425486 -0.78957776] [-0.04568283 0.99841912 0.03274655 -1.02813266] [-0.04103154 -0.03462849 0.9985576 0.11386701] [ 0. 0. 0. 1. ]] SLAMing on 7.981652531999999 meters Centerline goodness : 0.747232 Centerline is valid? [False, False] Translation: X:-0.79, Y:-1.03, Z:0.11 [[ 0.99823661 0.04100289 0.04292361 -0.79108782] [-0.04228976 0.99866936 0.0295143 -1.03116361] [-0.04165633 -0.03127748 0.99864231 0.11394326] [ 0. 0. 0. 1. ]] SLAMing on 8.011652532 meters Centerline goodness : 0.747232 Centerline is valid? [False, False] Translation: X:-0.79, Y:-1.03, Z:0.11 [[ 0.99823661 0.04100289 0.04292361 -0.79108782] [-0.04228976 0.99866936 0.0295143 -1.03116361] [-0.04165633 -0.03127748 0.99864231 0.11394326] [ 0. 0. 0. 1. ]] SLAMing on 8.041652531999999 meters Centerline goodness : 0.749833 Centerline is valid? [False, False] Translation: X:-0.79, Y:-1.03, Z:0.11 [[ 0.99831042 0.0399485 0.04219495 -0.78938614] [-0.04117065 0.99874547 0.02850365 -1.02958811] [-0.04100334 -0.03019268 0.99870272 0.11404597] [ 0. 0. 0. 1. ]] SLAMing on 8.071652532 meters Centerline goodness : 0.751218 Centerline is valid? [False, False] Translation: X:-0.79, Y:-1.03, Z:0.11 [[ 0.99833962 0.03954365 0.0418845 -0.7886814 ] [-0.04074371 0.99877171 0.02819602 -1.02929688] [-0.04071808 -0.02985574 0.99872452 0.11418051] [ 0. 0. 0. 1. ]] SLAMing on 8.101652532 meters Centerline goodness : 0.748811 Centerline is valid? [False, False] Translation: X:-0.79, Y:-1.03, Z:0.11 [[ 0.99836388 0.03914732 0.04167794 -0.78815108] [-0.04032729 0.99879812 0.02785723 -1.0287266 ] [-0.04053731 -0.02949241 0.99874267 0.11423704] [ 0. 0. 0. 1. ]] SLAMing on 8.131652531999999 meters Centerline goodness : 0.748769 Centerline is valid? [False, False] Translation: X:-0.79, Y:-1.03, Z:0.11 [[ 0.99837589 0.03886428 0.04165511 -0.78812576] [-0.04003003 0.99881924 0.02752667 -1.0280629 ] [-0.04053612 -0.02914942 0.99875279 0.11433457] [ 0. 0. 0. 1. ]] SLAMing on 8.161652532 meters Centerline goodness : 0.748581 Centerline is valid? [False, False] Translation: X:-0.79, Y:-1.03, Z:0.11 [[ 0.9983847 0.0386968 0.0415999 -0.78802384] [-0.03985508 0.99883016 0.02738397 -1.02800983] [-0.04049156 -0.02899771 0.99875901 0.11441346] [ 0. 0. 0. 1. ]] SLAMing on 8.191652531999999 meters Centerline goodness : 0.745560 Centerline is valid? [False, False] Translation: X:-0.79, Y:-1.03, Z:0.11 [[ 0.99838677 0.03878377 0.0414691 -0.78784624] [-0.03995054 0.99881799 0.02768717 -1.02941093] [-0.04034627 -0.02929922 0.99875609 0.1146136 ] [ 0. 0. 0. 1. ]] SLAMing on 8.221652531999998 meters Centerline goodness : 0.749393 Centerline is valid? [False, False] Translation: X:-0.79, Y:-1.03, Z:0.12 [[ 0.99834244 0.03960764 0.04175641 -0.78924973] [-0.04083727 0.99874436 0.02901773 -1.03338757] [-0.04055465 -0.03067484 0.99870635 0.1156664 ] [ 0. 0. 0. 1. ]] SLAMing on 8.251652532 meters Centerline goodness : 0.750744 Centerline is valid? [False, False] Translation: X:-0.79, Y:-1.03, Z:0.12 [[ 0.99830411 0.03999455 0.04230055 -0.79076476] [-0.04125822 0.99871485 0.02943471 -1.03454187] [-0.04106896 -0.03113004 0.99867125 0.11582875] [ 0. 0. 0. 1. ]] SLAMing on 8.281652531999999 meters Centerline goodness : 0.753831 Centerline is valid? [False, False] Translation: X:-0.79, Y:-1.04, Z:0.12 [[ 0.99824417 0.04077842 0.04296152 -0.79228834] [-0.04209189 0.99865947 0.03012523 -1.03594641] [-0.04167546 -0.03188067 0.99862244 0.11549044] [ 0. 0. 0. 1. ]] SLAMing on 8.311652532 meters Centerline goodness : 0.754984 Centerline is valid? [False, False] Translation: X:-0.79, Y:-1.03, Z:0.11 [[ 0.998119 0.04328287 0.04341724 -0.79160772] [-0.04467868 0.998498 0.03171043 -1.02934831] [-0.04197951 -0.03359061 0.99855365 0.11335968] [ 0. 0. 0. 1. ]] SLAMing on 8.341652532 meters Centerline goodness : 0.753752 Centerline is valid? [False, False] Translation: X:-0.79, Y:-1.03, Z:0.11 [[ 0.99803145 0.04435359 0.04433937 -0.79336125] [-0.04581356 0.99842211 0.03247166 -1.03035667] [-0.04282918 -0.03443908 0.99848866 0.11251121] [ 0. 0. 0. 1. ]] SLAMing on 8.371652531999999 meters Centerline goodness : 0.752573 Centerline is valid? [False, False] Translation: X:-0.80, Y:-1.03, Z:0.11 [[ 0.99796143 0.04498533 0.04526926 -0.79544937] [-0.04649294 0.99837932 0.03281982 -1.03070446] [-0.04371948 -0.03485761 0.99843555 0.11207391] [ 0. 0. 0. 1. ]] SLAMing on 8.401652532 meters Centerline goodness : 0.752756 Centerline is valid? [False, False] Translation: X:-0.80, Y:-1.03, Z:0.11 [[ 0.99786986 0.04600577 0.04625165 -0.79784111] [-0.04758826 0.99829784 0.03371629 -1.03257852] [-0.04462178 -0.0358455 0.99836065 0.1119027 ] [ 0. 0. 0. 1. ]] SLAMing on 8.431652532 meters Centerline goodness : 0.752867 Centerline is valid? [False, False] Translation: X:-0.80, Y:-1.03, Z:0.11 [[ 0.99769927 0.04942504 0.04640406 -0.79698217] [-0.05115805 0.99800746 0.03693177 -1.03002819] [-0.04448624 -0.03922074 0.9982398 0.11080622] [ 0. 0. 0. 1. ]] SLAMing on 8.461652531999999 meters Centerline goodness : 0.755547 Centerline is valid? [False, False] Translation: X:-0.80, Y:-1.03, Z:0.11 [[ 0.99765284 0.04990627 0.04688466 -0.7979687 ] [-0.05167741 0.99796493 0.03735571 -1.03106395] [-0.04492496 -0.0396909 0.99820157 0.11036079] [ 0. 0. 0. 1. ]] SLAMing on 8.491652532 meters Centerline goodness : 0.753770 Centerline is valid? [False, False] Translation: X:-0.80, Y:-1.03, Z:0.11 [[ 0.99759772 0.05036574 0.04756141 -0.79941052] [-0.05217315 0.99793158 0.03755685 -1.03121416] [-0.04557146 -0.03994806 0.99816201 0.10991562] [ 0. 0. 0. 1. ]] SLAMing on 8.521652532 meters Centerline goodness : 0.755540 Centerline is valid? [False, False] Translation: X:-0.80, Y:-1.03, Z:0.11 [[ 0.99752727 0.05098907 0.04836802 -0.80120984] [-0.05284506 0.99788317 0.03790225 -1.03155762] [-0.04633303 -0.04036454 0.99811019 0.10950193] [ 0. 0. 0. 1. ]] SLAMing on 8.551652531999999 meters Centerline goodness : 0.756916 Centerline is valid? [False, False] Translation: X:-0.80, Y:-1.03, Z:0.11 [[ 0.99737037 0.05377793 0.04858269 -0.7997417 ] [-0.05574727 0.99763801 0.04013288 -1.02701842] [-0.04630968 -0.0427357 0.99801256 0.10729232] [ 0. 0. 0. 1. ]] SLAMing on 8.581652532 meters Centerline goodness : 0.758607 Centerline is valid? [False, False] Translation: X:-0.80, Y:-1.03, Z:0.11 [[ 0.99733362 0.0539677 0.04912375 -0.80053956] [-0.05595594 0.99763004 0.04004053 -1.02660262] [-0.04684643 -0.04268253 0.99798979 0.10638924] [ 0. 0. 0. 1. ]] SLAMing on 8.611652531999999 meters Centerline goodness : 0.756751 Centerline is valid? [False, False] Translation: X:-0.80, Y:-1.03, Z:0.11 [[ 0.99732933 0.05388204 0.04930455 -0.80047045] [-0.05585967 0.99765096 0.03965183 -1.02529253] [-0.04705221 -0.04230007 0.99799639 0.1055486 ] [ 0. 0. 0. 1. ]] SLAMing on 8.641652532 meters Centerline goodness : 0.756751 Centerline is valid? [False, False] Translation: X:-0.80, Y:-1.03, Z:0.11 [[ 0.99732933 0.05388204 0.04930455 -0.80047045] [-0.05585967 0.99765096 0.03965183 -1.02529253] [-0.04705221 -0.04230007 0.99799639 0.1055486 ] [ 0. 0. 0. 1. ]] SLAMing on 8.671652532 meters Centerline goodness : 0.755098 Centerline is valid? [False, False] Translation: X:-0.80, Y:-1.02, Z:0.10 [[ 0.99733443 0.05360373 0.04950421 -0.80004192] [-0.05555126 0.99770012 0.0388399 -1.02275599] [-0.04730839 -0.04148639 0.99801843 0.10412411] [ 0. 0. 0. 1. ]] SLAMing on 8.701652531999999 meters Centerline goodness : 0.755317 Centerline is valid? [False, False] Translation: X:-0.80, Y:-1.02, Z:0.10 [[ 0.99729945 0.0539377 0.04984514 -0.80100329] [-0.05592093 0.99766192 0.03928801 -1.02424836] [-0.04760949 -0.04196929 0.99798393 0.10421842] [ 0. 0. 0. 1. ]] SLAMing on 8.731652532 meters Centerline goodness : 0.753264 Centerline is valid? [False, False] Translation: X:-0.80, Y:-1.03, Z:0.10 [[ 0.997241 0.05453536 0.05036146 -0.80264761] [-0.05658273 0.99758974 0.0401636 -1.02711258] [-0.04804974 -0.04290238 0.99792315 0.10473663] [ 0. 0. 0. 1. ]] SLAMing on 8.761652532 meters Centerline goodness : 0.754364 Centerline is valid? [False, False] Translation: X:-0.80, Y:-1.03, Z:0.10 [[ 0.99720996 0.05470865 0.05078648 -0.80342927] [-0.05678534 0.99756909 0.04038977 -1.0279015 ] [-0.04845335 -0.04316101 0.99789248 0.10441842] [ 0. 0. 0. 1. ]] SLAMing on 8.791652531999999 meters Centerline goodness : 0.754587 Centerline is valid? [False, False] Translation: X:-0.80, Y:-1.03, Z:0.10 [[ 0.99720438 0.05460034 0.05101198 -0.80348214] [-0.05667384 0.99758611 0.04012509 -1.02723938] [-0.048698 -0.04290396 0.99789165 0.10365263] [ 0. 0. 0. 1. ]] SLAMing on 8.821652532 meters Centerline goodness : 0.752925 Centerline is valid? [False, False] Translation: X:-0.80, Y:-1.03, Z:0.10 [[ 0.99718915 0.05465804 0.05124744 -0.80420853] [-0.05674221 0.9975818 0.04013557 -1.02733327] [-0.04892979 -0.04293065 0.99787917 0.10382611] [ 0. 0. 0. 1. ]] SLAMing on 8.851652532 meters Centerline goodness : 0.755124 Centerline is valid? [False, False] Translation: X:-0.81, Y:-1.03, Z:0.10 [[ 0.99715877 0.05495106 0.05152444 -0.80528311] [-0.05706856 0.99754572 0.04056754 -1.02882169] [-0.04916875 -0.04339271 0.99784744 0.10437102] [ 0. 0. 0. 1. ]] SLAMing on 8.881652531999999 meters Centerline goodness : 0.754375 Centerline is valid? [False, False] Translation: X:-0.81, Y:-1.03, Z:0.11 [[ 0.99727318 0.05208833 0.05227815 -0.80815295] [-0.05409568 0.99782208 0.03774592 -1.0320358 ] [-0.05019817 -0.04047102 0.99791895 0.10533603] [ 0. 0. 0. 1. ]] SLAMing on 8.911652532 meters Centerline goodness : 0.756089 Centerline is valid? [False, False] Translation: X:-0.81, Y:-1.03, Z:0.11 [[ 0.99733958 0.05137702 0.05171239 -0.80669757] [-0.05332803 0.99788827 0.03708255 -1.03110376] [-0.049698 -0.03974161 0.9979733 0.10526347] [ 0. 0. 0. 1. ]] SLAMing on 8.941652531999999 meters Centerline goodness : 0.754408 Centerline is valid? [False, False] Translation: X:-0.81, Y:-1.03, Z:0.11 [[ 0.99738384 0.05077353 0.05145408 -0.80632296] [-0.05268488 0.99794403 0.03649674 -1.03021702] [-0.04949523 -0.03911211 0.99800825 0.10570974] [ 0. 0. 0. 1. ]] SLAMing on 8.971652531999998 meters Centerline goodness : 0.755562 Centerline is valid? [False, False] Translation: X:-0.81, Y:-1.03, Z:0.11 [[ 0.99739504 0.05073817 0.05127153 -0.80586772] [-0.05265155 0.99793895 0.03668324 -1.0314605 ] [-0.04930462 -0.03928721 0.99801081 0.10576089] [ 0. 0. 0. 1. ]] SLAMing on 9.001652532 meters Centerline goodness : 0.757203 Centerline is valid? [False, False] Translation: X:-0.80, Y:-1.03, Z:0.10 [[ 0.99750855 0.04873022 0.05101044 -0.80402794] [-0.05052594 0.9981258 0.03452551 -1.03198284] [-0.0492324 -0.03701684 0.99810116 0.1042932 ] [ 0. 0. 0. 1. ]] SLAMing on 9.031652531999999 meters Centerline goodness : 0.755910 Centerline is valid? [False, False] Translation: X:-0.80, Y:-1.03, Z:0.10 [[ 0.99755165 0.04851314 0.05037051 -0.80258958] [-0.05028605 0.99813716 0.03454735 -1.03258335] [-0.04860067 -0.0369957 0.9981329 0.10449261] [ 0. 0. 0. 1. ]] SLAMing on 9.061652532 meters Centerline goodness : 0.757922 Centerline is valid? [False, False] Translation: X:-0.80, Y:-1.03, Z:0.11 [[ 0.99756947 0.04851762 0.05001187 -0.80224661] [-0.05029329 0.99812525 0.03487943 -1.03411435] [-0.04822585 -0.03730992 0.99813939 0.10528244] [ 0. 0. 0. 1. ]] SLAMing on 9.091652532 meters Centerline goodness : 0.757205 Centerline is valid? [False, False] Translation: X:-0.80, Y:-1.04, Z:0.11 [[ 0.99750114 0.04954006 0.05037122 -0.80437539] [-0.05141357 0.99800641 0.0366041 -1.03860986] [-0.04845743 -0.0391024 0.99805956 0.10728955] [ 0. 0. 0. 1. ]] SLAMing on 9.121652531999999 meters Centerline goodness : 0.754133 Centerline is valid? [False, False] Translation: X:-0.81, Y:-1.04, Z:0.11 [[ 0.99748398 0.04950557 0.05074354 -0.80531094] [-0.05139266 0.99800823 0.03658382 -1.03882505] [-0.04883137 -0.03909962 0.99804144 0.10740124] [ 0. 0. 0. 1. ]] SLAMing on 9.151652532 meters Centerline goodness : 0.750847 Centerline is valid? [False, False] Translation: X:-0.80, Y:-1.04, Z:0.11 [[ 0.9975279 0.048889 0.05047734 -0.80404359] [-0.05072762 0.99807034 0.03580933 -1.03694765] [-0.04862925 -0.0382814 0.99808303 0.10660027] [ 0. 0. 0. 1. ]] SLAMing on 9.181652532 meters Centerline goodness : 0.751374 Centerline is valid? [False, False] Translation: X:-0.81, Y:-1.04, Z:0.11 [[ 0.99767534 0.04528327 0.05092483 -0.80550238] [-0.04695011 0.99838372 0.03202544 -1.03840102] [-0.0493923 -0.03434192 0.99818888 0.10632155] [ 0. 0. 0. 1. ]] SLAMing on 9.211652531999999 meters Centerline goodness : 0.752454 Centerline is valid? [False, False] Translation: X:-0.81, Y:-1.04, Z:0.11 [[ 0.99787992 0.04102992 0.05051945 -0.80553322] [-0.04246816 0.99871286 0.02773218 -1.03874947] [-0.04931658 -0.02981885 0.99833797 0.10716748] [ 0. 0. 0. 1. ]] SLAMing on 9.241652532 meters Centerline goodness : 0.749495 Centerline is valid? [False, False] Translation: X:-0.80, Y:-1.04, Z:0.11 [[ 0.99794603 0.04017225 0.04989891 -0.80458185] [-0.04156833 0.99876365 0.02726241 -1.03886103] [-0.04874203 -0.02928063 0.99838212 0.10809172] [ 0. 0. 0. 1. ]] SLAMing on 9.271652532 meters Centerline goodness : 0.748500 Centerline is valid? [False, False] Translation: X:-0.80, Y:-1.04, Z:0.11 [[ 0.99799964 0.03941978 0.04942464 -0.80383226] [-0.04078401 0.9988057 0.02690415 -1.03926872] [-0.04830505 -0.02886607 0.99841543 0.1088803 ] [ 0. 0. 0. 1. ]] SLAMing on 9.301652531999999 meters Centerline goodness : 0.750272 Centerline is valid? [False, False] Translation: X:-0.80, Y:-1.04, Z:0.11 [[ 0.99806788 0.03875036 0.04856864 -0.80189108] [-0.04007866 0.99884027 0.02667971 -1.04007044] [-0.04747847 -0.02857472 0.99846346 0.10907447] [ 0. 0. 0. 1. ]] SLAMing on 9.331652532 meters Centerline goodness : 0.748827 Centerline is valid? [False, False] Translation: X:-0.80, Y:-1.04, Z:0.11 [[ 0.99817776 0.03689835 0.04774584 -0.79998088] [-0.0381142 0.99896535 0.02480996 -1.03708865] [-0.046781 -0.02658454 0.99855135 0.10917573] [ 0. 0. 0. 1. ]] SLAMing on 9.361652531999999 meters Centerline goodness : 0.750111 Centerline is valid? [False, False] Translation: X:-0.80, Y:-1.04, Z:0.11 [[ 0.99822067 0.03643777 0.04719936 -0.79921976] [-0.03763621 0.99898481 0.02475594 -1.03794509] [-0.04624939 -0.0264883 0.99857867 0.11020086] [ 0. 0. 0. 1. ]] SLAMing on 9.391652531999998 meters Centerline goodness : 0.750101 Centerline is valid? [False, False] Translation: X:-0.80, Y:-1.04, Z:0.11 [[ 0.99824386 0.03643451 0.04670889 -0.79907686] [-0.03765288 0.9989661 0.02547529 -1.04103768] [-0.04573241 -0.02718927 0.99858364 0.11178823] [ 0. 0. 0. 1. ]] SLAMing on 9.421652532 meters Centerline goodness : 0.752911 Centerline is valid? [False, False] Translation: X:-0.80, Y:-1.04, Z:0.11 [[ 0.99827475 0.03611802 0.04629265 -0.79908226] [-0.0373296 0.99897555 0.0255803 -1.04231297] [-0.04532132 -0.02726425 0.99860034 0.11334561] [ 0. 0. 0. 1. ]] SLAMing on 9.451652531999999 meters Centerline goodness : 0.751788 Centerline is valid? [False, False] Translation: X:-0.80, Y:-1.04, Z:0.11 [[ 0.99830059 0.03589233 0.04590943 -0.79802454] [-0.03709101 0.99898573 0.0255297 -1.04269843] [-0.04494654 -0.02718915 0.99861933 0.11322679] [ 0. 0. 0. 1. ]] SLAMing on 9.481652532 meters Centerline goodness : 0.751045 Centerline is valid? [False, False] Translation: X:-0.80, Y:-1.04, Z:0.11 [[ 0.99842829 0.03183621 0.04612381 -0.79832429] [-0.03283155 0.99924057 0.02098506 -1.04160302] [-0.0454207 -0.0224664 0.99871529 0.11231841] [ 0. 0. 0. 1. ]] SLAMing on 9.511652532 meters Centerline goodness : 0.752375 Centerline is valid? [False, False] Translation: X:-0.80, Y:-1.04, Z:0.11 [[ 0.99850658 0.03065983 0.04521711 -0.79637974] [-0.03158799 0.99930171 0.01995702 -1.0403035 ] [-0.04457365 -0.02135553 0.99877782 0.11272714] [ 0. 0. 0. 1. ]] SLAMing on 9.541652531999999 meters Centerline goodness : 0.752758 Centerline is valid? [False, False] Translation: X:-0.79, Y:-1.04, Z:0.11 [[ 0.99856842 0.02998622 0.04429374 -0.7944574 ] [-0.03087838 0.99933102 0.01959688 -1.04044568] [-0.04367647 -0.02093654 0.99882632 0.11333173] [ 0. 0. 0. 1. ]] SLAMing on 9.571652532 meters Centerline goodness : 0.757061 Centerline is valid? [False, False] Translation: X:-0.79, Y:-1.04, Z:0.11 [[ 0.99858393 0.02982551 0.04405184 -0.79361238] [-0.03070404 0.99934018 0.01940293 -1.03990599] [-0.04344407 -0.02072802 0.99884081 0.11296678] [ 0. 0. 0. 1. ]] SLAMing on 9.601652532 meters Centerline goodness : 0.755828 Centerline is valid? [False, False] Translation: X:-0.80, Y:-1.04, Z:0.11 [[ 0.99854974 0.03006 0.04466335 -0.79508457] [-0.03095384 0.99933141 0.01945772 -1.03987049] [-0.04404858 -0.02081201 0.99881259 0.11276781] [ 0. 0. 0. 1. ]] SLAMing on 9.631652531999999 meters Centerline goodness : 0.754650 Centerline is valid? [False, False] Translation: X:-0.80, Y:-1.04, Z:0.11 [[ 0.99853462 0.0300417 0.04501233 -0.79637863] [-0.03094039 0.99933288 0.01940335 -1.03981915] [-0.04439939 -0.02076762 0.99879798 0.11340824] [ 0. 0. 0. 1. ]] SLAMing on 9.661652532 meters Centerline goodness : 0.755625 Centerline is valid? [False, False] Translation: X:-0.80, Y:-1.04, Z:0.11 [[ 0.99851571 0.03021355 0.04531579 -0.79750067] [-0.03113073 0.99932171 0.01967231 -1.04076848] [-0.04469068 -0.02105382 0.99877899 0.11394548] [ 0. 0. 0. 1. ]] SLAMing on 9.691652531999999 meters Centerline goodness : 0.754390 Centerline is valid? [False, False] Translation: X:-0.80, Y:-1.04, Z:0.11 [[ 0.99851165 0.03082998 0.04498879 -0.79639597] [-0.03179047 0.99927826 0.02079251 -1.04405305] [-0.04431528 -0.02219178 0.99877109 0.11353129] [ 0. 0. 0. 1. ]] SLAMing on 9.721652531999998 meters Centerline goodness : 0.755424 Centerline is valid? [False, False] Translation: X:-0.79, Y:-1.04, Z:0.11 [[ 0.9985735 0.02960542 0.04443515 -0.79490956] [-0.03049509 0.9993451 0.01947895 -1.04160938] [-0.04382937 -0.02080622 0.99882235 0.11344451] [ 0. 0. 0. 1. ]] SLAMing on 9.751652532 meters Centerline goodness : 0.758539 Centerline is valid? [False, False] Translation: X:-0.79, Y:-1.04, Z:0.11 [[ 0.99858007 0.02956663 0.04431329 -0.79484844] [-0.03045545 0.99934554 0.01951829 -1.04196618] [-0.0437072 -0.02084016 0.998827 0.11376847] [ 0. 0. 0. 1. ]] SLAMing on 9.781652531999999 meters Centerline goodness : 0.760051 Centerline is valid? [False, False] Translation: X:-0.80, Y:-1.05, Z:0.11 [[ 0.99853844 0.03047432 0.04463514 -0.79596806] [-0.03142519 0.99929052 0.02075844 -1.04545417] [-0.04397087 -0.02213077 0.99878766 0.11404345] [ 0. 0. 0. 1. ]] SLAMing on 9.811652532 meters Centerline goodness : 0.758180 Centerline is valid? [False, False] Translation: X:-0.80, Y:-1.05, Z:0.11 [[ 0.99850848 0.03105164 0.04490663 -0.79699822] [-0.03204433 0.99925395 0.02155717 -1.04763698] [-0.04420374 -0.02296402 0.99875857 0.11451038] [ 0. 0. 0. 1. ]] SLAMing on 9.841652532 meters Centerline goodness : 0.756722 Centerline is valid? [False, False] Translation: X:-0.80, Y:-1.05, Z:0.11 [[ 0.99856413 0.02995784 0.04440947 -0.79549408] [-0.03088774 0.9993146 0.02040301 -1.04532125] [-0.0437678 -0.02174542 0.99880504 0.11429388] [ 0. 0. 0. 1. ]] SLAMing on 9.871652531999999 meters Centerline goodness : 0.757893 Centerline is valid? [False, False] Translation: X:-0.79, Y:-1.04, Z:0.11 [[ 0.99860917 0.02922697 0.04388065 -0.79421889] [-0.03011109 0.99935389 0.01962435 -1.04368124] [-0.04327874 -0.02091835 0.99884402 0.11435531] [ 0. 0. 0. 1. ]] SLAMing on 9.901652532 meters Centerline goodness : 0.760833 Centerline is valid? [False, False] Translation: X:-0.79, Y:-1.04, Z:0.11 [[ 0.99869172 0.02774403 0.04295475 -0.7916026 ] [-0.02854995 0.9994255 0.01826378 -1.04153518] [-0.04242336 -0.01946624 0.99891007 0.11402822] [ 0. 0. 0. 1. ]] SLAMing on 9.931652532 meters Centerline goodness : 0.760633 Centerline is valid? [False, False] Translation: X:-0.79, Y:-1.04, Z:0.11 [[ 0.99870756 0.02750753 0.04273809 -0.79106431] [-0.02829843 0.99943722 0.01801223 -1.04102057] [-0.04221857 -0.01919837 0.99892393 0.11402679] [ 0. 0. 0. 1. ]] SLAMing on 9.961652531999999 meters Centerline goodness : 0.760562 Centerline is valid? [False, False] Translation: X:-0.79, Y:-1.04, Z:0.11 [[ 0.99873012 0.02731389 0.04233321 -0.78982966] [-0.02809233 0.99944498 0.0179038 -1.04100533] [-0.04182069 -0.0190703 0.99894312 0.1136846 ] [ 0. 0. 0. 1. ]] SLAMing on 9.991652532 meters Centerline goodness : 0.758787 Centerline is valid? [False, False] Translation: X:-0.79, Y:-1.04, Z:0.11 [[ 0.99880371 0.02572018 0.0415888 -0.78753697] [-0.02642527 0.99951471 0.01649385 -1.03921703] [-0.04114439 -0.01757312 0.99899866 0.11320863] [ 0. 0. 0. 1. ]] SLAMing on 10.021652532 meters Centerline goodness : 0.759591 Centerline is valid? [False, False] Translation: X:-0.79, Y:-1.04, Z:0.12 [[ 0.99889218 0.02259987 0.04127544 -0.7887774 ] [-0.02319672 0.99963234 0.01403879 -1.04362403] [-0.04094299 -0.01498069 0.99904917 0.11571137] [ 0. 0. 0. 1. ]] SLAMing on 10.051652531999999 meters Centerline goodness : 0.758102 Centerline is valid? [False, False] Translation: X:-0.79, Y:-1.04, Z:0.12 [[ 0.99893405 0.02204904 0.04055371 -0.78715859] [-0.02263015 0.9996469 0.0139264 -1.04442697] [-0.04023232 -0.01482929 0.9990803 0.11607964] [ 0. 0. 0. 1. ]] SLAMing on 10.081652532 meters Centerline goodness : 0.757867 Centerline is valid? [False, False] Translation: X:-0.80, Y:-1.06, Z:0.11 [[ 0.99918827 0.01421202 0.03769368 -0.79601051] [-0.01494707 0.99970217 0.01929112 -1.05521154] [-0.03740829 -0.01983887 0.99910312 0.1123615 ] [ 0. 0. 0. 1. ]] SLAMing on 10.111652531999999 meters Centerline goodness : 0.760494 Centerline is valid? [False, False] Translation: X:-0.80, Y:-1.05, Z:0.11 [[ 0.99916209 0.01450658 0.03827107 -0.79686506] [-0.01525004 0.99969923 0.01920614 -1.05438622] [-0.03798095 -0.01977368 0.9990828 0.11152754] [ 0. 0. 0. 1. ]] SLAMing on 10.141652531999998 meters Centerline goodness : 0.760234 Centerline is valid? [False, False] Translation: X:-0.80, Y:-1.05, Z:0.11 [[ 0.99912419 0.01782742 0.03785533 -0.79513905] [-0.0186908 0.99957037 0.02257722 -1.05257759] [-0.03743658 -0.02326499 0.99902815 0.11078603] [ 0. 0. 0. 1. ]] SLAMing on 10.171652532 meters Centerline goodness : 0.761102 Centerline is valid? [False, False] Translation: X:-0.80, Y:-1.05, Z:0.11 [[ 0.99907182 0.01868648 0.03881138 -0.79824042] [-0.01959927 0.99953702 0.02327281 -1.05373132] [-0.03835852 -0.02401189 0.9989755 0.11162609] [ 0. 0. 0. 1. ]] SLAMing on 10.201652531999999 meters Centerline goodness : 0.761254 Centerline is valid? [False, False] Translation: X:-0.80, Y:-1.05, Z:0.11 [[ 0.99900256 0.02232062 0.03867388 -0.79768602] [-0.02336884 0.99936582 0.02686728 -1.05199438] [-0.03804966 -0.02774425 0.99889062 0.11159818] [ 0. 0. 0. 1. ]] SLAMing on 10.231652532 meters Centerline goodness : 0.762609 Centerline is valid? [False, False] Translation: X:-0.81, Y:-1.06, Z:0.12 [[ 0.9983789 0.03475072 0.0450773 -0.80535929] [-0.03578482 0.99910979 0.02233994 -1.06035158] [-0.04426084 -0.0239168 0.99873368 0.11536668] [ 0. 0. 0. 1. ]] SLAMing on 10.261652532 meters Centerline goodness : 0.764158 Centerline is valid? [False, False] Translation: X:-0.81, Y:-1.06, Z:0.11 [[ 0.99835384 0.0346666 0.04569285 -0.80661309] [-0.03569285 0.99912417 0.02183841 -1.05854733] [-0.04489577 -0.02343337 0.9987168 0.11497101] [ 0. 0. 0. 1. ]] SLAMing on 10.291652531999999 meters Centerline goodness : 0.762349 Centerline is valid? [False, False] Translation: X:-0.81, Y:-1.06, Z:0.11 [[ 0.99829469 0.03512051 0.04662907 -0.80840635] [-0.03616451 0.9991094 0.02173766 -1.05742586] [-0.0458241 -0.02338691 0.99867573 0.11409374] [ 0. 0. 0. 1. ]] SLAMing on 10.321652532 meters Centerline goodness : 0.762351 Centerline is valid? [False, False] Translation: X:-0.81, Y:-1.07, Z:0.11 [[ 0.99835173 0.04354358 0.03738698 -0.81395295] [-0.04447758 0.99870932 0.02452424 -1.07303863] [-0.03627086 -0.0261467 0.99899989 0.11094312] [ 0. 0. 0. 1. ]] SLAMing on 10.351652532 meters Centerline goodness : 0.762913 Centerline is valid? [False, False] Translation: X:-0.82, Y:-1.07, Z:0.11 [[ 0.99825642 0.04479052 0.03844372 -0.816577 ] [-0.04578953 0.9986253 0.02551127 -1.07461257] [-0.03724821 -0.02722711 0.99893506 0.11081193] [ 0. 0. 0. 1. ]] SLAMing on 10.381652531999999 meters Centerline goodness : 0.762520 Centerline is valid? [False, False] Translation: X:-0.82, Y:-1.08, Z:0.11 [[ 0.99813646 0.04665682 0.03932885 -0.81907183] [-0.04775621 0.99848057 0.02749353 -1.07869072] [-0.03798633 -0.0293205 0.99884801 0.11123562] [ 0. 0. 0. 1. ]] SLAMing on 10.411652532 meters Centerline goodness : 0.763546 Centerline is valid? [False, False] Translation: X:-0.82, Y:-1.08, Z:0.11 [[ 0.99802615 0.04826374 0.04017969 -0.82134799] [-0.04945757 0.99834731 0.02926776 -1.08273104] [-0.03870072 -0.03119718 0.99876373 0.11142919] [ 0. 0. 0. 1. ]] SLAMing on 10.441652531999999 meters Centerline goodness : 0.763669 Centerline is valid? [False, False] Translation: X:-0.82, Y:-1.08, Z:0.11 [[ 0.99774141 0.05312712 0.04110469 -0.82285383] [-0.05454353 0.99792758 0.03414003 -1.08376431] [-0.03920574 -0.03630491 0.99857141 0.11098487] [ 0. 0. 0. 1. ]] SLAMing on 10.471652531999998 meters Centerline goodness : 0.758768 Centerline is valid? [False, False] Translation: X:-0.82, Y:-1.09, Z:0.11 [[ 0.99812004 0.04573503 0.04080058 -0.82388146] [-0.04689291 0.99851055 0.02788788 -1.0906645 ] [-0.03946436 -0.02974871 0.99877804 0.11277833] [ 0. 0. 0. 1. ]] SLAMing on 10.501652532 meters Centerline goodness : 0.763200 Centerline is valid? [False, False] Translation: X:-0.83, Y:-1.10, Z:0.12 [[ 0.998607 0.03419596 0.04018326 -0.82547721] [-0.0348909 0.99925122 0.01672181 -1.09558861] [-0.03958135 -0.01810055 0.99905239 0.11543653] [ 0. 0. 0. 1. ]] SLAMing on 10.531652531999999 meters Centerline goodness : 0.763200 Centerline is valid? [False, False] Translation: X:-0.83, Y:-1.10, Z:0.12 [[ 0.998607 0.03419596 0.04018326 -0.82547721] [-0.0348909 0.99925122 0.01672181 -1.09558861] [-0.03958135 -0.01810055 0.99905239 0.11543653] [ 0. 0. 0. 1. ]] SLAMing on 10.561652531999998 meters Centerline goodness : 0.770212 Centerline is valid? [False, False] Translation: X:-0.82, Y:-1.10, Z:0.12 [[ 0.99878604 0.02944566 0.0394891 -0.8247562 ] [-0.02994243 0.99947901 0.01204793 -1.09587207] [-0.03911377 -0.01321571 0.99914737 0.11648075] [ 0. 0. 0. 1. ]] SLAMing on 10.591652532 meters Centerline goodness : 0.770314 Centerline is valid? [False, False] Translation: X:-0.82, Y:-1.09, Z:0.12 [[ 0.99872093 0.03191821 0.03921401 -0.82295815] [-0.03248509 0.9993755 0.01390456 -1.08976533] [-0.03874572 -0.01516065 0.99913409 0.11522074] [ 0. 0. 0. 1. ]] SLAMing on 10.621652531999999 meters Centerline goodness : 0.767148 Centerline is valid? [False, False] Translation: X:-0.82, Y:-1.09, Z:0.12 [[ 0.99897858 0.03769145 0.02492308 -0.81555622] [-0.03819919 0.99906554 0.02022029 -1.09093165] [-0.02413766 -0.02115167 0.99948486 0.11578109] [ 0. 0. 0. 1. ]] SLAMing on 10.651652532 meters Centerline goodness : 0.766168 Centerline is valid? [False, False] Translation: X:-0.82, Y:-1.09, Z:0.12 [[ 0.99881506 0.04178071 0.02495692 -0.81509759] [-0.04239115 0.9988018 0.02445314 -1.09089304] [-0.02390535 -0.02548212 0.99938941 0.11544411] [ 0. 0. 0. 1. ]] SLAMing on 10.681652532 meters Centerline goodness : 0.763432 Centerline is valid? [False, False] Translation: X:-0.82, Y:-1.09, Z:0.12 [[ 0.99875736 0.04265271 0.02577744 -0.81744139] [-0.04331475 0.998731 0.02569481 -1.09369265] [-0.02464877 -0.02677942 0.99933743 0.11622524] [ 0. 0. 0. 1. ]] SLAMing on 10.711652531999999 meters Centerline goodness : 0.761890 Centerline is valid? [False, False] Translation: X:-0.82, Y:-1.10, Z:0.12 [[ 0.99878944 0.04179206 0.02594371 -0.81974107] [-0.04245422 0.99877244 0.02551949 -1.09979713] [-0.02484535 -0.02659001 0.99933762 0.1182427 ] [ 0. 0. 0. 1. ]] SLAMing on 10.741652532 meters Centerline goodness : 0.763438 Centerline is valid? [False, False] Translation: X:-0.82, Y:-1.10, Z:0.12 [[ 0.99888256 0.03912956 0.02650483 -0.8223733 ] [-0.03974568 0.99894204 0.02313174 -1.10465361] [-0.02557165 -0.02415934 0.99938102 0.11927479] [ 0. 0. 0. 1. ]] SLAMing on 10.771652532 meters Centerline goodness : 0.766346 Centerline is valid? [False, False] Translation: X:-0.82, Y:-1.11, Z:0.12 [[ 0.99905978 0.03489889 0.02572186 -0.82122865] [-0.03539443 0.99919149 0.01906836 -1.10603797] [-0.0250356 -0.01996084 0.99948726 0.11996115] [ 0. 0. 0. 1. ]] SLAMing on 10.801652531999999 meters Centerline goodness : 0.769044 Centerline is valid? [False, False] Translation: X:-0.82, Y:-1.11, Z:0.12 [[ 0.99907349 0.03488424 0.02520417 -0.82004883] [-0.03537723 0.99918598 0.0193861 -1.10761561] [-0.02450738 -0.02025979 0.99949434 0.12011327] [ 0. 0. 0. 1. ]] SLAMing on 10.831652532 meters Centerline goodness : 0.770166 Centerline is valid? [False, False] Translation: X:-0.82, Y:-1.11, Z:0.12 [[ 0.99908449 0.03466419 0.0250716 -0.82077646] [-0.03515284 0.9991952 0.01931935 -1.10801615] [-0.02438173 -0.020183 0.99949896 0.1215271 ] [ 0. 0. 0. 1. ]] SLAMing on 10.861652531999999 meters Centerline goodness : 0.770054 Centerline is valid? [False, False] Translation: X:-0.82, Y:-1.11, Z:0.12 [[ 0.99902784 0.03563772 0.02594859 -0.8232665 ] [-0.03616973 0.99913885 0.0203302 -1.11043046] [-0.02520172 -0.02124898 0.99945653 0.12173789] [ 0. 0. 0. 1. ]] SLAMing on 10.891652531999998 meters Centerline goodness : 0.768407 Centerline is valid? [False, False] Translation: X:-0.83, Y:-1.11, Z:0.12 [[ 0.99896017 0.03668897 0.0270646 -0.8256647 ] [-0.0372637 0.99908383 0.02104579 -1.11132316] [-0.02626765 -0.02203243 0.99941212 0.12107916] [ 0. 0. 0. 1. ]] SLAMing on 10.921652532 meters Centerline goodness : 0.765026 Centerline is valid? [False, False] Translation: X:-0.83, Y:-1.10, Z:0.12 [[ 0.99880068 0.03992752 0.02833721 -0.82591875] [-0.04057686 0.99891803 0.0227219 -1.10444007] [-0.02739932 -0.02384448 0.99934014 0.11738951] [ 0. 0. 0. 1. ]] SLAMing on 10.951652531999999 meters Centerline goodness : 0.765346 Centerline is valid? [False, False] Translation: X:-0.83, Y:-1.10, Z:0.12 [[ 0.99871603 0.04103727 0.02970238 -0.82894349] [-0.04173506 0.99885777 0.02326663 -1.10476987] [-0.02871366 -0.02447639 0.99928796 0.11671369] [ 0. 0. 0. 1. ]] SLAMing on 10.981652532 meters Centerline goodness : 0.765180 Centerline is valid? [False, False] Translation: X:-0.83, Y:-1.11, Z:0.12 [[ 0.99859099 0.04305064 0.03102719 -0.83212731] [-0.0438328 0.99872639 0.02498554 -1.10761329] [-0.02991203 -0.02631034 0.9992062 0.1165503 ] [ 0. 0. 0. 1. ]] SLAMing on 11.011652532 meters Centerline goodness : 0.765579 Centerline is valid? [False, False] Translation: X:-0.83, Y:-1.11, Z:0.12 [[ 0.99840424 0.04706811 0.03120207 -0.83204853] [-0.04796885 0.99843422 0.02877664 -1.10618602] [-0.02979875 -0.03022745 0.99909876 0.11630296] [ 0. 0. 0. 1. ]] SLAMing on 11.041652531999999 meters Centerline goodness : 0.768078 Centerline is valid? [False, False] Translation: X:-0.83, Y:-1.11, Z:0.12 [[ 0.99829756 0.04886969 0.03183935 -0.83390857] [-0.04985019 0.99828275 0.03076538 -1.11062156] [-0.03028118 -0.0323002 0.99901939 0.1166712 ] [ 0. 0. 0. 1. ]] SLAMing on 11.071652532 meters Centerline goodness : 0.769840 Centerline is valid? [False, False] Translation: X:-0.84, Y:-1.12, Z:0.12 [[ 0.99817841 0.05071358 0.03268012 -0.83643886] [-0.05178612 0.99811763 0.03285401 -1.11524886] [-0.03095246 -0.03448654 0.99892573 0.11728511] [ 0. 0. 0. 1. ]] SLAMing on 11.101652532 meters Centerline goodness : 0.770907 Centerline is valid? [False, False] Translation: X:-0.84, Y:-1.12, Z:0.12 [[ 0.9980872 0.05180194 0.03374159 -0.83973955] [-0.05295469 0.99801055 0.03421615 -1.1190865 ] [-0.031902 -0.03593748 0.99884471 0.11801855] [ 0. 0. 0. 1. ]] SLAMing on 11.131652531999999 meters Centerline goodness : 0.770831 Centerline is valid? [False, False] Translation: X:-0.84, Y:-1.12, Z:0.12 [[ 0.99786068 0.05554692 0.03447616 -0.8391663 ] [-0.0568306 0.99768147 0.03744284 -1.1164038 ] [-0.03231639 -0.03932204 0.99870387 0.1153395 ] [ 0. 0. 0. 1. ]] SLAMing on 11.161652532 meters Centerline goodness : 0.770460 Centerline is valid? [False, False] Translation: X:-0.84, Y:-1.11, Z:0.11 [[ 0.99785225 0.05541037 0.03493683 -0.83983882] [-0.05669244 0.99771175 0.03684067 -1.11437842] [-0.03281553 -0.0387422 0.99871026 0.11453442] [ 0. 0. 0. 1. ]] SLAMing on 11.191652531999999 meters Centerline goodness : 0.771055 Centerline is valid? [False, False] Translation: X:-0.84, Y:-1.11, Z:0.11 [[ 0.99786338 0.05529251 0.03480536 -0.83936772] [-0.05656437 0.99772478 0.03668426 -1.11425965] [-0.03269781 -0.03857463 0.99872061 0.11419992] [ 0. 0. 0. 1. ]] SLAMing on 11.221652531999998 meters Centerline goodness : 0.769939 Centerline is valid? [False, False] Translation: X:-0.84, Y:-1.12, Z:0.11 [[ 0.9980215 0.05199799 0.03534532 -0.84189345] [-0.05318213 0.99802509 0.03343032 -1.11729997] [-0.03353721 -0.03524392 0.99881586 0.11498521] [ 0. 0. 0. 1. ]] SLAMing on 11.251652532 meters Centerline goodness : 0.774526 Centerline is valid? [False, False] Translation: X:-0.84, Y:-1.12, Z:0.12 [[ 0.99802304 0.05235509 0.03476995 -0.84067703] [-0.05354499 0.99797889 0.03422099 -1.11998373] [-0.03290803 -0.0360151 0.99880928 0.11519052] [ 0. 0. 0. 1. ]] SLAMing on 11.281652531999999 meters Centerline goodness : 0.770463 Centerline is valid? [False, False] Translation: X:-0.84, Y:-1.12, Z:0.12 [[ 0.99800732 0.0526755 0.03473738 -0.84087979] [-0.0538867 0.99793681 0.03490472 -1.12245732] [-0.03282708 -0.03670705 0.99878675 0.11552824] [ 0. 0. 0. 1. ]] SLAMing on 11.311652531999998 meters Centerline goodness : 0.771713 Centerline is valid? [False, False] Translation: X:-0.84, Y:-1.12, Z:0.12 [[ 0.99801861 0.0524772 0.0347131 -0.841286 ] [-0.05368391 0.99795158 0.03479485 -1.1225706 ] [-0.03281606 -0.03658944 0.99879143 0.11618386] [ 0. 0. 0. 1. ]] SLAMing on 11.341652532 meters Centerline goodness : 0.774173 Centerline is valid? [False, False] Translation: X:-0.84, Y:-1.12, Z:0.12 [[ 0.99797262 0.05302567 0.03519853 -0.84233296] [-0.05426964 0.99789932 0.0353802 -1.12412221] [-0.03324853 -0.03721868 0.99875388 0.11588083] [ 0. 0. 0. 1. ]] SLAMing on 11.371652531999999 meters Centerline goodness : 0.774392 Centerline is valid? [False, False] Translation: X:-0.84, Y:-1.12, Z:0.12 [[ 0.99795042 0.05318592 0.03558395 -0.8433598 ] [-0.05444778 0.99788588 0.03548525 -1.12458454] [-0.03362141 -0.03734999 0.99873649 0.11588612] [ 0. 0. 0. 1. ]] SLAMing on 11.401652532 meters Centerline goodness : 0.773872 Centerline is valid? [False, False] Translation: X:-0.84, Y:-1.13, Z:0.12 [[ 0.99791147 0.05365 0.03597736 -0.84461267] [-0.05494572 0.99783839 0.03604872 -1.12640045] [-0.03396558 -0.03795024 0.99870222 0.11612602] [ 0. 0. 0. 1. ]] SLAMing on 11.431652532 meters Centerline goodness : 0.774876 Centerline is valid? [False, False] Translation: X:-0.85, Y:-1.13, Z:0.12 [[ 0.99785894 0.05425838 0.0365179 -0.84558575] [-0.05559565 0.99778018 0.03665838 -1.12796985] [-0.03444781 -0.03861013 0.99866041 0.11561842] [ 0. 0. 0. 1. ]] SLAMing on 11.461652531999999 meters Centerline goodness : 0.772301 Centerline is valid? [False, False] Translation: X:-0.85, Y:-1.13, Z:0.11 [[ 0.99785001 0.05418032 0.03687617 -0.84576381] [-0.05551825 0.99779833 0.03627965 -1.12687089] [-0.03482934 -0.03824895 0.99866107 0.11451994] [ 0. 0. 0. 1. ]] SLAMing on 11.491652532 meters Centerline goodness : 0.770750 Centerline is valid? [False, False] Translation: X:-0.85, Y:-1.12, Z:0.11 [[ 0.99784165 0.05380745 0.03764052 -0.84654754] [-0.05513716 0.99785713 0.0352283 -1.12368359] [-0.03566432 -0.03722765 0.99867019 0.1128969 ] [ 0. 0. 0. 1. ]] SLAMing on 11.521652532 meters Centerline goodness : 0.768478 Centerline is valid? [False, False] Translation: X:-0.85, Y:-1.12, Z:0.11 [[ 0.99780797 0.05385368 0.03845837 -0.84790323] [-0.05519904 0.99786799 0.03482153 -1.12231423] [-0.03650111 -0.03686807 0.9986533 0.11185376] [ 0. 0. 0. 1. ]] SLAMing on 11.551652531999999 meters Centerline goodness : 0.766843 Centerline is valid? [False, False] Translation: X:-0.85, Y:-1.13, Z:0.11 [[ 0.9976893 0.05538973 0.03934507 -0.85106631] [-0.056834 0.99771293 0.03658973 -1.12586136] [-0.03722839 -0.03874132 0.99855554 0.11327098] [ 0. 0. 0. 1. ]] SLAMing on 11.581652532 meters Centerline goodness : 0.768397 Centerline is valid? [False, False] Translation: X:-0.85, Y:-1.13, Z:0.12 [[ 0.99765862 0.05601508 0.03923753 -0.85202714] [-0.05750564 0.99762366 0.03794916 -1.13039731] [-0.03701856 -0.04011669 0.99850903 0.11504477] [ 0. 0. 0. 1. ]] SLAMing on 11.611652531999999 meters Centerline goodness : 0.768142 Centerline is valid? [False, False] Translation: X:-0.85, Y:-1.13, Z:0.12 [[ 0.99766075 0.05630102 0.03877136 -0.85198943] [-0.05780955 0.99756741 0.03895286 -1.13415248] [-0.03648396 -0.04110309 0.99848859 0.11668022] [ 0. 0. 0. 1. ]] SLAMing on 11.641652531999998 meters Centerline goodness : 0.769385 Centerline is valid? [False, False] Translation: X:-0.85, Y:-1.14, Z:0.12 [[ 0.9978163 0.05359652 0.03860099 -0.85302175] [-0.05502402 0.99780224 0.03691949 -1.14001439] [-0.0365374 -0.03896285 0.99857244 0.11825088] [ 0. 0. 0. 1. ]] SLAMing on 11.671652532 meters Centerline goodness : 0.770190 Centerline is valid? [False, False] Translation: X:-0.85, Y:-1.14, Z:0.12 [[ 0.99789214 0.0526878 0.03788501 -0.85080389] [-0.05405224 0.99789108 0.03594086 -1.13813748] [-0.03591147 -0.03791287 0.99863556 0.11753714] [ 0. 0. 0. 1. ]] SLAMing on 11.701652531999999 meters Centerline goodness : 0.772093 Centerline is valid? [False, False] Translation: X:-0.85, Y:-1.13, Z:0.12 [[ 0.99799865 0.05086601 0.03756777 -0.84937051] [-0.05213315 0.99807618 0.03355707 -1.1333512 ] [-0.03578858 -0.03544843 0.99873049 0.11640199] [ 0. 0. 0. 1. ]] SLAMing on 11.731652532 meters Centerline goodness : 0.771157 Centerline is valid? [False, False] Translation: X:-0.85, Y:-1.13, Z:0.12 [[ 0.99800415 0.05047267 0.0379504 -0.84994628] [-0.05172124 0.99812701 0.03267096 -1.13072294] [-0.03623033 -0.0345686 0.9987454 0.11573254] [ 0. 0. 0. 1. ]] SLAMing on 11.761652532 meters Centerline goodness : 0.770083 Centerline is valid? [False, False] Translation: X:-0.85, Y:-1.13, Z:0.11 [[ 0.99781846 0.0538446 0.03819801 -0.84897015] [-0.05521069 0.9978378 0.03565803 -1.12714739] [-0.03619543 -0.03768918 0.99863378 0.11421498] [ 0. 0. 0. 1. ]] SLAMing on 11.791652531999999 meters Centerline goodness : 0.769276 Centerline is valid? [False, False] Translation: X:-0.85, Y:-1.13, Z:0.12 [[ 0.99782194 0.05386526 0.03807775 -0.84937407] [-0.05524183 0.99782113 0.03607393 -1.12903319] [-0.03605165 -0.03809884 0.99862343 0.11515828] [ 0. 0. 0. 1. ]] SLAMing on 11.821652532 meters Centerline goodness : 0.768968 Centerline is valid? [False, False] Translation: X:-0.85, Y:-1.13, Z:0.12 [[ 0.99786387 0.05332359 0.03773966 -0.84904356] [-0.05467748 0.99786207 0.03580038 -1.12935417] [-0.03574997 -0.03778741 0.99864611 0.1159952 ] [ 0. 0. 0. 1. ]] SLAMing on 11.851652532 meters Centerline goodness : 0.771730 Centerline is valid? [False, False] Translation: X:-0.85, Y:-1.13, Z:0.12 [[ 0.99787162 0.05358091 0.037166 -0.84749666] [-0.05494192 0.99781782 0.03661936 -1.13257528] [-0.0351228 -0.03858339 0.99863793 0.11581527] [ 0. 0. 0. 1. ]] SLAMing on 11.881652531999999 meters Centerline goodness : 0.770886 Centerline is valid? [False, False] Translation: X:-0.85, Y:-1.13, Z:0.12 [[ 0.99791334 0.05303811 0.03682283 -0.84632859] [-0.05436454 0.99787174 0.03600674 -1.13128878] [-0.03483473 -0.03793346 0.99867292 0.11539142] [ 0. 0. 0. 1. ]] SLAMing on 11.911652532 meters Centerline goodness : 0.769027 Centerline is valid? [False, False] Translation: X:-0.85, Y:-1.13, Z:0.12 [[ 0.99796527 0.05234398 0.03640651 -0.84517382] [-0.05362878 0.99793832 0.0352571 -1.12964009] [-0.03448596 -0.0371378 0.99871493 0.11522389] [ 0. 0. 0. 1. ]] SLAMing on 11.941652531999999 meters Centerline goodness : 0.770896 Centerline is valid? [False, False] Translation: X:-0.85, Y:-1.13, Z:0.12 [[ 0.99805062 0.05027832 0.03697362 -0.84785263] [-0.05151872 0.99811343 0.03339753 -1.13415107] [-0.03522469 -0.03523726 0.99875801 0.11629211] [ 0. 0. 0. 1. ]] SLAMing on 11.971652531999998 meters Centerline goodness : 0.767306 Centerline is valid? [False, False] Translation: X:-0.85, Y:-1.14, Z:0.12 [[ 0.99820183 0.0470525 0.03713727 -0.85035079] [-0.04820341 0.99836475 0.03072867 -1.1379208 ] [-0.03563068 -0.03246356 0.99883761 0.11877339] [ 0. 0. 0. 1. ]] SLAMing on 12.001652532 meters Centerline goodness : 0.766767 Centerline is valid? [False, False] Translation: X:-0.85, Y:-1.14, Z:0.12 [[ 0.99824423 0.04667054 0.03647365 -0.84955521] [-0.04780493 0.99837942 0.03087422 -1.13936671] [-0.03497362 -0.03256363 0.99885758 0.12002879] [ 0. 0. 0. 1. ]] SLAMing on 12.031652531999999 meters Centerline goodness : 0.767800 Centerline is valid? [False, False] Translation: X:-0.85, Y:-1.14, Z:0.12 [[ 0.99832769 0.04431045 0.03712681 -0.85235981] [-0.04539424 0.99855173 0.02887551 -1.14470676] [-0.03579355 -0.03051257 0.99889329 0.12116526] [ 0. 0. 0. 1. ]] SLAMing on 12.061652531999998 meters Centerline goodness : 0.768167 Centerline is valid? [False, False] Translation: X:-0.85, Y:-1.15, Z:0.12 [[ 0.99859608 0.03889795 0.0359559 -0.8505219 ] [-0.03978748 0.99891108 0.02436405 -1.14635218] [-0.03496904 -0.02576044 0.99905634 0.12246695] [ 0. 0. 0. 1. ]] SLAMing on 12.091652532 meters Centerline goodness : 0.770830 Centerline is valid? [False, False] Translation: X:-0.85, Y:-1.15, Z:0.12 [[ 0.99881946 0.03357191 0.03510869 -0.85008669] [-0.03426309 0.99922698 0.01927397 -1.14624858] [-0.03443449 -0.02045414 0.99919763 0.1243513 ] [ 0. 0. 0. 1. ]] SLAMing on 12.121652531999999 meters Centerline goodness : 0.772148 Centerline is valid? [False, False] Translation: X:-0.85, Y:-1.15, Z:0.13 [[ 0.99893327 0.03000296 0.03510192 -0.85157471] [-0.03057799 0.99940494 0.01596101 -1.14932551] [-0.03460215 -0.01701733 0.99925627 0.12591786] [ 0. 0. 0. 1. ]] SLAMing on 12.151652532 meters Centerline goodness : 0.774115 Centerline is valid? [False, False] Translation: X:-0.85, Y:-1.15, Z:0.12 [[ 0.99893832 0.02991822 0.03503056 -0.85049989] [-0.03047767 0.99941453 0.01554677 -1.14775594] [-0.03454492 -0.01659791 0.99926531 0.12455116] [ 0. 0. 0. 1. ]] SLAMing on 12.181652532 meters Centerline goodness : 0.774758 Centerline is valid? [False, False] Translation: X:-0.85, Y:-1.15, Z:0.12 [[ 0.99887523 0.03109497 0.03579643 -0.85219738] [-0.03170613 0.99935881 0.01663401 -1.14969738] [-0.03525624 -0.01775027 0.99922066 0.12396135] [ 0. 0. 0. 1. ]] SLAMing on 12.211652531999999 meters Centerline goodness : 0.771258 Centerline is valid? [False, False] Translation: X:-0.85, Y:-1.15, Z:0.12 [[ 0.99879335 0.03295818 0.03640883 -0.85396488] [-0.03366054 0.99925556 0.01884937 -1.15415351] [-0.03576048 -0.02005217 0.9991592 0.12426058] [ 0. 0. 0. 1. ]] SLAMing on 12.241652532 meters Centerline goodness : 0.768787 Centerline is valid? [False, False] Translation: X:-0.85, Y:-1.16, Z:0.13 [[ 0.99884696 0.03210149 0.03569649 -0.85278849] [-0.03278167 0.99928879 0.01863524 -1.15511206] [-0.03507288 -0.01978395 0.99918892 0.12523771] [ 0. 0. 0. 1. ]] SLAMing on 12.271652532 meters Centerline goodness : 0.772586 Centerline is valid? [False, False] Translation: X:-0.85, Y:-1.16, Z:0.13 [[ 0.9989593 0.02840783 0.03568356 -0.85493965] [-0.02896962 0.99946279 0.01532652 -1.15810179] [-0.035229 -0.01634431 0.99924561 0.12788695] [ 0. 0. 0. 1. ]] SLAMing on 12.301652531999999 meters Centerline goodness : 0.774356 Centerline is valid? [False, False] Translation: X:-0.85, Y:-1.16, Z:0.13 [[ 0.99901698 0.02765878 0.03464207 -0.85190416] [-0.02818614 0.9994927 0.01482835 -1.15785374] [-0.03421436 -0.0157902 0.99928977 0.12739809] [ 0. 0. 0. 1. ]] SLAMing on 12.331652532 meters Centerline goodness : 0.776005 Centerline is valid? [False, False] Translation: X:-0.85, Y:-1.16, Z:0.13 [[ 0.99898147 0.02858076 0.03491659 -0.85187079] [-0.02914344 0.99945172 0.0157137 -1.15948938] [-0.03444834 -0.01671529 0.99926669 0.12618114] [ 0. 0. 0. 1. ]] SLAMing on 12.361652531999999 meters Centerline goodness : 0.772952 Centerline is valid? [False, False] Translation: X:-0.85, Y:-1.16, Z:0.13 [[ 0.99895618 0.02912192 0.03519177 -0.8523306 ] [-0.02971054 0.9994253 0.01632039 -1.16095158] [-0.03469627 -0.01734892 0.99924731 0.12563857] [ 0. 0. 0. 1. ]] SLAMing on 12.391652531999998 meters Centerline goodness : 0.773001 Centerline is valid? [False, False] Translation: X:-0.86, Y:-1.17, Z:0.13 [[ 0.99940657 0.01629198 0.03034924 -0.85948847] [-0.01685337 0.99968986 0.01833459 -1.17153171] [-0.03004112 -0.01883519 0.99937119 0.12551387] [ 0. 0. 0. 1. ]] SLAMing on 12.421652532 meters Centerline goodness : 0.771242 Centerline is valid? [False, False] Translation: X:-0.86, Y:-1.17, Z:0.13 [[ 0.99945182 0.01430818 0.02985508 -0.85834863] [-0.01480296 0.99975563 0.01641814 -1.16903883] [-0.02961287 -0.01685108 0.99941939 0.12562791] [ 0. 0. 0. 1. ]] SLAMing on 12.451652531999999 meters Centerline goodness : 0.771242 Centerline is valid? [False, False] Translation: X:-0.86, Y:-1.17, Z:0.13 [[ 0.99945182 0.01430818 0.02985508 -0.85834863] [-0.01480296 0.99975563 0.01641814 -1.16903883] [-0.02961287 -0.01685108 0.99941939 0.12562791] [ 0. 0. 0. 1. ]] SLAMing on 12.481652532 meters Centerline goodness : 0.771875 Centerline is valid? [False, False] Translation: X:-0.86, Y:-1.17, Z:0.13 [[ 0.99945834 0.0142823 0.02964878 -0.85788993] [-0.0147781 0.99975347 0.01657119 -1.1697206 ] [-0.02940479 -0.01700037 0.99942301 0.12567124] [ 0. 0. 0. 1. ]] SLAMing on 12.511652532 meters Centerline goodness : 0.771442 Centerline is valid? [False, False] Translation: X:-0.86, Y:-1.17, Z:0.12 [[ 0.99943566 0.01575724 0.02966615 -0.8563273 ] [-0.01630654 0.99969835 0.01836603 -1.17313533] [-0.0293678 -0.01883942 0.99939112 0.12356048] [ 0. 0. 0. 1. ]] SLAMing on 12.541652531999999 meters Centerline goodness : 0.771885 Centerline is valid? [False, False] Translation: X:-0.85, Y:-1.17, Z:0.12 [[ 0.99948051 0.01364533 0.02919775 -0.8546036 ] [-0.0141176 0.99977183 0.01603044 -1.16983011] [-0.02897235 -0.01643432 0.9994451 0.12284001] [ 0. 0. 0. 1. ]] SLAMing on 12.571652532 meters Centerline goodness : 0.772480 Centerline is valid? [False, False] Translation: X:-0.85, Y:-1.17, Z:0.12 [[ 0.99947911 0.01380381 0.02917127 -0.85491871] [-0.01428421 0.99976471 0.01632433 -1.17090737] [-0.02893907 -0.01673251 0.99944112 0.1233314 ] [ 0. 0. 0. 1. ]] SLAMing on 12.601652532 meters Centerline goodness : 0.771381 Centerline is valid? [False, False] Translation: X:-0.86, Y:-1.17, Z:0.12 [[ 0.99947858 0.01372409 0.0292269 -0.85621084] [-0.01421024 0.99976302 0.01649134 -1.17178039] [-0.02899365 -0.01689806 0.99943675 0.12495259] [ 0. 0. 0. 1. ]] SLAMing on 12.631652531999999 meters Centerline goodness : 0.772802 Centerline is valid? [False, False] Translation: X:-0.86, Y:-1.18, Z:0.13 [[ 0.99936504 0.0192525 0.0299809 -0.85973083] [-0.01994732 0.99953526 0.02305144 -1.17761913] [-0.02952317 -0.02363484 0.99928463 0.12765765] [ 0. 0. 0. 1. ]] SLAMing on 12.661652532 meters Centerline goodness : 0.773336 Centerline is valid? [False, False] Translation: X:-0.86, Y:-1.19, Z:0.13 [[ 0.99932992 0.02104957 0.02994359 -0.85942468] [-0.02182521 0.99942841 0.02581689 -1.1852252 ] [-0.02938304 -0.02645312 0.99921813 0.12772781] [ 0. 0. 0. 1. ]] SLAMing on 12.691652531999999 meters Centerline goodness : 0.774072 Centerline is valid? [False, False] Translation: X:-0.86, Y:-1.19, Z:0.13 [[ 0.99953625 0.01063709 0.0285332 -0.8568972 ] [-0.01110335 0.99980659 0.01623241 -1.1862578 ] [-0.02835502 -0.0165417 0.99946104 0.12890518] [ 0. 0. 0. 1. ]] SLAMing on 12.721652531999998 meters Centerline goodness : 0.777329 Centerline is valid? [False, False] Translation: X:-0.86, Y:-1.19, Z:0.13 [[ 0.99959827 0.00267526 0.02821602 -0.85735228] [-0.00291313 0.99996054 0.0083929 -1.18872913] [-0.02819245 -0.00847172 0.99956661 0.13037125] [ 0. 0. 0. 1. ]] SLAMing on 12.751652532 meters Centerline goodness : 0.779668 Centerline is valid? [False, False] Translation: X:-0.85, Y:-1.18, Z:0.13 [[ 0.99961083 0.0048513 0.0274709 -0.85317805] [-0.00512165 0.99993906 0.0097794 -1.18253922] [-0.02742178 -0.00991629 0.99957477 0.127207 ] [ 0. 0. 0. 1. ]] SLAMing on 12.781652531999999 meters Centerline goodness : 0.778658 Centerline is valid? [False, False] Translation: X:-0.85, Y:-1.18, Z:0.13 [[ 0.99987201 0.00959905 0.01279944 -0.84575593] [-0.00978451 0.9998469 0.01450682 -1.18456672] [-0.01265823 -0.0146302 0.99981285 0.12803548] [ 0. 0. 0. 1. ]] SLAMing on 12.811652531999998 meters Centerline goodness : 0.774110 Centerline is valid? [False, False] Translation: X:-0.85, Y:-1.18, Z:0.13 [[ 0.99984872 0.01054422 0.01383348 -0.84788059] [-0.01075144 0.99982981 0.01499171 -1.18461197] [-0.01367305 -0.01513817 0.99979192 0.12712802] [ 0. 0. 0. 1. ]] SLAMing on 12.841652532 meters Centerline goodness : 0.775103 Centerline is valid? [False, False] Translation: X:-0.85, Y:-1.18, Z:0.13 [[ 0.99980867 0.01340736 0.01424319 -0.84855637] [-0.01365106 0.99975969 0.01715266 -1.17907556] [-0.01400979 -0.01734382 0.99975143 0.12663831] [ 0. 0. 0. 1. ]] SLAMing on 12.871652531999999 meters Centerline goodness : 0.772821 Centerline is valid? [False, False] Translation: X:-0.85, Y:-1.18, Z:0.13 [[ 0.99983477 0.01050606 0.01483454 -0.85169333] [-0.01072346 0.99983515 0.01465219 -1.18311908] [-0.01467816 -0.01480884 0.9997826 0.12855991] [ 0. 0. 0. 1. ]] SLAMing on 12.901652532 meters Centerline goodness : 0.772706 Centerline is valid? [False, False] Translation: X:-0.85, Y:-1.18, Z:0.13 [[ 0.99984095 0.01020397 0.01462696 -0.85158665] [-0.01041653 0.99984017 0.01453027 -1.18346313] [-0.01447635 -0.01468032 0.99978744 0.12922555] [ 0. 0. 0. 1. ]] SLAMing on 12.931652532 meters Centerline goodness : 0.770686 Centerline is valid? [False, False] Translation: X:-0.85, Y:-1.18, Z:0.13 [[ 0.99984734 0.01004136 0.01429894 -0.84966169] [-0.01024918 0.99984182 0.01453546 -1.18402055] [-0.01415073 -0.01467979 0.99979211 0.12774217] [ 0. 0. 0. 1. ]] SLAMing on 12.961652531999999 meters Centerline goodness : 0.768283 Centerline is valid? [False, False] Translation: X:-0.85, Y:-1.18, Z:0.13 [[ 0.99985614 0.00937119 0.01413801 -0.8494295 ] [-0.00956458 0.99986076 0.01367397 -1.18194127] [-0.0140079 -0.01380723 0.99980655 0.12798477] [ 0. 0. 0. 1. ]] SLAMing on 12.991652532 meters Centerline goodness : 0.770185 Centerline is valid? [False, False] Translation: X:-0.85, Y:-1.18, Z:0.13 [[ 0.99984749 0.00993706 0.01436145 -0.84992146] [-0.01014326 0.99984549 0.01435689 -1.18393982] [-0.01421657 -0.01450038 0.99979379 0.12774607] [ 0. 0. 0. 1. ]] SLAMing on 13.021652532 meters Centerline goodness : 0.770680 Centerline is valid? [False, False] Translation: X:-0.85, Y:-1.18, Z:0.13 [[ 0.99985425 0.00976864 0.0140016 -0.84895808] [-0.00996926 0.99984761 0.01433081 -1.18434101] [-0.01385947 -0.01446831 0.99979927 0.12766911] [ 0. 0. 0. 1. ]] SLAMing on 13.051652531999999 meters Centerline goodness : 0.772126 Centerline is valid? [False, False] Translation: X:-0.85, Y:-1.18, Z:0.13 [[ 0.99981772 0.01305206 0.01393429 -0.84801292] [-0.0132898 0.99976533 0.01710751 -1.18043041] [-0.01370773 -0.01728958 0.99975655 0.12661589] [ 0. 0. 0. 1. ]] SLAMing on 13.081652532 meters Centerline goodness : 0.771946 Centerline is valid? [False, False] Translation: X:-0.85, Y:-1.18, Z:0.12 [[ 0.99977199 0.01591306 0.01423899 -0.84720645] [-0.01618751 0.99968129 0.01937196 -1.1756327 ] [-0.01392619 -0.01959804 0.99971095 0.1247525 ] [ 0. 0. 0. 1. ]] SLAMing on 13.111652531999999 meters Centerline goodness : 0.771915 Centerline is valid? [False, False] Translation: X:-0.85, Y:-1.18, Z:0.12 [[ 0.99972337 0.01748313 0.01573316 -0.85049556] [-0.01780273 0.99963321 0.0204083 -1.17718583] [-0.01537059 -0.02068274 0.99966793 0.12380017] [ 0. 0. 0. 1. ]] SLAMing on 13.141652531999998 meters Centerline goodness : 0.770316 Centerline is valid? [False, False] Translation: X:-0.85, Y:-1.17, Z:0.12 [[ 0.99965504 0.02091976 0.01587976 -0.85003859] [-0.02128775 0.99950023 0.02336931 -1.17375677] [-0.01538295 -0.0236993 0.99960077 0.12279705] [ 0. 0. 0. 1. ]] SLAMing on 13.171652532 meters Centerline goodness : 0.773628 Centerline is valid? [False, False] Translation: X:-0.85, Y:-1.16, Z:0.13 [[ 0.99936531 0.03052402 0.0183644 -0.84553697] [-0.03090099 0.99931003 0.02060571 -1.16293401] [-0.01772276 -0.02116011 0.999619 0.12972173] [ 0. 0. 0. 1. ]] SLAMing on 13.201652531999999 meters Centerline goodness : 0.773453 Centerline is valid? [False, False] Translation: X:-0.85, Y:-1.17, Z:0.13 [[ 0.99927372 0.03269198 0.0195774 -0.8487449 ] [-0.03313498 0.99919196 0.02274845 -1.16729222] [-0.01881789 -0.02338063 0.99954952 0.12993911] [ 0. 0. 0. 1. ]] SLAMing on 13.231652531999998 meters Centerline goodness : 0.777308 Centerline is valid? [False, False] Translation: X:-0.85, Y:-1.17, Z:0.13 [[ 0.9990896 0.03777807 0.01981883 -0.84929539] [-0.0383256 0.9988725 0.02801549 -1.1696186 ] [-0.01873811 -0.02874956 0.999411 0.13017647] [ 0. 0. 0. 1. ]] SLAMing on 13.261652532 meters Centerline goodness : 0.778099 Centerline is valid? [False, False] Translation: X:-0.85, Y:-1.17, Z:0.13 [[ 0.99904655 0.03855871 0.02047497 -0.85139549] [-0.03914529 0.99881072 0.02906517 -1.17306976] [-0.0193299 -0.02983896 0.9993678 0.13077099] [ 0. 0. 0. 1. ]] SLAMing on 13.291652531999999 meters Centerline goodness : 0.778230 Centerline is valid? [False, False] Translation: X:-0.85, Y:-1.17, Z:0.13 [[ 0.99903485 0.03862778 0.02091083 -0.85286974] [-0.03922667 0.99880853 0.02903082 -1.17309888] [-0.01976452 -0.02982306 0.99935977 0.13119313] [ 0. 0. 0. 1. ]] SLAMing on 13.321652532 meters Centerline goodness : 0.779789 Centerline is valid? [False, False] Translation: X:-0.85, Y:-1.17, Z:0.13 [[ 0.99901649 0.03887448 0.0213267 -0.85310437] [-0.03948658 0.99879706 0.02907295 -1.17323592] [-0.02017085 -0.02988648 0.99934976 0.1299191 ] [ 0. 0. 0. 1. ]] SLAMing on 13.351652532 meters Centerline goodness : 0.780193 Centerline is valid? [False, False] Translation: X:-0.85, Y:-1.17, Z:0.13 [[ 0.99915698 0.03460897 0.0220807 -0.85466172] [-0.03513924 0.99909187 0.02409698 -1.17094665] [-0.02122667 -0.02485256 0.99946575 0.12880436] [ 0. 0. 0. 1. ]] SLAMing on 13.381652531999999 meters Centerline goodness : 0.780812 Centerline is valid? [False, False] Translation: X:-0.86, Y:-1.17, Z:0.13 [[ 0.99914923 0.03413132 0.02314898 -0.85594157] [-0.03465606 0.9991424 0.02265895 -1.16644248] [-0.02235575 -0.02344193 0.99947521 0.12682704] [ 0. 0. 0. 1. ]] SLAMing on 13.411652532 meters Centerline goodness : 0.778338 Centerline is valid? [False, False] Translation: X:-0.86, Y:-1.17, Z:0.13 [[ 0.99907397 0.03553144 0.02426339 -0.85895736] [-0.03611619 0.99905689 0.02410282 -1.16971418] [-0.0233841 -0.0249568 0.999415 0.12702223] [ 0. 0. 0. 1. ]] SLAMing on 13.441652531999999 meters Centerline goodness : 0.778520 Centerline is valid? [False, False] Translation: X:-0.86, Y:-1.17, Z:0.13 [[ 0.99902929 0.03617882 0.02513095 -0.86154023] [-0.03679931 0.99901781 0.02468259 -1.1712073 ] [-0.02421328 -0.02558343 0.99937941 0.12744703] [ 0. 0. 0. 1. ]] SLAMing on 13.471652531999998 meters Centerline goodness : 0.778745 Centerline is valid? [False, False] Translation: X:-0.86, Y:-1.17, Z:0.13 [[ 0.99898677 0.03697237 0.02566067 -0.86349696] [-0.0376321 0.99896057 0.0257216 -1.17426495] [-0.02468301 -0.0266612 0.99933975 0.1281338 ] [ 0. 0. 0. 1. ]] SLAMing on 13.501652532 meters Centerline goodness : 0.780141 Centerline is valid? [False, False] Translation: X:-0.87, Y:-1.18, Z:0.13 [[ 0.99894781 0.03777878 0.02600079 -0.86501348] [-0.03847627 0.9988982 0.0268694 -1.17752805] [-0.02495705 -0.02784154 0.99930075 0.12902402] [ 0. 0. 0. 1. ]] SLAMing on 13.531652531999999 meters Centerline goodness : 0.781845 Centerline is valid? [False, False] Translation: X:-0.87, Y:-1.18, Z:0.13 [[ 0.99889914 0.03871702 0.02648573 -0.86667429] [-0.03946108 0.99882389 0.0281718 -1.1815375 ] [-0.02536385 -0.02918594 0.99925215 0.12950469] [ 0. 0. 0. 1. ]] SLAMing on 13.561652531999998 meters Centerline goodness : 0.783400 Centerline is valid? [False, False] Translation: X:-0.87, Y:-1.19, Z:0.13 [[ 0.99881925 0.04037857 0.02701263 -0.86806274] [-0.04119091 0.99869405 0.03022426 -1.18658722] [-0.02575694 -0.03130125 0.99917807 0.1297636 ] [ 0. 0. 0. 1. ]] SLAMing on 13.591652532 meters Centerline goodness : 0.786016 Centerline is valid? [False, False] Translation: X:-0.87, Y:-1.19, Z:0.13 [[ 0.99880707 0.04063049 0.02708505 -0.86805226] [-0.04145144 0.99867578 0.0304706 -1.18727672] [-0.02581115 -0.03155696 0.99916863 0.12936655] [ 0. 0. 0. 1. ]] SLAMing on 13.621652531999999 meters Centerline goodness : 0.783783 Centerline is valid? [False, False] Translation: X:-0.87, Y:-1.19, Z:0.13 [[ 0.99882737 0.04027256 0.02687034 -0.86737966] [-0.04107442 0.99870594 0.02998911 -1.18628067] [-0.02562783 -0.03105763 0.99918899 0.12907608] [ 0. 0. 0. 1. ]] SLAMing on 13.651652532 meters Centerline goodness : 0.784096 Centerline is valid? [False, False] Translation: X:-0.87, Y:-1.19, Z:0.13 [[ 0.99886502 0.03967036 0.0263616 -0.86605858] [-0.04044454 0.99874581 0.02951354 -1.18581053] [-0.02515772 -0.03054622 0.9992167 0.1290281 ] [ 0. 0. 0. 1. ]] SLAMing on 13.681652532 meters Centerline goodness : 0.784819 Centerline is valid? [False, False] Translation: X:-0.87, Y:-1.19, Z:0.13 [[ 0.99901362 0.03592256 0.02610279 -0.86656091] [-0.03660712 0.99898521 0.02623876 -1.18938007] [-0.02513374 -0.02716843 0.99931485 0.1301482 ] [ 0. 0. 0. 1. ]] SLAMing on 13.711652531999999 meters Centerline goodness : 0.785190 Centerline is valid? [False, False] Translation: X:-0.87, Y:-1.19, Z:0.13 [[ 0.99904927 0.03534535 0.02552002 -0.86523664] [-0.03600749 0.99901403 0.02596987 -1.1898506 ] [-0.02457694 -0.02686409 0.99933693 0.13041453] [ 0. 0. 0. 1. ]] SLAMing on 13.741652532 meters Centerline goodness : 0.786351 Centerline is valid? [False, False] Translation: X:-0.87, Y:-1.19, Z:0.13 [[ 0.99905479 0.03516198 0.02555693 -0.86551101] [-0.03582204 0.99902394 0.02584489 -1.19003089] [-0.02462323 -0.02673596 0.99933922 0.13064688] [ 0. 0. 0. 1. ]] SLAMing on 13.771652532 meters Centerline goodness : 0.782761 Centerline is valid? [False, False] Translation: X:-0.87, Y:-1.19, Z:0.13 [[ 0.99901358 0.03555757 0.0265992 -0.86752406] [-0.03624485 0.99900937 0.02581843 -1.1891159 ] [-0.02565481 -0.02675705 0.99931271 0.12972592] [ 0. 0. 0. 1. ]] SLAMing on 13.801652531999999 meters Centerline goodness : 0.780431 Centerline is valid? [False, False] Translation: X:-0.87, Y:-1.19, Z:0.13 [[ 0.99906547 0.03302519 0.02788426 -0.87055929] [-0.03366538 0.99917282 0.0228104 -1.19075294] [-0.02710787 -0.02372782 0.99935087 0.12901936] [ 0. 0. 0. 1. ]] SLAMing on 13.831652532 meters Centerline goodness : 0.780409 Centerline is valid? [False, False] Translation: X:-0.87, Y:-1.19, Z:0.13 [[ 0.99913523 0.03120962 0.02747274 -0.86924055] [-0.03177771 0.99928491 0.02049021 -1.18613323] [-0.0268136 -0.02134551 0.99941253 0.12828149] [ 0. 0. 0. 1. ]] SLAMing on 13.861652531999999 meters Centerline goodness : 0.778367 Centerline is valid? [False, False] Translation: X:-0.87, Y:-1.19, Z:0.13 [[ 0.99913624 0.03105225 0.02761405 -0.86937411] [-0.03161281 0.99929806 0.02010035 -1.18505447] [-0.02697051 -0.02095595 0.99941655 0.12788586] [ 0. 0. 0. 1. ]] SLAMing on 13.891652531999998 meters Centerline goodness : 0.778567 Centerline is valid? [False, False] Translation: X:-0.87, Y:-1.19, Z:0.13 [[ 0.99900498 0.03470448 0.02801157 -0.8715033 ] [-0.0353953 0.99907168 0.02455499 -1.19227414] [-0.02713339 -0.02552203 0.99930596 0.12944117] [ 0. 0. 0. 1. ]] SLAMing on 13.921652532 meters Centerline goodness : 0.781303 Centerline is valid? [False, False] Translation: X:-0.87, Y:-1.20, Z:0.13 [[ 0.99893718 0.03610719 0.02864944 -0.87413372] [-0.03686456 0.99897246 0.02636333 -1.1971399 ] [-0.02766809 -0.02739146 0.99924181 0.13074432] [ 0. 0. 0. 1. ]] SLAMing on 13.951652531999999 meters Centerline goodness : 0.784418 Centerline is valid? [False, False] Translation: X:-0.88, Y:-1.20, Z:0.13 [[ 0.99883636 0.03804688 0.02963716 -0.87695582] [-0.03889353 0.99883585 0.02853472 -1.20189469] [-0.028517 -0.0296542 0.99915335 0.13126118] [ 0. 0. 0. 1. ]] SLAMing on 13.981652531999998 meters Centerline goodness : 0.785313 Centerline is valid? [False, False] Translation: X:-0.88, Y:-1.20, Z:0.13 [[ 0.99877186 0.03886307 0.03073173 -0.87989344] [-0.03975916 0.9987853 0.0291056 -1.20287886] [-0.02956327 -0.03029172 0.99910381 0.13141189] [ 0. 0. 0. 1. ]] SLAMing on 14.011652532 meters Centerline goodness : 0.782842 Centerline is valid? [False, False] Translation: X:-0.88, Y:-1.20, Z:0.13 [[ 0.99861657 0.041492 0.03230094 -0.88305144] [-0.04249503 0.99861528 0.03101125 -1.20445704] [-0.0309695 -0.03234097 0.99899697 0.13036051] [ 0. 0. 0. 1. ]] SLAMing on 14.041652531999999 meters Centerline goodness : 0.782745 Centerline is valid? [False, False] Translation: X:-0.88, Y:-1.20, Z:0.13 [[ 0.9986106 0.04148484 0.03249435 -0.88292605] [-0.04248941 0.99862021 0.03085988 -1.20418017] [-0.0311693 -0.03219767 0.99899539 0.12944265] [ 0. 0. 0. 1. ]] SLAMing on 14.071652532 meters Centerline goodness : 0.784969 Centerline is valid? [False, False] Translation: X:-0.88, Y:-1.20, Z:0.13 [[ 0.99861367 0.04139211 0.03251829 -0.88259144] [-0.04239105 0.99863069 0.03065517 -1.20380317] [-0.03120488 -0.03199115 0.99900091 0.12881487] [ 0. 0. 0. 1. ]] SLAMing on 14.101652532 meters Centerline goodness : 0.787967 Centerline is valid? [False, False] Translation: X:-0.88, Y:-1.21, Z:0.13 [[ 0.99852333 0.04296698 0.03324144 -0.88333494] [-0.04402704 0.99852271 0.03184355 -1.2054022 ] [-0.03182411 -0.03326005 0.99893994 0.12729322] [ 0. 0. 0. 1. ]] SLAMing on 14.131652531999999 meters Centerline goodness : 0.786746 Centerline is valid? [False, False] Translation: X:-0.88, Y:-1.21, Z:0.13 [[ 0.99849047 0.04346353 0.03358115 -0.88437032] [-0.0445514 0.99848298 0.03235608 -1.20672778] [-0.0321239 -0.03380333 0.9989121 0.12736154] [ 0. 0. 0. 1. ]] SLAMing on 14.161652532 meters Centerline goodness : 0.786962 Centerline is valid? [False, False] Translation: X:-0.89, Y:-1.21, Z:0.13 [[ 0.99847842 0.04353407 0.03384707 -0.88505413] [-0.04462917 0.99848128 0.03230131 -1.20658563] [-0.03238946 -0.03376273 0.9989049 0.12732606] [ 0. 0. 0. 1. ]] SLAMing on 14.191652531999999 meters Centerline goodness : 0.786773 Centerline is valid? [False, False] Translation: X:-0.88, Y:-1.20, Z:0.13 [[ 0.9983108 0.04714096 0.03395998 -0.88446706] [-0.04835443 0.99818688 0.03584417 -1.20493149] [-0.03220868 -0.03742573 0.99878021 0.12671518] [ 0. 0. 0. 1. ]] SLAMing on 14.221652531999998 meters Centerline goodness : 0.785452 Centerline is valid? [False, False] Translation: X:-0.89, Y:-1.21, Z:0.13 [[ 0.99827051 0.04744738 0.03470929 -0.88646047] [-0.04869561 0.99816298 0.0360472 -1.20544097] [-0.03293518 -0.03767504 0.99874715 0.12680756] [ 0. 0. 0. 1. ]] SLAMing on 14.251652532 meters Centerline goodness : 0.783194 Centerline is valid? [False, False] Translation: X:-0.89, Y:-1.21, Z:0.13 [[ 0.99823565 0.04776344 0.0352737 -0.88812215] [-0.04904602 0.99813166 0.03643736 -1.20679033] [-0.03346743 -0.03810311 0.99871321 0.12710465] [ 0. 0. 0. 1. ]] SLAMing on 14.281652531999999 meters Centerline goodness : 0.783190 Centerline is valid? [False, False] Translation: X:-0.89, Y:-1.21, Z:0.13 [[ 0.99829789 0.04560761 0.03634927 -0.89145271] [-0.04684943 0.99832054 0.03407694 -1.20967031] [-0.03473405 -0.03572188 0.99875797 0.1275771 ] [ 0. 0. 0. 1. ]] SLAMing on 14.311652531999998 meters Centerline goodness : 0.784005 Centerline is valid? [False, False] Translation: X:-0.89, Y:-1.21, Z:0.13 [[ 0.9982911 0.04555108 0.03660559 -0.8920545 ] [-0.04679595 0.99832899 0.03390241 -1.20928 ] [-0.03500013 -0.03555747 0.99875455 0.12747282] [ 0. 0. 0. 1. ]] SLAMing on 14.341652532 meters Centerline goodness : 0.784005 Centerline is valid? [False, False] Translation: X:-0.89, Y:-1.21, Z:0.13 [[ 0.9982911 0.04555108 0.03660559 -0.8920545 ] [-0.04679595 0.99832899 0.03390241 -1.20928 ] [-0.03500013 -0.03555747 0.99875455 0.12747282] [ 0. 0. 0. 1. ]] SLAMing on 14.371652531999999 meters Centerline goodness : 0.783293 Centerline is valid? [False, False] Translation: X:-0.89, Y:-1.21, Z:0.13 [[ 0.99825936 0.04585008 0.03709462 -0.89333512] [-0.04712031 0.99830613 0.03412539 -1.20987989] [-0.03546713 -0.0358139 0.99872892 0.12744033] [ 0. 0. 0. 1. ]] SLAMing on 14.401652531999998 meters Centerline goodness : 0.785044 Centerline is valid? [False, False] Translation: X:-0.89, Y:-1.21, Z:0.13 [[ 0.99806029 0.04967765 0.0375206 -0.89344932] [-0.05108906 0.99798437 0.03764439 -1.20754205] [-0.03557489 -0.03948826 0.99858655 0.12666953] [ 0. 0. 0. 1. ]] SLAMing on 14.431652532 meters Centerline goodness : 0.782174 Centerline is valid? [False, False] Translation: X:-0.90, Y:-1.21, Z:0.13 [[ 0.99795617 0.05097675 0.03853375 -0.89649956] [-0.05248095 0.99785665 0.0390877 -1.21107466] [-0.0364586 -0.0410301 0.99849251 0.12727172] [ 0. 0. 0. 1. ]] SLAMing on 14.461652531999999 meters Centerline goodness : 0.782666 Centerline is valid? [False, False] Translation: X:-0.90, Y:-1.21, Z:0.13 [[ 0.99786927 0.05203756 0.03935747 -0.89917595] [-0.05362003 0.99774862 0.04028142 -1.2140988 ] [-0.03717271 -0.04230594 0.99841294 0.12801509] [ 0. 0. 0. 1. ]] SLAMing on 14.491652532 meters Centerline goodness : 0.781396 Centerline is valid? [False, False] Translation: X:-0.90, Y:-1.22, Z:0.13 [[ 0.99783912 0.0523925 0.03964998 -0.90013753] [-0.05400527 0.99770841 0.04075985 -1.21568628] [-0.03742361 -0.04281308 0.99838195 0.12823009] [ 0. 0. 0. 1. ]] SLAMing on 14.521652532 meters Centerline goodness : 0.782467 Centerline is valid? [False, False] Translation: X:-0.90, Y:-1.21, Z:0.13 [[ 0.99787164 0.0518762 0.03951016 -0.89910489] [-0.05345536 0.99776799 0.04001952 -1.21412604] [-0.03734591 -0.04204638 0.99841744 0.12719796] [ 0. 0. 0. 1. ]] SLAMing on 14.551652531999999 meters Centerline goodness : 0.783382 Centerline is valid? [False, False] Translation: X:-0.90, Y:-1.21, Z:0.13 [[ 0.99788279 0.05163773 0.03954088 -0.89892786] [-0.05320339 0.99779725 0.03962387 -1.21322502] [-0.03740769 -0.04164368 0.998432 0.12680922] [ 0. 0. 0. 1. ]] SLAMing on 14.581652532 meters Centerline goodness : 0.779988 Centerline is valid? [False, False] Translation: X:-0.90, Y:-1.21, Z:0.13 [[ 0.99787129 0.05185896 0.03954165 -0.89902988] [-0.05343665 0.99777199 0.03994466 -1.21434429] [-0.03738207 -0.04197261 0.99841919 0.12686199] [ 0. 0. 0. 1. ]] SLAMing on 14.611652531999999 meters Centerline goodness : 0.781121 Centerline is valid? [False, False] Translation: X:-0.90, Y:-1.22, Z:0.13 [[ 0.99785267 0.05229943 0.0394311 -0.89915533] [-0.05390304 0.99771369 0.04076577 -1.21703533] [-0.03720892 -0.04280369 0.99839037 0.12740007] [ 0. 0. 0. 1. ]] SLAMing on 14.641652531999998 meters Centerline goodness : 0.780277 Centerline is valid? [False, False] Translation: X:-0.90, Y:-1.22, Z:0.13 [[ 0.99789598 0.05183195 0.03894942 -0.89832799] [-0.05340889 0.99774703 0.04059989 -1.21757908] [-0.0367573 -0.04259472 0.99841604 0.12800933] [ 0. 0. 0. 1. ]] SLAMing on 14.671652532 meters Centerline goodness : 0.779217 Centerline is valid? [False, False] Translation: X:-0.90, Y:-1.22, Z:0.13 [[ 0.99797077 0.04989484 0.03955825 -0.90152254] [-0.05143474 0.99791787 0.03891511 -1.22229059] [-0.03753423 -0.04087081 0.99845919 0.12960596] [ 0. 0. 0. 1. ]] SLAMing on 14.701652531999999 meters Centerline goodness : 0.775504 Centerline is valid? [False, False] Translation: X:-0.90, Y:-1.22, Z:0.13 [[ 0.99801723 0.04914014 0.03933 -0.90061293] [-0.05064208 0.99798799 0.03814909 -1.22080505] [-0.03737621 -0.0400652 0.99849777 0.12917874] [ 0. 0. 0. 1. ]] SLAMing on 14.731652531999998 meters Centerline goodness : 0.770387 Centerline is valid? [False, False] Translation: X:-0.90, Y:-1.22, Z:0.13 [[ 0.9982296 0.04440238 0.03957401 -0.90201284] [-0.04572646 0.99840196 0.03320575 -1.21977435] [-0.03803635 -0.03495654 0.99866475 0.12980349] [ 0. 0. 0. 1. ]] SLAMing on 14.761652532 meters Centerline goodness : 0.769055 Centerline is valid? [False, False] Translation: X:-0.90, Y:-1.22, Z:0.13 [[ 0.99831631 0.04299314 0.03893768 -0.90088715] [-0.04425127 0.99850628 0.03204726 -1.21873379] [-0.0375017 -0.03371634 0.99872761 0.13047769] [ 0. 0. 0. 1. ]] SLAMing on 14.791652531999999 meters Centerline goodness : 0.770337 Centerline is valid? [False, False] Translation: X:-0.90, Y:-1.22, Z:0.13 [[ 0.99835679 0.0425227 0.0384127 -0.90022321] [-0.04376063 0.99852998 0.03198258 -1.21966509] [-0.03699625 -0.03361099 0.99875001 0.13145813] [ 0. 0. 0. 1. ]] SLAMing on 14.821652532 meters Centerline goodness : 0.768484 Centerline is valid? [False, False] Translation: X:-0.90, Y:-1.22, Z:0.13 [[ 0.99835526 0.04275511 0.03819403 -0.9008026 ] [-0.04401688 0.99849124 0.03282918 -1.22270862] [-0.03673279 -0.03445637 0.99873093 0.13320769] [ 0. 0. 0. 1. ]] SLAMing on 14.851652532 meters Centerline goodness : 0.769583 Centerline is valid? [False, False] Translation: X:-0.90, Y:-1.22, Z:0.13 [[ 0.99832516 0.04294059 0.03876828 -0.90222999] [-0.04422772 0.99847706 0.03297682 -1.22321894] [-0.03729319 -0.03463622 0.99870394 0.13312237] [ 0. 0. 0. 1. ]] SLAMing on 14.881652531999999 meters Centerline goodness : 0.769515 Centerline is valid? [False, False] Translation: X:-0.90, Y:-1.22, Z:0.13 [[ 0.99825698 0.04363643 0.03973498 -0.90476527] [-0.04498064 0.99842305 0.0335881 -1.22471112] [-0.03820666 -0.03531686 0.99864557 0.13315953] [ 0. 0. 0. 1. ]] SLAMing on 14.911652532 meters Centerline goodness : 0.766760 Centerline is valid? [False, False] Translation: X:-0.91, Y:-1.23, Z:0.13 [[ 0.99816207 0.04489347 0.04070691 -0.90722814] [-0.04632194 0.9983183 0.03485483 -1.22742966] [-0.0390737 -0.03667639 0.99856301 0.13303169] [ 0. 0. 0. 1. ]] SLAMing on 14.941652531999999 meters Centerline goodness : 0.767510 Centerline is valid? [False, False] Translation: X:-0.90, Y:-1.23, Z:0.13 [[ 0.99803272 0.04825479 0.04002697 -0.90467598] [-0.04979309 0.9980223 0.03836844 -1.22630675] [-0.03809635 -0.04028603 0.99846167 0.13230515] [ 0. 0. 0. 1. ]] SLAMing on 14.971652531999998 meters Centerline goodness : 0.766842 Centerline is valid? [False, False] Translation: X:-0.91, Y:-1.23, Z:0.13 [[ 0.99800069 0.04891637 0.04002263 -0.90512171] [-0.05049402 0.99794664 0.03940626 -1.22961147] [-0.03801284 -0.04134838 0.99842142 0.13284161] [ 0. 0. 0. 1. ]] SLAMing on 15.001652532 meters Centerline goodness : 0.767904 Centerline is valid? [False, False] Translation: X:-0.91, Y:-1.23, Z:0.13 [[ 0.99798288 0.04918729 0.04013449 -0.90598093] [-0.05078976 0.99791059 0.03993566 -1.23155749] [-0.0380863 -0.04189353 0.9983959 0.13364053] [ 0. 0. 0. 1. ]] SLAMing on 15.031652531999999 meters Centerline goodness : 0.767903 Centerline is valid? [False, False] Translation: X:-0.91, Y:-1.23, Z:0.13 [[ 0.99796196 0.04947247 0.04030379 -0.90643923] [-0.05110113 0.99787461 0.04043442 -1.23343751] [-0.03821774 -0.04241158 0.998369 0.13361357] [ 0. 0. 0. 1. ]] SLAMing on 15.061652531999998 meters Centerline goodness : 0.768385 Centerline is valid? [False, False] Translation: X:-0.91, Y:-1.23, Z:0.13 [[ 0.9979585 0.04908449 0.04086017 -0.90638143] [-0.05069298 0.99794047 0.03930691 -1.2302467 ] [-0.03884666 -0.04129799 0.99839141 0.13152156] [ 0. 0. 0. 1. ]] SLAMing on 15.091652532 meters Centerline goodness : 0.766344 Centerline is valid? [False, False] Translation: X:-0.91, Y:-1.23, Z:0.13 [[ 0.99793491 0.04934526 0.0411212 -0.90692443] [-0.05097398 0.99791663 0.039548 -1.2309599 ] [-0.03908402 -0.04156244 0.99837117 0.13125123] [ 0. 0. 0. 1. ]] SLAMing on 15.121652531999999 meters Centerline goodness : 0.769226 Centerline is valid? [False, False] Translation: X:-0.91, Y:-1.24, Z:0.13 [[ 0.99779778 0.05190958 0.04129145 -0.90923662] [-0.05367642 0.99763651 0.04289792 -1.23765066] [-0.03896704 -0.04501983 0.99822582 0.1339391 ] [ 0. 0. 0. 1. ]] SLAMing on 15.151652531999998 meters Centerline goodness : 0.769706 Centerline is valid? [False, False] Translation: X:-0.91, Y:-1.24, Z:0.14 [[ 0.99775228 0.05252007 0.04161774 -0.91086578] [-0.05433873 0.99755952 0.04384409 -1.24078737] [-0.03921348 -0.04600699 0.99817116 0.13505303] [ 0. 0. 0. 1. ]] SLAMing on 15.181652532 meters Centerline goodness : 0.769585 Centerline is valid? [False, False] Translation: X:-0.91, Y:-1.24, Z:0.14 [[ 0.99771821 0.05287276 0.04198635 -0.91188455] [-0.05472569 0.99751903 0.04428196 -1.24227506] [-0.03954087 -0.04647865 0.99813639 0.13504697] [ 0. 0. 0. 1. ]] SLAMing on 15.211652531999999 meters Centerline goodness : 0.767845 Centerline is valid? [False, False] Translation: X:-0.91, Y:-1.24, Z:0.13 [[ 0.99773382 0.05245155 0.04214338 -0.9119644 ] [-0.05428361 0.99757445 0.0435718 -1.24028322] [-0.03975575 -0.04576076 0.99816103 0.13452651] [ 0. 0. 0. 1. ]] SLAMing on 15.241652532 meters Centerline goodness : 0.765272 Centerline is valid? [False, False] Translation: X:-0.91, Y:-1.24, Z:0.13 [[ 0.99771022 0.05249314 0.04264728 -0.91325212] [-0.05434378 0.99757606 0.04345974 -1.23994305] [-0.04026257 -0.04567784 0.99814451 0.13453567] [ 0. 0. 0. 1. ]] SLAMing on 15.271652532 meters Centerline goodness : 0.764392 Centerline is valid? [False, False] Translation: X:-0.91, Y:-1.24, Z:0.14 [[ 0.99770796 0.05246935 0.04272941 -0.91377715] [-0.05433161 0.99756823 0.04365435 -1.24116971] [-0.04033499 -0.04587585 0.9981325 0.13505297] [ 0. 0. 0. 1. ]] SLAMing on 15.301652531999999 meters Centerline goodness : 0.760991 Centerline is valid? [False, False] Translation: X:-0.91, Y:-1.24, Z:0.14 [[ 0.99770596 0.05258313 0.04263593 -0.91375793] [-0.05445925 0.99754143 0.04410534 -1.24316422] [-0.04021191 -0.04632608 0.99811667 0.13532733] [ 0. 0. 0. 1. ]] SLAMing on 15.331652532 meters Centerline goodness : 0.762152 Centerline is valid? [False, False] Translation: X:-0.91, Y:-1.24, Z:0.14 [[ 0.99773302 0.052282 0.04237232 -0.91329922] [-0.05414093 0.99756429 0.04398003 -1.24353737] [-0.03996975 -0.04617441 0.99813343 0.13560625] [ 0. 0. 0. 1. ]] SLAMing on 15.361652531999999 meters Centerline goodness : 0.761937 Centerline is valid? [False, False] Translation: X:-0.91, Y:-1.24, Z:0.13 [[ 0.99773408 0.05214218 0.0425194 -0.91315754] [-0.05399273 0.99758893 0.04360185 -1.2424163 ] [-0.04014339 -0.04579879 0.99814377 0.13481343] [ 0. 0. 0. 1. ]] SLAMing on 15.391652531999998 meters Centerline goodness : 0.761443 Centerline is valid? [False, False] Translation: X:-0.91, Y:-1.24, Z:0.13 [[ 0.99773457 0.05164959 0.04310496 -0.91389136] [-0.05348197 0.99766407 0.04249794 -1.23905334] [-0.04080927 -0.044707 0.99816626 0.13376117] [ 0. 0. 0. 1. ]] SLAMing on 15.421652532 meters Centerline goodness : 0.760710 Centerline is valid? [False, False] Translation: X:-0.91, Y:-1.24, Z:0.13 [[ 0.99771853 0.05150359 0.04364761 -0.91475673] [-0.05333588 0.9976968 0.04190906 -1.23718479] [-0.04138862 -0.04414143 0.99816758 0.13299979] [ 0. 0. 0. 1. ]] SLAMing on 15.451652531999999 meters Centerline goodness : 0.760665 Centerline is valid? [False, False] Translation: X:-0.92, Y:-1.24, Z:0.13 [[ 0.99787035 0.04842598 0.04370007 -0.91599707] [-0.05014027 0.9979795 0.03902407 -1.24094959] [-0.041722 -0.0411321 0.99828224 0.13381184] [ 0. 0. 0. 1. ]] SLAMing on 15.481652531999998 meters Centerline goodness : 0.758070 Centerline is valid? [False, False] Translation: X:-0.92, Y:-1.25, Z:0.13 [[ 0.9980222 0.04510072 0.04379065 -0.91732658] [-0.04669238 0.99825928 0.036031 -1.24510589] [-0.0420894 -0.03800443 0.99839078 0.1346685 ] [ 0. 0. 0. 1. ]] SLAMing on 15.511652532 meters Centerline goodness : 0.760514 Centerline is valid? [False, False] Translation: X:-0.92, Y:-1.25, Z:0.14 [[ 0.99814298 0.04214 0.04398655 -0.91940022] [-0.04363164 0.99848518 0.03352056 -1.25013423] [-0.04250736 -0.03537752 0.99846961 0.13617947] [ 0. 0. 0. 1. ]] SLAMing on 15.541652531999999 meters Centerline goodness : 0.759363 Centerline is valid? [False, False] Translation: X:-0.92, Y:-1.26, Z:0.14 [[ 0.998248 0.03930202 0.04422988 -0.92140566] [-0.0407004 0.99868501 0.03117251 -1.25534934] [-0.04294658 -0.03291807 0.99853492 0.13766439] [ 0. 0. 0. 1. ]] SLAMing on 15.571652532 meters Centerline goodness : 0.759260 Centerline is valid? [False, False] Translation: X:-0.92, Y:-1.27, Z:0.14 [[ 0.99842103 0.0350937 0.04386215 -0.92422683] [-0.03638029 0.99892044 0.02888659 -1.26777063] [-0.04280106 -0.0304367 0.99861989 0.14217873] [ 0. 0. 0. 1. ]] SLAMing on 15.601652532 meters Centerline goodness : 0.758176 Centerline is valid? [False, False] Translation: X:-0.92, Y:-1.27, Z:0.14 [[ 0.99847237 0.03419062 0.04340435 -0.92363536] [-0.03543683 0.99897187 0.0282744 -1.26763675] [-0.042393 -0.02976932 0.99865741 0.14299357] [ 0. 0. 0. 1. ]] SLAMing on 15.631652531999999 meters Centerline goodness : 0.758775 Centerline is valid? [False, False] Translation: X:-0.92, Y:-1.27, Z:0.14 [[ 0.99849039 0.03389246 0.04322311 -0.92337498] [-0.03512326 0.99898952 0.02804106 -1.26743315] [-0.04222906 -0.02951687 0.99867185 0.14328645] [ 0. 0. 0. 1. ]] SLAMing on 15.661652532 meters Centerline goodness : 0.759781 Centerline is valid? [False, False] Translation: X:-0.92, Y:-1.27, Z:0.14 [[ 0.99851569 0.03347477 0.04296338 -0.92300269] [-0.03467856 0.99901771 0.0275863 -1.26641218] [-0.04199774 -0.02903526 0.99869572 0.14370438] [ 0. 0. 0. 1. ]] SLAMing on 15.691652531999999 meters Centerline goodness : 0.760260 Centerline is valid? [False, False] Translation: X:-0.92, Y:-1.26, Z:0.14 [[ 0.99851877 0.03331114 0.04301899 -0.92271951] [-0.03449319 0.99903924 0.02703359 -1.26447517] [-0.04207713 -0.02847741 0.99870844 0.14307372] [ 0. 0. 0. 1. ]] SLAMing on 15.721652531999998 meters Centerline goodness : 0.759448 Centerline is valid? [False, False] Translation: X:-0.92, Y:-1.26, Z:0.14 [[ 0.99850416 0.033393 0.04329388 -0.92302876] [-0.03458091 0.9990375 0.02698576 -1.26439871] [-0.04235107 -0.02844253 0.99869786 0.14244031] [ 0. 0. 0. 1. ]] SLAMing on 15.751652532 meters Centerline goodness : 0.760132 Centerline is valid? [False, False] Translation: X:-0.92, Y:-1.26, Z:0.14 [[ 0.99848205 0.0334195 0.04378051 -0.92410855] [-0.03461162 0.9990425 0.02676031 -1.2635388 ] [-0.04284428 -0.028235 0.99868271 0.14215941] [ 0. 0. 0. 1. ]] SLAMing on 15.781652531999999 meters Centerline goodness : 0.756054 Centerline is valid? [False, False] Translation: X:-0.93, Y:-1.26, Z:0.14 [[ 0.99843991 0.03381066 0.04443626 -0.92563013] [-0.03503599 0.99901878 0.02709171 -1.26432119] [-0.04347667 -0.02860632 0.99864481 0.14184792] [ 0. 0. 0. 1. ]] SLAMing on 15.811652531999998 meters Centerline goodness : 0.754448 Centerline is valid? [False, False] Translation: X:-0.93, Y:-1.26, Z:0.14 [[ 0.9984127 0.03399342 0.04490584 -0.92685184] [-0.03523568 0.99900969 0.02716768 -1.26447712] [-0.04393785 -0.02870684 0.99862174 0.14185949] [ 0. 0. 0. 1. ]] SLAMing on 15.841652532 meters Centerline goodness : 0.757615 Centerline is valid? [False, False] Translation: X:-0.93, Y:-1.26, Z:0.14 [[ 0.99840079 0.03426158 0.04496681 -0.92689989] [-0.03551161 0.9989963 0.02730067 -1.26451965] [-0.04398631 -0.02885385 0.99861537 0.1416574 ] [ 0. 0. 0. 1. ]] SLAMing on 15.871652531999999 meters Centerline goodness : 0.762318 Centerline is valid? [False, False] Translation: X:-0.93, Y:-1.27, Z:0.14 [[ 0.99834487 0.03517007 0.04550379 -0.92868618] [-0.03648125 0.9989332 0.02831222 -1.26713845] [-0.0444595 -0.02992539 0.99856288 0.14211295] [ 0. 0. 0. 1. ]] SLAMing on 15.901652531999998 meters Centerline goodness : 0.762986 Centerline is valid? [False, False] Translation: X:-0.93, Y:-1.27, Z:0.14 [[ 0.99823622 0.03702713 0.0464052 -0.93150719] [-0.03845996 0.99879842 0.03037359 -1.271491 ] [-0.04522479 -0.03210476 0.99846082 0.14280023] [ 0. 0. 0. 1. ]] SLAMing on 15.931652532 meters Centerline goodness : 0.761217 Centerline is valid? [False, False] Translation: X:-0.93, Y:-1.27, Z:0.14 [[ 0.9980694 0.0408703 0.04676637 -0.93200822] [-0.04249514 0.99850795 0.03429343 -1.27075998] [-0.04529501 -0.03621456 0.99831702 0.14277029] [ 0. 0. 0. 1. ]] SLAMing on 15.961652531999999 meters Centerline goodness : 0.757679 Centerline is valid? [False, False] Translation: X:-0.93, Y:-1.27, Z:0.14 [[ 0.99771199 0.04708046 0.04852034 -0.93451822] [-0.04903353 0.99800063 0.03988046 -1.270181 ] [-0.04654574 -0.04216833 0.99802571 0.14111558] [ 0. 0. 0. 1. ]] SLAMing on 15.991652532 meters Centerline goodness : 0.758163 Centerline is valid? [False, False] Translation: X:-0.94, Y:-1.27, Z:0.14 [[ 0.99760532 0.04791115 0.04988142 -0.93717836] [-0.04993071 0.99794895 0.04006022 -1.26945949] [-0.04785978 -0.0424549 0.99795141 0.13992355] [ 0. 0. 0. 1. ]] SLAMing on 16.021652532 meters Centerline goodness : 0.757055 Centerline is valid? [False, False] Translation: X:-0.94, Y:-1.27, Z:0.14 [[ 0.99752977 0.04854827 0.05076843 -0.93879405] [-0.05060902 0.99791217 0.04012525 -1.26849681] [-0.04871442 -0.04259547 0.99790407 0.13888135] [ 0. 0. 0. 1. ]] SLAMing on 16.051652532000002 meters Centerline goodness : 0.758214 Centerline is valid? [False, False] Translation: X:-0.94, Y:-1.27, Z:0.14 [[ 0.99740236 0.05020356 0.05165391 -0.94064885] [-0.0523445 0.99778852 0.04096481 -1.26796761] [-0.04948309 -0.0435622 0.99782451 0.13839207] [ 0. 0. 0. 1. ]] SLAMing on 16.081652532 meters Centerline goodness : 0.760320 Centerline is valid? [False, False] Translation: X:-0.94, Y:-1.27, Z:0.14 [[ 0.99734241 0.05111407 0.05191799 -0.94152553] [-0.05332422 0.99768872 0.04211585 -1.27089655] [-0.04964528 -0.04477241 0.99776289 0.13857349] [ 0. 0. 0. 1. ]] SLAMing on 16.111652532 meters Centerline goodness : 0.761211 Centerline is valid? [False, False] Translation: X:-0.94, Y:-1.27, Z:0.14 [[ 0.9973026 0.05153441 0.05226589 -0.9427312 ] [-0.05378755 0.99764075 0.04265946 -1.27270347] [-0.04994415 -0.04535564 0.99772163 0.13893421] [ 0. 0. 0. 1. ]] SLAMing on 16.141652532000002 meters Centerline goodness : 0.759625 Centerline is valid? [False, False] Translation: X:-0.94, Y:-1.27, Z:0.14 [[ 0.99724627 0.05198238 0.05289346 -0.94438195] [-0.0542888 0.99759274 0.04314443 -1.27419076] [-0.05052339 -0.04589714 0.9976677 0.13893873] [ 0. 0. 0. 1. ]] SLAMing on 16.171652532 meters Centerline goodness : 0.757164 Centerline is valid? [False, False] Translation: X:-0.95, Y:-1.27, Z:0.14 [[ 0.997194 0.05210586 0.05375047 -0.9458356 ] [-0.05444031 0.99759411 0.04292142 -1.27325166] [-0.05138469 -0.04572717 0.99763151 0.13792837] [ 0. 0. 0. 1. ]] SLAMing on 16.201652532 meters Centerline goodness : 0.759174 Centerline is valid? [False, False] Translation: X:-0.95, Y:-1.27, Z:0.14 [[ 0.99720551 0.05177456 0.05385683 -0.94594202] [-0.05408874 0.99763395 0.0424371 -1.27216253] [-0.05153224 -0.04523156 0.9976465 0.13774097] [ 0. 0. 0. 1. ]] SLAMing on 16.231652532000002 meters Centerline goodness : 0.757072 Centerline is valid? [False, False] Translation: X:-0.95, Y:-1.27, Z:0.14 [[ 0.9972264 0.05150445 0.0537289 -0.94556494] [-0.05380026 0.99765979 0.04219558 -1.27192932] [-0.0514299 -0.04496918 0.99766364 0.13769171] [ 0. 0. 0. 1. ]] SLAMing on 16.261652532 meters Centerline goodness : 0.757072 Centerline is valid? [False, False] Translation: X:-0.95, Y:-1.27, Z:0.14 [[ 0.9972264 0.05150445 0.0537289 -0.94556494] [-0.05380026 0.99765979 0.04219558 -1.27192932] [-0.0514299 -0.04496918 0.99766364 0.13769171] [ 0. 0. 0. 1. ]] SLAMing on 16.291652532 meters Centerline goodness : 0.757952 Centerline is valid? [False, False] Translation: X:-0.95, Y:-1.27, Z:0.14 [[ 0.99725331 0.05124945 0.05347261 -0.94513785] [-0.05352763 0.99767937 0.04207928 -1.27216782] [-0.05119198 -0.04482596 0.99768232 0.13801942] [ 0. 0. 0. 1. ]] SLAMing on 16.321652532 meters Centerline goodness : 0.758380 Centerline is valid? [False, False] Translation: X:-0.95, Y:-1.28, Z:0.14 [[ 0.99737479 0.04891044 0.05339746 -0.94721319] [-0.05110659 0.99786891 0.04056782 -1.27856771] [-0.05129948 -0.04319029 0.99774895 0.14074147] [ 0. 0. 0. 1. ]] SLAMing on 16.351652532 meters Centerline goodness : 0.758981 Centerline is valid? [False, False] Translation: X:-0.95, Y:-1.28, Z:0.14 [[ 0.99746785 0.04792055 0.05254999 -0.945691 ] [-0.05005466 0.99794212 0.04007565 -1.27920691] [-0.0505214 -0.04260454 0.99781383 0.14153343] [ 0. 0. 0. 1. ]] SLAMing on 16.381652532 meters Centerline goodness : 0.762420 Centerline is valid? [False, False] Translation: X:-0.94, Y:-1.28, Z:0.14 [[ 0.99755391 0.04685348 0.05187444 -0.94468761] [-0.04892667 0.99802323 0.03944383 -1.27953838] [-0.04992381 -0.04188539 0.99787435 0.14247452] [ 0. 0. 0. 1. ]] SLAMing on 16.411652532 meters Centerline goodness : 0.760587 Centerline is valid? [False, False] Translation: X:-0.95, Y:-1.29, Z:0.14 [[ 0.99770991 0.04370712 0.05162005 -0.94594103] [-0.04565469 0.99826544 0.03717213 -1.2853985 ] [-0.04990583 -0.0394437 0.99797475 0.14474576] [ 0. 0. 0. 1. ]] SLAMing on 16.441652532 meters Centerline goodness : 0.761123 Centerline is valid? [False, False] Translation: X:-0.94, Y:-1.29, Z:0.14 [[ 0.99774335 0.04339519 0.05123547 -0.94480701] [-0.04532012 0.99828612 0.03702573 -1.28555119] [-0.04954092 -0.03926418 0.99800001 0.14448392] [ 0. 0. 0. 1. ]] SLAMing on 16.471652532 meters Centerline goodness : 0.759174 Centerline is valid? [False, False] Translation: X:-0.94, Y:-1.28, Z:0.14 [[ 0.99780123 0.04242525 0.05091951 -0.94357169] [-0.04427848 0.99837627 0.03583621 -1.28279936] [-0.04931647 -0.03801205 0.9980596 0.14388697] [ 0. 0. 0. 1. ]] SLAMing on 16.501652532 meters Centerline goodness : 0.757988 Centerline is valid? [False, False] Translation: X:-0.95, Y:-1.29, Z:0.14 [[ 0.99786657 0.03965411 0.05186378 -0.94672578] [-0.04139575 0.99859939 0.03294908 -1.28572933] [-0.05048457 -0.03502573 0.99811047 0.14438709] [ 0. 0. 0. 1. ]] SLAMing on 16.531652532000003 meters Centerline goodness : 0.758028 Centerline is valid? [False, False] Translation: X:-0.95, Y:-1.29, Z:0.15 [[ 0.99806627 0.0351782 0.05124658 -0.94672397] [-0.03669603 0.99890605 0.02898441 -1.28779836] [-0.0501709 -0.03080891 0.99826534 0.14623338] [ 0. 0. 0. 1. ]] SLAMing on 16.561652532 meters Centerline goodness : 0.756764 Centerline is valid? [False, False] Translation: X:-0.95, Y:-1.29, Z:0.15 [[ 0.99808637 0.0353695 0.05072084 -0.94619822] [-0.03691207 0.99887393 0.02980548 -1.2910599 ] [-0.04960952 -0.03162065 0.99826801 0.14736914] [ 0. 0. 0. 1. ]] SLAMing on 16.591652532 meters Centerline goodness : 0.754673 Centerline is valid? [False, False] Translation: X:-0.95, Y:-1.29, Z:0.15 [[ 0.99810518 0.03533246 0.05037518 -0.94570367] [-0.03688328 0.99886329 0.03019532 -1.29292783] [-0.04925104 -0.03199611 0.9982738 0.14792182] [ 0. 0. 0. 1. ]] SLAMing on 16.621652532000002 meters Centerline goodness : 0.756457 Centerline is valid? [False, False] Translation: X:-0.95, Y:-1.29, Z:0.15 [[ 0.99813465 0.03483731 0.05013566 -0.94506259] [-0.03635427 0.99889843 0.0296698 -1.29183311] [-0.04904682 -0.0314371 0.99830162 0.14793782] [ 0. 0. 0. 1. ]] SLAMing on 16.651652532 meters Centerline goodness : 0.754849 Centerline is valid? [False, False] Translation: X:-0.94, Y:-1.29, Z:0.14 [[ 0.99821437 0.03264264 0.05002524 -0.94218203] [-0.03400197 0.9990686 0.02656696 -1.28569767] [-0.04911143 -0.02822048 0.99839455 0.14443328] [ 0. 0. 0. 1. ]] SLAMing on 16.681652532 meters Centerline goodness : 0.754275 Centerline is valid? [False, False] Translation: X:-0.94, Y:-1.28, Z:0.14 [[ 0.99827761 0.03128833 0.04962715 -0.94125826] [-0.03255068 0.99916147 0.02483558 -1.28166549] [-0.04880848 -0.0264082 0.99845898 0.14441295] [ 0. 0. 0. 1. ]] SLAMing on 16.711652532000002 meters Centerline goodness : 0.751588 Centerline is valid? [False, False] Translation: X:-0.94, Y:-1.28, Z:0.14 [[ 0.9982696 0.03141715 0.0497069 -0.94168595] [-0.03269856 0.99914803 0.02517957 -1.28300822] [-0.04887348 -0.02676134 0.9984464 0.14471523] [ 0. 0. 0. 1. ]] SLAMing on 16.741652532 meters Centerline goodness : 0.748993 Centerline is valid? [False, False] Translation: X:-0.94, Y:-1.28, Z:0.15 [[ 0.99830023 0.0309263 0.04939859 -0.94115118] [-0.0321873 0.99917067 0.02493875 -1.2833263 ] [-0.04858636 -0.02648637 0.99846775 0.14521027] [ 0. 0. 0. 1. ]] SLAMing on 16.771652532 meters Centerline goodness : 0.755437 Centerline is valid? [False, False] Translation: X:-0.94, Y:-1.29, Z:0.15 [[ 0.99834107 0.03071973 0.04869718 -0.93969655] [-0.0319767 0.99916971 0.02524636 -1.28514472] [-0.04788118 -0.02676165 0.99849447 0.14575578] [ 0. 0. 0. 1. ]] SLAMing on 16.801652532000002 meters Centerline goodness : 0.755039 Centerline is valid? [False, False] Translation: X:-0.94, Y:-1.29, Z:0.15 [[ 0.99832929 0.03082462 0.04887191 -0.9403172 ] [-0.03209393 0.99916197 0.02540367 -1.28570337] [-0.04804789 -0.02692972 0.99848194 0.14600038] [ 0. 0. 0. 1. ]] SLAMing on 16.831652532 meters Centerline goodness : 0.755518 Centerline is valid? [False, False] Translation: X:-0.94, Y:-1.29, Z:0.15 [[ 0.99829865 0.0308563 0.04947412 -0.94208317] [-0.03213423 0.99916466 0.02524629 -1.28502578] [-0.04865378 -0.02679315 0.99845628 0.14633147] [ 0. 0. 0. 1. ]] SLAMing on 16.861652532 meters Centerline goodness : 0.752961 Centerline is valid? [False, False] Translation: X:-0.94, Y:-1.29, Z:0.15 [[ 0.99824217 0.03144988 0.05023414 -0.94402936] [-0.03277153 0.99913223 0.02570644 -1.28579523] [-0.04938208 -0.0273075 0.99840659 0.14621689] [ 0. 0. 0. 1. ]] SLAMing on 16.891652532000002 meters Centerline goodness : 0.750895 Centerline is valid? [False, False] Translation: X:-0.94, Y:-1.28, Z:0.15 [[ 0.99827034 0.03088923 0.05002181 -0.94264392] [-0.03216349 0.99917309 0.02487259 -1.28356826] [-0.04921215 -0.02643844 0.99843837 0.14500674] [ 0. 0. 0. 1. ]] SLAMing on 16.921652532 meters Centerline goodness : 0.751567 Centerline is valid? [False, False] Translation: X:-0.94, Y:-1.28, Z:0.15 [[ 0.99833091 0.03015185 0.04925712 -0.9409664 ] [-0.03138318 0.9992091 0.0244188 -1.28346235] [-0.04848189 -0.02592389 0.99848759 0.1454764 ] [ 0. 0. 0. 1. ]] SLAMing on 16.951652532 meters Centerline goodness : 0.752672 Centerline is valid? [False, False] Translation: X:-0.94, Y:-1.28, Z:0.15 [[ 0.99838425 0.02955366 0.04853323 -0.94031195] [-0.03075909 0.99923186 0.02428085 -1.28445463] [-0.04777836 -0.02573446 0.9985264 0.14727164] [ 0. 0. 0. 1. ]] SLAMing on 16.981652532000002 meters Centerline goodness : 0.757052 Centerline is valid? [False, False] Translation: X:-0.94, Y:-1.29, Z:0.15 [[ 0.9983874 0.02978928 0.04832382 -0.94043192] [-0.03102194 0.99920696 0.02496189 -1.28701895] [-0.0475419 -0.02642073 0.99851976 0.14820927] [ 0. 0. 0. 1. ]] SLAMing on 17.011652532 meters Centerline goodness : 0.755286 Centerline is valid? [False, False] Translation: X:-0.94, Y:-1.29, Z:0.15 [[ 0.9983476 0.03046406 0.04872385 -0.94216061] [-0.03176428 0.99915358 0.02613741 -1.29054432] [-0.04788636 -0.0276419 0.99847024 0.14933869] [ 0. 0. 0. 1. ]] SLAMing on 17.041652532 meters Centerline goodness : 0.756655 Centerline is valid? [False, False] Translation: X:-0.94, Y:-1.29, Z:0.15 [[ 0.99833621 0.03061349 0.04886337 -0.94303896] [-0.03193657 0.99913774 0.02652995 -1.29203919] [-0.04800907 -0.02804634 0.99845307 0.1501109 ] [ 0. 0. 0. 1. ]] SLAMing on 17.071652532 meters Centerline goodness : 0.754340 Centerline is valid? [False, False] Translation: X:-0.94, Y:-1.29, Z:0.15 [[ 0.99832176 0.03095444 0.04894369 -0.94328543] [-0.03231479 0.99910616 0.02725133 -1.29468657] [-0.04805639 -0.0287872 0.99842971 0.15011435] [ 0. 0. 0. 1. ]] SLAMing on 17.101652532 meters Centerline goodness : 0.752176 Centerline is valid? [False, False] Translation: X:-0.94, Y:-1.29, Z:0.15 [[ 0.99838585 0.02957171 0.04848921 -0.94168698] [-0.03084281 0.99919434 0.02567857 -1.29141432] [-0.04769078 -0.02713266 0.99849357 0.14956784] [ 0. 0. 0. 1. ]] SLAMing on 17.131652532 meters Centerline goodness : 0.753405 Centerline is valid? [False, False] Translation: X:-0.94, Y:-1.28, Z:0.15 [[ 0.99849963 0.02564277 0.04838323 -0.93910983] [-0.02665339 0.99943738 0.02035955 -1.28275419] [-0.04783393 -0.02161858 0.99862133 0.14627972] [ 0. 0. 0. 1. ]] SLAMing on 17.161652532 meters Centerline goodness : 0.751828 Centerline is valid? [False, False] Translation: X:-0.94, Y:-1.28, Z:0.14 [[ 0.99857077 0.0236393 0.04793329 -0.93673012] [-0.02452534 0.99953748 0.01798159 -1.2785006 ] [-0.04748605 -0.01913147 0.99868867 0.14461091] [ 0. 0. 0. 1. ]] SLAMing on 17.191652532 meters Centerline goodness : 0.749904 Centerline is valid? [False, False] Translation: X:-0.94, Y:-1.28, Z:0.15 [[ 0.99864981 0.01937944 0.04819744 -0.93827444] [-0.02005192 0.99970768 0.01350852 -1.27836787] [-0.04792156 -0.01445674 0.99874648 0.14562002] [ 0. 0. 0. 1. ]] SLAMing on 17.221652532 meters Centerline goodness : 0.751226 Centerline is valid? [False, False] Translation: X:-0.94, Y:-1.29, Z:0.15 [[ 0.99919598 0.01954532 0.03500528 -0.93509791] [-0.02016783 0.9996431 0.01751939 -1.28916658] [-0.03465037 -0.01821128 0.99923356 0.14702791] [ 0. 0. 0. 1. ]] SLAMing on 17.251652532 meters Centerline goodness : 0.748850 Centerline is valid? [False, False] Translation: X:-0.93, Y:-1.29, Z:0.15 [[ 0.9992114 0.01944028 0.03462153 -0.93467381] [-0.02006724 0.9996392 0.01785449 -1.29087358] [-0.03426194 -0.01853517 0.999241 0.14779533] [ 0. 0. 0. 1. ]] SLAMing on 17.281652532000003 meters Centerline goodness : 0.748692 Centerline is valid? [False, False] Translation: X:-0.94, Y:-1.29, Z:0.15 [[ 0.99922152 0.01943879 0.03432909 -0.93522398] [-0.02007659 0.99963034 0.01833317 -1.29283678] [-0.03396002 -0.01900811 0.99924242 0.14962876] [ 0. 0. 0. 1. ]] SLAMing on 17.311652532 meters Centerline goodness : 0.746485 Centerline is valid? [False, False] Translation: X:-0.94, Y:-1.30, Z:0.15 [[ 0.9992201 0.01986692 0.03412485 -0.935592 ] [-0.02053895 0.99959971 0.01945712 -1.29684477] [-0.03372464 -0.02014284 0.99922816 0.1508795 ] [ 0. 0. 0. 1. ]] SLAMing on 17.341652532 meters Centerline goodness : 0.748795 Centerline is valid? [False, False] Translation: X:-0.93, Y:-1.30, Z:0.15 [[ 0.99924975 0.01940469 0.03351719 -0.93466834] [-0.02006195 0.99961078 0.01938592 -1.29770239] [-0.03312796 -0.02004379 0.99925011 0.15194696] [ 0. 0. 0. 1. ]] SLAMing on 17.371652532000002 meters Centerline goodness : 0.751185 Centerline is valid? [False, False] Translation: X:-0.94, Y:-1.30, Z:0.15 [[ 0.99923754 0.01974091 0.03368437 -0.93505607] [-0.02041484 0.99959588 0.01978182 -1.29890046] [-0.03328025 -0.0204544 0.99923673 0.1517514 ] [ 0. 0. 0. 1. ]] SLAMing on 17.401652532 meters Centerline goodness : 0.748646 Centerline is valid? [False, False] Translation: X:-0.93, Y:-1.30, Z:0.15 [[ 0.99925364 0.01924483 0.03349329 -0.9346062 ] [-0.0198973 0.99961655 0.01925736 -1.29791037] [-0.03310984 -0.01990941 0.9992534 0.15187487] [ 0. 0. 0. 1. ]] SLAMing on 17.431652532 meters Centerline goodness : 0.749751 Centerline is valid? [False, False] Translation: X:-0.93, Y:-1.30, Z:0.15 [[ 0.99928965 0.01811831 0.03304426 -0.93340672] [-0.01871993 0.99966292 0.01798917 -1.29536173] [-0.03270719 -0.01859498 0.99929198 0.15186144] [ 0. 0. 0. 1. ]] SLAMing on 17.461652532000002 meters Centerline goodness : 0.749559 Centerline is valid? [False, False] Translation: X:-0.93, Y:-1.29, Z:0.15 [[ 0.99933233 0.01624798 0.03272457 -0.9313159 ] [-0.01676806 0.99973643 0.0156815 -1.29111761] [-0.03246115 -0.01621976 0.99934138 0.15031845] [ 0. 0. 0. 1. ]] SLAMing on 17.491652532 meters Centerline goodness : 0.751939 Centerline is valid? [False, False] Translation: X:-0.93, Y:-1.29, Z:0.15 [[ 0.99932677 0.01623341 0.03290126 -0.93113229] [-0.01674699 0.99974123 0.01539496 -1.29012622] [-0.03264283 -0.01593559 0.99934003 0.14933211] [ 0. 0. 0. 1. ]] SLAMing on 17.521652532 meters Centerline goodness : 0.750405 Centerline is valid? [False, False] Translation: X:-0.93, Y:-1.29, Z:0.15 [[ 0.99930206 0.01657335 0.03347697 -0.93222817] [-0.01709839 0.9997343 0.01545877 -1.28992514] [-0.03321187 -0.01602039 0.99931993 0.14863743] [ 0. 0. 0. 1. ]] SLAMing on 17.551652532000002 meters Centerline goodness : 0.748397 Centerline is valid? [False, False] Translation: X:-0.93, Y:-1.29, Z:0.15 [[ 0.99927778 0.01665283 0.03415553 -0.93350218] [-0.01718038 0.9997367 0.0152107 -1.28891418] [-0.03389324 -0.01578652 0.99930077 0.1479229 ] [ 0. 0. 0. 1. ]] SLAMing on 17.581652532 meters Centerline goodness : 0.747895 Centerline is valid? [False, False] Translation: X:-0.93, Y:-1.29, Z:0.15 [[ 0.99925579 0.01684658 0.03469946 -0.93480891] [-0.01738459 0.99973239 0.015262 -1.2888986 ] [-0.03443306 -0.01585388 0.99928125 0.14770879] [ 0. 0. 0. 1. ]] SLAMing on 17.611652532 meters Centerline goodness : 0.747926 Centerline is valid? [False, False] Translation: X:-0.94, Y:-1.29, Z:0.15 [[ 0.99923981 0.01714443 0.03501255 -0.93603729] [-0.01770303 0.99971991 0.01570699 -1.29038082] [-0.03473346 -0.01631488 0.99926343 0.14819071] [ 0. 0. 0. 1. ]] SLAMing on 17.641652532000002 meters Centerline goodness : 0.750345 Centerline is valid? [False, False] Translation: X:-0.94, Y:-1.29, Z:0.15 [[ 0.99920179 0.0183954 0.03545961 -0.93842258] [-0.01902261 0.99966707 0.01743247 -1.29478478] [-0.03512713 -0.01809309 0.99921906 0.1498651 ] [ 0. 0. 0. 1. ]] SLAMing on 17.671652532 meters Centerline goodness : 0.749944 Centerline is valid? [False, False] Translation: X:-0.94, Y:-1.30, Z:0.15 [[ 0.99919045 0.01901088 0.03545462 -0.9391809 ] [-0.0196779 0.99963408 0.01856026 -1.29858559] [-0.0350888 -0.01924291 0.99919892 0.15086615] [ 0. 0. 0. 1. ]] SLAMing on 17.701652532 meters Centerline goodness : 0.750994 Centerline is valid? [False, False] Translation: X:-0.94, Y:-1.30, Z:0.15 [[ 0.99919378 0.01906311 0.03533255 -0.94018768] [-0.01975631 0.99961708 0.01937502 -1.30214928] [-0.03494967 -0.02005744 0.99918778 0.15291035] [ 0. 0. 0. 1. ]] SLAMing on 17.731652532000002 meters Centerline goodness : 0.751408 Centerline is valid? [False, False] Translation: X:-0.94, Y:-1.30, Z:0.15 [[ 0.99919399 0.01892791 0.03539921 -0.94008055] [-0.01961556 0.9996236 0.01918047 -1.30173847] [-0.03502284 -0.01985938 0.99918917 0.15256579] [ 0. 0. 0. 1. ]] SLAMing on 17.761652532 meters Centerline goodness : 0.754051 Centerline is valid? [False, False] Translation: X:-0.94, Y:-1.30, Z:0.15 [[ 0.99916755 0.0195517 0.03580406 -0.94032695] [-0.0202629 0.99960236 0.0196096 -1.30232969] [-0.03540642 -0.02031877 0.99916642 0.15129998] [ 0. 0. 0. 1. ]] SLAMing on 17.791652532 meters Centerline goodness : 0.756869 Centerline is valid? [False, False] Translation: X:-0.94, Y:-1.30, Z:0.15 [[ 0.99913877 0.02010752 0.03629596 -0.94087336] [-0.02083683 0.99958624 0.0198284 -1.3021731 ] [-0.03588224 -0.02056761 0.99914435 0.15008912] [ 0. 0. 0. 1. ]] SLAMing on 17.821652532 meters Centerline goodness : 0.754368 Centerline is valid? [False, False] Translation: X:-0.94, Y:-1.29, Z:0.15 [[ 0.99904824 0.02323699 0.03691429 -0.94026184] [-0.02403577 0.99948322 0.02134437 -1.29359881] [-0.03639924 -0.02221132 0.99909046 0.14719688] [ 0. 0. 0. 1. ]] SLAMing on 17.851652532 meters Centerline goodness : 0.753534 Centerline is valid? [False, False] Translation: X:-0.94, Y:-1.30, Z:0.15 [[ 0.99900778 0.02396117 0.03754091 -0.942266 ] [-0.02480832 0.99944425 0.02226523 -1.29620589] [-0.03698655 -0.02317447 0.99904702 0.14762282] [ 0. 0. 0. 1. ]] SLAMing on 17.881652532 meters Centerline goodness : 0.753247 Centerline is valid? [False, False] Translation: X:-0.94, Y:-1.30, Z:0.15 [[ 0.99902229 0.02351846 0.03743464 -0.9431253 ] [-0.02435436 0.99946057 0.0220325 -1.29647281] [-0.03689627 -0.02292265 0.99905616 0.14932938] [ 0. 0. 0. 1. ]] SLAMing on 17.911652532 meters Centerline goodness : 0.757025 Centerline is valid? [False, False] Translation: X:-0.94, Y:-1.30, Z:0.15 [[ 0.99901935 0.02391003 0.03726449 -0.94224337] [-0.0247698 0.99943352 0.0227835 -1.29893915] [-0.03669863 -0.02368419 0.99904568 0.14874093] [ 0. 0. 0. 1. ]] SLAMing on 17.941652532 meters Centerline goodness : 0.756778 Centerline is valid? [False, False] Translation: X:-0.94, Y:-1.29, Z:0.15 [[ 0.99905912 0.02241865 0.03712528 -0.94111357] [-0.02319947 0.99951577 0.02073649 -1.29401137] [-0.03664242 -0.02157827 0.99909545 0.14769576] [ 0. 0. 0. 1. ]] SLAMing on 17.971652532 meters Centerline goodness : 0.755814 Centerline is valid? [False, False] Translation: X:-0.94, Y:-1.29, Z:0.15 [[ 0.99905882 0.02195281 0.03741045 -0.94082916] [-0.02270471 0.99954625 0.01979392 -1.29121724] [-0.03695895 -0.02062468 0.99910393 0.14627746] [ 0. 0. 0. 1. ]] SLAMing on 18.001652532 meters Centerline goodness : 0.753910 Centerline is valid? [False, False] Translation: X:-0.94, Y:-1.29, Z:0.15 [[ 0.99905876 0.02212232 0.0373122 -0.94012962] [-0.02288186 0.99953703 0.02005368 -1.29223947] [-0.03685129 -0.02088857 0.99910242 0.14554136] [ 0. 0. 0. 1. ]] SLAMing on 18.031652532 meters Centerline goodness : 0.755404 Centerline is valid? [False, False] Translation: X:-0.94, Y:-1.29, Z:0.15 [[ 0.99910955 0.02106478 0.03655644 -0.93923796] [-0.02178084 0.99957644 0.01930125 -1.29185288] [-0.03613438 -0.02008029 0.99914518 0.14701141] [ 0. 0. 0. 1. ]] SLAMing on 18.061652532 meters Centerline goodness : 0.756238 Centerline is valid? [False, False] Translation: X:-0.94, Y:-1.30, Z:0.15 [[ 0.99909421 0.02200468 0.03642182 -0.94058657] [-0.02278085 0.99951918 0.02103444 -1.29701101] [-0.03594146 -0.0218451 0.99911511 0.14925382] [ 0. 0. 0. 1. ]] SLAMing on 18.091652532 meters Centerline goodness : 0.757191 Centerline is valid? [False, False] Translation: X:-0.94, Y:-1.30, Z:0.15 [[ 0.99904337 0.0229803 0.03720541 -0.94317983] [-0.02382336 0.99946571 0.02237725 -1.30039128] [-0.0366713 -0.0232422 0.99905706 0.15023935] [ 0. 0. 0. 1. ]] SLAMing on 18.121652532000002 meters Centerline goodness : 0.755287 Centerline is valid? [False, False] Translation: X:-0.94, Y:-1.30, Z:0.15 [[ 0.99901481 0.02318045 0.03784289 -0.94364574] [-0.02402715 0.99946756 0.02207488 -1.2989213 ] [-0.03731104 -0.02296239 0.99903985 0.1484752 ] [ 0. 0. 0. 1. ]] SLAMing on 18.151652532 meters Centerline goodness : 0.755287 Centerline is valid? [False, False] Translation: X:-0.94, Y:-1.30, Z:0.15 [[ 0.99901481 0.02318045 0.03784289 -0.94364574] [-0.02402715 0.99946756 0.02207488 -1.2989213 ] [-0.03731104 -0.02296239 0.99903985 0.1484752 ] [ 0. 0. 0. 1. ]] SLAMing on 18.181652532 meters Centerline goodness : 0.755537 Centerline is valid? [False, False] Translation: X:-0.94, Y:-1.29, Z:0.15 [[ 0.99901089 0.02260544 0.03829151 -0.94361886] [-0.02341236 0.99951038 0.02075722 -1.29489035] [-0.03780354 -0.02163318 0.999051 0.14674687] [ 0. 0. 0. 1. ]] SLAMing on 18.211652532000002 meters Centerline goodness : 0.758166 Centerline is valid? [False, False] Translation: X:-0.94, Y:-1.29, Z:0.15 [[ 0.99901151 0.02227369 0.03846934 -0.9439433 ] [-0.02305958 0.99953187 0.02010735 -1.29296403] [-0.03800346 -0.02097456 0.99905746 0.14649792] [ 0. 0. 0. 1. ]] SLAMing on 18.241652532 meters Centerline goodness : 0.756835 Centerline is valid? [False, False] Translation: X:-0.94, Y:-1.30, Z:0.15 [[ 0.99898924 0.02309777 0.03856159 -0.94481198] [-0.02393594 0.99948405 0.02141736 -1.29674916] [-0.038047 -0.02231872 0.99902668 0.14734476] [ 0. 0. 0. 1. ]] SLAMing on 18.271652532 meters Centerline goodness : 0.756917 Centerline is valid? [False, False] Translation: X:-0.94, Y:-1.30, Z:0.15 [[ 0.99899908 0.0231642 0.03826556 -0.94471228] [-0.02401328 0.99947216 0.02188051 -1.29878166] [-0.03773852 -0.02277749 0.99902802 0.1482571 ] [ 0. 0. 0. 1. ]] SLAMing on 18.301652532000002 meters Centerline goodness : 0.757606 Centerline is valid? [False, False] Translation: X:-0.94, Y:-1.30, Z:0.15 [[ 0.99902435 0.02277134 0.03783927 -0.94418079] [-0.02360666 0.9994841 0.02177728 -1.29937267] [-0.03732386 -0.02264929 0.99904652 0.14912959] [ 0. 0. 0. 1. ]] SLAMing on 18.331652532 meters Centerline goodness : 0.758979 Centerline is valid? [False, False] Translation: X:-0.94, Y:-1.30, Z:0.15 [[ 0.99903591 0.02315443 0.03729772 -0.9435132 ] [-0.02402079 0.999448 0.02294994 -1.3037842 ] [-0.03674574 -0.02382374 0.99904063 0.15019105] [ 0. 0. 0. 1. ]] SLAMing on 18.361652532 meters Centerline goodness : 0.763386 Centerline is valid? [False, False] Translation: X:-0.94, Y:-1.31, Z:0.15 [[ 0.99901724 0.02362458 0.03750245 -0.94462499] [-0.02452435 0.99941788 0.02371631 -1.30632532] [-0.03692033 -0.02461272 0.99901507 0.15098193] [ 0. 0. 0. 1. ]] SLAMing on 18.391652532000002 meters Centerline goodness : 0.762938 Centerline is valid? [False, False] Translation: X:-0.95, Y:-1.31, Z:0.15 [[ 0.99898288 0.02420025 0.03804668 -0.94570088] [-0.02513923 0.99938619 0.02439797 -1.30826607] [-0.03743289 -0.02532962 0.99897807 0.15049919] [ 0. 0. 0. 1. ]] SLAMing on 18.421652532 meters Centerline goodness : 0.762807 Centerline is valid? [False, False] Translation: X:-0.95, Y:-1.31, Z:0.15 [[ 0.99898749 0.02379756 0.03817939 -0.94621631] [-0.0247158 0.99941209 0.02376154 -1.30648577] [-0.03759148 -0.02468111 0.99898835 0.15072355] [ 0. 0. 0. 1. ]] SLAMing on 18.451652532 meters Centerline goodness : 0.763087 Centerline is valid? [False, False] Translation: X:-0.94, Y:-1.30, Z:0.15 [[ 0.99903253 0.02196108 0.03810144 -0.94387907] [-0.02276567 0.99952415 0.0208134 -1.29951168] [-0.03762622 -0.02166067 0.9990571 0.14778988] [ 0. 0. 0. 1. ]] SLAMing on 18.481652532000002 meters Centerline goodness : 0.763239 Centerline is valid? [False, False] Translation: X:-0.94, Y:-1.30, Z:0.15 [[ 0.99906177 0.02109024 0.03782577 -0.94231231] [-0.02183808 0.99957196 0.01946768 -1.29607554] [-0.037399 -0.02027546 0.9990947 0.14647509] [ 0. 0. 0. 1. ]] SLAMing on 18.511652532 meters Centerline goodness : 0.763567 Centerline is valid? [False, False] Translation: X:-0.94, Y:-1.29, Z:0.15 [[ 0.99909042 0.02037483 0.03745917 -0.94133494] [-0.02108299 0.99960455 0.01860801 -1.29408279] [-0.03706522 -0.01938084 0.99912489 0.14636215] [ 0. 0. 0. 1. ]] SLAMing on 18.541652532 meters Centerline goodness : 0.762975 Centerline is valid? [False, False] Translation: X:-0.94, Y:-1.29, Z:0.15 [[ 0.99908149 0.02031671 0.0377282 -0.94240938] [-0.02102728 0.9996071 0.01853352 -1.29412567] [-0.03733683 -0.01930981 0.99911616 0.14696875] [ 0. 0. 0. 1. ]] SLAMing on 18.571652532 meters Centerline goodness : 0.763008 Centerline is valid? [False, False] Translation: X:-0.94, Y:-1.29, Z:0.15 [[ 0.99902034 0.02384009 0.03728279 -0.94022435] [-0.02469231 0.99944035 0.02256728 -1.29479424] [-0.03672392 -0.02346577 0.9990499 0.14594767] [ 0. 0. 0. 1. ]] SLAMing on 18.601652532 meters Centerline goodness : 0.763841 Centerline is valid? [False, False] Translation: X:-0.94, Y:-1.30, Z:0.15 [[ 0.9990592 0.02028596 0.03833017 -0.94350877] [-0.02101652 0.99960322 0.01875392 -1.29580525] [-0.03793452 -0.01954185 0.99908913 0.14649261] [ 0. 0. 0. 1. ]] SLAMing on 18.631652532 meters Centerline goodness : 0.765273 Centerline is valid? [False, False] Translation: X:-0.94, Y:-1.30, Z:0.15 [[ 0.99905989 0.02012643 0.03839604 -0.94334753] [-0.02084695 0.99961227 0.01845852 -1.2950396 ] [-0.03800965 -0.01924161 0.9990921 0.14595037] [ 0. 0. 0. 1. ]] SLAMing on 18.661652532 meters Centerline goodness : 0.763270 Centerline is valid? [False, False] Translation: X:-0.94, Y:-1.30, Z:0.15 [[ 0.99902586 0.02085924 0.03888736 -0.94428215] [-0.02162125 0.99958033 0.01927889 -1.29717936] [-0.0384689 -0.0201009 0.9990576 0.14532317] [ 0. 0. 0. 1. ]] SLAMing on 18.691652532 meters Centerline goodness : 0.763212 Centerline is valid? [False, False] Translation: X:-0.95, Y:-1.30, Z:0.14 [[ 0.99900128 0.02105264 0.03941092 -0.94519115] [-0.02182105 0.99957809 0.01916977 -1.2963176 ] [-0.03899072 -0.02001061 0.99903919 0.14469091] [ 0. 0. 0. 1. ]] SLAMing on 18.721652532 meters Centerline goodness : 0.765318 Centerline is valid? [False, False] Translation: X:-0.95, Y:-1.30, Z:0.14 [[ 0.99900158 0.0211523 0.03935014 -0.94504718] [-0.02192518 0.99957303 0.01931432 -1.29689406] [-0.03892479 -0.0201578 0.9990388 0.14460732] [ 0. 0. 0. 1. ]] SLAMing on 18.751652532 meters Centerline goodness : 0.766349 Centerline is valid? [False, False] Translation: X:-0.95, Y:-1.30, Z:0.15 [[ 0.99897372 0.02175742 0.03972563 -0.94652131] [-0.02256484 0.99954549 0.01999093 -1.29864547] [-0.03927263 -0.02086681 0.99901063 0.14524581] [ 0. 0. 0. 1. ]] SLAMing on 18.781652532 meters Centerline goodness : 0.767327 Centerline is valid? [False, False] Translation: X:-0.94, Y:-1.30, Z:0.14 [[ 0.99891049 0.02515474 0.03930738 -0.94491237] [-0.0260868 0.99938619 0.02338189 -1.29668593] [-0.03869509 -0.02438182 0.99895356 0.14474602] [ 0. 0. 0. 1. ]] SLAMing on 18.811652532 meters Centerline goodness : 0.768816 Centerline is valid? [False, False] Translation: X:-0.95, Y:-1.30, Z:0.14 [[ 0.99879226 0.02758649 0.04065707 -0.94784795] [-0.02862602 0.9992722 0.02521165 -1.29764273] [-0.03993198 -0.02634505 0.99885503 0.14426952] [ 0. 0. 0. 1. ]] SLAMing on 18.841652532 meters Centerline goodness : 0.767055 Centerline is valid? [False, False] Translation: X:-0.96, Y:-1.32, Z:0.14 [[ 0.99890711 0.03398289 0.03208968 -0.95880038] [-0.0348554 0.99902667 0.02703365 -1.31671959] [-0.03113976 -0.0281226 0.99911933 0.14401959] [ 0. 0. 0. 1. ]] SLAMing on 18.871652532000002 meters Centerline goodness : 0.767829 Centerline is valid? [False, False] Translation: X:-0.96, Y:-1.31, Z:0.14 [[ 0.99877057 0.03758007 0.03232784 -0.9581445 ] [-0.03856402 0.99879447 0.03037136 -1.31436719] [-0.03114751 -0.03158071 0.99901576 0.14266124] [ 0. 0. 0. 1. ]] SLAMing on 18.901652532 meters Centerline goodness : 0.765510 Centerline is valid? [False, False] Translation: X:-0.96, Y:-1.32, Z:0.14 [[ 0.9986687 0.03915151 0.03358542 -0.96101041] [-0.04022241 0.99868377 0.03182593 -1.31710605] [-0.03229518 -0.03313445 0.99892899 0.14214598] [ 0. 0. 0. 1. ]] SLAMing on 18.931652532 meters Centerline goodness : 0.765946 Centerline is valid? [False, False] Translation: X:-0.96, Y:-1.32, Z:0.14 [[ 0.99861639 0.03976462 0.03441034 -0.96304811] [-0.04088167 0.99863881 0.03239163 -1.31852723] [-0.03307546 -0.03375357 0.99888273 0.14194079] [ 0. 0. 0. 1. ]] SLAMing on 18.961652532000002 meters Centerline goodness : 0.766460 Centerline is valid? [False, False] Translation: X:-0.96, Y:-1.32, Z:0.14 [[ 0.99861363 0.0397289 0.03453168 -0.96264053] [-0.04084151 0.99864874 0.03213495 -1.31770078] [-0.03320833 -0.03350073 0.99888683 0.14093977] [ 0. 0. 0. 1. ]] SLAMing on 18.991652532 meters Centerline goodness : 0.766854 Centerline is valid? [False, False] Translation: X:-0.96, Y:-1.32, Z:0.14 [[ 0.99859182 0.04006432 0.03477388 -0.9631837 ] [-0.0411951 0.99862453 0.03243463 -1.31863687] [-0.03342658 -0.03382147 0.99886875 0.14069718] [ 0. 0. 0. 1. ]] SLAMing on 19.021652532 meters Centerline goodness : 0.768788 Centerline is valid? [False, False] Translation: X:-0.96, Y:-1.32, Z:0.14 [[ 0.99854916 0.04075265 0.03519644 -0.96465262] [-0.04192468 0.99856804 0.03322925 -1.32084737] [-0.03379186 -0.03465664 0.99882783 0.14108708] [ 0. 0. 0. 1. ]] SLAMing on 19.051652532000002 meters Centerline goodness : 0.766253 Centerline is valid? [False, False] Translation: X:-0.97, Y:-1.32, Z:0.14 [[ 0.99844916 0.04235312 0.03613156 -0.9672359 ] [-0.04361505 0.99843922 0.03488331 -1.3238968 ] [-0.03459775 -0.03640509 0.99873804 0.14145229] [ 0. 0. 0. 1. ]] SLAMing on 19.081652532 meters Centerline goodness : 0.764639 Centerline is valid? [False, False] Translation: X:-0.97, Y:-1.32, Z:0.14 [[ 0.99850233 0.04141986 0.035742 -0.96641082] [-0.04265111 0.99849756 0.03440219 -1.32441414] [-0.03426337 -0.0358751 0.99876874 0.14179324] [ 0. 0. 0. 1. ]] SLAMing on 19.111652532 meters Centerline goodness : 0.766549 Centerline is valid? [False, False] Translation: X:-0.97, Y:-1.33, Z:0.14 [[ 0.99866312 0.03726764 0.03582024 -0.9682769 ] [-0.0383702 0.9987949 0.03060201 -1.32682649] [-0.0346366 -0.03193553 0.9988896 0.14370644] [ 0. 0. 0. 1. ]] SLAMing on 19.141652532000002 meters Centerline goodness : 0.768408 Centerline is valid? [False, False] Translation: X:-0.97, Y:-1.33, Z:0.14 [[ 0.99880238 0.03385123 0.03532555 -0.96752787] [-0.03483872 0.99900836 0.0277231 -1.33142663] [-0.03435206 -0.02892059 0.99899126 0.14391239] [ 0. 0. 0. 1. ]] SLAMing on 19.171652532 meters Centerline goodness : 0.768712 Centerline is valid? [False, False] Translation: X:-0.97, Y:-1.33, Z:0.14 [[ 0.9988467 0.0330858 0.03479376 -0.96573652] [-0.03402743 0.99906074 0.02682845 -1.32949262] [-0.03387344 -0.02798145 0.99903435 0.14325036] [ 0. 0. 0. 1. ]] SLAMing on 19.201652532 meters Centerline goodness : 0.768355 Centerline is valid? [False, False] Translation: X:-0.96, Y:-1.33, Z:0.14 [[ 0.99889072 0.03211394 0.03443879 -0.96469725] [-0.0330036 0.99912774 0.02558353 -1.32667275] [-0.03358716 -0.02669176 0.9990793 0.14291718] [ 0. 0. 0. 1. ]] SLAMing on 19.231652532000002 meters Centerline goodness : 0.769337 Centerline is valid? [False, False] Translation: X:-0.96, Y:-1.33, Z:0.14 [[ 0.99892165 0.03166176 0.03395681 -0.96383073] [-0.03252673 0.99915237 0.02523007 -1.32623029] [-0.0331292 -0.02630737 0.99910479 0.14342194] [ 0. 0. 0. 1. ]] SLAMing on 19.261652532 meters Centerline goodness : 0.766704 Centerline is valid? [False, False] Translation: X:-0.96, Y:-1.33, Z:0.15 [[ 0.99894161 0.03155386 0.03346657 -0.96397706] [-0.03243911 0.99912902 0.02624714 -1.33042025] [-0.03260923 -0.02730499 0.99909513 0.14563293] [ 0. 0. 0. 1. ]] SLAMing on 19.291652532 meters Centerline goodness : 0.768087 Centerline is valid? [False, False] Translation: X:-0.96, Y:-1.33, Z:0.15 [[ 0.99898582 0.03056785 0.03305968 -0.96276906] [-0.03141606 0.99918235 0.02544921 -1.32971599] [-0.03225472 -0.02646201 0.99912932 0.14560474] [ 0. 0. 0. 1. ]] SLAMing on 19.321652532 meters Centerline goodness : 0.767938 Centerline is valid? [False, False] Translation: X:-0.96, Y:-1.33, Z:0.15 [[ 0.99906834 0.02724709 0.03346715 -0.96434822] [-0.02800706 0.99935553 0.02245289 -1.33347582] [-0.03283381 -0.02336928 0.99918758 0.14601977] [ 0. 0. 0. 1. ]] SLAMing on 19.351652532 meters Centerline goodness : 0.761971 Centerline is valid? [False, False] Translation: X:-0.97, Y:-1.34, Z:0.15 [[ 0.99914431 0.02384734 0.03379267 -0.96622898] [-0.02450888 0.9995133 0.01929951 -1.33666529] [-0.03331598 -0.02011122 0.99924251 0.147072 ] [ 0. 0. 0. 1. ]] SLAMing on 19.381652532 meters Centerline goodness : 0.766032 Centerline is valid? [False, False] Translation: X:-0.96, Y:-1.34, Z:0.15 [[ 0.99927923 0.01885869 0.03294486 -0.96474012] [-0.01935435 0.99970326 0.01479169 -1.33746 ] [-0.03265614 -0.01541865 0.99934771 0.14787316] [ 0. 0. 0. 1. ]] SLAMing on 19.411652532 meters Centerline goodness : 0.762012 Centerline is valid? [False, False] Translation: X:-0.96, Y:-1.34, Z:0.15 [[ 0.99933962 0.01698164 0.03212379 -0.96246073] [-0.01740839 0.99976327 0.01305167 -1.33512758] [-0.03189455 -0.01360227 0.99939868 0.14772626] [ 0. 0. 0. 1. ]] SLAMing on 19.441652532 meters Centerline goodness : 0.762264 Centerline is valid? [False, False] Translation: X:-0.96, Y:-1.33, Z:0.15 [[ 0.99939582 0.01501519 0.03134552 -0.96093751] [-0.01537904 0.99981676 0.01139907 -1.33368051] [-0.03116861 -0.01187424 0.99944361 0.14820077] [ 0. 0. 0. 1. ]] SLAMing on 19.471652532 meters Centerline goodness : 0.761110 Centerline is valid? [False, False] Translation: X:-0.96, Y:-1.34, Z:0.15 [[ 0.99945224 0.01412363 0.02992901 -0.95826778] [-0.01447148 0.99982986 0.01143797 -1.33562508] [-0.02976237 -0.01186482 0.99948658 0.14965704] [ 0. 0. 0. 1. ]] SLAMing on 19.501652532 meters Centerline goodness : 0.761952 Centerline is valid? [False, False] Translation: X:-0.96, Y:-1.34, Z:0.15 [[ 0.99947278 0.01370011 0.02943598 -0.95744069] [-0.01403462 0.99983892 0.0111875 -1.33551626] [-0.02927797 -0.01159472 0.99950406 0.15030867] [ 0. 0. 0. 1. ]] SLAMing on 19.531652532 meters Centerline goodness : 0.764033 Centerline is valid? [False, False] Translation: X:-0.96, Y:-1.34, Z:0.15 [[ 0.99947555 0.01360215 0.02938716 -0.95705456] [-0.01393251 0.9998417 0.01106634 -1.33529859] [-0.02923198 -0.01146997 0.99950684 0.14997609] [ 0. 0. 0. 1. ]] SLAMing on 19.561652532 meters Centerline goodness : 0.764386 Centerline is valid? [False, False] Translation: X:-0.96, Y:-1.33, Z:0.15 [[ 0.9994745 0.01343088 0.02950153 -0.95710396] [-0.01375311 0.99984766 0.01074707 -1.3344249 ] [-0.02935269 -0.01114716 0.99950696 0.14956214] [ 0. 0. 0. 1. ]] SLAMing on 19.591652532 meters Centerline goodness : 0.763979 Centerline is valid? [False, False] Translation: X:-0.96, Y:-1.33, Z:0.15 [[ 0.99947284 0.01336487 0.02958769 -0.95692317] [-0.01368316 0.99985039 0.01058123 -1.33391494] [-0.02944185 -0.0109805 0.99950618 0.14904149] [ 0. 0. 0. 1. ]] SLAMing on 19.621652532000002 meters Centerline goodness : 0.765738 Centerline is valid? [False, False] Translation: X:-0.96, Y:-1.34, Z:0.15 [[ 0.9994819 0.01358239 0.02917978 -0.95599384] [-0.01391174 0.99984146 0.01111374 -1.33583858] [-0.0290242 -0.01151392 0.99951239 0.14911927] [ 0. 0. 0. 1. ]] SLAMing on 19.651652532 meters Centerline goodness : 0.764286 Centerline is valid? [False, False] Translation: X:-0.95, Y:-1.33, Z:0.15 [[ 0.9995342 0.01116547 0.02840275 -0.95341436] [-0.01142631 0.99989387 0.00903769 -1.33478385] [-0.02829883 -0.00935802 0.9995557 0.14853204] [ 0. 0. 0. 1. ]] SLAMing on 19.681652532 meters Centerline goodness : 0.765360 Centerline is valid? [False, False] Translation: X:-0.95, Y:-1.33, Z:0.15 [[ 0.99957603 0.00933221 0.02758027 -0.95137355] [-0.00953832 0.99992749 0.00735088 -1.3328259 ] [-0.02750967 -0.00761083 0.99959256 0.14864924] [ 0. 0. 0. 1. ]] SLAMing on 19.711652532000002 meters Centerline goodness : 0.763696 Centerline is valid? [False, False] Translation: X:-0.95, Y:-1.34, Z:0.15 [[ 0.99960437 0.00553395 0.02757673 -0.95188971] [-0.00564392 0.99997642 0.00391164 -1.33558495] [-0.02755444 -0.00406573 0.99961204 0.14927909] [ 0. 0. 0. 1. ]] SLAMing on 19.741652532 meters Centerline goodness : 0.763941 Centerline is valid? [False, False] Translation: X:-0.95, Y:-1.34, Z:0.15 [[ 0.99988949 0.0048893 0.01403942 -0.94727418] [-0.00496947 0.99997151 0.00568112 -1.34138874] [-0.01401124 -0.00575026 0.9998853 0.15001271] [ 0. 0. 0. 1. ]] SLAMing on 19.771652532 meters Centerline goodness : 0.765071 Centerline is valid? [False, False] Translation: X:-0.95, Y:-1.34, Z:0.15 [[ 0.99989121 0.00516852 0.01381531 -0.94689397] [-0.00525545 0.99996657 0.00626377 -1.34340935] [-0.01378247 -0.0063357 0.99988494 0.1501689 ] [ 0. 0. 0. 1. ]] SLAMing on 19.801652532000002 meters Centerline goodness : 0.765779 Centerline is valid? [False, False] Translation: X:-0.95, Y:-1.35, Z:0.15 [[ 0.99990488 0.00495194 0.01287283 -0.94611369] [-0.00504492 0.99996135 0.00720069 -1.34740691] [-0.01283667 -0.00726495 0.99989121 0.15257008] [ 0. 0. 0. 1. ]] SLAMing on 19.831652532 meters Centerline goodness : 0.763774 Centerline is valid? [False, False] Translation: X:-0.95, Y:-1.35, Z:0.15 [[ 0.99991079 0.00463624 0.01252668 -0.94605285] [-0.00472789 0.9999622 0.00729656 -1.34865723] [-0.01249237 -0.00735514 0.99989492 0.15381606] [ 0. 0. 0. 1. ]] SLAMing on 19.861652532 meters Centerline goodness : 0.763369 Centerline is valid? [False, False] Translation: X:-0.95, Y:-1.35, Z:0.15 [[ 0.99991219 0.00477132 0.01236337 -0.94593547] [-0.00486722 0.99995821 0.00773863 -1.35046758] [-0.01232593 -0.00779813 0.99989362 0.15426381] [ 0. 0. 0. 1. ]] SLAMing on 19.891652532000002 meters Centerline goodness : 0.766016 Centerline is valid? [False, False] Translation: X:-0.94, Y:-1.35, Z:0.15 [[ 0.99992343 0.00418253 0.01164687 -0.94448227] [-0.0042716 0.99996175 0.00763242 -1.35149014] [-0.01161451 -0.00768159 0.99990304 0.15485554] [ 0. 0. 0. 1. ]] SLAMing on 19.921652532 meters Centerline goodness : 0.763740 Centerline is valid? [False, False] Translation: X:-0.94, Y:-1.35, Z:0.16 [[ 0.99994108 -0.00178491 0.01070727 -0.94231856] [ 0.00176189 0.99999612 0.00215972 -1.35028568] [-0.01071108 -0.00214073 0.99994034 0.15532355] [ 0. 0. 0. 1. ]] SLAMing on 19.951652532 meters Centerline goodness : 0.764042 Centerline is valid? [False, False] Translation: X:-0.94, Y:-1.35, Z:0.16 [[ 9.99947961e-01 -3.59732617e-03 9.54645855e-03 -9.39235910e-01] [ 3.59070523e-03 9.99993301e-01 7.10597859e-04 -1.34895739e+00] [-9.54895085e-03 -6.76282362e-04 9.99954179e-01 1.55182546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.981652532000002 meters Centerline goodness : 0.764323 Centerline is valid? [False, False] Translation: X:-0.94, Y:-1.35, Z:0.16 [[ 9.99950682e-01 -5.45786780e-03 8.29726247e-03 -9.36373002e-01] [ 5.46383014e-03 9.99984831e-01 -6.96093209e-04 -1.34790653e+00] [-8.29333743e-03 7.41393712e-04 9.99965335e-01 1.55670534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.011652532 meters Centerline goodness : 0.765711 Centerline is valid? [False, False] Translation: X:-0.93, Y:-1.35, Z:0.16 [[ 9.99957964e-01 -5.79815109e-03 7.10297306e-03 -9.34181597e-01] [ 5.80051165e-03 9.99983128e-01 -3.11778433e-04 -1.35027658e+00] [-7.10104548e-03 3.52966205e-04 9.99974725e-01 1.56789002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.041652532 meters Centerline goodness : 0.765305 Centerline is valid? [False, False] Translation: X:-0.93, Y:-1.35, Z:0.16 [[ 9.99962550e-01 -5.97286425e-03 6.26286136e-03 -9.33775976e-01] [ 5.97142867e-03 9.99982140e-01 2.47896024e-04 -1.35265577e+00] [-6.26423015e-03 -2.10488511e-04 9.99980357e-01 1.59129951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.071652532 meters Centerline goodness : 0.762288 Centerline is valid? [False, False] Translation: X:-0.93, Y:-1.35, Z:0.16 [[ 9.99961841e-01 -5.86634205e-03 6.47326427e-03 -9.34038124e-01] [ 5.86350821e-03 9.99982705e-01 4.56668412e-04 -1.35327162e+00] [-6.47583128e-03 -4.18694947e-04 9.99978944e-01 1.58712116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.101652532 meters Centerline goodness : 0.762288 Centerline is valid? [False, False] Translation: X:-0.93, Y:-1.35, Z:0.16 [[ 9.99961841e-01 -5.86634205e-03 6.47326427e-03 -9.34038124e-01] [ 5.86350821e-03 9.99982705e-01 4.56668412e-04 -1.35327162e+00] [-6.47583128e-03 -4.18694947e-04 9.99978944e-01 1.58712116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.131652532 meters Centerline goodness : 0.760331 Centerline is valid? [False, False] Translation: X:-0.93, Y:-1.35, Z:0.16 [[ 0.9999401 -0.00896059 0.0062851 -0.93281559] [ 0.00898032 0.99995482 -0.00311746 -1.34701828] [-0.00625688 0.00317371 0.99997539 0.15779618] [ 0. 0. 0. 1. ]] SLAMing on 20.161652532 meters Centerline goodness : 0.759984 Centerline is valid? [False, False] Translation: X:-0.93, Y:-1.34, Z:0.16 [[ 0.99992585 -0.01066724 0.0058736 -0.93079174] [ 0.01069801 0.99992909 -0.00523189 -1.34255063] [-0.00581737 0.00529434 0.99996906 0.15653767] [ 0. 0. 0. 1. ]] SLAMing on 20.191652532 meters Centerline goodness : 0.757801 Centerline is valid? [False, False] Translation: X:-0.93, Y:-1.34, Z:0.16 [[ 0.99987601 -0.01478206 0.00542686 -0.92926827] [ 0.01483121 0.99984833 -0.00913017 -1.34378737] [-0.00529108 0.00920952 0.99994359 0.15605912] [ 0. 0. 0. 1. ]] SLAMing on 20.221652532 meters Centerline goodness : 0.758008 Centerline is valid? [False, False] Translation: X:-0.93, Y:-1.35, Z:0.16 [[ 0.99981808 -0.01837998 0.00509713 -0.93026159] [ 0.01844005 0.99975796 -0.01199975 -1.34783863] [-0.00487534 0.01209156 0.99991501 0.15860291] [ 0. 0. 0. 1. ]] SLAMing on 20.251652532 meters Centerline goodness : 0.761706 Centerline is valid? [False, False] Translation: X:-0.93, Y:-1.35, Z:0.16 [[ 0.99981634 -0.01875632 0.00393484 -0.92898036] [ 0.01879932 0.99976064 -0.01119108 -1.35192949] [-0.00372399 0.01126299 0.99992964 0.16091787] [ 0. 0. 0. 1. ]] SLAMing on 20.281652532 meters Centerline goodness : 0.765001 Centerline is valid? [False, False] Translation: X:-0.93, Y:-1.36, Z:0.16 [[ 0.99981981 -0.01868985 0.00332225 -0.92914202] [ 0.01872331 0.9997712 -0.01034317 -1.35529821] [-0.00312818 0.01040351 0.99994099 0.16321396] [ 0. 0. 0. 1. ]] SLAMing on 20.311652532 meters Centerline goodness : 0.762947 Centerline is valid? [False, False] Translation: X:-0.93, Y:-1.35, Z:0.16 [[ 0.99987695 -0.01546144 0.00265094 -0.92725383] [ 0.01547949 0.99985618 -0.00692872 -1.35426829] [-0.00254343 0.0069689 0.99997248 0.16283775] [ 0. 0. 0. 1. ]] SLAMing on 20.341652532 meters Centerline goodness : 0.762294 Centerline is valid? [False, False] Translation: X:-0.93, Y:-1.35, Z:0.16 [[ 0.99990856 -0.0133491 0.00216042 -0.92509992] [ 0.01336048 0.99989647 -0.00534366 -1.3491442 ] [-0.00208886 0.00537204 0.99998339 0.16146499] [ 0. 0. 0. 1. ]] SLAMing on 20.371652532000002 meters Centerline goodness : 0.759844 Centerline is valid? [False, False] Translation: X:-0.92, Y:-1.35, Z:0.16 [[ 0.99994852 -0.00999173 0.00176757 -0.92349306] [ 0.00999572 0.99994748 -0.00226496 -1.34673809] [-0.00174484 0.00228251 0.99999587 0.16042381] [ 0. 0. 0. 1. ]] SLAMing on 20.401652532 meters Centerline goodness : 0.758473 Centerline is valid? [False, False] Translation: X:-0.92, Y:-1.35, Z:0.16 [[ 9.99978756e-01 -6.41313671e-03 1.16624398e-03 -9.22534919e-01] [ 6.41170286e-03 9.99978689e-01 1.22907738e-03 -1.34509736e+00] [-1.17410137e-03 -1.22157366e-03 9.99998565e-01 1.60902813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.431652532 meters Centerline goodness : 0.762652 Centerline is valid? [False, False] Translation: X:-0.92, Y:-1.35, Z:0.16 [[ 9.99992242e-01 -3.81873552e-03 9.66397682e-04 -9.24678750e-01] [ 3.81373096e-03 9.99979577e-01 5.12848377e-03 -1.35397336e+00] [-9.85962268e-04 -5.12475840e-03 9.99986382e-01 1.64424908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.461652532000002 meters Centerline goodness : 0.760210 Centerline is valid? [False, False] Translation: X:-0.92, Y:-1.35, Z:0.16 [[ 9.99988015e-01 -4.89534779e-03 7.21964487e-05 -9.21998037e-01] [ 4.89498780e-03 9.99978575e-01 4.34613908e-03 -1.35333759e+00] [-9.34707642e-05 -4.34573359e-03 9.99990553e-01 1.64131940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.491652532 meters Centerline goodness : 0.761242 Centerline is valid? [False, False] Translation: X:-0.92, Y:-1.35, Z:0.16 [[ 9.99978095e-01 -6.61125558e-03 -3.16287710e-04 -9.19712915e-01] [ 6.61202018e-03 9.99975063e-01 2.48076770e-03 -1.35013006e+00] [ 2.99878833e-04 -2.48280466e-03 9.99996873e-01 1.62576456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.521652532 meters Centerline goodness : 0.758508 Centerline is valid? [False, False] Translation: X:-0.92, Y:-1.34, Z:0.16 [[ 9.99957487e-01 -9.22008570e-03 -1.21337697e-04 -9.17273026e-01] [ 9.21994332e-03 9.99956862e-01 -1.12590074e-03 -1.34307328e+00] [ 1.31713364e-04 1.12473415e-03 9.99999359e-01 1.58830021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.551652532000002 meters Centerline goodness : 0.761314 Centerline is valid? [False, False] Translation: X:-0.92, Y:-1.34, Z:0.16 [[ 9.99950870e-01 -9.89527758e-03 -5.84699229e-04 -9.16531714e-01] [ 9.89416693e-03 9.99949298e-01 -1.87282796e-03 -1.34137516e+00] [ 6.03201736e-04 1.86695084e-03 9.99998075e-01 1.59308618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.581652532 meters Centerline goodness : 0.759686 Centerline is valid? [False, False] Translation: X:-0.92, Y:-1.34, Z:0.16 [[ 9.99961085e-01 -8.82057618e-03 -1.58005862e-04 -9.18533606e-01] [ 8.82048681e-03 9.99960943e-01 -5.57650858e-04 -1.34459339e+00] [ 1.62918493e-04 5.56235468e-04 9.99999832e-01 1.60203454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.611652532 meters Centerline goodness : 0.761613 Centerline is valid? [False, False] Translation: X:-0.92, Y:-1.35, Z:0.16 [[ 9.99968343e-01 -7.95514345e-03 1.71897179e-04 -9.20636643e-01] [ 7.95503687e-03 9.99968171e-01 6.12064435e-04 -1.34751322e+00] [-1.76760768e-04 -6.10677611e-04 9.99999798e-01 1.61617873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.641652532000002 meters Centerline goodness : 0.763365 Centerline is valid? [False, False] Translation: X:-0.92, Y:-1.35, Z:0.16 [[ 9.99993557e-01 -3.57450982e-03 3.28761703e-04 -9.21006284e-01] [ 3.57282571e-03 9.99981177e-01 4.98795381e-03 -1.34775713e+00] [-3.46585005e-04 -4.98674707e-03 9.99987506e-01 1.61434432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.671652532 meters Centerline goodness : 0.761139 Centerline is valid? [False, False] Translation: X:-0.92, Y:-1.35, Z:0.16 [[ 9.99993354e-01 -3.39555691e-03 1.32757970e-03 -9.23183301e-01] [ 3.38930115e-03 9.99983275e-01 4.68634708e-03 -1.34626443e+00] [-1.34347025e-03 -4.68181637e-03 9.99988138e-01 1.60847748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.701652532 meters Centerline goodness : 0.760078 Centerline is valid? [False, False] Translation: X:-0.93, Y:-1.35, Z:0.16 [[ 0.99999576 -0.0014829 0.00250627 -0.92647678] [ 0.00146772 0.99998062 0.00604986 -1.34727167] [-0.0025152 -0.00604615 0.99997856 0.16091677] [ 0. 0. 0. 1. ]] SLAMing on 20.731652532000002 meters Centerline goodness : 0.755129 Centerline is valid? [False, False] Translation: X:-0.93, Y:-1.35, Z:0.16 [[ 9.99992694e-01 -5.26384835e-04 3.78602113e-03 -9.29093879e-01] [ 5.02011148e-04 9.99979163e-01 6.43588231e-03 -1.34660187e+00] [-3.78932999e-03 -6.43393466e-03 9.99972122e-01 1.59968983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.761652532 meters Centerline goodness : 0.754738 Centerline is valid? [False, False] Translation: X:-0.93, Y:-1.34, Z:0.16 [[ 9.99992546e-01 -1.24819491e-03 3.65383013e-03 -9.28815201e-01] [ 1.22802885e-03 9.99984032e-01 5.51620638e-03 -1.34452881e+00] [-3.66065709e-03 -5.51167825e-03 9.99978110e-01 1.60109947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.791652532 meters Centerline goodness : 0.757373 Centerline is valid? [False, False] Translation: X:-0.93, Y:-1.35, Z:0.16 [[ 9.99989706e-01 5.48655598e-04 4.50416588e-03 -9.31058256e-01] [-5.81563625e-04 9.99973127e-01 7.30807567e-03 -1.34831129e+00] [-4.50003522e-03 -7.31061990e-03 9.99963152e-01 1.60051459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.821652532 meters Centerline goodness : 0.757249 Centerline is valid? [False, False] Translation: X:-0.94, Y:-1.35, Z:0.16 [[ 0.99995905 0.00647325 0.00632384 -0.93535248] [-0.00655114 0.99990197 0.01237481 -1.34852521] [-0.00624312 -0.01241573 0.99990343 0.15952611] [ 0. 0. 0. 1. ]] SLAMing on 20.851652532 meters Centerline goodness : 0.758598 Centerline is valid? [False, False] Translation: X:-0.94, Y:-1.35, Z:0.16 [[ 0.99991488 0.0109628 0.00707388 -0.93624254] [-0.01107718 0.99980516 0.0163381 -1.34696845] [-0.00689339 -0.01641507 0.9998415 0.15814989] [ 0. 0. 0. 1. ]] SLAMing on 20.881652532 meters Centerline goodness : 0.761192 Centerline is valid? [False, False] Translation: X:-0.94, Y:-1.34, Z:0.16 [[ 0.99985806 0.01482415 0.00800614 -0.93770592] [-0.01497647 0.99970133 0.01931193 -1.34273493] [-0.00771746 -0.01942909 0.99978145 0.15699406] [ 0. 0. 0. 1. ]] SLAMing on 20.911652532 meters Centerline goodness : 0.757994 Centerline is valid? [False, False] Translation: X:-0.94, Y:-1.34, Z:0.16 [[ 0.99958758 0.02482083 0.01444252 -0.94326192] [-0.02499122 0.99961874 0.01173927 -1.34201077] [-0.01414563 -0.01209537 0.99982679 0.15880109] [ 0. 0. 0. 1. ]] SLAMing on 20.941652532 meters Centerline goodness : 0.758389 Centerline is valid? [False, False] Translation: X:-0.96, Y:-1.35, Z:0.15 [[ 0.99914102 0.0365107 0.01960063 -0.95564204] [-0.03684811 0.99917391 0.01713829 -1.34958794] [-0.01895871 -0.01784581 0.99966099 0.15388982] [ 0. 0. 0. 1. ]] SLAMing on 20.971652532 meters Centerline goodness : 0.760551 Centerline is valid? [False, False] Translation: X:-0.96, Y:-1.35, Z:0.15 [[ 0.99897185 0.04060643 0.02015839 -0.95590835] [-0.04102592 0.99894048 0.02085152 -1.3478447 ] [-0.01929033 -0.0216571 0.99957934 0.15276962] [ 0. 0. 0. 1. ]] SLAMing on 21.001652532 meters Centerline goodness : 0.758845 Centerline is valid? [False, False] Translation: X:-0.96, Y:-1.35, Z:0.15 [[ 0.99889055 0.04202875 0.02124275 -0.95810304] [-0.04249778 0.99885139 0.02213246 -1.35033772] [-0.02028815 -0.02301068 0.99952934 0.15199257] [ 0. 0. 0. 1. ]] SLAMing on 21.031652532 meters Centerline goodness : 0.759610 Centerline is valid? [False, False] Translation: X:-0.96, Y:-1.35, Z:0.15 [[ 0.99888738 0.04191959 0.02160457 -0.95896466] [-0.04238959 0.99886381 0.02177644 -1.34940609] [-0.02066716 -0.02266802 0.9995294 0.15189524] [ 0. 0. 0. 1. ]] SLAMing on 21.061652532 meters Centerline goodness : 0.759214 Centerline is valid? [False, False] Translation: X:-0.96, Y:-1.35, Z:0.15 [[ 0.99883962 0.04283226 0.02201854 -0.95871128] [-0.04332657 0.9988079 0.02248511 -1.35079366] [-0.0210292 -0.02341301 0.99950468 0.15001366] [ 0. 0. 0. 1. ]] SLAMing on 21.091652532 meters Centerline goodness : 0.757145 Centerline is valid? [False, False] Translation: X:-0.96, Y:-1.35, Z:0.15 [[ 0.99891934 0.04030491 0.02314465 -0.96170228] [-0.0407666 0.9989718 0.01983515 -1.35377018] [-0.0223214 -0.02075724 0.99953534 0.1497217 ] [ 0. 0. 0. 1. ]] SLAMing on 21.121652532 meters Centerline goodness : 0.756913 Centerline is valid? [False, False] Translation: X:-0.96, Y:-1.36, Z:0.15 [[ 0.9990237 0.03717388 0.02386949 -0.96460367] [-0.03757864 0.99915348 0.01673838 -1.35634673] [-0.02322705 -0.01761902 0.99957495 0.15060797] [ 0. 0. 0. 1. ]] SLAMing on 21.151652532 meters Centerline goodness : 0.757423 Centerline is valid? [False, False] Translation: X:-0.97, Y:-1.36, Z:0.15 [[ 0.99910336 0.03459904 0.02440058 -0.96696556] [-0.03495982 0.99928328 0.01451697 -1.3614775 ] [-0.02388082 -0.01535699 0.99959685 0.15147709] [ 0. 0. 0. 1. ]] SLAMing on 21.181652532 meters Centerline goodness : 0.755938 Centerline is valid? [False, False] Translation: X:-0.96, Y:-1.37, Z:0.15 [[ 0.99926957 0.03047341 0.02305876 -0.96460079] [-0.03074162 0.99946272 0.01136778 -1.3660254 ] [-0.02269996 -0.01206834 0.99966948 0.1523741 ] [ 0. 0. 0. 1. ]] SLAMing on 21.211652532000002 meters Centerline goodness : 0.757178 Centerline is valid? [False, False] Translation: X:-0.97, Y:-1.37, Z:0.15 [[ 0.99937889 0.02665255 0.02305397 -0.96532951] [-0.02683837 0.99960944 0.00778885 -1.36845605] [-0.02283737 -0.00840275 0.99970388 0.15296993] [ 0. 0. 0. 1. ]] SLAMing on 21.241652532 meters Centerline goodness : 0.758917 Centerline is valid? [False, False] Translation: X:-0.96, Y:-1.37, Z:0.15 [[ 0.99952342 0.02203455 0.02161971 -0.96319926] [-0.02212626 0.99974714 0.00401165 -1.37106284] [-0.02152584 -0.0044881 0.99975822 0.15473078] [ 0. 0. 0. 1. ]] SLAMing on 21.271652532 meters Centerline goodness : 0.757516 Centerline is valid? [False, False] Translation: X:-0.96, Y:-1.37, Z:0.16 [[ 0.99955182 0.02155981 0.02076839 -0.96149527] [-0.02164871 0.99975737 0.00406528 -1.3724286 ] [-0.02067571 -0.00451307 0.99977605 0.15546099] [ 0. 0. 0. 1. ]] SLAMing on 21.301652532000002 meters Centerline goodness : 0.759906 Centerline is valid? [False, False] Translation: X:-0.96, Y:-1.37, Z:0.16 [[ 0.99957083 0.02126485 0.02014855 -0.96087961] [-0.02135558 0.9997627 0.00429862 -1.37413428] [-0.02005236 -0.00472706 0.99978776 0.15684479] [ 0. 0. 0. 1. ]] SLAMing on 21.331652532 meters Centerline goodness : 0.760134 Centerline is valid? [False, False] Translation: X:-0.96, Y:-1.38, Z:0.16 [[ 0.99960847 0.0203567 0.01919667 -0.95904706] [-0.02044117 0.99978218 0.0042142 -1.37545044] [-0.0191067 -0.00460495 0.99980685 0.15787145] [ 0. 0. 0. 1. ]] SLAMing on 21.361652532 meters Centerline goodness : 0.758890 Centerline is valid? [False, False] Translation: X:-0.96, Y:-1.37, Z:0.16 [[ 9.99691334e-01 1.57097882e-02 1.92468118e-02 -9.59494290e-01] [-1.57012105e-02 9.99876550e-01 -5.96711847e-04 -1.37419987e+00] [-1.92538100e-02 2.94329419e-04 9.99814585e-01 1.58164442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.391652532000002 meters Centerline goodness : 0.756595 Centerline is valid? [False, False] Translation: X:-0.96, Y:-1.37, Z:0.16 [[ 0.99973128 0.0138331 0.01860156 -0.95663392] [-0.01378466 0.99990126 -0.00273008 -1.37034444] [-0.01863749 0.00247293 0.99982325 0.15642917] [ 0. 0. 0. 1. ]] SLAMing on 21.421652532 meters Centerline goodness : 0.759017 Centerline is valid? [False, False] Translation: X:-0.96, Y:-1.37, Z:0.16 [[ 0.99973611 0.01355624 0.01854538 -0.95682047] [-0.01350261 0.99990429 -0.00301387 -1.36963276] [-0.01858447 0.00276266 0.99982348 0.15686985] [ 0. 0. 0. 1. ]] SLAMing on 21.451652532 meters Centerline goodness : 0.757802 Centerline is valid? [False, False] Translation: X:-0.96, Y:-1.37, Z:0.16 [[ 0.99974627 0.0133472 0.01814512 -0.95640821] [-0.01329793 0.99990757 -0.00283285 -1.3708473 ] [-0.01818125 0.00259084 0.99983135 0.15763774] [ 0. 0. 0. 1. ]] SLAMing on 21.481652532000002 meters Centerline goodness : 0.757234 Centerline is valid? [False, False] Translation: X:-0.95, Y:-1.37, Z:0.16 [[ 0.99978064 0.01193518 0.01721136 -0.95427817] [-0.01186933 0.99992186 -0.00392308 -1.36949004] [-0.01725684 0.00371793 0.99984418 0.15806738] [ 0. 0. 0. 1. ]] SLAMing on 21.511652532 meters Centerline goodness : 0.757625 Centerline is valid? [False, False] Translation: X:-0.95, Y:-1.37, Z:0.16 [[ 0.99980789 0.01087556 0.01630634 -0.95207828] [-0.01079928 0.99993036 -0.0047588 -1.36855986] [-0.01635695 0.00458179 0.99985572 0.15817037] [ 0. 0. 0. 1. ]] SLAMing on 21.541652532 meters Centerline goodness : 0.757225 Centerline is valid? [False, False] Translation: X:-0.95, Y:-1.37, Z:0.16 [[ 0.99982975 0.01022013 0.01536313 -0.95117163] [-0.01014847 0.99993729 -0.00473492 -1.36962481] [-0.01541056 0.0045782 0.99987077 0.160252 ] [ 0. 0. 0. 1. ]] SLAMing on 21.571652532 meters Centerline goodness : 0.759943 Centerline is valid? [False, False] Translation: X:-0.95, Y:-1.37, Z:0.16 [[ 0.99982633 0.01066029 0.01528647 -0.95237761] [-0.01060356 0.99993661 -0.00378701 -1.37254045] [-0.01532587 0.00362426 0.99987598 0.1621145 ] [ 0. 0. 0. 1. ]] SLAMing on 21.601652532 meters Centerline goodness : 0.761780 Centerline is valid? [False, False] Translation: X:-0.95, Y:-1.38, Z:0.16 [[ 0.99982161 0.01138074 0.01507377 -0.95320879] [-0.01134654 0.99993286 -0.00235221 -1.37701341] [-0.01509953 0.00218076 0.99988362 0.16384191] [ 0. 0. 0. 1. ]] SLAMing on 21.631652532 meters Centerline goodness : 0.761406 Centerline is valid? [False, False] Translation: X:-0.95, Y:-1.38, Z:0.17 [[ 0.99984123 0.01080719 0.01416749 -0.95213648] [-0.01077425 0.99993908 -0.00239947 -1.37798138] [-0.01419256 0.00224644 0.99989676 0.16554738] [ 0. 0. 0. 1. ]] SLAMing on 21.661652532 meters Centerline goodness : 0.762549 Centerline is valid? [False, False] Translation: X:-0.95, Y:-1.38, Z:0.17 [[ 0.99988502 0.00695723 0.01347408 -0.9514409 ] [-0.00688488 0.99996167 -0.00540827 -1.38223656] [-0.01351119 0.00531488 0.99989459 0.1668707 ] [ 0. 0. 0. 1. ]] SLAMing on 21.691652532 meters Centerline goodness : 0.765090 Centerline is valid? [False, False] Translation: X:-0.95, Y:-1.38, Z:0.17 [[ 0.99991035 0.00255962 0.01314306 -0.95128385] [-0.00243371 0.99995108 -0.00958712 -1.38303806] [-0.01316696 0.00955427 0.99986766 0.1677304 ] [ 0. 0. 0. 1. ]] SLAMing on 21.721652532 meters Centerline goodness : 0.764343 Centerline is valid? [False, False] Translation: X:-0.95, Y:-1.38, Z:0.17 [[ 9.99926848e-01 1.40602748e-03 1.20134333e-02 -9.48688589e-01] [-1.28030949e-03 9.99944410e-01 -1.04660739e-02 -1.38182469e+00] [-1.20274811e-02 1.04499274e-02 9.99873061e-01 1.68048200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.751652532 meters Centerline goodness : 0.766191 Centerline is valid? [False, False] Translation: X:-0.95, Y:-1.38, Z:0.17 [[ 0.99992508 -0.00228233 0.01202575 -0.94896208] [ 0.00244875 0.9999012 -0.01384149 -1.38448273] [-0.01199297 0.0138699 0.99983188 0.1683034 ] [ 0. 0. 0. 1. ]] SLAMing on 21.781652532 meters Centerline goodness : 0.765235 Centerline is valid? [False, False] Translation: X:-0.95, Y:-1.38, Z:0.17 [[ 0.99992717 -0.00240407 0.01182726 -0.9486131 ] [ 0.002569 0.9998994 -0.01394983 -1.38422499] [-0.01179253 0.0139792 0.99983275 0.16842214] [ 0. 0. 0. 1. ]] SLAMing on 21.811652532 meters Centerline goodness : 0.767891 Centerline is valid? [False, False] Translation: X:-0.95, Y:-1.38, Z:0.17 [[ 9.99940027e-01 -1.43191271e-04 1.09508879e-02 -9.46381116e-01] [ 2.70225153e-04 9.99932684e-01 -1.15997274e-02 -1.38131008e+00] [-1.09484898e-02 1.16019909e-02 9.99872754e-01 1.68268344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.841652532 meters Centerline goodness : 0.767007 Centerline is valid? [False, False] Translation: X:-0.95, Y:-1.38, Z:0.17 [[ 0.99994123 0.00225566 0.0106037 -0.94583379] [-0.00215686 0.99995424 -0.00932008 -1.37731329] [-0.01062424 0.00929667 0.99990034 0.16868323] [ 0. 0. 0. 1. ]] SLAMing on 21.871652532 meters Centerline goodness : 0.764950 Centerline is valid? [False, False] Translation: X:-0.95, Y:-1.38, Z:0.17 [[ 0.99993131 0.00318955 0.01127879 -0.94791513] [-0.00309534 0.99996025 -0.00836108 -1.37930997] [-0.01130501 0.00832559 0.99990144 0.16884866] [ 0. 0. 0. 1. ]] SLAMing on 21.901652532 meters Centerline goodness : 0.766057 Centerline is valid? [False, False] Translation: X:-0.95, Y:-1.38, Z:0.17 [[ 0.99992859 0.00328483 0.01149052 -0.9487996 ] [-0.00318928 0.99996027 -0.00832428 -1.37923587] [-0.0115174 0.00828704 0.99989933 0.16918698] [ 0. 0. 0. 1. ]] SLAMing on 21.931652532 meters Centerline goodness : 0.765957 Centerline is valid? [False, False] Translation: X:-0.95, Y:-1.38, Z:0.17 [[ 0.99994322 0.00164439 0.01052884 -0.94695859] [-0.00154156 0.99995111 -0.00976688 -1.37732742] [-0.01054438 0.00975009 0.99989687 0.1698255 ] [ 0. 0. 0. 1. ]] SLAMing on 21.961652532000002 meters Centerline goodness : 0.766435 Centerline is valid? [False, False] Translation: X:-0.95, Y:-1.38, Z:0.17 [[ 0.99993862 0.00206191 0.0108863 -0.94742607] [-0.00195747 0.99995204 -0.00959608 -1.37707352] [-0.01090556 0.00957418 0.9998947 0.1690064 ] [ 0. 0. 0. 1. ]] SLAMing on 21.991652532 meters Centerline goodness : 0.766435 Centerline is valid? [False, False] Translation: X:-0.95, Y:-1.38, Z:0.17 [[ 0.99993862 0.00206191 0.0108863 -0.94742607] [-0.00195747 0.99995204 -0.00959608 -1.37707352] [-0.01090556 0.00957418 0.9998947 0.1690064 ] [ 0. 0. 0. 1. ]] SLAMing on 22.021652532 meters Centerline goodness : 0.765491 Centerline is valid? [False, False] Translation: X:-0.95, Y:-1.37, Z:0.17 [[ 0.99993823 0.00435612 0.01022528 -0.94510699] [-0.00428189 0.9999644 -0.00727012 -1.37442151] [-0.01025658 0.00722589 0.99992129 0.16820322] [ 0. 0. 0. 1. ]] SLAMing on 22.051652532000002 meters Centerline goodness : 0.765652 Centerline is valid? [False, False] Translation: X:-0.94, Y:-1.37, Z:0.17 [[ 0.99993315 0.0066768 0.00944058 -0.94356141] [-0.00663036 0.99996581 -0.00494218 -1.37141245] [-0.00947326 0.00487925 0.99994322 0.16866203] [ 0. 0. 0. 1. ]] SLAMing on 22.081652532 meters Centerline goodness : 0.770294 Centerline is valid? [False, False] Translation: X:-0.95, Y:-1.38, Z:0.17 [[ 9.99884136e-01 1.17483433e-02 9.67944784e-03 -9.45282124e-01] [-1.17554884e-02 9.99930670e-01 6.81605528e-04 -1.37547645e+00] [-9.67076902e-03 -7.95313191e-04 9.99952921e-01 1.70235317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.111652532 meters Centerline goodness : 0.771273 Centerline is valid? [False, False] Translation: X:-0.95, Y:-1.38, Z:0.17 [[ 0.99984541 0.01414151 0.0104484 -0.9488507 ] [-0.01417698 0.99989396 0.00332801 -1.38005031] [-0.01040023 -0.00347563 0.99993988 0.17207218] [ 0. 0. 0. 1. ]] SLAMing on 22.141652532000002 meters Centerline goodness : 0.772218 Centerline is valid? [False, False] Translation: X:-0.95, Y:-1.38, Z:0.17 [[ 0.99979774 0.01630217 0.01177823 -0.95220236] [-0.01636559 0.99985198 0.00530885 -1.3834669 ] [-0.01168994 -0.00550053 0.99991654 0.17203574] [ 0. 0. 0. 1. ]] SLAMing on 22.171652532 meters Centerline goodness : 0.770124 Centerline is valid? [False, False] Translation: X:-0.95, Y:-1.38, Z:0.17 [[ 0.99969596 0.02082561 0.0132019 -0.95353369] [-0.02093251 0.99974879 0.00801186 -1.37881455] [-0.01303174 -0.00828578 0.99988075 0.16879604] [ 0. 0. 0. 1. ]] SLAMing on 22.201652532 meters Centerline goodness : 0.768776 Centerline is valid? [False, False] Translation: X:-0.96, Y:-1.38, Z:0.17 [[ 0.99964313 0.02238936 0.01457129 -0.95627934] [-0.0225199 0.99970716 0.0088575 -1.37921557] [-0.01436871 -0.00918248 0.9998546 0.16774084] [ 0. 0. 0. 1. ]] SLAMing on 22.231652532000002 meters Centerline goodness : 0.769053 Centerline is valid? [False, False] Translation: X:-0.96, Y:-1.38, Z:0.17 [[ 0.9996052 0.02341632 0.01552803 -0.95841813] [-0.02356687 0.99967632 0.00958445 -1.38037639] [-0.01529857 -0.00994661 0.9998335 0.16716565] [ 0. 0. 0. 1. ]] SLAMing on 22.261652532 meters Centerline goodness : 0.768507 Centerline is valid? [False, False] Translation: X:-0.96, Y:-1.38, Z:0.17 [[ 0.99962563 0.02278133 0.01515301 -0.95702159] [-0.02291884 0.99969715 0.00896352 -1.37939408] [-0.01494422 -0.00930746 0.99984501 0.1666734 ] [ 0. 0. 0. 1. ]] SLAMing on 22.291652532 meters Centerline goodness : 0.769613 Centerline is valid? [False, False] Translation: X:-0.96, Y:-1.38, Z:0.17 [[ 0.99970285 0.01902986 0.01523402 -0.95767721] [-0.01911387 0.9998028 0.00538787 -1.3816794 ] [-0.01512848 -0.00567745 0.99986944 0.16686881] [ 0. 0. 0. 1. ]] SLAMing on 22.321652532 meters Centerline goodness : 0.768374 Centerline is valid? [False, False] Translation: X:-0.96, Y:-1.38, Z:0.17 [[ 0.99983856 0.01059255 0.01451396 -0.95600758] [-0.01055827 0.99994129 -0.00243603 -1.38495778] [-0.01453892 0.00228239 0.9998917 0.16667916] [ 0. 0. 0. 1. ]] SLAMing on 22.351652532 meters Centerline goodness : 0.770565 Centerline is valid? [False, False] Translation: X:-0.96, Y:-1.40, Z:0.16 [[ 9.99923095e-01 -1.51995733e-03 1.23082585e-02 -9.63924920e-01] [ 1.53705229e-03 9.99997867e-01 -1.37956126e-03 -1.39600080e+00] [-1.23061354e-02 1.39837360e-03 9.99923299e-01 1.62096141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.381652532 meters Centerline goodness : 0.769517 Centerline is valid? [False, False] Translation: X:-0.96, Y:-1.40, Z:0.16 [[ 0.9999107 -0.00537284 0.01223626 -0.96431972] [ 0.00543252 0.99997349 -0.00484924 -1.39860826] [-0.01220988 0.00491528 0.99991338 0.16280876] [ 0. 0. 0. 1. ]] SLAMing on 22.411652532 meters Centerline goodness : 0.767460 Centerline is valid? [False, False] Translation: X:-0.96, Y:-1.40, Z:0.17 [[ 0.99994138 -0.00727389 0.00802058 -0.95803707] [ 0.0072889 0.99997173 -0.00184433 -1.40217107] [-0.00800694 0.00190269 0.99996613 0.17009082] [ 0. 0. 0. 1. ]] SLAMing on 22.441652532 meters Centerline goodness : 0.770693 Centerline is valid? [False, False] Translation: X:-0.96, Y:-1.40, Z:0.17 [[ 9.99946167e-01 -7.36277996e-03 7.31111069e-03 -9.57972136e-01] [ 7.37127979e-03 9.99972186e-01 -1.13632611e-03 -1.40497430e+00] [-7.30254082e-03 1.19015718e-03 9.99972628e-01 1.72508805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.471652532 meters Centerline goodness : 0.771338 Centerline is valid? [False, False] Translation: X:-0.96, Y:-1.41, Z:0.18 [[ 9.99944455e-01 -8.85490007e-03 5.71644984e-03 -9.56012872e-01] [ 8.86006835e-03 9.99960362e-01 -8.79415295e-04 -1.40809939e+00] [-5.70843612e-03 9.30014584e-04 9.99983274e-01 1.75559280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.501652532 meters Centerline goodness : 0.775161 Centerline is valid? [False, False] Translation: X:-0.96, Y:-1.41, Z:0.18 [[ 0.99990017 -0.01314774 0.00517615 -0.95613445] [ 0.01317097 0.99990323 -0.0044795 -1.41063395] [-0.00511675 0.00454723 0.99997657 0.17776586] [ 0. 0. 0. 1. ]] SLAMing on 22.531652532 meters Centerline goodness : 0.773576 Centerline is valid? [False, False] Translation: X:-0.95, Y:-1.41, Z:0.18 [[ 0.99989263 -0.01378998 0.00495575 -0.95434882] [ 0.01381638 0.99989033 -0.00533311 -1.40884118] [-0.00488167 0.00540101 0.9999735 0.17603752] [ 0. 0. 0. 1. ]] SLAMing on 22.561652532 meters Centerline goodness : 0.771480 Centerline is valid? [False, False] Translation: X:-0.95, Y:-1.41, Z:0.18 [[ 0.99981643 -0.01839859 0.00534781 -0.9548576 ] [ 0.01845344 0.99977568 -0.0103951 -1.40628449] [-0.00515535 0.01049188 0.99993167 0.1755422 ] [ 0. 0. 0. 1. ]] SLAMing on 22.591652532 meters Centerline goodness : 0.772339 Centerline is valid? [False, False] Translation: X:-0.95, Y:-1.40, Z:0.18 [[ 0.99980928 -0.01891091 0.00487651 -0.95390184] [ 0.01896353 0.99975988 -0.01098014 -1.40485459] [-0.00466769 0.01107052 0.99992783 0.1758211 ] [ 0. 0. 0. 1. ]] SLAMing on 22.621652532 meters Centerline goodness : 0.774234 Centerline is valid? [False, False] Translation: X:-0.95, Y:-1.41, Z:0.18 [[ 0.99982258 -0.01832474 0.00436006 -0.95397992] [ 0.01836666 0.99978352 -0.00977608 -1.40871903] [-0.00417998 0.00985443 0.99994271 0.17755636] [ 0. 0. 0. 1. ]] SLAMing on 22.651652532 meters Centerline goodness : 0.775692 Centerline is valid? [False, False] Translation: X:-0.95, Y:-1.41, Z:0.18 [[ 0.99988958 -0.0142624 0.00417362 -0.95345323] [ 0.01428643 0.9998812 -0.0057862 -1.40791545] [-0.0040906 0.00584518 0.99997455 0.17716415] [ 0. 0. 0. 1. ]] SLAMing on 22.681652532 meters Centerline goodness : 0.773066 Centerline is valid? [False, False] Translation: X:-0.95, Y:-1.41, Z:0.18 [[ 0.99993683 -0.01018309 0.00475897 -0.9542286 ] [ 0.01019365 0.99994563 -0.00219909 -1.40551576] [-0.00473632 0.00224746 0.99998626 0.17588001] [ 0. 0. 0. 1. ]] SLAMing on 22.711652532000002 meters Centerline goodness : 0.772390 Centerline is valid? [False, False] Translation: X:-0.95, Y:-1.40, Z:0.17 [[ 9.99963030e-01 -6.84485263e-03 5.20446825e-03 -9.54469981e-01] [ 6.84361305e-03 9.99976549e-01 2.55946499e-04 -1.40021616e+00] [-5.20609812e-03 -2.20319670e-04 9.99986424e-01 1.74388778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.741652532 meters Centerline goodness : 0.769932 Centerline is valid? [False, False] Translation: X:-0.96, Y:-1.40, Z:0.17 [[ 9.99953196e-01 -3.12601962e-04 9.66993996e-03 -9.62669432e-01] [ 2.94697871e-04 9.99998240e-01 1.85288995e-03 -1.39779563e+00] [-9.67050216e-03 -1.84995352e-03 9.99951528e-01 1.68105675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.771652532 meters Centerline goodness : 0.773261 Centerline is valid? [False, False] Translation: X:-0.97, Y:-1.40, Z:0.17 [[ 9.99938179e-01 1.32367681e-03 1.10402097e-02 -9.66259362e-01] [-1.35376226e-03 9.99995390e-01 2.71805158e-03 -1.39828310e+00] [-1.10365610e-02 -2.73282937e-03 9.99935361e-01 1.68035003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.801652532000002 meters Centerline goodness : 0.775865 Centerline is valid? [False, False] Translation: X:-0.97, Y:-1.40, Z:0.17 [[ 0.99989183 0.00764672 0.01256444 -0.96992724] [-0.00775032 0.9999362 0.00821731 -1.39944079] [-0.0125008 -0.0083138 0.9998873 0.16756865] [ 0. 0. 0. 1. ]] SLAMing on 22.831652532 meters Centerline goodness : 0.776099 Centerline is valid? [False, False] Translation: X:-0.98, Y:-1.40, Z:0.17 [[ 0.99935415 0.03194538 0.01645547 -0.9763637 ] [-0.03216813 0.99939191 0.01345455 -1.40421647] [-0.01601565 -0.0139752 0.99977407 0.16941937] [ 0. 0. 0. 1. ]] SLAMing on 22.861652532 meters Centerline goodness : 0.777076 Centerline is valid? [False, False] Translation: X:-0.98, Y:-1.40, Z:0.17 [[ 0.99916365 0.03663272 0.01816724 -0.97878909] [-0.03693868 0.99917628 0.01680171 -1.40098743] [-0.01753679 -0.01745873 0.99969378 0.16712389] [ 0. 0. 0. 1. ]] SLAMing on 22.891652532000002 meters Centerline goodness : 0.778414 Centerline is valid? [False, False] Translation: X:-0.98, Y:-1.40, Z:0.16 [[ 0.99888934 0.04253242 0.02027499 -0.98233975] [-0.04296228 0.99885048 0.02125956 -1.40006024] [-0.01934746 -0.022107 0.99956838 0.16496042] [ 0. 0. 0. 1. ]] SLAMing on 22.921652532 meters Centerline goodness : 0.779428 Centerline is valid? [False, False] Translation: X:-0.99, Y:-1.40, Z:0.16 [[ 0.998552 0.04896247 0.0222839 -0.98592246] [-0.04955176 0.99841437 0.02670885 -1.4005309 ] [-0.02094083 -0.02777438 0.99939485 0.16354361] [ 0. 0. 0. 1. ]] SLAMing on 22.951652532 meters Centerline goodness : 0.778055 Centerline is valid? [False, False] Translation: X:-1.00, Y:-1.41, Z:0.16 [[ 0.99776108 0.06097428 0.02747646 -0.99887088] [-0.06185001 0.99756474 0.03223614 -1.41089095] [-0.02544398 -0.03386339 0.99910253 0.15884393] [ 0. 0. 0. 1. ]] SLAMing on 22.981652532000002 meters Centerline goodness : 0.781141 Centerline is valid? [False, False] Translation: X:-1.00, Y:-1.41, Z:0.16 [[ 0.99768671 0.0617646 0.02839652 -1.00038043] [-0.06267866 0.99750406 0.03251209 -1.41092298] [-0.02631755 -0.03421673 0.99906787 0.15764004] [ 0. 0. 0. 1. ]] SLAMing on 23.011652532 meters Centerline goodness : 0.783783 Centerline is valid? [False, False] Translation: X:-1.00, Y:-1.41, Z:0.16 [[ 0.99766205 0.06198204 0.02878637 -1.001598 ] [-0.06290761 0.99749186 0.03244418 -1.41049107] [-0.02670321 -0.03417921 0.99905892 0.15782741] [ 0. 0. 0. 1. ]] SLAMing on 23.041652532 meters Centerline goodness : 0.787086 Centerline is valid? [False, False] Translation: X:-1.00, Y:-1.41, Z:0.16 [[ 0.99761018 0.06254368 0.02936339 -1.00345982] [-0.06350499 0.99743464 0.03303413 -1.41214506] [-0.02722198 -0.03481991 0.99902279 0.15818935] [ 0. 0. 0. 1. ]] SLAMing on 23.071652532 meters Centerline goodness : 0.784700 Centerline is valid? [False, False] Translation: X:-1.00, Y:-1.41, Z:0.16 [[ 0.9975428 0.06316289 0.03031175 -1.00493194] [-0.06416275 0.99738598 0.03323161 -1.41211382] [-0.02813351 -0.03509484 0.99898792 0.15685737] [ 0. 0. 0. 1. ]] SLAMing on 23.101652532 meters Centerline goodness : 0.784726 Centerline is valid? [False, False] Translation: X:-1.00, Y:-1.41, Z:0.16 [[ 0.99757078 0.06285029 0.0300395 -1.00413794] [-0.06383209 0.99741736 0.03292514 -1.41151533] [-0.02789256 -0.03476265 0.99900629 0.15671236] [ 0. 0. 0. 1. ]] SLAMing on 23.131652532 meters Centerline goodness : 0.780766 Centerline is valid? [False, False] Translation: X:-1.00, Y:-1.42, Z:0.16 [[ 0.9977754 0.05992397 0.02921239 -1.00436064] [-0.06084122 0.99764737 0.03159226 -1.42005747] [-0.02725053 -0.0332993 0.99907385 0.15931333] [ 0. 0. 0. 1. ]] SLAMing on 23.161652532 meters Centerline goodness : 0.782638 Centerline is valid? [False, False] Translation: X:-1.00, Y:-1.43, Z:0.16 [[ 0.9980113 0.05624732 0.02845494 -1.00394523] [-0.05706583 0.99795435 0.02882022 -1.42545883] [-0.02677567 -0.03038671 0.99917952 0.16063378] [ 0. 0. 0. 1. ]] SLAMing on 23.191652532 meters Centerline goodness : 0.783625 Centerline is valid? [False, False] Translation: X:-1.00, Y:-1.43, Z:0.16 [[ 0.99832258 0.05114473 0.02713375 -1.001466 ] [-0.05180718 0.99836142 0.02429996 -1.42672093] [-0.02584647 -0.02566492 0.99933642 0.161136 ] [ 0. 0. 0. 1. ]] SLAMing on 23.221652532 meters Centerline goodness : 0.783269 Centerline is valid? [False, False] Translation: X:-1.00, Y:-1.43, Z:0.16 [[ 0.99858996 0.04632251 0.02592922 -0.9992299 ] [-0.04684791 0.99870107 0.02003587 -1.42824249] [-0.02496743 -0.02122235 0.99946298 0.16158668] [ 0. 0. 0. 1. ]] SLAMing on 23.251652532 meters Centerline goodness : 0.781434 Centerline is valid? [False, False] Translation: X:-1.00, Y:-1.43, Z:0.16 [[ 0.99921171 0.02530535 0.03058751 -1.00241812] [-0.02589767 0.99948161 0.01912636 -1.43091029] [-0.03008765 -0.01990343 0.99934908 0.16039268] [ 0. 0. 0. 1. ]] SLAMing on 23.281652532 meters Centerline goodness : 0.780644 Centerline is valid? [False, False] Translation: X:-1.00, Y:-1.43, Z:0.16 [[ 0.99934125 0.02089071 0.02967569 -1.00143489] [-0.02136042 0.99965012 0.01560023 -1.43428056] [-0.02933941 -0.01622384 0.99943783 0.16202215] [ 0. 0. 0. 1. ]] SLAMing on 23.311652532 meters Centerline goodness : 0.780211 Centerline is valid? [False, False] Translation: X:-1.00, Y:-1.44, Z:0.16 [[ 0.99944736 0.01633573 0.02895028 -1.0008455 ] [-0.0166783 0.99979325 0.01163131 -1.43633152] [-0.02875429 -0.01210772 0.99951318 0.16359491] [ 0. 0. 0. 1. ]] SLAMing on 23.341652532 meters Centerline goodness : 0.779185 Centerline is valid? [False, False] Translation: X:-1.00, Y:-1.44, Z:0.17 [[ 0.99957625 0.01035781 0.02720343 -0.99838223] [-0.01055212 0.99991976 0.00700896 -1.43756142] [-0.02712865 -0.00729304 0.99960535 0.16632615] [ 0. 0. 0. 1. ]] SLAMing on 23.371652532 meters Centerline goodness : 0.775890 Centerline is valid? [False, False] Translation: X:-1.00, Y:-1.44, Z:0.17 [[ 0.99962215 0.00935602 0.02584628 -0.99523012] [-0.00953386 0.99993166 0.00676591 -1.43872756] [-0.02578121 -0.00700977 0.99964303 0.16695433] [ 0. 0. 0. 1. ]] SLAMing on 23.401652532 meters Centerline goodness : 0.777972 Centerline is valid? [False, False] Translation: X:-1.00, Y:-1.45, Z:0.17 [[ 9.99673558e-01 2.44781434e-03 2.54319966e-02 -9.96580295e-01] [-2.47278993e-03 9.99996491e-01 9.50651210e-04 -1.44590165e+00] [-2.54295804e-02 -1.01322886e-03 9.99676102e-01 1.69971808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.431652532 meters Centerline goodness : 0.780745 Centerline is valid? [False, False] Translation: X:-0.99, Y:-1.44, Z:0.18 [[ 9.99789866e-01 -3.36010847e-03 2.02220803e-02 -9.85690407e-01] [ 3.36595405e-03 9.99994303e-01 -2.55039094e-04 -1.44268615e+00] [-2.02211082e-02 3.23052094e-04 9.99795480e-01 1.75008418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.461652532000002 meters Centerline goodness : 0.777544 Centerline is valid? [False, False] Translation: X:-0.99, Y:-1.45, Z:0.18 [[ 0.99973103 -0.01244369 0.01957097 -0.98671031] [ 0.01259165 0.99989293 -0.00745535 -1.45472801] [-0.01947611 0.00769977 0.99978067 0.17872982] [ 0. 0. 0. 1. ]] SLAMing on 23.491652532 meters Centerline goodness : 0.778022 Centerline is valid? [False, False] Translation: X:-0.98, Y:-1.46, Z:0.18 [[ 0.99975315 -0.01287539 0.01810695 -0.983603 ] [ 0.01299999 0.99989251 -0.0067803 -1.4584326 ] [-0.0180177 0.00701402 0.99981307 0.17967538] [ 0. 0. 0. 1. ]] SLAMing on 23.521652532 meters Centerline goodness : 0.778583 Centerline is valid? [False, False] Translation: X:-0.98, Y:-1.46, Z:0.18 [[ 0.9997061 -0.01721044 0.01707407 -0.98253376] [ 0.01738523 0.99979743 -0.01014181 -1.46217388] [-0.01689606 0.01043566 0.99980279 0.18201648] [ 0. 0. 0. 1. ]] SLAMing on 23.551652532000002 meters Centerline goodness : 0.780381 Centerline is valid? [False, False] Translation: X:-0.97, Y:-1.46, Z:0.19 [[ 0.99971063 -0.02074287 0.01218141 -0.97437483] [ 0.02083787 0.99975303 -0.00772405 -1.46312003] [-0.01201819 0.00797565 0.99989597 0.19032547] [ 0. 0. 0. 1. ]] SLAMing on 23.581652532 meters Centerline goodness : 0.780935 Centerline is valid? [False, False] Translation: X:-0.97, Y:-1.46, Z:0.19 [[ 0.99969628 -0.02179969 0.01149449 -0.97369022] [ 0.02189824 0.99972391 -0.00851866 -1.4618883 ] [-0.01130561 0.00876779 0.99989765 0.19167063] [ 0. 0. 0. 1. ]] SLAMing on 23.611652532 meters Centerline goodness : 0.779429 Centerline is valid? [False, False] Translation: X:-0.97, Y:-1.46, Z:0.19 [[ 0.9996774 -0.02274281 0.01130769 -0.97318849] [ 0.02285351 0.99969119 -0.00975936 -1.45837726] [-0.01108225 0.01001463 0.99988844 0.19158719] [ 0. 0. 0. 1. ]] SLAMing on 23.641652532000002 meters Centerline goodness : 0.777805 Centerline is valid? [False, False] Translation: X:-0.98, Y:-1.47, Z:0.19 [[ 9.99788124e-01 -2.05810167e-02 -3.59859985e-04 -9.77959492e-01] [ 2.05768093e-02 9.99745480e-01 -9.25038279e-03 -1.47288162e+00] [ 5.50150675e-04 9.24101808e-03 9.99957150e-01 1.93093892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.671652532 meters Centerline goodness : 0.773877 Centerline is valid? [False, False] Translation: X:-0.98, Y:-1.46, Z:0.19 [[ 0.99978989 -0.02040758 0.00192298 -0.98160893] [ 0.02043087 0.99970687 -0.01299087 -1.4646317 ] [-0.00165731 0.01302743 0.99991377 0.18829253] [ 0. 0. 0. 1. ]] SLAMing on 23.701652532 meters Centerline goodness : 0.773583 Centerline is valid? [False, False] Translation: X:-0.98, Y:-1.46, Z:0.19 [[ 0.99986068 -0.01659655 0.00177962 -0.98118279] [ 0.0166128 0.99981647 -0.00954138 -1.46218303] [-0.00162094 0.00956962 0.9999529 0.1877648 ] [ 0. 0. 0. 1. ]] SLAMing on 23.731652532000002 meters Centerline goodness : 0.774980 Centerline is valid? [False, False] Translation: X:-0.98, Y:-1.46, Z:0.19 [[ 0.99992053 -0.01249106 0.0017076 -0.98146466] [ 0.01250039 0.99990638 -0.00556433 -1.46134864] [-0.00163794 0.00558524 0.99998306 0.18809817] [ 0. 0. 0. 1. ]] SLAMing on 23.761652532 meters Centerline goodness : 0.773945 Centerline is valid? [False, False] Translation: X:-0.98, Y:-1.47, Z:0.19 [[ 9.99977512e-01 -6.26647292e-03 2.38883560e-03 -9.84867680e-01] [ 6.26443022e-03 9.99980007e-01 8.61629179e-04 -1.46560141e+00] [-2.39418722e-03 -8.46645109e-04 9.99996776e-01 1.89678289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.791652532 meters Centerline goodness : 0.777209 Centerline is valid? [False, False] Translation: X:-0.99, Y:-1.47, Z:0.19 [[ 0.99995879 0.00830478 0.00366862 -0.9895033 ] [-0.00835925 0.99985122 0.01508871 -1.46769205] [-0.00354277 -0.01511875 0.99987943 0.1913373 ] [ 0. 0. 0. 1. ]] SLAMing on 23.821652532 meters Centerline goodness : 0.776959 Centerline is valid? [False, False] Translation: X:-1.00, Y:-1.47, Z:0.19 [[ 0.99974885 0.02008012 0.00995114 -0.9957681 ] [-0.02017408 0.99975198 0.0094333 -1.46880304] [-0.00975925 -0.00963169 0.99990599 0.19368368] [ 0. 0. 0. 1. ]] SLAMing on 23.851652532 meters Centerline goodness : 0.778439 Centerline is valid? [False, False] Translation: X:-1.00, Y:-1.47, Z:0.19 [[ 0.99961365 0.02536417 0.01136747 -0.99792516] [-0.02552088 0.99957821 0.01385919 -1.46802058] [-0.01101115 -0.01414395 0.99983934 0.19191712] [ 0. 0. 0. 1. ]] SLAMing on 23.881652532 meters Centerline goodness : 0.778439 Centerline is valid? [False, False] Translation: X:-1.00, Y:-1.47, Z:0.19 [[ 0.99961365 0.02536417 0.01136747 -0.99792516] [-0.02552088 0.99957821 0.01385919 -1.46802058] [-0.01101115 -0.01414395 0.99983934 0.19191712] [ 0. 0. 0. 1. ]] SLAMing on 23.911652532 meters Centerline goodness : 0.783959 Centerline is valid? [False, False] Translation: X:-1.01, Y:-1.48, Z:0.19 [[ 0.9992004 0.03677595 0.01568731 -1.00925515] [-0.0370582 0.99914922 0.01809755 -1.47549356] [-0.0150084 -0.01866443 0.99971315 0.18661058] [ 0. 0. 0. 1. ]] SLAMing on 23.941652532 meters Centerline goodness : 0.784111 Centerline is valid? [False, False] Translation: X:-1.01, Y:-1.48, Z:0.19 [[ 0.9991934 0.03694273 0.01574104 -1.0097214 ] [-0.03723001 0.99913794 0.01836604 -1.47645872] [-0.01504897 -0.01893726 0.99970741 0.18702234] [ 0. 0. 0. 1. ]] SLAMing on 23.971652532 meters Centerline goodness : 0.785158 Centerline is valid? [False, False] Translation: X:-1.01, Y:-1.48, Z:0.19 [[ 0.9992063 0.03671276 0.01545803 -1.00867662] [-0.03699229 0.99914974 0.01820363 -1.47664259] [-0.01477658 -0.01876101 0.9997148 0.18659116] [ 0. 0. 0. 1. ]] SLAMing on 24.001652532 meters Centerline goodness : 0.787772 Centerline is valid? [False, False] Translation: X:-1.01, Y:-1.48, Z:0.19 [[ 0.99922794 0.03632185 0.01497495 -1.00691591] [-0.03658762 0.99917062 0.01787253 -1.47636898] [-0.01431337 -0.01840663 0.99972812 0.18582623] [ 0. 0. 0. 1. ]] SLAMing on 24.031652532 meters Centerline goodness : 0.785431 Centerline is valid? [False, False] Translation: X:-1.01, Y:-1.48, Z:0.19 [[ 0.99930413 0.03353165 0.01633643 -1.01027826] [-0.0337705 0.99932339 0.01457102 -1.47789331] [-0.01583678 -0.01511257 0.99976037 0.18519212] [ 0. 0. 0. 1. ]] SLAMing on 24.061652532 meters Centerline goodness : 0.784152 Centerline is valid? [False, False] Translation: X:-1.01, Y:-1.48, Z:0.18 [[ 0.9993926 0.03032392 0.0171721 -1.01176812] [-0.03051438 0.99947446 0.01093991 -1.47876921] [-0.01683133 -0.01145726 0.9997927 0.18382448] [ 0. 0. 0. 1. ]] SLAMing on 24.091652532 meters Centerline goodness : 0.781920 Centerline is valid? [False, False] Translation: X:-1.01, Y:-1.48, Z:0.18 [[ 0.99942856 0.0294396 0.01660935 -1.00978555] [-0.02960729 0.99951216 0.0099423 -1.47673038] [-0.01630855 -0.01042838 0.99981262 0.18316139] [ 0. 0. 0. 1. ]] SLAMing on 24.121652532 meters Centerline goodness : 0.781892 Centerline is valid? [False, False] Translation: X:-1.01, Y:-1.48, Z:0.18 [[ 0.99947781 0.02743027 0.01707873 -1.01190812] [-0.027576 0.99958478 0.00835652 -1.4825665 ] [-0.01684241 -0.00882312 0.99981923 0.18394879] [ 0. 0. 0. 1. ]] SLAMing on 24.151652532 meters Centerline goodness : 0.784019 Centerline is valid? [False, False] Translation: X:-1.00, Y:-1.48, Z:0.19 [[ 0.99963045 0.02390141 0.01294938 -1.00430343] [-0.02403218 0.99966077 0.01003954 -1.48298311] [-0.01270502 -0.01034704 0.99986575 0.19053656] [ 0. 0. 0. 1. ]] SLAMing on 24.181652532 meters Centerline goodness : 0.786281 Centerline is valid? [False, False] Translation: X:-1.00, Y:-1.49, Z:0.19 [[ 0.99964015 0.02376605 0.01243999 -1.00409751] [-0.023899 0.99965765 0.01064974 -1.48575649] [-0.01218263 -0.01094321 0.99986591 0.19208697] [ 0. 0. 0. 1. ]] SLAMing on 24.211652532000002 meters Centerline goodness : 0.781051 Centerline is valid? [False, False] Translation: X:-1.00, Y:-1.49, Z:0.19 [[ 0.99975339 0.01865014 0.01205496 -1.00378775] [-0.01872112 0.99980791 0.00580276 -1.48533344] [-0.01194442 -0.00602701 0.9999105 0.19290409] [ 0. 0. 0. 1. ]] SLAMing on 24.241652532 meters Centerline goodness : 0.781683 Centerline is valid? [False, False] Translation: X:-1.00, Y:-1.48, Z:0.19 [[ 9.99851962e-01 1.25855824e-02 1.17327325e-02 -1.00166275e+00] [-1.25758246e-02 9.99920512e-01 -9.05089866e-04 -1.47986546e+00] [-1.17431909e-02 7.57407093e-04 9.99930760e-01 1.90959561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.271652532 meters Centerline goodness : 0.779066 Centerline is valid? [False, False] Translation: X:-1.00, Y:-1.48, Z:0.19 [[ 9.99854478e-01 1.25137212e-02 1.15943846e-02 -1.00046676e+00] [-1.25017084e-02 9.99921237e-01 -1.10798587e-03 -1.47937643e+00] [-1.16073364e-02 9.62875019e-04 9.99932169e-01 1.89633248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.301652532000002 meters Centerline goodness : 0.777671 Centerline is valid? [False, False] Translation: X:-1.00, Y:-1.48, Z:0.19 [[ 9.99868035e-01 1.19478218e-02 1.10073961e-02 -9.98658689e-01] [-1.19311264e-02 9.99927571e-01 -1.58116550e-03 -1.47875759e+00] [-1.10254904e-02 1.44962621e-03 9.99938167e-01 1.89197758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.331652532 meters Centerline goodness : 0.778585 Centerline is valid? [False, False] Translation: X:-1.00, Y:-1.48, Z:0.19 [[ 9.99875609e-01 1.18437415e-02 1.04159966e-02 -9.98047242e-01] [-1.18306190e-02 9.99929144e-01 -1.32055220e-03 -1.47986406e+00] [-1.04308989e-02 1.19716024e-03 9.99944880e-01 1.90415538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.361652532 meters Centerline goodness : 0.781280 Centerline is valid? [False, False] Translation: X:-1.00, Y:-1.49, Z:0.19 [[ 9.99862058e-01 1.27712297e-02 1.06188502e-02 -1.00050343e+00] [-1.27773364e-02 9.99918238e-01 5.07435159e-04 -1.48531221e+00] [-1.06115014e-02 -6.43045784e-04 9.99943490e-01 1.92937556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.391652532000002 meters Centerline goodness : 0.782174 Centerline is valid? [False, False] Translation: X:-1.00, Y:-1.49, Z:0.19 [[ 0.99984268 0.01380592 0.01113588 -1.002646 ] [-0.01382846 0.99990248 0.00195029 -1.48930123] [-0.01110786 -0.00210397 0.99993609 0.19392638] [ 0. 0. 0. 1. ]] SLAMing on 24.421652532 meters Centerline goodness : 0.780210 Centerline is valid? [False, False] Translation: X:-1.01, Y:-1.49, Z:0.19 [[ 0.99981304 0.01497179 0.01223608 -1.00566104] [-0.01500983 0.99988277 0.00302351 -1.49167608] [-0.01218938 -0.00320661 0.99992057 0.19400199] [ 0. 0. 0. 1. ]] SLAMing on 24.451652532 meters Centerline goodness : 0.779734 Centerline is valid? [False, False] Translation: X:-1.01, Y:-1.49, Z:0.19 [[ 0.99976957 0.01664666 0.01355324 -1.00854503] [-0.01670738 0.99985083 0.00437925 -1.49391758] [-0.01347832 -0.00460468 0.99989856 0.19333051] [ 0. 0. 0. 1. ]] SLAMing on 24.481652532000002 meters Centerline goodness : 0.779411 Centerline is valid? [False, False] Translation: X:-1.01, Y:-1.49, Z:0.19 [[ 0.99962759 0.02234393 0.01566601 -1.01235747] [-0.02248039 0.99971039 0.00858939 -1.49197406] [-0.01546955 -0.00893837 0.99984039 0.19130243] [ 0. 0. 0. 1. ]] SLAMing on 24.511652532 meters Centerline goodness : 0.780897 Centerline is valid? [False, False] Translation: X:-1.01, Y:-1.49, Z:0.19 [[ 0.99960508 0.02269588 0.0165703 -1.01426973] [-0.02283661 0.99970431 0.00835359 -1.49060222] [-0.01637581 -0.0087287 0.99982781 0.19065873] [ 0. 0. 0. 1. ]] SLAMing on 24.541652532 meters Centerline goodness : 0.784489 Centerline is valid? [False, False] Translation: X:-1.02, Y:-1.49, Z:0.19 [[ 0.99954829 0.02425132 0.01775054 -1.01690858] [-0.02441968 0.99965826 0.00933013 -1.49174883] [-0.0175182 -0.00975937 0.99979891 0.19002553] [ 0. 0. 0. 1. ]] SLAMing on 24.571652532 meters Centerline goodness : 0.782038 Centerline is valid? [False, False] Translation: X:-1.02, Y:-1.49, Z:0.19 [[ 0.9995431 0.02427929 0.01800315 -1.0170569 ] [-0.02444913 0.99965805 0.00927452 -1.49181341] [-0.01777181 -0.00971044 0.99979491 0.18934846] [ 0. 0. 0. 1. ]] SLAMing on 24.601652532 meters Centerline goodness : 0.784586 Centerline is valid? [False, False] Translation: X:-1.02, Y:-1.49, Z:0.19 [[ 0.99951209 0.02487955 0.01888378 -1.0196482 ] [-0.0250601 0.99964189 0.00938537 -1.49109692] [-0.01864352 -0.00985402 0.99977763 0.18981295] [ 0. 0. 0. 1. ]] SLAMing on 24.631652532 meters Centerline goodness : 0.783411 Centerline is valid? [False, False] Translation: X:-1.02, Y:-1.50, Z:0.19 [[ 0.9994317 0.02718058 0.01993735 -1.02201952] [-0.02741644 0.99955617 0.01165375 -1.4950482 ] [-0.01961174 -0.01219374 0.99973331 0.18939068] [ 0. 0. 0. 1. ]] SLAMing on 24.661652532 meters Centerline goodness : 0.781341 Centerline is valid? [False, False] Translation: X:-1.02, Y:-1.49, Z:0.19 [[ 0.99941709 0.02732966 0.0204589 -1.02315891] [-0.02757151 0.99955213 0.01163439 -1.49482616] [-0.02013178 -0.01219169 0.999723 0.18907172] [ 0. 0. 0. 1. ]] SLAMing on 24.691652532 meters Centerline goodness : 0.780986 Centerline is valid? [False, False] Translation: X:-1.03, Y:-1.49, Z:0.19 [[ 0.99938534 0.02775025 0.02142099 -1.02559043] [-0.02800662 0.99953854 0.01176207 -1.49479608] [-0.02108471 -0.01235477 0.99970135 0.18894351] [ 0. 0. 0. 1. ]] SLAMing on 24.721652532 meters Centerline goodness : 0.781148 Centerline is valid? [False, False] Translation: X:-1.02, Y:-1.49, Z:0.19 [[ 0.99945378 0.02589269 0.02053546 -1.02335847] [-0.02611172 0.9996042 0.01047025 -1.49400622] [-0.02025622 -0.01100074 0.9997343 0.18925978] [ 0. 0. 0. 1. ]] SLAMing on 24.751652532 meters Centerline goodness : 0.780874 Centerline is valid? [False, False] Translation: X:-1.02, Y:-1.50, Z:0.19 [[ 0.99953064 0.0224076 0.02089021 -1.02496307] [-0.02256204 0.99971961 0.00718715 -1.49689449] [-0.02072331 -0.00765511 0.99975594 0.18982749] [ 0. 0. 0. 1. ]] SLAMing on 24.781652532 meters Centerline goodness : 0.780733 Centerline is valid? [False, False] Translation: X:-1.02, Y:-1.50, Z:0.19 [[ 0.9995461 0.0221292 0.02044229 -1.0233232 ] [-0.02227467 0.99972797 0.00691611 -1.49642064] [-0.02028369 -0.00736831 0.99976711 0.18911346] [ 0. 0. 0. 1. ]] SLAMing on 24.811652532 meters Centerline goodness : 0.778848 Centerline is valid? [False, False] Translation: X:-1.02, Y:-1.50, Z:0.19 [[ 0.99955719 0.02183297 0.02021754 -1.02211186] [-0.02197021 0.9997369 0.00659076 -1.49584117] [-0.02006832 -0.00703203 0.99977388 0.18823059] [ 0. 0. 0. 1. ]] SLAMing on 24.841652532 meters Centerline goodness : 0.776903 Centerline is valid? [False, False] Translation: X:-1.02, Y:-1.50, Z:0.19 [[ 0.99955517 0.02182367 0.02032712 -1.02319885] [-0.0219599 0.9997377 0.00650276 -1.49553441] [-0.02017987 -0.00694625 0.99977224 0.18932393] [ 0. 0. 0. 1. ]] SLAMing on 24.871652532 meters Centerline goodness : 0.779899 Centerline is valid? [False, False] Translation: X:-1.02, Y:-1.50, Z:0.19 [[ 0.99953146 0.02253257 0.02071561 -1.02453397] [-0.02269526 0.99971314 0.00765202 -1.49919534] [-0.02053725 -0.00811858 0.99975613 0.18981273] [ 0. 0. 0. 1. ]] SLAMing on 24.901652532 meters Centerline goodness : 0.778109 Centerline is valid? [False, False] Translation: X:-1.03, Y:-1.50, Z:0.19 [[ 0.9995315 0.02258206 0.02065983 -1.0255225 ] [-0.02275249 0.9997087 0.00805188 -1.50081492] [-0.02047198 -0.00851817 0.99975414 0.19142877] [ 0. 0. 0. 1. ]] SLAMing on 24.931652532 meters Centerline goodness : 0.779350 Centerline is valid? [False, False] Translation: X:-1.03, Y:-1.50, Z:0.19 [[ 0.9995107 0.02322522 0.02095135 -1.02675523] [-0.02341913 0.9996847 0.00905781 -1.50398721] [-0.02073438 -0.00954404 0.99973946 0.19200003] [ 0. 0. 0. 1. ]] SLAMing on 24.961652532000002 meters Centerline goodness : 0.785547 Centerline is valid? [False, False] Translation: X:-1.03, Y:-1.50, Z:0.19 [[ 0.99950108 0.02345037 0.02115832 -1.02655473] [-0.02365159 0.99967691 0.00931036 -1.50488367] [-0.02093315 -0.00980614 0.99973279 0.19096826] [ 0. 0. 0. 1. ]] SLAMing on 24.991652532 meters Centerline goodness : 0.782112 Centerline is valid? [False, False] Translation: X:-1.03, Y:-1.50, Z:0.19 [[ 0.99949711 0.02329374 0.02151567 -1.0267804 ] [-0.02348713 0.99968559 0.00877984 -1.50320572] [-0.02130439 -0.00928077 0.99972996 0.18996106] [ 0. 0. 0. 1. ]] SLAMing on 25.021652532 meters Centerline goodness : 0.782863 Centerline is valid? [False, False] Translation: X:-1.03, Y:-1.50, Z:0.19 [[ 0.9994986 0.02307458 0.02168225 -1.02658545] [-0.02325825 0.99969539 0.00825736 -1.5015835 ] [-0.02148511 -0.00875751 0.99973081 0.18903287] [ 0. 0. 0. 1. ]] SLAMing on 25.051652532000002 meters Centerline goodness : 0.782288 Centerline is valid? [False, False] Translation: X:-1.03, Y:-1.50, Z:0.19 [[ 0.99949739 0.02267659 0.02215251 -1.02701397] [-0.02284008 0.99971352 0.00715561 -1.49809335] [-0.0219839 -0.00765797 0.999729 0.18783424] [ 0. 0. 0. 1. ]] SLAMing on 25.081652532 meters Centerline goodness : 0.781366 Centerline is valid? [False, False] Translation: X:-1.03, Y:-1.50, Z:0.19 [[ 0.99952539 0.02190894 0.02165645 -1.02605043] [-0.02205547 0.99973529 0.00655048 -1.49729161] [-0.0215072 -0.00702501 0.99974401 0.18826202] [ 0. 0. 0. 1. ]] SLAMing on 25.111652532 meters Centerline goodness : 0.781383 Centerline is valid? [False, False] Translation: X:-1.03, Y:-1.50, Z:0.19 [[ 0.99954995 0.02122122 0.02120299 -1.02553258] [-0.02135431 0.99975354 0.00607027 -1.49696558] [-0.02106894 -0.00652031 0.99975676 0.18930417] [ 0. 0. 0. 1. ]] SLAMing on 25.141652532000002 meters Centerline goodness : 0.782473 Centerline is valid? [False, False] Translation: X:-1.02, Y:-1.50, Z:0.19 [[ 0.99956491 0.02121533 0.02049147 -1.02402088] [-0.02135652 0.9997495 0.00669581 -1.49975232] [-0.02034429 -0.00713052 0.99976761 0.18973822] [ 0. 0. 0. 1. ]] SLAMing on 25.171652532 meters Centerline goodness : 0.781781 Centerline is valid? [False, False] Translation: X:-1.02, Y:-1.51, Z:0.19 [[ 0.99965291 0.01763465 0.0195723 -1.02376193] [-0.01773056 0.99983158 0.00473736 -1.50709929] [-0.01948547 -0.00508275 0.99979722 0.19235669] [ 0. 0. 0. 1. ]] SLAMing on 25.201652532 meters Centerline goodness : 0.782278 Centerline is valid? [False, False] Translation: X:-1.02, Y:-1.51, Z:0.19 [[ 0.9997136 0.01399075 0.01941598 -1.02450575] [-0.01402531 0.99990029 0.0016451 -1.51101003] [-0.01939103 -0.00191694 0.99981014 0.19367078] [ 0. 0. 0. 1. ]] SLAMing on 25.231652532000002 meters Centerline goodness : 0.782278 Centerline is valid? [False, False] Translation: X:-1.02, Y:-1.51, Z:0.19 [[ 9.99765376e-01 1.18020334e-02 1.81632792e-02 -1.02125285e+00] [-1.18022228e-02 9.99930347e-01 -9.67698658e-05 -1.50959913e+00] [-1.81631562e-02 -1.17619907e-04 9.99835029e-01 1.93604194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.261652532 meters Centerline goodness : 0.782743 Centerline is valid? [False, False] Translation: X:-1.02, Y:-1.51, Z:0.19 [[ 0.99980734 0.00779546 0.01801428 -1.02134449] [-0.00772582 0.99996242 -0.00393198 -1.51117799] [-0.01804425 0.00379205 0.99983 0.19396926] [ 0. 0. 0. 1. ]] SLAMing on 25.291652532 meters Centerline goodness : 0.783920 Centerline is valid? [False, False] Translation: X:-1.02, Y:-1.51, Z:0.19 [[ 0.99984115 0.00369824 0.01743581 -1.02003731] [-0.00356397 0.9999638 -0.00772589 -1.51289881] [-0.01746375 0.00766252 0.99981813 0.19396613] [ 0. 0. 0. 1. ]] SLAMing on 25.321652532 meters Centerline goodness : 0.781615 Centerline is valid? [False, False] Translation: X:-1.02, Y:-1.51, Z:0.19 [[ 0.99985535 0.00288907 0.01676091 -1.01876856] [-0.00274798 0.99996065 -0.00843453 -1.51159882] [-0.01678462 0.00838725 0.99982395 0.1946686 ] [ 0. 0. 0. 1. ]] SLAMing on 25.351652532 meters Centerline goodness : 0.782382 Centerline is valid? [False, False] Translation: X:-1.02, Y:-1.51, Z:0.20 [[ 0.99986141 0.00297466 0.01638036 -1.0187323 ] [-0.00284534 0.99996465 -0.00791247 -1.51345235] [-0.01640331 0.00786476 0.99983452 0.19583826] [ 0. 0. 0. 1. ]] SLAMing on 25.381652532 meters Centerline goodness : 0.778857 Centerline is valid? [False, False] Translation: X:-1.02, Y:-1.51, Z:0.20 [[ 9.99874534e-01 1.33328111e-03 1.57841355e-02 -1.01770506e+00] [-1.18773858e-03 9.99956729e-01 -9.22659723e-03 -1.51132573e+00] [-1.57957542e-02 9.20669218e-03 9.99832852e-01 1.96654228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.411652532 meters Centerline goodness : 0.778993 Centerline is valid? [False, False] Translation: X:-1.02, Y:-1.51, Z:0.20 [[ 9.99888737e-01 1.07110356e-04 1.49164978e-02 -1.01585185e+00] [ 4.69259761e-05 9.99946686e-01 -1.03258421e-02 -1.50941571e+00] [-1.49168086e-02 1.03253931e-02 9.99835424e-01 1.97160702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.441652532 meters Centerline goodness : 0.781112 Centerline is valid? [False, False] Translation: X:-1.01, Y:-1.51, Z:0.20 [[ 9.99898869e-01 2.73206105e-05 1.42214878e-02 -1.01444409e+00] [ 1.15346866e-04 9.99949683e-01 -1.00309081e-02 -1.51077313e+00] [-1.42210462e-02 1.00315340e-02 9.99848554e-01 1.97611995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.471652532 meters Centerline goodness : 0.780444 Centerline is valid? [False, False] Translation: X:-1.01, Y:-1.51, Z:0.20 [[ 9.99917163e-01 -1.30447670e-03 1.28048903e-02 -1.01176392e+00] [ 1.43820759e-03 9.99944467e-01 -1.04400890e-02 -1.51172882e+00] [-1.27905604e-02 1.04576403e-02 9.99863510e-01 1.98935557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.501652532 meters Centerline goodness : 0.780712 Centerline is valid? [False, False] Translation: X:-1.01, Y:-1.51, Z:0.20 [[ 0.99993001 -0.00218148 0.01162852 -1.01026534] [ 0.00230456 0.99994136 -0.01058124 -1.51303662] [-0.01160476 0.0106073 0.9998764 0.20091474] [ 0. 0. 0. 1. ]] SLAMing on 25.531652532 meters Centerline goodness : 0.781230 Centerline is valid? [False, False] Translation: X:-1.01, Y:-1.51, Z:0.20 [[ 0.99993347 -0.00291691 0.01115992 -1.00893549] [ 0.00304166 0.9999329 -0.01117766 -1.5120741 ] [-0.01112656 0.01121086 0.99987525 0.20080395] [ 0. 0. 0. 1. ]] SLAMing on 25.561652532 meters Centerline goodness : 0.779279 Centerline is valid? [False, False] Translation: X:-1.01, Y:-1.51, Z:0.20 [[ 0.99993561 -0.00435599 0.01047856 -1.0074695 ] [ 0.00448985 0.99990819 -0.01278494 -1.50867426] [-0.01042191 0.01283117 0.99986336 0.20109952] [ 0. 0. 0. 1. ]] SLAMing on 25.591652532 meters Centerline goodness : 0.779968 Centerline is valid? [False, False] Translation: X:-1.01, Y:-1.51, Z:0.20 [[ 0.99993399 -0.00410011 0.01073354 -1.00756648] [ 0.00423608 0.99991069 -0.01267517 -1.50881296] [-0.01068061 0.0127198 0.99986206 0.20022847] [ 0. 0. 0. 1. ]] SLAMing on 25.621652532 meters Centerline goodness : 0.782406 Centerline is valid? [False, False] Translation: X:-1.00, Y:-1.51, Z:0.20 [[ 9.99950263e-01 -1.04154413e-03 9.91897020e-03 -1.00490908e+00] [ 1.13619728e-03 9.99953831e-01 -9.54178977e-03 -1.50734161e+00] [-9.90857405e-03 9.55258510e-03 9.99905280e-01 1.99399540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.651652532 meters Centerline goodness : 0.782864 Centerline is valid? [False, False] Translation: X:-1.00, Y:-1.50, Z:0.20 [[ 0.99994958 0.00233002 0.00976795 -1.00438088] [-0.00226538 0.9999755 -0.00662363 -1.50361473] [-0.00978314 0.00660117 0.99993035 0.19914224] [ 0. 0. 0. 1. ]] SLAMing on 25.681652532 meters Centerline goodness : 0.783359 Centerline is valid? [False, False] Translation: X:-1.01, Y:-1.51, Z:0.20 [[ 0.99993959 0.00312119 0.01053952 -1.0067027 ] [-0.00305965 0.99997821 -0.00584983 -1.50516766] [-0.01055754 0.00581723 0.99992735 0.19927187] [ 0. 0. 0. 1. ]] SLAMing on 25.711652532 meters Centerline goodness : 0.780735 Centerline is valid? [False, False] Translation: X:-1.01, Y:-1.51, Z:0.20 [[ 0.99992693 0.00397544 0.01141607 -1.00956875] [-0.00391646 0.99997889 -0.00518415 -1.50603918] [-0.01143644 0.00513906 0.9999214 0.19981576] [ 0. 0. 0. 1. ]] SLAMing on 25.741652532 meters Centerline goodness : 0.781873 Centerline is valid? [False, False] Translation: X:-1.01, Y:-1.51, Z:0.20 [[ 0.99991183 0.00500228 0.01230059 -1.0119136 ] [-0.00495123 0.99997902 -0.00417746 -1.50810709] [-0.01232123 0.00411619 0.99991562 0.19967651] [ 0. 0. 0. 1. ]] SLAMing on 25.771652532 meters Centerline goodness : 0.781873 Centerline is valid? [False, False] Translation: X:-1.01, Y:-1.51, Z:0.20 [[ 0.99991183 0.00500228 0.01230059 -1.0119136 ] [-0.00495123 0.99997902 -0.00417746 -1.50810709] [-0.01232123 0.00411619 0.99991562 0.19967651] [ 0. 0. 0. 1. ]] SLAMing on 25.801652532000002 meters Centerline goodness : 0.782802 Centerline is valid? [False, False] Translation: X:-1.01, Y:-1.51, Z:0.20 [[ 9.99888185e-01 8.73265292e-03 1.21390808e-02 -1.01098825e+00] [-8.72620730e-03 9.99961755e-01 -5.83846831e-04 -1.50671464e+00] [-1.21437151e-02 4.77853413e-04 9.99926148e-01 1.99143614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.831652532 meters Centerline goodness : 0.783170 Centerline is valid? [False, False] Translation: X:-1.01, Y:-1.51, Z:0.20 [[ 9.99868776e-01 9.59214869e-03 1.30545692e-02 -1.01382262e+00] [-9.59390768e-03 9.99953975e-01 7.21214348e-05 -1.50774241e+00] [-1.30532766e-02 -1.97356303e-04 9.99914783e-01 1.99639028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.861652532 meters Centerline goodness : 0.784275 Centerline is valid? [False, False] Translation: X:-1.01, Y:-1.51, Z:0.20 [[ 0.99982461 0.01350905 0.01297119 -1.01352178] [-0.01356131 0.99990024 0.00394903 -1.50681788] [-0.01291655 -0.00412424 0.99990807 0.19966293] [ 0. 0. 0. 1. ]] SLAMing on 25.891652532000002 meters Centerline goodness : 0.784111 Centerline is valid? [False, False] Translation: X:-1.02, Y:-1.51, Z:0.20 [[ 0.99979329 0.01468027 0.01406667 -1.01625355] [-0.01475346 0.99987809 0.00511319 -1.5095458 ] [-0.01398989 -0.00531966 0.99988799 0.19960317] [ 0. 0. 0. 1. ]] SLAMing on 25.921652532 meters Centerline goodness : 0.782458 Centerline is valid? [False, False] Translation: X:-1.02, Y:-1.51, Z:0.20 [[ 9.99857205e-01 9.51196139e-03 1.39675752e-02 -1.01533664e+00] [-9.50463132e-03 9.99954655e-01 -5.91081318e-04 -1.50581871e+00] [-1.39725642e-02 4.58240261e-04 9.99902274e-01 1.98647053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.951652532 meters Centerline goodness : 0.781294 Centerline is valid? [False, False] Translation: X:-1.02, Y:-1.51, Z:0.20 [[ 9.99847149e-01 9.98858033e-03 1.43494374e-02 -1.01552122e+00] [-9.98434037e-03 9.99950088e-01 -3.67089033e-04 -1.50588679e+00] [-1.43523879e-02 2.23763255e-04 9.99896974e-01 1.97386226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.981652532000002 meters Centerline goodness : 0.780408 Centerline is valid? [False, False] Translation: X:-1.02, Y:-1.51, Z:0.20 [[ 0.99981921 0.01178779 0.01491987 -1.01701314] [-0.01181358 0.99992887 0.00164167 -1.51018393] [-0.01489946 -0.00181763 0.99988734 0.19724485] [ 0. 0. 0. 1. ]] SLAMing on 26.011652532 meters Centerline goodness : 0.779691 Centerline is valid? [False, False] Translation: X:-1.01, Y:-1.51, Z:0.20 [[ 0.99991716 0.0075388 0.01043219 -1.00859771] [-0.00756034 0.99996937 0.00202721 -1.5069916 ] [-0.01041659 -0.00210591 0.99994353 0.20344463] [ 0. 0. 0. 1. ]] SLAMing on 26.041652532 meters Centerline goodness : 0.779430 Centerline is valid? [False, False] Translation: X:-1.01, Y:-1.51, Z:0.20 [[ 9.99934747e-01 4.30739302e-03 1.05805517e-02 -1.00942334e+00] [-4.30199139e-03 9.99990604e-01 -5.33230460e-04 -1.51199419e+00] [-1.05827492e-02 4.87678223e-04 9.99943882e-01 2.04033247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.071652532 meters Centerline goodness : 0.778090 Centerline is valid? [False, False] Translation: X:-1.01, Y:-1.51, Z:0.20 [[ 9.99946939e-01 1.10377065e-04 1.03008481e-02 -1.00926323e+00] [-6.45193758e-05 9.99990087e-01 -4.45206238e-03 -1.51333631e+00] [-1.03012374e-02 4.45116155e-03 9.99937034e-01 2.04757982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.101652532 meters Centerline goodness : 0.777195 Centerline is valid? [False, False] Translation: X:-1.01, Y:-1.51, Z:0.21 [[ 0.99994109 -0.00586367 0.00913432 -1.0063266 ] [ 0.00595549 0.99993168 -0.01005772 -1.5116784 ] [-0.00907472 0.01011153 0.9999077 0.20503373] [ 0. 0. 0. 1. ]] SLAMing on 26.131652532 meters Centerline goodness : 0.780186 Centerline is valid? [False, False] Translation: X:-1.00, Y:-1.51, Z:0.21 [[ 0.9999445 -0.00671443 0.00811875 -1.00425611] [ 0.00679993 0.99992123 -0.01054999 -1.51137107] [-0.00804727 0.01060461 0.99991139 0.20575579] [ 0. 0. 0. 1. ]] SLAMing on 26.161652532 meters Centerline goodness : 0.779172 Centerline is valid? [False, False] Translation: X:-1.00, Y:-1.51, Z:0.21 [[ 0.99994408 -0.00785702 0.00707874 -1.00272692] [ 0.0079367 0.99990466 -0.01129964 -1.51073732] [-0.00698929 0.01135519 0.9999111 0.20730581] [ 0. 0. 0. 1. ]] SLAMing on 26.191652532 meters Centerline goodness : 0.781537 Centerline is valid? [False, False] Translation: X:-1.00, Y:-1.51, Z:0.21 [[ 0.99994784 -0.0073201 0.00712259 -1.0037788 ] [ 0.00739406 0.99991843 -0.01041405 -1.51329724] [-0.00704577 0.01046617 0.99992041 0.20839486] [ 0. 0. 0. 1. ]] SLAMing on 26.221652532 meters Centerline goodness : 0.782854 Centerline is valid? [False, False] Translation: X:-1.00, Y:-1.52, Z:0.21 [[ 0.99995032 -0.00703739 0.0070598 -1.00397933] [ 0.00710684 0.99992612 -0.00986132 -1.51507029] [-0.00698988 0.009911 0.99992645 0.20883835] [ 0. 0. 0. 1. ]] SLAMing on 26.251652532 meters Centerline goodness : 0.781442 Centerline is valid? [False, False] Translation: X:-1.00, Y:-1.51, Z:0.21 [[ 0.99994757 -0.00749997 0.00697193 -1.00321355] [ 0.00757347 0.99991539 -0.010576 -1.51306085] [-0.00689202 0.01062825 0.99991977 0.20806238] [ 0. 0. 0. 1. ]] SLAMing on 26.281652532 meters Centerline goodness : 0.782407 Centerline is valid? [False, False] Translation: X:-1.00, Y:-1.51, Z:0.21 [[ 0.99995872 -0.00620175 0.00664007 -1.00059445] [ 0.00626625 0.99993296 -0.0097368 -1.50930935] [-0.00657924 0.00977801 0.99993055 0.20602572] [ 0. 0. 0. 1. ]] SLAMing on 26.311652532 meters Centerline goodness : 0.781569 Centerline is valid? [False, False] Translation: X:-1.00, Y:-1.51, Z:0.21 [[ 0.99997404 -0.00153859 0.00703927 -1.0019647 ] [ 0.00157533 0.99998515 -0.00521616 -1.5093078 ] [-0.00703114 0.00522711 0.99996162 0.20615417] [ 0. 0. 0. 1. ]] SLAMing on 26.341652532 meters Centerline goodness : 0.781151 Centerline is valid? [False, False] Translation: X:-1.00, Y:-1.51, Z:0.21 [[ 0.99997582 0.00197642 0.0066671 -1.00182864] [-0.00196502 0.9999966 -0.00171571 -1.50759434] [-0.00667046 0.00170257 0.9999763 0.20724081] [ 0. 0. 0. 1. ]] SLAMing on 26.371652532 meters Centerline goodness : 0.778859 Centerline is valid? [False, False] Translation: X:-1.01, Y:-1.51, Z:0.21 [[ 9.99962332e-01 3.86964661e-03 7.76916237e-03 -1.00560953e+00] [-3.87042482e-03 9.99992506e-01 8.51340769e-05 -1.51030554e+00] [-7.76877471e-03 -1.15200829e-04 9.99969816e-01 2.08332016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.401652532 meters Centerline goodness : 0.778712 Centerline is valid? [False, False] Translation: X:-1.01, Y:-1.51, Z:0.21 [[ 0.99994677 0.00538897 0.00879864 -1.00797589] [-0.00540455 0.99998387 0.00174684 -1.51393639] [-0.00878909 -0.0017943 0.99995977 0.20798282] [ 0. 0. 0. 1. ]] SLAMing on 26.431652532 meters Centerline goodness : 0.777773 Centerline is valid? [False, False] Translation: X:-1.01, Y:-1.51, Z:0.21 [[ 9.99953469e-01 4.73937478e-03 8.40232401e-03 -1.00602981e+00] [-4.74766364e-03 9.99988262e-01 9.66824573e-04 -1.51282805e+00] [-8.39764324e-03 -1.00667099e-03 9.99964232e-01 2.06708033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.461652532 meters Centerline goodness : 0.778982 Centerline is valid? [False, False] Translation: X:-1.00, Y:-1.51, Z:0.21 [[ 9.99961988e-01 4.04545185e-03 7.72377808e-03 -1.00409524e+00] [-4.04765735e-03 9.99991772e-01 2.69935321e-04 -1.51159314e+00] [-7.72262251e-03 -3.01188267e-04 9.99970135e-01 2.06467429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.491652532 meters Centerline goodness : 0.780951 Centerline is valid? [False, False] Translation: X:-1.00, Y:-1.51, Z:0.21 [[ 9.99966113e-01 3.81058483e-03 7.29739817e-03 -1.00303627e+00] [-3.81116503e-03 9.99992735e-01 6.56043009e-05 -1.51122432e+00] [-7.29709517e-03 -9.34136665e-05 9.99973371e-01 2.06502915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.521652532 meters Centerline goodness : 0.778921 Centerline is valid? [False, False] Translation: X:-1.00, Y:-1.51, Z:0.21 [[ 9.99972982e-01 3.44397413e-03 6.49414926e-03 -1.00138899e+00] [-3.44594765e-03 9.99994020e-01 2.92728183e-04 -1.51303787e+00] [-6.49310227e-03 -3.15098773e-04 9.99978870e-01 2.07089259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.551652532000002 meters Centerline goodness : 0.779831 Centerline is valid? [False, False] Translation: X:-1.00, Y:-1.52, Z:0.21 [[ 9.99982178e-01 -2.74229146e-04 5.96393698e-03 -1.00125162e+00] [ 2.90616992e-04 9.99996184e-01 -2.74713032e-03 -1.51678806e+00] [-5.96316088e-03 2.74881458e-03 9.99978442e-01 2.08683741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.581652532 meters Centerline goodness : 0.780798 Centerline is valid? [False, False] Translation: X:-1.00, Y:-1.51, Z:0.21 [[ 9.99984792e-01 -1.48452994e-03 5.31140177e-03 -9.99304554e-01] [ 1.50578963e-03 9.99990863e-01 -4.00089279e-03 -1.51432418e+00] [-5.30541379e-03 4.00882980e-03 9.99977891e-01 2.08331973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.611652532 meters Centerline goodness : 0.777454 Centerline is valid? [False, False] Translation: X:-1.00, Y:-1.51, Z:0.21 [[ 0.99998547 -0.0021224 0.00495496 -0.9979551 ] [ 0.00214585 0.9999865 -0.00473221 -1.51258719] [-0.00494485 0.00474277 0.99997653 0.20768682] [ 0. 0. 0. 1. ]] SLAMing on 26.641652532000002 meters Centerline goodness : 0.777930 Centerline is valid? [False, False] Translation: X:-1.00, Y:-1.51, Z:0.21 [[ 0.99998474 -0.00261487 0.00486665 -0.99778403] [ 0.00264106 0.99998203 -0.00538277 -1.5107697 ] [-0.00485249 0.00539555 0.99997367 0.20768586] [ 0. 0. 0. 1. ]] SLAMing on 26.671652532 meters Centerline goodness : 0.774891 Centerline is valid? [False, False] Translation: X:-1.00, Y:-1.51, Z:0.21 [[ 0.99998735 -0.00312302 0.00394347 -0.99567796] [ 0.00314388 0.99998104 -0.00529406 -1.51206906] [-0.00392686 0.00530639 0.99997821 0.20812645] [ 0. 0. 0. 1. ]] SLAMing on 26.701652532 meters Centerline goodness : 0.776120 Centerline is valid? [False, False] Translation: X:-0.99, Y:-1.51, Z:0.21 [[ 0.99998505 -0.00482311 0.00257646 -0.99272264] [ 0.00483867 0.99996987 -0.00607043 -1.51312338] [-0.0025471 0.00608281 0.99997826 0.208878 ] [ 0. 0. 0. 1. ]] SLAMing on 26.731652532000002 meters Centerline goodness : 0.774176 Centerline is valid? [False, False] Translation: X:-0.99, Y:-1.51, Z:0.21 [[ 9.99952216e-01 -9.64620106e-03 1.58623371e-03 -9.91269109e-01] [ 9.66209220e-03 9.99899902e-01 -1.03358123e-02 -1.51425730e+00] [-1.48637360e-03 1.03506448e-02 9.99945326e-01 2.10509566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.761652532 meters Centerline goodness : 0.776086 Centerline is valid? [False, False] Translation: X:-0.99, Y:-1.52, Z:0.21 [[ 9.99953573e-01 -9.60793968e-03 7.34653222e-04 -9.90124819e-01] [ 9.61461991e-03 9.99906672e-01 -9.70599047e-03 -1.51682513e+00] [-6.41330087e-04 9.71260326e-03 9.99952626e-01 2.11862357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.791652532 meters Centerline goodness : 0.778437 Centerline is valid? [False, False] Translation: X:-0.99, Y:-1.52, Z:0.22 [[ 9.99963910e-01 -8.48668431e-03 3.93736338e-04 -9.91787586e-01] [ 8.48938759e-03 9.99936101e-01 -7.46487781e-03 -1.52249511e+00] [-3.30359117e-04 7.46795098e-03 9.99972060e-01 2.15070100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.821652532 meters Centerline goodness : 0.779003 Centerline is valid? [False, False] Translation: X:-0.99, Y:-1.52, Z:0.21 [[ 9.99980191e-01 -6.28248184e-03 -3.85239498e-04 -9.89466648e-01] [ 6.28044249e-03 9.99967353e-01 -5.08427007e-03 -1.52044894e+00] [ 4.17168755e-04 5.08174988e-03 9.99987001e-01 2.14649961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.851652532 meters Centerline goodness : 0.775323 Centerline is valid? [False, False] Translation: X:-0.99, Y:-1.52, Z:0.21 [[ 9.99969305e-01 -7.74174793e-03 -1.20607850e-03 -9.87221223e-01] [ 7.73386359e-03 9.99949547e-01 -6.41015411e-03 -1.51822135e+00] [ 1.25564344e-03 6.40062970e-03 9.99978727e-01 2.14504452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.881652532 meters Centerline goodness : 0.776326 Centerline is valid? [False, False] Translation: X:-0.99, Y:-1.52, Z:0.21 [[ 0.99996019 -0.00870576 -0.00195744 -0.98539325] [ 0.00869085 0.99993412 -0.00749827 -1.51570291] [ 0.00202259 0.00748096 0.99996997 0.2145311 ] [ 0. 0. 0. 1. ]] SLAMing on 26.911652532 meters Centerline goodness : 0.775985 Centerline is valid? [False, False] Translation: X:-0.99, Y:-1.52, Z:0.21 [[ 0.99996 -0.00873719 -0.00191271 -0.98552586] [ 0.00872235 0.99993282 -0.00763409 -1.5151446 ] [ 0.00197928 0.0076171 0.99996903 0.21440567] [ 0. 0. 0. 1. ]] SLAMing on 26.941652532 meters Centerline goodness : 0.774953 Centerline is valid? [False, False] Translation: X:-0.99, Y:-1.52, Z:0.22 [[ 0.9999647 -0.00823806 -0.0016521 -0.98711702] [ 0.0082264 0.99994201 -0.00695006 -1.51691107] [ 0.00170926 0.00693622 0.99997448 0.21546982] [ 0. 0. 0. 1. ]] SLAMing on 26.971652532 meters Centerline goodness : 0.775504 Centerline is valid? [False, False] Translation: X:-0.98, Y:-1.52, Z:0.22 [[ 0.99998316 -0.00513357 -0.00270691 -0.9848589 ] [ 0.00512404 0.99998069 -0.00351551 -1.51619513] [ 0.0027249 0.00350158 0.99999016 0.21592779] [ 0. 0. 0. 1. ]] SLAMing on 27.001652532 meters Centerline goodness : 0.775395 Centerline is valid? [False, False] Translation: X:-0.99, Y:-1.52, Z:0.22 [[ 0.99998797 -0.00440334 -0.00216045 -0.98674799] [ 0.00439769 0.99998692 -0.00261314 -1.5184777 ] [ 0.00217192 0.00260361 0.99999425 0.21634124] [ 0. 0. 0. 1. ]] SLAMing on 27.031652532 meters Centerline goodness : 0.774968 Centerline is valid? [False, False] Translation: X:-0.99, Y:-1.52, Z:0.22 [[ 9.99998793e-01 -4.90075074e-05 -1.55287514e-03 -9.88164845e-01] [ 5.12197038e-05 9.99998984e-01 1.42457321e-03 -1.51754609e+00] [ 1.55280375e-03 -1.42465103e-03 9.99997780e-01 2.16072990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.061652532 meters Centerline goodness : 0.775380 Centerline is valid? [False, False] Translation: X:-0.99, Y:-1.52, Z:0.22 [[ 9.99999655e-01 6.54908906e-04 -5.10321210e-04 -9.90894436e-01] [-6.53969888e-04 9.99998097e-01 1.83805289e-03 -1.51805443e+00] [ 5.11523996e-04 -1.83771852e-03 9.99998181e-01 2.15983096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.091652532 meters Centerline goodness : 0.774155 Centerline is valid? [False, False] Translation: X:-0.99, Y:-1.52, Z:0.22 [[ 9.99997921e-01 1.93725898e-03 6.36430518e-04 -9.93896234e-01] [-1.93901981e-03 9.99994262e-01 2.77787045e-03 -1.51941038e+00] [-6.31045412e-04 -2.77909872e-03 9.99995939e-01 2.15929008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.121652532 meters Centerline goodness : 0.775382 Centerline is valid? [False, False] Translation: X:-1.00, Y:-1.52, Z:0.22 [[ 9.99996440e-01 2.39899155e-03 1.16794964e-03 -9.95207574e-01] [-2.40274397e-03 9.99991922e-01 3.22208843e-03 -1.52055527e+00] [-1.16021044e-03 -3.22488324e-03 9.99994127e-01 2.15780977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.151652532 meters Centerline goodness : 0.774022 Centerline is valid? [False, False] Translation: X:-1.00, Y:-1.52, Z:0.21 [[ 0.99999023 0.0039135 0.00205628 -0.99643089] [-0.00392197 0.99998376 0.00413422 -1.52150324] [-0.00204006 -0.00414224 0.99998934 0.21438078] [ 0. 0. 0. 1. ]] SLAMing on 27.181652532 meters Centerline goodness : 0.773757 Centerline is valid? [False, False] Translation: X:-1.00, Y:-1.52, Z:0.21 [[ 9.99996181e-01 3.31686314e-04 2.74357164e-03 -9.98684812e-01] [-3.33479745e-04 9.99999731e-01 6.53253401e-04 -1.52358391e+00] [-2.74335423e-03 -6.54165832e-04 9.99996023e-01 2.14863286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.211652532 meters Centerline goodness : 0.772095 Centerline is valid? [False, False] Translation: X:-1.00, Y:-1.52, Z:0.22 [[ 9.99996817e-01 -2.38755609e-04 2.51175129e-03 -9.98671873e-01] [ 2.38792336e-04 9.99999971e-01 -1.43222345e-05 -1.52204710e+00] [-2.51174780e-03 1.49219758e-05 9.99996845e-01 2.15569657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.241652532 meters Centerline goodness : 0.772915 Centerline is valid? [False, False] Translation: X:-1.00, Y:-1.52, Z:0.21 [[ 0.99998638 0.00443136 0.00275811 -0.99868864] [-0.0044441 0.9999794 0.00463093 -1.5229457 ] [-0.00273753 -0.00464312 0.99998547 0.21471561] [ 0. 0. 0. 1. ]] SLAMing on 27.271652532 meters Centerline goodness : 0.774816 Centerline is valid? [False, False] Translation: X:-1.00, Y:-1.52, Z:0.21 [[ 0.99998095 0.00503502 0.00357069 -1.00092673] [-0.00505326 0.99997413 0.00511912 -1.52393922] [-0.00354482 -0.00513706 0.99998052 0.2148073 ] [ 0. 0. 0. 1. ]] SLAMing on 27.301652532000002 meters Centerline goodness : 0.773602 Centerline is valid? [False, False] Translation: X:-1.00, Y:-1.53, Z:0.21 [[ 0.99997055 0.00609999 0.00465805 -1.00328773] [-0.00612714 0.9999642 0.0058366 -1.52500257] [-0.00462228 -0.00586497 0.99997212 0.2141289 ] [ 0. 0. 0. 1. ]] SLAMing on 27.331652532 meters Centerline goodness : 0.771568 Centerline is valid? [False, False] Translation: X:-1.01, Y:-1.53, Z:0.21 [[ 0.99995699 0.00738966 0.00560456 -1.0051035 ] [-0.00742878 0.99994797 0.00699066 -1.52723401] [-0.00555261 -0.00703199 0.99995986 0.2132422 ] [ 0. 0. 0. 1. ]] SLAMing on 27.361652532 meters Centerline goodness : 0.772981 Centerline is valid? [False, False] Translation: X:-1.01, Y:-1.53, Z:0.21 [[ 0.99997225 0.00376091 0.00643024 -1.00746854] [-0.00378085 0.99998807 0.00309226 -1.52762472] [-0.00641854 -0.00311648 0.99997454 0.21344405] [ 0. 0. 0. 1. ]] SLAMing on 27.391652532000002 meters Centerline goodness : 0.773072 Centerline is valid? [False, False] Translation: X:-1.01, Y:-1.53, Z:0.21 [[ 0.99996688 0.00438179 0.00685797 -1.0085068 ] [-0.00440773 0.99998317 0.00377261 -1.52936095] [-0.00684132 -0.00380272 0.99996937 0.21325655] [ 0. 0. 0. 1. ]] SLAMing on 27.421652532 meters Centerline goodness : 0.774605 Centerline is valid? [False, False] Translation: X:-1.01, Y:-1.53, Z:0.21 [[ 0.99996723 0.00430772 0.00685421 -1.00835167] [-0.00433276 0.99998398 0.0036426 -1.52905238] [-0.00683841 -0.00367217 0.99996988 0.2130361 ] [ 0. 0. 0. 1. ]] SLAMing on 27.451652532 meters Centerline goodness : 0.772762 Centerline is valid? [False, False] Translation: X:-1.01, Y:-1.53, Z:0.21 [[ 0.99996717 0.00419679 0.00693156 -1.00824658] [-0.00422048 0.99998529 0.00340626 -1.52850905] [-0.00691716 -0.0034354 0.99997017 0.212635 ] [ 0. 0. 0. 1. ]] SLAMing on 27.481652532000002 meters Centerline goodness : 0.771724 Centerline is valid? [False, False] Translation: X:-1.01, Y:-1.53, Z:0.21 [[ 0.99997774 0.00295596 0.00598247 -1.00586712] [-0.00297013 0.9999928 0.00236153 -1.52718912] [-0.00597545 -0.00237925 0.99997932 0.2127694 ] [ 0. 0. 0. 1. ]] SLAMing on 27.511652532 meters Centerline goodness : 0.773977 Centerline is valid? [False, False] Translation: X:-1.00, Y:-1.53, Z:0.21 [[ 0.99998078 0.00290688 0.00547673 -1.00470716] [-0.00292151 0.99999218 0.00266518 -1.52872725] [-0.00546894 -0.00268113 0.99998145 0.21300845] [ 0. 0. 0. 1. ]] SLAMing on 27.541652532 meters Centerline goodness : 0.774138 Centerline is valid? [False, False] Translation: X:-1.00, Y:-1.53, Z:0.21 [[ 0.99998351 0.00280048 0.00501356 -1.00378626] [-0.00281497 0.99999188 0.00288541 -1.53000299] [-0.00500544 -0.00289947 0.99998327 0.21347123] [ 0. 0. 0. 1. ]] SLAMing on 27.571652532 meters Centerline goodness : 0.773814 Centerline is valid? [False, False] Translation: X:-1.00, Y:-1.53, Z:0.21 [[ 0.99998582 0.00270173 0.00458913 -1.0027414 ] [-0.00271572 0.99999168 0.00304498 -1.53105631] [-0.00458087 -0.0030574 0.99998483 0.21359862] [ 0. 0. 0. 1. ]] SLAMing on 27.601652532 meters Centerline goodness : 0.772931 Centerline is valid? [False, False] Translation: X:-1.00, Y:-1.53, Z:0.21 [[ 9.99990180e-01 -1.11389302e-03 4.28931808e-03 -1.00224186e+00] [ 1.11506126e-03 9.99999342e-01 -2.69978335e-04 -1.53418374e+00] [-4.28901453e-03 2.74758536e-04 9.99990764e-01 2.13925851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.631652532 meters Centerline goodness : 0.772951 Centerline is valid? [False, False] Translation: X:-1.00, Y:-1.53, Z:0.21 [[ 9.99991875e-01 -2.25505624e-03 3.34137599e-03 -9.99935588e-01] [ 2.25933470e-03 9.99996632e-01 -1.27722834e-03 -1.53231418e+00] [-3.33848451e-03 1.28476725e-03 9.99993602e-01 2.14020087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.661652532 meters Centerline goodness : 0.770979 Centerline is valid? [False, False] Translation: X:-1.00, Y:-1.53, Z:0.21 [[ 0.99999223 -0.00280546 0.002769 -0.99823045] [ 0.00281021 0.99999459 -0.00171129 -1.53167745] [-0.00276418 0.00171906 0.9999947 0.21372684] [ 0. 0. 0. 1. ]] SLAMing on 27.691652532 meters Centerline goodness : 0.770979 Centerline is valid? [False, False] Translation: X:-1.00, Y:-1.53, Z:0.21 [[ 0.99999223 -0.00280546 0.002769 -0.99823045] [ 0.00281021 0.99999459 -0.00171129 -1.53167745] [-0.00276418 0.00171906 0.9999947 0.21372684] [ 0. 0. 0. 1. ]] SLAMing on 27.721652532 meters Centerline goodness : 0.771415 Centerline is valid? [False, False] Translation: X:-1.00, Y:-1.53, Z:0.21 [[ 0.99997105 -0.00700455 0.00297175 -0.99885285] [ 0.00702182 0.99995828 -0.00584171 -1.5322798 ] [-0.00293071 0.0058624 0.99997852 0.21389289] [ 0. 0. 0. 1. ]] SLAMing on 27.751652532 meters Centerline goodness : 0.772563 Centerline is valid? [False, False] Translation: X:-1.00, Y:-1.53, Z:0.22 [[ 0.99996795 -0.00774784 0.00201887 -0.99766442] [ 0.00775964 0.99995246 -0.00590538 -1.53314114] [-0.00197302 0.00592085 0.99998053 0.21557961] [ 0. 0. 0. 1. ]] SLAMing on 27.781652532 meters Centerline goodness : 0.773405 Centerline is valid? [False, False] Translation: X:-1.00, Y:-1.54, Z:0.22 [[ 9.99969742e-01 -7.64708718e-03 1.42710612e-03 -9.97590827e-01] [ 7.65443055e-03 9.99957116e-01 -5.21314209e-03 -1.53549945e+00] [-1.38717956e-03 5.22390804e-03 9.99985393e-01 2.17452606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.811652532 meters Centerline goodness : 0.771676 Centerline is valid? [False, False] Translation: X:-1.00, Y:-1.54, Z:0.22 [[ 9.99972554e-01 -7.32442798e-03 1.11514121e-03 -9.97965663e-01] [ 7.32921487e-03 9.99963676e-01 -4.35082741e-03 -1.53820909e+00] [-1.08323338e-03 4.35888111e-03 9.99989913e-01 2.18937525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.841652532 meters Centerline goodness : 0.772573 Centerline is valid? [False, False] Translation: X:-1.00, Y:-1.54, Z:0.22 [[ 9.99973927e-01 -7.18538177e-03 7.17725099e-04 -9.98151082e-01] [ 7.18802357e-03 9.99967139e-01 -3.74866325e-03 -1.54023161e+00] [-6.90765937e-04 3.75372453e-03 9.99992716e-01 2.20492036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.871652532 meters Centerline goodness : 0.773489 Centerline is valid? [False, False] Translation: X:-1.00, Y:-1.54, Z:0.22 [[ 9.99968985e-01 -7.87411738e-03 -1.65687683e-04 -9.97122371e-01] [ 7.87342701e-03 9.99961705e-01 -3.82061328e-03 -1.54103422e+00] [ 1.95765296e-04 3.81919026e-03 9.99992688e-01 2.22254269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.901652532 meters Centerline goodness : 0.774055 Centerline is valid? [False, False] Translation: X:-1.00, Y:-1.54, Z:0.22 [[ 9.99966493e-01 -8.16317046e-03 -6.13466732e-04 -9.96202225e-01] [ 8.16065268e-03 9.99958700e-01 -4.00034322e-03 -1.54081165e+00] [ 6.46096879e-04 3.99520289e-03 9.99991810e-01 2.22541197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.931652532 meters Centerline goodness : 0.772335 Centerline is valid? [False, False] Translation: X:-1.00, Y:-1.54, Z:0.22 [[ 9.99966555e-01 -8.12881320e-03 -9.01260816e-04 -9.95577287e-01] [ 8.12534108e-03 9.99959801e-01 -3.79147101e-03 -1.54156640e+00] [ 9.32044746e-04 3.78402115e-03 9.99992406e-01 2.22620925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.961652532 meters Centerline goodness : 0.773722 Centerline is valid? [False, False] Translation: X:-0.99, Y:-1.54, Z:0.22 [[ 0.99996006 -0.00876518 -0.00174885 -0.99364145] [ 0.00875773 0.99995274 -0.00422074 -1.54100743] [ 0.00178576 0.00420526 0.99998956 0.22292789] [ 0. 0. 0. 1. ]] SLAMing on 27.991652532 meters Centerline goodness : 0.773857 Centerline is valid? [False, False] Translation: X:-0.99, Y:-1.54, Z:0.22 [[ 0.99994434 -0.0102111 -0.00265357 -0.99136686] [ 0.01019592 0.99993193 -0.00567327 -1.53801092] [ 0.00271132 0.0056459 0.99998039 0.2228704 ] [ 0. 0. 0. 1. ]] SLAMing on 28.021652532 meters Centerline goodness : 0.770638 Centerline is valid? [False, False] Translation: X:-0.99, Y:-1.54, Z:0.22 [[ 0.99996865 -0.00713965 -0.00342306 -0.98938763] [ 0.00713037 0.9999709 -0.00271381 -1.53533468] [ 0.00344233 0.00268931 0.99999046 0.22262171] [ 0. 0. 0. 1. ]] SLAMing on 28.051652532000002 meters Centerline goodness : 0.772264 Centerline is valid? [False, False] Translation: X:-0.99, Y:-1.54, Z:0.22 [[ 0.99997051 -0.00693736 -0.00329389 -0.98973955] [ 0.00692938 0.99997304 -0.00242969 -1.53620228] [ 0.00331065 0.00240679 0.99999162 0.22256137] [ 0. 0. 0. 1. ]] SLAMing on 28.081652532 meters Centerline goodness : 0.772762 Centerline is valid? [False, False] Translation: X:-0.99, Y:-1.54, Z:0.22 [[ 9.99976969e-01 -6.06479577e-03 -3.04610563e-03 -9.92110674e-01] [ 6.06076517e-03 9.99980748e-01 -1.33068985e-03 -1.53850839e+00] [ 3.05411735e-03 1.31219748e-03 9.99994475e-01 2.24559578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.111652532 meters Centerline goodness : 0.775876 Centerline is valid? [False, False] Translation: X:-0.99, Y:-1.54, Z:0.23 [[ 9.99984037e-01 -5.06194316e-03 -2.51045348e-03 -9.94212134e-01] [ 5.06137428e-03 9.99987164e-01 -2.32907846e-04 -1.54101375e+00] [ 2.51160023e-03 2.20197783e-04 9.99996822e-01 2.25207689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.141652532000002 meters Centerline goodness : 0.772720 Centerline is valid? [False, False] Translation: X:-0.99, Y:-1.54, Z:0.22 [[ 9.99985461e-01 -4.84839440e-03 -2.36018432e-03 -9.94344835e-01] [ 4.84831194e-03 9.99988246e-01 -4.06576815e-05 -1.54149286e+00] [ 2.36035370e-03 2.92141806e-05 9.99997214e-01 2.24792593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.171652532 meters Centerline goodness : 0.773177 Centerline is valid? [False, False] Translation: X:-0.99, Y:-1.54, Z:0.22 [[ 9.99988202e-01 -4.44012105e-03 -1.96996175e-03 -9.94991810e-01] [ 4.44050326e-03 9.99990123e-01 1.89685113e-04 -1.54175434e+00] [ 1.96910007e-03 -1.98430497e-04 9.99998042e-01 2.24086796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.201652532 meters Centerline goodness : 0.770271 Centerline is valid? [False, False] Translation: X:-0.99, Y:-1.54, Z:0.22 [[ 9.99987331e-01 -4.68970548e-03 -1.82904076e-03 -9.94847945e-01] [ 4.68913169e-03 9.99988955e-01 -3.17877023e-04 -1.54031917e+00] [ 1.83051131e-03 3.09296383e-04 9.99998277e-01 2.23260236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.231652532000002 meters Centerline goodness : 0.772975 Centerline is valid? [False, False] Translation: X:-1.00, Y:-1.54, Z:0.22 [[ 9.99991330e-01 -3.90503270e-03 -1.44607722e-03 -9.96305610e-01] [ 3.90602803e-03 9.99992136e-01 6.86109071e-04 -1.54301503e+00] [ 1.44338657e-03 -6.91751540e-04 9.99998719e-01 2.23700320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.261652532 meters Centerline goodness : 0.772214 Centerline is valid? [False, False] Translation: X:-1.00, Y:-1.54, Z:0.22 [[ 9.99993578e-01 -3.42728551e-03 -1.04815041e-03 -9.97723249e-01] [ 3.42857644e-03 9.99993363e-01 1.23232276e-03 -1.54437642e+00] [ 1.04391993e-03 -1.23590851e-03 9.99998691e-01 2.24125188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.291652532 meters Centerline goodness : 0.772538 Centerline is valid? [False, False] Translation: X:-1.00, Y:-1.55, Z:0.22 [[ 9.99996981e-01 -2.45484229e-03 -1.06286170e-04 -1.00026328e+00] [ 2.45505828e-03 9.99994819e-01 2.08203090e-03 -1.54602646e+00] [ 1.01174561e-04 -2.08228555e-03 9.99997827e-01 2.24068926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.321652532 meters Centerline goodness : 0.768099 Centerline is valid? [False, False] Translation: X:-1.00, Y:-1.54, Z:0.22 [[ 9.99998570e-01 -9.86914198e-04 1.37336963e-03 -1.00280131e+00] [ 9.83507431e-04 9.99996443e-01 2.47905790e-03 -1.54471121e+00] [-1.37581137e-03 -2.47770363e-03 9.99995984e-01 2.22372308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.351652532 meters Centerline goodness : 0.768091 Centerline is valid? [False, False] Translation: X:-1.00, Y:-1.54, Z:0.22 [[ 9.99998112e-01 -7.69016338e-04 1.78447511e-03 -1.00362988e+00] [ 7.64476839e-04 9.99996474e-01 2.54317354e-03 -1.54482247e+00] [-1.78642456e-03 -2.54180455e-03 9.99995174e-01 2.22018809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.381652532 meters Centerline goodness : 0.770517 Centerline is valid? [False, False] Translation: X:-1.00, Y:-1.55, Z:0.22 [[ 9.99998123e-01 -6.81622565e-04 1.81353076e-03 -1.00406845e+00] [ 6.76795933e-04 9.99996231e-01 2.66073972e-03 -1.54535420e+00] [-1.81533755e-03 -2.65950734e-03 9.99994816e-01 2.22407830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.411652532 meters Centerline goodness : 0.771679 Centerline is valid? [False, False] Translation: X:-1.00, Y:-1.54, Z:0.22 [[ 9.99994889e-01 2.87131828e-03 1.40600873e-03 -1.00299536e+00] [-2.87988493e-03 9.99977069e-01 6.12924512e-03 -1.54362346e+00] [-1.38837747e-03 -6.13326293e-03 9.99980228e-01 2.22444274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.441652532 meters Centerline goodness : 0.771241 Centerline is valid? [False, False] Translation: X:-1.01, Y:-1.55, Z:0.22 [[ 0.99998767 0.00429306 0.00249579 -1.00604552] [-0.00431189 0.99996189 0.0075912 -1.54686471] [-0.00246311 -0.00760187 0.99996807 0.22266756] [ 0. 0. 0. 1. ]] SLAMing on 28.471652532 meters Centerline goodness : 0.772142 Centerline is valid? [False, False] Translation: X:-1.01, Y:-1.55, Z:0.22 [[ 0.99999038 0.00382208 0.00215161 -1.00553339] [-0.00383759 0.99996632 0.00725409 -1.54655759] [-0.00212382 -0.00726228 0.99997137 0.22329348] [ 0. 0. 0. 1. ]] SLAMing on 28.501652532 meters Centerline goodness : 0.771394 Centerline is valid? [False, False] Translation: X:-1.00, Y:-1.55, Z:0.22 [[ 0.99999202 0.00345812 0.001999 -1.00495961] [-0.00347165 0.9999708 0.00680777 -1.54561109] [-0.0019754 -0.00681466 0.99997483 0.22309833] [ 0. 0. 0. 1. ]] SLAMing on 28.531652532 meters Centerline goodness : 0.771945 Centerline is valid? [False, False] Translation: X:-1.01, Y:-1.55, Z:0.22 [[ 0.99999101 0.00357606 0.00227772 -1.00502204] [-0.00359152 0.99997031 0.0068172 -1.5456381 ] [-0.00225327 -0.00682532 0.99997417 0.22214248] [ 0. 0. 0. 1. ]] SLAMing on 28.561652532 meters Centerline goodness : 0.772211 Centerline is valid? [False, False] Translation: X:-1.00, Y:-1.54, Z:0.22 [[ 0.99999208 0.00315862 0.00241936 -1.00494927] [-0.00317321 0.99997665 0.00605311 -1.54351047] [-0.00240018 -0.00606074 0.99997875 0.22154825] [ 0. 0. 0. 1. ]] SLAMing on 28.591652532 meters Centerline goodness : 0.771058 Centerline is valid? [False, False] Translation: X:-1.01, Y:-1.55, Z:0.22 [[ 0.99997601 0.0060254 0.00341783 -1.00797078] [-0.00605503 0.9999436 0.00872547 -1.54634562] [-0.00336506 -0.00874596 0.99995609 0.22208133] [ 0. 0. 0. 1. ]] SLAMing on 28.621652532 meters Centerline goodness : 0.770719 Centerline is valid? [False, False] Translation: X:-1.01, Y:-1.55, Z:0.22 [[ 0.99997696 0.00588855 0.00337828 -1.00871882] [-0.00591766 0.99994486 0.00867543 -1.5463598 ] [-0.00332701 -0.00869522 0.99995666 0.22322765] [ 0. 0. 0. 1. ]] SLAMing on 28.651652532 meters Centerline goodness : 0.772086 Centerline is valid? [False, False] Translation: X:-1.01, Y:-1.55, Z:0.22 [[ 0.99996641 0.00686009 0.00448489 -1.01152524] [-0.0069021 0.99993182 0.00941925 -1.54774231] [-0.00441996 -0.00944988 0.99994558 0.22305336] [ 0. 0. 0. 1. ]] SLAMing on 28.681652532 meters Centerline goodness : 0.769739 Centerline is valid? [False, False] Translation: X:-1.01, Y:-1.55, Z:0.22 [[ 0.99995735 0.00758055 0.00527654 -1.013268 ] [-0.0076329 0.99992114 0.00997229 -1.54875921] [-0.00520052 -0.01001214 0.99993635 0.22249492] [ 0. 0. 0. 1. ]] SLAMing on 28.711652532 meters Centerline goodness : 0.767993 Centerline is valid? [False, False] Translation: X:-1.01, Y:-1.55, Z:0.22 [[ 0.99994672 0.00804996 0.00646204 -1.014991 ] [-0.00810927 0.99992475 0.00920465 -1.54553625] [-0.00638745 -0.00925657 0.99993676 0.22052297] [ 0. 0. 0. 1. ]] SLAMing on 28.741652532 meters Centerline goodness : 0.769435 Centerline is valid? [False, False] Translation: X:-1.02, Y:-1.55, Z:0.22 [[ 0.99992164 0.00976811 0.00782883 -1.01823091] [-0.00984917 0.99989758 0.01038336 -1.54713358] [-0.0077266 -0.01045966 0.99991544 0.22001779] [ 0. 0. 0. 1. ]] SLAMing on 28.771652532 meters Centerline goodness : 0.768369 Centerline is valid? [False, False] Translation: X:-1.02, Y:-1.55, Z:0.22 [[ 0.99985236 0.01460677 0.0090501 -1.02076873] [-0.01473644 0.99978728 0.01443023 -1.54557758] [-0.0088374 -0.01456146 0.99985492 0.21934416] [ 0. 0. 0. 1. ]] SLAMing on 28.801652532 meters Centerline goodness : 0.768292 Centerline is valid? [False, False] Translation: X:-1.02, Y:-1.55, Z:0.22 [[ 0.99976114 0.01941926 0.01002801 -1.02294404] [-0.01960532 0.99963101 0.01880116 -1.54517058] [-0.0096592 -0.01899327 0.99977295 0.21890282] [ 0. 0. 0. 1. ]] SLAMing on 28.831652532 meters Centerline goodness : 0.766688 Centerline is valid? [False, False] Translation: X:-1.03, Y:-1.54, Z:0.22 [[ 0.9996443 0.02411096 0.01139885 -1.02545948] [-0.0243643 0.99944687 0.02263469 -1.54301907] [-0.0108468 -0.02290437 0.99967882 0.21769906] [ 0. 0. 0. 1. ]] SLAMing on 28.861652532 meters Centerline goodness : 0.765612 Centerline is valid? [False, False] Translation: X:-1.03, Y:-1.54, Z:0.22 [[ 0.99927742 0.03377886 0.01742475 -1.02958722] [-0.03402893 0.99931911 0.01425979 -1.53704329] [-0.01693121 -0.01484244 0.99974649 0.21832292] [ 0. 0. 0. 1. ]] SLAMing on 28.891652532000002 meters Centerline goodness : 0.764687 Centerline is valid? [False, False] Translation: X:-1.03, Y:-1.53, Z:0.22 [[ 0.99906929 0.03873761 0.01897217 -1.03207844] [-0.03908277 0.9990707 0.01817338 -1.5349919 ] [-0.01825055 -0.01889795 0.99965483 0.21670855] [ 0. 0. 0. 1. ]] SLAMing on 28.921652532 meters Centerline goodness : 0.762999 Centerline is valid? [False, False] Translation: X:-1.05, Y:-1.54, Z:0.21 [[ 0.99837518 0.05155938 0.02426189 -1.04534667] [-0.05215701 0.99833388 0.02468009 -1.54495337] [-0.02294898 -0.02590542 0.99940095 0.21217053] [ 0. 0. 0. 1. ]] SLAMing on 28.951652532 meters Centerline goodness : 0.762166 Centerline is valid? [False, False] Translation: X:-1.05, Y:-1.55, Z:0.21 [[ 0.99824068 0.05361912 0.0253088 -1.04796669] [-0.05430079 0.99815784 0.02706207 -1.55028027] [-0.02381113 -0.02838874 0.99931332 0.212421 ] [ 0. 0. 0. 1. ]] SLAMing on 28.981652532000002 meters Centerline goodness : 0.766133 Centerline is valid? [False, False] Translation: X:-1.05, Y:-1.55, Z:0.21 [[ 0.99823269 0.05378451 0.02527312 -1.04868587] [-0.05447468 0.99813742 0.02746277 -1.55174809] [-0.02374897 -0.02879098 0.99930329 0.21355869] [ 0. 0. 0. 1. ]] SLAMing on 29.011652532 meters Centerline goodness : 0.764714 Centerline is valid? [False, False] Translation: X:-1.05, Y:-1.56, Z:0.21 [[ 0.99829779 0.05225313 0.02590626 -1.05118144] [-0.05293391 0.99825087 0.0263286 -1.5578165 ] [-0.02448519 -0.0276551 0.9993176 0.21446565] [ 0. 0. 0. 1. ]] SLAMing on 29.041652532 meters Centerline goodness : 0.764025 Centerline is valid? [False, False] Translation: X:-1.05, Y:-1.56, Z:0.21 [[ 0.99833003 0.05175425 0.0256643 -1.04977135] [-0.0524137 0.99829406 0.02572512 -1.5566453 ] [-0.02428914 -0.02702732 0.99933956 0.21340782] [ 0. 0. 0. 1. ]] SLAMing on 29.071652532 meters Centerline goodness : 0.763153 Centerline is valid? [False, False] Translation: X:-1.05, Y:-1.56, Z:0.21 [[ 0.99846965 0.04852688 0.02652345 -1.05223502] [-0.04912372 0.99854297 0.02233376 -1.55880281] [-0.02540102 -0.02360251 0.99939867 0.21300687] [ 0. 0. 0. 1. ]] SLAMing on 29.101652532 meters Centerline goodness : 0.763329 Centerline is valid? [False, False] Translation: X:-1.05, Y:-1.56, Z:0.21 [[ 0.99861187 0.04525539 0.02694981 -1.05428295] [-0.04578079 0.99876682 0.01920832 -1.56214482] [-0.0260473 -0.02041544 0.99945222 0.21353507] [ 0. 0. 0. 1. ]] SLAMing on 29.131652532 meters Centerline goodness : 0.764001 Centerline is valid? [False, False] Translation: X:-1.05, Y:-1.57, Z:0.22 [[ 0.99881011 0.04118403 0.02611985 -1.05393948] [-0.04160838 0.99900722 0.01591608 -1.56573413] [-0.02543843 -0.01698395 0.99953211 0.21547346] [ 0. 0. 0. 1. ]] SLAMing on 29.161652532 meters Centerline goodness : 0.764505 Centerline is valid? [False, False] Translation: X:-1.06, Y:-1.57, Z:0.22 [[ 0.99889819 0.03859672 0.02669656 -1.05688669] [-0.03897076 0.99914732 0.01363522 -1.57026822] [-0.02614752 -0.01466058 0.99955059 0.21687419] [ 0. 0. 0. 1. ]] SLAMing on 29.191652532 meters Centerline goodness : 0.762947 Centerline is valid? [False, False] Translation: X:-1.06, Y:-1.57, Z:0.22 [[ 0.9989237 0.03812896 0.02641241 -1.0562422 ] [-0.03848618 0.99917259 0.01315086 -1.56917797] [-0.02588913 -0.01415322 0.99956462 0.21711803] [ 0. 0. 0. 1. ]] SLAMing on 29.221652532 meters Centerline goodness : 0.762651 Centerline is valid? [False, False] Translation: X:-1.06, Y:-1.57, Z:0.22 [[ 0.9989488 0.03768023 0.02610551 -1.05559161] [-0.03802186 0.99919599 0.01271625 -1.56830837] [-0.02560537 -0.01369546 0.99957831 0.21729113] [ 0. 0. 0. 1. ]] SLAMing on 29.251652532 meters Centerline goodness : 0.762555 Centerline is valid? [False, False] Translation: X:-1.05, Y:-1.57, Z:0.22 [[ 0.99897735 0.03694165 0.0260685 -1.05459336] [-0.0372565 0.99923728 0.01169692 -1.56581336] [-0.02561651 -0.01265618 0.99959172 0.21619696] [ 0. 0. 0. 1. ]] SLAMing on 29.281652532 meters Centerline goodness : 0.764147 Centerline is valid? [False, False] Translation: X:-1.06, Y:-1.57, Z:0.22 [[ 0.99911577 0.03297459 0.02608361 -1.05572192] [-0.03318582 0.99941948 0.00770694 -1.56668222] [-0.02581433 -0.00856573 0.99963006 0.21711305] [ 0. 0. 0. 1. ]] SLAMing on 29.311652532 meters Centerline goodness : 0.764409 Centerline is valid? [False, False] Translation: X:-1.06, Y:-1.57, Z:0.22 [[ 0.99912829 0.03297991 0.02559256 -1.0550915 ] [-0.0331951 0.99941664 0.00802957 -1.56799166] [-0.02531282 -0.00887212 0.99964021 0.21785243] [ 0. 0. 0. 1. ]] SLAMing on 29.341652532 meters Centerline goodness : 0.763877 Centerline is valid? [False, False] Translation: X:-1.05, Y:-1.57, Z:0.22 [[ 0.99914723 0.03277916 0.02510638 -1.05407205] [-0.03299654 0.99942106 0.00829321 -1.56983003] [-0.02482 -0.00911456 0.99965039 0.21821681] [ 0. 0. 0. 1. ]] SLAMing on 29.371652532 meters Centerline goodness : 0.764112 Centerline is valid? [False, False] Translation: X:-1.05, Y:-1.57, Z:0.22 [[ 0.9991592 0.03246142 0.02504285 -1.05449729] [-0.03266939 0.99943467 0.00794043 -1.56912437] [-0.02477094 -0.00875189 0.99965484 0.21905866] [ 0. 0. 0. 1. ]] SLAMing on 29.401652532 meters Centerline goodness : 0.766002 Centerline is valid? [False, False] Translation: X:-1.06, Y:-1.57, Z:0.22 [[ 0.9990013 0.03664733 0.02556126 -1.05536379] [-0.03696315 0.99924465 0.01199421 -1.56818583] [-0.0251024 -0.01292706 0.9996013 0.21886251] [ 0. 0. 0. 1. ]] SLAMing on 29.431652532 meters Centerline goodness : 0.764606 Centerline is valid? [False, False] Translation: X:-1.06, Y:-1.57, Z:0.22 [[ 0.99893641 0.03758609 0.02670833 -1.05823527] [-0.03793356 0.99920051 0.01262443 -1.56910106] [-0.02621248 -0.01362414 0.99956355 0.21867472] [ 0. 0. 0. 1. ]] SLAMing on 29.461652532 meters Centerline goodness : 0.762175 Centerline is valid? [False, False] Translation: X:-1.06, Y:-1.57, Z:0.22 [[ 0.9988743 0.03847014 0.02775197 -1.06090156] [-0.03884796 0.99915787 0.01320584 -1.56991706] [-0.02722057 -0.01426908 0.99952761 0.21859526] [ 0. 0. 0. 1. ]] SLAMing on 29.491652532 meters Centerline goodness : 0.761793 Centerline is valid? [False, False] Translation: X:-1.06, Y:-1.57, Z:0.22 [[ 0.9987686 0.04045598 0.02871577 -1.06414569] [-0.04090587 0.99904652 0.01525622 -1.57368066] [-0.02807119 -0.01641208 0.99947119 0.21960028] [ 0. 0. 0. 1. ]] SLAMing on 29.521652532 meters Centerline goodness : 0.764107 Centerline is valid? [False, False] Translation: X:-1.06, Y:-1.58, Z:0.22 [[ 0.9987783 0.04048639 0.02833313 -1.06469899] [-0.04094519 0.99903639 0.0158044 -1.57584096] [-0.02766596 -0.01694519 0.99947359 0.22197061] [ 0. 0. 0. 1. ]] SLAMing on 29.551652532 meters Centerline goodness : 0.765664 Centerline is valid? [False, False] Translation: X:-1.06, Y:-1.58, Z:0.22 [[ 0.99877384 0.04092444 0.02785693 -1.063945 ] [-0.04140038 0.99900259 0.01672817 -1.57905742] [-0.02714456 -0.01786094 0.99947194 0.22255042] [ 0. 0. 0. 1. ]] SLAMing on 29.581652532 meters Centerline goodness : 0.765664 Centerline is valid? [False, False] Translation: X:-1.06, Y:-1.58, Z:0.22 [[ 0.99877384 0.04092444 0.02785693 -1.063945 ] [-0.04140038 0.99900259 0.01672817 -1.57905742] [-0.02714456 -0.01786094 0.99947194 0.22255042] [ 0. 0. 0. 1. ]] SLAMing on 29.611652532 meters Centerline goodness : 0.765908 Centerline is valid? [False, False] Translation: X:-1.06, Y:-1.58, Z:0.22 [[ 0.99879026 0.0409012 0.02729656 -1.06252882] [-0.0413747 0.99899885 0.01701298 -1.58048213] [-0.02657338 -0.01812179 0.99948259 0.22251154] [ 0. 0. 0. 1. ]] SLAMing on 29.641652532000002 meters Centerline goodness : 0.765822 Centerline is valid? [False, False] Translation: X:-1.06, Y:-1.58, Z:0.22 [[ 0.99881431 0.040265 0.02736255 -1.06133477] [-0.04070683 0.99904642 0.01578641 -1.57716484] [-0.02670081 -0.01688153 0.99950092 0.22059221] [ 0. 0. 0. 1. ]] SLAMing on 29.671652532 meters Centerline goodness : 0.763581 Centerline is valid? [False, False] Translation: X:-1.06, Y:-1.58, Z:0.22 [[ 0.99883254 0.03987933 0.02726156 -1.06051654] [-0.04030533 0.99907088 0.01525945 -1.5758707 ] [-0.0266277 -0.01634042 0.99951186 0.21980593] [ 0. 0. 0. 1. ]] SLAMing on 29.701652532 meters Centerline goodness : 0.766528 Centerline is valid? [False, False] Translation: X:-1.06, Y:-1.57, Z:0.22 [[ 0.9988648 0.03911474 0.02718742 -1.05954611] [-0.03950827 0.99911988 0.01409132 -1.57282806] [-0.02661231 -0.01514945 0.99953103 0.21882539] [ 0. 0. 0. 1. ]] SLAMing on 29.731652532000002 meters Centerline goodness : 0.765337 Centerline is valid? [False, False] Translation: X:-1.06, Y:-1.57, Z:0.22 [[ 0.99889091 0.03842122 0.02721687 -1.05787625] [-0.03878082 0.99916563 0.01280966 -1.56981575] [-0.02670199 -0.01385095 0.99954748 0.21633646] [ 0. 0. 0. 1. ]] SLAMing on 29.761652532 meters Centerline goodness : 0.763119 Centerline is valid? [False, False] Translation: X:-1.06, Y:-1.57, Z:0.22 [[ 0.99885726 0.03885754 0.02782554 -1.05954912] [-0.03923416 0.99914391 0.01311938 -1.57041624] [-0.02729193 -0.0141961 0.9995267 0.21638078] [ 0. 0. 0. 1. ]] SLAMing on 29.791652532 meters Centerline goodness : 0.765885 Centerline is valid? [False, False] Translation: X:-1.06, Y:-1.57, Z:0.22 [[ 0.99879923 0.03972595 0.02866961 -1.06200155] [-0.0401399 0.99909584 0.01401014 -1.57261188] [-0.02808712 -0.01514412 0.99949075 0.21675541] [ 0. 0. 0. 1. ]] SLAMing on 29.821652532 meters Centerline goodness : 0.762951 Centerline is valid? [False, False] Translation: X:-1.07, Y:-1.58, Z:0.22 [[ 0.99867131 0.04235902 0.02934823 -1.06553377] [-0.04287203 0.99893462 0.01707682 -1.57742004] [-0.02859361 -0.01831235 0.99942337 0.21903645] [ 0. 0. 0. 1. ]] SLAMing on 29.851652532 meters Centerline goodness : 0.763904 Centerline is valid? [False, False] Translation: X:-1.07, Y:-1.58, Z:0.22 [[ 0.99832833 0.04853769 0.03137888 -1.07068973] [-0.04926182 0.99852721 0.02273079 -1.57802724] [-0.03022937 -0.02423857 0.99924906 0.21993361] [ 0. 0. 0. 1. ]] SLAMing on 29.881652532 meters Centerline goodness : 0.763215 Centerline is valid? [False, False] Translation: X:-1.07, Y:-1.58, Z:0.22 [[ 0.99809752 0.05253493 0.03227098 -1.07153459] [-0.05338899 0.99823005 0.02619906 -1.57537339] [-0.0308375 -0.02787213 0.99913572 0.21858617] [ 0. 0. 0. 1. ]] SLAMing on 29.911652532 meters Centerline goodness : 0.761667 Centerline is valid? [False, False] Translation: X:-1.07, Y:-1.57, Z:0.22 [[ 0.99787852 0.05634364 0.03261691 -1.07074797] [-0.05731513 0.99791553 0.02965759 -1.57322142] [-0.0308779 -0.03146411 0.99902781 0.21691572] [ 0. 0. 0. 1. ]] SLAMing on 29.941652532 meters Centerline goodness : 0.761336 Centerline is valid? [False, False] Translation: X:-1.07, Y:-1.57, Z:0.22 [[ 0.99787028 0.05624942 0.03302891 -1.07161874] [-0.05721978 0.99793428 0.02920749 -1.57175732] [-0.03131777 -0.03103519 0.99902753 0.21667915] [ 0. 0. 0. 1. ]] SLAMing on 29.971652532 meters Centerline goodness : 0.761502 Centerline is valid? [False, False] Translation: X:-1.07, Y:-1.57, Z:0.22 [[ 0.9976972 0.0586486 0.034068 -1.07404884] [-0.05971537 0.99772812 0.03118757 -1.57357337] [-0.0321615 -0.03315014 0.99893278 0.21672604] [ 0. 0. 0. 1. ]] SLAMing on 30.001652532 meters Centerline goodness : 0.763600 Centerline is valid? [False, False] Translation: X:-1.08, Y:-1.58, Z:0.22 [[ 0.9975705 0.06015557 0.03513421 -1.07691475] [-0.06130495 0.99758631 0.03260752 -1.57644732] [-0.03308788 -0.0346822 0.99885051 0.21694449] [ 0. 0. 0. 1. ]] SLAMing on 30.031652532 meters Centerline goodness : 0.763730 Centerline is valid? [False, False] Translation: X:-1.08, Y:-1.58, Z:0.22 [[ 0.99739954 0.06228632 0.03625701 -1.07958986] [-0.06354471 0.99737708 0.03465588 -1.57975596] [-0.03400332 -0.0368697 0.99874141 0.21693486] [ 0. 0. 0. 1. ]] SLAMing on 30.061652532 meters Centerline goodness : 0.761675 Centerline is valid? [False, False] Translation: X:-1.08, Y:-1.58, Z:0.22 [[ 0.99748859 0.06011237 0.03745689 -1.08382972] [-0.06132784 0.9975984 0.03219204 -1.58175628] [-0.0354318 -0.03440834 0.99877958 0.21799343] [ 0. 0. 0. 1. ]] SLAMing on 30.091652532 meters Centerline goodness : 0.760991 Centerline is valid? [False, False] Translation: X:-1.08, Y:-1.58, Z:0.22 [[ 0.99752222 0.05946084 0.03760094 -1.0841741 ] [-0.06064485 0.9976725 0.03117341 -1.57905275] [-0.03565983 -0.03337647 0.99880648 0.21808717] [ 0. 0. 0. 1. ]] SLAMing on 30.121652532 meters Centerline goodness : 0.761507 Centerline is valid? [False, False] Translation: X:-1.08, Y:-1.58, Z:0.22 [[ 0.99742583 0.06073834 0.03811258 -1.08464884] [-0.06198095 0.99755404 0.03231548 -1.58132356] [-0.03605657 -0.03459455 0.99875079 0.21691853] [ 0. 0. 0. 1. ]] SLAMing on 30.151652532 meters Centerline goodness : 0.759359 Centerline is valid? [False, False] Translation: X:-1.09, Y:-1.59, Z:0.22 [[ 0.99729246 0.06255156 0.03866597 -1.08597307] [-0.0638879 0.99736577 0.03434896 -1.58565193] [-0.03641554 -0.03672625 0.99866165 0.21688272] [ 0. 0. 0. 1. ]] SLAMing on 30.181652532 meters Centerline goodness : 0.758004 Centerline is valid? [False, False] Translation: X:-1.09, Y:-1.59, Z:0.22 [[ 0.99722856 0.06331296 0.03907271 -1.08689756] [-0.06470108 0.99727847 0.03534719 -1.58862116] [-0.03672843 -0.03777727 0.99861099 0.21670653] [ 0. 0. 0. 1. ]] SLAMing on 30.211652532 meters Centerline goodness : 0.760032 Centerline is valid? [False, False] Translation: X:-1.09, Y:-1.59, Z:0.22 [[ 0.99720949 0.06343355 0.03936263 -1.08794755] [-0.06483747 0.99726499 0.03547728 -1.58917774] [-0.03700453 -0.03793045 0.99859499 0.21711291] [ 0. 0. 0. 1. ]] SLAMing on 30.241652532 meters Centerline goodness : 0.759174 Centerline is valid? [False, False] Translation: X:-1.09, Y:-1.59, Z:0.22 [[ 0.99721487 0.06339984 0.03928063 -1.08729537] [-0.0648023 0.99726569 0.03552203 -1.58971783] [-0.03692113 -0.03796857 0.99859662 0.21646374] [ 0. 0. 0. 1. ]] SLAMing on 30.271652532 meters Centerline goodness : 0.759326 Centerline is valid? [False, False] Translation: X:-1.09, Y:-1.59, Z:0.22 [[ 0.99733 0.06104866 0.04007399 -1.09006613] [-0.06239303 0.99749932 0.03319973 -1.59369898] [-0.03794698 -0.03561143 0.99864501 0.21680464] [ 0. 0. 0. 1. ]] SLAMing on 30.301652532 meters Centerline goodness : 0.759786 Centerline is valid? [False, False] Translation: X:-1.09, Y:-1.59, Z:0.22 [[ 0.99757748 0.05673176 0.04025771 -1.0910487 ] [-0.05790292 0.99791399 0.02854678 -1.59288553] [-0.03855423 -0.03080867 0.99878146 0.21669603] [ 0. 0. 0. 1. ]] SLAMing on 30.331652532 meters Centerline goodness : 0.757835 Centerline is valid? [False, False] Translation: X:-1.09, Y:-1.59, Z:0.22 [[ 0.99777272 0.0530079 0.04049397 -1.09204831] [-0.05403077 0.99823629 0.02459665 -1.59367061] [-0.03911873 -0.02672978 0.99887699 0.2163352 ] [ 0. 0. 0. 1. ]] SLAMing on 30.361652532 meters Centerline goodness : 0.758084 Centerline is valid? [False, False] Translation: X:-1.09, Y:-1.60, Z:0.22 [[ 0.99796282 0.04954838 0.04018916 -1.09196698] [-0.05043308 0.99850015 0.02130604 -1.59641958] [-0.03907321 -0.0232895 0.99896491 0.21634062] [ 0. 0. 0. 1. ]] SLAMing on 30.391652532000002 meters Centerline goodness : 0.758067 Centerline is valid? [False, False] Translation: X:-1.09, Y:-1.60, Z:0.22 [[ 0.99809194 0.04656976 0.04054303 -1.09448157] [-0.04735553 0.99870415 0.01864076 -1.60057831] [-0.0396224 -0.02052513 0.9990039 0.21784113] [ 0. 0. 0. 1. ]] SLAMing on 30.421652532 meters Centerline goodness : 0.757426 Centerline is valid? [False, False] Translation: X:-1.09, Y:-1.60, Z:0.22 [[ 0.99813316 0.04624007 0.03990038 -1.09337516] [-0.04701772 0.99871758 0.01877596 -1.60195039] [-0.03898101 -0.02061694 0.99902724 0.21868556] [ 0. 0. 0. 1. ]] SLAMing on 30.451652532 meters Centerline goodness : 0.757828 Centerline is valid? [False, False] Translation: X:-1.09, Y:-1.60, Z:0.22 [[ 0.99820417 0.04539974 0.03908058 -1.09175152] [-0.04614889 0.99876353 0.01848497 -1.60287582] [-0.03819304 -0.0202553 0.99906507 0.21938836] [ 0. 0. 0. 1. ]] SLAMing on 30.481652532000002 meters Centerline goodness : 0.755543 Centerline is valid? [False, False] Translation: X:-1.09, Y:-1.60, Z:0.22 [[ 0.99828493 0.04429228 0.03828041 -1.08998994] [-0.04499815 0.99882886 0.01777872 -1.60247957] [-0.03744812 -0.01947078 0.99910887 0.219925 ] [ 0. 0. 0. 1. ]] SLAMing on 30.511652532 meters Centerline goodness : 0.755603 Centerline is valid? [False, False] Translation: X:-1.09, Y:-1.60, Z:0.22 [[ 0.99832029 0.04376833 0.03795967 -1.08897526] [-0.04444208 0.99886577 0.01709044 -1.60066642] [-0.03716859 -0.01874874 0.99913311 0.21972409] [ 0. 0. 0. 1. ]] SLAMing on 30.541652532 meters Centerline goodness : 0.754456 Centerline is valid? [False, False] Translation: X:-1.09, Y:-1.60, Z:0.22 [[ 0.99836405 0.04323684 0.03741391 -1.08720332] [-0.04387181 0.99890386 0.01632005 -1.5985805 ] [-0.03666727 -0.01793477 0.99916658 0.21908976] [ 0. 0. 0. 1. ]] SLAMing on 30.571652532 meters Centerline goodness : 0.754952 Centerline is valid? [False, False] Translation: X:-1.10, Y:-1.61, Z:0.22 [[ 0.99873709 0.03647465 0.03455176 -1.0962913 ] [-0.03727242 0.99904653 0.02273314 -1.61071863] [-0.03368964 -0.02399226 0.99914432 0.21542537] [ 0. 0. 0. 1. ]] SLAMing on 30.601652532 meters Centerline goodness : 0.758291 Centerline is valid? [False, False] Translation: X:-1.10, Y:-1.61, Z:0.22 [[ 0.99873814 0.03671815 0.03426236 -1.09631388] [-0.03753101 0.99902166 0.02339101 -1.61302545] [-0.03336997 -0.0246474 0.9991391 0.21651404] [ 0. 0. 0. 1. ]] SLAMing on 30.631652532 meters Centerline goodness : 0.755316 Centerline is valid? [False, False] Translation: X:-1.10, Y:-1.61, Z:0.22 [[ 0.99872006 0.03700131 0.03448394 -1.09713838] [-0.03783489 0.99899954 0.02384213 -1.61456314] [-0.03356725 -0.02511631 0.99912082 0.21686284] [ 0. 0. 0. 1. ]] SLAMing on 30.661652532 meters Centerline goodness : 0.756632 Centerline is valid? [False, False] Translation: X:-1.10, Y:-1.61, Z:0.22 [[ 0.99852839 0.04091569 0.03559452 -1.09847328] [-0.04189233 0.99875348 0.02713885 -1.61130312] [-0.03443975 -0.02859005 0.99899775 0.21532417] [ 0. 0. 0. 1. ]] SLAMing on 30.691652532 meters Centerline goodness : 0.754643 Centerline is valid? [False, False] Translation: X:-1.10, Y:-1.61, Z:0.22 [[ 0.99841505 0.04245886 0.03694095 -1.10175702] [-0.04351757 0.99865052 0.02834351 -1.61304646] [-0.03568766 -0.02990617 0.99891542 0.21515294] [ 0. 0. 0. 1. ]] SLAMing on 30.721652532 meters Centerline goodness : 0.753412 Centerline is valid? [False, False] Translation: X:-1.10, Y:-1.61, Z:0.22 [[ 0.99825899 0.04599385 0.03692624 -1.10118957] [-0.04717588 0.99838016 0.03180403 -1.61088647] [-0.03540363 -0.03349069 0.99881177 0.21504981] [ 0. 0. 0. 1. ]] SLAMing on 30.751652532 meters Centerline goodness : 0.754850 Centerline is valid? [False, False] Translation: X:-1.10, Y:-1.61, Z:0.22 [[ 0.99826143 0.0459431 0.03692358 -1.10118103] [-0.0471217 0.99838571 0.0317099 -1.61079118] [-0.03540713 -0.03339467 0.99881486 0.21506836] [ 0. 0. 0. 1. ]] SLAMing on 30.781652532 meters Centerline goodness : 0.754081 Centerline is valid? [False, False] Translation: X:-1.10, Y:-1.61, Z:0.22 [[ 0.99825118 0.04616684 0.03692148 -1.10122312] [-0.04735792 0.99836325 0.0320632 -1.61199808] [-0.03538079 -0.03375565 0.99880366 0.21510695] [ 0. 0. 0. 1. ]] SLAMing on 30.811652532 meters Centerline goodness : 0.754895 Centerline is valid? [False, False] Translation: X:-1.10, Y:-1.61, Z:0.22 [[ 0.99826109 0.0461321 0.03669639 -1.10075535] [-0.047318 0.99836292 0.03213237 -1.61252591] [-0.03515398 -0.0338129 0.99880973 0.2152384 ] [ 0. 0. 0. 1. ]] SLAMing on 30.841652532 meters Centerline goodness : 0.757658 Centerline is valid? [False, False] Translation: X:-1.10, Y:-1.61, Z:0.22 [[ 0.99827973 0.04597231 0.03638851 -1.09992853] [-0.04714228 0.99837629 0.03197479 -1.61235353] [-0.03485947 -0.03363523 0.99882606 0.21516403] [ 0. 0. 0. 1. ]] SLAMing on 30.871652532 meters Centerline goodness : 0.756853 Centerline is valid? [False, False] Translation: X:-1.10, Y:-1.61, Z:0.21 [[ 0.99841437 0.04245265 0.03696633 -1.10111511] [-0.04350331 0.99865811 0.02809708 -1.6130132 ] [-0.03572393 -0.02966069 0.99892144 0.21402048] [ 0. 0. 0. 1. ]] SLAMing on 30.901652532 meters Centerline goodness : 0.755021 Centerline is valid? [False, False] Translation: X:-1.10, Y:-1.61, Z:0.21 [[ 0.99844285 0.04219434 0.0364899 -1.09957621] [-0.04322602 0.99867394 0.02796181 -1.61313127] [-0.03526168 -0.02949558 0.99894275 0.21350036] [ 0. 0. 0. 1. ]] SLAMing on 30.931652532 meters Centerline goodness : 0.754012 Centerline is valid? [False, False] Translation: X:-1.10, Y:-1.62, Z:0.21 [[ 0.9985615 0.03890423 0.03689706 -1.10173202] [-0.03983547 0.99889723 0.02484877 -1.61615907] [-0.03588965 -0.02628284 0.99901008 0.21456494] [ 0. 0. 0. 1. ]] SLAMing on 30.961652532 meters Centerline goodness : 0.756519 Centerline is valid? [False, False] Translation: X:-1.10, Y:-1.62, Z:0.22 [[ 0.99871827 0.03538441 0.03619056 -1.10138937] [-0.03620191 0.99909814 0.0221884 -1.62150689] [-0.0353728 -0.02347013 0.99909855 0.21624022] [ 0. 0. 0. 1. ]] SLAMing on 30.991652532 meters Centerline goodness : 0.756561 Centerline is valid? [False, False] Translation: X:-1.10, Y:-1.62, Z:0.22 [[ 0.99884332 0.03174985 0.0361106 -1.10192831] [-0.03244266 0.99929744 0.01876417 -1.62421141] [-0.03548947 -0.01991399 0.99917162 0.21677276] [ 0. 0. 0. 1. ]] SLAMing on 31.021652532 meters Centerline goodness : 0.755531 Centerline is valid? [False, False] Translation: X:-1.10, Y:-1.63, Z:0.22 [[ 0.99894129 0.02810083 0.036423 -1.10315444] [-0.0286671 0.99947467 0.0151191 -1.62605305] [-0.035979 -0.01614724 0.99922209 0.21683672] [ 0. 0. 0. 1. ]] SLAMing on 31.051652532 meters Centerline goodness : 0.755269 Centerline is valid? [False, False] Translation: X:-1.10, Y:-1.63, Z:0.22 [[ 0.99902622 0.02447257 0.03671124 -1.10432446] [-0.02491027 0.99962339 0.01151317 -1.62791108] [-0.03641565 -0.01241645 0.99925959 0.21699881] [ 0. 0. 0. 1. ]] SLAMing on 31.081652532 meters Centerline goodness : 0.755304 Centerline is valid? [False, False] Translation: X:-1.11, Y:-1.64, Z:0.21 [[ 0.99933746 0.01430287 0.03346755 -1.11267026] [-0.01482088 0.99977339 0.01528133 -1.64222843] [-0.0332414 -0.01576722 0.99932297 0.21367963] [ 0. 0. 0. 1. ]] SLAMing on 31.111652532 meters Centerline goodness : 0.756025 Centerline is valid? [False, False] Translation: X:-1.11, Y:-1.64, Z:0.21 [[ 0.99937206 0.01332196 0.03283319 -1.11137136] [-0.0138025 0.99980028 0.0144528 -1.64105183] [-0.03263409 -0.01489691 0.99935634 0.21422998] [ 0. 0. 0. 1. ]] SLAMing on 31.141652532000002 meters Centerline goodness : 0.754694 Centerline is valid? [False, False] Translation: X:-1.11, Y:-1.64, Z:0.21 [[ 0.99937191 0.01337297 0.03281696 -1.11161183] [-0.01385943 0.99979676 0.01464089 -1.64176748] [-0.0326145 -0.01508652 0.99935414 0.21462404] [ 0. 0. 0. 1. ]] SLAMing on 31.171652532 meters Centerline goodness : 0.756054 Centerline is valid? [False, False] Translation: X:-1.11, Y:-1.64, Z:0.22 [[ 0.99935543 0.01362254 0.0332138 -1.11289942] [-0.01412465 0.99978877 0.01493001 -1.64252029] [-0.0330034 -0.01538952 0.99933675 0.21503619] [ 0. 0. 0. 1. ]] SLAMing on 31.201652532 meters Centerline goodness : 0.756503 Centerline is valid? [False, False] Translation: X:-1.11, Y:-1.64, Z:0.22 [[ 0.99928338 0.01754159 0.03354117 -1.1140055 ] [-0.01818016 0.99965741 0.01882909 -1.64147079] [-0.03319939 -0.01942538 0.99925995 0.21574825] [ 0. 0. 0. 1. ]] SLAMing on 31.231652532000002 meters Centerline goodness : 0.757263 Centerline is valid? [False, False] Translation: X:-1.11, Y:-1.64, Z:0.22 [[ 0.99923219 0.02080579 0.03319858 -1.11255584] [-0.02154285 0.99952583 0.02200035 -1.63900945] [-0.0327251 -0.02269865 0.9992066 0.21525052] [ 0. 0. 0. 1. ]] SLAMing on 31.261652532 meters Centerline goodness : 0.756278 Centerline is valid? [False, False] Translation: X:-1.11, Y:-1.64, Z:0.21 [[ 0.99917707 0.02391544 0.03276028 -1.11061219] [-0.0247378 0.99938304 0.02493133 -1.6362423 ] [-0.03214383 -0.02572123 0.99915224 0.21432133] [ 0. 0. 0. 1. ]] SLAMing on 31.291652532 meters Centerline goodness : 0.757684 Centerline is valid? [False, False] Translation: X:-1.10, Y:-1.62, Z:0.22 [[ 0.99893108 0.03058398 0.03465996 -1.1035626 ] [-0.0312177 0.99935245 0.01789236 -1.62343342] [-0.03409029 -0.01895524 0.99923899 0.2184294 ] [ 0. 0. 0. 1. ]] SLAMing on 31.321652532 meters Centerline goodness : 0.760159 Centerline is valid? [False, False] Translation: X:-1.10, Y:-1.63, Z:0.22 [[ 0.99887654 0.03160214 0.03531248 -1.10484894] [-0.03228142 0.99930135 0.01883431 -1.6254205 ] [-0.03469261 -0.01995309 0.99919883 0.21781804] [ 0. 0. 0. 1. ]] SLAMing on 31.351652532 meters Centerline goodness : 0.760751 Centerline is valid? [False, False] Translation: X:-1.11, Y:-1.63, Z:0.22 [[ 0.99884488 0.03199323 0.03585173 -1.10619639] [-0.03269397 0.99928227 0.01913243 -1.62603388] [-0.03521389 -0.02028247 0.99917396 0.21770265] [ 0. 0. 0. 1. ]] SLAMing on 31.381652532 meters Centerline goodness : 0.759991 Centerline is valid? [False, False] Translation: X:-1.11, Y:-1.63, Z:0.22 [[ 0.99877748 0.03298146 0.03682072 -1.10839986] [-0.03373585 0.99922949 0.02005813 -1.62795482] [-0.0361308 -0.02127578 0.99912057 0.21729546] [ 0. 0. 0. 1. ]] SLAMing on 31.411652532 meters Centerline goodness : 0.758464 Centerline is valid? [False, False] Translation: X:-1.11, Y:-1.62, Z:0.22 [[ 0.99867646 0.03596767 0.0367648 -1.10723705] [-0.03681747 0.99906405 0.02270457 -1.6239961 ] [-0.03591376 -0.02402811 0.99906599 0.21638174] [ 0. 0. 0. 1. ]] SLAMing on 31.441652532 meters Centerline goodness : 0.759819 Centerline is valid? [False, False] Translation: X:-1.11, Y:-1.63, Z:0.22 [[ 0.99862818 0.03668358 0.03736415 -1.10860369] [-0.03757312 0.99902011 0.02338991 -1.62563246] [-0.03646951 -0.02476171 0.99902794 0.2160302 ] [ 0. 0. 0. 1. ]] SLAMing on 31.471652532 meters Centerline goodness : 0.762204 Centerline is valid? [False, False] Translation: X:-1.11, Y:-1.63, Z:0.22 [[ 0.99864601 0.03650198 0.03706412 -1.10791808] [-0.0373794 0.99903035 0.02326235 -1.62559027] [-0.03617906 -0.02461629 0.9990421 0.2161533 ] [ 0. 0. 0. 1. ]] SLAMing on 31.501652532 meters Centerline goodness : 0.760966 Centerline is valid? [False, False] Translation: X:-1.11, Y:-1.63, Z:0.22 [[ 0.99864326 0.03665557 0.03698655 -1.10777774] [-0.03754145 0.99901758 0.02354812 -1.62660601] [-0.03608705 -0.0249047 0.99903828 0.21621364] [ 0. 0. 0. 1. ]] SLAMing on 31.531652532 meters Centerline goodness : 0.760966 Centerline is valid? [False, False] Translation: X:-1.11, Y:-1.63, Z:0.22 [[ 0.99864326 0.03665557 0.03698655 -1.10777774] [-0.03754145 0.99901758 0.02354812 -1.62660601] [-0.03608705 -0.0249047 0.99903828 0.21621364] [ 0. 0. 0. 1. ]] SLAMing on 31.561652532 meters Centerline goodness : 0.762709 Centerline is valid? [False, False] Translation: X:-1.11, Y:-1.63, Z:0.22 [[ 0.99862129 0.03663749 0.03759276 -1.10880012] [-0.03752279 0.99902827 0.02312056 -1.62513767] [-0.03670915 -0.02449927 0.99902564 0.21549123] [ 0. 0. 0. 1. ]] SLAMing on 31.591652532 meters Centerline goodness : 0.762014 Centerline is valid? [False, False] Translation: X:-1.11, Y:-1.63, Z:0.21 [[ 0.99856569 0.03728639 0.03842236 -1.11064239] [-0.03820551 0.99899422 0.02347114 -1.62534878] [-0.03750856 -0.02490542 0.9989859 0.21497924] [ 0. 0. 0. 1. ]] SLAMing on 31.621652532 meters Centerline goodness : 0.761927 Centerline is valid? [False, False] Translation: X:-1.11, Y:-1.62, Z:0.21 [[ 0.99854706 0.03726235 0.03892667 -1.11128309] [-0.03818285 0.99900194 0.02317739 -1.62443927] [-0.03802418 -0.02463004 0.99897323 0.21403628] [ 0. 0. 0. 1. ]] SLAMing on 31.651652532 meters Centerline goodness : 0.762089 Centerline is valid? [False, False] Translation: X:-1.11, Y:-1.63, Z:0.21 [[ 0.99846986 0.03825882 0.03992756 -1.11418398] [-0.03923738 0.99894119 0.02401941 -1.62570655] [-0.03896633 -0.02554931 0.99891384 0.2146054 ] [ 0. 0. 0. 1. ]] SLAMing on 31.681652532 meters Centerline goodness : 0.763462 Centerline is valid? [False, False] Translation: X:-1.12, Y:-1.63, Z:0.21 [[ 0.99845067 0.03847272 0.04020099 -1.11502774] [-0.0394706 0.99892447 0.02433046 -1.62678447] [-0.03922169 -0.02587952 0.99889534 0.21484707] [ 0. 0. 0. 1. ]] SLAMing on 31.711652532 meters Centerline goodness : 0.763050 Centerline is valid? [False, False] Translation: X:-1.12, Y:-1.63, Z:0.21 [[ 0.99844016 0.03850583 0.04042952 -1.11538929] [-0.03950899 0.99892336 0.02431379 -1.62697725] [-0.03944977 -0.0258732 0.99888653 0.21453589] [ 0. 0. 0. 1. ]] SLAMing on 31.741652532 meters Centerline goodness : 0.761938 Centerline is valid? [False, False] Translation: X:-1.11, Y:-1.63, Z:0.21 [[ 0.99843726 0.03865653 0.04035732 -1.11465381] [-0.03966501 0.99891277 0.02449421 -1.62763142] [-0.03936658 -0.02605671 0.99888504 0.21365806] [ 0. 0. 0. 1. ]] SLAMing on 31.771652532 meters Centerline goodness : 0.765271 Centerline is valid? [False, False] Translation: X:-1.11, Y:-1.63, Z:0.21 [[ 0.99843474 0.03898839 0.04009946 -1.11416632] [-0.04001522 0.99888298 0.02513097 -1.62954677] [-0.03907485 -0.02669622 0.99887961 0.21378622] [ 0. 0. 0. 1. ]] SLAMing on 31.801652532 meters Centerline goodness : 0.763305 Centerline is valid? [False, False] Translation: X:-1.12, Y:-1.63, Z:0.21 [[ 0.9984059 0.03929193 0.04051906 -1.11575324] [-0.04034449 0.99886053 0.02549455 -1.63062165] [-0.03947116 -0.02708863 0.99885346 0.21459144] [ 0. 0. 0. 1. ]] SLAMing on 31.831652532 meters Centerline goodness : 0.762689 Centerline is valid? [False, False] Translation: X:-1.12, Y:-1.63, Z:0.21 [[ 0.99835488 0.04002136 0.04105889 -1.11727259] [-0.04112683 0.99880399 0.02644197 -1.63342149] [-0.03995154 -0.02808709 0.99880678 0.2147408 ] [ 0. 0. 0. 1. ]] SLAMing on 31.861652532 meters Centerline goodness : 0.764518 Centerline is valid? [False, False] Translation: X:-1.12, Y:-1.63, Z:0.21 [[ 0.99837311 0.03983241 0.04079832 -1.11655177] [-0.04092555 0.99881552 0.02631824 -1.63350989] [-0.03970167 -0.02794512 0.99882073 0.21469725] [ 0. 0. 0. 1. ]] SLAMing on 31.891652532000002 meters Centerline goodness : 0.769115 Centerline is valid? [False, False] Translation: X:-1.12, Y:-1.64, Z:0.22 [[ 0.99851925 0.03602258 0.04076367 -1.11775869] [-0.0369615 0.99906294 0.02251855 -1.63503849] [-0.0399143 -0.02399189 0.99891503 0.21600085] [ 0. 0. 0. 1. ]] SLAMing on 31.921652532 meters Centerline goodness : 0.768808 Centerline is valid? [False, False] Translation: X:-1.12, Y:-1.64, Z:0.22 [[ 0.99850714 0.03637685 0.04074573 -1.11826592] [-0.03734041 0.99903461 0.02314186 -1.63703175] [-0.03986457 -0.02462877 0.99890152 0.21672675] [ 0. 0. 0. 1. ]] SLAMing on 31.951652532 meters Centerline goodness : 0.772541 Centerline is valid? [False, False] Translation: X:-1.12, Y:-1.64, Z:0.22 [[ 0.99847999 0.03690293 0.04093761 -1.11940536] [-0.03790381 0.99899439 0.02394815 -1.63944257] [-0.04001268 -0.02546344 0.99887467 0.21762718] [ 0. 0. 0. 1. ]] SLAMing on 31.981652532000002 meters Centerline goodness : 0.769711 Centerline is valid? [False, False] Translation: X:-1.12, Y:-1.64, Z:0.22 [[ 0.99842835 0.03785391 0.0413269 -1.12023356] [-0.03892248 0.99892024 0.02536538 -1.64318342] [-0.04032209 -0.02693406 0.99882365 0.21755596] [ 0. 0. 0. 1. ]] SLAMing on 32.011652532 meters Centerline goodness : 0.768083 Centerline is valid? [False, False] Translation: X:-1.12, Y:-1.64, Z:0.22 [[ 0.99857075 0.0338585 0.04135278 -1.12082132] [-0.03476429 0.99916672 0.02138465 -1.64440219] [-0.04059427 -0.02279168 0.99891573 0.21778746] [ 0. 0. 0. 1. ]] SLAMing on 32.041652532 meters Centerline goodness : 0.769682 Centerline is valid? [False, False] Translation: X:-1.12, Y:-1.65, Z:0.22 [[ 0.99870412 0.0299008 0.0411828 -1.12040854] [-0.03063849 0.99937908 0.01739915 -1.64554006] [-0.04063698 -0.01863838 0.99900012 0.21724192] [ 0. 0. 0. 1. ]] SLAMing on 32.071652532 meters Centerline goodness : 0.764938 Centerline is valid? [False, False] Translation: X:-1.10, Y:-1.63, Z:0.22 [[ 0.9992506 0.0154321 0.03549783 -1.10446504] [-0.01574819 0.99983864 0.00864238 -1.63351711] [-0.03535873 -0.00919493 0.99933238 0.21969468] [ 0. 0. 0. 1. ]] SLAMing on 32.101652532 meters Centerline goodness : 0.764477 Centerline is valid? [False, False] Translation: X:-1.10, Y:-1.64, Z:0.22 [[ 0.99964711 0.0123399 0.02352411 -1.09618979] [-0.01248878 0.99990284 0.00619248 -1.63780329] [-0.02344541 -0.00648408 0.99970409 0.21957808] [ 0. 0. 0. 1. ]] SLAMing on 32.131652532 meters Centerline goodness : 0.766553 Centerline is valid? [False, False] Translation: X:-1.09, Y:-1.64, Z:0.22 [[ 0.99972458 0.00750157 0.02223733 -1.09397806] [-0.00755605 0.99996865 0.00236715 -1.64067998] [-0.02221887 -0.00253452 0.99974992 0.22096556] [ 0. 0. 0. 1. ]] SLAMing on 32.161652532 meters Centerline goodness : 0.767102 Centerline is valid? [False, False] Translation: X:-1.09, Y:-1.64, Z:0.22 [[ 9.99755033e-01 3.74843146e-03 2.18133649e-02 -1.09459507e+00] [-3.73377252e-03 9.99992775e-01 -7.12705357e-04 -1.64426653e+00] [-2.18158788e-02 6.31084625e-04 9.99761806e-01 2.23166685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.191652532 meters Centerline goodness : 0.766452 Centerline is valid? [False, False] Translation: X:-1.09, Y:-1.65, Z:0.22 [[ 9.99783554e-01 2.98627713e-03 2.05894798e-02 -1.09269429e+00] [-2.97434283e-03 9.99995390e-01 -6.10229962e-04 -1.64594575e+00] [-2.05912072e-02 5.48857709e-04 9.99787828e-01 2.24904037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.221652532 meters Centerline goodness : 0.768277 Centerline is valid? [False, False] Translation: X:-1.09, Y:-1.65, Z:0.23 [[ 0.99986265 -0.00443607 0.0159688 -1.08557067] [ 0.00446754 0.99998815 -0.00193522 -1.64652153] [-0.01596003 0.00200629 0.99987062 0.23377019] [ 0. 0. 0. 1. ]] SLAMing on 32.251652532 meters Centerline goodness : 0.768650 Centerline is valid? [False, False] Translation: X:-1.08, Y:-1.65, Z:0.23 [[ 0.99987349 -0.00468948 0.01519883 -1.08386654] [ 0.00471644 0.99998737 -0.00173817 -1.6477015 ] [-0.01519048 0.00180963 0.99988298 0.23409669] [ 0. 0. 0. 1. ]] SLAMing on 32.281652532 meters Centerline goodness : 0.768780 Centerline is valid? [False, False] Translation: X:-1.08, Y:-1.65, Z:0.24 [[ 0.99979396 -0.01565973 0.01291572 -1.07916559] [ 0.0158049 0.99981219 -0.01121592 -1.64747967] [-0.01273766 0.01141774 0.99985368 0.23615692] [ 0. 0. 0. 1. ]] SLAMing on 32.311652532000004 meters Centerline goodness : 0.767686 Centerline is valid? [False, False] Translation: X:-1.08, Y:-1.65, Z:0.24 [[ 0.99972926 -0.01965344 0.0124562 -1.07838472] [ 0.01983671 0.99969422 -0.01476414 -1.65006433] [-0.01216222 0.01500723 0.99981341 0.23687321] [ 0. 0. 0. 1. ]] SLAMing on 32.341652532 meters Centerline goodness : 0.770742 Centerline is valid? [False, False] Translation: X:-1.08, Y:-1.65, Z:0.24 [[ 0.99972484 -0.02064474 0.01113742 -1.07579947] [ 0.02080977 0.99967226 -0.01491054 -1.65155842] [-0.01082595 0.0151382 0.9998268 0.23799254] [ 0. 0. 0. 1. ]] SLAMing on 32.371652532 meters Centerline goodness : 0.768322 Centerline is valid? [False, False] Translation: X:-1.08, Y:-1.65, Z:0.24 [[ 0.99972438 -0.02103624 0.01042353 -1.07537534] [ 0.02119012 0.99966475 -0.01487864 -1.65229557] [-0.01010705 0.01509541 0.99983497 0.23982747] [ 0. 0. 0. 1. ]] SLAMing on 32.401652532 meters Centerline goodness : 0.770866 Centerline is valid? [False, False] Translation: X:-1.07, Y:-1.66, Z:0.24 [[ 0.99973056 -0.02114122 0.00958416 -1.07461374] [ 0.02127579 0.99967332 -0.01416316 -1.65520704] [-0.0092816 0.01436325 0.99985376 0.24171528] [ 0. 0. 0. 1. ]] SLAMing on 32.431652532 meters Centerline goodness : 0.769673 Centerline is valid? [False, False] Translation: X:-1.07, Y:-1.66, Z:0.24 [[ 0.99973689 -0.02093603 0.00937188 -1.07458651] [ 0.02106286 0.99968503 -0.01364518 -1.65695781] [-0.00908325 0.01383899 0.99986298 0.2422838 ] [ 0. 0. 0. 1. ]] SLAMing on 32.461652532 meters Centerline goodness : 0.769852 Centerline is valid? [False, False] Translation: X:-1.07, Y:-1.66, Z:0.24 [[ 0.99972361 -0.02185686 0.00865974 -1.07314186] [ 0.02197978 0.99965523 -0.01436374 -1.65591806] [-0.00834281 0.01455011 0.99985934 0.24291933] [ 0. 0. 0. 1. ]] SLAMing on 32.491652532 meters Centerline goodness : 0.768064 Centerline is valid? [False, False] Translation: X:-1.07, Y:-1.66, Z:0.24 [[ 0.99971935 -0.02221327 0.00823331 -1.07225999] [ 0.02233206 0.99964358 -0.01462861 -1.65550044] [-0.00790542 0.01480837 0.9998591 0.24317516] [ 0. 0. 0. 1. ]] SLAMing on 32.521652532 meters Centerline goodness : 0.767091 Centerline is valid? [False, False] Translation: X:-1.07, Y:-1.65, Z:0.24 [[ 0.99960629 -0.02693641 0.00785512 -1.07064786] [ 0.02708465 0.99944449 -0.01942001 -1.65445479] [-0.00732766 0.01962511 0.99978056 0.24270793] [ 0. 0. 0. 1. ]] SLAMing on 32.551652532 meters Centerline goodness : 0.768330 Centerline is valid? [False, False] Translation: X:-1.07, Y:-1.65, Z:0.24 [[ 0.99958703 -0.02786151 0.00703642 -1.06908747] [ 0.02799924 0.99940181 -0.02029944 -1.65289173] [-0.00646663 0.02048807 0.99976918 0.24332935] [ 0. 0. 0. 1. ]] SLAMing on 32.581652532 meters Centerline goodness : 0.765635 Centerline is valid? [False, False] Translation: X:-1.07, Y:-1.65, Z:0.24 [[ 0.99964792 -0.02590554 0.00573853 -1.06664756] [ 0.02600418 0.99950266 -0.01783851 -1.65183614] [-0.00527356 0.01798146 0.99982441 0.24401552] [ 0. 0. 0. 1. ]] SLAMing on 32.611652532 meters Centerline goodness : 0.767254 Centerline is valid? [False, False] Translation: X:-1.07, Y:-1.66, Z:0.25 [[ 0.9996622 -0.02541406 0.00544157 -1.06720726] [ 0.02550115 0.99953722 -0.0165841 -1.65587522] [-0.00501759 0.01671726 0.99984767 0.2457038 ] [ 0. 0. 0. 1. ]] SLAMing on 32.641652532 meters Centerline goodness : 0.768134 Centerline is valid? [False, False] Translation: X:-1.06, Y:-1.66, Z:0.25 [[ 0.9996202 -0.0272566 0.00406673 -1.06455681] [ 0.02732362 0.9994743 -0.01745122 -1.65603888] [-0.00358893 0.01755571 0.99983945 0.2471334 ] [ 0. 0. 0. 1. ]] SLAMing on 32.671652532 meters Centerline goodness : 0.767072 Centerline is valid? [False, False] Translation: X:-1.06, Y:-1.65, Z:0.25 [[ 0.99957138 -0.02913507 0.00286537 -1.06146332] [ 0.02918413 0.99939522 -0.0189072 -1.65454963] [-0.00231278 0.01898272 0.99981714 0.24720263] [ 0. 0. 0. 1. ]] SLAMing on 32.701652532 meters Centerline goodness : 0.765847 Centerline is valid? [False, False] Translation: X:-1.06, Y:-1.65, Z:0.25 [[ 9.99529837e-01 -3.06065326e-02 1.82881589e-03 -1.05894551e+00] [ 3.06373116e-02 9.99325628e-01 -2.02396829e-02 -1.65257452e+00] [-1.20811607e-03 2.02861969e-02 9.99793484e-01 2.47394948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.731652532 meters Centerline goodness : 0.766365 Centerline is valid? [False, False] Translation: X:-1.06, Y:-1.65, Z:0.25 [[ 9.99501398e-01 -3.15693756e-02 5.74533370e-04 -1.05551986e+00] [ 3.15745038e-02 9.99287142e-01 -2.06944010e-02 -1.65294492e+00] [ 7.91855073e-05 2.07022233e-02 9.99785683e-01 2.47303408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.761652532 meters Centerline goodness : 0.766353 Centerline is valid? [False, False] Translation: X:-1.05, Y:-1.65, Z:0.25 [[ 9.99442818e-01 -3.33667478e-02 -8.44469430e-04 -1.05285320e+00] [ 3.33406053e-02 9.99208684e-01 -2.16889474e-02 -1.65293615e+00] [ 1.56749083e-03 2.16487076e-02 9.99764410e-01 2.48686139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.791652532 meters Centerline goodness : 0.766876 Centerline is valid? [False, False] Translation: X:-1.05, Y:-1.65, Z:0.25 [[ 0.99940068 -0.03454878 -0.00215901 -1.05058215] [ 0.03449231 0.99915736 -0.02224514 -1.6533009 ] [ 0.00292573 0.02215734 0.99975022 0.25017621] [ 0. 0. 0. 1. ]] SLAMing on 32.821652532 meters Centerline goodness : 0.767910 Centerline is valid? [False, False] Translation: X:-1.05, Y:-1.66, Z:0.25 [[ 0.99940898 -0.03428438 -0.00250282 -1.05009146] [ 0.03422262 0.99918187 -0.02154981 -1.65577044] [ 0.00323959 0.02145142 0.99976464 0.25059267] [ 0. 0. 0. 1. ]] SLAMing on 32.851652532 meters Centerline goodness : 0.766584 Centerline is valid? [False, False] Translation: X:-1.05, Y:-1.65, Z:0.25 [[ 0.99949842 -0.03148375 -0.00341864 -1.04807706] [ 0.03141411 0.99932953 -0.01880517 -1.65304182] [ 0.0040084 0.01868834 0.99981732 0.250564 ] [ 0. 0. 0. 1. ]] SLAMing on 32.881652532 meters Centerline goodness : 0.767704 Centerline is valid? [False, False] Translation: X:-1.05, Y:-1.65, Z:0.25 [[ 0.99958236 -0.02859427 -0.00418013 -1.04670761] [ 0.02852345 0.99946314 -0.01611963 -1.64989184] [ 0.00463881 0.01599366 0.99986133 0.25080561] [ 0. 0. 0. 1. ]] SLAMing on 32.911652532 meters Centerline goodness : 0.767647 Centerline is valid? [False, False] Translation: X:-1.05, Y:-1.65, Z:0.25 [[ 0.99968087 -0.02481457 -0.00473219 -1.04546153] [ 0.02475517 0.99961882 -0.0122231 -1.64967562] [ 0.00503369 0.01210205 0.9999141 0.25074125] [ 0. 0. 0. 1. ]] SLAMing on 32.941652532 meters Centerline goodness : 0.767601 Centerline is valid? [False, False] Translation: X:-1.04, Y:-1.65, Z:0.25 [[ 0.999737 -0.02215042 -0.0059399 -1.04273222] [ 0.0220938 0.9997114 -0.00943313 -1.64784306] [ 0.00614714 0.00929941 0.99993786 0.25088116] [ 0. 0. 0. 1. ]] SLAMing on 32.971652532 meters Centerline goodness : 0.767071 Centerline is valid? [False, False] Translation: X:-1.04, Y:-1.65, Z:0.25 [[ 0.99972807 -0.02252958 -0.00601751 -1.04238997] [ 0.02246869 0.99969751 -0.01000197 -1.64624384] [ 0.00624103 0.00986404 0.99993187 0.25065912] [ 0. 0. 0. 1. ]] SLAMing on 33.001652532 meters Centerline goodness : 0.767685 Centerline is valid? [False, False] Translation: X:-1.04, Y:-1.64, Z:0.25 [[ 0.9997687 -0.02044351 -0.00667924 -1.03988108] [ 0.02038945 0.99975959 -0.00806487 -1.64288618] [ 0.00684251 0.00792681 0.99994517 0.24946857] [ 0. 0. 0. 1. ]] SLAMing on 33.031652532 meters Centerline goodness : 0.764158 Centerline is valid? [False, False] Translation: X:-1.04, Y:-1.64, Z:0.25 [[ 0.99980477 -0.01844543 -0.00708496 -1.03877121] [ 0.01839863 0.99980885 -0.00661505 -1.63706903] [ 0.00720562 0.0064834 0.99995302 0.24895271] [ 0. 0. 0. 1. ]] SLAMing on 33.061652532000004 meters Centerline goodness : 0.763800 Centerline is valid? [False, False] Translation: X:-1.04, Y:-1.64, Z:0.25 [[ 0.99981576 -0.01797734 -0.00672815 -1.03964031] [ 0.01793636 0.99982051 -0.00610148 -1.63842568] [ 0.00683663 0.00597967 0.99995875 0.24874357] [ 0. 0. 0. 1. ]] SLAMing on 33.091652532 meters Centerline goodness : 0.763453 Centerline is valid? [False, False] Translation: X:-1.04, Y:-1.64, Z:0.25 [[ 0.99980385 -0.0184009 -0.00732655 -1.038453 ] [ 0.01835409 0.99981103 -0.00640542 -1.63807678] [ 0.00744303 0.0062697 0.99995264 0.24919741] [ 0. 0. 0. 1. ]] SLAMing on 33.121652532 meters Centerline goodness : 0.765735 Centerline is valid? [False, False] Translation: X:-1.04, Y:-1.64, Z:0.25 [[ 0.9998164 -0.0177164 -0.00730042 -1.0393075 ] [ 0.01767721 0.99982917 -0.00539858 -1.64092268] [ 0.00739482 0.00526854 0.99995878 0.25001738] [ 0. 0. 0. 1. ]] SLAMing on 33.151652532 meters Centerline goodness : 0.770140 Centerline is valid? [False, False] Translation: X:-1.04, Y:-1.65, Z:0.25 [[ 0.99974545 -0.0210534 -0.00811102 -1.04027335] [ 0.02099743 0.99975554 -0.0069253 -1.64798926] [ 0.00825484 0.00675322 0.99994312 0.25430875] [ 0. 0. 0. 1. ]] SLAMing on 33.181652532 meters Centerline goodness : 0.770993 Centerline is valid? [False, False] Translation: X:-1.04, Y:-1.65, Z:0.26 [[ 0.99973374 -0.02122051 -0.00906279 -1.03884823] [ 0.02116361 0.99975599 -0.0063295 -1.65060253] [ 0.00919489 0.00613601 0.9999389 0.25571261] [ 0. 0. 0. 1. ]] SLAMing on 33.211652532 meters Centerline goodness : 0.772111 Centerline is valid? [False, False] Translation: X:-1.04, Y:-1.65, Z:0.26 [[ 0.99968942 -0.02269652 -0.0102919 -1.03616377] [ 0.02262327 0.99971829 -0.00717822 -1.65066047] [ 0.01045192 0.00694316 0.99992127 0.25639981] [ 0. 0. 0. 1. ]] SLAMing on 33.241652532 meters Centerline goodness : 0.771661 Centerline is valid? [False, False] Translation: X:-1.03, Y:-1.65, Z:0.26 [[ 0.99962221 -0.02499436 -0.01143349 -1.03301945] [ 0.02489027 0.99964824 -0.00915795 -1.64861345] [ 0.01165836 0.00886991 0.9998927 0.25622102] [ 0. 0. 0. 1. ]] SLAMing on 33.271652532 meters Centerline goodness : 0.773171 Centerline is valid? [False, False] Translation: X:-1.03, Y:-1.65, Z:0.26 [[ 0.99955502 -0.0271678 -0.01231588 -1.02973036] [ 0.02702879 0.99957059 -0.01131692 -1.64562186] [ 0.01261804 0.010979 0.99986011 0.25507814] [ 0. 0. 0. 1. ]] SLAMing on 33.301652532 meters Centerline goodness : 0.771663 Centerline is valid? [False, False] Translation: X:-1.03, Y:-1.65, Z:0.26 [[ 0.99955867 -0.02709714 -0.01217418 -1.03048248] [ 0.02696121 0.9995738 -0.01119455 -1.64600067] [ 0.01247233 0.01086138 0.99986323 0.25550611] [ 0. 0. 0. 1. ]] SLAMing on 33.331652532 meters Centerline goodness : 0.771868 Centerline is valid? [False, False] Translation: X:-1.03, Y:-1.64, Z:0.26 [[ 0.99963432 -0.0237446 -0.01293894 -1.02887703] [ 0.02364368 0.99968925 -0.0078978 -1.64409199] [ 0.01312245 0.00758899 0.9998851 0.25555735] [ 0. 0. 0. 1. ]] SLAMing on 33.361652532 meters Centerline goodness : 0.771195 Centerline is valid? [False, False] Translation: X:-1.03, Y:-1.64, Z:0.25 [[ 0.99970905 -0.02046794 -0.01276266 -1.02851018] [ 0.0204009 0.99977751 -0.00536091 -1.63938603] [ 0.01286955 0.00509898 0.99990418 0.25415038] [ 0. 0. 0. 1. ]] SLAMing on 33.391652532 meters Centerline goodness : 0.769439 Centerline is valid? [False, False] Translation: X:-1.03, Y:-1.64, Z:0.25 [[ 0.99973491 -0.01963359 -0.01202605 -1.03088467] [ 0.0195787 0.99979743 -0.00466572 -1.64049248] [ 0.01211522 0.00442903 0.9999168 0.25441558] [ 0. 0. 0. 1. ]] SLAMing on 33.421652532 meters Centerline goodness : 0.769439 Centerline is valid? [False, False] Translation: X:-1.03, Y:-1.64, Z:0.25 [[ 0.99973491 -0.01963359 -0.01202605 -1.03088467] [ 0.0195787 0.99979743 -0.00466572 -1.64049248] [ 0.01211522 0.00442903 0.9999168 0.25441558] [ 0. 0. 0. 1. ]] SLAMing on 33.451652532 meters Centerline goodness : 0.771488 Centerline is valid? [False, False] Translation: X:-1.03, Y:-1.64, Z:0.26 [[ 0.99975839 -0.01879193 -0.01140306 -1.03332525] [ 0.0187491 0.9998168 -0.00385173 -1.64210724] [ 0.01147336 0.003637 0.99992756 0.25521016] [ 0. 0. 0. 1. ]] SLAMing on 33.481652532 meters Centerline goodness : 0.769547 Centerline is valid? [False, False] Translation: X:-1.04, Y:-1.64, Z:0.26 [[ 9.99849546e-01 -1.37835140e-02 -1.05308837e-02 -1.03566822e+00] [ 1.37938072e-02 9.99904451e-01 9.05419011e-04 -1.64309301e+00] [ 1.05173976e-02 -1.05054377e-03 9.99944139e-01 2.55006428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.511652532 meters Centerline goodness : 0.771986 Centerline is valid? [False, False] Translation: X:-1.04, Y:-1.64, Z:0.26 [[ 9.99849173e-01 -1.39429889e-02 -1.03549614e-02 -1.03644246e+00] [ 1.39494846e-02 9.99902547e-01 5.55339307e-04 -1.64185696e+00] [ 1.03462092e-02 -6.99701921e-04 9.99946232e-01 2.55319920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.541652532 meters Centerline goodness : 0.770216 Centerline is valid? [False, False] Translation: X:-1.04, Y:-1.64, Z:0.25 [[ 9.99861415e-01 -1.35204791e-02 -9.71328208e-03 -1.03800705e+00] [ 1.35276087e-02 9.99908274e-01 6.68669531e-04 -1.64158734e+00] [ 9.70335039e-03 -7.99974342e-04 9.99952601e-01 2.54967198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.571652532 meters Centerline goodness : 0.770563 Centerline is valid? [False, False] Translation: X:-1.04, Y:-1.64, Z:0.25 [[ 9.99871997e-01 -1.32111473e-02 -9.02520009e-03 -1.03951380e+00] [ 1.32169049e-02 9.99912485e-01 5.78598337e-04 -1.64075480e+00] [ 9.01676630e-03 -6.97809486e-04 9.99959105e-01 2.54438990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.601652532 meters Centerline goodness : 0.770380 Centerline is valid? [False, False] Translation: X:-1.04, Y:-1.64, Z:0.25 [[ 9.99888297e-01 -1.24371622e-02 -8.28915651e-03 -1.04166623e+00] [ 1.24473254e-02 9.99921838e-01 1.17562034e-03 -1.64169235e+00] [ 8.27388723e-03 -1.27866685e-03 9.99964953e-01 2.54519045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.631652532 meters Centerline goodness : 0.769339 Centerline is valid? [False, False] Translation: X:-1.04, Y:-1.64, Z:0.25 [[ 0.99993096 -0.00850216 -0.0081114 -1.04150156] [ 0.0085411 0.99995211 0.00477807 -1.64019902] [ 0.00807039 -0.00484702 0.99995569 0.25358102] [ 0. 0. 0. 1. ]] SLAMing on 33.661652532 meters Centerline goodness : 0.770413 Centerline is valid? [False, False] Translation: X:-1.04, Y:-1.64, Z:0.25 [[ 0.99995032 -0.00549649 -0.00831502 -1.0395283 ] [ 0.00555833 0.99995693 0.0074325 -1.63731289] [ 0.00827381 -0.00747834 0.99993781 0.2517979 ] [ 0. 0. 0. 1. ]] SLAMing on 33.691652532 meters Centerline goodness : 0.768880 Centerline is valid? [False, False] Translation: X:-1.04, Y:-1.64, Z:0.25 [[ 0.99995441 -0.00552365 -0.00778831 -1.04105316] [ 0.00557819 0.99995995 0.00699934 -1.63580625] [ 0.00774934 -0.00704247 0.99994517 0.25195315] [ 0. 0. 0. 1. ]] SLAMing on 33.721652532 meters Centerline goodness : 0.770877 Centerline is valid? [False, False] Translation: X:-1.04, Y:-1.64, Z:0.25 [[ 0.99996962 -0.00363794 -0.0068932 -1.0446781 ] [ 0.0036992 0.99995359 0.00889559 -1.63926511] [ 0.00686052 -0.00892082 0.99993667 0.25337366] [ 0. 0. 0. 1. ]] SLAMing on 33.751652532 meters Centerline goodness : 0.773294 Centerline is valid? [False, False] Translation: X:-1.04, Y:-1.63, Z:0.26 [[ 0.99997538 0.0034374 -0.00611688 -1.03975243] [-0.00341136 0.99998509 0.0042632 -1.63420656] [ 0.00613145 -0.00424223 0.9999722 0.2616404 ] [ 0. 0. 0. 1. ]] SLAMing on 33.781652532 meters Centerline goodness : 0.772599 Centerline is valid? [False, False] Translation: X:-1.04, Y:-1.64, Z:0.26 [[ 0.9999773 0.00416797 -0.00529432 -1.04209575] [-0.00414119 0.99997863 0.00505896 -1.63631591] [ 0.00531529 -0.00503692 0.99997319 0.26187109] [ 0. 0. 0. 1. ]] SLAMing on 33.811652532000004 meters Centerline goodness : 0.771447 Centerline is valid? [False, False] Translation: X:-1.04, Y:-1.63, Z:0.26 [[ 0.99998176 0.00357408 -0.00486966 -1.04100304] [-0.00355666 0.99998726 0.00358147 -1.63294799] [ 0.00488239 -0.00356409 0.99998173 0.25908874] [ 0. 0. 0. 1. ]] SLAMing on 33.841652532 meters Centerline goodness : 0.770586 Centerline is valid? [False, False] Translation: X:-1.04, Y:-1.63, Z:0.26 [[ 0.99998309 0.003083 -0.00493043 -1.03972731] [-0.00306884 0.99999115 0.0028767 -1.63167087] [ 0.00493926 -0.00286152 0.99998371 0.25764052] [ 0. 0. 0. 1. ]] SLAMing on 33.871652532 meters Centerline goodness : 0.771027 Centerline is valid? [False, False] Translation: X:-1.04, Y:-1.63, Z:0.26 [[ 0.99998463 0.0027975 -0.00478669 -1.04009538] [-0.00278648 0.99999346 0.00230708 -1.62999716] [ 0.00479311 -0.0022937 0.99998588 0.25754141] [ 0. 0. 0. 1. ]] SLAMing on 33.901652532 meters Centerline goodness : 0.773101 Centerline is valid? [False, False] Translation: X:-1.04, Y:-1.63, Z:0.26 [[ 0.99998538 0.00322984 -0.00433681 -1.04167063] [-0.00321742 0.99999071 0.00286796 -1.63165973] [ 0.00434604 -0.00285396 0.99998648 0.258055 ] [ 0. 0. 0. 1. ]] SLAMing on 33.931652532 meters Centerline goodness : 0.771330 Centerline is valid? [False, False] Translation: X:-1.04, Y:-1.63, Z:0.26 [[ 0.99998657 0.00309009 -0.00416094 -1.0421923 ] [-0.00307844 0.99999133 0.00280375 -1.63194784] [ 0.00416957 -0.0027909 0.99998741 0.25823914] [ 0. 0. 0. 1. ]] SLAMing on 33.961652532 meters Centerline goodness : 0.771888 Centerline is valid? [False, False] Translation: X:-1.04, Y:-1.63, Z:0.26 [[ 0.99998839 0.0026113 -0.00404943 -1.04152276] [-0.00260281 0.99999441 0.00209953 -1.63042942] [ 0.00405489 -0.00208897 0.9999896 0.25700761] [ 0. 0. 0. 1. ]] SLAMing on 33.991652532 meters Centerline goodness : 0.769322 Centerline is valid? [False, False] Translation: X:-1.04, Y:-1.63, Z:0.26 [[ 9.99990244e-01 2.11329594e-03 -3.87894717e-03 -1.04155739e+00] [-2.10835977e-03 9.99996963e-01 1.27620205e-03 -1.62835903e+00] [ 3.88163238e-03 -1.26801139e-03 9.99991663e-01 2.56466227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.021652532 meters Centerline goodness : 0.768316 Centerline is valid? [False, False] Translation: X:-1.04, Y:-1.63, Z:0.26 [[ 9.99992398e-01 1.87078377e-03 -3.42126749e-03 -1.04284709e+00] [-1.86772631e-03 9.99997854e-01 8.96641104e-04 -1.62744697e+00] [ 3.42293757e-03 -8.90244296e-04 9.99993745e-01 2.56583766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.051652532 meters Centerline goodness : 0.769444 Centerline is valid? [False, False] Translation: X:-1.04, Y:-1.63, Z:0.26 [[ 9.99992593e-01 1.80692492e-03 -3.39827916e-03 -1.04320117e+00] [-1.80417254e-03 9.99998042e-01 8.12823593e-04 -1.62731486e+00] [ 3.39974121e-03 -8.06686491e-04 9.99993895e-01 2.56926212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.081652532 meters Centerline goodness : 0.769886 Centerline is valid? [False, False] Translation: X:-1.04, Y:-1.63, Z:0.26 [[ 9.99992801e-01 1.71653895e-03 -3.38396313e-03 -1.04356584e+00] [-1.71383504e-03 9.99998210e-01 8.01775742e-04 -1.62771178e+00] [ 3.38533336e-03 -7.95970415e-04 9.99993953e-01 2.57363431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.111652532 meters Centerline goodness : 0.772281 Centerline is valid? [False, False] Translation: X:-1.04, Y:-1.63, Z:0.26 [[ 9.99993159e-01 2.09262643e-03 -3.05011995e-03 -1.04482861e+00] [-2.08912496e-03 9.99997156e-01 1.15071364e-03 -1.62863479e+00] [ 3.05251929e-03 -1.14433369e-03 9.99994686e-01 2.57832740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.141652532 meters Centerline goodness : 0.771470 Centerline is valid? [False, False] Translation: X:-1.05, Y:-1.63, Z:0.26 [[ 0.999973 0.00664806 -0.00313047 -1.04537382] [-0.00662955 0.9999607 0.00588665 -1.63017478] [ 0.00316948 -0.00586574 0.99997777 0.25883264] [ 0. 0. 0. 1. ]] SLAMing on 34.171652532 meters Centerline goodness : 0.772196 Centerline is valid? [False, False] Translation: X:-1.05, Y:-1.63, Z:0.26 [[ 9.99960311e-01 8.76876252e-03 -1.57620125e-03 -1.04924639e+00] [-8.75672158e-03 9.99933605e-01 7.49034234e-03 -1.63231478e+00] [ 1.64177763e-03 -7.47624271e-03 9.99970705e-01 2.58632356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.201652532 meters Centerline goodness : 0.774741 Centerline is valid? [False, False] Translation: X:-1.05, Y:-1.63, Z:0.26 [[ 9.99943128e-01 1.06644786e-02 1.03138065e-04 -1.05257580e+00] [-1.06649729e-02 9.99904746e-01 8.76113127e-03 -1.63387232e+00] [-9.69534405e-06 -8.76173296e-03 9.99961615e-01 2.57436629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.231652532 meters Centerline goodness : 0.774358 Centerline is valid? [False, False] Translation: X:-1.05, Y:-1.63, Z:0.26 [[ 9.99885382e-01 1.50869983e-02 1.26687838e-03 -1.05488297e+00] [-1.51015354e-02 9.99809332e-01 1.23791079e-02 -1.63135079e+00] [-1.07987325e-03 -1.23968209e-02 9.99922573e-01 2.56749442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.261652532 meters Centerline goodness : 0.776271 Centerline is valid? [False, False] Translation: X:-1.06, Y:-1.63, Z:0.26 [[ 0.99986355 0.01636464 0.00225244 -1.05767684] [-0.01639383 0.99977291 0.01361523 -1.63432151] [-0.00202912 -0.0136503 0.99990477 0.25692024] [ 0. 0. 0. 1. ]] SLAMing on 34.291652532 meters Centerline goodness : 0.776201 Centerline is valid? [False, False] Translation: X:-1.06, Y:-1.64, Z:0.26 [[ 0.99984554 0.01729143 0.00314695 -1.05982063] [-0.01733484 0.999747 0.01433296 -1.63583084] [-0.00289831 -0.0143853 0.99989233 0.25659546] [ 0. 0. 0. 1. ]] SLAMing on 34.321652532 meters Centerline goodness : 0.776583 Centerline is valid? [False, False] Translation: X:-1.06, Y:-1.63, Z:0.26 [[ 0.99976908 0.02114288 0.0038426 -1.06080333] [-0.02120695 0.99962235 0.01747619 -1.63228181] [-0.00347165 -0.01755365 0.9998399 0.25570493] [ 0. 0. 0. 1. ]] SLAMing on 34.351652532 meters Centerline goodness : 0.774855 Centerline is valid? [False, False] Translation: X:-1.06, Y:-1.63, Z:0.26 [[ 0.999761 0.02140468 0.00444675 -1.06265828] [-0.02148005 0.99961334 0.01765727 -1.63266749] [-0.00406709 -0.01774857 0.99983421 0.25605914] [ 0. 0. 0. 1. ]] SLAMing on 34.381652532 meters Centerline goodness : 0.774095 Centerline is valid? [False, False] Translation: X:-1.07, Y:-1.64, Z:0.26 [[ 0.99978261 0.02026838 0.00489063 -1.0659776 ] [-0.02034945 0.99964602 0.01713885 -1.6378269 ] [-0.00454152 -0.01723464 0.99984116 0.25842923] [ 0. 0. 0. 1. ]] SLAMing on 34.411652532 meters Centerline goodness : 0.773249 Centerline is valid? [False, False] Translation: X:-1.07, Y:-1.64, Z:0.26 [[ 0.99991072 0.01257682 0.00451298 -1.06647637] [-0.01262362 0.99986523 0.01049641 -1.64325889] [-0.00438036 -0.01055245 0.99993473 0.26015205] [ 0. 0. 0. 1. ]] SLAMing on 34.441652532 meters Centerline goodness : 0.775041 Centerline is valid? [False, False] Translation: X:-1.07, Y:-1.65, Z:0.26 [[ 0.99995504 0.0084819 0.00423882 -1.0662464 ] [-0.00851073 0.99994044 0.00683218 -1.64565352] [-0.00418062 -0.00686795 0.99996768 0.26058417] [ 0. 0. 0. 1. ]] SLAMing on 34.471652532 meters Centerline goodness : 0.773314 Centerline is valid? [False, False] Translation: X:-1.07, Y:-1.65, Z:0.26 [[ 0.99998087 0.00439302 0.00435436 -1.06663125] [-0.00440557 0.99998616 0.00287676 -1.64691241] [-0.00434166 -0.00289589 0.99998638 0.26056474] [ 0. 0. 0. 1. ]] SLAMing on 34.501652532 meters Centerline goodness : 0.774055 Centerline is valid? [False, False] Translation: X:-1.07, Y:-1.65, Z:0.26 [[ 0.99998527 0.00384231 0.00383264 -1.06516214] [-0.00385162 0.99998965 0.00242268 -1.64633609] [-0.00382329 -0.0024374 0.99998972 0.26040536] [ 0. 0. 0. 1. ]] SLAMing on 34.531652532 meters Centerline goodness : 0.775206 Centerline is valid? [False, False] Translation: X:-1.07, Y:-1.65, Z:0.26 [[ 0.99998198 0.00422476 0.00426477 -1.0664476 ] [-0.00423639 0.99998732 0.0027217 -1.64697765] [-0.00425322 -0.00273972 0.9999872 0.26061699] [ 0. 0. 0. 1. ]] SLAMing on 34.561652532000004 meters Centerline goodness : 0.776937 Centerline is valid? [False, False] Translation: X:-1.07, Y:-1.65, Z:0.26 [[ 0.99997555 0.00483569 0.00505085 -1.06825454] [-0.00485196 0.99998307 0.00321341 -1.64807185] [-0.00503523 -0.00323784 0.99998208 0.26022695] [ 0. 0. 0. 1. ]] SLAMing on 34.591652532 meters Centerline goodness : 0.775612 Centerline is valid? [False, False] Translation: X:-1.07, Y:-1.65, Z:0.26 [[ 0.99997453 0.00455508 0.0054952 -1.06889477] [-0.00456805 0.9999868 0.00235087 -1.64538787] [-0.00548441 -0.00237591 0.99998214 0.2595777 ] [ 0. 0. 0. 1. ]] SLAMing on 34.621652532 meters Centerline goodness : 0.774273 Centerline is valid? [False, False] Translation: X:-1.07, Y:-1.65, Z:0.26 [[ 0.99995385 0.0067428 0.00684367 -1.0719452 ] [-0.0067689 0.99996988 0.00379871 -1.64630879] [-0.00681785 -0.00384486 0.99996937 0.2589324 ] [ 0. 0. 0. 1. ]] SLAMing on 34.651652532 meters Centerline goodness : 0.769629 Centerline is valid? [False, False] Translation: X:-1.08, Y:-1.65, Z:0.25 [[ 0.99983424 0.01427935 0.01129611 -1.08074589] [-0.0143646 0.99986868 0.00750171 -1.64652606] [-0.0111875 -0.00766273 0.99990806 0.25435936] [ 0. 0. 0. 1. ]] SLAMing on 34.681652532 meters Centerline goodness : 0.772182 Centerline is valid? [False, False] Translation: X:-1.08, Y:-1.64, Z:0.25 [[ 0.99976292 0.01820691 0.01194224 -1.08093336] [-0.01833695 0.99977276 0.01087161 -1.6441517 ] [-0.01174159 -0.01108802 0.99986959 0.25248746] [ 0. 0. 0. 1. ]] SLAMing on 34.711652532 meters Centerline goodness : 0.771624 Centerline is valid? [False, False] Translation: X:-1.08, Y:-1.64, Z:0.25 [[ 0.99968078 0.02192156 0.01256089 -1.08123521] [-0.02209357 0.99966173 0.0137224 -1.64004732] [-0.01225583 -0.01399553 0.99982694 0.25086622] [ 0. 0. 0. 1. ]] SLAMing on 34.741652532 meters Centerline goodness : 0.770160 Centerline is valid? [False, False] Translation: X:-1.08, Y:-1.63, Z:0.25 [[ 0.99959356 0.02510013 0.0135169 -1.08128976] [-0.02530912 0.99955921 0.01551897 -1.63440538] [-0.01312141 -0.01585476 0.99978821 0.24796428] [ 0. 0. 0. 1. ]] SLAMing on 34.771652532 meters Centerline goodness : 0.771745 Centerline is valid? [False, False] Translation: X:-1.08, Y:-1.64, Z:0.25 [[ 0.99954493 0.02641373 0.01456906 -1.08396878] [-0.02665738 0.99950361 0.01679063 -1.63752222] [-0.01411832 -0.01717136 0.99975288 0.24785255] [ 0. 0. 0. 1. ]] SLAMing on 34.801652532 meters Centerline goodness : 0.772871 Centerline is valid? [False, False] Translation: X:-1.09, Y:-1.64, Z:0.25 [[ 0.9994531 0.02906668 0.01576824 -1.08752737] [-0.02936722 0.99938475 0.01917497 -1.64101414] [-0.01520119 -0.01962755 0.99969179 0.24844382] [ 0. 0. 0. 1. ]] SLAMing on 34.831652532 meters Centerline goodness : 0.774472 Centerline is valid? [False, False] Translation: X:-1.09, Y:-1.65, Z:0.25 [[ 0.99868232 0.04684243 0.02096228 -1.09338992] [-0.04724154 0.9987034 0.01896735 -1.64945234] [-0.02004662 -0.01993265 0.99960033 0.25010901] [ 0. 0. 0. 1. ]] SLAMing on 34.861652532 meters Centerline goodness : 0.775931 Centerline is valid? [False, False] Translation: X:-1.10, Y:-1.65, Z:0.25 [[ 0.9985872 0.04828728 0.0221796 -1.09667467] [-0.04873581 0.99860848 0.02014781 -1.65157435] [-0.02117585 -0.02120029 0.99955096 0.25035211] [ 0. 0. 0. 1. ]] SLAMing on 34.891652532 meters Centerline goodness : 0.777816 Centerline is valid? [False, False] Translation: X:-1.10, Y:-1.65, Z:0.25 [[ 0.99845883 0.05019284 0.02367774 -1.10092343] [-0.05070315 0.99848301 0.02146786 -1.65298194] [-0.02256429 -0.02263531 0.99948912 0.25089152] [ 0. 0. 0. 1. ]] SLAMing on 34.921652532 meters Centerline goodness : 0.778860 Centerline is valid? [False, False] Translation: X:-1.10, Y:-1.65, Z:0.25 [[ 0.9982104 0.05465973 0.02425519 -1.10168014] [-0.05528296 0.99813698 0.02581408 -1.65304069] [-0.02279901 -0.02710878 0.99937246 0.25047667] [ 0. 0. 0. 1. ]] SLAMing on 34.951652532 meters Centerline goodness : 0.780242 Centerline is valid? [False, False] Translation: X:-1.10, Y:-1.65, Z:0.25 [[ 0.99789814 0.05961993 0.02539216 -1.103222 ] [-0.06037617 0.99772066 0.03013645 -1.65255023] [-0.02353755 -0.03160619 0.99922321 0.24934199] [ 0. 0. 0. 1. ]] SLAMing on 34.981652532 meters Centerline goodness : 0.782609 Centerline is valid? [False, False] Translation: X:-1.10, Y:-1.65, Z:0.25 [[ 0.99760612 0.06410363 0.02593758 -1.10348183] [-0.06497841 0.99729287 0.03442006 -1.65243168] [-0.02366092 -0.03602305 0.99907082 0.24843569] [ 0. 0. 0. 1. ]] SLAMing on 35.011652532 meters Centerline goodness : 0.786239 Centerline is valid? [False, False] Translation: X:-1.10, Y:-1.65, Z:0.25 [[ 0.99726079 0.06890786 0.0268818 -1.10474779] [-0.06992824 0.99678665 0.03906941 -1.65318905] [-0.02410323 -0.04084218 0.99887484 0.24757813] [ 0. 0. 0. 1. ]] SLAMing on 35.041652532 meters Centerline goodness : 0.784778 Centerline is valid? [False, False] Translation: X:-1.11, Y:-1.65, Z:0.25 [[ 0.99670834 0.07552524 0.02946898 -1.10928399] [-0.07678993 0.99605615 0.04444616 -1.65351345] [-0.02599595 -0.04656278 0.99857705 0.24597341] [ 0. 0. 0. 1. ]] SLAMing on 35.071652532 meters Centerline goodness : 0.786414 Centerline is valid? [False, False] Translation: X:-1.11, Y:-1.65, Z:0.25 [[ 0.9966133 0.07640881 0.03039125 -1.11119236] [-0.07773301 0.99595448 0.04508047 -1.65497119] [-0.02682376 -0.0472902 0.99852097 0.24512576] [ 0. 0. 0. 1. ]] SLAMing on 35.101652532 meters Centerline goodness : 0.786985 Centerline is valid? [False, False] Translation: X:-1.11, Y:-1.65, Z:0.24 [[ 0.99662622 0.07615267 0.03060946 -1.11135865] [-0.07747185 0.99600057 0.0445082 -1.65355225] [-0.02709762 -0.04672941 0.99853997 0.24440513] [ 0. 0. 0. 1. ]] SLAMing on 35.131652532 meters Centerline goodness : 0.782886 Centerline is valid? [False, False] Translation: X:-1.11, Y:-1.65, Z:0.25 [[ 0.99690312 0.07229354 0.03094845 -1.11353227] [-0.07352373 0.99646463 0.04065086 -1.65493503] [-0.02790024 -0.04280041 0.998694 0.24518528] [ 0. 0. 0. 1. ]] SLAMing on 35.161652532 meters Centerline goodness : 0.784175 Centerline is valid? [False, False] Translation: X:-1.12, Y:-1.66, Z:0.25 [[ 0.99706278 0.06974182 0.03165266 -1.11654829] [-0.07093421 0.99674712 0.03825599 -1.65931074] [-0.02888166 -0.04038888 0.99876653 0.245976 ] [ 0. 0. 0. 1. ]] SLAMing on 35.191652532 meters Centerline goodness : 0.783913 Centerline is valid? [False, False] Translation: X:-1.12, Y:-1.66, Z:0.25 [[ 0.99720528 0.0674186 0.03219261 -1.11895681] [-0.06857213 0.99698979 0.03618317 -1.66434253] [-0.02965629 -0.03828957 0.99882652 0.2465267 ] [ 0. 0. 0. 1. ]] SLAMing on 35.221652532 meters Centerline goodness : 0.781426 Centerline is valid? [False, False] Translation: X:-1.12, Y:-1.66, Z:0.25 [[ 0.99754646 0.06246254 0.03161458 -1.11854037] [-0.06345104 0.99749419 0.03129383 -1.66357482] [-0.02958067 -0.03322303 0.99901012 0.24707655] [ 0. 0. 0. 1. ]] SLAMing on 35.251652532 meters Centerline goodness : 0.780928 Centerline is valid? [False, False] Translation: X:-1.12, Y:-1.67, Z:0.25 [[ 0.99772193 0.05938234 0.03201068 -1.12053733] [-0.0602998 0.99777335 0.02850054 -1.66783776] [-0.03024698 -0.03036585 0.9990811 0.24756549] [ 0. 0. 0. 1. ]] SLAMing on 35.281652532 meters Centerline goodness : 0.781808 Centerline is valid? [False, False] Translation: X:-1.12, Y:-1.67, Z:0.25 [[ 0.99793611 0.05575218 0.03186229 -1.12161005] [-0.05656725 0.99807872 0.0252787 -1.67135543] [-0.03039173 -0.02702889 0.99917255 0.24868686] [ 0. 0. 0. 1. ]] SLAMing on 35.311652532 meters Centerline goodness : 0.781808 Centerline is valid? [False, False] Translation: X:-1.12, Y:-1.67, Z:0.25 [[ 0.99793611 0.05575218 0.03186229 -1.12161005] [-0.05656725 0.99807872 0.0252787 -1.67135543] [-0.03039173 -0.02702889 0.99917255 0.24868686] [ 0. 0. 0. 1. ]] SLAMing on 35.341652532 meters Centerline goodness : 0.778616 Centerline is valid? [False, False] Translation: X:-1.12, Y:-1.68, Z:0.25 [[ 0.9981224 0.05233201 0.03182828 -1.12310284] [-0.05305564 0.99834182 0.02233188 -1.67541989] [-0.03060683 -0.02397862 0.99924384 0.25005731] [ 0. 0. 0. 1. ]] SLAMing on 35.371652532 meters Centerline goodness : 0.779986 Centerline is valid? [False, False] Translation: X:-1.12, Y:-1.68, Z:0.25 [[ 0.99848721 0.0453909 0.03103151 -1.12476213] [-0.04592329 0.99880596 0.01666425 -1.6824243 ] [-0.03023805 -0.01806411 0.99937948 0.25384267] [ 0. 0. 0. 1. ]] SLAMing on 35.401652532 meters Centerline goodness : 0.781434 Centerline is valid? [False, False] Translation: X:-1.12, Y:-1.68, Z:0.25 [[ 0.99858326 0.04380344 0.03021137 -1.12272112] [-0.04428978 0.99889659 0.01562077 -1.68234859] [-0.0294938 -0.01693669 0.99942146 0.25397583] [ 0. 0. 0. 1. ]] SLAMing on 35.431652532 meters Centerline goodness : 0.780820 Centerline is valid? [False, False] Translation: X:-1.12, Y:-1.69, Z:0.26 [[ 0.99871759 0.04049236 0.03038972 -1.12446373] [-0.04089243 0.99908334 0.0126606 -1.68601048] [-0.0298492 -0.01388708 0.99945794 0.25512322] [ 0. 0. 0. 1. ]] SLAMing on 35.461652532 meters Centerline goodness : 0.779479 Centerline is valid? [False, False] Translation: X:-1.13, Y:-1.69, Z:0.26 [[ 0.99879275 0.038553 0.03044195 -1.12674033] [-0.03891886 0.99917598 0.01151862 -1.69221322] [-0.02997279 -0.01268948 0.99947016 0.25729177] [ 0. 0. 0. 1. ]] SLAMing on 35.491652532 meters Centerline goodness : 0.779310 Centerline is valid? [False, False] Translation: X:-1.13, Y:-1.71, Z:0.26 [[ 0.99919555 0.03034227 0.02622216 -1.13360278] [-0.03084093 0.99934699 0.01882612 -1.7065196 ] [-0.02563381 -0.01961969 0.99947885 0.25678652] [ 0. 0. 0. 1. ]] SLAMing on 35.521652532 meters Centerline goodness : 0.780164 Centerline is valid? [False, False] Translation: X:-1.14, Y:-1.71, Z:0.26 [[ 0.99923375 0.02879981 0.02650449 -1.13642304] [-0.0292788 0.99941163 0.01786454 -1.71211005] [-0.0259744 -0.01862687 0.99948905 0.25910377] [ 0. 0. 0. 1. ]] SLAMing on 35.551652532 meters Centerline goodness : 0.780299 Centerline is valid? [False, False] Translation: X:-1.14, Y:-1.72, Z:0.26 [[ 0.99929232 0.02613813 0.02704922 -1.13907965] [-0.02656422 0.99952671 0.01551459 -1.71658127] [-0.0266309 -0.01622215 0.9995137 0.26039511] [ 0. 0. 0. 1. ]] SLAMing on 35.581652532 meters Centerline goodness : 0.779241 Centerline is valid? [False, False] Translation: X:-1.14, Y:-1.72, Z:0.26 [[ 0.99935314 0.02322654 0.02745611 -1.14078023] [-0.02358584 0.99963941 0.01283568 -1.72046796] [-0.02714808 -0.01347496 0.9995406 0.26097192] [ 0. 0. 0. 1. ]] SLAMing on 35.611652532 meters Centerline goodness : 0.779051 Centerline is valid? [False, False] Translation: X:-1.14, Y:-1.72, Z:0.26 [[ 0.99935294 0.02307741 0.02758854 -1.1411042 ] [-0.02343332 0.9996454 0.01264739 -1.72014411] [-0.02728689 -0.0132857 0.99953935 0.26100801] [ 0. 0. 0. 1. ]] SLAMing on 35.641652532 meters Centerline goodness : 0.779154 Centerline is valid? [False, False] Translation: X:-1.14, Y:-1.72, Z:0.26 [[ 0.9993236 0.02360421 0.02819892 -1.14295636] [-0.02398405 0.99962508 0.01320861 -1.72157524] [-0.02787657 -0.013876 0.99951506 0.26138066] [ 0. 0. 0. 1. ]] SLAMing on 35.671652532 meters Centerline goodness : 0.777848 Centerline is valid? [False, False] Translation: X:-1.15, Y:-1.72, Z:0.26 [[ 0.99927281 0.02424926 0.0294248 -1.14610065] [-0.02464913 0.99960764 0.0133039 -1.72054748] [-0.02909065 -0.01401952 0.99947846 0.26151376] [ 0. 0. 0. 1. ]] SLAMing on 35.701652532 meters Centerline goodness : 0.776379 Centerline is valid? [False, False] Translation: X:-1.15, Y:-1.72, Z:0.26 [[ 0.99924879 0.02459553 0.02994855 -1.14731671] [-0.02500938 0.99959574 0.01352347 -1.72097504] [-0.02960382 -0.01426231 0.99945995 0.26123282] [ 0. 0. 0. 1. ]] SLAMing on 35.731652532 meters Centerline goodness : 0.776518 Centerline is valid? [False, False] Translation: X:-1.15, Y:-1.72, Z:0.26 [[ 0.99924966 0.02453279 0.02997081 -1.14751819] [-0.02494737 0.99959709 0.01353803 -1.72137448] [-0.02962661 -0.01427556 0.99945909 0.26143865] [ 0. 0. 0. 1. ]] SLAMing on 35.761652532 meters Centerline goodness : 0.777000 Centerline is valid? [False, False] Translation: X:-1.15, Y:-1.72, Z:0.26 [[ 0.9993014 0.02355095 0.02901851 -1.14628555] [-0.02394752 0.99962347 0.01339511 -1.72272839] [-0.02869212 -0.01408067 0.99948912 0.26338888] [ 0. 0. 0. 1. ]] SLAMing on 35.791652532 meters Centerline goodness : 0.779554 Centerline is valid? [False, False] Translation: X:-1.15, Y:-1.72, Z:0.26 [[ 0.99931603 0.02353532 0.02852287 -1.14569169] [-0.02393659 0.99961809 0.01380958 -1.7246942 ] [-0.02818697 -0.01448288 0.99949774 0.2643338 ] [ 0. 0. 0. 1. ]] SLAMing on 35.821652532 meters Centerline goodness : 0.781239 Centerline is valid? [False, False] Translation: X:-1.15, Y:-1.73, Z:0.26 [[ 0.99929793 0.02421189 0.02859087 -1.14613444] [-0.02464358 0.99958609 0.01484396 -1.72789365] [-0.02821963 -0.01553812 0.99948097 0.26461781] [ 0. 0. 0. 1. ]] SLAMing on 35.851652532 meters Centerline goodness : 0.781415 Centerline is valid? [False, False] Translation: X:-1.15, Y:-1.73, Z:0.27 [[ 0.99929898 0.02417312 0.0285869 -1.14683759] [-0.02460726 0.99958564 0.01493391 -1.72827515] [-0.02821406 -0.01562689 0.99947975 0.2657368 ] [ 0. 0. 0. 1. ]] SLAMing on 35.881652532 meters Centerline goodness : 0.780431 Centerline is valid? [False, False] Translation: X:-1.15, Y:-1.73, Z:0.27 [[ 0.99928873 0.02430061 0.02883585 -1.1473388 ] [-0.02474291 0.99958007 0.0150821 -1.72893216] [-0.02845724 -0.01578486 0.99947037 0.26554437] [ 0. 0. 0. 1. ]] SLAMing on 35.911652532 meters Centerline goodness : 0.780405 Centerline is valid? [False, False] Translation: X:-1.15, Y:-1.73, Z:0.26 [[ 0.99930762 0.02382991 0.02857294 -1.14622612] [-0.02425344 0.99959968 0.01456877 -1.72808872] [-0.02821433 -0.01525167 0.99948554 0.26493271] [ 0. 0. 0. 1. ]] SLAMing on 35.941652532 meters Centerline goodness : 0.777667 Centerline is valid? [False, False] Translation: X:-1.15, Y:-1.73, Z:0.26 [[ 0.99940721 0.01938713 0.02844957 -1.14563322] [-0.01967261 0.99975855 0.00978934 -1.72674936] [-0.02825291 -0.01034321 0.99954729 0.26418213] [ 0. 0. 0. 1. ]] SLAMing on 35.971652532 meters Centerline goodness : 0.776482 Centerline is valid? [False, False] Translation: X:-1.14, Y:-1.73, Z:0.26 [[ 0.99942534 0.01907851 0.02801797 -1.14440471] [-0.01935429 0.99976655 0.00960483 -1.72682336] [-0.02782818 -0.01014158 0.99956127 0.26392464] [ 0. 0. 0. 1. ]] SLAMing on 36.001652532 meters Centerline goodness : 0.775113 Centerline is valid? [False, False] Translation: X:-1.14, Y:-1.73, Z:0.26 [[ 0.99945987 0.01796871 0.02751545 -1.14301019] [-0.01821019 0.99979761 0.00855093 -1.7250468 ] [-0.02735623 -0.00904737 0.9995848 0.26384106] [ 0. 0. 0. 1. ]] SLAMing on 36.031652532 meters Centerline goodness : 0.771883 Centerline is valid? [False, False] Translation: X:-1.14, Y:-1.73, Z:0.26 [[ 0.99946131 0.01788324 0.02751869 -1.14361787] [-0.01812945 0.99979759 0.0087235 -1.72578009] [-0.02735712 -0.0092177 0.99958322 0.26475032] [ 0. 0. 0. 1. ]] SLAMing on 36.061652532 meters Centerline goodness : 0.771424 Centerline is valid? [False, False] Translation: X:-1.14, Y:-1.73, Z:0.27 [[ 0.9994849 0.0172475 0.02706395 -1.14281602] [-0.01747962 0.99981224 0.00836396 -1.7258055 ] [-0.02691461 -0.00883272 0.99959871 0.265282 ] [ 0. 0. 0. 1. ]] SLAMing on 36.091652532 meters Centerline goodness : 0.770718 Centerline is valid? [False, False] Translation: X:-1.14, Y:-1.73, Z:0.27 [[ 0.99953138 0.01400084 0.02722122 -1.14397976] [-0.01415699 0.99988437 0.00555216 -1.72965558] [-0.02714034 -0.00593493 0.99961401 0.26617359] [ 0. 0. 0. 1. ]] SLAMing on 36.121652532 meters Centerline goodness : 0.769321 Centerline is valid? [False, False] Translation: X:-1.14, Y:-1.73, Z:0.27 [[ 0.99956867 0.0128301 0.02641697 -1.14175344] [-0.01295521 0.99990563 0.00457024 -1.72823089] [-0.02635584 -0.00491051 0.99964056 0.2660699 ] [ 0. 0. 0. 1. ]] SLAMing on 36.151652532 meters Centerline goodness : 0.768403 Centerline is valid? [False, False] Translation: X:-1.14, Y:-1.74, Z:0.27 [[ 0.99985312 0.01143257 0.01276828 -1.13767258] [-0.01150968 0.99991587 0.00598232 -1.73633173] [-0.01269881 -0.0061284 0.99990059 0.2682413 ] [ 0. 0. 0. 1. ]] SLAMing on 36.181652532 meters Centerline goodness : 0.768977 Centerline is valid? [False, False] Translation: X:-1.14, Y:-1.74, Z:0.27 [[ 0.99988643 0.00789034 0.01284002 -1.13853446] [-0.00792693 0.99996466 0.00280139 -1.73964542] [-0.01281746 -0.00290286 0.99991364 0.26891805] [ 0. 0. 0. 1. ]] SLAMing on 36.211652532 meters Centerline goodness : 0.771505 Centerline is valid? [False, False] Translation: X:-1.14, Y:-1.74, Z:0.27 [[ 9.99900109e-01 4.97995646e-03 1.32276751e-02 -1.14081123e+00] [-4.98364982e-03 9.99987551e-01 2.46267117e-04 -1.74395573e+00] [-1.32262840e-02 -3.12164618e-04 9.99912480e-01 2.70244275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.241652532 meters Centerline goodness : 0.772274 Centerline is valid? [False, False] Translation: X:-1.14, Y:-1.75, Z:0.27 [[ 9.99900854e-01 5.50994551e-03 1.29584868e-02 -1.14127674e+00] [-5.52909227e-03 9.99983674e-01 1.44218481e-03 -1.74735916e+00] [-1.29503289e-02 -1.51369050e-03 9.99914995e-01 2.71771163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.271652532 meters Centerline goodness : 0.774044 Centerline is valid? [False, False] Translation: X:-1.14, Y:-1.75, Z:0.27 [[ 9.99899600e-01 5.51401376e-03 1.30532154e-02 -1.14220633e+00] [-5.53570718e-03 9.99983355e-01 1.62637451e-03 -1.74807333e+00] [-1.30440303e-02 -1.69846999e-03 9.99913480e-01 2.72728081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.301652532 meters Centerline goodness : 0.771535 Centerline is valid? [False, False] Translation: X:-1.14, Y:-1.75, Z:0.27 [[ 9.99902327e-01 5.36967134e-03 1.29035780e-02 -1.14214319e+00] [-5.39115408e-03 9.99984138e-01 1.63065958e-03 -1.74845532e+00] [-1.28946172e-02 -1.70006548e-03 9.99915416e-01 2.73178917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.331652532 meters Centerline goodness : 0.771853 Centerline is valid? [False, False] Translation: X:-1.14, Y:-1.75, Z:0.27 [[ 9.99908017e-01 5.17235644e-03 1.25381245e-02 -1.14132686e+00] [-5.19278781e-03 9.99985241e-01 1.59753238e-03 -1.74871116e+00] [-1.25296764e-02 -1.66249326e-03 9.99920118e-01 2.73327851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.361652532 meters Centerline goodness : 0.772801 Centerline is valid? [False, False] Translation: X:-1.14, Y:-1.75, Z:0.27 [[ 9.99914371e-01 4.97683031e-03 1.21029421e-02 -1.14049340e+00] [-4.99760845e-03 9.99986089e-01 1.68714615e-03 -1.74959624e+00] [-1.20943771e-02 -1.74748745e-03 9.99925333e-01 2.73769907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.391652532 meters Centerline goodness : 0.771157 Centerline is valid? [False, False] Translation: X:-1.14, Y:-1.75, Z:0.27 [[ 9.99922947e-01 4.33791555e-03 1.16310902e-02 -1.13979234e+00] [-4.35222956e-03 9.99989802e-01 1.20563950e-03 -1.74892199e+00] [-1.16257416e-02 -1.25616778e-03 9.99931630e-01 2.74458638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.421652532 meters Centerline goodness : 0.769600 Centerline is valid? [False, False] Translation: X:-1.14, Y:-1.75, Z:0.27 [[ 9.99923865e-01 4.39783129e-03 1.15292208e-02 -1.13968111e+00] [-4.41445127e-03 9.99989253e-01 1.41650043e-03 -1.74974861e+00] [-1.15228674e-02 -1.46728776e-03 9.99932533e-01 2.74595567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.451652532 meters Centerline goodness : 0.772354 Centerline is valid? [False, False] Translation: X:-1.14, Y:-1.75, Z:0.27 [[ 9.99923419e-01 4.36327717e-03 1.15809560e-02 -1.14005915e+00] [-4.37963145e-03 9.99989447e-01 1.38718497e-03 -1.74961299e+00] [-1.15747812e-02 -1.43779906e-03 9.99931976e-01 2.74939826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.481652532 meters Centerline goodness : 0.770167 Centerline is valid? [False, False] Translation: X:-1.14, Y:-1.75, Z:0.28 [[ 9.99924588e-01 4.30084592e-03 1.15030820e-02 -1.14012668e+00] [-4.31758152e-03 9.99989656e-01 1.43044201e-03 -1.75010574e+00] [-1.14968109e-02 -1.47999963e-03 9.99932814e-01 2.75276266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.511652532 meters Centerline goodness : 0.771075 Centerline is valid? [False, False] Translation: X:-1.14, Y:-1.75, Z:0.28 [[ 9.99928258e-01 3.93221898e-03 1.13144393e-02 -1.13971232e+00] [-3.94402795e-03 9.99991700e-01 1.02158401e-03 -1.74931754e+00] [-1.13103284e-02 -1.06613519e-03 9.99935468e-01 2.75349267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.541652532 meters Centerline goodness : 0.769689 Centerline is valid? [False, False] Translation: X:-1.14, Y:-1.75, Z:0.27 [[ 0.99992003 0.00552563 0.01137534 -1.13812489] [-0.00554918 0.99998252 0.00203959 -1.74788528] [-0.01136387 -0.00210255 0.99993322 0.2733238 ] [ 0. 0. 0. 1. ]] SLAMing on 36.571652532 meters Centerline goodness : 0.769540 Centerline is valid? [False, False] Translation: X:-1.14, Y:-1.75, Z:0.27 [[ 0.99991681 0.00558192 0.01162825 -1.13915266] [-0.00560649 0.99998212 0.00208101 -1.74804077] [-0.01161642 -0.00214603 0.99993022 0.27376999] [ 0. 0. 0. 1. ]] SLAMing on 36.601652532 meters Centerline goodness : 0.768367 Centerline is valid? [False, False] Translation: X:-1.14, Y:-1.75, Z:0.27 [[ 0.99990178 0.00623589 0.012552 -1.14183382] [-0.00626743 0.9999773 0.00247486 -1.74824589] [-0.01253628 -0.00255329 0.99991816 0.27408737] [ 0. 0. 0. 1. ]] SLAMing on 36.631652532 meters Centerline goodness : 0.770970 Centerline is valid? [False, False] Translation: X:-1.14, Y:-1.74, Z:0.27 [[ 9.99894162e-01 5.99653284e-03 1.32554512e-02 -1.14269700e+00] [-6.01755655e-03 9.99980698e-01 1.54672785e-03 -1.74477655e+00] [-1.32459204e-02 -1.62632958e-03 9.99910946e-01 2.72829024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.661652532 meters Centerline goodness : 0.767358 Centerline is valid? [False, False] Translation: X:-1.14, Y:-1.74, Z:0.27 [[ 9.99888682e-01 5.87388886e-03 1.37157037e-02 -1.14347680e+00] [-5.89014109e-03 9.99981998e-01 1.14484087e-03 -1.74368692e+00] [-1.37087321e-02 -1.22550086e-03 9.99905280e-01 2.72198630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.691652532 meters Centerline goodness : 0.767045 Centerline is valid? [False, False] Translation: X:-1.14, Y:-1.75, Z:0.27 [[ 0.99987566 0.00659541 0.01432346 -1.14499082] [-0.00662223 0.99997641 0.00182534 -1.74525965] [-0.01431109 -0.00191997 0.99989575 0.27198373] [ 0. 0. 0. 1. ]] SLAMing on 36.721652532 meters Centerline goodness : 0.766861 Centerline is valid? [False, False] Translation: X:-1.15, Y:-1.75, Z:0.27 [[ 0.99985023 0.00918414 0.01466831 -1.14751954] [-0.00925649 0.99994529 0.00487245 -1.75040383] [-0.01462276 -0.0050075 0.99988054 0.27394175] [ 0. 0. 0. 1. ]] SLAMing on 36.751652532 meters Centerline goodness : 0.769604 Centerline is valid? [False, False] Translation: X:-1.15, Y:-1.75, Z:0.27 [[ 0.99982361 0.01074048 0.01540739 -1.15022906] [-0.01084377 0.99991918 0.0066362 -1.75455111] [-0.01533487 -0.00680211 0.99985928 0.27492409] [ 0. 0. 0. 1. ]] SLAMing on 36.781652532 meters Centerline goodness : 0.770037 Centerline is valid? [False, False] Translation: X:-1.15, Y:-1.76, Z:0.28 [[ 0.99978904 0.01246185 0.01632741 -1.15298946] [-0.0125996 0.99988566 0.00836115 -1.75802619] [-0.01622135 -0.00856511 0.99983174 0.27532438] [ 0. 0. 0. 1. ]] SLAMing on 36.811652532 meters Centerline goodness : 0.769873 Centerline is valid? [False, False] Translation: X:-1.16, Y:-1.76, Z:0.28 [[ 0.99975551 0.01366337 0.01738475 -1.15597783] [-0.01382821 0.99986023 0.00939696 -1.75997292] [-0.01725393 -0.00963506 0.99980471 0.27557963] [ 0. 0. 0. 1. ]] SLAMing on 36.841652532 meters Centerline goodness : 0.768747 Centerline is valid? [False, False] Translation: X:-1.16, Y:-1.76, Z:0.27 [[ 0.9996643 0.01826965 0.01837117 -1.15650686] [-0.01851139 0.99974314 0.01307576 -1.75784877] [-0.01812756 -0.01341145 0.99974573 0.27306286] [ 0. 0. 0. 1. ]] SLAMing on 36.871652532 meters Centerline goodness : 0.768928 Centerline is valid? [False, False] Translation: X:-1.16, Y:-1.76, Z:0.27 [[ 0.99966274 0.0178799 0.01883389 -1.15672486] [-0.01811118 0.99976177 0.01218168 -1.7554171 ] [-0.01861159 -0.01251868 0.99974841 0.27174922] [ 0. 0. 0. 1. ]] SLAMing on 36.901652532 meters Centerline goodness : 0.767363 Centerline is valid? [False, False] Translation: X:-1.16, Y:-1.75, Z:0.27 [[ 0.99965778 0.01768219 0.01927845 -1.15699779] [-0.01790663 0.99977316 0.01153192 -1.75360536] [-0.01907017 -0.01187319 0.99974765 0.27052831] [ 0. 0. 0. 1. ]] SLAMing on 36.931652532 meters Centerline goodness : 0.766782 Centerline is valid? [False, False] Translation: X:-1.16, Y:-1.75, Z:0.27 [[ 0.99965935 0.017472 0.01938826 -1.15678591] [-0.01768978 0.9997817 0.01111837 -1.75244693] [-0.01918976 -0.01145756 0.99975021 0.26983411] [ 0. 0. 0. 1. ]] SLAMing on 36.961652532 meters Centerline goodness : 0.763258 Centerline is valid? [False, False] Translation: X:-1.16, Y:-1.75, Z:0.27 [[ 0.99966738 0.01707666 0.01932637 -1.15714071] [-0.01728984 0.99979091 0.01091792 -1.7525394 ] [-0.01913589 -0.01124844 0.99975361 0.27057608] [ 0. 0. 0. 1. ]] SLAMing on 36.991652532 meters Centerline goodness : 0.765047 Centerline is valid? [False, False] Translation: X:-1.16, Y:-1.75, Z:0.27 [[ 0.99968396 0.01643626 0.01902164 -1.1567824 ] [-0.01663874 0.99980605 0.01053592 -1.75257337] [-0.01884478 -0.01084909 0.99976356 0.27120321] [ 0. 0. 0. 1. ]] SLAMing on 37.021652532 meters Centerline goodness : 0.765498 Centerline is valid? [False, False] Translation: X:-1.16, Y:-1.76, Z:0.27 [[ 0.99974282 0.0125198 0.01890895 -1.15689746] [-0.01265825 0.99989381 0.00722013 -1.75591473] [-0.01881655 -0.00745762 0.99979514 0.27171136] [ 0. 0. 0. 1. ]] SLAMing on 37.051652532 meters Centerline goodness : 0.765480 Centerline is valid? [False, False] Translation: X:-1.16, Y:-1.76, Z:0.27 [[ 0.99978967 0.00842528 0.01869845 -1.15713148] [-0.00849008 0.99995821 0.00338935 -1.7576523 ] [-0.01866911 -0.00354738 0.99981942 0.27254528] [ 0. 0. 0. 1. ]] SLAMing on 37.081652532 meters Centerline goodness : 0.767408 Centerline is valid? [False, False] Translation: X:-1.16, Y:-1.76, Z:0.27 [[ 9.99844826e-01 3.87682796e-03 1.71841420e-02 -1.15502551e+00] [-3.88028677e-03 9.99992458e-01 1.67941080e-04 -1.76201405e+00] [-1.71833613e-02 -2.34594419e-04 9.99852328e-01 2.74830694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.111652532 meters Centerline goodness : 0.766243 Centerline is valid? [False, False] Translation: X:-1.15, Y:-1.76, Z:0.28 [[ 9.99863041e-01 3.28262210e-03 1.62210782e-02 -1.15341617e+00] [-3.28536093e-03 9.99994593e-01 1.42198778e-04 -1.76307077e+00] [-1.62205237e-02 -1.95471399e-04 9.99868420e-01 2.75945531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.141652532 meters Centerline goodness : 0.767927 Centerline is valid? [False, False] Translation: X:-1.15, Y:-1.77, Z:0.28 [[ 9.99869078e-01 3.34670910e-03 1.58312117e-02 -1.15340013e+00] [-3.35800503e-03 9.99994126e-01 6.86994201e-04 -1.76513367e+00] [-1.58288196e-02 -7.40065546e-04 9.99874443e-01 2.77259349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.171652532 meters Centerline goodness : 0.765709 Centerline is valid? [False, False] Translation: X:-1.15, Y:-1.77, Z:0.28 [[ 9.99874170e-01 2.99806686e-03 1.55773983e-02 -1.15344707e+00] [-3.00607475e-03 9.99995361e-01 4.90681405e-04 -1.76510417e+00] [-1.55758549e-02 -5.37446486e-04 9.99878545e-01 2.78220066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.201652532 meters Centerline goodness : 0.765709 Centerline is valid? [False, False] Translation: X:-1.15, Y:-1.77, Z:0.28 [[ 9.99874170e-01 2.99806686e-03 1.55773983e-02 -1.15344707e+00] [-3.00607475e-03 9.99995361e-01 4.90681405e-04 -1.76510417e+00] [-1.55758549e-02 -5.37446486e-04 9.99878545e-01 2.78220066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.231652532 meters Centerline goodness : 0.765713 Centerline is valid? [False, False] Translation: X:-1.15, Y:-1.77, Z:0.28 [[ 9.99864592e-01 3.43376803e-03 1.60937024e-02 -1.15497963e+00] [-3.44784112e-03 9.99993698e-01 8.46782548e-04 -1.76558483e+00] [-1.60906933e-02 -9.02156416e-04 9.99870129e-01 2.78455635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.261652532 meters Centerline goodness : 0.764757 Centerline is valid? [False, False] Translation: X:-1.16, Y:-1.77, Z:0.28 [[ 9.99858841e-01 3.79839254e-03 1.63667656e-02 -1.15555032e+00] [-3.81821644e-03 9.99992014e-01 1.18015076e-03 -1.76630019e+00] [-1.63621522e-02 -1.24247602e-03 9.99865359e-01 2.78142551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.291652532 meters Centerline goodness : 0.766279 Centerline is valid? [False, False] Translation: X:-1.16, Y:-1.77, Z:0.28 [[ 9.99858106e-01 3.66759711e-03 1.64413376e-02 -1.15561788e+00] [-3.68327134e-03 9.99992791e-01 9.23162721e-04 -1.76559884e+00] [-1.64378333e-02 -9.83589637e-04 9.99864406e-01 2.77905882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.321652532 meters Centerline goodness : 0.765682 Centerline is valid? [False, False] Translation: X:-1.15, Y:-1.76, Z:0.28 [[ 0.9998433 0.00698026 0.01626836 -1.15465869] [-0.00704566 0.99996731 0.00396613 -1.7628325 ] [-0.01624014 -0.00408013 0.9998598 0.27722139] [ 0. 0. 0. 1. ]] SLAMing on 37.351652532 meters Centerline goodness : 0.764311 Centerline is valid? [False, False] Translation: X:-1.16, Y:-1.76, Z:0.28 [[ 0.99983 0.00744137 0.0168699 -1.15632342] [-0.00751671 0.99996204 0.00440697 -1.76387612] [-0.01683647 -0.00453303 0.99984798 0.27730012] [ 0. 0. 0. 1. ]] SLAMing on 37.381652532 meters Centerline goodness : 0.764229 Centerline is valid? [False, False] Translation: X:-1.16, Y:-1.77, Z:0.28 [[ 0.99981953 0.00782372 0.01731149 -1.15798509] [-0.00790981 0.99995666 0.00490993 -1.76530398] [-0.01727233 -0.00504597 0.99983809 0.27795845] [ 0. 0. 0. 1. ]] SLAMing on 37.411652532 meters Centerline goodness : 0.763345 Centerline is valid? [False, False] Translation: X:-1.16, Y:-1.77, Z:0.28 [[ 0.99980682 0.00806203 0.01792556 -1.15990641] [-0.00815298 0.99995423 0.00500657 -1.76533207] [-0.01788437 -0.00515175 0.99982679 0.27838082] [ 0. 0. 0. 1. ]] SLAMing on 37.441652532 meters Centerline goodness : 0.764931 Centerline is valid? [False, False] Translation: X:-1.16, Y:-1.76, Z:0.28 [[ 0.99977232 0.01150437 0.01797076 -1.15961254] [-0.01165291 0.99989862 0.00818288 -1.76248987] [-0.0178748 -0.00839043 0.99980503 0.27796587] [ 0. 0. 0. 1. ]] SLAMing on 37.471652532 meters Centerline goodness : 0.763215 Centerline is valid? [False, False] Translation: X:-1.16, Y:-1.76, Z:0.28 [[ 0.99974738 0.01217173 0.01889528 -1.16179028] [-0.01233599 0.99988692 0.00860107 -1.76298302] [-0.01878845 -0.00883199 0.99978447 0.27761825] [ 0. 0. 0. 1. ]] SLAMing on 37.501652532 meters Centerline goodness : 0.763103 Centerline is valid? [False, False] Translation: X:-1.16, Y:-1.76, Z:0.28 [[ 0.99973504 0.01235151 0.01942385 -1.16270449] [-0.01251963 0.999885 0.0085578 -1.76263256] [-0.01931592 -0.00879872 0.99977471 0.27694378] [ 0. 0. 0. 1. ]] SLAMing on 37.531652532 meters Centerline goodness : 0.763186 Centerline is valid? [False, False] Translation: X:-1.16, Y:-1.76, Z:0.28 [[ 0.99974533 0.01176687 0.0192566 -1.16208812] [-0.01191932 0.99989837 0.00782136 -1.76102089] [-0.01916261 -0.0080489 0.99978398 0.27666162] [ 0. 0. 0. 1. ]] SLAMing on 37.561652532 meters Centerline goodness : 0.764333 Centerline is valid? [False, False] Translation: X:-1.16, Y:-1.76, Z:0.28 [[ 0.99974603 0.01158869 0.01932797 -1.16152237] [-0.0117339 0.99990365 0.00741619 -1.75993443] [-0.01924016 -0.0076411 0.99978569 0.27564693] [ 0. 0. 0. 1. ]] SLAMing on 37.591652532 meters Centerline goodness : 0.764084 Centerline is valid? [False, False] Translation: X:-1.16, Y:-1.76, Z:0.28 [[ 0.99975312 0.01128799 0.0191382 -1.16107001] [-0.01142793 0.99990864 0.00721871 -1.75980237] [-0.01905497 -0.00743564 0.99979079 0.27571616] [ 0. 0. 0. 1. ]] SLAMing on 37.621652532 meters Centerline goodness : 0.761854 Centerline is valid? [False, False] Translation: X:-1.16, Y:-1.76, Z:0.28 [[ 0.99978251 0.00944903 0.01859166 -1.15999384] [-0.00955431 0.99993877 0.0055823 -1.75718644] [-0.01853777 -0.00575872 0.99981158 0.27634147] [ 0. 0. 0. 1. ]] SLAMing on 37.651652532 meters Centerline goodness : 0.761969 Centerline is valid? [False, False] Translation: X:-1.16, Y:-1.76, Z:0.28 [[ 0.99980029 0.00597947 0.01906895 -1.16176542] [-0.00602352 0.99997932 0.00225363 -1.75957664] [-0.01905508 -0.00236804 0.99981563 0.27684229] [ 0. 0. 0. 1. ]] SLAMing on 37.681652532 meters Centerline goodness : 0.761685 Centerline is valid? [False, False] Translation: X:-1.16, Y:-1.76, Z:0.28 [[ 0.99981277 0.00576713 0.0184708 -1.16043059] [-0.00581022 0.99998052 0.00228001 -1.76002566] [-0.01845729 -0.0023869 0.9998268 0.2770583 ] [ 0. 0. 0. 1. ]] SLAMing on 37.711652532 meters Centerline goodness : 0.762731 Centerline is valid? [False, False] Translation: X:-1.16, Y:-1.76, Z:0.28 [[ 0.99982791 0.00542287 0.01774121 -1.15933314] [-0.00546722 0.99998205 0.00245246 -1.76143857] [-0.01772759 -0.00254903 0.9998396 0.27807977] [ 0. 0. 0. 1. ]] SLAMing on 37.741652532 meters Centerline goodness : 0.763821 Centerline is valid? [False, False] Translation: X:-1.16, Y:-1.77, Z:0.28 [[ 9.99849746e-01 2.17919554e-03 1.71970021e-02 -1.16092547e+00] [-2.19578128e-03 9.99997142e-01 9.45632304e-04 -1.76950785e+00] [-1.71948923e-02 -9.83251074e-04 9.99851673e-01 2.82178244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.771652532 meters Centerline goodness : 0.764799 Centerline is valid? [False, False] Translation: X:-1.16, Y:-1.77, Z:0.28 [[ 9.99856929e-01 2.35603939e-03 1.67502262e-02 -1.16060385e+00] [-2.38233343e-03 9.99995961e-01 1.54999157e-03 -1.77163804e+00] [-1.67465067e-02 -1.58967444e-03 9.99858504e-01 2.83240069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.801652532 meters Centerline goodness : 0.763806 Centerline is valid? [False, False] Translation: X:-1.16, Y:-1.77, Z:0.28 [[ 0.99985743 0.00252479 0.01669549 -1.16037181] [-0.00255582 0.99999504 0.00183795 -1.77259355] [-0.01669076 -0.00188035 0.99985893 0.2830509 ] [ 0. 0. 0. 1. ]] SLAMing on 37.831652532 meters Centerline goodness : 0.764721 Centerline is valid? [False, False] Translation: X:-1.16, Y:-1.77, Z:0.28 [[ 9.99857022e-01 2.27617052e-03 1.67557360e-02 -1.16031170e+00] [-2.29946158e-03 9.99996417e-01 1.37090022e-03 -1.77115945e+00] [-1.67525556e-02 -1.40923338e-03 9.99858673e-01 2.82741808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.861652532 meters Centerline goodness : 0.762748 Centerline is valid? [False, False] Translation: X:-1.16, Y:-1.77, Z:0.28 [[ 0.99986045 -0.00244827 0.01652532 -1.15991042] [ 0.00250059 0.99999192 -0.00314648 -1.77134087] [-0.01651748 0.00318736 0.9998585 0.28313587] [ 0. 0. 0. 1. ]] SLAMing on 37.891652532 meters Centerline goodness : 0.764574 Centerline is valid? [False, False] Translation: X:-1.16, Y:-1.77, Z:0.28 [[ 0.99987365 -0.00299604 0.01561083 -1.15876037] [ 0.00304611 0.99999029 -0.00318441 -1.77220662] [-0.01560114 0.00323156 0.99987307 0.2846307 ] [ 0. 0. 0. 1. ]] SLAMing on 37.921652532 meters Centerline goodness : 0.765269 Centerline is valid? [False, False] Translation: X:-1.16, Y:-1.77, Z:0.29 [[ 9.99892020e-01 4.69579793e-05 1.46950990e-02 -1.15703043e+00] [-5.33241527e-05 9.99999905e-01 4.32825936e-04 -1.77252238e+00] [-1.46950773e-02 -4.33562803e-04 9.99891928e-01 2.85336501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.951652532 meters Centerline goodness : 0.763162 Centerline is valid? [False, False] Translation: X:-1.16, Y:-1.77, Z:0.29 [[ 0.99988271 0.00360801 0.01488475 -1.15723198] [-0.00366329 0.99998649 0.00368845 -1.76962108] [-0.01487124 -0.00374255 0.99988241 0.28500976] [ 0. 0. 0. 1. ]] SLAMing on 37.981652532 meters Centerline goodness : 0.761697 Centerline is valid? [False, False] Translation: X:-1.16, Y:-1.77, Z:0.28 [[ 0.99987466 0.00391679 0.01534008 -1.15832996] [-0.00397579 0.99998481 0.00381736 -1.76958935] [-0.01532489 -0.00387788 0.99987505 0.28483164] [ 0. 0. 0. 1. ]] SLAMing on 38.011652532 meters Centerline goodness : 0.762347 Centerline is valid? [False, False] Translation: X:-1.16, Y:-1.77, Z:0.28 [[ 0.99988246 0.00332107 0.01496783 -1.15703271] [-0.00337115 0.9999888 0.00332172 -1.76909642] [-0.01495663 -0.00337179 0.99988246 0.28446707] [ 0. 0. 0. 1. ]] SLAMing on 38.041652532 meters Centerline goodness : 0.763183 Centerline is valid? [False, False] Translation: X:-1.16, Y:-1.77, Z:0.29 [[ 0.99989312 0.00285561 0.01433858 -1.15603472] [-0.00289995 0.99999107 0.003073 -1.76922362] [-0.01432967 -0.00311425 0.99989248 0.28522599] [ 0. 0. 0. 1. ]] SLAMing on 38.071652532 meters Centerline goodness : 0.765681 Centerline is valid? [False, False] Translation: X:-1.15, Y:-1.77, Z:0.29 [[ 9.99919239e-01 1.23579685e-03 1.26486357e-02 -1.15295592e+00] [-1.26878034e-03 9.99995815e-01 2.59997951e-03 -1.77039287e+00] [-1.26453697e-02 -2.61581787e-03 9.99916623e-01 2.86914707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.101652532 meters Centerline goodness : 0.765120 Centerline is valid? [False, False] Translation: X:-1.15, Y:-1.77, Z:0.29 [[ 9.99927470e-01 6.50686293e-04 1.20262734e-02 -1.15136745e+00] [-6.76407368e-04 9.99997493e-01 2.13479648e-03 -1.76973336e+00] [-1.20248542e-02 -2.14277630e-03 9.99925403e-01 2.86925619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.131652532 meters Centerline goodness : 0.767331 Centerline is valid? [False, False] Translation: X:-1.15, Y:-1.77, Z:0.28 [[ 9.99932466e-01 -1.80571223e-03 1.14805669e-02 -1.14827791e+00] [ 1.81357009e-03 9.99998128e-01 -6.74074574e-04 -1.76503317e+00] [-1.14793282e-02 6.94849863e-04 9.99933869e-01 2.84817765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.161652532 meters Centerline goodness : 0.765873 Centerline is valid? [False, False] Translation: X:-1.15, Y:-1.76, Z:0.28 [[ 9.99931870e-01 -2.12591912e-03 1.14776438e-02 -1.14825796e+00] [ 2.13928033e-03 9.99997048e-01 -1.15195552e-03 -1.76365536e+00] [-1.14751609e-02 1.17643093e-03 9.99933466e-01 2.84704701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.191652532 meters Centerline goodness : 0.765010 Centerline is valid? [False, False] Translation: X:-1.15, Y:-1.76, Z:0.28 [[ 9.99935312e-01 -2.76724380e-03 1.10324074e-02 -1.14729184e+00] [ 2.78619534e-03 9.99994669e-01 -1.70280687e-03 -1.76266817e+00] [-1.10276365e-02 1.73343516e-03 9.99937691e-01 2.84946091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.221652532 meters Centerline goodness : 0.766443 Centerline is valid? [False, False] Translation: X:-1.15, Y:-1.76, Z:0.29 [[ 9.99935701e-01 -2.56265269e-03 1.10465592e-02 -1.14797256e+00] [ 2.57800966e-03 9.99995730e-01 -1.37618780e-03 -1.76364620e+00] [-1.10429853e-02 1.40457745e-03 9.99938038e-01 2.85699849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.251652532 meters Centerline goodness : 0.768204 Centerline is valid? [False, False] Translation: X:-1.15, Y:-1.77, Z:0.29 [[ 9.99936595e-01 -1.79955224e-03 1.11160790e-02 -1.15009425e+00] [ 1.80077340e-03 9.99998374e-01 -9.98465388e-05 -1.76677352e+00] [-1.11158813e-02 1.19857747e-04 9.99938209e-01 2.88155499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.281652532 meters Centerline goodness : 0.767146 Centerline is valid? [False, False] Translation: X:-1.15, Y:-1.77, Z:0.29 [[ 9.99926373e-01 1.39703471e-05 1.21345550e-02 -1.15344723e+00] [-3.52055782e-05 9.99998469e-01 1.74976836e-03 -1.77004615e+00] [-1.21345120e-02 -1.75006673e-03 9.99924843e-01 2.88963337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.311652532 meters Centerline goodness : 0.767027 Centerline is valid? [False, False] Translation: X:-1.16, Y:-1.77, Z:0.29 [[ 9.99910975e-01 1.19839749e-03 1.32893140e-02 -1.15627080e+00] [-1.23497375e-03 9.99995471e-01 2.74444110e-03 -1.77177626e+00] [-1.32859649e-02 -2.76060873e-03 9.99907927e-01 2.88727861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.341652532 meters Centerline goodness : 0.767371 Centerline is valid? [False, False] Translation: X:-1.16, Y:-1.77, Z:0.29 [[ 0.99989296 0.00464322 0.0138749 -1.15600177] [-0.00471603 0.99997526 0.00521923 -1.76709406] [-0.01385032 -0.00528411 0.99989012 0.28635109] [ 0. 0. 0. 1. ]] SLAMing on 38.371652532 meters Centerline goodness : 0.766796 Centerline is valid? [False, False] Translation: X:-1.16, Y:-1.77, Z:0.29 [[ 0.99986929 0.00621741 0.01492439 -1.15916449] [-0.00631482 0.99995901 0.00648824 -1.76885068] [-0.01488344 -0.00658164 0.99986757 0.28673929] [ 0. 0. 0. 1. ]] SLAMing on 38.401652532 meters Centerline goodness : 0.763357 Centerline is valid? [False, False] Translation: X:-1.16, Y:-1.77, Z:0.29 [[ 0.9998345 0.01015 0.01509829 -1.15957946] [-0.0103072 0.99989311 0.01037012 -1.76818511] [-0.01499142 -0.01052402 0.99983224 0.28698244] [ 0. 0. 0. 1. ]] SLAMing on 38.431652532 meters Centerline goodness : 0.762193 Centerline is valid? [False, False] Translation: X:-1.16, Y:-1.77, Z:0.29 [[ 0.99984897 0.0070468 0.01588642 -1.1627931 ] [-0.00716321 0.99994782 0.0072829 -1.77065832] [-0.01583427 -0.0073956 0.99984728 0.28837348] [ 0. 0. 0. 1. ]] SLAMing on 38.461652532 meters Centerline goodness : 0.762384 Centerline is valid? [False, False] Translation: X:-1.16, Y:-1.77, Z:0.29 [[ 0.99985372 0.00672525 0.01572581 -1.16236482] [-0.00683529 0.99995246 0.00695442 -1.77021558] [-0.0156783 -0.00706089 0.99985216 0.28839824] [ 0. 0. 0. 1. ]] SLAMing on 38.491652532 meters Centerline goodness : 0.761575 Centerline is valid? [False, False] Translation: X:-1.16, Y:-1.77, Z:0.29 [[ 0.99983335 0.00827186 0.01627444 -1.16266647] [-0.00841064 0.99992869 0.00847782 -1.7730878 ] [-0.01620315 -0.00861328 0.99983162 0.28698863] [ 0. 0. 0. 1. ]] SLAMing on 38.521652532 meters Centerline goodness : 0.760363 Centerline is valid? [False, False] Translation: X:-1.16, Y:-1.77, Z:0.29 [[ 0.99985237 0.00694133 0.01571814 -1.16038617] [-0.00705794 0.99994789 0.00737541 -1.77228712] [-0.01566612 -0.00748526 0.99984926 0.28603266] [ 0. 0. 0. 1. ]] SLAMing on 38.551652532 meters Centerline goodness : 0.760317 Centerline is valid? [False, False] Translation: X:-1.16, Y:-1.77, Z:0.29 [[ 0.99986796 0.0031303 0.01594534 -1.16112646] [-0.00318907 0.99998821 0.00366124 -1.77401249] [-0.01593369 -0.0037116 0.99986616 0.28609296] [ 0. 0. 0. 1. ]] SLAMing on 38.581652532 meters Centerline goodness : 0.758935 Centerline is valid? [False, False] Translation: X:-1.16, Y:-1.77, Z:0.29 [[ 0.99987804 0.00264965 0.01539103 -1.15958689] [-0.00269963 0.99999115 0.0032271 -1.77328997] [-0.01538234 -0.00326826 0.99987634 0.28593136] [ 0. 0. 0. 1. ]] SLAMing on 38.611652532 meters Centerline goodness : 0.758007 Centerline is valid? [False, False] Translation: X:-1.16, Y:-1.77, Z:0.29 [[ 0.99988499 0.00253527 0.01495228 -1.15894383] [-0.00258774 0.99999056 0.0034907 -1.77474127] [-0.01494329 -0.00352899 0.99988212 0.28652181] [ 0. 0. 0. 1. ]] SLAMing on 38.641652532 meters Centerline goodness : 0.758332 Centerline is valid? [False, False] Translation: X:-1.16, Y:-1.78, Z:0.29 [[ 0.99988621 0.00278976 0.01482526 -1.15977433] [-0.00285221 0.99998714 0.00419301 -1.77700208] [-0.01481337 -0.00423481 0.99988131 0.28813544] [ 0. 0. 0. 1. ]] SLAMing on 38.671652532 meters Centerline goodness : 0.758555 Centerline is valid? [False, False] Translation: X:-1.16, Y:-1.78, Z:0.29 [[ 0.99989105 0.00263535 0.01452401 -1.15949498] [-0.00269835 0.99998703 0.00431944 -1.77793057] [-0.01451244 -0.00435816 0.99988519 0.28887119] [ 0. 0. 0. 1. ]] SLAMing on 38.701652532 meters Centerline goodness : 0.761300 Centerline is valid? [False, False] Translation: X:-1.16, Y:-1.78, Z:0.29 [[ 0.99989429 0.00251413 0.01432058 -1.15944575] [-0.00257701 0.99998711 0.00437379 -1.77859937] [-0.0143094 -0.00441023 0.99988789 0.28954297] [ 0. 0. 0. 1. ]] SLAMing on 38.731652532 meters Centerline goodness : 0.759112 Centerline is valid? [False, False] Translation: X:-1.16, Y:-1.78, Z:0.29 [[ 0.99988768 0.00298677 0.01468723 -1.15993566] [-0.00306056 0.9999828 0.00500404 -1.78028277] [-0.01467204 -0.00504843 0.99987962 0.28900281] [ 0. 0. 0. 1. ]] SLAMing on 38.761652532 meters Centerline goodness : 0.756547 Centerline is valid? [False, False] Translation: X:-1.16, Y:-1.78, Z:0.29 [[ 9.99898249e-01 6.67195124e-04 1.42494138e-02 -1.15821145e+00] [-6.99511375e-04 9.99997195e-01 2.26303674e-03 -1.77538792e+00] [-1.42478639e-02 -2.27277410e-03 9.99895911e-01 2.88122513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.791652532 meters Centerline goodness : 0.756879 Centerline is valid? [False, False] Translation: X:-1.16, Y:-1.77, Z:0.29 [[ 0.99989885 0.00334081 0.0138249 -1.15612943] [-0.00340318 0.99998413 0.00449058 -1.77145534] [-0.01380967 -0.00453717 0.99989435 0.28670738] [ 0. 0. 0. 1. ]] SLAMing on 38.821652532 meters Centerline goodness : 0.758443 Centerline is valid? [False, False] Translation: X:-1.16, Y:-1.77, Z:0.29 [[ 0.99989747 0.00356974 0.01386717 -1.15726678] [-0.00363979 0.99998073 0.00502959 -1.77331123] [-0.01384895 -0.00507955 0.9998912 0.28806042] [ 0. 0. 0. 1. ]] SLAMing on 38.851652532 meters Centerline goodness : 0.757959 Centerline is valid? [False, False] Translation: X:-1.16, Y:-1.78, Z:0.29 [[ 0.99988305 0.00470633 0.01455122 -1.16020605] [-0.00480102 0.99996748 0.00647925 -1.77681933] [-0.01452026 -0.00654835 0.99987313 0.28959007] [ 0. 0. 0. 1. ]] SLAMing on 38.881652532 meters Centerline goodness : 0.759469 Centerline is valid? [False, False] Translation: X:-1.16, Y:-1.78, Z:0.29 [[ 0.99985554 0.00657405 0.01567452 -1.16314127] [-0.00670456 0.99994318 0.00828797 -1.77973744] [-0.01561914 -0.00839186 0.9998428 0.28991509] [ 0. 0. 0. 1. ]] SLAMing on 38.911652532 meters Centerline goodness : 0.759054 Centerline is valid? [False, False] Translation: X:-1.16, Y:-1.78, Z:0.29 [[ 0.99983704 0.00726661 0.01652534 -1.1647714 ] [-0.00740818 0.99993625 0.00852199 -1.77949326] [-0.01646236 -0.00864302 0.99982713 0.28906364] [ 0. 0. 0. 1. ]] SLAMing on 38.941652532 meters Centerline goodness : 0.756832 Centerline is valid? [False, False] Translation: X:-1.17, Y:-1.78, Z:0.29 [[ 0.99981589 0.00836495 0.01726892 -1.16602452] [-0.00852761 0.99991976 0.00936741 -1.78081016] [-0.01718918 -0.00951295 0.999807 0.28814438] [ 0. 0. 0. 1. ]] SLAMing on 38.971652532 meters Centerline goodness : 0.756279 Centerline is valid? [False, False] Translation: X:-1.17, Y:-1.78, Z:0.29 [[ 0.99980775 0.00863533 0.01760406 -1.16675057] [-0.00880266 0.9999166 0.00944999 -1.78085878] [-0.01752099 -0.00960313 0.99980038 0.2878779 ] [ 0. 0. 0. 1. ]] SLAMing on 39.001652532 meters Centerline goodness : 0.757400 Centerline is valid? [False, False] Translation: X:-1.17, Y:-1.78, Z:0.29 [[ 0.999791 0.00946089 0.01812304 -1.16852042] [-0.00964926 0.99990004 0.01033463 -1.78284553] [-0.01802346 -0.01050734 0.99978235 0.28847261] [ 0. 0. 0. 1. ]] SLAMing on 39.031652532 meters Centerline goodness : 0.755401 Centerline is valid? [False, False] Translation: X:-1.17, Y:-1.78, Z:0.29 [[ 0.99979075 0.00913087 0.0183051 -1.16886039] [-0.00931218 0.99990818 0.00984418 -1.78176638] [-0.01821353 -0.01001258 0.99978398 0.28834477] [ 0. 0. 0. 1. ]] SLAMing on 39.061652532 meters Centerline goodness : 0.756994 Centerline is valid? [False, False] Translation: X:-1.17, Y:-1.78, Z:0.29 [[ 0.99978162 0.00926029 0.01873413 -1.16951291] [-0.00944364 0.99990814 0.00972256 -1.78132541] [-0.01864237 -0.00989736 0.99977723 0.28766486] [ 0. 0. 0. 1. ]] SLAMing on 39.091652532 meters Centerline goodness : 0.755384 Centerline is valid? [False, False] Translation: X:-1.17, Y:-1.78, Z:0.29 [[ 0.99976884 0.00959505 0.01924041 -1.16994092] [-0.00978515 0.999904 0.00981051 -1.78118067] [-0.01914444 -0.00999651 0.99976675 0.28640989] [ 0. 0. 0. 1. ]] SLAMing on 39.121652532 meters Centerline goodness : 0.755384 Centerline is valid? [False, False] Translation: X:-1.17, Y:-1.78, Z:0.29 [[ 0.99976884 0.00959505 0.01924041 -1.16994092] [-0.00978515 0.999904 0.00981051 -1.78118067] [-0.01914444 -0.00999651 0.99976675 0.28640989] [ 0. 0. 0. 1. ]] SLAMing on 39.151652532 meters Centerline goodness : 0.755365 Centerline is valid? [False, False] Translation: X:-1.17, Y:-1.78, Z:0.29 [[ 0.99975253 0.0098192 0.01996141 -1.17109937] [-0.01001081 0.99990455 0.00952193 -1.77963381] [-0.01986601 -0.00971941 0.99975541 0.28543813] [ 0. 0. 0. 1. ]] SLAMing on 39.181652532 meters Centerline goodness : 0.756908 Centerline is valid? [False, False] Translation: X:-1.17, Y:-1.78, Z:0.29 [[ 0.99973578 0.01026767 0.02056583 -1.17241154] [-0.01047073 0.99989725 0.0097901 -1.78012676] [-0.02046319 -0.01000285 0.99974057 0.28500286] [ 0. 0. 0. 1. ]] SLAMing on 39.211652532 meters Centerline goodness : 0.756326 Centerline is valid? [False, False] Translation: X:-1.17, Y:-1.78, Z:0.28 [[ 0.99973245 0.01016858 0.02077584 -1.17290466] [-0.01036986 0.99990011 0.00960369 -1.7796886 ] [-0.02067611 -0.00981656 0.99973803 0.28493309] [ 0. 0. 0. 1. ]] SLAMing on 39.241652532 meters Centerline goodness : 0.757456 Centerline is valid? [False, False] Translation: X:-1.17, Y:-1.78, Z:0.29 [[ 0.99976786 0.00803426 0.01999193 -1.17165705] [-0.0081856 0.99993837 0.00749961 -1.77641417] [-0.01993044 -0.00766151 0.99977201 0.2858534 ] [ 0. 0. 0. 1. ]] SLAMing on 39.271652532 meters Centerline goodness : 0.758916 Centerline is valid? [False, False] Translation: X:-1.17, Y:-1.78, Z:0.29 [[ 0.99975852 0.00864674 0.02020222 -1.17268791] [-0.00881884 0.99992545 0.00844559 -1.77916507] [-0.02012768 -0.00862171 0.99976024 0.28641721] [ 0. 0. 0. 1. ]] SLAMing on 39.301652532 meters Centerline goodness : 0.757907 Centerline is valid? [False, False] Translation: X:-1.17, Y:-1.78, Z:0.29 [[ 0.99975413 0.00877901 0.02036187 -1.17311779] [-0.00895765 0.99992204 0.00869855 -1.78007851] [-0.02028391 -0.0088788 0.99975483 0.28639933] [ 0. 0. 0. 1. ]] SLAMing on 39.331652532 meters Centerline goodness : 0.755740 Centerline is valid? [False, False] Translation: X:-1.17, Y:-1.78, Z:0.28 [[ 0.99977464 0.00646735 0.02021984 -1.17108734] [-0.00658656 0.99996129 0.00583449 -1.77550597] [-0.02018133 -0.00596636 0.99977853 0.28448958] [ 0. 0. 0. 1. ]] SLAMing on 39.361652532 meters Centerline goodness : 0.756408 Centerline is valid? [False, False] Translation: X:-1.17, Y:-1.78, Z:0.28 [[ 0.9997736 0.00675544 0.02017722 -1.17067983] [-0.00688388 0.99995644 0.00630295 -1.77718897] [-0.02013376 -0.00644042 0.99977655 0.28398763] [ 0. 0. 0. 1. ]] SLAMing on 39.391652532 meters Centerline goodness : 0.759119 Centerline is valid? [False, False] Translation: X:-1.17, Y:-1.78, Z:0.28 [[ 0.99980338 0.00496822 0.01919703 -1.16830808] [-0.00506058 0.99997584 0.0047653 -1.7754857 ] [-0.01917289 -0.00486151 0.99980436 0.28414549] [ 0. 0. 0. 1. ]] SLAMing on 39.421652532 meters Centerline goodness : 0.759866 Centerline is valid? [False, False] Translation: X:-1.17, Y:-1.78, Z:0.28 [[ 0.99980047 0.00530701 0.01925765 -1.16900652] [-0.00541127 0.99997096 0.00536569 -1.7774269 ] [-0.01922861 -0.00546883 0.99980016 0.28482931] [ 0. 0. 0. 1. ]] SLAMing on 39.451652532 meters Centerline goodness : 0.760981 Centerline is valid? [False, False] Translation: X:-1.17, Y:-1.78, Z:0.29 [[ 0.99975656 0.0095999 0.0198659 -1.17130414] [-0.00978913 0.99990743 0.0094501 -1.77654616] [-0.01977334 -0.00964227 0.99975799 0.28592848] [ 0. 0. 0. 1. ]] SLAMing on 39.481652532 meters Centerline goodness : 0.762471 Centerline is valid? [False, False] Translation: X:-1.17, Y:-1.78, Z:0.29 [[ 0.99970903 0.01118185 0.02137333 -1.17491133] [-0.01140806 0.99987989 0.01049117 -1.77751207] [-0.02125345 -0.01073194 0.99971652 0.2855919 ] [ 0. 0. 0. 1. ]] SLAMing on 39.511652532 meters Centerline goodness : 0.760416 Centerline is valid? [False, False] Translation: X:-1.17, Y:-1.77, Z:0.28 [[ 0.9996781 0.01378664 0.02129825 -1.17363623] [-0.01405899 0.99982063 0.01269096 -1.77353369] [-0.02111947 -0.01298631 0.99969261 0.28429911] [ 0. 0. 0. 1. ]] SLAMing on 39.541652532 meters Centerline goodness : 0.759023 Centerline is valid? [False, False] Translation: X:-1.18, Y:-1.77, Z:0.28 [[ 0.99963023 0.01520274 0.02254521 -1.17634743] [-0.01551105 0.99978769 0.01356394 -1.77421957] [-0.02233422 -0.01390862 0.99965381 0.28378449] [ 0. 0. 0. 1. ]] SLAMing on 39.571652532 meters Centerline goodness : 0.760326 Centerline is valid? [False, False] Translation: X:-1.18, Y:-1.78, Z:0.28 [[ 0.99961101 0.01587733 0.02292908 -1.17795248] [-0.01621126 0.99976414 0.01445219 -1.77673489] [-0.02269421 -0.01481827 0.99963263 0.28454124] [ 0. 0. 0. 1. ]] SLAMing on 39.601652532 meters Centerline goodness : 0.760915 Centerline is valid? [False, False] Translation: X:-1.18, Y:-1.78, Z:0.29 [[ 0.9995918 0.016851 0.02307116 -1.1790355 ] [-0.01722327 0.99972311 0.01603317 -1.7814214 ] [-0.0227946 -0.01642399 0.99960525 0.28552786] [ 0. 0. 0. 1. ]] SLAMing on 39.631652532 meters Centerline goodness : 0.761535 Centerline is valid? [False, False] Translation: X:-1.18, Y:-1.79, Z:0.29 [[ 0.99963972 0.01370577 0.02307791 -1.1796153 ] [-0.01401538 0.99981321 0.01330819 -1.78583925] [-0.0228912 -0.01362684 0.99964509 0.28622375] [ 0. 0. 0. 1. ]] SLAMing on 39.661652532 meters Centerline goodness : 0.762766 Centerline is valid? [False, False] Translation: X:-1.18, Y:-1.79, Z:0.29 [[ 0.99964985 0.01349377 0.02276176 -1.17820847] [-0.01379562 0.99981827 0.01315692 -1.78613706] [-0.02258009 -0.01346633 0.99965434 0.28535805] [ 0. 0. 0. 1. ]] SLAMing on 39.691652532 meters Centerline goodness : 0.761974 Centerline is valid? [False, False] Translation: X:-1.18, Y:-1.79, Z:0.29 [[ 0.99966562 0.01294735 0.02238351 -1.17702834] [-0.0132312 0.99983333 0.01257993 -1.78516133] [-0.0222169 -0.01287188 0.99967031 0.28502925] [ 0. 0. 0. 1. ]] SLAMing on 39.721652532 meters Centerline goodness : 0.759724 Centerline is valid? [False, False] Translation: X:-1.18, Y:-1.78, Z:0.29 [[ 0.9997034 0.01130519 0.02157071 -1.17522157] [-0.01154907 0.99987041 0.01121491 -1.78352963] [-0.02144113 -0.01146071 0.99970442 0.28546328] [ 0. 0. 0. 1. ]] SLAMing on 39.751652532 meters Centerline goodness : 0.760584 Centerline is valid? [False, False] Translation: X:-1.17, Y:-1.78, Z:0.29 [[ 0.99971155 0.01102005 0.02133957 -1.17461503] [-0.01125899 0.9998749 0.01110922 -1.78394165] [-0.02121447 -0.01134628 0.99971056 0.28550339] [ 0. 0. 0. 1. ]] SLAMing on 39.781652532 meters Centerline goodness : 0.758770 Centerline is valid? [False, False] Translation: X:-1.17, Y:-1.78, Z:0.29 [[ 0.99979698 0.00499529 0.01952059 -1.1714582 ] [-0.00512166 0.99996621 0.00642944 -1.78448917] [-0.01948781 -0.00652811 0.99978878 0.28759228] [ 0. 0. 0. 1. ]] SLAMing on 39.811652532 meters Centerline goodness : 0.759305 Centerline is valid? [False, False] Translation: X:-1.17, Y:-1.79, Z:0.29 [[ 0.99982989 0.00312493 0.01817767 -1.16902606] [-0.00322448 0.99997995 0.00544983 -1.78548687] [-0.01816027 -0.00550752 0.99981992 0.28880632] [ 0. 0. 0. 1. ]] SLAMing on 39.841652532 meters Centerline goodness : 0.758674 Centerline is valid? [False, False] Translation: X:-1.17, Y:-1.79, Z:0.29 [[ 9.99860705e-01 1.14215661e-03 1.66513371e-02 -1.16592886e+00] [-1.21505688e-03 9.99989720e-01 4.36858393e-03 -1.78577027e+00] [-1.66461763e-02 -4.38820772e-03 9.99851813e-01 2.89879624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.871652532 meters Centerline goodness : 0.761180 Centerline is valid? [False, False] Translation: X:-1.16, Y:-1.79, Z:0.29 [[ 9.99880281e-01 -2.09794981e-04 1.54719272e-02 -1.16381548e+00] [ 1.52174084e-04 9.99993049e-01 3.72530564e-03 -1.78645015e+00] [-1.54726012e-02 -3.72250523e-03 9.99873363e-01 2.90982833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.901652532 meters Centerline goodness : 0.761670 Centerline is valid? [False, False] Translation: X:-1.16, Y:-1.79, Z:0.29 [[ 9.99894062e-01 -9.62536039e-04 1.45237248e-02 -1.16191611e+00] [ 9.15516792e-04 9.99994320e-01 3.24371112e-03 -1.78601025e+00] [-1.45267645e-02 -3.23007077e-03 9.99889264e-01 2.91694432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.931652532 meters Centerline goodness : 0.758826 Centerline is valid? [False, False] Translation: X:-1.16, Y:-1.78, Z:0.29 [[ 9.99897759e-01 -2.37653577e-03 1.41005094e-02 -1.15929927e+00] [ 2.35515115e-03 9.99996052e-01 1.53299649e-03 -1.78267771e+00] [-1.41040969e-02 -1.49963093e-03 9.99899408e-01 2.89794137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.961652532 meters Centerline goodness : 0.757794 Centerline is valid? [False, False] Translation: X:-1.16, Y:-1.78, Z:0.29 [[ 9.99899517e-01 -3.78076764e-03 1.36624465e-02 -1.15748420e+00] [ 3.78457885e-03 9.99992806e-01 -2.53111239e-04 -1.77883863e+00] [-1.36613913e-02 3.04792411e-04 9.99906632e-01 2.88825655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.991652532 meters Centerline goodness : 0.757021 Centerline is valid? [False, False] Translation: X:-1.16, Y:-1.78, Z:0.29 [[ 9.99896638e-01 -3.44763596e-03 1.39580524e-02 -1.15867011e+00] [ 3.44579631e-03 9.99994051e-01 1.55845941e-04 -1.77994335e+00] [-1.39585067e-02 -1.07733227e-04 9.99902569e-01 2.89192085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.021652532 meters Centerline goodness : 0.756565 Centerline is valid? [False, False] Translation: X:-1.16, Y:-1.78, Z:0.29 [[ 9.99893613e-01 -2.86615480e-03 1.43020208e-02 -1.16025024e+00] [ 2.85152658e-03 9.99995390e-01 1.04309572e-03 -1.78253198e+00] [-1.43049446e-02 -1.00220216e-03 9.99897177e-01 2.90084305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.051652532 meters Centerline goodness : 0.757831 Centerline is valid? [False, False] Translation: X:-1.16, Y:-1.78, Z:0.29 [[ 9.99903270e-01 1.05154026e-03 1.38688579e-02 -1.15963896e+00] [-1.12542631e-03 9.99985211e-01 5.32075081e-03 -1.78338112e+00] [-1.38630578e-02 -5.33584451e-03 9.99889666e-01 2.90788218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.081652532 meters Centerline goodness : 0.759119 Centerline is valid? [False, False] Translation: X:-1.16, Y:-1.78, Z:0.29 [[ 9.99908946e-01 6.68147099e-04 1.34778923e-02 -1.15891423e+00] [-7.37344970e-04 9.99986570e-01 5.12986042e-03 -1.78356556e+00] [-1.34742838e-02 -5.13933118e-03 9.99896010e-01 2.91201675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.111652532 meters Centerline goodness : 0.758898 Centerline is valid? [False, False] Translation: X:-1.16, Y:-1.78, Z:0.29 [[ 0.99989701 0.00490779 0.01348625 -1.15828221] [-0.00503259 0.99994469 0.00923572 -1.78341113] [-0.01344017 -0.00930264 0.9998664 0.29039617] [ 0. 0. 0. 1. ]] SLAMing on 40.141652532 meters Centerline goodness : 0.760765 Centerline is valid? [False, False] Translation: X:-1.16, Y:-1.79, Z:0.29 [[ 0.99987869 0.00620441 0.01428666 -1.16060147] [-0.00635524 0.99992429 0.01053666 -1.78607997] [-0.01422021 -0.01062617 0.99984242 0.29069073] [ 0. 0. 0. 1. ]] SLAMing on 40.171652532 meters Centerline goodness : 0.761027 Centerline is valid? [False, False] Translation: X:-1.16, Y:-1.79, Z:0.29 [[ 0.99985562 0.00725656 0.01536502 -1.16337847] [-0.00743055 0.99990858 0.01129722 -1.78711451] [-0.01528164 -0.01140976 0.99981813 0.2906015 ] [ 0. 0. 0. 1. ]] SLAMing on 40.201652532 meters Centerline goodness : 0.758628 Centerline is valid? [False, False] Translation: X:-1.17, Y:-1.79, Z:0.29 [[ 0.99984003 0.00770109 0.01614345 -1.16515175] [-0.00788655 0.99990328 0.01145602 -1.78705043] [-0.01605366 -0.0115815 0.99980406 0.29023372] [ 0. 0. 0. 1. ]] SLAMing on 40.231652532 meters Centerline goodness : 0.756866 Centerline is valid? [False, False] Translation: X:-1.17, Y:-1.79, Z:0.29 [[ 0.99981252 0.0090238 0.01713157 -1.16703702] [-0.00923108 0.99988468 0.01205916 -1.78697465] [-0.01702078 -0.01221505 0.99978052 0.28927494] [ 0. 0. 0. 1. ]] SLAMing on 40.261652532 meters Centerline goodness : 0.756940 Centerline is valid? [False, False] Translation: X:-1.17, Y:-1.79, Z:0.29 [[ 0.99980244 0.00925514 0.01759064 -1.16784955] [-0.00946967 0.99988132 0.01215216 -1.78721941] [-0.01747608 -0.01231634 0.99977142 0.28872065] [ 0. 0. 0. 1. ]] SLAMing on 40.291652532 meters Centerline goodness : 0.756120 Centerline is valid? [False, False] Translation: X:-1.17, Y:-1.79, Z:0.29 [[ 0.99979283 0.00929598 0.01810759 -1.16891342] [-0.0095129 0.99988358 0.01193015 -1.78643012] [-0.01799458 -0.01209993 0.99976487 0.28830598] [ 0. 0. 0. 1. ]] SLAMing on 40.321652532 meters Centerline goodness : 0.754965 Centerline is valid? [False, False] Translation: X:-1.17, Y:-1.79, Z:0.29 [[ 0.99978348 0.0094128 0.0185577 -1.16994515] [-0.00963344 0.99988354 0.01183635 -1.78592025] [-0.01844412 -0.01201256 0.99975773 0.28806981] [ 0. 0. 0. 1. ]] SLAMing on 40.351652532 meters Centerline goodness : 0.751340 Centerline is valid? [False, False] Translation: X:-1.17, Y:-1.78, Z:0.29 [[ 0.99976019 0.01142434 0.01868295 -1.16859896] [-0.01166889 0.99984698 0.01303314 -1.78020203] [-0.0185312 -0.01324802 0.99974051 0.28600512] [ 0. 0. 0. 1. ]] SLAMing on 40.381652532 meters Centerline goodness : 0.750427 Centerline is valid? [False, False] Translation: X:-1.17, Y:-1.78, Z:0.29 [[ 0.99974688 0.01148165 0.01934822 -1.17007117] [-0.01172848 0.99985067 0.0126921 -1.77890164] [-0.01919961 -0.01291581 0.99973224 0.28565722] [ 0. 0. 0. 1. ]] SLAMing on 40.411652532 meters Centerline goodness : 0.750331 Centerline is valid? [False, False] Translation: X:-1.17, Y:-1.78, Z:0.29 [[ 0.99973013 0.01167905 0.02008152 -1.1718836 ] [-0.0119321 0.99985033 0.01252779 -1.77808654] [-0.0199322 -0.01276402 0.99971985 0.28551451] [ 0. 0. 0. 1. ]] SLAMing on 40.441652532 meters Centerline goodness : 0.747023 Centerline is valid? [False, False] Translation: X:-1.17, Y:-1.78, Z:0.29 [[ 0.99972355 0.01183909 0.02031403 -1.17234761] [-0.01209862 0.99984615 0.01270063 -1.7787942 ] [-0.02016054 -0.01294289 0.99971298 0.2854271 ] [ 0. 0. 0. 1. ]] SLAMing on 40.471652532 meters Centerline goodness : 0.744633 Centerline is valid? [False, False] Translation: X:-1.17, Y:-1.78, Z:0.29 [[ 0.99969985 0.01283991 0.02086502 -1.17417246] [-0.01313538 0.9998145 0.01408639 -1.78277248] [-0.02068028 -0.01435623 0.99968306 0.28598541] [ 0. 0. 0. 1. ]] SLAMing on 40.501652532 meters Centerline goodness : 0.746383 Centerline is valid? [False, False] Translation: X:-1.18, Y:-1.78, Z:0.29 [[ 0.99969825 0.01267053 0.02104429 -1.1752269 ] [-0.01296454 0.99981943 0.01389362 -1.7825121 ] [-0.02086445 -0.01416226 0.999682 0.28689651] [ 0. 0. 0. 1. ]] SLAMing on 40.531652532 meters Centerline goodness : 0.745185 Centerline is valid? [False, False] Translation: X:-1.18, Y:-1.78, Z:0.29 [[ 0.99966615 0.01375391 0.0218727 -1.17742467] [-0.01408134 0.99979003 0.01488685 -1.78458804] [-0.02166336 -0.01518988 0.99964992 0.28691038] [ 0. 0. 0. 1. ]] SLAMing on 40.561652532 meters Centerline goodness : 0.745947 Centerline is valid? [False, False] Translation: X:-1.18, Y:-1.78, Z:0.29 [[ 0.99942299 0.02147688 0.02631412 -1.17506477] [-0.02163276 0.99975 0.00565362 -1.77547355] [-0.02618612 -0.0062196 0.99963774 0.28660679] [ 0. 0. 0. 1. ]] SLAMing on 40.591652532 meters Centerline goodness : 0.745932 Centerline is valid? [False, False] Translation: X:-1.17, Y:-1.77, Z:0.29 [[ 0.99936806 0.02407035 0.02615539 -1.174044 ] [-0.02427924 0.99967557 0.00769843 -1.7707494 ] [-0.0259616 -0.0083286 0.99962825 0.28582187] [ 0. 0. 0. 1. ]] SLAMing on 40.621652532 meters Centerline goodness : 0.747186 Centerline is valid? [False, False] Translation: X:-1.18, Y:-1.77, Z:0.29 [[ 0.99923535 0.02832623 0.02695075 -1.17540991] [-0.02864417 0.99952369 0.01148475 -1.76896029] [-0.02661259 -0.01224795 0.99957079 0.28520888] [ 0. 0. 0. 1. ]] SLAMing on 40.651652532 meters Centerline goodness : 0.747355 Centerline is valid? [False, False] Translation: X:-1.18, Y:-1.77, Z:0.28 [[ 0.99907786 0.03271219 0.02780899 -1.1766148 ] [-0.03315401 0.99932885 0.01557761 -1.76820754] [-0.02728075 -0.01648522 0.99949187 0.28427158] [ 0. 0. 0. 1. ]] SLAMing on 40.681652532 meters Centerline goodness : 0.745677 Centerline is valid? [False, False] Translation: X:-1.18, Y:-1.77, Z:0.28 [[ 0.99906581 0.03269629 0.02825702 -1.17758065] [-0.0331405 0.99933209 0.01539741 -1.76778447] [-0.0277347 -0.01631948 0.9994821 0.2841066 ] [ 0. 0. 0. 1. ]] SLAMing on 40.711652532 meters Centerline goodness : 0.746374 Centerline is valid? [False, False] Translation: X:-1.18, Y:-1.77, Z:0.28 [[ 0.99907809 0.03235583 0.02821456 -1.17765976] [-0.0327881 0.99934983 0.01499501 -1.7671613 ] [-0.02771104 -0.01590628 0.99948941 0.28437871] [ 0. 0. 0. 1. ]] SLAMing on 40.741652532 meters Centerline goodness : 0.748159 Centerline is valid? [False, False] Translation: X:-1.18, Y:-1.77, Z:0.28 [[ 0.99902021 0.0335591 0.02885139 -1.17978697] [-0.03404323 0.99928487 0.01645614 -1.77099878] [-0.02827851 -0.01742221 0.99944824 0.2849488 ] [ 0. 0. 0. 1. ]] SLAMing on 40.771652532 meters Centerline goodness : 0.747736 Centerline is valid? [False, False] Translation: X:-1.18, Y:-1.78, Z:0.29 [[ 0.99890928 0.03606818 0.02965353 -1.18184539] [-0.03665217 0.99913992 0.01939149 -1.77714304] [-0.02892861 -0.0204572 0.99937212 0.28522999] [ 0. 0. 0. 1. ]] SLAMing on 40.801652532 meters Centerline goodness : 0.748814 Centerline is valid? [False, False] Translation: X:-1.19, Y:-1.78, Z:0.29 [[ 0.99898015 0.03326976 0.03052513 -1.18504243] [-0.03378596 0.99929199 0.01655362 -1.78019385] [-0.02995279 -0.01756806 0.99939692 0.28600563] [ 0. 0. 0. 1. ]] SLAMing on 40.831652532 meters Centerline goodness : 0.749026 Centerline is valid? [False, False] Translation: X:-1.18, Y:-1.78, Z:0.29 [[ 0.99901302 0.03253736 0.03023762 -1.18416331] [-0.03302622 0.99932942 0.01581079 -1.77909972] [-0.0297029 -0.01679382 0.99941768 0.28576797] [ 0. 0. 0. 1. ]] SLAMing on 40.861652532 meters Centerline goodness : 0.747461 Centerline is valid? [False, False] Translation: X:-1.18, Y:-1.78, Z:0.28 [[ 0.99899302 0.03325543 0.03011665 -1.18335207] [-0.0337702 0.99928928 0.01674824 -1.78156827] [-0.02953828 -0.01774843 0.99940607 0.28498392] [ 0. 0. 0. 1. ]] SLAMing on 40.891652532 meters Centerline goodness : 0.747579 Centerline is valid? [False, False] Translation: X:-1.18, Y:-1.78, Z:0.28 [[ 0.99898322 0.03369289 0.02995507 -1.18227314] [-0.03422915 0.9992595 0.01757324 -1.78453464] [-0.0293408 -0.01858071 0.99939676 0.28400912] [ 0. 0. 0. 1. ]] SLAMing on 40.921652532 meters Centerline goodness : 0.749929 Centerline is valid? [False, False] Translation: X:-1.18, Y:-1.78, Z:0.28 [[ 0.99913903 0.02911713 0.02955326 -1.18088426] [-0.02950065 0.99948503 0.01262498 -1.78306261] [-0.02917044 -0.01348595 0.99948347 0.28294935] [ 0. 0. 0. 1. ]] SLAMing on 40.951652532 meters Centerline goodness : 0.746974 Centerline is valid? [False, False] Translation: X:-1.18, Y:-1.78, Z:0.28 [[ 0.99912575 0.02938112 0.02974021 -1.18151551] [-0.0297822 0.99947012 0.01313424 -1.78489912] [-0.02933855 -0.01400848 0.99947137 0.2831323 ] [ 0. 0. 0. 1. ]] SLAMing on 40.981652532 meters Centerline goodness : 0.750946 Centerline is valid? [False, False] Translation: X:-1.18, Y:-1.78, Z:0.28 [[ 0.9991611 0.02841655 0.02948903 -1.18171584] [-0.0287885 0.99951026 0.01226615 -1.78379647] [-0.02912603 -0.0131048 0.99948984 0.28423179] [ 0. 0. 0. 1. ]] SLAMing on 41.011652532 meters Centerline goodness : 0.750946 Centerline is valid? [False, False] Translation: X:-1.18, Y:-1.78, Z:0.28 [[ 0.9991611 0.02841655 0.02948903 -1.18171584] [-0.0287885 0.99951026 0.01226615 -1.78379647] [-0.02912603 -0.0131048 0.99948984 0.28423179] [ 0. 0. 0. 1. ]] SLAMing on 41.041652532 meters Centerline goodness : 0.748187 Centerline is valid? [False, False] Translation: X:-1.18, Y:-1.78, Z:0.28 [[ 0.99922727 0.02647745 0.0290485 -1.18004545] [-0.02678429 0.99958894 0.01022514 -1.78006875] [-0.02876582 -0.01099528 0.9995257 0.28368473] [ 0. 0. 0. 1. ]] SLAMing on 41.071652532 meters Centerline goodness : 0.747035 Centerline is valid? [False, False] Translation: X:-1.18, Y:-1.78, Z:0.28 [[ 0.9992782 0.02495842 0.02863853 -1.17918871] [-0.02520724 0.99964729 0.00836048 -1.77606965] [-0.02841976 -0.00907634 0.99955487 0.28383478] [ 0. 0. 0. 1. ]] SLAMing on 41.101652532 meters Centerline goodness : 0.747287 Centerline is valid? [False, False] Translation: X:-1.18, Y:-1.78, Z:0.28 [[ 0.9992642 0.0252182 0.02889825 -1.17968721] [-0.02547617 0.99963849 0.00859371 -1.77671403] [-0.02867108 -0.00932361 0.99954542 0.28353861] [ 0. 0. 0. 1. ]] SLAMing on 41.131652532 meters Centerline goodness : 0.750259 Centerline is valid? [False, False] Translation: X:-1.18, Y:-1.78, Z:0.28 [[ 0.99927744 0.02495833 0.02866508 -1.17953029] [-0.0252176 0.99964396 0.00871902 -1.77796712] [-0.02843726 -0.00943558 0.99955105 0.28422536] [ 0. 0. 0. 1. ]] SLAMing on 41.161652532 meters Centerline goodness : 0.747088 Centerline is valid? [False, False] Translation: X:-1.18, Y:-1.78, Z:0.29 [[ 0.99932994 0.02343155 0.02811826 -1.17914434] [-0.02364569 0.99969369 0.00730741 -1.77587397] [-0.02793843 -0.00796739 0.99957789 0.28552645] [ 0. 0. 0. 1. ]] SLAMing on 41.191652532 meters Centerline goodness : 0.747412 Centerline is valid? [False, False] Translation: X:-1.18, Y:-1.78, Z:0.29 [[ 0.99921539 0.02753838 0.02846478 -1.18176451] [-0.02789986 0.99953405 0.01238095 -1.78260964] [-0.02811057 -0.0131654 0.99951812 0.2879901 ] [ 0. 0. 0. 1. ]] SLAMing on 41.221652532 meters Centerline goodness : 0.748469 Centerline is valid? [False, False] Translation: X:-1.18, Y:-1.79, Z:0.29 [[ 0.99916234 0.02868898 0.0291815 -1.18407858] [-0.02910528 0.99947911 0.01394254 -1.78680574] [-0.02876631 -0.0147802 0.99947689 0.28876864] [ 0. 0. 0. 1. ]] SLAMing on 41.251652532 meters Centerline goodness : 0.748836 Centerline is valid? [False, False] Translation: X:-1.19, Y:-1.79, Z:0.29 [[ 0.99915652 0.02854003 0.02952483 -1.18554591] [-0.02895276 0.99948761 0.01364719 -1.78610817] [-0.02912021 -0.0144905 0.99947088 0.28967325] [ 0. 0. 0. 1. ]] SLAMing on 41.281652532 meters Centerline goodness : 0.752396 Centerline is valid? [False, False] Translation: X:-1.19, Y:-1.78, Z:0.29 [[ 0.99900747 0.03267993 0.03026722 -1.18674211] [-0.03320729 0.9993024 0.01708776 -1.78312012] [-0.02968768 -0.01807589 0.99939577 0.28905972] [ 0. 0. 0. 1. ]] SLAMing on 41.311652532 meters Centerline goodness : 0.750071 Centerline is valid? [False, False] Translation: X:-1.19, Y:-1.78, Z:0.29 [[ 0.9989162 0.03417582 0.03159806 -1.18967214] [-0.0347519 0.99923627 0.01786546 -1.78320357] [-0.03096336 -0.01894419 0.99934098 0.28843695] [ 0. 0. 0. 1. ]] SLAMing on 41.341652532 meters Centerline goodness : 0.750688 Centerline is valid? [False, False] Translation: X:-1.19, Y:-1.78, Z:0.29 [[ 0.99879387 0.03622173 0.03314787 -1.19241268] [-0.03686977 0.99913654 0.01915192 -1.78448694] [-0.03242554 -0.02035098 0.99926694 0.28694274] [ 0. 0. 0. 1. ]] SLAMing on 41.371652532 meters Centerline goodness : 0.755979 Centerline is valid? [False, False] Translation: X:-1.19, Y:-1.78, Z:0.29 [[ 0.99873313 0.03717475 0.03391417 -1.1931397 ] [-0.03784613 0.99909575 0.01937397 -1.78401191] [-0.03316329 -0.02063294 0.99923695 0.28523156] [ 0. 0. 0. 1. ]] SLAMing on 41.401652532 meters Centerline goodness : 0.755647 Centerline is valid? [False, False] Translation: X:-1.20, Y:-1.79, Z:0.28 [[ 0.99862766 0.03903487 0.03491534 -1.19529979] [-0.03979053 0.99898278 0.02121585 -1.78755535] [-0.03405167 -0.02257603 0.99916505 0.28482608] [ 0. 0. 0. 1. ]] SLAMing on 41.431652532 meters Centerline goodness : 0.757784 Centerline is valid? [False, False] Translation: X:-1.20, Y:-1.79, Z:0.29 [[ 0.99851572 0.04099145 0.03586152 -1.19800263] [-0.0418511 0.99884608 0.02355826 -1.79291324] [-0.03485445 -0.02502414 0.99907906 0.28537512] [ 0. 0. 0. 1. ]] SLAMing on 41.461652532 meters Centerline goodness : 0.756165 Centerline is valid? [False, False] Translation: X:-1.20, Y:-1.79, Z:0.29 [[ 0.99857236 0.04002689 0.0353707 -1.19687213] [-0.04085555 0.99889976 0.02302391 -1.79351456] [-0.03441021 -0.02443613 0.99910901 0.28558499] [ 0. 0. 0. 1. ]] SLAMing on 41.491652532 meters Centerline goodness : 0.759202 Centerline is valid? [False, False] Translation: X:-1.20, Y:-1.80, Z:0.29 [[ 0.99868748 0.0364783 0.03595353 -1.19903489] [-0.03719046 0.999121 0.01934181 -1.79504958] [-0.03521637 -0.02065355 0.99916627 0.28600072] [ 0. 0. 0. 1. ]] SLAMing on 41.521652532 meters Centerline goodness : 0.756824 Centerline is valid? [False, False] Translation: X:-1.20, Y:-1.79, Z:0.29 [[ 0.99882408 0.03226054 0.03618993 -1.19989381] [-0.03281487 0.99935143 0.01482901 -1.79456082] [-0.03568807 -0.01599914 0.9992349 0.28592319] [ 0. 0. 0. 1. ]] SLAMing on 41.551652532 meters Centerline goodness : 0.756911 Centerline is valid? [False, False] Translation: X:-1.20, Y:-1.80, Z:0.29 [[ 0.99881715 0.03228471 0.03635931 -1.20036395] [-0.03284629 0.99934852 0.01495511 -1.79521267] [-0.0358528 -0.01613169 0.99922687 0.28599757] [ 0. 0. 0. 1. ]] SLAMing on 41.581652532 meters Centerline goodness : 0.755764 Centerline is valid? [False, False] Translation: X:-1.20, Y:-1.79, Z:0.29 [[ 0.99885882 0.03137401 0.03601021 -1.19973889] [-0.03189749 0.99939231 0.01405554 -1.7937395 ] [-0.03554735 -0.01518814 0.99925257 0.28642042] [ 0. 0. 0. 1. ]] SLAMing on 41.611652532 meters Centerline goodness : 0.756311 Centerline is valid? [False, False] Translation: X:-1.20, Y:-1.79, Z:0.29 [[ 0.99886015 0.03140153 0.03594932 -1.19994287] [-0.03193136 0.99938833 0.01426007 -1.79469001] [-0.03547955 -0.01539172 0.99925187 0.2868943 ] [ 0. 0. 0. 1. ]] SLAMing on 41.641652532 meters Centerline goodness : 0.756794 Centerline is valid? [False, False] Translation: X:-1.20, Y:-1.80, Z:0.29 [[ 0.99879306 0.03265328 0.03669031 -1.20235526] [-0.03324661 0.99932419 0.01567895 -1.79757277] [-0.03615355 -0.01687985 0.99920368 0.2877527 ] [ 0. 0. 0. 1. ]] SLAMing on 41.671652532 meters Centerline goodness : 0.754911 Centerline is valid? [False, False] Translation: X:-1.20, Y:-1.80, Z:0.29 [[ 0.9986954 0.03448508 0.03765996 -1.20482549] [-0.03517575 0.99922201 0.01783354 -1.8022393 ] [-0.03701567 -0.01913499 0.99913147 0.28801042] [ 0. 0. 0. 1. ]] SLAMing on 41.701652532 meters Centerline goodness : 0.755397 Centerline is valid? [False, False] Translation: X:-1.20, Y:-1.80, Z:0.29 [[ 0.99887355 0.02960336 0.03708462 -1.20393525] [-0.03011525 0.99945766 0.01332165 -1.80306507] [-0.03667014 -0.01442346 0.99922333 0.28845488] [ 0. 0. 0. 1. ]] SLAMing on 41.731652532 meters Centerline goodness : 0.755483 Centerline is valid? [False, False] Translation: X:-1.20, Y:-1.80, Z:0.29 [[ 0.99905848 0.02418861 0.03601467 -1.20178773] [-0.02448958 0.99966856 0.00793927 -1.80169481] [-0.0358107 -0.00881377 0.99931972 0.28874379] [ 0. 0. 0. 1. ]] SLAMing on 41.761652532 meters Centerline goodness : 0.757200 Centerline is valid? [False, False] Translation: X:-1.20, Y:-1.80, Z:0.29 [[ 0.99902732 0.02491075 0.03638494 -1.20278593] [-0.02524712 0.99964238 0.00881462 -1.80379691] [-0.03615235 -0.00972467 0.99929897 0.28867313] [ 0. 0. 0. 1. ]] SLAMing on 41.791652532 meters Centerline goodness : 0.754230 Centerline is valid? [False, False] Translation: X:-1.20, Y:-1.81, Z:0.29 [[ 0.99900159 0.02554129 0.0366534 -1.20372191] [-0.02591579 0.9996163 0.00977853 -1.80644053] [-0.03638958 -0.01071866 0.9992802 0.28900825] [ 0. 0. 0. 1. ]] SLAMing on 41.821652532 meters Centerline goodness : 0.756479 Centerline is valid? [False, False] Translation: X:-1.20, Y:-1.81, Z:0.29 [[ 0.99934954 0.02494718 0.02604116 -1.19782876] [-0.02520161 0.99963736 0.00948817 -1.80655695] [-0.02579501 -0.01013828 0.99961584 0.28881691] [ 0. 0. 0. 1. ]] SLAMing on 41.851652532 meters Centerline goodness : 0.754206 Centerline is valid? [False, False] Translation: X:-1.20, Y:-1.80, Z:0.29 [[ 0.99936132 0.02440232 0.02610532 -1.19749886] [-0.02463794 0.99965821 0.0087427 -1.80492826] [-0.02588305 -0.0093803 0.99962097 0.28817552] [ 0. 0. 0. 1. ]] SLAMing on 41.881652532 meters Centerline goodness : 0.753908 Centerline is valid? [False, False] Translation: X:-1.20, Y:-1.80, Z:0.29 [[ 0.9993823 0.02374627 0.02590617 -1.19730738] [-0.0239621 0.99968043 0.00805285 -1.80386446] [-0.02570666 -0.00866864 0.99963194 0.28848605] [ 0. 0. 0. 1. ]] SLAMing on 41.911652532 meters Centerline goodness : 0.751899 Centerline is valid? [False, False] Translation: X:-1.20, Y:-1.81, Z:0.29 [[ 0.99935867 0.02427384 0.0263256 -1.19849586] [-0.02450834 0.99966244 0.00862215 -1.80532282] [-0.02610742 -0.00926182 0.99961624 0.2885346 ] [ 0. 0. 0. 1. ]] SLAMing on 41.941652532 meters Centerline goodness : 0.753492 Centerline is valid? [False, False] Translation: X:-1.20, Y:-1.81, Z:0.29 [[ 0.99937071 0.02417291 0.02595884 -1.19793814] [-0.02441314 0.99966164 0.00897748 -1.80730474] [-0.02573305 -0.00960557 0.9996227 0.28909251] [ 0. 0. 0. 1. ]] SLAMing on 41.971652532 meters Centerline goodness : 0.755289 Centerline is valid? [False, False] Translation: X:-1.20, Y:-1.81, Z:0.29 [[ 0.99943015 0.02148599 0.0260331 -1.20045961] [-0.02167004 0.99974199 0.00680837 -1.81184234] [-0.02588009 -0.00736863 0.9996379 0.29181951] [ 0. 0. 0. 1. ]] SLAMing on 42.001652532 meters Centerline goodness : 0.756310 Centerline is valid? [False, False] Translation: X:-1.20, Y:-1.81, Z:0.29 [[ 0.99938598 0.02257192 0.0267989 -1.20221177] [-0.02279019 0.99970931 0.00786752 -1.81396641] [-0.02661353 -0.00847344 0.99960988 0.29147999] [ 0. 0. 0. 1. ]] SLAMing on 42.031652532 meters Centerline goodness : 0.756586 Centerline is valid? [False, False] Translation: X:-1.20, Y:-1.81, Z:0.29 [[ 0.99938569 0.0225434 0.02683338 -1.20214493] [-0.02276325 0.99970954 0.00791604 -1.81434498] [-0.02664713 -0.00852199 0.99960858 0.291214 ] [ 0. 0. 0. 1. ]] SLAMing on 42.061652532 meters Centerline goodness : 0.753398 Centerline is valid? [False, False] Translation: X:-1.20, Y:-1.81, Z:0.29 [[ 0.99940402 0.0217422 0.02681197 -1.20178933] [-0.02193424 0.99973568 0.00688918 -1.8117431 ] [-0.0266551 -0.00747318 0.99961676 0.29091863] [ 0. 0. 0. 1. ]] SLAMing on 42.091652532 meters Centerline goodness : 0.751444 Centerline is valid? [False, False] Translation: X:-1.20, Y:-1.82, Z:0.29 [[ 0.99973456 0.01774112 0.01469925 -1.20200723] [-0.01786541 0.99980539 0.00836751 -1.82347455] [-0.01454794 -0.00862789 0.99985695 0.29202095] [ 0. 0. 0. 1. ]] SLAMing on 42.121652532 meters Centerline goodness : 0.752935 Centerline is valid? [False, False] Translation: X:-1.20, Y:-1.82, Z:0.29 [[ 0.99981907 0.01271441 0.01414819 -1.20165556] [-0.01276728 0.99991182 0.00365312 -1.82360361] [-0.0141005 -0.00383309 0.99989324 0.29321733] [ 0. 0. 0. 1. ]] SLAMing on 42.151652532 meters Centerline goodness : 0.753584 Centerline is valid? [False, False] Translation: X:-1.20, Y:-1.83, Z:0.29 [[ 9.99853742e-01 9.37517242e-03 1.43038598e-02 -1.20265024e+00] [-9.38640877e-03 9.99955688e-01 7.18613212e-04 -1.82754835e+00] [-1.42964888e-02 -8.52769984e-04 9.99897436e-01 2.93721266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.181652532 meters Centerline goodness : 0.752377 Centerline is valid? [False, False] Translation: X:-1.20, Y:-1.83, Z:0.29 [[ 9.99891976e-01 5.62785523e-03 1.35780273e-02 -1.20164168e+00] [-5.60523080e-03 9.99982839e-01 -1.70373375e-03 -1.83371725e+00] [-1.35873826e-02 1.62744173e-03 9.99906363e-01 2.94815274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.211652532 meters Centerline goodness : 0.752787 Centerline is valid? [False, False] Translation: X:-1.20, Y:-1.84, Z:0.30 [[ 9.99910816e-01 1.21518148e-03 1.32997139e-02 -1.20240994e+00] [-1.13951466e-03 9.99983131e-01 -5.69545724e-03 -1.83518728e+00] [-1.33064106e-02 5.67979408e-03 9.99895334e-01 2.96706896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.241652531999996 meters Centerline goodness : 0.752634 Centerline is valid? [False, False] Translation: X:-1.20, Y:-1.84, Z:0.30 [[ 9.99916106e-01 9.74456352e-04 1.29163382e-02 -1.20213530e+00] [-9.02685693e-04 9.99984129e-01 -5.56124510e-03 -1.83620566e+00] [-1.29215524e-02 5.54911915e-03 9.99901115e-01 2.97521440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.271652532 meters Centerline goodness : 0.751224 Centerline is valid? [False, False] Translation: X:-1.20, Y:-1.84, Z:0.30 [[ 9.99912155e-01 1.66886533e-03 1.31490435e-02 -1.20318364e+00] [-1.61025259e-03 9.99988727e-01 -4.46689372e-03 -1.83940975e+00] [-1.31563499e-02 4.44532804e-03 9.99903570e-01 2.97938897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.301652532 meters Centerline goodness : 0.749924 Centerline is valid? [False, False] Translation: X:-1.20, Y:-1.84, Z:0.30 [[ 9.99925707e-01 1.81001532e-05 1.21893285e-02 -1.20123954e+00] [ 5.18105730e-05 9.99983553e-01 -5.73506402e-03 -1.83789684e+00] [-1.21892318e-02 5.73526949e-03 9.99909261e-01 2.98553692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.331652532 meters Centerline goodness : 0.750153 Centerline is valid? [False, False] Translation: X:-1.20, Y:-1.84, Z:0.30 [[ 9.99931024e-01 -2.69929729e-04 1.17419922e-02 -1.20093919e+00] [ 3.38590833e-04 9.99982855e-01 -5.84588847e-03 -1.83786145e+00] [-1.17402129e-02 5.84946098e-03 9.99913972e-01 2.99499429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.361652532 meters Centerline goodness : 0.750442 Centerline is valid? [False, False] Translation: X:-1.20, Y:-1.84, Z:0.30 [[ 9.99938703e-01 -8.75192854e-04 1.10374219e-02 -1.19951428e+00] [ 9.41235674e-04 9.99981678e-01 -5.97976241e-03 -1.83859552e+00] [-1.10319862e-02 5.98978468e-03 9.99921206e-01 3.00033285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.391652532 meters Centerline goodness : 0.751684 Centerline is valid? [False, False] Translation: X:-1.20, Y:-1.84, Z:0.30 [[ 9.99940100e-01 -8.51240495e-04 1.09120109e-02 -1.19988852e+00] [ 9.13353886e-04 9.99983403e-01 -5.68848484e-03 -1.83978023e+00] [-1.09069875e-02 5.69811063e-03 9.99924282e-01 3.00910944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.421652532 meters Centerline goodness : 0.749822 Centerline is valid? [False, False] Translation: X:-1.20, Y:-1.84, Z:0.30 [[ 9.99942241e-01 -1.09339470e-03 1.06919929e-02 -1.20008510e+00] [ 1.15379858e-03 9.99983402e-01 -5.64491379e-03 -1.84034190e+00] [-1.06856434e-02 5.65692415e-03 9.99926905e-01 3.01866232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.451652532 meters Centerline goodness : 0.748342 Centerline is valid? [False, False] Translation: X:-1.20, Y:-1.84, Z:0.30 [[ 9.99935311e-01 -6.13838062e-04 1.13576807e-02 -1.20172687e+00] [ 6.75625750e-04 9.99984990e-01 -5.43713083e-03 -1.84011858e+00] [-1.13541727e-02 5.44445265e-03 9.99920717e-01 3.01728357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.481652532 meters Centerline goodness : 0.747739 Centerline is valid? [False, False] Translation: X:-1.20, Y:-1.84, Z:0.30 [[ 9.99938670e-01 -7.38639526e-04 1.10503871e-02 -1.20146749e+00] [ 7.95675947e-04 9.99986381e-01 -5.15798051e-03 -1.84151696e+00] [-1.10464267e-02 5.16645670e-03 9.99925639e-01 3.02362618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.511652532 meters Centerline goodness : 0.748845 Centerline is valid? [False, False] Translation: X:-1.20, Y:-1.84, Z:0.30 [[ 9.99943434e-01 -1.32031570e-03 1.05539794e-02 -1.20157509e+00] [ 1.37800643e-03 9.99984140e-01 -5.46085265e-03 -1.84147219e+00] [-1.05466020e-02 5.47508720e-03 9.99929394e-01 3.04078646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.541652532 meters Centerline goodness : 0.749003 Centerline is valid? [False, False] Translation: X:-1.20, Y:-1.85, Z:0.30 [[ 9.99942425e-01 -2.94540994e-04 1.07265976e-02 -1.20278034e+00] [ 3.37292257e-04 9.99992007e-01 -3.98394707e-03 -1.84522290e+00] [-1.07253385e-02 3.98733570e-03 9.99934532e-01 3.04955694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.571652532 meters Centerline goodness : 0.748371 Centerline is valid? [False, False] Translation: X:-1.20, Y:-1.85, Z:0.30 [[ 9.99947549e-01 -5.13604615e-04 1.02291130e-02 -1.20140413e+00] [ 5.53424588e-04 9.99992279e-01 -3.89035799e-03 -1.84626174e+00] [-1.02270359e-02 3.89581498e-03 9.99940113e-01 3.04746934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.601652532 meters Centerline goodness : 0.748696 Centerline is valid? [False, False] Translation: X:-1.20, Y:-1.85, Z:0.31 [[ 0.99993514 -0.00497768 0.01024383 -1.20175639] [ 0.0050638 0.99995191 -0.00839843 -1.84585444] [-0.01020153 0.00844976 0.99991226 0.30516665] [ 0. 0. 0. 1. ]] SLAMing on 42.631652532 meters Centerline goodness : 0.747334 Centerline is valid? [False, False] Translation: X:-1.20, Y:-1.84, Z:0.31 [[ 0.99993654 -0.00657706 0.00914691 -1.19988638] [ 0.00666575 0.99993074 -0.00969951 -1.84414911] [-0.00908249 0.00975987 0.99991112 0.30612247] [ 0. 0. 0. 1. ]] SLAMing on 42.661652532 meters Centerline goodness : 0.747521 Centerline is valid? [False, False] Translation: X:-1.20, Y:-1.84, Z:0.31 [[ 0.99993101 -0.00863725 0.00796049 -1.19784111] [ 0.00872459 0.9999014 -0.01100311 -1.84390123] [-0.00786466 0.01107181 0.99990778 0.30725569] [ 0. 0. 0. 1. ]] SLAMing on 42.691652532 meters Centerline goodness : 0.749705 Centerline is valid? [False, False] Translation: X:-1.20, Y:-1.85, Z:0.31 [[ 0.9998823 -0.01355745 0.00718221 -1.19644621] [ 0.01366516 0.99979162 -0.01516523 -1.84554746] [-0.00697511 0.01526159 0.99985921 0.3082321 ] [ 0. 0. 0. 1. ]] SLAMing on 42.721652532 meters Centerline goodness : 0.749107 Centerline is valid? [False, False] Translation: X:-1.20, Y:-1.85, Z:0.31 [[ 0.9998157 -0.01770781 0.00741663 -1.1975809 ] [ 0.01784762 0.99965579 -0.01922904 -1.84613313] [-0.00707357 0.01935786 0.9997876 0.30911132] [ 0. 0. 0. 1. ]] SLAMing on 42.751652532 meters Centerline goodness : 0.749159 Centerline is valid? [False, False] Translation: X:-1.20, Y:-1.85, Z:0.31 [[ 0.99981399 -0.01790127 0.00717845 -1.19728102] [ 0.01803676 0.99965148 -0.01927655 -1.84651119] [-0.00683087 0.01940244 0.99978842 0.30952891] [ 0. 0. 0. 1. ]] SLAMing on 42.781652532 meters Centerline goodness : 0.746831 Centerline is valid? [False, False] Translation: X:-1.20, Y:-1.85, Z:0.31 [[ 0.99989375 -0.01276321 0.00704168 -1.19741499] [ 0.01285808 0.99982489 -0.01359612 -1.8500739 ] [-0.00686692 0.01368522 0.99988277 0.30979437] [ 0. 0. 0. 1. ]] SLAMing on 42.811652532 meters Centerline goodness : 0.747695 Centerline is valid? [False, False] Translation: X:-1.20, Y:-1.85, Z:0.31 [[ 0.99989639 -0.01264443 0.00687966 -1.19742701] [ 0.0127336 0.99983344 -0.0130748 -1.85201288] [-0.00671319 0.01316105 0.99989085 0.31026895] [ 0. 0. 0. 1. ]] SLAMing on 42.841652532 meters Centerline goodness : 0.746826 Centerline is valid? [False, False] Translation: X:-1.20, Y:-1.85, Z:0.31 [[ 0.99988337 -0.01403461 0.00602304 -1.19569784] [ 0.0141195 0.99979819 -0.01429074 -1.85026278] [-0.00582126 0.01437411 0.99987974 0.31076481] [ 0. 0. 0. 1. ]] SLAMing on 42.871652532 meters Centerline goodness : 0.744745 Centerline is valid? [False, False] Translation: X:-1.19, Y:-1.85, Z:0.31 [[ 0.99987881 -0.01453887 0.00556701 -1.19446486] [ 0.01461936 0.99978504 -0.01470227 -1.84979447] [-0.00535206 0.01478187 0.99987642 0.31062756] [ 0. 0. 0. 1. ]] SLAMing on 42.901652532 meters Centerline goodness : 0.743649 Centerline is valid? [False, False] Translation: X:-1.19, Y:-1.85, Z:0.31 [[ 0.99987784 -0.01467333 0.00538485 -1.19375463] [ 0.01475142 0.99978223 -0.01476124 -1.84996477] [-0.00516708 0.01483888 0.99987655 0.31021832] [ 0. 0. 0. 1. ]] SLAMing on 42.931652532 meters Centerline goodness : 0.744492 Centerline is valid? [False, False] Translation: X:-1.19, Y:-1.85, Z:0.31 [[ 0.99987969 -0.01465915 0.00507024 -1.19337699] [ 0.01473124 0.99978655 -0.01448586 -1.85094355] [-0.00485681 0.0145588 0.99988222 0.31066118] [ 0. 0. 0. 1. ]] SLAMing on 42.961652532 meters Centerline goodness : 0.744492 Centerline is valid? [False, False] Translation: X:-1.19, Y:-1.85, Z:0.31 [[ 0.99987969 -0.01465915 0.00507024 -1.19337699] [ 0.01473124 0.99978655 -0.01448586 -1.85094355] [-0.00485681 0.0145588 0.99988222 0.31066118] [ 0. 0. 0. 1. ]] SLAMing on 42.991652531999996 meters Centerline goodness : 0.742539 Centerline is valid? [False, False] Translation: X:-1.19, Y:-1.85, Z:0.31 [[ 0.99986946 -0.0155747 0.00429903 -1.19161757] [ 0.01563797 0.99976374 -0.01509669 -1.85052021] [-0.00406289 0.01516195 0.9998768 0.31101106] [ 0. 0. 0. 1. ]] SLAMing on 43.021652532 meters Centerline goodness : 0.743234 Centerline is valid? [False, False] Translation: X:-1.19, Y:-1.85, Z:0.31 [[ 0.99986952 -0.0155577 0.0043471 -1.19163586] [ 0.01562148 0.9997648 -0.0150436 -1.85063459] [-0.00411203 0.01510954 0.99987739 0.31079943] [ 0. 0. 0. 1. ]] SLAMing on 43.051652532 meters Centerline goodness : 0.740674 Centerline is valid? [False, False] Translation: X:-1.19, Y:-1.85, Z:0.31 [[ 0.99987234 -0.01526117 0.00473274 -1.19304818] [ 0.01532993 0.99977221 -0.01485022 -1.85067925] [-0.00450503 0.01492088 0.99987853 0.31117312] [ 0. 0. 0. 1. ]] SLAMing on 43.081652532 meters Centerline goodness : 0.741226 Centerline is valid? [False, False] Translation: X:-1.19, Y:-1.85, Z:0.31 [[ 0.99987253 -0.01513078 0.00509669 -1.19425878] [ 0.01520513 0.99977368 -0.014879 -1.85008928] [-0.00487041 0.0149546 0.99987631 0.31147567] [ 0. 0. 0. 1. ]] SLAMing on 43.111652532 meters Centerline goodness : 0.741265 Centerline is valid? [False, False] Translation: X:-1.19, Y:-1.85, Z:0.31 [[ 0.9999069 -0.0129384 0.00433442 -1.19183874] [ 0.01299215 0.99983606 -0.01261147 -1.8475167 ] [-0.00417053 0.01266661 0.99991108 0.31065522] [ 0. 0. 0. 1. ]] SLAMing on 43.141652532 meters Centerline goodness : 0.740225 Centerline is valid? [False, False] Translation: X:-1.19, Y:-1.85, Z:0.31 [[ 0.99990328 -0.01331735 0.00401024 -1.19084073] [ 0.01336812 0.99982727 -0.0129121 -1.84715556] [-0.00383759 0.01296446 0.99990859 0.31037119] [ 0. 0. 0. 1. ]] SLAMing on 43.171652532 meters Centerline goodness : 0.739448 Centerline is valid? [False, False] Translation: X:-1.19, Y:-1.85, Z:0.31 [[ 0.99990114 -0.01355993 0.00372106 -1.19023443] [ 0.01360732 0.99982262 -0.01302151 -1.84737166] [-0.00354382 0.01307086 0.99990829 0.3104742 ] [ 0. 0. 0. 1. ]] SLAMing on 43.201652532 meters Centerline goodness : 0.739073 Centerline is valid? [False, False] Translation: X:-1.19, Y:-1.85, Z:0.31 [[ 0.99990842 -0.01300929 0.00372917 -1.19041809] [ 0.0130543 0.99983899 -0.01231141 -1.84921709] [-0.0035684 0.01235897 0.99991726 0.31063735] [ 0. 0. 0. 1. ]] SLAMing on 43.231652532 meters Centerline goodness : 0.737141 Centerline is valid? [False, False] Translation: X:-1.19, Y:-1.85, Z:0.31 [[ 0.99994793 -0.00967899 0.003234 -1.18914765] [ 0.0097083 0.9999108 -0.00917247 -1.84680875] [-0.00314493 0.00920338 0.9999527 0.31033186] [ 0. 0. 0. 1. ]] SLAMing on 43.261652532 meters Centerline goodness : 0.736940 Centerline is valid? [False, False] Translation: X:-1.19, Y:-1.84, Z:0.31 [[ 0.99997513 -0.00621227 0.00334019 -1.18847566] [ 0.00623258 0.99996193 -0.00610667 -1.84395965] [-0.00330213 0.00612734 0.99997578 0.30893107] [ 0. 0. 0. 1. ]] SLAMing on 43.291652532 meters Centerline goodness : 0.735594 Centerline is valid? [False, False] Translation: X:-1.19, Y:-1.84, Z:0.31 [[ 0.99998723 -0.00193762 0.00466794 -1.19081764] [ 0.00195339 0.99999239 -0.00337558 -1.83866931] [-0.00466136 0.00338465 0.99998341 0.30714787] [ 0. 0. 0. 1. ]] SLAMing on 43.321652532 meters Centerline goodness : 0.733582 Centerline is valid? [False, False] Translation: X:-1.19, Y:-1.84, Z:0.31 [[ 9.99983454e-01 2.60014332e-03 5.13137001e-03 -1.19144780e+00] [-2.60506275e-03 9.99996153e-01 9.52245616e-04 -1.83851036e+00] [-5.12887430e-03 -9.65597401e-04 9.99986381e-01 3.06316572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.351652532 meters Centerline goodness : 0.732510 Centerline is valid? [False, False] Translation: X:-1.19, Y:-1.84, Z:0.31 [[ 9.99979130e-01 2.89220842e-03 5.77709322e-03 -1.19324332e+00] [-2.89959147e-03 9.99994990e-01 1.27002036e-03 -1.83957319e+00] [-5.77339111e-03 -1.28674506e-03 9.99982506e-01 3.06415227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.381652532 meters Centerline goodness : 0.732668 Centerline is valid? [False, False] Translation: X:-1.20, Y:-1.84, Z:0.31 [[ 9.99974389e-01 3.32587298e-03 6.33725154e-03 -1.19507439e+00] [-3.33612827e-03 9.99993142e-01 1.60837303e-03 -1.84020941e+00] [-6.33185884e-03 -1.62947372e-03 9.99978626e-01 3.06857523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.411652532 meters Centerline goodness : 0.730934 Centerline is valid? [False, False] Translation: X:-1.20, Y:-1.84, Z:0.31 [[ 0.99997248 0.00350919 0.00653691 -1.19554439] [-0.00352196 0.99999191 0.00194374 -1.84140935] [-0.00653003 -0.00196671 0.99997675 0.30670938] [ 0. 0. 0. 1. ]] SLAMing on 43.441652532 meters Centerline goodness : 0.730796 Centerline is valid? [False, False] Translation: X:-1.19, Y:-1.84, Z:0.31 [[ 9.99978665e-01 2.21242833e-03 6.14618852e-03 -1.19449912e+00] [-2.21765449e-03 9.99997185e-01 8.43624628e-04 -1.83986461e+00] [-6.14430476e-03 -8.57236752e-04 9.99980756e-01 3.06679963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.471652532 meters Centerline goodness : 0.729310 Centerline is valid? [False, False] Translation: X:-1.19, Y:-1.84, Z:0.31 [[ 9.99981950e-01 1.68061831e-03 5.76850404e-03 -1.19378691e+00] [-1.68287674e-03 9.99998509e-01 3.86677938e-04 -1.83907856e+00] [-5.76784559e-03 -3.96378640e-04 9.99983287e-01 3.07037185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.501652532 meters Centerline goodness : 0.727108 Centerline is valid? [False, False] Translation: X:-1.19, Y:-1.84, Z:0.31 [[ 9.99986410e-01 1.01100636e-03 5.11453601e-03 -1.19293841e+00] [-1.01226907e-03 9.99999458e-01 2.44303876e-04 -1.83990844e+00] [-5.11428625e-03 -2.49477842e-04 9.99986891e-01 3.08077811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.531652532 meters Centerline goodness : 0.727807 Centerline is valid? [False, False] Translation: X:-1.19, Y:-1.84, Z:0.31 [[ 9.99986860e-01 1.06679681e-03 5.01409510e-03 -1.19347509e+00] [-1.06975459e-03 9.99999255e-01 5.87246613e-04 -1.84117655e+00] [-5.01346489e-03 -5.92602748e-04 9.99987257e-01 3.09122411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.561652532 meters Centerline goodness : 0.728071 Centerline is valid? [False, False] Translation: X:-1.20, Y:-1.84, Z:0.31 [[ 9.99983841e-01 1.49466643e-03 5.48488838e-03 -1.19542389e+00] [-1.50062186e-03 9.99998289e-01 1.08183361e-03 -1.84224561e+00] [-5.48326201e-03 -1.09004687e-03 9.99984373e-01 3.09986136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.591652532 meters Centerline goodness : 0.726376 Centerline is valid? [False, False] Translation: X:-1.20, Y:-1.84, Z:0.31 [[ 0.99996948 0.00475993 0.00619518 -1.19581234] [-0.00478092 0.99998287 0.00337743 -1.8367271 ] [-0.006179 -0.00340694 0.99997511 0.30810456] [ 0. 0. 0. 1. ]] SLAMing on 43.621652532 meters Centerline goodness : 0.725380 Centerline is valid? [False, False] Translation: X:-1.20, Y:-1.84, Z:0.31 [[ 0.99996372 0.00491154 0.00696014 -1.19747934] [-0.00493325 0.99998301 0.00310559 -1.8355592 ] [-0.00694477 -0.00313982 0.99997096 0.30761648] [ 0. 0. 0. 1. ]] SLAMing on 43.651652532 meters Centerline goodness : 0.725747 Centerline is valid? [False, False] Translation: X:-1.20, Y:-1.84, Z:0.31 [[ 0.99994646 0.006425 0.00811158 -1.20070722] [-0.00646061 0.99996957 0.00437219 -1.83778683] [-0.00808325 -0.00442436 0.99995754 0.30784273] [ 0. 0. 0. 1. ]] SLAMing on 43.681652532 meters Centerline goodness : 0.723479 Centerline is valid? [False, False] Translation: X:-1.20, Y:-1.84, Z:0.31 [[ 0.99989695 0.01125603 0.00891045 -1.20323019] [-0.01133806 0.99989331 0.00921006 -1.83925743] [-0.00880583 -0.00931014 0.99991789 0.30853789] [ 0. 0. 0. 1. ]] SLAMing on 43.711652532 meters Centerline goodness : 0.725218 Centerline is valid? [False, False] Translation: X:-1.20, Y:-1.84, Z:0.31 [[ 0.99983634 0.01554844 0.00924905 -1.20409498] [-0.01567296 0.9997854 0.01354658 -1.83973399] [-0.00903644 -0.01368933 0.99986546 0.30867164] [ 0. 0. 0. 1. ]] SLAMing on 43.741652531999996 meters Centerline goodness : 0.725746 Centerline is valid? [False, False] Translation: X:-1.21, Y:-1.84, Z:0.31 [[ 0.99978288 0.01791 0.01065015 -1.2083116 ] [-0.01807404 0.99971632 0.01551129 -1.84200956] [-0.01036932 -0.01570041 0.99982297 0.30944252] [ 0. 0. 0. 1. ]] SLAMing on 43.771652532 meters Centerline goodness : 0.728047 Centerline is valid? [False, False] Translation: X:-1.21, Y:-1.84, Z:0.31 [[ 0.99967992 0.02245177 0.011661 -1.21041692] [-0.02267786 0.99955004 0.01963219 -1.84113718] [-0.01121498 -0.01989035 0.99973927 0.30894151] [ 0. 0. 0. 1. ]] SLAMing on 43.801652532 meters Centerline goodness : 0.729297 Centerline is valid? [False, False] Translation: X:-1.22, Y:-1.84, Z:0.31 [[ 0.99917314 0.03652161 0.01786613 -1.21895655] [-0.03680055 0.99920178 0.01554116 -1.84196503] [-0.01728428 -0.01618579 0.9997196 0.31239791] [ 0. 0. 0. 1. ]] SLAMing on 43.831652532 meters Centerline goodness : 0.728236 Centerline is valid? [False, False] Translation: X:-1.22, Y:-1.84, Z:0.31 [[ 0.99900023 0.04063629 0.0186343 -1.21972991] [-0.04099263 0.99897579 0.01915678 -1.84003654] [-0.01783676 -0.01990149 0.99964283 0.31125324] [ 0. 0. 0. 1. ]] SLAMing on 43.861652532 meters Centerline goodness : 0.729308 Centerline is valid? [False, False] Translation: X:-1.22, Y:-1.84, Z:0.31 [[ 0.99886294 0.04310523 0.0203658 -1.22267072] [-0.04352872 0.99883501 0.02082957 -1.84179066] [-0.01944421 -0.02169238 0.99957559 0.30949533] [ 0. 0. 0. 1. ]] SLAMing on 43.891652532 meters Centerline goodness : 0.729237 Centerline is valid? [False, False] Translation: X:-1.22, Y:-1.84, Z:0.31 [[ 0.99884205 0.04316007 0.02125495 -1.22405174] [-0.04359142 0.99884385 0.02026687 -1.83992337] [-0.02035566 -0.02116994 0.99956865 0.30818786] [ 0. 0. 0. 1. ]] SLAMing on 43.921652532 meters Centerline goodness : 0.727674 Centerline is valid? [False, False] Translation: X:-1.23, Y:-1.83, Z:0.30 [[ 0.99877823 0.04368751 0.02309647 -1.22639247] [-0.04410919 0.99886321 0.01807414 -1.83380485] [-0.0222806 -0.01907082 0.99956985 0.30422035] [ 0. 0. 0. 1. ]] SLAMing on 43.951652532 meters Centerline goodness : 0.726657 Centerline is valid? [False, False] Translation: X:-1.23, Y:-1.84, Z:0.30 [[ 0.99868998 0.0450255 0.02431108 -1.22862531] [-0.04549335 0.99878304 0.0190469 -1.83527712] [-0.0234239 -0.02012794 0.99952298 0.3030338 ] [ 0. 0. 0. 1. ]] SLAMing on 43.981652532 meters Centerline goodness : 0.726483 Centerline is valid? [False, False] Translation: X:-1.23, Y:-1.83, Z:0.30 [[ 0.99868577 0.04485081 0.02480182 -1.22968751] [-0.04531795 0.99879935 0.01860474 -1.83401757] [-0.0239376 -0.01970425 0.99951925 0.3026981 ] [ 0. 0. 0. 1. ]] SLAMing on 44.011652532 meters Centerline goodness : 0.729038 Centerline is valid? [False, False] Translation: X:-1.23, Y:-1.83, Z:0.30 [[ 0.99867377 0.04486518 0.02525511 -1.23083552] [-0.04533707 0.99880167 0.01843299 -1.83360435] [-0.02439785 -0.01955353 0.99951108 0.30260988] [ 0. 0. 0. 1. ]] SLAMing on 44.041652532 meters Centerline goodness : 0.728338 Centerline is valid? [False, False] Translation: X:-1.23, Y:-1.84, Z:0.30 [[ 0.99844905 0.04938011 0.02571169 -1.23121715] [-0.04997897 0.99848092 0.02319393 -1.83507487] [-0.02452731 -0.024443 0.9994003 0.30208588] [ 0. 0. 0. 1. ]] SLAMing on 44.071652532 meters Centerline goodness : 0.728796 Centerline is valid? [False, False] Translation: X:-1.23, Y:-1.84, Z:0.30 [[ 0.99845311 0.04923488 0.02583237 -1.23217209] [-0.04983488 0.99848982 0.02312055 -1.83533491] [-0.02465502 -0.02437214 0.99939888 0.30284176] [ 0. 0. 0. 1. ]] SLAMing on 44.101652532 meters Centerline goodness : 0.730722 Centerline is valid? [False, False] Translation: X:-1.23, Y:-1.84, Z:0.30 [[ 0.99840184 0.04984761 0.02662654 -1.23427059] [-0.05048079 0.9984447 0.0236618 -1.83678381] [-0.02540565 -0.02496811 0.99936537 0.30281083] [ 0. 0. 0. 1. ]] SLAMing on 44.131652532 meters Centerline goodness : 0.730970 Centerline is valid? [False, False] Translation: X:-1.24, Y:-1.84, Z:0.30 [[ 0.99832012 0.05097325 0.02754373 -1.23621874] [-0.05165665 0.99835947 0.02469717 -1.8388606 ] [-0.02623965 -0.0260785 0.99931546 0.30210631] [ 0. 0. 0. 1. ]] SLAMing on 44.161652532 meters Centerline goodness : 0.728346 Centerline is valid? [False, False] Translation: X:-1.24, Y:-1.84, Z:0.30 [[ 0.9982638 0.05188213 0.02788585 -1.2359384 ] [-0.05260153 0.99828444 0.02571481 -1.84097967] [-0.02650388 -0.027137 0.9992803 0.30049016] [ 0. 0. 0. 1. ]] SLAMing on 44.191652532 meters Centerline goodness : 0.729735 Centerline is valid? [False, False] Translation: X:-1.24, Y:-1.84, Z:0.30 [[ 0.99847634 0.04765814 0.02781557 -1.23721171] [-0.04826414 0.99860239 0.02153705 -1.84173126] [-0.02675028 -0.02284672 0.99938103 0.30174972] [ 0. 0. 0. 1. ]] SLAMing on 44.221652532 meters Centerline goodness : 0.731241 Centerline is valid? [False, False] Translation: X:-1.24, Y:-1.84, Z:0.30 [[ 0.99850338 0.04730699 0.02744166 -1.23637062] [-0.04790042 0.99862314 0.02138647 -1.84212743] [-0.02639214 -0.02266893 0.9993946 0.30174505] [ 0. 0. 0. 1. ]] SLAMing on 44.251652532 meters Centerline goodness : 0.729889 Centerline is valid? [False, False] Translation: X:-1.24, Y:-1.85, Z:0.30 [[ 0.99856851 0.04532474 0.02840074 -1.23961655] [-0.04588531 0.99875819 0.01940683 -1.84600196] [-0.02748586 -0.02068223 0.99940821 0.3022031 ] [ 0. 0. 0. 1. ]] SLAMing on 44.281652532 meters Centerline goodness : 0.731148 Centerline is valid? [False, False] Translation: X:-1.24, Y:-1.85, Z:0.30 [[ 0.99855128 0.04536576 0.02893589 -1.24061439] [-0.04593259 0.99875935 0.01923451 -1.84563128] [-0.0280274 -0.02053575 0.99939619 0.30163359] [ 0. 0. 0. 1. ]] SLAMing on 44.311652532 meters Centerline goodness : 0.733054 Centerline is valid? [False, False] Translation: X:-1.24, Y:-1.85, Z:0.30 [[ 0.99844263 0.0470966 0.0299036 -1.24313045] [-0.04773426 0.9986397 0.02098047 -1.84900431] [-0.02887481 -0.02237522 0.99933257 0.30189416] [ 0. 0. 0. 1. ]] SLAMing on 44.341652532 meters Centerline goodness : 0.733331 Centerline is valid? [False, False] Translation: X:-1.25, Y:-1.85, Z:0.30 [[ 0.9983821 0.04792231 0.0306045 -1.24573259] [-0.04860368 0.99857755 0.02192166 -1.85153817] [-0.02951043 -0.02337368 0.99929115 0.30295076] [ 0. 0. 0. 1. ]] SLAMing on 44.371652532 meters Centerline goodness : 0.734580 Centerline is valid? [False, False] Translation: X:-1.25, Y:-1.86, Z:0.30 [[ 0.9981976 0.05109715 0.03147421 -1.24912176] [-0.05190586 0.99832799 0.02543649 -1.85589301] [-0.03012185 -0.02702434 0.99918084 0.3046809 ] [ 0. 0. 0. 1. ]] SLAMing on 44.401652532 meters Centerline goodness : 0.733140 Centerline is valid? [False, False] Translation: X:-1.25, Y:-1.86, Z:0.31 [[ 0.99777765 0.05771691 0.03329438 -1.25403272] [-0.05878049 0.99776104 0.0319024 -1.85803348] [-0.03137853 -0.03378857 0.99893629 0.30599878] [ 0. 0. 0. 1. ]] SLAMing on 44.431652532 meters Centerline goodness : 0.733971 Centerline is valid? [False, False] Translation: X:-1.26, Y:-1.86, Z:0.31 [[ 0.99765063 0.0589353 0.03492641 -1.25787238] [-0.06007501 0.99766356 0.0325334 -1.85875923] [-0.03292744 -0.03455517 0.99886021 0.30557402] [ 0. 0. 0. 1. ]] SLAMing on 44.461652532 meters Centerline goodness : 0.733501 Centerline is valid? [False, False] Translation: X:-1.26, Y:-1.86, Z:0.30 [[ 0.99752102 0.06018571 0.03646236 -1.26072548] [-0.06139078 0.99757198 0.03288347 -1.85840737] [-0.03439471 -0.03504041 0.99879386 0.30415179] [ 0. 0. 0. 1. ]] SLAMing on 44.491652531999996 meters Centerline goodness : 0.731770 Centerline is valid? [False, False] Translation: X:-1.26, Y:-1.86, Z:0.30 [[ 0.99729174 0.06296154 0.0380136 -1.26354452] [-0.06428855 0.99732586 0.03475781 -1.85988596] [-0.03572355 -0.03710752 0.99867255 0.30271735] [ 0. 0. 0. 1. ]] SLAMing on 44.521652532 meters Centerline goodness : 0.729839 Centerline is valid? [False, False] Translation: X:-1.26, Y:-1.86, Z:0.30 [[ 0.99728162 0.06310245 0.03804551 -1.26427826] [-0.06444725 0.99729935 0.03522162 -1.86187524] [-0.03572019 -0.0375778 0.99865508 0.30352677] [ 0. 0. 0. 1. ]] SLAMing on 44.551652532 meters Centerline goodness : 0.729088 Centerline is valid? [False, False] Translation: X:-1.27, Y:-1.87, Z:0.31 [[ 0.99733353 0.06199884 0.03849647 -1.26739466] [-0.06333615 0.99739407 0.03454847 -1.86773667] [-0.03625419 -0.03689456 0.99866132 0.30561185] [ 0. 0. 0. 1. ]] SLAMing on 44.581652532 meters Centerline goodness : 0.732858 Centerline is valid? [False, False] Translation: X:-1.27, Y:-1.87, Z:0.31 [[ 0.99739057 0.06088924 0.03878862 -1.2697504 ] [-0.06221628 0.99748423 0.03397575 -1.87409016] [-0.03662228 -0.03630038 0.99866966 0.30712348] [ 0. 0. 0. 1. ]] SLAMing on 44.611652532 meters Centerline goodness : 0.732434 Centerline is valid? [False, False] Translation: X:-1.27, Y:-1.88, Z:0.31 [[ 0.99779757 0.05402478 0.03848814 -1.27148037] [-0.05511545 0.99809114 0.0278634 -1.88015818] [-0.03690935 -0.02992333 0.99887051 0.30923362] [ 0. 0. 0. 1. ]] SLAMing on 44.641652532 meters Centerline goodness : 0.733645 Centerline is valid? [False, False] Translation: X:-1.27, Y:-1.88, Z:0.31 [[ 0.99811425 0.04869822 0.03736887 -1.26982388] [-0.04958144 0.9985033 0.0230835 -1.88096905] [-0.03618881 -0.02489277 0.99903489 0.31003025] [ 0. 0. 0. 1. ]] SLAMing on 44.671652532 meters Centerline goodness : 0.730356 Centerline is valid? [False, False] Translation: X:-1.27, Y:-1.88, Z:0.31 [[ 0.99842044 0.04308477 0.03606011 -1.26719393] [-0.04375419 0.99888043 0.01798505 -1.88138594] [-0.03524485 -0.01953442 0.99918777 0.31020258] [ 0. 0. 0. 1. ]] SLAMing on 44.701652532 meters Centerline goodness : 0.733220 Centerline is valid? [False, False] Translation: X:-1.27, Y:-1.88, Z:0.31 [[ 0.99863529 0.0388876 0.03486125 -1.26533706] [-0.03941398 0.99911716 0.0145412 -1.88495859] [-0.034265 -0.01589537 0.99928637 0.31099867] [ 0. 0. 0. 1. ]] SLAMing on 44.731652532 meters Centerline goodness : 0.734242 Centerline is valid? [False, False] Translation: X:-1.26, Y:-1.89, Z:0.31 [[ 0.99879471 0.03540092 0.03399863 -1.26479957] [-0.03582924 0.99928501 0.01207221 -1.8908053 ] [-0.03354695 -0.01327581 0.99934897 0.31256539] [ 0. 0. 0. 1. ]] SLAMing on 44.761652532 meters Centerline goodness : 0.734239 Centerline is valid? [False, False] Translation: X:-1.27, Y:-1.90, Z:0.31 [[ 0.99913367 0.01535383 0.03868026 -1.26780002] [-0.01587295 0.99978754 0.01314986 -1.8988974 ] [-0.03847014 -0.01375244 0.99916511 0.31252516] [ 0. 0. 0. 1. ]] SLAMing on 44.791652532 meters Centerline goodness : 0.737459 Centerline is valid? [False, False] Translation: X:-1.27, Y:-1.91, Z:0.32 [[ 0.99925128 0.00771043 0.03791346 -1.26811748] [-0.00796817 0.99994613 0.00665172 -1.90517746] [-0.03786013 -0.00694884 0.99925889 0.31526875] [ 0. 0. 0. 1. ]] SLAMing on 44.821652532 meters Centerline goodness : 0.739867 Centerline is valid? [False, False] Translation: X:-1.27, Y:-1.91, Z:0.32 [[ 0.99932731 0.00317323 0.03653562 -1.26560404] [-0.00328882 0.99998977 0.0031039 -1.90887734] [-0.0365254 -0.00322198 0.99932753 0.31642134] [ 0. 0. 0. 1. ]] SLAMing on 44.851652532 meters Centerline goodness : 0.739867 Centerline is valid? [False, False] Translation: X:-1.27, Y:-1.91, Z:0.32 [[ 0.99932731 0.00317323 0.03653562 -1.26560404] [-0.00328882 0.99998977 0.0031039 -1.90887734] [-0.0365254 -0.00322198 0.99932753 0.31642134] [ 0. 0. 0. 1. ]] SLAMing on 44.881652532 meters Centerline goodness : 0.741411 Centerline is valid? [False, False] Translation: X:-1.27, Y:-1.93, Z:0.32 [[ 0.9995856 -0.00297871 0.02863145 -1.27313976] [ 0.00286547 0.99998791 0.00399502 -1.93235736] [-0.028643 -0.00391132 0.99958205 0.31878009] [ 0. 0. 0. 1. ]] SLAMing on 44.911652532 meters Centerline goodness : 0.742011 Centerline is valid? [False, False] Translation: X:-1.28, Y:-1.95, Z:0.32 [[ 0.99958016 -0.01491463 0.02484056 -1.28100724] [ 0.0147454 0.9998669 0.00698209 -1.94749645] [-0.02494139 -0.00661287 0.99966704 0.31694216] [ 0. 0. 0. 1. ]] SLAMing on 44.941652532 meters Centerline goodness : 0.740824 Centerline is valid? [False, False] Translation: X:-1.28, Y:-1.95, Z:0.32 [[ 0.99957824 -0.01631714 0.02402289 -1.27925195] [ 0.01618182 0.99985215 0.00581665 -1.94577931] [-0.02411425 -0.00542546 0.99969449 0.31730676] [ 0. 0. 0. 1. ]] SLAMing on 44.971652532 meters Centerline goodness : 0.742998 Centerline is valid? [False, False] Translation: X:-1.28, Y:-1.95, Z:0.32 [[ 0.99958786 -0.01637287 0.02358066 -1.27894974] [ 0.0162292 0.99984863 0.00627126 -1.94763817] [-0.02367977 -0.00588598 0.99970227 0.31835001] [ 0. 0. 0. 1. ]] SLAMing on 45.001652532 meters Centerline goodness : 0.742323 Centerline is valid? [False, False] Translation: X:-1.28, Y:-1.95, Z:0.32 [[ 0.99952114 -0.02070857 0.02299224 -1.27840661] [ 0.0206519 0.99978308 0.00269946 -1.95066629] [-0.02304315 -0.00222334 0.999732 0.31993767] [ 0. 0. 0. 1. ]] SLAMing on 45.031652532 meters Centerline goodness : 0.746357 Centerline is valid? [False, False] Translation: X:-1.28, Y:-1.96, Z:0.32 [[ 0.9993473 -0.0281526 0.02263617 -1.27918825] [ 0.02824401 0.99959411 -0.00372839 -1.95610585] [-0.02252202 0.00436529 0.99973682 0.32274232] [ 0. 0. 0. 1. ]] SLAMing on 45.061652532 meters Centerline goodness : 0.743834 Centerline is valid? [False, False] Translation: X:-1.28, Y:-1.96, Z:0.32 [[ 0.99936789 -0.02769547 0.0222887 -1.27852524] [ 0.02776274 0.99961086 -0.00271404 -1.95945233] [-0.02220486 0.00333112 0.99974789 0.32290518] [ 0. 0. 0. 1. ]] SLAMing on 45.091652532 meters Centerline goodness : 0.745943 Centerline is valid? [False, False] Translation: X:-1.28, Y:-1.96, Z:0.32 [[ 0.99935829 -0.02891314 0.0211432 -1.27627129] [ 0.02899236 0.99957368 -0.00344994 -1.95907238] [-0.02103443 0.00406071 0.99977051 0.32371407] [ 0. 0. 0. 1. ]] SLAMing on 45.121652532 meters Centerline goodness : 0.746194 Centerline is valid? [False, False] Translation: X:-1.27, Y:-1.96, Z:0.32 [[ 9.99445402e-01 -2.65230572e-02 2.01349334e-02 -1.27398251e+00] [ 2.65467308e-02 9.99647160e-01 -9.09329701e-04 -1.95673739e+00] [-2.01037108e-02 1.44334205e-03 9.99796858e-01 3.23568227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.151652532 meters Centerline goodness : 0.746867 Centerline is valid? [False, False] Translation: X:-1.27, Y:-1.96, Z:0.33 [[ 0.99971314 -0.02309283 0.0063528 -1.27087616] [ 0.02306943 0.9997269 0.00373117 -1.96195086] [-0.00643723 -0.00358354 0.99997286 0.32643867] [ 0. 0. 0. 1. ]] SLAMing on 45.181652532 meters Centerline goodness : 0.746126 Centerline is valid? [False, False] Translation: X:-1.27, Y:-1.96, Z:0.33 [[ 9.99849952e-01 -1.59759553e-02 6.69644711e-03 -1.26502886e+00] [ 1.59824813e-02 9.99871847e-01 -9.22165753e-04 -1.95517246e+00] [-6.68085646e-03 1.02905322e-03 9.99977153e-01 3.33669446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.211652532 meters Centerline goodness : 0.747867 Centerline is valid? [False, False] Translation: X:-1.27, Y:-1.95, Z:0.33 [[ 9.99846751e-01 -1.60606737e-02 6.96633399e-03 -1.26607697e+00] [ 1.60691917e-02 9.99870199e-01 -1.16849107e-03 -1.95444068e+00] [-6.94666300e-03 1.28025536e-03 9.99975052e-01 3.34106779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.241652531999996 meters Centerline goodness : 0.750540 Centerline is valid? [False, False] Translation: X:-1.27, Y:-1.96, Z:0.33 [[ 0.9999078 -0.01151208 0.00720192 -1.26690555] [ 0.01148785 0.99992824 0.0033964 -1.95523817] [-0.00724051 -0.00331335 0.9999683 0.33409578] [ 0. 0. 0. 1. ]] SLAMing on 45.271652532 meters Centerline goodness : 0.750230 Centerline is valid? [False, False] Translation: X:-1.27, Y:-1.96, Z:0.33 [[ 0.99990796 -0.01099947 0.00794192 -1.26902099] [ 0.0109701 0.99993286 0.00373199 -1.95569274] [-0.00798244 -0.00364453 0.9999615 0.33422651] [ 0. 0. 0. 1. ]] SLAMing on 45.301652532 meters Centerline goodness : 0.750908 Centerline is valid? [False, False] Translation: X:-1.27, Y:-1.95, Z:0.33 [[ 0.99994032 -0.00784104 0.00760772 -1.26777609] [ 0.00779019 0.99994727 0.00669083 -1.95293987] [-0.00765979 -0.00663116 0.99994868 0.33348271] [ 0. 0. 0. 1. ]] SLAMing on 45.331652532 meters Centerline goodness : 0.749969 Centerline is valid? [False, False] Translation: X:-1.27, Y:-1.95, Z:0.33 [[ 0.99993414 -0.00801486 0.00821466 -1.26909864] [ 0.00796514 0.99994986 0.00606849 -1.95073901] [-0.00826289 -0.00600265 0.99994785 0.33303952] [ 0. 0. 0. 1. ]] SLAMing on 45.361652532 meters Centerline goodness : 0.750413 Centerline is valid? [False, False] Translation: X:-1.28, Y:-1.96, Z:0.34 [[ 9.99999358e-01 -1.00466944e-03 5.23744713e-04 -1.27504966e+00] [ 1.00521855e-03 9.99998944e-01 -1.04922081e-03 -1.96131878e+00] [-5.22690040e-04 1.04974662e-03 9.99999312e-01 3.38118811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.391652532 meters Centerline goodness : 0.748823 Centerline is valid? [False, False] Translation: X:-1.28, Y:-1.96, Z:0.34 [[ 9.99999423e-01 -9.12758813e-04 5.66648975e-04 -1.27501451e+00] [ 9.13309547e-04 9.99999110e-01 -9.72417105e-04 -1.96152531e+00] [-5.65760888e-04 9.72934070e-04 9.99999367e-01 3.37759841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.421652532 meters Centerline goodness : 0.749206 Centerline is valid? [False, False] Translation: X:-1.27, Y:-1.96, Z:0.34 [[ 9.99999068e-01 -1.34705214e-03 2.20715631e-04 -1.27423112e+00] [ 1.34735908e-03 9.99998117e-01 -1.39644923e-03 -1.96073005e+00] [-2.18834126e-04 1.39674532e-03 9.99999001e-01 3.37750522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.451652532 meters Centerline goodness : 0.752635 Centerline is valid? [False, False] Translation: X:-1.27, Y:-1.96, Z:0.34 [[ 9.99998733e-01 -1.39510967e-03 -7.66497289e-04 -1.27250298e+00] [ 1.39457292e-03 9.99998782e-01 -7.00351641e-04 -1.96371513e+00] [ 7.67473423e-04 6.99281817e-04 9.99999461e-01 3.38730169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.481652532 meters Centerline goodness : 0.752395 Centerline is valid? [False, False] Translation: X:-1.27, Y:-1.97, Z:0.34 [[ 9.99999277e-01 -8.25677732e-04 -8.73740718e-04 -1.27325166e+00] [ 8.26021293e-04 9.99999582e-01 3.92919289e-04 -1.96721805e+00] [ 8.73415927e-04 -3.93640734e-04 9.99999541e-01 3.39990303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.511652532 meters Centerline goodness : 0.754321 Centerline is valid? [False, False] Translation: X:-1.27, Y:-1.97, Z:0.34 [[ 9.99999707e-01 -5.69414045e-06 -7.65252320e-04 -1.27471056e+00] [ 7.07702532e-06 9.99998367e-01 1.80710605e-03 -1.97144917e+00] [ 7.65240781e-04 -1.80711094e-03 9.99998074e-01 3.41500256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.541652532 meters Centerline goodness : 0.757332 Centerline is valid? [False, False] Translation: X:-1.27, Y:-1.97, Z:0.34 [[ 9.99999463e-01 1.19332571e-04 -1.02949283e-03 -1.27478988e+00] [-1.16852832e-04 9.99997093e-01 2.40842417e-03 -1.97406394e+00] [ 1.02977724e-03 -2.40830257e-03 9.99996570e-01 3.42501558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.571652532 meters Centerline goodness : 0.758199 Centerline is valid? [False, False] Translation: X:-1.28, Y:-1.98, Z:0.34 [[ 9.99999486e-01 3.00342530e-04 -9.68259384e-04 -1.27538510e+00] [-2.97645392e-04 9.99996079e-01 2.78449458e-03 -1.97556078e+00] [ 9.69091890e-04 -2.78420495e-03 9.99995655e-01 3.43016134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.601652532 meters Centerline goodness : 0.758954 Centerline is valid? [False, False] Translation: X:-1.27, Y:-1.98, Z:0.34 [[ 9.99999541e-01 2.54954787e-04 -9.23062486e-04 -1.27489779e+00] [-2.52483118e-04 9.99996385e-01 2.67680935e-03 -1.97548098e+00] [ 9.23741615e-04 -2.67657507e-03 9.99995991e-01 3.42216888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.631652532 meters Centerline goodness : 0.759122 Centerline is valid? [False, False] Translation: X:-1.27, Y:-1.97, Z:0.34 [[ 9.99998956e-01 -5.67592520e-04 -1.32868095e-03 -1.27346167e+00] [ 5.70197957e-04 9.99997914e-01 1.96136318e-03 -1.97464649e+00] [ 1.32756492e-03 -1.96211874e-03 9.99997194e-01 3.41682517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.661652532 meters Centerline goodness : 0.758998 Centerline is valid? [False, False] Translation: X:-1.27, Y:-1.97, Z:0.34 [[ 9.99996851e-01 -1.57812431e-03 -1.95139182e-03 -1.27155621e+00] [ 1.58028401e-03 9.99998140e-01 1.10570368e-03 -1.97372106e+00] [ 1.94964325e-03 -1.10878395e-03 9.99997485e-01 3.41253075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.691652532 meters Centerline goodness : 0.760766 Centerline is valid? [False, False] Translation: X:-1.27, Y:-1.97, Z:0.34 [[ 9.99994478e-01 -2.25591602e-03 -2.44010309e-03 -1.27060991e+00] [ 2.25737152e-03 9.99997276e-01 5.93903842e-04 -1.97324334e+00] [ 2.43875665e-03 -5.99408781e-04 9.99996847e-01 3.41505673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.721652532 meters Centerline goodness : 0.759756 Centerline is valid? [False, False] Translation: X:-1.27, Y:-1.97, Z:0.34 [[ 9.99994900e-01 -2.21230352e-03 -2.30337913e-03 -1.27106255e+00] [ 2.21393352e-03 9.99997300e-01 7.05344158e-04 -1.97377287e+00] [ 2.30181247e-03 -7.10440089e-04 9.99997098e-01 3.41540584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.751652532 meters Centerline goodness : 0.757501 Centerline is valid? [False, False] Translation: X:-1.27, Y:-1.97, Z:0.34 [[ 9.99996300e-01 5.70858568e-04 -2.65975074e-03 -1.26978142e+00] [-5.62221439e-04 9.99994571e-01 3.24696198e-03 -1.97041779e+00] [ 2.66158985e-03 -3.24545459e-03 9.99991191e-01 3.40925357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.781652532 meters Centerline goodness : 0.758129 Centerline is valid? [False, False] Translation: X:-1.27, Y:-1.97, Z:0.34 [[ 9.99996517e-01 2.03895080e-04 -2.63143280e-03 -1.27050083e+00] [-1.96445477e-04 9.99995974e-01 2.83095449e-03 -1.96966020e+00] [ 2.63199943e-03 -2.83042770e-03 9.99992531e-01 3.41748437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.811652532 meters Centerline goodness : 0.759310 Centerline is valid? [False, False] Translation: X:-1.27, Y:-1.97, Z:0.34 [[ 9.99997693e-01 9.31540754e-04 -1.93547665e-03 -1.27282914e+00] [-9.24596270e-04 9.99993144e-01 3.58579854e-03 -1.97143233e+00] [ 1.93880370e-03 -3.58400073e-03 9.99991698e-01 3.42333681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.841652532 meters Centerline goodness : 0.760977 Centerline is valid? [False, False] Translation: X:-1.28, Y:-1.97, Z:0.34 [[ 9.99996168e-01 2.63369444e-03 -8.53324039e-04 -1.27571992e+00] [-2.62947879e-03 9.99984517e-01 4.90429462e-03 -1.97324319e+00] [ 8.66227240e-04 -4.90203202e-03 9.99987610e-01 3.42448484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.871652532 meters Centerline goodness : 0.758345 Centerline is valid? [False, False] Translation: X:-1.28, Y:-1.97, Z:0.34 [[ 9.99996614e-01 2.56121655e-03 -4.59834273e-04 -1.27633304e+00] [-2.55909461e-03 9.99986341e-01 4.55733405e-03 -1.97229634e+00] [ 4.71500312e-04 -4.55614186e-03 9.99989510e-01 3.41858682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.901652532 meters Centerline goodness : 0.758347 Centerline is valid? [False, False] Translation: X:-1.28, Y:-1.97, Z:0.34 [[ 9.99996449e-01 2.64490399e-03 3.26125948e-04 -1.27769953e+00] [-2.64619189e-03 9.99988443e-01 4.01400769e-03 -1.97032840e+00] [-3.15505514e-04 -4.01485643e-03 9.99991891e-01 3.40838205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.931652532 meters Centerline goodness : 0.758950 Centerline is valid? [False, False] Translation: X:-1.28, Y:-1.96, Z:0.34 [[ 9.99998903e-01 1.26625504e-03 7.68725422e-04 -1.27698180e+00] [-1.26748057e-03 9.99997923e-01 1.59584089e-03 -1.96469939e+00] [-7.66703084e-04 -1.59681348e-03 9.99998431e-01 3.38263596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.961652532 meters Centerline goodness : 0.758023 Centerline is valid? [False, False] Translation: X:-1.28, Y:-1.97, Z:0.34 [[ 9.99998342e-01 1.41387814e-03 1.14729904e-03 -1.27727655e+00] [-1.41576181e-03 9.99997649e-01 1.64268665e-03 -1.96505795e+00] [-1.14497378e-03 -1.64430823e-03 9.99997993e-01 3.37287207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.991652531999996 meters Centerline goodness : 0.756665 Centerline is valid? [False, False] Translation: X:-1.28, Y:-1.96, Z:0.34 [[ 9.99999499e-01 6.47550813e-04 7.62932091e-04 -1.27666962e+00] [-6.48264034e-04 9.99999353e-01 9.34965153e-04 -1.96398019e+00] [-7.62326160e-04 -9.35459266e-04 9.99999272e-01 3.37694123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.021652532 meters Centerline goodness : 0.756214 Centerline is valid? [False, False] Translation: X:-1.28, Y:-1.97, Z:0.34 [[ 9.99998314e-01 1.41859431e-03 1.16616948e-03 -1.27823551e+00] [-1.42089057e-03 9.99997049e-01 1.97060214e-03 -1.96701974e+00] [-1.16337056e-03 -1.97225581e-03 9.99997378e-01 3.38310692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.051652532 meters Centerline goodness : 0.759649 Centerline is valid? [False, False] Translation: X:-1.28, Y:-1.97, Z:0.34 [[ 9.99991931e-01 3.70053578e-03 1.56335489e-03 -1.28166913e+00] [-3.70859233e-03 9.99979695e-01 5.18229690e-03 -1.97390997e+00] [-1.54414587e-03 -5.18805293e-03 9.99985350e-01 3.41475144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.081652532 meters Centerline goodness : 0.761508 Centerline is valid? [False, False] Translation: X:-1.28, Y:-1.98, Z:0.34 [[ 0.99998229 0.00542358 0.00245134 -1.28493814] [-0.00544092 0.99995982 0.00712449 -1.97839884] [-0.0024126 -0.0071377 0.99997162 0.34263678] [ 0. 0. 0. 1. ]] SLAMing on 46.111652532 meters Centerline goodness : 0.762249 Centerline is valid? [False, False] Translation: X:-1.29, Y:-1.98, Z:0.34 [[ 0.9999667 0.00731307 0.0036208 -1.28820031] [-0.00734554 0.9999322 0.00903534 -1.9824564 ] [-0.00355447 -0.00906164 0.99995263 0.34297102] [ 0. 0. 0. 1. ]] SLAMing on 46.141652532 meters Centerline goodness : 0.759847 Centerline is valid? [False, False] Translation: X:-1.29, Y:-1.98, Z:0.34 [[ 0.99995298 0.00842199 0.00480785 -1.29087597] [-0.00846822 0.99991731 0.00967844 -1.98330887] [-0.00472594 -0.0097187 0.9999416 0.34237591] [ 0. 0. 0. 1. ]] SLAMing on 46.171652532 meters Centerline goodness : 0.759390 Centerline is valid? [False, False] Translation: X:-1.29, Y:-1.98, Z:0.34 [[ 0.99987428 0.0143677 0.00670765 -1.29444312] [-0.01446214 0.99979387 0.01424977 -1.98254878] [-0.00650153 -0.01434498 0.99987597 0.34062153] [ 0. 0. 0. 1. ]] SLAMing on 46.201652532 meters Centerline goodness : 0.759438 Centerline is valid? [False, False] Translation: X:-1.30, Y:-1.98, Z:0.34 [[ 0.99984694 0.01561246 0.00789607 -1.29766864] [-0.01573195 0.9997591 0.01530495 -1.98478199] [-0.00765522 -0.01542683 0.99985169 0.34081464] [ 0. 0. 0. 1. ]] SLAMing on 46.231652532 meters Centerline goodness : 0.760839 Centerline is valid? [False, False] Translation: X:-1.30, Y:-1.99, Z:0.34 [[ 0.9998133 0.01708914 0.00901856 -1.30005705] [-0.01723832 0.99971142 0.01673085 -1.98788688] [-0.00873004 -0.01688319 0.99981936 0.34022636] [ 0. 0. 0. 1. ]] SLAMing on 46.261652532 meters Centerline goodness : 0.760075 Centerline is valid? [False, False] Translation: X:-1.30, Y:-1.99, Z:0.34 [[ 0.99980287 0.01736912 0.00961973 -1.3008717 ] [-0.01752955 0.99970433 0.01685148 -1.98823137] [-0.00932419 -0.01701679 0.99981173 0.33914858] [ 0. 0. 0. 1. ]] SLAMing on 46.291652532 meters Centerline goodness : 0.759893 Centerline is valid? [False, False] Translation: X:-1.30, Y:-1.98, Z:0.34 [[ 0.99983622 0.01503068 0.01008024 -1.29878008] [-0.01516501 0.99979541 0.01338524 -1.98239769] [-0.00987699 -0.01353591 0.9998596 0.33505431] [ 0. 0. 0. 1. ]] SLAMing on 46.321652532 meters Centerline goodness : 0.758578 Centerline is valid? [False, False] Translation: X:-1.30, Y:-1.98, Z:0.33 [[ 0.99984221 0.01454429 0.01019924 -1.29869744] [-0.01467227 0.99981312 0.01258756 -1.9805198 ] [-0.01001426 -0.01273522 0.99986876 0.33445927] [ 0. 0. 0. 1. ]] SLAMing on 46.351652532 meters Centerline goodness : 0.760305 Centerline is valid? [False, False] Translation: X:-1.30, Y:-1.98, Z:0.33 [[ 0.9998319 0.01494489 0.01062184 -1.29978221] [-0.01508307 0.99980107 0.01305047 -1.98200704] [-0.01042469 -0.01320849 0.99985842 0.33430677] [ 0. 0. 0. 1. ]] SLAMing on 46.381652532 meters Centerline goodness : 0.758199 Centerline is valid? [False, False] Translation: X:-1.30, Y:-1.98, Z:0.33 [[ 0.9998287 0.0152055 0.01055243 -1.29997648] [-0.01535038 0.99978711 0.01378785 -1.98494224] [-0.01034054 -0.01394748 0.99984926 0.334868 ] [ 0. 0. 0. 1. ]] SLAMing on 46.411652532 meters Centerline goodness : 0.763061 Centerline is valid? [False, False] Translation: X:-1.30, Y:-1.99, Z:0.34 [[ 0.99990752 0.00983873 0.00938873 -1.29895069] [-0.00992973 0.99990369 0.00969644 -1.98788657] [-0.00929243 -0.00978877 0.99990891 0.33752645] [ 0. 0. 0. 1. ]] SLAMing on 46.441652532 meters Centerline goodness : 0.762314 Centerline is valid? [False, False] Translation: X:-1.30, Y:-1.99, Z:0.34 [[ 0.99989897 0.01037728 0.00971357 -1.2997781 ] [-0.01047783 0.99989146 0.01035781 -1.98983449] [-0.00960503 -0.01045854 0.99989918 0.33741014] [ 0. 0. 0. 1. ]] SLAMing on 46.471652532 meters Centerline goodness : 0.761227 Centerline is valid? [False, False] Translation: X:-1.30, Y:-1.99, Z:0.34 [[ 0.99986695 0.01222754 0.01079652 -1.30234849] [-0.012357 0.99985155 0.01200737 -1.99253423] [-0.0106481 -0.01213918 0.99986962 0.33707196] [ 0. 0. 0. 1. ]] SLAMing on 46.501652532 meters Centerline goodness : 0.759294 Centerline is valid? [False, False] Translation: X:-1.31, Y:-1.99, Z:0.34 [[ 0.99984526 0.01275915 0.01211006 -1.30502472] [-0.01290295 0.99984628 0.0118716 -1.99125905] [-0.01195673 -0.01202601 0.9998562 0.33602317] [ 0. 0. 0. 1. ]] SLAMing on 46.531652532 meters Centerline goodness : 0.758395 Centerline is valid? [False, False] Translation: X:-1.31, Y:-1.99, Z:0.34 [[ 0.99988827 0.00844198 0.01233598 -1.30532709] [-0.00853152 0.99993751 0.00722393 -1.98993857] [-0.01227423 -0.00732837 0.99989781 0.33542418] [ 0. 0. 0. 1. ]] SLAMing on 46.561652532 meters Centerline goodness : 0.761081 Centerline is valid? [False, False] Translation: X:-1.30, Y:-1.99, Z:0.34 [[ 0.99990952 0.006992 0.01149183 -1.30330051] [-0.00706227 0.99995655 0.00608528 -1.98904849] [-0.01144878 -0.00616589 0.99991545 0.33562657] [ 0. 0. 0. 1. ]] SLAMing on 46.591652532 meters Centerline goodness : 0.760107 Centerline is valid? [False, False] Translation: X:-1.30, Y:-1.99, Z:0.34 [[ 0.99992115 0.00632431 0.01084879 -1.30241351] [-0.00638769 0.99996267 0.00581799 -1.9896774 ] [-0.0108116 -0.00588683 0.99992422 0.33665295] [ 0. 0. 0. 1. ]] SLAMing on 46.621652532 meters Centerline goodness : 0.760023 Centerline is valid? [False, False] Translation: X:-1.30, Y:-1.99, Z:0.34 [[ 0.99990815 0.00727765 0.01143396 -1.30449177] [-0.00735924 0.99994764 0.00711012 -1.9933339 ] [-0.01138162 -0.00719362 0.99990935 0.33739836] [ 0. 0. 0. 1. ]] SLAMing on 46.651652532 meters Centerline goodness : 0.760347 Centerline is valid? [False, False] Translation: X:-1.31, Y:-1.99, Z:0.34 [[ 0.99983912 0.01252924 0.0128358 -1.307379 ] [-0.0126822 0.9998487 0.01190513 -1.99384311] [-0.01268469 -0.012066 0.99984674 0.33664497] [ 0. 0. 0. 1. ]] SLAMing on 46.681652532 meters Centerline goodness : 0.761386 Centerline is valid? [False, False] Translation: X:-1.31, Y:-1.99, Z:0.34 [[ 0.99981364 0.01314403 0.01413947 -1.31045354] [-0.01331448 0.99983901 0.01202865 -1.99335687] [-0.01397909 -0.01221467 0.99982768 0.33619206] [ 0. 0. 0. 1. ]] SLAMing on 46.711652532 meters Centerline goodness : 0.758748 Centerline is valid? [False, False] Translation: X:-1.31, Y:-1.99, Z:0.34 [[ 0.99979244 0.01360808 0.01516257 -1.31294502] [-0.01379033 0.99983313 0.01198116 -1.99234297] [-0.014997 -0.01218777 0.99981326 0.335944 ] [ 0. 0. 0. 1. ]] SLAMing on 46.741652531999996 meters Centerline goodness : 0.758748 Centerline is valid? [False, False] Translation: X:-1.31, Y:-1.99, Z:0.34 [[ 0.99979244 0.01360808 0.01516257 -1.31294502] [-0.01379033 0.99983313 0.01198116 -1.99234297] [-0.014997 -0.01218777 0.99981326 0.335944 ] [ 0. 0. 0. 1. ]] SLAMing on 46.771652532 meters Centerline goodness : 0.757230 Centerline is valid? [False, False] Translation: X:-1.32, Y:-1.99, Z:0.34 [[ 0.99976497 0.0145454 0.01607574 -1.3154103 ] [-0.0147505 0.99981037 0.01271432 -1.99357736] [-0.01588776 -0.01294846 0.99978994 0.33602476] [ 0. 0. 0. 1. ]] SLAMing on 46.801652532 meters Centerline goodness : 0.758144 Centerline is valid? [False, False] Translation: X:-1.32, Y:-2.00, Z:0.34 [[ 0.99974307 0.01545424 0.01658211 -1.31713757] [-0.01568248 0.99978284 0.01372346 -1.99606096] [-0.01636642 -0.01397999 0.99976832 0.33663713] [ 0. 0. 0. 1. ]] SLAMing on 46.831652532 meters Centerline goodness : 0.757015 Centerline is valid? [False, False] Translation: X:-1.32, Y:-2.00, Z:0.34 [[ 0.99974144 0.01560758 0.0165367 -1.31710985] [-0.0158408 0.99977556 0.01406756 -1.99755712] [-0.01631343 -0.01432587 0.99976429 0.3367621 ] [ 0. 0. 0. 1. ]] SLAMing on 46.861652532 meters Centerline goodness : 0.757315 Centerline is valid? [False, False] Translation: X:-1.32, Y:-2.00, Z:0.34 [[ 0.99974558 0.01476819 0.01704908 -1.31972573] [-0.01500203 0.99979401 0.01367058 -2.00293368] [-0.01684367 -0.01392287 0.99976119 0.33825159] [ 0. 0. 0. 1. ]] SLAMing on 46.891652532 meters Centerline goodness : 0.756572 Centerline is valid? [False, False] Translation: X:-1.32, Y:-2.01, Z:0.34 [[ 0.99974907 0.01488096 0.01674408 -1.31940867] [-0.0151212 0.9997832 0.01431441 -2.00573532] [-0.01652744 -0.01456401 0.99975734 0.33904453] [ 0. 0. 0. 1. ]] SLAMing on 46.921652532 meters Centerline goodness : 0.755855 Centerline is valid? [False, False] Translation: X:-1.32, Y:-2.01, Z:0.34 [[ 0.99973171 0.01546944 0.01723945 -1.32049745] [-0.01572817 0.99976416 0.01497475 -2.0076547 ] [-0.01700373 -0.01524188 0.99973925 0.33874713] [ 0. 0. 0. 1. ]] SLAMing on 46.951652532 meters Centerline goodness : 0.755392 Centerline is valid? [False, False] Translation: X:-1.32, Y:-2.01, Z:0.34 [[ 0.9997336 0.01519669 0.01737201 -1.32022145] [-0.0154493 0.9997755 0.01450098 -2.00659812] [-0.01714775 -0.0147655 0.99974393 0.33786066] [ 0. 0. 0. 1. ]] SLAMing on 46.981652532 meters Centerline goodness : 0.755058 Centerline is valid? [False, False] Translation: X:-1.32, Y:-2.00, Z:0.34 [[ 0.99973578 0.01481657 0.0175736 -1.31972317] [-0.01505841 0.99979262 0.01371005 -2.00474255] [-0.01736682 -0.01397106 0.99975157 0.33640157] [ 0. 0. 0. 1. ]] SLAMing on 47.011652532 meters Centerline goodness : 0.754412 Centerline is valid? [False, False] Translation: X:-1.32, Y:-2.00, Z:0.33 [[ 0.9997195 0.01498666 0.01833913 -1.32042828] [-0.01522793 0.99979838 0.0130883 -2.00244944] [-0.01813928 -0.01336389 0.99974615 0.33458967] [ 0. 0. 0. 1. ]] SLAMing on 47.041652532 meters Centerline goodness : 0.754418 Centerline is valid? [False, False] Translation: X:-1.32, Y:-2.00, Z:0.33 [[ 0.99968924 0.01590253 0.01919735 -1.32242904] [-0.01617236 0.99977143 0.01398339 -2.00463448] [-0.01897059 -0.01428951 0.99971792 0.33421089] [ 0. 0. 0. 1. ]] SLAMing on 47.071652532 meters Centerline goodness : 0.754441 Centerline is valid? [False, False] Translation: X:-1.32, Y:-2.01, Z:0.33 [[ 0.99966236 0.01668086 0.01992265 -1.32445433] [-0.01697769 0.99974597 0.01482407 -2.00683293] [-0.01967031 -0.01515731 0.99969162 0.3344074 ] [ 0. 0. 0. 1. ]] SLAMing on 47.101652532 meters Centerline goodness : 0.755762 Centerline is valid? [False, False] Translation: X:-1.33, Y:-2.01, Z:0.33 [[ 0.99963158 0.01758719 0.02067363 -1.32652713] [-0.01791636 0.99971391 0.01584644 -2.00964029] [-0.02038902 -0.01621099 0.99966069 0.33455619] [ 0. 0. 0. 1. ]] SLAMing on 47.131652532 meters Centerline goodness : 0.754925 Centerline is valid? [False, False] Translation: X:-1.33, Y:-2.01, Z:0.33 [[ 0.99958594 0.01937937 0.02126921 -1.32829229] [-0.01976421 0.99964199 0.01803525 -2.01473242] [-0.02091208 -0.01844815 0.9996111 0.33488792] [ 0. 0. 0. 1. ]] SLAMing on 47.161652532 meters Centerline goodness : 0.756641 Centerline is valid? [False, False] Translation: X:-1.33, Y:-2.02, Z:0.33 [[ 0.9995551 0.02106539 0.02111533 -1.32776278] [-0.0215024 0.99955474 0.02068762 -2.02185047] [-0.02067014 -0.02113245 0.99956299 0.33492517] [ 0. 0. 0. 1. ]] SLAMing on 47.191652532 meters Centerline goodness : 0.754936 Centerline is valid? [False, False] Translation: X:-1.33, Y:-2.02, Z:0.34 [[ 0.99961005 0.01761742 0.02166502 -1.32986817] [-0.01799429 0.99968797 0.01732549 -2.02432501] [-0.02135303 -0.01770858 0.99961515 0.33559821] [ 0. 0. 0. 1. ]] SLAMing on 47.221652532 meters Centerline goodness : 0.756909 Centerline is valid? [False, False] Translation: X:-1.33, Y:-2.03, Z:0.34 [[ 0.99962592 0.01592424 0.02223594 -1.33229604] [-0.01628048 0.99974051 0.01593309 -2.02967105] [-0.02197644 -0.01628914 0.99962578 0.3366111 ] [ 0. 0. 0. 1. ]] SLAMing on 47.251652532 meters Centerline goodness : 0.753521 Centerline is valid? [False, False] Translation: X:-1.33, Y:-2.03, Z:0.34 [[ 0.99964835 0.01502228 0.02185204 -1.33104833] [-0.0153509 0.99977041 0.01494904 -2.02806196] [-0.02162246 -0.01527923 0.99964945 0.33631173] [ 0. 0. 0. 1. ]] SLAMing on 47.281652532 meters Centerline goodness : 0.756069 Centerline is valid? [False, False] Translation: X:-1.33, Y:-2.03, Z:0.34 [[ 0.99971392 0.01038682 0.02154529 -1.33055243] [-0.01061121 0.99989037 0.01032669 -2.02784842] [-0.02143567 -0.01055236 0.99971454 0.3366208 ] [ 0. 0. 0. 1. ]] SLAMing on 47.311652532 meters Centerline goodness : 0.756477 Centerline is valid? [False, False] Translation: X:-1.33, Y:-2.03, Z:0.34 [[ 0.99970945 0.01051809 0.02168842 -1.33086743] [-0.01074682 0.99988758 0.01045665 -2.02832505] [-0.021576 -0.01068669 0.99971009 0.33648247] [ 0. 0. 0. 1. ]] SLAMing on 47.341652532 meters Centerline goodness : 0.755922 Centerline is valid? [False, False] Translation: X:-1.33, Y:-2.03, Z:0.34 [[ 0.99968348 0.01160052 0.02232411 -1.3328368 ] [-0.01186531 0.99986039 0.01176529 -2.03157789] [-0.02218451 -0.01202645 0.99968156 0.33680291] [ 0. 0. 0. 1. ]] SLAMing on 47.371652532 meters Centerline goodness : 0.756529 Centerline is valid? [False, False] Translation: X:-1.33, Y:-2.03, Z:0.34 [[ 0.99965864 0.01240489 0.02299384 -1.33484339] [-0.01269975 0.99983842 0.01272196 -2.03388657] [-0.02283231 -0.01300963 0.99965466 0.33733809] [ 0. 0. 0. 1. ]] SLAMing on 47.401652532 meters Centerline goodness : 0.755715 Centerline is valid? [False, False] Translation: X:-1.33, Y:-2.04, Z:0.34 [[ 0.9996576 0.0126301 0.02291652 -1.33475518] [-0.01293439 0.99982949 0.0131789 -2.03556061] [-0.02274616 -0.0134708 0.99965051 0.33744527] [ 0. 0. 0. 1. ]] SLAMing on 47.431652532 meters Centerline goodness : 0.754825 Centerline is valid? [False, False] Translation: X:-1.33, Y:-2.04, Z:0.34 [[ 0.99968273 0.01187953 0.02221065 -1.33275256] [-0.01216535 0.99984435 0.01277793 -2.03620573] [-0.0220554 -0.01304407 0.99967165 0.33724485] [ 0. 0. 0. 1. ]] SLAMing on 47.461652532 meters Centerline goodness : 0.756543 Centerline is valid? [False, False] Translation: X:-1.33, Y:-2.04, Z:0.34 [[ 0.99970916 0.01112461 0.02139702 -1.3310469 ] [-0.0113903 0.99985904 0.01233576 -2.03630808] [-0.02125677 -0.01257589 0.99969495 0.33775552] [ 0. 0. 0. 1. ]] SLAMing on 47.491652531999996 meters Centerline goodness : 0.758267 Centerline is valid? [False, False] Translation: X:-1.33, Y:-2.04, Z:0.34 [[ 0.999772 0.00642448 0.02036365 -1.33027284] [-0.00659981 0.99994163 0.00855451 -2.03882546] [-0.0203075 -0.00868696 0.99975604 0.34027511] [ 0. 0. 0. 1. ]] SLAMing on 47.521652532 meters Centerline goodness : 0.756457 Centerline is valid? [False, False] Translation: X:-1.33, Y:-2.04, Z:0.34 [[ 0.99978962 0.0057639 0.01968485 -1.329049 ] [-0.0059297 0.99994735 0.00837502 -2.03970796] [-0.01963554 -0.00848998 0.99977116 0.34090002] [ 0. 0. 0. 1. ]] SLAMing on 47.551652532 meters Centerline goodness : 0.755215 Centerline is valid? [False, False] Translation: X:-1.33, Y:-2.04, Z:0.34 [[ 0.99981512 0.0040835 0.01878976 -1.32679244] [-0.00421589 0.99996653 0.0070118 -2.03808182] [-0.0187605 -0.00708972 0.99979887 0.34104192] [ 0. 0. 0. 1. ]] SLAMing on 47.581652532 meters Centerline goodness : 0.752504 Centerline is valid? [False, False] Translation: X:-1.33, Y:-2.04, Z:0.34 [[ 0.99983181 0.00273201 0.01813518 -1.32521367] [-0.00284192 0.99997774 0.00603745 -2.03752996] [-0.01811828 -0.00608797 0.99981732 0.34115911] [ 0. 0. 0. 1. ]] SLAMing on 47.611652532 meters Centerline goodness : 0.751247 Centerline is valid? [False, False] Translation: X:-1.32, Y:-2.04, Z:0.34 [[ 0.99984019 -0.00733838 0.01630191 -1.32110909] [ 0.00738012 0.99996964 -0.00250153 -2.03951615] [-0.01628306 0.00262145 0.99986399 0.34225763] [ 0. 0. 0. 1. ]] SLAMing on 47.641652532 meters Centerline goodness : 0.751814 Centerline is valid? [False, False] Translation: X:-1.31, Y:-2.05, Z:0.34 [[ 0.99993549 -0.01103663 0.00268413 -1.31485211] [ 0.01104707 0.99993135 -0.00390707 -2.04658923] [-0.00264082 0.00393647 0.99998877 0.34338872] [ 0. 0. 0. 1. ]] SLAMing on 47.671652532 meters Centerline goodness : 0.752360 Centerline is valid? [False, False] Translation: X:-1.31, Y:-2.05, Z:0.34 [[ 0.99988309 -0.0151357 0.00217113 -1.31406667] [ 0.01515137 0.9998579 -0.00739075 -2.04956061] [-0.00205895 0.00742278 0.99997033 0.34419533] [ 0. 0. 0. 1. ]] SLAMing on 47.701652532 meters Centerline goodness : 0.750587 Centerline is valid? [False, False] Translation: X:-1.31, Y:-2.05, Z:0.35 [[ 0.99973468 -0.02289364 -0.00254135 -1.30628537] [ 0.02287072 0.99970049 -0.00870978 -2.0533416 ] [ 0.00273999 0.00864935 0.99995884 0.35268615] [ 0. 0. 0. 1. ]] SLAMing on 47.731652532 meters Centerline goodness : 0.751760 Centerline is valid? [False, False] Translation: X:-1.31, Y:-2.06, Z:0.35 [[ 0.99963411 -0.02687309 -0.00308066 -1.30619395] [ 0.02683539 0.99957154 -0.01168754 -2.05775679] [ 0.00339342 0.0116006 0.99992695 0.35470044] [ 0. 0. 0. 1. ]] SLAMing on 47.761652532 meters Centerline goodness : 0.752671 Centerline is valid? [False, False] Translation: X:-1.30, Y:-2.06, Z:0.36 [[ 0.99957804 -0.02868828 -0.00455318 -1.3034935 ] [ 0.02863038 0.99951427 -0.01230993 -2.05974429] [ 0.00490412 0.01217438 0.99991386 0.356172 ] [ 0. 0. 0. 1. ]] SLAMing on 47.791652532 meters Centerline goodness : 0.751520 Centerline is valid? [False, False] Translation: X:-1.30, Y:-2.06, Z:0.36 [[ 0.99945477 -0.03263871 -0.00498823 -1.30301991] [ 0.032558 0.9993499 -0.01548418 -2.06355884] [ 0.00549037 0.01531333 0.99986767 0.35737747] [ 0. 0. 0. 1. ]] SLAMing on 47.821652532 meters Centerline goodness : 0.751365 Centerline is valid? [False, False] Translation: X:-1.30, Y:-2.06, Z:0.36 [[ 0.9992538 -0.03815869 -0.00597971 -1.30070514] [ 0.03803026 0.99907053 -0.02029217 -2.06361525] [ 0.00674847 0.02004961 0.99977621 0.35831865] [ 0. 0. 0. 1. ]] SLAMing on 47.851652532 meters Centerline goodness : 0.751529 Centerline is valid? [False, False] Translation: X:-1.30, Y:-2.06, Z:0.36 [[ 0.99923592 -0.03857515 -0.00628762 -1.30013907] [ 0.03843765 0.99904674 -0.02069214 -2.06272348] [ 0.00707983 0.02043465 0.99976612 0.35857558] [ 0. 0. 0. 1. ]] SLAMing on 47.881652532 meters Centerline goodness : 0.749527 Centerline is valid? [False, False] Translation: X:-1.30, Y:-2.06, Z:0.36 [[ 0.99923464 -0.03858757 -0.00641335 -1.30023792] [ 0.0384483 0.99904864 -0.02058006 -2.06326321] [ 0.00720138 0.02031772 0.99976764 0.35903459] [ 0. 0. 0. 1. ]] SLAMing on 47.911652532 meters Centerline goodness : 0.751274 Centerline is valid? [False, False] Translation: X:-1.30, Y:-2.07, Z:0.36 [[ 0.9992486 -0.03820001 -0.00655728 -1.30073412] [ 0.03806385 0.99907981 -0.01976578 -2.06587904] [ 0.0073063 0.01950133 0.99978313 0.35999358] [ 0. 0. 0. 1. ]] SLAMing on 47.941652532 meters Centerline goodness : 0.751307 Centerline is valid? [False, False] Translation: X:-1.30, Y:-2.07, Z:0.36 [[ 0.99927767 -0.03739926 -0.00674052 -1.30211742] [ 0.03727077 0.99913811 -0.01827392 -2.06993002] [ 0.00741814 0.0180095 0.9998103 0.36217375] [ 0. 0. 0. 1. ]] SLAMing on 47.971652532 meters Centerline goodness : 0.752002 Centerline is valid? [False, False] Translation: X:-1.30, Y:-2.07, Z:0.36 [[ 0.99928874 -0.03709083 -0.00680336 -1.30262386] [ 0.03696615 0.99916121 -0.01761776 -2.0720531 ] [ 0.00745112 0.01735374 0.99982165 0.36289992] [ 0. 0. 0. 1. ]] SLAMing on 48.001652532 meters Centerline goodness : 0.751342 Centerline is valid? [False, False] Translation: X:-1.30, Y:-2.07, Z:0.36 [[ 0.99935997 -0.03490131 -0.00784478 -1.30003567] [ 0.03477957 0.99928012 -0.0151535 -2.07020727] [ 0.00836801 0.01487097 0.9998544 0.36261423] [ 0. 0. 0. 1. ]] SLAMing on 48.031652532 meters Centerline goodness : 0.750097 Centerline is valid? [False, False] Translation: X:-1.30, Y:-2.07, Z:0.36 [[ 0.99919919 -0.03917539 -0.0081406 -1.29923779] [ 0.03901626 0.9990605 -0.01886407 -2.07230976] [ 0.00887196 0.01853135 0.99978892 0.36313866] [ 0. 0. 0. 1. ]] SLAMing on 48.061652532 meters Centerline goodness : 0.748317 Centerline is valid? [False, False] Translation: X:-1.30, Y:-2.07, Z:0.36 [[ 0.9991009 -0.0413449 -0.00938054 -1.29597666] [ 0.04114699 0.99894499 -0.02039198 -2.07183796] [ 0.01021374 0.01998767 0.99974805 0.36326777] [ 0. 0. 0. 1. ]] SLAMing on 48.091652532 meters Centerline goodness : 0.746671 Centerline is valid? [False, False] Translation: X:-1.29, Y:-2.07, Z:0.36 [[ 0.99899277 -0.04356125 -0.01076399 -1.29298867] [ 0.04331963 0.99882461 -0.021744 -2.0720357 ] [ 0.01169854 0.02125581 0.99970562 0.36411871] [ 0. 0. 0. 1. ]] SLAMing on 48.121652532 meters Centerline goodness : 0.748663 Centerline is valid? [False, False] Translation: X:-1.29, Y:-2.08, Z:0.37 [[ 0.99880818 -0.04754507 -0.0110314 -1.29309279] [ 0.04725791 0.99857044 -0.02497533 -2.07553188] [ 0.01220308 0.02442424 0.9996272 0.36567505] [ 0. 0. 0. 1. ]] SLAMing on 48.151652532 meters Centerline goodness : 0.748971 Centerline is valid? [False, False] Translation: X:-1.28, Y:-2.07, Z:0.37 [[ 0.99831314 -0.05593969 -0.01554432 -1.28411312] [ 0.05548433 0.99805768 -0.02832588 -2.07497835] [ 0.01709867 0.02741564 0.99947787 0.37203633] [ 0. 0. 0. 1. ]] SLAMing on 48.181652532 meters Centerline goodness : 0.749672 Centerline is valid? [False, False] Translation: X:-1.28, Y:-2.08, Z:0.37 [[ 0.99823983 -0.05698712 -0.01642309 -1.2818323 ] [ 0.05649784 0.9979856 -0.02885733 -2.07511457] [ 0.01803451 0.02787866 0.99944862 0.37208172] [ 0. 0. 0. 1. ]] SLAMing on 48.211652532 meters Centerline goodness : 0.750364 Centerline is valid? [False, False] Translation: X:-1.28, Y:-2.07, Z:0.37 [[ 0.99814594 -0.05829044 -0.01751897 -1.27966448] [ 0.05775526 0.99789061 -0.02964217 -2.07479638] [ 0.01920987 0.0285754 0.99940704 0.37291677] [ 0. 0. 0. 1. ]] SLAMing on 48.241652531999996 meters Centerline goodness : 0.749031 Centerline is valid? [False, False] Translation: X:-1.28, Y:-2.08, Z:0.37 [[ 0.99814946 -0.05815537 -0.01776561 -1.2795963 ] [ 0.05762136 0.99791075 -0.02922191 -2.0762137 ] [ 0.01942791 0.02814416 0.99941506 0.37351401] [ 0. 0. 0. 1. ]] SLAMing on 48.271652532 meters Centerline goodness : 0.747582 Centerline is valid? [False, False] Translation: X:-1.28, Y:-2.08, Z:0.37 [[ 0.99799314 -0.06042676 -0.01892895 -1.2770332 ] [ 0.05982809 0.99773525 -0.03074031 -2.07514272] [ 0.02074362 0.02954614 0.99934815 0.37433491] [ 0. 0. 0. 1. ]] SLAMing on 48.301652532 meters Centerline goodness : 0.745646 Centerline is valid? [False, False] Translation: X:-1.28, Y:-2.08, Z:0.38 [[ 0.99769691 -0.06498346 -0.01944297 -1.27602955] [ 0.06429103 0.99734022 -0.03433886 -2.07781638] [ 0.02162271 0.03300976 0.9992211 0.37563594] [ 0. 0. 0. 1. ]] SLAMing on 48.331652532 meters Centerline goodness : 0.747387 Centerline is valid? [False, False] Translation: X:-1.27, Y:-2.08, Z:0.38 [[ 0.99759576 -0.06612178 -0.02075108 -1.27350747] [ 0.06538094 0.997262 -0.03455202 -2.07965161] [ 0.0229789 0.03311223 0.99918745 0.37692363] [ 0. 0. 0. 1. ]] SLAMing on 48.361652532 meters Centerline goodness : 0.745013 Centerline is valid? [False, False] Translation: X:-1.27, Y:-2.09, Z:0.38 [[ 0.9973478 -0.06969183 -0.02098598 -1.27395628] [ 0.06888433 0.99693776 -0.03701421 -2.08533846] [ 0.0235013 0.03547043 0.99909436 0.37904821] [ 0. 0. 0. 1. ]] SLAMing on 48.391652532 meters Centerline goodness : 0.748172 Centerline is valid? [False, False] Translation: X:-1.27, Y:-2.09, Z:0.38 [[ 0.99733373 -0.06969221 -0.0216434 -1.27367423] [ 0.06887442 0.99695831 -0.03647531 -2.08762092] [ 0.02411961 0.03488738 0.99910015 0.38078051] [ 0. 0. 0. 1. ]] SLAMing on 48.421652532 meters Centerline goodness : 0.745742 Centerline is valid? [False, False] Translation: X:-1.27, Y:-2.09, Z:0.38 [[ 0.99749751 -0.0669634 -0.02268539 -1.27184167] [ 0.06618443 0.99724469 -0.03350592 -2.08622 ] [ 0.02486656 0.03192065 0.99918103 0.381137 ] [ 0. 0. 0. 1. ]] SLAMing on 48.451652532 meters Centerline goodness : 0.745188 Centerline is valid? [False, False] Translation: X:-1.27, Y:-2.08, Z:0.38 [[ 0.99745683 -0.06750134 -0.02287893 -1.27127095] [ 0.06669844 0.99718664 -0.03420715 -2.08463836] [ 0.02512359 0.03259416 0.99915285 0.38103764] [ 0. 0. 0. 1. ]] SLAMing on 48.481652532 meters Centerline goodness : 0.746195 Centerline is valid? [False, False] Translation: X:-1.27, Y:-2.08, Z:0.38 [[ 0.99764922 -0.06429031 -0.02372333 -1.26947361] [ 0.06354108 0.99749485 -0.03108953 -2.08296197] [ 0.02566265 0.02950904 0.99923503 0.3807006 ] [ 0. 0. 0. 1. ]] SLAMing on 48.511652532 meters Centerline goodness : 0.744417 Centerline is valid? [False, False] Translation: X:-1.27, Y:-2.08, Z:0.38 [[ 0.99789866 -0.06018432 -0.02400214 -1.26921545] [ 0.05952614 0.99785463 -0.02725397 -2.08203316] [ 0.0255909 0.02576794 0.99934034 0.38033098] [ 0. 0. 0. 1. ]] SLAMing on 48.541652532 meters Centerline goodness : 0.745081 Centerline is valid? [False, False] Translation: X:-1.28, Y:-2.08, Z:0.38 [[ 0.99836516 -0.05309707 -0.02115892 -1.27610168] [ 0.05260768 0.99834918 -0.02305114 -2.08048115] [ 0.02234794 0.02190033 0.99951035 0.37754574] [ 0. 0. 0. 1. ]] SLAMing on 48.571652532 meters Centerline goodness : 0.743989 Centerline is valid? [False, False] Translation: X:-1.28, Y:-2.08, Z:0.38 [[ 0.99859319 -0.0489517 -0.0203807 -1.27810198] [ 0.04854558 0.99862138 -0.01996663 -2.07627766] [ 0.02133001 0.01894915 0.9995929 0.37651735] [ 0. 0. 0. 1. ]] SLAMing on 48.601652532 meters Centerline goodness : 0.743379 Centerline is valid? [False, False] Translation: X:-1.28, Y:-2.07, Z:0.38 [[ 0.99880616 -0.04472041 -0.01965545 -1.27962833] [ 0.04439826 0.99887711 -0.01653197 -2.07352571] [ 0.0203727 0.01563956 0.99967012 0.37515953] [ 0. 0. 0. 1. ]] SLAMing on 48.631652532 meters Centerline goodness : 0.743379 Centerline is valid? [False, False] Translation: X:-1.28, Y:-2.07, Z:0.38 [[ 0.99880616 -0.04472041 -0.01965545 -1.27962833] [ 0.04439826 0.99887711 -0.01653197 -2.07352571] [ 0.0203727 0.01563956 0.99967012 0.37515953] [ 0. 0. 0. 1. ]] SLAMing on 48.661652532 meters Centerline goodness : 0.740028 Centerline is valid? [False, False] Translation: X:-1.28, Y:-2.07, Z:0.38 [[ 0.99927391 -0.02807972 -0.02575236 -1.27963676] [ 0.02755788 0.99941204 -0.02039949 -2.0662265 ] [ 0.02631003 0.01967499 0.99946019 0.37698066] [ 0. 0. 0. 1. ]] SLAMing on 48.691652532 meters Centerline goodness : 0.740661 Centerline is valid? [False, False] Translation: X:-1.29, Y:-2.07, Z:0.37 [[ 0.99961687 -0.01847117 -0.02061371 -1.29154927] [ 0.01810715 0.99967922 -0.01770816 -2.06707754] [ 0.02093419 0.01732812 0.99963068 0.37038935] [ 0. 0. 0. 1. ]] SLAMing on 48.721652532 meters Centerline goodness : 0.735695 Centerline is valid? [False, False] Translation: X:-1.29, Y:-2.06, Z:0.37 [[ 0.99975735 -0.00984361 -0.01970671 -1.29287042] [ 0.00964324 0.9999011 -0.01023729 -2.06401846] [ 0.01980553 0.01004477 0.99975339 0.36853554] [ 0. 0. 0. 1. ]] SLAMing on 48.751652532 meters Centerline goodness : 0.734993 Centerline is valid? [False, False] Translation: X:-1.31, Y:-2.07, Z:0.36 [[ 9.99873464e-01 8.49367154e-03 -1.34504330e-02 -1.31179716e+00] [-8.51053036e-03 9.99963069e-01 -1.19666073e-03 -2.06930748e+00] [ 1.34397722e-02 1.31097963e-03 9.99908823e-01 3.63632771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.781652532 meters Centerline goodness : 0.734151 Centerline is valid? [False, False] Translation: X:-1.33, Y:-2.07, Z:0.36 [[ 0.99980274 0.01837987 -0.00752731 -1.32516181] [-0.01836299 0.99982873 0.00230493 -2.07181058] [ 0.00756839 -0.00216625 0.99996901 0.35775051] [ 0. 0. 0. 1. ]] SLAMing on 48.811652532 meters Centerline goodness : 0.732021 Centerline is valid? [False, False] Translation: X:-1.34, Y:-2.07, Z:0.35 [[ 9.99582568e-01 2.88505092e-02 -1.52903243e-03 -1.33980601e+00] [-2.88415489e-02 9.99568367e-01 5.58969792e-03 -2.07393076e+00] [ 1.68963808e-03 -5.54326494e-03 9.99983209e-01 3.52212342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.841652532 meters Centerline goodness : 0.729551 Centerline is valid? [False, False] Translation: X:-1.35, Y:-2.07, Z:0.35 [[ 0.99930391 0.03704723 0.00438107 -1.35206551] [-0.03707691 0.9992886 0.00689925 -2.07414786] [-0.00412235 -0.00705688 0.9999666 0.34501537] [ 0. 0. 0. 1. ]] SLAMing on 48.871652532 meters Centerline goodness : 0.723948 Centerline is valid? [False, False] Translation: X:-1.36, Y:-2.08, Z:0.34 [[ 0.99888909 0.04613026 0.00962206 -1.36295094] [-0.04621962 0.99888818 0.00928153 -2.07643001] [-0.0091832 -0.00971595 0.99991063 0.33791684] [ 0. 0. 0. 1. ]] SLAMing on 48.901652532 meters Centerline goodness : 0.723207 Centerline is valid? [False, False] Translation: X:-1.38, Y:-2.08, Z:0.33 [[ 0.99805826 0.06057118 0.01452033 -1.37510692] [-0.0607829 0.99804406 0.0146112 -2.07921002] [-0.01360691 -0.01546542 0.99978781 0.33142481] [ 0. 0. 0. 1. ]] SLAMing on 48.931652532 meters Centerline goodness : 0.724173 Centerline is valid? [False, False] Translation: X:-1.39, Y:-2.09, Z:0.33 [[ 0.99732599 0.07023726 0.020189 -1.38721592] [-0.07062356 0.99732009 0.01910356 -2.08514098] [-0.01879311 -0.02047829 0.99961365 0.32655505] [ 0. 0. 0. 1. ]] SLAMing on 48.961652532 meters Centerline goodness : 0.720983 Centerline is valid? [False, False] Translation: X:-1.40, Y:-2.10, Z:0.32 [[ 0.99557648 0.09028759 0.0259928 -1.4045683 ] [-0.09108312 0.99535296 0.03124672 -2.09877651] [-0.02305082 -0.033476 0.99917367 0.3241157 ] [ 0. 0. 0. 1. ]] SLAMing on 48.991652531999996 meters Centerline goodness : 0.723565 Centerline is valid? [False, False] Translation: X:-1.42, Y:-2.10, Z:0.32 [[ 0.99484493 0.09649104 0.03119365 -1.4158505 ] [-0.09752354 0.99467028 0.03346916 -2.10461532] [-0.02779793 -0.03633874 0.99895284 0.32048392] [ 0. 0. 0. 1. ]] SLAMing on 49.021652532 meters Centerline goodness : 0.722661 Centerline is valid? [False, False] Translation: X:-1.42, Y:-2.11, Z:0.32 [[ 0.99411898 0.10300061 0.03344142 -1.41969839] [-0.10428225 0.99377674 0.03915364 -2.10636583] [-0.02920046 -0.04241072 0.99867345 0.3195265 ] [ 0. 0. 0. 1. ]] SLAMing on 49.051652532 meters Centerline goodness : 0.723356 Centerline is valid? [False, False] Translation: X:-1.42, Y:-2.11, Z:0.32 [[ 0.99336242 0.1095029 0.03521674 -1.42275334] [-0.11104849 0.99277662 0.04541823 -2.10981335] [-0.02998893 -0.04902753 0.99834712 0.3191874 ] [ 0. 0. 0. 1. ]] SLAMing on 49.081652532 meters Centerline goodness : 0.723622 Centerline is valid? [False, False] Translation: X:-1.42, Y:-2.11, Z:0.32 [[ 0.99333685 0.10952538 0.03586209 -1.42425933] [-0.11108922 0.99279199 0.04498051 -2.1089208 ] [-0.03067709 -0.04866469 0.99834396 0.31893458] [ 0. 0. 0. 1. ]] SLAMing on 49.111652532 meters Centerline goodness : 0.726860 Centerline is valid? [False, False] Translation: X:-1.43, Y:-2.11, Z:0.32 [[ 0.99315046 0.11077634 0.03715875 -1.42790729] [-0.11243049 0.99260129 0.04584822 -2.1104087 ] [-0.03180492 -0.04971196 0.99825707 0.31937623] [ 0. 0. 0. 1. ]] SLAMing on 49.141652532 meters Centerline goodness : 0.726820 Centerline is valid? [False, False] Translation: X:-1.43, Y:-2.11, Z:0.32 [[ 0.99261586 0.11504789 0.03844138 -1.42975664] [-0.11689125 0.99189803 0.04974679 -2.10899511] [-0.03240667 -0.05387291 0.9980218 0.31891241] [ 0. 0. 0. 1. ]] SLAMing on 49.171652532 meters Centerline goodness : 0.723686 Centerline is valid? [False, False] Translation: X:-1.43, Y:-2.11, Z:0.32 [[ 0.99200194 0.11973998 0.03993097 -1.43217237] [-0.12180964 0.99107231 0.0542042 -2.10881226] [-0.03308407 -0.05863465 0.99773114 0.31854929] [ 0. 0. 0. 1. ]] SLAMing on 49.201652532 meters Centerline goodness : 0.717944 Centerline is valid? [False, False] Translation: X:-1.44, Y:-2.11, Z:0.32 [[ 0.99177458 0.12111423 0.04140688 -1.43568704] [-0.12329875 0.99084134 0.0550533 -2.10957996] [-0.03435991 -0.05970588 0.99762448 0.31832104] [ 0. 0. 0. 1. ]] SLAMing on 49.231652532 meters Centerline goodness : 0.719817 Centerline is valid? [False, False] Translation: X:-1.44, Y:-2.11, Z:0.32 [[ 0.9920506 0.1185037 0.04233774 -1.43962919] [-0.12064127 0.99132745 0.05211112 -2.11257102] [-0.03579521 -0.05680455 0.99774343 0.31891419] [ 0. 0. 0. 1. ]] SLAMing on 49.261652532 meters Centerline goodness : 0.719282 Centerline is valid? [False, False] Translation: X:-1.44, Y:-2.11, Z:0.32 [[ 0.99206287 0.1183586 0.042456 -1.43986518] [-0.12049738 0.99135314 0.0519552 -2.11271335] [-0.03593954 -0.05665866 0.99774653 0.31872316] [ 0. 0. 0. 1. ]] SLAMing on 49.291652532 meters Centerline goodness : 0.719978 Centerline is valid? [False, False] Translation: X:-1.44, Y:-2.12, Z:0.32 [[ 0.9919495 0.11898274 0.04335089 -1.44422045] [-0.1212294 0.99118074 0.05351789 -2.12117138] [-0.03660086 -0.05834244 0.99762545 0.32107696] [ 0. 0. 0. 1. ]] SLAMing on 49.321652532 meters Centerline goodness : 0.720323 Centerline is valid? [False, False] Translation: X:-1.45, Y:-2.13, Z:0.32 [[ 0.99225856 0.1161948 0.04383739 -1.44730697] [-0.11837739 0.99165844 0.05099348 -2.12588126] [-0.03754654 -0.05578808 0.99773641 0.32210766] [ 0. 0. 0. 1. ]] SLAMing on 49.351652532 meters Centerline goodness : 0.717885 Centerline is valid? [False, False] Translation: X:-1.45, Y:-2.13, Z:0.32 [[ 0.99257598 0.11319785 0.04448781 -1.45058346] [-0.11530123 0.99217228 0.0479561 -2.12930991] [-0.03871105 -0.05272958 0.99785823 0.32271154] [ 0. 0. 0. 1. ]] SLAMing on 49.381652532 meters Centerline goodness : 0.718397 Centerline is valid? [False, False] Translation: X:-1.45, Y:-2.13, Z:0.32 [[ 0.9927744 0.11121122 0.04506729 -1.45385753] [-0.11327456 0.99249128 0.04615122 -2.1342998 ] [-0.03959636 -0.05092273 0.99791733 0.32381311] [ 0. 0. 0. 1. ]] SLAMing on 49.411652532 meters Centerline goodness : 0.716987 Centerline is valid? [False, False] Translation: X:-1.46, Y:-2.14, Z:0.33 [[ 0.99296057 0.10952818 0.04508742 -1.45638911] [-0.11155811 0.99272603 0.04527489 -2.14095474] [-0.03980058 -0.04998604 0.99795657 0.32602503] [ 0. 0. 0. 1. ]] SLAMing on 49.441652532 meters Centerline goodness : 0.716828 Centerline is valid? [False, False] Translation: X:-1.46, Y:-2.15, Z:0.33 [[ 0.99323187 0.10691824 0.04537551 -1.4591222 ] [-0.10888217 0.99311246 0.04327027 -2.14738934] [-0.0404366 -0.04791799 0.99803244 0.3273442 ] [ 0. 0. 0. 1. ]] SLAMing on 49.471652532 meters Centerline goodness : 0.717183 Centerline is valid? [False, False] Translation: X:-1.46, Y:-2.15, Z:0.33 [[ 0.99357882 0.10369864 0.04525177 -1.46027251] [-0.10553923 0.99359512 0.0403758 -2.15173578] [-0.04077502 -0.04489238 0.99815934 0.32774934] [ 0. 0. 0. 1. ]] SLAMing on 49.501652532 meters Centerline goodness : 0.718244 Centerline is valid? [False, False] Translation: X:-1.46, Y:-2.15, Z:0.33 [[ 0.99400157 0.09983675 0.04464867 -1.46016435] [-0.10150423 0.994155 0.03677948 -2.1544423 ] [-0.04071575 -0.04109088 0.99832548 0.32792035] [ 0. 0. 0. 1. ]] SLAMing on 49.531652532 meters Centerline goodness : 0.716146 Centerline is valid? [False, False] Translation: X:-1.47, Y:-2.17, Z:0.32 [[ 0.99526139 0.08821771 0.04089507 -1.4660575 ] [-0.08982671 0.99518044 0.03933268 -2.16915091] [-0.03722813 -0.04281977 0.99838897 0.32429269] [ 0. 0. 0. 1. ]] SLAMing on 49.561652532 meters Centerline goodness : 0.715487 Centerline is valid? [False, False] Translation: X:-1.47, Y:-2.17, Z:0.33 [[ 0.99563006 0.08428494 0.04020986 -1.46637764] [-0.08574825 0.99566007 0.03616977 -2.1735355 ] [-0.03698678 -0.03945964 0.99853639 0.3258893 ] [ 0. 0. 0. 1. ]] SLAMing on 49.591652532 meters Centerline goodness : 0.718770 Centerline is valid? [False, False] Translation: X:-1.47, Y:-2.18, Z:0.33 [[ 0.99601562 0.07960499 0.0401987 -1.47042566] [-0.08092696 0.99619318 0.03240333 -2.18102887] [-0.0374662 -0.03552738 0.99866616 0.32946078] [ 0. 0. 0. 1. ]] SLAMing on 49.621652532 meters Centerline goodness : 0.717224 Centerline is valid? [False, False] Translation: X:-1.47, Y:-2.19, Z:0.33 [[ 0.99624191 0.07663852 0.04035581 -1.4726458 ] [-0.07787025 0.99651541 0.02988761 -2.18562965] [-0.03792464 -0.0329178 0.99873827 0.33090371] [ 0. 0. 0. 1. ]] SLAMing on 49.651652532 meters Centerline goodness : 0.715585 Centerline is valid? [False, False] Translation: X:-1.47, Y:-2.19, Z:0.33 [[ 0.99644439 0.07394194 0.04038765 -1.47438761] [-0.07509372 0.9967893 0.02778528 -2.19103003] [-0.03820348 -0.03071935 0.99879769 0.33219688] [ 0. 0. 0. 1. ]] SLAMing on 49.681652532 meters Centerline goodness : 0.717299 Centerline is valid? [False, False] Translation: X:-1.47, Y:-2.19, Z:0.33 [[ 0.9976877 0.05861781 0.03439767 -1.46988422] [-0.05970005 0.99772468 0.03132677 -2.19444443] [-0.03248309 -0.03330787 0.99891713 0.33155346] [ 0. 0. 0. 1. ]] SLAMing on 49.711652532 meters Centerline goodness : 0.714996 Centerline is valid? [False, False] Translation: X:-1.47, Y:-2.20, Z:0.33 [[ 0.99786333 0.05574059 0.03408461 -1.47120989] [-0.05675425 0.99795131 0.02953203 -2.20134646] [-0.03236864 -0.03140338 0.99898253 0.3337554 ] [ 0. 0. 0. 1. ]] SLAMing on 49.741652531999996 meters Centerline goodness : 0.713864 Centerline is valid? [False, False] Translation: X:-1.47, Y:-2.21, Z:0.34 [[ 0.99809344 0.05147674 0.03405344 -1.47370409] [-0.05239548 0.99827048 0.0266603 -2.2082666 ] [-0.03262215 -0.02839371 0.99906436 0.33657202] [ 0. 0. 0. 1. ]] SLAMing on 49.771652532 meters Centerline goodness : 0.714120 Centerline is valid? [False, False] Translation: X:-1.48, Y:-2.21, Z:0.34 [[ 0.99827268 0.04802148 0.03384658 -1.47522428] [-0.04884326 0.99852081 0.02388554 -2.21273621] [-0.0326495 -0.02549746 0.99914158 0.33874296] [ 0. 0. 0. 1. ]] SLAMing on 49.801652532 meters Centerline goodness : 0.715094 Centerline is valid? [False, False] Translation: X:-1.47, Y:-2.21, Z:0.34 [[ 0.99867699 0.03943254 0.03300529 -1.47484725] [-0.03996563 0.99907848 0.01565066 -2.21469008] [-0.03235773 -0.01694903 0.99933263 0.33995565] [ 0. 0. 0. 1. ]] SLAMing on 49.831652532 meters Centerline goodness : 0.713943 Centerline is valid? [False, False] Translation: X:-1.47, Y:-2.21, Z:0.34 [[ 0.99872443 0.03881383 0.03229546 -1.47310367] [-0.03931965 0.99911141 0.01517716 -2.21411702] [-0.03167768 -0.01642765 0.99936313 0.33994545] [ 0. 0. 0. 1. ]] SLAMing on 49.861652532 meters Centerline goodness : 0.709997 Centerline is valid? [False, False] Translation: X:-1.47, Y:-2.21, Z:0.34 [[ 0.99878693 0.03760276 0.03179137 -1.47187246] [-0.038064 0.99917681 0.0140297 -2.21225899] [-0.03123764 -0.01522279 0.99939606 0.33996984] [ 0. 0. 0. 1. ]] SLAMing on 49.891652532 meters Centerline goodness : 0.708948 Centerline is valid? [False, False] Translation: X:-1.47, Y:-2.22, Z:0.34 [[ 0.99889331 0.03456024 0.031902 -1.47408881] [-0.03494458 0.99932228 0.01156945 -2.21616474] [-0.03148053 -0.01267144 0.99942404 0.3421847 ] [ 0. 0. 0. 1. ]] SLAMing on 49.921652532 meters Centerline goodness : 0.708161 Centerline is valid? [False, False] Translation: X:-1.47, Y:-2.22, Z:0.34 [[ 0.99893086 0.03396593 0.03136014 -1.47330645] [-0.03433364 0.99934697 0.01126212 -2.21636885] [-0.03095713 -0.01232679 0.9994447 0.34305582] [ 0. 0. 0. 1. ]] SLAMing on 49.951652532 meters Centerline goodness : 0.709772 Centerline is valid? [False, False] Translation: X:-1.47, Y:-2.22, Z:0.34 [[ 0.99892488 0.03422646 0.031267 -1.47292775] [-0.03460942 0.99933137 0.01179012 -2.21834825] [-0.03084256 -0.01285958 0.99944153 0.34275506] [ 0. 0. 0. 1. ]] SLAMing on 49.981652532 meters Centerline goodness : 0.710915 Centerline is valid? [False, False] Translation: X:-1.47, Y:-2.22, Z:0.34 [[ 0.99897496 0.03319648 0.03077376 -1.4708642 ] [-0.03353476 0.99938195 0.01054221 -2.2159844 ] [-0.03040477 -0.0115634 0.99947078 0.34158628] [ 0. 0. 0. 1. ]] SLAMing on 50.011652532 meters Centerline goodness : 0.711200 Centerline is valid? [False, False] Translation: X:-1.47, Y:-2.22, Z:0.34 [[ 0.99894923 0.03366666 0.03109636 -1.47217095] [-0.03403079 0.9993574 0.01125538 -2.21817487] [-0.03069744 -0.01230179 0.99945302 0.34209144] [ 0. 0. 0. 1. ]] SLAMing on 50.041652532 meters Centerline goodness : 0.710778 Centerline is valid? [False, False] Translation: X:-1.47, Y:-2.22, Z:0.34 [[ 0.99898311 0.03305355 0.0306629 -1.47192186] [-0.03340182 0.99938239 0.0109159 -2.21815873] [-0.03028315 -0.011929 0.99947017 0.34335006] [ 0. 0. 0. 1. ]] SLAMing on 50.071652532 meters Centerline goodness : 0.712407 Centerline is valid? [False, False] Translation: X:-1.47, Y:-2.22, Z:0.34 [[ 0.99899349 0.03311547 0.03025515 -1.4717929 ] [-0.03347621 0.9993734 0.01149551 -2.22064083] [-0.02985552 -0.01249677 0.9994761 0.3445701 ] [ 0. 0. 0. 1. ]] SLAMing on 50.101652532 meters Centerline goodness : 0.712613 Centerline is valid? [False, False] Translation: X:-1.47, Y:-2.23, Z:0.35 [[ 0.99908035 0.03009597 0.03053991 -1.47353115] [-0.03038175 0.99949841 0.0089373 -2.22548958] [-0.03025562 -0.00985694 0.99949359 0.3454505 ] [ 0. 0. 0. 1. ]] SLAMing on 50.131652532 meters Centerline goodness : 0.715206 Centerline is valid? [False, False] Translation: X:-1.47, Y:-2.23, Z:0.34 [[ 0.99953323 0.01760745 0.02496604 -1.46854004] [-0.01797718 0.99973087 0.01466284 -2.22985096] [-0.02470115 -0.01510481 0.99958076 0.34336057] [ 0. 0. 0. 1. ]] SLAMing on 50.161652532 meters Centerline goodness : 0.715510 Centerline is valid? [False, False] Translation: X:-1.47, Y:-2.23, Z:0.34 [[ 0.9995844 0.01439384 0.02497694 -1.46979492] [-0.01469699 0.99982003 0.01199618 -2.23438896] [-0.02479977 -0.01235828 0.99961605 0.34467361] [ 0. 0. 0. 1. ]] SLAMing on 50.191652532 meters Centerline goodness : 0.715969 Centerline is valid? [False, False] Translation: X:-1.47, Y:-2.23, Z:0.35 [[ 0.9996195 0.01333217 0.02414771 -1.46820697] [-0.01361186 0.99984173 0.01145534 -2.23483049] [-0.02399116 -0.01177968 0.99964277 0.34534056] [ 0. 0. 0. 1. ]] SLAMing on 50.221652532 meters Centerline goodness : 0.718313 Centerline is valid? [False, False] Translation: X:-1.47, Y:-2.24, Z:0.35 [[ 0.99961399 0.01353146 0.02426471 -1.46849187] [-0.01381619 0.9998372 0.01160533 -2.23506735] [-0.02410373 -0.01193609 0.9996382 0.34517112] [ 0. 0. 0. 1. ]] SLAMing on 50.251652532 meters Centerline goodness : 0.716833 Centerline is valid? [False, False] Translation: X:-1.47, Y:-2.23, Z:0.34 [[ 0.9996211 0.01299766 0.02426366 -1.46812692] [-0.01326373 0.9998533 0.01083749 -2.23321783] [-0.02411924 -0.01115521 0.99964685 0.34461416] [ 0. 0. 0. 1. ]] SLAMing on 50.281652532 meters Centerline goodness : 0.716450 Centerline is valid? [False, False] Translation: X:-1.47, Y:-2.23, Z:0.34 [[ 0.99962394 0.0126016 0.02435527 -1.46818747] [-0.01285267 0.99986558 0.01017985 -2.2314409 ] [-0.02422372 -0.01048906 0.99965153 0.34427436] [ 0. 0. 0. 1. ]] SLAMing on 50.311652532 meters Centerline goodness : 0.718597 Centerline is valid? [False, False] Translation: X:-1.47, Y:-2.23, Z:0.34 [[ 0.99963947 0.01151455 0.02425586 -1.46824984] [-0.01173907 0.99988938 0.00913407 -2.22997337] [-0.024148 -0.00941552 0.99966405 0.34477563] [ 0. 0. 0. 1. ]] SLAMing on 50.341652532 meters Centerline goodness : 0.719324 Centerline is valid? [False, False] Translation: X:-1.47, Y:-2.23, Z:0.35 [[ 0.99965362 0.01095223 0.0239308 -1.46842607] [-0.01116259 0.99990007 0.00867449 -2.22950479] [-0.02383341 -0.00893862 0.99967598 0.34611026] [ 0. 0. 0. 1. ]] SLAMing on 50.371652532 meters Centerline goodness : 0.720170 Centerline is valid? [False, False] Translation: X:-1.47, Y:-2.23, Z:0.35 [[ 0.99961828 0.01225813 0.02475945 -1.47072861] [-0.01250944 0.99987154 0.01002078 -2.23258033] [-0.02463344 -0.01032668 0.99964321 0.34622289] [ 0. 0. 0. 1. ]] SLAMing on 50.401652532 meters Centerline goodness : 0.718561 Centerline is valid? [False, False] Translation: X:-1.47, Y:-2.24, Z:0.35 [[ 0.99958375 0.01339773 0.02555032 -1.47252928] [-0.01368858 0.9998431 0.01124271 -2.2354198 ] [-0.02539568 -0.01158778 0.99961032 0.34591437] [ 0. 0. 0. 1. ]] SLAMing on 50.431652532 meters Centerline goodness : 0.718271 Centerline is valid? [False, False] Translation: X:-1.47, Y:-2.24, Z:0.35 [[ 0.99955466 0.01406354 0.02631913 -1.47486119] [-0.01437768 0.99982718 0.011785 -2.23642088] [-0.02614884 -0.01215816 0.99958412 0.34622911] [ 0. 0. 0. 1. ]] SLAMing on 50.461652532 meters Centerline goodness : 0.717985 Centerline is valid? [False, False] Translation: X:-1.48, Y:-2.23, Z:0.34 [[ 0.99946186 0.01817975 0.02730374 -1.47624317] [-0.01860043 0.99971094 0.01523321 -2.23358462] [-0.02701892 -0.01573288 0.99951111 0.3447585 ] [ 0. 0. 0. 1. ]] SLAMing on 50.491652531999996 meters Centerline goodness : 0.717783 Centerline is valid? [False, False] Translation: X:-1.48, Y:-2.23, Z:0.34 [[ 0.99943215 0.01835642 0.02825633 -1.47774796] [-0.01877468 0.999717 0.014609 -2.23100165] [-0.02798016 -0.01513121 0.99949395 0.3432614 ] [ 0. 0. 0. 1. ]] SLAMing on 50.521652532 meters Centerline goodness : 0.720805 Centerline is valid? [False, False] Translation: X:-1.49, Y:-2.25, Z:0.34 [[ 0.99956037 0.02231695 0.01951975 -1.48724267] [-0.02258817 0.99964979 0.01378675 -2.24731385] [-0.01920524 -0.0142216 0.99971441 0.3415681 ] [ 0. 0. 0. 1. ]] SLAMing on 50.551652532 meters Centerline goodness : 0.720805 Centerline is valid? [False, False] Translation: X:-1.49, Y:-2.25, Z:0.34 [[ 0.99956037 0.02231695 0.01951975 -1.48724267] [-0.02258817 0.99964979 0.01378675 -2.24731385] [-0.01920524 -0.0142216 0.99971441 0.3415681 ] [ 0. 0. 0. 1. ]] SLAMing on 50.581652532 meters Centerline goodness : 0.718714 Centerline is valid? [False, False] Translation: X:-1.49, Y:-2.25, Z:0.34 [[ 0.99951826 0.02334645 0.02044965 -1.48934129] [-0.02365069 0.99961126 0.01476425 -2.24956226] [-0.02009701 -0.01524078 0.99968186 0.34113334] [ 0. 0. 0. 1. ]] SLAMing on 50.611652532 meters Centerline goodness : 0.720651 Centerline is valid? [False, False] Translation: X:-1.49, Y:-2.25, Z:0.34 [[ 0.99947732 0.024248 0.0213805 -1.49183347] [-0.02458076 0.9995786 0.0154404 -2.25089381] [-0.02099709 -0.01595788 0.99965217 0.34112278] [ 0. 0. 0. 1. ]] SLAMing on 50.641652532 meters Centerline goodness : 0.721033 Centerline is valid? [False, False] Translation: X:-1.49, Y:-2.25, Z:0.34 [[ 0.9994423 0.02504863 0.0220828 -1.49372835] [-0.02541034 0.99954496 0.01625392 -2.25296459] [-0.02166561 -0.01680599 0.99962401 0.34107985] [ 0. 0. 0. 1. ]] SLAMing on 50.671652531999996 meters Centerline goodness : 0.723722 Centerline is valid? [False, False] Translation: X:-1.49, Y:-2.25, Z:0.34 [[ 0.99936437 0.02801693 0.02204349 -1.49295987] [-0.02843298 0.99941903 0.01879253 -2.24928718] [-0.02150418 -0.01940735 0.99958037 0.34032392] [ 0. 0. 0. 1. ]] SLAMing on 50.701652532 meters Centerline goodness : 0.721115 Centerline is valid? [False, False] Translation: X:-1.50, Y:-2.25, Z:0.34 [[ 0.99910942 0.03247392 0.02694092 -1.502118 ] [-0.03300382 0.9992657 0.01946324 -2.25084925] [-0.02628909 -0.02033506 0.99944753 0.3351127 ] [ 0. 0. 0. 1. ]] SLAMing on 50.731652532 meters Centerline goodness : 0.724248 Centerline is valid? [False, False] Translation: X:-1.51, Y:-2.25, Z:0.34 [[ 0.99904584 0.03331145 0.02824473 -1.50552734] [-0.03387401 0.99923236 0.01967861 -2.25031083] [-0.02756752 -0.0206166 0.99940732 0.33514295] [ 0. 0. 0. 1. ]] SLAMing on 50.761652532 meters Centerline goodness : 0.723700 Centerline is valid? [False, False] Translation: X:-1.51, Y:-2.25, Z:0.33 [[ 0.99887636 0.03748132 0.02900278 -1.5064691 ] [-0.03816783 0.9989952 0.0234905 -2.24874829] [-0.02809318 -0.02457108 0.99930327 0.33414488] [ 0. 0. 0. 1. ]] SLAMing on 50.791652532 meters Centerline goodness : 0.720915 Centerline is valid? [False, False] Translation: X:-1.51, Y:-2.25, Z:0.33 [[ 0.99850608 0.0457026 0.02994786 -1.50633202] [-0.04663703 0.99842191 0.03128376 -2.24675761] [-0.02847085 -0.03263371 0.99906179 0.33169511] [ 0. 0. 0. 1. ]] SLAMing on 50.821652532 meters Centerline goodness : 0.722325 Centerline is valid? [False, False] Translation: X:-1.51, Y:-2.25, Z:0.33 [[ 0.99850814 0.04547368 0.03022657 -1.5072249 ] [-0.04640448 0.99844653 0.03084072 -2.24577829] [-0.02877717 -0.03219735 0.99906717 0.33192885] [ 0. 0. 0. 1. ]] SLAMing on 50.851652532 meters Centerline goodness : 0.722835 Centerline is valid? [False, False] Translation: X:-1.51, Y:-2.25, Z:0.33 [[ 0.99842667 0.04650265 0.03133194 -1.5100795 ] [-0.04749682 0.99836602 0.03177026 -2.24821077] [-0.02980334 -0.03320844 0.99900398 0.33194972] [ 0. 0. 0. 1. ]] SLAMing on 50.881652532 meters Centerline goodness : 0.722066 Centerline is valid? [False, False] Translation: X:-1.51, Y:-2.25, Z:0.33 [[ 0.99824767 0.04950379 0.0324185 -1.51322472] [-0.05062814 0.99810998 0.03483189 -2.25295701] [-0.03063292 -0.03641214 0.99886725 0.3325612 ] [ 0. 0. 0. 1. ]] SLAMing on 50.911652532 meters Centerline goodness : 0.724684 Centerline is valid? [False, False] Translation: X:-1.52, Y:-2.26, Z:0.33 [[ 0.99805129 0.05266069 0.03347351 -1.51647407] [-0.05393241 0.9978099 0.03829753 -2.25845526] [-0.03138343 -0.04002821 0.99870557 0.33358495] [ 0. 0. 0. 1. ]] SLAMing on 50.941652532 meters Centerline goodness : 0.723323 Centerline is valid? [False, False] Translation: X:-1.52, Y:-2.26, Z:0.34 [[ 0.99785028 0.05571729 0.03450235 -1.52009669] [-0.05713337 0.99750299 0.04151574 -2.2618845 ] [-0.03210305 -0.04339773 0.99854195 0.33516395] [ 0. 0. 0. 1. ]] SLAMing on 50.971652532 meters Centerline goodness : 0.720345 Centerline is valid? [False, False] Translation: X:-1.52, Y:-2.26, Z:0.33 [[ 0.99782743 0.0558576 0.0349335 -1.52113327] [-0.05729367 0.99749214 0.04155553 -2.26224418] [-0.0325247 -0.04346671 0.99852531 0.33498694] [ 0. 0. 0. 1. ]] SLAMing on 51.001652532 meters Centerline goodness : 0.721719 Centerline is valid? [False, False] Translation: X:-1.52, Y:-2.26, Z:0.33 [[ 0.99778163 0.05637661 0.03540482 -1.52225419] [-0.05785028 0.99743811 0.04207798 -2.26377565] [-0.0329419 -0.04403281 0.99848683 0.33475201] [ 0. 0. 0. 1. ]] SLAMing on 51.031652532 meters Centerline goodness : 0.722260 Centerline is valid? [False, False] Translation: X:-1.52, Y:-2.27, Z:0.34 [[ 0.99774192 0.05697475 0.0355661 -1.52304419] [-0.05848822 0.99735848 0.04307197 -2.26738303] [-0.03301814 -0.04505491 0.99843871 0.33518322] [ 0. 0. 0. 1. ]] SLAMing on 51.061652532 meters Centerline goodness : 0.725788 Centerline is valid? [False, False] Translation: X:-1.53, Y:-2.28, Z:0.34 [[ 0.998035 0.05176389 0.03530788 -1.52675954] [-0.05314377 0.99781199 0.03933154 -2.27751383] [-0.03319468 -0.04113065 0.99860221 0.3401157 ] [ 0. 0. 0. 1. ]] SLAMing on 51.091652532 meters Centerline goodness : 0.724658 Centerline is valid? [False, False] Translation: X:-1.53, Y:-2.28, Z:0.34 [[ 0.99811927 0.04964289 0.03596537 -1.5300759 ] [-0.05098614 0.99799707 0.03744669 -2.28226147] [-0.03403438 -0.03921 0.99865121 0.34172238] [ 0. 0. 0. 1. ]] SLAMing on 51.121652532 meters Centerline goodness : 0.725437 Centerline is valid? [False, False] Translation: X:-1.53, Y:-2.28, Z:0.34 [[ 0.9981235 0.04933544 0.03626978 -1.53043652] [-0.05066777 0.99803804 0.03678119 -2.28048199] [-0.03438401 -0.03854988 0.99866493 0.34107941] [ 0. 0. 0. 1. ]] SLAMing on 51.151652532 meters Centerline goodness : 0.725426 Centerline is valid? [False, False] Translation: X:-1.53, Y:-2.28, Z:0.34 [[ 0.9980934 0.04939647 0.03700736 -1.53166584] [-0.05074165 0.99805055 0.03633701 -2.27887685] [-0.03514029 -0.03814554 0.99865413 0.33999316] [ 0. 0. 0. 1. ]] SLAMing on 51.181652532 meters Centerline goodness : 0.726127 Centerline is valid? [False, False] Translation: X:-1.53, Y:-2.28, Z:0.34 [[ 0.99837362 0.04388657 0.03638807 -1.53126593] [-0.04502288 0.99850426 0.03101919 -2.27804933] [-0.03497231 -0.03260703 0.99885621 0.34085084] [ 0. 0. 0. 1. ]] SLAMing on 51.211652532 meters Centerline goodness : 0.727359 Centerline is valid? [False, False] Translation: X:-1.53, Y:-2.28, Z:0.34 [[ 0.99845832 0.04146625 0.03689909 -1.53475885] [-0.04254265 0.99867714 0.02888064 -2.28224627] [-0.03565271 -0.03040591 0.99890158 0.34321816] [ 0. 0. 0. 1. ]] SLAMing on 51.241652531999996 meters Centerline goodness : 0.726960 Centerline is valid? [False, False] Translation: X:-1.54, Y:-2.28, Z:0.34 [[ 0.99843345 0.04170305 0.03730288 -1.53613452] [-0.0428034 0.99865665 0.02920217 -2.28343112] [-0.03603495 -0.03075312 0.99887723 0.34364367] [ 0. 0. 0. 1. ]] SLAMing on 51.271652532 meters Centerline goodness : 0.728031 Centerline is valid? [False, False] Translation: X:-1.53, Y:-2.28, Z:0.34 [[ 0.9982787 0.04533814 0.03720342 -1.53449029] [-0.04656479 0.99837679 0.03279498 -2.28196258] [-0.03565617 -0.0344709 0.99876944 0.34213784] [ 0. 0. 0. 1. ]] SLAMing on 51.301652532 meters Centerline goodness : 0.724398 Centerline is valid? [False, False] Translation: X:-1.53, Y:-2.28, Z:0.34 [[ 0.99826834 0.04570769 0.03702875 -1.53382939] [-0.04695395 0.9983346 0.03351635 -2.28445987] [-0.03543512 -0.03519696 0.99875198 0.34170314] [ 0. 0. 0. 1. ]] SLAMing on 51.331652532 meters Centerline goodness : 0.727705 Centerline is valid? [False, False] Translation: X:-1.53, Y:-2.28, Z:0.34 [[ 0.99845448 0.04148372 0.03698325 -1.53494381] [-0.04257431 0.99866635 0.0292053 -2.28485623] [-0.03572238 -0.03073469 0.99888903 0.34274084] [ 0. 0. 0. 1. ]] SLAMing on 51.361652532 meters Centerline goodness : 0.728880 Centerline is valid? [False, False] Translation: X:-1.53, Y:-2.29, Z:0.34 [[ 0.99848934 0.04108488 0.03648375 -1.53385908] [-0.04215789 0.99868578 0.02914502 -2.28610964] [-0.03523838 -0.03063907 0.99890916 0.34302294] [ 0. 0. 0. 1. ]] SLAMing on 51.391652532 meters Centerline goodness : 0.730023 Centerline is valid? [False, False] Translation: X:-1.53, Y:-2.29, Z:0.34 [[ 0.99845746 0.04166502 0.03669787 -1.53460093] [-0.04277474 0.99863447 0.0299919 -2.28906345] [-0.03539814 -0.03151538 0.99887624 0.34318534] [ 0. 0. 0. 1. ]] SLAMing on 51.421652531999996 meters Centerline goodness : 0.731040 Centerline is valid? [False, False] Translation: X:-1.53, Y:-2.29, Z:0.34 [[ 0.99844682 0.04195102 0.03666132 -1.53416933] [-0.04307825 0.99860549 0.03051778 -2.29114193] [-0.03532994 -0.03204968 0.99886166 0.34265156] [ 0. 0. 0. 1. ]] SLAMing on 51.451652532 meters Centerline goodness : 0.731291 Centerline is valid? [False, False] Translation: X:-1.53, Y:-2.29, Z:0.34 [[ 0.99862024 0.03775397 0.03650016 -1.53464178] [-0.03872614 0.99890357 0.02630467 -2.29190866] [-0.03546703 -0.02768188 0.99898739 0.34326602] [ 0. 0. 0. 1. ]] SLAMing on 51.481652532 meters Centerline goodness : 0.735249 Centerline is valid? [False, False] Translation: X:-1.53, Y:-2.29, Z:0.34 [[ 0.99879732 0.03283097 0.03641485 -1.53456705] [-0.03360867 0.99921538 0.02095416 -2.28964237] [-0.03569834 -0.02215281 0.99911705 0.34288358] [ 0. 0. 0. 1. ]] SLAMing on 51.511652532 meters Centerline goodness : 0.735552 Centerline is valid? [False, False] Translation: X:-1.53, Y:-2.29, Z:0.34 [[ 0.99879942 0.03283022 0.03635785 -1.53380726] [-0.03360685 0.99921533 0.02095944 -2.29005637] [-0.03564121 -0.02215615 0.99911902 0.34187071] [ 0. 0. 0. 1. ]] SLAMing on 51.541652532 meters Centerline goodness : 0.732497 Centerline is valid? [False, False] Translation: X:-1.53, Y:-2.29, Z:0.34 [[ 0.99877832 0.03336143 0.03645387 -1.53344975] [-0.03416434 0.99918216 0.02162898 -2.29180649] [-0.03570249 -0.02284798 0.99910125 0.3408371 ] [ 0. 0. 0. 1. ]] SLAMing on 51.571652532 meters Centerline goodness : 0.734190 Centerline is valid? [False, False] Translation: X:-1.53, Y:-2.30, Z:0.34 [[ 0.99888161 0.0303438 0.03626003 -1.53418783] [-0.03106253 0.99932866 0.01942528 -2.29764104] [-0.03564625 -0.02052989 0.99915358 0.3421409 ] [ 0. 0. 0. 1. ]] SLAMing on 51.601652532 meters Centerline goodness : 0.734365 Centerline is valid? [False, False] Translation: X:-1.53, Y:-2.30, Z:0.35 [[ 0.99928493 0.02104049 0.03141532 -1.5251732 ] [-0.02154582 0.99964246 0.01583461 -2.29566105] [-0.03107092 -0.01650015 0.99938098 0.34903661] [ 0. 0. 0. 1. ]] SLAMing on 51.631652532 meters Centerline goodness : 0.734540 Centerline is valid? [False, False] Translation: X:-1.53, Y:-2.30, Z:0.35 [[ 0.99942306 0.01403103 0.03093032 -1.52725065] [-0.01435668 0.99984356 0.01033152 -2.30370411] [-0.03078052 -0.01076961 0.99946815 0.35307192] [ 0. 0. 0. 1. ]] SLAMing on 51.661652532 meters Centerline goodness : 0.732536 Centerline is valid? [False, False] Translation: X:-1.53, Y:-2.31, Z:0.35 [[ 0.99950315 0.0096433 0.03000768 -1.52631356] [-0.00985429 0.9999277 0.0068911 -2.30756269] [-0.02993906 -0.00718338 0.99952591 0.35485273] [ 0. 0. 0. 1. ]] SLAMing on 51.691652532 meters Centerline goodness : 0.734629 Centerline is valid? [False, False] Translation: X:-1.53, Y:-2.32, Z:0.35 [[ 0.99966757 -0.00355281 0.02553671 -1.53294914] [ 0.00332281 0.99995359 0.00904337 -2.32298327] [-0.02556766 -0.00895551 0.99963298 0.35300907] [ 0. 0. 0. 1. ]] SLAMing on 51.721652532 meters Centerline goodness : 0.733669 Centerline is valid? [False, False] Translation: X:-1.53, Y:-2.32, Z:0.35 [[ 0.99968508 -0.00469608 0.02465129 -1.53085035] [ 0.00449578 0.99995648 0.00817433 -2.32201618] [-0.0246886 -0.00806093 0.99966269 0.35320256] [ 0. 0. 0. 1. ]] SLAMing on 51.751652532 meters Centerline goodness : 0.733316 Centerline is valid? [False, False] Translation: X:-1.53, Y:-2.32, Z:0.35 [[ 0.9997014 -0.00627548 0.02361613 -1.52891735] [ 0.00610937 0.99995614 0.00709943 -2.32136671] [-0.02365964 -0.00695303 0.99969589 0.3541809 ] [ 0. 0. 0. 1. ]] SLAMing on 51.781652532 meters Centerline goodness : 0.734561 Centerline is valid? [False, False] Translation: X:-1.53, Y:-2.32, Z:0.36 [[ 0.99970225 -0.00572564 0.02371972 -1.53021766] [ 0.00553477 0.99995184 0.00810475 -2.32433448] [-0.02376499 -0.00797106 0.99968579 0.35550899] [ 0. 0. 0. 1. ]] SLAMing on 51.811652532 meters Centerline goodness : 0.735269 Centerline is valid? [False, False] Translation: X:-1.53, Y:-2.33, Z:0.36 [[ 0.99970729 -0.00387237 0.02388172 -1.53311411] [ 0.00361322 0.99993423 0.01088523 -2.32999706] [-0.0239223 -0.01079576 0.99965553 0.35877831] [ 0. 0. 0. 1. ]] SLAMing on 51.841652532 meters Centerline goodness : 0.734031 Centerline is valid? [False, False] Translation: X:-1.53, Y:-2.33, Z:0.36 [[ 0.99971177 -0.00386929 0.0236939 -1.5331457 ] [ 0.00360509 0.99993097 0.01118325 -2.33140108] [-0.02373554 -0.0110946 0.99965671 0.35948981] [ 0. 0. 0. 1. ]] SLAMing on 51.871652532 meters Centerline goodness : 0.733625 Centerline is valid? [False, False] Translation: X:-1.53, Y:-2.33, Z:0.36 [[ 0.99971415 -0.00435534 0.02350834 -1.53237616] [ 0.00410771 0.99993568 0.01057174 -2.33017533] [-0.02355287 -0.01047216 0.99966774 0.35906002] [ 0. 0. 0. 1. ]] SLAMing on 51.901652532 meters Centerline goodness : 0.734017 Centerline is valid? [False, False] Translation: X:-1.53, Y:-2.34, Z:0.36 [[ 0.99994315 -0.00422621 0.00978945 -1.53086303] [ 0.00412292 0.99993587 0.01054754 -2.33838172] [-0.00983339 -0.01050658 0.99989645 0.36172166] [ 0. 0. 0. 1. ]] SLAMing on 51.931652532 meters Centerline goodness : 0.733978 Centerline is valid? [False, False] Translation: X:-1.53, Y:-2.34, Z:0.36 [[ 0.99994292 -0.00392866 0.00993552 -1.53132274] [ 0.00381938 0.99993228 0.0109932 -2.33984589] [-0.00997804 -0.01095463 0.99989021 0.36171837] [ 0. 0. 0. 1. ]] SLAMing on 51.961652532 meters Centerline goodness : 0.734728 Centerline is valid? [False, False] Translation: X:-1.53, Y:-2.33, Z:0.37 [[ 0.99995625 -0.00358031 0.00864223 -1.52570455] [ 0.0035547 0.99998925 0.00297626 -2.33412307] [-0.00865279 -0.00294541 0.99995823 0.3679916 ] [ 0. 0. 0. 1. ]] SLAMing on 51.991652531999996 meters Centerline goodness : 0.736082 Centerline is valid? [False, False] Translation: X:-1.53, Y:-2.34, Z:0.37 [[ 0.99995971 -0.00342614 0.00829647 -1.52543299] [ 0.00339718 0.9999881 0.00350191 -2.33603523] [-0.00830837 -0.00347358 0.99995945 0.36877184] [ 0. 0. 0. 1. ]] SLAMing on 52.021652532 meters Centerline goodness : 0.736630 Centerline is valid? [False, False] Translation: X:-1.53, Y:-2.34, Z:0.37 [[ 0.99996277 -0.00301327 0.0080856 -1.52621105] [ 0.00297743 0.99998571 0.00444042 -2.33888058] [-0.00809886 -0.00441618 0.99995745 0.37048567] [ 0. 0. 0. 1. ]] SLAMing on 52.051652532 meters Centerline goodness : 0.737453 Centerline is valid? [False, False] Translation: X:-1.53, Y:-2.34, Z:0.37 [[ 9.99960724e-01 -1.99953035e-03 8.63434691e-03 -1.52798556e+00] [ 1.95022110e-03 9.99981765e-01 5.71547456e-03 -2.34213402e+00] [-8.64561773e-03 -5.69841119e-03 9.99946389e-01 3.70828843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.081652532 meters Centerline goodness : 0.736839 Centerline is valid? [False, False] Translation: X:-1.53, Y:-2.34, Z:0.37 [[ 9.99960771e-01 -2.00695826e-03 8.62724933e-03 -1.52837604e+00] [ 1.95618788e-03 9.99980745e-01 5.88930193e-03 -2.34299337e+00] [-8.63890279e-03 -5.87219438e-03 9.99945442e-01 3.71304333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.111652532 meters Centerline goodness : 0.737743 Centerline is valid? [False, False] Translation: X:-1.53, Y:-2.34, Z:0.37 [[ 9.99955559e-01 -2.11735593e-03 9.18678372e-03 -1.52969607e+00] [ 2.06680172e-03 9.99982690e-01 5.50893737e-03 -2.34150376e+00] [-9.19828907e-03 -5.48970528e-03 9.99942626e-01 3.71161338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.141652532 meters Centerline goodness : 0.737725 Centerline is valid? [False, False] Translation: X:-1.53, Y:-2.34, Z:0.37 [[ 9.99951988e-01 -2.11451641e-03 9.56817258e-03 -1.53099206e+00] [ 2.06345326e-03 9.99983594e-01 5.34350004e-03 -2.34078644e+00] [-9.57931453e-03 -5.32350001e-03 9.99939947e-01 3.71509613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.171652531999996 meters Centerline goodness : 0.736997 Centerline is valid? [False, False] Translation: X:-1.53, Y:-2.34, Z:0.37 [[ 9.99947615e-01 -1.65259539e-03 1.01012805e-02 -1.53253733e+00] [ 1.59418100e-03 9.99981978e-01 5.78818800e-03 -2.34170205e+00] [-1.01106640e-02 -5.77178152e-03 9.99932228e-01 3.71650012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.201652532 meters Centerline goodness : 0.736486 Centerline is valid? [False, False] Translation: X:-1.53, Y:-2.34, Z:0.37 [[ 9.99942977e-01 -1.47670855e-03 1.05764601e-02 -1.53385194e+00] [ 1.41521807e-03 9.99982068e-01 5.81902577e-03 -2.34154087e+00] [-1.05848635e-02 -5.80372596e-03 9.99927136e-01 3.71743942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.231652532 meters Centerline goodness : 0.736005 Centerline is valid? [False, False] Translation: X:-1.54, Y:-2.34, Z:0.37 [[ 9.99935228e-01 -8.15780026e-04 1.13522442e-02 -1.53557986e+00] [ 7.45041563e-04 9.99980290e-01 6.23406616e-03 -2.34208321e+00] [-1.13571061e-02 -6.22520447e-03 9.99916128e-01 3.71441714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.261652532 meters Centerline goodness : 0.736346 Centerline is valid? [False, False] Translation: X:-1.53, Y:-2.34, Z:0.37 [[ 9.99939100e-01 -1.24099634e-03 1.09661796e-02 -1.53453613e+00] [ 1.17620250e-03 9.99981826e-01 5.91299059e-03 -2.34186471e+00] [-1.09733183e-02 -5.89973204e-03 9.99922387e-01 3.71368563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.291652532 meters Centerline goodness : 0.735821 Centerline is valid? [False, False] Translation: X:-1.53, Y:-2.34, Z:0.37 [[ 9.99939505e-01 -1.39806427e-03 1.09101915e-02 -1.53455255e+00] [ 1.33466203e-03 9.99982194e-01 5.81640420e-03 -2.34195601e+00] [-1.09181289e-02 -5.80149092e-03 9.99923566e-01 3.71550717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.321652532 meters Centerline goodness : 0.734964 Centerline is valid? [False, False] Translation: X:-1.54, Y:-2.34, Z:0.37 [[ 9.99937496e-01 -9.72898960e-04 1.11380944e-02 -1.53527408e+00] [ 9.00882290e-04 9.99978670e-01 6.46899047e-03 -2.34415798e+00] [-1.11441505e-02 -6.45855202e-03 9.99917044e-01 3.71657026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.351652532 meters Centerline goodness : 0.737705 Centerline is valid? [False, False] Translation: X:-1.54, Y:-2.34, Z:0.37 [[ 9.99937337e-01 -1.82084861e-03 1.10456857e-02 -1.53553873e+00] [ 1.76073179e-03 9.99983599e-01 5.44984681e-03 -2.34193775e+00] [-1.10554279e-02 -5.43005682e-03 9.99924143e-01 3.72312373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.381652532 meters Centerline goodness : 0.738193 Centerline is valid? [False, False] Translation: X:-1.53, Y:-2.34, Z:0.37 [[ 9.99941855e-01 1.23604716e-03 1.07125702e-02 -1.53385122e+00] [-1.32522834e-03 9.99964495e-01 8.32181368e-03 -2.33939118e+00] [-1.07019037e-02 -8.33552641e-03 9.99907990e-01 3.71166292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.411652532 meters Centerline goodness : 0.736543 Centerline is valid? [False, False] Translation: X:-1.54, Y:-2.34, Z:0.37 [[ 9.99931893e-01 1.88302019e-03 1.15179780e-02 -1.53555059e+00] [-1.98393657e-03 9.99959693e-01 8.75649894e-03 -2.33997715e+00] [-1.15010251e-02 -8.77875350e-03 9.99895324e-01 3.70508813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.441652532 meters Centerline goodness : 0.736543 Centerline is valid? [False, False] Translation: X:-1.54, Y:-2.34, Z:0.37 [[ 9.99931893e-01 1.88302019e-03 1.15179780e-02 -1.53555059e+00] [-1.98393657e-03 9.99959693e-01 8.75649894e-03 -2.33997715e+00] [-1.15010251e-02 -8.77875350e-03 9.99895324e-01 3.70508813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.471652532 meters Centerline goodness : 0.735885 Centerline is valid? [False, False] Translation: X:-1.54, Y:-2.34, Z:0.37 [[ 0.99991455 0.0026767 0.01279568 -1.53794593] [-0.0027897 0.9999572 0.00882121 -2.33840198] [-0.01277152 -0.00885615 0.99987922 0.36928712] [ 0. 0. 0. 1. ]] SLAMing on 52.501652532 meters Centerline goodness : 0.735285 Centerline is valid? [False, False] Translation: X:-1.54, Y:-2.34, Z:0.37 [[ 0.99990351 0.00324701 0.01350638 -1.53948267] [-0.00337108 0.99995224 0.00917346 -2.33890464] [-0.01347595 -0.00921811 0.9998667 0.36882141] [ 0. 0. 0. 1. ]] SLAMing on 52.531652532 meters Centerline goodness : 0.733850 Centerline is valid? [False, False] Translation: X:-1.54, Y:-2.34, Z:0.37 [[ 0.99989446 0.0035951 0.01407662 -1.54079019] [-0.0037275 0.99994896 0.00939095 -2.3393848 ] [-0.01404214 -0.00944242 0.99985682 0.36855693] [ 0. 0. 0. 1. ]] SLAMing on 52.561652532 meters Centerline goodness : 0.734016 Centerline is valid? [False, False] Translation: X:-1.54, Y:-2.34, Z:0.37 [[ 0.99987838 0.00437404 0.01496968 -1.54343175] [-0.00452458 0.99993939 0.0100369 -2.34084202] [-0.01492487 -0.01010341 0.99983757 0.368962 ] [ 0. 0. 0. 1. ]] SLAMing on 52.591652532 meters Centerline goodness : 0.735368 Centerline is valid? [False, False] Translation: X:-1.54, Y:-2.33, Z:0.37 [[ 0.99975445 0.0143573 0.01687948 -1.53690108] [-0.01447447 0.99987184 0.00684016 -2.3310454 ] [-0.01677911 -0.00708281 0.99983413 0.37420048] [ 0. 0. 0. 1. ]] SLAMing on 52.621652532 meters Centerline goodness : 0.735730 Centerline is valid? [False, False] Translation: X:-1.54, Y:-2.33, Z:0.37 [[ 0.99968777 0.01796107 0.01737133 -1.53694351] [-0.01813471 0.99978663 0.00989076 -2.32786012] [-0.01718997 -0.01020269 0.99980018 0.37269878] [ 0. 0. 0. 1. ]] SLAMing on 52.651652532 meters Centerline goodness : 0.732857 Centerline is valid? [False, False] Translation: X:-1.54, Y:-2.32, Z:0.37 [[ 0.99961815 0.02128111 0.01762552 -1.53666782] [-0.02150629 0.99968822 0.01268637 -2.32410716] [-0.01735005 -0.01306058 0.99976417 0.37162722] [ 0. 0. 0. 1. ]] SLAMing on 52.681652532 meters Centerline goodness : 0.732714 Centerline is valid? [False, False] Translation: X:-1.54, Y:-2.32, Z:0.37 [[ 0.99945505 0.02678997 0.01928468 -1.54072154] [-0.02712692 0.99948006 0.01742816 -2.32324794] [-0.01880776 -0.0179418 0.99966212 0.37164257] [ 0. 0. 0. 1. ]] SLAMing on 52.711652532 meters Centerline goodness : 0.734090 Centerline is valid? [False, False] Translation: X:-1.54, Y:-2.33, Z:0.37 [[ 0.99940985 0.02770244 0.02031085 -1.54351878] [-0.02807508 0.99943834 0.01829729 -2.32537988] [-0.01979257 -0.01885672 0.99962627 0.37187491] [ 0. 0. 0. 1. ]] SLAMing on 52.741652531999996 meters Centerline goodness : 0.731928 Centerline is valid? [False, False] Translation: X:-1.54, Y:-2.32, Z:0.37 [[ 0.999412 0.02749097 0.02049167 -1.54348507] [-0.02785813 0.99945245 0.01785283 -2.32435392] [-0.01998966 -0.0184132 0.99963062 0.37118259] [ 0. 0. 0. 1. ]] SLAMing on 52.771652532 meters Centerline goodness : 0.731698 Centerline is valid? [False, False] Translation: X:-1.54, Y:-2.32, Z:0.37 [[ 0.99941493 0.02735631 0.02052874 -1.54280624] [-0.02771929 0.99946062 0.0176101 -2.32421875] [-0.02003592 -0.01816884 0.99963416 0.3700424 ] [ 0. 0. 0. 1. ]] SLAMing on 52.801652532 meters Centerline goodness : 0.732243 Centerline is valid? [False, False] Translation: X:-1.54, Y:-2.32, Z:0.37 [[ 0.99941273 0.02747705 0.02047474 -1.54233773] [-0.02783927 0.99945709 0.01762104 -2.32434313] [-0.01997945 -0.0181807 0.99963508 0.36948486] [ 0. 0. 0. 1. ]] SLAMing on 52.831652532 meters Centerline goodness : 0.734153 Centerline is valid? [False, False] Translation: X:-1.54, Y:-2.33, Z:0.37 [[ 0.99938252 0.02812391 0.0210622 -1.54416987] [-0.02851353 0.99942344 0.01843258 -2.32665832] [-0.02053166 -0.01902175 0.99960824 0.36982348] [ 0. 0. 0. 1. ]] SLAMing on 52.861652532 meters Centerline goodness : 0.732058 Centerline is valid? [False, False] Translation: X:-1.55, Y:-2.33, Z:0.37 [[ 0.99932727 0.02924492 0.0221299 -1.54703625] [-0.02967702 0.99937017 0.01945603 -2.32874167] [-0.02154697 -0.0200997 0.99956577 0.36985662] [ 0. 0. 0. 1. ]] SLAMing on 52.891652532 meters Centerline goodness : 0.730021 Centerline is valid? [False, False] Translation: X:-1.55, Y:-2.33, Z:0.37 [[ 0.99926556 0.03064167 0.02300938 -1.54901754] [-0.03112273 0.99929812 0.02084825 -2.33166767] [-0.0223544 -0.02154905 0.99951784 0.36943566] [ 0. 0. 0. 1. ]] SLAMing on 52.921652531999996 meters Centerline goodness : 0.731444 Centerline is valid? [False, False] Translation: X:-1.55, Y:-2.33, Z:0.37 [[ 0.99945124 0.02443721 0.02236155 -1.54819147] [-0.02477537 0.99958091 0.01497266 -2.33038597] [-0.02198629 -0.01551846 0.99963782 0.37017343] [ 0. 0. 0. 1. ]] SLAMing on 52.951652532 meters Centerline goodness : 0.732776 Centerline is valid? [False, False] Translation: X:-1.55, Y:-2.33, Z:0.37 [[ 0.99947271 0.02393375 0.02194238 -1.54769019] [-0.02425798 0.99959866 0.01463123 -2.33031436] [-0.02158339 -0.0151558 0.99965217 0.37086155] [ 0. 0. 0. 1. ]] SLAMing on 52.981652532 meters Centerline goodness : 0.732359 Centerline is valid? [False, False] Translation: X:-1.55, Y:-2.33, Z:0.37 [[ 0.99945609 0.02442743 0.02215449 -1.54904701] [-0.02477451 0.99957244 0.01552946 -2.33299068] [-0.02176567 -0.01606988 0.99963394 0.3719791 ] [ 0. 0. 0. 1. ]] SLAMing on 53.011652532 meters Centerline goodness : 0.735081 Centerline is valid? [False, False] Translation: X:-1.55, Y:-2.33, Z:0.37 [[ 0.99945028 0.02435286 0.02249622 -1.55025535] [-0.02470161 0.9995769 0.0153573 -2.33261188] [-0.02211271 -0.01590455 0.99962897 0.37238784] [ 0. 0. 0. 1. ]] SLAMing on 53.041652532 meters Centerline goodness : 0.732236 Centerline is valid? [False, False] Translation: X:-1.55, Y:-2.33, Z:0.37 [[ 0.99943312 0.02453769 0.02305098 -1.55125677] [-0.02489288 0.99957379 0.0152505 -2.33208094] [-0.02266694 -0.01581566 0.99961796 0.37173901] [ 0. 0. 0. 1. ]] SLAMing on 53.071652532 meters Centerline goodness : 0.734015 Centerline is valid? [False, False] Translation: X:-1.55, Y:-2.33, Z:0.37 [[ 0.99941822 0.024788 0.02342601 -1.55189076] [-0.02515147 0.99956579 0.01535029 -2.33227158] [-0.02303534 -0.01593056 0.99960772 0.37116256] [ 0. 0. 0. 1. ]] SLAMing on 53.101652532 meters Centerline goodness : 0.732903 Centerline is valid? [False, False] Translation: X:-1.55, Y:-2.33, Z:0.37 [[ 0.99952409 0.02022792 0.02329013 -1.55145868] [-0.02047634 0.99973543 0.01047794 -2.33083912] [-0.02307202 -0.01094985 0.99967384 0.37076723] [ 0. 0. 0. 1. ]] SLAMing on 53.131652532 meters Centerline goodness : 0.733317 Centerline is valid? [False, False] Translation: X:-1.55, Y:-2.33, Z:0.37 [[ 0.99953104 0.01983979 0.02332546 -1.55121335] [-0.02007312 0.99975037 0.00981208 -2.32918443] [-0.02312497 -0.01027569 0.99967977 0.37025357] [ 0. 0. 0. 1. ]] SLAMing on 53.161652532 meters Centerline goodness : 0.732285 Centerline is valid? [False, False] Translation: X:-1.55, Y:-2.33, Z:0.37 [[ 0.99949493 0.02065128 0.02415375 -1.55297472] [-0.0209092 0.9997265 0.01047478 -2.33054981] [-0.02393082 -0.01097452 0.99965338 0.36965238] [ 0. 0. 0. 1. ]] SLAMing on 53.191652532 meters Centerline goodness : 0.728812 Centerline is valid? [False, False] Translation: X:-1.56, Y:-2.33, Z:0.37 [[ 0.99944369 0.02173965 0.02529241 -1.55596135] [-0.02202797 0.99969487 0.01117728 -2.33127073] [-0.0250417 -0.0117282 0.99961761 0.36962513] [ 0. 0. 0. 1. ]] SLAMing on 53.221652532 meters Centerline goodness : 0.728835 Centerline is valid? [False, False] Translation: X:-1.56, Y:-2.33, Z:0.37 [[ 0.99919424 0.03036433 0.02624641 -1.55663018] [-0.03087537 0.99933709 0.01928991 -2.32920043] [-0.02564329 -0.02008474 0.99946937 0.36776782] [ 0. 0. 0. 1. ]] SLAMing on 53.251652532 meters Centerline goodness : 0.725688 Centerline is valid? [False, False] Translation: X:-1.56, Y:-2.33, Z:0.37 [[ 0.99917658 0.03036792 0.02690625 -1.55781106] [-0.03088191 0.99934438 0.01889779 -2.32790944] [-0.02631472 -0.01971315 0.99945932 0.36701444] [ 0. 0. 0. 1. ]] SLAMing on 53.281652532 meters Centerline goodness : 0.725871 Centerline is valid? [False, False] Translation: X:-1.56, Y:-2.33, Z:0.37 [[ 0.9991218 0.03105904 0.02812398 -1.56057182] [-0.03159983 0.99932013 0.01899281 -2.3272647 ] [-0.02751496 -0.01986484 0.99942399 0.36642414] [ 0. 0. 0. 1. ]] SLAMing on 53.311652532 meters Centerline goodness : 0.726128 Centerline is valid? [False, False] Translation: X:-1.56, Y:-2.33, Z:0.37 [[ 0.99900243 0.03350736 0.0295195 -1.56411096] [-0.03413607 0.99919533 0.02105763 -2.32987234] [-0.02879016 -0.0220443 0.99934237 0.36656279] [ 0. 0. 0. 1. ]] SLAMing on 53.341652532 meters Centerline goodness : 0.724940 Centerline is valid? [False, False] Translation: X:-1.57, Y:-2.33, Z:0.37 [[ 0.99893001 0.03472991 0.03053947 -1.56686536] [-0.03541741 0.99912452 0.02226649 -2.33273584] [-0.02973942 -0.0233243 0.99928552 0.36676022] [ 0. 0. 0. 1. ]] SLAMing on 53.371652532 meters Centerline goodness : 0.725884 Centerline is valid? [False, False] Translation: X:-1.57, Y:-2.34, Z:0.37 [[ 0.99880158 0.03731529 0.03166987 -1.56962072] [-0.03810486 0.99896831 0.02470493 -2.33627781] [-0.03071533 -0.0258821 0.99919302 0.36678619] [ 0. 0. 0. 1. ]] SLAMing on 53.401652532 meters Centerline goodness : 0.725917 Centerline is valid? [False, False] Translation: X:-1.57, Y:-2.34, Z:0.37 [[ 0.99870021 0.03885412 0.03298849 -1.57284486] [-0.03971823 0.99887375 0.02595572 -2.33834877] [-0.03194285 -0.02723223 0.99911864 0.36653299] [ 0. 0. 0. 1. ]] SLAMing on 53.431652532 meters Centerline goodness : 0.721949 Centerline is valid? [False, False] Translation: X:-1.58, Y:-2.34, Z:0.37 [[ 0.99842184 0.0440964 0.03477562 -1.57608267] [-0.04516367 0.99851309 0.0305262 -2.33798285] [-0.03337782 -0.03204862 0.99892883 0.3654708 ] [ 0. 0. 0. 1. ]] SLAMing on 53.461652532 meters Centerline goodness : 0.726724 Centerline is valid? [False, False] Translation: X:-1.58, Y:-2.34, Z:0.37 [[ 0.99832306 0.04527088 0.03607779 -1.57946491] [-0.04641063 0.99842862 0.031406 -2.33964945] [-0.03459932 -0.03302773 0.99885537 0.36553489] [ 0. 0. 0. 1. ]] SLAMing on 53.491652531999996 meters Centerline goodness : 0.722042 Centerline is valid? [False, False] Translation: X:-1.58, Y:-2.34, Z:0.36 [[ 0.99812037 0.04923825 0.03648728 -1.57944804] [-0.05052376 0.99810273 0.03518924 -2.33847606] [-0.0346854 -0.03696658 0.99871437 0.36457966] [ 0. 0. 0. 1. ]] SLAMing on 53.521652532 meters Centerline goodness : 0.722777 Centerline is valid? [False, False] Translation: X:-1.58, Y:-2.34, Z:0.36 [[ 0.997888 0.05340251 0.03698246 -1.57957597] [-0.05484564 0.99772612 0.03917331 -2.33762399] [-0.03480641 -0.0411189 0.99854782 0.3634677 ] [ 0. 0. 0. 1. ]] SLAMing on 53.551652532 meters Centerline goodness : 0.723192 Centerline is valid? [False, False] Translation: X:-1.59, Y:-2.34, Z:0.37 [[ 0.99686522 0.0659878 0.04365019 -1.58694709] [-0.06748789 0.99714626 0.03383366 -2.34059529] [-0.04129301 -0.03667346 0.99847381 0.3661395 ] [ 0. 0. 0. 1. ]] SLAMing on 53.581652532 meters Centerline goodness : 0.719999 Centerline is valid? [False, False] Translation: X:-1.59, Y:-2.34, Z:0.37 [[ 0.99658927 0.06899863 0.04526595 -1.59019422] [-0.07067266 0.99683207 0.03648574 -2.34369223] [-0.04260508 -0.03956036 0.99830846 0.36549061] [ 0. 0. 0. 1. ]] SLAMing on 53.611652532 meters Centerline goodness : 0.719712 Centerline is valid? [False, False] Translation: X:-1.59, Y:-2.35, Z:0.36 [[ 0.99631948 0.0717981 0.04682443 -1.5934079 ] [-0.07363094 0.99653566 0.03866722 -2.34590177] [-0.04388598 -0.04197263 0.99815446 0.36483709] [ 0. 0. 0. 1. ]] SLAMing on 53.641652532 meters Centerline goodness : 0.724947 Centerline is valid? [False, False] Translation: X:-1.60, Y:-2.35, Z:0.37 [[ 0.99498255 0.08595297 0.0512036 -1.59940646] [-0.08777973 0.99554017 0.03456137 -2.35138276] [-0.04800459 -0.0388826 0.99809003 0.36846437] [ 0. 0. 0. 1. ]] SLAMing on 53.671652531999996 meters Centerline goodness : 0.725413 Centerline is valid? [False, False] Translation: X:-1.60, Y:-2.35, Z:0.37 [[ 0.99457868 0.0901959 0.05174891 -1.59989316] [-0.09225184 0.99497884 0.03881639 -2.3511275 ] [-0.04798799 -0.04337988 0.99790548 0.3682873 ] [ 0. 0. 0. 1. ]] SLAMing on 53.701652532 meters Centerline goodness : 0.723775 Centerline is valid? [False, False] Translation: X:-1.60, Y:-2.35, Z:0.37 [[ 0.99417241 0.09424057 0.05234437 -1.60043115] [-0.09652504 0.99440238 0.04297462 -2.35101666] [-0.04800141 -0.04777672 0.99770399 0.36810815] [ 0. 0. 0. 1. ]] SLAMing on 53.731652532 meters Centerline goodness : 0.723164 Centerline is valid? [False, False] Translation: X:-1.60, Y:-2.35, Z:0.37 [[ 0.99384891 0.09685619 0.0536956 -1.60369045] [-0.09933085 0.99401334 0.04550682 -2.35437703] [-0.04896653 -0.05056054 0.99751988 0.36841126] [ 0. 0. 0. 1. ]] SLAMing on 53.761652532 meters Centerline goodness : 0.723933 Centerline is valid? [False, False] Translation: X:-1.60, Y:-2.35, Z:0.37 [[ 0.9937577 0.09727041 0.054627 -1.60431777] [-0.09976402 0.99399578 0.04493906 -2.35217019] [-0.04992777 -0.05010835 0.99749505 0.36584835] [ 0. 0. 0. 1. ]] SLAMing on 53.791652532 meters Centerline goodness : 0.724651 Centerline is valid? [False, False] Translation: X:-1.60, Y:-2.35, Z:0.37 [[ 0.99375478 0.09730195 0.05462391 -1.60411255] [-0.09979124 0.99399681 0.04485587 -2.35211338] [-0.04993143 -0.05002673 0.99749896 0.36520014] [ 0. 0. 0. 1. ]] SLAMing on 53.821652532 meters Centerline goodness : 0.723887 Centerline is valid? [False, False] Translation: X:-1.60, Y:-2.35, Z:0.37 [[ 0.99382417 0.09670774 0.05441622 -1.60362081] [-0.09914912 0.99409456 0.04410744 -2.35048326] [-0.04982934 -0.04923036 0.99754369 0.36508779] [ 0. 0. 0. 1. ]] SLAMing on 53.851652532 meters Centerline goodness : 0.720630 Centerline is valid? [False, False] Translation: X:-1.61, Y:-2.36, Z:0.36 [[ 0.99482993 0.08723102 0.05200155 -1.61175624] [-0.08972992 0.99481711 0.04782734 -2.36428864] [-0.04756 -0.05224617 0.99750107 0.3609754 ] [ 0. 0. 0. 1. ]] SLAMing on 53.881652532 meters Centerline goodness : 0.719564 Centerline is valid? [False, False] Translation: X:-1.61, Y:-2.37, Z:0.36 [[ 0.99520498 0.08330049 0.05126472 -1.6119267 ] [-0.08560712 0.99533142 0.04457331 -2.36850609] [-0.0473124 -0.04874821 0.99768991 0.3625051 ] [ 0. 0. 0. 1. ]] SLAMing on 53.911652532 meters Centerline goodness : 0.721004 Centerline is valid? [False, False] Translation: X:-1.61, Y:-2.37, Z:0.36 [[ 0.99557723 0.07934241 0.05030675 -1.61190237] [-0.08146491 0.99580584 0.04164382 -2.37379262] [-0.04679164 -0.04555787 0.99786523 0.36471541] [ 0. 0. 0. 1. ]] SLAMing on 53.941652532 meters Centerline goodness : 0.721217 Centerline is valid? [False, False] Translation: X:-1.60, Y:-2.37, Z:0.37 [[ 0.99661065 0.06771126 0.0467162 -1.60180778] [-0.06953254 0.9968354 0.03852817 -2.37362026] [-0.04395957 -0.04164588 0.9981649 0.36948318] [ 0. 0. 0. 1. ]] SLAMing on 53.971652532 meters Centerline goodness : 0.719603 Centerline is valid? [False, False] Translation: X:-1.60, Y:-2.38, Z:0.37 [[ 0.99699315 0.06275729 0.0454552 -1.60050425] [-0.06434867 0.99733317 0.0344353 -2.37667336] [-0.04317291 -0.03725674 0.99837269 0.3711016 ] [ 0. 0. 0. 1. ]] SLAMing on 54.001652532 meters Centerline goodness : 0.719088 Centerline is valid? [False, False] Translation: X:-1.60, Y:-2.38, Z:0.37 [[ 0.99735291 0.05766683 0.04429128 -1.59870671] [-0.05902153 0.99780847 0.02991191 -2.37836887] [-0.04246929 -0.03244686 0.99857076 0.37177979] [ 0. 0. 0. 1. ]] SLAMing on 54.031652532 meters Centerline goodness : 0.721606 Centerline is valid? [False, False] Translation: X:-1.60, Y:-2.38, Z:0.37 [[ 0.99770813 0.05230634 0.04292472 -1.59654154] [-0.05342073 0.99825311 0.02523795 -2.37983573] [-0.04152963 -0.02747318 0.99875949 0.37267196] [ 0. 0. 0. 1. ]] SLAMing on 54.061652532 meters Centerline goodness : 0.721730 Centerline is valid? [False, False] Translation: X:-1.59, Y:-2.38, Z:0.37 [[ 0.99869369 0.03564281 0.03661295 -1.58959903] [-0.03664773 0.9989593 0.02715262 -2.38082062] [-0.03560705 -0.02845893 0.99896057 0.37044343] [ 0. 0. 0. 1. ]] SLAMing on 54.091652532 meters Centerline goodness : 0.719496 Centerline is valid? [False, False] Translation: X:-1.59, Y:-2.38, Z:0.37 [[ 0.99893919 0.02962679 0.03525249 -1.58741679] [-0.03041014 0.99929765 0.02189611 -2.38156785] [-0.03457902 -0.02294492 0.99913854 0.37163665] [ 0. 0. 0. 1. ]] SLAMing on 54.121652532 meters Centerline goodness : 0.721271 Centerline is valid? [False, False] Translation: X:-1.59, Y:-2.38, Z:0.37 [[ 0.99911614 0.02458962 0.03409229 -1.58548981] [-0.02520234 0.99952636 0.01766054 -2.38369901] [-0.03364188 -0.01850414 0.99926264 0.37264337] [ 0. 0. 0. 1. ]] SLAMing on 54.151652532 meters Centerline goodness : 0.715690 Centerline is valid? [False, False] Translation: X:-1.58, Y:-2.38, Z:0.38 [[ 0.99949585 0.01244116 0.02921074 -1.57591194] [-0.01280597 0.99984191 0.01233525 -2.38342045] [-0.02905266 -0.0127031 0.99949716 0.37969017] [ 0. 0. 0. 1. ]] SLAMing on 54.181652532 meters Centerline goodness : 0.717893 Centerline is valid? [False, False] Translation: X:-1.58, Y:-2.39, Z:0.38 [[ 0.99954945 0.00843546 0.02880528 -1.57625431] [-0.00870186 0.99992041 0.00913541 -2.38729699] [-0.02872592 -0.00938195 0.9995433 0.38149499] [ 0. 0. 0. 1. ]] SLAMing on 54.211652532 meters Centerline goodness : 0.717223 Centerline is valid? [False, False] Translation: X:-1.58, Y:-2.39, Z:0.38 [[ 0.99958931 0.00451594 0.02829889 -1.57621014] [-0.00468924 0.99997064 0.0060607 -2.39160564] [-0.02827069 -0.00619091 0.99958113 0.38314824] [ 0. 0. 0. 1. ]] SLAMing on 54.241652531999996 meters Centerline goodness : 0.717720 Centerline is valid? [False, False] Translation: X:-1.58, Y:-2.40, Z:0.39 [[ 9.99614858e-01 -1.73221851e-03 2.76972202e-02 -1.57761291e+00] [ 1.69703451e-03 9.99997723e-01 1.29376384e-03 -2.40057986e+00] [-2.76993982e-02 -1.24626242e-03 9.99615521e-01 3.86915750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.271652532 meters Centerline goodness : 0.718522 Centerline is valid? [False, False] Translation: X:-1.59, Y:-2.42, Z:0.38 [[ 0.99965517 -0.00772894 0.02509596 -1.58821039] [ 0.00749701 0.99992844 0.00932288 -2.41705941] [-0.02516622 -0.00913152 0.99964157 0.38453309] [ 0. 0. 0. 1. ]] SLAMing on 54.301652532 meters Centerline goodness : 0.718089 Centerline is valid? [False, False] Translation: X:-1.59, Y:-2.42, Z:0.39 [[ 0.99966976 -0.00882585 0.02413463 -1.5866896 ] [ 0.0086128 0.99992315 0.00891737 -2.41783801] [-0.02421148 -0.00870656 0.99966895 0.38590559] [ 0. 0. 0. 1. ]] SLAMing on 54.331652532 meters Centerline goodness : 0.718847 Centerline is valid? [False, False] Translation: X:-1.59, Y:-2.42, Z:0.39 [[ 0.99967981 -0.00967911 0.02337934 -1.58531047] [ 0.00948404 0.9999194 0.00844037 -2.41779966] [-0.02345915 -0.00821594 0.99969104 0.38663479] [ 0. 0. 0. 1. ]] SLAMing on 54.361652532 meters Centerline goodness : 0.719221 Centerline is valid? [False, False] Translation: X:-1.58, Y:-2.42, Z:0.39 [[ 0.99968379 -0.01072651 0.02274361 -1.58366938] [ 0.01056445 0.99991803 0.00723392 -2.41527485] [-0.02281934 -0.00699136 0.99971516 0.38663457] [ 0. 0. 0. 1. ]] SLAMing on 54.391652532 meters Centerline goodness : 0.719221 Centerline is valid? [False, False] Translation: X:-1.58, Y:-2.42, Z:0.39 [[ 0.99968379 -0.01072651 0.02274361 -1.58366938] [ 0.01056445 0.99991803 0.00723392 -2.41527485] [-0.02281934 -0.00699136 0.99971516 0.38663457] [ 0. 0. 0. 1. ]] SLAMing on 54.421652531999996 meters Centerline goodness : 0.718437 Centerline is valid? [False, False] Translation: X:-1.58, Y:-2.42, Z:0.39 [[ 0.99969097 -0.00997788 0.02276834 -1.58355296] [ 0.00978946 0.99991703 0.00837241 -2.41849339] [-0.02284999 -0.00814693 0.99970571 0.38633091] [ 0. 0. 0. 1. ]] SLAMing on 54.451652532 meters Centerline goodness : 0.719822 Centerline is valid? [False, False] Translation: X:-1.58, Y:-2.42, Z:0.39 [[ 0.99969479 -0.01142268 0.02190558 -1.58166201] [ 0.01126973 0.99991134 0.00709303 -2.41693391] [-0.02198466 -0.006844 0.99973488 0.38670411] [ 0. 0. 0. 1. ]] SLAMing on 54.481652532 meters Centerline goodness : 0.723358 Centerline is valid? [False, False] Translation: X:-1.58, Y:-2.42, Z:0.39 [[ 0.99970751 -0.01184889 0.02108309 -1.58043053] [ 0.01169935 0.99990562 0.00720228 -2.41828662] [-0.02116644 -0.00695352 0.99975178 0.38790524] [ 0. 0. 0. 1. ]] SLAMing on 54.511652532 meters Centerline goodness : 0.721891 Centerline is valid? [False, False] Translation: X:-1.58, Y:-2.42, Z:0.39 [[ 0.9997027 -0.01233553 0.02103199 -1.57965105] [ 0.01220151 0.9999045 0.006489 -2.41647449] [-0.02111003 -0.00623045 0.99975774 0.38703742] [ 0. 0. 0. 1. ]] SLAMing on 54.541652532 meters Centerline goodness : 0.721467 Centerline is valid? [False, False] Translation: X:-1.58, Y:-2.41, Z:0.39 [[ 0.99969891 -0.01261594 0.02104566 -1.5789573 ] [ 0.01249386 0.99990441 0.0059224 -2.41485418] [-0.02111836 -0.00565767 0.99976097 0.38591583] [ 0. 0. 0. 1. ]] SLAMing on 54.571652532 meters Centerline goodness : 0.724030 Centerline is valid? [False, False] Translation: X:-1.58, Y:-2.42, Z:0.39 [[ 0.99969658 -0.01160751 0.0217259 -1.58067751] [ 0.01146683 0.99991255 0.00658835 -2.41554929] [-0.02180048 -0.00633722 0.99974226 0.38573417] [ 0. 0. 0. 1. ]] SLAMing on 54.601652532 meters Centerline goodness : 0.726709 Centerline is valid? [False, False] Translation: X:-1.58, Y:-2.42, Z:0.39 [[ 0.99974139 -0.00766579 0.02141014 -1.58011293] [ 0.00743717 0.9999147 0.01073735 -2.41570222] [-0.02149062 -0.01057535 0.99971312 0.38586606] [ 0. 0. 0. 1. ]] SLAMing on 54.631652532 meters Centerline goodness : 0.724065 Centerline is valid? [False, False] Translation: X:-1.58, Y:-2.41, Z:0.39 [[ 0.9997659 -0.00412225 0.02124036 -1.57976261] [ 0.00382114 0.99989191 0.01419712 -2.41379997] [-0.02129658 -0.01411264 0.99967359 0.38591185] [ 0. 0. 0. 1. ]] SLAMing on 54.661652532 meters Centerline goodness : 0.721700 Centerline is valid? [False, False] Translation: X:-1.59, Y:-2.43, Z:0.39 [[ 0.99988488 0.00536982 0.01419134 -1.58681523] [-0.00550699 0.99993833 0.00964389 -2.42813311] [-0.01413868 -0.00972093 0.99985279 0.39171257] [ 0. 0. 0. 1. ]] SLAMing on 54.691652532 meters Centerline goodness : 0.721673 Centerline is valid? [False, False] Translation: X:-1.59, Y:-2.43, Z:0.39 [[ 0.99986319 0.00624629 0.01531619 -1.58927868] [-0.00639973 0.99992963 0.00998935 -2.42798274] [-0.01525271 -0.010086 0.9998328 0.39099831] [ 0. 0. 0. 1. ]] SLAMing on 54.721652532 meters Centerline goodness : 0.721358 Centerline is valid? [False, False] Translation: X:-1.59, Y:-2.43, Z:0.39 [[ 0.99984937 0.00669811 0.01601175 -1.59069073] [-0.0068631 0.99992369 0.01027164 -2.42848766] [-0.01594173 -0.01037999 0.99981904 0.39039534] [ 0. 0. 0. 1. ]] SLAMing on 54.751652532 meters Centerline goodness : 0.721844 Centerline is valid? [False, False] Translation: X:-1.59, Y:-2.43, Z:0.39 [[ 0.99984041 0.00708644 0.01639922 -1.59185612] [-0.00726278 0.99991618 0.01071854 -2.42994563] [-0.01632189 -0.01083594 0.99980807 0.3905549 ] [ 0. 0. 0. 1. ]] SLAMing on 54.781652532 meters Centerline goodness : 0.722722 Centerline is valid? [False, False] Translation: X:-1.59, Y:-2.43, Z:0.39 [[ 0.99984814 0.00662931 0.01611705 -1.59044683] [-0.00679588 0.99992384 0.01030239 -2.42968186] [-0.01604752 -0.01041036 0.99981703 0.38966908] [ 0. 0. 0. 1. ]] SLAMing on 54.811652532 meters Centerline goodness : 0.722739 Centerline is valid? [False, False] Translation: X:-1.59, Y:-2.43, Z:0.39 [[ 0.99983434 0.00737387 0.01664114 -1.59144714] [-0.00755844 0.99991032 0.01105536 -2.43147328] [-0.01655812 -0.01117931 0.99980041 0.38906611] [ 0. 0. 0. 1. ]] SLAMing on 54.841652532 meters Centerline goodness : 0.720640 Centerline is valid? [False, False] Translation: X:-1.59, Y:-2.43, Z:0.39 [[ 0.99983276 0.00768596 0.01659458 -1.59191009] [-0.0078825 0.99989918 0.01181056 -2.43429961] [-0.01650213 -0.0119394 0.99979254 0.38980962] [ 0. 0. 0. 1. ]] SLAMing on 54.871652532 meters Centerline goodness : 0.722667 Centerline is valid? [False, False] Translation: X:-1.59, Y:-2.44, Z:0.39 [[ 9.99877403e-01 1.95138980e-03 1.55361230e-02 -1.59064360e+00] [-2.06119273e-03 9.99972991e-01 7.05471600e-03 -2.43569184e+00] [-1.55219369e-02 -7.08587406e-03 9.99854419e-01 3.91850830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.901652532 meters Centerline goodness : 0.722281 Centerline is valid? [False, False] Translation: X:-1.59, Y:-2.44, Z:0.39 [[ 9.99886086e-01 1.76215304e-03 1.49903107e-02 -1.58917327e+00] [-1.87155430e-03 9.99971696e-01 7.28723647e-03 -2.43726191e+00] [-1.49770452e-02 -7.31446153e-03 9.99861084e-01 3.91733874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.931652532 meters Centerline goodness : 0.723084 Centerline is valid? [False, False] Translation: X:-1.59, Y:-2.43, Z:0.39 [[ 9.99895824e-01 3.52642857e-04 1.44297072e-02 -1.58750181e+00] [-4.36778471e-04 9.99982922e-01 5.82798621e-03 -2.43493411e+00] [-1.44274055e-02 -5.83368166e-03 9.99878902e-01 3.91372685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.961652532 meters Centerline goodness : 0.723884 Centerline is valid? [False, False] Translation: X:-1.59, Y:-2.43, Z:0.39 [[ 9.99906202e-01 -1.18587919e-03 1.36447794e-02 -1.58503244e+00] [ 1.12589899e-03 9.99989674e-01 4.40267758e-03 -2.43302363e+00] [-1.36498595e-02 -4.38690198e-03 9.99897213e-01 3.90804129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.991652531999996 meters Centerline goodness : 0.724857 Centerline is valid? [False, False] Translation: X:-1.58, Y:-2.44, Z:0.39 [[ 9.99919570e-01 -2.26675649e-03 1.24786183e-02 -1.58389765e+00] [ 2.21109270e-03 9.99987553e-01 4.47272465e-03 -2.43554460e+00] [-1.24886015e-02 -4.44477352e-03 9.99912136e-01 3.93346760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.021652532 meters Centerline goodness : 0.724569 Centerline is valid? [False, False] Translation: X:-1.58, Y:-2.44, Z:0.40 [[ 9.99923512e-01 -2.18048733e-03 1.21744088e-02 -1.58439227e+00] [ 2.11713701e-03 9.99984166e-01 5.21402980e-03 -2.43828796e+00] [-1.21855851e-02 -5.18785610e-03 9.99912295e-01 3.95080074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.051652532 meters Centerline goodness : 0.725667 Centerline is valid? [False, False] Translation: X:-1.58, Y:-2.44, Z:0.40 [[ 9.99923452e-01 -2.30711013e-03 1.21559441e-02 -1.58472208e+00] [ 2.24348552e-03 9.99983728e-01 5.24507202e-03 -2.43875601e+00] [-1.21678473e-02 -5.21739883e-03 9.99912357e-01 3.95590056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.081652532 meters Centerline goodness : 0.724323 Centerline is valid? [False, False] Translation: X:-1.58, Y:-2.44, Z:0.39 [[ 0.99992166 -0.00261581 0.01224021 -1.58444642] [ 0.00255853 0.99998572 0.00469289 -2.43726305] [-0.01225231 -0.0046612 0.99991407 0.39491912] [ 0. 0. 0. 1. ]] SLAMing on 55.111652532 meters Centerline goodness : 0.722529 Centerline is valid? [False, False] Translation: X:-1.59, Y:-2.43, Z:0.39 [[ 0.99991267 -0.00261019 0.01295523 -1.58552099] [ 0.00256155 0.99998961 0.00376976 -2.43347029] [-0.01296494 -0.00373625 0.99990897 0.39368163] [ 0. 0. 0. 1. ]] SLAMing on 55.141652532 meters Centerline goodness : 0.719495 Centerline is valid? [False, False] Translation: X:-1.59, Y:-2.43, Z:0.39 [[ 9.99905344e-01 -2.06002921e-03 1.36036672e-02 -1.58770949e+00] [ 2.00084796e-03 9.99988482e-01 4.36256711e-03 -2.43483447e+00] [-1.36124976e-02 -4.33493529e-03 9.99897949e-01 3.94308955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.171652531999996 meters Centerline goodness : 0.719087 Centerline is valid? [False, False] Translation: X:-1.59, Y:-2.44, Z:0.40 [[ 9.99899385e-01 -1.98396583e-04 1.41838379e-02 -1.59099961e+00] [ 1.02476938e-04 9.99977125e-01 6.76300857e-03 -2.43934131e+00] [-1.41848553e-02 -6.76087459e-03 9.99876533e-01 3.96724627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.201652532 meters Centerline goodness : 0.721725 Centerline is valid? [False, False] Translation: X:-1.59, Y:-2.44, Z:0.40 [[ 9.99895483e-01 -9.61347905e-05 1.44572947e-02 -1.59183034e+00] [-2.05571824e-06 9.99976937e-01 6.79159405e-03 -2.43935157e+00] [-1.44576142e-02 -6.79091393e-03 9.99872422e-01 3.96827372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.231652532 meters Centerline goodness : 0.720497 Centerline is valid? [False, False] Translation: X:-1.59, Y:-2.44, Z:0.40 [[ 9.99882003e-01 1.18120235e-03 1.53161591e-02 -1.59377920e+00] [-1.30046975e-03 9.99968894e-01 7.77941010e-03 -2.44073201e+00] [-1.53064937e-02 -7.79841036e-03 9.99852437e-01 3.96278186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.261652532 meters Centerline goodness : 0.718885 Centerline is valid? [False, False] Translation: X:-1.59, Y:-2.44, Z:0.40 [[ 9.99884268e-01 8.49237710e-04 1.51897494e-02 -1.59319401e+00] [-9.63283629e-04 9.99971393e-01 7.50234437e-03 -2.44052833e+00] [-1.51829436e-02 -7.51610815e-03 9.99856483e-01 3.95941247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.291652532 meters Centerline goodness : 0.717401 Centerline is valid? [False, False] Translation: X:-1.59, Y:-2.44, Z:0.40 [[ 9.99889110e-01 4.31070565e-04 1.48856575e-02 -1.59237756e+00] [-5.33841796e-04 9.99976047e-01 6.90076064e-03 -2.43896690e+00] [-1.48823262e-02 -6.90794200e-03 9.99865389e-01 3.95856353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.321652532 meters Centerline goodness : 0.715984 Centerline is valid? [False, False] Translation: X:-1.59, Y:-2.44, Z:0.40 [[ 9.99894600e-01 7.20942437e-04 1.45006795e-02 -1.59173019e+00] [-8.34486959e-04 9.99969030e-01 7.82576397e-03 -2.44260767e+00] [-1.44945885e-02 -7.83703976e-03 9.99864235e-01 3.96296375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.351652532 meters Centerline goodness : 0.716860 Centerline is valid? [False, False] Translation: X:-1.59, Y:-2.45, Z:0.40 [[ 9.99877039e-01 -7.25193411e-03 1.39038251e-02 -1.59243563e+00] [ 7.24000429e-03 9.99973378e-01 9.08167527e-04 -2.44772651e+00] [-1.39100409e-02 -8.07392104e-04 9.99902925e-01 3.99378102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.381652532 meters Centerline goodness : 0.717025 Centerline is valid? [False, False] Translation: X:-1.59, Y:-2.46, Z:0.40 [[ 0.99981703 -0.01400125 0.01303354 -1.59300026] [ 0.01404936 0.9998948 -0.00360684 -2.45885834] [-0.01298166 0.00378929 0.99990855 0.40343829] [ 0. 0. 0. 1. ]] SLAMing on 55.411652532 meters Centerline goodness : 0.717024 Centerline is valid? [False, False] Translation: X:-1.59, Y:-2.46, Z:0.40 [[ 9.99833458e-01 -1.37491464e-02 1.20007447e-02 -1.59131721e+00] [ 1.37767272e-02 9.99902635e-01 -2.21862194e-03 -2.46406622e+00] [-1.19690721e-02 2.38358343e-03 9.99925527e-01 4.04651415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.441652532 meters Centerline goodness : 0.717197 Centerline is valid? [False, False] Translation: X:-1.59, Y:-2.47, Z:0.41 [[ 0.99976554 -0.01841994 0.01138281 -1.59091045] [ 0.01849046 0.9998103 -0.00612074 -2.46628258] [-0.0112679 0.00632978 0.99991648 0.40646569] [ 0. 0. 0. 1. ]] SLAMing on 55.471652532 meters Centerline goodness : 0.715355 Centerline is valid? [False, False] Translation: X:-1.59, Y:-2.47, Z:0.41 [[ 0.99967224 -0.02344629 0.01028023 -1.58874751] [ 0.02355306 0.99966859 -0.01039026 -2.4673818 ] [-0.01003321 0.01062898 0.99989317 0.40768805] [ 0. 0. 0. 1. ]] SLAMing on 55.501652532 meters Centerline goodness : 0.714138 Centerline is valid? [False, False] Translation: X:-1.59, Y:-2.47, Z:0.41 [[ 0.99963686 -0.02538794 0.00903338 -1.58588048] [ 0.02549376 0.99960535 -0.01179881 -2.46656382] [-0.00873027 0.01202482 0.99988959 0.40814335] [ 0. 0. 0. 1. ]] SLAMing on 55.531652532 meters Centerline goodness : 0.714100 Centerline is valid? [False, False] Translation: X:-1.58, Y:-2.47, Z:0.41 [[ 0.99959621 -0.02731258 0.00783886 -1.58289744] [ 0.02741391 0.99953801 -0.01312389 -2.46638468] [-0.00747679 0.01333348 0.99988315 0.40833123] [ 0. 0. 0. 1. ]] SLAMing on 55.561652532 meters Centerline goodness : 0.715644 Centerline is valid? [False, False] Translation: X:-1.58, Y:-2.47, Z:0.41 [[ 0.99948007 -0.0315048 0.0068589 -1.58106287] [ 0.03161321 0.99936698 -0.01631718 -2.47045183] [-0.00634049 0.01652553 0.99984334 0.40960411] [ 0. 0. 0. 1. ]] SLAMing on 55.591652532 meters Centerline goodness : 0.714771 Centerline is valid? [False, False] Translation: X:-1.58, Y:-2.47, Z:0.41 [[ 0.99934631 -0.03558095 0.00639987 -1.58092309] [ 0.03570001 0.999171 -0.01956575 -2.47415753] [-0.0056984 0.01978143 0.99978809 0.41146251] [ 0. 0. 0. 1. ]] SLAMing on 55.621652532 meters Centerline goodness : 0.714443 Centerline is valid? [False, False] Translation: X:-1.58, Y:-2.48, Z:0.41 [[ 0.99930215 -0.03700464 0.00508663 -1.57869351] [ 0.03709869 0.99911463 -0.01984038 -2.47625626] [-0.00434794 0.02001524 0.99979022 0.4130882 ] [ 0. 0. 0. 1. ]] SLAMing on 55.651652532 meters Centerline goodness : 0.714629 Centerline is valid? [False, False] Translation: X:-1.58, Y:-2.48, Z:0.42 [[ 0.99910758 -0.04204782 0.00400237 -1.57711998] [ 0.04212994 0.99884026 -0.02330681 -2.48001342] [-0.00301772 0.02345463 0.99972035 0.41545948] [ 0. 0. 0. 1. ]] SLAMing on 55.681652532 meters Centerline goodness : 0.714771 Centerline is valid? [False, False] Translation: X:-1.58, Y:-2.48, Z:0.42 [[ 9.99101926e-01 -4.22336645e-02 3.41466782e-03 -1.57608066e+00] [ 4.23013853e-02 9.98838428e-01 -2.30735093e-02 -2.48127873e+00] [-2.43622259e-03 2.31972327e-02 9.99727940e-01 4.16045364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.711652532 meters Centerline goodness : 0.715573 Centerline is valid? [False, False] Translation: X:-1.57, Y:-2.48, Z:0.42 [[ 9.99080379e-01 -4.27946013e-02 2.64934005e-03 -1.57482249e+00] [ 4.28446214e-02 9.98812627e-01 -2.31878319e-02 -2.48195358e+00] [-1.65388028e-03 2.32800178e-02 9.99727616e-01 4.16948744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.741652531999996 meters Centerline goodness : 0.714172 Centerline is valid? [False, False] Translation: X:-1.57, Y:-2.48, Z:0.42 [[ 9.99033871e-01 -4.39187374e-02 1.57135293e-03 -1.57290943e+00] [ 4.39436771e-02 9.98752111e-01 -2.37312677e-02 -2.48239037e+00] [-5.27144747e-04 2.37773912e-02 9.99717139e-01 4.18128606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.771652532 meters Centerline goodness : 0.713251 Centerline is valid? [False, False] Translation: X:-1.57, Y:-2.48, Z:0.42 [[ 9.98836313e-01 -4.82137095e-02 1.20743644e-03 -1.57221656e+00] [ 4.82286598e-02 9.98454016e-01 -2.76328433e-02 -2.48376647e+00] [ 1.26712122e-04 2.76589204e-02 9.99617411e-01 4.19096188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.801652532 meters Centerline goodness : 0.713815 Centerline is valid? [False, False] Translation: X:-1.57, Y:-2.48, Z:0.42 [[ 9.98798423e-01 -4.90034783e-02 6.06910723e-04 -1.57036341e+00] [ 4.90009766e-02 9.98396327e-01 -2.83492291e-02 -2.48272643e+00] [ 7.83273397e-04 2.83449045e-02 9.99597896e-01 4.18736364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.831652532 meters Centerline goodness : 0.711370 Centerline is valid? [False, False] Translation: X:-1.57, Y:-2.48, Z:0.42 [[ 9.98565577e-01 -5.35409502e-02 3.92997089e-04 -1.56950492e+00] [ 5.35254749e-02 9.98038674e-01 -3.24627206e-02 -2.48414533e+00] [ 1.34585861e-03 3.24371907e-02 9.99472870e-01 4.19112428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.861652532 meters Centerline goodness : 0.713654 Centerline is valid? [False, False] Translation: X:-1.57, Y:-2.48, Z:0.42 [[ 9.98520965e-01 -5.43661972e-02 -4.45612506e-04 -1.56829192e+00] [ 5.43218461e-02 9.97977100e-01 -3.30279483e-02 -2.48377149e+00] [ 2.24031503e-03 3.29548923e-02 9.99454329e-01 4.20212772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.891652532 meters Centerline goodness : 0.712702 Centerline is valid? [False, False] Translation: X:-1.57, Y:-2.49, Z:0.42 [[ 9.98775531e-01 -4.94685598e-02 -5.48242504e-04 -1.56951504e+00] [ 4.94345181e-02 9.98394634e-01 -2.76474757e-02 -2.48652163e+00] [ 1.91504318e-03 2.75865201e-02 9.99617585e-01 4.21134714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.921652531999996 meters Centerline goodness : 0.710091 Centerline is valid? [False, False] Translation: X:-1.57, Y:-2.49, Z:0.42 [[ 9.98704836e-01 -5.08565558e-02 -1.50387544e-03 -1.56733513e+00] [ 5.07929134e-02 9.98300185e-01 -2.85800869e-02 -2.48553085e+00] [ 2.95480391e-03 2.84666847e-02 9.99590375e-01 4.21605843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.951652532 meters Centerline goodness : 0.709800 Centerline is valid? [False, False] Translation: X:-1.57, Y:-2.49, Z:0.42 [[ 9.98445807e-01 -5.56976716e-02 -1.93382551e-03 -1.56598834e+00] [ 5.56032931e-02 9.97903676e-01 -3.31138455e-02 -2.48559086e+00] [ 3.77413568e-03 3.29548531e-02 9.99449715e-01 4.22073900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.981652532 meters Centerline goodness : 0.712038 Centerline is valid? [False, False] Translation: X:-1.57, Y:-2.49, Z:0.41 [[ 0.99769575 -0.06777927 -0.00302616 -1.57172641] [ 0.06764622 0.99718344 -0.0323911 -2.49233742] [ 0.00521309 0.03211176 0.99947069 0.4144041 ] [ 0. 0. 0. 1. ]] SLAMing on 56.011652532 meters Centerline goodness : 0.711720 Centerline is valid? [False, False] Translation: X:-1.57, Y:-2.50, Z:0.42 [[ 0.99744889 -0.06933935 -0.01696378 -1.56763142] [ 0.06878623 0.99714136 -0.03126591 -2.49910958] [ 0.01908325 0.03001927 0.99936714 0.41680273] [ 0. 0. 0. 1. ]] SLAMing on 56.041652532 meters Centerline goodness : 0.711751 Centerline is valid? [False, False] Translation: X:-1.57, Y:-2.50, Z:0.42 [[ 0.99739621 -0.06997688 -0.01743637 -1.5663516 ] [ 0.06939771 0.99708014 -0.03186159 -2.49812571] [ 0.01961503 0.03056859 0.99934019 0.41668691] [ 0. 0. 0. 1. ]] SLAMing on 56.071652532 meters Centerline goodness : 0.712250 Centerline is valid? [False, False] Translation: X:-1.57, Y:-2.50, Z:0.42 [[ 0.99787534 -0.06274341 -0.01755192 -1.56939347] [ 0.06230015 0.99775044 -0.02475372 -2.50057596] [ 0.01906556 0.02360764 0.99953949 0.41866906] [ 0. 0. 0. 1. ]] SLAMing on 56.101652532 meters Centerline goodness : 0.712170 Centerline is valid? [False, False] Translation: X:-1.57, Y:-2.51, Z:0.42 [[ 0.99792473 -0.06192229 -0.01765956 -1.57020675] [ 0.06150455 0.99783501 -0.02329113 -2.50502013] [ 0.01906356 0.02215665 0.99957274 0.41999607] [ 0. 0. 0. 1. ]] SLAMing on 56.131652532 meters Centerline goodness : 0.712183 Centerline is valid? [False, False] Translation: X:-1.57, Y:-2.51, Z:0.42 [[ 0.99771974 -0.0651602 -0.01759177 -1.57144649] [ 0.0647003 0.99757744 -0.02555627 -2.5107933 ] [ 0.01921441 0.02435981 0.99951859 0.42212814] [ 0. 0. 0. 1. ]] SLAMing on 56.161652532 meters Centerline goodness : 0.716495 Centerline is valid? [False, False] Translation: X:-1.57, Y:-2.51, Z:0.42 [[ 0.9974239 -0.0694303 -0.0180275 -1.57051995] [ 0.06888946 0.99720084 -0.02906431 -2.51390055] [ 0.01999498 0.02774753 0.99941497 0.42333607] [ 0. 0. 0. 1. ]] SLAMing on 56.191652532 meters Centerline goodness : 0.718476 Centerline is valid? [False, False] Translation: X:-1.57, Y:-2.52, Z:0.42 [[ 0.9970753 -0.07412565 -0.01860757 -1.56845474] [ 0.07348094 0.99674309 -0.03322297 -2.51534054] [ 0.02100964 0.0317585 0.99927473 0.42372414] [ 0. 0. 0. 1. ]] SLAMing on 56.221652532 meters Centerline goodness : 0.719993 Centerline is valid? [False, False] Translation: X:-1.57, Y:-2.51, Z:0.42 [[ 0.99731527 -0.07058353 -0.01949894 -1.56653762] [ 0.06999043 0.99710876 -0.02958807 -2.51499461] [ 0.021531 0.02814389 0.99937197 0.42332681] [ 0. 0. 0. 1. ]] SLAMing on 56.251652532 meters Centerline goodness : 0.719466 Centerline is valid? [False, False] Translation: X:-1.57, Y:-2.51, Z:0.42 [[ 0.99756722 -0.06672672 -0.0201788 -1.56568142] [ 0.06619927 0.99747369 -0.02576596 -2.51464897] [ 0.0218471 0.02436746 0.99946432 0.42357456] [ 0. 0. 0. 1. ]] SLAMing on 56.281652532 meters Centerline goodness : 0.719466 Centerline is valid? [False, False] Translation: X:-1.57, Y:-2.51, Z:0.42 [[ 0.99756722 -0.06672672 -0.0201788 -1.56568142] [ 0.06619927 0.99747369 -0.02576596 -2.51464897] [ 0.0218471 0.02436746 0.99946432 0.42357456] [ 0. 0. 0. 1. ]] SLAMing on 56.311652532 meters Centerline goodness : 0.720673 Centerline is valid? [False, False] Translation: X:-1.57, Y:-2.51, Z:0.42 [[ 0.99784039 -0.06248164 -0.02026332 -1.5663812 ] [ 0.06203801 0.99783504 -0.0218294 -2.5136246 ] [ 0.02158339 0.02052516 0.99955634 0.42363998] [ 0. 0. 0. 1. ]] SLAMing on 56.341652532 meters Centerline goodness : 0.719796 Centerline is valid? [False, False] Translation: X:-1.57, Y:-2.51, Z:0.42 [[ 0.99819357 -0.05687099 -0.01937256 -1.56934167] [ 0.05654642 0.99825677 -0.01690911 -2.51341405] [ 0.02030042 0.01578311 0.99966934 0.42320661] [ 0. 0. 0. 1. ]] SLAMing on 56.371652532 meters Centerline goodness : 0.721697 Centerline is valid? [False, False] Translation: X:-1.57, Y:-2.51, Z:0.42 [[ 0.99841032 -0.05292023 -0.01939785 -1.56964488] [ 0.05266572 0.99852222 -0.01340495 -2.51143555] [ 0.02007858 0.01236204 0.99972198 0.42281748] [ 0. 0. 0. 1. ]] SLAMing on 56.401652532 meters Centerline goodness : 0.720603 Centerline is valid? [False, False] Translation: X:-1.56, Y:-2.50, Z:0.43 [[ 0.99879673 -0.04495948 -0.01958917 -1.5624933 ] [ 0.0446104 0.99884396 -0.01790699 -2.50140375] [ 0.02037162 0.01701156 0.99964774 0.42946245] [ 0. 0. 0. 1. ]] SLAMing on 56.431652532 meters Centerline goodness : 0.720102 Centerline is valid? [False, False] Translation: X:-1.58, Y:-2.51, Z:0.42 [[ 0.99939666 -0.03143429 -0.01477176 -1.57810847] [ 0.03125392 0.99943595 -0.01228684 -2.50759175] [ 0.01514965 0.01181775 0.9998154 0.42474088] [ 0. 0. 0. 1. ]] SLAMing on 56.461652532 meters Centerline goodness : 0.719519 Centerline is valid? [False, False] Translation: X:-1.58, Y:-2.51, Z:0.42 [[ 0.99958146 -0.02565289 -0.01337283 -1.58149562] [ 0.02555343 0.9996449 -0.00755556 -2.50687556] [ 0.01356191 0.00721067 0.99988203 0.4235837 ] [ 0. 0. 0. 1. ]] SLAMing on 56.491652531999996 meters Centerline goodness : 0.719111 Centerline is valid? [False, False] Translation: X:-1.58, Y:-2.50, Z:0.42 [[ 0.99964748 -0.02283537 -0.01354506 -1.58058759] [ 0.0227647 0.99972654 -0.00534874 -2.50260232] [ 0.0136635 0.00503851 0.99989396 0.42252282] [ 0. 0. 0. 1. ]] SLAMing on 56.521652532 meters Centerline goodness : 0.721081 Centerline is valid? [False, False] Translation: X:-1.59, Y:-2.50, Z:0.42 [[ 9.99789036e-01 -1.68886342e-02 -1.16900417e-02 -1.58538172e+00] [ 1.68777448e-02 9.99857031e-01 -1.02954666e-03 -2.50030260e+00] [ 1.17057580e-02 8.32027921e-04 9.99931139e-01 4.21656006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.551652532 meters Centerline goodness : 0.720515 Centerline is valid? [False, False] Translation: X:-1.60, Y:-2.50, Z:0.42 [[ 9.99975784e-01 4.63727380e-03 -5.18922068e-03 -1.60033648e+00] [-4.63921730e-03 9.99989173e-01 -3.62551937e-04 -2.50146381e+00] [ 5.18748325e-03 3.86617080e-04 9.99986470e-01 4.24838644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.581652532 meters Centerline goodness : 0.717703 Centerline is valid? [False, False] Translation: X:-1.61, Y:-2.51, Z:0.42 [[ 9.99886821e-01 1.50350102e-02 5.41447240e-04 -1.61331064e+00] [-1.50367894e-02 9.99880999e-01 3.44724977e-03 -2.50540043e+00] [-4.89553371e-04 -3.45500124e-03 9.99993912e-01 4.18543158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.611652532 meters Centerline goodness : 0.715161 Centerline is valid? [False, False] Translation: X:-1.63, Y:-2.51, Z:0.41 [[ 0.99970246 0.02359979 0.00616764 -1.62548256] [-0.02362973 0.99970913 0.00482698 -2.5058397 ] [-0.00605193 -0.00497128 0.99996933 0.41140861] [ 0. 0. 0. 1. ]] SLAMing on 56.641652532 meters Centerline goodness : 0.713086 Centerline is valid? [False, False] Translation: X:-1.64, Y:-2.51, Z:0.40 [[ 0.99936476 0.03361473 0.01183789 -1.6384774 ] [-0.03370731 0.999402 0.0077105 -2.50851976] [-0.01157163 -0.00810463 0.9999002 0.40485758] [ 0. 0. 0. 1. ]] SLAMing on 56.671652531999996 meters Centerline goodness : 0.711990 Centerline is valid? [False, False] Translation: X:-1.65, Y:-2.51, Z:0.40 [[ 0.99836988 0.05450216 0.01694404 -1.65414161] [-0.05481229 0.99832691 0.01841159 -2.50864812] [-0.01591222 -0.01931032 0.99968691 0.39988952] [ 0. 0. 0. 1. ]] SLAMing on 56.701652532 meters Centerline goodness : 0.708069 Centerline is valid? [False, False] Translation: X:-1.67, Y:-2.52, Z:0.39 [[ 0.99759409 0.06542062 0.02293863 -1.66795353] [-0.06593881 0.99756743 0.02261205 -2.51509626] [-0.02140354 -0.0240702 0.99948112 0.39395884] [ 0. 0. 0. 1. ]] SLAMing on 56.731652532 meters Centerline goodness : 0.707757 Centerline is valid? [False, False] Translation: X:-1.67, Y:-2.51, Z:0.40 [[ 0.99576663 0.09021172 0.01762556 -1.66793206] [-0.09068646 0.99547726 0.02830194 -2.51465992] [-0.01499268 -0.02978053 0.99944402 0.39507754] [ 0. 0. 0. 1. ]] SLAMing on 56.761652532 meters Centerline goodness : 0.706457 Centerline is valid? [False, False] Translation: X:-1.68, Y:-2.52, Z:0.39 [[ 0.99518416 0.09539213 0.02255704 -1.67758695] [-0.09603716 0.99494091 0.02948652 -2.5176731 ] [-0.01963014 -0.03151084 0.99931062 0.39055725] [ 0. 0. 0. 1. ]] SLAMing on 56.791652532 meters Centerline goodness : 0.708100 Centerline is valid? [False, False] Translation: X:-1.69, Y:-2.52, Z:0.39 [[ 0.99441884 0.10171156 0.0280346 -1.68824866] [-0.10256805 0.99424214 0.03102186 -2.52109219] [-0.0247179 -0.03372417 0.99912547 0.38514895] [ 0. 0. 0. 1. ]] SLAMing on 56.821652532 meters Centerline goodness : 0.707837 Centerline is valid? [False, False] Translation: X:-1.70, Y:-2.53, Z:0.38 [[ 0.9934996 0.10875701 0.0336223 -1.70087115] [-0.10985619 0.99340682 0.03277959 -2.52864216] [-0.02983561 -0.03626013 0.99889691 0.38046352] [ 0. 0. 0. 1. ]] SLAMing on 56.851652532 meters Centerline goodness : 0.706086 Centerline is valid? [False, False] Translation: X:-1.71, Y:-2.53, Z:0.38 [[ 0.99262217 0.11481034 0.03898471 -1.71238014] [-0.11615544 0.99264245 0.03418904 -2.53448817] [-0.03477263 -0.03846509 0.99865475 0.37587377] [ 0. 0. 0. 1. ]] SLAMing on 56.881652532 meters Centerline goodness : 0.704401 Centerline is valid? [False, False] Translation: X:-1.73, Y:-2.54, Z:0.37 [[ 0.99071678 0.12851423 0.04432098 -1.72676463] [-0.13030223 0.990662 0.04012636 -2.54404739] [-0.0387503 -0.04552898 0.99821116 0.37197347] [ 0. 0. 0. 1. ]] SLAMing on 56.911652532 meters Centerline goodness : 0.700905 Centerline is valid? [False, False] Translation: X:-1.73, Y:-2.54, Z:0.37 [[ 0.99016466 0.13241911 0.04515659 -1.72672804] [-0.13438436 0.98996637 0.04367417 -2.54212708] [-0.03892021 -0.04931296 0.99802477 0.37069578] [ 0. 0. 0. 1. ]] SLAMing on 56.941652532 meters Centerline goodness : 0.700240 Centerline is valid? [False, False] Translation: X:-1.73, Y:-2.54, Z:0.37 [[ 0.98998989 0.13337074 0.0461764 -1.72926517] [-0.13541281 0.98979668 0.04433856 -2.54341501] [-0.03979178 -0.0501476 0.99794881 0.37033124] [ 0. 0. 0. 1. ]] SLAMing on 56.971652532 meters Centerline goodness : 0.701436 Centerline is valid? [False, False] Translation: X:-1.73, Y:-2.54, Z:0.37 [[ 0.98993837 0.13365209 0.04646655 -1.73002893] [-0.13572193 0.9897395 0.04466857 -2.54474285] [-0.04001973 -0.05052566 0.99792063 0.37014148] [ 0. 0. 0. 1. ]] SLAMing on 57.001652532 meters Centerline goodness : 0.702621 Centerline is valid? [False, False] Translation: X:-1.73, Y:-2.55, Z:0.37 [[ 0.99020298 0.13167042 0.04648611 -1.73225588] [-0.13368546 0.99007852 0.04327505 -2.55127284] [-0.04032686 -0.0490656 0.99798112 0.37145758] [ 0. 0. 0. 1. ]] SLAMing on 57.031652532 meters Centerline goodness : 0.704391 Centerline is valid? [False, False] Translation: X:-1.73, Y:-2.56, Z:0.37 [[ 0.99023836 0.13136694 0.04659092 -1.73455716] [-0.13340929 0.99009174 0.04382126 -2.55774106] [-0.04037262 -0.04960915 0.9979524 0.37335435] [ 0. 0. 0. 1. ]] SLAMing on 57.061652532 meters Centerline goodness : 0.702995 Centerline is valid? [False, False] Translation: X:-1.74, Y:-2.57, Z:0.38 [[ 0.990364 0.13047699 0.04642086 -1.73763827] [-0.13252546 0.99019452 0.04417942 -2.56639997] [-0.04020128 -0.04990566 0.99794453 0.37676344] [ 0. 0. 0. 1. ]] SLAMing on 57.091652532 meters Centerline goodness : 0.700438 Centerline is valid? [False, False] Translation: X:-1.75, Y:-2.58, Z:0.37 [[ 0.99110409 0.1250202 0.04563588 -1.74647654] [-0.12728824 0.99056783 0.05072547 -2.57686264] [-0.03886372 -0.05608313 0.99766943 0.37113675] [ 0. 0. 0. 1. ]] SLAMing on 57.121652532 meters Centerline goodness : 0.702792 Centerline is valid? [False, False] Translation: X:-1.75, Y:-2.58, Z:0.37 [[ 0.9914787 0.12183999 0.04609769 -1.74968711] [-0.12401716 0.99113065 0.04774696 -2.5810073 ] [-0.03987135 -0.053057 0.99779518 0.3721122 ] [ 0. 0. 0. 1. ]] SLAMing on 57.151652532 meters Centerline goodness : 0.703127 Centerline is valid? [False, False] Translation: X:-1.75, Y:-2.59, Z:0.37 [[ 0.99176839 0.11935254 0.04637272 -1.75344672] [-0.12146284 0.99154276 0.04571363 -2.58642629] [-0.0405245 -0.05096989 0.99787767 0.37442645] [ 0. 0. 0. 1. ]] SLAMing on 57.181652532 meters Centerline goodness : 0.701078 Centerline is valid? [False, False] Translation: X:-1.76, Y:-2.60, Z:0.38 [[ 0.99208359 0.11661966 0.04658324 -1.75771117] [-0.11868788 0.9919379 0.04441168 -2.59574756] [-0.0410284 -0.04958897 0.99792665 0.37792496] [ 0. 0. 0. 1. ]] SLAMing on 57.211652532 meters Centerline goodness : 0.705467 Centerline is valid? [False, False] Translation: X:-1.76, Y:-2.60, Z:0.38 [[ 0.99262401 0.11202776 0.04633957 -1.76083066] [-0.11392452 0.99266202 0.04053782 -2.60245126] [-0.04145817 -0.04551803 0.99810287 0.38060964] [ 0. 0. 0. 1. ]] SLAMing on 57.241652531999996 meters Centerline goodness : 0.708949 Centerline is valid? [False, False] Translation: X:-1.76, Y:-2.61, Z:0.38 [[ 0.99302331 0.10850881 0.0461578 -1.76300237] [-0.11027153 0.99319291 0.03752379 -2.60680759] [-0.04177194 -0.04235189 0.99822914 0.38245703] [ 0. 0. 0. 1. ]] SLAMing on 57.271652532 meters Centerline goodness : 0.709461 Centerline is valid? [False, False] Translation: X:-1.77, Y:-2.62, Z:0.38 [[ 0.99364246 0.10303367 0.04537316 -1.77151908] [-0.10503712 0.99348404 0.04423414 -2.61728425] [-0.0405199 -0.04871878 0.99799029 0.37682862] [ 0. 0. 0. 1. ]] SLAMing on 57.301652532 meters Centerline goodness : 0.707524 Centerline is valid? [False, False] Translation: X:-1.77, Y:-2.62, Z:0.38 [[ 0.99392516 0.1003117 0.04528076 -1.772651 ] [-0.10222612 0.99386785 0.04214887 -2.62313395] [-0.04077507 -0.04652169 0.99808473 0.37749559] [ 0. 0. 0. 1. ]] SLAMing on 57.331652532 meters Centerline goodness : 0.708171 Centerline is valid? [False, False] Translation: X:-1.78, Y:-2.63, Z:0.38 [[ 0.99415627 0.09791918 0.04544385 -1.77531749] [-0.09976188 0.99419804 0.04022217 -2.62863498] [-0.04124166 -0.04452068 0.99815682 0.37927264] [ 0. 0. 0. 1. ]] SLAMing on 57.361652532 meters Centerline goodness : 0.709605 Centerline is valid? [False, False] Translation: X:-1.78, Y:-2.63, Z:0.38 [[ 0.99447293 0.09457296 0.04560205 -1.77852569] [-0.09631065 0.99464308 0.0375421 -2.63382696] [-0.0418073 -0.04172656 0.998254 0.38168817] [ 0. 0. 0. 1. ]] SLAMing on 57.391652532 meters Centerline goodness : 0.712504 Centerline is valid? [False, False] Translation: X:-1.78, Y:-2.64, Z:0.38 [[ 0.99480449 0.09118837 0.04526268 -1.77978846] [-0.09279047 0.99508251 0.03465153 -2.63788209] [-0.04188029 -0.03867144 0.99837396 0.38326327] [ 0. 0. 0. 1. ]] SLAMing on 57.421652531999996 meters Centerline goodness : 0.713516 Centerline is valid? [False, False] Translation: X:-1.78, Y:-2.64, Z:0.38 [[ 0.99484239 0.0909295 0.04494935 -1.77941254] [-0.09251991 0.99510727 0.03466388 -2.63865488] [-0.04157746 -0.0386438 0.99838769 0.38364988] [ 0. 0. 0. 1. ]] SLAMing on 57.451652532 meters Centerline goodness : 0.713931 Centerline is valid? [False, False] Translation: X:-1.79, Y:-2.65, Z:0.38 [[ 0.99538298 0.0851585 0.04428048 -1.78959603] [-0.08698991 0.99535604 0.04122029 -2.64897609] [-0.04056459 -0.04488193 0.99816839 0.37889977] [ 0. 0. 0. 1. ]] SLAMing on 57.481652532 meters Centerline goodness : 0.712240 Centerline is valid? [False, False] Translation: X:-1.79, Y:-2.65, Z:0.38 [[ 0.99549621 0.08358993 0.04472156 -1.79300781] [-0.08539911 0.99553557 0.04019859 -2.65494345] [-0.0411617 -0.04383673 0.99819039 0.38104425] [ 0. 0. 0. 1. ]] SLAMing on 57.511652532 meters Centerline goodness : 0.713241 Centerline is valid? [False, False] Translation: X:-1.79, Y:-2.66, Z:0.38 [[ 0.99596934 0.07858208 0.04324269 -1.791543 ] [-0.08016329 0.99612664 0.03613264 -2.65773969] [-0.04023582 -0.03945347 0.99841099 0.3829884 ] [ 0. 0. 0. 1. ]] SLAMing on 57.541652532 meters Centerline goodness : 0.717430 Centerline is valid? [False, False] Translation: X:-1.79, Y:-2.66, Z:0.38 [[ 0.99617399 0.07574358 0.04359232 -1.79421494] [-0.07723386 0.99644732 0.0335809 -2.66225568] [-0.04089391 -0.03681922 0.99848487 0.38439905] [ 0. 0. 0. 1. ]] SLAMing on 57.571652532 meters Centerline goodness : 0.716916 Centerline is valid? [False, False] Translation: X:-1.80, Y:-2.67, Z:0.39 [[ 0.99636589 0.07296851 0.0439387 -1.79716706] [-0.0743682 0.9967455 0.03110924 -2.66644701] [-0.0415257 -0.03426383 0.99854975 0.38632094] [ 0. 0. 0. 1. ]] SLAMing on 57.601652531999996 meters Centerline goodness : 0.720870 Centerline is valid? [False, False] Translation: X:-1.80, Y:-2.67, Z:0.39 [[ 0.99660349 0.06982617 0.04365525 -1.79885056] [-0.0711185 0.99705247 0.02878438 -2.67204552] [-0.04151667 -0.0317913 0.9986319 0.3887621 ] [ 0. 0. 0. 1. ]] SLAMing on 57.631652532 meters Centerline goodness : 0.719881 Centerline is valid? [False, False] Translation: X:-1.80, Y:-2.68, Z:0.39 [[ 0.99674971 0.06752218 0.04394047 -1.80067631] [-0.06874661 0.99726935 0.0269766 -2.6782165 ] [-0.04199896 -0.02990968 0.99866986 0.38950627] [ 0. 0. 0. 1. ]] SLAMing on 57.661652532 meters Centerline goodness : 0.723356 Centerline is valid? [False, False] Translation: X:-1.80, Y:-2.68, Z:0.39 [[ 0.99697142 0.06417982 0.04391968 -1.80189792] [-0.06527249 0.99758091 0.0239128 -2.68199438] [-0.04227872 -0.02670712 0.99874884 0.39023988] [ 0. 0. 0. 1. ]] SLAMing on 57.691652532 meters Centerline goodness : 0.722097 Centerline is valid? [False, False] Translation: X:-1.81, Y:-2.69, Z:0.38 [[ 0.9974912 0.05618948 0.04305871 -1.81008838] [-0.05742939 0.99795346 0.02812048 -2.6922244 ] [-0.04139052 -0.03052277 0.99867672 0.38396472] [ 0. 0. 0. 1. ]] SLAMing on 57.721652532 meters Centerline goodness : 0.722922 Centerline is valid? [False, False] Translation: X:-1.81, Y:-2.69, Z:0.38 [[ 0.9978434 0.05056231 0.04185693 -1.80760774] [-0.05154396 0.99841237 0.02271481 -2.6913607 ] [-0.04064196 -0.02482329 0.99886537 0.38389463] [ 0. 0. 0. 1. ]] SLAMing on 57.751652532 meters Centerline goodness : 0.722082 Centerline is valid? [False, False] Translation: X:-1.81, Y:-2.69, Z:0.38 [[ 0.9980241 0.04685305 0.04186519 -1.80875787] [-0.04769117 0.99867663 0.01924969 -2.69406589] [-0.04090788 -0.02120826 0.99893781 0.38469213] [ 0. 0. 0. 1. ]] SLAMing on 57.781652532 meters Centerline goodness : 0.718983 Centerline is valid? [False, False] Translation: X:-1.81, Y:-2.70, Z:0.39 [[ 0.99821394 0.04308826 0.04138032 -1.80872503] [-0.043786 0.9989111 0.0161057 -2.69826986] [-0.04064129 -0.01788881 0.99901365 0.38566227] [ 0. 0. 0. 1. ]] SLAMing on 57.811652532 meters Centerline goodness : 0.722188 Centerline is valid? [False, False] Translation: X:-1.81, Y:-2.70, Z:0.38 [[ 0.99893604 0.02990792 0.0351042 -1.805036 ] [-0.03066613 0.9993035 0.02126262 -2.70346008] [-0.03444383 -0.0223165 0.99915744 0.38484646] [ 0. 0. 0. 1. ]] SLAMing on 57.841652532 meters Centerline goodness : 0.721920 Centerline is valid? [False, False] Translation: X:-1.80, Y:-2.71, Z:0.39 [[ 0.99908365 0.02545855 0.03440529 -1.80418812] [-0.02606154 0.99951248 0.0171928 -2.7051909 ] [-0.03395082 -0.0180737 0.99926007 0.38573099] [ 0. 0. 0. 1. ]] SLAMing on 57.871652532 meters Centerline goodness : 0.721961 Centerline is valid? [False, False] Translation: X:-1.80, Y:-2.71, Z:0.39 [[ 0.99919553 0.02126059 0.03400418 -1.80379196] [-0.02172097 0.99967657 0.01322702 -2.70679588] [-0.03371196 -0.01395498 0.99933416 0.38618653] [ 0. 0. 0. 1. ]] SLAMing on 57.901652532 meters Centerline goodness : 0.721595 Centerline is valid? [False, False] Translation: X:-1.80, Y:-2.71, Z:0.39 [[ 0.9992728 0.0175671 0.03384181 -1.80416897] [-0.01791523 0.99978939 0.01001137 -2.71038356] [-0.03365881 -0.01061037 0.99937706 0.38693369] [ 0. 0. 0. 1. ]] SLAMing on 57.931652532 meters Centerline goodness : 0.724829 Centerline is valid? [False, False] Translation: X:-1.81, Y:-2.72, Z:0.39 [[ 0.99939444 0.01040194 0.03320484 -1.80558257] [-0.01054701 0.99993557 0.00419681 -2.71731106] [-0.03315905 -0.00454448 0.99943976 0.39068187] [ 0. 0. 0. 1. ]] SLAMing on 57.961652532 meters Centerline goodness : 0.725681 Centerline is valid? [False, False] Translation: X:-1.81, Y:-2.73, Z:0.39 [[ 9.99541387e-01 2.17462067e-03 3.02040891e-02 -1.81450233e+00] [-2.50380932e-03 9.99937837e-01 1.08652690e-02 -2.73413305e+00] [-3.01785836e-02 -1.09359113e-02 9.99484697e-01 3.88263948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.991652531999996 meters Centerline goodness : 0.724797 Centerline is valid? [False, False] Translation: X:-1.81, Y:-2.74, Z:0.39 [[ 9.99550705e-01 -1.74022809e-03 2.99225527e-02 -1.81466680e+00] [ 1.52102425e-03 9.99971854e-01 7.34690843e-03 -2.73681964e+00] [-2.99344958e-02 -7.29809457e-03 9.99525219e-01 3.89432631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.021652532 meters Centerline goodness : 0.723521 Centerline is valid? [False, False] Translation: X:-1.81, Y:-2.74, Z:0.39 [[ 0.9995537 -0.00621112 0.02922041 -1.81320543] [ 0.00611245 0.99997532 0.00346458 -2.73932181] [-0.02924121 -0.00328443 0.99956699 0.38998977] [ 0. 0. 0. 1. ]] SLAMing on 58.051652532 meters Centerline goodness : 0.727383 Centerline is valid? [False, False] Translation: X:-1.81, Y:-2.74, Z:0.39 [[ 9.99549252e-01 -1.00863975e-02 2.82764494e-02 -1.81194039e+00] [ 1.00776504e-02 9.99949117e-01 4.51837368e-04 -2.74392571e+00] [-2.82795680e-02 -1.66673531e-04 9.99600039e-01 3.91655528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.081652532 meters Centerline goodness : 0.727741 Centerline is valid? [False, False] Translation: X:-1.82, Y:-2.76, Z:0.39 [[ 0.99945059 -0.02067372 0.02590587 -1.82199275] [ 0.02056028 0.99977786 0.00463763 -2.76199234] [-0.025996 -0.00410245 0.99965363 0.38943556] [ 0. 0. 0. 1. ]] SLAMing on 58.111652532 meters Centerline goodness : 0.726892 Centerline is valid? [False, False] Translation: X:-1.82, Y:-2.76, Z:0.39 [[ 9.99361235e-01 -2.48648542e-02 2.56682934e-02 -1.82172628e+00] [ 2.48552483e-02 9.99690820e-01 6.93264764e-04 -2.76350904e+00] [-2.56775952e-02 -5.48301266e-05 9.99670275e-01 3.90215474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.141652532 meters Centerline goodness : 0.727354 Centerline is valid? [False, False] Translation: X:-1.82, Y:-2.77, Z:0.39 [[ 0.99912833 -0.03334082 0.02511914 -1.81957367] [ 0.03352847 0.99941264 -0.00708635 -2.76713241] [-0.02486812 0.00792238 0.99965935 0.39009227] [ 0. 0. 0. 1. ]] SLAMing on 58.171652531999996 meters Centerline goodness : 0.727354 Centerline is valid? [False, False] Translation: X:-1.82, Y:-2.77, Z:0.39 [[ 0.99912833 -0.03334082 0.02511914 -1.81957367] [ 0.03352847 0.99941264 -0.00708635 -2.76713241] [-0.02486812 0.00792238 0.99965935 0.39009227] [ 0. 0. 0. 1. ]] SLAMing on 58.201652532 meters Centerline goodness : 0.727865 Centerline is valid? [False, False] Translation: X:-1.81, Y:-2.78, Z:0.39 [[ 0.99927254 -0.03642805 0.01128618 -1.81488137] [ 0.03650759 0.99930939 -0.00692359 -2.77544299] [-0.01102617 0.00733059 0.99991234 0.3927628 ] [ 0. 0. 0. 1. ]] SLAMing on 58.231652532 meters Centerline goodness : 0.726988 Centerline is valid? [False, False] Translation: X:-1.81, Y:-2.78, Z:0.39 [[ 0.99926431 -0.03692477 0.0103634 -1.81380701] [ 0.0369955 0.99929285 -0.0067184 -2.77725909] [-0.010108 0.00709686 0.99992373 0.39436546] [ 0. 0. 0. 1. ]] SLAMing on 58.261652532 meters Centerline goodness : 0.727564 Centerline is valid? [False, False] Translation: X:-1.82, Y:-2.78, Z:0.40 [[ 0.99919213 -0.03881031 0.0104326 -1.81639751] [ 0.03888961 0.9992153 -0.00750844 -2.78389515] [-0.010133 0.0079081 0.99991739 0.39754634] [ 0. 0. 0. 1. ]] SLAMing on 58.291652532 meters Centerline goodness : 0.728068 Centerline is valid? [False, False] Translation: X:-1.81, Y:-2.78, Z:0.41 [[ 0.99890127 -0.04650531 0.00578793 -1.807676 ] [ 0.04655027 0.99888477 -0.00789207 -2.78494348] [-0.00541445 0.00815283 0.99995211 0.40656781] [ 0. 0. 0. 1. ]] SLAMing on 58.321652532 meters Centerline goodness : 0.730962 Centerline is valid? [False, False] Translation: X:-1.81, Y:-2.79, Z:0.41 [[ 0.99876324 -0.04937791 0.00581436 -1.80948098] [ 0.04943319 0.99872954 -0.00978122 -2.79089144] [-0.005324 0.01005655 0.99993526 0.40932398] [ 0. 0. 0. 1. ]] SLAMing on 58.351652531999996 meters Centerline goodness : 0.730816 Centerline is valid? [False, False] Translation: X:-1.81, Y:-2.80, Z:0.41 [[ 0.99858896 -0.05280911 0.00559422 -1.81046077] [ 0.05287512 0.99852421 -0.01239414 -2.79549748] [-0.00493144 0.01267245 0.99990754 0.41194863] [ 0. 0. 0. 1. ]] SLAMing on 58.381652532 meters Centerline goodness : 0.731891 Centerline is valid? [False, False] Translation: X:-1.81, Y:-2.80, Z:0.41 [[ 0.9983656 -0.05694133 0.0048806 -1.80980406] [ 0.05700964 0.99825737 -0.01523554 -2.80077833] [-0.00400457 0.01548888 0.99987202 0.41434933] [ 0. 0. 0. 1. ]] SLAMing on 58.411652532 meters Centerline goodness : 0.732105 Centerline is valid? [False, False] Translation: X:-1.80, Y:-2.80, Z:0.42 [[ 9.97545408e-01 -7.00221750e-02 -2.33720589e-04 -1.79753947e+00] [ 7.00003435e-02 9.97307366e-01 -2.18624962e-02 -2.80146209e+00] [ 1.76395080e-03 2.17924721e-02 9.99760960e-01 4.20843371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.441652532 meters Centerline goodness : 0.734186 Centerline is valid? [False, False] Translation: X:-1.80, Y:-2.81, Z:0.42 [[ 9.96940136e-01 -7.81669773e-02 -5.36697493e-04 -1.79693508e+00] [ 7.81188477e-02 9.96524789e-01 -2.89100339e-02 -2.80635928e+00] [ 2.79464232e-03 2.87796470e-02 9.99581874e-01 4.23045605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.471652532 meters Centerline goodness : 0.732641 Centerline is valid? [False, False] Translation: X:-1.79, Y:-2.82, Z:0.42 [[ 0.995 -0.09974927 -0.0050081 -1.79131792] [ 0.09955942 0.99459166 -0.0295865 -2.82079163] [ 0.00793225 0.02893996 0.99954968 0.4237428 ] [ 0. 0. 0. 1. ]] SLAMing on 58.501652532 meters Centerline goodness : 0.733218 Centerline is valid? [False, False] Translation: X:-1.78, Y:-2.82, Z:0.43 [[ 0.99398472 -0.10904925 -0.01013113 -1.77869604] [ 0.10867298 0.99355349 -0.03227448 -2.82177226] [ 0.01358532 0.03097936 0.9994277 0.43003727] [ 0. 0. 0. 1. ]] SLAMing on 58.531652532 meters Centerline goodness : 0.733714 Centerline is valid? [False, False] Translation: X:-1.77, Y:-2.82, Z:0.44 [[ 0.99286284 -0.11831593 -0.01499044 -1.76750994] [ 0.117724 0.99240759 -0.03561216 -2.82289406] [ 0.01909011 0.03359326 0.99925325 0.43669183] [ 0. 0. 0. 1. ]] SLAMing on 58.561652532 meters Centerline goodness : 0.735447 Centerline is valid? [False, False] Translation: X:-1.75, Y:-2.82, Z:0.44 [[ 0.99145894 -0.12888484 -0.01994664 -1.75409439] [ 0.12803434 0.99099238 -0.03925948 -2.82254099] [ 0.02482692 0.03637031 0.99902994 0.44265199] [ 0. 0. 0. 1. ]] SLAMing on 58.591652532 meters Centerline goodness : 0.731926 Centerline is valid? [False, False] Translation: X:-1.73, Y:-2.83, Z:0.44 [[ 0.98583043 -0.16599904 -0.02413877 -1.73303444] [ 0.16468678 0.98513683 -0.04882296 -2.82752735] [ 0.03188455 0.04415583 0.99851572 0.4441911 ] [ 0. 0. 0. 1. ]] SLAMing on 58.621652532 meters Centerline goodness : 0.731888 Centerline is valid? [False, False] Translation: X:-1.73, Y:-2.85, Z:0.44 [[ 0.98227256 -0.18568529 -0.02572148 -1.73322328] [ 0.18424149 0.98159563 -0.05025031 -2.84588006] [ 0.03457884 0.04462054 0.99840538 0.44293586] [ 0. 0. 0. 1. ]] SLAMing on 58.651652532 meters Centerline goodness : 0.729782 Centerline is valid? [False, False] Translation: X:-1.72, Y:-2.85, Z:0.45 [[ 0.97901011 -0.20182659 -0.02837658 -1.72197863] [ 0.1998984 0.97801265 -0.05942961 -2.85214895] [ 0.03974713 0.05250976 0.99782909 0.44941382] [ 0. 0. 0. 1. ]] SLAMing on 58.681652532 meters Centerline goodness : 0.728388 Centerline is valid? [False, False] Translation: X:-1.72, Y:-2.87, Z:0.45 [[ 0.97461686 -0.22192439 -0.02952182 -1.72098025] [ 0.21989491 0.97367951 -0.05995368 -2.87126824] [ 0.04204997 0.05194017 0.99776451 0.45001731] [ 0. 0. 0. 1. ]] SLAMing on 58.711652532 meters Centerline goodness : 0.728350 Centerline is valid? [False, False] Translation: X:-1.70, Y:-2.88, Z:0.45 [[ 0.96504412 -0.26061697 -0.02772442 -1.6979659 ] [ 0.25849656 0.96393228 -0.06335676 -2.88188029] [ 0.04323631 0.0539754 0.99760577 0.45457283] [ 0. 0. 0. 1. ]] SLAMing on 58.741652531999996 meters Centerline goodness : 0.729324 Centerline is valid? [False, False] Translation: X:-1.69, Y:-2.89, Z:0.46 [[ 0.96060056 -0.27633923 -0.02971842 -1.68587476] [ 0.2737087 0.95914905 -0.07153074 -2.8892993 ] [ 0.04827114 0.06057828 0.99699557 0.46189758] [ 0. 0. 0. 1. ]] SLAMing on 58.771652532 meters Centerline goodness : 0.727409 Centerline is valid? [False, False] Translation: X:-1.68, Y:-2.91, Z:0.46 [[ 0.95468053 -0.29615979 -0.02957149 -1.68426537] [ 0.29345995 0.95321753 -0.07250928 -2.90854945] [ 0.0496624 0.06054514 0.99692925 0.46069222] [ 0. 0. 0. 1. ]] SLAMing on 58.801652532 meters Centerline goodness : 0.723202 Centerline is valid? [False, False] Translation: X:-1.67, Y:-2.94, Z:0.46 [[ 0.94068868 -0.3379921 -0.0294302 -1.66757579] [ 0.33493122 0.93898555 -0.07827651 -2.93607526] [ 0.05409138 0.06377674 0.99649719 0.46002105] [ 0. 0. 0. 1. ]] SLAMing on 58.831652532 meters Centerline goodness : 0.721983 Centerline is valid? [False, False] Translation: X:-1.65, Y:-2.94, Z:0.47 [[ 0.93381671 -0.35648308 -0.03010267 -1.65113411] [ 0.35278705 0.9315614 -0.0879469 -2.94330358] [ 0.05939406 0.07150645 0.99567021 0.46633492] [ 0. 0. 0. 1. ]] SLAMing on 58.861652532 meters Centerline goodness : 0.719520 Centerline is valid? [False, False] Translation: X:-1.67, Y:-3.00, Z:0.47 [[ 0.92496191 -0.37825004 -0.03704556 -1.66626202] [ 0.37411907 0.92333491 -0.0865307 -2.99628003] [ 0.0669357 0.06617815 0.99556018 0.4689854 ] [ 0. 0. 0. 1. ]] SLAMing on 58.891652532 meters Centerline goodness : 0.717033 Centerline is valid? [False, False] Translation: X:-1.68, Y:-3.05, Z:0.47 [[ 0.91590287 -0.39900191 -0.04381108 -1.68240188] [ 0.39453855 0.91496284 -0.08474867 -3.05043024] [ 0.07390039 0.06033639 0.99543872 0.47257782] [ 0. 0. 0. 1. ]] SLAMing on 58.921652531999996 meters Centerline goodness : 0.712599 Centerline is valid? [False, False] Translation: X:-1.72, Y:-3.15, Z:0.47 [[ 0.8957173 -0.44260594 -0.04231435 -1.72262993] [ 0.43803721 0.89476314 -0.08673135 -3.15260823] [ 0.07624914 0.05915151 0.99533269 0.46958092] [ 0. 0. 0. 1. ]] SLAMing on 58.951652532 meters Centerline goodness : 0.711196 Centerline is valid? [False, False] Translation: X:-1.71, Y:-3.17, Z:0.47 [[ 0.88539341 -0.46225658 -0.04896279 -1.71071243] [ 0.45719768 0.88501237 -0.08788278 -3.16960072] [ 0.08395707 0.05542516 0.99492676 0.472722 ] [ 0. 0. 0. 1. ]] SLAMing on 58.981652532 meters Centerline goodness : 0.709689 Centerline is valid? [False, False] Translation: X:-1.71, Y:-3.20, Z:0.47 [[ 0.87385759 -0.48325873 -0.0532345 -1.70944826] [ 0.47830034 0.8741581 -0.08412135 -3.19753742] [ 0.08718775 0.048048 0.99503251 0.47111896] [ 0. 0. 0. 1. ]] SLAMing on 59.011652532 meters Centerline goodness : 0.705965 Centerline is valid? [False, False] Translation: X:-1.70, Y:-3.24, Z:0.47 [[ 0.85333874 -0.51764906 -0.06206801 -1.69853054] [ 0.51292698 0.85489233 -0.07787828 -3.23756485] [ 0.09337508 0.0346202 0.99502891 0.47162858] [ 0. 0. 0. 1. ]] SLAMing on 59.041652532 meters Centerline goodness : 0.699407 Centerline is valid? [False, False] Translation: X:-1.70, Y:-3.27, Z:0.47 [[ 0.84160703 -0.53606901 -0.06578468 -1.70315561] [ 0.53162097 0.84372738 -0.07418389 -3.27130567] [ 0.09527202 0.02746117 0.99507242 0.47225206] [ 0. 0. 0. 1. ]] SLAMing on 59.071652532 meters Centerline goodness : 0.700662 Centerline is valid? [False, False] Translation: X:-1.70, Y:-3.30, Z:0.48 [[ 0.8332084 -0.54820645 -0.07234255 -1.70199226] [ 0.54340169 0.83598846 -0.0764061 -3.29623235] [ 0.10236385 0.02435114 0.99444892 0.47852465] [ 0. 0. 0. 1. ]] SLAMing on 59.101652531999996 meters Centerline goodness : 0.703351 Centerline is valid? [False, False] Translation: X:-1.70, Y:-3.32, Z:0.49 [[ 0.82384012 -0.56127091 -0.07913545 -1.69826012] [ 0.55615305 0.82737701 -0.07836503 -3.31894849] [ 0.10945886 0.02054884 0.9937789 0.48503051] [ 0. 0. 0. 1. ]] SLAMing on 59.131652532 meters Centerline goodness : 0.715802 Centerline is valid? [False, False] Translation: X:-1.70, Y:-3.36, Z:0.49 [[ 0.80501799 -0.58696922 -0.08609976 -1.69510493] [ 0.58256998 0.80957035 -0.07216699 -3.35762991] [ 0.11206361 0.00793659 0.99366934 0.48508164] [ 0. 0. 0. 1. ]] SLAMing on 59.161652532 meters Centerline goodness : 0.716279 Centerline is valid? [False, False] Translation: X:-1.70, Y:-3.38, Z:0.49 [[ 0.79652995 -0.59766579 -0.09129975 -1.6970025 ] [ 0.59290013 0.80172244 -0.07556831 -3.37990144] [ 0.11836166 0.00606079 0.99295206 0.48928542] [ 0. 0. 0. 1. ]] SLAMing on 59.191652532 meters Centerline goodness : 0.715957 Centerline is valid? [False, False] Translation: X:-1.72, Y:-3.42, Z:0.49 [[ 7.88361631e-01 -6.07327805e-01 -9.81777741e-02 -1.71618973e+00] [ 6.02802204e-01 7.94450903e-01 -7.40085488e-02 -3.42327034e+00] [ 1.22944871e-01 -8.36278389e-04 9.92413150e-01 4.89099991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.221652532 meters Centerline goodness : 0.714677 Centerline is valid? [False, False] Translation: X:-1.72, Y:-3.44, Z:0.49 [[ 7.81710862e-01 -6.15054823e-01 -1.03129494e-01 -1.72009144e+00] [ 6.10183622e-01 7.88480367e-01 -7.72959066e-02 -3.44461300e+00] [ 1.28856801e-01 -2.50487846e-03 9.91660048e-01 4.89552642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.251652532 meters Centerline goodness : 0.714625 Centerline is valid? [False, False] Translation: X:-1.72, Y:-3.48, Z:0.49 [[ 0.76842602 -0.62961457 -0.11448556 -1.72430552] [ 0.62420104 0.77686783 -0.08276132 -3.48262478] [ 0.14104788 -0.00786605 0.98997153 0.49289271] [ 0. 0. 0. 1. ]] SLAMing on 59.281652532 meters Centerline goodness : 0.716151 Centerline is valid? [False, False] Translation: X:-1.74, Y:-3.51, Z:0.49 [[ 0.76280952 -0.63622813 -0.11547905 -1.73747939] [ 0.63022187 0.77147698 -0.08742809 -3.51104293] [ 0.14471364 -0.00608645 0.98945486 0.49078468] [ 0. 0. 0. 1. ]] SLAMing on 59.311652532 meters Centerline goodness : 0.714612 Centerline is valid? [False, False] Translation: X:-1.75, Y:-3.55, Z:0.49 [[ 0.75323578 -0.64621485 -0.1226468 -1.75418294] [ 0.64042235 0.76304806 -0.08727466 -3.55443865] [ 0.14998359 -0.01280736 0.98860553 0.4893106 ] [ 0. 0. 0. 1. ]] SLAMing on 59.341652532 meters Centerline goodness : 0.716147 Centerline is valid? [False, False] Translation: X:-1.77, Y:-3.58, Z:0.49 [[ 0.75013795 -0.64925041 -0.12556658 -1.76909581] [ 0.64325127 0.76044772 -0.08914633 -3.58359118] [ 0.15336512 -0.01389882 0.98807184 0.48763118] [ 0. 0. 0. 1. ]] SLAMing on 59.371652532 meters Centerline goodness : 0.717564 Centerline is valid? [False, False] Translation: X:-1.78, Y:-3.61, Z:0.49 [[ 0.74554871 -0.65383879 -0.12904247 -1.78120619] [ 0.64759771 0.75647712 -0.09143072 -3.60941065] [ 0.15739863 -0.01540155 0.98741504 0.4874271 ] [ 0. 0. 0. 1. ]] SLAMing on 59.401652532 meters Centerline goodness : 0.717110 Centerline is valid? [False, False] Translation: X:-1.79, Y:-3.63, Z:0.49 [[ 0.74167449 -0.65735772 -0.13341581 -1.79366485] [ 0.65103278 0.753362 -0.09274701 -3.63448867] [ 0.16147836 -0.01806997 0.98671081 0.48744355] [ 0. 0. 0. 1. ]] SLAMing on 59.431652532 meters Centerline goodness : 0.718670 Centerline is valid? [False, False] Translation: X:-1.82, Y:-3.67, Z:0.49 [[ 0.73960132 -0.65951713 -0.13426485 -1.81525552] [ 0.65278086 0.75149768 -0.09554259 -3.66953708] [ 0.1639117 -0.0169821 0.98632883 0.48515661] [ 0. 0. 0. 1. ]] SLAMing on 59.461652532 meters Centerline goodness : 0.721115 Centerline is valid? [False, False] Translation: X:-1.83, Y:-3.70, Z:0.48 [[ 0.73332966 -0.66664281 -0.13347275 -1.83081385] [ 0.65919937 0.74523869 -0.10037671 -3.70417415] [ 0.16638447 -0.01437593 0.98595616 0.48453234] [ 0. 0. 0. 1. ]] SLAMing on 59.491652531999996 meters Centerline goodness : 0.719249 Centerline is valid? [False, False] Translation: X:-1.85, Y:-3.74, Z:0.48 [[ 0.73126775 -0.6684187 -0.13588202 -1.84910548] [ 0.66085115 0.74362212 -0.10149832 -3.7351025 ] [ 0.16888825 -0.01557534 0.98551213 0.48291016] [ 0. 0. 0. 1. ]] SLAMing on 59.521652532 meters Centerline goodness : 0.718983 Centerline is valid? [False, False] Translation: X:-1.87, Y:-3.77, Z:0.48 [[ 0.72920839 -0.67065571 -0.13592662 -1.87182691] [ 0.66258687 0.74164102 -0.1046291 -3.77049359] [ 0.17097886 -0.01376678 0.98517851 0.47981617] [ 0. 0. 0. 1. ]] SLAMing on 59.551652532 meters Centerline goodness : 0.726190 Centerline is valid? [False, False] Translation: X:-1.89, Y:-3.80, Z:0.48 [[ 0.72633724 -0.67312389 -0.13906273 -1.88762327] [ 0.66498842 0.7393604 -0.1055301 -3.80070292] [ 0.17385231 -0.01582466 0.98464458 0.47835604] [ 0. 0. 0. 1. ]] SLAMing on 59.581652532 meters Centerline goodness : 0.722837 Centerline is valid? [False, False] Translation: X:-1.91, Y:-3.83, Z:0.48 [[ 0.7249605 -0.67394657 -0.14222617 -1.90773946] [ 0.66580736 0.73856348 -0.10594597 -3.83245608] [ 0.17644498 -0.01788859 0.98414794 0.47750551] [ 0. 0. 0. 1. ]] SLAMing on 59.611652532 meters Centerline goodness : 0.728019 Centerline is valid? [False, False] Translation: X:-1.93, Y:-3.87, Z:0.47 [[ 0.72288387 -0.67608563 -0.14264336 -1.93064548] [ 0.66759213 0.73662629 -0.10817789 -3.86552386] [ 0.17821237 -0.01702754 0.98384471 0.47454221] [ 0. 0. 0. 1. ]] SLAMing on 59.641652532 meters Centerline goodness : 0.732395 Centerline is valid? [False, False] Translation: X:-1.95, Y:-3.90, Z:0.47 [[ 0.71990698 -0.67896483 -0.14401634 -1.95026928] [ 0.67019306 0.73396867 -0.11014201 -3.89742925] [ 0.18048603 -0.01722674 0.98342668 0.47259816] [ 0. 0. 0. 1. ]] SLAMing on 59.671652531999996 meters Centerline goodness : 0.730724 Centerline is valid? [False, False] Translation: X:-1.98, Y:-3.93, Z:0.47 [[ 0.72010177 -0.67853682 -0.14505596 -1.97539377] [ 0.66972212 0.73435492 -0.11043161 -3.93028301] [ 0.18145447 -0.01762519 0.98324139 0.46829854] [ 0. 0. 0. 1. ]] SLAMing on 59.701652532 meters Centerline goodness : 0.733100 Centerline is valid? [False, False] Translation: X:-2.01, Y:-3.97, Z:0.46 [[ 0.72092942 -0.67753276 -0.14563701 -2.00612823] [ 0.66808809 0.73533382 -0.11376501 -3.96751324] [ 0.18417134 -0.01528181 0.98277535 0.46395745] [ 0. 0. 0. 1. ]] SLAMing on 59.731652532 meters Centerline goodness : 0.731620 Centerline is valid? [False, False] Translation: X:-2.04, Y:-4.01, Z:0.46 [[ 0.72225521 -0.67559826 -0.14803512 -2.04046783] [ 0.66518102 0.73716183 -0.11885553 -4.00754799] [ 0.18942443 -0.01262613 0.98181412 0.46095182] [ 0. 0. 0. 1. ]] SLAMing on 59.761652532 meters Centerline goodness : 0.732354 Centerline is valid? [False, False] Translation: X:-2.07, Y:-4.04, Z:0.46 [[ 0.72366911 -0.67395995 -0.14859679 -2.06926539] [ 0.66338495 0.7386692 -0.11953329 -4.0408711 ] [ 0.19032452 -0.01207432 0.98164698 0.45502577] [ 0. 0. 0. 1. ]] SLAMing on 59.791652532 meters Centerline goodness : 0.728462 Centerline is valid? [False, False] Translation: X:-2.11, Y:-4.08, Z:0.45 [[ 0.72826865 -0.66914363 -0.1478904 -2.10714268] [ 0.65856857 0.74305539 -0.11897953 -4.078949 ] [ 0.18950515 -0.01074691 0.98182091 0.4485733 ] [ 0. 0. 0. 1. ]] SLAMing on 59.821652532 meters Centerline goodness : 0.726388 Centerline is valid? [False, False] Translation: X:-2.14, Y:-4.11, Z:0.44 [[ 0.730156 -0.66714335 -0.14762106 -2.13745396] [ 0.65680421 0.74484599 -0.11752736 -4.11270829] [ 0.18836255 -0.01114483 0.98203632 0.44330936] [ 0. 0. 0. 1. ]] SLAMing on 59.851652531999996 meters Centerline goodness : 0.728458 Centerline is valid? [False, False] Translation: X:-2.17, Y:-4.15, Z:0.44 [[ 0.73264556 -0.6645132 -0.14714853 -2.1702893 ] [ 0.65434791 0.74719454 -0.11631477 -4.1484707 ] [ 0.18724128 -0.01106883 0.98225159 0.4386128 ] [ 0. 0. 0. 1. ]] SLAMing on 59.881652532 meters Centerline goodness : 0.728063 Centerline is valid? [False, False] Translation: X:-2.21, Y:-4.18, Z:0.43 [[ 0.73734229 -0.65948355 -0.14631406 -2.20796909] [ 0.64980256 0.75162916 -0.11318228 -4.18351118] [ 0.18461577 -0.01162117 0.98274207 0.4328571 ] [ 0. 0. 0. 1. ]] SLAMing on 59.911652532 meters Centerline goodness : 0.730036 Centerline is valid? [False, False] Translation: X:-2.24, Y:-4.21, Z:0.43 [[ 0.73869956 -0.65795632 -0.1463436 -2.23732848] [ 0.64856486 0.75295131 -0.11148073 -4.21490249] [ 0.18353906 -0.01256255 0.98293214 0.42814864] [ 0. 0. 0. 1. ]] SLAMing on 59.941652532 meters Centerline goodness : 0.728883 Centerline is valid? [False, False] Translation: X:-2.27, Y:-4.25, Z:0.42 [[ 0.74115407 -0.65524252 -0.14610919 -2.26903227] [ 0.64611567 0.75530581 -0.1097619 -4.24935593] [ 0.18227778 -0.01305296 0.98316043 0.42303704] [ 0. 0. 0. 1. ]] SLAMing on 59.971652532 meters Centerline goodness : 0.730059 Centerline is valid? [False, False] Translation: X:-2.31, Y:-4.29, Z:0.42 [[ 0.74738617 -0.64848309 -0.14451155 -2.31014276] [ 0.63993344 0.76111112 -0.10580668 -4.28882763] [ 0.17860319 -0.01339932 0.98382994 0.4171889 ] [ 0. 0. 0. 1. ]] SLAMing on 60.001652532 meters Centerline goodness : 0.729506 Centerline is valid? [False, False] Translation: X:-2.34, Y:-4.32, Z:0.41 [[ 0.74953141 -0.64622027 -0.14353409 -2.34187636] [ 0.63802907 0.76302268 -0.1035147 -4.32247973] [ 0.17641306 -0.0139914 0.98421678 0.41219447] [ 0. 0. 0. 1. ]] SLAMing on 60.031652532 meters Centerline goodness : 0.728913 Centerline is valid? [False, False] Translation: X:-2.37, Y:-4.36, Z:0.41 [[ 0.75207022 -0.6433413 -0.14318643 -2.37324856] [ 0.63558724 0.76542777 -0.10074324 -4.3563425 ] [ 0.17441115 -0.01524148 0.98455495 0.40766588] [ 0. 0. 0. 1. ]] SLAMing on 60.061652532 meters Centerline goodness : 0.728913 Centerline is valid? [False, False] Translation: X:-2.40, Y:-4.39, Z:0.41 [[ 0.75192091 -0.64289695 -0.14593991 -2.39591785] [ 0.63528856 0.76575467 -0.10014107 -4.38600234] [ 0.17613455 -0.01741579 0.98421202 0.40508217] [ 0. 0. 0. 1. ]] SLAMing on 60.091652532 meters Centerline goodness : 0.730740 Centerline is valid? [False, False] Translation: X:-2.43, Y:-4.42, Z:0.40 [[ 0.75498526 -0.63992938 -0.1431351 -2.43175811] [ 0.63279782 0.76823555 -0.09685584 -4.42318097] [ 0.17194237 -0.01745084 0.98495243 0.40088519] [ 0. 0. 0. 1. ]] SLAMing on 60.121652532 meters Centerline goodness : 0.731788 Centerline is valid? [False, False] Translation: X:-2.46, Y:-4.45, Z:0.40 [[ 0.75634655 -0.63822039 -0.14357796 -2.46001583] [ 0.63139245 0.76962387 -0.09498778 -4.45490271] [ 0.17112416 -0.01881035 0.98506989 0.39667605] [ 0. 0. 0. 1. ]] SLAMing on 60.151652532 meters Centerline goodness : 0.730705 Centerline is valid? [False, False] Translation: X:-2.49, Y:-4.49, Z:0.39 [[ 0.75820334 -0.63565389 -0.14516141 -2.48806977] [ 0.62922998 0.77168467 -0.09258723 -4.48649207] [ 0.17087227 -0.02113997 0.98506638 0.3931011 ] [ 0. 0. 0. 1. ]] SLAMing on 60.181652532 meters Centerline goodness : 0.732766 Centerline is valid? [False, False] Translation: X:-2.52, Y:-4.52, Z:0.39 [[ 0.75955905 -0.63375497 -0.14637178 -2.51553978] [ 0.62771354 0.77318413 -0.09034383 -4.51724292] [ 0.17042818 -0.02325807 0.98509558 0.38933024] [ 0. 0. 0. 1. ]] SLAMing on 60.211652532 meters Centerline goodness : 0.731519 Centerline is valid? [False, False] Translation: X:-2.55, Y:-4.55, Z:0.39 [[ 0.75945138 -0.63484841 -0.14213057 -2.54776733] [ 0.62906031 0.77231532 -0.08838649 -4.55410207] [ 0.16588163 -0.02228346 0.98589387 0.38649971] [ 0. 0. 0. 1. ]] SLAMing on 60.241652531999996 meters Centerline goodness : 0.733218 Centerline is valid? [False, False] Translation: X:-2.58, Y:-4.59, Z:0.38 [[ 0.76127645 -0.63284593 -0.14129467 -2.57817113] [ 0.62732425 0.77394184 -0.0864772 -4.59058724] [ 0.1640806 -0.02280452 0.9861833 0.38283008] [ 0. 0. 0. 1. ]] SLAMing on 60.271652532 meters Centerline goodness : 0.735334 Centerline is valid? [False, False] Translation: X:-2.60, Y:-4.62, Z:0.38 [[ 0.76072949 -0.63302409 -0.14342645 -2.60169702] [ 0.62785662 0.77370784 -0.08468908 -4.62192233] [ 0.1645804 -0.02562577 0.98603074 0.38257547] [ 0. 0. 0. 1. ]] SLAMing on 60.301652532 meters Centerline goodness : 0.739644 Centerline is valid? [False, False] Translation: X:-2.62, Y:-4.65, Z:0.38 [[ 0.75815035 -0.63527322 -0.14709175 -2.62047424] [ 0.63023009 0.77176448 -0.08479162 -4.64705464] [ 0.16738603 -0.02841685 0.98548181 0.38278206] [ 0. 0. 0. 1. ]] SLAMing on 60.331652532 meters Centerline goodness : 0.739647 Centerline is valid? [False, False] Translation: X:-2.65, Y:-4.68, Z:0.38 [[ 0.76085681 -0.63223073 -0.14622315 -2.65272843] [ 0.62770711 0.77419988 -0.08123012 -4.68463232] [ 0.16456212 -0.02998082 0.98591098 0.37897285] [ 0. 0. 0. 1. ]] SLAMing on 60.361652532 meters Centerline goodness : 0.741081 Centerline is valid? [False, False] Translation: X:-2.68, Y:-4.72, Z:0.38 [[ 0.76446741 -0.62737502 -0.14829081 -2.68098429] [ 0.62356921 0.77798555 -0.07681096 -4.72009791] [ 0.16355739 -0.03375011 0.98595634 0.37561962] [ 0. 0. 0. 1. ]] SLAMing on 60.391652532 meters Centerline goodness : 0.739012 Centerline is valid? [False, False] Translation: X:-2.71, Y:-4.76, Z:0.37 [[ 0.76875721 -0.62174995 -0.14979767 -2.71038436] [ 0.61857751 0.78235239 -0.07270902 -4.75627867] [ 0.16240139 -0.03676589 0.98603958 0.3706062 ] [ 0. 0. 0. 1. ]] SLAMing on 60.421652531999996 meters Centerline goodness : 0.739210 Centerline is valid? [False, False] Translation: X:-2.74, Y:-4.79, Z:0.37 [[ 0.77061842 -0.61924659 -0.15060185 -2.73755598] [ 0.61646281 0.78424263 -0.07026454 -4.79186928] [ 0.16161947 -0.0386933 0.9860943 0.36719642] [ 0. 0. 0. 1. ]] SLAMing on 60.451652532 meters Centerline goodness : 0.741105 Centerline is valid? [False, False] Translation: X:-2.76, Y:-4.83, Z:0.37 [[ 0.76597355 -0.625783 -0.14724183 -2.76105216] [ 0.6221868 0.77925364 -0.07514884 -4.8323169 ] [ 0.1617656 -0.0340499 0.9862416 0.36713423] [ 0. 0. 0. 1. ]] SLAMing on 60.481652532 meters Centerline goodness : 0.740627 Centerline is valid? [False, False] Translation: X:-2.78, Y:-4.87, Z:0.37 [[ 0.76675321 -0.62430865 -0.14942629 -2.78499591] [ 0.6211685 0.78029749 -0.07270163 -4.86784678] [ 0.16198521 -0.0370747 0.98609648 0.36639657] [ 0. 0. 0. 1. ]] SLAMing on 60.511652532 meters Centerline goodness : 0.741511 Centerline is valid? [False, False] Translation: X:-2.80, Y:-4.90, Z:0.37 [[ 0.76445941 -0.62634502 -0.15262283 -2.80327442] [ 0.6233468 0.77854651 -0.07282918 -4.89693209] [ 0.16444016 -0.039462 0.98559737 0.36617433] [ 0. 0. 0. 1. ]] SLAMing on 60.541652532 meters Centerline goodness : 0.743599 Centerline is valid? [False, False] Translation: X:-2.82, Y:-4.92, Z:0.36 [[ 0.76310485 -0.6270659 -0.15639484 -2.82235753] [ 0.62435957 0.7778001 -0.07212577 -4.9248233 ] [ 0.16687153 -0.04260709 0.98505763 0.36480892] [ 0. 0. 0. 1. ]] SLAMing on 60.571652532 meters Centerline goodness : 0.744115 Centerline is valid? [False, False] Translation: X:-2.84, Y:-4.96, Z:0.36 [[ 0.76050635 -0.62941688 -0.15957594 -2.84043669] [ 0.6268295 0.77577202 -0.07254344 -4.95501785] [ 0.16945461 -0.04485716 0.98451662 0.36442297] [ 0. 0. 0. 1. ]] SLAMing on 60.601652531999996 meters Centerline goodness : 0.744968 Centerline is valid? [False, False] Translation: X:-2.86, Y:-4.99, Z:0.36 [[ 0.76012219 -0.62943884 -0.16131028 -2.86335737] [ 0.62706471 0.77565233 -0.07178656 -4.98714835] [ 0.17030594 -0.04658543 0.98428943 0.361814 ] [ 0. 0. 0. 1. ]] SLAMing on 60.631652532 meters Centerline goodness : 0.746580 Centerline is valid? [False, False] Translation: X:-2.89, Y:-5.02, Z:0.36 [[ 0.75918339 -0.63014153 -0.16297924 -2.88548123] [ 0.627942 0.77498384 -0.07133651 -5.01887132] [ 0.17125838 -0.04818402 0.98404719 0.35974209] [ 0. 0. 0. 1. ]] SLAMing on 60.661652532 meters Centerline goodness : 0.748566 Centerline is valid? [False, False] Translation: X:-2.91, Y:-5.05, Z:0.36 [[ 0.75793706 -0.63113847 -0.16491103 -2.90764835] [ 0.62913718 0.77405537 -0.07088509 -5.053303 ] [ 0.17238858 -0.05002522 0.98375793 0.35928714] [ 0. 0. 0. 1. ]] SLAMing on 60.691652532 meters Centerline goodness : 0.748019 Centerline is valid? [False, False] Translation: X:-2.93, Y:-5.08, Z:0.36 [[ 0.75731437 -0.63116083 -0.16766319 -2.92957933] [ 0.62957896 0.77383607 -0.0693403 -5.08316199] [ 0.17350871 -0.05304481 0.98340275 0.35782087] [ 0. 0. 0. 1. ]] SLAMing on 60.721652532 meters Centerline goodness : 0.749673 Centerline is valid? [False, False] Translation: X:-2.95, Y:-5.11, Z:0.36 [[ 0.7559828 -0.63183186 -0.17110965 -2.94949665] [ 0.63059201 0.77307692 -0.06859878 -5.11081445] [ 0.17562382 -0.05604089 0.98286097 0.35643647] [ 0. 0. 0. 1. ]] SLAMing on 60.751652532 meters Centerline goodness : 0.749506 Centerline is valid? [False, False] Translation: X:-2.97, Y:-5.14, Z:0.35 [[ 0.75549052 -0.63171937 -0.17367989 -2.97160572] [ 0.63080189 0.77299005 -0.06764133 -5.1403048 ] [ 0.17698317 -0.05845522 0.98247643 0.35385159] [ 0. 0. 0. 1. ]] SLAMing on 60.781652532 meters Centerline goodness : 0.749988 Centerline is valid? [False, False] Translation: X:-2.99, Y:-5.17, Z:0.35 [[ 0.75211791 -0.63532249 -0.17516844 -2.99173414] [ 0.63422158 0.7700103 -0.06962124 -5.17165599] [ 0.17911344 -0.05873223 0.98207377 0.35335165] [ 0. 0. 0. 1. ]] SLAMing on 60.811652532 meters Centerline goodness : 0.751256 Centerline is valid? [False, False] Translation: X:-3.01, Y:-5.20, Z:0.35 [[ 0.74869515 -0.63844613 -0.17844359 -3.00780306] [ 0.63742176 0.76726207 -0.07072778 -5.19553392] [ 0.18206888 -0.06079028 0.98140484 0.35174773] [ 0. 0. 0. 1. ]] SLAMing on 60.841652532 meters Centerline goodness : 0.751198 Centerline is valid? [False, False] Translation: X:-3.03, Y:-5.22, Z:0.35 [[ 0.74680488 -0.63975432 -0.18165042 -3.02660513] [ 0.63899047 0.76596577 -0.07062305 -5.22163114] [ 0.1843194 -0.06333125 0.98082389 0.34946604] [ 0. 0. 0. 1. ]] SLAMing on 60.871652532 meters Centerline goodness : 0.751387 Centerline is valid? [False, False] Translation: X:-3.05, Y:-5.25, Z:0.35 [[ 0.74628368 -0.63945601 -0.18481526 -3.04688069] [ 0.63907059 0.76598229 -0.06971301 -5.24816852] [ 0.18614362 -0.06608432 0.98029762 0.34550349] [ 0. 0. 0. 1. ]] SLAMing on 60.901652532 meters Centerline goodness : 0.750959 Centerline is valid? [False, False] Translation: X:-3.07, Y:-5.28, Z:0.34 [[ 0.74872036 -0.63636957 -0.18561141 -3.07482577] [ 0.63623496 0.76847011 -0.06825513 -5.28198709] [ 0.18607231 -0.06698846 0.98024978 0.33843496] [ 0. 0. 0. 1. ]] SLAMing on 60.931652532 meters Centerline goodness : 0.753240 Centerline is valid? [False, False] Translation: X:-3.10, Y:-5.31, Z:0.34 [[ 0.74829011 -0.63623945 -0.18777983 -3.09742483] [ 0.6363472 0.76841974 -0.06777425 -5.31154495] [ 0.18741438 -0.06877837 0.97987009 0.33506108] [ 0. 0. 0. 1. ]] SLAMing on 60.961652532 meters Centerline goodness : 0.751839 Centerline is valid? [False, False] Translation: X:-3.12, Y:-5.34, Z:0.33 [[ 0.74746372 -0.63658363 -0.18989277 -3.11965461] [ 0.63688905 0.76798636 -0.06759652 -5.34069598] [ 0.1888659 -0.07041468 0.97947509 0.33188481] [ 0. 0. 0. 1. ]] SLAMing on 60.991652531999996 meters Centerline goodness : 0.753436 Centerline is valid? [False, False] Translation: X:-3.14, Y:-5.37, Z:0.33 [[ 0.74652012 -0.63679227 -0.19288163 -3.14076146] [ 0.63737386 0.76760487 -0.06735964 -5.36966359] [ 0.19095098 -0.07265239 0.97890722 0.32945262] [ 0. 0. 0. 1. ]] SLAMing on 61.021652532 meters Centerline goodness : 0.753380 Centerline is valid? [False, False] Translation: X:-3.16, Y:-5.40, Z:0.33 [[ 0.74473147 -0.63885953 -0.19295994 -3.164872 ] [ 0.63930005 0.7659081 -0.06841221 -5.40291115] [ 0.19149537 -0.07241057 0.97881879 0.32666198] [ 0. 0. 0. 1. ]] SLAMing on 61.051652532 meters Centerline goodness : 0.756004 Centerline is valid? [False, False] Translation: X:-3.18, Y:-5.43, Z:0.32 [[ 0.74415468 -0.63846641 -0.19645472 -3.18461766] [ 0.63935864 0.76594549 -0.06743917 -5.42912265] [ 0.19353125 -0.07541985 0.97819093 0.3227533 ] [ 0. 0. 0. 1. ]] SLAMing on 61.081652532 meters Centerline goodness : 0.753968 Centerline is valid? [False, False] Translation: X:-3.20, Y:-5.46, Z:0.32 [[ 0.7433901 -0.63838446 -0.19959068 -3.204875 ] [ 0.63961102 0.76577169 -0.0670184 -5.45575703] [ 0.1956244 -0.07783958 0.97758483 0.31866728] [ 0. 0. 0. 1. ]] SLAMing on 61.111652532 meters Centerline goodness : 0.754863 Centerline is valid? [False, False] Translation: X:-3.22, Y:-5.48, Z:0.31 [[ 0.7421539 -0.63899213 -0.20222919 -3.22494492] [ 0.64043928 0.76507167 -0.06710342 -5.48216988] [ 0.19759838 -0.07971445 0.97703658 0.31440513] [ 0. 0. 0. 1. ]] SLAMing on 61.141652532 meters Centerline goodness : 0.754070 Centerline is valid? [False, False] Translation: X:-3.25, Y:-5.51, Z:0.31 [[ 0.74164723 -0.63931615 -0.20306219 -3.24862226] [ 0.64072564 0.76478064 -0.06768477 -5.51450543] [ 0.19857 -0.07990893 0.97682369 0.30922018] [ 0. 0. 0. 1. ]] SLAMing on 61.171652531999996 meters Centerline goodness : 0.753652 Centerline is valid? [False, False] Translation: X:-3.27, Y:-5.54, Z:0.31 [[ 0.74026306 -0.64006405 -0.2057392 -3.26878741] [ 0.64170927 0.76394827 -0.06776616 -5.54205424] [ 0.20054879 -0.08185997 0.97625772 0.30560983] [ 0. 0. 0. 1. ]] SLAMing on 61.201652532 meters Centerline goodness : 0.753321 Centerline is valid? [False, False] Translation: X:-3.29, Y:-5.57, Z:0.30 [[ 0.73757949 -0.64214605 -0.20886585 -3.28625336] [ 0.64395967 0.76197724 -0.06860495 -5.56704422] [ 0.20320542 -0.08389958 0.97553494 0.30272214] [ 0. 0. 0. 1. ]] SLAMing on 61.231652532 meters Centerline goodness : 0.753346 Centerline is valid? [False, False] Translation: X:-3.31, Y:-5.60, Z:0.30 [[ 0.73589068 -0.64336111 -0.21107199 -3.30637198] [ 0.64519938 0.76083527 -0.06962366 -5.59548342] [ 0.20538417 -0.08494811 0.97498777 0.2980262 ] [ 0. 0. 0. 1. ]] SLAMing on 61.261652532 meters Centerline goodness : 0.752775 Centerline is valid? [False, False] Translation: X:-3.32, Y:-5.62, Z:0.29 [[ 0.7345514 -0.64353228 -0.21517538 -3.32439082] [ 0.64584953 0.76032479 -0.06917085 -5.62012365] [ 0.20811686 -0.08816137 0.97412265 0.29421683] [ 0. 0. 0. 1. ]] SLAMing on 61.291652532 meters Centerline goodness : 0.755156 Centerline is valid? [False, False] Translation: X:-3.34, Y:-5.64, Z:0.29 [[ 0.73334709 -0.64361763 -0.21899403 -3.34310518] [ 0.64635509 0.75991758 -0.06892301 -5.64455287] [ 0.21077747 -0.09100342 0.97328888 0.28988217] [ 0. 0. 0. 1. ]] SLAMing on 61.321652532 meters Centerline goodness : 0.753798 Centerline is valid? [False, False] Translation: X:-3.36, Y:-5.67, Z:0.29 [[ 0.73263773 -0.64335207 -0.22212623 -3.36376427] [ 0.64649188 0.75984451 -0.06844394 -5.6709832 ] [ 0.21281495 -0.0934582 0.97261265 0.28527107] [ 0. 0. 0. 1. ]] SLAMing on 61.351652531999996 meters Centerline goodness : 0.754444 Centerline is valid? [False, False] Translation: X:-3.39, Y:-5.70, Z:0.28 [[ 0.7320333 -0.64359476 -0.22341224 -3.38725813] [ 0.64674311 0.75957747 -0.06903198 -5.70097323] [ 0.21412753 -0.09395661 0.97227648 0.27910992] [ 0. 0. 0. 1. ]] SLAMing on 61.381652532 meters Centerline goodness : 0.753425 Centerline is valid? [False, False] Translation: X:-3.41, Y:-5.73, Z:0.27 [[ 0.73056782 -0.64444405 -0.22574884 -3.40832015] [ 0.64773325 0.75868059 -0.0696089 -5.72779969] [ 0.2161303 -0.09537101 0.97169546 0.27467082] [ 0. 0. 0. 1. ]] SLAMing on 61.411652532 meters Centerline goodness : 0.755002 Centerline is valid? [False, False] Translation: X:-3.43, Y:-5.76, Z:0.27 [[ 0.72955885 -0.6450165 -0.22737105 -3.43055046] [ 0.64847763 0.75803754 -0.06968402 -5.75559245] [ 0.21730313 -0.09660645 0.97131176 0.26942575] [ 0. 0. 0. 1. ]] SLAMing on 61.441652532 meters Centerline goodness : 0.755459 Centerline is valid? [False, False] Translation: X:-3.46, Y:-5.79, Z:0.26 [[ 0.73015653 -0.64402502 -0.22826129 -3.45577448] [ 0.6476321 0.75879782 -0.0692714 -5.78588039] [ 0.21781669 -0.09725037 0.97113246 0.26238914] [ 0. 0. 0. 1. ]] SLAMing on 61.471652532 meters Centerline goodness : 0.756015 Centerline is valid? [False, False] Translation: X:-3.48, Y:-5.82, Z:0.26 [[ 0.73104049 -0.64263261 -0.22935374 -3.48219754] [ 0.64638302 0.75989614 -0.06889739 -5.81690146] [ 0.21856073 -0.09788358 0.97090165 0.25523792] [ 0. 0. 0. 1. ]] SLAMing on 61.501652532 meters Centerline goodness : 0.755761 Centerline is valid? [False, False] Translation: X:-3.50, Y:-5.84, Z:0.25 [[ 0.7305994 -0.64236631 -0.23149524 -3.50494989] [ 0.64642466 0.75989754 -0.06849004 -5.84432392] [ 0.21990836 -0.09960544 0.97042211 0.24967153] [ 0. 0. 0. 1. ]] SLAMing on 61.531652532 meters Centerline goodness : 0.754673 Centerline is valid? [False, False] Translation: X:-3.53, Y:-5.87, Z:0.24 [[ 0.73035091 -0.64179806 -0.23384355 -3.5279003 ] [ 0.64625551 0.76010789 -0.06774816 -5.87220052] [ 0.22122696 -0.10164275 0.96991102 0.24466585] [ 0. 0. 0. 1. ]] SLAMing on 61.561652532 meters Centerline goodness : 0.753490 Centerline is valid? [False, False] Translation: X:-3.55, Y:-5.91, Z:0.24 [[ 0.73106436 -0.64070235 -0.23461754 -3.55461494] [ 0.64533721 0.76094104 -0.06714623 -5.90526978] [ 0.22155086 -0.10231921 0.96976595 0.23888962] [ 0. 0. 0. 1. ]] SLAMing on 61.591652532 meters Centerline goodness : 0.754479 Centerline is valid? [False, False] Translation: X:-3.58, Y:-5.94, Z:0.23 [[ 0.73101926 -0.64052617 -0.23523832 -3.57952168] [ 0.64524958 0.76102592 -0.06702629 -5.93621489] [ 0.22195455 -0.10278991 0.96962385 0.23287209] [ 0. 0. 0. 1. ]] SLAMing on 61.621652532 meters Centerline goodness : 0.752333 Centerline is valid? [False, False] Translation: X:-3.61, Y:-5.97, Z:0.23 [[ 0.73174296 -0.63954051 -0.23566963 -3.6057182 ] [ 0.64447784 0.76175849 -0.06612345 -5.96733495] [ 0.22181197 -0.10349848 0.9695811 0.2260871 ] [ 0. 0. 0. 1. ]] SLAMing on 61.651652532 meters Centerline goodness : 0.753196 Centerline is valid? [False, False] Translation: X:-3.63, Y:-6.00, Z:0.22 [[ 0.73128803 -0.63955738 -0.23703201 -3.62952783] [ 0.64475668 0.76156359 -0.06564838 -5.99621764] [ 0.22250085 -0.1048201 0.96928124 0.22058766] [ 0. 0. 0. 1. ]] SLAMing on 61.681652532 meters Centerline goodness : 0.754301 Centerline is valid? [False, False] Translation: X:-3.65, Y:-6.02, Z:0.22 [[ 0.73028983 -0.63995123 -0.23903806 -3.65189118] [ 0.64538722 0.76102654 -0.06568053 -6.02388462] [ 0.22394665 -0.10630629 0.96878629 0.21564233] [ 0. 0. 0. 1. ]] SLAMing on 61.711652532 meters Centerline goodness : 0.752325 Centerline is valid? [False, False] Translation: X:-3.68, Y:-6.05, Z:0.21 [[ 0.73046124 -0.63942834 -0.23991202 -3.67663467] [ 0.64503615 0.7613589 -0.06527623 -6.05387722] [ 0.22439863 -0.10707017 0.96859756 0.20908352] [ 0. 0. 0. 1. ]] SLAMing on 61.741652531999996 meters Centerline goodness : 0.753054 Centerline is valid? [False, False] Translation: X:-3.70, Y:-6.09, Z:0.20 [[ 0.72891652 -0.64067867 -0.24127068 -3.69907103] [ 0.64616657 0.76027663 -0.06669495 -6.0851119 ] [ 0.22616249 -0.107286 0.96816333 0.20449097] [ 0. 0. 0. 1. ]] SLAMing on 61.771652532 meters Centerline goodness : 0.751871 Centerline is valid? [False, False] Translation: X:-3.72, Y:-6.11, Z:0.20 [[ 0.72655851 -0.64226752 -0.24414169 -3.7180546 ] [ 0.64794129 0.75868246 -0.06762406 -6.11072033] [ 0.22865876 -0.10905665 0.96737884 0.20037374] [ 0. 0. 0. 1. ]] SLAMing on 61.801652532 meters Centerline goodness : 0.754971 Centerline is valid? [False, False] Translation: X:-3.74, Y:-6.14, Z:0.20 [[ 0.72555525 -0.64159846 -0.24883928 -3.73659522] [ 0.64803506 0.75868769 -0.06665997 -6.13535502] [ 0.23156024 -0.11289109 0.96624814 0.19699146] [ 0. 0. 0. 1. ]] SLAMing on 61.831652532 meters Centerline goodness : 0.755671 Centerline is valid? [False, False] Translation: X:-3.76, Y:-6.16, Z:0.19 [[ 0.72396184 -0.64249838 -0.25114755 -3.75803116] [ 0.64893947 0.75779614 -0.06798944 -6.16374088] [ 0.23400175 -0.1137578 0.96555805 0.19159484] [ 0. 0. 0. 1. ]] SLAMing on 61.861652532 meters Centerline goodness : 0.756515 Centerline is valid? [False, False] Translation: X:-3.78, Y:-6.19, Z:0.19 [[ 0.72169056 -0.64395118 -0.25394804 -3.77694562] [ 0.65052134 0.75633162 -0.06916981 -6.18786257] [ 0.23661092 -0.11527942 0.96474138 0.1862701 ] [ 0. 0. 0. 1. ]] SLAMing on 61.891652532 meters Centerline goodness : 0.754559 Centerline is valid? [False, False] Translation: X:-3.80, Y:-6.22, Z:0.18 [[ 0.72157108 -0.64375662 -0.2547795 -3.80189708] [ 0.65006459 0.75659037 -0.07061891 -6.21745373] [ 0.23822511 -0.11466657 0.96441712 0.17758465] [ 0. 0. 0. 1. ]] SLAMing on 61.921652531999996 meters Centerline goodness : 0.754984 Centerline is valid? [False, False] Translation: X:-3.83, Y:-6.25, Z:0.17 [[ 0.72200783 -0.64278351 -0.2559962 -3.82629722] [ 0.64941256 0.75723104 -0.06974586 -6.24538929] [ 0.23867976 -0.11589009 0.96415842 0.16964533] [ 0. 0. 0. 1. ]] SLAMing on 61.951652532 meters Centerline goodness : 0.755528 Centerline is valid? [False, False] Translation: X:-3.86, Y:-6.28, Z:0.16 [[ 0.72451006 -0.64009303 -0.25566792 -3.85619092] [ 0.64694399 0.7594859 -0.0681517 -6.27671207] [ 0.23779961 -0.11602623 0.96435951 0.15920087] [ 0. 0. 0. 1. ]] SLAMing on 61.981652532 meters Centerline goodness : 0.755528 Centerline is valid? [False, False] Translation: X:-3.88, Y:-6.31, Z:0.15 [[ 0.72419849 -0.63988223 -0.25707446 -3.87989646] [ 0.64673157 0.75960514 -0.06883533 -6.305038 ] [ 0.23932159 -0.11640773 0.96393694 0.15177695] [ 0. 0. 0. 1. ]] SLAMing on 62.011652532 meters Centerline goodness : 0.754462 Centerline is valid? [False, False] Translation: X:-3.90, Y:-6.33, Z:0.14 [[ 0.72396328 -0.63967476 -0.25825059 -3.90412427] [ 0.64655604 0.75971543 -0.06926585 -6.33354685] [ 0.24050457 -0.11682754 0.96359165 0.14438373] [ 0. 0. 0. 1. ]] SLAMing on 62.041652532 meters Centerline goodness : 0.755194 Centerline is valid? [False, False] Translation: X:-3.93, Y:-6.36, Z:0.14 [[ 0.72287907 -0.64095041 -0.25812482 -3.92826147] [ 0.64757923 0.75873304 -0.07046505 -6.36201439] [ 0.24101243 -0.11621856 0.9635384 0.13660728] [ 0. 0. 0. 1. ]] SLAMing on 62.071652532 meters Centerline goodness : 0.754135 Centerline is valid? [False, False] Translation: X:-3.96, Y:-6.39, Z:0.13 [[ 0.72310566 -0.64221824 -0.25431073 -3.95802494] [ 0.64810534 0.75815994 -0.07178423 -6.39391947] [ 0.23890935 -0.11291256 0.96445481 0.12513891] [ 0. 0. 0. 1. ]] SLAMing on 62.101652531999996 meters Centerline goodness : 0.754063 Centerline is valid? [False, False] Translation: X:-3.99, Y:-6.43, Z:0.11 [[ 0.72295449 -0.64370076 -0.25097039 -3.988219 ] [ 0.64865034 0.75745736 -0.07423665 -6.42595229] [ 0.23788556 -0.10912231 0.96514392 0.11407963] [ 0. 0. 0. 1. ]] SLAMing on 62.131652532 meters Centerline goodness : 0.754598 Centerline is valid? [False, False] Translation: X:-4.01, Y:-6.45, Z:0.11 [[ 0.72305627 -0.64309202 -0.25223456 -4.0128707 ] [ 0.64813582 0.75788703 -0.0743452 -6.4526447 ] [ 0.23897611 -0.10972649 0.96480595 0.10578685] [ 0. 0. 0. 1. ]] SLAMing on 62.161652532 meters Centerline goodness : 0.752906 Centerline is valid? [False, False] Translation: X:-4.04, Y:-6.48, Z:0.10 [[ 0.72452153 -0.64115904 -0.25294987 -4.03912062] [ 0.64648651 0.75940857 -0.07316972 -6.48035981] [ 0.23900573 -0.11051564 0.96470853 0.09597707] [ 0. 0. 0. 1. ]] SLAMing on 62.191652532 meters Centerline goodness : 0.752275 Centerline is valid? [False, False] Translation: X:-4.07, Y:-6.51, Z:0.09 [[ 0.72961131 -0.63471349 -0.25457045 -4.07248543] [ 0.64045182 0.76470467 -0.07105098 -6.51335375] [ 0.23976823 -0.11120051 0.96444059 0.0850869 ] [ 0. 0. 0. 1. ]] SLAMing on 62.221652532 meters Centerline goodness : 0.752939 Centerline is valid? [False, False] Translation: X:-4.10, Y:-6.54, Z:0.08 [[ 0.72972889 -0.63455837 -0.25462016 -4.09851471] [ 0.64035939 0.764806 -0.07079288 -6.54130561] [ 0.23965724 -0.1113888 0.96444644 0.07678544] [ 0. 0. 0. 1. ]] SLAMing on 62.251652532 meters Centerline goodness : 0.751714 Centerline is valid? [False, False] Translation: X:-4.12, Y:-6.56, Z:0.07 [[ 0.73219496 -0.63415208 -0.24847871 -4.11697783] [ 0.63747471 0.76652956 -0.07783583 -6.55946097] [ 0.23982603 -0.1014079 0.965505 0.07039427] [ 0. 0. 0. 1. ]] SLAMing on 62.281652532 meters Centerline goodness : 0.752494 Centerline is valid? [False, False] Translation: X:-4.14, Y:-6.58, Z:0.06 [[ 0.73488943 -0.63305877 -0.24325731 -4.13647129] [ 0.63384147 0.7687069 -0.08564283 -6.57970386] [ 0.24121052 -0.09124856 0.96617348 0.0649959 ] [ 0. 0. 0. 1. ]] SLAMing on 62.311652532 meters Centerline goodness : 0.748363 Centerline is valid? [False, False] Translation: X:-4.17, Y:-6.61, Z:0.06 [[ 0.736144 -0.63166194 -0.24309507 -4.16505714] [ 0.63254731 0.76985337 -0.08490983 -6.61355174] [ 0.24078187 -0.09126327 0.966279 0.05757504] [ 0. 0. 0. 1. ]] SLAMing on 62.341652532 meters Centerline goodness : 0.747603 Centerline is valid? [False, False] Translation: X:-4.19, Y:-6.64, Z:0.05 [[ 0.73487907 -0.63204428 -0.24591214 -4.18636373] [ 0.63319546 0.76930564 -0.08504315 -6.63974648] [ 0.24293263 -0.09321402 0.96555418 0.05250615] [ 0. 0. 0. 1. ]] SLAMing on 62.371652532 meters Centerline goodness : 0.750980 Centerline is valid? [False, False] Translation: X:-4.21, Y:-6.67, Z:0.05 [[ 0.73482066 -0.63071641 -0.24947026 -4.20759029] [ 0.63249175 0.77002369 -0.08377178 -6.66614196] [ 0.24493425 -0.09623064 0.96475224 0.04680537] [ 0. 0. 0. 1. ]] SLAMing on 62.401652532 meters Centerline goodness : 0.751066 Centerline is valid? [False, False] Translation: X:-4.23, Y:-6.69, Z:0.04 [[ 0.73342235 -0.63046698 -0.25417128 -4.22563206] [ 0.63298082 0.76972696 -0.08279909 -6.68993566] [ 0.24784458 -0.10015884 0.96360846 0.04315053] [ 0. 0. 0. 1. ]] SLAMing on 62.431652532 meters Centerline goodness : 0.746436 Centerline is valid? [False, False] Translation: X:-4.25, Y:-6.72, Z:0.04 [[ 0.73339712 -0.62973821 -0.25604387 -4.25036293] [ 0.63230368 0.77023441 -0.0832527 -6.72172827] [ 0.24964121 -0.10084019 0.96307348 0.03640598] [ 0. 0. 0. 1. ]] SLAMing on 62.461652532 meters Centerline goodness : 0.747790 Centerline is valid? [False, False] Translation: X:-4.27, Y:-6.75, Z:0.03 [[ 0.73171227 -0.63070988 -0.25846122 -4.27114094] [ 0.63343446 0.76923871 -0.08386053 -6.7482405 ] [ 0.25171004 -0.10235646 0.96237478 0.03101093] [ 0. 0. 0. 1. ]] SLAMing on 62.491652531999996 meters Centerline goodness : 0.745870 Centerline is valid? [False, False] Translation: X:-4.30, Y:-6.78, Z:0.02 [[ 0.7325814 -0.62913664 -0.25982991 -4.29818002] [ 0.6319719 0.77045658 -0.08371481 -6.78162927] [ 0.25285572 -0.10287729 0.96201884 0.02376527] [ 0. 0. 0. 1. ]] SLAMing on 62.521652532 meters Centerline goodness : 0.746130 Centerline is valid? [False, False] Translation: X:-4.32, Y:-6.81, Z:0.02 [[ 0.73185675 -0.62934459 -0.26136389 -4.32149986] [ 0.63232716 0.77014978 -0.08385507 -6.80932868] [ 0.25406308 -0.10389759 0.961591 0.01673142] [ 0. 0. 0. 1. ]] SLAMing on 62.551652532 meters Centerline goodness : 0.743805 Centerline is valid? [False, False] Translation: X:-4.35, Y:-6.84, Z:0.01 [[ 0.73157771 -0.62905081 -0.26284812 -4.34517315] [ 0.63228129 0.77022583 -0.0835018 -6.83701089] [ 0.25497928 -0.10510589 0.9612171 0.00928771] [ 0. 0. 0. 1. ]] SLAMing on 62.581652532 meters Centerline goodness : 0.742388 Centerline is valid? [False, False] Translation: X:-4.37, Y:-6.87, Z:0.00 [[ 7.31151125e-01 -6.29003113e-01 -2.64146012e-01 -4.36861590e+00] [ 6.32434295e-01 7.70121803e-01 -8.33022797e-02 -6.86505565e+00] [ 2.55821996e-01 -1.06148441e-01 9.60878564e-01 1.83540559e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.611652532 meters Centerline goodness : 0.742934 Centerline is valid? [False, False] Translation: X:-4.39, Y:-6.90, Z:-0.01 [[ 0.73025968 -0.63026313 -0.26360802 -4.39456159] [ 0.63314581 0.76930936 -0.08537853 -6.89525412] [ 0.25660706 -0.10455381 0.96084407 -0.00789323] [ 0. 0. 0. 1. ]] SLAMing on 62.641652532 meters Centerline goodness : 0.742133 Centerline is valid? [False, False] Translation: X:-4.42, Y:-6.92, Z:-0.01 [[ 0.72975462 -0.63002317 -0.26557296 -4.4174406 ] [ 0.63328486 0.76926291 -0.08476354 -6.92274846] [ 0.25769843 -0.10632675 0.9603573 -0.01450277] [ 0. 0. 0. 1. ]] SLAMing on 62.671652531999996 meters Centerline goodness : 0.741610 Centerline is valid? [False, False] Translation: X:-4.44, Y:-6.95, Z:-0.02 [[ 0.72997114 -0.62957828 -0.26603255 -4.44288972] [ 0.63300283 0.7695495 -0.08426735 -6.95218324] [ 0.2577781 -0.10688662 0.96027376 -0.02284215] [ 0. 0. 0. 1. ]] SLAMing on 62.701652532 meters Centerline goodness : 0.742010 Centerline is valid? [False, False] Translation: X:-4.47, Y:-6.98, Z:-0.03 [[ 0.73028874 -0.62902908 -0.26645969 -4.46817979] [ 0.63254255 0.76995576 -0.08401219 -6.98135149] [ 0.25800828 -0.10719394 0.96017768 -0.03197192] [ 0. 0. 0. 1. ]] SLAMing on 62.731652532 meters Centerline goodness : 0.739849 Centerline is valid? [False, False] Translation: X:-4.49, Y:-7.01, Z:-0.04 [[ 0.73038292 -0.6285427 -0.26734783 -4.49380077] [ 0.6318426 0.7704116 -0.08509345 -7.01093014] [ 0.25945273 -0.10677095 0.95983553 -0.041386 ] [ 0. 0. 0. 1. ]] SLAMing on 62.761652532 meters Centerline goodness : 0.738428 Centerline is valid? [False, False] Translation: X:-4.52, Y:-7.04, Z:-0.05 [[ 0.73102335 -0.6277822 -0.26738431 -4.52011443] [ 0.63104314 0.77106593 -0.08509923 -7.04045148] [ 0.25959472 -0.10652151 0.95982485 -0.05143925] [ 0. 0. 0. 1. ]] SLAMing on 62.791652532 meters Centerline goodness : 0.737449 Centerline is valid? [False, False] Translation: X:-4.55, Y:-7.07, Z:-0.06 [[ 0.73185569 -0.62693873 -0.26708625 -4.54712323] [ 0.63012595 0.7718186 -0.08507253 -7.06955181] [ 0.25947741 -0.10603716 0.9599102 -0.06194003] [ 0. 0. 0. 1. ]] SLAMing on 62.821652532 meters Centerline goodness : 0.734188 Centerline is valid? [False, False] Translation: X:-4.58, Y:-7.10, Z:-0.07 [[ 0.7331977 -0.6254837 -0.26681692 -4.57680783] [ 0.62828834 0.773204 -0.08607749 -7.10055591] [ 0.26014398 -0.10452614 0.95989551 -0.07287672] [ 0. 0. 0. 1. ]] SLAMing on 62.851652531999996 meters Centerline goodness : 0.736139 Centerline is valid? [False, False] Translation: X:-4.61, Y:-7.13, Z:-0.08 [[ 0.73460989 -0.62435827 -0.26556554 -4.60573173] [ 0.62696747 0.7742789 -0.08604629 -7.13131253] [ 0.2593455 -0.1032905 0.96024527 -0.08411832] [ 0. 0. 0. 1. ]] SLAMing on 62.881652532 meters Centerline goodness : 0.732676 Centerline is valid? [False, False] Translation: X:-4.63, Y:-7.16, Z:-0.09 [[ 0.73609434 -0.62307784 -0.26446005 -4.6346057 ] [ 0.62565466 0.77540626 -0.08544808 -7.16198789] [ 0.25830479 -0.10256281 0.96060372 -0.09467526] [ 0. 0. 0. 1. ]] SLAMing on 62.911652532 meters Centerline goodness : 0.733578 Centerline is valid? [False, False] Translation: X:-4.66, Y:-7.19, Z:-0.10 [[ 0.73707529 -0.62234049 -0.26346221 -4.66280953] [ 0.62485066 0.77608884 -0.08513379 -7.19164739] [ 0.25745229 -0.10187452 0.96090577 -0.10497304] [ 0. 0. 0. 1. ]] SLAMing on 62.941652532 meters Centerline goodness : 0.732027 Centerline is valid? [False, False] Translation: X:-4.70, Y:-7.22, Z:-0.12 [[ 0.73982023 -0.61961242 -0.26219549 -4.69604261] [ 0.62211003 0.77839787 -0.08411818 -7.22450553] [ 0.25621308 -0.10088211 0.96134159 -0.11586261] [ 0. 0. 0. 1. ]] SLAMing on 62.971652532 meters Centerline goodness : 0.734109 Centerline is valid? [False, False] Translation: X:-4.72, Y:-7.25, Z:-0.13 [[ 0.74053501 -0.6191569 -0.26125204 -4.72384233] [ 0.62161437 0.77882915 -0.08378975 -7.25476866] [ 0.25534971 -0.10034878 0.96162708 -0.12546554] [ 0. 0. 0. 1. ]] SLAMing on 63.001652532 meters Centerline goodness : 0.736624 Centerline is valid? [False, False] Translation: X:-4.75, Y:-7.29, Z:-0.13 [[ 0.74134065 -0.61849883 -0.26052493 -4.75147708] [ 0.62087436 0.77943198 -0.08367093 -7.28598696] [ 0.25481184 -0.09972459 0.96183467 -0.1348691 ] [ 0. 0. 0. 1. ]] SLAMing on 63.031652532 meters Centerline goodness : 0.738059 Centerline is valid? [False, False] Translation: X:-4.78, Y:-7.32, Z:-0.15 [[ 0.74209016 -0.6188393 -0.25756577 -4.7822161 ] [ 0.62067332 0.77949363 -0.08458318 -7.31861927] [ 0.25311427 -0.09709586 0.96255159 -0.14609235] [ 0. 0. 0. 1. ]] SLAMing on 63.061652532 meters Centerline goodness : 0.736441 Centerline is valid? [False, False] Translation: X:-4.81, Y:-7.35, Z:-0.15 [[ 0.74160907 -0.61998586 -0.2561904 -4.81173594] [ 0.62129188 0.77881656 -0.08626223 -7.3521061 ] [ 0.25300668 -0.09519616 0.9627696 -0.154148 ] [ 0. 0. 0. 1. ]] SLAMing on 63.091652532 meters Centerline goodness : 0.738815 Centerline is valid? [False, False] Translation: X:-4.83, Y:-7.38, Z:-0.16 [[ 0.74020412 -0.6212672 -0.25714766 -4.8342818 ] [ 0.62264102 0.77769757 -0.0866294 -7.37968277] [ 0.25380311 -0.09598725 0.96248139 -0.1607939 ] [ 0. 0. 0. 1. ]] SLAMing on 63.121652532 meters Centerline goodness : 0.739185 Centerline is valid? [False, False] Translation: X:-4.86, Y:-7.41, Z:-0.17 [[ 0.73980822 -0.62184781 -0.25688345 -4.85982139] [ 0.62314595 0.77726026 -0.08692307 -7.41010112] [ 0.25371822 -0.09576947 0.96252547 -0.16861048] [ 0. 0. 0. 1. ]] SLAMing on 63.151652532 meters Centerline goodness : 0.744671 Centerline is valid? [False, False] Translation: X:-4.89, Y:-7.44, Z:-0.18 [[ 0.74104853 -0.62065122 -0.25620135 -4.88942828] [ 0.62203533 0.77824126 -0.0860964 -7.4446022 ] [ 0.25282229 -0.09556468 0.96278153 -0.17707573] [ 0. 0. 0. 1. ]] SLAMing on 63.181652532 meters Centerline goodness : 0.746606 Centerline is valid? [False, False] Translation: X:-4.91, Y:-7.47, Z:-0.19 [[ 0.74167178 -0.61956835 -0.25701756 -4.91484228] [ 0.62122185 0.7789905 -0.08518928 -7.4741324 ] [ 0.25299482 -0.09648244 0.96264467 -0.18538396] [ 0. 0. 0. 1. ]] SLAMing on 63.211652532 meters Centerline goodness : 0.745190 Centerline is valid? [False, False] Translation: X:-4.94, Y:-7.50, Z:-0.19 [[ 0.73988426 -0.6210361 -0.2586222 -4.93568444] [ 0.62272573 0.77770195 -0.08597876 -7.50077944] [ 0.2545269 -0.09743636 0.96214459 -0.1918631 ] [ 0. 0. 0. 1. ]] SLAMing on 63.241652531999996 meters Centerline goodness : 0.745944 Centerline is valid? [False, False] Translation: X:-4.96, Y:-7.53, Z:-0.20 [[ 0.73801755 -0.62223884 -0.26105348 -4.95584975] [ 0.62410823 0.77653291 -0.08651912 -7.52724479] [ 0.25655218 -0.099073 0.9614393 -0.19723612] [ 0. 0. 0. 1. ]] SLAMing on 63.271652532 meters Centerline goodness : 0.748926 Centerline is valid? [False, False] Translation: X:-4.98, Y:-7.56, Z:-0.21 [[ 0.73632928 -0.62385631 -0.26195896 -4.97801945] [ 0.62543579 0.77526493 -0.08828572 -7.55600247] [ 0.25816519 -0.09883115 0.96103233 -0.20512805] [ 0. 0. 0. 1. ]] SLAMing on 63.301652532 meters Centerline goodness : 0.747665 Centerline is valid? [False, False] Translation: X:-5.00, Y:-7.58, Z:-0.21 [[ 0.73469347 -0.62386282 -0.26649707 -4.9954966 ] [ 0.62610667 0.77479168 -0.08768292 -7.57932531] [ 0.26118183 -0.10243552 0.95983906 -0.20972681] [ 0. 0. 0. 1. ]] SLAMing on 63.331652532 meters Centerline goodness : 0.747591 Centerline is valid? [False, False] Translation: X:-5.02, Y:-7.61, Z:-0.22 [[ 0.73410707 -0.62350698 -0.26893466 -5.01750088] [ 0.62598805 0.77487933 -0.08775521 -7.60573462] [ 0.2631079 -0.10392816 0.95915232 -0.21723959] [ 0. 0. 0. 1. ]] SLAMing on 63.361652532 meters Centerline goodness : 0.748228 Centerline is valid? [False, False] Translation: X:-5.04, Y:-7.63, Z:-0.22 [[ 0.7337731 -0.62258404 -0.27196717 -5.03904006] [ 0.62557825 0.77529767 -0.08697913 -7.63177747] [ 0.26500733 -0.1063138 0.95836762 -0.22418005] [ 0. 0. 0. 1. ]] SLAMing on 63.391652532 meters Centerline goodness : 0.750561 Centerline is valid? [False, False] Translation: X:-5.07, Y:-7.66, Z:-0.23 [[ 0.73430621 -0.62154015 -0.27291433 -5.0661601 ] [ 0.62435208 0.77619052 -0.08782228 -7.66248944] [ 0.26641859 -0.10590618 0.95802141 -0.23358618] [ 0. 0. 0. 1. ]] SLAMing on 63.421652531999996 meters Centerline goodness : 0.751315 Centerline is valid? [False, False] Translation: X:-5.09, Y:-7.69, Z:-0.24 [[ 0.73465434 -0.62093246 -0.27336034 -5.09164563] [ 0.62389007 0.77661388 -0.08736166 -7.69211247] [ 0.26654113 -0.10636618 0.95793636 -0.24237859] [ 0. 0. 0. 1. ]] SLAMing on 63.451652532 meters Centerline goodness : 0.752084 Centerline is valid? [False, False] Translation: X:-5.12, Y:-7.72, Z:-0.25 [[ 0.73491501 -0.62049527 -0.27365223 -5.11775587] [ 0.62352053 0.77693414 -0.08715211 -7.7229282 ] [ 0.26668723 -0.10657838 0.9578721 -0.25032047] [ 0. 0. 0. 1. ]] SLAMing on 63.481652532 meters Centerline goodness : 0.751352 Centerline is valid? [False, False] Translation: X:-5.14, Y:-7.75, Z:-0.26 [[ 0.73504277 -0.62035002 -0.2736384 -5.14380829] [ 0.62342412 0.77703516 -0.08694094 -7.75369998] [ 0.26656047 -0.10668747 0.95789524 -0.25856969] [ 0. 0. 0. 1. ]] SLAMing on 63.511652532 meters Centerline goodness : 0.753940 Centerline is valid? [False, False] Translation: X:-5.17, Y:-7.79, Z:-0.27 [[ 0.73486303 -0.62156726 -0.27134935 -5.17293617] [ 0.62409397 0.77635512 -0.08820121 -7.78527106] [ 0.26548644 -0.10453168 0.95843105 -0.26858698] [ 0. 0. 0. 1. ]] SLAMing on 63.541652532 meters Centerline goodness : 0.754940 Centerline is valid? [False, False] Translation: X:-5.20, Y:-7.82, Z:-0.28 [[ 0.7362057 -0.61959785 -0.27221255 -5.20169514] [ 0.62209413 0.77795099 -0.08826749 -7.81680734] [ 0.26645837 -0.1043588 0.95818014 -0.27824319] [ 0. 0. 0. 1. ]] SLAMing on 63.571652532 meters Centerline goodness : 0.755731 Centerline is valid? [False, False] Translation: X:-5.22, Y:-7.84, Z:-0.29 [[ 0.7363692 -0.61818711 -0.27496383 -5.2238464 ] [ 0.62116604 0.77879054 -0.08739597 -7.84127153] [ 0.26816629 -0.10644249 0.9574742 -0.28673052] [ 0. 0. 0. 1. ]] SLAMing on 63.601652531999996 meters Centerline goodness : 0.753709 Centerline is valid? [False, False] Translation: X:-5.25, Y:-7.87, Z:-0.29 [[ 0.73644717 -0.61680049 -0.27785378 -5.24543296] [ 0.62030844 0.77957926 -0.08645007 -7.866213 ] [ 0.26993149 -0.10868914 0.95672549 -0.29495295] [ 0. 0. 0. 1. ]] SLAMing on 63.631652532 meters Centerline goodness : 0.752759 Centerline is valid? [False, False] Translation: X:-5.27, Y:-7.90, Z:-0.31 [[ 0.73815636 -0.61464717 -0.27808999 -5.27473255] [ 0.6180756 0.78135785 -0.08638555 -7.89789861] [ 0.27038443 -0.1081146 0.95666269 -0.30563527] [ 0. 0. 0. 1. ]] SLAMing on 63.661652532 meters Centerline goodness : 0.751781 Centerline is valid? [False, False] Translation: X:-5.30, Y:-7.93, Z:-0.31 [[ 0.73795401 -0.61434973 -0.27928174 -5.2993157 ] [ 0.61783108 0.78152286 -0.08664167 -7.92634677] [ 0.27149335 -0.10861137 0.95629228 -0.31351327] [ 0. 0. 0. 1. ]] SLAMing on 63.691652532 meters Centerline goodness : 0.752694 Centerline is valid? [False, False] Translation: X:-5.32, Y:-7.94, Z:-0.32 [[ 0.74000344 -0.61445837 -0.27356136 -5.31679488] [ 0.61506024 0.78279747 -0.09449349 -7.94395917] [ 0.27220546 -0.09833121 0.95720174 -0.32061295] [ 0. 0. 0. 1. ]] SLAMing on 63.721652532 meters Centerline goodness : 0.752385 Centerline is valid? [False, False] Translation: X:-5.34, Y:-7.97, Z:-0.33 [[ 0.73989059 -0.61383324 -0.27526473 -5.34157618] [ 0.6147572 0.78310804 -0.09389029 -7.97328848] [ 0.273195 -0.09975243 0.95677267 -0.32726244] [ 0. 0. 0. 1. ]] SLAMing on 63.751652532 meters Centerline goodness : 0.752863 Centerline is valid? [False, False] Translation: X:-5.37, Y:-8.01, Z:-0.34 [[ 0.74209608 -0.6116045 -0.27428696 -5.37308501] [ 0.61248506 0.78496728 -0.09321172 -8.00553805] [ 0.27231499 -0.09882462 0.95711976 -0.33826034] [ 0. 0. 0. 1. ]] SLAMing on 63.781652532 meters Centerline goodness : 0.750162 Centerline is valid? [False, False] Translation: X:-5.40, Y:-8.03, Z:-0.35 [[ 0.74315709 -0.60887998 -0.27745756 -5.39706166] [ 0.61043507 0.7867608 -0.09152303 -8.03209266] [ 0.27401927 -0.10135384 0.95636857 -0.34613354] [ 0. 0. 0. 1. ]] SLAMing on 63.811652532 meters Centerline goodness : 0.750210 Centerline is valid? [False, False] Translation: X:-5.42, Y:-8.06, Z:-0.35 [[ 0.7429956 -0.60722747 -0.28148239 -5.4179959 ] [ 0.60950091 0.78762794 -0.09028214 -8.05583172] [ 0.27652519 -0.10448454 0.95530979 -0.35297349] [ 0. 0. 0. 1. ]] SLAMing on 63.841652532 meters Centerline goodness : 0.749731 Centerline is valid? [False, False] Translation: X:-5.45, Y:-8.09, Z:-0.36 [[ 0.74599704 -0.60303078 -0.2825638 -5.44819283] [ 0.60554013 0.79081893 -0.08903125 -8.08600201] [ 0.27714538 -0.10468667 0.95510792 -0.36454503] [ 0. 0. 0. 1. ]] SLAMing on 63.871652532 meters Centerline goodness : 0.749731 Centerline is valid? [False, False] Translation: X:-5.46, Y:-8.09, Z:-0.37 [[ 0.74666403 -0.60522855 -0.27602759 -5.45923862] [ 0.60550188 0.79018983 -0.09469692 -8.09343317] [ 0.27542748 -0.09642844 0.95647335 -0.37269973] [ 0. 0. 0. 1. ]] SLAMing on 63.901652532 meters Centerline goodness : 0.749583 Centerline is valid? [False, False] Translation: X:-5.49, Y:-8.12, Z:-0.38 [[ 0.74830536 -0.60226712 -0.27805289 -5.4851537 ] [ 0.60321287 0.79219565 -0.09252183 -8.12149389] [ 0.27599515 -0.09849051 0.95609952 -0.38153332] [ 0. 0. 0. 1. ]] SLAMing on 63.931652532 meters Centerline goodness : 0.747826 Centerline is valid? [False, False] Translation: X:-5.51, Y:-8.15, Z:-0.39 [[ 0.74942963 -0.60063611 -0.27855252 -5.51295258] [ 0.60196472 0.79331444 -0.09105321 -8.15146164] [ 0.27566958 -0.09944081 0.95609508 -0.390042 ] [ 0. 0. 0. 1. ]] SLAMing on 63.961652532 meters Centerline goodness : 0.748102 Centerline is valid? [False, False] Translation: X:-5.53, Y:-8.17, Z:-0.40 [[ 0.75179954 -0.60069964 -0.27195108 -5.5303511 ] [ 0.59978283 0.79432623 -0.09646964 -8.16523889] [ 0.27396716 -0.09058576 0.95746343 -0.39798439] [ 0. 0. 0. 1. ]] SLAMing on 63.991652531999996 meters Centerline goodness : 0.746537 Centerline is valid? [False, False] Translation: X:-5.55, Y:-8.19, Z:-0.40 [[ 0.75565424 -0.59828866 -0.26652833 -5.55195951] [ 0.59523104 0.79709408 -0.10169088 -8.18702323] [ 0.27328865 -0.08180279 0.9584475 -0.40376184] [ 0. 0. 0. 1. ]] SLAMing on 64.02165253199999 meters Centerline goodness : 0.746528 Centerline is valid? [False, False] Translation: X:-5.57, Y:-8.22, Z:-0.41 [[ 0.75605965 -0.59559803 -0.27136098 -5.57368928] [ 0.59377339 0.7985892 -0.09842997 -8.21555929] [ 0.27533065 -0.086708 0.95743133 -0.40708344] [ 0. 0. 0. 1. ]] SLAMing on 64.05165253199999 meters Centerline goodness : 0.745411 Centerline is valid? [False, False] Translation: X:-5.59, Y:-8.24, Z:-0.41 [[ 0.7552851 -0.59412175 -0.27670159 -5.59288543] [ 0.593467 0.79912292 -0.09591389 -8.24109326] [ 0.27810311 -0.09177093 0.95615729 -0.41003247] [ 0. 0. 0. 1. ]] SLAMing on 64.08165253199999 meters Centerline goodness : 0.742897 Centerline is valid? [False, False] Translation: X:-5.61, Y:-8.27, Z:-0.41 [[ 0.75384109 -0.59319046 -0.2825751 -5.61080642] [ 0.5938178 0.79915432 -0.09344937 -8.26828219] [ 0.28125439 -0.09735215 0.95468242 -0.4115654 ] [ 0. 0. 0. 1. ]] SLAMing on 64.111652532 meters Centerline goodness : 0.744592 Centerline is valid? [False, False] Translation: X:-5.63, Y:-8.29, Z:-0.41 [[ 0.75226187 -0.59234494 -0.28849532 -5.62745816] [ 0.59416069 0.79912635 -0.09148853 -8.29225482] [ 0.28473698 -0.10258925 0.95310036 -0.414215 ] [ 0. 0. 0. 1. ]] SLAMing on 64.141652532 meters Centerline goodness : 0.743023 Centerline is valid? [False, False] Translation: X:-5.64, Y:-8.31, Z:-0.42 [[ 0.75001841 -0.59234529 -0.29427782 -5.64294934] [ 0.59509939 0.79852644 -0.09062143 -8.31395694] [ 0.28866779 -0.10715681 0.95141385 -0.41739617] [ 0. 0. 0. 1. ]] SLAMing on 64.171652532 meters Centerline goodness : 0.741851 Centerline is valid? [False, False] Translation: X:-5.66, Y:-8.34, Z:-0.42 [[ 0.74866774 -0.59120599 -0.29995348 -5.66034248] [ 0.5951613 0.798693 -0.08872717 -8.33796516] [ 0.29202678 -0.11209353 0.94981861 -0.42079308] [ 0. 0. 0. 1. ]] SLAMing on 64.201652532 meters Centerline goodness : 0.740975 Centerline is valid? [False, False] Translation: X:-5.68, Y:-8.37, Z:-0.43 [[ 0.74837796 -0.58930436 -0.30438594 -5.68112713] [ 0.59430276 0.79954634 -0.08677488 -8.36669034] [ 0.29450748 -0.115957 0.94858807 -0.42572473] [ 0. 0. 0. 1. ]] SLAMing on 64.231652532 meters Centerline goodness : 0.741143 Centerline is valid? [False, False] Translation: X:-5.71, Y:-8.40, Z:-0.43 [[ 0.74852649 -0.58798696 -0.30656062 -5.70621181] [ 0.59358592 0.80021857 -0.08547511 -8.39640559] [ 0.29557376 -0.11798968 0.94800558 -0.43256536] [ 0. 0. 0. 1. ]] SLAMing on 64.26165253199999 meters Centerline goodness : 0.738639 Centerline is valid? [False, False] Translation: X:-5.73, Y:-8.42, Z:-0.44 [[ 0.74823114 -0.58609707 -0.31087035 -5.72767409] [ 0.59279991 0.80102052 -0.08339304 -8.42274721] [ 0.29788994 -0.12188665 0.94678679 -0.43770162] [ 0. 0. 0. 1. ]] SLAMing on 64.29165253199999 meters Centerline goodness : 0.738815 Centerline is valid? [False, False] Translation: X:-5.75, Y:-8.45, Z:-0.45 [[ 0.74970193 -0.58305091 -0.31304737 -5.75408603] [ 0.59051333 0.80292648 -0.08125935 -8.45172416] [ 0.29873236 -0.12393835 0.94625486 -0.44677368] [ 0. 0. 0. 1. ]] SLAMing on 64.32165253199999 meters Centerline goodness : 0.740259 Centerline is valid? [False, False] Translation: X:-5.78, Y:-8.48, Z:-0.46 [[ 0.75103989 -0.58036985 -0.3148173 -5.77989991] [ 0.58854906 0.80457478 -0.07917965 -8.48001072] [ 0.29924754 -0.12581835 0.94584388 -0.45620326] [ 0. 0. 0. 1. ]] SLAMing on 64.35165253199999 meters Centerline goodness : 0.738908 Centerline is valid? [False, False] Translation: X:-5.81, Y:-8.51, Z:-0.47 [[ 0.75192047 -0.57825504 -0.31660182 -5.80527383] [ 0.58717023 0.80577481 -0.07718854 -8.5073223 ] [ 0.29974443 -0.12785952 0.94541272 -0.46517557] [ 0. 0. 0. 1. ]] SLAMing on 64.38165253199999 meters Centerline goodness : 0.740853 Centerline is valid? [False, False] Translation: X:-5.83, Y:-8.53, Z:-0.47 [[ 0.7526999 -0.57604688 -0.31876772 -5.83035744] [ 0.5858102 0.80696902 -0.07501608 -8.53401504] [ 0.30044845 -0.13027278 0.94485964 -0.47356137] [ 0. 0. 0. 1. ]] SLAMing on 64.41165253199999 meters Centerline goodness : 0.739207 Centerline is valid? [False, False] Translation: X:-5.86, Y:-8.56, Z:-0.49 [[ 0.75417113 -0.57454003 -0.31800889 -5.86027163] [ 0.58426679 0.80814063 -0.07443817 -8.56396639] [ 0.29976361 -0.12966291 0.945161 -0.48556073] [ 0. 0. 0. 1. ]] SLAMing on 64.44165253199999 meters Centerline goodness : 0.738302 Centerline is valid? [False, False] Translation: X:-5.89, Y:-8.59, Z:-0.49 [[ 0.75440266 -0.57375895 -0.31886877 -5.88624893] [ 0.58373867 0.80857481 -0.07386431 -8.59245424] [ 0.30020956 -0.1304126 0.94491628 -0.49499645] [ 0. 0. 0. 1. ]] SLAMing on 64.471652532 meters Centerline goodness : 0.738717 Centerline is valid? [False, False] Translation: X:-5.90, Y:-8.60, Z:-0.50 [[ 0.75547745 -0.57596912 -0.31227136 -5.89926688] [ 0.58317566 0.80838276 -0.08014646 -8.60020013] [ 0.29859667 -0.12156021 0.94660612 -0.50425579] [ 0. 0. 0. 1. ]] SLAMing on 64.501652532 meters Centerline goodness : 0.739472 Centerline is valid? [False, False] Translation: X:-5.93, Y:-8.63, Z:-0.51 [[ 0.75633538 -0.5743295 -0.31321305 -5.92627409] [ 0.5821009 0.80932769 -0.07840431 -8.62898853] [ 0.29852191 -0.12302164 0.94644088 -0.51331838] [ 0. 0. 0. 1. ]] SLAMing on 64.531652532 meters Centerline goodness : 0.737595 Centerline is valid? [False, False] Translation: X:-5.96, Y:-8.66, Z:-0.52 [[ 0.7581003 -0.57206483 -0.31309066 -5.95611124] [ 0.58018416 0.81086174 -0.0767436 -8.65879863] [ 0.29777555 -0.12347089 0.94661748 -0.5243794 ] [ 0. 0. 0. 1. ]] SLAMing on 64.561652532 meters Centerline goodness : 0.736258 Centerline is valid? [False, False] Translation: X:-5.98, Y:-8.69, Z:-0.53 [[ 0.75876715 -0.57123223 -0.31299546 -5.98374661] [ 0.57957515 0.81138532 -0.07580574 -8.68861414] [ 0.29726261 -0.12388548 0.94672453 -0.53412744] [ 0. 0. 0. 1. ]] SLAMing on 64.591652532 meters Centerline goodness : 0.735290 Centerline is valid? [False, False] Translation: X:-6.01, Y:-8.72, Z:-0.54 [[ 0.75955948 -0.57023761 -0.3128873 -6.01136004] [ 0.5788971 0.81198747 -0.07452849 -8.71862992] [ 0.29655952 -0.12452073 0.94686168 -0.5438564 ] [ 0. 0. 0. 1. ]] SLAMing on 64.621652532 meters Centerline goodness : 0.736568 Centerline is valid? [False, False] Translation: X:-6.04, Y:-8.75, Z:-0.56 [[ 0.76163637 -0.56785081 -0.31217863 -6.04256345] [ 0.57678311 0.81364587 -0.0728124 -8.74826142] [ 0.29534943 -0.12460279 0.94722904 -0.55571191] [ 0. 0. 0. 1. ]] SLAMing on 64.65165253199999 meters Centerline goodness : 0.734779 Centerline is valid? [False, False] Translation: X:-6.07, Y:-8.78, Z:-0.57 [[ 0.76269381 -0.56645018 -0.31214155 -6.07059798] [ 0.57563013 0.81456116 -0.07169432 -8.77674985] [ 0.29486964 -0.12499726 0.94732654 -0.56637008] [ 0. 0. 0. 1. ]] SLAMing on 64.68165253199999 meters Centerline goodness : 0.734964 Centerline is valid? [False, False] Translation: X:-6.10, Y:-8.81, Z:-0.58 [[ 0.76319284 -0.56596012 -0.31181056 -6.09818939] [ 0.57530137 0.81486129 -0.07091841 -8.80603195] [ 0.29421935 -0.12526062 0.94749393 -0.57626686] [ 0. 0. 0. 1. ]] SLAMing on 64.71165253199999 meters Centerline goodness : 0.735411 Centerline is valid? [False, False] Translation: X:-6.13, Y:-8.84, Z:-0.59 [[ 0.76373423 -0.56568254 -0.3109876 -6.12648805] [ 0.57509138 0.81506606 -0.0702654 -8.83681174] [ 0.29322334 -0.12518219 0.947813 -0.58604581] [ 0. 0. 0. 1. ]] SLAMing on 64.74165253199999 meters Centerline goodness : 0.734291 Centerline is valid? [False, False] Translation: X:-6.16, Y:-8.87, Z:-0.60 [[ 0.76686112 -0.56253026 -0.30900441 -6.1602676 ] [ 0.57232804 0.81724903 -0.0674139 -8.86975912] [ 0.29045591 -0.12515478 0.94866835 -0.59782878] [ 0. 0. 0. 1. ]] SLAMing on 64.77165253199999 meters Centerline goodness : 0.733892 Centerline is valid? [False, False] Translation: X:-6.19, Y:-8.90, Z:-0.61 [[ 0.76739794 -0.56283766 -0.30710612 -6.18915749] [ 0.57224425 0.81726809 -0.06789249 -8.89823919] [ 0.28920048 -0.12363915 0.94925046 -0.61030718] [ 0. 0. 0. 1. ]] SLAMing on 64.80165253199999 meters Centerline goodness : 0.733579 Centerline is valid? [False, False] Translation: X:-6.20, Y:-8.91, Z:-0.62 [[ 0.76836758 -0.56487754 -0.3008731 -6.20098542] [ 0.57181883 0.81706301 -0.07369717 -8.90563717] [ 0.28746215 -0.11541839 0.95081234 -0.61891736] [ 0. 0. 0. 1. ]] SLAMing on 64.83165253199999 meters Centerline goodness : 0.732844 Centerline is valid? [False, False] Translation: X:-6.23, Y:-8.93, Z:-0.63 [[ 0.76917375 -0.56411386 -0.30024539 -6.22892732] [ 0.57105636 0.81763489 -0.07326542 -8.93474441] [ 0.28682114 -0.11510321 0.9510441 -0.63005188] [ 0. 0. 0. 1. ]] SLAMing on 64.861652532 meters Centerline goodness : 0.734077 Centerline is valid? [False, False] Translation: X:-6.26, Y:-8.97, Z:-0.64 [[ 0.77075541 -0.56258839 -0.29904914 -6.26040757] [ 0.56960423 0.81874239 -0.07219356 -8.96767245] [ 0.28545947 -0.11469608 0.95150286 -0.64006666] [ 0. 0. 0. 1. ]] SLAMing on 64.891652532 meters Centerline goodness : 0.733729 Centerline is valid? [False, False] Translation: X:-6.29, Y:-9.00, Z:-0.65 [[ 0.77096632 -0.56367985 -0.29643879 -6.29054005] [ 0.57016273 0.81827358 -0.07309457 -8.99929482] [ 0.28376997 -0.1126649 0.95225061 -0.65089143] [ 0. 0. 0. 1. ]] SLAMing on 64.921652532 meters Centerline goodness : 0.732432 Centerline is valid? [False, False] Translation: X:-6.32, Y:-9.03, Z:-0.66 [[ 0.77157883 -0.56333698 -0.29549543 -6.31862126] [ 0.56980392 0.81856037 -0.07268027 -9.03074725] [ 0.28282434 -0.11229589 0.95257547 -0.6608062 ] [ 0. 0. 0. 1. ]] SLAMing on 64.951652532 meters Centerline goodness : 0.733542 Centerline is valid? [False, False] Translation: X:-6.34, Y:-9.06, Z:-0.67 [[ 0.76999072 -0.564803 -0.29683642 -6.34341096] [ 0.57132594 0.81743809 -0.07335964 -9.05944445] [ 0.28407914 -0.11310411 0.95210635 -0.66692487] [ 0. 0. 0. 1. ]] SLAMing on 64.981652532 meters Centerline goodness : 0.733008 Centerline is valid? [False, False] Translation: X:-6.36, Y:-9.08, Z:-0.67 [[ 0.76902282 -0.56376833 -0.30127922 -6.3631294 ] [ 0.57126594 0.81761873 -0.07179722 -9.08180281] [ 0.28680853 -0.11689686 0.95082911 -0.67273438] [ 0. 0. 0. 1. ]] SLAMing on 65.01165253199999 meters Centerline goodness : 0.734595 Centerline is valid? [False, False] Translation: X:-6.39, Y:-9.11, Z:-0.68 [[ 0.7700317 -0.56219296 -0.30164592 -6.39020799] [ 0.56989591 0.81864849 -0.07094577 -9.10947784] [ 0.28682719 -0.11727628 0.95077675 -0.68396822] [ 0. 0. 0. 1. ]] SLAMing on 65.04165253199999 meters Centerline goodness : 0.733452 Centerline is valid? [False, False] Translation: X:-6.42, Y:-9.14, Z:-0.70 [[ 0.77144827 -0.56028223 -0.30158147 -6.41797157] [ 0.56815889 0.81994119 -0.06994225 -9.13830819] [ 0.28646647 -0.11738936 0.95087155 -0.69553743] [ 0. 0. 0. 1. ]] SLAMing on 65.07165253199999 meters Centerline goodness : 0.733255 Centerline is valid? [False, False] Translation: X:-6.45, Y:-9.17, Z:-0.71 [[ 0.77075808 -0.56182897 -0.3004666 -6.44616805] [ 0.56892251 0.8191996 -0.07238226 -9.16914912] [ 0.28680857 -0.115153 0.95104186 -0.70604717] [ 0. 0. 0. 1. ]] SLAMing on 65.10165253199999 meters Centerline goodness : 0.733216 Centerline is valid? [False, False] Translation: X:-6.47, Y:-9.20, Z:-0.72 [[ 0.77076769 -0.56162871 -0.30081616 -6.47198476] [ 0.568874 0.81926813 -0.07198684 -9.19778068] [ 0.28687897 -0.11564137 0.95096137 -0.71549605] [ 0. 0. 0. 1. ]] SLAMing on 65.13165253199999 meters Centerline goodness : 0.734405 Centerline is valid? [False, False] Translation: X:-6.50, Y:-9.23, Z:-0.73 [[ 0.77149862 -0.56066833 -0.30073394 -6.4994457 ] [ 0.56807942 0.81988788 -0.07120139 -9.22661424] [ 0.28648847 -0.11590899 0.95104651 -0.72579404] [ 0. 0. 0. 1. ]] SLAMing on 65.16165253199999 meters Centerline goodness : 0.735454 Centerline is valid? [False, False] Translation: X:-6.53, Y:-9.26, Z:-0.74 [[ 0.77239454 -0.55983518 -0.29998541 -6.52886031] [ 0.56695411 0.82062492 -0.07167828 -9.25728551] [ 0.28630353 -0.11471405 0.95124706 -0.73733181] [ 0. 0. 0. 1. ]] SLAMing on 65.19165253199999 meters Centerline goodness : 0.735990 Centerline is valid? [False, False] Translation: X:-6.56, Y:-9.29, Z:-0.75 [[ 0.7721426 -0.5609482 -0.29855136 -6.55628984] [ 0.56754483 0.82009639 -0.07303955 -9.2861708 ] [ 0.2858123 -0.11304433 0.95159461 -0.74874499] [ 0. 0. 0. 1. ]] SLAMing on 65.221652532 meters Centerline goodness : 0.734969 Centerline is valid? [False, False] Translation: X:-6.58, Y:-9.32, Z:-0.76 [[ 0.77214268 -0.56109197 -0.29828086 -6.58297915] [ 0.56757275 0.82005011 -0.07334156 -9.31596978] [ 0.28575662 -0.11266594 0.95165621 -0.7585734 ] [ 0. 0. 0. 1. ]] SLAMing on 65.251652532 meters Centerline goodness : 0.736344 Centerline is valid? [False, False] Translation: X:-6.61, Y:-9.35, Z:-0.77 [[ 0.77124704 -0.56343269 -0.29617833 -6.61139614] [ 0.56924689 0.81872263 -0.07517469 -9.34905766] [ 0.28484378 -0.11062033 0.95216971 -0.76819039] [ 0. 0. 0. 1. ]] SLAMing on 65.281652532 meters Centerline goodness : 0.737936 Centerline is valid? [False, False] Translation: X:-6.64, Y:-9.38, Z:-0.78 [[ 0.77081575 -0.56402691 -0.29617009 -6.63752115] [ 0.56963679 0.81837739 -0.07597616 -9.37774637] [ 0.28523151 -0.11014575 0.95210866 -0.77789921] [ 0. 0. 0. 1. ]] SLAMing on 65.311652532 meters Centerline goodness : 0.737417 Centerline is valid? [False, False] Translation: X:-6.66, Y:-9.41, Z:-0.79 [[ 0.77076416 -0.56375273 -0.29682566 -6.66299523] [ 0.56954093 0.81847947 -0.0755942 -9.40617807] [ 0.28556214 -0.11078906 0.9519349 -0.78728672] [ 0. 0. 0. 1. ]] SLAMing on 65.341652532 meters Centerline goodness : 0.737584 Centerline is valid? [False, False] Translation: X:-6.69, Y:-9.43, Z:-0.79 [[ 0.76977015 -0.56404219 -0.29884833 -6.68594993] [ 0.57019182 0.81805417 -0.07529044 -9.43255821] [ 0.28694111 -0.11244454 0.95132593 -0.79466989] [ 0. 0. 0. 1. ]] SLAMing on 65.371652532 meters Centerline goodness : 0.740369 Centerline is valid? [False, False] Translation: X:-6.71, Y:-9.46, Z:-0.80 [[ 0.76932101 -0.56399955 -0.30008279 -6.71068006] [ 0.57039386 0.81794115 -0.0749875 -9.46036935] [ 0.28774298 -0.11347592 0.95096119 -0.80297237] [ 0. 0. 0. 1. ]] SLAMing on 65.40165253199999 meters Centerline goodness : 0.740227 Centerline is valid? [False, False] Translation: X:-6.74, Y:-9.49, Z:-0.81 [[ 0.76920798 -0.56492327 -0.29863153 -6.74015883] [ 0.57122482 0.817371 -0.07487891 -9.49442497] [ 0.28639358 -0.11298829 0.95142649 -0.8112458 ] [ 0. 0. 0. 1. ]] SLAMing on 65.43165253199999 meters Centerline goodness : 0.743032 Centerline is valid? [False, False] Translation: X:-6.77, Y:-9.53, Z:-0.82 [[ 0.77005003 -0.56377371 -0.29863383 -6.76807519] [ 0.5703344 0.81809247 -0.07377934 -9.52582495] [ 0.28590494 -0.11350737 0.95151166 -0.82037272] [ 0. 0. 0. 1. ]] SLAMing on 65.46165253199999 meters Centerline goodness : 0.741464 Centerline is valid? [False, False] Translation: X:-6.79, Y:-9.56, Z:-0.83 [[ 0.77040812 -0.56320034 -0.29879209 -6.79486302] [ 0.57006839 0.81837413 -0.07270362 -9.556242 ] [ 0.28547042 -0.11432046 0.95154478 -0.82909388] [ 0. 0. 0. 1. ]] SLAMing on 65.49165253199999 meters Centerline goodness : 0.742091 Centerline is valid? [False, False] Translation: X:-6.82, Y:-9.59, Z:-0.84 [[ 0.76870145 -0.56509144 -0.29961599 -6.81928196] [ 0.57184559 0.8170326 -0.07382651 -9.58616235] [ 0.28651476 -0.11458354 0.95119919 -0.83596577] [ 0. 0. 0. 1. ]] SLAMing on 65.52165253199999 meters Centerline goodness : 0.743204 Centerline is valid? [False, False] Translation: X:-6.83, Y:-9.60, Z:-0.84 [[ 0.76999758 -0.56678601 -0.29301423 -6.83255873] [ 0.57119988 0.81697432 -0.07926951 -9.596226 ] [ 0.28431395 -0.10633236 0.95281635 -0.84440398] [ 0. 0. 0. 1. ]] SLAMing on 65.55165253199999 meters Centerline goodness : 0.743615 Centerline is valid? [False, False] Translation: X:-6.86, Y:-9.62, Z:-0.85 [[ 0.76886555 -0.56690973 -0.29573489 -6.85509086] [ 0.57186629 0.81657546 -0.07857132 -9.62381494] [ 0.2860327 -0.10871003 0.95203331 -0.84993302] [ 0. 0. 0. 1. ]] SLAMing on 65.58165253199999 meters Centerline goodness : 0.744768 Centerline is valid? [False, False] Translation: X:-6.88, Y:-9.65, Z:-0.86 [[ 0.76770395 -0.56705648 -0.29845869 -6.8779225 ] [ 0.57249462 0.81617914 -0.07811225 -9.65405562] [ 0.28788982 -0.11089891 0.95122073 -0.85523649] [ 0. 0. 0. 1. ]] SLAMing on 65.611652532 meters Centerline goodness : 0.744886 Centerline is valid? [False, False] Translation: X:-6.90, Y:-9.68, Z:-0.86 [[ 0.76580657 -0.5680124 -0.30149994 -6.89908065] [ 0.57390976 0.81518999 -0.07805691 -9.67979896] [ 0.29011702 -0.11325726 0.9502657 -0.86033816] [ 0. 0. 0. 1. ]] SLAMing on 65.641652532 meters Centerline goodness : 0.743488 Centerline is valid? [False, False] Translation: X:-6.92, Y:-9.71, Z:-0.87 [[ 0.76475507 -0.56802369 -0.30413612 -6.92208929] [ 0.57460915 0.81480547 -0.07691802 -9.70643364] [ 0.29150303 -0.11593595 0.94951822 -0.86592694] [ 0. 0. 0. 1. ]] SLAMing on 65.671652532 meters Centerline goodness : 0.745811 Centerline is valid? [False, False] Translation: X:-6.93, Y:-9.72, Z:-0.87 [[ 0.76665067 -0.56863592 -0.29816094 -6.93369507] [ 0.57352145 0.81526071 -0.08014436 -9.71500308] [ 0.28865187 -0.10955897 0.95114506 -0.87455689] [ 0. 0. 0. 1. ]] SLAMing on 65.701652532 meters Centerline goodness : 0.745858 Centerline is valid? [False, False] Translation: X:-6.94, Y:-9.72, Z:-0.88 [[ 0.76774261 -0.5675239 -0.29746919 -6.93762655] [ 0.57259175 0.81602256 -0.07903077 -9.71719867] [ 0.28759342 -0.10965311 0.95145479 -0.87514067] [ 0. 0. 0. 1. ]] SLAMing on 65.731652532 meters Centerline goodness : 0.747337 Centerline is valid? [False, False] Translation: X:-6.96, Y:-9.75, Z:-0.88 [[ 0.76705779 -0.56765282 -0.29898598 -6.96312603] [ 0.57298626 0.81576812 -0.078798 -9.74586967] [ 0.28863314 -0.11087224 0.95099856 -0.88227937] [ 0. 0. 0. 1. ]] SLAMing on 65.76165253199999 meters Centerline goodness : 0.747341 Centerline is valid? [False, False] Translation: X:-6.97, Y:-9.75, Z:-0.88 [[ 0.76641013 -0.57024237 -0.29570112 -6.96856607] [ 0.5747233 0.81434632 -0.08082829 -9.74836922] [ 0.28689483 -0.1079987 0.95185484 -0.88353305] [ 0. 0. 0. 1. ]] SLAMing on 65.79165253199999 meters Centerline goodness : 0.747341 Centerline is valid? [False, False] Translation: X:-6.97, Y:-9.75, Z:-0.88 [[ 0.76488963 -0.5735511 -0.29322856 -6.97241623] [ 0.57725453 0.81232292 -0.08311845 -9.74816341] [ 0.28586896 -0.10569107 0.95242235 -0.88344403] [ 0. 0. 0. 1. ]] SLAMing on 65.82165253199999 meters Centerline goodness : 0.748510 Centerline is valid? [False, False] Translation: X:-6.98, Y:-9.75, Z:-0.88 [[ 0.76387046 -0.57629404 -0.29049457 -6.97693088] [ 0.57922037 0.81070459 -0.08521637 -9.74997219] [ 0.28461496 -0.1031661 0.95307454 -0.88369313] [ 0. 0. 0. 1. ]] SLAMing on 65.85165253199999 meters Centerline goodness : 0.750048 Centerline is valid? [False, False] Translation: X:-6.99, Y:-9.76, Z:-0.89 [[ 0.76498375 -0.5774034 -0.28531592 -6.99200001] [ 0.57733923 0.81112705 -0.09355382 -9.76349781] [ 0.28544576 -0.09315693 0.95385665 -0.89140509] [ 0. 0. 0. 1. ]] SLAMing on 65.88165253199999 meters Centerline goodness : 0.749803 Centerline is valid? [False, False] Translation: X:-7.00, Y:-9.77, Z:-0.90 [[ 0.7673614 -0.57647668 -0.28076882 -7.00464492] [ 0.5745202 0.81257948 -0.0981893 -9.77412065] [ 0.28475082 -0.08596068 0.95473961 -0.89928472] [ 0. 0. 0. 1. ]] SLAMing on 65.91165253199999 meters Centerline goodness : 0.750358 Centerline is valid? [False, False] Translation: X:-7.02, Y:-9.80, Z:-0.90 [[ 0.76656453 -0.57477343 -0.28638142 -7.02381123] [ 0.57400355 0.81323731 -0.09573399 -9.7970843 ] [ 0.28792141 -0.09099767 0.95332087 -0.90302765] [ 0. 0. 0. 1. ]] SLAMing on 65.94165253199999 meters Centerline goodness : 0.749191 Centerline is valid? [False, False] Translation: X:-7.03, Y:-9.80, Z:-0.90 [[ 0.76694373 -0.57436881 -0.28617789 -7.02548125] [ 0.57367763 0.81351547 -0.09532341 -9.79776112] [ 0.28756094 -0.09106616 0.95342313 -0.90299512] [ 0. 0. 0. 1. ]] SLAMing on 65.971652532 meters Centerline goodness : 0.747538 Centerline is valid? [False, False] Translation: X:-7.03, Y:-9.80, Z:-0.90 [[ 0.76683168 -0.57512988 -0.28494702 -7.02971394] [ 0.57425205 0.81306774 -0.09568403 -9.79831203] [ 0.28671197 -0.09025786 0.95375561 -0.90277219] [ 0. 0. 0. 1. ]] SLAMing on 66.001652532 meters Centerline goodness : 0.749687 Centerline is valid? [False, False] Translation: X:-7.06, Y:-9.83, Z:-0.91 [[ 0.76902709 -0.57076242 -0.28779784 -7.05710662] [ 0.57115976 0.81571892 -0.09153779 -9.82557849] [ 0.28700847 -0.09398351 0.95330648 -0.91035105] [ 0. 0. 0. 1. ]] SLAMing on 66.031652532 meters Centerline goodness : 0.748791 Centerline is valid? [False, False] Translation: X:-7.08, Y:-9.85, Z:-0.92 [[ 0.76910009 -0.56847522 -0.29209754 -7.07916252] [ 0.57007633 0.81679887 -0.08861479 -9.84942111] [ 0.28896025 -0.09836425 0.95227436 -0.91610234] [ 0. 0. 0. 1. ]] SLAMing on 66.061652532 meters Centerline goodness : 0.749494 Centerline is valid? [False, False] Translation: X:-7.10, Y:-9.87, Z:-0.92 [[ 0.76905284 -0.56600471 -0.29697878 -7.10094401] [ 0.56905923 0.81787675 -0.08514234 -9.87105937] [ 0.291083 -0.10351956 0.95108064 -0.92087268] [ 0. 0. 0. 1. ]] SLAMing on 66.091652532 meters Centerline goodness : 0.747705 Centerline is valid? [False, False] Translation: X:-7.13, Y:-9.90, Z:-0.93 [[ 0.77043975 -0.56262202 -0.29979836 -7.12647779] [ 0.56674828 0.81979775 -0.08202467 -9.89668706] [ 0.29192291 -0.10671514 0.95046983 -0.92898338] [ 0. 0. 0. 1. ]] SLAMing on 66.121652532 meters Centerline goodness : 0.749737 Centerline is valid? [False, False] Translation: X:-7.14, Y:-9.90, Z:-0.94 [[ 0.7728137 -0.56190307 -0.29499819 -7.13841166] [ 0.5647485 0.82095246 -0.0842389 -9.90336307] [ 0.28951359 -0.10149881 0.95177722 -0.93584634] [ 0. 0. 0. 1. ]] SLAMing on 66.15165253199999 meters Centerline goodness : 0.749159 Centerline is valid? [False, False] Translation: X:-7.14, Y:-9.90, Z:-0.94 [[ 0.77334445 -0.56137994 -0.29460298 -7.14084769] [ 0.56430624 0.82130974 -0.08371849 -9.90412372] [ 0.28895817 -0.10150307 0.95194553 -0.93600015] [ 0. 0. 0. 1. ]] SLAMing on 66.18165253199999 meters Centerline goodness : 0.748530 Centerline is valid? [False, False] Translation: X:-7.14, Y:-9.90, Z:-0.94 [[ 0.77395294 -0.56072045 -0.29426081 -7.14372191] [ 0.5637552 0.82175101 -0.0830984 -9.90490443] [ 0.28840409 -0.10157681 0.95210568 -0.93593876] [ 0. 0. 0. 1. ]] SLAMing on 66.21165253199999 meters Centerline goodness : 0.748682 Centerline is valid? [False, False] Translation: X:-7.15, Y:-9.91, Z:-0.94 [[ 0.7749716 -0.55958176 -0.29374693 -7.14829434] [ 0.56278064 0.82251588 -0.0821315 -9.90641819] [ 0.28757081 -0.10166551 0.95234823 -0.9357038 ] [ 0. 0. 0. 1. ]] SLAMing on 66.24165253199999 meters Centerline goodness : 0.750339 Centerline is valid? [False, False] Translation: X:-7.15, Y:-9.91, Z:-0.94 [[ 0.7738801 -0.562557 -0.29092821 -7.15311101] [ 0.56495037 0.82080086 -0.08436247 -9.90738308] [ 0.28625282 -0.09907356 0.95301823 -0.93616687] [ 0. 0. 0. 1. ]] SLAMing on 66.27165253199999 meters Centerline goodness : 0.751333 Centerline is valid? [False, False] Translation: X:-7.17, Y:-9.93, Z:-0.94 [[ 0.77305158 -0.56127663 -0.29556691 -7.17348681] [ 0.56482946 0.82112382 -0.08199602 -9.93163059] [ 0.28871948 -0.10355775 0.95179665 -0.94022807] [ 0. 0. 0. 1. ]] SLAMing on 66.30165253199999 meters Centerline goodness : 0.750018 Centerline is valid? [False, False] Translation: X:-7.18, Y:-9.93, Z:-0.94 [[ 0.77205914 -0.56394271 -0.29307559 -7.17824001] [ 0.56676192 0.81958571 -0.08402495 -9.93251139] [ 0.28758583 -0.10123185 0.95238989 -0.94040465] [ 0. 0. 0. 1. ]] SLAMing on 66.33165253199999 meters Centerline goodness : 0.749124 Centerline is valid? [False, False] Translation: X:-7.18, Y:-9.93, Z:-0.94 [[ 0.77057678 -0.56751408 -0.29006756 -7.18166829] [ 0.56944293 0.81745692 -0.08659643 -9.93296644] [ 0.28626242 -0.09844773 0.9530802 -0.94164058] [ 0. 0. 0. 1. ]] SLAMing on 66.361652532 meters Centerline goodness : 0.749767 Centerline is valid? [False, False] Translation: X:-7.19, Y:-9.93, Z:-0.94 [[ 0.76921149 -0.57074403 -0.28734116 -7.18573096] [ 0.57190126 0.81549764 -0.08884002 -9.93437694] [ 0.28503094 -0.09599401 0.95369938 -0.9416641 ] [ 0. 0. 0. 1. ]] SLAMing on 66.391652532 meters Centerline goodness : 0.751430 Centerline is valid? [False, False] Translation: X:-7.21, Y:-9.96, Z:-0.94 [[ 0.76844212 -0.56901768 -0.29277226 -7.20501874] [ 0.5716453 0.81602521 -0.0855834 -9.95779494] [ 0.28760801 -0.101596 0.95234442 -0.94489204] [ 0. 0. 0. 1. ]] SLAMing on 66.421652532 meters Centerline goodness : 0.750681 Centerline is valid? [False, False] Translation: X:-7.22, Y:-9.98, Z:-0.95 [[ 0.76731635 -0.56793857 -0.29777743 -7.22375426] [ 0.57192135 0.81611756 -0.08281365 -9.97930618] [ 0.29005445 -0.106761 0.95103654 -0.94900905] [ 0. 0. 0. 1. ]] SLAMing on 66.451652532 meters Centerline goodness : 0.751498 Centerline is valid? [False, False] Translation: X:-7.23, Y:-9.98, Z:-0.95 [[ 0.76636309 -0.57057971 -0.29517184 -7.22862604] [ 0.57374799 0.81460613 -0.08502997 -9.9800956 ] [ 0.28896517 -0.10419041 0.95165303 -0.94938049] [ 0. 0. 0. 1. ]] SLAMing on 66.481652532 meters Centerline goodness : 0.751344 Centerline is valid? [False, False] Translation: X:-7.25, Y:-10.01, Z:-0.95 [[ 0.76596256 -0.57016248 -0.29701198 -7.25337939] [ 0.57396068 0.81460598 -0.08358373 -10.01043814] [ 0.28960404 -0.10645119 0.95120852 -0.95495753] [ 0. 0. 0. 1. ]] SLAMing on 66.51165253199999 meters Centerline goodness : 0.751344 Centerline is valid? [False, False] Translation: X:-7.28, Y:-10.04, Z:-0.96 [[ 0.76560627 -0.56897827 -0.30018456 -7.27599331] [ 0.57346345 0.81508271 -0.08233983 -10.03721982] [ 0.29152482 -0.10910498 0.95032067 -0.96123154] [ 0. 0. 0. 1. ]] SLAMing on 66.54165253199999 meters Centerline goodness : 0.750227 Centerline is valid? [False, False] Translation: X:-7.30, Y:-10.06, Z:-0.97 [[ 0.76647014 -0.56570742 -0.30413591 -7.29865225] [ 0.57134811 0.81684906 -0.0794918 -10.06461303] [ 0.29340223 -0.11283938 0.94930628 -0.96845564] [ 0. 0. 0. 1. ]] SLAMing on 66.57165253199999 meters Centerline goodness : 0.750099 Centerline is valid? [False, False] Translation: X:-7.32, Y:-10.09, Z:-0.98 [[ 0.76579893 -0.56458169 -0.30789531 -7.31873046] [ 0.57102732 0.81719654 -0.07821518 -10.08966456] [ 0.29576984 -0.11591953 0.9481998 -0.97517954] [ 0. 0. 0. 1. ]] SLAMing on 66.60165253199999 meters Centerline goodness : 0.748828 Centerline is valid? [False, False] Translation: X:-7.33, Y:-10.11, Z:-0.98 [[ 0.76135913 -0.56874992 -0.31121665 -7.33444837] [ 0.57532929 0.8139913 -0.08008981 -10.11103855] [ 0.29887872 -0.11807495 0.94695819 -0.97914508] [ 0. 0. 0. 1. ]] SLAMing on 66.63165253199999 meters Centerline goodness : 0.752563 Centerline is valid? [False, False] Translation: X:-7.36, Y:-10.14, Z:-0.99 [[ 0.75983908 -0.56929276 -0.31392724 -7.3557129 ] [ 0.57626051 0.8133279 -0.08013458 -10.1374618 ] [ 0.30094582 -0.12001449 0.94605927 -0.98564203] [ 0. 0. 0. 1. ]] SLAMing on 66.66165253199999 meters Centerline goodness : 0.753685 Centerline is valid? [False, False] Translation: X:-7.39, Y:-10.17, Z:-1.00 [[ 0.7638824 -0.56268884 -0.31601415 -7.38608829] [ 0.57083648 0.81755118 -0.07586683 -10.16958942] [ 0.30104716 -0.12243907 0.94571628 -0.99669853] [ 0. 0. 0. 1. ]] SLAMing on 66.69165253199999 meters Centerline goodness : 0.751159 Centerline is valid? [False, False] Translation: X:-7.41, Y:-10.19, Z:-1.00 [[ 0.76281366 -0.56139072 -0.32086722 -7.40507165] [ 0.57069354 0.81781212 -0.07410951 -10.19159062] [ 0.3040135 -0.12658511 0.94422032 -1.0024859 ] [ 0. 0. 0. 1. ]] SLAMing on 66.721652532 meters Centerline goodness : 0.749419 Centerline is valid? [False, False] Translation: X:-7.42, Y:-10.21, Z:-1.01 [[ 0.76112096 -0.56113993 -0.32529504 -7.42337313] [ 0.57131962 0.81744424 -0.07334039 -10.21270532] [ 0.30706478 -0.13002653 0.94276419 -1.00866997] [ 0. 0. 0. 1. ]] SLAMing on 66.751652532 meters Centerline goodness : 0.748459 Centerline is valid? [False, False] Translation: X:-7.45, Y:-10.24, Z:-1.02 [[ 0.76222662 -0.55984133 -0.32494348 -7.45241235] [ 0.56984165 0.81846654 -0.07343713 -10.24496562] [ 0.3070685 -0.1291906 0.94287789 -1.02007315] [ 0. 0. 0. 1. ]] SLAMing on 66.781652532 meters Centerline goodness : 0.745387 Centerline is valid? [False, False] Translation: X:-7.48, Y:-10.28, Z:-1.03 [[ 0.76215878 -0.56038253 -0.32416881 -7.47939379] [ 0.57013875 0.81821246 -0.07396062 -10.27561142] [ 0.3066852 -0.12845147 0.94310361 -1.03051275] [ 0. 0. 0. 1. ]] SLAMing on 66.811652532 meters Centerline goodness : 0.745466 Centerline is valid? [False, False] Translation: X:-7.51, Y:-10.31, Z:-1.04 [[ 0.76220707 -0.5604023 -0.32402105 -7.50545357] [ 0.57019263 0.81818999 -0.07379366 -10.30561909] [ 0.30646491 -0.12850837 0.94316746 -1.04067677] [ 0. 0. 0. 1. ]] SLAMing on 66.841652532 meters Centerline goodness : 0.744194 Centerline is valid? [False, False] Translation: X:-7.53, Y:-10.33, Z:-1.05 [[ 0.76247268 -0.559814 -0.32441285 -7.53060809] [ 0.56966853 0.81856886 -0.07363958 -10.33452111] [ 0.30677873 -0.12865962 0.94304481 -1.05162033] [ 0. 0. 0. 1. ]] SLAMing on 66.871652532 meters Centerline goodness : 0.744170 Centerline is valid? [False, False] Translation: X:-7.55, Y:-10.36, Z:-1.06 [[ 0.76094483 -0.56124662 -0.32552295 -7.55283285] [ 0.57081958 0.81761299 -0.07532593 -10.36070627] [ 0.30842822 -0.128496 0.94252895 -1.06211886] [ 0. 0. 0. 1. ]] SLAMing on 66.90165253199999 meters Centerline goodness : 0.743824 Centerline is valid? [False, False] Translation: X:-7.58, Y:-10.39, Z:-1.07 [[ 0.75978264 -0.5618999 -0.32710677 -7.57592069] [ 0.57175622 0.8169586 -0.07532251 -10.38749949] [ 0.3095564 -0.12979659 0.94198072 -1.07007886] [ 0. 0. 0. 1. ]] SLAMing on 66.93165253199999 meters Centerline goodness : 0.746527 Centerline is valid? [False, False] Translation: X:-7.60, Y:-10.42, Z:-1.08 [[ 0.759592 -0.56202094 -0.3273415 -7.60138391] [ 0.57193881 0.81683572 -0.07526889 -10.4164737 ] [ 0.30968692 -0.13004566 0.94190346 -1.07995728] [ 0. 0. 0. 1. ]] SLAMing on 66.96165253199999 meters Centerline goodness : 0.744386 Centerline is valid? [False, False] Translation: X:-7.63, Y:-10.45, Z:-1.09 [[ 0.76074926 -0.56072302 -0.32687957 -7.62899719] [ 0.57086413 0.81769546 -0.07408297 -10.447061 ] [ 0.30882797 -0.13024526 0.94215787 -1.09137637] [ 0. 0. 0. 1. ]] SLAMing on 66.99165253199999 meters Centerline goodness : 0.745702 Centerline is valid? [False, False] Translation: X:-7.66, Y:-10.48, Z:-1.10 [[ 0.76127388 -0.5598852 -0.32709423 -7.65616457] [ 0.57013029 0.81824441 -0.07367185 -10.477591 ] [ 0.3088908 -0.13040187 0.94211561 -1.10236411] [ 0. 0. 0. 1. ]] SLAMing on 67.02165253199999 meters Centerline goodness : 0.744345 Centerline is valid? [False, False] Translation: X:-7.68, Y:-10.51, Z:-1.11 [[ 0.76195745 -0.55904735 -0.32693564 -7.68342704] [ 0.56957761 0.81873048 -0.07253782 -10.50591767] [ 0.30822425 -0.13094449 0.94225864 -1.11319499] [ 0. 0. 0. 1. ]] SLAMing on 67.05165253199999 meters Centerline goodness : 0.745428 Centerline is valid? [False, False] Translation: X:-7.71, Y:-10.53, Z:-1.12 [[ 0.76175149 -0.55959018 -0.32648659 -7.70945583] [ 0.57017242 0.81833767 -0.0722971 -10.53385496] [ 0.30763302 -0.13108122 0.94243283 -1.12349157] [ 0. 0. 0. 1. ]] SLAMing on 67.08165253199999 meters Centerline goodness : 0.744783 Centerline is valid? [False, False] Translation: X:-7.74, Y:-10.56, Z:-1.13 [[ 0.76153862 -0.5609273 -0.32468369 -7.73671405] [ 0.57131353 0.81753426 -0.07237803 -10.56235574] [ 0.30603885 -0.13037752 0.94304927 -1.13457107] [ 0. 0. 0. 1. ]] SLAMing on 67.111652532 meters Centerline goodness : 0.743944 Centerline is valid? [False, False] Translation: X:-7.77, Y:-10.60, Z:-1.15 [[ 0.76200241 -0.56257599 -0.32071884 -7.76886817] [ 0.57233826 0.81677268 -0.07287868 -10.59593526] [ 0.30295418 -0.12802594 0.94436652 -1.146218 ] [ 0. 0. 0. 1. ]] SLAMing on 67.141652532 meters Centerline goodness : 0.743961 Centerline is valid? [False, False] Translation: X:-7.80, Y:-10.63, Z:-1.16 [[ 0.76258058 -0.56345272 -0.31779221 -7.79969161] [ 0.57283269 0.81641967 -0.07294954 -10.62735467] [ 0.30055543 -0.12641187 0.94534992 -1.15797856] [ 0. 0. 0. 1. ]] SLAMing on 67.171652532 meters Centerline goodness : 0.744059 Centerline is valid? [False, False] Translation: X:-7.83, Y:-10.66, Z:-1.17 [[ 0.76404603 -0.56192639 -0.3169738 -7.82898137] [ 0.57163294 0.8174134 -0.07121181 -10.65724376] [ 0.29911442 -0.12678356 0.9457571 -1.16896382] [ 0. 0. 0. 1. ]] SLAMing on 67.201652532 meters Centerline goodness : 0.743169 Centerline is valid? [False, False] Translation: X:-7.86, Y:-10.69, Z:-1.18 [[ 0.76477894 -0.56078386 -0.31722962 -7.85627941] [ 0.57099774 0.818007 -0.06947043 -10.68555834] [ 0.29845395 -0.12800787 0.94580084 -1.17865804] [ 0. 0. 0. 1. ]] SLAMing on 67.231652532 meters Centerline goodness : 0.741494 Centerline is valid? [False, False] Translation: X:-7.88, Y:-10.71, Z:-1.19 [[ 0.76543907 -0.56046281 -0.31620321 -7.88455183] [ 0.5707021 0.8182659 -0.06884788 -10.71434636] [ 0.29732498 -0.12775898 0.94618999 -1.19051209] [ 0. 0. 0. 1. ]] SLAMing on 67.26165253199999 meters Centerline goodness : 0.739254 Centerline is valid? [False, False] Translation: X:-7.90, Y:-10.72, Z:-1.20 [[ 0.76620934 -0.56302017 -0.30972816 -7.89630116] [ 0.5708037 0.81771196 -0.07436589 -10.72276166] [ 0.29513792 -0.11981414 0.94791254 -1.1984541 ] [ 0. 0. 0. 1. ]] SLAMing on 67.29165253199999 meters Centerline goodness : 0.738713 Centerline is valid? [False, False] Translation: X:-7.92, Y:-10.75, Z:-1.21 [[ 0.76540648 -0.56373366 -0.31041468 -7.9203559 ] [ 0.57176269 0.81707214 -0.07403065 -10.74996936] [ 0.29536476 -0.12081999 0.94771419 -1.20679714] [ 0. 0. 0. 1. ]] SLAMing on 67.32165253199999 meters Centerline goodness : 0.738652 Centerline is valid? [False, False] Translation: X:-7.95, Y:-10.78, Z:-1.22 [[ 0.76540532 -0.56376737 -0.31035631 -7.94628324] [ 0.57204171 0.81694948 -0.07322452 -10.77799712] [ 0.29482702 -0.12149032 0.94779593 -1.21632589] [ 0. 0. 0. 1. ]] SLAMing on 67.35165253199999 meters Centerline goodness : 0.736187 Centerline is valid? [False, False] Translation: X:-7.98, Y:-10.81, Z:-1.23 [[ 0.76718933 -0.56186385 -0.30940191 -7.97706307] [ 0.57060398 0.81816002 -0.07088918 -10.80923878] [ 0.29297034 -0.12216054 0.94828539 -1.22672441] [ 0. 0. 0. 1. ]] SLAMing on 67.38165253199999 meters Centerline goodness : 0.737021 Centerline is valid? [False, False] Translation: X:-7.99, Y:-10.82, Z:-1.24 [[ 0.76858818 -0.56342524 -0.3030251 -7.990569 ] [ 0.56986216 0.81822202 -0.07595946 -10.81731021] [ 0.29073929 -0.11430099 0.9499505 -1.23515768] [ 0. 0. 0. 1. ]] SLAMing on 67.41165253199999 meters Centerline goodness : 0.736830 Centerline is valid? [False, False] Translation: X:-8.00, Y:-10.82, Z:-1.24 [[ 0.76881376 -0.56572929 -0.29812041 -7.9985031 ] [ 0.57097046 0.81722349 -0.0783486 -10.82121454] [ 0.2879551 -0.10998246 0.95130737 -1.24003656] [ 0. 0. 0. 1. ]] SLAMing on 67.44165253199999 meters Centerline goodness : 0.737634 Centerline is valid? [False, False] Translation: X:-8.01, Y:-10.83, Z:-1.25 [[ 0.76998979 -0.56734352 -0.29195385 -8.0099568 ] [ 0.57079148 0.81697001 -0.08220147 -10.82899278] [ 0.28515401 -0.10335048 0.95289342 -1.24754523] [ 0. 0. 0. 1. ]] SLAMing on 67.471652532 meters Centerline goodness : 0.736707 Centerline is valid? [False, False] Translation: X:-8.04, Y:-10.86, Z:-1.26 [[ 0.76973468 -0.56751399 -0.29229504 -8.03637617] [ 0.5712339 0.81673512 -0.08145902 -10.85858844] [ 0.28495676 -0.104267 0.95285258 -1.25518418] [ 0. 0. 0. 1. ]] SLAMing on 67.501652532 meters Centerline goodness : 0.737040 Centerline is valid? [False, False] Translation: X:-8.04, Y:-10.86, Z:-1.26 [[ 0.77045063 -0.56927367 -0.28693783 -8.04493887] [ 0.57167507 0.81614702 -0.08421195 -10.86373203] [ 0.2821231 -0.09915406 0.95424055 -1.26161051] [ 0. 0. 0. 1. ]] SLAMing on 67.531652532 meters Centerline goodness : 0.735624 Centerline is valid? [False, False] Translation: X:-8.06, Y:-10.87, Z:-1.27 [[ 0.77284761 -0.56893454 -0.28110508 -8.05728934] [ 0.56961259 0.81719948 -0.08790053 -10.87238396] [ 0.27972857 -0.09218728 0.95564294 -1.27109943] [ 0. 0. 0. 1. ]] SLAMing on 67.561652532 meters Centerline goodness : 0.733153 Centerline is valid? [False, False] Translation: X:-8.08, Y:-10.90, Z:-1.28 [[ 0.77286837 -0.56740687 -0.28411956 -8.0818146 ] [ 0.56870845 0.81797416 -0.08653889 -10.89967271] [ 0.28150522 -0.09469802 0.95487544 -1.27761346] [ 0. 0. 0. 1. ]] SLAMing on 67.591652532 meters Centerline goodness : 0.733502 Centerline is valid? [False, False] Translation: X:-8.10, Y:-10.91, Z:-1.29 [[ 0.77456802 -0.56842899 -0.27736775 -8.09673293] [ 0.56746417 0.81822407 -0.09216174 -10.91069572] [ 0.27933637 -0.08601072 0.95633328 -1.28617159] [ 0. 0. 0. 1. ]] SLAMing on 67.621652532 meters Centerline goodness : 0.734368 Centerline is valid? [False, False] Translation: X:-8.12, Y:-10.94, Z:-1.29 [[ 0.77313777 -0.56792652 -0.28234281 -8.11566621] [ 0.56799791 0.81807328 -0.09019136 -10.93544919] [ 0.28219917 -0.09063978 0.95506443 -1.28902141] [ 0. 0. 0. 1. ]] SLAMing on 67.65165253199999 meters Centerline goodness : 0.732818 Centerline is valid? [False, False] Translation: X:-8.14, Y:-10.96, Z:-1.29 [[ 0.77215326 -0.5667611 -0.28733465 -8.13535216] [ 0.56787269 0.81837828 -0.08819063 -10.95948436] [ 0.28513146 -0.09507282 0.95376161 -1.29285554] [ 0. 0. 0. 1. ]] SLAMing on 67.68165253199999 meters Centerline goodness : 0.732818 Centerline is valid? [False, False] Translation: X:-8.15, Y:-10.98, Z:-1.30 [[ 0.7707714 -0.56568021 -0.29311661 -8.15298622] [ 0.56792313 0.8185449 -0.08629923 -10.98081314] [ 0.28874687 -0.09995072 0.95217388 -1.29642714] [ 0. 0. 0. 1. ]] SLAMing on 67.71165253199999 meters Centerline goodness : 0.730618 Centerline is valid? [False, False] Translation: X:-8.18, Y:-11.01, Z:-1.30 [[ 0.77137114 -0.56328367 -0.29613862 -8.17702059] [ 0.56640726 0.81982967 -0.08403648 -11.00786846] [ 0.2901196 -0.10291175 0.9514409 -1.30400672] [ 0. 0. 0. 1. ]] SLAMing on 67.74165253199999 meters Centerline goodness : 0.729520 Centerline is valid? [False, False] Translation: X:-8.20, Y:-11.03, Z:-1.31 [[ 0.77157309 -0.56148866 -0.29900746 -8.20054168] [ 0.56546596 0.82068846 -0.08196768 -11.0332438 ] [ 0.2914159 -0.10583449 0.95072385 -1.31137744] [ 0. 0. 0. 1. ]] SLAMing on 67.77165253199999 meters Centerline goodness : 0.730817 Centerline is valid? [False, False] Translation: X:-8.23, Y:-11.06, Z:-1.32 [[ 0.77184134 -0.56020309 -0.30072153 -8.22580346] [ 0.56476891 0.82131836 -0.08045015 -11.05982147] [ 0.29205654 -0.10774342 0.95031276 -1.31961025] [ 0. 0. 0. 1. ]] SLAMing on 67.80165253199999 meters Centerline goodness : 0.727785 Centerline is valid? [False, False] Translation: X:-8.26, Y:-11.09, Z:-1.33 [[ 0.77353615 -0.55803505 -0.30039759 -8.2560937 ] [ 0.56277848 0.82279585 -0.07929301 -11.09098637] [ 0.29141417 -0.10772129 0.95051244 -1.33023179] [ 0. 0. 0. 1. ]] SLAMing on 67.83165253199999 meters Centerline goodness : 0.725997 Centerline is valid? [False, False] Translation: X:-8.28, Y:-11.12, Z:-1.34 [[ 0.77357724 -0.55789216 -0.30055712 -8.28210643] [ 0.56297857 0.82276293 -0.0782067 -11.11880836] [ 0.29091816 -0.10870829 0.95055201 -1.33901365] [ 0. 0. 0. 1. ]] SLAMing on 67.861652532 meters Centerline goodness : 0.725141 Centerline is valid? [False, False] Translation: X:-8.29, Y:-11.12, Z:-1.34 [[ 0.77395943 -0.55930649 -0.29692264 -8.28964625] [ 0.56359508 0.8221985 -0.07968819 -11.1238524 ] [ 0.28869947 -0.10566872 0.95157067 -1.34120223] [ 0. 0. 0. 1. ]] SLAMing on 67.891652532 meters Centerline goodness : 0.727188 Centerline is valid? [False, False] Translation: X:-8.31, Y:-11.15, Z:-1.35 [[ 0.77330158 -0.55943579 -0.29838944 -8.31395732] [ 0.56434127 0.82182386 -0.07825908 -11.15106091] [ 0.28900449 -0.1078756 0.95123039 -1.34776074] [ 0. 0. 0. 1. ]] SLAMing on 67.921652532 meters Centerline goodness : 0.729148 Centerline is valid? [False, False] Translation: X:-8.34, Y:-11.18, Z:-1.36 [[ 0.77384929 -0.55862072 -0.29849652 -8.34140408] [ 0.56415285 0.82215897 -0.07606706 -11.18096518] [ 0.28790422 -0.10953322 0.9513746 -1.35610425] [ 0. 0. 0. 1. ]] SLAMing on 67.951652532 meters Centerline goodness : 0.727909 Centerline is valid? [False, False] Translation: X:-8.36, Y:-11.21, Z:-1.36 [[ 0.77313658 -0.55833722 -0.3008644 -8.36462628] [ 0.56441065 0.82206278 -0.0751891 -11.20747757] [ 0.2893103 -0.11167963 0.95069828 -1.3630895 ] [ 0. 0. 0. 1. ]] SLAMing on 67.981652532 meters Centerline goodness : 0.726703 Centerline is valid? [False, False] Translation: X:-8.38, Y:-11.23, Z:-1.37 [[ 0.7712665 -0.55794045 -0.30635021 -8.38187496] [ 0.56521304 0.82166589 -0.07348046 -11.22865687] [ 0.29271524 -0.11648012 0.94907859 -1.3667654 ] [ 0. 0. 0. 1. ]] SLAMing on 68.01165253199999 meters Centerline goodness : 0.726351 Centerline is valid? [False, False] Translation: X:-8.40, Y:-11.25, Z:-1.37 [[ 0.76992439 -0.55835012 -0.30896855 -8.40330298] [ 0.56606988 0.82109733 -0.07323978 -11.2536684 ] [ 0.2945867 -0.1185087 0.94824805 -1.37385663] [ 0. 0. 0. 1. ]] SLAMing on 68.04165253199999 meters Centerline goodness : 0.724451 Centerline is valid? [False, False] Translation: X:-8.43, Y:-11.28, Z:-1.38 [[ 0.76868387 -0.55987552 -0.3092968 -8.42765108] [ 0.567379 0.82008862 -0.0744025 -11.28398119] [ 0.29530692 -0.11829651 0.9480505 -1.38241882] [ 0. 0. 0. 1. ]] SLAMing on 68.07165253199999 meters Centerline goodness : 0.727339 Centerline is valid? [False, False] Translation: X:-8.45, Y:-11.31, Z:-1.39 [[ 0.76723878 -0.56086439 -0.31108809 -8.44995198] [ 0.56868319 0.81918728 -0.07437499 -11.31044629] [ 0.29655368 -0.11984719 0.94746639 -1.38935174] [ 0. 0. 0. 1. ]] SLAMing on 68.10165253199999 meters Centerline goodness : 0.725882 Centerline is valid? [False, False] Translation: X:-8.48, Y:-11.34, Z:-1.40 [[ 0.76670131 -0.56225131 -0.30990734 -8.47795686] [ 0.57022986 0.81817688 -0.07365118 -11.34253814] [ 0.29496949 -0.12024996 0.94790978 -1.39723668] [ 0. 0. 0. 1. ]] SLAMing on 68.13165253199999 meters Centerline goodness : 0.724852 Centerline is valid? [False, False] Translation: X:-8.50, Y:-11.37, Z:-1.40 [[ 0.76621884 -0.56173104 -0.31203674 -8.50245669] [ 0.57037774 0.8181917 -0.07232965 -11.37030233] [ 0.29593568 -0.12255847 0.94731277 -1.40373921] [ 0. 0. 0. 1. ]] SLAMing on 68.16165253199999 meters Centerline goodness : 0.723519 Centerline is valid? [False, False] Translation: X:-8.53, Y:-11.40, Z:-1.41 [[ 0.76525973 -0.56162606 -0.31456908 -8.52536665] [ 0.57090991 0.81790201 -0.07140155 -11.39675334] [ 0.29738766 -0.12494988 0.94654536 -1.41020781] [ 0. 0. 0. 1. ]] SLAMing on 68.19165253199999 meters Centerline goodness : 0.723956 Centerline is valid? [False, False] Translation: X:-8.55, Y:-11.42, Z:-1.42 [[ 0.76425472 -0.5616019 -0.31704578 -8.54783673] [ 0.57138181 0.81761252 -0.07094085 -11.42183919] [ 0.29906111 -0.12693731 0.94575333 -1.41761066] [ 0. 0. 0. 1. ]] SLAMing on 68.221652532 meters Centerline goodness : 0.725887 Centerline is valid? [False, False] Translation: X:-8.57, Y:-11.45, Z:-1.43 [[ 0.76391871 -0.56028215 -0.32017512 -8.56940815] [ 0.57054565 0.81822982 -0.07055222 -11.4458401 ] [ 0.30150598 -0.12877836 0.94472762 -1.42722413] [ 0. 0. 0. 1. ]] SLAMing on 68.251652532 meters Centerline goodness : 0.724928 Centerline is valid? [False, False] Translation: X:-8.59, Y:-11.47, Z:-1.44 [[ 0.76343017 -0.56020248 -0.32147715 -8.5928995 ] [ 0.57071198 0.81813019 -0.07036212 -11.47061594] [ 0.3024272 -0.1297543 0.94429953 -1.43708734] [ 0. 0. 0. 1. ]] SLAMing on 68.281652532 meters Centerline goodness : 0.726066 Centerline is valid? [False, False] Translation: X:-8.62, Y:-11.50, Z:-1.45 [[ 0.76247194 -0.56101883 -0.32232657 -8.61650786] [ 0.57150704 0.81751967 -0.07100204 -11.49612913] [ 0.30334179 -0.13007484 0.94396202 -1.44677121] [ 0. 0. 0. 1. ]] SLAMing on 68.311652532 meters Centerline goodness : 0.725602 Centerline is valid? [False, False] Translation: X:-8.65, Y:-11.53, Z:-1.46 [[ 0.76281524 -0.56184493 -0.32006745 -8.64582362] [ 0.57170036 0.81728582 -0.07212901 -11.52596549] [ 0.30211191 -0.12796157 0.94464503 -1.45938581] [ 0. 0. 0. 1. ]] SLAMing on 68.341652532 meters Centerline goodness : 0.724385 Centerline is valid? [False, False] Translation: X:-8.68, Y:-11.56, Z:-1.47 [[ 0.76435274 -0.56075486 -0.31830627 -8.67745646] [ 0.57024421 0.81829283 -0.07223846 -11.55820035] [ 0.3009758 -0.12629664 0.94523157 -1.47189773] [ 0. 0. 0. 1. ]] SLAMing on 68.371652532 meters Centerline goodness : 0.721977 Centerline is valid? [False, False] Translation: X:-8.71, Y:-11.59, Z:-1.48 [[ 0.76476869 -0.56037832 -0.31797011 -8.70516387] [ 0.56989622 0.81856376 -0.07191431 -11.58648028] [ 0.30057803 -0.12621215 0.94536942 -1.4827054 ] [ 0. 0. 0. 1. ]] SLAMing on 68.40165253199999 meters Centerline goodness : 0.724601 Centerline is valid? [False, False] Translation: X:-8.73, Y:-11.62, Z:-1.49 [[ 0.76585525 -0.55928562 -0.31727799 -8.73466249] [ 0.5689619 0.81930511 -0.07086249 -11.61582948] [ 0.29957985 -0.12624868 0.94568133 -1.49349224] [ 0. 0. 0. 1. ]] SLAMing on 68.43165253199999 meters Centerline goodness : 0.724073 Centerline is valid? [False, False] Translation: X:-8.77, Y:-11.65, Z:-1.51 [[ 0.76708396 -0.5583197 -0.31600841 -8.76565559] [ 0.56755966 0.82022526 -0.07146015 -11.64637814] [ 0.29909569 -0.12453769 0.94606138 -1.50610427] [ 0. 0. 0. 1. ]] SLAMing on 68.46165253199999 meters Centerline goodness : 0.722822 Centerline is valid? [False, False] Translation: X:-8.79, Y:-11.67, Z:-1.52 [[ 0.76699464 -0.55820805 -0.31642218 -8.79117425] [ 0.56741925 0.82030054 -0.07171064 -11.67230324] [ 0.29959074 -0.12454236 0.94590411 -1.51706996] [ 0. 0. 0. 1. ]] SLAMing on 68.49165253199999 meters Centerline goodness : 0.721899 Centerline is valid? [False, False] Translation: X:-8.82, Y:-11.70, Z:-1.53 [[ 0.7686783 -0.55666296 -0.31505558 -8.82134813] [ 0.56565023 0.82154185 -0.07147586 -11.70161811] [ 0.29861931 -0.12326932 0.94637793 -1.53030531] [ 0. 0. 0. 1. ]] SLAMing on 68.52165253199999 meters Centerline goodness : 0.720812 Centerline is valid? [False, False] Translation: X:-8.85, Y:-11.73, Z:-1.54 [[ 0.77078806 -0.55462827 -0.31348565 -8.85228031] [ 0.56364978 0.82302262 -0.07023315 -11.73099385] [ 0.29695907 -0.12256124 0.94699211 -1.54335861] [ 0. 0. 0. 1. ]] SLAMing on 68.55165253199999 meters Centerline goodness : 0.719726 Centerline is valid? [False, False] Translation: X:-8.88, Y:-11.76, Z:-1.55 [[ 0.77138967 -0.5539204 -0.31325735 -8.88039621] [ 0.56318498 0.82342794 -0.06920336 -11.75829283] [ 0.29627801 -0.12303908 0.94714346 -1.55350455] [ 0. 0. 0. 1. ]] SLAMing on 68.58165253199999 meters Centerline goodness : 0.722680 Centerline is valid? [False, False] Translation: X:-8.92, Y:-11.79, Z:-1.57 [[ 0.77345372 -0.5535563 -0.30877947 -8.91801013] [ 0.56218783 0.82411002 -0.06919187 -11.79306716] [ 0.29276985 -0.12007536 0.94861358 -1.56566211] [ 0. 0. 0. 1. ]] SLAMing on 68.611652532 meters Centerline goodness : 0.722747 Centerline is valid? [False, False] Translation: X:-8.95, Y:-11.82, Z:-1.58 [[ 0.77462867 -0.55353757 -0.30585387 -8.95009775] [ 0.56205538 0.8242764 -0.06828012 -11.82479098] [ 0.28990374 -0.11901507 0.94962689 -1.5766294 ] [ 0. 0. 0. 1. ]] SLAMing on 68.641652532 meters Centerline goodness : 0.723463 Centerline is valid? [False, False] Translation: X:-8.98, Y:-11.85, Z:-1.59 [[ 0.77629509 -0.55253659 -0.30342916 -8.98109527] [ 0.56111876 0.82503558 -0.06679849 -11.85467438] [ 0.28724846 -0.11840446 0.95050971 -1.58840793] [ 0. 0. 0. 1. ]] SLAMing on 68.671652532 meters Centerline goodness : 0.723008 Centerline is valid? [False, False] Translation: X:-9.01, Y:-11.89, Z:-1.60 [[ 0.77767719 -0.55125362 -0.30222117 -9.01303238] [ 0.5596201 0.82605916 -0.06672039 -11.88540801] [ 0.28643242 -0.11724212 0.95089997 -1.60002755] [ 0. 0. 0. 1. ]] SLAMing on 68.701652532 meters Centerline goodness : 0.723088 Centerline is valid? [False, False] Translation: X:-9.04, Y:-11.91, Z:-1.61 [[ 0.77642392 -0.55211857 -0.30386014 -9.03569326] [ 0.560623 0.82534344 -0.06715696 -11.90999983] [ 0.28786758 -0.11820871 0.95034676 -1.60835369] [ 0. 0. 0. 1. ]] SLAMing on 68.731652532 meters Centerline goodness : 0.724156 Centerline is valid? [False, False] Translation: X:-9.06, Y:-11.93, Z:-1.62 [[ 0.77515515 -0.55329949 -0.30494945 -9.05874685] [ 0.56166434 0.82453813 -0.06833762 -11.93477906] [ 0.28925363 -0.11830698 0.94991357 -1.61755113] [ 0. 0. 0. 1. ]] SLAMing on 68.76165253199999 meters Centerline goodness : 0.723837 Centerline is valid? [False, False] Translation: X:-9.09, Y:-11.96, Z:-1.63 [[ 0.77556566 -0.55286417 -0.30469512 -9.08557764] [ 0.56111336 0.82489839 -0.06851603 -11.96367781] [ 0.28922257 -0.11782982 0.94998234 -1.62836861] [ 0. 0. 0. 1. ]] SLAMing on 68.79165253199999 meters Centerline goodness : 0.727438 Centerline is valid? [False, False] Translation: X:-9.12, Y:-11.99, Z:-1.64 [[ 0.77519502 -0.55436797 -0.30290071 -9.11585608] [ 0.56186561 0.8242163 -0.07053036 -11.99475392] [ 0.28875547 -0.11551471 0.95040866 -1.63940393] [ 0. 0. 0. 1. ]] SLAMing on 68.82165253199999 meters Centerline goodness : 0.730271 Centerline is valid? [False, False] Translation: X:-9.14, Y:-12.02, Z:-1.65 [[ 0.77594786 -0.55361688 -0.30234628 -9.14465451] [ 0.56134369 0.82466927 -0.06938201 -12.02427603] [ 0.28774674 -0.11588335 0.95066969 -1.64888001] [ 0. 0. 0. 1. ]] SLAMing on 68.85165253199999 meters Centerline goodness : 0.733138 Centerline is valid? [False, False] Translation: X:-9.17, Y:-12.05, Z:-1.66 [[ 0.777019 -0.55273109 -0.30121391 -9.17477112] [ 0.5605506 0.82529 -0.06840646 -12.05457245] [ 0.28639921 -0.11569252 0.95109975 -1.65900207] [ 0. 0. 0. 1. ]] SLAMing on 68.88165253199999 meters Centerline goodness : 0.736137 Centerline is valid? [False, False] Translation: X:-9.20, Y:-12.08, Z:-1.67 [[ 0.7766812 -0.55447037 -0.29887944 -9.20456858] [ 0.56186673 0.82433028 -0.06917633 -12.08403697] [ 0.2847316 -0.11420245 0.95178029 -1.66931142] [ 0. 0. 0. 1. ]] SLAMing on 68.91165253199999 meters Centerline goodness : 0.742248 Centerline is valid? [False, False] Translation: X:-9.23, Y:-12.12, Z:-1.68 [[ 0.77695022 -0.55464737 -0.29785005 -9.23339083] [ 0.56195315 0.82427962 -0.06907804 -12.11583165] [ 0.28382568 -0.11370757 0.95211006 -1.67915417] [ 0. 0. 0. 1. ]] SLAMing on 68.94165253199999 meters Centerline goodness : 0.746117 Centerline is valid? [False, False] Translation: X:-9.26, Y:-12.14, Z:-1.69 [[ 0.7758244 -0.5558586 -0.29852591 -9.25708917] [ 0.56300697 0.82347043 -0.07013987 -12.14149769] [ 0.28481511 -0.11365594 0.95182072 -1.68837832] [ 0. 0. 0. 1. ]] SLAMing on 68.971652532 meters Centerline goodness : 0.750917 Centerline is valid? [False, False] Translation: X:-9.27, Y:-12.15, Z:-1.70 [[ 0.77676623 -0.55800806 -0.29199527 -9.26911483] [ 0.56257039 0.82319428 -0.0765881 -12.15055512] [ 0.28310561 -0.10477684 0.95334832 -1.69733939] [ 0. 0. 0. 1. ]] SLAMing on 69.001652532 meters Centerline goodness : 0.755115 Centerline is valid? [False, False] Translation: X:-9.29, Y:-12.18, Z:-1.71 [[ 0.77545988 -0.55916555 -0.2932505 -9.29235966] [ 0.56364565 0.8223645 -0.07759003 -12.17647805] [ 0.28454447 -0.10512141 0.95288191 -1.70575115] [ 0. 0. 0. 1. ]] SLAMing on 69.031652532 meters Centerline goodness : 0.763329 Centerline is valid? [False, False] Translation: X:-9.32, Y:-12.21, Z:-1.71 [[ 0.77504502 -0.56004288 -0.29267251 -9.31965298] [ 0.56460582 0.82173641 -0.07726277 -12.20828718] [ 0.28377012 -0.10536247 0.95308618 -1.71394002] [ 0. 0. 0. 1. ]] SLAMing on 69.061652532 meters Centerline goodness : 0.765553 Centerline is valid? [False, False] Translation: X:-9.34, Y:-12.24, Z:-1.72 [[ 0.77374294 -0.56068184 -0.29488597 -9.34293009] [ 0.56573167 0.82102006 -0.07664031 -12.23641501] [ 0.28507813 -0.10752643 0.95245395 -1.71912317] [ 0. 0. 0. 1. ]] SLAMing on 69.091652532 meters Centerline goodness : 0.768983 Centerline is valid? [False, False] Translation: X:-9.37, Y:-12.26, Z:-1.73 [[ 0.77201914 -0.56191789 -0.29704331 -9.36507011] [ 0.56711064 0.82000773 -0.07728417 -12.26331471] [ 0.28700517 -0.10879157 0.95173128 -1.7254619 ] [ 0. 0. 0. 1. ]] SLAMing on 69.121652532 meters Centerline goodness : 0.770240 Centerline is valid? [False, False] Translation: X:-9.39, Y:-12.29, Z:-1.73 [[ 0.77140469 -0.56160904 -0.29921579 -9.38852632] [ 0.56717248 0.82000353 -0.07687387 -12.29085468] [ 0.28853107 -0.1104061 0.95108376 -1.73261418] [ 0. 0. 0. 1. ]] SLAMing on 69.15165253199999 meters Centerline goodness : 0.772606 Centerline is valid? [False, False] Translation: X:-9.41, Y:-12.32, Z:-1.74 [[ 0.76880602 -0.56408609 -0.30123775 -9.40728936] [ 0.569501 0.81821442 -0.07870054 -12.31783668] [ 0.29087095 -0.11104975 0.95029577 -1.74037425] [ 0. 0. 0. 1. ]] SLAMing on 69.18165253199999 meters Centerline goodness : 0.775453 Centerline is valid? [False, False] Translation: X:-9.43, Y:-12.34, Z:-1.75 [[ 0.76571301 -0.56645499 -0.30465116 -9.42535645] [ 0.57229303 0.8162133 -0.07922462 -12.34014573] [ 0.29353751 -0.11368641 0.94916339 -1.74530814] [ 0. 0. 0. 1. ]] SLAMing on 69.21165253199999 meters Centerline goodness : 0.775145 Centerline is valid? [False, False] Translation: X:-9.45, Y:-12.37, Z:-1.75 [[ 0.76500939 -0.56611046 -0.30704981 -9.44853197] [ 0.5723777 0.81619858 -0.07876324 -12.36629185] [ 0.29520231 -0.11549385 0.94842858 -1.75298548] [ 0. 0. 0. 1. ]] SLAMing on 69.24165253199999 meters Centerline goodness : 0.777636 Centerline is valid? [False, False] Translation: X:-9.47, Y:-12.39, Z:-1.76 [[ 0.76554011 -0.56488861 -0.30797597 -9.47493715] [ 0.57169653 0.81682959 -0.07715248 -12.39413391] [ 0.29514645 -0.11700547 0.94826067 -1.76222756] [ 0. 0. 0. 1. ]] SLAMing on 69.27165253199999 meters Centerline goodness : 0.780394 Centerline is valid? [False, False] Translation: X:-9.50, Y:-12.43, Z:-1.77 [[ 0.7649803 -0.56624404 -0.30687591 -9.50426574] [ 0.57262098 0.81606611 -0.07836653 -12.42833968] [ 0.29480561 -0.11577473 0.94851772 -1.770713 ] [ 0. 0. 0. 1. ]] SLAMing on 69.30165253199999 meters Centerline goodness : 0.779098 Centerline is valid? [False, False] Translation: X:-9.53, Y:-12.46, Z:-1.78 [[ 0.76368237 -0.56696302 -0.30877526 -9.52743815] [ 0.57381459 0.81528162 -0.07779912 -12.45689056] [ 0.29584802 -0.11776593 0.94794785 -1.77632113] [ 0. 0. 0. 1. ]] SLAMing on 69.33165253199999 meters Centerline goodness : 0.779200 Centerline is valid? [False, False] Translation: X:-9.55, Y:-12.49, Z:-1.78 [[ 0.76381716 -0.56680465 -0.30873262 -9.55479217] [ 0.57397292 0.81527142 -0.0767307 -12.48766595] [ 0.2951922 -0.11859593 0.94804882 -1.78486704] [ 0. 0. 0. 1. ]] SLAMing on 69.361652532 meters Centerline goodness : 0.780138 Centerline is valid? [False, False] Translation: X:-9.58, Y:-12.52, Z:-1.79 [[ 0.7625128 -0.5675577 -0.31056802 -9.57911431] [ 0.57482444 0.81461106 -0.07736723 -12.51758104] [ 0.29690251 -0.11952858 0.94739739 -1.79172106] [ 0. 0. 0. 1. ]] SLAMing on 69.391652532 meters Centerline goodness : 0.779949 Centerline is valid? [False, False] Translation: X:-9.60, Y:-12.55, Z:-1.80 [[ 0.76193765 -0.56721819 -0.31259325 -9.6030927 ] [ 0.57492592 0.81459642 -0.07676494 -12.54500209] [ 0.29817981 -0.12122787 0.94678012 -1.79941495] [ 0. 0. 0. 1. ]] SLAMing on 69.421652532 meters Centerline goodness : 0.779939 Centerline is valid? [False, False] Translation: X:-9.63, Y:-12.57, Z:-1.81 [[ 0.76094353 -0.56702082 -0.31536064 -9.62556626] [ 0.575253 0.81441174 -0.07627256 -12.5720138 ] [ 0.30008154 -0.12337305 0.94590177 -1.80616719] [ 0. 0. 0. 1. ]] SLAMing on 69.451652532 meters Centerline goodness : 0.777101 Centerline is valid? [False, False] Translation: X:-9.65, Y:-12.60, Z:-1.81 [[ 0.75960467 -0.56755682 -0.31761613 -9.64789717] [ 0.57615225 0.81377817 -0.07624744 -12.59857455] [ 0.30174383 -0.12507734 0.94514883 -1.81345715] [ 0. 0. 0. 1. ]] SLAMing on 69.481652532 meters Centerline goodness : 0.777613 Centerline is valid? [False, False] Translation: X:-9.67, Y:-12.63, Z:-1.82 [[ 0.75836878 -0.56793843 -0.31987925 -9.6707431 ] [ 0.57697045 0.81322331 -0.07597988 -12.62779717] [ 0.30328516 -0.12694011 0.94440686 -1.82024297] [ 0. 0. 0. 1. ]] SLAMing on 69.51165253199999 meters Centerline goodness : 0.778323 Centerline is valid? [False, False] Translation: X:-9.69, Y:-12.65, Z:-1.83 [[ 0.75706557 -0.56791921 -0.32298529 -9.69357432] [ 0.57764327 0.81281495 -0.07523375 -12.65329905] [ 0.30525396 -0.12961339 0.94340892 -1.8262552 ] [ 0. 0. 0. 1. ]] SLAMing on 69.54165253199999 meters Centerline goodness : 0.777572 Centerline is valid? [False, False] Translation: X:-9.72, Y:-12.68, Z:-1.83 [[ 0.75607041 -0.56789434 -0.32535144 -9.71709586] [ 0.57830191 0.81244084 -0.07420774 -12.67875484] [ 0.30647095 -0.13204509 0.94267685 -1.8334244 ] [ 0. 0. 0. 1. ]] SLAMing on 69.57165253199999 meters Centerline goodness : 0.776547 Centerline is valid? [False, False] Translation: X:-9.74, Y:-12.71, Z:-1.84 [[ 0.75552088 -0.56768458 -0.32698994 -9.74217198] [ 0.57853028 0.81233567 -0.07357634 -12.70622865] [ 0.30739375 -0.13358512 0.94215928 -1.8413128 ] [ 0. 0. 0. 1. ]] SLAMing on 69.60165253199999 meters Centerline goodness : 0.776547 Centerline is valid? [False, False] Translation: X:-9.75, Y:-12.71, Z:-1.84 [[ 0.75403235 -0.57105016 -0.32455652 -9.74603884] [ 0.58101344 0.81034419 -0.07593208 -12.70586996] [ 0.30636351 -0.13131645 0.94281355 -1.84136289] [ 0. 0. 0. 1. ]] SLAMing on 69.63165253199999 meters Centerline goodness : 0.775658 Centerline is valid? [False, False] Translation: X:-9.76, Y:-12.71, Z:-1.85 [[ 0.75381774 -0.57551342 -0.31708536 -9.75524303] [ 0.58291465 0.80843253 -0.08153127 -12.7142446 ] [ 0.30326446 -0.12337398 0.94488599 -1.84952555] [ 0. 0. 0. 1. ]] SLAMing on 69.66165253199999 meters Centerline goodness : 0.775780 Centerline is valid? [False, False] Translation: X:-9.78, Y:-12.74, Z:-1.86 [[ 0.75341871 -0.57522668 -0.31855064 -9.77964225] [ 0.5832505 0.8083262 -0.08017237 -12.74160534] [ 0.30361011 -0.12539146 0.94450933 -1.85731665] [ 0. 0. 0. 1. ]] SLAMing on 69.69165253199999 meters Centerline goodness : 0.775290 Centerline is valid? [False, False] Translation: X:-9.78, Y:-12.74, Z:-1.86 [[ 0.75198944 -0.57874231 -0.3155459 -9.78331877] [ 0.58583328 0.80621563 -0.08255741 -12.74298031] [ 0.30217751 -0.12277499 0.94531215 -1.85808585] [ 0. 0. 0. 1. ]] SLAMing on 69.721652532 meters Centerline goodness : 0.773813 Centerline is valid? [False, False] Translation: X:-9.80, Y:-12.77, Z:-1.86 [[ 0.74964679 -0.58030453 -0.31823943 -9.80385676] [ 0.58771008 0.80479154 -0.08311102 -12.77103606] [ 0.30434611 -0.12472861 0.94436022 -1.86366853] [ 0. 0. 0. 1. ]] SLAMing on 69.751652532 meters Centerline goodness : 0.773538 Centerline is valid? [False, False] Translation: X:-9.82, Y:-12.79, Z:-1.87 [[ 0.74770364 -0.57970866 -0.3238474 -9.82086943] [ 0.58842529 0.80444001 -0.08143684 -12.79260345] [ 0.30772545 -0.12966937 0.94259795 -1.86758348] [ 0. 0. 0. 1. ]] SLAMing on 69.781652532 meters Centerline goodness : 0.772747 Centerline is valid? [False, False] Translation: X:-9.84, Y:-12.81, Z:-1.87 [[ 0.74541335 -0.57961166 -0.3292556 -9.83745502] [ 0.58954709 0.80374364 -0.08018973 -12.81287187] [ 0.31111599 -0.13433719 0.94082961 -1.87206412] [ 0. 0. 0. 1. ]] SLAMing on 69.811652532 meters Centerline goodness : 0.773318 Centerline is valid? [False, False] Translation: X:-9.86, Y:-12.83, Z:-1.88 [[ 0.74373989 -0.5787079 -0.33458652 -9.85544259] [ 0.58994485 0.80361112 -0.07857635 -12.83473723] [ 0.31435021 -0.13894723 0.93908339 -1.876697 ] [ 0. 0. 0. 1. ]] SLAMing on 69.841652532 meters Centerline goodness : 0.771652 Centerline is valid? [False, False] Translation: X:-9.88, Y:-12.86, Z:-1.88 [[ 0.74154502 -0.58070073 -0.33600244 -9.8769686 ] [ 0.59207714 0.80196822 -0.07931989 -12.86302439] [ 0.3155244 -0.14012009 0.93851517 -1.88417349] [ 0. 0. 0. 1. ]] SLAMing on 69.87165253199998 meters Centerline goodness : 0.770636 Centerline is valid? [False, False] Translation: X:-9.90, Y:-12.89, Z:-1.89 [[ 0.74061216 -0.58189867 -0.33598746 -9.90283506] [ 0.59320244 0.8010866 -0.0798193 -12.89152519] [ 0.3156018 -0.14019344 0.93847819 -1.89347782] [ 0. 0. 0. 1. ]] SLAMing on 69.90165253199999 meters Centerline goodness : 0.771821 Centerline is valid? [False, False] Translation: X:-9.93, Y:-12.92, Z:-1.90 [[ 0.74076839 -0.58174073 -0.33591653 -9.92936641] [ 0.59360234 0.80096131 -0.07808479 -12.92008196] [ 0.31448124 -0.1415581 0.93864948 -1.90270818] [ 0. 0. 0. 1. ]] SLAMing on 69.93165253199999 meters Centerline goodness : 0.769320 Centerline is valid? [False, False] Translation: X:-9.96, Y:-12.95, Z:-1.91 [[ 0.739982 -0.58414622 -0.33346638 -9.95761488] [ 0.59563128 0.7994028 -0.07860371 -12.95310184] [ 0.31249002 -0.14045768 0.93947945 -1.91294314] [ 0. 0. 0. 1. ]] SLAMing on 69.96165253199999 meters Centerline goodness : 0.770535 Centerline is valid? [False, False] Translation: X:-9.98, Y:-12.98, Z:-1.92 [[ 0.73780016 -0.58567504 -0.33561238 -9.97910108] [ 0.59740133 0.79801229 -0.07929708 -12.97867291] [ 0.31426513 -0.14198989 0.93865665 -1.9199862 ] [ 0. 0. 0. 1. ]] SLAMing on 69.99165253199999 meters Centerline goodness : 0.770920 Centerline is valid? [False, False] Translation: X:-10.00, Y:-13.00, Z:-1.93 [[ 0.73645525 -0.58595411 -0.33807016 -10.00180894] [ 0.5981136 0.79748009 -0.07928187 -13.00473273] [ 0.31605977 -0.14381681 0.93777553 -1.92765387] [ 0. 0. 0. 1. ]] SLAMing on 70.02165253199999 meters Centerline goodness : 0.771554 Centerline is valid? [False, False] Translation: X:-10.02, Y:-13.03, Z:-1.93 [[ 0.7353022 -0.58474737 -0.34263858 -10.02169299] [ 0.59804736 0.79766692 -0.07788994 -13.02774957] [ 0.31885739 -0.14764145 0.93623286 -1.9337628 ] [ 0. 0. 0. 1. ]] SLAMing on 70.05165253199999 meters Centerline goodness : 0.772210 Centerline is valid? [False, False] Translation: X:-10.05, Y:-13.06, Z:-1.95 [[ 0.73691904 -0.58273317 -0.34259654 -10.05096568] [ 0.59601955 0.79923007 -0.07740799 -13.05811269] [ 0.31892166 -0.14715081 0.93628821 -1.94707086] [ 0. 0. 0. 1. ]] SLAMing on 70.08165253199999 meters Centerline goodness : 0.772504 Centerline is valid? [False, False] Translation: X:-10.08, Y:-13.09, Z:-1.96 [[ 0.73686095 -0.58223016 -0.3435753 -10.07648673] [ 0.59576072 0.79945687 -0.07705761 -13.08541469] [ 0.31953889 -0.14790792 0.93595841 -1.95739634] [ 0. 0. 0. 1. ]] SLAMing on 70.111652532 meters Centerline goodness : 0.772295 Centerline is valid? [False, False] Translation: X:-10.10, Y:-13.11, Z:-1.97 [[ 0.73638994 -0.58215953 -0.34470297 -10.1017471 ] [ 0.59586852 0.79937386 -0.07708529 -13.11231402] [ 0.32042248 -0.14863282 0.93554141 -1.96722724] [ 0. 0. 0. 1. ]] SLAMing on 70.141652532 meters Centerline goodness : 0.772141 Centerline is valid? [False, False] Translation: X:-10.13, Y:-13.14, Z:-1.98 [[ 0.73767998 -0.58184367 -0.3424707 -10.13299078] [ 0.59526528 0.7998576 -0.07672716 -13.14347254] [ 0.31857101 -0.14726083 0.93639028 -1.9805402 ] [ 0. 0. 0. 1. ]] SLAMing on 70.171652532 meters Centerline goodness : 0.772359 Centerline is valid? [False, False] Translation: X:-10.16, Y:-13.17, Z:-1.99 [[ 0.73881497 -0.58086864 -0.3416783 -10.16255232] [ 0.5944096 0.80058798 -0.07573714 -13.17202324] [ 0.31753687 -0.14714113 0.93676028 -1.99251741] [ 0. 0. 0. 1. ]] SLAMing on 70.201652532 meters Centerline goodness : 0.771457 Centerline is valid? [False, False] Translation: X:-10.19, Y:-13.20, Z:-2.01 [[ 0.73988752 -0.57981554 -0.34114573 -10.19173373] [ 0.59337258 0.80141094 -0.07516305 -13.19997505] [ 0.31697862 -0.14681432 0.93700059 -2.00520296] [ 0. 0. 0. 1. ]] SLAMing on 70.231652532 meters Centerline goodness : 0.772369 Centerline is valid? [False, False] Translation: X:-10.22, Y:-13.23, Z:-2.02 [[ 0.74057559 -0.5792076 -0.34068511 -10.22028131] [ 0.59268613 0.80193259 -0.07501524 -13.22693012] [ 0.31665589 -0.14636488 0.93718001 -2.01761904] [ 0. 0. 0. 1. ]] SLAMing on 70.26165253199999 meters Centerline goodness : 0.770691 Centerline is valid? [False, False] Translation: X:-10.25, Y:-13.26, Z:-2.03 [[ 0.74383655 -0.57645808 -0.33823552 -10.25489486] [ 0.59001019 0.80409792 -0.07290068 -13.25680925] [ 0.31399867 -0.14533621 0.93823357 -2.03252748] [ 0. 0. 0. 1. ]] SLAMing on 70.29165253199999 meters Centerline goodness : 0.772751 Centerline is valid? [False, False] Translation: X:-10.29, Y:-13.29, Z:-2.04 [[ 0.74528455 -0.57520763 -0.33717521 -10.28563613] [ 0.588741 0.80509754 -0.07212474 -13.28571561] [ 0.31294564 -0.14475541 0.93867508 -2.04479121] [ 0. 0. 0. 1. ]] SLAMing on 70.32165253199999 meters Centerline goodness : 0.771535 Centerline is valid? [False, False] Translation: X:-10.32, Y:-13.31, Z:-2.06 [[ 0.7467348 -0.57412725 -0.33580506 -10.31646932] [ 0.58754768 0.80602259 -0.07152133 -13.31442049] [ 0.31172881 -0.14389402 0.93921226 -2.05751491] [ 0. 0. 0. 1. ]] SLAMing on 70.35165253199999 meters Centerline goodness : 0.771031 Centerline is valid? [False, False] Translation: X:-10.35, Y:-13.35, Z:-2.07 [[ 0.74906342 -0.57252714 -0.33334167 -10.35021408] [ 0.58561055 0.80748264 -0.07093707 -13.34503994] [ 0.30978101 -0.14207204 0.94013364 -2.0719581 ] [ 0. 0. 0. 1. ]] SLAMing on 70.38165253199999 meters Centerline goodness : 0.773058 Centerline is valid? [False, False] Translation: X:-10.38, Y:-13.37, Z:-2.08 [[ 0.75051312 -0.57097777 -0.3327378 -10.38074332] [ 0.58405067 0.80866683 -0.07030487 -13.37382339] [ 0.30921654 -0.141571 0.94039501 -2.0841115 ] [ 0. 0. 0. 1. ]] SLAMing on 70.41165253199999 meters Centerline goodness : 0.770893 Centerline is valid? [False, False] Translation: X:-10.39, Y:-13.38, Z:-2.09 [[ 0.75375091 -0.56936943 -0.32814328 -10.39401646] [ 0.58083149 0.81077804 -0.07262061 -13.38213836] [ 0.30739932 -0.1358581 0.94183238 -2.09246122] [ 0. 0. 0. 1. ]] SLAMing on 70.44165253199999 meters Centerline goodness : 0.770460 Centerline is valid? [False, False] Translation: X:-10.43, Y:-13.41, Z:-2.11 [[ 0.75651435 -0.56734929 -0.32527038 -10.42936729] [ 0.57877541 0.81239895 -0.07090119 -13.41494049] [ 0.30447506 -0.13462073 0.94295928 -2.10521815] [ 0. 0. 0. 1. ]] SLAMing on 70.471652532 meters Centerline goodness : 0.771391 Centerline is valid? [False, False] Translation: X:-10.46, Y:-13.44, Z:-2.12 [[ 0.7579727 -0.56611523 -0.32402305 -10.45965296] [ 0.57788669 0.813199 -0.06895189 -13.44355163] [ 0.30252994 -0.13498496 0.94353309 -2.11657533] [ 0. 0. 0. 1. ]] SLAMing on 70.501652532 meters Centerline goodness : 0.772276 Centerline is valid? [False, False] Translation: X:-10.47, Y:-13.45, Z:-2.13 [[ 0.76145751 -0.56423191 -0.3191 -10.47425249] [ 0.57410137 0.81559672 -0.07217767 -13.45310855] [ 0.30098186 -0.12823551 0.94496856 -2.12611361] [ 0. 0. 0. 1. ]] SLAMing on 70.531652532 meters Centerline goodness : 0.770728 Centerline is valid? [False, False] Translation: X:-10.50, Y:-13.48, Z:-2.14 [[ 0.76350315 -0.56151434 -0.31900561 -10.50448449] [ 0.57170894 0.81742132 -0.07050725 -13.48124144] [ 0.30035282 -0.12854585 0.94512652 -2.13839055] [ 0. 0. 0. 1. ]] SLAMing on 70.561652532 meters Centerline goodness : 0.770495 Centerline is valid? [False, False] Translation: X:-10.52, Y:-13.49, Z:-2.15 [[ 0.76399086 -0.56445145 -0.31259004 -10.51642062] [ 0.5716161 0.81681697 -0.07787851 -13.48749663] [ 0.29928749 -0.11918303 0.94669024 -2.14802645] [ 0. 0. 0. 1. ]] SLAMing on 70.591652532 meters Centerline goodness : 0.769183 Centerline is valid? [False, False] Translation: X:-10.54, Y:-13.51, Z:-2.16 [[ 0.76729814 -0.56040037 -0.31177716 -10.54213028] [ 0.56451539 0.82090609 -0.08622974 -13.50799618] [ 0.30426295 -0.10983908 0.94623434 -2.15501456] [ 0. 0. 0. 1. ]] SLAMing on 70.62165253199998 meters Centerline goodness : 0.769798 Centerline is valid? [False, False] Translation: X:-10.57, Y:-13.53, Z:-2.16 [[ 0.76811359 -0.55773733 -0.31453232 -10.56720491] [ 0.56323558 0.8221741 -0.08243442 -13.53237264] [ 0.30457708 -0.11383679 0.94566061 -2.16235732] [ 0. 0. 0. 1. ]] SLAMing on 70.65165253199999 meters Centerline goodness : 0.768946 Centerline is valid? [False, False] Translation: X:-10.60, Y:-13.56, Z:-2.17 [[ 0.76922714 -0.55557389 -0.31563785 -10.59559932] [ 0.56193148 0.8233315 -0.07973864 -13.55936679] [ 0.30417529 -0.11602972 0.9455234 -2.1710277 ] [ 0. 0. 0. 1. ]] SLAMing on 70.68165253199999 meters Centerline goodness : 0.769025 Centerline is valid? [False, False] Translation: X:-10.63, Y:-13.59, Z:-2.18 [[ 0.7711897 -0.55376221 -0.31402844 -10.62744551] [ 0.56080911 0.82440081 -0.07652748 -13.59040439] [ 0.30126333 -0.1170928 0.9463243 -2.18071558] [ 0. 0. 0. 1. ]] SLAMing on 70.71165253199999 meters Centerline goodness : 0.769137 Centerline is valid? [False, False] Translation: X:-10.65, Y:-13.62, Z:-2.19 [[ 0.77071949 -0.55348377 -0.31566943 -10.65311221] [ 0.56100435 0.82434735 -0.07566741 -13.61790044] [ 0.30210194 -0.11877358 0.94584737 -2.18807916] [ 0. 0. 0. 1. ]] SLAMing on 70.74165253199999 meters Centerline goodness : 0.769137 Centerline is valid? [False, False] Translation: X:-10.68, Y:-13.64, Z:-2.20 [[ 0.77152756 -0.55122442 -0.31764266 -10.67849 ] [ 0.55980025 0.82543117 -0.07271222 -13.64367488] [ 0.3022729 -0.12171696 0.94541847 -2.19661751] [ 0. 0. 0. 1. ]] SLAMing on 70.77165253199999 meters Centerline goodness : 0.769753 Centerline is valid? [False, False] Translation: X:-10.70, Y:-13.67, Z:-2.20 [[ 0.76914646 -0.55313676 -0.32008351 -10.70016678] [ 0.56198 0.82389167 -0.07335535 -13.66898056] [ 0.30428967 -0.12345952 0.94454515 -2.20302762] [ 0. 0. 0. 1. ]] SLAMing on 70.80165253199999 meters Centerline goodness : 0.767578 Centerline is valid? [False, False] Translation: X:-10.72, Y:-13.69, Z:-2.21 [[ 0.76835501 -0.55187716 -0.32413298 -10.72085206] [ 0.5617975 0.82417679 -0.07152751 -13.6921683 ] [ 0.30661727 -0.12713858 0.94330357 -2.20960376] [ 0. 0. 0. 1. ]] SLAMing on 70.83165253199999 meters Centerline goodness : 0.767981 Centerline is valid? [False, False] Translation: X:-10.74, Y:-13.72, Z:-2.22 [[ 0.76623336 -0.55328649 -0.32674225 -10.74218142] [ 0.56363306 0.82290717 -0.07170472 -13.71641359] [ 0.30855179 -0.12922018 0.94238948 -2.21589444] [ 0. 0. 0. 1. ]] SLAMing on 70.861652532 meters Centerline goodness : 0.768092 Centerline is valid? [False, False] Translation: X:-10.77, Y:-13.74, Z:-2.22 [[ 0.76564725 -0.55304357 -0.3285226 -10.76679143] [ 0.5640617 0.8227254 -0.07040826 -13.74308572] [ 0.30922272 -0.13139913 0.94186813 -2.22319414] [ 0. 0. 0. 1. ]] SLAMing on 70.891652532 meters Centerline goodness : 0.768843 Centerline is valid? [False, False] Translation: X:-10.80, Y:-13.77, Z:-2.23 [[ 0.76677174 -0.55136522 -0.32872099 -10.79538243] [ 0.56329573 0.8235072 -0.06733366 -13.77431983] [ 0.30782954 -0.13353759 0.94202372 -2.23189049] [ 0. 0. 0. 1. ]] SLAMing on 70.921652532 meters Centerline goodness : 0.767711 Centerline is valid? [False, False] Translation: X:-10.81, Y:-13.80, Z:-2.24 [[ 0.76506181 -0.55060682 -0.33393497 -10.81403352] [ 0.56385931 0.8232614 -0.06559993 -13.79592734] [ 0.31103554 -0.13810434 0.94031063 -2.23620691] [ 0. 0. 0. 1. ]] SLAMing on 70.951652532 meters Centerline goodness : 0.766548 Centerline is valid? [False, False] Translation: X:-10.82, Y:-13.80, Z:-2.24 [[ 0.76394633 -0.55388644 -0.33105258 -10.81825184] [ 0.56616237 0.82148859 -0.0679461 -13.79680469] [ 0.30959034 -0.13552234 0.94116285 -2.23732245] [ 0. 0. 0. 1. ]] SLAMing on 70.981652532 meters Centerline goodness : 0.765495 Centerline is valid? [False, False] Translation: X:-10.84, Y:-13.82, Z:-2.24 [[ 0.76200073 -0.55526577 -0.33321886 -10.83994296] [ 0.56785185 0.82028834 -0.06834701 -13.82214265] [ 0.31128631 -0.13713847 0.94036901 -2.24437757] [ 0. 0. 0. 1. ]] SLAMing on 71.01165253199999 meters Centerline goodness : 0.764693 Centerline is valid? [False, False] Translation: X:-10.86, Y:-13.85, Z:-2.25 [[ 0.7611132 -0.55515269 -0.33542836 -10.86265222] [ 0.56829137 0.82003682 -0.06770917 -13.85126878] [ 0.31265253 -0.1390867 0.93962933 -2.25214189] [ 0. 0. 0. 1. ]] SLAMing on 71.04165253199999 meters Centerline goodness : 0.762170 Centerline is valid? [False, False] Translation: X:-10.88, Y:-13.88, Z:-2.26 [[ 0.75956077 -0.55590782 -0.3376891 -10.88442142] [ 0.5696097 0.81915638 -0.06728751 -13.87549435] [ 0.31402583 -0.14124203 0.93884954 -2.25986644] [ 0. 0. 0. 1. ]] SLAMing on 71.07165253199999 meters Centerline goodness : 0.762050 Centerline is valid? [False, False] Translation: X:-10.90, Y:-13.90, Z:-2.27 [[ 0.75692159 -0.55792317 -0.34028141 -10.90446719] [ 0.57221305 0.81734086 -0.06727665 -13.89863438] [ 0.3156611 -0.14379031 0.93791386 -2.26589003] [ 0. 0. 0. 1. ]] SLAMing on 71.10165253199999 meters Centerline goodness : 0.763111 Centerline is valid? [False, False] Translation: X:-10.92, Y:-13.92, Z:-2.27 [[ 0.75335515 -0.56064642 -0.34370281 -10.92252204] [ 0.57570228 0.81488017 -0.06735868 -13.91987245] [ 0.317841 -0.14712548 0.93665959 -2.26993511] [ 0. 0. 0. 1. ]] SLAMing on 71.13165253199999 meters Centerline goodness : 0.761627 Centerline is valid? [False, False] Translation: X:-10.93, Y:-13.93, Z:-2.27 [[ 0.75304057 -0.56368679 -0.33939225 -10.92733705] [ 0.57813403 0.81312525 -0.0677375 -13.9295758 ] [ 0.31415115 -0.14520512 0.93820282 -2.2714284 ] [ 0. 0. 0. 1. ]] SLAMing on 71.16165253199999 meters Centerline goodness : 0.759984 Centerline is valid? [False, False] Translation: X:-10.95, Y:-13.96, Z:-2.28 [[ 0.75239594 -0.56333131 -0.34140619 -10.95145426] [ 0.57831062 0.81305444 -0.06707687 -13.95702482] [ 0.31536832 -0.14697046 0.93751934 -2.27947315] [ 0. 0. 0. 1. ]] SLAMing on 71.19165253199999 meters Centerline goodness : 0.759571 Centerline is valid? [False, False] Translation: X:-10.97, Y:-13.98, Z:-2.29 [[ 0.75275024 -0.56127163 -0.34400761 -10.97471492] [ 0.57730722 0.81395411 -0.06476951 -13.9835711 ] [ 0.3163597 -0.14984282 0.93673031 -2.28806667] [ 0. 0. 0. 1. ]] SLAMing on 71.221652532 meters Centerline goodness : 0.758192 Centerline is valid? [False, False] Translation: X:-11.00, Y:-14.01, Z:-2.30 [[ 0.75198708 -0.56079243 -0.34644953 -10.99764121] [ 0.5775833 0.81384409 -0.06368148 -14.00998477] [ 0.31766799 -0.15221581 0.93590459 -2.29575539] [ 0. 0. 0. 1. ]] SLAMing on 71.251652532 meters Centerline goodness : 0.756117 Centerline is valid? [False, False] Translation: X:-11.02, Y:-14.04, Z:-2.30 [[ 0.74972393 -0.56301902 -0.34774072 -11.01905151] [ 0.57986187 0.81213843 -0.06474095 -14.03990689] [ 0.31886399 -0.15310375 0.93535287 -2.30326634] [ 0. 0. 0. 1. ]] SLAMing on 71.281652532 meters Centerline goodness : 0.755034 Centerline is valid? [False, False] Translation: X:-11.04, Y:-14.07, Z:-2.31 [[ 0.74855075 -0.56369739 -0.34916619 -11.04177028] [ 0.58073749 0.81148602 -0.06507235 -14.06717796] [ 0.32002459 -0.15406394 0.93479868 -2.31241472] [ 0. 0. 0. 1. ]] SLAMing on 71.311652532 meters Centerline goodness : 0.755891 Centerline is valid? [False, False] Translation: X:-11.06, Y:-14.09, Z:-2.32 [[ 0.74623275 -0.56575886 -0.35078997 -11.06230304] [ 0.58288346 0.80985594 -0.06618333 -14.09301398] [ 0.32153314 -0.1550815 0.9341125 -2.32068856] [ 0. 0. 0. 1. ]] SLAMing on 71.341652532 meters Centerline goodness : 0.753734 Centerline is valid? [False, False] Translation: X:-11.08, Y:-14.12, Z:-2.33 [[ 0.74318472 -0.56822892 -0.35325962 -11.08111683] [ 0.58576564 0.80771433 -0.06690426 -14.11685947] [ 0.32334979 -0.15720513 0.93312993 -2.32715813] [ 0. 0. 0. 1. ]] SLAMing on 71.37165253199998 meters Centerline goodness : 0.754988 Centerline is valid? [False, False] Translation: X:-11.10, Y:-14.15, Z:-2.33 [[ 0.74006459 -0.57080779 -0.35564431 -11.10104154] [ 0.58874548 0.80548121 -0.06766666 -14.14522502] [ 0.32508947 -0.15930628 0.93216862 -2.33241766] [ 0. 0. 0. 1. ]] SLAMing on 71.40165253199999 meters Centerline goodness : 0.755200 Centerline is valid? [False, False] Translation: X:-11.12, Y:-14.17, Z:-2.34 [[ 0.7368154 -0.57321091 -0.35851404 -11.12033617] [ 0.59156587 0.80333081 -0.06862532 -14.1686603 ] [ 0.32734216 -0.16152048 0.93099852 -2.33814266] [ 0. 0. 0. 1. ]] SLAMing on 71.43165253199999 meters Centerline goodness : 0.755216 Centerline is valid? [False, False] Translation: X:-11.14, Y:-14.19, Z:-2.35 [[ 0.73495596 -0.57397779 -0.3610945 -11.14167107] [ 0.59281108 0.80239218 -0.06886081 -14.19350138] [ 0.32926398 -0.16345116 0.92998331 -2.34592008] [ 0. 0. 0. 1. ]] SLAMing on 71.46165253199999 meters Centerline goodness : 0.754092 Centerline is valid? [False, False] Translation: X:-11.16, Y:-14.22, Z:-2.35 [[ 0.7333647 -0.57440052 -0.36364853 -11.16319979] [ 0.59377154 0.80168291 -0.06884668 -14.21823992] [ 0.33107638 -0.16543442 0.92898863 -2.3540944 ] [ 0. 0. 0. 1. ]] SLAMing on 71.49165253199999 meters Centerline goodness : 0.754092 Centerline is valid? [False, False] Translation: X:-11.19, Y:-14.24, Z:-2.37 [[ 0.7330237 -0.5744599 -0.36424178 -11.18867573] [ 0.59393313 0.80155863 -0.06889992 -14.24412992] [ 0.33154138 -0.16582999 0.92875224 -2.36527832] [ 0. 0. 0. 1. ]] SLAMing on 71.52165253199999 meters Centerline goodness : 0.754870 Centerline is valid? [False, False] Translation: X:-11.21, Y:-14.27, Z:-2.37 [[ 0.72993935 -0.57680624 -0.36671938 -11.20903439] [ 0.59669034 0.79943613 -0.06973173 -14.26971136] [ 0.33339042 -0.16791798 0.9277146 -2.37147518] [ 0. 0. 0. 1. ]] SLAMing on 71.55165253199999 meters Centerline goodness : 0.753369 Centerline is valid? [False, False] Translation: X:-11.23, Y:-14.29, Z:-2.38 [[ 0.72956549 -0.57657901 -0.36781903 -11.23348792] [ 0.59682593 0.79937496 -0.06927107 -14.29468349] [ 0.33396557 -0.16898615 0.92731369 -2.38246896] [ 0. 0. 0. 1. ]] SLAMing on 71.58165253199999 meters Centerline goodness : 0.753809 Centerline is valid? [False, False] Translation: X:-11.26, Y:-14.32, Z:-2.40 [[ 0.73035853 -0.57524877 -0.36832768 -11.26014027] [ 0.59579459 0.8002214 -0.06837041 -14.32170689] [ 0.33407368 -0.16951273 0.92717863 -2.39505044] [ 0. 0. 0. 1. ]] SLAMing on 71.611652532 meters Centerline goodness : 0.754208 Centerline is valid? [False, False] Translation: X:-11.29, Y:-14.35, Z:-2.41 [[ 0.72934854 -0.57774293 -0.36642028 -11.28881677] [ 0.59736749 0.79885953 -0.07053741 -14.35090438] [ 0.33347083 -0.16744121 0.92777187 -2.40807427] [ 0. 0. 0. 1. ]] SLAMing on 71.641652532 meters Centerline goodness : 0.754378 Centerline is valid? [False, False] Translation: X:-11.32, Y:-14.38, Z:-2.42 [[ 0.72997116 -0.57752353 -0.36552521 -11.31676204] [ 0.59696796 0.79916237 -0.07048947 -14.37910854] [ 0.33282332 -0.16675155 0.92812852 -2.42129257] [ 0. 0. 0. 1. ]] SLAMing on 71.671652532 meters Centerline goodness : 0.753655 Centerline is valid? [False, False] Translation: X:-11.35, Y:-14.41, Z:-2.44 [[ 0.731482 -0.57643835 -0.36421548 -11.34663679] [ 0.5957138 0.80014429 -0.06995838 -14.40845168] [ 0.33175163 -0.16579489 0.92868343 -2.43513663] [ 0. 0. 0. 1. ]] SLAMing on 71.701652532 meters Centerline goodness : 0.751441 Centerline is valid? [False, False] Translation: X:-11.38, Y:-14.44, Z:-2.45 [[ 0.7317902 -0.57847422 -0.36034799 -11.3781357 ] [ 0.59664529 0.79931393 -0.07149568 -14.4379388 ] [ 0.32938958 -0.1626801 0.93007403 -2.4503345 ] [ 0. 0. 0. 1. ]] SLAMing on 71.731652532 meters Centerline goodness : 0.752995 Centerline is valid? [False, False] Translation: X:-11.41, Y:-14.47, Z:-2.46 [[ 0.73359491 -0.57733569 -0.35849966 -11.4102078 ] [ 0.59555967 0.80025079 -0.07005251 -14.4696186 ] [ 0.32733345 -0.16211777 0.93089776 -2.46336052] [ 0. 0. 0. 1. ]] SLAMing on 71.76165253199999 meters Centerline goodness : 0.753781 Centerline is valid? [False, False] Translation: X:-11.44, Y:-14.50, Z:-2.48 [[ 0.73349315 -0.57942602 -0.3553214 -11.44091013] [ 0.59680292 0.79921374 -0.0712999 -14.49963385] [ 0.32529076 -0.15975886 0.93202094 -2.47686593] [ 0. 0. 0. 1. ]] SLAMing on 71.79165253199999 meters Centerline goodness : 0.752580 Centerline is valid? [False, False] Translation: X:-11.47, Y:-14.53, Z:-2.49 [[ 0.7330745 -0.5803919 -0.35460827 -11.46806752] [ 0.59764131 0.79856626 -0.07153183 -14.52849065] [ 0.32469469 -0.15949039 0.93227473 -2.48776819] [ 0. 0. 0. 1. ]] SLAMing on 71.82165253199999 meters Centerline goodness : 0.753893 Centerline is valid? [False, False] Translation: X:-11.50, Y:-14.56, Z:-2.50 [[ 0.73244001 -0.58208759 -0.3531369 -11.49532576] [ 0.59878976 0.79759484 -0.07275501 -14.55586186] [ 0.32400995 -0.15816608 0.93273846 -2.50046696] [ 0. 0. 0. 1. ]] SLAMing on 71.85165253199999 meters Centerline goodness : 0.751835 Centerline is valid? [False, False] Translation: X:-11.53, Y:-14.59, Z:-2.52 [[ 0.73089997 -0.58186112 -0.35668315 -11.53401163] [ 0.60138077 0.79618953 -0.06650873 -14.59410664] [ 0.32268624 -0.16589116 0.93185499 -2.51689902] [ 0. 0. 0. 1. ]] SLAMing on 71.88165253199999 meters Centerline goodness : 0.752962 Centerline is valid? [False, False] Translation: X:-11.56, Y:-14.62, Z:-2.53 [[ 0.73076664 -0.58174478 -0.35714581 -11.55946346] [ 0.60124356 0.79626895 -0.06679784 -14.6183256 ] [ 0.32324341 -0.16591798 0.93165708 -2.52949302] [ 0. 0. 0. 1. ]] SLAMing on 71.91165253199999 meters Centerline goodness : 0.751367 Centerline is valid? [False, False] Translation: X:-11.59, Y:-14.65, Z:-2.54 [[ 0.73240413 -0.5807454 -0.35541379 -11.58929378] [ 0.59982381 0.79733967 -0.06678951 -14.64564988] [ 0.32217322 -0.16426874 0.93231979 -2.54491556] [ 0. 0. 0. 1. ]] SLAMing on 71.94165253199999 meters Centerline goodness : 0.751074 Centerline is valid? [False, False] Translation: X:-11.62, Y:-14.68, Z:-2.56 [[ 0.73377122 -0.58028636 -0.35333772 -11.62217665] [ 0.59855426 0.79820142 -0.06787703 -14.67688447] [ 0.32142278 -0.16168558 0.9330301 -2.55911995] [ 0. 0. 0. 1. ]] SLAMing on 71.971652532 meters Centerline goodness : 0.752475 Centerline is valid? [False, False] Translation: X:-11.65, Y:-14.71, Z:-2.57 [[ 0.73557201 -0.57895868 -0.35176791 -11.65333217] [ 0.59691253 0.79945361 -0.06759701 -14.70560813] [ 0.320358 -0.16025221 0.93364339 -2.57344273] [ 0. 0. 0. 1. ]] SLAMing on 72.001652532 meters Centerline goodness : 0.750124 Centerline is valid? [False, False] Translation: X:-11.68, Y:-14.73, Z:-2.59 [[ 0.73732643 -0.57752115 -0.35045551 -11.68462045] [ 0.59526173 0.80072154 -0.06714525 -14.73461919] [ 0.31939508 -0.15910479 0.93416939 -2.58725874] [ 0. 0. 0. 1. ]] SLAMing on 72.031652532 meters Centerline goodness : 0.750834 Centerline is valid? [False, False] Translation: X:-11.71, Y:-14.76, Z:-2.60 [[ 0.73803261 -0.57757966 -0.34886904 -11.71400379] [ 0.5949314 0.80094194 -0.06744366 -14.76192781] [ 0.31837793 -0.15777753 0.93474154 -2.60093739] [ 0. 0. 0. 1. ]] SLAMing on 72.061652532 meters Centerline goodness : 0.751034 Centerline is valid? [False, False] Translation: X:-11.75, Y:-14.79, Z:-2.62 [[ 0.74037186 -0.57543914 -0.34744685 -11.74711556] [ 0.59237762 0.80283924 -0.06736399 -14.7925928 ] [ 0.31770784 -0.15594534 0.93527685 -2.6156214 ] [ 0. 0. 0. 1. ]] SLAMing on 72.091652532 meters Centerline goodness : 0.752219 Centerline is valid? [False, False] Translation: X:-11.78, Y:-14.82, Z:-2.63 [[ 0.74159259 -0.57396874 -0.34727556 -11.77625001] [ 0.59084168 0.80399225 -0.06710123 -14.82061362] [ 0.31772087 -0.1554231 0.93535935 -2.62847273] [ 0. 0. 0. 1. ]] SLAMing on 72.12165253199998 meters Centerline goodness : 0.750461 Centerline is valid? [False, False] Translation: X:-11.81, Y:-14.85, Z:-2.64 [[ 0.74215089 -0.57383558 -0.34630157 -11.80506904] [ 0.59039436 0.80428919 -0.06747889 -14.84873859] [ 0.3172484 -0.15437498 0.93569323 -2.64122745] [ 0. 0. 0. 1. ]] SLAMing on 72.15165253199999 meters Centerline goodness : 0.752922 Centerline is valid? [False, False] Translation: X:-11.84, Y:-14.88, Z:-2.65 [[ 0.74335306 -0.57301868 -0.34507365 -11.83512174] [ 0.58931632 0.80508576 -0.06740328 -14.87716908] [ 0.31643722 -0.1532531 0.93615222 -2.6546071 ] [ 0. 0. 0. 1. ]] SLAMing on 72.18165253199999 meters Centerline goodness : 0.750399 Centerline is valid? [False, False] Translation: X:-11.87, Y:-14.91, Z:-2.67 [[ 0.74579199 -0.57058177 -0.34384699 -11.86873756] [ 0.58669536 0.80705527 -0.06671086 -14.90748151] [ 0.31556752 -0.15198101 0.93665304 -2.66877117] [ 0. 0. 0. 1. ]] SLAMing on 72.21165253199999 meters Centerline goodness : 0.750748 Centerline is valid? [False, False] Translation: X:-11.90, Y:-14.93, Z:-2.68 [[ 0.74585454 -0.57055867 -0.34374964 -11.89543462] [ 0.5864278 0.80719415 -0.06737981 -14.93321463] [ 0.31591683 -0.15132881 0.93664089 -2.68134474] [ 0. 0. 0. 1. ]] SLAMing on 72.24165253199999 meters Centerline goodness : 0.748923 Centerline is valid? [False, False] Translation: X:-11.92, Y:-14.96, Z:-2.69 [[ 0.74696825 -0.56942244 -0.34321497 -11.92466232] [ 0.58515366 0.80813028 -0.06723572 -14.96136406] [ 0.31564793 -0.15061055 0.93684729 -2.69434934] [ 0. 0. 0. 1. ]] SLAMing on 72.27165253199999 meters Centerline goodness : 0.748751 Centerline is valid? [False, False] Translation: X:-11.96, Y:-15.00, Z:-2.71 [[ 0.74923956 -0.56843212 -0.33988969 -11.96176221] [ 0.5831275 0.80949754 -0.06838164 -14.99647012] [ 0.31401019 -0.14696479 0.93797599 -2.70858869] [ 0. 0. 0. 1. ]] SLAMing on 72.30165253199999 meters Centerline goodness : 0.750086 Centerline is valid? [False, False] Translation: X:-11.99, Y:-15.03, Z:-2.72 [[ 0.75060724 -0.56702342 -0.33922442 -11.99205286] [ 0.58152003 0.81065973 -0.06830259 -15.02612142] [ 0.31372475 -0.14599737 0.93822255 -2.72118723] [ 0. 0. 0. 1. ]] SLAMing on 72.33165253199999 meters Centerline goodness : 0.748733 Centerline is valid? [False, False] Translation: X:-12.02, Y:-15.05, Z:-2.73 [[ 0.75074765 -0.56691576 -0.33909363 -12.01941762] [ 0.58137228 0.8107633 -0.06833105 -15.05269055] [ 0.31366262 -0.14584027 0.93826775 -2.73274339] [ 0. 0. 0. 1. ]] SLAMing on 72.361652532 meters Centerline goodness : 0.747532 Centerline is valid? [False, False] Translation: X:-12.05, Y:-15.08, Z:-2.74 [[ 0.75083052 -0.56679191 -0.33911719 -12.04974217] [ 0.58104619 0.81094739 -0.06891779 -15.08092091] [ 0.31406824 -0.14529717 0.93821632 -2.74362007] [ 0. 0. 0. 1. ]] SLAMing on 72.391652532 meters Centerline goodness : 0.750515 Centerline is valid? [False, False] Translation: X:-12.07, Y:-15.10, Z:-2.75 [[ 0.74940054 -0.56653246 -0.34269491 -12.07095506] [ 0.58148943 0.81065963 -0.0685639 -15.10278799] [ 0.31665261 -0.14789165 0.9369414 -2.7510222 ] [ 0. 0. 0. 1. ]] SLAMing on 72.421652532 meters Centerline goodness : 0.750344 Centerline is valid? [False, False] Translation: X:-12.10, Y:-15.13, Z:-2.76 [[ 0.74986946 -0.56549672 -0.34337918 -12.09759454] [ 0.58052167 0.81136189 -0.0684579 -15.12794416] [ 0.3173175 -0.14800457 0.93669859 -2.76337239] [ 0. 0. 0. 1. ]] SLAMing on 72.451652532 meters Centerline goodness : 0.749101 Centerline is valid? [False, False] Translation: X:-12.13, Y:-15.16, Z:-2.78 [[ 0.75155663 -0.56313566 -0.34357076 -12.12679513] [ 0.57827043 0.81303474 -0.06765965 -15.15507159] [ 0.31743652 -0.14782675 0.93668634 -2.77676008] [ 0. 0. 0. 1. ]] SLAMing on 72.481652532 meters Centerline goodness : 0.747235 Centerline is valid? [False, False] Translation: X:-12.17, Y:-15.19, Z:-2.79 [[ 0.75651665 -0.55715536 -0.34243316 -12.16533024] [ 0.57228894 0.81741935 -0.06565795 -15.1870719 ] [ 0.31649317 -0.14629938 0.9372452 -2.79256692] [ 0. 0. 0. 1. ]] SLAMing on 72.51165253199999 meters Centerline goodness : 0.747826 Centerline is valid? [False, False] Translation: X:-12.19, Y:-15.21, Z:-2.80 [[ 0.75675443 -0.55764355 -0.34111055 -12.19452293] [ 0.57234465 0.81732054 -0.06639838 -15.21459909] [ 0.31582328 -0.14498553 0.93767524 -2.80496619] [ 0. 0. 0. 1. ]] SLAMing on 72.54165253199999 meters Centerline goodness : 0.746414 Centerline is valid? [False, False] Translation: X:-12.23, Y:-15.25, Z:-2.82 [[ 0.75805666 -0.55665791 -0.33982652 -12.22552267] [ 0.57127398 0.81811906 -0.06578181 -15.24515324] [ 0.31463652 -0.14426771 0.93818478 -2.81665413] [ 0. 0. 0. 1. ]] SLAMing on 72.57165253199999 meters Centerline goodness : 0.748541 Centerline is valid? [False, False] Translation: X:-12.26, Y:-15.28, Z:-2.83 [[ 0.76046309 -0.55419573 -0.33847153 -12.25817134] [ 0.56877017 0.81995116 -0.06465744 -15.27605852] [ 0.31336301 -0.14334291 0.9387526 -2.82957781] [ 0. 0. 0. 1. ]] SLAMing on 72.60165253199999 meters Centerline goodness : 0.745491 Centerline is valid? [False, False] Translation: X:-12.29, Y:-15.30, Z:-2.84 [[ 0.76085404 -0.55387792 -0.33811297 -12.28580509] [ 0.56854009 0.82015111 -0.06414297 -15.30491702] [ 0.3128311 -0.14342734 0.93891709 -2.8404116 ] [ 0. 0. 0. 1. ]] SLAMing on 72.63165253199999 meters Centerline goodness : 0.744575 Centerline is valid? [False, False] Translation: X:-12.32, Y:-15.33, Z:-2.85 [[ 0.76142515 -0.55331308 -0.33775194 -12.31502727] [ 0.5672912 0.82087756 -0.06588414 -15.33487544] [ 0.31370755 -0.14143786 0.93892646 -2.85358564] [ 0. 0. 0. 1. ]] SLAMing on 72.66165253199999 meters Centerline goodness : 0.743353 Centerline is valid? [False, False] Translation: X:-12.34, Y:-15.36, Z:-2.86 [[ 0.7608495 -0.5542473 -0.33751737 -12.34139563] [ 0.56806827 0.82029363 -0.06645903 -15.36219467] [ 0.31369809 -0.14116758 0.9389703 -2.86432064] [ 0. 0. 0. 1. ]] SLAMing on 72.69165253199999 meters Centerline goodness : 0.742874 Centerline is valid? [False, False] Translation: X:-12.37, Y:-15.39, Z:-2.87 [[ 0.76120021 -0.55344942 -0.33803548 -12.36877195] [ 0.56767202 0.82065917 -0.06532235 -15.39010296] [ 0.31356453 -0.14216989 0.93886368 -2.87415725] [ 0. 0. 0. 1. ]] SLAMing on 72.721652532 meters Centerline goodness : 0.742820 Centerline is valid? [False, False] Translation: X:-12.40, Y:-15.42, Z:-2.89 [[ 0.76159475 -0.55282279 -0.33817213 -12.39705628] [ 0.56726302 0.8209998 -0.06459096 -15.41872795] [ 0.31334661 -0.1426404 0.93886507 -2.88526743] [ 0. 0. 0. 1. ]] SLAMing on 72.751652532 meters Centerline goodness : 0.741752 Centerline is valid? [False, False] Translation: X:-12.42, Y:-15.44, Z:-2.89 [[ 0.76046688 -0.55296993 -0.34046202 -12.42012033] [ 0.56785403 0.82060398 -0.06442759 -15.44356238] [ 0.31501101 -0.14433768 0.93804835 -2.89362991] [ 0. 0. 0. 1. ]] SLAMing on 72.781652532 meters Centerline goodness : 0.740784 Centerline is valid? [False, False] Translation: X:-12.44, Y:-15.47, Z:-2.90 [[ 0.75950022 -0.55369835 -0.34143456 -12.44410756] [ 0.56871237 0.81998832 -0.0646947 -15.46936618] [ 0.3157937 -0.14504242 0.9376764 -2.90339941] [ 0. 0. 0. 1. ]] SLAMing on 72.811652532 meters Centerline goodness : 0.740491 Centerline is valid? [False, False] Translation: X:-12.47, Y:-15.50, Z:-2.91 [[ 0.75904922 -0.55463686 -0.34091382 -12.47137122] [ 0.56927557 0.81951154 -0.06577359 -15.49956746] [ 0.31586327 -0.14414852 0.93779081 -2.91467836] [ 0. 0. 0. 1. ]] SLAMing on 72.841652532 meters Centerline goodness : 0.740127 Centerline is valid? [False, False] Translation: X:-12.50, Y:-15.53, Z:-2.92 [[ 0.75854209 -0.55444098 -0.34235815 -12.49612647] [ 0.5696426 0.81933616 -0.06477326 -15.52606188] [ 0.31641936 -0.14588854 0.93733416 -2.92322669] [ 0. 0. 0. 1. ]] SLAMing on 72.87165253199998 meters Centerline goodness : 0.742490 Centerline is valid? [False, False] Translation: X:-12.52, Y:-15.55, Z:-2.93 [[ 0.75864172 -0.55376214 -0.34323496 -12.52261452] [ 0.56948145 0.81954646 -0.06351746 -15.55391711] [ 0.31647056 -0.14727894 0.93709941 -2.93242265] [ 0. 0. 0. 1. ]] SLAMing on 72.90165253199999 meters Centerline goodness : 0.740195 Centerline is valid? [False, False] Translation: X:-12.55, Y:-15.58, Z:-2.94 [[ 0.75799181 -0.55450351 -0.34347385 -12.54826668] [ 0.57036291 0.81894241 -0.06339937 -15.58157267] [ 0.31644048 -0.14784854 0.93701987 -2.94195538] [ 0. 0. 0. 1. ]] SLAMing on 72.93165253199999 meters Centerline goodness : 0.742277 Centerline is valid? [False, False] Translation: X:-12.58, Y:-15.61, Z:-2.95 [[ 0.75738495 -0.55623523 -0.34200936 -12.57748538] [ 0.57154959 0.81801354 -0.06469088 -15.61193835] [ 0.31575163 -0.14647941 0.93746717 -2.95308698] [ 0. 0. 0. 1. ]] SLAMing on 72.96165253199999 meters Centerline goodness : 0.738489 Centerline is valid? [False, False] Translation: X:-12.60, Y:-15.64, Z:-2.96 [[ 0.75819827 -0.55472152 -0.34266516 -12.60457732] [ 0.57037503 0.81891422 -0.06365393 -15.63881638] [ 0.31592357 -0.14718535 0.93729865 -2.96456486] [ 0. 0. 0. 1. ]] SLAMing on 72.99165253199999 meters Centerline goodness : 0.736716 Centerline is valid? [False, False] Translation: X:-12.63, Y:-15.67, Z:-2.98 [[ 0.7586092 -0.55421314 -0.34257827 -12.63140753] [ 0.57002385 0.81920751 -0.06302275 -15.66601663] [ 0.31557073 -0.14746814 0.93737306 -2.97635775] [ 0. 0. 0. 1. ]] SLAMing on 73.02165253199999 meters Centerline goodness : 0.737693 Centerline is valid? [False, False] Translation: X:-12.66, Y:-15.70, Z:-2.99 [[ 0.75913437 -0.55484148 -0.34039087 -12.66246808] [ 0.56993317 0.81917803 -0.0642147 -15.69608841] [ 0.31446971 -0.14525246 0.93808876 -2.98987977] [ 0. 0. 0. 1. ]] SLAMing on 73.05165253199999 meters Centerline goodness : 0.734763 Centerline is valid? [False, False] Translation: X:-12.69, Y:-15.72, Z:-3.00 [[ 0.75966455 -0.55451087 -0.33974618 -12.69047126] [ 0.56976808 0.81936249 -0.06332021 -15.72425747] [ 0.31348702 -0.14547441 0.93838323 -3.00093484] [ 0. 0. 0. 1. ]] SLAMing on 73.08165253199999 meters Centerline goodness : 0.736114 Centerline is valid? [False, False] Translation: X:-12.72, Y:-15.75, Z:-3.01 [[ 0.75973457 -0.55565062 -0.33772144 -12.71961381] [ 0.57037097 0.81887528 -0.06418904 -15.7531196 ] [ 0.31221842 -0.14385988 0.93905484 -3.0134161 ] [ 0. 0. 0. 1. ]] SLAMing on 73.111652532 meters Centerline goodness : 0.736886 Centerline is valid? [False, False] Translation: X:-12.75, Y:-15.78, Z:-3.03 [[ 0.76070316 -0.55479805 -0.33694186 -12.7480838 ] [ 0.56973799 0.81941271 -0.06293991 -15.78097219] [ 0.31101339 -0.14408999 0.93941937 -3.02505144] [ 0. 0. 0. 1. ]] SLAMing on 73.141652532 meters Centerline goodness : 0.732399 Centerline is valid? [False, False] Translation: X:-12.78, Y:-15.81, Z:-3.04 [[ 0.76187108 -0.55368944 -0.33612565 -12.77850683] [ 0.56862612 0.82023469 -0.06228471 -15.81186184] [ 0.31018831 -0.14367691 0.93975537 -3.03677144] [ 0. 0. 0. 1. ]] SLAMing on 73.171652532 meters Centerline goodness : 0.733055 Centerline is valid? [False, False] Translation: X:-12.80, Y:-15.84, Z:-3.05 [[ 0.76003875 -0.55521214 -0.33775817 -12.80066422] [ 0.57027011 0.81903105 -0.06308834 -15.83514403] [ 0.31166184 -0.14466381 0.93911622 -3.04561692] [ 0. 0. 0. 1. ]] SLAMing on 73.201652532 meters Centerline goodness : 0.733264 Centerline is valid? [False, False] Translation: X:-12.83, Y:-15.86, Z:-3.06 [[ 0.7604826 -0.55468192 -0.33763024 -12.82750274] [ 0.56982149 0.81937653 -0.0626544 -15.86218572] [ 0.31139956 -0.14474139 0.93919127 -3.05748353] [ 0. 0. 0. 1. ]] SLAMing on 73.231652532 meters Centerline goodness : 0.732008 Centerline is valid? [False, False] Translation: X:-12.85, Y:-15.89, Z:-3.07 [[ 0.7594568 -0.55615739 -0.33751196 -12.85369501] [ 0.57090629 0.81850775 -0.06411766 -15.89135979] [ 0.31191567 -0.14399311 0.93913503 -3.0679581 ] [ 0. 0. 0. 1. ]] SLAMing on 73.26165253199999 meters Centerline goodness : 0.732617 Centerline is valid? [False, False] Translation: X:-12.88, Y:-15.92, Z:-3.08 [[ 0.75834357 -0.55624837 -0.33985699 -12.87651329] [ 0.57151638 0.8181104 -0.06375269 -15.91539321] [ 0.31350287 -0.14588739 0.93831382 -3.0763283 ] [ 0. 0. 0. 1. ]] SLAMing on 73.29165253199999 meters Centerline goodness : 0.730510 Centerline is valid? [False, False] Translation: X:-12.90, Y:-15.94, Z:-3.09 [[ 0.75801678 -0.55620551 -0.34065524 -12.90168937] [ 0.57187026 0.81792464 -0.06295789 -15.94127798] [ 0.31364785 -0.14708746 0.93807799 -3.08607174] [ 0. 0. 0. 1. ]] SLAMing on 73.32165253199999 meters Centerline goodness : 0.730805 Centerline is valid? [False, False] Translation: X:-12.93, Y:-15.97, Z:-3.09 [[ 0.75669587 -0.55697469 -0.34233107 -12.92525038] [ 0.57302976 0.81712283 -0.06282657 -15.96629017] [ 0.31471934 -0.14862529 0.93747654 -3.09399967] [ 0. 0. 0. 1. ]] SLAMing on 73.35165253199999 meters Centerline goodness : 0.729769 Centerline is valid? [False, False] Translation: X:-12.95, Y:-16.00, Z:-3.11 [[ 0.75591001 -0.55903929 -0.340698 -12.9542121 ] [ 0.57448744 0.81598401 -0.06429837 -15.99557707] [ 0.31394944 -0.14712294 0.93797153 -3.10524246] [ 0. 0. 0. 1. ]] SLAMing on 73.38165253199999 meters Centerline goodness : 0.730656 Centerline is valid? [False, False] Translation: X:-12.98, Y:-16.02, Z:-3.12 [[ 0.7560286 -0.55890429 -0.34065635 -12.98092575] [ 0.57461238 0.81596105 -0.06346791 -16.02152531] [ 0.3134348 -0.1477618 0.93804321 -3.11635998] [ 0. 0. 0. 1. ]] SLAMing on 73.41165253199999 meters Centerline goodness : 0.730656 Centerline is valid? [False, False] Translation: X:-13.01, Y:-16.05, Z:-3.13 [[ 0.7562033 -0.55903061 -0.34006078 -13.00820136] [ 0.57476226 0.81588217 -0.06312397 -16.04819539] [ 0.31273776 -0.14771955 0.93828249 -3.12794867] [ 0. 0. 0. 1. ]] SLAMing on 73.44165253199999 meters Centerline goodness : 0.727756 Centerline is valid? [False, False] Translation: X:-13.04, Y:-16.07, Z:-3.14 [[ 0.75721213 -0.5575719 -0.34021076 -13.03656049] [ 0.57342976 0.81686901 -0.06247667 -16.07458487] [ 0.31274286 -0.14777888 0.93827145 -3.14033421] [ 0. 0. 0. 1. ]] SLAMing on 73.471652532 meters Centerline goodness : 0.727641 Centerline is valid? [False, False] Translation: X:-13.07, Y:-16.10, Z:-3.15 [[ 0.75857468 -0.55642456 -0.33905186 -13.06600423] [ 0.57238721 0.81768896 -0.06129967 -16.10168909] [ 0.3113476 -0.14756857 0.93876844 -3.15327667] [ 0. 0. 0. 1. ]] SLAMing on 73.501652532 meters Centerline goodness : 0.725891 Centerline is valid? [False, False] Translation: X:-13.10, Y:-16.13, Z:-3.17 [[ 0.75996253 -0.55606206 -0.33652925 -13.09770047] [ 0.57180298 0.81814983 -0.06059873 -16.13128682] [ 0.309028 -0.14637566 0.93972116 -3.166505 ] [ 0. 0. 0. 1. ]] SLAMing on 73.531652532 meters Centerline goodness : 0.727058 Centerline is valid? [False, False] Translation: X:-13.13, Y:-16.16, Z:-3.18 [[ 0.76061023 -0.55651071 -0.33431707 -13.12754363] [ 0.5721502 0.81795973 -0.05988343 -16.15922522] [ 0.30678367 -0.14573162 0.94055626 -3.17839905] [ 0. 0. 0. 1. ]] SLAMing on 73.561652532 meters Centerline goodness : 0.725879 Centerline is valid? [False, False] Translation: X:-13.16, Y:-16.19, Z:-3.19 [[ 0.76115572 -0.5573129 -0.33172927 -13.15674612] [ 0.57282993 0.81753929 -0.05912175 -16.18636368] [ 0.30415102 -0.14502359 0.94152021 -3.19066285] [ 0. 0. 0. 1. ]] SLAMing on 73.591652532 meters Centerline goodness : 0.725774 Centerline is valid? [False, False] Translation: X:-13.18, Y:-16.21, Z:-3.20 [[ 0.76124992 -0.5581727 -0.33006333 -13.18460601] [ 0.57360947 0.81702196 -0.05871355 -16.21258857] [ 0.30244129 -0.14463177 0.94213105 -3.20219863] [ 0. 0. 0. 1. ]] SLAMing on 73.62165253199998 meters Centerline goodness : 0.723278 Centerline is valid? [False, False] Translation: X:-13.21, Y:-16.24, Z:-3.21 [[ 0.76243558 -0.55743718 -0.32856625 -13.21414391] [ 0.57278005 0.8176495 -0.05807152 -16.23997473] [ 0.30102325 -0.1439204 0.94269397 -3.21497508] [ 0. 0. 0. 1. ]] SLAMing on 73.65165253199999 meters Centerline goodness : 0.724092 Centerline is valid? [False, False] Translation: X:-13.25, Y:-16.27, Z:-3.23 [[ 0.76402699 -0.55599977 -0.32730264 -13.24600553] [ 0.57145727 0.81866806 -0.05673791 -16.26925605] [ 0.29949848 -0.14369018 0.94321461 -3.22657501] [ 0. 0. 0. 1. ]] SLAMing on 73.68165253199999 meters Centerline goodness : 0.724434 Centerline is valid? [False, False] Translation: X:-13.25, Y:-16.27, Z:-3.23 [[ 0.76466037 -0.55789534 -0.32256364 -13.25438256] [ 0.57187079 0.81818687 -0.05944783 -16.2730497 ] [ 0.297083 -0.13900733 0.94467913 -3.23227368] [ 0. 0. 0. 1. ]] SLAMing on 73.71165253199999 meters Centerline goodness : 0.722498 Centerline is valid? [False, False] Translation: X:-13.26, Y:-16.28, Z:-3.24 [[ 0.76498886 -0.56002089 -0.31807018 -13.26185733] [ 0.5727042 0.81742753 -0.06182334 -16.27744019] [ 0.29462169 -0.13486597 0.94604928 -3.23675666] [ 0. 0. 0. 1. ]] SLAMing on 73.74165253199999 meters Centerline goodness : 0.723243 Centerline is valid? [False, False] Translation: X:-13.29, Y:-16.30, Z:-3.25 [[ 0.76377992 -0.56290343 -0.31587966 -13.28972289] [ 0.57504763 0.815681 -0.0631247 -16.30481192] [ 0.29319015 -0.13343247 0.94669705 -3.24732842] [ 0. 0. 0. 1. ]] SLAMing on 73.77165253199999 meters Centerline goodness : 0.723675 Centerline is valid? [False, False] Translation: X:-13.31, Y:-16.33, Z:-3.26 [[ 0.76395747 -0.56099712 -0.31882787 -13.31292997] [ 0.57416934 0.81647284 -0.06084146 -16.32691276] [ 0.29444618 -0.1365809 0.94585787 -3.25586213] [ 0. 0. 0. 1. ]] SLAMing on 73.80165253199999 meters Centerline goodness : 0.720486 Centerline is valid? [False, False] Translation: X:-13.32, Y:-16.33, Z:-3.26 [[ 0.76487987 -0.56037005 -0.31771716 -13.3163186 ] [ 0.57342665 0.81701809 -0.06052542 -16.32732867] [ 0.2934973 -0.13589281 0.94625181 -3.25813189] [ 0. 0. 0. 1. ]] SLAMing on 73.83165253199999 meters Centerline goodness : 0.719209 Centerline is valid? [False, False] Translation: X:-13.32, Y:-16.33, Z:-3.26 [[ 0.76438222 -0.56439277 -0.31173807 -13.32429421] [ 0.57508231 0.81541424 -0.06618123 -16.33237798] [ 0.29154787 -0.1286873 0.94786044 -3.26494612] [ 0. 0. 0. 1. ]] SLAMing on 73.861652532 meters Centerline goodness : 0.717897 Centerline is valid? [False, False] Translation: X:-13.33, Y:-16.33, Z:-3.27 [[ 0.76308436 -0.56771621 -0.30886982 -13.32802323] [ 0.57749283 0.81351375 -0.06853761 -16.33452581] [ 0.29017976 -0.12607013 0.94863166 -3.26527947] [ 0. 0. 0. 1. ]] SLAMing on 73.891652532 meters Centerline goodness : 0.717405 Centerline is valid? [False, False] Translation: X:-13.33, Y:-16.34, Z:-3.27 [[ 0.76196637 -0.57078289 -0.30596428 -13.33223389] [ 0.5796827 0.81176601 -0.07073841 -16.33698207] [ 0.28874768 -0.12346191 0.94941136 -3.2656417 ] [ 0. 0. 0. 1. ]] SLAMing on 73.921652532 meters Centerline goodness : 0.716779 Centerline is valid? [False, False] Translation: X:-13.34, Y:-16.34, Z:-3.27 [[ 0.7627124 -0.57175553 -0.30226712 -13.34015126] [ 0.57980387 0.81156049 -0.07209053 -16.34320443] [ 0.28652621 -0.12027131 0.95049332 -3.2683557 ] [ 0. 0. 0. 1. ]] SLAMing on 73.951652532 meters Centerline goodness : 0.714850 Centerline is valid? [False, False] Translation: X:-13.34, Y:-16.35, Z:-3.27 [[ 0.76150254 -0.57482104 -0.29949067 -13.3432629 ] [ 0.58206524 0.80975097 -0.07418506 -16.34670282] [ 0.28515599 -0.117831 0.95121076 -3.26850785] [ 0. 0. 0. 1. ]] SLAMing on 73.981652532 meters Centerline goodness : 0.714286 Centerline is valid? [False, False] Translation: X:-13.35, Y:-16.35, Z:-3.27 [[ 0.7602757 -0.57796771 -0.296537 -13.34758846] [ 0.58432823 0.80790185 -0.07651871 -16.34804635] [ 0.28379814 -0.11509963 0.95195099 -3.2692824 ] [ 0. 0. 0. 1. ]] SLAMing on 74.01165253199999 meters Centerline goodness : 0.712839 Centerline is valid? [False, False] Translation: X:-13.35, Y:-16.35, Z:-3.27 [[ 0.75900724 -0.58117425 -0.29350385 -13.35190759] [ 0.58663035 0.80599844 -0.07893884 -16.34910375] [ 0.28244087 -0.11226312 0.9526931 -3.27019819] [ 0. 0. 0. 1. ]] SLAMing on 74.04165253199999 meters Centerline goodness : 0.713893 Centerline is valid? [False, False] Translation: X:-13.36, Y:-16.35, Z:-3.27 [[ 0.75806843 -0.58391383 -0.29047701 -13.35685941] [ 0.58852515 0.80440074 -0.08110241 -16.35085391] [ 0.28101674 -0.10947185 0.95343878 -3.27116161] [ 0. 0. 0. 1. ]] SLAMing on 74.07165253199999 meters Centerline goodness : 0.711329 Centerline is valid? [False, False] Translation: X:-13.36, Y:-16.35, Z:-3.27 [[ 0.75646449 -0.58748776 -0.28743626 -13.3588657 ] [ 0.59114408 0.80219592 -0.08384738 -16.35236299] [ 0.27983951 -0.10648868 0.95412264 -3.27255609] [ 0. 0. 0. 1. ]] SLAMing on 74.10165253199999 meters Centerline goodness : 0.709910 Centerline is valid? [False, False] Translation: X:-13.36, Y:-16.35, Z:-3.27 [[ 0.75522235 -0.59064714 -0.28420971 -13.36296394] [ 0.59336492 0.80028104 -0.08641951 -16.35330995] [ 0.27849108 -0.10337413 0.95485942 -3.27411018] [ 0. 0. 0. 1. ]] SLAMing on 74.13165253199999 meters Centerline goodness : 0.710727 Centerline is valid? [False, False] Translation: X:-13.37, Y:-16.35, Z:-3.27 [[ 0.75348847 -0.59425902 -0.2812674 -13.3656821 ] [ 0.59606707 0.79797132 -0.08913932 -16.35442168] [ 0.27741516 -0.10048878 0.95548042 -3.27470722] [ 0. 0. 0. 1. ]] SLAMing on 74.16165253199999 meters Centerline goodness : 0.713312 Centerline is valid? [False, False] Translation: X:-13.37, Y:-16.36, Z:-3.27 [[ 0.75241822 -0.59698236 -0.2783503 -13.37029478] [ 0.59804211 0.79626245 -0.09116878 -16.35714869] [ 0.27606604 -0.09786814 0.95614296 -3.27485195] [ 0. 0. 0. 1. ]] SLAMing on 74.19165253199999 meters Centerline goodness : 0.714385 Centerline is valid? [False, False] Translation: X:-13.37, Y:-16.36, Z:-3.27 [[ 0.75284677 -0.59646413 -0.27830252 -13.37199001] [ 0.59767878 0.7966104 -0.09050938 -16.35862542] [ 0.27568428 -0.09819581 0.95621951 -3.27435632] [ 0. 0. 0. 1. ]] SLAMing on 74.221652532 meters Centerline goodness : 0.715472 Centerline is valid? [False, False] Translation: X:-13.39, Y:-16.38, Z:-3.28 [[ 0.75129445 -0.59535746 -0.28479141 -13.38974473] [ 0.59800119 0.79666388 -0.08787065 -16.38161339] [ 0.27919747 -0.10428887 0.95455362 -3.27533123] [ 0. 0. 0. 1. ]] SLAMing on 74.251652532 meters Centerline goodness : 0.713970 Centerline is valid? [False, False] Translation: X:-13.39, Y:-16.38, Z:-3.28 [[ 0.74981989 -0.59865254 -0.28175391 -13.39365028] [ 0.60043727 0.79455664 -0.09030413 -16.38276715] [ 0.27793024 -0.10146372 0.95522767 -3.27603487] [ 0. 0. 0. 1. ]] SLAMing on 74.281652532 meters Centerline goodness : 0.714027 Centerline is valid? [False, False] Translation: X:-13.41, Y:-16.41, Z:-3.28 [[ 0.74890795 -0.597495 -0.28659486 -13.41336781] [ 0.600062 0.79495459 -0.08929047 -16.40500271] [ 0.28118051 -0.10510434 0.95388186 -3.28198092] [ 0. 0. 0. 1. ]] SLAMing on 74.311652532 meters Centerline goodness : 0.714781 Centerline is valid? [False, False] Translation: X:-13.41, Y:-16.40, Z:-3.28 [[ 0.74903795 -0.59745007 -0.28634867 -13.4143288 ] [ 0.59998761 0.79501153 -0.08928348 -16.40462004] [ 0.28099291 -0.10492894 0.95395645 -3.28249932] [ 0. 0. 0. 1. ]] SLAMing on 74.341652532 meters Centerline goodness : 0.715456 Centerline is valid? [False, False] Translation: X:-13.43, Y:-16.43, Z:-3.29 [[ 0.74855355 -0.59539945 -0.29183401 -13.43462832] [ 0.59916522 0.79589291 -0.08692251 -16.42908997] [ 0.28402223 -0.10979063 0.9525111 -3.28626591] [ 0. 0. 0. 1. ]] SLAMing on 74.37165253199998 meters Centerline goodness : 0.713727 Centerline is valid? [False, False] Translation: X:-13.45, Y:-16.45, Z:-3.30 [[ 0.75114446 -0.59520662 -0.28550146 -13.45235011] [ 0.59601298 0.79741369 -0.0943395 -16.44616376] [ 0.28381427 -0.09929998 0.95372374 -3.29564384] [ 0. 0. 0. 1. ]] SLAMing on 74.40165253199999 meters Centerline goodness : 0.716547 Centerline is valid? [False, False] Translation: X:-13.47, Y:-16.47, Z:-3.30 [[ 0.74980693 -0.59404405 -0.29137816 -13.47086988] [ 0.59617104 0.79757813 -0.09191961 -16.47006846] [ 0.28700114 -0.10478926 0.95218147 -3.29778294] [ 0. 0. 0. 1. ]] SLAMing on 74.43165253199999 meters Centerline goodness : 0.717070 Centerline is valid? [False, False] Translation: X:-13.49, Y:-16.49, Z:-3.30 [[ 0.74890357 -0.59250977 -0.29677537 -13.49099001] [ 0.59585854 0.79806438 -0.08969866 -16.49320428] [ 0.28999318 -0.10966049 0.95072527 -3.30137428] [ 0. 0. 0. 1. ]] SLAMing on 74.46165253199999 meters Centerline goodness : 0.714809 Centerline is valid? [False, False] Translation: X:-13.50, Y:-16.50, Z:-3.31 [[ 0.7514576 -0.59194767 -0.29139222 -13.50365663] [ 0.59350975 0.79939443 -0.09335272 -16.5024752 ] [ 0.28819724 -0.10279351 0.95203773 -3.31032153] [ 0. 0. 0. 1. ]] SLAMing on 74.49165253199999 meters Centerline goodness : 0.714303 Centerline is valid? [False, False] Translation: X:-13.53, Y:-16.53, Z:-3.32 [[ 0.75275644 -0.5891502 -0.29370015 -13.53042449] [ 0.59135379 0.80120096 -0.09152985 -16.53055363] [ 0.28923767 -0.10478101 0.95150539 -3.31918755] [ 0. 0. 0. 1. ]] SLAMing on 74.52165253199999 meters Centerline goodness : 0.713360 Centerline is valid? [False, False] Translation: X:-13.55, Y:-16.56, Z:-3.32 [[ 0.75385343 -0.585451 -0.29824844 -13.554253 ] [ 0.58917061 0.80325017 -0.08756233 -16.55734 ] [ 0.29083157 -0.10971005 0.95046342 -3.32412082] [ 0. 0. 0. 1. ]] SLAMing on 74.55165253199999 meters Centerline goodness : 0.714524 Centerline is valid? [False, False] Translation: X:-13.58, Y:-16.59, Z:-3.33 [[ 0.75494439 -0.5832644 -0.29976926 -13.58191686] [ 0.58781539 0.80451788 -0.08499438 -16.58593896] [ 0.29074392 -0.11204296 0.95021805 -3.33168777] [ 0. 0. 0. 1. ]] SLAMing on 74.58165253199999 meters Centerline goodness : 0.716013 Centerline is valid? [False, False] Translation: X:-13.61, Y:-16.62, Z:-3.34 [[ 0.75338315 -0.58465928 -0.30097732 -13.60706095] [ 0.58939902 0.80333907 -0.08517705 -16.61660301] [ 0.29158639 -0.11322479 0.94981973 -3.33694841] [ 0. 0. 0. 1. ]] SLAMing on 74.611652532 meters Centerline goodness : 0.716974 Centerline is valid? [False, False] Translation: X:-13.63, Y:-16.64, Z:-3.34 [[ 0.75281248 -0.58367 -0.30430691 -13.63046299] [ 0.58925518 0.80360894 -0.08361222 -16.64317164] [ 0.2933457 -0.1163701 0.94889741 -3.34231309] [ 0. 0. 0. 1. ]] SLAMing on 74.641652532 meters Centerline goodness : 0.718267 Centerline is valid? [False, False] Translation: X:-13.66, Y:-16.67, Z:-3.35 [[ 0.75325687 -0.58241899 -0.3056014 -13.65709853] [ 0.58846817 0.80431153 -0.08239038 -16.67067393] [ 0.29378445 -0.11777558 0.94858822 -3.35110035] [ 0. 0. 0. 1. ]] SLAMing on 74.671652532 meters Centerline goodness : 0.717208 Centerline is valid? [False, False] Translation: X:-13.68, Y:-16.70, Z:-3.36 [[ 0.75345973 -0.58067536 -0.30840649 -13.6815667 ] [ 0.58751724 0.80518095 -0.08066677 -16.69669592] [ 0.29516424 -0.12041497 0.94782821 -3.35858954] [ 0. 0. 0. 1. ]] SLAMing on 74.701652532 meters Centerline goodness : 0.718432 Centerline is valid? [False, False] Translation: X:-13.71, Y:-16.73, Z:-3.37 [[ 0.75562112 -0.5763389 -0.31123978 -13.70911444] [ 0.58402968 0.80795337 -0.07823483 -16.72703251] [ 0.29655701 -0.12265737 0.94710565 -3.36820192] [ 0. 0. 0. 1. ]] SLAMing on 74.731652532 meters Centerline goodness : 0.718432 Centerline is valid? [False, False] Translation: X:-13.71, Y:-16.73, Z:-3.37 [[ 0.75409382 -0.57961239 -0.30885594 -13.71277401] [ 0.58645173 0.80596039 -0.08063632 -16.7266965 ] [ 0.29566347 -0.12032175 0.94768444 -3.36816392] [ 0. 0. 0. 1. ]] SLAMing on 74.76165253199999 meters Centerline goodness : 0.719215 Centerline is valid? [False, False] Translation: X:-13.74, Y:-16.76, Z:-3.38 [[ 0.75338907 -0.58005543 -0.30974279 -13.73975855] [ 0.58688885 0.80559168 -0.08113887 -16.75787 ] [ 0.29659126 -0.12065546 0.94735204 -3.37572879] [ 0. 0. 0. 1. ]] SLAMing on 74.79165253199999 meters Centerline goodness : 0.720267 Centerline is valid? [False, False] Translation: X:-13.77, Y:-16.79, Z:-3.38 [[ 0.75409319 -0.57884396 -0.31029522 -13.76793443] [ 0.58603105 0.80633148 -0.07998215 -16.78752665] [ 0.29649799 -0.12152864 0.94726962 -3.38462085] [ 0. 0. 0. 1. ]] SLAMing on 74.82165253199999 meters Centerline goodness : 0.721199 Centerline is valid? [False, False] Translation: X:-13.79, Y:-16.81, Z:-3.39 [[ 0.75276205 -0.57907121 -0.31309077 -13.79095192] [ 0.58696353 0.80574759 -0.07902297 -16.81360165] [ 0.29803206 -0.12428737 0.94642989 -3.38982594] [ 0. 0. 0. 1. ]] SLAMing on 74.85165253199999 meters Centerline goodness : 0.723185 Centerline is valid? [False, False] Translation: X:-13.81, Y:-16.84, Z:-3.40 [[ 0.75044799 -0.58051645 -0.31595642 -13.81193828] [ 0.58885886 0.8043449 -0.07921189 -16.83677962] [ 0.30012174 -0.12660934 0.94546127 -3.39567853] [ 0. 0. 0. 1. ]] SLAMing on 74.88165253199999 meters Centerline goodness : 0.727735 Centerline is valid? [False, False] Translation: X:-13.84, Y:-16.87, Z:-3.41 [[ 0.75141301 -0.5787683 -0.31686864 -13.84103393] [ 0.58706526 0.80563932 -0.07937052 -16.86607085] [ 0.30121897 -0.12638253 0.94514263 -3.40682321] [ 0. 0. 0. 1. ]] SLAMing on 74.91165253199999 meters Centerline goodness : 0.730470 Centerline is valid? [False, False] Translation: X:-13.87, Y:-16.89, Z:-3.42 [[ 0.75235197 -0.57730188 -0.31731538 -13.86881201] [ 0.58587633 0.80660225 -0.07836927 -16.8944642 ] [ 0.30119002 -0.1269463 0.9450763 -3.41697661] [ 0. 0. 0. 1. ]] SLAMing on 74.94165253199999 meters Centerline goodness : 0.732315 Centerline is valid? [False, False] Translation: X:-13.89, Y:-16.92, Z:-3.42 [[ 0.75222646 -0.57659784 -0.31888914 -13.89406777] [ 0.58564371 0.80686018 -0.07744742 -16.92200283] [ 0.30195497 -0.12849742 0.94462247 -3.42499922] [ 0. 0. 0. 1. ]] SLAMing on 74.971652532 meters Centerline goodness : 0.735326 Centerline is valid? [False, False] Translation: X:-13.92, Y:-16.95, Z:-3.43 [[ 0.75220023 -0.57609272 -0.31986247 -13.92020185] [ 0.58534637 0.80710646 -0.07712839 -16.94982169] [ 0.30259617 -0.12921434 0.94431945 -3.4342764 ] [ 0. 0. 0. 1. ]] SLAMing on 75.001652532 meters Centerline goodness : 0.742018 Centerline is valid? [False, False] Translation: X:-13.95, Y:-16.98, Z:-3.45 [[ 0.75442877 -0.57358886 -0.31911291 -13.95243198] [ 0.58311655 0.80888575 -0.07535876 -16.98211088] [ 0.30135083 -0.1292272 0.94471583 -3.44523426] [ 0. 0. 0. 1. ]] SLAMing on 75.031652532 meters Centerline goodness : 0.744697 Centerline is valid? [False, False] Translation: X:-13.96, Y:-16.99, Z:-3.46 [[ 0.75684 -0.57366145 -0.31321837 -13.96463643] [ 0.58102681 0.80998804 -0.07954383 -16.99067548] [ 0.29933436 -0.12178632 0.94634404 -3.45565577] [ 0. 0. 0. 1. ]] SLAMing on 75.061652532 meters Centerline goodness : 0.748216 Centerline is valid? [False, False] Translation: X:-13.99, Y:-17.02, Z:-3.46 [[ 0.75701223 -0.57254436 -0.31484193 -13.99000133] [ 0.58023223 0.81061189 -0.07898684 -17.01740479] [ 0.30043808 -0.12288744 0.9458518 -3.46487039] [ 0. 0. 0. 1. ]] SLAMing on 75.091652532 meters Centerline goodness : 0.753803 Centerline is valid? [False, False] Translation: X:-14.01, Y:-17.04, Z:-3.47 [[ 0.75495568 -0.57376209 -0.31755155 -14.01185808] [ 0.58165021 0.80951306 -0.07982256 -17.0441625 ] [ 0.30286129 -0.12444143 0.94487532 -3.47141466] [ 0. 0. 0. 1. ]] SLAMing on 75.12165253199998 meters Centerline goodness : 0.754363 Centerline is valid? [False, False] Translation: X:-14.03, Y:-17.07, Z:-3.48 [[ 0.75324667 -0.57287085 -0.32316938 -14.02972256] [ 0.58204227 0.80939409 -0.0781537 -17.06602606] [ 0.30634336 -0.12922922 0.94310845 -3.47528753] [ 0. 0. 0. 1. ]] SLAMing on 75.15165253199999 meters Centerline goodness : 0.758237 Centerline is valid? [False, False] Translation: X:-14.05, Y:-17.09, Z:-3.48 [[ 0.75247206 -0.57150508 -0.32736485 -14.05068187] [ 0.58169123 0.80979008 -0.0766507 -17.09021403] [ 0.30890307 -0.13274776 0.94178391 -3.48143454] [ 0. 0. 0. 1. ]] SLAMing on 75.18165253199999 meters Centerline goodness : 0.759696 Centerline is valid? [False, False] Translation: X:-14.07, Y:-17.12, Z:-3.49 [[ 0.75220517 -0.57044986 -0.32980955 -14.07488113] [ 0.58108678 0.81026929 -0.07616977 -17.1165559 ] [ 0.31068559 -0.13435267 0.94096962 -3.49006608] [ 0. 0. 0. 1. ]] SLAMing on 75.21165253199999 meters Centerline goodness : 0.762655 Centerline is valid? [False, False] Translation: X:-14.10, Y:-17.15, Z:-3.50 [[ 0.75294908 -0.56883647 -0.33089689 -14.10372498] [ 0.57964478 0.81133792 -0.07578067 -17.1479912 ] [ 0.31157601 -0.13474367 0.94061923 -3.49981549] [ 0. 0. 0. 1. ]] SLAMing on 75.24165253199999 meters Centerline goodness : 0.762769 Centerline is valid? [False, False] Translation: X:-14.13, Y:-17.17, Z:-3.51 [[ 0.75124649 -0.56959014 -0.33346031 -14.12594559] [ 0.58073066 0.8105257 -0.07615772 -17.17271961] [ 0.31365684 -0.1364374 0.93968305 -3.5071615 ] [ 0. 0. 0. 1. ]] SLAMing on 75.27165253199999 meters Centerline goodness : 0.764940 Centerline is valid? [False, False] Translation: X:-14.15, Y:-17.20, Z:-3.52 [[ 0.75159272 -0.56842155 -0.33467198 -14.1527097 ] [ 0.57986149 0.81120408 -0.0755552 -17.20056411] [ 0.31443448 -0.13727665 0.93930085 -3.51708342] [ 0. 0. 0. 1. ]] SLAMing on 75.30165253199999 meters Centerline goodness : 0.764940 Centerline is valid? [False, False] Translation: X:-14.18, Y:-17.23, Z:-3.53 [[ 0.75116579 -0.56775445 -0.33675636 -14.17763292] [ 0.57937189 0.81152625 -0.07585096 -17.22745466] [ 0.31635134 -0.13813052 0.93853172 -3.52606135] [ 0. 0. 0. 1. ]] SLAMing on 75.33165253199999 meters Centerline goodness : 0.764747 Centerline is valid? [False, False] Translation: X:-14.21, Y:-17.26, Z:-3.54 [[ 0.75235911 -0.56626976 -0.33659224 -14.2074554 ] [ 0.57801703 0.8125676 -0.07503466 -17.25996982] [ 0.3159938 -0.13810304 0.9386562 -3.53686024] [ 0. 0. 0. 1. ]] SLAMing on 75.361652532 meters Centerline goodness : 0.766276 Centerline is valid? [False, False] Translation: X:-14.23, Y:-17.29, Z:-3.54 [[ 0.75090015 -0.56673928 -0.33905095 -14.22965213] [ 0.57873272 0.81200732 -0.07558144 -17.28571074] [ 0.31814683 -0.13946576 0.93772698 -3.54473866] [ 0. 0. 0. 1. ]] SLAMing on 75.391652532 meters Centerline goodness : 0.766482 Centerline is valid? [False, False] Translation: X:-14.25, Y:-17.31, Z:-3.56 [[ 0.7510173 -0.5657145 -0.3404998 -14.25496627] [ 0.57788774 0.81261705 -0.07549358 -17.31202113] [ 0.31940376 -0.14007368 0.93720894 -3.55531688] [ 0. 0. 0. 1. ]] SLAMing on 75.421652532 meters Centerline goodness : 0.765476 Centerline is valid? [False, False] Translation: X:-14.29, Y:-17.34, Z:-3.57 [[ 0.75358509 -0.56290591 -0.33947967 -14.28753157] [ 0.57526562 0.81463172 -0.07378768 -17.34449609] [ 0.31808643 -0.13968569 0.93771474 -3.56833045] [ 0. 0. 0. 1. ]] SLAMing on 75.451652532 meters Centerline goodness : 0.766530 Centerline is valid? [False, False] Translation: X:-14.32, Y:-17.37, Z:-3.58 [[ 0.75464948 -0.56179019 -0.33896305 -14.31693476] [ 0.5744605 0.81532778 -0.07235841 -17.37469905] [ 0.31701624 -0.14011565 0.93801296 -3.57879155] [ 0. 0. 0. 1. ]] SLAMing on 75.481652532 meters Centerline goodness : 0.767282 Centerline is valid? [False, False] Translation: X:-14.34, Y:-17.40, Z:-3.59 [[ 0.75344517 -0.56222701 -0.34091225 -14.34073245] [ 0.57545213 0.81468108 -0.07176064 -17.40152767] [ 0.31808053 -0.14211097 0.93735225 -3.58576362] [ 0. 0. 0. 1. ]] SLAMing on 75.51165253199999 meters Centerline goodness : 0.767016 Centerline is valid? [False, False] Translation: X:-14.36, Y:-17.43, Z:-3.59 [[ 0.75259574 -0.56198978 -0.34317217 -14.36449471] [ 0.57564149 0.81456619 -0.07154584 -17.42812758] [ 0.31974448 -0.14369904 0.93654367 -3.59408746] [ 0. 0. 0. 1. ]] SLAMing on 75.54165253199999 meters Centerline goodness : 0.767204 Centerline is valid? [False, False] Translation: X:-14.39, Y:-17.46, Z:-3.60 [[ 0.75268678 -0.56139676 -0.34394227 -14.39182587] [ 0.57524595 0.81487586 -0.07119988 -17.45798933] [ 0.32024164 -0.14426019 0.9362875 -3.6041994 ] [ 0. 0. 0. 1. ]] SLAMing on 75.57165253199999 meters Centerline goodness : 0.764516 Centerline is valid? [False, False] Translation: X:-14.42, Y:-17.48, Z:-3.61 [[ 0.75235745 -0.56105923 -0.34521124 -14.41679337] [ 0.5752901 0.81489475 -0.07062468 -17.48409421] [ 0.32093546 -0.14546161 0.93586396 -3.61404155] [ 0. 0. 0. 1. ]] SLAMing on 75.60165253199999 meters Centerline goodness : 0.764051 Centerline is valid? [False, False] Translation: X:-14.44, Y:-17.51, Z:-3.62 [[ 0.75080725 -0.56180474 -0.34736712 -14.43925429] [ 0.57634181 0.81412059 -0.07097735 -17.50863419] [ 0.32267413 -0.14691189 0.9350392 -3.62235455] [ 0. 0. 0. 1. ]] SLAMing on 75.63165253199999 meters Centerline goodness : 0.763265 Centerline is valid? [False, False] Translation: X:-14.47, Y:-17.54, Z:-3.63 [[ 0.75168758 -0.56062052 -0.34737646 -14.46806407] [ 0.57528523 0.81492429 -0.07032288 -17.53917442] [ 0.32250996 -0.14697972 0.93508518 -3.63415192] [ 0. 0. 0. 1. ]] SLAMing on 75.66165253199999 meters Centerline goodness : 0.762524 Centerline is valid? [False, False] Translation: X:-14.49, Y:-17.57, Z:-3.64 [[ 0.7521194 -0.55970241 -0.34792185 -14.49499781] [ 0.57494371 0.81530389 -0.06869715 -17.56670507] [ 0.322112 -0.14836702 0.93500326 -3.64378564] [ 0. 0. 0. 1. ]] SLAMing on 75.69165253199999 meters Centerline goodness : 0.761852 Centerline is valid? [False, False] Translation: X:-14.52, Y:-17.59, Z:-3.65 [[ 0.75177674 -0.55983776 -0.34844427 -14.52114684] [ 0.57539141 0.81503934 -0.06808525 -17.59387404] [ 0.32211248 -0.14930693 0.93485346 -3.65308797] [ 0. 0. 0. 1. ]] SLAMing on 75.721652532 meters Centerline goodness : 0.760782 Centerline is valid? [False, False] Translation: X:-14.54, Y:-17.62, Z:-3.66 [[ 0.75149473 -0.55951851 -0.34956361 -14.54468978] [ 0.57585486 0.81485901 -0.06630213 -17.61773668] [ 0.32194232 -0.1514722 0.9345637 -3.66249962] [ 0. 0. 0. 1. ]] SLAMing on 75.751652532 meters Centerline goodness : 0.759966 Centerline is valid? [False, False] Translation: X:-14.57, Y:-17.65, Z:-3.67 [[ 0.7522055 -0.55898487 -0.34888796 -14.57410562] [ 0.57518722 0.81533735 -0.06621685 -17.64975513] [ 0.3214756 -0.15086722 0.93482219 -3.67407715] [ 0. 0. 0. 1. ]] SLAMing on 75.781652532 meters Centerline goodness : 0.758450 Centerline is valid? [False, False] Translation: X:-14.60, Y:-17.67, Z:-3.68 [[ 0.75092863 -0.55983987 -0.35026491 -14.59745361] [ 0.57647501 0.81445524 -0.0658728 -17.67487753] [ 0.32215331 -0.1524532 0.93433146 -3.68246212] [ 0. 0. 0. 1. ]] SLAMing on 75.811652532 meters Centerline goodness : 0.757749 Centerline is valid? [False, False] Translation: X:-14.62, Y:-17.70, Z:-3.69 [[ 0.75022786 -0.55964925 -0.35206657 -14.62140826] [ 0.5768847 0.81423387 -0.06501725 -17.70048145] [ 0.32305138 -0.15432407 0.93371403 -3.6910181 ] [ 0. 0. 0. 1. ]] SLAMing on 75.841652532 meters Centerline goodness : 0.759155 Centerline is valid? [False, False] Translation: X:-14.64, Y:-17.72, Z:-3.70 [[ 0.74887171 -0.55988033 -0.35457746 -14.64326271] [ 0.5779711 0.81355005 -0.06391965 -17.72457359] [ 0.32425387 -0.1570679 0.93283927 -3.69842894] [ 0. 0. 0. 1. ]] SLAMing on 75.87165253199998 meters Centerline goodness : 0.758374 Centerline is valid? [False, False] Translation: X:-14.67, Y:-17.75, Z:-3.71 [[ 0.74798667 -0.56101954 -0.35464491 -14.67024311] [ 0.57908481 0.81272675 -0.06431185 -17.75454337] [ 0.32430961 -0.15726507 0.93278667 -3.70773014] [ 0. 0. 0. 1. ]] SLAMing on 75.90165253199999 meters Centerline goodness : 0.758399 Centerline is valid? [False, False] Translation: X:-14.69, Y:-17.78, Z:-3.71 [[ 0.74601357 -0.56225435 -0.35683862 -14.69173874] [ 0.58103629 0.81137887 -0.06372723 -17.77754876] [ 0.32536222 -0.15979481 0.93198983 -3.71479925] [ 0. 0. 0. 1. ]] SLAMing on 75.93165253199999 meters Centerline goodness : 0.755466 Centerline is valid? [False, False] Translation: X:-14.72, Y:-17.81, Z:-3.72 [[ 0.74528929 -0.56218408 -0.35845912 -14.7167405 ] [ 0.58158323 0.81105817 -0.06281396 -17.80561709] [ 0.3260442 -0.16165924 0.9314298 -3.72300495] [ 0. 0. 0. 1. ]] SLAMing on 75.96165253199999 meters Centerline goodness : 0.757279 Centerline is valid? [False, False] Translation: X:-14.74, Y:-17.83, Z:-3.73 [[ 0.74515037 -0.56146588 -0.3598708 -14.74149489] [ 0.58143916 0.81124244 -0.06175924 -17.83027561] [ 0.32661817 -0.16322306 0.93095585 -3.73302139] [ 0. 0. 0. 1. ]] SLAMing on 75.99165253199999 meters Centerline goodness : 0.755885 Centerline is valid? [False, False] Translation: X:-14.77, Y:-17.86, Z:-3.74 [[ 0.74601124 -0.56009363 -0.36022543 -14.76853827] [ 0.580574 0.8119819 -0.06015999 -17.85645539] [ 0.32619175 -0.16425749 0.93092342 -3.74453087] [ 0. 0. 0. 1. ]] SLAMing on 76.02165253199999 meters Centerline goodness : 0.754126 Centerline is valid? [False, False] Translation: X:-14.77, Y:-17.86, Z:-3.74 [[ 0.74670092 -0.5594678 -0.3597687 -14.7713089 ] [ 0.5800082 0.81242887 -0.05958033 -17.85757176] [ 0.32561975 -0.1641801 0.9311373 -3.74496845] [ 0. 0. 0. 1. ]] SLAMing on 76.05165253199999 meters Centerline goodness : 0.754479 Centerline is valid? [False, False] Translation: X:-14.80, Y:-17.88, Z:-3.76 [[ 0.74848927 -0.55747865 -0.35913975 -14.79904897] [ 0.57877487 0.81352318 -0.05656579 -17.88328278] [ 0.32370273 -0.16552218 0.93156801 -3.75733597] [ 0. 0. 0. 1. ]] SLAMing on 76.08165253199999 meters Centerline goodness : 0.751228 Centerline is valid? [False, False] Translation: X:-14.82, Y:-17.90, Z:-3.77 [[ 0.75177899 -0.55628488 -0.35408402 -14.81951079] [ 0.57425138 0.8162415 -0.0631282 -17.90084977] [ 0.32413533 -0.15587478 0.93308056 -3.7669005 ] [ 0. 0. 0. 1. ]] SLAMing on 76.111652532 meters Centerline goodness : 0.749662 Centerline is valid? [False, False] Translation: X:-14.83, Y:-17.90, Z:-3.77 [[ 0.75158137 -0.55908739 -0.35006677 -14.82591034] [ 0.57575561 0.81499476 -0.06549065 -17.90324985] [ 0.32191758 -0.15233135 0.93443257 -3.77048079] [ 0. 0. 0. 1. ]] SLAMing on 76.141652532 meters Centerline goodness : 0.751192 Centerline is valid? [False, False] Translation: X:-14.83, Y:-17.91, Z:-3.77 [[ 0.75030947 -0.56269768 -0.34699716 -14.82952991] [ 0.57828908 0.8129978 -0.06794349 -17.90506665] [ 0.32033957 -0.14968603 0.93540187 -3.77155753] [ 0. 0. 0. 1. ]] SLAMing on 76.171652532 meters Centerline goodness : 0.752155 Centerline is valid? [False, False] Translation: X:-14.83, Y:-17.91, Z:-3.77 [[ 0.7489656 -0.56632299 -0.34398955 -14.83313241] [ 0.58083274 0.8109659 -0.07048148 -17.90655954] [ 0.31887907 -0.14701219 0.93632449 -3.77245764] [ 0. 0. 0. 1. ]] SLAMing on 76.201652532 meters Centerline goodness : 0.751047 Centerline is valid? [False, False] Translation: X:-14.86, Y:-17.93, Z:-3.78 [[ 0.7493755 -0.56340854 -0.34786087 -14.85570483] [ 0.57935588 0.81227345 -0.0675175 -17.93284891] [ 0.32059808 -0.15093928 0.93511187 -3.78014484] [ 0. 0. 0. 1. ]] SLAMing on 76.231652532 meters Centerline goodness : 0.750386 Centerline is valid? [False, False] Translation: X:-14.88, Y:-17.96, Z:-3.79 [[ 0.74852996 -0.5621639 -0.35167406 -14.87635519] [ 0.57922734 0.81249534 -0.06593189 -17.95628071] [ 0.32279806 -0.15434724 0.9337978 -3.78739838] [ 0. 0. 0. 1. ]] SLAMing on 76.26165253199999 meters Centerline goodness : 0.750698 Centerline is valid? [False, False] Translation: X:-14.90, Y:-17.98, Z:-3.79 [[ 0.74678877 -0.56339743 -0.3533976 -14.89988784] [ 0.58103481 0.81124036 -0.06547996 -17.98363539] [ 0.32358164 -0.15643661 0.93317871 -3.79383667] [ 0. 0. 0. 1. ]] SLAMing on 76.29165253199999 meters Centerline goodness : 0.750642 Centerline is valid? [False, False] Translation: X:-14.93, Y:-18.01, Z:-3.80 [[ 0.74795089 -0.56200054 -0.35316407 -14.92815848] [ 0.58034984 0.81193052 -0.06295149 -18.01260599] [ 0.32212345 -0.15787409 0.93344108 -3.80422742] [ 0. 0. 0. 1. ]] SLAMing on 76.32165253199999 meters Centerline goodness : 0.751681 Centerline is valid? [False, False] Translation: X:-14.95, Y:-18.04, Z:-3.81 [[ 0.74721416 -0.56224531 -0.35433205 -14.95214187] [ 0.58130393 0.81135276 -0.06158278 -18.03794638] [ 0.32211291 -0.15995909 0.93308969 -3.81252518] [ 0. 0. 0. 1. ]] SLAMing on 76.35165253199999 meters Centerline goodness : 0.750525 Centerline is valid? [False, False] Translation: X:-14.96, Y:-18.04, Z:-3.81 [[ 0.74595164 -0.56590343 -0.35115448 -14.95594207] [ 0.58380848 0.80935385 -0.0641405 -18.03922229] [ 0.32050555 -0.15716126 0.93411805 -3.81396185] [ 0. 0. 0. 1. ]] SLAMing on 76.38165253199999 meters Centerline goodness : 0.750488 Centerline is valid? [False, False] Translation: X:-14.98, Y:-18.07, Z:-3.82 [[ 0.74525049 -0.56564056 -0.35306154 -14.97964824] [ 0.58416017 0.80916569 -0.06330706 -18.06570471] [ 0.32149433 -0.15906487 0.93345582 -3.82214755] [ 0. 0. 0. 1. ]] SLAMing on 76.41165253199999 meters Centerline goodness : 0.750409 Centerline is valid? [False, False] Translation: X:-15.00, Y:-18.09, Z:-3.83 [[ 0.74456276 -0.56567118 -0.35446073 -15.00401689] [ 0.58427418 0.8090427 -0.06382468 -18.09315556] [ 0.32287765 -0.15958077 0.93289013 -3.83273317] [ 0. 0. 0. 1. ]] SLAMing on 76.44165253199999 meters Centerline goodness : 0.751357 Centerline is valid? [False, False] Translation: X:-15.02, Y:-18.11, Z:-3.84 [[ 0.74275031 -0.56487474 -0.35949758 -15.02211519] [ 0.58491744 0.80870278 -0.06222061 -18.11443844] [ 0.32587354 -0.16406203 0.93106932 -3.83781028] [ 0. 0. 0. 1. ]] SLAMing on 76.471652532 meters Centerline goodness : 0.751487 Centerline is valid? [False, False] Translation: X:-15.05, Y:-18.14, Z:-3.85 [[ 0.74265463 -0.56454604 -0.36021087 -15.04761418] [ 0.58496579 0.80872655 -0.06145238 -18.14174969] [ 0.3260048 -0.16507314 0.93084463 -3.84808753] [ 0. 0. 0. 1. ]] SLAMing on 76.501652532 meters Centerline goodness : 0.748878 Centerline is valid? [False, False] Translation: X:-15.07, Y:-18.17, Z:-3.86 [[ 0.74122772 -0.56670311 -0.3597625 -15.07453831] [ 0.58697909 0.80721196 -0.06216422 -18.17237997] [ 0.32563325 -0.16509522 0.93097076 -3.85687661] [ 0. 0. 0. 1. ]] SLAMing on 76.531652532 meters Centerline goodness : 0.750116 Centerline is valid? [False, False] Translation: X:-15.10, Y:-18.20, Z:-3.86 [[ 0.73964027 -0.56756095 -0.36167228 -15.09731028] [ 0.58822475 0.8062915 -0.06233505 -18.19764714] [ 0.32699223 -0.16663908 0.93021906 -3.86480915] [ 0. 0. 0. 1. ]] SLAMing on 76.561652532 meters Centerline goodness : 0.749528 Centerline is valid? [False, False] Translation: X:-15.12, Y:-18.22, Z:-3.87 [[ 0.73808764 -0.56833318 -0.36362623 -15.12020327] [ 0.58938766 0.80542796 -0.0625139 -18.22324349] [ 0.32840345 -0.16817608 0.92944498 -3.87279337] [ 0. 0. 0. 1. ]] SLAMing on 76.591652532 meters Centerline goodness : 0.749963 Centerline is valid? [False, False] Translation: X:-15.15, Y:-18.25, Z:-3.88 [[ 0.73780151 -0.56805868 -0.36463443 -15.14555082] [ 0.58948239 0.80540115 -0.06196375 -18.2505006 ] [ 0.32887603 -0.16922862 0.92908677 -3.88266469] [ 0. 0. 0. 1. ]] SLAMing on 76.62165253199998 meters Centerline goodness : 0.750196 Centerline is valid? [False, False] Translation: X:-15.17, Y:-18.28, Z:-3.89 [[ 0.73820179 -0.56738427 -0.36487423 -15.17246515] [ 0.58890043 0.80584985 -0.06166282 -18.27816428] [ 0.32902036 -0.16935499 0.92901264 -3.89455105] [ 0. 0. 0. 1. ]] SLAMing on 76.65165253199999 meters Centerline goodness : 0.748792 Centerline is valid? [False, False] Translation: X:-15.21, Y:-18.31, Z:-3.91 [[ 0.74126684 -0.56340154 -0.3648317 -15.20522916] [ 0.58512581 0.80871807 -0.06002396 -18.30777248] [ 0.32886358 -0.16897867 0.92913667 -3.90892419] [ 0. 0. 0. 1. ]] SLAMing on 76.68165253199999 meters Centerline goodness : 0.748369 Centerline is valid? [False, False] Translation: X:-15.23, Y:-18.33, Z:-3.92 [[ 0.74007753 -0.56571545 -0.36366369 -15.23128972] [ 0.58692941 0.80730591 -0.06140881 -18.33372021] [ 0.32832776 -0.16799763 0.929504 -3.9206346 ] [ 0. 0. 0. 1. ]] SLAMing on 76.71165253199999 meters Centerline goodness : 0.747873 Centerline is valid? [False, False] Translation: X:-15.26, Y:-18.36, Z:-3.93 [[ 0.74038867 -0.56650557 -0.36179559 -15.26045393] [ 0.58729418 0.8070124 -0.06177816 -18.36291234] [ 0.3269712 -0.16674059 0.93020826 -3.93314149] [ 0. 0. 0. 1. ]] SLAMing on 76.74165253199999 meters Centerline goodness : 0.750024 Centerline is valid? [False, False] Translation: X:-15.29, Y:-18.39, Z:-3.95 [[ 0.74227007 -0.56484152 -0.36054015 -15.29103949] [ 0.58580551 0.80821615 -0.06015457 -18.39299387] [ 0.32537217 -0.16655546 0.93080193 -3.94563837] [ 0. 0. 0. 1. ]] SLAMing on 76.77165253199999 meters Centerline goodness : 0.749994 Centerline is valid? [False, False] Translation: X:-15.32, Y:-18.42, Z:-3.96 [[ 0.74397857 -0.56337621 -0.35930925 -15.32166578] [ 0.58426711 0.80939148 -0.05930739 -18.42143651] [ 0.32423422 -0.16580915 0.93133211 -3.9590976 ] [ 0. 0. 0. 1. ]] SLAMing on 76.80165253199999 meters Centerline goodness : 0.748341 Centerline is valid? [False, False] Translation: X:-15.36, Y:-18.45, Z:-3.97 [[ 0.74766003 -0.55926795 -0.35808358 -15.3559733 ] [ 0.58031451 0.81238503 -0.05714573 -18.45034688] [ 0.32286152 -0.16507552 0.93193912 -3.97457281] [ 0. 0. 0. 1. ]] SLAMing on 76.83165253199999 meters Centerline goodness : 0.748680 Centerline is valid? [False, False] Translation: X:-15.39, Y:-18.48, Z:-3.99 [[ 0.75031106 -0.55676244 -0.35643919 -15.3879691 ] [ 0.57778574 0.81428723 -0.05567714 -18.47919734] [ 0.32124282 -0.16417031 0.93265812 -3.98953151] [ 0. 0. 0. 1. ]] SLAMing on 76.861652532 meters Centerline goodness : 0.747329 Centerline is valid? [False, False] Translation: X:-15.42, Y:-18.51, Z:-4.00 [[ 0.75056502 -0.55764648 -0.35451736 -15.41913831] [ 0.57789798 0.81411044 -0.05707989 -18.50792595] [ 0.32044669 -0.1620327 0.93330559 -4.0026995 ] [ 0. 0. 0. 1. ]] SLAMing on 76.891652532 meters Centerline goodness : 0.745878 Centerline is valid? [False, False] Translation: X:-15.45, Y:-18.54, Z:-4.02 [[ 0.75249468 -0.55600612 -0.35299992 -15.4495857 ] [ 0.57603532 0.81547016 -0.05649543 -18.53671913] [ 0.31927271 -0.16082791 0.93391612 -4.01705094] [ 0. 0. 0. 1. ]] SLAMing on 76.921652532 meters Centerline goodness : 0.746426 Centerline is valid? [False, False] Translation: X:-15.48, Y:-18.57, Z:-4.03 [[ 0.75473726 -0.55400586 -0.35135335 -15.48105757] [ 0.57403534 0.81697399 -0.0551084 -18.56593341] [ 0.31757692 -0.16009687 0.93461965 -4.03098657] [ 0. 0. 0. 1. ]] SLAMing on 76.951652532 meters Centerline goodness : 0.745883 Centerline is valid? [False, False] Translation: X:-15.51, Y:-18.59, Z:-4.04 [[ 0.75662544 -0.55231343 -0.34995402 -15.51174477] [ 0.57243344 0.81819296 -0.05366781 -18.5939439 ] [ 0.31597137 -0.15971895 0.93522829 -4.04446322] [ 0. 0. 0. 1. ]] SLAMing on 76.981652532 meters Centerline goodness : 0.744617 Centerline is valid? [False, False] Translation: X:-15.55, Y:-18.62, Z:-4.06 [[ 0.75938057 -0.55003182 -0.3475718 -15.54609961] [ 0.56993346 0.82001383 -0.05247062 -18.6242741 ] [ 0.31387419 -0.15824763 0.93618411 -4.05892287] [ 0. 0. 0. 1. ]] SLAMing on 77.01165253199999 meters Centerline goodness : 0.742368 Centerline is valid? [False, False] Translation: X:-15.58, Y:-18.65, Z:-4.07 [[ 0.76027881 -0.54996483 -0.34570915 -15.57620867] [ 0.56945374 0.82033378 -0.05267758 -18.65396053] [ 0.31256771 -0.15681572 0.93686192 -4.07153504] [ 0. 0. 0. 1. ]] SLAMing on 77.04165253199999 meters Centerline goodness : 0.742287 Centerline is valid? [False, False] Translation: X:-15.61, Y:-18.68, Z:-4.08 [[ 0.76148672 -0.54978357 -0.34333074 -15.60681499] [ 0.56887901 0.82074166 -0.0525338 -18.68394242] [ 0.31066806 -0.15530986 0.93774421 -4.08470963] [ 0. 0. 0. 1. ]] SLAMing on 77.07165253199999 meters Centerline goodness : 0.740804 Centerline is valid? [False, False] Translation: X:-15.63, Y:-18.71, Z:-4.10 [[ 0.76090041 -0.55141096 -0.34201831 -15.63369709] [ 0.57008198 0.81984451 -0.05349314 -18.71149443] [ 0.30989854 -0.15427552 0.93816947 -4.09636551] [ 0. 0. 0. 1. ]] SLAMing on 77.10165253199999 meters Centerline goodness : 0.739976 Centerline is valid? [False, False] Translation: X:-15.66, Y:-18.74, Z:-4.11 [[ 0.7579395 -0.55548283 -0.34200372 -15.65752871] [ 0.57347728 0.8172716 -0.05648843 -18.73818197] [ 0.31088828 -0.15331656 0.93799921 -4.10525053] [ 0. 0. 0. 1. ]] SLAMing on 77.13165253199999 meters Centerline goodness : 0.739031 Centerline is valid? [False, False] Translation: X:-15.68, Y:-18.76, Z:-4.11 [[ 0.75423345 -0.55860023 -0.34510533 -15.67545012] [ 0.57707723 0.81466722 -0.05743854 -18.75875295] [ 0.31323118 -0.15583036 0.93680474 -4.11033797] [ 0. 0. 0. 1. ]] SLAMing on 77.16165253199999 meters Centerline goodness : 0.738964 Centerline is valid? [False, False] Translation: X:-15.69, Y:-18.78, Z:-4.11 [[ 0.75038249 -0.56156893 -0.34866381 -15.69300195] [ 0.58067758 0.8120507 -0.05819979 -18.77966959] [ 0.31581589 -0.15878916 0.93543911 -4.1144206 ] [ 0. 0. 0. 1. ]] SLAMing on 77.19165253199999 meters Centerline goodness : 0.739462 Centerline is valid? [False, False] Translation: X:-15.73, Y:-18.82, Z:-4.13 [[ 0.74544877 -0.56708552 -0.35031435 -15.72762572] [ 0.58810286 0.80692765 -0.05479774 -18.81804053] [ 0.31375334 -0.16517196 0.93502784 -4.12831256] [ 0. 0. 0. 1. ]] SLAMing on 77.221652532 meters Centerline goodness : 0.739462 Centerline is valid? [False, False] Translation: X:-15.75, Y:-18.84, Z:-4.14 [[ 0.74549677 -0.56763124 -0.34932697 -15.75429996] [ 0.58825503 0.80676566 -0.05554443 -18.84483167] [ 0.31335376 -0.16408516 0.93535313 -4.14121583] [ 0. 0. 0. 1. ]] SLAMing on 77.251652532 meters Centerline goodness : 0.738903 Centerline is valid? [False, False] Translation: X:-15.78, Y:-18.87, Z:-4.15 [[ 0.74398852 -0.56785144 -0.352173 -15.77539786] [ 0.58910098 0.80616103 -0.05535728 -18.86782809] [ 0.31534286 -0.16628028 0.93429639 -4.14901539] [ 0. 0. 0. 1. ]] SLAMing on 77.281652532 meters Centerline goodness : 0.740403 Centerline is valid? [False, False] Translation: X:-15.80, Y:-18.89, Z:-4.16 [[ 0.7438012 -0.56665169 -0.3544935 -15.79854866] [ 0.58857717 0.80660914 -0.05439319 -18.89200783] [ 0.31675969 -0.16818906 0.93347509 -4.15860364] [ 0. 0. 0. 1. ]] SLAMing on 77.311652532 meters Centerline goodness : 0.740795 Centerline is valid? [False, False] Translation: X:-15.83, Y:-18.92, Z:-4.17 [[ 0.74538264 -0.56519598 -0.35349431 -15.82728066] [ 0.58707878 0.80775453 -0.05358299 -18.9192924 ] [ 0.31582152 -0.16758917 0.93390077 -4.17271184] [ 0. 0. 0. 1. ]] SLAMing on 77.341652532 meters Centerline goodness : 0.740189 Centerline is valid? [False, False] Translation: X:-15.86, Y:-18.95, Z:-4.19 [[ 0.75092693 -0.55841465 -0.35253627 -15.86215794] [ 0.58044908 0.81270304 -0.05091799 -18.95163829] [ 0.31494065 -0.16639367 0.93441187 -4.18970467] [ 0. 0. 0. 1. ]] SLAMing on 77.37165253199998 meters Centerline goodness : 0.737695 Centerline is valid? [False, False] Translation: X:-15.90, Y:-18.98, Z:-4.20 [[ 0.75430602 -0.55558587 -0.34978103 -15.89543813] [ 0.57735561 0.81499404 -0.0494491 -18.98385795] [ 0.31254267 -0.16464829 0.93552553 -4.20481558] [ 0. 0. 0. 1. ]] SLAMing on 77.40165253199999 meters Centerline goodness : 0.736819 Centerline is valid? [False, False] Translation: X:-15.92, Y:-19.01, Z:-4.22 [[ 0.75340878 -0.55956045 -0.34535101 -15.92472206] [ 0.5799305 0.81299758 -0.05211094 -19.01436395] [ 0.30992876 -0.16101874 0.93702568 -4.2180424 ] [ 0. 0. 0. 1. ]] SLAMing on 77.43165253199999 meters Centerline goodness : 0.736407 Centerline is valid? [False, False] Translation: X:-15.95, Y:-19.05, Z:-4.23 [[ 0.75294884 -0.56242405 -0.34168295 -15.95432561] [ 0.58164219 0.81163386 -0.05424793 -19.0451705 ] [ 0.30783179 -0.1578913 0.93824833 -4.23098474] [ 0. 0. 0. 1. ]] SLAMing on 77.46165253199999 meters Centerline goodness : 0.735321 Centerline is valid? [False, False] Translation: X:-15.99, Y:-19.08, Z:-4.25 [[ 0.75543028 -0.56100687 -0.33852088 -15.98732219] [ 0.57966986 0.81306864 -0.0538724 -19.07730701] [ 0.3054635 -0.15553351 0.93941545 -4.24634753] [ 0. 0. 0. 1. ]] SLAMing on 77.49165253199999 meters Centerline goodness : 0.736390 Centerline is valid? [False, False] Translation: X:-16.01, Y:-19.10, Z:-4.26 [[ 0.75517146 -0.56162169 -0.3380786 -16.0127947 ] [ 0.58016543 0.81269723 -0.05414129 -19.10262134] [ 0.30516247 -0.15525556 0.93955925 -4.25862833] [ 0. 0. 0. 1. ]] SLAMing on 77.52165253199999 meters Centerline goodness : 0.736146 Centerline is valid? [False, False] Translation: X:-16.03, Y:-19.13, Z:-4.27 [[ 0.75422513 -0.56101088 -0.34119093 -16.0340337 ] [ 0.58024514 0.81267675 -0.05359179 -19.12535931] [ 0.30734351 -0.15755411 0.93846506 -4.26702175] [ 0. 0. 0. 1. ]] SLAMing on 77.55165253199999 meters Centerline goodness : 0.736503 Centerline is valid? [False, False] Translation: X:-16.06, Y:-19.16, Z:-4.28 [[ 0.75405657 -0.56332801 -0.33772806 -16.06459421] [ 0.58141794 0.81169295 -0.05574708 -19.15735672] [ 0.30553537 -0.15432471 0.93959141 -4.28029339] [ 0. 0. 0. 1. ]] SLAMing on 77.58165253199999 meters Centerline goodness : 0.737693 Centerline is valid? [False, False] Translation: X:-16.10, Y:-19.19, Z:-4.29 [[ 0.75462069 -0.56496212 -0.33371458 -16.0959326 ] [ 0.58218777 0.81107977 -0.05663046 -19.18758661] [ 0.30266321 -0.15155003 0.94097161 -4.29415559] [ 0. 0. 0. 1. ]] SLAMing on 77.611652532 meters Centerline goodness : 0.737147 Centerline is valid? [False, False] Translation: X:-16.13, Y:-19.22, Z:-4.31 [[ 0.75561744 -0.56628383 -0.32918826 -16.12836955] [ 0.5824955 0.81078424 -0.05768811 -19.21782036] [ 0.29956849 -0.14816054 0.94250049 -4.30917974] [ 0. 0. 0. 1. ]] SLAMing on 77.641652532 meters Centerline goodness : 0.738993 Centerline is valid? [False, False] Translation: X:-16.15, Y:-19.24, Z:-4.32 [[ 0.75544575 -0.5670703 -0.32822703 -16.15468231] [ 0.58313879 0.81031302 -0.05780977 -19.24440493] [ 0.29874884 -0.14772977 0.94282822 -4.32067844] [ 0. 0. 0. 1. ]] SLAMing on 77.671652532 meters Centerline goodness : 0.740457 Centerline is valid? [False, False] Translation: X:-16.18, Y:-19.27, Z:-4.33 [[ 0.7565617 -0.56679397 -0.32612726 -16.18497222] [ 0.58257131 0.81073909 -0.05755694 -19.27396152] [ 0.29702704 -0.14644701 0.94357205 -4.33379684] [ 0. 0. 0. 1. ]] SLAMing on 77.701652532 meters Centerline goodness : 0.740092 Centerline is valid? [False, False] Translation: X:-16.21, Y:-19.30, Z:-4.35 [[ 0.75771927 -0.56605865 -0.3247139 -16.21397257] [ 0.58178537 0.81135628 -0.05680462 -19.30273442] [ 0.29561341 -0.14587185 0.94410493 -4.34610345] [ 0. 0. 0. 1. ]] SLAMing on 77.731652532 meters Centerline goodness : 0.741418 Centerline is valid? [False, False] Translation: X:-16.25, Y:-19.34, Z:-4.36 [[ 0.75795819 -0.56759195 -0.32146346 -16.24517015] [ 0.58215436 0.81092176 -0.05917933 -19.33508063] [ 0.29427143 -0.1422859 0.94507092 -4.35942417] [ 0. 0. 0. 1. ]] SLAMing on 77.76165253199999 meters Centerline goodness : 0.741470 Centerline is valid? [False, False] Translation: X:-16.27, Y:-19.36, Z:-4.37 [[ 0.75849063 -0.56758244 -0.320222 -16.27285421] [ 0.58192187 0.8110832 -0.05925355 -19.36367652] [ 0.29335796 -0.14140092 0.94548764 -4.3713329 ] [ 0. 0. 0. 1. ]] SLAMing on 77.79165253199999 meters Centerline goodness : 0.742006 Centerline is valid? [False, False] Translation: X:-16.30, Y:-19.39, Z:-4.38 [[ 0.75750691 -0.56890403 -0.32020538 -16.29744497] [ 0.58308105 0.81019061 -0.06006388 -19.38872409] [ 0.29359797 -0.14120689 0.94544214 -4.38184796] [ 0. 0. 0. 1. ]] SLAMing on 77.82165253199999 meters Centerline goodness : 0.744870 Centerline is valid? [False, False] Translation: X:-16.33, Y:-19.42, Z:-4.39 [[ 0.75865274 -0.56789252 -0.31928687 -16.32637288] [ 0.58224716 0.81088338 -0.05879103 -19.41697266] [ 0.2922914 -0.1413019 0.94583271 -4.39332375] [ 0. 0. 0. 1. ]] SLAMing on 77.85165253199999 meters Centerline goodness : 0.741303 Centerline is valid? [False, False] Translation: X:-16.36, Y:-19.45, Z:-4.41 [[ 0.76063119 -0.56591632 -0.31808633 -16.35801781] [ 0.58016048 0.81242797 -0.05809143 -19.44589332] [ 0.29129713 -0.14035496 0.94628033 -4.40644012] [ 0. 0. 0. 1. ]] SLAMing on 77.88165253199999 meters Centerline goodness : 0.743499 Centerline is valid? [False, False] Translation: X:-16.38, Y:-19.47, Z:-4.42 [[ 0.76026352 -0.56684228 -0.31731563 -16.38436144] [ 0.58085249 0.81189241 -0.05866082 -19.47276309] [ 0.29087759 -0.1397159 0.94650393 -4.41728927] [ 0. 0. 0. 1. ]] SLAMing on 77.91165253199999 meters Centerline goodness : 0.742493 Centerline is valid? [False, False] Translation: X:-16.41, Y:-19.50, Z:-4.43 [[ 0.76145564 -0.56661544 -0.31485275 -16.41418918] [ 0.58023807 0.81233477 -0.05861746 -19.50183557] [ 0.28897939 -0.13805496 0.94732874 -4.43046748] [ 0. 0. 0. 1. ]] SLAMing on 77.94165253199999 meters Centerline goodness : 0.742792 Centerline is valid? [False, False] Translation: X:-16.45, Y:-19.54, Z:-4.45 [[ 0.76748474 -0.55979971 -0.31239632 -16.45340041] [ 0.57353614 0.81729705 -0.05551416 -19.53634018] [ 0.28639741 -0.13656431 0.94832838 -4.4460729 ] [ 0. 0. 0. 1. ]] SLAMing on 77.971652532 meters Centerline goodness : 0.741861 Centerline is valid? [False, False] Translation: X:-16.48, Y:-19.56, Z:-4.46 [[ 0.76783797 -0.56018105 -0.31084085 -16.48219223] [ 0.57369334 0.8171842 -0.05555116 -19.56453681] [ 0.28513294 -0.13567304 0.9488372 -4.45728731] [ 0. 0. 0. 1. ]] SLAMing on 78.001652532 meters Centerline goodness : 0.742463 Centerline is valid? [False, False] Translation: X:-16.51, Y:-19.59, Z:-4.46 [[ 0.77041752 -0.55902896 -0.30650199 -16.50906312] [ 0.56886972 0.81982491 -0.06537858 -19.58780626] [ 0.28782649 -0.1239909 0.94962212 -4.46468536] [ 0. 0. 0. 1. ]] SLAMing on 78.031652532 meters Centerline goodness : 0.741900 Centerline is valid? [False, False] Translation: X:-16.54, Y:-19.62, Z:-4.48 [[ 0.77060251 -0.55908611 -0.30593217 -16.53640959] [ 0.56881186 0.8198546 -0.06550954 -19.61684371] [ 0.28744537 -0.12353603 0.94979682 -4.47518392] [ 0. 0. 0. 1. ]] SLAMing on 78.061652532 meters Centerline goodness : 0.741740 Centerline is valid? [False, False] Translation: X:-16.56, Y:-19.65, Z:-4.49 [[ 0.77101523 -0.55826062 -0.30639942 -16.56342474] [ 0.56796443 0.820433 -0.06562092 -19.64519632] [ 0.28801377 -0.12342924 0.9496385 -4.48561087] [ 0. 0. 0. 1. ]] SLAMing on 78.091652532 meters Centerline goodness : 0.743346 Centerline is valid? [False, False] Translation: X:-16.59, Y:-19.67, Z:-4.49 [[ 0.77086525 -0.55681308 -0.30939611 -16.58532108] [ 0.5671943 0.82105723 -0.06446438 -19.6675983 ] [ 0.28992652 -0.12579435 0.94874569 -4.49494667] [ 0. 0. 0. 1. ]] SLAMing on 78.12165253199998 meters Centerline goodness : 0.741916 Centerline is valid? [False, False] Translation: X:-16.60, Y:-19.69, Z:-4.50 [[ 0.76889901 -0.55673666 -0.31438607 -16.60258143] [ 0.56806531 0.8205147 -0.06369797 -19.68603574] [ 0.29342139 -0.12961452 0.94715572 -4.50084232] [ 0. 0. 0. 1. ]] SLAMing on 78.15165253199999 meters Centerline goodness : 0.742931 Centerline is valid? [False, False] Translation: X:-16.62, Y:-19.71, Z:-4.51 [[ 0.76797055 -0.55580856 -0.3182736 -16.62268211] [ 0.56800218 0.82064554 -0.06256529 -19.70741909] [ 0.29596413 -0.1327318 0.94593208 -4.508381 ] [ 0. 0. 0. 1. ]] SLAMing on 78.18165253199999 meters Centerline goodness : 0.742153 Centerline is valid? [False, False] Translation: X:-16.65, Y:-19.74, Z:-4.52 [[ 0.7694381 -0.5555576 -0.31515199 -16.65427489] [ 0.56818012 0.82074153 -0.05962127 -19.73759542] [ 0.29178138 -0.13318821 0.94716658 -4.51899168] [ 0. 0. 0. 1. ]] SLAMing on 78.21165253199999 meters Centerline goodness : 0.742363 Centerline is valid? [False, False] Translation: X:-16.68, Y:-19.77, Z:-4.53 [[ 0.76958433 -0.55746026 -0.31141292 -16.68326952] [ 0.57020036 0.81946879 -0.05781399 -19.7665688 ] [ 0.28742217 -0.13307501 0.94851438 -4.5293926 ] [ 0. 0. 0. 1. ]] SLAMing on 78.24165253199999 meters Centerline goodness : 0.744982 Centerline is valid? [False, False] Translation: X:-16.72, Y:-19.80, Z:-4.54 [[ 0.77044087 -0.55870992 -0.30702458 -16.71635843] [ 0.57089947 0.81898623 -0.05775252 -19.79846518] [ 0.28371581 -0.13078527 0.94994766 -4.54139993] [ 0. 0. 0. 1. ]] SLAMing on 78.27165253199999 meters Centerline goodness : 0.747020 Centerline is valid? [False, False] Translation: X:-16.75, Y:-19.83, Z:-4.55 [[ 0.7719689 -0.55742665 -0.30551523 -16.74710555] [ 0.56982702 0.81985216 -0.05603224 -19.82891963] [ 0.28171119 -0.13083568 0.95053713 -4.55188312] [ 0. 0. 0. 1. ]] SLAMing on 78.30165253199999 meters Centerline goodness : 0.747671 Centerline is valid? [False, False] Translation: X:-16.78, Y:-19.86, Z:-4.56 [[ 0.77524709 -0.55430188 -0.30288837 -16.78386574] [ 0.56680541 0.82209739 -0.05373559 -19.86409366] [ 0.27878948 -0.1300204 0.95150992 -4.56313646] [ 0. 0. 0. 1. ]] SLAMing on 78.33165253199999 meters Centerline goodness : 0.750023 Centerline is valid? [False, False] Translation: X:-16.80, Y:-19.88, Z:-4.57 [[ 0.7770914 -0.55550062 -0.29588514 -16.79950466] [ 0.56538135 0.82267184 -0.05962359 -19.87741849] [ 0.27653732 -0.12095496 0.9533609 -4.57180544] [ 0. 0. 0. 1. ]] SLAMing on 78.361652532 meters Centerline goodness : 0.752104 Centerline is valid? [False, False] Translation: X:-16.83, Y:-19.91, Z:-4.58 [[ 0.77756999 -0.55628483 -0.29314176 -16.8320802 ] [ 0.56552022 0.82249374 -0.060753 -19.91208916] [ 0.27490324 -0.11853789 0.95413677 -4.58219159] [ 0. 0. 0. 1. ]] SLAMing on 78.391652532 meters Centerline goodness : 0.752607 Centerline is valid? [False, False] Translation: X:-16.84, Y:-19.92, Z:-4.59 [[ 0.77719423 -0.55909512 -0.28875903 -16.8379363 ] [ 0.56725043 0.82112392 -0.06310665 -19.91650865] [ 0.27238957 -0.11475256 0.95531972 -4.5856346 ] [ 0. 0. 0. 1. ]] SLAMing on 78.421652532 meters Centerline goodness : 0.753684 Centerline is valid? [False, False] Translation: X:-16.87, Y:-19.95, Z:-4.59 [[ 0.77762325 -0.55914402 -0.28750659 -16.87131178] [ 0.5669085 0.82129603 -0.06393431 -19.95230436] [ 0.27187651 -0.11327312 0.95564238 -4.59361411] [ 0. 0. 0. 1. ]] SLAMing on 78.451652532 meters Centerline goodness : 0.754275 Centerline is valid? [False, False] Translation: X:-16.90, Y:-19.98, Z:-4.60 [[ 0.7790922 -0.5565495 -0.28856195 -16.89961694] [ 0.56489302 0.82284257 -0.06185454 -19.98127932] [ 0.27186617 -0.11481625 0.95546115 -4.60264312] [ 0. 0. 0. 1. ]] SLAMing on 78.481652532 meters Centerline goodness : 0.754448 Centerline is valid? [False, False] Translation: X:-16.92, Y:-20.00, Z:-4.61 [[ 0.77809732 -0.55570058 -0.29285052 -16.92030938] [ 0.56507615 0.822853 -0.06001575 -20.00496921] [ 0.27432371 -0.11878475 0.95427286 -4.60760516] [ 0. 0. 0. 1. ]] SLAMing on 78.51165253199999 meters Centerline goodness : 0.752613 Centerline is valid? [False, False] Translation: X:-16.94, Y:-20.03, Z:-4.61 [[ 0.77762958 -0.55488321 -0.29562959 -16.94427013] [ 0.56474245 0.82312277 -0.05945472 -20.03068217] [ 0.27632987 -0.12072083 0.95345072 -4.61474395] [ 0. 0. 0. 1. ]] SLAMing on 78.54165253199999 meters Centerline goodness : 0.750753 Centerline is valid? [False, False] Translation: X:-16.97, Y:-20.05, Z:-4.62 [[ 0.78041891 -0.5499316 -0.29752574 -16.96734438] [ 0.55753541 0.82744674 -0.06697886 -20.051538 ] [ 0.2830205 -0.11360956 0.95236141 -4.61900383] [ 0. 0. 0. 1. ]] SLAMing on 78.57165253199999 meters Centerline goodness : 0.749313 Centerline is valid? [False, False] Translation: X:-16.99, Y:-20.08, Z:-4.63 [[ 0.77898166 -0.55079319 -0.29969056 -16.99044935] [ 0.55853207 0.82672174 -0.06762463 -20.07744442] [ 0.28500789 -0.11470844 0.95163674 -4.62612797] [ 0. 0. 0. 1. ]] SLAMing on 78.60165253199999 meters Centerline goodness : 0.746771 Centerline is valid? [False, False] Translation: X:-17.01, Y:-20.10, Z:-4.63 [[ 0.77853206 -0.55007398 -0.30216955 -17.01483941] [ 0.55842358 0.82688539 -0.0665106 -20.10468604] [ 0.28644534 -0.11695797 0.95093107 -4.63235576] [ 0. 0. 0. 1. ]] SLAMing on 78.63165253199999 meters Centerline goodness : 0.744737 Centerline is valid? [False, False] Translation: X:-17.04, Y:-20.13, Z:-4.64 [[ 0.77875317 -0.54902108 -0.30351172 -17.04088757] [ 0.55763418 0.82745856 -0.06600341 -20.1328846 ] [ 0.28738063 -0.11784814 0.95053889 -4.64123656] [ 0. 0. 0. 1. ]] SLAMing on 78.66165253199999 meters Centerline goodness : 0.743506 Centerline is valid? [False, False] Translation: X:-17.06, Y:-20.15, Z:-4.65 [[ 0.78246645 -0.54220065 -0.30621024 -17.06341584] [ 0.54886425 0.83279699 -0.07209169 -20.15194707] [ 0.29409913 -0.11165853 0.94923026 -4.64605176] [ 0. 0. 0. 1. ]] SLAMing on 78.69165253199999 meters Centerline goodness : 0.742187 Centerline is valid? [False, False] Translation: X:-17.09, Y:-20.17, Z:-4.65 [[ 0.78214202 -0.54071328 -0.30964982 -17.08605259] [ 0.54827776 0.83333713 -0.07029031 -20.17499054] [ 0.2960496 -0.1147971 0.94824905 -4.65355405] [ 0. 0. 0. 1. ]] SLAMing on 78.721652532 meters Centerline goodness : 0.741311 Centerline is valid? [False, False] Translation: X:-17.12, Y:-20.20, Z:-4.66 [[ 0.78393813 -0.53836535 -0.30919858 -17.11728364] [ 0.54627952 0.83479807 -0.06848999 -20.20487402] [ 0.29499102 -0.11521694 0.94852799 -4.66442604] [ 0. 0. 0. 1. ]] SLAMing on 78.751652532 meters Centerline goodness : 0.739734 Centerline is valid? [False, False] Translation: X:-17.14, Y:-20.23, Z:-4.67 [[ 0.78392571 -0.53743342 -0.3108469 -17.14270512] [ 0.5461707 0.83504261 -0.06634312 -20.23239466] [ 0.29522542 -0.1177674 0.94814176 -4.67125402] [ 0. 0. 0. 1. ]] SLAMing on 78.781652532 meters Centerline goodness : 0.738508 Centerline is valid? [False, False] Translation: X:-17.17, Y:-20.26, Z:-4.68 [[ 0.78490164 -0.53653392 -0.30993673 -17.17301808] [ 0.54562391 0.83553423 -0.06463045 -20.26361448] [ 0.29363918 -0.11838034 0.94855792 -4.68057402] [ 0. 0. 0. 1. ]] SLAMing on 78.811652532 meters Centerline goodness : 0.737034 Centerline is valid? [False, False] Translation: X:-17.19, Y:-20.29, Z:-4.68 [[ 0.78283426 -0.53801902 -0.31257967 -17.19483561] [ 0.5479073 0.83412421 -0.06351687 -20.28950891] [ 0.29490356 -0.1215415 0.94776556 -4.68461155] [ 0. 0. 0. 1. ]] SLAMing on 78.841652532 meters Centerline goodness : 0.734902 Centerline is valid? [False, False] Translation: X:-17.21, Y:-20.31, Z:-4.69 [[ 0.77945092 -0.54096686 -0.31592899 -17.21216759] [ 0.55141547 0.83178499 -0.06383338 -20.31185894] [ 0.29731674 -0.12445314 0.94663307 -4.68947895] [ 0. 0. 0. 1. ]] SLAMing on 78.87165253199998 meters Centerline goodness : 0.734217 Centerline is valid? [False, False] Translation: X:-17.21, Y:-20.31, Z:-4.69 [[ 0.77986712 -0.5406337 -0.31547184 -17.21363663] [ 0.55109513 0.83202147 -0.06351716 -20.31183813] [ 0.29681886 -0.12432004 0.94680679 -4.69049921] [ 0. 0. 0. 1. ]] SLAMing on 78.90165253199999 meters Centerline goodness : 0.731063 Centerline is valid? [False, False] Translation: X:-17.24, Y:-20.34, Z:-4.70 [[ 0.78249125 -0.53621108 -0.31652035 -17.24260798] [ 0.54763618 0.83456457 -0.05997166 -20.34349182] [ 0.29631414 -0.12641069 0.94668805 -4.70110952] [ 0. 0. 0. 1. ]] SLAMing on 78.93165253199999 meters Centerline goodness : 0.727850 Centerline is valid? [False, False] Translation: X:-17.25, Y:-20.36, Z:-4.70 [[ 0.78241747 -0.53922402 -0.31154511 -17.25285384] [ 0.54920842 0.83330696 -0.06300491 -20.35501358] [ 0.29358648 -0.12180705 0.9481403 -4.70206863] [ 0. 0. 0. 1. ]] SLAMing on 78.96165253199999 meters Centerline goodness : 0.722941 Centerline is valid? [False, False] Translation: X:-17.27, Y:-20.38, Z:-4.71 [[ 0.77888765 -0.54336141 -0.31319708 -17.26957527] [ 0.55280902 0.83066385 -0.06633065 -20.37794349] [ 0.29620301 -0.12147405 0.9473689 -4.71137727] [ 0. 0. 0. 1. ]] SLAMing on 78.99165253199999 meters Centerline goodness : 0.721408 Centerline is valid? [False, False] Translation: X:-17.27, Y:-20.38, Z:-4.71 [[ 0.77643311 -0.54829233 -0.31068819 -17.26858549] [ 0.55664549 0.8278128 -0.06979802 -20.37781698] [ 0.29546138 -0.11874969 0.94794572 -4.71248036] [ 0. 0. 0. 1. ]] SLAMing on 79.02165253199999 meters Centerline goodness : 0.721379 Centerline is valid? [False, False] Translation: X:-17.28, Y:-20.40, Z:-4.72 [[ 0.77338016 -0.54949838 -0.31612443 -17.28393996] [ 0.55892546 0.82634232 -0.06899786 -20.39716118] [ 0.29914121 -0.12332842 0.94620539 -4.7158929 ] [ 0. 0. 0. 1. ]] SLAMing on 79.05165253199999 meters Centerline goodness : 0.721379 Centerline is valid? [False, False] Translation: X:-17.29, Y:-20.40, Z:-4.72 [[ 0.77199889 -0.55263422 -0.31402728 -17.28731806] [ 0.56126318 0.82456151 -0.07128792 -20.39682107] [ 0.29833095 -0.12121775 0.94673381 -4.71570942] [ 0. 0. 0. 1. ]] SLAMing on 79.08165253199999 meters Centerline goodness : 0.721379 Centerline is valid? [False, False] Translation: X:-17.29, Y:-20.40, Z:-4.72 [[ 0.77062445 -0.55569708 -0.31199151 -17.29062647] [ 0.56354584 0.82280388 -0.07355173 -20.39646626] [ 0.29758031 -0.11914076 0.94723357 -4.71547428] [ 0. 0. 0. 1. ]] SLAMing on 79.111652532 meters Centerline goodness : 0.721379 Centerline is valid? [False, False] Translation: X:-17.29, Y:-20.40, Z:-4.72 [[ 0.76928562 -0.55862916 -0.31005338 -17.29384674] [ 0.56573736 0.82110143 -0.07572109 -20.39609114] [ 0.29688528 -0.11715764 0.94769891 -4.71519183] [ 0. 0. 0. 1. ]] SLAMing on 79.141652532 meters Centerline goodness : 0.721379 Centerline is valid? [False, False] Translation: X:-17.29, Y:-20.40, Z:-4.72 [[ 0.76928562 -0.55862916 -0.31005338 -17.29384674] [ 0.56573736 0.82110143 -0.07572109 -20.39609114] [ 0.29688528 -0.11715764 0.94769891 -4.71519183] [ 0. 0. 0. 1. ]] SLAMing on 79.171652532 meters Centerline goodness : 0.719966 Centerline is valid? [False, False] Translation: X:-17.31, Y:-20.42, Z:-4.72 [[ 0.76821152 -0.55709835 -0.31542429 -17.31300121] [ 0.56560123 0.82141806 -0.07326406 -20.41785251] [ 0.2999105 -0.12212207 0.94611833 -4.71986245] [ 0. 0. 0. 1. ]] SLAMing on 79.201652532 meters Centerline goodness : 0.721374 Centerline is valid? [False, False] Translation: X:-17.32, Y:-20.42, Z:-4.72 [[ 0.76902299 -0.55638082 -0.31471259 -17.31668254] [ 0.56497583 0.82191554 -0.0725063 -20.41841987] [ 0.29900828 -0.122046 0.94641366 -4.72081379] [ 0. 0. 0. 1. ]] SLAMing on 79.231652532 meters Centerline goodness : 0.717783 Centerline is valid? [False, False] Translation: X:-17.34, Y:-20.44, Z:-4.73 [[ 0.77506657 -0.54993648 -0.31119395 -17.33872376] [ 0.55713395 0.82711432 -0.07405171 -20.43666038] [ 0.29811671 -0.11598171 0.94745695 -4.72878656] [ 0. 0. 0. 1. ]] SLAMing on 79.26165253199999 meters Centerline goodness : 0.717783 Centerline is valid? [False, False] Translation: X:-17.34, Y:-20.44, Z:-4.73 [[ 0.77368124 -0.55306974 -0.30908122 -17.3420919 ] [ 0.55947671 0.8253206 -0.07636572 -20.43641133] [ 0.29732667 -0.11384102 0.9479647 -4.7285809 ] [ 0. 0. 0. 1. ]] SLAMing on 79.29165253199999 meters Centerline goodness : 0.718094 Centerline is valid? [False, False] Translation: X:-17.35, Y:-20.44, Z:-4.73 [[ 0.77303574 -0.55598934 -0.30543672 -17.34758416] [ 0.56146406 0.82376973 -0.0784955 -20.43993173] [ 0.29525219 -0.11081191 0.94897148 -4.73027592] [ 0. 0. 0. 1. ]] SLAMing on 79.32165253199999 meters Centerline goodness : 0.713907 Centerline is valid? [False, False] Translation: X:-17.35, Y:-20.44, Z:-4.73 [[ 0.77189749 -0.55913579 -0.30255815 -17.35190711] [ 0.56376951 0.8219775 -0.08072749 -20.44224281] [ 0.29383363 -0.10825971 0.94970608 -4.73043377] [ 0. 0. 0. 1. ]] SLAMing on 79.35165253199999 meters Centerline goodness : 0.712181 Centerline is valid? [False, False] Translation: X:-17.37, Y:-20.46, Z:-4.74 [[ 0.77388399 -0.56039328 -0.2950643 -17.36738924] [ 0.56229655 0.82234206 -0.08704094 -20.45557302] [ 0.29142094 -0.09855405 0.95150456 -4.7407546 ] [ 0. 0. 0. 1. ]] SLAMing on 79.38165253199999 meters Centerline goodness : 0.710856 Centerline is valid? [False, False] Translation: X:-17.39, Y:-20.48, Z:-4.75 [[ 0.77264806 -0.55922036 -0.3004789 -17.38560085] [ 0.56228431 0.82256219 -0.08501644 -20.47789351] [ 0.2947055 -0.10326679 0.94999191 -4.74516627] [ 0. 0. 0. 1. ]] SLAMing on 79.41165253199999 meters Centerline goodness : 0.707812 Centerline is valid? [False, False] Translation: X:-17.40, Y:-20.50, Z:-4.75 [[ 0.77200752 -0.5570528 -0.30609894 -17.40448148] [ 0.56158255 0.82334692 -0.08200538 -20.50048571] [ 0.29770695 -0.10859105 0.94846115 -4.74976407] [ 0. 0. 0. 1. ]] SLAMing on 79.44165253199999 meters Centerline goodness : 0.707755 Centerline is valid? [False, False] Translation: X:-17.43, Y:-20.52, Z:-4.76 [[ 0.77150513 -0.55556248 -0.31004864 -17.42534985] [ 0.56102697 0.82389566 -0.08027878 -20.5244857 ] [ 0.30004761 -0.11201016 0.94732526 -4.75675045] [ 0. 0. 0. 1. ]] SLAMing on 79.471652532 meters Centerline goodness : 0.703587 Centerline is valid? [False, False] Translation: X:-17.45, Y:-20.55, Z:-4.76 [[ 0.77082813 -0.55388327 -0.31470197 -17.44709536] [ 0.56065744 0.82439549 -0.07768729 -20.55049212] [ 0.30246857 -0.11655645 0.946006 -4.76124358] [ 0. 0. 0. 1. ]] SLAMing on 79.501652532 meters Centerline goodness : 0.704728 Centerline is valid? [False, False] Translation: X:-17.47, Y:-20.58, Z:-4.77 [[ 0.77111085 -0.55183397 -0.31759616 -17.47059054] [ 0.55980435 0.82524944 -0.07471582 -20.5765018 ] [ 0.30332678 -0.12017753 0.94527786 -4.76834741] [ 0. 0. 0. 1. ]] SLAMing on 79.531652532 meters Centerline goodness : 0.704101 Centerline is valid? [False, False] Translation: X:-17.50, Y:-20.60, Z:-4.78 [[ 0.77109078 -0.5514718 -0.31827324 -17.49568526] [ 0.56049354 0.82505396 -0.07164471 -20.60320179] [ 0.30210264 -0.12314552 0.94528788 -4.77588381] [ 0. 0. 0. 1. ]] SLAMing on 79.561652532 meters Centerline goodness : 0.705161 Centerline is valid? [False, False] Translation: X:-17.52, Y:-20.63, Z:-4.78 [[ 0.77060605 -0.55238066 -0.31787093 -17.52158854] [ 0.56211446 0.82413994 -0.06943119 -20.63391579] [ 0.30032258 -0.12517575 0.94558838 -4.78308254] [ 0. 0. 0. 1. ]] SLAMing on 79.591652532 meters Centerline goodness : 0.704807 Centerline is valid? [False, False] Translation: X:-17.54, Y:-20.66, Z:-4.79 [[ 0.76797043 -0.55409779 -0.32124298 -17.54112911] [ 0.5645144 0.8225186 -0.06918558 -20.65865646] [ 0.30256391 -0.12821381 0.94446615 -4.78720922] [ 0. 0. 0. 1. ]] SLAMing on 79.62165253199998 meters Centerline goodness : 0.706598 Centerline is valid? [False, False] Translation: X:-17.56, Y:-20.68, Z:-4.79 [[ 0.76703364 -0.55404142 -0.32356993 -17.56341884] [ 0.56510738 0.82219242 -0.06821489 -20.68480329] [ 0.30383062 -0.13052864 0.94374214 -4.7946431 ] [ 0. 0. 0. 1. ]] SLAMing on 79.65165253199999 meters Centerline goodness : 0.704957 Centerline is valid? [False, False] Translation: X:-17.59, Y:-20.71, Z:-4.80 [[ 0.76600061 -0.55374204 -0.32651619 -17.58514082] [ 0.56554915 0.82197052 -0.06722068 -20.71066418] [ 0.3056096 -0.13316988 0.94279826 -4.80141899] [ 0. 0. 0. 1. ]] SLAMing on 79.68165253199999 meters Centerline goodness : 0.706502 Centerline is valid? [False, False] Translation: X:-17.61, Y:-20.74, Z:-4.81 [[ 0.76388048 -0.55562284 -0.32828321 -17.60786138] [ 0.56760751 0.82049216 -0.0679288 -20.73904622] [ 0.3070966 -0.13444653 0.94213365 -4.80813036] [ 0. 0. 0. 1. ]] SLAMing on 79.71165253199999 meters Centerline goodness : 0.706361 Centerline is valid? [False, False] Translation: X:-17.63, Y:-20.76, Z:-4.81 [[ 0.76187358 -0.55533794 -0.33338929 -17.62540074] [ 0.56869976 0.81988521 -0.06609703 -20.76133542] [ 0.31004714 -0.13924084 0.94046944 -4.81212563] [ 0. 0. 0. 1. ]] SLAMing on 79.74165253199999 meters Centerline goodness : 0.706980 Centerline is valid? [False, False] Translation: X:-17.65, Y:-20.79, Z:-4.82 [[ 0.76121566 -0.55486996 -0.33566359 -17.64902491] [ 0.5689763 0.81979355 -0.06484214 -20.78830726] [ 0.3111538 -0.14162577 0.93974755 -4.81944601] [ 0. 0. 0. 1. ]] SLAMing on 79.77165253199999 meters Centerline goodness : 0.707352 Centerline is valid? [False, False] Translation: X:-17.67, Y:-20.82, Z:-4.83 [[ 0.76130027 -0.5541911 -0.33659194 -17.67452321] [ 0.56895588 0.81993954 -0.06315341 -20.81643432] [ 0.3109841 -0.14342725 0.93953048 -4.82826855] [ 0. 0. 0. 1. ]] SLAMing on 79.80165253199999 meters Centerline goodness : 0.707674 Centerline is valid? [False, False] Translation: X:-17.70, Y:-20.84, Z:-4.83 [[ 0.75889868 -0.55599673 -0.33902865 -17.69517064] [ 0.57116399 0.8183699 -0.06357986 -20.84200793] [ 0.31280103 -0.14539028 0.93862515 -4.83438642] [ 0. 0. 0. 1. ]] SLAMing on 79.83165253199999 meters Centerline goodness : 0.707925 Centerline is valid? [False, False] Translation: X:-17.72, Y:-20.87, Z:-4.84 [[ 0.75787204 -0.55713114 -0.33946262 -17.72001508] [ 0.57229403 0.81754118 -0.06407776 -20.87233399] [ 0.31322439 -0.14570968 0.93843443 -4.84337409] [ 0. 0. 0. 1. ]] SLAMing on 79.861652532 meters Centerline goodness : 0.705141 Centerline is valid? [False, False] Translation: X:-17.74, Y:-20.90, Z:-4.85 [[ 0.7568137 -0.5585098 -0.33955829 -17.74477182] [ 0.57343064 0.81665745 -0.06517592 -20.89999144] [ 0.3137042 -0.1453871 0.93832418 -4.85375217] [ 0. 0. 0. 1. ]] SLAMing on 79.891652532 meters Centerline goodness : 0.701745 Centerline is valid? [False, False] Translation: X:-17.77, Y:-20.93, Z:-4.86 [[ 0.75600366 -0.56051452 -0.33805613 -17.77236587] [ 0.57481432 0.81555587 -0.06676161 -20.93242761] [ 0.31312452 -0.14384748 0.93875499 -4.8648978 ] [ 0. 0. 0. 1. ]] SLAMing on 79.921652532 meters Centerline goodness : 0.702515 Centerline is valid? [False, False] Translation: X:-17.79, Y:-20.96, Z:-4.87 [[ 0.75394478 -0.5621644 -0.33990947 -17.79353313] [ 0.57650604 0.81426284 -0.0679471 -20.95762581] [ 0.3149731 -0.1447315 0.9380004 -4.87326503] [ 0. 0. 0. 1. ]] SLAMing on 79.951652532 meters Centerline goodness : 0.700744 Centerline is valid? [False, False] Translation: X:-17.82, Y:-20.98, Z:-4.88 [[ 0.75331283 -0.56205516 -0.3414876 -17.81739045] [ 0.57655031 0.81420627 -0.06824872 -20.98441677] [ 0.31640089 -0.14547215 0.9374051 -4.88316989] [ 0. 0. 0. 1. ]] SLAMing on 79.981652532 meters Centerline goodness : 0.701700 Centerline is valid? [False, False] Translation: X:-17.84, Y:-21.01, Z:-4.89 [[ 0.75390065 -0.56080345 -0.34224743 -17.84360492] [ 0.57554374 0.81497207 -0.06760126 -21.01228848] [ 0.31683311 -0.14601373 0.93717489 -4.89485223] [ 0. 0. 0. 1. ]] SLAMing on 80.01165253199999 meters Centerline goodness : 0.699985 Centerline is valid? [False, False] Translation: X:-17.87, Y:-21.04, Z:-4.90 [[ 0.75305578 -0.56121032 -0.34343843 -17.86831035] [ 0.57617102 0.81452528 -0.06764261 -21.03974187] [ 0.31770102 -0.14694061 0.9367361 -4.90383471] [ 0. 0. 0. 1. ]] SLAMing on 80.04165253199999 meters Centerline goodness : 0.700290 Centerline is valid? [False, False] Translation: X:-17.89, Y:-21.07, Z:-4.91 [[ 0.75019283 -0.56571621 -0.34230964 -17.89342221] [ 0.57966575 0.8117423 -0.07114812 -21.0713532 ] [ 0.31811686 -0.14505036 0.93688957 -4.91298345] [ 0. 0. 0. 1. ]] SLAMing on 80.07165253199999 meters Centerline goodness : 0.698986 Centerline is valid? [False, False] Translation: X:-17.92, Y:-21.10, Z:-4.92 [[ 0.74830095 -0.56722777 -0.34394526 -17.91502293] [ 0.58119042 0.8105509 -0.0722837 -21.09704939] [ 0.31978646 -0.14580773 0.93620336 -4.92185118] [ 0. 0. 0. 1. ]] SLAMing on 80.10165253199999 meters Centerline goodness : 0.700138 Centerline is valid? [False, False] Translation: X:-17.94, Y:-21.12, Z:-4.93 [[ 0.74646694 -0.56802916 -0.34659772 -17.93651616] [ 0.58236203 0.80967096 -0.07271461 -21.12199127] [ 0.32193413 -0.1475663 0.93519121 -4.92951955] [ 0. 0. 0. 1. ]] SLAMing on 80.13165253199999 meters Centerline goodness : 0.699681 Centerline is valid? [False, False] Translation: X:-17.96, Y:-21.15, Z:-4.94 [[ 0.74552359 -0.56684214 -0.35054895 -17.95668371] [ 0.58210806 0.80994385 -0.07170187 -21.14557843] [ 0.32456861 -0.15060193 0.93379563 -4.93741217] [ 0. 0. 0. 1. ]] SLAMing on 80.16165253199999 meters Centerline goodness : 0.697629 Centerline is valid? [False, False] Translation: X:-17.98, Y:-21.17, Z:-4.95 [[ 0.7454126 -0.56514152 -0.3535182 -17.97881072] [ 0.58121345 0.81069395 -0.07047156 -21.16970466] [ 0.32642147 -0.15293915 0.93276934 -4.94726152] [ 0. 0. 0. 1. ]] SLAMing on 80.19165253199999 meters Centerline goodness : 0.695960 Centerline is valid? [False, False] Translation: X:-18.00, Y:-21.20, Z:-4.96 [[ 0.744837 -0.56481905 -0.35524257 -18.00230831] [ 0.58121642 0.81070295 -0.07034342 -21.19503912] [ 0.3277275 -0.15407843 0.93212366 -4.95757168] [ 0. 0. 0. 1. ]] SLAMing on 80.221652532 meters Centerline goodness : 0.693807 Centerline is valid? [False, False] Translation: X:-18.03, Y:-21.23, Z:-4.97 [[ 0.74303055 -0.56917697 -0.35205565 -18.03212431] [ 0.58414543 0.80827813 -0.07389572 -21.22743388] [ 0.32661862 -0.15074492 0.93305747 -4.96930152] [ 0. 0. 0. 1. ]] SLAMing on 80.251652532 meters Centerline goodness : 0.694812 Centerline is valid? [False, False] Translation: X:-18.06, Y:-21.26, Z:-4.98 [[ 0.74312422 -0.57102618 -0.34884882 -18.06276185] [ 0.5853853 0.80732497 -0.0745013 -21.25736213] [ 0.32417655 -0.14884725 0.93421307 -4.98248195] [ 0. 0. 0. 1. ]] SLAMing on 80.281652532 meters Centerline goodness : 0.695524 Centerline is valid? [False, False] Translation: X:-18.09, Y:-21.29, Z:-4.99 [[ 0.74395737 -0.57053813 -0.34787021 -18.09150402] [ 0.58520575 0.80759235 -0.07299878 -21.28565535] [ 0.3225859 -0.14926767 0.93469647 -4.99409762] [ 0. 0. 0. 1. ]] SLAMing on 80.311652532 meters Centerline goodness : 0.695824 Centerline is valid? [False, False] Translation: X:-18.12, Y:-21.32, Z:-5.01 [[ 0.7463131 -0.5685606 -0.34605724 -18.12449232] [ 0.58295377 0.80927315 -0.07240072 -21.31844896] [ 0.32121903 -0.14770176 0.9354157 -5.00826284] [ 0. 0. 0. 1. ]] SLAMing on 80.341652532 meters Centerline goodness : 0.695378 Centerline is valid? [False, False] Translation: X:-18.15, Y:-21.34, Z:-5.02 [[ 0.74362478 -0.57091485 -0.34796326 -18.14528491] [ 0.58531361 0.80743064 -0.0739171 -21.34112869] [ 0.32315657 -0.14870104 0.93458966 -5.0165495 ] [ 0. 0. 0. 1. ]] SLAMing on 80.37165253199998 meters Centerline goodness : 0.698234 Centerline is valid? [False, False] Translation: X:-18.17, Y:-21.37, Z:-5.03 [[ 0.74324413 -0.57073371 -0.34907192 -18.17011956] [ 0.58534238 0.80741861 -0.07382069 -21.36649835] [ 0.32397912 -0.14945979 0.93418376 -5.0272442 ] [ 0. 0. 0. 1. ]] SLAMing on 80.40165253199999 meters Centerline goodness : 0.697199 Centerline is valid? [False, False] Translation: X:-18.20, Y:-21.40, Z:-5.04 [[ 0.74649476 -0.56758826 -0.34725947 -18.20463566] [ 0.58167549 0.81008017 -0.07364605 -21.39804904] [ 0.32310864 -0.14701593 0.93487278 -5.04395866] [ 0. 0. 0. 1. ]] SLAMing on 80.43165253199999 meters Centerline goodness : 0.699433 Centerline is valid? [False, False] Translation: X:-18.23, Y:-21.43, Z:-5.06 [[ 0.74775505 -0.56619225 -0.34682665 -18.2338752 ] [ 0.58027678 0.81113236 -0.07309693 -21.42613757] [ 0.32270923 -0.14659685 0.93507653 -5.05685346] [ 0. 0. 0. 1. ]] SLAMing on 80.46165253199999 meters Centerline goodness : 0.698968 Centerline is valid? [False, False] Translation: X:-18.26, Y:-21.45, Z:-5.07 [[ 0.74765676 -0.56735592 -0.34513277 -18.26271772] [ 0.58091825 0.81058506 -0.07406648 -21.45388404] [ 0.32178152 -0.14511762 0.93562681 -5.06947916] [ 0. 0. 0. 1. ]] SLAMing on 80.49165253199999 meters Centerline goodness : 0.703161 Centerline is valid? [False, False] Translation: X:-18.29, Y:-21.48, Z:-5.08 [[ 0.74909093 -0.56637066 -0.34363796 -18.29264757] [ 0.57989857 0.81139386 -0.073196 -21.48228636] [ 0.3202818 -0.1444447 0.93624532 -5.0828411 ] [ 0. 0. 0. 1. ]] SLAMing on 80.52165253199999 meters Centerline goodness : 0.701854 Centerline is valid? [False, False] Translation: X:-18.32, Y:-21.51, Z:-5.10 [[ 0.74895209 -0.56809113 -0.34109124 -18.32317729] [ 0.58091336 0.81055397 -0.07444415 -21.51146488] [ 0.31876392 -0.14238936 0.93707782 -5.09529636] [ 0. 0. 0. 1. ]] SLAMing on 80.55165253199999 meters Centerline goodness : 0.704972 Centerline is valid? [False, False] Translation: X:-18.36, Y:-21.55, Z:-5.11 [[ 0.75073442 -0.56807407 -0.33717902 -18.35930518] [ 0.57968143 0.81127655 -0.07615648 -21.54514944] [ 0.31680795 -0.13828313 0.93835521 -5.11076026] [ 0. 0. 0. 1. ]] SLAMing on 80.58165253199999 meters Centerline goodness : 0.707315 Centerline is valid? [False, False] Translation: X:-18.39, Y:-21.57, Z:-5.12 [[ 0.75210569 -0.56655332 -0.33668141 -18.38774964] [ 0.57816011 0.81241701 -0.0755612 -21.57183931] [ 0.31633515 -0.13782575 0.93858198 -5.12466027] [ 0. 0. 0. 1. ]] SLAMing on 80.611652532 meters Centerline goodness : 0.706418 Centerline is valid? [False, False] Translation: X:-18.41, Y:-21.59, Z:-5.13 [[ 0.75084578 -0.56558247 -0.34109688 -18.40668119] [ 0.57816135 0.81250898 -0.07455601 -21.59268033] [ 0.31931185 -0.14122897 0.93706687 -5.13238116] [ 0. 0. 0. 1. ]] SLAMing on 80.641652532 meters Centerline goodness : 0.707782 Centerline is valid? [False, False] Translation: X:-18.43, Y:-21.61, Z:-5.14 [[ 0.74904588 -0.5666529 -0.3432707 -18.42785757] [ 0.57943992 0.8115337 -0.07524918 -21.61468312] [ 0.32121591 -0.14253965 0.93621728 -5.14171417] [ 0. 0. 0. 1. ]] SLAMing on 80.671652532 meters Centerline goodness : 0.713015 Centerline is valid? [False, False] Translation: X:-18.46, Y:-21.65, Z:-5.16 [[ 0.7509415 -0.56578813 -0.34054465 -18.4629767 ] [ 0.57773268 0.81266109 -0.07620307 -21.64769242] [ 0.31986218 -0.13951972 0.93713523 -5.15620754] [ 0. 0. 0. 1. ]] SLAMing on 80.701652532 meters Centerline goodness : 0.714861 Centerline is valid? [False, False] Translation: X:-18.49, Y:-21.68, Z:-5.17 [[ 0.75138149 -0.56704465 -0.33747034 -18.49399966] [ 0.5782612 0.8121907 -0.07720273 -21.67672265] [ 0.31786766 -0.1371373 0.93816497 -5.16992607] [ 0. 0. 0. 1. ]] SLAMing on 80.731652532 meters Centerline goodness : 0.717135 Centerline is valid? [False, False] Translation: X:-18.52, Y:-21.71, Z:-5.18 [[ 0.75244418 -0.56616489 -0.33657849 -18.52300873] [ 0.57740309 0.81286617 -0.07651317 -21.70512529] [ 0.31691233 -0.13676957 0.93854177 -5.18229526] [ 0. 0. 0. 1. ]] SLAMing on 80.76165253199999 meters Centerline goodness : 0.717690 Centerline is valid? [False, False] Translation: X:-18.55, Y:-21.73, Z:-5.20 [[ 0.75389003 -0.56536874 -0.33467599 -18.55312946] [ 0.57644999 0.81359928 -0.07590535 -21.73417801] [ 0.31520666 -0.13569969 0.93927118 -5.19565521] [ 0. 0. 0. 1. ]] SLAMing on 80.79165253199999 meters Centerline goodness : 0.723140 Centerline is valid? [False, False] Translation: X:-18.59, Y:-21.77, Z:-5.21 [[ 0.75478708 -0.5664886 -0.33073724 -18.58741334] [ 0.57641267 0.81344472 -0.07782108 -21.76752904] [ 0.31312122 -0.13190279 0.94050877 -5.21000129] [ 0. 0. 0. 1. ]] SLAMing on 80.82165253199999 meters Centerline goodness : 0.725722 Centerline is valid? [False, False] Translation: X:-18.61, Y:-21.79, Z:-5.22 [[ 0.75359035 -0.56712327 -0.33237448 -18.61061002] [ 0.57714793 0.81286637 -0.07841252 -21.79176957] [ 0.3146456 -0.13273833 0.93988227 -5.21945146] [ 0. 0. 0. 1. ]] SLAMing on 80.85165253199999 meters Centerline goodness : 0.727510 Centerline is valid? [False, False] Translation: X:-18.64, Y:-21.82, Z:-5.23 [[ 0.75413696 -0.5664687 -0.33225091 -18.63740103] [ 0.57654897 0.81332748 -0.07803644 -21.81888587] [ 0.31443399 -0.13270876 0.93995726 -5.23165325] [ 0. 0. 0. 1. ]] SLAMing on 80.88165253199999 meters Centerline goodness : 0.729179 Centerline is valid? [False, False] Translation: X:-18.66, Y:-21.84, Z:-5.24 [[ 0.75219037 -0.56807344 -0.33391947 -18.65909126] [ 0.5780705 0.81211248 -0.07942173 -21.84255028] [ 0.31629755 -0.13328874 0.93924969 -5.24115201] [ 0. 0. 0. 1. ]] SLAMing on 80.91165253199999 meters Centerline goodness : 0.734471 Centerline is valid? [False, False] Translation: X:-18.69, Y:-21.87, Z:-5.25 [[ 0.7515585 -0.56801418 -0.33543958 -18.68591109] [ 0.57752425 0.81229172 -0.08153467 -21.86978457] [ 0.31878764 -0.13244642 0.93852671 -5.25273944] [ 0. 0. 0. 1. ]] SLAMing on 80.94165253199999 meters Centerline goodness : 0.735341 Centerline is valid? [False, False] Translation: X:-18.71, Y:-21.90, Z:-5.26 [[ 0.75289993 -0.56646037 -0.33505872 -18.71478372] [ 0.57628979 0.81331523 -0.08005256 -21.89805995] [ 0.31785496 -0.13281935 0.93879031 -5.2645898 ] [ 0. 0. 0. 1. ]] SLAMing on 80.971652532 meters Centerline goodness : 0.740662 Centerline is valid? [False, False] Translation: X:-18.75, Y:-21.93, Z:-5.28 [[ 0.75593891 -0.56484969 -0.33090964 -18.75218722] [ 0.5744538 0.81476641 -0.07847631 -21.93406071] [ 0.31394138 -0.130769 0.94039368 -5.27808603] [ 0. 0. 0. 1. ]] SLAMing on 81.001652532 meters Centerline goodness : 0.743762 Centerline is valid? [False, False] Translation: X:-18.78, Y:-21.96, Z:-5.29 [[ 0.75530188 -0.56635573 -0.3297882 -18.77936331] [ 0.57579139 0.81378758 -0.07882919 -21.96313441] [ 0.31302291 -0.13034937 0.94075805 -5.28807577] [ 0. 0. 0. 1. ]] SLAMing on 81.031652532 meters Centerline goodness : 0.743762 Centerline is valid? [False, False] Translation: X:-18.80, Y:-21.99, Z:-5.30 [[ 0.75493229 -0.56559502 -0.331933 -18.80402449] [ 0.57530058 0.81413676 -0.07880721 -21.98998273] [ 0.31481182 -0.13146714 0.94000527 -5.29676199] [ 0. 0. 0. 1. ]] SLAMing on 81.061652532 meters Centerline goodness : 0.747644 Centerline is valid? [False, False] Translation: X:-18.83, Y:-22.02, Z:-5.30 [[ 0.75356414 -0.56611765 -0.33414352 -18.82712109] [ 0.57620334 0.81349895 -0.07879829 -22.0161032 ] [ 0.31643451 -0.13315505 0.93922252 -5.30410383] [ 0. 0. 0. 1. ]] SLAMing on 81.091652532 meters Centerline goodness : 0.749093 Centerline is valid? [False, False] Translation: X:-18.85, Y:-22.04, Z:-5.31 [[ 0.75267711 -0.5660578 -0.33623761 -18.85065692] [ 0.57647642 0.81330983 -0.07875312 -22.0421024 ] [ 0.31804417 -0.13455739 0.93847867 -5.31268005] [ 0. 0. 0. 1. ]] SLAMing on 81.12165253199998 meters Centerline goodness : 0.749726 Centerline is valid? [False, False] Translation: X:-18.88, Y:-22.07, Z:-5.33 [[ 0.75366556 -0.56457434 -0.33651752 -18.87873591] [ 0.57481433 0.81445616 -0.07905469 -22.07273568] [ 0.31871102 -0.1338543 0.93835298 -5.32570009] [ 0. 0. 0. 1. ]] SLAMing on 81.15165253199999 meters Centerline goodness : 0.751301 Centerline is valid? [False, False] Translation: X:-18.90, Y:-22.10, Z:-5.33 [[ 0.7516442 -0.56529855 -0.33980663 -18.89922047] [ 0.57599282 0.81358985 -0.07939662 -22.09634382] [ 0.32134602 -0.13604817 0.937138 -5.33275327] [ 0. 0. 0. 1. ]] SLAMing on 81.18165253199999 meters Centerline goodness : 0.751632 Centerline is valid? [False, False] Translation: X:-18.92, Y:-22.12, Z:-5.34 [[ 0.7503875 -0.56418969 -0.344396 -18.91885652] [ 0.57593391 0.81374683 -0.07820637 -22.11840711] [ 0.32437438 -0.13966425 0.93556142 -5.33934144] [ 0. 0. 0. 1. ]] SLAMing on 81.21165253199999 meters Centerline goodness : 0.752667 Centerline is valid? [False, False] Translation: X:-18.94, Y:-22.14, Z:-5.34 [[ 0.7490879 -0.56257709 -0.34982044 -18.93843039] [ 0.57580915 0.81403377 -0.07611072 -22.14091545] [ 0.3275838 -0.1444162 0.93371988 -5.34391799] [ 0. 0. 0. 1. ]] SLAMing on 81.24165253199999 meters Centerline goodness : 0.753803 Centerline is valid? [False, False] Translation: X:-18.97, Y:-22.17, Z:-5.36 [[ 0.75036826 -0.56200927 -0.34798428 -18.96840323] [ 0.57569133 0.81433001 -0.0737979 -22.1709965 ] [ 0.32484915 -0.14495593 0.93459125 -5.35563393] [ 0. 0. 0. 1. ]] SLAMing on 81.27165253199999 meters Centerline goodness : 0.755195 Centerline is valid? [False, False] Translation: X:-18.98, Y:-22.17, Z:-5.36 [[ 0.75031237 -0.5647 -0.34372265 -18.97503276] [ 0.57707589 0.8131292 -0.07618608 -22.17380041] [ 0.3225132 -0.1411907 0.93597565 -5.35988236] [ 0. 0. 0. 1. ]] SLAMing on 81.30165253199999 meters Centerline goodness : 0.756149 Centerline is valid? [False, False] Translation: X:-19.00, Y:-22.20, Z:-5.37 [[ 0.74987639 -0.56464739 -0.34475894 -19.00031568] [ 0.5772283 0.81303173 -0.07607163 -22.19997729] [ 0.32325361 -0.1419603 0.93560375 -5.36973941] [ 0. 0. 0. 1. ]] SLAMing on 81.33165253199999 meters Centerline goodness : 0.756586 Centerline is valid? [False, False] Translation: X:-19.01, Y:-22.20, Z:-5.37 [[ 0.7520818 -0.56308025 -0.34251074 -19.00658649] [ 0.57548765 0.8143524 -0.07512747 -22.20452379] [ 0.32122724 -0.14060869 0.93650534 -5.37388893] [ 0. 0. 0. 1. ]] SLAMing on 81.361652532 meters Centerline goodness : 0.757660 Centerline is valid? [False, False] Translation: X:-19.03, Y:-22.23, Z:-5.38 [[ 0.7519292 -0.56286832 -0.34319344 -19.03173173] [ 0.57590978 0.81419774 -0.07355248 -22.22942624] [ 0.32082768 -0.1423422 0.93638042 -5.38337027] [ 0. 0. 0. 1. ]] SLAMing on 81.391652532 meters Centerline goodness : 0.757424 Centerline is valid? [False, False] Translation: X:-19.06, Y:-22.26, Z:-5.40 [[ 0.75287204 -0.5624444 -0.34181865 -19.06061011] [ 0.57578872 0.8144309 -0.07190033 -22.25743171] [ 0.31882761 -0.14268357 0.9370114 -5.39532137] [ 0. 0. 0. 1. ]] SLAMing on 81.421652532 meters Centerline goodness : 0.756026 Centerline is valid? [False, False] Translation: X:-19.06, Y:-22.26, Z:-5.40 [[ 0.75367691 -0.56164205 -0.34136392 -19.06336978] [ 0.57510414 0.8149811 -0.07114092 -22.25874211] [ 0.31816088 -0.14270253 0.93723511 -5.39592658] [ 0. 0. 0. 1. ]] SLAMing on 81.451652532 meters Centerline goodness : 0.755522 Centerline is valid? [False, False] Translation: X:-19.09, Y:-22.28, Z:-5.41 [[ 0.75460788 -0.56049627 -0.34119039 -19.09060573] [ 0.57452056 0.81556616 -0.06912283 -22.28480333] [ 0.31700642 -0.14386027 0.93744928 -5.40724104] [ 0. 0. 0. 1. ]] SLAMing on 81.481652532 meters Centerline goodness : 0.752710 Centerline is valid? [False, False] Translation: X:-19.12, Y:-22.31, Z:-5.42 [[ 0.75514188 -0.56042227 -0.34012883 -19.1191409 ] [ 0.57453676 0.8156227 -0.06831633 -22.31481482] [ 0.31570279 -0.143828 0.93789405 -5.4189991 ] [ 0. 0. 0. 1. ]] SLAMing on 81.51165253199999 meters Centerline goodness : 0.751722 Centerline is valid? [False, False] Translation: X:-19.12, Y:-22.32, Z:-5.42 [[ 0.75420499 -0.56354669 -0.33703111 -19.12412366] [ 0.57663697 0.81394465 -0.07059683 -22.3160152 ] [ 0.31410928 -0.14110012 0.93884297 -5.42040006] [ 0. 0. 0. 1. ]] SLAMing on 81.54165253199999 meters Centerline goodness : 0.752202 Centerline is valid? [False, False] Translation: X:-19.15, Y:-22.34, Z:-5.43 [[ 0.75406567 -0.56322906 -0.33787276 -19.15000265] [ 0.57677117 0.81393701 -0.06958133 -22.34210468] [ 0.31419737 -0.14240637 0.93861624 -5.42979493] [ 0. 0. 0. 1. ]] SLAMing on 81.57165253199999 meters Centerline goodness : 0.751929 Centerline is valid? [False, False] Translation: X:-19.18, Y:-22.37, Z:-5.44 [[ 0.75492434 -0.56253776 -0.33710607 -19.1785856 ] [ 0.57647848 0.8142907 -0.06784698 -22.37116806] [ 0.31266882 -0.14311506 0.93901879 -5.44058351] [ 0. 0. 0. 1. ]] SLAMing on 81.60165253199999 meters Centerline goodness : 0.751035 Centerline is valid? [False, False] Translation: X:-19.18, Y:-22.37, Z:-5.44 [[ 0.75407203 -0.56562561 -0.33383086 -19.18367563] [ 0.57852176 0.81264763 -0.07011704 -22.37307058] [ 0.31094685 -0.14025512 0.94002157 -5.44208492] [ 0. 0. 0. 1. ]] SLAMing on 81.63165253199999 meters Centerline goodness : 0.750060 Centerline is valid? [False, False] Translation: X:-19.19, Y:-22.37, Z:-5.44 [[ 0.75282795 -0.56909251 -0.33073221 -19.18776809] [ 0.58094294 0.81069954 -0.07260542 -22.37438761] [ 0.30944365 -0.13747715 0.94092755 -5.44315018] [ 0. 0. 0. 1. ]] SLAMing on 81.66165253199999 meters Centerline goodness : 0.751553 Centerline is valid? [False, False] Translation: X:-19.20, Y:-22.38, Z:-5.45 [[ 0.75341628 -0.57063212 -0.3267153 -19.19574145] [ 0.58146367 0.81018429 -0.07417155 -22.3788726 ] [ 0.30702427 -0.13409102 0.94220788 -5.44680019] [ 0. 0. 0. 1. ]] SLAMing on 81.69165253199999 meters Centerline goodness : 0.751106 Centerline is valid? [False, False] Translation: X:-19.22, Y:-22.40, Z:-5.45 [[ 0.75287175 -0.56883661 -0.33107256 -19.21670059] [ 0.5810561 0.81070907 -0.07158637 -22.40251348] [ 0.30912448 -0.13847638 0.94088594 -5.45246132] [ 0. 0. 0. 1. ]] SLAMing on 81.721652532 meters Centerline goodness : 0.750242 Centerline is valid? [False, False] Translation: X:-19.22, Y:-22.40, Z:-5.45 [[ 0.75124308 -0.57264772 -0.32818962 -19.21928377] [ 0.58383422 0.80847067 -0.07424814 -22.40361002] [ 0.30784971 -0.13582993 0.94168933 -5.45325107] [ 0. 0. 0. 1. ]] SLAMing on 81.751652532 meters Centerline goodness : 0.748464 Centerline is valid? [False, False] Translation: X:-19.24, Y:-22.43, Z:-5.46 [[ 0.75149848 -0.56990556 -0.33235175 -19.24137782] [ 0.5825698 0.80966442 -0.07110521 -22.42946799] [ 0.30961664 -0.14018263 0.94047135 -5.45921259] [ 0. 0. 0. 1. ]] SLAMing on 81.781652532 meters Centerline goodness : 0.748991 Centerline is valid? [False, False] Translation: X:-19.25, Y:-22.43, Z:-5.46 [[ 0.75043982 -0.57315026 -0.32914868 -19.24627916] [ 0.58474178 0.80787519 -0.07358486 -22.43014412] [ 0.30808623 -0.13724597 0.94140661 -5.4607887 ] [ 0. 0. 0. 1. ]] SLAMing on 81.811652532 meters Centerline goodness : 0.746882 Centerline is valid? [False, False] Translation: X:-19.26, Y:-22.45, Z:-5.47 [[ 0.74901452 -0.57197935 -0.33439029 -19.26468904] [ 0.58507506 0.80783984 -0.07128793 -22.45187364] [ 0.31090902 -0.14224772 0.93973462 -5.4652305 ] [ 0. 0. 0. 1. ]] SLAMing on 81.841652532 meters Centerline goodness : 0.748813 Centerline is valid? [False, False] Translation: X:-19.29, Y:-22.48, Z:-5.47 [[ 0.74839904 -0.57018866 -0.33879753 -19.2852724 ] [ 0.58464196 0.80835397 -0.06897567 -22.47536593] [ 0.31319747 -0.14645393 0.93832755 -5.47119679] [ 0. 0. 0. 1. ]] SLAMing on 81.87165253199998 meters Centerline goodness : 0.749946 Centerline is valid? [False, False] Translation: X:-19.31, Y:-22.50, Z:-5.48 [[ 0.74884968 -0.56867735 -0.34033841 -19.31184759] [ 0.58382803 0.80908249 -0.06730787 -22.50409611] [ 0.31363831 -0.14829562 0.93789094 -5.48026278] [ 0. 0. 0. 1. ]] SLAMing on 81.90165253199999 meters Centerline goodness : 0.752091 Centerline is valid? [False, False] Translation: X:-19.34, Y:-22.53, Z:-5.49 [[ 0.74958255 -0.56618743 -0.34286702 -19.33625507] [ 0.58247619 0.81027561 -0.06461362 -22.53023409] [ 0.3144002 -0.15127863 0.93715916 -5.48870651] [ 0. 0. 0. 1. ]] SLAMing on 81.93165253199999 meters Centerline goodness : 0.751964 Centerline is valid? [False, False] Translation: X:-19.36, Y:-22.55, Z:-5.50 [[ 0.74820509 -0.56706337 -0.34442456 -19.35867299] [ 0.58395027 0.80927375 -0.06385994 -22.55411224] [ 0.31494638 -0.15334648 0.93663954 -5.49651171] [ 0. 0. 0. 1. ]] SLAMing on 81.96165253199999 meters Centerline goodness : 0.754652 Centerline is valid? [False, False] Translation: X:-19.39, Y:-22.58, Z:-5.51 [[ 0.74901027 -0.56592603 -0.34454513 -19.38588106] [ 0.58322825 0.80990716 -0.06241154 -22.5827923 ] [ 0.31436988 -0.15420157 0.93669283 -5.50704519] [ 0. 0. 0. 1. ]] SLAMing on 81.99165253199999 meters Centerline goodness : 0.752387 Centerline is valid? [False, False] Translation: X:-19.41, Y:-22.61, Z:-5.52 [[ 0.7488946 -0.56553222 -0.34544201 -19.41105648] [ 0.58340442 0.80988058 -0.06109604 -22.61115643] [ 0.31431856 -0.1557779 0.93644919 -5.5154982 ] [ 0. 0. 0. 1. ]] SLAMing on 82.02165253199999 meters Centerline goodness : 0.753735 Centerline is valid? [False, False] Translation: X:-19.44, Y:-22.64, Z:-5.53 [[ 0.74878322 -0.5659656 -0.34497337 -19.43824187] [ 0.58347587 0.80975818 -0.06202895 -22.64017233] [ 0.31445126 -0.1548374 0.93656061 -5.52766682] [ 0. 0. 0. 1. ]] SLAMing on 82.05165253199999 meters Centerline goodness : 0.755464 Centerline is valid? [False, False] Translation: X:-19.46, Y:-22.66, Z:-5.53 [[ 0.74634963 -0.5660351 -0.35009497 -19.45539499] [ 0.58487318 0.80883751 -0.06087074 -22.6595447 ] [ 0.31762492 -0.1593303 0.93473433 -5.53219824] [ 0. 0. 0. 1. ]] SLAMing on 82.08165253199999 meters Centerline goodness : 0.756536 Centerline is valid? [False, False] Translation: X:-19.48, Y:-22.68, Z:-5.54 [[ 0.74545951 -0.56471314 -0.35410336 -19.47622932] [ 0.5847077 0.80907003 -0.0593515 -22.68155084] [ 0.32001099 -0.16280282 0.93332106 -5.53942878] [ 0. 0. 0. 1. ]] SLAMing on 82.111652532 meters Centerline goodness : 0.756275 Centerline is valid? [False, False] Translation: X:-19.51, Y:-22.71, Z:-5.55 [[ 0.74770839 -0.56208722 -0.35353944 -19.50722054] [ 0.58218546 0.81097849 -0.058086 -22.71166136] [ 0.31936227 -0.16239413 0.93361442 -5.55316183] [ 0. 0. 0. 1. ]] SLAMing on 82.141652532 meters Centerline goodness : 0.756844 Centerline is valid? [False, False] Translation: X:-19.54, Y:-22.74, Z:-5.57 [[ 0.74978548 -0.55992934 -0.35256329 -19.53684002] [ 0.58019531 0.81251367 -0.05652381 -22.74111895] [ 0.31811183 -0.16217484 0.93407932 -5.56660642] [ 0. 0. 0. 1. ]] SLAMing on 82.171652532 meters Centerline goodness : 0.756467 Centerline is valid? [False, False] Translation: X:-19.57, Y:-22.77, Z:-5.58 [[ 0.7522957 -0.55741735 -0.3511938 -19.56791897] [ 0.5779729 0.81424753 -0.05429813 -22.77228455] [ 0.3162254 -0.16213225 0.93472704 -5.57964532] [ 0. 0. 0. 1. ]] SLAMing on 82.201652532 meters Centerline goodness : 0.757150 Centerline is valid? [False, False] Translation: X:-19.60, Y:-22.80, Z:-5.59 [[ 0.75244968 -0.5598395 -0.34698589 -19.5992379 ] [ 0.5794559 0.81312179 -0.0553518 -22.8045866 ] [ 0.31312991 -0.15941358 0.93623553 -5.59246027] [ 0. 0. 0. 1. ]] SLAMing on 82.231652532 meters Centerline goodness : 0.757330 Centerline is valid? [False, False] Translation: X:-19.63, Y:-22.83, Z:-5.60 [[ 0.75360905 -0.55928669 -0.34535749 -19.62837544] [ 0.57891753 0.81357748 -0.05427874 -22.83489137] [ 0.31133245 -0.15902855 0.93690022 -5.60467821] [ 0. 0. 0. 1. ]] SLAMing on 82.26165253199999 meters Centerline goodness : 0.757574 Centerline is valid? [False, False] Translation: X:-19.66, Y:-22.86, Z:-5.62 [[ 0.75471273 -0.5582421 -0.34463669 -19.65678221] [ 0.57796934 0.81431334 -0.05334071 -22.86412067] [ 0.31041929 -0.15893253 0.93721946 -5.61671254] [ 0. 0. 0. 1. ]] SLAMing on 82.29165253199999 meters Centerline goodness : 0.756259 Centerline is valid? [False, False] Translation: X:-19.68, Y:-22.89, Z:-5.63 [[ 0.75340204 -0.56013649 -0.34443067 -19.68070634] [ 0.5798946 0.81292734 -0.05358551 -22.89046465] [ 0.31001231 -0.15936206 0.93728123 -5.62651112] [ 0. 0. 0. 1. ]] SLAMing on 82.32165253199999 meters Centerline goodness : 0.757099 Centerline is valid? [False, False] Translation: X:-19.71, Y:-22.92, Z:-5.64 [[ 0.75194264 -0.56292666 -0.34306828 -19.70835303] [ 0.58191301 0.81133205 -0.05583505 -22.92027758] [ 0.30977333 -0.15765114 0.93764951 -5.63737574] [ 0. 0. 0. 1. ]] SLAMing on 82.35165253199999 meters Centerline goodness : 0.759077 Centerline is valid? [False, False] Translation: X:-19.74, Y:-22.95, Z:-5.65 [[ 0.75285343 -0.56186751 -0.34280695 -19.73604574] [ 0.58108782 0.81199854 -0.05472945 -22.9475847 ] [ 0.30910944 -0.1579977 0.93781026 -5.6494121 ] [ 0. 0. 0. 1. ]] SLAMing on 82.38165253199999 meters Centerline goodness : 0.758290 Centerline is valid? [False, False] Translation: X:-19.76, Y:-22.97, Z:-5.66 [[ 0.75176275 -0.56250357 -0.34415477 -19.75955949] [ 0.58215146 0.81126304 -0.05433186 -22.97255713] [ 0.30976192 -0.15950553 0.93733961 -5.65807717] [ 0. 0. 0. 1. ]] SLAMing on 82.41165253199999 meters Centerline goodness : 0.758420 Centerline is valid? [False, False] Translation: X:-19.79, Y:-23.00, Z:-5.67 [[ 0.75138687 -0.56400908 -0.34250771 -19.78661351] [ 0.58319208 0.81045742 -0.05518846 -23.00014338] [ 0.3087147 -0.1582799 0.93789269 -5.67034483] [ 0. 0. 0. 1. ]] SLAMing on 82.44165253199999 meters Centerline goodness : 0.757256 Centerline is valid? [False, False] Translation: X:-19.82, Y:-23.03, Z:-5.69 [[ 0.75337349 -0.5635991 -0.33879852 -19.82169869] [ 0.58150566 0.81154633 -0.05695371 -23.03477574] [ 0.30704975 -0.15410584 0.93913356 -5.68624511] [ 0. 0. 0. 1. ]] SLAMing on 82.471652532 meters Centerline goodness : 0.756789 Centerline is valid? [False, False] Translation: X:-19.85, Y:-23.06, Z:-5.70 [[ 0.75329618 -0.5640824 -0.3381655 -19.84834926] [ 0.58186338 0.81127889 -0.05711016 -23.0617751 ] [ 0.30656136 -0.15374525 0.93935219 -5.69780377] [ 0. 0. 0. 1. ]] SLAMing on 82.501652532 meters Centerline goodness : 0.756159 Centerline is valid? [False, False] Translation: X:-19.88, Y:-23.09, Z:-5.71 [[ 0.75437259 -0.56358834 -0.33658607 -19.87777615] [ 0.5812268 0.81177225 -0.05657932 -23.09208535] [ 0.30511868 -0.15295095 0.93995138 -5.71005112] [ 0. 0. 0. 1. ]] SLAMing on 82.531652532 meters Centerline goodness : 0.756737 Centerline is valid? [False, False] Translation: X:-19.91, Y:-23.13, Z:-5.72 [[ 0.75564713 -0.56383546 -0.33329716 -19.91235942] [ 0.5805608 0.81216989 -0.05769951 -23.12615456] [ 0.30322695 -0.1498988 0.9410546 -5.72282343] [ 0. 0. 0. 1. ]] SLAMing on 82.561652532 meters Centerline goodness : 0.757701 Centerline is valid? [False, False] Translation: X:-19.94, Y:-23.15, Z:-5.73 [[ 0.75670625 -0.56286183 -0.33253903 -19.94067119] [ 0.57967551 0.81286561 -0.05679617 -23.15464248] [ 0.30227794 -0.14978671 0.94137771 -5.73471626] [ 0. 0. 0. 1. ]] SLAMing on 82.591652532 meters Centerline goodness : 0.755885 Centerline is valid? [False, False] Translation: X:-19.97, Y:-23.18, Z:-5.75 [[ 0.75753858 -0.56247271 -0.33130008 -19.96917076] [ 0.5791522 0.81326152 -0.05646627 -23.18268086] [ 0.30119434 -0.14909779 0.94183428 -5.74737912] [ 0. 0. 0. 1. ]] SLAMing on 82.62165253199998 meters Centerline goodness : 0.757231 Centerline is valid? [False, False] Translation: X:-20.00, Y:-23.21, Z:-5.76 [[ 0.75836694 -0.56134666 -0.33131483 -19.99692537] [ 0.57824209 0.81397262 -0.05553969 -23.21048978] [ 0.30085822 -0.14946071 0.94188419 -5.75857787] [ 0. 0. 0. 1. ]] SLAMing on 82.65165253199999 meters Centerline goodness : 0.755663 Centerline is valid? [False, False] Translation: X:-20.03, Y:-23.24, Z:-5.77 [[ 0.75933893 -0.56137749 -0.32902843 -20.0277819 ] [ 0.57726615 0.81452932 -0.05749583 -23.24036142] [ 0.30028017 -0.14627816 0.94256805 -5.77355441] [ 0. 0. 0. 1. ]] SLAMing on 82.68165253199999 meters Centerline goodness : 0.755371 Centerline is valid? [False, False] Translation: X:-20.06, Y:-23.27, Z:-5.79 [[ 0.76015748 -0.56113511 -0.32754847 -20.05640598] [ 0.57667391 0.81492934 -0.05777001 -23.26978241] [ 0.29934564 -0.14497435 0.94306661 -5.78612036] [ 0. 0. 0. 1. ]] SLAMing on 82.71165253199999 meters Centerline goodness : 0.755158 Centerline is valid? [False, False] Translation: X:-20.09, Y:-23.30, Z:-5.80 [[ 0.76080842 -0.56111506 -0.32606816 -20.08506415] [ 0.57631518 0.81516189 -0.05806813 -23.29912784] [ 0.29838124 -0.14373931 0.94356115 -5.79852262] [ 0. 0. 0. 1. ]] SLAMing on 82.74165253199999 meters Centerline goodness : 0.754688 Centerline is valid? [False, False] Translation: X:-20.12, Y:-23.33, Z:-5.81 [[ 0.76179814 -0.56146437 -0.32314295 -20.11856583] [ 0.57595964 0.8153547 -0.058883 -23.33081673] [ 0.29653683 -0.14126034 0.9445165 -5.81110287] [ 0. 0. 0. 1. ]] SLAMing on 82.77165253199999 meters Centerline goodness : 0.755977 Centerline is valid? [False, False] Translation: X:-20.15, Y:-23.36, Z:-5.82 [[ 0.76222243 -0.56157886 -0.32194123 -20.14652545] [ 0.57602234 0.81534077 -0.05846096 -23.35813911] [ 0.29532225 -0.14088509 0.94495299 -5.82283942] [ 0. 0. 0. 1. ]] SLAMing on 82.80165253199999 meters Centerline goodness : 0.756519 Centerline is valid? [False, False] Translation: X:-20.17, Y:-23.38, Z:-5.83 [[ 0.76176957 -0.56192627 -0.32240657 -20.17251596] [ 0.57641234 0.81505225 -0.0586399 -23.38412759] [ 0.2957295 -0.14116903 0.94478324 -5.83291371] [ 0. 0. 0. 1. ]] SLAMing on 82.83165253199999 meters Centerline goodness : 0.755863 Centerline is valid? [False, False] Translation: X:-20.20, Y:-23.41, Z:-5.84 [[ 0.76249545 -0.56073901 -0.32275758 -20.20031533] [ 0.57536213 0.81583142 -0.05811638 -23.41121128] [ 0.2959039 -0.14138901 0.94469573 -5.84394556] [ 0. 0. 0. 1. ]] SLAMing on 82.861652532 meters Centerline goodness : 0.756126 Centerline is valid? [False, False] Translation: X:-20.24, Y:-23.44, Z:-5.86 [[ 0.76564778 -0.55789175 -0.32021909 -20.23534506] [ 0.57182384 0.81829441 -0.05841016 -23.44388345] [ 0.29462004 -0.1383873 0.94554111 -5.85889654] [ 0. 0. 0. 1. ]] SLAMing on 82.891652532 meters Centerline goodness : 0.754911 Centerline is valid? [False, False] Translation: X:-20.27, Y:-23.48, Z:-5.87 [[ 0.76594149 -0.55920978 -0.3172035 -20.26658822] [ 0.57230587 0.81785039 -0.05988939 -23.47585416] [ 0.29291574 -0.13566566 0.94646458 -5.87088537] [ 0. 0. 0. 1. ]] SLAMing on 82.921652532 meters Centerline goodness : 0.754911 Centerline is valid? [False, False] Translation: X:-20.29, Y:-23.50, Z:-5.88 [[ 0.7661191 -0.55871674 -0.31764307 -20.29319195] [ 0.5718161 0.81818566 -0.05998806 -23.50406103] [ 0.29340734 -0.13567542 0.9463109 -5.88109404] [ 0. 0. 0. 1. ]] SLAMing on 82.951652532 meters Centerline goodness : 0.755252 Centerline is valid? [False, False] Translation: X:-20.32, Y:-23.53, Z:-5.89 [[ 0.7667901 -0.55831211 -0.31673416 -20.32174351] [ 0.5712399 0.81858678 -0.06000557 -23.53291006] [ 0.29277623 -0.13491951 0.94661439 -5.89258314] [ 0. 0. 0. 1. ]] SLAMing on 82.981652532 meters Centerline goodness : 0.756459 Centerline is valid? [False, False] Translation: X:-20.35, Y:-23.56, Z:-5.90 [[ 0.76833559 -0.55673547 -0.31576261 -20.35203418] [ 0.56980595 0.81967859 -0.05872119 -23.56234688] [ 0.29151602 -0.13480584 0.94701943 -5.90397616] [ 0. 0. 0. 1. ]] SLAMing on 83.01165253199999 meters Centerline goodness : 0.756044 Centerline is valid? [False, False] Translation: X:-20.39, Y:-23.59, Z:-5.92 [[ 0.76850088 -0.55844503 -0.31232282 -20.38545583] [ 0.57077422 0.81892491 -0.05982291 -23.59280492] [ 0.28917674 -0.13229186 0.94809054 -5.91602259] [ 0. 0. 0. 1. ]] SLAMing on 83.04165253199999 meters Centerline goodness : 0.755531 Centerline is valid? [False, False] Translation: X:-20.41, Y:-23.62, Z:-5.93 [[ 0.76930314 -0.55747401 -0.31208237 -20.41384645] [ 0.56991727 0.81957234 -0.05912261 -23.62134471] [ 0.2887334 -0.13237793 0.94821364 -5.92665248] [ 0. 0. 0. 1. ]] SLAMing on 83.07165253199999 meters Centerline goodness : 0.753066 Centerline is valid? [False, False] Translation: X:-20.45, Y:-23.65, Z:-5.94 [[ 0.77066551 -0.55622524 -0.31094719 -20.44511779] [ 0.56846075 0.8205931 -0.0589859 -23.65288629] [ 0.28797057 -0.13130288 0.94859502 -5.93821575] [ 0. 0. 0. 1. ]] SLAMing on 83.10165253199999 meters Centerline goodness : 0.754300 Centerline is valid? [False, False] Translation: X:-20.47, Y:-23.68, Z:-5.95 [[ 0.77121425 -0.55607516 -0.30985318 -20.47401817] [ 0.56810172 0.82083254 -0.0591133 -23.68209441] [ 0.28720901 -0.1304391 0.94894501 -5.9492501 ] [ 0. 0. 0. 1. ]] SLAMing on 83.13165253199999 meters Centerline goodness : 0.753021 Centerline is valid? [False, False] Translation: X:-20.50, Y:-23.71, Z:-5.96 [[ 0.77275185 -0.55467754 -0.30852455 -20.50458398] [ 0.56669659 0.82186844 -0.0582 -23.71183732] [ 0.28584883 -0.12986566 0.94943423 -5.96088115] [ 0. 0. 0. 1. ]] SLAMing on 83.16165253199999 meters Centerline goodness : 0.753599 Centerline is valid? [False, False] Translation: X:-20.54, Y:-23.74, Z:-5.97 [[ 0.77419008 -0.55357039 -0.30690314 -20.53503579] [ 0.56557885 0.82270686 -0.05721877 -23.74006977] [ 0.28416593 -0.12927972 0.9500192 -5.9731652 ] [ 0. 0. 0. 1. ]] SLAMing on 83.19165253199999 meters Centerline goodness : 0.753028 Centerline is valid? [False, False] Translation: X:-20.57, Y:-23.77, Z:-5.99 [[ 0.77530718 -0.55279734 -0.30547321 -20.56503502] [ 0.56475345 0.82332046 -0.05654164 -23.76766929] [ 0.28275841 -0.12867991 0.95052047 -5.9850569 ] [ 0. 0. 0. 1. ]] SLAMing on 83.221652532 meters Centerline goodness : 0.753059 Centerline is valid? [False, False] Translation: X:-20.60, Y:-23.80, Z:-6.00 [[ 0.7781771 -0.55032529 -0.30262597 -20.60088032] [ 0.56188045 0.8253197 -0.05601566 -23.80000134] [ 0.28059001 -0.12644951 0.95146191 -5.99829293] [ 0. 0. 0. 1. ]] SLAMing on 83.251652532 meters Centerline goodness : 0.753695 Centerline is valid? [False, False] Translation: X:-20.62, Y:-23.81, Z:-6.01 [[ 0.7801728 -0.55117384 -0.29586787 -20.61743809] [ 0.56009181 0.82610356 -0.06204892 -23.81303064] [ 0.27861724 -0.11730429 0.95321148 -6.00694239] [ 0. 0. 0. 1. ]] SLAMing on 83.281652532 meters Centerline goodness : 0.754304 Centerline is valid? [False, False] Translation: X:-20.65, Y:-23.85, Z:-6.02 [[ 0.78173561 -0.55088384 -0.29226088 -20.65365187] [ 0.55900809 0.82675561 -0.06312777 -23.84633819] [ 0.27640439 -0.11402697 0.95425283 -6.01946101] [ 0. 0. 0. 1. ]] SLAMing on 83.311652532 meters Centerline goodness : 0.754451 Centerline is valid? [False, False] Translation: X:-20.68, Y:-23.87, Z:-6.03 [[ 0.78249047 -0.55000763 -0.29189087 -20.68244568] [ 0.55824403 0.82732658 -0.06240449 -23.87480312] [ 0.27581202 -0.11411542 0.95441364 -6.0296643 ] [ 0. 0. 0. 1. ]] SLAMing on 83.341652532 meters Centerline goodness : 0.755602 Centerline is valid? [False, False] Translation: X:-20.71, Y:-23.90, Z:-6.04 [[ 0.78365795 -0.54844487 -0.29169923 -20.71201114] [ 0.55673697 0.82838543 -0.06181843 -23.9038015 ] [ 0.27554339 -0.11395524 0.95451037 -6.04038445] [ 0. 0. 0. 1. ]] SLAMing on 83.37165253199998 meters Centerline goodness : 0.755584 Centerline is valid? [False, False] Translation: X:-20.74, Y:-23.93, Z:-6.05 [[ 0.78405123 -0.54765828 -0.29211999 -20.73948705] [ 0.55614336 0.82883153 -0.06117886 -23.93183339] [ 0.27562337 -0.11449323 0.95442289 -6.04979407] [ 0. 0. 0. 1. ]] SLAMing on 83.40165253199999 meters Centerline goodness : 0.756660 Centerline is valid? [False, False] Translation: X:-20.77, Y:-23.96, Z:-6.06 [[ 0.78332954 -0.54895671 -0.29161852 -20.76607809] [ 0.55709918 0.82809808 -0.06240262 -23.95838733] [ 0.27574507 -0.11357863 0.95449701 -6.06001611] [ 0. 0. 0. 1. ]] SLAMing on 83.43165253199999 meters Centerline goodness : 0.756496 Centerline is valid? [False, False] Translation: X:-20.80, Y:-23.99, Z:-6.07 [[ 0.78431059 -0.54949353 -0.28794749 -20.80025118] [ 0.55681076 0.8281858 -0.06379692 -23.99317487] [ 0.27353002 -0.11029566 0.95551881 -6.07160826] [ 0. 0. 0. 1. ]] SLAMing on 83.46165253199999 meters Centerline goodness : 0.757207 Centerline is valid? [False, False] Translation: X:-20.83, Y:-24.02, Z:-6.08 [[ 0.78273331 -0.55239901 -0.28667735 -20.82718204] [ 0.55914743 0.82645174 -0.06581548 -24.02143472] [ 0.2732814 -0.10877894 0.95576379 -6.08067695] [ 0. 0. 0. 1. ]] SLAMing on 83.49165253199999 meters Centerline goodness : 0.758645 Centerline is valid? [False, False] Translation: X:-20.85, Y:-24.05, Z:-6.09 [[ 0.78314192 -0.55112144 -0.28801718 -20.85401423] [ 0.55826473 0.82713217 -0.06475227 -24.04871019] [ 0.27391464 -0.11007962 0.95543354 -6.08915661] [ 0. 0. 0. 1. ]] SLAMing on 83.52165253199999 meters Centerline goodness : 0.759292 Centerline is valid? [False, False] Translation: X:-20.88, Y:-24.08, Z:-6.10 [[ 0.78489734 -0.54876487 -0.28773823 -20.88450393] [ 0.55609413 0.82868817 -0.06352355 -24.07644979] [ 0.27330476 -0.11015008 0.95560006 -6.10096155] [ 0. 0. 0. 1. ]] SLAMing on 83.55165253199999 meters Centerline goodness : 0.756676 Centerline is valid? [False, False] Translation: X:-20.91, Y:-24.10, Z:-6.11 [[ 0.7844369 -0.54873789 -0.28904234 -20.90948761] [ 0.5563675 0.82854257 -0.06302713 -24.10111096] [ 0.27406926 -0.11137296 0.95523929 -6.10968226] [ 0. 0. 0. 1. ]] SLAMing on 83.58165253199999 meters Centerline goodness : 0.758326 Centerline is valid? [False, False] Translation: X:-20.94, Y:-24.13, Z:-6.12 [[ 0.78287873 -0.55196079 -0.28712398 -20.93889293] [ 0.55840512 0.82686016 -0.06697766 -24.13234668] [ 0.27438042 -0.10789611 0.95554896 -6.11954829] [ 0. 0. 0. 1. ]] SLAMing on 83.611652532 meters Centerline goodness : 0.756963 Centerline is valid? [False, False] Translation: X:-20.97, Y:-24.16, Z:-6.13 [[ 0.78360036 -0.55116051 -0.28669246 -20.96726313] [ 0.55752115 0.82745997 -0.06693406 -24.16269571] [ 0.27411795 -0.10738755 0.95568157 -6.12965023] [ 0. 0. 0. 1. ]] SLAMing on 83.641652532 meters Centerline goodness : 0.756604 Centerline is valid? [False, False] Translation: X:-21.00, Y:-24.19, Z:-6.14 [[ 0.78497156 -0.549468 -0.28618973 -20.99683713] [ 0.55581294 0.82864719 -0.06645159 -24.19237794] [ 0.27366334 -0.10690535 0.9558659 -6.14083058] [ 0. 0. 0. 1. ]] SLAMing on 83.671652532 meters Centerline goodness : 0.754341 Centerline is valid? [False, False] Translation: X:-21.03, Y:-24.22, Z:-6.15 [[ 0.78435219 -0.55126386 -0.28442889 -21.02818508] [ 0.55672196 0.82781309 -0.06918196 -24.22331717] [ 0.27359148 -0.10408479 0.95619771 -6.15123323] [ 0. 0. 0. 1. ]] SLAMing on 83.701652532 meters Centerline goodness : 0.756979 Centerline is valid? [False, False] Translation: X:-21.06, Y:-24.25, Z:-6.16 [[ 0.7852617 -0.55004742 -0.28427435 -21.05750572] [ 0.55565706 0.82859695 -0.06835443 -24.25198777] [ 0.27314704 -0.10428293 0.95630318 -6.16103206] [ 0. 0. 0. 1. ]] SLAMing on 83.731652532 meters Centerline goodness : 0.755724 Centerline is valid? [False, False] Translation: X:-21.09, Y:-24.28, Z:-6.17 [[ 0.78605234 -0.54887756 -0.28435037 -21.08615675] [ 0.55465535 0.82933208 -0.06757027 -24.27953429] [ 0.27290869 -0.10460268 0.9563363 -6.1711905 ] [ 0. 0. 0. 1. ]] SLAMing on 83.76165253199999 meters Centerline goodness : 0.757727 Centerline is valid? [False, False] Translation: X:-21.12, Y:-24.31, Z:-6.18 [[ 0.7878043 -0.54678069 -0.28354058 -21.1192495 ] [ 0.55240628 0.83084773 -0.06737467 -24.31051302] [ 0.27241821 -0.10355154 0.95659051 -6.18228945] [ 0. 0. 0. 1. ]] SLAMing on 83.79165253199999 meters Centerline goodness : 0.758920 Centerline is valid? [False, False] Translation: X:-21.15, Y:-24.34, Z:-6.19 [[ 0.78848667 -0.54603558 -0.28307935 -21.14762071] [ 0.55160069 0.83139208 -0.06725985 -24.33935911] [ 0.2720762 -0.10311327 0.95673517 -6.19275874] [ 0. 0. 0. 1. ]] SLAMing on 83.82165253199999 meters Centerline goodness : 0.757729 Centerline is valid? [False, False] Translation: X:-21.18, Y:-24.37, Z:-6.21 [[ 0.78972469 -0.54563679 -0.28038441 -21.18219533] [ 0.55031843 0.83207924 -0.06923704 -24.37201092] [ 0.27108032 -0.09962251 0.95738749 -6.20527524] [ 0. 0. 0. 1. ]] SLAMing on 83.85165253199999 meters Centerline goodness : 0.757818 Centerline is valid? [False, False] Translation: X:-21.21, Y:-24.40, Z:-6.22 [[ 0.79169712 -0.54326193 -0.27943182 -21.21415536] [ 0.54795887 0.83370685 -0.06836633 -24.40114914] [ 0.27010505 -0.09899172 0.95772851 -6.21668272] [ 0. 0. 0. 1. ]] SLAMing on 83.88165253199999 meters Centerline goodness : 0.756758 Centerline is valid? [False, False] Translation: X:-21.25, Y:-24.43, Z:-6.23 [[ 0.79375243 -0.54072277 -0.27852464 -21.24642747] [ 0.54566508 0.83534733 -0.06666677 -24.43006072] [ 0.26871305 -0.09906425 0.9581125 -6.2275648 ] [ 0. 0. 0. 1. ]] SLAMing on 83.91165253199999 meters Centerline goodness : 0.756637 Centerline is valid? [False, False] Translation: X:-21.27, Y:-24.46, Z:-6.24 [[ 0.79315315 -0.54109806 -0.2795013 -21.27259485] [ 0.54617861 0.83501501 -0.06662481 -24.455355 ] [ 0.26943834 -0.09981396 0.95783096 -6.23531335] [ 0. 0. 0. 1. ]] SLAMing on 83.94165253199999 meters Centerline goodness : 0.756075 Centerline is valid? [False, False] Translation: X:-21.30, Y:-24.48, Z:-6.25 [[ 0.79392522 -0.54001785 -0.27939839 -21.30085246] [ 0.54518151 0.83570909 -0.06608654 -24.48342954] [ 0.26918369 -0.09985507 0.95789828 -6.24543637] [ 0. 0. 0. 1. ]] SLAMing on 83.971652532 meters Centerline goodness : 0.755808 Centerline is valid? [False, False] Translation: X:-21.33, Y:-24.51, Z:-6.25 [[ 0.79695273 -0.53564131 -0.27920375 -21.32764213] [ 0.53811345 0.83955757 -0.07467929 -24.50868216] [ 0.27440894 -0.09072743 0.95732349 -6.24966174] [ 0. 0. 0. 1. ]] SLAMing on 84.001652532 meters Centerline goodness : 0.755386 Centerline is valid? [False, False] Translation: X:-21.36, Y:-24.54, Z:-6.26 [[ 0.79962011 -0.53185572 -0.27881387 -21.36001555] [ 0.53473239 0.84191208 -0.07242458 -24.53839077] [ 0.27325619 -0.09117866 0.95761031 -6.26118826] [ 0. 0. 0. 1. ]] SLAMing on 84.031652532 meters Centerline goodness : 0.752338 Centerline is valid? [False, False] Translation: X:-21.39, Y:-24.56, Z:-6.27 [[ 0.79910043 -0.53173954 -0.28052017 -21.38523894] [ 0.53499949 0.84180726 -0.07166645 -24.56362424] [ 0.2742518 -0.09280946 0.95716893 -6.26855872] [ 0. 0. 0. 1. ]] SLAMing on 84.061652532 meters Centerline goodness : 0.753381 Centerline is valid? [False, False] Translation: X:-21.42, Y:-24.59, Z:-6.28 [[ 0.79809379 -0.53389791 -0.27928359 -21.41510101] [ 0.53620397 0.84075332 -0.07496104 -24.59448794] [ 0.27483015 -0.08992703 0.95727818 -6.27868596] [ 0. 0. 0. 1. ]] SLAMing on 84.091652532 meters Centerline goodness : 0.753678 Centerline is valid? [False, False] Translation: X:-21.45, Y:-24.62, Z:-6.29 [[ 0.79973737 -0.53153165 -0.27909539 -21.44520867] [ 0.53412838 0.84220728 -0.07344224 -24.62380937] [ 0.27409305 -0.09033826 0.95745078 -6.2894671 ] [ 0. 0. 0. 1. ]] SLAMing on 84.12165253199998 meters Centerline goodness : 0.751747 Centerline is valid? [False, False] Translation: X:-21.47, Y:-24.65, Z:-6.30 [[ 0.80042852 -0.52880573 -0.28227413 -21.46943149] [ 0.53240323 0.84354408 -0.07057043 -24.64857971] [ 0.27542871 -0.09379707 0.95673462 -6.29692518] [ 0. 0. 0. 1. ]] SLAMing on 84.15165253199999 meters Centerline goodness : 0.750876 Centerline is valid? [False, False] Translation: X:-21.49, Y:-24.67, Z:-6.30 [[ 0.79820955 -0.52947263 -0.28726337 -21.48698822] [ 0.53394673 0.8426575 -0.0694927 -24.6686 ] [ 0.27885912 -0.0979136 0.95532744 -6.30102531] [ 0. 0. 0. 1. ]] SLAMing on 84.18165253199999 meters Centerline goodness : 0.750213 Centerline is valid? [False, False] Translation: X:-21.51, Y:-24.70, Z:-6.31 [[ 0.79770378 -0.53017514 -0.2873726 -21.51320325] [ 0.53464625 0.84219857 -0.0696775 -24.69598006] [ 0.27896607 -0.09806068 0.95528113 -6.31018796] [ 0. 0. 0. 1. ]] SLAMing on 84.21165253199999 meters Centerline goodness : 0.750098 Centerline is valid? [False, False] Translation: X:-21.54, Y:-24.72, Z:-6.32 [[ 0.79646864 -0.531634 -0.28810241 -21.53794208] [ 0.53625829 0.84117079 -0.06970469 -24.72267212] [ 0.27940071 -0.0989797 0.9550593 -6.31724734] [ 0. 0. 0. 1. ]] SLAMing on 84.24165253199999 meters Centerline goodness : 0.751940 Centerline is valid? [False, False] Translation: X:-21.57, Y:-24.76, Z:-6.33 [[ 0.7975849 -0.53159229 -0.28507537 -21.57241789] [ 0.53604708 0.84135123 -0.06914934 -24.75590352] [ 0.27660777 -0.09766135 0.95600753 -6.32741794] [ 0. 0. 0. 1. ]] SLAMing on 84.27165253199999 meters Centerline goodness : 0.750415 Centerline is valid? [False, False] Translation: X:-21.60, Y:-24.78, Z:-6.34 [[ 0.79870925 -0.53024883 -0.28442876 -21.60222638] [ 0.53505543 0.84212134 -0.06743388 -24.78447491] [ 0.27528026 -0.09832508 0.95632262 -6.33732286] [ 0. 0. 0. 1. ]] SLAMing on 84.30165253199999 meters Centerline goodness : 0.749119 Centerline is valid? [False, False] Translation: X:-21.63, Y:-24.81, Z:-6.35 [[ 0.79895042 -0.52962673 -0.28491009 -21.62934576] [ 0.53492304 0.84233494 -0.0657966 -24.81150554] [ 0.27483736 -0.09983675 0.95629339 -6.34573568] [ 0. 0. 0. 1. ]] SLAMing on 84.33165253199999 meters Centerline goodness : 0.748796 Centerline is valid? [False, False] Translation: X:-21.66, Y:-24.84, Z:-6.36 [[ 0.79876636 -0.52978154 -0.28513825 -21.65701448] [ 0.53492296 0.84228359 -0.0664514 -24.84045934] [ 0.27537199 -0.09944785 0.9561801 -6.35550838] [ 0. 0. 0. 1. ]] SLAMing on 84.361652532 meters Centerline goodness : 0.746464 Centerline is valid? [False, False] Translation: X:-21.69, Y:-24.87, Z:-6.37 [[ 0.8004418 -0.52766802 -0.28435785 -21.68769044] [ 0.53296201 0.84362153 -0.06522429 -24.86931675] [ 0.27430718 -0.09934368 0.95649694 -6.36679693] [ 0. 0. 0. 1. ]] SLAMing on 84.391652532 meters Centerline goodness : 0.746619 Centerline is valid? [False, False] Translation: X:-21.70, Y:-24.88, Z:-6.38 [[ 0.80347617 -0.52546633 -0.27984135 -21.7009204 ] [ 0.52932513 0.84567659 -0.06816165 -24.87779774] [ 0.27247193 -0.0933608 0.95762352 -6.37517625] [ 0. 0. 0. 1. ]] SLAMing on 84.421652532 meters Centerline goodness : 0.745803 Centerline is valid? [False, False] Translation: X:-21.71, Y:-24.89, Z:-6.38 [[ 0.80646899 -0.52315242 -0.27553459 -21.71413848] [ 0.52580668 0.84767941 -0.07047664 -24.88684163] [ 0.27043502 -0.08804071 0.95870419 -6.38251447] [ 0. 0. 0. 1. ]] SLAMing on 84.451652532 meters Centerline goodness : 0.745607 Centerline is valid? [False, False] Translation: X:-21.72, Y:-24.89, Z:-6.38 [[ 0.80317136 -0.53087677 -0.27034353 -21.71741943] [ 0.53170207 0.84345541 -0.07665435 -24.88879897] [ 0.26871673 -0.08217564 0.9597075 -6.3838824 ] [ 0. 0. 0. 1. ]] SLAMing on 84.48165253199998 meters Centerline goodness : 0.745722 Centerline is valid? [False, False] Translation: X:-21.73, Y:-24.90, Z:-6.39 [[ 0.80448732 -0.53215066 -0.26384811 -21.73116007] [ 0.53106943 0.84337713 -0.08173292 -24.90064307] [ 0.26601769 -0.07436857 0.96109516 -6.39099421] [ 0. 0. 0. 1. ]] SLAMing on 84.51165253199999 meters Centerline goodness : 0.742912 Centerline is valid? [False, False] Translation: X:-21.75, Y:-24.92, Z:-6.39 [[ 0.80139573 -0.53487519 -0.26771892 -21.74930762] [ 0.53434337 0.84133939 -0.08139534 -24.92355218] [ 0.26877882 -0.07782395 0.9600528 -6.3933894 ] [ 0. 0. 0. 1. ]] SLAMing on 84.54165253199999 meters Centerline goodness : 0.742137 Centerline is valid? [False, False] Translation: X:-21.77, Y:-24.95, Z:-6.40 [[ 0.79836733 -0.53735212 -0.27177619 -21.76726365] [ 0.53741004 0.83942187 -0.08100234 -24.94628877] [ 0.27166166 -0.08138564 0.95894542 -6.39666014] [ 0. 0. 0. 1. ]] SLAMing on 84.57165253199999 meters Centerline goodness : 0.740298 Centerline is valid? [False, False] Translation: X:-21.79, Y:-24.97, Z:-6.40 [[ 0.79864518 -0.53455948 -0.27642728 -21.78934766] [ 0.53604034 0.84067367 -0.07699692 -24.97082306] [ 0.27354457 -0.08668295 0.95794542 -6.40139573] [ 0. 0. 0. 1. ]] SLAMing on 84.60165253199999 meters Centerline goodness : 0.737886 Centerline is valid? [False, False] Translation: X:-21.80, Y:-24.98, Z:-6.41 [[ 0.79784629 -0.53906288 -0.26991202 -21.80117661] [ 0.54194475 0.83744604 -0.07056917 -24.98206339] [ 0.26407797 -0.08997405 0.96029552 -6.41115253] [ 0. 0. 0. 1. ]] SLAMing on 84.63165253199999 meters Centerline goodness : 0.737119 Centerline is valid? [False, False] Translation: X:-21.80, Y:-24.98, Z:-6.41 [[ 0.79649476 -0.54240765 -0.26718913 -21.804453 ] [ 0.54455417 0.83555238 -0.07289016 -24.98425994] [ 0.2627867 -0.08744233 0.96088344 -6.41123394] [ 0. 0. 0. 1. ]] SLAMing on 84.66165253199999 meters Centerline goodness : 0.737070 Centerline is valid? [False, False] Translation: X:-21.80, Y:-24.99, Z:-6.41 [[ 0.79463921 -0.54619952 -0.26498039 -21.80474955] [ 0.54763789 0.83331118 -0.07540041 -24.9872984 ] [ 0.26199479 -0.08519718 0.96130129 -6.41076822] [ 0. 0. 0. 1. ]] SLAMing on 84.69165253199999 meters Centerline goodness : 0.735985 Centerline is valid? [False, False] Translation: X:-21.81, Y:-24.99, Z:-6.41 [[ 0.79375252 -0.5487673 -0.26231924 -21.80974361] [ 0.54954236 0.83187271 -0.0774015 -24.98914292] [ 0.26069163 -0.08271789 0.96187194 -6.41074253] [ 0. 0. 0. 1. ]] SLAMing on 84.721652532 meters Centerline goodness : 0.737752 Centerline is valid? [False, False] Translation: X:-21.81, Y:-24.99, Z:-6.41 [[ 0.79438777 -0.54802428 -0.26194935 -21.81205926] [ 0.54894184 0.8323414 -0.07662021 -24.99059237] [ 0.26002102 -0.0829288 0.96203528 -6.41087767] [ 0. 0. 0. 1. ]] SLAMing on 84.751652532 meters Centerline goodness : 0.737347 Centerline is valid? [False, False] Translation: X:-21.81, Y:-24.99, Z:-6.41 [[ 0.79477058 -0.54757012 -0.26173782 -21.81348316] [ 0.54859001 0.83262193 -0.07609025 -24.99168716] [ 0.2595934 -0.08311246 0.96213491 -6.41090072] [ 0. 0. 0. 1. ]] SLAMing on 84.781652532 meters Centerline goodness : 0.736301 Centerline is valid? [False, False] Translation: X:-21.82, Y:-25.00, Z:-6.41 [[ 0.79425323 -0.55014195 -0.25788687 -21.81855907] [ 0.55039811 0.83124011 -0.07811401 -24.99605585] [ 0.2573397 -0.07989814 0.96301224 -6.41333923] [ 0. 0. 0. 1. ]] SLAMing on 84.811652532 meters Centerline goodness : 0.735123 Centerline is valid? [False, False] Translation: X:-21.82, Y:-25.00, Z:-6.41 [[ 0.7928541 -0.55348931 -0.25501366 -21.82167111] [ 0.55301385 0.82927202 -0.08052077 -24.99799036] [ 0.25604307 -0.07718486 0.96357898 -6.41385341] [ 0. 0. 0. 1. ]] SLAMing on 84.841652532 meters Centerline goodness : 0.735123 Centerline is valid? [False, False] Translation: X:-21.82, Y:-25.00, Z:-6.41 [[ 0.7928541 -0.55348931 -0.25501366 -21.82167111] [ 0.55301385 0.82927202 -0.08052077 -24.99799036] [ 0.25604307 -0.07718486 0.96357898 -6.41385341] [ 0. 0. 0. 1. ]] SLAMing on 84.87165253199998 meters Centerline goodness : 0.734769 Centerline is valid? [False, False] Translation: X:-21.83, Y:-25.00, Z:-6.41 [[ 0.79161095 -0.55662066 -0.25204276 -21.82573023] [ 0.55544009 0.82742409 -0.08279899 -24.99981983] [ 0.25463388 -0.07445007 0.9641674 -6.4143842 ] [ 0. 0. 0. 1. ]] SLAMing on 84.90165253199999 meters Centerline goodness : 0.737139 Centerline is valid? [False, False] Translation: X:-21.83, Y:-25.00, Z:-6.41 [[ 0.78997736 -0.56018597 -0.24925378 -21.82866054] [ 0.55827323 0.82525553 -0.08534817 -25.00121814] [ 0.2535089 -0.07172859 0.96467002 -6.4146351 ] [ 0. 0. 0. 1. ]] SLAMing on 84.93165253199999 meters Centerline goodness : 0.734409 Centerline is valid? [False, False] Translation: X:-21.83, Y:-25.00, Z:-6.42 [[ 0.78862101 -0.56362127 -0.24578032 -21.83258564] [ 0.56087625 0.82319867 -0.08810094 -25.00177353] [ 0.2519816 -0.06837409 0.96531355 -6.41661888] [ 0. 0. 0. 1. ]] SLAMing on 84.96165253199999 meters Centerline goodness : 0.734445 Centerline is valid? [False, False] Translation: X:-21.84, Y:-25.00, Z:-6.42 [[ 0.78955536 -0.56255887 -0.24521391 -21.83617929] [ 0.55998839 0.82391019 -0.08709191 -25.00344314] [ 0.25102857 -0.06855306 0.96554914 -6.41687633] [ 0. 0. 0. 1. ]] SLAMing on 84.99165253199999 meters Centerline goodness : 0.732614 Centerline is valid? [False, False] Translation: X:-21.84, Y:-25.00, Z:-6.42 [[ 0.79014327 -0.56191539 -0.24479523 -21.83867081] [ 0.55948017 0.8243341 -0.08634371 -25.00469076] [ 0.25031092 -0.06873418 0.96572256 -6.41707759] [ 0. 0. 0. 1. ]] SLAMing on 85.02165253199999 meters Centerline goodness : 0.731122 Centerline is valid? [False, False] Translation: X:-21.84, Y:-25.01, Z:-6.42 [[ 0.78874961 -0.56518061 -0.24175385 -21.84244753] [ 0.56200446 0.82234303 -0.08889842 -25.00591881] [ 0.24904826 -0.06574815 0.96625677 -6.41784165] [ 0. 0. 0. 1. ]] SLAMing on 85.05165253199999 meters Centerline goodness : 0.731037 Centerline is valid? [False, False] Translation: X:-21.84, Y:-25.01, Z:-6.42 [[ 0.78938607 -0.56434879 -0.24161969 -21.84439891] [ 0.56134659 0.82288365 -0.08804833 -25.00820226] [ 0.24851486 -0.06612827 0.96636816 -6.41726404] [ 0. 0. 0. 1. ]] SLAMing on 85.08165253199999 meters Centerline goodness : 0.727164 Centerline is valid? [False, False] Translation: X:-21.85, Y:-25.01, Z:-6.42 [[ 0.78829844 -0.56705529 -0.23881764 -21.84911552] [ 0.56344779 0.82122498 -0.09008949 -25.01012636] [ 0.24720874 -0.06354387 0.96687642 -6.4172947 ] [ 0. 0. 0. 1. ]] SLAMing on 85.111652532 meters Centerline goodness : 0.725101 Centerline is valid? [False, False] Translation: X:-21.87, Y:-25.03, Z:-6.42 [[ 0.78670045 -0.56655 -0.24520095 -21.86526412] [ 0.56385878 0.82114564 -0.08822196 -25.03272438] [ 0.25132784 -0.06885445 0.96544983 -6.41898483] [ 0. 0. 0. 1. ]] SLAMing on 85.141652532 meters Centerline goodness : 0.722088 Centerline is valid? [False, False] Translation: X:-21.87, Y:-25.04, Z:-6.43 [[ 0.78747657 -0.5677989 -0.2397604 -21.87398036] [ 0.56411121 0.82069371 -0.09077658 -25.04010514] [ 0.24831269 -0.0637671 0.96657879 -6.42524093] [ 0. 0. 0. 1. ]] SLAMing on 85.171652532 meters Centerline goodness : 0.723452 Centerline is valid? [False, False] Translation: X:-21.88, Y:-25.04, Z:-6.43 [[ 0.78784955 -0.56735874 -0.23957702 -21.87534074] [ 0.56377475 0.82098281 -0.09025108 -25.04125983] [ 0.24789335 -0.0639632 0.96667347 -6.42515103] [ 0. 0. 0. 1. ]] SLAMing on 85.201652532 meters Centerline goodness : 0.722119 Centerline is valid? [False, False] Translation: X:-21.89, Y:-25.05, Z:-6.43 [[ 0.79006601 -0.56582198 -0.23588384 -21.88957944] [ 0.56092437 0.82249195 -0.09418511 -25.05444957] [ 0.24730457 -0.05790054 0.96720628 -6.42906123] [ 0. 0. 0. 1. ]] SLAMing on 85.23165253199998 meters Centerline goodness : 0.721379 Centerline is valid? [False, False] Translation: X:-21.89, Y:-25.06, Z:-6.43 [[ 0.79043516 -0.56531468 -0.23586346 -21.89095399] [ 0.56055911 0.82281421 -0.09354281 -25.0557819 ] [ 0.24695293 -0.05827589 0.96727358 -6.42858352] [ 0. 0. 0. 1. ]] SLAMing on 85.26165253199999 meters Centerline goodness : 0.720116 Centerline is valid? [False, False] Translation: X:-21.91, Y:-25.08, Z:-6.43 [[ 0.78815966 -0.56521862 -0.24358213 -21.90515937] [ 0.56172397 0.82234528 -0.09063345 -25.07548894] [ 0.25153633 -0.0653923 0.96563623 -6.42786886] [ 0. 0. 0. 1. ]] SLAMing on 85.29165253199999 meters Centerline goodness : 0.717473 Centerline is valid? [False, False] Translation: X:-21.92, Y:-25.09, Z:-6.44 [[ 0.79077339 -0.56380888 -0.2383212 -21.91858823] [ 0.55883342 0.82384852 -0.09475663 -25.08776756] [ 0.2497652 -0.05825083 0.96655273 -6.43574343] [ 0. 0. 0. 1. ]] SLAMing on 85.32165253199999 meters Centerline goodness : 0.715866 Centerline is valid? [False, False] Translation: X:-21.93, Y:-25.10, Z:-6.44 [[ 0.79263914 -0.56066592 -0.2395348 -21.93325356] [ 0.55406991 0.8263525 -0.10073769 -25.10186882] [ 0.25442037 -0.05287039 0.96564745 -6.43548804] [ 0. 0. 0. 1. ]] SLAMing on 85.35165253199999 meters Centerline goodness : 0.712778 Centerline is valid? [False, False] Translation: X:-21.95, Y:-25.12, Z:-6.44 [[ 0.79272341 -0.55648392 -0.24882772 -21.94928456] [ 0.55184568 0.82853329 -0.09486268 -25.12209792] [ 0.2589516 -0.06211464 0.96389099 -6.43520295] [ 0. 0. 0. 1. ]] SLAMing on 85.38165253199999 meters Centerline goodness : 0.708180 Centerline is valid? [False, False] Translation: X:-21.97, Y:-25.15, Z:-6.44 [[ 0.79282498 -0.55426115 -0.25342282 -21.97207664] [ 0.55068489 0.82965629 -0.09174196 -25.15030625] [ 0.26110284 -0.0668208 0.96299548 -6.43838837] [ 0. 0. 0. 1. ]] SLAMing on 85.41165253199999 meters Centerline goodness : 0.706362 Centerline is valid? [False, False] Translation: X:-21.99, Y:-25.18, Z:-6.44 [[ 0.792627 -0.55167502 -0.25960954 -21.99189572] [ 0.54961073 0.83082803 -0.08748047 -25.17559209] [ 0.26395167 -0.07334481 0.96174324 -6.43991285] [ 0. 0. 0. 1. ]] SLAMing on 85.44165253199999 meters Centerline goodness : 0.704618 Centerline is valid? [False, False] Translation: X:-22.01, Y:-25.20, Z:-6.44 [[ 0.79106387 -0.55094899 -0.26584425 -22.0096903 ] [ 0.55021149 0.83074567 -0.08443311 -25.20006259] [ 0.26736729 -0.07947858 0.96031135 -6.4402978 ] [ 0. 0. 0. 1. ]] SLAMing on 85.471652532 meters Centerline goodness : 0.700247 Centerline is valid? [False, False] Translation: X:-22.03, Y:-25.22, Z:-6.44 [[ 0.78913505 -0.55064127 -0.27213978 -22.02622503] [ 0.55126057 0.83033619 -0.08156961 -25.22264881] [ 0.2708831 -0.0856505 0.95879421 -6.44114031] [ 0. 0. 0. 1. ]] SLAMing on 85.501652532 meters Centerline goodness : 0.702834 Centerline is valid? [False, False] Translation: X:-22.05, Y:-25.25, Z:-6.44 [[ 0.78811572 -0.54983208 -0.27669169 -22.0478058 ] [ 0.55159966 0.8303666 -0.07892478 -25.25064759] [ 0.27315092 -0.09042118 0.95771216 -6.44349013] [ 0. 0. 0. 1. ]] SLAMing on 85.531652532 meters Centerline goodness : 0.704815 Centerline is valid? [False, False] Translation: X:-22.07, Y:-25.27, Z:-6.44 [[ 0.78629396 -0.54935764 -0.28275078 -22.06532795] [ 0.55250341 0.83001959 -0.07620672 -25.27374634] [ 0.27655343 -0.09629989 0.95616135 -6.44467827] [ 0. 0. 0. 1. ]] SLAMing on 85.561652532 meters Centerline goodness : 0.705507 Centerline is valid? [False, False] Translation: X:-22.09, Y:-25.30, Z:-6.45 [[ 0.78593595 -0.54725952 -0.28777022 -22.08651817] [ 0.55166741 0.83083318 -0.07334364 -25.30000572] [ 0.27922705 -0.10111005 0.95488691 -6.44831778] [ 0. 0. 0. 1. ]] SLAMing on 85.591652532 meters Centerline goodness : 0.705025 Centerline is valid? [False, False] Translation: X:-22.11, Y:-25.33, Z:-6.45 [[ 0.78355273 -0.54876028 -0.29138853 -22.1068126 ] [ 0.55401739 0.82937239 -0.0721538 -25.32864137] [ 0.28126474 -0.104898 0.95387974 -6.45040374] [ 0. 0. 0. 1. ]] SLAMing on 85.62165253199998 meters Centerline goodness : 0.703496 Centerline is valid? [False, False] Translation: X:-22.13, Y:-25.35, Z:-6.45 [[ 0.78189021 -0.54906105 -0.29526203 -22.12796776] [ 0.55528541 0.82866627 -0.0705006 -25.35487103] [ 0.28338282 -0.10883097 0.95281163 -6.45365863] [ 0. 0. 0. 1. ]] SLAMing on 85.65165253199999 meters Centerline goodness : 0.703098 Centerline is valid? [False, False] Translation: X:-22.15, Y:-25.38, Z:-6.46 [[ 0.77970727 -0.54919456 -0.30073561 -22.1450008 ] [ 0.55662636 0.82791232 -0.0687625 -25.37686186] [ 0.28674671 -0.11378274 0.95122543 -6.45641929] [ 0. 0. 0. 1. ]] SLAMing on 85.68165253199999 meters Centerline goodness : 0.703633 Centerline is valid? [False, False] Translation: X:-22.16, Y:-25.40, Z:-6.46 [[ 0.77714957 -0.54966636 -0.30643996 -22.16103598] [ 0.55835706 0.82687794 -0.06715848 -25.39735349] [ 0.2903032 -0.11891073 0.94951793 -6.4591472 ] [ 0. 0. 0. 1. ]] SLAMing on 85.71165253199999 meters Centerline goodness : 0.707938 Centerline is valid? [False, False] Translation: X:-22.18, Y:-25.42, Z:-6.47 [[ 0.7755207 -0.55036238 -0.30930389 -22.18298638] [ 0.55949667 0.82611077 -0.06711535 -25.42434181] [ 0.29245704 -0.12100515 0.94859192 -6.46538595] [ 0. 0. 0. 1. ]] SLAMing on 85.74165253199999 meters Centerline goodness : 0.707851 Centerline is valid? [False, False] Translation: X:-22.20, Y:-25.45, Z:-6.47 [[ 0.77485058 -0.54916079 -0.31309583 -22.20436973] [ 0.55931411 0.82638308 -0.06525901 -25.44888897] [ 0.29457479 -0.12455293 0.94747679 -6.47171353] [ 0. 0. 0. 1. ]] SLAMing on 85.77165253199999 meters Centerline goodness : 0.708095 Centerline is valid? [False, False] Translation: X:-22.23, Y:-25.48, Z:-6.48 [[ 0.77402965 -0.54901495 -0.31537388 -22.22839355] [ 0.55985054 0.82611253 -0.06407385 -25.47512381] [ 0.29571182 -0.12696718 0.94680191 -6.47824133] [ 0. 0. 0. 1. ]] SLAMing on 85.80165253199999 meters Centerline goodness : 0.708152 Centerline is valid? [False, False] Translation: X:-22.26, Y:-25.50, Z:-6.49 [[ 0.77393692 -0.5485646 -0.31638351 -22.25514549] [ 0.55988865 0.82617853 -0.06287874 -25.50326776] [ 0.29588231 -0.12847536 0.94654516 -6.48619452] [ 0. 0. 0. 1. ]] SLAMing on 85.83165253199999 meters Centerline goodness : 0.708492 Centerline is valid? [False, False] Translation: X:-22.28, Y:-25.53, Z:-6.49 [[ 0.77164941 -0.55068439 -0.31828273 -22.27784819] [ 0.56234167 0.82448932 -0.06316015 -25.53019777] [ 0.29720202 -0.13024615 0.94588947 -6.49140101] [ 0. 0. 0. 1. ]] SLAMing on 85.861652532 meters Centerline goodness : 0.710228 Centerline is valid? [False, False] Translation: X:-22.30, Y:-25.56, Z:-6.50 [[ 0.77119534 -0.55080687 -0.31917006 -22.30312447] [ 0.56273364 0.82425342 -0.06274676 -25.55723961] [ 0.29763836 -0.13121772 0.94561795 -6.50046759] [ 0. 0. 0. 1. ]] SLAMing on 85.891652532 meters Centerline goodness : 0.711442 Centerline is valid? [False, False] Translation: X:-22.33, Y:-25.59, Z:-6.51 [[ 0.77123948 -0.55034063 -0.31986693 -22.32966154] [ 0.56258895 0.82441221 -0.06195303 -25.58512602] [ 0.29779747 -0.13217298 0.9454348 -6.50973767] [ 0. 0. 0. 1. ]] SLAMing on 85.921652532 meters Centerline goodness : 0.714847 Centerline is valid? [False, False] Translation: X:-22.36, Y:-25.61, Z:-6.52 [[ 0.77176475 -0.54985361 -0.31943726 -22.35896448] [ 0.56245532 0.82460998 -0.06051764 -25.61461466] [ 0.296687 -0.13296381 0.94567301 -6.51961951] [ 0. 0. 0. 1. ]] SLAMing on 85.951652532 meters Centerline goodness : 0.714597 Centerline is valid? [False, False] Translation: X:-22.39, Y:-25.64, Z:-6.53 [[ 0.77161719 -0.54972085 -0.32002173 -22.38547428] [ 0.56275666 0.82448666 -0.05938596 -25.64191616] [ 0.29649935 -0.13427113 0.94554714 -6.52823482] [ 0. 0. 0. 1. ]] SLAMing on 85.98165253199998 meters Centerline goodness : 0.714377 Centerline is valid? [False, False] Translation: X:-22.41, Y:-25.67, Z:-6.54 [[ 0.77244316 -0.54873269 -0.31972487 -22.4137963 ] [ 0.56215239 0.82501145 -0.05779964 -25.67063109] [ 0.29549323 -0.13508716 0.94574585 -6.53843889] [ 0. 0. 0. 1. ]] SLAMing on 86.01165253199999 meters Centerline goodness : 0.711548 Centerline is valid? [False, False] Translation: X:-22.44, Y:-25.70, Z:-6.55 [[ 0.77357802 -0.54763242 -0.31886639 -22.44207192] [ 0.56137599 0.82565716 -0.0561003 -25.69837446] [ 0.29399666 -0.13560598 0.94613793 -6.54974339] [ 0. 0. 0. 1. ]] SLAMing on 86.04165253199999 meters Centerline goodness : 0.713192 Centerline is valid? [False, False] Translation: X:-22.47, Y:-25.73, Z:-6.56 [[ 0.77533748 -0.54587237 -0.31760849 -22.47309259] [ 0.55966521 0.82689554 -0.05494192 -25.7284732 ] [ 0.29262032 -0.13515589 0.94662888 -6.56182372] [ 0. 0. 0. 1. ]] SLAMing on 86.07165253199999 meters Centerline goodness : 0.711665 Centerline is valid? [False, False] Translation: X:-22.51, Y:-25.76, Z:-6.57 [[ 0.77565812 -0.54734426 -0.31427495 -22.50550081] [ 0.56056274 0.82625084 -0.05548839 -25.76007325] [ 0.2900412 -0.13313081 0.94770897 -6.57343486] [ 0. 0. 0. 1. ]] SLAMing on 86.10165253199999 meters Centerline goodness : 0.710809 Centerline is valid? [False, False] Translation: X:-22.54, Y:-25.79, Z:-6.58 [[ 0.77514791 -0.54971999 -0.31137381 -22.5350486 ] [ 0.56238442 0.82495038 -0.05639719 -25.78939984] [ 0.28787061 -0.13139561 0.94861252 -6.58463534] [ 0. 0. 0. 1. ]] SLAMing on 86.13165253199999 meters Centerline goodness : 0.710991 Centerline is valid? [False, False] Translation: X:-22.56, Y:-25.81, Z:-6.59 [[ 0.77336508 -0.55162712 -0.31243235 -22.55800641] [ 0.5643302 0.82356587 -0.05718998 -25.81491212] [ 0.28885616 -0.13208628 0.94821692 -6.59244895] [ 0. 0. 0. 1. ]] SLAMing on 86.16165253199999 meters Centerline goodness : 0.706564 Centerline is valid? [False, False] Translation: X:-22.59, Y:-25.85, Z:-6.60 [[ 0.77302303 -0.55320865 -0.31047637 -22.58745391] [ 0.56545 0.8227339 -0.05809665 -25.84673062] [ 0.287579 -0.13064882 0.94880409 -6.60302527] [ 0. 0. 0. 1. ]] SLAMing on 86.19165253199999 meters Centerline goodness : 0.707787 Centerline is valid? [False, False] Translation: X:-22.61, Y:-25.87, Z:-6.61 [[ 0.77339797 -0.55236487 -0.31104442 -22.61436802] [ 0.56486384 0.82318928 -0.05734325 -25.87389432] [ 0.28772283 -0.13134859 0.94866386 -6.61318223] [ 0. 0. 0. 1. ]] SLAMing on 86.221652532 meters Centerline goodness : 0.705237 Centerline is valid? [False, False] Translation: X:-22.64, Y:-25.90, Z:-6.62 [[ 0.77388571 -0.55174324 -0.31093457 -22.64159405] [ 0.56466356 0.823435 -0.05576617 -25.90085563] [ 0.28680301 -0.13241678 0.94879388 -6.62313836] [ 0. 0. 0. 1. ]] SLAMing on 86.251652532 meters Centerline goodness : 0.704359 Centerline is valid? [False, False] Translation: X:-22.66, Y:-25.92, Z:-6.63 [[ 0.77213084 -0.55287678 -0.31327501 -22.66344628] [ 0.56605645 0.82244136 -0.05630547 -25.92476461] [ 0.28878031 -0.13385615 0.94799181 -6.63053944] [ 0. 0. 0. 1. ]] SLAMing on 86.281652532 meters Centerline goodness : 0.702337 Centerline is valid? [False, False] Translation: X:-22.69, Y:-25.96, Z:-6.64 [[ 0.770982 -0.5552305 -0.31193885 -22.69183791] [ 0.56758154 0.82120944 -0.05887495 -25.95656273] [ 0.28885629 -0.13165921 0.94827627 -6.64076059] [ 0. 0. 0. 1. ]] SLAMing on 86.311652532 meters Centerline goodness : 0.702366 Centerline is valid? [False, False] Translation: X:-22.72, Y:-25.98, Z:-6.65 [[ 0.77017096 -0.55633616 -0.31197239 -22.71781014] [ 0.56858525 0.82047244 -0.05946244 -25.98434687] [ 0.28904585 -0.13158666 0.94822858 -6.65014712] [ 0. 0. 0. 1. ]] SLAMing on 86.341652532 meters Centerline goodness : 0.700549 Centerline is valid? [False, False] Translation: X:-22.75, Y:-26.01, Z:-6.66 [[ 0.77040668 -0.55680332 -0.31055371 -22.74616957] [ 0.5688502 0.82028314 -0.05954004 -26.01291152] [ 0.28789407 -0.13078849 0.94868929 -6.66161381] [ 0. 0. 0. 1. ]] SLAMing on 86.37165253199998 meters Centerline goodness : 0.698022 Centerline is valid? [False, False] Translation: X:-22.77, Y:-26.04, Z:-6.67 [[ 0.76924816 -0.55752809 -0.31212128 -22.76985467] [ 0.5699071 0.81956195 -0.05936417 -26.03877969] [ 0.28889992 -0.13221435 0.94818574 -6.66900793] [ 0. 0. 0. 1. ]] SLAMing on 86.40165253199999 meters Centerline goodness : 0.698863 Centerline is valid? [False, False] Translation: X:-22.79, Y:-26.06, Z:-6.67 [[ 0.76522846 -0.56131027 -0.31520816 -22.7873364 ] [ 0.57390778 0.81664636 -0.0609801 -26.06163678] [ 0.29164236 -0.13423671 0.94706137 -6.67274396] [ 0. 0. 0. 1. ]] SLAMing on 86.43165253199999 meters Centerline goodness : 0.699601 Centerline is valid? [False, False] Translation: X:-22.82, Y:-26.10, Z:-6.68 [[ 0.76447278 -0.56322701 -0.31361872 -22.81621719] [ 0.57527983 0.81557363 -0.0623921 -26.09596232] [ 0.29092007 -0.13272147 0.94749698 -6.68215551] [ 0. 0. 0. 1. ]] SLAMing on 86.46165253199999 meters Centerline goodness : 0.697981 Centerline is valid? [False, False] Translation: X:-22.83, Y:-26.12, Z:-6.69 [[ 0.76297488 -0.56232653 -0.31883883 -22.8346827 ] [ 0.57576413 0.81539016 -0.06028735 -26.11786593] [ 0.29387922 -0.13757823 0.94588965 -6.68629655] [ 0. 0. 0. 1. ]] SLAMing on 86.49165253199999 meters Centerline goodness : 0.697639 Centerline is valid? [False, False] Translation: X:-22.85, Y:-26.14, Z:-6.69 [[ 0.75981411 -0.56404602 -0.32331811 -22.85149648] [ 0.5783092 0.81358684 -0.06029024 -26.13779424] [ 0.29705383 -0.14116846 0.94436777 -6.69062148] [ 0. 0. 0. 1. ]] SLAMing on 86.52165253199999 meters Centerline goodness : 0.696445 Centerline is valid? [False, False] Translation: X:-22.88, Y:-26.17, Z:-6.70 [[ 0.75971905 -0.56500691 -0.32186046 -22.88131633] [ 0.57870619 0.81320917 -0.06156293 -26.17049683] [ 0.29652336 -0.13949211 0.94478349 -6.70173746] [ 0. 0. 0. 1. ]] SLAMing on 86.55165253199999 meters Centerline goodness : 0.697495 Centerline is valid? [False, False] Translation: X:-22.91, Y:-26.20, Z:-6.71 [[ 0.75895542 -0.56718106 -0.31983171 -22.9100974 ] [ 0.58011625 0.8120568 -0.06347356 -26.20019679] [ 0.29572251 -0.13736597 0.94534586 -6.71304952] [ 0. 0. 0. 1. ]] SLAMing on 86.58165253199999 meters Centerline goodness : 0.698636 Centerline is valid? [False, False] Translation: X:-22.94, Y:-26.23, Z:-6.72 [[ 0.75864755 -0.56810133 -0.31892753 -22.93790383] [ 0.58075727 0.81154732 -0.0641244 -26.22934646] [ 0.29525394 -0.13657167 0.94560737 -6.72363453] [ 0. 0. 0. 1. ]] SLAMing on 86.611652532 meters Centerline goodness : 0.699700 Centerline is valid? [False, False] Translation: X:-22.97, Y:-26.26, Z:-6.73 [[ 0.75817239 -0.56972749 -0.31715171 -22.96798047] [ 0.58212505 0.81054185 -0.06443866 -26.26064541] [ 0.29377721 -0.13576634 0.9461831 -6.73364456] [ 0. 0. 0. 1. ]] SLAMing on 86.641652532 meters Centerline goodness : 0.701654 Centerline is valid? [False, False] Translation: X:-22.99, Y:-26.29, Z:-6.74 [[ 0.75669723 -0.57052301 -0.31923783 -22.99113708] [ 0.58322615 0.80973153 -0.06466918 -26.28612661] [ 0.2953922 -0.13725286 0.94546555 -6.74098846] [ 0. 0. 0. 1. ]] SLAMing on 86.671652532 meters Centerline goodness : 0.700722 Centerline is valid? [False, False] Translation: X:-23.02, Y:-26.31, Z:-6.75 [[ 0.7559894 -0.57050214 -0.32094755 -23.0155378 ] [ 0.58340359 0.80958661 -0.06488278 -26.31302747] [ 0.29685061 -0.13819126 0.94487189 -6.74959411] [ 0. 0. 0. 1. ]] SLAMing on 86.701652532 meters Centerline goodness : 0.700505 Centerline is valid? [False, False] Translation: X:-23.04, Y:-26.34, Z:-6.76 [[ 0.75465599 -0.57102787 -0.32314317 -23.0384788 ] [ 0.58408632 0.80903637 -0.06559965 -26.33837916] [ 0.29889381 -0.13923833 0.94407371 -6.75769311] [ 0. 0. 0. 1. ]] SLAMing on 86.73165253199998 meters Centerline goodness : 0.700505 Centerline is valid? [False, False] Translation: X:-23.06, Y:-26.36, Z:-6.77 [[ 0.75408362 -0.57057146 -0.3252785 -23.06271907] [ 0.58389588 0.80916356 -0.0657262 -26.36343935] [ 0.30070501 -0.14036572 0.94333131 -6.76635577] [ 0. 0. 0. 1. ]] SLAMing on 86.76165253199999 meters Centerline goodness : 0.702275 Centerline is valid? [False, False] Translation: X:-23.09, Y:-26.39, Z:-6.78 [[ 0.75345732 -0.57137057 -0.32532713 -23.09029106] [ 0.58407115 0.80885864 -0.06788656 -26.39254598] [ 0.30193204 -0.13886456 0.94316153 -6.7777905 ] [ 0. 0. 0. 1. ]] SLAMing on 86.79165253199999 meters Centerline goodness : 0.703328 Centerline is valid? [False, False] Translation: X:-23.12, Y:-26.42, Z:-6.79 [[ 0.75361917 -0.57074996 -0.32604084 -23.11756123] [ 0.58369883 0.80917454 -0.06732195 -26.41967195] [ 0.30224795 -0.13957455 0.94295553 -6.78759049] [ 0. 0. 0. 1. ]] SLAMing on 86.82165253199999 meters Centerline goodness : 0.702839 Centerline is valid? [False, False] Translation: X:-23.15, Y:-26.45, Z:-6.80 [[ 0.75423139 -0.56986011 -0.32618166 -23.14664953] [ 0.58285616 0.80980512 -0.06704001 -26.44793383] [ 0.30234701 -0.13955331 0.94292691 -6.7980406 ] [ 0. 0. 0. 1. ]] SLAMing on 86.85165253199999 meters Centerline goodness : 0.703984 Centerline is valid? [False, False] Translation: X:-23.18, Y:-26.48, Z:-6.81 [[ 0.75583196 -0.5681799 -0.3254069 -23.17725723] [ 0.58151986 0.81091574 -0.06519446 -26.47733687] [ 0.30091976 -0.13995452 0.94332393 -6.80899264] [ 0. 0. 0. 1. ]] SLAMing on 86.88165253199999 meters Centerline goodness : 0.705924 Centerline is valid? [False, False] Translation: X:-23.21, Y:-26.51, Z:-6.82 [[ 0.75847264 -0.5657213 -0.32354083 -23.21230149] [ 0.57932676 0.81266743 -0.06286621 -26.50876972] [ 0.29849584 -0.13975356 0.9441235 -6.82064604] [ 0. 0. 0. 1. ]] SLAMing on 86.91165253199999 meters Centerline goodness : 0.707985 Centerline is valid? [False, False] Translation: X:-23.24, Y:-26.54, Z:-6.83 [[ 0.75927975 -0.56458872 -0.32362609 -23.24120871] [ 0.57847178 0.81335988 -0.06177469 -26.53613553] [ 0.29810177 -0.14030429 0.94416632 -6.83096972] [ 0. 0. 0. 1. ]] SLAMing on 86.94165253199999 meters Centerline goodness : 0.709718 Centerline is valid? [False, False] Translation: X:-23.25, Y:-26.54, Z:-6.84 [[ 0.76095589 -0.56588471 -0.31736514 -23.25314281] [ 0.57769409 0.81361475 -0.06557881 -26.54313235] [ 0.29532301 -0.13343738 0.94603318 -6.84053724] [ 0. 0. 0. 1. ]] SLAMing on 86.971652532 meters Centerline goodness : 0.711371 Centerline is valid? [False, False] Translation: X:-23.29, Y:-26.57, Z:-6.85 [[ 0.76293626 -0.56327194 -0.31725854 -23.28507265] [ 0.57533122 0.81540113 -0.06414808 -26.57180057] [ 0.29482579 -0.13358784 0.94616703 -6.85197701] [ 0. 0. 0. 1. ]] SLAMing on 87.001652532 meters Centerline goodness : 0.713464 Centerline is valid? [False, False] Translation: X:-23.31, Y:-26.60, Z:-6.86 [[ 0.76324971 -0.561798 -0.31911265 -23.31092233] [ 0.57439577 0.81614984 -0.06299953 -26.59744922] [ 0.29583675 -0.13521258 0.94562053 -6.86088563] [ 0. 0. 0. 1. ]] SLAMing on 87.031652532 meters Centerline goodness : 0.714833 Centerline is valid? [False, False] Translation: X:-23.34, Y:-26.62, Z:-6.87 [[ 0.76440262 -0.55991362 -0.31966448 -23.3399043 ] [ 0.57283913 0.81733436 -0.06180514 -26.62496229] [ 0.29587831 -0.13587231 0.94551295 -6.87124156] [ 0. 0. 0. 1. ]] SLAMing on 87.061652532 meters Centerline goodness : 0.717443 Centerline is valid? [False, False] Translation: X:-23.37, Y:-26.65, Z:-6.88 [[ 0.76550798 -0.55740048 -0.32140667 -23.36708739] [ 0.57105317 0.81873294 -0.05978836 -26.65108834] [ 0.29647229 -0.13777183 0.94505191 -6.88055356] [ 0. 0. 0. 1. ]] SLAMing on 87.091652532 meters Centerline goodness : 0.720580 Centerline is valid? [False, False] Translation: X:-23.40, Y:-26.68, Z:-6.89 [[ 0.76890941 -0.55248525 -0.32177379 -23.40061132] [ 0.56675742 0.8219169 -0.05690909 -26.67886438] [ 0.29591275 -0.13860975 0.94510475 -6.89295124] [ 0. 0. 0. 1. ]] SLAMing on 87.12165253199998 meters Centerline goodness : 0.721438 Centerline is valid? [False, False] Translation: X:-23.43, Y:-26.71, Z:-6.90 [[ 0.77093045 -0.54941047 -0.32220238 -23.43047675] [ 0.56433476 0.8237541 -0.05436418 -26.70583938] [ 0.29528378 -0.139919 0.94510855 -6.90395979] [ 0. 0. 0. 1. ]] SLAMing on 87.15165253199999 meters Centerline goodness : 0.723125 Centerline is valid? [False, False] Translation: X:-23.46, Y:-26.73, Z:-6.91 [[ 0.7716708 -0.54849476 -0.32199017 -23.46005078] [ 0.56355113 0.8243383 -0.05363296 -26.73225011] [ 0.29484622 -0.14007093 0.94522264 -6.91447683] [ 0. 0. 0. 1. ]] SLAMing on 87.18165253199999 meters Centerline goodness : 0.724278 Centerline is valid? [False, False] Translation: X:-23.48, Y:-26.74, Z:-6.92 [[ 0.77368985 -0.54932309 -0.31567096 -23.47697787] [ 0.56147128 0.82531374 -0.06006021 -26.74250575] [ 0.29352004 -0.1307722 0.94696601 -6.92403415] [ 0. 0. 0. 1. ]] SLAMing on 87.21165253199999 meters Centerline goodness : 0.726352 Centerline is valid? [False, False] Translation: X:-23.50, Y:-26.76, Z:-6.93 [[ 0.77874448 -0.54273656 -0.31463323 -23.50113946] [ 0.55292046 0.83073558 -0.06447766 -26.76261775] [ 0.2963714 -0.12375553 0.94702089 -6.9294421 ] [ 0. 0. 0. 1. ]] SLAMing on 87.24165253199999 meters Centerline goodness : 0.725992 Centerline is valid? [False, False] Translation: X:-23.53, Y:-26.79, Z:-6.94 [[ 0.7793392 -0.54071211 -0.3166399 -23.52682631] [ 0.55177412 0.83167502 -0.06214491 -26.78797989] [ 0.29694399 -0.12628174 0.94650789 -6.93767883] [ 0. 0. 0. 1. ]] SLAMing on 87.27165253199999 meters Centerline goodness : 0.726953 Centerline is valid? [False, False] Translation: X:-23.55, Y:-26.81, Z:-6.94 [[ 0.77955667 -0.53888812 -0.31920368 -23.55145234] [ 0.55103728 0.83235875 -0.05947127 -26.81266441] [ 0.29774034 -0.1295319 0.94581826 -6.94477468] [ 0. 0. 0. 1. ]] SLAMing on 87.30165253199999 meters Centerline goodness : 0.726376 Centerline is valid? [False, False] Translation: X:-23.58, Y:-26.84, Z:-6.95 [[ 0.78077773 -0.537404 -0.31872101 -23.58257869] [ 0.55007396 0.83315002 -0.05726843 -26.84065085] [ 0.2963187 -0.13060621 0.94611693 -6.95466912] [ 0. 0. 0. 1. ]] SLAMing on 87.33165253199999 meters Centerline goodness : 0.723791 Centerline is valid? [False, False] Translation: X:-23.59, Y:-26.84, Z:-6.96 [[ 0.77946235 -0.54105007 -0.31575824 -23.58719901] [ 0.55267367 0.83123389 -0.06001693 -26.84034111] [ 0.29494111 -0.12773032 0.94693965 -6.95562243] [ 0. 0. 0. 1. ]] SLAMing on 87.361652532 meters Centerline goodness : 0.724864 Centerline is valid? [False, False] Translation: X:-23.59, Y:-26.84, Z:-6.96 [[ 0.77814754 -0.54458327 -0.31291446 -23.59174159] [ 0.55522226 0.82934004 -0.06263655 -26.84043721] [ 0.29362331 -0.1249966 0.94771367 -6.95626896] [ 0. 0. 0. 1. ]] SLAMing on 87.391652532 meters Centerline goodness : 0.722782 Centerline is valid? [False, False] Translation: X:-23.61, Y:-26.86, Z:-6.96 [[ 0.77770393 -0.54350706 -0.31587445 -23.61425709] [ 0.55501869 0.82960157 -0.06095489 -26.86414337] [ 0.29517935 -0.12791137 0.94684098 -6.96356151] [ 0. 0. 0. 1. ]] SLAMing on 87.421652532 meters Centerline goodness : 0.722018 Centerline is valid? [False, False] Translation: X:-23.63, Y:-26.88, Z:-6.97 [[ 0.78248071 -0.53907525 -0.31164374 -23.63331861] [ 0.54875923 0.8335281 -0.06398606 -26.87721106] [ 0.29425711 -0.12094952 0.94804218 -6.97315589] [ 0. 0. 0. 1. ]] SLAMing on 87.451652532 meters Centerline goodness : 0.721065 Centerline is valid? [False, False] Translation: X:-23.65, Y:-26.89, Z:-6.98 [[ 0.78641584 -0.53568297 -0.30756117 -23.64897065] [ 0.54394432 0.83651156 -0.06612855 -26.88670657] [ 0.29270242 -0.11529161 0.94922765 -6.98142739] [ 0. 0. 0. 1. ]] SLAMing on 87.48165253199998 meters Centerline goodness : 0.719325 Centerline is valid? [False, False] Translation: X:-23.67, Y:-26.91, Z:-6.99 [[ 0.78745455 -0.53361585 -0.30849549 -23.67452395] [ 0.54297804 0.83741612 -0.06252277 -26.91175645] [ 0.29170223 -0.11827244 0.94916881 -6.99063409] [ 0. 0. 0. 1. ]] SLAMing on 87.51165253199999 meters Centerline goodness : 0.718119 Centerline is valid? [False, False] Translation: X:-23.70, Y:-26.94, Z:-7.00 [[ 0.78699856 -0.53515513 -0.30698902 -23.70287775] [ 0.54406927 0.83662228 -0.06365363 -26.94134666] [ 0.29089842 -0.11692797 0.94958199 -7.00124523] [ 0. 0. 0. 1. ]] SLAMing on 87.54165253199999 meters Centerline goodness : 0.716137 Centerline is valid? [False, False] Translation: X:-23.71, Y:-26.95, Z:-7.00 [[ 0.78768002 -0.53662111 -0.30265157 -23.71069732] [ 0.54451624 0.83619151 -0.0654662 -26.94816919] [ 0.28820522 -0.11323228 0.95085025 -7.00494185] [ 0. 0. 0. 1. ]] SLAMing on 87.57165253199999 meters Centerline goodness : 0.712014 Centerline is valid? [False, False] Translation: X:-23.73, Y:-26.97, Z:-7.01 [[ 0.78582639 -0.53913028 -0.30301059 -23.73390805] [ 0.54714262 0.83445377 -0.06574089 -26.97425537] [ 0.28829124 -0.11412908 0.95071695 -7.01216854] [ 0. 0. 0. 1. ]] SLAMing on 87.60165253199999 meters Centerline goodness : 0.712428 Centerline is valid? [False, False] Translation: X:-23.74, Y:-26.97, Z:-7.01 [[ 0.7843697 -0.54281918 -0.3001858 -23.73766771] [ 0.54991003 0.83242145 -0.06836288 -26.97499775] [ 0.28698978 -0.11145342 0.95142787 -7.01260889] [ 0. 0. 0. 1. ]] SLAMing on 87.63165253199999 meters Centerline goodness : 0.715030 Centerline is valid? [False, False] Translation: X:-23.76, Y:-27.00, Z:-7.02 [[ 0.7843659 -0.54052723 -0.30430322 -23.76090605] [ 0.54861457 0.83344053 -0.06632446 -26.99984141] [ 0.28946882 -0.11492253 0.95026345 -7.01979708] [ 0. 0. 0. 1. ]] SLAMing on 87.66165253199999 meters Centerline goodness : 0.712701 Centerline is valid? [False, False] Translation: X:-23.78, Y:-27.02, Z:-7.03 [[ 0.78442968 -0.53859554 -0.30754661 -23.78380355] [ 0.54765892 0.83424144 -0.06411648 -27.02421681] [ 0.29110098 -0.11813577 0.9493704 -7.02759844] [ 0. 0. 0. 1. ]] SLAMing on 87.69165253199999 meters Centerline goodness : 0.713127 Centerline is valid? [False, False] Translation: X:-23.81, Y:-27.05, Z:-7.03 [[ 0.78288165 -0.53958017 -0.30975726 -23.80576468] [ 0.54915065 0.83329732 -0.06363284 -27.04870893] [ 0.29245491 -0.12028641 0.94868398 -7.03461338] [ 0. 0. 0. 1. ]] SLAMing on 87.721652532 meters Centerline goodness : 0.711803 Centerline is valid? [False, False] Translation: X:-23.84, Y:-27.08, Z:-7.04 [[ 0.78222362 -0.54142235 -0.30820131 -23.83500505] [ 0.55039369 0.83234879 -0.06528619 -27.08156242] [ 0.29187839 -0.11856365 0.94907833 -7.04470687] [ 0. 0. 0. 1. ]] SLAMing on 87.751652532 meters Centerline goodness : 0.711193 Centerline is valid? [False, False] Translation: X:-23.84, Y:-27.08, Z:-7.04 [[ 0.78059834 -0.54520725 -0.30563915 -23.83730797] [ 0.55328005 0.830223 -0.06790396 -27.08322233] [ 0.29077038 -0.11609832 0.94972299 -7.04470533] [ 0. 0. 0. 1. ]] SLAMing on 87.781652532 meters Centerline goodness : 0.711834 Centerline is valid? [False, False] Translation: X:-23.86, Y:-27.11, Z:-7.05 [[ 0.77958821 -0.54655704 -0.30580653 -23.86136419] [ 0.55520626 0.8290603 -0.06637037 -27.10882686] [ 0.28980725 -0.11804414 0.94977752 -7.05240063] [ 0. 0. 0. 1. ]] SLAMing on 87.811652532 meters Centerline goodness : 0.711868 Centerline is valid? [False, False] Translation: X:-23.88, Y:-27.13, Z:-7.05 [[ 0.77518133 -0.550735 -0.30949129 -23.8783852 ] [ 0.55985648 0.82585044 -0.06731837 -27.13093439] [ 0.2926681 -0.12108676 0.94851641 -7.05420712] [ 0. 0. 0. 1. ]] SLAMing on 87.841652532 meters Centerline goodness : 0.713239 Centerline is valid? [False, False] Translation: X:-23.90, Y:-27.16, Z:-7.06 [[ 0.7732447 -0.55244497 -0.31128314 -23.90147489] [ 0.561758 0.82451414 -0.06785558 -27.15707624] [ 0.29414382 -0.12239683 0.94789157 -7.06059587] [ 0. 0. 0. 1. ]] SLAMing on 87.87165253199998 meters Centerline goodness : 0.711712 Centerline is valid? [False, False] Translation: X:-23.92, Y:-27.18, Z:-7.07 [[ 0.77148716 -0.55333464 -0.31405147 -23.92338899] [ 0.56317112 0.82357038 -0.0676027 -27.18180579] [ 0.29605041 -0.1247101 0.94699607 -7.06681485] [ 0. 0. 0. 1. ]] SLAMing on 87.90165253199999 meters Centerline goodness : 0.715498 Centerline is valid? [False, False] Translation: X:-23.95, Y:-27.21, Z:-7.08 [[ 0.77229495 -0.55158522 -0.31514164 -23.95204248] [ 0.5616186 0.82467204 -0.06708635 -27.20984454] [ 0.29689234 -0.12517896 0.94667057 -7.07767649] [ 0. 0. 0. 1. ]] SLAMing on 87.93165253199999 meters Centerline goodness : 0.716927 Centerline is valid? [False, False] Translation: X:-23.98, Y:-27.24, Z:-7.09 [[ 0.77442313 -0.54780349 -0.31651249 -23.98002761] [ 0.55876002 0.82686028 -0.06394775 -27.23644312] [ 0.29674241 -0.12733191 0.94643041 -7.08877728] [ 0. 0. 0. 1. ]] SLAMing on 87.96165253199999 meters Centerline goodness : 0.715239 Centerline is valid? [False, False] Translation: X:-24.01, Y:-27.26, Z:-7.10 [[ 0.77666801 -0.54468078 -0.31640109 -24.00996138] [ 0.55624064 0.82875761 -0.06129573 -27.26353294] [ 0.29560642 -0.12838871 0.94664311 -7.10082909] [ 0. 0. 0. 1. ]] SLAMing on 87.99165253199999 meters Centerline goodness : 0.715166 Centerline is valid? [False, False] Translation: X:-24.02, Y:-27.27, Z:-7.11 [[ 0.77850905 -0.54538486 -0.31061072 -24.0235098 ] [ 0.55450981 0.82950256 -0.06666616 -27.27173154] [ 0.29401111 -0.12033648 0.9481965 -7.1100581 ] [ 0. 0. 0. 1. ]] SLAMing on 88.02165253199999 meters Centerline goodness : 0.713584 Centerline is valid? [False, False] Translation: X:-24.05, Y:-27.29, Z:-7.12 [[ 0.78043721 -0.54543999 -0.30563536 -24.04628264] [ 0.5510386 0.83101487 -0.07596542 -27.29099845] [ 0.29542211 -0.10913064 0.94911342 -7.11691758] [ 0. 0. 0. 1. ]] SLAMing on 88.05165253199999 meters Centerline goodness : 0.711796 Centerline is valid? [False, False] Translation: X:-24.07, Y:-27.32, Z:-7.13 [[ 0.78127525 -0.54416361 -0.30576944 -24.0743966 ] [ 0.55037817 0.83165002 -0.07377072 -27.31998479] [ 0.2944365 -0.11065359 0.94924335 -7.12567221] [ 0. 0. 0. 1. ]] SLAMing on 88.08165253199999 meters Centerline goodness : 0.714173 Centerline is valid? [False, False] Translation: X:-24.10, Y:-27.35, Z:-7.13 [[ 0.77963686 -0.54577197 -0.30708194 -24.09848591] [ 0.55207252 0.83047404 -0.07435594 -27.34603921] [ 0.29560497 -0.11156087 0.94877388 -7.13325436] [ 0. 0. 0. 1. ]] SLAMing on 88.111652532 meters Centerline goodness : 0.714173 Centerline is valid? [False, False] Translation: X:-24.12, Y:-27.37, Z:-7.14 [[ 0.77946359 -0.54470029 -0.30941574 -24.12308201] [ 0.55171291 0.83085101 -0.07279737 -27.37212029] [ 0.29673113 -0.11396576 0.9481363 -7.14078334] [ 0. 0. 0. 1. ]] SLAMing on 88.141652532 meters Centerline goodness : 0.715046 Centerline is valid? [False, False] Translation: X:-24.16, Y:-27.40, Z:-7.15 [[ 0.78234391 -0.54060993 -0.30932009 -24.15589773] [ 0.54828687 0.83337473 -0.06977161 -27.40135552] [ 0.29549877 -0.11501075 0.94839496 -7.15264984] [ 0. 0. 0. 1. ]] SLAMing on 88.171652532 meters Centerline goodness : 0.717297 Centerline is valid? [False, False] Translation: X:-24.19, Y:-27.43, Z:-7.16 [[ 0.78311529 -0.53963519 -0.30907006 -24.18513595] [ 0.54774177 0.83387276 -0.06808207 -27.4290403 ] [ 0.29446459 -0.11597447 0.94859925 -7.16241533] [ 0. 0. 0. 1. ]] SLAMing on 88.201652532 meters Centerline goodness : 0.713623 Centerline is valid? [False, False] Translation: X:-24.22, Y:-27.46, Z:-7.17 [[ 0.78407758 -0.53918493 -0.30741172 -24.21769665] [ 0.54719157 0.83427177 -0.06761657 -27.45997373] [ 0.29292275 -0.11519647 0.94917124 -7.17299924] [ 0. 0. 0. 1. ]] SLAMing on 88.23165253199998 meters Centerline goodness : 0.714293 Centerline is valid? [False, False] Translation: X:-24.23, Y:-27.47, Z:-7.18 [[ 0.78623446 -0.53973601 -0.3008661 -24.23430719] [ 0.54484166 0.83521983 -0.0745346 -27.47134776] [ 0.29151834 -0.10532272 0.95074927 -7.18360616] [ 0. 0. 0. 1. ]] SLAMing on 88.26165253199999 meters Centerline goodness : 0.712746 Centerline is valid? [False, False] Translation: X:-24.26, Y:-27.50, Z:-7.19 [[ 0.78455191 -0.5407021 -0.30351201 -24.25664572] [ 0.54623949 0.83432259 -0.07435206 -27.49657071] [ 0.29342925 -0.10745719 0.94992222 -7.18952303] [ 0. 0. 0. 1. ]] SLAMing on 88.29165253199999 meters Centerline goodness : 0.713302 Centerline is valid? [False, False] Translation: X:-24.28, Y:-27.52, Z:-7.20 [[ 0.78234873 -0.54243019 -0.30610446 -24.27853072] [ 0.54818555 0.83298531 -0.0750205 -27.52016842] [ 0.29567391 -0.10910985 0.9490374 -7.19570407] [ 0. 0. 0. 1. ]] SLAMing on 88.32165253199999 meters Centerline goodness : 0.714720 Centerline is valid? [False, False] Translation: X:-24.31, Y:-27.55, Z:-7.20 [[ 0.78243379 -0.54204916 -0.30656168 -24.30806539] [ 0.54823538 0.83306699 -0.07373845 -27.54833478] [ 0.29535628 -0.1103725 0.9489903 -7.20357414] [ 0. 0. 0. 1. ]] SLAMing on 88.35165253199999 meters Centerline goodness : 0.714316 Centerline is valid? [False, False] Translation: X:-24.34, Y:-27.57, Z:-7.21 [[ 0.78380543 -0.5394914 -0.30756801 -24.33571168] [ 0.54631474 0.83451721 -0.0715627 -27.57385298] [ 0.29527826 -0.11193771 0.94883123 -7.21458373] [ 0. 0. 0. 1. ]] SLAMing on 88.38165253199999 meters Centerline goodness : 0.714821 Centerline is valid? [False, False] Translation: X:-24.37, Y:-27.60, Z:-7.23 [[ 0.78582161 -0.53687922 -0.30699365 -24.36628899] [ 0.54389237 0.83621535 -0.07017823 -27.60029979] [ 0.29439003 -0.11182394 0.9491206 -7.22772781] [ 0. 0. 0. 1. ]] SLAMing on 88.41165253199999 meters Centerline goodness : 0.712821 Centerline is valid? [False, False] Translation: X:-24.40, Y:-27.63, Z:-7.24 [[ 0.78825805 -0.53290239 -0.30767563 -24.39530207] [ 0.54066561 0.8385481 -0.06721452 -27.62674527] [ 0.29381959 -0.11336724 0.94911428 -7.23965173] [ 0. 0. 0. 1. ]] SLAMing on 88.44165253199999 meters Centerline goodness : 0.713152 Centerline is valid? [False, False] Translation: X:-24.43, Y:-27.66, Z:-7.25 [[ 0.79085345 -0.53023248 -0.30562123 -24.43024001] [ 0.53789288 0.84041307 -0.06615988 -27.65780577] [ 0.29192819 -0.11206871 0.94985185 -7.25250993] [ 0. 0. 0. 1. ]] SLAMing on 88.471652532 meters Centerline goodness : 0.712403 Centerline is valid? [False, False] Translation: X:-24.44, Y:-27.67, Z:-7.26 [[ 0.79181324 -0.53264532 -0.29886578 -24.44410392] [ 0.5375194 0.8400767 -0.07310286 -27.66633287] [ 0.29000808 -0.10276234 0.95149105 -7.26167852] [ 0. 0. 0. 1. ]] SLAMing on 88.501652532 meters Centerline goodness : 0.711460 Centerline is valid? [False, False] Translation: X:-24.47, Y:-27.69, Z:-7.27 [[ 0.79276685 -0.53147203 -0.29842621 -24.47330866] [ 0.53647197 0.84081628 -0.07228969 -27.69451981] [ 0.28934156 -0.10278843 0.95169113 -7.27244275] [ 0. 0. 0. 1. ]] SLAMing on 88.531652532 meters Centerline goodness : 0.712001 Centerline is valid? [False, False] Translation: X:-24.51, Y:-27.72, Z:-7.28 [[ 0.79412746 -0.53023705 -0.29700209 -24.50592883] [ 0.53511242 0.84171385 -0.07192004 -27.72211197] [ 0.28812545 -0.10181583 0.95216452 -7.28436748] [ 0. 0. 0. 1. ]] SLAMing on 88.561652532 meters Centerline goodness : 0.710619 Centerline is valid? [False, False] Translation: X:-24.53, Y:-27.75, Z:-7.29 [[ 0.79470073 -0.52996089 -0.29595979 -24.5344914 ] [ 0.53546701 0.84170175 -0.06937761 -27.74732276] [ 0.2858773 -0.10334227 0.95267757 -7.29388428] [ 0. 0. 0. 1. ]] SLAMing on 88.591652532 meters Centerline goodness : 0.709866 Centerline is valid? [False, False] Translation: X:-24.57, Y:-27.77, Z:-7.30 [[ 0.7960344 -0.52870367 -0.29462121 -24.56548889] [ 0.53465088 0.84240183 -0.0671386 -27.77488636] [ 0.28368587 -0.10407485 0.95325272 -7.30405143] [ 0. 0. 0. 1. ]] SLAMing on 88.62165253199998 meters Centerline goodness : 0.709586 Centerline is valid? [False, False] Translation: X:-24.60, Y:-27.80, Z:-7.31 [[ 0.79725299 -0.52776647 -0.29300207 -24.59634916] [ 0.53389823 0.84299219 -0.06570279 -27.80208462] [ 0.28167419 -0.10405154 0.95385163 -7.31497222] [ 0. 0. 0. 1. ]] SLAMing on 88.65165253199999 meters Centerline goodness : 0.709586 Centerline is valid? [False, False] Translation: X:-24.60, Y:-27.80, Z:-7.31 [[ 0.79589373 -0.53103209 -0.29078873 -24.59996721] [ 0.53640581 0.8412121 -0.06805147 -27.80185878] [ 0.28075251 -0.10181902 0.95436414 -7.31473948] [ 0. 0. 0. 1. ]] SLAMing on 88.68165253199999 meters Centerline goodness : 0.707764 Centerline is valid? [False, False] Translation: X:-24.63, Y:-27.83, Z:-7.32 [[ 0.79938884 -0.52542664 -0.29138347 -24.62951019] [ 0.52826795 0.84569586 -0.07570656 -27.82506076] [ 0.28620004 -0.09340957 0.95360589 -7.31966448] [ 0. 0. 0. 1. ]] SLAMing on 88.71165253199999 meters Centerline goodness : 0.704865 Centerline is valid? [False, False] Translation: X:-24.64, Y:-27.83, Z:-7.33 [[ 0.80251234 -0.52309332 -0.28696223 -24.64375422] [ 0.52442636 0.84779935 -0.07882416 -27.83384786] [ 0.28451879 -0.0872332 0.95469337 -7.32787577] [ 0. 0. 0. 1. ]] SLAMing on 88.74165253199999 meters Centerline goodness : 0.706754 Centerline is valid? [False, False] Translation: X:-24.67, Y:-27.86, Z:-7.34 [[ 0.80248455 -0.52166354 -0.28963027 -24.66734156] [ 0.52391769 0.84834038 -0.07634695 -27.85727595] [ 0.28553248 -0.09047517 0.9540888 -7.33505806] [ 0. 0. 0. 1. ]] SLAMing on 88.77165253199999 meters Centerline goodness : 0.703816 Centerline is valid? [False, False] Translation: X:-24.69, Y:-27.88, Z:-7.34 [[ 0.80303373 -0.52035183 -0.29046653 -24.69440071] [ 0.5233773 0.8488991 -0.07380049 -27.88301075] [ 0.284979 -0.09275931 0.95403495 -7.34318972] [ 0. 0. 0. 1. ]] SLAMing on 88.80165253199999 meters Centerline goodness : 0.706743 Centerline is valid? [False, False] Translation: X:-24.72, Y:-27.91, Z:-7.35 [[ 0.8027347 -0.52145192 -0.28931799 -24.72411458] [ 0.52458198 0.84820179 -0.07326297 -27.91249264] [ 0.28360316 -0.09296028 0.95442529 -7.3509256 ] [ 0. 0. 0. 1. ]] SLAMing on 88.83165253199999 meters Centerline goodness : 0.703075 Centerline is valid? [False, False] Translation: X:-24.75, Y:-27.94, Z:-7.36 [[ 0.80308775 -0.52075983 -0.28958465 -24.75045835] [ 0.52477393 0.84833857 -0.07024244 -27.93785866] [ 0.28224527 -0.09555563 0.95457149 -7.35892624] [ 0. 0. 0. 1. ]] SLAMing on 88.861652532 meters Centerline goodness : 0.702629 Centerline is valid? [False, False] Translation: X:-24.75, Y:-27.94, Z:-7.36 [[ 0.80349874 -0.52023373 -0.28939013 -24.75286403] [ 0.52434431 0.84864511 -0.06974608 -27.9384967 ] [ 0.28187378 -0.09569918 0.95466687 -7.35854758] [ 0. 0. 0. 1. ]] SLAMing on 88.891652532 meters Centerline goodness : 0.707670 Centerline is valid? [False, False] Translation: X:-24.78, Y:-27.96, Z:-7.37 [[ 0.80368126 -0.519357 -0.2904561 -24.78146761] [ 0.52405197 0.84896845 -0.06798603 -27.96398061] [ 0.28189709 -0.097575 0.95447009 -7.36632945] [ 0. 0. 0. 1. ]] SLAMing on 88.921652532 meters Centerline goodness : 0.708960 Centerline is valid? [False, False] Translation: X:-24.79, Y:-27.97, Z:-7.37 [[ 0.80415897 -0.52001596 -0.287944 -24.78768227] [ 0.52423529 0.84878842 -0.06881552 -27.96502834] [ 0.28018871 -0.09561179 0.95517154 -7.36877972] [ 0. 0. 0. 1. ]] SLAMing on 88.951652532 meters Centerline goodness : 0.711125 Centerline is valid? [False, False] Translation: X:-24.80, Y:-27.97, Z:-7.38 [[ 0.80572269 -0.52084972 -0.28200446 -24.8034663 ] [ 0.52253671 0.84925937 -0.07559037 -27.97460505] [ 0.27886616 -0.08645281 0.95643065 -7.37727486] [ 0. 0. 0. 1. ]] SLAMing on 88.98165253199998 meters Centerline goodness : 0.712581 Centerline is valid? [False, False] Translation: X:-24.82, Y:-27.99, Z:-7.38 [[ 0.80850246 -0.51880823 -0.27778011 -24.82409627] [ 0.51799969 0.85139632 -0.08246593 -27.99171845] [ 0.27928497 -0.0772161 0.95709852 -7.3838492 ] [ 0. 0. 0. 1. ]] SLAMing on 89.01165253199999 meters Centerline goodness : 0.711898 Centerline is valid? [False, False] Translation: X:-24.85, Y:-28.02, Z:-7.39 [[ 0.80750464 -0.51849342 -0.2812487 -24.84621673] [ 0.51835321 0.85130718 -0.08115435 -28.01575168] [ 0.28150703 -0.08025365 0.95619723 -7.38930459] [ 0. 0. 0. 1. ]] SLAMing on 89.04165253199999 meters Centerline goodness : 0.712274 Centerline is valid? [False, False] Translation: X:-24.85, Y:-28.02, Z:-7.39 [[ 0.80676048 -0.52080844 -0.27909871 -24.85120613] [ 0.5200263 0.85009571 -0.08312595 -28.01678958] [ 0.28055332 -0.07807594 0.95665771 -7.38895427] [ 0. 0. 0. 1. ]] SLAMing on 89.07165253199999 meters Centerline goodness : 0.713789 Centerline is valid? [False, False] Translation: X:-24.88, Y:-28.05, Z:-7.40 [[ 0.80958793 -0.51552764 -0.28071094 -24.88067923] [ 0.51634944 0.85289457 -0.07716285 -28.04538772] [ 0.27919642 -0.08247483 0.95668556 -7.39670468] [ 0. 0. 0. 1. ]] SLAMing on 89.10165253199999 meters Centerline goodness : 0.714138 Centerline is valid? [False, False] Translation: X:-24.88, Y:-28.05, Z:-7.40 [[ 0.81036896 -0.51470802 -0.27996036 -24.88367381] [ 0.51561565 0.85339945 -0.07648449 -28.04653423] [ 0.2782852 -0.08237128 0.95695994 -7.39767032] [ 0. 0. 0. 1. ]] SLAMing on 89.13165253199999 meters Centerline goodness : 0.714575 Centerline is valid? [False, False] Translation: X:-24.89, Y:-28.05, Z:-7.40 [[ 0.81127423 -0.51520869 -0.27639489 -24.89145026] [ 0.51526195 0.85343607 -0.07843465 -28.05037614] [ 0.27629558 -0.07878376 0.95783812 -7.40171394] [ 0. 0. 0. 1. ]] SLAMing on 89.16165253199999 meters Centerline goodness : 0.715322 Centerline is valid? [False, False] Translation: X:-24.91, Y:-28.07, Z:-7.40 [[ 0.80750918 -0.5190467 -0.28021323 -24.90820715] [ 0.51937282 0.85085554 -0.07935187 -28.07184467] [ 0.27960831 -0.08145777 0.95665241 -7.40487695] [ 0. 0. 0. 1. ]] SLAMing on 89.19165253199999 meters Centerline goodness : 0.717799 Centerline is valid? [False, False] Translation: X:-24.93, Y:-28.09, Z:-7.41 [[ 0.8037558 -0.52286286 -0.2838856 -24.92530741] [ 0.52343062 0.84826879 -0.08037693 -28.09329349] [ 0.2828374 -0.08399099 0.95548339 -7.40835341] [ 0. 0. 0. 1. ]] SLAMing on 89.221652532 meters Centerline goodness : 0.721631 Centerline is valid? [False, False] Translation: X:-24.94, Y:-28.12, Z:-7.41 [[ 0.80031054 -0.52605461 -0.28769704 -24.94374183] [ 0.52707356 0.84598166 -0.08067526 -28.11596016] [ 0.28582601 -0.08707224 0.95431751 -7.41130228] [ 0. 0. 0. 1. ]] SLAMing on 89.251652532 meters Centerline goodness : 0.725730 Centerline is valid? [False, False] Translation: X:-24.96, Y:-28.13, Z:-7.41 [[ 0.79837377 -0.52562712 -0.29379492 -24.96099517] [ 0.52794606 0.84566078 -0.07829938 -28.13468086] [ 0.28960712 -0.0925957 0.95265616 -7.41435476] [ 0. 0. 0. 1. ]] SLAMing on 89.281652532 meters Centerline goodness : 0.724955 Centerline is valid? [False, False] Translation: X:-24.98, Y:-28.16, Z:-7.42 [[ 0.79819405 -0.52352941 -0.29799869 -24.98239436] [ 0.52694581 0.84651698 -0.0757437 -28.15637713] [ 0.29191501 -0.096571 0.95155645 -7.42140213] [ 0. 0. 0. 1. ]] SLAMing on 89.311652532 meters Centerline goodness : 0.725198 Centerline is valid? [False, False] Translation: X:-25.01, Y:-28.18, Z:-7.43 [[ 0.79841883 -0.52173911 -0.30052566 -25.00572948] [ 0.52616827 0.84724189 -0.072994 -28.17924951] [ 0.29270175 -0.09984728 0.95097645 -7.42974804] [ 0. 0. 0. 1. ]] SLAMing on 89.341652532 meters Centerline goodness : 0.728105 Centerline is valid? [False, False] Translation: X:-25.03, Y:-28.21, Z:-7.44 [[ 0.79916471 -0.52034671 -0.30095693 -25.03308627] [ 0.52557052 0.8478414 -0.07028937 -28.20554273] [ 0.29173859 -0.1020013 0.95104381 -7.43850671] [ 0. 0. 0. 1. ]] SLAMing on 89.37165253199998 meters Centerline goodness : 0.731623 Centerline is valid? [False, False] Translation: X:-25.05, Y:-28.22, Z:-7.44 [[ 0.80070265 -0.52145464 -0.29489035 -25.04884479] [ 0.52469903 0.84799384 -0.07481567 -28.21726272] [ 0.28907818 -0.09482358 0.95259766 -7.44431123] [ 0. 0. 0. 1. ]] SLAMing on 89.40165253199999 meters Centerline goodness : 0.733056 Centerline is valid? [False, False] Translation: X:-25.05, Y:-28.22, Z:-7.44 [[ 0.79966236 -0.52440829 -0.29246548 -25.0532322 ] [ 0.52691709 0.84642289 -0.07698485 -28.21950012] [ 0.28792097 -0.09254317 0.95317222 -7.4437004 ] [ 0. 0. 0. 1. ]] SLAMing on 89.43165253199999 meters Centerline goodness : 0.735343 Centerline is valid? [False, False] Translation: X:-25.08, Y:-28.24, Z:-7.45 [[ 0.79863643 -0.52552539 -0.29326252 -25.07663605] [ 0.52862846 0.84548832 -0.0755079 -28.24482687] [ 0.28763136 -0.09472356 0.95304546 -7.45089767] [ 0. 0. 0. 1. ]] SLAMing on 89.46165253199999 meters Centerline goodness : 0.736736 Centerline is valid? [False, False] Translation: X:-25.10, Y:-28.27, Z:-7.46 [[ 0.79803178 -0.52548153 -0.29498208 -25.10047566] [ 0.52925805 0.84523847 -0.07387725 -28.27088826] [ 0.28815134 -0.09716525 0.95264249 -7.45802297] [ 0. 0. 0. 1. ]] SLAMing on 89.49165253199999 meters Centerline goodness : 0.739215 Centerline is valid? [False, False] Translation: X:-25.12, Y:-28.30, Z:-7.46 [[ 0.79674695 -0.52616114 -0.29723518 -25.12310008] [ 0.53040391 0.84457146 -0.07328535 -28.29673084] [ 0.28959625 -0.09926483 0.95198766 -7.46490996] [ 0. 0. 0. 1. ]] SLAMing on 89.52165253199999 meters Centerline goodness : 0.741547 Centerline is valid? [False, False] Translation: X:-25.14, Y:-28.32, Z:-7.47 [[ 0.79402705 -0.52797026 -0.30127803 -25.14156419] [ 0.53296191 0.84301145 -0.07268636 -28.31850692] [ 0.29235706 -0.10285478 0.95076193 -7.46877752] [ 0. 0. 0. 1. ]] SLAMing on 89.55165253199999 meters Centerline goodness : 0.744375 Centerline is valid? [False, False] Translation: X:-25.16, Y:-28.34, Z:-7.47 [[ 0.79184807 -0.52963345 -0.30408065 -25.16245848] [ 0.53510424 0.84166705 -0.07252604 -28.342812 ] [ 0.29434688 -0.10528524 0.94988154 -7.47420475] [ 0. 0. 0. 1. ]] SLAMing on 89.58165253199999 meters Centerline goodness : 0.746132 Centerline is valid? [False, False] Translation: X:-25.19, Y:-28.37, Z:-7.48 [[ 0.79117691 -0.53004094 -0.30511588 -25.18719296] [ 0.53604456 0.84117441 -0.07128704 -28.37138521] [ 0.29444072 -0.10715505 0.94964333 -7.48162465] [ 0. 0. 0. 1. ]] SLAMing on 89.611652532 meters Centerline goodness : 0.745850 Centerline is valid? [False, False] Translation: X:-25.21, Y:-28.40, Z:-7.49 [[ 0.78979949 -0.53072645 -0.30748365 -25.20986762] [ 0.53714796 0.84049402 -0.07100611 -28.39633224] [ 0.29612299 -0.10908362 0.94890038 -7.48866402] [ 0. 0. 0. 1. ]] SLAMing on 89.641652532 meters Centerline goodness : 0.746252 Centerline is valid? [False, False] Translation: X:-25.24, Y:-28.42, Z:-7.50 [[ 0.79065198 -0.52899279 -0.30827921 -25.2369774 ] [ 0.53596894 0.84139801 -0.06918591 -28.42347824] [ 0.29598436 -0.1105261 0.94877671 -7.4987026 ] [ 0. 0. 0. 1. ]] SLAMing on 89.671652532 meters Centerline goodness : 0.748232 Centerline is valid? [False, False] Translation: X:-25.26, Y:-28.45, Z:-7.51 [[ 0.79070024 -0.52853128 -0.3089463 -25.26328444] [ 0.53590303 0.84152943 -0.06808939 -28.45098193] [ 0.29597477 -0.11172696 0.94863904 -7.50783666] [ 0. 0. 0. 1. ]] SLAMing on 89.701652532 meters Centerline goodness : 0.748140 Centerline is valid? [False, False] Translation: X:-25.29, Y:-28.48, Z:-7.51 [[ 0.78896548 -0.52987588 -0.31107078 -25.28527839] [ 0.53766392 0.84042108 -0.06789641 -28.47570185] [ 0.29740711 -0.11368361 0.94795836 -7.51461659] [ 0. 0. 0. 1. ]] SLAMing on 89.73165253199998 meters Centerline goodness : 0.748055 Centerline is valid? [False, False] Translation: X:-25.31, Y:-28.51, Z:-7.52 [[ 0.78860225 -0.53072397 -0.31054557 -25.31253743] [ 0.53842666 0.83991362 -0.06813109 -28.50549315] [ 0.29699026 -0.11347768 0.94811371 -7.524555 ] [ 0. 0. 0. 1. ]] SLAMing on 89.76165253199999 meters Centerline goodness : 0.747792 Centerline is valid? [False, False] Translation: X:-25.34, Y:-28.53, Z:-7.54 [[ 0.78937681 -0.52957839 -0.31053338 -25.3401231 ] [ 0.53766435 0.84051951 -0.06666333 -28.53314981] [ 0.29631282 -0.11434024 0.94822203 -7.53514264] [ 0. 0. 0. 1. ]] SLAMing on 89.79165253199999 meters Centerline goodness : 0.747671 Centerline is valid? [False, False] Translation: X:-25.36, Y:-28.56, Z:-7.54 [[ 0.78803263 -0.53074969 -0.31194446 -25.36383536] [ 0.53895857 0.83965579 -0.06709565 -28.5584292 ] [ 0.29753696 -0.11525158 0.94772825 -7.54341477] [ 0. 0. 0. 1. ]] SLAMing on 89.82165253199999 meters Centerline goodness : 0.746760 Centerline is valid? [False, False] Translation: X:-25.39, Y:-28.58, Z:-7.55 [[ 0.78706349 -0.53121071 -0.31360205 -25.38786089] [ 0.53976332 0.83916331 -0.06678696 -28.58424124] [ 0.29864128 -0.1167053 0.94720286 -7.55142887] [ 0. 0. 0. 1. ]] SLAMing on 89.85165253199999 meters Centerline goodness : 0.745697 Centerline is valid? [False, False] Translation: X:-25.41, Y:-28.61, Z:-7.56 [[ 0.7845876 -0.5353316 -0.31279766 -25.41338887] [ 0.54333659 0.83666992 -0.06905644 -28.61380969] [ 0.29867649 -0.11577359 0.94730609 -7.55935547] [ 0. 0. 0. 1. ]] SLAMing on 89.88165253199999 meters Centerline goodness : 0.747618 Centerline is valid? [False, False] Translation: X:-25.42, Y:-28.61, Z:-7.56 [[ 0.78330821 -0.53876079 -0.31010491 -25.41722789] [ 0.54584822 0.83481997 -0.07159149 -28.61482931] [ 0.29745246 -0.11319201 0.94800295 -7.55972509] [ 0. 0. 0. 1. ]] SLAMing on 89.91165253199999 meters Centerline goodness : 0.747037 Centerline is valid? [False, False] Translation: X:-25.44, Y:-28.64, Z:-7.57 [[ 0.78307385 -0.53820682 -0.31165488 -25.44312051] [ 0.54574726 0.83496483 -0.07066584 -28.64210176] [ 0.2982537 -0.11474822 0.94756402 -7.56781886] [ 0. 0. 0. 1. ]] SLAMing on 89.94165253199999 meters Centerline goodness : 0.748875 Centerline is valid? [False, False] Translation: X:-25.44, Y:-28.64, Z:-7.57 [[ 0.78327824 -0.53835727 -0.31088044 -25.44467423] [ 0.54600594 0.83484889 -0.0700346 -28.64410012] [ 0.29724183 -0.11488599 0.94786524 -7.56818313] [ 0. 0. 0. 1. ]] SLAMing on 89.971652532 meters Centerline goodness : 0.749174 Centerline is valid? [False, False] Translation: X:-25.47, Y:-28.67, Z:-7.58 [[ 0.78367093 -0.53743288 -0.31148961 -25.47228625] [ 0.54574867 0.83518814 -0.06796438 -28.67255426] [ 0.29667872 -0.11673333 0.94781594 -7.57642223] [ 0. 0. 0. 1. ]] SLAMing on 90.001652532 meters Centerline goodness : 0.748916 Centerline is valid? [False, False] Translation: X:-25.48, Y:-28.67, Z:-7.58 [[ 0.78481798 -0.53628234 -0.31058329 -25.47641042] [ 0.54469638 0.83595038 -0.06702843 -28.67424672] [ 0.29557839 -0.11656848 0.94817994 -7.57753691] [ 0. 0. 0. 1. ]] SLAMing on 90.031652532 meters Centerline goodness : 0.749589 Centerline is valid? [False, False] Translation: X:-25.49, Y:-28.68, Z:-7.59 [[ 0.78837028 -0.5337562 -0.30590297 -25.49043903] [ 0.54055632 0.83840861 -0.06978439 -28.68319235] [ 0.29371954 -0.11034185 0.94950172 -7.58684657] [ 0. 0. 0. 1. ]] SLAMing on 90.061652532 meters Centerline goodness : 0.749203 Centerline is valid? [False, False] Translation: X:-25.49, Y:-28.68, Z:-7.59 [[ 0.78878472 -0.53329701 -0.30563534 -25.49212139] [ 0.54018415 0.83868847 -0.06930172 -28.68430158] [ 0.29329123 -0.11043523 0.94962325 -7.586829 ] [ 0. 0. 0. 1. ]] SLAMing on 90.091652532 meters Centerline goodness : 0.749609 Centerline is valid? [False, False] Translation: X:-25.50, Y:-28.69, Z:-7.59 [[ 0.78937397 -0.53279138 -0.30499521 -25.49564029] [ 0.5397432 0.83901918 -0.06873207 -28.68674774] [ 0.29251668 -0.11036379 0.94987043 -7.58626964] [ 0. 0. 0. 1. ]] SLAMing on 90.12165253199998 meters Centerline goodness : 0.750352 Centerline is valid? [False, False] Translation: X:-25.51, Y:-28.70, Z:-7.60 [[ 0.79198713 -0.53243345 -0.29878253 -25.5139466 ] [ 0.536616 0.84046067 -0.07529361 -28.70028691] [ 0.29120381 -0.10069992 0.95134635 -7.59590278] [ 0. 0. 0. 1. ]] SLAMing on 90.15165253199999 meters Centerline goodness : 0.751025 Centerline is valid? [False, False] Translation: X:-25.54, Y:-28.73, Z:-7.60 [[ 0.79175893 -0.53123371 -0.30151045 -25.53809061] [ 0.53635679 0.84082819 -0.07300244 -28.72674009] [ 0.29229984 -0.10391685 0.95066403 -7.60191082] [ 0. 0. 0. 1. ]] SLAMing on 90.18165253199999 meters Centerline goodness : 0.751059 Centerline is valid? [False, False] Translation: X:-25.54, Y:-28.73, Z:-7.60 [[ 0.79237933 -0.53095395 -0.30037126 -25.54084293] [ 0.53602392 0.84106753 -0.07268954 -28.72734155] [ 0.29122732 -0.10340849 0.95104854 -7.60366978] [ 0. 0. 0. 1. ]] SLAMing on 90.21165253199999 meters Centerline goodness : 0.748873 Centerline is valid? [False, False] Translation: X:-25.56, Y:-28.75, Z:-7.61 [[ 0.78975917 -0.53305045 -0.30354189 -25.56191868] [ 0.53873129 0.83936656 -0.07233515 -28.75207626] [ 0.29334119 -0.10640017 0.95006839 -7.60743545] [ 0. 0. 0. 1. ]] SLAMing on 90.24165253199999 meters Centerline goodness : 0.749448 Centerline is valid? [False, False] Translation: X:-25.58, Y:-28.78, Z:-7.61 [[ 0.7886925 -0.53236972 -0.30748433 -25.58337549] [ 0.53904288 0.8393195 -0.0705376 -28.77688479] [ 0.29562967 -0.11011476 0.94893511 -7.61231874] [ 0. 0. 0. 1. ]] SLAMing on 90.27165253199999 meters Centerline goodness : 0.750433 Centerline is valid? [False, False] Translation: X:-25.61, Y:-28.80, Z:-7.62 [[ 0.78920472 -0.5294793 -0.31113916 -25.6071445 ] [ 0.53746227 0.84060439 -0.06722031 -28.80285796] [ 0.29713671 -0.11417498 0.9479841 -7.61866432] [ 0. 0. 0. 1. ]] SLAMing on 90.30165253199999 meters Centerline goodness : 0.747955 Centerline is valid? [False, False] Translation: X:-25.63, Y:-28.83, Z:-7.63 [[ 0.78728989 -0.53037115 -0.3144536 -25.62861577] [ 0.53888244 0.83970465 -0.06709552 -28.82615523] [ 0.29963368 -0.1166299 0.94689869 -7.62504589] [ 0. 0. 0. 1. ]] SLAMing on 90.33165253199999 meters Centerline goodness : 0.748143 Centerline is valid? [False, False] Translation: X:-25.63, Y:-28.83, Z:-7.63 [[ 0.78597903 -0.53400626 -0.31156746 -25.63284068] [ 0.54154373 0.83777339 -0.06975766 -28.82587892] [ 0.29827396 -0.11389935 0.94766006 -7.62616195] [ 0. 0. 0. 1. ]] SLAMing on 90.361652532 meters Centerline goodness : 0.745949 Centerline is valid? [False, False] Translation: X:-25.63, Y:-28.83, Z:-7.63 [[ 0.78620006 -0.53390429 -0.31118431 -25.63408904] [ 0.54144973 0.83785099 -0.06955503 -28.82586563] [ 0.29786181 -0.11380649 0.94780084 -7.62674111] [ 0. 0. 0. 1. ]] SLAMing on 90.391652532 meters Centerline goodness : 0.748782 Centerline is valid? [False, False] Translation: X:-25.66, Y:-28.85, Z:-7.63 [[ 0.78545437 -0.53431597 -0.31235857 -25.66053777] [ 0.54232656 0.8373589 -0.06864377 -28.8546318 ] [ 0.29823369 -0.1154838 0.94748095 -7.63310998] [ 0. 0. 0. 1. ]] SLAMing on 90.421652532 meters Centerline goodness : 0.747364 Centerline is valid? [False, False] Translation: X:-25.66, Y:-28.86, Z:-7.63 [[ 0.78417662 -0.53773728 -0.30968638 -25.66434176] [ 0.54488486 0.83549822 -0.07101562 -28.85652027] [ 0.29693017 -0.11305463 0.94818307 -7.63301911] [ 0. 0. 0. 1. ]] SLAMing on 90.451652532 meters Centerline goodness : 0.749672 Centerline is valid? [False, False] Translation: X:-25.67, Y:-28.86, Z:-7.63 [[ 0.7843652 -0.53793012 -0.30887283 -25.66772176] [ 0.54504341 0.83541008 -0.07083549 -28.85826069] [ 0.29614002 -0.11278821 0.94846187 -7.63244035] [ 0. 0. 0. 1. ]] SLAMing on 90.48165253199998 meters Centerline goodness : 0.750053 Centerline is valid? [False, False] Translation: X:-25.69, Y:-28.88, Z:-7.64 [[ 0.78362738 -0.53763507 -0.31125016 -25.69205005] [ 0.54558621 0.83520349 -0.0690711 -28.88373823] [ 0.29709226 -0.11568779 0.9478146 -7.63855989] [ 0. 0. 0. 1. ]] SLAMing on 90.51165253199999 meters Centerline goodness : 0.751032 Centerline is valid? [False, False] Translation: X:-25.71, Y:-28.89, Z:-7.65 [[ 0.78546597 -0.53858787 -0.30490378 -25.70744448] [ 0.54373797 0.83583373 -0.07570334 -28.89433492] [ 0.29562177 -0.10632537 0.94936963 -7.64840992] [ 0. 0. 0. 1. ]] SLAMing on 90.54165253199999 meters Centerline goodness : 0.751032 Centerline is valid? [False, False] Translation: X:-25.71, Y:-28.89, Z:-7.65 [[ 0.78546597 -0.53858787 -0.30490378 -25.70744448] [ 0.54373797 0.83583373 -0.07570334 -28.89433492] [ 0.29562177 -0.10632537 0.94936963 -7.64840992] [ 0. 0. 0. 1. ]] SLAMing on 90.57165253199999 meters Centerline goodness : 0.747496 Centerline is valid? [False, False] Translation: X:-25.71, Y:-28.89, Z:-7.65 [[ 0.78593214 -0.53813512 -0.30450167 -25.70920777] [ 0.54334395 0.83612928 -0.07526742 -28.8948779 ] [ 0.2951068 -0.10629406 0.94953333 -7.64896512] [ 0. 0. 0. 1. ]] SLAMing on 90.60165253199999 meters Centerline goodness : 0.751324 Centerline is valid? [False, False] Translation: X:-25.73, Y:-28.92, Z:-7.65 [[ 0.78398792 -0.53819709 -0.3093652 -25.72758395] [ 0.54451722 0.83551248 -0.07361998 -28.9172759 ] [ 0.29810054 -0.1107375 0.94808927 -7.65305072] [ 0. 0. 0. 1. ]] SLAMing on 90.63165253199999 meters Centerline goodness : 0.750789 Centerline is valid? [False, False] Translation: X:-25.73, Y:-28.92, Z:-7.65 [[ 0.78447333 -0.53766166 -0.30906557 -25.72968205] [ 0.54408015 0.83584487 -0.07307631 -28.91819799] [ 0.2976212 -0.11083003 0.94822905 -7.65304644] [ 0. 0. 0. 1. ]] SLAMing on 90.66165253199999 meters Centerline goodness : 0.749942 Centerline is valid? [False, False] Translation: X:-25.73, Y:-28.92, Z:-7.65 [[ 0.78516837 -0.53691212 -0.30860331 -25.73250964] [ 0.54345952 0.83631383 -0.07232522 -28.91918348] [ 0.2969215 -0.11092593 0.94843717 -7.65338498] [ 0. 0. 0. 1. ]] SLAMing on 90.69165253199999 meters Centerline goodness : 0.751779 Centerline is valid? [False, False] Translation: X:-25.74, Y:-28.92, Z:-7.65 [[ 0.78379816 -0.54059058 -0.30565058 -25.73648927] [ 0.54612936 0.83432258 -0.07515685 -28.91849531] [ 0.29564027 -0.10801696 0.94917289 -7.65473852] [ 0. 0. 0. 1. ]] SLAMing on 90.721652532 meters Centerline goodness : 0.750198 Centerline is valid? [False, False] Translation: X:-25.76, Y:-28.94, Z:-7.66 [[ 0.78283021 -0.53923528 -0.31048699 -25.75645816] [ 0.5460068 0.83460733 -0.0728504 -28.94112891] [ 0.29841823 -0.11249852 0.94778196 -7.65957786] [ 0. 0. 0. 1. ]] SLAMing on 90.751652532 meters Centerline goodness : 0.750789 Centerline is valid? [False, False] Translation: X:-25.78, Y:-28.97, Z:-7.67 [[ 0.78210516 -0.53973215 -0.31144941 -25.78184821] [ 0.54688263 0.83409534 -0.07214123 -28.97011317] [ 0.29871544 -0.11390424 0.9475204 -7.66669428] [ 0. 0. 0. 1. ]] SLAMing on 90.781652532 meters Centerline goodness : 0.750123 Centerline is valid? [False, False] Translation: X:-25.80, Y:-28.99, Z:-7.67 [[ 0.78077297 -0.54050697 -0.31344182 -25.80414209] [ 0.54856545 0.83315126 -0.07024904 -28.99406571] [ 0.29911455 -0.1170948 0.94700544 -7.67235344] [ 0. 0. 0. 1. ]] SLAMing on 90.811652532 meters Centerline goodness : 0.749368 Centerline is valid? [False, False] Translation: X:-25.83, Y:-29.02, Z:-7.68 [[ 0.77855994 -0.54215941 -0.31608163 -25.82573456] [ 0.55084161 0.83169042 -0.06974646 -29.019203 ] [ 0.30069577 -0.11980911 0.9461648 -7.67685377] [ 0. 0. 0. 1. ]] SLAMing on 90.841652532 meters Centerline goodness : 0.750895 Centerline is valid? [False, False] Translation: X:-25.85, Y:-29.05, Z:-7.68 [[ 0.77810083 -0.54194038 -0.31758421 -25.85085405] [ 0.55137875 0.83148177 -0.06796712 -29.04625688] [ 0.30089961 -0.12222391 0.94579107 -7.68369007] [ 0. 0. 0. 1. ]] SLAMing on 90.87165253199998 meters Centerline goodness : 0.749080 Centerline is valid? [False, False] Translation: X:-25.88, Y:-29.08, Z:-7.69 [[ 0.78034459 -0.53820547 -0.31842927 -25.87935996] [ 0.54874577 0.83353091 -0.06406479 -29.07558533] [ 0.29990066 -0.1247441 0.94577931 -7.69375695] [ 0. 0. 0. 1. ]] SLAMing on 90.90165253199999 meters Centerline goodness : 0.750006 Centerline is valid? [False, False] Translation: X:-25.90, Y:-29.10, Z:-7.70 [[ 0.77915802 -0.53879673 -0.3203293 -25.90230754] [ 0.54955261 0.83297637 -0.06436071 -29.09973271] [ 0.30150407 -0.12589064 0.94511737 -7.70255048] [ 0. 0. 0. 1. ]] SLAMing on 90.93165253199999 meters Centerline goodness : 0.749503 Centerline is valid? [False, False] Translation: X:-25.93, Y:-29.13, Z:-7.71 [[ 0.77831773 -0.53858179 -0.3227246 -25.92549531] [ 0.54992925 0.83279071 -0.06354096 -29.12537733] [ 0.30298406 -0.12802064 0.94435765 -7.71014796] [ 0. 0. 0. 1. ]] SLAMing on 90.96165253199999 meters Centerline goodness : 0.750187 Centerline is valid? [False, False] Translation: X:-25.95, Y:-29.15, Z:-7.72 [[ 0.77641189 -0.54087216 -0.32348398 -25.94839358] [ 0.55224928 0.83119616 -0.06429362 -29.15129269] [ 0.30365327 -0.12872547 0.94404685 -7.71857241] [ 0. 0. 0. 1. ]] SLAMing on 90.99165253199999 meters Centerline goodness : 0.751203 Centerline is valid? [False, False] Translation: X:-25.98, Y:-29.18, Z:-7.73 [[ 0.77659019 -0.54062406 -0.32347071 -25.97517892] [ 0.55192343 0.83139853 -0.06447485 -29.17936271] [ 0.30378973 -0.12846053 0.94403903 -7.729792 ] [ 0. 0. 0. 1. ]] SLAMing on 91.02165253199999 meters Centerline goodness : 0.751476 Centerline is valid? [False, False] Translation: X:-26.00, Y:-29.20, Z:-7.74 [[ 0.77672437 -0.53982601 -0.32447977 -25.99962233] [ 0.55184297 0.83160047 -0.06252989 -29.2043661 ] [ 0.30359279 -0.13049339 0.94382355 -7.73910981] [ 0. 0. 0. 1. ]] SLAMing on 91.05165253199999 meters Centerline goodness : 0.749001 Centerline is valid? [False, False] Translation: X:-26.02, Y:-29.23, Z:-7.75 [[ 0.77534605 -0.5410659 -0.32570876 -26.02315721] [ 0.55328789 0.83062445 -0.06273391 -29.22980993] [ 0.30448484 -0.13157022 0.94338659 -7.74728324] [ 0. 0. 0. 1. ]] SLAMing on 91.08165253199999 meters Centerline goodness : 0.752685 Centerline is valid? [False, False] Translation: X:-26.05, Y:-29.26, Z:-7.76 [[ 0.77454231 -0.54283177 -0.32468119 -26.05106762] [ 0.55509322 0.8294349 -0.06252418 -29.25778462] [ 0.30324202 -0.13180071 0.94375466 -7.75604937] [ 0. 0. 0. 1. ]] SLAMing on 91.111652532 meters Centerline goodness : 0.752182 Centerline is valid? [False, False] Translation: X:-26.08, Y:-29.29, Z:-7.77 [[ 0.77594333 -0.54161634 -0.3233631 -26.08085794] [ 0.55436082 0.83010145 -0.06013034 -29.28747579] [ 0.30099175 -0.1326021 0.94436256 -7.76641353] [ 0. 0. 0. 1. ]] SLAMing on 91.141652532 meters Centerline goodness : 0.753297 Centerline is valid? [False, False] Translation: X:-26.11, Y:-29.32, Z:-7.78 [[ 0.7774409 -0.54048727 -0.32165067 -26.11065534] [ 0.55349096 0.83081517 -0.05825733 -29.3169113 ] [ 0.2987196 -0.13273911 0.94506451 -7.77790787] [ 0. 0. 0. 1. ]] SLAMing on 91.171652532 meters Centerline goodness : 0.752847 Centerline is valid? [False, False] Translation: X:-26.14, Y:-29.35, Z:-7.79 [[ 0.77830063 -0.53951791 -0.32119861 -26.1384511 ] [ 0.55281735 0.83135793 -0.05689438 -29.34549031] [ 0.29772655 -0.13328323 0.94530126 -7.78880763] [ 0. 0. 0. 1. ]] SLAMing on 91.201652532 meters Centerline goodness : 0.753603 Centerline is valid? [False, False] Translation: X:-26.16, Y:-29.37, Z:-7.80 [[ 0.77838152 -0.5391344 -0.32164625 -26.16426346] [ 0.55271866 0.83147606 -0.05612177 -29.37125135] [ 0.29769833 -0.13409573 0.94519524 -7.79921795] [ 0. 0. 0. 1. ]] SLAMing on 91.23165253199998 meters Centerline goodness : 0.753195 Centerline is valid? [False, False] Translation: X:-26.17, Y:-29.38, Z:-7.81 [[ 0.77984386 -0.54057407 -0.31563149 -26.17415276] [ 0.55217402 0.83157194 -0.05993288 -29.37696475] [ 0.29486845 -0.12754522 0.94698723 -7.80891471] [ 0. 0. 0. 1. ]] SLAMing on 91.26165253199999 meters Centerline goodness : 0.752918 Centerline is valid? [False, False] Translation: X:-26.20, Y:-29.40, Z:-7.82 [[ 0.78006726 -0.53957043 -0.31679459 -26.19972078] [ 0.55177941 0.8319496 -0.05830387 -29.40274485] [ 0.29501618 -0.12931979 0.9467005 -7.81797537] [ 0. 0. 0. 1. ]] SLAMing on 91.29165253199999 meters Centerline goodness : 0.753288 Centerline is valid? [False, False] Translation: X:-26.22, Y:-29.43, Z:-7.83 [[ 0.77866984 -0.54045514 -0.31871857 -26.22173892] [ 0.5530763 0.83110382 -0.05807787 -29.42570094] [ 0.2962767 -0.1310522 0.94606841 -7.82624375] [ 0. 0. 0. 1. ]] SLAMing on 91.32165253199999 meters Centerline goodness : 0.751635 Centerline is valid? [False, False] Translation: X:-26.25, Y:-29.46, Z:-7.84 [[ 0.77710146 -0.5435769 -0.31723409 -26.24832213] [ 0.55580159 0.82919601 -0.0593176 -29.45501937] [ 0.29529292 -0.13022342 0.94649033 -7.83525125] [ 0. 0. 0. 1. ]] SLAMing on 91.35165253199999 meters Centerline goodness : 0.752175 Centerline is valid? [False, False] Translation: X:-26.28, Y:-29.48, Z:-7.84 [[ 0.77726075 -0.54417503 -0.31581524 -26.27643196] [ 0.55666849 0.82871385 -0.05790986 -29.48407058] [ 0.29323356 -0.13079333 0.94705184 -7.84466822] [ 0. 0. 0. 1. ]] SLAMing on 91.38165253199999 meters Centerline goodness : 0.754471 Centerline is valid? [False, False] Translation: X:-26.30, Y:-29.51, Z:-7.85 [[ 0.77727187 -0.54444726 -0.31531829 -26.3024447 ] [ 0.55769447 0.82820308 -0.05528594 -29.50975873] [ 0.29124786 -0.13287907 0.94737418 -7.85296368] [ 0. 0. 0. 1. ]] SLAMing on 91.41165253199999 meters Centerline goodness : 0.753436 Centerline is valid? [False, False] Translation: X:-26.33, Y:-29.54, Z:-7.86 [[ 0.7777069 -0.54394724 -0.31510852 -26.33044737] [ 0.55772561 0.82830938 -0.05334526 -29.53870114] [ 0.29002435 -0.13425711 0.94755522 -7.86173117] [ 0. 0. 0. 1. ]] SLAMing on 91.44165253199999 meters Centerline goodness : 0.752915 Centerline is valid? [False, False] Translation: X:-26.33, Y:-29.54, Z:-7.86 [[ 0.77644214 -0.54728876 -0.31243018 -26.33430948] [ 0.56010181 0.82653521 -0.05590618 -29.53894405] [ 0.28883137 -0.1315848 0.9482942 -7.86248601] [ 0. 0. 0. 1. ]] SLAMing on 91.471652532 meters Centerline goodness : 0.750933 Centerline is valid? [False, False] Translation: X:-26.36, Y:-29.56, Z:-7.87 [[ 0.77662499 -0.54634992 -0.31361661 -26.35882348] [ 0.55975531 0.82687417 -0.0543424 -29.56486737] [ 0.28901145 -0.13334489 0.94799342 -7.87156683] [ 0. 0. 0. 1. ]] SLAMing on 91.501652532 meters Centerline goodness : 0.750269 Centerline is valid? [False, False] Translation: X:-26.37, Y:-29.57, Z:-7.88 [[ 0.77680187 -0.55012401 -0.3065003 -26.36929858] [ 0.56061638 0.82579974 -0.06135203 -29.57324386] [ 0.28685909 -0.12417071 0.94989131 -7.88088552] [ 0. 0. 0. 1. ]] SLAMing on 91.531652532 meters Centerline goodness : 0.749239 Centerline is valid? [False, False] Translation: X:-26.37, Y:-29.58, Z:-7.88 [[ 0.77531824 -0.55367299 -0.30385497 -26.3718912 ] [ 0.56328703 0.82379443 -0.06380023 -29.57522712] [ 0.2856385 -0.12169208 0.95057966 -7.88102109] [ 0. 0. 0. 1. ]] SLAMing on 91.561652532 meters Centerline goodness : 0.749859 Centerline is valid? [False, False] Translation: X:-26.39, Y:-29.60, Z:-7.89 [[ 0.77394479 -0.5544206 -0.30598571 -26.39416082] [ 0.56470798 0.82290609 -0.06269341 -29.60176981] [ 0.28655602 -0.12427134 0.94996962 -7.88659451] [ 0. 0. 0. 1. ]] SLAMing on 91.591652532 meters Centerline goodness : 0.748731 Centerline is valid? [False, False] Translation: X:-26.42, Y:-29.63, Z:-7.89 [[ 0.7720879 -0.55570169 -0.30834382 -26.41566852] [ 0.56673113 0.82159625 -0.06160712 -29.62962171] [ 0.28756931 -0.12718193 0.94927796 -7.8912171 ] [ 0. 0. 0. 1. ]] SLAMing on 91.62165253199998 meters Centerline goodness : 0.748780 Centerline is valid? [False, False] Translation: X:-26.44, Y:-29.65, Z:-7.90 [[ 0.76945782 -0.55767411 -0.31134266 -26.43545001] [ 0.5691934 0.81987497 -0.06183775 -29.65461936] [ 0.28974737 -0.12963265 0.94828363 -7.89577745] [ 0. 0. 0. 1. ]] SLAMing on 91.65165253199999 meters Centerline goodness : 0.749769 Centerline is valid? [False, False] Translation: X:-26.46, Y:-29.68, Z:-7.90 [[ 0.76698088 -0.55941857 -0.31431066 -26.45532394] [ 0.57144947 0.81829404 -0.06197075 -29.68023167] [ 0.29186612 -0.13208228 0.94729533 -7.90061643] [ 0. 0. 0. 1. ]] SLAMing on 91.68165253199999 meters Centerline goodness : 0.747993 Centerline is valid? [False, False] Translation: X:-26.48, Y:-29.71, Z:-7.91 [[ 0.76563772 -0.55999446 -0.31655188 -26.47778859] [ 0.57242455 0.81761824 -0.06189146 -29.70716525] [ 0.29347747 -0.13381563 0.94655394 -7.90745981] [ 0. 0. 0. 1. ]] SLAMing on 91.71165253199999 meters Centerline goodness : 0.747911 Centerline is valid? [False, False] Translation: X:-26.51, Y:-29.74, Z:-7.92 [[ 0.76708442 -0.55773534 -0.31703751 -26.50634359] [ 0.57041513 0.81910099 -0.0608288 -29.73870779] [ 0.29361211 -0.13418217 0.94646029 -7.91836262] [ 0. 0. 0. 1. ]] SLAMing on 91.74165253199999 meters Centerline goodness : 0.746792 Centerline is valid? [False, False] Translation: X:-26.52, Y:-29.76, Z:-7.92 [[ 0.76535007 -0.55727102 -0.32200665 -26.52452053] [ 0.57117842 0.81868492 -0.05924705 -29.76038997] [ 0.29663865 -0.13857852 0.94488174 -7.9230507 ] [ 0. 0. 0. 1. ]] SLAMing on 91.77165253199999 meters Centerline goodness : 0.747520 Centerline is valid? [False, False] Translation: X:-26.55, Y:-29.79, Z:-7.93 [[ 0.76357531 -0.55829953 -0.32442932 -26.54671319] [ 0.57267783 0.81764033 -0.05919798 -29.78508872] [ 0.2983167 -0.14059136 0.94405573 -7.92960124] [ 0. 0. 0. 1. ]] SLAMing on 91.80165253199999 meters Centerline goodness : 0.746301 Centerline is valid? [False, False] Translation: X:-26.58, Y:-29.82, Z:-7.94 [[ 0.76455561 -0.55763863 -0.32325511 -26.57635115] [ 0.57220593 0.81806664 -0.05785618 -29.81908145] [ 0.29670707 -0.14073422 0.94454158 -7.93905534] [ 0. 0. 0. 1. ]] SLAMing on 91.83165253199999 meters Centerline goodness : 0.745179 Centerline is valid? [False, False] Translation: X:-26.59, Y:-29.83, Z:-7.95 [[ 0.76630262 -0.55900654 -0.3166891 -26.59049479] [ 0.57095683 0.81853723 -0.06328588 -29.83128151] [ 0.29459904 -0.13231967 0.94641582 -7.94764614] [ 0. 0. 0. 1. ]] SLAMing on 91.861652532 meters Centerline goodness : 0.746651 Centerline is valid? [False, False] Translation: X:-26.61, Y:-29.86, Z:-7.95 [[ 0.7651739 -0.55941385 -0.31869273 -26.6136339 ] [ 0.57158947 0.8180699 -0.06361703 -29.85863834] [ 0.29630117 -0.13348331 0.94572079 -7.95496472] [ 0. 0. 0. 1. ]] SLAMing on 91.891652532 meters Centerline goodness : 0.747199 Centerline is valid? [False, False] Translation: X:-26.64, Y:-29.89, Z:-7.96 [[ 0.76437112 -0.55980628 -0.31992768 -26.63878457] [ 0.57230756 0.81759517 -0.06326286 -29.88891153] [ 0.29698627 -0.13474073 0.9453275 -7.96215459] [ 0. 0. 0. 1. ]] SLAMing on 91.921652532 meters Centerline goodness : 0.746577 Centerline is valid? [False, False] Translation: X:-26.66, Y:-29.92, Z:-7.97 [[ 0.76410496 -0.55940942 -0.32125491 -26.66433292] [ 0.57234558 0.81763188 -0.06243913 -29.91739302] [ 0.29759729 -0.13615878 0.94493208 -7.97019154] [ 0. 0. 0. 1. ]] SLAMing on 91.951652532 meters Centerline goodness : 0.746263 Centerline is valid? [False, False] Translation: X:-26.69, Y:-29.94, Z:-7.98 [[ 0.76403364 -0.55813034 -0.32364043 -26.68858645] [ 0.57182776 0.81810877 -0.06091846 -29.94437875] [ 0.29877351 -0.13852283 0.94421704 -7.97797622] [ 0. 0. 0. 1. ]] SLAMing on 91.98165253199998 meters Centerline goodness : 0.746157 Centerline is valid? [False, False] Translation: X:-26.71, Y:-29.97, Z:-7.99 [[ 0.76337983 -0.55794376 -0.32549961 -26.71277277] [ 0.57190048 0.81805304 -0.0609841 -29.9714904 ] [ 0.30030164 -0.13959935 0.9435735 -7.98658852] [ 0. 0. 0. 1. ]] SLAMing on 92.01165253199999 meters Centerline goodness : 0.746033 Centerline is valid? [False, False] Translation: X:-26.73, Y:-30.00, Z:-7.99 [[ 0.76144332 -0.55922698 -0.32782503 -26.73350415] [ 0.57340955 0.81694009 -0.06172826 -29.99754497] [ 0.30233352 -0.14097543 0.94271967 -7.99451383] [ 0. 0. 0. 1. ]] SLAMing on 92.04165253199999 meters Centerline goodness : 0.746599 Centerline is valid? [False, False] Translation: X:-26.76, Y:-30.02, Z:-8.00 [[ 0.76047119 -0.55948203 -0.32964137 -26.75745043] [ 0.57412047 0.81647435 -0.06128069 -30.02494484] [ 0.30342916 -0.14265166 0.9421153 -8.00176471] [ 0. 0. 0. 1. ]] SLAMing on 92.07165253199999 meters Centerline goodness : 0.744852 Centerline is valid? [False, False] Translation: X:-26.78, Y:-30.05, Z:-8.01 [[ 0.76062602 -0.55930538 -0.3295839 -26.78478031] [ 0.57420548 0.81648034 -0.06039801 -30.05498173] [ 0.30287971 -0.14330858 0.94219241 -8.01099319] [ 0. 0. 0. 1. ]] SLAMing on 92.10165253199999 meters Centerline goodness : 0.745429 Centerline is valid? [False, False] Translation: X:-26.81, Y:-30.08, Z:-8.02 [[ 0.7603975 -0.55900099 -0.33062596 -26.81094101] [ 0.57429792 0.81647205 -0.05962623 -30.08385113] [ 0.30327798 -0.14453816 0.94187642 -8.01945363] [ 0. 0. 0. 1. ]] SLAMing on 92.13165253199999 meters Centerline goodness : 0.744983 Centerline is valid? [False, False] Translation: X:-26.84, Y:-30.11, Z:-8.03 [[ 0.76121689 -0.55749693 -0.33127937 -26.83854928] [ 0.57335556 0.81726014 -0.05787286 -30.11368994] [ 0.30300537 -0.14588707 0.94175618 -8.02927634] [ 0. 0. 0. 1. ]] SLAMing on 92.16165253199999 meters Centerline goodness : 0.746490 Centerline is valid? [False, False] Translation: X:-26.86, Y:-30.14, Z:-8.04 [[ 0.7607759 -0.55734954 -0.332538 -26.86375657] [ 0.57378357 0.8170415 -0.05670628 -30.1401637 ] [ 0.30330256 -0.14766407 0.94138349 -8.0376425 ] [ 0. 0. 0. 1. ]] SLAMing on 92.19165253199999 meters Centerline goodness : 0.745283 Centerline is valid? [False, False] Translation: X:-26.89, Y:-30.16, Z:-8.04 [[ 0.75870531 -0.55921822 -0.33412759 -26.88632462] [ 0.57590594 0.81551347 -0.05718504 -30.16457686] [ 0.30446447 -0.14903947 0.94079149 -8.04496632] [ 0. 0. 0. 1. ]] SLAMing on 92.221652532 meters Centerline goodness : 0.744178 Centerline is valid? [False, False] Translation: X:-26.92, Y:-30.20, Z:-8.05 [[ 0.75795565 -0.56121515 -0.33247675 -26.91529391] [ 0.57752129 0.81431548 -0.0579609 -30.19620131] [ 0.30326949 -0.14808061 0.94132871 -8.05457529] [ 0. 0. 0. 1. ]] SLAMing on 92.251652532 meters Centerline goodness : 0.746464 Centerline is valid? [False, False] Translation: X:-26.94, Y:-30.22, Z:-8.06 [[ 0.75801572 -0.56098916 -0.3327211 -26.94106466] [ 0.57781139 0.81421693 -0.0564339 -30.22323111] [ 0.30256596 -0.14947226 0.94133516 -8.06385088] [ 0. 0. 0. 1. ]] SLAMing on 92.281652532 meters Centerline goodness : 0.746284 Centerline is valid? [False, False] Translation: X:-26.97, Y:-30.25, Z:-8.07 [[ 0.75882541 -0.55973488 -0.33298777 -26.96951919] [ 0.57672822 0.81503131 -0.05575407 -30.25214052] [ 0.30260296 -0.14973584 0.94128138 -8.07441007] [ 0. 0. 0. 1. ]] SLAMing on 92.311652532 meters Centerline goodness : 0.746591 Centerline is valid? [False, False] Translation: X:-27.00, Y:-30.28, Z:-8.08 [[ 0.75911049 -0.55863164 -0.33418849 -26.99575751] [ 0.57604993 0.81557422 -0.05481944 -30.27850375] [ 0.30317939 -0.15089525 0.94091067 -8.08450524] [ 0. 0. 0. 1. ]] SLAMing on 92.341652532 meters Centerline goodness : 0.745876 Centerline is valid? [False, False] Translation: X:-27.03, Y:-30.31, Z:-8.10 [[ 0.76068619 -0.55652596 -0.33411881 -27.02680905] [ 0.57416701 0.81698148 -0.05360515 -30.30819181] [ 0.30280154 -0.15106331 0.94100537 -8.09600527] [ 0. 0. 0. 1. ]] SLAMing on 92.37165253199998 meters Centerline goodness : 0.745143 Centerline is valid? [False, False] Translation: X:-27.06, Y:-30.34, Z:-8.11 [[ 0.76108982 -0.55620407 -0.33373539 -27.05520316] [ 0.57389234 0.8172023 -0.05317875 -30.33728971] [ 0.30230756 -0.15105438 0.94116561 -8.10636771] [ 0. 0. 0. 1. ]] SLAMing on 92.40165253199999 meters Centerline goodness : 0.742433 Centerline is valid? [False, False] Translation: X:-27.08, Y:-30.37, Z:-8.12 [[ 0.76071334 -0.55686847 -0.33348571 -27.08194798] [ 0.57448673 0.81676912 -0.05341532 -30.36534916] [ 0.30212613 -0.15094937 0.94124072 -8.11631943] [ 0. 0. 0. 1. ]] SLAMing on 92.43165253199999 meters Centerline goodness : 0.743706 Centerline is valid? [False, False] Translation: X:-27.11, Y:-30.39, Z:-8.13 [[ 0.76068389 -0.55738295 -0.33269246 -27.10910318] [ 0.57489955 0.81647797 -0.05342496 -30.39368888] [ 0.30141423 -0.15062523 0.94152085 -8.12732093] [ 0. 0. 0. 1. ]] SLAMing on 92.46165253199999 meters Centerline goodness : 0.743706 Centerline is valid? [False, False] Translation: X:-27.13, Y:-30.42, Z:-8.14 [[ 0.76043617 -0.55764315 -0.33282271 -27.13497859] [ 0.57526967 0.8162312 -0.05321114 -30.41971006] [ 0.30133311 -0.15099913 0.94148692 -8.13768125] [ 0. 0. 0. 1. ]] SLAMing on 92.49165253199999 meters Centerline goodness : 0.743783 Centerline is valid? [False, False] Translation: X:-27.17, Y:-30.45, Z:-8.15 [[ 0.76125976 -0.55686777 -0.33223766 -27.16567941] [ 0.57435838 0.81687705 -0.05314443 -30.4496986 ] [ 0.30099174 -0.15036677 0.9416973 -8.14903761] [ 0. 0. 0. 1. ]] SLAMing on 92.52165253199999 meters Centerline goodness : 0.744068 Centerline is valid? [False, False] Translation: X:-27.19, Y:-30.48, Z:-8.16 [[ 0.7618083 -0.55658682 -0.3314502 -27.1940891 ] [ 0.57411166 0.81708888 -0.0525505 -30.47597788] [ 0.30007319 -0.15025602 0.94200807 -8.16079401] [ 0. 0. 0. 1. ]] SLAMing on 92.55165253199999 meters Centerline goodness : 0.744871 Centerline is valid? [False, False] Translation: X:-27.22, Y:-30.50, Z:-8.17 [[ 0.76228349 -0.5562163 -0.33097931 -27.22213217] [ 0.57380457 0.8173389 -0.05201373 -30.50319072] [ 0.29945315 -0.15026823 0.94220341 -8.17192199] [ 0. 0. 0. 1. ]] SLAMing on 92.58165253199999 meters Centerline goodness : 0.744376 Centerline is valid? [False, False] Translation: X:-27.25, Y:-30.53, Z:-8.18 [[ 0.76192286 -0.55824351 -0.32838657 -27.25245008] [ 0.57475217 0.81651106 -0.05449428 -30.53316369] [ 0.29855234 -0.14722046 0.94297011 -8.18498011] [ 0. 0. 0. 1. ]] SLAMing on 92.611652532 meters Centerline goodness : 0.746588 Centerline is valid? [False, False] Translation: X:-27.28, Y:-30.56, Z:-8.20 [[ 0.76229543 -0.55790151 -0.328103 -27.27998621] [ 0.57449583 0.81672453 -0.05399615 -30.56033944] [ 0.2980943 -0.14733279 0.94309747 -8.19600263] [ 0. 0. 0. 1. ]] SLAMing on 92.641652532 meters Centerline goodness : 0.747995 Centerline is valid? [False, False] Translation: X:-27.30, Y:-30.57, Z:-8.21 [[ 0.76397984 -0.55906434 -0.32215194 -27.29534312] [ 0.57277861 0.81748676 -0.06033297 -30.56938899] [ 0.29708496 -0.13842857 0.94476349 -8.20536283] [ 0. 0. 0. 1. ]] SLAMing on 92.671652532 meters Centerline goodness : 0.748391 Centerline is valid? [False, False] Translation: X:-27.33, Y:-30.60, Z:-8.22 [[ 0.7653454 -0.55800683 -0.32074101 -27.32786437] [ 0.57187658 0.81822265 -0.0588971 -30.60083519] [ 0.29530254 -0.13834765 0.94533398 -8.21560824] [ 0. 0. 0. 1. ]] SLAMing on 92.701652532 meters Centerline goodness : 0.750552 Centerline is valid? [False, False] Translation: X:-27.34, Y:-30.61, Z:-8.22 [[ 0.76692817 -0.55937475 -0.31451721 -27.34172924] [ 0.57073375 0.81861888 -0.06423479 -30.6098061 ] [ 0.29340105 -0.13024212 0.94707593 -8.22436925] [ 0. 0. 0. 1. ]] SLAMing on 92.73165253199998 meters Centerline goodness : 0.750695 Centerline is valid? [False, False] Translation: X:-27.37, Y:-30.64, Z:-8.23 [[ 0.76819903 -0.5576964 -0.31439622 -27.37134234] [ 0.56931077 0.81970593 -0.06298762 -30.63863083] [ 0.29284042 -0.13060213 0.94719986 -8.23490382] [ 0. 0. 0. 1. ]] SLAMing on 92.76165253199999 meters Centerline goodness : 0.753422 Centerline is valid? [False, False] Translation: X:-27.40, Y:-30.66, Z:-8.24 [[ 0.7672621 -0.55857862 -0.31511712 -27.39665932] [ 0.57019261 0.81905136 -0.06352368 -30.66310402] [ 0.29358008 -0.13093814 0.94692446 -8.24440459] [ 0. 0. 0. 1. ]] SLAMing on 92.79165253199999 meters Centerline goodness : 0.754604 Centerline is valid? [False, False] Translation: X:-27.42, Y:-30.69, Z:-8.25 [[ 0.76710577 -0.55862776 -0.31541046 -27.42374887] [ 0.57029887 0.81897999 -0.06348996 -30.68876511] [ 0.29378211 -0.13117471 0.94682906 -8.25462011] [ 0. 0. 0. 1. ]] SLAMing on 92.82165253199999 meters Centerline goodness : 0.754349 Centerline is valid? [False, False] Translation: X:-27.44, Y:-30.70, Z:-8.27 [[ 0.77179686 -0.55463409 -0.31098332 -27.44279885] [ 0.56428046 0.82285074 -0.06711352 -30.7012778 ] [ 0.29311631 -0.1236838 0.9480428 -8.26503406] [ 0. 0. 0. 1. ]] SLAMing on 92.85165253199999 meters Centerline goodness : 0.757599 Centerline is valid? [False, False] Translation: X:-27.47, Y:-30.73, Z:-8.28 [[ 0.77309618 -0.55318247 -0.31034087 -27.4731841 ] [ 0.56296266 0.82383638 -0.06608078 -30.72956851] [ 0.29222483 -0.12362352 0.94832583 -8.27615168] [ 0. 0. 0. 1. ]] SLAMing on 92.88165253199999 meters Centerline goodness : 0.755959 Centerline is valid? [False, False] Translation: X:-27.50, Y:-30.76, Z:-8.29 [[ 0.77508063 -0.55123077 -0.30886024 -27.5049986 ] [ 0.56121045 0.82516794 -0.06434826 -30.75819644] [ 0.29033231 -0.12346051 0.94892816 -8.28804948] [ 0. 0. 0. 1. ]] SLAMing on 92.91165253199999 meters Centerline goodness : 0.758095 Centerline is valid? [False, False] Translation: X:-27.54, Y:-30.79, Z:-8.30 [[ 0.77815866 -0.54827331 -0.30637474 -27.5417045 ] [ 0.55857784 0.82716675 -0.06153009 -30.78931671] [ 0.28715831 -0.12325397 0.94992029 -8.2991565 ] [ 0. 0. 0. 1. ]] SLAMing on 92.94165253199999 meters Centerline goodness : 0.757352 Centerline is valid? [False, False] Translation: X:-27.57, Y:-30.82, Z:-8.31 [[ 0.78000078 -0.54654198 -0.30477966 -27.5741701 ] [ 0.55693462 0.8283754 -0.06015 -30.81776391] [ 0.28534648 -0.12282529 0.95052161 -8.31080422] [ 0. 0. 0. 1. ]] SLAMing on 92.971652532 meters Centerline goodness : 0.759669 Centerline is valid? [False, False] Translation: X:-27.61, Y:-30.85, Z:-8.32 [[ 0.78218026 -0.54453111 -0.30278691 -27.60719509] [ 0.55490496 0.82982683 -0.058889 -30.84574199] [ 0.28332759 -0.12195614 0.95123718 -8.32350372] [ 0. 0. 0. 1. ]] SLAMing on 93.001652532 meters Centerline goodness : 0.761246 Centerline is valid? [False, False] Translation: X:-27.63, Y:-30.86, Z:-8.33 [[ 0.78517192 -0.5426697 -0.29835325 -27.62639718] [ 0.55041838 0.8323255 -0.06537478 -30.85830557] [ 0.28380393 -0.11288867 0.95221399 -8.33187756] [ 0. 0. 0. 1. ]] SLAMing on 93.031652532 meters Centerline goodness : 0.761914 Centerline is valid? [False, False] Translation: X:-27.66, Y:-30.89, Z:-8.34 [[ 0.78789133 -0.53929416 -0.29730297 -27.66082183] [ 0.54712048 0.83460406 -0.06399404 -30.88669111] [ 0.28264188 -0.11224019 0.95263619 -8.3443509 ] [ 0. 0. 0. 1. ]] SLAMing on 93.061652532 meters Centerline goodness : 0.761220 Centerline is valid? [False, False] Translation: X:-27.69, Y:-30.91, Z:-8.35 [[ 0.78871706 -0.53845198 -0.2966393 -27.69067382] [ 0.54633473 0.83516726 -0.06335622 -30.9133992 ] [ 0.28185771 -0.11209422 0.95288568 -8.35493732] [ 0. 0. 0. 1. ]] SLAMing on 93.091652532 meters Centerline goodness : 0.763295 Centerline is valid? [False, False] Translation: X:-27.72, Y:-30.94, Z:-8.37 [[ 0.79064503 -0.53636089 -0.29529211 -27.72286565] [ 0.54450836 0.8364996 -0.06147418 -30.94061279] [ 0.27998408 -0.11218477 0.95342724 -8.36628405] [ 0. 0. 0. 1. ]] SLAMing on 93.12165253199998 meters Centerline goodness : 0.766536 Centerline is valid? [False, False] Translation: X:-27.76, Y:-30.97, Z:-8.38 [[ 0.79675691 -0.52699677 -0.29572425 -27.76259882] [ 0.53589061 0.84234254 -0.05727379 -30.9698674 ] [ 0.27928422 -0.11284256 0.95355486 -8.38021861] [ 0. 0. 0. 1. ]] SLAMing on 93.15165253199999 meters Centerline goodness : 0.765937 Centerline is valid? [False, False] Translation: X:-27.78, Y:-30.98, Z:-8.39 [[ 0.79929623 -0.52538385 -0.29171448 -27.77871664] [ 0.53198581 0.84439616 -0.06313657 -30.97838535] [ 0.27949352 -0.10472315 0.95441942 -8.38855227] [ 0. 0. 0. 1. ]] SLAMing on 93.18165253199999 meters Centerline goodness : 0.766303 Centerline is valid? [False, False] Translation: X:-27.80, Y:-30.99, Z:-8.40 [[ 0.80189448 -0.52424607 -0.28658559 -27.79816321] [ 0.52820022 0.84622691 -0.07003246 -30.99043514] [ 0.27923068 -0.09521593 0.95549158 -8.3970933 ] [ 0. 0. 0. 1. ]] SLAMing on 93.21165253199999 meters Centerline goodness : 0.765252 Centerline is valid? [False, False] Translation: X:-27.81, Y:-31.00, Z:-8.41 [[ 0.80346534 -0.52505707 -0.28063949 -27.81463668] [ 0.52648601 0.84670689 -0.07681094 -31.00061861] [ 0.27794952 -0.08603784 0.95673484 -8.40505406] [ 0. 0. 0. 1. ]] SLAMing on 93.24165253199999 meters Centerline goodness : 0.766388 Centerline is valid? [False, False] Translation: X:-27.84, Y:-31.03, Z:-8.41 [[ 0.80382979 -0.52439293 -0.28083753 -27.8427514 ] [ 0.52611079 0.84703495 -0.07575774 -31.0273862 ] [ 0.27760602 -0.08685533 0.95676071 -8.41366508] [ 0. 0. 0. 1. ]] SLAMing on 93.27165253199999 meters Centerline goodness : 0.766972 Centerline is valid? [False, False] Translation: X:-27.87, Y:-31.04, Z:-8.42 [[ 0.8074965 -0.52045758 -0.27762081 -27.86562758] [ 0.52006571 0.85024926 -0.08128869 -31.04326977] [ 0.27835421 -0.07874073 0.95724544 -8.41951682] [ 0. 0. 0. 1. ]] SLAMing on 93.30165253199999 meters Centerline goodness : 0.768092 Centerline is valid? [False, False] Translation: X:-27.89, Y:-31.06, Z:-8.42 [[ 0.80625797 -0.52004305 -0.28196331 -27.88671176] [ 0.52053994 0.85012883 -0.07949299 -31.06428712] [ 0.28104492 -0.08268131 0.95612633 -8.42423346] [ 0. 0. 0. 1. ]] SLAMing on 93.33165253199999 meters Centerline goodness : 0.766964 Centerline is valid? [False, False] Translation: X:-27.89, Y:-31.06, Z:-8.42 [[ 0.80683039 -0.51934835 -0.28160612 -27.89014258] [ 0.51995512 0.85054378 -0.07887938 -31.06447613] [ 0.28048421 -0.08278027 0.9562824 -8.42408731] [ 0. 0. 0. 1. ]] SLAMing on 93.361652532 meters Centerline goodness : 0.767825 Centerline is valid? [False, False] Translation: X:-27.93, Y:-31.10, Z:-8.44 [[ 0.81183151 -0.51145393 -0.28168153 -27.92628705] [ 0.51296185 0.85518379 -0.07436952 -31.09523438] [ 0.27892606 -0.08411636 0.9566215 -8.43693591] [ 0. 0. 0. 1. ]] SLAMing on 93.391652532 meters Centerline goodness : 0.767658 Centerline is valid? [False, False] Translation: X:-27.93, Y:-31.10, Z:-8.44 [[ 0.81237431 -0.51272111 -0.27778598 -27.93422382] [ 0.51317977 0.85481996 -0.07700237 -31.09791753] [ 0.27693774 -0.07999939 0.95755187 -8.44129017] [ 0. 0. 0. 1. ]] SLAMing on 93.421652532 meters Centerline goodness : 0.768852 Centerline is valid? [False, False] Translation: X:-27.94, Y:-31.10, Z:-8.44 [[ 0.81122631 -0.51595295 -0.27514438 -27.93848765] [ 0.51558762 0.85312683 -0.07964929 -31.09827263] [ 0.27582834 -0.07724744 0.95809789 -8.44180218] [ 0. 0. 0. 1. ]] SLAMing on 93.451652532 meters Centerline goodness : 0.771378 Centerline is valid? [False, False] Translation: X:-27.94, Y:-31.10, Z:-8.44 [[ 0.81005453 -0.51923258 -0.27241364 -27.94275636] [ 0.5180889 0.85137218 -0.08215417 -31.09942732] [ 0.27458251 -0.07458513 0.95866652 -8.4421226 ] [ 0. 0. 0. 1. ]] SLAMing on 93.48165253199998 meters Centerline goodness : 0.770367 Centerline is valid? [False, False] Translation: X:-27.95, Y:-31.11, Z:-8.45 [[ 0.81211271 -0.51778538 -0.26901905 -27.95342363] [ 0.51600267 0.85253791 -0.08318869 -31.10578417] [ 0.27242282 -0.07125596 0.95953551 -8.44639305] [ 0. 0. 0. 1. ]] SLAMing on 93.51165253199999 meters Centerline goodness : 0.769786 Centerline is valid? [False, False] Translation: X:-27.96, Y:-31.11, Z:-8.45 [[ 0.81100321 -0.52081485 -0.26650646 -27.9578628 ] [ 0.51837396 0.85088293 -0.085362 -31.10740909] [ 0.27122359 -0.06892115 0.96004564 -8.44614985] [ 0. 0. 0. 1. ]] SLAMing on 93.54165253199999 meters Centerline goodness : 0.768791 Centerline is valid? [False, False] Translation: X:-27.96, Y:-31.11, Z:-8.45 [[ 0.80992675 -0.52375731 -0.2640018 -27.96206359] [ 0.52067864 0.84925934 -0.08747755 -31.10949545] [ 0.270023 -0.06660969 0.9605471 -8.44587312] [ 0. 0. 0. 1. ]] SLAMing on 93.57165253199999 meters Centerline goodness : 0.770588 Centerline is valid? [False, False] Translation: X:-27.98, Y:-31.12, Z:-8.45 [[ 0.81177585 -0.52394164 -0.25788588 -27.9774126 ] [ 0.51907066 0.84971976 -0.09242282 -31.12277239] [ 0.26755489 -0.05883438 0.96174471 -8.45280327] [ 0. 0. 0. 1. ]] SLAMing on 93.60165253199999 meters Centerline goodness : 0.770603 Centerline is valid? [False, False] Translation: X:-27.98, Y:-31.13, Z:-8.45 [[ 0.81104445 -0.52641757 -0.25513027 -27.98083443] [ 0.52101817 0.84834059 -0.09411856 -31.12745834] [ 0.26598303 -0.05659317 0.96231504 -8.45335003] [ 0. 0. 0. 1. ]] SLAMing on 93.63165253199999 meters Centerline goodness : 0.771050 Centerline is valid? [False, False] Translation: X:-27.98, Y:-31.13, Z:-8.45 [[ 0.8095705 -0.52979677 -0.25280621 -27.98304499] [ 0.52378687 0.84637902 -0.09638398 -31.13001408] [ 0.26503379 -0.05438694 0.96270408 -8.45301021] [ 0. 0. 0. 1. ]] SLAMing on 93.66165253199999 meters Centerline goodness : 0.771208 Centerline is valid? [False, False] Translation: X:-27.98, Y:-31.13, Z:-8.45 [[ 0.80776325 -0.53353838 -0.25070967 -27.98328034] [ 0.52689339 0.84416132 -0.09886871 -31.13290512] [ 0.26438966 -0.05223476 0.96300033 -8.45268291] [ 0. 0. 0. 1. ]] SLAMing on 93.69165253199999 meters Centerline goodness : 0.770839 Centerline is valid? [False, False] Translation: X:-27.98, Y:-31.14, Z:-8.45 [[ 0.8060949 -0.53707346 -0.24852186 -27.98434997] [ 0.52982264 0.84204731 -0.10121416 -31.13582374] [ 0.2636266 -0.05008429 0.96332371 -8.45223349] [ 0. 0. 0. 1. ]] SLAMing on 93.721652532 meters Centerline goodness : 0.772417 Centerline is valid? [False, False] Translation: X:-28.00, Y:-31.16, Z:-8.45 [[ 0.80501774 -0.53549759 -0.25532091 -28.00142806] [ 0.52961115 0.84262571 -0.09743686 -31.16116687] [ 0.26731717 -0.0567824 0.96193414 -8.45297206] [ 0. 0. 0. 1. ]] SLAMing on 93.751652532 meters Centerline goodness : 0.774890 Centerline is valid? [False, False] Translation: X:-28.02, Y:-31.19, Z:-8.45 [[ 0.80212613 -0.53767648 -0.25980315 -28.01890564] [ 0.53252753 0.84092808 -0.09619979 -31.19169804] [ 0.27020013 -0.06118797 0.96085791 -8.45340635] [ 0. 0. 0. 1. ]] SLAMing on 93.781652532 meters Centerline goodness : 0.773444 Centerline is valid? [False, False] Translation: X:-28.02, Y:-31.20, Z:-8.45 [[ 0.80029534 -0.54127282 -0.257975 -28.0182164 ] [ 0.53558755 0.83873918 -0.0982983 -31.19618407] [ 0.26957994 -0.05950052 0.96113805 -8.4523997 ] [ 0. 0. 0. 1. ]] SLAMing on 93.811652532 meters Centerline goodness : 0.772939 Centerline is valid? [False, False] Translation: X:-28.03, Y:-31.23, Z:-8.45 [[ 0.79629469 -0.54528411 -0.26187786 -28.033299 ] [ 0.54015546 0.8358458 -0.09794835 -31.22582622] [ 0.27229919 -0.06345901 0.96011776 -8.45283366] [ 0. 0. 0. 1. ]] SLAMing on 93.841652532 meters Centerline goodness : 0.773785 Centerline is valid? [False, False] Translation: X:-28.05, Y:-31.25, Z:-8.45 [[ 0.79273006 -0.5471827 -0.26864501 -28.04597108] [ 0.54331604 0.83406671 -0.09560541 -31.24800823] [ 0.27638148 -0.07016986 0.9584829 -8.4516173 ] [ 0. 0. 0. 1. ]] SLAMing on 93.87165253199998 meters Centerline goodness : 0.773380 Centerline is valid? [False, False] Translation: X:-28.06, Y:-31.27, Z:-8.45 [[ 0.79004656 -0.54777811 -0.27525548 -28.06024499] [ 0.54523844 0.83310797 -0.09298471 -31.27192612] [ 0.28025252 -0.07661762 0.95686377 -8.45148466] [ 0. 0. 0. 1. ]] SLAMing on 93.90165253199999 meters Centerline goodness : 0.774719 Centerline is valid? [False, False] Translation: X:-28.08, Y:-31.30, Z:-8.45 [[ 0.78763798 -0.5480732 -0.28149987 -28.07533553] [ 0.54692331 0.83231012 -0.09019292 -31.29629289] [ 0.28372751 -0.08291947 0.95531307 -8.45212721] [ 0. 0. 0. 1. ]] SLAMing on 93.93165253199999 meters Centerline goodness : 0.775803 Centerline is valid? [False, False] Translation: X:-28.09, Y:-31.32, Z:-8.45 [[ 0.78333593 -0.55174725 -0.28628621 -28.08857658] [ 0.55143564 0.82939044 -0.08961154 -31.3227279 ] [ 0.28688597 -0.08767248 0.95394443 -8.45279962] [ 0. 0. 0. 1. ]] SLAMing on 93.96165253199999 meters Centerline goodness : 0.774318 Centerline is valid? [False, False] Translation: X:-28.11, Y:-31.35, Z:-8.45 [[ 0.77985643 -0.55426491 -0.29088547 -28.10501905] [ 0.55472093 0.82725318 -0.08908909 -31.34649787] [ 0.29001489 -0.09188356 0.95260106 -8.45456503] [ 0. 0. 0. 1. ]] SLAMing on 93.99165253199999 meters Centerline goodness : 0.774511 Centerline is valid? [False, False] Translation: X:-28.12, Y:-31.37, Z:-8.46 [[ 0.77804117 -0.553638 -0.29687859 -28.12174912] [ 0.55544973 0.82702787 -0.08660543 -31.37089028] [ 0.29347493 -0.09751854 0.95097981 -8.45657131] [ 0. 0. 0. 1. ]] SLAMing on 94.02165253199999 meters Centerline goodness : 0.773585 Centerline is valid? [False, False] Translation: X:-28.14, Y:-31.39, Z:-8.46 [[ 0.77406881 -0.5568568 -0.30121086 -28.13772673] [ 0.55930984 0.82440635 -0.08675646 -31.39356204] [ 0.29663107 -0.10131473 0.94960272 -8.45876768] [ 0. 0. 0. 1. ]] SLAMing on 94.05165253199999 meters Centerline goodness : 0.773914 Centerline is valid? [False, False] Translation: X:-28.15, Y:-31.42, Z:-8.46 [[ 0.77276095 -0.55564932 -0.30674803 -28.15485975] [ 0.55943899 0.8245729 -0.08430622 -31.41948077] [ 0.2997808 -0.10645825 0.94804963 -8.46304621] [ 0. 0. 0. 1. ]] SLAMing on 94.08165253199999 meters Centerline goodness : 0.771513 Centerline is valid? [False, False] Translation: X:-28.17, Y:-31.44, Z:-8.47 [[ 0.77117716 -0.5548559 -0.31212291 -28.17198731] [ 0.55986146 0.82448004 -0.08238817 -31.44191727] [ 0.30305268 -0.11120971 0.94646261 -8.46786301] [ 0. 0. 0. 1. ]] SLAMing on 94.111652532 meters Centerline goodness : 0.772182 Centerline is valid? [False, False] Translation: X:-28.18, Y:-31.44, Z:-8.47 [[ 0.7677881 -0.5626582 -0.3064591 -28.17559796] [ 0.56561427 0.81992681 -0.08832056 -31.44317722] [ 0.30096832 -0.10552617 0.94777756 -8.47028781] [ 0. 0. 0. 1. ]] SLAMing on 94.141652532 meters Centerline goodness : 0.771438 Centerline is valid? [False, False] Translation: X:-28.19, Y:-31.47, Z:-8.47 [[ 0.76636733 -0.56172571 -0.31168148 -28.19405796] [ 0.56595865 0.8199239 -0.08611393 -31.46875976] [ 0.3039275 -0.11040393 0.94627641 -8.47367507] [ 0. 0. 0. 1. ]] SLAMing on 94.171652532 meters Centerline goodness : 0.770043 Centerline is valid? [False, False] Translation: X:-28.20, Y:-31.47, Z:-8.48 [[ 0.76477773 -0.56553891 -0.30867582 -28.19658541] [ 0.5687944 0.81766799 -0.08883682 -31.46969858] [ 0.30263502 -0.10763266 0.94700964 -8.47501811] [ 0. 0. 0. 1. ]] SLAMing on 94.201652532 meters Centerline goodness : 0.767615 Centerline is valid? [False, False] Translation: X:-28.21, Y:-31.49, Z:-8.48 [[ 0.76303828 -0.56471035 -0.31444365 -28.21384563] [ 0.56927538 0.8175499 -0.08681995 -31.49284458] [ 0.3061015 -0.11275808 0.94529757 -8.47909942] [ 0. 0. 0. 1. ]] SLAMing on 94.23165253199998 meters Centerline goodness : 0.764900 Centerline is valid? [False, False] Translation: X:-28.23, Y:-31.52, Z:-8.48 [[ 0.76157366 -0.56378164 -0.31961825 -28.232584 ] [ 0.56955288 0.81754939 -0.08498536 -31.51686766] [ 0.30921689 -0.11731688 0.94372754 -8.48319648] [ 0. 0. 0. 1. ]] SLAMing on 94.26165253199999 meters Centerline goodness : 0.763788 Centerline is valid? [False, False] Translation: X:-28.25, Y:-31.54, Z:-8.49 [[ 0.75997766 -0.56401104 -0.3229946 -28.25397353] [ 0.57051822 0.81695852 -0.08418878 -31.54247667] [ 0.31135659 -0.12029271 0.94264879 -8.48872101] [ 0. 0. 0. 1. ]] SLAMing on 94.29165253199999 meters Centerline goodness : 0.764397 Centerline is valid? [False, False] Translation: X:-28.27, Y:-31.57, Z:-8.49 [[ 0.75718977 -0.56609645 -0.32588105 -28.27472516] [ 0.57303369 0.815156 -0.08457586 -31.57169669] [ 0.31352199 -0.12270084 0.94162013 -8.49275787] [ 0. 0. 0. 1. ]] SLAMing on 94.32165253199999 meters Centerline goodness : 0.762977 Centerline is valid? [False, False] Translation: X:-28.29, Y:-31.60, Z:-8.50 [[ 0.75456201 -0.56744935 -0.3296019 -28.29413965] [ 0.57532658 0.81363349 -0.08366522 -31.59568764] [ 0.31565091 -0.12649814 0.94040562 -8.49640625] [ 0. 0. 0. 1. ]] SLAMing on 94.35165253199999 meters Centerline goodness : 0.762977 Centerline is valid? [False, False] Translation: X:-28.30, Y:-31.60, Z:-8.50 [[ 0.75311359 -0.57072837 -0.32724464 -28.2978017 ] [ 0.57776457 0.81166773 -0.08592792 -31.59528024] [ 0.31465541 -0.12435687 0.94102462 -8.49652374] [ 0. 0. 0. 1. ]] SLAMing on 94.38165253199999 meters Centerline goodness : 0.763341 Centerline is valid? [False, False] Translation: X:-28.32, Y:-31.62, Z:-8.50 [[ 0.75197768 -0.56935554 -0.33221054 -28.31720074] [ 0.57772162 0.81192112 -0.08379634 -31.62029494] [ 0.31743866 -0.12891223 0.93947556 -8.50118976] [ 0. 0. 0. 1. ]] SLAMing on 94.41165253199999 meters Centerline goodness : 0.761776 Centerline is valid? [False, False] Translation: X:-28.34, Y:-31.65, Z:-8.51 [[ 0.75206559 -0.56674843 -0.33644251 -28.33900777] [ 0.57628632 0.81316376 -0.08160138 -31.64613856] [ 0.31983031 -0.13251762 0.93816185 -8.50876297] [ 0. 0. 0. 1. ]] SLAMing on 94.44165253199999 meters Centerline goodness : 0.761569 Centerline is valid? [False, False] Translation: X:-28.36, Y:-31.67, Z:-8.51 [[ 0.75015661 -0.56582563 -0.34220815 -28.35599376] [ 0.5769298 0.81292168 -0.07943767 -31.66727104] [ 0.3231363 -0.13783939 0.93626024 -8.51296387] [ 0. 0. 0. 1. ]] SLAMing on 94.471652532 meters Centerline goodness : 0.759561 Centerline is valid? [False, False] Translation: X:-28.38, Y:-31.70, Z:-8.52 [[ 0.74851103 -0.56654327 -0.34461568 -28.37852527] [ 0.57807239 0.81210317 -0.07950313 -31.69647118] [ 0.32490545 -0.13970384 0.9353712 -8.52012069] [ 0. 0. 0. 1. ]] SLAMing on 94.501652532 meters Centerline goodness : 0.759802 Centerline is valid? [False, False] Translation: X:-28.40, Y:-31.72, Z:-8.53 [[ 0.74615527 -0.56776176 -0.34770518 -28.39909344] [ 0.57983921 0.81082517 -0.07968084 -31.72159818] [ 0.32716784 -0.14215882 0.93421201 -8.5259738 ] [ 0. 0. 0. 1. ]] SLAMing on 94.531652532 meters Centerline goodness : 0.760733 Centerline is valid? [False, False] Translation: X:-28.42, Y:-31.75, Z:-8.53 [[ 0.74529455 -0.56757163 -0.34985493 -28.42255651] [ 0.5804624 0.81051003 -0.0783383 -31.74768499] [ 0.32802353 -0.14469252 0.93352271 -8.53372059] [ 0. 0. 0. 1. ]] SLAMing on 94.561652532 meters Centerline goodness : 0.759391 Centerline is valid? [False, False] Translation: X:-28.45, Y:-31.78, Z:-8.54 [[ 0.74462319 -0.56689692 -0.35236939 -28.4481528 ] [ 0.58050421 0.81057505 -0.07734951 -31.77585586] [ 0.32947104 -0.14695568 0.93265903 -8.54133306] [ 0. 0. 0. 1. ]] SLAMing on 94.591652532 meters Centerline goodness : 0.758327 Centerline is valid? [False, False] Translation: X:-28.47, Y:-31.80, Z:-8.55 [[ 0.74367731 -0.56591794 -0.35592267 -28.46925283] [ 0.58045175 0.81071879 -0.07622869 -31.79935773] [ 0.33169238 -0.14990638 0.93140122 -8.5492567 ] [ 0. 0. 0. 1. ]] SLAMing on 94.62165253199998 meters Centerline goodness : 0.757846 Centerline is valid? [False, False] Translation: X:-28.49, Y:-31.82, Z:-8.56 [[ 0.74329791 -0.56440909 -0.35909692 -28.49165033] [ 0.57976472 0.81131376 -0.07511886 -31.8229382 ] [ 0.33373804 -0.15235604 0.9302723 -8.55847831] [ 0. 0. 0. 1. ]] SLAMing on 94.65165253199999 meters Centerline goodness : 0.756718 Centerline is valid? [False, False] Translation: X:-28.52, Y:-31.85, Z:-8.57 [[ 0.74327662 -0.56442804 -0.3591112 -28.52052531] [ 0.57960525 0.81138041 -0.07562791 -31.85124068] [ 0.33406231 -0.15193029 0.93022554 -8.57008331] [ 0. 0. 0. 1. ]] SLAMing on 94.68165253199999 meters Centerline goodness : 0.757084 Centerline is valid? [False, False] Translation: X:-28.55, Y:-31.88, Z:-8.58 [[ 0.74475622 -0.56258844 -0.35893234 -28.54955761] [ 0.57827783 0.81250947 -0.0736418 -31.8790764 ] [ 0.33306594 -0.15271743 0.9304539 -8.58189565] [ 0. 0. 0. 1. ]] SLAMing on 94.71165253199999 meters Centerline goodness : 0.757534 Centerline is valid? [False, False] Translation: X:-28.58, Y:-31.91, Z:-8.59 [[ 0.74629499 -0.56078634 -0.35855609 -28.57883113] [ 0.57687022 0.81366594 -0.0718922 -31.90717253] [ 0.33206104 -0.15318754 0.93073575 -8.59415549] [ 0. 0. 0. 1. ]] SLAMing on 94.74165253199999 meters Centerline goodness : 0.757575 Centerline is valid? [False, False] Translation: X:-28.61, Y:-31.93, Z:-8.61 [[ 0.74783204 -0.55927814 -0.35770826 -28.60879634] [ 0.57577268 0.81461381 -0.06992971 -31.93449124] [ 0.33050425 -0.15366296 0.93121138 -8.60640008] [ 0. 0. 0. 1. ]] SLAMing on 94.77165253199999 meters Centerline goodness : 0.755661 Centerline is valid? [False, False] Translation: X:-28.64, Y:-31.96, Z:-8.62 [[ 0.75151573 -0.55523719 -0.35628046 -28.64488518] [ 0.5721009 0.8174297 -0.06715087 -31.96381181] [ 0.32851889 -0.15336343 0.93196298 -8.62087064] [ 0. 0. 0. 1. ]] SLAMing on 94.80165253199999 meters Centerline goodness : 0.756714 Centerline is valid? [False, False] Translation: X:-28.67, Y:-31.99, Z:-8.63 [[ 0.75203272 -0.55477933 -0.35590263 -28.67268564] [ 0.57198586 0.81761437 -0.06587045 -31.98996192] [ 0.32753467 -0.15403454 0.93219869 -8.63208087] [ 0. 0. 0. 1. ]] SLAMing on 94.83165253199999 meters Centerline goodness : 0.757638 Centerline is valid? [False, False] Translation: X:-28.70, Y:-32.02, Z:-8.65 [[ 0.75353792 -0.55354149 -0.35464408 -28.70267095] [ 0.57073592 0.81856051 -0.06495539 -32.01771202] [ 0.32625314 -0.15346177 0.93274239 -8.64570582] [ 0. 0. 0. 1. ]] SLAMing on 94.861652532 meters Centerline goodness : 0.755559 Centerline is valid? [False, False] Translation: X:-28.73, Y:-32.04, Z:-8.66 [[ 0.75528981 -0.55180344 -0.35362447 -28.73124757] [ 0.56944457 0.8196332 -0.06272398 -32.0432517 ] [ 0.32445366 -0.15399475 0.93328208 -8.65899991] [ 0. 0. 0. 1. ]] SLAMing on 94.891652532 meters Centerline goodness : 0.754238 Centerline is valid? [False, False] Translation: X:-28.76, Y:-32.07, Z:-8.67 [[ 0.75695777 -0.55029333 -0.3524091 -28.76327579] [ 0.56785747 0.82079222 -0.06195175 -32.07164256] [ 0.32334629 -0.15322328 0.93379323 -8.67271959] [ 0. 0. 0. 1. ]] SLAMing on 94.921652532 meters Centerline goodness : 0.752783 Centerline is valid? [False, False] Translation: X:-28.79, Y:-32.10, Z:-8.68 [[ 0.75693628 -0.55007031 -0.35280324 -28.78964519] [ 0.568076 0.82072527 -0.06082503 -32.09614516] [ 0.32301257 -0.15437839 0.93371848 -8.68337977] [ 0. 0. 0. 1. ]] SLAMing on 94.951652532 meters Centerline goodness : 0.753600 Centerline is valid? [False, False] Translation: X:-28.82, Y:-32.12, Z:-8.69 [[ 0.75656873 -0.55051073 -0.35290464 -28.81542238] [ 0.56871073 0.82031528 -0.06042315 -32.12076247] [ 0.32275666 -0.15498639 0.93370625 -8.69420049] [ 0. 0. 0. 1. ]] SLAMing on 94.98165253199998 meters Centerline goodness : 0.753434 Centerline is valid? [False, False] Translation: X:-28.85, Y:-32.15, Z:-8.71 [[ 0.75881333 -0.54894296 -0.35051955 -28.84808817] [ 0.5668823 0.82164285 -0.05956075 -32.15133105] [ 0.32069733 -0.15350784 0.9346596 -8.70881734] [ 0. 0. 0. 1. ]] SLAMing on 95.01165253199999 meters Centerline goodness : 0.751609 Centerline is valid? [False, False] Translation: X:-28.87, Y:-32.17, Z:-8.72 [[ 0.75741802 -0.54987753 -0.3520691 -28.87098935] [ 0.56806968 0.82080083 -0.05985678 -32.1743296 ] [ 0.3218925 -0.15466318 0.93405809 -8.71817774] [ 0. 0. 0. 1. ]] SLAMing on 95.04165253199999 meters Centerline goodness : 0.750121 Centerline is valid? [False, False] Translation: X:-28.90, Y:-32.20, Z:-8.73 [[ 0.75846992 -0.54897112 -0.35121801 -28.89965347] [ 0.56728172 0.82141843 -0.0588491 -32.20127668] [ 0.3208034 -0.15460428 0.93444245 -8.73105565] [ 0. 0. 0. 1. ]] SLAMing on 95.07165253199999 meters Centerline goodness : 0.750376 Centerline is valid? [False, False] Translation: X:-28.93, Y:-32.23, Z:-8.74 [[ 0.75965908 -0.54832117 -0.3496598 -28.92811343] [ 0.56696935 0.82177214 -0.05688856 -32.22671904] [ 0.31853388 -0.15503048 0.93514797 -8.74383025] [ 0. 0. 0. 1. ]] SLAMing on 95.10165253199999 meters Centerline goodness : 0.750888 Centerline is valid? [False, False] Translation: X:-28.96, Y:-32.26, Z:-8.76 [[ 0.76217658 -0.54668069 -0.34673777 -28.96103866] [ 0.56535733 0.82301889 -0.05487264 -32.25659869] [ 0.31536955 -0.1542081 0.93635565 -8.75809904] [ 0. 0. 0. 1. ]] SLAMing on 95.13165253199999 meters Centerline goodness : 0.749940 Centerline is valid? [False, False] Translation: X:-28.99, Y:-32.28, Z:-8.77 [[ 0.76172655 -0.54792569 -0.34576019 -28.98719975] [ 0.56662807 0.82216443 -0.05457357 -32.28311923] [ 0.31417399 -0.15434729 0.93673455 -8.76907249] [ 0. 0. 0. 1. ]] SLAMing on 95.16165253199999 meters Centerline goodness : 0.748100 Centerline is valid? [False, False] Translation: X:-29.02, Y:-32.31, Z:-8.78 [[ 0.76153446 -0.55041066 -0.34221831 -29.01717862] [ 0.56812554 0.8210173 -0.05624917 -32.31135031] [ 0.31192729 -0.15158728 0.93793532 -8.78302206] [ 0. 0. 0. 1. ]] SLAMing on 95.19165253199999 meters Centerline goodness : 0.745840 Centerline is valid? [False, False] Translation: X:-29.03, Y:-32.32, Z:-8.79 [[ 0.76278627 -0.55265985 -0.33574424 -29.03021274] [ 0.56740866 0.82106665 -0.06242562 -32.3212555 ] [ 0.31016853 -0.14288679 0.93988236 -8.79227916] [ 0. 0. 0. 1. ]] SLAMing on 95.221652532 meters Centerline goodness : 0.744223 Centerline is valid? [False, False] Translation: X:-29.06, Y:-32.35, Z:-8.80 [[ 0.7611891 -0.55618892 -0.33353417 -29.05858051] [ 0.57009642 0.81902572 -0.06470656 -32.35260079] [ 0.30916214 -0.14089271 0.94051476 -8.80291204] [ 0. 0. 0. 1. ]] SLAMing on 95.251652532 meters Centerline goodness : 0.745251 Centerline is valid? [False, False] Translation: X:-29.09, Y:-32.38, Z:-8.81 [[ 0.76213618 -0.55533224 -0.33279807 -29.08684229] [ 0.56958579 0.81950687 -0.06309127 -32.38037314] [ 0.30776692 -0.14147291 0.94088519 -8.8147426 ] [ 0. 0. 0. 1. ]] SLAMing on 95.281652532 meters Centerline goodness : 0.744501 Centerline is valid? [False, False] Translation: X:-29.12, Y:-32.41, Z:-8.83 [[ 0.76221434 -0.55539451 -0.33251503 -29.11543131] [ 0.56957186 0.81950827 -0.06319881 -32.41072082] [ 0.30759909 -0.14122017 0.94097804 -8.82564894] [ 0. 0. 0. 1. ]] SLAMing on 95.311652532 meters Centerline goodness : 0.741887 Centerline is valid? [False, False] Translation: X:-29.14, Y:-32.44, Z:-8.84 [[ 0.76256763 -0.55539792 -0.33169831 -29.14260954] [ 0.56955897 0.81954434 -0.06284622 -32.43950938] [ 0.30674613 -0.14099726 0.94128985 -8.83707801] [ 0. 0. 0. 1. ]] SLAMing on 95.341652532 meters Centerline goodness : 0.739501 Centerline is valid? [False, False] Translation: X:-29.17, Y:-32.47, Z:-8.85 [[ 0.76167869 -0.55786766 -0.32958951 -29.17130199] [ 0.57159055 0.81806111 -0.06372016 -32.47138138] [ 0.30517178 -0.13985596 0.9419716 -8.84735699] [ 0. 0. 0. 1. ]] SLAMing on 95.37165253199998 meters Centerline goodness : 0.739501 Centerline is valid? [False, False] Translation: X:-29.20, Y:-32.50, Z:-8.86 [[ 0.76192915 -0.5578607 -0.3290219 -29.19842994] [ 0.57156307 0.81809723 -0.06350257 -32.49898177] [ 0.30459749 -0.13967231 0.9421847 -8.85874386] [ 0. 0. 0. 1. ]] SLAMing on 95.40165253199999 meters Centerline goodness : 0.738559 Centerline is valid? [False, False] Translation: X:-29.23, Y:-32.53, Z:-8.87 [[ 0.76286051 -0.55677323 -0.32870567 -29.22761455] [ 0.57063668 0.81881316 -0.06260025 -32.52990222] [ 0.30400267 -0.13981626 0.94235545 -8.87020671] [ 0. 0. 0. 1. ]] SLAMing on 95.43165253199999 meters Centerline goodness : 0.738256 Centerline is valid? [False, False] Translation: X:-29.25, Y:-32.55, Z:-8.88 [[ 0.76037997 -0.55850439 -0.33150438 -29.2477446 ] [ 0.57275284 0.81728854 -0.0631951 -32.55282137] [ 0.30622947 -0.14181779 0.94133481 -8.87679284] [ 0. 0. 0. 1. ]] SLAMing on 95.46165253199999 meters Centerline goodness : 0.735233 Centerline is valid? [False, False] Translation: X:-29.28, Y:-32.58, Z:-8.89 [[ 0.75998523 -0.5600871 -0.32973458 -29.27777341] [ 0.57365651 0.81653086 -0.0647731 -32.58402292] [ 0.30551704 -0.13992779 0.94184901 -8.88881008] [ 0. 0. 0. 1. ]] SLAMing on 95.49165253199999 meters Centerline goodness : 0.735233 Centerline is valid? [False, False] Translation: X:-29.31, Y:-32.61, Z:-8.90 [[ 0.7601591 -0.56072477 -0.32824666 -29.3058123 ] [ 0.57384254 0.81633537 -0.06558433 -32.61156615] [ 0.30473412 -0.13850738 0.94231249 -8.90162281] [ 0. 0. 0. 1. ]] SLAMing on 95.52165253199999 meters Centerline goodness : 0.735750 Centerline is valid? [False, False] Translation: X:-29.34, Y:-32.64, Z:-8.91 [[ 0.75997697 -0.5625233 -0.32558033 -29.33675085] [ 0.5748564 0.81549561 -0.06713446 -32.64413274] [ 0.30327403 -0.13614129 0.94312799 -8.91367172] [ 0. 0. 0. 1. ]] SLAMing on 95.55165253199999 meters Centerline goodness : 0.733614 Centerline is valid? [False, False] Translation: X:-29.36, Y:-32.67, Z:-8.92 [[ 0.75862577 -0.56352436 -0.3269973 -29.36016791] [ 0.57593142 0.81468027 -0.06781634 -32.670333 ] [ 0.30461441 -0.1368808 0.94258883 -8.92206653] [ 0. 0. 0. 1. ]] SLAMing on 95.58165253199999 meters Centerline goodness : 0.734470 Centerline is valid? [False, False] Translation: X:-29.39, Y:-32.70, Z:-8.93 [[ 0.75845048 -0.56502615 -0.32480505 -29.39070524] [ 0.57668101 0.81401292 -0.06944043 -32.70197341] [ 0.30363116 -0.13464178 0.94322834 -8.93440801] [ 0. 0. 0. 1. ]] SLAMing on 95.611652532 meters Centerline goodness : 0.735131 Centerline is valid? [False, False] Translation: X:-29.42, Y:-32.73, Z:-8.95 [[ 0.75909411 -0.5643712 -0.32443994 -29.41850444] [ 0.57628385 0.81438931 -0.06831525 -32.72888789] [ 0.30277558 -0.13511179 0.94343614 -8.94585817] [ 0. 0. 0. 1. ]] SLAMing on 95.641652532 meters Centerline goodness : 0.735690 Centerline is valid? [False, False] Translation: X:-29.44, Y:-32.75, Z:-8.95 [[ 0.75805345 -0.56476012 -0.32619161 -29.44242795] [ 0.57707229 0.8138569 -0.06800382 -32.75357948] [ 0.30387914 -0.13668561 0.94285445 -8.95427563] [ 0. 0. 0. 1. ]] SLAMing on 95.671652532 meters Centerline goodness : 0.735975 Centerline is valid? [False, False] Translation: X:-29.47, Y:-32.78, Z:-8.96 [[ 0.75738956 -0.5650991 -0.32714531 -29.46739955] [ 0.57757729 0.81349654 -0.06802834 -32.77877016] [ 0.30457433 -0.13742775 0.9425222 -8.96416877] [ 0. 0. 0. 1. ]] SLAMing on 95.701652532 meters Centerline goodness : 0.734940 Centerline is valid? [False, False] Translation: X:-29.49, Y:-32.81, Z:-8.98 [[ 0.75732726 -0.56533954 -0.32687401 -29.49435668] [ 0.57770667 0.81338225 -0.06829584 -32.80648225] [ 0.30448385 -0.137115 0.94259698 -8.97539321] [ 0. 0. 0. 1. ]] SLAMing on 95.73165253199998 meters Centerline goodness : 0.736442 Centerline is valid? [False, False] Translation: X:-29.53, Y:-32.84, Z:-8.99 [[ 0.75742937 -0.56696828 -0.32380199 -29.52627042] [ 0.5784673 0.81270599 -0.06988959 -32.83892421] [ 0.30278099 -0.13437244 0.94353999 -8.98786119] [ 0. 0. 0. 1. ]] SLAMing on 95.76165253199999 meters Centerline goodness : 0.736280 Centerline is valid? [False, False] Translation: X:-29.55, Y:-32.87, Z:-9.00 [[ 0.75807396 -0.56605131 -0.3238978 -29.55450508] [ 0.5775845 0.81335672 -0.0696203 -32.86761209] [ 0.30285311 -0.13430101 0.94352702 -8.99911183] [ 0. 0. 0. 1. ]] SLAMing on 95.79165253199999 meters Centerline goodness : 0.738015 Centerline is valid? [False, False] Translation: X:-29.58, Y:-32.89, Z:-9.01 [[ 0.75850071 -0.56550809 -0.32384761 -29.5824978 ] [ 0.57698082 0.81378155 -0.06966143 -32.89441897] [ 0.30293531 -0.13401561 0.94354121 -9.01099747] [ 0. 0. 0. 1. ]] SLAMing on 95.82165253199999 meters Centerline goodness : 0.738606 Centerline is valid? [False, False] Translation: X:-29.61, Y:-32.92, Z:-9.02 [[ 0.75866533 -0.56489594 -0.32452964 -29.6091043 ] [ 0.57671315 0.81404668 -0.06877458 -32.9209853 ] [ 0.30303276 -0.13498362 0.94337191 -9.02098133] [ 0. 0. 0. 1. ]] SLAMing on 95.85165253199999 meters Centerline goodness : 0.738641 Centerline is valid? [False, False] Translation: X:-29.64, Y:-32.95, Z:-9.03 [[ 0.7583671 -0.56740232 -0.32083322 -29.64153366] [ 0.57810502 0.81286092 -0.07107539 -32.95339412] [ 0.30112113 -0.13157405 0.9444651 -9.03343153] [ 0. 0. 0. 1. ]] SLAMing on 95.88165253199999 meters Centerline goodness : 0.738087 Centerline is valid? [False, False] Translation: X:-29.67, Y:-32.98, Z:-9.04 [[ 0.75811229 -0.56869587 -0.31914066 -29.67166289] [ 0.57877822 0.81225342 -0.07252689 -32.98374037] [ 0.30046884 -0.12972814 0.94492809 -9.04454013] [ 0. 0. 0. 1. ]] SLAMing on 95.91165253199999 meters Centerline goodness : 0.740715 Centerline is valid? [False, False] Translation: X:-29.70, Y:-33.01, Z:-9.06 [[ 0.75940037 -0.56705326 -0.31900106 -29.70133507] [ 0.57724228 0.81341385 -0.07175829 -33.01404664] [ 0.30017065 -0.12964763 0.9450339 -9.0556015 ] [ 0. 0. 0. 1. ]] SLAMing on 95.94165253199999 meters Centerline goodness : 0.737722 Centerline is valid? [False, False] Translation: X:-29.73, Y:-33.04, Z:-9.06 [[ 0.75925643 -0.56691423 -0.31959026 -29.72803293] [ 0.57743936 0.81334551 -0.0709427 -33.04152377] [ 0.30015573 -0.13068029 0.9448964 -9.0645951 ] [ 0. 0. 0. 1. ]] SLAMing on 95.971652532 meters Centerline goodness : 0.737309 Centerline is valid? [False, False] Translation: X:-29.76, Y:-33.07, Z:-9.08 [[ 0.75887424 -0.56739816 -0.31963921 -29.7582263 ] [ 0.57730918 0.81325559 -0.07300312 -33.07070751] [ 0.30137021 -0.12913046 0.94472288 -9.07541219] [ 0. 0. 0. 1. ]] SLAMing on 96.001652532 meters Centerline goodness : 0.736423 Centerline is valid? [False, False] Translation: X:-29.79, Y:-33.10, Z:-9.09 [[ 0.76060331 -0.56525607 -0.31932458 -29.78893813] [ 0.57511064 0.81485177 -0.07255583 -33.09912961] [ 0.30121482 -0.12846076 0.94486373 -9.08846236] [ 0. 0. 0. 1. ]] SLAMing on 96.031652532 meters Centerline goodness : 0.735756 Centerline is valid? [False, False] Translation: X:-29.81, Y:-33.13, Z:-9.10 [[ 0.75678831 -0.5705438 -0.3189847 -29.81454162] [ 0.57943729 0.81140947 -0.076597 -33.12808556] [ 0.30252915 -0.12686391 0.94465955 -9.09508809] [ 0. 0. 0. 1. ]] SLAMing on 96.061652532 meters Centerline goodness : 0.736656 Centerline is valid? [False, False] Translation: X:-29.84, Y:-33.15, Z:-9.10 [[ 0.75603672 -0.56948529 -0.32263755 -29.83612439] [ 0.57913349 0.81171363 -0.0756663 -33.15119151] [ 0.30498014 -0.12964371 0.94349331 -9.10268424] [ 0. 0. 0. 1. ]] SLAMing on 96.091652532 meters Centerline goodness : 0.735960 Centerline is valid? [False, False] Translation: X:-29.86, Y:-33.18, Z:-9.11 [[ 0.75705118 -0.56782421 -0.32318599 -29.86445794] [ 0.57749899 0.81289688 -0.07545573 -33.17748288] [ 0.30556248 -0.12951574 0.94332245 -9.11488804] [ 0. 0. 0. 1. ]] SLAMing on 96.12165253199998 meters Centerline goodness : 0.734947 Centerline is valid? [False, False] Translation: X:-29.89, Y:-33.20, Z:-9.13 [[ 0.75791935 -0.56659697 -0.32330502 -29.89364458] [ 0.57611759 0.81385326 -0.07570598 -33.20433441] [ 0.30601763 -0.12888268 0.94326161 -9.12735417] [ 0. 0. 0. 1. ]] SLAMing on 96.15165253199999 meters Centerline goodness : 0.734765 Centerline is valid? [False, False] Translation: X:-29.93, Y:-33.23, Z:-9.14 [[ 0.7615565 -0.56122919 -0.32411956 -29.9281796 ] [ 0.5711136 0.81755264 -0.07373555 -33.23324981] [ 0.30636734 -0.1289553 0.94313816 -9.14083522] [ 0. 0. 0. 1. ]] SLAMing on 96.18165253199999 meters Centerline goodness : 0.733434 Centerline is valid? [False, False] Translation: X:-29.96, Y:-33.26, Z:-9.15 [[ 0.76392077 -0.55875427 -0.32282925 -29.96090241] [ 0.56852201 0.8194267 -0.0729562 -33.26276813] [ 0.30529949 -0.12780278 0.94364118 -9.15440183] [ 0. 0. 0. 1. ]] SLAMing on 96.21165253199999 meters Centerline goodness : 0.732444 Centerline is valid? [False, False] Translation: X:-29.99, Y:-33.29, Z:-9.17 [[ 0.76505297 -0.55775117 -0.32188132 -29.9908259 ] [ 0.56747047 0.82019959 -0.07245625 -33.29224853] [ 0.30441948 -0.12722527 0.94400345 -9.16598477] [ 0. 0. 0. 1. ]] SLAMing on 96.24165253199999 meters Centerline goodness : 0.732713 Centerline is valid? [False, False] Translation: X:-30.02, Y:-33.32, Z:-9.18 [[ 0.76458812 -0.55974429 -0.31951735 -30.02028262] [ 0.56852622 0.81926087 -0.07476341 -33.32015019] [ 0.30361645 -0.12449078 0.94462643 -9.17913595] [ 0. 0. 0. 1. ]] SLAMing on 96.27165253199999 meters Centerline goodness : 0.732713 Centerline is valid? [False, False] Translation: X:-30.05, Y:-33.35, Z:-9.19 [[ 0.76453306 -0.55959748 -0.31990601 -30.04671838] [ 0.56827696 0.81939203 -0.07521958 -33.34678859] [ 0.30422112 -0.12428736 0.94445866 -9.19014347] [ 0. 0. 0. 1. ]] SLAMing on 96.30165253199999 meters Centerline goodness : 0.733572 Centerline is valid? [False, False] Translation: X:-30.08, Y:-33.38, Z:-9.20 [[ 0.76646173 -0.55830407 -0.31754209 -30.08076594] [ 0.56636518 0.82065832 -0.07583136 -33.37799331] [ 0.30293052 -0.12172295 0.94520719 -9.20425065] [ 0. 0. 0. 1. ]] SLAMing on 96.33165253199999 meters Centerline goodness : 0.732825 Centerline is valid? [False, False] Translation: X:-30.11, Y:-33.40, Z:-9.22 [[ 0.76658069 -0.5582775 -0.31730156 -30.10840102] [ 0.5662184 0.82073499 -0.07609728 -33.40475138] [ 0.3029039 -0.12132727 0.94526659 -9.2156103 ] [ 0. 0. 0. 1. ]] SLAMing on 96.361652532 meters Centerline goodness : 0.731375 Centerline is valid? [False, False] Translation: X:-30.13, Y:-33.43, Z:-9.22 [[ 0.76479202 -0.55994589 -0.318675 -30.13151071] [ 0.56786514 0.81950057 -0.07712325 -33.42819306] [ 0.3043392 -0.12198118 0.94472125 -9.22428235] [ 0. 0. 0. 1. ]] SLAMing on 96.391652532 meters Centerline goodness : 0.733294 Centerline is valid? [False, False] Translation: X:-30.16, Y:-33.46, Z:-9.24 [[ 0.76681501 -0.55742062 -0.31824047 -30.16436216] [ 0.56517791 0.82137888 -0.07688091 -33.45812765] [ 0.30425101 -0.12090905 0.94488747 -9.23751521] [ 0. 0. 0. 1. ]] SLAMing on 96.421652532 meters Centerline goodness : 0.730912 Centerline is valid? [False, False] Translation: X:-30.21, Y:-33.50, Z:-9.25 [[ 0.76621571 -0.55639716 -0.32145868 -30.2052615 ] [ 0.56628393 0.82110791 -0.07144453 -33.49870585] [ 0.3037038 -0.12729496 0.94422455 -9.25291756] [ 0. 0. 0. 1. ]] SLAMing on 96.451652532 meters Centerline goodness : 0.731634 Centerline is valid? [False, False] Translation: X:-30.23, Y:-33.53, Z:-9.27 [[ 0.76723238 -0.55525744 -0.32100413 -30.23422274] [ 0.56510288 0.82194969 -0.07111576 -33.52640128] [ 0.3033368 -0.12683805 0.94440399 -9.26526665] [ 0. 0. 0. 1. ]] SLAMing on 96.48165253199998 meters Centerline goodness : 0.730741 Centerline is valid? [False, False] Translation: X:-30.26, Y:-33.55, Z:-9.28 [[ 0.76595875 -0.55796237 -0.3193512 -30.26219604] [ 0.56702421 0.82042225 -0.07342258 -33.55419373] [ 0.30296987 -0.1248412 0.94478777 -9.27614219] [ 0. 0. 0. 1. ]] SLAMing on 96.51165253199999 meters Centerline goodness : 0.732405 Centerline is valid? [False, False] Translation: X:-30.30, Y:-33.59, Z:-9.29 [[ 0.7661064 -0.55973472 -0.31587661 -30.29523089] [ 0.56778668 0.81971001 -0.07545713 -33.58659693] [ 0.3011632 -0.12154234 0.945795 -9.28864312] [ 0. 0. 0. 1. ]] SLAMing on 96.54165253199999 meters Centerline goodness : 0.732538 Centerline is valid? [False, False] Translation: X:-30.33, Y:-33.61, Z:-9.30 [[ 0.76807103 -0.55748647 -0.31508051 -30.32573459] [ 0.56554823 0.82133516 -0.07459057 -33.61435805] [ 0.30036993 -0.12090237 0.94612923 -9.3020186 ] [ 0. 0. 0. 1. ]] SLAMing on 96.57165253199999 meters Centerline goodness : 0.730051 Centerline is valid? [False, False] Translation: X:-30.35, Y:-33.64, Z:-9.32 [[ 0.77010348 -0.55455163 -0.31529847 -30.35427248] [ 0.56302073 0.8232336 -0.07276063 -33.64057146] [ 0.29991382 -0.12148636 0.94619912 -9.31517051] [ 0. 0. 0. 1. ]] SLAMing on 96.60165253199999 meters Centerline goodness : 0.729863 Centerline is valid? [False, False] Translation: X:-30.38, Y:-33.67, Z:-9.32 [[ 0.76931722 -0.55460635 -0.31711641 -30.37853699] [ 0.56330078 0.82303384 -0.07285275 -33.66538929] [ 0.30140214 -0.12258505 0.94558429 -9.32387068] [ 0. 0. 0. 1. ]] SLAMing on 96.63165253199999 meters Centerline goodness : 0.729472 Centerline is valid? [False, False] Translation: X:-30.41, Y:-33.70, Z:-9.33 [[ 0.76863788 -0.55657731 -0.3153054 -30.40911188] [ 0.56453083 0.8220131 -0.07482923 -33.69750306] [ 0.30083342 -0.12048304 0.94603546 -9.33399883] [ 0. 0. 0. 1. ]] SLAMing on 96.66165253199999 meters Centerline goodness : 0.732198 Centerline is valid? [False, False] Translation: X:-30.44, Y:-33.73, Z:-9.35 [[ 0.76886797 -0.55718971 -0.31365853 -30.4377412 ] [ 0.56470006 0.82182107 -0.07565696 -33.72600632] [ 0.29992647 -0.11895278 0.94651696 -9.3463475 ] [ 0. 0. 0. 1. ]] SLAMing on 96.69165253199999 meters Centerline goodness : 0.732575 Centerline is valid? [False, False] Translation: X:-30.46, Y:-33.75, Z:-9.36 [[ 0.76912241 -0.55648038 -0.31429334 -30.46411398] [ 0.56417819 0.82222307 -0.07518107 -33.75309721] [ 0.30025602 -0.119494 0.94634428 -9.35656393] [ 0. 0. 0. 1. ]] SLAMing on 96.721652532 meters Centerline goodness : 0.733096 Centerline is valid? [False, False] Translation: X:-30.50, Y:-33.79, Z:-9.37 [[ 0.76608926 -0.55887741 -0.31743232 -30.50155454] [ 0.56897947 0.81940987 -0.06949704 -33.79187239] [ 0.29894751 -0.12737154 0.94573087 -9.36910651] [ 0. 0. 0. 1. ]] SLAMing on 96.751652532 meters Centerline goodness : 0.732385 Centerline is valid? [False, False] Translation: X:-30.53, Y:-33.82, Z:-9.38 [[ 0.76523296 -0.55883346 -0.31956796 -30.52561316] [ 0.56930494 0.81920054 -0.06929907 -33.8162604 ] [ 0.30051688 -0.12890169 0.9450259 -9.37735526] [ 0. 0. 0. 1. ]] SLAMing on 96.781652532 meters Centerline goodness : 0.733640 Centerline is valid? [False, False] Translation: X:-30.55, Y:-33.84, Z:-9.39 [[ 0.76627658 -0.55749833 -0.31939915 -30.55431052] [ 0.56813059 0.82008924 -0.06841979 -33.84291166] [ 0.30007972 -0.12903195 0.94514703 -9.38903131] [ 0. 0. 0. 1. ]] SLAMing on 96.811652532 meters Centerline goodness : 0.732459 Centerline is valid? [False, False] Translation: X:-30.59, Y:-33.87, Z:-9.40 [[ 0.76841466 -0.55513501 -0.31837718 -30.58522683] [ 0.56594803 0.82172557 -0.06685738 -33.87152656] [ 0.29873354 -0.12881075 0.94560354 -9.40166673] [ 0. 0. 0. 1. ]] SLAMing on 96.841652532 meters Centerline goodness : 0.731937 Centerline is valid? [False, False] Translation: X:-30.62, Y:-33.90, Z:-9.41 [[ 0.76795889 -0.55677745 -0.31660387 -30.61547494] [ 0.56674215 0.82099285 -0.06909466 -33.90233633] [ 0.29839986 -0.1263709 0.94603801 -9.41304654] [ 0. 0. 0. 1. ]] SLAMing on 96.87165253199998 meters Centerline goodness : 0.731691 Centerline is valid? [False, False] Translation: X:-30.64, Y:-33.93, Z:-9.42 [[ 0.76812379 -0.55651399 -0.31666706 -30.6422746 ] [ 0.56660256 0.82112459 -0.06867279 -33.92982969] [ 0.29824048 -0.12667516 0.94604758 -9.42316132] [ 0. 0. 0. 1. ]] SLAMing on 96.90165253199999 meters Centerline goodness : 0.732959 Centerline is valid? [False, False] Translation: X:-30.67, Y:-33.96, Z:-9.43 [[ 0.76969547 -0.55487855 -0.3157193 -30.67222741] [ 0.56514889 0.82223872 -0.06730691 -33.95898869] [ 0.29694379 -0.12662259 0.94646242 -9.43451763] [ 0. 0. 0. 1. ]] SLAMing on 96.93165253199999 meters Centerline goodness : 0.734234 Centerline is valid? [False, False] Translation: X:-30.70, Y:-33.99, Z:-9.44 [[ 0.77094312 -0.55324092 -0.31554902 -30.70249086] [ 0.56366374 0.82333221 -0.06638712 -33.98989379] [ 0.29652975 -0.12668285 0.94658416 -9.44485892] [ 0. 0. 0. 1. ]] SLAMing on 96.96165253199999 meters Centerline goodness : 0.730302 Centerline is valid? [False, False] Translation: X:-30.73, Y:-34.02, Z:-9.45 [[ 0.77086103 -0.55222727 -0.31751901 -30.72718838] [ 0.56331391 0.82368567 -0.06495657 -34.01542639] [ 0.29740664 -0.12879039 0.94602448 -9.452976 ] [ 0. 0. 0. 1. ]] SLAMing on 96.99165253199999 meters Centerline goodness : 0.730087 Centerline is valid? [False, False] Translation: X:-30.75, Y:-34.04, Z:-9.46 [[ 0.7712905 -0.55174297 -0.3173179 -30.75451078] [ 0.5629176 0.82399416 -0.06447788 -34.04205731] [ 0.29704332 -0.12889265 0.9461247 -9.46402906] [ 0. 0. 0. 1. ]] SLAMing on 97.02165253199999 meters Centerline goodness : 0.730192 Centerline is valid? [False, False] Translation: X:-30.78, Y:-34.07, Z:-9.47 [[ 0.77144634 -0.55076552 -0.31863442 -30.77996378] [ 0.56265623 0.82431742 -0.06260001 -34.06760044] [ 0.29713383 -0.13098909 0.9458083 -9.47241912] [ 0. 0. 0. 1. ]] SLAMing on 97.05165253199999 meters Centerline goodness : 0.727325 Centerline is valid? [False, False] Translation: X:-30.81, Y:-34.10, Z:-9.48 [[ 0.77324044 -0.54872706 -0.31780155 -30.81165165] [ 0.56063193 0.82576179 -0.06171952 -34.09817378] [ 0.29629555 -0.13044567 0.94614633 -9.48450562] [ 0. 0. 0. 1. ]] SLAMing on 97.08165253199999 meters Centerline goodness : 0.727592 Centerline is valid? [False, False] Translation: X:-30.84, Y:-34.12, Z:-9.49 [[ 0.7728714 -0.54891377 -0.3183763 -30.83686743] [ 0.56086479 0.8255914 -0.06188315 -34.12313382] [ 0.29681725 -0.13073834 0.94594239 -9.49494461] [ 0. 0. 0. 1. ]] SLAMing on 97.111652532 meters Centerline goodness : 0.725874 Centerline is valid? [False, False] Translation: X:-30.86, Y:-34.15, Z:-9.50 [[ 0.77265504 -0.54886579 -0.31898359 -30.86225277] [ 0.56115666 0.82545312 -0.06107666 -34.14732222] [ 0.29682889 -0.13180858 0.9457902 -9.50467123] [ 0. 0. 0. 1. ]] SLAMing on 97.141652532 meters Centerline goodness : 0.724915 Centerline is valid? [False, False] Translation: X:-30.87, Y:-34.15, Z:-9.51 [[ 0.77314533 -0.54857577 -0.31829377 -30.86558347] [ 0.56082182 0.82569889 -0.06082946 -34.14672301] [ 0.29618438 -0.13147608 0.94603851 -9.50555871] [ 0. 0. 0. 1. ]] SLAMing on 97.171652532 meters Centerline goodness : 0.723414 Centerline is valid? [False, False] Translation: X:-30.87, Y:-34.15, Z:-9.51 [[ 0.77329261 -0.55095946 -0.3137869 -30.87313364] [ 0.56200912 0.82472275 -0.06307241 -34.15041266] [ 0.29353754 -0.12757767 0.94739625 -9.50968532] [ 0. 0. 0. 1. ]] SLAMing on 97.201652532 meters Centerline goodness : 0.722802 Centerline is valid? [False, False] Translation: X:-30.88, Y:-34.15, Z:-9.51 [[ 0.77359195 -0.55314716 -0.30916615 -30.88057633] [ 0.56298254 0.82388003 -0.06536335 -34.15463431] [ 0.29087137 -0.12349058 0.94875915 -9.51418906] [ 0. 0. 0. 1. ]] SLAMing on 97.23165253199998 meters Centerline goodness : 0.721344 Centerline is valid? [False, False] Translation: X:-30.89, Y:-34.16, Z:-9.52 [[ 0.77385824 -0.55504228 -0.30507621 -30.888016 ] [ 0.56387918 0.82311825 -0.06720576 -34.15879819] [ 0.28841583 -0.12001839 0.94995363 -9.51748451] [ 0. 0. 0. 1. ]] SLAMing on 97.26165253199999 meters Centerline goodness : 0.719062 Centerline is valid? [False, False] Translation: X:-30.91, Y:-34.17, Z:-9.53 [[ 0.77606517 -0.5555987 -0.29838387 -30.90596348] [ 0.56177914 0.82403785 -0.07325174 -34.17094784] [ 0.28657818 -0.11077772 0.95163084 -9.52679163] [ 0. 0. 0. 1. ]] SLAMing on 97.29165253199999 meters Centerline goodness : 0.717589 Centerline is valid? [False, False] Translation: X:-30.91, Y:-34.17, Z:-9.53 [[ 0.77671406 -0.55483246 -0.29812114 -30.9087608 ] [ 0.56120066 0.82451047 -0.0723623 -34.17271969] [ 0.28595296 -0.11110096 0.95178122 -9.5263244 ] [ 0. 0. 0. 1. ]] SLAMing on 97.32165253199999 meters Centerline goodness : 0.716308 Centerline is valid? [False, False] Translation: X:-30.91, Y:-34.17, Z:-9.53 [[ 0.77565348 -0.55780422 -0.29532377 -30.91357571] [ 0.56335617 0.82284386 -0.07455074 -34.17426162] [ 0.28459007 -0.10854693 0.95248415 -9.52656842] [ 0. 0. 0. 1. ]] SLAMing on 97.35165253199999 meters Centerline goodness : 0.712446 Centerline is valid? [False, False] Translation: X:-30.92, Y:-34.18, Z:-9.53 [[ 0.77445215 -0.56105182 -0.29230929 -30.91766823] [ 0.56572081 0.82099699 -0.07696697 -34.17565094] [ 0.2831675 -0.10575821 0.95322157 -9.52742536] [ 0. 0. 0. 1. ]] SLAMing on 97.38165253199999 meters Centerline goodness : 0.711032 Centerline is valid? [False, False] Translation: X:-30.92, Y:-34.18, Z:-9.53 [[ 0.7734726 -0.56414947 -0.28892129 -30.92170252] [ 0.56795424 0.81924223 -0.07918429 -34.17912149] [ 0.28136829 -0.10284719 0.9540725 -9.5287471 ] [ 0. 0. 0. 1. ]] SLAMing on 97.41165253199999 meters Centerline goodness : 0.710510 Centerline is valid? [False, False] Translation: X:-30.93, Y:-34.18, Z:-9.53 [[ 0.7719381 -0.56767117 -0.28611365 -30.92514357] [ 0.57066463 0.81712177 -0.08157142 -34.18074819] [ 0.28009544 -0.10030686 0.95471728 -9.52877622] [ 0. 0. 0. 1. ]] SLAMing on 97.44165253199999 meters Centerline goodness : 0.709500 Centerline is valid? [False, False] Translation: X:-30.93, Y:-34.18, Z:-9.53 [[ 0.7705631 -0.57095177 -0.28327828 -30.92905914] [ 0.57315903 0.81514312 -0.08384761 -34.18246143] [ 0.27878528 -0.09775363 0.95536537 -9.52889377] [ 0. 0. 0. 1. ]] SLAMing on 97.471652532 meters Centerline goodness : 0.707921 Centerline is valid? [False, False] Translation: X:-30.95, Y:-34.21, Z:-9.53 [[ 0.77167547 -0.56690068 -0.28834108 -30.95315814] [ 0.57049448 0.81737355 -0.08022799 -34.20961821] [ 0.28116367 -0.10258702 0.95416083 -9.53387555] [ 0. 0. 0. 1. ]] SLAMing on 97.501652532 meters Centerline goodness : 0.707630 Centerline is valid? [False, False] Translation: X:-30.96, Y:-34.21, Z:-9.53 [[ 0.77202184 -0.56657749 -0.288049 -30.95500134] [ 0.57023828 0.81759199 -0.07982257 -34.20992534] [ 0.28073222 -0.1026318 0.95428305 -9.53411402] [ 0. 0. 0. 1. ]] SLAMing on 97.531652532 meters Centerline goodness : 0.706481 Centerline is valid? [False, False] Translation: X:-30.96, Y:-34.21, Z:-9.53 [[ 0.7712693 -0.56884476 -0.28558589 -30.96031418] [ 0.57183567 0.81629843 -0.08161391 -34.21079469] [ 0.27954896 -0.10036189 0.95487165 -9.53443847] [ 0. 0. 0. 1. ]] SLAMing on 97.561652532 meters Centerline goodness : 0.705973 Centerline is valid? [False, False] Translation: X:-30.97, Y:-34.21, Z:-9.54 [[ 0.77276537 -0.56810811 -0.28299622 -30.96705482] [ 0.57092259 0.81698919 -0.08109287 -34.21452466] [ 0.27727437 -0.09890317 0.95568671 -9.53762082] [ 0. 0. 0. 1. ]] SLAMing on 97.591652532 meters Centerline goodness : 0.703113 Centerline is valid? [False, False] Translation: X:-30.97, Y:-34.22, Z:-9.54 [[ 0.77172765 -0.57087892 -0.28023863 -30.97178271] [ 0.57294469 0.81536049 -0.08319642 -34.21690385] [ 0.27599059 -0.09635626 0.95631829 -9.53747563] [ 0. 0. 0. 1. ]] SLAMing on 97.62165253199998 meters Centerline goodness : 0.704072 Centerline is valid? [False, False] Translation: X:-30.98, Y:-34.22, Z:-9.54 [[ 0.77050785 -0.57400273 -0.27719762 -30.97636939] [ 0.57523783 0.81349655 -0.08558506 -34.21845211] [ 0.27462537 -0.09351059 0.95699356 -9.53789323] [ 0. 0. 0. 1. ]] SLAMing on 97.65165253199999 meters Centerline goodness : 0.703331 Centerline is valid? [False, False] Translation: X:-30.98, Y:-34.22, Z:-9.54 [[ 0.7712035 -0.57316489 -0.2769967 -30.97861469] [ 0.57457107 0.81405466 -0.08475313 -34.22054721] [ 0.27406797 -0.09379238 0.95712577 -9.53747944] [ 0. 0. 0. 1. ]] SLAMing on 97.68165253199999 meters Centerline goodness : 0.702821 Centerline is valid? [False, False] Translation: X:-30.98, Y:-34.22, Z:-9.54 [[ 0.77216901 -0.5719808 -0.27675437 -30.98223268] [ 0.57361344 0.81484436 -0.08364386 -34.2227637 ] [ 0.27335442 -0.09416283 0.95729344 -9.53686868] [ 0. 0. 0. 1. ]] SLAMing on 97.71165253199999 meters Centerline goodness : 0.700024 Centerline is valid? [False, False] Translation: X:-31.01, Y:-34.25, Z:-9.54 [[ 0.77340459 -0.56792147 -0.28162127 -31.00686881] [ 0.57112071 0.8170362 -0.07920217 -34.25081514] [ 0.27507539 -0.09958442 0.95625126 -9.54072266] [ 0. 0. 0. 1. ]] SLAMing on 97.74165253199999 meters Centerline goodness : 0.699287 Centerline is valid? [False, False] Translation: X:-31.01, Y:-34.25, Z:-9.54 [[ 0.77252073 -0.57041028 -0.27900508 -31.01202827] [ 0.57293805 0.81558248 -0.08103836 -34.25242826] [ 0.27377676 -0.09724882 0.95686412 -9.54077109] [ 0. 0. 0. 1. ]] SLAMing on 97.77165253199999 meters Centerline goodness : 0.697904 Centerline is valid? [False, False] Translation: X:-31.02, Y:-34.26, Z:-9.54 [[ 0.77157094 -0.57332675 -0.27563513 -31.01616139] [ 0.57508468 0.81386692 -0.08305565 -34.25634432] [ 0.27194834 -0.09443022 0.9576675 -9.54185086] [ 0. 0. 0. 1. ]] SLAMing on 97.80165253199999 meters Centerline goodness : 0.697276 Centerline is valid? [False, False] Translation: X:-31.02, Y:-34.26, Z:-9.54 [[ 0.76963476 -0.57722551 -0.2728975 -31.01762143] [ 0.57810255 0.81142733 -0.08592509 -34.2574909 ] [ 0.27103464 -0.09163181 0.95819822 -9.5422912 ] [ 0. 0. 0. 1. ]] SLAMing on 97.83165253199999 meters Centerline goodness : 0.695832 Centerline is valid? [False, False] Translation: X:-31.02, Y:-34.26, Z:-9.55 [[ 0.76875346 -0.58032171 -0.26878397 -31.02221781] [ 0.5802568 0.80961978 -0.08841862 -34.26005578] [ 0.26892407 -0.08799161 0.95913363 -9.54538436] [ 0. 0. 0. 1. ]] SLAMing on 97.861652532 meters Centerline goodness : 0.695149 Centerline is valid? [False, False] Translation: X:-31.02, Y:-34.26, Z:-9.55 [[ 0.76919574 -0.57986033 -0.26851426 -31.02402455] [ 0.57987855 0.8099427 -0.08794145 -34.26080118] [ 0.26847492 -0.08806147 0.95925304 -9.54554021] [ 0. 0. 0. 1. ]] SLAMing on 97.891652532 meters Centerline goodness : 0.691510 Centerline is valid? [False, False] Translation: X:-31.04, Y:-34.28, Z:-9.55 [[ 0.7691926 -0.57656907 -0.27551923 -31.0438685 ] [ 0.57820786 0.81154768 -0.08405976 -34.28261654] [ 0.27206325 -0.09464924 0.95761324 -9.547969 ] [ 0. 0. 0. 1. ]] SLAMing on 97.921652532 meters Centerline goodness : 0.692302 Centerline is valid? [False, False] Translation: X:-31.05, Y:-34.28, Z:-9.55 [[ 0.7684327 -0.57853279 -0.27351599 -31.04907277] [ 0.57966197 0.81035826 -0.08550729 -34.28404715] [ 0.27111471 -0.09284022 0.95805924 -9.5471337 ] [ 0. 0. 0. 1. ]] SLAMing on 97.951652532 meters Centerline goodness : 0.692479 Centerline is valid? [False, False] Translation: X:-31.05, Y:-34.29, Z:-9.55 [[ 0.76741964 -0.58111679 -0.27086966 -31.05408727] [ 0.58157196 0.80878127 -0.08744662 -34.28620371] [ 0.26989101 -0.09042194 0.95863586 -9.54672667] [ 0. 0. 0. 1. ]] SLAMing on 97.98165253199998 meters Centerline goodness : 0.691081 Centerline is valid? [False, False] Translation: X:-31.06, Y:-34.29, Z:-9.55 [[ 0.7662729 -0.58394486 -0.2680191 -31.05852112] [ 0.58369508 0.807025 -0.08950248 -34.28871228] [ 0.26856263 -0.0878581 0.95924714 -9.54657275] [ 0. 0. 0. 1. ]] SLAMing on 98.01165253199999 meters Centerline goodness : 0.689911 Centerline is valid? [False, False] Translation: X:-31.08, Y:-34.31, Z:-9.55 [[ 0.7685378 -0.58299459 -0.26356585 -31.07707629] [ 0.57996479 0.80875144 -0.09778525 -34.30726308] [ 0.27016754 -0.07770725 0.95967238 -9.55346141] [ 0. 0. 0. 1. ]] SLAMing on 98.04165253199999 meters Centerline goodness : 0.690903 Centerline is valid? [False, False] Translation: X:-31.10, Y:-34.33, Z:-9.56 [[ 0.76850936 -0.57987838 -0.27043378 -31.09574296] [ 0.57840679 0.81033096 -0.093858 -34.3298413 ] [ 0.27356709 -0.08428998 0.95815252 -9.55621558] [ 0. 0. 0. 1. ]] SLAMing on 98.07165253199999 meters Centerline goodness : 0.688233 Centerline is valid? [False, False] Translation: X:-31.11, Y:-34.35, Z:-9.56 [[ 0.76763446 -0.57791402 -0.27704281 -31.1138785 ] [ 0.57798174 0.81103344 -0.09034306 -34.35219333] [ 0.27690151 -0.09077524 0.95660097 -9.5581453 ] [ 0. 0. 0. 1. ]] SLAMing on 98.10165253199999 meters Centerline goodness : 0.686799 Centerline is valid? [False, False] Translation: X:-31.13, Y:-34.38, Z:-9.56 [[ 0.76680463 -0.57623867 -0.28277138 -31.13283744] [ 0.57763597 0.81159322 -0.08748219 -34.37542232] [ 0.27990596 -0.09625717 0.95518962 -9.56118881] [ 0. 0. 0. 1. ]] SLAMing on 98.13165253199999 meters Centerline goodness : 0.686078 Centerline is valid? [False, False] Translation: X:-31.16, Y:-34.41, Z:-9.57 [[ 0.76687488 -0.57520109 -0.28468689 -31.15897579] [ 0.57711833 0.81209778 -0.08620691 -34.40757673] [ 0.2807799 -0.09818812 0.95473648 -9.56662561] [ 0. 0. 0. 1. ]] SLAMing on 98.16165253199999 meters Centerline goodness : 0.686078 Centerline is valid? [False, False] Translation: X:-31.16, Y:-34.41, Z:-9.57 [[ 0.76536899 -0.57836556 -0.28231822 -31.16261331] [ 0.57954302 0.81012286 -0.08849201 -34.40745363] [ 0.27989317 -0.09588651 0.95523065 -9.56644021] [ 0. 0. 0. 1. ]] SLAMing on 98.19165253199999 meters Centerline goodness : 0.688539 Centerline is valid? [False, False] Translation: X:-31.17, Y:-34.41, Z:-9.57 [[ 0.765406 -0.58034111 -0.27813278 -31.16940712] [ 0.58064327 0.80912481 -0.09039044 -34.4124501 ] [ 0.27750142 -0.09231054 0.95628015 -9.5694963 ] [ 0. 0. 0. 1. ]] SLAMing on 98.221652532 meters Centerline goodness : 0.686343 Centerline is valid? [False, False] Translation: X:-31.18, Y:-34.42, Z:-9.57 [[ 0.76624625 -0.58160603 -0.27313202 -31.17826347] [ 0.58091204 0.80870866 -0.09236616 -34.41901373] [ 0.27460495 -0.08789045 0.95753193 -9.574658 ] [ 0. 0. 0. 1. ]] SLAMing on 98.251652532 meters Centerline goodness : 0.686892 Centerline is valid? [False, False] Translation: X:-31.20, Y:-34.44, Z:-9.58 [[ 0.7650684 -0.58090732 -0.27787951 -31.19818245] [ 0.58118502 0.80872383 -0.09049716 -34.44366647] [ 0.27729825 -0.09226289 0.95634368 -9.57798019] [ 0. 0. 0. 1. ]] SLAMing on 98.281652532 meters Centerline goodness : 0.686240 Centerline is valid? [False, False] Translation: X:-31.22, Y:-34.47, Z:-9.58 [[ 0.76516349 -0.57969177 -0.2801469 -31.22451392] [ 0.58051497 0.80935057 -0.08918538 -34.47394124] [ 0.27843708 -0.09438807 0.95580525 -9.58376383] [ 0. 0. 0. 1. ]] SLAMing on 98.311652532 meters Centerline goodness : 0.683488 Centerline is valid? [False, False] Translation: X:-31.25, Y:-34.50, Z:-9.59 [[ 0.76382288 -0.57996248 -0.28322806 -31.24639689] [ 0.58129023 0.8088549 -0.08863076 -34.50021334] [ 0.28049292 -0.09693951 0.9549484 -9.5889805 ] [ 0. 0. 0. 1. ]] SLAMing on 98.341652532 meters Centerline goodness : 0.685985 Centerline is valid? [False, False] Translation: X:-31.27, Y:-34.53, Z:-9.59 [[ 0.76321606 -0.57860575 -0.28760499 -31.26725867] [ 0.58094406 0.8093275 -0.08656216 -34.52648593] [ 0.28285199 -0.10101678 0.95382931 -9.59337309] [ 0. 0. 0. 1. ]] SLAMing on 98.37165253199998 meters Centerline goodness : 0.685585 Centerline is valid? [False, False] Translation: X:-31.29, Y:-34.56, Z:-9.60 [[ 0.76570791 -0.573871 -0.29045391 -31.29482809] [ 0.57717359 0.81234724 -0.0834423 -34.55640389] [ 0.28383454 -0.1037499 0.95324389 -9.60223884] [ 0. 0. 0. 1. ]] SLAMing on 98.40165253199999 meters Centerline goodness : 0.685283 Centerline is valid? [False, False] Translation: X:-31.32, Y:-34.58, Z:-9.61 [[ 0.76608832 -0.57207365 -0.29298537 -31.31854924] [ 0.57609674 0.81329309 -0.08165104 -34.58139588] [ 0.28499338 -0.106236 0.9526241 -9.61075697] [ 0. 0. 0. 1. ]] SLAMing on 98.43165253199999 meters Centerline goodness : 0.686454 Centerline is valid? [False, False] Translation: X:-31.34, Y:-34.60, Z:-9.62 [[ 0.76509928 -0.57122403 -0.29719724 -31.33847056] [ 0.57607625 0.81343171 -0.08040526 -34.60476273] [ 0.28767908 -0.10969027 0.95142461 -9.6167558 ] [ 0. 0. 0. 1. ]] SLAMing on 98.46165253199999 meters Centerline goodness : 0.686060 Centerline is valid? [False, False] Translation: X:-31.37, Y:-34.63, Z:-9.63 [[ 0.76571903 -0.57029942 -0.29737677 -31.36713092] [ 0.57503041 0.81414367 -0.0806853 -34.63469166] [ 0.28812219 -0.10921841 0.95134481 -9.62704964] [ 0. 0. 0. 1. ]] SLAMing on 98.49165253199999 meters Centerline goodness : 0.687194 Centerline is valid? [False, False] Translation: X:-31.40, Y:-34.66, Z:-9.64 [[ 0.76658203 -0.56920198 -0.29725596 -31.39521827] [ 0.57409244 0.81488463 -0.07988063 -34.66474406] [ 0.28769753 -0.10941735 0.95145046 -9.63717546] [ 0. 0. 0. 1. ]] SLAMing on 98.52165253199999 meters Centerline goodness : 0.686569 Centerline is valid? [False, False] Translation: X:-31.43, Y:-34.70, Z:-9.65 [[ 0.76674756 -0.56998371 -0.29532481 -31.42506322] [ 0.57432368 0.81460196 -0.0810923 -34.69613203] [ 0.28679346 -0.1074347 0.95194921 -9.64829941] [ 0. 0. 0. 1. ]] SLAMing on 98.55165253199999 meters Centerline goodness : 0.687276 Centerline is valid? [False, False] Translation: X:-31.46, Y:-34.73, Z:-9.66 [[ 0.76814527 -0.56838676 -0.29476996 -31.45537808] [ 0.57260723 0.81582464 -0.080939 -34.72753044] [ 0.28648526 -0.1066145 0.95213421 -9.65944624] [ 0. 0. 0. 1. ]] SLAMing on 98.58165253199999 meters Centerline goodness : 0.688498 Centerline is valid? [False, False] Translation: X:-31.48, Y:-34.75, Z:-9.67 [[ 0.76785097 -0.56697985 -0.29822599 -31.47756911] [ 0.57199499 0.81640537 -0.07939781 -34.75127817] [ 0.28849026 -0.10961808 0.95118728 -9.66674858] [ 0. 0. 0. 1. ]] SLAMing on 98.611652532 meters Centerline goodness : 0.689906 Centerline is valid? [False, False] Translation: X:-31.51, Y:-34.78, Z:-9.68 [[ 0.76846585 -0.56600487 -0.29849409 -31.50534576] [ 0.57111497 0.81706076 -0.0789899 -34.77862732] [ 0.28859648 -0.1097734 0.95113715 -9.6774107 ] [ 0. 0. 0. 1. ]] SLAMing on 98.641652532 meters Centerline goodness : 0.689913 Centerline is valid? [False, False] Translation: X:-31.54, Y:-34.81, Z:-9.69 [[ 0.77008694 -0.56432505 -0.29749511 -31.53591875] [ 0.56939611 0.81831947 -0.07836654 -34.80812522] [ 0.28767025 -0.10904351 0.95150162 -9.68926039] [ 0. 0. 0. 1. ]] SLAMing on 98.671652532 meters Centerline goodness : 0.691212 Centerline is valid? [False, False] Translation: X:-31.57, Y:-34.84, Z:-9.70 [[ 0.77235906 -0.56181722 -0.2963493 -31.56707782] [ 0.56707276 0.82008174 -0.07677514 -34.83858053] [ 0.28616424 -0.10875364 0.9519888 -9.7011586 ] [ 0. 0. 0. 1. ]] SLAMing on 98.701652532 meters Centerline goodness : 0.692639 Centerline is valid? [False, False] Translation: X:-31.60, Y:-34.87, Z:-9.71 [[ 0.77305578 -0.56166456 -0.29481807 -31.59700756] [ 0.56664136 0.82035338 -0.07705783 -34.86942361] [ 0.28513565 -0.10748611 0.95244128 -9.71187618] [ 0. 0. 0. 1. ]] SLAMing on 98.73165253199998 meters Centerline goodness : 0.696372 Centerline is valid? [False, False] Translation: X:-31.63, Y:-34.90, Z:-9.72 [[ 0.7749914 -0.56053853 -0.29186448 -31.63174623] [ 0.56488206 0.82149741 -0.0777834 -34.9029779 ] [ 0.28336651 -0.10458754 0.9532916 -9.72440551] [ 0. 0. 0. 1. ]] SLAMing on 98.76165253199999 meters Centerline goodness : 0.698283 Centerline is valid? [False, False] Translation: X:-31.66, Y:-34.93, Z:-9.73 [[ 0.77476644 -0.5605885 -0.29236536 -31.65801659] [ 0.56498782 0.82142291 -0.07780208 -34.93001701] [ 0.28377056 -0.10490443 0.95313658 -9.73382831] [ 0. 0. 0. 1. ]] SLAMing on 98.79165253199999 meters Centerline goodness : 0.700157 Centerline is valid? [False, False] Translation: X:-31.69, Y:-34.96, Z:-9.74 [[ 0.77565942 -0.55944847 -0.29218124 -31.68630673] [ 0.56387171 0.82222561 -0.07741926 -34.95726822] [ 0.28355098 -0.10470176 0.9532242 -9.7449037 ] [ 0. 0. 0. 1. ]] SLAMing on 98.82165253199999 meters Centerline goodness : 0.703441 Centerline is valid? [False, False] Translation: X:-31.72, Y:-34.99, Z:-9.76 [[ 0.77846393 -0.55599577 -0.29131188 -31.71896718] [ 0.56006964 0.82480664 -0.07756288 -34.98762923] [ 0.2834006 -0.10277503 0.95347857 -9.75929769] [ 0. 0. 0. 1. ]] SLAMing on 98.85165253199999 meters Centerline goodness : 0.705098 Centerline is valid? [False, False] Translation: X:-31.75, Y:-35.02, Z:-9.77 [[ 0.77922044 -0.55481604 -0.29153847 -31.74609812] [ 0.55902419 0.8255718 -0.07696205 -35.01557225] [ 0.28338572 -0.10300665 0.953458 -9.77002307] [ 0. 0. 0. 1. ]] SLAMing on 98.88165253199999 meters Centerline goodness : 0.707070 Centerline is valid? [False, False] Translation: X:-31.77, Y:-35.04, Z:-9.78 [[ 0.77808373 -0.55572397 -0.29284226 -31.76963761] [ 0.56004395 0.82485136 -0.07727227 -35.04058599] [ 0.28449339 -0.10388024 0.95303327 -9.77861288] [ 0. 0. 0. 1. ]] SLAMing on 98.91165253199999 meters Centerline goodness : 0.710635 Centerline is valid? [False, False] Translation: X:-31.80, Y:-35.07, Z:-9.79 [[ 0.77798767 -0.55542646 -0.29366074 -31.79585249] [ 0.56000432 0.82493473 -0.07666713 -35.06855235] [ 0.2848339 -0.1048052 0.95283027 -9.7871146 ] [ 0. 0. 0. 1. ]] SLAMing on 98.94165253199999 meters Centerline goodness : 0.713436 Centerline is valid? [False, False] Translation: X:-31.82, Y:-35.10, Z:-9.80 [[ 0.77861204 -0.55481192 -0.29316724 -31.8238212 ] [ 0.55957875 0.82531119 -0.07571697 -35.09753016] [ 0.28396288 -0.10509601 0.95305819 -9.79693487] [ 0. 0. 0. 1. ]] SLAMing on 98.971652532 meters Centerline goodness : 0.716084 Centerline is valid? [False, False] Translation: X:-31.85, Y:-35.13, Z:-9.81 [[ 0.77894701 -0.55456828 -0.29273807 -31.85363299] [ 0.559209 0.82554281 -0.0759234 -35.12998431] [ 0.28377252 -0.10456146 0.95317368 -9.80575103] [ 0. 0. 0. 1. ]] SLAMing on 99.001652532 meters Centerline goodness : 0.719354 Centerline is valid? [False, False] Translation: X:-31.88, Y:-35.16, Z:-9.82 [[ 0.77904754 -0.55439625 -0.29279641 -31.87978095] [ 0.55907618 0.82564594 -0.07577993 -35.15824454] [ 0.28375828 -0.10465933 0.95316718 -9.81585042] [ 0. 0. 0. 1. ]] SLAMing on 99.031652532 meters Centerline goodness : 0.721576 Centerline is valid? [False, False] Translation: X:-31.91, Y:-35.19, Z:-9.83 [[ 0.78033859 -0.5525513 -0.29284594 -31.90799467] [ 0.55750194 0.82682435 -0.07451903 -35.18740607] [ 0.28330774 -0.1051121 0.95325137 -9.82634267] [ 0. 0. 0. 1. ]] SLAMing on 99.061652532 meters Centerline goodness : 0.721313 Centerline is valid? [False, False] Translation: X:-31.94, Y:-35.22, Z:-9.84 [[ 0.78212082 -0.55019185 -0.29253368 -31.93759489] [ 0.5555843 0.82829911 -0.07243396 -35.2175027 ] [ 0.28215796 -0.10587501 0.95350793 -9.83680218] [ 0. 0. 0. 1. ]] SLAMing on 99.091652532 meters Centerline goodness : 0.727122 Centerline is valid? [False, False] Translation: X:-31.97, Y:-35.25, Z:-9.85 [[ 0.78279745 -0.54990803 -0.29125471 -31.96893336] [ 0.55519031 0.82857989 -0.07224324 -35.25053332] [ 0.28105493 -0.10514997 0.95391384 -9.84624715] [ 0. 0. 0. 1. ]] SLAMing on 99.12165253199998 meters Centerline goodness : 0.727015 Centerline is valid? [False, False] Translation: X:-31.99, Y:-35.28, Z:-9.85 [[ 0.78210569 -0.55055247 -0.29189497 -31.99363911] [ 0.55599409 0.82805452 -0.07208524 -35.27938371] [ 0.28139166 -0.1059136 0.95373007 -9.85413113] [ 0. 0. 0. 1. ]] SLAMing on 99.15165253199999 meters Centerline goodness : 0.728619 Centerline is valid? [False, False] Translation: X:-32.02, Y:-35.31, Z:-9.86 [[ 0.78224737 -0.55089073 -0.29087532 -32.02098472] [ 0.55611817 0.82793724 -0.07247427 -35.31033399] [ 0.28075192 -0.10506824 0.95401207 -9.86399552] [ 0. 0. 0. 1. ]] SLAMing on 99.18165253199999 meters Centerline goodness : 0.733024 Centerline is valid? [False, False] Translation: X:-32.05, Y:-35.34, Z:-9.87 [[ 0.78154723 -0.55159875 -0.29141508 -32.04581701] [ 0.5570027 0.82736378 -0.07222997 -35.34035403] [ 0.28094824 -0.10586786 0.95386586 -9.87129867] [ 0. 0. 0. 1. ]] SLAMing on 99.21165253199999 meters Centerline goodness : 0.734276 Centerline is valid? [False, False] Translation: X:-32.07, Y:-35.37, Z:-9.88 [[ 0.77987367 -0.55294251 -0.29334559 -32.06796188] [ 0.55852621 0.82629808 -0.07266328 -35.36719883] [ 0.28256951 -0.10717302 0.95324101 -9.87765943] [ 0. 0. 0. 1. ]] SLAMing on 99.24165253199999 meters Centerline goodness : 0.738162 Centerline is valid? [False, False] Translation: X:-32.09, Y:-35.40, Z:-9.89 [[ 0.78010223 -0.55141697 -0.29560081 -32.09411256] [ 0.55732264 0.82715243 -0.07218264 -35.39640062] [ 0.28430966 -0.10843518 0.95258061 -9.88632183] [ 0. 0. 0. 1. ]] SLAMing on 99.27165253199999 meters Centerline goodness : 0.740398 Centerline is valid? [False, False] Translation: X:-32.12, Y:-35.42, Z:-9.89 [[ 0.7794071 -0.55138194 -0.29749375 -32.11735568] [ 0.55765373 0.82696937 -0.07172151 -35.42220896] [ 0.28556417 -0.10999824 0.95202599 -9.8945909 ] [ 0. 0. 0. 1. ]] SLAMing on 99.30165253199999 meters Centerline goodness : 0.740508 Centerline is valid? [False, False] Translation: X:-32.14, Y:-35.45, Z:-9.90 [[ 0.77863292 -0.55136014 -0.29955427 -32.14084109] [ 0.55808709 0.82673486 -0.07105113 -35.44916376] [ 0.28682672 -0.11185462 0.95142996 -9.90163299] [ 0. 0. 0. 1. ]] SLAMing on 99.33165253199999 meters Centerline goodness : 0.744376 Centerline is valid? [False, False] Translation: X:-32.16, Y:-35.48, Z:-9.91 [[ 0.77683579 -0.55327771 -0.30068244 -32.16456359] [ 0.55978576 0.82544775 -0.07263552 -35.47853285] [ 0.28838526 -0.11189188 0.95095434 -9.90911502] [ 0. 0. 0. 1. ]] SLAMing on 99.361652532 meters Centerline goodness : 0.745453 Centerline is valid? [False, False] Translation: X:-32.19, Y:-35.51, Z:-9.92 [[ 0.77663681 -0.55251845 -0.30258656 -32.18918501] [ 0.5594612 0.82573757 -0.07183755 -35.50508673] [ 0.28954866 -0.11349375 0.95041083 -9.91726861] [ 0. 0. 0. 1. ]] SLAMing on 99.391652532 meters Centerline goodness : 0.744815 Centerline is valid? [False, False] Translation: X:-32.20, Y:-35.51, Z:-9.93 [[ 0.77758212 -0.55465297 -0.29618598 -32.20130486] [ 0.55934655 0.82533954 -0.07711082 -35.51297642] [ 0.28722375 -0.10571061 0.95201249 -9.92561661] [ 0. 0. 0. 1. ]] SLAMing on 99.421652532 meters Centerline goodness : 0.747027 Centerline is valid? [False, False] Translation: X:-32.21, Y:-35.52, Z:-9.93 [[ 0.77750946 -0.55716018 -0.29163603 -32.20792254] [ 0.56079497 0.82413929 -0.07939416 -35.51720259] [ 0.28458398 -0.10181831 0.95322872 -9.92989151] [ 0. 0. 0. 1. ]] SLAMing on 99.451652532 meters Centerline goodness : 0.747076 Centerline is valid? [False, False] Translation: X:-32.24, Y:-35.55, Z:-9.94 [[ 0.77794748 -0.5560623 -0.29256185 -32.23555461] [ 0.56021211 0.82468735 -0.07780216 -35.54893884] [ 0.28453491 -0.1033707 0.95307628 -9.93713139] [ 0. 0. 0. 1. ]] SLAMing on 99.48165253199998 meters Centerline goodness : 0.746564 Centerline is valid? [False, False] Translation: X:-32.25, Y:-35.57, Z:-9.94 [[ 0.77445803 -0.55915028 -0.29591506 -32.25375448] [ 0.56361015 0.82228361 -0.07869727 -35.57214791] [ 0.28732971 -0.105833 0.95196692 -9.94045813] [ 0. 0. 0. 1. ]] SLAMing on 99.51165253199999 meters Centerline goodness : 0.746488 Centerline is valid? [False, False] Translation: X:-32.28, Y:-35.60, Z:-9.95 [[ 0.77270494 -0.55988601 -0.29908984 -32.27525219] [ 0.56490511 0.82143658 -0.07825701 -35.59793621] [ 0.28949834 -0.1084878 0.95101057 -9.94527211] [ 0. 0. 0. 1. ]] SLAMing on 99.54165253199999 meters Centerline goodness : 0.746731 Centerline is valid? [False, False] Translation: X:-32.30, Y:-35.63, Z:-9.95 [[ 0.77334246 -0.55703089 -0.30275075 -32.29978202] [ 0.5631295 0.82290259 -0.07560743 -35.62644022] [ 0.29125005 -0.11201744 0.95006605 -9.95173999] [ 0. 0. 0. 1. ]] SLAMing on 99.57165253199999 meters Centerline goodness : 0.746950 Centerline is valid? [False, False] Translation: X:-32.32, Y:-35.65, Z:-9.96 [[ 0.77374205 -0.55475065 -0.30590024 -32.3233477 ] [ 0.5618305 0.82400371 -0.07324189 -35.65166486] [ 0.29269392 -0.11519376 0.94924215 -9.95939495] [ 0. 0. 0. 1. ]] SLAMing on 99.60165253199999 meters Centerline goodness : 0.746150 Centerline is valid? [False, False] Translation: X:-32.33, Y:-35.66, Z:-9.96 [[ 0.77493127 -0.55545494 -0.3015814 -32.33217485] [ 0.56147793 0.82408144 -0.07504872 -35.65725316] [ 0.29021382 -0.1111737 0.95048217 -9.96452276] [ 0. 0. 0. 1. ]] SLAMing on 99.63165253199999 meters Centerline goodness : 0.745224 Centerline is valid? [False, False] Translation: X:-32.34, Y:-35.67, Z:-9.97 [[ 0.77614428 -0.55693741 -0.29567006 -32.34309566] [ 0.56120002 0.82392024 -0.07880346 -35.66612458] [ 0.28749714 -0.10476719 0.95203426 -9.97183369] [ 0. 0. 0. 1. ]] SLAMing on 99.66165253199999 meters Centerline goodness : 0.749121 Centerline is valid? [False, False] Translation: X:-32.37, Y:-35.70, Z:-9.98 [[ 0.77512732 -0.55770086 -0.29689627 -32.36785264] [ 0.56207917 0.82329684 -0.07905265 -35.69593327] [ 0.2885215 -0.10560334 0.9516319 -9.97889723] [ 0. 0. 0. 1. ]] SLAMing on 99.69165253199999 meters Centerline goodness : 0.747644 Centerline is valid? [False, False] Translation: X:-32.38, Y:-35.71, Z:-9.99 [[ 0.77637791 -0.55941089 -0.2903391 -32.38126717] [ 0.56158342 0.82311965 -0.08425023 -35.70609356] [ 0.28611432 -0.09763961 0.9532078 -9.98670523] [ 0. 0. 0. 1. ]] SLAMing on 99.721652532 meters Centerline goodness : 0.748340 Centerline is valid? [False, False] Translation: X:-32.40, Y:-35.73, Z:-9.99 [[ 0.77527237 -0.55848898 -0.2950302 -32.4010239 ] [ 0.56174474 0.82321661 -0.08220253 -35.73013458] [ 0.28878297 -0.10200232 0.95194534 -9.99091389] [ 0. 0. 0. 1. ]] SLAMing on 99.751652532 meters Centerline goodness : 0.747539 Centerline is valid? [False, False] Translation: X:-32.42, Y:-35.75, Z:-10.00 [[ 0.77380339 -0.55799723 -0.29977892 -32.42069429] [ 0.56226962 0.82301873 -0.08057948 -35.75338563] [ 0.29168679 -0.1062039 0.95059957 -9.99546161] [ 0. 0. 0. 1. ]] SLAMing on 99.781652532 meters Centerline goodness : 0.747625 Centerline is valid? [False, False] Translation: X:-32.44, Y:-35.77, Z:-10.00 [[ 0.77272532 -0.55650266 -0.30528738 -32.43999568] [ 0.56218475 0.82333683 -0.07787661 -35.77445929] [ 0.29469288 -0.11145068 0.94907052 -9.99945303] [ 0. 0. 0. 1. ]] SLAMing on 99.811652532 meters Centerline goodness : 0.747378 Centerline is valid? [False, False] Translation: X:-32.46, Y:-35.80, Z:-10.00 [[ 0.77204586 -0.5545707 -0.3104779 -32.46060487] [ 0.56180459 0.82389703 -0.07462767 -35.79738401] [ 0.29718814 -0.11681193 0.94764666 -10.00309606] [ 0. 0. 0. 1. ]] SLAMing on 99.841652532 meters Centerline goodness : 0.749880 Centerline is valid? [False, False] Translation: X:-32.48, Y:-35.82, Z:-10.01 [[ 0.77207862 -0.55261189 -0.31387053 -32.4838032 ] [ 0.56095561 0.82469844 -0.07211995 -35.82330401] [ 0.29870287 -0.12038517 0.94672277 -10.00920982] [ 0. 0. 0. 1. ]] SLAMing on 99.87165253199998 meters Centerline goodness : 0.746632 Centerline is valid? [False, False] Translation: X:-32.51, Y:-35.85, Z:-10.02 [[ 0.77244763 -0.55131668 -0.31523734 -32.50999985] [ 0.56031955 0.82528396 -0.0703448 -35.8516823 ] [ 0.29894258 -0.12229597 0.94640215 -10.01733717] [ 0. 0. 0. 1. ]] SLAMing on 99.90165253199999 meters Centerline goodness : 0.747245 Centerline is valid? [False, False] Translation: X:-32.53, Y:-35.88, Z:-10.02 [[ 0.77174797 -0.55120616 -0.31713851 -32.53405475] [ 0.56079132 0.8250504 -0.06931766 -35.87670792] [ 0.29986357 -0.12435276 0.9458426 -10.02481805] [ 0. 0. 0. 1. ]] SLAMing on 99.93165253199999 meters Centerline goodness : 0.746931 Centerline is valid? [False, False] Translation: X:-32.56, Y:-35.90, Z:-10.03 [[ 0.77217106 -0.54983298 -0.31848949 -32.56036114] [ 0.56016085 0.82564714 -0.06728018 -35.90365 ] [ 0.2999528 -0.12645353 0.94553573 -10.03301239] [ 0. 0. 0. 1. ]] SLAMing on 99.96165253199999 meters Centerline goodness : 0.747966 Centerline is valid? [False, False] Translation: X:-32.56, Y:-35.91, Z:-10.03 [[ 0.77317678 -0.54881529 -0.3178041 -32.56450016] [ 0.55935026 0.82629219 -0.06609466 -35.90686916] [ 0.29887281 -0.12666095 0.94584991 -10.03278221] [ 0. 0. 0. 1. ]] SLAMing on 99.99165253199999 meters Centerline goodness : 0.746722 Centerline is valid? [False, False] Translation: X:-32.58, Y:-35.92, Z:-10.04 [[ 0.77476421 -0.5502798 -0.31133994 -32.57933796] [ 0.55860615 0.82642405 -0.07058655 -35.91698546] [ 0.29614117 -0.11922847 0.94767346 -10.04048272] [ 0. 0. 0. 1. ]] SLAMing on 100.02165253199999 meters Centerline goodness : 0.746260 Centerline is valid? [False, False] Translation: X:-32.58, Y:-35.92, Z:-10.04 [[ 0.77363856 -0.5534805 -0.30845212 -32.58379363] [ 0.56086454 0.82467738 -0.07306291 -35.91795456] [ 0.29481238 -0.11647557 0.94842981 -10.04129815] [ 0. 0. 0. 1. ]] SLAMing on 100.05165253199999 meters Centerline goodness : 0.746432 Centerline is valid? [False, False] Translation: X:-32.61, Y:-35.95, Z:-10.05 [[ 0.77399941 -0.55256384 -0.30918944 -32.611224 ] [ 0.5601508 0.82520961 -0.07252706 -35.94760612] [ 0.29522193 -0.11705681 0.94823083 -10.05065646] [ 0. 0. 0. 1. ]] SLAMing on 100.08165253199999 meters Centerline goodness : 0.746432 Centerline is valid? [False, False] Translation: X:-32.61, Y:-35.95, Z:-10.05 [[ 0.77399941 -0.55256384 -0.30918944 -32.611224 ] [ 0.5601508 0.82520961 -0.07252706 -35.94760612] [ 0.29522193 -0.11705681 0.94823083 -10.05065646] [ 0. 0. 0. 1. ]] SLAMing on 100.111652532 meters Centerline goodness : 0.746136 Centerline is valid? [False, False] Translation: X:-32.62, Y:-35.95, Z:-10.06 [[ 0.77467276 -0.55427933 -0.30439538 -32.6196655 ] [ 0.56055793 0.82470114 -0.07511886 -35.9513995 ] [ 0.29267205 -0.11243871 0.94957917 -10.05640664] [ 0. 0. 0. 1. ]] SLAMing on 100.141652532 meters Centerline goodness : 0.744830 Centerline is valid? [False, False] Translation: X:-32.64, Y:-35.97, Z:-10.06 [[ 0.77481511 -0.55197014 -0.30820532 -32.64198518] [ 0.5593779 0.8257306 -0.07256262 -35.9746027 ] [ 0.29454697 -0.11618063 0.94854844 -10.06360893] [ 0. 0. 0. 1. ]] SLAMing on 100.171652532 meters Centerline goodness : 0.745887 Centerline is valid? [False, False] Translation: X:-32.66, Y:-36.00, Z:-10.07 [[ 0.77480835 -0.54996826 -0.31178027 -32.6647419 ] [ 0.55836961 0.82659388 -0.0704694 -35.99815648] [ 0.29647159 -0.11948835 0.9475374 -10.07084798] [ 0. 0. 0. 1. ]] SLAMing on 100.201652532 meters Centerline goodness : 0.744921 Centerline is valid? [False, False] Translation: X:-32.67, Y:-36.00, Z:-10.08 [[ 0.77649834 -0.54966864 -0.30808232 -32.67440818] [ 0.55706613 0.82733608 -0.07205792 -36.00333587] [ 0.29449559 -0.11566937 0.94862687 -10.0756512 ] [ 0. 0. 0. 1. ]] SLAMing on 100.23165253199998 meters Centerline goodness : 0.742298 Centerline is valid? [False, False] Translation: X:-32.69, Y:-36.02, Z:-10.08 [[ 0.77915592 -0.54914126 -0.30225803 -32.69441989] [ 0.55370971 0.82897853 -0.07874105 -36.01809629] [ 0.29380538 -0.10601165 0.94996838 -10.08444972] [ 0. 0. 0. 1. ]] SLAMing on 100.26165253199999 meters Centerline goodness : 0.741019 Centerline is valid? [False, False] Translation: X:-32.70, Y:-36.02, Z:-10.09 [[ 0.78055076 -0.54925817 -0.29842246 -32.70398294] [ 0.5529124 0.82936277 -0.08028243 -36.0230604 ] [ 0.29159626 -0.10233696 0.9510514 -10.08872301] [ 0. 0. 0. 1. ]] SLAMing on 100.29165253199999 meters Centerline goodness : 0.741919 Centerline is valid? [False, False] Translation: X:-32.71, Y:-36.02, Z:-10.09 [[ 0.77998817 -0.55216628 -0.29450102 -32.71028566] [ 0.55472635 0.82788113 -0.08301517 -36.02366064] [ 0.28965002 -0.09861663 0.95203867 -10.09192795] [ 0. 0. 0. 1. ]] SLAMing on 100.32165253199999 meters Centerline goodness : 0.739372 Centerline is valid? [False, False] Translation: X:-32.73, Y:-36.04, Z:-10.10 [[ 0.78259838 -0.54756183 -0.29616856 -32.73007567] [ 0.54799529 0.83167088 -0.08958074 -36.03860521] [ 0.29536576 -0.09219323 0.95092559 -10.09573193] [ 0. 0. 0. 1. ]] SLAMing on 100.35165253199999 meters Centerline goodness : 0.738771 Centerline is valid? [False, False] Translation: X:-32.74, Y:-36.05, Z:-10.10 [[ 0.78367264 -0.54917206 -0.2902882 -32.74463028] [ 0.54707815 0.83153534 -0.09620025 -36.04726556] [ 0.29421538 -0.08342083 0.95209153 -10.10364567] [ 0. 0. 0. 1. ]] SLAMing on 100.38165253199999 meters Centerline goodness : 0.737247 Centerline is valid? [False, False] Translation: X:-32.76, Y:-36.07, Z:-10.11 [[ 0.78358329 -0.54522359 -0.29787323 -32.7632998 ] [ 0.54509748 0.83336906 -0.09145901 -36.06889584] [ 0.29810394 -0.0907042 0.95021407 -10.1057124 ] [ 0. 0. 0. 1. ]] SLAMing on 100.41165253199999 meters Centerline goodness : 0.736071 Centerline is valid? [False, False] Translation: X:-32.79, Y:-36.09, Z:-10.11 [[ 0.7895663 -0.53677486 -0.29741859 -32.78798992] [ 0.53525477 0.83943905 -0.09404472 -36.08633822] [ 0.30014562 -0.08494018 0.95010409 -10.11132553] [ 0. 0. 0. 1. ]] SLAMing on 100.44165253199999 meters Centerline goodness : 0.735108 Centerline is valid? [False, False] Translation: X:-32.81, Y:-36.11, Z:-10.11 [[ 0.79025349 -0.53160792 -0.30478263 -32.80885333] [ 0.5323442 0.84191979 -0.08820832 -36.10782167] [ 0.30349477 -0.09254233 0.94832845 -10.1137553 ] [ 0. 0. 0. 1. ]] SLAMing on 100.471652532 meters Centerline goodness : 0.735330 Centerline is valid? [False, False] Translation: X:-32.83, Y:-36.13, Z:-10.12 [[ 0.79140797 -0.52693695 -0.30985621 -32.83187464] [ 0.52972356 0.84414243 -0.08256214 -36.13014689] [ 0.30506781 -0.09879779 0.94719197 -10.1189407 ] [ 0. 0. 0. 1. ]] SLAMing on 100.501652532 meters Centerline goodness : 0.735094 Centerline is valid? [False, False] Translation: X:-32.84, Y:-36.13, Z:-10.12 [[ 0.79215026 -0.52609048 -0.30939744 -32.83605592] [ 0.52898447 0.84467074 -0.08189483 -36.13055762] [ 0.30442305 -0.09879343 0.94739984 -10.11872842] [ 0. 0. 0. 1. ]] SLAMing on 100.531652532 meters Centerline goodness : 0.734550 Centerline is valid? [False, False] Translation: X:-32.84, Y:-36.13, Z:-10.12 [[ 0.79290373 -0.5251389 -0.30908382 -32.83959863] [ 0.52821748 0.84523541 -0.08101485 -36.13207505] [ 0.30379264 -0.0990265 0.94757785 -10.11821224] [ 0. 0. 0. 1. ]] SLAMing on 100.561652532 meters Centerline goodness : 0.735198 Centerline is valid? [False, False] Translation: X:-32.87, Y:-36.16, Z:-10.13 [[ 0.79271007 -0.5251845 -0.30950279 -32.86633077] [ 0.52848483 0.84511949 -0.08047878 -36.15783295] [ 0.30383305 -0.09977119 0.94748677 -10.12756944] [ 0. 0. 0. 1. ]] SLAMing on 100.59165253199998 meters Centerline goodness : 0.734463 Centerline is valid? [False, False] Translation: X:-32.87, Y:-36.16, Z:-10.13 [[ 0.79332619 -0.52445426 -0.30916222 -32.86936447] [ 0.52787292 0.84556242 -0.07983965 -36.15862539] [ 0.30328821 -0.09985948 0.94765202 -10.12744341] [ 0. 0. 0. 1. ]] SLAMing on 100.62165253199998 meters Centerline goodness : 0.735188 Centerline is valid? [False, False] Translation: X:-32.89, Y:-36.18, Z:-10.13 [[ 0.79238071 -0.52298516 -0.31403715 -32.88941613] [ 0.52775205 0.84589301 -0.07708944 -36.18032326] [ 0.30595846 -0.10464957 0.9462758 -10.13223522] [ 0. 0. 0. 1. ]] SLAMing on 100.65165253199999 meters Centerline goodness : 0.735531 Centerline is valid? [False, False] Translation: X:-32.92, Y:-36.21, Z:-10.14 [[ 0.79372667 -0.51932571 -0.31669983 -32.9164103 ] [ 0.52551734 0.84765296 -0.07291084 -36.205094 ] [ 0.30631602 -0.10855997 0.94571942 -10.14003119] [ 0. 0. 0. 1. ]] SLAMing on 100.68165253199999 meters Centerline goodness : 0.735384 Centerline is valid? [False, False] Translation: X:-32.94, Y:-36.23, Z:-10.15 [[ 0.79393978 -0.51736805 -0.31935861 -32.93976296] [ 0.52488573 0.84833597 -0.06943376 -36.22720077] [ 0.30684621 -0.11250055 0.94508679 -10.14770531] [ 0. 0. 0. 1. ]] SLAMing on 100.71165253199999 meters Centerline goodness : 0.733592 Centerline is valid? [False, False] Translation: X:-32.94, Y:-36.23, Z:-10.15 [[ 0.79468267 -0.51645871 -0.31898254 -32.94347169] [ 0.52414719 0.84886287 -0.06856781 -36.22825664] [ 0.30618487 -0.11270415 0.94527699 -10.14750035] [ 0. 0. 0. 1. ]] SLAMing on 100.74165253199999 meters Centerline goodness : 0.732241 Centerline is valid? [False, False] Translation: X:-32.97, Y:-36.25, Z:-10.15 [[ 0.79253429 -0.51907578 -0.3200777 -32.96638182] [ 0.52697434 0.84708326 -0.06890569 -36.25151163] [ 0.30689974 -0.11406261 0.94488215 -10.15447508] [ 0. 0. 0. 1. ]] SLAMing on 100.77165253199999 meters Centerline goodness : 0.731739 Centerline is valid? [False, False] Translation: X:-32.97, Y:-36.25, Z:-10.15 [[ 0.7931583 -0.51835013 -0.31970778 -32.96924169] [ 0.52635055 0.84752075 -0.06829106 -36.25221723] [ 0.30635766 -0.11411274 0.94505199 -10.15457946] [ 0. 0. 0. 1. ]] SLAMing on 100.80165253199999 meters Centerline goodness : 0.732629 Centerline is valid? [False, False] Translation: X:-32.97, Y:-36.25, Z:-10.15 [[ 0.79425648 -0.51696672 -0.31922101 -32.97387933] [ 0.52520066 0.84833017 -0.06708342 -36.25392421] [ 0.30548471 -0.11437365 0.945303 -10.15460251] [ 0. 0. 0. 1. ]] SLAMing on 100.83165253199999 meters Centerline goodness : 0.730745 Centerline is valid? [False, False] Translation: X:-32.99, Y:-36.27, Z:-10.16 [[ 0.79218701 -0.516889 -0.32444647 -32.99156635] [ 0.52659352 0.84765376 -0.06467125 -36.27322163] [ 0.30844613 -0.11961969 0.94369069 -10.15807663] [ 0. 0. 0. 1. ]] SLAMing on 100.861652532 meters Centerline goodness : 0.730820 Centerline is valid? [False, False] Translation: X:-33.00, Y:-36.28, Z:-10.16 [[ 0.79164792 -0.51899583 -0.32239245 -32.99683417] [ 0.52801022 0.84663893 -0.06639075 -36.27564637] [ 0.30740652 -0.11766841 0.94427505 -10.15738821] [ 0. 0. 0. 1. ]] SLAMing on 100.891652532 meters Centerline goodness : 0.730679 Centerline is valid? [False, False] Translation: X:-33.00, Y:-36.28, Z:-10.16 [[ 0.79109959 -0.52090778 -0.32065016 -33.00159722] [ 0.52949249 0.84563207 -0.06741001 -36.27891259] [ 0.30626646 -0.11645382 0.94479594 -10.1561153 ] [ 0. 0. 0. 1. ]] SLAMing on 100.921652532 meters Centerline goodness : 0.728547 Centerline is valid? [False, False] Translation: X:-33.01, Y:-36.28, Z:-10.16 [[ 0.7901008 -0.52400168 -0.31806127 -33.00610523] [ 0.53174566 0.84403744 -0.06962296 -36.28076356] [ 0.30493817 -0.11411854 0.94551027 -10.15614377] [ 0. 0. 0. 1. ]] SLAMing on 100.951652532 meters Centerline goodness : 0.727506 Centerline is valid? [False, False] Translation: X:-33.03, Y:-36.31, Z:-10.16 [[ 0.78922225 -0.52464257 -0.31918399 -33.03042536] [ 0.53318969 0.84328078 -0.06772216 -36.30684089] [ 0.30469166 -0.11673778 0.94526995 -10.16298838] [ 0. 0. 0. 1. ]] SLAMing on 100.98165253199998 meters Centerline goodness : 0.726070 Centerline is valid? [False, False] Translation: X:-33.04, Y:-36.32, Z:-10.17 [[ 0.79015779 -0.52612241 -0.31439765 -33.03955874] [ 0.53612015 0.84190117 -0.06146218 -36.3154334 ] [ 0.29702838 -0.11999009 0.94729959 -10.17193434] [ 0. 0. 0. 1. ]] SLAMing on 101.01165253199999 meters Centerline goodness : 0.726323 Centerline is valid? [False, False] Translation: X:-33.04, Y:-36.32, Z:-10.17 [[ 0.79157128 -0.52496341 -0.31277521 -33.043954 ] [ 0.53508386 0.8426564 -0.06012869 -36.31973526] [ 0.29512739 -0.11976482 0.94792205 -10.17392645] [ 0. 0. 0. 1. ]] SLAMing on 101.04165253199999 meters Centerline goodness : 0.724635 Centerline is valid? [False, False] Translation: X:-33.05, Y:-36.32, Z:-10.17 [[ 0.79232988 -0.52400594 -0.3124598 -33.04658454] [ 0.53430224 0.84321593 -0.05922848 -36.32137417] [ 0.29450716 -0.12001948 0.94808273 -10.17395124] [ 0. 0. 0. 1. ]] SLAMing on 101.07165253199999 meters Centerline goodness : 0.722351 Centerline is valid? [False, False] Translation: X:-33.05, Y:-36.32, Z:-10.18 [[ 0.79169375 -0.52676714 -0.3094146 -33.05122049] [ 0.53622705 0.84185296 -0.06118933 -36.32478723] [ 0.29271413 -0.11747327 0.94895652 -10.17504787] [ 0. 0. 0. 1. ]] SLAMing on 101.10165253199999 meters Centerline goodness : 0.721162 Centerline is valid? [False, False] Translation: X:-33.05, Y:-36.33, Z:-10.18 [[ 0.79039354 -0.53025518 -0.30676946 -33.05437595] [ 0.5387978 0.84001828 -0.06376693 -36.32620608] [ 0.2915047 -0.11488574 0.94964534 -10.17549516] [ 0. 0. 0. 1. ]] SLAMing on 101.13165253199999 meters Centerline goodness : 0.719588 Centerline is valid? [False, False] Translation: X:-33.06, Y:-36.33, Z:-10.18 [[ 0.78896635 -0.53382613 -0.30423966 -33.05652065] [ 0.54150941 0.83808012 -0.06625159 -36.32852544] [ 0.29034404 -0.11247837 0.95028888 -10.1757211 ] [ 0. 0. 0. 1. ]] SLAMing on 101.16165253199999 meters Centerline goodness : 0.717032 Centerline is valid? [False, False] Translation: X:-33.08, Y:-36.36, Z:-10.18 [[ 0.78673043 -0.53628236 -0.3057065 -33.07691731] [ 0.54384317 0.836447 -0.06775713 -36.35643941] [ 0.29204423 -0.11294979 0.9497118 -10.18340572] [ 0. 0. 0. 1. ]] SLAMing on 101.19165253199999 meters Centerline goodness : 0.715799 Centerline is valid? [False, False] Translation: X:-33.10, Y:-36.38, Z:-10.19 [[ 0.78618595 -0.53477819 -0.30971589 -33.09683348] [ 0.54332108 0.83693169 -0.06593596 -36.38079006] [ 0.29447216 -0.11643725 0.9485402 -10.19024376] [ 0. 0. 0. 1. ]] SLAMing on 101.221652532 meters Centerline goodness : 0.715257 Centerline is valid? [False, False] Translation: X:-33.12, Y:-36.40, Z:-10.20 [[ 0.78406906 -0.53591974 -0.31309063 -33.11649537] [ 0.54510181 0.83580268 -0.06555832 -36.40437945] [ 0.29681598 -0.11926402 0.94745784 -10.19572179] [ 0. 0. 0. 1. ]] SLAMing on 101.251652532 meters Centerline goodness : 0.714111 Centerline is valid? [False, False] Translation: X:-33.14, Y:-36.43, Z:-10.20 [[ 0.78216964 -0.53719952 -0.31563797 -33.13705388] [ 0.54683577 0.83467519 -0.06548252 -36.42888476] [ 0.29863236 -0.12138369 0.94661751 -10.20243492] [ 0. 0. 0. 1. ]] SLAMing on 101.281652532 meters Centerline goodness : 0.714028 Centerline is valid? [False, False] Translation: X:-33.16, Y:-36.46, Z:-10.21 [[ 0.78038561 -0.53979231 -0.31563043 -33.16132117] [ 0.54943487 0.83292482 -0.06601186 -36.45941418] [ 0.29852911 -0.12190366 0.94658326 -10.20961592] [ 0. 0. 0. 1. ]] SLAMing on 101.311652532 meters Centerline goodness : 0.713394 Centerline is valid? [False, False] Translation: X:-33.16, Y:-36.46, Z:-10.21 [[ 0.77916621 -0.5430873 -0.31297956 -33.16473845] [ 0.55188954 0.83112057 -0.06823879 -36.46185476] [ 0.29718337 -0.11956078 0.94730526 -10.20973925] [ 0. 0. 0. 1. ]] SLAMing on 101.34165253199998 meters Centerline goodness : 0.712070 Centerline is valid? [False, False] Translation: X:-33.19, Y:-36.49, Z:-10.22 [[ 0.77773963 -0.54416058 -0.31465907 -33.18670179] [ 0.55358281 0.83007674 -0.06722116 -36.48837423] [ 0.29777028 -0.12190929 0.94682152 -10.21610097] [ 0. 0. 0. 1. ]] SLAMing on 101.37165253199998 meters Centerline goodness : 0.711725 Centerline is valid? [False, False] Translation: X:-33.21, Y:-36.52, Z:-10.22 [[ 0.77686222 -0.54511091 -0.3151812 -33.21004299] [ 0.55494615 0.82923681 -0.06634068 -36.51581917] [ 0.29752289 -0.12337102 0.94670995 -10.22432486] [ 0. 0. 0. 1. ]] SLAMing on 101.40165253199999 meters Centerline goodness : 0.709628 Centerline is valid? [False, False] Translation: X:-33.23, Y:-36.54, Z:-10.23 [[ 0.77438295 -0.54759515 -0.31697096 -33.2301649 ] [ 0.55760109 0.82739026 -0.06712955 -36.54422048] [ 0.29901851 -0.12475937 0.94605657 -10.2304336 ] [ 0. 0. 0. 1. ]] SLAMing on 101.43165253199999 meters Centerline goodness : 0.706273 Centerline is valid? [False, False] Translation: X:-33.25, Y:-36.57, Z:-10.24 [[ 0.77152657 -0.54994125 -0.31986149 -33.24857675] [ 0.56022864 0.82553814 -0.06804881 -36.56807389] [ 0.3014807 -0.1266941 0.94501745 -10.2363177 ] [ 0. 0. 0. 1. ]] SLAMing on 101.46165253199999 meters Centerline goodness : 0.706130 Centerline is valid? [False, False] Translation: X:-33.27, Y:-36.60, Z:-10.24 [[ 0.77007011 -0.55122437 -0.32115996 -33.27124529] [ 0.56158781 0.82456197 -0.06867812 -36.59771864] [ 0.30267334 -0.12747255 0.94453142 -10.24416847] [ 0. 0. 0. 1. ]] SLAMing on 101.49165253199999 meters Centerline goodness : 0.703224 Centerline is valid? [False, False] Translation: X:-33.29, Y:-36.62, Z:-10.25 [[ 0.76896846 -0.55167844 -0.32301457 -33.29357197] [ 0.56260685 0.82393472 -0.06786102 -36.62465852] [ 0.30358038 -0.12954722 0.94395788 -10.25152931] [ 0. 0. 0. 1. ]] SLAMing on 101.52165253199999 meters Centerline goodness : 0.703163 Centerline is valid? [False, False] Translation: X:-33.31, Y:-36.65, Z:-10.26 [[ 0.76727281 -0.55273175 -0.32523846 -33.31478215] [ 0.56408277 0.82292933 -0.06780809 -36.65015479] [ 0.30512795 -0.13143411 0.94319776 -10.25876857] [ 0. 0. 0. 1. ]] SLAMing on 101.55165253199999 meters Centerline goodness : 0.701894 Centerline is valid? [False, False] Translation: X:-33.34, Y:-36.68, Z:-10.27 [[ 0.76644471 -0.55294223 -0.32682929 -33.33804554] [ 0.56463979 0.82257061 -0.06752408 -36.67683383] [ 0.30617709 -0.13278735 0.94266808 -10.26721293] [ 0. 0. 0. 1. ]] SLAMing on 101.58165253199999 meters Centerline goodness : 0.700168 Centerline is valid? [False, False] Translation: X:-33.37, Y:-36.71, Z:-10.28 [[ 0.76608832 -0.55418341 -0.32556018 -33.36654684] [ 0.56558797 0.82186997 -0.06811753 -36.70841357] [ 0.30531774 -0.13194888 0.94306446 -10.2775588 ] [ 0. 0. 0. 1. ]] SLAMing on 101.611652532 meters Centerline goodness : 0.700216 Centerline is valid? [False, False] Translation: X:-33.39, Y:-36.74, Z:-10.29 [[ 0.7662923 -0.55425174 -0.32496325 -33.39315632] [ 0.56589271 0.82174197 -0.06712357 -36.73703366] [ 0.3042393 -0.13245806 0.94334157 -10.28781302] [ 0. 0. 0. 1. ]] SLAMing on 101.641652532 meters Centerline goodness : 0.698056 Centerline is valid? [False, False] Translation: X:-33.42, Y:-36.76, Z:-10.30 [[ 0.76566316 -0.5551752 -0.32486987 -33.41793911] [ 0.56676551 0.82111395 -0.06744432 -36.76394978] [ 0.3041986 -0.13248541 0.94335085 -10.29834128] [ 0. 0. 0. 1. ]] SLAMing on 101.671652532 meters Centerline goodness : 0.698575 Centerline is valid? [False, False] Translation: X:-33.45, Y:-36.79, Z:-10.31 [[ 0.7666868 -0.55399545 -0.32446941 -33.44718788] [ 0.56534801 0.82206702 -0.06773069 -36.79373025] [ 0.30425809 -0.13150991 0.94346815 -10.31077087] [ 0. 0. 0. 1. ]] SLAMing on 101.701652532 meters Centerline goodness : 0.696167 Centerline is valid? [False, False] Translation: X:-33.48, Y:-36.82, Z:-10.32 [[ 0.76776034 -0.55277816 -0.32400675 -33.47515926] [ 0.56443133 0.82281244 -0.06630959 -36.82135213] [ 0.30325128 -0.13196969 0.94372807 -10.32210663] [ 0. 0. 0. 1. ]] SLAMing on 101.73165253199998 meters Centerline goodness : 0.693592 Centerline is valid? [False, False] Translation: X:-33.50, Y:-36.85, Z:-10.33 [[ 0.76839847 -0.55282148 -0.3224162 -33.50353849] [ 0.56442301 0.82286398 -0.06573836 -36.8496904 ] [ 0.30164625 -0.13146587 0.94431259 -10.33394529] [ 0. 0. 0. 1. ]] SLAMing on 101.76165253199999 meters Centerline goodness : 0.693093 Centerline is valid? [False, False] Translation: X:-33.53, Y:-36.88, Z:-10.34 [[ 0.76814938 -0.55360388 -0.3216664 -33.52975456] [ 0.56530433 0.8222976 -0.06525074 -36.87667501] [ 0.30062857 -0.13171709 0.94460207 -10.34438311] [ 0. 0. 0. 1. ]] SLAMing on 101.79165253199999 meters Centerline goodness : 0.693214 Centerline is valid? [False, False] Translation: X:-33.56, Y:-36.91, Z:-10.36 [[ 0.76977171 -0.55251467 -0.31965458 -33.56168144] [ 0.56404116 0.82321454 -0.06461721 -36.90833525] [ 0.29884626 -0.13055784 0.94532828 -10.3565908 ] [ 0. 0. 0. 1. ]] SLAMing on 101.82165253199999 meters Centerline goodness : 0.692221 Centerline is valid? [False, False] Translation: X:-33.59, Y:-36.94, Z:-10.37 [[ 0.77053815 -0.55230232 -0.3181715 -33.59021973] [ 0.56400561 0.82334013 -0.06331438 -36.93732321] [ 0.29693204 -0.13066436 0.94591659 -10.36756485] [ 0. 0. 0. 1. ]] SLAMing on 101.85165253199999 meters Centerline goodness : 0.690921 Centerline is valid? [False, False] Translation: X:-33.62, Y:-36.97, Z:-10.38 [[ 0.77123143 -0.55215819 -0.31673871 -33.61848333] [ 0.56386737 0.8234902 -0.06258981 -36.96663577] [ 0.29539069 -0.13032739 0.94644551 -10.37873459] [ 0. 0. 0. 1. ]] SLAMing on 101.88165253199999 meters Centerline goodness : 0.692473 Centerline is valid? [False, False] Translation: X:-33.65, Y:-37.00, Z:-10.39 [[ 0.77122635 -0.55371033 -0.31402993 -33.64810217] [ 0.56495805 0.82270044 -0.06313792 -36.99863347] [ 0.29331268 -0.12872011 0.94731136 -10.38984872] [ 0. 0. 0. 1. ]] SLAMing on 101.91165253199999 meters Centerline goodness : 0.692090 Centerline is valid? [False, False] Translation: X:-33.67, Y:-37.02, Z:-10.40 [[ 0.76973138 -0.55559708 -0.31436523 -33.67146484] [ 0.56670431 0.82141968 -0.06415557 -37.02455496] [ 0.29387043 -0.12876958 0.94713176 -10.39919118] [ 0. 0. 0. 1. ]] SLAMing on 101.94165253199999 meters Centerline goodness : 0.691907 Centerline is valid? [False, False] Translation: X:-33.70, Y:-37.05, Z:-10.41 [[ 0.77025143 -0.55478847 -0.31451945 -33.69780793] [ 0.56623388 0.82183633 -0.06296228 -37.05183802] [ 0.29341426 -0.12959478 0.94716063 -10.40976091] [ 0. 0. 0. 1. ]] SLAMing on 101.971652532 meters Centerline goodness : 0.691907 Centerline is valid? [False, False] Translation: X:-33.72, Y:-37.08, Z:-10.42 [[ 0.77041339 -0.55447487 -0.31467576 -33.72388103] [ 0.56605681 0.82199149 -0.06252746 -37.0794017 ] [ 0.2933307 -0.12995237 0.94713752 -10.4198691 ] [ 0. 0. 0. 1. ]] SLAMing on 102.001652532 meters Centerline goodness : 0.692306 Centerline is valid? [False, False] Translation: X:-33.75, Y:-37.11, Z:-10.43 [[ 0.77025291 -0.55438962 -0.31521834 -33.7508568 ] [ 0.56580728 0.82210459 -0.06329437 -37.1089919 ] [ 0.29423219 -0.12960016 0.94690613 -10.42995825] [ 0. 0. 0. 1. ]] SLAMing on 102.031652532 meters Centerline goodness : 0.692948 Centerline is valid? [False, False] Translation: X:-33.77, Y:-37.14, Z:-10.44 [[ 0.76935823 -0.55479474 -0.31668709 -33.77439603] [ 0.56647446 0.82164971 -0.06323325 -37.13514013] [ 0.29528733 -0.13074613 0.94642002 -10.43841923] [ 0. 0. 0. 1. ]] SLAMing on 102.061652532 meters Centerline goodness : 0.693460 Centerline is valid? [False, False] Translation: X:-33.80, Y:-37.16, Z:-10.45 [[ 0.76950085 -0.55426321 -0.31727077 -33.80009465] [ 0.56611113 0.82192909 -0.06285502 -37.16269172] [ 0.2956123 -0.13124353 0.9462497 -10.4486755 ] [ 0. 0. 0. 1. ]] SLAMing on 102.09165253199998 meters Centerline goodness : 0.695285 Centerline is valid? [False, False] Translation: X:-33.83, Y:-37.19, Z:-10.46 [[ 0.76969074 -0.55418885 -0.31693988 -33.82681923] [ 0.56619371 0.82192366 -0.06217858 -37.19100938] [ 0.29495906 -0.13159109 0.94640527 -10.45874842] [ 0. 0. 0. 1. ]] SLAMing on 102.12165253199998 meters Centerline goodness : 0.695309 Centerline is valid? [False, False] Translation: X:-33.85, Y:-37.22, Z:-10.47 [[ 0.76802843 -0.5571188 -0.31583376 -33.85400124] [ 0.56860926 0.82011874 -0.06394342 -37.22080253] [ 0.29464527 -0.13047564 0.94665742 -10.46764456] [ 0. 0. 0. 1. ]] SLAMing on 102.15165253199999 meters Centerline goodness : 0.695766 Centerline is valid? [False, False] Translation: X:-33.88, Y:-37.25, Z:-10.48 [[ 0.76826489 -0.55693714 -0.31557895 -33.88095357] [ 0.56858494 0.82018728 -0.06327707 -37.24944895] [ 0.29407519 -0.13081989 0.94678717 -10.47760597] [ 0. 0. 0. 1. ]] SLAMing on 102.18165253199999 meters Centerline goodness : 0.695147 Centerline is valid? [False, False] Translation: X:-33.91, Y:-37.28, Z:-10.49 [[ 0.76906258 -0.5560235 -0.31524691 -33.90897544] [ 0.56786095 0.82076276 -0.0623092 -37.27871155] [ 0.2933883 -0.13109674 0.94696196 -10.48803929] [ 0. 0. 0. 1. ]] SLAMing on 102.21165253199999 meters Centerline goodness : 0.691913 Centerline is valid? [False, False] Translation: X:-33.94, Y:-37.31, Z:-10.50 [[ 0.77023785 -0.55527799 -0.31368776 -33.93863737] [ 0.56719251 0.82131168 -0.06115367 -37.30988752] [ 0.2915927 -0.13081848 0.94755486 -10.49936058] [ 0. 0. 0. 1. ]] SLAMing on 102.24165253199999 meters Centerline goodness : 0.693732 Centerline is valid? [False, False] Translation: X:-33.96, Y:-37.34, Z:-10.51 [[ 0.76927912 -0.55620823 -0.31439155 -33.96276628] [ 0.56821307 0.82058767 -0.06139847 -37.3361682 ] [ 0.29213617 -0.13140883 0.94730575 -10.5082189 ] [ 0. 0. 0. 1. ]] SLAMing on 102.27165253199999 meters Centerline goodness : 0.692681 Centerline is valid? [False, False] Translation: X:-33.99, Y:-37.37, Z:-10.52 [[ 0.76988716 -0.5558744 -0.31349229 -33.99075655] [ 0.5678076 0.82088849 -0.06112788 -37.36505104] [ 0.29132164 -0.13094173 0.94762121 -10.51952395] [ 0. 0. 0. 1. ]] SLAMing on 102.30165253199999 meters Centerline goodness : 0.694878 Centerline is valid? [False, False] Translation: X:-34.02, Y:-37.40, Z:-10.53 [[ 0.76987815 -0.55754246 -0.3105383 -34.02150596] [ 0.56874107 0.82014031 -0.06247771 -37.39733044] [ 0.28951896 -0.12851566 0.9485054 -10.53133829] [ 0. 0. 0. 1. ]] SLAMing on 102.33165253199999 meters Centerline goodness : 0.692159 Centerline is valid? [False, False] Translation: X:-34.05, Y:-37.43, Z:-10.54 [[ 0.77004649 -0.55735068 -0.31046516 -34.04813388] [ 0.56862437 0.82024567 -0.06215603 -37.42519062] [ 0.28930041 -0.12867502 0.94855048 -10.54159744] [ 0. 0. 0. 1. ]] SLAMing on 102.361652532 meters Centerline goodness : 0.691772 Centerline is valid? [False, False] Translation: X:-34.06, Y:-37.43, Z:-10.55 [[ 0.77026954 -0.56095656 -0.30333574 -34.05947921] [ 0.56960268 0.81907712 -0.06830414 -37.43356045] [ 0.28677102 -0.12016825 0.95043252 -10.5499127 ] [ 0. 0. 0. 1. ]] SLAMing on 102.391652532 meters Centerline goodness : 0.689708 Centerline is valid? [False, False] Translation: X:-34.09, Y:-37.46, Z:-10.56 [[ 0.76956761 -0.56269325 -0.30189735 -34.08845062] [ 0.57084935 0.81809471 -0.0696568 -37.46425889] [ 0.28617603 -0.11873229 0.95079226 -10.55964486] [ 0. 0. 0. 1. ]] SLAMing on 102.421652532 meters Centerline goodness : 0.688223 Centerline is valid? [False, False] Translation: X:-34.10, Y:-37.47, Z:-10.57 [[ 0.77203745 -0.56242261 -0.2960388 -34.10085542] [ 0.56869555 0.81926907 -0.07337276 -37.47295805] [ 0.28380193 -0.11170943 0.95235364 -10.56941268] [ 0. 0. 0. 1. ]] SLAMing on 102.451652532 meters Centerline goodness : 0.688423 Centerline is valid? [False, False] Translation: X:-34.11, Y:-37.48, Z:-10.58 [[ 0.77517032 -0.5605516 -0.29136383 -34.11391526] [ 0.56530564 0.82135403 -0.07620426 -37.48206135] [ 0.28202927 -0.10563834 0.95357225 -10.57803957] [ 0. 0. 0. 1. ]] SLAMing on 102.48165253199998 meters Centerline goodness : 0.687501 Centerline is valid? [False, False] Translation: X:-34.12, Y:-37.48, Z:-10.58 [[ 0.77433298 -0.56394479 -0.28700996 -34.11910016] [ 0.56756369 0.81952697 -0.07903795 -37.48359378] [ 0.27978544 -0.10169474 0.95466135 -10.58186206] [ 0. 0. 0. 1. ]] SLAMing on 102.51165253199999 meters Centerline goodness : 0.684948 Centerline is valid? [False, False] Translation: X:-34.13, Y:-37.49, Z:-10.59 [[ 0.77577322 -0.56507061 -0.28084003 -34.13387863] [ 0.56628741 0.81979164 -0.08520706 -37.49441214] [ 0.27837831 -0.09293482 0.95596477 -10.58996647] [ 0. 0. 0. 1. ]] SLAMing on 102.54165253199999 meters Centerline goodness : 0.686761 Centerline is valid? [False, False] Translation: X:-34.15, Y:-37.51, Z:-10.60 [[ 0.77809996 -0.56501291 -0.27444648 -34.15162207] [ 0.56379678 0.82083698 -0.09143218 -37.50851354] [ 0.27693619 -0.08358867 0.95724568 -10.59877036] [ 0. 0. 0. 1. ]] SLAMing on 102.57165253199999 meters Centerline goodness : 0.687119 Centerline is valid? [False, False] Translation: X:-34.16, Y:-37.51, Z:-10.60 [[ 0.77810629 -0.56730485 -0.26965867 -34.15888586] [ 0.56507595 0.81967893 -0.09389159 -37.51230953] [ 0.27429869 -0.07931999 0.95836766 -10.60337454] [ 0. 0. 0. 1. ]] SLAMing on 102.60165253199999 meters Centerline goodness : 0.687289 Centerline is valid? [False, False] Translation: X:-34.18, Y:-37.54, Z:-10.61 [[ 0.77773794 -0.56569727 -0.27406256 -34.1802013 ] [ 0.56444505 0.82037656 -0.09156466 -37.5370941 ] [ 0.27663238 -0.08347995 0.957343 -10.60813765] [ 0. 0. 0. 1. ]] SLAMing on 102.63165253199999 meters Centerline goodness : 0.687208 Centerline is valid? [False, False] Translation: X:-34.21, Y:-37.57, Z:-10.62 [[ 0.77954977 -0.56188105 -0.27675232 -34.20818469] [ 0.56158184 0.82268367 -0.08841613 -37.56639667] [ 0.27735896 -0.0864943 0.95686506 -10.61535263] [ 0. 0. 0. 1. ]] SLAMing on 102.66165253199999 meters Centerline goodness : 0.687448 Centerline is valid? [False, False] Translation: X:-34.23, Y:-37.59, Z:-10.62 [[ 0.77858336 -0.56191573 -0.27938981 -34.23141588] [ 0.56265342 0.8222349 -0.08573735 -37.59256009] [ 0.27790122 -0.09044596 0.95634222 -10.61891334] [ 0. 0. 0. 1. ]] SLAMing on 102.69165253199999 meters Centerline goodness : 0.686700 Centerline is valid? [False, False] Translation: X:-34.25, Y:-37.62, Z:-10.62 [[ 0.77685036 -0.56287161 -0.28227482 -34.25384848] [ 0.56436704 0.82120532 -0.08433065 -37.61994541] [ 0.27927291 -0.09379431 0.95561984 -10.62176143] [ 0. 0. 0. 1. ]] SLAMing on 102.721652532 meters Centerline goodness : 0.689831 Centerline is valid? [False, False] Translation: X:-34.27, Y:-37.65, Z:-10.62 [[ 0.77394561 -0.56507819 -0.28582308 -34.27457031] [ 0.56714037 0.81931492 -0.08411217 -37.64533818] [ 0.28170907 -0.09700356 0.95458384 -10.62385281] [ 0. 0. 0. 1. ]] SLAMing on 102.751652532 meters Centerline goodness : 0.693273 Centerline is valid? [False, False] Translation: X:-34.29, Y:-37.67, Z:-10.63 [[ 0.77296018 -0.5640447 -0.29049291 -34.29414371] [ 0.5670995 0.81952806 -0.08229162 -37.66646233] [ 0.28448324 -0.10113023 0.95333203 -10.62945257] [ 0. 0. 0. 1. ]] SLAMing on 102.781652532 meters Centerline goodness : 0.694012 Centerline is valid? [False, False] Translation: X:-34.32, Y:-37.69, Z:-10.64 [[ 0.77369856 -0.56056119 -0.29523158 -34.31675919] [ 0.56492876 0.82134682 -0.07902467 -37.69019168] [ 0.28678568 -0.10564353 0.95215199 -10.63588125] [ 0. 0. 0. 1. ]] SLAMing on 102.811652532 meters Centerline goodness : 0.694355 Centerline is valid? [False, False] Translation: X:-34.35, Y:-37.72, Z:-10.65 [[ 0.77942139 -0.5516426 -0.29697262 -34.35118705] [ 0.55715164 0.82709784 -0.07410277 -37.72067274] [ 0.28650366 -0.10770149 0.95200632 -10.64870227] [ 0. 0. 0. 1. ]] SLAMing on 102.84165253199998 meters Centerline goodness : 0.693168 Centerline is valid? [False, False] Translation: X:-34.38, Y:-37.75, Z:-10.66 [[ 0.78165323 -0.54849183 -0.29694267 -34.38153234] [ 0.55476801 0.82897903 -0.07089591 -37.7514072 ] [ 0.28504507 -0.10931827 0.95225985 -10.65793877] [ 0. 0. 0. 1. ]] SLAMing on 102.87165253199998 meters Centerline goodness : 0.694134 Centerline is valid? [False, False] Translation: X:-34.41, Y:-37.78, Z:-10.66 [[ 0.78019357 -0.55039738 -0.29725531 -34.40635859] [ 0.55675919 0.82762349 -0.07112357 -37.77902729] [ 0.2851617 -0.11000948 0.95214532 -10.66462415] [ 0. 0. 0. 1. ]] SLAMing on 102.90165253199999 meters Centerline goodness : 0.693152 Centerline is valid? [False, False] Translation: X:-34.43, Y:-37.81, Z:-10.67 [[ 0.78075671 -0.5496636 -0.29713445 -34.43408841] [ 0.55625745 0.8280439 -0.07014954 -37.80753519] [ 0.28459902 -0.11051353 0.9522553 -10.67406706] [ 0. 0. 0. 1. ]] SLAMing on 102.93165253199999 meters Centerline goodness : 0.690789 Centerline is valid? [False, False] Translation: X:-34.46, Y:-37.83, Z:-10.68 [[ 0.78201547 -0.54763197 -0.29757527 -34.46029735] [ 0.55493038 0.82914888 -0.06756037 -37.83246066] [ 0.28373242 -0.1123003 0.95230487 -10.68437527] [ 0. 0. 0. 1. ]] SLAMing on 102.96165253199999 meters Centerline goodness : 0.692722 Centerline is valid? [False, False] Translation: X:-34.49, Y:-37.86, Z:-10.69 [[ 0.78365522 -0.54564104 -0.29691808 -34.49127396] [ 0.55342436 0.83033973 -0.0652488 -37.86204392] [ 0.2821453 -0.11318913 0.95267111 -10.69409745] [ 0. 0. 0. 1. ]] SLAMing on 102.99165253199999 meters Centerline goodness : 0.694879 Centerline is valid? [False, False] Translation: X:-34.52, Y:-37.89, Z:-10.70 [[ 0.78475258 -0.54445113 -0.29620322 -34.52035434] [ 0.55260725 0.83102365 -0.06344226 -37.8906811 ] [ 0.28069309 -0.11389757 0.9530156 -10.70411085] [ 0. 0. 0. 1. ]] SLAMing on 103.02165253199999 meters Centerline goodness : 0.691872 Centerline is valid? [False, False] Translation: X:-34.55, Y:-37.92, Z:-10.71 [[ 0.78544542 -0.54289022 -0.29723004 -34.54547885] [ 0.55191195 0.83169505 -0.06063449 -37.91585739] [ 0.28012263 -0.11641973 0.95287867 -10.71273454] [ 0. 0. 0. 1. ]] SLAMing on 103.05165253199999 meters Centerline goodness : 0.699137 Centerline is valid? [False, False] Translation: X:-34.57, Y:-37.94, Z:-10.72 [[ 0.78567967 -0.54313144 -0.29616835 -34.57391662] [ 0.55216842 0.83155905 -0.06016292 -37.94470778] [ 0.27895785 -0.11626603 0.95323907 -10.7228921 ] [ 0. 0. 0. 1. ]] SLAMing on 103.08165253199999 meters Centerline goodness : 0.698037 Centerline is valid? [False, False] Translation: X:-34.60, Y:-37.97, Z:-10.73 [[ 0.78589284 -0.5428726 -0.29607734 -34.60075089] [ 0.5522645 0.83158875 -0.05885637 -37.97149103] [ 0.27816609 -0.11725821 0.95334891 -10.73208509] [ 0. 0. 0. 1. ]] SLAMing on 103.111652532 meters Centerline goodness : 0.697014 Centerline is valid? [False, False] Translation: X:-34.63, Y:-38.00, Z:-10.74 [[ 0.78644676 -0.54264467 -0.29502246 -34.62894181] [ 0.55218759 0.83171251 -0.05782006 -37.99934928] [ 0.27674962 -0.11743534 0.95373927 -10.74238244] [ 0. 0. 0. 1. ]] SLAMing on 103.141652532 meters Centerline goodness : 0.699085 Centerline is valid? [False, False] Translation: X:-34.66, Y:-38.03, Z:-10.75 [[ 0.78771204 -0.54180629 -0.293182 -34.66009149] [ 0.55152459 0.83226204 -0.0562185 -38.02984328] [ 0.27446379 -0.1174131 0.95440232 -10.75241405] [ 0. 0. 0. 1. ]] SLAMing on 103.171652532 meters Centerline goodness : 0.699312 Centerline is valid? [False, False] Translation: X:-34.69, Y:-38.06, Z:-10.76 [[ 0.78863902 -0.54156762 -0.29112369 -34.69016591] [ 0.55123494 0.83250753 -0.05541885 -38.05836372] [ 0.27237572 -0.11677208 0.95507892 -10.76363282] [ 0. 0. 0. 1. ]] SLAMing on 103.201652532 meters Centerline goodness : 0.704816 Centerline is valid? [False, False] Translation: X:-34.70, Y:-38.06, Z:-10.77 [[ 0.78980862 -0.54250282 -0.2861696 -34.70013799] [ 0.5508779 0.83257136 -0.05795232 -38.06389081] [ 0.26969591 -0.11187326 0.95642485 -10.76950894] [ 0. 0. 0. 1. ]] SLAMing on 103.23165253199998 meters Centerline goodness : 0.708149 Centerline is valid? [False, False] Translation: X:-34.71, Y:-38.07, Z:-10.77 [[ 0.78979854 -0.544979 -0.28145364 -34.70737194] [ 0.55217014 0.83152503 -0.06061569 -38.06741947] [ 0.26707003 -0.10753611 0.95765839 -10.77405818] [ 0. 0. 0. 1. ]] SLAMing on 103.26165253199999 meters Centerline goodness : 0.711833 Centerline is valid? [False, False] Translation: X:-34.72, Y:-38.08, Z:-10.78 [[ 0.79096852 -0.54664861 -0.27485289 -34.72214766] [ 0.55141272 0.83153933 -0.06698023 -38.07610867] [ 0.26516563 -0.09857812 0.95915043 -10.78251267] [ 0. 0. 0. 1. ]] SLAMing on 103.29165253199999 meters Centerline goodness : 0.713945 Centerline is valid? [False, False] Translation: X:-34.73, Y:-38.08, Z:-10.79 [[ 0.79132417 -0.54860555 -0.26988517 -34.73040789] [ 0.55214445 0.83081356 -0.06989518 -38.07953039] [ 0.26256914 -0.09370585 0.96035236 -10.78814453] [ 0. 0. 0. 1. ]] SLAMing on 103.32165253199999 meters Centerline goodness : 0.715429 Centerline is valid? [False, False] Translation: X:-34.75, Y:-38.10, Z:-10.79 [[ 0.79135785 -0.54697422 -0.27307866 -34.75369929] [ 0.55134232 0.83152061 -0.06778732 -38.10473091] [ 0.26414846 -0.09691579 0.9596004 -10.79409389] [ 0. 0. 0. 1. ]] SLAMing on 103.35165253199999 meters Centerline goodness : 0.715792 Centerline is valid? [False, False] Translation: X:-34.78, Y:-38.12, Z:-10.80 [[ 0.79385943 -0.54525523 -0.26922841 -34.77508847] [ 0.54698841 0.83371832 -0.07561374 -38.12205079] [ 0.26568945 -0.08723814 0.96010344 -10.80031187] [ 0. 0. 0. 1. ]] SLAMing on 103.38165253199999 meters Centerline goodness : 0.718084 Centerline is valid? [False, False] Translation: X:-34.80, Y:-38.15, Z:-10.81 [[ 0.79422814 -0.54312871 -0.27242038 -34.79965742] [ 0.54587171 0.83470807 -0.07270838 -38.14858147] [ 0.2668815 -0.09095954 0.95942724 -10.80534632] [ 0. 0. 0. 1. ]] SLAMing on 103.41165253199999 meters Centerline goodness : 0.718505 Centerline is valid? [False, False] Translation: X:-34.82, Y:-38.17, Z:-10.81 [[ 0.79357721 -0.54302868 -0.27450877 -34.82416223] [ 0.54634729 0.83451142 -0.07138161 -38.17354031] [ 0.26784296 -0.0933303 0.95893149 -10.81112909] [ 0. 0. 0. 1. ]] SLAMing on 103.44165253199999 meters Centerline goodness : 0.721019 Centerline is valid? [False, False] Translation: X:-34.86, Y:-38.20, Z:-10.82 [[ 0.79760087 -0.53670955 -0.27527389 -34.85706523] [ 0.54088002 0.8383912 -0.06744623 -38.20168563] [ 0.26698624 -0.09509498 0.95899702 -10.82266761] [ 0. 0. 0. 1. ]] SLAMing on 103.471652532 meters Centerline goodness : 0.720681 Centerline is valid? [False, False] Translation: X:-34.88, Y:-38.23, Z:-10.83 [[ 0.79819015 -0.53565035 -0.27562871 -34.88460993] [ 0.54027274 0.8389165 -0.06576071 -38.22802856] [ 0.26645422 -0.09642513 0.95901217 -10.8308665 ] [ 0. 0. 0. 1. ]] SLAMing on 103.501652532 meters Centerline goodness : 0.720048 Centerline is valid? [False, False] Translation: X:-34.90, Y:-38.24, Z:-10.84 [[ 0.79970409 -0.53671857 -0.26908464 -34.90068252] [ 0.53882005 0.83927887 -0.07269074 -38.23760021] [ 0.26485153 -0.08685711 0.96036947 -10.83963757] [ 0. 0. 0. 1. ]] SLAMing on 103.531652532 meters Centerline goodness : 0.721679 Centerline is valid? [False, False] Translation: X:-34.94, Y:-38.27, Z:-10.85 [[ 0.80389356 -0.53029336 -0.26934012 -34.93519548] [ 0.53325067 0.84317786 -0.06851871 -38.26648476] [ 0.26343664 -0.08854405 0.96060454 -10.8503023 ] [ 0. 0. 0. 1. ]] SLAMing on 103.561652532 meters Centerline goodness : 0.723545 Centerline is valid? [False, False] Translation: X:-34.95, Y:-38.27, Z:-10.86 [[ 0.80531295 -0.53105002 -0.26354682 -34.95000386] [ 0.53180698 0.84355976 -0.07475478 -38.2739208 ] [ 0.26201602 -0.07995505 0.9617457 -10.85830746] [ 0. 0. 0. 1. ]] SLAMing on 103.59165253199998 meters Centerline goodness : 0.723039 Centerline is valid? [False, False] Translation: X:-34.97, Y:-38.30, Z:-10.86 [[ 0.80555151 -0.52895074 -0.26701663 -34.97407148] [ 0.53071351 0.84450116 -0.07183987 -38.29872125] [ 0.2634956 -0.08383862 0.96101049 -10.86338885] [ 0. 0. 0. 1. ]] SLAMing on 103.62165253199998 meters Centerline goodness : 0.724036 Centerline is valid? [False, False] Translation: X:-35.01, Y:-38.33, Z:-10.88 [[ 0.81053957 -0.52122418 -0.26711601 -35.00927139] [ 0.52388991 0.84913003 -0.06721277 -38.32803783] [ 0.26184914 -0.08546077 0.96131758 -10.87527916] [ 0. 0. 0. 1. ]] SLAMing on 103.65165253199999 meters Centerline goodness : 0.726382 Centerline is valid? [False, False] Translation: X:-35.02, Y:-38.33, Z:-10.88 [[ 0.81160856 -0.52144554 -0.26341242 -35.01811851] [ 0.52322409 0.84937435 -0.06928038 -38.33186062] [ 0.2598617 -0.08159518 0.96219235 -10.87928855] [ 0. 0. 0. 1. ]] SLAMing on 103.68165253199999 meters Centerline goodness : 0.725358 Centerline is valid? [False, False] Translation: X:-35.05, Y:-38.36, Z:-10.89 [[ 0.81216511 -0.52041662 -0.26373165 -35.04589513] [ 0.52252743 0.8499083 -0.06797765 -38.36004829] [ 0.25952442 -0.08259795 0.96219783 -10.887087 ] [ 0. 0. 0. 1. ]] SLAMing on 103.71165253199999 meters Centerline goodness : 0.724869 Centerline is valid? [False, False] Translation: X:-35.07, Y:-38.39, Z:-10.89 [[ 0.81108687 -0.52126623 -0.26536693 -35.06997243] [ 0.52373076 0.84921611 -0.06736536 -38.38659436] [ 0.26046916 -0.08434166 0.96179119 -10.89254914] [ 0. 0. 0. 1. ]] SLAMing on 103.74165253199999 meters Centerline goodness : 0.727019 Centerline is valid? [False, False] Translation: X:-35.09, Y:-38.41, Z:-10.90 [[ 0.81422847 -0.51688435 -0.26431529 -35.09346866] [ 0.51715218 0.85265979 -0.07432966 -38.40586958] [ 0.26379086 -0.0761699 0.96156775 -10.896912 ] [ 0. 0. 0. 1. ]] SLAMing on 103.77165253199999 meters Centerline goodness : 0.729499 Centerline is valid? [False, False] Translation: X:-35.11, Y:-38.43, Z:-10.90 [[ 0.81319895 -0.51586664 -0.2694236 -35.11295168] [ 0.51718641 0.85284506 -0.07192714 -38.42801994] [ 0.2668814 -0.08085114 0.96033193 -10.90068771] [ 0. 0. 0. 1. ]] SLAMing on 103.80165253199999 meters Centerline goodness : 0.731081 Centerline is valid? [False, False] Translation: X:-35.13, Y:-38.45, Z:-10.90 [[ 0.81107058 -0.51631427 -0.27492562 -35.13009683] [ 0.51858303 0.85212368 -0.07040511 -38.4477836 ] [ 0.27062179 -0.08546825 0.95888426 -10.90379973] [ 0. 0. 0. 1. ]] SLAMing on 103.83165253199999 meters Centerline goodness : 0.732098 Centerline is valid? [False, False] Translation: X:-35.15, Y:-38.47, Z:-10.91 [[ 0.80994415 -0.51658521 -0.27772324 -35.15313309] [ 0.51920295 0.85176647 -0.07015822 -38.47379901] [ 0.27279805 -0.08737049 0.95809583 -10.91028173] [ 0. 0. 0. 1. ]] SLAMing on 103.861652532 meters Centerline goodness : 0.729401 Centerline is valid? [False, False] Translation: X:-35.17, Y:-38.50, Z:-10.92 [[ 0.80772955 -0.51878109 -0.28006991 -35.17457233] [ 0.52154302 0.85027838 -0.07084885 -38.49899179] [ 0.27489243 -0.08884179 0.95736163 -10.91545028] [ 0. 0. 0. 1. ]] SLAMing on 103.891652532 meters Centerline goodness : 0.729401 Centerline is valid? [False, False] Translation: X:-35.20, Y:-38.53, Z:-10.92 [[ 0.80746623 -0.51816711 -0.28195945 -35.19954075] [ 0.52137626 0.85046491 -0.06983 -38.52530765] [ 0.27598023 -0.0906216 0.95688173 -10.9223621 ] [ 0. 0. 0. 1. ]] SLAMing on 103.921652532 meters Centerline goodness : 0.732407 Centerline is valid? [False, False] Translation: X:-35.22, Y:-38.55, Z:-10.93 [[ 0.80672389 -0.51807345 -0.28424719 -35.22340175] [ 0.52173178 0.85030992 -0.06905786 -38.55261366] [ 0.27747525 -0.09259017 0.95626071 -10.9284309 ] [ 0. 0. 0. 1. ]] SLAMing on 103.951652532 meters Centerline goodness : 0.733223 Centerline is valid? [False, False] Translation: X:-35.25, Y:-38.58, Z:-10.94 [[ 0.80702167 -0.5156578 -0.28777258 -35.24639581] [ 0.52029114 0.85139446 -0.06651768 -38.57804928] [ 0.27930834 -0.09604431 0.95538596 -10.93519331] [ 0. 0. 0. 1. ]] SLAMing on 103.98165253199998 meters Centerline goodness : 0.736311 Centerline is valid? [False, False] Translation: X:-35.27, Y:-38.61, Z:-10.94 [[ 0.80627267 -0.51527407 -0.29054606 -35.27056983] [ 0.52054432 0.85133466 -0.06529091 -38.60655711] [ 0.28099464 -0.09859982 0.95463086 -10.94090548] [ 0. 0. 0. 1. ]] SLAMing on 104.01165253199999 meters Centerline goodness : 0.737086 Centerline is valid? [False, False] Translation: X:-35.29, Y:-38.63, Z:-10.95 [[ 0.80344789 -0.51911773 -0.29152747 -35.2936126 ] [ 0.52407708 0.84899653 -0.06743968 -38.63384131] [ 0.28251495 -0.0985986 0.95418217 -10.94651926] [ 0. 0. 0. 1. ]] SLAMing on 104.04165253199999 meters Centerline goodness : 0.737762 Centerline is valid? [False, False] Translation: X:-35.32, Y:-38.66, Z:-10.95 [[ 0.80151099 -0.52114755 -0.2932326 -35.31588779] [ 0.52617799 0.84763352 -0.06822125 -38.66072758] [ 0.28410712 -0.09961246 0.95360396 -10.9526295 ] [ 0. 0. 0. 1. ]] SLAMing on 104.07165253199999 meters Centerline goodness : 0.737532 Centerline is valid? [False, False] Translation: X:-35.34, Y:-38.69, Z:-10.96 [[ 0.80133673 -0.52057365 -0.29472447 -35.34112747] [ 0.52611681 0.84777292 -0.06694902 -38.68943021] [ 0.28471132 -0.10141079 0.95323413 -10.95971641] [ 0. 0. 0. 1. ]] SLAMing on 104.10165253199999 meters Centerline goodness : 0.739310 Centerline is valid? [False, False] Translation: X:-35.36, Y:-38.71, Z:-10.97 [[ 0.80480869 -0.51769822 -0.2902956 -35.36214024] [ 0.52077918 0.8505603 -0.07304949 -38.70979919] [ 0.2847315 -0.09238904 0.95414477 -10.96761977] [ 0. 0. 0. 1. ]] SLAMing on 104.13165253199999 meters Centerline goodness : 0.739293 Centerline is valid? [False, False] Translation: X:-35.38, Y:-38.73, Z:-10.97 [[ 0.80133317 -0.52100141 -0.29397734 -35.37919221] [ 0.52440341 0.8482579 -0.07388907 -38.73144343] [ 0.28786491 -0.09495296 0.95295211 -10.97155233] [ 0. 0. 0. 1. ]] SLAMing on 104.16165253199999 meters Centerline goodness : 0.741782 Centerline is valid? [False, False] Translation: X:-35.40, Y:-38.76, Z:-10.98 [[ 0.80067051 -0.52069404 -0.29631815 -35.40266132] [ 0.52461204 0.84821013 -0.07295055 -38.75905763] [ 0.28932497 -0.09704272 0.9522992 -10.97820349] [ 0. 0. 0. 1. ]] SLAMing on 104.19165253199999 meters Centerline goodness : 0.744508 Centerline is valid? [False, False] Translation: X:-35.43, Y:-38.79, Z:-10.98 [[ 0.79961786 -0.52086159 -0.29885527 -35.42557269] [ 0.52541998 0.84780869 -0.07179323 -38.78932047] [ 0.29076644 -0.09961738 0.95159406 -10.98344289] [ 0. 0. 0. 1. ]] SLAMing on 104.221652532 meters Centerline goodness : 0.746691 Centerline is valid? [False, False] Translation: X:-35.45, Y:-38.81, Z:-10.99 [[ 0.79766835 -0.52145871 -0.30299509 -35.44511014] [ 0.52702066 0.84695043 -0.07017267 -38.81441713] [ 0.29321397 -0.10371015 0.95040506 -10.98674882] [ 0. 0. 0. 1. ]] SLAMing on 104.251652532 meters Centerline goodness : 0.748223 Centerline is valid? [False, False] Translation: X:-35.47, Y:-38.84, Z:-10.99 [[ 0.79584752 -0.52236703 -0.30620158 -35.46580843] [ 0.52858236 0.84603515 -0.06946375 -38.84009964] [ 0.29534287 -0.1065702 0.94942898 -10.99167316] [ 0. 0. 0. 1. ]] SLAMing on 104.281652532 meters Centerline goodness : 0.749228 Centerline is valid? [False, False] Translation: X:-35.49, Y:-38.87, Z:-11.00 [[ 0.792929 -0.52493474 -0.30936567 -35.48521354] [ 0.53163076 0.84410556 -0.06967446 -38.86814952] [ 0.29771183 -0.10922141 0.94838724 -10.9954351 ] [ 0. 0. 0. 1. ]] SLAMing on 104.311652532 meters Centerline goodness : 0.751068 Centerline is valid? [False, False] Translation: X:-35.50, Y:-38.89, Z:-11.00 [[ 0.79094629 -0.52467823 -0.31482807 -35.50297113] [ 0.53265177 0.84361849 -0.06774907 -38.89046808] [ 0.30114124 -0.11410785 0.94672771 -10.99859172] [ 0. 0. 0. 1. ]] SLAMing on 104.34165253199998 meters Centerline goodness : 0.751858 Centerline is valid? [False, False] Translation: X:-35.52, Y:-38.91, Z:-11.00 [[ 0.78903348 -0.52441594 -0.32002201 -35.52077289] [ 0.53369865 0.84311588 -0.06573703 -38.91297699] [ 0.30428918 -0.1189266 0.94512674 -11.00221406] [ 0. 0. 0. 1. ]] SLAMing on 104.37165253199998 meters Centerline goodness : 0.749831 Centerline is valid? [False, False] Translation: X:-35.54, Y:-38.93, Z:-11.01 [[ 0.78557755 -0.52744711 -0.3235235 -35.53800793] [ 0.53731945 0.84078917 -0.06604071 -38.93380041] [ 0.30684804 -0.12195537 0.94391269 -11.0067038 ] [ 0. 0. 0. 1. ]] SLAMing on 104.40165253199999 meters Centerline goodness : 0.748948 Centerline is valid? [False, False] Translation: X:-35.55, Y:-38.96, Z:-11.01 [[ 0.78005018 -0.53488289 -0.32468756 -35.55498339] [ 0.5444237 0.83595337 -0.06917222 -38.96177708] [ 0.3084227 -0.1228098 0.9432885 -11.00997094] [ 0. 0. 0. 1. ]] SLAMing on 104.43165253199999 meters Centerline goodness : 0.748953 Centerline is valid? [False, False] Translation: X:-35.56, Y:-38.97, Z:-11.02 [[ 0.7797101 -0.53923702 -0.31823827 -35.56451037] [ 0.54998241 0.83275462 -0.06355388 -38.97164386] [ 0.29928499 -0.12547185 0.94587806 -11.02080646] [ 0. 0. 0. 1. ]] SLAMing on 104.46165253199999 meters Centerline goodness : 0.747892 Centerline is valid? [False, False] Translation: X:-35.58, Y:-38.98, Z:-11.03 [[ 0.78077702 -0.54091956 -0.31271915 -35.57778012] [ 0.54894078 0.83291213 -0.07015276 -38.98302211] [ 0.29841457 -0.11689063 0.94725146 -11.02871603] [ 0. 0. 0. 1. ]] SLAMing on 104.49165253199999 meters Centerline goodness : 0.746640 Centerline is valid? [False, False] Translation: X:-35.59, Y:-39.00, Z:-11.03 [[ 0.77828563 -0.54131274 -0.31820119 -35.59437742] [ 0.55066844 0.83192031 -0.0683584 -39.00372093] [ 0.30172131 -0.122021 0.94555546 -11.03173927] [ 0. 0. 0. 1. ]] SLAMing on 104.52165253199999 meters Centerline goodness : 0.746634 Centerline is valid? [False, False] Translation: X:-35.61, Y:-39.03, Z:-11.04 [[ 0.77567096 -0.54347396 -0.32089035 -35.61481222] [ 0.55322552 0.83018874 -0.06876178 -39.03104424] [ 0.30376979 -0.12418822 0.94461696 -11.03685851] [ 0. 0. 0. 1. ]] SLAMing on 104.55165253199999 meters Centerline goodness : 0.745337 Centerline is valid? [False, False] Translation: X:-35.62, Y:-39.03, Z:-11.04 [[ 0.77451063 -0.5468024 -0.31802581 -35.61780368] [ 0.55562766 0.82838276 -0.07113307 -39.03333556] [ 0.30234283 -0.12161062 0.94540979 -11.03788254] [ 0. 0. 0. 1. ]] SLAMing on 104.58165253199999 meters Centerline goodness : 0.743718 Centerline is valid? [False, False] Translation: X:-35.62, Y:-39.04, Z:-11.04 [[ 0.77324358 -0.55187145 -0.31230156 -35.62488879] [ 0.55885834 0.82581059 -0.0755925 -39.0399631 ] [ 0.29961928 -0.11608091 0.9469707 -11.04125864] [ 0. 0. 0. 1. ]] SLAMing on 104.611652532 meters Centerline goodness : 0.744249 Centerline is valid? [False, False] Translation: X:-35.65, Y:-39.07, Z:-11.04 [[ 0.77012704 -0.55470858 -0.31496465 -35.64542703] [ 0.5621376 0.82355131 -0.07592474 -39.06924694] [ 0.30150566 -0.11858178 0.94606168 -11.04424278] [ 0. 0. 0. 1. ]] SLAMing on 104.641652532 meters Centerline goodness : 0.744476 Centerline is valid? [False, False] Translation: X:-35.66, Y:-39.09, Z:-11.05 [[ 0.76720229 -0.55573737 -0.32024464 -35.66192159] [ 0.56445344 0.82210558 -0.07439569 -39.09026404] [ 0.30461937 -0.12368665 0.94440915 -11.04644538] [ 0. 0. 0. 1. ]] SLAMing on 104.671652532 meters Centerline goodness : 0.744443 Centerline is valid? [False, False] Translation: X:-35.68, Y:-39.11, Z:-11.05 [[ 0.7654474 -0.55498358 -0.32570462 -35.67979729] [ 0.56512568 0.82183536 -0.07224689 -39.11287092] [ 0.30777141 -0.12876285 0.94270721 -11.0498193 ] [ 0. 0. 0. 1. ]] SLAMing on 104.701652532 meters Centerline goodness : 0.745357 Centerline is valid? [False, False] Translation: X:-35.69, Y:-39.12, Z:-11.05 [[ 0.76750377 -0.55430675 -0.32199686 -35.68857351] [ 0.56372766 0.82275827 -0.07266333 -39.12340809] [ 0.30520336 -0.12574916 0.94394812 -11.05403309] [ 0. 0. 0. 1. ]] SLAMing on 104.73165253199998 meters Centerline goodness : 0.745574 Centerline is valid? [False, False] Translation: X:-35.71, Y:-39.15, Z:-11.06 [[ 0.76424324 -0.55658787 -0.32579473 -35.70740167] [ 0.56693298 0.82060892 -0.07202777 -39.14804525] [ 0.30743984 -0.12965704 0.94269284 -11.05614358] [ 0. 0. 0. 1. ]] SLAMing on 104.76165253199999 meters Centerline goodness : 0.746033 Centerline is valid? [False, False] Translation: X:-35.73, Y:-39.17, Z:-11.06 [[ 0.7614198 -0.55810954 -0.32977817 -35.72605235] [ 0.56956963 0.81888828 -0.07079841 -39.17112607] [ 0.30956474 -0.13392432 0.94139999 -11.05911764] [ 0. 0. 0. 1. ]] SLAMing on 104.79165253199999 meters Centerline goodness : 0.746043 Centerline is valid? [False, False] Translation: X:-35.75, Y:-39.20, Z:-11.07 [[ 0.76229296 -0.55567412 -0.33186703 -35.75205091] [ 0.5678772 0.8202194 -0.06896105 -39.20063205] [ 0.31052364 -0.13589119 0.94080213 -11.06886422] [ 0. 0. 0. 1. ]] SLAMing on 104.82165253199999 meters Centerline goodness : 0.744557 Centerline is valid? [False, False] Translation: X:-35.77, Y:-39.22, Z:-11.07 [[ 0.75902162 -0.55708852 -0.33695482 -35.76843434] [ 0.57044871 0.81849421 -0.06823119 -39.22096456] [ 0.31380639 -0.14042649 0.93904523 -11.07183806] [ 0. 0. 0. 1. ]] SLAMing on 104.85165253199999 meters Centerline goodness : 0.743631 Centerline is valid? [False, False] Translation: X:-35.79, Y:-39.25, Z:-11.08 [[ 0.75681618 -0.55866649 -0.3392949 -35.789898 ] [ 0.57237838 0.81710768 -0.06868792 -39.24689206] [ 0.3156141 -0.14222094 0.93816893 -11.07889423] [ 0. 0. 0. 1. ]] SLAMing on 104.88165253199999 meters Centerline goodness : 0.742929 Centerline is valid? [False, False] Translation: X:-35.79, Y:-39.25, Z:-11.08 [[ 0.755274 -0.56253398 -0.33632827 -35.79247131] [ 0.57515559 0.81492043 -0.07141945 -39.24827789] [ 0.31425665 -0.13949983 0.93903278 -11.07999492] [ 0. 0. 0. 1. ]] SLAMing on 104.91165253199999 meters Centerline goodness : 0.742216 Centerline is valid? [False, False] Translation: X:-35.81, Y:-39.27, Z:-11.08 [[ 0.75327723 -0.5621713 -0.34137494 -35.81128897] [ 0.57614785 0.81436346 -0.06975528 -39.26929623] [ 0.3172177 -0.14413737 0.93733524 -11.0839216 ] [ 0. 0. 0. 1. ]] SLAMing on 104.94165253199999 meters Centerline goodness : 0.741329 Centerline is valid? [False, False] Translation: X:-35.83, Y:-39.29, Z:-11.09 [[ 0.75235646 -0.5611144 -0.34512374 -35.83237232] [ 0.57644114 0.81435524 -0.06738812 -39.29023271] [ 0.31886577 -0.14824364 0.93613484 -11.09032887] [ 0. 0. 0. 1. ]] SLAMing on 104.971652532 meters Centerline goodness : 0.743247 Centerline is valid? [False, False] Translation: X:-35.86, Y:-39.32, Z:-11.10 [[ 0.75317748 -0.55971216 -0.34560957 -35.8598738 ] [ 0.57562287 0.8150814 -0.06557919 -39.31504976] [ 0.3184054 -0.149548 0.93608408 -11.10122752] [ 0. 0. 0. 1. ]] SLAMing on 105.001652532 meters Centerline goodness : 0.741755 Centerline is valid? [False, False] Translation: X:-35.89, Y:-39.35, Z:-11.11 [[ 0.75574551 -0.55695445 -0.34445677 -35.8921505 ] [ 0.57336162 0.81688722 -0.06286277 -39.34568373] [ 0.31639403 -0.14999004 0.93669515 -11.11351973] [ 0. 0. 0. 1. ]] SLAMing on 105.031652532 meters Centerline goodness : 0.740431 Centerline is valid? [False, False] Translation: X:-35.90, Y:-39.35, Z:-11.12 [[ 0.75633398 -0.55906258 -0.33971744 -35.89940147] [ 0.57404952 0.81622152 -0.06518872 -39.35140972] [ 0.31372926 -0.14571019 0.93826568 -11.11882574] [ 0. 0. 0. 1. ]] SLAMing on 105.061652532 meters Centerline goodness : 0.740621 Centerline is valid? [False, False] Translation: X:-35.93, Y:-39.38, Z:-11.13 [[ 0.75652939 -0.56046563 -0.33695929 -35.92986152] [ 0.57475399 0.81564087 -0.06624059 -39.38317469] [ 0.31196334 -0.14355574 0.93918615 -11.13122609] [ 0. 0. 0. 1. ]] SLAMing on 105.09165253199998 meters Centerline goodness : 0.741158 Centerline is valid? [False, False] Translation: X:-35.96, Y:-39.41, Z:-11.14 [[ 0.75635744 -0.56024893 -0.33770483 -35.95566212] [ 0.57504426 0.81553329 -0.06503504 -39.40766626] [ 0.31184535 -0.14500549 0.9390026 -11.14093328] [ 0. 0. 0. 1. ]] SLAMing on 105.12165253199998 meters Centerline goodness : 0.740335 Centerline is valid? [False, False] Translation: X:-35.98, Y:-39.43, Z:-11.15 [[ 0.75496064 -0.55896004 -0.34292581 -35.97536323] [ 0.57515683 0.81559956 -0.06318215 -39.42773303] [ 0.31500644 -0.14953609 0.93723524 -11.14613633] [ 0. 0. 0. 1. ]] SLAMing on 105.15165253199999 meters Centerline goodness : 0.740292 Centerline is valid? [False, False] Translation: X:-36.00, Y:-39.45, Z:-11.15 [[ 0.75377006 -0.55775556 -0.34747579 -35.99599288] [ 0.57528927 0.81565034 -0.06129258 -39.44927027] [ 0.31760502 -0.15369858 0.9356836 -11.15176509] [ 0. 0. 0. 1. ]] SLAMing on 105.18165253199999 meters Centerline goodness : 0.739413 Centerline is valid? [False, False] Translation: X:-36.03, Y:-39.48, Z:-11.16 [[ 0.75349675 -0.55989216 -0.34462069 -36.02698953] [ 0.57679271 0.81451986 -0.06218968 -39.47809578] [ 0.31551991 -0.15191498 0.93667979 -11.16430113] [ 0. 0. 0. 1. ]] SLAMing on 105.21165253199999 meters Centerline goodness : 0.740410 Centerline is valid? [False, False] Translation: X:-36.05, Y:-39.50, Z:-11.17 [[ 0.75310852 -0.56086794 -0.34388182 -36.05299652] [ 0.57796163 0.81374602 -0.06146361 -39.50318941] [ 0.31430543 -0.15246173 0.93699921 -11.174803 ] [ 0. 0. 0. 1. ]] SLAMing on 105.24165253199999 meters Centerline goodness : 0.740372 Centerline is valid? [False, False] Translation: X:-36.09, Y:-39.53, Z:-11.19 [[ 0.75546327 -0.55869417 -0.34225148 -36.08602856] [ 0.57583785 0.81536369 -0.05994011 -39.53299018] [ 0.31254762 -0.1517988 0.93769457 -11.18824412] [ 0. 0. 0. 1. ]] SLAMing on 105.27165253199999 meters Centerline goodness : 0.740430 Centerline is valid? [False, False] Translation: X:-36.11, Y:-39.56, Z:-11.20 [[ 0.75413978 -0.55992036 -0.34316524 -36.11027186] [ 0.57734327 0.81430314 -0.05987607 -39.55671746] [ 0.31296636 -0.15296921 0.93736464 -11.19698678] [ 0. 0. 0. 1. ]] SLAMing on 105.30165253199999 meters Centerline goodness : 0.739537 Centerline is valid? [False, False] Translation: X:-36.14, Y:-39.58, Z:-11.21 [[ 0.75349142 -0.56094733 -0.34291221 -36.13679856] [ 0.57823019 0.8136343 -0.0604076 -39.58211812] [ 0.31289061 -0.15276558 0.93742314 -11.20753974] [ 0. 0. 0. 1. ]] SLAMing on 105.33165253199999 meters Centerline goodness : 0.740983 Centerline is valid? [False, False] Translation: X:-36.17, Y:-39.61, Z:-11.22 [[ 0.75498106 -0.56037095 -0.34057012 -36.16866522] [ 0.57738517 0.81427568 -0.05984545 -39.61245407] [ 0.31085362 -0.15145796 0.93831259 -11.22082075] [ 0. 0. 0. 1. ]] SLAMing on 105.361652532 meters Centerline goodness : 0.739899 Centerline is valid? [False, False] Translation: X:-36.20, Y:-39.64, Z:-11.23 [[ 0.75527731 -0.55988256 -0.34071647 -36.19549055] [ 0.5772094 0.81447191 -0.05886258 -39.63764471] [ 0.31046013 -0.15220718 0.93832163 -11.23176434] [ 0. 0. 0. 1. ]] SLAMing on 105.391652532 meters Centerline goodness : 0.740463 Centerline is valid? [False, False] Translation: X:-36.22, Y:-39.66, Z:-11.24 [[ 0.75596715 -0.55902204 -0.34059951 -36.2230771 ] [ 0.57654613 0.81500338 -0.05800043 -39.66212596] [ 0.31001327 -0.15252491 0.93841778 -11.2439641 ] [ 0. 0. 0. 1. ]] SLAMing on 105.421652532 meters Centerline goodness : 0.742078 Centerline is valid? [False, False] Translation: X:-36.25, Y:-39.69, Z:-11.26 [[ 0.7570281 -0.55765359 -0.34048632 -36.25106953] [ 0.57544148 0.81586692 -0.05681799 -39.686867 ] [ 0.30947628 -0.15291714 0.93853118 -11.25641799] [ 0. 0. 0. 1. ]] SLAMing on 105.451652532 meters Centerline goodness : 0.740445 Centerline is valid? [False, False] Translation: X:-36.28, Y:-39.72, Z:-11.27 [[ 0.7573359 -0.55909184 -0.33742947 -36.28242844] [ 0.57638136 0.81518704 -0.05704931 -39.7161724 ] [ 0.30696393 -0.15128256 0.93962052 -11.26852951] [ 0. 0. 0. 1. ]] SLAMing on 105.48165253199998 meters Centerline goodness : 0.741103 Centerline is valid? [False, False] Translation: X:-36.31, Y:-39.74, Z:-11.28 [[ 0.75607944 -0.56162866 -0.33603144 -36.30836139] [ 0.57878499 0.81346403 -0.05730797 -39.7414645 ] [ 0.30553529 -0.15116057 0.94010567 -11.27801573] [ 0. 0. 0. 1. ]] SLAMing on 105.51165253199999 meters Centerline goodness : 0.741736 Centerline is valid? [False, False] Translation: X:-36.34, Y:-39.77, Z:-11.29 [[ 0.75640555 -0.56129626 -0.33585286 -36.33610522] [ 0.57848499 0.81369654 -0.0570356 -39.76814057] [ 0.30529618 -0.15114379 0.94018604 -11.28890504] [ 0. 0. 0. 1. ]] SLAMing on 105.54165253199999 meters Centerline goodness : 0.741385 Centerline is valid? [False, False] Translation: X:-36.37, Y:-39.80, Z:-11.30 [[ 0.76054767 -0.55566668 -0.33585977 -36.36941645] [ 0.57331467 0.81753289 -0.05431627 -39.7959045 ] [ 0.30475814 -0.15124322 0.9403446 -11.30418317] [ 0. 0. 0. 1. ]] SLAMing on 105.57165253199999 meters Centerline goodness : 0.740661 Centerline is valid? [False, False] Translation: X:-36.40, Y:-39.82, Z:-11.31 [[ 0.76055504 -0.55555993 -0.33601963 -36.39639925] [ 0.57335057 0.81753284 -0.05393681 -39.82103134] [ 0.30467222 -0.15163513 0.94030933 -11.31487876] [ 0. 0. 0. 1. ]] SLAMing on 105.60165253199999 meters Centerline goodness : 0.740243 Centerline is valid? [False, False] Translation: X:-36.42, Y:-39.85, Z:-11.33 [[ 0.76082542 -0.55543065 -0.33562103 -36.42421648] [ 0.5732557 0.81762235 -0.05358724 -39.84678576] [ 0.30417525 -0.15162614 0.94047165 -11.32603076] [ 0. 0. 0. 1. ]] SLAMing on 105.63165253199999 meters Centerline goodness : 0.738984 Centerline is valid? [False, False] Translation: X:-36.44, Y:-39.86, Z:-11.34 [[ 0.76305507 -0.55633448 -0.32899682 -36.44058858] [ 0.5710561 0.81871689 -0.05997986 -39.85823498] [ 0.30272412 -0.1421077 0.94242427 -11.33658032] [ 0. 0. 0. 1. ]] SLAMing on 105.66165253199999 meters Centerline goodness : 0.740803 Centerline is valid? [False, False] Translation: X:-36.46, Y:-39.87, Z:-11.35 [[ 0.76518005 -0.55760628 -0.32183028 -36.45723623] [ 0.56935274 0.81943388 -0.06607245 -39.8716182 ] [ 0.30056105 -0.13267763 0.94448912 -11.34655858] [ 0. 0. 0. 1. ]] SLAMing on 105.69165253199999 meters Centerline goodness : 0.742045 Centerline is valid? [False, False] Translation: X:-36.48, Y:-39.90, Z:-11.36 [[ 0.76580616 -0.55619719 -0.32277796 -36.48456874] [ 0.56859891 0.82010978 -0.06415 -39.89788961] [ 0.30039341 -0.13440473 0.94429824 -11.35578113] [ 0. 0. 0. 1. ]] SLAMing on 105.721652532 meters Centerline goodness : 0.741221 Centerline is valid? [False, False] Translation: X:-36.51, Y:-39.92, Z:-11.36 [[ 0.76637333 -0.55440381 -0.32451246 -36.5096665 ] [ 0.56793626 0.82080631 -0.06103601 -39.92181821] [ 0.30020047 -0.13752602 0.9439101 -11.364239 ] [ 0. 0. 0. 1. ]] SLAMing on 105.751652532 meters Centerline goodness : 0.740087 Centerline is valid? [False, False] Translation: X:-36.54, Y:-39.95, Z:-11.38 [[ 0.76670006 -0.55443768 -0.32368176 -36.54020125] [ 0.5678114 0.82088524 -0.06113623 -39.95077295] [ 0.29960181 -0.13691704 0.94418879 -11.37504935] [ 0. 0. 0. 1. ]] SLAMing on 105.781652532 meters Centerline goodness : 0.740087 Centerline is valid? [False, False] Translation: X:-36.56, Y:-39.97, Z:-11.38 [[ 0.76520015 -0.55325752 -0.32920336 -36.55883356] [ 0.56787423 0.8209466 -0.05971213 -39.97181251] [ 0.30329456 -0.14125438 0.94236915 -11.37922283] [ 0. 0. 0. 1. ]] SLAMing on 105.811652532 meters Centerline goodness : 0.741056 Centerline is valid? [False, False] Translation: X:-36.59, Y:-40.00, Z:-11.39 [[ 0.76621293 -0.5515125 -0.32977524 -36.58669904] [ 0.56638633 0.82203924 -0.05880487 -39.9979071 ] [ 0.30351981 -0.14172314 0.94222623 -11.39072915] [ 0. 0. 0. 1. ]] SLAMing on 105.84165253199998 meters Centerline goodness : 0.739891 Centerline is valid? [False, False] Translation: X:-36.62, Y:-40.03, Z:-11.40 [[ 0.76801553 -0.5493827 -0.32913644 -36.61842171] [ 0.56414847 0.82360965 -0.05834086 -40.02743474] [ 0.3031314 -0.14087513 0.94247841 -11.40359622] [ 0. 0. 0. 1. ]] SLAMing on 105.87165253199998 meters Centerline goodness : 0.740149 Centerline is valid? [False, False] Translation: X:-36.64, Y:-40.05, Z:-11.41 [[ 0.76738373 -0.55006467 -0.32947089 -36.64430609] [ 0.56511086 0.8229885 -0.05778967 -40.05317521] [ 0.30293881 -0.14184073 0.9423955 -11.41248711] [ 0. 0. 0. 1. ]] SLAMing on 105.90165253199999 meters Centerline goodness : 0.742297 Centerline is valid? [False, False] Translation: X:-36.67, Y:-40.08, Z:-11.42 [[ 0.76799232 -0.54960134 -0.32882542 -36.67360468] [ 0.56458965 0.82336352 -0.05754171 -40.08101602] [ 0.30236786 -0.14145984 0.94263609 -11.4235266 ] [ 0. 0. 0. 1. ]] SLAMing on 105.93165253199999 meters Centerline goodness : 0.743615 Centerline is valid? [False, False] Translation: X:-36.70, Y:-40.11, Z:-11.44 [[ 0.76981768 -0.54756563 -0.32795217 -36.70454652] [ 0.56283907 0.82468389 -0.05575535 -40.10932188] [ 0.30098658 -0.14166284 0.94304757 -11.4352791 ] [ 0. 0. 0. 1. ]] SLAMing on 105.96165253199999 meters Centerline goodness : 0.744449 Centerline is valid? [False, False] Translation: X:-36.74, Y:-40.14, Z:-11.45 [[ 0.7690509 -0.550139 -0.32543479 -36.73523929] [ 0.56466032 0.8233229 -0.05742934 -40.13786011] [ 0.29953203 -0.13959402 0.94381888 -11.44650773] [ 0. 0. 0. 1. ]] SLAMing on 105.99165253199999 meters Centerline goodness : 0.743421 Centerline is valid? [False, False] Translation: X:-36.76, Y:-40.16, Z:-11.45 [[ 0.76745586 -0.55147595 -0.32693392 -36.75865232] [ 0.56616099 0.82225427 -0.05796242 -40.16175624] [ 0.30078769 -0.14061363 0.94326803 -11.45454664] [ 0. 0. 0. 1. ]] SLAMing on 106.02165253199999 meters Centerline goodness : 0.745979 Centerline is valid? [False, False] Translation: X:-36.78, Y:-40.19, Z:-11.46 [[ 0.76598175 -0.55243244 -0.32877098 -36.78198772] [ 0.56729897 0.8214292 -0.05853158 -40.18627427] [ 0.30239683 -0.14167731 0.94259413 -11.46272886] [ 0. 0. 0. 1. ]] SLAMing on 106.05165253199999 meters Centerline goodness : 0.745751 Centerline is valid? [False, False] Translation: X:-36.81, Y:-40.21, Z:-11.47 [[ 0.76760977 -0.54955284 -0.32979829 -36.81149371] [ 0.56484732 0.82321984 -0.05706666 -40.21299459] [ 0.30285764 -0.14248076 0.94232504 -11.47465604] [ 0. 0. 0. 1. ]] SLAMing on 106.08165253199999 meters Centerline goodness : 0.745644 Centerline is valid? [False, False] Translation: X:-36.84, Y:-40.24, Z:-11.49 [[ 0.76949364 -0.54660769 -0.33030223 -36.84013933] [ 0.56223144 0.82510646 -0.05563396 -40.23867558] [ 0.30294445 -0.14289632 0.94223421 -11.48762661] [ 0. 0. 0. 1. ]] SLAMing on 106.111652532 meters Centerline goodness : 0.743689 Centerline is valid? [False, False] Translation: X:-36.87, Y:-40.27, Z:-11.50 [[ 0.7723876 -0.54336262 -0.32889886 -36.87255324] [ 0.55903276 0.82738173 -0.05405412 -40.26671218] [ 0.3014959 -0.1421145 0.94281689 -11.50233622] [ 0. 0. 0. 1. ]] SLAMing on 106.141652532 meters Centerline goodness : 0.742257 Centerline is valid? [False, False] Translation: X:-36.91, Y:-40.30, Z:-11.51 [[ 0.7732403 -0.54427477 -0.32536811 -36.90568014] [ 0.55935032 0.82714775 -0.05434903 -40.29800657] [ 0.29870831 -0.1399699 0.94402424 -11.51457581] [ 0. 0. 0. 1. ]] SLAMing on 106.171652532 meters Centerline goodness : 0.741354 Centerline is valid? [False, False] Translation: X:-36.92, Y:-40.31, Z:-11.52 [[ 0.77434519 -0.54648431 -0.31897403 -36.91837936] [ 0.5591209 0.82695181 -0.05945188 -40.30663853] [ 0.29626567 -0.13230877 0.94589695 -11.52246993] [ 0. 0. 0. 1. ]] SLAMing on 106.201652532 meters Centerline goodness : 0.740588 Centerline is valid? [False, False] Translation: X:-36.93, Y:-40.31, Z:-11.53 [[ 0.7755932 -0.54845699 -0.3124902 -36.92992474] [ 0.55874131 0.8268368 -0.06441311 -40.31463658] [ 0.29370621 -0.12464281 0.94773458 -11.53162252] [ 0. 0. 0. 1. ]] SLAMing on 106.23165253199998 meters Centerline goodness : 0.740148 Centerline is valid? [False, False] Translation: X:-36.96, Y:-40.34, Z:-11.54 [[ 0.77525138 -0.54835427 -0.31351699 -36.95640363] [ 0.55856857 0.82690127 -0.06508031 -40.34291251] [ 0.29493466 -0.12466714 0.9473498 -11.54154031] [ 0. 0. 0. 1. ]] SLAMing on 106.26165253199999 meters Centerline goodness : 0.739506 Centerline is valid? [False, False] Translation: X:-36.98, Y:-40.37, Z:-11.55 [[ 0.77448087 -0.5471726 -0.31746107 -36.97763385] [ 0.55830698 0.8271869 -0.06368005 -40.36675332] [ 0.29744362 -0.12792175 0.94613071 -11.54828334] [ 0. 0. 0. 1. ]] SLAMing on 106.29165253199999 meters Centerline goodness : 0.738771 Centerline is valid? [False, False] Translation: X:-37.00, Y:-40.39, Z:-11.56 [[ 0.77380267 -0.54672052 -0.31988451 -37.00167463] [ 0.55857243 0.8271032 -0.06242709 -40.39184575] [ 0.29870768 -0.13037242 0.94539767 -11.55550136] [ 0. 0. 0. 1. ]] SLAMing on 106.32165253199999 meters Centerline goodness : 0.737857 Centerline is valid? [False, False] Translation: X:-37.03, Y:-40.42, Z:-11.56 [[ 0.77342464 -0.54594983 -0.32210728 -37.02649342] [ 0.55841629 0.82728834 -0.06136156 -40.41755718] [ 0.29997594 -0.13241141 0.94471247 -11.56336243] [ 0. 0. 0. 1. ]] SLAMing on 106.35165253199999 meters Centerline goodness : 0.735547 Centerline is valid? [False, False] Translation: X:-37.05, Y:-40.44, Z:-11.57 [[ 0.77297984 -0.54607279 -0.32296543 -37.05157665] [ 0.55901156 0.82696367 -0.06030891 -40.44367514] [ 0.30001373 -0.13392384 0.94448725 -11.57205452] [ 0. 0. 0. 1. ]] SLAMing on 106.38165253199999 meters Centerline goodness : 0.734916 Centerline is valid? [False, False] Translation: X:-37.08, Y:-40.47, Z:-11.58 [[ 0.77198509 -0.54837583 -0.32143891 -37.07985621] [ 0.56081342 0.82564234 -0.06166866 -40.47434111] [ 0.29921118 -0.13265997 0.9449201 -11.58198693] [ 0. 0. 0. 1. ]] SLAMing on 106.41165253199999 meters Centerline goodness : 0.734175 Centerline is valid? [False, False] Translation: X:-37.10, Y:-40.50, Z:-11.59 [[ 0.77013645 -0.54973868 -0.32353862 -37.10213538] [ 0.56250602 0.82447049 -0.06193058 -40.50005292] [ 0.30079368 -0.13429743 0.94418609 -11.58856306] [ 0. 0. 0. 1. ]] SLAMing on 106.44165253199999 meters Centerline goodness : 0.732317 Centerline is valid? [False, False] Translation: X:-37.13, Y:-40.53, Z:-11.60 [[ 0.77093079 -0.54909903 -0.32273206 -37.13269198] [ 0.5618677 0.82494533 -0.06139944 -40.53184895] [ 0.29995068 -0.133998 0.94449676 -11.5991395 ] [ 0. 0. 0. 1. ]] SLAMing on 106.471652532 meters Centerline goodness : 0.730365 Centerline is valid? [False, False] Translation: X:-37.16, Y:-40.56, Z:-11.61 [[ 0.77172773 -0.54637272 -0.32544302 -37.15715407] [ 0.56009085 0.82631892 -0.05912088 -40.5571193 ] [ 0.30122176 -0.13665243 0.94371159 -11.60849464] [ 0. 0. 0. 1. ]] SLAMing on 106.501652532 meters Centerline goodness : 0.730078 Centerline is valid? [False, False] Translation: X:-37.17, Y:-40.58, Z:-11.61 [[ 0.76919096 -0.54681271 -0.33066769 -37.17436236] [ 0.56184709 0.82522693 -0.05769196 -40.57808063] [ 0.30442258 -0.14140854 0.94198223 -11.61164322] [ 0. 0. 0. 1. ]] SLAMing on 106.531652532 meters Centerline goodness : 0.727862 Centerline is valid? [False, False] Translation: X:-37.19, Y:-40.60, Z:-11.62 [[ 0.76608888 -0.54928076 -0.33376411 -37.19362876] [ 0.56481749 0.82315697 -0.05825638 -40.60034423] [ 0.30673936 -0.14388624 0.94085478 -11.61685211] [ 0. 0. 0. 1. ]] SLAMing on 106.561652532 meters Centerline goodness : 0.728259 Centerline is valid? [False, False] Translation: X:-37.22, Y:-40.63, Z:-11.63 [[ 0.7664969 -0.54916885 -0.33301063 -37.2229831 ] [ 0.56490258 0.82316957 -0.05724444 -40.63254217] [ 0.30556108 -0.14424088 0.94118383 -11.62628457] [ 0. 0. 0. 1. ]] SLAMing on 106.59165253199998 meters Centerline goodness : 0.726168 Centerline is valid? [False, False] Translation: X:-37.25, Y:-40.66, Z:-11.64 [[ 0.7675422 -0.54737234 -0.33356033 -37.25070287] [ 0.56337858 0.82428008 -0.05627551 -40.65990736] [ 0.3057508 -0.14472692 0.94104759 -11.63785847] [ 0. 0. 0. 1. ]] SLAMing on 106.62165253199998 meters Centerline goodness : 0.726053 Centerline is valid? [False, False] Translation: X:-37.27, Y:-40.68, Z:-11.64 [[ 0.76576563 -0.54710853 -0.33804624 -37.26923701] [ 0.56420342 0.82378956 -0.0551839 -40.68144009] [ 0.30867055 -0.14846891 0.93951023 -11.64354411] [ 0. 0. 0. 1. ]] SLAMing on 106.65165253199999 meters Centerline goodness : 0.726400 Centerline is valid? [False, False] Translation: X:-37.29, Y:-40.70, Z:-11.65 [[ 0.7649972 -0.54562673 -0.34215604 -37.29017674] [ 0.56380962 0.82415792 -0.05368838 -40.70367701] [ 0.31128442 -0.15183941 0.9381081 -11.65085979] [ 0. 0. 0. 1. ]] SLAMing on 106.68165253199999 meters Centerline goodness : 0.724230 Centerline is valid? [False, False] Translation: X:-37.32, Y:-40.73, Z:-11.66 [[ 0.76662856 -0.54396672 -0.34114639 -37.32027387] [ 0.56244579 0.82520522 -0.05187557 -40.73110552] [ 0.30973437 -0.15210706 0.93857768 -11.66343074] [ 0. 0. 0. 1. ]] SLAMing on 106.71165253199999 meters Centerline goodness : 0.723766 Centerline is valid? [False, False] Translation: X:-37.36, Y:-40.77, Z:-11.68 [[ 0.77026422 -0.54107447 -0.33753733 -37.356763 ] [ 0.55929387 0.8274542 -0.05009903 -40.7653261 ] [ 0.30640399 -0.15019307 0.939978 -11.67792245] [ 0. 0. 0. 1. ]] SLAMing on 106.74165253199999 meters Centerline goodness : 0.723365 Centerline is valid? [False, False] Translation: X:-37.37, Y:-40.78, Z:-11.69 [[ 0.77187789 -0.54276499 -0.33107506 -37.37067207] [ 0.55823898 0.82781349 -0.05562439 -40.77507506] [ 0.30425937 -0.14188377 0.9419635 -11.6870884 ] [ 0. 0. 0. 1. ]] SLAMing on 106.77165253199999 meters Centerline goodness : 0.721301 Centerline is valid? [False, False] Translation: X:-37.40, Y:-40.81, Z:-11.70 [[ 0.77261954 -0.54308984 -0.32880461 -37.4019388 ] [ 0.55844417 0.82772127 -0.05493274 -40.80572111] [ 0.30199198 -0.14117691 0.94279898 -11.69815505] [ 0. 0. 0. 1. ]] SLAMing on 106.80165253199999 meters Centerline goodness : 0.722774 Centerline is valid? [False, False] Translation: X:-37.43, Y:-40.83, Z:-11.71 [[ 0.77285509 -0.54263993 -0.3289938 -37.42964749] [ 0.55842215 0.8278241 -0.05359069 -40.83356734] [ 0.30142944 -0.14229959 0.94281022 -11.70708779] [ 0. 0. 0. 1. ]] SLAMing on 106.83165253199999 meters Centerline goodness : 0.721111 Centerline is valid? [False, False] Translation: X:-37.46, Y:-40.86, Z:-11.72 [[ 0.77398195 -0.54099284 -0.32905728 -37.45878281] [ 0.55726436 0.8287225 -0.05172468 -40.86128757] [ 0.30067985 -0.14333792 0.94289229 -11.71758946] [ 0. 0. 0. 1. ]] SLAMing on 106.861652532 meters Centerline goodness : 0.720311 Centerline is valid? [False, False] Translation: X:-37.48, Y:-40.89, Z:-11.73 [[ 0.7738281 -0.54051647 -0.33019997 -37.48472336] [ 0.55741922 0.82871047 -0.05022716 -40.88700535] [ 0.30078879 -0.14519262 0.94257372 -11.72616597] [ 0. 0. 0. 1. ]] SLAMing on 106.891652532 meters Centerline goodness : 0.718497 Centerline is valid? [False, False] Translation: X:-37.51, Y:-40.92, Z:-11.74 [[ 0.77331381 -0.54150294 -0.32978829 -37.51282627] [ 0.55829626 0.82809859 -0.05057672 -40.91575339] [ 0.30048466 -0.14500789 0.94269915 -11.73598701] [ 0. 0. 0. 1. ]] SLAMing on 106.921652532 meters Centerline goodness : 0.718077 Centerline is valid? [False, False] Translation: X:-37.54, Y:-40.94, Z:-11.74 [[ 0.77262153 -0.54176102 -0.33098484 -37.53753372] [ 0.55901247 0.82766121 -0.0498195 -40.94112909] [ 0.30093358 -0.14653303 0.94232004 -11.74460264] [ 0. 0. 0. 1. ]] SLAMing on 106.951652532 meters Centerline goodness : 0.718870 Centerline is valid? [False, False] Translation: X:-37.56, Y:-40.97, Z:-11.75 [[ 0.77248264 -0.54152889 -0.33168816 -37.56380786] [ 0.55908521 0.82765024 -0.04918143 -40.96656992] [ 0.30115495 -0.14745014 0.94210623 -11.75438103] [ 0. 0. 0. 1. ]] SLAMing on 106.98165253199998 meters Centerline goodness : 0.717187 Centerline is valid? [False, False] Translation: X:-37.59, Y:-40.99, Z:-11.77 [[ 0.77336929 -0.54031952 -0.33159427 -37.59183093] [ 0.55817608 0.82833746 -0.04792199 -40.99267449] [ 0.30056514 -0.14802659 0.94220418 -11.76601359] [ 0. 0. 0. 1. ]] SLAMing on 107.01165253199999 meters Centerline goodness : 0.718676 Centerline is valid? [False, False] Translation: X:-37.62, Y:-41.02, Z:-11.78 [[ 0.77360375 -0.54104651 -0.32985741 -37.62279962] [ 0.55846885 0.82810444 -0.04853434 -41.02109006] [ 0.29941572 -0.14666874 0.94278232 -11.77787606] [ 0. 0. 0. 1. ]] SLAMing on 107.04165253199999 meters Centerline goodness : 0.715710 Centerline is valid? [False, False] Translation: X:-37.65, Y:-41.05, Z:-11.79 [[ 0.77358399 -0.54147011 -0.32920803 -37.65075127] [ 0.55885049 0.82785364 -0.04841988 -41.04806021] [ 0.29875398 -0.14652122 0.94301516 -11.7885423 ] [ 0. 0. 0. 1. ]] SLAMing on 107.07165253199999 meters Centerline goodness : 0.716966 Centerline is valid? [False, False] Translation: X:-37.68, Y:-41.08, Z:-11.80 [[ 0.77432636 -0.54099912 -0.32823566 -37.67954881] [ 0.5585866 0.82810509 -0.04714841 -41.07578677] [ 0.29732087 -0.14683978 0.94341845 -11.79919247] [ 0. 0. 0. 1. ]] SLAMing on 107.10165253199999 meters Centerline goodness : 0.715869 Centerline is valid? [False, False] Translation: X:-37.71, Y:-41.11, Z:-11.81 [[ 0.77659968 -0.53921197 -0.32579654 -37.71433975] [ 0.55626545 0.82966455 -0.0471751 -41.10697218] [ 0.29573922 -0.14459319 0.94426221 -11.81313398] [ 0. 0. 0. 1. ]] SLAMing on 107.13165253199999 meters Centerline goodness : 0.715463 Centerline is valid? [False, False] Translation: X:-37.74, Y:-41.13, Z:-11.83 [[ 0.7775973 -0.53860331 -0.3244209 -37.74380409] [ 0.55553023 0.83018221 -0.04672969 -41.13351703] [ 0.29449722 -0.14388874 0.94475786 -11.82583234] [ 0. 0. 0. 1. ]] SLAMing on 107.16165253199999 meters Centerline goodness : 0.714169 Centerline is valid? [False, False] Translation: X:-37.77, Y:-41.16, Z:-11.84 [[ 0.7784417 -0.53846516 -0.32262019 -37.77383019] [ 0.55522125 0.83041236 -0.04631064 -41.16073966] [ 0.29284446 -0.14307545 0.94539491 -11.83809629] [ 0. 0. 0. 1. ]] SLAMing on 107.19165253199999 meters Centerline goodness : 0.716024 Centerline is valid? [False, False] Translation: X:-37.80, Y:-41.19, Z:-11.85 [[ 0.77893434 -0.53890305 -0.32069424 -37.80347887] [ 0.55541869 0.83028756 -0.04618047 -41.18767473] [ 0.29115524 -0.14214802 0.94605632 -11.85022737] [ 0. 0. 0. 1. ]] SLAMing on 107.221652532 meters Centerline goodness : 0.714487 Centerline is valid? [False, False] Translation: X:-37.84, Y:-41.22, Z:-11.86 [[ 0.78150615 -0.53689796 -0.31778723 -37.8383419 ] [ 0.5534953 0.8316908 -0.04397004 -41.21843978] [ 0.28790814 -0.14153088 0.94714197 -11.86247774] [ 0. 0. 0. 1. ]] SLAMing on 107.251652532 meters Centerline goodness : 0.714870 Centerline is valid? [False, False] Translation: X:-37.87, Y:-41.25, Z:-11.87 [[ 0.7809024 -0.5393888 -0.31504152 -37.86808596] [ 0.55540005 0.83036495 -0.04499825 -41.24518252] [ 0.28587099 -0.13983483 0.94801055 -11.87386688] [ 0. 0. 0. 1. ]] SLAMing on 107.281652532 meters Centerline goodness : 0.713446 Centerline is valid? [False, False] Translation: X:-37.90, Y:-41.27, Z:-11.88 [[ 0.78100019 -0.53929289 -0.31496329 -37.89577256] [ 0.55558645 0.83029374 -0.04400001 -41.27098612] [ 0.28524094 -0.14062532 0.94808339 -11.88352904] [ 0. 0. 0. 1. ]] SLAMing on 107.311652532 meters Centerline goodness : 0.711903 Centerline is valid? [False, False] Translation: X:-37.92, Y:-41.30, Z:-11.89 [[ 0.78014366 -0.54032321 -0.31531998 -37.92313998] [ 0.55640375 0.82968666 -0.04511005 -41.29583658] [ 0.28599078 -0.1402529 0.94791265 -11.89351753] [ 0. 0. 0. 1. ]] SLAMing on 107.34165253199998 meters Centerline goodness : 0.711716 Centerline is valid? [False, False] Translation: X:-37.94, Y:-41.32, Z:-11.90 [[ 0.777991 -0.54201816 -0.31772051 -37.94435562] [ 0.55823629 0.82839095 -0.04626748 -41.31697515] [ 0.28827461 -0.14136744 0.94705491 -11.90136837] [ 0. 0. 0. 1. ]] SLAMing on 107.37165253199998 meters Centerline goodness : 0.708404 Centerline is valid? [False, False] Translation: X:-37.97, Y:-41.34, Z:-11.91 [[ 0.77620475 -0.54368436 -0.31923894 -37.96705174] [ 0.55973407 0.82728293 -0.04796577 -41.33925233] [ 0.29017917 -0.14145766 0.9464596 -11.91058539] [ 0. 0. 0. 1. ]] SLAMing on 107.40165253199999 meters Centerline goodness : 0.706719 Centerline is valid? [False, False] Translation: X:-38.00, Y:-41.37, Z:-11.93 [[ 0.77864727 -0.54116206 -0.31757213 -38.00129834] [ 0.55672202 0.82930127 -0.04816639 -41.36830712] [ 0.28942879 -0.13929477 0.94701 -11.92528899] [ 0. 0. 0. 1. ]] SLAMing on 107.43165253199999 meters Centerline goodness : 0.707250 Centerline is valid? [False, False] Translation: X:-38.03, Y:-41.40, Z:-11.94 [[ 0.7815776 -0.53787875 -0.31594764 -38.03419105] [ 0.55378218 0.8314171 -0.04550705 -41.39549591] [ 0.28716155 -0.13939889 0.94768465 -11.93846978] [ 0. 0. 0. 1. ]] SLAMing on 107.46165253199999 meters Centerline goodness : 0.704972 Centerline is valid? [False, False] Translation: X:-38.05, Y:-41.40, Z:-11.95 [[ 0.78579302 -0.53380104 -0.31238721 -38.04666005] [ 0.54909112 0.83455735 -0.04486617 -41.40302013] [ 0.28465466 -0.13627352 0.94889475 -11.94624183] [ 0. 0. 0. 1. ]] SLAMing on 107.49165253199999 meters Centerline goodness : 0.701954 Centerline is valid? [False, False] Translation: X:-38.06, Y:-41.41, Z:-11.95 [[ 0.78772114 -0.53298429 -0.30890639 -38.05757091] [ 0.54743369 0.83559711 -0.04575833 -41.41114369] [ 0.28250976 -0.13306096 0.94999106 -11.94908466] [ 0. 0. 0. 1. ]] SLAMing on 107.52165253199999 meters Centerline goodness : 0.702577 Centerline is valid? [False, False] Translation: X:-38.08, Y:-41.43, Z:-11.96 [[ 0.78938402 -0.53466953 -0.30166432 -38.08070216] [ 0.54528139 0.83640859 -0.05557759 -41.43096036] [ 0.28203027 -0.12061987 0.95179293 -11.95738783] [ 0. 0. 0. 1. ]] SLAMing on 107.55165253199999 meters Centerline goodness : 0.701156 Centerline is valid? [False, False] Translation: X:-38.08, Y:-41.43, Z:-11.96 [[ 0.79059712 -0.53361019 -0.30036039 -38.08443428] [ 0.54418872 0.83716546 -0.05488736 -41.43323642] [ 0.2807398 -0.12005894 0.95224525 -11.95957127] [ 0. 0. 0. 1. ]] SLAMing on 107.58165253199999 meters Centerline goodness : 0.699453 Centerline is valid? [False, False] Translation: X:-38.11, Y:-41.46, Z:-11.97 [[ 0.78874135 -0.53564739 -0.30161061 -38.10751909] [ 0.54626217 0.83575756 -0.05574008 -41.45747715] [ 0.28193037 -0.12079396 0.95180044 -11.9670698 ] [ 0. 0. 0. 1. ]] SLAMing on 107.611652532 meters Centerline goodness : 0.699945 Centerline is valid? [False, False] Translation: X:-38.13, Y:-41.48, Z:-11.98 [[ 0.78935877 -0.53414428 -0.30265925 -38.13421003] [ 0.54502828 0.83661128 -0.0550067 -41.48284996] [ 0.28258966 -0.12153783 0.95151019 -11.97835549] [ 0. 0. 0. 1. ]] SLAMing on 107.641652532 meters Centerline goodness : 0.697594 Centerline is valid? [False, False] Translation: X:-38.16, Y:-41.51, Z:-11.99 [[ 0.78913642 -0.53373863 -0.30395193 -38.15984259] [ 0.54527121 0.83656115 -0.05333618 -41.50754055] [ 0.28274196 -0.12364671 0.95119318 -11.98622026] [ 0. 0. 0. 1. ]] SLAMing on 107.671652532 meters Centerline goodness : 0.700174 Centerline is valid? [False, False] Translation: X:-38.18, Y:-41.53, Z:-11.99 [[ 0.78753964 -0.53519369 -0.30553072 -38.18343392] [ 0.54705955 0.83539841 -0.05324794 -41.5312627 ] [ 0.28373784 -0.12520863 0.95069219 -11.99313336] [ 0. 0. 0. 1. ]] SLAMing on 107.701652532 meters Centerline goodness : 0.700174 Centerline is valid? [False, False] Translation: X:-38.21, Y:-41.56, Z:-12.00 [[ 0.78722886 -0.53530508 -0.30613591 -38.2091282 ] [ 0.54740658 0.83520167 -0.05276556 -41.5559067 ] [ 0.28393089 -0.12604224 0.95052438 -12.00246294] [ 0. 0. 0. 1. ]] SLAMing on 107.73165253199998 meters Centerline goodness : 0.698560 Centerline is valid? [False, False] Translation: X:-38.24, Y:-41.58, Z:-12.01 [[ 0.78761673 -0.53507158 -0.30554589 -38.23749044] [ 0.54742623 0.83526225 -0.05158972 -41.58379809] [ 0.28281514 -0.12663091 0.95077874 -12.01184675] [ 0. 0. 0. 1. ]] SLAMing on 107.76165253199999 meters Centerline goodness : 0.698907 Centerline is valid? [False, False] Translation: X:-38.27, Y:-41.62, Z:-12.02 [[ 0.78832231 -0.53571721 -0.30258059 -38.26991264] [ 0.54759275 0.83513163 -0.05193592 -41.61610744] [ 0.28051759 -0.12474869 0.95170775 -12.02280374] [ 0. 0. 0. 1. ]] SLAMing on 107.79165253199999 meters Centerline goodness : 0.696884 Centerline is valid? [False, False] Translation: X:-38.30, Y:-41.64, Z:-12.03 [[ 0.78765305 -0.53666599 -0.30264217 -38.29514186] [ 0.5486655 0.8344397 -0.05173554 -41.64131101] [ 0.28030135 -0.12529966 0.95169909 -12.03205217] [ 0. 0. 0. 1. ]] SLAMing on 107.82165253199999 meters Centerline goodness : 0.696281 Centerline is valid? [False, False] Translation: X:-38.32, Y:-41.67, Z:-12.04 [[ 0.78706448 -0.53741395 -0.30284608 -38.32107605] [ 0.54943397 0.83392284 -0.05191349 -41.66751542] [ 0.2804493 -0.12553466 0.95162453 -12.04135068] [ 0. 0. 0. 1. ]] SLAMing on 107.85165253199999 meters Centerline goodness : 0.694164 Centerline is valid? [False, False] Translation: X:-38.35, Y:-41.70, Z:-12.05 [[ 0.78678345 -0.53920294 -0.3003864 -38.35186611] [ 0.55086031 0.83295435 -0.05234478 -41.69853431] [ 0.27843261 -0.12428694 0.9523802 -12.05106948] [ 0. 0. 0. 1. ]] SLAMing on 107.88165253199999 meters Centerline goodness : 0.695724 Centerline is valid? [False, False] Translation: X:-38.38, Y:-41.72, Z:-12.06 [[ 0.7864752 -0.53922869 -0.30114642 -38.37811806] [ 0.55125075 0.83275091 -0.0514638 -41.72494552] [ 0.27853072 -0.12553219 0.95218817 -12.05922272] [ 0. 0. 0. 1. ]] SLAMing on 107.91165253199999 meters Centerline goodness : 0.693484 Centerline is valid? [False, False] Translation: X:-38.41, Y:-41.75, Z:-12.07 [[ 0.78625563 -0.53954258 -0.30115758 -38.40518333] [ 0.5515928 0.83252611 -0.05143599 -41.75205616] [ 0.27847346 -0.12567451 0.95218614 -12.06874035] [ 0. 0. 0. 1. ]] SLAMing on 107.94165253199999 meters Centerline goodness : 0.693198 Centerline is valid? [False, False] Translation: X:-38.43, Y:-41.78, Z:-12.08 [[ 0.78532988 -0.5397895 -0.30312419 -38.42975681] [ 0.55216929 0.83215194 -0.05130516 -41.77699764] [ 0.27993937 -0.12708439 0.95156897 -12.07598136] [ 0. 0. 0. 1. ]] SLAMing on 107.971652532 meters Centerline goodness : 0.691587 Centerline is valid? [False, False] Translation: X:-38.46, Y:-41.81, Z:-12.09 [[ 0.78604771 -0.53940061 -0.30195361 -38.45865965] [ 0.55193857 0.83237705 -0.0501224 -41.80507948] [ 0.2783753 -0.12726125 0.95200408 -12.08675257] [ 0. 0. 0. 1. ]] SLAMing on 108.001652532 meters Centerline goodness : 0.692489 Centerline is valid? [False, False] Translation: X:-38.49, Y:-41.83, Z:-12.10 [[ 0.78563743 -0.54115388 -0.29987714 -38.48916398] [ 0.5529622 0.83158352 -0.05197745 -41.83438867] [ 0.27750069 -0.12498529 0.95256078 -12.09761408] [ 0. 0. 0. 1. ]] SLAMing on 108.031652532 meters Centerline goodness : 0.694882 Centerline is valid? [False, False] Translation: X:-38.51, Y:-41.86, Z:-12.11 [[ 0.7845089 -0.54192688 -0.30143166 -38.51331743] [ 0.55389158 0.83094202 -0.05234004 -41.85910485] [ 0.27883671 -0.12589923 0.95205014 -12.10541406] [ 0. 0. 0. 1. ]] SLAMing on 108.061652532 meters Centerline goodness : 0.693280 Centerline is valid? [False, False] Translation: X:-38.55, Y:-41.89, Z:-12.12 [[ 0.78641406 -0.53977861 -0.30031979 -38.54561483] [ 0.55171219 0.8324441 -0.05148277 -41.88888742] [ 0.27778873 -0.12520332 0.95244819 -12.11745468] [ 0. 0. 0. 1. ]] SLAMing on 108.09165253199998 meters Centerline goodness : 0.693939 Centerline is valid? [False, False] Translation: X:-38.58, Y:-41.92, Z:-12.13 [[ 0.78724781 -0.53910148 -0.2993501 -38.57533522] [ 0.55116662 0.83286976 -0.05043128 -41.91795662] [ 0.27650722 -0.12528986 0.95280964 -12.12730642] [ 0. 0. 0. 1. ]] SLAMing on 108.12165253199998 meters Centerline goodness : 0.694956 Centerline is valid? [False, False] Translation: X:-38.60, Y:-41.95, Z:-12.14 [[ 0.78645582 -0.54126723 -0.29751812 -38.60497648] [ 0.55306129 0.8315829 -0.05092229 -41.94730832] [ 0.27497355 -0.12449763 0.95335717 -12.13547266] [ 0. 0. 0. 1. ]] SLAMing on 108.15165253199999 meters Centerline goodness : 0.696356 Centerline is valid? [False, False] Translation: X:-38.63, Y:-41.97, Z:-12.14 [[ 0.78456652 -0.54358725 -0.2982755 -38.62912 ] [ 0.55528008 0.83003002 -0.05209806 -41.97328656] [ 0.27589746 -0.12475205 0.95305693 -12.14236925] [ 0. 0. 0. 1. ]] SLAMing on 108.18165253199999 meters Centerline goodness : 0.698148 Centerline is valid? [False, False] Translation: X:-38.66, Y:-42.00, Z:-12.15 [[ 0.78408144 -0.54479411 -0.29734775 -38.65897404] [ 0.55575879 0.82956093 -0.05441359 -42.00180548] [ 0.27631228 -0.12258894 0.95321743 -12.15328808] [ 0. 0. 0. 1. ]] SLAMing on 108.21165253199999 meters Centerline goodness : 0.701249 Centerline is valid? [False, False] Translation: X:-38.68, Y:-42.02, Z:-12.16 [[ 0.78244008 -0.5458703 -0.29968841 -38.6818118 ] [ 0.55702725 0.82866635 -0.05507018 -42.02490165] [ 0.27840288 -0.12384549 0.95244639 -12.1604818 ] [ 0. 0. 0. 1. ]] SLAMing on 108.24165253199999 meters Centerline goodness : 0.702158 Centerline is valid? [False, False] Translation: X:-38.71, Y:-42.05, Z:-12.17 [[ 0.78230007 -0.54510036 -0.30145017 -38.70804721] [ 0.5563116 0.82911441 -0.05555797 -42.04834707] [ 0.28022135 -0.12423722 0.95186192 -12.1707453 ] [ 0. 0. 0. 1. ]] SLAMing on 108.27165253199999 meters Centerline goodness : 0.704254 Centerline is valid? [False, False] Translation: X:-38.74, Y:-42.08, Z:-12.18 [[ 0.78429184 -0.54241468 -0.30111896 -38.73954421] [ 0.55374157 0.83090546 -0.05446459 -42.07610167] [ 0.27974378 -0.12402596 0.95202993 -12.18265288] [ 0. 0. 0. 1. ]] SLAMing on 108.30165253199999 meters Centerline goodness : 0.706625 Centerline is valid? [False, False] Translation: X:-38.77, Y:-42.10, Z:-12.19 [[ 0.78725615 -0.53722143 -0.30268941 -38.76950863] [ 0.54927688 0.83404082 -0.05168003 -42.10267148] [ 0.28021895 -0.12557487 0.95168708 -12.19413428] [ 0. 0. 0. 1. ]] SLAMing on 108.33165253199999 meters Centerline goodness : 0.706787 Centerline is valid? [False, False] Translation: X:-38.79, Y:-42.11, Z:-12.20 [[ 0.79168902 -0.53274865 -0.29901064 -38.78749427] [ 0.54307295 0.83788424 -0.05497064 -42.11405416] [ 0.27982184 -0.11886494 0.95266514 -12.20319508] [ 0. 0. 0. 1. ]] SLAMing on 108.361652532 meters Centerline goodness : 0.705102 Centerline is valid? [False, False] Translation: X:-38.81, Y:-42.13, Z:-12.21 [[ 0.79385038 -0.53316845 -0.29246023 -38.80639912] [ 0.54051514 0.83901711 -0.06239927 -42.12695131] [ 0.27864846 -0.1085435 0.95423967 -12.21265018] [ 0. 0. 0. 1. ]] SLAMing on 108.391652532 meters Centerline goodness : 0.706340 Centerline is valid? [False, False] Translation: X:-38.84, Y:-42.16, Z:-12.22 [[ 0.79506694 -0.53135711 -0.29245203 -38.83704228] [ 0.53890391 0.84012964 -0.06135767 -42.15637952] [ 0.27830045 -0.10882009 0.95430972 -12.22192744] [ 0. 0. 0. 1. ]] SLAMing on 108.421652532 meters Centerline goodness : 0.707790 Centerline is valid? [False, False] Translation: X:-38.87, Y:-42.18, Z:-12.23 [[ 0.79579032 -0.5300091 -0.29293024 -38.86607106] [ 0.53791834 0.84085535 -0.06005109 -42.18406168] [ 0.27813959 -0.10978447 0.95424616 -12.23051168] [ 0. 0. 0. 1. ]] SLAMing on 108.451652532 meters Centerline goodness : 0.709532 Centerline is valid? [False, False] Translation: X:-38.90, Y:-42.21, Z:-12.24 [[ 0.79746626 -0.52758265 -0.29275265 -38.89755085] [ 0.53574774 0.84234029 -0.05862758 -42.2118355 ] [ 0.27752824 -0.11008805 0.95438917 -12.24098406] [ 0. 0. 0. 1. ]] SLAMing on 108.48165253199998 meters Centerline goodness : 0.708761 Centerline is valid? [False, False] Translation: X:-38.93, Y:-42.24, Z:-12.25 [[ 0.80013402 -0.52315984 -0.29340984 -38.9295097 ] [ 0.53224257 0.84481053 -0.05489097 -42.23932673] [ 0.27659248 -0.11224507 0.95440958 -12.2507429 ] [ 0. 0. 0. 1. ]] SLAMing on 108.51165253199999 meters Centerline goodness : 0.711229 Centerline is valid? [False, False] Translation: X:-38.96, Y:-42.27, Z:-12.26 [[ 0.80083801 -0.5218706 -0.2937849 -38.95849564] [ 0.53108396 0.84557412 -0.05435287 -42.26625797] [ 0.27678207 -0.1124966 0.954325 -12.26072853] [ 0. 0. 0. 1. ]] SLAMing on 108.54165253199999 meters Centerline goodness : 0.713130 Centerline is valid? [False, False] Translation: X:-38.99, Y:-42.29, Z:-12.27 [[ 0.80174707 -0.520462 -0.29380425 -38.98780223] [ 0.52983212 0.84641029 -0.0535494 -42.29355217] [ 0.27654937 -0.11273385 0.95436446 -12.27073485] [ 0. 0. 0. 1. ]] SLAMing on 108.57165253199999 meters Centerline goodness : 0.712713 Centerline is valid? [False, False] Translation: X:-39.02, Y:-42.32, Z:-12.28 [[ 0.80289367 -0.51855555 -0.29404405 -39.01731921] [ 0.52827382 0.84747505 -0.05208466 -42.32111852] [ 0.27620378 -0.11351733 0.95437167 -12.28036707] [ 0. 0. 0. 1. ]] SLAMing on 108.60165253199999 meters Centerline goodness : 0.713953 Centerline is valid? [False, False] Translation: X:-39.05, Y:-42.35, Z:-12.29 [[ 0.8035295 -0.51819704 -0.29293715 -39.04892922] [ 0.52795036 0.84771754 -0.05141386 -42.35070793] [ 0.27497047 -0.11334372 0.95474837 -12.28947817] [ 0. 0. 0. 1. ]] SLAMing on 108.63165253199999 meters Centerline goodness : 0.716613 Centerline is valid? [False, False] Translation: X:-39.08, Y:-42.38, Z:-12.30 [[ 0.80389885 -0.51708486 -0.29388754 -39.07621201] [ 0.52737179 0.84817594 -0.04976517 -42.37629592] [ 0.27500115 -0.11498184 0.95454363 -12.29782707] [ 0. 0. 0. 1. ]] SLAMing on 108.66165253199999 meters Centerline goodness : 0.716401 Centerline is valid? [False, False] Translation: X:-39.11, Y:-42.40, Z:-12.31 [[ 0.8054151 -0.5145999 -0.29409771 -39.10607802] [ 0.52531611 0.84955829 -0.04789253 -42.40290741] [ 0.27449864 -0.1159209 0.95457469 -12.30817387] [ 0. 0. 0. 1. ]] SLAMing on 108.69165253199999 meters Centerline goodness : 0.717918 Centerline is valid? [False, False] Translation: X:-39.14, Y:-42.43, Z:-12.32 [[ 0.80679396 -0.51253932 -0.29391656 -39.13662283] [ 0.52343218 0.85078085 -0.04680483 -42.42966296] [ 0.2740479 -0.11608353 0.95468443 -12.31936241] [ 0. 0. 0. 1. ]] SLAMing on 108.721652532 meters Centerline goodness : 0.719008 Centerline is valid? [False, False] Translation: X:-39.16, Y:-42.45, Z:-12.33 [[ 0.80663267 -0.5125941 -0.29426354 -39.16331696] [ 0.52359471 0.85069234 -0.04659525 -42.45475885] [ 0.27421219 -0.11648958 0.95458779 -12.32892153] [ 0. 0. 0. 1. ]] SLAMing on 108.751652532 meters Centerline goodness : 0.719642 Centerline is valid? [False, False] Translation: X:-39.18, Y:-42.46, Z:-12.34 [[ 0.80791178 -0.51401659 -0.28821088 -39.17838004] [ 0.52237433 0.85103727 -0.0534848 -42.46308028] [ 0.27277028 -0.10734297 0.9560721 -12.33754715] [ 0. 0. 0. 1. ]] SLAMing on 108.781652532 meters Centerline goodness : 0.718374 Centerline is valid? [False, False] Translation: X:-39.21, Y:-42.49, Z:-12.35 [[ 0.80915668 -0.51224633 -0.28787005 -39.2084929 ] [ 0.52099525 0.85199615 -0.05163828 -42.49084473] [ 0.27171569 -0.10819547 0.95627628 -12.34698524] [ 0. 0. 0. 1. ]] SLAMing on 108.811652532 meters Centerline goodness : 0.720704 Centerline is valid? [False, False] Translation: X:-39.23, Y:-42.50, Z:-12.36 [[ 0.81174198 -0.51130891 -0.28220232 -39.228959 ] [ 0.51740502 0.85373526 -0.05855043 -42.50414139] [ 0.27086343 -0.09848506 0.95756655 -12.35560847] [ 0. 0. 0. 1. ]] SLAMing on 108.84165253199998 meters Centerline goodness : 0.720097 Centerline is valid? [False, False] Translation: X:-39.25, Y:-42.53, Z:-12.36 [[ 0.81134467 -0.51133324 -0.28329869 -39.25498498] [ 0.51809853 0.85344528 -0.05661328 -42.52980401] [ 0.27072818 -0.10084376 0.95735928 -12.36187049] [ 0. 0. 0. 1. ]] SLAMing on 108.87165253199998 meters Centerline goodness : 0.720224 Centerline is valid? [False, False] Translation: X:-39.28, Y:-42.55, Z:-12.37 [[ 0.81164308 -0.5096428 -0.28548157 -39.28030056] [ 0.51718033 0.8541432 -0.05444167 -42.55427712] [ 0.27158794 -0.10345824 0.95683665 -12.36930921] [ 0. 0. 0. 1. ]] SLAMing on 108.90165253199999 meters Centerline goodness : 0.719431 Centerline is valid? [False, False] Translation: X:-39.31, Y:-42.58, Z:-12.38 [[ 0.81399619 -0.50508577 -0.28687727 -39.31011385] [ 0.5135657 0.85654238 -0.05084699 -42.58010149] [ 0.27140463 -0.10594106 0.95661696 -12.37943864] [ 0. 0. 0. 1. ]] SLAMing on 108.93165253199999 meters Centerline goodness : 0.718408 Centerline is valid? [False, False] Translation: X:-39.32, Y:-42.58, Z:-12.38 [[ 0.81332024 -0.50836414 -0.28297719 -39.31536839] [ 0.51576596 0.85504582 -0.05368537 -42.58205789] [ 0.26925018 -0.1022866 0.95762299 -12.38225107] [ 0. 0. 0. 1. ]] SLAMing on 108.96165253199999 meters Centerline goodness : 0.717486 Centerline is valid? [False, False] Translation: X:-39.32, Y:-42.59, Z:-12.38 [[ 0.81271104 -0.5112911 -0.27943187 -39.32022805] [ 0.5178138 0.85366128 -0.05595792 -42.58570511] [ 0.26715095 -0.09921606 0.95853354 -12.38402204] [ 0. 0. 0. 1. ]] SLAMing on 108.99165253199999 meters Centerline goodness : 0.715648 Centerline is valid? [False, False] Translation: X:-39.35, Y:-42.61, Z:-12.39 [[ 0.8130439 -0.51115233 -0.27871653 -39.34877574] [ 0.51799847 0.85364431 -0.05448829 -42.61413115] [ 0.2657766 -0.10007336 0.95882643 -12.39222865] [ 0. 0. 0. 1. ]] SLAMing on 109.02165253199999 meters Centerline goodness : 0.715277 Centerline is valid? [False, False] Translation: X:-39.38, Y:-42.64, Z:-12.40 [[ 0.81251929 -0.51253244 -0.27771009 -39.37562012] [ 0.51995745 0.85259351 -0.05223567 -42.64041604] [ 0.2635463 -0.10195494 0.95924373 -12.39926802] [ 0. 0. 0. 1. ]] SLAMing on 109.05165253199999 meters Centerline goodness : 0.715212 Centerline is valid? [False, False] Translation: X:-39.38, Y:-42.64, Z:-12.40 [[ 0.81113817 -0.51612705 -0.27507768 -39.37939012] [ 0.52272557 0.85073539 -0.05483862 -42.64113753] [ 0.26232201 -0.09930844 0.95985676 -12.39933847] [ 0. 0. 0. 1. ]] SLAMing on 109.08165253199999 meters Centerline goodness : 0.714446 Centerline is valid? [False, False] Translation: X:-39.38, Y:-42.64, Z:-12.40 [[ 0.80966531 -0.51984547 -0.27240186 -39.38228801] [ 0.52558543 0.8487886 -0.05760101 -42.64192488] [ 0.26115521 -0.09653291 0.96045789 -12.39988338] [ 0. 0. 0. 1. ]] SLAMing on 109.111652532 meters Centerline goodness : 0.709607 Centerline is valid? [False, False] Translation: X:-39.39, Y:-42.65, Z:-12.40 [[ 0.80794149 -0.52573595 -0.26614331 -39.38899091] [ 0.52951773 0.84591628 -0.0635344 -42.64662197] [ 0.25853727 -0.08959553 0.96183737 -12.40444967] [ 0. 0. 0. 1. ]] SLAMing on 109.141652532 meters Centerline goodness : 0.708243 Centerline is valid? [False, False] Translation: X:-39.39, Y:-42.65, Z:-12.40 [[ 0.80659013 -0.5291639 -0.26343486 -39.39229021] [ 0.53215369 0.84406224 -0.06611636 -42.64780589] [ 0.25734181 -0.08685904 0.9624088 -12.40480104] [ 0. 0. 0. 1. ]] SLAMing on 109.171652532 meters Centerline goodness : 0.705762 Centerline is valid? [False, False] Translation: X:-39.40, Y:-42.65, Z:-12.40 [[ 0.80531724 -0.53232352 -0.26095173 -39.39583794] [ 0.53461004 0.84232352 -0.06843389 -42.64931075] [ 0.25623475 -0.08439642 0.96292315 -12.40468835] [ 0. 0. 0. 1. ]] SLAMing on 109.201652532 meters Centerline goodness : 0.703648 Centerline is valid? [False, False] Translation: X:-39.40, Y:-42.65, Z:-12.41 [[ 0.80358259 -0.53624962 -0.25824671 -39.3979227 ] [ 0.53771072 0.84010914 -0.07130091 -42.65019634] [ 0.25519051 -0.08156585 0.96344425 -12.40519764] [ 0. 0. 0. 1. ]] SLAMing on 109.23165253199998 meters Centerline goodness : 0.700574 Centerline is valid? [False, False] Translation: X:-39.40, Y:-42.65, Z:-12.41 [[ 0.80215819 -0.53960101 -0.25568141 -39.40059233] [ 0.54030235 0.83821924 -0.07390446 -42.65154822] [ 0.254196 -0.0788622 0.96393213 -12.40552484] [ 0. 0. 0. 1. ]] SLAMing on 109.26165253199999 meters Centerline goodness : 0.699266 Centerline is valid? [False, False] Translation: X:-39.40, Y:-42.65, Z:-12.41 [[ 0.80045605 -0.54325074 -0.25327601 -39.40237677] [ 0.54323586 0.8360897 -0.07647751 -42.65362328] [ 0.25330793 -0.07637173 0.96436635 -12.40516264] [ 0. 0. 0. 1. ]] SLAMing on 109.29165253199999 meters Centerline goodness : 0.699131 Centerline is valid? [False, False] Translation: X:-39.40, Y:-42.65, Z:-12.41 [[ 0.79851347 -0.54721425 -0.2508641 -39.40351658] [ 0.54641264 0.83374386 -0.07940021 -42.65478304] [ 0.25260533 -0.07367318 0.96476049 -12.40511507] [ 0. 0. 0. 1. ]] SLAMing on 109.32165253199999 meters Centerline goodness : 0.699224 Centerline is valid? [False, False] Translation: X:-39.42, Y:-42.67, Z:-12.41 [[ 0.79732119 -0.54624372 -0.25670357 -39.42138163] [ 0.54604786 0.83404428 -0.07875202 -42.67498032] [ 0.25711994 -0.07738178 0.96327639 -12.40962073] [ 0. 0. 0. 1. ]] SLAMing on 109.35165253199999 meters Centerline goodness : 0.697580 Centerline is valid? [False, False] Translation: X:-39.42, Y:-42.68, Z:-12.41 [[ 0.79792423 -0.54544714 -0.25652359 -39.42401714] [ 0.54541525 0.83453407 -0.07794283 -42.67600742] [ 0.25659137 -0.07771941 0.96339014 -12.4092631 ] [ 0. 0. 0. 1. ]] SLAMing on 109.38165253199999 meters Centerline goodness : 0.695341 Centerline is valid? [False, False] Translation: X:-39.43, Y:-42.68, Z:-12.41 [[ 0.79667782 -0.54840703 -0.25407514 -39.42812476] [ 0.54769067 0.83282228 -0.08026202 -42.677202 ] [ 0.25561569 -0.07521161 0.96384845 -12.40888203] [ 0. 0. 0. 1. ]] SLAMing on 109.41165253199999 meters Centerline goodness : 0.694588 Centerline is valid? [False, False] Translation: X:-39.43, Y:-42.68, Z:-12.41 [[ 0.79528501 -0.55160367 -0.25150574 -39.4314687 ] [ 0.55019656 0.83093592 -0.0826392 -42.67912733] [ 0.25456924 -0.07265588 0.96432133 -12.40852627] [ 0. 0. 0. 1. ]] SLAMing on 109.44165253199999 meters Centerline goodness : 0.691258 Centerline is valid? [False, False] Translation: X:-39.44, Y:-42.68, Z:-12.41 [[ 0.79433385 -0.55416009 -0.24887814 -39.43530537] [ 0.5520599 0.82946748 -0.08493274 -42.68167407] [ 0.25350265 -0.06993069 0.96480366 -12.40863847] [ 0. 0. 0. 1. ]] SLAMing on 109.471652532 meters Centerline goodness : 0.691102 Centerline is valid? [False, False] Translation: X:-39.44, Y:-42.68, Z:-12.41 [[ 0.7945755 -0.55380433 -0.24889864 -39.4359806 ] [ 0.55177609 0.8296898 -0.08460487 -42.68252605] [ 0.25336321 -0.07011136 0.96482718 -12.40834748] [ 0. 0. 0. 1. ]] SLAMing on 109.501652532 meters Centerline goodness : 0.688735 Centerline is valid? [False, False] Translation: X:-39.44, Y:-42.68, Z:-12.41 [[ 0.79513318 -0.55309934 -0.24868523 -39.43862579] [ 0.55120306 0.83013997 -0.08392147 -42.68350445] [ 0.25286046 -0.07034732 0.96494189 -12.40790587] [ 0. 0. 0. 1. ]] SLAMing on 109.531652532 meters Centerline goodness : 0.687180 Centerline is valid? [False, False] Translation: X:-39.44, Y:-42.68, Z:-12.41 [[ 0.79555618 -0.55252201 -0.24861573 -39.4405011 ] [ 0.5507603 0.83049733 -0.08329036 -42.684683 ] [ 0.25249446 -0.07066552 0.96501447 -12.40731125] [ 0. 0. 0. 1. ]] SLAMing on 109.561652532 meters Centerline goodness : 0.687070 Centerline is valid? [False, False] Translation: X:-39.44, Y:-42.69, Z:-12.41 [[ 0.79416308 -0.5556877 -0.24600036 -39.44476016] [ 0.55321826 0.82860812 -0.08577964 -42.68542422] [ 0.25150459 -0.06796887 0.96546656 -12.4070079 ] [ 0. 0. 0. 1. ]] SLAMing on 109.59165253199998 meters Centerline goodness : 0.687070 Centerline is valid? [False, False] Translation: X:-39.44, Y:-42.69, Z:-12.41 [[ 0.79416308 -0.5556877 -0.24600036 -39.44476016] [ 0.55321826 0.82860812 -0.08577964 -42.68542422] [ 0.25150459 -0.06796887 0.96546656 -12.4070079 ] [ 0. 0. 0. 1. ]] SLAMing on 109.62165253199998 meters Centerline goodness : 0.687339 Centerline is valid? [False, False] Translation: X:-39.45, Y:-42.69, Z:-12.41 [[ 0.79516416 -0.55598646 -0.24205994 -39.45333075] [ 0.55262855 0.82875024 -0.08817441 -42.6903933 ] [ 0.24963101 -0.0636561 0.96624648 -12.41126428] [ 0. 0. 0. 1. ]] SLAMing on 109.65165253199999 meters Centerline goodness : 0.687522 Centerline is valid? [False, False] Translation: X:-39.45, Y:-42.69, Z:-12.41 [[ 0.7953576 -0.55565025 -0.24219638 -39.45370567] [ 0.55238307 0.82895314 -0.08780455 -42.69160319] [ 0.24955807 -0.06394916 0.96624597 -12.41068325] [ 0. 0. 0. 1. ]] SLAMing on 109.68165253199999 meters Centerline goodness : 0.684564 Centerline is valid? [False, False] Translation: X:-39.46, Y:-42.69, Z:-12.41 [[ 0.79427759 -0.55887397 -0.23829183 -39.45837841] [ 0.55475449 0.82706375 -0.09062561 -42.69321234] [ 0.24773083 -0.06021157 0.96695605 -12.41323528] [ 0. 0. 0. 1. ]] SLAMing on 109.71165253199999 meters Centerline goodness : 0.684921 Centerline is valid? [False, False] Translation: X:-39.48, Y:-42.71, Z:-12.42 [[ 0.79690545 -0.55591989 -0.23642077 -39.47691693] [ 0.54998159 0.82955062 -0.09677816 -42.70805432] [ 0.2499239 -0.05290402 0.96681912 -12.41640373] [ 0. 0. 0. 1. ]] SLAMing on 109.74165253199999 meters Centerline goodness : 0.683386 Centerline is valid? [False, False] Translation: X:-39.48, Y:-42.71, Z:-12.42 [[ 0.79687986 -0.55578165 -0.23683167 -39.47634657] [ 0.54994529 0.82961256 -0.09645295 -42.70945719] [ 0.25008531 -0.05338305 0.96675105 -12.41533414] [ 0. 0. 0. 1. ]] SLAMing on 109.77165253199999 meters Centerline goodness : 0.684117 Centerline is valid? [False, False] Translation: X:-39.49, Y:-42.73, Z:-12.41 [[ 0.79611516 -0.55284007 -0.24610668 -39.49119254] [ 0.54893849 0.83091662 -0.090797 -42.72980069] [ 0.25469035 -0.06281256 0.96498052 -12.41337466] [ 0. 0. 0. 1. ]] SLAMing on 109.80165253199999 meters Centerline goodness : 0.682519 Centerline is valid? [False, False] Translation: X:-39.51, Y:-42.75, Z:-12.41 [[ 0.79478062 -0.55222355 -0.25173979 -39.51069938] [ 0.54949113 0.83087336 -0.08780071 -42.75393388] [ 0.2576495 -0.06854648 0.96380398 -12.41391855] [ 0. 0. 0. 1. ]] SLAMing on 109.83165253199999 meters Centerline goodness : 0.682090 Centerline is valid? [False, False] Translation: X:-39.53, Y:-42.78, Z:-12.42 [[ 0.79322493 -0.55144205 -0.25827482 -39.5278744 ] [ 0.54988315 0.83088516 -0.08519607 -42.77602558] [ 0.26157741 -0.07444132 0.96230751 -12.41500172] [ 0. 0. 0. 1. ]] SLAMing on 109.861652532 meters Centerline goodness : 0.682348 Centerline is valid? [False, False] Translation: X:-39.53, Y:-42.78, Z:-12.41 [[ 0.79342697 -0.55117705 -0.25821987 -39.52894714] [ 0.54966051 0.83105484 -0.08497751 -42.77617055] [ 0.26143253 -0.07450981 0.96234158 -12.4148444 ] [ 0. 0. 0. 1. ]] SLAMing on 109.891652532 meters Centerline goodness : 0.682231 Centerline is valid? [False, False] Translation: X:-39.55, Y:-42.80, Z:-12.42 [[ 0.79348893 -0.54742758 -0.26589161 -39.54697908] [ 0.54760863 0.83285289 -0.0805037 -42.79686097] [ 0.26551855 -0.08172575 0.96063562 -12.41715606] [ 0. 0. 0. 1. ]] SLAMing on 109.921652532 meters Centerline goodness : 0.681406 Centerline is valid? [False, False] Translation: X:-39.56, Y:-42.80, Z:-12.43 [[ 0.7990166 -0.54035962 -0.26378771 -39.56168191] [ 0.53993195 0.83782263 -0.0807882 -42.80377203] [ 0.26466199 -0.0778763 0.96119161 -12.42599119] [ 0. 0. 0. 1. ]] SLAMing on 109.951652532 meters Centerline goodness : 0.678541 Centerline is valid? [False, False] Translation: X:-39.57, Y:-42.81, Z:-12.43 [[ 0.80042256 -0.53835279 -0.26362852 -39.5666484 ] [ 0.53819699 0.83907102 -0.07939663 -42.8054514 ] [ 0.26394645 -0.07833322 0.96135122 -12.42553444] [ 0. 0. 0. 1. ]] SLAMing on 109.98165253199998 meters Centerline goodness : 0.676826 Centerline is valid? [False, False] Translation: X:-39.57, Y:-42.81, Z:-12.42 [[ 0.79882189 -0.54181984 -0.26137108 -39.56866609] [ 0.54096714 0.83705099 -0.08185469 -42.80838652] [ 0.26313142 -0.07600584 0.96176139 -12.424435 ] [ 0. 0. 0. 1. ]] SLAMing on 110.01165253199999 meters Centerline goodness : 0.675418 Centerline is valid? [False, False] Translation: X:-39.57, Y:-42.81, Z:-12.42 [[ 0.79773412 -0.5447164 -0.25865868 -39.57295493] [ 0.54320684 0.83539061 -0.08395747 -42.8111749 ] [ 0.26181405 -0.07352943 0.96231327 -12.42401837] [ 0. 0. 0. 1. ]] SLAMing on 110.04165253199999 meters Centerline goodness : 0.676307 Centerline is valid? [False, False] Translation: X:-39.58, Y:-42.81, Z:-12.42 [[ 0.79848505 -0.54356221 -0.25876968 -39.57549277] [ 0.54231428 0.83608301 -0.08282764 -42.81385272] [ 0.26137491 -0.07419786 0.96238134 -12.42266521] [ 0. 0. 0. 1. ]] SLAMing on 110.07165253199999 meters Centerline goodness : 0.677800 Centerline is valid? [False, False] Translation: X:-39.59, Y:-42.83, Z:-12.42 [[ 0.7973905 -0.54194546 -0.26544963 -39.59347831] [ 0.54211717 0.83654174 -0.07941588 -42.83488893] [ 0.26509878 -0.08057933 0.96084838 -12.42424104] [ 0. 0. 0. 1. ]] SLAMing on 110.10165253199999 meters Centerline goodness : 0.680564 Centerline is valid? [False, False] Translation: X:-39.59, Y:-42.83, Z:-12.42 [[ 0.79761227 -0.54172075 -0.26524196 -39.59494629] [ 0.54193133 0.83668558 -0.07916872 -42.8346637 ] [ 0.26481146 -0.08059699 0.96092612 -12.42442646] [ 0. 0. 0. 1. ]] SLAMing on 110.13165253199999 meters Centerline goodness : 0.680359 Centerline is valid? [False, False] Translation: X:-39.60, Y:-42.84, Z:-12.42 [[ 0.79777571 -0.54153034 -0.26513923 -39.59533272] [ 0.5418035 0.83679611 -0.07887483 -42.83503963] [ 0.26458059 -0.08072894 0.96097864 -12.42480715] [ 0. 0. 0. 1. ]] SLAMing on 110.16165253199999 meters Centerline goodness : 0.680044 Centerline is valid? [False, False] Translation: X:-39.60, Y:-42.84, Z:-12.42 [[ 0.79602838 -0.54529151 -0.26267089 -39.59719545] [ 0.54477367 0.83459953 -0.08164107 -42.83626651] [ 0.26374318 -0.07810758 0.96142537 -12.42480915] [ 0. 0. 0. 1. ]] SLAMing on 110.19165253199999 meters Centerline goodness : 0.680490 Centerline is valid? [False, False] Translation: X:-39.60, Y:-42.84, Z:-12.42 [[ 0.79463934 -0.5485305 -0.26012038 -39.60063662] [ 0.54730612 0.83270522 -0.08401206 -42.83783416] [ 0.26268678 -0.07560618 0.96191443 -12.42459579] [ 0. 0. 0. 1. ]] SLAMing on 110.221652532 meters Centerline goodness : 0.682499 Centerline is valid? [False, False] Translation: X:-39.60, Y:-42.84, Z:-12.42 [[ 0.79486377 -0.5480947 -0.26035319 -39.60096383] [ 0.54704685 0.83294114 -0.08335944 -42.83971775] [ 0.26254776 -0.07616599 0.96190822 -12.42377237] [ 0. 0. 0. 1. ]] SLAMing on 110.251652532 meters Centerline goodness : 0.687099 Centerline is valid? [False, False] Translation: X:-39.62, Y:-42.86, Z:-12.42 [[ 0.79192474 -0.54906302 -0.26717971 -39.61655834] [ 0.54933034 0.83167938 -0.08090477 -42.86038938] [ 0.26662968 -0.08269943 0.96024446 -12.42268669] [ 0. 0. 0. 1. ]] SLAMing on 110.281652532 meters Centerline goodness : 0.688928 Centerline is valid? [False, False] Translation: X:-39.62, Y:-42.86, Z:-12.42 [[ 0.7923374 -0.54853019 -0.26705071 -39.61857878] [ 0.54892094 0.83200617 -0.08032148 -42.86102934] [ 0.26624659 -0.08294801 0.96032931 -12.42238985] [ 0. 0. 0. 1. ]] SLAMing on 110.311652532 meters Centerline goodness : 0.692262 Centerline is valid? [False, False] Translation: X:-39.62, Y:-42.86, Z:-12.42 [[ 0.79315734 -0.5474686 -0.266795 -39.62204287] [ 0.54805271 0.8326717 -0.07934773 -42.86196707] [ 0.26559304 -0.08328249 0.96048132 -12.42220941] [ 0. 0. 0. 1. ]] SLAMing on 110.34165253199998 meters Centerline goodness : 0.692291 Centerline is valid? [False, False] Translation: X:-39.63, Y:-42.86, Z:-12.42 [[ 0.79176303 -0.55079741 -0.26407105 -39.62573118] [ 0.55056884 0.83075186 -0.08200793 -42.8621227 ] [ 0.26454727 -0.08045844 0.9610105 -12.42300164] [ 0. 0. 0. 1. ]] SLAMing on 110.37165253199998 meters Centerline goodness : 0.697998 Centerline is valid? [False, False] Translation: X:-39.63, Y:-42.86, Z:-12.42 [[ 0.79204875 -0.55042846 -0.26398351 -39.62691073] [ 0.5502722 0.83098351 -0.08165119 -42.86289758] [ 0.26430908 -0.08059106 0.96106493 -12.42274379] [ 0. 0. 0. 1. ]] SLAMing on 110.40165253199999 meters Centerline goodness : 0.699037 Centerline is valid? [False, False] Translation: X:-39.63, Y:-42.87, Z:-12.42 [[ 0.79264505 -0.54959338 -0.26393361 -39.62896382] [ 0.54965026 0.83148689 -0.0807102 -42.86501929] [ 0.26381513 -0.08109663 0.96115811 -12.42201652] [ 0. 0. 0. 1. ]] SLAMing on 110.43165253199999 meters Centerline goodness : 0.703267 Centerline is valid? [False, False] Translation: X:-39.63, Y:-42.87, Z:-12.42 [[ 0.79125829 -0.55274073 -0.26151101 -39.63215828] [ 0.55218355 0.82960671 -0.08274075 -42.86817953] [ 0.26268547 -0.07893278 0.96164752 -12.42112907] [ 0. 0. 0. 1. ]] SLAMing on 110.46165253199999 meters Centerline goodness : 0.705208 Centerline is valid? [False, False] Translation: X:-39.64, Y:-42.87, Z:-12.42 [[ 0.78981629 -0.55598725 -0.25897568 -39.63572976] [ 0.55476859 0.82765612 -0.08495383 -42.87001105] [ 0.26157605 -0.07657365 0.96214055 -12.42068908] [ 0. 0. 0. 1. ]] SLAMing on 110.49165253199999 meters Centerline goodness : 0.708496 Centerline is valid? [False, False] Translation: X:-39.64, Y:-42.87, Z:-12.42 [[ 0.78843437 -0.55923096 -0.25618737 -39.63948874] [ 0.55729362 0.82571004 -0.0873313 -42.87104069] [ 0.26037485 -0.07391659 0.96267402 -12.42115741] [ 0. 0. 0. 1. ]] SLAMing on 110.52165253199999 meters Centerline goodness : 0.709848 Centerline is valid? [False, False] Translation: X:-39.65, Y:-42.89, Z:-12.42 [[ 0.78536914 -0.56033698 -0.26309273 -39.65289802] [ 0.55973877 0.82432377 -0.08475163 -42.89212236] [ 0.26436306 -0.08070189 0.96104078 -12.42025841] [ 0. 0. 0. 1. ]] SLAMing on 110.55165253199999 meters Centerline goodness : 0.713796 Centerline is valid? [False, False] Translation: X:-39.66, Y:-42.91, Z:-12.42 [[ 0.78122092 -0.56300912 -0.26965646 -39.66421061] [ 0.56343807 0.82190697 -0.0837047 -42.91123951] [ 0.26875903 -0.08654285 0.95931169 -12.4205533 ] [ 0. 0. 0. 1. ]] SLAMing on 110.58165253199999 meters Centerline goodness : 0.717891 Centerline is valid? [False, False] Translation: X:-39.68, Y:-42.93, Z:-12.42 [[ 0.7798626 -0.56167062 -0.27629774 -39.68001764] [ 0.56350864 0.82215134 -0.0807786 -42.93231782] [ 0.27252952 -0.09269995 0.95767133 -12.42336445] [ 0. 0. 0. 1. ]] SLAMing on 110.611652532 meters Centerline goodness : 0.715773 Centerline is valid? [False, False] Translation: X:-39.69, Y:-42.94, Z:-12.43 [[ 0.78144607 -0.56204964 -0.27100228 -39.69119125] [ 0.56196024 0.82270042 -0.08581793 -42.94178407] [ 0.27118763 -0.08523042 0.95874556 -12.43148858] [ 0. 0. 0. 1. ]] SLAMing on 110.641652532 meters Centerline goodness : 0.716212 Centerline is valid? [False, False] Translation: X:-39.69, Y:-42.94, Z:-12.43 [[ 0.78005045 -0.56530366 -0.2682407 -39.69442024] [ 0.5644887 0.8207266 -0.08809285 -42.94362811] [ 0.26995149 -0.08270197 0.95931568 -12.43184132] [ 0. 0. 0. 1. ]] SLAMing on 110.671652532 meters Centerline goodness : 0.719075 Centerline is valid? [False, False] Translation: X:-39.71, Y:-42.97, Z:-12.43 [[ 0.77866615 -0.56458952 -0.27371099 -39.71249306] [ 0.56488997 0.82069033 -0.08582944 -42.9712014 ] [ 0.27309037 -0.08778412 0.95797474 -12.43364483] [ 0. 0. 0. 1. ]] SLAMing on 110.701652532 meters Centerline goodness : 0.719959 Centerline is valid? [False, False] Translation: X:-39.73, Y:-43.00, Z:-12.44 [[ 0.77682976 -0.56447504 -0.2791119 -39.73029581] [ 0.56582565 0.82023294 -0.08401941 -42.99621455] [ 0.27636363 -0.09265989 0.95657581 -12.43560923] [ 0. 0. 0. 1. ]] SLAMing on 110.73165253199998 meters Centerline goodness : 0.719885 Centerline is valid? [False, False] Translation: X:-39.75, Y:-43.02, Z:-12.44 [[ 0.77445784 -0.56498048 -0.28462625 -39.74710274] [ 0.56739704 0.81930632 -0.08244844 -43.0205808 ] [ 0.27977785 -0.09764325 0.95508646 -12.43692071] [ 0. 0. 0. 1. ]] SLAMing on 110.76165253199999 meters Centerline goodness : 0.719243 Centerline is valid? [False, False] Translation: X:-39.77, Y:-43.05, Z:-12.44 [[ 0.77337926 -0.56370378 -0.29003891 -39.76545873] [ 0.56731339 0.81958881 -0.08018544 -43.04780223] [ 0.28291348 -0.1025292 0.95364969 -12.43995556] [ 0. 0. 0. 1. ]] SLAMing on 110.79165253199999 meters Centerline goodness : 0.722005 Centerline is valid? [False, False] Translation: X:-39.78, Y:-43.07, Z:-12.45 [[ 0.77292023 -0.56160598 -0.29528469 -39.78464169] [ 0.56644017 0.82043101 -0.07770769 -43.0719288 ] [ 0.28590182 -0.10719927 0.95224391 -12.44510798] [ 0. 0. 0. 1. ]] SLAMing on 110.82165253199999 meters Centerline goodness : 0.719124 Centerline is valid? [False, False] Translation: X:-39.80, Y:-43.09, Z:-12.45 [[ 0.77048511 -0.56184855 -0.30112937 -39.80002229] [ 0.56789678 0.81957307 -0.07611324 -43.09398049] [ 0.28956164 -0.11236628 0.95054083 -12.44762737] [ 0. 0. 0. 1. ]] SLAMing on 110.85165253199999 meters Centerline goodness : 0.719667 Centerline is valid? [False, False] Translation: X:-39.82, Y:-43.12, Z:-12.45 [[ 0.76780882 -0.56264794 -0.30642603 -39.81618295] [ 0.56972225 0.81839364 -0.07515591 -43.1152611 ] [ 0.29306343 -0.11687236 0.9489229 -12.45076467] [ 0. 0. 0. 1. ]] SLAMing on 110.88165253199999 meters Centerline goodness : 0.719063 Centerline is valid? [False, False] Translation: X:-39.84, Y:-43.14, Z:-12.46 [[ 0.76747349 -0.56077183 -0.31067572 -39.83786758] [ 0.56895933 0.81911959 -0.07299571 -43.14323548] [ 0.2954145 -0.12073958 0.94770894 -12.45613456] [ 0. 0. 0. 1. ]] SLAMing on 110.91165253199999 meters Centerline goodness : 0.719478 Centerline is valid? [False, False] Translation: X:-39.84, Y:-43.14, Z:-12.46 [[ 0.76585365 -0.56451194 -0.30788708 -39.84052976] [ 0.571771 0.81692431 -0.07558169 -43.14453573] [ 0.29418721 -0.11815639 0.94841602 -12.45665197] [ 0. 0. 0. 1. ]] SLAMing on 110.94165253199999 meters Centerline goodness : 0.720786 Centerline is valid? [False, False] Translation: X:-39.86, Y:-43.17, Z:-12.46 [[ 0.76462323 -0.56468417 -0.3106173 -39.8630094 ] [ 0.57246452 0.81648091 -0.07512195 -43.17159616] [ 0.29603327 -0.12037739 0.94756192 -12.46259176] [ 0. 0. 0. 1. ]] SLAMing on 110.971652532 meters Centerline goodness : 0.721834 Centerline is valid? [False, False] Translation: X:-39.87, Y:-43.17, Z:-12.47 [[ 0.76412429 -0.56753571 -0.30662238 -39.86865199] [ 0.57424455 0.81501041 -0.07746758 -43.17423076] [ 0.29386605 -0.11688137 0.94867354 -12.46574074] [ 0. 0. 0. 1. ]] SLAMing on 111.001652532 meters Centerline goodness : 0.723196 Centerline is valid? [False, False] Translation: X:-39.89, Y:-43.20, Z:-12.47 [[ 0.76345549 -0.56700318 -0.30926219 -39.89269866] [ 0.57464139 0.81491607 -0.07549218 -43.2028315 ] [ 0.29482704 -0.12007993 0.94797565 -12.47080216] [ 0. 0. 0. 1. ]] SLAMing on 111.031652532 meters Centerline goodness : 0.723170 Centerline is valid? [False, False] Translation: X:-39.91, Y:-43.23, Z:-12.47 [[ 0.76076043 -0.56859887 -0.31295191 -39.9120878 ] [ 0.576922 0.81332379 -0.07526894 -43.22685398] [ 0.29732907 -0.12328721 0.94678175 -12.47445242] [ 0. 0. 0. 1. ]] SLAMing on 111.061652532 meters Centerline goodness : 0.728961 Centerline is valid? [False, False] Translation: X:-39.93, Y:-43.25, Z:-12.48 [[ 0.7589701 -0.56898055 -0.31658414 -39.93326419] [ 0.57824127 0.81250213 -0.074009 -43.25333628] [ 0.29933497 -0.12689139 0.94567286 -12.47830881] [ 0. 0. 0. 1. ]] SLAMing on 111.09165253199998 meters Centerline goodness : 0.726574 Centerline is valid? [False, False] Translation: X:-39.94, Y:-43.25, Z:-12.48 [[ 0.75792736 -0.57187702 -0.31385154 -39.9380284 ] [ 0.58021781 0.81087606 -0.07633682 -43.2532939 ] [ 0.29814998 -0.12424448 0.94639838 -12.47938667] [ 0. 0. 0. 1. ]] SLAMing on 111.12165253199998 meters Centerline goodness : 0.728004 Centerline is valid? [False, False] Translation: X:-39.94, Y:-43.25, Z:-12.48 [[ 0.75651116 -0.57549113 -0.31064582 -39.94210536] [ 0.58279171 0.80876925 -0.07903246 -43.25296022] [ 0.29672327 -0.12125288 0.94723442 -12.48115942] [ 0. 0. 0. 1. ]] SLAMing on 111.15165253199999 meters Centerline goodness : 0.726837 Centerline is valid? [False, False] Translation: X:-39.95, Y:-43.25, Z:-12.48 [[ 0.75504507 -0.57904635 -0.30759108 -39.946186 ] [ 0.58531986 0.80666757 -0.08178079 -43.25234885] [ 0.29547861 -0.11829098 0.9479977 -12.48261859] [ 0. 0. 0. 1. ]] SLAMing on 111.18165253199999 meters Centerline goodness : 0.727313 Centerline is valid? [False, False] Translation: X:-39.96, Y:-43.26, Z:-12.49 [[ 0.75733304 -0.57845977 -0.30303626 -39.96210473] [ 0.58207825 0.80832485 -0.08829411 -43.26473446] [ 0.29602633 -0.10952277 0.94887996 -12.49093769] [ 0. 0. 0. 1. ]] SLAMing on 111.21165253199999 meters Centerline goodness : 0.726476 Centerline is valid? [False, False] Translation: X:-39.97, Y:-43.27, Z:-12.49 [[ 0.75606213 -0.58161319 -0.30016022 -39.96670235] [ 0.58439373 0.8064033 -0.09054108 -43.26599284] [ 0.29471008 -0.10695707 0.94958209 -12.49125022] [ 0. 0. 0. 1. ]] SLAMing on 111.24165253199999 meters Centerline goodness : 0.728874 Centerline is valid? [False, False] Translation: X:-39.97, Y:-43.27, Z:-12.49 [[ 0.75513257 -0.58422314 -0.29741911 -39.9719058 ] [ 0.58623571 0.80483913 -0.09252925 -43.26765429] [ 0.29343227 -0.10448585 0.95025271 -12.49145532] [ 0. 0. 0. 1. ]] SLAMing on 111.27165253199999 meters Centerline goodness : 0.729033 Centerline is valid? [False, False] Translation: X:-39.97, Y:-43.27, Z:-12.49 [[ 0.75586722 -0.58346826 -0.29703455 -39.97468898] [ 0.5856204 0.80537385 -0.09176986 -43.26910121] [ 0.29276866 -0.10458366 0.95044661 -12.49156082] [ 0. 0. 0. 1. ]] SLAMing on 111.30165253199999 meters Centerline goodness : 0.729794 Centerline is valid? [False, False] Translation: X:-39.98, Y:-43.28, Z:-12.49 [[ 0.7581907 -0.58193362 -0.29410906 -39.9847023 ] [ 0.58364207 0.80680654 -0.09178861 -43.27626325] [ 0.29070399 -0.10206115 0.95135415 -12.49493721] [ 0. 0. 0. 1. ]] SLAMing on 111.33165253199999 meters Centerline goodness : 0.732048 Centerline is valid? [False, False] Translation: X:-39.99, Y:-43.28, Z:-12.49 [[ 0.75681506 -0.58515872 -0.29123915 -39.98921326] [ 0.58606377 0.80478943 -0.09403842 -43.27770722] [ 0.28941359 -0.09951502 0.95201709 -12.49499051] [ 0. 0. 0. 1. ]] SLAMing on 111.361652532 meters Centerline goodness : 0.732282 Centerline is valid? [False, False] Translation: X:-40.01, Y:-43.30, Z:-12.50 [[ 0.75599911 -0.58269517 -0.29821416 -40.00693257] [ 0.58530414 0.80573893 -0.09057507 -43.29989415] [ 0.29306041 -0.10607131 0.95019181 -12.49709511] [ 0. 0. 0. 1. ]] SLAMing on 111.391652532 meters Centerline goodness : 0.733132 Centerline is valid? [False, False] Translation: X:-40.02, Y:-43.31, Z:-12.50 [[ 0.75903016 -0.57941377 -0.29690553 -40.02287128] [ 0.57994947 0.80896656 -0.09608183 -43.31267953] [ 0.29585778 -0.0992612 0.95006073 -12.50285195] [ 0. 0. 0. 1. ]] SLAMing on 111.421652532 meters Centerline goodness : 0.734688 Centerline is valid? [False, False] Translation: X:-40.04, Y:-43.33, Z:-12.51 [[ 0.75886204 -0.576335 -0.30325958 -40.04259198] [ 0.57849071 0.81041748 -0.09258509 -43.33489139] [ 0.2991269 -0.10517354 0.94839951 -12.50687531] [ 0. 0. 0. 1. ]] SLAMing on 111.451652532 meters Centerline goodness : 0.734688 Centerline is valid? [False, False] Translation: X:-40.04, Y:-43.33, Z:-12.51 [[ 0.75886204 -0.576335 -0.30325958 -40.04259198] [ 0.57849071 0.81041748 -0.09258509 -43.33489139] [ 0.2991269 -0.10517354 0.94839951 -12.50687531] [ 0. 0. 0. 1. ]] SLAMing on 111.48165253199998 meters Centerline goodness : 0.735822 Centerline is valid? [False, False] Translation: X:-40.05, Y:-43.33, Z:-12.51 [[ 0.75973672 -0.57558235 -0.30249805 -40.0475649 ] [ 0.57775109 0.8110006 -0.09209619 -43.33480674] [ 0.29833504 -0.10479972 0.94869027 -12.50741234] [ 0. 0. 0. 1. ]] SLAMing on 111.51165253199999 meters Centerline goodness : 0.735822 Centerline is valid? [False, False] Translation: X:-40.05, Y:-43.33, Z:-12.51 [[ 0.75973672 -0.57558235 -0.30249805 -40.0475649 ] [ 0.57775109 0.8110006 -0.09209619 -43.33480674] [ 0.29833504 -0.10479972 0.94869027 -12.50741234] [ 0. 0. 0. 1. ]] SLAMing on 111.54165253199999 meters Centerline goodness : 0.735822 Centerline is valid? [False, False] Translation: X:-40.05, Y:-43.33, Z:-12.51 [[ 0.75973672 -0.57558235 -0.30249805 -40.0475649 ] [ 0.57775109 0.8110006 -0.09209619 -43.33480674] [ 0.29833504 -0.10479972 0.94869027 -12.50741234] [ 0. 0. 0. 1. ]] SLAMing on 111.57165253199999 meters Centerline goodness : 0.737252 Centerline is valid? [False, False] Translation: X:-40.05, Y:-43.34, Z:-12.51 [[ 0.76024799 -0.5750319 -0.30226033 -40.05025311] [ 0.57730942 0.8113777 -0.09154271 -43.33567102] [ 0.29788727 -0.10490257 0.9488196 -12.50706289] [ 0. 0. 0. 1. ]] SLAMing on 111.60165253199999 meters Centerline goodness : 0.736874 Centerline is valid? [False, False] Translation: X:-40.05, Y:-43.34, Z:-12.51 [[ 0.76093571 -0.57432189 -0.30187945 -40.05368573] [ 0.57671738 0.81187405 -0.09087135 -43.33666962] [ 0.2972775 -0.10495187 0.94900537 -12.50684625] [ 0. 0. 0. 1. ]] SLAMing on 111.63165253199999 meters Centerline goodness : 0.737413 Centerline is valid? [False, False] Translation: X:-40.06, Y:-43.34, Z:-12.51 [[ 0.76183622 -0.57337765 -0.30140281 -40.05782304] [ 0.57593178 0.81253041 -0.08998288 -43.33778969] [ 0.29649312 -0.10503524 0.9492415 -12.50683195] [ 0. 0. 0. 1. ]] SLAMing on 111.66165253199999 meters Centerline goodness : 0.739948 Centerline is valid? [False, False] Translation: X:-40.08, Y:-43.36, Z:-12.51 [[ 0.76398506 -0.5686926 -0.30482052 -40.08457993] [ 0.57284937 0.81522319 -0.08517483 -43.36387306] [ 0.29693505 -0.10954395 0.94859354 -12.51417893] [ 0. 0. 0. 1. ]] SLAMing on 111.69165253199999 meters Centerline goodness : 0.740283 Centerline is valid? [False, False] Translation: X:-40.09, Y:-43.36, Z:-12.51 [[ 0.76460201 -0.56809588 -0.30438599 -40.08815254] [ 0.57233679 0.81564225 -0.08460684 -43.36412251] [ 0.29633487 -0.10952074 0.94878388 -12.51425125] [ 0. 0. 0. 1. ]] SLAMing on 111.721652532 meters Centerline goodness : 0.740927 Centerline is valid? [False, False] Translation: X:-40.09, Y:-43.36, Z:-12.51 [[ 0.76490133 -0.56786316 -0.30406807 -40.08989232] [ 0.57211846 0.81581831 -0.08438569 -43.36435799] [ 0.29598383 -0.10941623 0.94890551 -12.51439374] [ 0. 0. 0. 1. ]] SLAMing on 111.751652532 meters Centerline goodness : 0.742620 Centerline is valid? [False, False] Translation: X:-40.10, Y:-43.37, Z:-12.52 [[ 0.76679349 -0.56749844 -0.29995545 -40.10034529] [ 0.57066957 0.81664249 -0.08620489 -43.37059101] [ 0.29387751 -0.1050741 0.95005023 -12.51933455] [ 0. 0. 0. 1. ]] SLAMing on 111.781652532 meters Centerline goodness : 0.742768 Centerline is valid? [False, False] Translation: X:-40.10, Y:-43.37, Z:-12.52 [[ 0.76784669 -0.5663952 -0.29934587 -40.10497255] [ 0.56972351 0.81740481 -0.08523199 -43.37182804] [ 0.29296174 -0.10509927 0.95033024 -12.51951866] [ 0. 0. 0. 1. ]] SLAMing on 111.811652532 meters Centerline goodness : 0.745916 Centerline is valid? [False, False] Translation: X:-40.11, Y:-43.37, Z:-12.52 [[ 0.76849993 -0.56573848 -0.29891109 -40.10853401] [ 0.56915707 0.81786129 -0.08463531 -43.37231157] [ 0.29234926 -0.10508513 0.9505204 -12.51952028] [ 0. 0. 0. 1. ]] SLAMing on 111.84165253199998 meters Centerline goodness : 0.748394 Centerline is valid? [False, False] Translation: X:-40.11, Y:-43.37, Z:-12.52 [[ 0.76901856 -0.56532319 -0.29836245 -40.11262028] [ 0.5687719 0.81816992 -0.08424077 -43.37188401] [ 0.29173445 -0.10491746 0.9507278 -12.51957597] [ 0. 0. 0. 1. ]] SLAMing on 111.87165253199998 meters Centerline goodness : 0.749509 Centerline is valid? [False, False] Translation: X:-40.12, Y:-43.37, Z:-12.52 [[ 0.76960081 -0.56475385 -0.29793905 -40.11583878] [ 0.56829173 0.81856213 -0.08366925 -43.37222316] [ 0.29113416 -0.10492438 0.95091102 -12.51965676] [ 0. 0. 0. 1. ]] SLAMing on 111.90165253199999 meters Centerline goodness : 0.750353 Centerline is valid? [False, False] Translation: X:-40.13, Y:-43.38, Z:-12.52 [[ 0.77110554 -0.56493351 -0.29367734 -40.12605004] [ 0.56739438 0.81898126 -0.08563483 -43.37786901] [ 0.28889422 -0.10059738 0.95206108 -12.52470108] [ 0. 0. 0. 1. ]] SLAMing on 111.93165253199999 meters Centerline goodness : 0.751614 Centerline is valid? [False, False] Translation: X:-40.13, Y:-43.38, Z:-12.53 [[ 0.77081774 -0.56736774 -0.2897134 -40.13270842] [ 0.56884535 0.81772954 -0.0879396 -43.37990279] [ 0.2868013 -0.09701672 0.95306494 -12.52775653] [ 0. 0. 0. 1. ]] SLAMing on 111.96165253199999 meters Centerline goodness : 0.750889 Centerline is valid? [False, False] Translation: X:-40.14, Y:-43.38, Z:-12.53 [[ 0.77190199 -0.56708711 -0.28736652 -40.13860497] [ 0.56836671 0.81808748 -0.08770497 -43.38256055] [ 0.28482731 -0.09562992 0.95379679 -12.53044245] [ 0. 0. 0. 1. ]] SLAMing on 111.99165253199999 meters Centerline goodness : 0.752717 Centerline is valid? [False, False] Translation: X:-40.14, Y:-43.38, Z:-12.53 [[ 0.77200482 -0.5670458 -0.28717176 -40.13987343] [ 0.56832301 0.81812529 -0.08763539 -43.3823365 ] [ 0.28463576 -0.09555137 0.95386184 -12.53046619] [ 0. 0. 0. 1. ]] SLAMing on 112.02165253199999 meters Centerline goodness : 0.753067 Centerline is valid? [False, False] Translation: X:-40.16, Y:-43.41, Z:-12.53 [[ 0.77146353 -0.56515775 -0.29230249 -40.15974945] [ 0.56764111 0.81886628 -0.0850975 -43.40569852] [ 0.28745016 -0.1002733 0.95253224 -12.53496613] [ 0. 0. 0. 1. ]] SLAMing on 112.05165253199999 meters Centerline goodness : 0.753291 Centerline is valid? [False, False] Translation: X:-40.16, Y:-43.41, Z:-12.53 [[ 0.77205075 -0.56449235 -0.29203772 -40.16271961] [ 0.56711338 0.81930326 -0.0844073 -43.40653091] [ 0.28691473 -0.10045178 0.95267486 -12.53466882] [ 0. 0. 0. 1. ]] SLAMing on 112.08165253199999 meters Centerline goodness : 0.754281 Centerline is valid? [False, False] Translation: X:-40.19, Y:-43.43, Z:-12.54 [[ 0.77184446 -0.56328691 -0.29489658 -40.18649319] [ 0.56672125 0.81976433 -0.08254374 -43.4342032 ] [ 0.2882415 -0.10341323 0.95195722 -12.5404011 ] [ 0. 0. 0. 1. ]] SLAMing on 112.111652532 meters Centerline goodness : 0.756425 Centerline is valid? [False, False] Translation: X:-40.19, Y:-43.44, Z:-12.54 [[ 0.77265987 -0.56417349 -0.29104123 -40.1943737 ] [ 0.56665819 0.81961614 -0.08442674 -43.43831994] [ 0.28617341 -0.09968774 0.95297803 -12.54440386] [ 0. 0. 0. 1. ]] SLAMing on 112.141652532 meters Centerline goodness : 0.756998 Centerline is valid? [False, False] Translation: X:-40.20, Y:-43.44, Z:-12.54 [[ 0.77306096 -0.56374764 -0.29080121 -40.19635884] [ 0.56631771 0.81989862 -0.08396731 -43.43888528] [ 0.28576388 -0.09977403 0.95309189 -12.54437388] [ 0. 0. 0. 1. ]] SLAMing on 112.171652532 meters Centerline goodness : 0.758571 Centerline is valid? [False, False] Translation: X:-40.22, Y:-43.47, Z:-12.55 [[ 0.77227961 -0.56344822 -0.29344556 -40.22009753] [ 0.56678678 0.81973935 -0.08234169 -43.46726778] [ 0.28694415 -0.10273025 0.95242299 -12.549236 ] [ 0. 0. 0. 1. ]] SLAMing on 112.201652532 meters Centerline goodness : 0.758826 Centerline is valid? [False, False] Translation: X:-40.23, Y:-43.47, Z:-12.55 [[ 0.77216529 -0.56492767 -0.29089086 -40.22601102] [ 0.56761796 0.81901221 -0.08383823 -43.46946835] [ 0.2856057 -0.10037791 0.95307589 -12.5500793 ] [ 0. 0. 0. 1. ]] SLAMing on 112.23165253199998 meters Centerline goodness : 0.760310 Centerline is valid? [False, False] Translation: X:-40.23, Y:-43.47, Z:-12.55 [[ 0.77095018 -0.56795702 -0.28820242 -40.23035085] [ 0.5698556 0.81722104 -0.08610667 -43.47045228] [ 0.28442998 -0.09784981 0.9536902 -12.55032849] [ 0. 0. 0. 1. ]] SLAMing on 112.26165253199999 meters Centerline goodness : 0.760821 Centerline is valid? [False, False] Translation: X:-40.25, Y:-43.50, Z:-12.55 [[ 0.77021886 -0.56662437 -0.29274516 -40.25025171] [ 0.56950246 0.81766029 -0.08425319 -43.49640281] [ 0.287106 -0.10182569 0.95247135 -12.55499739] [ 0. 0. 0. 1. ]] SLAMing on 112.29165253199999 meters Centerline goodness : 0.760617 Centerline is valid? [False, False] Translation: X:-40.25, Y:-43.50, Z:-12.55 [[ 0.76990042 -0.56768984 -0.29151601 -40.25464851] [ 0.57028927 0.8170411 -0.08493524 -43.49758679] [ 0.28639743 -0.10085677 0.95278771 -12.55413165] [ 0. 0. 0. 1. ]] SLAMing on 112.32165253199999 meters Centerline goodness : 0.762228 Centerline is valid? [False, False] Translation: X:-40.26, Y:-43.50, Z:-12.55 [[ 0.77045067 -0.56709668 -0.29121662 -40.25742127] [ 0.56982926 0.81743198 -0.08425899 -43.49859239] [ 0.28583278 -0.10102636 0.95293929 -12.55390738] [ 0. 0. 0. 1. ]] SLAMing on 112.35165253199999 meters Centerline goodness : 0.762447 Centerline is valid? [False, False] Translation: X:-40.26, Y:-43.50, Z:-12.55 [[ 0.76958763 -0.56929913 -0.28919438 -40.26218362] [ 0.57147698 0.81611971 -0.08580605 -43.49975906] [ 0.28486654 -0.09923265 0.95341698 -12.55335879] [ 0. 0. 0. 1. ]] SLAMing on 112.38165253199999 meters Centerline goodness : 0.762911 Centerline is valid? [False, False] Translation: X:-40.27, Y:-43.51, Z:-12.56 [[ 0.77004371 -0.57125646 -0.28407524 -40.2697306 ] [ 0.5722549 0.81530664 -0.08831426 -43.50566691] [ 0.28205852 -0.09455761 0.95472606 -12.5589376 ] [ 0. 0. 0. 1. ]] SLAMing on 112.41165253199999 meters Centerline goodness : 0.762738 Centerline is valid? [False, False] Translation: X:-40.29, Y:-43.53, Z:-12.56 [[ 0.76879866 -0.57051861 -0.28888951 -40.28744963] [ 0.57239623 0.8153546 -0.08694507 -43.5316003 ] [ 0.28515117 -0.09851601 0.95340621 -12.56341929] [ 0. 0. 0. 1. ]] SLAMing on 112.44165253199999 meters Centerline goodness : 0.764301 Centerline is valid? [False, False] Translation: X:-40.30, Y:-43.55, Z:-12.57 [[ 0.76737845 -0.56977657 -0.2940833 -40.30424357] [ 0.57260763 0.81535258 -0.08556093 -43.554295 ] [ 0.28853219 -0.10273672 0.9519424 -12.56836359] [ 0. 0. 0. 1. ]] SLAMing on 112.471652532 meters Centerline goodness : 0.762579 Centerline is valid? [False, False] Translation: X:-40.32, Y:-43.56, Z:-12.58 [[ 0.76807357 -0.57197646 -0.28793387 -40.31594573] [ 0.57232495 0.81485064 -0.09199237 -43.56256858] [ 0.28724057 -0.09413483 0.95322164 -12.57648534] [ 0. 0. 0. 1. ]] SLAMing on 112.501652532 meters Centerline goodness : 0.763577 Centerline is valid? [False, False] Translation: X:-40.34, Y:-43.59, Z:-12.58 [[ 0.76689253 -0.5711922 -0.29260096 -40.33547614] [ 0.57253401 0.81490345 -0.09020628 -43.58925187] [ 0.28996665 -0.09834547 0.95197033 -12.58029034] [ 0. 0. 0. 1. ]] SLAMing on 112.531652532 meters Centerline goodness : 0.763279 Centerline is valid? [False, False] Translation: X:-40.36, Y:-43.62, Z:-12.59 [[ 0.76658131 -0.56919168 -0.29727754 -40.35543182] [ 0.57174047 0.81574811 -0.08756626 -43.61582661] [ 0.29234558 -0.10283894 0.95076717 -12.58517021] [ 0. 0. 0. 1. ]] SLAMing on 112.561652532 meters Centerline goodness : 0.764067 Centerline is valid? [False, False] Translation: X:-40.38, Y:-43.64, Z:-12.59 [[ 0.76576435 -0.56875585 -0.30020282 -40.37734683] [ 0.5720325 0.81568648 -0.08622291 -43.64356519] [ 0.29391117 -0.10569934 0.94997046 -12.59085806] [ 0. 0. 0. 1. ]] SLAMing on 112.59165253199998 meters Centerline goodness : 0.765082 Centerline is valid? [False, False] Translation: X:-40.40, Y:-43.67, Z:-12.60 [[ 0.76497754 -0.56814197 -0.30335469 -40.39991435] [ 0.57217134 0.81572895 -0.0848895 -43.67236327] [ 0.29568449 -0.1086323 0.94908888 -12.59583622] [ 0. 0. 0. 1. ]] SLAMing on 112.62165253199998 meters Centerline goodness : 0.766972 Centerline is valid? [False, False] Translation: X:-40.43, Y:-43.70, Z:-12.60 [[ 0.76598256 -0.56629032 -0.30427947 -40.42719855] [ 0.57091743 0.81680725 -0.08294099 -43.70494512] [ 0.29550635 -0.1101871 0.94896512 -12.60426167] [ 0. 0. 0. 1. ]] SLAMing on 112.65165253199999 meters Centerline goodness : 0.768715 Centerline is valid? [False, False] Translation: X:-40.45, Y:-43.73, Z:-12.61 [[ 0.76539882 -0.56608767 -0.30611989 -40.45061236] [ 0.57122678 0.81668659 -0.08199371 -43.7338048 ] [ 0.29641964 -0.11210599 0.9484554 -12.61142332] [ 0. 0. 0. 1. ]] SLAMing on 112.68165253199999 meters Centerline goodness : 0.768492 Centerline is valid? [False, False] Translation: X:-40.47, Y:-43.76, Z:-12.62 [[ 0.76518471 -0.56544399 -0.30783999 -40.47437056] [ 0.57104383 0.81690552 -0.0810821 -43.76336947] [ 0.29732357 -0.11374735 0.94797692 -12.61924814] [ 0. 0. 0. 1. ]] SLAMing on 112.71165253199999 meters Centerline goodness : 0.768181 Centerline is valid? [False, False] Translation: X:-40.50, Y:-43.79, Z:-12.63 [[ 0.76551765 -0.56364368 -0.31030393 -40.49777344] [ 0.57010826 0.81776658 -0.07895817 -43.79240614] [ 0.29826045 -0.11646296 0.94735267 -12.62644508] [ 0. 0. 0. 1. ]] SLAMing on 112.74165253199999 meters Centerline goodness : 0.767540 Centerline is valid? [False, False] Translation: X:-40.52, Y:-43.82, Z:-12.64 [[ 0.76371913 -0.56607046 -0.3103181 -40.52199384] [ 0.57209404 0.81618946 -0.08088985 -43.82186208] [ 0.29906772 -0.11575401 0.94718504 -12.6352117 ] [ 0. 0. 0. 1. ]] SLAMing on 112.77165253199999 meters Centerline goodness : 0.769003 Centerline is valid? [False, False] Translation: X:-40.55, Y:-43.85, Z:-12.64 [[ 0.76398302 -0.56488627 -0.31182278 -40.54698183] [ 0.57141891 0.81678436 -0.07964756 -43.85065515] [ 0.29968378 -0.11733205 0.94679608 -12.64395517] [ 0. 0. 0. 1. ]] SLAMing on 112.80165253199999 meters Centerline goodness : 0.769154 Centerline is valid? [False, False] Translation: X:-40.57, Y:-43.88, Z:-12.65 [[ 0.76476635 -0.56316673 -0.31301066 -40.57387408] [ 0.57026289 0.81775142 -0.07799262 -43.8815022 ] [ 0.29988776 -0.11885223 0.94654185 -12.65287884] [ 0. 0. 0. 1. ]] SLAMing on 112.83165253199999 meters Centerline goodness : 0.770248 Centerline is valid? [False, False] Translation: X:-40.60, Y:-43.91, Z:-12.66 [[ 0.76426248 -0.56282188 -0.31485616 -40.59691237] [ 0.57052243 0.81768321 -0.07680054 -43.90893481] [ 0.30067762 -0.12093673 0.9460271 -12.66073426] [ 0. 0. 0. 1. ]] SLAMing on 112.861652532 meters Centerline goodness : 0.770457 Centerline is valid? [False, False] Translation: X:-40.62, Y:-43.94, Z:-12.67 [[ 0.7643187 -0.56249782 -0.31529847 -40.62191628] [ 0.57029802 0.81785795 -0.07660637 -43.9379962 ] [ 0.30096028 -0.12126241 0.94589552 -12.67093998] [ 0. 0. 0. 1. ]] SLAMing on 112.891652532 meters Centerline goodness : 0.771703 Centerline is valid? [False, False] Translation: X:-40.65, Y:-43.97, Z:-12.68 [[ 0.76442439 -0.56213277 -0.31569305 -40.64719484] [ 0.57002791 0.81806572 -0.07639798 -43.96717898] [ 0.30120347 -0.12155336 0.94578076 -12.68107594] [ 0. 0. 0. 1. ]] SLAMing on 112.921652532 meters Centerline goodness : 0.770640 Centerline is valid? [False, False] Translation: X:-40.67, Y:-44.00, Z:-12.69 [[ 0.76465823 -0.56208111 -0.31521837 -40.67439068] [ 0.5696993 0.81823328 -0.07705204 -43.99803784] [ 0.30123165 -0.12066121 0.94588602 -12.69195721] [ 0. 0. 0. 1. ]] SLAMing on 112.951652532 meters Centerline goodness : 0.770113 Centerline is valid? [False, False] Translation: X:-40.70, Y:-44.03, Z:-12.70 [[ 0.76525825 -0.56138473 -0.31500317 -40.70108944] [ 0.56912085 0.81869347 -0.076436 -44.02693897] [ 0.30080104 -0.1207816 0.94600769 -12.70317973] [ 0. 0. 0. 1. ]] SLAMing on 112.98165253199998 meters Centerline goodness : 0.771893 Centerline is valid? [False, False] Translation: X:-40.72, Y:-44.05, Z:-12.71 [[ 0.76430699 -0.56191656 -0.3163615 -40.72452047] [ 0.56987251 0.81816928 -0.07644839 -44.05356889] [ 0.30179487 -0.12185568 0.9455533 -12.71163738] [ 0. 0. 0. 1. ]] SLAMing on 113.01165253199999 meters Centerline goodness : 0.771624 Centerline is valid? [False, False] Translation: X:-40.75, Y:-44.08, Z:-12.72 [[ 0.76471507 -0.56123506 -0.31658502 -40.75077458] [ 0.56934867 0.81858486 -0.07590067 -44.08267799] [ 0.30174982 -0.12220487 0.94552261 -12.72219301] [ 0. 0. 0. 1. ]] SLAMing on 113.04165253199999 meters Centerline goodness : 0.772273 Centerline is valid? [False, False] Translation: X:-40.78, Y:-44.12, Z:-12.73 [[ 0.76702888 -0.55889146 -0.31513017 -40.78209791] [ 0.56714989 0.82025643 -0.07429934 -44.11691617] [ 0.30001282 -0.1217363 0.9461356 -12.7337222 ] [ 0. 0. 0. 1. ]] SLAMing on 113.07165253199999 meters Centerline goodness : 0.772548 Centerline is valid? [False, False] Translation: X:-40.81, Y:-44.15, Z:-12.74 [[ 0.76718047 -0.55869099 -0.31511665 -40.80817644] [ 0.5671711 0.8203093 -0.07354999 -44.14750492] [ 0.29958483 -0.12229894 0.94619866 -12.7428804 ] [ 0. 0. 0. 1. ]] SLAMing on 113.10165253199999 meters Centerline goodness : 0.772504 Centerline is valid? [False, False] Translation: X:-40.84, Y:-44.18, Z:-12.75 [[ 0.76879533 -0.55689759 -0.31435459 -40.83696708] [ 0.5654412 0.82158494 -0.07262539 -44.17860664] [ 0.2987139 -0.12191498 0.9465235 -12.75488916] [ 0. 0. 0. 1. ]] SLAMing on 113.13165253199999 meters Centerline goodness : 0.771721 Centerline is valid? [False, False] Translation: X:-40.86, Y:-44.21, Z:-12.77 [[ 0.76819089 -0.55806115 -0.31376825 -40.86274405] [ 0.56634232 0.82089019 -0.07345522 -44.20893486] [ 0.29856179 -0.12127261 0.94665401 -12.76530997] [ 0. 0. 0. 1. ]] SLAMing on 113.16165253199999 meters Centerline goodness : 0.772622 Centerline is valid? [False, False] Translation: X:-40.89, Y:-44.24, Z:-12.78 [[ 0.76909398 -0.5566598 -0.31404508 -40.88968032] [ 0.56516506 0.82178066 -0.07256032 -44.23878367] [ 0.29846759 -0.1216816 0.94663123 -12.77584696] [ 0. 0. 0. 1. ]] SLAMing on 113.19165253199999 meters Centerline goodness : 0.770693 Centerline is valid? [False, False] Translation: X:-40.92, Y:-44.27, Z:-12.79 [[ 0.76831052 -0.55886235 -0.31204457 -40.91696664] [ 0.56685482 0.82050539 -0.0738005 -44.26908978] [ 0.29727857 -0.12018227 0.94719674 -12.78650403] [ 0. 0. 0. 1. ]] SLAMing on 113.221652532 meters Centerline goodness : 0.772384 Centerline is valid? [False, False] Translation: X:-40.93, Y:-44.29, Z:-12.79 [[ 0.76448899 -0.56241869 -0.31502667 -40.93417275] [ 0.5705977 0.81777223 -0.07527848 -44.29210448] [ 0.29995809 -0.12220392 0.94609267 -12.79097044] [ 0. 0. 0. 1. ]] SLAMing on 113.251652532 meters Centerline goodness : 0.772611 Centerline is valid? [False, False] Translation: X:-40.96, Y:-44.32, Z:-12.80 [[ 0.76487992 -0.56165561 -0.31543887 -40.96076679] [ 0.56998 0.81824382 -0.07483217 -44.32380389] [ 0.30013581 -0.12255623 0.94599073 -12.8009691 ] [ 0. 0. 0. 1. ]] SLAMing on 113.281652532 meters Centerline goodness : 0.773111 Centerline is valid? [False, False] Translation: X:-40.99, Y:-44.35, Z:-12.81 [[ 0.76534094 -0.56056229 -0.3162644 -40.98684619] [ 0.569395 0.81878495 -0.07335212 -44.35320838] [ 0.30007096 -0.12393999 0.94583101 -12.80990882] [ 0. 0. 0. 1. ]] SLAMing on 113.311652532 meters Centerline goodness : 0.772589 Centerline is valid? [False, False] Translation: X:-41.01, Y:-44.38, Z:-12.82 [[ 0.76311698 -0.56246354 -0.31825657 -41.0075084 ] [ 0.5714975 0.81725828 -0.07402372 -44.37867879] [ 0.30173346 -0.12539408 0.94511017 -12.81681558] [ 0. 0. 0. 1. ]] SLAMing on 113.34165253199998 meters Centerline goodness : 0.772551 Centerline is valid? [False, False] Translation: X:-41.03, Y:-44.41, Z:-12.83 [[ 0.76318209 -0.56171074 -0.31942785 -41.03264764] [ 0.57121829 0.81755462 -0.07289797 -44.40791235] [ 0.30209728 -0.12682861 0.94480249 -12.82524195] [ 0. 0. 0. 1. ]] SLAMing on 113.37165253199998 meters Centerline goodness : 0.773850 Centerline is valid? [False, False] Translation: X:-41.06, Y:-44.44, Z:-12.83 [[ 0.76451223 -0.56024998 -0.31881189 -41.06150676] [ 0.57014041 0.8184653 -0.07109475 -44.442877 ] [ 0.3007673 -0.12741474 0.94514788 -12.8347697 ] [ 0. 0. 0. 1. ]] SLAMing on 113.40165253199999 meters Centerline goodness : 0.773850 Centerline is valid? [False, False] Translation: X:-41.09, Y:-44.47, Z:-12.84 [[ 0.76460797 -0.55970447 -0.31953961 -41.08724008] [ 0.56966975 0.81879521 -0.07106886 -44.4715562 ] [ 0.30141506 -0.12769223 0.94490405 -12.84448342] [ 0. 0. 0. 1. ]] SLAMing on 113.43165253199999 meters Centerline goodness : 0.774973 Centerline is valid? [False, False] Translation: X:-41.11, Y:-44.50, Z:-12.85 [[ 0.76207416 -0.5620885 -0.32140239 -41.10698352] [ 0.57200945 0.81702912 -0.07258519 -44.4976023 ] [ 0.30339441 -0.12852991 0.94415671 -12.85159722] [ 0. 0. 0. 1. ]] SLAMing on 113.46165253199999 meters Centerline goodness : 0.774168 Centerline is valid? [False, False] Translation: X:-41.13, Y:-44.53, Z:-12.86 [[ 0.76133067 -0.56357631 -0.32055787 -41.13198347] [ 0.57294963 0.81622111 -0.07424168 -44.52679973] [ 0.30348695 -0.12714104 0.944315 -12.86320011] [ 0. 0. 0. 1. ]] SLAMing on 113.49165253199999 meters Centerline goodness : 0.774426 Centerline is valid? [False, False] Translation: X:-41.15, Y:-44.55, Z:-12.87 [[ 0.75806343 -0.56709012 -0.32210035 -41.15154201] [ 0.57618704 0.81372203 -0.07658297 -44.5540764 ] [ 0.30552959 -0.1275353 0.94360289 -12.87024859] [ 0. 0. 0. 1. ]] SLAMing on 113.52165253199999 meters Centerline goodness : 0.775956 Centerline is valid? [False, False] Translation: X:-41.18, Y:-44.58, Z:-12.88 [[ 0.75895072 -0.56545101 -0.32289157 -41.17834683] [ 0.57506036 0.81466732 -0.07498489 -44.58457074] [ 0.30544949 -0.12877231 0.94346081 -12.8799096 ] [ 0. 0. 0. 1. ]] SLAMing on 113.55165253199999 meters Centerline goodness : 0.776040 Centerline is valid? [False, False] Translation: X:-41.20, Y:-44.61, Z:-12.89 [[ 0.75869089 -0.56474633 -0.32473021 -41.20269324] [ 0.57498263 0.8148368 -0.07372894 -44.61288374] [ 0.30624028 -0.13077676 0.94292859 -12.88769793] [ 0. 0. 0. 1. ]] SLAMing on 113.58165253199999 meters Centerline goodness : 0.775977 Centerline is valid? [False, False] Translation: X:-41.23, Y:-44.64, Z:-12.90 [[ 0.75857545 -0.56422389 -0.32590594 -41.22827691] [ 0.57478219 0.81502944 -0.07316046 -44.64441788] [ 0.30690182 -0.1318272 0.94256717 -12.89634524] [ 0. 0. 0. 1. ]] SLAMing on 113.611652532 meters Centerline goodness : 0.776995 Centerline is valid? [False, False] Translation: X:-41.25, Y:-44.67, Z:-12.90 [[ 0.75721338 -0.56529745 -0.32721046 -41.25129313] [ 0.57599031 0.81413671 -0.07359741 -44.67326017] [ 0.30799847 -0.13274111 0.94208107 -12.90398123] [ 0. 0. 0. 1. ]] SLAMing on 113.641652532 meters Centerline goodness : 0.776541 Centerline is valid? [False, False] Translation: X:-41.28, Y:-44.70, Z:-12.91 [[ 0.75611265 -0.56639064 -0.32786477 -41.27561186] [ 0.57699881 0.81334825 -0.07441096 -44.70260283] [ 0.30881391 -0.13291451 0.94178963 -12.91268575] [ 0. 0. 0. 1. ]] SLAMing on 113.671652532 meters Centerline goodness : 0.778274 Centerline is valid? [False, False] Translation: X:-41.30, Y:-44.73, Z:-12.92 [[ 0.75589496 -0.56626538 -0.32858231 -41.30068751] [ 0.5772523 0.81324571 -0.07356083 -44.73191364] [ 0.3088731 -0.13407064 0.94160632 -12.92165463] [ 0. 0. 0. 1. ]] SLAMing on 113.701652532 meters Centerline goodness : 0.778666 Centerline is valid? [False, False] Translation: X:-41.33, Y:-44.76, Z:-12.93 [[ 0.75609454 -0.56592084 -0.32871667 -41.32789639] [ 0.57709888 0.8134086 -0.07296119 -44.76396079] [ 0.30867123 -0.13453646 0.94160608 -12.93140662] [ 0. 0. 0. 1. ]] SLAMing on 113.73165253199998 meters Centerline goodness : 0.777859 Centerline is valid? [False, False] Translation: X:-41.35, Y:-44.79, Z:-12.94 [[ 0.75424019 -0.5674543 -0.33032916 -41.34991394] [ 0.57879806 0.81214538 -0.07357094 -44.7914928 ] [ 0.31002345 -0.13570371 0.94099414 -12.93868874] [ 0. 0. 0. 1. ]] SLAMing on 113.76165253199999 meters Centerline goodness : 0.778045 Centerline is valid? [False, False] Translation: X:-41.37, Y:-44.82, Z:-12.95 [[ 0.75251884 -0.56871991 -0.33207387 -41.37211371] [ 0.58022746 0.8110679 -0.0741954 -44.81930443] [ 0.31153086 -0.13684494 0.94033078 -12.94606539] [ 0. 0. 0. 1. ]] SLAMing on 113.79165253199999 meters Centerline goodness : 0.777219 Centerline is valid? [False, False] Translation: X:-41.39, Y:-44.85, Z:-12.95 [[ 0.75144306 -0.56898071 -0.3340573 -41.39496064] [ 0.58084635 0.81063157 -0.07412132 -44.84627416] [ 0.31297099 -0.13833801 0.93963384 -12.95413895] [ 0. 0. 0. 1. ]] SLAMing on 113.82165253199999 meters Centerline goodness : 0.779116 Centerline is valid? [False, False] Translation: X:-41.42, Y:-44.88, Z:-12.97 [[ 0.75115484 -0.56896346 -0.33473422 -41.42112133] [ 0.58064103 0.81069759 -0.07500276 -44.87576289] [ 0.31404205 -0.13802174 0.93932294 -12.96500318] [ 0. 0. 0. 1. ]] SLAMing on 113.85165253199999 meters Centerline goodness : 0.777794 Centerline is valid? [False, False] Translation: X:-41.45, Y:-44.90, Z:-12.98 [[ 0.75221896 -0.56691898 -0.3358117 -41.44795498] [ 0.5789036 0.81202092 -0.07411239 -44.90311543] [ 0.31470185 -0.13865386 0.93900898 -12.97678614] [ 0. 0. 0. 1. ]] SLAMing on 113.88165253199999 meters Centerline goodness : 0.776883 Centerline is valid? [False, False] Translation: X:-41.47, Y:-44.93, Z:-12.99 [[ 0.75420755 -0.56288128 -0.33813554 -41.47420133] [ 0.57574153 0.81448562 -0.07165795 -44.93034325] [ 0.31574145 -0.14063371 0.93836533 -12.98789744] [ 0. 0. 0. 1. ]] SLAMing on 113.91165253199999 meters Centerline goodness : 0.775000 Centerline is valid? [False, False] Translation: X:-41.50, Y:-44.96, Z:-13.00 [[ 0.75627767 -0.56010801 -0.33811699 -41.50488937] [ 0.57309874 0.81643918 -0.0706038 -44.96104054] [ 0.31559771 -0.14037834 0.93845192 -13.0003373 ] [ 0. 0. 0. 1. ]] SLAMing on 113.94165253199999 meters Centerline goodness : 0.775200 Centerline is valid? [False, False] Translation: X:-41.53, Y:-44.99, Z:-13.01 [[ 0.75682086 -0.55951646 -0.33788092 -41.53256941] [ 0.57247292 0.81689117 -0.07045267 -44.99076039] [ 0.31543137 -0.14010762 0.9385483 -13.01140447] [ 0. 0. 0. 1. ]] SLAMing on 113.971652532 meters Centerline goodness : 0.774330 Centerline is valid? [False, False] Translation: X:-41.56, Y:-45.02, Z:-13.02 [[ 0.75824658 -0.55786506 -0.33741473 -41.56171189] [ 0.57108616 0.81798079 -0.06905086 -45.02232295] [ 0.31451984 -0.1403353 0.93882015 -13.02211863] [ 0. 0. 0. 1. ]] SLAMing on 114.001652532 meters Centerline goodness : 0.774349 Centerline is valid? [False, False] Translation: X:-41.59, Y:-45.05, Z:-13.03 [[ 0.75896497 -0.55683481 -0.33750136 -41.58915625] [ 0.57027202 0.8186195 -0.06820519 -45.05259148] [ 0.31426422 -0.14070223 0.93885083 -13.03253703] [ 0. 0. 0. 1. ]] SLAMing on 114.031652532 meters Centerline goodness : 0.771866 Centerline is valid? [False, False] Translation: X:-41.62, Y:-45.08, Z:-13.05 [[ 0.75981821 -0.55579194 -0.33730046 -41.61770434] [ 0.5689775 0.81948553 -0.06861536 -45.08257165] [ 0.31454871 -0.13978117 0.93889314 -13.04511769] [ 0. 0. 0. 1. ]] SLAMing on 114.061652532 meters Centerline goodness : 0.771083 Centerline is valid? [False, False] Translation: X:-41.64, Y:-45.11, Z:-13.05 [[ 0.75995183 -0.55468089 -0.33882491 -41.64230961] [ 0.56844539 0.81995858 -0.06736293 -45.10840364] [ 0.31518732 -0.14141088 0.93843482 -13.05486131] [ 0. 0. 0. 1. ]] SLAMing on 114.09165253199998 meters Centerline goodness : 0.770891 Centerline is valid? [False, False] Translation: X:-41.67, Y:-45.13, Z:-13.06 [[ 0.75914426 -0.55497788 -0.34014636 -41.66640785] [ 0.56881838 0.81965994 -0.06784707 -45.1341177 ] [ 0.31645797 -0.14197579 0.93792176 -13.06496024] [ 0. 0. 0. 1. ]] SLAMing on 114.12165253199998 meters Centerline goodness : 0.770576 Centerline is valid? [False, False] Translation: X:-41.69, Y:-45.16, Z:-13.07 [[ 0.7579502 -0.55522312 -0.34240149 -41.68921193] [ 0.56941947 0.81923398 -0.06794961 -45.15927443] [ 0.31823413 -0.14346766 0.93709342 -13.0733044 ] [ 0. 0. 0. 1. ]] SLAMing on 114.15165253199999 meters Centerline goodness : 0.769525 Centerline is valid? [False, False] Translation: X:-41.72, Y:-45.19, Z:-13.09 [[ 0.75997056 -0.55308443 -0.34138301 -41.71998526] [ 0.56736719 0.82075989 -0.06669094 -45.19096927] [ 0.3170792 -0.14300636 0.93755531 -13.08612705] [ 0. 0. 0. 1. ]] SLAMing on 114.18165253199999 meters Centerline goodness : 0.769077 Centerline is valid? [False, False] Translation: X:-41.74, Y:-45.22, Z:-13.09 [[ 0.75901474 -0.55291237 -0.34377977 -41.74300756] [ 0.56784363 0.82049328 -0.06591196 -45.21673904] [ 0.31851253 -0.145185 0.93673426 -13.09382137] [ 0. 0. 0. 1. ]] SLAMing on 114.21165253199999 meters Centerline goodness : 0.769388 Centerline is valid? [False, False] Translation: X:-41.77, Y:-45.24, Z:-13.10 [[ 0.75805878 -0.55330638 -0.34525198 -41.76724459] [ 0.56849316 0.82003765 -0.06598319 -45.24399733] [ 0.31962855 -0.14625426 0.93618763 -13.10251993] [ 0. 0. 0. 1. ]] SLAMing on 114.24165253199999 meters Centerline goodness : 0.771603 Centerline is valid? [False, False] Translation: X:-41.80, Y:-45.28, Z:-13.11 [[ 0.75968729 -0.55240571 -0.34310809 -41.79692245] [ 0.56859836 0.82029604 -0.06172768 -45.27649317] [ 0.31554893 -0.14819696 0.93726545 -13.11198224] [ 0. 0. 0. 1. ]] SLAMing on 114.27165253199999 meters Centerline goodness : 0.771041 Centerline is valid? [False, False] Translation: X:-41.83, Y:-45.31, Z:-13.12 [[ 0.76103885 -0.55069401 -0.34286437 -41.82563176] [ 0.56745701 0.82125036 -0.05950115 -45.30602429] [ 0.31434442 -0.1492781 0.93749861 -13.12261808] [ 0. 0. 0. 1. ]] SLAMing on 114.30165253199999 meters Centerline goodness : 0.770408 Centerline is valid? [False, False] Translation: X:-41.85, Y:-45.33, Z:-13.13 [[ 0.76148788 -0.54960397 -0.3436156 -41.85221083] [ 0.56690645 0.82173631 -0.05802165 -45.33403772] [ 0.31425035 -0.15061512 0.93731628 -13.13269519] [ 0. 0. 0. 1. ]] SLAMing on 114.33165253199999 meters Centerline goodness : 0.767978 Centerline is valid? [False, False] Translation: X:-41.88, Y:-45.37, Z:-13.14 [[ 0.76006419 -0.55216232 -0.34266484 -41.87949 ] [ 0.56887141 0.82024176 -0.05990636 -45.3651958 ] [ 0.31414605 -0.14939956 0.93754575 -13.14243071] [ 0. 0. 0. 1. ]] SLAMing on 114.361652532 meters Centerline goodness : 0.767197 Centerline is valid? [False, False] Translation: X:-41.90, Y:-45.39, Z:-13.15 [[ 0.75967329 -0.55227414 -0.34335079 -41.90470015] [ 0.56921743 0.82002493 -0.05958711 -45.39464027] [ 0.31446464 -0.15017452 0.93731511 -13.15144373] [ 0. 0. 0. 1. ]] SLAMing on 114.391652532 meters Centerline goodness : 0.766782 Centerline is valid? [False, False] Translation: X:-41.93, Y:-45.42, Z:-13.16 [[ 0.76064702 -0.55085827 -0.34346946 -41.93223195] [ 0.56847838 0.82070082 -0.05729315 -45.42461743] [ 0.31344608 -0.1516751 0.93741465 -13.16085888] [ 0. 0. 0. 1. ]] SLAMing on 114.421652532 meters Centerline goodness : 0.765001 Centerline is valid? [False, False] Translation: X:-41.96, Y:-45.45, Z:-13.17 [[ 0.7618132 -0.54912454 -0.34366102 -41.96023998] [ 0.56738613 0.82160876 -0.05506384 -45.45335892] [ 0.31259181 -0.15304013 0.93747804 -13.17120421] [ 0. 0. 0. 1. ]] SLAMing on 114.451652532 meters Centerline goodness : 0.762263 Centerline is valid? [False, False] Translation: X:-41.99, Y:-45.48, Z:-13.18 [[ 0.76350855 -0.5466515 -0.3438413 -41.98958008] [ 0.56563422 0.82298898 -0.05241254 -45.48275712] [ 0.31162899 -0.15447099 0.93756391 -13.18200161] [ 0. 0. 0. 1. ]] SLAMing on 114.48165253199998 meters Centerline goodness : 0.759885 Centerline is valid? [False, False] Translation: X:-42.02, Y:-45.51, Z:-13.19 [[ 0.76449979 -0.54581514 -0.34296633 -42.01726855] [ 0.56509866 0.82345537 -0.05084059 -45.51173154] [ 0.31016703 -0.15494219 0.93797086 -13.19359784] [ 0. 0. 0. 1. ]] SLAMing on 114.51165253199999 meters Centerline goodness : 0.758748 Centerline is valid? [False, False] Translation: X:-42.04, Y:-45.54, Z:-13.20 [[ 0.76393906 -0.5462306 -0.34355385 -42.04233398] [ 0.56565232 0.82307539 -0.05083646 -45.53967805] [ 0.31053915 -0.15549608 0.93775605 -13.20316176] [ 0. 0. 0. 1. ]] SLAMing on 114.54165253199999 meters Centerline goodness : 0.755473 Centerline is valid? [False, False] Translation: X:-42.07, Y:-45.57, Z:-13.21 [[ 0.76451299 -0.5460733 -0.34252566 -42.07045536] [ 0.56573001 0.82310156 -0.04953159 -45.57076662] [ 0.30898129 -0.1559095 0.93820189 -13.21346589] [ 0. 0. 0. 1. ]] SLAMing on 114.57165253199999 meters Centerline goodness : 0.754682 Centerline is valid? [False, False] Translation: X:-42.10, Y:-45.60, Z:-13.22 [[ 0.76486239 -0.54520191 -0.34313321 -42.09625076] [ 0.56530843 0.82346466 -0.04829422 -45.59821903] [ 0.30888817 -0.15703767 0.93804439 -13.22380069] [ 0. 0. 0. 1. ]] SLAMing on 114.60165253199999 meters Centerline goodness : 0.752049 Centerline is valid? [False, False] Translation: X:-42.12, Y:-45.62, Z:-13.23 [[ 0.76390833 -0.5444491 -0.34643793 -42.11715435] [ 0.56551818 0.82339396 -0.04702735 -45.62163041] [ 0.31085889 -0.15999236 0.93689337 -13.2313201 ] [ 0. 0. 0. 1. ]] SLAMing on 114.63165253199999 meters Centerline goodness : 0.750338 Centerline is valid? [False, False] Translation: X:-42.14, Y:-45.65, Z:-13.24 [[ 0.76362678 -0.5441164 -0.34757946 -42.14185361] [ 0.56555538 0.82340002 -0.04647056 -45.64697851] [ 0.31148233 -0.16108927 0.93649827 -13.24147596] [ 0. 0. 0. 1. ]] SLAMing on 114.66165253199999 meters Centerline goodness : 0.748725 Centerline is valid? [False, False] Translation: X:-42.17, Y:-45.68, Z:-13.25 [[ 7.65244398e-01 -5.42326182e-01 -3.46818861e-01 -4.21718261e+01] [ 5.64081652e-01 8.24509763e-01 -4.46714689e-02 -4.56776873e+01] [ 3.10182044e-01 -1.61449565e-01 9.36867727e-01 -1.32531180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.69165253199999 meters Centerline goodness : 0.745674 Centerline is valid? [False, False] Translation: X:-42.20, Y:-45.71, Z:-13.26 [[ 7.65516592e-01 -5.42635645e-01 -3.45732417e-01 -4.21987075e+01] [ 5.64461353e-01 8.24290224e-01 -4.39204584e-02 -4.57056360e+01] [ 3.08816658e-01 -1.61530748e-01 9.37304694e-01 -1.32644750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.721652532 meters Centerline goodness : 0.745291 Centerline is valid? [False, False] Translation: X:-42.23, Y:-45.73, Z:-13.27 [[ 7.65623659e-01 -5.43009904e-01 -3.44906737e-01 -4.22252736e+01] [ 5.65023586e-01 8.23955095e-01 -4.29691551e-02 -4.57335427e+01] [ 3.07520340e-01 -1.61982240e-01 9.37652918e-01 -1.32749074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.751652532 meters Centerline goodness : 0.743645 Centerline is valid? [False, False] Translation: X:-42.25, Y:-45.76, Z:-13.28 [[ 7.64890423e-01 -5.43807869e-01 -3.45276182e-01 -4.22490275e+01] [ 5.66139102e-01 8.23218725e-01 -4.23963314e-02 -4.57581018e+01] [ 3.07293277e-01 -1.63045799e-01 9.37543017e-01 -1.32847319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.781652532 meters Centerline goodness : 0.743944 Centerline is valid? [False, False] Translation: X:-42.28, Y:-45.79, Z:-13.30 [[ 7.64241005e-01 -5.44903162e-01 -3.44987289e-01 -4.22755360e+01] [ 5.66990694e-01 8.22589031e-01 -4.32300741e-02 -4.57856623e+01] [ 3.07338964e-01 -1.62566388e-01 9.37611290e-01 -1.32957501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.811652532 meters Centerline goodness : 0.742656 Centerline is valid? [False, False] Translation: X:-42.30, Y:-45.81, Z:-13.31 [[ 7.63678027e-01 -5.45130652e-01 -3.45873449e-01 -4.22988844e+01] [ 5.67885840e-01 8.22047637e-01 -4.17534988e-02 -4.58090745e+01] [ 3.07085563e-01 -1.64530404e-01 9.37351696e-01 -1.33051555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.84165253199998 meters Centerline goodness : 0.741474 Centerline is valid? [False, False] Translation: X:-42.31, Y:-45.82, Z:-13.31 [[ 0.76540527 -0.54656554 -0.3397365 -42.31420955] [ 0.56619636 0.82285962 -0.0482051 -45.8201903 ] [ 0.30590269 -0.15546114 0.9392845 -13.31453419] [ 0. 0. 0. 1. ]] SLAMing on 114.87165253199998 meters Centerline goodness : 0.741753 Centerline is valid? [False, False] Translation: X:-42.35, Y:-45.85, Z:-13.33 [[ 0.76768563 -0.54426393 -0.33828323 -42.34540261] [ 0.564185 0.82436676 -0.04598625 -45.85129785] [ 0.30389811 -0.15555134 0.93992006 -13.32721299] [ 0. 0. 0. 1. ]] SLAMing on 114.90165253199999 meters Centerline goodness : 0.741281 Centerline is valid? [False, False] Translation: X:-42.36, Y:-45.86, Z:-13.34 [[ 0.76906833 -0.54622764 -0.33191756 -42.35900375] [ 0.56326015 0.82464228 -0.05199142 -45.86116247] [ 0.30211241 -0.14697099 0.94187453 -13.33624361] [ 0. 0. 0. 1. ]] SLAMing on 114.93165253199999 meters Centerline goodness : 0.739149 Centerline is valid? [False, False] Translation: X:-42.37, Y:-45.86, Z:-13.34 [[ 0.768943 -0.54801777 -0.3292464 -42.36521442] [ 0.56427253 0.82385719 -0.05344012 -45.86393084] [ 0.30053814 -0.14469229 0.94273059 -13.33709753] [ 0. 0. 0. 1. ]] SLAMing on 114.96165253199999 meters Centerline goodness : 0.737029 Centerline is valid? [False, False] Translation: X:-42.38, Y:-45.87, Z:-13.35 [[ 0.76995849 -0.55054594 -0.3225881 -42.37815597] [ 0.56409245 0.82358724 -0.05919265 -45.87340247] [ 0.29826772 -0.13639363 0.9446868 -13.34557597] [ 0. 0. 0. 1. ]] SLAMing on 114.99165253199999 meters Centerline goodness : 0.734072 Centerline is valid? [False, False] Translation: X:-42.41, Y:-45.90, Z:-13.36 [[ 0.76985386 -0.55133228 -0.321493 -42.40564443] [ 0.56496058 0.82303658 -0.05856909 -45.90439982] [ 0.29689153 -0.13654123 0.94509889 -13.35523907] [ 0. 0. 0. 1. ]] SLAMing on 115.02165253199999 meters Centerline goodness : 0.732813 Centerline is valid? [False, False] Translation: X:-42.41, Y:-45.91, Z:-13.36 [[ 0.76856481 -0.55495547 -0.31832774 -42.4090756 ] [ 0.56756109 0.82106205 -0.0610861 -45.9062645 ] [ 0.2952669 -0.13372182 0.94601054 -13.35648242] [ 0. 0. 0. 1. ]] SLAMing on 115.05165253199999 meters Centerline goodness : 0.731722 Centerline is valid? [False, False] Translation: X:-42.43, Y:-45.93, Z:-13.36 [[ 0.76765872 -0.55538983 -0.31975338 -42.43247127] [ 0.56844712 0.82049749 -0.06042962 -45.93229206] [ 0.29591884 -0.13537356 0.94557181 -13.36445297] [ 0. 0. 0. 1. ]] SLAMing on 115.08165253199999 meters Centerline goodness : 0.729965 Centerline is valid? [False, False] Translation: X:-42.44, Y:-45.94, Z:-13.37 [[ 0.76865972 -0.55753531 -0.3135548 -42.44479594] [ 0.56786187 0.82041589 -0.06671333 -45.94106215] [ 0.29444038 -0.12677596 0.94722369 -13.3733772 ] [ 0. 0. 0. 1. ]] SLAMing on 115.111652532 meters Centerline goodness : 0.727238 Centerline is valid? [False, False] Translation: X:-42.47, Y:-45.97, Z:-13.38 [[ 0.7694821 -0.55496109 -0.31609411 -42.46996496] [ 0.56613025 0.82177854 -0.06462641 -45.9695203 ] [ 0.2956245 -0.12922158 0.94652414 -13.38223509] [ 0. 0. 0. 1. ]] SLAMing on 115.141652532 meters Centerline goodness : 0.727079 Centerline is valid? [False, False] Translation: X:-42.49, Y:-45.99, Z:-13.39 [[ 0.76837275 -0.55417698 -0.32014245 -42.48966653] [ 0.56630864 0.82175914 -0.06329644 -45.99260834] [ 0.29815742 -0.13266417 0.94525254 -13.38854674] [ 0. 0. 0. 1. ]] SLAMing on 115.171652532 meters Centerline goodness : 0.724871 Centerline is valid? [False, False] Translation: X:-42.49, Y:-46.00, Z:-13.39 [[ 0.76765996 -0.55745136 -0.31614263 -42.49443557] [ 0.56842915 0.82009639 -0.06580431 -45.99536162] [ 0.29595013 -0.12918936 0.94642677 -13.3916335 ] [ 0. 0. 0. 1. ]] SLAMing on 115.20165253199998 meters Centerline goodness : 0.722660 Centerline is valid? [False, False] Translation: X:-42.51, Y:-46.01, Z:-13.40 [[ 0.76845451 -0.55998447 -0.30966927 -42.50685937] [ 0.56871971 0.81949419 -0.07061983 -46.0065755 ] [ 0.29331818 -0.12184689 0.94821822 -13.39795226] [ 0. 0. 0. 1. ]] SLAMing on 115.23165253199998 meters Centerline goodness : 0.719538 Centerline is valid? [False, False] Translation: X:-42.51, Y:-46.01, Z:-13.40 [[ 0.76739161 -0.56304788 -0.30673637 -42.51128731] [ 0.57093486 0.81776685 -0.07273764 -46.00870061] [ 0.29179361 -0.11930823 0.94901108 -13.39858607] [ 0. 0. 0. 1. ]] SLAMing on 115.26165253199999 meters Centerline goodness : 0.720828 Centerline is valid? [False, False] Translation: X:-42.53, Y:-46.03, Z:-13.40 [[ 0.76627691 -0.56170254 -0.31194543 -42.53030969] [ 0.57079881 0.81802826 -0.07084125 -46.03228216] [ 0.29497188 -0.12377407 0.94745531 -13.40305522] [ 0. 0. 0. 1. ]] SLAMing on 115.29165253199999 meters Centerline goodness : 0.715219 Centerline is valid? [False, False] Translation: X:-42.54, Y:-46.04, Z:-13.41 [[ 0.7649019 -0.56722871 -0.30524853 -42.53797218] [ 0.57400014 0.81526307 -0.07661566 -46.03735203] [ 0.29231646 -0.11660924 0.94918564 -13.40900382] [ 0. 0. 0. 1. ]] SLAMing on 115.32165253199999 meters Centerline goodness : 0.715219 Centerline is valid? [False, False] Translation: X:-42.54, Y:-46.04, Z:-13.41 [[ 0.76342023 -0.57051073 -0.30283173 -42.54176987] [ 0.57649582 0.81328617 -0.07885537 -46.03714006] [ 0.2912767 -0.11438144 0.94977617 -13.40898413] [ 0. 0. 0. 1. ]] SLAMing on 115.35165253199999 meters Centerline goodness : 0.713939 Centerline is valid? [False, False] Translation: X:-42.56, Y:-46.06, Z:-13.41 [[ 0.76221326 -0.56920396 -0.308282 -42.56010107] [ 0.57645832 0.81351136 -0.07677942 -46.06126239] [ 0.29449406 -0.11918943 0.9481915 -13.4127078 ] [ 0. 0. 0. 1. ]] SLAMing on 115.38165253199999 meters Centerline goodness : 0.711667 Centerline is valid? [False, False] Translation: X:-42.56, Y:-46.06, Z:-13.41 [[ 0.76107466 -0.57231234 -0.30532597 -42.56425034] [ 0.57869702 0.81170793 -0.07899368 -46.06311838] [ 0.29304457 -0.11657113 0.94896578 -13.41348747] [ 0. 0. 0. 1. ]] SLAMing on 115.41165253199999 meters Centerline goodness : 0.710863 Centerline is valid? [False, False] Translation: X:-42.57, Y:-46.06, Z:-13.41 [[ 0.75958325 -0.57580983 -0.30245054 -42.56771525] [ 0.58131123 0.80959902 -0.08140439 -46.06452635] [ 0.29173711 -0.11398448 0.94968258 -13.41396362] [ 0. 0. 0. 1. ]] SLAMing on 115.44165253199999 meters Centerline goodness : 0.707090 Centerline is valid? [False, False] Translation: X:-42.58, Y:-46.07, Z:-13.42 [[ 0.76085988 -0.57702623 -0.29687197 -42.57654455] [ 0.58100402 0.80951529 -0.08437612 -46.07188893] [ 0.28900964 -0.1082854 0.95118226 -13.42190866] [ 0. 0. 0. 1. ]] SLAMing on 115.471652532 meters Centerline goodness : 0.704762 Centerline is valid? [False, False] Translation: X:-42.58, Y:-46.07, Z:-13.42 [[ 0.75948796 -0.58021509 -0.29415724 -42.58036173] [ 0.58344192 0.80754058 -0.08645075 -46.0741637 ] [ 0.28770394 -0.10596537 0.95183916 -13.42178813] [ 0. 0. 0. 1. ]] SLAMing on 115.501652532 meters Centerline goodness : 0.704438 Centerline is valid? [False, False] Translation: X:-42.60, Y:-46.10, Z:-13.42 [[ 0.75686641 -0.58033729 -0.3006025 -42.59546652] [ 0.58500194 0.80663495 -0.08433737 -46.09624837] [ 0.29142061 -0.11202092 0.95001334 -13.42253571] [ 0. 0. 0. 1. ]] SLAMing on 115.531652532 meters Centerline goodness : 0.702397 Centerline is valid? [False, False] Translation: X:-42.61, Y:-46.12, Z:-13.42 [[ 0.75497137 -0.57955694 -0.30680938 -42.61251085] [ 0.58565178 0.80639085 -0.08213272 -46.12016922] [ 0.29500887 -0.1176756 0.94822056 -13.42387157] [ 0. 0. 0. 1. ]] SLAMing on 115.561652532 meters Centerline goodness : 0.700676 Centerline is valid? [False, False] Translation: X:-42.64, Y:-46.15, Z:-13.43 [[ 0.75556192 -0.57643038 -0.31121406 -42.63552546] [ 0.58372748 0.80804831 -0.07949943 -46.14998097] [ 0.29730189 -0.12159746 0.94700879 -13.42939179] [ 0. 0. 0. 1. ]] SLAMing on 115.59165253199998 meters Centerline goodness : 0.698027 Centerline is valid? [False, False] Translation: X:-42.66, Y:-46.17, Z:-13.43 [[ 0.75527389 -0.57386039 -0.31661585 -42.65554283] [ 0.5825893 0.80913081 -0.0767922 -46.17406404] [ 0.30025164 -0.12645787 0.9454403 -13.43460745] [ 0. 0. 0. 1. ]] SLAMing on 115.62165253199998 meters Centerline goodness : 0.697490 Centerline is valid? [False, False] Translation: X:-42.68, Y:-46.20, Z:-13.44 [[ 0.75496492 -0.57181708 -0.32101898 -42.67681629] [ 0.5816874 0.80996921 -0.07476395 -46.19938623] [ 0.3027668 -0.13028854 0.94411713 -13.44078503] [ 0. 0. 0. 1. ]] SLAMing on 115.65165253199999 meters Centerline goodness : 0.696932 Centerline is valid? [False, False] Translation: X:-42.70, Y:-46.22, Z:-13.45 [[ 0.75437119 -0.57019974 -0.32526352 -42.69771791] [ 0.58124283 0.81047281 -0.07273653 -46.22432242] [ 0.30509159 -0.13418675 0.94282185 -13.44650533] [ 0. 0. 0. 1. ]] SLAMing on 115.68165253199999 meters Centerline goodness : 0.695008 Centerline is valid? [False, False] Translation: X:-42.72, Y:-46.26, Z:-13.46 [[ 0.75389175 -0.57129845 -0.32444617 -42.72494695] [ 0.58226492 0.80972956 -0.07283958 -46.25758631] [ 0.30432679 -0.13400046 0.94309548 -13.45508548] [ 0. 0. 0. 1. ]] SLAMing on 115.71165253199999 meters Centerline goodness : 0.695682 Centerline is valid? [False, False] Translation: X:-42.75, Y:-46.28, Z:-13.46 [[ 0.75222682 -0.57206644 -0.32694771 -42.74651395] [ 0.58359145 0.80880617 -0.07248171 -46.28463943] [ 0.30590168 -0.1362812 0.94225877 -13.46095716] [ 0. 0. 0. 1. ]] SLAMing on 115.74165253199999 meters Centerline goodness : 0.696052 Centerline is valid? [False, False] Translation: X:-42.77, Y:-46.31, Z:-13.47 [[ 0.75160437 -0.57176955 -0.32889277 -42.77011114] [ 0.58379139 0.80872073 -0.07182197 -46.31247969] [ 0.30704801 -0.13802306 0.94163217 -13.46890994] [ 0. 0. 0. 1. ]] SLAMing on 115.77165253199999 meters Centerline goodness : 0.695266 Centerline is valid? [False, False] Translation: X:-42.79, Y:-46.34, Z:-13.48 [[ 0.75055301 -0.57141609 -0.33189431 -42.79330203] [ 0.58397323 0.80861241 -0.07156279 -46.34069286] [ 0.30926599 -0.14010573 0.94059818 -13.47598419] [ 0. 0. 0. 1. ]] SLAMing on 115.80165253199999 meters Centerline goodness : 0.697618 Centerline is valid? [False, False] Translation: X:-42.81, Y:-46.36, Z:-13.48 [[ 0.7479556 -0.57165368 -0.33730473 -42.80944986] [ 0.58551215 0.80760443 -0.07036057 -46.36118681] [ 0.31263068 -0.14486944 0.93876243 -13.4798488 ] [ 0. 0. 0. 1. ]] SLAMing on 115.83165253199999 meters Centerline goodness : 0.698592 Centerline is valid? [False, False] Translation: X:-42.83, Y:-46.38, Z:-13.48 [[ 0.74581367 -0.57135298 -0.34251678 -42.82639619] [ 0.58646989 0.80701221 -0.06916909 -46.38248104] [ 0.31593518 -0.14928852 0.93696206 -13.48458558] [ 0. 0. 0. 1. ]] SLAMing on 115.861652532 meters Centerline goodness : 0.699679 Centerline is valid? [False, False] Translation: X:-42.85, Y:-46.41, Z:-13.50 [[ 0.7455571 -0.57105818 -0.34356536 -42.85097125] [ 0.58638049 0.80708944 -0.06902584 -46.41023272] [ 0.31670574 -0.14999731 0.93658864 -13.49500628] [ 0. 0. 0. 1. ]] SLAMing on 115.891652532 meters Centerline goodness : 0.700437 Centerline is valid? [False, False] Translation: X:-42.88, Y:-46.44, Z:-13.50 [[ 0.74523757 -0.57072385 -0.34481191 -42.87557376] [ 0.58631637 0.80715644 -0.06878661 -46.43882839] [ 0.31757531 -0.1509065 0.93614804 -13.504624 ] [ 0. 0. 0. 1. ]] SLAMing on 115.921652532 meters Centerline goodness : 0.702354 Centerline is valid? [False, False] Translation: X:-42.90, Y:-46.47, Z:-13.52 [[ 0.74442976 -0.57241864 -0.34374588 -42.90320609] [ 0.58725828 0.8062905 -0.07087554 -46.47136121] [ 0.31772952 -0.14910575 0.93638423 -13.51560944] [ 0. 0. 0. 1. ]] SLAMing on 115.95165253199998 meters Centerline goodness : 0.700795 Centerline is valid? [False, False] Translation: X:-42.93, Y:-46.50, Z:-13.53 [[ 0.744098 -0.57282161 -0.3437929 -42.92921158] [ 0.58764495 0.8059937 -0.07104619 -46.50110714] [ 0.31779171 -0.14916283 0.93635403 -13.52600666] [ 0. 0. 0. 1. ]] SLAMing on 115.98165253199998 meters Centerline goodness : 0.705462 Centerline is valid? [False, False] Translation: X:-42.96, Y:-46.53, Z:-13.54 [[ 0.7433645 -0.57459005 -0.3424259 -42.95704088] [ 0.58894031 0.80494662 -0.07218203 -46.53132822] [ 0.31710965 -0.14801086 0.93676798 -13.53687732] [ 0. 0. 0. 1. ]] SLAMing on 116.01165253199999 meters Centerline goodness : 0.704711 Centerline is valid? [False, False] Translation: X:-42.98, Y:-46.56, Z:-13.55 [[ 0.74280602 -0.57537508 -0.34231964 -42.98258772] [ 0.5898238 0.80431316 -0.07202941 -46.56041538] [ 0.31677611 -0.14840439 0.93681857 -13.5468762 ] [ 0. 0. 0. 1. ]] SLAMing on 116.04165253199999 meters Centerline goodness : 0.708736 Centerline is valid? [False, False] Translation: X:-43.01, Y:-46.59, Z:-13.56 [[ 0.74273051 -0.57530294 -0.3426046 -43.00945403] [ 0.58971836 0.80437027 -0.07225462 -46.59092977] [ 0.31714925 -0.14837451 0.93669705 -13.55771171] [ 0. 0. 0. 1. ]] SLAMing on 116.07165253199999 meters Centerline goodness : 0.707449 Centerline is valid? [False, False] Translation: X:-43.03, Y:-46.62, Z:-13.57 [[ 0.74286208 -0.57449564 -0.34367236 -43.03453117] [ 0.58926462 0.80476517 -0.07155575 -46.61770761] [ 0.31768402 -0.14935791 0.93635948 -13.5686209 ] [ 0. 0. 0. 1. ]] SLAMing on 116.10165253199999 meters Centerline goodness : 0.709592 Centerline is valid? [False, False] Translation: X:-43.06, Y:-46.64, Z:-13.58 [[ 0.74304581 -0.57390872 -0.3442553 -43.06016735] [ 0.58895405 0.80505096 -0.07089486 -46.64477927] [ 0.31783024 -0.15007243 0.9361956 -13.5797919 ] [ 0. 0. 0. 1. ]] SLAMing on 116.13165253199999 meters Centerline goodness : 0.712827 Centerline is valid? [False, False] Translation: X:-43.09, Y:-46.68, Z:-13.59 [[ 0.74262208 -0.57570062 -0.34217137 -43.09074134] [ 0.58991401 0.80418396 -0.07272977 -46.67663215] [ 0.3170393 -0.14784095 0.93681863 -13.59150809] [ 0. 0. 0. 1. ]] SLAMing on 116.16165253199999 meters Centerline goodness : 0.712456 Centerline is valid? [False, False] Translation: X:-43.12, Y:-46.71, Z:-13.60 [[ 0.74325459 -0.57602107 -0.34025335 -43.11998402] [ 0.58991793 0.80417659 -0.07277946 -46.70602765] [ 0.31554628 -0.14662788 0.9375131 -13.6045529 ] [ 0. 0. 0. 1. ]] SLAMing on 116.19165253199999 meters Centerline goodness : 0.712542 Centerline is valid? [False, False] Translation: X:-43.15, Y:-46.74, Z:-13.62 [[ 0.7447257 -0.57442948 -0.33972696 -43.14857575] [ 0.58855943 0.80529186 -0.071434 -46.73523921] [ 0.31461316 -0.14675077 0.93780743 -13.61689529] [ 0. 0. 0. 1. ]] SLAMing on 116.221652532 meters Centerline goodness : 0.715229 Centerline is valid? [False, False] Translation: X:-43.18, Y:-46.76, Z:-13.63 [[ 0.74628236 -0.57303328 -0.33866724 -43.17839055] [ 0.58719871 0.80637064 -0.07045611 -46.76457444] [ 0.31346502 -0.14628481 0.93826459 -13.62975389] [ 0. 0. 0. 1. ]] SLAMing on 116.251652532 meters Centerline goodness : 0.713910 Centerline is valid? [False, False] Translation: X:-43.21, Y:-46.80, Z:-13.64 [[ 0.74771198 -0.57226164 -0.3368136 -43.21169883] [ 0.58610947 0.807177 -0.07029218 -46.79721731] [ 0.3120937 -0.14485133 0.93894388 -13.64169932] [ 0. 0. 0. 1. ]] SLAMing on 116.281652532 meters Centerline goodness : 0.716729 Centerline is valid? [False, False] Translation: X:-43.24, Y:-46.83, Z:-13.65 [[ 0.7481608 -0.57320201 -0.33420783 -43.24153944] [ 0.58648725 0.80684809 -0.07091447 -46.8269135 ] [ 0.31030327 -0.14295321 0.93982778 -13.65479538] [ 0. 0. 0. 1. ]] SLAMing on 116.311652532 meters Centerline goodness : 0.716633 Centerline is valid? [False, False] Translation: X:-43.27, Y:-46.86, Z:-13.67 [[ 0.7494191 -0.57246728 -0.3326443 -43.2707354 ] [ 0.58558798 0.80754038 -0.07046456 -46.85646211] [ 0.30896236 -0.14198502 0.94041614 -13.66777912] [ 0. 0. 0. 1. ]] SLAMing on 116.34165253199998 meters Centerline goodness : 0.714750 Centerline is valid? [False, False] Translation: X:-43.30, Y:-46.89, Z:-13.68 [[ 0.75182825 -0.56973215 -0.33190293 -43.30310936] [ 0.58273951 0.80965584 -0.06980035 -46.8877857 ] [ 0.30849465 -0.14093507 0.94072757 -13.68130133] [ 0. 0. 0. 1. ]] SLAMing on 116.37165253199998 meters Centerline goodness : 0.717377 Centerline is valid? [False, False] Translation: X:-43.33, Y:-46.91, Z:-13.69 [[ 0.75224116 -0.56892756 -0.33234722 -43.32934728] [ 0.58215321 0.81013199 -0.06916504 -46.91351118] [ 0.30859501 -0.1414482 0.94061763 -13.69294519] [ 0. 0. 0. 1. ]] SLAMing on 116.40165253199999 meters Centerline goodness : 0.717170 Centerline is valid? [False, False] Translation: X:-43.36, Y:-46.94, Z:-13.71 [[ 0.75253253 -0.56901635 -0.33153458 -43.35657948] [ 0.58209201 0.81016931 -0.0692429 -46.94048081] [ 0.30799948 -0.1408761 0.94089864 -13.70520753] [ 0. 0. 0. 1. ]] SLAMing on 116.43165253199999 meters Centerline goodness : 0.716321 Centerline is valid? [False, False] Translation: X:-43.39, Y:-46.97, Z:-13.72 [[ 0.75351372 -0.56894297 -0.32942521 -43.38599785] [ 0.58177044 0.81042526 -0.06894962 -46.96907826] [ 0.30620291 -0.13969536 0.94166076 -13.71846716] [ 0. 0. 0. 1. ]] SLAMing on 116.46165253199999 meters Centerline goodness : 0.717796 Centerline is valid? [False, False] Translation: X:-43.42, Y:-47.00, Z:-13.73 [[ 0.75580623 -0.56660999 -0.32819211 -43.41814453] [ 0.57920423 0.81229718 -0.06852551 -47.00036767] [ 0.30541677 -0.13829825 0.94212217 -13.73219754] [ 0. 0. 0. 1. ]] SLAMing on 116.49165253199999 meters Centerline goodness : 0.717389 Centerline is valid? [False, False] Translation: X:-43.45, Y:-47.03, Z:-13.74 [[ 0.75679763 -0.5656272 -0.32760223 -43.44614006] [ 0.57825038 0.81302705 -0.06792291 -47.02819593] [ 0.30476852 -0.13803222 0.94237108 -13.74461728] [ 0. 0. 0. 1. ]] SLAMing on 116.52165253199999 meters Centerline goodness : 0.719855 Centerline is valid? [False, False] Translation: X:-43.47, Y:-47.06, Z:-13.76 [[ 0.75767765 -0.56477854 -0.32703177 -43.47415378] [ 0.57743103 0.81365597 -0.06735996 -47.05569996] [ 0.30413481 -0.13780115 0.9426096 -13.75671635] [ 0. 0. 0. 1. ]] SLAMing on 116.55165253199999 meters Centerline goodness : 0.721456 Centerline is valid? [False, False] Translation: X:-43.50, Y:-47.08, Z:-13.77 [[ 0.75809634 -0.56428286 -0.32691712 -43.50129901] [ 0.57706846 0.81396113 -0.06677786 -47.08277727] [ 0.30377943 -0.1380295 0.94269078 -13.76765084] [ 0. 0. 0. 1. ]] SLAMing on 116.58165253199999 meters Centerline goodness : 0.725678 Centerline is valid? [False, False] Translation: X:-43.53, Y:-47.11, Z:-13.78 [[ 0.75835761 -0.56534183 -0.32447243 -43.53347841] [ 0.57717121 0.81371892 -0.06881067 -47.11332148] [ 0.3029309 -0.13509305 0.94338896 -13.78055616] [ 0. 0. 0. 1. ]] SLAMing on 116.611652532 meters Centerline goodness : 0.724838 Centerline is valid? [False, False] Translation: X:-43.56, Y:-47.14, Z:-13.79 [[ 0.75959771 -0.5640071 -0.32389399 -43.56215598] [ 0.57583762 0.81471223 -0.06822771 -47.14191931] [ 0.30236131 -0.13468474 0.94363004 -13.79261259] [ 0. 0. 0. 1. ]] SLAMing on 116.641652532 meters Centerline goodness : 0.727728 Centerline is valid? [False, False] Translation: X:-43.60, Y:-47.17, Z:-13.81 [[ 0.76216399 -0.5612643 -0.32262739 -43.5953075 ] [ 0.57284772 0.81685462 -0.0677792 -47.17324147] [ 0.30158172 -0.1331575 0.94409615 -13.80658577] [ 0. 0. 0. 1. ]] SLAMing on 116.671652532 meters Centerline goodness : 0.730089 Centerline is valid? [False, False] Translation: X:-43.62, Y:-47.20, Z:-13.82 [[ 0.76295381 -0.56010136 -0.32278158 -43.62277337] [ 0.57196036 0.81756266 -0.06672817 -47.20107002] [ 0.30126871 -0.13370776 0.94411832 -13.81723953] [ 0. 0. 0. 1. ]] SLAMing on 116.70165253199998 meters Centerline goodness : 0.731733 Centerline is valid? [False, False] Translation: X:-43.65, Y:-47.23, Z:-13.83 [[ 0.76401693 -0.5593955 -0.32148842 -43.65148048] [ 0.57122133 0.81813344 -0.0660596 -47.22901448] [ 0.29997387 -0.1331704 0.94460644 -13.8297258 ] [ 0. 0. 0. 1. ]] SLAMing on 116.73165253199998 meters Centerline goodness : 0.734502 Centerline is valid? [False, False] Translation: X:-43.68, Y:-47.26, Z:-13.84 [[ 0.76401324 -0.55948613 -0.32133946 -43.67777665] [ 0.57127338 0.81809136 -0.06613051 -47.2550817 ] [ 0.29988414 -0.1330481 0.94465216 -13.84078826] [ 0. 0. 0. 1. ]] SLAMing on 116.76165253199999 meters Centerline goodness : 0.734360 Centerline is valid? [False, False] Translation: X:-43.71, Y:-47.28, Z:-13.85 [[ 0.76479946 -0.5591935 -0.31997564 -43.70608258] [ 0.57071839 0.81846919 -0.06624735 -47.28328339] [ 0.29893529 -0.13195004 0.94510681 -13.85332168] [ 0. 0. 0. 1. ]] SLAMing on 116.79165253199999 meters Centerline goodness : 0.737902 Centerline is valid? [False, False] Translation: X:-43.74, Y:-47.32, Z:-13.87 [[ 0.76664582 -0.55866185 -0.31646663 -43.74126799] [ 0.56909972 0.81945678 -0.0679418 -47.31642637] [ 0.29728722 -0.12801377 0.94616742 -13.86812006] [ 0. 0. 0. 1. ]] SLAMing on 116.82165253199999 meters Centerline goodness : 0.737272 Centerline is valid? [False, False] Translation: X:-43.77, Y:-47.34, Z:-13.88 [[ 0.76694297 -0.55852974 -0.31597944 -43.76813097] [ 0.5690182 0.81954765 -0.06752727 -47.3432855 ] [ 0.2966762 -0.12800849 0.9463599 -13.87922042] [ 0. 0. 0. 1. ]] SLAMing on 116.85165253199999 meters Centerline goodness : 0.740717 Centerline is valid? [False, False] Translation: X:-43.79, Y:-47.37, Z:-13.89 [[ 0.76508522 -0.56059642 -0.31682214 -43.79113884] [ 0.5710605 0.81804943 -0.06844735 -47.36747339] [ 0.29754751 -0.12855656 0.94601199 -13.88765922] [ 0. 0. 0. 1. ]] SLAMing on 116.88165253199999 meters Centerline goodness : 0.745411 Centerline is valid? [False, False] Translation: X:-43.82, Y:-47.40, Z:-13.90 [[ 0.76473905 -0.56197311 -0.31521487 -43.82246501] [ 0.57177306 0.81740925 -0.07012623 -47.39811417] [ 0.29706861 -0.12660311 0.94642585 -13.89848807] [ 0. 0. 0. 1. ]] SLAMing on 116.91165253199999 meters Centerline goodness : 0.745910 Centerline is valid? [False, False] Translation: X:-43.84, Y:-47.41, Z:-13.91 [[ 0.7667062 -0.56230393 -0.30979978 -43.84076788] [ 0.56894953 0.81867629 -0.07788179 -47.41384865] [ 0.29741896 -0.11654799 0.94760674 -13.90671928] [ 0. 0. 0. 1. ]] SLAMing on 116.94165253199999 meters Centerline goodness : 0.748084 Centerline is valid? [False, False] Translation: X:-43.86, Y:-47.43, Z:-13.91 [[ 0.76887625 -0.56211159 -0.30472918 -43.85815224] [ 0.56594784 0.82007256 -0.08475867 -47.42878351] [ 0.29754387 -0.1072919 0.94866016 -13.91459191] [ 0. 0. 0. 1. ]] SLAMing on 116.971652532 meters Centerline goodness : 0.751730 Centerline is valid? [False, False] Translation: X:-43.89, Y:-47.46, Z:-13.92 [[ 0.76966675 -0.56021545 -0.30622171 -43.88511101] [ 0.56433196 0.82125931 -0.08403915 -47.4598756 ] [ 0.29856747 -0.10812856 0.94824347 -13.92424412] [ 0. 0. 0. 1. ]] SLAMing on 117.001652532 meters Centerline goodness : 0.752432 Centerline is valid? [False, False] Translation: X:-43.90, Y:-47.48, Z:-13.93 [[ 0.76782549 -0.55982627 -0.31151013 -43.90300282] [ 0.56508135 0.82090603 -0.08244 -47.48231895] [ 0.30187262 -0.11272903 0.94665996 -13.92782309] [ 0. 0. 0. 1. ]] SLAMing on 117.031652532 meters Centerline goodness : 0.756155 Centerline is valid? [False, False] Translation: X:-43.93, Y:-47.51, Z:-13.93 [[ 0.76686068 -0.56003611 -0.3135032 -43.9268088 ] [ 0.56575068 0.82050405 -0.08184909 -47.5090572 ] [ 0.3030691 -0.1145978 0.9460531 -13.93499479] [ 0. 0. 0. 1. ]] SLAMing on 117.061652532 meters Centerline goodness : 0.759206 Centerline is valid? [False, False] Translation: X:-43.95, Y:-47.54, Z:-13.94 [[ 0.76658222 -0.55926844 -0.31554796 -43.95130608] [ 0.56573711 0.82067957 -0.08016588 -47.53658181] [ 0.30379801 -0.11706345 0.94551728 -13.94201771] [ 0. 0. 0. 1. ]] SLAMing on 117.09165253199998 meters Centerline goodness : 0.760955 Centerline is valid? [False, False] Translation: X:-43.98, Y:-47.57, Z:-13.95 [[ 0.76744253 -0.55748594 -0.31660921 -43.97846405] [ 0.56447804 0.82169873 -0.07858592 -47.56563965] [ 0.30396793 -0.11840877 0.94529512 -13.95124982] [ 0. 0. 0. 1. ]] SLAMing on 117.12165253199998 meters Centerline goodness : 0.761014 Centerline is valid? [False, False] Translation: X:-44.00, Y:-47.58, Z:-13.96 [[ 0.77011971 -0.55684804 -0.31118466 -43.99758544] [ 0.56069959 0.82353558 -0.08605299 -47.58323014] [ 0.30419008 -0.10821001 0.94644545 -13.96090301] [ 0. 0. 0. 1. ]] SLAMing on 117.15165253199999 meters Centerline goodness : 0.761479 Centerline is valid? [False, False] Translation: X:-44.01, Y:-47.60, Z:-13.96 [[ 0.76745722 -0.55750441 -0.31654107 -44.01379399] [ 0.56246646 0.82245629 -0.08483595 -47.60361596] [ 0.3076376 -0.11293577 0.94477755 -13.9645855 ] [ 0. 0. 0. 1. ]] SLAMing on 117.18165253199999 meters Centerline goodness : 0.763067 Centerline is valid? [False, False] Translation: X:-44.03, Y:-47.63, Z:-13.97 [[ 0.76639452 -0.55621843 -0.32134172 -44.03357873] [ 0.56242336 0.82270605 -0.08267239 -47.62706482] [ 0.31035368 -0.11737043 0.94334764 -13.96972091] [ 0. 0. 0. 1. ]] SLAMing on 117.21165253199999 meters Centerline goodness : 0.763067 Centerline is valid? [False, False] Translation: X:-44.05, Y:-47.65, Z:-13.98 [[ 0.76553446 -0.55475055 -0.32589694 -44.05381654] [ 0.56208228 0.82312422 -0.08080856 -47.65015655] [ 0.31308226 -0.12131916 0.94194541 -13.9755664 ] [ 0. 0. 0. 1. ]] SLAMing on 117.24165253199999 meters Centerline goodness : 0.762049 Centerline is valid? [False, False] Translation: X:-44.08, Y:-47.68, Z:-13.98 [[ 0.76606987 -0.55331827 -0.32707163 -44.08025826] [ 0.56141198 0.82378713 -0.07868511 -47.6810194 ] [ 0.31297531 -0.12334364 0.941718 -13.98432272] [ 0. 0. 0. 1. ]] SLAMing on 117.27165253199999 meters Centerline goodness : 0.760525 Centerline is valid? [False, False] Translation: X:-44.10, Y:-47.71, Z:-13.99 [[ 0.76450653 -0.55407503 -0.32943988 -44.10238525] [ 0.56262124 0.82297848 -0.07850966 -47.70756929] [ 0.31462217 -0.12532872 0.9409068 -13.99132649] [ 0. 0. 0. 1. ]] SLAMing on 117.30165253199999 meters Centerline goodness : 0.760779 Centerline is valid? [False, False] Translation: X:-44.12, Y:-47.73, Z:-14.00 [[ 0.76267153 -0.55374304 -0.33421667 -44.11993432] [ 0.56343081 0.8225566 -0.07711269 -47.73029315] [ 0.31761274 -0.12949631 0.93933639 -13.99655141] [ 0. 0. 0. 1. ]] SLAMing on 117.33165253199999 meters Centerline goodness : 0.761796 Centerline is valid? [False, False] Translation: X:-44.14, Y:-47.76, Z:-14.00 [[ 0.76179266 -0.55377743 -0.33615845 -44.14304116] [ 0.56410403 0.8221899 -0.07609478 -47.75721784] [ 0.31852566 -0.13165989 0.93872631 -14.00457451] [ 0. 0. 0. 1. ]] SLAMing on 117.361652532 meters Centerline goodness : 0.760835 Centerline is valid? [False, False] Translation: X:-44.17, Y:-47.78, Z:-14.01 [[ 0.76044982 -0.55422108 -0.33845984 -44.16524844] [ 0.56535713 0.82144273 -0.07485423 -47.78479059] [ 0.31951116 -0.1344278 0.93799882 -14.0115051 ] [ 0. 0. 0. 1. ]] SLAMing on 117.391652532 meters Centerline goodness : 0.762456 Centerline is valid? [False, False] Translation: X:-44.19, Y:-47.81, Z:-14.02 [[ 0.76014939 -0.55500392 -0.33785137 -44.19078272] [ 0.5664326 0.82078799 -0.07389982 -47.81147021] [ 0.31831904 -0.13519513 0.93829381 -14.02238661] [ 0. 0. 0. 1. ]] SLAMing on 117.421652532 meters Centerline goodness : 0.760968 Centerline is valid? [False, False] Translation: X:-44.19, Y:-47.81, Z:-14.02 [[ 0.75854499 -0.55881727 -0.3351608 -44.19295927] [ 0.56925212 0.8185956 -0.07650662 -47.81296262] [ 0.31711438 -0.13275728 0.93904951 -14.02291554] [ 0. 0. 0. 1. ]] SLAMing on 117.45165253199998 meters Centerline goodness : 0.761788 Centerline is valid? [False, False] Translation: X:-44.19, Y:-47.82, Z:-14.02 [[ 0.75695354 -0.56260242 -0.33241519 -44.19477805] [ 0.57206152 0.81639175 -0.07905771 -47.81510342] [ 0.31585908 -0.13031893 0.93981382 -14.02349578] [ 0. 0. 0. 1. ]] SLAMing on 117.48165253199998 meters Centerline goodness : 0.761119 Centerline is valid? [False, False] Translation: X:-44.20, Y:-47.82, Z:-14.03 [[ 0.75348222 -0.57057322 -0.3266661 -44.19765798] [ 0.57783507 0.81171851 -0.08496871 -47.81722912] [ 0.31364179 -0.12473672 0.94131269 -14.02593814] [ 0. 0. 0. 1. ]] SLAMing on 117.51165253199999 meters Centerline goodness : 0.760948 Centerline is valid? [False, False] Translation: X:-44.21, Y:-47.84, Z:-14.03 [[ 0.75083949 -0.57084808 -0.33222362 -44.21324534] [ 0.57945003 0.8107236 -0.08345598 -47.83839286] [ 0.31698222 -0.12984494 0.93950123 -14.02935324] [ 0. 0. 0. 1. ]] SLAMing on 117.54165253199999 meters Centerline goodness : 0.760742 Centerline is valid? [False, False] Translation: X:-44.22, Y:-47.84, Z:-14.03 [[ 0.74901419 -0.57499791 -0.32917343 -44.2152136 ] [ 0.5824533 0.80824811 -0.08650513 -47.83834551] [ 0.31579407 -0.12693458 0.94029874 -14.0309571 ] [ 0. 0. 0. 1. ]] SLAMing on 117.57165253199999 meters Centerline goodness : 0.759703 Centerline is valid? [False, False] Translation: X:-44.24, Y:-47.87, Z:-14.04 [[ 0.75031456 -0.57126933 -0.33268515 -44.24018654] [ 0.57992111 0.81037058 -0.08361239 -47.86790268] [ 0.31736345 -0.13019555 0.93932399 -14.03960205] [ 0. 0. 0. 1. ]] SLAMing on 117.60165253199999 meters Centerline goodness : 0.760835 Centerline is valid? [False, False] Translation: X:-44.24, Y:-47.87, Z:-14.04 [[ 0.74926049 -0.57437351 -0.32970257 -44.24497343] [ 0.58201414 0.8086144 -0.08603661 -47.86827431] [ 0.31601939 -0.12742772 0.94015633 -14.0410373 ] [ 0. 0. 0. 1. ]] SLAMing on 117.63165253199999 meters Centerline goodness : 0.758152 Centerline is valid? [False, False] Translation: X:-44.27, Y:-47.89, Z:-14.05 [[ 0.74829997 -0.57285594 -0.33448952 -44.26514955] [ 0.58174549 0.80901234 -0.0840905 -47.89244231] [ 0.31877789 -0.13166286 0.93864027 -14.04636213] [ 0. 0. 0. 1. ]] SLAMing on 117.66165253199999 meters Centerline goodness : 0.760260 Centerline is valid? [False, False] Translation: X:-44.29, Y:-47.92, Z:-14.05 [[ 0.74752054 -0.57155266 -0.33843846 -44.28605293] [ 0.5815091 0.809353 -0.08243113 -47.91710503] [ 0.32102992 -0.13518608 0.93737107 -14.05300616] [ 0. 0. 0. 1. ]] SLAMing on 117.69165253199999 meters Centerline goodness : 0.760092 Centerline is valid? [False, False] Translation: X:-44.31, Y:-47.95, Z:-14.06 [[ 0.74789983 -0.57075461 -0.33894693 -44.31275818] [ 0.58103802 0.80978388 -0.08151613 -47.9459006 ] [ 0.32099946 -0.13597516 0.93726736 -14.06322946] [ 0. 0. 0. 1. ]] SLAMing on 117.721652532 meters Centerline goodness : 0.761740 Centerline is valid? [False, False] Translation: X:-44.34, Y:-47.98, Z:-14.07 [[ 0.74858412 -0.57021031 -0.33835191 -44.34131663] [ 0.58076065 0.8101013 -0.08033029 -47.97742695] [ 0.31990448 -0.13636749 0.93758468 -14.07384717] [ 0. 0. 0. 1. ]] SLAMing on 117.751652532 meters Centerline goodness : 0.762026 Centerline is valid? [False, False] Translation: X:-44.37, Y:-48.00, Z:-14.08 [[ 0.74856837 -0.56957981 -0.33944697 -44.3663703 ] [ 0.58094399 0.81016845 -0.07830175 -48.00411627] [ 0.31960832 -0.13858547 0.93736044 -14.08267186] [ 0. 0. 0. 1. ]] SLAMing on 117.781652532 meters Centerline goodness : 0.762677 Centerline is valid? [False, False] Translation: X:-44.39, Y:-48.03, Z:-14.09 [[ 0.74939106 -0.5683039 -0.33977009 -44.39342658] [ 0.58031383 0.81081548 -0.0762504 -48.03183746] [ 0.31882425 -0.14003192 0.93741248 -14.09324861] [ 0. 0. 0. 1. ]] SLAMing on 117.811652532 meters Centerline goodness : 0.761619 Centerline is valid? [False, False] Translation: X:-44.42, Y:-48.06, Z:-14.11 [[ 0.75070569 -0.56681133 -0.339361 -44.42202623] [ 0.57926927 0.81173597 -0.07437627 -48.0600158 ] [ 0.31762884 -0.14074671 0.93771119 -14.10513253] [ 0. 0. 0. 1. ]] SLAMing on 117.84165253199998 meters Centerline goodness : 0.762965 Centerline is valid? [False, False] Translation: X:-44.45, Y:-48.09, Z:-14.12 [[ 0.75292916 -0.56454572 -0.33820971 -44.45398338] [ 0.5772533 0.81333643 -0.07254302 -48.08917411] [ 0.31603213 -0.14061291 0.93827059 -14.11862128] [ 0. 0. 0. 1. ]] SLAMing on 117.87165253199998 meters Centerline goodness : 0.763066 Centerline is valid? [False, False] Translation: X:-44.48, Y:-48.12, Z:-14.13 [[ 0.75479389 -0.56293796 -0.33672991 -44.48433401] [ 0.57583844 0.81448567 -0.0708745 -48.11835943] [ 0.31415964 -0.14040639 0.93893012 -14.13164709] [ 0. 0. 0. 1. ]] SLAMing on 117.90165253199999 meters Centerline goodness : 0.761749 Centerline is valid? [False, False] Translation: X:-44.51, Y:-48.15, Z:-14.14 [[ 0.75505469 -0.56327701 -0.33557624 -44.51206101] [ 0.5760753 0.81433295 -0.07070428 -48.14692149] [ 0.31309689 -0.13993159 0.93935589 -14.14356703] [ 0. 0. 0. 1. ]] SLAMing on 117.93165253199999 meters Centerline goodness : 0.763714 Centerline is valid? [False, False] Translation: X:-44.54, Y:-48.18, Z:-14.15 [[ 0.75265381 -0.5670427 -0.33462638 -44.53758452] [ 0.57941893 0.81180762 -0.0724023 -48.17507451] [ 0.31270745 -0.13939499 0.93956537 -14.15189801] [ 0. 0. 0. 1. ]] SLAMing on 117.96165253199999 meters Centerline goodness : 0.764094 Centerline is valid? [False, False] Translation: X:-44.56, Y:-48.20, Z:-14.16 [[ 0.75189288 -0.56697573 -0.33644557 -44.56154425] [ 0.57995053 0.8115105 -0.07147093 -48.20011891] [ 0.31355139 -0.1413833 0.93898684 -14.16022816] [ 0. 0. 0. 1. ]] SLAMing on 117.99165253199999 meters Centerline goodness : 0.765306 Centerline is valid? [False, False] Translation: X:-44.59, Y:-48.22, Z:-14.17 [[ 0.75228728 -0.56488884 -0.33906407 -44.58515104] [ 0.57877863 0.81251564 -0.06952436 -48.22361911] [ 0.3147684 -0.14394075 0.93819077 -14.17028793] [ 0. 0. 0. 1. ]] SLAMing on 118.02165253199999 meters Centerline goodness : 0.764835 Centerline is valid? [False, False] Translation: X:-44.62, Y:-48.25, Z:-14.18 [[ 0.75608745 -0.55901855 -0.34033811 -44.61620814] [ 0.57390885 0.81627321 -0.06577749 -48.25090727] [ 0.31457971 -0.14558952 0.93799962 -14.1840203 ] [ 0. 0. 0. 1. ]] SLAMing on 118.05165253199999 meters Centerline goodness : 0.763443 Centerline is valid? [False, False] Translation: X:-44.64, Y:-48.28, Z:-14.20 [[ 0.75667464 -0.55839162 -0.34006218 -44.64355228] [ 0.57359988 0.81658902 -0.06454107 -48.2789248 ] [ 0.31373023 -0.14622304 0.93818557 -14.19518146] [ 0. 0. 0. 1. ]] SLAMing on 118.08165253199999 meters Centerline goodness : 0.763234 Centerline is valid? [False, False] Translation: X:-44.67, Y:-48.31, Z:-14.21 [[ 0.75737616 -0.55845213 -0.33839706 -44.67229203] [ 0.57351718 0.8166781 -0.06414766 -48.30831224] [ 0.31218486 -0.14549262 0.93881442 -14.20753928] [ 0. 0. 0. 1. ]] SLAMing on 118.111652532 meters Centerline goodness : 0.765090 Centerline is valid? [False, False] Translation: X:-44.68, Y:-48.32, Z:-14.22 [[ 0.75795009 -0.56175015 -0.33158472 -44.68381679] [ 0.57406053 0.81582333 -0.06990566 -48.31722118] [ 0.30978407 -0.1373647 0.94083196 -14.21575095] [ 0. 0. 0. 1. ]] SLAMing on 118.141652532 meters Centerline goodness : 0.763982 Centerline is valid? [False, False] Translation: X:-44.71, Y:-48.35, Z:-14.23 [[ 0.75797021 -0.56213406 -0.33088739 -44.71088532] [ 0.57449762 0.81555031 -0.06949955 -48.34555121] [ 0.30892338 -0.13741543 0.94110751 -14.22666281] [ 0. 0. 0. 1. ]] SLAMing on 118.171652532 meters Centerline goodness : 0.763848 Centerline is valid? [False, False] Translation: X:-44.74, Y:-48.38, Z:-14.24 [[ 0.75990267 -0.56027761 -0.32960117 -44.74264434] [ 0.57291803 0.81681948 -0.06760816 -48.37677477] [ 0.307104 -0.13745883 0.94169645 -14.2384532 ] [ 0. 0. 0. 1. ]] SLAMing on 118.20165253199998 meters Centerline goodness : 0.764149 Centerline is valid? [False, False] Translation: X:-44.77, Y:-48.40, Z:-14.25 [[ 0.75880566 -0.56126826 -0.33044199 -44.76702793] [ 0.57413885 0.81596775 -0.06753681 -48.40202728] [ 0.30753627 -0.13847227 0.94140686 -14.24770168] [ 0. 0. 0. 1. ]] SLAMing on 118.23165253199998 meters Centerline goodness : 0.763344 Centerline is valid? [False, False] Translation: X:-44.80, Y:-48.43, Z:-14.26 [[ 0.76066707 -0.55940413 -0.32932147 -44.7985616 ] [ 0.57248758 0.81725984 -0.06591153 -48.43282193] [ 0.30601239 -0.13839572 0.94191456 -14.25977647] [ 0. 0. 0. 1. ]] SLAMing on 118.26165253199999 meters Centerline goodness : 0.764630 Centerline is valid? [False, False] Translation: X:-44.83, Y:-48.46, Z:-14.27 [[ 0.76102524 -0.55888507 -0.32937527 -44.82564685] [ 0.57225952 0.81749869 -0.06492251 -48.46047281] [ 0.30554807 -0.13908047 0.94196444 -14.27020935] [ 0. 0. 0. 1. ]] SLAMing on 118.29165253199999 meters Centerline goodness : 0.765019 Centerline is valid? [False, False] Translation: X:-44.85, Y:-48.48, Z:-14.28 [[ 0.75880067 -0.56109588 -0.33074605 -44.84761074] [ 0.57440544 0.81588153 -0.0663002 -48.48407839] [ 0.30705037 -0.13967369 0.94138798 -14.27882253] [ 0. 0. 0. 1. ]] SLAMing on 118.32165253199999 meters Centerline goodness : 0.762355 Centerline is valid? [False, False] Translation: X:-44.87, Y:-48.51, Z:-14.29 [[ 0.75830134 -0.56140126 -0.33137245 -44.87310416] [ 0.57486882 0.81556376 -0.06619358 -48.51103129] [ 0.30741652 -0.14030101 0.94117518 -14.2885128 ] [ 0. 0. 0. 1. ]] SLAMing on 118.35165253199999 meters Centerline goodness : 0.764299 Centerline is valid? [False, False] Translation: X:-44.89, Y:-48.52, Z:-14.30 [[ 0.75962669 -0.56348021 -0.32474195 -44.88689862] [ 0.57398979 0.8156374 -0.07260402 -48.52065211] [ 0.30578261 -0.13124661 0.94301183 -14.29806736] [ 0. 0. 0. 1. ]] SLAMing on 118.38165253199999 meters Centerline goodness : 0.765538 Centerline is valid? [False, False] Translation: X:-44.92, Y:-48.55, Z:-14.31 [[ 0.76405771 -0.55757611 -0.32453767 -44.92107949] [ 0.56857606 0.81967611 -0.06965877 -48.55237087] [ 0.30485584 -0.13130103 0.94330428 -14.3124543 ] [ 0. 0. 0. 1. ]] SLAMing on 118.41165253199999 meters Centerline goodness : 0.761921 Centerline is valid? [False, False] Translation: X:-44.95, Y:-48.58, Z:-14.32 [[ 0.76455865 -0.55667417 -0.32490606 -44.94830277] [ 0.56803554 0.82014774 -0.06850774 -48.57957943] [ 0.30460746 -0.13218 0.94326176 -14.32284643] [ 0. 0. 0. 1. ]] SLAMing on 118.44165253199999 meters Centerline goodness : 0.763493 Centerline is valid? [False, False] Translation: X:-44.97, Y:-48.60, Z:-14.33 [[ 0.76272711 -0.55833542 -0.32635704 -44.97123683] [ 0.5697161 0.81889766 -0.06949952 -48.60461648] [ 0.30605706 -0.13292169 0.94268812 -14.3309266 ] [ 0. 0. 0. 1. ]] SLAMing on 118.471652532 meters Centerline goodness : 0.762616 Centerline is valid? [False, False] Translation: X:-44.98, Y:-48.61, Z:-14.34 [[ 0.76237332 -0.56137491 -0.32193965 -44.97656091] [ 0.57147998 0.81744278 -0.07209668 -48.60804151] [ 0.30364051 -0.12901747 0.94401109 -14.33519135] [ 0. 0. 0. 1. ]] SLAMing on 118.501652532 meters Centerline goodness : 0.766541 Centerline is valid? [False, False] Translation: X:-45.01, Y:-48.64, Z:-14.35 [[ 0.76501644 -0.55851136 -0.32064766 -45.00924095] [ 0.56842773 0.81962411 -0.07145791 -48.64086548] [ 0.30272061 -0.12759854 0.94449926 -14.34897463] [ 0. 0. 0. 1. ]] SLAMing on 118.531652532 meters Centerline goodness : 0.764533 Centerline is valid? [False, False] Translation: X:-45.03, Y:-48.65, Z:-14.36 [[ 0.76699478 -0.55934214 -0.31441276 -45.0253258 ] [ 0.56635311 0.82046191 -0.07801541 -48.65202924] [ 0.301601 -0.11823124 0.94607516 -14.35892685] [ 0. 0. 0. 1. ]] SLAMing on 118.561652532 meters Centerline goodness : 0.764620 Centerline is valid? [False, False] Translation: X:-45.05, Y:-48.68, Z:-14.37 [[ 0.76584247 -0.55956366 -0.31681826 -45.04941996] [ 0.56697403 0.82005064 -0.07782931 -48.67778754] [ 0.30335747 -0.12002273 0.94528767 -14.3665065 ] [ 0. 0. 0. 1. ]] SLAMing on 118.59165253199998 meters Centerline goodness : 0.763526 Centerline is valid? [False, False] Translation: X:-45.07, Y:-48.70, Z:-14.37 [[ 0.76552337 -0.55892748 -0.31870681 -45.07409037] [ 0.56722859 0.82007168 -0.07572431 -48.70412645] [ 0.30368682 -0.12281089 0.94482369 -14.37337159] [ 0. 0. 0. 1. ]] SLAMing on 118.62165253199998 meters Centerline goodness : 0.764716 Centerline is valid? [False, False] Translation: X:-45.10, Y:-48.73, Z:-14.38 [[ 0.76553744 -0.5583298 -0.31971905 -45.1004855 ] [ 0.56710117 0.82026554 -0.07457021 -48.7325709 ] [ 0.30388929 -0.12422676 0.94457346 -14.38178641] [ 0. 0. 0. 1. ]] SLAMing on 118.65165253199999 meters Centerline goodness : 0.764786 Centerline is valid? [False, False] Translation: X:-45.13, Y:-48.76, Z:-14.39 [[ 0.76617108 -0.55704175 -0.32044714 -45.12804666] [ 0.56613575 0.82101958 -0.07360138 -48.76112424] [ 0.30409242 -0.12502533 0.9444027 -14.39166746] [ 0. 0. 0. 1. ]] SLAMing on 118.68165253199999 meters Centerline goodness : 0.765181 Centerline is valid? [False, False] Translation: X:-45.15, Y:-48.79, Z:-14.40 [[ 0.76643773 -0.5560755 -0.32148599 -45.15474033] [ 0.56527355 0.8216206 -0.07352142 -48.78673227] [ 0.30502298 -0.12537793 0.9440558 -14.40318788] [ 0. 0. 0. 1. ]] SLAMing on 118.71165253199999 meters Centerline goodness : 0.764876 Centerline is valid? [False, False] Translation: X:-45.18, Y:-48.81, Z:-14.41 [[ 0.76707017 -0.55353613 -0.32434722 -45.17936479] [ 0.56360424 0.82294126 -0.07153975 -48.81133632] [ 0.30651854 -0.12792746 0.943229 -14.4123022 ] [ 0. 0. 0. 1. ]] SLAMing on 118.74165253199999 meters Centerline goodness : 0.764800 Centerline is valid? [False, False] Translation: X:-45.20, Y:-48.82, Z:-14.42 [[ 0.76928454 -0.55383063 -0.31854815 -45.19539621] [ 0.56099304 0.82413184 -0.078061 -48.82112706] [ 0.30575824 -0.11865218 0.94468702 -14.42240814] [ 0. 0. 0. 1. ]] SLAMing on 118.77165253199999 meters Centerline goodness : 0.764757 Centerline is valid? [False, False] Translation: X:-45.22, Y:-48.85, Z:-14.43 [[ 0.77104051 -0.55059968 -0.31990079 -45.22347717] [ 0.55869335 0.82597268 -0.07503917 -48.84912653] [ 0.30554586 -0.1208682 0.94447478 -14.43194313] [ 0. 0. 0. 1. ]] SLAMing on 118.80165253199999 meters Centerline goodness : 0.766233 Centerline is valid? [False, False] Translation: X:-45.23, Y:-48.85, Z:-14.43 [[ 0.77015036 -0.55390608 -0.31631706 -45.22918159] [ 0.56080327 0.82426912 -0.07797505 -48.84904017] [ 0.30392124 -0.11733913 0.9454435 -14.43440712] [ 0. 0. 0. 1. ]] SLAMing on 118.83165253199999 meters Centerline goodness : 0.767653 Centerline is valid? [False, False] Translation: X:-45.26, Y:-48.88, Z:-14.44 [[ 0.77029566 -0.55308368 -0.31740044 -45.25578116] [ 0.56066077 0.82453836 -0.07613142 -48.87594547] [ 0.30381589 -0.11931027 0.94523064 -14.44249928] [ 0. 0. 0. 1. ]] SLAMing on 118.861652532 meters Centerline goodness : 0.769196 Centerline is valid? [False, False] Translation: X:-45.28, Y:-48.90, Z:-14.45 [[ 0.77032729 -0.55239921 -0.31851371 -45.28188005] [ 0.56065699 0.82470478 -0.07433553 -48.90214473] [ 0.30374266 -0.12131425 0.94499907 -14.45067447] [ 0. 0. 0. 1. ]] SLAMing on 118.891652532 meters Centerline goodness : 0.769172 Centerline is valid? [False, False] Translation: X:-45.31, Y:-48.93, Z:-14.46 [[ 0.77398516 -0.54690457 -0.3191275 -45.3140286 ] [ 0.55602723 0.82815151 -0.0707022 -48.93223882] [ 0.30295327 -0.12272113 0.94507081 -14.46272675] [ 0. 0. 0. 1. ]] SLAMing on 118.921652532 meters Centerline goodness : 0.768841 Centerline is valid? [False, False] Translation: X:-45.34, Y:-48.96, Z:-14.47 [[ 0.77643145 -0.54277557 -0.32023254 -45.34280215] [ 0.5528853 0.83054289 -0.06720386 -48.95949916] [ 0.30244347 -0.12487267 0.94495225 -14.47369448] [ 0. 0. 0. 1. ]] SLAMing on 118.95165253199998 meters Centerline goodness : 0.768955 Centerline is valid? [False, False] Translation: X:-45.37, Y:-48.98, Z:-14.48 [[ 0.77721027 -0.54166831 -0.32021811 -45.36982378] [ 0.55243786 0.83102442 -0.06489084 -48.98446524] [ 0.30125839 -0.12646678 0.9451188 -14.48412319] [ 0. 0. 0. 1. ]] SLAMing on 118.98165253199998 meters Centerline goodness : 0.768370 Centerline is valid? [False, False] Translation: X:-45.40, Y:-49.01, Z:-14.49 [[ 0.77798344 -0.54131825 -0.31892995 -45.3985984 ] [ 0.5524343 0.83116144 -0.06314276 -49.0116677 ] [ 0.29926261 -0.12706382 0.94567261 -14.49498819] [ 0. 0. 0. 1. ]] SLAMing on 119.01165253199999 meters Centerline goodness : 0.769403 Centerline is valid? [False, False] Translation: X:-45.42, Y:-49.02, Z:-14.50 [[ 0.78010552 -0.54246555 -0.31171542 -45.41553971] [ 0.55067817 0.83182348 -0.06944959 -49.02425246] [ 0.29696622 -0.11747687 0.94763403 -14.50498983] [ 0. 0. 0. 1. ]] SLAMing on 119.04165253199999 meters Centerline goodness : 0.768840 Centerline is valid? [False, False] Translation: X:-45.43, Y:-49.03, Z:-14.51 [[ 0.78264218 -0.54138845 -0.30719662 -45.42663346] [ 0.54809637 0.83329505 -0.07217845 -49.03074798] [ 0.295062 -0.11188345 0.9489049 -14.51315158] [ 0. 0. 0. 1. ]] SLAMing on 119.07165253199999 meters Centerline goodness : 0.768672 Centerline is valid? [False, False] Translation: X:-45.43, Y:-49.03, Z:-14.51 [[ 0.7833844 -0.54080973 -0.30632288 -45.4302869 ] [ 0.54745993 0.83373808 -0.07189178 -49.03042686] [ 0.29427283 -0.11138061 0.94920907 -14.51450961] [ 0. 0. 0. 1. ]] SLAMing on 119.10165253199999 meters Centerline goodness : 0.768261 Centerline is valid? [False, False] Translation: X:-45.44, Y:-49.03, Z:-14.52 [[ 0.78518762 -0.53960861 -0.30381401 -45.43636881] [ 0.54592987 0.83475693 -0.0717039 -49.0319965 ] [ 0.29230289 -0.10956013 0.95002926 -14.51962392] [ 0. 0. 0. 1. ]] SLAMing on 119.13165253199999 meters Centerline goodness : 0.768261 Centerline is valid? [False, False] Translation: X:-45.44, Y:-49.03, Z:-14.52 [[ 0.78379703 -0.54291873 -0.30149872 -45.44018246] [ 0.54844752 0.83289987 -0.07404808 -49.03183353] [ 0.29132033 -0.10731756 0.95058687 -14.51949713] [ 0. 0. 0. 1. ]] SLAMing on 119.16165253199999 meters Centerline goodness : 0.768658 Centerline is valid? [False, False] Translation: X:-45.45, Y:-49.04, Z:-14.52 [[ 0.78661772 -0.54053024 -0.29842859 -45.45029848] [ 0.54582874 0.83469995 -0.07312303 -49.03787021] [ 0.28862354 -0.10537103 0.95162671 -14.52432424] [ 0. 0. 0. 1. ]] SLAMing on 119.19165253199999 meters Centerline goodness : 0.766661 Centerline is valid? [False, False] Translation: X:-45.45, Y:-49.04, Z:-14.52 [[ 0.78530685 -0.54389294 -0.2957594 -45.45426281] [ 0.5483793 0.83281811 -0.07545953 -49.04005734] [ 0.28735569 -0.10292944 0.9522774 -14.52403044] [ 0. 0. 0. 1. ]] SLAMing on 119.221652532 meters Centerline goodness : 0.768018 Centerline is valid? [False, False] Translation: X:-45.46, Y:-49.04, Z:-14.52 [[ 0.78439674 -0.54677556 -0.29284507 -45.4593918 ] [ 0.55043521 0.83125546 -0.07768813 -49.04191738] [ 0.28590703 -0.10025392 0.95299859 -14.524519 ] [ 0. 0. 0. 1. ]] SLAMing on 119.251652532 meters Centerline goodness : 0.766939 Centerline is valid? [False, False] Translation: X:-45.46, Y:-49.04, Z:-14.52 [[ 0.78385455 -0.54866172 -0.29076169 -45.46450355] [ 0.55174074 0.83024339 -0.07923424 -49.04376846] [ 0.28487576 -0.09831695 0.95350909 -14.52424584] [ 0. 0. 0. 1. ]] SLAMing on 119.281652532 meters Centerline goodness : 0.767408 Centerline is valid? [False, False] Translation: X:-45.48, Y:-49.06, Z:-14.52 [[ 0.7781338 -0.55426518 -0.29546218 -45.4779496 ] [ 0.55775393 0.82607025 -0.08073719 -49.06298052] [ 0.28882233 -0.10197085 0.95193677 -14.52428942] [ 0. 0. 0. 1. ]] SLAMing on 119.311652532 meters Centerline goodness : 0.767904 Centerline is valid? [False, False] Translation: X:-45.50, Y:-49.08, Z:-14.53 [[ 0.77667208 -0.55307152 -0.30148363 -45.49580233] [ 0.55789 0.82619926 -0.07844437 -49.08328016] [ 0.29247091 -0.10726915 0.95023897 -14.52793422] [ 0. 0. 0. 1. ]] SLAMing on 119.34165253199998 meters Centerline goodness : 0.769078 Centerline is valid? [False, False] Translation: X:-45.52, Y:-49.11, Z:-14.53 [[ 0.77705066 -0.54996319 -0.30615806 -45.51834435] [ 0.5560934 0.8276917 -0.0754095 -49.10725451] [ 0.29487694 -0.11165547 0.94898928 -14.53412489] [ 0. 0. 0. 1. ]] SLAMing on 119.37165253199998 meters Centerline goodness : 0.768859 Centerline is valid? [False, False] Translation: X:-45.54, Y:-49.13, Z:-14.54 [[ 0.77669602 -0.54771947 -0.31104129 -45.53995269] [ 0.55528675 0.82850692 -0.07233883 -49.12919383] [ 0.29732124 -0.11653183 0.94763939 -14.53973354] [ 0. 0. 0. 1. ]] SLAMing on 119.40165253199999 meters Centerline goodness : 0.768859 Centerline is valid? [False, False] Translation: X:-45.54, Y:-49.13, Z:-14.54 [[ 0.77527683 -0.55110107 -0.30859917 -45.54389442] [ 0.55785746 0.82657416 -0.07463383 -49.12909757] [ 0.29621088 -0.11429247 0.94825964 -14.53971204] [ 0. 0. 0. 1. ]] SLAMing on 119.43165253199999 meters Centerline goodness : 0.770175 Centerline is valid? [False, False] Translation: X:-45.57, Y:-49.16, Z:-14.55 [[ 0.77442286 -0.55124338 -0.31048346 -45.5682296 ] [ 0.55859969 0.82617186 -0.07352855 -49.15718337] [ 0.29704482 -0.11649378 0.94773075 -14.54589228] [ 0. 0. 0. 1. ]] SLAMing on 119.46165253199999 meters Centerline goodness : 0.770771 Centerline is valid? [False, False] Translation: X:-45.59, Y:-49.18, Z:-14.55 [[ 0.77348552 -0.55141834 -0.31250276 -45.59201874] [ 0.55944115 0.82571116 -0.07229583 -49.18375963] [ 0.29790226 -0.11890713 0.94716173 -14.55206765] [ 0. 0. 0. 1. ]] SLAMing on 119.49165253199999 meters Centerline goodness : 0.771087 Centerline is valid? [False, False] Translation: X:-45.62, Y:-49.21, Z:-14.56 [[ 0.77356837 -0.55049443 -0.31392333 -45.61738997] [ 0.55925205 0.82600534 -0.07037275 -49.210529 ] [ 0.29804215 -0.12112413 0.94683674 -14.55981954] [ 0. 0. 0. 1. ]] SLAMing on 119.52165253199999 meters Centerline goodness : 0.771162 Centerline is valid? [False, False] Translation: X:-45.65, Y:-49.24, Z:-14.57 [[ 0.77731394 -0.54469863 -0.31477997 -45.64811611] [ 0.55470893 0.82946102 -0.06551656 -49.24059216] [ 0.2967845 -0.12368433 0.94690081 -14.57127189] [ 0. 0. 0. 1. ]] SLAMing on 119.55165253199999 meters Centerline goodness : 0.772182 Centerline is valid? [False, False] Translation: X:-45.68, Y:-49.27, Z:-14.58 [[ 0.77996541 -0.54133884 -0.31401627 -45.67851019] [ 0.55178063 0.83160038 -0.06307884 -49.27009494] [ 0.29528308 -0.12406878 0.94731982 -14.584126 ] [ 0. 0. 0. 1. ]] SLAMing on 119.58165253199999 meters Centerline goodness : 0.770533 Centerline is valid? [False, False] Translation: X:-45.69, Y:-49.28, Z:-14.59 [[ 0.78288274 -0.53978677 -0.30939434 -45.69025762] [ 0.54871227 0.83343293 -0.06560788 -49.27804509] [ 0.2932737 -0.11840519 0.94866788 -14.59254541] [ 0. 0. 0. 1. ]] SLAMing on 119.611652532 meters Centerline goodness : 0.770933 Centerline is valid? [False, False] Translation: X:-45.72, Y:-49.31, Z:-14.60 [[ 0.78359983 -0.53887012 -0.30917682 -45.71748419] [ 0.54803967 0.83395928 -0.06453249 -49.306547 ] [ 0.2926155 -0.11887351 0.94881255 -14.6030035 ] [ 0. 0. 0. 1. ]] SLAMing on 119.641652532 meters Centerline goodness : 0.770748 Centerline is valid? [False, False] Translation: X:-45.75, Y:-49.34, Z:-14.61 [[ 0.78386695 -0.5388804 -0.30848098 -45.74555101] [ 0.5481915 0.8339179 -0.06377315 -49.33714632] [ 0.29161391 -0.11911699 0.94909034 -14.61247877] [ 0. 0. 0. 1. ]] SLAMing on 119.671652532 meters Centerline goodness : 0.771805 Centerline is valid? [False, False] Translation: X:-45.77, Y:-49.37, Z:-14.62 [[ 0.78363386 -0.5393127 -0.30831767 -45.77189733] [ 0.5487689 0.83357266 -0.06331919 -49.36546767] [ 0.29115402 -0.11957608 0.9491738 -14.62165777] [ 0. 0. 0. 1. ]] SLAMing on 119.70165253199998 meters Centerline goodness : 0.770946 Centerline is valid? [False, False] Translation: X:-45.80, Y:-49.39, Z:-14.63 [[ 0.78393535 -0.53892178 -0.30823477 -45.79818427] [ 0.54907046 0.83355152 -0.06093837 -49.39312357] [ 0.28977058 -0.12147087 0.94935654 -14.63023829] [ 0. 0. 0. 1. ]] SLAMing on 119.73165253199998 meters Centerline goodness : 0.769660 Centerline is valid? [False, False] Translation: X:-45.82, Y:-49.42, Z:-14.64 [[ 0.7828744 -0.53969385 -0.3095775 -45.82180541] [ 0.55036305 0.83276692 -0.05999802 -49.41804626] [ 0.29018646 -0.1234091 0.94897946 -14.63767559] [ 0. 0. 0. 1. ]] SLAMing on 119.76165253199999 meters Centerline goodness : 0.766329 Centerline is valid? [False, False] Translation: X:-45.85, Y:-49.45, Z:-14.65 [[ 0.78390624 -0.53814941 -0.30965501 -45.85017501] [ 0.54907513 0.83369692 -0.05887226 -49.44575893] [ 0.2898405 -0.12387353 0.94902467 -14.64907941] [ 0. 0. 0. 1. ]] SLAMing on 119.79165253199999 meters Centerline goodness : 0.765874 Centerline is valid? [False, False] Translation: X:-45.88, Y:-49.47, Z:-14.66 [[ 0.78403529 -0.53773757 -0.31004349 -45.87644617] [ 0.54892964 0.83384748 -0.05809156 -49.47381925] [ 0.289767 -0.12464622 0.94894594 -14.65843511] [ 0. 0. 0. 1. ]] SLAMing on 119.82165253199999 meters Centerline goodness : 0.764499 Centerline is valid? [False, False] Translation: X:-45.90, Y:-49.50, Z:-14.67 [[ 0.78215492 -0.53962351 -0.31151269 -45.89934323] [ 0.55081436 0.83252832 -0.05916193 -49.49979268] [ 0.2912683 -0.12531187 0.9483985 -14.66569277] [ 0. 0. 0. 1. ]] SLAMing on 119.85165253199999 meters Centerline goodness : 0.764495 Centerline is valid? [False, False] Translation: X:-45.93, Y:-49.53, Z:-14.68 [[ 0.78332994 -0.5381555 -0.31109943 -45.92902614] [ 0.54944244 0.83349147 -0.0583521 -49.53026545] [ 0.29070123 -0.12522228 0.9485843 -14.67679832] [ 0. 0. 0. 1. ]] SLAMing on 119.88165253199999 meters Centerline goodness : 0.763495 Centerline is valid? [False, False] Translation: X:-45.95, Y:-49.55, Z:-14.68 [[ 0.78135956 -0.5399445 -0.31294917 -45.95076137] [ 0.55168422 0.83202653 -0.05810658 -49.55425544] [ 0.29175634 -0.12724699 0.94799074 -14.68327988] [ 0. 0. 0. 1. ]] SLAMing on 119.91165253199999 meters Centerline goodness : 0.762320 Centerline is valid? [False, False] Translation: X:-45.97, Y:-49.58, Z:-14.69 [[ 0.77957322 -0.54188338 -0.31405096 -45.97397892] [ 0.55358906 0.83068753 -0.05913867 -49.57991421] [ 0.29292448 -0.12775225 0.94756246 -14.69114016] [ 0. 0. 0. 1. ]] SLAMing on 119.94165253199999 meters Centerline goodness : 0.762034 Centerline is valid? [False, False] Translation: X:-46.00, Y:-49.61, Z:-14.70 [[ 0.77896443 -0.54278674 -0.31400154 -46.0007553 ] [ 0.55455054 0.83004735 -0.05911931 -49.60925386] [ 0.29272532 -0.12807789 0.94758004 -14.6996488 ] [ 0. 0. 0. 1. ]] SLAMing on 119.971652532 meters Centerline goodness : 0.761451 Centerline is valid? [False, False] Translation: X:-46.03, Y:-49.64, Z:-14.71 [[ 0.77966312 -0.54169956 -0.31414489 -46.02830135] [ 0.55365856 0.83069884 -0.05832352 -49.63748492] [ 0.29255362 -0.12845631 0.94758185 -14.71032063] [ 0. 0. 0. 1. ]] SLAMing on 120.001652532 meters Centerline goodness : 0.760354 Centerline is valid? [False, False] Translation: X:-46.05, Y:-49.66, Z:-14.72 [[ 0.77872846 -0.54229144 -0.31543934 -46.05238034] [ 0.55440906 0.83018268 -0.05854327 -49.66274752] [ 0.29361979 -0.12929312 0.94713817 -14.71901048] [ 0. 0. 0. 1. ]] SLAMing on 120.031652532 meters Centerline goodness : 0.757842 Centerline is valid? [False, False] Translation: X:-46.08, Y:-49.69, Z:-14.73 [[ 0.77907252 -0.54136228 -0.3161849 -46.07854101] [ 0.55376961 0.83066405 -0.05776209 -49.68922837] [ 0.29391364 -0.13009273 0.94693751 -14.7291806 ] [ 0. 0. 0. 1. ]] SLAMing on 120.061652532 meters Centerline goodness : 0.755549 Centerline is valid? [False, False] Translation: X:-46.11, Y:-49.72, Z:-14.74 [[ 0.78027212 -0.5397594 -0.31596709 -46.10605841] [ 0.55266989 0.8315373 -0.05569304 -49.71623221] [ 0.29279926 -0.13116977 0.94713414 -14.74010489] [ 0. 0. 0. 1. ]] SLAMing on 120.09165253199998 meters Centerline goodness : 0.752639 Centerline is valid? [False, False] Translation: X:-46.13, Y:-49.74, Z:-14.75 [[ 0.78576046 -0.53314957 -0.3135794 -46.13363323] [ 0.54356014 0.83713207 -0.06125572 -49.74015066] [ 0.29516583 -0.12231693 0.94758414 -14.74796933] [ 0. 0. 0. 1. ]] SLAMing on 120.12165253199998 meters Centerline goodness : 0.752855 Centerline is valid? [False, False] Translation: X:-46.16, Y:-49.77, Z:-14.76 [[ 0.78701018 -0.53187999 -0.31259983 -46.16248199] [ 0.54266993 0.83784776 -0.0593337 -49.76947075] [ 0.29346947 -0.1229423 0.94802999 -14.75868527] [ 0. 0. 0. 1. ]] SLAMing on 120.15165253199999 meters Centerline goodness : 0.751882 Centerline is valid? [False, False] Translation: X:-46.19, Y:-49.80, Z:-14.77 [[ 0.78689953 -0.53200545 -0.31266489 -46.18888669] [ 0.54307795 0.83764369 -0.05847548 -49.79706677] [ 0.29301105 -0.12378708 0.94806186 -14.76769971] [ 0. 0. 0. 1. ]] SLAMing on 120.18165253199999 meters Centerline goodness : 0.750978 Centerline is valid? [False, False] Translation: X:-46.21, Y:-49.81, Z:-14.78 [[ 0.78966388 -0.53192505 -0.30575596 -46.20728403] [ 0.54022765 0.83904592 -0.06446736 -49.81230294] [ 0.29083509 -0.11427027 0.94992487 -14.77749827] [ 0. 0. 0. 1. ]] SLAMing on 120.21165253199999 meters Centerline goodness : 0.750063 Centerline is valid? [False, False] Translation: X:-46.23, Y:-49.84, Z:-14.79 [[ 0.7895253 -0.5315071 -0.30683871 -46.23280561] [ 0.54020253 0.83913174 -0.06355427 -49.83904121] [ 0.29125765 -0.11557734 0.94963722 -14.78618588] [ 0. 0. 0. 1. ]] SLAMing on 120.24165253199999 meters Centerline goodness : 0.748958 Centerline is valid? [False, False] Translation: X:-46.26, Y:-49.86, Z:-14.80 [[ 0.78965949 -0.53064962 -0.30797544 -46.25765144] [ 0.53995913 0.83941496 -0.06186005 -49.86433926] [ 0.2913452 -0.11744578 0.9493811 -14.79533455] [ 0. 0. 0. 1. ]] SLAMing on 120.27165253199999 meters Centerline goodness : 0.749700 Centerline is valid? [False, False] Translation: X:-46.28, Y:-49.89, Z:-14.81 [[ 0.7901068 -0.52980444 -0.30828314 -46.28402174] [ 0.53943343 0.83983193 -0.06077746 -49.89098675] [ 0.29110619 -0.11827755 0.94935115 -14.80593985] [ 0. 0. 0. 1. ]] SLAMing on 120.30165253199999 meters Centerline goodness : 0.747495 Centerline is valid? [False, False] Translation: X:-46.31, Y:-49.92, Z:-14.82 [[ 0.79060822 -0.52884855 -0.30863872 -46.31126215] [ 0.53871187 0.8403529 -0.05997101 -49.91882004] [ 0.29108102 -0.11885377 0.9492869 -14.81598983] [ 0. 0. 0. 1. ]] SLAMing on 120.33165253199999 meters Centerline goodness : 0.748236 Centerline is valid? [False, False] Translation: X:-46.34, Y:-49.95, Z:-14.83 [[ 0.79140999 -0.52838107 -0.30738197 -46.34109573] [ 0.53822381 0.84070632 -0.0593971 -49.94962643] [ 0.28980227 -0.11843284 0.94973065 -14.8268868 ] [ 0. 0. 0. 1. ]] SLAMing on 120.361652532 meters Centerline goodness : 0.748791 Centerline is valid? [False, False] Translation: X:-46.37, Y:-49.98, Z:-14.84 [[ 0.79186876 -0.52839975 -0.30616592 -46.36815067] [ 0.53851023 0.84062113 -0.05799002 -49.97548468] [ 0.28801145 -0.11895299 0.95021029 -14.83795689] [ 0. 0. 0. 1. ]] SLAMing on 120.391652532 meters Centerline goodness : 0.749394 Centerline is valid? [False, False] Translation: X:-46.39, Y:-50.00, Z:-14.85 [[ 0.79137317 -0.52925975 -0.30596182 -46.39396971] [ 0.53949944 0.84001014 -0.05764828 -50.00117193] [ 0.28752194 -0.11944492 0.95029682 -14.84754149] [ 0. 0. 0. 1. ]] SLAMing on 120.421652532 meters Centerline goodness : 0.747978 Centerline is valid? [False, False] Translation: X:-46.40, Y:-50.00, Z:-14.85 [[ 0.7912539 -0.53197305 -0.30153265 -46.40057277] [ 0.54102968 0.83884626 -0.06019832 -50.00385148] [ 0.28496342 -0.11550596 0.95155358 -14.85181124] [ 0. 0. 0. 1. ]] SLAMing on 120.45165253199998 meters Centerline goodness : 0.747661 Centerline is valid? [False, False] Translation: X:-46.43, Y:-50.03, Z:-14.86 [[ 0.79121607 -0.53220443 -0.30122348 -46.42786234] [ 0.54108698 0.83877361 -0.06069354 -50.03371049] [ 0.28495968 -0.1149664 0.95162004 -14.86200187] [ 0. 0. 0. 1. ]] SLAMing on 120.48165253199998 meters Centerline goodness : 0.748254 Centerline is valid? [False, False] Translation: X:-46.44, Y:-50.05, Z:-14.87 [[ 0.79291689 -0.53329321 -0.29475609 -46.44332389] [ 0.53951159 0.83929378 -0.06718034 -50.04517069] [ 0.28321377 -0.1057559 0.95320808 -14.87110171] [ 0. 0. 0. 1. ]] SLAMing on 120.51165253199999 meters Centerline goodness : 0.746806 Centerline is valid? [False, False] Translation: X:-46.47, Y:-50.07, Z:-14.88 [[ 0.79248331 -0.53308137 -0.29630131 -46.4678638 ] [ 0.53986475 0.8391717 -0.06585523 -50.07172667] [ 0.28375387 -0.10777346 0.9528214 -14.87839789] [ 0. 0. 0. 1. ]] SLAMing on 120.54165253199999 meters Centerline goodness : 0.748328 Centerline is valid? [False, False] Translation: X:-46.47, Y:-50.07, Z:-14.88 [[ 0.79131485 -0.53629388 -0.29361485 -46.47245589] [ 0.54226936 0.83743717 -0.06813904 -50.07285308] [ 0.28242653 -0.1052989 0.95349221 -14.87845509] [ 0. 0. 0. 1. ]] SLAMing on 120.57165253199999 meters Centerline goodness : 0.746612 Centerline is valid? [False, False] Translation: X:-46.50, Y:-50.10, Z:-14.88 [[ 0.79078738 -0.53643145 -0.29478233 -46.49764761] [ 0.54307606 0.83705617 -0.06637291 -50.10122954] [ 0.28235388 -0.10760236 0.95325653 -14.88474739] [ 0. 0. 0. 1. ]] SLAMing on 120.60165253199999 meters Centerline goodness : 0.747414 Centerline is valid? [False, False] Translation: X:-46.50, Y:-50.10, Z:-14.89 [[ 0.78977698 -0.53936422 -0.29212764 -46.50211095] [ 0.54523105 0.83548054 -0.06852272 -50.10258177] [ 0.28102566 -0.1051594 0.95392142 -14.88503554] [ 0. 0. 0. 1. ]] SLAMing on 120.63165253199999 meters Centerline goodness : 0.747476 Centerline is valid? [False, False] Translation: X:-46.52, Y:-50.13, Z:-14.89 [[ 0.78968703 -0.53744283 -0.29588783 -46.52328332] [ 0.54464022 0.83613486 -0.06515768 -50.12704309] [ 0.28242066 -0.10969824 0.95299783 -14.8908664 ] [ 0. 0. 0. 1. ]] SLAMing on 120.66165253199999 meters Centerline goodness : 0.747092 Centerline is valid? [False, False] Translation: X:-46.55, Y:-50.15, Z:-14.90 [[ 0.78848241 -0.53808163 -0.29793228 -46.54544598] [ 0.54574158 0.83546168 -0.06457489 -50.15281132] [ 0.28365756 -0.11167787 0.95240036 -14.8981329 ] [ 0. 0. 0. 1. ]] SLAMing on 120.69165253199999 meters Centerline goodness : 0.746805 Centerline is valid? [False, False] Translation: X:-46.57, Y:-50.18, Z:-14.91 [[ 0.78765989 -0.53821168 -0.29986679 -46.5679597 ] [ 0.54648415 0.83506903 -0.06336232 -50.1788709 ] [ 0.28451181 -0.11396449 0.95187453 -14.90511957] [ 0. 0. 0. 1. ]] SLAMing on 120.721652532 meters Centerline goodness : 0.745897 Centerline is valid? [False, False] Translation: X:-46.59, Y:-50.21, Z:-14.91 [[ 0.78535952 -0.54037923 -0.30199455 -46.58838173] [ 0.54914795 0.83334293 -0.06305624 -50.20549347] [ 0.2857393 -0.11631788 0.95122195 -14.91010943] [ 0. 0. 0. 1. ]] SLAMing on 120.751652532 meters Centerline goodness : 0.744550 Centerline is valid? [False, False] Translation: X:-46.61, Y:-50.23, Z:-14.92 [[ 0.78551493 -0.53889676 -0.30423114 -46.61123959] [ 0.5487434 0.83382423 -0.06014849 -50.23090199] [ 0.28608912 -0.11969729 0.95069741 -14.91754752] [ 0. 0. 0. 1. ]] SLAMing on 120.781652532 meters Centerline goodness : 0.741618 Centerline is valid? [False, False] Translation: X:-46.62, Y:-50.23, Z:-14.92 [[ 0.78427134 -0.54225355 -0.30146236 -46.6153558 ] [ 0.5512405 0.83200382 -0.06247846 -50.23192798] [ 0.284697 -0.1171782 0.95142887 -14.91805975] [ 0. 0. 0. 1. ]] SLAMing on 120.811652532 meters Centerline goodness : 0.743131 Centerline is valid? [False, False] Translation: X:-46.64, Y:-50.26, Z:-14.92 [[ 0.78242055 -0.54333864 -0.30430446 -46.63613846] [ 0.55306169 0.83086716 -0.06150223 -50.2572309 ] [ 0.28625312 -0.12017853 0.95058733 -14.92282272] [ 0. 0. 0. 1. ]] SLAMing on 120.84165253199998 meters Centerline goodness : 0.742647 Centerline is valid? [False, False] Translation: X:-46.66, Y:-50.28, Z:-14.93 [[ 0.78114577 -0.54459063 -0.3053397 -46.65881154] [ 0.55484615 0.82975334 -0.06045781 -50.28456722] [ 0.28628139 -0.1221902 0.95032232 -14.92930743] [ 0. 0. 0. 1. ]] SLAMing on 120.87165253199998 meters Centerline goodness : 0.743321 Centerline is valid? [False, False] Translation: X:-46.66, Y:-50.29, Z:-14.93 [[ 0.77807429 -0.55171517 -0.30035107 -46.66251201] [ 0.56023384 0.82574141 -0.06549173 -50.28849346] [ 0.2841451 -0.1173094 0.95157767 -14.92970611] [ 0. 0. 0. 1. ]] SLAMing on 120.90165253199999 meters Centerline goodness : 0.741652 Centerline is valid? [False, False] Translation: X:-46.66, Y:-50.29, Z:-14.93 [[ 0.77634539 -0.55559623 -0.29765863 -46.66442308] [ 0.56319962 0.82350245 -0.06819029 -50.28966482] [ 0.28300888 -0.11470201 0.95223391 -14.93023104] [ 0. 0. 0. 1. ]] SLAMing on 120.93165253199999 meters Centerline goodness : 0.740093 Centerline is valid? [False, False] Translation: X:-46.67, Y:-50.29, Z:-14.93 [[ 0.77478571 -0.55920405 -0.29495412 -46.66699884] [ 0.5659599 0.82140149 -0.07063269 -50.29109045] [ 0.28177384 -0.112207 0.95289721 -14.93067648] [ 0. 0. 0. 1. ]] SLAMing on 120.96165253199999 meters Centerline goodness : 0.739437 Centerline is valid? [False, False] Translation: X:-46.68, Y:-50.31, Z:-14.93 [[ 0.77250574 -0.55935662 -0.30059116 -46.68249702] [ 0.5674046 0.82056435 -0.06874716 -50.31266368] [ 0.28510857 -0.11744923 0.95127219 -14.93345521] [ 0. 0. 0. 1. ]] SLAMing on 120.99165253199999 meters Centerline goodness : 0.735970 Centerline is valid? [False, False] Translation: X:-46.69, Y:-50.32, Z:-14.94 [[ 0.76973149 -0.56669049 -0.2938968 -46.68973368] [ 0.57579849 0.81511064 -0.06364553 -50.32411421] [ 0.27562573 -0.12023536 0.95371585 -14.94298329] [ 0. 0. 0. 1. ]] SLAMing on 121.02165253199999 meters Centerline goodness : 0.735970 Centerline is valid? [False, False] Translation: X:-46.69, Y:-50.32, Z:-14.94 [[ 0.76824357 -0.56992585 -0.29152417 -46.69340186] [ 0.57823792 0.81319612 -0.06597712 -50.32397714] [ 0.27466839 -0.11788383 0.95428543 -14.94282351] [ 0. 0. 0. 1. ]] SLAMing on 121.05165253199999 meters Centerline goodness : 0.735783 Centerline is valid? [False, False] Translation: X:-46.70, Y:-50.33, Z:-14.95 [[ 0.76724469 -0.57418759 -0.28573449 -46.70111685] [ 0.58078494 0.81102003 -0.07025219 -50.32969927] [ 0.27207433 -0.11204967 0.95573031 -14.94675649] [ 0. 0. 0. 1. ]] SLAMing on 121.08165253199999 meters Centerline goodness : 0.732211 Centerline is valid? [False, False] Translation: X:-46.71, Y:-50.34, Z:-14.96 [[ 0.76594487 -0.58040038 -0.276521 -46.71344032] [ 0.58370076 0.80808621 -0.07931021 -50.34223363] [ 0.26948448 -0.10065827 0.95772962 -14.95518625] [ 0. 0. 0. 1. ]] SLAMing on 121.111652532 meters Centerline goodness : 0.731527 Centerline is valid? [False, False] Translation: X:-46.72, Y:-50.34, Z:-14.96 [[ 0.76434412 -0.58382708 -0.27372251 -46.71616611] [ 0.58635333 0.80593037 -0.08164565 -50.34398776] [ 0.26826822 -0.09809273 0.95833709 -14.95548821] [ 0. 0. 0. 1. ]] SLAMing on 121.141652532 meters Centerline goodness : 0.730542 Centerline is valid? [False, False] Translation: X:-46.73, Y:-50.37, Z:-14.96 [[ 0.76244607 -0.58348034 -0.27969033 -46.73193491] [ 0.58710793 0.80554393 -0.08002032 -50.36595063] [ 0.27199313 -0.10319723 0.95674974 -14.95815573] [ 0. 0. 0. 1. ]] SLAMing on 121.171652532 meters Centerline goodness : 0.727165 Centerline is valid? [False, False] Translation: X:-46.75, Y:-50.39, Z:-14.96 [[ 0.76100075 -0.58277662 -0.28504257 -46.74941881] [ 0.58744021 0.805457 -0.07844114 -50.39248286] [ 0.2753032 -0.10775171 0.95529981 -14.96106355] [ 0. 0. 0. 1. ]] SLAMing on 121.20165253199998 meters Centerline goodness : 0.727890 Centerline is valid? [False, False] Translation: X:-46.77, Y:-50.42, Z:-14.96 [[ 0.75801121 -0.58471696 -0.28900706 -46.76681995] [ 0.58999147 0.80359502 -0.07839075 -50.41645989] [ 0.27808103 -0.11109063 0.95411205 -14.9641769 ] [ 0. 0. 0. 1. ]] SLAMing on 121.23165253199998 meters Centerline goodness : 0.726413 Centerline is valid? [False, False] Translation: X:-46.77, Y:-50.42, Z:-14.97 [[ 0.75653188 -0.58994337 -0.28218138 -46.77482367] [ 0.59321474 0.80069585 -0.08356094 -50.42195008] [ 0.27523769 -0.10417764 0.95571504 -14.96931951] [ 0. 0. 0. 1. ]] SLAMing on 121.26165253199999 meters Centerline goodness : 0.725120 Centerline is valid? [False, False] Translation: X:-46.78, Y:-50.43, Z:-14.98 [[ 0.7568204 -0.59252484 -0.27592969 -46.78467189] [ 0.59387978 0.7996893 -0.08833932 -50.42972403] [ 0.27300126 -0.09701207 0.9571097 -14.97618338] [ 0. 0. 0. 1. ]] SLAMing on 121.29165253199999 meters Centerline goodness : 0.725316 Centerline is valid? [False, False] Translation: X:-46.80, Y:-50.46, Z:-14.98 [[ 0.75643634 -0.59035487 -0.28157624 -46.80384091] [ 0.59303795 0.800628 -0.08544466 -50.45546422] [ 0.2758805 -0.10235195 0.95572696 -14.97945031] [ 0. 0. 0. 1. ]] SLAMing on 121.32165253199999 meters Centerline goodness : 0.721628 Centerline is valid? [False, False] Translation: X:-46.82, Y:-50.48, Z:-14.98 [[ 0.75431117 -0.59034674 -0.28723753 -46.82105612] [ 0.5941611 0.799967 -0.08381757 -50.48152946] [ 0.27926197 -0.10744084 0.95418511 -14.98040862] [ 0. 0. 0. 1. ]] SLAMing on 121.35165253199999 meters Centerline goodness : 0.719950 Centerline is valid? [False, False] Translation: X:-46.83, Y:-50.49, Z:-14.98 [[ 0.7538116 -0.59297856 -0.28309805 -46.82671837] [ 0.59587072 0.79847773 -0.08585689 -50.48539373] [ 0.27695878 -0.10396992 0.95524033 -14.9833277 ] [ 0. 0. 0. 1. ]] SLAMing on 121.38165253199999 meters Centerline goodness : 0.717022 Centerline is valid? [False, False] Translation: X:-46.85, Y:-50.51, Z:-14.99 [[ 0.75259307 -0.59189285 -0.2885594 -46.84565321] [ 0.59584407 0.79867264 -0.0842132 -50.51241604] [ 0.28030968 -0.10855814 0.95375134 -14.98564856] [ 0. 0. 0. 1. ]] SLAMing on 121.41165253199999 meters Centerline goodness : 0.716109 Centerline is valid? [False, False] Translation: X:-46.86, Y:-50.54, Z:-14.99 [[ 0.75143184 -0.59088163 -0.29361385 -46.86454101] [ 0.59588386 0.79881596 -0.08255594 -50.53763391] [ 0.28332422 -0.11292459 0.95235257 -14.98914668] [ 0. 0. 0. 1. ]] SLAMing on 121.44165253199999 meters Centerline goodness : 0.715354 Centerline is valid? [False, False] Translation: X:-46.87, Y:-50.54, Z:-15.00 [[ 0.75139308 -0.59413159 -0.28708203 -46.87460114] [ 0.5969519 0.79744452 -0.08792419 -50.54479614] [ 0.28117053 -0.10530854 0.95386228 -14.99606592] [ 0. 0. 0. 1. ]] SLAMing on 121.471652532 meters Centerline goodness : 0.713194 Centerline is valid? [False, False] Translation: X:-46.89, Y:-50.55, Z:-15.00 [[ 0.75212116 -0.59627825 -0.28065283 -46.88715717] [ 0.59696812 0.79683801 -0.09315715 -50.55479435] [ 0.27918242 -0.09747533 0.95527783 -15.00279177] [ 0. 0. 0. 1. ]] SLAMing on 121.501652532 meters Centerline goodness : 0.714061 Centerline is valid? [False, False] Translation: X:-46.91, Y:-50.58, Z:-15.00 [[ 0.75141037 -0.59404162 -0.28722292 -46.90553439] [ 0.59634408 0.79769994 -0.08971371 -50.57946885] [ 0.28241138 -0.10387187 0.95365321 -15.00424694] [ 0. 0. 0. 1. ]] SLAMing on 121.531652532 meters Centerline goodness : 0.714152 Centerline is valid? [False, False] Translation: X:-46.93, Y:-50.61, Z:-15.01 [[ 0.75199689 -0.59107792 -0.2917663 -46.92956578] [ 0.59459025 0.79932652 -0.08683058 -50.60842698] [ 0.28454018 -0.10818507 0.95254022 -15.00851731] [ 0. 0. 0. 1. ]] SLAMing on 121.561652532 meters Centerline goodness : 0.715417 Centerline is valid? [False, False] Translation: X:-46.95, Y:-50.63, Z:-15.01 [[ 0.75066263 -0.58977124 -0.29778434 -46.94727447] [ 0.59472837 0.79950185 -0.08423155 -50.63155142] [ 0.28775648 -0.11387132 0.95090984 -15.01082593] [ 0. 0. 0. 1. ]] SLAMing on 121.59165253199998 meters Centerline goodness : 0.712150 Centerline is valid? [False, False] Translation: X:-46.97, Y:-50.66, Z:-15.01 [[ 0.74972816 -0.58822965 -0.30313952 -46.96631987] [ 0.59443698 0.79994168 -0.08208522 -50.65563115] [ 0.2907789 -0.11865574 0.94940426 -15.01465877] [ 0. 0. 0. 1. ]] SLAMing on 121.62165253199998 meters Centerline goodness : 0.710238 Centerline is valid? [False, False] Translation: X:-46.99, Y:-50.69, Z:-15.02 [[ 0.75067691 -0.58622455 -0.30467188 -46.99328262] [ 0.59292288 0.80120374 -0.08071567 -50.68551691] [ 0.29142176 -0.12005554 0.9490311 -15.02335713] [ 0. 0. 0. 1. ]] SLAMing on 121.65165253199999 meters Centerline goodness : 0.710033 Centerline is valid? [False, False] Translation: X:-47.01, Y:-50.71, Z:-15.03 [[ 0.74947698 -0.58505458 -0.30983123 -47.01245509] [ 0.59299065 0.80134893 -0.07875264 -50.7095076 ] [ 0.29435752 -0.12470373 0.94752448 -15.02701919] [ 0. 0. 0. 1. ]] SLAMing on 121.68165253199999 meters Centerline goodness : 0.710221 Centerline is valid? [False, False] Translation: X:-47.04, Y:-50.74, Z:-15.03 [[ 0.74925042 -0.58387967 -0.31258334 -47.03664966] [ 0.59271473 0.80173651 -0.07686232 -50.73728105] [ 0.29548783 -0.12768362 0.94677549 -15.03275885] [ 0. 0. 0. 1. ]] SLAMing on 121.71165253199999 meters Centerline goodness : 0.709671 Centerline is valid? [False, False] Translation: X:-47.06, Y:-50.77, Z:-15.04 [[ 0.74982351 -0.58162944 -0.31539164 -47.06143586] [ 0.5916426 0.80280603 -0.07390207 -50.7653857 ] [ 0.29618193 -0.13118562 0.94607959 -15.03873416] [ 0. 0. 0. 1. ]] SLAMing on 121.74165253199999 meters Centerline goodness : 0.706891 Centerline is valid? [False, False] Translation: X:-47.09, Y:-50.80, Z:-15.05 [[ 0.75138483 -0.57916218 -0.31621513 -47.09123737] [ 0.58989708 0.80431272 -0.07143174 -50.79737773] [ 0.29570641 -0.13286166 0.94599445 -15.04660838] [ 0. 0. 0. 1. ]] SLAMing on 121.77165253199999 meters Centerline goodness : 0.705332 Centerline is valid? [False, False] Translation: X:-47.11, Y:-50.82, Z:-15.05 [[ 0.75084129 -0.5774383 -0.32062808 -47.11223917] [ 0.58936793 0.80487966 -0.06938434 -50.8228875 ] [ 0.2981322 -0.13687128 0.94466049 -15.05152133] [ 0. 0. 0. 1. ]] SLAMing on 121.80165253199999 meters Centerline goodness : 0.705124 Centerline is valid? [False, False] Translation: X:-47.14, Y:-50.85, Z:-15.06 [[ 0.74991494 -0.57730291 -0.32303086 -47.13510767] [ 0.58974073 0.80464505 -0.06893629 -50.8492187 ] [ 0.2997223 -0.1388081 0.94387438 -15.05878112] [ 0. 0. 0. 1. ]] SLAMing on 121.83165253199999 meters Centerline goodness : 0.706966 Centerline is valid? [False, False] Translation: X:-47.16, Y:-50.88, Z:-15.07 [[ 0.74968276 -0.57691493 -0.32426057 -47.15986415] [ 0.58959661 0.80477151 -0.06869253 -50.87655315] [ 0.30058542 -0.13968532 0.94347041 -15.06829913] [ 0. 0. 0. 1. ]] SLAMing on 121.861652532 meters Centerline goodness : 0.706300 Centerline is valid? [False, False] Translation: X:-47.19, Y:-50.91, Z:-15.08 [[ 0.7494455 -0.57624795 -0.3259904 -47.18589491] [ 0.58923734 0.80505613 -0.06843968 -50.90533075] [ 0.3018788 -0.14079391 0.9428925 -15.07656499] [ 0. 0. 0. 1. ]] SLAMing on 121.891652532 meters Centerline goodness : 0.708904 Centerline is valid? [False, False] Translation: X:-47.21, Y:-50.93, Z:-15.09 [[ 0.74941906 -0.57542545 -0.32750058 -47.21143219] [ 0.58879403 0.80543238 -0.06782527 -50.93286337] [ 0.30280796 -0.14200084 0.94241344 -15.08553536] [ 0. 0. 0. 1. ]] SLAMing on 121.921652532 meters Centerline goodness : 0.707932 Centerline is valid? [False, False] Translation: X:-47.24, Y:-50.96, Z:-15.09 [[ 0.7499624 -0.57400358 -0.3287496 -47.23804609] [ 0.58791746 0.80618856 -0.06643089 -50.96057026] [ 0.30316574 -0.14345696 0.94207783 -15.09466991] [ 0. 0. 0. 1. ]] SLAMing on 121.95165253199998 meters Centerline goodness : 0.708573 Centerline is valid? [False, False] Translation: X:-47.26, Y:-50.99, Z:-15.10 [[ 0.75008062 -0.57340648 -0.32952096 -47.26446995] [ 0.58751548 0.80651048 -0.06607884 -50.9885434 ] [ 0.30365214 -0.1440342 0.94183307 -15.10451421] [ 0. 0. 0. 1. ]] SLAMing on 121.98165253199998 meters Centerline goodness : 0.710010 Centerline is valid? [False, False] Translation: X:-47.30, Y:-51.02, Z:-15.12 [[ 0.75164973 -0.57290337 -0.32680944 -47.29784689] [ 0.58626472 0.80735124 -0.06691525 -51.01997926] [ 0.30218598 -0.14130002 0.94271838 -15.11803964] [ 0. 0. 0. 1. ]] SLAMing on 122.01165253199999 meters Centerline goodness : 0.709503 Centerline is valid? [False, False] Translation: X:-47.33, Y:-51.05, Z:-15.13 [[ 0.75262607 -0.57180316 -0.32648912 -47.32626556] [ 0.58527404 0.80813204 -0.06615825 -51.04902701] [ 0.30167581 -0.14129318 0.94288278 -15.12916082] [ 0. 0. 0. 1. ]] SLAMing on 122.04165253199999 meters Centerline goodness : 0.709386 Centerline is valid? [False, False] Translation: X:-47.35, Y:-51.08, Z:-15.14 [[ 0.75339376 -0.570649 -0.32673776 -47.35384019] [ 0.58435521 0.80886788 -0.06528197 -51.07656736] [ 0.30154077 -0.14174788 0.94285773 -15.13995837] [ 0. 0. 0. 1. ]] SLAMing on 122.07165253199999 meters Centerline goodness : 0.710162 Centerline is valid? [False, False] Translation: X:-47.39, Y:-51.11, Z:-15.15 [[ 0.755186 -0.569416 -0.32474532 -47.38603201] [ 0.5825328 0.8101356 -0.06584715 -51.1063629 ] [ 0.30058216 -0.13944795 0.94350656 -15.15403618] [ 0. 0. 0. 1. ]] SLAMing on 122.10165253199999 meters Centerline goodness : 0.708956 Centerline is valid? [False, False] Translation: X:-47.42, Y:-51.14, Z:-15.17 [[ 0.75755076 -0.56683233 -0.323756 -47.41716752] [ 0.57998794 0.81205602 -0.0646453 -51.13646428] [ 0.29955105 -0.13880248 0.94392957 -15.16676056] [ 0. 0. 0. 1. ]] SLAMing on 122.13165253199999 meters Centerline goodness : 0.710275 Centerline is valid? [False, False] Translation: X:-47.45, Y:-51.17, Z:-15.18 [[ 0.76015504 -0.56416788 -0.32230252 -47.44908686] [ 0.57731447 0.81406057 -0.06335141 -51.1667575 ] [ 0.2981146 -0.13791302 0.94451452 -15.18011309] [ 0. 0. 0. 1. ]] SLAMing on 122.16165253199999 meters Centerline goodness : 0.711175 Centerline is valid? [False, False] Translation: X:-47.48, Y:-51.19, Z:-15.19 [[ 0.76033104 -0.56428627 -0.32167952 -47.47660266] [ 0.57734233 0.8140404 -0.06335662 -51.19462594] [ 0.2976114 -0.1375472 0.94472653 -15.19116868] [ 0. 0. 0. 1. ]] SLAMing on 122.19165253199999 meters Centerline goodness : 0.712207 Centerline is valid? [False, False] Translation: X:-47.51, Y:-51.23, Z:-15.20 [[ 0.76355607 -0.56086829 -0.32001387 -47.51166301] [ 0.57392103 0.81657677 -0.06178212 -51.22673503] [ 0.29596753 -0.13648857 0.94539626 -15.20418311] [ 0. 0. 0. 1. ]] SLAMing on 122.221652532 meters Centerline goodness : 0.712796 Centerline is valid? [False, False] Translation: X:-47.54, Y:-51.26, Z:-15.22 [[ 0.7647583 -0.55990082 -0.31883508 -47.54108669] [ 0.57285773 0.8173598 -0.06129414 -51.2559607 ] [ 0.29492162 -0.13577194 0.94582621 -15.21605472] [ 0. 0. 0. 1. ]] SLAMing on 122.251652532 meters Centerline goodness : 0.713567 Centerline is valid? [False, False] Translation: X:-47.57, Y:-51.28, Z:-15.23 [[ 0.76455554 -0.56105467 -0.31728929 -47.56878913] [ 0.57359812 0.81677811 -0.06211856 -51.28361832] [ 0.29400686 -0.13450346 0.94629213 -15.22762878] [ 0. 0. 0. 1. ]] SLAMing on 122.281652532 meters Centerline goodness : 0.711976 Centerline is valid? [False, False] Translation: X:-47.60, Y:-51.31, Z:-15.24 [[ 0.76691621 -0.55872892 -0.31569213 -47.60150576] [ 0.57087926 0.81868207 -0.06210096 -51.31472199] [ 0.29314909 -0.13259586 0.94682731 -15.24122958] [ 0. 0. 0. 1. ]] SLAMing on 122.311652532 meters Centerline goodness : 0.713360 Centerline is valid? [False, False] Translation: X:-47.63, Y:-51.34, Z:-15.25 [[ 0.76712014 -0.55942038 -0.3139674 -47.63036441] [ 0.57103203 0.81849403 -0.06316602 -51.34228865] [ 0.2923168 -0.13082952 0.94733021 -15.2537031 ] [ 0. 0. 0. 1. ]] SLAMing on 122.34165253199998 meters Centerline goodness : 0.712622 Centerline is valid? [False, False] Translation: X:-47.66, Y:-51.37, Z:-15.27 [[ 0.76834259 -0.55803417 -0.31344463 -47.65952352] [ 0.56966506 0.81949298 -0.06255381 -51.36989502] [ 0.29177284 -0.1304957 0.94754392 -15.26541744] [ 0. 0. 0. 1. ]] SLAMing on 122.37165253199998 meters Centerline goodness : 0.715153 Centerline is valid? [False, False] Translation: X:-47.69, Y:-51.40, Z:-15.28 [[ 0.7699622 -0.55623121 -0.31267402 -47.68977412] [ 0.56782203 0.82081851 -0.06192832 -51.39831779] [ 0.29109509 -0.12986074 0.94783956 -15.27749812] [ 0. 0. 0. 1. ]] SLAMing on 122.40165253199999 meters Centerline goodness : 0.714994 Centerline is valid? [False, False] Translation: X:-47.72, Y:-51.43, Z:-15.29 [[ 0.77215377 -0.55400882 -0.31121182 -47.72265703] [ 0.5653965 0.82252909 -0.06142225 -51.42770103] [ 0.29000924 -0.12853065 0.94835358 -15.29030782] [ 0. 0. 0. 1. ]] SLAMing on 122.43165253199999 meters Centerline goodness : 0.714818 Centerline is valid? [False, False] Translation: X:-47.75, Y:-51.46, Z:-15.30 [[ 0.77357279 -0.55338132 -0.30879483 -47.75437313] [ 0.56443184 0.82320355 -0.06125864 -51.45816224] [ 0.28810038 -0.12690561 0.9491539 -15.30240794] [ 0. 0. 0. 1. ]] SLAMing on 122.46165253199999 meters Centerline goodness : 0.713905 Centerline is valid? [False, False] Translation: X:-47.79, Y:-51.49, Z:-15.31 [[ 0.77490853 -0.5531097 -0.30591899 -47.78728365] [ 0.56367509 0.8237065 -0.06146537 -51.48895412] [ 0.28598455 -0.12480887 0.95007136 -15.31435181] [ 0. 0. 0. 1. ]] SLAMing on 122.49165253199999 meters Centerline goodness : 0.715065 Centerline is valid? [False, False] Translation: X:-47.82, Y:-51.52, Z:-15.33 [[ 0.77667615 -0.55139829 -0.30452273 -47.81863977] [ 0.56201637 0.82492624 -0.06028519 -51.51931308] [ 0.28444994 -0.12432469 0.95059539 -15.32562941] [ 0. 0. 0. 1. ]] SLAMing on 122.52165253199999 meters Centerline goodness : 0.715554 Centerline is valid? [False, False] Translation: X:-47.85, Y:-51.55, Z:-15.34 [[ 0.77999075 -0.54783889 -0.30246813 -47.8539796 ] [ 0.5583951 0.82748817 -0.05880681 -51.55109525] [ 0.28250545 -0.12302795 0.95134368 -15.3386394 ] [ 0. 0. 0. 1. ]] SLAMing on 122.55165253199999 meters Centerline goodness : 0.713480 Centerline is valid? [False, False] Translation: X:-47.89, Y:-51.58, Z:-15.35 [[ 0.78026805 -0.54927559 -0.2991289 -47.88556746] [ 0.5590461 0.8269463 -0.0602269 -51.5816034 ] [ 0.2804447 -0.12023372 0.95231015 -15.35054932] [ 0. 0. 0. 1. ]] SLAMing on 122.58165253199999 meters Centerline goodness : 0.715018 Centerline is valid? [False, False] Translation: X:-47.92, Y:-51.61, Z:-15.36 [[ 0.78258184 -0.54737462 -0.29655808 -47.91990547] [ 0.55667964 0.8285381 -0.06026932 -51.61293574] [ 0.27869957 -0.11792217 0.95311118 -15.36332289] [ 0. 0. 0. 1. ]] SLAMing on 122.611652532 meters Centerline goodness : 0.712830 Centerline is valid? [False, False] Translation: X:-47.95, Y:-51.64, Z:-15.38 [[ 0.78482099 -0.54497516 -0.29505609 -47.95178712] [ 0.55430413 0.83021792 -0.05903498 -51.64262812] [ 0.27713345 -0.11721892 0.95365443 -15.37531347] [ 0. 0. 0. 1. ]] SLAMing on 122.641652532 meters Centerline goodness : 0.715655 Centerline is valid? [False, False] Translation: X:-47.98, Y:-51.67, Z:-15.39 [[ 0.78652975 -0.54328788 -0.29361409 -47.98283291] [ 0.55255943 0.83143522 -0.05825421 -51.67164221] [ 0.2757699 -0.11642057 0.95414738 -15.3868872 ] [ 0. 0. 0. 1. ]] SLAMing on 122.671652532 meters Centerline goodness : 0.718462 Centerline is valid? [False, False] Translation: X:-48.01, Y:-51.70, Z:-15.40 [[ 0.78776565 -0.54249991 -0.29175183 -48.01348897] [ 0.55157971 0.83210774 -0.05793565 -51.70054037] [ 0.27419904 -0.11528468 0.95473783 -15.39854902] [ 0. 0. 0. 1. ]] SLAMing on 122.70165253199998 meters Centerline goodness : 0.719511 Centerline is valid? [False, False] Translation: X:-48.04, Y:-51.73, Z:-15.41 [[ 0.78869802 -0.5422038 -0.2897766 -48.04387154] [ 0.55095549 0.83250623 -0.05815011 -51.72964093] [ 0.27277004 -0.11379113 0.95532617 -15.40990943] [ 0. 0. 0. 1. ]] SLAMing on 122.73165253199998 meters Centerline goodness : 0.723425 Centerline is valid? [False, False] Translation: X:-48.08, Y:-51.76, Z:-15.42 [[ 0.79060427 -0.54081228 -0.28717062 -48.07805437] [ 0.54918484 0.83368071 -0.05807308 -51.76226836] [ 0.27081525 -0.11179693 0.95611743 -15.42141626] [ 0. 0. 0. 1. ]] SLAMing on 122.76165253199999 meters Centerline goodness : 0.725443 Centerline is valid? [False, False] Translation: X:-48.11, Y:-51.79, Z:-15.43 [[ 0.79121248 -0.54146028 -0.28425968 -48.10980146] [ 0.54926631 0.83356568 -0.05894733 -51.79355845] [ 0.26886675 -0.1094944 0.95693346 -15.43210573] [ 0. 0. 0. 1. ]] SLAMing on 122.79165253199999 meters Centerline goodness : 0.729813 Centerline is valid? [False, False] Translation: X:-48.14, Y:-51.82, Z:-15.44 [[ 0.79096597 -0.54316571 -0.28168041 -48.14036681] [ 0.55026218 0.83278218 -0.06070733 -51.82497089] [ 0.26755257 -0.10698064 0.95758591 -15.44248751] [ 0. 0. 0. 1. ]] SLAMing on 122.82165253199999 meters Centerline goodness : 0.731677 Centerline is valid? [False, False] Translation: X:-48.17, Y:-51.85, Z:-15.45 [[ 0.79120867 -0.54296768 -0.28138042 -48.16761802] [ 0.54997132 0.83296197 -0.06087612 -51.85307876] [ 0.26743296 -0.10658545 0.95766338 -15.45229671] [ 0. 0. 0. 1. ]] SLAMing on 122.85165253199999 meters Centerline goodness : 0.734449 Centerline is valid? [False, False] Translation: X:-48.20, Y:-51.88, Z:-15.46 [[ 0.79168677 -0.54217945 -0.28155549 -48.19504394] [ 0.54927033 0.83345262 -0.06048834 -51.88173101] [ 0.2674587 -0.10676226 0.9576365 -15.46137985] [ 0. 0. 0. 1. ]] SLAMing on 122.88165253199999 meters Centerline goodness : 0.737982 Centerline is valid? [False, False] Translation: X:-48.21, Y:-51.89, Z:-15.47 [[ 0.79202946 -0.5448871 -0.27529507 -48.20613053] [ 0.54971284 0.83269428 -0.06660347 -51.88916368] [ 0.265528 -0.09858132 0.95904984 -15.46889978] [ 0. 0. 0. 1. ]] SLAMing on 122.91165253199999 meters Centerline goodness : 0.740468 Centerline is valid? [False, False] Translation: X:-48.23, Y:-51.92, Z:-15.48 [[ 0.79251916 -0.54374791 -0.2761369 -48.23395546] [ 0.54853548 0.83345 -0.06685749 -51.91912207] [ 0.26649992 -0.09848505 0.95879012 -15.4782417 ] [ 0. 0. 0. 1. ]] SLAMing on 122.94165253199999 meters Centerline goodness : 0.740468 Centerline is valid? [False, False] Translation: X:-48.24, Y:-51.92, Z:-15.48 [[ 0.79110596 -0.54695004 -0.27385583 -48.23759161] [ 0.55101196 0.83162408 -0.06918962 -51.91905157] [ 0.26558837 -0.09616151 0.95927878 -15.47792903] [ 0. 0. 0. 1. ]] SLAMing on 122.971652532 meters Centerline goodness : 0.741675 Centerline is valid? [False, False] Translation: X:-48.26, Y:-51.95, Z:-15.48 [[ 0.79108659 -0.5461101 -0.27558259 -48.26291405] [ 0.55076665 0.83192109 -0.06755289 -51.94700191] [ 0.26615429 -0.09834152 0.95890085 -15.48402381] [ 0. 0. 0. 1. ]] SLAMing on 123.001652532 meters Centerline goodness : 0.743978 Centerline is valid? [False, False] Translation: X:-48.29, Y:-51.98, Z:-15.49 [[ 0.79108757 -0.54583853 -0.27611729 -48.28925304] [ 0.55077998 0.83198231 -0.06668473 -51.97622587] [ 0.26612379 -0.09932641 0.9588078 -15.49126894] [ 0. 0. 0. 1. ]] SLAMing on 123.031652532 meters Centerline goodness : 0.745607 Centerline is valid? [False, False] Translation: X:-48.32, Y:-52.01, Z:-15.50 [[ 0.79196032 -0.54472786 -0.27580867 -48.31843855] [ 0.54999935 0.83261891 -0.06516492 -52.0090034 ] [ 0.26514066 -0.10008656 0.9590011 -15.49914429] [ 0. 0. 0. 1. ]] SLAMing on 123.061652532 meters Centerline goodness : 0.747772 Centerline is valid? [False, False] Translation: X:-48.33, Y:-52.02, Z:-15.51 [[ 0.79287084 -0.54659956 -0.26941557 -48.33137288] [ 0.54975248 0.83232465 -0.07076644 -52.0180851 ] [ 0.26292213 -0.09200324 0.96042041 -15.50648908] [ 0. 0. 0. 1. ]] SLAMing on 123.09165253199998 meters Centerline goodness : 0.749833 Centerline is valid? [False, False] Translation: X:-48.36, Y:-52.05, Z:-15.51 [[ 0.79257811 -0.54586184 -0.27176239 -48.35578841] [ 0.54964857 0.83252542 -0.06919439 -52.04547509] [ 0.26401968 -0.09453185 0.9598736 -15.51202805] [ 0. 0. 0. 1. ]] SLAMing on 123.12165253199998 meters Centerline goodness : 0.753015 Centerline is valid? [False, False] Translation: X:-48.37, Y:-52.06, Z:-15.52 [[ 0.79389808 -0.5477011 -0.26410099 -48.37041072] [ 0.54913201 0.8323278 -0.07539541 -52.05931457] [ 0.26111275 -0.08517004 0.96154365 -15.52098932] [ 0. 0. 0. 1. ]] SLAMing on 123.15165253199999 meters Centerline goodness : 0.755739 Centerline is valid? [False, False] Translation: X:-48.39, Y:-52.07, Z:-15.53 [[ 0.7954243 -0.5486779 -0.2573961 -48.38546474] [ 0.54799664 0.83252989 -0.08120134 -52.07058605] [ 0.25884333 -0.07646268 0.96288815 -15.52911501] [ 0. 0. 0. 1. ]] SLAMing on 123.18165253199999 meters Centerline goodness : 0.757578 Centerline is valid? [False, False] Translation: X:-48.40, Y:-52.08, Z:-15.54 [[ 0.7973663 -0.54854292 -0.25161012 -48.40018593] [ 0.54602481 0.83330824 -0.08633814 -52.08143982] [ 0.25702896 -0.06854225 0.96396996 -15.53670846] [ 0. 0. 0. 1. ]] SLAMing on 123.21165253199999 meters Centerline goodness : 0.758878 Centerline is valid? [False, False] Translation: X:-48.40, Y:-52.08, Z:-15.54 [[ 0.79778991 -0.54807669 -0.25128309 -48.40222112] [ 0.54565563 0.83360521 -0.08580374 -52.08238124] [ 0.25649793 -0.06866068 0.96410296 -15.536714 ] [ 0. 0. 0. 1. ]] SLAMing on 123.24165253199999 meters Centerline goodness : 0.760808 Centerline is valid? [False, False] Translation: X:-48.42, Y:-52.10, Z:-15.54 [[ 0.79989941 -0.54781808 -0.24506385 -48.41936983] [ 0.54339193 0.83445618 -0.09169568 -52.09506505] [ 0.2547276 -0.0598184 0.96516092 -15.54439968] [ 0. 0. 0. 1. ]] SLAMing on 123.27165253199999 meters Centerline goodness : 0.761139 Centerline is valid? [False, False] Translation: X:-48.43, Y:-52.10, Z:-15.55 [[ 0.80203839 -0.54686257 -0.24015774 -48.43166371] [ 0.54170237 0.83538997 -0.09317798 -52.10356841] [ 0.25158092 -0.0553617 0.96625158 -15.54973513] [ 0. 0. 0. 1. ]] SLAMing on 123.30165253199999 meters Centerline goodness : 0.761948 Centerline is valid? [False, False] Translation: X:-48.44, Y:-52.11, Z:-15.55 [[ 0.80262747 -0.54764329 -0.23638101 -48.44040988] [ 0.54193561 0.83508214 -0.09457069 -52.10851645] [ 0.24918856 -0.05219826 0.96704726 -15.5519309 ] [ 0. 0. 0. 1. ]] SLAMing on 123.33165253199999 meters Centerline goodness : 0.760216 Centerline is valid? [False, False] Translation: X:-48.45, Y:-52.12, Z:-15.56 [[ 8.04231298e-01 -5.47253492e-01 -2.31787911e-01 -4.84512788e+01] [ 5.40827910e-01 8.35596813e-01 -9.63490373e-02 -5.21154285e+01] [ 2.46408587e-01 -4.78704602e-02 9.67983072e-01 -1.55567138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.361652532 meters Centerline goodness : 0.759950 Centerline is valid? [False, False] Translation: X:-48.46, Y:-52.13, Z:-15.55 [[ 8.04361956e-01 -5.42180470e-01 -2.42985969e-01 -4.84623741e+01] [ 5.35227570e-01 8.38787863e-01 -9.98317019e-02 -5.21298738e+01] [ 2.57940481e-01 -4.97519668e-02 9.64878982e-01 -1.55504254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.391652532 meters Centerline goodness : 0.758753 Centerline is valid? [False, False] Translation: X:-48.48, Y:-52.15, Z:-15.55 [[ 0.80384796 -0.53891231 -0.25179751 -48.47729946] [ 0.53354887 0.84038142 -0.09531358 -52.14563994] [ 0.26297161 -0.05772865 0.96307494 -15.55224084] [ 0. 0. 0. 1. ]] SLAMing on 123.421652532 meters Centerline goodness : 0.759682 Centerline is valid? [False, False] Translation: X:-48.49, Y:-52.15, Z:-15.56 [[ 8.06216668e-01 -5.37597267e-01 -2.46989600e-01 -4.84901421e+01] [ 5.31049055e-01 8.41607476e-01 -9.84060847e-02 -5.21532165e+01] [ 2.60771136e-01 -5.18269678e-02 9.64008496e-01 -1.55595835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.45165253199998 meters Centerline goodness : 0.757433 Centerline is valid? [False, False] Translation: X:-48.51, Y:-52.17, Z:-15.57 [[ 8.10335883e-01 -5.32795066e-01 -2.43895828e-01 -4.85084084e+01] [ 5.24893073e-01 8.45029330e-01 -1.02042607e-01 -5.21661112e+01] [ 2.60466926e-01 -4.53304447e-02 9.64418027e-01 -1.55665551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.48165253199998 meters Centerline goodness : 0.757859 Centerline is valid? [False, False] Translation: X:-48.52, Y:-52.19, Z:-15.57 [[ 0.80974062 -0.52954591 -0.25278698 -48.52354975] [ 0.52339292 0.8465686 -0.09685795 -52.18523615] [ 0.26529225 -0.0538771 0.96266156 -15.5668172 ] [ 0. 0. 0. 1. ]] SLAMing on 123.51165253199999 meters Centerline goodness : 0.758751 Centerline is valid? [False, False] Translation: X:-48.53, Y:-52.19, Z:-15.57 [[ 0.81008236 -0.52919299 -0.25243088 -48.52558219] [ 0.52307387 0.8467951 -0.09660115 -52.18519361] [ 0.26487788 -0.05378511 0.9627808 -15.56700619] [ 0. 0. 0. 1. ]] SLAMing on 123.54165253199999 meters Centerline goodness : 0.755874 Centerline is valid? [False, False] Translation: X:-48.54, Y:-52.20, Z:-15.58 [[ 8.13826360e-01 -5.25403526e-01 -2.48269592e-01 -4.85427714e+01] [ 5.17713077e-01 8.49585440e-01 -1.00884834e-01 -5.21953621e+01] [ 2.63931479e-01 -4.64296771e-02 9.63423302e-01 -1.55759368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.57165253199999 meters Centerline goodness : 0.755975 Centerline is valid? [False, False] Translation: X:-48.54, Y:-52.19, Z:-15.58 [[ 8.14002994e-01 -5.25304516e-01 -2.47899762e-01 -4.85445249e+01] [ 5.17600224e-01 8.49658129e-01 -1.00851732e-01 -5.21947620e+01] [ 2.63607918e-01 -4.62193605e-02 9.63521996e-01 -1.55762019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.60165253199999 meters Centerline goodness : 0.755687 Centerline is valid? [False, False] Translation: X:-48.56, Y:-52.21, Z:-15.58 [[ 0.81325828 -0.52242223 -0.25629277 -48.55995619] [ 0.5164004 0.85095505 -0.09594862 -52.21427629] [ 0.26821932 -0.05431868 0.96182528 -15.57687539] [ 0. 0. 0. 1. ]] SLAMing on 123.63165253199999 meters Centerline goodness : 0.755956 Centerline is valid? [False, False] Translation: X:-48.56, Y:-52.22, Z:-15.58 [[ 0.81377135 -0.52172477 -0.25608485 -48.56248665] [ 0.51584169 0.85136776 -0.09529053 -52.21521264] [ 0.26773782 -0.05455454 0.96194608 -15.57644823] [ 0. 0. 0. 1. ]] SLAMing on 123.66165253199999 meters Centerline goodness : 0.752769 Centerline is valid? [False, False] Translation: X:-48.57, Y:-52.22, Z:-15.58 [[ 0.8165823 -0.51637961 -0.25796404 -48.56563314] [ 0.51156635 0.85441486 -0.09096764 -52.21629736] [ 0.26738214 -0.05768315 0.96186249 -15.57589916] [ 0. 0. 0. 1. ]] SLAMing on 123.69165253199999 meters Centerline goodness : 0.754776 Centerline is valid? [False, False] Translation: X:-48.58, Y:-52.24, Z:-15.58 [[ 0.81553801 -0.51515595 -0.2636515 -48.58476046] [ 0.5115251 0.85476323 -0.08787433 -52.23836673] [ 0.27062859 -0.0631995 0.96060709 -15.5784914 ] [ 0. 0. 0. 1. ]] SLAMing on 123.721652532 meters Centerline goodness : 0.752606 Centerline is valid? [False, False] Translation: X:-48.59, Y:-52.24, Z:-15.58 [[ 0.81620346 -0.51419564 -0.26346681 -48.58740805] [ 0.51081135 0.85530081 -0.08678874 -52.24047203] [ 0.26996977 -0.06374456 0.96075645 -15.57787633] [ 0. 0. 0. 1. ]] SLAMing on 123.751652532 meters Centerline goodness : 0.752718 Centerline is valid? [False, False] Translation: X:-48.59, Y:-52.24, Z:-15.58 [[ 0.81631379 -0.51388673 -0.26372757 -48.58715169] [ 0.51067592 0.85544288 -0.08618344 -52.24255085] [ 0.26989239 -0.06432659 0.9607394 -15.5770158 ] [ 0. 0. 0. 1. ]] SLAMing on 123.781652532 meters Centerline goodness : 0.751759 Centerline is valid? [False, False] Translation: X:-48.59, Y:-52.25, Z:-15.58 [[ 0.81681749 -0.51306484 -0.2637682 -48.58822513] [ 0.51009305 0.85588885 -0.08520189 -52.24500235] [ 0.26947036 -0.06495193 0.96081578 -15.57652494] [ 0. 0. 0. 1. ]] SLAMing on 123.811652532 meters Centerline goodness : 0.750926 Centerline is valid? [False, False] Translation: X:-48.59, Y:-52.25, Z:-15.58 [[ 0.81500717 -0.51705298 -0.26157127 -48.58898982] [ 0.51330515 0.85367156 -0.08810619 -52.24659496] [ 0.26885152 -0.0624587 0.96115439 -15.57647432] [ 0. 0. 0. 1. ]] SLAMing on 123.84165253199998 meters Centerline goodness : 0.749419 Centerline is valid? [False, False] Translation: X:-48.59, Y:-52.25, Z:-15.58 [[ 0.81316423 -0.5208317 -0.25980431 -48.5875257 ] [ 0.51646674 0.85150827 -0.09053053 -52.25049626] [ 0.26837669 -0.06056409 0.96140831 -15.57605099] [ 0. 0. 0. 1. ]] SLAMing on 123.87165253199998 meters Centerline goodness : 0.750266 Centerline is valid? [False, False] Translation: X:-48.59, Y:-52.25, Z:-15.58 [[ 0.81141068 -0.52463702 -0.25762124 -48.58832886] [ 0.51959238 0.84932654 -0.09310307 -52.25284281] [ 0.26764987 -0.05831321 0.96175003 -15.57587156] [ 0. 0. 0. 1. ]] SLAMing on 123.90165253199999 meters Centerline goodness : 0.750980 Centerline is valid? [False, False] Translation: X:-48.60, Y:-52.26, Z:-15.58 [[ 0.81011383 -0.52915678 -0.25240579 -48.59770517] [ 0.52582803 0.84619825 -0.08633311 -52.26425114] [ 0.25926909 -0.06278239 0.96376237 -15.58374374] [ 0. 0. 0. 1. ]] SLAMing on 123.93165253199999 meters Centerline goodness : 0.750987 Centerline is valid? [False, False] Translation: X:-48.60, Y:-52.27, Z:-15.58 [[ 0.81024676 -0.52866505 -0.25300879 -48.59614662] [ 0.5256364 0.84642306 -0.08528992 -52.26782278] [ 0.25924228 -0.06388475 0.96369714 -15.58263637] [ 0. 0. 0. 1. ]] SLAMing on 123.96165253199999 meters Centerline goodness : 0.749171 Centerline is valid? [False, False] Translation: X:-48.60, Y:-52.28, Z:-15.59 [[ 0.80740463 -0.53570164 -0.24722764 -48.60105407] [ 0.53390145 0.84172938 -0.08025522 -52.28227634] [ 0.25109162 -0.06719676 0.96562808 -15.5891057 ] [ 0. 0. 0. 1. ]] SLAMing on 123.99165253199999 meters Centerline goodness : 0.749804 Centerline is valid? [False, False] Translation: X:-48.60, Y:-52.29, Z:-15.59 [[ 0.80557971 -0.53931116 -0.24532591 -48.60020339] [ 0.53691582 0.83958118 -0.08261261 -52.28591966] [ 0.25052493 -0.06516832 0.96591426 -15.58870347] [ 0. 0. 0. 1. ]] SLAMing on 124.02165253199999 meters Centerline goodness : 0.750225 Centerline is valid? [False, False] Translation: X:-48.60, Y:-52.29, Z:-15.59 [[ 0.80366895 -0.54300575 -0.24343578 -48.59920392] [ 0.54000066 0.83735528 -0.08506131 -52.28937487] [ 0.25003101 -0.06309435 0.9661799 -15.58828307] [ 0. 0. 0. 1. ]] SLAMing on 124.05165253199999 meters Centerline goodness : 0.749124 Centerline is valid? [False, False] Translation: X:-48.60, Y:-52.29, Z:-15.59 [[ 0.80168684 -0.54675413 -0.24157428 -48.59809551] [ 0.54315858 0.83506162 -0.08746917 -52.29286201] [ 0.24955354 -0.06109026 0.9664321 -15.58769832] [ 0. 0. 0. 1. ]] SLAMing on 124.08165253199999 meters Centerline goodness : 0.747535 Centerline is valid? [False, False] Translation: X:-48.60, Y:-52.31, Z:-15.59 [[ 0.79770457 -0.55455272 -0.23693606 -48.60128097] [ 0.55261301 0.82949803 -0.08094367 -52.3074938 ] [ 0.24142552 -0.06636481 0.96814742 -15.59384284] [ 0. 0. 0. 1. ]] SLAMing on 124.111652532 meters Centerline goodness : 0.749171 Centerline is valid? [False, False] Translation: X:-48.61, Y:-52.33, Z:-15.59 [[ 0.7935553 -0.55728582 -0.24434094 -48.61106718] [ 0.55635686 0.82712401 -0.07957959 -52.32671731] [ 0.24644884 -0.07278995 0.96641844 -15.59230947] [ 0. 0. 0. 1. ]] SLAMing on 124.141652532 meters Centerline goodness : 0.748188 Centerline is valid? [False, False] Translation: X:-48.62, Y:-52.35, Z:-15.59 [[ 0.7890991 -0.56143875 -0.24921705 -48.62250514] [ 0.56109629 0.82392094 -0.07953135 -52.35266826] [ 0.24998713 -0.07707664 0.96517647 -15.59255837] [ 0. 0. 0. 1. ]] SLAMing on 124.171652532 meters Centerline goodness : 0.748457 Centerline is valid? [False, False] Translation: X:-48.62, Y:-52.36, Z:-15.59 [[ 0.78712629 -0.56509697 -0.24717934 -48.62179555] [ 0.56413752 0.82160984 -0.08189099 -52.35606579] [ 0.24936133 -0.07498458 0.9655031 -15.59206589] [ 0. 0. 0. 1. ]] SLAMing on 124.20165253199998 meters Centerline goodness : 0.746478 Centerline is valid? [False, False] Translation: X:-48.64, Y:-52.38, Z:-15.59 [[ 0.78401613 -0.56656376 -0.25362219 -48.63533312] [ 0.56660042 0.82006033 -0.0804054 -52.37790173] [ 0.25354028 -0.08066331 0.96395579 -15.59178318] [ 0. 0. 0. 1. ]] SLAMing on 124.23165253199998 meters Centerline goodness : 0.748194 Centerline is valid? [False, False] Translation: X:-48.64, Y:-52.38, Z:-15.59 [[ 0.78236149 -0.5699126 -0.25121729 -48.63648282] [ 0.56932348 0.81795528 -0.0825829 -52.38116575] [ 0.25254954 -0.07841422 0.96440134 -15.59157958] [ 0. 0. 0. 1. ]] SLAMing on 124.26165253199999 meters Centerline goodness : 0.749220 Centerline is valid? [False, False] Translation: X:-48.65, Y:-52.40, Z:-15.60 [[ 0.78095453 -0.57556643 -0.24255577 -48.64852536] [ 0.57255663 0.81488714 -0.0902101 -52.39545175] [ 0.24957748 -0.06842693 0.96593418 -15.59734894] [ 0. 0. 0. 1. ]] SLAMing on 124.29165253199999 meters Centerline goodness : 0.749109 Centerline is valid? [False, False] Translation: X:-48.65, Y:-52.40, Z:-15.60 [[ 0.77935659 -0.5788812 -0.23979129 -48.65053398] [ 0.57522845 0.81274797 -0.09248224 -52.39827308] [ 0.24842612 -0.06585813 0.96640942 -15.59761814] [ 0. 0. 0. 1. ]] SLAMing on 124.32165253199999 meters Centerline goodness : 0.749824 Centerline is valid? [False, False] Translation: X:-48.67, Y:-52.42, Z:-15.60 [[ 0.77728276 -0.57865102 -0.24697067 -48.66516135] [ 0.57632032 0.81231699 -0.08942036 -52.42058354] [ 0.25236165 -0.07282931 0.96488833 -15.59701159] [ 0. 0. 0. 1. ]] SLAMing on 124.35165253199999 meters Centerline goodness : 0.748085 Centerline is valid? [False, False] Translation: X:-48.68, Y:-52.44, Z:-15.60 [[ 0.77555534 -0.57810231 -0.2535974 -48.68119591] [ 0.57704897 0.81211033 -0.08655233 -52.44301216] [ 0.25598517 -0.079212 0.96342984 -15.59764865] [ 0. 0. 0. 1. ]] SLAMing on 124.38165253199999 meters Centerline goodness : 0.746858 Centerline is valid? [False, False] Translation: X:-48.70, Y:-52.47, Z:-15.60 [[ 0.77449199 -0.57705855 -0.25916324 -48.69946494] [ 0.57705097 0.81234505 -0.08430709 -52.46941573] [ 0.2591801 -0.08425523 0.96214694 -15.60023011] [ 0. 0. 0. 1. ]] SLAMing on 124.41165253199999 meters Centerline goodness : 0.746625 Centerline is valid? [False, False] Translation: X:-48.72, Y:-52.49, Z:-15.60 [[ 0.77222019 -0.57736042 -0.26519977 -48.71540645] [ 0.57846219 0.81153775 -0.0823892 -52.49100594] [ 0.26278789 -0.08978543 0.96066701 -15.60175827] [ 0. 0. 0. 1. ]] SLAMing on 124.44165253199999 meters Centerline goodness : 0.747759 Centerline is valid? [False, False] Translation: X:-48.73, Y:-52.51, Z:-15.60 [[ 0.77070732 -0.57662629 -0.27113162 -48.73304892] [ 0.57891447 0.81144172 -0.08012719 -52.51299936] [ 0.26621096 -0.09520741 0.95920137 -15.60397774] [ 0. 0. 0. 1. ]] SLAMing on 124.471652532 meters Centerline goodness : 0.745172 Centerline is valid? [False, False] Translation: X:-48.76, Y:-52.54, Z:-15.61 [[ 0.77171134 -0.57330244 -0.27529244 -48.75790561] [ 0.57679366 0.81327456 -0.07676957 -52.54219102] [ 0.26790052 -0.09954298 0.95829041 -15.60867057] [ 0. 0. 0. 1. ]] SLAMing on 124.501652532 meters Centerline goodness : 0.747286 Centerline is valid? [False, False] Translation: X:-48.78, Y:-52.57, Z:-15.61 [[ 0.77144394 -0.57153351 -0.27968499 -48.77996877] [ 0.5760898 0.81399475 -0.07438473 -52.56745353] [ 0.27017548 -0.10374002 0.95720594 -15.61308263] [ 0. 0. 0. 1. ]] SLAMing on 124.531652532 meters Centerline goodness : 0.744136 Centerline is valid? [False, False] Translation: X:-48.80, Y:-52.58, Z:-15.62 [[ 0.77395562 -0.57100536 -0.27376191 -48.79918933] [ 0.57298524 0.81553949 -0.0811372 -52.58281726] [ 0.26959343 -0.09406494 0.95836902 -15.62130747] [ 0. 0. 0. 1. ]] SLAMing on 124.561652532 meters Centerline goodness : 0.743895 Centerline is valid? [False, False] Translation: X:-48.82, Y:-52.61, Z:-15.63 [[ 0.77396508 -0.56868781 -0.27851793 -48.82122407] [ 0.57185732 0.81661087 -0.07826803 -52.60787416] [ 0.27195085 -0.09869579 0.95723658 -15.62550446] [ 0. 0. 0. 1. ]] SLAMing on 124.59165253199998 meters Centerline goodness : 0.741742 Centerline is valid? [False, False] Translation: X:-48.84, Y:-52.63, Z:-15.63 [[ 0.77373986 -0.56683725 -0.28288188 -48.84343203] [ 0.57108386 0.81738149 -0.07583351 -52.63309244] [ 0.27420767 -0.10287386 0.95615225 -15.62995338] [ 0. 0. 0. 1. ]] SLAMing on 124.62165253199998 meters Centerline goodness : 0.743279 Centerline is valid? [False, False] Translation: X:-48.87, Y:-52.66, Z:-15.64 [[ 0.77446152 -0.56482063 -0.28493335 -48.87034612] [ 0.56968689 0.8185146 -0.07409927 -52.66099005] [ 0.2750749 -0.10493575 0.95567897 -15.63743709] [ 0. 0. 0. 1. ]] SLAMing on 124.65165253199999 meters Centerline goodness : 0.742597 Centerline is valid? [False, False] Translation: X:-48.90, Y:-52.69, Z:-15.64 [[ 0.77573766 -0.56107766 -0.28883029 -48.89529987] [ 0.56735782 0.82048568 -0.07005968 -52.68676573] [ 0.27629004 -0.10952219 0.95481344 -15.64329515] [ 0. 0. 0. 1. ]] SLAMing on 124.68165253199999 meters Centerline goodness : 0.741469 Centerline is valid? [False, False] Translation: X:-48.92, Y:-52.71, Z:-15.65 [[ 0.7762084 -0.55855844 -0.29242604 -48.91932289] [ 0.56600352 0.82166977 -0.06707304 -52.71164251] [ 0.27774185 -0.11345152 0.95393303 -15.64941153] [ 0. 0. 0. 1. ]] SLAMing on 124.71165253199999 meters Centerline goodness : 0.741918 Centerline is valid? [False, False] Translation: X:-48.94, Y:-52.74, Z:-15.66 [[ 0.77544775 -0.55843725 -0.29466699 -48.94352155] [ 0.56650064 0.82142148 -0.06590731 -52.73527221] [ 0.27885089 -0.11582137 0.95332449 -15.65620867] [ 0. 0. 0. 1. ]] SLAMing on 124.74165253199999 meters Centerline goodness : 0.742339 Centerline is valid? [False, False] Translation: X:-48.97, Y:-52.76, Z:-15.66 [[ 0.77592073 -0.55717685 -0.29580564 -48.97180044] [ 0.56575025 0.82205694 -0.06441308 -52.76248285] [ 0.27905856 -0.11737267 0.95307396 -15.66395286] [ 0. 0. 0. 1. ]] SLAMing on 124.77165253199999 meters Centerline goodness : 0.741278 Centerline is valid? [False, False] Translation: X:-49.00, Y:-52.79, Z:-15.67 [[ 0.77639575 -0.55639955 -0.29602227 -48.99978132] [ 0.56526157 0.82247439 -0.06336586 -52.78956032] [ 0.27872747 -0.11813303 0.9530769 -15.67326648] [ 0. 0. 0. 1. ]] SLAMing on 124.80165253199999 meters Centerline goodness : 0.741646 Centerline is valid? [False, False] Translation: X:-49.03, Y:-52.82, Z:-15.68 [[ 0.77630829 -0.55600402 -0.29699321 -49.0263446 ] [ 0.56538782 0.82249619 -0.0619406 -52.81507446] [ 0.27871501 -0.11983134 0.95286851 -15.68112414] [ 0. 0. 0. 1. ]] SLAMing on 124.83165253199999 meters Centerline goodness : 0.741646 Centerline is valid? [False, False] Translation: X:-49.05, Y:-52.84, Z:-15.69 [[ 0.77584412 -0.55579409 -0.29859477 -49.05088347] [ 0.56568057 0.8223714 -0.06091607 -52.83999774] [ 0.27941259 -0.12164789 0.95243393 -15.6888446 ] [ 0. 0. 0. 1. ]] SLAMing on 124.861652532 meters Centerline goodness : 0.739862 Centerline is valid? [False, False] Translation: X:-49.08, Y:-52.86, Z:-15.70 [[ 0.77534049 -0.55550019 -0.30044411 -49.07578525] [ 0.56606877 0.82221554 -0.05939491 -52.86418417] [ 0.2800237 -0.12402075 0.95194831 -15.69594039] [ 0. 0. 0. 1. ]] SLAMing on 124.891652532 meters Centerline goodness : 0.739783 Centerline is valid? [False, False] Translation: X:-49.11, Y:-52.89, Z:-15.71 [[ 0.77806457 -0.55222764 -0.29943306 -49.10953437] [ 0.56320578 0.82435865 -0.05685135 -52.89276929] [ 0.27823512 -0.12440841 0.95242205 -15.7073383 ] [ 0. 0. 0. 1. ]] SLAMing on 124.921652532 meters Centerline goodness : 0.740396 Centerline is valid? [False, False] Translation: X:-49.12, Y:-52.90, Z:-15.72 [[ 0.78153018 -0.54986775 -0.29471348 -49.12453957] [ 0.55924331 0.8268514 -0.05969662 -52.90213941] [ 0.2765095 -0.11816183 0.95371918 -15.71577649] [ 0. 0. 0. 1. ]] SLAMing on 124.95165253199998 meters Centerline goodness : 0.740736 Centerline is valid? [False, False] Translation: X:-49.14, Y:-52.91, Z:-15.72 [[ 0.78508515 -0.54713944 -0.29030972 -49.13960004] [ 0.55509566 0.82946343 -0.06212262 -52.91098107] [ 0.27479104 -0.11237812 0.95491416 -15.72378643] [ 0. 0. 0. 1. ]] SLAMing on 124.98165253199998 meters Centerline goodness : 0.741816 Centerline is valid? [False, False] Translation: X:-49.16, Y:-52.93, Z:-15.73 [[ 0.7879921 -0.54346423 -0.2893356 -49.16461391] [ 0.54881128 0.8330106 -0.06999659 -52.92878815] [ 0.27906026 -0.10363389 0.95466507 -15.72871033] [ 0. 0. 0. 1. ]] SLAMing on 125.01165253199999 meters Centerline goodness : 0.738935 Centerline is valid? [False, False] Translation: X:-49.19, Y:-52.96, Z:-15.74 [[ 0.78956448 -0.54062146 -0.29037282 -49.19331365] [ 0.54667638 0.83462458 -0.06742954 -52.95600661] [ 0.27880615 -0.10549999 0.9545349 -15.73783511] [ 0. 0. 0. 1. ]] SLAMing on 125.04165253199999 meters Centerline goodness : 0.739851 Centerline is valid? [False, False] Translation: X:-49.22, Y:-52.98, Z:-15.74 [[ 0.78939752 -0.5393446 -0.29318758 -49.21725245] [ 0.5462714 0.83505567 -0.06534204 -52.97918737] [ 0.28006983 -0.10857914 0.95381941 -15.74431988] [ 0. 0. 0. 1. ]] SLAMing on 125.07165253199999 meters Centerline goodness : 0.739654 Centerline is valid? [False, False] Translation: X:-49.25, Y:-53.01, Z:-15.76 [[ 0.79299148 -0.53434935 -0.29263505 -49.2518166 ] [ 0.54159873 0.83827051 -0.06303457 -53.0083734 ] [ 0.27898982 -0.1085049 0.95414431 -15.75683583] [ 0. 0. 0. 1. ]] SLAMing on 125.10165253199999 meters Centerline goodness : 0.741639 Centerline is valid? [False, False] Translation: X:-49.28, Y:-53.03, Z:-15.77 [[ 0.79368575 -0.53244012 -0.29422857 -49.27813965] [ 0.54022599 0.83927055 -0.06148838 -53.03207977] [ 0.27967626 -0.11014747 0.95375507 -15.76650712] [ 0. 0. 0. 1. ]] SLAMing on 125.13165253199999 meters Centerline goodness : 0.739723 Centerline is valid? [False, False] Translation: X:-49.29, Y:-53.04, Z:-15.77 [[ 0.79664311 -0.53048608 -0.28973139 -49.29237784] [ 0.53661084 0.84132497 -0.06497004 -53.03987797] [ 0.27822395 -0.10371507 0.95490032 -15.77485631] [ 0. 0. 0. 1. ]] SLAMing on 125.16165253199999 meters Centerline goodness : 0.740408 Centerline is valid? [False, False] Translation: X:-49.33, Y:-53.07, Z:-15.79 [[ 0.79907772 -0.52742552 -0.28861238 -49.32516807] [ 0.53390413 0.84321545 -0.06272237 -53.06822363] [ 0.2764438 -0.10397129 0.95538934 -15.78634092] [ 0. 0. 0. 1. ]] SLAMing on 125.19165253199999 meters Centerline goodness : 0.740438 Centerline is valid? [False, False] Translation: X:-49.35, Y:-53.09, Z:-15.79 [[ 0.80370799 -0.52110595 -0.2872317 -49.35342522] [ 0.52535967 0.84810659 -0.0686471 -53.08907609] [ 0.27937551 -0.09572774 0.9553981 -15.79184968] [ 0. 0. 0. 1. ]] SLAMing on 125.221652532 meters Centerline goodness : 0.740605 Centerline is valid? [False, False] Translation: X:-49.37, Y:-53.10, Z:-15.80 [[ 0.80648413 -0.5195953 -0.28214193 -49.36725317] [ 0.52219139 0.8497601 -0.07227669 -53.09863302] [ 0.27730758 -0.08904208 0.95664623 -15.80028549] [ 0. 0. 0. 1. ]] SLAMing on 125.251652532 meters Centerline goodness : 0.743255 Centerline is valid? [False, False] Translation: X:-49.39, Y:-53.12, Z:-15.80 [[ 0.80499603 -0.52040775 -0.28488098 -49.38999713] [ 0.52373088 0.84893091 -0.07086799 -53.12185647] [ 0.27872452 -0.09215252 0.95593962 -15.80489149] [ 0. 0. 0. 1. ]] SLAMing on 125.281652532 meters Centerline goodness : 0.743262 Centerline is valid? [False, False] Translation: X:-49.42, Y:-53.15, Z:-15.81 [[ 0.80460128 -0.51995663 -0.28681333 -49.41568118] [ 0.52384513 0.84897117 -0.0695286 -53.14728596] [ 0.2796481 -0.09430296 0.95546004 -15.81154009] [ 0. 0. 0. 1. ]] SLAMing on 125.311652532 meters Centerline goodness : 0.747728 Centerline is valid? [False, False] Translation: X:-49.43, Y:-53.16, Z:-15.82 [[ 0.80875544 -0.51563557 -0.28290386 -49.4345025 ] [ 0.51765322 0.85240292 -0.07378623 -53.15860815] [ 0.27919488 -0.08677108 0.95630591 -15.82113409] [ 0. 0. 0. 1. ]] SLAMing on 125.34165253199998 meters Centerline goodness : 0.749002 Centerline is valid? [False, False] Translation: X:-49.46, Y:-53.18, Z:-15.83 [[ 0.80839734 -0.51378172 -0.28726656 -49.45600107] [ 0.51689766 0.85308479 -0.07115577 -53.18036239] [ 0.28162127 -0.09096527 0.95520405 -15.82721147] [ 0. 0. 0. 1. ]] SLAMing on 125.37165253199998 meters Centerline goodness : 0.751594 Centerline is valid? [False, False] Translation: X:-49.48, Y:-53.20, Z:-15.83 [[ 0.80794624 -0.51214395 -0.29143 -49.47789255] [ 0.5163136 0.85363683 -0.06873455 -53.20265916] [ 0.28397737 -0.09493545 0.95411955 -15.83302884] [ 0. 0. 0. 1. ]] SLAMing on 125.40165253199999 meters Centerline goodness : 0.755838 Centerline is valid? [False, False] Translation: X:-49.51, Y:-53.23, Z:-15.84 [[ 0.80952212 -0.5104565 -0.29001396 -49.50958098] [ 0.51526696 0.85450421 -0.06574586 -53.2327418 ] [ 0.28137855 -0.09621189 0.95476143 -15.84226302] [ 0. 0. 0. 1. ]] SLAMing on 125.43165253199999 meters Centerline goodness : 0.754877 Centerline is valid? [False, False] Translation: X:-49.51, Y:-53.23, Z:-15.84 [[ 0.80817233 -0.51399782 -0.28751299 -49.51300559] [ 0.51802967 0.85264208 -0.06816708 -53.23487691] [ 0.28018341 -0.09384951 0.95534786 -15.84184939] [ 0. 0. 0. 1. ]] SLAMing on 125.46165253199999 meters Centerline goodness : 0.757534 Centerline is valid? [False, False] Translation: X:-49.53, Y:-53.26, Z:-15.84 [[ 0.80471557 -0.5175412 -0.29083321 -49.53220221] [ 0.52185716 0.85023305 -0.06905693 -53.25808103] [ 0.28301582 -0.0962022 0.95427836 -15.84479335] [ 0. 0. 0. 1. ]] SLAMing on 125.49165253199999 meters Centerline goodness : 0.764206 Centerline is valid? [False, False] Translation: X:-49.56, Y:-53.28, Z:-15.85 [[ 0.80135525 -0.52226253 -0.29167037 -49.55581061] [ 0.52625071 0.84732957 -0.07136384 -53.28372303] [ 0.28441158 -0.09630395 0.95385303 -15.85046986] [ 0. 0. 0. 1. ]] SLAMing on 125.52165253199999 meters Centerline goodness : 0.765996 Centerline is valid? [False, False] Translation: X:-49.57, Y:-53.30, Z:-15.85 [[ 0.79956606 -0.52189379 -0.29718848 -49.57405007] [ 0.52707273 0.84698647 -0.06934157 -53.30352494] [ 0.28790356 -0.10119678 0.95229762 -15.85419031] [ 0. 0. 0. 1. ]] SLAMing on 125.55165253199999 meters Centerline goodness : 0.767819 Centerline is valid? [False, False] Translation: X:-49.60, Y:-53.33, Z:-15.86 [[ 0.80094175 -0.5178521 -0.30053538 -49.59997554] [ 0.52393698 0.84913198 -0.06682003 -53.32754941] [ 0.2897971 -0.10394264 0.95142712 -15.86404297] [ 0. 0. 0. 1. ]] SLAMing on 125.58165253199999 meters Centerline goodness : 0.768694 Centerline is valid? [False, False] Translation: X:-49.63, Y:-53.35, Z:-15.87 [[ 0.80238134 -0.51381408 -0.30361041 -49.62546469] [ 0.52112733 0.85113694 -0.06318396 -53.35273299] [ 0.29087884 -0.10752205 0.95069896 -15.87234567] [ 0. 0. 0. 1. ]] SLAMing on 125.611652532 meters Centerline goodness : 0.767677 Centerline is valid? [False, False] Translation: X:-49.65, Y:-53.38, Z:-15.88 [[ 0.80306176 -0.51169151 -0.30539092 -49.65093523] [ 0.52004305 0.85202461 -0.06007734 -53.3778173 ] [ 0.29094164 -0.11057061 0.95033 -15.88020522] [ 0. 0. 0. 1. ]] SLAMing on 125.641652532 meters Centerline goodness : 0.768698 Centerline is valid? [False, False] Translation: X:-49.68, Y:-53.41, Z:-15.89 [[ 0.80303782 -0.5116971 -0.3054445 -49.67856417] [ 0.52038803 0.85188991 -0.05899051 -53.40597391] [ 0.29039036 -0.11157805 0.95038086 -15.88832617] [ 0. 0. 0. 1. ]] SLAMing on 125.671652532 meters Centerline goodness : 0.768557 Centerline is valid? [False, False] Translation: X:-49.69, Y:-53.41, Z:-15.89 [[ 0.80341414 -0.51371426 -0.30103717 -49.68697665] [ 0.52145592 0.85111379 -0.06073746 -53.41393208] [ 0.28741858 -0.10818027 0.9516762 -15.89052636] [ 0. 0. 0. 1. ]] SLAMing on 125.70165253199998 meters Centerline goodness : 0.769496 Centerline is valid? [False, False] Translation: X:-49.72, Y:-53.44, Z:-15.90 [[ 0.80422975 -0.51237167 -0.30114744 -49.71507943] [ 0.52049263 0.85180724 -0.05926081 -53.44168146] [ 0.28688313 -0.10908571 0.9517344 -15.9003066 ] [ 0. 0. 0. 1. ]] SLAMing on 125.73165253199998 meters Centerline goodness : 0.767335 Centerline is valid? [False, False] Translation: X:-49.74, Y:-53.47, Z:-15.91 [[ 0.80467735 -0.51062125 -0.30291962 -49.74030871] [ 0.51961479 0.85251412 -0.0567463 -53.46691703] [ 0.28721912 -0.11173906 0.95132516 -15.9082567 ] [ 0. 0. 0. 1. ]] SLAMing on 125.76165253199999 meters Centerline goodness : 0.767289 Centerline is valid? [False, False] Translation: X:-49.77, Y:-53.49, Z:-15.92 [[ 0.8046748 -0.51000521 -0.3039624 -49.76631354] [ 0.51955121 0.85265252 -0.05522877 -53.49231041] [ 0.28734127 -0.11348283 0.95108183 -15.91690126] [ 0. 0. 0. 1. ]] SLAMing on 125.79165253199999 meters Centerline goodness : 0.767417 Centerline is valid? [False, False] Translation: X:-49.80, Y:-53.52, Z:-15.93 [[ 0.80545181 -0.50851598 -0.30439921 -49.79530597] [ 0.5183175 0.85346439 -0.0542725 -53.51892954] [ 0.28739232 -0.11406155 0.95099717 -15.92760734] [ 0. 0. 0. 1. ]] SLAMing on 125.82165253199999 meters Centerline goodness : 0.764580 Centerline is valid? [False, False] Translation: X:-49.82, Y:-53.54, Z:-15.94 [[ 8.05597406e-01 -5.08001212e-01 -3.04873067e-01 -4.98219275e+01] [ 5.18229853e-01 8.53600212e-01 -5.29575053e-02 -5.35444482e+01] [ 2.87142192e-01 -1.15331896e-01 9.50919511e-01 -1.59370551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.85165253199999 meters Centerline goodness : 0.765798 Centerline is valid? [False, False] Translation: X:-49.85, Y:-53.57, Z:-15.95 [[ 8.06467996e-01 -5.07261557e-01 -3.03801061e-01 -4.98519647e+01] [ 5.17475225e-01 8.54091956e-01 -5.24053704e-02 -5.35734242e+01] [ 2.86057272e-01 -1.14946268e-01 9.51293116e-01 -1.59480850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.88165253199999 meters Centerline goodness : 0.765352 Centerline is valid? [False, False] Translation: X:-49.88, Y:-53.60, Z:-15.96 [[ 8.06860276e-01 -5.06914028e-01 -3.03339189e-01 -4.98798421e+01] [ 5.17266627e-01 8.54262646e-01 -5.16775494e-02 -5.36007363e+01] [ 2.85327412e-01 -1.15210677e-01 9.51480303e-01 -1.59582876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.91165253199999 meters Centerline goodness : 0.766415 Centerline is valid? [False, False] Translation: X:-49.91, Y:-53.62, Z:-15.97 [[ 8.06691917e-01 -5.07223020e-01 -3.03270440e-01 -4.99056282e+01] [ 5.17887225e-01 8.53947046e-01 -5.06681791e-02 -5.36239996e+01] [ 2.84676963e-01 -1.16186276e-01 9.51556502e-01 -1.59679756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.94165253199999 meters Centerline goodness : 0.769472 Centerline is valid? [False, False] Translation: X:-49.93, Y:-53.65, Z:-15.98 [[ 8.07547747e-01 -5.06459030e-01 -3.02267907e-01 -4.99347659e+01] [ 5.17498600e-01 8.54289984e-01 -4.88243966e-02 -5.36497188e+01] [ 2.82952002e-01 -1.16995187e-01 9.51971791e-01 -1.59780885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.971652532 meters Centerline goodness : 0.768969 Centerline is valid? [False, False] Translation: X:-49.97, Y:-53.68, Z:-15.99 [[ 8.09008137e-01 -5.05691203e-01 -2.99636850e-01 -4.99665502e+01] [ 5.17065544e-01 8.54688155e-01 -4.63829761e-02 -5.36773435e+01] [ 2.79551529e-01 -1.17407686e-01 9.52925169e-01 -1.59890930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.001652532 meters Centerline goodness : 0.769294 Centerline is valid? [False, False] Translation: X:-49.98, Y:-53.69, Z:-16.00 [[ 8.09957853e-01 -5.07765353e-01 -2.93500636e-01 -4.99788894e+01] [ 5.16839809e-01 8.54500312e-01 -5.20175705e-02 -5.36850976e+01] [ 2.77209105e-01 -1.09560773e-01 9.54542586e-01 -1.59968048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.031652532 meters Centerline goodness : 0.768714 Centerline is valid? [False, False] Translation: X:-50.01, Y:-53.71, Z:-16.01 [[ 8.10460027e-01 -5.07536248e-01 -2.92508978e-01 -5.00073422e+01] [ 5.16609719e-01 8.54666928e-01 -5.15639539e-02 -5.37129755e+01] [ 2.76168325e-01 -1.09322457e-01 9.54871539e-01 -1.60073061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.061652532 meters Centerline goodness : 0.769341 Centerline is valid? [False, False] Translation: X:-50.03, Y:-53.74, Z:-16.02 [[ 8.09806865e-01 -5.08423937e-01 -2.92776267e-01 -5.00320190e+01] [ 5.17772710e-01 8.54003215e-01 -5.08913573e-02 -5.37373254e+01] [ 2.75906258e-01 -1.10379391e-01 9.54825705e-01 -1.60161570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.09165253199998 meters Centerline goodness : 0.768685 Centerline is valid? [False, False] Translation: X:-50.06, Y:-53.76, Z:-16.03 [[ 8.10004279e-01 -5.08731860e-01 -2.91693268e-01 -5.00604543e+01] [ 5.18026901e-01 8.53861696e-01 -5.06787209e-02 -5.37639198e+01] [ 2.74847588e-01 -1.10054979e-01 9.55168417e-01 -1.60271189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.12165253199998 meters Centerline goodness : 0.768119 Centerline is valid? [False, False] Translation: X:-50.09, Y:-53.79, Z:-16.04 [[ 8.09260138e-01 -5.10053376e-01 -2.91450822e-01 -5.00860576e+01] [ 5.19484312e-01 8.52995154e-01 -5.03519315e-02 -5.37883135e+01] [ 2.74288312e-01 -1.10656319e-01 9.55259703e-01 -1.60360859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.15165253199999 meters Centerline goodness : 0.767865 Centerline is valid? [False, False] Translation: X:-50.11, Y:-53.81, Z:-16.04 [[ 0.81281939 -0.50689106 -0.28702977 -50.10950152] [ 0.51384402 0.85601492 -0.05659317 -53.80683473] [ 0.27438834 -0.10148851 0.95624846 -16.04323752] [ 0. 0. 0. 1. ]] SLAMing on 126.18165253199999 meters Centerline goodness : 0.768830 Centerline is valid? [False, False] Translation: X:-50.12, Y:-53.81, Z:-16.05 [[ 0.81304905 -0.50904653 -0.28252943 -50.11726288] [ 0.51488394 0.85521516 -0.05917405 -53.81018314] [ 0.27174579 -0.09735846 0.95743175 -16.04761305] [ 0. 0. 0. 1. ]] SLAMing on 126.21165253199999 meters Centerline goodness : 0.768322 Centerline is valid? [False, False] Translation: X:-50.12, Y:-53.81, Z:-16.05 [[ 0.81190962 -0.51233524 -0.27984885 -50.12147271] [ 0.51734857 0.85354865 -0.06168603 -53.81121978] [ 0.27046853 -0.09469592 0.95806026 -16.04792567] [ 0. 0. 0. 1. ]] SLAMing on 126.24165253199999 meters Centerline goodness : 0.769494 Centerline is valid? [False, False] Translation: X:-50.15, Y:-53.84, Z:-16.06 [[ 0.81210155 -0.51240384 -0.27916551 -50.14903232] [ 0.51802188 0.85330976 -0.05929395 -53.84019612] [ 0.2685971 -0.09646113 0.95841058 -16.05521026] [ 0. 0. 0. 1. ]] SLAMing on 126.27165253199999 meters Centerline goodness : 0.768844 Centerline is valid? [False, False] Translation: X:-50.17, Y:-53.86, Z:-16.06 [[ 0.81059699 -0.51322369 -0.28201767 -50.17078214] [ 0.51954792 0.85246899 -0.05802226 -53.86345582] [ 0.27018971 -0.09948903 0.9576531 -16.06004751] [ 0. 0. 0. 1. ]] SLAMing on 126.30165253199999 meters Centerline goodness : 0.769672 Centerline is valid? [False, False] Translation: X:-50.19, Y:-53.89, Z:-16.07 [[ 0.80889625 -0.51420717 -0.2850927 -50.19161582] [ 0.5212081 0.8515227 -0.05701935 -53.8861154 ] [ 0.27208266 -0.10246989 0.95680246 -16.06525153] [ 0. 0. 0. 1. ]] SLAMing on 126.33165253199999 meters Centerline goodness : 0.767318 Centerline is valid? [False, False] Translation: X:-50.21, Y:-53.91, Z:-16.07 [[ 0.80664748 -0.51610242 -0.28802453 -50.21255472] [ 0.52362319 0.85005938 -0.05672565 -53.91214531] [ 0.2741142 -0.10505872 0.95594146 -16.06933699] [ 0. 0. 0. 1. ]] SLAMing on 126.361652532 meters Centerline goodness : 0.768956 Centerline is valid? [False, False] Translation: X:-50.23, Y:-53.94, Z:-16.07 [[ 0.80489269 -0.51694145 -0.29140916 -50.2337065 ] [ 0.5251178 0.84918577 -0.05598947 -53.93594438] [ 0.27640379 -0.10795862 0.95495858 -16.07405704] [ 0. 0. 0. 1. ]] SLAMing on 126.391652532 meters Centerline goodness : 0.767013 Centerline is valid? [False, False] Translation: X:-50.25, Y:-53.96, Z:-16.08 [[ 0.80321012 -0.51647623 -0.29682621 -50.25121197] [ 0.5258544 0.8488558 -0.054046 -53.95735213] [ 0.27987612 -0.11267707 0.95340088 -16.0776052 ] [ 0. 0. 0. 1. ]] SLAMing on 126.421652532 meters Centerline goodness : 0.765680 Centerline is valid? [False, False] Translation: X:-50.28, Y:-53.99, Z:-16.09 [[ 0.80212997 -0.51719763 -0.29848637 -50.27500946] [ 0.52672635 0.84829353 -0.05438242 -53.98577752] [ 0.28133051 -0.11359887 0.95286328 -16.08524054] [ 0. 0. 0. 1. ]] SLAMing on 126.45165253199998 meters Centerline goodness : 0.767134 Centerline is valid? [False, False] Translation: X:-50.30, Y:-54.01, Z:-16.09 [[ 8.00497636e-01 -5.18094923e-01 -3.01299164e-01 -5.02965545e+01] [ 5.28166206e-01 8.47426205e-01 -5.39378026e-02 -5.40094111e+01] [ 2.83273709e-01 -1.15958953e-01 9.52002903e-01 -1.60911091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.48165253199998 meters Centerline goodness : 0.765414 Centerline is valid? [False, False] Translation: X:-50.32, Y:-54.03, Z:-16.10 [[ 7.99596774e-01 -5.18275326e-01 -3.03373837e-01 -5.03198527e+01] [ 5.29009270e-01 8.46980705e-01 -5.26581176e-02 -5.40336715e+01] [ 2.84243190e-01 -1.18382311e-01 9.51415491e-01 -1.60977996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.51165253199999 meters Centerline goodness : 0.767667 Centerline is valid? [False, False] Translation: X:-50.34, Y:-54.06, Z:-16.11 [[ 7.99430509e-01 -5.18260884e-01 -3.03836334e-01 -5.03449921e+01] [ 5.29483553e-01 8.46772279e-01 -5.12237721e-02 -5.40588260e+01] [ 2.83827462e-01 -1.19926496e-01 9.51346208e-01 -1.61065672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.54165253199999 meters Centerline goodness : 0.764318 Centerline is valid? [False, False] Translation: X:-50.35, Y:-54.06, Z:-16.11 [[ 7.98050564e-01 -5.21900403e-01 -3.01222953e-01 -5.03477781e+01] [ 5.32221113e-01 8.44893179e-01 -5.38163859e-02 -5.40605638e+01] [ 2.82588012e-01 -1.17369019e-01 9.52033891e-01 -1.61068391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.57165253199999 meters Centerline goodness : 0.766473 Centerline is valid? [False, False] Translation: X:-50.37, Y:-54.09, Z:-16.11 [[ 0.79587762 -0.52481658 -0.30190456 -50.37067488] [ 0.53509851 0.84300875 -0.0548254 -54.08773967] [ 0.28328147 -0.11791437 0.95176037 -16.11354194] [ 0. 0. 0. 1. ]] SLAMing on 126.60165253199999 meters Centerline goodness : 0.765009 Centerline is valid? [False, False] Translation: X:-50.40, Y:-54.11, Z:-16.12 [[ 7.95953321e-01 -5.24132769e-01 -3.02891320e-01 -5.03963842e+01] [ 5.35004996e-01 8.43175729e-01 -5.31445609e-02 -5.41140392e+01] [ 2.83245415e-01 -1.19747779e-01 9.51542172e-01 -1.61216510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.63165253199999 meters Centerline goodness : 0.765874 Centerline is valid? [False, False] Translation: X:-50.42, Y:-54.14, Z:-16.13 [[ 7.94611317e-01 -5.24730349e-01 -3.05370130e-01 -5.04183995e+01] [ 5.36295390e-01 8.42423093e-01 -5.20633001e-02 -5.41379217e+01] [ 2.84570043e-01 -1.22398506e-01 9.50809390e-01 -1.61276073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.66165253199999 meters Centerline goodness : 0.762290 Centerline is valid? [False, False] Translation: X:-50.44, Y:-54.16, Z:-16.13 [[ 0.7906096 -0.52985781 -0.30689928 -50.43799428] [ 0.54128207 0.83908807 -0.0542672 -54.16376793] [ 0.28626942 -0.12321491 0.95019361 -16.13250956] [ 0. 0. 0. 1. ]] SLAMing on 126.69165253199999 meters Centerline goodness : 0.764692 Centerline is valid? [False, False] Translation: X:-50.46, Y:-54.19, Z:-16.14 [[ 0.78893326 -0.53103165 -0.30917583 -50.45988832] [ 0.54284683 0.83807713 -0.05425898 -54.18883008] [ 0.28792643 -0.12502841 0.94945578 -16.13901282] [ 0. 0. 0. 1. ]] SLAMing on 126.721652532 meters Centerline goodness : 0.763497 Centerline is valid? [False, False] Translation: X:-50.46, Y:-54.19, Z:-16.14 [[ 7.89246518e-01 -5.30523237e-01 -3.09249138e-01 -5.04599121e+01] [ 5.42525930e-01 8.38329223e-01 -5.35698548e-02 -5.41909904e+01] [ 2.87672642e-01 -1.25495855e-01 9.49471032e-01 -1.61387232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.751652532 meters Centerline goodness : 0.763497 Centerline is valid? [False, False] Translation: X:-50.46, Y:-54.19, Z:-16.14 [[ 0.78792989 -0.53368211 -0.30716428 -50.46340967] [ 0.54488572 0.83664489 -0.0559006 -54.19068359] [ 0.28682058 -0.12332367 0.95001328 -16.13847352] [ 0. 0. 0. 1. ]] SLAMing on 126.781652532 meters Centerline goodness : 0.760788 Centerline is valid? [False, False] Translation: X:-50.49, Y:-54.22, Z:-16.15 [[ 7.88912693e-01 -5.31769185e-01 -3.07958270e-01 -5.04901357e+01] [ 5.43521588e-01 8.37652834e-01 -5.40556499e-02 -5.42209516e+01] [ 2.86707247e-01 -1.24736780e-01 9.49862985e-01 -1.61484212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.811652532 meters Centerline goodness : 0.759545 Centerline is valid? [False, False] Translation: X:-50.51, Y:-54.24, Z:-16.15 [[ 0.78619395 -0.53413074 -0.31081093 -50.50938177] [ 0.5461622 0.83587555 -0.05494467 -54.24364753] [ 0.28914689 -0.12655601 0.94888232 -16.15411268] [ 0. 0. 0. 1. ]] SLAMing on 126.84165253199998 meters Centerline goodness : 0.759573 Centerline is valid? [False, False] Translation: X:-50.53, Y:-54.27, Z:-16.16 [[ 0.78434328 -0.53589889 -0.3124388 -50.53078341] [ 0.54823464 0.834509 -0.05507732 -54.26772024] [ 0.29024887 -0.12809024 0.94833986 -16.16115818] [ 0. 0. 0. 1. ]] SLAMing on 126.87165253199998 meters Centerline goodness : 0.755442 Centerline is valid? [False, False] Translation: X:-50.53, Y:-54.27, Z:-16.16 [[ 0.78165762 -0.54281148 -0.30719223 -50.53471858] [ 0.55332535 0.83079602 -0.06007522 -54.27293642] [ 0.2878236 -0.12301899 0.94974939 -16.16225116] [ 0. 0. 0. 1. ]] SLAMing on 126.90165253199999 meters Centerline goodness : 0.754207 Centerline is valid? [False, False] Translation: X:-50.54, Y:-54.27, Z:-16.16 [[ 0.78012238 -0.54648064 -0.30457836 -50.53675622] [ 0.55610435 0.82875145 -0.06260187 -54.27497667] [ 0.28663046 -0.12054023 0.95042781 -16.16259275] [ 0. 0. 0. 1. ]] SLAMing on 126.93165253199999 meters Centerline goodness : 0.754527 Centerline is valid? [False, False] Translation: X:-50.55, Y:-54.30, Z:-16.17 [[ 0.77702663 -0.54878402 -0.30832728 -50.55457921] [ 0.55887676 0.82683723 -0.06322154 -54.29701651] [ 0.28963144 -0.12319214 0.94917718 -16.1670108 ] [ 0. 0. 0. 1. ]] SLAMing on 126.96165253199999 meters Centerline goodness : 0.751592 Centerline is valid? [False, False] Translation: X:-50.58, Y:-54.32, Z:-16.17 [[ 0.77500177 -0.54995431 -0.3113238 -50.57519722] [ 0.56050811 0.82572401 -0.06332862 -54.32421018] [ 0.29189538 -0.12541972 0.94819143 -16.17264956] [ 0. 0. 0. 1. ]] SLAMing on 126.99165253199999 meters Centerline goodness : 0.752541 Centerline is valid? [False, False] Translation: X:-50.59, Y:-54.35, Z:-16.18 [[ 0.77165333 -0.55255314 -0.31501772 -50.59260427] [ 0.56365625 0.82354071 -0.06381479 -54.34605554] [ 0.29469098 -0.12831881 0.94693797 -16.17696344] [ 0. 0. 0. 1. ]] SLAMing on 127.02165253199999 meters Centerline goodness : 0.752776 Centerline is valid? [False, False] Translation: X:-50.61, Y:-54.37, Z:-16.18 [[ 0.76893038 -0.55420774 -0.31874732 -50.6115339 ] [ 0.56589736 0.82198437 -0.0640458 -54.36907809] [ 0.2975 -0.13113151 0.94567345 -16.18145372] [ 0. 0. 0. 1. ]] SLAMing on 127.05165253199999 meters Centerline goodness : 0.754028 Centerline is valid? [False, False] Translation: X:-50.64, Y:-54.40, Z:-16.19 [[ 0.76833953 -0.55408138 -0.32038757 -50.6360046 ] [ 0.56623623 0.82180734 -0.06331851 -54.40013291] [ 0.29838046 -0.13276493 0.94516801 -16.18871457] [ 0. 0. 0. 1. ]] SLAMing on 127.08165253199999 meters Centerline goodness : 0.753616 Centerline is valid? [False, False] Translation: X:-50.65, Y:-54.42, Z:-16.19 [[ 0.76625411 -0.55342317 -0.326462 -50.6527309 ] [ 0.56713584 0.82134676 -0.06120822 -54.42185223] [ 0.30201255 -0.13824725 0.94322644 -16.19093487] [ 0. 0. 0. 1. ]] SLAMing on 127.111652532 meters Centerline goodness : 0.753426 Centerline is valid? [False, False] Translation: X:-50.67, Y:-54.45, Z:-16.20 [[ 0.7644732 -0.55408336 -0.32950319 -50.67414412] [ 0.56863071 0.82038242 -0.06026441 -54.44676115] [ 0.30371013 -0.14129511 0.94222919 -16.19599265] [ 0. 0. 0. 1. ]] SLAMing on 127.141652532 meters Centerline goodness : 0.752954 Centerline is valid? [False, False] Translation: X:-50.70, Y:-54.47, Z:-16.20 [[ 0.76406242 -0.55438029 -0.32995623 -50.69952841] [ 0.56939391 0.8199368 -0.05911183 -54.47474819] [ 0.30331369 -0.14270994 0.94214366 -16.20400332] [ 0. 0. 0. 1. ]] SLAMing on 127.171652532 meters Centerline goodness : 0.751158 Centerline is valid? [False, False] Translation: X:-50.73, Y:-54.51, Z:-16.21 [[ 0.76459115 -0.55476272 -0.32808337 -50.73012879] [ 0.56946529 0.81987917 -0.0592236 -54.50847305] [ 0.30184377 -0.14155025 0.94279047 -16.21447515] [ 0. 0. 0. 1. ]] SLAMing on 127.20165253199998 meters Centerline goodness : 0.752951 Centerline is valid? [False, False] Translation: X:-50.75, Y:-54.53, Z:-16.22 [[ 0.76241499 -0.55489589 -0.33288726 -50.74761586] [ 0.57069038 0.81909293 -0.05830322 -54.52956546] [ 0.30501782 -0.14552431 0.94116248 -16.21909113] [ 0. 0. 0. 1. ]] SLAMing on 127.23165253199998 meters Centerline goodness : 0.749635 Centerline is valid? [False, False] Translation: X:-50.78, Y:-54.56, Z:-16.23 [[ 0.76322825 -0.55363423 -0.33312427 -50.77568185] [ 0.5694004 0.81999593 -0.05822255 -54.55855081] [ 0.30539454 -0.145244 0.94108361 -16.23094437] [ 0. 0. 0. 1. ]] SLAMing on 127.26165253199999 meters Centerline goodness : 0.749076 Centerline is valid? [False, False] Translation: X:-50.80, Y:-54.58, Z:-16.24 [[ 0.76247683 -0.55347342 -0.33510633 -50.7992977 ] [ 0.56963256 0.81985089 -0.05799368 -54.5832002 ] [ 0.30683519 -0.14666864 0.94039379 -16.23983246] [ 0. 0. 0. 1. ]] SLAMing on 127.29165253199999 meters Centerline goodness : 0.748894 Centerline is valid? [False, False] Translation: X:-50.82, Y:-54.61, Z:-16.25 [[ 0.76177832 -0.55312895 -0.33725681 -50.82308758] [ 0.56978731 0.81977829 -0.0574977 -54.60776836] [ 0.30827946 -0.14836415 0.93965518 -16.24836377] [ 0. 0. 0. 1. ]] SLAMing on 127.32165253199999 meters Centerline goodness : 0.747403 Centerline is valid? [False, False] Translation: X:-50.85, Y:-54.63, Z:-16.26 [[ 0.76247178 -0.55195847 -0.33760722 -50.85019487] [ 0.56906896 0.82037871 -0.05602946 -54.63489562] [ 0.30789171 -0.1494009 0.93961804 -16.25864673] [ 0. 0. 0. 1. ]] SLAMing on 127.35165253199999 meters Centerline goodness : 0.747330 Centerline is valid? [False, False] Translation: X:-50.88, Y:-54.66, Z:-16.27 [[ 0.76223157 -0.55326149 -0.33601302 -50.88023893] [ 0.56979199 0.81979063 -0.05727499 -54.66441367] [ 0.30714837 -0.14780073 0.94011426 -16.27005767] [ 0. 0. 0. 1. ]] SLAMing on 127.38165253199999 meters Centerline goodness : 0.747004 Centerline is valid? [False, False] Translation: X:-50.91, Y:-54.69, Z:-16.28 [[ 0.76340667 -0.55187605 -0.33562342 -50.9089211 ] [ 0.5685672 0.82071068 -0.05626122 -54.69133221] [ 0.30649894 -0.14787428 0.94031463 -16.28213264] [ 0. 0. 0. 1. ]] SLAMing on 127.41165253199999 meters Centerline goodness : 0.746027 Centerline is valid? [False, False] Translation: X:-50.94, Y:-54.72, Z:-16.29 [[ 7.64595380e-01 -5.49888976e-01 -3.36178552e-01 -5.09369453e+01] [ 5.67097726e-01 8.21845130e-01 -5.45045945e-02 -5.47181196e+01] [ 3.06258181e-01 -1.48972131e-01 9.40219778e-01 -1.62928105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.44165253199999 meters Centerline goodness : 0.746735 Centerline is valid? [False, False] Translation: X:-50.97, Y:-54.75, Z:-16.30 [[ 7.65305401e-01 -5.49204617e-01 -3.35681294e-01 -5.09664497e+01] [ 5.66356306e-01 8.22372215e-01 -5.42630109e-02 -5.47465966e+01] [ 3.05856466e-01 -1.48587443e-01 9.40411396e-01 -1.63044385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.471652532 meters Centerline goodness : 0.744056 Centerline is valid? [False, False] Translation: X:-50.99, Y:-54.77, Z:-16.32 [[ 7.66213491e-01 -5.48025213e-01 -3.35537260e-01 -5.09942547e+01] [ 5.65575637e-01 8.23011534e-01 -5.26897898e-02 -5.47733370e+01] [ 3.05026368e-01 -1.49400072e-01 9.40552249e-01 -1.63152566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.501652532 meters Centerline goodness : 0.744509 Centerline is valid? [False, False] Translation: X:-51.00, Y:-54.78, Z:-16.32 [[ 0.76765413 -0.54857338 -0.33132217 -51.00380857] [ 0.56477204 0.82342488 -0.05480883 -54.77856445] [ 0.30288558 -0.14504727 0.94192442 -16.32052694] [ 0. 0. 0. 1. ]] SLAMing on 127.531652532 meters Centerline goodness : 0.741913 Centerline is valid? [False, False] Translation: X:-51.01, Y:-54.78, Z:-16.32 [[ 0.76743258 -0.55031306 -0.32894189 -51.01005187] [ 0.56567668 0.82268314 -0.05658922 -54.77997175] [ 0.30175674 -0.14264634 0.94265311 -16.32107908] [ 0. 0. 0. 1. ]] SLAMing on 127.561652532 meters Centerline goodness : 0.742382 Centerline is valid? [False, False] Translation: X:-51.04, Y:-54.81, Z:-16.33 [[ 0.76804397 -0.54944745 -0.32896193 -51.03834755] [ 0.56503776 0.823183 -0.05569627 -54.80759884] [ 0.30139804 -0.14309873 0.9426993 -16.33109865] [ 0. 0. 0. 1. ]] SLAMing on 127.59165253199998 meters Centerline goodness : 0.742373 Centerline is valid? [False, False] Translation: X:-51.06, Y:-54.83, Z:-16.34 [[ 7.66931615e-01 -5.50060074e-01 -3.30529595e-01 -5.10624952e+01] [ 5.66380091e-01 8.22349573e-01 -5.43578246e-02 -5.48314707e+01] [ 3.01710940e-01 -1.45516648e-01 9.42228960e-01 -1.63379139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.62165253199998 meters Centerline goodness : 0.740221 Centerline is valid? [False, False] Translation: X:-51.09, Y:-54.86, Z:-16.35 [[ 7.68136592e-01 -5.48888395e-01 -3.29678184e-01 -5.10934195e+01] [ 5.65308952e-01 8.23152945e-01 -5.33387037e-02 -5.48609939e+01] [ 3.00652564e-01 -1.45398619e-01 9.42585422e-01 -1.63489897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.65165253199999 meters Centerline goodness : 0.739564 Centerline is valid? [False, False] Translation: X:-51.10, Y:-54.86, Z:-16.35 [[ 7.69706626e-01 -5.47893416e-01 -3.27665248e-01 -5.10983013e+01] [ 5.64046132e-01 8.24045920e-01 -5.29176949e-02 -5.48628905e+01] [ 2.99004468e-01 -1.44087216e-01 9.43310767e-01 -1.63528774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.68165253199999 meters Centerline goodness : 0.737661 Centerline is valid? [False, False] Translation: X:-51.13, Y:-54.89, Z:-16.36 [[ 7.71530063e-01 -5.44718778e-01 -3.28668244e-01 -5.11252750e+01] [ 5.61820219e-01 8.25762782e-01 -4.97380114e-02 -5.48880192e+01] [ 2.98495233e-01 -1.46278094e-01 9.43134834e-01 -1.63637771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.71165253199999 meters Centerline goodness : 0.737876 Centerline is valid? [False, False] Translation: X:-51.15, Y:-54.91, Z:-16.38 [[ 7.72104051e-01 -5.44751657e-01 -3.27262840e-01 -5.11542062e+01] [ 5.61823322e-01 8.25798749e-01 -4.91017392e-02 -5.49139442e+01] [ 2.97001498e-01 -1.45952244e-01 9.43656745e-01 -1.63754201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.74165253199999 meters Centerline goodness : 0.738319 Centerline is valid? [False, False] Translation: X:-51.19, Y:-54.94, Z:-16.39 [[ 7.73965032e-01 -5.43387658e-01 -3.25127640e-01 -5.11850424e+01] [ 5.60476088e-01 8.26800126e-01 -4.76246533e-02 -5.49424462e+01] [ 2.94694223e-01 -1.45366452e-01 9.44470174e-01 -1.63882289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.77165253199999 meters Centerline goodness : 0.736594 Centerline is valid? [False, False] Translation: X:-51.20, Y:-54.95, Z:-16.40 [[ 7.76310821e-01 -5.43395183e-01 -3.19473291e-01 -5.11977731e+01] [ 5.58322005e-01 8.28013724e-01 -5.16702195e-02 -5.49511362e+01] [ 2.92605618e-01 -1.38256818e-01 9.46185502e-01 -1.63974917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.80165253199999 meters Centerline goodness : 0.735413 Centerline is valid? [False, False] Translation: X:-51.22, Y:-54.98, Z:-16.41 [[ 7.76217414e-01 -5.44171417e-01 -3.18377128e-01 -5.12248838e+01] [ 5.59088195e-01 8.27518590e-01 -5.13164083e-02 -5.49773976e+01] [ 2.91387914e-01 -1.38168204e-01 9.46574155e-01 -1.64080904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.83165253199999 meters Centerline goodness : 0.735610 Centerline is valid? [False, False] Translation: X:-51.26, Y:-55.01, Z:-16.42 [[ 7.77267105e-01 -5.43778541e-01 -3.16481825e-01 -5.12550075e+01] [ 5.58813437e-01 8.27791599e-01 -4.98859783e-02 -5.50067950e+01] [ 2.89107920e-01 -1.38079566e-01 9.47285936e-01 -1.64190300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.861652532 meters Centerline goodness : 0.734963 Centerline is valid? [False, False] Translation: X:-51.27, Y:-55.02, Z:-16.43 [[ 0.77887532 -0.54492325 -0.31050264 -51.26843861] [ 0.55739967 0.82838146 -0.05558558 -55.0153335 ] [ 0.2875045 -0.12977983 0.94894592 -16.42802105] [ 0. 0. 0. 1. ]] SLAMing on 127.891652532 meters Centerline goodness : 0.734725 Centerline is valid? [False, False] Translation: X:-51.29, Y:-55.04, Z:-16.44 [[ 0.77797548 -0.5451614 -0.31233507 -51.29167111] [ 0.55805956 0.82796747 -0.05513069 -55.0394479 ] [ 0.2886584 -0.13141125 0.94837092 -16.43617842] [ 0. 0. 0. 1. ]] SLAMing on 127.921652532 meters Centerline goodness : 0.732360 Centerline is valid? [False, False] Translation: X:-51.31, Y:-55.06, Z:-16.44 [[ 0.77481014 -0.54779175 -0.31558428 -51.31038148] [ 0.56118771 0.82581585 -0.05564655 -55.05994239] [ 0.29109722 -0.13398651 0.94726449 -16.44125594] [ 0. 0. 0. 1. ]] SLAMing on 127.95165253199998 meters Centerline goodness : 0.732449 Centerline is valid? [False, False] Translation: X:-51.34, Y:-55.09, Z:-16.45 [[ 0.77424152 -0.54851479 -0.31572393 -51.33589944] [ 0.56180615 0.82535705 -0.05621019 -55.08667969] [ 0.29141709 -0.13385538 0.94718468 -16.451211 ] [ 0. 0. 0. 1. ]] SLAMing on 127.98165253199998 meters Centerline goodness : 0.730827 Centerline is valid? [False, False] Translation: X:-51.37, Y:-55.12, Z:-16.46 [[ 7.76768945e-01 -5.45268229e-01 -3.15138960e-01 -5.13672680e+01] [ 5.58989282e-01 8.27425806e-01 -5.38285998e-02 -5.51178703e+01] [ 2.90105134e-01 -1.34346916e-01 9.47517766e-01 -1.64627147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.011652532 meters Centerline goodness : 0.725918 Centerline is valid? [False, False] Translation: X:-51.40, Y:-55.15, Z:-16.47 [[ 7.77570454e-01 -5.44611025e-01 -3.14297663e-01 -5.13954262e+01] [ 5.58471799e-01 8.27840415e-01 -5.28156857e-02 -5.51452234e+01] [ 2.88952312e-01 -1.34458465e-01 9.47854146e-01 -1.64740777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.041652532 meters Centerline goodness : 0.725991 Centerline is valid? [False, False] Translation: X:-51.42, Y:-55.17, Z:-16.48 [[ 7.75315552e-01 -5.46847501e-01 -3.15980388e-01 -5.14171544e+01] [ 5.60660644e-01 8.26264599e-01 -5.42812613e-02 -5.51688038e+01] [ 2.90766980e-01 -1.35072661e-01 9.47211666e-01 -1.64818534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.071652532 meters Centerline goodness : 0.724370 Centerline is valid? [False, False] Translation: X:-51.44, Y:-55.19, Z:-16.49 [[ 7.74932990e-01 -5.47736153e-01 -3.15379085e-01 -5.14433487e+01] [ 5.61606074e-01 8.25641526e-01 -5.39878534e-02 -5.51949922e+01] [ 2.89961169e-01 -1.35281841e-01 9.47428807e-01 -1.64917739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.101652532 meters Centerline goodness : 0.722318 Centerline is valid? [False, False] Translation: X:-51.47, Y:-55.23, Z:-16.50 [[ 7.76673513e-01 -5.46668861e-01 -3.12939949e-01 -5.14749623e+01] [ 5.60525371e-01 8.26465663e-01 -5.25910279e-02 -5.52272154e+01] [ 2.87383999e-01 -1.34564722e-01 9.48315756e-01 -1.65035912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.131652532 meters Centerline goodness : 0.721743 Centerline is valid? [False, False] Translation: X:-51.50, Y:-55.25, Z:-16.51 [[ 7.75999682e-01 -5.46925710e-01 -3.14160407e-01 -5.14990772e+01] [ 5.60991341e-01 8.26151037e-01 -5.25659510e-02 -5.52531281e+01] [ 2.88293617e-01 -1.35450107e-01 9.47913529e-01 -1.65122475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.161652532 meters Centerline goodness : 0.720712 Centerline is valid? [False, False] Translation: X:-51.52, Y:-55.28, Z:-16.52 [[ 7.75644073e-01 -5.47143407e-01 -3.14659124e-01 -5.15244519e+01] [ 5.61250756e-01 8.25964703e-01 -5.27247345e-02 -5.52793092e+01] [ 2.88745321e-01 -1.35707044e-01 9.47739277e-01 -1.65221486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.191652532 meters Centerline goodness : 0.720675 Centerline is valid? [False, False] Translation: X:-51.55, Y:-55.31, Z:-16.53 [[ 7.76301856e-01 -5.47032953e-01 -3.13225759e-01 -5.15533289e+01] [ 5.61263892e-01 8.26028382e-01 -5.15747634e-02 -5.53089614e+01] [ 2.86946462e-01 -1.35764724e-01 9.48277210e-01 -1.65325658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.221652532 meters Centerline goodness : 0.722364 Centerline is valid? [False, False] Translation: X:-51.58, Y:-55.34, Z:-16.54 [[ 7.76762921e-01 -5.47303371e-01 -3.11606137e-01 -5.15816334e+01] [ 5.61575160e-01 8.25872250e-01 -5.06790558e-02 -5.53360011e+01] [ 2.85083680e-01 -1.35624655e-01 9.48858919e-01 -1.65437601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.251652532 meters Centerline goodness : 0.719428 Centerline is valid? [False, False] Translation: X:-51.59, Y:-55.34, Z:-16.55 [[ 7.77724599e-01 -5.48846727e-01 -3.06450190e-01 -5.15906653e+01] [ 5.61636754e-01 8.25659450e-01 -5.33912803e-02 -5.53413672e+01] [ 2.82327125e-01 -1.30589978e-01 9.50388159e-01 -1.65502217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.281652532 meters Centerline goodness : 0.718714 Centerline is valid? [False, False] Translation: X:-51.62, Y:-55.37, Z:-16.56 [[ 7.78675028e-01 -5.48134112e-01 -3.05310000e-01 -5.16208990e+01] [ 5.61043512e-01 8.26133770e-01 -5.22797425e-02 -5.53718012e+01] [ 2.80883212e-01 -1.30583265e-01 9.50816824e-01 -1.65602273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.311652532 meters Centerline goodness : 0.719222 Centerline is valid? [False, False] Translation: X:-51.63, Y:-55.38, Z:-16.56 [[ 7.78654902e-01 -5.50216857e-01 -3.01592365e-01 -5.16274873e+01] [ 5.62140727e-01 8.25260958e-01 -5.42416170e-02 -5.53758837e+01] [ 2.78737056e-01 -1.27301850e-01 9.51892795e-01 -1.65626955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.341652532 meters Centerline goodness : 0.718210 Centerline is valid? [False, False] Translation: X:-51.66, Y:-55.41, Z:-16.57 [[ 7.79732954e-01 -5.49841937e-01 -2.99483495e-01 -5.16580862e+01] [ 5.61536067e-01 8.25692674e-01 -5.39338006e-02 -5.54053733e+01] [ 2.76936393e-01 -1.26116822e-01 9.52575866e-01 -1.65741746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.371652532 meters Centerline goodness : 0.716769 Centerline is valid? [False, False] Translation: X:-51.68, Y:-55.43, Z:-16.58 [[ 7.78807339e-01 -5.51397110e-01 -2.99032366e-01 -5.16844525e+01] [ 5.62950467e-01 8.24690702e-01 -5.45162215e-02 -5.54328266e+01] [ 2.76669299e-01 -1.25882777e-01 9.52684431e-01 -1.65829971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.401652532 meters Centerline goodness : 0.717709 Centerline is valid? [False, False] Translation: X:-51.71, Y:-55.46, Z:-16.59 [[ 7.78998493e-01 -5.51385237e-01 -2.98555971e-01 -5.17128069e+01] [ 5.62761262e-01 8.24794659e-01 -5.48956478e-02 -5.54614142e+01] [ 2.76516020e-01 -1.25252108e-01 9.52812049e-01 -1.65935415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.43165253200002 meters Centerline goodness : 0.715193 Centerline is valid? [False, False] Translation: X:-51.75, Y:-55.49, Z:-16.61 [[ 7.81668371e-01 -5.47906682e-01 -2.97981249e-01 -5.17455143e+01] [ 5.59141040e-01 8.27285410e-01 -5.44072421e-02 -5.54913753e+01] [ 2.76325631e-01 -1.24085125e-01 9.53019951e-01 -1.66068168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.46165253200002 meters Centerline goodness : 0.711563 Centerline is valid? [False, False] Translation: X:-51.77, Y:-55.52, Z:-16.62 [[ 7.82003535e-01 -5.47736773e-01 -2.97413682e-01 -5.17728235e+01] [ 5.58956509e-01 8.27426726e-01 -5.41537932e-02 -5.55186067e+01] [ 2.75750054e-01 -1.23892856e-01 9.53211660e-01 -1.66175066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.49165253200002 meters Centerline goodness : 0.711875 Centerline is valid? [False, False] Translation: X:-51.80, Y:-55.55, Z:-16.63 [[ 7.81602228e-01 -5.48749967e-01 -2.96599781e-01 -5.17999593e+01] [ 5.59694769e-01 8.26876835e-01 -5.49223528e-02 -5.55464342e+01] [ 2.75390127e-01 -1.23077912e-01 9.53421263e-01 -1.66275034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.521652532 meters Centerline goodness : 0.709688 Centerline is valid? [False, False] Translation: X:-51.83, Y:-55.58, Z:-16.64 [[ 7.82653511e-01 -5.47786628e-01 -2.95606651e-01 -5.18300842e+01] [ 5.58710327e-01 8.27581205e-01 -5.43334158e-02 -5.55769579e+01] [ 2.74401627e-01 -1.22634250e-01 9.53763382e-01 -1.66376094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.551652532 meters Centerline goodness : 0.709608 Centerline is valid? [False, False] Translation: X:-51.85, Y:-55.60, Z:-16.64 [[ 7.81226077e-01 -5.49331026e-01 -2.96515160e-01 -5.18543309e+01] [ 5.60450576e-01 8.26399740e-01 -5.43932138e-02 -5.56038146e+01] [ 2.74919931e-01 -1.23688695e-01 9.53477917e-01 -1.66441712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.581652532 meters Centerline goodness : 0.709308 Centerline is valid? [False, False] Translation: X:-51.88, Y:-55.63, Z:-16.66 [[ 7.82520624e-01 -5.47677512e-01 -2.96160118e-01 -5.18848942e+01] [ 5.58564847e-01 8.27655315e-01 -5.46990963e-02 -5.56337764e+01] [ 2.75075961e-01 -1.22621460e-01 9.53570759e-01 -1.66556652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.611652532 meters Centerline goodness : 0.706825 Centerline is valid? [False, False] Translation: X:-51.90, Y:-55.64, Z:-16.66 [[ 0.78379995 -0.54913705 -0.29001059 -51.89992021] [ 0.55718286 0.82806648 -0.0620739 -55.64495861] [ 0.27423513 -0.11293541 0.95500821 -16.66452515] [ 0. 0. 0. 1. ]] SLAMing on 128.641652532 meters Centerline goodness : 0.706825 Centerline is valid? [False, False] Translation: X:-51.93, Y:-55.67, Z:-16.67 [[ 0.78378118 -0.54886834 -0.29056945 -51.92637946] [ 0.55693032 0.8282263 -0.06220782 -55.67176981] [ 0.27480116 -0.11306962 0.95482961 -16.67391331] [ 0. 0. 0. 1. ]] SLAMing on 128.671652532 meters Centerline goodness : 0.705713 Centerline is valid? [False, False] Translation: X:-51.95, Y:-55.70, Z:-16.68 [[ 0.78377244 -0.54841972 -0.2914388 -51.95254339] [ 0.55654258 0.82848102 -0.0622861 -55.69797649] [ 0.27561043 -0.11337997 0.95455952 -16.68350732] [ 0. 0. 0. 1. ]] SLAMing on 128.701652532 meters Centerline goodness : 0.709763 Centerline is valid? [False, False] Translation: X:-51.98, Y:-55.73, Z:-16.69 [[ 0.78552291 -0.54631652 -0.29067512 -51.98492516] [ 0.55459072 0.82988338 -0.06101411 -55.7304583 ] [ 0.27455947 -0.11327775 0.95487447 -16.69267916] [ 0. 0. 0. 1. ]] SLAMing on 128.731652532 meters Centerline goodness : 0.708650 Centerline is valid? [False, False] Translation: X:-51.99, Y:-55.74, Z:-16.70 [[ 0.78582327 -0.54834537 -0.2860055 -51.99268653] [ 0.55554021 0.82908606 -0.06317736 -55.73650764] [ 0.27176618 -0.10924132 0.95614302 -16.6966995 ] [ 0. 0. 0. 1. ]] SLAMing on 128.761652532 meters Centerline goodness : 0.709215 Centerline is valid? [False, False] Translation: X:-52.02, Y:-55.77, Z:-16.71 [[ 0.78510148 -0.55029019 -0.28424701 -52.02309471] [ 0.55687988 0.82805004 -0.0649456 -55.76686192] [ 0.27110967 -0.10730255 0.95654885 -16.70579829] [ 0. 0. 0. 1. ]] SLAMing on 128.791652532 meters Centerline goodness : 0.709512 Centerline is valid? [False, False] Translation: X:-52.05, Y:-55.79, Z:-16.71 [[ 0.78427622 -0.55027048 -0.28655402 -52.04688725] [ 0.55717573 0.82786244 -0.06479962 -55.79253591] [ 0.27288463 -0.10884015 0.95587018 -16.71266039] [ 0. 0. 0. 1. ]] SLAMing on 128.821652532 meters Centerline goodness : 0.710595 Centerline is valid? [False, False] Translation: X:-52.07, Y:-55.82, Z:-16.72 [[ 0.78461339 -0.54908494 -0.28790199 -52.07343286] [ 0.55617181 0.82856045 -0.06450188 -55.82031728] [ 0.27396121 -0.10951393 0.95548519 -16.72147345] [ 0. 0. 0. 1. ]] SLAMing on 128.851652532 meters Centerline goodness : 0.712677 Centerline is valid? [False, False] Translation: X:-52.10, Y:-55.85, Z:-16.73 [[ 0.78650894 -0.54605694 -0.28848832 -52.10344884] [ 0.55338833 0.8305141 -0.06330628 -55.85030283] [ 0.27416246 -0.10985511 0.9553883 -16.73228721] [ 0. 0. 0. 1. ]] SLAMing on 128.881652532 meters Centerline goodness : 0.716326 Centerline is valid? [False, False] Translation: X:-52.13, Y:-55.88, Z:-16.74 [[ 0.78547584 -0.54635171 -0.29073615 -52.1274269 ] [ 0.55394393 0.8301355 -0.06341273 -55.87617681] [ 0.27599606 -0.11124236 0.95469959 -16.73892441] [ 0. 0. 0. 1. ]] SLAMing on 128.911652532 meters Centerline goodness : 0.720793 Centerline is valid? [False, False] Translation: X:-52.16, Y:-55.91, Z:-16.75 [[ 0.78560973 -0.54631945 -0.29043487 -52.15631101] [ 0.55386967 0.83018423 -0.06342347 -55.9081093 ] [ 0.27576392 -0.11103697 0.95479058 -16.74710704] [ 0. 0. 0. 1. ]] SLAMing on 128.941652532 meters Centerline goodness : 0.720956 Centerline is valid? [False, False] Translation: X:-52.17, Y:-55.92, Z:-16.76 [[ 0.78704393 -0.54762312 -0.284026 -52.17102922] [ 0.55249465 0.83054094 -0.07036628 -55.92107467] [ 0.27442942 -0.10154149 0.95623105 -16.75564548] [ 0. 0. 0. 1. ]] SLAMing on 128.971652532 meters Centerline goodness : 0.722018 Centerline is valid? [False, False] Translation: X:-52.19, Y:-55.95, Z:-16.76 [[ 0.78546467 -0.54841076 -0.2868639 -52.19320684] [ 0.55350192 0.82982716 -0.07086966 -55.94708166] [ 0.27691314 -0.1031141 0.95534632 -16.7615397 ] [ 0. 0. 0. 1. ]] SLAMing on 129.001652532 meters Centerline goodness : 0.723911 Centerline is valid? [False, False] Translation: X:-52.21, Y:-55.97, Z:-16.77 [[ 0.7835848 -0.548182 -0.29238906 -52.21070676] [ 0.55435565 0.82938743 -0.0693275 -55.96779923] [ 0.2805079 -0.10776355 0.95378317 -16.76507579] [ 0. 0. 0. 1. ]] SLAMing on 129.031652532 meters Centerline goodness : 0.722912 Centerline is valid? [False, False] Translation: X:-52.24, Y:-56.00, Z:-16.77 [[ 0.78287904 -0.54770075 -0.29516824 -52.23603128] [ 0.55414581 0.82951771 -0.06944628 -55.99668217] [ 0.28288306 -0.10919821 0.95291811 -16.77146428] [ 0. 0. 0. 1. ]] SLAMing on 129.061652532 meters Centerline goodness : 0.727825 Centerline is valid? [False, False] Translation: X:-52.26, Y:-56.03, Z:-16.78 [[ 0.78289926 -0.54627651 -0.29774273 -52.26160797] [ 0.55325342 0.83019727 -0.06843349 -56.02531622] [ 0.28456881 -0.11115065 0.95219017 -16.77797532] [ 0. 0. 0. 1. ]] SLAMing on 129.091652532 meters Centerline goodness : 0.728516 Centerline is valid? [False, False] Translation: X:-52.28, Y:-56.05, Z:-16.78 [[ 0.78110834 -0.54733867 -0.30048319 -52.28315982] [ 0.55462159 0.82925601 -0.06877033 -56.05105557] [ 0.28681815 -0.11293739 0.95130463 -16.78397764] [ 0. 0. 0. 1. ]] SLAMing on 129.121652532 meters Centerline goodness : 0.729432 Centerline is valid? [False, False] Translation: X:-52.31, Y:-56.08, Z:-16.79 [[ 0.77999976 -0.54713794 -0.30371112 -52.30595659] [ 0.55491678 0.82908504 -0.06844967 -56.07717723] [ 0.28925376 -0.11514367 0.95030216 -16.78983668] [ 0. 0. 0. 1. ]] SLAMing on 129.151652532 meters Centerline goodness : 0.733270 Centerline is valid? [False, False] Translation: X:-52.32, Y:-56.09, Z:-16.80 [[ 0.78220912 -0.54754399 -0.29722797 -52.32301701] [ 0.55246889 0.83012462 -0.07530766 -56.09197552] [ 0.28797051 -0.10530287 0.95183207 -16.79979263] [ 0. 0. 0. 1. ]] SLAMing on 129.18165253200002 meters Centerline goodness : 0.735594 Centerline is valid? [False, False] Translation: X:-52.34, Y:-56.11, Z:-16.80 [[ 0.7800413 -0.54760675 -0.30275802 -52.3405649 ] [ 0.55365088 0.82946962 -0.07382995 -56.11361828] [ 0.29155836 -0.11003183 0.95020351 -16.80252599] [ 0. 0. 0. 1. ]] SLAMing on 129.21165253200002 meters Centerline goodness : 0.734464 Centerline is valid? [False, False] Translation: X:-52.34, Y:-56.12, Z:-16.80 [[ 0.77881019 -0.55116623 -0.29945028 -52.34401095] [ 0.556252 0.8274958 -0.07638333 -56.11558715] [ 0.28989377 -0.1070817 0.95104948 -16.80417911] [ 0. 0. 0. 1. ]] SLAMing on 129.24165253200002 meters Centerline goodness : 0.737802 Centerline is valid? [False, False] Translation: X:-52.37, Y:-56.15, Z:-16.81 [[ 0.77874245 -0.5497812 -0.30216027 -52.36955205] [ 0.55545791 0.82813393 -0.07523761 -56.14561612] [ 0.2915934 -0.10924659 0.95028336 -16.81060254] [ 0. 0. 0. 1. ]] SLAMing on 129.271652532 meters Centerline goodness : 0.735999 Centerline is valid? [False, False] Translation: X:-52.37, Y:-56.15, Z:-16.81 [[ 0.77729387 -0.55352173 -0.29904505 -52.37283983] [ 0.55824696 0.82601051 -0.07789071 -56.14679765] [ 0.29012855 -0.10639702 0.95105473 -16.81186017] [ 0. 0. 0. 1. ]] SLAMing on 129.301652532 meters Centerline goodness : 0.737890 Centerline is valid? [False, False] Translation: X:-52.39, Y:-56.17, Z:-16.82 [[ 0.7752613 -0.55326303 -0.30474568 -52.3900196 ] [ 0.55918101 0.82553481 -0.076216 -56.16776284] [ 0.29374566 -0.11132068 0.94937937 -16.81505841] [ 0. 0. 0. 1. ]] SLAMing on 129.331652532 meters Centerline goodness : 0.742168 Centerline is valid? [False, False] Translation: X:-52.41, Y:-56.20, Z:-16.82 [[ 0.77421766 -0.55326772 -0.30737901 -52.41371768] [ 0.55949482 0.82531542 -0.0762889 -56.19503108] [ 0.29589282 -0.11291275 0.94852419 -16.82218055] [ 0. 0. 0. 1. ]] SLAMing on 129.361652532 meters Centerline goodness : 0.741312 Centerline is valid? [False, False] Translation: X:-52.42, Y:-56.20, Z:-16.83 [[ 0.77359693 -0.55637291 -0.30331005 -52.41922782] [ 0.5615133 0.82370642 -0.07880706 -56.19740573] [ 0.29368455 -0.10934773 0.94962754 -16.82542262] [ 0. 0. 0. 1. ]] SLAMing on 129.391652532 meters Centerline goodness : 0.743972 Centerline is valid? [False, False] Translation: X:-52.42, Y:-56.20, Z:-16.83 [[ 0.77268929 -0.55917385 -0.30045942 -52.42468037] [ 0.56349572 0.82214562 -0.08092682 -56.19835765] [ 0.29227356 -0.10677631 0.95035519 -16.82609722] [ 0. 0. 0. 1. ]] SLAMing on 129.421652532 meters Centerline goodness : 0.744899 Centerline is valid? [False, False] Translation: X:-52.44, Y:-56.22, Z:-16.83 [[ 0.7757121 -0.55783202 -0.29511721 -52.44487777] [ 0.5596185 0.82417982 -0.08691818 -56.21505148] [ 0.29171539 -0.09772957 0.95149937 -16.83412974] [ 0. 0. 0. 1. ]] SLAMing on 129.451652532 meters Centerline goodness : 0.745700 Centerline is valid? [False, False] Translation: X:-52.45, Y:-56.22, Z:-16.84 [[ 0.77562211 -0.56076711 -0.28974228 -52.45348118] [ 0.56113627 0.82278425 -0.09028935 -56.22115226] [ 0.28902668 -0.09255448 0.95283642 -16.83884463] [ 0. 0. 0. 1. ]] SLAMing on 129.481652532 meters Centerline goodness : 0.747120 Centerline is valid? [False, False] Translation: X:-52.47, Y:-56.25, Z:-16.84 [[ 0.77499033 -0.55913086 -0.29455504 -52.47447768] [ 0.56067449 0.82337085 -0.0877756 -56.24552512] [ 0.29160609 -0.09712425 0.95159486 -16.84284015] [ 0. 0. 0. 1. ]] SLAMing on 129.511652532 meters Centerline goodness : 0.746142 Centerline is valid? [False, False] Translation: X:-52.50, Y:-56.27, Z:-16.85 [[ 0.77541986 -0.55673718 -0.29793919 -52.4997517 ] [ 0.55924401 0.82459598 -0.08536752 -56.27321417] [ 0.29320673 -0.10042503 0.95076003 -16.84883751] [ 0. 0. 0. 1. ]] SLAMing on 129.541652532 meters Centerline goodness : 0.748893 Centerline is valid? [False, False] Translation: X:-52.52, Y:-56.29, Z:-16.85 [[ 0.7739255 -0.55596142 -0.30322636 -52.51848493] [ 0.55957751 0.82455155 -0.08359282 -56.29442435] [ 0.29650015 -0.10498404 0.94924497 -16.85313297] [ 0. 0. 0. 1. ]] SLAMing on 129.571652532 meters Centerline goodness : 0.749414 Centerline is valid? [False, False] Translation: X:-52.54, Y:-56.32, Z:-16.86 [[ 0.7737124 -0.55379543 -0.30770074 -52.54051197] [ 0.55859487 0.82546813 -0.08108106 -56.31808371] [ 0.29889947 -0.10914664 0.94802221 -16.85876179] [ 0. 0. 0. 1. ]] SLAMing on 129.601652532 meters Centerline goodness : 0.749180 Centerline is valid? [False, False] Translation: X:-52.56, Y:-56.34, Z:-16.87 [[ 0.7776206 -0.5501206 -0.30442328 -52.56398378] [ 0.55231316 0.82904925 -0.08733558 -56.33655648] [ 0.30042699 -0.10022304 0.94852462 -16.8662239 ] [ 0. 0. 0. 1. ]] SLAMing on 129.631652532 meters Centerline goodness : 0.750262 Centerline is valid? [False, False] Translation: X:-52.59, Y:-56.36, Z:-16.87 [[ 0.7788621 -0.54602392 -0.30859634 -52.59029008] [ 0.54970951 0.83119312 -0.08329141 -56.36380196] [ 0.30198226 -0.10476582 0.94753936 -16.87197109] [ 0. 0. 0. 1. ]] SLAMing on 129.661652532 meters Centerline goodness : 0.749191 Centerline is valid? [False, False] Translation: X:-52.60, Y:-56.37, Z:-16.87 [[ 0.77864003 -0.54840155 -0.30491876 -52.59702306] [ 0.5510876 0.83004576 -0.08559497 -56.36560743] [ 0.30003694 -0.10138928 0.94852414 -16.87465837] [ 0. 0. 0. 1. ]] SLAMing on 129.691652532 meters Centerline goodness : 0.749211 Centerline is valid? [False, False] Translation: X:-52.60, Y:-56.37, Z:-16.88 [[ 0.77761655 -0.55153353 -0.30186629 -52.60205745] [ 0.55332314 0.82830502 -0.08800174 -56.3666394 ] [ 0.29857327 -0.098598 0.94927996 -16.87560164] [ 0. 0. 0. 1. ]] SLAMing on 129.721652532 meters Centerline goodness : 0.748249 Centerline is valid? [False, False] Translation: X:-52.62, Y:-56.39, Z:-16.88 [[ 0.77701126 -0.54927566 -0.30748944 -52.62215873] [ 0.55253394 0.82915407 -0.08491042 -56.38893831] [ 0.30159534 -0.103922 0.94775549 -16.87955706] [ 0. 0. 0. 1. ]] SLAMing on 129.751652532 meters Centerline goodness : 0.749575 Centerline is valid? [False, False] Translation: X:-52.63, Y:-56.39, Z:-16.88 [[ 0.77774836 -0.54842619 -0.30714199 -52.62505867] [ 0.55183525 0.82969882 -0.08412917 -56.3905963 ] [ 0.30097398 -0.10406046 0.94793781 -16.87939882] [ 0. 0. 0. 1. ]] SLAMing on 129.781652532 meters Centerline goodness : 0.748791 Centerline is valid? [False, False] Translation: X:-52.65, Y:-56.42, Z:-16.89 [[ 0.77830375 -0.54606328 -0.30993251 -52.65055152] [ 0.55080768 0.83074318 -0.08047773 -56.41658416] [ 0.30142025 -0.10807708 0.94734639 -16.8853226 ] [ 0. 0. 0. 1. ]] SLAMing on 129.811652532 meters Centerline goodness : 0.750598 Centerline is valid? [False, False] Translation: X:-52.66, Y:-56.42, Z:-16.89 [[ 0.77841322 -0.54752665 -0.30706259 -52.65732883] [ 0.55156339 0.83009964 -0.08192934 -56.41897097] [ 0.29975104 -0.1055896 0.94815619 -16.88691401] [ 0. 0. 0. 1. ]] SLAMing on 129.841652532 meters Centerline goodness : 0.749506 Centerline is valid? [False, False] Translation: X:-52.66, Y:-56.42, Z:-16.89 [[ 0.77901663 -0.54699404 -0.306481 -52.66022218] [ 0.55107303 0.8304709 -0.08146534 -56.41932041] [ 0.29908461 -0.10543056 0.94838431 -16.88752281] [ 0. 0. 0. 1. ]] SLAMing on 129.871652532 meters Centerline goodness : 0.748381 Centerline is valid? [False, False] Translation: X:-52.68, Y:-56.44, Z:-16.89 [[ 0.77897497 -0.54478999 -0.3104865 -52.68335215] [ 0.55003659 0.83141064 -0.07884226 -56.44357028] [ 0.30109425 -0.10936279 0.9473025 -16.89374659] [ 0. 0. 0. 1. ]] SLAMing on 129.901652532 meters Centerline goodness : 0.750416 Centerline is valid? [False, False] Translation: X:-52.70, Y:-56.46, Z:-16.90 [[ 0.77722706 -0.54419449 -0.3158646 -52.70197979] [ 0.5507616 0.83113019 -0.07670899 -56.46493027] [ 0.30426922 -0.11434579 0.94569831 -16.89698708] [ 0. 0. 0. 1. ]] SLAMing on 129.93165253200002 meters Centerline goodness : 0.747621 Centerline is valid? [False, False] Translation: X:-52.71, Y:-56.47, Z:-16.90 [[ 0.77635734 -0.54702626 -0.31309991 -52.70706695] [ 0.55276144 0.82960467 -0.07880915 -56.46660108] [ 0.30285982 -0.11188549 0.9464447 -16.89738902] [ 0. 0. 0. 1. ]] SLAMing on 129.96165253200002 meters Centerline goodness : 0.749026 Centerline is valid? [False, False] Translation: X:-52.73, Y:-56.49, Z:-16.90 [[ 0.77685817 -0.54497199 -0.31543132 -52.73075057] [ 0.55225453 0.83034281 -0.07446987 -56.49012716] [ 0.30250012 -0.11634585 0.94602184 -16.90410363] [ 0. 0. 0. 1. ]] SLAMing on 129.99165253200002 meters Centerline goodness : 0.748698 Centerline is valid? [False, False] Translation: X:-52.76, Y:-56.51, Z:-16.91 [[ 0.77625272 -0.54510209 -0.31669452 -52.75637155] [ 0.55343328 0.82979793 -0.07174264 -56.51429517] [ 0.30189952 -0.11957887 0.94581054 -16.90999175] [ 0. 0. 0. 1. ]] SLAMing on 130.021652532 meters Centerline goodness : 0.748851 Centerline is valid? [False, False] Translation: X:-52.78, Y:-56.54, Z:-16.92 [[ 0.77617912 -0.54366032 -0.31934217 -52.77941914] [ 0.55313833 0.83022878 -0.06897939 -56.53667331] [ 0.30262842 -0.12310003 0.94512561 -16.91754247] [ 0. 0. 0. 1. ]] SLAMing on 130.051652532 meters Centerline goodness : 0.747039 Centerline is valid? [False, False] Translation: X:-52.80, Y:-56.56, Z:-16.92 [[ 0.78040232 -0.53752661 -0.31943288 -52.80198879] [ 0.54481616 0.83524199 -0.07447259 -56.55512297] [ 0.30683475 -0.11591362 0.94467797 -16.92339273] [ 0. 0. 0. 1. ]] SLAMing on 130.081652532 meters Centerline goodness : 0.746968 Centerline is valid? [False, False] Translation: X:-52.81, Y:-56.56, Z:-16.92 [[ 0.78121646 -0.53660981 -0.31898395 -52.80538641] [ 0.54401081 0.83583089 -0.07374934 -56.55600726] [ 0.30619126 -0.11591652 0.94488638 -16.92364336] [ 0. 0. 0. 1. ]] SLAMing on 130.111652532 meters Centerline goodness : 0.744444 Centerline is valid? [False, False] Translation: X:-52.81, Y:-56.56, Z:-16.92 [[ 0.78219068 -0.53553355 -0.3184047 -52.80890078] [ 0.54306147 0.83652329 -0.07289047 -56.55738922] [ 0.30538824 -0.11589907 0.94514836 -16.92420678] [ 0. 0. 0. 1. ]] SLAMing on 130.141652532 meters Centerline goodness : 0.744673 Centerline is valid? [False, False] Translation: X:-52.81, Y:-56.56, Z:-16.92 [[ 0.78261934 -0.53502639 -0.31820391 -52.81079756] [ 0.54266585 0.83682651 -0.07235448 -56.55876344] [ 0.30499303 -0.11605238 0.94525716 -16.92388781] [ 0. 0. 0. 1. ]] SLAMing on 130.171652532 meters Centerline goodness : 0.744927 Centerline is valid? [False, False] Translation: X:-52.81, Y:-56.56, Z:-16.92 [[ 0.78099961 -0.53890335 -0.31563077 -52.81328518] [ 0.54558269 0.83468257 -0.0751301 -56.56018766] [ 0.30393937 -0.1135261 0.94590311 -16.92387898] [ 0. 0. 0. 1. ]] SLAMing on 130.201652532 meters Centerline goodness : 0.744740 Centerline is valid? [False, False] Translation: X:-52.82, Y:-56.56, Z:-16.92 [[ 0.78184405 -0.53785965 -0.31532027 -52.81660014] [ 0.54473557 0.83532144 -0.07417041 -56.56208944] [ 0.30328705 -0.11377647 0.94608238 -16.92352208] [ 0. 0. 0. 1. ]] SLAMing on 130.231652532 meters Centerline goodness : 0.744394 Centerline is valid? [False, False] Translation: X:-52.82, Y:-56.56, Z:-16.92 [[ 0.78285453 -0.53673362 -0.31473132 -52.82057944] [ 0.54372604 0.83605302 -0.0733304 -56.56301779] [ 0.30249096 -0.11372058 0.94634394 -16.92414836] [ 0. 0. 0. 1. ]] SLAMing on 130.261652532 meters Centerline goodness : 0.743307 Centerline is valid? [False, False] Translation: X:-52.82, Y:-56.56, Z:-16.92 [[ 0.78341411 -0.53614073 -0.31434925 -52.82280393] [ 0.5432221 0.83642928 -0.07277238 -56.56365412] [ 0.30194715 -0.11375054 0.94651399 -16.92460033] [ 0. 0. 0. 1. ]] SLAMing on 130.291652532 meters Centerline goodness : 0.743818 Centerline is valid? [False, False] Translation: X:-52.82, Y:-56.56, Z:-16.92 [[ 0.78153767 -0.54037907 -0.31175202 -52.8244266 ] [ 0.54645496 0.8340517 -0.07579403 -56.56454252] [ 0.30097481 -0.11112255 0.94713565 -16.92488098] [ 0. 0. 0. 1. ]] SLAMing on 130.321652532 meters Centerline goodness : 0.742607 Centerline is valid? [False, False] Translation: X:-52.83, Y:-56.57, Z:-16.93 [[ 0.78012471 -0.54400836 -0.30896656 -52.82801482] [ 0.54914247 0.8320391 -0.07844414 -56.56539651] [ 0.29974653 -0.10847045 0.94783236 -16.92539621] [ 0. 0. 0. 1. ]] SLAMing on 130.351652532 meters Centerline goodness : 0.742109 Centerline is valid? [False, False] Translation: X:-52.85, Y:-56.59, Z:-16.93 [[ 0.77902582 -0.54287209 -0.31370155 -52.84824419] [ 0.54924876 0.83218179 -0.07615296 -56.5892095 ] [ 0.30239804 -0.11297507 0.94646292 -16.92960196] [ 0. 0. 0. 1. ]] SLAMing on 130.381652532 meters Centerline goodness : 0.740535 Centerline is valid? [False, False] Translation: X:-52.85, Y:-56.59, Z:-16.93 [[ 0.77911192 -0.54262716 -0.31391142 -52.84821843] [ 0.54910771 0.83230167 -0.07585941 -56.59042988] [ 0.30243237 -0.11326821 0.94641691 -16.92892307] [ 0. 0. 0. 1. ]] SLAMing on 130.411652532 meters Centerline goodness : 0.742848 Centerline is valid? [False, False] Translation: X:-52.88, Y:-56.62, Z:-16.94 [[ 0.7821664 -0.53697456 -0.31602855 -52.87760762] [ 0.54475678 0.83554575 -0.07143774 -56.61806839] [ 0.30241656 -0.1162825 0.94605634 -16.93954055] [ 0. 0. 0. 1. ]] SLAMing on 130.441652532 meters Centerline goodness : 0.741879 Centerline is valid? [False, False] Translation: X:-52.88, Y:-56.62, Z:-16.94 [[ 0.78320392 -0.53575013 -0.31553671 -52.88234651] [ 0.54371918 0.83631025 -0.07038905 -56.6190439 ] [ 0.30159753 -0.11643438 0.94629909 -16.939618 ] [ 0. 0. 0. 1. ]] SLAMing on 130.471652532 meters Centerline goodness : 0.740861 Centerline is valid? [False, False] Translation: X:-52.88, Y:-56.62, Z:-16.94 [[ 0.78355036 -0.53527999 -0.31547453 -52.8842626 ] [ 0.54336275 0.83658234 -0.06990646 -56.62025507] [ 0.30133994 -0.11664188 0.94635559 -16.93884712] [ 0. 0. 0. 1. ]] SLAMing on 130.501652532 meters Centerline goodness : 0.741728 Centerline is valid? [False, False] Translation: X:-52.89, Y:-56.62, Z:-16.94 [[ 0.78376248 -0.53527314 -0.31495878 -52.88708089] [ 0.54331905 0.83661896 -0.06980778 -56.62132827] [ 0.30086672 -0.11641039 0.94653465 -16.93831907] [ 0. 0. 0. 1. ]] SLAMing on 130.531652532 meters Centerline goodness : 0.741681 Centerline is valid? [False, False] Translation: X:-52.89, Y:-56.63, Z:-16.94 [[ 0.78398558 -0.53692626 -0.31157151 -52.89434792] [ 0.54404361 0.8359874 -0.07170502 -56.62506888] [ 0.29897017 -0.11329279 0.94751337 -16.94028592] [ 0. 0. 0. 1. ]] SLAMing on 130.561652532 meters Centerline goodness : 0.742358 Centerline is valid? [False, False] Translation: X:-52.90, Y:-56.63, Z:-16.94 [[ 0.78458966 -0.53623451 -0.31124205 -52.8969145 ] [ 0.54344951 0.83642396 -0.07111677 -56.62624825] [ 0.29846557 -0.11334686 0.94766597 -16.9401769 ] [ 0. 0. 0. 1. ]] SLAMing on 130.591652532 meters Centerline goodness : 0.742358 Centerline is valid? [False, False] Translation: X:-52.90, Y:-56.63, Z:-16.94 [[ 0.78328055 -0.53934592 -0.30915621 -52.90037591] [ 0.54578857 0.83470303 -0.0733872 -56.62599599] [ 0.29763472 -0.11125116 0.94817549 -16.9399662 ] [ 0. 0. 0. 1. ]] SLAMing on 130.621652532 meters Centerline goodness : 0.742848 Centerline is valid? [False, False] Translation: X:-52.91, Y:-56.63, Z:-16.94 [[ 0.78232767 -0.54219638 -0.30657219 -52.90549563] [ 0.54785992 0.83316076 -0.07544968 -56.62794661] [ 0.29633246 -0.10893224 0.94885238 -16.93962253] [ 0. 0. 0. 1. ]] SLAMing on 130.651652532 meters Centerline goodness : 0.744830 Centerline is valid? [False, False] Translation: X:-52.93, Y:-56.65, Z:-16.94 [[ 0.78127912 -0.54105841 -0.31122135 -52.92517062] [ 0.54803453 0.83327454 -0.07288142 -56.6495251 ] [ 0.29876593 -0.11361931 0.94753869 -16.94443579] [ 0. 0. 0. 1. ]] SLAMing on 130.68165253200002 meters Centerline goodness : 0.747196 Centerline is valid? [False, False] Translation: X:-52.95, Y:-56.67, Z:-16.95 [[ 0.78449623 -0.53451058 -0.31442663 -52.95317634] [ 0.54300988 0.83696889 -0.06799526 -56.67455483] [ 0.29950949 -0.11739474 0.94684346 -16.95499083] [ 0. 0. 0. 1. ]] SLAMing on 130.71165253200002 meters Centerline goodness : 0.748356 Centerline is valid? [False, False] Translation: X:-52.97, Y:-56.70, Z:-16.96 [[ 0.78399008 -0.53301036 -0.318213 -52.97445514] [ 0.54256231 0.83742151 -0.06596481 -56.69707112] [ 0.30163834 -0.12093462 0.94572149 -16.9619327 ] [ 0. 0. 0. 1. ]] SLAMing on 130.74165253200002 meters Centerline goodness : 0.747212 Centerline is valid? [False, False] Translation: X:-53.00, Y:-56.72, Z:-16.97 [[ 0.78412793 -0.53234408 -0.31898772 -53.00079306] [ 0.54237977 0.83764307 -0.06463951 -56.72354442] [ 0.30160831 -0.12232684 0.94555199 -16.97108009] [ 0. 0. 0. 1. ]] SLAMing on 130.771652532 meters Centerline goodness : 0.749293 Centerline is valid? [False, False] Translation: X:-53.02, Y:-56.75, Z:-16.98 [[ 0.78375009 -0.53132191 -0.32160974 -53.02322311] [ 0.54230247 0.83784705 -0.06261279 -56.74752915] [ 0.30272731 -0.12533697 0.94479988 -16.97839427] [ 0. 0. 0. 1. ]] SLAMing on 130.801652532 meters Centerline goodness : 0.750122 Centerline is valid? [False, False] Translation: X:-53.05, Y:-56.78, Z:-16.99 [[ 0.7846221 -0.53081694 -0.32031475 -53.05317668] [ 0.54181351 0.83821769 -0.06188071 -56.77844637] [ 0.30134082 -0.12499789 0.94528791 -16.98892533] [ 0. 0. 0. 1. ]] SLAMing on 130.831652532 meters Centerline goodness : 0.752892 Centerline is valid? [False, False] Translation: X:-53.08, Y:-56.80, Z:-17.00 [[ 0.78403345 -0.53101975 -0.32141809 -53.07772169] [ 0.54232549 0.8379185 -0.06144628 -56.80373975] [ 0.30195135 -0.12613729 0.94494168 -16.99801935] [ 0. 0. 0. 1. ]] SLAMing on 130.861652532 meters Centerline goodness : 0.751140 Centerline is valid? [False, False] Translation: X:-53.11, Y:-56.83, Z:-17.01 [[ 0.78665437 -0.52679773 -0.32196127 -53.10742374] [ 0.53879565 0.84039479 -0.05861609 -56.83115152] [ 0.3014534 -0.12736073 0.94493656 -17.01040121] [ 0. 0. 0. 1. ]] SLAMing on 130.891652532 meters Centerline goodness : 0.748583 Centerline is valid? [False, False] Translation: X:-53.11, Y:-56.83, Z:-17.01 [[ 0.78653355 -0.52948086 -0.31782857 -53.11389932] [ 0.54030796 0.83925123 -0.06103016 -56.83450903] [ 0.29905232 -0.12372303 0.94618197 -17.01383505] [ 0. 0. 0. 1. ]] SLAMing on 130.921652532 meters Centerline goodness : 0.748886 Centerline is valid? [False, False] Translation: X:-53.14, Y:-56.86, Z:-17.02 [[ 0.78457421 -0.53195706 -0.3185357 -53.13673485] [ 0.54250852 0.83770423 -0.0627386 -56.85960077] [ 0.30021294 -0.12358525 0.94583237 -17.02250333] [ 0. 0. 0. 1. ]] SLAMing on 130.951652532 meters Centerline goodness : 0.745211 Centerline is valid? [False, False] Translation: X:-53.16, Y:-56.88, Z:-17.03 [[ 0.78343447 -0.53173919 -0.32168907 -53.15750909] [ 0.54301545 0.83744445 -0.06181436 -56.88244515] [ 0.30226584 -0.12625464 0.94482545 -17.02970502] [ 0. 0. 0. 1. ]] SLAMing on 130.981652532 meters Centerline goodness : 0.747558 Centerline is valid? [False, False] Translation: X:-53.19, Y:-56.91, Z:-17.04 [[ 0.78455763 -0.5301971 -0.32149708 -53.18572911] [ 0.5418774 0.83830369 -0.06013161 -56.90977778] [ 0.30139379 -0.12703529 0.94499938 -17.04070379] [ 0. 0. 0. 1. ]] SLAMing on 131.011652532 meters Centerline goodness : 0.746450 Centerline is valid? [False, False] Translation: X:-53.19, Y:-56.91, Z:-17.04 [[ 0.7853678 -0.52951388 -0.32064384 -53.18977707] [ 0.54120757 0.83877716 -0.05955876 -56.90974346] [ 0.30048592 -0.12675934 0.94532549 -17.04186999] [ 0. 0. 0. 1. ]] SLAMing on 131.041652532 meters Centerline goodness : 0.747214 Centerline is valid? [False, False] Translation: X:-53.22, Y:-56.94, Z:-17.05 [[ 0.7872544 -0.52798784 -0.31852685 -53.22260046] [ 0.53968344 0.83984877 -0.05827382 -56.94114551] [ 0.29828225 -0.12602735 0.94612093 -17.05367827] [ 0. 0. 0. 1. ]] SLAMing on 131.071652532 meters Centerline goodness : 0.746526 Centerline is valid? [False, False] Translation: X:-53.23, Y:-56.95, Z:-17.06 [[ 0.78708712 -0.53182067 -0.31250701 -53.23282174] [ 0.54132715 0.83841758 -0.06341033 -56.94778137] [ 0.2957343 -0.11925908 0.94779665 -17.05902172] [ 0. 0. 0. 1. ]] SLAMing on 131.101652532 meters Centerline goodness : 0.747678 Centerline is valid? [False, False] Translation: X:-53.26, Y:-56.97, Z:-17.07 [[ 0.79059264 -0.52810587 -0.30994754 -53.25770785] [ 0.53475803 0.84204274 -0.07069568 -56.96921653] [ 0.29832388 -0.10985545 0.94812164 -17.0658683 ] [ 0. 0. 0. 1. ]] SLAMing on 131.131652532 meters Centerline goodness : 0.747898 Centerline is valid? [False, False] Translation: X:-53.29, Y:-57.00, Z:-17.08 [[ 0.79334806 -0.52340836 -0.31087384 -53.2869236 ] [ 0.53105134 0.84469135 -0.06694023 -56.9980445 ] [ 0.29762952 -0.11198307 0.94809096 -17.07638111] [ 0. 0. 0. 1. ]] SLAMing on 131.161652532 meters Centerline goodness : 0.748095 Centerline is valid? [False, False] Translation: X:-53.32, Y:-57.03, Z:-17.09 [[ 0.79460964 -0.52157765 -0.31072862 -53.31559734] [ 0.5297643 0.84566818 -0.06476971 -57.02631662] [ 0.29655574 -0.1131463 0.94828931 -17.08619594] [ 0. 0. 0. 1. ]] SLAMing on 131.191652532 meters Centerline goodness : 0.751367 Centerline is valid? [False, False] Translation: X:-53.34, Y:-57.05, Z:-17.10 [[ 0.79464856 -0.52166318 -0.31048542 -53.34218383] [ 0.53008045 0.84553246 -0.06394981 -57.0527033 ] [ 0.29588576 -0.11376463 0.9484246 -17.09628698] [ 0. 0. 0. 1. ]] SLAMing on 131.221652532 meters Centerline goodness : 0.752290 Centerline is valid? [False, False] Translation: X:-53.37, Y:-57.08, Z:-17.11 [[ 0.79683712 -0.51914972 -0.30908604 -53.37434055] [ 0.52759323 0.84717417 -0.0627798 -57.08362008] [ 0.29444183 -0.11304643 0.9489597 -17.10878604] [ 0. 0. 0. 1. ]] SLAMing on 131.251652532 meters Centerline goodness : 0.751877 Centerline is valid? [False, False] Translation: X:-53.40, Y:-57.11, Z:-17.12 [[ 0.79664154 -0.51903137 -0.30978814 -53.39983286] [ 0.52759122 0.8471837 -0.06266808 -57.11056551] [ 0.29497417 -0.11351751 0.94873812 -17.11829064] [ 0. 0. 0. 1. ]] SLAMing on 131.281652532 meters Centerline goodness : 0.750097 Centerline is valid? [False, False] Translation: X:-53.41, Y:-57.12, Z:-17.13 [[ 0.79755649 -0.52107655 -0.30394551 -53.41017789] [ 0.52721659 0.84695875 -0.06858242 -57.11595048] [ 0.293166 -0.10554676 0.95021765 -17.12763781] [ 0. 0. 0. 1. ]] SLAMing on 131.311652532 meters Centerline goodness : 0.752598 Centerline is valid? [False, False] Translation: X:-53.44, Y:-57.14, Z:-17.14 [[ 0.79782045 -0.52014981 -0.30483882 -53.43636667] [ 0.52651104 0.84744267 -0.06802237 -57.14220775] [ 0.29371525 -0.10623136 0.94997171 -17.13783048] [ 0. 0. 0. 1. ]] SLAMing on 131.341652532 meters Centerline goodness : 0.753241 Centerline is valid? [False, False] Translation: X:-53.46, Y:-57.17, Z:-17.15 [[ 0.79756067 -0.52051865 -0.30488902 -53.46364224] [ 0.52708772 0.84713041 -0.06744336 -57.17035293] [ 0.29338628 -0.10691309 0.94999688 -17.14651338] [ 0. 0. 0. 1. ]] SLAMing on 131.371652532 meters Centerline goodness : 0.755325 Centerline is valid? [False, False] Translation: X:-53.49, Y:-57.20, Z:-17.15 [[ 0.79719015 -0.52103187 -0.3049814 -53.4913931 ] [ 0.52771231 0.84675908 -0.06722184 -57.19917878] [ 0.29327049 -0.10735385 0.94998293 -17.15470243] [ 0. 0. 0. 1. ]] SLAMing on 131.401652532 meters Centerline goodness : 0.755863 Centerline is valid? [False, False] Translation: X:-53.52, Y:-57.23, Z:-17.16 [[ 0.79814523 -0.5193383 -0.30537177 -53.51918501] [ 0.52649202 0.84765321 -0.06549945 -57.22670176] [ 0.29286573 -0.10849773 0.94997785 -17.1644611 ] [ 0. 0. 0. 1. ]] SLAMing on 131.43165253200002 meters Centerline goodness : 0.754940 Centerline is valid? [False, False] Translation: X:-53.55, Y:-57.26, Z:-17.18 [[ 0.80005461 -0.51682459 -0.30463906 -53.54951865] [ 0.5243684 0.84912515 -0.06343704 -57.25556817] [ 0.29146251 -0.10899001 0.95035298 -17.17591288] [ 0. 0. 0. 1. ]] SLAMing on 131.46165253200002 meters Centerline goodness : 0.755030 Centerline is valid? [False, False] Translation: X:-53.56, Y:-57.26, Z:-17.18 [[ 0.80170703 -0.51728288 -0.2994733 -53.56017224] [ 0.52348396 0.8494816 -0.06592079 -57.26245116] [ 0.28849676 -0.10392031 0.95182466 -17.18271237] [ 0. 0. 0. 1. ]] SLAMing on 131.49165253200002 meters Centerline goodness : 0.757617 Centerline is valid? [False, False] Translation: X:-53.59, Y:-57.29, Z:-17.19 [[ 0.79946152 -0.52127842 -0.29854662 -53.58624902] [ 0.52682471 0.84720796 -0.06851576 -57.29262006] [ 0.28864686 -0.10250603 0.95193251 -17.19043644] [ 0. 0. 0. 1. ]] SLAMing on 131.521652532 meters Centerline goodness : 0.757815 Centerline is valid? [False, False] Translation: X:-53.61, Y:-57.32, Z:-17.20 [[ 0.79989274 -0.52000243 -0.29961488 -53.61266524] [ 0.52578068 0.84790556 -0.06790318 -57.31958193] [ 0.28935494 -0.10321645 0.95164073 -17.19993767] [ 0. 0. 0. 1. ]] SLAMing on 131.551652532 meters Centerline goodness : 0.758394 Centerline is valid? [False, False] Translation: X:-53.63, Y:-57.33, Z:-17.21 [[ 0.80218463 -0.51996 -0.29349859 -53.62965417] [ 0.52298179 0.84905714 -0.0747799 -57.33086896] [ 0.28807963 -0.09350713 0.95303019 -17.20992032] [ 0. 0. 0. 1. ]] SLAMing on 131.581652532 meters Centerline goodness : 0.758452 Centerline is valid? [False, False] Translation: X:-53.66, Y:-57.36, Z:-17.22 [[ 0.80368184 -0.51759525 -0.29358245 -53.65901685] [ 0.52122135 0.85034924 -0.07234967 -57.36011773] [ 0.28709546 -0.09487532 0.95319194 -17.21989149] [ 0. 0. 0. 1. ]] SLAMing on 131.611652532 meters Centerline goodness : 0.759825 Centerline is valid? [False, False] Translation: X:-53.68, Y:-57.38, Z:-17.22 [[ 0.80028219 -0.52068328 -0.29738414 -53.67718733] [ 0.52471037 0.84814768 -0.07296943 -57.38187619] [ 0.29021963 -0.09764441 0.95196541 -17.22311691] [ 0. 0. 0. 1. ]] SLAMing on 131.641652532 meters Centerline goodness : 0.762188 Centerline is valid? [False, False] Translation: X:-53.70, Y:-57.41, Z:-17.23 [[ 0.80017982 -0.52038497 -0.29818073 -53.70417694] [ 0.52457134 0.84825907 -0.07267363 -57.41028428] [ 0.29075278 -0.09826509 0.95173883 -17.23183484] [ 0. 0. 0. 1. ]] SLAMing on 131.671652532 meters Centerline goodness : 0.759985 Centerline is valid? [False, False] Translation: X:-53.71, Y:-57.41, Z:-17.24 [[ 0.80163849 -0.52022504 -0.29451934 -53.71299016] [ 0.52350545 0.84877396 -0.0743291 -57.41393162] [ 0.2886482 -0.09459741 0.95275051 -17.23681145] [ 0. 0. 0. 1. ]] SLAMing on 131.701652532 meters Centerline goodness : 0.758211 Centerline is valid? [False, False] Translation: X:-53.74, Y:-57.44, Z:-17.25 [[ 0.80364569 -0.51560803 -0.29715645 -53.7390704 ] [ 0.51991276 0.85126493 -0.07098411 -57.43912147] [ 0.28955884 -0.09744936 0.95218659 -17.24695449] [ 0. 0. 0. 1. ]] SLAMing on 131.731652532 meters Centerline goodness : 0.755481 Centerline is valid? [False, False] Translation: X:-53.76, Y:-57.47, Z:-17.25 [[ 0.80153371 -0.51821739 -0.29831938 -53.76232152] [ 0.52275307 0.84950953 -0.07115329 -57.46508364] [ 0.29029803 -0.09891561 0.95181025 -17.25259032] [ 0. 0. 0. 1. ]] SLAMing on 131.761652532 meters Centerline goodness : 0.754739 Centerline is valid? [False, False] Translation: X:-53.79, Y:-57.49, Z:-17.26 [[ 0.80178265 -0.51768179 -0.29858021 -53.78906869] [ 0.52264549 0.84969303 -0.06973845 -57.4923486 ] [ 0.28980385 -0.10013652 0.95183318 -17.26127963] [ 0. 0. 0. 1. ]] SLAMing on 131.791652532 meters Centerline goodness : 0.754772 Centerline is valid? [False, False] Translation: X:-53.79, Y:-57.49, Z:-17.26 [[ 0.80265298 -0.51679194 -0.29778228 -53.79228445] [ 0.52184969 0.85024533 -0.06896219 -57.49405788] [ 0.28882709 -0.10004488 0.95213966 -17.2620245 ] [ 0. 0. 0. 1. ]] SLAMing on 131.821652532 meters Centerline goodness : 0.754751 Centerline is valid? [False, False] Translation: X:-53.80, Y:-57.50, Z:-17.27 [[ 0.80519838 -0.51469714 -0.29452067 -53.80143751] [ 0.51932001 0.85180508 -0.06881015 -57.49978183] [ 0.28629059 -0.09754466 0.95316459 -17.26730427] [ 0. 0. 0. 1. ]] SLAMing on 131.851652532 meters Centerline goodness : 0.751097 Centerline is valid? [False, False] Translation: X:-53.83, Y:-57.53, Z:-17.27 [[ 0.80515891 -0.51516732 -0.29380565 -53.82891431] [ 0.52046699 0.85129788 -0.06637794 -57.52728446] [ 0.28431187 -0.09947135 0.95355766 -17.27469571] [ 0. 0. 0. 1. ]] SLAMing on 131.881652532 meters Centerline goodness : 0.751991 Centerline is valid? [False, False] Translation: X:-53.83, Y:-57.53, Z:-17.27 [[ 0.80542775 -0.51482759 -0.29366425 -53.8302721 ] [ 0.52020939 0.85148588 -0.06598469 -57.52800836] [ 0.2840217 -0.099621 0.95362851 -17.27450499] [ 0. 0. 0. 1. ]] SLAMing on 131.911652532 meters Centerline goodness : 0.751037 Centerline is valid? [False, False] Translation: X:-53.86, Y:-57.55, Z:-17.28 [[ 0.80486004 -0.51589919 -0.29333997 -53.85614231] [ 0.52152682 0.85073683 -0.06524288 -57.55428716] [ 0.28321387 -0.10047328 0.95377934 -17.28284671] [ 0. 0. 0. 1. ]] SLAMing on 131.941652532 meters Centerline goodness : 0.748309 Centerline is valid? [False, False] Translation: X:-53.87, Y:-57.57, Z:-17.29 [[ 0.80746568 -0.5153087 -0.28715174 -53.87446505] [ 0.51831622 0.85217207 -0.07177086 -57.56800602] [ 0.28168685 -0.0908829 0.95519256 -17.29235059] [ 0. 0. 0. 1. ]] SLAMing on 131.971652532 meters Centerline goodness : 0.746849 Centerline is valid? [False, False] Translation: X:-53.89, Y:-57.59, Z:-17.30 [[ 0.8059314 -0.51479026 -0.29234495 -53.89285888] [ 0.51892285 0.85197582 -0.06968698 -57.5888834 ] [ 0.28494501 -0.09554155 0.95377049 -17.2961784 ] [ 0. 0. 0. 1. ]] SLAMing on 132.001652532 meters Centerline goodness : 0.745058 Centerline is valid? [False, False] Translation: X:-53.92, Y:-57.62, Z:-17.30 [[ 0.80575485 -0.51437514 -0.29355976 -53.91821813] [ 0.51906767 0.85201041 -0.06816903 -57.61501334] [ 0.28518042 -0.09744986 0.95350703 -17.30382903] [ 0. 0. 0. 1. ]] SLAMing on 132.031652532 meters Centerline goodness : 0.743352 Centerline is valid? [False, False] Translation: X:-53.95, Y:-57.64, Z:-17.31 [[ 0.80416494 -0.51745402 -0.29250655 -53.94514104] [ 0.52164714 0.85028051 -0.07005219 -57.64473229] [ 0.28496141 -0.09625169 0.95369419 -17.31236041] [ 0. 0. 0. 1. ]] SLAMing on 132.061652532 meters Centerline goodness : 0.744178 Centerline is valid? [False, False] Translation: X:-53.97, Y:-57.67, Z:-17.32 [[ 0.80430317 -0.51662315 -0.29359312 -53.97086028] [ 0.52124433 0.85062553 -0.06885166 -57.67082324] [ 0.28530817 -0.09765614 0.95344771 -17.32117533] [ 0. 0. 0. 1. ]] SLAMing on 132.091652532 meters Centerline goodness : 0.742516 Centerline is valid? [False, False] Translation: X:-54.00, Y:-57.70, Z:-17.33 [[ 0.80544336 -0.51469351 -0.29385641 -53.99867835] [ 0.51987671 0.85163363 -0.06669604 -57.69771327] [ 0.28458603 -0.09904922 0.95351982 -17.33116471] [ 0. 0. 0. 1. ]] SLAMing on 132.121652532 meters Centerline goodness : 0.739580 Centerline is valid? [False, False] Translation: X:-54.03, Y:-57.73, Z:-17.34 [[ 0.8054441 -0.51457991 -0.29405325 -54.02561924] [ 0.52006863 0.85159212 -0.06572275 -57.7266672 ] [ 0.28423303 -0.09999187 0.95352672 -17.339711 ] [ 0. 0. 0. 1. ]] SLAMing on 132.151652532 meters Centerline goodness : 0.739302 Centerline is valid? [False, False] Translation: X:-54.05, Y:-57.75, Z:-17.35 [[ 0.80535629 -0.51465027 -0.29417061 -54.05189029] [ 0.52039093 0.8514557 -0.06493441 -57.75468398] [ 0.28389175 -0.10078838 0.95354453 -17.34834458] [ 0. 0. 0. 1. ]] SLAMing on 132.18165253200002 meters Centerline goodness : 0.739722 Centerline is valid? [False, False] Translation: X:-54.07, Y:-57.78, Z:-17.35 [[ 0.80345907 -0.51686463 -0.2954733 -54.07417003] [ 0.5227661 0.84997042 -0.06531377 -57.78035152] [ 0.28490194 -0.10198648 0.95311575 -17.35497824] [ 0. 0. 0. 1. ]] SLAMing on 132.21165253200002 meters Centerline goodness : 0.739197 Centerline is valid? [False, False] Translation: X:-54.10, Y:-57.81, Z:-17.37 [[ 0.80385055 -0.51626898 -0.29544988 -54.10181602] [ 0.52228391 0.85030535 -0.06480986 -57.81020217] [ 0.28468193 -0.10221128 0.95315741 -17.36502057] [ 0. 0. 0. 1. ]] SLAMing on 132.24165253200002 meters Centerline goodness : 0.738565 Centerline is valid? [False, False] Translation: X:-54.12, Y:-57.84, Z:-17.37 [[ 0.80236517 -0.51727285 -0.29772292 -54.12384281] [ 0.52387718 0.84939294 -0.06390878 -57.83505711] [ 0.28594202 -0.10469206 0.95251075 -17.37091415] [ 0. 0. 0. 1. ]] SLAMing on 132.271652532 meters Centerline goodness : 0.738036 Centerline is valid? [False, False] Translation: X:-54.13, Y:-57.84, Z:-17.37 [[ 0.80062546 -0.52138398 -0.29522468 -54.12553923] [ 0.52705039 0.84719805 -0.06688305 -57.83577624] [ 0.28498553 -0.10205001 0.95308396 -17.37133801] [ 0. 0. 0. 1. ]] SLAMing on 132.301652532 meters Centerline goodness : 0.737751 Centerline is valid? [False, False] Translation: X:-54.15, Y:-57.87, Z:-17.38 [[ 0.80138168 -0.51969877 -0.29614285 -54.15276382] [ 0.52569546 0.84812415 -0.06580054 -57.86657286] [ 0.28536236 -0.1029496 0.95287444 -17.38060297] [ 0. 0. 0. 1. ]] SLAMing on 132.331652532 meters Centerline goodness : 0.736872 Centerline is valid? [False, False] Translation: X:-54.17, Y:-57.89, Z:-17.39 [[ 0.79971199 -0.52116763 -0.29806886 -54.17453198] [ 0.52745317 0.84702708 -0.06586556 -57.8919713 ] [ 0.28679939 -0.10454389 0.95226923 -17.38709896] [ 0. 0. 0. 1. ]] SLAMing on 132.361652532 meters Centerline goodness : 0.735773 Centerline is valid? [False, False] Translation: X:-54.20, Y:-57.92, Z:-17.39 [[ 0.79830441 -0.52212076 -0.30016658 -54.19631729] [ 0.52897614 0.84614501 -0.06498357 -57.91671379] [ 0.28791373 -0.10690429 0.95167072 -17.39343843] [ 0. 0. 0. 1. ]] SLAMing on 132.391652532 meters Centerline goodness : 0.733869 Centerline is valid? [False, False] Translation: X:-54.22, Y:-57.95, Z:-17.40 [[ 0.79672359 -0.52369377 -0.30162288 -54.21946213] [ 0.53068469 0.8450405 -0.06542417 -57.94513505] [ 0.28914578 -0.10794166 0.95117996 -17.40021518] [ 0. 0. 0. 1. ]] SLAMing on 132.421652532 meters Centerline goodness : 0.732167 Centerline is valid? [False, False] Translation: X:-54.24, Y:-57.97, Z:-17.41 [[ 0.7954964 -0.52405308 -0.30422666 -54.24169341] [ 0.53155938 0.8445352 -0.06484539 -57.9705733 ] [ 0.29091255 -0.11013026 0.95039003 -17.40674688] [ 0. 0. 0. 1. ]] SLAMing on 132.451652532 meters Centerline goodness : 0.732167 Centerline is valid? [False, False] Translation: X:-54.26, Y:-57.99, Z:-17.41 [[ 0.79474964 -0.52345323 -0.30719656 -54.26345838] [ 0.53161825 0.84457898 -0.06378386 -57.99338659] [ 0.29283963 -0.1126191 0.94950613 -17.413944 ] [ 0. 0. 0. 1. ]] SLAMing on 132.481652532 meters Centerline goodness : 0.730952 Centerline is valid? [False, False] Translation: X:-54.28, Y:-58.01, Z:-17.42 [[ 0.79149254 -0.526201 -0.31088917 -54.28129206] [ 0.53489199 0.84247989 -0.06417318 -58.0145337 ] [ 0.29568586 -0.11549953 0.94827724 -17.41810931] [ 0. 0. 0. 1. ]] SLAMing on 132.511652532 meters Centerline goodness : 0.730339 Centerline is valid? [False, False] Translation: X:-54.30, Y:-58.04, Z:-17.42 [[ 0.78949132 -0.5280434 -0.31284761 -54.30336625] [ 0.5369499 0.84113066 -0.06468392 -58.04283507] [ 0.29730163 -0.1169161 0.94759821 -17.42396038] [ 0. 0. 0. 1. ]] SLAMing on 132.541652532 meters Centerline goodness : 0.730273 Centerline is valid? [False, False] Translation: X:-54.33, Y:-58.07, Z:-17.43 [[ 0.78802283 -0.52904043 -0.31485907 -54.32546802] [ 0.53854557 0.84017458 -0.06383845 -58.06893253] [ 0.29830971 -0.1192598 0.94698913 -17.42994806] [ 0. 0. 0. 1. ]] SLAMing on 132.571652532 meters Centerline goodness : 0.729516 Centerline is valid? [False, False] Translation: X:-54.34, Y:-58.09, Z:-17.43 [[ 0.78416072 -0.53273846 -0.31824786 -54.34251295] [ 0.54274906 0.83741599 -0.06448188 -58.09094821] [ 0.30085782 -0.12216457 0.94581203 -17.43313394] [ 0. 0. 0. 1. ]] SLAMing on 132.601652532 meters Centerline goodness : 0.728449 Centerline is valid? [False, False] Translation: X:-54.36, Y:-58.12, Z:-17.44 [[ 0.78201492 -0.53454281 -0.32049439 -54.36334215] [ 0.54499951 0.83595549 -0.0644512 -58.11584539] [ 0.30237098 -0.12426749 0.94505523 -17.43967468] [ 0. 0. 0. 1. ]] SLAMing on 132.631652532 meters Centerline goodness : 0.728634 Centerline is valid? [False, False] Translation: X:-54.38, Y:-58.14, Z:-17.44 [[ 0.78062217 -0.53341255 -0.32573007 -54.38137992] [ 0.54549766 0.83585401 -0.0614848 -58.13584697] [ 0.30505955 -0.12968859 0.94346147 -17.44381896] [ 0. 0. 0. 1. ]] SLAMing on 132.661652532 meters Centerline goodness : 0.728700 Centerline is valid? [False, False] Translation: X:-54.40, Y:-58.16, Z:-17.45 [[ 0.77978904 -0.53213865 -0.32978403 -54.4016742 ] [ 0.54561357 0.83597191 -0.05879449 -58.15837512] [ 0.30697701 -0.13408735 0.94222381 -17.44923955] [ 0. 0. 0. 1. ]] SLAMing on 132.691652532 meters Centerline goodness : 0.728076 Centerline is valid? [False, False] Translation: X:-54.41, Y:-58.16, Z:-17.45 [[ 0.77883596 -0.53515455 -0.32714546 -54.40594309] [ 0.54772744 0.83442946 -0.06100921 -58.15988835] [ 0.30562917 -0.13167038 0.9430025 -17.44967195] [ 0. 0. 0. 1. ]] SLAMing on 132.721652532 meters Centerline goodness : 0.724766 Centerline is valid? [False, False] Translation: X:-54.41, Y:-58.16, Z:-17.45 [[ 0.77746307 -0.53852763 -0.32486793 -54.40756423] [ 0.55027872 0.83258217 -0.0632476 -58.16327192] [ 0.30453983 -0.12959524 0.94364218 -17.44924697] [ 0. 0. 0. 1. ]] SLAMing on 132.751652532 meters Centerline goodness : 0.722204 Centerline is valid? [False, False] Translation: X:-54.41, Y:-58.17, Z:-17.45 [[ 0.77615463 -0.54198417 -0.32223772 -54.41051944] [ 0.55282882 0.8307062 -0.06563154 -58.16523466] [ 0.30325613 -0.12720208 0.94438094 -17.44947135] [ 0. 0. 0. 1. ]] SLAMing on 132.781652532 meters Centerline goodness : 0.719700 Centerline is valid? [False, False] Translation: X:-54.41, Y:-58.17, Z:-17.45 [[ 0.77461967 -0.54559017 -0.31983706 -54.41180568] [ 0.55556795 0.82868134 -0.06805506 -58.1682285 ] [ 0.30217317 -0.12497443 0.94502527 -17.44930012] [ 0. 0. 0. 1. ]] SLAMing on 132.811652532 meters Centerline goodness : 0.718362 Centerline is valid? [False, False] Translation: X:-54.43, Y:-58.19, Z:-17.45 [[ 0.77243854 -0.54558034 -0.32508582 -54.42870267] [ 0.55694153 0.82791633 -0.06611107 -58.18987354] [ 0.30521276 -0.12998705 0.94337084 -17.45236046] [ 0. 0. 0. 1. ]] SLAMing on 132.841652532 meters Centerline goodness : 0.718244 Centerline is valid? [False, False] Translation: X:-54.44, Y:-58.21, Z:-17.45 [[ 0.76958512 -0.54609791 -0.33093173 -54.44341716] [ 0.55910835 0.82663012 -0.06387879 -58.20827434] [ 0.30844221 -0.13586653 0.94149014 -17.45496333] [ 0. 0. 0. 1. ]] SLAMing on 132.871652532 meters Centerline goodness : 0.717022 Centerline is valid? [False, False] Translation: X:-54.46, Y:-58.23, Z:-17.46 [[ 0.76824734 -0.54516658 -0.33554348 -54.46227181] [ 0.55945829 0.8265376 -0.06198404 -58.23078034] [ 0.31113093 -0.1401035 0.93998327 -17.46015243] [ 0. 0. 0. 1. ]] SLAMing on 132.901652532 meters Centerline goodness : 0.715273 Centerline is valid? [False, False] Translation: X:-54.49, Y:-58.26, Z:-17.47 [[ 0.76771079 -0.54482311 -0.33732465 -54.48601538] [ 0.55998973 0.82631429 -0.06013483 -58.25903663] [ 0.31149902 -0.14273219 0.93946574 -17.46713973] [ 0. 0. 0. 1. ]] SLAMing on 132.93165253200002 meters Centerline goodness : 0.715452 Centerline is valid? [False, False] Translation: X:-54.51, Y:-58.28, Z:-17.47 [[ 0.76507505 -0.5471291 -0.33957314 -54.50550063] [ 0.56279169 0.82439696 -0.06029242 -58.28134762] [ 0.3129308 -0.14498072 0.93864525 -17.47358754] [ 0. 0. 0. 1. ]] SLAMing on 132.96165253200002 meters Centerline goodness : 0.714991 Centerline is valid? [False, False] Translation: X:-54.53, Y:-58.31, Z:-17.48 [[ 0.76387226 -0.5475165 -0.34165018 -54.52737017] [ 0.56387448 0.82372553 -0.05934504 -58.30553047] [ 0.31391836 -0.14731579 0.93795166 -17.48105777] [ 0. 0. 0. 1. ]] SLAMing on 132.99165253200002 meters Centerline goodness : 0.712547 Centerline is valid? [False, False] Translation: X:-54.53, Y:-58.31, Z:-17.48 [[ 0.76179762 -0.55202636 -0.33901516 -54.52780208] [ 0.56720672 0.82119269 -0.06260274 -58.30562181] [ 0.31295513 -0.14460106 0.9386957 -17.48213499] [ 0. 0. 0. 1. ]] SLAMing on 133.021652532 meters Centerline goodness : 0.714465 Centerline is valid? [False, False] Translation: X:-54.55, Y:-58.33, Z:-17.49 [[ 0.75966476 -0.55198504 -0.34383422 -54.54565521] [ 0.56834589 0.82048828 -0.0614974 -58.3270665 ] [ 0.3160576 -0.14869936 0.93701446 -17.48643573] [ 0. 0. 0. 1. ]] SLAMing on 133.051652532 meters Centerline goodness : 0.713061 Centerline is valid? [False, False] Translation: X:-54.57, Y:-58.35, Z:-17.49 [[ 0.75868812 -0.55279745 -0.34468437 -54.56891673] [ 0.56972311 0.81961045 -0.06045068 -58.35130297] [ 0.31592389 -0.15051144 0.9367702 -17.49466943] [ 0. 0. 0. 1. ]] SLAMing on 133.081652532 meters Centerline goodness : 0.714711 Centerline is valid? [False, False] Translation: X:-54.57, Y:-58.35, Z:-17.50 [[ 0.7594383 -0.55206331 -0.34420861 -54.57161264] [ 0.56908194 0.82010674 -0.05975512 -58.35240645] [ 0.31527641 -0.15050258 0.93698973 -17.49525957] [ 0. 0. 0. 1. ]] SLAMing on 133.111652532 meters Centerline goodness : 0.713546 Centerline is valid? [False, False] Translation: X:-54.60, Y:-58.38, Z:-17.51 [[ 0.75991529 -0.55172239 -0.34370214 -54.59860554] [ 0.56899292 0.82024738 -0.0586625 -58.37979566] [ 0.31428619 -0.15098555 0.93724466 -17.50622484] [ 0. 0. 0. 1. ]] SLAMing on 133.141652532 meters Centerline goodness : 0.716371 Centerline is valid? [False, False] Translation: X:-54.62, Y:-58.40, Z:-17.52 [[ 7.59185419e-01 -5.52454624e-01 -3.44138618e-01 -5.46223310e+01] [ 5.70128711e-01 8.19515426e-01 -5.78594832e-02 -5.84036570e+01] [ 3.13991645e-01 -1.52277230e-01 9.37134404e-01 -1.75156693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.171652532 meters Centerline goodness : 0.716306 Centerline is valid? [False, False] Translation: X:-54.65, Y:-58.43, Z:-17.53 [[ 0.75750308 -0.55464301 -0.34432574 -54.64538951] [ 0.5722319 0.81798609 -0.05873171 -58.42862073] [ 0.3142288 -0.15254472 0.9370114 -17.52521536] [ 0. 0. 0. 1. ]] SLAMing on 133.201652532 meters Centerline goodness : 0.718117 Centerline is valid? [False, False] Translation: X:-54.67, Y:-58.45, Z:-17.54 [[ 7.57657845e-01 -5.54040124e-01 -3.44955259e-01 -5.46691267e+01] [ 5.72254411e-01 8.18089063e-01 -5.70541313e-02 -5.84524586e+01] [ 3.13814403e-01 -1.54174658e-01 9.36883501e-01 -1.75354739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.231652532 meters Centerline goodness : 0.717588 Centerline is valid? [False, False] Translation: X:-54.70, Y:-58.48, Z:-17.55 [[ 7.59535355e-01 -5.52314353e-01 -3.43591183e-01 -5.46996427e+01] [ 5.70269528e-01 8.19498619e-01 -5.66981411e-02 -5.84815367e+01] [ 3.12887697e-01 -1.52875339e-01 9.37406219e-01 -1.75494947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.261652532 meters Centerline goodness : 0.718097 Centerline is valid? [False, False] Translation: X:-54.73, Y:-58.51, Z:-17.56 [[ 7.60179750e-01 -5.52336664e-01 -3.42127106e-01 -5.47275083e+01] [ 5.70377001e-01 8.19494045e-01 -5.56739308e-02 -5.85081581e+01] [ 3.11121880e-01 -1.52819238e-01 9.38002909e-01 -1.75615056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.291652532 meters Centerline goodness : 0.721310 Centerline is valid? [False, False] Translation: X:-54.76, Y:-58.54, Z:-17.57 [[ 7.61132207e-01 -5.52009091e-01 -3.40534471e-01 -5.47560011e+01] [ 5.70150396e-01 8.19734172e-01 -5.44464268e-02 -5.85351018e+01] [ 3.09202665e-01 -1.52714935e-01 9.38654282e-01 -1.75736644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.321652532 meters Centerline goodness : 0.721983 Centerline is valid? [False, False] Translation: X:-54.79, Y:-58.56, Z:-17.59 [[ 7.63091836e-01 -5.50623097e-01 -3.38385955e-01 -5.47873606e+01] [ 5.68591465e-01 8.20877880e-01 -5.35093614e-02 -5.85637667e+01] [ 3.07237036e-01 -1.51570809e-01 9.39484802e-01 -1.75873471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.351652532 meters Centerline goodness : 0.722197 Centerline is valid? [False, False] Translation: X:-54.82, Y:-58.59, Z:-17.60 [[ 7.63728543e-01 -5.50631584e-01 -3.36932592e-01 -5.48150667e+01] [ 5.68413006e-01 8.21014195e-01 -5.33136601e-02 -5.85907246e+01] [ 3.05982626e-01 -1.50799703e-01 9.40018129e-01 -1.76000145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.381652532 meters Centerline goodness : 0.720117 Centerline is valid? [False, False] Translation: X:-54.84, Y:-58.62, Z:-17.61 [[ 7.64861139e-01 -5.49895708e-01 -3.35562436e-01 -5.48438087e+01] [ 5.67493417e-01 8.21671333e-01 -5.29853049e-02 -5.86177469e+01] [ 3.04858425e-01 -1.49903072e-01 9.40526666e-01 -1.76129888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.411652532 meters Centerline goodness : 0.722446 Centerline is valid? [False, False] Translation: X:-54.87, Y:-58.65, Z:-17.63 [[ 7.66858667e-01 -5.48339399e-01 -3.33544134e-01 -5.48742288e+01] [ 5.65974868e-01 8.22815741e-01 -5.14461335e-02 -5.86454909e+01] [ 3.02655305e-01 -1.49325684e-01 9.41329701e-01 -1.76264410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.441652532 meters Centerline goodness : 0.720219 Centerline is valid? [False, False] Translation: X:-54.91, Y:-58.67, Z:-17.64 [[ 7.68321010e-01 -5.47915124e-01 -3.30865294e-01 -5.49063259e+01] [ 5.65344211e-01 8.23303007e-01 -5.05774843e-02 -5.86740993e+01] [ 3.00114560e-01 -1.48193035e-01 9.42321641e-01 -1.76387684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.471652532 meters Centerline goodness : 0.718223 Centerline is valid? [False, False] Translation: X:-54.93, Y:-58.70, Z:-17.65 [[ 7.69141684e-01 -5.48356836e-01 -3.28216164e-01 -5.49348084e+01] [ 5.65529839e-01 8.23205764e-01 -5.00826498e-02 -5.86998113e+01] [ 2.97652601e-01 -1.47095381e-01 9.43274021e-01 -1.76518814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.501652532 meters Centerline goodness : 0.719824 Centerline is valid? [False, False] Translation: X:-54.97, Y:-58.73, Z:-17.67 [[ 7.71077009e-01 -5.47450622e-01 -3.25173897e-01 -5.49667137e+01] [ 5.64182820e-01 8.24153808e-01 -4.96814573e-02 -5.87285584e+01] [ 2.95191450e-01 -1.45149297e-01 9.44348288e-01 -1.76657529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.531652532 meters Centerline goodness : 0.719369 Centerline is valid? [False, False] Translation: X:-55.00, Y:-58.76, Z:-17.68 [[ 7.74682375e-01 -5.43917830e-01 -3.22522266e-01 -5.50022067e+01] [ 5.60391025e-01 8.26815554e-01 -4.83522355e-02 -5.87577191e+01] [ 2.92966069e-01 -1.43280959e-01 9.45326107e-01 -1.76810781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.561652532 meters Centerline goodness : 0.720437 Centerline is valid? [False, False] Translation: X:-55.03, Y:-58.79, Z:-17.69 [[ 7.76294501e-01 -5.42949281e-01 -3.20270084e-01 -5.50331251e+01] [ 5.59207357e-01 8.27656406e-01 -4.76655636e-02 -5.87852620e+01] [ 2.90953570e-01 -1.42094873e-01 9.46126348e-01 -1.76940417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.591652532 meters Centerline goodness : 0.718802 Centerline is valid? [False, False] Translation: X:-55.05, Y:-58.80, Z:-17.70 [[ 7.78503146e-01 -5.43479570e-01 -3.13947143e-01 -5.50503959e+01] [ 5.56695016e-01 8.28926118e-01 -5.45174223e-02 -5.87959775e+01] [ 2.89868092e-01 -1.32330825e-01 9.47873959e-01 -1.77039091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.621652532 meters Centerline goodness : 0.719146 Centerline is valid? [False, False] Translation: X:-55.09, Y:-58.83, Z:-17.72 [[ 7.81219308e-01 -5.41440306e-01 -3.10706915e-01 -5.50852628e+01] [ 5.54229271e-01 8.30615590e-01 -5.39226871e-02 -5.88254479e+01] [ 2.87273924e-01 -1.30077423e-01 9.48975003e-01 -1.77173257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.651652532 meters Centerline goodness : 0.723249 Centerline is valid? [False, False] Translation: X:-55.12, Y:-58.85, Z:-17.73 [[ 7.83509093e-01 -5.39476283e-01 -3.08348573e-01 -5.51176873e+01] [ 5.52052383e-01 8.32117663e-01 -5.30882366e-02 -5.88545934e+01] [ 2.85222138e-01 -1.28629448e-01 9.49790923e-01 -1.77300247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.68165253200002 meters Centerline goodness : 0.724004 Centerline is valid? [False, False] Translation: X:-55.15, Y:-58.88, Z:-17.74 [[ 7.85231523e-01 -5.37854334e-01 -3.06796628e-01 -5.51490262e+01] [ 5.50288820e-01 8.33323164e-01 -5.24854100e-02 -5.88832808e+01] [ 2.83890242e-01 -1.27613556e-01 9.50326844e-01 -1.77416128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.71165253200002 meters Centerline goodness : 0.726549 Centerline is valid? [False, False] Translation: X:-55.18, Y:-58.90, Z:-17.75 [[ 0.78934846 -0.53202529 -0.30639534 -55.17756627] [ 0.54198295 0.83829236 -0.05933294 -58.90418389] [ 0.28841549 -0.11922668 0.95005342 -17.74752246] [ 0. 0. 0. 1. ]] SLAMing on 133.74165253200002 meters Centerline goodness : 0.725655 Centerline is valid? [False, False] Translation: X:-55.21, Y:-58.93, Z:-17.76 [[ 7.90460819e-01 -5.30740927e-01 -3.05754415e-01 -5.52067442e+01] [ 5.40925090e-01 8.39065696e-01 -5.80414022e-02 -5.89318107e+01] [ 2.87352988e-01 -1.19510780e-01 9.50339641e-01 -1.77578344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.771652532 meters Centerline goodness : 0.727992 Centerline is valid? [False, False] Translation: X:-55.24, Y:-58.96, Z:-17.77 [[ 7.92502044e-01 -5.28523758e-01 -3.04307653e-01 -5.52396403e+01] [ 5.38505912e-01 8.40648959e-01 -5.76256004e-02 -5.89607594e+01] [ 2.86272410e-01 -1.18203064e-01 9.50829187e-01 -1.77700279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.801652532 meters Centerline goodness : 0.729748 Centerline is valid? [False, False] Translation: X:-55.27, Y:-58.99, Z:-17.78 [[ 7.94044062e-01 -5.26343264e-01 -3.04067092e-01 -5.52692327e+01] [ 5.36584738e-01 8.41971674e-01 -5.62184958e-02 -5.89889006e+01] [ 2.85606105e-01 -1.18517798e-01 9.50990370e-01 -1.77806743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.831652532 meters Centerline goodness : 0.729477 Centerline is valid? [False, False] Translation: X:-55.30, Y:-59.02, Z:-17.79 [[ 7.95024032e-01 -5.25089414e-01 -3.03673996e-01 -5.52982532e+01] [ 5.35492821e-01 8.42730361e-01 -5.52537568e-02 -5.90159043e+01] [ 2.84928459e-01 -1.18687180e-01 9.51172501e-01 -1.77909253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.861652532 meters Centerline goodness : 0.732993 Centerline is valid? [False, False] Translation: X:-55.33, Y:-59.04, Z:-17.80 [[ 7.96184722e-01 -5.23590448e-01 -3.03220929e-01 -5.53276320e+01] [ 5.34318150e-01 8.43577977e-01 -5.36685330e-02 -5.90435292e+01] [ 2.83890829e-01 -1.19286380e-01 9.51407776e-01 -1.78008158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.891652532 meters Centerline goodness : 0.730916 Centerline is valid? [False, False] Translation: X:-55.35, Y:-59.07, Z:-17.81 [[ 0.79993114 -0.51844004 -0.30220871 -55.35471444] [ 0.52661238 0.84793439 -0.06071795 -59.06554585] [ 0.28773177 -0.11057667 0.95130606 -17.80662562] [ 0. 0. 0. 1. ]] SLAMing on 133.921652532 meters Centerline goodness : 0.731895 Centerline is valid? [False, False] Translation: X:-55.38, Y:-59.09, Z:-17.82 [[ 0.80048601 -0.51789171 -0.30167917 -55.38312543] [ 0.5260684 0.84829617 -0.06037925 -59.09366731] [ 0.2871832 -0.11037113 0.95149568 -17.81662477] [ 0. 0. 0. 1. ]] SLAMing on 133.951652532 meters Centerline goodness : 0.732334 Centerline is valid? [False, False] Translation: X:-55.41, Y:-59.12, Z:-17.82 [[ 8.00872683e-01 -5.17325704e-01 -3.01624040e-01 -5.54106454e+01] [ 5.25994477e-01 8.48465968e-01 -5.86115278e-02 -5.91209031e+01] [ 2.86238983e-01 -1.11712208e-01 9.51623679e-01 -1.78248953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.981652532 meters Centerline goodness : 0.736970 Centerline is valid? [False, False] Translation: X:-55.45, Y:-59.15, Z:-17.84 [[ 8.03945083e-01 -5.13694872e-01 -2.99649599e-01 -5.54457403e+01] [ 5.22728406e-01 8.50667190e-01 -5.58600519e-02 -5.91516548e+01] [ 2.83597104e-01 -1.11726943e-01 9.52412606e-01 -1.78359919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.011652532 meters Centerline goodness : 0.739401 Centerline is valid? [False, False] Translation: X:-55.47, Y:-59.18, Z:-17.85 [[ 8.04797207e-01 -5.12500686e-01 -2.99406920e-01 -5.54746166e+01] [ 5.21820256e-01 8.51308647e-01 -5.45638044e-02 -5.91790555e+01] [ 2.82851687e-01 -1.12323798e-01 9.52564060e-01 -1.78454751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.041652532 meters Centerline goodness : 0.739990 Centerline is valid? [False, False] Translation: X:-55.50, Y:-59.21, Z:-17.86 [[ 8.06203651e-01 -5.10376419e-01 -2.99251707e-01 -5.55034737e+01] [ 5.20268059e-01 8.52408952e-01 -5.21548232e-02 -5.92060423e+01] [ 2.81703426e-01 -1.13643696e-01 9.52747758e-01 -1.78553590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.071652532 meters Centerline goodness : 0.740692 Centerline is valid? [False, False] Translation: X:-55.53, Y:-59.23, Z:-17.86 [[ 8.07071535e-01 -5.09241462e-01 -2.98845563e-01 -5.55307901e+01] [ 5.19694357e-01 8.52896260e-01 -4.98572438e-02 -5.92320240e+01] [ 2.80273639e-01 -1.15069990e-01 9.52998208e-01 -1.78649905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.101652532 meters Centerline goodness : 0.744347 Centerline is valid? [False, False] Translation: X:-55.56, Y:-59.26, Z:-17.88 [[ 8.07930691e-01 -5.08642806e-01 -2.97540745e-01 -5.55607748e+01] [ 5.18916460e-01 8.53373819e-01 -4.97878719e-02 -5.92611916e+01] [ 2.79237725e-01 -1.14173640e-01 9.53410024e-01 -1.78759837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.131652532 meters Centerline goodness : 0.746749 Centerline is valid? [False, False] Translation: X:-55.57, Y:-59.27, Z:-17.88 [[ 8.09158738e-01 -5.10058580e-01 -2.91723124e-01 -5.55740880e+01] [ 5.17978033e-01 8.53578585e-01 -5.56988048e-02 -5.92693747e+01] [ 2.77418265e-01 -1.06036995e-01 9.54879711e-01 -1.78835799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.161652532 meters Centerline goodness : 0.746462 Centerline is valid? [False, False] Translation: X:-55.60, Y:-59.30, Z:-17.89 [[ 8.08667715e-01 -5.10537245e-01 -2.92246896e-01 -5.55999081e+01] [ 5.18724283e-01 8.53165424e-01 -5.50806357e-02 -5.92963190e+01] [ 2.77455663e-01 -1.07053630e-01 9.54755401e-01 -1.78912546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.191652532 meters Centerline goodness : 0.749236 Centerline is valid? [False, False] Translation: X:-55.63, Y:-59.33, Z:-17.90 [[ 8.10471188e-01 -5.08453205e-01 -2.90881061e-01 -5.56318670e+01] [ 5.17022460e-01 8.54341334e-01 -5.28077771e-02 -5.93255675e+01] [ 2.75361997e-01 -1.07592860e-01 9.55300763e-01 -1.79015464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.221652532 meters Centerline goodness : 0.748852 Centerline is valid? [False, False] Translation: X:-55.67, Y:-59.36, Z:-17.91 [[ 8.13006911e-01 -5.05410780e-01 -2.89101550e-01 -5.56654691e+01] [ 5.14337485e-01 8.56114014e-01 -5.02568103e-02 -5.93556013e+01] [ 2.72904222e-01 -1.07836630e-01 9.55978319e-01 -1.79124936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.251652532 meters Centerline goodness : 0.749514 Centerline is valid? [False, False] Translation: X:-55.69, Y:-59.38, Z:-17.92 [[ 8.13462553e-01 -5.05606084e-01 -2.87473760e-01 -5.56938879e+01] [ 5.14623199e-01 8.55998193e-01 -4.92956072e-02 -5.93835215e+01] [ 2.71001178e-01 -1.07840536e-01 9.56519096e-01 -1.79224569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.281652532 meters Centerline goodness : 0.751665 Centerline is valid? [False, False] Translation: X:-55.71, Y:-59.40, Z:-17.93 [[ 8.15671643e-01 -5.05462084e-01 -2.81403362e-01 -5.57117737e+01] [ 5.11752872e-01 8.57273415e-01 -5.64915097e-02 -5.93985511e+01] [ 2.69793937e-01 -9.79304561e-02 9.57925288e-01 -1.79306068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.311652532 meters Centerline goodness : 0.753486 Centerline is valid? [False, False] Translation: X:-55.74, Y:-59.43, Z:-17.94 [[ 8.17282590e-01 -5.03768555e-01 -2.79761346e-01 -5.57443541e+01] [ 5.09839342e-01 8.58422386e-01 -5.63458361e-02 -5.94288205e+01] [ 2.68538662e-01 -9.65828696e-02 9.58414699e-01 -1.79416810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.341652532 meters Centerline goodness : 0.755500 Centerline is valid? [False, False] Translation: X:-55.77, Y:-59.46, Z:-17.95 [[ 8.17700114e-01 -5.02717778e-01 -2.80430667e-01 -5.57713326e+01] [ 5.09169890e-01 8.58903641e-01 -5.50505149e-02 -5.94552127e+01] [ 2.68537793e-01 -9.77720395e-02 9.58294361e-01 -1.79501603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.371652532 meters Centerline goodness : 0.755500 Centerline is valid? [False, False] Translation: X:-55.80, Y:-59.48, Z:-17.96 [[ 8.17949801e-01 -5.01894062e-01 -2.81176944e-01 -5.57977506e+01] [ 5.08692028e-01 8.59256204e-01 -5.39555051e-02 -5.94825388e+01] [ 2.68682981e-01 -9.88995748e-02 9.58137949e-01 -1.79581105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.401652532 meters Centerline goodness : 0.755500 Centerline is valid? [False, False] Translation: X:-55.82, Y:-59.51, Z:-17.97 [[ 8.18221931e-01 -5.01118093e-01 -2.81768573e-01 -5.58243380e+01] [ 5.08224172e-01 8.59595721e-01 -5.29470143e-02 -5.95098978e+01] [ 2.68739766e-01 -9.98791912e-02 9.58020399e-01 -1.79662710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.43165253200002 meters Centerline goodness : 0.755959 Centerline is valid? [False, False] Translation: X:-55.85, Y:-59.54, Z:-17.98 [[ 8.18795944e-01 -5.00151085e-01 -2.81819259e-01 -5.58522101e+01] [ 5.07502762e-01 8.60084660e-01 -5.19165118e-02 -5.95371844e+01] [ 2.68354522e-01 -1.00515023e-01 9.58061888e-01 -1.79755312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.46165253200002 meters Centerline goodness : 0.756116 Centerline is valid? [False, False] Translation: X:-55.88, Y:-59.57, Z:-17.99 [[ 8.19503201e-01 -4.99323397e-01 -2.81230596e-01 -5.58819655e+01] [ 5.06519105e-01 8.60653591e-01 -5.20940707e-02 -5.95666684e+01] [ 2.68053911e-01 -9.97574121e-02 9.58225213e-01 -1.79857865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.49165253200002 meters Centerline goodness : 0.756899 Centerline is valid? [False, False] Translation: X:-55.91, Y:-59.60, Z:-18.00 [[ 8.20081511e-01 -4.98649240e-01 -2.80740538e-01 -5.59107415e+01] [ 5.05737846e-01 8.61108600e-01 -5.21652181e-02 -5.95950678e+01] [ 2.67760238e-01 -9.92013844e-02 9.58365035e-01 -1.79957586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.521652532 meters Centerline goodness : 0.756097 Centerline is valid? [False, False] Translation: X:-55.94, Y:-59.62, Z:-18.01 [[ 8.20827540e-01 -4.97609630e-01 -2.80404718e-01 -5.59391018e+01] [ 5.04832887e-01 8.61687471e-01 -5.13659225e-02 -5.96225111e+01] [ 2.67181410e-01 -9.93949593e-02 9.58506513e-01 -1.80054720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.551652532 meters Centerline goodness : 0.755955 Centerline is valid? [False, False] Translation: X:-55.97, Y:-59.65, Z:-18.02 [[ 8.21585925e-01 -4.96784636e-01 -2.79645477e-01 -5.59684402e+01] [ 5.03896902e-01 8.62237783e-01 -5.13216983e-02 -5.96506641e+01] [ 2.66616727e-01 -9.87473045e-02 9.58730666e-01 -1.80158630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.581652532 meters Centerline goodness : 0.757606 Centerline is valid? [False, False] Translation: X:-56.00, Y:-59.68, Z:-18.03 [[ 8.23036557e-01 -4.95395271e-01 -2.77838712e-01 -5.60012437e+01] [ 5.02224841e-01 8.63208327e-01 -5.13964348e-02 -5.96816971e+01] [ 2.65294241e-01 -9.72363584e-02 9.59251821e-01 -1.80265861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.611652532 meters Centerline goodness : 0.756433 Centerline is valid? [False, False] Translation: X:-56.03, Y:-59.71, Z:-18.04 [[ 8.23632148e-01 -4.95012872e-01 -2.76753213e-01 -5.60307808e+01] [ 5.01745517e-01 8.63494922e-01 -5.12635908e-02 -5.97109457e+01] [ 2.64351132e-01 -9.66373426e-02 9.59572667e-01 -1.80359688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.641652532 meters Centerline goodness : 0.756980 Centerline is valid? [False, False] Translation: X:-56.06, Y:-59.74, Z:-18.04 [[ 8.23932999e-01 -4.94755940e-01 -2.76316800e-01 -5.60589560e+01] [ 5.01552162e-01 8.63633464e-01 -5.08199620e-02 -5.97395993e+01] [ 2.63779913e-01 -9.67150448e-02 9.59722021e-01 -1.80446574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.671652532 meters Centerline goodness : 0.757404 Centerline is valid? [False, False] Translation: X:-56.08, Y:-59.77, Z:-18.05 [[ 8.23589236e-01 -4.94925508e-01 -2.77037022e-01 -5.60848135e+01] [ 5.01853715e-01 8.63468404e-01 -5.06474574e-02 -5.97658501e+01] [ 2.64279434e-01 -9.73193579e-02 9.59523488e-01 -1.80528020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.701652532 meters Centerline goodness : 0.758254 Centerline is valid? [False, False] Translation: X:-56.12, Y:-59.80, Z:-18.06 [[ 8.24964825e-01 -4.92933682e-01 -2.76494888e-01 -5.61158774e+01] [ 4.99664457e-01 8.64727757e-01 -5.08068572e-02 -5.97960797e+01] [ 2.64137215e-01 -9.62407978e-02 9.59671423e-01 -1.80637977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.731652532 meters Centerline goodness : 0.759715 Centerline is valid? [False, False] Translation: X:-56.14, Y:-59.82, Z:-18.07 [[ 8.24271450e-01 -4.93450044e-01 -2.77639390e-01 -5.61407394e+01] [ 5.00299706e-01 8.64354641e-01 -5.09044180e-02 -5.98217537e+01] [ 2.65097682e-01 -9.69438467e-02 9.59335765e-01 -1.80714335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.761652532 meters Centerline goodness : 0.761112 Centerline is valid? [False, False] Translation: X:-56.17, Y:-59.85, Z:-18.08 [[ 8.24768735e-01 -4.92573936e-01 -2.77718295e-01 -5.61685210e+01] [ 4.99576638e-01 8.64812390e-01 -5.02266171e-02 -5.98497505e+01] [ 2.64914545e-01 -9.73162289e-02 9.59348652e-01 -1.80804404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.791652532 meters Centerline goodness : 0.760929 Centerline is valid? [False, False] Translation: X:-56.20, Y:-59.88, Z:-18.09 [[ 8.25398841e-01 -4.92488281e-01 -2.75992837e-01 -5.62006408e+01] [ 4.99145571e-01 8.65027503e-01 -5.08046982e-02 -5.98819860e+01] [ 2.63762114e-01 -9.58264633e-02 9.59816043e-01 -1.80897745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.821652532 meters Centerline goodness : 0.763934 Centerline is valid? [False, False] Translation: X:-56.21, Y:-59.89, Z:-18.10 [[ 8.26176493e-01 -4.94563849e-01 -2.69887017e-01 -5.62131597e+01] [ 4.99277676e-01 8.64628338e-01 -5.60324845e-02 -5.98905747e+01] [ 2.61063604e-01 -8.84558409e-02 9.61260297e-01 -1.80959348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.851652532 meters Centerline goodness : 0.762922 Centerline is valid? [False, False] Translation: X:-56.24, Y:-59.92, Z:-18.10 [[ 8.26431661e-01 -4.93799205e-01 -2.70505184e-01 -5.62405328e+01] [ 4.98920995e-01 8.64924569e-01 -5.46198714e-02 -5.99182109e+01] [ 2.60937828e-01 -8.98211243e-02 9.61167839e-01 -1.81030471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.881652532 meters Centerline goodness : 0.763040 Centerline is valid? [False, False] Translation: X:-56.27, Y:-59.94, Z:-18.11 [[ 8.26680764e-01 -4.92952140e-01 -2.71287857e-01 -5.62681444e+01] [ 4.98491869e-01 8.65259244e-01 -5.32193258e-02 -5.99446978e+01] [ 2.60968907e-01 -9.12393980e-02 9.61025807e-01 -1.81101561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.911652532 meters Centerline goodness : 0.763690 Centerline is valid? [False, False] Translation: X:-56.29, Y:-59.96, Z:-18.12 [[ 8.29202954e-01 -4.91878266e-01 -2.65477367e-01 -5.62874170e+01] [ 4.95047741e-01 8.66807258e-01 -5.97738420e-02 -5.99594150e+01] [ 2.59519162e-01 -8.18593244e-02 9.62262363e-01 -1.81183526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.941652532 meters Centerline goodness : 0.764859 Centerline is valid? [False, False] Translation: X:-56.31, Y:-59.98, Z:-18.12 [[ 8.28418325e-01 -4.92241246e-01 -2.67248263e-01 -5.63116149e+01] [ 4.95775332e-01 8.66439228e-01 -5.90752375e-02 -5.99845705e+01] [ 2.60633648e-01 -8.35560873e-02 9.61815202e-01 -1.81247863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.971652532 meters Centerline goodness : 0.764724 Centerline is valid? [False, False] Translation: X:-56.34, Y:-60.01, Z:-18.13 [[ 8.28959722e-01 -4.91295233e-01 -2.67310258e-01 -5.63400121e+01] [ 4.94991547e-01 8.66937232e-01 -5.83369847e-02 -6.00117973e+01] [ 2.60401898e-01 -8.39573074e-02 9.61843034e-01 -1.81336230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.001652532 meters Centerline goodness : 0.764219 Centerline is valid? [False, False] Translation: X:-56.36, Y:-60.02, Z:-18.14 [[ 0.8309849 -0.49109855 -0.26131648 -56.3569146 ] [ 0.49264518 0.86784721 -0.06435799 -60.02327556] [ 0.25838889 -0.07525579 0.96310526 -18.14140664] [ 0. 0. 0. 1. ]] SLAMing on 135.031652532 meters Centerline goodness : 0.764511 Centerline is valid? [False, False] Translation: X:-56.38, Y:-60.05, Z:-18.15 [[ 0.83125591 -0.49070056 -0.26120218 -56.38471277] [ 0.4928165 0.86791232 -0.06212978 -60.05144248] [ 0.25718771 -0.077079 0.96328257 -18.14821648] [ 0. 0. 0. 1. ]] SLAMing on 135.061652532 meters Centerline goodness : 0.764816 Centerline is valid? [False, False] Translation: X:-56.39, Y:-60.05, Z:-18.15 [[ 0.83018868 -0.49409603 -0.25817798 -56.3889706 ] [ 0.49540006 0.86624397 -0.06480872 -60.05243244] [ 0.25566685 -0.07409792 0.96392114 -18.14931182] [ 0. 0. 0. 1. ]] SLAMing on 135.091652532 meters Centerline goodness : 0.763451 Centerline is valid? [False, False] Translation: X:-56.41, Y:-60.08, Z:-18.15 [[ 0.83006495 -0.49268354 -0.26125677 -56.41234472] [ 0.49487501 0.86673577 -0.06219185 -60.07761555] [ 0.25708149 -0.07766617 0.96326376 -18.15487506] [ 0. 0. 0. 1. ]] SLAMing on 135.121652532 meters Centerline goodness : 0.763033 Centerline is valid? [False, False] Translation: X:-56.42, Y:-60.08, Z:-18.16 [[ 0.82876273 -0.49627574 -0.25857828 -56.41581635] [ 0.49767169 0.86493091 -0.06494154 -60.07851025] [ 0.25588126 -0.07486596 0.96380489 -18.15529218] [ 0. 0. 0. 1. ]] SLAMing on 135.151652532 meters Centerline goodness : 0.762239 Centerline is valid? [False, False] Translation: X:-56.42, Y:-60.08, Z:-18.16 [[ 0.8294941 -0.49758683 -0.25366688 -56.42446131] [ 0.49799961 0.86455246 -0.06741984 -60.08421142] [ 0.25285555 -0.07040165 0.96493921 -18.16034128] [ 0. 0. 0. 1. ]] SLAMing on 135.18165253200002 meters Centerline goodness : 0.761407 Centerline is valid? [False, False] Translation: X:-56.43, Y:-60.09, Z:-18.16 [[ 0.83008528 -0.49672809 -0.25341591 -56.42670859] [ 0.49730373 0.86501751 -0.06658615 -60.08584059] [ 0.25228441 -0.0707525 0.96506303 -18.16004475] [ 0. 0. 0. 1. ]] SLAMing on 135.21165253200002 meters Centerline goodness : 0.762485 Centerline is valid? [False, False] Translation: X:-56.43, Y:-60.09, Z:-18.16 [[ 0.83034015 -0.4964747 -0.25307727 -56.42832476] [ 0.49708143 0.86516515 -0.06632733 -60.08580104] [ 0.25188348 -0.07072577 0.96516972 -18.16037825] [ 0. 0. 0. 1. ]] SLAMing on 135.24165253200002 meters Centerline goodness : 0.763109 Centerline is valid? [False, False] Translation: X:-56.43, Y:-60.09, Z:-18.16 [[ 0.83064003 -0.49602892 -0.25296728 -56.42976441] [ 0.49673555 0.86540097 -0.0658404 -60.08698193] [ 0.25157687 -0.07096817 0.96523189 -18.15984978] [ 0. 0. 0. 1. ]] SLAMing on 135.271652532 meters Centerline goodness : 0.762830 Centerline is valid? [False, False] Translation: X:-56.43, Y:-60.09, Z:-18.16 [[ 0.82957373 -0.499095 -0.25042286 -56.43387468] [ 0.49914849 0.86383574 -0.0681073 -60.08891584] [ 0.25031623 -0.06849817 0.96573795 -18.15958064] [ 0. 0. 0. 1. ]] SLAMing on 135.301652532 meters Centerline goodness : 0.763047 Centerline is valid? [False, False] Translation: X:-56.44, Y:-60.09, Z:-18.16 [[ 0.8288958 -0.50138892 -0.2480744 -56.43874066] [ 0.50088775 0.86268038 -0.06995738 -60.09103253] [ 0.24908478 -0.06627005 0.9662117 -18.15916639] [ 0. 0. 0. 1. ]] SLAMing on 135.331652532 meters Centerline goodness : 0.762128 Centerline is valid? [False, False] Translation: X:-56.44, Y:-60.09, Z:-18.16 [[ 0.82760612 -0.504734 -0.24558439 -56.44139401] [ 0.50354138 0.86092419 -0.07249556 -60.09282151] [ 0.24802052 -0.06366414 0.96666059 -18.15939842] [ 0. 0. 0. 1. ]] SLAMing on 135.361652532 meters Centerline goodness : 0.762038 Centerline is valid? [False, False] Translation: X:-56.44, Y:-60.09, Z:-18.16 [[ 0.82617742 -0.50826389 -0.24310221 -56.44386091] [ 0.50636111 0.85903883 -0.07517126 -60.0942271 ] [ 0.24704107 -0.06099271 0.96708355 -18.1596065 ] [ 0. 0. 0. 1. ]] SLAMing on 135.391652532 meters Centerline goodness : 0.761471 Centerline is valid? [False, False] Translation: X:-56.45, Y:-60.10, Z:-18.16 [[ 8.24895267e-01 -5.11480015e-01 -2.40698968e-01 -5.64469152e+01] [ 5.08952974e-01 8.57297198e-01 -7.75137718e-02 -6.00961700e+01] [ 2.45997296e-01 -5.85637122e-02 9.67499675e-01 -1.81593862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.421652532 meters Centerline goodness : 0.760818 Centerline is valid? [False, False] Translation: X:-56.44, Y:-60.10, Z:-18.16 [[ 8.22560591e-01 -5.16005797e-01 -2.39023204e-01 -5.64446491e+01] [ 5.12823427e-01 8.54722568e-01 -8.03832351e-02 -6.00989857e+01] [ 2.45776742e-01 -5.64566174e-02 9.67680962e-01 -1.81588471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.451652532 meters Centerline goodness : 0.758745 Centerline is valid? [False, False] Translation: X:-56.44, Y:-60.10, Z:-18.16 [[ 8.22616064e-01 -5.15756795e-01 -2.39369461e-01 -5.64437965e+01] [ 5.12737668e-01 8.54830038e-01 -7.97852779e-02 -6.01009920e+01] [ 2.45770005e-01 -5.71010878e-02 9.67644858e-01 -1.81582905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.481652532 meters Centerline goodness : 0.758980 Centerline is valid? [False, False] Translation: X:-56.45, Y:-60.10, Z:-18.16 [[ 8.21488146e-01 -5.18651666e-01 -2.36976109e-01 -5.64475835e+01] [ 5.15063213e-01 8.53229574e-01 -8.19095897e-02 -6.01022488e+01] [ 2.44677569e-01 -5.47699189e-02 9.68056374e-01 -1.81582465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.511652532 meters Centerline goodness : 0.758651 Centerline is valid? [False, False] Translation: X:-56.45, Y:-60.10, Z:-18.16 [[ 8.21936456e-01 -5.17945595e-01 -2.36965871e-01 -5.64484324e+01] [ 5.14529564e-01 8.53627222e-01 -8.11165463e-02 -6.01040478e+01] [ 2.44294476e-01 -5.52532997e-02 9.68125654e-01 -1.81580942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.541652532 meters Centerline goodness : 0.757166 Centerline is valid? [False, False] Translation: X:-56.45, Y:-60.11, Z:-18.16 [[ 8.21311035e-01 -5.19780346e-01 -2.35109710e-01 -5.64524557e+01] [ 5.15982925e-01 8.52618669e-01 -8.24804575e-02 -6.01067514e+01] [ 2.43330649e-01 -5.35704863e-02 9.68462905e-01 -1.81572772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.571652532 meters Centerline goodness : 0.755987 Centerline is valid? [False, False] Translation: X:-56.45, Y:-60.11, Z:-18.16 [[ 8.19549800e-01 -5.23340632e-01 -2.33351040e-01 -5.64516550e+01] [ 5.18978445e-01 8.50563152e-01 -8.48745994e-02 -6.01108040e+01] [ 2.42898123e-01 -5.15451991e-02 9.68681369e-01 -1.81564042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.601652532 meters Centerline goodness : 0.754567 Centerline is valid? [False, False] Translation: X:-56.45, Y:-60.11, Z:-18.15 [[ 8.20047829e-01 -5.22366893e-01 -2.33782780e-01 -5.64519859e+01] [ 5.18298875e-01 8.51098684e-01 -8.36499045e-02 -6.01145211e+01] [ 2.42668157e-01 -5.25724295e-02 9.68683800e-01 -1.81549529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.631652532 meters Centerline goodness : 0.754110 Centerline is valid? [False, False] Translation: X:-56.45, Y:-60.12, Z:-18.15 [[ 8.18671435e-01 -5.25595365e-01 -2.31358149e-01 -5.64548340e+01] [ 5.20957656e-01 8.49251161e-01 -8.58812323e-02 -6.01171705e+01] [ 2.41619954e-01 -5.02192870e-02 9.69070596e-01 -1.81544243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.661652532 meters Centerline goodness : 0.756502 Centerline is valid? [False, False] Translation: X:-56.45, Y:-60.12, Z:-18.15 [[ 8.18689145e-01 -5.25372619e-01 -2.31800980e-01 -5.64536949e+01] [ 5.20897780e-01 8.49347382e-01 -8.52908412e-02 -6.01194421e+01] [ 2.41689029e-01 -5.09179302e-02 9.69016913e-01 -1.81535975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.691652532 meters Centerline goodness : 0.754325 Centerline is valid? [False, False] Translation: X:-56.45, Y:-60.12, Z:-18.15 [[ 8.16991158e-01 -5.29081817e-01 -2.29342274e-01 -5.64540428e+01] [ 5.23943121e-01 8.47196409e-01 -8.79877843e-02 -6.01214944e+01] [ 2.40850687e-01 -4.82770648e-02 9.69360754e-01 -1.81544771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.721652532 meters Centerline goodness : 0.753966 Centerline is valid? [False, False] Translation: X:-56.45, Y:-60.12, Z:-18.15 [[ 8.16483381e-01 -5.29645819e-01 -2.29848202e-01 -5.64504771e+01] [ 5.24565897e-01 8.46815790e-01 -8.79411068e-02 -6.01232625e+01] [ 2.41216726e-01 -4.87680761e-02 9.69245153e-01 -1.81542825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.751652532 meters Centerline goodness : 0.753758 Centerline is valid? [False, False] Translation: X:-56.46, Y:-60.14, Z:-18.15 [[ 8.13309381e-01 -5.31118017e-01 -2.37574205e-01 -5.64618471e+01] [ 5.27045558e-01 8.45486887e-01 -8.58772611e-02 -6.01395528e+01] [ 2.46476835e-01 -5.53676470e-02 9.67565808e-01 -1.81540255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.781652532 meters Centerline goodness : 0.754153 Centerline is valid? [False, False] Translation: X:-56.46, Y:-60.14, Z:-18.15 [[ 8.13529737e-01 -5.30663332e-01 -2.37835646e-01 -5.64614773e+01] [ 5.26764503e-01 8.45731909e-01 -8.51862417e-02 -6.01415435e+01] [ 2.46350410e-01 -5.59818353e-02 9.67562664e-01 -1.81536096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.811652532 meters Centerline goodness : 0.750866 Centerline is valid? [False, False] Translation: X:-56.46, Y:-60.14, Z:-18.15 [[ 8.13963302e-01 -5.29857378e-01 -2.38148908e-01 -5.64609573e+01] [ 5.26247903e-01 8.46172219e-01 -8.39983372e-02 -6.01448663e+01] [ 2.46022129e-01 -5.69537995e-02 9.67589467e-01 -1.81531710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.841652532 meters Centerline goodness : 0.750880 Centerline is valid? [False, False] Translation: X:-56.46, Y:-60.15, Z:-18.15 [[ 8.12143087e-01 -5.33693817e-01 -2.35784894e-01 -5.64616867e+01] [ 5.29373357e-01 8.43933112e-01 -8.68375017e-02 -6.01465688e+01] [ 2.45331317e-01 -5.42937642e-02 9.67917730e-01 -1.81533999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.871652532 meters Centerline goodness : 0.750260 Centerline is valid? [False, False] Translation: X:-56.46, Y:-60.15, Z:-18.15 [[ 8.10607105e-01 -5.37048466e-01 -2.33441783e-01 -5.64634407e+01] [ 5.32121756e-01 8.41953578e-01 -8.92222476e-02 -6.01491972e+01] [ 2.44463815e-01 -5.18952636e-02 9.68268725e-01 -1.81531022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.901652532 meters Centerline goodness : 0.750550 Centerline is valid? [False, False] Translation: X:-56.46, Y:-60.15, Z:-18.15 [[ 8.09079579e-01 -5.40088080e-01 -2.31722033e-01 -5.64632179e+01] [ 5.34758747e-01 8.40100299e-01 -9.09096816e-02 -6.01549225e+01] [ 2.43768985e-01 -5.03622170e-02 9.68524821e-01 -1.81516282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.93165253200002 meters Centerline goodness : 0.751565 Centerline is valid? [False, False] Translation: X:-56.46, Y:-60.16, Z:-18.15 [[ 8.09234087e-01 -5.39576339e-01 -2.32373763e-01 -5.64618307e+01] [ 5.34508394e-01 8.40364544e-01 -8.99344716e-02 -6.01585758e+01] [ 2.43805185e-01 -5.14276871e-02 9.68459718e-01 -1.81502490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.96165253200002 meters Centerline goodness : 0.751590 Centerline is valid? [False, False] Translation: X:-56.46, Y:-60.16, Z:-18.15 [[ 8.09231465e-01 -5.39340162e-01 -2.32930517e-01 -5.64601627e+01] [ 5.34469223e-01 8.40463603e-01 -8.92388984e-02 -6.01612511e+01] [ 2.43899743e-01 -5.22792679e-02 9.68390310e-01 -1.81493432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.99165253200002 meters Centerline goodness : 0.752251 Centerline is valid? [False, False] Translation: X:-56.47, Y:-60.18, Z:-18.15 [[ 8.06201063e-01 -5.40235765e-01 -2.41216010e-01 -5.64713770e+01] [ 5.36654257e-01 8.39379694e-01 -8.62782631e-02 -6.01784125e+01] [ 2.49082424e-01 -5.98919713e-02 9.66628624e-01 -1.81479508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.021652532 meters Centerline goodness : 0.750164 Centerline is valid? [False, False] Translation: X:-56.47, Y:-60.18, Z:-18.15 [[ 0.80608424 -0.540045 -0.24203222 -56.46818158] [ 0.53674355 0.8394157 -0.0853677 -60.18200324] [ 0.24926805 -0.06109567 0.96650544 -18.14688278] [ 0. 0. 0. 1. ]] SLAMing on 136.051652532 meters Centerline goodness : 0.749167 Centerline is valid? [False, False] Translation: X:-56.47, Y:-60.19, Z:-18.15 [[ 0.80626149 -0.53957005 -0.24250068 -56.46689559] [ 0.53650575 0.83965626 -0.08449231 -60.18509316] [ 0.24920673 -0.06198012 0.96646494 -18.14608977] [ 0. 0. 0. 1. ]] SLAMing on 136.081652532 meters Centerline goodness : 0.749347 Centerline is valid? [False, False] Translation: X:-56.47, Y:-60.19, Z:-18.15 [[ 8.04270147e-01 -5.43552247e-01 -2.40209255e-01 -5.64672429e+01] [ 5.39758650e-01 8.37272513e-01 -8.73804275e-02 -6.01865595e+01] [ 2.48616435e-01 -5.93775541e-02 9.66780313e-01 -1.81461671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.111652532 meters Centerline goodness : 0.751270 Centerline is valid? [False, False] Translation: X:-56.47, Y:-60.19, Z:-18.15 [[ 8.02763006e-01 -5.46737690e-01 -2.38011459e-01 -5.64681139e+01] [ 5.42415370e-01 8.35339185e-01 -8.94092368e-02 -6.01904731e+01] [ 2.47703698e-01 -5.73266459e-02 9.67138322e-01 -1.81457572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.141652532 meters Centerline goodness : 0.751640 Centerline is valid? [False, False] Translation: X:-56.47, Y:-60.19, Z:-18.15 [[ 8.01310734e-01 -5.49933011e-01 -2.35530871e-01 -5.64705766e+01] [ 5.45012591e-01 8.33401624e-01 -9.16679221e-02 -6.01930749e+01] [ 2.46703027e-01 -5.49128005e-02 9.67534082e-01 -1.81454605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.171652532 meters Centerline goodness : 0.749905 Centerline is valid? [False, False] Translation: X:-56.49, Y:-60.21, Z:-18.15 [[ 0.79963892 -0.54915014 -0.2429233 -56.48528733] [ 0.54538669 0.8334622 -0.08884889 -60.2138045 ] [ 0.25125876 -0.0614401 0.96596799 -18.1457741 ] [ 0. 0. 0. 1. ]] SLAMing on 136.201652532 meters Centerline goodness : 0.748533 Centerline is valid? [False, False] Translation: X:-56.49, Y:-60.22, Z:-18.15 [[ 7.98654930e-01 -5.51740528e-01 -2.40276284e-01 -5.64889623e+01] [ 5.47412624e-01 8.31924376e-01 -9.07813413e-02 -6.02169955e+01] [ 2.49979443e-01 -5.90273054e-02 9.66450234e-01 -1.81458075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.231652532 meters Centerline goodness : 0.747730 Centerline is valid? [False, False] Translation: X:-56.49, Y:-60.22, Z:-18.15 [[ 7.96875570e-01 -5.55280182e-01 -2.38019424e-01 -5.64898043e+01] [ 5.50327488e-01 8.29728237e-01 -9.32239702e-02 -6.02198332e+01] [ 2.49256861e-01 -5.67007276e-02 9.66776109e-01 -1.81453524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.261652532 meters Centerline goodness : 0.747730 Centerline is valid? [False, False] Translation: X:-56.49, Y:-60.22, Z:-18.15 [[ 7.96875570e-01 -5.55280182e-01 -2.38019424e-01 -5.64898043e+01] [ 5.50327488e-01 8.29728237e-01 -9.32239702e-02 -6.02198332e+01] [ 2.49256861e-01 -5.67007276e-02 9.66776109e-01 -1.81453524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.291652532 meters Centerline goodness : 0.746993 Centerline is valid? [False, False] Translation: X:-56.50, Y:-60.24, Z:-18.14 [[ 0.79220503 -0.55961739 -0.2433918 -56.50213618] [ 0.55533059 0.82644846 -0.09268698 -60.24299001] [ 0.25302002 -0.06173582 0.96548928 -18.14400215] [ 0. 0. 0. 1. ]] SLAMing on 136.321652532 meters Centerline goodness : 0.747946 Centerline is valid? [False, False] Translation: X:-56.52, Y:-60.27, Z:-18.14 [[ 0.79063307 -0.55871943 -0.25046345 -56.51768787] [ 0.55583773 0.82650108 -0.08910888 -60.26580583] [ 0.25679518 -0.06876461 0.96401642 -18.14407135] [ 0. 0. 0. 1. ]] SLAMing on 136.351652532 meters Centerline goodness : 0.746248 Centerline is valid? [False, False] Translation: X:-56.53, Y:-60.29, Z:-18.14 [[ 0.7875124 -0.55981123 -0.25775107 -56.52946308] [ 0.55832555 0.82512779 -0.08623634 -60.2887794 ] [ 0.26095365 -0.07599682 0.96235528 -18.14284736] [ 0. 0. 0. 1. ]] SLAMing on 136.381652532 meters Centerline goodness : 0.745692 Centerline is valid? [False, False] Translation: X:-56.54, Y:-60.31, Z:-18.14 [[ 0.78482048 -0.56044615 -0.26449372 -56.54386413] [ 0.5602948 0.82406334 -0.08360234 -60.31020693] [ 0.26481419 -0.08258162 0.96075685 -18.14263599] [ 0. 0. 0. 1. ]] SLAMing on 136.411652532 meters Centerline goodness : 0.744965 Centerline is valid? [False, False] Translation: X:-56.56, Y:-60.33, Z:-18.14 [[ 0.78291272 -0.56015054 -0.27070102 -56.56057191] [ 0.561343 0.82362903 -0.08080379 -60.33287055] [ 0.2682195 -0.08869381 0.95926623 -18.14361933] [ 0. 0. 0. 1. ]] SLAMing on 136.441652532 meters Centerline goodness : 0.744911 Centerline is valid? [False, False] Translation: X:-56.58, Y:-60.36, Z:-18.15 [[ 0.78183201 -0.55870511 -0.27674414 -56.57887349] [ 0.56135001 0.82393845 -0.07753448 -60.35668312] [ 0.27133905 -0.09473138 0.95781057 -18.14544753] [ 0. 0. 0. 1. ]] SLAMing on 136.471652532 meters Centerline goodness : 0.744532 Centerline is valid? [False, False] Translation: X:-56.60, Y:-60.38, Z:-18.15 [[ 0.77981392 -0.55890419 -0.28198646 -56.59644798] [ 0.56263637 0.82322874 -0.07572818 -60.37969703] [ 0.27446415 -0.09960195 0.95642505 -18.14794067] [ 0. 0. 0. 1. ]] SLAMing on 136.501652532 meters Centerline goodness : 0.744812 Centerline is valid? [False, False] Translation: X:-56.61, Y:-60.41, Z:-18.15 [[ 0.77664804 -0.56133421 -0.28587011 -56.61457878] [ 0.56568623 0.82115123 -0.0755629 -60.4054883 ] [ 0.27715863 -0.10302701 0.95528453 -18.14994728] [ 0. 0. 0. 1. ]] SLAMing on 136.531652532 meters Centerline goodness : 0.741804 Centerline is valid? [False, False] Translation: X:-56.64, Y:-60.43, Z:-18.16 [[ 0.77580942 -0.56128759 -0.28822907 -56.63885703] [ 0.5660732 0.82093636 -0.07499752 -60.43438251] [ 0.2787129 -0.10497497 0.95462002 -18.15576292] [ 0. 0. 0. 1. ]] SLAMing on 136.561652532 meters Centerline goodness : 0.741804 Centerline is valid? [False, False] Translation: X:-56.66, Y:-60.46, Z:-18.16 [[ 0.77500532 -0.55976775 -0.29330329 -56.65905733] [ 0.56570795 0.82138424 -0.07281794 -60.45721897] [ 0.28167583 -0.10948971 0.95324222 -18.15997229] [ 0. 0. 0. 1. ]] SLAMing on 136.591652532 meters Centerline goodness : 0.740360 Centerline is valid? [False, False] Translation: X:-56.68, Y:-60.48, Z:-18.17 [[ 0.77379135 -0.55996286 -0.29612251 -56.68191334] [ 0.56648094 0.82091641 -0.07208048 -60.4817987 ] [ 0.28345422 -0.1119725 0.9524263 -18.16602282] [ 0. 0. 0. 1. ]] SLAMing on 136.621652532 meters Centerline goodness : 0.738813 Centerline is valid? [False, False] Translation: X:-56.71, Y:-60.51, Z:-18.17 [[ 0.77379863 -0.55878812 -0.29831445 -56.70860896] [ 0.56575068 0.82149027 -0.07127344 -60.50952231] [ 0.28488917 -0.11362032 0.95180281 -18.17365736] [ 0. 0. 0. 1. ]] SLAMing on 136.651652532 meters Centerline goodness : 0.738592 Centerline is valid? [False, False] Translation: X:-56.72, Y:-60.51, Z:-18.18 [[ 0.77378578 -0.56097781 -0.2942099 -56.71550481] [ 0.56685086 0.82052041 -0.07366378 -60.51224416] [ 0.28272897 -0.10977315 0.95289778 -18.17754121] [ 0. 0. 0. 1. ]] SLAMing on 136.68165253200002 meters Centerline goodness : 0.739233 Centerline is valid? [False, False] Translation: X:-56.74, Y:-60.54, Z:-18.18 [[ 0.77202148 -0.56261856 -0.29570795 -56.74012261] [ 0.56844132 0.81931781 -0.07478495 -60.54039948] [ 0.2843542 -0.11035703 0.95234658 -18.1836871 ] [ 0. 0. 0. 1. ]] SLAMing on 136.71165253200002 meters Centerline goodness : 0.738962 Centerline is valid? [False, False] Translation: X:-56.76, Y:-60.57, Z:-18.19 [[ 0.77206834 -0.56063095 -0.2993383 -56.76375775] [ 0.56749201 0.82018737 -0.0724258 -60.56560029] [ 0.28611764 -0.11395443 0.95139428 -18.18952936] [ 0. 0. 0. 1. ]] SLAMing on 136.74165253200002 meters Centerline goodness : 0.741462 Centerline is valid? [False, False] Translation: X:-56.79, Y:-60.59, Z:-18.20 [[ 0.77303339 -0.557648 -0.30240384 -56.78877219] [ 0.56559906 0.82174627 -0.06950376 -60.59061219] [ 0.28725786 -0.1173106 0.95064249 -18.19742776] [ 0. 0. 0. 1. ]] SLAMing on 136.771652532 meters Centerline goodness : 0.741337 Centerline is valid? [False, False] Translation: X:-56.82, Y:-60.62, Z:-18.21 [[ 0.77441223 -0.55442799 -0.30478729 -56.8152446 ] [ 0.5632147 0.82358048 -0.06711474 -60.61524702] [ 0.28822716 -0.11968621 0.9500528 -18.2069532 ] [ 0. 0. 0. 1. ]] SLAMing on 136.801652532 meters Centerline goodness : 0.741453 Centerline is valid? [False, False] Translation: X:-56.83, Y:-60.63, Z:-18.22 [[ 0.77659811 -0.55419118 -0.29961228 -56.83442945] [ 0.55985822 0.82517264 -0.07515902 -60.62746571] [ 0.28888432 -0.10937205 0.951096 -18.21654626] [ 0. 0. 0. 1. ]] SLAMing on 136.831652532 meters Centerline goodness : 0.739772 Centerline is valid? [False, False] Translation: X:-56.86, Y:-60.65, Z:-18.22 [[ 0.780556 -0.55108947 -0.29501311 -56.85869564] [ 0.55398532 0.82849016 -0.0818799 -60.64607257] [ 0.28953861 -0.09952108 0.95197844 -18.22477066] [ 0. 0. 0. 1. ]] SLAMing on 136.861652532 meters Centerline goodness : 0.740213 Centerline is valid? [False, False] Translation: X:-56.88, Y:-60.67, Z:-18.23 [[ 0.78066603 -0.5498174 -0.29708817 -56.88449176] [ 0.55365874 0.82896078 -0.0792845 -60.67235147] [ 0.28986644 -0.10259075 0.95155272 -18.23093901] [ 0. 0. 0. 1. ]] SLAMing on 136.891652532 meters Centerline goodness : 0.741751 Centerline is valid? [False, False] Translation: X:-56.91, Y:-60.70, Z:-18.24 [[ 0.78148561 -0.54802949 -0.29823467 -56.91149451] [ 0.55301788 0.82973351 -0.07558784 -60.69756931] [ 0.28887967 -0.1058583 0.95149491 -18.23786533] [ 0. 0. 0. 1. ]] SLAMing on 136.921652532 meters Centerline goodness : 0.739389 Centerline is valid? [False, False] Translation: X:-56.92, Y:-60.70, Z:-18.24 [[ 0.7823409 -0.54715618 -0.29759508 -56.91599231] [ 0.55222105 0.83032554 -0.07490929 -60.69835303] [ 0.28808787 -0.10573367 0.95174879 -18.23800012] [ 0. 0. 0. 1. ]] SLAMing on 136.951652532 meters Centerline goodness : 0.740298 Centerline is valid? [False, False] Translation: X:-56.93, Y:-60.70, Z:-18.24 [[ 0.7842329 -0.54658241 -0.29364337 -56.92667888] [ 0.55044901 0.83128641 -0.07725802 -60.70334845] [ 0.28632961 -0.10104742 0.95278789 -18.24391532] [ 0. 0. 0. 1. ]] SLAMing on 136.981652532 meters Centerline goodness : 0.739066 Centerline is valid? [False, False] Translation: X:-56.95, Y:-60.73, Z:-18.25 [[ 0.78485994 -0.54354587 -0.29757817 -56.95156756] [ 0.54849612 0.83282297 -0.07455134 -60.72762211] [ 0.28835201 -0.10470811 0.95178219 -18.25065635] [ 0. 0. 0. 1. ]] SLAMing on 137.011652532 meters Centerline goodness : 0.738219 Centerline is valid? [False, False] Translation: X:-56.97, Y:-60.74, Z:-18.26 [[ 0.78966148 -0.53794294 -0.29504601 -56.97382208] [ 0.54064093 0.83744967 -0.07990895 -60.74058002] [ 0.29007264 -0.09641293 0.95213571 -18.26001811] [ 0. 0. 0. 1. ]] SLAMing on 137.041652532 meters Centerline goodness : 0.737578 Centerline is valid? [False, False] Translation: X:-57.00, Y:-60.76, Z:-18.27 [[ 0.79002648 -0.53479094 -0.29976128 -56.99697263] [ 0.53875549 0.83895103 -0.07683549 -60.76285579] [ 0.29257596 -0.10079596 0.95091508 -18.26618231] [ 0. 0. 0. 1. ]] SLAMing on 137.071652532 meters Centerline goodness : 0.738487 Centerline is valid? [False, False] Translation: X:-57.02, Y:-60.78, Z:-18.27 [[ 0.78954993 -0.53331978 -0.30361312 -57.01979294] [ 0.53814791 0.83949162 -0.07517078 -60.78412301] [ 0.29497074 -0.10403769 0.94982547 -18.27298124] [ 0. 0. 0. 1. ]] SLAMing on 137.101652532 meters Centerline goodness : 0.739046 Centerline is valid? [False, False] Translation: X:-57.06, Y:-60.81, Z:-18.29 [[ 0.79434287 -0.52651098 -0.30299437 -57.05511423] [ 0.53235173 0.84360062 -0.07028247 -60.81085475] [ 0.29261073 -0.1054712 0.95039717 -18.28614019] [ 0. 0. 0. 1. ]] SLAMing on 137.131652532 meters Centerline goodness : 0.742745 Centerline is valid? [False, False] Translation: X:-57.06, Y:-60.81, Z:-18.29 [[ 0.79528206 -0.52552553 -0.30224056 -57.06032009] [ 0.53140569 0.84424784 -0.06966763 -60.81100377] [ 0.29177806 -0.10520693 0.95068242 -18.28648885] [ 0. 0. 0. 1. ]] SLAMing on 137.161652532 meters Centerline goodness : 0.744353 Centerline is valid? [False, False] Translation: X:-57.09, Y:-60.84, Z:-18.30 [[ 0.79612857 -0.52438277 -0.3019967 -57.09006803] [ 0.53052929 0.84489627 -0.068476 -60.83625118] [ 0.29106352 -0.10570239 0.95084648 -18.2969477 ] [ 0. 0. 0. 1. ]] SLAMing on 137.191652532 meters Centerline goodness : 0.743023 Centerline is valid? [False, False] Translation: X:-57.12, Y:-60.86, Z:-18.31 [[ 0.79688353 -0.52325491 -0.30196181 -57.11722242] [ 0.53020662 0.84532694 -0.06559949 -60.85918261] [ 0.28958171 -0.107827 0.95106034 -18.30628748] [ 0. 0. 0. 1. ]] SLAMing on 137.221652532 meters Centerline goodness : 0.744381 Centerline is valid? [False, False] Translation: X:-57.14, Y:-60.88, Z:-18.31 [[ 0.80105503 -0.51792074 -0.30011488 -57.14031094] [ 0.52258161 0.84959977 -0.07133504 -60.87514044] [ 0.29192343 -0.09969122 0.95123203 -18.3132017 ] [ 0. 0. 0. 1. ]] SLAMing on 137.251652532 meters Centerline goodness : 0.745177 Centerline is valid? [False, False] Translation: X:-57.17, Y:-60.90, Z:-18.32 [[ 0.80240236 -0.51497435 -0.30158229 -57.16615443] [ 0.52093841 0.85095735 -0.06704305 -60.89795363] [ 0.29115911 -0.1033103 0.9510801 -18.32208742] [ 0. 0. 0. 1. ]] SLAMing on 137.281652532 meters Centerline goodness : 0.745394 Centerline is valid? [False, False] Translation: X:-57.19, Y:-60.92, Z:-18.33 [[ 0.80073035 -0.51660374 -0.30323503 -57.18928383] [ 0.52312987 0.84968101 -0.06616131 -60.9189924 ] [ 0.29183222 -0.10565394 0.95061622 -18.32830717] [ 0. 0. 0. 1. ]] SLAMing on 137.311652532 meters Centerline goodness : 0.747044 Centerline is valid? [False, False] Translation: X:-57.19, Y:-60.92, Z:-18.33 [[ 0.80111776 -0.51613266 -0.30301389 -57.19176626] [ 0.52272803 0.84995967 -0.06575685 -60.91952166] [ 0.29148885 -0.10571488 0.95071479 -18.32789228] [ 0. 0. 0. 1. ]] SLAMing on 137.341652532 meters Centerline goodness : 0.747897 Centerline is valid? [False, False] Translation: X:-57.23, Y:-60.95, Z:-18.34 [[ 0.80462329 -0.5109249 -0.30255101 -57.2252195 ] [ 0.51856988 0.85284881 -0.06110802 -60.94601533] [ 0.28925187 -0.10772491 0.95117228 -18.33943093] [ 0. 0. 0. 1. ]] SLAMing on 137.371652532 meters Centerline goodness : 0.749059 Centerline is valid? [False, False] Translation: X:-57.23, Y:-60.95, Z:-18.34 [[ 8.06327997e-01 -5.09255882e-01 -3.00821555e-01 -5.72322642e+01] [ 5.16833685e-01 8.53958068e-01 -6.03204754e-02 -6.09470664e+01] [ 2.87607551e-01 -1.06836625e-01 9.51770893e-01 -1.83420177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.401652532 meters Centerline goodness : 0.747921 Centerline is valid? [False, False] Translation: X:-57.24, Y:-60.95, Z:-18.34 [[ 8.06517016e-01 -5.09274760e-01 -3.00282404e-01 -5.72351341e+01] [ 5.16806503e-01 8.53978455e-01 -6.02647191e-02 -6.09473181e+01] [ 2.87126004e-01 -1.06583378e-01 9.51944663e-01 -1.83417342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.43165253200002 meters Centerline goodness : 0.749297 Centerline is valid? [False, False] Translation: X:-57.26, Y:-60.96, Z:-18.35 [[ 0.81107701 -0.50396312 -0.2969432 -57.25708117] [ 0.5093737 0.85808671 -0.06500487 -60.9614611 ] [ 0.28756307 -0.0985311 0.95267996 -18.35043442] [ 0. 0. 0. 1. ]] SLAMing on 137.46165253200002 meters Centerline goodness : 0.747743 Centerline is valid? [False, False] Translation: X:-57.27, Y:-60.97, Z:-18.36 [[ 0.81441975 -0.50117659 -0.2924765 -57.2719574 ] [ 0.50521795 0.86035158 -0.06745361 -60.96997608] [ 0.28543878 -0.09282883 0.95389072 -18.35834312] [ 0. 0. 0. 1. ]] SLAMing on 137.49165253200002 meters Centerline goodness : 0.751311 Centerline is valid? [False, False] Translation: X:-57.28, Y:-60.98, Z:-18.36 [[ 0.81669486 -0.49934301 -0.28925087 -57.28344849] [ 0.50290053 0.86169374 -0.0676384 -60.97516108] [ 0.28302043 -0.09022448 0.95486071 -18.36208614] [ 0. 0. 0. 1. ]] SLAMing on 137.521652532 meters Centerline goodness : 0.749848 Centerline is valid? [False, False] Translation: X:-57.29, Y:-60.98, Z:-18.36 [[ 0.81749194 -0.49835267 -0.28870668 -57.28746467] [ 0.50202622 0.86226263 -0.06687927 -60.97576278] [ 0.28227044 -0.09026506 0.95507885 -18.36217653] [ 0. 0. 0. 1. ]] SLAMing on 137.551652532 meters Centerline goodness : 0.751584 Centerline is valid? [False, False] Translation: X:-57.29, Y:-60.98, Z:-18.36 [[ 0.81772276 -0.49825664 -0.28821834 -57.28999785] [ 0.50193236 0.86233197 -0.06668944 -60.97627049] [ 0.28176834 -0.09013264 0.95523961 -18.36195086] [ 0. 0. 0. 1. ]] SLAMing on 137.581652532 meters Centerline goodness : 0.752151 Centerline is valid? [False, False] Translation: X:-57.30, Y:-60.98, Z:-18.36 [[ 0.81693375 -0.50108541 -0.28553923 -57.29542665] [ 0.50395197 0.86096566 -0.06906915 -60.97696016] [ 0.28044902 -0.08747314 0.95587489 -18.36235052] [ 0. 0. 0. 1. ]] SLAMing on 137.611652532 meters Centerline goodness : 0.751607 Centerline is valid? [False, False] Translation: X:-57.30, Y:-60.98, Z:-18.36 [[ 0.81592599 -0.50425139 -0.28283443 -57.30040104] [ 0.50632104 0.85937623 -0.07149469 -60.9784371 ] [ 0.27911248 -0.08487065 0.95650049 -18.36227714] [ 0. 0. 0. 1. ]] SLAMing on 137.641652532 meters Centerline goodness : 0.754676 Centerline is valid? [False, False] Translation: X:-57.32, Y:-61.00, Z:-18.37 [[ 0.81533548 -0.50347626 -0.28590157 -57.32291315] [ 0.50662999 0.85942608 -0.06865028 -61.00173142] [ 0.28027505 -0.0888733 0.95579675 -18.36745566] [ 0. 0. 0. 1. ]] SLAMing on 137.671652532 meters Centerline goodness : 0.756096 Centerline is valid? [False, False] Translation: X:-57.36, Y:-61.03, Z:-18.38 [[ 0.81965732 -0.49634366 -0.28601548 -57.35744198] [ 0.50077711 0.86328071 -0.0629976 -61.03101488] [ 0.2781801 -0.09159356 0.9561519 -18.37828425] [ 0. 0. 0. 1. ]] SLAMing on 137.701652532 meters Centerline goodness : 0.758947 Centerline is valid? [False, False] Translation: X:-57.36, Y:-61.03, Z:-18.38 [[ 0.81955341 -0.49705601 -0.28507459 -57.36091602] [ 0.50133888 0.86293097 -0.06332039 -61.03110103] [ 0.27747347 -0.09102453 0.95641153 -18.37800968] [ 0. 0. 0. 1. ]] SLAMing on 137.731652532 meters Centerline goodness : 0.760204 Centerline is valid? [False, False] Translation: X:-57.39, Y:-61.05, Z:-18.39 [[ 8.19820040e-01 -4.95251646e-01 -2.87438530e-01 -5.73854523e+01] [ 5.00386647e-01 8.63658481e-01 -6.08870479e-02 -6.10546842e+01] [ 2.78403135e-01 -9.39139801e-02 9.55861841e-01 -1.83855638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.761652532 meters Centerline goodness : 0.762363 Centerline is valid? [False, False] Translation: X:-57.41, Y:-61.07, Z:-18.39 [[ 0.82473034 -0.4873548 -0.28688876 -57.40973903] [ 0.49084444 0.86882815 -0.06487973 -61.07398361] [ 0.28087648 -0.08730948 0.95576433 -18.39122518] [ 0. 0. 0. 1. ]] SLAMing on 137.791652532 meters Centerline goodness : 0.763490 Centerline is valid? [False, False] Translation: X:-57.42, Y:-61.08, Z:-18.39 [[ 0.82481321 -0.48881526 -0.2841528 -57.41620235] [ 0.49166917 0.86824456 -0.06642892 -61.07603042] [ 0.27918559 -0.08491772 0.95647498 -18.39260195] [ 0. 0. 0. 1. ]] SLAMing on 137.821652532 meters Centerline goodness : 0.764325 Centerline is valid? [False, False] Translation: X:-57.44, Y:-61.10, Z:-18.40 [[ 0.82366525 -0.48946899 -0.28634884 -57.43941571] [ 0.49292705 0.86762466 -0.06519489 -61.09892682] [ 0.28035419 -0.08745032 0.95590479 -18.39864117] [ 0. 0. 0. 1. ]] SLAMing on 137.851652532 meters Centerline goodness : 0.768451 Centerline is valid? [False, False] Translation: X:-57.46, Y:-61.11, Z:-18.41 [[ 0.82781639 -0.48514244 -0.28170346 -57.45860777] [ 0.48678443 0.87077961 -0.06916498 -61.11130425] [ 0.27885649 -0.07987295 0.95700542 -18.4081518 ] [ 0. 0. 0. 1. ]] SLAMing on 137.881652532 meters Centerline goodness : 0.769379 Centerline is valid? [False, False] Translation: X:-57.46, Y:-61.11, Z:-18.41 [[ 0.82734189 -0.48706882 -0.27976664 -57.46418417] [ 0.48823435 0.86985484 -0.07056753 -61.11359363] [ 0.27772761 -0.07820821 0.95747107 -18.40717295] [ 0. 0. 0. 1. ]] SLAMing on 137.911652532 meters Centerline goodness : 0.771658 Centerline is valid? [False, False] Translation: X:-57.47, Y:-61.11, Z:-18.41 [[ 0.82615285 -0.49064881 -0.27701121 -57.46842448] [ 0.49098463 0.86808203 -0.07326443 -61.11438733] [ 0.27641556 -0.07548063 0.95806947 -18.40762863] [ 0. 0. 0. 1. ]] SLAMing on 137.941652532 meters Centerline goodness : 0.773255 Centerline is valid? [False, False] Translation: X:-57.47, Y:-61.11, Z:-18.41 [[ 0.82675262 -0.48986165 -0.27661465 -57.47154261] [ 0.49032778 0.86851237 -0.07255986 -61.1149156 ] [ 0.27578753 -0.07564279 0.95823766 -18.40764981] [ 0. 0. 0. 1. ]] SLAMing on 137.971652532 meters Centerline goodness : 0.774581 Centerline is valid? [False, False] Translation: X:-57.47, Y:-61.12, Z:-18.41 [[ 0.82741408 -0.48902036 -0.27612501 -57.47473345] [ 0.48964469 0.86896735 -0.07172046 -61.11578152] [ 0.27501638 -0.07586063 0.95844204 -18.4078105 ] [ 0. 0. 0. 1. ]] SLAMing on 138.001652532 meters Centerline goodness : 0.774752 Centerline is valid? [False, False] Translation: X:-57.49, Y:-61.14, Z:-18.41 [[ 0.82501754 -0.49080272 -0.28010489 -57.49443085] [ 0.49220123 0.86761955 -0.07052854 -61.13914235] [ 0.27764008 -0.07968069 0.95737504 -18.41050303] [ 0. 0. 0. 1. ]] SLAMing on 138.031652532 meters Centerline goodness : 0.774432 Centerline is valid? [False, False] Translation: X:-57.49, Y:-61.14, Z:-18.41 [[ 0.82521877 -0.49045786 -0.28011617 -57.49453396] [ 0.49196744 0.86778787 -0.07008742 -61.14041707] [ 0.27745635 -0.07997058 0.95740414 -18.41042893] [ 0. 0. 0. 1. ]] SLAMing on 138.061652532 meters Centerline goodness : 0.771633 Centerline is valid? [False, False] Translation: X:-57.50, Y:-61.15, Z:-18.42 [[ 0.82350444 -0.49654424 -0.27437976 -57.50337317] [ 0.49943152 0.86394726 -0.06452358 -61.14834196] [ 0.26908845 -0.08389844 0.95945425 -18.42058619] [ 0. 0. 0. 1. ]] SLAMing on 138.091652532 meters Centerline goodness : 0.770720 Centerline is valid? [False, False] Translation: X:-57.51, Y:-61.15, Z:-18.42 [[ 0.82397911 -0.49586815 -0.27417731 -57.50563346] [ 0.49889272 0.86430861 -0.06384895 -61.14908315] [ 0.26863447 -0.08417486 0.95955725 -18.4203626 ] [ 0. 0. 0. 1. ]] SLAMing on 138.121652532 meters Centerline goodness : 0.770844 Centerline is valid? [False, False] Translation: X:-57.51, Y:-61.15, Z:-18.42 [[ 0.82495591 -0.49450811 -0.27369596 -57.50994774] [ 0.49775663 0.86505095 -0.06265141 -61.15052051] [ 0.26774258 -0.08454933 0.95977358 -18.42014621] [ 0. 0. 0. 1. ]] SLAMing on 138.151652532 meters Centerline goodness : 0.768260 Centerline is valid? [False, False] Translation: X:-57.52, Y:-61.15, Z:-18.42 [[ 0.82446561 -0.49635683 -0.27182044 -57.51525662] [ 0.49921251 0.86412996 -0.06376733 -61.15349701] [ 0.26653954 -0.0831222 0.96023298 -18.41888551] [ 0. 0. 0. 1. ]] SLAMing on 138.18165253200002 meters Centerline goodness : 0.767249 Centerline is valid? [False, False] Translation: X:-57.52, Y:-61.16, Z:-18.42 [[ 0.82337037 -0.49935093 -0.26964772 -57.5183706 ] [ 0.50162485 0.86258815 -0.06568256 -61.15737404] [ 0.26539357 -0.08118093 0.96071635 -18.41767681] [ 0. 0. 0. 1. ]] SLAMing on 138.21165253200002 meters Centerline goodness : 0.767249 Centerline is valid? [False, False] Translation: X:-57.52, Y:-61.16, Z:-18.42 [[ 0.82337037 -0.49935093 -0.26964772 -57.5183706 ] [ 0.50162485 0.86258815 -0.06568256 -61.15737404] [ 0.26539357 -0.08118093 0.96071635 -18.41767681] [ 0. 0. 0. 1. ]] SLAMing on 138.24165253200002 meters Centerline goodness : 0.765531 Centerline is valid? [False, False] Translation: X:-57.52, Y:-61.16, Z:-18.42 [[ 0.82255557 -0.50206922 -0.26707458 -57.52265818] [ 0.50370393 0.86122301 -0.06765558 -61.16008637] [ 0.26397856 -0.07887604 0.96129802 -18.41763491] [ 0. 0. 0. 1. ]] SLAMing on 138.271652532 meters Centerline goodness : 0.765307 Centerline is valid? [False, False] Translation: X:-57.53, Y:-61.16, Z:-18.42 [[ 0.82178769 -0.50462217 -0.26461566 -57.52717448] [ 0.50561992 0.85993974 -0.06965738 -61.16211714] [ 0.26270418 -0.07655137 0.96183491 -18.41758791] [ 0. 0. 0. 1. ]] SLAMing on 138.301652532 meters Centerline goodness : 0.763358 Centerline is valid? [False, False] Translation: X:-57.53, Y:-61.17, Z:-18.42 [[ 0.82224976 -0.50376642 -0.26481072 -57.52793612] [ 0.50503203 0.86037085 -0.06859043 -61.16504769] [ 0.26238898 -0.07733943 0.96185791 -18.41667966] [ 0. 0. 0. 1. ]] SLAMing on 138.331652532 meters Centerline goodness : 0.763924 Centerline is valid? [False, False] Translation: X:-57.53, Y:-61.17, Z:-18.42 [[ 0.82103929 -0.50697568 -0.26243122 -57.531093 ] [ 0.50757566 0.85868877 -0.07085575 -61.16725189] [ 0.26126889 -0.07502835 0.96234574 -18.41638143] [ 0. 0. 0. 1. ]] SLAMing on 138.361652532 meters Centerline goodness : 0.758770 Centerline is valid? [False, False] Translation: X:-57.53, Y:-61.17, Z:-18.42 [[ 0.81965381 -0.51042191 -0.26007135 -57.53279898] [ 0.51034043 0.85684693 -0.07325287 -61.1694904 ] [ 0.26023121 -0.07268294 0.96280679 -18.41672998] [ 0. 0. 0. 1. ]] SLAMing on 138.391652532 meters Centerline goodness : 0.758058 Centerline is valid? [False, False] Translation: X:-57.53, Y:-61.17, Z:-18.42 [[ 0.81976995 -0.51004878 -0.26043708 -57.53228243] [ 0.51015191 0.85701352 -0.07261443 -61.17156327] [ 0.260235 -0.07333534 0.96275629 -18.41591262] [ 0. 0. 0. 1. ]] SLAMing on 138.421652532 meters Centerline goodness : 0.757294 Centerline is valid? [False, False] Translation: X:-57.54, Y:-61.17, Z:-18.42 [[ 0.81848648 -0.51330874 -0.25805817 -57.53579755] [ 0.5127721 0.85525638 -0.07484183 -61.17357948] [ 0.25912286 -0.07106801 0.96322618 -18.41538044] [ 0. 0. 0. 1. ]] SLAMing on 138.451652532 meters Centerline goodness : 0.757690 Centerline is valid? [False, False] Translation: X:-57.54, Y:-61.18, Z:-18.41 [[ 0.81720649 -0.51655879 -0.25561803 -57.53967767] [ 0.51539132 0.85348462 -0.07704407 -61.17551786] [ 0.25796385 -0.0687824 0.96370308 -18.41472205] [ 0. 0. 0. 1. ]] SLAMing on 138.481652532 meters Centerline goodness : 0.754961 Centerline is valid? [False, False] Translation: X:-57.54, Y:-61.18, Z:-18.41 [[ 0.81675541 -0.51822934 -0.25367096 -57.54492212] [ 0.51674965 0.85258039 -0.07795177 -61.17980483] [ 0.25667178 -0.06741685 0.96414447 -18.41300596] [ 0. 0. 0. 1. ]] SLAMing on 138.511652532 meters Centerline goodness : 0.756188 Centerline is valid? [False, False] Translation: X:-57.55, Y:-61.18, Z:-18.41 [[ 0.81569019 -0.5210621 -0.25128431 -57.5490687 ] [ 0.51901298 0.85102229 -0.07991611 -61.18235262] [ 0.2554898 -0.06523303 0.96460853 -18.41222422] [ 0. 0. 0. 1. ]] SLAMing on 138.541652532 meters Centerline goodness : 0.756302 Centerline is valid? [False, False] Translation: X:-57.55, Y:-61.18, Z:-18.41 [[ 0.81452429 -0.52405605 -0.24882812 -57.55296041] [ 0.52139529 0.84935896 -0.08207503 -61.1844687 ] [ 0.25435631 -0.0628857 0.96506386 -18.41167311] [ 0. 0. 0. 1. ]] SLAMing on 138.571652532 meters Centerline goodness : 0.755256 Centerline is valid? [False, False] Translation: X:-57.55, Y:-61.19, Z:-18.41 [[ 8.12758978e-01 -5.27871443e-01 -2.46525016e-01 -5.75544696e+01] [ 5.24495232e-01 8.47177007e-01 -8.48284739e-02 -6.11862007e+01] [ 2.53628854e-01 -6.03560914e-02 9.65416774e-01 -1.84112936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.601652532 meters Centerline goodness : 0.751914 Centerline is valid? [False, False] Translation: X:-57.56, Y:-61.20, Z:-18.41 [[ 8.11125091e-01 -5.26608341e-01 -2.54479356e-01 -5.75629422e+01] [ 5.21632799e-01 8.48144641e-01 -9.24656187e-02 -6.11987520e+01] [ 2.64528468e-01 -5.77435953e-02 9.62647582e-01 -1.84073428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.631652532 meters Centerline goodness : 0.750023 Centerline is valid? [False, False] Translation: X:-57.58, Y:-61.22, Z:-18.41 [[ 0.80999974 -0.52401422 -0.26326699 -57.57598838] [ 0.52103083 0.84909322 -0.08699185 -61.21832397] [ 0.26912319 -0.06670684 0.96079285 -18.40723896] [ 0. 0. 0. 1. ]] SLAMing on 138.661652532 meters Centerline goodness : 0.749279 Centerline is valid? [False, False] Translation: X:-57.59, Y:-61.24, Z:-18.41 [[ 0.80918883 -0.5209929 -0.27162444 -57.59055109] [ 0.52007824 0.85022721 -0.08143904 -61.23761928] [ 0.27337165 -0.0753664 0.95895143 -18.40792556] [ 0. 0. 0. 1. ]] SLAMing on 138.691652532 meters Centerline goodness : 0.749643 Centerline is valid? [False, False] Translation: X:-57.61, Y:-61.26, Z:-18.41 [[ 0.80874446 -0.51854145 -0.27757369 -57.61073374] [ 0.51918907 0.8511531 -0.07733759 -61.2601847 ] [ 0.27636046 -0.08156688 0.95758642 -18.4107669 ] [ 0. 0. 0. 1. ]] SLAMing on 138.721652532 meters Centerline goodness : 0.746532 Centerline is valid? [False, False] Translation: X:-57.61, Y:-61.26, Z:-18.41 [[ 0.80898888 -0.51817661 -0.27754279 -57.61183632] [ 0.51891407 0.85135589 -0.0769503 -61.26097845] [ 0.27616153 -0.08176892 0.95762657 -18.41038147] [ 0. 0. 0. 1. ]] SLAMing on 138.751652532 meters Centerline goodness : 0.747047 Centerline is valid? [False, False] Translation: X:-57.63, Y:-61.29, Z:-18.42 [[ 0.80894429 -0.5163636 -0.28102984 -57.63376536] [ 0.51809348 0.85209092 -0.07429805 -61.28517775] [ 0.27782779 -0.08549674 0.9568187 -18.41657203] [ 0. 0. 0. 1. ]] SLAMing on 138.781652532 meters Centerline goodness : 0.743437 Centerline is valid? [False, False] Translation: X:-57.65, Y:-61.30, Z:-18.42 [[ 0.811648 -0.51451924 -0.27658176 -57.65448212] [ 0.51362799 0.85412131 -0.08162766 -61.3019006 ] [ 0.27823338 -0.0758072 0.95751734 -18.42379869] [ 0. 0. 0. 1. ]] SLAMing on 138.811652532 meters Centerline goodness : 0.743284 Centerline is valid? [False, False] Translation: X:-57.67, Y:-61.32, Z:-18.43 [[ 0.8103696 -0.51357921 -0.28202393 -57.67204701] [ 0.51397251 0.85419145 -0.07867159 -61.32273288] [ 0.28130653 -0.08119948 0.95617639 -18.42738059] [ 0. 0. 0. 1. ]] SLAMing on 138.841652532 meters Centerline goodness : 0.742169 Centerline is valid? [False, False] Translation: X:-57.67, Y:-61.32, Z:-18.43 [[ 0.81075162 -0.51305848 -0.28187373 -57.67357315] [ 0.51355545 0.85448761 -0.07817756 -61.32378357] [ 0.28096727 -0.0813752 0.95626119 -18.42713835] [ 0. 0. 0. 1. ]] SLAMing on 138.871652532 meters Centerline goodness : 0.740496 Centerline is valid? [False, False] Translation: X:-57.69, Y:-61.35, Z:-18.43 [[ 0.80983169 -0.51180744 -0.28675039 -57.69278924] [ 0.51364944 0.85472274 -0.07492182 -61.34662352] [ 0.28343763 -0.08661511 0.95507117 -18.43090692] [ 0. 0. 0. 1. ]] SLAMing on 138.901652532 meters Centerline goodness : 0.739216 Centerline is valid? [False, False] Translation: X:-57.71, Y:-61.37, Z:-18.44 [[ 0.80952686 -0.51008616 -0.29065166 -57.71366748] [ 0.51317191 0.85528493 -0.07170976 -61.37116428] [ 0.28516814 -0.09110329 0.954138 -18.43663618] [ 0. 0. 0. 1. ]] SLAMing on 138.93165253200002 meters Centerline goodness : 0.738585 Centerline is valid? [False, False] Translation: X:-57.74, Y:-61.40, Z:-18.44 [[ 0.80883968 -0.50984758 -0.29297409 -57.73609408] [ 0.51367193 0.85512695 -0.06999313 -61.39632758] [ 0.28621587 -0.09387935 0.953555 -18.44325279] [ 0. 0. 0. 1. ]] SLAMing on 138.96165253200002 meters Centerline goodness : 0.737656 Centerline is valid? [False, False] Translation: X:-57.75, Y:-61.42, Z:-18.45 [[ 0.80645594 -0.51159181 -0.29648377 -57.75436898] [ 0.51608288 0.8537265 -0.06935078 -61.41780981] [ 0.28859534 -0.09708185 0.95251658 -18.44825143] [ 0. 0. 0. 1. ]] SLAMing on 138.991652532 meters Centerline goodness : 0.738386 Centerline is valid? [False, False] Translation: X:-57.76, Y:-61.42, Z:-18.45 [[ 0.80499465 -0.51516606 -0.29425761 -57.75596101] [ 0.51890575 0.85181577 -0.07174062 -61.42044206] [ 0.2876116 -0.09494115 0.95302977 -18.4480045 ] [ 0. 0. 0. 1. ]] SLAMing on 139.021652532 meters Centerline goodness : 0.736564 Centerline is valid? [False, False] Translation: X:-57.76, Y:-61.42, Z:-18.45 [[ 0.80394162 -0.51820144 -0.29179641 -57.75975485] [ 0.52122242 0.85021871 -0.07386028 -61.42252888] [ 0.28636527 -0.09271148 0.95362441 -18.44793754] [ 0. 0. 0. 1. ]] SLAMing on 139.051652532 meters Centerline goodness : 0.736049 Centerline is valid? [False, False] Translation: X:-57.78, Y:-61.45, Z:-18.45 [[ 0.8025814 -0.51744548 -0.2968388 -57.77758171] [ 0.52178502 0.85010774 -0.0711142 -61.44528977] [ 0.28914268 -0.0978111 0.95227596 -18.45162159] [ 0. 0. 0. 1. ]] SLAMing on 139.081652532 meters Centerline goodness : 0.734535 Centerline is valid? [False, False] Translation: X:-57.80, Y:-61.47, Z:-18.45 [[ 0.80016654 -0.51940837 -0.29991408 -57.79679931] [ 0.52466253 0.84845897 -0.06961759 -61.47131934] [ 0.29062475 -0.10164801 0.95142259 -18.45484069] [ 0. 0. 0. 1. ]] SLAMing on 139.111652532 meters Centerline goodness : 0.733239 Centerline is valid? [False, False] Translation: X:-57.81, Y:-61.49, Z:-18.46 [[ 0.79782902 -0.5208486 -0.30362081 -57.81485735] [ 0.52695714 0.84712567 -0.06851481 -61.49497352] [ 0.29289083 -0.10533206 0.95032632 -18.45874878] [ 0. 0. 0. 1. ]] SLAMing on 139.141652532 meters Centerline goodness : 0.735418 Centerline is valid? [False, False] Translation: X:-57.83, Y:-61.52, Z:-18.46 [[ 0.79494228 -0.52330208 -0.30695555 -57.83222221] [ 0.53006886 0.84520976 -0.06817235 -61.52240801] [ 0.29511655 -0.1085145 0.94927911 -18.46232706] [ 0. 0. 0. 1. ]] SLAMing on 139.171652532 meters Centerline goodness : 0.735550 Centerline is valid? [False, False] Translation: X:-57.85, Y:-61.55, Z:-18.47 [[ 0.79220624 -0.52527909 -0.31063026 -57.84963362] [ 0.53262837 0.84359983 -0.06816411 -61.54535544] [ 0.29785281 -0.11145045 0.94808359 -18.46732401] [ 0. 0. 0. 1. ]] SLAMing on 139.201652532 meters Centerline goodness : 0.731436 Centerline is valid? [False, False] Translation: X:-57.86, Y:-61.57, Z:-18.47 [[ 0.78837769 -0.52847337 -0.31492302 -57.86423757] [ 0.5367403 0.84103023 -0.06766098 -61.56983165] [ 0.30061681 -0.11568947 0.94670242 -18.4696281 ] [ 0. 0. 0. 1. ]] SLAMing on 139.231652532 meters Centerline goodness : 0.729895 Centerline is valid? [False, False] Translation: X:-57.88, Y:-61.59, Z:-18.47 [[ 0.7856328 -0.53027025 -0.31873902 -57.88131647] [ 0.53935436 0.83940399 -0.0670658 -61.59269599] [ 0.30311381 -0.11922418 0.94546688 -18.47413429] [ 0. 0. 0. 1. ]] SLAMing on 139.261652532 meters Centerline goodness : 0.729773 Centerline is valid? [False, False] Translation: X:-57.90, Y:-61.62, Z:-18.48 [[ 0.78246373 -0.53265099 -0.32254215 -57.89792274] [ 0.54254443 0.83737624 -0.06668258 -61.61633616] [ 0.30560768 -0.12281675 0.94420336 -18.47795269] [ 0. 0. 0. 1. ]] SLAMing on 139.291652532 meters Centerline goodness : 0.734192 Centerline is valid? [False, False] Translation: X:-57.91, Y:-61.64, Z:-18.48 [[ 0.77827197 -0.53615806 -0.32684442 -57.91227322] [ 0.54684976 0.83455601 -0.06687002 -61.63724506] [ 0.30862288 -0.12669173 0.94270946 -18.48074329] [ 0. 0. 0. 1. ]] SLAMing on 139.321652532 meters Centerline goodness : 0.732366 Centerline is valid? [False, False] Translation: X:-57.93, Y:-61.66, Z:-18.49 [[ 0.77514337 -0.53848184 -0.33043921 -57.92910454] [ 0.54988827 0.83256178 -0.06681155 -61.66049445] [ 0.31108786 -0.12991612 0.94145958 -18.48524026] [ 0. 0. 0. 1. ]] SLAMing on 139.351652532 meters Centerline goodness : 0.727840 Centerline is valid? [False, False] Translation: X:-57.95, Y:-61.68, Z:-18.49 [[ 0.77192387 -0.54090881 -0.33399282 -57.94552381] [ 0.55300868 0.83048696 -0.06687901 -61.6831042 ] [ 0.31355212 -0.13307542 0.94019998 -18.49010032] [ 0. 0. 0. 1. ]] SLAMing on 139.381652532 meters Centerline goodness : 0.734965 Centerline is valid? [False, False] Translation: X:-57.96, Y:-61.71, Z:-18.50 [[ 0.76920817 -0.54264843 -0.33741884 -57.96342653] [ 0.55546054 0.82886121 -0.06672848 -61.70724645] [ 0.31588349 -0.13609475 0.9389866 -18.49525073] [ 0. 0. 0. 1. ]] SLAMing on 139.411652532 meters Centerline goodness : 0.732529 Centerline is valid? [False, False] Translation: X:-57.98, Y:-61.74, Z:-18.50 [[ 0.76584559 -0.54572684 -0.34009227 -57.98117001] [ 0.5587773 0.82652659 -0.06798335 -61.73585824] [ 0.31819564 -0.13797109 0.93793151 -18.50013152] [ 0. 0. 0. 1. ]] SLAMing on 139.441652532 meters Centerline goodness : 0.731329 Centerline is valid? [False, False] Translation: X:-58.00, Y:-61.76, Z:-18.50 [[ 0.76299556 -0.54736244 -0.343849 -57.99862885] [ 0.56125792 0.82487046 -0.06766286 -61.75968901] [ 0.32066699 -0.14136151 0.93658401 -18.50494511] [ 0. 0. 0. 1. ]] SLAMing on 139.471652532 meters Centerline goodness : 0.731782 Centerline is valid? [False, False] Translation: X:-58.02, Y:-61.78, Z:-18.51 [[ 0.76003293 -0.54940016 -0.34714466 -58.01632562] [ 0.56386927 0.82305472 -0.06806149 -61.78349272] [ 0.32311205 -0.14401523 0.93533856 -18.51058947] [ 0. 0. 0. 1. ]] SLAMing on 139.501652532 meters Centerline goodness : 0.727033 Centerline is valid? [False, False] Translation: X:-58.04, Y:-61.81, Z:-18.52 [[ 0.75657963 -0.55338312 -0.34835956 -58.03639238] [ 0.56758183 0.82030253 -0.07038913 -61.81374799] [ 0.32471238 -0.14446757 0.93471439 -18.51686396] [ 0. 0. 0. 1. ]] SLAMing on 139.531652532 meters Centerline goodness : 0.726392 Centerline is valid? [False, False] Translation: X:-58.05, Y:-61.84, Z:-18.52 [[ 0.75315884 -0.5559381 -0.35168821 -58.05326316] [ 0.57062269 0.81811686 -0.07123586 -61.8385622 ] [ 0.32732478 -0.14702935 0.93340284 -18.52174743] [ 0. 0. 0. 1. ]] SLAMing on 139.561652532 meters Centerline goodness : 0.727963 Centerline is valid? [False, False] Translation: X:-58.07, Y:-61.87, Z:-18.53 [[ 0.75075516 -0.55761038 -0.35417137 -58.07260715] [ 0.57266865 0.81663627 -0.07180399 -61.86501088] [ 0.32926784 -0.14891563 0.93241988 -18.5285951 ] [ 0. 0. 0. 1. ]] SLAMing on 139.591652532 meters Centerline goodness : 0.727914 Centerline is valid? [False, False] Translation: X:-58.09, Y:-61.89, Z:-18.54 [[ 0.74849655 -0.55903591 -0.35669563 -58.09210493] [ 0.57448739 0.81531426 -0.07229728 -61.89081438] [ 0.3312358 -0.15080288 0.93141899 -18.5360532 ] [ 0. 0. 0. 1. ]] SLAMing on 139.621652532 meters Centerline goodness : 0.731994 Centerline is valid? [False, False] Translation: X:-58.11, Y:-61.92, Z:-18.54 [[ 0.74438699 -0.56239762 -0.35999573 -58.1076703 ] [ 0.57843489 0.81244157 -0.07315585 -61.91671303] [ 0.33361818 -0.15377783 0.93008134 -18.54047944] [ 0. 0. 0. 1. ]] SLAMing on 139.651652532 meters Centerline goodness : 0.734236 Centerline is valid? [False, False] Translation: X:-58.13, Y:-61.94, Z:-18.55 [[ 0.74203983 -0.56374119 -0.3627296 -58.12719479] [ 0.58020735 0.81112837 -0.07368989 -61.9425434 ] [ 0.33576229 -0.15577755 0.92897634 -18.54764315] [ 0. 0. 0. 1. ]] SLAMing on 139.68165253200002 meters Centerline goodness : 0.732230 Centerline is valid? [False, False] Translation: X:-58.14, Y:-61.97, Z:-18.55 [[ 0.73864215 -0.56639589 -0.36551808 -58.14436958] [ 0.5832851 0.80883147 -0.07463342 -61.96709377] [ 0.33791459 -0.15807386 0.9278073 -18.55392676] [ 0. 0. 0. 1. ]] SLAMing on 139.71165253200002 meters Centerline goodness : 0.736426 Centerline is valid? [False, False] Translation: X:-58.16, Y:-61.99, Z:-18.56 [[ 0.73531992 -0.56891697 -0.36829078 -58.16175921] [ 0.58612847 0.80666085 -0.07583981 -61.99229274] [ 0.34023231 -0.16009919 0.92661223 -18.56027795] [ 0. 0. 0. 1. ]] SLAMing on 139.741652532 meters Centerline goodness : 0.737385 Centerline is valid? [False, False] Translation: X:-58.18, Y:-62.02, Z:-18.57 [[ 0.73231401 -0.57292602 -0.36806517 -58.18287065] [ 0.58939912 0.80399009 -0.07879477 -62.02455729] [ 0.34106432 -0.15923477 0.9264553 -18.56960435] [ 0. 0. 0. 1. ]] SLAMing on 139.771652532 meters Centerline goodness : 0.737257 Centerline is valid? [False, False] Translation: X:-58.20, Y:-62.05, Z:-18.58 [[ 0.72969406 -0.57473296 -0.37044379 -58.20161103] [ 0.59151238 0.80234999 -0.07967178 -62.05073247] [ 0.34301557 -0.16098606 0.92543169 -18.57721629] [ 0. 0. 0. 1. ]] SLAMing on 139.801652532 meters Centerline goodness : 0.733607 Centerline is valid? [False, False] Translation: X:-58.12, Y:-61.99, Z:-18.51 [[ 7.33654532e-01 -5.56804593e-01 -3.89512096e-01 -5.81152446e+01] [ 5.89990772e-01 8.06347526e-01 -4.14071911e-02 -6.19927616e+01] [ 3.37137829e-01 -1.99429969e-01 9.20090089e-01 -1.85096456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.831652532 meters Centerline goodness : 0.737133 Centerline is valid? [False, False] Translation: X:-58.22, Y:-62.10, Z:-18.56 [[ 7.31542945e-01 -5.65825457e-01 -3.80376749e-01 -5.82214674e+01] [ 5.93957633e-01 8.02819052e-01 -5.19220503e-02 -6.21007250e+01] [ 3.34752519e-01 -1.87944464e-01 9.23372963e-01 -1.85633824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.861652532 meters Centerline goodness : 0.740951 Centerline is valid? [False, False] Translation: X:-58.24, Y:-62.13, Z:-18.57 [[ 7.25630963e-01 -5.73150243e-01 -3.80734165e-01 -5.82366636e+01] [ 6.00449144e-01 7.97670229e-01 -5.64183538e-02 -6.21283378e+01] [ 3.36036502e-01 -1.87672599e-01 9.22961790e-01 -1.85695916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.891652532 meters Centerline goodness : 0.736314 Centerline is valid? [False, False] Translation: X:-58.25, Y:-62.15, Z:-18.58 [[ 7.22528776e-01 -5.75609517e-01 -3.82917551e-01 -5.82544923e+01] [ 6.03135280e-01 7.95540874e-01 -5.78148024e-02 -6.21531415e+01] [ 3.37905314e-01 -1.89178226e-01 9.21971582e-01 -1.85774486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.921652532 meters Centerline goodness : 0.738540 Centerline is valid? [False, False] Translation: X:-58.27, Y:-62.18, Z:-18.59 [[ 7.19762045e-01 -5.77546043e-01 -3.85205357e-01 -5.82728239e+01] [ 6.05394251e-01 7.93744277e-01 -5.88882319e-02 -6.21779165e+01] [ 3.39765213e-01 -1.90815594e-01 9.20950058e-01 -1.85857985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.951652532 meters Centerline goodness : 0.735503 Centerline is valid? [False, False] Translation: X:-58.31, Y:-62.22, Z:-18.60 [[ 7.13112106e-01 -5.85800953e-01 -3.85108255e-01 -5.83053546e+01] [ 6.14762007e-01 7.86569063e-01 -5.81100948e-02 -6.22222567e+01] [ 3.36955188e-01 -1.95310912e-01 9.21040091e-01 -1.86015502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.981652532 meters Centerline goodness : 0.735814 Centerline is valid? [False, False] Translation: X:-58.39, Y:-62.33, Z:-18.64 [[ 7.22001754e-01 -5.80731103e-01 -3.76118138e-01 -5.83857506e+01] [ 6.13796813e-01 7.88490887e-01 -3.91866415e-02 -6.23258992e+01] [ 3.19322626e-01 -2.02567291e-01 9.25742704e-01 -1.86441132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.011652532 meters Centerline goodness : 0.735065 Centerline is valid? [False, False] Translation: X:-58.46, Y:-62.42, Z:-18.69 [[ 7.28202157e-01 -5.79120498e-01 -3.66525671e-01 -5.84607185e+01] [ 6.13676888e-01 7.89077215e-01 -2.75286485e-02 -6.24197836e+01] [ 3.05159461e-01 -2.04881912e-01 9.30000594e-01 -1.86854421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.041652532 meters Centerline goodness : 0.731772 Centerline is valid? [False, False] Translation: X:-58.53, Y:-62.51, Z:-18.72 [[ 7.31475720e-01 -5.79794109e-01 -3.58862178e-01 -5.85255291e+01] [ 6.16836331e-01 7.86964314e-01 -1.41460261e-02 -6.25095632e+01] [ 2.90613510e-01 -2.11011754e-01 9.33283358e-01 -1.87166542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.071652532 meters Centerline goodness : 0.731772 Centerline is valid? [False, False] Translation: X:-58.58, Y:-62.58, Z:-18.74 [[ 7.42894173e-01 -5.69751425e-01 -3.51413661e-01 -5.85841316e+01] [ 6.10710073e-01 7.91820987e-01 7.26158085e-03 -6.25781430e+01] [ 2.74119416e-01 -2.20006449e-01 9.36192132e-01 -1.87362788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.101652532 meters Centerline goodness : 0.732694 Centerline is valid? [False, False] Translation: X:-58.62, Y:-62.63, Z:-18.76 [[ 7.46394795e-01 -5.69159675e-01 -3.44894293e-01 -5.86236246e+01] [ 6.10834802e-01 7.91604711e-01 1.55828524e-02 -6.26303965e+01] [ 2.64150816e-01 -2.22304397e-01 9.38512174e-01 -1.87562713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.131652532 meters Centerline goodness : 0.732585 Centerline is valid? [False, False] Translation: X:-58.66, Y:-62.68, Z:-18.77 [[ 7.53664116e-01 -5.63660905e-01 -3.38048494e-01 -5.86626292e+01] [ 6.08428761e-01 7.92860315e-01 3.44523403e-02 -6.26841076e+01] [ 2.48605798e-01 -2.31643919e-01 9.40497874e-01 -1.87676155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.161652532 meters Centerline goodness : 0.731254 Centerline is valid? [False, False] Translation: X:-58.70, Y:-62.73, Z:-18.78 [[ 7.59773405e-01 -5.59146873e-01 -3.31811915e-01 -5.86968936e+01] [ 6.06357120e-01 7.93542773e-01 5.11948271e-02 -6.27311934e+01] [ 2.34681519e-01 -2.40092985e-01 9.41955383e-01 -1.87752609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.191652532 meters Centerline goodness : 0.727382 Centerline is valid? [False, False] Translation: X:-58.72, Y:-62.78, Z:-18.79 [[ 7.60159090e-01 -5.61621940e-01 -3.26709280e-01 -5.87235099e+01] [ 6.10054778e-01 7.89973835e-01 6.14370282e-02 -6.27782868e+01] [ 2.23587400e-01 -2.46012473e-01 9.43125940e-01 -1.87859523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.221652532 meters Centerline goodness : 0.725191 Centerline is valid? [False, False] Translation: X:-58.76, Y:-62.82, Z:-18.79 [[ 0.76619382 -0.55710041 -0.32029075 -58.75733727] [ 0.6078836 0.78997349 0.08012124 -62.82385659] [ 0.20838562 -0.25608789 0.94392501 -18.79011255] [ 0. 0. 0. 1. ]] SLAMing on 140.251652532 meters Centerline goodness : 0.721354 Centerline is valid? [False, False] Translation: X:-58.78, Y:-62.86, Z:-18.79 [[ 0.77053912 -0.55442298 -0.31445926 -58.78375216] [ 0.60678507 0.7890978 0.09558526 -62.86066186] [ 0.19514444 -0.26446136 0.94444631 -18.7937782 ] [ 0. 0. 0. 1. ]] SLAMing on 140.281652532 meters Centerline goodness : 0.719865 Centerline is valid? [False, False] Translation: X:-58.81, Y:-62.90, Z:-18.80 [[ 0.77253193 -0.55552064 -0.30755689 -58.8055025 ] [ 0.60893738 0.78543109 0.11087506 -62.90214122] [ 0.17997136 -0.27293742 0.94504787 -18.80258011] [ 0. 0. 0. 1. ]] SLAMing on 140.311652532 meters Centerline goodness : 0.721338 Centerline is valid? [False, False] Translation: X:-58.83, Y:-62.94, Z:-18.81 [[ 0.7792608 -0.55154849 -0.29756828 -58.83191286] [ 0.60566735 0.78477686 0.13150036 -62.93784641] [ 0.16099587 -0.28270047 0.94560075 -18.80562252] [ 0. 0. 0. 1. ]] SLAMing on 140.341652532 meters Centerline goodness : 0.722761 Centerline is valid? [False, False] Translation: X:-58.86, Y:-62.97, Z:-18.82 [[ 0.77407803 -0.56045428 -0.2944388 -58.86155892] [ 0.61137537 0.78252469 0.11779332 -62.96799648] [ 0.16438786 -0.27119385 0.94838311 -18.81827113] [ 0. 0. 0. 1. ]] SLAMing on 140.371652532 meters Centerline goodness : 0.721041 Centerline is valid? [False, False] Translation: X:-58.90, Y:-62.99, Z:-18.83 [[ 0.77242702 -0.56607846 -0.28794387 -58.90050992] [ 0.61117554 0.7858146 0.0946566 -62.99461081] [ 0.17268743 -0.24909957 0.95295774 -18.83370202] [ 0. 0. 0. 1. ]] SLAMing on 140.401652532 meters Centerline goodness : 0.722752 Centerline is valid? [False, False] Translation: X:-58.92, Y:-63.01, Z:-18.85 [[ 0.77214074 -0.57066815 -0.27952913 -58.9224979 ] [ 0.61096922 0.78763262 0.07969607 -63.0104939 ] [ 0.17468625 -0.23232028 0.95682391 -18.8469042 ] [ 0. 0. 0. 1. ]] SLAMing on 140.43165253200002 meters Centerline goodness : 0.722045 Centerline is valid? [False, False] Translation: X:-58.94, Y:-63.02, Z:-18.86 [[ 0.77291819 -0.57259494 -0.27337248 -58.93567957] [ 0.60980182 0.78939571 0.07068351 -63.01902098] [ 0.17532605 -0.22133561 0.95930773 -18.85756545] [ 0. 0. 0. 1. ]] SLAMing on 140.46165253200002 meters Centerline goodness : 0.724110 Centerline is valid? [False, False] Translation: X:-58.96, Y:-63.03, Z:-18.87 [[ 7.74856930e-01 -5.73039991e-01 -2.66874327e-01 -5.89588516e+01] [ 6.06582444e-01 7.92845965e-01 5.87623581e-02 -6.30324118e+01] [ 1.77917052e-01 -2.07413702e-01 9.61938189e-01 -1.88708525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.491652532 meters Centerline goodness : 0.724827 Centerline is valid? [False, False] Translation: X:-58.99, Y:-63.05, Z:-18.88 [[ 7.75753979e-01 -5.71823379e-01 -2.66877850e-01 -5.89916243e+01] [ 6.02441555e-01 7.96975045e-01 4.35310379e-02 -6.30504271e+01] [ 1.87802921e-01 -1.94547683e-01 9.62746728e-01 -1.88827458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.521652532 meters Centerline goodness : 0.724372 Centerline is valid? [False, False] Translation: X:-59.01, Y:-63.06, Z:-18.89 [[ 7.77294992e-01 -5.72232419e-01 -2.61462338e-01 -5.90117337e+01] [ 5.99739576e-01 7.99507857e-01 3.31606221e-02 -6.30609256e+01] [ 1.90065610e-01 -1.82584897e-01 9.64643882e-01 -1.88946314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.551652532 meters Centerline goodness : 0.729746 Centerline is valid? [False, False] Translation: X:-59.03, Y:-63.07, Z:-18.91 [[ 7.78895786e-01 -5.72523728e-01 -2.56003780e-01 -5.90314726e+01] [ 5.97031108e-01 8.01883880e-01 2.31538219e-02 -6.30706936e+01] [ 1.92029192e-01 -1.70876635e-01 9.66398450e-01 -1.89064383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.581652532 meters Centerline goodness : 0.729535 Centerline is valid? [False, False] Translation: X:-59.01, Y:-63.06, Z:-18.90 [[ 7.79350051e-01 -5.68141476e-01 -2.64251323e-01 -5.90125556e+01] [ 5.92544306e-01 8.05378770e-01 1.60088193e-02 -6.30589608e+01] [ 2.03727131e-01 -1.69057091e-01 9.64320982e-01 -1.88980644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.611652532 meters Centerline goodness : 0.732329 Centerline is valid? [False, False] Translation: X:-59.04, Y:-63.07, Z:-18.91 [[ 7.81671426e-01 -5.64571612e-01 -2.65044670e-01 -5.90394616e+01] [ 5.86539913e-01 8.09907007e-01 4.64444700e-03 -6.30728118e+01] [ 2.12039412e-01 -1.59089709e-01 9.64224949e-01 -1.89076072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.641652532 meters Centerline goodness : 0.733009 Centerline is valid? [False, False] Translation: X:-59.06, Y:-63.08, Z:-18.92 [[ 7.83543300e-01 -5.64689525e-01 -2.59201924e-01 -5.90593486e+01] [ 5.83589830e-01 8.12033598e-01 -4.93424552e-03 -6.30814713e+01] [ 2.13266987e-01 -1.47401411e-01 9.65810549e-01 -1.89198357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.671652532 meters Centerline goodness : 0.736037 Centerline is valid? [False, False] Translation: X:-59.04, Y:-63.07, Z:-18.91 [[ 7.85133241e-01 -5.58273460e-01 -2.68135297e-01 -5.90430709e+01] [ 5.76963182e-01 8.16696213e-01 -1.09901525e-02 -6.30684279e+01] [ 2.25120592e-01 -1.46075460e-01 9.63318576e-01 -1.89119114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.701652532 meters Centerline goodness : 0.738199 Centerline is valid? [False, False] Translation: X:-59.07, Y:-63.08, Z:-18.92 [[ 7.87996441e-01 -5.56605648e-01 -2.63157294e-01 -5.90651893e+01] [ 5.72388128e-01 8.19741664e-01 -1.98855680e-02 -6.30777730e+01] [ 2.26789418e-01 -1.34958354e-01 9.64547978e-01 -1.89237023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.731652532 meters Centerline goodness : 0.738623 Centerline is valid? [False, False] Translation: X:-59.08, Y:-63.08, Z:-18.93 [[ 7.90851116e-01 -5.54640383e-01 -2.58705542e-01 -5.90801998e+01] [ 5.68566442e-01 8.22264182e-01 -2.47753293e-02 -6.30831456e+01] [ 2.26465699e-01 -1.27497693e-01 9.65638455e-01 -1.89341350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.761652532 meters Centerline goodness : 0.739728 Centerline is valid? [False, False] Translation: X:-59.09, Y:-63.09, Z:-18.94 [[ 7.92395575e-01 -5.54139812e-01 -2.55026119e-01 -5.90897563e+01] [ 5.66751525e-01 8.23406152e-01 -2.81960527e-02 -6.30854960e+01] [ 2.25614631e-01 -1.22194014e-01 9.66522975e-01 -1.89410050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.791652532 meters Centerline goodness : 0.739661 Centerline is valid? [False, False] Translation: X:-59.11, Y:-63.09, Z:-18.95 [[ 7.95015118e-01 -5.52828376e-01 -2.49663269e-01 -5.91091366e+01] [ 5.62986538e-01 8.25699133e-01 -3.55963533e-02 -6.30939238e+01] [ 2.25825419e-01 -1.12257421e-01 9.67678227e-01 -1.89513261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.821652532 meters Centerline goodness : 0.736355 Centerline is valid? [False, False] Translation: X:-59.14, Y:-63.11, Z:-18.96 [[ 8.00285169e-01 -5.45427396e-01 -2.49103602e-01 -5.91433625e+01] [ 5.53157756e-01 8.31893882e-01 -4.43741690e-02 -6.31109482e+01] [ 2.31430650e-01 -1.02281600e-01 9.67459730e-01 -1.89599325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.851652532 meters Centerline goodness : 0.734235 Centerline is valid? [False, False] Translation: X:-59.16, Y:-63.12, Z:-18.97 [[ 8.02915715e-01 -5.43672283e-01 -2.44431593e-01 -5.91647447e+01] [ 5.48918506e-01 8.34230637e-01 -5.24186758e-02 -6.31196679e+01] [ 2.32410905e-01 -9.20852462e-02 9.68248666e-01 -1.89696889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.881652532 meters Centerline goodness : 0.734537 Centerline is valid? [False, False] Translation: X:-59.18, Y:-63.13, Z:-18.98 [[ 8.06310141e-01 -5.40103226e-01 -2.41148216e-01 -5.91845423e+01] [ 5.43313897e-01 8.37452801e-01 -5.90153828e-02 -6.31307216e+01] [ 2.33824648e-01 -8.34344753e-02 9.68692274e-01 -1.89775576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.911652532 meters Centerline goodness : 0.733319 Centerline is valid? [False, False] Translation: X:-59.23, Y:-63.15, Z:-18.99 [[ 0.80987592 -0.53490981 -0.24077478 -59.22695023] [ 0.53558577 0.84170337 -0.06843477 -63.15090985] [ 0.23926737 -0.07353187 0.96816537 -18.98732238] [ 0. 0. 0. 1. ]] SLAMing on 140.941652532 meters Centerline goodness : 0.731915 Centerline is valid? [False, False] Translation: X:-59.25, Y:-63.16, Z:-19.00 [[ 0.81302654 -0.53175301 -0.23712146 -59.25061355] [ 0.53012802 0.84449257 -0.07613532 -63.16375894] [ 0.2407325 -0.0638047 0.96849204 -18.99507572] [ 0. 0. 0. 1. ]] SLAMing on 140.971652532 meters Centerline goodness : 0.729723 Centerline is valid? [False, False] Translation: X:-59.28, Y:-63.18, Z:-19.00 [[ 8.15681391e-01 -5.28203152e-01 -2.35934946e-01 -5.92808942e+01] [ 5.23826655e-01 8.47447379e-01 -8.62471731e-02 -6.31809910e+01] [ 2.45498480e-01 -5.32387995e-02 9.67933947e-01 -1.90014456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.001652532 meters Centerline goodness : 0.730149 Centerline is valid? [False, False] Translation: X:-59.32, Y:-63.20, Z:-19.01 [[ 8.21417652e-01 -5.18220613e-01 -2.38160529e-01 -5.93209013e+01] [ 5.11549278e-01 8.54086401e-01 -9.40943992e-02 -6.32013185e+01] [ 2.52171327e-01 -4.45400464e-02 9.66657026e-01 -1.90083549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.031652532 meters Centerline goodness : 0.728235 Centerline is valid? [False, False] Translation: X:-59.35, Y:-63.21, Z:-19.01 [[ 8.23639905e-01 -5.15671284e-01 -2.36009392e-01 -5.93452495e+01] [ 5.06620594e-01 8.56063021e-01 -1.02428889e-01 -6.32138965e+01] [ 2.54858550e-01 -3.52026980e-02 9.66337358e-01 -1.90135296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.061652532 meters Centerline goodness : 0.727235 Centerline is valid? [False, False] Translation: X:-59.36, Y:-63.22, Z:-19.02 [[ 8.26488857e-01 -5.13082905e-01 -2.31650818e-01 -5.93623369e+01] [ 5.02629988e-01 8.57877255e-01 -1.06816243e-01 -6.32217091e+01] [ 2.53533556e-01 -2.81522132e-02 9.66916847e-01 -1.90218421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.091652532 meters Centerline goodness : 0.727322 Centerline is valid? [False, False] Translation: X:-59.38, Y:-63.23, Z:-19.03 [[ 8.29433474e-01 -5.10192998e-01 -2.27471352e-01 -5.93784855e+01] [ 4.98805681e-01 8.59762912e-01 -1.09547375e-01 -6.32282620e+01] [ 2.51461736e-01 -2.26017428e-02 9.67603305e-01 -1.90291240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.121652532 meters Centerline goodness : 0.724470 Centerline is valid? [False, False] Translation: X:-59.43, Y:-63.26, Z:-19.04 [[ 8.33459989e-01 -5.04604566e-01 -2.25208077e-01 -5.94260220e+01] [ 4.92942446e-01 8.63127155e-01 -1.09632384e-01 -6.32554782e+01] [ 2.49704208e-01 -1.96404150e-02 9.68122958e-01 -1.90409792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.151652532 meters Centerline goodness : 0.725820 Centerline is valid? [False, False] Translation: X:-59.44, Y:-63.27, Z:-19.03 [[ 8.34114081e-01 -4.98322214e-01 -2.36492434e-01 -5.94424104e+01] [ 4.86113344e-01 8.66719361e-01 -1.11764782e-01 -6.32694145e+01] [ 2.60667444e-01 -2.17375495e-02 9.65183901e-01 -1.90328746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.18165253200002 meters Centerline goodness : 0.727098 Centerline is valid? [False, False] Translation: X:-59.47, Y:-63.29, Z:-19.03 [[ 8.34617115e-01 -4.94332543e-01 -2.43001251e-01 -5.94693162e+01] [ 4.83497099e-01 8.68809609e-01 -1.06772742e-01 -6.32908797e+01] [ 2.63903063e-01 -2.83760422e-02 9.64131720e-01 -1.90333761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.21165253200002 meters Centerline goodness : 0.724864 Centerline is valid? [False, False] Translation: X:-59.51, Y:-63.31, Z:-19.04 [[ 8.37514295e-01 -4.90982214e-01 -2.39804654e-01 -5.95110206e+01] [ 4.80703210e-01 8.70710267e-01 -1.03865561e-01 -6.33140799e+01] [ 2.59796517e-01 -2.82859751e-02 9.65249021e-01 -1.90434514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.241652532 meters Centerline goodness : 0.724609 Centerline is valid? [False, False] Translation: X:-59.51, Y:-63.32, Z:-19.04 [[ 8.40002306e-01 -4.85649868e-01 -2.41951095e-01 -5.95138341e+01] [ 4.76439741e-01 8.73574437e-01 -9.93623476e-02 -6.33158821e+01] [ 2.59617603e-01 -3.18105161e-02 9.65187439e-01 -1.90414872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.271652532 meters Centerline goodness : 0.723389 Centerline is valid? [False, False] Translation: X:-59.55, Y:-63.34, Z:-19.05 [[ 8.41340577e-01 -4.82032984e-01 -2.44520420e-01 -5.95469671e+01] [ 4.73762826e-01 8.75439735e-01 -9.56768284e-02 -6.33390075e+01] [ 2.60182278e-01 -3.53478871e-02 9.64912280e-01 -1.90462190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.301652532 meters Centerline goodness : 0.723232 Centerline is valid? [False, False] Translation: X:-59.55, Y:-63.34, Z:-19.05 [[ 8.42048436e-01 -4.81187569e-01 -2.43747727e-01 -5.95523441e+01] [ 4.72972330e-01 8.75915002e-01 -9.52369922e-02 -6.33381572e+01] [ 2.59329148e-01 -3.50917702e-02 9.65151263e-01 -1.90460388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.331652532 meters Centerline goodness : 0.722412 Centerline is valid? [False, False] Translation: X:-59.59, Y:-63.36, Z:-19.05 [[ 8.45947111e-01 -4.75007155e-01 -2.42366849e-01 -5.95933124e+01] [ 4.67927258e-01 8.79186993e-01 -8.98571729e-02 -6.33614178e+01] [ 2.55768581e-01 -3.73956392e-02 9.66014492e-01 -1.90543917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.361652532 meters Centerline goodness : 0.722798 Centerline is valid? [False, False] Translation: X:-59.60, Y:-63.36, Z:-19.05 [[ 8.46907910e-01 -4.73683716e-01 -2.41600348e-01 -5.95997640e+01] [ 4.66728475e-01 8.79903722e-01 -8.90728330e-02 -6.33611898e+01] [ 2.54777396e-01 -3.73252754e-02 9.66279102e-01 -1.90536833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.391652532 meters Centerline goodness : 0.721169 Centerline is valid? [False, False] Translation: X:-59.61, Y:-63.36, Z:-19.05 [[ 8.47665567e-01 -4.72688066e-01 -2.40892256e-01 -5.96052095e+01] [ 4.65824673e-01 8.80443395e-01 -8.84692174e-02 -6.33608172e+01] [ 2.53910339e-01 -3.72212471e-02 9.66511313e-01 -1.90531862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.421652532 meters Centerline goodness : 0.720058 Centerline is valid? [False, False] Translation: X:-59.65, Y:-63.38, Z:-19.06 [[ 8.51412947e-01 -4.66146778e-01 -2.40422907e-01 -5.96461876e+01] [ 4.60049633e-01 8.83862484e-01 -8.45070683e-02 -6.33835079e+01] [ 2.51893486e-01 -3.86560583e-02 9.66982617e-01 -1.90625084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.451652532 meters Centerline goodness : 0.719057 Centerline is valid? [False, False] Translation: X:-59.65, Y:-63.38, Z:-19.06 [[ 8.52203671e-01 -4.65084441e-01 -2.39677631e-01 -5.96519820e+01] [ 4.59023438e-01 8.84435181e-01 -8.40945511e-02 -6.33820823e+01] [ 2.51090396e-01 -3.83519650e-02 9.67203567e-01 -1.90623075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.481652532 meters Centerline goodness : 0.718562 Centerline is valid? [False, False] Translation: X:-59.68, Y:-63.40, Z:-19.07 [[ 8.54072856e-01 -4.60045336e-01 -2.42729986e-01 -5.96826696e+01] [ 4.55447509e-01 8.86817974e-01 -7.82396879e-02 -6.34014473e+01] [ 2.51251117e-01 -4.37283735e-02 9.66933661e-01 -1.90670807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.511652532 meters Centerline goodness : 0.718752 Centerline is valid? [False, False] Translation: X:-59.69, Y:-63.40, Z:-19.07 [[ 8.54909320e-01 -4.58953060e-01 -2.41851491e-01 -5.96882495e+01] [ 4.54384494e-01 8.87401090e-01 -7.78076975e-02 -6.34004101e+01] [ 2.50329357e-01 -4.33750416e-02 9.67188616e-01 -1.90672878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.541652532 meters Centerline goodness : 0.717706 Centerline is valid? [False, False] Translation: X:-59.69, Y:-63.40, Z:-19.07 [[ 8.57492176e-01 -4.53712135e-01 -2.42595272e-01 -5.96944799e+01] [ 4.49867074e-01 8.89993180e-01 -7.43757665e-02 -6.33977853e+01] [ 2.49653325e-01 -4.53589873e-02 9.67272340e-01 -1.90675628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.571652532 meters Centerline goodness : 0.715654 Centerline is valid? [False, False] Translation: X:-59.70, Y:-63.40, Z:-19.07 [[ 8.58507506e-01 -4.52179523e-01 -2.41864716e-01 -5.97009461e+01] [ 4.48486216e-01 8.90768802e-01 -7.34238126e-02 -6.33977268e+01] [ 2.48646287e-01 -4.54380968e-02 9.67527986e-01 -1.90667978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.601652532 meters Centerline goodness : 0.715300 Centerline is valid? [False, False] Translation: X:-59.71, Y:-63.40, Z:-19.07 [[ 8.59224427e-01 -4.51202919e-01 -2.41141681e-01 -5.97062256e+01] [ 4.47626972e-01 8.91261352e-01 -7.26862914e-02 -6.33980331e+01] [ 2.47716527e-01 -4.54876834e-02 9.67764120e-01 -1.90660031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.631652532 meters Centerline goodness : 0.715262 Centerline is valid? [False, False] Translation: X:-59.71, Y:-63.40, Z:-19.06 [[ 8.60081298e-01 -4.49888008e-01 -2.40543012e-01 -5.97119833e+01] [ 4.46487974e-01 8.91912975e-01 -7.16919415e-02 -6.33986692e+01] [ 2.46796778e-01 -4.57386641e-02 9.67987254e-01 -1.90647853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.661652532 meters Centerline goodness : 0.713459 Centerline is valid? [False, False] Translation: X:-59.72, Y:-63.40, Z:-19.06 [[ 8.63396232e-01 -4.43717462e-01 -2.40128635e-01 -5.97230441e+01] [ 4.41229525e-01 8.94880440e-01 -6.71230566e-02 -6.34007464e+01] [ 2.44670091e-01 -4.79980496e-02 9.68417644e-01 -1.90645693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.691652532 meters Centerline goodness : 0.714511 Centerline is valid? [False, False] Translation: X:-59.73, Y:-63.40, Z:-19.06 [[ 8.64017126e-01 -4.42749493e-01 -2.39681648e-01 -5.97276482e+01] [ 4.40444237e-01 8.95338310e-01 -6.61678490e-02 -6.34018049e+01] [ 2.43891943e-01 -4.83962457e-02 9.68594096e-01 -1.90631247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.721652532 meters Centerline goodness : 0.713646 Centerline is valid? [False, False] Translation: X:-59.74, Y:-63.41, Z:-19.06 [[ 8.66474562e-01 -4.38742766e-01 -2.38173506e-01 -5.97383758e+01] [ 4.36817135e-01 8.97287392e-01 -6.37661872e-02 -6.34064525e+01] [ 2.41687038e-01 -4.87864894e-02 9.69127058e-01 -1.90632865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.751652532 meters Centerline goodness : 0.710831 Centerline is valid? [False, False] Translation: X:-59.76, Y:-63.42, Z:-19.07 [[ 8.73271727e-01 -4.27398305e-01 -2.33938410e-01 -5.97648421e+01] [ 4.25650401e-01 9.02857741e-01 -6.05775164e-02 -6.34194040e+01] [ 2.37103832e-01 -4.66753455e-02 9.70362399e-01 -1.90694889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.781652532 meters Centerline goodness : 0.709271 Centerline is valid? [False, False] Translation: X:-59.77, Y:-63.42, Z:-19.07 [[ 8.73938462e-01 -4.26343123e-01 -2.33373319e-01 -5.97692398e+01] [ 4.24719773e-01 9.03347347e-01 -5.98053983e-02 -6.34201956e+01] [ 2.36314789e-01 -4.68520251e-02 9.70546345e-01 -1.90686500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.811652532 meters Centerline goodness : 0.710249 Centerline is valid? [False, False] Translation: X:-59.77, Y:-63.42, Z:-19.07 [[ 8.74685620e-01 -4.25165771e-01 -2.32721149e-01 -5.97740433e+01] [ 4.23651554e-01 9.03897829e-01 -5.90599337e-02 -6.34208275e+01] [ 2.35466404e-01 -4.69338018e-02 9.70748572e-01 -1.90679198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.841652532 meters Centerline goodness : 0.709904 Centerline is valid? [False, False] Translation: X:-59.79, Y:-63.43, Z:-19.07 [[ 8.77706965e-01 -4.21388889e-01 -2.28170742e-01 -5.97927487e+01] [ 4.19185287e-01 9.05881979e-01 -6.05106244e-02 -6.34280848e+01] [ 2.32194268e-01 -4.25352215e-02 9.71738945e-01 -1.90728367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.871652532 meters Centerline goodness : 0.708086 Centerline is valid? [False, False] Translation: X:-59.80, Y:-63.43, Z:-19.07 [[ 8.78625098e-01 -4.19893862e-01 -2.27391912e-01 -5.97984636e+01] [ 4.17805175e-01 9.06574353e-01 -5.96806334e-02 -6.34280830e+01] [ 2.31207208e-01 -4.25686153e-02 9.71972808e-01 -1.90723999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.901652532 meters Centerline goodness : 0.704058 Centerline is valid? [False, False] Translation: X:-59.80, Y:-63.43, Z:-19.07 [[ 8.79269354e-01 -4.18885633e-01 -2.26760294e-01 -5.98027813e+01] [ 4.16904289e-01 9.07035242e-01 -5.89735805e-02 -6.34285355e+01] [ 2.30382763e-01 -4.26836770e-02 9.72163508e-01 -1.90718537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.93165253200002 meters Centerline goodness : 0.704058 Centerline is valid? [False, False] Translation: X:-59.81, Y:-63.43, Z:-19.07 [[ 8.79778048e-01 -4.18057934e-01 -2.26314273e-01 -5.98067399e+01] [ 4.16198482e-01 9.07405248e-01 -5.82626768e-02 -6.34290578e+01] [ 2.29715934e-01 -4.29334330e-02 9.72310295e-01 -1.90707944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.96165253200002 meters Centerline goodness : 0.702938 Centerline is valid? [False, False] Translation: X:-59.83, Y:-63.44, Z:-19.07 [[ 8.82614031e-01 -4.14190593e-01 -2.22347983e-01 -5.98257078e+01] [ 4.12046958e-01 9.09300617e-01 -5.82210607e-02 -6.34379308e+01] [ 2.26295774e-01 -4.02310851e-02 9.73227457e-01 -1.90721676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.991652532 meters Centerline goodness : 0.702938 Centerline is valid? [False, False] Translation: X:-59.83, Y:-63.44, Z:-19.07 [[ 8.82614031e-01 -4.14190593e-01 -2.22347983e-01 -5.98257078e+01] [ 4.12046958e-01 9.09300617e-01 -5.82210607e-02 -6.34379308e+01] [ 2.26295774e-01 -4.02310851e-02 9.73227457e-01 -1.90721676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.021652532 meters Centerline goodness : 0.704130 Centerline is valid? [False, False] Translation: X:-59.83, Y:-63.44, Z:-19.07 [[ 8.83367871e-01 -4.12839820e-01 -2.21865923e-01 -5.98308151e+01] [ 4.10911792e-01 9.09889756e-01 -5.70274532e-02 -6.34395367e+01] [ 2.25416734e-01 -4.07911042e-02 9.73408127e-01 -1.90704329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.051652532 meters Centerline goodness : 0.702873 Centerline is valid? [False, False] Translation: X:-59.83, Y:-63.44, Z:-19.07 [[ 8.83880134e-01 -4.11786911e-01 -2.21782437e-01 -5.98342462e+01] [ 4.10078452e-01 9.10333971e-01 -5.59260555e-02 -6.34417567e+01] [ 2.24925704e-01 -4.15162691e-02 9.73491051e-01 -1.90683829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.081652532 meters Centerline goodness : 0.704172 Centerline is valid? [False, False] Translation: X:-59.86, Y:-63.45, Z:-19.08 [[ 8.85620650e-01 -4.12468297e-01 -2.13415016e-01 -5.98568028e+01] [ 4.11890776e-01 9.09897701e-01 -4.93169560e-02 -6.34543573e+01] [ 2.14527513e-01 -4.42275618e-02 9.75716080e-01 -1.90768282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.111652532 meters Centerline goodness : 0.703563 Centerline is valid? [False, False] Translation: X:-59.86, Y:-63.46, Z:-19.08 [[ 8.86246450e-01 -4.11340902e-01 -2.12992706e-01 -5.98610574e+01] [ 4.10926220e-01 9.10385876e-01 -4.83445867e-02 -6.34554920e+01] [ 2.13791657e-01 -4.46790692e-02 9.75857012e-01 -1.90754791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.141652532 meters Centerline goodness : 0.702208 Centerline is valid? [False, False] Translation: X:-59.87, Y:-63.46, Z:-19.07 [[ 8.86936950e-01 -4.10054825e-01 -2.12597945e-01 -5.98652595e+01] [ 4.09844709e-01 9.10935169e-01 -4.71638853e-02 -6.34576527e+01] [ 2.13002724e-01 -4.53007505e-02 9.76000861e-01 -1.90738543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.171652532 meters Centerline goodness : 0.705399 Centerline is valid? [False, False] Translation: X:-59.87, Y:-63.46, Z:-19.07 [[ 8.87741068e-01 -4.08444657e-01 -2.12341138e-01 -5.98698271e+01] [ 4.08506352e-01 9.11612710e-01 -4.56599005e-02 -6.34606277e+01] [ 2.12222423e-01 -4.62085349e-02 9.76128278e-01 -1.90716628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.201652532 meters Centerline goodness : 0.704680 Centerline is valid? [False, False] Translation: X:-59.88, Y:-63.47, Z:-19.07 [[ 8.89123238e-01 -4.07005720e-01 -2.09299336e-01 -5.98820903e+01] [ 4.06848851e-01 9.12345401e-01 -4.58244569e-02 -6.34691283e+01] [ 2.09604103e-01 -4.44096050e-02 9.76777307e-01 -1.90709666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.231652532 meters Centerline goodness : 0.704646 Centerline is valid? [False, False] Translation: X:-59.89, Y:-63.47, Z:-19.07 [[ 8.88290697e-01 -4.09939636e-01 -2.07096918e-01 -5.98869602e+01] [ 4.09256868e-01 9.11146728e-01 -4.81711156e-02 -6.34707666e+01] [ 2.08442929e-01 -4.19658823e-02 9.77133773e-01 -1.90698833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.261652532 meters Centerline goodness : 0.705117 Centerline is valid? [False, False] Translation: X:-59.89, Y:-63.47, Z:-19.07 [[ 8.87273081e-01 -4.13220840e-01 -2.04926857e-01 -5.98908834e+01] [ 4.11979966e-01 9.09778350e-01 -5.07529414e-02 -6.34722817e+01] [ 2.07410191e-01 -3.93940407e-02 9.77460548e-01 -1.90690587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.291652532 meters Centerline goodness : 0.705387 Centerline is valid? [False, False] Translation: X:-59.89, Y:-63.47, Z:-19.07 [[ 8.86281648e-01 -4.16400446e-01 -2.02769594e-01 -5.98945405e+01] [ 4.14630839e-01 9.08431998e-01 -5.32219146e-02 -6.34740953e+01] [ 2.06364017e-01 -3.69049206e-02 9.77779075e-01 -1.90684459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.321652532 meters Centerline goodness : 0.705587 Centerline is valid? [False, False] Translation: X:-59.89, Y:-63.48, Z:-19.07 [[ 8.84800202e-01 -4.20113760e-01 -2.01576368e-01 -5.98936351e+01] [ 4.17888472e-01 9.06794905e-01 -5.56077739e-02 -6.34786854e+01] [ 2.06150014e-01 -3.50346708e-02 9.77893012e-01 -1.90671971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.351652532 meters Centerline goodness : 0.705782 Centerline is valid? [False, False] Translation: X:-59.89, Y:-63.48, Z:-19.07 [[ 8.83476624e-01 -4.23649425e-01 -1.99975549e-01 -5.98943664e+01] [ 4.20932136e-01 9.05230195e-01 -5.80898484e-02 -6.34824182e+01] [ 2.05633636e-01 -3.28551117e-02 9.78077374e-01 -1.90662219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.381652532 meters Centerline goodness : 0.706585 Centerline is valid? [False, False] Translation: X:-59.90, Y:-63.49, Z:-19.07 [[ 8.82103295e-01 -4.27297506e-01 -1.98269053e-01 -5.98951778e+01] [ 4.24072393e-01 9.03594174e-01 -6.06644408e-02 -6.34857351e+01] [ 2.05076526e-01 -3.05681289e-02 9.78268474e-01 -1.90654794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.411652532 meters Centerline goodness : 0.709970 Centerline is valid? [False, False] Translation: X:-59.90, Y:-63.50, Z:-19.07 [[ 8.79747619e-01 -4.35011175e-01 -1.91857771e-01 -5.99044913e+01] [ 4.32990453e-01 8.99743173e-01 -5.46030261e-02 -6.35009187e+01] [ 1.96375646e-01 -3.50357009e-02 9.79902600e-01 -1.90702714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.441652532 meters Centerline goodness : 0.712730 Centerline is valid? [False, False] Translation: X:-59.90, Y:-63.50, Z:-19.07 [[ 8.78158969e-01 -4.38877237e-01 -1.90324975e-01 -5.99041930e+01] [ 4.36341159e-01 8.97952188e-01 -5.73433618e-02 -6.35039219e+01] [ 1.96069424e-01 -3.26900326e-02 9.80044970e-01 -1.90696102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.471652532 meters Centerline goodness : 0.716171 Centerline is valid? [False, False] Translation: X:-59.91, Y:-63.52, Z:-19.07 [[ 8.73892543e-01 -4.50535333e-01 -1.82564334e-01 -5.99117534e+01] [ 4.48614141e-01 8.92086836e-01 -5.40964803e-02 -6.35200644e+01] [ 1.87235615e-01 -3.46264310e-02 9.81704556e-01 -1.90747164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.501652532 meters Centerline goodness : 0.719392 Centerline is valid? [False, False] Translation: X:-59.91, Y:-63.52, Z:-19.07 [[ 8.72071768e-01 -4.54672908e-01 -1.81006570e-01 -5.99103656e+01] [ 4.52208950e-01 8.90081711e-01 -5.71105327e-02 -6.35225775e+01] [ 1.87077249e-01 -3.20483076e-02 9.81822290e-01 -1.90746512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.531652532 meters Centerline goodness : 0.719891 Centerline is valid? [False, False] Translation: X:-59.91, Y:-63.52, Z:-19.08 [[ 8.70184047e-01 -4.58973987e-01 -1.79227796e-01 -5.99092045e+01] [ 4.55916391e-01 8.87971106e-01 -6.03950318e-02 -6.35239776e+01] [ 1.86868853e-01 -2.91580968e-02 9.81952054e-01 -1.90752373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.561652532 meters Centerline goodness : 0.720535 Centerline is valid? [False, False] Translation: X:-59.92, Y:-63.54, Z:-19.07 [[ 8.67162846e-01 -4.61737736e-01 -1.86619565e-01 -5.99213350e+01] [ 4.59575119e-01 8.86284649e-01 -5.73605430e-02 -6.35407762e+01] [ 1.91883583e-01 -3.60247768e-02 9.80756293e-01 -1.90735605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.591652532 meters Centerline goodness : 0.722681 Centerline is valid? [False, False] Translation: X:-59.93, Y:-63.56, Z:-19.07 [[ 8.64051277e-01 -4.64662925e-01 -1.93658868e-01 -5.99339664e+01] [ 4.63344286e-01 8.84476659e-01 -5.48918268e-02 -6.35583581e+01] [ 1.96792946e-01 -4.23013770e-02 9.79532097e-01 -1.90720252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.621652532 meters Centerline goodness : 0.724971 Centerline is valid? [False, False] Translation: X:-59.94, Y:-63.58, Z:-19.07 [[ 8.58748878e-01 -4.71957719e-01 -1.99515100e-01 -5.99432455e+01] [ 4.71041750e-01 8.80386656e-01 -5.51271775e-02 -6.35773918e+01] [ 2.01668129e-01 -4.66395399e-02 9.78342843e-01 -1.90705080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.651652532 meters Centerline goodness : 0.727516 Centerline is valid? [False, False] Translation: X:-59.96, Y:-63.59, Z:-19.07 [[ 8.55342978e-01 -4.75103195e-01 -2.06555910e-01 -5.99554331e+01] [ 4.75035611e-01 8.78356165e-01 -5.32129308e-02 -6.35941168e+01] [ 2.06711290e-01 -5.26061060e-02 9.76986714e-01 -1.90694376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.68165253200002 meters Centerline goodness : 0.727465 Centerline is valid? [False, False] Translation: X:-59.97, Y:-63.61, Z:-19.07 [[ 8.52217690e-01 -4.77722713e-01 -2.13321398e-01 -5.99687731e+01] [ 4.78564298e-01 8.76561174e-01 -5.11538989e-02 -6.36108041e+01] [ 2.11426634e-01 -5.84937474e-02 9.75641973e-01 -1.90690843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.71165253200002 meters Centerline goodness : 0.731484 Centerline is valid? [False, False] Translation: X:-59.98, Y:-63.63, Z:-19.07 [[ 8.47516827e-01 -4.83719118e-01 -2.18474354e-01 -5.99820856e+01] [ 4.85033518e-01 8.72989587e-01 -5.12997766e-02 -6.36303537e+01] [ 2.15540518e-01 -6.24899605e-02 9.74493350e-01 -1.90680186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.741652532 meters Centerline goodness : 0.730203 Centerline is valid? [False, False] Translation: X:-59.98, Y:-63.63, Z:-19.07 [[ 8.45647887e-01 -4.87979298e-01 -2.16231024e-01 -5.99823592e+01] [ 4.88539121e-01 8.70829533e-01 -5.46392861e-02 -6.36312910e+01] [ 2.14963202e-01 -5.94317174e-02 9.74812132e-01 -1.90685558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.771652532 meters Centerline goodness : 0.732054 Centerline is valid? [False, False] Translation: X:-59.98, Y:-63.63, Z:-19.07 [[ 8.44012709e-01 -4.91919678e-01 -2.13676337e-01 -5.99842486e+01] [ 4.91756703e-01 8.68815799e-01 -5.77447236e-02 -6.36319895e+01] [ 2.14051143e-01 -5.63394901e-02 9.75196375e-01 -1.90691865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.801652532 meters Centerline goodness : 0.734060 Centerline is valid? [False, False] Translation: X:-59.99, Y:-63.64, Z:-19.07 [[ 8.44106420e-01 -4.93835676e-01 -2.08831697e-01 -5.99918875e+01] [ 4.92778738e-01 8.68025479e-01 -6.08348856e-02 -6.36367301e+01] [ 2.11313670e-01 -5.15567026e-02 9.76057600e-01 -1.90743412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.831652532 meters Centerline goodness : 0.732955 Centerline is valid? [False, False] Translation: X:-60.00, Y:-63.64, Z:-19.08 [[ 8.44740496e-01 -4.95238909e-01 -2.02859352e-01 -6.00049364e+01] [ 4.92678960e-01 8.67658175e-01 -6.66088075e-02 -6.36434415e+01] [ 2.08999848e-01 -4.36773773e-02 9.76939788e-01 -1.90812130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.861652532 meters Centerline goodness : 0.734506 Centerline is valid? [False, False] Translation: X:-60.02, Y:-63.65, Z:-19.09 [[ 8.46264145e-01 -4.95130120e-01 -1.96680354e-01 -6.00228682e+01] [ 4.90892997e-01 8.68132296e-01 -7.32828933e-02 -6.36544009e+01] [ 2.07029135e-01 -3.45323232e-02 9.77725143e-01 -1.90883662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.891652532 meters Centerline goodness : 0.735714 Centerline is valid? [False, False] Translation: X:-60.04, Y:-63.67, Z:-19.09 [[ 8.44479439e-01 -4.95653287e-01 -2.02934216e-01 -6.00414371e+01] [ 4.92260305e-01 8.67584188e-01 -7.05511809e-02 -6.36725999e+01] [ 2.11031442e-01 -4.03174374e-02 9.76647447e-01 -1.90878328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.921652532 meters Centerline goodness : 0.737370 Centerline is valid? [False, False] Translation: X:-60.05, Y:-63.68, Z:-19.09 [[ 8.45351475e-01 -4.96227126e-01 -1.97837115e-01 -6.00527753e+01] [ 4.92054599e-01 8.67471899e-01 -7.33128674e-02 -6.36776421e+01] [ 2.07997971e-01 -3.53715215e-02 9.77489488e-01 -1.90927900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.951652532 meters Centerline goodness : 0.738090 Centerline is valid? [False, False] Translation: X:-60.06, Y:-63.68, Z:-19.10 [[ 8.46257942e-01 -4.96027318e-01 -1.94433525e-01 -6.00622440e+01] [ 4.91357890e-01 8.67716699e-01 -7.50676647e-02 -6.36808892e+01] [ 2.05948829e-01 -3.20098390e-02 9.78039084e-01 -1.90956809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.981652532 meters Centerline goodness : 0.740531 Centerline is valid? [False, False] Translation: X:-60.09, Y:-63.70, Z:-19.10 [[ 8.46272546e-01 -4.93767326e-01 -2.00041511e-01 -6.00858562e+01] [ 4.90129250e-01 8.68761425e-01 -7.09006714e-02 -6.36996322e+01] [ 2.08796783e-01 -3.80449038e-02 9.77218752e-01 -1.90975090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.011652532 meters Centerline goodness : 0.742967 Centerline is valid? [False, False] Translation: X:-60.10, Y:-63.71, Z:-19.10 [[ 8.48189128e-01 -4.92229593e-01 -1.95666121e-01 -6.00995184e+01] [ 4.87682718e-01 8.69859783e-01 -7.42261698e-02 -6.37055417e+01] [ 2.06738407e-01 -3.24651555e-02 9.77857477e-01 -1.91034627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.041652532 meters Centerline goodness : 0.744532 Centerline is valid? [False, False] Translation: X:-60.11, Y:-63.71, Z:-19.11 [[ 8.50131939e-01 -4.90487423e-01 -1.91566630e-01 -6.01124682e+01] [ 4.85240784e-01 8.71007182e-01 -7.67324599e-02 -6.37103127e+01] [ 2.04492217e-01 -2.77232270e-02 9.78475526e-01 -1.91087641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.071652532 meters Centerline goodness : 0.748027 Centerline is valid? [False, False] Translation: X:-60.14, Y:-63.72, Z:-19.11 [[ 8.55220859e-01 -4.82284045e-01 -1.89735031e-01 -6.01368617e+01] [ 4.76179709e-01 8.75732894e-01 -7.96541460e-02 -6.37215922e+01] [ 2.04573131e-01 -2.22260845e-02 9.78598914e-01 -1.91140813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.101652532 meters Centerline goodness : 0.749551 Centerline is valid? [False, False] Translation: X:-60.14, Y:-63.72, Z:-19.11 [[ 8.56085267e-01 -4.81017073e-01 -1.89051822e-01 -6.01424215e+01] [ 4.75060891e-01 8.76424551e-01 -7.87220231e-02 -6.37219105e+01] [ 2.03556295e-01 -2.24183630e-02 9.78806545e-01 -1.91131775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.131652532 meters Centerline goodness : 0.753234 Centerline is valid? [False, False] Translation: X:-60.15, Y:-63.72, Z:-19.11 [[ 8.57490211e-01 -4.79078330e-01 -1.87601950e-01 -6.01500137e+01] [ 4.73255756e-01 8.77492320e-01 -7.76931047e-02 -6.37227582e+01] [ 2.01840353e-01 -2.21626259e-02 9.79167652e-01 -1.91136058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.161652532 meters Centerline goodness : 0.757877 Centerline is valid? [False, False] Translation: X:-60.16, Y:-63.73, Z:-19.11 [[ 8.60722751e-01 -4.73608452e-01 -1.86685242e-01 -6.01622417e+01] [ 4.68228463e-01 8.80434657e-01 -7.48125761e-02 -6.37269785e+01] [ 1.99796026e-01 -2.30184579e-02 9.79567098e-01 -1.91130145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.191652532 meters Centerline goodness : 0.759454 Centerline is valid? [False, False] Translation: X:-60.17, Y:-63.73, Z:-19.11 [[ 8.62149802e-01 -4.71779341e-01 -1.84721335e-01 -6.01692807e+01] [ 4.66451854e-01 8.81435612e-01 -7.41210431e-02 -6.37286765e+01] [ 1.97788740e-01 -2.22601668e-02 9.79991887e-01 -1.91149328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.221652532 meters Centerline goodness : 0.761799 Centerline is valid? [False, False] Translation: X:-60.17, Y:-63.73, Z:-19.11 [[ 8.62838455e-01 -4.70820805e-01 -1.83949913e-01 -6.01734871e+01] [ 4.65594621e-01 8.81947132e-01 -7.34227880e-02 -6.37292659e+01] [ 1.96803074e-01 -2.22940850e-02 9.80189535e-01 -1.91147569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.251652532 meters Centerline goodness : 0.766795 Centerline is valid? [False, False] Translation: X:-60.18, Y:-63.73, Z:-19.11 [[ 8.63614869e-01 -4.69739034e-01 -1.83069924e-01 -6.01790009e+01] [ 4.64577214e-01 8.82528424e-01 -7.28806740e-02 -6.37287671e+01] [ 1.95799309e-01 -2.21092814e-02 9.80394722e-01 -1.91144224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.281652532 meters Centerline goodness : 0.767682 Centerline is valid? [False, False] Translation: X:-60.18, Y:-63.73, Z:-19.11 [[ 8.64161156e-01 -4.68935367e-01 -1.82551686e-01 -6.01826831e+01] [ 4.63878960e-01 8.82951269e-01 -7.22036535e-02 -6.37290944e+01] [ 1.95043089e-01 -2.22862935e-02 9.80541439e-01 -1.91139006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.311652532 meters Centerline goodness : 0.772522 Centerline is valid? [False, False] Translation: X:-60.19, Y:-63.73, Z:-19.11 [[ 8.64410368e-01 -4.68630031e-01 -1.82155454e-01 -6.01853790e+01] [ 4.63605171e-01 8.83114515e-01 -7.19652648e-02 -6.37283602e+01] [ 1.94589210e-01 -2.22406894e-02 9.80632648e-01 -1.91136679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.341652532 meters Centerline goodness : 0.772522 Centerline is valid? [False, False] Translation: X:-60.19, Y:-63.73, Z:-19.11 [[ 8.64410368e-01 -4.68630031e-01 -1.82155454e-01 -6.01853790e+01] [ 4.63605171e-01 8.83114515e-01 -7.19652648e-02 -6.37283602e+01] [ 1.94589210e-01 -2.22406894e-02 9.80632648e-01 -1.91136679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.371652532 meters Centerline goodness : 0.774723 Centerline is valid? [False, False] Translation: X:-60.19, Y:-63.73, Z:-19.11 [[ 8.64948692e-01 -4.67796381e-01 -1.81742419e-01 -6.01884984e+01] [ 4.62908574e-01 8.83547195e-01 -7.11337191e-02 -6.37291300e+01] [ 1.93854101e-01 -2.26031067e-02 9.80769946e-01 -1.91132209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.401652532 meters Centerline goodness : 0.776380 Centerline is valid? [False, False] Translation: X:-60.19, Y:-63.73, Z:-19.11 [[ 8.65351896e-01 -4.67125354e-01 -1.81548892e-01 -6.01910214e+01] [ 4.62339098e-01 8.83894249e-01 -7.05231497e-02 -6.37297705e+01] [ 1.93413173e-01 -2.29098096e-02 9.80849879e-01 -1.91124502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.43165253200002 meters Centerline goodness : 0.776709 Centerline is valid? [False, False] Translation: X:-60.19, Y:-63.73, Z:-19.11 [[ 8.65510851e-01 -4.66774411e-01 -1.81693744e-01 -6.01913017e+01] [ 4.62063218e-01 8.84070413e-01 -7.01219386e-02 -6.37308180e+01] [ 1.93361190e-01 -2.32626974e-02 9.80851822e-01 -1.91119902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.46165253200002 meters Centerline goodness : 0.777437 Centerline is valid? [False, False] Translation: X:-60.20, Y:-63.74, Z:-19.12 [[ 8.66858775e-01 -4.66186048e-01 -1.76710026e-01 -6.02035648e+01] [ 4.60850354e-01 8.84495029e-01 -7.27014147e-02 -6.37381074e+01] [ 1.90191525e-01 -1.84150188e-02 9.81574282e-01 -1.91170700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.491652532 meters Centerline goodness : 0.777726 Centerline is valid? [False, False] Translation: X:-60.22, Y:-63.75, Z:-19.12 [[ 8.68577508e-01 -4.64753376e-01 -1.71980848e-01 -6.02173100e+01] [ 4.58743751e-01 8.85342029e-01 -7.56548925e-02 -6.37451032e+01] [ 1.87422739e-01 -1.31830012e-02 9.82190880e-01 -1.91225532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.521652532 meters Centerline goodness : 0.778349 Centerline is valid? [False, False] Translation: X:-60.23, Y:-63.76, Z:-19.12 [[ 8.67558813e-01 -4.63473000e-01 -1.80373184e-01 -6.02320421e+01] [ 4.58592749e-01 8.85848160e-01 -7.04679216e-02 -6.37593401e+01] [ 1.92443232e-01 -2.15827677e-02 9.81070735e-01 -1.91217591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.551652532 meters Centerline goodness : 0.779959 Centerline is valid? [False, False] Translation: X:-60.23, Y:-63.76, Z:-19.12 [[ 8.67567455e-01 -4.63309166e-01 -1.80752120e-01 -6.02316924e+01] [ 4.58513259e-01 8.85921314e-01 -7.00643732e-02 -6.37608095e+01] [ 1.92593622e-01 -2.20916735e-02 9.81029895e-01 -1.91207785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.581652532 meters Centerline goodness : 0.781567 Centerline is valid? [False, False] Translation: X:-60.24, Y:-63.76, Z:-19.12 [[ 8.68207045e-01 -4.62256967e-01 -1.80374675e-01 -6.02352456e+01] [ 4.57595454e-01 8.86462017e-01 -6.92206162e-02 -6.37616813e+01] [ 1.91893010e-01 -2.24408048e-02 9.81159255e-01 -1.91199473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.611652532 meters Centerline goodness : 0.782474 Centerline is valid? [False, False] Translation: X:-60.24, Y:-63.76, Z:-19.12 [[ 8.69115802e-01 -4.60803165e-01 -1.79716905e-01 -6.02401247e+01] [ 4.56321285e-01 8.87208080e-01 -6.80639996e-02 -6.37627886e+01] [ 1.90810396e-01 -2.28531513e-02 9.81360854e-01 -1.91192756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.641652532 meters Centerline goodness : 0.782420 Centerline is valid? [False, False] Translation: X:-60.24, Y:-63.76, Z:-19.12 [[ 8.67939242e-01 -4.63969814e-01 -1.77238496e-01 -6.02441471e+01] [ 4.58998356e-01 8.85624298e-01 -7.06407231e-02 -6.37644958e+01] [ 1.89741882e-01 -2.00403227e-02 9.81629464e-01 -1.91184775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.671652532 meters Centerline goodness : 0.784947 Centerline is valid? [False, False] Translation: X:-60.25, Y:-63.76, Z:-19.12 [[ 8.67284890e-01 -4.65914437e-01 -1.75330139e-01 -6.02489960e+01] [ 4.60551665e-01 8.84652425e-01 -7.26790972e-02 -6.37649132e+01] [ 1.88968473e-01 -1.77151045e-02 9.81823350e-01 -1.91176153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.701652532 meters Centerline goodness : 0.783742 Centerline is valid? [False, False] Translation: X:-60.26, Y:-63.77, Z:-19.11 [[ 8.66244504e-01 -4.63591665e-01 -1.86288025e-01 -6.02566643e+01] [ 4.57384818e-01 8.85868121e-01 -7.76968473e-02 -6.37741726e+01] [ 2.01046233e-01 -1.79008473e-02 9.79418180e-01 -1.91111069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.731652532 meters Centerline goodness : 0.782125 Centerline is valid? [False, False] Translation: X:-60.26, Y:-63.77, Z:-19.11 [[ 8.66582688e-01 -4.63091157e-01 -1.85959741e-01 -6.02583561e+01] [ 4.56905563e-01 8.86131923e-01 -7.75082085e-02 -6.37738621e+01] [ 2.00678229e-01 -1.77987685e-02 9.79495509e-01 -1.91115093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.761652532 meters Centerline goodness : 0.781610 Centerline is valid? [False, False] Translation: X:-60.26, Y:-63.77, Z:-19.11 [[ 8.66596734e-01 -4.63005178e-01 -1.86108318e-01 -6.02581547e+01] [ 4.56854448e-01 8.86172786e-01 -7.73421383e-02 -6.37743447e+01] [ 2.00733937e-01 -1.79999684e-02 9.79480417e-01 -1.91113037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.791652532 meters Centerline goodness : 0.781252 Centerline is valid? [False, False] Translation: X:-60.28, Y:-63.79, Z:-19.11 [[ 8.65250704e-01 -4.62931376e-01 -1.92446774e-01 -6.02768844e+01] [ 4.57676465e-01 8.86060337e-01 -7.36839996e-02 -6.37926010e+01] [ 2.04630089e-01 -2.43232267e-02 9.78537126e-01 -1.91117033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.821652532 meters Centerline goodness : 0.780889 Centerline is valid? [False, False] Translation: X:-60.29, Y:-63.81, Z:-19.11 [[ 8.63668604e-01 -4.63026928e-01 -1.99204939e-01 -6.02945753e+01] [ 4.59016587e-01 8.85764008e-01 -6.87451449e-02 -6.38106234e+01] [ 2.08279418e-01 -3.20653478e-02 9.77543604e-01 -1.91098832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.851652532 meters Centerline goodness : 0.780754 Centerline is valid? [False, False] Translation: X:-60.30, Y:-63.81, Z:-19.11 [[ 8.64078645e-01 -4.62231770e-01 -1.99273394e-01 -6.02963794e+01] [ 4.58402656e-01 8.86153997e-01 -6.78092739e-02 -6.38126675e+01] [ 2.07930515e-01 -3.27549076e-02 9.77595017e-01 -1.91085386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.881652532 meters Centerline goodness : 0.780754 Centerline is valid? [False, False] Translation: X:-60.30, Y:-63.81, Z:-19.11 [[ 8.64078645e-01 -4.62231770e-01 -1.99273394e-01 -6.02963794e+01] [ 4.58402656e-01 8.86153997e-01 -6.78092739e-02 -6.38126675e+01] [ 2.07930515e-01 -3.27549076e-02 9.77595017e-01 -1.91085386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.911652532 meters Centerline goodness : 0.781023 Centerline is valid? [False, False] Translation: X:-60.30, Y:-63.82, Z:-19.11 [[ 8.64214407e-01 -4.61751435e-01 -1.99797573e-01 -6.02960097e+01] [ 4.58113630e-01 8.86369671e-01 -6.69380914e-02 -6.38155372e+01] [ 2.08003269e-01 -3.36811284e-02 9.77548066e-01 -1.91070183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.941652532 meters Centerline goodness : 0.779462 Centerline is valid? [False, False] Translation: X:-60.30, Y:-63.82, Z:-19.11 [[ 8.63337587e-01 -4.64390982e-01 -1.97456898e-01 -6.03002690e+01] [ 4.60254002e-01 8.85083722e-01 -6.92319199e-02 -6.38175727e+01] [ 2.06916565e-01 -3.11098085e-02 9.77863853e-01 -1.91064728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.971652532 meters Centerline goodness : 0.780378 Centerline is valid? [False, False] Translation: X:-60.30, Y:-63.82, Z:-19.11 [[ 8.63703751e-01 -4.63718549e-01 -1.97435907e-01 -6.03012533e+01] [ 4.59712782e-01 8.85419714e-01 -6.85280162e-02 -6.38191936e+01] [ 2.06591357e-01 -3.15759054e-02 9.77917672e-01 -1.91061016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.001652532 meters Centerline goodness : 0.778037 Centerline is valid? [False, False] Translation: X:-60.31, Y:-63.82, Z:-19.11 [[ 8.64198919e-01 -4.64518488e-01 -1.93346328e-01 -6.03097728e+01] [ 4.59893816e-01 8.85133549e-01 -7.09667455e-02 -6.38230791e+01] [ 2.04102686e-01 -2.75893956e-02 9.78560636e-01 -1.91098380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.031652532 meters Centerline goodness : 0.774481 Centerline is valid? [False, False] Translation: X:-60.31, Y:-63.82, Z:-19.11 [[ 8.62946875e-01 -4.67806806e-01 -1.90996028e-01 -6.03123787e+01] [ 4.62650255e-01 8.83481113e-01 -7.35925555e-02 -6.38249611e+01] [ 2.03168482e-01 -2.48578954e-02 9.78828204e-01 -1.91098585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.061652532 meters Centerline goodness : 0.772019 Centerline is valid? [False, False] Translation: X:-60.33, Y:-63.85, Z:-19.11 [[ 8.60519715e-01 -4.69911540e-01 -1.96695106e-01 -6.03284771e+01] [ 4.64605597e-01 8.82312367e-01 -7.52763357e-02 -6.38465699e+01] [ 2.08919743e-01 -2.66088761e-02 9.77570718e-01 -1.91108549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.091652532 meters Centerline goodness : 0.771083 Centerline is valid? [False, False] Translation: X:-60.33, Y:-63.85, Z:-19.11 [[ 8.59045876e-01 -4.73535646e-01 -1.94432959e-01 -6.03301807e+01] [ 4.67675825e-01 8.80450071e-01 -7.80192017e-02 -6.38485187e+01] [ 2.08133385e-01 -2.39095208e-02 9.77808176e-01 -1.91108987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.121652532 meters Centerline goodness : 0.768963 Centerline is valid? [False, False] Translation: X:-60.33, Y:-63.85, Z:-19.11 [[ 8.58732638e-01 -4.73862735e-01 -1.95018882e-01 -6.03274751e+01] [ 4.68108547e-01 8.80254344e-01 -7.76316837e-02 -6.38508104e+01] [ 2.08452980e-01 -2.46251449e-02 9.77722331e-01 -1.91103274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.151652532 meters Centerline goodness : 0.765565 Centerline is valid? [False, False] Translation: X:-60.35, Y:-63.87, Z:-19.11 [[ 8.57382244e-01 -4.73704100e-01 -2.01246401e-01 -6.03452254e+01] [ 4.68949019e-01 8.80135261e-01 -7.38155796e-02 -6.38732599e+01] [ 2.12090796e-01 -3.10861350e-02 9.76755418e-01 -1.91111620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.18165253200002 meters Centerline goodness : 0.764864 Centerline is valid? [False, False] Translation: X:-60.36, Y:-63.89, Z:-19.11 [[ 8.55076318e-01 -4.74747438e-01 -2.08469088e-01 -6.03598209e+01] [ 4.71016398e-01 8.79304466e-01 -7.04784371e-02 -6.38896724e+01] [ 2.16767258e-01 -3.79279165e-02 9.75486253e-01 -1.91104977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.21165253200002 meters Centerline goodness : 0.764585 Centerline is valid? [False, False] Translation: X:-60.36, Y:-63.89, Z:-19.11 [[ 8.53782851e-01 -4.78142630e-01 -2.05996284e-01 -6.03627989e+01] [ 4.73825088e-01 8.77577620e-01 -7.31252867e-02 -6.38910973e+01] [ 2.15742046e-01 -3.51730918e-02 9.75816696e-01 -1.91106599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.241652532 meters Centerline goodness : 0.762331 Centerline is valid? [False, False] Translation: X:-60.38, Y:-63.92, Z:-19.11 [[ 8.51847928e-01 -4.79886395e-01 -2.09914638e-01 -6.03845585e+01] [ 4.76085313e-01 8.76470129e-01 -7.17139260e-02 -6.39184030e+01] [ 2.18398448e-01 -3.88479170e-02 9.75086128e-01 -1.91112952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.271652532 meters Centerline goodness : 0.762863 Centerline is valid? [False, False] Translation: X:-60.39, Y:-63.92, Z:-19.11 [[ 8.50198501e-01 -4.83721593e-01 -2.07788184e-01 -6.03854765e+01] [ 4.79320674e-01 8.74471034e-01 -7.45124352e-02 -6.39207100e+01] [ 2.17748022e-01 -3.62468114e-02 9.75331722e-01 -1.91110410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.301652532 meters Centerline goodness : 0.763111 Centerline is valid? [False, False] Translation: X:-60.39, Y:-63.92, Z:-19.11 [[ 8.48781659e-01 -4.87254862e-01 -2.05310481e-01 -6.03881711e+01] [ 4.82270504e-01 8.72616522e-01 -7.71723138e-02 -6.39222734e+01] [ 2.16759903e-01 -3.35127447e-02 9.75649548e-01 -1.91110371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.331652532 meters Centerline goodness : 0.763717 Centerline is valid? [False, False] Translation: X:-60.40, Y:-63.94, Z:-19.11 [[ 8.46855476e-01 -4.87878201e-01 -2.11685295e-01 -6.04049293e+01] [ 4.84009539e-01 8.71980345e-01 -7.33828631e-02 -6.39434926e+01] [ 2.20387316e-01 -4.03130227e-02 9.74579033e-01 -1.91108547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.361652532 meters Centerline goodness : 0.761094 Centerline is valid? [False, False] Translation: X:-60.42, Y:-63.96, Z:-19.11 [[ 8.44540728e-01 -4.88345462e-01 -2.19703593e-01 -6.04173152e+01] [ 4.85671447e-01 8.71345483e-01 -6.98591023e-02 -6.39583508e+01] [ 2.25553109e-01 -4.77049047e-02 9.73062196e-01 -1.91107539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.391652532 meters Centerline goodness : 0.761945 Centerline is valid? [False, False] Translation: X:-60.42, Y:-63.96, Z:-19.11 [[ 8.43291993e-01 -4.91890928e-01 -2.16568533e-01 -6.04209438e+01] [ 4.88461116e-01 8.69530814e-01 -7.29513680e-02 -6.39583281e+01] [ 2.24197129e-01 -4.42660028e-02 9.73537965e-01 -1.91125999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.421652532 meters Centerline goodness : 0.760508 Centerline is valid? [False, False] Translation: X:-60.43, Y:-63.96, Z:-19.11 [[ 8.42187892e-01 -4.94973442e-01 -2.13824336e-01 -6.04252007e+01] [ 4.90932296e-01 8.67921277e-01 -7.54860111e-02 -6.39591499e+01] [ 2.22946262e-01 -4.13998679e-02 9.73951239e-01 -1.91130768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.451652532 meters Centerline goodness : 0.759587 Centerline is valid? [False, False] Translation: X:-60.44, Y:-63.97, Z:-19.12 [[ 8.42508845e-01 -4.97213115e-01 -2.07263033e-01 -6.04390815e+01] [ 4.91638796e-01 8.66987927e-01 -8.13832230e-02 -6.39682856e+01] [ 2.20159353e-01 -3.33324627e-02 9.74894254e-01 -1.91192755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.481652532 meters Centerline goodness : 0.758397 Centerline is valid? [False, False] Translation: X:-60.45, Y:-63.98, Z:-19.12 [[ 8.43298143e-01 -4.97837556e-01 -2.02499408e-01 -6.04489041e+01] [ 4.91638186e-01 8.66782028e-01 -8.35512408e-02 -6.39758500e+01] [ 2.17117793e-01 -2.90978353e-02 9.75711627e-01 -1.91234973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.511652532 meters Centerline goodness : 0.756683 Centerline is valid? [False, False] Translation: X:-60.45, Y:-63.98, Z:-19.12 [[ 8.42329552e-01 -5.00643771e-01 -1.99591432e-01 -6.04539126e+01] [ 4.93873274e-01 8.65261251e-01 -8.60938845e-02 -6.39770174e+01] [ 2.15801099e-01 -2.60534510e-02 9.76089700e-01 -1.91237682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.541652532 meters Centerline goodness : 0.757148 Centerline is valid? [False, False] Translation: X:-60.45, Y:-63.98, Z:-19.12 [[ 8.42492863e-01 -5.00375308e-01 -1.99575365e-01 -6.04546213e+01] [ 4.93690218e-01 8.65407548e-01 -8.56723136e-02 -6.39781061e+01] [ 2.15582337e-01 -2.63500926e-02 9.76130078e-01 -1.91232728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.571652532 meters Centerline goodness : 0.757603 Centerline is valid? [False, False] Translation: X:-60.46, Y:-63.98, Z:-19.12 [[ 8.42831658e-01 -5.00010665e-01 -1.99058110e-01 -6.04568530e+01] [ 4.93374799e-01 8.65620303e-01 -8.53393170e-02 -6.39781800e+01] [ 2.14979310e-01 -2.62835768e-02 9.76264856e-01 -1.91235246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.601652532 meters Centerline goodness : 0.757172 Centerline is valid? [False, False] Translation: X:-60.46, Y:-63.98, Z:-19.12 [[ 8.43280288e-01 -4.99424932e-01 -1.98628027e-01 -6.04596460e+01] [ 4.92875909e-01 8.65955648e-01 -8.48183556e-02 -6.39784271e+01] [ 2.14363463e-01 -2.63733219e-02 9.76397846e-01 -1.91233208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.631652532 meters Centerline goodness : 0.757919 Centerline is valid? [False, False] Translation: X:-60.48, Y:-63.99, Z:-19.13 [[ 8.47201196e-01 -4.94396752e-01 -1.94478754e-01 -6.04797489e+01] [ 4.86952830e-01 8.68999727e-01 -8.78431288e-02 -6.39901576e+01] [ 2.12431342e-01 -2.02811760e-02 9.76965505e-01 -1.91301343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.661652532 meters Centerline goodness : 0.756613 Centerline is valid? [False, False] Translation: X:-60.48, Y:-63.99, Z:-19.13 [[ 8.46087807e-01 -4.97299575e-01 -1.91907676e-01 -6.04844996e+01] [ 4.89328212e-01 8.67403677e-01 -9.03812032e-02 -6.39908678e+01] [ 2.11407958e-01 -1.74354061e-02 9.77242386e-01 -1.91297543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.691652532 meters Centerline goodness : 0.757916 Centerline is valid? [False, False] Translation: X:-60.50, Y:-64.01, Z:-19.13 [[ 8.44671021e-01 -4.96479305e-01 -2.00097892e-01 -6.04997561e+01] [ 4.89648410e-01 8.67676672e-01 -8.59163926e-02 -6.40072049e+01] [ 2.16275984e-01 -2.54065276e-02 9.76001643e-01 -1.91281995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.721652532 meters Centerline goodness : 0.758576 Centerline is valid? [False, False] Translation: X:-60.52, Y:-64.02, Z:-19.13 [[ 8.47436534e-01 -4.93456285e-01 -1.95837214e-01 -6.05162178e+01] [ 4.85723716e-01 8.69550951e-01 -8.91830457e-02 -6.40179392e+01] [ 2.14298370e-01 -1.95458083e-02 9.76572665e-01 -1.91343736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.751652532 meters Centerline goodness : 0.758468 Centerline is valid? [False, False] Translation: X:-60.52, Y:-64.03, Z:-19.13 [[ 8.46518928e-01 -4.89178676e-01 -2.10023635e-01 -6.05221394e+01] [ 4.81649719e-01 8.71807573e-01 -8.92474317e-02 -6.40281291e+01] [ 2.26758136e-01 -2.56081846e-02 9.73614384e-01 -1.91257570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.781652532 meters Centerline goodness : 0.757402 Centerline is valid? [False, False] Translation: X:-60.52, Y:-64.03, Z:-19.12 [[ 8.48073976e-01 -4.85319128e-01 -2.12687272e-01 -6.05195157e+01] [ 4.78659920e-01 8.73841968e-01 -8.53516074e-02 -6.40306146e+01] [ 2.27277832e-01 -2.94203957e-02 9.73385446e-01 -1.91243743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.811652532 meters Centerline goodness : 0.756429 Centerline is valid? [False, False] Translation: X:-60.54, Y:-64.05, Z:-19.13 [[ 8.53011059e-01 -4.79346049e-01 -2.06396458e-01 -6.05355488e+01] [ 4.74008146e-01 8.77065450e-01 -7.79260845e-02 -6.40509750e+01] [ 2.18376763e-01 -3.13617904e-02 9.75360460e-01 -1.91338489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.841652532 meters Centerline goodness : 0.756588 Centerline is valid? [False, False] Translation: X:-60.56, Y:-64.08, Z:-19.15 [[ 8.60415986e-01 -4.71254545e-01 -1.93916181e-01 -6.05630218e+01] [ 4.67270237e-01 8.81436467e-01 -6.87624892e-02 -6.40814703e+01] [ 2.03329429e-01 -3.14469151e-02 9.78605250e-01 -1.91543114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.871652532 meters Centerline goodness : 0.755105 Centerline is valid? [False, False] Translation: X:-60.58, Y:-64.10, Z:-19.16 [[ 8.63834573e-01 -4.67129728e-01 -1.88625684e-01 -6.05754601e+01] [ 4.63867587e-01 8.83598172e-01 -6.38837425e-02 -6.40957394e+01] [ 1.96511304e-01 -3.23123553e-02 9.79968989e-01 -1.91617953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.901652532 meters Centerline goodness : 0.755943 Centerline is valid? [False, False] Translation: X:-60.59, Y:-64.12, Z:-19.17 [[ 8.69180497e-01 -4.60314811e-01 -1.80653089e-01 -6.05926334e+01] [ 4.57621456e-01 8.87196476e-01 -5.88643869e-02 -6.41150256e+01] [ 1.87370933e-01 -3.15069528e-02 9.81783808e-01 -1.91736171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.93165253200002 meters Centerline goodness : 0.756730 Centerline is valid? [False, False] Translation: X:-60.61, Y:-64.13, Z:-19.18 [[ 8.72651861e-01 -4.56146359e-01 -1.74382422e-01 -6.06056906e+01] [ 4.54051327e-01 8.89330779e-01 -5.41124577e-02 -6.41321102e+01] [ 1.79766855e-01 -3.19572330e-02 9.83190019e-01 -1.91829651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.96165253200002 meters Centerline goodness : 0.755986 Centerline is valid? [False, False] Translation: X:-60.63, Y:-64.16, Z:-19.20 [[ 8.77069273e-01 -4.51206098e-01 -1.64810641e-01 -6.06254067e+01] [ 4.50072293e-01 8.91789309e-01 -4.63331438e-02 -6.41568771e+01] [ 1.67882165e-01 -3.35393264e-02 9.85236364e-01 -1.91986943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.991652532 meters Centerline goodness : 0.755635 Centerline is valid? [False, False] Translation: X:-60.64, Y:-64.17, Z:-19.21 [[ 8.80359455e-01 -4.47104407e-01 -1.58318915e-01 -6.06373851e+01] [ 4.46401927e-01 8.93846599e-01 -4.19949591e-02 -6.41712042e+01] [ 1.60288955e-01 -3.37032095e-02 9.86494574e-01 -1.92103172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.021652532 meters Centerline goodness : 0.753784 Centerline is valid? [False, False] Translation: X:-60.65, Y:-64.19, Z:-19.22 [[ 8.83374206e-01 -4.43386534e-01 -1.51849908e-01 -6.06498469e+01] [ 4.43090957e-01 8.95685037e-01 -3.76658885e-02 -6.41868816e+01] [ 1.52710238e-01 -3.40102468e-02 9.87685621e-01 -1.92208181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.051652532 meters Centerline goodness : 0.752176 Centerline is valid? [False, False] Translation: X:-60.67, Y:-64.21, Z:-19.24 [[ 8.88037135e-01 -4.37724873e-01 -1.40666208e-01 -6.06730139e+01] [ 4.37852048e-01 8.98487428e-01 -3.17163383e-02 -6.42135536e+01] [ 1.40269850e-01 -3.34257011e-02 9.89548933e-01 -1.92391295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.081652532 meters Centerline goodness : 0.751948 Centerline is valid? [False, False] Translation: X:-60.69, Y:-64.23, Z:-19.25 [[ 8.90533290e-01 -4.35081868e-01 -1.32869211e-01 -6.06868666e+01] [ 4.35298351e-01 8.99820361e-01 -2.89596889e-02 -6.42294679e+01] [ 1.32158257e-01 -3.20481816e-02 9.90710406e-01 -1.92509377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.111652532 meters Centerline goodness : 0.751245 Centerline is valid? [False, False] Translation: X:-60.70, Y:-64.25, Z:-19.26 [[ 8.93565307e-01 -4.31093691e-01 -1.25296736e-01 -6.07019601e+01] [ 4.31484555e-01 9.01762256e-01 -2.54147914e-02 -6.42451240e+01] [ 1.23944023e-01 -3.13538304e-02 9.91793737e-01 -1.92619266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.141652532 meters Centerline goodness : 0.749510 Centerline is valid? [False, False] Translation: X:-60.73, Y:-64.27, Z:-19.28 [[ 8.99377696e-01 -4.21832732e-01 -1.14790711e-01 -6.07286134e+01] [ 4.22560905e-01 9.06132859e-01 -1.91186763e-02 -6.42698375e+01] [ 1.12080518e-01 -3.13111556e-02 9.93205703e-01 -1.92773743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.171652532 meters Centerline goodness : 0.747688 Centerline is valid? [False, False] Translation: X:-60.74, Y:-64.29, Z:-19.29 [[ 9.02534159e-01 -4.17109368e-01 -1.07013396e-01 -6.07441908e+01] [ 4.17975901e-01 9.08329589e-01 -1.52808196e-02 -6.42852472e+01] [ 1.03577207e-01 -3.09375591e-02 9.94140146e-01 -1.92891522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.201652532 meters Centerline goodness : 0.745141 Centerline is valid? [False, False] Translation: X:-60.77, Y:-64.31, Z:-19.31 [[ 9.06865673e-01 -4.10740702e-01 -9.42694340e-02 -6.07718233e+01] [ 4.11496382e-01 9.11329979e-01 -1.21818137e-02 -6.43096025e+01] [ 9.09141281e-02 -2.77442624e-02 9.95472188e-01 -1.93078888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.231652532 meters Centerline goodness : 0.743795 Centerline is valid? [False, False] Translation: X:-60.79, Y:-64.32, Z:-19.32 [[ 9.09506579e-01 -4.06459801e-01 -8.71103548e-02 -6.07877759e+01] [ 4.07276756e-01 9.13260579e-01 -8.98658664e-03 -6.43238896e+01] [ 8.32071393e-02 -2.73046630e-02 9.96158134e-01 -1.93158701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.261652532 meters Centerline goodness : 0.743404 Centerline is valid? [False, False] Translation: X:-60.80, Y:-64.34, Z:-19.32 [[ 9.11330488e-01 -4.03688026e-01 -8.07014170e-02 -6.08014096e+01] [ 4.04508156e-01 9.14510252e-01 -6.64453296e-03 -6.43353799e+01] [ 7.64845916e-02 -2.65890159e-02 9.96716174e-01 -1.93224595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.291652532 meters Centerline goodness : 0.741369 Centerline is valid? [False, False] Translation: X:-60.83, Y:-64.36, Z:-19.33 [[ 9.16071330e-01 -3.94994002e-01 -6.92319107e-02 -6.08316632e+01] [ 3.95851039e-01 9.18313587e-01 -1.45267569e-03 -6.43603179e+01] [ 6.41504025e-02 -2.60747692e-02 9.97599535e-01 -1.93348141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.321652532 meters Centerline goodness : 0.740527 Centerline is valid? [False, False] Translation: X:-60.85, Y:-64.37, Z:-19.34 [[ 9.18130382e-01 -3.91285359e-01 -6.27086089e-02 -6.08464800e+01] [ 3.92132620e-01 9.19907757e-01 1.31456609e-03 -6.43714589e+01] [ 5.71717652e-02 -2.57970341e-02 9.98031013e-01 -1.93413351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.351652532 meters Centerline goodness : 0.738659 Centerline is valid? [False, False] Translation: X:-60.86, Y:-64.38, Z:-19.35 [[ 9.20035617e-01 -3.87866351e-01 -5.56251454e-02 -6.08620019e+01] [ 3.88667571e-01 9.21369585e-01 3.95054259e-03 -6.43845913e+01] [ 4.97190346e-02 -2.52543300e-02 9.98443907e-01 -1.93484848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.381652532 meters Centerline goodness : 0.738127 Centerline is valid? [False, False] Translation: X:-60.88, Y:-64.40, Z:-19.36 [[ 9.21828360e-01 -3.84867119e-01 -4.59322895e-02 -6.08806629e+01] [ 3.85480521e-01 9.22702502e-01 4.98609824e-03 -6.44004510e+01] [ 4.04628531e-02 -2.23023296e-02 9.98932112e-01 -1.93596069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.411652532 meters Centerline goodness : 0.737571 Centerline is valid? [False, False] Translation: X:-60.89, Y:-64.41, Z:-19.36 [[ 9.22955839e-01 -3.82724684e-01 -4.09186492e-02 -6.08916223e+01] [ 3.83329714e-01 9.23578432e-01 7.82368397e-03 -6.44113174e+01] [ 3.47972649e-02 -2.29062489e-02 9.99131850e-01 -1.93641975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.441652532 meters Centerline goodness : 0.735866 Centerline is valid? [False, False] Translation: X:-60.92, Y:-64.44, Z:-19.38 [[ 9.25665940e-01 -3.77313908e-01 -2.78708055e-02 -6.09204175e+01] [ 3.77748863e-01 9.25826813e-01 1.22681754e-02 -6.44397404e+01] [ 2.11745858e-02 -2.18843972e-02 9.99536248e-01 -1.93799894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.471652532 meters Centerline goodness : 0.734662 Centerline is valid? [False, False] Translation: X:-60.93, Y:-64.45, Z:-19.39 [[ 9.26616198e-01 -3.75449405e-01 -2.04979608e-02 -6.09345076e+01] [ 3.75774809e-01 9.26585007e-01 1.52812847e-02 -6.44543176e+01] [ 1.32557539e-02 -2.18625033e-02 9.99673105e-01 -1.93897157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.501652532 meters Centerline goodness : 0.732242 Centerline is valid? [False, False] Translation: X:-60.96, Y:-64.48, Z:-19.41 [[ 9.27741875e-01 -3.73149152e-01 -7.39755744e-03 -6.09633712e+01] [ 3.73221591e-01 9.27514359e-01 2.05610818e-02 -6.44817465e+01] [-8.11009510e-04 -2.18363048e-02 9.99761231e-01 -1.94059739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.531652532 meters Centerline goodness : 0.734263 Centerline is valid? [False, False] Translation: X:-60.98, Y:-64.50, Z:-19.41 [[ 9.28212040e-01 -3.72050747e-01 -8.07144038e-04 -6.09773142e+01] [ 3.71964318e-01 9.27945051e-01 2.36754842e-02 -6.44961777e+01] [-8.05949624e-03 -2.22760982e-02 9.99719371e-01 -1.94126314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.561652532 meters Centerline goodness : 0.733759 Centerline is valid? [False, False] Translation: X:-60.99, Y:-64.51, Z:-19.42 [[ 9.28812736e-01 -3.70501151e-01 5.98325988e-03 -6.09910536e+01] [ 3.70219949e-01 9.28546610e-01 2.71731919e-02 -6.45100948e+01] [-1.56234345e-02 -2.30236845e-02 9.99612834e-01 -1.94212170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.591652532 meters Centerline goodness : 0.732309 Centerline is valid? [False, False] Translation: X:-61.02, Y:-64.54, Z:-19.44 [[ 9.30313145e-01 -3.66210177e-01 2.01880820e-02 -6.10240917e+01] [ 3.65459441e-01 9.30235475e-01 3.31867179e-02 -6.45386662e+01] [-3.09329839e-02 -2.34961147e-02 9.99245257e-01 -1.94398589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.621652532 meters Centerline goodness : 0.741630 Centerline is valid? [False, False] Translation: X:-61.04, Y:-64.55, Z:-19.45 [[ 9.30824913e-01 -3.64474862e-01 2.68896963e-02 -6.10389157e+01] [ 3.63429835e-01 9.30886273e-01 3.70067818e-02 -6.45499916e+01] [-3.85192908e-02 -2.46743165e-02 9.98953173e-01 -1.94475006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.651652532 meters Centerline goodness : 0.745080 Centerline is valid? [False, False] Translation: X:-61.07, Y:-64.58, Z:-19.46 [[ 9.33364771e-01 -3.56505648e-01 4.16404464e-02 -6.10749365e+01] [ 3.54924516e-01 9.34000570e-01 4.08842692e-02 -6.45752807e+01] [-5.34676736e-02 -2.33807213e-02 9.98295823e-01 -1.94630423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.68165253200002 meters Centerline goodness : 0.747967 Centerline is valid? [False, False] Translation: X:-61.09, Y:-64.58, Z:-19.47 [[ 9.33820379e-01 -3.54489763e-01 4.81301154e-02 -6.10902542e+01] [ 3.52607467e-01 9.34761837e-01 4.34543662e-02 -6.45845718e+01] [-6.03943231e-02 -2.36075345e-02 9.97895390e-01 -1.94673667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.71165253200002 meters Centerline goodness : 0.748808 Centerline is valid? [False, False] Translation: X:-61.11, Y:-64.59, Z:-19.47 [[ 9.34433571e-01 -3.51756006e-01 5.56921285e-02 -6.11076702e+01] [ 3.49557844e-01 9.35806657e-01 4.55545248e-02 -6.45948618e+01] [-6.81411423e-02 -2.31000569e-02 9.97408227e-01 -1.94727068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.741652532 meters Centerline goodness : 0.717780 Centerline is valid? [False, False] Translation: X:-61.13, Y:-64.61, Z:-19.48 [[ 9.36755628e-01 -3.43617945e-01 6.64499992e-02 -6.11329534e+01] [ 3.40988994e-01 9.38847323e-01 4.78770241e-02 -6.46119074e+01] [-7.88378085e-02 -2.21903533e-02 9.96640451e-01 -1.94813445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.771652532 meters Centerline goodness : 0.714640 Centerline is valid? [False, False] Translation: X:-61.17, Y:-64.63, Z:-19.49 [[ 9.39070413e-01 -3.34222304e-01 8.02633775e-02 -6.11692193e+01] [ 3.31091476e-01 9.42274487e-01 4.99722418e-02 -6.46336077e+01] [-9.23319707e-02 -2.03529336e-02 9.95520249e-01 -1.94905619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.801652532 meters Centerline goodness : 0.714640 Centerline is valid? [False, False] Translation: X:-61.17, Y:-64.63, Z:-19.49 [[ 9.39070413e-01 -3.34222304e-01 8.02633775e-02 -6.11692193e+01] [ 3.31091476e-01 9.42274487e-01 4.99722418e-02 -6.46336077e+01] [-9.23319707e-02 -2.03529336e-02 9.95520249e-01 -1.94905619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.831652532 meters Centerline goodness : 0.753479 Centerline is valid? [False, False] Translation: X:-61.19, Y:-64.64, Z:-19.49 [[ 9.39300353e-01 -3.31852030e-01 8.71153062e-02 -6.11860599e+01] [ 3.28359496e-01 9.43110830e-01 5.21728312e-02 -6.46420329e+01] [-9.94730486e-02 -2.04008207e-02 9.94831101e-01 -1.94934275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.861652532 meters Centerline goodness : 0.722100 Centerline is valid? [False, False] Translation: X:-61.20, Y:-64.65, Z:-19.49 [[ 9.39376085e-01 -3.30386692e-01 9.17453246e-02 -6.12001151e+01] [ 3.27149922e-01 9.43713567e-01 4.87609628e-02 -6.46458982e+01] [-1.02691281e-01 -1.57904066e-02 9.94587937e-01 -1.94941633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.891652532 meters Centerline goodness : 0.718503 Centerline is valid? [False, False] Translation: X:-61.21, Y:-64.65, Z:-19.49 [[ 9.38855446e-01 -3.30419620e-01 9.68159396e-02 -6.12144050e+01] [ 3.27617178e-01 9.43785389e-01 4.40014056e-02 -6.46499987e+01] [-1.05912397e-01 -9.59239436e-03 9.94329196e-01 -1.94941819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.921652532 meters Centerline goodness : 0.720631 Centerline is valid? [False, False] Translation: X:-61.24, Y:-64.66, Z:-19.49 [[ 9.40883734e-01 -3.23562227e-01 1.00226165e-01 -6.12434436e+01] [ 3.21583102e-01 9.46205834e-01 3.57607006e-02 -6.46622777e+01] [-1.06405394e-01 -1.41562040e-03 9.94321823e-01 -1.94909218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.951652532 meters Centerline goodness : 0.752935 Centerline is valid? [False, False] Translation: X:-61.26, Y:-64.67, Z:-19.49 [[ 9.41097821e-01 -3.21740175e-01 1.04010339e-01 -6.12564963e+01] [ 3.20015823e-01 9.46826040e-01 3.33215128e-02 -6.46667750e+01] [-1.09200566e-01 1.92615100e-03 9.94017870e-01 -1.94899547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.981652532 meters Centerline goodness : 0.691969 Centerline is valid? [False, False] Translation: X:-61.28, Y:-64.68, Z:-19.48 [[ 9.42797335e-01 -3.15981513e-01 1.06249088e-01 -6.12828570e+01] [ 3.15114612e-01 9.48716454e-01 2.52956930e-02 -6.46799451e+01] [-1.08793230e-01 9.63192824e-03 9.94017736e-01 -1.94845324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.011652532 meters Centerline goodness : 0.696290 Centerline is valid? [False, False] Translation: X:-61.29, Y:-64.69, Z:-19.47 [[ 9.44256132e-01 -3.15705148e-01 9.33306813e-02 -6.12879229e+01] [ 3.14903940e-01 9.48830595e-01 2.35798942e-02 -6.46884198e+01] [-9.59992998e-02 7.12473954e-03 9.95355902e-01 -1.94740919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.041652532 meters Centerline goodness : 0.695515 Centerline is valid? [False, False] Translation: X:-61.30, Y:-64.69, Z:-19.47 [[ 9.43956593e-01 -3.15393524e-01 9.73286956e-02 -6.12992002e+01] [ 3.14865164e-01 9.48900821e-01 2.11461515e-02 -6.46933467e+01] [-9.90246384e-02 1.06843665e-02 9.95027620e-01 -1.94731729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.071652532 meters Centerline goodness : 0.612594 Centerline is valid? [False, False] Translation: X:-61.31, Y:-64.70, Z:-19.46 [[ 9.45043989e-01 -3.15573038e-01 8.54723190e-02 -6.13076274e+01] [ 3.14706873e-01 9.48890971e-01 2.37804183e-02 -6.47035776e+01] [-8.86083706e-02 4.42518491e-03 9.96056712e-01 -1.94643310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.101652532 meters Centerline goodness : 0.616652 Centerline is valid? [False, False] Translation: X:-61.33, Y:-64.72, Z:-19.46 [[ 9.45114667e-01 -3.16645874e-01 8.05832342e-02 -6.13325555e+01] [ 3.15543475e-01 9.48543708e-01 2.64035707e-02 -6.47219456e+01] [-8.47973016e-02 4.73111787e-04 9.96398110e-01 -1.94580730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.131652532 meters Centerline goodness : 0.627511 Centerline is valid? [False, False] Translation: X:-61.34, Y:-64.73, Z:-19.45 [[ 9.45835029e-01 -3.17336437e-01 6.85104729e-02 -6.13398537e+01] [ 3.16145118e-01 9.48301364e-01 2.78709061e-02 -6.47321303e+01] [-7.38130289e-02 -4.70202771e-03 9.97261013e-01 -1.94489565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.161652532 meters Centerline goodness : 0.629053 Centerline is valid? [False, False] Translation: X:-61.35, Y:-64.73, Z:-19.45 [[ 9.44986884e-01 -3.19239260e-01 7.13167831e-02 -6.13462205e+01] [ 3.18231963e-01 9.47673284e-01 2.53725290e-02 -6.47345410e+01] [-7.56849174e-02 -1.28142724e-03 9.97130960e-01 -1.94472775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.191652532 meters Centerline goodness : 0.631234 Centerline is valid? [False, False] Translation: X:-61.37, Y:-64.76, Z:-19.44 [[ 9.45137055e-01 -3.19777332e-01 6.67712900e-02 -6.13733323e+01] [ 3.18610475e-01 9.47479839e-01 2.77366098e-02 -6.47550446e+01] [-7.21339902e-02 -4.94086530e-03 9.97382713e-01 -1.94399562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.221652532 meters Centerline goodness : 0.633936 Centerline is valid? [False, False] Translation: X:-61.38, Y:-64.76, Z:-19.44 [[ 9.44277024e-01 -3.21720919e-01 6.95453186e-02 -6.13792852e+01] [ 3.20729373e-01 9.46833234e-01 2.52882687e-02 -6.47582475e+01] [-7.39835840e-02 -1.57390470e-03 9.97258217e-01 -1.94382411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.251652532 meters Centerline goodness : 0.735815 Centerline is valid? [False, False] Translation: X:-61.39, Y:-64.76, Z:-19.44 [[ 9.43575242e-01 -3.23084631e-01 7.26779413e-02 -6.13867208e+01] [ 3.22269028e-01 9.46368525e-01 2.30062774e-02 -6.47623348e+01] [-7.62130907e-02 1.71369579e-03 9.97090080e-01 -1.94365173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.281652532 meters Centerline goodness : 0.729944 Centerline is valid? [False, False] Translation: X:-61.40, Y:-64.77, Z:-19.44 [[ 9.43012087e-01 -3.23891255e-01 7.63063513e-02 -6.13958227e+01] [ 3.23284891e-01 9.46079331e-01 2.05128777e-02 -6.47666396e+01] [-7.88358035e-02 5.32479880e-03 9.96873393e-01 -1.94354640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.311652532 meters Centerline goodness : 0.594301 Centerline is valid? [False, False] Translation: X:-61.43, Y:-64.79, Z:-19.43 [[ 9.43686886e-01 -3.22829236e-01 7.23625977e-02 -6.14258578e+01] [ 3.22090940e-01 9.46453731e-01 2.19718336e-02 -6.47864898e+01] [-7.55810008e-02 2.57280590e-03 9.97136346e-01 -1.94306948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.341652532 meters Centerline goodness : 0.724427 Centerline is valid? [False, False] Translation: X:-61.45, Y:-64.80, Z:-19.43 [[ 9.44433652e-01 -3.21578429e-01 6.80616690e-02 -6.14547410e+01] [ 3.20696744e-01 9.46882719e-01 2.38057615e-02 -6.48035798e+01] [-7.21018376e-02 -6.55806630e-04 9.97397060e-01 -1.94276237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.371652532 meters Centerline goodness : 0.742627 Centerline is valid? [False, False] Translation: X:-61.47, Y:-64.81, Z:-19.42 [[ 9.46354330e-01 -3.16801969e-01 6.36395705e-02 -6.14664960e+01] [ 3.16224107e-01 9.48489736e-01 1.92233070e-02 -6.48098765e+01] [-6.64514609e-02 1.93230647e-03 9.97787788e-01 -1.94219106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.401652532 meters Centerline goodness : 0.704689 Centerline is valid? [False, False] Translation: X:-61.50, Y:-64.82, Z:-19.41 [[ 9.48810506e-01 -3.09844610e-01 6.12775795e-02 -6.14954797e+01] [ 3.09734614e-01 9.50753184e-01 1.15261220e-02 -6.48239380e+01] [-6.18311606e-02 8.04368182e-03 9.98054210e-01 -1.94148332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.43165253200002 meters Centerline goodness : 0.687834 Centerline is valid? [False, False] Translation: X:-61.51, Y:-64.83, Z:-19.41 [[ 9.48740980e-01 -3.09239870e-01 6.52782974e-02 -6.15078616e+01] [ 3.09359535e-01 9.50906967e-01 8.52164736e-03 -6.48283217e+01] [-6.47088209e-02 1.21096276e-02 9.97830710e-01 -1.94145128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.46165253200002 meters Centerline goodness : 0.689663 Centerline is valid? [False, False] Translation: X:-61.54, Y:-64.84, Z:-19.41 [[ 9.51993999e-01 -2.99286454e-01 6.43043167e-02 -6.15419569e+01] [ 2.99789866e-01 9.54003369e-01 1.89927301e-03 -6.48423016e+01] [-6.19149615e-02 1.74696860e-02 9.97928528e-01 -1.94075145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.491652532 meters Centerline goodness : 0.685954 Centerline is valid? [False, False] Translation: X:-61.56, Y:-64.85, Z:-19.41 [[ 9.52632545e-01 -2.96616200e-01 6.71570076e-02 -6.15557308e+01] [ 2.97381876e-01 9.54757478e-01 -1.47593055e-03 -6.48456187e+01] [-6.36808703e-02 2.13772964e-02 9.97741328e-01 -1.94074561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.521652532 meters Centerline goodness : 0.685954 Centerline is valid? [False, False] Translation: X:-61.56, Y:-64.85, Z:-19.41 [[ 9.52632545e-01 -2.96616200e-01 6.71570076e-02 -6.15557308e+01] [ 2.97381876e-01 9.54757478e-01 -1.47593055e-03 -6.48456187e+01] [-6.36808703e-02 2.13772964e-02 9.97741328e-01 -1.94074561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.551652532 meters Centerline goodness : 0.711057 Centerline is valid? [False, False] Translation: X:-61.57, Y:-64.85, Z:-19.41 [[ 9.53529507e-01 -2.93109512e-01 6.97731554e-02 -6.15668076e+01] [ 2.93920734e-01 9.55828732e-01 -1.42747251e-03 -6.48481114e+01] [-6.62727809e-02 2.18689142e-02 9.97561862e-01 -1.94082850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.581652532 meters Centerline goodness : 0.519846 Centerline is valid? [False, False] Translation: X:-61.60, Y:-64.86, Z:-19.40 [[ 9.56712301e-01 -2.82981753e-01 6.79919170e-02 -6.16016265e+01] [ 2.84178999e-01 9.58734169e-01 -8.43142640e-03 -6.48628934e+01] [-6.28002343e-02 2.73883243e-02 9.97650244e-01 -1.94011321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.611652532 meters Centerline goodness : 0.730129 Centerline is valid? [False, False] Translation: X:-61.62, Y:-64.87, Z:-19.40 [[ 9.57241225e-01 -2.80411577e-01 7.11237280e-02 -6.16154931e+01] [ 2.81861811e-01 9.59391484e-01 -1.10408543e-02 -6.48686129e+01] [-6.51395155e-02 3.06158237e-02 9.97406394e-01 -1.93999751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.641652532 meters Centerline goodness : 0.500164 Centerline is valid? [False, False] Translation: X:-61.63, Y:-64.87, Z:-19.40 [[ 9.57679739e-01 -2.78130757e-01 7.41134189e-02 -6.16286196e+01] [ 2.79807571e-01 9.59966942e-01 -1.30841213e-02 -6.48749738e+01] [-6.75073355e-02 3.32678935e-02 9.97163982e-01 -1.93980678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.671652532 meters Centerline goodness : 0.658118 Centerline is valid? [False, False] Translation: X:-61.66, Y:-64.90, Z:-19.39 [[ 9.58487718e-01 -2.76036576e-01 7.14500012e-02 -6.16637410e+01] [ 2.77392840e-01 9.60708475e-01 -9.61444480e-03 -6.48959351e+01] [-6.59886833e-02 2.90350460e-02 9.97397844e-01 -1.93903457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.701652532 meters Centerline goodness : 0.669612 Centerline is valid? [False, False] Translation: X:-61.67, Y:-64.90, Z:-19.39 [[ 9.58814092e-01 -2.74841096e-01 7.16792096e-02 -6.16666922e+01] [ 2.76068496e-01 9.61107728e-01 -7.62372309e-03 -6.49007260e+01] [-6.67961298e-02 2.70981047e-02 9.97398601e-01 -1.93871012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.731652532 meters Centerline goodness : 0.578317 Centerline is valid? [False, False] Translation: X:-61.67, Y:-64.91, Z:-19.38 [[ 9.59149125e-01 -2.73632772e-01 7.18196461e-02 -6.16691120e+01] [ 2.74724970e-01 9.61506515e-01 -5.60462227e-03 -6.49063205e+01] [-6.75214493e-02 2.51063187e-02 9.97401888e-01 -1.93840663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.761652532 meters Centerline goodness : 0.663988 Centerline is valid? [False, False] Translation: X:-61.67, Y:-64.91, Z:-19.38 [[ 9.59244350e-01 -2.73325310e-01 7.17185621e-02 -6.16694086e+01] [ 2.74280116e-01 9.61642993e-01 -3.62923011e-03 -6.49131312e+01] [-6.79756923e-02 2.31522941e-02 9.97418306e-01 -1.93813996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.791652532 meters Centerline goodness : 0.704712 Centerline is valid? [False, False] Translation: X:-61.70, Y:-64.94, Z:-19.37 [[ 9.58251046e-01 -2.77637362e-01 6.83551652e-02 -6.16954423e+01] [ 2.78420042e-01 9.60457306e-01 -2.01101025e-03 -6.49389845e+01] [-6.50938863e-02 2.09585006e-02 9.97659024e-01 -1.93725340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.821652532 meters Centerline goodness : 0.755199 Centerline is valid? [False, False] Translation: X:-61.70, Y:-64.95, Z:-19.37 [[ 9.58309930e-01 -2.77500512e-01 6.80848307e-02 -6.16950178e+01] [ 2.78107354e-01 9.60549819e-01 5.87904151e-04 -6.49467939e+01] [-6.55620155e-02 1.83714977e-02 9.97679362e-01 -1.93692070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.851652532 meters Centerline goodness : 0.665937 Centerline is valid? [False, False] Translation: X:-61.69, Y:-64.95, Z:-19.37 [[ 9.58291261e-01 -2.77625776e-01 6.78364689e-02 -6.16941797e+01] [ 2.78063326e-01 9.60557759e-01 3.09476999e-03 -6.49541660e+01] [-6.60200345e-02 1.58971431e-02 9.97691654e-01 -1.93663696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.881652532 meters Centerline goodness : 0.321683 Centerline is valid? [False, False] Translation: X:-61.72, Y:-64.98, Z:-19.36 [[ 9.57011880e-01 -2.83081684e-01 6.31903695e-02 -6.17156068e+01] [ 2.83362540e-01 9.59001542e-01 4.65979650e-03 -6.49765736e+01] [-6.19187648e-02 1.34463030e-02 9.97990613e-01 -1.93594534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.911652532 meters Centerline goodness : 0.696684 Centerline is valid? [False, False] Translation: X:-61.72, Y:-64.98, Z:-19.36 [[ 9.56123170e-01 -2.85789148e-01 6.44441358e-02 -6.17168063e+01] [ 2.86254178e-01 9.58151426e-01 2.09527059e-03 -6.49815939e+01] [-6.23460463e-02 1.64440664e-02 9.97919117e-01 -1.93587626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.941652532 meters Centerline goodness : 0.677205 Centerline is valid? [False, False] Translation: X:-61.73, Y:-64.99, Z:-19.36 [[ 9.55327436e-01 -2.89854685e-01 5.77386478e-02 -6.17318761e+01] [ 2.90046078e-01 9.56998435e-01 5.22187203e-03 -6.49949614e+01] [-5.67693796e-02 1.17582707e-02 9.98318076e-01 -1.93550112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.971652532 meters Centerline goodness : 0.728454 Centerline is valid? [False, False] Translation: X:-61.73, Y:-65.00, Z:-19.36 [[ 9.55468535e-01 -2.89426166e-01 5.75532125e-02 -6.17313419e+01] [ 2.89570626e-01 9.57137866e-01 5.99655341e-03 -6.50000717e+01] [-5.68219184e-02 1.09362017e-02 9.98324431e-01 -1.93551814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.001652532 meters Centerline goodness : 0.721853 Centerline is valid? [False, False] Translation: X:-61.76, Y:-65.02, Z:-19.35 [[ 9.55364251e-01 -2.90455767e-01 5.39869901e-02 -6.17611561e+01] [ 2.90629689e-01 9.56823699e-01 4.77423622e-03 -6.50185718e+01] [-5.30427360e-02 1.11290875e-02 9.98530226e-01 -1.93535531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.031652532 meters Centerline goodness : 0.717637 Centerline is valid? [False, False] Translation: X:-61.77, Y:-65.02, Z:-19.35 [[ 9.55806055e-01 -2.88898264e-01 5.45213539e-02 -6.17651867e+01] [ 2.89052105e-01 9.57299163e-01 5.21474404e-03 -6.50206476e+01] [-5.36997769e-02 1.07752282e-02 9.98498988e-01 -1.93530116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.061652532 meters Centerline goodness : 0.625209 Centerline is valid? [False, False] Translation: X:-61.77, Y:-65.02, Z:-19.35 [[ 9.56310093e-01 -2.87119569e-01 5.50759378e-02 -6.17700405e+01] [ 2.87239665e-01 9.57840613e-01 5.89355853e-03 -6.50227308e+01] [-5.44461261e-02 1.01839244e-02 9.98464775e-01 -1.93514781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.091652532 meters Centerline goodness : 0.487291 Centerline is valid? [False, False] Translation: X:-61.80, Y:-65.03, Z:-19.35 [[ 9.58723598e-01 -2.78617126e-01 5.67587851e-02 -6.17975119e+01] [ 2.78999044e-01 9.60290578e-01 1.24093608e-03 -6.50333137e+01] [-5.48506726e-02 1.46459321e-02 9.98387150e-01 -1.93481144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.121652532 meters Centerline goodness : 0.709672 Centerline is valid? [False, False] Translation: X:-61.81, Y:-65.04, Z:-19.35 [[ 9.59611224e-01 -2.75159721e-01 5.85954495e-02 -6.18074829e+01] [ 2.75544159e-01 9.61287126e-01 1.57400030e-03 -6.50366182e+01] [-5.67601528e-02 1.46352055e-02 9.98280570e-01 -1.93476003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.151652532 meters Centerline goodness : 0.704034 Centerline is valid? [False, False] Translation: X:-61.82, Y:-65.04, Z:-19.35 [[ 9.60550781e-01 -2.71442729e-01 6.05065405e-02 -6.18181010e+01] [ 2.71830513e-01 9.62343295e-01 1.88539976e-03 -6.50399516e+01] [-5.87398416e-02 1.46365017e-02 9.98166020e-01 -1.93469337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.18165253200002 meters Centerline goodness : 0.702035 Centerline is valid? [False, False] Translation: X:-61.85, Y:-65.05, Z:-19.34 [[ 9.62200706e-01 -2.65099499e-01 6.23863589e-02 -6.18527327e+01] [ 2.66118647e-01 9.63902934e-01 -8.48526339e-03 -6.50504541e+01] [-5.78849553e-02 2.47666998e-02 9.98016003e-01 -1.93413849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.21165253200002 meters Centerline goodness : 0.698609 Centerline is valid? [False, False] Translation: X:-61.86, Y:-65.05, Z:-19.34 [[ 9.63882870e-01 -2.58933739e-01 6.23147759e-02 -6.18596866e+01] [ 2.59688558e-01 9.65683313e-01 -4.19421338e-03 -6.50531484e+01] [-5.90903159e-02 2.02251647e-02 9.98047733e-01 -1.93400947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.241652532 meters Centerline goodness : 0.698252 Centerline is valid? [False, False] Translation: X:-61.87, Y:-65.05, Z:-19.34 [[ 9.65950348e-01 -2.50925884e-01 6.30565373e-02 -6.18713858e+01] [ 2.51424504e-01 9.67876913e-01 2.82705917e-05 -6.50549546e+01] [-6.10380605e-02 1.58266506e-02 9.98009956e-01 -1.93389662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.271652532 meters Centerline goodness : 0.705289 Centerline is valid? [False, False] Translation: X:-61.91, Y:-65.06, Z:-19.33 [[ 9.69362390e-01 -2.38054661e-01 6.05519217e-02 -6.19067420e+01] [ 2.38687081e-01 9.71090827e-01 -3.32906423e-03 -6.50613762e+01] [-5.80089165e-02 1.76800311e-02 9.98159497e-01 -1.93313337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.301652532 meters Centerline goodness : 0.700261 Centerline is valid? [False, False] Translation: X:-61.92, Y:-65.06, Z:-19.33 [[ 9.70647595e-01 -2.32471093e-01 6.16476861e-02 -6.19188896e+01] [ 2.33026449e-01 9.72468586e-01 -1.87723886e-03 -6.50632956e+01] [-5.95140343e-02 1.61876788e-02 9.98096207e-01 -1.93283132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.331652532 meters Centerline goodness : 0.700503 Centerline is valid? [False, False] Translation: X:-61.93, Y:-65.07, Z:-19.32 [[ 9.71843334e-01 -2.27225555e-01 6.23625032e-02 -6.19300111e+01] [ 2.27622872e-01 9.73749076e-01 7.52107471e-04 -6.50651102e+01] [-6.08963279e-02 1.34642014e-02 9.98053281e-01 -1.93234381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.361652532 meters Centerline goodness : 0.702805 Centerline is valid? [False, False] Translation: X:-61.95, Y:-65.07, Z:-19.31 [[ 9.74006366e-01 -2.17903310e-01 6.18849475e-02 -6.19454978e+01] [ 2.17640580e-01 9.75966576e-01 1.10372060e-02 -6.50666577e+01] [-6.28026841e-02 2.71836697e-03 9.98022261e-01 -1.93085692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.391652532 meters Centerline goodness : 0.700850 Centerline is valid? [False, False] Translation: X:-61.95, Y:-65.07, Z:-19.30 [[ 9.75727211e-01 -2.10167374e-01 6.15311662e-02 -6.19535039e+01] [ 2.09337844e-01 9.77644831e-01 1.97041010e-02 -6.50710221e+01] [-6.42967857e-02 -6.34502581e-03 9.97910649e-01 -1.93028672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.421652532 meters Centerline goodness : 0.702548 Centerline is valid? [False, False] Translation: X:-61.96, Y:-65.08, Z:-19.30 [[ 9.77063222e-01 -2.03293890e-01 6.33960190e-02 -6.19649366e+01] [ 2.02175767e-01 9.79063711e-01 2.36476048e-02 -6.50751039e+01] [-6.68761552e-02 -1.02880662e-02 9.97708242e-01 -1.93020604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.451652532 meters Centerline goodness : 0.699981 Centerline is valid? [False, False] Translation: X:-61.98, Y:-65.08, Z:-19.30 [[ 9.78481443e-01 -1.95777786e-01 6.51546096e-02 -6.19766898e+01] [ 1.94324413e-01 9.80537489e-01 2.80045696e-02 -6.50786608e+01] [-6.93692099e-02 -1.47408204e-02 9.97482141e-01 -1.93004807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.481652532 meters Centerline goodness : 0.697518 Centerline is valid? [False, False] Translation: X:-62.01, Y:-65.08, Z:-19.30 [[ 9.81956831e-01 -1.76033722e-01 6.90862488e-02 -6.20124936e+01] [ 1.74496884e-01 9.84267164e-01 2.77306246e-02 -6.50820900e+01] [-7.28808513e-02 -1.51749411e-02 9.97225202e-01 -1.93001525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.511652532 meters Centerline goodness : 0.643100 Centerline is valid? [False, False] Translation: X:-62.02, Y:-65.08, Z:-19.30 [[ 9.83708332e-01 -1.66158393e-01 6.86243805e-02 -6.20194673e+01] [ 1.64019837e-01 9.85809295e-01 3.57425202e-02 -6.50826936e+01] [-7.35894718e-02 -2.39044552e-02 9.97002090e-01 -1.92978508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.541652532 meters Centerline goodness : 0.701947 Centerline is valid? [False, False] Translation: X:-62.03, Y:-65.08, Z:-19.30 [[ 9.85338865e-01 -1.56408456e-01 6.81448203e-02 -6.20261716e+01] [ 1.53660742e-01 9.87148686e-01 4.38844815e-02 -6.50824260e+01] [-7.41329738e-02 -3.27699014e-02 9.96709805e-01 -1.92953512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.571652532 meters Centerline goodness : 0.619742 Centerline is valid? [False, False] Translation: X:-62.03, Y:-65.08, Z:-19.29 [[ 9.86910793e-01 -1.46011445e-01 6.84671069e-02 -6.20349834e+01] [ 1.42666208e-01 9.88432015e-01 5.14636299e-02 -6.50807826e+01] [-7.51893594e-02 -4.10220693e-02 9.96325123e-01 -1.92941300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.601652532 meters Centerline goodness : 0.700670 Centerline is valid? [False, False] Translation: X:-62.05, Y:-65.08, Z:-19.30 [[ 9.88676104e-01 -1.33005755e-01 6.94912295e-02 -6.20477197e+01] [ 1.29313007e-01 9.90066280e-01 5.51988053e-02 -6.50779003e+01] [-7.61426818e-02 -4.55876199e-02 9.96054246e-01 -1.92976975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.631652532 meters Centerline goodness : 0.704828 Centerline is valid? [False, False] Translation: X:-62.08, Y:-65.07, Z:-19.29 [[ 9.92763578e-01 -1.02334085e-01 6.28348058e-02 -6.20834837e+01] [ 9.90641090e-02 9.93661818e-01 5.31271380e-02 -6.50706452e+01] [-6.78732644e-02 -4.65180136e-02 9.96608897e-01 -1.92941704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.661652532 meters Centerline goodness : 0.709968 Centerline is valid? [False, False] Translation: X:-62.09, Y:-65.06, Z:-19.29 [[ 9.94491035e-01 -8.77391532e-02 5.73534794e-02 -6.20918883e+01] [ 8.52238931e-02 9.95348475e-01 4.49255155e-02 -6.50619848e+01] [-6.10284249e-02 -3.97901357e-02 9.97342607e-01 -1.92888789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.691652532 meters Centerline goodness : 0.711895 Centerline is valid? [False, False] Translation: X:-62.10, Y:-65.05, Z:-19.28 [[ 9.95952308e-01 -7.31978349e-02 5.21639511e-02 -6.21003300e+01] [ 7.12958573e-02 9.96752424e-01 3.74366921e-02 -6.50526234e+01] [-5.47348295e-02 -3.35660863e-02 9.97936579e-01 -1.92832391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.721652532 meters Centerline goodness : 0.711895 Centerline is valid? [False, False] Translation: X:-62.10, Y:-65.05, Z:-19.28 [[ 9.95952308e-01 -7.31978349e-02 5.21639511e-02 -6.21003300e+01] [ 7.12958573e-02 9.96752424e-01 3.74366921e-02 -6.50526234e+01] [-5.47348295e-02 -3.35660863e-02 9.97936579e-01 -1.92832391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.751652532 meters Centerline goodness : 0.702714 Centerline is valid? [False, False] Translation: X:-62.15, Y:-65.04, Z:-19.28 [[ 9.98334615e-01 -3.75917222e-02 4.37590960e-02 -6.21475613e+01] [ 3.62833315e-02 9.98881487e-01 3.03198587e-02 -6.50402178e+01] [-4.48499266e-02 -2.86816386e-02 9.98581918e-01 -1.92801084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.781652532 meters Centerline goodness : 0.699360 Centerline is valid? [False, False] Translation: X:-62.17, Y:-65.03, Z:-19.28 [[ 9.99156949e-01 -1.66675879e-02 3.75177579e-02 -6.21657399e+01] [ 1.57533484e-02 9.99574884e-01 2.45333072e-02 -6.50312459e+01] [-3.79107196e-02 -2.39215941e-02 9.98994762e-01 -1.92758059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.811652532 meters Centerline goodness : 0.692947 Centerline is valid? [False, False] Translation: X:-62.18, Y:-65.02, Z:-19.27 [[ 9.99503979e-01 -4.44056251e-03 3.11781439e-02 -6.21751693e+01] [ 3.89793249e-03 9.99840253e-01 1.74434408e-02 -6.50231925e+01] [-3.12506220e-02 -1.73132582e-02 9.99361621e-01 -1.92674024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.841652532 meters Centerline goodness : 0.692930 Centerline is valid? [False, False] Translation: X:-62.19, Y:-65.02, Z:-19.26 [[ 9.99677671e-01 7.03637472e-03 2.43935120e-02 -6.21880835e+01] [-7.31795217e-03 9.99907403e-01 1.14731414e-02 -6.50174873e+01] [-2.43105239e-02 -1.16479538e-02 9.99636596e-01 -1.92569802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.871652532 meters Centerline goodness : 0.700016 Centerline is valid? [False, False] Translation: X:-62.24, Y:-65.01, Z:-19.25 [[ 9.99267819e-01 3.13207746e-02 2.19735010e-02 -6.22435385e+01] [-3.15156738e-02 9.99466429e-01 8.58014556e-03 -6.50138149e+01] [-2.16930398e-02 -9.26637303e-03 9.99721734e-01 -1.92522186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.901652532 meters Centerline goodness : 0.708788 Centerline is valid? [False, False] Translation: X:-62.27, Y:-65.01, Z:-19.25 [[ 9.98702905e-01 4.49025169e-02 2.40056764e-02 -6.22696117e+01] [-4.50948797e-02 9.98954309e-01 7.53257787e-03 -6.50111692e+01] [-2.36423422e-02 -8.60534049e-03 9.99683444e-01 -1.92522021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.93165253200002 meters Centerline goodness : 0.717152 Centerline is valid? [False, False] Translation: X:-62.30, Y:-65.01, Z:-19.25 [[ 9.97942262e-01 5.91166481e-02 2.48287058e-02 -6.22967686e+01] [-5.93093718e-02 9.98214413e-01 7.09817249e-03 -6.50101586e+01] [-2.43647518e-02 -8.55614125e-03 9.99666520e-01 -1.92505783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.96165253200002 meters Centerline goodness : 0.680651 Centerline is valid? [False, False] Translation: X:-62.34, Y:-65.01, Z:-19.25 [[ 9.97188402e-01 6.99295673e-02 2.69285556e-02 -6.23365292e+01] [-7.03015754e-02 9.97439448e-01 1.31238610e-02 -6.50149651e+01] [-2.59418577e-02 -1.49800818e-02 9.99551208e-01 -1.92530518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.991652532 meters Centerline goodness : 0.674551 Centerline is valid? [False, False] Translation: X:-62.39, Y:-65.02, Z:-19.25 [[ 9.95055020e-01 9.61617817e-02 2.48680363e-02 -6.23945353e+01] [-9.64645968e-02 9.95272548e-01 1.12755143e-02 -6.50234134e+01] [-2.36662003e-02 -1.36186422e-02 9.99627152e-01 -1.92474526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.021652532 meters Centerline goodness : 0.330040 Centerline is valid? [False, False] Translation: X:-62.42, Y:-65.03, Z:-19.25 [[ 9.93933386e-01 1.06072928e-01 2.90681631e-02 -6.24214632e+01] [-1.06331781e-01 9.94302386e-01 7.50448708e-03 -6.50260553e+01] [-2.81065210e-02 -1.05498298e-02 9.99549261e-01 -1.92487112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.051652532 meters Centerline goodness : 0.664500 Centerline is valid? [False, False] Translation: X:-62.44, Y:-65.03, Z:-19.25 [[ 9.92760314e-01 1.15190567e-01 3.40307474e-02 -6.24427194e+01] [-1.15471390e-01 9.93290197e-01 6.39870468e-03 -6.50287352e+01] [-3.30653374e-02 -1.02819578e-02 9.99400303e-01 -1.92509808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.081652532 meters Centerline goodness : 0.764755 Centerline is valid? [False, False] Translation: X:-62.47, Y:-65.03, Z:-19.25 [[ 9.90715548e-01 1.29589916e-01 4.10993531e-02 -6.24665651e+01] [-1.30121228e-01 9.91442324e-01 1.05158914e-02 -6.50311956e+01] [-3.93848847e-02 -1.57661554e-02 9.99099724e-01 -1.92524558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.111652532 meters Centerline goodness : 0.758778 Centerline is valid? [False, False] Translation: X:-62.47, Y:-65.03, Z:-19.25 [[ 9.90462614e-01 1.31075744e-01 4.24612683e-02 -6.24711051e+01] [-1.31678977e-01 9.91223085e-01 1.17236292e-02 -6.50333952e+01] [-4.05519059e-02 -1.72030728e-02 9.99029328e-01 -1.92508634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.141652532 meters Centerline goodness : 0.758101 Centerline is valid? [False, False] Translation: X:-62.48, Y:-65.04, Z:-19.26 [[ 9.93744666e-01 1.05376037e-01 3.69787664e-02 -6.24840948e+01] [-1.05916294e-01 9.94290551e-01 1.29629716e-02 -6.50417043e+01] [-3.54016514e-02 -1.67985378e-02 9.99231971e-01 -1.92576918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.171652532 meters Centerline goodness : 0.758735 Centerline is valid? [False, False] Translation: X:-62.49, Y:-65.05, Z:-19.26 [[ 9.95595335e-01 8.51503236e-02 3.92345689e-02 -6.24859508e+01] [-8.56796466e-02 9.96250346e-01 1.20102537e-02 -6.50452515e+01] [-3.80647758e-02 -1.53189565e-02 9.99157847e-01 -1.92577964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.201652532 meters Centerline goodness : 0.759374 Centerline is valid? [False, False] Translation: X:-62.50, Y:-65.06, Z:-19.25 [[ 9.97262986e-01 5.39822301e-02 5.05218403e-02 -6.25014215e+01] [-5.47359071e-02 9.98407505e-01 1.36541060e-02 -6.50589367e+01] [-4.97043054e-02 -1.63820933e-02 9.98629616e-01 -1.92546992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.231652532 meters Centerline goodness : 0.758513 Centerline is valid? [False, False] Translation: X:-62.51, Y:-65.07, Z:-19.25 [[ 9.98299157e-01 3.72293083e-02 4.48639309e-02 -6.25074943e+01] [-3.79406303e-02 9.99165765e-01 1.51089941e-02 -6.50692977e+01] [-4.42640064e-02 -1.67854619e-02 9.98878845e-01 -1.92497807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 16613.34 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%| | 0/4942 [00:00